ld: Set default ld_current_limit in setup() fn

- Fixes possible watchdog timeout
- Improves ethernet response time & thermostat Pid update interval consistency

src/device/boot.rs

@@ -8,6 +8,7 @@ use crate::net::net::ServerHandle;
 use stm32_eth;
 use fugit::ExtU32;
 use log::{info, debug};
+use stm32f4xx_hal::timer::TimerExt;
 use stm32f4xx_hal::{
     pac::{CorePeripherals, Peripherals},
     rcc::RccExt,
@@ -71,10 +72,9 @@ pub fn bootup(
 
     debug!("Setting up Laser Driver");
     let current_source = LdCtrl::new(current_source_phy);
-    let mut laser = LdDrive::new(current_source, perif.ADC2, pd_mon_phy);
+    let mut laser = LdDrive::new(current_source, perif.ADC2, perif.TIM2.counter(&clocks), pd_mon_phy);
     laser.setup();
     laser.ld_open();
-    laser.set_ld_drive_current_limit(ElectricCurrent::new::<ampere>(0.2));
     laser.ld_set_i(ElectricCurrent::new::<ampere>(0.0));
     laser.set_pd_i_limit(ElectricCurrent::new::<milliampere>(2.5));
     laser.set_pd_mon_calibrated_vdda(thermostat.get_calibrated_vdda());

src/laser_diode/laser_diode.rs

@@ -1,19 +1,20 @@
 use miniconf::Tree;
-use stm32f4xx_hal::pac::ADC2;
+use stm32f4xx_hal::timer::CounterUs;
+use stm32f4xx_hal::pac::{ADC2, TIM2};
 use uom::si::electric_current::ampere;
 use crate::laser_diode::ld_ctrl::{LdCtrl, Impedance};
 use crate::laser_diode::ld_pwr_exc_protector::{LdPwrExcProtector, self};
 use crate::laser_diode::pd_responsitivity;
+use crate::laser_diode::ld_current_out_ctrl_timer::LdCurrentOutCtrlTimer;
 use core::marker::PhantomData;
 use crate::device::sys_timer::sleep;
+use serde::{Deserialize, Serialize};
 
 use uom::si::{
     electric_current::milliampere,
     f64::{ElectricPotential, ElectricCurrent, Power},
 };
-use num_traits::Float;
+use uom::{si::{ISQ, SI, Quantity}, typenum::*};
-
-use uom::{si::{ISQ, SI, Quantity, ratio::ratio}, typenum::*};
 
 // Volt / Ampere
 pub type TransimpedanceUnit = Quantity<ISQ<P2, P1, N3, N2, Z0, Z0, Z0>, SI<f64>, f64>;
@@ -21,6 +22,11 @@ pub type TransimpedanceUnit = Quantity<ISQ<P2, P1, N3, N2, Z0, Z0, Z0>, SI<f64>,
 type TransconductanceUnit = Quantity<ISQ<N2, N1, P3, P2, Z0, Z0, Z0>, SI<f64>, f64>;
 
 impl Settings{
+    pub const LD_CURRENT_MAX: ElectricCurrent = ElectricCurrent {
+        dimension: PhantomData,
+        units: PhantomData,
+        value: 0.3,
+    };
     pub const DAC_OUT_V_MAX: ElectricPotential = ElectricPotential {
         dimension: PhantomData,
         units: PhantomData,
@@ -39,14 +45,6 @@ impl Settings{
         units: PhantomData,
         value: 10.0 / 0.75,
     };
-
-    const LD_CURRENT_STEP_SIZE: ElectricCurrent = ElectricCurrent {
-        dimension: PhantomData,
-        units: PhantomData,
-        value: 0.0001,
-    };
-
-    const LD_CURRENT_TIME_STEP_MS: u32 = 1;
 }
 
 #[derive(Clone, Debug, Tree)]
@@ -67,14 +65,25 @@ impl Default for Settings {
     }
 }
 
