Compare commits
3 Commits
master
...
63-fix-pid
| Author | SHA1 | Date |
|---|---|---|
 Egor Savkin
|
7015538b43 | |
|
Egor Savkin
|
60118a56c8 | |
 topquark12
|
211e0fa1bd |
|
|
@ -204,6 +204,26 @@ dependencies = [
|
|||
"void",
|
||||
]
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||||
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||||
[[package]]
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||||
name = "format-bytes"
|
||||
version = "0.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "48942366ef93975da38e175ac9e10068c6fc08ca9e85930d4f098f4d5b14c2fd"
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dependencies = [
|
||||
"format-bytes-macros",
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||||
]
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||||
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[[package]]
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||||
name = "format-bytes-macros"
|
||||
version = "0.4.0"
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "203aadebefcc73d12038296c228eabf830f99cba991b0032adf20e9fa6ce7e4f"
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dependencies = [
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"proc-macro2",
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"quote",
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"syn",
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]
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[[package]]
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name = "generic-array"
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version = "0.12.3"
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|
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@ -327,10 +347,10 @@ dependencies = [
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]
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[[package]]
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name = "panic-halt"
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version = "0.2.0"
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name = "panic-abort"
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version = "0.3.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
checksum = "de96540e0ebde571dc55c73d60ef407c653844e6f9a1e2fdbd40c07b9252d812"
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checksum = "4e20e6499bbbc412f280b04a42346b356c6fa0753d5fd22b7bd752ff34c778ee"
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[[package]]
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name = "panic-semihosting"
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|
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@ -558,12 +578,13 @@ dependencies = [
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"cortex-m-log",
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"cortex-m-rt 0.6.13",
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"eeprom24x",
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"format-bytes",
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"heapless",
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"log",
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"nb 1.0.0",
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"nom",
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"num-traits",
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"panic-halt",
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"panic-abort",
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"panic-semihosting",
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"serde",
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"serde-json-core",
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|
|
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@ -7,14 +7,14 @@ authors = ["Astro <astro@spaceboyz.net>"]
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version = "0.0.0"
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keywords = ["thermostat", "laser", "physics"]
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repository = "https://git.m-labs.hk/M-Labs/thermostat"
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edition = "2021"
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edition = "2018"
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[package.metadata.docs.rs]
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features = []
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default-target = "thumbv7em-none-eabihf"
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[dependencies]
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panic-halt = "0.2"
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panic-abort = "0.3"
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panic-semihosting = { version = "0.5", optional = true }
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log = "0.4"
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bare-metal = "1"
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@ -38,6 +38,9 @@ heapless = "0.5"
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serde-json-core = "0.1"
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sfkv = "0.1"
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[dev-dependencies]
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format-bytes = "0.3.0"
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[features]
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semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]
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|
|
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24
README.md
24
README.md
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@ -29,7 +29,7 @@ Alternatively, you can install the Rust toolchain without Nix using rustup; see
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Connect SWDIO/SWCLK/RST/GND to a programmer such as ST-Link v2.1. Run OpenOCD:
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```shell
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openocd -f interface/stlink.cfg -f target/stm32f4x.cfg
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openocd -f interface/stlink-v2-1.cfg -f target/stm32f4x.cfg
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```
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You may need to power up the programmer before powering the device.
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@ -64,7 +64,7 @@ On a Windows machine install [st.com](https://st.com) DfuSe USB device firmware
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### OpenOCD
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```shell
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openocd -f interface/stlink.cfg -f target/stm32f4x.cfg -c "program target/thumbv7em-none-eabihf/release/thermostat verify reset;exit"
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openocd -f interface/stlink-v2-1.cfg -f target/stm32f4x.cfg -c "program target/thumbv7em-none-eabihf/release/thermostat verify reset;exit"
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```
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## Network
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@ -184,7 +184,7 @@ postfilter rate can be tuned with the `postfilter` command.
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- Connect TEC module device 1 to TEC1- and TEC1+.
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- The GND pin is for shielding not for sinking TEC module currents.
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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.
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When using a TEC module with the Thermostat, the Thermostat expects the thermal load (where the thermistor is located) to heat up with a positive software current set point, and cool down with a negative current set point.
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Testing heat flow direction with a low set current is recommended before installation of the TEC module.
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@ -258,12 +258,13 @@ with the following keys.
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| Key | Unit | Description |
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| --- | :---: | --- |
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| `channel` | Integer | Channel `0`, or `1` |
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| `time` | Seconds | Temperature measurement time |
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| `time` | Milliseconds | Temperature measurement time |
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| `adc` | Volts | AD7172 input |
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| `sens` | Ohms | Thermistor resistance derived from `adc` |
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| `temperature` | Degrees Celsius | Steinhart-Hart conversion result derived from `sens` |
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| `pid_engaged` | Boolean | `true` if in closed-loop mode |
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| `i_set` | Amperes | TEC output current |
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| `vref` | Volts | MAX1968 VREF (1.5 V) |
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| `dac_value` | Volts | AD5680 output derived from `i_set` |
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| `dac_feedback` | Volts | ADC measurement of the AD5680 output |
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| `i_tec` | Volts | MAX1968 TEC current monitor |
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@ -271,19 +272,18 @@ with the following keys.
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| `tec_u_meas` | Volts | Measurement of the voltage across the TEC |
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| `pid_output` | Amperes | PID control output |
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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].
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## PID Tuning
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The thermostat implements a PID control loop for each of the TEC channels, more details on setting up the PID control loop can be found [here](./doc/PID%20tuning.md).
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## Fan control
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Fan control commands are available for thermostat revisions with an integrated fan system:
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Fan control is available for the thermostat revisions with integrated fan system. For this purpose four commands are available:
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1. `fan` - show fan stats: `fan_pwm`, `abs_max_tec_i`, `auto_mode`, `k_a`, `k_b`, `k_c`.
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2. `fan auto` - enable auto speed controller mode, where fan speed is controlled by the fan curve `fcurve`.
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3. `fan <value>` - set the fan power with the value from `1` to `100` and disable auto mode. There is no way to completely disable the fan.
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2. `fan auto` - enable auto speed controller mode, which correlates with fan curve `fcurve`.
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3. `fan <value>` - set the fan power with the value from `1` to `100` and disable auto mode. There is no way to disable the fan.
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Please note that power doesn't correlate with the actual speed linearly.
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4. `fcurve <a> <b> <c>` - set coefficients of the controlling curve `a*x^2 + b*x + c`, where `x` is `abs_max_tec_i/MAX_TEC_I`, a normalized value in range [0,1],
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i.e. the (linear) proportion of current output capacity used, on the channel with the largest current flow. The controlling curve is also clamped to [0,1].
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5. `fcurve default` - restore fan curve coefficients to defaults: `a = 1.0, b = 0.0, c = 0.0`.
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4. `fcurve <a> <b> <c>` - set coefficients of the controlling curve `a*x^2 + b*x + c`, where `x` is `abs_max_tec_i/MAX_TEC_I`,
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i.e. receives values from 0 to 1 linearly tied to the maximum current. The controlling curve should produce values from 0 to 1,
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as below and beyond values would be substituted by 0 and 1 respectively.
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5. `fcurve default` - restore fan curve settings to defaults: `a = 1.0, b = 0.0, c = 0.0`.
