ad7172: fix calibration

src/ad5680.rs

@@ -6,6 +6,7 @@ use stm32f4xx_hal::{
     time::MegaHertz,
     spi,
 };
+use crate::units::Volts;
 
 /// SPI Mode 1
 pub const SPI_MODE: spi::Mode = spi::Mode {
@@ -44,8 +45,9 @@ impl<SPI: Transfer<u8>, S: OutputPin> Dac<SPI, S> {
         Ok(())
     }
 
-    /// value: `0..0x20_000`
+    pub fn set(&mut self, voltage: Volts) -> Result<(), SPI::Error> {
-    pub fn set(&mut self, value: u32) -> Result<(), SPI::Error> {
+        let value = ((voltage.0 * (MAX_VALUE as f64) / 5.0) as u32)
+            .min(MAX_VALUE);
         let buf = [
             (value >> 14) as u8,
             (value >> 6) as u8,

src/ad7172/adc.rs

@@ -43,7 +43,7 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
 
         let mut adc_mode = <regs::AdcMode as Register>::Data::empty();
         adc_mode.set_ref_en(true);
-        adc_mode.set_mode(Mode::ContinuousConversion);
+        adc_mode.set_mode(Mode::Standby);
         adc.write_reg(&regs::AdcMode, &mut adc_mode)?;
 
         Ok(adc)
@@ -96,16 +96,52 @@ 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(())
+    }
+
     /// Calibrates offset registers
-    pub fn calibrate_offset(&mut self) -> Result<(), SPI::Error> {
+    pub fn calibrate(&mut self) -> Result<(), SPI::Error> {
+        // internal offset calibration
+        self.update_reg(&regs::AdcMode, |adc_mode| {
+            adc_mode.set_mode(Mode::InternalOffsetCalibration);
+        })?;
+        while ! self.read_reg(&regs::Status)?.ready() {}
+
+        // system offset calibration
         self.update_reg(&regs::AdcMode, |adc_mode| {
             adc_mode.set_mode(Mode::SystemOffsetCalibration);
         })?;
         while ! self.read_reg(&regs::Status)?.ready() {}
 
+        // system gain calibration
         self.update_reg(&regs::AdcMode, |adc_mode| {
-            adc_mode.set_mode(Mode::ContinuousConversion);
+            adc_mode.set_mode(Mode::SystemGainCalibration);
         })?;
+        while ! self.read_reg(&regs::Status)?.ready() {}
+
+        Ok(())
+    }
+
+    pub fn start_continuous_conversion(&mut self) -> Result<(), SPI::Error> {
+        let mut adc_mode = <regs::AdcMode as Register>::Data::empty();
+        adc_mode.set_ref_en(true);
+        adc_mode.set_mode(Mode::ContinuousConversion);
+        self.write_reg(&regs::AdcMode, &mut adc_mode)?;
 
         Ok(())
     }

src/channel.rs

@@ -1,6 +1,9 @@
-use crate::pins::{ChannelPins, ChannelPinSet};
+use crate::{
-use crate::channel_state::ChannelState;
+    ad5680,
-use crate::ad5680;
+    channel_state::ChannelState,
+    pins::{ChannelPins, ChannelPinSet},
+    units::Volts,
+};
 
 /// Marker type for the first channel
 pub struct Channel0;
@@ -11,24 +14,29 @@ pub struct Channel1;
 
 pub struct Channel<C: ChannelPins> {
     pub state: ChannelState,
+    /// for `i_set`
     pub dac: ad5680::Dac<C::DacSpi, C::DacSync>,
     pub shdn: C::Shdn,
-    pub ref_adc: C::RefAdc,
+    /// stm32f4 integrated adc
-    pub ref_pin: C::RefPin,
+    pub adc: C::Adc,
+    pub itec_pin: C::ItecPin,
+    /// feedback from `dac` output
+    pub dac_loopback_pin: C::DacLoopbackPin,
 }
 
 impl<C: ChannelPins> Channel<C> {
     pub fn new(pins: ChannelPinSet<C>) -> Self {
         let state = ChannelState::default();
         let mut dac = ad5680::Dac::new(pins.dac_spi, pins.dac_sync);
-        let _ = dac.set(0);
+        let _ = dac.set(Volts(0.0));
 
