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30
README.md
30
README.md
@ -95,13 +95,13 @@ 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 latest report of channel parameters (see *Reports* section) |
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| `report` | Show latest report of channel parameters (see *Reports* section) |
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| `pwm` | Show current PWM settings |
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| `output` | Show current output 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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| `output <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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| `output <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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| `output <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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| `output <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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| `output <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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| `output <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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| `pid` | Show PID configuration |
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| `pid` | Show PID configuration |
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@ -183,7 +183,7 @@ 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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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 `output <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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@ -192,7 +192,7 @@ Testing heat flow direction with a low set current is recommended before install
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Each MAX1968 TEC driver has analog/PWM inputs for setting
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Each MAX1968 TEC driver has analog/PWM inputs for setting
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output limits.
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output limits.
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Use the `pwm` command to see current settings and maximum values.
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Use the `output` command to see current settings and maximum values.
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| Limit | Unit | Description |
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| Limit | Unit | Description |
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| --- | :---: | --- |
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| --- | :---: | --- |
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@ -203,28 +203,28 @@ Use the `pwm` command to see current settings and maximum values.
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Example: set the maximum voltage of channel 0 to 1.5 V.
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Example: set the maximum voltage of channel 0 to 1.5 V.
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```
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```
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pwm 0 max_v 1.5
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output 0 max_v 1.5
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```
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```
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Example: set the maximum negative current of channel 0 to -3 A.
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Example: set the maximum negative current of channel 0 to -3 A.
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```
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```
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pwm 0 max_i_neg 3
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output 0 max_i_neg 3
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```
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```
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Example: set the maximum positive current of channel 1 to 3 A.
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Example: set the maximum positive current of channel 1 to 3 A.
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```
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```
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pwm 0 max_i_pos 3
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output 0 max_i_pos 3
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```
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```
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### Open-loop mode
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### Open-loop mode
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To manually control TEC output current, set a fixed output current with
