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Author SHA1 Message Date
atse 7259caee47 Treat VREF as always 1.5V when getting tec_i 2024-01-26 16:56:54 +08:00
atse 44466965a9 Average out reads instead of waiting for stability
Reading until the error falls into a certain tolerance might cause
bootlooping as the ADC values just might never settle. Average it out
instead.
2024-01-26 16:55:17 +08:00
atse 0fc4a8878c Give time for dac value to settle when calibrating 2024-01-26 16:52:33 +08:00
atse a2043baa1f Make set_i use get_center again
This brings back the ability to override the center point for the
current setpoint.
2024-01-26 16:42:45 +08:00
atse ed03218a36 Fix get_center to use calibrated VREF
The reason get_center should not measure VREF on every call (via
read_vref), is that it introduces significant noise for current setpoint
values derived from this center point, which are user-supplied, and
should not depend on any measurement.

The stable value of VREF supplied by the startup calibrating routine in
calibrate_dac_value should be used instead.

Since that calibrating routine is the very thing that produces a
calibrated VREF, it should stop calling get_center, and use read_vref
directly.
2024-01-26 16:42:38 +08:00
atse 6cd6a6a2c2 Fix warning '...not permit being left uninit..d'
Put SocketState initialisation logic in new. This avoids using an unsafe
and unnerving MaybeUninit::uninit().assume_init() to initialise an
array, which the compiler yells at since it causes undefined behavior.
2024-01-17 15:29:56 +08:00
atse b93e2fbb7b Update rust edition 2024-01-17 15:29:56 +08:00
atse 76b95f66e0 Use latest working stable rust 2024-01-17 15:29:41 +08:00
atse 8008870bc1 Switch panic_handler to panic_halt
Move away from panic_abort as it uses intrinsics, which is nightly only.
2024-01-17 15:29:15 +08:00
atse 7646ff9037 README: Avoid deprecated OpenOCD ST-Link config
The config file interface/stlink-v2-1.cfg is deprecated, and the warning
message encourages the switch to interface/stlink.cfg. Do accordingly.
2024-01-04 12:44:52 +08:00
atse 6f81a63d12 Remove unused LED parameters 2023-09-20 15:51:37 +08:00
atse 78012f6fdd flake: Use rust from manifest, not from pkgs
Fix the rustPlatform deprecation warnings properly.
2023-09-20 11:29:38 +08:00
10 changed files with 73 additions and 65 deletions

8
Cargo.lock generated
View File

@ -327,10 +327,10 @@ dependencies = [
]
[[package]]
name = "panic-abort"
version = "0.3.2"
name = "panic-halt"
version = "0.2.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "4e20e6499bbbc412f280b04a42346b356c6fa0753d5fd22b7bd752ff34c778ee"
checksum = "de96540e0ebde571dc55c73d60ef407c653844e6f9a1e2fdbd40c07b9252d812"
[[package]]
name = "panic-semihosting"
@ -563,7 +563,7 @@ dependencies = [
"nb 1.0.0",
"nom",
"num-traits",
"panic-abort",
"panic-halt",
"panic-semihosting",
"serde",
"serde-json-core",

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@ -7,14 +7,14 @@ authors = ["Astro <astro@spaceboyz.net>"]
version = "0.0.0"
keywords = ["thermostat", "laser", "physics"]
repository = "https://git.m-labs.hk/M-Labs/thermostat"
edition = "2018"
edition = "2021"
[package.metadata.docs.rs]
features = []
default-target = "thumbv7em-none-eabihf"
[dependencies]
panic-abort = "0.3"
panic-halt = "0.2"
panic-semihosting = { version = "0.5", optional = true }
log = "0.4"
bare-metal = "1"

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@ -29,7 +29,7 @@ Alternatively, you can install the Rust toolchain without Nix using rustup; see
Connect SWDIO/SWCLK/RST/GND to a programmer such as ST-Link v2.1. Run OpenOCD:
```shell
openocd -f interface/stlink-v2-1.cfg -f target/stm32f4x.cfg
openocd -f interface/stlink.cfg -f target/stm32f4x.cfg
```
You may need to power up the programmer before powering the device.
@ -64,7 +64,7 @@ On a Windows machine install [st.com](https://st.com) DfuSe USB device firmware
### OpenOCD
```shell
openocd -f interface/stlink-v2-1.cfg -f target/stm32f4x.cfg -c "program target/thumbv7em-none-eabihf/release/thermostat verify reset;exit"
openocd -f interface/stlink.cfg -f target/stm32f4x.cfg -c "program target/thumbv7em-none-eabihf/release/thermostat verify reset;exit"
```
## Network

