Add pre-commit hooks

.gitignore

@@ -1,5 +1,2 @@
 target/
 result
-*.bin
-
-__pycache__/

.pre-commit-config.yaml

@@ -0,0 +1,24 @@
+# See https://pre-commit.com for more information
+# See https://pre-commit.com/hooks.html for more hooks
+
+default_stages: [commit]
+
+repos:
+  - repo: local
+    hooks:
+      - id: cargo-fmt
+        name: cargo format
+        entry: cargo
+        language: system
+        types: [file, rust]
+        pass_filenames: false
+        description: Runs cargo fmt on the codebase.
+        args: [fmt]
+      - id: cargo-clippy
+        name: cargo clippy
+        entry: cargo
+        language: system
+        types: [file, rust]
+        pass_filenames: false
+        description: Runs cargo clippy on the codebase.
+        args: [clippy]

README.md

@@ -23,7 +23,16 @@ cargo build --release
 
 The resulting ELF file will be located under `target/thumbv7em-none-eabihf/release/thermostat`.
 
-Alternatively, you can install the Rust toolchain without Nix using rustup; see the `rust` variable in `flake.nix` to determine which Rust version to use.
+Alternatively, you can install the Rust toolchain without Nix using rustup; see the Rust manifest file pulled in `flake.nix` to determine which Rust version to use.
+
+#### Pre-Commit Hooks
+
+You are strongly recommended to use the provided pre-commit hooks to automatically reformat files and check for non-optimal Rust practices using Clippy. Run pre-commit install to install the hook and pre-commit will automatically run cargo fmt and cargo clippy for you.
+
+Several things to note:
+
+    If cargo fmt or cargo clippy returns an error, the pre-commit hook will fail. You should fix all errors before trying to commit again.
+    If cargo fmt reformats some files, the pre-commit hook will also fail. You should review the changes and, if satisfied, try to commit again.
 
 ## Debugging
 
@@ -84,7 +93,9 @@ invalidate the first line of input.
 
 ### Reading ADC input
 
-ADC input data is provided in reports. Query for the latest report with the command `report`. See the *Reports* section below.
+Set report mode to `on` for a continuous stream of input data.
+
+The scope of this setting is per TCP session.
 
 
 ### TCP commands
@@ -93,15 +104,16 @@ Send commands as simple text string terminated by `\n`. Responses are
 formatted as line-delimited JSON.
 
 | Syntax                           | Function                                                                      |
-|-------------------------------------------|-------------------------------------------------------------------------------|
-| `report`                                  | Show latest report of channel parameters (see *Reports* section)              |
-| `output`                                  | Show current output settings                                                  |
-| `output <0/1> max_i_pos <amp>`            | Set maximum positive output current, clamped to [0, 2]                        |
-| `output <0/1> max_i_neg <amp>`            | Set maximum negative output current, clamped to [0, 2]                        |
-| `output <0/1> max_v <volt>`               | Set maximum output voltage, clamped to [0, 4]                                 |
-| `output <0/1> i_set <amp>`                | Disengage PID, set fixed output current, clamped to [-2, 2]                   |
-| `output <0/1> polarity <normal/reversed>` | Set output current polarity, with 'normal' being the front panel polarity     |
-| `output <0/1> pid`                        | Let output current to be controlled by the PID                                |
+|----------------------------------|-------------------------------------------------------------------------------|
+| `report`                         | Show current input                                                            |
+| `report mode`                    | Show current report mode                                                      |
+| `report mode <off/on>`           | Set report mode                                                               |
+| `pwm`                            | Show current PWM settings                                                     |
+| `pwm <0/1> max_i_pos <amp>`      | Set maximum positive output current                                           |
+| `pwm <0/1> max_i_neg <amp>`      | Set maximum negative output current                                           |
+| `pwm <0/1> max_v <volt>`         | Set maximum output voltage                                                    |
+| `pwm <0/1> i_set <amp>`          | Disengage PID, set fixed output current                                       |
+| `pwm <0/1> pid`                  | Let output current to be controlled by the PID                                |
 | `center <0/1> <volt>`            | Set the MAX1968 0A-centerpoint to the specified fixed voltage                 |
 | `center <0/1> vref`              | Set the MAX1968 0A-centerpoint to measure from VREF                           |
 | `pid`                            | Show PID configuration                                                        |
@@ -111,8 +123,8 @@ formatted as line-delimited JSON.
 | `pid <0/1> kd <value>`           | Set differential gain                                                         |
 | `pid <0/1> output_min <amp>`     | Set mininum output                                                            |
 | `pid <0/1> output_max <amp>`     | Set maximum output                                                            |
-| `b-p`                                     | Show B-Parameter equation parameters                                          |
-| `b-p <0/1> <t0/b/r0> <value>`             | Set B-Parameter for a channel                                                 |
+| `s-h`                            | Show Steinhart-Hart equation parameters                                       |
+| `s-h <0/1> <t0/b/r0> <value>`    | Set Steinhart-Hart parameter for a channel                                    |
 | `postfilter`                     | Show postfilter settings                                                      |
 | `postfilter <0/1> off`           | Disable postfilter                                                            |
 | `postfilter <0/1> rate <rate>`   | Set postfilter output data rate                                               |
@@ -144,22 +156,22 @@ output will be truncated when USB buffers are full.
 
 Connect the thermistor with the SENS pins of the
 device. Temperature-depending resistance is measured by the AD7172
-ADC. To prepare conversion to a temperature, set the parameters
-for the B-Parameter equation.
+ADC. To prepare conversion to a temperature, set the Beta parameters
+for the Steinhart-Hart equation.
 
 Set the base temperature in degrees celsius for the channel 0 thermistor:
 ```
-b-p 0 t0 20
+s-h 0 t0 20
 ```
 
 Set the resistance in Ohms measured at the base temperature t0:
 ```
-b-p 0 r0 10000
+s-h 0 r0 10000
 ```
 
 Set the Beta parameter:
 ```
-b-p 0 b 3800
+s-h 0 b 3800
 ```
 
 ### 50/60 Hz filtering
@@ -183,47 +195,46 @@ postfilter rate can be tuned with the `postfilter` command.
 
 When using a TEC module with the Thermostat, the Thermostat expects the thermal load (where the thermistor is located) to cool down with a positive software current set point, and heat up with a negative current set point.
 
-If the Thermostat is used for temperature control with the Sinara 5432 DAC "Zotino", and is connected via an IDC cable, the TEC polarity may need to be reversed with the `output <ch> polarity reversed` TCP command.
-
 Testing heat flow direction with a low set current is recommended before installation of the TEC module.
 
 ### Limits
 
-Each channel has maximum value settings, for setting
+Each of the MAX1968 TEC driver has analog/PWM inputs for setting
 output limits.
 
-Use the `output` command to see them.
+Use the `pwm` command to see current settings and maximum values.
 
 | Limit       | Unit    | Description                   |
 | ---         | :---:   | ---                           |
 | `max_v`     | Volts   | Maximum voltage               |
 | `max_i_pos` | Amperes | Maximum positive current      |
 | `max_i_neg` | Amperes | Maximum negative current      |
+| `i_set`     | Amperes | (Not a limit; Open-loop mode) |
 
 Example: set the maximum voltage of channel 0 to 1.5 V.
 ```
-output 0 max_v 1.5
+pwm 0 max_v 1.5
 ```
 
-Example: set the maximum negative current of channel 0 to -2 A.
+Example: set the maximum negative current of channel 0 to -3 A.
 ```
-output 0 max_i_neg 2
+pwm 0 max_i_neg 3
 ```
 
-Example: set the maximum positive current of channel 1 to 2 A.
+Example: set the maximum positive current of channel 1 to 3 A.
 ```
-output 1 max_i_pos 2
+pwm 0 max_i_pos 3
 ```
 
 ### Open-loop mode
 
-To manually control TEC output current, set a fixed output current with
-the `output` command. Doing so will disengage the PID control for that
+To manually control TEC output current, omit the limit parameter of
+the `pwm` command. Doing so will disengage the PID control for that
 channel.
 
 Example: set output current of channel 0 to 0 A.
 ```
-output 0 i_set 0
+pwm 0 i_set 0
 ```
 
 ## PID-stabilized temperature control
@@ -236,23 +247,7 @@ pid 0 target 20
 Enter closed-loop mode by switching control of the TEC output current
 of channel 0 to the PID algorithm:
 ```
-output 0 pid
-```
-
-### PID output clamping
-
-It is possible to clamp the PID algorithm output independently of channel output limits. This is desirable when e.g. there is a need to keep the current value above a certain threshold in closed-loop mode.
-
-Note that the actual output will still ultimately be limited by the `max_i_pos` and `max_i_neg` values.
-
-Set PID maximum output of channel 0 to 1.5 A.
-```
-pid 0 output_max 1.5
-```
-
-Set PID minimum output of channel 0 to 0.1 A.
-```
-pid 0 output_min 0.1
+pwm 0 pid
 ```
 
 ## LED indicators
@@ -265,17 +260,17 @@ pid 0 output_min 0.1
 
 ## Reports
 
-Use the bare `report` command to obtain a single report. Reports are JSON objects
+Use the bare `report` command to obtain a single report. Enable
+continuous reporting with `report mode on`. Reports are JSON objects
 with the following keys.
 
 | Key            | Unit            | Description                                          |
 | ---            | :---:           | ---                                                  |
 | `channel`      | Integer         | Channel `0`, or `1`                                  |
 | `time`         | Seconds         | Temperature measurement time                         |
-| `interval`     | Seconds         | Time elapsed since last report update on channel     |
 | `adc`          | Volts           | AD7172 input                                         |
 | `sens`         | Ohms            | Thermistor resistance derived from `adc`             |
-| `temperature`  | Degrees Celsius | B-Parameter conversion result derived from `sens`    |
+| `temperature`  | Degrees Celsius | Steinhart-Hart conversion result derived from `sens` |
 | `pid_engaged`  | Boolean         | `true` if in closed-loop mode                        |
 | `i_set`        | Amperes         | TEC output current                                   |
 | `dac_value`    | Volts           | AD5680 output derived from `i_set`                   |
@@ -285,7 +280,7 @@ with the following keys.
 | `tec_u_meas`   | Volts           | Measurement of the voltage across the TEC            |
 | `pid_output`   | Amperes         | PID control output                                   |
 
-Note: Prior to Thermostat hardware revision v2.2.4, the voltage and current readouts `i_tec` and `tec_i` are noisy without the hardware fix shown in [this PR](https://git.m-labs.hk/M-Labs/thermostat/pulls/105).
+Note: With Thermostat v2 and below, the voltage and current readouts `i_tec` and `tec_i` are noisy without the hardware fix shown in [this PR][https://git.m-labs.hk/M-Labs/thermostat/pulls/105].
 
 ## PID Tuning
 

doc/PID tuning.md

@@ -13,7 +13,7 @@ When tuning Thermostat PID parameters, it is helpful to view the temperature, PI
 To use the Python real-time plotting utility, run
 
 ```shell
-python pythermostat/pythermostat/plot.py
+python pytec/plot.py
 ```
 
 ![default view](./assets/default%20view.png)
@@ -44,12 +44,12 @@ Below are some general guidelines for manually tuning PID loops. Note that every
 
 ## Auto Tuning
 
-A PID auto tuning utility is provided in the PyThermostat library. The auto tuning utility drives the the load to a controlled oscillation, observes the ultimate gain and oscillation period and calculates a set of PID parameters.
+A PID auto tuning utility is provided in the Pytec library. The auto tuning utility drives the the load to a controlled oscillation, observes the ultimate gain and oscillation period and calculates a set of PID parameters.
 