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To manually control TEC output current, set a fixed output current with
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the `pwm` command. Doing so will disengage the PID control for that
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the `output` command. Doing so will disengage the PID control for that
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channel.
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channel.
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Example: set output current of channel 0 to 0 A.
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Example: set output current of channel 0 to 0 A.
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```
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```
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pwm 0 i_set 0
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output 0 i_set 0
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```
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```
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## PID-stabilized temperature control
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## PID-stabilized temperature control
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@ -237,7 +237,7 @@ pid 0 target 20
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Enter closed-loop mode by switching control of the TEC output current
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Enter closed-loop mode by switching control of the TEC output current
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of channel 0 to the PID algorithm:
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of channel 0 to the PID algorithm:
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```
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```
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pwm 0 pid
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output 0 pid
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```
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```
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## LED indicators
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## LED indicators
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@ -253,9 +253,9 @@ def main():
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tuner_out = tuner.output()
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tuner_out = tuner.output()
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tec.set_param("pwm", channel, "i_set", tuner_out)
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tec.set_param("output", channel, "i_set", tuner_out)
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tec.set_param("pwm", channel, "i_set", 0)
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tec.set_param("output", channel, "i_set", 0)
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if __name__ == "__main__":
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if __name__ == "__main__":
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@ -2,9 +2,9 @@ from pytec.client import Client
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tec = Client() #(host="localhost", port=6667)
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tec = Client() #(host="localhost", port=6667)
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tec.set_param("s-h", 1, "t0", 20)
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tec.set_param("s-h", 1, "t0", 20)
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print(tec.get_pwm())
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print(tec.get_output())
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print(tec.get_pid())
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print(tec.get_pid())
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print(tec.get_pwm())
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print(tec.get_output())
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print(tec.get_postfilter())
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print(tec.get_postfilter())
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print(tec.get_steinhart_hart())
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print(tec.get_steinhart_hart())
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for data in tec.report_mode():
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for data in tec.report_mode():
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@ -13,11 +13,11 @@ class Client:
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self._check_zero_limits()
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self._check_zero_limits()
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def _check_zero_limits(self):
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def _check_zero_limits(self):
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pwm_report = self.get_pwm()
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output_report = self.get_output()
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for pwm_channel in pwm_report:
