use proper units for pwm pins
parent
7d45d5ad32
commit
8c80062da8
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@ -52,9 +52,9 @@ The scope of this setting is per TCP session.
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| `report mode` | Show current report mode |
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| `report mode <off/on>` | Set report mode |
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| `pwm` | Show current PWM settings |
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| `pwm <0/1> max_i_pos <ratio>` | Set PWM duty cycle for **max_i_pos** to *ratio* |
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| `pwm <0/1> max_i_neg <ratio>` | Set PWM duty cycle for **max_i_neg** to *ratio* |
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| `pwm <0/1> max_v <ratio>` | Set PWM duty cycle for **max_v** to *ratio* |
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| `pwm <0/1> max_i_pos <ratio>` | Set PWM duty cycle for **max_i_pos** to *ampere* |
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| `pwm <0/1> max_i_neg <ratio>` | Set PWM duty cycle for **max_i_neg** to *ampere* |
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| `pwm <0/1> max_v <ratio>` | Set PWM duty cycle for **max_v** to *volt* |
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| `pwm <0/1> <volts>` | Disengage PID, set **i_set** DAC to *volts* |
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| `pwm <0/1> pid` | Set PWM to be controlled by PID |
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| `pid` | Show PID configuration |
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@ -45,13 +45,14 @@ impl<SPI: Transfer<u8>, S: OutputPin> Dac<SPI, S> {
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Ok(())
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}
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pub fn set(&mut self, value: u32) -> Result<(), SPI::Error> {
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pub fn set(&mut self, value: u32) -> Result<u32, SPI::Error> {
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let value = value.min(MAX_VALUE);
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let mut buf = [
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(value >> 14) as u8,
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(value >> 6) as u8,
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(value << 2) as u8,
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];
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self.write(&mut buf)
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self.write(&mut buf)?;
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Ok(value)
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}
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}
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122
src/channels.rs
122
src/channels.rs
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@ -1,7 +1,10 @@
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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::ElectricPotential,
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f64::{ElectricCurrent, ElectricPotential},
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electric_potential::{millivolt, volt},
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electric_current::ampere,
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ratio::ratio,
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};
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use log::info;
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use crate::{
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@ -9,6 +12,7 @@ use crate::{
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ad7172,
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channel::{Channel, Channel0, Channel1},
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channel_state::ChannelState,
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command_parser::PwmPin,
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pins,
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};
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@ -87,24 +91,22 @@ impl Channels {
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}
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/// i_set DAC
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pub fn set_dac(&mut self, channel: usize, voltage: ElectricPotential) {
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pub fn set_dac(&mut self, channel: usize, voltage: ElectricPotential) -> (ElectricPotential, ElectricPotential) {
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let dac_factor = match channel.into() {
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0 => self.channel0.dac_factor,
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1 => self.channel1.dac_factor,
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_ => unreachable!(),
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};
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let value = (voltage.get::<volt>() * dac_factor) as u32;
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match channel {
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0 => {
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self.channel0.dac.set(value).unwrap();
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self.channel0.state.dac_value = voltage;
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}
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1 => {
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self.channel1.dac.set(value).unwrap();
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self.channel1.state.dac_value = voltage;
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}
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let value = match channel {
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0 => self.channel0.dac.set(value).unwrap(),
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1 => self.channel1.dac.set(value).unwrap(),
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_ => unreachable!(),
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}
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};
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let voltage = ElectricPotential::new::<volt>(value as f64 / dac_factor);
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self.channel_state(channel).dac_value = voltage;
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let max = ElectricPotential::new::<volt>(ad5680::MAX_VALUE as f64 / dac_factor);
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(voltage, max)
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}
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pub fn read_dac_feedback(&mut self, channel: usize) -> ElectricPotential {
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@ -255,4 +257,100 @@ impl Channels {
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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 {
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fn get<P: hal::PwmPin<Duty=u16>>(pin: &P) -> f64 {
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let duty = pin.get_duty();
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let max = pin.get_max_duty();
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duty as f64 / (max as f64)
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}
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match (channel, pin) {
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(_, PwmPin::ISet) =>
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panic!("i_set is no pwm pin"),
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(0, PwmPin::MaxIPos) =>
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get(&self.pwm.max_i_pos0),
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(0, PwmPin::MaxINeg) =>
