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