let pid control pwm

firmware/README.md

@@ -18,17 +18,18 @@ The scope of this setting is per TCP session.
 
 ### Commands
 
-| Syntax                     | Function                            |
+| Syntax                     | Function                                     |
-| ---                        | ---                                 |
+| ---                        | ---                                          |
-| `report`                   | Show current input                  |
+| `report`                   | Show current input                           |
-| `report mode`              | Show current report mode            |
+| `report mode`              | Show current report mode                     |
-| `report mode <off or on>`  | Set report mode                     |
+| `report mode <off or on>`  | Set report mode                              |
-| `pwm <width> <total>`      | Set PWM duty cycle to width / total |
+| `pwm <width> <total>`      | Set PWM duty cycle to manual *width / total* |
-| `pid target <value>`       |                                     |
+| `pwm pid`                  | Set PWM to be controlled by PID              |
-| `pid kp <value>`           |                                     |
+| `pid target <value>`       |                                              |
-| `pid ki <value>`           |                                     |
+| `pid kp <value>`           |                                              |
-| `pid kd <value>`           |                                     |
+| `pid ki <value>`           |                                              |
-| `pid output_min <value>`   |                                     |
+| `pid kd <value>`           |                                              |
-| `pid output_max <value>`   |                                     |
+| `pid output_min <value>`   |                                              |
-| `pid integral_min <value>` |                                     |
+| `pid output_max <value>`   |                                              |
-| `pid integral_max <value>` |                                     |
+| `pid integral_min <value>` |                                              |
+| `pid integral_max <value>` |                                              |

firmware/src/command_parser.rs

@@ -64,6 +64,7 @@ impl fmt::Display for Error {
 pub enum ShowCommand {
     Input,
     Reporting,
+    Pwm,
     Pid,
 }
 
@@ -79,15 +80,21 @@ pub enum PidParameter {
     IntegralMax,
 }
 
+#[derive(Debug, Clone)]
+pub enum PwmMode {
+    Manual {
+        width: u32,
+        total: u32,
+    },
+    Pid,
+}
+
 #[derive(Debug, Clone)]
 pub enum Command {
     Quit,
     Show(ShowCommand),
     Reporting(bool),
-    Pwm {
+    Pwm(PwmMode),
-        width: u32,
-        total: u32,
-    },
     Pid {
         parameter: PidParameter,
         value: f32,
@@ -147,9 +154,7 @@ fn report(input: &[u8]) -> IResult<&[u8], Command> {
 }
 
 /// `pwm <width> <total>` - Set pwm duty cycle
-fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+fn pwm_manual(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
-    let (input, _) = tag("pwm")(input)?;
-    let (input, _) = whitespace(input)?;
     let (input, width) = unsigned(input)?;
     let width = match width {
         Ok(width) => width,
@@ -161,7 +166,25 @@ fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
         Ok(total) => total,
         Err(e) => return Ok((input, Err(e.into()))),
     };
-    Ok((input, Ok(Command::Pwm { width, total })))
+    Ok((input, Ok(Command::Pwm(PwmMode::Manual { width, total }))))
+}
+
+/// `pwm pid` - Set PWM to be controlled by PID
+fn pwm_pid(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+    value(Ok(Command::Pwm(PwmMode::Pid)), tag("pid"))(input)
+}
+
+fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+    let (input, _) = tag("pwm")(input)?;
+    alt((
+        preceded(
+            whitespace,
+            alt((
+                pwm_pid,
+                pwm_manual,
+            ))),
+        |input| Ok((input, Ok(Command::Show(ShowCommand::Pwm))))
+    ))(input)
 }
 
 fn pid_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {

firmware/src/main.rs

@@ -37,7 +37,7 @@ mod board;
 use self::board::{gpio::Gpio, systick::get_time};
 mod ethmac;
 mod command_parser;
-use command_parser::{Command, ShowCommand};
+use command_parser::{Command, ShowCommand, PwmMode};
 mod session;
 use self::session::{Session, SessionOutput};
 mod ad7172;
@@ -155,6 +155,8 @@ fn main() -> ! {
     adc.setup_channel(1, ad7172::Input::Ain2, ad7172::Input::Ain3).unwrap();
 
     let mut pid = pid::Controller::new(DEFAULT_PID_PARAMETERS.clone());
+    // Start with disengaged PID to let user setup parameters first
+    let mut pid_enabled = false;
 
     let mut hardware_addr = EthernetAddress(board::get_mac_address());
     if hardware_addr.is_multicast() {
@@ -214,8 +216,13 @@ fn main() -> ! {
             }).map(|channel| {
                 let now = get_time();
                 let data = adc.read_data().unwrap();
-                report[usize::from(channel)] = Some((now, data));
 
+                if channel == 0 && pid_enabled {
+                    let width = pid.update(data as f32) as u32;
+                    board::set_timer_pwm(width as u32, 0xffff);
+                }
+
+                report[usize::from(channel)] = Some((now, data));
                 for (session, _) in sessions_handles.iter_mut() {
                     session.set_report_pending(channel.into());
                 }
@@ -270,9 +277,19 @@ fn main() -> ! {
                             out!(integral_min);
                             out!(integral_max);
                         }
-                        Command::Pwm { width, total } => {
+                        Command::Show(ShowCommand::Pwm) => {
+                            let _ = writeln!(socket, "PWM: PID {}",
+                                 if pid_enabled { "engaged" } else { "disengaged" }
+                            );
+                        }
+                        Command::Pwm(PwmMode::Manual { width, total }) => {
+                            pid_enabled = false;
                             board::set_timer_pwm(width, total);
-                            let _ = writeln!(socket, "PWM duty cycle: {}/{}", width, total);
+                            let _ = writeln!(socket, "PWM duty cycle manually set to {}/{}", width, total);
+                        }
+                        Command::Pwm(PwmMode::Pid) => {
+                            pid_enabled = true;
+                            let _ = writeln!(socket, "PID enabled to control PWM");
                         }
                         Command::Pid { parameter, value } => {
                             use command_parser::PidParameter::*;