248 lines
8.5 KiB
Rust
248 lines
8.5 KiB
Rust
#![deny(warnings)]
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#![no_std]
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#![no_main]
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use stabilizer::{hardware, net};
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use miniconf::Miniconf;
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use serde::Deserialize;
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use dsp::iir;
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use hardware::{
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Adc0Input, Adc1Input, AfeGain, Dac0Output, Dac1Output, DigitalInput0,
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DigitalInput1, InputPin, SystemTimer, AFE0, AFE1,
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};
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use net::{NetworkUsers, Telemetry, TelemetryBuffer, UpdateState};
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const SCALE: f32 = i16::MAX as _;
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// The number of cascaded IIR biquads per channel. Select 1 or 2!
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const IIR_CASCADE_LENGTH: usize = 1;
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#[derive(Clone, Copy, Debug, Deserialize, Miniconf)]
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pub struct Settings {
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afe: [AfeGain; 2],
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iir_ch: [[iir::IIR; IIR_CASCADE_LENGTH]; 2],
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allow_hold: bool,
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force_hold: bool,
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telemetry_period_secs: u16,
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}
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impl Default for Settings {
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fn default() -> Self {
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Self {
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// Analog frontend programmable gain amplifier gains (G1, G2, G5, G10)
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afe: [AfeGain::G1, AfeGain::G1],
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// IIR filter tap gains are an array `[b0, b1, b2, a1, a2]` such that the
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// new output is computed as `y0 = a1*y1 + a2*y2 + b0*x0 + b1*x1 + b2*x2`.
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// The array is `iir_state[channel-index][cascade-index][coeff-index]`.
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// The IIR coefficients can be mapped to other transfer function
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// representations, for example as described in https://arxiv.org/abs/1508.06319
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iir_ch: [[iir::IIR::new(1., -SCALE, SCALE); IIR_CASCADE_LENGTH]; 2],
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// Permit the DI1 digital input to suppress filter output updates.
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allow_hold: false,
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// Force suppress filter output updates.
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force_hold: false,
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telemetry_period_secs: 10,
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}
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}
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}
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#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = stabilizer::hardware::SystemTimer)]
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const APP: () = {
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struct Resources {
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afes: (AFE0, AFE1),
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digital_inputs: (DigitalInput0, DigitalInput1),
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adcs: (Adc0Input, Adc1Input),
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dacs: (Dac0Output, Dac1Output),
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network: NetworkUsers<Settings, Telemetry>,
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settings: Settings,
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telemetry: TelemetryBuffer,
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#[init([[[0.; 5]; IIR_CASCADE_LENGTH]; 2])]
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iir_state: [[iir::Vec5; IIR_CASCADE_LENGTH]; 2],
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}
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#[init(spawn=[telemetry, settings_update])]
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fn init(c: init::Context) -> init::LateResources {
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// Configure the microcontroller
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let (mut stabilizer, _pounder) = hardware::setup(c.core, c.device);
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let network = NetworkUsers::new(
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stabilizer.net.stack,
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stabilizer.net.phy,
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stabilizer.cycle_counter,
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env!("CARGO_BIN_NAME"),
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stabilizer.net.mac_address,
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);
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// Spawn a settings update for default settings.
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c.spawn.settings_update().unwrap();
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c.spawn.telemetry().unwrap();
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// Enable ADC/DAC events
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stabilizer.adcs.0.start();
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stabilizer.adcs.1.start();
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stabilizer.dacs.0.start();
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stabilizer.dacs.1.start();
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// Start sampling ADCs.
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stabilizer.adc_dac_timer.start();
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init::LateResources {
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afes: stabilizer.afes,
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adcs: stabilizer.adcs,
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dacs: stabilizer.dacs,
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network,
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digital_inputs: stabilizer.digital_inputs,
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telemetry: net::TelemetryBuffer::default(),
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settings: Settings::default(),
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}
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}
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/// Main DSP processing routine for Stabilizer.
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///
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/// # Note
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/// Processing time for the DSP application code is bounded by the following constraints:
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///
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/// DSP application code starts after the ADC has generated a batch of samples and must be
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/// completed by the time the next batch of ADC samples has been acquired (plus the FIFO buffer
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/// time). If this constraint is not met, firmware will panic due to an ADC input overrun.
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///
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/// The DSP application code must also fill out the next DAC output buffer in time such that the
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/// DAC can switch to it when it has completed the current buffer. If this constraint is not met
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/// it's possible that old DAC codes will be generated on the output and the output samples will
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/// be delayed by 1 batch.
