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1 Commits
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Author SHA1 Message Date
Egor Savkin 9596320423 Update python to 3.11 and use StrEnum 
Signed-off-by: Egor Savkin <es@m-labs.hk>
 2022-12-21 14:17:55 +08:00
41 changed files with 1434 additions and 2294 deletions
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3
.gitignore vendored
View File

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

8
Cargo.lock generated
View File

@ -327,10 +327,10 @@ 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"
@ -563,7 +563,7 @@ dependencies = [
"nb 1.0.0",
"nom",
"num-traits",
"panic-halt",
"panic-abort",
"panic-semihosting",
"serde",
"serde-json-core",

4
Cargo.toml
View File

@ -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"

152
README.md
View File

@ -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 +94,36 @@ 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 |
## USB
@ -144,22 +141,22 @@ 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 +178,48 @@ 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 +232,7 @@ 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 +245,20 @@ 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 +266,6 @@ 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:
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.
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`.

6
doc/PID tuning.md
View File

@ -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
```
![default view](./assets/default%20view.png)
@ -44,12 +44,12 @@ Below are some general guidelines for manually tuning PID loops. Note that every
## Auto Tuning
A PID auto tuning utility is provided in the PyThermostat library. The auto tuning utility drives the the load to a controlled oscillation, observes the ultimate gain and oscillation period and calculates a set of PID parameters.
A PID auto tuning utility is provided in the Pytec library. The auto tuning utility drives the the load to a controlled oscillation, observes the ultimate gain and oscillation period and calculates a set of PID parameters.
To run the auto tuning utility, run
```shell
python pythermostat/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
View File

@ -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": 1671313200,
"narHash": "sha256-itZTrtHeDJjV696+ur0/TzkTqb5y3Eb57WRLRPK3rwA=",
"owner": "NixOS",
"repo": "nixpkgs",
"rev": "8b5b6723aca5a51edf075936439d9cd3947b7b2c",
"rev": "0938d73bb143f4ae037143572f11f4338c7b2d1c",
"type": "github"
},
"original": {
"owner": "NixOS",
"ref": "nixos-24.05",
"ref": "nixos-22.11",
"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
View File

@ -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-22.11;
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 python311Packages; [
numpy matplotlib
]);
};
formatter.x86_64-linux = nixpkgs.legacyPackages.x86_64-linux.nixfmt-rfc-style;
defaultPackage.x86_64-linux = thermostat;
};
}
}

18
pythermostat/autotune.py → pytec/autotune.py
View File

@ -1,10 +1,9 @@
import math
import logging
import time
from collections import deque, namedtuple
from enum import Enum
from enum import StrEnum
from pythermostat.client import Client
from pytec.client import Client
# Based on hirshmann pid-autotune libiary
# See https://github.com/hirschmann/pid-autotune
@ -12,7 +11,7 @@ from pythermostat.client import Client
# See https://github.com/t0mpr1c3/Arduino-PID-AutoTune-Library
class PIDAutotuneState(Enum):
class PIDAutotuneState(StrEnum):
STATE_OFF = 'off'
STATE_RELAY_STEP_UP = 'relay step up'
STATE_RELAY_STEP_DOWN = 'relay step down'
@ -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__":

11
pytec/example.py Normal file
View File

@ -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)

7
pythermostat/plot.py → pytec/plot.py
View File

@ -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()

0
pythermostat/pythermostat/__init__.py → pytec/pytec/__init__.py
View File

113
pythermostat/pythermostat/client.py → pytec/pytec/client.py
View File

@ -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")

2
pythermostat/setup.py → pytec/setup.py
View File

@ -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",

13
pythermostat/example.py
View File

@ -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)

81
pythermostat/test.py
View File

@ -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()

22
src/ad5680.rs
View File

@ -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)
}

121
src/ad7172/adc.rs
View File

@ -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(&regs::Id).map(|id| id.id())
self.read_reg(&regs::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(&regs::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(&regs::Offset { index })?.offset();
let gain = self.read_reg(&regs::Gain { index })?.gain();
let bipolar = self.read_reg(&regs::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(&regs::FiltCon { index }).map(|data| {
if data.enh_filt_en() {
Some(data.enh_filt())
} else {
None
}
})
self.read_reg(&regs::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(&regs::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(&regs::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(&regs::Status).map(|status| {
if status.ready() {
Some(status.channel())
} else {
None
}
})
self.read_reg(&regs::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(&regs::Data).map(|data| data.data())
self.read_reg(&regs::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(&reg_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();

8
src/ad7172/checksum.rs
View File

@ -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)
}
}
}

16
src/ad7172/mod.rs
View File

@ -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)
}
}

106
src/ad7172/regs.rs
View File

@ -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) {

21
src/channel.rs
View File

@ -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,

48
src/channel_state.rs
View File

@ -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
View File

@ -1,59 +1,30 @@
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 heapless::{consts::U2, Vec};
use num_traits::Zero;
use heapless::{consts::{U2, U1024}, Vec};
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},
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 +42,21 @@ 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 +96,13 @@ 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 +112,17 @@ 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 +132,114 @@ 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 +250,30 @@ 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 +284,24 @@ 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 +327,112 @@ 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 +443,13 @@ 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 +473,27 @@ 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 }
}
@ -557,29 +506,22 @@ 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()
}
}
type JsonBuffer = Vec<u8, U1024>;
#[derive(Serialize)]
pub struct Report {
channel: usize,
@ -590,6 +532,7 @@ 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 +550,34 @@ 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 +587,7 @@ pub struct PostFilterSummary {
}
#[derive(Serialize)]
pub struct BParameterSummary {
pub struct SteinhartHartSummary {
channel: usize,
params: b_parameter::Parameters,
params: steinhart_hart::Parameters,
}

