thermostat: Add channel_state mod for PID Control

This commit is contained in:
linuswck 2024-01-17 12:49:57 +08:00
parent 3ac287ace2
commit ccaf728c75
2 changed files with 98 additions and 0 deletions

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@ -0,0 +1,97 @@
use smoltcp::time::{Duration, Instant};
use uom::si::{
f64::{
ElectricPotential,
ElectricalResistance,
ThermodynamicTemperature,
Time,
},
electric_potential::volt,
electrical_resistance::ohm,
thermodynamic_temperature::degree_celsius,
time::millisecond,
};
use crate::thermostat::{
ad7172,
steinhart_hart as sh,
};
use crate::pid::pid;
const R_INNER: f64 = 2.0 * 5100.0;
const VREF_SENS: f64 = 3.3 / 2.0;
pub struct ChannelState {
pub adc_data: Option<u32>,
pub adc_calibration: ad7172::ChannelCalibration,
pub adc_time: Instant,
pub adc_interval: Duration,
/// i_set 0A center point
pub center: ElectricPotential,
pub dac_value: ElectricPotential,
pub pid_engaged: bool,
pub pid: pid::Controller,
pub sh: sh::Parameters,
}
impl ChannelState {
pub fn new(adc_calibration: ad7172::ChannelCalibration) -> Self {
ChannelState {
adc_data: None,
adc_calibration,
adc_time: Instant::from_secs(0),
// default: 10 Hz
adc_interval: Duration::from_millis(100),
center: ElectricPotential::new::<volt>(1.5),
dac_value: ElectricPotential::new::<volt>(0.0),
pid_engaged: false,
pid: pid::Controller::new(pid::Parameters::default()),
sh: sh::Parameters::default(),
}
}
pub fn update(&mut self, now: Instant, adc_data: u32) {
self.adc_data = if adc_data == ad7172::MAX_VALUE {
// this means there is no thermistor plugged into the ADC.
None
} else {
Some(adc_data)
};
self.adc_interval = now - self.adc_time;
self.adc_time = now;
}
/// Update PID state on ADC input, calculate new DAC output
pub fn update_pid(&mut self) -> Option<f64> {
let temperature = self.get_temperature()?
.get::<degree_celsius>();
let pid_output = self.pid.update(temperature);
Some(pid_output)
}
pub fn get_adc_time(&self) -> Time {
Time::new::<millisecond>(self.adc_time.total_millis() as f64)
}
pub fn get_adc_interval(&self) -> Time {
Time::new::<millisecond>(self.adc_interval.total_millis() as f64)
}
pub fn get_adc(&self) -> Option<ElectricPotential> {
Some(self.adc_calibration.convert_data(self.adc_data?))
}
/// Get `SENS[01]` input resistance
pub fn get_sens(&self) -> Option<ElectricalResistance> {
let r_inner = ElectricalResistance::new::<ohm>(R_INNER);
let vref = ElectricPotential::new::<volt>(VREF_SENS);
let adc_input = self.get_adc()?;
let r = r_inner * adc_input / (vref - adc_input);
Some(r)
}
pub fn get_temperature(&self) -> Option<ThermodynamicTemperature> {
let r = self.get_sens()?;
let temperature = self.sh.get_temperature(r);
Some(temperature)
}
}

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@ -3,3 +3,4 @@ pub mod max1968;
pub mod thermostat;
pub mod ad7172;
pub mod steinhart_hart;
pub mod channel_state;