Compare commits
3 Commits
master
...
63-fix-pid
| Author | SHA1 | Date |
|---|---|---|
 Egor Savkin
|
7015538b43 | |
|
Egor Savkin
|
60118a56c8 | |
 topquark12
|
211e0fa1bd |
|
|
@ -1,5 +1,2 @@
|
|||
target/
|
||||
result
|
||||
*.bin
|
||||
|
||||
__pycache__/
|
||||
|
|
|
|||
|
|
@ -204,6 +204,26 @@ dependencies = [
|
|||
"void",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "format-bytes"
|
||||
version = "0.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "48942366ef93975da38e175ac9e10068c6fc08ca9e85930d4f098f4d5b14c2fd"
|
||||
dependencies = [
|
||||
"format-bytes-macros",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "format-bytes-macros"
|
||||
version = "0.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "203aadebefcc73d12038296c228eabf830f99cba991b0032adf20e9fa6ce7e4f"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "generic-array"
|
||||
version = "0.12.3"
|
||||
|
|
@ -327,10 +347,10 @@ dependencies = [
|
|||
]
|
||||
|
||||
[[package]]
|
||||
name = "panic-halt"
|
||||
version = "0.2.0"
|
||||
name = "panic-abort"
|
||||
version = "0.3.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "de96540e0ebde571dc55c73d60ef407c653844e6f9a1e2fdbd40c07b9252d812"
|
||||
checksum = "4e20e6499bbbc412f280b04a42346b356c6fa0753d5fd22b7bd752ff34c778ee"
|
||||
|
||||
[[package]]
|
||||
name = "panic-semihosting"
|
||||
|
|
@ -558,12 +578,13 @@ dependencies = [
|
|||
"cortex-m-log",
|
||||
"cortex-m-rt 0.6.13",
|
||||
"eeprom24x",
|
||||
"format-bytes",
|
||||
"heapless",
|
||||
"log",
|
||||
"nb 1.0.0",
|
||||
"nom",
|
||||
"num-traits",
|
||||
"panic-halt",
|
||||
"panic-abort",
|
||||
"panic-semihosting",
|
||||
"serde",
|
||||
"serde-json-core",
|
||||
|
|
|
|||
|
|
@ -7,14 +7,14 @@ authors = ["Astro <astro@spaceboyz.net>"]
|
|||
version = "0.0.0"
|
||||
keywords = ["thermostat", "laser", "physics"]
|
||||
repository = "https://git.m-labs.hk/M-Labs/thermostat"
|
||||
edition = "2021"
|
||||
edition = "2018"
|
||||
|
||||
[package.metadata.docs.rs]
|
||||
features = []
|
||||
default-target = "thumbv7em-none-eabihf"
|
||||
|
||||
[dependencies]
|
||||
panic-halt = "0.2"
|
||||
panic-abort = "0.3"
|
||||
panic-semihosting = { version = "0.5", optional = true }
|
||||
log = "0.4"
|
||||
bare-metal = "1"
|
||||
|
|
@ -38,6 +38,9 @@ heapless = "0.5"
|
|||
serde-json-core = "0.1"
|
||||
sfkv = "0.1"
|
||||
|
||||
[dev-dependencies]
|
||||
format-bytes = "0.3.0"
|
||||
|
||||
[features]
|
||||
semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]
|
||||
|
||||
|
|
|
|||
160
README.md
160
README.md
|
|
@ -23,13 +23,13 @@ cargo build --release
|
|||
|
||||
The resulting ELF file will be located under `target/thumbv7em-none-eabihf/release/thermostat`.
|
||||
|
||||
Alternatively, you can install the Rust toolchain without Nix using rustup; see the `rust` variable in `flake.nix` to determine which Rust version to use.
|
||||
Alternatively, you can install the Rust toolchain without Nix using rustup; see the Rust manifest file pulled in `flake.nix` to determine which Rust version to use.
|
||||
|
||||
## Debugging
|
||||
|
||||
Connect SWDIO/SWCLK/RST/GND to a programmer such as ST-Link v2.1. Run OpenOCD:
|
||||
```shell
|
||||
openocd -f interface/stlink.cfg -f target/stm32f4x.cfg
|
||||
openocd -f interface/stlink-v2-1.cfg -f target/stm32f4x.cfg
|
||||
```
|
||||
|
||||
You may need to power up the programmer before powering the device.
|
||||
|
|
@ -45,7 +45,7 @@ There are several options for flashing Thermostat. DFU requires only a micro-USB
|
|||
|
||||
### dfu-util on Linux
|
||||
* Install the DFU USB tool (dfu-util).
|
||||
* Convert firmware from ELF to BIN: `llvm-objcopy -O binary target/thumbv7em-none-eabihf/release/thermostat thermostat.bin` (you can skip this step if using the BIN from Hydra)
|
||||
* Convert firmware from ELF to BIN: `arm-none-eabi-objcopy -O binary thermostat thermostat.bin` (you can skip this step if using the BIN from Hydra)
|
||||
* Connect to the Micro USB connector to Thermostat below the RJ45.
|
||||
* Add jumper to Thermostat v2.0 across 2-pin jumper adjacent to JTAG connector.
|
||||
* Cycle board power to put it in DFU update mode
|
||||
|
|
@ -64,7 +64,7 @@ On a Windows machine install [st.com](https://st.com) DfuSe USB device firmware
|
|||
|
||||
### OpenOCD
|
||||
```shell
|
||||
openocd -f interface/stlink.cfg -f target/stm32f4x.cfg -c "program target/thumbv7em-none-eabihf/release/thermostat verify reset;exit"
|
||||
openocd -f interface/stlink-v2-1.cfg -f target/stm32f4x.cfg -c "program target/thumbv7em-none-eabihf/release/thermostat verify reset;exit"
|
||||
```
|
||||
|
||||
## Network
|
||||
|
|
@ -84,7 +84,9 @@ invalidate the first line of input.
|
|||
|
||||
### Reading ADC input
|
||||
|
||||
ADC input data is provided in reports. Query for the latest report with the command `report`. See the *Reports* section below.
|
||||
Set report mode to `on` for a continuous stream of input data.
|
||||
|
||||
The scope of this setting is per TCP session.
|
||||
|
||||
|
||||
### TCP commands
|
||||
|
|
@ -92,41 +94,42 @@ ADC input data is provided in reports. Query for the latest report with the comm
|
|||
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 |
|
||||
| `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 |
|
||||
| `pid <0/1> target <deg_celsius>` | Set the PID controller target temperature |
|
||||
| `pid <0/1> kp <value>` | Set proportional gain |
|
||||
| `pid <0/1> ki <value>` | Set integral gain |
|
||||
| `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 |
|
||||
| `postfilter` | Show postfilter settings |
|
||||
| `postfilter <0/1> off` | Disable postfilter |
|
||||
| `postfilter <0/1> rate <rate>` | Set postfilter output data rate |
|
||||
| `load [0/1]` | Restore configuration for channel all/0/1 from flash |
|
||||
| `save [0/1]` | Save configuration for channel all/0/1 to flash |
|
||||
| `reset` | Reset the device |
|
||||
| `dfu` | Reset device and enters USB device firmware update (DFU) mode |
|
||||
| `ipv4 <X.X.X.X/L> [Y.Y.Y.Y]` | Configure IPv4 address, netmask length, and optional default gateway |
|
||||
| `fan` | Show current fan settings and sensors' measurements |
|
||||
| `fan <value>` | Set fan power with values from 1 to 100 |
|
||||
| `fan auto` | Enable automatic fan speed control |
|
||||
| `fcurve <a> <b> <c>` | Set fan controller curve coefficients (see *Fan control* section) |
|
||||
| `fcurve default` | Set fan controller curve coefficients to defaults (see *Fan control* section) |
|
||||
| `hwrev` | Show hardware revision, and settings related to it |
|
||||
| Syntax | Function |
|
||||
|----------------------------------|-------------------------------------------------------------------------------|
|
||||
| `report` | Show current input |
|
||||
| `report mode` | Show current report mode |
|
||||
| `report mode <off/on>` | Set report mode |
|
||||
| `pwm` | Show current PWM settings |
|
||||
| `pwm <0/1> max_i_pos <amp>` | Set maximum positive output current |
|
||||
| `pwm <0/1> max_i_neg <amp>` | Set maximum negative output current |
|
||||
| `pwm <0/1> max_v <volt>` | Set maximum output voltage |
|
||||
| `pwm <0/1> i_set <amp>` | Disengage PID, set fixed output current |
|
||||
| `pwm <0/1> pid` | Let output current to be controlled by the PID |
|
||||
| `center <0/1> <volt>` | Set the MAX1968 0A-centerpoint to the specified fixed voltage |
|
||||
| `center <0/1> vref` | Set the MAX1968 0A-centerpoint to measure from VREF |
|
||||
| `pid` | Show PID configuration |
|
||||
| `pid <0/1> target <deg_celsius>` | Set the PID controller target temperature |
|
||||
| `pid <0/1> kp <value>` | Set proportional gain |
|
||||
| `pid <0/1> ki <value>` | Set integral gain |
|
||||
| `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 |
|
||||
| `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 |
|
||||
| `load [0/1]` | Restore configuration for channel all/0/1 from flash |
|
||||
| `save [0/1]` | Save configuration for channel all/0/1 to flash |
|
||||
| `reset` | Reset the device |
|
||||
| `dfu` | Reset device and enters USB device firmware update (DFU) mode |
|
||||
| `ipv4 <X.X.X.X/L> [Y.Y.Y.Y]` | Configure IPv4 address, netmask length, and optional default gateway |
|
||||
| `fan` | Show current fan settings and sensors' measurements |
|
||||
| `fan <value>` | Set fan power with values from 1 to 100 |
|
||||
| `fan auto` | Enable automatic fan speed control |
|
||||
| `fcurve <a> <b> <c>` | Set fan controller curve coefficients (see *Fan control* section) |
|
||||
| `fcurve default` | Set fan controller curve coefficients to defaults (see *Fan control* section) |
|
||||
| `hwrev` | Show hardware revision, and settings related to it |
|
||||
|
||||
|
||||
## USB
|
||||
|
|
@ -144,22 +147,22 @@ 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
|
||||
|
|
@ -181,49 +184,48 @@ postfilter rate can be tuned with the `postfilter` command.
|
|||
- Connect TEC module device 1 to TEC1- and TEC1+.
|
||||
- The GND pin is for shielding not for sinking TEC module currents.
|
||||
|
||||
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.
|
||||
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.
|
||||
|
||||
Testing heat flow direction with a low set current is recommended before installation of the TEC module.
|
||||
|
||||
### Limits
|
||||
|
||||
Each channel has maximum value settings, for setting
|
||||
Each of the MAX1968 TEC driver has analog/PWM inputs for setting
|
||||
output limits.
|
||||
|
||||
Use the `output` command to see them.
|
||||
Use the `pwm` command to see current settings and maximum values.
|
||||
|
||||
| Limit | Unit | Description |
|
||||
| --- | :---: | --- |
|
||||
| `max_v` | Volts | Maximum voltage |
|
||||
| `max_i_pos` | Amperes | Maximum positive current |
|
||||
| `max_i_neg` | Amperes | Maximum negative current |
|
||||
| `i_set` | Amperes | (Not a limit; Open-loop mode) |
|
||||
|
||||
Example: set the maximum voltage of channel 0 to 1.5 V.
|
||||
```
|
||||
output 0 max_v 1.5
|
||||
pwm 0 max_v 1.5
|
||||
```
|
||||
|
||||
Example: set the maximum negative current of channel 0 to -2 A.
|
||||
Example: set the maximum negative current of channel 0 to -3 A.
|
||||
```
|
||||
output 0 max_i_neg 2
|
||||
pwm 0 max_i_neg 3
|
||||
```
|
||||
|
||||
Example: set the maximum positive current of channel 1 to 2 A.
|
||||
Example: set the maximum positive current of channel 1 to 3 A.
|
||||
```
|
||||
output 1 max_i_pos 2
|
||||
pwm 0 max_i_pos 3
|
||||
```
|
||||
|
||||
### Open-loop mode
|
||||
|
||||
To manually control TEC output current, set a fixed output current with
|
||||
the `output` command. Doing so will disengage the PID control for that
|
||||
To manually control TEC output current, omit the limit parameter of
|
||||
the `pwm` command. Doing so will disengage the PID control for that
|
||||
channel.
|
||||
|
||||
Example: set output current of channel 0 to 0 A.
|
||||
```
|
||||
output 0 i_set 0
|
||||
pwm 0 i_set 0
|
||||
```
|
||||
|
||||
## PID-stabilized temperature control
|
||||
|
|
@ -236,23 +238,7 @@ pid 0 target 20
|
|||
Enter closed-loop mode by switching control of the TEC output current
|
||||
of channel 0 to the PID algorithm:
|
||||
```
|
||||
output 0 pid
|
||||
```
|
||||
|
||||
### PID output clamping
|
||||
|
||||
It is possible to clamp the PID algorithm output independently of channel output limits. This is desirable when e.g. there is a need to keep the current value above a certain threshold in closed-loop mode.
|
||||
|
||||
Note that the actual output will still ultimately be limited by the `max_i_pos` and `max_i_neg` values.
|
||||
|
||||
Set PID maximum output of channel 0 to 1.5 A.
|
||||
```
|
||||
pid 0 output_max 1.5
|
||||
```
|
||||
|
||||
Set PID minimum output of channel 0 to 0.1 A.
|
||||
```
|
||||
pid 0 output_min 0.1
|
||||
pwm 0 pid
|
||||
```
|
||||
|
||||
## LED indicators
|
||||
|
|
@ -265,19 +251,20 @@ pid 0 output_min 0.1
|
|||
|
||||
## Reports
|
||||
|
||||
Use the bare `report` command to obtain a single report. Reports are JSON objects
|
||||
Use the bare `report` command to obtain a single report. Enable
|
||||
continuous reporting with `report mode on`. Reports are JSON objects
|
||||
with the following keys.
|
||||
|
||||
| Key | Unit | Description |
|
||||
| --- | :---: | --- |
|
||||
| `channel` | Integer | Channel `0`, or `1` |
|
||||
| `time` | Seconds | Temperature measurement time |
|
||||
| `interval` | Seconds | Time elapsed since last report update on channel |
|
||||
| `time` | Milliseconds | Temperature measurement time |
|
||||
| `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 |
|
||||
| `vref` | Volts | MAX1968 VREF (1.5 V) |
|
||||
| `dac_value` | Volts | AD5680 output derived from `i_set` |
|
||||
| `dac_feedback` | Volts | ADC measurement of the AD5680 output |
|
||||
| `i_tec` | Volts | MAX1968 TEC current monitor |
|
||||
|
|
@ -285,19 +272,18 @@ with the following keys.
|
|||
| `tec_u_meas` | Volts | Measurement of the voltage across the TEC |
|
||||
| `pid_output` | Amperes | PID control output |
|
||||
|
||||
Note: Prior to Thermostat hardware revision v2.2.4, the voltage and current readouts `i_tec` and `tec_i` are noisy without the hardware fix shown in [this PR](https://git.m-labs.hk/M-Labs/thermostat/pulls/105).
|
||||
|
||||
## PID Tuning
|
||||
|
||||
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).
|
||||
|
||||
## Fan control
|
||||
|
||||
Fan control commands are available for thermostat revisions with an integrated fan system:
|
||||
Fan control is available for the thermostat revisions with integrated fan system. For this purpose four commands are available:
|
||||
1. `fan` - show fan stats: `fan_pwm`, `abs_max_tec_i`, `auto_mode`, `k_a`, `k_b`, `k_c`.
|
||||
2. `fan auto` - enable auto speed controller mode, where fan speed is controlled by the fan curve `fcurve`.
|
||||
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.
|
||||
2. `fan auto` - enable auto speed controller mode, which correlates with fan curve `fcurve`.
|
||||
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.
|
||||
Please note that power doesn't correlate with the actual speed linearly.
|
||||
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],
|
||||
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].
|
||||
5. `fcurve default` - restore fan curve coefficients to defaults: `a = 1.0, b = 0.0, c = 0.0`.
|
||||
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`,
|
||||
i.e. receives values from 0 to 1 linearly tied to the maximum current. The controlling curve should produce values from 0 to 1,
|
||||
as below and beyond values would be substituted by 0 and 1 respectively.
|
||||
5. `fcurve default` - restore fan curve settings to defaults: `a = 1.0, b = 0.0, c = 0.0`.
