thermostat/src/channels.rs

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14 KiB
Rust
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use stm32f4xx_hal::hal;
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use smoltcp::time::Instant;
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use uom::si::{
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f64::{ElectricCurrent, ElectricPotential, ElectricalResistance},
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electric_potential::{millivolt, volt},
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electric_current::ampere,
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electrical_resistance::ohm,
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ratio::ratio,
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};
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use crate::{
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ad5680,
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ad7172,
channel::{Channel, Channel0, Channel1},
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channel_state::ChannelState,
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command_parser::{CenterPoint, PwmPin},
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pins,
};
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pub const CHANNELS: usize = 2;
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pub const R_SENSE: f64 = 0.05;
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// TODO: -pub
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pub struct Channels {
channel0: Channel<Channel0>,
channel1: Channel<Channel1>,
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pub adc: ad7172::Adc<pins::AdcSpi, pins::AdcNss>,
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/// stm32f4 integrated adc
pins_adc: pins::PinsAdc,
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pub pwm: pins::PwmPins,
}
impl Channels {
pub fn new(pins: pins::Pins) -> Self {
let mut adc = ad7172::Adc::new(pins.adc_spi, pins.adc_nss).unwrap();
// Feature not used
adc.set_sync_enable(false).unwrap();
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// Setup channels and start ADC
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adc.setup_channel(0, ad7172::Input::Ain0, ad7172::Input::Ain1).unwrap();
let adc_calibration0 = adc.get_calibration(0)
.expect("adc_calibration0");
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adc.setup_channel(1, ad7172::Input::Ain2, ad7172::Input::Ain3).unwrap();
let adc_calibration1 = adc.get_calibration(1)
.expect("adc_calibration1");
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adc.start_continuous_conversion().unwrap();
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let channel0 = Channel::new(pins.channel0, adc_calibration0);
let channel1 = Channel::new(pins.channel1, adc_calibration1);
let pins_adc = pins.pins_adc;
let pwm = pins.pwm;
let mut channels = Channels { channel0, channel1, adc, pins_adc, pwm };
for channel in 0..CHANNELS {
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channels.channel_state(channel).vref = channels.read_vref(channel);
channels.calibrate_dac_value(channel);
}
channels
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}
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pub fn channel_state<I: Into<usize>>(&mut self, channel: I) -> &mut ChannelState {
match channel.into() {
0 => &mut self.channel0.state,
1 => &mut self.channel1.state,
_ => unreachable!(),
}
}
/// ADC input + PID processing
pub fn poll_adc(&mut self, instant: Instant) -> Option<u8> {
self.adc.data_ready().unwrap().map(|channel| {
let data = self.adc.read_data().unwrap();
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let state = self.channel_state(channel);
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state.update(instant, data);
match state.update_pid() {
Some(pid_output) if state.pid_engaged => {
log::info!("PID: {:.3} A", pid_output);
// Forward PID output to i_set DAC
self.set_i(channel.into(), ElectricCurrent::new::<ampere>(pid_output));
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}
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_ => {}
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}
channel
})
}
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/// i_set DAC
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fn get_dac(&mut self, channel: usize) -> (ElectricPotential, ElectricPotential) {
let dac_factor = match channel.into() {
0 => self.channel0.dac_factor,
1 => self.channel1.dac_factor,
_ => unreachable!(),
};
let voltage = self.channel_state(channel).dac_value;
let max = ElectricPotential::new::<volt>(ad5680::MAX_VALUE as f64 / dac_factor);
(voltage, max)
}
pub fn get_i(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
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let state = self.channel_state(channel);
let center_point = match state.center {
CenterPoint::Vref =>
state.vref,
CenterPoint::Override(center_point) =>
ElectricPotential::new::<volt>(center_point.into()),
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};
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let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
let (voltage, max) = self.get_dac(channel);
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let i_tec = (voltage - center_point) / (10.0 * r_sense);
let max = (max - center_point) / (10.0 * r_sense);
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(i_tec, max)
}
/// i_set DAC
fn set_dac(&mut self, channel: usize, voltage: ElectricPotential) -> (ElectricPotential, ElectricPotential) {
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let dac_factor = match channel.into() {