 To run the auto tuning utility, run
 
 ```shell
-python pythermostat/pythermostat/autotune.py
+python pytec/autotune.py
 ```
 
 After some time, the auto tuning utility will output the auto tuning results, below is a sample output

flake.nix

@@ -7,17 +7,9 @@
     inputs.nixpkgs.follows = "nixpkgs";
   };
 
-  outputs =
-    {
-      self,
-      nixpkgs,
-      rust-overlay,
-    }:
+  outputs = { self, nixpkgs, rust-overlay }:
     let
-      pkgs = import nixpkgs {
-        system = "x86_64-linux";
-        overlays = [ (import rust-overlay) ];
-      };
+      pkgs = import nixpkgs { system = "x86_64-linux"; overlays = [ (import rust-overlay) ]; };
 
       rust = pkgs.rust-bin.stable."1.66.0".default.override {
         extensions = [ "rust-src" ];
@@ -57,23 +49,9 @@
         dontFixup = true;
         auditable = false;
       };
-
-      pythermostat = pkgs.python3Packages.buildPythonPackage {
-        pname = "pythermostat";
-        version = "0.0.0";
-        format = "pyproject";
-        src = "${self}/pythermostat";
-
-        propagatedBuildInputs =
-          with pkgs.python3Packages; [
-            numpy
-            matplotlib
-          ];
-      };
-    in
-    {
+    in {
       packages.x86_64-linux = {
-        inherit thermostat pythermostat;
+        inherit thermostat;
         default = thermostat;
       };
 
@@ -83,21 +61,13 @@
 
       devShells.x86_64-linux.default = pkgs.mkShellNoCC {
         name = "thermostat-dev-shell";
-        packages =
-          with pkgs;
-          [
-            rust
-            llvm
-            openocd
-            dfu-util
-            rlwrap
-          ]
-          ++ (with python3Packages; [
-            numpy
-            matplotlib
+        packages = with pkgs; [
+          rust llvm
+          openocd dfu-util
+          pre-commit
+          ] ++ (with python3Packages; [
+            numpy matplotlib
           ]);
       };
-
-      formatter.x86_64-linux = nixpkgs.legacyPackages.x86_64-linux.nixfmt-rfc-style;
     };
 }

pytec/autotune.py

@@ -1,10 +1,9 @@
 import math
 import logging
-import time
 from collections import deque, namedtuple
 from enum import Enum
 
-from pythermostat.client import Client
+from pytec.client import Client
 
 # Based on hirshmann pid-autotune libiary
 # See https://github.com/hirschmann/pid-autotune
@@ -237,14 +236,13 @@ def main():
 
     tec = Client()
 
-    data = tec.get_report()
+    data = next(tec.report_mode())
     ch = data[channel]
 
     tuner = PIDAutotune(target_temperature, output_step,
                         lookback, noiseband, ch['interval'])
 
-    while True:
-        data = tec.get_report()
+    for data in tec.report_mode():
 
         ch = data[channel]
 
@@ -255,11 +253,9 @@ def main():
 
         tuner_out = tuner.output()
 
-        tec.set_param("output", channel, "i_set", tuner_out)
+        tec.set_param("pwm", channel, "i_set", tuner_out)
 
-        time.sleep(0.05)
-
-    tec.set_param("output", channel, "i_set", 0)
+    tec.set_param("pwm", channel, "i_set", 0)
 
 
 if __name__ == "__main__":

pytec/example.py

@@ -0,0 +1,11 @@
+from pytec.client import Client
+
+tec = Client() #(host="localhost", port=6667)
+tec.set_param("s-h", 1, "t0", 20)
+print(tec.get_pwm())
+print(tec.get_pid())
+print(tec.get_pwm())
+print(tec.get_postfilter())
+print(tec.get_steinhart_hart())
+for data in tec.report_mode():
+    print(data)

pytec/plot.py

@@ -0,0 +1,128 @@
+import numpy as np
+import matplotlib.pyplot as plt
+import matplotlib.animation as animation
+from threading import Thread, Lock
+from pytec.client import Client
+
+TIME_WINDOW = 300.0
+
+tec = Client()
+target_temperature = tec.get_pid()[0]['target']
+print("Channel 0 target temperature: {:.3f}".format(target_temperature))
+
+class Series:
+    def __init__(self, conv=lambda x: x):
+        self.conv = conv
+        self.x_data = []
+        self.y_data = []
+
+    def append(self, x, y):
+        self.x_data.append(x)
+        self.y_data.append(self.conv(y))
+
+    def clip(self, min_x):
+        drop = 0
+        while drop < len(self.x_data) and self.x_data[drop] < min_x:
+            drop += 1
+        self.x_data = self.x_data[drop:]
+        self.y_data = self.y_data[drop:]
+        
+series = {
+    # 'adc': Series(),
+    # 'sens': Series(lambda x: x * 0.0001),
+    'temperature': Series(),
+    # 'i_set': Series(),
+    'pid_output': Series(),
+    # 'vref': Series(),
+    # 'dac_value': Series(),
+    # 'dac_feedback': Series(),
+    # 'i_tec': Series(),
+    'tec_i': Series(),
+    'tec_u_meas': Series(),
+    # 'interval': Series(),
+}
+series_lock = Lock()
+
+quit = False
+
+def recv_data(tec):
+    global last_packet_time
+    for data in tec.report_mode():
+        ch0 = data[0]
+        series_lock.acquire()
+        try:
+            for k, s in series.items():
+                if k in ch0:
+                    v = ch0[k]
+                    if type(v) is float:
+                        s.append(ch0['time'], v)
+        finally:
+            series_lock.release()
+
+        if quit:
+            break
+
+thread = Thread(target=recv_data, args=(tec,))
+thread.start()
+
+fig, ax = plt.subplots()
+
+for k, s in series.items():
+    s.plot, = ax.plot([], [], label=k)
+legend = ax.legend()
+
+def animate(i):
+    min_x, max_x, min_y, max_y = None, None, None, None
+    
+    series_lock.acquire()
+    try:
+        for k, s in series.items():
+            s.plot.set_data(s.x_data, s.y_data)
+            if len(s.y_data) > 0:
+                s.plot.set_label("{}: {:.3f}".format(k, s.y_data[-1]))
+
+            if len(s.x_data) > 0:
+                min_x_ = min(s.x_data)
+                if min_x is None:
+                    min_x = min_x_
+                else:
+                    min_x = min(min_x, min_x_)
+                max_x_ = max(s.x_data)
+                if max_x is None:
+                    max_x = max_x_
+                else:
+                    max_x = max(max_x, max_x_)
+            if len(s.y_data) > 0:
+                min_y_ = min(s.y_data)
+                if min_y is None:
+                    min_y = min_y_
+                else:
+                    min_y = min(min_y, min_y_)
+                max_y_ = max(s.y_data)
+                if max_y is None:
+                    max_y = max_y_
+                else:
+                    max_y = max(max_y, max_y_)
+
+        if min_x and max_x - TIME_WINDOW > min_x:
+            for s in series.values():
+                s.clip(max_x - TIME_WINDOW)
+    finally:
+        series_lock.release()
+
+    if min_x != max_x:
+        ax.set_xlim(min_x, max_x)
+    if min_y != max_y:
+        margin_y = 0.01 * (max_y - min_y)
+        ax.set_ylim(min_y - margin_y, max_y + margin_y)
+
+    global legend
+    legend.remove()
+    legend = ax.legend()
+
+ani = animation.FuncAnimation(
+    fig, animate, interval=1, blit=False, save_count=50)
+
+plt.show()
+quit = True
+thread.join()

pytec/pytec/client.py

@@ -2,7 +2,6 @@ import socket
 import json
 import logging
 
-
 class CommandError(Exception):
     pass
 
@@ -12,16 +11,12 @@ class Client:
         self._lines = [""]
         self._check_zero_limits()
 
-    def disconnect(self):
-        self._socket.shutdown(socket.SHUT_RDWR)
-        self._socket.close()
-
     def _check_zero_limits(self):
-        output_report = self.get_output()
-        for output_channel in output_report:
+        pwm_report = self.get_pwm()
+        for pwm_channel in pwm_report:
             for limit in ["max_i_neg", "max_i_pos", "max_v"]:
-                if output_channel[limit] == 0.0:
-                    logging.warning("`{}` limit is set to zero on channel {}".format(limit, output_channel["channel"]))
+                if pwm_channel[limit]["value"] == 0.0:
+                    logging.warning("`{}` limit is set to zero on channel {}".format(limit, pwm_channel["channel"]))
 
     def _read_line(self):
         # read more lines
@@ -51,27 +46,25 @@ class Client:
             result[int(item["channel"])] = item
         return result
 
-    def get_output(self):
-        """Retrieve output limits for the TEC
+    def get_pwm(self):
+        """Retrieve PWM limits for the TEC
 
         Example::
             [{'channel': 0,
               'center': 'vref',
-              'i_set': -0.02002179650216762,
-              'max_i_neg': 2.0,
-              'max_v': 3.988,
-              'max_i_pos': 2.0,
-              'polarity': 'normal',
+              'i_set': {'max': 2.9802790335151985, 'value': -0.02002179650216762},
+              'max_i_neg': {'max': 3.0, 'value': 3.0},
+              'max_v': {'max': 5.988, 'value': 5.988},
+              'max_i_pos': {'max': 3.0, 'value': 3.0}},
              {'channel': 1,
               'center': 'vref',
-              'i_set': -0.02002179650216762,
-              'max_i_neg': 2.0,
-              'max_v': 3.988,
-              'max_i_pos': 2.0}
-              'polarity': 'normal',
+              'i_set': {'max': 2.9802790335151985, 'value': -0.02002179650216762},
+              'max_i_neg': {'max': 3.0, 'value': 3.0},
+              'max_v': {'max': 5.988, 'value': 5.988},
+              'max_i_pos': {'max': 3.0, 'value': 3.0}}
             ]
         """
-        return self._get_conf("output")
+        return self._get_conf("pwm")
 
     def get_pid(self):
         """Retrieve PID control state
@@ -96,14 +89,14 @@ class Client:
         """
         return self._get_conf("pid")
 
-    def get_b_parameter(self):
-        """Retrieve B-Parameter equation parameters for resistance to temperature conversion
+    def get_steinhart_hart(self):
+        """Retrieve Steinhart-Hart parameters for resistance to temperature conversion
 
         Example::
             [{'params': {'b': 3800.0, 'r0': 10000.0, 't0': 298.15}, 'channel': 0},
              {'params': {'b': 3800.0, 'r0': 10000.0, 't0': 298.15}, 'channel': 1}]
         """
-        return self._get_conf("b-p")
+        return self._get_conf("s-h")
 
     def get_postfilter(self):
         """Retrieve DAC postfilter configuration
@@ -114,18 +107,18 @@ class Client:
         """
         return self._get_conf("postfilter")
 
-    def get_report(self):
-        """Obtain one-time report on measurement values
+    def report_mode(self):
+        """Start reporting measurement values
 
         Example of yielded data::
             {'channel': 0,
              'time': 2302524,
-             'interval': 0.12
              'adc': 0.6199188965423515,
              'sens': 6138.519310282602,
              'temperature': 36.87032392655527,
              'pid_engaged': True,
              'i_set': 2.0635816680889123,
+             'vref': 1.494,
              'dac_value': 2.527790834044456,
              'dac_feedback': 2.523,
              'i_tec': 2.331,
@@ -133,27 +126,24 @@ class Client:
              'tec_u_meas': 2.5340000000000003,
              'pid_output': 2.067581958092247}
         """
-        return self._get_conf("report")
+        self._command("report mode", "on")
 