|
||||
|
|
|
|||
|
|
@ -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/plot.py
|
||||
python pytec/plot.py
|
||||
```
|
||||
|
||||
|
||||
|
|
@ -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/autotune.py
|
||||
python pytec/autotune.py
|
||||
```
|
||||
|
||||
After some time, the auto tuning utility will output the auto tuning results, below is a sample output
|
||||
|
|
|
|||
48
flake.lock
48
flake.lock
|
|
@ -1,45 +1,41 @@
|
|||
{
|
||||
"nodes": {
|
||||
"mozilla-overlay": {
|
||||
"flake": false,
|
||||
"locked": {
|
||||
"lastModified": 1638887313,
|
||||
"narHash": "sha256-FMYV6rVtvSIfthgC1sK1xugh3y7muoQcvduMdriz4ag=",
|
||||
"owner": "mozilla",
|
||||
"repo": "nixpkgs-mozilla",
|
||||
"rev": "7c1e8b1dd6ed0043fb4ee0b12b815256b0b9de6f",
|
||||
"type": "github"
|
||||
},
|
||||
"original": {
|
||||
"owner": "mozilla",
|
||||
"repo": "nixpkgs-mozilla",
|
||||
"type": "github"
|
||||
}
|
||||
},
|
||||
"nixpkgs": {
|
||||
"locked": {
|
||||
"lastModified": 1722791413,
|
||||
"narHash": "sha256-rCTrlCWvHzMCNcKxPE3Z/mMK2gDZ+BvvpEVyRM4tKmU=",
|
||||
"lastModified": 1641870998,
|
||||
"narHash": "sha256-6HkxR2WZsm37VoQS7jgp6Omd71iw6t1kP8bDbaqCDuI=",
|
||||
"owner": "NixOS",
|
||||
"repo": "nixpkgs",
|
||||
"rev": "8b5b6723aca5a51edf075936439d9cd3947b7b2c",
|
||||
"rev": "386234e2a61e1e8acf94dfa3a3d3ca19a6776efb",
|
||||
"type": "github"
|
||||
},
|
||||
"original": {
|
||||
"owner": "NixOS",
|
||||
"ref": "nixos-24.05",
|
||||
"ref": "nixos-21.11",
|
||||
"repo": "nixpkgs",
|
||||
"type": "github"
|
||||
}
|
||||
},
|
||||
"root": {
|
||||
"inputs": {
|
||||
"nixpkgs": "nixpkgs",
|
||||
"rust-overlay": "rust-overlay"
|
||||
}
|
||||
},
|
||||
"rust-overlay": {
|
||||
"inputs": {
|
||||
"nixpkgs": [
|
||||
"nixpkgs"
|
||||
]
|
||||
},
|
||||
"locked": {
|
||||
"lastModified": 1719281921,
|
||||
"narHash": "sha256-LIBMfhM9pMOlEvBI757GOK5l0R58SRi6YpwfYMbf4yc=",
|
||||
"owner": "oxalica",
|
||||
"repo": "rust-overlay",
|
||||
"rev": "b6032d3a404d8a52ecfc8571ff0c26dfbe221d07",
|
||||
"type": "github"
|
||||
},
|
||||
"original": {
|
||||
"owner": "oxalica",
|
||||
"repo": "rust-overlay",
|
||||
"type": "github"
|
||||
"mozilla-overlay": "mozilla-overlay",
|
||||
"nixpkgs": "nixpkgs"
|
||||
}
|
||||
}
|
||||
},
|
||||
|
|
|
|||
89
flake.nix
89
flake.nix
|
|
@ -1,39 +1,38 @@
|
|||
{
|
||||
description = "Firmware for the Sinara 8451 Thermostat";
|
||||
|
||||
inputs.nixpkgs.url = "github:NixOS/nixpkgs/nixos-24.05";
|
||||
inputs.rust-overlay = {
|
||||
url = "github:oxalica/rust-overlay";
|
||||
inputs.nixpkgs.follows = "nixpkgs";
|
||||
};
|
||||
inputs.nixpkgs.url = github:NixOS/nixpkgs/nixos-21.11;
|
||||
inputs.mozilla-overlay = { url = github:mozilla/nixpkgs-mozilla; flake = false; };
|
||||
|
||||
outputs =
|
||||
{
|
||||
self,
|
||||
nixpkgs,
|
||||
rust-overlay,
|
||||
}:
|
||||
outputs = { self, nixpkgs, mozilla-overlay }:
|
||||
let
|
||||
pkgs = import nixpkgs {
|
||||
system = "x86_64-linux";
|
||||
overlays = [ (import rust-overlay) ];
|
||||
pkgs = import nixpkgs { system = "x86_64-linux"; overlays = [ (import mozilla-overlay) ]; };
|
||||
rustManifest = pkgs.fetchurl {
|
||||
url = "https://static.rust-lang.org/dist/2021-10-26/channel-rust-nightly.toml";
|
||||
sha256 = "sha256-1hLbypXA+nuH7o3AHCokzSBZAvQxvef4x9+XxO3aBao=";
|
||||
};
|
||||
|
||||
rust = pkgs.rust-bin.stable."1.66.0".default.override {
|
||||
extensions = [ "rust-src" ];
|
||||
targets = [ "thumbv7em-none-eabihf" ];
|
||||
};
|
||||
rustPlatform = pkgs.makeRustPlatform {
|
||||
targets = [
|
||||
"thumbv7em-none-eabihf"
|
||||
];
|
||||
rustChannelOfTargets = _channel: _date: targets:
|
||||
(pkgs.lib.rustLib.fromManifestFile rustManifest {
|
||||
inherit (pkgs) stdenv lib fetchurl patchelf;
|
||||
}).rust.override {
|
||||
inherit targets;
|
||||
extensions = ["rust-src"];
|
||||
};
|
||||
rust = rustChannelOfTargets "nightly" null targets;
|
||||
rustPlatform = pkgs.recurseIntoAttrs (pkgs.makeRustPlatform {
|
||||
rustc = rust;
|
||||
cargo = rust;
|
||||
};
|
||||
|
||||
thermostat = rustPlatform.buildRustPackage {
|
||||
});
|
||||
thermostat = rustPlatform.buildRustPackage rec {
|
||||
name = "thermostat";
|
||||
version = "0.0.0";
|
||||
|
||||
src = self;
|
||||
cargoLock = {
|
||||
cargoLock = {
|
||||
lockFile = ./Cargo.lock;
|
||||
outputHashes = {
|
||||
"stm32-eth-0.2.0" = "sha256-48RpZgagUqgVeKm7GXdk3Oo0v19ScF9Uby0nTFlve2o=";
|
||||
|
|
@ -55,48 +54,26 @@
|
|||
'';
|
||||
|
||||
dontFixup = true;
|
||||
auditable = false;
|
||||
};
|
||||
|
||||
pythermostat = pkgs.python3Packages.buildPythonPackage {
|
||||
pname = "pythermostat";
|
||||
version = "0.0.0";
|
||||
src = "${self}/pythermostat";
|
||||
|
||||
propagatedBuildInputs =
|
||||
with pkgs.python3Packages; [
|
||||
numpy
|
||||
matplotlib
|
||||
];
|
||||
};
|
||||
in
|
||||
{
|
||||
in {
|
||||
packages.x86_64-linux = {
|
||||
inherit thermostat pythermostat;
|
||||
default = thermostat;
|
||||
inherit thermostat;
|
||||
};
|
||||
|
||||
hydraJobs = {
|
||||
inherit thermostat;
|
||||
};
|
||||
|
||||
devShells.x86_64-linux.default = pkgs.mkShellNoCC {
|
||||
devShell.x86_64-linux = pkgs.mkShell {
|
||||
name = "thermostat-dev-shell";
|
||||
packages =
|
||||
with pkgs;
|
||||
[
|
||||
rust
|
||||
llvm
|
||||
openocd
|
||||
dfu-util
|
||||
rlwrap
|
||||
]
|
||||
++ (with python3Packages; [
|
||||
numpy
|
||||
matplotlib
|
||||
buildInputs = with pkgs; [
|
||||
rustPlatform.rust.rustc
|
||||
rustPlatform.rust.cargo
|
||||
openocd dfu-util
|
||||
] ++ (with python3Packages; [
|
||||
numpy matplotlib
|
||||
]);
|
||||
};
|
||||
|
||||
formatter.x86_64-linux = nixpkgs.legacyPackages.x86_64-linux.nixfmt-rfc-style;
|
||||
defaultPackage.x86_64-linux = thermostat;
|
||||
};
|
||||
}
|
||||
}
|
||||
|
|
@ -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__":
|
||||
|
|
@ -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)
|
||||
|
|
@ -1,9 +1,8 @@
|
|||
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
|
||||
from pytec.client import Client
|
||||
|
||||
TIME_WINDOW = 300.0
|
||||
|
||||
|
|
@ -48,8 +47,7 @@ quit = False
|
|||
|
||||
def recv_data(tec):
|
||||
global last_packet_time
|
||||
while True:
|
||||
data = tec.get_report()
|
||||
for data in tec.report_mode():
|
||||
ch0 = data[0]
|
||||
series_lock.acquire()
|
||||
try:
|
||||
|
|
@ -63,7 +61,6 @@ def recv_data(tec):
|
|||
|
||||
if quit:
|
||||
break
|
||||
time.sleep(0.05)
|
||||
|
||||
thread = Thread(target=recv_data, args=(tec,))
|
||||
thread.start()
|
||||
|
|
@ -1,7 +1,5 @@
|
|||
import socket
|
||||
import json
|
||||
import logging
|
||||
|
||||
|
||||
class CommandError(Exception):
|
||||
pass
|
||||
|
|
@ -10,18 +8,6 @@ class Client:
|
|||
def __init__(self, host="192.168.1.26", port=23, timeout=None):
|
||||
self._socket = socket.create_connection((host, port), timeout)
|
||||
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:
|
||||
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"]))
|
||||
|
||||
def _read_line(self):
|
||||
# read more lines
|
||||
|
|
@ -51,27 +37,25 @@ class Client:
|
|||
result[int(item["channel"])] = item
|
||||
return result
|
||||
|
||||
def get_output(self):
|
||||
"""Retrieve output limits for the TEC
|
||||
def get_pwm(self):
|
||||
"""Retrieve PWM limits for the TEC
|
||||
|
||||
Example::
|
||||
[{'channel': 0,
|
||||
'center': 'vref',
|
||||
'i_set': -0.02002179650216762,
|
||||
'max_i_neg': 2.0,
|
||||
'max_v': 3.988,
|
||||
'max_i_pos': 2.0,
|
||||
'polarity': 'normal',
|
||||
'i_set': {'max': 2.9802790335151985, 'value': -0.02002179650216762},
|
||||
'max_i_neg': {'max': 3.0, 'value': 3.0},
|
||||
'max_v': {'max': 5.988, 'value': 5.988},
|
||||
'max_i_pos': {'max': 3.0, 'value': 3.0}},
|
||||
{'channel': 1,
|
||||
'center': 'vref',
|
||||
'i_set': -0.02002179650216762,
|
||||
'max_i_neg': 2.0,
|
||||
'max_v': 3.988,
|
||||
'max_i_pos': 2.0}
|
||||
'polarity': 'normal',
|
||||
'i_set': {'max': 2.9802790335151985, 'value': -0.02002179650216762},
|
||||
'max_i_neg': {'max': 3.0, 'value': 3.0},
|
||||
'max_v': {'max': 5.988, 'value': 5.988},
|
||||
'max_i_pos': {'max': 3.0, 'value': 3.0}}
|
||||
]
|
||||
"""
|
||||
return self._get_conf("output")
|
||||
return self._get_conf("pwm")
|
||||
|
||||
def get_pid(self):
|
||||
"""Retrieve PID control state
|
||||
|
|
@ -96,14 +80,14 @@ 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 +98,18 @@ 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 +117,24 @@ class Client:
|
|||
'tec_u_meas': 2.5340000000000003,
|
||||
'pid_output': 2.067581958092247}
|
||||
"""
|
||||
return self._get_conf("report")
|
||||
self._command("report mode", "on")
|
||||
|
||||
def get_ipv4(self):
|
||||
"""Get the IPv4 settings of the Thermostat"""
|
||||
return self._command("ipv4")
|
||||
|
||||
def get_fan(self):
|
||||
"""Get Thermostat current fan settings"""
|
||||
return self._command("fan")
|
||||
|
||||
def get_hwrev(self):
|
||||
"""Get Thermostat hardware revision"""
|
||||
return self._command("hwrev")
|
||||
while True:
|
||||
line = self._read_line()
|
||||
if not line:
|
||||
break
|
||||
try:
|
||||
yield json.loads(line)
|
||||
except json.decoder.JSONDecodeError:
|
||||
pass
|
||||
|
||||
def set_param(self, topic, channel, field="", value=""):
|
||||
"""Set configuration parameters
|
||||
|
||||
Examples::
|
||||
tec.set_param("output", 0, "max_v", 2.0)
|
||||
tec.set_param("pwm", 0, "max_v", 2.0)
|
||||
tec.set_param("pid", 1, "output_max", 2.5)
|
||||
tec.set_param("b-p", 0, "t0", 20.0)
|
||||
tec.set_param("s-h", 0, "t0", 20.0)
|
||||
tec.set_param("center", 0, "vref")
|
||||
tec.set_param("postfilter", 1, 21)
|
||||
|
||||
|
|
@ -168,40 +149,12 @@ 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")
|
||||
|
|
@ -1,7 +1,7 @@
|
|||
from setuptools import setup, find_packages
|
||||
|
||||
setup(
|
||||
name="pythermostat",
|
||||
name="pytec",
|
||||
version="0.0",
|
||||
author="M-Labs",
|
||||
url="https://git.m-labs.hk/M-Labs/thermostat",
|
||||
|
|
@ -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)
|
||||
|
|
@ -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()
|
||||
|
|
@ -1,9 +1,12 @@
|
|||
use crate::timer::sleep;
|
||||
use stm32f4xx_hal::{
|
||||
hal::{blocking::spi::Transfer, digital::v2::OutputPin},
|
||||
spi,
|
||||
hal::{
|
||||
blocking::spi::Transfer,
|
||||
digital::v2::OutputPin,
|
||||
},
|
||||
time::MegaHertz,
|
||||
spi,
|
||||
};
|
||||
use crate::timer::sleep;
|
||||
|
||||
/// SPI Mode 1
|
||||
pub const SPI_MODE: spi::Mode = spi::Mode {
|
||||
|
|
@ -24,8 +27,11 @@ pub struct Dac<SPI: Transfer<u8>, S: OutputPin> {
|
|||
impl<SPI: Transfer<u8>, S: OutputPin> Dac<SPI, S> {
|
||||
pub fn new(spi: SPI, mut sync: S) -> Self {
|
||||
let _ = sync.set_low();
|
||||
|
||||
Dac { spi, sync }
|
||||
|
||||
Dac {
|
||||
spi,
|
||||
sync,
|
||||
}
|
||||
}
|
||||
|
||||
fn write(&mut self, buf: &mut [u8]) -> Result<(), SPI::Error> {
|
||||
|
|
@ -41,7 +47,11 @@ impl<SPI: Transfer<u8>, S: OutputPin> Dac<SPI, S> {
|
|||
|
||||
pub fn set(&mut self, value: u32) -> Result<u32, SPI::Error> {
|
||||
let value = value.min(MAX_VALUE);
|
||||
let mut buf = [(value >> 14) as u8, (value >> 6) as u8, (value << 2) as u8];
|
||||
let mut buf = [
|
||||
(value >> 14) as u8,
|
||||
(value >> 6) as u8,
|
||||
(value << 2) as u8,
|
||||
];
|
||||
self.write(&mut buf)?;
|
||||
Ok(value)
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,12 +1,18 @@
|
|||
use super::{
|
||||
checksum::{Checksum, ChecksumMode},
|
||||
regs::{self, Register, RegisterData},
|
||||
DigitalFilterOrder, Input, Mode, PostFilter, RefSource,
|
||||
};
|
||||
use core::fmt;
|
||||
use log::{info, warn};
|
||||
use stm32f4xx_hal::hal::{blocking::spi::Transfer, digital::v2::OutputPin};
|
||||
use uom::si::{electric_potential::volt, f64::ElectricPotential};
|
||||
use stm32f4xx_hal::hal::{
|
||||
blocking::spi::Transfer,
|
||||
digital::v2::OutputPin,
|
||||
};
|
||||
use uom::si::{
|
||||
f64::ElectricPotential,
|
||||
electric_potential::volt,
|
||||
};
|
||||
use super::{
|
||||
regs::{self, Register, RegisterData},
|
||||
checksum::{ChecksumMode, Checksum},
|
||||
Mode, Input, RefSource, PostFilter, DigitalFilterOrder,
|
||||
};
|
||||
|
||||
/// AD7172-2 implementation
|
||||
///
|
||||
|
|
@ -21,8 +27,7 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
|
|||
pub fn new(spi: SPI, mut nss: NSS) -> Result<Self, SPI::Error> {
|
||||
let _ = nss.set_high();
|
||||
let mut adc = Adc {
|
||||
spi,
|
||||
nss,
|
||||
spi, nss,
|
||||
checksum_mode: ChecksumMode::Off,
|
||||
};
|
||||
adc.reset()?;
|
||||
|
|
@ -50,7 +55,8 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
|
|||
|
||||
/// `0x00DX` for AD7172-2
|
||||
pub fn identify(&mut self) -> Result<u16, SPI::Error> {
|
||||
self.read_reg(®s::Id).map(|id| id.id())
|
||||
self.read_reg(®s::Id)
|
||||
.map(|id| id.id())
|
||||
}
|
||||
|
||||
pub fn set_checksum_mode(&mut self, mode: ChecksumMode) -> Result<(), SPI::Error> {
|
||||
|
|
@ -70,10 +76,7 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
|
|||
}
|
||||
|
||||
pub fn setup_channel(
|
||||
&mut self,
|
||||
index: u8,
|
||||
in_pos: Input,
|
||||
in_neg: Input,
|
||||
&mut self, index: u8, in_pos: Input, in_neg: Input
|
||||
) -> Result<(), SPI::Error> {
|
||||
self.update_reg(®s::SetupCon { index }, |data| {
|
||||
data.set_bipolar(false);
|
||||
|
|
@ -103,11 +106,7 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
|
|||
let offset = self.read_reg(®s::Offset { index })?.offset();
|
||||
let gain = self.read_reg(®s::Gain { index })?.gain();
|
||||
let bipolar = self.read_reg(®s::SetupCon { index })?.bipolar();
|
||||
Ok(ChannelCalibration {
|
||||
offset,
|
||||
gain,
|
||||
bipolar,
|
||||
})
|
||||
Ok(ChannelCalibration { offset, gain, bipolar })
|
||||
}
|
||||
|
||||
pub fn start_continuous_conversion(&mut self) -> Result<(), SPI::Error> {
|
||||
|
|
@ -120,43 +119,44 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
|
|||
}
|
||||
|
||||
pub fn get_postfilter(&mut self, index: u8) -> Result<Option<PostFilter>, SPI::Error> {
|
||||
self.read_reg(®s::FiltCon { index }).map(|data| {
|
||||
if data.enh_filt_en() {
|
||||
Some(data.enh_filt())
|
||||
} else {
|
||||
None
|
||||
}
|
||||
})
|
||||
self.read_reg(®s::FiltCon { index })
|
||||
.map(|data| {
|
||||
if data.enh_filt_en() {
|
||||
Some(data.enh_filt())
|
||||
} else {
|
||||
None
|
||||
}
|
||||
})
|
||||
}
|
||||
|
||||
pub fn set_postfilter(
|
||||
&mut self,
|
||||
index: u8,
|
||||
filter: Option<PostFilter>,
|
||||
) -> Result<(), SPI::Error> {
|
||||
self.update_reg(®s::FiltCon { index }, |data| match filter {
|
||||
None => data.set_enh_filt_en(false),
|
||||
Some(filter) => {
|
||||
data.set_enh_filt_en(true);
|
||||
data.set_enh_filt(filter);
|
||||
pub fn set_postfilter(&mut self, index: u8, filter: Option<PostFilter>) -> Result<(), SPI::Error> {
|
||||
self.update_reg(®s::FiltCon { index }, |data| {
|
||||
match filter {
|
||||
None => data.set_enh_filt_en(false),
|
||||
Some(filter) => {
|
||||
data.set_enh_filt_en(true);
|
||||
data.set_enh_filt(filter);
|
||||
}
|
||||
}
|
||||
})
|
||||
}
|
||||
|
||||
/// Returns the channel the data is from
|
||||
pub fn data_ready(&mut self) -> Result<Option<u8>, SPI::Error> {
|
||||
self.read_reg(®s::Status).map(|status| {
|
||||
if status.ready() {
|
||||
Some(status.channel())
|
||||
} else {
|
||||
None
|
||||
}
|
||||
})
|
||||
self.read_reg(®s::Status)
|
||||
.map(|status| {
|
||||
if status.ready() {
|
||||
Some(status.channel())
|
||||
} else {
|
||||
None
|
||||
}
|
||||
})
|
||||
}
|
||||
|
||||
/// Get data
|
||||
pub fn read_data(&mut self) -> Result<u32, SPI::Error> {
|
||||
self.read_reg(®s::Data).map(|data| data.data())
|
||||
self.read_reg(®s::Data)
|
||||
.map(|data| data.data())
|
||||
}
|
||||
|
||||
fn read_reg<R: regs::Register>(&mut self, reg: &R) -> Result<R::Data, SPI::Error> {
|
||||
|
|
@ -175,21 +175,12 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
|
|||
break;
|
||||
}
|
||||
// Retry
|
||||
warn!(
|
||||
"read_reg {:02X}: checksum error: {:?}!={:?}, retrying",
|
||||
reg.address(),
|
||||
checksum_expected,
|
||||
checksum_in
|
||||
);
|
||||
warn!("read_reg {:02X}: checksum error: {:?}!={:?}, retrying", reg.address(), checksum_expected, checksum_in);
|
||||
}
|
||||
Ok(reg_data)
|
||||
}
|
||||
|
||||
fn write_reg<R: regs::Register>(
|
||||
&mut self,
|
||||
reg: &R,
|
||||
reg_data: &mut R::Data,
|
||||
) -> Result<(), SPI::Error> {
|
||||
fn write_reg<R: regs::Register>(&mut self, reg: &R, reg_data: &mut R::Data) -> Result<(), SPI::Error> {
|
||||
loop {
|
||||
let address = reg.address();
|
||||
let mut checksum = Checksum::new(match self.checksum_mode {
|
||||
|
|
@ -199,7 +190,7 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
|
|||
ChecksumMode::Crc => ChecksumMode::Crc,
|
||||
});
|
||||
checksum.feed(&[address]);
|
||||
checksum.feed(reg_data);
|
||||
checksum.feed(®_data);
|
||||
let checksum_out = checksum.result();
|
||||
|
||||
let mut data = reg_data.clone();
|
||||
|
|
@ -210,10 +201,7 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
|
|||
if *readback_data == **reg_data {
|
||||
return Ok(());
|
||||
}
|
||||
warn!(
|
||||
"write_reg {:02X}: readback error, {:?}!={:?}, retrying",
|
||||
address, &*readback_data, &**reg_data
|
||||
);
|
||||
warn!("write_reg {:02X}: readback error, {:?}!={:?}, retrying", address, &*readback_data, &**reg_data);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -237,12 +225,7 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
|
|||
Ok(())
|
||||
}
|
||||
|
||||
fn transfer(
|
||||
&mut self,
|
||||
addr: u8,
|
||||
reg_data: &mut [u8],
|
||||
checksum: Option<u8>,
|
||||
) -> Result<Option<u8>, SPI::Error> {
|
||||
fn transfer<'w>(&mut self, addr: u8, reg_data: &'w mut [u8], checksum: Option<u8>) -> Result<Option<u8>, SPI::Error> {
|
||||
let mut addr_buf = [addr];
|
||||
|
||||
let _ = self.nss.set_low();
|
||||
|
|
@ -251,7 +234,8 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
|
|||
Err(e) => Err(e),
|
||||
};
|
||||
let result = match (result, checksum) {
|
||||
(Ok(_), None) => Ok(None),
|
||||
(Ok(_), None) =>
|
||||
Ok(None),
|
||||
(Ok(_), Some(checksum_out)) => {
|
||||
let mut checksum_buf = [checksum_out; 1];
|
||||
match self.spi.transfer(&mut checksum_buf) {
|
||||
|
|
@ -259,7 +243,8 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
|
|||
Err(e) => Err(e),
|
||||
}
|
||||
}
|
||||
(Err(e), _) => Err(e),
|
||||
(Err(e), _) =>
|
||||
Err(e),
|
||||
};
|
||||
let _ = self.nss.set_high();
|
||||
|
||||
|
|
|
|||
|
|
@ -29,13 +29,13 @@ impl Checksum {
|
|||
|
||||
fn feed_byte(&mut self, input: u8) {
|
||||
match self.mode {
|
||||
ChecksumMode::Off => {}
|
||||
ChecksumMode::Off => {},
|
||||
ChecksumMode::Xor => self.state ^= input,
|
||||
ChecksumMode::Crc => {
|
||||
for i in 0..8 {
|
||||
let input_mask = 0x80 >> i;
|
||||
self.state = (self.state << 1)
|
||||
^ if ((self.state & 0x80) != 0) != ((input & input_mask) != 0) {
|
||||
self.state = (self.state << 1) ^
|
||||
if ((self.state & 0x80) != 0) != ((input & input_mask) != 0) {
|
||||
0x07 /* x8 + x2 + x + 1 */
|
||||
} else {
|
||||
0
|
||||
|
|
@ -54,7 +54,7 @@ impl Checksum {
|
|||
pub fn result(&self) -> Option<u8> {
|
||||
match self.mode {
|
||||
ChecksumMode::Off => None,
|
||||
_ => Some(self.state),
|
||||
_ => Some(self.state)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,10 +1,13 @@
|
|||
use core::fmt;
|
||||
use num_traits::float::Float;
|
||||
use serde::{Deserialize, Serialize};
|
||||
use stm32f4xx_hal::{spi, time::MegaHertz};
|
||||
use serde::{Serialize, Deserialize};
|
||||
use stm32f4xx_hal::{
|
||||
time::MegaHertz,
|
||||
spi,
|
||||
};
|
||||
|
||||
mod checksum;
|
||||
pub mod regs;
|
||||
mod checksum;
|
||||
pub use checksum::ChecksumMode;
|
||||
mod adc;
|
||||
pub use adc::*;
|
||||
|
|
@ -19,6 +22,7 @@ pub const SPI_CLOCK: MegaHertz = MegaHertz(2);
|
|||
|
||||
pub const MAX_VALUE: u32 = 0xFF_FFFF;
|
||||
|
||||
|
||||
#[derive(Clone, Copy, Debug)]
|
||||
#[repr(u8)]
|
||||
pub enum Mode {
|
||||
|
|
@ -101,8 +105,7 @@ impl fmt::Display for Input {
|
|||
RefPos => "ref+",
|
||||
RefNeg => "ref-",
|
||||
_ => "<INVALID>",
|
||||
}
|
||||
.fmt(fmt)
|
||||
}.fmt(fmt)
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -138,8 +141,7 @@ impl fmt::Display for RefSource {
|
|||
Internal => "internal",
|
||||
Avdd1MinusAvss => "avdd1-avss",
|
||||
_ => "<INVALID>",
|
||||
}
|
||||
.fmt(fmt)
|
||||
}.fmt(fmt)
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
use bit_field::BitField;
|
||||
use byteorder::{BigEndian, ByteOrder};
|
||||
use core::ops::{Deref, DerefMut};
|
||||
use byteorder::{BigEndian, ByteOrder};
|
||||
use bit_field::BitField;
|
||||
|
||||
use super::*;
|
||||
|
||||
|
|
@ -9,7 +9,7 @@ pub trait Register {
|
|||
fn address(&self) -> u8;
|
||||
}
|
||||
|
||||
pub trait RegisterData: Clone + Deref<Target = [u8]> + DerefMut {
|
||||
pub trait RegisterData: Clone + Deref<Target=[u8]> + DerefMut {
|
||||
fn empty() -> Self;
|
||||
}
|
||||
|
||||
|
|
@ -49,9 +49,7 @@ macro_rules! def_reg {
|
|||
}
|
||||
};
|
||||
($Reg: ident, u8, $reg: ident, $addr: expr, $size: expr) => {
|
||||
pub struct $Reg {
|
||||
pub index: u8,
|
||||
}
|
||||
pub struct $Reg { pub index: u8, }
|
||||
impl Register for $Reg {
|
||||
type Data = $reg::Data;
|
||||
fn address(&self) -> u8 {
|
||||
|
|
@ -78,7 +76,7 @@ macro_rules! def_reg {
|
|||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
macro_rules! reg_bit {
|
||||
|
|
@ -148,7 +146,7 @@ def_reg!(Status, status, 0x00, 1);
|
|||
impl status::Data {
|
||||
/// Is there new data to read?
