Implement Kirdy AsyncIo Driver and example code

README.md

@@ -65,7 +65,7 @@ On a Windows machine install [st.com](https://st.com) DfuSe USB device firmware
 - cycle power to leave DFU update mode
 
 ### Erasing Flash Settings
-The flash settings are stored in the last flash sector(ID: 11) of bank 0 of stm32f405. With JTAG/SWD adapter connected, you can erase the flash settings without erasing the firmware with the following commands. You may find it useful if you have set the wrong IP settings.
+The flash settings are stored in the last flash sector(ID: 11) of bank 0 of stm32f405. You can erase it with JTAG/SWD adapter or by putting the device in Dfu mode. You may find it useful if you have set network settings incorrectly.
 
 With JTAG/SWD adapter connected, issue the following command:
 
@@ -73,6 +73,12 @@ With JTAG/SWD adapter connected, issue the following command:
 openocd -f interface/stlink.cfg -f target/stm32f4x.cfg -c "flash init; init; halt; flash erase_sector 0 11 last; reset; exit"
 ```
 
+With STM32 in DFU Mode, connect the USB Type C cable and then issue the following command:
+
+```
+dfu-util -a 0 -s 0x080E0000:leave -D erase_flash_settings.bin
+```
+
 ### OpenOCD
 ```shell
 openocd -f interface/stlink.cfg -f target/stm32f4x.cfg -c "program target/thumbv7em-none-eabihf/debug/kirdy verify reset; exit"

eth_cmd_test.py

@@ -1,149 +0,0 @@
-# Python Test Scripts for Controlling Kirdy
-#   Kirdy is written to be controlled via a json object based on miniconf rust crate
-#   Json Field:
-#       "laser_diode_cmd / thermostat_cmd": Check cmd_handler.rs for the list of cmds
-#       "data_f32": Optional f32 Data field depending on cmd
-#       "data_f64": Optional f64 Data field depending on cmd
-
-import socket
-import json
-import time
-import signal
-
-# Kirdy IP and Port Number
-HOST = "192.168.1.132"
-PORT = 1337
-
-dfu_cmd = {
-    "device_cmd": "Dfu",
-}
-
-ld_cmd = {
-    "laser_diode_cmd": "SetI",
-    "data_f32": 0.0,
-}
-
-tec_clear_alarm = {
-    "thermostat_cmd": "ClearAlarm",
-}
-
-tec_power_down = {
-    "thermostat_cmd": "PowerDown",
-}
-
-tec_set_sh_t0_cmd = {
-    "thermostat_cmd": "SetShT0",
-    "data_f32": 25.0,
-}
-
-tec_set_sh_r0_cmd = {
-    "thermostat_cmd": "SetShR0",
-    "data_f32": 10.0 * 1000,
-}
-
-tec_set_sh_beta_cmd = {
-    "thermostat_cmd": "SetShBeta",
-    "data_f32": 3900.0,
-}
-
-tec_set_temperature_setpoint_cmd = {
-    "thermostat_cmd": "SetTemperatureSetpoint",
-    "data_f32": 30.0,
-}
-
-tec_set_pid_kp_cmd = {
-    "thermostat_cmd": "SetPidKp",
-    "data_f32": 0.14398316474562461
-}
-
-tec_set_pid_ki_cmd = {
-    "thermostat_cmd": "SetPidKi",
-    "data_f32": 0.004117762308816449
-}
-
-tec_set_pid_kd_cmd = {
-    "thermostat_cmd": "SetPidKd",
-    "data_f32": 0.36324599631515664
-}
-
-tec_set_pid_out_min_cmd = {
-    "thermostat_cmd": "SetPidOutMin",
-    "data_f32": -1.0,
-}
-
-tec_set_pid_out_max_cmd = {
-    "thermostat_cmd": "SetPidOutMax",
-    "data_f32": 1.0,
-}
-
-tec_power_up = {
-    "thermostat_cmd": "PowerUp",
-}
-
-tec_pid_engage = {
-    "thermostat_cmd": "SetPidEngage",
-}
-
-kirdy_get_status_report = {
-    "device_cmd": "GetStatusReport",
-}
-
-kirdy_report_mode_cmd = {
-    "device_cmd": "SetActiveReportMode",
-    "data_bool": True,
-}
-
-temp_adc_config = {
-    "thermostat_cmd": "ConfigTempAdcFilter",
-    "temp_adc_filter": {
-        "filter_type": "Sinc5Sinc1With50hz60HzRejection",
-        "sinc5sinc1postfilter": "F16SPS"
-    }
-}
-
-def send_cmd(input, socket):
-    socket.send(bytes(json.dumps(input), "UTF-8"))
-    # Give some time for Kirdy to process the cmd
-    time.sleep(0.5)
-
-def poll_status_report(socket):
-    while True:
-        data = socket.recv(1024).decode('utf8')
-        try: 
-            json_data = json.loads(data)
-            break
-        except json.decoder.JSONDecodeError:
-            pass
-    return json_data
-
-s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-
-def signal_handler(sig, frame):
-    ld_cmd["data_f32"] = 0.0
-    send_cmd(ld_cmd, s)
-    send_cmd(tec_power_down, s)
-    s.close()
-    exit()
-
-signal.signal(signal.SIGINT, signal_handler)
-
-with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
-    s.connect((HOST, PORT))
-    send_cmd(ld_cmd, s)
-    send_cmd(tec_power_down, s)
-    send_cmd(tec_set_sh_t0_cmd, s)
-    send_cmd(tec_set_sh_r0_cmd, s)
-    send_cmd(tec_set_sh_beta_cmd, s)
-    send_cmd(tec_set_temperature_setpoint_cmd, s)
-    send_cmd(tec_set_pid_kp_cmd, s)
-    send_cmd(tec_set_pid_ki_cmd, s)
-    send_cmd(tec_set_pid_kd_cmd, s)
-    send_cmd(tec_clear_alarm, s)
-    send_cmd(temp_adc_config, s)
-    send_cmd(tec_pid_engage, s)
-    send_cmd(tec_power_up, s)
-    send_cmd(kirdy_report_mode_cmd, s)
-
-    while True:
-        status_report = poll_status_report(s)
-        print(f"Ts: {status_report['ts']} | Temperature: {status_report['tec']['temperature'] - 273.15}")

