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7259caee47
Author | SHA1 | Date |
---|---|---|
atse | 7259caee47 | |
atse | 44466965a9 | |
atse | 0fc4a8878c | |
atse | a2043baa1f | |
atse | ed03218a36 | |
atse | 6cd6a6a2c2 | |
atse | b93e2fbb7b | |
atse | 76b95f66e0 | |
atse | 8008870bc1 | |
atse | 7646ff9037 | |
atse | 6f81a63d12 | |
atse | 78012f6fdd |
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@ -327,10 +327,10 @@ dependencies = [
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]
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[[package]]
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name = "panic-abort"
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version = "0.3.2"
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name = "panic-halt"
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version = "0.2.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "4e20e6499bbbc412f280b04a42346b356c6fa0753d5fd22b7bd752ff34c778ee"
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checksum = "de96540e0ebde571dc55c73d60ef407c653844e6f9a1e2fdbd40c07b9252d812"
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[[package]]
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name = "panic-semihosting"
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@ -563,7 +563,7 @@ dependencies = [
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"nb 1.0.0",
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"nom",
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"num-traits",
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"panic-abort",
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"panic-halt",
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"panic-semihosting",
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"serde",
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"serde-json-core",
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@ -7,14 +7,14 @@ authors = ["Astro <astro@spaceboyz.net>"]
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version = "0.0.0"
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keywords = ["thermostat", "laser", "physics"]
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repository = "https://git.m-labs.hk/M-Labs/thermostat"
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edition = "2018"
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edition = "2021"
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[package.metadata.docs.rs]
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features = []
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default-target = "thumbv7em-none-eabihf"
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[dependencies]
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panic-abort = "0.3"
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panic-halt = "0.2"
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panic-semihosting = { version = "0.5", optional = true }
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log = "0.4"
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bare-metal = "1"
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@ -29,7 +29,7 @@ Alternatively, you can install the Rust toolchain without Nix using rustup; see
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Connect SWDIO/SWCLK/RST/GND to a programmer such as ST-Link v2.1. Run OpenOCD:
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```shell
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openocd -f interface/stlink-v2-1.cfg -f target/stm32f4x.cfg
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openocd -f interface/stlink.cfg -f target/stm32f4x.cfg
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```
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You may need to power up the programmer before powering the device.
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@ -64,7 +64,7 @@ On a Windows machine install [st.com](https://st.com) DfuSe USB device firmware
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### OpenOCD
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```shell
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openocd -f interface/stlink-v2-1.cfg -f target/stm32f4x.cfg -c "program target/thumbv7em-none-eabihf/release/thermostat verify reset;exit"
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openocd -f interface/stlink.cfg -f target/stm32f4x.cfg -c "program target/thumbv7em-none-eabihf/release/thermostat verify reset;exit"
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```
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## Network
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11
flake.nix
11
flake.nix
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@ -8,8 +8,8 @@
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let
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pkgs = import nixpkgs { system = "x86_64-linux"; overlays = [ (import mozilla-overlay) ]; };
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rustManifest = pkgs.fetchurl {
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url = "https://static.rust-lang.org/dist/2021-10-26/channel-rust-nightly.toml";
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sha256 = "sha256-1hLbypXA+nuH7o3AHCokzSBZAvQxvef4x9+XxO3aBao=";
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url = "https://static.rust-lang.org/dist/2022-12-15/channel-rust-stable.toml";
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hash = "sha256-S7epLlflwt0d1GZP44u5Xosgf6dRrmr8xxC+Ml2Pq7c=";
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};
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targets = [
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@ -22,12 +22,12 @@
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inherit targets;
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extensions = ["rust-src"];
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};
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rust = rustChannelOfTargets "nightly" null targets;
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rust = rustChannelOfTargets "stable" null targets;
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rustPlatform = pkgs.recurseIntoAttrs (pkgs.makeRustPlatform {
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rustc = rust;
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cargo = rust;
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});
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thermostat = rustPlatform.buildRustPackage rec {
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thermostat = rustPlatform.buildRustPackage {
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name = "thermostat";
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version = "0.0.0";
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@ -67,8 +67,7 @@
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devShell.x86_64-linux = pkgs.mkShell {
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name = "thermostat-dev-shell";