|
||||
pub fn ready(&self) -> bool {
|
||||
!self.not_ready()
|
||||
! self.not_ready()
|
||||
}
|
||||
|
||||
reg_bit!(not_ready, 0, 7, "No data ready indicator");
|
||||
|
|
@ -161,21 +159,9 @@ impl status::Data {
|
|||
def_reg!(AdcMode, adc_mode, 0x01, 2);
|
||||
impl adc_mode::Data {
|
||||
reg_bits!(delay, set_delay, 0, 0..=2, "Delay after channel switch");
|
||||
reg_bit!(
|
||||
sing_cyc,
|
||||
set_sing_cyc,
|
||||
0,
|
||||
5,
|
||||
"Can only used with single channel"
|
||||
);
|
||||
reg_bit!(sing_cyc, set_sing_cyc, 0, 5, "Can only used with single channel");
|
||||
reg_bit!(hide_delay, set_hide_delay, 0, 6, "Hide delay");
|
||||
reg_bit!(
|
||||
ref_en,
|
||||
set_ref_en,
|
||||
0,
|
||||
7,
|
||||
"Enable internal reference, output buffered 2.5 V to REFOUT"
|
||||
);
|
||||
reg_bit!(ref_en, set_ref_en, 0, 7, "Enable internal reference, output buffered 2.5 V to REFOUT");
|
||||
reg_bits!(clockset, set_clocksel, 1, 2..=3, "Clock source");
|
||||
reg_bits!(mode, set_mode, 1, 4..=6, Mode, "Operating mode");
|
||||
}
|
||||
|
|
@ -188,19 +174,15 @@ impl if_mode::Data {
|
|||
def_reg!(Data, data, 0x04, 3);
|
||||
impl data::Data {
|
||||
pub fn data(&self) -> u32 {
|
||||
(u32::from(self.0[0]) << 16) | (u32::from(self.0[1]) << 8) | u32::from(self.0[2])
|
||||
(u32::from(self.0[0]) << 16) |
|
||||
(u32::from(self.0[1]) << 8) |
|
||||
u32::from(self.0[2])
|
||||
}
|
||||
}
|
||||
|
||||
def_reg!(GpioCon, gpio_con, 0x06, 2);
|
||||
impl gpio_con::Data {
|
||||
reg_bit!(
|
||||
sync_en,
|
||||
set_sync_en,
|
||||
0,
|
||||
3,
|
||||
"Enables the SYNC/ERROR pin as a sync input"
|
||||
);
|
||||
reg_bit!(sync_en, set_sync_en, 0, 3, "Enables the SYNC/ERROR pin as a sync input");
|
||||
}
|
||||
|
||||
def_reg!(Id, id, 0x07, 2);
|
||||
|
|
@ -218,7 +200,8 @@ impl channel::Data {
|
|||
/// Which input is connected to positive input of this channel
|
||||
#[allow(unused)]
|
||||
pub fn a_in_pos(&self) -> Input {
|
||||
((self.0[0].get_bits(0..=1) << 3) | self.0[1].get_bits(5..=7)).into()
|
||||
((self.0[0].get_bits(0..=1) << 3) |
|
||||
self.0[1].get_bits(5..=7)).into()
|
||||
}
|
||||
/// Set which input is connected to positive input of this channel
|
||||
#[allow(unused)]
|
||||
|
|
@ -227,66 +210,27 @@ impl channel::Data {
|
|||
self.0[0].set_bits(0..=1, value >> 3);
|
||||
self.0[1].set_bits(5..=7, value & 0x7);
|
||||
}
|
||||
reg_bits!(
|
||||
a_in_neg,
|
||||
set_a_in_neg,
|
||||
1,
|
||||
0..=4,
|
||||
Input,
|
||||
"Which input is connected to negative input of this channel"
|
||||
);
|
||||
reg_bits!(a_in_neg, set_a_in_neg, 1, 0..=4, Input,
|
||||
"Which input is connected to negative input of this channel");
|
||||
}
|
||||
|
||||
def_reg!(SetupCon, u8, setup_con, 0x20, 2);
|
||||
impl setup_con::Data {
|
||||
reg_bit!(
|
||||
bipolar,
|
||||
set_bipolar,
|
||||
0,
|
||||
4,
|
||||
"Unipolar (`false`) or bipolar (`true`) coded output"
|
||||
);
|
||||
reg_bit!(bipolar, set_bipolar, 0, 4, "Unipolar (`false`) or bipolar (`true`) coded output");
|
||||
reg_bit!(refbuf_pos, set_refbuf_pos, 0, 3, "Enable REF+ input buffer");
|
||||
reg_bit!(refbuf_neg, set_refbuf_neg, 0, 2, "Enable REF- input buffer");
|
||||
reg_bit!(ainbuf_pos, set_ainbuf_pos, 0, 1, "Enable AIN+ input buffer");
|
||||
reg_bit!(ainbuf_neg, set_ainbuf_neg, 0, 0, "Enable AIN- input buffer");
|
||||
reg_bit!(burnout_en, 1, 7, "enables a 10 µA current source on the positive analog input selected and a 10 µA current sink on the negative analog input selected");
|
||||
reg_bits!(
|
||||
ref_sel,
|
||||
set_ref_sel,
|
||||
1,
|
||||
4..=5,
|
||||
RefSource,
|
||||
"Select reference source for conversion"
|
||||
);
|
||||
reg_bits!(ref_sel, set_ref_sel, 1, 4..=5, RefSource, "Select reference source for conversion");
|
||||
}
|
||||
|
||||
def_reg!(FiltCon, u8, filt_con, 0x28, 2);
|
||||
impl filt_con::Data {
|
||||
reg_bit!(sinc3_map, 0, 7, "If set, mapping of filter register changes to directly program the decimation rate of the sinc3 filter");
|
||||
reg_bit!(
|
||||
enh_filt_en,
|
||||
set_enh_filt_en,
|
||||
0,
|
||||
3,
|
||||
"Enable postfilters for enhanced 50Hz and 60Hz rejection"
|
||||
);
|
||||
reg_bits!(
|
||||
enh_filt,
|
||||
set_enh_filt,
|
||||
0,
|
||||
0..=2,
|
||||
PostFilter,
|
||||
"Select postfilters for enhanced 50Hz and 60Hz rejection"
|
||||
);
|
||||
reg_bits!(
|
||||
order,
|
||||
set_order,
|
||||
1,
|
||||
5..=6,
|
||||
DigitalFilterOrder,
|
||||
"order of the digital filter that processes the modulator data"
|
||||
);
|
||||
reg_bit!(enh_filt_en, set_enh_filt_en, 0, 3, "Enable postfilters for enhanced 50Hz and 60Hz rejection");
|
||||
reg_bits!(enh_filt, set_enh_filt, 0, 0..=2, PostFilter, "Select postfilters for enhanced 50Hz and 60Hz rejection");
|
||||
reg_bits!(order, set_order, 1, 5..=6, DigitalFilterOrder, "order of the digital filter that processes the modulator data");
|
||||
reg_bits!(odr, set_odr, 1, 0..=4, "Output data rate");
|
||||
}
|
||||
|
||||
|
|
@ -294,7 +238,9 @@ def_reg!(Offset, u8, offset, 0x30, 3);
|
|||
impl offset::Data {
|
||||
#[allow(unused)]
|
||||
pub fn offset(&self) -> u32 {
|
||||
(u32::from(self.0[0]) << 16) | (u32::from(self.0[1]) << 8) | u32::from(self.0[2])
|
||||
(u32::from(self.0[0]) << 16) |
|
||||
(u32::from(self.0[1]) << 8) |
|
||||
u32::from(self.0[2])
|
||||
}
|
||||
#[allow(unused)]
|
||||
pub fn set_offset(&mut self, value: u32) {
|
||||
|
|
@ -308,7 +254,9 @@ def_reg!(Gain, u8, gain, 0x38, 3);
|
|||
impl gain::Data {
|
||||
#[allow(unused)]
|
||||
pub fn gain(&self) -> u32 {
|
||||
(u32::from(self.0[0]) << 16) | (u32::from(self.0[1]) << 8) | u32::from(self.0[2])
|
||||
(u32::from(self.0[0]) << 16) |
|
||||
(u32::from(self.0[1]) << 8) |
|
||||
u32::from(self.0[2])
|
||||
}
|
||||
#[allow(unused)]
|
||||
pub fn set_gain(&mut self, value: u32) {
|
||||
|
|
|
|||
|
|
@ -1,10 +1,14 @@
|
|||
use crate::{
|
||||
ad5680, ad7172,
|
||||
channel_state::ChannelState,
|
||||
pins::{ChannelPinSet, ChannelPins},
|
||||
};
|
||||
use stm32f4xx_hal::hal::digital::v2::OutputPin;
|
||||
use uom::si::{electric_potential::volt, f64::ElectricPotential};
|
||||
use uom::si::{
|
||||
f64::ElectricPotential,
|
||||
electric_potential::volt,
|
||||
};
|
||||
use crate::{
|
||||
ad5680,
|
||||
ad7172,
|
||||
channel_state::ChannelState,
|
||||
pins::{ChannelPins, ChannelPinSet},
|
||||
};
|
||||
|
||||
/// Marker type for the first channel
|
||||
pub struct Channel0;
|
||||
|
|
@ -20,7 +24,7 @@ pub struct Channel<C: ChannelPins> {
|
|||
pub vref_meas: ElectricPotential,
|
||||
pub shdn: C::Shdn,
|
||||
pub vref_pin: C::VRefPin,
|
||||
pub itec_pin: C::ITecPin,
|
||||
pub itec_pin: C::ItecPin,
|
||||
/// feedback from `dac` output
|
||||
pub dac_feedback_pin: C::DacFeedbackPin,
|
||||
pub tec_u_meas_pin: C::TecUMeasPin,
|
||||
|
|
@ -36,8 +40,7 @@ impl<C: ChannelPins> Channel<C> {
|
|||
|
||||
Channel {
|
||||
state,
|
||||
dac,
|
||||
vref_meas,
|
||||
dac, vref_meas,
|
||||
shdn: pins.shdn,
|
||||
vref_pin: pins.vref_pin,
|
||||
itec_pin: pins.itec_pin,
|
||||
|
|
|
|||
|
|
@ -1,21 +1,22 @@
|
|||
use crate::{
|
||||
ad7172, b_parameter as bp,
|
||||
command_parser::{CenterPoint, Polarity},
|
||||
config::PwmLimits,
|
||||
pid,
|
||||
};
|
||||
use num_traits::Zero;
|
||||
use smoltcp::time::{Duration, Instant};
|
||||
use uom::si::{
|
||||
electric_current::ampere,
|
||||
f64::{
|
||||
ElectricPotential,
|
||||
ElectricalResistance,
|
||||
ThermodynamicTemperature,
|
||||
Time,
|
||||
},
|
||||
electric_potential::volt,
|
||||
electrical_resistance::ohm,
|
||||
f64::{
|
||||
ElectricCurrent, ElectricPotential, ElectricalResistance, ThermodynamicTemperature, Time,
|
||||
},
|
||||
thermodynamic_temperature::degree_celsius,
|
||||
time::millisecond,
|
||||
};
|
||||
use crate::{
|
||||
ad7172,
|
||||
pid,
|
||||
steinhart_hart as sh,
|
||||
command_parser::CenterPoint,
|
||||
};
|
||||
|
||||
const R_INNER: f64 = 2.0 * 5100.0;
|
||||
const VREF_SENS: f64 = 3.3 / 2.0;
|
||||
|
|
@ -25,15 +26,14 @@ pub struct ChannelState {
|
|||
pub adc_calibration: ad7172::ChannelCalibration,
|
||||
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,
|
||||
pub i_set: ElectricCurrent,
|
||||
pub pwm_limits: PwmLimits,
|
||||
pub pid_engaged: bool,
|
||||
pub pid: pid::Controller,
|
||||
pub bp: bp::Parameters,
|
||||
pub polarity: Polarity,
|
||||
pub sh: sh::Parameters,
|
||||
}
|
||||
|
||||
impl ChannelState {
|
||||
|
|
@ -44,18 +44,13 @@ impl ChannelState {
|
|||
adc_time: Instant::from_secs(0),
|
||||
// default: 10 Hz
|
||||
adc_interval: Duration::from_millis(100),
|
||||
center: CenterPoint::VRef,
|
||||
// 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),
|
||||
pwm_limits: PwmLimits {
|
||||
max_v: ElectricPotential::zero(),
|
||||
max_i_pos: ElectricCurrent::zero(),
|
||||
max_i_neg: ElectricCurrent::zero(),
|
||||
},
|
||||
pid_engaged: false,
|
||||
pid: pid::Controller::new(pid::Parameters::default()),
|
||||
bp: bp::Parameters::default(),
|
||||
polarity: Polarity::Normal,
|
||||
sh: sh::Parameters::default(),
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -72,7 +67,8 @@ impl ChannelState {
|
|||
|
||||
/// Update PID state on ADC input, calculate new DAC output
|
||||
pub fn update_pid(&mut self) -> Option<f64> {
|
||||
let temperature = self.get_temperature()?.get::<degree_celsius>();
|
||||
let temperature = self.get_temperature()?
|
||||
.get::<degree_celsius>();
|
||||
let pid_output = self.pid.update(temperature);
|
||||
Some(pid_output)
|
||||
}
|
||||
|
|
@ -100,7 +96,7 @@ 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)
|
||||
}
|
||||
}
|
||||
|
|
|
|||
565
src/channels.rs
565
src/channels.rs
|
|
@ -1,59 +1,32 @@
|
|||
use crate::timer::sleep;
|
||||
use crate::{
|
||||
ad5680, ad7172, b_parameter,
|
||||
channel::{Channel, Channel0, Channel1},
|
||||
channel_state::ChannelState,
|
||||
command_handler::JsonBuffer,
|
||||
command_parser::{CenterPoint, Polarity, PwmPin},
|
||||
pins::{self, Channel0VRef, Channel1VRef},
|
||||
};
|
||||
use core::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;
|
||||
use uom::si::{
|
||||
electric_current::ampere,
|
||||
electric_potential::{millivolt, volt},
|
||||
electrical_resistance::ohm,
|
||||
f64::{ElectricCurrent, ElectricPotential, ElectricalResistance, Time},
|
||||
electric_potential::{millivolt, volt},
|
||||
electric_current::ampere,
|
||||
electrical_resistance::ohm,
|
||||
ratio::ratio,
|
||||
thermodynamic_temperature::degree_celsius,
|
||||
};
|
||||
|
||||
pub enum PinsAdcReadTarget {
|
||||
VRef,
|
||||
DacVfb,
|
||||
ITec,
|
||||
VTec,
|
||||
}
|
||||
use crate::{
|
||||
ad5680,
|
||||
ad7172,
|
||||
channel::{Channel, Channel0, Channel1},
|
||||
channel_state::ChannelState,
|
||||
command_parser::{CenterPoint, PwmPin},
|
||||
command_handler::JsonBuffer,
|
||||
pins,
|
||||
steinhart_hart,
|
||||
};
|
||||
|
||||
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,
|
||||
};
|
||||
const MAX_TEC_I_DUTY_TO_CURRENT_RATE: ElectricCurrent = ElectricCurrent {
|
||||
dimension: PhantomData,
|
||||
units: PhantomData,
|
||||
value: 1.0 / (10.0 * R_SENSE / 3.3),
|
||||
};
|
||||
// DAC chip outputs 0-5v, which is then passed through a resistor dividor to provide 0-3v range
|
||||
const DAC_OUT_V_MAX: ElectricPotential = ElectricPotential {
|
||||
dimension: PhantomData,
|
||||
units: PhantomData,
|
||||
value: 3.0,
|
||||
};
|
||||
const DAC_OUT_V_MAX: f64 = 3.0;
|
||||
|
||||
// TODO: -pub
|
||||
pub struct Channels {
|
||||
channel0: Channel<Channel0>,
|
||||
|
|
@ -71,26 +44,21 @@ impl Channels {
|
|||
adc.set_sync_enable(false).unwrap();
|
||||
|
||||
// Setup channels and start ADC
|
||||
adc.setup_channel(0, ad7172::Input::Ain2, ad7172::Input::Ain3)
|
||||
.unwrap();
|
||||
let adc_calibration0 = adc.get_calibration(0).expect("adc_calibration0");
|
||||
adc.setup_channel(1, ad7172::Input::Ain0, ad7172::Input::Ain1)
|
||||
.unwrap();
|
||||
let adc_calibration1 = adc.get_calibration(1).expect("adc_calibration1");
|
||||
adc.setup_channel(0, ad7172::Input::Ain2, ad7172::Input::Ain3).unwrap();
|
||||
let adc_calibration0 = adc.get_calibration(0)
|
||||
.expect("adc_calibration0");
|
||||
adc.setup_channel(1, ad7172::Input::Ain0, ad7172::Input::Ain1).unwrap();
|
||||
let adc_calibration1 = adc.get_calibration(1)
|
||||
.expect("adc_calibration1");
|
||||
adc.start_continuous_conversion().unwrap();
|
||||
|
||||
let channel0 = Channel::new(pins.channel0, adc_calibration0);
|
||||
let channel1 = Channel::new(pins.channel1, adc_calibration1);
|
||||
let pins_adc = pins.pins_adc;
|
||||
let pwm = pins.pwm;
|
||||
let mut channels = Channels {
|
||||
channel0,
|
||||
channel1,
|
||||
adc,
|
||||
pins_adc,
|
||||
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));
|
||||
}
|
||||
|
|
@ -130,10 +98,13 @@ 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::Override(center_point) => {
|
||||
ElectricPotential::new::<volt>(center_point.into())
|
||||
}
|
||||
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()),
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -143,14 +114,17 @@ impl Channels {
|
|||
voltage
|
||||
}
|
||||
|
||||
pub fn get_i_set(&mut self, channel: usize) -> ElectricCurrent {
|
||||
let i_set = self.channel_state(channel).i_set;
|
||||
i_set
|
||||
pub fn get_i(&mut self, channel: usize) -> ElectricCurrent {
|
||||
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(),
|
||||
|
|
@ -160,123 +134,114 @@ 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);
|
||||
self.channel_state(channel).i_set = i_set;
|
||||
let negate = match self.channel_state(channel).polarity {
|
||||
Polarity::Normal => 1.0,
|
||||
Polarity::Reversed => -1.0,
|
||||
};
|
||||
let vref_meas = match channel {
|
||||
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,
|
||||
_ => unreachable!(),
|
||||
};
|
||||
let center_point = vref_meas;
|
||||
let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
|
||||
let voltage = negate * i_set * 10.0 * r_sense + center_point;
|
||||
let voltage = i_tec * 10.0 * r_sense + center_point;
|
||||
let voltage = self.set_dac(channel, voltage);
|
||||
|
||||
negate * (voltage - center_point) / (10.0 * r_sense)
|
||||
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_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_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!(),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn read_dac_feedback_until_stable(&mut self, channel: usize, tolerance: ElectricPotential) -> ElectricPotential {
|
||||
let mut prev = self.read_dac_feedback(channel);
|
||||
loop {
|
||||
let current = self.read_dac_feedback(channel);
|
||||
if (current - prev).abs() < tolerance {
|
||||
return current;
|
||||
}
|
||||
prev = current;
|
||||
}
|
||||
}
|
||||
|
||||
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!(),
|
||||
|
|
@ -287,29 +252,30 @@ impl Channels {
|
|||
///
|
||||
/// The thermostat DAC applies a control voltage signal to the CTLI pin of MAX driver chip to control its output current.