pykirdy/asyncio_exmaple.py

@@ -0,0 +1,47 @@
+from driver.kirdy_async import Kirdy
+import asyncio
+
+async def main():
+    kirdy = Kirdy()
+    await kirdy.start_session(host='192.168.1.128', port=1337, timeout=0.25)
+    await kirdy.device.set_active_report_mode(False)
+
+    await kirdy.laser.set_power_on(False)
+    await kirdy.laser.clear_alarm()
+    await kirdy.laser.set_i(0)
+    await kirdy.laser.set_i_soft_limit(250)
+    await kirdy.laser.set_power_on(True)
+
+    await kirdy.thermostat.set_power_on(False)
+    await kirdy.thermostat.clear_alarm()
+    
+    await kirdy.thermostat.set_sh_r0(10.0*1000)
+    await kirdy.thermostat.set_sh_t0(25)
+    await kirdy.thermostat.set_sh_beta(3900)
+
+    await kirdy.thermostat.set_temperature_setpoint(25)
+    await kirdy.thermostat.set_temp_mon_upper_limit(40)
+    await kirdy.thermostat.set_temp_mon_lower_limit(10)
+
+    await kirdy.thermostat.set_pid_kp(0.15668282198105507)
+    await kirdy.thermostat.set_pid_ki(0.002135962407793784)
+    await kirdy.thermostat.set_pid_kd(0.829254515277143)
+
+    await kirdy.thermostat.set_pid_output_max(1.0)
+    await kirdy.thermostat.set_pid_output_min(-1.0)
+
+    await kirdy.thermostat.config_temp_adc_filter("Sinc5Sinc1With50hz60HzRejection", "F16SPS")
+    await kirdy.thermostat.set_power_on(True)
+    await kirdy.thermostat.set_pid_control_mode()
+
+    await kirdy.laser.set_default_pwr_on(False)
+    await kirdy.thermostat.set_default_pwr_on(True)
+    await kirdy.device.save_current_settings_to_flash()
+
+    async for data in kirdy.report_mode():
+        print(data)
+
+    await kirdy.end_session()
+
+if __name__ == "__main__":
+    asyncio.run(main())

