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93dc39e943 | |||
5c3b759d0c | |||
6224486662 | |||
32bd49b258 |
15
README.md
15
README.md
@ -93,13 +93,16 @@ Send commands as simple text string terminated by `\n`. Responses are
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formatted as line-delimited JSON.
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formatted as line-delimited JSON.
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| Syntax | Function |
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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` | 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` | Show current PWM settings |
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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_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 |
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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 |
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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 |
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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> pid` | Let output current to be controlled by the PID |
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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> <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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| `center <0/1> vref` | Set the MAX1968 0A-centerpoint to measure from VREF |
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@ -182,6 +185,8 @@ 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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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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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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### Limits
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@ -16,7 +16,7 @@ class Client:
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pwm_report = self.get_pwm()
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pwm_report = self.get_pwm()
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for pwm_channel in pwm_report:
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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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for limit in ["max_i_neg", "max_i_pos", "max_v"]:
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if pwm_channel[limit]["value"] == 0.0:
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if pwm_channel[limit] == 0.0:
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logging.warning("`{}` limit is set to zero on channel {}".format(limit, pwm_channel["channel"]))
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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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def _read_line(self):
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@ -53,16 +53,18 @@ class Client:
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Example::
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Example::
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[{'channel': 0,
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[{'channel': 0,
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'center': 'vref',
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'center': 'vref',
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'i_set': {'max': 2.9802790335151985, 'value': -0.02002179650216762},
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'i_set': -0.02002179650216762,
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'max_i_neg': {'max': 3.0, 'value': 3.0},
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'max_i_neg': 2.0,
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'max_v': {'max': 5.988, 'value': 5.988},
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'max_v': 3.988,
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'max_i_pos': {'max': 3.0, 'value': 3.0}},
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'max_i_pos': 2.0,
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'polarity': 'normal',
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{'channel': 1,
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{'channel': 1,
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'center': 'vref',
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'center': 'vref',
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'i_set': {'max': 2.9802790335151985, 'value': -0.02002179650216762},
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'i_set': -0.02002179650216762,
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'max_i_neg': {'max': 3.0, 'value': 3.0},
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'max_i_neg': 2.0,
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'max_v': {'max': 5.988, 'value': 5.988},
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'max_v': 3.988,
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'max_i_pos': {'max': 3.0, 'value': 3.0}}
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'max_i_pos': 2.0}
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'polarity': 'normal',
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]
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]
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"""
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"""
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return self._get_conf("pwm")
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return self._get_conf("pwm")
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@ -16,8 +16,9 @@ use uom::si::{
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use crate::{
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use crate::{
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ad7172,
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ad7172,
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pid,
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pid,
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config::PwmLimits,