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@ -8,8 +8,8 @@
let
pkgs = import nixpkgs { system = "x86_64-linux"; overlays = [ (import mozilla-overlay) ]; };
rustManifest = pkgs.fetchurl {
url = "https://static.rust-lang.org/dist/2021-10-26/channel-rust-nightly.toml";
sha256 = "sha256-1hLbypXA+nuH7o3AHCokzSBZAvQxvef4x9+XxO3aBao=";
url = "https://static.rust-lang.org/dist/2022-12-15/channel-rust-stable.toml";
hash = "sha256-S7epLlflwt0d1GZP44u5Xosgf6dRrmr8xxC+Ml2Pq7c=";
};
targets = [
@ -22,12 +22,12 @@
inherit targets;
extensions = ["rust-src"];
};
rust = rustChannelOfTargets "nightly" null targets;
rust = rustChannelOfTargets "stable" null targets;
rustPlatform = pkgs.recurseIntoAttrs (pkgs.makeRustPlatform {
rustc = rust;
cargo = rust;
});
thermostat = rustPlatform.buildRustPackage rec {
thermostat = rustPlatform.buildRustPackage {
name = "thermostat";
version = "0.0.0";
@ -67,8 +67,7 @@
devShell.x86_64-linux = pkgs.mkShell {
name = "thermostat-dev-shell";
buildInputs = with pkgs; [
rustc cargo
openocd dfu-util
rust openocd dfu-util
] ++ (with python3Packages; [
numpy matplotlib
]);

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@ -1,13 +1,11 @@
use smoltcp::time::{Duration, Instant};
use uom::si::{
f64::{
ElectricCurrent,
ElectricPotential,
ElectricalResistance,
ThermodynamicTemperature,
Time,
},
electric_current::ampere,
electric_potential::volt,
electrical_resistance::ohm,
thermodynamic_temperature::degree_celsius,
@ -31,7 +29,6 @@ pub struct ChannelState {
/// i_set 0A center point
pub center: CenterPoint,
pub dac_value: ElectricPotential,
pub i_set: ElectricCurrent,
pub pid_engaged: bool,
pub pid: pid::Controller,
pub sh: sh::Parameters,
@ -47,7 +44,6 @@ impl ChannelState {
adc_interval: Duration::from_millis(100),
center: CenterPoint::Vref,
dac_value: ElectricPotential::new::<volt>(0.0),
i_set: ElectricCurrent::new::<ampere>(0.0),
pid_engaged: false,
pid: pid::Controller::new(pid::Parameters::default()),
sh: sh::Parameters::default(),

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@ -20,6 +20,7 @@ use crate::{
command_handler::JsonBuffer,
pins,
steinhart_hart,
timer,
};
pub const CHANNELS: usize = 2;
@ -116,7 +117,11 @@ impl Channels {
}
pub fn get_i(&mut self, channel: usize) -> ElectricCurrent {
self.channel_state(channel).i_set
let center_point = self.get_center(channel);
let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
let voltage = self.get_dac(channel);
let i_tec = (voltage - center_point) / (10.0 * r_sense);
i_tec
}
/// i_set DAC
@ -137,7 +142,6 @@ impl Channels {
let voltage = i_tec * 10.0 * r_sense + center_point;
let voltage = self.set_dac(channel, voltage);
let i_tec = (voltage - center_point) / (10.0 * r_sense);
self.channel_state(channel).i_set = i_tec;
i_tec
}
@ -163,17 +167,6 @@ impl Channels {
}
}
pub fn read_dac_feedback_until_stable(&mut self, channel: usize, tolerance: ElectricPotential) -> ElectricPotential {
let mut prev = self.read_dac_feedback(channel);
loop {
let current = self.read_dac_feedback(channel);
if (current - prev).abs() < tolerance {
return current;
}
prev = current;
}
}
pub fn read_itec(&mut self, channel: usize) -> ElectricPotential {
match channel {
0 => {
@ -259,15 +252,19 @@ impl Channels {
/// thermostat.
pub fn calibrate_dac_value(&mut self, channel: usize) {
let samples = 50;
let mut target_voltage = ElectricPotential::new::<volt>(0.0);
for _ in 0..samples {
target_voltage = target_voltage + self.read_vref(channel);
}
target_voltage = target_voltage / samples as f64;
let target_voltage = {
let mut target_voltage = ElectricPotential::new::<volt>(0.0);
for _ in 0..samples {
target_voltage += self.read_vref(channel);
}
target_voltage /= samples as f64;
target_voltage
};
let mut start_value = 1;
let mut best_error = ElectricPotential::new::<volt>(100.0);
for step in (0..18).rev() {
timer::sleep(5);
let mut prev_value = start_value;
for value in (start_value..=ad5680::MAX_VALUE).step_by(1 << step) {
match channel {
@ -280,7 +277,14 @@ impl Channels {
_ => unreachable!(),
}
let dac_feedback = self.read_dac_feedback_until_stable(channel, ElectricPotential::new::<volt>(0.001));
let dac_feedback = {
let mut dac_feedback = ElectricPotential::new::<volt>(0.0);
for _ in 0..samples {
dac_feedback += self.read_dac_feedback(channel);
}
dac_feedback /= samples as f64;
dac_feedback
};
let error = target_voltage - dac_feedback;
if error < ElectricPotential::new::<volt>(0.0) {
break;
@ -368,7 +372,7 @@ impl Channels {
// Get current passing through TEC
pub fn get_tec_i(&mut self, channel: usize) -> ElectricCurrent {
(self.read_itec(channel) - self.read_vref(channel)) / ElectricalResistance::new::<ohm>(0.4)
(self.read_itec(channel) - ElectricPotential::new::<volt>(1.5)) / ElectricalResistance::new::<ohm>(0.4)
}
// Get voltage across TEC