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///
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/// Because the ADC and DAC operate at the same rate, these two constraints actually implement
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/// the same time bounds, meeting one also means the other is also met.
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#[task(binds=DMA1_STR4, resources=[adcs, digital_inputs, dacs, iir_state, settings, telemetry], priority=2)]
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fn process(c: process::Context) {
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let adc_samples = [
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c.resources.adcs.0.acquire_buffer(),
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c.resources.adcs.1.acquire_buffer(),
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];
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let dac_samples = [
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c.resources.dacs.0.acquire_buffer(),
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c.resources.dacs.1.acquire_buffer(),
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];
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let hold = c.resources.settings.force_hold
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|| (c.resources.digital_inputs.1.is_high().unwrap()
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&& c.resources.settings.allow_hold);
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for channel in 0..adc_samples.len() {
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for sample in 0..adc_samples[0].len() {
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let mut y = f32::from(adc_samples[channel][sample] as i16);
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for i in 0..c.resources.iir_state[channel].len() {
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y = c.resources.settings.iir_ch[channel][i].update(
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&mut c.resources.iir_state[channel][i],
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y,
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hold,
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);
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}
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// Note(unsafe): The filter limits ensure that the value is in range.
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// The truncation introduces 1/2 LSB distortion.
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let y = unsafe { y.to_int_unchecked::<i16>() };
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// Convert to DAC code
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dac_samples[channel][sample] = y as u16 ^ 0x8000;
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}
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}
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// Update telemetry measurements.
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c.resources.telemetry.latest_samples =
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[adc_samples[0][0] as i16, adc_samples[1][0] as i16];
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c.resources.telemetry.latest_outputs =
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[dac_samples[0][0], dac_samples[1][0]];
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c.resources.telemetry.digital_inputs = [
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c.resources.digital_inputs.0.is_high().unwrap(),
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c.resources.digital_inputs.1.is_high().unwrap(),
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];
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}
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#[idle(resources=[network], spawn=[settings_update])]
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fn idle(mut c: idle::Context) -> ! {
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loop {
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match c.resources.network.lock(|net| net.update()) {
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UpdateState::Updated => c.spawn.settings_update().unwrap(),
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UpdateState::NoChange => cortex_m::asm::wfi(),
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}
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}
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}
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#[task(priority = 1, resources=[network, afes, settings])]
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fn settings_update(mut c: settings_update::Context) {
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// Update the IIR channels.
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let settings = c.resources.network.miniconf.settings();
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c.resources.settings.lock(|current| *current = *settings);
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// Update AFEs
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c.resources.afes.0.set_gain(settings.afe[0]);
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c.resources.afes.1.set_gain(settings.afe[1]);
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}
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#[task(priority = 1, resources=[network, settings, telemetry], schedule=[telemetry])]
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fn telemetry(mut c: telemetry::Context) {
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let telemetry: TelemetryBuffer =
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c.resources.telemetry.lock(|telemetry| *telemetry);
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let gains: [AfeGain; 2] = c.resources.settings.lock(|settings| settings.afe);
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c.resources
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.network
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.telemetry
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.publish(&telemetry.finalize(gains[0], gains[1]));
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let telemetry_period = c
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.resources
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.settings
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.lock(|settings| settings.telemetry_period_secs);
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// Schedule the telemetry task in the future.
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c.schedule
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.telemetry(
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c.scheduled
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+ SystemTimer::ticks_from_secs(telemetry_period as u32),
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)
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.unwrap();
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}
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#[task(binds = ETH, priority = 1)]
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fn eth(_: eth::Context) {
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unsafe { stm32h7xx_hal::ethernet::interrupt_handler() }
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}
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#[task(binds = SPI2, priority = 3)]
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fn spi2(_: spi2::Context) {
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panic!("ADC0 input overrun");
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}
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#[task(binds = SPI3, priority = 3)]
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fn spi3(_: spi3::Context) {
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panic!("ADC1 input overrun");
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}
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#[task(binds = SPI4, priority = 3)]
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fn spi4(_: spi4::Context) {
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panic!("DAC0 output error");
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}
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#[task(binds = SPI5, priority = 3)]
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fn spi5(_: spi5::Context) {
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panic!("DAC1 output error");
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}
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extern "C" {
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// hw interrupt handlers for RTIC to use for scheduling tasks
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// one per priority
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fn DCMI();
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fn JPEG();
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fn SDMMC();
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}
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};
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