357 lines
13 KiB
Rust
357 lines
13 KiB
Rust
use stm32f4xx_hal::hal;
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use smoltcp::time::Instant;
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use uom::si::{
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f64::{ElectricCurrent, ElectricPotential},
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electric_potential::{millivolt, volt},
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electric_current::ampere,
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ratio::ratio,
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};
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use log::info;
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use crate::{
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ad5680,
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ad7172,
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channel::{Channel, Channel0, Channel1},
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channel_state::ChannelState,
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command_parser::PwmPin,
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pins,
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};
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pub const CHANNELS: usize = 2;
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// TODO: -pub
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pub struct Channels {
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channel0: Channel<Channel0>,
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channel1: Channel<Channel1>,
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pub adc: ad7172::Adc<pins::AdcSpi, pins::AdcNss>,
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/// stm32f4 integrated adc
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pins_adc: pins::PinsAdc,
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pub pwm: pins::PwmPins,
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}
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impl Channels {
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pub fn new(pins: pins::Pins) -> Self {
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let mut adc = ad7172::Adc::new(pins.adc_spi, pins.adc_nss).unwrap();
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// Feature not used
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adc.set_sync_enable(false).unwrap();
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// Setup channels and start ADC
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adc.setup_channel(0, ad7172::Input::Ain0, ad7172::Input::Ain1).unwrap();
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let adc_calibration0 = adc.get_calibration(0)
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.expect("adc_calibration0");
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adc.setup_channel(1, ad7172::Input::Ain2, ad7172::Input::Ain3).unwrap();
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let adc_calibration1 = adc.get_calibration(1)
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.expect("adc_calibration1");
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adc.start_continuous_conversion().unwrap();
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let mut channel0 = Channel::new(pins.channel0, adc_calibration0);
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let mut channel1 = Channel::new(pins.channel1, adc_calibration1);
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let pins_adc = pins.pins_adc;
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let pwm = pins.pwm;
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let mut channels = Channels { channel0, channel1, adc, pins_adc, pwm };
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for channel in 0..CHANNELS {
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// FIXME: this reads 1.5 V instead of the expected 1.65 V.
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// channels.channel_state(channel).vref = channels.read_vref(channel);
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channels.calibrate_dac_value(channel);
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}
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channels
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}
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pub fn channel_state<I: Into<usize>>(&mut self, channel: I) -> &mut ChannelState {
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match channel.into() {
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0 => &mut self.channel0.state,
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1 => &mut self.channel1.state,
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_ => unreachable!(),
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}
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}
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/// ADC input + PID processing
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pub fn poll_adc(&mut self, instant: Instant) -> Option<u8> {
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self.adc.data_ready().unwrap().map(|channel| {
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let data = self.adc.read_data().unwrap();
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let dac_value = {
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let state = self.channel_state(channel);
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state.update(instant, data);
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let pid_output = state.update_pid();
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if state.pid_engaged {
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Some(pid_output)
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} else {
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None
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}
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};
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if let Some(dac_value) = dac_value {
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// Forward PID output to i_set DAC
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// TODO:
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// self.set_dac(channel.into(), ElectricPotential::new::<volt>(dac_value));
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}
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channel
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})
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}
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/// i_set DAC
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pub fn set_dac(&mut self, channel: usize, voltage: ElectricPotential) -> (ElectricPotential, ElectricPotential) {
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let dac_factor = match channel.into() {
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0 => self.channel0.dac_factor,
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1 => self.channel1.dac_factor,
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_ => unreachable!(),
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};
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let value = (voltage.get::<volt>() * dac_factor) as u32;
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let value = match channel {
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0 => self.channel0.dac.set(value).unwrap(),
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1 => self.channel1.dac.set(value).unwrap(),
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_ => unreachable!(),
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};
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let voltage = ElectricPotential::new::<volt>(value as f64 / dac_factor);
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self.channel_state(channel).dac_value = voltage;
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let max = ElectricPotential::new::<volt>(ad5680::MAX_VALUE as f64 / dac_factor);
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(voltage, max)
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}
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pub fn read_dac_feedback(&mut self, channel: usize) -> ElectricPotential {
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match channel {
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0 => {
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let sample = self.pins_adc.convert(