pykirdy/driver/kirdy_async.py

@@ -0,0 +1,699 @@
+import socket
+import asyncio
+import json
+
+# Data Type Enums
+IP_SETTINGS = "ip_settings"
+TEMP_ADC_FILTER = "temp_adc_filter"
+DATA_F32 = "data_f32"
+DATA_BOOL = "data_bool"
+
+TARGET_DEVICE = "device_cmd"
+TARGET_LD = "laser_diode_cmd"
+TARGET_THERMOSTAT = "thermostat_cmd"
+
+class CmdDoesNotExist(Exception):
+    pass
+
+class InvalidDataType(Exception):
+    pass
+
+class NoAckRecv(Exception):
+    pass
+
+Filter_Config = {
+    "Sinc5Sinc1With50hz60HzRejection": [
+        "sinc5sinc1postfilter",
+        [
+            "F27SPS", 
+            "F21SPS", 
+            "F20SPS", 
+            "F16SPS",
+        ]
+    ],
+    "Sinc5Sinc1": [
+        "sinc5sinc1odr",
+        [
+            "F31250_0SPS",
+            "F15625_0SPS",
+            "F10417_0SPS",
+            "F5208_0SPS" ,
+            "F2597_0SPS" ,
+            "F1007_0SPS" ,
+            "F503_8SPS"  ,
+            "F381_0SPS"  ,
+            "F200_3SPS"  ,
+            "F100_2SPS"  ,
+            "F59_52SPS"  ,
+            "F49_68SPS"  ,
+            "F20_01SPS"  ,
+            "F16_63SPS"  ,
+            "F10_0SPS"   ,
+            "F5_0SPS"    ,
+            "F2_5SPS"    ,
+            "F1_25SPS"   ,
+        ]
+    ],
+    "Sinc3": [
+        "sinc3odr",
+        [
+            "F31250_0SPS",
+            "F15625_0SPS",
+            "F10417_0SPS",
+            "F5208_0SPS" ,
+            "F2597_0SPS" ,
+            "F1007_0SPS" ,
+            "F503_8SPS"  ,
+            "F381_0SPS"  ,
+            "F200_3SPS"  ,
+            "F100_2SPS"  ,
+            "F59_52SPS"  ,
+            "F49_68SPS"  ,
+            "F20_01SPS"  ,
+            "F16_63SPS"  ,
+            "F10_0SPS"   ,
+            "F5_0SPS"    ,
+            "F2_5SPS"    ,
+            "F1_25SPS"   ,
+        ]
+    ],
+    "Sinc3WithFineODR": [
+        "sinc3fineodr",
+        DATA_F32
+    ],
+}
+
+class Device:
+    def __init__(self, send_cmd_handler, send_raw_cmd_handler, read_response):
+        self._send_cmd = send_cmd_handler
+        self._send_raw_cmd = send_raw_cmd_handler
+        self._read_response = read_response
+
+    async def set_ip_settings(self, addr=[192, 168, 1, 132], port=1337, prefix_len=24, gateway=[192, 168, 1, 1]):
+        """
+            After calling this fn, the user needs to issue the SaveFlashSettings cmd and then issue a
+                Hard Reset/Power Cycle Kirdy for the new network settings to be effective. 
+        """
+        if not(isinstance(addr, list) and isinstance(gateway, list)):
+            raise InvalidDataType
+
+        if not(len(addr) == 4 and len(gateway) == 4):
+            raise InvalidDataType
+
+        if not(isinstance(port, int) and isinstance(prefix_len, int)):
+            raise InvalidDataType
+        
+        return await self._send_raw_cmd(
+            {
+                "device_cmd": "SetIPSettings",
+                "ip_settings": {
+                    "addr": addr,
+                    "port": port,
+                    "prefix_len": prefix_len,
+                    "gateway": gateway,
+                }
+            }
+        )
+
+    async def set_active_report_mode(self, on):
+        """
+            Set active report to be on. If it is on, Kirdy will send status report
+            to ALL client socket connections according to the temperature polling rate set.
+        """
+        return await self._send_cmd(TARGET_DEVICE, "SetActiveReportMode", on)
+
+    async def get_status_report(self):
+        """
+            {
+                'laser': {
+                    default_pwr_on': False,         # Power On Laser Diode at Startup
+                    ld_drive_current': {            # Laser Diode Output Current(A)
+                       'value': 0.0,                    # Value Set
+                       'max': 0.3                       # Max Value Settable
+                    ,   
+                    ld_drive_current_limit': {      # Laser Diode Software Current Limit(A)
+                       'value': 0.3,                    # Value Set
+                       'max': 0.3                       # Max Value Settable
+                    ,   
+                    pd_responsitivity': {           # Laser Diode Software Current Limit(A)
+                       'responsitivity': None,          # Value Set
+                       'i_dark': 0.0                    # Max Value Settable
+                    ,   
+                    ld_pwr_limit': 0.0              # Laser Diode Power Limit(W)
+                }, 
+                'thermostat': {
+                    'default_pwr_on': True,         # Power on Thermostat at Startup
+                    'pid_engaged': True,            # True: PID Control Mode | False Constant Current Mode
+                    'temperature_setpoint': 298.15, # Temperature Setpoint (K)
+                    'tec_settings': {
+                        'i_set': {                  # Current TEC Current Set by PID Controller/User
+                            'value': 0.04330516,        # Value Set
+                            'max': 1.0                  # Max Value Settable
+                        }, 
+                        'max_v': {                  # Max Voltage Across Tec Terminals
+                            'value': 4.990857,          # Value Set
+                            'max': 5.0                  # Max Value Settable
+                        }, 
+                        'max_i_pos': {              # Max Cooling Current Across Tec Terminals
+                            'value': 0.99628574,        # Value Set
+                            'max': 1.0                  # Max Value Settable
+                        }, 
+                        'max_i_neg': {              # Max Heating Current Across Tec Terminals
+                            'value': 0.99628574,        # Value Set
+                            'max': 1.0                  # Max Value Settable
+                        }
+                    }, 
+                    'pid_params': {                 # PID Controller Parameters
+                        'kp': 0.15668282,               # Proportional Gain
+                        'ki': 0.0021359625,             # Integral Gain
+                        'kd': 0.8292545,                # Derivative Gain
+                        'output_min': -1.0,             # Minimum Current Output (A)
+                        'output_max': 1.0               # Maximum Current Output (A)
+                    }, 
+                    'temp_adc_settings': {                                  # Temperature ADC Settings (Please read AD7172-2 Documentation)
+                        'filter_type': 'Sinc5Sinc1With50hz60HzRejection',       # Filter Types
+                        'sinc5sinc1odr': None,                                  # (Unused)
+                        'sinc3odr': None,                                       # (Unused)