|
||||
/// The CTLI input signal is centered around VREF of the MAX chip. Applying VREF to CTLI sets the output current to 0.
|
||||
///
|
||||
///
|
||||
/// This calibration routine measures the VREF voltage and the DAC output with the STM32 ADC, and uses a breadth-first
|
||||
/// search to find the DAC setting that will produce a DAC output voltage closest to VREF. This DAC output voltage will
|
||||
/// be stored and used in subsequent i_set routines to bias the current control signal to the measured VREF, reducing
|
||||
/// search to find the DAC setting that will produce a DAC output voltage closest to VREF. This DAC output voltage will
|
||||
/// be stored and used in subsequent i_set routines to bias the current control signal to the measured VREF, reducing
|
||||
/// the offset error of the current control signal.
|
||||
///
|
||||
/// The input offset of the STM32 ADC is eliminated by using the same ADC for the measurements, and by only using the
|
||||
/// difference in VREF and DAC output for the calibration.
|
||||
///
|
||||
/// This routine should be called only once after boot, repeated reading of the vref signal and changing of the stored
|
||||
///
|
||||
/// This routine should be called only once after boot, repeated reading of the vref signal and changing of the stored
|
||||
/// VREF measurement can introduce significant noise at the current output, degrading the stabilily performance of the
|
||||
/// thermostat.
|
||||
/// thermostat.
|
||||
pub fn calibrate_dac_value(&mut self, channel: usize) {
|
||||
let samples = 50;
|
||||
let mut target_voltage = ElectricPotential::new::<volt>(0.0);
|
||||
for _ in 0..samples {
|
||||
target_voltage += self.get_center(channel);
|
||||
target_voltage = target_voltage + self.get_center(channel);
|
||||
}
|
||||
target_voltage /= samples as f64;
|
||||
target_voltage = target_voltage / samples as f64;
|
||||
let mut start_value = 1;
|
||||
let mut best_error = ElectricPotential::new::<volt>(100.0);
|
||||
|
||||
for step in (5..18).rev() {
|
||||
for step in (0..18).rev() {
|
||||
let mut prev_value = start_value;
|
||||
for value in (start_value..=ad5680::MAX_VALUE).step_by(1 << step) {
|
||||
match channel {
|
||||
0 => {
|
||||
|
|
@ -320,23 +286,24 @@ impl Channels {
|
|||
}
|
||||
_ => unreachable!(),
|
||||
}
|
||||
sleep(10);
|
||||
|
||||
let dac_feedback = self.adc_read(channel, PinsAdcReadTarget::DacVfb, 64);
|
||||
let dac_feedback = self.read_dac_feedback_until_stable(channel, ElectricPotential::new::<volt>(0.001));
|
||||
let error = target_voltage - dac_feedback;
|
||||
if error < ElectricPotential::new::<volt>(0.0) {
|
||||
break;
|
||||
} else if error < best_error {
|
||||
best_error = error;
|
||||
start_value = value;
|
||||
start_value = prev_value;
|
||||
|
||||
let vref = (value as f64 / ad5680::MAX_VALUE as f64) * DAC_OUT_V_MAX;
|
||||
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,
|
||||
_ => unreachable!(),
|
||||
}
|
||||
}
|
||||
|
||||
prev_value = value;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -362,115 +329,112 @@ impl Channels {
|
|||
}
|
||||
}
|
||||
|
||||
fn get_pwm(&self, channel: usize, pin: PwmPin) -> f64 {
|
||||
fn get<P: hal::PwmPin<Duty=u16>>(pin: &P) -> f64 {
|
||||
let duty = pin.get_duty();
|
||||
let max = pin.get_max_duty();
|
||||
duty as f64 / (max as f64)
|
||||
}
|
||||
match (channel, pin) {
|
||||
(_, PwmPin::ISet) =>
|
||||
panic!("i_set is no pwm pin"),
|
||||
(0, PwmPin::MaxIPos) =>
|
||||
get(&self.pwm.max_i_pos0),
|
||||
(0, PwmPin::MaxINeg) =>
|
||||
get(&self.pwm.max_i_neg0),
|
||||
(0, PwmPin::MaxV) =>
|
||||
get(&self.pwm.max_v0),
|
||||
(1, PwmPin::MaxIPos) =>
|
||||
get(&self.pwm.max_i_pos1),
|
||||
(1, PwmPin::MaxINeg) =>
|
||||
get(&self.pwm.max_i_neg1),
|
||||
(1, PwmPin::MaxV) =>
|
||||
get(&self.pwm.max_v1),
|
||||
_ =>
|
||||
unreachable!(),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn get_max_v(&mut self, channel: usize) -> ElectricPotential {
|
||||
self.channel_state(channel).pwm_limits.max_v
|
||||
let max = 4.0 * ElectricPotential::new::<volt>(3.3);
|
||||
let duty = self.get_pwm(channel, PwmPin::MaxV);
|
||||
duty * max
|
||||
}
|
||||
|
||||
pub fn get_max_i_pos(&mut self, channel: usize) -> ElectricCurrent {
|
||||
self.channel_state(channel).pwm_limits.max_i_pos
|
||||
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)
|
||||
}
|
||||
|
||||
pub fn get_max_i_neg(&mut self, channel: usize) -> ElectricCurrent {
|
||||
self.channel_state(channel).pwm_limits.max_i_neg
|
||||
pub fn get_max_i_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)
|
||||
}
|
||||
|
||||
// Get current passing through TEC
|
||||
pub fn get_tec_i(&mut self, channel: usize) -> ElectricCurrent {
|
||||
let tec_i = (self.adc_read(channel, PinsAdcReadTarget::ITec, 16)
|
||||
- self.adc_read(channel, PinsAdcReadTarget::VRef, 16))
|
||||
/ ElectricalResistance::new::<ohm>(0.4);
|
||||
match self.channel_state(channel).polarity {
|
||||
Polarity::Normal => tec_i,
|
||||
Polarity::Reversed => -tec_i,
|
||||
}
|
||||
(self.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 {
|
||||
fn set<P: hal::PwmPin<Duty = u16>>(pin: &mut P, duty: f64) -> f64 {
|
||||
fn set<P: hal::PwmPin<Duty=u16>>(pin: &mut P, duty: f64) -> f64 {
|
||||
let max = pin.get_max_duty();
|
||||
let value = ((duty * (max as f64)) as u16).min(max);
|
||||
pin.set_duty(value);
|
||||
value as f64 / (max as f64)
|
||||
}
|
||||
match (channel, pin) {
|
||||
(_, PwmPin::ISet) => panic!("i_set is no pwm pin"),
|
||||
(0, PwmPin::MaxIPos) => set(&mut self.pwm.max_i_pos0, duty),
|
||||
(0, PwmPin::MaxINeg) => set(&mut self.pwm.max_i_neg0, duty),
|
||||
(0, PwmPin::MaxV) => set(&mut self.pwm.max_v0, duty),
|
||||
(1, PwmPin::MaxIPos) => set(&mut self.pwm.max_i_pos1, duty),
|
||||
(1, PwmPin::MaxINeg) => set(&mut self.pwm.max_i_neg1, duty),
|
||||
(1, PwmPin::MaxV) => set(&mut self.pwm.max_v1, duty),
|
||||
_ => unreachable!(),
|
||||
(_, PwmPin::ISet) =>
|
||||
panic!("i_set is no pwm pin"),
|
||||
(0, PwmPin::MaxIPos) =>
|
||||
set(&mut self.pwm.max_i_pos0, duty),
|
||||
(0, PwmPin::MaxINeg) =>
|
||||
set(&mut self.pwm.max_i_neg0, duty),
|
||||
(0, PwmPin::MaxV) =>
|
||||
set(&mut self.pwm.max_v0, duty),
|
||||
(1, PwmPin::MaxIPos) =>
|
||||
set(&mut self.pwm.max_i_pos1, duty),
|
||||
(1, PwmPin::MaxINeg) =>
|
||||
set(&mut self.pwm.max_i_neg1, duty),
|
||||
(1, PwmPin::MaxV) =>
|
||||
set(&mut self.pwm.max_v1, duty),
|
||||
_ =>
|
||||
unreachable!(),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn set_max_v(
|
||||
&mut self,
|
||||
channel: usize,
|
||||
max_v: ElectricPotential,
|
||||
) -> (ElectricPotential, ElectricPotential) {
|
||||
pub fn set_max_v(&mut self, channel: usize, max_v: ElectricPotential) -> (ElectricPotential, ElectricPotential) {
|
||||
let max = 4.0 * ElectricPotential::new::<volt>(3.3);
|
||||
let max_v = max_v.min(MAX_TEC_V).max(ElectricPotential::zero());
|
||||
let duty = (max_v / max).get::<ratio>();
|
||||
let duty = self.set_pwm(channel, PwmPin::MaxV, duty);
|
||||
self.channel_state(channel).pwm_limits.max_v = max_v;
|
||||
(duty * max, max)
|
||||
}
|
||||
|
||||
pub fn set_max_i_pos(
|
||||
&mut self,
|
||||
channel: usize,
|
||||
max_i_pos: ElectricCurrent,
|
||||
) -> (ElectricCurrent, ElectricCurrent) {
|
||||
pub fn set_max_i_pos(&mut self, channel: usize, max_i_pos: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
|
||||
let max = ElectricCurrent::new::<ampere>(3.0);
|
||||
let max_i_pos = max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero());
|
||||
let duty = (max_i_pos / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
|
||||
let duty = match self.channel_state(channel).polarity {
|
||||
Polarity::Normal => self.set_pwm(channel, PwmPin::MaxIPos, duty),
|
||||
Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxINeg, duty),
|
||||
};
|
||||
self.channel_state(channel).pwm_limits.max_i_pos = max_i_pos;
|
||||
(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
|
||||
let duty = (max_i_pos / 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) {
|
||||
pub fn set_max_i_neg(&mut self, channel: usize, max_i_neg: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
|
||||
let max = ElectricCurrent::new::<ampere>(3.0);
|
||||
let max_i_neg = max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero());
|
||||
let duty = (max_i_neg / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
|
||||
let duty = match self.channel_state(channel).polarity {
|
||||
Polarity::Normal => self.set_pwm(channel, PwmPin::MaxINeg, duty),
|
||||
Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxIPos, duty),
|
||||
};
|
||||
self.channel_state(channel).pwm_limits.max_i_neg = max_i_neg;
|
||||
(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
|
||||
}
|
||||
|
||||
pub fn set_polarity(&mut self, channel: usize, polarity: Polarity) {
|
||||
if self.channel_state(channel).polarity != polarity {
|
||||
let i_set = self.channel_state(channel).i_set;
|
||||
let max_i_pos = self.get_max_i_pos(channel);
|
||||
let max_i_neg = self.get_max_i_neg(channel);
|
||||
self.channel_state(channel).polarity = polarity;
|
||||
|
||||
self.set_i(channel, i_set);
|
||||
self.set_max_i_pos(channel, max_i_pos);
|
||||
self.set_max_i_neg(channel, max_i_neg);
|
||||
}
|
||||
let duty = (max_i_neg / max).get::<ratio>();
|
||||
let duty = self.set_pwm(channel, PwmPin::MaxINeg, duty);
|
||||
(duty * max, max)
|
||||
}
|
||||
|
||||
fn report(&mut self, channel: usize) -> Report {
|
||||
let i_set = self.get_i_set(channel);
|
||||
let i_tec = self.adc_read(channel, PinsAdcReadTarget::ITec, 16);
|
||||
let vref = self.channel_state(channel).vref;
|
||||
let i_set = self.get_i(channel);
|
||||
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);
|
||||
|
|
@ -481,13 +445,13 @@ impl Channels {
|
|||
interval: state.get_adc_interval(),
|
||||
adc: state.get_adc(),
|
||||
sens: state.get_sens(),
|
||||
temperature: state
|
||||
.get_temperature()
|
||||
temperature: state.get_temperature()
|
||||
.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),
|
||||
|
|
@ -511,40 +475,27 @@ 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 output_summary(&mut self, channel: usize) -> OutputSummary {
|
||||
OutputSummary {
|
||||
fn pwm_summary(&mut self, channel: usize) -> PwmSummary {
|
||||
PwmSummary {
|
||||
channel,
|
||||
center: CenterPointJson(self.channel_state(channel).center.clone()),
|
||||
i_set: self.get_i_set(channel),
|
||||
max_v: self.get_max_v(channel),
|
||||
max_i_pos: self.get_max_i_pos(channel),
|
||||
max_i_neg: self.get_max_i_neg(channel),
|
||||
polarity: PolarityJson(self.channel_state(channel).polarity.clone()),
|
||||
i_set: (self.get_i(channel), 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(),
|
||||
}
|
||||
}
|
||||
|
||||
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)
|
||||
}
|
||||
|
||||
fn postfilter_summary(&mut self, channel: usize) -> PostFilterSummary {
|
||||
let rate = self
|
||||
.adc
|
||||
.get_postfilter(channel as u8)
|
||||
.unwrap()
|
||||
let rate = self.adc.get_postfilter(channel as u8).unwrap()
|
||||
.and_then(|filter| filter.output_rate());
|
||||
PostFilterSummary { channel, rate }
|
||||
}
|
||||
|
|
@ -557,26 +508,23 @@ 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(
|
||||
&mut self,
|
||||
) -> Result<JsonBuffer, serde_json_core::ser::Error> {
|
||||
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)
|
||||
}
|
||||
|
||||
pub fn current_abs_max_tec_i(&mut self) -> ElectricCurrent {
|
||||
(0..CHANNELS)
|
||||
.map(|channel| self.get_tec_i(channel).abs())
|
||||
.max_by(|a, b| a.partial_cmp(b).unwrap_or(core::cmp::Ordering::Equal))
|
||||
.unwrap()
|
||||
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))
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -590,6 +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,
|
||||
|
|
@ -607,36 +556,34 @@ impl Serialize for CenterPointJson {
|
|||
S: Serializer,
|
||||
{
|
||||
match self.0 {
|
||||
CenterPoint::VRef => serializer.serialize_str("vref"),
|
||||
CenterPoint::Override(vref) => serializer.serialize_f32(vref),
|
||||
CenterPoint::Vref =>
|
||||
serializer.serialize_str("vref"),
|
||||
CenterPoint::Override(vref) =>
|
||||
serializer.serialize_f32(vref),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub struct PolarityJson(Polarity);
|
||||
#[derive(Serialize)]
|
||||
pub struct PwmSummaryField<T: Serialize> {
|
||||
value: T,
|
||||
max: T,
|
||||
}
|
||||
|
||||
// used in JSON encoding, not for config
|
||||
impl Serialize for PolarityJson {
|
||||
fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
|
||||
where
|
||||
S: Serializer,
|
||||
{
|
||||
serializer.serialize_str(match self.0 {
|
||||
Polarity::Normal => "normal",
|
||||
Polarity::Reversed => "reversed",
|
||||
})
|
||||
impl<T: Serialize> From<(T, T)> for PwmSummaryField<T> {
|
||||
fn from((value, max): (T, T)) -> Self {
|
||||
PwmSummaryField { value, max }
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Serialize)]
|
||||
pub struct OutputSummary {
|
||||
pub struct PwmSummary {
|
||||
channel: usize,
|
||||
center: CenterPointJson,
|
||||
i_set: ElectricCurrent,
|
||||
max_v: ElectricPotential,
|
||||
max_i_pos: ElectricCurrent,
|
||||
max_i_neg: ElectricCurrent,
|
||||
polarity: PolarityJson,
|
||||
i_set: PwmSummaryField<ElectricCurrent>,
|
||||
max_v: PwmSummaryField<ElectricPotential>,
|
||||
max_i_pos: PwmSummaryField<ElectricCurrent>,
|
||||
max_i_neg: PwmSummaryField<ElectricCurrent>,
|
||||
}
|
||||
|
||||
#[derive(Serialize)]
|
||||
|
|
@ -646,7 +593,7 @@ pub struct PostFilterSummary {
|
|||
}
|
||||
|
||||
#[derive(Serialize)]
|
||||
pub struct BParameterSummary {
|
||||
pub struct SteinhartHartSummary {
|
||||
channel: usize,
|
||||
params: b_parameter::Parameters,
|
||||
params: steinhart_hart::Parameters,
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,30 +1,46 @@
|
|||
use smoltcp::socket::TcpSocket;
|
||||
use log::{error, warn};
|
||||
use core::fmt::Write;
|
||||
use heapless::{consts::U1024, Vec};
|
||||
use super::{
|
||||
ad7172,
|
||||
channels::{Channels, CHANNELS},
|
||||
net,
|
||||
command_parser::{
|
||||
BpParameter, CenterPoint, Command, Ipv4Config, PidParameter, Polarity, PwmPin, ShowCommand,
|
||||
Ipv4Config,
|
||||
Command,
|
||||
ShowCommand,
|
||||
CenterPoint,
|
||||
PidParameter,
|
||||
PwmPin,
|
||||
ShParameter
|
||||
},
|
||||
leds::Leds,
|
||||
ad7172,
|
||||
CHANNEL_CONFIG_KEY,
|
||||
channels::{
|
||||
Channels,
|
||||
CHANNELS
|
||||
},
|
||||
config::ChannelConfig,
|
||||
dfu,
|
||||
flash_store::FlashStore,
|
||||
session::Session,
|
||||
FanCtrl,
|
||||
hw_rev::HWRev,
|
||||
net, FanCtrl, CHANNEL_CONFIG_KEY,
|
||||
};
|
||||
use core::fmt::Write;
|
||||
use heapless::{consts::U1024, Vec};
|
||||
use log::{error, warn};
|
||||
use smoltcp::socket::TcpSocket;
|
||||
|
||||
use uom::si::{
|
||||
electric_current::ampere,
|
||||
electric_potential::volt,
|
||||
electrical_resistance::ohm,
|
||||
f64::{
|
||||
ElectricCurrent, ElectricPotential, ElectricalResistance, TemperatureInterval,
|
||||
ThermodynamicTemperature,
|
||||
use uom::{
|
||||
si::{
|
||||
f64::{
|
||||
ElectricCurrent,
|
||||
ElectricPotential,
|
||||
ElectricalResistance,
|
||||
ThermodynamicTemperature,
|
||||
},
|
||||
electric_current::ampere,
|
||||
electric_potential::volt,
|
||||
electrical_resistance::ohm,
|
||||
thermodynamic_temperature::degree_celsius,
|
||||
},
|
||||
temperature_interval::kelvin,
|
||||
thermodynamic_temperature::degree_celsius,
|
||||
};
|
||||
|
||||
#[derive(Debug, Clone, PartialEq)]
|
||||
|
|
@ -37,9 +53,9 @@ pub enum Handler {
|
|||
|
||||
#[derive(Clone, Debug, PartialEq)]
|
||||
pub enum Error {
|
||||
Report,
|
||||
PostFilterRate,
|
||||
Flash,
|
||||
ReportError,
|
||||
PostFilterRateError,
|
||||
FlashError
|
||||
}
|
||||
|
||||
pub type JsonBuffer = Vec<u8, U1024>;
|
||||
|
|
@ -51,19 +67,19 @@ fn send_line(socket: &mut TcpSocket, data: &[u8]) -> bool {
|
|||
// instead of sending incomplete line
|
||||
warn!(
|
||||
"TCP socket has only {}/{} needed {}",
|
||||
send_free + 1,
|
||||
socket.send_capacity(),
|
||||
data.len(),
|
||||
send_free + 1, socket.send_capacity(), data.len(),
|
||||
);
|
||||
} else {
|
||||
match socket.send_slice(data) {
|
||||
match socket.send_slice(&data) {
|
||||
Ok(sent) if sent == data.len() => {
|
||||
let _ = socket.send_slice(b"\n");
|
||||
// success
|
||||
return true;
|
||||
return true
|
||||
}
|
||||
Ok(sent) => warn!("sent only {}/{} bytes", sent, data.len()),
|
||||
Err(e) => error!("error sending line: {:?}", e),
|
||||
Ok(sent) =>
|
||||
warn!("sent only {}/{} bytes", sent, data.len()),
|
||||
Err(e) =>
|
||||
error!("error sending line: {:?}", e),
|
||||
}
|
||||
}
|
||||
// not success
|
||||
|
|
@ -71,6 +87,17 @@ fn send_line(socket: &mut TcpSocket, data: &[u8]) -> bool {
|
|||
}
|
||||
|
||||
impl Handler {
|
||||
|
||||
fn reporting(socket: &mut TcpSocket) -> Result<Handler, Error> {
|
||||
send_line(socket, b"{}");
|
||||
Ok(Handler::Handled)
|
||||
}
|
||||
|
||||
fn show_report_mode(socket: &mut TcpSocket, session: &Session) -> Result<Handler, Error> {
|
||||
let _ = writeln!(socket, "{{ \"report\": {:?} }}", session.reporting());
|
||||
Ok(Handler::Handled)
|
||||
}
|
||||
|
||||
fn show_report(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
|
||||
match channels.reports_json() {
|
||||
Ok(buf) => {
|
||||
|
|
@ -79,7 +106,7 @@ impl Handler {
|
|||
Err(e) => {
|
||||
error!("unable to serialize report: {:?}", e);
|
||||
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
||||
return Err(Error::Report);
|
||||
return Err(Error::ReportError);
|
||||
}
|
||||
}
|
||||
Ok(Handler::Handled)
|
||||
|
|
@ -93,41 +120,41 @@ impl Handler {
|
|||
Err(e) => {
|
||||
error!("unable to serialize pid summary: {:?}", e);
|
||||
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
||||
return Err(Error::Report);
|
||||
return Err(Error::ReportError);
|
||||
}
|
||||
}
|
||||
Ok(Handler::Handled)
|
||||
}
|
||||
|
||||
fn show_pwm(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
|
||||
match channels.output_summaries_json() {
|
||||