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@ -13,7 +13,6 @@ use super::{
PwmPin,
ShParameter
},
leds::Leds,
ad7172,
CHANNEL_CONFIG_KEY,
channels::{
@ -176,13 +175,13 @@ impl Handler {
Ok(Handler::Handled)
}
fn engage_pid (socket: &mut TcpSocket, channels: &mut Channels, leds: &mut Leds, channel: usize) -> Result<Handler, Error> {
fn engage_pid (socket: &mut TcpSocket, channels: &mut Channels, channel: usize) -> Result<Handler, Error> {
channels.channel_state(channel).pid_engaged = true;
send_line(socket, b"{}");
Ok(Handler::Handled)
}
fn set_pwm (socket: &mut TcpSocket, channels: &mut Channels, leds: &mut Leds, channel: usize, pin: PwmPin, value: f64) -> Result<Handler, Error> {
fn set_pwm (socket: &mut TcpSocket, channels: &mut Channels, channel: usize, pin: PwmPin, value: f64) -> Result<Handler, Error> {
match pin {
PwmPin::ISet => {
channels.channel_state(channel).pid_engaged = false;
@ -413,7 +412,7 @@ impl Handler {
}
}
pub fn handle_command(command: Command, socket: &mut TcpSocket, channels: &mut Channels, session: &Session, leds: &mut Leds, store: &mut FlashStore, ipv4_config: &mut Ipv4Config, fan_ctrl: &mut FanCtrl, hwrev: HWRev) -> Result<Self, Error> {
pub fn handle_command(command: Command, socket: &mut TcpSocket, channels: &mut Channels, session: &Session, store: &mut FlashStore, ipv4_config: &mut Ipv4Config, fan_ctrl: &mut FanCtrl, hwrev: HWRev) -> Result<Self, Error> {
match command {
Command::Quit => Ok(Handler::CloseSocket),
Command::Reporting(_reporting) => Handler::reporting(socket),
@ -424,8 +423,8 @@ impl Handler {
Command::Show(ShowCommand::SteinhartHart) => Handler::show_steinhart_hart(socket, channels),
Command::Show(ShowCommand::PostFilter) => Handler::show_post_filter(socket, channels),
Command::Show(ShowCommand::Ipv4) => Handler::show_ipv4(socket, ipv4_config),
Command::PwmPid { channel } => Handler::engage_pid(socket, channels, leds, channel),
Command::Pwm { channel, pin, value } => Handler::set_pwm(socket, channels, leds, channel, pin, value),
Command::PwmPid { channel } => Handler::engage_pid(socket, channels, channel),
Command::Pwm { channel, pin, value } => Handler::set_pwm(socket, channels, channel, pin, value),
Command::CenterPoint { channel, center } => Handler::set_center_point(socket, channels, channel, center),
Command::Pid { channel, parameter, value } => Handler::set_pid(socket, channels, channel, parameter, value),
Command::SteinhartHart { channel, parameter, value } => Handler::set_steinhart_hart(socket, channels, channel, parameter, value),

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@ -1,3 +1,4 @@
use core::arch::asm;
use cortex_m_rt::pre_init;
use stm32f4xx_hal::stm32::{RCC, SYSCFG};