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|
|
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14
flake.lock
14
flake.lock
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@ -3,11 +3,11 @@
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"mozilla-overlay": {
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"flake": false,
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"locked": {
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"lastModified": 1690536331,
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"narHash": "sha256-aRIf2FB2GTdfF7gl13WyETmiV/J7EhBGkSWXfZvlxcA=",
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"lastModified": 1638887313,
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||||
"narHash": "sha256-FMYV6rVtvSIfthgC1sK1xugh3y7muoQcvduMdriz4ag=",
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"owner": "mozilla",
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"repo": "nixpkgs-mozilla",
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"rev": "db89c8707edcffefcd8e738459d511543a339ff5",
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"rev": "7c1e8b1dd6ed0043fb4ee0b12b815256b0b9de6f",
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"type": "github"
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},
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"original": {
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@ -18,16 +18,16 @@
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},
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"nixpkgs": {
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"locked": {
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"lastModified": 1691421349,
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||||
"narHash": "sha256-RRJyX0CUrs4uW4gMhd/X4rcDG8PTgaaCQM5rXEJOx6g=",
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||||
"lastModified": 1641870998,
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"narHash": "sha256-6HkxR2WZsm37VoQS7jgp6Omd71iw6t1kP8bDbaqCDuI=",
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"owner": "NixOS",
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"repo": "nixpkgs",
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"rev": "011567f35433879aae5024fc6ec53f2a0568a6c4",
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"rev": "386234e2a61e1e8acf94dfa3a3d3ca19a6776efb",
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"type": "github"
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},
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"original": {
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"owner": "NixOS",
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"ref": "nixos-23.05",
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"ref": "nixos-21.11",
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"repo": "nixpkgs",
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"type": "github"
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}
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|
|
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14
flake.nix
14
flake.nix
|
|
@ -1,15 +1,15 @@
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{
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description = "Firmware for the Sinara 8451 Thermostat";
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inputs.nixpkgs.url = github:NixOS/nixpkgs/nixos-23.05;
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inputs.nixpkgs.url = github:NixOS/nixpkgs/nixos-21.11;
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inputs.mozilla-overlay = { url = github:mozilla/nixpkgs-mozilla; flake = false; };
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outputs = { self, nixpkgs, mozilla-overlay }:
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let
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pkgs = import nixpkgs { system = "x86_64-linux"; overlays = [ (import mozilla-overlay) ]; };
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rustManifest = pkgs.fetchurl {
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url = "https://static.rust-lang.org/dist/2022-12-15/channel-rust-stable.toml";
|
||||
hash = "sha256-S7epLlflwt0d1GZP44u5Xosgf6dRrmr8xxC+Ml2Pq7c=";
|
||||
url = "https://static.rust-lang.org/dist/2021-10-26/channel-rust-nightly.toml";
|
||||
sha256 = "sha256-1hLbypXA+nuH7o3AHCokzSBZAvQxvef4x9+XxO3aBao=";
|
||||
};
|
||||
|
||||
targets = [
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|
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@ -22,12 +22,12 @@
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inherit targets;
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extensions = ["rust-src"];
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};
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rust = rustChannelOfTargets "stable" null targets;
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rust = rustChannelOfTargets "nightly" null targets;
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rustPlatform = pkgs.recurseIntoAttrs (pkgs.makeRustPlatform {
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rustc = rust;
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cargo = rust;
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});
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thermostat = rustPlatform.buildRustPackage {
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thermostat = rustPlatform.buildRustPackage rec {
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name = "thermostat";
|
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version = "0.0.0";
|
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|
|
@ -67,7 +67,9 @@
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devShell.x86_64-linux = pkgs.mkShell {
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name = "thermostat-dev-shell";
|
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buildInputs = with pkgs; [
|
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rust openocd dfu-util
|
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rustPlatform.rust.rustc
|
||||
rustPlatform.rust.cargo
|
||||
openocd dfu-util
|
||||
] ++ (with python3Packages; [
|
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numpy matplotlib
|
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]);
|
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|
|
|
|||
|
|
@ -1,6 +1,5 @@
|
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import socket
|
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import json
|
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import logging
|
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|
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class CommandError(Exception):
|
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pass
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|
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@ -9,14 +8,6 @@ class Client:
|
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def __init__(self, host="192.168.1.26", port=23, timeout=None):
|
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self._socket = socket.create_connection((host, port), timeout)
|
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self._lines = [""]
|
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self._check_zero_limits()
|
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|
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def _check_zero_limits(self):
|
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pwm_report = self.get_pwm()
|
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for pwm_channel in pwm_report:
|
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for limit in ["max_i_neg", "max_i_pos", "max_v"]:
|
||||
if pwm_channel[limit]["value"] == 0.0:
|
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logging.warning("`{}` limit is set to zero on channel {}".format(limit, pwm_channel["channel"]))
|
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|
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def _read_line(self):
|
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# read more lines
|
||||
|
|
|
|||
|
|
@ -2,13 +2,11 @@ use smoltcp::time::{Duration, Instant};
|
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use uom::si::{
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f64::{
|
||||
ElectricPotential,
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ElectricCurrent,
|
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ElectricalResistance,
|
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ThermodynamicTemperature,
|
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Time,
|
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},
|
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electric_potential::volt,
|
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electric_current::ampere,
|
||||
electrical_resistance::ohm,
|
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thermodynamic_temperature::degree_celsius,
|
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time::millisecond,
|
||||
|
|
@ -28,10 +26,11 @@ pub struct ChannelState {
|
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pub adc_calibration: ad7172::ChannelCalibration,
|
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pub adc_time: Instant,
|
||||
pub adc_interval: Duration,
|
||||
/// VREF for the TEC (1.5V)
|
||||
pub vref: ElectricPotential,
|
||||
/// i_set 0A center point
|
||||
pub center: CenterPoint,
|
||||
pub dac_value: ElectricPotential,
|
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pub i_set: ElectricCurrent,
|
||||
pub pid_engaged: bool,
|
||||
pub pid: pid::Controller,
|
||||
pub sh: sh::Parameters,
|
||||
|
|
@ -45,9 +44,10 @@ impl ChannelState {
|
|||
adc_time: Instant::from_secs(0),
|
||||
// default: 10 Hz
|
||||
adc_interval: Duration::from_millis(100),
|
||||
// updated later with Channels.read_vref()
|
||||
vref: ElectricPotential::new::<volt>(1.5),
|
||||
center: CenterPoint::Vref,
|
||||
dac_value: ElectricPotential::new::<volt>(0.0),
|
||||
i_set: ElectricCurrent::new::<ampere>(0.0),
|
||||
pid_engaged: false,
|
||||
pid: pid::Controller::new(pid::Parameters::default()),
|
||||
sh: sh::Parameters::default(),
|
||||
|
|
|
|||
280
src/channels.rs
280
