Thermostat: Add fns to report status & settings
- Report all system status, PID Settings, NTC parameter, TEC Settings
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ff3d9b790a
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2f7ca2a706
@ -7,6 +7,7 @@ use stm32f4xx_hal::pac::{CorePeripherals, Peripherals};
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mod device;
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mod laser_diode;
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mod thermostat;
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mod pid;
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use device::{boot::bootup, log_setup, sys_timer};
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use uom::fmt::DisplayStyle::Abbreviation;
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@ -2,7 +2,7 @@
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use miniconf::Miniconf;
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use miniconf::serde::{Serialize, Deserialize};
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#[derive(Clone, Debug, Serialize, Deserialize)]
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#[derive(Clone, Copy, Debug, PartialEq, Miniconf)]
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pub struct Parameters {
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/// Gain coefficient for proportional term
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pub kp: f32,
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@ -28,8 +28,9 @@ impl Default for Parameters {
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}
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}
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#[derive(Clone)]
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#[derive(Clone, Debug, PartialEq, Miniconf)]
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pub struct Controller {
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#[miniconf(defer)]
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pub parameters: Parameters,
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pub target : f64,
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u1 : f64,
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@ -88,6 +89,7 @@ impl Controller {
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#[derive(Clone, Debug, Miniconf)]
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pub struct Summary {
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#[miniconf(defer)]
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parameters: Parameters,
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target: f64,
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}
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@ -23,8 +23,8 @@ const VREF_SENS: f64 = 3.3 / 2.0;
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pub struct PidState {
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pub adc_data: Option<u32>,
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pub adc_calibration: ad7172::ChannelCalibration,
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pub sample_ts: Instant,
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pub sampling_interval: Duration,
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pub update_ts: Time,
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pub update_interval: Time,
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/// i_set 0A center point
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pub center_point: ElectricPotential,
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pub dac_volt: ElectricPotential,
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@ -45,9 +45,9 @@ impl Default for PidState {
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PidState {
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adc_data: None,
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adc_calibration: ad7172::ChannelCalibration::default(),
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sample_ts: Instant::from_secs(0),
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update_ts: Time::new::<millisecond>(0.0),
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// default: 10 Hz
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sampling_interval: Duration::from_millis(100),
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update_interval: Time::new::<millisecond>(100.0),
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center_point: ElectricPotential::new::<volt>(1.5),
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dac_volt: ElectricPotential::new::<volt>(0.0),
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pid_engaged: false,
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@ -69,8 +69,8 @@ impl PidState {
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} else {
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Some(adc_data)
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};
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self.sampling_interval = now - self.sample_ts;
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self.sample_ts = now;
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self.update_interval = Time::new::<millisecond>(now.millis() as f64) - self.update_ts;
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self.update_ts = Time::new::<millisecond>(now.millis() as f64);
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}
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/// Update PID state on ADC input, calculate new DAC output
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@ -81,12 +81,12 @@ impl PidState {
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Some(pid_output)
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}
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pub fn get_sample_ts(&self) -> Time {
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Time::new::<millisecond>(self.sample_ts.total_millis() as f64)
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pub fn get_update_ts(&self) -> Time {
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self.update_ts
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}
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pub fn get_sampling_interval(&self) -> Time {
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Time::new::<millisecond>(self.sampling_interval.total_millis() as f64)
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pub fn get_update_interval(&self) -> Time {
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self.update_interval