+#[derive(Deserialize, Serialize, Copy, Clone, Debug, Tree)]
+pub struct StatusReport {
+    pwr_engaged: bool,
+    pwr_excursion: bool,
+    ld_i_set: ElectricCurrent,
+    pd_i: ElectricCurrent,
+    pd_pwr: Power,
+    term_status: Impedance,
+}
+
 pub struct LdDrive{
     ctrl: LdCtrl,
     settings: Settings,
 }
 
 impl LdDrive{
-    pub fn new(current_source: LdCtrl, pins_adc: ADC2, phy: ld_pwr_exc_protector::LdPwrExcProtectorPhy)-> Self {
+    pub fn new(current_source: LdCtrl, pins_adc: ADC2, tim2: CounterUs<TIM2>, phy: ld_pwr_exc_protector::LdPwrExcProtectorPhy)-> Self {
         LdPwrExcProtector::setup(pins_adc, phy);
+        LdCurrentOutCtrlTimer::setup(tim2);
         
         LdDrive {
             ctrl: current_source,
@@ -84,7 +93,9 @@ impl LdDrive{
 
     pub fn setup(&mut self) {
         LdPwrExcProtector::pwr_off();
-        self.ld_set_i(ElectricCurrent::new::<milliampere>(0.0));
+        self.ctrl.set_i(ElectricCurrent::new::<milliampere>(0.0), Settings::LD_DRIVE_TRANSIMPEDANCE, Settings::DAC_OUT_V_MAX);
+        self.set_ld_drive_current_limit(Settings::LD_CURRENT_MAX);
+        LdCurrentOutCtrlTimer::reset();
         self.ld_short();
     }
 
@@ -93,7 +104,7 @@ impl LdDrive{
     }
 
     pub fn set_ld_drive_current_limit(&mut self, i_limit: ElectricCurrent){
-        self.settings.ld_drive_current_limit = i_limit;
+        self.settings.ld_drive_current_limit = i_limit.min(Settings::LD_CURRENT_MAX);
     }
 
     pub fn ld_short(&mut self) {
@@ -106,6 +117,7 @@ impl LdDrive{
 
     pub fn power_up(&mut self){            
         let _ = self.ctrl.set_i(ElectricCurrent::new::<milliampere>(0.0), Settings::LD_DRIVE_TRANSIMPEDANCE, Settings::DAC_OUT_V_MAX);
+        LdCurrentOutCtrlTimer::reset();
         LdPwrExcProtector::pwr_on_and_arm_protection();
         // Wait for LD Power Supply to start up before driving current to laser diode
         sleep(30);
@@ -120,28 +132,26 @@ impl LdDrive{
         LdPwrExcProtector::get_status().v * Settings::PD_MON_TRANSCONDUCTANCE
     }
 
-    // Ramping up or down laser diode current according to preset current step size and time step.
+    pub fn get_pd_pwr(&mut self) -> Power {
-    pub fn ld_set_i(&mut self, i: ElectricCurrent) -> ElectricCurrent {
+        self.settings.pd_responsitivity.get_ld_pwr_from_ld_i(LdPwrExcProtector::get_status().v * Settings::PD_MON_TRANSCONDUCTANCE) 
-        let mut prev_i_set = self.settings.ld_drive_current;
+    }
-        let final_i_set = i.min(self.settings.ld_drive_current_limit).max(ElectricCurrent::new::<ampere>(0.0));
 
-        let num_of_step = ((final_i_set - prev_i_set)/Settings::LD_CURRENT_STEP_SIZE).get::<ratio>().floor() as i32;
+    pub fn ld_set_i(&mut self, i: ElectricCurrent){
+        LdCurrentOutCtrlTimer::set_target_i_and_listen_irq(i, self.settings.ld_drive_current);
+    }
 
-        let current_step = if num_of_step.is_positive() {
+    pub fn poll_and_update_output_current(&mut self) -> ElectricCurrent {
-            Settings::LD_CURRENT_STEP_SIZE
+        match LdCurrentOutCtrlTimer::get_irq_status() {
-        } else { 
+            Some(i_set) => {
-            -Settings::LD_CURRENT_STEP_SIZE 
+                let i_set = self.ctrl.set_i(i_set, Settings::LD_DRIVE_TRANSIMPEDANCE, Settings::DAC_OUT_V_MAX);
-        };
+                self.settings.ld_drive_current = i_set;
-        
+                LdCurrentOutCtrlTimer::clear_alarm_and_resume_listening();
-        for _ in 0..num_of_step.abs() {
+                i_set
-            prev_i_set = prev_i_set + current_step;
+            }
-            let _ = self.ctrl.set_i(prev_i_set, Settings::LD_DRIVE_TRANSIMPEDANCE, Settings::DAC_OUT_V_MAX);
+            None => {
-            sleep(Settings::LD_CURRENT_TIME_STEP_MS);
+                ElectricCurrent::new::<ampere>(0.0)
+            }
         }
-        let prev_i_set = self.ctrl.set_i(final_i_set, Settings::LD_DRIVE_TRANSIMPEDANCE, Settings::DAC_OUT_V_MAX);
-
-        self.settings.ld_drive_current = prev_i_set;
-        prev_i_set
     }
 
