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Author | SHA1 | Date | |
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8fb389855c |
3
.gitignore
vendored
3
.gitignore
vendored
@ -1,5 +1,2 @@
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target/
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result
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*.bin
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__pycache__/
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|
22
README.md
22
README.md
@ -84,7 +84,9 @@ invalidate the first line of input.
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### Reading ADC input
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ADC input data is provided in reports. Query for the latest report with the command `report`. See the *Reports* section below.
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Set report mode to `on` for a continuous stream of input data.
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The scope of this setting is per TCP session.
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### TCP commands
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@ -93,16 +95,15 @@ Send commands as simple text string terminated by `\n`. Responses are
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formatted as line-delimited JSON.
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| Syntax | Function |
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|------------------------------------------- |-------------------------------------------------------------------------------|
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|----------------------------------|-------------------------------------------------------------------------------|
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| `report` | Show current input |
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| `report mode` | Show current report mode |
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| `report mode <off/on>` | Set report mode |
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| `pwm` | Show current PWM settings |
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| `pwm <0/1> max_i_pos <amp>` | Set maximum positive output current, clamped to [0, 2] |
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| `pwm <0/1> max_i_neg <amp>` | Set maximum negative output current, clamped to [0, 2] |
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| `pwm <0/1> max_v <volt>` | Set maximum output voltage, clamped to [0, 4] |
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| `pwm <0/1> i_set <amp>` | Disengage PID, set fixed output current, clamped to [-2, 2] |
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| `pwm <0/1> polarity <normal/reversed>` | Set output current polarity, with 'normal' being the front panel polarity |
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| `pwm <0/1> max_i_pos <amp>` | Set maximum positive output current |
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| `pwm <0/1> max_i_neg <amp>` | Set maximum negative output current |
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| `pwm <0/1> max_v <volt>` | Set maximum output voltage |
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| `pwm <0/1> i_set <amp>` | Disengage PID, set fixed output current |
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| `pwm <0/1> pid` | Let output current to be controlled by the PID |
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| `center <0/1> <volt>` | Set the MAX1968 0A-centerpoint to the specified fixed voltage |
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| `center <0/1> vref` | Set the MAX1968 0A-centerpoint to measure from VREF |
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@ -185,8 +186,6 @@ postfilter rate can be tuned with the `postfilter` command.
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When using a TEC module with the Thermostat, the Thermostat expects the thermal load (where the thermistor is located) to cool down with a positive software current set point, and heat up with a negative current set point.
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If the Thermostat is used for temperature control with the Sinara 5432 DAC "Zotino", and is connected via an IDC cable, the TEC polarity may need to be reversed with the `pwm <ch> polarity reversed` TCP command.
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Testing heat flow direction with a low set current is recommended before installation of the TEC module.
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### Limits
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@ -252,7 +251,8 @@ pwm 0 pid
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## Reports
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Use the bare `report` command to obtain a single report. Reports are JSON objects
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Use the bare `report` command to obtain a single report. Enable
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continuous reporting with `report mode on`. Reports are JSON objects
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with the following keys.
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| Key | Unit | Description |
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@ -271,7 +271,7 @@ with the following keys.
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| `tec_u_meas` | Volts | Measurement of the voltage across the TEC |
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| `pid_output` | Amperes | PID control output |
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Note: Prior to Thermostat hardware revision v2.2.4, the voltage and current readouts `i_tec` and `tec_i` are noisy without the hardware fix shown in [this PR](https://git.m-labs.hk/M-Labs/thermostat/pulls/105).
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Note: Before Thermostat v2.2.4, the voltage and current readouts `i_tec` and `tec_i` are noisy without the hardware fix shown in [this PR](https://git.m-labs.hk/M-Labs/thermostat/pulls/105).