-    def get_ipv4(self):
-        """Get the IPv4 settings of the Thermostat"""
-        return self._command("ipv4")
-
-    def get_fan(self):
-        """Get Thermostat current fan settings"""
-        return self._command("fan")
-
-    def get_hwrev(self):
-        """Get Thermostat hardware revision"""
-        return self._command("hwrev")
+        while True:
+            line = self._read_line()
+            if not line:
+                break
+            try:
+                yield json.loads(line)
+            except json.decoder.JSONDecodeError:
+                pass
 
     def set_param(self, topic, channel, field="", value=""):
         """Set configuration parameters
 
         Examples::
-            tec.set_param("output", 0, "max_v", 2.0)
+            tec.set_param("pwm", 0, "max_v", 2.0)
             tec.set_param("pid", 1, "output_max", 2.5)
-            tec.set_param("b-p", 0, "t0", 20.0)
+            tec.set_param("s-h", 0, "t0", 20.0)
             tec.set_param("center", 0, "vref")
             tec.set_param("postfilter", 1, 21)
 
@@ -168,40 +158,12 @@ class Client:
     def power_up(self, channel, target):
         """Start closed-loop mode"""
         self.set_param("pid", channel, "target", value=target)
-        self.set_param("output", channel, "pid")
+        self.set_param("pwm", channel, "pid")
 
-    def save_config(self, channel=""):
+    def save_config(self):
         """Save current configuration to EEPROM"""
-        self._command("save", channel)
-        if channel != "":
-            self._read_line()  # read the extra {}
+        self._command("save")
 
-    def load_config(self, channel=""):
+    def load_config(self):
         """Load current configuration from EEPROM"""
-        self._command("load", channel)
-        if channel != "":
-            self._read_line()  # read the extra {}
-
-    def reset(self):
-        """Reset the device"""
-        self._socket.sendall("reset".encode("utf-8"))
-        self.disconnect()  # resetting ends the TCP session, disconnect anyway
-
-    def enter_dfu_mode(self):
-        """Reset device and enters USB device firmware update (DFU) mode"""
-        self._socket.sendall("dfu".encode("utf-8"))
-        self.disconnect()  # resetting ends the TCP session, disconnect anyway
-
-    def set_ipv4(self, address, netmask, gateway=""):
-        """Configure IPv4 address, netmask length, and optional default gateway"""
-        self._command("ipv4", f"{address}/{netmask}", gateway)
-
-    def set_fan(self, power=None):
-        """Set fan power with values from 1 to 100. If omitted, set according to fcurve"""
-        if power is None:
-            power = "auto"
-        self._command("fan", power)
-
-    def set_fcurve(self, a=1.0, b=0.0, c=0.0):
-        """Set fan controller curve coefficients"""
-        self._command("fcurve", a, b, c)
+        self._command("load")

pytec/setup.py

@@ -0,0 +1,12 @@
+from setuptools import setup, find_packages
+
+setup(
+    name="pytec",
+    version="0.0",
+    author="M-Labs",
+    url="https://git.m-labs.hk/M-Labs/thermostat",
+    description="Control TEC",
+    license="GPLv3",
+    install_requires=["setuptools"],
+    packages=find_packages(),
+)

pythermostat/example.py

@@ -1,13 +0,0 @@
-import time
-from pythermostat.client import Client
-
-tec = Client() #(host="localhost", port=6667)
-tec.set_param("b-p", 1, "t0", 20)
-print(tec.get_output())
-print(tec.get_pid())
-print(tec.get_output())
-print(tec.get_postfilter())
-print(tec.get_b_parameter())
-while True:
-    print(tec.get_report())
-    time.sleep(0.05)

pythermostat/pyproject.toml

@@ -1,18 +0,0 @@
-[build-system]
-requires = ["setuptools"]
-build-backend = "setuptools.build_meta"
-
-[project]
-name = "pythermostat"
-version = "0.0"
-authors = [{name = "M-Labs"}]
-description = "Python utilities for the Sinara 8451 Thermostat"
-urls.Repository = "https://git.m-labs.hk/M-Labs/thermostat"
-license = {text = "GPLv3"}
-
-[project.gui-scripts]
-thermostat_plot = "pythermostat.plot:main"
-
-[project.scripts]
-thermostat_autotune = "pythermostat.autotune:main"
-thermostat_test = "pythermostat.test:main"

pythermostat/pythermostat/plot.py

@@ -1,137 +0,0 @@
-import time
-import numpy as np
-import matplotlib.pyplot as plt
-import matplotlib.animation as animation
-from threading import Thread, Lock
-from pythermostat.client import Client
-
-
-def main():
-    TIME_WINDOW = 300.0
-
-    tec = Client()
-    target_temperature = tec.get_pid()[0]['target']
-    print("Channel 0 target temperature: {:.3f}".format(target_temperature))
-
-    class Series:
-        def __init__(self, conv=lambda x: x):
-            self.conv = conv
-            self.x_data = []
-            self.y_data = []
-
-        def append(self, x, y):
-            self.x_data.append(x)
-            self.y_data.append(self.conv(y))
-
-        def clip(self, min_x):
-            drop = 0
-            while drop < len(self.x_data) and self.x_data[drop] < min_x:
-                drop += 1
-            self.x_data = self.x_data[drop:]
-            self.y_data = self.y_data[drop:]
-
-    series = {
-        # 'adc': Series(),
-        # 'sens': Series(lambda x: x * 0.0001),
-        'temperature': Series(),
-        # 'i_set': Series(),
-        'pid_output': Series(),
-        # 'vref': Series(),
-        # 'dac_value': Series(),
-        # 'dac_feedback': Series(),
-        # 'i_tec': Series(),
-        'tec_i': Series(),
-        'tec_u_meas': Series(),
-        # 'interval': Series(),
-    }
-    series_lock = Lock()
-
-    quit = False
-
-    def recv_data(tec):
-        global last_packet_time
-        while True:
-            data = tec.get_report()
-            ch0 = data[0]
-            series_lock.acquire()
-            try:
-                for k, s in series.items():
-                    if k in ch0:
-                        v = ch0[k]
-                        if type(v) is float:
-                            s.append(ch0['time'], v)
-            finally:
-                series_lock.release()
-
-            if quit:
-                break
-            time.sleep(0.05)
-
-    thread = Thread(target=recv_data, args=(tec,))
-    thread.start()
-
-    fig, ax = plt.subplots()
-
-    for k, s in series.items():
-        s.plot, = ax.plot([], [], label=k)
-    legend = ax.legend()
-
-    def animate(i):
-        min_x, max_x, min_y, max_y = None, None, None, None
-        
-        series_lock.acquire()
-        try:
-            for k, s in series.items():
-                s.plot.set_data(s.x_data, s.y_data)
-                if len(s.y_data) > 0:
-                    s.plot.set_label("{}: {:.3f}".format(k, s.y_data[-1]))
-
-                if len(s.x_data) > 0:
-                    min_x_ = min(s.x_data)
-                    if min_x is None:
-                        min_x = min_x_
-                    else:
-                        min_x = min(min_x, min_x_)
-                    max_x_ = max(s.x_data)
-                    if max_x is None:
-                        max_x = max_x_
-                    else:
-                        max_x = max(max_x, max_x_)
-                if len(s.y_data) > 0:
-                    min_y_ = min(s.y_data)
-                    if min_y is None:
-                        min_y = min_y_
-                    else:
-                        min_y = min(min_y, min_y_)
-                    max_y_ = max(s.y_data)
-                    if max_y is None:
-                        max_y = max_y_
-                    else:
-                        max_y = max(max_y, max_y_)
-
-            if min_x and max_x - TIME_WINDOW > min_x:
-                for s in series.values():
-                    s.clip(max_x - TIME_WINDOW)
-        finally:
-            series_lock.release()
-
-        if min_x != max_x:
-            ax.set_xlim(min_x, max_x)
-        if min_y != max_y:
-            margin_y = 0.01 * (max_y - min_y)
-            ax.set_ylim(min_y - margin_y, max_y + margin_y)
-
-        nonlocal legend
-        legend.remove()
-        legend = ax.legend()
-
-    ani = animation.FuncAnimation(
-        fig, animate, interval=1, blit=False, save_count=50)
-
-    plt.show()
-    quit = True
-    thread.join()
-
-
-if __name__ == "__main__":
-    main()

pythermostat/pythermostat/test.py

@@ -1,81 +0,0 @@
-import argparse
-from contextlib import contextmanager
-from pythermostat.client import Client
-
-
-CHANNELS = 2
-
-
-def get_argparser():
-    parser = argparse.ArgumentParser(description="Thermostat hardware testing script")
-
-    parser.add_argument("host", metavar="HOST", default="192.168.1.26", nargs="?")
-    parser.add_argument("port", metavar="PORT", default=23, nargs="?")
-    parser.add_argument(
-        "-r",
-        "--testing_resistance",
-        default=10_000,
-        help="Testing resistance value through SENS pin in Ohms",
-    )
-    parser.add_argument(
-        "-d",
-        "--deviation",
-        default=1,
-        help="Allowed deviation of resistance in percentage",
-    )
-
-    return parser
-
-
-def main():
-    args = get_argparser().parse_args()
-
-    min_allowed_resistance = args.testing_resistance * (1 - args.deviation / 100)
-    max_allowed_resistance = args.testing_resistance * (1 + args.deviation / 100)
-
-    print(min_allowed_resistance, max_allowed_resistance)
-
-    thermostat = Client(args.host, args.port)
-    for channel in range(CHANNELS):
-        print(f"Channel {channel} is active")
-
-        print("Checking resistance through SENS input ....", end=" ")
-        sens_resistance = thermostat.get_report()[channel]["sens"]
-        if sens_resistance is not None:
-            print(sens_resistance, "Ω")
-            if min_allowed_resistance <= sens_resistance <= max_allowed_resistance:
-                print("PASSED")
-            else:
-                print("FAILED")
-        else:
-            print("Floating SENS input! Is the channel connected?")
-
-        with preserve_thermostat_output_settings(thermostat, channel):
-            test_output_settings = {
-                "max_i_pos": 2,
-                "max_i_neg": 2,
-                "max_v": 4,
-                "i_set": 0.1,
-                "polarity": "normal",
-            }
-            for field, value in test_output_settings.items():
-                thermostat.set_param("output", channel, field, value)
-
-            input(f"Check if channel {channel} current = 0.1 A, and press ENTER...")
-
-        input(f"Channel {channel} testing done, press ENTER to continue.")
-        print()
-
-    print("Testing complete.")
-
-
-@contextmanager
-def preserve_thermostat_output_settings(client, channel):
-    original_output_settings = client.get_output()[channel]
-    yield original_output_settings
-    for setting in "max_i_pos", "max_i_neg", "max_v", "i_set", "polarity":
-        client.set_param("output", channel, setting, original_output_settings[setting])
-
-
-if __name__ == "__main__":
-    main()

src/ad7172/adc.rs

@@ -237,10 +237,10 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
         Ok(())
     }
 