     // Set the calibrated VDDA value obtained from ADC1 calibration
@@ -178,4 +188,15 @@ impl LdDrive{
     pub fn get_term_status(&mut self) -> Impedance {
         self.ctrl.get_lf_mod_in_impedance()
     }
+
+    pub fn get_status_report(&mut self) -> StatusReport {
+        StatusReport {
+            pwr_engaged: LdPwrExcProtector::get_status().pwr_engaged,
+            pwr_excursion: LdPwrExcProtector::get_status().pwr_excursion,
+            ld_i_set: self.settings.ld_drive_current,
+            pd_i: self.get_pd_i(),
+            pd_pwr: self.get_pd_pwr(),
+            term_status: self.get_term_status(),
+        }
+    }
 }

src/laser_diode/ld_ctrl.rs

@@ -1,3 +1,4 @@
+use serde::{Deserialize, Serialize};
 use stm32f4xx_hal::{
     gpio::{gpioa::*, gpiob::*, gpiod::*, Alternate, Input, Output, PushPull},
     hal::{blocking::spi::Transfer, digital::{v2::OutputPin, v2::InputPin}},
@@ -13,7 +14,7 @@ use uom::si::{
 use crate::laser_diode::max5719::{self, Dac};
 use crate::laser_diode::laser_diode::TransimpedanceUnit;
 
-#[derive(Debug)]
+#[derive(Deserialize, Serialize, Debug, Clone, Copy)]
 pub enum Impedance {
     Is50Ohm,
     Not50Ohm,
@@ -80,7 +81,7 @@ impl LdCtrl {
         let value = ((voltage / dac_out_v_max).get::<ratio>()
             * (max5719::MAX_VALUE as f64)) as u32;
         self.phy.dac.set(value).unwrap();
-        voltage
+        value as f64 * dac_out_v_max / max5719::MAX_VALUE as f64
     }
 
     pub fn set_i(&mut self, current: ElectricCurrent, transimpedance: TransimpedanceUnit, dac_out_v_max: ElectricPotential) -> ElectricCurrent {