403
src/command_handler.rs
View File

@ -1,30 +1,43 @@
use smoltcp::socket::TcpSocket;
use log::{error, warn};
use core::fmt::Write;
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,
hw_rev::HWRev,
net, FanCtrl, CHANNEL_CONFIG_KEY,
session::Session
};
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)]
@ -37,13 +50,11 @@ pub enum Handler {
#[derive(Clone, Debug, PartialEq)]
pub enum Error {
Report,
PostFilterRate,
Flash,
ReportError,
PostFilterRateError,
FlashError
}
pub type JsonBuffer = Vec<u8, U1024>;
fn send_line(socket: &mut TcpSocket, data: &[u8]) -> bool {
let send_free = socket.send_capacity() - socket.send_queue();
if data.len() > send_free + 1 {
@ -51,19 +62,19 @@ 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 +82,17 @@ 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 +101,7 @@ 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 +115,41 @@ 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 +157,13 @@ 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 +171,18 @@ 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 +204,76 @@ 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 +285,7 @@ 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 +293,19 @@ 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 +313,7 @@ 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 +322,7 @@ 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 +330,7 @@ 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);
}
@ -378,151 +341,29 @@ impl Handler {
Ok(Handler::Reset)
}
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!\" }",
);
return Ok(Handler::Handled);
}
fan_ctrl.set_auto_mode(false);
fan_ctrl.set_pwm(fan_pwm);
if fan_ctrl.fan_pwm_recommended() {
send_line(socket, b"{}");
} else {
send_line(socket, b"{ \"warning\": \"this fan doesn't have full PWM support. Use it at your own risk!\" }");
}
Ok(Handler::Handled)
}
fn show_fan(socket: &mut TcpSocket, fan_ctrl: &mut FanCtrl) -> Result<Handler, Error> {
match fan_ctrl.summary() {
Ok(buf) => {
send_line(socket, &buf);
Ok(Handler::Handled)
}
Err(e) => {
error!("unable to serialize fan summary: {:?}", e);
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
Err(Error::Report)
}
}
}
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!\" }",
);
return Ok(Handler::Handled);
}
fan_ctrl.set_auto_mode(true);
if fan_ctrl.fan_pwm_recommended() {
send_line(socket, b"{}");
} else {
send_line(socket, b"{ \"warning\": \"this fan doesn't have full PWM support. Use it at your own risk!\" }");
}
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> {
fan_ctrl.set_curve(k_a, k_b, k_c);
send_line(socket, b"{}");
Ok(Handler::Handled)
}
fn fan_defaults(socket: &mut TcpSocket, fan_ctrl: &mut FanCtrl) -> Result<Handler, Error> {
fan_ctrl.restore_defaults();
send_line(socket, b"{}");
Ok(Handler::Handled)
}
fn show_hwrev(socket: &mut TcpSocket, hwrev: HWRev) -> Result<Handler, Error> {
match hwrev.summary() {
Ok(buf) => {
send_line(socket, &buf);
Ok(Handler::Handled)
}
Err(e) => {
error!("unable to serialize HWRev summary: {:?}", e);
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
Err(Error::Report)
}
}
}
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) -> Result<Self, Error> {
match command {
Command::Quit => Ok(Handler::CloseSocket),
Command::Show(ShowCommand::Input) => Handler::show_report(socket, channels),
Command::Show(ShowCommand::Pid) => Handler::show_pid(socket, channels),
Command::Show(ShowCommand::Output) => Handler::show_pwm(socket, channels),
Command::Show(ShowCommand::BParameter) => Handler::show_b_parameter(socket, channels),
Command::Show(ShowCommand::PostFilter) => Handler::show_post_filter(socket, channels),
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::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::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::FanCurveDefaults => Handler::fan_defaults(socket, fan_ctrl),
Command::ShowHWRev => Handler::show_hwrev(socket, hwrev),
Command::Dfu => Handler::dfu(channels)
}
}
}
}

