265 lines
8.6 KiB
Rust
265 lines
8.6 KiB
Rust
#![deny(warnings)]
|
|
#![no_std]
|
|
#![no_main]
|
|
|
|
use stabilizer::{hardware, net};
|
|
|
|
use miniconf::{minimq, Miniconf};
|
|
use serde::Deserialize;
|
|
|
|
use dsp::iir;
|
|
use hardware::{
|
|
Adc0Input, Adc1Input, AfeGain, Dac0Output, Dac1Output, DigitalInput0,
|
|
DigitalInput1, InputPin, SystemTimer, AFE0, AFE1,
|
|
};
|
|
|
|
use net::{Action, MiniconfInterface};
|
|
|
|
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(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,
|
|
}
|
|
}
|
|
}
|
|
|
|
#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = stabilizer::hardware::SystemTimer)]
|
|
const APP: () = {
|
|
struct Resources {
|
|
afes: (AFE0, AFE1),
|
|
digital_inputs: (DigitalInput0, DigitalInput1),
|
|
adcs: (Adc0Input, Adc1Input),
|
|
dacs: (Dac0Output, Dac1Output),
|
|
mqtt_config: MiniconfInterface<Settings>,
|
|
telemetry: net::Telemetry,
|
|
settings: Settings,
|
|
|
|
// Format: iir_state[ch][cascade-no][coeff]
|
|
#[init([[[0.; 5]; IIR_CASCADE_LENGTH]; 2])]
|
|
iir_state: [[iir::Vec5; IIR_CASCADE_LENGTH]; 2],
|
|
}
|
|
|
|
#[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);
|
|
|
|
let mqtt_config = MiniconfInterface::new(
|
|
stabilizer.net.stack,
|
|
"",
|
|
&net::get_device_prefix(
|
|
env!("CARGO_BIN_NAME"),
|
|
stabilizer.net.mac_address,
|
|
),
|
|
stabilizer.net.phy,
|
|
stabilizer.cycle_counter,
|
|
);
|
|
|
|
// 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();
|
|
stabilizer.dacs.0.start();
|
|
stabilizer.dacs.1.start();
|
|
|
|
// Start sampling ADCs.
|
|
stabilizer.adc_dac_timer.start();
|
|
|
|
init::LateResources {
|
|
afes: stabilizer.afes,
|
|
adcs: stabilizer.adcs,
|
|
dacs: stabilizer.dacs,
|
|
telemetry: net::Telemetry::default(),
|
|
digital_inputs: stabilizer.digital_inputs,
|
|
mqtt_config,
|
|
settings: Settings::default(),
|
|
}
|
|
}
|
|
|
|
/// Main DSP processing routine for Stabilizer.
|
|
///
|
|
/// # Note
|
|
/// Processing time for the DSP application code is bounded by the following constraints:
|
|
///
|
|
/// DSP application code starts after the ADC has generated a batch of samples and must be
|
|
/// completed by the time the next batch of ADC samples has been acquired (plus the FIFO buffer
|
|
/// time). If this constraint is not met, firmware will panic due to an ADC input overrun.
|
|
///
|
|
/// The DSP application code must also fill out the next DAC output buffer in time such that the
|
|
/// DAC can switch to it when it has completed the current buffer. If this constraint is not met
|
|
/// it's possible that old DAC codes will be generated on the output and the output samples will
|
|
/// be delayed by 1 batch.
|
|
///
|
|
/// 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, digital_inputs, dacs, iir_state, settings, telemetry], priority=2)]
|
|
fn process(c: process::Context) {
|
|
let adc_samples = [
|
|
c.resources.adcs.0.acquire_buffer(),
|
|
c.resources.adcs.1.acquire_buffer(),
|
|
];
|
|
|
|
let dac_samples = [
|
|
c.resources.dacs.0.acquire_buffer(),
|
|
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 mut y = f32::from(adc_samples[channel][sample] as i16);
|
|
for i in 0..c.resources.iir_state[channel].len() {
|
|
y = c.resources.settings.iir_ch[channel][i].update(
|
|
&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.
