Merge branch 'master' into feature/telemetry

dsp/benches/micro.rs

@@ -67,7 +67,7 @@ fn iir_bench() {
     let mut xy = iir::Vec5::default();
     println!(
         "int::IIR::update(s, x): {}",
-        bench_env(0.32241, |x| dut.update(&mut xy, *x))
+        bench_env(0.32241, |x| dut.update(&mut xy, *x, true))
     );
 }
 

dsp/src/iir.rs

@@ -117,7 +117,7 @@ impl IIR {
     /// # Arguments
     /// * `xy` - Current filter state.
     /// * `x0` - New input.
-    pub fn update(&self, xy: &mut Vec5, x0: f32) -> f32 {
+    pub fn update(&self, xy: &mut Vec5, x0: f32, hold: bool) -> f32 {
         let n = self.ba.len();
         debug_assert!(xy.len() == n);
         // `xy` contains       x0 x1 y0 y1 y2
@@ -128,7 +128,11 @@ impl IIR {
         // Store x0            x0 x1 x2 y1 y2
         xy[0] = x0;
         // Compute y0 by multiply-accumulate
-        let y0 = macc(self.y_offset, xy, &self.ba);
+        let y0 = if hold {
+            xy[n / 2 + 1]
+        } else {
+            macc(self.y_offset, xy, &self.ba)
+        };
         // Limit y0
         let y0 = max(self.y_min, min(self.y_max, y0));
         // Store y0            x0 x1 y0 y1 y2

src/bin/dual-iir.rs

@@ -2,8 +2,6 @@
 #![no_std]
 #![no_main]
 
-use stm32h7xx_hal as hal;
-
 use stabilizer::hardware;
 
 use miniconf::{minimq, Miniconf, MqttInterface};
@@ -12,7 +10,7 @@ use serde::{Deserialize, Serialize};
 use dsp::iir;
 use hardware::{
     Adc0Input, Adc1Input, AfeGain, CycleCounter, Dac0Output, Dac1Output,
-    NetworkStack, SystemTimer, AFE0, AFE1,
+    DigitalInput0, DigitalInput1, SystemTimer, InputPin, NetworkStack, AFE0, AFE1,
 };
 
 const SCALE: f32 = i16::MAX as _;
@@ -20,13 +18,6 @@ const SCALE: f32 = i16::MAX as _;
 // The number of cascaded IIR biquads per channel. Select 1 or 2!
 const IIR_CASCADE_LENGTH: usize = 1;
 
-#[derive(Debug, Deserialize, Miniconf, Copy, Clone)]
-pub struct Settings {
-    afe: [AfeGain; 2],
-    iir_ch: [[iir::IIR; IIR_CASCADE_LENGTH]; 2],
-    telemetry_period_secs: u16,
-}
-
 #[derive(Serialize, Clone)]
 pub struct Telemetry {
     latest_samples: [i16; 2],
@@ -34,11 +25,22 @@ pub struct Telemetry {
     digital_inputs: [bool; 2],
 }
 
+#[derive(Clone, Copy, Debug, Deserialize, Miniconf)]
+pub struct Settings {
+    afe: [AfeGain; 2],
+    iir_ch: [[iir::IIR; IIR_CASCADE_LENGTH]; 2],
+    allow_hold: bool,
+    force_hold: bool,
+    telemetry_period_secs: u16,
+}
+
 impl Default for Settings {
     fn default() -> Self {
         Self {
             afe: [AfeGain::G1, AfeGain::G1],
             iir_ch: [[iir::IIR::new(1., -SCALE, SCALE); IIR_CASCADE_LENGTH]; 2],
+            allow_hold: false,
+            force_hold: false,
             telemetry_period_secs: 10,
         }
     }
@@ -58,6 +60,7 @@ impl Default for Telemetry {
 const APP: () = {
     struct Resources {
         afes: (AFE0, AFE1),
+        digital_inputs: (DigitalInput0, DigitalInput1),
         adcs: (Adc0Input, Adc1Input),
         dacs: (Dac0Output, Dac1Output),
         mqtt_interface:
@@ -69,11 +72,9 @@ const APP: () = {
         // Format: iir_state[ch][cascade-no][coeff]
         #[init([[[0.; 5]; IIR_CASCADE_LENGTH]; 2])]
         iir_state: [[iir::Vec5; IIR_CASCADE_LENGTH]; 2],
-        #[init([[iir::IIR::new(1., -SCALE, SCALE); IIR_CASCADE_LENGTH]; 2])]
-        iir_ch: [[iir::IIR; IIR_CASCADE_LENGTH]; 2],
     }
 
