delint

run with `cargo test --target=x86_64-unknown-linux-gnu`

src/ad7172/adc.rs

@@ -100,24 +100,6 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
         Ok(())
     }
 
-    pub fn disable_channel(
-        &mut self, index: u8
-    ) -> Result<(), SPI::Error> {
-        self.update_reg(&regs::Channel { index }, |data| {
-            data.set_enabled(false);
-        })?;
-        Ok(())
-    }
-
-    pub fn disable_all_channels(&mut self) -> Result<(), SPI::Error> {
-        for index in 0..4 {
-            self.update_reg(&regs::Channel { index }, |data| {
-                data.set_enabled(false);
-            })?;
-        }
-        Ok(())
-    }
-
     pub fn get_calibration(&mut self, index: u8) -> Result<ChannelCalibration, SPI::Error> {
         let offset = self.read_reg(&regs::Offset { index })?.offset();
         let gain = self.read_reg(&regs::Gain { index })?.gain();

src/ad7172/mod.rs

@@ -19,8 +19,6 @@ pub const SPI_MODE: spi::Mode = spi::Mode {
 /// 2 MHz
 pub const SPI_CLOCK: MegaHertz = MegaHertz(2);
 
-pub const MAX_VALUE: u32 = 0xFF_FFFF;
-
 
 #[derive(Clone, Copy, Debug)]
 #[repr(u8)]

src/channel_state.rs

@@ -7,7 +7,7 @@ use uom::si::{
     },
     electric_potential::volt,
     electrical_resistance::ohm,
-    temperature_interval::kelvin,
+    thermodynamic_temperature::degree_celsius,
 };
 use crate::{
     ad7172,
@@ -51,10 +51,11 @@ impl ChannelState {
     }
 
     /// Update PID state on ADC input, calculate new DAC output
-    pub fn update_pid(&mut self) {
-        // Update PID controller
-        // self.pid.update(self.get_temperature().unwrap().get::<kelvin>())
-        // TODO: add output field
+    pub fn update_pid(&mut self) -> Option<f64> {
+        let temperature = self.get_temperature()?
+            .get::<degree_celsius>();
+        let pid_output = self.pid.update(temperature);
+        Some(pid_output)
     }
 
     pub fn get_adc(&self) -> Option<ElectricPotential> {

src/channels.rs

@@ -45,8 +45,8 @@ impl Channels {
             .expect("adc_calibration1");
         adc.start_continuous_conversion().unwrap();
 
-        let mut channel0 = Channel::new(pins.channel0, adc_calibration0);
-        let mut channel1 = Channel::new(pins.channel1, adc_calibration1);
+        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 };
@@ -70,21 +70,16 @@ impl Channels {
         self.adc.data_ready().unwrap().map(|channel| {
             let data = self.adc.read_data().unwrap();
 
-            let dac_value = {
             let state = self.channel_state(channel);
-                state.update(instant, data);
-                let pid_output = state.update_pid();
 
-                if state.pid_engaged {
-                    Some(pid_output)
-                } else {
-                    None
-                }
-            };
-            if let Some(dac_value) = dac_value {
+            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
-                // TODO:
-                // self.set_dac(channel.into(), ElectricPotential::new::<volt>(dac_value));
+                    self.set_i(channel.into(), ElectricCurrent::new::<ampere>(pid_output));
+                }
+                _ => {}
             }
 
             channel
@@ -169,7 +164,6 @@ impl Channels {
         let mut prev = self.read_dac_feedback(channel);
         loop {
             let current = self.read_dac_feedback(channel);
-            use num_traits::float::Float;
             if (current - prev).abs() < tolerance {
                 return current;
             }

src/command_parser.rs

@@ -122,17 +122,6 @@ pub enum PwmPin {
     MaxV,
 }
 
-impl PwmPin {
-    pub fn name(&self) -> &'static str {
-        match self {
-            PwmPin::ISet => "i_set",
-            PwmPin::MaxIPos => "max_i_pos",
-            PwmPin::MaxINeg => "max_i_neg",
-            PwmPin::MaxV => "max_v",
-        }
-    }
-}
-
 #[derive(Debug, Clone, PartialEq)]
 pub enum Command {
     Quit,
@@ -178,19 +167,6 @@ fn whitespace(input: &[u8]) -> IResult<&[u8], ()> {
     fold_many1(char(' '), (), |(), _| ())(input)
 }
 