-    fn transfer(
+    fn transfer<'w>(
         &mut self,
         addr: u8,
-        reg_data: &mut [u8],
+        reg_data: &'w mut [u8],
         checksum: Option<u8>,
     ) -> Result<Option<u8>, SPI::Error> {
         let mut addr_buf = [addr];

src/channel_state.rs

@@ -1,10 +1,4 @@
-use crate::{
-    ad7172, b_parameter as bp,
-    command_parser::{CenterPoint, Polarity},
-    config::PwmLimits,
-    pid,
-};
-use num_traits::Zero;
+use crate::{ad7172, command_parser::CenterPoint, pid, steinhart_hart as sh};
 use smoltcp::time::{Duration, Instant};
 use uom::si::{
     electric_current::ampere,
@@ -29,11 +23,9 @@ pub struct ChannelState {
     pub center: CenterPoint,
     pub dac_value: ElectricPotential,
     pub i_set: ElectricCurrent,
-    pub pwm_limits: PwmLimits,
     pub pid_engaged: bool,
     pub pid: pid::Controller,
-    pub bp: bp::Parameters,
-    pub polarity: Polarity,
+    pub sh: sh::Parameters,
 }
 
 impl ChannelState {
@@ -44,18 +36,12 @@ impl ChannelState {
             adc_time: Instant::from_secs(0),
             // default: 10 Hz
             adc_interval: Duration::from_millis(100),
-            center: CenterPoint::VRef,
+            center: CenterPoint::Vref,
             dac_value: ElectricPotential::new::<volt>(0.0),
             i_set: ElectricCurrent::new::<ampere>(0.0),
-            pwm_limits: PwmLimits {
-                max_v: ElectricPotential::zero(),
-                max_i_pos: ElectricCurrent::zero(),
-                max_i_neg: ElectricCurrent::zero(),
-            },
             pid_engaged: false,
             pid: pid::Controller::new(pid::Parameters::default()),
-            bp: bp::Parameters::default(),
-            polarity: Polarity::Normal,
+            sh: sh::Parameters::default(),
         }
     }
 
@@ -100,7 +86,7 @@ impl ChannelState {
 
     pub fn get_temperature(&self) -> Option<ThermodynamicTemperature> {
         let r = self.get_sens()?;
-        let temperature = self.bp.get_temperature(r);
+        let temperature = self.sh.get_temperature(r);
         Some(temperature)
     }
 }

src/channels.rs

@@ -1,11 +1,11 @@
-use crate::timer::sleep;
 use crate::{
-    ad5680, ad7172, b_parameter,
+    ad5680, ad7172,
     channel::{Channel, Channel0, Channel1},
     channel_state::ChannelState,
     command_handler::JsonBuffer,
-    command_parser::{CenterPoint, Polarity, PwmPin},
+    command_parser::{CenterPoint, PwmPin},
     pins::{self, Channel0VRef, Channel1VRef},
+    steinhart_hart,
 };
 use core::marker::PhantomData;
 use heapless::{consts::U2, Vec};
@@ -23,14 +23,14 @@ use uom::si::{
 };
 
 pub enum PinsAdcReadTarget {
-    VRef,
+    VREF,
     DacVfb,
     ITec,
     VTec,
 }
 
 pub const CHANNELS: usize = 2;
-pub const R_SENSE: f64 = 0.05;
+const R_SENSE: f64 = 0.05;
 
 // From design specs
 pub const MAX_TEC_I: ElectricCurrent = ElectricCurrent {
@@ -43,11 +43,7 @@ pub const MAX_TEC_V: ElectricPotential = ElectricPotential {
     units: PhantomData,
     value: 4.0,
 };
-const MAX_TEC_I_DUTY_TO_CURRENT_RATE: ElectricCurrent = ElectricCurrent {
-    dimension: PhantomData,
-    units: PhantomData,
-    value: 1.0 / (10.0 * R_SENSE / 3.3),
-};
+
 // DAC chip outputs 0-5v, which is then passed through a resistor dividor to provide 0-3v range
 const DAC_OUT_V_MAX: ElectricPotential = ElectricPotential {
     dimension: PhantomData,
@@ -61,7 +57,7 @@ pub struct Channels {
     pub adc: ad7172::Adc<pins::AdcSpi, pins::AdcNss>,
     /// stm32f4 integrated adc
     pins_adc: pins::PinsAdc,
-    pub pwm: pins::PwmPins,
+    pwm: pins::PwmPins,
 }
 
 impl Channels {
@@ -130,7 +126,7 @@ impl Channels {
     /// calculate the TEC i_set centerpoint
     pub fn get_center(&mut self, channel: usize) -> ElectricPotential {
         match self.channel_state(channel).center {
-            CenterPoint::VRef => self.adc_read(channel, PinsAdcReadTarget::VRef, 8),
+            CenterPoint::Vref => self.adc_read(channel, PinsAdcReadTarget::VREF, 8),
             CenterPoint::Override(center_point) => {
                 ElectricPotential::new::<volt>(center_point.into())
             }
@@ -143,7 +139,7 @@ impl Channels {
         voltage
     }
 
-    pub fn get_i_set(&mut self, channel: usize) -> ElectricCurrent {
+    pub fn get_i(&mut self, channel: usize) -> ElectricCurrent {
         let i_set = self.channel_state(channel).i_set;
         i_set
     }
@@ -162,11 +158,6 @@ impl Channels {
 
     pub fn set_i(&mut self, channel: usize, i_set: ElectricCurrent) -> ElectricCurrent {
         let i_set = i_set.min(MAX_TEC_I).max(-MAX_TEC_I);
-        self.channel_state(channel).i_set = i_set;
-        let negate = match self.channel_state(channel).polarity {
-            Polarity::Normal => 1.0,
-            Polarity::Reversed => -1.0,
-        };
         let vref_meas = match channel {
             0 => self.channel0.vref_meas,
             1 => self.channel1.vref_meas,
@@ -174,10 +165,11 @@ impl Channels {
         };
         let center_point = vref_meas;
         let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
-        let voltage = negate * i_set * 10.0 * r_sense + center_point;
+        let voltage = i_set * 10.0 * r_sense + center_point;
         let voltage = self.set_dac(channel, voltage);
-
-        negate * (voltage - center_point) / (10.0 * r_sense)
+        let i_set = (voltage - center_point) / (10.0 * r_sense);
+        self.channel_state(channel).i_set = i_set;
+        i_set
     }
 
     /// AN4073: ADC Reading Dispersion can be reduced through Averaging
@@ -191,7 +183,7 @@ impl Channels {
         match channel {
             0 => {
                 sample = match adc_read_target {
-                    PinsAdcReadTarget::VRef => match &self.channel0.vref_pin {
+                    PinsAdcReadTarget::VREF => match &self.channel0.vref_pin {
                         Channel0VRef::Analog(vref_pin) => {
                             for _ in (0..avg_pt).rev() {
                                 sample += self.pins_adc.convert(
@@ -236,7 +228,7 @@ impl Channels {
             }
             1 => {
                 sample = match adc_read_target {
-                    PinsAdcReadTarget::VRef => match &self.channel1.vref_pin {
+                    PinsAdcReadTarget::VREF => match &self.channel1.vref_pin {
                         Channel1VRef::Analog(vref_pin) => {
                             for _ in (0..avg_pt).rev() {
                                 sample += self.pins_adc.convert(
@@ -283,6 +275,21 @@ impl Channels {
         }
     }
 
+    pub fn read_dac_feedback_until_stable(
+        &mut self,
+        channel: usize,
+        tolerance: ElectricPotential,
+    ) -> ElectricPotential {
+        let mut prev = self.adc_read(channel, PinsAdcReadTarget::DacVfb, 1);
+        loop {
+            let current = self.adc_read(channel, PinsAdcReadTarget::DacVfb, 1);
+            if (current - prev).abs() < tolerance {
+                return current;
+            }
+            prev = current;
+        }
+    }
+
     /// Calibrates the DAC output to match vref of the MAX driver to reduce zero-current offset of the MAX driver output.
     ///
     /// The thermostat DAC applies a control voltage signal to the CTLI pin of MAX driver chip to control its output current.
@@ -309,7 +316,8 @@ impl Channels {
         let mut start_value = 1;
         let mut best_error = ElectricPotential::new::<volt>(100.0);
 
-        for step in (5..18).rev() {
+        for step in (0..18).rev() {
+            let mut prev_value = start_value;
             for value in (start_value..=ad5680::MAX_VALUE).step_by(1 << step) {
                 match channel {
                     0 => {
@@ -320,15 +328,15 @@ impl Channels {
                     }
                     _ => unreachable!(),
                 }
-                sleep(10);
 
-                let dac_feedback = self.adc_read(channel, PinsAdcReadTarget::DacVfb, 64);
+                let dac_feedback = self
+                    .read_dac_feedback_until_stable(channel, ElectricPotential::new::<volt>(0.001));
                 let error = target_voltage - dac_feedback;
                 if error < ElectricPotential::new::<volt>(0.0) {
                     break;
                 } else if error < best_error {
                     best_error = error;
-                    start_value = value;
+                    start_value = prev_value;
 
                     let vref = (value as f64 / ad5680::MAX_VALUE as f64) * DAC_OUT_V_MAX;
                     match channel {
@@ -337,6 +345,8 @@ impl Channels {
                         _ => unreachable!(),
                     }
                 }
+
+                prev_value = value;
             }
         }
 
@@ -362,27 +372,47 @@ impl Channels {
         }
     }
 
-    pub fn get_max_v(&mut self, channel: usize) -> ElectricPotential {
-        self.channel_state(channel).pwm_limits.max_v
+    fn get_pwm(&self, channel: usize, pin: PwmPin) -> f64 {
+        fn get<P: hal::PwmPin<Duty = u16>>(pin: &P) -> f64 {
+            let duty = pin.get_duty();
+            let max = pin.get_max_duty();
+            duty as f64 / (max as f64)
+        }
+        match (channel, pin) {
+            (_, PwmPin::ISet) => panic!("i_set is no pwm pin"),
+            (0, PwmPin::MaxIPos) => get(&self.pwm.max_i_pos0),
+            (0, PwmPin::MaxINeg) => get(&self.pwm.max_i_neg0),
+            (0, PwmPin::MaxV) => get(&self.pwm.max_v0),
+            (1, PwmPin::MaxIPos) => get(&self.pwm.max_i_pos1),
+            (1, PwmPin::MaxINeg) => get(&self.pwm.max_i_neg1),
+            (1, PwmPin::MaxV) => get(&self.pwm.max_v1),
+            _ => unreachable!(),
+        }
     }
 
-    pub fn get_max_i_pos(&mut self, channel: usize) -> ElectricCurrent {
-        self.channel_state(channel).pwm_limits.max_i_pos
+    pub fn get_max_v(&mut self, channel: usize) -> (ElectricPotential, ElectricPotential) {
+        let max = 4.0 * ElectricPotential::new::<volt>(3.3);
+        let duty = self.get_pwm(channel, PwmPin::MaxV);
+        (duty * max, MAX_TEC_V)
     }
 
-    pub fn get_max_i_neg(&mut self, channel: usize) -> ElectricCurrent {
-        self.channel_state(channel).pwm_limits.max_i_neg
+    pub fn get_max_i_pos(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
+        let max = ElectricCurrent::new::<ampere>(3.0);
+        let duty = self.get_pwm(channel, PwmPin::MaxIPos);
+        (duty * max, MAX_TEC_I)
+    }
+
+    pub fn get_max_i_neg(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
+        let max = ElectricCurrent::new::<ampere>(3.0);
+        let duty = self.get_pwm(channel, PwmPin::MaxINeg);
+        (duty * max, MAX_TEC_I)
     }
 
     // Get current passing through TEC
     pub fn get_tec_i(&mut self, channel: usize) -> ElectricCurrent {
-        let tec_i = (self.adc_read(channel, PinsAdcReadTarget::ITec, 16)
-            - self.adc_read(channel, PinsAdcReadTarget::VRef, 16))
-            / ElectricalResistance::new::<ohm>(0.4);
-        match self.channel_state(channel).polarity {
-            Polarity::Normal => tec_i,
-            Polarity::Reversed => -tec_i,
-        }
+        (self.adc_read(channel, PinsAdcReadTarget::ITec, 16)
+            - self.adc_read(channel, PinsAdcReadTarget::VREF, 16))
+            / ElectricalResistance::new::<ohm>(0.4)
     }
 
