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Save i_set into ChannelConfig

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This commit is contained in:
linuswck 2024-05-17 15:25:13 +08:00 committed by sb10q
parent 1007982b48
commit 5b0c6f7018
1 changed files with 9 additions and 0 deletions
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9
src/config.rs
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@ -1,3 +1,4 @@
use num_traits::Zero;
use serde::{Serialize, Deserialize};
use uom::si::{
electric_potential::volt,
@ -18,6 +19,7 @@ pub struct ChannelConfig {
pid: pid::Parameters,
pid_target: f32,
pid_engaged: bool,
i_set: ElectricCurrent,
sh: steinhart_hart::Parameters,
pwm: PwmLimits,
/// uses variant `PostFilter::Invalid` instead of `None` to save space
@ -33,11 +35,17 @@ impl ChannelConfig {
.unwrap_or(PostFilter::Invalid);
let state = channels.channel_state(channel);
let i_set = if state.pid_engaged {
ElectricCurrent::zero()
} else {
state.i_set
};
ChannelConfig {
center: state.center.clone(),
pid: state.pid.parameters.clone(),
pid_target: state.pid.target as f32,
pid_engaged: state.pid_engaged,
i_set: i_set,
sh: state.sh.clone(),
pwm,
adc_postfilter,
@ -59,6 +67,7 @@ impl ChannelConfig {
adc_postfilter => Some(adc_postfilter),
};
let _ = channels.adc.set_postfilter(channel as u8, adc_postfilter);
let _ = channels.set_i(channel, self.i_set);
}
}