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&self.channel0.dac_feedback_pin,
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stm32f4xx_hal::adc::config::SampleTime::Cycles_480
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);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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info!("dac0_fb: {}/{:03X}", mv, sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
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1 => {
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let sample = self.pins_adc.convert(
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&self.channel1.dac_feedback_pin,
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stm32f4xx_hal::adc::config::SampleTime::Cycles_480
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);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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info!("dac1_fb: {}/{:03X}", mv, sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
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_ => unreachable!(),
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}
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}
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pub fn read_dac_feedback_until_stable(&mut self, channel: usize, tolerance: ElectricPotential) -> ElectricPotential {
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let mut prev = self.read_dac_feedback(channel);
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loop {
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let current = self.read_dac_feedback(channel);
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use num_traits::float::Float;
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if (current - prev).abs() < tolerance {
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return current;
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}
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prev = current;
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}
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}
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pub fn read_itec(&mut self, channel: usize) -> ElectricPotential {
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match channel {
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0 => {
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let sample = self.pins_adc.convert(
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&self.channel0.itec_pin,
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stm32f4xx_hal::adc::config::SampleTime::Cycles_480
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);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
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1 => {
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let sample = self.pins_adc.convert(
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&self.channel1.itec_pin,
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stm32f4xx_hal::adc::config::SampleTime::Cycles_480
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);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
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_ => unreachable!(),
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}
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}
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/// should be 1.5V
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pub fn read_vref(&mut self, channel: usize) -> ElectricPotential {
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match channel {
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0 => {
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let sample = self.pins_adc.convert(
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&self.channel0.vref_pin,
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stm32f4xx_hal::adc::config::SampleTime::Cycles_480
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);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
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1 => {
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let sample = self.pins_adc.convert(
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&self.channel1.vref_pin,
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stm32f4xx_hal::adc::config::SampleTime::Cycles_480
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);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
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_ => unreachable!(),
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}
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}
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pub fn read_tec_u_meas(&mut self, channel: usize) -> ElectricPotential {
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match channel {
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0 => {
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let sample = self.pins_adc.convert(
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&self.channel0.tec_u_meas_pin,
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stm32f4xx_hal::adc::config::SampleTime::Cycles_480
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);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
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1 => {
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let sample = self.pins_adc.convert(
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&self.channel1.tec_u_meas_pin,
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stm32f4xx_hal::adc::config::SampleTime::Cycles_480
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);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
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_ => unreachable!(),
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}
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}
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/// Calibrate the I_SET DAC using the DAC_FB ADC pin.
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///
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/// These loops perform a width-first search for the DAC setting
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/// that will produce a `target_voltage`.
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pub fn calibrate_dac_value(&mut self, channel: usize) {
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let target_voltage = ElectricPotential::new::<volt>(2.5);
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let mut start_value = 1;
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let mut best_error = ElectricPotential::new::<volt>(100.0);
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for step in (0..18).rev() {
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let mut prev_value = start_value;
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for value in (start_value..=ad5680::MAX_VALUE).step_by(1 << step) {
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match channel {
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0 => {
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self.channel0.dac.set(value).unwrap();
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}
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1 => {
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self.channel1.dac.set(value).unwrap();
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}
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_ => unreachable!(),
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}
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let dac_feedback = self.read_dac_feedback_until_stable(channel, ElectricPotential::new::<volt>(0.001));
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let error = target_voltage - dac_feedback;
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if error < ElectricPotential::new::<volt>(0.0) {
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break;
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} else if error < best_error {
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best_error = error;
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start_value = prev_value;
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let dac_factor = value as f64 / dac_feedback.get::<volt>();
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match channel {
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0 => self.channel0.dac_factor = dac_factor,