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get(&self.pwm.max_i_neg0),
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(0, PwmPin::MaxV) =>
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get(&self.pwm.max_v0),
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(1, PwmPin::MaxIPos) =>
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get(&self.pwm.max_i_pos1),
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(1, PwmPin::MaxINeg) =>
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get(&self.pwm.max_i_neg1),
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(1, PwmPin::MaxV) =>
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get(&self.pwm.max_v1),
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_ =>
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unreachable!(),
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}
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}
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pub fn get_max_v(&mut self, channel: usize) -> (ElectricPotential, ElectricPotential) {
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let vref = self.channel_state(channel).vref;
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let duty = self.get_pwm(channel, PwmPin::MaxV);
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(duty * 4.0 * vref, 4.0 * vref)
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}
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pub fn get_max_i_pos(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
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let vref = self.channel_state(channel).vref;
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let scale = vref / ElectricPotential::new::<volt>(3.0) / ElectricCurrent::new::<ampere>(1.0);
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let duty = self.get_pwm(channel, PwmPin::MaxIPos);
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(duty / scale, 1.0 / scale)
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}
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pub fn get_max_i_neg(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
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let vref = self.channel_state(channel).vref;
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let scale = vref / ElectricPotential::new::<volt>(3.0) / ElectricCurrent::new::<ampere>(1.0);
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let duty = self.get_pwm(channel, PwmPin::MaxINeg);
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(duty / scale, 1.0 / scale)
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}
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fn set_pwm(&mut self, channel: usize, pin: PwmPin, duty: f64) -> f64 {
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fn set<P: hal::PwmPin<Duty=u16>>(pin: &mut P, duty: f64) -> f64 {
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let max = pin.get_max_duty();
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let value = ((duty * (max as f64)) as u16).min(max);
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pin.set_duty(value);
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value as f64 / (max as f64)
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}
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match (channel, pin) {
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(_, PwmPin::ISet) =>
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panic!("i_set is no pwm pin"),
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(0, PwmPin::MaxIPos) =>
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set(&mut self.pwm.max_i_pos0, duty),
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(0, PwmPin::MaxINeg) =>
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set(&mut self.pwm.max_i_neg0, duty),
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(0, PwmPin::MaxV) =>
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set(&mut self.pwm.max_v0, duty),
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(1, PwmPin::MaxIPos) =>
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set(&mut self.pwm.max_i_pos1, duty),
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(1, PwmPin::MaxINeg) =>
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set(&mut self.pwm.max_i_neg1, duty),
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(1, PwmPin::MaxV) =>
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set(&mut self.pwm.max_v1, duty),
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_ =>
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unreachable!(),
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}
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}
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pub fn set_max_v(&mut self, channel: usize, max_v: ElectricPotential) -> (ElectricPotential, ElectricPotential) {
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let vref = self.channel_state(channel).vref;
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let duty = (max_v / 4.0 / vref).get::<ratio>();
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let duty = self.set_pwm(channel, PwmPin::MaxV, duty);
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(duty * 4.0 * vref, 4.0 * vref)
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}
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pub fn set_max_i_pos(&mut self, channel: usize, max_i_pos: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
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let vref = self.channel_state(channel).vref;
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let scale = vref / ElectricPotential::new::<volt>(3.0) / ElectricCurrent::new::<ampere>(1.0);
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let duty = (max_i_pos * scale).get::<ratio>();
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let duty = self.set_pwm(channel, PwmPin::MaxIPos, duty);
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(duty / scale, 1.0 / scale)
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}
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pub fn set_max_i_neg(&mut self, channel: usize, max_i_neg: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
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let vref = self.channel_state(channel).vref;
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let scale = vref / ElectricPotential::new::<volt>(3.0) / ElectricCurrent::new::<ampere>(1.0);
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let duty = (max_i_neg * scale).get::<ratio>();
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let duty = self.set_pwm(channel, PwmPin::MaxINeg, duty);
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(duty / scale, 1.0 / scale)
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}
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}
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@ -142,7 +142,7 @@ pub enum Command {
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Pwm {
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channel: usize,
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pin: PwmPin,
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duty: f64,
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value: f64,
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},
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/// Enable PID control for `i_set`
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PwmPid {
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@ -242,7 +242,7 @@ fn report(input: &[u8]) -> IResult<&[u8], Command> {
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fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<(PwmPin, f64), Error>> {
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let result_with_pin = |pin: PwmPin|
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move |result: Result<f64, Error>|
