562 lines
21 KiB
Rust
562 lines
21 KiB
Rust
use core::{fmt::Debug, marker::PhantomData};
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use miniconf::{JsonCoreSlash, Tree};
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use serde::{Deserialize, Serialize};
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use uom::si::{
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electric_current::{ampere, microampere, milliampere, ElectricCurrent},
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electric_potential::{volt, ElectricPotential},
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electrical_resistance::{ohm, ElectricalResistance},
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power::{milliwatt, Power},
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thermodynamic_temperature::{degree_celsius, ThermodynamicTemperature}
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};
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use crate::{laser_diode::{laser_diode::{
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LdDrive, LdSettingsSummary, StatusReport as LdStatusReport},
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pd_responsitivity::ResponsitivityUnit
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},
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net::net,
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thermostat::{ad7172::FilterType, thermostat::{StatusReport as TecStatusReport, TempAdcFilter}}
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};
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use crate::thermostat::thermostat::{Thermostat, ThermostatSettingsSummary};
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use crate::thermostat::pid_state::PidSettings::*;
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use crate::device::{dfu, sys_timer};
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use log::info;
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use crate::{DeviceSettings, State, IpSettings};
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#[derive(Deserialize, Serialize, Copy, Clone, Default, Debug)]
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enum DeviceCmd {
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#[default]
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Reserved,
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SetIPSettings,
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SetActiveReportMode,
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GetStatusReport,
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GetSettingsSummary,
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Dfu,
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SaveFlashSettings,
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LoadFlashSettings,
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HardReset,
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}
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#[derive(Deserialize, Serialize, Copy, Clone, Default, Debug)]
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enum LdCmdEnum {
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#[default]
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Reserved,
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// LD Drive Related
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SetDefaultPowerOn,
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PowerUp,
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PowerDown,
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LdTermsShort,
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LdTermsOpen,
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SetI,
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SetISoftLimit,
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// PD Mon Related
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SetPdResponsitivity,
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SetPdDarkCurrent,
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SetLdPwrLimit,
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ClearAlarm,
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}
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#[derive(Deserialize, Serialize, Copy, Clone, Default, Debug)]
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enum ThermostatCmdEnum {
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#[default]
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Reserved,
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SetDefaultPowerOn,
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PowerUp,
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PowerDown,
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// TEC
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SetTecMaxV,
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SetTecMaxIPos,
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SetTecMaxINeg,
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SetTecIOut, // Constant Current Mode
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SetTemperatureSetpoint,
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// PID
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SetPidEngage,
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SetPidDisEngage,
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SetPidKp,
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SetPidKi,
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SetPidKd,
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SetPidOutMin,
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SetPidOutMax,
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SetPidUpdateInterval, // Update Interval is set based on the sampling rate of ADC
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// Temperature ADC
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ConfigTempAdcFilter,
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// TempMon
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SetTempMonUpperLimit,
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SetTempMonLowerLimit,
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ClearAlarm,
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// Steinhart-Hart Equation
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SetShT0,
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SetShR0,
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SetShBeta,
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}
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#[derive(Deserialize, Serialize, Copy, Clone, Debug, Default, Tree)]
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pub struct CmdJsonObj{
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laser_diode_cmd: Option<LdCmdEnum>,
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thermostat_cmd: Option<ThermostatCmdEnum>,
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device_cmd: Option<DeviceCmd>,
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data_bool: Option<bool>,
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data_f32: Option<f32>,
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data_f64: Option<f64>,
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temp_adc_filter: Option<TempAdcFilter>,
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ip_settings: Option<IpSettings>,
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}
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#[derive(Deserialize, Serialize, Copy, Clone, Debug, Default, Tree)]
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pub struct Cmd {
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json: CmdJsonObj
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}
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#[derive(Deserialize, Serialize, Copy, Clone, Debug, Tree)]