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for output_channel in output_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] == 0.0:
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if output_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, output_channel["channel"]))
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def _read_line(self):
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def _read_line(self):
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# read more lines
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# read more lines
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@ -47,8 +47,8 @@ class Client:
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result[int(item["channel"])] = item
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result[int(item["channel"])] = item
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return result
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return result
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def get_pwm(self):
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def get_output(self):
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"""Retrieve PWM limits for the TEC
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"""Retrieve output limits for the TEC
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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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@ -67,7 +67,7 @@ class Client:
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'polarity': 'normal',
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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("output")
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def get_pid(self):
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def get_pid(self):
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"""Retrieve PID control state
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"""Retrieve PID control state
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@ -144,7 +144,7 @@ class Client:
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"""Set configuration parameters
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"""Set configuration parameters
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Examples::
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Examples::
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tec.set_param("pwm", 0, "max_v", 2.0)
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tec.set_param("output", 0, "max_v", 2.0)
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tec.set_param("pid", 1, "output_max", 2.5)
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tec.set_param("pid", 1, "output_max", 2.5)
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tec.set_param("s-h", 0, "t0", 20.0)
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tec.set_param("s-h", 0, "t0", 20.0)
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tec.set_param("center", 0, "vref")
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tec.set_param("center", 0, "vref")
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@ -161,7 +161,7 @@ class Client:
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def power_up(self, channel, target):
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def power_up(self, channel, target):
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"""Start closed-loop mode"""
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"""Start closed-loop mode"""
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self.set_param("pid", channel, "target", value=target)
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self.set_param("pid", channel, "target", value=target)
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self.set_param("pwm", channel, "pid")
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self.set_param("output", channel, "pid")
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def save_config(self):
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def save_config(self):
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"""Save current configuration to EEPROM"""
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"""Save current configuration to EEPROM"""
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@ -1,9 +1,11 @@
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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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command_parser::{CenterPoint, Polarity},
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command_parser::{CenterPoint, Polarity},
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config::PwmLimits,
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pid,
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pid, steinhart_hart as sh,
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pwm_limits::PwmLimits,
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steinhart_hart as sh,
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};