711
src/command_parser.rs
View File

@ -2,20 +2,18 @@ use core::fmt;
use core::num::ParseIntError;
use core::str::{from_utf8, Utf8Error};
use nom::{
IResult,
branch::alt,
bytes::complete::{is_a, tag, take_while1},
character::{
complete::{char, one_of},
is_digit,
},
character::{is_digit, complete::{char, one_of}},
combinator::{complete, map, opt, value},
error::ErrorKind,
multi::{fold_many0, fold_many1},
sequence::preceded,
IResult, Needed,
multi::{fold_many0, fold_many1},
error::ErrorKind,
};
use num_traits::{Num, ParseFloatError};
use serde::{Deserialize, Serialize};
use serde::{Serialize, Deserialize};
#[derive(Clone, Debug, PartialEq)]
pub enum Error {
@ -31,9 +29,12 @@ pub enum Error {
impl<'t> From<nom::Err<(&'t [u8], ErrorKind)>> for Error {
fn from(e: nom::Err<(&'t [u8], ErrorKind)>) -> Self {
match e {
nom::Err::Incomplete(_) => Error::Incomplete,
nom::Err::Error((_, e)) => Error::Parser(e),
nom::Err::Failure((_, e)) => Error::Parser(e),
nom::Err::Incomplete(_) =>
Error::Incomplete,
nom::Err::Error((_, e)) =>
Error::Parser(e),
nom::Err::Failure((_, e)) =>
Error::Parser(e),
}
}
}
@ -59,7 +60,8 @@ impl From<ParseFloatError> for Error {
impl fmt::Display for Error {
fn fmt(&self, fmt: &mut fmt::Formatter) -> Result<(), fmt::Error> {
match self {
Error::Incomplete => "incomplete input".fmt(fmt),
Error::Incomplete =>
"incomplete input".fmt(fmt),
Error::UnexpectedInput(c) => {
"unexpected input: ".fmt(fmt)?;
c.fmt(fmt)
@ -76,7 +78,9 @@ impl fmt::Display for Error {
"parsing int: ".fmt(fmt)?;
(e as &dyn core::fmt::Debug).fmt(fmt)
}
Error::ParseFloat => "parsing float".fmt(fmt),
Error::ParseFloat => {
"parsing float".fmt(fmt)
}
}
}
}
@ -91,9 +95,10 @@ pub struct Ipv4Config {
#[derive(Debug, Clone, PartialEq)]
pub enum ShowCommand {
Input,
Output,
Reporting,
Pwm,
Pid,
BParameter,
SteinhartHart,
PostFilter,
Ipv4,
}
@ -108,9 +113,9 @@ pub enum PidParameter {
OutputMax,
}
/// B-Parameter equation parameter
/// Steinhart-Hart equation parameter
#[derive(Debug, Clone, PartialEq)]
pub enum BpParameter {
pub enum ShParameter {
T0,
B,
R0,
@ -126,16 +131,10 @@ pub enum PwmPin {
#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
pub enum CenterPoint {
VRef,
Vref,
Override(f32),
}
#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
pub enum Polarity {
Normal,
Reversed,
}
#[derive(Debug, Clone, PartialEq)]
pub enum Command {
Quit,
@ -148,20 +147,17 @@ pub enum Command {
Reset,
Ipv4(Ipv4Config),
Show(ShowCommand),
Reporting(bool),
/// PWM parameter setting
Output {
Pwm {
channel: usize,
pin: PwmPin,
value: f64,
},
/// Enable PID control for `i_set`
OutputPid {
PwmPid {
channel: usize,
},
OutputPolarity {
channel: usize,
polarity: Polarity,
},
CenterPoint {
channel: usize,
center: CenterPoint,
@ -172,9 +168,9 @@ pub enum Command {
parameter: PidParameter,
value: f64,
},
BParameter {
SteinhartHart {
channel: usize,
parameter: BpParameter,
parameter: ShParameter,
value: f64,
},
PostFilter {
@ -182,22 +178,15 @@ pub enum Command {
rate: Option<f32>,
},
Dfu,
FanSet {
fan_pwm: u32,
},
FanAuto,
ShowFan,
FanCurve {
k_a: f32,
k_b: f32,
k_c: f32,
},
FanCurveDefaults,
ShowHWRev,
}
fn end(input: &[u8]) -> IResult<&[u8], ()> {
complete(fold_many0(one_of("\r\n\t "), (), |(), _| ()))(input)
complete(
fold_many0(
one_of("\r\n\t "),
(), |(), _| ()
)
)(input)
}
fn whitespace(input: &[u8]) -> IResult<&[u8], ()> {
@ -205,25 +194,38 @@ fn whitespace(input: &[u8]) -> IResult<&[u8], ()> {
}
fn unsigned(input: &[u8]) -> IResult<&[u8], Result<u32, Error>> {
take_while1(is_digit)(input).map(|(input, digits)| {
let result = from_utf8(digits)
.map_err(|e| e.into())
.and_then(|digits| digits.parse::<u32>().map_err(|e| e.into()));
(input, result)
})
take_while1(is_digit)(input)
.map(|(input, digits)| {
let result =
from_utf8(digits)
.map_err(|e| e.into())
.and_then(|digits| u32::from_str_radix(digits, 10)
.map_err(|e| e.into())
);
(input, result)
})
}
fn float(input: &[u8]) -> IResult<&[u8], Result<f64, Error>> {
let (input, sign) = opt(is_a("-"))(input)?;
let negative = sign.is_some();
let (input, digits) = take_while1(|c| is_digit(c) || c == b'.')(input)?;
let result = from_utf8(digits)
let (input, digits) = take_while1(|c| is_digit(c) || c == '.' as u8)(input)?;
let result =
from_utf8(digits)
.map_err(|e| e.into())
.and_then(|digits| f64::from_str_radix(digits, 10).map_err(|e| e.into()))
.and_then(|digits| f64::from_str_radix(digits, 10)
.map_err(|e| e.into())
)
.map(|result: f64| if negative { -result } else { result });
Ok((input, result))
}
fn off_on(input: &[u8]) -> IResult<&[u8], bool> {
alt((value(false, tag("off")),
value(true, tag("on"))
))(input)
}
fn channel(input: &[u8]) -> IResult<&[u8], usize> {
map(one_of("01"), |c| (c as usize) - ('0' as usize))(input)
}
@ -231,55 +233,83 @@ fn channel(input: &[u8]) -> IResult<&[u8], usize> {
fn report(input: &[u8]) -> IResult<&[u8], Command> {
preceded(
tag("report"),
// `report` - Report once
value(Command::Show(ShowCommand::Input), end),
alt((
preceded(
whitespace,
preceded(
tag("mode"),
alt((
preceded(
whitespace,
// `report mode <on | off>` - Switch repoting mode
map(off_on, Command::Reporting)
),
// `report mode` - Show current reporting state
value(Command::Show(ShowCommand::Reporting), end)
))
)),
// `report` - Report once
value(Command::Show(ShowCommand::Input), end)