     // Get voltage across TEC
@@ -416,10 +446,8 @@ impl Channels {
         max_v: ElectricPotential,
     ) -> (ElectricPotential, ElectricPotential) {
         let max = 4.0 * ElectricPotential::new::<volt>(3.3);
-        let max_v = max_v.min(MAX_TEC_V).max(ElectricPotential::zero());
-        let duty = (max_v / max).get::<ratio>();
+        let duty = (max_v.min(MAX_TEC_V).max(ElectricPotential::zero()) / max).get::<ratio>();
         let duty = self.set_pwm(channel, PwmPin::MaxV, duty);
-        self.channel_state(channel).pwm_limits.max_v = max_v;
         (duty * max, max)
     }
 
@@ -429,14 +457,9 @@ impl Channels {
         max_i_pos: ElectricCurrent,
     ) -> (ElectricCurrent, ElectricCurrent) {
         let max = ElectricCurrent::new::<ampere>(3.0);
-        let max_i_pos = max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero());
-        let duty = (max_i_pos / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
-        let duty = match self.channel_state(channel).polarity {
-            Polarity::Normal => self.set_pwm(channel, PwmPin::MaxIPos, duty),
-            Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxINeg, duty),
-        };
-        self.channel_state(channel).pwm_limits.max_i_pos = max_i_pos;
-        (duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
+        let duty = (max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero()) / max).get::<ratio>();
+        let duty = self.set_pwm(channel, PwmPin::MaxIPos, duty);
+        (duty * max, max)
     }
 
     pub fn set_max_i_neg(
@@ -445,31 +468,13 @@ impl Channels {
         max_i_neg: ElectricCurrent,
     ) -> (ElectricCurrent, ElectricCurrent) {
         let max = ElectricCurrent::new::<ampere>(3.0);
-        let max_i_neg = max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero());
-        let duty = (max_i_neg / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
-        let duty = match self.channel_state(channel).polarity {
-            Polarity::Normal => self.set_pwm(channel, PwmPin::MaxINeg, duty),
-            Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxIPos, duty),
-        };
-        self.channel_state(channel).pwm_limits.max_i_neg = max_i_neg;
-        (duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
-    }
-
-    pub fn set_polarity(&mut self, channel: usize, polarity: Polarity) {
-        if self.channel_state(channel).polarity != polarity {
-            let i_set = self.channel_state(channel).i_set;
-            let max_i_pos = self.get_max_i_pos(channel);
-            let max_i_neg = self.get_max_i_neg(channel);
-            self.channel_state(channel).polarity = polarity;
-
-            self.set_i(channel, i_set);
-            self.set_max_i_pos(channel, max_i_pos);
-            self.set_max_i_neg(channel, max_i_neg);
-        }
+        let duty = (max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero()) / max).get::<ratio>();
+        let duty = self.set_pwm(channel, PwmPin::MaxINeg, duty);
+        (duty * max, max)
     }
 
     fn report(&mut self, channel: usize) -> Report {
-        let i_set = self.get_i_set(channel);
+        let i_set = self.get_i(channel);
         let i_tec = self.adc_read(channel, PinsAdcReadTarget::ITec, 16);
         let tec_i = self.get_tec_i(channel);
         let dac_value = self.get_dac(channel);
@@ -520,22 +525,21 @@ impl Channels {
         false
     }
 
-    fn output_summary(&mut self, channel: usize) -> OutputSummary {
-        OutputSummary {
+    fn pwm_summary(&mut self, channel: usize) -> PwmSummary {
+        PwmSummary {
             channel,
             center: CenterPointJson(self.channel_state(channel).center.clone()),
-            i_set: self.get_i_set(channel),
-            max_v: self.get_max_v(channel),
-            max_i_pos: self.get_max_i_pos(channel),
-            max_i_neg: self.get_max_i_neg(channel),
-            polarity: PolarityJson(self.channel_state(channel).polarity.clone()),
+            i_set: (self.get_i(channel), MAX_TEC_I).into(),
+            max_v: self.get_max_v(channel).into(),
+            max_i_pos: self.get_max_i_pos(channel).into(),
+            max_i_neg: self.get_max_i_neg(channel).into(),
         }
     }
 
-    pub fn output_summaries_json(&mut self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
+    pub fn pwm_summaries_json(&mut self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
         let mut summaries = Vec::<_, U2>::new();
         for channel in 0..CHANNELS {
-            let _ = summaries.push(self.output_summary(channel));
+            let _ = summaries.push(self.pwm_summary(channel));
         }
         serde_json_core::to_vec(&summaries)
     }
@@ -557,17 +561,17 @@ impl Channels {
         serde_json_core::to_vec(&summaries)
     }
 
-    fn b_parameter_summary(&mut self, channel: usize) -> BParameterSummary {
-        let params = self.channel_state(channel).bp.clone();
-        BParameterSummary { channel, params }
+    fn steinhart_hart_summary(&mut self, channel: usize) -> SteinhartHartSummary {
+        let params = self.channel_state(channel).sh.clone();
+        SteinhartHartSummary { channel, params }
     }
 
-    pub fn b_parameter_summaries_json(
+    pub fn steinhart_hart_summaries_json(
         &mut self,
     ) -> Result<JsonBuffer, serde_json_core::ser::Error> {
         let mut summaries = Vec::<_, U2>::new();
         for channel in 0..CHANNELS {
-            let _ = summaries.push(self.b_parameter_summary(channel));
+            let _ = summaries.push(self.steinhart_hart_summary(channel));
         }
         serde_json_core::to_vec(&summaries)
     }
@@ -607,36 +611,32 @@ impl Serialize for CenterPointJson {
         S: Serializer,
     {
         match self.0 {
-            CenterPoint::VRef => serializer.serialize_str("vref"),
+            CenterPoint::Vref => serializer.serialize_str("vref"),
             CenterPoint::Override(vref) => serializer.serialize_f32(vref),
         }
     }
 }
 
-pub struct PolarityJson(Polarity);
+#[derive(Serialize)]
+pub struct PwmSummaryField<T: Serialize> {
+    value: T,
+    max: T,
+}
 
-// used in JSON encoding, not for config
-impl Serialize for PolarityJson {
-    fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
-    where
-        S: Serializer,
-    {
-        serializer.serialize_str(match self.0 {
-            Polarity::Normal => "normal",
-            Polarity::Reversed => "reversed",
-        })
+impl<T: Serialize> From<(T, T)> for PwmSummaryField<T> {
+    fn from((value, max): (T, T)) -> Self {
+        PwmSummaryField { value, max }
     }
 }
 
 #[derive(Serialize)]
-pub struct OutputSummary {
+pub struct PwmSummary {
     channel: usize,
     center: CenterPointJson,
-    i_set: ElectricCurrent,
-    max_v: ElectricPotential,
-    max_i_pos: ElectricCurrent,
-    max_i_neg: ElectricCurrent,
-    polarity: PolarityJson,
+    i_set: PwmSummaryField<ElectricCurrent>,
+    max_v: PwmSummaryField<ElectricPotential>,
+    max_i_pos: PwmSummaryField<ElectricCurrent>,
+    max_i_neg: PwmSummaryField<ElectricCurrent>,
 }
 
 #[derive(Serialize)]
@@ -646,7 +646,7 @@ pub struct PostFilterSummary {
 }
 
 #[derive(Serialize)]
-pub struct BParameterSummary {
+pub struct SteinhartHartSummary {
     channel: usize,
-    params: b_parameter::Parameters,
+    params: steinhart_hart::Parameters,
 }

src/command_handler.rs

@@ -2,13 +2,15 @@ use super::{
     ad7172,
     channels::{Channels, CHANNELS},
     command_parser::{
-        BpParameter, CenterPoint, Command, Ipv4Config, PidParameter, Polarity, PwmPin, ShowCommand,
+        CenterPoint, Command, Ipv4Config, PidParameter, PwmPin, ShParameter, ShowCommand,
     },
     config::ChannelConfig,
     dfu,
     flash_store::FlashStore,
     hw_rev::HWRev,
-    net, FanCtrl, CHANNEL_CONFIG_KEY,
+    net,
+    session::Session,
+    FanCtrl, CHANNEL_CONFIG_KEY,
 };
 use core::fmt::Write;
 use heapless::{consts::U1024, Vec};
@@ -19,11 +21,7 @@ use uom::si::{
     electric_current::ampere,
     electric_potential::volt,
     electrical_resistance::ohm,
-    f64::{
-        ElectricCurrent, ElectricPotential, ElectricalResistance, TemperatureInterval,
-        ThermodynamicTemperature,
-    },
-    temperature_interval::kelvin,
+    f64::{ElectricCurrent, ElectricPotential, ElectricalResistance, ThermodynamicTemperature},
     thermodynamic_temperature::degree_celsius,
 };
 
@@ -37,9 +35,9 @@ pub enum Handler {
 
 #[derive(Clone, Debug, PartialEq)]
 pub enum Error {
-    Report,
-    PostFilterRate,
-    Flash,
+    ReportError,
+    PostFilterRateError,
+    FlashError,
 }
 
 pub type JsonBuffer = Vec<u8, U1024>;
@@ -71,6 +69,16 @@ fn send_line(socket: &mut TcpSocket, data: &[u8]) -> bool {
 }
 
 impl Handler {
+    fn reporting(socket: &mut TcpSocket) -> Result<Handler, Error> {
+        send_line(socket, b"{}");
+        Ok(Handler::Handled)
+    }
+
+    fn show_report_mode(socket: &mut TcpSocket, session: &Session) -> Result<Handler, Error> {
+        let _ = writeln!(socket, "{{ \"report\": {:?} }}", session.reporting());
+        Ok(Handler::Handled)
+    }
+
     fn show_report(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
         match channels.reports_json() {
             Ok(buf) => {
@@ -79,7 +87,7 @@ impl Handler {
             Err(e) => {
                 error!("unable to serialize report: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                return Err(Error::Report);
+                return Err(Error::ReportError);
             }
         }
         Ok(Handler::Handled)
@@ -93,35 +101,38 @@ impl Handler {
             Err(e) => {
                 error!("unable to serialize pid summary: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                return Err(Error::Report);
+                return Err(Error::ReportError);
             }
         }
         Ok(Handler::Handled)
     }
 
     fn show_pwm(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
-        match channels.output_summaries_json() {
+        match channels.pwm_summaries_json() {
             Ok(buf) => {
                 send_line(socket, &buf);
             }
             Err(e) => {
                 error!("unable to serialize pwm summary: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                return Err(Error::Report);
+                return Err(Error::ReportError);
             }
         }
         Ok(Handler::Handled)
     }
 
-    fn show_b_parameter(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
-        match channels.b_parameter_summaries_json() {
+    fn show_steinhart_hart(
+        socket: &mut TcpSocket,
+        channels: &mut Channels,
+    ) -> Result<Handler, Error> {
+        match channels.steinhart_hart_summaries_json() {
             Ok(buf) => {
                 send_line(socket, &buf);
             }
             Err(e) => {
-                error!("unable to serialize b parameter summaries: {:?}", e);
+                error!("unable to serialize steinhart-hart summaries: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                return Err(Error::Report);
+                return Err(Error::ReportError);
             }
         }
         Ok(Handler::Handled)
@@ -135,7 +146,7 @@ impl Handler {
             Err(e) => {
                 error!("unable to serialize postfilter summary: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                return Err(Error::Report);
+                return Err(Error::ReportError);
             }
         }
         Ok(Handler::Handled)
@@ -159,17 +170,6 @@ impl Handler {
         Ok(Handler::Handled)
     }
 