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pub struct StatusReport {
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ts: u32,
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laser: LdStatusReport,
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tec: TecStatusReport,
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}
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#[derive(Deserialize, Serialize, Copy, Clone, Debug, Tree)]
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pub struct StatusReportObj {
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json: StatusReport
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}
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#[derive(Deserialize, Serialize, Copy, Clone, Debug, Tree)]
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pub struct SettingsSummary {
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laser: LdSettingsSummary,
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thermostat: ThermostatSettingsSummary,
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}
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#[derive(Deserialize, Serialize, Copy, Clone, Debug, Tree)]
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pub struct SettingsSummaryObj {
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json: SettingsSummary
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}
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pub fn send_settings_summary(buffer: &mut [u8], laser: &mut LdDrive, tec: &mut Thermostat){
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let settings_summary = SettingsSummaryObj {
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json: SettingsSummary {
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laser: laser.get_settings_summary(),
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thermostat: tec.get_settings_summary(),
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}
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};
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let num_bytes = settings_summary.get_json("/json", buffer).unwrap();
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net::eth_send(buffer, num_bytes);
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}
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pub fn send_status_report(buffer: &mut [u8], laser: &mut LdDrive, tec: &mut Thermostat){
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let status_report = StatusReportObj {
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json: StatusReport {
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ts: sys_timer::now(),
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laser: laser.get_status_report(),
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tec: tec.get_status_report(),
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}
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};
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let num_bytes = status_report.get_json("/json", buffer).unwrap();
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net::eth_send(buffer, num_bytes);
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}
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// Use a minimal struct for high speed cmd ctrl to reduce processing overhead
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#[derive(Deserialize, Serialize, Copy, Clone, Debug, Default, Tree)]
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pub struct TecSetICmdJson {
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tec_set_i: f32
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}
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#[derive(Deserialize, Serialize, Copy, Clone, Debug, Default, Tree)]
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pub struct TecSetICmd {
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json: TecSetICmdJson
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}
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/// Miniconf is very slow in debug builds (~3-4ms of cmd decoding time).
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/// Make sure kirdy's firmware is flashed with release builds.
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/// The received message must contain only one json cmd. TCP client should set TCP_NODELAY or equivalent flag in its TCP Socket
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/// Settings to avoid unwanted buffering on TX Data and minimize TX latency.
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pub fn execute_cmd(buffer: &mut [u8], buffer_size: usize, mut laser: LdDrive, mut tec: Thermostat, mut state: State, mut device_settings: DeviceSettings)->(LdDrive, Thermostat, State, DeviceSettings){
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let mut cmd = TecSetICmd {
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json: TecSetICmdJson::default()
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};
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match cmd.set_json("/json", &buffer[0..buffer_size]){
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Ok(_) => {
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tec.set_i(ElectricCurrent::new::<milliampere>(cmd.json.tec_set_i));
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return (laser, tec, state, device_settings);
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}
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Err(_) => { /* Do Nothing */}
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}
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let mut cmd = Cmd {
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json: CmdJsonObj::default()
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};
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match cmd.set_json("/json", &buffer[0..buffer_size]){
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Ok(_) => {
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info!("############ Laser Diode Command Received {:?}", cmd.json.laser_diode_cmd);
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info!("############ Thermostat Command Received {:?}", cmd.json.thermostat_cmd);
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info!("############ Device Command Received {:?}", cmd.json.device_cmd);
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match cmd.json.device_cmd {
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Some(DeviceCmd::SetIPSettings) => {
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match cmd.json.ip_settings {
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Some(val) => {
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device_settings.ip_settings = val;
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(DeviceCmd::Dfu) => {
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unsafe {
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dfu::set_dfu_trigger();
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}
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}
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Some(DeviceCmd::SetActiveReportMode) => {
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match cmd.json.data_bool{
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Some(val) => {
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device_settings.report_readings = val;
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(DeviceCmd::GetStatusReport) => {
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send_status_report(buffer, &mut laser, &mut tec);
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}
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Some(DeviceCmd::GetSettingsSummary) => {
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send_settings_summary(buffer, &mut laser, &mut tec);