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};
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use num_traits::Zero;
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use smoltcp::time::{Duration, Instant};
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use smoltcp::time::{Duration, Instant};
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use uom::si::{
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use uom::si::{
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electric_current::ampere,
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electric_current::ampere,
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@ -47,9 +49,9 @@ impl ChannelState {
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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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pwm_limits: PwmLimits {
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max_v: 0.0,
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max_v: ElectricPotential::zero(),
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max_i_pos: 0.0,
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max_i_pos: ElectricCurrent::zero(),
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max_i_neg: 0.0,
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max_i_neg: ElectricCurrent::zero(),
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},
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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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@ -144,7 +144,7 @@ impl Channels {
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voltage
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voltage
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}
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}
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pub fn get_i(&mut self, channel: usize) -> ElectricCurrent {
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pub fn get_i_set(&mut self, channel: usize) -> ElectricCurrent {
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let i_set = self.channel_state(channel).i_set;
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let i_set = self.channel_state(channel).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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@ -364,15 +364,15 @@ 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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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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self.channel_state(channel).pwm_limits.max_v
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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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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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self.channel_state(channel).pwm_limits.max_i_pos
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}
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}
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pub fn get_max_i_neg(&mut self, channel: usize) -> ElectricCurrent {
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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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self.channel_state(channel).pwm_limits.max_i_neg
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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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@ -420,7 +420,7 @@ impl Channels {
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let max_v = max_v.min(MAX_TEC_V).max(ElectricPotential::zero());
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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 = (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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self.channel_state(channel).pwm_limits.max_v = max_v;
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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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@ -436,7 +436,7 @@ impl Channels {
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Polarity::Normal => self.set_pwm(channel, PwmPin::MaxIPos, duty),
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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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Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxINeg, duty),
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};
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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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self.channel_state(channel).pwm_limits.max_i_pos = max_i_pos;
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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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@ -452,7 +452,7 @@ impl Channels {
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Polarity::Normal => self.set_pwm(channel, PwmPin::MaxINeg, duty),