-    fn set_polarity(
-        socket: &mut TcpSocket,
-        channels: &mut Channels,
-        channel: usize,
-        polarity: Polarity,
-    ) -> Result<Handler, Error> {
-        channels.set_polarity(channel, polarity);
-        send_line(socket, b"{}");
-        Ok(Handler::Handled)
-    }
-
     fn set_pwm(
         socket: &mut TcpSocket,
         channels: &mut Channels,
@@ -207,7 +207,7 @@ impl Handler {
         channel: usize,
         center: CenterPoint,
     ) -> Result<Handler, Error> {
-        let i_set = channels.get_i_set(channel);
+        let i_set = channels.get_i(channel);
         let state = channels.channel_state(channel);
         state.center = center;
         if !state.pid_engaged {
@@ -238,19 +238,19 @@ impl Handler {
         Ok(Handler::Handled)
     }
 
-    fn set_b_parameter(
+    fn set_steinhart_hart(
         socket: &mut TcpSocket,
         channels: &mut Channels,
         channel: usize,
-        parameter: BpParameter,
+        parameter: ShParameter,
         value: f64,
     ) -> Result<Handler, Error> {
-        let bp = &mut channels.channel_state(channel).bp;
-        use super::command_parser::BpParameter::*;
+        let sh = &mut channels.channel_state(channel).sh;
+        use super::command_parser::ShParameter::*;
         match parameter {
-            T0 => bp.t0 = ThermodynamicTemperature::new::<degree_celsius>(value),
-            B => bp.b = TemperatureInterval::new::<kelvin>(value),
-            R0 => bp.r0 = ElectricalResistance::new::<ohm>(value),
+            T0 => sh.t0 = ThermodynamicTemperature::new::<degree_celsius>(value),
+            B => sh.b = value,
+            R0 => sh.r0 = ElectricalResistance::new::<ohm>(value),
         }
         send_line(socket, b"{}");
         Ok(Handler::Handled)
@@ -287,7 +287,7 @@ impl Handler {
                     socket,
                     b"{{\"error\": \"unable to choose postfilter rate\"}}",
                 );
-                return Err(Error::PostFilterRate);
+                return Err(Error::PostFilterRateError);
             }
         }
         Ok(Handler::Handled)
@@ -299,9 +299,9 @@ impl Handler {
         store: &mut FlashStore,
         channel: Option<usize>,
     ) -> Result<Handler, Error> {
-        for (c, key) in CHANNEL_CONFIG_KEY.iter().enumerate().take(CHANNELS) {
+        for c in 0..CHANNELS {
             if channel.is_none() || channel == Some(c) {
-                match store.read_value::<ChannelConfig>(key) {
+                match store.read_value::<ChannelConfig>(CHANNEL_CONFIG_KEY[c]) {
                     Ok(Some(config)) => {
                         config.apply(channels, c);
                         send_line(socket, b"{}");
@@ -313,7 +313,7 @@ impl Handler {
                     Err(e) => {
                         error!("unable to load config from flash: {:?}", e);
                         let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                        return Err(Error::Flash);
+                        return Err(Error::FlashError);
                     }
                 }
             }
@@ -327,18 +327,18 @@ impl Handler {
         channel: Option<usize>,
         store: &mut FlashStore,
     ) -> Result<Handler, Error> {
-        for (c, key) in CHANNEL_CONFIG_KEY.iter().enumerate().take(CHANNELS) {
+        for c in 0..CHANNELS {
             let mut store_value_buf = [0u8; 256];
             if channel.is_none() || channel == Some(c) {
                 let config = ChannelConfig::new(channels, c);
-                match store.write_value(key, &config, &mut store_value_buf) {
+                match store.write_value(CHANNEL_CONFIG_KEY[c], &config, &mut store_value_buf) {
                     Ok(()) => {
                         send_line(socket, b"{}");
                     }
                     Err(e) => {
                         error!("unable to save channel {} config to flash: {:?}", c, e);
                         let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                        return Err(Error::Flash);
+                        return Err(Error::FlashError);
                     }
                 }
             }
@@ -409,7 +409,7 @@ impl Handler {
             Err(e) => {
                 error!("unable to serialize fan summary: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                Err(Error::Report)
+                Err(Error::ReportError)
             }
         }
     }
@@ -458,7 +458,7 @@ impl Handler {
             Err(e) => {
                 error!("unable to serialize HWRev summary: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                Err(Error::Report)
+                Err(Error::ReportError)
             }
         }
     }
@@ -467,6 +467,7 @@ impl Handler {
         command: Command,
         socket: &mut TcpSocket,
         channels: &mut Channels,
+        session: &Session,
         store: &mut FlashStore,
         ipv4_config: &mut Ipv4Config,
         fan_ctrl: &mut FanCtrl,
@@ -474,17 +475,18 @@ impl Handler {
     ) -> Result<Self, Error> {
         match command {
             Command::Quit => Ok(Handler::CloseSocket),
+            Command::Reporting(_reporting) => Handler::reporting(socket),
+            Command::Show(ShowCommand::Reporting) => Handler::show_report_mode(socket, session),
             Command::Show(ShowCommand::Input) => Handler::show_report(socket, channels),
             Command::Show(ShowCommand::Pid) => Handler::show_pid(socket, channels),
-            Command::Show(ShowCommand::Output) => Handler::show_pwm(socket, channels),
-            Command::Show(ShowCommand::BParameter) => Handler::show_b_parameter(socket, channels),
+            Command::Show(ShowCommand::Pwm) => Handler::show_pwm(socket, channels),
+            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::OutputPid { channel } => Handler::engage_pid(socket, channels, channel),
-            Command::OutputPolarity { channel, polarity } => {
-                Handler::set_polarity(socket, channels, channel, polarity)
-            }
-            Command::Output {
+            Command::PwmPid { channel } => Handler::engage_pid(socket, channels, channel),
+            Command::Pwm {
                 channel,
                 pin,
                 value,
@@ -497,11 +499,11 @@ impl Handler {
                 parameter,
                 value,
             } => Handler::set_pid(socket, channels, channel, parameter, value),
-            Command::BParameter {
+            Command::SteinhartHart {
                 channel,
                 parameter,
                 value,
-            } => Handler::set_b_parameter(socket, channels, channel, parameter, value),
+            } => Handler::set_steinhart_hart(socket, channels, channel, parameter, value),
             Command::PostFilter {
                 channel,
                 rate: None,

src/command_parser.rs

@@ -91,9 +91,10 @@ pub struct Ipv4Config {
 #[derive(Debug, Clone, PartialEq)]
 pub enum ShowCommand {
     Input,
-    Output,
+    Reporting,
+    Pwm,
     Pid,
-    BParameter,
+    SteinhartHart,
     PostFilter,
     Ipv4,
 }
@@ -108,9 +109,9 @@ pub enum PidParameter {
     OutputMax,
 }
 
-/// B-Parameter equation parameter
+/// Steinhart-Hart equation parameter
 #[derive(Debug, Clone, PartialEq)]
-pub enum BpParameter {
+pub enum ShParameter {
     T0,
     B,
     R0,
@@ -126,16 +127,10 @@ pub enum PwmPin {
 
 #[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
 pub enum CenterPoint {
-    VRef,
+    Vref,
     Override(f32),
 }
 
-#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
-pub enum Polarity {
-    Normal,
-    Reversed,
-}
-
 #[derive(Debug, Clone, PartialEq)]
 pub enum Command {
     Quit,
@@ -148,20 +143,17 @@ pub enum Command {
     Reset,
     Ipv4(Ipv4Config),
     Show(ShowCommand),
+    Reporting(bool),
     /// PWM parameter setting
-    Output {
+    Pwm {
         channel: usize,
         pin: PwmPin,
         value: f64,
     },
     /// Enable PID control for `i_set`
-    OutputPid {
+    PwmPid {
         channel: usize,
     },
-    OutputPolarity {
-        channel: usize,
-        polarity: Polarity,
-    },
     CenterPoint {
         channel: usize,
         center: CenterPoint,
@@ -172,9 +164,9 @@ pub enum Command {
         parameter: PidParameter,
         value: f64,
     },
-    BParameter {
+    SteinhartHart {
         channel: usize,
-        parameter: BpParameter,
+        parameter: ShParameter,
         value: f64,
     },
     PostFilter {
@@ -208,7 +200,7 @@ 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| digits.parse::<u32>().map_err(|e| e.into()));
+            .and_then(|digits| u32::from_str_radix(digits, 10).map_err(|e| e.into()));
         (input, result)
     })
 }
@@ -224,6 +216,10 @@ fn float(input: &[u8]) -> IResult<&[u8], Result<f64, Error>> {
     Ok((input, result))
 }
 
+fn off_on(input: &[u8]) -> IResult<&[u8], bool> {
+    alt((value(false, tag("off")), value(true, tag("on"))))(input)
+}
+
 fn channel(input: &[u8]) -> IResult<&[u8], usize> {
     map(one_of("01"), |c| (c as usize) - ('0' as usize))(input)
 }
@@ -231,8 +227,25 @@ fn channel(input: &[u8]) -> IResult<&[u8], usize> {
 fn report(input: &[u8]) -> IResult<&[u8], Command> {
     preceded(
         tag("report"),
+        alt((
+            preceded(
+                whitespace,
+                preceded(
+                    tag("mode"),
+                    alt((
+                        preceded(
+                            whitespace,
+                            // `report mode <on | off>` - Switch repoting mode
+                            map(off_on, Command::Reporting),
+                        ),
+                        // `report mode` - Show current reporting state
+                        value(Command::Show(ShowCommand::Reporting), end),
+                    )),
+                ),
+            ),
             // `report` - Report once
             value(Command::Show(ShowCommand::Input), end),
+        )),
     )(input)
 }
 
@@ -260,26 +273,13 @@ fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<(PwmPin, f64), Error>> {
     ))(input)
 }
 
-/// `output <0-1> pid` - Set output to be controlled by PID
-fn output_pid(input: &[u8]) -> IResult<&[u8], ()> {
+/// `pwm <0-1> pid` - Set PWM to be controlled by PID
+fn pwm_pid(input: &[u8]) -> IResult<&[u8], ()> {
     value((), tag("pid"))(input)
 }
 
-fn output_polarity(input: &[u8]) -> IResult<&[u8], Polarity> {
-    preceded(
-        tag("polarity"),
-        preceded(
-            whitespace,
-            alt((
-                value(Polarity::Normal, tag("normal")),
-                value(Polarity::Reversed, tag("reversed")),
-            )),
-        ),
-    )(input)
-}
-
-fn output(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
-    let (input, _) = tag("output")(input)?;
+fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+    let (input, _) = tag("pwm")(input)?;
     alt((
         |input| {
             let (input, _) = whitespace(input)?;
@@ -287,19 +287,15 @@ fn output(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
             let (input, _) = whitespace(input)?;
             let (input, result) = alt((
                 |input| {
-                    let (input, ()) = output_pid(input)?;
-                    Ok((input, Ok(Command::OutputPid { channel })))
-                },
-                |input| {
-                    let (input, polarity) = output_polarity(input)?;
-                    Ok((input, Ok(Command::OutputPolarity { channel, polarity })))
+                    let (input, ()) = pwm_pid(input)?;
+                    Ok((input, Ok(Command::PwmPid { channel })))
                 },
                 |input| {
                     let (input, config) = pwm_setup(input)?;
                     match config {
                         Ok((pin, value)) => Ok((
                             input,
-                            Ok(Command::Output {
+                            Ok(Command::Pwm {
                                 channel,
                                 pin,
                                 value,
@@ -312,7 +308,7 @@ fn output(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
             end(input)?;
             Ok((input, result))
         },
-        value(Ok(Command::Show(ShowCommand::Output)), end),
+        value(Ok(Command::Show(ShowCommand::Pwm)), end),
     ))(input)
 }
 