src/channels.rs
|
|
@ -1,6 +1,5 @@
|
|||
use core::{cmp::max_by, marker::PhantomData};
|
||||
use core::cmp::max_by;
|
||||
use heapless::{consts::U2, Vec};
|
||||
use num_traits::Zero;
|
||||
use serde::{Serialize, Serializer};
|
||||
use smoltcp::time::Instant;
|
||||
use stm32f4xx_hal::hal;
|
||||
|
|
@ -19,38 +18,15 @@ use crate::{
|
|||
channel_state::ChannelState,
|
||||
command_parser::{CenterPoint, PwmPin},
|
||||
command_handler::JsonBuffer,
|
||||
pins::{self, Channel0VRef, Channel1VRef},
|
||||
pins,
|
||||
steinhart_hart,
|
||||
};
|
||||
|
||||
pub enum PinsAdcReadTarget {
|
||||
VREF,
|
||||
DacVfb,
|
||||
ITec,
|
||||
VTec,
|
||||
}
|
||||
|
||||
pub const CHANNELS: usize = 2;
|
||||
pub const R_SENSE: f64 = 0.05;
|
||||
|
||||
// From design specs
|
||||
pub const MAX_TEC_I: ElectricCurrent = ElectricCurrent {
|
||||
dimension: PhantomData,
|
||||
units: PhantomData,
|
||||
value: 2.0,
|
||||
};
|
||||
pub const MAX_TEC_V: ElectricPotential = ElectricPotential {
|
||||
dimension: PhantomData,
|
||||
units: PhantomData,
|
||||
value: 4.0,
|
||||
};
|
||||
|
||||
// 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,
|
||||
units: PhantomData,
|
||||
value: 3.0,
|
||||
};
|
||||
const DAC_OUT_V_MAX: f64 = 3.0;
|
||||
|
||||
// TODO: -pub
|
||||
pub struct Channels {
|
||||
channel0: Channel<Channel0>,
|
||||
|
|
@ -82,6 +58,7 @@ impl Channels {
|
|||
let pwm = pins.pwm;
|
||||
let mut channels = Channels { channel0, channel1, adc, pins_adc, pwm };
|
||||
for channel in 0..CHANNELS {
|
||||
channels.channel_state(channel).vref = channels.read_vref(channel);
|
||||
channels.calibrate_dac_value(channel);
|
||||
channels.set_i(channel, ElectricCurrent::new::<ampere>(0.0));
|
||||
}
|
||||
|
|
@ -121,8 +98,11 @@ 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 => {
|
||||
let vref = self.read_vref(channel);
|
||||
self.channel_state(channel).vref = vref;
|
||||
vref
|
||||
},
|
||||
CenterPoint::Override(center_point) =>
|
||||
ElectricPotential::new::<volt>(center_point.into()),
|
||||
}
|
||||
|
|
@ -135,13 +115,16 @@ impl Channels {
|
|||
}
|
||||
|
||||
pub fn get_i(&mut self, channel: usize) -> ElectricCurrent {
|
||||
let i_set = self.channel_state(channel).i_set;
|
||||
i_set
|
||||
let center_point = self.get_center(channel);
|
||||
let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
|
||||
let voltage = self.get_dac(channel);
|
||||
let i_tec = (voltage - center_point) / (10.0 * r_sense);
|
||||
i_tec
|
||||
}
|
||||
|
||||
/// i_set DAC
|
||||
fn set_dac(&mut self, channel: usize, voltage: ElectricPotential) -> ElectricPotential {
|
||||
let value = ((voltage / DAC_OUT_V_MAX).get::<ratio>() * (ad5680::MAX_VALUE as f64)) as u32 ;
|
||||
let value = ((voltage / ElectricPotential::new::<volt>(DAC_OUT_V_MAX)).get::<ratio>() * (ad5680::MAX_VALUE as f64)) as u32 ;
|
||||
match channel {
|
||||
0 => self.channel0.dac.set(value).unwrap(),
|
||||
1 => self.channel1.dac.set(value).unwrap(),
|
||||
|
|
@ -151,8 +134,7 @@ impl Channels {
|
|||
voltage
|
||||
}
|
||||
|
||||
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);
|
||||
pub fn set_i(&mut self, channel: usize, i_tec: ElectricCurrent) -> ElectricCurrent {
|
||||
let vref_meas = match channel.into() {
|
||||
0 => self.channel0.vref_meas,
|
||||
1 => self.channel1.vref_meas,
|
||||
|
|
@ -160,119 +142,38 @@ impl Channels {
|
|||
};
|
||||
let center_point = vref_meas;
|
||||
let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
|
||||
let voltage = i_set * 10.0 * r_sense + center_point;
|
||||
let voltage = i_tec * 10.0 * r_sense + center_point;
|
||||
let voltage = self.set_dac(channel, voltage);
|
||||
let i_set = (voltage - center_point) / (10.0 * r_sense);
|
||||
self.channel_state(channel).i_set = i_set;
|
||||
i_set
|
||||
let i_tec = (voltage - center_point) / (10.0 * r_sense);
|
||||
i_tec
|
||||
}
|
||||
|
||||
/// AN4073: ADC Reading Dispersion can be reduced through Averaging
|
||||
pub fn adc_read(&mut self, channel: usize, adc_read_target: PinsAdcReadTarget, avg_pt: u16) -> ElectricPotential {
|
||||
let mut sample: u32 = 0;
|
||||
pub fn read_dac_feedback(&mut self, channel: usize) -> ElectricPotential {
|
||||
match channel {
|
||||
0 => {
|
||||
sample = match adc_read_target {
|
||||
PinsAdcReadTarget::VREF => {
|
||||
match &self.channel0.vref_pin {
|
||||
Channel0VRef::Analog(vref_pin) => {
|
||||
for _ in (0..avg_pt).rev() {
|
||||
sample += self
|
||||
.pins_adc
|
||||
.convert(vref_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
|
||||
as u32;
|
||||
}
|
||||
sample / avg_pt as u32
|
||||
},
|
||||
Channel0VRef::Disabled(_) => {2048 as u32}
|
||||
}
|
||||
}
|
||||
PinsAdcReadTarget::DacVfb => {
|
||||
for _ in (0..avg_pt).rev() {
|
||||
sample += self
|
||||
.pins_adc
|
||||
.convert(&self.channel0.dac_feedback_pin,stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
|
||||
as u32;
|
||||
}
|
||||
sample / avg_pt as u32
|
||||
}
|
||||
PinsAdcReadTarget::ITec => {
|
||||
for _ in (0..avg_pt).rev() {
|
||||
sample += self
|
||||
.pins_adc
|
||||
.convert(&self.channel0.itec_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
|
||||
as u32;
|
||||
}
|
||||
sample / avg_pt as u32
|
||||
}
|
||||
PinsAdcReadTarget::VTec => {
|
||||
for _ in (0..avg_pt).rev() {
|
||||
sample += self
|
||||
.pins_adc
|
||||
.convert(&self.channel0.tec_u_meas_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
|
||||
as u32;
|
||||
}
|
||||
sample / avg_pt as u32
|
||||
}
|
||||
};
|
||||
let mv = self.pins_adc.sample_to_millivolts(sample as u16);
|
||||
let sample = self.pins_adc.convert(
|
||||
&self.channel0.dac_feedback_pin,
|
||||
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
|
||||
);
|
||||
let mv = self.pins_adc.sample_to_millivolts(sample);
|
||||
ElectricPotential::new::<millivolt>(mv as f64)
|
||||
}
|
||||
1 => {
|
||||
sample = match adc_read_target {
|
||||
PinsAdcReadTarget::VREF => {
|
||||
match &self.channel1.vref_pin {
|
||||
Channel1VRef::Analog(vref_pin) => {
|
||||
for _ in (0..avg_pt).rev() {
|
||||
sample += self
|
||||
.pins_adc
|
||||
.convert(vref_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
|
||||
as u32;
|
||||
}
|
||||
sample / avg_pt as u32
|
||||
},
|
||||
Channel1VRef::Disabled(_) => {2048 as u32}
|
||||
}
|
||||
}
|
||||
PinsAdcReadTarget::DacVfb => {
|
||||
for _ in (0..avg_pt).rev() {
|
||||
sample += self
|
||||
.pins_adc
|
||||
.convert(&self.channel1.dac_feedback_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
|
||||
as u32;
|
||||
}
|
||||
sample / avg_pt as u32
|
||||
}
|
||||
PinsAdcReadTarget::ITec => {
|
||||
for _ in (0..avg_pt).rev() {
|
||||
sample += self
|
||||
.pins_adc
|
||||
.convert(&self.channel1.itec_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
|
||||
as u32;
|
||||
}
|
||||
sample / avg_pt as u32
|
||||
}
|
||||
PinsAdcReadTarget::VTec => {
|
||||
for _ in (0..avg_pt).rev() {
|
||||
sample += self
|
||||
.pins_adc
|
||||
.convert(&self.channel1.tec_u_meas_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
|
||||
as u32;
|
||||
}
|
||||
sample / avg_pt as u32
|
||||
}
|
||||
};
|
||||
let mv = self.pins_adc.sample_to_millivolts(sample as u16);
|
||||
let sample = self.pins_adc.convert(
|
||||
&self.channel1.dac_feedback_pin,
|
||||
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
|
||||
);
|
||||
let mv = self.pins_adc.sample_to_millivolts(sample);
|
||||
ElectricPotential::new::<millivolt>(mv as f64)
|
||||
}
|
||||
_ => unreachable!()
|
||||
_ => unreachable!(),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn read_dac_feedback_until_stable(&mut self, channel: usize, tolerance: ElectricPotential) -> ElectricPotential {
|
||||
let mut prev = self.adc_read(channel, PinsAdcReadTarget::DacVfb, 1);
|
||||
let mut prev = self.read_dac_feedback(channel);
|
||||
loop {
|
||||
let current = self.adc_read(channel, PinsAdcReadTarget::DacVfb, 1);
|
||||
let current = self.read_dac_feedback(channel);
|
||||
if (current - prev).abs() < tolerance {
|
||||
return current;
|
||||
}
|
||||
|
|
@ -280,6 +181,73 @@ impl Channels {
|
|||
}
|
||||
}
|
||||
|
||||
pub fn read_itec(&mut self, channel: usize) -> ElectricPotential {
|
||||
match channel {
|
||||
0 => {
|
||||
let sample = self.pins_adc.convert(
|
||||
&self.channel0.itec_pin,
|
||||
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
|
||||
);
|
||||
let mv = self.pins_adc.sample_to_millivolts(sample);
|
||||
ElectricPotential::new::<millivolt>(mv as f64)
|
||||
}
|
||||
1 => {
|
||||
let sample = self.pins_adc.convert(
|
||||
&self.channel1.itec_pin,
|
||||
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
|
||||
);
|
||||
let mv = self.pins_adc.sample_to_millivolts(sample);
|
||||
ElectricPotential::new::<millivolt>(mv as f64)
|
||||
}
|
||||
_ => unreachable!(),
|
||||
}
|
||||
}
|
||||
|
||||
/// should be 1.5V
|
||||
pub fn read_vref(&mut self, channel: usize) -> ElectricPotential {
|
||||
match channel {
|
||||
0 => {
|
||||
let sample = self.pins_adc.convert(
|
||||
&self.channel0.vref_pin,
|
||||
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
|
||||
);
|
||||
let mv = self.pins_adc.sample_to_millivolts(sample);
|
||||
ElectricPotential::new::<millivolt>(mv as f64)
|
||||
}
|
||||
1 => {
|
||||
let sample = self.pins_adc.convert(
|
||||
&self.channel1.vref_pin,
|
||||
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
|
||||
);
|
||||
let mv = self.pins_adc.sample_to_millivolts(sample);
|
||||
ElectricPotential::new::<millivolt>(mv as f64)
|
||||
}
|
||||
_ => unreachable!(),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn read_tec_u_meas(&mut self, channel: usize) -> ElectricPotential {
|
||||
match channel {
|
||||
0 => {
|
||||
let sample = self.pins_adc.convert(
|
||||
&self.channel0.tec_u_meas_pin,
|
||||
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
|
||||
);
|
||||
let mv = self.pins_adc.sample_to_millivolts(sample);
|
||||
ElectricPotential::new::<millivolt>(mv as f64)
|
||||
}
|
||||
1 => {
|
||||
let sample = self.pins_adc.convert(
|
||||
&self.channel1.tec_u_meas_pin,
|
||||
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
|
||||
);
|
||||
let mv = self.pins_adc.sample_to_millivolts(sample);
|
||||
ElectricPotential::new::<millivolt>(mv as f64)
|
||||
}
|
||||
_ => unreachable!(),
|
||||
}
|
||||
}
|
||||
|
||||
/// 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.
