use serde::{Serialize, Deserialize}; use smoltcp::wire::Ipv4Address; use uom::si::{ electric_potential::volt, electric_current::ampere, f64::{ElectricCurrent, ElectricPotential}, }; use crate::{ ad7172::PostFilter, channels::Channels, command_parser::CenterPoint, pid, steinhart_hart, }; #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)] pub struct ChannelConfig { center: CenterPoint, pid: pid::Parameters, pid_target: f32, sh: steinhart_hart::Parameters, pwm: PwmLimits, /// uses variant `PostFilter::Invalid` instead of `None` to save space adc_postfilter: PostFilter, } 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) .unwrap() .unwrap_or(PostFilter::Invalid); let state = channels.channel_state(channel); ChannelConfig { center: state.center.clone(), pid: state.pid.parameters.clone(), pid_target: state.pid.target as f32, sh: state.sh.clone(), pwm, adc_postfilter, } } pub fn apply(&self, channels: &mut Channels, channel: usize) { let state = channels.channel_state(channel); state.center = self.center.clone(); state.pid.parameters = self.pid.clone(); state.pid.target = self.pid_target.into(); state.sh = self.sh.clone(); self.pwm.apply(channels, channel); let adc_postfilter = match self.adc_postfilter { PostFilter::Invalid => None, adc_postfilter => Some(adc_postfilter), }; let _ = channels.adc.set_postfilter(channel as u8, adc_postfilter); } } #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)] 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); PwmLimits { max_v: max_v.get::(), max_i_pos: max_i_pos.get::(), max_i_neg: max_i_neg.get::(), } } pub fn apply(&self, channels: &mut Channels, channel: usize) { channels.set_max_v(channel, ElectricPotential::new::(self.max_v)); channels.set_max_i_pos(channel, ElectricCurrent::new::(self.max_i_pos)); channels.set_max_i_neg(channel, ElectricCurrent::new::(self.max_i_neg)); } }