         Channel {
             state,
             dac,
             shdn: pins.shdn,
-            ref_adc: pins.ref_adc,
+            adc: pins.adc,
-            ref_pin: pins.ref_pin,
+            itec_pin: pins.itec_pin,
+            dac_loopback_pin: pins.dac_loopback_pin,
         }
     }
 }

src/channel_state.rs

@@ -1,11 +1,16 @@
 use smoltcp::time::Instant;
-use crate::{ad5680, ad7172, pid, steinhart_hart as sh};
+use crate::{
+    ad7172,
+    pid,
+    steinhart_hart as sh,
+    units::Volts,
+};
 
 
 pub struct ChannelState {
     pub adc_data: Option<u32>,
     pub adc_time: Instant,
-    pub dac_value: u32,
+    pub dac_value: Volts,
     pub pid_engaged: bool,
     pub pid: pid::Controller,
     pub sh: sh::Parameters,
@@ -16,7 +21,7 @@ impl Default for ChannelState {
         ChannelState {
             adc_data: None,
             adc_time: Instant::from_secs(0),
-            dac_value: 0,
+            dac_value: Volts(0.0),
             pid_engaged: false,
             pid: pid::Controller::new(pid::Parameters::default()),
             sh: sh::Parameters::default(),
@@ -26,14 +31,13 @@ impl Default for ChannelState {
 
 impl ChannelState {
     /// Update PID state on ADC input, calculate new DAC output
-    pub fn update_pid(&mut self, now: Instant, adc_data: u32) -> u32 {
+    pub fn update_pid(&mut self, now: Instant, adc_data: u32) -> f64 {
         self.adc_data = Some(adc_data);
         self.adc_time = now;
 
         // Update PID controller
         let input = (adc_data as f64) / (ad7172::MAX_VALUE as f64);
         let temperature = self.sh.get_temperature(input);
-        let output = self.pid.update(temperature);
+        self.pid.update(temperature)
-        (output * (ad5680::MAX_VALUE as f64)) as u32
     }
 }

src/channels.rs

@@ -5,6 +5,7 @@ use crate::{
     channel::{Channel, Channel0, Channel1},
     channel_state::ChannelState,
     pins,
+    units::Volts,
 };
 
 pub const CHANNELS: usize = 2;
@@ -25,10 +26,22 @@ impl Channels {
         let mut adc = ad7172::Adc::new(pins.adc_spi, pins.adc_nss).unwrap();
         // Feature not used
         adc.set_sync_enable(false).unwrap();
-        // Setup channels
+
+        // Calibrate ADC channels individually
+        adc.disable_all_channels().unwrap();
+
+        adc.setup_channel(0, ad7172::Input::Ain0, ad7172::Input::Ain1).unwrap();
+        adc.calibrate().unwrap();
+        adc.disable_channel(0).unwrap();
+
+        adc.setup_channel(1, ad7172::Input::Ain2, ad7172::Input::Ain3).unwrap();
+        adc.calibrate().unwrap();
+        adc.disable_channel(1).unwrap();
+
+        // Setup channels and start ADC
         adc.setup_channel(0, ad7172::Input::Ain0, ad7172::Input::Ain1).unwrap();
         adc.setup_channel(1, ad7172::Input::Ain2, ad7172::Input::Ain3).unwrap();
-        adc.calibrate_offset().unwrap();
+        adc.start_continuous_conversion().unwrap();
 
         Channels { channel0, channel1, adc, pwm }
     }
@@ -58,7 +71,7 @@ impl Channels {
             };
             if let Some(dac_value) = dac_value {
                 // Forward PID output to i_set DAC
-                self.set_dac(channel.into(), dac_value);
+                self.set_dac(channel.into(), Volts(dac_value));
             }
 
             channel
@@ -66,32 +79,62 @@ impl Channels {
     }
 
     /// i_set DAC
-    pub fn set_dac(&mut self, channel: usize, duty: u32) {
+    pub fn set_dac(&mut self, channel: usize, voltage: Volts) {
         match channel {
             0 => {
-                self.channel0.dac.set(duty).unwrap();
+                self.channel0.dac.set(voltage).unwrap();
-                self.channel0.state.dac_value = duty;
+                self.channel0.state.dac_value = voltage;
                 self.channel0.shdn.set_high().unwrap();
             }
             1 => {
-                self.channel1.dac.set(duty).unwrap();
+                self.channel1.dac.set(voltage).unwrap();
-                self.channel1.state.dac_value = duty;
+                self.channel1.state.dac_value = voltage;
                 self.channel1.shdn.set_high().unwrap();
             }
             _ => unreachable!(),
         }
     }
 