|
||||
|
|
@ -327,7 +295,7 @@ impl Channels {
|
|||
best_error = error;
|
||||
start_value = prev_value;
|
||||
|
||||
let vref = (value as f64 / ad5680::MAX_VALUE as f64) * DAC_OUT_V_MAX;
|
||||
let vref = (value as f64 / ad5680::MAX_VALUE as f64) * ElectricPotential::new::<volt>(DAC_OUT_V_MAX);
|
||||
match channel {
|
||||
0 => self.channel0.vref_meas = vref,
|
||||
1 => self.channel1.vref_meas = vref,
|
||||
|
|
@ -387,32 +355,32 @@ impl Channels {
|
|||
}
|
||||
}
|
||||
|
||||
pub fn get_max_v(&mut self, channel: usize) -> (ElectricPotential, ElectricPotential) {
|
||||
pub fn get_max_v(&mut self, channel: usize) -> ElectricPotential {
|
||||
let max = 4.0 * ElectricPotential::new::<volt>(3.3);
|
||||
let duty = self.get_pwm(channel, PwmPin::MaxV);
|
||||
(duty * max, MAX_TEC_V)
|
||||
duty * max
|
||||
}
|
||||
|
||||
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)
|
||||
(duty * max, max)
|
||||
}
|
||||
|
||||
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)
|
||||
(duty * max, max)
|
||||
}
|
||||
|
||||
// Get current passing through TEC
|
||||
pub fn get_tec_i(&mut self, channel: usize) -> ElectricCurrent {
|
||||
(self.adc_read(channel, PinsAdcReadTarget::ITec, 16) - self.adc_read(channel, PinsAdcReadTarget::VREF, 16)) / ElectricalResistance::new::<ohm>(0.4)
|
||||
(self.read_itec(channel) - self.read_vref(channel)) / ElectricalResistance::new::<ohm>(0.4)
|
||||
}
|
||||
|
||||
// Get voltage across TEC
|
||||
pub fn get_tec_v(&mut self, channel: usize) -> ElectricPotential {
|
||||
(self.adc_read(channel, PinsAdcReadTarget::VTec, 16) - ElectricPotential::new::<volt>(1.5)) * 4.0
|
||||
(self.read_tec_u_meas(channel) - ElectricPotential::new::<volt>(1.5)) * 4.0
|
||||
}
|
||||
|
||||
fn set_pwm(&mut self, channel: usize, pin: PwmPin, duty: f64) -> f64 {
|
||||
|
|
@ -444,28 +412,29 @@ impl Channels {
|
|||
|
||||
pub fn set_max_v(&mut self, channel: usize, max_v: ElectricPotential) -> (ElectricPotential, ElectricPotential) {
|
||||
let max = 4.0 * ElectricPotential::new::<volt>(3.3);
|
||||
let duty = (max_v.min(MAX_TEC_V).max(ElectricPotential::zero()) / max).get::<ratio>();
|
||||
let duty = (max_v / max).get::<ratio>();
|
||||
let duty = self.set_pwm(channel, PwmPin::MaxV, duty);
|
||||
(duty * max, max)
|
||||
}
|
||||
|
||||
pub fn set_max_i_pos(&mut self, channel: usize, max_i_pos: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
|
||||
let max = ElectricCurrent::new::<ampere>(3.0);
|
||||
let duty = (max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero()) / max).get::<ratio>();
|
||||
let duty = (max_i_pos / max).get::<ratio>();
|
||||
let duty = self.set_pwm(channel, PwmPin::MaxIPos, duty);
|
||||
(duty * max, max)
|
||||
}
|
||||
|
||||
pub fn set_max_i_neg(&mut self, channel: usize, max_i_neg: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
|
||||
let max = ElectricCurrent::new::<ampere>(3.0);
|
||||
let duty = (max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero()) / max).get::<ratio>();
|
||||
let duty = (max_i_neg / max).get::<ratio>();
|
||||
let duty = self.set_pwm(channel, PwmPin::MaxINeg, duty);
|
||||
(duty * max, max)
|
||||
}
|
||||
|
||||
fn report(&mut self, channel: usize) -> Report {
|
||||
let vref = self.channel_state(channel).vref;
|
||||
let i_set = self.get_i(channel);
|
||||
let i_tec = self.adc_read(channel, PinsAdcReadTarget::ITec, 16);
|
||||
let i_tec = self.read_itec(channel);
|
||||
let tec_i = self.get_tec_i(channel);
|
||||
let dac_value = self.get_dac(channel);
|
||||
let state = self.channel_state(channel);
|
||||
|
|
@ -480,8 +449,9 @@ impl Channels {
|
|||
.map(|temperature| temperature.get::<degree_celsius>()),
|
||||
pid_engaged: state.pid_engaged,
|
||||
i_set,
|
||||
vref,
|
||||
dac_value,
|
||||
dac_feedback: self.adc_read(channel, PinsAdcReadTarget::DacVfb, 1),
|
||||
dac_feedback: self.read_dac_feedback(channel),
|
||||
i_tec,
|
||||
tec_i,
|
||||
tec_u_meas: self.get_tec_v(channel),
|
||||
|
|
@ -505,21 +475,12 @@ impl Channels {
|
|||
serde_json_core::to_vec(&summaries)
|
||||
}
|
||||
|
||||
pub fn pid_engaged(&mut self) -> bool {
|
||||
for channel in 0..CHANNELS {
|
||||
if self.channel_state(channel).pid_engaged {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
false
|
||||
}
|
||||
|
||||
fn pwm_summary(&mut self, channel: usize) -> PwmSummary {
|
||||
PwmSummary {
|
||||
channel,
|
||||
center: CenterPointJson(self.channel_state(channel).center.clone()),
|
||||
i_set: (self.get_i(channel), MAX_TEC_I).into(),
|
||||
max_v: self.get_max_v(channel).into(),
|
||||
i_set: (self.get_i(channel), ElectricCurrent::new::<ampere>(3.0)).into(),
|
||||
max_v: (self.get_max_v(channel), ElectricPotential::new::<volt>(5.0)).into(),
|
||||
max_i_pos: self.get_max_i_pos(channel).into(),
|
||||
max_i_neg: self.get_max_i_neg(channel).into(),
|
||||
}
|
||||
|
|
@ -560,9 +521,9 @@ impl Channels {
|
|||
serde_json_core::to_vec(&summaries)
|
||||
}
|
||||
|
||||
pub fn current_abs_max_tec_i(&mut self) -> ElectricCurrent {
|
||||
max_by(self.get_tec_i(0).abs(),
|
||||
self.get_tec_i(1).abs(),
|
||||
pub fn current_abs_max_tec_i(&mut self) -> f64 {
|
||||
max_by(self.get_tec_i(0).abs().get::<ampere>(),
|
||||
self.get_tec_i(1).abs().get::<ampere>(),
|
||||
|a, b| a.partial_cmp(b).unwrap_or(core::cmp::Ordering::Equal))
|
||||
}
|
||||
}
|
||||
|
|
@ -577,6 +538,7 @@ pub struct Report {
|
|||
temperature: Option<f64>,
|
||||
pid_engaged: bool,
|
||||
i_set: ElectricCurrent,
|
||||
vref: ElectricPotential,
|
||||
dac_value: ElectricPotential,
|
||||
dac_feedback: ElectricPotential,
|
||||
i_tec: ElectricPotential,
|
||||
|
|
|
|||
|
|
@ -13,6 +13,7 @@ use super::{
|
|||
PwmPin,
|
||||
ShParameter
|
||||
},
|
||||
leds::Leds,
|
||||
ad7172,
|
||||
CHANNEL_CONFIG_KEY,
|