src/laser_diode/ld_current_out_ctrl_timer.rs

@@ -0,0 +1,120 @@
+use stm32f4xx_hal::timer::{CounterUs, Event};
+use stm32f4xx_hal::pac::{interrupt, Interrupt, TIM2};
+use uom::si::{f64::ElectricCurrent, electric_current::ampere};
+use fugit::{TimerDurationU32, KilohertzU32};
+use core::marker::PhantomData;
+
+pub struct LdCurrentOutCtrlTimer {
+    target_i: ElectricCurrent,
+    now_i: ElectricCurrent,
+    timer: CounterUs<TIM2>,
+    timeout: bool,
+}
+static mut LD_CURRENT_OUT_CTRL_TIMER: Option<LdCurrentOutCtrlTimer> = None;
+
+/// This timer notifies the main loop to set the correct output current so that ld output current can ramp up/down slowly.
+///     The current output slope is guaranteed to be larger but not necessarily equal to than the preset value.
+impl LdCurrentOutCtrlTimer {
+    const TIME_STEP_MS: TimerDurationU32<1000000> = TimerDurationU32::from_rate(KilohertzU32::from_raw(1));
+    const STEP_SIZE: ElectricCurrent = ElectricCurrent {
+        dimension: PhantomData,
+        units: PhantomData,
+        value: 0.0001,
+    };
+
+    pub fn setup(mut tim2: CounterUs<TIM2>) {
+        tim2.start(LdCurrentOutCtrlTimer::TIME_STEP_MS).unwrap();
+        unsafe {
+            cortex_m::peripheral::NVIC::unmask(Interrupt::TIM2);
+        }
+        unsafe {
+            LD_CURRENT_OUT_CTRL_TIMER = Some(
+                LdCurrentOutCtrlTimer {
+                    target_i: ElectricCurrent::new::<ampere>(0.0),
+                    now_i: ElectricCurrent::new::<ampere>(0.0),
+                    timer: tim2,
+                    timeout: false
+                }
+            );
+        }
+    }
+
+    fn get() -> Option<&'static mut Self> {
+        unsafe { LD_CURRENT_OUT_CTRL_TIMER.as_mut() }
+    }
+
+    pub fn reset() {
+        if let Some(ref mut ld_current_out_ctrl_timer ) = LdCurrentOutCtrlTimer::get() {
+            ld_current_out_ctrl_timer.target_i = ElectricCurrent::new::<ampere>(0.0);
+            ld_current_out_ctrl_timer.now_i = ElectricCurrent::new::<ampere>(0.0);
+            ld_current_out_ctrl_timer.timeout = false;
+            ld_current_out_ctrl_timer.timer.unlisten(Event::Update);
+        }
+    }
+
+    pub fn set_target_i_and_listen_irq(target: ElectricCurrent, now: ElectricCurrent) {
+        if let Some(ref mut ld_current_out_ctrl_timer ) = LdCurrentOutCtrlTimer::get() {
+            cortex_m::interrupt::free(|_| {
+                    ld_current_out_ctrl_timer.target_i = target;
+                    ld_current_out_ctrl_timer.now_i = now;
+                    ld_current_out_ctrl_timer.timer.listen(Event::Update);
+                }
+            )
+        }
+    }
+
+    pub fn set_alarm() {
+        if let Some(ref mut ld_current_out_ctrl_timer ) = LdCurrentOutCtrlTimer::get() {
+            ld_current_out_ctrl_timer.timeout = true;
+        }
+    }
+    pub fn clear_alarm_and_resume_listening() {
+        if let Some(ref mut ld_current_out_ctrl_timer ) = LdCurrentOutCtrlTimer::get() {
+            ld_current_out_ctrl_timer.timeout = false;
+            ld_current_out_ctrl_timer.timer.listen(Event::Update);
+        }
+    }
+    pub fn get_irq_status() -> Option<ElectricCurrent> {
+        if let Some(ref mut ld_current_out_ctrl_timer ) = LdCurrentOutCtrlTimer::get() {
+            if ld_current_out_ctrl_timer.timeout {
+                return Some(ld_current_out_ctrl_timer.now_i);
+            }
+        }
+        None
+    }
+
+    pub fn clear_irq_flag() {
+        if let Some(ref mut ld_current_out_ctrl_timer ) = LdCurrentOutCtrlTimer::get() {
+            ld_current_out_ctrl_timer.timer.clear_interrupt(Event::Update);
+        }
+    }
+
+    pub fn update_next_i_set() -> bool {
+        if let Some(ref mut ld_current_out_ctrl_timer ) = LdCurrentOutCtrlTimer::get() {
+            let update = ld_current_out_ctrl_timer.now_i != ld_current_out_ctrl_timer.target_i;
+            if ld_current_out_ctrl_timer.target_i > ld_current_out_ctrl_timer.now_i {
+                ld_current_out_ctrl_timer.now_i = (ld_current_out_ctrl_timer.now_i + LdCurrentOutCtrlTimer::STEP_SIZE).min(ld_current_out_ctrl_timer.target_i);
+            }
+            else {
+                ld_current_out_ctrl_timer.now_i = (ld_current_out_ctrl_timer.now_i - LdCurrentOutCtrlTimer::STEP_SIZE).max(ld_current_out_ctrl_timer.target_i);
+            }
+            return update
+        }
+        false
+    }
+
+    pub fn stop_listening() {
+        if let Some(ref mut ld_current_out_ctrl_timer ) = LdCurrentOutCtrlTimer::get() {
+            ld_current_out_ctrl_timer.timer.unlisten(Event::Update);
+        }
+    }
+}
+
+#[interrupt]
+fn TIM2(){
+    if LdCurrentOutCtrlTimer::update_next_i_set() {
+        LdCurrentOutCtrlTimer::set_alarm();
+    }
+    LdCurrentOutCtrlTimer::stop_listening();
+    LdCurrentOutCtrlTimer::clear_irq_flag();
+}

