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atse | 76547be90a | |
atse | 8b975e656e | |
atse | ae3d8b51d4 | |
atse | 17edae44fb | |
atse | 03b4561142 | |
atse | 631a10938d |
18
README.md
18
README.md
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@ -106,7 +106,7 @@ formatted as line-delimited JSON.
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| `pwm <0/1> i_set <amp>` | Disengage PID, set fixed output current |
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| `pwm <0/1> pid` | Let output current to be controlled by the PID |
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| `center <0/1> <volt>` | Set the MAX1968 0A-centerpoint to the specified fixed voltage |
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| `center <0/1> vref` | Set the MAX1968 0A-centerpoint to a stable calibrated VREF |
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| `center <0/1> vref` | Set the MAX1968 0A-centerpoint to measure from VREF |
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| `pid` | Show PID configuration |
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| `pid <0/1> target <deg_celsius>` | Set the PID controller target temperature |
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| `pid <0/1> kp <value>` | Set proportional gain |
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@ -264,7 +264,6 @@ with the following keys.
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| `temperature` | Degrees Celsius | Steinhart-Hart conversion result derived from `sens` |
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| `pid_engaged` | Boolean | `true` if in closed-loop mode |
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| `i_set` | Amperes | TEC output current |
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| `vref` | Volts | MAX1968 VREF (1.5 V) |
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| `dac_value` | Volts | AD5680 output derived from `i_set` |
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| `dac_feedback` | Volts | ADC measurement of the AD5680 output |
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| `i_tec` | Volts | MAX1968 TEC current monitor |
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@ -272,18 +271,19 @@ with the following keys.
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| `tec_u_meas` | Volts | Measurement of the voltage across the TEC |
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| `pid_output` | Amperes | PID control output |
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Note: With Thermostat v2 and below, the voltage and current readouts `i_tec` and `tec_i` are disabled and null due to faulty hardware that introduces a lot of noise in the signal.
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## PID Tuning
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The thermostat implements a PID control loop for each of the TEC channels, more details on setting up the PID control loop can be found [here](./doc/PID%20tuning.md).
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## Fan control
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Fan control is available for the thermostat revisions with integrated fan system. For this purpose four commands are available:
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Fan control commands are available for thermostat revisions with an integrated fan system:
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1. `fan` - show fan stats: `fan_pwm`, `abs_max_tec_i`, `auto_mode`, `k_a`, `k_b`, `k_c`.
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2. `fan auto` - enable auto speed controller mode, which correlates with fan curve `fcurve`.
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3. `fan <value>` - set the fan power with the value from `1` to `100` and disable auto mode. There is no way to disable the fan.
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2. `fan auto` - enable auto speed controller mode, where fan speed is controlled by the fan curve `fcurve`.
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3. `fan <value>` - set the fan power with the value from `1` to `100` and disable auto mode. There is no way to completely disable the fan.
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Please note that power doesn't correlate with the actual speed linearly.
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4. `fcurve <a> <b> <c>` - set coefficients of the controlling curve `a*x^2 + b*x + c`, where `x` is `abs_max_tec_i/MAX_TEC_I`,
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i.e. receives values from 0 to 1 linearly tied to the maximum current. The controlling curve should produce values from 0 to 1,
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as below and beyond values would be substituted by 0 and 1 respectively.
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5. `fcurve default` - restore fan curve settings to defaults: `a = 1.0, b = 0.0, c = 0.0`.
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4. `fcurve <a> <b> <c>` - set coefficients of the controlling curve `a*x^2 + b*x + c`, where `x` is `abs_max_tec_i/MAX_TEC_I`, a normalized value in range [0,1],
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i.e. the (linear) proportion of current output capacity used, on the channel with the largest current flow. The controlling curve is also clamped to [0,1].
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5. `fcurve default` - restore fan curve coefficients to defaults: `a = 1.0, b = 0.0, c = 0.0`.