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## PID Tuning
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@ -63,7 +63,7 @@
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name = "thermostat-dev-shell";
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packages = with pkgs; [
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rust llvm
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openocd dfu-util rlwrap
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openocd dfu-util
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] ++ (with python3Packages; [
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numpy matplotlib
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]);
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@ -1,7 +1,6 @@
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import socket
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import json
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import logging
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import time
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class CommandError(Exception):
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pass
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@ -16,7 +15,7 @@ class Client:
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pwm_report = self.get_pwm()
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for pwm_channel in pwm_report:
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for limit in ["max_i_neg", "max_i_pos", "max_v"]:
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if pwm_channel[limit] == 0.0:
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if pwm_channel[limit]["value"] == 0.0:
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logging.warning("`{}` limit is set to zero on channel {}".format(limit, pwm_channel["channel"]))
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def _read_line(self):
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@ -53,18 +52,16 @@ class Client:
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Example::
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[{'channel': 0,
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'center': 'vref',
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'i_set': -0.02002179650216762,
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'max_i_neg': 2.0,
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'max_v': 3.988,
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'max_i_pos': 2.0,
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'polarity': 'normal',
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'i_set': {'max': 2.9802790335151985, 'value': -0.02002179650216762},
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'max_i_neg': {'max': 3.0, 'value': 3.0},
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'max_v': {'max': 5.988, 'value': 5.988},
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'max_i_pos': {'max': 3.0, 'value': 3.0}},
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{'channel': 1,
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'center': 'vref',
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'i_set': -0.02002179650216762,
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'max_i_neg': 2.0,
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'max_v': 3.988,
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'max_i_pos': 2.0}
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'polarity': 'normal',
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'i_set': {'max': 2.9802790335151985, 'value': -0.02002179650216762},
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'max_i_neg': {'max': 3.0, 'value': 3.0},
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'max_v': {'max': 5.988, 'value': 5.988},
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'max_i_pos': {'max': 3.0, 'value': 3.0}}
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]
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"""
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return self._get_conf("pwm")
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@ -129,8 +126,9 @@ class Client:
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'tec_u_meas': 2.5340000000000003,
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'pid_output': 2.067581958092247}
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"""
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self._command("report mode", "on")
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while True:
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self._socket.sendall("report\n".encode('utf-8'))
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line = self._read_line()
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if not line:
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break
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@ -138,7 +136,6 @@ class Client:
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yield json.loads(line)
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except json.decoder.JSONDecodeError:
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pass
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time.sleep(0.05)
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def set_param(self, topic, channel, field="", value=""):
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"""Set configuration parameters
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@ -16,9 +16,8 @@ use uom::si::{
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use crate::{
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ad7172,
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pid,
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config::PwmLimits,
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steinhart_hart as sh,
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command_parser::{CenterPoint, Polarity},
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command_parser::CenterPoint,
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};
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const R_INNER: f64 = 2.0 * 5100.0;
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@ -33,11 +32,9 @@ pub struct ChannelState {
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pub center: CenterPoint,
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pub dac_value: ElectricPotential,
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pub i_set: ElectricCurrent,
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pub pwm_limits: PwmLimits,
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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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pub polarity: Polarity,
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}
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impl ChannelState {
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@ -51,15 +48,9 @@ impl ChannelState {
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center: CenterPoint::Vref,
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dac_value: ElectricPotential::new::<volt>(0.0),
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i_set: ElectricCurrent::new::<ampere>(0.0),
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pwm_limits: PwmLimits {
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max_v: 0.0,
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max_i_pos: 0.0,
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max_i_neg: 0.0,
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},
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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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polarity: Polarity::Normal,
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}
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}
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|
166
src/channels.rs
166
src/channels.rs
@ -17,12 +17,11 @@ use crate::{
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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::{CenterPoint, PwmPin, Polarity},
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command_parser::{CenterPoint, PwmPin},
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command_handler::JsonBuffer,
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pins::{self, Channel0VRef, Channel1VRef},
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steinhart_hart,
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};
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use crate::timer::sleep;
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pub enum PinsAdcReadTarget {
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VREF,
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@ -45,11 +44,7 @@ pub const MAX_TEC_V: ElectricPotential = ElectricPotential {
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units: PhantomData,
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value: 4.0,
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};
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const MAX_TEC_I_DUTY_TO_CURRENT_RATE: ElectricCurrent = ElectricCurrent {
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dimension: PhantomData,
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units: PhantomData,
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value: 1.0 / (10.0 * R_SENSE / 3.3),
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};
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// DAC chip outputs 0-5v, which is then passed through a resistor dividor to provide 0-3v range
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const DAC_OUT_V_MAX: ElectricPotential = ElectricPotential {
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dimension: PhantomData,
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@ -158,11 +153,6 @@ impl Channels {
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pub fn set_i(&mut self, channel: usize, i_set: ElectricCurrent) -> ElectricCurrent {
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let i_set = i_set.min(MAX_TEC_I).max(-MAX_TEC_I);
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self.channel_state(channel).i_set = i_set;
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let negate = match self.channel_state(channel).polarity {
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Polarity::Normal => 1.0,
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Polarity::Reversed => -1.0,
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};
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let vref_meas = match channel.into() {
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0 => self.channel0.vref_meas,
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1 => self.channel1.vref_meas,
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@ -170,9 +160,10 @@ impl Channels {
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};
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let center_point = vref_meas;
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let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
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let voltage = negate * i_set * 10.0 * r_sense + center_point;
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let voltage = i_set * 10.0 * r_sense + center_point;
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let voltage = self.set_dac(channel, voltage);
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let i_set = negate * (voltage - center_point) / (10.0 * r_sense);
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let i_set = (voltage - center_point) / (10.0 * r_sense);
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self.channel_state(channel).i_set = i_set;
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i_set
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}
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@ -278,6 +269,17 @@ impl Channels {
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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.adc_read(channel, PinsAdcReadTarget::DacVfb, 1);
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loop {
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let current = self.adc_read(channel, PinsAdcReadTarget::DacVfb, 1);
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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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/// Calibrates the DAC output to match vref of the MAX driver to reduce zero-current offset of the MAX driver output.