match channels.pwm_summaries_json() {
|
||||
Ok(buf) => {
|
||||
send_line(socket, &buf);
|
||||
}
|
||||
Err(e) => {
|
||||
error!("unable to serialize pwm summary: {:?}", e);
|
||||
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
||||
return Err(Error::Report);
|
||||
return Err(Error::ReportError);
|
||||
}
|
||||
}
|
||||
Ok(Handler::Handled)
|
||||
}
|
||||
|
||||
fn show_b_parameter(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
|
||||
match channels.b_parameter_summaries_json() {
|
||||
fn show_steinhart_hart(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
|
||||
match channels.steinhart_hart_summaries_json() {
|
||||
Ok(buf) => {
|
||||
send_line(socket, &buf);
|
||||
}
|
||||
Err(e) => {
|
||||
error!("unable to serialize b parameter summaries: {:?}", e);
|
||||
error!("unable to serialize steinhart-hart summaries: {:?}", e);
|
||||
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
||||
return Err(Error::Report);
|
||||
return Err(Error::ReportError);
|
||||
}
|
||||
}
|
||||
Ok(Handler::Handled)
|
||||
}
|
||||
|
||||
fn show_post_filter(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
|
||||
fn show_post_filter (socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
|
||||
match channels.postfilter_summaries_json() {
|
||||
Ok(buf) => {
|
||||
send_line(socket, &buf);
|
||||
|
|
@ -135,13 +162,13 @@ impl Handler {
|
|||
Err(e) => {
|
||||
error!("unable to serialize postfilter summary: {:?}", e);
|
||||
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
||||
return Err(Error::Report);
|
||||
return Err(Error::ReportError);
|
||||
}
|
||||
}
|
||||
Ok(Handler::Handled)
|
||||
}
|
||||
|
||||
fn show_ipv4(socket: &mut TcpSocket, ipv4_config: &mut Ipv4Config) -> Result<Handler, Error> {
|
||||
fn show_ipv4 (socket: &mut TcpSocket, ipv4_config: &mut Ipv4Config) -> Result<Handler, Error> {
|
||||
let (cidr, gateway) = net::split_ipv4_config(ipv4_config.clone());
|
||||
let _ = write!(socket, "{{\"addr\":\"{}\"", cidr);
|
||||
gateway.map(|gateway| write!(socket, ",\"gateway\":\"{}\"", gateway));
|
||||
|
|
@ -149,37 +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_polarity(
|
||||
socket: &mut TcpSocket,
|
||||
channels: &mut Channels,
|
||||
channel: usize,
|
||||
polarity: Polarity,
|
||||
) -> Result<Handler, Error> {
|
||||
channels.set_polarity(channel, polarity);
|
||||
send_line(socket, b"{}");
|
||||
Ok(Handler::Handled)
|
||||
}
|
||||
|
||||
fn set_pwm(
|
||||
socket: &mut TcpSocket,
|
||||
channels: &mut Channels,
|
||||
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);
|
||||
|
|
@ -201,107 +209,76 @@ impl Handler {
|
|||
Ok(Handler::Handled)
|
||||
}
|
||||
|
||||
fn set_center_point(
|
||||
socket: &mut TcpSocket,
|
||||
channels: &mut Channels,
|
||||
channel: usize,
|
||||
center: CenterPoint,
|
||||
) -> Result<Handler, Error> {
|
||||
let i_set = channels.get_i_set(channel);
|
||||
fn set_center_point(socket: &mut TcpSocket, channels: &mut Channels, channel: usize, center: CenterPoint) -> Result<Handler, Error> {
|
||||
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)
|
||||
}
|
||||
|
||||
fn set_pid(
|
||||
socket: &mut TcpSocket,
|
||||
channels: &mut Channels,
|
||||
channel: usize,
|
||||
parameter: PidParameter,
|
||||
value: f64,
|
||||
) -> Result<Handler, Error> {
|
||||
fn set_pid (socket: &mut TcpSocket, channels: &mut Channels, channel: usize, parameter: PidParameter, value: f64) -> Result<Handler, Error> {
|
||||
let pid = &mut channels.channel_state(channel).pid;
|
||||
use super::command_parser::PidParameter::*;
|
||||
match parameter {
|
||||
Target => pid.target = value,
|
||||
KP => pid.parameters.kp = value as f32,
|
||||
KI => pid.update_ki(value as f32),
|
||||
KD => pid.parameters.kd = value as f32,
|
||||
OutputMin => pid.parameters.output_min = value as f32,
|
||||
OutputMax => pid.parameters.output_max = value as f32,
|
||||
Target =>
|
||||
pid.target = value,
|
||||
KP =>
|
||||
pid.parameters.kp = value as f32,
|
||||
KI =>
|
||||
pid.update_ki(value as f32),
|
||||
KD =>
|
||||
pid.parameters.kd = value as f32,
|
||||
OutputMin =>
|
||||
pid.parameters.output_min = value as f32,
|
||||
OutputMax =>
|
||||
pid.parameters.output_max = value as f32,
|
||||
}
|
||||
send_line(socket, b"{}");
|
||||
Ok(Handler::Handled)
|
||||
}
|
||||
|
||||
fn set_b_parameter(
|
||||
socket: &mut TcpSocket,
|
||||
channels: &mut Channels,
|
||||
channel: usize,
|
||||
parameter: BpParameter,
|
||||
value: f64,
|
||||
) -> Result<Handler, Error> {
|
||||
let bp = &mut channels.channel_state(channel).bp;
|
||||
use super::command_parser::BpParameter::*;
|
||||
fn set_steinhart_hart (socket: &mut TcpSocket, channels: &mut Channels, channel: usize, parameter: ShParameter, value: f64) -> Result<Handler, Error> {
|
||||
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)
|
||||
}
|
||||
|
||||
fn reset_post_filter(
|
||||
socket: &mut TcpSocket,
|
||||
channels: &mut Channels,
|
||||
channel: usize,
|
||||
) -> Result<Handler, Error> {
|
||||
fn reset_post_filter (socket: &mut TcpSocket, channels: &mut Channels, channel: usize) -> Result<Handler, Error> {
|
||||
channels.adc.set_postfilter(channel as u8, None).unwrap();
|
||||
send_line(socket, b"{}");
|
||||
Ok(Handler::Handled)
|
||||
}
|
||||
|
||||
fn set_post_filter(
|
||||
socket: &mut TcpSocket,
|
||||
channels: &mut Channels,
|
||||
channel: usize,
|
||||
rate: f32,
|
||||
) -> Result<Handler, Error> {
|
||||
fn set_post_filter (socket: &mut TcpSocket, channels: &mut Channels, channel: usize, rate: f32) -> Result<Handler, Error> {
|
||||
let filter = ad7172::PostFilter::closest(rate);
|
||||
match filter {
|
||||
Some(filter) => {
|
||||
channels
|
||||
.adc
|
||||
.set_postfilter(channel as u8, Some(filter))
|
||||
.unwrap();
|
||||
channels.adc.set_postfilter(channel as u8, Some(filter)).unwrap();
|
||||
send_line(socket, b"{}");
|
||||
}
|
||||
None => {
|
||||
error!("unable to choose postfilter for rate {:.3}", rate);
|
||||
send_line(
|
||||
socket,
|
||||
b"{{\"error\": \"unable to choose postfilter rate\"}}",
|
||||
);
|
||||
return Err(Error::PostFilterRate);
|
||||
send_line(socket, b"{{\"error\": \"unable to choose postfilter rate\"}}");
|
||||
return Err(Error::PostFilterRateError);
|
||||
}
|
||||
}
|
||||
Ok(Handler::Handled)
|
||||
}
|
||||
|
||||
fn load_channel(
|
||||
socket: &mut TcpSocket,
|
||||
channels: &mut Channels,
|
||||
store: &mut FlashStore,
|
||||
channel: Option<usize>,
|
||||
) -> Result<Handler, Error> {
|
||||
for (c, key) in CHANNEL_CONFIG_KEY.iter().enumerate().take(CHANNELS) {
|
||||
fn load_channel (socket: &mut TcpSocket, channels: &mut Channels, store: &mut FlashStore, channel: Option<usize>) -> Result<Handler, Error> {
|
||||
for c in 0..CHANNELS {
|
||||
if channel.is_none() || channel == Some(c) {
|
||||
match store.read_value::<ChannelConfig>(key) {
|
||||
match store.read_value::<ChannelConfig>(CHANNEL_CONFIG_KEY[c]) {
|
||||
Ok(Some(config)) => {
|
||||
config.apply(channels, c);
|
||||
send_line(socket, b"{}");
|
||||
|
|
@ -313,7 +290,7 @@ impl Handler {
|
|||
Err(e) => {
|
||||
error!("unable to load config from flash: {:?}", e);
|
||||
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
||||
return Err(Error::Flash);
|
||||
return Err(Error::FlashError);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -321,24 +298,19 @@ impl Handler {
|
|||
Ok(Handler::Handled)
|
||||
}
|
||||
|
||||
fn save_channel(
|
||||
socket: &mut TcpSocket,
|
||||
channels: &mut Channels,
|
||||
channel: Option<usize>,
|
||||
store: &mut FlashStore,
|
||||
) -> Result<Handler, Error> {
|
||||
for (c, key) in CHANNEL_CONFIG_KEY.iter().enumerate().take(CHANNELS) {
|
||||
fn save_channel (socket: &mut TcpSocket, channels: &mut Channels, channel: Option<usize>, store: &mut FlashStore) -> Result<Handler, Error> {
|
||||
for c in 0..CHANNELS {
|
||||
let mut store_value_buf = [0u8; 256];
|
||||
if channel.is_none() || channel == Some(c) {
|
||||
let config = ChannelConfig::new(channels, c);
|
||||
match store.write_value(key, &config, &mut store_value_buf) {
|
||||
match store.write_value(CHANNEL_CONFIG_KEY[c], &config, &mut store_value_buf) {
|
||||
Ok(()) => {
|
||||
send_line(socket, b"{}");
|
||||
}
|
||||
Err(e) => {
|
||||
error!("unable to save channel {} config to flash: {:?}", c, e);
|
||||
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
||||
return Err(Error::Flash);
|
||||
return Err(Error::FlashError);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -346,11 +318,7 @@ impl Handler {
|
|||
Ok(Handler::Handled)
|
||||
}
|
||||
|
||||
fn set_ipv4(
|
||||
socket: &mut TcpSocket,
|
||||
store: &mut FlashStore,
|
||||
config: Ipv4Config,
|
||||
) -> Result<Handler, Error> {
|
||||
fn set_ipv4 (socket: &mut TcpSocket, store: &mut FlashStore, config: Ipv4Config) -> Result<Handler, Error> {
|
||||
let _ = store
|
||||
.write_value("ipv4", &config, [0; 16])
|
||||
.map_err(|e| error!("unable to save ipv4 config to flash: {:?}", e));
|
||||
|
|
@ -359,7 +327,7 @@ impl Handler {
|
|||
Ok(Handler::NewIPV4(new_ipv4_config.unwrap()))
|
||||
}
|
||||
|
||||
fn reset(channels: &mut Channels) -> Result<Handler, Error> {
|
||||
fn reset (channels: &mut Channels) -> Result<Handler, Error> {
|
||||
for i in 0..CHANNELS {
|
||||
channels.power_down(i);
|
||||
}
|
||||
|
|
@ -367,7 +335,7 @@ impl Handler {
|
|||
Ok(Handler::Reset)
|
||||
}
|
||||
|
||||
fn dfu(channels: &mut Channels) -> Result<Handler, Error> {
|
||||
fn dfu (channels: &mut Channels) -> Result<Handler, Error> {
|
||||
for i in 0..CHANNELS {
|
||||
channels.power_down(i);
|
||||
}
|
||||
|
|
@ -378,16 +346,9 @@ impl Handler {
|
|||
Ok(Handler::Reset)
|
||||
}
|
||||
|
||||
fn set_fan(
|
||||
socket: &mut TcpSocket,
|
||||
fan_pwm: u32,
|
||||
fan_ctrl: &mut FanCtrl,
|
||||
) -> Result<Handler, Error> {
|
||||
fn set_fan(socket: &mut TcpSocket, fan_pwm: u32, fan_ctrl: &mut FanCtrl) -> Result<Handler, Error> {
|
||||
if !fan_ctrl.fan_available() {
|
||||
send_line(
|
||||
socket,
|
||||
b"{ \"warning\": \"this thermostat doesn't have a fan!\" }",
|
||||
);
|
||||
send_line(socket, b"{ \"warning\": \"this thermostat doesn't have fan!\" }");
|
||||
return Ok(Handler::Handled);
|
||||
}
|
||||
fan_ctrl.set_auto_mode(false);
|
||||
|
|
@ -409,17 +370,14 @@ impl Handler {
|
|||
Err(e) => {
|
||||
error!("unable to serialize fan summary: {:?}", e);
|
||||
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
||||
Err(Error::Report)
|
||||
Err(Error::ReportError)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn fan_auto(socket: &mut TcpSocket, fan_ctrl: &mut FanCtrl) -> Result<Handler, Error> {
|
||||
if !fan_ctrl.fan_available() {
|
||||
send_line(
|
||||
socket,
|
||||
b"{ \"warning\": \"this thermostat doesn't have a fan!\" }",
|
||||
);
|
||||
send_line(socket, b"{ \"warning\": \"this thermostat doesn't have fan!\" }");
|
||||
return Ok(Handler::Handled);
|
||||
}
|
||||
fan_ctrl.set_auto_mode(true);
|
||||
|
|
@ -431,13 +389,7 @@ impl Handler {
|
|||
Ok(Handler::Handled)
|
||||
}
|
||||
|
||||
fn fan_curve(
|
||||
socket: &mut TcpSocket,
|
||||
fan_ctrl: &mut FanCtrl,
|
||||
k_a: f32,
|
||||
k_b: f32,
|
||||
k_c: f32,
|
||||
) -> Result<Handler, Error> {
|
||||
fn fan_curve(socket: &mut TcpSocket, fan_ctrl: &mut FanCtrl, k_a: f32, k_b: f32, k_c: f32) -> Result<Handler, Error> {
|
||||
fan_ctrl.set_curve(k_a, k_b, k_c);
|
||||
send_line(socket, b"{}");
|
||||
Ok(Handler::Handled)
|
||||
|
|
@ -458,71 +410,40 @@ impl Handler {
|
|||
Err(e) => {
|
||||
error!("unable to serialize HWRev summary: {:?}", e);
|
||||
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
||||
Err(Error::Report)
|
||||
Err(Error::ReportError)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub fn handle_command(
|
||||
command: Command,
|
||||
socket: &mut TcpSocket,
|
||||
channels: &mut Channels,
|
||||
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),
|
||||
Command::Show(ShowCommand::Reporting) => Handler::show_report_mode(socket, session),
|
||||
Command::Show(ShowCommand::Input) => Handler::show_report(socket, channels),
|
||||
Command::Show(ShowCommand::Pid) => Handler::show_pid(socket, channels),
|
||||
Command::Show(ShowCommand::Output) => Handler::show_pwm(socket, channels),
|
||||
Command::Show(ShowCommand::BParameter) => Handler::show_b_parameter(socket, channels),
|
||||
Command::Show(ShowCommand::Pwm) => Handler::show_pwm(socket, channels),
|
||||
Command::Show(ShowCommand::SteinhartHart) => Handler::show_steinhart_hart(socket, channels),
|
||||
Command::Show(ShowCommand::PostFilter) => Handler::show_post_filter(socket, channels),
|
||||
Command::Show(ShowCommand::Ipv4) => Handler::show_ipv4(socket, ipv4_config),
|
||||
Command::OutputPid { channel } => Handler::engage_pid(socket, channels, channel),
|
||||
Command::OutputPolarity { channel, polarity } => {
|
||||
Handler::set_polarity(socket, channels, channel, polarity)
|
||||
}
|
||||
Command::Output {
|
||||
channel,
|
||||
pin,
|
||||
value,
|
||||
} => Handler::set_pwm(socket, channels, 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::BParameter {
|
||||
channel,
|
||||
parameter,
|
||||
value,
|
||||
} => Handler::set_b_parameter(socket, channels, channel, parameter, value),
|
||||
Command::PostFilter {
|
||||
channel,
|
||||
rate: None,
|
||||
} => Handler::reset_post_filter(socket, channels, channel),
|
||||
Command::PostFilter {
|
||||
channel,
|
||||
rate: Some(rate),
|
||||
} => Handler::set_post_filter(socket, channels, channel, rate),
|
||||
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),
|
||||
Command::PostFilter { channel, rate: None } => Handler::reset_post_filter(socket, channels, channel),
|
||||
Command::PostFilter { channel, rate: Some(rate) } => Handler::set_post_filter(socket, channels, channel, rate),
|
||||
Command::Load { channel } => Handler::load_channel(socket, channels, store, channel),
|
||||
Command::Save { channel } => Handler::save_channel(socket, channels, channel, store),
|
||||
Command::Ipv4(config) => Handler::set_ipv4(socket, store, config),
|
||||
Command::Reset => Handler::reset(channels),
|
||||
Command::Dfu => Handler::dfu(channels),
|
||||
Command::FanSet { fan_pwm } => Handler::set_fan(socket, fan_pwm, fan_ctrl),
|
||||
Command::FanSet {fan_pwm} => Handler::set_fan(socket, fan_pwm, fan_ctrl),
|
||||
Command::ShowFan => Handler::show_fan(socket, fan_ctrl),
|
||||
Command::FanAuto => Handler::fan_auto(socket, fan_ctrl),
|
||||
Command::FanCurve { k_a, k_b, k_c } => {
|
||||
Handler::fan_curve(socket, fan_ctrl, k_a, k_b, k_c)
|
||||
}
|
||||
Command::FanCurve { k_a, k_b, k_c } => Handler::fan_curve(socket, fan_ctrl, k_a, k_b, k_c),
|
||||
Command::FanCurveDefaults => Handler::fan_defaults(socket, fan_ctrl),
|
||||
Command::ShowHWRev => Handler::show_hwrev(socket, hwrev),
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,13 +1,16 @@
|
|||
use serde::{Serialize, Deserialize};
|
||||
use uom::si::{
|
||||
electric_potential::volt,
|
||||
electric_current::ampere,
|
||||
f64::{ElectricCurrent, ElectricPotential},
|
||||
};
|
||||
use crate::{
|
||||
ad7172::PostFilter,
|
||||
b_parameter,
|
||||
channels::Channels,
|
||||
command_parser::{CenterPoint, Polarity},
|
||||
command_parser::CenterPoint,
|
||||
pid,
|
||||
steinhart_hart,
|
||||
};
|
||||
use num_traits::Zero;
|
||||
use serde::{Deserialize, Serialize};
|
||||
use uom::si::f64::{ElectricCurrent, ElectricPotential};
|
||||
|
||||
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
|
||||
pub struct ChannelConfig {
|
||||
|
|
@ -15,9 +18,7 @@ pub struct ChannelConfig {
|
|||
pid: pid::Parameters,
|
||||
pid_target: f32,
|
||||
pid_engaged: bool,
|
||||
i_set: ElectricCurrent,
|
||||
polarity: Polarity,
|
||||
bp: b_parameter::Parameters,
|
||||
sh: steinhart_hart::Parameters,
|
||||
pwm: PwmLimits,
|
||||
/// uses variant `PostFilter::Invalid` instead of `None` to save space
|
||||
adc_postfilter: PostFilter,
|
||||
|
|
@ -27,26 +28,17 @@ impl ChannelConfig {
|
|||
pub fn new(channels: &mut Channels, channel: usize) -> Self {
|
||||
let pwm = PwmLimits::new(channels, channel);
|
||||
|
||||
let adc_postfilter = channels
|
||||
.adc
|
||||
.get_postfilter(channel as u8)
|
||||
let adc_postfilter = channels.adc.get_postfilter(channel as u8)
|
||||
.unwrap()
|
||||
.unwrap_or(PostFilter::Invalid);
|
||||
|
||||
let state = channels.channel_state(channel);
|
||||
let i_set = if state.pid_engaged {
|
||||
ElectricCurrent::zero()
|
||||
} else {
|
||||
state.i_set
|
||||
};
|
||||
ChannelConfig {
|
||||
center: state.center.clone(),
|
||||
pid: state.pid.parameters.clone(),
|
||||
pid_target: state.pid.target as f32,
|
||||
pid_engaged: state.pid_engaged,
|
||||
i_set,
|
||||
polarity: state.polarity.clone(),
|
||||
bp: state.bp.clone(),
|
||||
sh: state.sh.clone(),
|
||||
pwm,
|
||||
adc_postfilter,
|
||||
}
|
||||
|
|
@ -58,7 +50,7 @@ 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);
|
||||
|
||||
|
|
@ -67,33 +59,31 @@ impl ChannelConfig {
|
|||
adc_postfilter => Some(adc_postfilter),
|
||||
};
|
||||
let _ = channels.adc.set_postfilter(channel as u8, adc_postfilter);
|
||||
let _ = channels.set_i(channel, self.i_set);
|
||||
channels.set_polarity(channel, self.polarity.clone());
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
|
||||
pub struct PwmLimits {
|
||||
pub max_v: ElectricPotential,
|
||||
pub max_i_pos: ElectricCurrent,
|
||||
pub max_i_neg: ElectricCurrent,
|
||||
struct PwmLimits {
|
||||
max_v: f64,
|
||||
max_i_pos: f64,
|
||||
max_i_neg: f64,
|
||||
}
|
||||
|
||||
impl PwmLimits {
|
||||
pub fn new(channels: &mut Channels, channel: usize) -> Self {
|
||||
let max_v = channels.get_max_v(channel);
|
||||
let max_i_pos = channels.get_max_i_pos(channel);
|
||||
let max_i_neg = channels.get_max_i_neg(channel);
|
||||
let (max_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));
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,4 +1,3 @@
|
|||
use core::arch::asm;
|
||||
use cortex_m_rt::pre_init;
|
||||
use stm32f4xx_hal::stm32::{RCC, SYSCFG};
|
||||
|
||||
|
|
@ -14,7 +13,7 @@ pub unsafe fn set_dfu_trigger() {
|
|||
}
|
||||
|
||||
/// Called by reset handler in lib.rs immediately after reset.