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1 => self.channel1.dac_factor = dac_factor,
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_ => unreachable!(),
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}
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}
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prev_value = value;
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}
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}
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// Reset
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self.set_dac(channel, ElectricPotential::new::<volt>(0.0));
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}
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fn get_pwm(&self, channel: usize, pin: PwmPin) -> f64 {
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fn get<P: hal::PwmPin<Duty=u16>>(pin: &P) -> f64 {
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let duty = pin.get_duty();
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let max = pin.get_max_duty();
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duty as f64 / (max as f64)
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}
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match (channel, pin) {
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(_, PwmPin::ISet) =>
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panic!("i_set is no pwm pin"),
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(0, PwmPin::MaxIPos) =>
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get(&self.pwm.max_i_pos0),
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(0, PwmPin::MaxINeg) =>
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get(&self.pwm.max_i_neg0),
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(0, PwmPin::MaxV) =>
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get(&self.pwm.max_v0),
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(1, PwmPin::MaxIPos) =>
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get(&self.pwm.max_i_pos1),
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(1, PwmPin::MaxINeg) =>
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get(&self.pwm.max_i_neg1),
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(1, PwmPin::MaxV) =>
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get(&self.pwm.max_v1),
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_ =>
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unreachable!(),
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}
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}
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pub fn get_max_v(&mut self, channel: usize) -> (ElectricPotential, ElectricPotential) {
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let vref = self.channel_state(channel).vref;
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let duty = self.get_pwm(channel, PwmPin::MaxV);
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(duty * 4.0 * vref, 4.0 * vref)
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}
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pub fn get_max_i_pos(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
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let vref = self.channel_state(channel).vref;
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let scale = vref / ElectricPotential::new::<volt>(3.0) / ElectricCurrent::new::<ampere>(1.0);
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let duty = self.get_pwm(channel, PwmPin::MaxIPos);
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(duty / scale, 1.0 / scale)
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}
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pub fn get_max_i_neg(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
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let vref = self.channel_state(channel).vref;
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let scale = vref / ElectricPotential::new::<volt>(3.0) / ElectricCurrent::new::<ampere>(1.0);
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let duty = self.get_pwm(channel, PwmPin::MaxINeg);
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(duty / scale, 1.0 / scale)
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}
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fn set_pwm(&mut self, channel: usize, pin: PwmPin, duty: f64) -> f64 {
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fn set<P: hal::PwmPin<Duty=u16>>(pin: &mut P, duty: f64) -> f64 {
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let max = pin.get_max_duty();
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let value = ((duty * (max as f64)) as u16).min(max);
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pin.set_duty(value);
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value as f64 / (max as f64)
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}
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match (channel, pin) {
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(_, PwmPin::ISet) =>
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panic!("i_set is no pwm pin"),
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(0, PwmPin::MaxIPos) =>
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set(&mut self.pwm.max_i_pos0, duty),
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(0, PwmPin::MaxINeg) =>
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set(&mut self.pwm.max_i_neg0, duty),
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(0, PwmPin::MaxV) =>
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set(&mut self.pwm.max_v0, duty),
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(1, PwmPin::MaxIPos) =>
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set(&mut self.pwm.max_i_pos1, duty),
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(1, PwmPin::MaxINeg) =>
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set(&mut self.pwm.max_i_neg1, duty),
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(1, PwmPin::MaxV) =>
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set(&mut self.pwm.max_v1, duty),
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_ =>
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unreachable!(),
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}
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}
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pub fn set_max_v(&mut self, channel: usize, max_v: ElectricPotential) -> (ElectricPotential, ElectricPotential) {
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let vref = self.channel_state(channel).vref;
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let duty = (max_v / 4.0 / vref).get::<ratio>();
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let duty = self.set_pwm(channel, PwmPin::MaxV, duty);
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(duty * 4.0 * vref, 4.0 * vref)
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}
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pub fn set_max_i_pos(&mut self, channel: usize, max_i_pos: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
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let vref = self.channel_state(channel).vref;
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let scale = vref / ElectricPotential::new::<volt>(3.0) / ElectricCurrent::new::<ampere>(1.0);
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let duty = (max_i_pos * scale).get::<ratio>();
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let duty = self.set_pwm(channel, PwmPin::MaxIPos, duty);
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(duty / scale, 1.0 / scale)
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}
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pub fn set_max_i_neg(&mut self, channel: usize, max_i_neg: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
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let vref = self.channel_state(channel).vref;
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let scale = vref / ElectricPotential::new::<volt>(3.0) / ElectricCurrent::new::<ampere>(1.0);
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let duty = (max_i_neg * scale).get::<ratio>();
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let duty = self.set_pwm(channel, PwmPin::MaxINeg, duty);
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(duty / scale, 1.0 / scale)
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}
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}
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