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steinhart_hart as sh,
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steinhart_hart as sh,
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command_parser::CenterPoint,
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command_parser::{CenterPoint, Polarity},
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};
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};
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const R_INNER: f64 = 2.0 * 5100.0;
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const R_INNER: f64 = 2.0 * 5100.0;
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@ -32,9 +33,11 @@ pub struct ChannelState {
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pub center: CenterPoint,
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pub center: CenterPoint,
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pub dac_value: ElectricPotential,
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pub dac_value: ElectricPotential,
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pub i_set: ElectricCurrent,
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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_engaged: bool,
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pub pid: pid::Controller,
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pub pid: pid::Controller,
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pub sh: sh::Parameters,
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pub sh: sh::Parameters,
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pub polarity: Polarity,
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}
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}
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impl ChannelState {
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impl ChannelState {
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@ -48,9 +51,15 @@ impl ChannelState {
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center: CenterPoint::Vref,
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center: CenterPoint::Vref,
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dac_value: ElectricPotential::new::<volt>(0.0),
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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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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_engaged: false,
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pid: pid::Controller::new(pid::Parameters::default()),
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pid: pid::Controller::new(pid::Parameters::default()),
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sh: sh::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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}
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}
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132
src/channels.rs
132
src/channels.rs
@ -17,7 +17,7 @@ use crate::{
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ad7172,
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ad7172,
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channel::{Channel, Channel0, Channel1},
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channel::{Channel, Channel0, Channel1},
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channel_state::ChannelState,
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channel_state::ChannelState,
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command_parser::{CenterPoint, PwmPin},
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command_parser::{CenterPoint, PwmPin, Polarity},
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command_handler::JsonBuffer,
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command_handler::JsonBuffer,
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pins::{self, Channel0VRef, Channel1VRef},
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pins::{self, Channel0VRef, Channel1VRef},
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steinhart_hart,
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steinhart_hart,
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@ -158,6 +158,11 @@ impl Channels {
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pub fn set_i(&mut self, channel: usize, i_set: ElectricCurrent) -> ElectricCurrent {
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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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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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let vref_meas = match channel.into() {
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0 => self.channel0.vref_meas,
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0 => self.channel0.vref_meas,
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1 => self.channel1.vref_meas,
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1 => self.channel1.vref_meas,
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@ -165,10 +170,9 @@ impl Channels {
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};
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};
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let center_point = vref_meas;
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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 r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
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let voltage = i_set * 10.0 * r_sense + center_point;
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let voltage = negate * i_set * 10.0 * r_sense + center_point;
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let voltage = self.set_dac(channel, voltage);
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let voltage = self.set_dac(channel, voltage);
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let i_set = (voltage - center_point) / (10.0 * r_sense);
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let i_set = negate * (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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i_set