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}
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Some(DeviceCmd::SaveFlashSettings) => {
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state = State::SaveFlashSettings;
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}
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Some(DeviceCmd::LoadFlashSettings) => {
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state = State::LoadFlashSettings;
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}
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Some(DeviceCmd::HardReset) => {
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state = State::HardReset;
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}
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None => { /* Do Nothing */}
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_ => {
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info!("Unimplemented Command")
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}
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}
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match cmd.json.laser_diode_cmd {
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Some(LdCmdEnum::SetDefaultPowerOn) => {
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match cmd.json.data_bool {
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Some(val) => {
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laser.set_default_pwr_on(val);
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(LdCmdEnum::PowerUp) => {
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laser.power_up()
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}
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Some(LdCmdEnum::PowerDown) => {
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laser.power_down()
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}
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Some(LdCmdEnum::LdTermsShort) => {
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laser.ld_short();
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}
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Some(LdCmdEnum::LdTermsOpen) => {
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laser.ld_open();
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}
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Some(LdCmdEnum::SetI) => {
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match cmd.json.data_f32 {
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Some(val) => {
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laser.ld_set_i(ElectricCurrent::new::<milliampere>(val));
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(LdCmdEnum::SetISoftLimit) => {
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match cmd.json.data_f32 {
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Some(val) => {
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laser.set_ld_drive_current_limit(ElectricCurrent::new::<milliampere>(val))
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(LdCmdEnum::SetPdResponsitivity) => {
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match cmd.json.data_f32 {
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Some(val) => {
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laser.set_pd_responsitivity(ResponsitivityUnit {dimension: PhantomData, units: PhantomData, value: val})
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(LdCmdEnum::SetPdDarkCurrent) => {
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match cmd.json.data_f32 {
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Some(val) => {
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laser.set_pd_dark_current(ElectricCurrent::new::<microampere>(val))
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(LdCmdEnum::SetLdPwrLimit) => {
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match cmd.json.data_f32 {
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Some(val) => {
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laser.set_ld_power_limit(Power::new::<milliwatt>(val))
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(LdCmdEnum::ClearAlarm) => {
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laser.pd_mon_clear_alarm()
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}
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None => { /* Do Nothing*/ }
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_ => {
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info!("Unimplemented Command")
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}
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}
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match cmd.json.thermostat_cmd {
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Some(ThermostatCmdEnum::SetDefaultPowerOn) => {
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match cmd.json.data_bool {
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Some(val) => {
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tec.set_default_pwr_on(val);
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(ThermostatCmdEnum::PowerUp) => {
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tec.power_up()
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}
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Some(ThermostatCmdEnum::PowerDown) => {
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tec.power_down()
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}
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Some(ThermostatCmdEnum::SetTecMaxV) => {
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match cmd.json.data_f32 {
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Some(val) => {
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tec.set_max_v(ElectricPotential::new::<volt>(val));
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(ThermostatCmdEnum::SetTecMaxIPos) => {
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match cmd.json.data_f32 {
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Some(val) => {
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tec.set_max_i_pos(ElectricCurrent::new::<ampere>(val));
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(ThermostatCmdEnum::SetTecMaxINeg) => {
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match cmd.json.data_f32 {
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Some(val) => {
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tec.set_max_i_pos(ElectricCurrent::new::<milliampere>(val));
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(ThermostatCmdEnum::SetTecIOut) => {
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match cmd.json.data_f32 {
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Some(val) => {
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tec.set_i(ElectricCurrent::new::<milliampere>(val));
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(ThermostatCmdEnum::SetTemperatureSetpoint) => {
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match cmd.json.data_f32 {
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Some(val) => {
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tec.set_temperature_setpoint(ThermodynamicTemperature::new::<degree_celsius>(val));
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(ThermostatCmdEnum::SetPidEngage) => {
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tec.set_pid_engaged(true);
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}
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Some(ThermostatCmdEnum::SetPidDisEngage) => {
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tec.set_pid_engaged(false);
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}
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Some(ThermostatCmdEnum::SetPidKp) => {
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match cmd.json.data_f32 {