src/laser_diode/mod.rs

@@ -3,3 +3,4 @@ pub mod max5719;
 pub mod laser_diode;
 pub mod pd_responsitivity;
 pub mod ld_pwr_exc_protector;
+pub mod ld_current_out_ctrl_timer;

src/main.rs

@@ -34,6 +34,10 @@ use panic_halt as _;
 
 static mut ETH_DATA_BUFFER: [u8; 1024] = [0; 1024];
 
+pub struct DeviceSettings{
+    report_readings: bool,
+}
+
 #[cfg(not(test))]
 #[entry]
 fn main() -> ! {
@@ -80,12 +84,18 @@ fn main() -> ! {
 
     let mut should_reset = false;
 
+    let mut device_settings = DeviceSettings {
+        report_readings: false,
+    };
+
     loop {
         wd.feed();
 
         if !should_reset {
             let mut eth_is_pending = false;
         
+            laser.poll_and_update_output_current();
+            
             if thermostat.poll_adc_and_update_pid() {
                 info!("curr_dac_vfb: {:?}", volt_fmt.with(thermostat.get_dac_vfb()));
                 info!("curr_vref: {:?}", volt_fmt.with(thermostat.get_vref()));
@@ -98,6 +108,15 @@ fn main() -> ! {
                 info!("power_excursion: {:?}", laser.pd_mon_status().pwr_excursion);
                 
                 info!("Termination Status: {:?}", laser.get_term_status());
+
+                if net::net::eth_is_socket_active() {
+                    if device_settings.report_readings {
+                        unsafe {
+                            net::cmd_handler::send_ld_readings(&mut ETH_DATA_BUFFER, &mut laser);
+                            net::cmd_handler::send_tec_readings(&mut ETH_DATA_BUFFER, &mut thermostat);
+                        }
+                    }
+                }
             }
             
             if net::net::eth_is_socket_active() {
@@ -114,10 +133,13 @@ fn main() -> ! {
                         });
                         let bytes = net::net::eth_recv(&mut ETH_DATA_BUFFER);
                         debug!("Number of bytes recv: {:?}", bytes);
-                        (laser, thermostat, should_reset) = net::cmd_handler::execute_cmd(&mut ETH_DATA_BUFFER, bytes, laser, thermostat);
+                        (laser, thermostat, should_reset, device_settings) = net::cmd_handler::execute_cmd(&mut ETH_DATA_BUFFER, bytes, laser, thermostat, device_settings);
                     }
                 }
             }
+            else {
+                device_settings.report_readings = false;
+            }
         } else {
             // Should reset, close all TCP sockets.
             let mut any_socket_alive = false;

src/net/cmd_handler.rs

@@ -7,17 +7,24 @@ use uom::si::{
     electrical_resistance::{ElectricalResistance, ohm}, 
     f64::ThermodynamicTemperature, thermodynamic_temperature::degree_celsius
 };
-use crate::{laser_diode::laser_diode::LdDrive, net::net, thermostat::thermostat::StatusReport};
+use crate::{laser_diode::laser_diode::{
+        LdDrive, StatusReport as LdStatusReport
+    }, 
+    net::net, 
+    thermostat::thermostat::StatusReport as TecStatusReport
+};
 use crate::thermostat::thermostat::Thermostat;
 use crate::thermostat::pid_state::PidSettings::*;
 use crate::device::dfu;
 use log::info;
+use crate::DeviceSettings;
 
 #[derive(Deserialize, Serialize, Copy, Clone, Default, Debug)]
 enum DeviceCmd {
     #[default]
     Reserved,
-    Dfu
+    ReportStatus,
+    Dfu,
 }
 
 #[derive(Deserialize, Serialize, Copy, Clone, Default, Debug)]
@@ -79,6 +86,7 @@ pub struct CmdJsonObj{
     laser_diode_cmd: Option<LdCmdEnum>,
     thermostat_cmd: Option<ThermostatCmdEnum>,
     device_cmd: Option<DeviceCmd>,
+    data_bool: Option<bool>,
     data_f32: Option<f32>,
     data_f64: Option<f64>,
 }
@@ -87,12 +95,33 @@ pub struct Cmd {
     json: CmdJsonObj
 }
 