-    #[init(schedule = [telemetry])]
+    #[init(spawn=[telemetry, settings_update])]
     fn init(c: init::Context) -> init::LateResources {
         // Configure the microcontroller
         let (mut stabilizer, _pounder) = hardware::setup(c.core, c.device);
@@ -96,6 +97,10 @@ const APP: () = {
             .unwrap()
         };
 
+        // Spawn a settings update for default settings.
+        c.spawn.settings_update().unwrap();
+        c.spawn.telemetry().unwrap();
+
         // Enable ADC/DAC events
         stabilizer.adcs.0.start();
         stabilizer.adcs.1.start();
@@ -105,16 +110,15 @@ const APP: () = {
         // Start sampling ADCs.
         stabilizer.adc_dac_timer.start();
 
-        c.schedule.telemetry(c.start).unwrap();
-
         init::LateResources {
             mqtt_interface,
             afes: stabilizer.afes,
             adcs: stabilizer.adcs,
             dacs: stabilizer.dacs,
             clock: stabilizer.cycle_counter,
-            settings: Settings::default(),
             telemetry: Telemetry::default(),
+            digital_inputs: stabilizer.digital_inputs,
+            settings: Settings::default(),
         }
     }
 
@@ -134,7 +138,7 @@ const APP: () = {
     ///
     /// Because the ADC and DAC operate at the same rate, these two constraints actually implement
     /// the same time bounds, meeting one also means the other is also met.
-    #[task(binds=DMA1_STR4, resources=[adcs, dacs, iir_state, iir_ch, telemetry], priority=2)]
+    #[task(binds=DMA1_STR4, resources=[adcs, digital_inputs, dacs, iir_state, settings, telemetry], priority=2)]
     fn process(c: process::Context) {
         let adc_samples = [
             c.resources.adcs.0.acquire_buffer(),
@@ -146,13 +150,19 @@ const APP: () = {
             c.resources.dacs.1.acquire_buffer(),
         ];
 
+        let hold = c.resources.settings.force_hold
+            || (c.resources.digital_inputs.1.is_high().unwrap()
+                && c.resources.settings.allow_hold);
+
         for channel in 0..adc_samples.len() {
             for sample in 0..adc_samples[0].len() {
-                let x = f32::from(adc_samples[channel][sample] as i16);
+                let mut y = f32::from(adc_samples[channel][sample] as i16);
-                let mut y = x;
                 for i in 0..c.resources.iir_state[channel].len() {
-                    y = c.resources.iir_ch[channel][i]
+                    y = c.resources.settings.iir_ch[channel][i].update(
-                        .update(&mut c.resources.iir_state[channel][i], y);
+                        &mut c.resources.iir_state[channel][i],
+                        y,
+                        hold,
+                    );
                 }
                 // Note(unsafe): The filter limits ensure that the value is in range.
                 // The truncation introduces 1/2 LSB distortion.
@@ -169,6 +179,11 @@ const APP: () = {
 
         c.resources.telemetry.latest_outputs =
             [dac_samples[0][0] as i16, dac_samples[1][0] as i16];
+
+        c.resources.telemetry.digital_inputs = [
+            c.resources.digital_inputs.0.is_high().unwrap(),
+            c.resources.digital_inputs.1.is_high().unwrap(),
+        ];
     }
 
     #[idle(resources=[mqtt_interface, clock], spawn=[settings_update])]
@@ -206,15 +221,12 @@ const APP: () = {
         }
     }
 
-    #[task(priority = 1, resources=[mqtt_interface, afes, settings, iir_ch])]
+    #[task(priority = 1, resources=[mqtt_interface, afes, settings])]
     fn settings_update(mut c: settings_update::Context) {
         let settings = &c.resources.mqtt_interface.settings;
 
         // Update the IIR channels.
-        c.resources.iir_ch.lock(|iir| *iir = settings.iir_ch);
+        c.resources.settings.lock(|current| *current = *settings);
-
-        // Update currently-cached settings.
-        *c.resources.settings = *settings;
 
         // Update AFEs
         c.resources.afes.0.set_gain(settings.afe[0]);
@@ -223,11 +235,7 @@ const APP: () = {
 
     #[task(priority = 1, resources=[mqtt_interface, settings, telemetry], schedule=[telemetry])]
     fn telemetry(mut c: telemetry::Context) {
-        let telemetry = c.resources.telemetry.lock(|telemetry| {
+        let telemetry = c.resources.telemetry.lock(|telemetry| telemetry.clone());
-            // TODO: Incorporate digital input status.
-            telemetry.digital_inputs = [false, false];
-            telemetry.clone()
-        });
 