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Some(val) => {
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tec.set_pid(Kp, val);
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(ThermostatCmdEnum::SetPidKi) => {
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match cmd.json.data_f32 {
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Some(val) => {
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tec.set_pid(Ki, val);
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(ThermostatCmdEnum::SetPidKd) => {
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match cmd.json.data_f32 {
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Some(val) => {
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tec.set_pid(Kd, val);
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(ThermostatCmdEnum::SetPidOutMin) => {
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match cmd.json.data_f32 {
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Some(val) => {
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tec.set_pid(Min, val);
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(ThermostatCmdEnum::SetPidOutMax) => {
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match cmd.json.data_f32 {
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Some(val) => {
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tec.set_pid(Max, val);
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(ThermostatCmdEnum::SetPidUpdateInterval) => {
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info!("Not supported Yet")
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}
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Some(ThermostatCmdEnum::ConfigTempAdcFilter) => {
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match cmd.json.temp_adc_filter {
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Some(val) => {
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match val.filter_type {
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FilterType::Sinc5Sinc1With50hz60HzRejection => {
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match val.sinc5sinc1postfilter {
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Some(val2) => {
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tec.set_temp_adc_sinc5_sinc1_with_postfilter(0, val2);
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}
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None => {
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info!("sinc5sinc1postfilter field needs to be set for configuration");
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}
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}
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}
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FilterType::Sinc5Sinc1 => {
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match val.sinc5sinc1odr {
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Some(val2) => {
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tec.set_temp_adc_sinc5_sinc1_filter(0, val2);
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}
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None => {
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info!("sinc5sinc1odr field needs to be set for configuration");
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}
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}
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}
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FilterType::Sinc3WithFineODR => {
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match val.sinc3fineodr {
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Some(val2) => {
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tec.set_temp_adc_sinc3_fine_filter(0, val2);
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}
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None => {
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info!("data_f32 field needs to be set for configuration");
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}
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}
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}
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FilterType::Sinc3 => {
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match val.sinc3odr {
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Some(val2) => {
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tec.set_temp_adc_sinc3_filter(0, val2);
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}
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None => {
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info!("sinc3_filter field needs to be set for configuration");
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}
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}
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}
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}
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}
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None => {
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info!("temp_adc_filter needs to be set for configuration")
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}
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}
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}
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Some(ThermostatCmdEnum::SetTempMonUpperLimit) => {
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match cmd.json.data_f32 {
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Some(val) => {
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tec.set_temp_mon_upper_limit(ThermodynamicTemperature::new::<degree_celsius>(val));
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(ThermostatCmdEnum::SetTempMonLowerLimit) => {
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match cmd.json.data_f32 {
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Some(val) => {
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tec.set_temp_mon_lower_limit(ThermodynamicTemperature::new::<degree_celsius>(val));
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(ThermostatCmdEnum::ClearAlarm) => {
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tec.clear_temp_mon_alarm();
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}
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Some(ThermostatCmdEnum::SetShT0) => {
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match cmd.json.data_f32 {
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Some(val) => {
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tec.set_sh_t0(ThermodynamicTemperature::new::<degree_celsius>(val));
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}
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None => {
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info!("Wrong Data type is received")
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}
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}
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}
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Some(ThermostatCmdEnum::SetShR0) => {
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match cmd.json.data_f32 {
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Some(val) => {
|
|
tec.set_sh_r0(ElectricalResistance::new::<ohm>(val));
|
|
}
|
|
None => {
|
|
info!("Wrong Data type is received")
|
|
}
|
|
}
|
|
}
|
|
Some(ThermostatCmdEnum::SetShBeta) => {
|
|
match cmd.json.data_f32 {
|
|
Some(val) => {
|
|
tec.set_sh_beta(val);
|
|
}
|
|
None => {
|
|
info!("Wrong Data type is received")
|
|
}
|
|
}
|
|
}
|
|
None => { /* Do Nothing*/ }
|
|
_ => {
|
|
info!("Unimplemented Command")
|
|
}
|
|
}
|
|
}
|
|
Err(err) => {
|
|
info!("Invalid Command: {:?}", err);
|
|
}
|
|
}
|
|
(laser, tec, state, device_settings)
|
|
}
|