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}
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pub fn get_adc(&self) -> Option<ElectricPotential> {
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@ -1,6 +1,6 @@
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use core::marker::PhantomData;
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use smoltcp::time::Instant;
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use crate::sys_timer;
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use crate::{sys_timer, pid::pid};
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use crate::thermostat::ad5680;
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use crate::thermostat::max1968::{MAX1968, AdcReadTarget, PwmPinsEnum};
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use crate::thermostat::ad7172;
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@ -11,7 +11,7 @@ use uom::si::{
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electric_current::ampere,
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electric_potential::volt,
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electrical_resistance::ohm,
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f64::{ElectricCurrent, ElectricPotential, ElectricalResistance, Time},
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f64::{ElectricCurrent, ElectricPotential, ElectricalResistance, Time, ThermodynamicTemperature},
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ratio::ratio,
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};
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use miniconf::Miniconf;
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@ -23,7 +23,7 @@ pub const R_SENSE: ElectricalResistance = ElectricalResistance {
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};
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#[derive(Clone, Debug, Miniconf)]
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pub struct Settings {
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pub struct TecSettings {
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pub center_pt: ElectricPotential,
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pub max_v_set: ElectricPotential,
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pub max_i_pos_set: ElectricCurrent,
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@ -31,7 +31,7 @@ pub struct Settings {
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pub i_set: ElectricCurrent,
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}
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impl Settings{
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impl TecSettings{
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// FixMe: Rev0_2 is 3.3V max while Rev0_3 is 3.0V max
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pub const DAC_OUT_V_MAX: ElectricPotential = ElectricPotential {
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dimension: PhantomData,
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@ -47,6 +47,11 @@ impl Settings{
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// Kirdy Design Specs:
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// MaxV = 5.0V
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// MAX Current = +- 1.0A
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const MAX_I_SET : ElectricCurrent = ElectricCurrent {
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dimension: PhantomData,
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units: PhantomData,
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value: 1.0,
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};
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const MAX_V_DUTY_TO_CURRENT_RATE: ElectricPotential = ElectricPotential {
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dimension: PhantomData,
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units: PhantomData,
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@ -57,7 +62,7 @@ impl Settings{
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units: PhantomData,
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value: 5.0,
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};
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const MAX_V_DUTY_MAX: f64 = Settings::MAX_V_MAX.value / Settings::MAX_V_DUTY_TO_CURRENT_RATE.value;
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const MAX_V_DUTY_MAX: f64 = TecSettings::MAX_V_MAX.value / TecSettings::MAX_V_DUTY_TO_CURRENT_RATE.value;
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const MAX_I_POS_NEG_DUTY_TO_CURRENT_RATE: ElectricCurrent = ElectricCurrent {
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dimension: PhantomData,
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units: PhantomData,
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@ -74,11 +79,11 @@ impl Settings{
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value: 1.0,
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};
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// .get::<ratio>() is not implemented for const
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const MAX_I_POS_DUTY_MAX: f64 = Settings::MAX_I_POS_CURRENT.value / Settings::MAX_I_POS_NEG_DUTY_TO_CURRENT_RATE.value;
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const MAX_I_NEG_DUTY_MAX: f64 = Settings::MAX_I_NEG_CURRENT.value / Settings::MAX_I_POS_NEG_DUTY_TO_CURRENT_RATE.value;
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const MAX_I_POS_DUTY_MAX: f64 = TecSettings::MAX_I_POS_CURRENT.value / TecSettings::MAX_I_POS_NEG_DUTY_TO_CURRENT_RATE.value;
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const MAX_I_NEG_DUTY_MAX: f64 = TecSettings::MAX_I_NEG_CURRENT.value / TecSettings::MAX_I_POS_NEG_DUTY_TO_CURRENT_RATE.value;
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}
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impl Default for Settings {
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impl Default for TecSettings {
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fn default() -> Self {
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Self {
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center_pt: ElectricPotential::new::<volt>(1.5),
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@ -93,7 +98,7 @@ impl Default for Settings {
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pub struct Thermostat {
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max1968: MAX1968,