-    pub fn read_ref_adc(&mut self, channel: usize) -> u16 {
+    pub fn read_dac_loopback(&mut self, channel: usize) -> Volts {
         match channel {
-            0 => self.channel0.ref_adc.convert(
+            0 => {
-                &self.channel0.ref_pin,
+                let sample = self.channel0.adc.convert(
-                stm32f4xx_hal::adc::config::SampleTime::Cycles_480
+                    &self.channel0.dac_loopback_pin,
-            ),
+                    stm32f4xx_hal::adc::config::SampleTime::Cycles_480
-            1 => self.channel1.ref_adc.convert(
+                );
-                &self.channel1.ref_pin,
+                let mv = self.channel0.adc.sample_to_millivolts(sample);
-                stm32f4xx_hal::adc::config::SampleTime::Cycles_480
+                Volts(mv as f64 / 1000.0)
-            ),
+            }
+            1 => {
+                let sample = self.channel1.adc.convert(
+                    &self.channel1.dac_loopback_pin,
+                    stm32f4xx_hal::adc::config::SampleTime::Cycles_480
+                );
+                let mv = self.channel1.adc.sample_to_millivolts(sample);
+                Volts(mv as f64 / 1000.0)
+            }
+            _ => unreachable!(),
+        }
+    }
+
+    pub fn read_itec(&mut self, channel: usize) -> Volts {
+        match channel {
+            0 => {
+                let sample = self.channel0.adc.convert(
+                    &self.channel0.itec_pin,
+                    stm32f4xx_hal::adc::config::SampleTime::Cycles_480
+                );
+                let mv = self.channel0.adc.sample_to_millivolts(sample);
+                Volts(mv as f64 / 1000.0)
+            }
+            1 => {
+                let sample = self.channel1.adc.convert(
+                    &self.channel1.itec_pin,
+                    stm32f4xx_hal::adc::config::SampleTime::Cycles_480
+                );
+                let mv = self.channel1.adc.sample_to_millivolts(sample);
+                Volts(mv as f64 / 1000.0)
+            }
             _ => unreachable!(),
         }
     }

src/command_parser.rs

@@ -142,7 +142,7 @@ pub enum Command {
     Pwm {
         channel: usize,
         pin: PwmPin,
-        duty: u32,
+        duty: f64,
     },
     /// Enable PID control for `i_set`
     PwmPid {
@@ -239,9 +239,9 @@ fn report(input: &[u8]) -> IResult<&[u8], Command> {
     )(input)
 }
 
-fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<(PwmPin, u32), Error>> {
+fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<(PwmPin, f64), Error>> {
     let result_with_pin = |pin: PwmPin|
-        move |result: Result<u32, Error>|
+        move |result: Result<f64, Error>|
         result.map(|duty| (pin, duty));
 
     alt((
@@ -250,7 +250,7 @@ fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<(PwmPin, u32), Error>> {
                 tag("max_i_pos"),
                 preceded(
                     whitespace,
-                    unsigned
+                    float
                 )
             ),
             result_with_pin(PwmPin::MaxIPos)
@@ -260,7 +260,7 @@ fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<(PwmPin, u32), Error>> {
                 tag("max_i_neg"),
                 preceded(
                     whitespace,
-                    unsigned
+                    float
                 )
             ),
             result_with_pin(PwmPin::MaxINeg)
@@ -270,12 +270,12 @@ fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<(PwmPin, u32), Error>> {
                 tag("max_v"),
                 preceded(
                     whitespace,
-                    unsigned
+                    float
                 )
             ),
             result_with_pin(PwmPin::MaxV)
         ),
-        map(unsigned, result_with_pin(PwmPin::ISet)
+        map(float, result_with_pin(PwmPin::ISet)
         ))
     )(input)
 }