@@ -321,7 +317,7 @@ fn center_point(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     let (input, _) = whitespace(input)?;
     let (input, channel) = channel(input)?;
     let (input, _) = whitespace(input)?;
-    let (input, center) = alt((value(Ok(CenterPoint::VRef), tag("vref")), |input| {
+    let (input, center) = alt((value(Ok(CenterPoint::Vref), tag("vref")), |input| {
         let (input, value) = float(input)?;
         Ok((
             input,
@@ -366,18 +362,18 @@ fn pid(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     ))(input)
 }
 
-/// `b-p <0-1> <parameter> <value>`
-fn b_parameter_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+/// `s-h <0-1> <parameter> <value>`
+fn steinhart_hart_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     let (input, channel) = channel(input)?;
     let (input, _) = whitespace(input)?;
     let (input, parameter) = alt((
-        value(BpParameter::T0, tag("t0")),
-        value(BpParameter::B, tag("b")),
-        value(BpParameter::R0, tag("r0")),
+        value(ShParameter::T0, tag("t0")),
+        value(ShParameter::B, tag("b")),
+        value(ShParameter::R0, tag("r0")),
     ))(input)?;
     let (input, _) = whitespace(input)?;
     let (input, value) = float(input)?;
-    let result = value.map(|value| Command::BParameter {
+    let result = value.map(|value| Command::SteinhartHart {
         channel,
         parameter,
         value,
@@ -385,12 +381,12 @@ fn b_parameter_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>>
     Ok((input, result))
 }
 
-/// `b-p` | `b-p <b_parameter_parameter>`
-fn b_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
-    let (input, _) = tag("b-p")(input)?;
+/// `s-h` | `s-h <steinhart_hart_parameter>`
+fn steinhart_hart(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+    let (input, _) = tag("s-h")(input)?;
     alt((
-        preceded(whitespace, b_parameter_parameter),
-        value(Ok(Command::Show(ShowCommand::BParameter)), end),
+        preceded(whitespace, steinhart_hart_parameter),
+        value(Ok(Command::Show(ShowCommand::SteinhartHart)), end),
     ))(input)
 }
 
@@ -541,13 +537,13 @@ fn fan_curve(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
                     let (input, k_b) = float(input)?;
                     let (input, _) = whitespace(input)?;
                     let (input, k_c) = float(input)?;
-                    if let (Ok(k_a), Ok(k_b), Ok(k_c)) = (k_a, k_b, k_c) {
+                    if k_a.is_ok() && k_b.is_ok() && k_c.is_ok() {
                         Ok((
                             input,
                             Ok(Command::FanCurve {
-                                k_a: k_a as f32,
-                                k_b: k_b as f32,
-                                k_c: k_c as f32,
+                                k_a: k_a.unwrap() as f32,
+                                k_b: k_b.unwrap() as f32,
+                                k_c: k_c.unwrap() as f32,
                             }),
                         ))
                     } else {
@@ -569,10 +565,10 @@ fn command(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
         value(Ok(Command::Reset), tag("reset")),
         ipv4,
         map(report, Ok),
-        output,
+        pwm,
         center_point,
         pid,
-        b_parameter,
+        steinhart_hart,
         postfilter,
         value(Ok(Command::Dfu), tag("dfu")),
         fan,
@@ -664,11 +660,29 @@ mod test {
     }
 
     #[test]
-    fn parse_output_i_set() {
-        let command = Command::parse(b"output 1 i_set 16383");
+    fn parse_report_mode() {
+        let command = Command::parse(b"report mode");
+        assert_eq!(command, Ok(Command::Show(ShowCommand::Reporting)));
+    }
+
+    #[test]
+    fn parse_report_mode_on() {
+        let command = Command::parse(b"report mode on");
+        assert_eq!(command, Ok(Command::Reporting(true)));
+    }
+
+    #[test]
+    fn parse_report_mode_off() {
+        let command = Command::parse(b"report mode off");
+        assert_eq!(command, Ok(Command::Reporting(false)));
+    }
+
+    #[test]
+    fn parse_pwm_i_set() {
+        let command = Command::parse(b"pwm 1 i_set 16383");
         assert_eq!(
             command,
-            Ok(Command::Output {
+            Ok(Command::Pwm {
                 channel: 1,
                 pin: PwmPin::ISet,
                 value: 16383.0,
@@ -677,29 +691,17 @@ mod test {
     }
 
     #[test]
-    fn parse_output_polarity() {
-        let command = Command::parse(b"output 0 polarity reversed");
-        assert_eq!(
-            command,
-            Ok(Command::OutputPolarity {
-                channel: 0,
-                polarity: Polarity::Reversed,
-            })
-        );
+    fn parse_pwm_pid() {
+        let command = Command::parse(b"pwm 0 pid");
+        assert_eq!(command, Ok(Command::PwmPid { channel: 0 }));
     }
 
     #[test]
-    fn parse_output_pid() {
-        let command = Command::parse(b"output 0 pid");
-        assert_eq!(command, Ok(Command::OutputPid { channel: 0 }));
-    }
-
-    #[test]
-    fn parse_output_max_i_pos() {
-        let command = Command::parse(b"output 0 max_i_pos 7");
+    fn parse_pwm_max_i_pos() {
+        let command = Command::parse(b"pwm 0 max_i_pos 7");
         assert_eq!(
             command,
-            Ok(Command::Output {
+            Ok(Command::Pwm {
                 channel: 0,
                 pin: PwmPin::MaxIPos,
                 value: 7.0,
@@ -708,11 +710,11 @@ mod test {
     }
 
     #[test]
-    fn parse_output_max_i_neg() {
-        let command = Command::parse(b"output 0 max_i_neg 128");
+    fn parse_pwm_max_i_neg() {
+        let command = Command::parse(b"pwm 0 max_i_neg 128");
         assert_eq!(
             command,
-            Ok(Command::Output {
+            Ok(Command::Pwm {
                 channel: 0,
                 pin: PwmPin::MaxINeg,
                 value: 128.0,
@@ -721,11 +723,11 @@ mod test {
     }
 
     #[test]
-    fn parse_output_max_v() {
-        let command = Command::parse(b"output 0 max_v 32768");
+    fn parse_pwm_max_v() {
+        let command = Command::parse(b"pwm 0 max_v 32768");
         assert_eq!(
             command,
-            Ok(Command::Output {
+            Ok(Command::Pwm {
                 channel: 0,
                 pin: PwmPin::MaxV,
                 value: 32768.0,
@@ -753,19 +755,19 @@ mod test {
     }
 
     #[test]
-    fn parse_b_parameter() {
-        let command = Command::parse(b"b-p");
-        assert_eq!(command, Ok(Command::Show(ShowCommand::BParameter)));
+    fn parse_steinhart_hart() {
+        let command = Command::parse(b"s-h");
+        assert_eq!(command, Ok(Command::Show(ShowCommand::SteinhartHart)));
     }
 
     #[test]
-    fn parse_b_parameter_set() {
-        let command = Command::parse(b"b-p 1 t0 23.05");
+    fn parse_steinhart_hart_set() {
+        let command = Command::parse(b"s-h 1 t0 23.05");
         assert_eq!(
             command,
-            Ok(Command::BParameter {
+            Ok(Command::SteinhartHart {
                 channel: 1,
-                parameter: BpParameter::T0,
+                parameter: ShParameter::T0,
                 value: 23.05,
             })
         );
@@ -820,7 +822,7 @@ mod test {
             command,
             Ok(Command::CenterPoint {
                 channel: 1,
-                center: CenterPoint::VRef,
+                center: CenterPoint::Vref,
             })
         );
     }

src/config.rs

@@ -1,13 +1,13 @@
 use crate::{
-    ad7172::PostFilter,
-    b_parameter,
-    channels::Channels,
-    command_parser::{CenterPoint, Polarity},
-    pid,
+    ad7172::PostFilter, channels::Channels, command_parser::CenterPoint, pid, steinhart_hart,
 };
 use num_traits::Zero;
 use serde::{Deserialize, Serialize};
-use uom::si::f64::{ElectricCurrent, ElectricPotential};
+use uom::si::{
+    electric_current::ampere,
+    electric_potential::volt,
+    f64::{ElectricCurrent, ElectricPotential},
+};
 
 #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
 pub struct ChannelConfig {
@@ -16,8 +16,7 @@ pub struct ChannelConfig {
     pid_target: f32,
     pid_engaged: bool,
     i_set: ElectricCurrent,
-    polarity: Polarity,
-    bp: b_parameter::Parameters,
+    sh: steinhart_hart::Parameters,
     pwm: PwmLimits,
     /// uses variant `PostFilter::Invalid` instead of `None` to save space
     adc_postfilter: PostFilter,
@@ -45,8 +44,7 @@ impl ChannelConfig {
             pid_target: state.pid.target as f32,
             pid_engaged: state.pid_engaged,
             i_set,
-            polarity: state.polarity.clone(),
-            bp: state.bp.clone(),
+            sh: state.sh.clone(),
             pwm,
             adc_postfilter,
         }
@@ -58,7 +56,7 @@ impl ChannelConfig {
         state.pid.parameters = self.pid.clone();
         state.pid.target = self.pid_target.into();
         state.pid_engaged = self.pid_engaged;
-        state.bp = self.bp.clone();
+        state.sh = self.sh.clone();
 
         self.pwm.apply(channels, channel);
 
@@ -68,32 +66,31 @@ impl ChannelConfig {
         };
         let _ = channels.adc.set_postfilter(channel as u8, adc_postfilter);
         let _ = channels.set_i(channel, self.i_set);
-        channels.set_polarity(channel, self.polarity.clone());
     }
 }
 
 #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
-pub struct PwmLimits {
-    pub max_v: ElectricPotential,
-    pub max_i_pos: ElectricCurrent,
-    pub max_i_neg: ElectricCurrent,
+struct PwmLimits {
+    max_v: f64,
+    max_i_pos: f64,
+    max_i_neg: f64,
 }
 
 impl PwmLimits {
     pub fn new(channels: &mut Channels, channel: usize) -> Self {
-        let max_v = channels.get_max_v(channel);
-        let max_i_pos = channels.get_max_i_pos(channel);
-        let max_i_neg = channels.get_max_i_neg(channel);
+        let (max_v, _) = channels.get_max_v(channel);
+        let (max_i_pos, _) = channels.get_max_i_pos(channel);
+        let (max_i_neg, _) = channels.get_max_i_neg(channel);
         PwmLimits {
-            max_v,
-            max_i_pos,
-            max_i_neg,
+            max_v: max_v.get::<volt>(),
+            max_i_pos: max_i_pos.get::<ampere>(),
+            max_i_neg: max_i_neg.get::<ampere>(),
         }
     }
 
     pub fn apply(&self, channels: &mut Channels, channel: usize) {
-        channels.set_max_v(channel, self.max_v);
-        channels.set_max_i_pos(channel, self.max_i_pos);
-        channels.set_max_i_neg(channel, self.max_i_neg);
+        channels.set_max_v(channel, ElectricPotential::new::<volt>(self.max_v));
+        channels.set_max_i_pos(channel, ElectricCurrent::new::<ampere>(self.max_i_pos));
+        channels.set_max_i_neg(channel, ElectricCurrent::new::<ampere>(self.max_i_neg));
     }
 }

src/fan_ctrl.rs

@@ -95,7 +95,9 @@ impl FanCtrl {
             return 0f32;
         }
         let fan = self.fan.as_mut().unwrap();
-        let fan_pwm = fan_pwm.clamp(MIN_USER_FAN_PWM as u32, MAX_USER_FAN_PWM as u32);
+        let fan_pwm = fan_pwm
+            .min(MAX_USER_FAN_PWM as u32)
+            .max(MIN_USER_FAN_PWM as u32);
         let duty = scale_number(
             fan_pwm as f32,
             self.hw_settings.min_fan_pwm,