0 => self.channel0.dac_factor,
1 => self.channel1.dac_factor,
_ => unreachable!(),
};
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let value = (voltage.get::<volt>() * dac_factor) as u32;
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let value = match channel {
0 => self.channel0.dac.set(value).unwrap(),
1 => self.channel1.dac.set(value).unwrap(),
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_ => unreachable!(),
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};
let voltage = ElectricPotential::new::<volt>(value as f64 / dac_factor);
self.channel_state(channel).dac_value = voltage;
let max = ElectricPotential::new::<volt>(ad5680::MAX_VALUE as f64 / dac_factor);
(voltage, max)
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}
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pub fn set_i(&mut self, channel: usize, i_tec: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
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let state = self.channel_state(channel);
let center_point = match state.center {
CenterPoint::Vref =>
state.vref,
CenterPoint::Override(center_point) =>
ElectricPotential::new::<volt>(center_point.into()),
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};
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let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
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let voltage = i_tec * 10.0 * r_sense + center_point;
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let (voltage, max) = self.set_dac(channel, voltage);
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let i_tec = (voltage - center_point) / (10.0 * r_sense);
let max = (max - center_point) / (10.0 * r_sense);
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(i_tec, max)
}
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pub fn read_dac_feedback(&mut self, channel: usize) -> ElectricPotential {
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match channel {
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0 => {
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let sample = self.pins_adc.convert(
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&self.channel0.dac_feedback_pin,
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stm32f4xx_hal::adc::config::SampleTime::Cycles_480
);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
1 => {
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let sample = self.pins_adc.convert(
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&self.channel1.dac_feedback_pin,
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stm32f4xx_hal::adc::config::SampleTime::Cycles_480
);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
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_ => unreachable!(),
}
}
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pub fn read_dac_feedback_until_stable(&mut self, channel: usize, tolerance: ElectricPotential) -> ElectricPotential {
let mut prev = self.read_dac_feedback(channel);
loop {
let current = self.read_dac_feedback(channel);
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if (current - prev).abs() < tolerance {
return current;
}
prev = current;
}
}
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pub fn read_itec(&mut self, channel: usize) -> ElectricPotential {
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match channel {
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0 => {
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let sample = self.pins_adc.convert(
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&self.channel0.itec_pin,
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
1 => {
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let sample = self.pins_adc.convert(
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&self.channel1.itec_pin,
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
_ => unreachable!(),
}
}
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/// should be 1.5V
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pub fn read_vref(&mut self, channel: usize) -> ElectricPotential {
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match channel {
0 => {
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let sample = self.pins_adc.convert(
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&self.channel0.vref_pin,
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
1 => {
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let sample = self.pins_adc.convert(
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&self.channel1.vref_pin,
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
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_ => unreachable!(),
}
}
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pub fn read_tec_u_meas(&mut self, channel: usize) -> ElectricPotential {
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match channel {
0 => {
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let sample = self.pins_adc.convert(
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&self.channel0.tec_u_meas_pin,
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
1 => {
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let sample = self.pins_adc.convert(
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&self.channel1.tec_u_meas_pin,
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
_ => unreachable!(),
}
}
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/// Calibrate the I_SET DAC using the DAC_FB ADC pin.
///
/// These loops perform a width-first search for the DAC setting
/// that will produce a `target_voltage`.
