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cee0a1fcab
Author | SHA1 | Date |
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Astro | cee0a1fcab | |
Astro | 0f4442b124 | |
Astro | 1ad821299b | |
Astro | 0575b52bc1 | |
Astro | ac728a2aff |
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@ -1,4 +1,5 @@
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use core::fmt;
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use lexical_core::Float;
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use stm32f4xx_hal::{
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time::{MegaHertz, U32Ext},
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spi,
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@ -146,18 +147,9 @@ impl PostFilter {
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];
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pub fn closest(rate: f32) -> Option<Self> {
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/// (x - y).abs()
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fn d(x: f32, y: f32) -> f32 {
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if x >= y {
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x - y
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} else {
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y - x
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}
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}
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let mut best: Option<(f32, Self)> = None;
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for value in Self::VALID_VALUES {
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let error = d(rate, value.output_rate().unwrap());
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let error = (rate - value.output_rate().unwrap()).abs();
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let better = best
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.map(|(best_error, _)| error < best_error)
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.unwrap_or(true);
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@ -123,12 +123,12 @@ pub enum Command {
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Pid {
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channel: usize,
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parameter: PidParameter,
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value: f32,
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value: f64,
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},
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SteinhartHart {
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channel: usize,
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parameter: ShParameter,
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value: f32,
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value: f64,
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},
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PostFilter {
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channel: usize,
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@ -158,12 +158,12 @@ fn unsigned(input: &[u8]) -> IResult<&[u8], Result<u16, Error>> {
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})
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}
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fn float(input: &[u8]) -> IResult<&[u8], Result<f32, Error>> {
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fn float(input: &[u8]) -> IResult<&[u8], Result<f64, Error>> {
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let (input, sign) = opt(is_a("-"))(input)?;
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let negative = sign.is_some();
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let (input, digits) = take_while1(|c| is_digit(c) || c == '.' as u8)(input)?;
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let result = lexical::parse(digits)
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.map(|result: f32| if negative { -result } else { result })
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.map(|result: f64| if negative { -result } else { result })
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.map_err(|e| e.into());
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Ok((input, result))
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}
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@ -357,7 +357,8 @@ fn postfilter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
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let (input, rate) = float(input)?;
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let result = rate
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.map(|rate| Command::PostFilter {
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channel, rate,
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channel,
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rate: rate as f32,
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});
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Ok((input, result))
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}
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@ -38,6 +38,8 @@ use session::{CHANNELS, Session, SessionOutput};
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mod command_parser;
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use command_parser::{Command, ShowCommand, PwmSetup, PwmMode};
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mod timer;
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mod pid;
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mod steinhart_hart;
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#[derive(Clone, Copy, Debug)]
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@ -0,0 +1,122 @@
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#[derive(Clone, Copy)]
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pub struct Parameters {
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pub kp: f64,
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pub ki: f64,
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pub kd: f64,
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pub output_min: f64,
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pub output_max: f64,
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pub integral_min: f64,
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pub integral_max: f64
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}
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#[derive(Clone)]
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pub struct Controller {
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parameters: Parameters,
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target: f64,
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integral: f64,
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last_input: Option<f64>
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}
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impl Controller {
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pub const fn new(parameters: Parameters) -> Controller {
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Controller {
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parameters: parameters,
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target: 0.0,
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last_input: None,
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integral: 0.0
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}
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}
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pub fn update(&mut self, input: f64) -> f64 {
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let error = self.target - input;
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let p = self.parameters.kp * error;
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self.integral += error;
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if self.integral < self.parameters.integral_min {
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self.integral = self.parameters.integral_min;
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}
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if self.integral > self.parameters.integral_max {
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self.integral = self.parameters.integral_max;
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}
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let i = self.parameters.ki * self.integral;
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let d = match self.last_input {
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None => 0.0,
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Some(last_input) => self.parameters.kd * (last_input - input)
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};
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self.last_input = Some(input);
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let mut output = p + i + d;
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if output < self.parameters.output_min {
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output = self.parameters.output_min;
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}
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if output > self.parameters.output_max {
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output = self.parameters.output_max;
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}
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output
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}
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pub fn get_target(&self) -> f64 {
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self.target
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}
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pub fn set_target(&mut self, target: f64) {
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self.target = target;
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}
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pub fn get_parameters(&self) -> &Parameters {
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&self.parameters
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}