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///
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/// The thermostat DAC applies a control voltage signal to the CTLI pin of MAX driver chip to control its output current.
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@ -304,7 +306,8 @@ impl Channels {
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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 (5..18).rev() {
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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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@ -315,15 +318,14 @@ impl Channels {
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}
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_ => unreachable!(),
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}
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sleep(10);
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let dac_feedback = self.adc_read(channel, PinsAdcReadTarget::DacVfb, 64);
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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 = value;
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start_value = prev_value;
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let vref = (value as f64 / ad5680::MAX_VALUE as f64) * DAC_OUT_V_MAX;
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match channel {
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@ -332,6 +334,8 @@ impl Channels {
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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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@ -357,25 +361,53 @@ impl Channels {
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}
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}
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pub fn get_max_v(&mut self, channel: usize) -> ElectricPotential {
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ElectricPotential::new::<volt>(self.channel_state(channel).pwm_limits.max_v)
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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_i_pos(&mut self, channel: usize) -> ElectricCurrent {
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ElectricCurrent::new::<ampere>(self.channel_state(channel).pwm_limits.max_i_pos)
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pub fn get_max_v(&mut self, channel: usize) -> (ElectricPotential, ElectricPotential) {
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let max = 4.0 * ElectricPotential::new::<volt>(3.3);
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let duty = self.get_pwm(channel, PwmPin::MaxV);
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(duty * max, MAX_TEC_V)
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}
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pub fn get_max_i_neg(&mut self, channel: usize) -> ElectricCurrent {
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ElectricCurrent::new::<ampere>(self.channel_state(channel).pwm_limits.max_i_neg)
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pub fn get_max_i_pos(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
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let max = ElectricCurrent::new::<ampere>(3.0);
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let duty = self.get_pwm(channel, PwmPin::MaxIPos);
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(duty * max, MAX_TEC_I)
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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 max = ElectricCurrent::new::<ampere>(3.0);
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let duty = self.get_pwm(channel, PwmPin::MaxINeg);
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(duty * max, MAX_TEC_I)
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}
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// Get current passing through TEC