|
|
let y = unsafe { y.to_int_unchecked::<i16>() };
|
|
// Convert to DAC code
|
|
dac_samples[channel][sample] = y as u16 ^ 0x8000;
|
|
}
|
|
}
|
|
|
|
// Update telemetry measurements.
|
|
// TODO: Should we report these as voltages?
|
|
c.resources.telemetry.latest_samples =
|
|
[adc_samples[0][0] as i16, adc_samples[1][0] as i16];
|
|
|
|
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_config], spawn=[settings_update])]
|
|
fn idle(mut c: idle::Context) -> ! {
|
|
loop {
|
|
match c
|
|
.resources
|
|
.mqtt_config
|
|
.lock(|config_interface| config_interface.update())
|
|
{
|
|
Some(Action::Sleep) => cortex_m::asm::wfi(),
|
|
Some(Action::UpdateSettings) => {
|
|
c.spawn.settings_update().unwrap()
|
|
}
|
|
_ => {}
|
|
}
|
|
}
|
|
}
|
|
|
|
#[task(priority = 1, resources=[mqtt_config, afes, settings])]
|
|
fn settings_update(mut c: settings_update::Context) {
|
|
let settings = &c.resources.mqtt_config.mqtt.settings;
|
|
|
|
// Update the IIR channels.
|
|
c.resources.settings.lock(|current| *current = *settings);
|
|
|
|
// Update AFEs
|
|
c.resources.afes.0.set_gain(settings.afe[0]);
|
|
c.resources.afes.1.set_gain(settings.afe[1]);
|
|
}
|
|
|
|
#[task(priority = 1, resources=[mqtt_config, settings, telemetry], schedule=[telemetry])]
|
|
fn telemetry(mut c: telemetry::Context) {
|
|
let telemetry =
|
|
c.resources.telemetry.lock(|telemetry| telemetry.clone());
|
|
|
|
// Serialize telemetry outside of a critical section to prevent blocking the processing
|
|
// task.
|
|
let telemetry = miniconf::serde_json_core::to_string::<
|
|
heapless::consts::U256,
|
|
_,
|
|
>(&telemetry)
|
|
.unwrap();
|
|
|
|
c.resources.mqtt_config.mqtt.client(|client| {
|
|
// TODO: Incorporate current MQTT prefix instead of hard-coded value.
|
|
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
|
|
.telemetry(
|
|
c.scheduled
|
|
+ SystemTimer::ticks_from_secs(telemetry_period as u32),
|
|
)
|
|
.unwrap();
|
|
}
|
|
|
|
#[task(binds = ETH, priority = 1)]
|
|
fn eth(_: eth::Context) {
|
|
unsafe { stm32h7xx_hal::ethernet::interrupt_handler() }
|
|
}
|
|
|
|
#[task(binds = SPI2, priority = 3)]
|
|
fn spi2(_: spi2::Context) {
|
|
panic!("ADC0 input overrun");
|
|
}
|
|
|
|
#[task(binds = SPI3, priority = 3)]
|
|
fn spi3(_: spi3::Context) {
|
|
panic!("ADC1 input overrun");
|
|
}
|
|
|
|
#[task(binds = SPI4, priority = 3)]
|
|
fn spi4(_: spi4::Context) {
|
|
panic!("DAC0 output error");
|
|
}
|
|
|
|
#[task(binds = SPI5, priority = 3)]
|
|
fn spi5(_: spi5::Context) {
|
|
panic!("DAC1 output error");
|
|
}
|
|
|
|
extern "C" {
|
|
// hw interrupt handlers for RTIC to use for scheduling tasks
|
|
// one per priority
|
|
fn DCMI();
|
|
fn JPEG();
|
|
fn SDMMC();
|
|
}
|
|
};
|