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@ -2,11 +2,13 @@ use smoltcp::time::{Duration, Instant};
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use uom::si::{
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f64::{
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ElectricPotential,
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ElectricCurrent,
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ElectricalResistance,
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ThermodynamicTemperature,
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Time,
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},
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electric_potential::volt,
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electric_current::ampere,
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electrical_resistance::ohm,
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thermodynamic_temperature::degree_celsius,
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time::millisecond,
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@ -29,6 +31,7 @@ pub struct ChannelState {
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/// i_set 0A center point
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pub center: CenterPoint,
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pub dac_value: ElectricPotential,
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pub i_set: ElectricCurrent,
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pub pid_engaged: bool,
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pub pid: pid::Controller,
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pub sh: sh::Parameters,
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@ -44,6 +47,7 @@ impl ChannelState {
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adc_interval: Duration::from_millis(100),
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center: CenterPoint::Vref,
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dac_value: ElectricPotential::new::<volt>(0.0),
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i_set: ElectricCurrent::new::<ampere>(0.0),
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pid_engaged: false,
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pid: pid::Controller::new(pid::Parameters::default()),
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sh: sh::Parameters::default(),
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@ -20,7 +20,7 @@ use crate::{
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command_handler::JsonBuffer,
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pins,
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steinhart_hart,
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timer,
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hw_rev,
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};
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pub const CHANNELS: usize = 2;
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@ -29,17 +29,18 @@ pub const R_SENSE: f64 = 0.05;
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const DAC_OUT_V_MAX: f64 = 3.0;
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// TODO: -pub
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pub struct Channels {
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pub struct Channels<'a> {
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channel0: Channel<Channel0>,
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channel1: Channel<Channel1>,
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pub adc: ad7172::Adc<pins::AdcSpi, pins::AdcNss>,
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/// stm32f4 integrated adc
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pins_adc: pins::PinsAdc,
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pub pwm: pins::PwmPins,
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hwrev: &'a hw_rev::HWRev,
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}
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impl Channels {
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pub fn new(pins: pins::Pins) -> Self {
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impl<'a> Channels<'a> {
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pub fn new(pins: pins::Pins, hwrev: &'a hw_rev::HWRev) -> Self {
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let mut adc = ad7172::Adc::new(pins.adc_spi, pins.adc_nss).unwrap();
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// Feature not used
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adc.set_sync_enable(false).unwrap();
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@ -57,7 +58,7 @@ impl Channels {
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let channel1 = Channel::new(pins.channel1, adc_calibration1);
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let pins_adc = pins.pins_adc;
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let pwm = pins.pwm;
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let mut channels = Channels { channel0, channel1, adc, pins_adc, pwm };
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let mut channels = Channels { channel0, channel1, adc, pins_adc, pwm, hwrev };
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for channel in 0..CHANNELS {
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channels.calibrate_dac_value(channel);
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channels.set_i(channel, ElectricCurrent::new::<ampere>(0.0));
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@ -95,16 +96,11 @@ impl Channels {
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})
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}
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/// get the TEC i_set centerpoint
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/// calculate the TEC i_set centerpoint
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pub fn get_center(&mut self, channel: usize) -> ElectricPotential {
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match self.channel_state(channel).center {
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CenterPoint::Vref => {
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match channel {
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0 => self.channel0.vref_meas,
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1 => self.channel1.vref_meas,
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_ => unreachable!(),
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}
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},
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CenterPoint::Vref =>
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self.read_vref(channel),
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CenterPoint::Override(center_point) =>
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ElectricPotential::new::<volt>(center_point.into()),
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}
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@ -117,11 +113,8 @@ impl Channels {
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}
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pub fn get_i(&mut self, channel: usize) -> ElectricCurrent {
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let center_point = self.get_center(channel);
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let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
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let voltage = self.get_dac(channel);
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let i_tec = (voltage - center_point) / (10.0 * r_sense);
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i_tec
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let i_set = self.channel_state(channel).i_set;
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i_set
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}
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/// i_set DAC
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@ -136,13 +129,19 @@ impl Channels {
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voltage
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}
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pub fn set_i(&mut self, channel: usize, i_tec: ElectricCurrent) -> ElectricCurrent {
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let center_point = self.get_center(channel);
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pub fn set_i(&mut self, channel: usize, i_set: ElectricCurrent) -> ElectricCurrent {
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let vref_meas = match channel.into() {
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0 => self.channel0.vref_meas,
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1 => self.channel1.vref_meas,
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_ => unreachable!(),
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};
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let center_point = vref_meas;
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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 = i_set * 10.0 * r_sense + center_point;
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let voltage = self.set_dac(channel, voltage);
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let i_tec = (voltage - center_point) / (10.0 * r_sense);
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i_tec
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let i_set = (voltage - center_point) / (10.0 * r_sense);
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self.channel_state(channel).i_set = i_set;
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i_set
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}
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pub fn read_dac_feedback(&mut self, channel: usize) -> ElectricPotential {
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@ -167,6 +166,17 @@ impl Channels {
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}
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}
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pub fn read_dac_feedback_until_stable(&mut self, channel: usize, tolerance: ElectricPotential) -> ElectricPotential {
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let mut prev = self.read_dac_feedback(channel);
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loop {
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let current = self.read_dac_feedback(channel);
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if (current - prev).abs() < tolerance {
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return current;
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}
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prev = current;
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}
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}
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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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@ -252,19 +262,15 @@ impl Channels {
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/// thermostat.