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}
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}
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@ -353,51 +357,25 @@ impl Channels {
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}
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}
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}
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}
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fn get_pwm(&self, channel: usize, pin: PwmPin) -> f64 {
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pub fn get_max_v(&mut self, channel: usize) -> ElectricPotential {
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fn get<P: hal::PwmPin<Duty=u16>>(pin: &P) -> f64 {
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ElectricPotential::new::<volt>(self.channel_state(channel).pwm_limits.max_v)
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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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}
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pub fn get_max_v(&mut self, channel: usize) -> (ElectricPotential, ElectricPotential) {
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pub fn get_max_i_pos(&mut self, channel: usize) -> ElectricCurrent {
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let max = 4.0 * ElectricPotential::new::<volt>(3.3);
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ElectricCurrent::new::<ampere>(self.channel_state(channel).pwm_limits.max_i_pos)
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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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}
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pub fn get_max_i_pos(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
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pub fn get_max_i_neg(&mut self, channel: usize) -> ElectricCurrent {
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let duty = self.get_pwm(channel, PwmPin::MaxIPos);
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ElectricCurrent::new::<ampere>(self.channel_state(channel).pwm_limits.max_i_neg)
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(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, 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 duty = self.get_pwm(channel, PwmPin::MaxINeg);
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(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, MAX_TEC_I)
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}
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}
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// Get current passing through TEC
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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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pub fn get_tec_i(&mut self, channel: usize) -> ElectricCurrent {
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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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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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}
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}
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// Get voltage across TEC
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// Get voltage across TEC
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@ -434,25 +412,50 @@ impl Channels {
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pub fn set_max_v(&mut self, channel: usize, max_v: ElectricPotential) -> (ElectricPotential, ElectricPotential) {
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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);
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let max = 4.0 * ElectricPotential::new::<volt>(3.3);
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let duty = (max_v.min(MAX_TEC_V).max(ElectricPotential::zero()) / max).get::<ratio>();
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let max_v = max_v.min(MAX_TEC_V).max(ElectricPotential::zero());
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let duty = (max_v / max).get::<ratio>();
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let duty = self.set_pwm(channel, PwmPin::MaxV, duty);
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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)
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(duty * max, max)
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}
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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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pub fn set_max_i_pos(&mut self, channel: usize, max_i_pos: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
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let max = ElectricCurrent::new::<ampere>(3.0);
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let max = ElectricCurrent::new::<ampere>(3.0);
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let duty = (max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero()) / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
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let max_i_pos = max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero());
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let duty = self.set_pwm(channel, PwmPin::MaxIPos, duty);
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let duty = (max_i_pos / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
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let duty = match self.channel_state(channel).polarity {
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Polarity::Normal => self.set_pwm(channel, PwmPin::MaxIPos, duty),
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Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxINeg, duty),
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};