-#[derive(Deserialize, Serialize, Copy, Clone, Debug, Default, Tree)]
+#[derive(Deserialize, Serialize, Copy, Clone, Debug, Tree)]
-pub struct StatusReportStruct {
+pub struct TecStatusReportStruct {
-    json: StatusReport
+    json: TecStatusReport
 }
 
-pub fn execute_cmd(buffer: &mut [u8], buffer_size: usize, mut laser: LdDrive, mut tec: Thermostat)->(LdDrive, Thermostat, bool){
+#[derive(Deserialize, Serialize, Copy, Clone, Debug, Tree)]
+pub struct LaserStatusReportStruct {
+    json: LdStatusReport
+}
+
+pub fn send_ld_readings(buffer: &mut [u8], laser: &mut LdDrive){
+    let status_report = LaserStatusReportStruct {
+        json: laser.get_status_report()
+    };
+    let num_bytes = status_report.get_json("/json", buffer).unwrap();
+    net::eth_send(buffer, num_bytes);
+}
+
+pub fn send_tec_readings(buffer: &mut [u8], tec: &mut Thermostat){
+    let status_report = TecStatusReportStruct {
+        json: tec.get_status_report()
+    };
+    let num_bytes = status_report.get_json("/json", buffer).unwrap();
+    net::eth_send(buffer, num_bytes);
+}
+
+pub fn execute_cmd(buffer: &mut [u8], buffer_size: usize, mut laser: LdDrive, mut tec: Thermostat, mut device_settings: DeviceSettings)->(LdDrive, Thermostat, bool, DeviceSettings){
     let mut should_reset = false;
     
     let mut cmd = Cmd {
@@ -111,6 +140,16 @@ pub fn execute_cmd(buffer: &mut [u8], buffer_size: usize, mut laser: LdDrive, mu
                     }
                     should_reset = true;
                 }
+                Some(DeviceCmd::ReportStatus) => {
+                    match cmd.json.data_bool{
+                        Some(val) => {
+                            device_settings.report_readings = val;
+                        }
+                        None => {
+                            info!("Wrong Data type is received")
+                        }
+                    }
+                }
                 None => { /* Do Nothing */}
                 _ => {
                     info!("Unimplemented Command") 
@@ -176,7 +215,7 @@ pub fn execute_cmd(buffer: &mut [u8], buffer_size: usize, mut laser: LdDrive, mu
                     info!("Not supported Yet")
                 }
                 Some(LdCmdEnum::GetLdStatus) => {
-                    info!("Not supported Yet")
+                    send_ld_readings(buffer, &mut laser);
                 }
                 Some(LdCmdEnum::GetAlramStatus) => {
                     info!("Not supported Yet")
@@ -334,11 +373,7 @@ pub fn execute_cmd(buffer: &mut [u8], buffer_size: usize, mut laser: LdDrive, mu
                     }
                 }
                 Some(ThermostatCmdEnum::GetTecStatus) => {
-                    let status_report = StatusReportStruct {
+                    send_tec_readings(buffer, &mut tec);
-                        json: tec.get_status_report()
-                    };
-                    let num_bytes = status_report.get_json("/json", buffer).unwrap();
-                    net::eth_send(buffer, num_bytes);
                 }
                 Some(ThermostatCmdEnum::GetPidStatus) => {
                     info!("Not supported Yet")
@@ -356,5 +391,5 @@ pub fn execute_cmd(buffer: &mut [u8], buffer_size: usize, mut laser: LdDrive, mu
             info!("Invalid Command: {:?}", err);
         }
     }
-    (laser, tec, should_reset)
+    (laser, tec, should_reset, device_settings)
 }

src/thermostat/thermostat.rs

@@ -338,7 +338,7 @@ impl Thermostat{
     }
 }
 
-#[derive(Deserialize, Serialize, Copy, Clone, Debug, Default, Tree)]
+#[derive(Deserialize, Serialize, Copy, Clone, Debug, Tree)]
 pub struct StatusReport {
     ts: u32,
     pid_engaged: bool,