src/main.rs

@@ -35,9 +35,9 @@ mod session;
 use session::{Session, SessionInput};
 mod command_parser;
 use command_parser::Ipv4Config;
-mod b_parameter;
 mod channels;
 mod pid;
+mod steinhart_hart;
 mod timer;
 use channels::{Channels, CHANNELS};
 mod channel;
@@ -119,14 +119,24 @@ fn main() -> ! {
 
     let (pins, mut leds, mut eeprom, eth_pins, usb, fan, hwrev, hw_settings) = Pins::setup(
         clocks,
-        (dp.TIM1, dp.TIM3, dp.TIM8),
-        (
-            dp.GPIOA, dp.GPIOB, dp.GPIOC, dp.GPIOD, dp.GPIOE, dp.GPIOF, dp.GPIOG,
-        ),
+        dp.TIM1,
+        dp.TIM3,
+        dp.TIM8,
+        dp.GPIOA,
+        dp.GPIOB,
+        dp.GPIOC,
+        dp.GPIOD,
+        dp.GPIOE,
+        dp.GPIOF,
+        dp.GPIOG,
         dp.I2C1,
-        (dp.SPI2, dp.SPI4, dp.SPI5),
+        dp.SPI2,
+        dp.SPI4,
+        dp.SPI5,
         dp.ADC1,
-        (dp.OTG_FS_GLOBAL, dp.OTG_FS_DEVICE, dp.OTG_FS_PWRCLK),
+        dp.OTG_FS_GLOBAL,
+        dp.OTG_FS_DEVICE,
+        dp.OTG_FS_PWRCLK,
     );
 
     leds.r1.on();
@@ -138,8 +148,8 @@ fn main() -> ! {
     let mut store = flash_store::store(dp.FLASH);
 
     let mut channels = Channels::new(pins);
-    for (c, key) in CHANNEL_CONFIG_KEY.iter().enumerate().take(CHANNELS) {
-        match store.read_value::<ChannelConfig>(key) {
+    for c in 0..CHANNELS {
+        match store.read_value::<ChannelConfig>(CHANNEL_CONFIG_KEY[c]) {
             Ok(Some(config)) => config.apply(&mut channels, c),
             Ok(None) => error!("flash config not found for channel {}", c),
             Err(e) => error!("unable to load config {} from flash: {:?}", c, e),
@@ -181,7 +191,10 @@ fn main() -> ! {
                 loop {
                     let mut new_ipv4_config = None;
                     let instant = Instant::from_millis(i64::from(timer::now()));
-                    channels.poll_adc(instant);
+                    let updated_channel = channels.poll_adc(instant);
+                    if let Some(channel) = updated_channel {
+                        server.for_each(|_, session| session.set_report_pending(channel.into()));
+                    }
 
                     fan_ctrl.cycle(channels.current_abs_max_tec_i());
 
@@ -217,6 +230,7 @@ fn main() -> ! {
                                             command,
                                             &mut socket,
                                             &mut channels,
+                                            session,
                                             &mut store,
                                             &mut ipv4_config,
                                             &mut fan_ctrl,
@@ -235,6 +249,18 @@ fn main() -> ! {
                                     }
                                     Err(_) => socket.close(),
                                 }
+                            } else if socket.can_send() {
+                                if let Some(channel) = session.is_report_pending() {
+                                    match channels.reports_json() {
+                                        Ok(buf) => {
+                                            send_line(&mut socket, &buf[..]);
+                                            session.mark_report_sent(channel);
+                                        }
+                                        Err(e) => {
+                                            error!("unable to serialize report: {:?}", e);
+                                        }
+                                    }
+                                }
                             }
                         });
                     } else {
@@ -254,10 +280,10 @@ fn main() -> ! {
                     }
 
                     // Apply new IPv4 address/gateway
-                    if let Some(config) = new_ipv4_config.take() {
+                    new_ipv4_config.take().map(|config| {
                         server.set_ipv4_config(config.clone());
                         ipv4_config = config;
-                    };
+                    });
 
                     // Update watchdog
                     wd.feed();

src/pins.rs

@@ -133,24 +133,24 @@ impl Pins {
     /// Setup GPIO pins and configure MCU peripherals
     pub fn setup(
         clocks: Clocks,
-        (tim1, tim3, tim8): (TIM1, TIM3, TIM8),
-        (gpioa, gpiob, gpioc, gpiod, gpioe, gpiof, gpiog): (
-            GPIOA,
-            GPIOB,
-            GPIOC,
-            GPIOD,
-            GPIOE,
-            GPIOF,
-            GPIOG,
-        ),
+        tim1: TIM1,
+        tim3: TIM3,
+        tim8: TIM8,
+        gpioa: GPIOA,
+        gpiob: GPIOB,
+        gpioc: GPIOC,
+        gpiod: GPIOD,
+        gpioe: GPIOE,
+        gpiof: GPIOF,
+        gpiog: GPIOG,
         i2c1: I2C1,
-        (spi2, spi4, spi5): (SPI2, SPI4, SPI5),
+        spi2: SPI2,
+        spi4: SPI4,
+        spi5: SPI5,
         adc1: ADC1,
-        (otg_fs_global, otg_fs_device, otg_fs_pwrclk): (
-            OTG_FS_GLOBAL,
-            OTG_FS_DEVICE,
-            OTG_FS_PWRCLK,
-        ),
+        otg_fs_global: OTG_FS_GLOBAL,
+        otg_fs_device: OTG_FS_DEVICE,
+        otg_fs_pwrclk: OTG_FS_PWRCLK,
     ) -> (
         Self,
         Leds,
@@ -175,11 +175,7 @@ impl Pins {
         let pins_adc = Adc::adc1(adc1, true, Default::default());
 
         let pwm = PwmPins::setup(
-            clocks,
-            (tim1, tim3),
-            (gpioc.pc6, gpioc.pc7),
-            (gpioe.pe9, gpioe.pe11),
-            (gpioe.pe13, gpioe.pe14),
+            clocks, tim1, tim3, gpioc.pc6, gpioc.pc7, gpioe.pe9, gpioe.pe11, gpioe.pe13, gpioe.pe14,
         );
 
         let hwrev = HWRev::detect_hw_rev(&HWRevPins {
@@ -358,10 +354,14 @@ pub struct PwmPins {
 impl PwmPins {
     fn setup<M1, M2, M3, M4, M5, M6>(
         clocks: Clocks,
-        (tim1, tim3): (TIM1, TIM3),
-        (max_v0, max_v1): (PC6<M1>, PC7<M2>),
-        (max_i_pos0, max_i_pos1): (PE9<M3>, PE11<M4>),
-        (max_i_neg0, max_i_neg1): (PE13<M5>, PE14<M6>),
+        tim1: TIM1,
+        tim3: TIM3,
+        max_v0: PC6<M1>,
+        max_v1: PC7<M2>,
+        max_i_pos0: PE9<M3>,
+        max_i_pos1: PE11<M4>,
+        max_i_neg0: PE13<M5>,
+        max_i_neg1: PE14<M6>,
     ) -> PwmPins {
         let freq = 20u32.khz();
 

src/server.rs

@@ -103,11 +103,16 @@ impl<'a, 'b, S: Default> Server<'a, 'b, S> {
     fn set_ipv4_address(&mut self, ipv4_address: Ipv4Cidr) {
         self.net.update_ip_addrs(|addrs| {
             for addr in addrs.iter_mut() {
-                if let IpCidr::Ipv4(_) = addr {
+                match addr {
+                    IpCidr::Ipv4(_) => {
                         *addr = IpCidr::Ipv4(ipv4_address);
                         // done
                         break;
                     }
+                    _ => {
+                        // skip
+                    }
+                }
             }
         });
     }

src/session.rs

@@ -1,3 +1,4 @@
+use super::channels::CHANNELS;
 use super::command_parser::{Command, Error as ParserError};
 
 const MAX_LINE_LEN: usize = 64;
@@ -53,6 +54,8 @@ impl From<Result<Command, ParserError>> for SessionInput {
 
 pub struct Session {
     reader: LineReader,
+    reporting: bool,
+    report_pending: [bool; CHANNELS],
 }
 
 impl Default for Session {
@@ -65,11 +68,42 @@ impl Session {
     pub fn new() -> Self {
         Session {
             reader: LineReader::new(),
+            reporting: false,
+            report_pending: [false; CHANNELS],
         }
     }
 
     pub fn reset(&mut self) {
         self.reader = LineReader::new();
+        self.reporting = false;
+        self.report_pending = [false; CHANNELS];
+    }
+
+    pub fn reporting(&self) -> bool {
+        self.reporting
+    }
+
+    pub fn set_report_pending(&mut self, channel: usize) {
+        if self.reporting {
+            self.report_pending[channel] = true;
+        }
+    }
+
+    pub fn is_report_pending(&self) -> Option<usize> {
+        if !self.reporting {
+            None
+        } else {
+            self.report_pending.iter().enumerate().fold(
+                None,
+                |result, (channel, report_pending)| {
+                    result.or(if *report_pending { Some(channel) } else { None })
+                },
+            )
+        }
+    }
+
+    pub fn mark_report_sent(&mut self, channel: usize) {
+        self.report_pending[channel] = false;
     }
 
     pub fn feed(&mut self, buf: &[u8]) -> (usize, SessionInput) {
@@ -77,10 +111,19 @@ impl Session {
         for (i, b) in buf.iter().enumerate() {
             buf_bytes = i + 1;
             let line = self.reader.feed(*b);
-            if let Some(line) = line {
+            match line {
+                Some(line) => {
                     let command = Command::parse(line);
+                    match command {
+                        Ok(Command::Reporting(reporting)) => {
+                            self.reporting = reporting;
+                        }
+                        _ => {}
+                    }
                     return (buf_bytes, command.into());
                 }
+                None => {}
+            }
         }
         (buf_bytes, SessionInput::Nothing)
     }

src/steinhart_hart.rs

@@ -2,28 +2,27 @@ use num_traits::float::Float;
 use serde::{Deserialize, Serialize};
 use uom::si::{
     electrical_resistance::ohm,
-    f64::{ElectricalResistance, TemperatureInterval, ThermodynamicTemperature},
+    f64::{ElectricalResistance, ThermodynamicTemperature},
     ratio::ratio,
-    temperature_interval::kelvin as kelvin_interval,
     thermodynamic_temperature::{degree_celsius, kelvin},
 };
 
-/// B-Parameter equation parameters
+/// Steinhart-Hart equation parameters
 #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
 pub struct Parameters {
     /// Base temperature
     pub t0: ThermodynamicTemperature,
-    /// Thermistor resistance at base temperature
+    /// Base resistance
     pub r0: ElectricalResistance,
-    /// Beta (average slope of the function ln R vs. 1/T)
-    pub b: TemperatureInterval,
+    /// Beta
+    pub b: f64,
 }
 
 impl Parameters {
-    /// Perform the resistance to temperature conversion.
+    /// Perform the voltage to temperature conversion.
     pub fn get_temperature(&self, r: ElectricalResistance) -> ThermodynamicTemperature {
-        let temp = (self.t0.recip() + (r / self.r0).get::<ratio>().ln() / self.b).recip();
-        ThermodynamicTemperature::new::<kelvin>(temp.get::<kelvin_interval>())
+        let inv_temp = 1.0 / self.t0.get::<kelvin>() + (r / self.r0).get::<ratio>().ln() / self.b;
+        ThermodynamicTemperature::new::<kelvin>(1.0 / inv_temp)
     }
 }
 
@@ -32,7 +31,7 @@ impl Default for Parameters {
         Parameters {
             t0: ThermodynamicTemperature::new::<degree_celsius>(25.0),
             r0: ElectricalResistance::new::<ohm>(10_000.0),
-            b: TemperatureInterval::new::<kelvin_interval>(3800.0),
+            b: 3800.0,
         }
     }
 }