README: Document units in clamped PWM value

2024-10-21 09:55:06 +08:00
20 changed files with 398 additions and 578 deletions
--- a/README.md
+++ b/README.md
@ -93,15 +93,15 @@ 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                                |
+| `pwm`                                      | Show current PWM settings                                                     |
+| `pwm <0/1> max_i_pos <amp>`                | Set maximum positive output current in Amperes, clamped to [0 A, 2 A]         |
+| `pwm <0/1> max_i_neg <amp>`                | Set maximum negative output current in Amperes, clamped to [0 A, 2 A]         |
+| `pwm <0/1> max_v <volt>`                   | Set maximum output voltage in Volts, clamped to [0 V, 4 V]                    |
+| `pwm <0/1> i_set <amp>`                    | Disengage PID, set fixed output current in Amperes, clamped to [-2 A, 2 A]    |
+| `pwm <0/1> polarity <normal/reversed>`     | Set output current polarity, with 'normal' being the front panel polarity     |
+| `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 +111,8 @@ 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 +144,22 @@ 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 +183,48 @@ 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.
+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 `pwm <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 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
+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 +237,7 @@ 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
@ -275,7 +260,7 @@ with the following keys.
 | `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`                   |
--- a/tuning.md
+++ b/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
--- a/flake.nix
+++ b/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 +61,12 @@

      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 rlwrap
+          ] ++ (with python3Packages; [
+            numpy matplotlib
          ]);
      };
-
-      formatter.x86_64-linux = nixpkgs.legacyPackages.x86_64-linux.nixfmt-rfc-style;
    };
 }
--- a/pythermostat/pythermostat/autotune.py
+++ b/pythermostat/pythermostat/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__":
--- a/pytec/example.py
+++ b/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)
--- a/pytec/plot.py
+++ b/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()
--- a/pythermostat/pythermostat/init.py
+++ b/pythermostat/pythermostat/init.py
--- a/pythermostat/pythermostat/client.py
+++ b/pythermostat/pythermostat/client.py
@ -1,7 +1,7 @@
 import socket
 import json
 import logging
-
+import time

 class CommandError(Exception):
    pass
@ -12,16 +12,12 @@ 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] == 0.0:
+                    logging.warning("`{}` limit is set to zero on channel {}".format(limit, pwm_channel["channel"]))

    def _read_line(self):
        # read more lines
@ -51,8 +47,8 @@ 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,
@ -71,7 +67,7 @@ class Client:
              'polarity': 'normal',
            ]
        """
-        return self._get_conf("output")
+        return self._get_conf("pwm")

    def get_pid(self):
        """Retrieve PID control state
@ -96,14 +92,14 @@ 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 +110,18 @@ 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 +129,24 @@ class Client:
             'tec_u_meas': 2.5340000000000003,
             'pid_output': 2.067581958092247}
        """
-        return self._get_conf("report")
-
-    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:
+            self._socket.sendall("report\n".encode('utf-8'))
+            line = self._read_line()
+            if not line:
+                break
+            try:
+                yield json.loads(line)
+            except json.decoder.JSONDecodeError:
+                pass
+            time.sleep(0.05)

    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 +161,12 @@ 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")
--- a/pytec/setup.py
+++ b/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(),
+)
--- a/pythermostat/example.py
+++ b/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)
--- a/pythermostat/pyproject.toml
+++ b/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"
--- a/pythermostat/pythermostat/plot.py
+++ b/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()
--- a/pythermostat/pythermostat/test.py
+++ b/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()
--- a/src/channel_state.rs
+++ b/src/channel_state.rs
@ -1,10 +1,9 @@
 use crate::{
-    ad7172, b_parameter as bp,
+    ad7172,
    command_parser::{CenterPoint, Polarity},
    config::PwmLimits,
-    pid,
+    pid, steinhart_hart as sh,
 };
-use num_traits::Zero;
 use smoltcp::time::{Duration, Instant};
 use uom::si::{
    electric_current::ampere,
@ -32,7 +31,7 @@ pub struct ChannelState {
    pub pwm_limits: PwmLimits,
    pub pid_engaged: bool,
    pub pid: pid::Controller,
-    pub bp: bp::Parameters,
+    pub sh: sh::Parameters,
    pub polarity: Polarity,
 }