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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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Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxIPos, duty),
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||||||
};
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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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self.channel_state(channel).pwm_limits.max_i_neg = max_i_neg;
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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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@ -470,7 +470,7 @@ impl Channels {
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}
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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_set(channel);
|
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let i_tec = self.adc_read(channel, PinsAdcReadTarget::ITec, 16);
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let i_tec = self.adc_read(channel, PinsAdcReadTarget::ITec, 16);
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let tec_i = self.get_tec_i(channel);
|
let tec_i = self.get_tec_i(channel);
|
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let dac_value = self.get_dac(channel);
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let dac_value = self.get_dac(channel);
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@ -521,11 +521,11 @@ impl Channels {
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false
|
false
|
||||||
}
|
}
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|
|
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fn pwm_summary(&mut self, channel: usize) -> PwmSummary {
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fn output_summary(&mut self, channel: usize) -> OutputSummary {
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PwmSummary {
|
OutputSummary {
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channel,
|
channel,
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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),
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i_set: self.get_i_set(channel),
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max_v: self.get_max_v(channel),
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max_v: self.get_max_v(channel),
|
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max_i_pos: self.get_max_i_pos(channel),
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max_i_pos: self.get_max_i_pos(channel),
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max_i_neg: self.get_max_i_neg(channel),
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max_i_neg: self.get_max_i_neg(channel),
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@ -533,10 +533,10 @@ impl Channels {
|
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}
|
}
|
||||||
}
|
}
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||||||
|
|
||||||
pub fn pwm_summaries_json(&mut self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
|
pub fn output_summaries_json(&mut self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
|
||||||
let mut summaries = Vec::<_, U2>::new();
|
let mut summaries = Vec::<_, U2>::new();
|
||||||
for channel in 0..CHANNELS {
|
for channel in 0..CHANNELS {
|
||||||
let _ = summaries.push(self.pwm_summary(channel));
|
let _ = summaries.push(self.output_summary(channel));
|
||||||
}
|
}
|
||||||
serde_json_core::to_vec(&summaries)
|
serde_json_core::to_vec(&summaries)
|
||||||
}
|
}
|
||||||
@ -630,7 +630,7 @@ impl Serialize for PolarityJson {
|
|||||||
}
|
}
|
||||||
|
|
||||||
#[derive(Serialize)]
|
#[derive(Serialize)]
|
||||||
pub struct PwmSummary {
|
pub struct OutputSummary {
|
||||||
channel: usize,
|
channel: usize,
|
||||||
center: CenterPointJson,
|
center: CenterPointJson,
|
||||||
i_set: ElectricCurrent,
|
i_set: ElectricCurrent,
|
||||||
|
@ -19,7 +19,11 @@ use uom::si::{
|
|||||||
electric_current::ampere,
|
electric_current::ampere,
|
||||||
electric_potential::volt,
|
electric_potential::volt,
|
||||||
electrical_resistance::ohm,
|
electrical_resistance::ohm,
|
||||||
f64::{ElectricCurrent, ElectricPotential, ElectricalResistance, ThermodynamicTemperature},
|
f64::{
|
||||||
|
ElectricCurrent, ElectricPotential, ElectricalResistance, TemperatureInterval,
|
||||||
|
ThermodynamicTemperature,
|
||||||
|
},
|
||||||
|
temperature_interval::kelvin,
|
||||||
thermodynamic_temperature::degree_celsius,
|
thermodynamic_temperature::degree_celsius,
|
||||||
};
|
};
|
||||||
|
|
||||||
@ -96,7 +100,7 @@ impl Handler {
|
|||||||
}
|
}
|
||||||
|
|
||||||
fn show_pwm(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
|
fn show_pwm(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
|
||||||
match channels.pwm_summaries_json() {
|
match channels.output_summaries_json() {
|
||||||
Ok(buf) => {
|
Ok(buf) => {
|
||||||
send_line(socket, &buf);
|
send_line(socket, &buf);