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ad7172: ad7172::AdcPhy,
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pub tec_setting: Settings,
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pub tec_setting: TecSettings,
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pid_ctrl_ch0: PidState,
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}
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@ -102,7 +107,7 @@ impl Thermostat{
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Thermostat{
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max1968: max1968,
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ad7172: ad7172,
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tec_setting: Settings::default(),
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tec_setting: TecSettings::default(),
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pid_ctrl_ch0: PidState::default(),
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}
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}
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@ -115,7 +120,7 @@ impl Thermostat{
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fn tec_setup(&mut self) {
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self.power_down();
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self.tec_setting = Settings::default();
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self.tec_setting = TecSettings::default();
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self.set_i(self.tec_setting.i_set);
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@ -169,29 +174,29 @@ impl Thermostat{
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pub fn set_i(&mut self, i_tec: ElectricCurrent) -> ElectricCurrent {
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let voltage = i_tec * 10.0 * R_SENSE + self.tec_setting.center_pt;
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let voltage = self.max1968.set_dac(voltage, Settings::DAC_OUT_V_MAX);
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let voltage = self.max1968.set_dac(voltage, TecSettings::DAC_OUT_V_MAX);
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self.tec_setting.i_set = (voltage - self.tec_setting.center_pt) / (10.0 * R_SENSE);
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self.tec_setting.i_set
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}
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pub fn set_max_v(&mut self, max_v: ElectricPotential) -> ElectricPotential {
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let duty = (max_v / Settings::MAX_V_DUTY_TO_CURRENT_RATE).get::<ratio>();
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let duty = self.max1968.set_pwm(PwmPinsEnum::MaxV, duty, Settings::MAX_V_DUTY_MAX);
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self.tec_setting.max_v_set = duty * Settings::MAX_V_DUTY_TO_CURRENT_RATE;
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let duty = (max_v / TecSettings::MAX_V_DUTY_TO_CURRENT_RATE).get::<ratio>();
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let duty = self.max1968.set_pwm(PwmPinsEnum::MaxV, duty, TecSettings::MAX_V_DUTY_MAX);
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self.tec_setting.max_v_set = duty * TecSettings::MAX_V_DUTY_TO_CURRENT_RATE;
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self.tec_setting.max_v_set
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}
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pub fn set_max_i_pos(&mut self, max_i_pos: ElectricCurrent) -> ElectricCurrent {
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let duty = (max_i_pos / Settings::MAX_I_POS_NEG_DUTY_TO_CURRENT_RATE).get::<ratio>();
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let duty = self.max1968.set_pwm(PwmPinsEnum::MaxPosI, duty, Settings::MAX_I_POS_DUTY_MAX);
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self.tec_setting.max_i_pos_set = duty * Settings::MAX_I_POS_NEG_DUTY_TO_CURRENT_RATE;
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let duty = (max_i_pos / TecSettings::MAX_I_POS_NEG_DUTY_TO_CURRENT_RATE).get::<ratio>();
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let duty = self.max1968.set_pwm(PwmPinsEnum::MaxPosI, duty, TecSettings::MAX_I_POS_DUTY_MAX);
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self.tec_setting.max_i_pos_set = duty * TecSettings::MAX_I_POS_NEG_DUTY_TO_CURRENT_RATE;
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self.tec_setting.max_i_pos_set
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}
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pub fn set_max_i_neg(&mut self, max_i_neg: ElectricCurrent) -> ElectricCurrent {
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let duty = (max_i_neg / Settings::MAX_I_POS_NEG_DUTY_TO_CURRENT_RATE).get::<ratio>();
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let duty = self.max1968.set_pwm(PwmPinsEnum::MaxNegI, duty, Settings::MAX_I_NEG_DUTY_MAX);
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self.tec_setting.max_i_neg_set = duty * Settings::MAX_I_POS_NEG_DUTY_TO_CURRENT_RATE;
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let duty = (max_i_neg / TecSettings::MAX_I_POS_NEG_DUTY_TO_CURRENT_RATE).get::<ratio>();
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let duty = self.max1968.set_pwm(PwmPinsEnum::MaxNegI, duty, TecSettings::MAX_I_NEG_DUTY_MAX);
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self.tec_setting.max_i_neg_set = duty * TecSettings::MAX_I_POS_NEG_DUTY_TO_CURRENT_RATE;
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self.tec_setting.max_i_neg_set
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}
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@ -211,7 +216,7 @@ impl Thermostat{
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pub fn get_tec_v(&mut self) -> ElectricPotential {
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// Fixme: Rev0_2 has Analog Input Polarity Reversed
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// Remove the -ve sign for Rev0_3
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-(self.max1968.adc_read(AdcReadTarget::VTec, 16) - Settings::TEC_VSEC_BIAS_V) * 4.0
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-(self.max1968.adc_read(AdcReadTarget::VTec, 16) - TecSettings::TEC_VSEC_BIAS_V) * 4.0
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}
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/// Calibrates the DAC output to match vref of the MAX driver to reduce zero-current offset of the MAX driver output.