||||
channels::{
|
||||
|
|
@ -175,16 +176,18 @@ impl Handler {
|
|||
Ok(Handler::Handled)
|
||||
}
|
||||
|
||||
fn engage_pid (socket: &mut TcpSocket, channels: &mut Channels, channel: usize) -> Result<Handler, Error> {
|
||||
fn engage_pid (socket: &mut TcpSocket, channels: &mut Channels, leds: &mut Leds, channel: usize) -> Result<Handler, Error> {
|
||||
channels.channel_state(channel).pid_engaged = true;
|
||||
leds.g3.on();
|
||||
send_line(socket, b"{}");
|
||||
Ok(Handler::Handled)
|
||||
}
|
||||
|
||||
fn set_pwm (socket: &mut TcpSocket, channels: &mut Channels, channel: usize, pin: PwmPin, value: f64) -> Result<Handler, Error> {
|
||||
fn set_pwm (socket: &mut TcpSocket, channels: &mut Channels, leds: &mut Leds, channel: usize, pin: PwmPin, value: f64) -> Result<Handler, Error> {
|
||||
match pin {
|
||||
PwmPin::ISet => {
|
||||
channels.channel_state(channel).pid_engaged = false;
|
||||
leds.g3.off();
|
||||
let current = ElectricCurrent::new::<ampere>(value);
|
||||
channels.set_i(channel, current);
|
||||
channels.power_up(channel);
|
||||
|
|
@ -207,11 +210,11 @@ impl Handler {
|
|||
}
|
||||
|
||||
fn set_center_point(socket: &mut TcpSocket, channels: &mut Channels, channel: usize, center: CenterPoint) -> Result<Handler, Error> {
|
||||
let i_set = channels.get_i(channel);
|
||||
let i_tec = channels.get_i(channel);
|
||||
let state = channels.channel_state(channel);
|
||||
state.center = center;
|
||||
if !state.pid_engaged {
|
||||
channels.set_i(channel, i_set);
|
||||
channels.set_i(channel, i_tec);
|
||||
}
|
||||
send_line(socket, b"{}");
|
||||
Ok(Handler::Handled)
|
||||
|
|
@ -412,7 +415,7 @@ impl Handler {
|
|||
}
|
||||
}
|
||||
|
||||
pub fn handle_command(command: Command, socket: &mut TcpSocket, channels: &mut Channels, session: &Session, store: &mut FlashStore, ipv4_config: &mut Ipv4Config, fan_ctrl: &mut FanCtrl, hwrev: HWRev) -> Result<Self, Error> {
|
||||
pub fn handle_command(command: Command, socket: &mut TcpSocket, channels: &mut Channels, session: &Session, leds: &mut Leds, store: &mut FlashStore, ipv4_config: &mut Ipv4Config, fan_ctrl: &mut FanCtrl, hwrev: HWRev) -> Result<Self, Error> {
|
||||
match command {
|
||||
Command::Quit => Ok(Handler::CloseSocket),
|
||||
Command::Reporting(_reporting) => Handler::reporting(socket),
|
||||
|
|
@ -423,8 +426,8 @@ impl Handler {
|
|||
Command::Show(ShowCommand::SteinhartHart) => Handler::show_steinhart_hart(socket, channels),
|
||||
Command::Show(ShowCommand::PostFilter) => Handler::show_post_filter(socket, channels),
|
||||
Command::Show(ShowCommand::Ipv4) => Handler::show_ipv4(socket, ipv4_config),
|
||||
Command::PwmPid { channel } => Handler::engage_pid(socket, channels, channel),
|
||||
Command::Pwm { channel, pin, value } => Handler::set_pwm(socket, channels, channel, pin, value),
|
||||
Command::PwmPid { channel } => Handler::engage_pid(socket, channels, leds, channel),
|
||||
Command::Pwm { channel, pin, value } => Handler::set_pwm(socket, channels, leds, channel, pin, value),
|
||||
Command::CenterPoint { channel, center } => Handler::set_center_point(socket, channels, channel, center),
|
||||
Command::Pid { channel, parameter, value } => Handler::set_pid(socket, channels, channel, parameter, value),
|
||||
Command::SteinhartHart { channel, parameter, value } => Handler::set_steinhart_hart(socket, channels, channel, parameter, value),
|
||||
|
|
|
|||
|
|
@ -343,7 +343,6 @@ fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
|||
}
|
||||
},
|
||||
))(input)?;
|
||||
end(input)?;
|
||||
Ok((input, result))
|
||||
},
|
||||
value(Ok(Command::Show(ShowCommand::Pwm)), end)
|
||||
|
|
@ -362,7 +361,6 @@ fn center_point(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
|||
Ok((input, value.map(|value| CenterPoint::Override(value as f32))))
|
||||
}
|
||||
))(input)?;
|
||||
end(input)?;
|
||||
Ok((input, center.map(|center| Command::CenterPoint {
|
||||
channel,
|
||||
center,
|
||||
|
|
@ -465,7 +463,6 @@ fn load(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
|||
|input| {
|
||||
let (input, _) = whitespace(input)?;
|
||||
let (input, channel) = channel(input)?;
|
||||
let (input, _) = end(input)?;
|
||||
Ok((input, Some(channel)))
|
||||
},
|
||||
value(None, end)
|
||||
|
|
@ -481,7 +478,6 @@ fn save(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
|||
|input| {
|
||||
let (input, _) = whitespace(input)?;
|
||||
let (input, channel) = channel(input)?;
|
||||
let (input, _) = end(input)?;
|
||||
Ok((input, Some(channel)))
|
||||
},
|
||||
value(None, end)
|
||||
|
|
@ -585,22 +581,25 @@ fn fan_curve(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
|||
}
|
||||
|
||||
fn command(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
||||
alt((value(Ok(Command::Quit), tag("quit")),
|
||||
load,
|
||||
save,
|
||||
value(Ok(Command::Reset), tag("reset")),
|
||||
ipv4,
|
||||
map(report, Ok),
|
||||
pwm,
|
||||
center_point,
|
||||
pid,
|
||||
steinhart_hart,
|
||||
postfilter,
|
||||
value(Ok(Command::Dfu), tag("dfu")),
|
||||
fan,
|
||||
fan_curve,
|
||||
value(Ok(Command::ShowHWRev), tag("hwrev")),
|
||||
))(input)
|
||||
let (input, result) =
|
||||
alt((value(Ok(Command::Quit), tag("quit")),
|
||||
load,
|
||||
save,
|
||||
value(Ok(Command::Reset), tag("reset")),
|
||||
ipv4,
|
||||
map(report, Ok),
|
||||
pwm,
|
||||
center_point,
|
||||
pid,
|
||||
steinhart_hart,
|
||||
postfilter,
|
||||
value(Ok(Command::Dfu), tag("dfu")),
|
||||
fan,
|
||||
fan_curve,
|
||||
value(Ok(Command::ShowHWRev), tag("hwrev")),
|
||||
))(input)?;
|
||||
let (input, _) = end(input)?; // accept trailing whitespace(s) if present
|
||||
Ok((input, result))
|
||||
}
|
||||
|
||||
impl Command {
|
||||
|
|
@ -619,46 +618,57 @@ impl Command {
|
|||
#[cfg(test)]
|
||||