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buildInputs = with pkgs; [
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rustc cargo
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openocd dfu-util
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rust openocd dfu-util
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] ++ (with python3Packages; [
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numpy matplotlib
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]);
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@ -1,13 +1,11 @@
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use smoltcp::time::{Duration, Instant};
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use uom::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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Time,
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},
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electric_current::ampere,
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electric_potential::volt,
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electrical_resistance::ohm,
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thermodynamic_temperature::degree_celsius,
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@ -31,7 +29,6 @@ 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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@ -47,7 +44,6 @@ 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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@ -20,6 +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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};
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pub const CHANNELS: usize = 2;
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@ -116,7 +117,11 @@ impl Channels {
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}
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pub fn get_i(&mut self, channel: usize) -> ElectricCurrent {
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self.channel_state(channel).i_set
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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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}
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/// i_set DAC
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@ -137,7 +142,6 @@ impl Channels {
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let voltage = i_tec * 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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self.channel_state(channel).i_set = i_tec;
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i_tec
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}
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@ -163,17 +167,6 @@ 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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@ -259,15 +252,19 @@ 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 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.read_vref(channel);
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}
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target_voltage = target_voltage / samples as f64;
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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 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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@ -280,7 +277,14 @@ impl Channels {
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_ => unreachable!(),
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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 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 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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@ -368,7 +372,7 @@ 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) - self.read_vref(channel)) / ElectricalResistance::new::<ohm>(0.4)
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(self.read_itec(channel) - ElectricPotential::new::<volt>(1.5)) / ElectricalResistance::new::<ohm>(0.4)
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}
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// Get voltage across TEC
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@ -13,7 +13,6 @@ use super::{
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PwmPin,
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ShParameter
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},
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leds::Leds,
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ad7172,
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CHANNEL_CONFIG_KEY,
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channels::{
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@ -176,13 +175,13 @@ impl Handler {
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Ok(Handler::Handled)
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}
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fn engage_pid (socket: &mut TcpSocket, channels: &mut Channels, leds: &mut Leds, channel: usize) -> Result<Handler, Error> {
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fn engage_pid (socket: &mut TcpSocket, channels: &mut Channels, channel: usize) -> Result<Handler, Error> {
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channels.channel_state(channel).pid_engaged = true;
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send_line(socket, b"{}");
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Ok(Handler::Handled)
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}
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fn set_pwm (socket: &mut TcpSocket, channels: &mut Channels, leds: &mut Leds, channel: usize, pin: PwmPin, value: f64) -> Result<Handler, Error> {
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fn set_pwm (socket: &mut TcpSocket, channels: &mut Channels, channel: usize, pin: PwmPin, value: f64) -> Result<Handler, Error> {
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match pin {
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PwmPin::ISet => {
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channels.channel_state(channel).pid_engaged = false;
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@ -413,7 +412,7 @@ impl Handler {
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}
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}
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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> {
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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> {
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match command {
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Command::Quit => Ok(Handler::CloseSocket),
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Command::Reporting(_reporting) => Handler::reporting(socket),
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@ -424,8 +423,8 @@ impl Handler {