-fn unsigned(input: &[u8]) -> IResult<&[u8], Result<u32, Error>> {
-    take_while1(is_digit)(input)
-        .map(|(input, digits)| {
-            let result =
-                from_utf8(digits)
-                .map_err(|e| e.into())
-                .and_then(|digits| u32::from_str_radix(digits, 10)
-                     .map_err(|e| e.into())
-                );
-            (input, result)
-        })
-}
-
 fn float(input: &[u8]) -> IResult<&[u8], Result<f64, Error>> {
     let (input, sign) = opt(is_a("-"))(input)?;
     let negative = sign.is_some();
@@ -461,7 +437,7 @@ mod test {
         assert_eq!(command, Ok(Command::Pwm {
             channel: 1,
             pin: PwmPin::ISet,
-            value: 16383,
+            value: 16383.0,
         }));
     }
 
@@ -470,7 +446,6 @@ mod test {
         let command = Command::parse(b"pwm 0 pid");
         assert_eq!(command, Ok(Command::PwmPid {
             channel: 0,
-            pin: PwmPin::ISet,
         }));
     }
 
@@ -480,7 +455,7 @@ mod test {
         assert_eq!(command, Ok(Command::Pwm {
             channel: 0,
             pin: PwmPin::MaxIPos,
-            value: 7,
+            value: 7.0,
         }));
     }
 
@@ -490,7 +465,7 @@ mod test {
         assert_eq!(command, Ok(Command::Pwm {
             channel: 0,
             pin: PwmPin::MaxINeg,
-            value: 128,
+            value: 128.0,
         }));
     }
 
@@ -500,7 +475,7 @@ mod test {
         assert_eq!(command, Ok(Command::Pwm {
             channel: 0,
             pin: PwmPin::MaxV,
-            value: 32768,
+            value: 32768.0,
         }));
     }
 

src/init_log.rs

@@ -5,7 +5,7 @@ static USB_LOGGER: usb::Logger = usb::Logger;
 
 #[cfg(not(feature = "semihosting"))]
 pub fn init_log() {
-    log::set_logger(&USB_LOGGER);
+    let _ = log::set_logger(&USB_LOGGER);
 }
 
 #[cfg(feature = "semihosting")]

src/main.rs

@@ -1,24 +1,20 @@
-#![no_std]
-#![no_main]
+#![cfg_attr(not(test), no_std)]
+#![cfg_attr(not(test), no_main)]
 #![feature(maybe_uninit_extra, maybe_uninit_ref)]
 // TODO: #![deny(warnings, unused)]
 
-#[cfg(not(feature = "semihosting"))]
+#[cfg(not(any(feature = "semihosting", test)))]
 use panic_abort as _;
-#[cfg(feature = "semihosting")]
+#[cfg(all(feature = "semihosting", not(test)))]
 use panic_semihosting as _;
 
 use log::{info, warn};
 
-use core::ops::DerefMut;
 use core::fmt::Write;
 use cortex_m::asm::wfi;
 use cortex_m_rt::entry;
 use stm32f4xx_hal::{
-    hal::{
-        self,
-        watchdog::{WatchdogEnable, Watchdog},
-    },
+    hal::watchdog::{WatchdogEnable, Watchdog},
     rcc::RccExt,
     watchdog::IndependentWatchdog,
     time::{U32Ext, MegaHertz},
@@ -80,6 +76,7 @@ const TCP_PORT: u16 = 23;
 