))
)(input)
}
fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<(PwmPin, f64), Error>> {
let result_with_pin =
|pin: PwmPin| move |result: Result<f64, Error>| result.map(|value| (pin, value));
let result_with_pin = |pin: PwmPin|
move |result: Result<f64, Error>|
result.map(|value| (pin, value));
alt((
map(
preceded(tag("i_set"), preceded(whitespace, float)),
result_with_pin(PwmPin::ISet),
preceded(
tag("i_set"),
preceded(
whitespace,
float
)
),
result_with_pin(PwmPin::ISet)
),
map(
preceded(tag("max_i_pos"), preceded(whitespace, float)),
result_with_pin(PwmPin::MaxIPos),
preceded(
tag("max_i_pos"),
preceded(
whitespace,
float
)
),
result_with_pin(PwmPin::MaxIPos)
),
map(
preceded(tag("max_i_neg"), preceded(whitespace, float)),
result_with_pin(PwmPin::MaxINeg),
preceded(
tag("max_i_neg"),
preceded(
whitespace,
float
)
),
result_with_pin(PwmPin::MaxINeg)
),
map(
preceded(tag("max_v"), preceded(whitespace, float)),
result_with_pin(PwmPin::MaxV),
),
))(input)
}
/// `output <0-1> pid` - Set output to be controlled by PID
fn output_pid(input: &[u8]) -> IResult<&[u8], ()> {
value((), tag("pid"))(input)
}
fn output_polarity(input: &[u8]) -> IResult<&[u8], Polarity> {
preceded(
tag("polarity"),
preceded(
whitespace,
alt((
value(Polarity::Normal, tag("normal")),
value(Polarity::Reversed, tag("reversed")),
)),
),
preceded(
tag("max_v"),
preceded(
whitespace,
float
)
),
result_with_pin(PwmPin::MaxV)
))
)(input)
}
fn output(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, _) = tag("output")(input)?;
/// `pwm <0-1> pid` - Set PWM to be controlled by PID
fn pwm_pid(input: &[u8]) -> IResult<&[u8], ()> {
value((), tag("pid"))(input)
}
fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, _) = tag("pwm")(input)?;
alt((
|input| {
let (input, _) = whitespace(input)?;
@ -287,32 +317,23 @@ fn output(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, _) = whitespace(input)?;
let (input, result) = alt((
|input| {
let (input, ()) = output_pid(input)?;
Ok((input, Ok(Command::OutputPid { channel })))
},
|input| {
let (input, polarity) = output_polarity(input)?;
Ok((input, Ok(Command::OutputPolarity { channel, polarity })))
let (input, ()) = pwm_pid(input)?;
Ok((input, Ok(Command::PwmPid { channel })))
},
|input| {
let (input, config) = pwm_setup(input)?;
match config {
Ok((pin, value)) => Ok((
input,
Ok(Command::Output {
channel,
pin,
value,
}),
)),
Err(e) => Ok((input, Err(e))),
Ok((pin, value)) =>
Ok((input, Ok(Command::Pwm { channel, pin, value }))),
Err(e) =>
Ok((input, Err(e))),
}
},
))(input)?;
end(input)?;
Ok((input, result))
},
value(Ok(Command::Show(ShowCommand::Output)), end),
value(Ok(Command::Show(ShowCommand::Pwm)), end)
))(input)
}
@ -321,39 +342,36 @@ fn center_point(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, _) = whitespace(input)?;
let (input, channel) = channel(input)?;
let (input, _) = whitespace(input)?;
let (input, center) = alt((value(Ok(CenterPoint::VRef), tag("vref")), |input| {
let (input, value) = float(input)?;
Ok((
input,
value.map(|value| CenterPoint::Override(value as f32)),
))
}))(input)?;
let (input, center) = alt((
value(Ok(CenterPoint::Vref), tag("vref")),
|input| {
let (input, value) = float(input)?;
Ok((input, value.map(|value| CenterPoint::Override(value as f32))))
}
))(input)?;
end(input)?;
Ok((
input,
center.map(|center| Command::CenterPoint { channel, center }),
))
Ok((input, center.map(|center| Command::CenterPoint {
channel,
center,
})))
}
/// `pid <0-1> <parameter> <value>`
fn pid_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, channel) = channel(input)?;
let (input, _) = whitespace(input)?;
let (input, parameter) = alt((
value(PidParameter::Target, tag("target")),
value(PidParameter::KP, tag("kp")),
value(PidParameter::KI, tag("ki")),
value(PidParameter::KD, tag("kd")),
value(PidParameter::OutputMin, tag("output_min")),
value(PidParameter::OutputMax, tag("output_max")),
))(input)?;
let (input, parameter) =
alt((value(PidParameter::Target, tag("target")),
value(PidParameter::KP, tag("kp")),
value(PidParameter::KI, tag("ki")),
value(PidParameter::KD, tag("kd")),
value(PidParameter::OutputMin, tag("output_min")),
value(PidParameter::OutputMax, tag("output_max")),
))(input)?;
let (input, _) = whitespace(input)?;
let (input, value) = float(input)?;
let result = value.map(|value| Command::Pid {
channel,
parameter,
value,
});
let result = value
.map(|value| Command::Pid { channel, parameter, value });
Ok((input, result))
}
@ -361,66 +379,70 @@ fn pid_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
fn pid(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, _) = tag("pid")(input)?;
alt((
preceded(whitespace, pid_parameter),
value(Ok(Command::Show(ShowCommand::Pid)), end),
preceded(
whitespace,
pid_parameter
),
value(Ok(Command::Show(ShowCommand::Pid)), end)
))(input)
}
/// `b-p <0-1> <parameter> <value>`
fn b_parameter_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
/// `s-h <0-1> <parameter> <value>`
fn steinhart_hart_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, channel) = channel(input)?;
let (input, _) = whitespace(input)?;
let (input, parameter) = alt((
value(BpParameter::T0, tag("t0")),
value(BpParameter::B, tag("b")),
value(BpParameter::R0, tag("r0")),
))(input)?;
let (input, parameter) =