+                        'sinc5sinc1postfilter': None,                           # (Unused)
+                        'sinc3fineodr': None,                                   # (Unused)
+                        'rate': 16.67                                           # ADC Sampling Rate (Hz)
+                    }, 
+                    'temp_mon_settings': {              # Temperature Monitor Settings
+                        'upper_limit': 40.0,                # Temperature Upper Limit (Degree Celsius)
+                        'lower_limit': 10.0                 # Temperature Lower Limit (Degree Celsius)
+                    }, 
+                    'thermistor_params': {              # Thermistor Steinhart-Hart equation parameters
+                        't0': 25.0,                         # t0: Degree Celsius
+                        'r0': 10000.0,                      # r0: Ohm
+                        'b': 3900.0                         # b: (unitless)
+                    }
+                }
+            }
+        """
+
+        response = await self._send_cmd(TARGET_DEVICE, "GetStatusReport")
+        if response["msg_type"] != "Acknowledge":
+            return response
+        return await self._read_response()
+
+    async def get_settings_summary(self):
+        response = await self._send_cmd(TARGET_DEVICE, "GetSettingsSummary")
+        if response["msg_type"] != "Acknowledge":
+            return response
+        return await self._read_response()
+
+    async def dfu(self):
+        """
+            Issuing this cmd will HARD RESET the device and 
+            put Kirdy into Dfu mode for flashing firmware.
+        """
+        return await self._send_cmd(TARGET_DEVICE, "Dfu")
+
+    async def save_current_settings_to_flash(self):
+        """
+            Save the current device configurations into flash.
+        """
+        return await self._send_cmd(TARGET_DEVICE, "SaveFlashSettings")
+
+    async def load_current_settings_to_flash(self):
+        """
+            Restore stored settings in flash
+        """
+        return await self._send_cmd(TARGET_DEVICE, "LoadFlashSettings")
+
+    async def hard_reset(self):
+        """
+            Hard Reset Kirdy. The socket connection will be closed by Kirdy. 
+            Laser diode power and Tec power will be turned off.
+        """
+        return await self._send_cmd(TARGET_DEVICE, "HardReset")
+
+class Laser:
+    def __init__(self, send_cmd_handler):
+        self._send_cmd = send_cmd_handler
+
+    async def set_power_on(self, on):
+        """
+            Power Up or Power Down laser diode. Powering up the Laser Diode resets the pwr_excursion status
+                - on (True/False)
+        """
+        if on:
+            return await self._send_cmd(TARGET_LD, "PowerUp", None)
+        else:
+            return await self._send_cmd(TARGET_LD, "PowerDown", None)
+
+    async def set_default_pwr_on(self, on):
+        """
+            Set whether laser diode is powered up at Startup
+                - on (True/False)
+        """
+        return await self._send_cmd(TARGET_LD, "SetDefaultPowerOn", on)
+    
+    async def set_ld_terms_short(self, short):
+        """
+            Open/Short laser diode terminals.
+                - on (True/False)
+        """
+        if short:
+            return await self._send_cmd(TARGET_LD, "LdTermsShort", None)
+        else:
+            return await self._send_cmd(TARGET_LD, "LdTermsOpen", None)
+
+    async def set_i(self, i):
+        """
+            Set laser diode output current: Max(0, Min(i_set, i_soft_limit))
+                - i: mA  
+        """
+        return await self._send_cmd(TARGET_LD, "SetI", i)
+
+    async def set_i_soft_limit(self, i_limit):
+        """
+            Set laser diode software output current limit
+                - i_limit: mA
+        """
+        return await self._send_cmd(TARGET_LD, "SetISoftLimit", i_limit)
+
+    async def config_pd_mon(self, responsitivity, dark_current):
+        """
+            Configure the photodiode monitor parameters
+                - responsitivity: A/W
+                - dark current: uA
+        """
+        response = await self._send_cmd(TARGET_LD, "SetPdResponsitivity", responsitivity)
+        if response["msg_type"] != "Acknowledge":
+            return response
+        return await self._send_cmd(TARGET_LD, "SetPdDarkCurrent", dark_current)
+
+    async def set_ld_pwr_limit(self, pwr_limit):
+        """
+            Set power limit for the power excursion monitor
+            If the calculated power with the params of pd_mon > pwr_limit,
+            overpower protection is triggered.
+                - pwr_limit: mW 
+        """
+        return await self._send_cmd(TARGET_LD, "SetLdPwrLimit", pwr_limit)
+
+    async def clear_alarm(self):
+        """
+            Clear the power excursion monitor alarm 
+        """
+        return await self._send_cmd(TARGET_LD, "ClearAlarm")
+
+class Thermostat:
+    def __init__(self, send_cmd_handler, send_raw_cmd_handler):
+        self._send_cmd = send_cmd_handler
+        self._send_raw_cmd = send_raw_cmd_handler
+
+    async def set_power_on(self, on):
+        """
+            Power up or power down thermostat
+                - Powering up the thermostat resets the pwr_excursion status
+        """
+        if on:
+            return await self._send_cmd(TARGET_THERMOSTAT, "PowerUp", None)
+        else:
+            return await self._send_cmd(TARGET_THERMOSTAT, "PowerDown", None)
+
+    async def set_default_pwr_on(self, on):
+        """
+            Set whether thermostat is powered up at Startup
+        """
+        return await self._send_cmd(TARGET_THERMOSTAT, "SetDefaultPowerOn", on)
+
+    async def set_tec_max_v(self, max_v):
+        """
+            Set Tec Maximum Voltage Across the TEC Terminals
+                - max_v: V
+        """
+        return await self._send_cmd(TARGET_THERMOSTAT, "SetTecMaxV", max_v)
+
+    async def set_tec_max_i_pos(self, max_i_pos):
+        """
+            Set Tec maximum positive output
+                - max_i_pos: A
+        """
+        return await self._send_cmd(TARGET_THERMOSTAT, "SetTecMaxIPos", max_i_pos)
+
+    async def set_tec_max_i_neg(self, max_i_neg):
+        """
+            Set Tec maximum negative output
+                - max_i_neg: A
+        """
+        return await self._send_cmd(TARGET_THERMOSTAT, "SetTecMaxINeg", max_i_neg)
+
+    async def set_tec_i_out(self, i_out):
+        """
+            Set Tec Output Current
+            This cmd is only effective in constant current control mode 
+            or your newly set value will be overwritten by PID Controller Output
+                - i_out: A
+        """
+        if isinstance(i_out, float):
+            return await self._send_raw_cmd({"tec_set_i": i_out})
+        elif isinstance(i_out, int):