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result.map(|duty| (pin, duty));
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result.map(|value| (pin, value));
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alt((
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map(
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@ -300,8 +300,8 @@ fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
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|input| {
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let (input, config) = pwm_setup(input)?;
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match config {
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Ok((pin, duty)) =>
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Ok((input, Ok(Command::Pwm { channel, pin, duty }))),
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Ok((pin, value)) =>
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Ok((input, Ok(Command::Pwm { channel, pin, value }))),
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Err(e) =>
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Ok((input, Err(e))),
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}
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@ -461,7 +461,7 @@ mod test {
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assert_eq!(command, Ok(Command::Pwm {
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channel: 1,
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pin: PwmPin::ISet,
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duty: 16383,
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value: 16383,
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}));
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}
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@ -480,7 +480,7 @@ mod test {
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assert_eq!(command, Ok(Command::Pwm {
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channel: 0,
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pin: PwmPin::MaxIPos,
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duty: 7,
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value: 7,
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}));
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}
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@ -490,7 +490,7 @@ mod test {
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assert_eq!(command, Ok(Command::Pwm {
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channel: 0,
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pin: PwmPin::MaxINeg,
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duty: 128,
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value: 128,
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}));
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}
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@ -500,7 +500,7 @@ mod test {
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assert_eq!(command, Ok(Command::Pwm {
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channel: 0,
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pin: PwmPin::MaxV,
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duty: 32768,
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value: 32768,
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}));
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}
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119
src/main.rs
119
src/main.rs
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@ -32,6 +32,7 @@ use uom::{
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fmt::DisplayStyle::Abbreviation,
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si::{
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f64::{
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ElectricCurrent,
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ElectricPotential,
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ElectricalResistance,
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ThermodynamicTemperature,
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@ -228,33 +229,27 @@ fn main() -> ! {
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channel,
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if state.pid_engaged { "engaged" } else { "disengaged" }
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);
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let _ = writeln!(socket, "- i_set={}", state.dac_value.into_format_args(volt, Abbreviation));
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fn show_pwm_channel<S, P>(mut socket: S, name: &str, pin: &P)
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where
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S: core::fmt::Write,
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P: hal::PwmPin<Duty=u16>,
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{
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let _ = writeln!(
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socket,
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"- {}={}/{}",
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name, pin.get_duty(), pin.get_max_duty()
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);
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}
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match channel {
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0 => {
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show_pwm_channel(socket.deref_mut(), "max_v", &channels.pwm.max_v0);
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show_pwm_channel(socket.deref_mut(), "max_i_pos", &channels.pwm.max_i_pos0);
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show_pwm_channel(socket.deref_mut(), "max_i_neg", &channels.pwm.max_i_neg0);
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}
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1 => {
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show_pwm_channel(socket.deref_mut(), "max_v", &channels.pwm.max_v1);
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show_pwm_channel(socket.deref_mut(), "max_i_pos", &channels.pwm.max_i_pos1);
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show_pwm_channel(socket.deref_mut(), "max_i_neg", &channels.pwm.max_i_neg1);
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}
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_ => unreachable!(),
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}
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let _ = writeln!(socket, "");
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let _ = writeln!(socket, "- i_set={:.3}", state.dac_value.into_format_args(volt, Abbreviation));
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let max_v = channels.get_max_v(channel);
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let _ = writeln!(
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socket, "- max_v={:.3} / {:.3}",
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max_v.0.into_format_args(volt, Abbreviation),
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max_v.1.into_format_args(volt, Abbreviation),
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);
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let max_i_pos = channels.get_max_i_pos(channel);
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let _ = writeln!(
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socket, "- max_i_pos={:.3} / {:.3}",
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max_i_pos.0.into_format_args(ampere, Abbreviation),
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max_i_pos.1.into_format_args(ampere, Abbreviation),
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);
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let max_i_neg = channels.get_max_i_neg(channel);
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let _ = writeln!(