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pub fn get_tec_i(&mut self, channel: usize) -> ElectricCurrent {
|
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let tec_i = (self.adc_read(channel, PinsAdcReadTarget::ITec, 16) - self.adc_read(channel, PinsAdcReadTarget::VREF, 16)) / ElectricalResistance::new::<ohm>(0.4);
|
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match self.channel_state(channel).polarity {
|
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Polarity::Normal => tec_i,
|
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Polarity::Reversed => -tec_i,
|
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}
|
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(self.adc_read(channel, PinsAdcReadTarget::ITec, 16) - self.adc_read(channel, PinsAdcReadTarget::VREF, 16)) / ElectricalResistance::new::<ohm>(0.4)
|
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}
|
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|
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// Get voltage across TEC
|
||||
@ -412,48 +444,23 @@ impl Channels {
|
||||
|
||||
pub fn set_max_v(&mut self, channel: usize, max_v: ElectricPotential) -> (ElectricPotential, ElectricPotential) {
|
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let max = 4.0 * ElectricPotential::new::<volt>(3.3);
|
||||
let max_v = max_v.min(MAX_TEC_V).max(ElectricPotential::zero());
|
||||
let duty = (max_v / max).get::<ratio>();
|
||||
let duty = (max_v.min(MAX_TEC_V).max(ElectricPotential::zero()) / max).get::<ratio>();
|
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let duty = self.set_pwm(channel, PwmPin::MaxV, duty);
|
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self.channel_state(channel).pwm_limits.max_v = max_v.get::<volt>();
|
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(duty * max, max)
|
||||
}
|
||||
|
||||
pub fn set_max_i_pos(&mut self, channel: usize, max_i_pos: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
|
||||
let max = ElectricCurrent::new::<ampere>(3.0);
|
||||
let max_i_pos = max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero());
|
||||
let duty = (max_i_pos / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
|
||||
let duty = match self.channel_state(channel).polarity {
|
||||
Polarity::Normal => self.set_pwm(channel, PwmPin::MaxIPos, duty),
|
||||
Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxINeg, duty),
|
||||
};
|
||||
self.channel_state(channel).pwm_limits.max_i_pos = max_i_pos.get::<ampere>();
|
||||
(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
|
||||
let duty = (max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero()) / max).get::<ratio>();
|
||||
let duty = self.set_pwm(channel, PwmPin::MaxIPos, duty);
|
||||
(duty * max, max)
|
||||
}
|
||||
|
||||
pub fn set_max_i_neg(&mut self, channel: usize, max_i_neg: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
|
||||
let max = ElectricCurrent::new::<ampere>(3.0);
|
||||
let max_i_neg = max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero());
|
||||
let duty = (max_i_neg / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
|
||||
let duty = match self.channel_state(channel).polarity {
|
||||
Polarity::Normal => self.set_pwm(channel, PwmPin::MaxINeg, duty),
|
||||
Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxIPos, duty),
|
||||
};
|
||||
self.channel_state(channel).pwm_limits.max_i_neg = max_i_neg.get::<ampere>();
|
||||
(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
|
||||
}
|
||||
|
||||
pub fn set_polarity(&mut self, channel: usize, polarity: Polarity) {
|
||||
if self.channel_state(channel).polarity != polarity {
|
||||
let i_set = self.channel_state(channel).i_set;
|
||||
let max_i_pos = self.get_max_i_pos(channel);
|
||||
let max_i_neg = self.get_max_i_neg(channel);
|
||||
self.channel_state(channel).polarity = polarity;
|
||||
|
||||
self.set_i(channel, i_set);
|
||||
self.set_max_i_pos(channel, max_i_pos);
|
||||