alt((value(ShParameter::T0, tag("t0")),
value(ShParameter::B, tag("b")),
value(ShParameter::R0, tag("r0"))
))(input)?;
let (input, _) = whitespace(input)?;
let (input, value) = float(input)?;
let result = value.map(|value| Command::BParameter {
channel,
parameter,
value,
});
let result = value
.map(|value| Command::SteinhartHart { channel, parameter, value });
Ok((input, result))
}
/// `b-p` | `b-p <b_parameter_parameter>`
fn b_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, _) = tag("b-p")(input)?;
/// `s-h` | `s-h <steinhart_hart_parameter>`
fn steinhart_hart(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, _) = tag("s-h")(input)?;
alt((
preceded(whitespace, b_parameter_parameter),
value(Ok(Command::Show(ShowCommand::BParameter)), end),
preceded(
whitespace,
steinhart_hart_parameter
),
value(Ok(Command::Show(ShowCommand::SteinhartHart)), end)
))(input)
}
fn postfilter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, _) = tag("postfilter")(input)?;
alt((
preceded(whitespace, |input| {
let (input, channel) = channel(input)?;
let (input, _) = whitespace(input)?;
alt((
value(
Ok(Command::PostFilter {
preceded(
whitespace,
|input| {
let (input, channel) = channel(input)?;
let (input, _) = whitespace(input)?;
alt((
value(Ok(Command::PostFilter {
channel,
rate: None,
}),
tag("off"),
),
move |input| {
let (input, _) = tag("rate")(input)?;
let (input, _) = whitespace(input)?;
let (input, rate) = float(input)?;
let result = rate.map(|rate| Command::PostFilter {
channel,
rate: Some(rate as f32),
});
Ok((input, result))
},
))(input)
}),
value(Ok(Command::Show(ShowCommand::PostFilter)), end),
}), tag("off")),
move |input| {
let (input, _) = tag("rate")(input)?;
let (input, _) = whitespace(input)?;
let (input, rate) = float(input)?;
let result = rate
.map(|rate| Command::PostFilter {
channel,
rate: Some(rate as f32),
});
Ok((input, result))
}
))(input)
}
),
value(Ok(Command::Show(ShowCommand::PostFilter)), end)
))(input)
}
@ -433,7 +455,7 @@ fn load(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, _) = end(input)?;
Ok((input, Some(channel)))
},
value(None, end),
value(None, end)
))(input)?;
let result = Ok(Command::Load { channel });
@ -449,7 +471,7 @@ fn save(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, _) = end(input)?;
Ok((input, Some(channel)))
},
value(None, end),
value(None, end)
))(input)?;
let result = Ok(Command::Save { channel });
@ -498,95 +520,31 @@ fn ipv4(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
))(input)
}
fn fan(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, _) = tag("fan")(input)?;
alt((
|input| {
let (input, _) = whitespace(input)?;
let (input, result) = alt((
|input| {
let (input, _) = tag("auto")(input)?;
Ok((input, Ok(Command::FanAuto)))
},
|input| {
let (input, value) = unsigned(input)?;
Ok((
input,
Ok(Command::FanSet {
fan_pwm: value.unwrap_or(0),
}),
))
},
))(input)?;
Ok((input, result))
},
value(Ok(Command::ShowFan), end),
))(input)
}
fn fan_curve(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, _) = tag("fcurve")(input)?;
alt((
|input| {
let (input, _) = whitespace(input)?;
let (input, result) = alt((
|input| {
let (input, _) = tag("default")(input)?;
Ok((input, Ok(Command::FanCurveDefaults)))
},
|input| {
let (input, k_a) = float(input)?;
let (input, _) = whitespace(input)?;
let (input, k_b) = float(input)?;
let (input, _) = whitespace(input)?;
let (input, k_c) = float(input)?;
if let (Ok(k_a), Ok(k_b), Ok(k_c)) = (k_a, k_b, k_c) {
Ok((
input,
Ok(Command::FanCurve {
k_a: k_a as f32,
k_b: k_b as f32,
k_c: k_c as f32,
}),
))
} else {
Err(nom::Err::Incomplete(Needed::Size(3)))
}
},
))(input)?;
Ok((input, result))
},
value(Err(Error::Incomplete), end),
))(input)
}
fn command(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
alt((
value(Ok(Command::Quit), tag("quit")),
load,
save,
value(Ok(Command::Reset), tag("reset")),
ipv4,
map(report, Ok),
output,
center_point,
pid,
b_parameter,
postfilter,
value(Ok(Command::Dfu), tag("dfu")),
fan,
fan_curve,
value(Ok(Command::ShowHWRev), tag("hwrev")),
alt((value(Ok(Command::Quit), tag("quit")),
load,
save,
value(Ok(Command::Reset), tag("reset")),
ipv4,
map(report, Ok),
pwm,
center_point,
pid,
steinhart_hart,
postfilter,
value(Ok(Command::Dfu), tag("dfu")),
))(input)
}
impl Command {
pub fn parse(input: &[u8]) -> Result<Self, Error> {
match command(input) {
Ok((input_remain, result)) if input_remain.is_empty() => result,
Ok((input_remain, _)) => Err(Error::UnexpectedInput(input_remain[0])),
Err(e) => Err(e.into()),
Ok((input_remain, result)) if input_remain.len() == 0 =>
result,
Ok((input_remain, _)) =>
Err(Error::UnexpectedInput(input_remain[0])),
Err(e) =>
Err(e.into()),
}
}
}
@ -634,27 +592,21 @@ mod test {
#[test]
fn parse_ipv4() {
let command = Command::parse(b"ipv4 192.168.1.26/24");
assert_eq!(
command,
Ok(Command::Ipv4(Ipv4Config {
address: [192, 168, 1, 26],
mask_len: 24,
gateway: None,
}))
);
assert_eq!(command, Ok(Command::Ipv4(Ipv4Config {
address: [192, 168, 1, 26],
mask_len: 24,
gateway: None,
})));
}
#[test]
fn parse_ipv4_and_gateway() {
let command = Command::parse(b"ipv4 10.42.0.126/8 10.1.0.1");
assert_eq!(
command,
Ok(Command::Ipv4(Ipv4Config {
address: [10, 42, 0, 126],
mask_len: 8,
gateway: Some([10, 1, 0, 1]),
}))
);
assert_eq!(command, Ok(Command::Ipv4(Ipv4Config {