src/main.rs

@@ -42,6 +42,8 @@ use session::{Session, SessionOutput};
 mod command_parser;
 use command_parser::{Command, ShowCommand, PwmPin};
 mod timer;
+mod units;
+use units::{Amps, Ohms, Volts};
 mod pid;
 mod steinhart_hart;
 mod channels;
@@ -141,12 +143,18 @@ fn main() -> ! {
                                 Command::Show(ShowCommand::Input) => {
                                     for channel in 0..CHANNELS {
                                         if let Some(adc_data) = channels.channel_state(channel).adc_data {
-                                            let ref_adc_data = channels.read_ref_adc(channel);
+                                            let dac_loopback = channels.read_dac_loopback(channel);
+                                            let dac_i = dac_loopback / Ohms(5.0);
+
+                                            let itec = channels.read_itec(channel);
+                                            let tec_i = Amps((itec.0 - 1.5) / 8.0);
+
                                             let state = channels.channel_state(channel);
                                             let _ = writeln!(
-                                                socket, "t={} raw{}=0x{:06X} ref_adc=0x{:X}",
+                                                socket, "t={} raw{}=0x{:06X} dac_loopback={}/{} itec={} tec={}",
                                                 state.adc_time, channel, adc_data,
-                                                ref_adc_data
+                                                dac_loopback, dac_i,
+                                                itec, tec_i,
                                             );
                                         }
                                     }
@@ -186,7 +194,7 @@ fn main() -> ! {
                                             channel,
                                             if state.pid_engaged { "engaged" } else { "disengaged" }
                                         );
-                                        let _ = writeln!(socket, "- i_set={}/{}", state.dac_value, ad5680::MAX_VALUE);
+                                        let _ = writeln!(socket, "- i_set={}", state.dac_value);
                                         fn show_pwm_channel<S, P>(mut socket: S, name: &str, pin: &P)
                                         where
                                             S: core::fmt::Write,
@@ -250,21 +258,16 @@ fn main() -> ! {
                                     let _ = writeln!(socket, "channel {}: PID enabled to control PWM", channel
                                     );
                                 }
-                                Command::Pwm { channel, pin: PwmPin::ISet, duty } if duty <= ad5680::MAX_VALUE => {
+                                Command::Pwm { channel, pin: PwmPin::ISet, duty } => {
                                     channels.channel_state(channel).pid_engaged = false;
-                                    channels.set_dac(channel, duty);
+                                    let voltage = Volts(duty);
+                                    channels.set_dac(channel, voltage);
                                     let _ = writeln!(
-                                        socket, "channel {}: PWM duty cycle manually set to {}/{}",
+                                        socket, "channel {}: PWM duty cycle manually set to {}",
-                                        channel, duty, ad5680::MAX_VALUE
+                                        channel, voltage
                                     );
                                 }
-                                Command::Pwm { pin: PwmPin::ISet, duty, .. } if duty > ad5680::MAX_VALUE => {
+                                Command::Pwm { channel, pin, duty } => {
-                                    let _ = writeln!(
-                                        socket, "error: PWM duty range must not exceed {}",
-                                        ad5680::MAX_VALUE
-                                    );
-                                }
-                                Command::Pwm { channel, pin, duty } if duty <= 0xFFFF => {
                                     let duty = duty as u16;
 
                                     fn set_pwm_channel<P: hal::PwmPin<Duty=u16>>(pin: &mut P, duty: u16) -> u16 {
@@ -295,9 +298,6 @@ fn main() -> ! {
                                         channel, pin.name(), duty, max
                                     );
                                 }
-                                Command::Pwm { duty, .. } if duty > 0xFFFF => {
-                                    let _ = writeln!(socket, "error: PWM duty range must fit 16 bits");
-                                }
                                 Command::Pid { channel, parameter, value } => {
                                     let pid = &mut channels.channel_state(channel).pid;
                                     use command_parser::PidParameter::*;
@@ -349,9 +349,6 @@ fn main() -> ! {
                                         }
                                     }
                                 }
-                                cmd => {
-                                    let _ = writeln!(socket, "Not yet implemented: {:?}", cmd);
-                                }
                             }
                             Ok(SessionOutput::Error(e)) => {
                                 let _ = writeln!(socket, "Command error: {:?}", e);

src/pid.rs

@@ -16,7 +16,7 @@ impl Default for Parameters {
             ki: 0.05,
             kd: 0.45,
             output_min: 0.0,
-            output_max: 1.0,
+            output_max: 5.0,
             integral_min: 0.0,
             integral_max: 1.0,
         }

src/pins.rs

@@ -26,24 +26,27 @@ pub trait ChannelPins {
     type DacSpi: Transfer<u8>;
     type DacSync: OutputPin;
     type Shdn: OutputPin;
-    type RefAdc;
+    type Adc;
-    type RefPin;
+    type ItecPin;
+    type DacLoopbackPin;
 }
 