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pub fn calibrate_dac_value(&mut self, channel: usize) {
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let samples = 50;
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let target_voltage = {
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let mut target_voltage = ElectricPotential::new::<volt>(0.0);
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for _ in 0..samples {
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target_voltage += self.read_vref(channel);
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}
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target_voltage /= samples as f64;
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target_voltage
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};
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let mut target_voltage = ElectricPotential::new::<volt>(0.0);
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for _ in 0..samples {
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target_voltage = target_voltage + self.get_center(channel);
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}
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target_voltage = target_voltage / samples as f64;
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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() {
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timer::sleep(5);
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let mut prev_value = start_value;
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for value in (start_value..=ad5680::MAX_VALUE).step_by(1 << step) {
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match channel {
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@ -277,14 +283,7 @@ impl Channels {
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_ => unreachable!(),
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}
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let dac_feedback = {
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let mut dac_feedback = ElectricPotential::new::<volt>(0.0);
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for _ in 0..samples {
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dac_feedback += self.read_dac_feedback(channel);
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}
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dac_feedback /= samples as f64;
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dac_feedback
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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) {
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break;
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@ -372,7 +371,7 @@ impl Channels {
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// Get current passing through TEC
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pub fn get_tec_i(&mut self, channel: usize) -> ElectricCurrent {
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(self.read_itec(channel) - ElectricPotential::new::<volt>(1.5)) / ElectricalResistance::new::<ohm>(0.4)
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(self.read_itec(channel) - self.read_vref(channel)) / ElectricalResistance::new::<ohm>(0.4)
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}
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// Get voltage across TEC
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@ -430,8 +429,8 @@ impl Channels {
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fn report(&mut self, channel: usize) -> Report {
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let i_set = self.get_i(channel);
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let i_tec = self.read_itec(channel);
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let tec_i = self.get_tec_i(channel);
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let i_tec = if self.hwrev.major > 2 {Some(self.read_itec(channel))} else {None};
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let tec_i = if self.hwrev.major > 2 {Some(self.get_tec_i(channel))} else {None};
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let dac_value = self.get_dac(channel);
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let state = self.channel_state(channel);
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let pid_output = ElectricCurrent::new::<ampere>(state.pid.y1);
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@ -525,9 +524,9 @@ impl Channels {
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serde_json_core::to_vec(&summaries)
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}
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pub fn current_abs_max_tec_i(&mut self) -> f64 {
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max_by(self.get_tec_i(0).abs().get::<ampere>(),
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self.get_tec_i(1).abs().get::<ampere>(),
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pub fn current_abs_max_tec_i(&mut self) -> ElectricCurrent {
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max_by(self.get_tec_i(0).abs(),
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self.get_tec_i(1).abs(),
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|a, b| a.partial_cmp(b).unwrap_or(core::cmp::Ordering::Equal))
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}
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}
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@ -544,8 +543,8 @@ pub struct Report {
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i_set: ElectricCurrent,
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dac_value: ElectricPotential,
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dac_feedback: ElectricPotential,
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i_tec: ElectricPotential,
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tec_i: ElectricCurrent,
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i_tec: Option<ElectricPotential>,
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tec_i: Option<ElectricCurrent>,
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tec_u_meas: ElectricPotential,
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pid_output: ElectricCurrent,
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}
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@ -207,11 +207,11 @@ impl Handler {
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}
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fn set_center_point(socket: &mut TcpSocket, channels: &mut Channels, channel: usize, center: CenterPoint) -> Result<Handler, Error> {
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let i_tec = channels.get_i(channel);
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let i_set = channels.get_i(channel);
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let state = channels.channel_state(channel);
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state.center = center;
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if !state.pid_engaged {
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channels.set_i(channel, i_tec);
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channels.set_i(channel, i_set);
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}
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send_line(socket, b"{}");
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Ok(Handler::Handled)
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@ -4,7 +4,10 @@ use stm32f4xx_hal::{
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pwm::{self, PwmChannels},
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pac::TIM8,
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};
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use uom::si::{
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f64::ElectricCurrent,
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electric_current::ampere,
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};
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use crate::{
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hw_rev::HWSettings,
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command_handler::JsonBuffer,
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@ -50,8 +53,8 @@ impl FanCtrl {
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fan_ctrl
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}
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pub fn cycle(&mut self, abs_max_tec_i: f32) {
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self.abs_max_tec_i = abs_max_tec_i;
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pub fn cycle(&mut self, abs_max_tec_i: ElectricCurrent) {
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self.abs_max_tec_i = abs_max_tec_i.get::<ampere>() as f32;
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if self.fan_auto && self.hw_settings.fan_available {
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let scaled_current = self.abs_max_tec_i / MAX_TEC_I;
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// do not limit upper bound, as it will be limited in the set_pwm()
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@ -138,7 +138,7 @@ fn main() -> ! {
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let mut store = flash_store::store(dp.FLASH);
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let mut channels = Channels::new(pins);
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let mut channels = Channels::new(pins, &hwrev);
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for c in 0..CHANNELS {
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match store.read_value::<ChannelConfig>(CHANNEL_CONFIG_KEY[c]) {
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Ok(Some(config)) =>
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@ -185,7 +185,7 @@ fn main() -> ! {
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server.for_each(|_, session| session.set_report_pending(channel.into()));
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}
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fan_ctrl.cycle(channels.current_abs_max_tec_i() as f32);
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fan_ctrl.cycle(channels.current_abs_max_tec_i());
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if channels.pid_engaged() {
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leds.g3.on();
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