|
||||||
}
|
}
|
||||||
@ -206,7 +210,7 @@ impl Handler {
|
|||||||
channel: usize,
|
channel: usize,
|
||||||
center: CenterPoint,
|
center: CenterPoint,
|
||||||
) -> Result<Handler, Error> {
|
) -> Result<Handler, Error> {
|
||||||
let i_set = channels.get_i(channel);
|
let i_set = channels.get_i_set(channel);
|
||||||
let state = channels.channel_state(channel);
|
let state = channels.channel_state(channel);
|
||||||
state.center = center;
|
state.center = center;
|
||||||
if !state.pid_engaged {
|
if !state.pid_engaged {
|
||||||
@ -248,7 +252,7 @@ impl Handler {
|
|||||||
use super::command_parser::ShParameter::*;
|
use super::command_parser::ShParameter::*;
|
||||||
match parameter {
|
match parameter {
|
||||||
T0 => sh.t0 = ThermodynamicTemperature::new::<degree_celsius>(value),
|
T0 => sh.t0 = ThermodynamicTemperature::new::<degree_celsius>(value),
|
||||||
B => sh.b = value,
|
B => sh.b = TemperatureInterval::new::<kelvin>(value),
|
||||||
R0 => sh.r0 = ElectricalResistance::new::<ohm>(value),
|
R0 => sh.r0 = ElectricalResistance::new::<ohm>(value),
|
||||||
}
|
}
|
||||||
send_line(socket, b"{}");
|
send_line(socket, b"{}");
|
||||||
@ -475,17 +479,17 @@ impl Handler {
|
|||||||
Command::Quit => Ok(Handler::CloseSocket),
|
Command::Quit => Ok(Handler::CloseSocket),
|
||||||
Command::Show(ShowCommand::Input) => Handler::show_report(socket, channels),
|
Command::Show(ShowCommand::Input) => Handler::show_report(socket, channels),
|
||||||
Command::Show(ShowCommand::Pid) => Handler::show_pid(socket, channels),
|
Command::Show(ShowCommand::Pid) => Handler::show_pid(socket, channels),
|
||||||
Command::Show(ShowCommand::Pwm) => Handler::show_pwm(socket, channels),
|
Command::Show(ShowCommand::Output) => Handler::show_pwm(socket, channels),
|
||||||
Command::Show(ShowCommand::SteinhartHart) => {
|
Command::Show(ShowCommand::SteinhartHart) => {
|
||||||
Handler::show_steinhart_hart(socket, channels)
|
Handler::show_steinhart_hart(socket, channels)
|
||||||
}
|
}
|
||||||
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::OutputPid { channel } => Handler::engage_pid(socket, channels, channel),
|
||||||
Command::PwmPolarity { channel, polarity } => {
|
Command::OutputPolarity { channel, polarity } => {
|
||||||
Handler::set_polarity(socket, channels, channel, polarity)
|
Handler::set_polarity(socket, channels, channel, polarity)
|
||||||
}
|
}
|
||||||
Command::Pwm {
|
Command::Output {
|
||||||
channel,
|
channel,
|
||||||
pin,
|
pin,
|
||||||
value,
|
value,
|
||||||
|
@ -91,7 +91,7 @@ pub struct Ipv4Config {
|
|||||||
#[derive(Debug, Clone, PartialEq)]
|
#[derive(Debug, Clone, PartialEq)]
|
||||||
pub enum ShowCommand {
|
pub enum ShowCommand {
|
||||||
Input,
|
Input,
|
||||||
Pwm,
|
Output,
|
||||||
Pid,
|
Pid,
|
||||||
SteinhartHart,
|
SteinhartHart,
|
||||||
PostFilter,
|
PostFilter,
|
||||||
@ -149,16 +149,16 @@ pub enum Command {
|
|||||||
Ipv4(Ipv4Config),
|
Ipv4(Ipv4Config),
|
||||||
Show(ShowCommand),
|
Show(ShowCommand),
|
||||||
/// PWM parameter setting
|
/// PWM parameter setting
|
||||||
Pwm {
|
Output {
|
||||||
channel: usize,
|
channel: usize,
|
||||||
pin: PwmPin,
|
pin: PwmPin,
|
||||||
value: f64,
|
value: f64,
|
||||||
},
|
},
|
||||||
/// Enable PID control for `i_set`
|
/// Enable PID control for `i_set`
|
||||||
PwmPid {
|
OutputPid {
|
||||||
channel: usize,
|
channel: usize,
|
||||||
},
|
},
|
||||||
PwmPolarity {
|
OutputPolarity {
|
||||||
channel: usize,
|
channel: usize,
|
||||||
polarity: Polarity,
|
polarity: Polarity,
|
||||||
},
|
},
|
||||||
@ -260,12 +260,12 @@ fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<(PwmPin, f64), Error>> {
|
|||||||
))(input)
|
))(input)
|
||||||
}
|
}
|
||||||
|
|
||||||
/// `pwm <0-1> pid` - Set PWM to be controlled by PID
|
/// `output <0-1> pid` - Set output to be controlled by PID
|
||||||
fn pwm_pid(input: &[u8]) -> IResult<&[u8], ()> {
|
fn output_pid(input: &[u8]) -> IResult<&[u8], ()> {
|
||||||
value((), tag("pid"))(input)
|
value((), tag("pid"))(input)
|
||||||
}
|
}
|
||||||
|
|
||||||
fn pwm_polarity(input: &[u8]) -> IResult<&[u8], Polarity> {
|
fn output_polarity(input: &[u8]) -> IResult<&[u8], Polarity> {
|
||||||
preceded(
|
preceded(
|
||||||
tag("polarity"),
|
tag("polarity"),
|
||||||
preceded(
|
preceded(
|
||||||
@ -278,8 +278,8 @@ fn pwm_polarity(input: &[u8]) -> IResult<&[u8], Polarity> {
|
|||||||
)(input)
|
)(input)
|
||||||
}
|
}
|
||||||
|
|
||||||
fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
fn output(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
||||||
let (input, _) = tag("pwm")(input)?;
|
let (input, _) = tag("output")(input)?;
|
||||||
alt((
|
alt((
|
||||||
|input| {
|
|input| {
|
||||||
let (input, _) = whitespace(input)?;
|
let (input, _) = whitespace(input)?;
|
||||||
@ -287,19 +287,19 @@ fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
|||||||
let (input, _) = whitespace(input)?;
|
let (input, _) = whitespace(input)?;
|
||||||
let (input, result) = alt((
|
let (input, result) = alt((
|
||||||
|input| {
|
|input| {
|
||||||