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self.channel_state(channel).pwm_limits.max_i_pos = max_i_pos.get::<ampere>();
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(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
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(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
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}
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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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pub fn set_max_i_neg(&mut self, channel: usize, max_i_neg: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
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let max = ElectricCurrent::new::<ampere>(3.0);
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let max = ElectricCurrent::new::<ampere>(3.0);
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let duty = (max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero()) / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
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let max_i_neg = max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero());
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let duty = self.set_pwm(channel, PwmPin::MaxINeg, duty);
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let duty = (max_i_neg / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
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let duty = match self.channel_state(channel).polarity {
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Polarity::Normal => self.set_pwm(channel, PwmPin::MaxINeg, duty),
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Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxIPos, duty),
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};
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self.channel_state(channel).pwm_limits.max_i_neg = max_i_neg.get::<ampere>();
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(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
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(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
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}
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}
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pub fn set_polarity(&mut self, channel: usize, polarity: Polarity) {
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if self.channel_state(channel).polarity != polarity {
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let i_set = self.channel_state(channel).i_set;
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let max_i_pos = self.get_max_i_pos(channel);
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let max_i_neg = self.get_max_i_neg(channel);
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self.channel_state(channel).polarity = polarity;
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self.set_i(channel, i_set);
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self.set_max_i_pos(channel, max_i_pos);
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self.set_max_i_neg(channel, max_i_neg);
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}
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}
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fn report(&mut self, channel: usize) -> Report {
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fn report(&mut self, channel: usize) -> Report {
|
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let i_set = self.get_i(channel);
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let i_set = self.get_i(channel);
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let i_tec = self.adc_read(channel, PinsAdcReadTarget::ITec, 16);
|
let i_tec = self.adc_read(channel, PinsAdcReadTarget::ITec, 16);
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@ -508,10 +511,11 @@ impl Channels {
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PwmSummary {
|
PwmSummary {
|
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channel,
|
channel,
|
||||||
center: CenterPointJson(self.channel_state(channel).center.clone()),
|
center: CenterPointJson(self.channel_state(channel).center.clone()),
|
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i_set: (self.get_i(channel), MAX_TEC_I).into(),
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i_set: self.get_i(channel),
|
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max_v: self.get_max_v(channel).into(),
|
max_v: self.get_max_v(channel),
|
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max_i_pos: self.get_max_i_pos(channel).into(),
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max_i_pos: self.get_max_i_pos(channel),
|
||||||
max_i_neg: self.get_max_i_neg(channel).into(),
|
max_i_neg: self.get_max_i_neg(channel),
|
||||||
|
polarity: PolarityJson(self.channel_state(channel).polarity.clone()),
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -593,15 +597,18 @@ impl Serialize for CenterPointJson {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
#[derive(Serialize)]
|
pub struct PolarityJson(Polarity);
|
||||||
pub struct PwmSummaryField<T: Serialize> {
|
|
||||||
value: T,
|
|
||||||
max: T,
|
|
||||||
}
|
|
||||||
|
|
||||||
impl<T: Serialize> From<(T, T)> for PwmSummaryField<T> {
|
// used in JSON encoding, not for config
|
||||||
fn from((value, max): (T, T)) -> Self {
|
impl Serialize for PolarityJson {
|
||||||
PwmSummaryField { value, max }
|
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",
|
||||||
|
})
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -609,10 +616,11 @@ impl<T: Serialize> From<(T, T)> for PwmSummaryField<T> {
|
|||||||
pub struct PwmSummary {
|
pub struct PwmSummary {
|
||||||
channel: usize,
|
channel: usize,
|
||||||
center: CenterPointJson,
|
center: CenterPointJson,
|
||||||
i_set: PwmSummaryField<ElectricCurrent>,
|
i_set: ElectricCurrent,
|
||||||
max_v: PwmSummaryField<ElectricPotential>,
|
max_v: ElectricPotential,
|
||||||
max_i_pos: PwmSummaryField<ElectricCurrent>,
|
max_i_pos: ElectricCurrent,
|
||||||
max_i_neg: PwmSummaryField<ElectricCurrent>,
|
max_i_neg: ElectricCurrent,
|
||||||
|