         // Serialize telemetry outside of a critical section to prevent blocking the processing
         // task.
@@ -242,20 +250,16 @@ const APP: () = {
             client.publish("dt/sinara/dual-iir/telemetry", telemetry.as_bytes(), minimq::QoS::AtMostOnce, &[]).ok()
         });
 
+        let telemetry_period = c.resources.settings.lock(|settings| settings.telemetry_period_secs);
+
         // Schedule the telemetry task in the future.
-        c.schedule
+        c.schedule.telemetry( c.scheduled + SystemTimer::ticks_from_secs(telemetry_period as u32))
-            .telemetry(
-                c.scheduled
-                    + SystemTimer::ticks_from_secs(
-                        c.resources.settings.telemetry_period_secs as u32,
-                    ),
-            )
             .unwrap();
     }
 
     #[task(binds = ETH, priority = 1)]
     fn eth(_: eth::Context) {
-        unsafe { hal::ethernet::interrupt_handler() }
+        unsafe { stm32h7xx_hal::ethernet::interrupt_handler() }
     }
 
     #[task(binds = SPI2, priority = 3)]

src/hardware/configuration.rs

@@ -13,8 +13,8 @@ use embedded_hal::digital::v2::{InputPin, OutputPin};
 
 use super::{
     adc, afe, cycle_counter::CycleCounter, dac, design_parameters,
-    digital_input_stamper, eeprom, pounder, system_timer, timers, DdsOutput,
+    digital_input_stamper, eeprom, pounder, timers, system_timer, DdsOutput, DigitalInput0,
-    NetworkStack, AFE0, AFE1,
+    DigitalInput1, NetworkStack, AFE0, AFE1,
 };
 
 pub struct NetStorage {
@@ -69,6 +69,7 @@ pub struct StabilizerDevices {
     pub timestamp_timer: timers::TimestampTimer,
     pub net: NetworkDevices,
     pub cycle_counter: CycleCounter,
+    pub digital_inputs: (DigitalInput0, DigitalInput1),
 }
 
 /// The available Pounder-specific hardware interfaces.
@@ -449,6 +450,12 @@ pub fn setup(
         )
     };
 
+    let digital_inputs = {
+        let di0 = gpiog.pg9.into_floating_input();
+        let di1 = gpioc.pc15.into_floating_input();
+        (di0, di1)
+    };
+
     let mut eeprom_i2c = {
         let sda = gpiof.pf0.into_alternate_af4().set_open_drain();
         let scl = gpiof.pf1.into_alternate_af4().set_open_drain();
@@ -882,6 +889,7 @@ pub fn setup(
         adc_dac_timer: sampling_timer,
         timestamp_timer,
         cycle_counter,
+        digital_inputs,
     };
 
     // info!("Version {} {}", build_info::PKG_VERSION, build_info::GIT_VERSION.unwrap());

src/hardware/mod.rs

@@ -1,6 +1,9 @@
 ///! Module for all hardware-specific setup of Stabilizer
 use stm32h7xx_hal as hal;
 
+// Re-export for the DigitalInputs below:
+pub use embedded_hal::digital::v2::InputPin;
+
 #[cfg(feature = "semihosting")]
 use panic_semihosting as _;
 
@@ -36,6 +39,14 @@ pub type AFE1 = afe::ProgrammableGainAmplifier<
     hal::gpio::gpiod::PD15<hal::gpio::Output<hal::gpio::PushPull>>,
 >;
 
+// Type alias for digital input 0 (DI0).
+pub type DigitalInput0 =
+    hal::gpio::gpiog::PG9<hal::gpio::Input<hal::gpio::Floating>>;
+
+// Type alias for digital input 1 (DI1).
+pub type DigitalInput1 =
+    hal::gpio::gpioc::PC15<hal::gpio::Input<hal::gpio::Floating>>;
+
 pub type NetworkStack = smoltcp_nal::NetworkStack<
     'static,
     'static,

src/hardware/system_timer.rs

@@ -10,14 +10,14 @@ impl SystemTimer {
         timer.pause();
         // Have the system timer operate at a tick rate of 10KHz (100uS per tick). With this
         // configuration and a 65535 period, we get an overflow once every 6.5 seconds.
-        timer.set_tick_freq(1.mhz());
+        timer.set_tick_freq(10.khz());
         timer.apply_freq();
 
         timer.resume();
     }
 
     pub fn ticks_from_secs(secs: u32) -> i32 {
-        (secs * 1_000_000) as i32
+        (secs * 10_000) as i32
     }
 }
 
@@ -26,8 +26,8 @@ impl rtic::Monotonic for SystemTimer {
 
     fn ratio() -> rtic::Fraction {
         rtic::Fraction {
-            numerator: 1,
+            numerator: 40_000,
-            denominator: 400,
+            denominator: 1,
         }
     }