self.set_max_i_neg(channel, max_i_neg);
|
||||
}
|
||||
let duty = (max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero()) / max).get::<ratio>();
|
||||
let duty = self.set_pwm(channel, PwmPin::MaxINeg, duty);
|
||||
(duty * max, max)
|
||||
}
|
||||
|
||||
fn report(&mut self, channel: usize) -> Report {
|
||||
@ -511,11 +518,10 @@ impl Channels {
|
||||
PwmSummary {
|
||||
channel,
|
||||
center: CenterPointJson(self.channel_state(channel).center.clone()),
|
||||
i_set: self.get_i(channel),
|
||||
max_v: self.get_max_v(channel),
|
||||
max_i_pos: self.get_max_i_pos(channel),
|
||||
max_i_neg: self.get_max_i_neg(channel),
|
||||
polarity: PolarityJson(self.channel_state(channel).polarity.clone()),
|
||||
i_set: (self.get_i(channel), MAX_TEC_I).into(),
|
||||
max_v: self.get_max_v(channel).into(),
|
||||
max_i_pos: self.get_max_i_pos(channel).into(),
|
||||
max_i_neg: self.get_max_i_neg(channel).into(),
|
||||
}
|
||||
}
|
||||
|
||||
@ -597,18 +603,15 @@ impl Serialize for CenterPointJson {
|
||||
}
|
||||
}
|
||||
|
||||
pub struct PolarityJson(Polarity);
|
||||
#[derive(Serialize)]
|
||||
pub struct PwmSummaryField<T: Serialize> {
|
||||
value: T,
|
||||
max: T,
|
||||
}
|
||||
|
||||
// used in JSON encoding, not for config
|
||||
impl Serialize for PolarityJson {
|
||||
fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
|
||||
where
|
||||
S: Serializer,
|
||||
{
|
||||
serializer.serialize_str(match self.0 {
|
||||
Polarity::Normal => "normal",
|
||||
Polarity::Reversed => "reversed",
|
||||
})
|
||||
impl<T: Serialize> From<(T, T)> for PwmSummaryField<T> {
|
||||
fn from((value, max): (T, T)) -> Self {
|
||||
PwmSummaryField { value, max }
|
||||
}
|
||||
}
|
||||
|
||||
@ -616,11 +619,10 @@ impl Serialize for PolarityJson {
|
||||
pub struct PwmSummary {
|
||||
channel: usize,
|
||||
center: CenterPointJson,
|
||||
i_set: ElectricCurrent,
|
||||
max_v: ElectricPotential,
|
||||
max_i_pos: ElectricCurrent,
|
||||
max_i_neg: ElectricCurrent,
|
||||
polarity: PolarityJson,
|
||||
i_set: PwmSummaryField<ElectricCurrent>,
|
||||
max_v: PwmSummaryField<ElectricPotential>,
|
||||
max_i_pos: PwmSummaryField<ElectricCurrent>,
|
||||
max_i_neg: PwmSummaryField<ElectricCurrent>,
|
||||
}
|
||||
|
||||
#[derive(Serialize)]
|
||||
|
@ -11,8 +11,7 @@ use super::{
|
||||
CenterPoint,
|
||||
PidParameter,
|
||||
PwmPin,
|
||||
ShParameter,
|
||||
Polarity
|
||||
ShParameter
|
||||
},
|
||||
ad7172,
|
||||
CHANNEL_CONFIG_KEY,
|
||||
@ -23,6 +22,7 @@ use super::{
|
||||
config::ChannelConfig,
|
||||
dfu,
|
||||
flash_store::FlashStore,
|
||||
session::Session,
|
||||
FanCtrl,
|
||||
hw_rev::HWRev,
|
||||
};
|
||||
@ -87,6 +87,16 @@ fn send_line(socket: &mut TcpSocket, data: &[u8]) -> bool {
|
||||
|
||||
impl Handler {
|
||||
|
||||
fn reporting(socket: &mut TcpSocket) -> Result<Handler, Error> {
|
||||
send_line(socket, b"{}");
|
||||
Ok(Handler::Handled)
|
||||
}
|
||||
|
||||
fn show_report_mode(socket: &mut TcpSocket, session: &Session) -> Result<Handler, Error> {
|
||||
let _ = writeln!(socket, "{{ \"report\": {:?} }}", session.reporting());
|
||||
Ok(Handler::Handled)
|
||||
}
|
||||
|
||||
fn show_report(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
|
||||
match channels.reports_json() {
|
||||
Ok(buf) => {
|
||||
@ -171,12 +181,6 @@ impl Handler {
|
||||
Ok(Handler::Handled)
|
||||
}
|
||||
|
||||
fn set_polarity(socket: &mut TcpSocket, channels: &mut Channels, channel: usize, polarity: Polarity) -> Result<Handler, Error> {
|
||||
channels.set_polarity(channel, polarity);
|
||||
send_line(socket, b"{}");
|
||||
Ok(Handler::Handled)
|
||||
}
|
||||
|
||||
fn set_pwm (socket: &mut TcpSocket, channels: &mut Channels, channel: usize, pin: PwmPin, value: f64) -> Result<Handler, Error> {
|
||||
match pin {
|
||||
PwmPin::ISet => {
|
||||
@ -408,9 +412,11 @@ impl Handler {
|
||||
}
|
||||
}
|
||||
|
||||