polarity: PolarityJson,
|
||||||
}
|
}
|
||||||
|
|
||||||
#[derive(Serialize)]
|
#[derive(Serialize)]
|
||||||
|
@ -11,7 +11,8 @@ use super::{
|
|||||||
CenterPoint,
|
CenterPoint,
|
||||||
PidParameter,
|
PidParameter,
|
||||||
PwmPin,
|
PwmPin,
|
||||||
ShParameter
|
ShParameter,
|
||||||
|
Polarity
|
||||||
},
|
},
|
||||||
ad7172,
|
ad7172,
|
||||||
CHANNEL_CONFIG_KEY,
|
CHANNEL_CONFIG_KEY,
|
||||||
@ -170,6 +171,12 @@ impl Handler {
|
|||||||
Ok(Handler::Handled)
|
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> {
|
fn set_pwm (socket: &mut TcpSocket, channels: &mut Channels, channel: usize, pin: PwmPin, value: f64) -> Result<Handler, Error> {
|
||||||
match pin {
|
match pin {
|
||||||
PwmPin::ISet => {
|
PwmPin::ISet => {
|
||||||
@ -411,6 +418,7 @@ impl Handler {
|
|||||||
Command::Show(ShowCommand::PostFilter) => Handler::show_post_filter(socket, channels),
|
Command::Show(ShowCommand::PostFilter) => Handler::show_post_filter(socket, channels),
|
||||||
Command::Show(ShowCommand::Ipv4) => Handler::show_ipv4(socket, ipv4_config),
|
Command::Show(ShowCommand::Ipv4) => Handler::show_ipv4(socket, ipv4_config),
|
||||||
Command::PwmPid { channel } => Handler::engage_pid(socket, channels, channel),
|
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::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::CenterPoint { channel, center } => Handler::set_center_point(socket, channels, channel, center),
|
||||||
Command::Pid { channel, parameter, value } => Handler::set_pid(socket, channels, channel, parameter, value),
|
Command::Pid { channel, parameter, value } => Handler::set_pid(socket, channels, channel, parameter, value),
|
||||||
|
@ -135,6 +135,12 @@ pub enum CenterPoint {
|
|||||||
Override(f32),
|
Override(f32),
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
|
||||||
|
pub enum Polarity {
|
||||||
|
Normal,
|
||||||
|
Reversed,
|
||||||
|
}
|
||||||
|
|
||||||
#[derive(Debug, Clone, PartialEq)]
|
#[derive(Debug, Clone, PartialEq)]
|
||||||
pub enum Command {
|
pub enum Command {
|
||||||
Quit,
|
Quit,
|
||||||
@ -157,6 +163,10 @@ pub enum Command {
|
|||||||
PwmPid {
|
PwmPid {
|
||||||
channel: usize,
|
channel: usize,
|
||||||
},
|
},
|
||||||
|
PwmPolarity {
|
||||||
|
channel: usize,
|
||||||
|
polarity: Polarity,
|
||||||
|
},
|
||||||
CenterPoint {
|
CenterPoint {
|
||||||
channel: usize,
|
channel: usize,
|
||||||
center: CenterPoint,
|
center: CenterPoint,
|
||||||
@ -297,6 +307,18 @@ fn pwm_pid(input: &[u8]) -> IResult<&[u8], ()> {
|
|||||||
value((), tag("pid"))(input)
|
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>> {
|
fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
||||||
let (input, _) = tag("pwm")(input)?;
|
let (input, _) = tag("pwm")(input)?;
|
||||||
alt((
|
alt((
|
||||||
@ -309,6 +331,10 @@ fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
|||||||
let (input, ()) = pwm_pid(input)?;
|
let (input, ()) = pwm_pid(input)?;
|
||||||
Ok((input, Ok(Command::PwmPid { channel })))
|
Ok((input, Ok(Command::PwmPid { channel })))
|
||||||
},
|
},
|
||||||
|
|input| {
|
||||||
|
let (input, polarity) = pwm_polarity(input)?;
|
||||||
|
Ok((input, Ok(Command::PwmPolarity { channel, polarity })))
|
||||||
|
},
|
||||||
|input| {
|
|input| {
|
||||||
let (input, config) = pwm_setup(input)?;
|
let (input, config) = pwm_setup(input)?;
|
||||||
match config {
|
match config {
|
||||||
|
@ -8,7 +8,7 @@ use uom::si::{
|
|||||||
use crate::{
|
use crate::{
|
||||||
ad7172::PostFilter,
|
ad7172::PostFilter,
|
||||||
channels::Channels,
|
channels::Channels,
|
||||||
command_parser::CenterPoint,
|
command_parser::{CenterPoint, Polarity},
|
||||||
pid,
|
pid,
|
||||||
steinhart_hart,
|
steinhart_hart,
|
||||||
};
|
};
|
||||||
@ -20,6 +20,7 @@ pub struct ChannelConfig {
|
|||||||
pid_target: f32,
|
pid_target: f32,
|
||||||
pid_engaged: bool,
|
pid_engaged: bool,
|
||||||
i_set: ElectricCurrent,
|
i_set: ElectricCurrent,
|
||||||
|
polarity: Polarity,
|
||||||
sh: steinhart_hart::Parameters,
|
sh: steinhart_hart::Parameters,
|
||||||
pwm: PwmLimits,
|
pwm: PwmLimits,
|
||||||
/// uses variant `PostFilter::Invalid` instead of `None` to save space
|
/// uses variant `PostFilter::Invalid` instead of `None` to save space
|
||||||
@ -45,7 +46,8 @@ impl ChannelConfig {
|
|||||||
pid: state.pid.parameters.clone(),
|
pid: state.pid.parameters.clone(),
|
||||||
pid_target: state.pid.target as f32,
|
pid_target: state.pid.target as f32,
|
||||||
pid_engaged: state.pid_engaged,
|
pid_engaged: state.pid_engaged,
|
||||||
i_set: i_set,
|
i_set,
|
||||||
|
polarity: state.polarity.clone(),
|
||||||
sh: state.sh.clone(),
|
sh: state.sh.clone(),
|
||||||
pwm,
|
pwm,
|
||||||
adc_postfilter,
|
adc_postfilter,
|
||||||
@ -68,21 +70,22 @@ impl ChannelConfig {
|
|||||||
};
|
};
|
||||||
let _ = channels.adc.set_postfilter(channel as u8, adc_postfilter);
|
let _ = channels.adc.set_postfilter(channel as u8, adc_postfilter);
|
||||||
let _ = channels.set_i(channel, self.i_set);
|
let _ = channels.set_i(channel, self.i_set);
|
||||||
|
channels.set_polarity(channel, self.polarity.clone());
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
|
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
|
||||||
struct PwmLimits {
|
pub struct PwmLimits {
|
||||||
max_v: f64,
|
pub max_v: f64,
|
||||||
max_i_pos: f64,
|
pub max_i_pos: f64,
|
||||||
max_i_neg: f64,
|
pub max_i_neg: f64,
|
||||||
}
|
}
|
||||||
|
|
||||||
impl PwmLimits {
|
impl PwmLimits {
|
||||||
pub fn new(channels: &mut Channels, channel: usize) -> Self {
|
pub fn new(channels: &mut Channels, channel: usize) -> Self {
|
||||||
let (max_v, _) = channels.get_max_v(channel);
|
let max_v = channels.get_max_v(channel);
|
||||||
let (max_i_pos, _) = channels.get_max_i_pos(channel);
|
let max_i_pos = channels.get_max_i_pos(channel);
|
||||||
let (max_i_neg, _) = channels.get_max_i_neg(channel);
|
let max_i_neg = channels.get_max_i_neg(channel);
|
||||||
PwmLimits {
|
PwmLimits {
|
||||||
max_v: max_v.get::<volt>(),
|
max_v: max_v.get::<volt>(),
|
||||||
max_i_pos: max_i_pos.get::<ampere>(),
|
max_i_pos: max_i_pos.get::<ampere>(),
|
||||||
|
Loading…
Reference in New Issue
Block a user