 
 /// Initialization and main loop
+#[cfg(not(test))]
 #[entry]
 fn main() -> ! {
     init_log();
@@ -199,7 +196,7 @@ fn main() -> ! {
                                         let state = channels.channel_state(channel);
                                         let _ = writeln!(socket, "PID settings for channel {}", channel);
                                         let pid = &state.pid;
-                                        let _ = writeln!(socket, "- target={:.4}", pid.target);
+                                        let _ = writeln!(socket, "- target={:.4} °C", pid.target);
                                         macro_rules! show_pid_parameter {
                                             ($p: tt) => {
                                                 let _ = writeln!(
@@ -216,7 +213,7 @@ fn main() -> ! {
                                         show_pid_parameter!(output_min);
                                         show_pid_parameter!(output_max);
                                         if let Some(last_output) = pid.last_output {
-                                            let _ = writeln!(socket, "- last_output={:.4}", last_output);
+                                            let _ = writeln!(socket, "- last_output={:.3} A", last_output);
                                         }
                                         let _ = writeln!(socket, "");
                                     }
@@ -352,16 +349,17 @@ fn main() -> ! {
                                                 max.into_format_args(ampere, Abbreviation),
                                             );
                                         }
-                                        _ =>
-                                            unreachable!(),
                                     }
                                 }
                                 Command::Pid { channel, parameter, value } => {
                                     let pid = &mut channels.channel_state(channel).pid;
                                     use command_parser::PidParameter::*;
                                     match parameter {
-                                        Target =>
-                                            pid.target = value,
+                                        Target => {
+                                            pid.target = value;
+                                            // reset pid.integral
+                                            pid.reset();
+                                        }
                                         KP =>
                                             pid.parameters.kp = value,
                                         KI =>
@@ -377,9 +375,6 @@ fn main() -> ! {
                                         IntegralMax =>
                                             pid.parameters.integral_max = value,
                                     }
-                                    // TODO: really reset PID state
-                                    // after each parameter change?
-                                    pid.reset();
                                     let _ = writeln!(socket, "PID parameter updated");
                                 }
                                 Command::SteinhartHart { channel, parameter, value } => {

src/pid.rs

@@ -12,13 +12,13 @@ pub struct Parameters {
 impl Default for Parameters {
     fn default() -> Self {
         Parameters {
-            kp: 0.5,
-            ki: 0.05,
-            kd: 0.45,
+            kp: 1.5,
+            ki: 0.1,
+            kd: 150.0,
             output_min: 0.0,
-            output_max: 5.0,
-            integral_min: 0.0,
-            integral_max: 1.0,
+            output_max: 2.0,
+            integral_min: -10.0,
+            integral_max: 10.0,
         }
     }
 }
@@ -44,10 +44,13 @@ impl Controller {
     }
 
     pub fn update(&mut self, input: f64) -> f64 {
+        // error
         let error = self.target - input;
 
+        // partial
         let p = self.parameters.kp * error;
 
+        //integral
         self.integral += error;
         if self.integral < self.parameters.integral_min {
             self.integral = self.parameters.integral_min;
@@ -57,12 +60,14 @@ impl Controller {
         }
         let i = self.parameters.ki * self.integral;
 
+        // derivative
         let d = match self.last_input {
             None => 0.0,
             Some(last_input) => self.parameters.kd * (last_input - input)
         };
         self.last_input = Some(input);
 
+        // output
         let mut output = p + i + d;
         if output < self.parameters.output_min {
             output = self.parameters.output_min;
@@ -103,7 +108,7 @@ mod test {
         const DELAY: usize = 10;
 
         let mut pid = Controller::new(PARAMETERS.clone());
-        pid.set_target(TARGET);
+        pid.target = TARGET;
 
         let mut values = [DEFAULT; DELAY];
         let mut t = 0;
@@ -118,6 +123,5 @@ mod test {
             t = next_t;
             total_t += 1;
         }
-        dbg!(values[t], total_t);
     }
 }

src/pins.rs

@@ -6,13 +6,11 @@ use stm32f4xx_hal::{
         gpioa::*,
         gpiob::*,
         gpioc::*,
-        gpiod::*,
         gpioe::*,
         gpiof::*,
         gpiog::*,
         GpioExt,
         Output, PushPull,
-        Speed::VeryHigh,
     },
     otg_fs::USB,
     rcc::Clocks,

src/usb.rs

@@ -6,10 +6,10 @@ use stm32f4xx_hal::{
 };
 use usb_device::{
     class_prelude::{UsbBusAllocator},
-    prelude::{UsbError, UsbDevice, UsbDeviceBuilder, UsbVidPid},
+    prelude::{UsbDevice, UsbDeviceBuilder, UsbVidPid},
 };
 use usbd_serial::SerialPort;
-use log::{Record, Level, Log, Metadata};
+use log::{Record, Log, Metadata};
 
 static mut EP_MEMORY: [u32; 1024] = [0; 1024];
 
@@ -30,7 +30,7 @@ impl State {
         let serial = SerialPort::new(bus);
         let dev = UsbDeviceBuilder::new(bus, UsbVidPid(0x16c0, 0x27dd))
             .manufacturer("M-Labs")
-            .product("thermostat")
+            .product("tecpak")
             .device_release(0x20)
             .self_powered(true)
             .device_class(usbd_serial::USB_CLASS_CDC)