use smoltcp::time::Instant; use crate::{ ad7172, pid, steinhart_hart as sh, units::Volts, }; pub struct ChannelState { pub adc_data: Option, pub adc_time: Instant, pub dac_value: Volts, pub pid_engaged: bool, pub pid: pid::Controller, pub sh: sh::Parameters, } impl Default for ChannelState { fn default() -> Self { ChannelState { adc_data: None, adc_time: Instant::from_secs(0), dac_value: Volts(0.0), pid_engaged: false, pid: pid::Controller::new(pid::Parameters::default()), sh: sh::Parameters::default(), } } } impl ChannelState { /// Update PID state on ADC input, calculate new DAC output pub fn update_pid(&mut self, now: Instant, adc_data: u32) -> f64 { self.adc_data = Some(adc_data); self.adc_time = now; // Update PID controller let input = (adc_data as f64) / (ad7172::MAX_VALUE as f64); let temperature = self.sh.get_temperature(input); self.pid.update(temperature) } }