let (input, ()) = pwm_pid(input)?;
|
let (input, ()) = output_pid(input)?;
|
||||||
Ok((input, Ok(Command::PwmPid { channel })))
|
Ok((input, Ok(Command::OutputPid { channel })))
|
||||||
},
|
},
|
||||||
|input| {
|
|input| {
|
||||||
let (input, polarity) = pwm_polarity(input)?;
|
let (input, polarity) = output_polarity(input)?;
|
||||||
Ok((input, Ok(Command::PwmPolarity { channel, polarity })))
|
Ok((input, Ok(Command::OutputPolarity { channel, polarity })))
|
||||||
},
|
},
|
||||||
|input| {
|
|input| {
|
||||||
let (input, config) = pwm_setup(input)?;
|
let (input, config) = pwm_setup(input)?;
|
||||||
match config {
|
match config {
|
||||||
Ok((pin, value)) => Ok((
|
Ok((pin, value)) => Ok((
|
||||||
input,
|
input,
|
||||||
Ok(Command::Pwm {
|
Ok(Command::Output {
|
||||||
channel,
|
channel,
|
||||||
pin,
|
pin,
|
||||||
value,
|
value,
|
||||||
@ -312,7 +312,7 @@ fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
|||||||
end(input)?;
|
end(input)?;
|
||||||
Ok((input, result))
|
Ok((input, result))
|
||||||
},
|
},
|
||||||
value(Ok(Command::Show(ShowCommand::Pwm)), end),
|
value(Ok(Command::Show(ShowCommand::Output)), end),
|
||||||
))(input)
|
))(input)
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -569,7 +569,7 @@ fn command(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
|||||||
value(Ok(Command::Reset), tag("reset")),
|
value(Ok(Command::Reset), tag("reset")),
|
||||||
ipv4,
|
ipv4,
|
||||||
map(report, Ok),
|
map(report, Ok),
|
||||||
pwm,
|
output,
|
||||||
center_point,
|
center_point,
|
||||||
pid,
|
pid,
|
||||||
steinhart_hart,
|
steinhart_hart,
|
||||||
@ -664,11 +664,11 @@ mod test {
|
|||||||
}
|
}
|
||||||
|
|
||||||
#[test]
|
#[test]
|
||||||
fn parse_pwm_i_set() {
|
fn parse_output_i_set() {
|
||||||
let command = Command::parse(b"pwm 1 i_set 16383");
|
let command = Command::parse(b"output 1 i_set 16383");
|
||||||
assert_eq!(
|
assert_eq!(
|
||||||
command,
|
command,
|
||||||
Ok(Command::Pwm {
|
Ok(Command::Output {
|
||||||
channel: 1,
|
channel: 1,
|
||||||
pin: PwmPin::ISet,
|
pin: PwmPin::ISet,
|
||||||
value: 16383.0,
|
value: 16383.0,
|
||||||
@ -677,11 +677,11 @@ mod test {
|
|||||||
}
|
}
|
||||||
|
|
||||||
#[test]
|
#[test]
|
||||||
fn parse_pwm_polarity() {
|
fn parse_output_polarity() {
|
||||||
let command = Command::parse(b"pwm 0 polarity reversed");
|
let command = Command::parse(b"pwm 0 polarity reversed");
|
||||||
assert_eq!(
|
assert_eq!(
|
||||||
command,
|
command,
|
||||||
Ok(Command::PwmPolarity {
|
Ok(Command::OutputPolarity {
|
||||||
channel: 0,
|
channel: 0,
|
||||||
polarity: Polarity::Reversed,
|
polarity: Polarity::Reversed,
|
||||||
})
|
})
|
||||||
@ -689,17 +689,17 @@ mod test {
|
|||||||
}
|
}
|
||||||
|
|
||||||
#[test]
|
#[test]
|
||||||
fn parse_pwm_pid() {
|
fn parse_output_pid() {
|
||||||
let command = Command::parse(b"pwm 0 pid");
|
let command = Command::parse(b"output 0 pid");
|
||||||
assert_eq!(command, Ok(Command::PwmPid { channel: 0 }));
|
assert_eq!(command, Ok(Command::OutputPid { channel: 0 }));
|
||||||
}
|
}
|
||||||
|
|
||||||
#[test]
|
#[test]
|
||||||
fn parse_pwm_max_i_pos() {
|
fn parse_output_max_i_pos() {
|
||||||
let command = Command::parse(b"pwm 0 max_i_pos 7");
|
let command = Command::parse(b"output 0 max_i_pos 7");
|
||||||
assert_eq!(
|
assert_eq!(
|
||||||
command,
|
command,
|
||||||
Ok(Command::Pwm {
|
Ok(Command::Output {
|
||||||
channel: 0,
|
channel: 0,
|
||||||
pin: PwmPin::MaxIPos,
|
pin: PwmPin::MaxIPos,
|
||||||
value: 7.0,
|
value: 7.0,
|
||||||
@ -708,11 +708,11 @@ mod test {
|
|||||||
}
|
}
|
||||||
|
|
||||||
#[test]
|
#[test]
|
||||||
fn parse_pwm_max_i_neg() {
|
fn parse_output_max_i_neg() {
|
||||||
let command = Command::parse(b"pwm 0 max_i_neg 128");
|
let command = Command::parse(b"output 0 max_i_neg 128");
|
||||||
assert_eq!(
|
assert_eq!(
|
||||||
command,
|
command,
|
||||||
Ok(Command::Pwm {
|
Ok(Command::Output {
|
||||||
channel: 0,
|
channel: 0,
|
||||||
pin: PwmPin::MaxINeg,
|
pin: PwmPin::MaxINeg,
|
||||||
value: 128.0,
|
value: 128.0,
|
||||||
@ -721,11 +721,11 @@ mod test {
|
|||||||
}
|
}
|
||||||
|
|
||||||
#[test]
|
#[test]
|
||||||
fn parse_pwm_max_v() {
|
fn parse_output_max_v() {
|
||||||
let command = Command::parse(b"pwm 0 max_v 32768");
|
let command = Command::parse(b"output 0 max_v 32768");
|
||||||
assert_eq!(
|
assert_eq!(
|
||||||
command,
|
command,
|
||||||
Ok(Command::Pwm {
|
Ok(Command::Output {
|
||||||
channel: 0,
|
channel: 0,
|
||||||
pin: PwmPin::MaxV,
|
pin: PwmPin::MaxV,
|
||||||
value: 32768.0,
|
value: 32768.0,
|
||||||
|
@ -2,15 +2,13 @@ use crate::{
|
|||||||
ad7172::PostFilter,
|
ad7172::PostFilter,
|
||||||
channels::Channels,
|
channels::Channels,
|
||||||
command_parser::{CenterPoint, Polarity},
|
command_parser::{CenterPoint, Polarity},
|
||||||
pid, steinhart_hart,
|
pid,
|
||||||
|
pwm_limits::PwmLimits,
|
||||||
|
steinhart_hart,
|
||||||
};
|
};
|
||||||
use num_traits::Zero;
|
use num_traits::Zero;
|
||||||
use serde::{Deserialize, Serialize};
|
use serde::{Deserialize, Serialize};
|
||||||
use uom::si::{