View File

@ -1,11 +1,10 @@
#![cfg_attr(not(test), no_std)]
#![cfg_attr(not(test), no_main)]
#![feature(maybe_uninit_extra, asm)]
#![cfg_attr(test, allow(unused))]
// TODO: #![deny(warnings, unused)]
#[cfg(not(any(feature = "semihosting", test)))]
use panic_abort as _;
use panic_halt as _;
#[cfg(all(feature = "semihosting", not(test)))]
use panic_semihosting as _;
@ -217,7 +216,7 @@ fn main() -> ! {
// Do nothing and feed more data to the line reader in the next loop cycle.
Ok(SessionInput::Nothing) => {}
Ok(SessionInput::Command(command)) => {
match Handler::handle_command(command, &mut socket, &mut channels, session, &mut leds, &mut store, &mut ipv4_config, &mut fan_ctrl, hwrev) {
match Handler::handle_command(command, &mut socket, &mut channels, session, &mut store, &mut ipv4_config, &mut fan_ctrl, hwrev) {
Ok(Handler::NewIPV4(ip)) => new_ipv4_config = Some(ip),
Ok(Handler::Handled) => {},
Ok(Handler::CloseSocket) => socket.close(),

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@ -1,4 +1,3 @@
use core::mem::MaybeUninit;
use smoltcp::{
iface::EthernetInterface,
socket::{SocketSet, SocketHandle, TcpSocket, TcpSocketBuffer, SocketRef},
@ -13,6 +12,18 @@ pub struct SocketState<S> {
state: S,
}
impl<'a, S: Default> SocketState<S>{
fn new(sockets: &mut SocketSet<'a>, tcp_rx_storage: &'a mut [u8; TCP_RX_BUFFER_SIZE], tcp_tx_storage: &'a mut [u8; TCP_TX_BUFFER_SIZE]) -> SocketState<S> {
let tcp_rx_buffer = TcpSocketBuffer::new(&mut tcp_rx_storage[..]);
let tcp_tx_buffer = TcpSocketBuffer::new(&mut tcp_tx_storage[..]);
let tcp_socket = TcpSocket::new(tcp_rx_buffer, tcp_tx_buffer);
SocketState::<S> {
handle: sockets.add(tcp_socket),
state: S::default()
}
}
}
/// Number of server sockets and therefore concurrent client
/// sessions. Many data structures in `Server::run()` correspond to
/// this const.
@ -35,28 +46,27 @@ impl<'a, 'b, S: Default> Server<'a, 'b, S> {
where
F: FnOnce(&mut Server<'a, '_, S>),
{
let mut sockets_storage: [_; SOCKET_COUNT] = Default::default();
let mut sockets = SocketSet::new(&mut sockets_storage[..]);
let mut states: [SocketState<S>; SOCKET_COUNT] = unsafe { MaybeUninit::uninit().assume_init() };
macro_rules! create_socket {
($set:ident, $rx_storage:ident, $tx_storage:ident, $target:expr) => {
macro_rules! create_rtx_storage {
($rx_storage:ident, $tx_storage:ident) => {
let mut $rx_storage = [0; TCP_RX_BUFFER_SIZE];
let mut $tx_storage = [0; TCP_TX_BUFFER_SIZE];
let tcp_rx_buffer = TcpSocketBuffer::new(&mut $rx_storage[..]);
let tcp_tx_buffer = TcpSocketBuffer::new(&mut $tx_storage[..]);
let tcp_socket = TcpSocket::new(tcp_rx_buffer, tcp_tx_buffer);
$target = $set.add(tcp_socket);
}
}
create_socket!(sockets, tcp_rx_storage0, tcp_tx_storage0, states[0].handle);
create_socket!(sockets, tcp_rx_storage1, tcp_tx_storage1, states[1].handle);
create_socket!(sockets, tcp_rx_storage2, tcp_tx_storage2, states[2].handle);
create_socket!(sockets, tcp_rx_storage3, tcp_tx_storage3, states[3].handle);
for state in &mut states {
state.state = S::default();
}
create_rtx_storage!(tcp_rx_storage0, tcp_tx_storage0);
create_rtx_storage!(tcp_rx_storage1, tcp_tx_storage1);
create_rtx_storage!(tcp_rx_storage2, tcp_tx_storage2);
create_rtx_storage!(tcp_rx_storage3, tcp_tx_storage3);
let mut sockets_storage: [_; SOCKET_COUNT] = Default::default();
let mut sockets = SocketSet::new(&mut sockets_storage[..]);
let states: [SocketState<S>; SOCKET_COUNT] = [
SocketState::<S>::new(&mut sockets, &mut tcp_rx_storage0, &mut tcp_tx_storage0),
SocketState::<S>::new(&mut sockets, &mut tcp_rx_storage1, &mut tcp_tx_storage1),
SocketState::<S>::new(&mut sockets, &mut tcp_rx_storage2, &mut tcp_tx_storage2),
SocketState::<S>::new(&mut sockets, &mut tcp_rx_storage3, &mut tcp_tx_storage3),
];
let mut server = Server {
states,