 impl ChannelPins for Channel0 {
     type DacSpi = Dac0Spi;
     type DacSync = PE4<Output<PushPull>>;
     type Shdn = PE10<Output<PushPull>>;
-    type RefAdc = Adc<ADC1>;
+    type Adc = Adc<ADC1>;
-    type RefPin = PA4<Analog>;
+    type ItecPin = PA6<Analog>;
+    type DacLoopbackPin = PA4<Analog>;
 }
 
 impl ChannelPins for Channel1 {
     type DacSpi = Dac1Spi;
     type DacSync = PF6<Output<PushPull>>;
     type Shdn = PE15<Output<PushPull>>;
-    type RefAdc = Adc<ADC2>;
+    type Adc = Adc<ADC2>;
-    type RefPin = PA5<Analog>;
+    type ItecPin = PB0<Analog>;
+    type DacLoopbackPin = PA5<Analog>;
 }
 
 /// SPI peripheral used for communication with the ADC
@@ -57,8 +60,9 @@ pub struct ChannelPinSet<C: ChannelPins> {
     pub dac_spi: C::DacSpi,
     pub dac_sync: C::DacSync,
     pub shdn: C::Shdn,
-    pub ref_adc: C::RefAdc,
+    pub adc: C::Adc,
-    pub ref_pin: C::RefPin,
+    pub itec_pin: C::ItecPin,
+    pub dac_loopback_pin: C::DacLoopbackPin,
 }
 
 pub struct Pins {
@@ -106,15 +110,17 @@ impl Pins {
         );
         let mut shdn0 = gpioe.pe10.into_push_pull_output();
         let _ = shdn0.set_low();
-        let mut ref0_adc = Adc::adc1(adc1, true, Default::default());
+        let mut adc0 = Adc::adc1(adc1, true, Default::default());
-        ref0_adc.enable();
+        adc0.enable();
-        let ref0_pin = gpioa.pa4.into_analog();
+        let itec0_pin = gpioa.pa6.into_analog();
+        let dac_loopback0_pin = gpioa.pa4.into_analog();
         let channel0 = ChannelPinSet {
             dac_spi: dac0_spi,
             dac_sync: dac0_sync,
             shdn: shdn0,
-            ref_adc: ref0_adc,
+            adc: adc0,
-            ref_pin: ref0_pin,
+            itec_pin: itec0_pin,
+            dac_loopback_pin: dac_loopback0_pin,
         };
 
         let (dac1_spi, dac1_sync) = Self::setup_dac1(
@@ -123,15 +129,17 @@ impl Pins {
         );
         let mut shdn1 = gpioe.pe15.into_push_pull_output();
         let _ = shdn1.set_low();
-        let mut ref1_adc = Adc::adc2(adc2, true, Default::default());
+        let mut adc1 = Adc::adc2(adc2, true, Default::default());
-        ref1_adc.enable();
+        adc1.enable();
-        let ref1_pin = gpioa.pa5.into_analog();
+        let itec1_pin = gpiob.pb0.into_analog();
+        let dac_loopback1_pin = gpioa.pa5.into_analog();
         let channel1 = ChannelPinSet {
             dac_spi: dac1_spi,
             dac_sync: dac1_sync,
             shdn: shdn1,
-            ref_adc: ref1_adc,
+            adc: adc1,
-            ref_pin: ref1_pin,
+            itec_pin: itec1_pin,
+            dac_loopback_pin: dac_loopback1_pin,
         };
 
         Pins {

src/units.rs

@@ -0,0 +1,37 @@
+use core::{
+    fmt,
+    ops::Div,
+};
+
+#[derive(Debug, Clone, Copy, PartialEq, PartialOrd)]
+pub struct Volts(pub f64);
+
+impl fmt::Display for Volts {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        write!(f, "{:.3}V", self.0)
+    }
+}
+
+impl Div<Ohms> for Volts {
+    type Output = Amps;
+    fn div(self, rhs: Ohms) -> Amps {
+        Amps(self.0 / rhs.0)
+    }
+}
+
+#[derive(Debug, Clone, Copy, PartialEq, PartialOrd)]
+pub struct Amps(pub f64);
+
+impl fmt::Display for Amps {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        write!(f, "{:.3}A", self.0)
+    }
+}
+#[derive(Debug, Clone, Copy, PartialEq, PartialOrd)]
+pub struct Ohms(pub f64);
+
+impl fmt::Display for Ohms {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        write!(f, "{:.3}Ω", self.0)
+    }
+}