|
use uom::si::f64::ElectricCurrent;
|
||||||
electric_current::ampere,
|
|
||||||
electric_potential::volt,
|
|
||||||
f64::{ElectricCurrent, ElectricPotential},
|
|
||||||
};
|
|
||||||
|
|
||||||
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
|
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
|
||||||
pub struct ChannelConfig {
|
pub struct ChannelConfig {
|
||||||
@ -74,29 +72,3 @@ impl ChannelConfig {
|
|||||||
channels.set_polarity(channel, self.polarity.clone());
|
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,
|
|
||||||
}
|
|
||||||
|
|
||||||
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);
|
|
||||||
PwmLimits {
|
|
||||||
max_v: max_v.get::<volt>(),
|
|
||||||
max_i_pos: max_i_pos.get::<ampere>(),
|
|
||||||
max_i_neg: max_i_neg.get::<ampere>(),
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
pub fn apply(&self, channels: &mut Channels, channel: usize) {
|
|
||||||
channels.set_max_v(channel, ElectricPotential::new::<volt>(self.max_v));
|
|
||||||
channels.set_max_i_pos(channel, ElectricCurrent::new::<ampere>(self.max_i_pos));
|
|
||||||
channels.set_max_i_neg(channel, ElectricCurrent::new::<ampere>(self.max_i_neg));
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
@ -37,6 +37,7 @@ mod command_parser;
|
|||||||
use command_parser::Ipv4Config;
|
use command_parser::Ipv4Config;
|
||||||
mod channels;
|
mod channels;
|
||||||
mod pid;
|
mod pid;
|
||||||
|
mod pwm_limits;
|
||||||
mod steinhart_hart;
|
mod steinhart_hart;
|
||||||
mod timer;
|
mod timer;
|
||||||
use channels::{Channels, CHANNELS};
|
use channels::{Channels, CHANNELS};
|
||||||
|
28
src/pwm_limits.rs
Normal file
28
src/pwm_limits.rs
Normal file
@ -0,0 +1,28 @@
|
|||||||
|
use crate::channels::Channels;
|
||||||
|
use serde::{Deserialize, Serialize};
|
||||||
|
use uom::si::{
|
||||||
|
f64::{ElectricCurrent, ElectricPotential},
|
||||||
|
};
|
||||||
|
|
||||||
|
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
|
||||||
|
pub struct PwmLimits {
|
||||||
|
pub max_v: ElectricPotential,
|
||||||
|
pub max_i_pos: ElectricCurrent,
|
||||||
|
pub max_i_neg: ElectricCurrent,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl PwmLimits {
|
||||||
|
pub fn new(channels: &mut Channels, channel: usize) -> Self {
|
||||||
|
PwmLimits {
|
||||||
|
max_v: channels.get_max_v(channel),
|
||||||
|
max_i_pos: channels.get_max_i_pos(channel),
|
||||||
|
max_i_neg: channels.get_max_i_neg(channel),
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn apply(&self, channels: &mut Channels, channel: usize) {
|
||||||
|
channels.set_max_v(channel, self.max_v);
|
||||||
|
channels.set_max_i_pos(channel, self.max_i_pos);
|
||||||
|
channels.set_max_i_neg(channel, self.max_i_neg);
|
||||||
|
}
|
||||||
|
}
|
@ -2,8 +2,9 @@ use num_traits::float::Float;
|
|||||||
use serde::{Deserialize, Serialize};
|
use serde::{Deserialize, Serialize};
|
||||||
use uom::si::{
|
use uom::si::{
|
||||||
electrical_resistance::ohm,
|
electrical_resistance::ohm,
|
||||||
f64::{ElectricalResistance, ThermodynamicTemperature},
|
f64::{ElectricalResistance, TemperatureInterval, ThermodynamicTemperature},
|
||||||
ratio::ratio,
|
ratio::ratio,
|
||||||
|
temperature_interval::kelvin as kelvin_interval,
|
||||||
thermodynamic_temperature::{degree_celsius, kelvin},
|
thermodynamic_temperature::{degree_celsius, kelvin},
|
||||||
};
|
};
|
||||||
|
|
||||||
@ -12,17 +13,17 @@ use uom::si::{
|
|||||||
pub struct Parameters {
|
pub struct Parameters {
|
||||||
/// Base temperature
|
/// Base temperature
|
||||||
pub t0: ThermodynamicTemperature,
|
pub t0: ThermodynamicTemperature,
|
||||||
/// Base resistance
|
/// Resistance at base temperature
|
||||||
pub r0: ElectricalResistance,
|
pub r0: ElectricalResistance,
|
||||||
/// Beta
|
/// Beta
|
||||||
pub b: f64,
|
pub b: TemperatureInterval,
|
||||||
}
|
}
|
||||||
|
|
||||||
impl Parameters {
|
impl Parameters {
|
||||||
/// Perform the voltage to temperature conversion.
|
/// Perform the resistance to temperature conversion.
|
||||||
pub fn get_temperature(&self, r: ElectricalResistance) -> ThermodynamicTemperature {
|
pub fn get_temperature(&self, r: ElectricalResistance) -> ThermodynamicTemperature {
|
||||||
let inv_temp = 1.0 / self.t0.get::<kelvin>() + (r / self.r0).get::<ratio>().ln() / self.b;
|
let temp = (self.t0.recip() + (r / self.r0).get::<ratio>().ln() / self.b).recip();
|
||||||
ThermodynamicTemperature::new::<kelvin>(1.0 / inv_temp)
|
ThermodynamicTemperature::new::<kelvin>(temp.get::<kelvin_interval>())
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -31,7 +32,7 @@ impl Default for Parameters {
|
|||||||
Parameters {
|
Parameters {
|
||||||
t0: ThermodynamicTemperature::new::<degree_celsius>(25.0),
|
t0: ThermodynamicTemperature::new::<degree_celsius>(25.0),
|
||||||
r0: ElectricalResistance::new::<ohm>(10_000.0),
|
r0: ElectricalResistance::new::<ohm>(10_000.0),
|
||||||
b: 3800.0,
|
b: TemperatureInterval::new::<kelvin_interval>(3800.0),
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
Loading…
Reference in New Issue
Block a user