Compare commits

..

5 Commits

Author SHA1 Message Date
798b400aa5 Show and save set value for PWM limits
Show in PwmSummary the set value, before all PWM duty calculations
instead of the machine value after the calculations. Also save the set
value into the flash store instead of the machine value.
2024-10-07 10:41:31 +08:00
93dc39e943 README: Document PWM value clamping 2024-10-07 10:41:31 +08:00
5c3b759d0c PwmSummary: Don't show max PWM values
Putting the maximum in PwmSummary has little use - the maximum never
changes throughout the runtime of the firmware and can be replaced by
documentation elsewhere.
2024-10-07 10:41:31 +08:00
6224486662 Show polarity in pwm command 2024-09-30 17:36:50 +08:00
32bd49b258 Add a command to reverse the output polarity
Effectively flips all values related to the directionality of current
through the TEC, including current maximums. The reversed status is
stored in the flash store and will be loaded on reset once saved.

The command is "pwm <ch> polarity <normal/reversed>", where the "normal"
polarity is indicated by the front panel markings.

This is needed for IDC cable connections to the Sinara 5432 DAC
"Zotino", since the TEC pins of the 10-pin connector on the Thermostat
and Zotino have opposite polarities.
2024-09-30 17:36:47 +08:00
7 changed files with 135 additions and 45 deletions

View File

@ -93,13 +93,16 @@ Send commands as simple text string terminated by `\n`. Responses are
formatted as line-delimited JSON. formatted as line-delimited JSON.
| Syntax | Function | | Syntax | Function |
|----------------------------------|-------------------------------------------------------------------------------| |------------------------------------------- |-------------------------------------------------------------------------------|
| `report` | Show current input | | `report` | Show current input |
| `report mode` | Show current report mode |
| `report mode <off/on>` | Set report mode |
| `pwm` | Show current PWM settings | | `pwm` | Show current PWM settings |
| `pwm <0/1> max_i_pos <amp>` | Set maximum positive output current, clamped to [0, 2] | | `pwm <0/1> max_i_pos <amp>` | Set maximum positive output current, clamped to [0, 2] |
| `pwm <0/1> max_i_neg <amp>` | Set maximum negative output current, clamped to [0, 2] | | `pwm <0/1> max_i_neg <amp>` | Set maximum negative output current, clamped to [0, 2] |
| `pwm <0/1> max_v <volt>` | Set maximum output voltage, clamped to [0, 4] | | `pwm <0/1> max_v <volt>` | Set maximum output voltage, clamped to [0, 4] |
| `pwm <0/1> i_set <amp>` | Disengage PID, set fixed output current, clamped to [-2, 2] | | `pwm <0/1> i_set <amp>` | Disengage PID, set fixed output current, clamped to [-2, 2] |
| `pwm <0/1> polarity <normal/reversed>` | Set output current polarity, with 'normal' being the front panel polarity |
| `pwm <0/1> pid` | Let output current to be controlled by the PID | | `pwm <0/1> pid` | Let output current to be controlled by the PID |
| `center <0/1> <volt>` | Set the MAX1968 0A-centerpoint to the specified fixed voltage | | `center <0/1> <volt>` | Set the MAX1968 0A-centerpoint to the specified fixed voltage |
| `center <0/1> vref` | Set the MAX1968 0A-centerpoint to measure from VREF | | `center <0/1> vref` | Set the MAX1968 0A-centerpoint to measure from VREF |
@ -182,6 +185,8 @@ postfilter rate can be tuned with the `postfilter` command.
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. 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.
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.
Testing heat flow direction with a low set current is recommended before installation of the TEC module. Testing heat flow direction with a low set current is recommended before installation of the TEC module.
### Limits ### Limits

View File

@ -57,12 +57,14 @@ class Client:
'max_i_neg': 2.0, 'max_i_neg': 2.0,
'max_v': 3.988, 'max_v': 3.988,
'max_i_pos': 2.0, 'max_i_pos': 2.0,
'polarity': 'normal',
{'channel': 1, {'channel': 1,
'center': 'vref', 'center': 'vref',
'i_set': -0.02002179650216762, 'i_set': -0.02002179650216762,
'max_i_neg': 2.0, 'max_i_neg': 2.0,
'max_v': 3.988, 'max_v': 3.988,
'max_i_pos': 2.0} 'max_i_pos': 2.0}
'polarity': 'normal',
] ]
""" """
return self._get_conf("pwm") return self._get_conf("pwm")

View File

@ -18,7 +18,7 @@ use crate::{
pid, pid,
config::PwmLimits, config::PwmLimits,
steinhart_hart as sh, steinhart_hart as sh,
command_parser::CenterPoint, command_parser::{CenterPoint, Polarity},
}; };
const R_INNER: f64 = 2.0 * 5100.0; const R_INNER: f64 = 2.0 * 5100.0;
@ -37,6 +37,7 @@ pub struct ChannelState {
pub pid_engaged: bool, pub pid_engaged: bool,
pub pid: pid::Controller, pub pid: pid::Controller,
pub sh: sh::Parameters, pub sh: sh::Parameters,
pub polarity: Polarity,
} }
impl ChannelState { impl ChannelState {
@ -58,6 +59,7 @@ impl ChannelState {
pid_engaged: false, pid_engaged: false,
pid: pid::Controller::new(pid::Parameters::default()), pid: pid::Controller::new(pid::Parameters::default()),
sh: sh::Parameters::default(), sh: sh::Parameters::default(),
polarity: Polarity::Normal,
} }
} }