mod test {
|
||||
use super::*;
|
||||
extern crate format_bytes;
|
||||
use format_bytes::format_bytes;
|
||||
|
||||
macro_rules! parse_chkwhitespace {
|
||||
($cmd: literal) => {{
|
||||
let command = Command::parse($cmd);
|
||||
let command_w = Command::parse(&format_bytes!(b"{}\r\t \r\n\n\t ", $cmd));
|
||||
assert_eq!(command, command_w);
|
||||
command
|
||||
}};
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn parse_quit() {
|
||||
let command = Command::parse(b"quit");
|
||||
let command = parse_chkwhitespace!(b"quit");
|
||||
assert_eq!(command, Ok(Command::Quit));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn parse_load() {
|
||||
let command = Command::parse(b"load");
|
||||
let command = parse_chkwhitespace!(b"load");
|
||||
assert_eq!(command, Ok(Command::Load { channel: None }));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn parse_load_channel() {
|
||||
let command = Command::parse(b"load 0");
|
||||
let command = parse_chkwhitespace!(b"load 0");
|
||||
assert_eq!(command, Ok(Command::Load { channel: Some(0) }));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn parse_save() {
|
||||
let command = Command::parse(b"save");
|
||||
let command = parse_chkwhitespace!(b"save");
|
||||
assert_eq!(command, Ok(Command::Save { channel: None }));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn parse_save_channel() {
|
||||
let command = Command::parse(b"save 0");
|
||||
let command = parse_chkwhitespace!(b"save 0");
|
||||
assert_eq!(command, Ok(Command::Save { channel: Some(0) }));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn parse_show_ipv4() {
|
||||
let command = Command::parse(b"ipv4");
|
||||
let command = parse_chkwhitespace!(b"ipv4");
|
||||
assert_eq!(command, Ok(Command::Show(ShowCommand::Ipv4)));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn parse_ipv4() {
|
||||
let command = Command::parse(b"ipv4 192.168.1.26/24");
|
||||
let command = parse_chkwhitespace!(b"ipv4 192.168.1.26/24");
|
||||
assert_eq!(command, Ok(Command::Ipv4(Ipv4Config {
|
||||
address: [192, 168, 1, 26],
|
||||
mask_len: 24,
|
||||
|
|
@ -668,7 +678,7 @@ mod test {
|
|||
|
||||
#[test]
|
||||
fn parse_ipv4_and_gateway() {
|
||||
let command = Command::parse(b"ipv4 10.42.0.126/8 10.1.0.1");
|
||||
let command = parse_chkwhitespace!(b"ipv4 10.42.0.126/8 10.1.0.1");
|
||||
assert_eq!(command, Ok(Command::Ipv4(Ipv4Config {
|
||||
address: [10, 42, 0, 126],
|
||||
mask_len: 8,
|
||||
|
|
@ -678,31 +688,31 @@ mod test {
|
|||
|
||||
#[test]
|
||||
fn parse_report() {
|
||||
let command = Command::parse(b"report");
|
||||
let command = parse_chkwhitespace!(b"report");
|
||||
assert_eq!(command, Ok(Command::Show(ShowCommand::Input)));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn parse_report_mode() {
|
||||
let command = Command::parse(b"report mode");
|
||||
let command = parse_chkwhitespace!(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");
|
||||
let command = parse_chkwhitespace!(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");
|
||||
let command = parse_chkwhitespace!(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");
|
||||
let command = parse_chkwhitespace!(b"pwm 1 i_set 16383");
|
||||
assert_eq!(command, Ok(Command::Pwm {
|
||||
channel: 1,
|
||||
pin: PwmPin::ISet,
|
||||
|
|
@ -712,7 +722,7 @@ mod test {
|
|||
|
||||
#[test]
|
||||
fn parse_pwm_pid() {
|
||||
let command = Command::parse(b"pwm 0 pid");
|
||||
let command = parse_chkwhitespace!(b"pwm 0 pid");
|
||||
assert_eq!(command, Ok(Command::PwmPid {
|
||||
channel: 0,
|
||||
}));
|
||||
|
|
@ -720,7 +730,7 @@ mod test {
|
|||
|
||||
#[test]
|
||||
fn parse_pwm_max_i_pos() {
|
||||
let command = Command::parse(b"pwm 0 max_i_pos 7");
|
||||
let command = parse_chkwhitespace!(b"pwm 0 max_i_pos 7");
|
||||
assert_eq!(command, Ok(Command::Pwm {
|
||||
channel: 0,
|
||||
pin: PwmPin::MaxIPos,
|
||||
|
|
@ -730,7 +740,7 @@ mod test {
|
|||
|
||||
#[test]
|
||||
fn parse_pwm_max_i_neg() {
|
||||
let command = Command::parse(b"pwm 0 max_i_neg 128");
|
||||
let command = parse_chkwhitespace!(b"pwm 0 max_i_neg 128");
|
||||
assert_eq!(command, Ok(Command::Pwm {
|
||||
channel: 0,
|
||||
pin: PwmPin::MaxINeg,
|
||||
|
|
@ -740,7 +750,7 @@ mod test {
|
|||
|
||||
#[test]
|
||||
fn parse_pwm_max_v() {
|
||||
let command = Command::parse(b"pwm 0 max_v 32768");
|
||||
let command = parse_chkwhitespace!(b"pwm 0 max_v 32768");
|
||||
assert_eq!(command, Ok(Command::Pwm {
|
||||
channel: 0,
|
||||
pin: PwmPin::MaxV,
|
||||
|
|
@ -750,13 +760,13 @@ mod test {
|
|||
|
||||
#[test]
|
||||
fn parse_pid() {
|
||||
let command = Command::parse(b"pid");
|
||||
let command = parse_chkwhitespace!(b"pid");
|
||||
assert_eq!(command, Ok(Command::Show(ShowCommand::Pid)));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn parse_pid_target() {
|
||||
let command = Command::parse(b"pid 0 target 36.5");
|
||||
let command = parse_chkwhitespace!(b"pid 0 target 36.5");
|
||||
assert_eq!(command, Ok(Command::Pid {
|
||||
channel: 0,
|
||||
parameter: PidParameter::Target,
|
||||
|
|
@ -766,13 +776,13 @@ mod test {
|
|||
|
||||
#[test]
|
||||
fn parse_steinhart_hart() {
|
||||
let command = Command::parse(b"s-h");
|
||||
let command = parse_chkwhitespace!(b"s-h");
|
||||
assert_eq!(command, Ok(Command::Show(ShowCommand::SteinhartHart)));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn parse_steinhart_hart_set() {
|
||||
let command = Command::parse(b"s-h 1 t0 23.05");
|
||||
let command = parse_chkwhitespace!(b"s-h 1 t0 23.05");
|
||||
assert_eq!(command, Ok(Command::SteinhartHart {
|
||||
channel: 1,
|
||||
parameter: ShParameter::T0,
|
||||
|
|
@ -782,13 +792,13 @@ mod test {
|
|||
|
||||
#[test]
|
||||
fn parse_postfilter() {
|
||||
let command = Command::parse(b"postfilter");