pub fn handle_command(command: Command, socket: &mut TcpSocket, channels: &mut Channels, store: &mut FlashStore, ipv4_config: &mut Ipv4Config, fan_ctrl: &mut FanCtrl, hwrev: HWRev) -> Result<Self, Error> {
|
||||
pub fn handle_command(command: Command, socket: &mut TcpSocket, channels: &mut Channels, session: &Session, store: &mut FlashStore, ipv4_config: &mut Ipv4Config, fan_ctrl: &mut FanCtrl, hwrev: HWRev) -> Result<Self, Error> {
|
||||
match command {
|
||||
Command::Quit => Ok(Handler::CloseSocket),
|
||||
Command::Reporting(_reporting) => Handler::reporting(socket),
|
||||
Command::Show(ShowCommand::Reporting) => Handler::show_report_mode(socket, session),
|
||||
Command::Show(ShowCommand::Input) => Handler::show_report(socket, channels),
|
||||
Command::Show(ShowCommand::Pid) => Handler::show_pid(socket, channels),
|
||||
Command::Show(ShowCommand::Pwm) => Handler::show_pwm(socket, channels),
|
||||
@ -418,7 +424,6 @@ impl Handler {
|
||||
Command::Show(ShowCommand::PostFilter) => Handler::show_post_filter(socket, channels),
|
||||
Command::Show(ShowCommand::Ipv4) => Handler::show_ipv4(socket, ipv4_config),
|
||||
Command::PwmPid { channel } => Handler::engage_pid(socket, channels, channel),
|
||||
Command::PwmPolarity { channel, polarity } => Handler::set_polarity(socket, channels, channel, polarity),
|
||||
Command::Pwm { channel, pin, value } => Handler::set_pwm(socket, channels, channel, pin, value),
|
||||
Command::CenterPoint { channel, center } => Handler::set_center_point(socket, channels, channel, center),
|
||||
Command::Pid { channel, parameter, value } => Handler::set_pid(socket, channels, channel, parameter, value),
|
||||
|
@ -96,6 +96,7 @@ pub struct Ipv4Config {
|
||||
#[derive(Debug, Clone, PartialEq)]
|
||||
pub enum ShowCommand {
|
||||
Input,
|
||||
Reporting,
|
||||
Pwm,
|
||||
Pid,
|
||||
SteinhartHart,
|
||||
@ -135,12 +136,6 @@ pub enum CenterPoint {
|
||||
Override(f32),
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
|
||||
pub enum Polarity {
|
||||
Normal,
|
||||
Reversed,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, PartialEq)]
|
||||
pub enum Command {
|
||||
Quit,
|
||||
@ -153,6 +148,7 @@ pub enum Command {
|
||||
Reset,
|
||||
Ipv4(Ipv4Config),
|
||||
Show(ShowCommand),
|
||||
Reporting(bool),
|
||||
/// PWM parameter setting
|
||||
Pwm {
|
||||
channel: usize,
|
||||
@ -163,10 +159,6 @@ pub enum Command {
|
||||
PwmPid {
|
||||
channel: usize,
|
||||
},
|
||||
PwmPolarity {
|
||||
channel: usize,
|
||||
polarity: Polarity,
|
||||
},
|
||||
CenterPoint {
|
||||
channel: usize,
|
||||
center: CenterPoint,
|
||||
@ -241,6 +233,12 @@ fn float(input: &[u8]) -> IResult<&[u8], Result<f64, Error>> {
|
||||
Ok((input, result))
|
||||
}
|
||||
|
||||
fn off_on(input: &[u8]) -> IResult<&[u8], bool> {
|
||||
alt((value(false, tag("off")),
|
||||
value(true, tag("on"))
|
||||
))(input)
|
||||
}
|
||||
|
||||
fn channel(input: &[u8]) -> IResult<&[u8], usize> {
|
||||
map(one_of("01"), |c| (c as usize) - ('0' as usize))(input)
|
||||
}
|
||||
@ -248,8 +246,24 @@ fn channel(input: &[u8]) -> IResult<&[u8], usize> {
|
||||
fn report(input: &[u8]) -> IResult<&[u8], Command> {
|
||||
preceded(
|
||||
tag("report"),
|
||||
alt((
|
||||
preceded(
|
||||
whitespace,
|
||||
preceded(
|
||||
tag("mode"),
|
||||
alt((
|
||||
preceded(
|
||||
whitespace,
|
||||
// `report mode <on | off>` - Switch repoting mode
|
||||
map(off_on, Command::Reporting)
|
||||
),
|
||||
// `report mode` - Show current reporting state
|
||||
value(Command::Show(ShowCommand::Reporting), end)
|
||||
))
|
||||
)),
|
||||
// `report` - Report once
|
||||
value(Command::Show(ShowCommand::Input), end)
|
||||
))
|
||||
)(input)
|
||||
}
|
||||
|
||||
@ -307,18 +321,6 @@ fn pwm_pid(input: &[u8]) -> IResult<&[u8], ()> {
|
||||
value((), tag("pid"))(input)
|
||||
}
|
||||
|
||||
fn pwm_polarity(input: &[u8]) -> IResult<&[u8], Polarity> {
|
||||
preceded(
|
||||
tag("polarity"),
|
||||
preceded(
|
||||
whitespace,
|
||||
alt((value(Polarity::Normal, tag("normal")),
|
||||