|
||||
/// This function should not be called outside of reset handler as
|
||||
/// This function should not be called outside of reset handler as
|
||||
/// bootloader expects MCU to be in reset state when called.
|
||||
#[cfg(target_arch = "arm")]
|
||||
#[pre_init]
|
||||
|
|
@ -27,13 +26,13 @@ unsafe fn __pre_init() {
|
|||
rcc.apb2enr.modify(|_, w| w.syscfgen().set_bit());
|
||||
|
||||
// Bypass BOOT pins and remap bootloader to 0x00000000
|
||||
let syscfg = &*SYSCFG::ptr();
|
||||
syscfg.memrm.write(|w| w.mem_mode().bits(0b01));
|
||||
let syscfg = &*SYSCFG::ptr() ;
|
||||
syscfg.memrm.write(|w| w.mem_mode().bits(0b01));
|
||||
|
||||
// Impose instruction and memory barriers
|
||||
cortex_m::asm::isb();
|
||||
cortex_m::asm::dsb();
|
||||
|
||||
|
||||
asm!(
|
||||
// Set stack pointer to bootloader location
|
||||
"LDR R0, =0x1FFF0000",
|
||||
|
|
|
|||
|
|
@ -1,17 +1,24 @@
|
|||
use crate::{channels::MAX_TEC_I, command_handler::JsonBuffer, hw_rev::HWSettings};
|
||||
use num_traits::Float;
|
||||
use serde::Serialize;
|
||||
use stm32f4xx_hal::{
|
||||
pac::TIM8,
|
||||
pwm::{self, PwmChannels},
|
||||
pac::TIM8,
|
||||
};
|
||||
|
||||
use crate::{
|
||||
hw_rev::HWSettings,
|
||||
command_handler::JsonBuffer,
|
||||
};
|
||||
use uom::si::{electric_current::ampere, f64::ElectricCurrent};
|
||||
|
||||
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;
|
||||
|
||||
|
||||
pub struct FanCtrl {
|
||||
fan: Option<FanPin>,
|
||||
fan_auto: bool,
|
||||
|
|
@ -43,14 +50,12 @@ 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;
|
||||
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);
|
||||
}
|
||||
}
|
||||
|
|
@ -83,26 +88,18 @@ impl FanCtrl {
|
|||
}
|
||||
|
||||
pub fn restore_defaults(&mut self) {
|
||||
self.set_curve(
|
||||
self.hw_settings.fan_k_a,
|
||||
self.hw_settings.fan_k_b,
|
||||
self.hw_settings.fan_k_c,
|
||||
);
|
||||
self.set_curve(self.hw_settings.fan_k_a,
|
||||
self.hw_settings.fan_k_b,
|
||||
self.hw_settings.fan_k_c);
|
||||
}
|
||||
|
||||
pub fn set_pwm(&mut self, fan_pwm: u32) -> f32 {
|
||||
if self.fan.is_none() || (!self.pwm_enabled && !self.enable_pwm()) {
|
||||
if self.fan.is_none() || (!self.pwm_enabled && !self.enable_pwm()) {
|
||||
return 0f32;
|
||||
}
|
||||
let fan = self.fan.as_mut().unwrap();
|
||||
let fan_pwm = fan_pwm.clamp(MIN_USER_FAN_PWM as u32, MAX_USER_FAN_PWM as u32);
|
||||
let duty = scale_number(
|
||||
fan_pwm as f32,
|
||||
self.hw_settings.min_fan_pwm,
|
||||
self.hw_settings.max_fan_pwm,
|
||||
MIN_USER_FAN_PWM,
|
||||
MAX_USER_FAN_PWM,
|
||||
);
|
||||
let fan_pwm = fan_pwm.min(MAX_USER_FAN_PWM as u32).max(MIN_USER_FAN_PWM as u32);
|
||||
let duty = scale_number(fan_pwm as f32, self.hw_settings.min_fan_pwm, self.hw_settings.max_fan_pwm, MIN_USER_FAN_PWM, MAX_USER_FAN_PWM);
|
||||
let max = fan.get_max_duty();
|
||||
let value = ((duty * (max as f32)) as u16).min(max);
|
||||
fan.set_duty(value);
|
||||
|
|
@ -121,17 +118,8 @@ impl FanCtrl {
|
|||
if let Some(fan) = &self.fan {
|
||||
let duty = fan.get_duty();
|
||||
let max = fan.get_max_duty();
|
||||
scale_number(
|
||||
duty as f32 / (max as f32),
|
||||
MIN_USER_FAN_PWM,
|
||||
MAX_USER_FAN_PWM,
|
||||
self.hw_settings.min_fan_pwm,
|
||||
self.hw_settings.max_fan_pwm,
|
||||
)
|
||||
.round() as u32
|
||||
} else {
|
||||
0
|
||||
}
|
||||
scale_number(duty as f32 / (max as f32), MIN_USER_FAN_PWM, MAX_USER_FAN_PWM, self.hw_settings.min_fan_pwm, self.hw_settings.max_fan_pwm).round() as u32
|
||||
} else { 0 }
|
||||
}
|
||||
|
||||
fn enable_pwm(&mut self) -> bool {
|
||||
|
|
@ -147,6 +135,7 @@ impl FanCtrl {
|
|||
}
|
||||
}
|
||||
|
||||
|
||||
fn scale_number(unscaled: f32, to_min: f32, to_max: f32, from_min: f32, from_max: f32) -> f32 {
|
||||
(to_max - to_min) * (unscaled - from_min) / (from_max - from_min) + to_min
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,9 +1,9 @@
|
|||
use log::{error, info};
|
||||
use sfkv::{Store, StoreBackend};
|
||||
use log::{info, error};
|
||||
use stm32f4xx_hal::{
|
||||
flash::{Error, FlashExt},
|
||||
stm32::FLASH,
|
||||
};
|
||||
use sfkv::{Store, StoreBackend};
|
||||
|
||||
/// 16 KiB
|
||||
pub const FLASH_SECTOR_SIZE: usize = 0x4000;
|
||||
|
|
@ -21,7 +21,9 @@ pub struct FlashBackend {
|
|||
}
|
||||
|
||||
fn get_offset() -> usize {
|
||||
unsafe { (&_config_start as *const usize as usize) - (&_flash_start as *const usize as usize) }
|
||||
unsafe {
|
||||
(&_config_start as *const usize as usize) - (&_flash_start as *const usize as usize)
|
||||
}
|
||||
}
|
||||
|
||||
impl StoreBackend for FlashBackend {
|
||||
|
|
@ -38,8 +40,7 @@ impl StoreBackend for FlashBackend {
|
|||
}
|
||||
|
||||
fn program(&mut self, offset: usize, payload: &[u8]) -> Result<(), Self::Error> {
|
||||
self.flash
|
||||
.unlocked()
|
||||
self.flash.unlocked()
|
||||
.program(get_offset() + offset, payload.iter())
|
||||
}
|
||||
|
||||
|
|
@ -59,8 +60,7 @@ pub fn store(flash: FLASH) -> FlashStore {
|
|||
Ok(_) => {}
|
||||
Err(e) => {
|
||||
error!("corrupt store, erasing. error: {:?}", e);
|
||||
let _ = store
|
||||
.erase()
|
||||
let _ = store.erase()
|
||||
.map_err(|e| error!("flash erase failed: {:?}", e));
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,6 +1,9 @@
|
|||
use serde::Serialize;
|
||||
|
||||
use crate::{command_handler::JsonBuffer, pins::HWRevPins};
|
||||
use crate::{
|
||||
pins::HWRevPins,
|
||||
command_handler::JsonBuffer,
|
||||
};
|
||||
|
||||
#[derive(Serialize, Copy, Clone)]
|
||||
pub struct HWRev {
|
||||
|
|
@ -28,17 +31,13 @@ struct HWSummary<'a> {
|
|||
|
||||
impl HWRev {
|
||||
pub fn detect_hw_rev(hwrev_pins: &HWRevPins) -> Self {
|
||||
let (h0, h1, h2, h3) = (
|
||||
hwrev_pins.hwrev0.is_high(),
|
||||
hwrev_pins.hwrev1.is_high(),
|
||||
hwrev_pins.hwrev2.is_high(),
|
||||
hwrev_pins.hwrev3.is_high(),
|
||||
);
|
||||
let (h0, h1, h2, h3) = (hwrev_pins.hwrev0.is_high(), hwrev_pins.hwrev1.is_high(),
|
||||
hwrev_pins.hwrev2.is_high(), hwrev_pins.hwrev3.is_high());
|
||||
match (h0, h1, h2, h3) {
|
||||
(true, true, true, false) => HWRev { major: 1, minor: 0 },
|
||||
(true, false, false, false) => HWRev { major: 2, minor: 0 },
|
||||
(false, true, false, false) => HWRev { major: 2, minor: 2 },
|
||||
(_, _, _, _) => HWRev { major: 0, minor: 0 },
|
||||
(_, _, _, _) => HWRev { major: 0, minor: 0 }
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -71,16 +70,13 @@ impl HWRev {
|
|||
fan_pwm_freq_hz: 0,
|
||||
fan_available: false,
|
||||
fan_pwm_recommended: false,
|
||||
},
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub fn summary(&self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
|
||||
let settings = self.settings();
|
||||
let summary = HWSummary {
|
||||
rev: self,
|
||||
settings: &settings,
|
||||
};
|
||||
let summary = HWSummary { rev: self, settings: &settings };
|
||||
serde_json_core::to_vec(&summary)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -10,15 +10,17 @@ pub fn init_log() {
|
|||
|
||||
#[cfg(feature = "semihosting")]
|
||||
pub fn init_log() {
|
||||
use cortex_m_log::log::{init, Logger};
|
||||
use cortex_m_log::printer::semihosting::{hio::HStdout, InterruptOk};
|
||||
use log::LevelFilter;
|
||||
use cortex_m_log::log::{Logger, init};
|
||||
use cortex_m_log::printer::semihosting::{InterruptOk, hio::HStdout};
|
||||
static mut LOGGER: Option<Logger<InterruptOk<HStdout>>> = None;
|
||||
let logger = Logger {
|
||||
inner: InterruptOk::<_>::stdout().expect("semihosting stdout"),
|
||||
level: LevelFilter::Info,
|
||||
};
|
||||
let logger = unsafe { LOGGER.get_or_insert(logger) };
|
||||
let logger = unsafe {
|
||||
LOGGER.get_or_insert(logger)
|
||||
};
|
||||
|
||||
init(logger).expect("set logger");
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
use stm32f4xx_hal::{
|
||||
gpio::{
|
||||
gpiod::{PD10, PD11, PD9},
|
||||
gpiod::{PD9, PD10, PD11},
|
||||
Output, PushPull,
|
||||
},
|
||||
hal::digital::v2::OutputPin,
|
||||
|
|
|
|||
270
src/main.rs
270
src/main.rs
|
|
@ -1,33 +1,38 @@
|
|||
#![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 _;
|
||||
|
||||
use log::{error, info, warn};
|
||||
use cortex_m::asm::wfi;
|
||||
use cortex_m_rt::entry;
|
||||
use log::{error, info, warn};
|
||||
use smoltcp::{socket::TcpSocket, time::Instant, wire::EthernetAddress};
|
||||
use stm32f4xx_hal::{
|
||||
hal::watchdog::{Watchdog, WatchdogEnable},
|
||||
hal::watchdog::{WatchdogEnable, Watchdog},
|
||||
rcc::RccExt,
|
||||
stm32::{CorePeripherals, Peripherals, SCB},
|
||||
time::{MegaHertz, U32Ext},
|
||||
time::{U32Ext, MegaHertz},
|
||||
watchdog::IndependentWatchdog,
|
||||
};
|
||||
use smoltcp::{
|
||||
time::Instant,
|
||||
socket::TcpSocket,
|
||||
wire::EthernetAddress,
|
||||
};
|
||||
|
||||
mod init_log;
|
||||
use init_log::init_log;
|
||||
mod usb;
|
||||
mod leds;
|
||||
mod pins;
|
||||
mod usb;
|
||||
use pins::Pins;
|
||||
mod ad5680;
|
||||
mod ad7172;
|
||||
mod ad5680;
|
||||
mod net;
|
||||
mod server;
|
||||
use server::Server;
|
||||
|
|
@ -35,18 +40,18 @@ mod session;
|
|||
use session::{Session, SessionInput};
|
||||
mod command_parser;
|
||||
use command_parser::Ipv4Config;
|
||||
mod b_parameter;
|
||||
mod channels;
|
||||
mod pid;
|
||||
mod timer;
|
||||
use channels::{Channels, CHANNELS};
|
||||
mod pid;
|
||||
mod steinhart_hart;
|
||||
mod channels;
|
||||
use channels::{CHANNELS, Channels};
|
||||
mod channel;
|
||||
mod channel_state;
|
||||
mod config;
|
||||
use config::ChannelConfig;
|
||||
mod command_handler;
|
||||
mod dfu;
|
||||
mod flash_store;
|
||||
mod dfu;
|
||||
mod command_handler;
|
||||
use command_handler::Handler;
|
||||
mod fan_ctrl;
|
||||
use fan_ctrl::FanCtrl;
|
||||
|
|
@ -69,19 +74,19 @@ fn send_line(socket: &mut TcpSocket, data: &[u8]) -> bool {
|
|||
// instead of sending incomplete line
|
||||
warn!(
|
||||
"TCP socket has only {}/{} needed {}",
|
||||
send_free + 1,
|
||||
socket.send_capacity(),
|
||||
data.len(),
|
||||
send_free + 1, socket.send_capacity(), data.len(),
|
||||
);
|
||||
} else {
|
||||
match socket.send_slice(data) {
|
||||
match socket.send_slice(&data) {
|
||||
Ok(sent) if sent == data.len() => {
|
||||
let _ = socket.send_slice(b"\n");
|
||||
// success
|
||||
return true;
|
||||
return true
|
||||
}
|
||||
Ok(sent) => warn!("sent only {}/{} bytes", sent, data.len()),
|
||||
Err(e) => error!("error sending line: {:?}", e),
|
||||
Ok(sent) =>
|
||||
warn!("sent only {}/{} bytes", sent, data.len()),
|
||||
Err(e) =>
|
||||
error!("error sending line: {:?}", e),
|
||||
}
|
||||
}
|
||||
// not success
|
||||
|
|
@ -100,9 +105,7 @@ fn main() -> ! {
|
|||
cp.SCB.enable_dcache(&mut cp.CPUID);
|
||||
|
||||
let dp = Peripherals::take().unwrap();
|
||||
let clocks = dp
|
||||
.RCC
|
||||
.constrain()
|
||||
let clocks = dp.RCC.constrain()
|
||||
.cfgr
|
||||
.use_hse(HSE)
|
||||
.sysclk(168.mhz())
|
||||
|
|
@ -118,15 +121,14 @@ fn main() -> ! {
|
|||
timer::setup(cp.SYST, clocks);
|
||||
|
||||
let (pins, mut leds, mut eeprom, eth_pins, usb, fan, hwrev, hw_settings) = Pins::setup(
|
||||
clocks,
|
||||
(dp.TIM1, dp.TIM3, dp.TIM8),
|
||||
(
|
||||
dp.GPIOA, dp.GPIOB, dp.GPIOC, dp.GPIOD, dp.GPIOE, dp.GPIOF, dp.GPIOG,
|
||||
),
|
||||
clocks, dp.TIM1, dp.TIM3, dp.TIM8,
|
||||
dp.GPIOA, dp.GPIOB, dp.GPIOC, dp.GPIOD, dp.GPIOE, dp.GPIOF, dp.GPIOG,
|
||||
dp.I2C1,
|
||||
(dp.SPI2, dp.SPI4, dp.SPI5),
|
||||
dp.SPI2, dp.SPI4, dp.SPI5,
|
||||
dp.ADC1,
|
||||
(dp.OTG_FS_GLOBAL, dp.OTG_FS_DEVICE, dp.OTG_FS_PWRCLK),
|
||||
dp.OTG_FS_GLOBAL,
|
||||
dp.OTG_FS_DEVICE,
|
||||
dp.OTG_FS_PWRCLK,
|
||||
);
|
||||
|
||||
leds.r1.on();
|
||||
|
|
@ -138,11 +140,14 @@ fn main() -> ! {
|
|||
let mut store = flash_store::store(dp.FLASH);
|
||||
|
||||
let mut channels = Channels::new(pins);
|
||||
for (c, key) in CHANNEL_CONFIG_KEY.iter().enumerate().take(CHANNELS) {
|
||||
match store.read_value::<ChannelConfig>(key) {
|
||||
Ok(Some(config)) => config.apply(&mut channels, c),
|
||||
Ok(None) => error!("flash config not found for channel {}", c),
|
||||
Err(e) => error!("unable to load config {} from flash: {:?}", c, e),
|
||||
for c in 0..CHANNELS {
|
||||
match store.read_value::<ChannelConfig>(CHANNEL_CONFIG_KEY[c]) {
|
||||
Ok(Some(config)) =>
|
||||
config.apply(&mut channels, c),
|
||||
Ok(None) =>
|
||||
error!("flash config not found for channel {}", c),
|
||||
Err(e) =>
|
||||
error!("unable to load config {} from flash: {:?}", c, e),
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -155,9 +160,11 @@ fn main() -> ! {
|
|||
gateway: None,
|
||||
};
|
||||
match store.read_value("ipv4") {
|
||||
Ok(Some(config)) => ipv4_config = config,
|
||||
Ok(Some(config)) =>
|
||||
ipv4_config = config,
|
||||
Ok(None) => {}
|
||||
Err(e) => error!("cannot read ipv4 config: {:?}", e),
|
||||
Err(e) =>
|
||||
error!("cannot read ipv4 config: {:?}", e),
|
||||
}
|
||||
|
||||
// EEPROM ships with a read-only EUI-48 identifier
|
||||
|
|
@ -166,115 +173,112 @@ fn main() -> ! {
|
|||
let hwaddr = EthernetAddress(eui48);
|
||||
info!("EEPROM MAC address: {}", hwaddr);
|
||||
|
||||
net::run(
|
||||
clocks,
|
||||
dp.ETHERNET_MAC,
|
||||
dp.ETHERNET_DMA,
|
||||
eth_pins,
|
||||
hwaddr,
|
||||
ipv4_config.clone(),
|
||||
|iface| {
|
||||
Server::<Session>::run(iface, |server| {
|
||||
leds.r1.off();
|
||||
let mut should_reset = false;
|
||||
net::run(clocks, dp.ETHERNET_MAC, dp.ETHERNET_DMA, eth_pins, hwaddr, ipv4_config.clone(), |iface| {
|
||||
Server::<Session>::run(iface, |server| {
|
||||
leds.r1.off();
|
||||
let mut should_reset = false;
|
||||
|
||||
loop {
|
||||
let mut new_ipv4_config = None;
|
||||
let instant = Instant::from_millis(i64::from(timer::now()));
|
||||
channels.poll_adc(instant);
|
||||
loop {
|
||||
let mut new_ipv4_config = None;
|
||||
let instant = Instant::from_millis(i64::from(timer::now()));
|
||||
let updated_channel = channels.poll_adc(instant);
|
||||
if let Some(channel) = updated_channel {
|
||||
server.for_each(|_, session| session.set_report_pending(channel.into()));
|
||||
}
|
||||
|
||||
fan_ctrl.cycle(channels.current_abs_max_tec_i());
|
||||
fan_ctrl.cycle(channels.current_abs_max_tec_i() as f32);
|
||||
|
||||
if channels.pid_engaged() {
|
||||
leds.g3.on();
|
||||
} else {
|
||||
leds.g3.off();
|
||||
}
|
||||
|
||||
let instant = Instant::from_millis(i64::from(timer::now()));
|
||||
cortex_m::interrupt::free(net::clear_pending);
|
||||
server.poll(instant).unwrap_or_else(|e| {
|
||||
let instant = Instant::from_millis(i64::from(timer::now()));
|
||||
cortex_m::interrupt::free(net::clear_pending);
|
||||
server.poll(instant)
|
||||
.unwrap_or_else(|e| {
|
||||
warn!("poll: {:?}", e);
|
||||
});
|
||||
|
||||
if !should_reset {
|
||||
// TCP protocol handling
|
||||
server.for_each(|mut socket, session| {
|
||||
if !socket.is_active() {
|
||||
let _ = socket.listen(TCP_PORT);
|
||||
session.reset();
|
||||
} else if socket.may_send() && !socket.may_recv() {
|
||||
socket.close()
|
||||
} else if socket.can_send() && socket.can_recv() {
|
||||
match socket.recv(|buf| session.feed(buf)) {
|
||||
// SessionInput::Nothing happens when the line reader parses a string of characters that is not
|
||||
// followed by a newline character. Could be due to partial commands not terminated with newline,
|
||||
// socket RX ring buffer wraps around, or when the command is sent as seperate TCP packets etc.