View File

@ -17,7 +17,7 @@ use crate::{
ad7172, ad7172,
channel::{Channel, Channel0, Channel1}, channel::{Channel, Channel0, Channel1},
channel_state::ChannelState, channel_state::ChannelState,
command_parser::{CenterPoint, PwmPin}, command_parser::{CenterPoint, PwmPin, Polarity},
command_handler::JsonBuffer, command_handler::JsonBuffer,
pins::{self, Channel0VRef, Channel1VRef}, pins::{self, Channel0VRef, Channel1VRef},
steinhart_hart, steinhart_hart,
@ -158,6 +158,11 @@ impl Channels {
pub fn set_i(&mut self, channel: usize, i_set: ElectricCurrent) -> ElectricCurrent { pub fn set_i(&mut self, channel: usize, i_set: ElectricCurrent) -> ElectricCurrent {
let i_set = i_set.min(MAX_TEC_I).max(-MAX_TEC_I); let i_set = i_set.min(MAX_TEC_I).max(-MAX_TEC_I);
self.channel_state(channel).i_set = i_set;
let negate = match self.channel_state(channel).polarity {
Polarity::Normal => 1.0,
Polarity::Reversed => -1.0,
};
let vref_meas = match channel.into() { let vref_meas = match channel.into() {
0 => self.channel0.vref_meas, 0 => self.channel0.vref_meas,
1 => self.channel1.vref_meas, 1 => self.channel1.vref_meas,
@ -165,10 +170,9 @@ impl Channels {
}; };
let center_point = vref_meas; let center_point = vref_meas;
let r_sense = ElectricalResistance::new::<ohm>(R_SENSE); let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
let voltage = i_set * 10.0 * r_sense + center_point; let voltage = negate * i_set * 10.0 * r_sense + center_point;
let voltage = self.set_dac(channel, voltage); let voltage = self.set_dac(channel, voltage);
let i_set = (voltage - center_point) / (10.0 * r_sense); let i_set = negate * (voltage - center_point) / (10.0 * r_sense);
self.channel_state(channel).i_set = i_set;
i_set i_set
} }
@ -367,7 +371,11 @@ impl Channels {
// Get current passing through TEC // Get current passing through TEC
pub fn get_tec_i(&mut self, channel: usize) -> ElectricCurrent { pub fn get_tec_i(&mut self, channel: usize) -> ElectricCurrent {
(self.adc_read(channel, PinsAdcReadTarget::ITec, 16) - self.adc_read(channel, PinsAdcReadTarget::VREF, 16)) / ElectricalResistance::new::<ohm>(0.4) let tec_i = (self.adc_read(channel, PinsAdcReadTarget::ITec, 16) - self.adc_read(channel, PinsAdcReadTarget::VREF, 16)) / ElectricalResistance::new::<ohm>(0.4);
match self.channel_state(channel).polarity {
Polarity::Normal => tec_i,
Polarity::Reversed => -tec_i,
}
} }
// Get voltage across TEC // Get voltage across TEC
@ -415,7 +423,10 @@ impl Channels {
let max = ElectricCurrent::new::<ampere>(3.0); let max = ElectricCurrent::new::<ampere>(3.0);
let max_i_pos = max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero()); 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 = (max_i_pos / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
let duty = self.set_pwm(channel, PwmPin::MaxIPos, duty); 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>(); self.channel_state(channel).pwm_limits.max_i_pos = max_i_pos.get::<ampere>();
(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max) (duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
} }
@ -424,11 +435,27 @@ impl Channels {
let max = ElectricCurrent::new::<ampere>(3.0); let max = ElectricCurrent::new::<ampere>(3.0);
let max_i_neg = max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero()); 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 = (max_i_neg / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
let duty = self.set_pwm(channel, PwmPin::MaxINeg, duty); 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>(); self.channel_state(channel).pwm_limits.max_i_neg = max_i_neg.get::<ampere>();
(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max) (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);
}
}
fn report(&mut self, channel: usize) -> Report { fn report(&mut self, channel: usize) -> Report {
let i_set = self.get_i(channel); let i_set = self.get_i(channel);
let i_tec = self.adc_read(channel, PinsAdcReadTarget::ITec, 16); let i_tec = self.adc_read(channel, PinsAdcReadTarget::ITec, 16);
@ -488,6 +515,7 @@ impl Channels {
max_v: self.get_max_v(channel), max_v: self.get_max_v(channel),
max_i_pos: self.get_max_i_pos(channel), max_i_pos: self.get_max_i_pos(channel),
max_i_neg: self.get_max_i_neg(channel), max_i_neg: self.get_max_i_neg(channel),
polarity: PolarityJson(self.channel_state(channel).polarity.clone()),
} }
} }
@ -569,6 +597,21 @@ impl Serialize for CenterPointJson {
} }
} }
pub struct PolarityJson(Polarity);
// 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",
})
}
}
#[derive(Serialize)] #[derive(Serialize)]
pub struct PwmSummary { pub struct PwmSummary {
channel: usize, channel: usize,
@ -577,6 +620,7 @@ pub struct PwmSummary {
max_v: ElectricPotential, max_v: ElectricPotential,
max_i_pos: ElectricCurrent, max_i_pos: ElectricCurrent,
max_i_neg: ElectricCurrent, max_i_neg: ElectricCurrent,
polarity: PolarityJson,
} }
#[derive(Serialize)] #[derive(Serialize)]

View File

@ -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),

View File

@ -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 {

View File

@ -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,
@ -68,6 +70,7 @@ 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());
} }
} }