value(Polarity::Reversed, tag("reversed"))
|
||||
))
|
||||
)
|
||||
)(input)
|
||||
}
|
||||
|
||||
fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
||||
let (input, _) = tag("pwm")(input)?;
|
||||
alt((
|
||||
@ -331,10 +333,6 @@ fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
||||
let (input, ()) = pwm_pid(input)?;
|
||||
Ok((input, Ok(Command::PwmPid { channel })))
|
||||
},
|
||||
|input| {
|
||||
let (input, polarity) = pwm_polarity(input)?;
|
||||
Ok((input, Ok(Command::PwmPolarity { channel, polarity })))
|
||||
},
|
||||
|input| {
|
||||
let (input, config) = pwm_setup(input)?;
|
||||
match config {
|
||||
@ -684,6 +682,24 @@ mod test {
|
||||
assert_eq!(command, Ok(Command::Show(ShowCommand::Input)));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn parse_report_mode() {
|
||||
let command = Command::parse(b"report mode");
|
||||
assert_eq!(command, Ok(Command::Show(ShowCommand::Reporting)));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn parse_report_mode_on() {
|
||||
let command = Command::parse(b"report mode on");
|
||||
assert_eq!(command, Ok(Command::Reporting(true)));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn parse_report_mode_off() {
|
||||
let command = Command::parse(b"report mode off");
|
||||
assert_eq!(command, Ok(Command::Reporting(false)));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn parse_pwm_i_set() {
|
||||
let command = Command::parse(b"pwm 1 i_set 16383");
|
||||
|
@ -8,7 +8,7 @@ use uom::si::{
|
||||
use crate::{
|
||||
ad7172::PostFilter,
|
||||
channels::Channels,
|
||||
command_parser::{CenterPoint, Polarity},
|
||||
command_parser::CenterPoint,
|
||||
pid,
|
||||
steinhart_hart,
|
||||
};
|
||||
@ -20,7 +20,6 @@ pub struct ChannelConfig {
|
||||
pid_target: f32,
|
||||
pid_engaged: bool,
|
||||
i_set: ElectricCurrent,
|
||||
polarity: Polarity,
|
||||
sh: steinhart_hart::Parameters,
|
||||
pwm: PwmLimits,
|
||||
/// uses variant `PostFilter::Invalid` instead of `None` to save space
|
||||
@ -46,8 +45,7 @@ impl ChannelConfig {
|
||||
pid: state.pid.parameters.clone(),
|
||||
pid_target: state.pid.target as f32,
|
||||
pid_engaged: state.pid_engaged,
|
||||
i_set,
|
||||
polarity: state.polarity.clone(),
|
||||
i_set: i_set,
|
||||
sh: state.sh.clone(),
|
||||
pwm,
|
||||
adc_postfilter,
|
||||
@ -70,22 +68,21 @@ impl ChannelConfig {
|
||||
};
|
||||
let _ = channels.adc.set_postfilter(channel as u8, adc_postfilter);
|
||||
let _ = channels.set_i(channel, self.i_set);
|
||||
channels.set_polarity(channel, self.polarity.clone());
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
|
||||
pub struct PwmLimits {
|
||||
pub max_v: f64,
|
||||
pub max_i_pos: f64,
|
||||
pub max_i_neg: f64,
|
||||
struct PwmLimits {
|
||||
max_v: f64,
|
||||
max_i_pos: f64,
|
||||
max_i_neg: f64,
|
||||
}
|
||||
|
||||
impl PwmLimits {
|
||||
pub fn new(channels: &mut Channels, channel: usize) -> Self {
|
||||
let max_v = channels.get_max_v(channel);
|
||||
let max_i_pos = channels.get_max_i_pos(channel);
|
||||
let max_i_neg = channels.get_max_i_neg(channel);
|
||||
let (max_v, _) = channels.get_max_v(channel);
|
||||
let (max_i_pos, _) = channels.get_max_i_pos(channel);
|
||||
let (max_i_neg, _) = channels.get_max_i_neg(channel);
|
||||
PwmLimits {
|
||||
max_v: max_v.get::<volt>(),
|
||||
max_i_pos: max_i_pos.get::<ampere>(),
|
||||
|
20
src/main.rs
20
src/main.rs
@ -180,7 +180,10 @@ fn main() -> ! {
|
||||
loop {
|
||||
let mut new_ipv4_config = None;
|
||||
let instant = Instant::from_millis(i64::from(timer::now()));
|
||||
channels.poll_adc(instant);
|
||||
let updated_channel = channels.poll_adc(instant);
|
||||
if let Some(channel) = updated_channel {
|
||||
server.for_each(|_, session| session.set_report_pending(channel.into()));
|
||||
}
|
||||
|
||||
fan_ctrl.cycle(channels.current_abs_max_tec_i());
|
||||
|
||||
@ -213,7 +216,7 @@ fn main() -> ! {
|
||||
// Do nothing and feed more data to the line reader in the next loop cycle.