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@ -250,7 +255,7 @@ impl Thermostat{
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best_error = error;
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start_value = prev_value;
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let vref = (value as f64 / ad5680::MAX_VALUE as f64) * Settings::DAC_OUT_V_MAX;
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let vref = (value as f64 / ad5680::MAX_VALUE as f64) * TecSettings::DAC_OUT_V_MAX;
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self.set_center_pt(vref);
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}
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prev_value = value;
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@ -266,4 +271,71 @@ impl Thermostat{
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false
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}
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pub fn get_status_report(&mut self) -> StatusReport {
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StatusReport {
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pid_update_ts: self.pid_ctrl_ch0.get_update_ts(),
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pid_update_interval: self.pid_ctrl_ch0.get_update_interval(),
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pid_engaged: self.pid_engaged(),
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temperature: self.pid_ctrl_ch0.get_temperature(),
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i_set: self.tec_setting.i_set,
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tec_i: self.get_tec_i(),
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tec_v: self.get_tec_v(),
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tec_vref: self.get_vref(),
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}
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}
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pub fn get_pid_settings(&mut self) -> pid::Controller {
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self.pid_ctrl_ch0.pid.clone()
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}
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pub fn get_steinhart_hart(&mut self) -> steinhart_hart::Parameters {
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self.pid_ctrl_ch0.sh.clone()
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}
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pub fn get_tec_settings(&mut self) -> TecSettingSummary {
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TecSettingSummary {
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center_point: self.tec_setting.center_pt,
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i_set: TecSettingsSummaryField { value: self.tec_setting.i_set, max: TecSettings::MAX_I_SET },
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max_v: TecSettingsSummaryField { value: self.tec_setting.max_v_set, max: TecSettings::MAX_V_MAX },
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max_i_pos: TecSettingsSummaryField { value: self.tec_setting.max_i_pos_set, max: TecSettings::MAX_I_POS_CURRENT },
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max_i_neg: TecSettingsSummaryField { value: self.tec_setting.max_i_neg_set, max: TecSettings::MAX_I_NEG_CURRENT },
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}
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}
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}
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#[derive(Miniconf)]
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pub struct StatusReport {
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pid_update_ts: Time,
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pid_update_interval: Time,
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pid_engaged: bool,
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temperature: Option<ThermodynamicTemperature>,
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i_set: ElectricCurrent,
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tec_i: ElectricCurrent,
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tec_v: ElectricPotential,
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tec_vref: ElectricPotential,
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}
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#[derive(Miniconf)]
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pub struct TecSettingsSummaryField<T> {
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value: T,
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max: T,
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}
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#[derive(Miniconf)]
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pub struct TecSettingSummary {
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center_point: ElectricPotential,
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#[miniconf(defer)]
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i_set: TecSettingsSummaryField<ElectricCurrent>,
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#[miniconf(defer)]
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max_v: TecSettingsSummaryField<ElectricPotential>,
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#[miniconf(defer)]
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max_i_pos: TecSettingsSummaryField<ElectricCurrent>,
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#[miniconf(defer)]
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max_i_neg: TecSettingsSummaryField<ElectricCurrent>,
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}
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#[derive(Miniconf)]
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pub struct SteinhartHartSummary {
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#[miniconf(defer)]
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params: steinhart_hart::Parameters,
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}
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