address: [10, 42, 0, 126],
mask_len: 8,
gateway: Some([10, 1, 0, 1]),
})));
}
#[test]
@ -664,73 +616,69 @@ mod test {
}
#[test]
fn parse_output_i_set() {
let command = Command::parse(b"output 1 i_set 16383");
assert_eq!(
command,
Ok(Command::Output {
channel: 1,
pin: PwmPin::ISet,
value: 16383.0,
})
);
fn parse_report_mode() {
let command = Command::parse(b"report mode");
assert_eq!(command, Ok(Command::Show(ShowCommand::Reporting)));
}
#[test]
fn parse_output_polarity() {
let command = Command::parse(b"output 0 polarity reversed");
assert_eq!(
command,
Ok(Command::OutputPolarity {
channel: 0,
polarity: Polarity::Reversed,
})
);
fn parse_report_mode_on() {
let command = Command::parse(b"report mode on");
assert_eq!(command, Ok(Command::Reporting(true)));
}
#[test]
fn parse_output_pid() {
let command = Command::parse(b"output 0 pid");
assert_eq!(command, Ok(Command::OutputPid { channel: 0 }));
fn parse_report_mode_off() {
let command = Command::parse(b"report mode off");
assert_eq!(command, Ok(Command::Reporting(false)));
}
#[test]
fn parse_output_max_i_pos() {
let command = Command::parse(b"output 0 max_i_pos 7");
assert_eq!(
command,
Ok(Command::Output {
channel: 0,
pin: PwmPin::MaxIPos,
value: 7.0,
})
);
fn parse_pwm_i_set() {
let command = Command::parse(b"pwm 1 i_set 16383");
assert_eq!(command, Ok(Command::Pwm {
channel: 1,
pin: PwmPin::ISet,
value: 16383.0,
}));
}
#[test]
fn parse_output_max_i_neg() {
let command = Command::parse(b"output 0 max_i_neg 128");
assert_eq!(
command,
Ok(Command::Output {
channel: 0,
pin: PwmPin::MaxINeg,
value: 128.0,
})
);
fn parse_pwm_pid() {
let command = Command::parse(b"pwm 0 pid");
assert_eq!(command, Ok(Command::PwmPid {
channel: 0,
}));
}
#[test]
fn parse_output_max_v() {
let command = Command::parse(b"output 0 max_v 32768");
assert_eq!(
command,
Ok(Command::Output {
channel: 0,
pin: PwmPin::MaxV,
value: 32768.0,
})
);
fn parse_pwm_max_i_pos() {
let command = Command::parse(b"pwm 0 max_i_pos 7");
assert_eq!(command, Ok(Command::Pwm {
channel: 0,
pin: PwmPin::MaxIPos,
value: 7.0,
}));
}
#[test]
fn parse_pwm_max_i_neg() {
let command = Command::parse(b"pwm 0 max_i_neg 128");
assert_eq!(command, Ok(Command::Pwm {
channel: 0,
pin: PwmPin::MaxINeg,
value: 128.0,
}));
}
#[test]
fn parse_pwm_max_v() {
let command = Command::parse(b"pwm 0 max_v 32768");
assert_eq!(command, Ok(Command::Pwm {
channel: 0,
pin: PwmPin::MaxV,
value: 32768.0,
}));
}
#[test]
@ -742,33 +690,27 @@ mod test {
#[test]
fn parse_pid_target() {
let command = Command::parse(b"pid 0 target 36.5");
assert_eq!(
command,
Ok(Command::Pid {
channel: 0,
parameter: PidParameter::Target,
value: 36.5,
})
);
assert_eq!(command, Ok(Command::Pid {
channel: 0,
parameter: PidParameter::Target,
value: 36.5,
}));
}
#[test]
fn parse_b_parameter() {
let command = Command::parse(b"b-p");
assert_eq!(command, Ok(Command::Show(ShowCommand::BParameter)));
fn parse_steinhart_hart() {
let command = Command::parse(b"s-h");
assert_eq!(command, Ok(Command::Show(ShowCommand::SteinhartHart)));
}
#[test]
fn parse_b_parameter_set() {
let command = Command::parse(b"b-p 1 t0 23.05");
assert_eq!(
command,
Ok(Command::BParameter {
channel: 1,
parameter: BpParameter::T0,
value: 23.05,
})
);
fn parse_steinhart_hart_set() {
let command = Command::parse(b"s-h 1 t0 23.05");
assert_eq!(command, Ok(Command::SteinhartHart {
channel: 1,
parameter: ShParameter::T0,
value: 23.05,
}));
}
#[test]
@ -780,91 +722,36 @@ mod test {
#[test]
fn parse_postfilter_off() {
let command = Command::parse(b"postfilter 1 off");
assert_eq!(
command,
Ok(Command::PostFilter {
channel: 1,
rate: None,
})
);
assert_eq!(command, Ok(Command::PostFilter {
channel: 1,
rate: None,
}));
}
#[test]
fn parse_postfilter_rate() {
let command = Command::parse(b"postfilter 0 rate 21");
assert_eq!(
command,
Ok(Command::PostFilter {
channel: 0,
rate: Some(21.0),
})
);
assert_eq!(command, Ok(Command::PostFilter {
channel: 0,
rate: Some(21.0),
}));
}
#[test]
fn parse_center_point() {
let command = Command::parse(b"center 0 1.5");
assert_eq!(
command,
Ok(Command::CenterPoint {
channel: 0,
center: CenterPoint::Override(1.5),
})
);
assert_eq!(command, Ok(Command::CenterPoint {
channel: 0,
center: CenterPoint::Override(1.5),
}));
}
#[test]
fn parse_center_point_vref() {
let command = Command::parse(b"center 1 vref");
assert_eq!(
command,
Ok(Command::CenterPoint {
channel: 1,
center: CenterPoint::VRef,
})
);
}
#[test]
fn parse_fan_show() {
let command = Command::parse(b"fan");
assert_eq!(command, Ok(Command::ShowFan));
}
#[test]
fn parse_fan_set() {
let command = Command::parse(b"fan 42");
assert_eq!(command, Ok(Command::FanSet { fan_pwm: 42 }));
}
#[test]
fn parse_fan_auto() {
let command = Command::parse(b"fan auto");
assert_eq!(command, Ok(Command::FanAuto));
}
#[test]
fn parse_fcurve_set() {
let command = Command::parse(b"fcurve 1.2 3.4 5.6");
assert_eq!(
command,
Ok(Command::FanCurve {
k_a: 1.2,
k_b: 3.4,
k_c: 5.6
})
);
}
#[test]
fn parse_fcurve_default() {
let command = Command::parse(b"fcurve default");
assert_eq!(command, Ok(Command::FanCurveDefaults));
}
#[test]
fn parse_hwrev() {
let command = Command::parse(b"hwrev");
assert_eq!(command, Ok(Command::ShowHWRev));
assert_eq!(command, Ok(Command::CenterPoint {
channel: 1,
center: CenterPoint::Vref,
}));
}
}