|
||||
let command = parse_chkwhitespace!(b"postfilter");
|
||||
assert_eq!(command, Ok(Command::Show(ShowCommand::PostFilter)));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn parse_postfilter_off() {
|
||||
let command = Command::parse(b"postfilter 1 off");
|
||||
let command = parse_chkwhitespace!(b"postfilter 1 off");
|
||||
assert_eq!(command, Ok(Command::PostFilter {
|
||||
channel: 1,
|
||||
rate: None,
|
||||
|
|
@ -797,7 +807,7 @@ mod test {
|
|||
|
||||
#[test]
|
||||
fn parse_postfilter_rate() {
|
||||
let command = Command::parse(b"postfilter 0 rate 21");
|
||||
let command = parse_chkwhitespace!(b"postfilter 0 rate 21");
|
||||
assert_eq!(command, Ok(Command::PostFilter {
|
||||
channel: 0,
|
||||
rate: Some(21.0),
|
||||
|
|
@ -806,7 +816,7 @@ mod test {
|
|||
|
||||
#[test]
|
||||
fn parse_center_point() {
|
||||
let command = Command::parse(b"center 0 1.5");
|
||||
let command = parse_chkwhitespace!(b"center 0 1.5");
|
||||
assert_eq!(command, Ok(Command::CenterPoint {
|
||||
channel: 0,
|
||||
center: CenterPoint::Override(1.5),
|
||||
|
|
@ -815,7 +825,7 @@ mod test {
|
|||
|
||||
#[test]
|
||||
fn parse_center_point_vref() {
|
||||
let command = Command::parse(b"center 1 vref");
|
||||
let command = parse_chkwhitespace!(b"center 1 vref");
|
||||
assert_eq!(command, Ok(Command::CenterPoint {
|
||||
channel: 1,
|
||||
center: CenterPoint::Vref,
|
||||
|
|
@ -824,25 +834,25 @@ mod test {
|
|||
|
||||
#[test]
|
||||
fn parse_fan_show() {
|
||||
let command = Command::parse(b"fan");
|
||||
let command = parse_chkwhitespace!(b"fan");
|
||||
assert_eq!(command, Ok(Command::ShowFan));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn parse_fan_set() {
|
||||
let command = Command::parse(b"fan 42");
|
||||
let command = parse_chkwhitespace!(b"fan 42");
|
||||
assert_eq!(command, Ok(Command::FanSet {fan_pwm: 42}));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn parse_fan_auto() {
|
||||
let command = Command::parse(b"fan auto");
|
||||
let command = parse_chkwhitespace!(b"fan auto");
|
||||
assert_eq!(command, Ok(Command::FanAuto));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn parse_fcurve_set() {
|
||||
let command = Command::parse(b"fcurve 1.2 3.4 5.6");
|
||||
let command = parse_chkwhitespace!(b"fcurve 1.2 3.4 5.6");
|
||||
assert_eq!(command, Ok(Command::FanCurve {
|
||||
k_a: 1.2,
|
||||
k_b: 3.4,
|
||||
|
|
@ -852,13 +862,13 @@ mod test {
|
|||
|
||||
#[test]
|
||||
fn parse_fcurve_default() {
|
||||
let command = Command::parse(b"fcurve default");
|
||||
let command = parse_chkwhitespace!(b"fcurve default");
|
||||
assert_eq!(command, Ok(Command::FanCurveDefaults));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn parse_hwrev() {
|
||||
let command = Command::parse(b"hwrev");
|
||||
let command = parse_chkwhitespace!(b"hwrev");
|
||||
assert_eq!(command, Ok(Command::ShowHWRev));
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -71,7 +71,7 @@ struct PwmLimits {
|
|||
|
||||
impl PwmLimits {
|
||||
pub fn new(channels: &mut Channels, channel: usize) -> Self {
|
||||
let (max_v, _) = channels.get_max_v(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 {
|
||||
|
|
|
|||
|
|
@ -1,4 +1,3 @@
|
|||
use core::arch::asm;
|
||||
use cortex_m_rt::pre_init;
|
||||
use stm32f4xx_hal::stm32::{RCC, SYSCFG};
|
||||
|
||||
|
|
|
|||
|
|
@ -4,18 +4,17 @@ use stm32f4xx_hal::{
|
|||
pwm::{self, PwmChannels},
|
||||
pac::TIM8,
|
||||
};
|
||||
use uom::si::{
|
||||
f64::ElectricCurrent,
|
||||
electric_current::ampere,
|
||||
};
|
||||
|
||||
use crate::{
|
||||
hw_rev::HWSettings,
|
||||
command_handler::JsonBuffer,
|
||||
channels::MAX_TEC_I,
|
||||
};
|
||||
|
||||
pub type FanPin = PwmChannels<TIM8, pwm::C4>;
|
||||
|
||||
// as stated in the schematics
|
||||
const MAX_TEC_I: f32 = 3.0;
|
||||
|
||||
const MAX_USER_FAN_PWM: f32 = 100.0;
|
||||
const MIN_USER_FAN_PWM: f32 = 1.0;
|
||||
|
||||
|
|
@ -51,10 +50,10 @@ impl FanCtrl {
|
|||
fan_ctrl
|
||||
}
|
||||
|
||||
pub fn cycle(&mut self, abs_max_tec_i: ElectricCurrent) {
|
||||
self.abs_max_tec_i = abs_max_tec_i.get::<ampere>() as f32;
|
||||
pub fn cycle(&mut self, abs_max_tec_i: f32) {
|
||||
self.abs_max_tec_i = abs_max_tec_i;
|
||||
if self.fan_auto && self.hw_settings.fan_available {
|
||||
let scaled_current = self.abs_max_tec_i / MAX_TEC_I.get::<ampere>() as f32;
|
||||
let scaled_current = self.abs_max_tec_i / MAX_TEC_I;
|
||||
// do not limit upper bound, as it will be limited in the set_pwm()
|
||||
let pwm = (MAX_USER_FAN_PWM * (scaled_current * (scaled_current * self.k_a + self.k_b) + self.k_c)) as u32;
|
||||
self.set_pwm(pwm);
|
||||
|
|
|
|||
13
src/main.rs
13
src/main.rs
|
|
@ -1,10 +1,11 @@
|
|||
#![cfg_attr(not(test), no_std)]
|
||||
#![cfg_attr(not(test), no_main)]
|
||||
#![feature(maybe_uninit_extra, asm)]
|
||||
#![cfg_attr(test, allow(unused))]
|
||||
// TODO: #![deny(warnings, unused)]
|
||||
|
||||
#[cfg(not(any(feature = "semihosting", test)))]
|
||||
use panic_halt as _;
|
||||
use panic_abort as _;
|
||||
#[cfg(all(feature = "semihosting", not(test)))]
|
||||
use panic_semihosting as _;
|
||||
|
||||
|
|
@ -185,13 +186,7 @@ fn main() -> ! {
|
|||
server.for_each(|_, session| session.set_report_pending(channel.into()));
|
||||
}
|
||||
|
||||
fan_ctrl.cycle(channels.current_abs_max_tec_i());
|
||||
|
||||
if channels.pid_engaged() {
|
||||
leds.g3.on();
|
||||
} else {
|
||||
leds.g3.off();
|
||||
}
|
||||
fan_ctrl.cycle(channels.current_abs_max_tec_i() as f32);
|
||||
|
||||
let instant = Instant::from_millis(i64::from(timer::now()));
|
||||
cortex_m::interrupt::free(net::clear_pending);
|
||||
|
|
@ -216,7 +211,7 @@ fn main() -> ! {
|
|||
// Do nothing and feed more data to the line reader in the next loop cycle.