|
||||
// 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,
|
||||
&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(),
|
||||
Ok(Handler::Reset) => should_reset = true,
|
||||
Err(_) => {}
|
||||
}
|
||||
if ! should_reset {
|
||||
// TCP protocol handling
|
||||
server.for_each(|mut socket, session| {
|
||||
if ! socket.is_active() {
|
||||
let _ = socket.listen(TCP_PORT);
|
||||
session.reset();
|
||||
} else if socket.may_send() && !socket.may_recv() {
|
||||
socket.close()
|
||||
} else if socket.can_send() && socket.can_recv() {
|
||||
match socket.recv(|buf| session.feed(buf)) {
|
||||
// SessionInput::Nothing happens when the line reader parses a string of characters that is not
|
||||
// followed by a newline character. Could be due to partial commands not terminated with newline,
|
||||
// socket RX ring buffer wraps around, or when the command is sent as seperate TCP packets etc.
|
||||
// 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 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(),
|
||||
Ok(Handler::Reset) => should_reset = true,
|
||||
Err(_) => {},
|
||||
}
|
||||
Ok(SessionInput::Error(e)) => {
|
||||
error!("session input: {:?}", e);
|
||||
send_line(&mut socket, b"{ \"error\": \"invalid input\" }");
|
||||
}
|
||||
Ok(SessionInput::Error(e)) => {
|
||||
error!("session input: {:?}", e);
|
||||
send_line(&mut socket, b"{ \"error\": \"invalid input\" }");
|
||||
}
|
||||
Err(_) =>
|
||||
socket.close(),
|
||||
}
|
||||
} else if socket.can_send() {
|
||||
if let Some(channel) = session.is_report_pending() {
|
||||
match channels.reports_json() {
|
||||
Ok(buf) => {
|
||||
send_line(&mut socket, &buf[..]);
|
||||
session.mark_report_sent(channel);
|
||||
}
|
||||
Err(e) => {
|
||||
error!("unable to serialize report: {:?}", e);
|
||||
|
||||
}
|
||||
Err(_) => socket.close(),
|
||||
}
|
||||
}
|
||||
});
|
||||
} else {
|
||||
// Should reset, close all TCP sockets.
|
||||
let mut any_socket_alive = false;
|
||||
server.for_each(|mut socket, _| {
|
||||
if socket.is_active() {
|
||||
socket.abort();
|
||||
any_socket_alive = true;
|
||||
}
|
||||
});
|
||||
// Must let loop run for one more cycle to poll server for RST to be sent,
|
||||
// this makes sure system does not reset right after socket.abort() is called.
|
||||
if !any_socket_alive {
|
||||
SCB::sys_reset();
|
||||
}
|
||||
}
|
||||
|
||||
// Apply new IPv4 address/gateway
|
||||
if let Some(config) = new_ipv4_config.take() {
|
||||
server.set_ipv4_config(config.clone());
|
||||
ipv4_config = config;
|
||||
};
|
||||
|
||||
// Update watchdog
|
||||
wd.feed();
|
||||
|
||||
leds.g4.off();
|
||||
cortex_m::interrupt::free(|cs| {
|
||||
if !net::is_pending(cs) {
|
||||
// Wait for interrupts
|
||||
// (Ethernet, SysTick, or USB)
|
||||
wfi();
|
||||
}
|
||||
});
|
||||
leds.g4.on();
|
||||
} else {
|
||||
// Should reset, close all TCP sockets.
|
||||
let mut any_socket_alive = false;
|
||||
server.for_each(|mut socket, _| {
|
||||
if socket.is_active() {
|
||||
socket.abort();
|
||||
any_socket_alive = true;
|
||||
}
|
||||
});
|
||||
// Must let loop run for one more cycle to poll server for RST to be sent,
|
||||
// this makes sure system does not reset right after socket.abort() is called.
|
||||
if !any_socket_alive {
|
||||
SCB::sys_reset();
|
||||
}
|
||||
}
|
||||
});
|
||||
},
|
||||
);
|
||||
|
||||
// Apply new IPv4 address/gateway
|
||||
new_ipv4_config.take()
|
||||
.map(|config| {
|
||||
server.set_ipv4_config(config.clone());
|
||||
ipv4_config = config;
|
||||
});
|
||||
|
||||
// Update watchdog
|
||||
wd.feed();
|
||||
|
||||
leds.g4.off();
|
||||
cortex_m::interrupt::free(|cs| {
|
||||
if !net::is_pending(cs) {
|
||||
// Wait for interrupts
|
||||
// (Ethernet, SysTick, or USB)
|
||||
wfi();
|
||||
}
|
||||
});
|
||||
leds.g4.on();
|
||||
}
|
||||
});
|
||||
});
|
||||
|
||||
unreachable!()
|
||||
}
|
||||
|
|
|
|||
46
src/net.rs
46
src/net.rs
|
|
@ -1,17 +1,20 @@
|
|||
//! As there is only one peripheral, supporting data structures are
|
||||
//! declared once and globally.
|
||||
|
||||
use crate::command_parser::Ipv4Config;
|
||||
use crate::pins::EthernetPins;
|
||||
use core::cell::RefCell;
|
||||
use cortex_m::interrupt::{CriticalSection, Mutex};
|
||||
use smoltcp::iface::{EthernetInterface, EthernetInterfaceBuilder, NeighborCache, Routes};
|
||||
use smoltcp::wire::{EthernetAddress, Ipv4Address, Ipv4Cidr};
|
||||
use stm32_eth::{Eth, RingEntry, RxDescriptor, TxDescriptor};
|
||||
use stm32f4xx_hal::{
|
||||
pac::{interrupt, Peripherals, ETHERNET_DMA, ETHERNET_MAC},
|
||||
rcc::Clocks,
|
||||
pac::{interrupt, Peripherals, ETHERNET_MAC, ETHERNET_DMA},
|
||||
};
|
||||
use smoltcp::wire::{EthernetAddress, Ipv4Address, Ipv4Cidr};
|
||||
use smoltcp::iface::{
|
||||
EthernetInterfaceBuilder, EthernetInterface,
|
||||
NeighborCache, Routes,
|
||||
};
|
||||
use stm32_eth::{Eth, RingEntry, RxDescriptor, TxDescriptor};
|
||||
use crate::command_parser::Ipv4Config;
|
||||
use crate::pins::EthernetPins;
|
||||
|
||||
/// Not on the stack so that stack can be placed in CCMRAM (which the
|
||||
/// ethernet peripheral cannot access)
|
||||
|
|
@ -27,27 +30,27 @@ static NET_PENDING: Mutex<RefCell<bool>> = Mutex::new(RefCell::new(false));
|
|||
/// Run callback `f` with ethernet driver and TCP/IP stack
|
||||
pub fn run<F>(
|
||||
clocks: Clocks,
|
||||
ethernet_mac: ETHERNET_MAC,
|
||||
ethernet_dma: ETHERNET_DMA,
|
||||
ethernet_mac: ETHERNET_MAC, ethernet_dma: ETHERNET_DMA,
|
||||
eth_pins: EthernetPins,
|
||||
ethernet_addr: EthernetAddress,
|
||||
ipv4_config: Ipv4Config,
|
||||
f: F,
|
||||
f: F
|
||||
) where
|
||||
F: FnOnce(EthernetInterface<&mut stm32_eth::Eth<'static, 'static>>),
|
||||
{
|
||||
let rx_ring = unsafe { RX_RING.get_or_insert(Default::default()) };
|
||||
let tx_ring = unsafe { TX_RING.get_or_insert(Default::default()) };
|
||||
let rx_ring = unsafe {
|
||||
RX_RING.get_or_insert(Default::default())
|
||||
};
|
||||
let tx_ring = unsafe {
|
||||
TX_RING.get_or_insert(Default::default())
|
||||
};
|
||||
// Ethernet driver
|
||||
let mut eth_dev = Eth::new(
|
||||
ethernet_mac,
|
||||
ethernet_dma,
|
||||
&mut rx_ring[..],
|
||||
&mut tx_ring[..],
|
||||
ethernet_mac, ethernet_dma,
|
||||
&mut rx_ring[..], &mut tx_ring[..],
|
||||
clocks,
|
||||
eth_pins,
|
||||
)
|
||||
.unwrap();
|
||||
).unwrap();
|
||||
eth_dev.enable_interrupt();
|
||||
|
||||
// IP stack
|
||||
|
|
@ -73,7 +76,8 @@ pub fn run<F>(
|
|||
#[interrupt]
|
||||
fn ETH() {
|
||||
cortex_m::interrupt::free(|cs| {
|
||||
*NET_PENDING.borrow(cs).borrow_mut() = true;
|
||||
*NET_PENDING.borrow(cs)
|
||||
.borrow_mut() = true;
|
||||
});
|
||||
|
||||
let p = unsafe { Peripherals::steal() };
|
||||
|
|
@ -82,13 +86,15 @@ fn ETH() {
|
|||
|
||||
/// Has an interrupt occurred since last call to `clear_pending()`?
|
||||
pub fn is_pending(cs: &CriticalSection) -> bool {
|
||||
*NET_PENDING.borrow(cs).borrow()
|
||||
*NET_PENDING.borrow(cs)
|
||||
.borrow()
|
||||
}
|
||||
|
||||
/// Clear the interrupt pending flag before polling the interface for
|
||||
/// data.
|
||||
pub fn clear_pending(cs: &CriticalSection) {
|
||||
*NET_PENDING.borrow(cs).borrow_mut() = false;
|
||||
*NET_PENDING.borrow(cs)
|
||||
.borrow_mut() = false;
|
||||
}
|
||||
|
||||
/// utility for destructuring into smoltcp types
|
||||
|
|
|
|||
57
src/pid.rs
57
src/pid.rs
|
|
@ -1,4 +1,4 @@
|
|||
use serde::{Deserialize, Serialize};
|
||||
use serde::{Serialize, Deserialize};
|
||||
|
||||
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
|
||||
pub struct Parameters {
|
||||
|
|
@ -29,37 +29,40 @@ impl Default for Parameters {
|
|||
#[derive(Clone)]
|
||||
pub struct Controller {
|
||||
pub parameters: Parameters,
|
||||
pub target: f64,
|
||||
u1: f64,
|
||||
x1: f64,
|
||||
x2: f64,
|
||||
pub y1: f64,
|
||||
pub target : f64,
|
||||
u1 : f64,
|
||||
x1 : f64,
|
||||
x2 : f64,
|
||||
pub y1 : f64,
|
||||
}
|
||||
|
||||
impl Controller {
|
||||
pub const fn new(parameters: Parameters) -> Controller {
|
||||
Controller {
|
||||
parameters,
|
||||
target: 0.0,
|
||||
u1: 0.0,
|
||||
x1: 0.0,
|
||||
x2: 0.0,
|
||||
y1: 0.0,
|
||||
parameters: parameters,
|
||||
target : 0.0,
|
||||
u1 : 0.0,
|
||||
x1 : 0.0,
|
||||
x2 : 0.0,
|
||||
y1 : 0.0,
|
||||
}
|
||||
}
|
||||
|
||||
// Based on https://hackmd.io/IACbwcOTSt6Adj3_F9bKuw PID implementation
|
||||
// Input x(t), target u(t), output y(t)
|
||||
// y0' = y1 - ki * u0
|
||||
// y0' = y1 - ki * u0
|
||||
// + 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);
|
||||
+ 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)
|
||||
+ f64::from(self.parameters.kp) * (self.target - self.u1);
|
||||
if output < self.parameters.output_min.into() {
|
||||
output = self.parameters.output_min.into();
|
||||
}
|
||||
|
|
@ -69,7 +72,7 @@ impl Controller {
|
|||
self.x2 = self.x1;
|
||||
self.x1 = input;
|
||||
self.u1 = self.target;
|
||||
self.y1 = output;
|
||||
self.y1 = output;
|
||||
output
|
||||
}
|
||||
|
||||
|
|
@ -108,17 +111,17 @@ mod test {
|
|||
#[test]
|
||||
fn test_controller() {
|
||||
// Initial and ambient temperature
|
||||
const DEFAULT: f64 = 20.0;
|
||||
// Target temperature
|
||||
const TARGET: f64 = 40.0;
|
||||
// Control tolerance
|
||||
const ERROR: f64 = 0.01;
|
||||
// System response delay
|
||||
const DELAY: usize = 10;
|
||||
const DEFAULT: f64 = 20.0;
|
||||
// Target temperature
|
||||
const TARGET: f64 = 40.0;
|
||||
// Control tolerance
|
||||
const ERROR: f64 = 0.01;
|
||||
// System response delay
|
||||
const DELAY: usize = 10;
|
||||
// Heat lost
|
||||
const LOSS: f64 = 0.05;
|
||||
// Limit simulation cycle, reaching this limit before settling fails test
|
||||
const CYCLE_LIMIT: u32 = 1000;
|
||||
const LOSS: f64 = 0.05;
|
||||
// Limit simulation cycle, reaching this limit before settling fails test
|
||||
const CYCLE_LIMIT: u32 = 1000;
|
||||
|
||||
let mut pid = Controller::new(PARAMETERS.clone());
|
||||
pid.target = TARGET;
|
||||
|
|
|
|||
239
src/pins.rs
239
src/pins.rs
|
|
@ -1,41 +1,49 @@
|
|||
use crate::{
|
||||
channel::{Channel0, Channel1},
|
||||
fan_ctrl::FanPin,
|
||||
hw_rev::{HWRev, HWSettings},
|
||||
leds::Leds,
|
||||
};
|
||||
use eeprom24x::{self, Eeprom24x};
|
||||
use stm32_eth::EthPins;
|
||||
use stm32f4xx_hal::{
|
||||
adc::Adc,
|
||||
gpio::{
|
||||
gpioa::*, gpiob::*, gpioc::*, gpioe::*, gpiof::*, gpiog::*, Alternate, AlternateOD, Analog,
|
||||
Floating, GpioExt, Input, Output, PushPull, AF5,
|
||||
AF5, Alternate, AlternateOD, Analog, Floating, Input,
|
||||
gpioa::*,
|
||||
gpiob::*,
|
||||
gpioc::*,
|
||||
gpioe::*,
|
||||
gpiof::*,
|
||||
gpiog::*,
|
||||
GpioExt,
|
||||
Output, PushPull,
|
||||
},
|
||||
hal::{self, blocking::spi::Transfer, digital::v2::OutputPin},
|
||||
i2c::I2c,
|
||||
otg_fs::USB,
|
||||
pac::{
|
||||
ADC1, GPIOA, GPIOB, GPIOC, GPIOD, GPIOE, GPIOF, GPIOG, I2C1, OTG_FS_DEVICE, OTG_FS_GLOBAL,
|
||||
OTG_FS_PWRCLK, SPI2, SPI4, SPI5, TIM1, TIM3, TIM8,
|
||||
},
|
||||
pwm::{self, PwmChannels},
|
||||
rcc::Clocks,
|
||||
spi::{NoMiso, Spi, TransferModeNormal},
|
||||
time::U32Ext,
|
||||
pwm::{self, PwmChannels},
|
||||
spi::{Spi, NoMiso, TransferModeNormal},
|
||||
pac::{
|
||||
ADC1,
|
||||
GPIOA, GPIOB, GPIOC, GPIOD, GPIOE, GPIOF, GPIOG,
|
||||
I2C1,
|
||||
OTG_FS_GLOBAL, OTG_FS_DEVICE, OTG_FS_PWRCLK,
|
||||
SPI2, SPI4, SPI5,
|
||||
TIM1, TIM3, TIM8
|
||||
},
|
||||
timer::Timer,
|
||||
time::U32Ext,
|
||||
};
|
||||
use eeprom24x::{self, Eeprom24x};
|
||||
use stm32_eth::EthPins;
|
||||
use crate::{
|
||||
channel::{Channel0, Channel1},
|
||||
leds::Leds,
|
||||
fan_ctrl::FanPin,
|
||||
hw_rev::{HWRev, HWSettings},
|
||||
};
|
||||
|
||||
pub type Eeprom = Eeprom24x<
|
||||
I2c<
|
||||
I2C1,
|
||||
(
|
||||
PB8<AlternateOD<{ stm32f4xx_hal::gpio::AF4 }>>,
|
||||
PB9<AlternateOD<{ stm32f4xx_hal::gpio::AF4 }>>,
|
||||
),
|
||||
>,
|
||||
I2c<I2C1, (
|
||||
PB8<AlternateOD<{ stm32f4xx_hal::gpio::AF4 }>>,
|
||||
PB9<AlternateOD<{ stm32f4xx_hal::gpio::AF4 }>>
|
||||
)>,
|
||||
eeprom24x::page_size::B8,
|
||||
eeprom24x::addr_size::OneByte,
|
||||
eeprom24x::addr_size::OneByte
|
||||
>;
|
||||
|
||||
pub type EthernetPins = EthPins<
|
||||
|
|
@ -46,58 +54,40 @@ pub type EthernetPins = EthPins<
|
|||
PB13<Input<Floating>>,
|
||||
PC4<Input<Floating>>,
|
||||
PC5<Input<Floating>>,
|
||||
>;
|
||||
>;
|
||||
|
||||
pub trait ChannelPins {
|
||||
type DacSpi: Transfer<u8>;
|
||||
type DacSync: OutputPin;
|
||||
type Shdn: OutputPin;
|
||||
type VRefPin;
|
||||
type ITecPin;
|
||||
type ItecPin;
|
||||
type DacFeedbackPin;
|
||||
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 ITecPin = PA6<Analog>;
|
||||
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 ITecPin = PB0<Analog>;
|
||||
type VRefPin = PA3<Analog>;
|
||||
type ItecPin = PB0<Analog>;
|
||||
type DacFeedbackPin = PA5<Analog>;
|
||||
type TecUMeasPin = PC3<Analog>;
|
||||
}
|
||||
|
||||
/// SPI peripheral used for communication with the ADC
|
||||
pub type AdcSpi = Spi<
|
||||
SPI2,
|
||||
(
|
||||
PB10<Alternate<AF5>>,
|
||||
PB14<Alternate<AF5>>,
|
||||
PB15<Alternate<AF5>>,
|
||||
),
|
||||
TransferModeNormal,
|
||||
>;
|
||||
pub type AdcSpi = Spi<SPI2, (PB10<Alternate<AF5>>, PB14<Alternate<AF5>>, PB15<Alternate<AF5>>), TransferModeNormal>;
|
||||
pub type AdcNss = PB12<Output<PushPull>>;
|
||||
type Dac0Spi = Spi<SPI4, (PE2<Alternate<AF5>>, NoMiso, PE6<Alternate<AF5>>), TransferModeNormal>;
|
||||
type Dac1Spi = Spi<SPI5, (PF7<Alternate<AF5>>, NoMiso, PF9<Alternate<AF5>>), TransferModeNormal>;
|
||||
|
|
@ -108,7 +98,7 @@ pub struct ChannelPinSet<C: ChannelPins> {
|
|||
pub dac_sync: C::DacSync,
|
||||
pub shdn: C::Shdn,
|
||||
pub vref_pin: C::VRefPin,
|
||||
pub itec_pin: C::ITecPin,
|
||||
pub itec_pin: C::ItecPin,
|
||||
pub dac_feedback_pin: C::DacFeedbackPin,
|
||||
pub tec_u_meas_pin: C::TecUMeasPin,
|
||||
}
|
||||
|
|
@ -133,34 +123,13 @@ impl Pins {
|
|||
/// Setup GPIO pins and configure MCU peripherals
|
||||
pub fn setup(
|
||||
clocks: Clocks,
|
||||
(tim1, tim3, tim8): (TIM1, TIM3, TIM8),
|
||||
(gpioa, gpiob, gpioc, gpiod, gpioe, gpiof, gpiog): (
|
||||
GPIOA,
|
||||
GPIOB,
|
||||
GPIOC,
|
||||
GPIOD,
|
||||
GPIOE,
|
||||
GPIOF,
|
||||
GPIOG,
|
||||
),
|
||||
tim1: TIM1, tim3: TIM3, tim8: TIM8,
|
||||
gpioa: GPIOA, gpiob: GPIOB, gpioc: GPIOC, gpiod: GPIOD, gpioe: GPIOE, gpiof: GPIOF, gpiog: GPIOG,
|
||||
i2c1: I2C1,
|
||||
(spi2, spi4, spi5): (SPI2, SPI4, SPI5),