+            return await self._send_raw_cmd({"tec_set_i": float(i_out)})
+        else:
+            raise InvalidDataType
+
+    async def set_constant_current_control_mode(self):
+        """
+            Disable PID Controller and output current can be controlled with set_tec_i_out() cmd.
+        """
+        return await self._send_cmd(TARGET_THERMOSTAT, "SetPidDisEngage", None)
+
+    async def set_temperature_setpoint(self, temperature):
+        """
+            Set Temperature Setpoint for PID Controller. This parameter is not active in constant current control mode
+                - temperature: Degree Celsius
+        """
+
+        return await self._send_cmd(TARGET_THERMOSTAT, "SetTemperatureSetpoint", temperature)
+
+    async def set_pid_control_mode(self):
+        """
+            Enable PID Controller. Its PID Update Interval is controlled by the Temperature ADC polling rate.
+            Please refer to config_temp_adc_filter for the possible polling rate options
+        """
+        return await self._send_cmd(TARGET_THERMOSTAT, "SetPidEngage", None)
+
+    async def set_pid_kp(self, kp):
+        """
+            Set Kp parameter for PID Controller
+                kp: (unitless) 
+        """
+        return await self._send_cmd(TARGET_THERMOSTAT, "SetPidKp", kp)
+
+    async def set_pid_ki(self, ki):
+        """
+            Set Ki parameter for PID Controller
+                ki: (unitless) 
+        """
+        await self._send_cmd(TARGET_THERMOSTAT, "SetPidKi", ki)
+
+    async def set_pid_kd(self, kd):
+        """
+            Set Kd parameter for PID Controller
+                kd: (unitless) 
+        """
+        return await self._send_cmd(TARGET_THERMOSTAT, "SetPidKd", kd)
+
+    async def set_pid_output_max(self, out_max):
+        """
+            Set max output limit at the PID Output
+                - out_max: A
+        """
+        return await self._send_cmd(TARGET_THERMOSTAT, "SetPidOutMax", out_max)
+    
+    async def set_pid_output_min(self, out_min):
+        """
+            Set min output limit at the PID Output
+                - out_min: A
+        """
+        return await self._send_cmd(TARGET_THERMOSTAT, "SetPidOutMin", out_min)
+    
+    async def set_temp_mon_upper_limit(self, upper_limit):
+        """
+            Set Temperature Monitor Upper Limit Threshold. Exceeding the limit for too long
+            will force the TEC Controller, PID Controller and Laser Diode Power to Shutdown
+                - upper_limit: Degree Celsius
+        """
+        return await self._send_cmd(TARGET_THERMOSTAT, "SetTempMonUpperLimit", upper_limit)
+
+    async def set_temp_mon_lower_limit(self, lower_limit):
+        """
+            Set Temperature Monitor Lower Limit Threshold. Exceeding the limit for too long
+            will force the TEC Controller, PID Controller and Laser Diode Power to Shutdown
+                - lower_limit: Degree Celsius
+        """
+        return await self._send_cmd(TARGET_THERMOSTAT, "SetTempMonLowerLimit", lower_limit)
+
+    async def clear_alarm(self):
+        """
+            Clear the temperature monitor alarm
+        """
+        return await self._send_cmd(TARGET_THERMOSTAT, "ClearAlarm")
+
+    async def set_sh_t0(self, t0):
+        """
+            Set t0 Steinhart-Hart parameter for the laser diode NTC 
+                - t0: Degree Celsius
+        """
+        return await self._send_cmd(TARGET_THERMOSTAT, "SetShT0", t0)
+
+    async def set_sh_r0(self, r0):
+        """
+            Set r0 Steinhart-Hart parameter for the laser diode NTC
+                - r0: Ohm
+        """
+        return await self._send_cmd(TARGET_THERMOSTAT, "SetShR0", r0)
+
+    async def set_sh_beta(self, beta):
+        """
+            Set beta Steinhart-Hart parameter for the laser diode NTC 
+                - beta: (unitless)
+        """
+        return await self._send_cmd(TARGET_THERMOSTAT, "SetShBeta", beta)
+    
+    async def config_temp_adc_filter(self, filter_type, sampling_rate):
+        """
+            Configure the temperature adc filter type and sampling rate. 
+            Please refer to AD7172 datasheet for the usage of various types of filter.
+            The actual temperature polling rate is bottlenecked by the processing speed of the MCU and
+            performs differently under different kinds of workload. Please verify the polling rate with
+            the timestamp.
+        """
+        if not(filter_type in Filter_Config.keys()):
+            raise InvalidDataType 
+        if Filter_Config[filter_type][1] != DATA_F32:
+            if not(sampling_rate in Filter_Config[filter_type][1]):
+                raise InvalidDataType
+        else:
+            if not(isinstance(sampling_rate, float)):
+                raise InvalidDataType
+        
+        cmd = {}
+        cmd["thermostat_cmd"] = "ConfigTempAdcFilter"
+        cmd["temp_adc_filter"] = { 
+            "filter_type": filter_type,
+            Filter_Config[filter_type][0]: sampling_rate,
+        }
+
+        return await self._send_raw_cmd(cmd)
+
+class Kirdy:
+    def __init__(self):
+        self._reader = None
+        self._writer = None
+        self._connecting_task = None
+        self._cmd_lock = asyncio.Lock()
+        self._report_mode_on = False
+        self.timeout = None
+        self.device = Device(self._send_cmd_handler, self._send_raw_cmd_handler, self._read_response)
+        self.laser = Laser(self._send_cmd_handler)
+        self.thermostat = Thermostat(self._send_cmd_handler, self._send_raw_cmd_handler)
+
+        self._cmd_list = {
+            TARGET_DEVICE: {
+                "SetIPSettings": IP_SETTINGS,
+                "SetActiveReportMode": DATA_BOOL,
+                "GetStatusReport": None,
+                "GetSettingsSummary": None,
+                "Dfu": None,
+                "SaveFlashSettings": None,
+                "LoadFlashSettings": None,
+                "HardReset": None,
+            },
+            TARGET_LD: {
+                # LD Drive Related
+                "SetDefaultPowerOn": DATA_BOOL,
+                "PowerUp": None,
+                "PowerDown": None,
+                "LdTermsShort": None,
+                "LdTermsOpen": None,
+                "SetI": DATA_F32,
+                "SetISoftLimit": DATA_F32,
+                # PD Mon Related
+                "SetPdResponsitivity": DATA_F32,
+                "SetPdDarkCurrent": DATA_F32,
+                "SetLdPwrLimit": DATA_F32,
+                "ClearAlarm": None,
+            },
+            TARGET_THERMOSTAT: {
+                "SetDefaultPowerOn": DATA_BOOL,
+                "PowerUp": DATA_F32,
+                "PowerDown": DATA_F32,
+                # TEC Controller Settings
+                "SetTecMaxV": DATA_F32,
+                "SetTecMaxIPos": DATA_F32,
+                "SetTecMaxINeg": DATA_F32,
+                "SetTecIOut": DATA_F32, 