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pub fn update_parameters<F: FnOnce(&mut Parameters)>(&mut self, f: F) {
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f(&mut self.parameters);
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}
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#[allow(dead_code)]
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pub fn reset(&mut self) {
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self.integral = 0.0;
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self.last_input = None;
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}
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}
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#[cfg(test)]
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mod test {
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use super::*;
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const PARAMETERS: Parameters = Parameters {
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kp: 0.055,
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ki: 0.005,
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kd: 0.04,
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output_min: -10.0,
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output_max: 10.0,
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integral_min: -100.0,
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integral_max: 100.0,
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};
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#[test]
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fn test_controller() {
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const DEFAULT: f64 = 0.0;
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const TARGET: f64 = 1234.56;
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const ERROR: f64 = 0.01;
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const DELAY: usize = 10;
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let mut pid = Controller::new(PARAMETERS.clone());
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pid.set_target(TARGET);
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let mut values = [DEFAULT; DELAY];
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let mut t = 0;
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let mut total_t = 0;
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let target = (TARGET - ERROR)..=(TARGET + ERROR);
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while !values.iter().all(|value| target.contains(value)) {
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let next_t = (t + 1) % DELAY;
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// Feed the oldest temperature
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let output = pid.update(values[next_t]);
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// Overwrite oldest with previous temperature + output
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values[next_t] = values[t] + output;
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t = next_t;
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total_t += 1;
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}
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dbg!(values[t], total_t);
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}
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}
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@ -15,7 +15,7 @@ pub struct SocketState<S> {
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/// Number of server sockets and therefore concurrent client
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/// sessions. Many data structures in `Server::run()` correspond to
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/// this const.
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const SOCKET_COUNT: usize = 8;
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const SOCKET_COUNT: usize = 4;
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const TCP_RX_BUFFER_SIZE: usize = 2048;
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const TCP_TX_BUFFER_SIZE: usize = 2048;
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@ -52,10 +52,6 @@ impl<'a, 'b, S: Default> Server<'a, 'b, S> {
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create_socket!(sockets, tcp_rx_storage1, tcp_tx_storage1, states[1].handle);
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create_socket!(sockets, tcp_rx_storage2, tcp_tx_storage2, states[2].handle);
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create_socket!(sockets, tcp_rx_storage3, tcp_tx_storage3, states[3].handle);
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create_socket!(sockets, tcp_rx_storage4, tcp_tx_storage4, states[4].handle);
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create_socket!(sockets, tcp_rx_storage5, tcp_tx_storage5, states[5].handle);
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create_socket!(sockets, tcp_rx_storage6, tcp_tx_storage6, states[6].handle);
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create_socket!(sockets, tcp_rx_storage7, tcp_tx_storage7, states[7].handle);
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for state in &mut states {
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state.state = S::default();
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@ -16,16 +16,13 @@ impl LineReader {
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}
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}
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pub fn feed(&mut self, c: u8) -> Option<LineResult> {
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pub fn feed(&mut self, c: u8) -> Option<&[u8]> {
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if c == 13 || c == 10 {
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// Enter
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if self.pos > 0 {
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let len = self.pos;
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self.pos = 0;
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Some(LineResult {
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buf: self.buf.clone(),
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len,
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})
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Some(&self.buf[..len])
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} else {
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None
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}
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@ -41,18 +38,6 @@ impl LineReader {
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}
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}
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pub struct LineResult {
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buf: [u8; MAX_LINE_LEN],
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len: usize,
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}
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impl Deref for LineResult {
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type Target = [u8];
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fn deref(&self) -> &Self::Target {
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&self.buf[..self.len]
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}
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}
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pub enum SessionOutput {
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Nothing,
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Command(Command),
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@ -0,0 +1,41 @@
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use lexical_core::Float;
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/// Steinhart-Hart equation parameters
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#[derive(Clone, Debug)]
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pub struct Parameters {
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pub t0: f64,
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pub r: f64,
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pub r0: f64,
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r_fact: f64,
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}
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impl Parameters {
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/// Update the cached r_fact
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pub fn update(&mut self) {
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self.r_fact = (self.r / self.r0).ln();
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}
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/// Perform the voltage to temperature conversion.
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///
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/// Result unit: Kelvin
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///
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/// TODO: verify
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pub fn get_temperature(&self, b: f64) -> f64 {
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let inv_temp = 1.0 / self.t0 + self.r_fact / b;
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1.0 / inv_temp
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}
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}
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impl Default for Parameters {
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fn default() -> Self {
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let mut p = Parameters {
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t0: 0.001_4,
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r: 0.000_000_099,
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r0: 5_110.0,
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r_fact: 0.0,
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};
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p.update();
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p
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}
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}
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