|
||||
Ok(SessionInput::Nothing) => {}
|
||||
Ok(SessionInput::Command(command)) => {
|
||||
match Handler::handle_command(command, &mut socket, &mut channels, session, &mut store, &mut ipv4_config, &mut fan_ctrl, hwrev) {
|
||||
match Handler::handle_command(command, &mut socket, &mut channels, session, &mut leds, &mut store, &mut ipv4_config, &mut fan_ctrl, hwrev) {
|
||||
Ok(Handler::NewIPV4(ip)) => new_ipv4_config = Some(ip),
|
||||
Ok(Handler::Handled) => {},
|
||||
Ok(Handler::CloseSocket) => socket.close(),
|
||||
|
|
|
|||
|
|
@ -54,13 +54,15 @@ impl Controller {
|
|||
// + x0 * (kp + ki + kd)
|
||||
// - x1 * (kp + 2kd)
|
||||
// + x2 * kd
|
||||
// + kp * (u0 - u1)
|
||||
// y0 = clip(y0', ymin, ymax)
|
||||
pub fn update(&mut self, input: f64) -> f64 {
|
||||
|
||||
let mut output: f64 = self.y1 - self.target * f64::from(self.parameters.ki)
|
||||
+ input * f64::from(self.parameters.kp + self.parameters.ki + self.parameters.kd)
|
||||
- self.x1 * f64::from(self.parameters.kp + 2.0 * self.parameters.kd)
|
||||
+ self.x2 * f64::from(self.parameters.kd);
|
||||
+ self.x2 * f64::from(self.parameters.kd)
|
||||
+ f64::from(self.parameters.kp) * (self.target - self.u1);
|
||||
if output < self.parameters.output_min.into() {
|
||||
output = self.parameters.output_min.into();
|
||||
}
|
||||
|
|
|
|||
26
src/pins.rs
26
src/pins.rs
|
|
@ -66,31 +66,21 @@ pub trait ChannelPins {
|
|||
type TecUMeasPin;
|
||||
}
|
||||
|
||||
pub enum Channel0VRef {
|
||||
Analog(PA0<Analog>),
|
||||
Disabled(PA0<Input<Floating>>),
|
||||
}
|
||||
|
||||
impl ChannelPins for Channel0 {
|
||||
type DacSpi = Dac0Spi;
|
||||
type DacSync = PE4<Output<PushPull>>;
|
||||
type Shdn = PE10<Output<PushPull>>;
|
||||
type VRefPin = Channel0VRef;
|
||||
type VRefPin = PA0<Analog>;
|
||||
type ItecPin = PA6<Analog>;
|
||||
type DacFeedbackPin = PA4<Analog>;
|
||||
type TecUMeasPin = PC2<Analog>;
|
||||
}
|
||||
|
||||
pub enum Channel1VRef {
|
||||
Analog(PA3<Analog>),
|
||||
Disabled(PA3<Input<Floating>>),
|
||||
}
|
||||
|
||||
impl ChannelPins for Channel1 {
|
||||
type DacSpi = Dac1Spi;
|
||||
type DacSync = PF6<Output<PushPull>>;
|
||||
type Shdn = PE15<Output<PushPull>>;
|
||||
type VRefPin = Channel1VRef;
|
||||
type VRefPin = PA3<Analog>;
|
||||
type ItecPin = PB0<Analog>;
|
||||
type DacFeedbackPin = PA5<Analog>;
|
||||
type TecUMeasPin = PC3<Analog>;
|
||||
|
|
@ -160,17 +150,13 @@ impl Pins {
|
|||
gpioe.pe13, gpioe.pe14
|
||||
);
|
||||
|
||||
let hwrev = HWRev::detect_hw_rev(&HWRevPins {hwrev0: gpiod.pd0, hwrev1: gpiod.pd1,
|
||||
hwrev2: gpiod.pd2, hwrev3: gpiod.pd3});
|
||||
let hw_settings = hwrev.settings();
|
||||
|
||||
let (dac0_spi, dac0_sync) = Self::setup_dac0(
|
||||
clocks, spi4,
|
||||
gpioe.pe2, gpioe.pe4, gpioe.pe6
|
||||
);
|
||||
let mut shdn0 = gpioe.pe10.into_push_pull_output();
|
||||
let _ = shdn0.set_low();
|
||||
let vref0_pin = if hwrev.major > 2 {Channel0VRef::Analog(gpioa.pa0.into_analog())} else {Channel0VRef::Disabled(gpioa.pa0)};
|
||||
let vref0_pin = gpioa.pa0.into_analog();
|
||||
let itec0_pin = gpioa.pa6.into_analog();
|
||||
let dac_feedback0_pin = gpioa.pa4.into_analog();
|
||||
let tec_u_meas0_pin = gpioc.pc2.into_analog();
|
||||
|
|
@ -190,7 +176,7 @@ impl Pins {
|
|||
);
|
||||
let mut shdn1 = gpioe.pe15.into_push_pull_output();
|
||||
let _ = shdn1.set_low();
|
||||
let vref1_pin = if hwrev.major > 2 {Channel1VRef::Analog(gpioa.pa3.into_analog())} else {Channel1VRef::Disabled(gpioa.pa3)};
|
||||
let vref1_pin = gpioa.pa3.into_analog();
|
||||
let itec1_pin = gpiob.pb0.into_analog();
|
||||
let dac_feedback1_pin = gpioa.pa5.into_analog();
|
||||
let tec_u_meas1_pin = gpioc.pc3.into_analog();
|
||||
|
|
@ -212,6 +198,10 @@ impl Pins {
|
|||
channel1,
|
||||
};
|
||||
|
||||
let hwrev = HWRev::detect_hw_rev(&HWRevPins {hwrev0: gpiod.pd0, hwrev1: gpiod.pd1,
|
||||
hwrev2: gpiod.pd2, hwrev3: gpiod.pd3});
|
||||
let hw_settings = hwrev.settings();
|
||||
|
||||
let leds = Leds::new(gpiod.pd9, gpiod.pd10.into_push_pull_output(), gpiod.pd11.into_push_pull_output());
|
||||
|
||||
let eeprom_scl = gpiob.pb8.into_alternate().set_open_drain();
|
||||
|
|
|
|||
|
|
@ -1,3 +1,4 @@
|
|||
use core::mem::MaybeUninit;
|
||||
use smoltcp::{
|
||||
iface::EthernetInterface,
|
||||
socket::{SocketSet, SocketHandle, TcpSocket, TcpSocketBuffer, SocketRef},
|
||||
|
|
@ -12,18 +13,6 @@ pub struct SocketState<S> {
|
|||
state: S,
|
||||
}
|
||||
|
||||
impl<'a, S: Default> SocketState<S>{
|
||||
fn new(sockets: &mut SocketSet<'a>, tcp_rx_storage: &'a mut [u8; TCP_RX_BUFFER_SIZE], tcp_tx_storage: &'a mut [u8; TCP_TX_BUFFER_SIZE]) -> SocketState<S> {
|
||||
let tcp_rx_buffer = TcpSocketBuffer::new(&mut tcp_rx_storage[..]);
|
||||
let tcp_tx_buffer = TcpSocketBuffer::new(&mut tcp_tx_storage[..]);
|
||||
let tcp_socket = TcpSocket::new(tcp_rx_buffer, tcp_tx_buffer);
|
||||
SocketState::<S> {
|
||||
handle: sockets.add(tcp_socket),
|
||||
state: S::default()
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Number of server sockets and therefore concurrent client
|
||||
/// sessions. Many data structures in `Server::run()` correspond to
|
||||
/// this const.
|
||||
|
|
@ -46,27 +35,28 @@ impl<'a, 'b, S: Default> Server<'a, 'b, S> {
|
|||
where
|
||||
F: FnOnce(&mut Server<'a, '_, S>),
|
||||
{
|
||||
macro_rules! create_rtx_storage {
|
||||
($rx_storage:ident, $tx_storage:ident) => {
|
||||
let mut $rx_storage = [0; TCP_RX_BUFFER_SIZE];
|
||||
let mut $tx_storage = [0; TCP_TX_BUFFER_SIZE];
|
||||
}
|
||||
}
|
||||
|
||||
create_rtx_storage!(tcp_rx_storage0, tcp_tx_storage0);
|
||||
create_rtx_storage!(tcp_rx_storage1, tcp_tx_storage1);
|
||||
create_rtx_storage!(tcp_rx_storage2, tcp_tx_storage2);
|
||||
create_rtx_storage!(tcp_rx_storage3, tcp_tx_storage3);
|
||||
|
||||
let mut sockets_storage: [_; SOCKET_COUNT] = Default::default();
|
||||
let mut sockets = SocketSet::new(&mut sockets_storage[..]);
|
||||
let mut states: [SocketState<S>; SOCKET_COUNT] = unsafe { MaybeUninit::uninit().assume_init() };
|
||||
|
||||
let states: [SocketState<S>; SOCKET_COUNT] = [
|
||||
SocketState::<S>::new(&mut sockets, &mut tcp_rx_storage0, &mut tcp_tx_storage0),
|
||||
SocketState::<S>::new(&mut sockets, &mut tcp_rx_storage1, &mut tcp_tx_storage1),
|
||||
SocketState::<S>::new(&mut sockets, &mut tcp_rx_storage2, &mut tcp_tx_storage2),
|
||||
SocketState::<S>::new(&mut sockets, &mut tcp_rx_storage3, &mut tcp_tx_storage3),
|
||||
];
|
||||
macro_rules! create_socket {
|
||||
($set:ident, $rx_storage:ident, $tx_storage:ident, $target:expr) => {
|
||||
let mut $rx_storage = [0; TCP_RX_BUFFER_SIZE];
|
||||
let mut $tx_storage = [0; TCP_TX_BUFFER_SIZE];
|
||||
let tcp_rx_buffer = TcpSocketBuffer::new(&mut $rx_storage[..]);
|
||||
let tcp_tx_buffer = TcpSocketBuffer::new(&mut $tx_storage[..]);
|
||||
let tcp_socket = TcpSocket::new(tcp_rx_buffer, tcp_tx_buffer);
|
||||
$target = $set.add(tcp_socket);
|
||||
}
|
||||
}
|
||||
create_socket!(sockets, tcp_rx_storage0, tcp_tx_storage0, states[0].handle);
|
||||
create_socket!(sockets, tcp_rx_storage1, tcp_tx_storage1, states[1].handle);
|
||||
create_socket!(sockets, tcp_rx_storage2, tcp_tx_storage2, states[2].handle);
|
||||
create_socket!(sockets, tcp_rx_storage3, tcp_tx_storage3, states[3].handle);
|
||||
|
||||
for state in &mut states {
|
||||
state.state = S::default();
|
||||
}
|
||||
|
||||
let mut server = Server {
|
||||
states,
|
||||
|
|
|
|||
Loading…
Reference in New Issue