+                "SetTemperatureSetpoint": DATA_F32,
+                # PID Controller Settings
+                "SetPidEngage": None,
+                "SetPidDisEngage": None,
+                "SetPidKp": DATA_F32,
+                "SetPidKi": DATA_F32,
+                "SetPidKd": DATA_F32,
+                "SetPidOutMin": DATA_F32,
+                "SetPidOutMax": DATA_F32,
+                # Temperature Adc Internal Filters Settings
+                "ConfigTempAdcFilter": TEMP_ADC_FILTER,
+                # Temperature Monitor Settings
+                "SetTempMonUpperLimit": DATA_F32,
+                "SetTempMonLowerLimit": DATA_F32,
+                "ClearAlarm": None,
+                # Thermistor Parameter Settings
+                "SetShT0": DATA_F32,
+                "SetShR0": DATA_F32,
+                "SetShBeta": DATA_F32,
+            }
+        }
+
+    async def start_session(self, host='192.168.1.128', port=1337, timeout=None):
+        self._connecting_task = asyncio.create_task(
+            asyncio.wait_for(asyncio.open_connection(host, port), timeout)
+        )
+        self.timeout = timeout
+        try:
+            self._reader, self._writer = await self._connecting_task
+            writer_sock = self._writer.get_extra_info("socket")
+            writer_sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
+
+        except asyncio.CancelledError:
+            raise StoppedConnecting
+        finally:
+            self._connecting_task = None
+
+    def connecting(self):
+        """Returns True if client is connecting"""
+        return self._connecting_task is not None
+
+    def connected(self):
+        """Returns True if client is connected"""
+        return self._writer is not None
+
+    async def _cmd(self, *cmd):
+        async with self._cmd_lock:
+            # protect the read-write process from being cancelled midway
+            line = await asyncio.shield(self._read_write(cmd))
+
+    async def end_session(self):
+        """End session to Thermostat if connected, cancel connection if connecting"""
+        if self._connecting_task is not None:
+            self._connecting_task.cancel()
+
+        if self._writer is None:
+            return
+
+        # Reader needn't be closed
+        self._writer.close()
+        await self._writer.wait_closed()
+        self._reader = None
+        self._writer = None
+
+    async def _read_response(self):
+        try:
+            response = await asyncio.wait_for(self._reader.read(1024), self.timeout)
+        except TimeoutError:
+            return {
+                "msg_type": "Internal Timeout"
+            }
+        response = response.decode('utf-8', errors='ignore')
+        try:
+            return json.loads(response)
+        except json.decoder.JSONDecodeError:
+            return {
+                "msg_type": "Internal Invalid"
+            }
+
+    # If the cmd involves a cmd specific data type, 
+    #   checking is done separately within the functions being called
+    async def _send_raw_cmd_handler(self, cmd):
+        retry = 0
+        while retry < 10:
+            self._writer.write(bytes(json.dumps(cmd), "UTF-8"))
+            await self._writer.drain()
+            response = await self._read_response()
+            try:
+                if response["msg_type"] == "Acknowledge":
+                    return response
+            except:
+                retry += 1
+                await asyncio.sleep(0.25)
+        raise NoAckRecv
+
+    async def _send_cmd_handler(self, target, cmd, data=None):
+        cmd_dict = {}
+
+        if not(target in self._cmd_list.keys()) or not(cmd in self._cmd_list[target].keys()):
+            raise CmdDoesNotExist
+        cmd_dict[target] = cmd
+
+        if self._cmd_list[target][cmd] == DATA_F32:
+            if isinstance(data, float):
+                cmd_dict[DATA_F32] = data
+            elif isinstance(data, int):
+                cmd_dict[DATA_F32] = float(data)
+        elif self._cmd_list[target][cmd] == DATA_BOOL:
+            if isinstance(data, bool):
+                cmd_dict[DATA_BOOL] = data
+            else:
+                raise InvalidDataType
+        elif self._cmd_list[target][cmd] == None:
+            pass
+        else:
+            # Undefined Data Type
+            raise CmdDoesNotExist
+
+        retry = 0
+        while retry < 10:
+            self._writer.write(bytes(json.dumps(cmd_dict), "UTF-8"))
+            await self._writer.drain()
+            response = await self._read_response()
+            try:
+                if response["msg_type"] == "Acknowledge":
+                    return response
+            except:
+                retry += 1
+                await asyncio.sleep(0.1)
+        raise NoAckRecv
+
+    async def report_mode(self):
+        """Start reporting device status in json object
+
+        Example of yielded data::
+            {
+                'ts': 227657,                   # Relative Timestamp (ms)
+                'laser': {
+                    'pwr_on': False,            # Laser Power is On (True/False)
+                    'pwr_excursion': False,     # Was Laser experienced an Overpowered Condition? (True/False)
+                    'ld_i_set': 0.0,            # Laser Diode Output Current (A)
+                    'pd_i': 2.0000002e-06,      # Internal Photodiode Monitor current (A)
+                    'pd_pwr': None,             # Power Readings from Internal Photodiode (W). Return None if pd_mon parameter(s) are not defined.
+                    'term_status': 'Is50Ohm'    # Is the Low Frequency Modulation Input's Impedance 50 Ohm? (Is50Ohm/Not50Ohm)
+                }, 
+                'tec': {
+                    'pwr_on': False,            # Tec Power is On (True/False)
+                    'pid_engaged': False,       # Is Pid_Engaged. If False, it is in Constant Current Mode (True/False)
+                    'temp_mon_status': {        # Temperature Monitor:
+                        'status': 'Off',            # (To be revised)
+                        'over_temp_alarm': False    # Was Laser Diode experienced an Overtemperature condition (True/False)
+                    }, 
+                    'temperature': 298.18344,   # Temperature Readings (K)
+                    'i_set': 0.0,               # Tec Current Set by User/PID Controller(A)
+                    'tec_i': 0.0024998188,      # Tec Current Readings (A)
+                    'tec_v': -0.00399971        # Tec Voltage Readings (V)
+                }
+            }
+        """
+        await self.device.set_active_report_mode(True)
+        self._report_mode_on = True
+
+        while self._report_mode_on:
+            async with self._cmd_lock:
+                yield await self._read_response()
+
+        await self.device.set_active_report_mode(False)
+
+    def stop_report_mode(self):
+        self._report_mode_on = False

