use smoltcp::time::{Duration, Instant}; use uom::si::{ f64::{ ElectricPotential, ElectricalResistance, ThermodynamicTemperature, Time, }, electric_potential::volt, electrical_resistance::ohm, 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; pub struct ChannelState { pub adc_data: Option, pub adc_calibration: ad7172::ChannelCalibration, pub adc_time: Instant, pub adc_interval: Duration, /// i_set 0A center point pub center: CenterPoint, pub dac_value: ElectricPotential, pub pid_engaged: bool, pub pid: pid::Controller, pub sh: sh::Parameters, } impl ChannelState { pub fn new(adc_calibration: ad7172::ChannelCalibration) -> Self { ChannelState { adc_data: None, adc_calibration, adc_time: Instant::from_secs(0), // default: 10 Hz adc_interval: Duration::from_millis(100), center: CenterPoint::Vref, dac_value: ElectricPotential::new::(0.0), pid_engaged: false, pid: pid::Controller::new(pid::Parameters::default()), sh: sh::Parameters::default(), } } pub fn update(&mut self, now: Instant, adc_data: u32) { self.adc_data = if adc_data == ad7172::MAX_VALUE { // this means there is no thermistor plugged into the ADC. None } else { Some(adc_data) }; self.adc_interval = now - self.adc_time; self.adc_time = now; } /// Update PID state on ADC input, calculate new DAC output pub fn update_pid(&mut self) -> Option { let temperature = self.get_temperature()? .get::(); let pid_output = self.pid.update(temperature); Some(pid_output) } pub fn get_adc_time(&self) -> Time { Time::new::(self.adc_time.total_millis() as f64) } pub fn get_adc_interval(&self) -> Time { Time::new::(self.adc_interval.total_millis() as f64) } pub fn get_adc(&self) -> Option { Some(self.adc_calibration.convert_data(self.adc_data?)) } /// Get `SENS[01]` input resistance pub fn get_sens(&self) -> Option { let r_inner = ElectricalResistance::new::(R_INNER); let vref = ElectricPotential::new::(VREF_SENS); let adc_input = self.get_adc()?; let r = r_inner * adc_input / (vref - adc_input); Some(r) } pub fn get_temperature(&self) -> Option { let r = self.get_sens()?; let temperature = self.sh.get_temperature(r); Some(temperature) } }