|
||||
spi2: SPI2, spi4: SPI4, spi5: SPI5,
|
||||
adc1: ADC1,
|
||||
(otg_fs_global, otg_fs_device, otg_fs_pwrclk): (
|
||||
OTG_FS_GLOBAL,
|
||||
OTG_FS_DEVICE,
|
||||
OTG_FS_PWRCLK,
|
||||
),
|
||||
) -> (
|
||||
Self,
|
||||
Leds,
|
||||
Eeprom,
|
||||
EthernetPins,
|
||||
USB,
|
||||
Option<FanPin>,
|
||||
HWRev,
|
||||
HWSettings,
|
||||
) {
|
||||
otg_fs_global: OTG_FS_GLOBAL, otg_fs_device: OTG_FS_DEVICE, otg_fs_pwrclk: OTG_FS_PWRCLK,
|
||||
) -> (Self, Leds, Eeprom, EthernetPins, USB, Option<FanPin>, HWRev, HWSettings) {
|
||||
let gpioa = gpioa.split();
|
||||
let gpiob = gpiob.split();
|
||||
let gpioc = gpioc.split();
|
||||
|
|
@ -175,29 +144,19 @@ impl Pins {
|
|||
let pins_adc = Adc::adc1(adc1, true, Default::default());
|
||||
|
||||
let pwm = PwmPins::setup(
|
||||
clocks,
|
||||
(tim1, tim3),
|
||||
(gpioc.pc6, gpioc.pc7),
|
||||
(gpioe.pe9, gpioe.pe11),
|
||||
(gpioe.pe13, gpioe.pe14),
|
||||
clocks, tim1, tim3,
|
||||
gpioc.pc6, gpioc.pc7,
|
||||
gpioe.pe9, gpioe.pe11,
|
||||
gpioe.pe13, gpioe.pe14
|
||||
);
|
||||
|
||||
let hwrev = HWRev::detect_hw_rev(&HWRevPins {
|
||||
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 (dac0_spi, dac0_sync) = Self::setup_dac0(
|
||||
clocks, spi4,
|
||||
gpioe.pe2, gpioe.pe4, gpioe.pe6
|
||||
);
|
||||
let mut shdn0 = gpioe.pe10.into_push_pull_output();
|
||||
shdn0.set_low();
|
||||
let vref0_pin = if hwrev.major > 2 {
|
||||
Channel0VRef::Analog(gpioa.pa0.into_analog())
|
||||
} else {
|
||||
Channel0VRef::Disabled(gpioa.pa0)
|
||||
};
|
||||
let _ = shdn0.set_low();
|
||||
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();
|
||||
|
|
@ -211,14 +170,13 @@ impl Pins {
|
|||
tec_u_meas_pin: tec_u_meas0_pin,
|
||||
};
|
||||
|
||||
let (dac1_spi, dac1_sync) = Self::setup_dac1(clocks, spi5, gpiof.pf7, gpiof.pf6, gpiof.pf9);
|
||||
let (dac1_spi, dac1_sync) = Self::setup_dac1(
|
||||
clocks, spi5,
|
||||
gpiof.pf7, gpiof.pf6, gpiof.pf9
|
||||
);
|
||||
let mut shdn1 = gpioe.pe15.into_push_pull_output();
|
||||
shdn1.set_low();
|
||||
let vref1_pin = if hwrev.major > 2 {
|
||||
Channel1VRef::Analog(gpioa.pa3.into_analog())
|
||||
} else {
|
||||
Channel1VRef::Disabled(gpioa.pa3)
|
||||
};
|
||||
let _ = shdn1.set_low();
|
||||
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();
|
||||
|
|
@ -233,19 +191,18 @@ impl Pins {
|
|||
};
|
||||
|
||||
let pins = Pins {
|
||||
adc_spi,
|
||||
adc_nss,
|
||||
adc_spi, adc_nss,
|
||||
pins_adc,
|
||||
pwm,
|
||||
channel0,
|
||||
channel1,
|
||||
};
|
||||
|
||||
let leds = Leds::new(
|
||||
gpiod.pd9,
|
||||
gpiod.pd10.into_push_pull_output(),
|
||||
gpiod.pd11.into_push_pull_output(),
|
||||
);
|
||||
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();
|
||||
let eeprom_sda = gpiob.pb9.into_alternate().set_open_drain();
|
||||
|
|
@ -272,13 +229,8 @@ impl Pins {
|
|||
};
|
||||
|
||||
let fan = if hw_settings.fan_available {
|
||||
Some(
|
||||
Timer::new(tim8, &clocks)
|
||||
.pwm(gpioc.pc9.into_alternate(), hw_settings.fan_pwm_freq_hz.hz()),
|
||||
)
|
||||
} else {
|
||||
None
|
||||
};
|
||||
Some(Timer::new(tim8, &clocks).pwm(gpioc.pc9.into_alternate(), hw_settings.fan_pwm_freq_hz.hz()))
|
||||
} else { None };
|
||||
|
||||
(pins, leds, eeprom, eth_pins, usb, fan, hwrev, hw_settings)
|
||||
}
|
||||
|
|
@ -290,7 +242,8 @@ impl Pins {
|
|||
sck: PB10<M1>,
|
||||
miso: PB14<M2>,
|
||||
mosi: PB15<M3>,
|
||||
) -> AdcSpi {
|
||||
) -> AdcSpi
|
||||
{
|
||||
let sck = sck.into_alternate();
|
||||
let miso = miso.into_alternate();
|
||||
let mosi = mosi.into_alternate();
|
||||
|
|
@ -299,16 +252,13 @@ impl Pins {
|
|||
(sck, miso, mosi),
|
||||
crate::ad7172::SPI_MODE,
|
||||
crate::ad7172::SPI_CLOCK,
|
||||
clocks,
|
||||
clocks
|
||||
)
|
||||
}
|
||||
|
||||
fn setup_dac0<M1, M2, M3>(
|
||||
clocks: Clocks,
|
||||
spi4: SPI4,
|
||||
sclk: PE2<M1>,
|
||||
sync: PE4<M2>,
|
||||
sdin: PE6<M3>,
|
||||
clocks: Clocks, spi4: SPI4,
|
||||
sclk: PE2<M1>, sync: PE4<M2>, sdin: PE6<M3>
|
||||
) -> (Dac0Spi, <Channel0 as ChannelPins>::DacSync) {
|
||||
let sclk = sclk.into_alternate();
|
||||
let sdin = sdin.into_alternate();
|
||||
|
|
@ -317,7 +267,7 @@ impl Pins {
|
|||
(sclk, NoMiso {}, sdin),
|
||||
crate::ad5680::SPI_MODE,
|
||||
crate::ad5680::SPI_CLOCK,
|
||||
clocks,
|
||||
clocks
|
||||
);
|
||||
let sync = sync.into_push_pull_output();
|
||||
|
||||
|
|
@ -325,11 +275,8 @@ impl Pins {
|
|||
}
|
||||
|
||||
fn setup_dac1<M1, M2, M3>(
|
||||
clocks: Clocks,
|
||||
spi5: SPI5,
|
||||
sclk: PF7<M1>,
|
||||
sync: PF6<M2>,
|
||||
sdin: PF9<M3>,
|
||||
clocks: Clocks, spi5: SPI5,
|
||||
sclk: PF7<M1>, sync: PF6<M2>, sdin: PF9<M3>
|
||||
) -> (Dac1Spi, <Channel1 as ChannelPins>::DacSync) {
|
||||
let sclk = sclk.into_alternate();
|
||||
let sdin = sdin.into_alternate();
|
||||
|
|
@ -338,7 +285,7 @@ impl Pins {
|
|||
(sclk, NoMiso {}, sdin),
|
||||
crate::ad5680::SPI_MODE,
|
||||
crate::ad5680::SPI_CLOCK,
|
||||
clocks,
|
||||
clocks
|
||||
);
|
||||
let sync = sync.into_push_pull_output();
|
||||
|
||||
|
|
@ -358,18 +305,25 @@ pub struct PwmPins {
|
|||
impl PwmPins {
|
||||
fn setup<M1, M2, M3, M4, M5, M6>(
|
||||
clocks: Clocks,
|
||||
(tim1, tim3): (TIM1, TIM3),
|
||||
(max_v0, max_v1): (PC6<M1>, PC7<M2>),
|
||||
(max_i_pos0, max_i_pos1): (PE9<M3>, PE11<M4>),
|
||||
(max_i_neg0, max_i_neg1): (PE13<M5>, PE14<M6>),
|
||||
tim1: TIM1,
|
||||
tim3: TIM3,
|
||||
max_v0: PC6<M1>,
|
||||
max_v1: PC7<M2>,
|
||||
max_i_pos0: PE9<M3>,
|
||||
max_i_pos1: PE11<M4>,
|
||||
max_i_neg0: PE13<M5>,
|
||||
max_i_neg1: PE14<M6>,
|
||||
) -> PwmPins {
|
||||
let freq = 20u32.khz();
|
||||
|
||||
fn init_pwm_pin<P: hal::PwmPin<Duty = u16>>(pin: &mut P) {
|
||||
fn init_pwm_pin<P: hal::PwmPin<Duty=u16>>(pin: &mut P) {
|
||||
pin.set_duty(0);
|
||||
pin.enable();
|
||||
}
|
||||
let channels = (max_v0.into_alternate(), max_v1.into_alternate());
|
||||
let channels = (
|
||||
max_v0.into_alternate(),
|
||||
max_v1.into_alternate(),
|
||||
);
|
||||
//let (mut max_v0, mut max_v1) = pwm::tim3(tim3, channels, clocks, freq);
|
||||
let (mut max_v0, mut max_v1) = Timer::new(tim3, &clocks).pwm(channels, freq);
|
||||
init_pwm_pin(&mut max_v0);
|
||||
|
|
@ -389,12 +343,9 @@ impl PwmPins {
|
|||
init_pwm_pin(&mut max_i_neg1);
|
||||
|
||||
PwmPins {
|
||||
max_v0,
|
||||
max_v1,
|
||||
max_i_pos0,
|
||||
max_i_pos1,
|
||||
max_i_neg0,
|
||||
max_i_neg1,
|
||||
max_v0, max_v1,
|
||||
max_i_pos0, max_i_pos1,
|
||||
max_i_neg0, max_i_neg1,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,33 +1,18 @@
|
|||
use crate::command_parser::Ipv4Config;
|
||||
use crate::net::split_ipv4_config;
|
||||
use core::mem::MaybeUninit;
|
||||
use smoltcp::{
|
||||
iface::EthernetInterface,
|
||||
socket::{SocketHandle, SocketRef, SocketSet, TcpSocket, TcpSocketBuffer},
|
||||
socket::{SocketSet, SocketHandle, TcpSocket, TcpSocketBuffer, SocketRef},
|
||||
time::Instant,
|
||||
wire::{IpAddress, IpCidr, Ipv4Address, Ipv4Cidr},
|
||||
};
|
||||
use crate::command_parser::Ipv4Config;
|
||||
use crate::net::split_ipv4_config;
|
||||
|
||||
pub struct SocketState<S> {
|
||||
handle: SocketHandle,
|
||||
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.
|
||||
|
|
@ -50,27 +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,
|
||||
|
|
@ -103,10 +89,15 @@ impl<'a, 'b, S: Default> Server<'a, 'b, S> {
|
|||
fn set_ipv4_address(&mut self, ipv4_address: Ipv4Cidr) {
|
||||
self.net.update_ip_addrs(|addrs| {
|
||||
for addr in addrs.iter_mut() {
|
||||
if let IpCidr::Ipv4(_) = addr {
|
||||
*addr = IpCidr::Ipv4(ipv4_address);
|
||||
// done
|
||||
break;
|
||||
match addr {
|
||||
IpCidr::Ipv4(_) => {
|
||||
*addr = IpCidr::Ipv4(ipv4_address);
|
||||
// done
|
||||
break
|
||||
}
|
||||
_ => {
|
||||
// skip
|
||||
}
|
||||
}
|
||||
}
|
||||
});
|
||||
|
|
@ -115,9 +106,10 @@ impl<'a, 'b, S: Default> Server<'a, 'b, S> {
|
|||
fn set_gateway(&mut self, gateway: Option<Ipv4Address>) {
|
||||
let routes = self.net.routes_mut();
|
||||
match gateway {
|
||||
None => routes.update(|routes_storage| {
|
||||
routes_storage.remove(&IpCidr::new(IpAddress::v4(0, 0, 0, 0), 0));
|
||||
}),
|
||||
None =>
|
||||
routes.update(|routes_storage| {
|
||||
routes_storage.remove(&IpCidr::new(IpAddress::v4(0, 0, 0, 0), 0));
|
||||
}),
|
||||
Some(gateway) => {
|
||||
routes.add_default_ipv4_route(gateway).unwrap();
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,4 +1,5 @@
|
|||
use super::command_parser::{Command, Error as ParserError};
|
||||
use super::channels::CHANNELS;
|
||||
|
||||
const MAX_LINE_LEN: usize = 64;
|
||||
|
||||
|
|
@ -45,14 +46,15 @@ pub enum SessionInput {
|
|||
|
||||
impl From<Result<Command, ParserError>> for SessionInput {
|
||||
fn from(input: Result<Command, ParserError>) -> Self {
|
||||
input
|
||||
.map(SessionInput::Command)
|
||||
input.map(SessionInput::Command)
|
||||
.unwrap_or_else(SessionInput::Error)
|
||||
}
|
||||
}
|
||||
|
||||
pub struct Session {
|
||||
reader: LineReader,
|
||||
reporting: bool,
|
||||
report_pending: [bool; CHANNELS],
|
||||
}
|
||||
|
||||
impl Default for Session {
|
||||
|
|
@ -65,11 +67,43 @@ impl Session {
|
|||
pub fn new() -> Self {
|
||||
Session {
|
||||
reader: LineReader::new(),
|
||||
reporting: false,
|
||||
report_pending: [false; CHANNELS],
|
||||
}
|
||||
}
|
||||
|
||||
pub fn reset(&mut self) {
|
||||
self.reader = LineReader::new();
|
||||
self.reporting = false;
|
||||
self.report_pending = [false; CHANNELS];
|
||||
}
|
||||
|
||||
pub fn reporting(&self) -> bool {
|
||||
self.reporting
|
||||
}
|
||||
|
||||
pub fn set_report_pending(&mut self, channel: usize) {
|
||||
if self.reporting {
|
||||
self.report_pending[channel] = true;
|
||||
}
|
||||
}
|
||||
|
||||
pub fn is_report_pending(&self) -> Option<usize> {
|
||||
if ! self.reporting {
|
||||
None
|
||||
} else {
|
||||
self.report_pending.iter()
|
||||
.enumerate()
|
||||
.fold(None, |result, (channel, report_pending)| {
|
||||
result.or_else(|| {
|
||||
if *report_pending { Some(channel) } else { None }
|
||||
})
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
pub fn mark_report_sent(&mut self, channel: usize) {
|
||||
self.report_pending[channel] = false;
|
||||
}
|
||||
|
||||
pub fn feed(&mut self, buf: &[u8]) -> (usize, SessionInput) {
|
||||
|
|
@ -77,9 +111,18 @@ impl Session {
|
|||
for (i, b) in buf.iter().enumerate() {
|
||||
buf_bytes = i + 1;
|
||||
let line = self.reader.feed(*b);
|
||||
if let Some(line) = line {
|
||||
let command = Command::parse(line);
|
||||
return (buf_bytes, command.into());
|
||||
match line {
|
||||
Some(line) => {
|
||||
let command = Command::parse(&line);
|
||||
match command {
|
||||
Ok(Command::Reporting(reporting)) => {
|
||||
self.reporting = reporting;
|
||||
}
|
||||
_ => {}
|
||||
}
|
||||
return (buf_bytes, command.into());
|
||||
}
|
||||
None => {}
|
||||
}
|
||||
}
|
||||
(buf_bytes, SessionInput::Nothing)
|
||||
|
|
|
|||
|
|
@ -1,29 +1,31 @@
|
|||
use num_traits::float::Float;
|
||||
use serde::{Deserialize, Serialize};
|
||||
use uom::si::{
|
||||
f64::{
|
||||
ElectricalResistance,
|
||||
ThermodynamicTemperature,
|
||||
},
|
||||
electrical_resistance::ohm,
|
||||
f64::{ElectricalResistance, TemperatureInterval, ThermodynamicTemperature},
|
||||
ratio::ratio,
|
||||
temperature_interval::kelvin as kelvin_interval,
|
||||
thermodynamic_temperature::{degree_celsius, kelvin},
|
||||
};
|
||||
use serde::{Deserialize, Serialize};
|
||||
|
||||
/// 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 +34,7 @@ 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,
|
||||
}
|
||||
}
|
||||
}
|
||||
14
src/timer.rs
14
src/timer.rs
|
|
@ -4,9 +4,9 @@ use cortex_m::interrupt::Mutex;
|
|||
use cortex_m_rt::exception;
|
||||
use stm32f4xx_hal::{
|
||||
rcc::Clocks,
|
||||
stm32::SYST,
|
||||
time::U32Ext,
|
||||
timer::{Event as TimerEvent, Timer},
|
||||
timer::{Timer, Event as TimerEvent},
|
||||
stm32::SYST,
|
||||
};
|
||||
|
||||
/// Rate in Hz
|
||||
|
|
@ -18,6 +18,7 @@ static TIMER_MS: Mutex<RefCell<u32>> = Mutex::new(RefCell::new(0));
|
|||
|
||||
/// Setup SysTick exception
|
||||
pub fn setup(syst: SYST, clocks: Clocks) {
|
||||
|
||||
let timer = Timer::syst(syst, &clocks);
|
||||
let mut countdown = timer.start_count_down(TIMER_RATE.hz());
|
||||
countdown.listen(TimerEvent::TimeOut);
|
||||
|
|
@ -27,13 +28,18 @@ pub fn setup(syst: SYST, clocks: Clocks) {
|
|||
#[exception]
|
||||
fn SysTick() {
|
||||
cortex_m::interrupt::free(|cs| {
|
||||
*TIMER_MS.borrow(cs).borrow_mut() += TIMER_DELTA;
|
||||
*TIMER_MS.borrow(cs)
|
||||
.borrow_mut() += TIMER_DELTA;
|
||||
});
|
||||
}
|
||||
|
||||
/// Obtain current time in milliseconds
|
||||
pub fn now() -> u32 {
|
||||
cortex_m::interrupt::free(|cs| *TIMER_MS.borrow(cs).borrow().deref())
|
||||
cortex_m::interrupt::free(|cs| {
|
||||
*TIMER_MS.borrow(cs)
|
||||
.borrow()
|
||||
.deref()
|
||||
})
|
||||
}
|
||||
|
||||
/// block for at least `amount` milliseconds
|
||||
|
|
|
|||
18
src/usb.rs
18
src/usb.rs
|
|
@ -1,18 +1,15 @@
|
|||
use core::{
|
||||
fmt::{self, Write},
|
||||
mem::MaybeUninit,
|
||||
};
|
||||
use core::{fmt::{self, Write}, mem::MaybeUninit};
|
||||
use cortex_m::interrupt::free;
|
||||
use log::{Log, Metadata, Record};
|
||||
use stm32f4xx_hal::{
|
||||
otg_fs::{UsbBus as Bus, USB},
|
||||
otg_fs::{USB, UsbBus as Bus},
|
||||
stm32::{interrupt, Interrupt, NVIC},
|
||||
};
|
||||
use usb_device::{
|
||||
class_prelude::UsbBusAllocator,
|
||||
class_prelude::{UsbBusAllocator},
|
||||
prelude::{UsbDevice, UsbDeviceBuilder, UsbVidPid},
|
||||
};
|
||||
use usbd_serial::SerialPort;
|
||||
use log::{Record, Log, Metadata};
|
||||
|
||||
static mut EP_MEMORY: [u32; 1024] = [0; 1024];
|
||||
|
||||
|
|
@ -39,8 +36,8 @@ impl State {
|
|||
.device_class(usbd_serial::USB_CLASS_CDC)
|
||||
.build();
|
||||
|
||||
free(|_| unsafe {
|
||||
STATE = Some(State { serial, dev });
|
||||
free(|_| {
|
||||
unsafe { STATE = Some(State { serial, dev }); }
|
||||
});
|
||||
|
||||
unsafe {
|
||||
|
|
@ -97,7 +94,8 @@ impl Write for SerialOutput {
|
|||
fn write_str(&mut self, s: &str) -> core::result::Result<(), core::fmt::Error> {
|
||||
if let Some(ref mut state) = State::get() {
|
||||
for chunk in s.as_bytes().chunks(16) {
|
||||
free(|_| state.serial.write(chunk)).map_err(|_| fmt::Error)?;
|
||||
free(|_| state.serial.write(chunk))
|
||||
.map_err(|_| fmt::Error)?;
|
||||
}
|
||||
}
|
||||
Ok(())
|
||||
|
|
|
|||
Loading…
Reference in New Issue