src/net/cmd_handler.rs

@@ -228,6 +228,7 @@ pub fn execute_cmd(buffer: &mut [u8], buffer_size: usize, socket: &mut SocketHan
     match cmd.set_json("/json", &buffer[0..buffer_size]){
         Ok(_) => {
             tec.set_i(ElectricCurrent::new::<milliampere>(cmd.json.tec_set_i));
+            send_response(buffer, ResponseEnum::Acknowledge, None, socket);
             return;
         }
         Err(_) => { /* Do Nothing */}
@@ -411,7 +412,7 @@ pub fn execute_cmd(buffer: &mut [u8], buffer_size: usize, socket: &mut SocketHan
                     tec.power_up()
                 }
                 Some(ThermostatCmdEnum::PowerDown) => {
-                    send_response(buffer, ResponseEnum::Acknowledge, Some(ERR_MSG_MISSING_DATA_F32), socket);
+                    send_response(buffer, ResponseEnum::Acknowledge, None, socket);
                     tec.power_down()
                 }
                 Some(ThermostatCmdEnum::SetTecMaxV) => {

src/thermostat/max1968.rs

@@ -1,15 +1,14 @@
 use crate::thermostat::ad5680;
 use fugit::KilohertzU32;
-use stm32_eth::stm32::{ADC2, DMA2};
-
 use stm32f4xx_hal::{
     adc::{config::{self, AdcConfig}, Adc}, 
     dma::{config::DmaConfig, PeripheralToMemory, Stream2, StreamsTuple, Transfer as DMA_Transfer}, 
     gpio::{gpioa::*, gpiob::*, gpioc::*, Alternate, Analog, Output, PushPull}, 
     hal::{self, blocking::spi::Transfer, digital::v2::OutputPin}, 
-    pac::{ADC1, SPI1, TIM4}, 
+    pac::{ADC1, ADC2, DMA2, SPI1, TIM4, Peripherals, NVIC}, 
     spi::{NoMiso, Spi, TransferModeNormal}, 
-    timer::pwm::PwmChannel
+    timer::pwm::PwmChannel,
+    interrupt
 };
 
 use uom::si::{
@@ -75,10 +74,14 @@ pub struct MAX1968PinSet<C: ChannelPins> {
 type DacSpi = Spi<SPI1, (PB3<Alternate<5>>, NoMiso, PB5<Alternate<5>>), TransferModeNormal>;
 type DacSync = PB4<Output<PushPull>>;
 