58
src/config.rs
View File

@ -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));
}
}

9
src/dfu.rs
View File

@ -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",

162
src/fan_ctrl.rs
View File

@ -1,162 +0,0 @@
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},
};
use uom::si::{electric_current::ampere, f64::ElectricCurrent};
pub type FanPin = PwmChannels<TIM8, pwm::C4>;
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,
pwm_enabled: bool,
k_a: f32,
k_b: f32,
k_c: f32,
abs_max_tec_i: f32,
hw_settings: HWSettings,
}
impl FanCtrl {
pub fn new(fan: Option<FanPin>, hw_settings: HWSettings) -> Self {
let mut fan_ctrl = FanCtrl {
fan,
// do not enable auto mode by default,
// but allow to turn it at the user's own risk
fan_auto: hw_settings.fan_pwm_recommended,
pwm_enabled: false,
k_a: hw_settings.fan_k_a,
k_b: hw_settings.fan_k_b,
k_c: hw_settings.fan_k_c,
abs_max_tec_i: 0f32,
hw_settings,
};
if fan_ctrl.fan_auto {
fan_ctrl.enable_pwm();
}
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;
if self.fan_auto && self.hw_settings.fan_available {
let scaled_current = self.abs_max_tec_i / MAX_TEC_I.get::<ampere>() as f32;
// do not limit upper bound, as it will be limited in the set_pwm()
let pwm = (MAX_USER_FAN_PWM
* (scaled_current * (scaled_current * self.k_a + self.k_b) + self.k_c))
as u32;
self.set_pwm(pwm);
}
}
pub fn summary(&mut self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
if self.hw_settings.fan_available {
let summary = FanSummary {
fan_pwm: self.get_pwm(),
abs_max_tec_i: self.abs_max_tec_i,
auto_mode: self.fan_auto,
k_a: self.k_a,
k_b: self.k_b,
k_c: self.k_c,
};
serde_json_core::to_vec(&summary)
} else {
let summary: Option<()> = None;
serde_json_core::to_vec(&summary)
}
}
pub fn set_auto_mode(&mut self, fan_auto: bool) {
self.fan_auto = fan_auto;
}
pub fn set_curve(&mut self, k_a: f32, k_b: f32, k_c: f32) {
self.k_a = k_a;
self.k_b = k_b;
self.k_c = k_c;
}
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,
);
}
pub fn set_pwm(&mut self, fan_pwm: u32) -> f32 {
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 max = fan.get_max_duty();
let value = ((duty * (max as f32)) as u16).min(max);
fan.set_duty(value);
value as f32 / (max as f32)
}
pub fn fan_pwm_recommended(&self) -> bool {
self.hw_settings.fan_pwm_recommended
}
pub fn fan_available(&self) -> bool {
self.hw_settings.fan_available
}
fn get_pwm(&self) -> u32 {
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
}
}
fn enable_pwm(&mut self) -> bool {
if self.fan.is_some() && self.hw_settings.fan_available {
let fan = self.fan.as_mut().unwrap();
fan.set_duty(0);
fan.enable();
self.pwm_enabled = true;
true
} else {
false
}
}
}
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
}
#[derive(Serialize)]
pub struct FanSummary {
fan_pwm: u32,
abs_max_tec_i: f32,
auto_mode: bool,
k_a: f32,
k_b: f32,
k_c: f32,
}