@ -48,13 +47,13 @@ impl ChannelState {
            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(),
+                max_v: 0.0,
+                max_i_pos: 0.0,
+                max_i_neg: 0.0,
            },
            pid_engaged: false,
            pid: pid::Controller::new(pid::Parameters::default()),
-            bp: bp::Parameters::default(),
+            sh: sh::Parameters::default(),
            polarity: Polarity::Normal,
        }
    }
@ -100,7 +99,7 @@ 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)
    }
 }
--- a/src/channels.rs
+++ b/src/channels.rs
@ -1,11 +1,12 @@
 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},
    pins::{self, Channel0VRef, Channel1VRef},
+    steinhart_hart,
 };
 use core::marker::PhantomData;
 use heapless::{consts::U2, Vec};
@ -143,7 +144,7 @@ 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
    }
@ -363,15 +364,15 @@ impl Channels {
    }

    pub fn get_max_v(&mut self, channel: usize) -> ElectricPotential {
-        self.channel_state(channel).pwm_limits.max_v
+        ElectricPotential::new::<volt>(self.channel_state(channel).pwm_limits.max_v)
    }

    pub fn get_max_i_pos(&mut self, channel: usize) -> ElectricCurrent {
-        self.channel_state(channel).pwm_limits.max_i_pos
+        ElectricCurrent::new::<ampere>(self.channel_state(channel).pwm_limits.max_i_pos)
    }

    pub fn get_max_i_neg(&mut self, channel: usize) -> ElectricCurrent {
-        self.channel_state(channel).pwm_limits.max_i_neg
+        ElectricCurrent::new::<ampere>(self.channel_state(channel).pwm_limits.max_i_neg)
    }

    // Get current passing through TEC
@ -419,7 +420,7 @@ impl Channels {
        let max_v = max_v.min(MAX_TEC_V).max(ElectricPotential::zero());
        let duty = (max_v / max).get::<ratio>();
        let duty = self.set_pwm(channel, PwmPin::MaxV, duty);
-        self.channel_state(channel).pwm_limits.max_v = max_v;
+        self.channel_state(channel).pwm_limits.max_v = max_v.get::<volt>();
        (duty * max, max)
    }

@ -435,7 +436,7 @@ impl Channels {
            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;
+        self.channel_state(channel).pwm_limits.max_i_pos = max_i_pos.get::<ampere>();
        (duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
    }

@ -451,7 +452,7 @@ impl Channels {
            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;
+        self.channel_state(channel).pwm_limits.max_i_neg = max_i_neg.get::<ampere>();
        (duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
    }

@ -469,7 +470,7 @@ impl Channels {
    }

    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);
@ -520,11 +521,11 @@ 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),
+            i_set: self.get_i(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),
@ -532,10 +533,10 @@ impl Channels {
        }
    }

-    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 +558,17 @@ 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)
    }
@ -629,7 +630,7 @@ impl Serialize for PolarityJson {
 }

 #[derive(Serialize)]
-pub struct OutputSummary {
+pub struct PwmSummary {
    channel: usize,
    center: CenterPointJson,
    i_set: ElectricCurrent,
@ -646,7 +647,7 @@ pub struct PostFilterSummary {
 }

 #[derive(Serialize)]
-pub struct BParameterSummary {
+pub struct SteinhartHartSummary {
    channel: usize,
-    params: b_parameter::Parameters,
+    params: steinhart_hart::Parameters,
 }
--- a/src/command_handler.rs
+++ b/src/command_handler.rs
@ -2,7 +2,7 @@ use super::{
    ad7172,
    channels::{Channels, CHANNELS},
    command_parser::{
-        BpParameter, CenterPoint, Command, Ipv4Config, PidParameter, Polarity, PwmPin, ShowCommand,
+        CenterPoint, Command, Ipv4Config, PidParameter, Polarity, PwmPin, ShParameter, ShowCommand,
    },
    config::ChannelConfig,
    dfu,
@ -19,11 +19,7 @@ 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,
 };