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pub fn calibrate_dac_value(&mut self, channel: usize) {
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let target_voltage = ElectricPotential::new::<volt>(2.5);
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let mut start_value = 1;
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let mut best_error = ElectricPotential::new::<volt>(100.0);
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for step in (0..18).rev() {
let mut prev_value = start_value;
for value in (start_value..=ad5680::MAX_VALUE).step_by(1 << step) {
match channel {
0 => {
self.channel0.dac.set(value).unwrap();
}
1 => {
self.channel1.dac.set(value).unwrap();
}
_ => unreachable!(),
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}
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let dac_feedback = self.read_dac_feedback_until_stable(channel, ElectricPotential::new::<volt>(0.001));
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let error = target_voltage - dac_feedback;
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if error < ElectricPotential::new::<volt>(0.0) {
break;
} else if error < best_error {
best_error = error;
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start_value = prev_value;
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let dac_factor = value as f64 / dac_feedback.get::<volt>();
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match channel {
0 => self.channel0.dac_factor = dac_factor,
1 => self.channel1.dac_factor = dac_factor,
_ => unreachable!(),
}
}
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prev_value = value;
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}
}
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// Reset
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self.set_dac(channel, ElectricPotential::new::<volt>(0.0));
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}
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fn get_pwm(&self, channel: usize, pin: PwmPin) -> f64 {
fn get<P: hal::PwmPin<Duty=u16>>(pin: &P) -> f64 {
let duty = pin.get_duty();
let max = pin.get_max_duty();
duty as f64 / (max as f64)
}
match (channel, pin) {
(_, PwmPin::ISet) =>
panic!("i_set is no pwm pin"),
(0, PwmPin::MaxIPos) =>
get(&self.pwm.max_i_pos0),
(0, PwmPin::MaxINeg) =>
get(&self.pwm.max_i_neg0),
(0, PwmPin::MaxV) =>
get(&self.pwm.max_v0),
(1, PwmPin::MaxIPos) =>
get(&self.pwm.max_i_pos1),
(1, PwmPin::MaxINeg) =>
get(&self.pwm.max_i_neg1),
(1, PwmPin::MaxV) =>
get(&self.pwm.max_v1),
_ =>
unreachable!(),
}
}
pub fn get_max_v(&mut self, channel: usize) -> (ElectricPotential, ElectricPotential) {
let vref = self.channel_state(channel).vref;
let max = 4.0 * vref;
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let duty = self.get_pwm(channel, PwmPin::MaxV);
(duty * max, max)
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}
pub fn get_max_i_pos(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
let max = ElectricCurrent::new::<ampere>(3.0);
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let duty = self.get_pwm(channel, PwmPin::MaxIPos);
(duty * max, max)
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}
pub fn get_max_i_neg(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
let max = ElectricCurrent::new::<ampere>(3.0);
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let duty = self.get_pwm(channel, PwmPin::MaxINeg);
(duty * max, max)
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}
fn set_pwm(&mut self, channel: usize, pin: PwmPin, duty: f64) -> f64 {
fn set<P: hal::PwmPin<Duty=u16>>(pin: &mut P, duty: f64) -> f64 {
let max = pin.get_max_duty();
let value = ((duty * (max as f64)) as u16).min(max);
pin.set_duty(value);
value as f64 / (max as f64)
}
match (channel, pin) {
(_, PwmPin::ISet) =>
panic!("i_set is no pwm pin"),
(0, PwmPin::MaxIPos) =>
set(&mut self.pwm.max_i_pos0, duty),
(0, PwmPin::MaxINeg) =>
set(&mut self.pwm.max_i_neg0, duty),
(0, PwmPin::MaxV) =>
set(&mut self.pwm.max_v0, duty),
(1, PwmPin::MaxIPos) =>
set(&mut self.pwm.max_i_pos1, duty),
(1, PwmPin::MaxINeg) =>
set(&mut self.pwm.max_i_neg1, duty),
(1, PwmPin::MaxV) =>
set(&mut self.pwm.max_v1, duty),
_ =>
unreachable!(),
}
}
pub fn set_max_v(&mut self, channel: usize, max_v: ElectricPotential) -> (ElectricPotential, ElectricPotential) {
let vref = self.channel_state(channel).vref;
let max = 4.0 * vref;
let duty = (max_v / max).get::<ratio>();
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let duty = self.set_pwm(channel, PwmPin::MaxV, duty);
(duty * max, max)
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}
pub fn set_max_i_pos(&mut self, channel: usize, max_i_pos: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
let max = ElectricCurrent::new::<ampere>(3.0);
let duty = (max_i_pos / max).get::<ratio>();
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let duty = self.set_pwm(channel, PwmPin::MaxIPos, duty);
(duty * max, max)
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}
pub fn set_max_i_neg(&mut self, channel: usize, max_i_neg: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
let max = ElectricCurrent::new::<ampere>(3.0);
let duty = (max_i_neg / max).get::<ratio>();
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let duty = self.set_pwm(channel, PwmPin::MaxINeg, duty);
(duty * max, max)
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}
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}