14
src/flash_store.rs
View File

@ -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));
}
}

86
src/hw_rev.rs
View File

@ -1,86 +0,0 @@
use serde::Serialize;
use crate::{command_handler::JsonBuffer, pins::HWRevPins};
#[derive(Serialize, Copy, Clone)]
pub struct HWRev {
pub major: u8,
pub minor: u8,
}
#[derive(Serialize, Clone)]
pub struct HWSettings {
pub fan_k_a: f32,
pub fan_k_b: f32,
pub fan_k_c: f32,
pub min_fan_pwm: f32,
pub max_fan_pwm: f32,
pub fan_pwm_freq_hz: u32,
pub fan_available: bool,
pub fan_pwm_recommended: bool,
}
#[derive(Serialize, Clone)]
struct HWSummary<'a> {
rev: &'a HWRev,
settings: &'a HWSettings,
}
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(),
);
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 },
}
}
pub fn settings(&self) -> HWSettings {
match (self.major, self.minor) {
(2, 2) => HWSettings {
fan_k_a: 1.0,
fan_k_b: 0.0,
fan_k_c: 0.0,
// below this value motor's autostart feature may fail,
// according to internal experiments
min_fan_pwm: 0.04,
max_fan_pwm: 1.0,
// According to `SUNON DC Brushless Fan & Blower(255-E)` catalogue p.36-37
// model MF35101V1-1000U-G99 doesn't have a PWM wire, but we'll follow their others models'
// recommended frequency, as it is said by the Thermostat's schematics that we can
// use PWM, but not stated at which frequency
fan_pwm_freq_hz: 25_000,
fan_available: true,
// see https://github.com/sinara-hw/Thermostat/issues/115 and
// https://git.m-labs.hk/M-Labs/thermostat/issues/69#issuecomment-6464 for explanation
fan_pwm_recommended: false,
},
(_, _) => HWSettings {
fan_k_a: 0.0,
fan_k_b: 0.0,
fan_k_c: 0.0,
min_fan_pwm: 0.0,
max_fan_pwm: 0.0,
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,
};
serde_json_core::to_vec(&summary)
}
}

8
src/init_log.rs
View File

@ -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");
}

2
src/leds.rs
View File

@ -1,6 +1,6 @@
use stm32f4xx_hal::{
gpio::{
gpiod::{PD10, PD11, PD9},
gpiod::{PD9, PD10, PD11},
Output, PushPull,
},
hal::digital::v2::OutputPin,

279
src/main.rs
View File

@ -1,33 +1,39 @@
#![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;
@ -35,22 +41,19 @@ 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;
mod hw_rev;
const HSE: MegaHertz = MegaHertz(8);
#[cfg(not(feature = "semihosting"))]
@ -69,19 +72,19 @@ 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 +103,7 @@ 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())
@ -117,16 +118,15 @@ 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,
),
let (pins, mut leds, mut eeprom, eth_pins, usb) = Pins::setup(
clocks, dp.TIM1, dp.TIM3,
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();
@ -136,18 +136,20 @@ fn main() -> ! {
usb::State::setup(usb);
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),
}
}
let mut fan_ctrl = FanCtrl::new(fan, hw_settings);
// default net config:
let mut ipv4_config = Ipv4Config {
address: [192, 168, 1, 26],
@ -155,9 +157,11 @@ 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 +170,110 @@ 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());
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) {
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
View File

@ -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
View File

@ -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;

242
src/pins.rs
View File

@ -1,41 +1,47 @@
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,
},
timer::Timer,
time::U32Ext,
};
use eeprom24x::{self, Eeprom24x};
use stm32_eth::EthPins;
use crate::{
channel::{Channel0, Channel1},
leds::Leds,
};
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 +52,40 @@ 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>;
@ -108,18 +96,11 @@ 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,
}
pub struct HWRevPins {
pub hwrev0: stm32f4xx_hal::gpio::gpiod::PD0<Input<Floating>>,
pub hwrev1: stm32f4xx_hal::gpio::gpiod::PD1<Input<Floating>>,
pub hwrev2: stm32f4xx_hal::gpio::gpiod::PD2<Input<Floating>>,
pub hwrev3: stm32f4xx_hal::gpio::gpiod::PD3<Input<Floating>>,
}
pub struct Pins {
pub adc_spi: AdcSpi,
pub adc_nss: AdcNss,
@ -133,34 +114,13 @@ 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,
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) {
let gpioa = gpioa.split();
let gpiob = gpiob.split();
let gpioc = gpioc.split();
@ -175,29 +135,19 @@ 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 +161,13 @@ 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 +182,14 @@ 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 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();
@ -271,16 +215,7 @@ impl Pins {
hclk: clocks.hclk(),
};
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
};
(pins, leds, eeprom, eth_pins, usb, fan, hwrev, hw_settings)
(pins, leds, eeprom, eth_pins, usb)
}
/// Configure the GPIO pins for SPI operation, and initialize SPI
@ -290,7 +225,8 @@ 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 +235,13 @@ 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 +250,7 @@ impl Pins {
(sclk, NoMiso {}, sdin),
crate::ad5680::SPI_MODE,
crate::ad5680::SPI_CLOCK,
clocks,
clocks
);
let sync = sync.into_push_pull_output();
@ -325,11 +258,8 @@ 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 +268,7 @@ impl Pins {
(sclk, NoMiso {}, sdin),
crate::ad5680::SPI_MODE,
crate::ad5680::SPI_CLOCK,
clocks,
clocks
);
let sync = sync.into_push_pull_output();
@ -358,18 +288,25 @@ 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 +326,9 @@ 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,
}
}
}

80
src/server.rs
View File

@ -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();
}

53
src/session.rs
View File

@ -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)

24
src/b_parameter.rs → src/steinhart_hart.rs
View File

@ -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
View File

@ -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
View File

@ -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(())