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