+static mut DMA_TRANSFER_COMPLETE: bool = true;
+
 pub struct MAX1968 {
     pub phy: MAX1968Phy<Channel0>,
     pub pins_adc: Adc<ADC1>,
     pub dma_adc: DMA_Transfer<Stream2<DMA2>, 1, Adc<ADC2>, PeripheralToMemory, &'static mut [u16; 16]>,
+    prev_vtec_volt: ElectricPotential,
+    prev_itec_volt: ElectricPotential,
 }
 
 pub enum PwmPinsEnum {
@@ -155,50 +158,57 @@ impl MAX1968 {
         let dma_adc : DMA_Transfer<Stream2<DMA2>, 1, Adc<ADC2>, PeripheralToMemory, &'static mut [u16; 16]>;
         unsafe {
             dma_adc = DMA_Transfer::init_peripheral_to_memory(dma.2, pins_adc2, &mut ADC2_FIRST_BUFFER, None, dma_config);
+            NVIC::unmask(interrupt::DMA2_STREAM2);
         }
 
         MAX1968 {
             phy: phy_ch0,
             pins_adc: pins_adc1,
             dma_adc: dma_adc,
+            prev_vtec_volt: ElectricPotential::new::<millivolt>(0.0), 
+            prev_itec_volt: ElectricPotential::new::<millivolt>(0.0), 
         }
     }
 
     pub fn dma_adc_start_conversion(&mut self){
-        self.dma_adc.clear_interrupts();
-        self.dma_adc.start(|adc| {
-            adc.clear_end_of_conversion_flag();
-            adc.start_conversion();
-        });
+        if unsafe {DMA_TRANSFER_COMPLETE} {
+            unsafe { DMA_TRANSFER_COMPLETE = false; }
+            self.dma_adc.start(|adc| {       
+                adc.clear_end_of_conversion_flag();
+                adc.start_conversion();
+            });
+        }  
     }
 
     pub fn get_tec_readings(&mut self) -> (ElectricPotential, ElectricPotential) {
-        self.dma_adc.clear_interrupts();
-        let buffer: &[u16; 16];
-        unsafe{
-            (buffer, _) = self.dma_adc
-                .next_transfer(&mut ADC2_LOCAL_BUFFER)
-                .unwrap();
-        }
+        if unsafe { DMA_TRANSFER_COMPLETE } {
+            let buffer: &[u16; 16];
+            unsafe {
+                (buffer, _) = self.dma_adc
+                    .next_transfer(&mut ADC2_LOCAL_BUFFER)
+                    .unwrap();
+            }
             
-        let sample_to_millivolts = self.dma_adc.peripheral().make_sample_to_millivolts();
-        let mut itec: u16 = 0;
-        for data in buffer.into_iter().step_by(2){
-            itec += *data;
-        }
-        itec = itec >> 3;
+            let sample_to_millivolts = self.dma_adc.peripheral().make_sample_to_millivolts();
+            let mut itec: u16 = 0;
+            for data in buffer.into_iter().step_by(2) {
+                itec += *data;
+            }
+            itec = itec >> 3;
 
-        let mut vtec: u16 = 0;
-        for data in buffer.into_iter().skip(1).step_by(2){
-            vtec += *data;
-        }
-        vtec = vtec >> 3;
+            let mut vtec: u16 = 0;
+            for data in buffer.into_iter().skip(1).step_by(2) {
+                vtec += *data;
+            }
+            vtec = vtec >> 3;
 
-        unsafe {
-            ADC2_LOCAL_BUFFER = *buffer;
+            unsafe {
+                ADC2_LOCAL_BUFFER = *buffer;
+            }
+            self.prev_vtec_volt = ElectricPotential::new::<millivolt>(sample_to_millivolts(vtec) as f32);
+            self.prev_itec_volt = ElectricPotential::new::<millivolt>(sample_to_millivolts(itec) as f32);
         }
-
-        (ElectricPotential::new::<millivolt>(sample_to_millivolts(vtec) as f32), ElectricPotential::new::<millivolt>(sample_to_millivolts(itec) as f32))
+        (self.prev_vtec_volt, self.prev_itec_volt)
     }
 
     // Return the calibrated VDDA Voltage
@@ -292,3 +302,20 @@ impl MAX1968 {
     }
 
 }
+
+#[interrupt]
+fn DMA2_STREAM2(){
+    cortex_m::interrupt::free(|_| {
+            unsafe {
+                // Clear all DMA2_STREAM2 interrupt flags
+                Peripherals::steal().DMA2.lifcr.write(|w| w
+                    .ctcif2().set_bit()
+                    .cdmeif2().set_bit()
+                    .chtif2().set_bit()
+                    .cteif2().set_bit()
+                );
+                DMA_TRANSFER_COMPLETE = true;
+            }
+        }
+    )
+}