@ -100,7 +96,7 @@ impl Handler {
    }

    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);
            }
@ -113,13 +109,16 @@ impl Handler {
        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);
            }
@ -207,7 +206,7 @@ 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 +237,19 @@ 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)
@ -476,15 +475,17 @@ impl Handler {
            Command::Quit => Ok(Handler::CloseSocket),
            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 } => {
+            Command::PwmPid { channel } => Handler::engage_pid(socket, channels, channel),
+            Command::PwmPolarity { channel, polarity } => {
                Handler::set_polarity(socket, channels, channel, polarity)
            }
-            Command::Output {
+            Command::Pwm {
                channel,
                pin,
                value,
@ -497,11 +498,11 @@ 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,
--- a/src/command_parser.rs
+++ b/src/command_parser.rs
@ -91,9 +91,9 @@ pub struct Ipv4Config {
 #[derive(Debug, Clone, PartialEq)]
 pub enum ShowCommand {
    Input,
-    Output,
+    Pwm,
    Pid,
-    BParameter,
+    SteinhartHart,
    PostFilter,
    Ipv4,
 }
@ -108,9 +108,9 @@ 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,
@ -149,16 +149,16 @@ pub enum Command {
    Ipv4(Ipv4Config),
    Show(ShowCommand),
    /// PWM parameter setting
-    Output {
+    Pwm {
        channel: usize,
        pin: PwmPin,
        value: f64,
    },
    /// Enable PID control for `i_set`
-    OutputPid {
+    PwmPid {
        channel: usize,
    },
-    OutputPolarity {
+    PwmPolarity {
        channel: usize,
        polarity: Polarity,
    },
@ -172,9 +172,9 @@ pub enum Command {
        parameter: PidParameter,
        value: f64,
    },
-    BParameter {
+    SteinhartHart {
        channel: usize,
-        parameter: BpParameter,
+        parameter: ShParameter,
        value: f64,
    },
    PostFilter {
@ -260,12 +260,12 @@ 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> {
+fn pwm_polarity(input: &[u8]) -> IResult<&[u8], Polarity> {
    preceded(
        tag("polarity"),
        preceded(
@ -278,8 +278,8 @@ fn output_polarity(input: &[u8]) -> IResult<&[u8], Polarity> {
    )(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 +287,19 @@ 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 })))
+                    let (input, ()) = pwm_pid(input)?;
+                    Ok((input, Ok(Command::PwmPid { channel })))
                },
                |input| {
-                    let (input, polarity) = output_polarity(input)?;
-                    Ok((input, Ok(Command::OutputPolarity { channel, polarity })))
+                    let (input, polarity) = pwm_polarity(input)?;
+                    Ok((input, Ok(Command::PwmPolarity { channel, polarity })))
                },
                |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 +312,7 @@ 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)
 }

@ -366,18 +366,18 @@ 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 +385,12 @@ 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)
 }

@ -569,10 +569,10 @@ 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 +664,11 @@ mod test {
    }

    #[test]
-    fn parse_output_i_set() {
-        let command = Command::parse(b"output 1 i_set 16383");
+    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,
@ -677,11 +677,11 @@ mod test {
    }

    #[test]
-    fn parse_output_polarity() {
-        let command = Command::parse(b"output 0 polarity reversed");
+    fn parse_pwm_polarity() {
+        let command = Command::parse(b"pwm 0 polarity reversed");
        assert_eq!(
            command,
-            Ok(Command::OutputPolarity {
+            Ok(Command::PwmPolarity {
                channel: 0,
                polarity: Polarity::Reversed,
            })
@ -689,17 +689,17 @@ mod test {
    }

    #[test]
-    fn parse_output_pid() {
-        let command = Command::parse(b"output 0 pid");
-        assert_eq!(command, Ok(Command::OutputPid { channel: 0 }));
+    fn parse_pwm_pid() {
+        let command = Command::parse(b"pwm 0 pid");
+        assert_eq!(command, Ok(Command::PwmPid { 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 +708,11 @@ 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 +721,11 @@ 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 +753,19 @@ 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,
            })
        );
--- a/src/config.rs
+++ b/src/config.rs
@ -1,13 +1,16 @@
 use crate::{
    ad7172::PostFilter,
-    b_parameter,
    channels::Channels,
    command_parser::{CenterPoint, Polarity},
-    pid,
+    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 {
@ -17,7 +20,7 @@ pub struct ChannelConfig {
    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,
@ -46,7 +49,7 @@ impl ChannelConfig {
            pid_engaged: state.pid_engaged,
            i_set,
            polarity: state.polarity.clone(),
-            bp: state.bp.clone(),
+            sh: state.sh.clone(),
            pwm,
            adc_postfilter,
        }
@ -58,7 +61,7 @@ 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);

@ -74,9 +77,9 @@ impl ChannelConfig {

 #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
 pub struct PwmLimits {
-    pub max_v: ElectricPotential,
-    pub max_i_pos: ElectricCurrent,
-    pub max_i_neg: ElectricCurrent,
+    pub max_v: f64,
+    pub max_i_pos: f64,
+    pub max_i_neg: f64,
 }

 impl PwmLimits {
@ -85,15 +88,15 @@ impl PwmLimits {
        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));
    }
 }
--- a/src/main.rs
+++ b/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;
--- a/src/steinhart_hart.rs
+++ b/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,
        }
    }
 }