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Command::Show(ShowCommand::SteinhartHart) => Handler::show_steinhart_hart(socket, channels),
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Command::Show(ShowCommand::PostFilter) => Handler::show_post_filter(socket, channels),
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Command::Show(ShowCommand::Ipv4) => Handler::show_ipv4(socket, ipv4_config),
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Command::PwmPid { channel } => Handler::engage_pid(socket, channels, leds, channel),
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Command::Pwm { channel, pin, value } => Handler::set_pwm(socket, channels, leds, channel, pin, value),
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Command::PwmPid { channel } => Handler::engage_pid(socket, channels, channel),
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Command::Pwm { channel, pin, value } => Handler::set_pwm(socket, channels, channel, pin, value),
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Command::CenterPoint { channel, center } => Handler::set_center_point(socket, channels, channel, center),
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Command::Pid { channel, parameter, value } => Handler::set_pid(socket, channels, channel, parameter, value),
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Command::SteinhartHart { channel, parameter, value } => Handler::set_steinhart_hart(socket, channels, channel, parameter, value),
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|
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@ -1,3 +1,4 @@
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use core::arch::asm;
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use cortex_m_rt::pre_init;
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use stm32f4xx_hal::stm32::{RCC, SYSCFG};
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|
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@ -1,11 +1,10 @@
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#![cfg_attr(not(test), no_std)]
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#![cfg_attr(not(test), no_main)]
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#![feature(maybe_uninit_extra, asm)]
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#![cfg_attr(test, allow(unused))]
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// TODO: #![deny(warnings, unused)]
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#[cfg(not(any(feature = "semihosting", test)))]
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use panic_abort as _;
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use panic_halt as _;
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#[cfg(all(feature = "semihosting", not(test)))]
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use panic_semihosting as _;
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|
@ -217,7 +216,7 @@ fn main() -> ! {
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// Do nothing and feed more data to the line reader in the next loop cycle.
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Ok(SessionInput::Nothing) => {}
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Ok(SessionInput::Command(command)) => {
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match Handler::handle_command(command, &mut socket, &mut channels, session, &mut leds, &mut store, &mut ipv4_config, &mut fan_ctrl, hwrev) {
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match Handler::handle_command(command, &mut socket, &mut channels, session, &mut store, &mut ipv4_config, &mut fan_ctrl, hwrev) {
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Ok(Handler::NewIPV4(ip)) => new_ipv4_config = Some(ip),
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Ok(Handler::Handled) => {},
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Ok(Handler::CloseSocket) => socket.close(),
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|
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@ -1,4 +1,3 @@
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use core::mem::MaybeUninit;
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use smoltcp::{
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iface::EthernetInterface,
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socket::{SocketSet, SocketHandle, TcpSocket, TcpSocketBuffer, SocketRef},
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|
@ -13,6 +12,18 @@ pub struct SocketState<S> {
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state: S,
|
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}
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|
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impl<'a, S: Default> SocketState<S>{
|
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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> {
|
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let tcp_rx_buffer = TcpSocketBuffer::new(&mut tcp_rx_storage[..]);
|
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let tcp_tx_buffer = TcpSocketBuffer::new(&mut tcp_tx_storage[..]);
|
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let tcp_socket = TcpSocket::new(tcp_rx_buffer, tcp_tx_buffer);
|
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SocketState::<S> {
|
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handle: sockets.add(tcp_socket),
|
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state: S::default()
|
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}
|
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}
|
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}
|
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|
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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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|
@ -35,28 +46,27 @@ impl<'a, 'b, S: Default> Server<'a, 'b, S> {
|
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where
|
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F: FnOnce(&mut Server<'a, '_, S>),
|
||||
{
|
||||
let mut sockets_storage: [_; SOCKET_COUNT] = Default::default();
|
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let mut sockets = SocketSet::new(&mut sockets_storage[..]);
|
||||
let mut states: [SocketState<S>; SOCKET_COUNT] = unsafe { MaybeUninit::uninit().assume_init() };
|
||||
|
||||
macro_rules! create_socket {
|
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($set:ident, $rx_storage:ident, $tx_storage:ident, $target:expr) => {
|
||||
macro_rules! create_rtx_storage {
|
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($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);
|
||||
}
|
||||
}
|
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create_socket!(sockets, tcp_rx_storage0, tcp_tx_storage0, states[0].handle);
|
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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,
|
||||
|
|
Loading…
Reference in New Issue