|
||||
Ok(SessionInput::Nothing) => {}
|
||||
Ok(SessionInput::Command(command)) => {
|
||||
match Handler::handle_command(command, &mut socket, &mut channels, &mut store, &mut ipv4_config, &mut fan_ctrl, hwrev) {
|
||||
match Handler::handle_command(command, &mut socket, &mut channels, session, &mut store, &mut ipv4_config, &mut fan_ctrl, hwrev) {
|
||||
Ok(Handler::NewIPV4(ip)) => new_ipv4_config = Some(ip),
|
||||
Ok(Handler::Handled) => {},
|
||||
Ok(Handler::CloseSocket) => socket.close(),
|
||||
@ -228,6 +231,19 @@ fn main() -> ! {
|
||||
Err(_) =>
|
||||
socket.close(),
|
||||
}
|
||||
} else if socket.can_send() {
|
||||
if let Some(channel) = session.is_report_pending() {
|
||||
match channels.reports_json() {
|
||||
Ok(buf) => {
|
||||
send_line(&mut socket, &buf[..]);
|
||||
session.mark_report_sent(channel);
|
||||
}
|
||||
Err(e) => {
|
||||
error!("unable to serialize report: {:?}", e);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
});
|
||||
} else {
|
||||
|
@ -1,4 +1,5 @@
|
||||
use super::command_parser::{Command, Error as ParserError};
|
||||
use super::channels::CHANNELS;
|
||||
|
||||
const MAX_LINE_LEN: usize = 64;
|
||||
|
||||
@ -52,6 +53,8 @@ impl From<Result<Command, ParserError>> for SessionInput {
|
||||
|
||||
pub struct Session {
|
||||
reader: LineReader,
|
||||
reporting: bool,
|
||||
report_pending: [bool; CHANNELS],
|
||||
}
|
||||
|
||||
impl Default for Session {
|
||||
@ -64,11 +67,43 @@ impl Session {
|
||||
pub fn new() -> Self {
|
||||
Session {
|
||||
reader: LineReader::new(),
|
||||
reporting: false,
|
||||
report_pending: [false; CHANNELS],
|
||||
}
|
||||
}
|
||||
|
||||
pub fn reset(&mut self) {
|
||||
self.reader = LineReader::new();
|
||||
self.reporting = false;
|
||||
self.report_pending = [false; CHANNELS];
|
||||
}
|
||||
|
||||
pub fn reporting(&self) -> bool {
|
||||
self.reporting
|
||||
}
|
||||
|
||||
pub fn set_report_pending(&mut self, channel: usize) {
|
||||
if self.reporting {
|
||||
self.report_pending[channel] = true;
|
||||
}
|
||||
}
|
||||
|
||||
pub fn is_report_pending(&self) -> Option<usize> {
|
||||
if ! self.reporting {
|
||||
None
|
||||
} else {
|
||||
self.report_pending.iter()
|
||||
.enumerate()
|
||||
.fold(None, |result, (channel, report_pending)| {
|
||||
result.or_else(|| {
|
||||
if *report_pending { Some(channel) } else { None }
|
||||
})
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
pub fn mark_report_sent(&mut self, channel: usize) {
|
||||
self.report_pending[channel] = false;
|
||||
}
|
||||
|
||||
pub fn feed(&mut self, buf: &[u8]) -> (usize, SessionInput) {
|
||||
@ -79,6 +114,12 @@ impl Session {
|
||||
match line {
|
||||
Some(line) => {
|
||||
let command = Command::parse(&line);
|
||||
match command {
|
||||
Ok(Command::Reporting(reporting)) => {
|
||||
self.reporting = reporting;
|
||||
}
|
||||
_ => {}
|
||||
}
|
||||
return (buf_bytes, command.into());
|
||||
}
|
||||
None => {}
|
||||
|
Loading…
Reference in New Issue
Block a user