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socket, "- max_i_neg={:.3} / {:.3}",
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max_i_neg.0.into_format_args(ampere, Abbreviation),
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max_i_neg.1.into_format_args(ampere, Abbreviation),
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);
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}
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let _ = writeln!(socket, "");
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}
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Command::Show(ShowCommand::SteinhartHart) => {
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for channel in 0..CHANNELS {
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@ -304,46 +299,56 @@ fn main() -> ! {
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let _ = writeln!(socket, "channel {}: PID enabled to control PWM", channel
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);
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}
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Command::Pwm { channel, pin: PwmPin::ISet, duty } => {
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Command::Pwm { channel, pin: PwmPin::ISet, value } => {
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channels.channel_state(channel).pid_engaged = false;
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leds.g3.off();
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let voltage = ElectricPotential::new::<volt>(duty);
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channels.set_dac(channel, voltage);
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let voltage = ElectricPotential::new::<volt>(value);
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let (voltage, max) = channels.set_dac(channel, voltage);
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let _ = writeln!(
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socket, "channel {}: PWM duty cycle manually set to {}",
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channel, voltage.into_format_args(volt, Abbreviation),
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socket, "channel {}: i_set DAC output set to {:.3} / {:.3}",
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channel,
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voltage.into_format_args(volt, Abbreviation),
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max.into_format_args(volt, Abbreviation),
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);
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}
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Command::Pwm { channel, pin, duty } => {
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fn set_pwm_channel<P: hal::PwmPin<Duty=u16>>(pin: &mut P, duty: f64) -> (u16, u16) {
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let max = pin.get_max_duty();
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let value = (duty * (max as f64)) as u16;
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pin.set_duty(value);
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(value, max)
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}
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let (value, max) = match (channel, pin) {
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(_, PwmPin::ISet) =>
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Command::Pwm { channel, pin, value } => {
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match pin {
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PwmPin::ISet =>
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// Handled above
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unreachable!(),
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(0, PwmPin::MaxIPos) =>
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set_pwm_channel(&mut channels.pwm.max_i_pos0, duty),
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(0, PwmPin::MaxINeg) =>
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set_pwm_channel(&mut channels.pwm.max_i_neg0, duty),
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(0, PwmPin::MaxV) =>
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set_pwm_channel(&mut channels.pwm.max_v0, duty),
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(1, PwmPin::MaxIPos) =>
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set_pwm_channel(&mut channels.pwm.max_i_pos1, duty),
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(1, PwmPin::MaxINeg) =>
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set_pwm_channel(&mut channels.pwm.max_i_neg1, duty),
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(1, PwmPin::MaxV) =>
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set_pwm_channel(&mut channels.pwm.max_v1, duty),
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PwmPin::MaxV => {
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let voltage = ElectricPotential::new::<volt>(value);
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let (voltage, max) = channels.set_max_v(channel, voltage);
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let _ = writeln!(
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socket, "channel {:.3}: max_v set to {:.3} / {:.3}",
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channel,
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voltage.into_format_args(volt, Abbreviation),
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max.into_format_args(volt, Abbreviation),
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);
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}
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PwmPin::MaxIPos => {
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let current = ElectricCurrent::new::<ampere>(value);
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let (current, max) = channels.set_max_i_pos(channel, current);
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let _ = writeln!(
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socket, "channel {:.3}: max_i_pos set to {:.3} / {:.3}",
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channel,
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current.into_format_args(ampere, Abbreviation),
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max.into_format_args(ampere, Abbreviation),
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);
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}
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PwmPin::MaxINeg => {
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let current = ElectricCurrent::new::<ampere>(value);
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let (current, max) = channels.set_max_i_neg(channel, current);
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let _ = writeln!(
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socket, "channel {:.3}: max_i_neg set to {:.3} / {:.3}",
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channel,
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current.into_format_args(ampere, Abbreviation),
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max.into_format_args(ampere, Abbreviation),
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);
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}
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_ =>
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unreachable!(),
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};
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let _ = writeln!(
|
||||
socket, "channel {}: PWM {} reconfigured to {}/{}",
|
||||
channel, pin.name(), value, max
|
||||
);
|
||||
}
|
||||
}
|
||||
Command::Pid { channel, parameter, value } => {
|
||||
let pid = &mut channels.channel_state(channel).pid;
|
||||
|
|
|
|||
Loading…
Reference in New Issue