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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
4 changed files with 27 additions and 50 deletions

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@ -98,10 +98,10 @@ formatted as line-delimited JSON.
| `report mode` | Show current report mode | | `report mode` | Show current report mode |
| `report mode <off/on>` | Set 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 | | `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 | | `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 | | `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 | | `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> 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 |

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@ -16,6 +16,7 @@ use uom::si::{
use crate::{ use crate::{
ad7172, ad7172,
pid, pid,
config::PwmLimits,
steinhart_hart as sh, steinhart_hart as sh,
command_parser::{CenterPoint, Polarity}, command_parser::{CenterPoint, Polarity},
}; };
@ -32,6 +33,7 @@ pub struct ChannelState {
pub center: CenterPoint, pub center: CenterPoint,
pub dac_value: ElectricPotential, pub dac_value: ElectricPotential,
pub i_set: ElectricCurrent, pub i_set: ElectricCurrent,
pub pwm_limits: PwmLimits,
pub pid_engaged: bool, pub pid_engaged: bool,
pub pid: pid::Controller, pub pid: pid::Controller,
pub sh: sh::Parameters, pub sh: sh::Parameters,
@ -49,6 +51,11 @@ impl ChannelState {
center: CenterPoint::Vref, center: CenterPoint::Vref,
dac_value: ElectricPotential::new::<volt>(0.0), dac_value: ElectricPotential::new::<volt>(0.0),
i_set: ElectricCurrent::new::<ampere>(0.0), i_set: ElectricCurrent::new::<ampere>(0.0),
pwm_limits: PwmLimits {
max_v: 0.0,
max_i_pos: 0.0,
max_i_neg: 0.0,
},
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(),

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@ -357,52 +357,16 @@ impl Channels {
} }
} }
fn get_pwm(&self, channel: usize, pin: PwmPin) -> f64 {
fn get<P: hal::PwmPin<Duty=u16>>(pin: &P) -> f64 {
let duty = pin.get_duty();
let max = pin.get_max_duty();
duty as f64 / (max as f64)
}
match (channel, pin) {
(_, PwmPin::ISet) =>
panic!("i_set is no pwm pin"),
(0, PwmPin::MaxIPos) =>
get(&self.pwm.max_i_pos0),
(0, PwmPin::MaxINeg) =>
get(&self.pwm.max_i_neg0),
(0, PwmPin::MaxV) =>
get(&self.pwm.max_v0),
(1, PwmPin::MaxIPos) =>
get(&self.pwm.max_i_pos1),
(1, PwmPin::MaxINeg) =>
get(&self.pwm.max_i_neg1),
(1, PwmPin::MaxV) =>
get(&self.pwm.max_v1),
_ =>
unreachable!(),
}
}
pub fn get_max_v(&mut self, channel: usize) -> ElectricPotential { pub fn get_max_v(&mut self, channel: usize) -> ElectricPotential {
let max = 4.0 * ElectricPotential::new::<volt>(3.3); ElectricPotential::new::<volt>(self.channel_state(channel).pwm_limits.max_v)
let duty = self.get_pwm(channel, PwmPin::MaxV);
duty * max
} }
pub fn get_max_i_pos(&mut self, channel: usize) -> ElectricCurrent { pub fn get_max_i_pos(&mut self, channel: usize) -> ElectricCurrent {
let duty = match self.channel_state(channel).polarity { ElectricCurrent::new::<ampere>(self.channel_state(channel).pwm_limits.max_i_pos)
Polarity::Normal => self.get_pwm(channel, PwmPin::MaxIPos),
Polarity::Reversed => self.get_pwm(channel, PwmPin::MaxINeg),
};
duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE
} }
pub fn get_max_i_neg(&mut self, channel: usize) -> ElectricCurrent { pub fn get_max_i_neg(&mut self, channel: usize) -> ElectricCurrent {
let duty = match self.channel_state(channel).polarity { ElectricCurrent::new::<ampere>(self.channel_state(channel).pwm_limits.max_i_neg)
Polarity::Normal => self.get_pwm(channel, PwmPin::MaxINeg),
Polarity::Reversed => self.get_pwm(channel, PwmPin::MaxIPos),
};
duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE
} }
// Get current passing through TEC // Get current passing through TEC
@ -448,28 +412,34 @@ impl Channels {
pub fn set_max_v(&mut self, channel: usize, max_v: ElectricPotential) -> (ElectricPotential, ElectricPotential) { pub fn set_max_v(&mut self, channel: usize, max_v: ElectricPotential) -> (ElectricPotential, ElectricPotential) {
let max = 4.0 * ElectricPotential::new::<volt>(3.3); let max = 4.0 * ElectricPotential::new::<volt>(3.3);
let duty = (max_v.min(MAX_TEC_V).max(ElectricPotential::zero()) / max).get::<ratio>(); let max_v = max_v.min(MAX_TEC_V).max(ElectricPotential::zero());
let duty = (max_v / max).get::<ratio>();
let duty = self.set_pwm(channel, PwmPin::MaxV, duty); let duty = self.set_pwm(channel, PwmPin::MaxV, duty);
self.channel_state(channel).pwm_limits.max_v = max_v.get::<volt>();
(duty * max, max) (duty * max, max)
} }
pub fn set_max_i_pos(&mut self, channel: usize, max_i_pos: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) { pub fn set_max_i_pos(&mut self, channel: usize, max_i_pos: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
let max = ElectricCurrent::new::<ampere>(3.0); let max = ElectricCurrent::new::<ampere>(3.0);
let duty = (max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero()) / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>(); let max_i_pos = max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero());
let duty = (max_i_pos / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
let duty = match self.channel_state(channel).polarity { let duty = match self.channel_state(channel).polarity {
Polarity::Normal => self.set_pwm(channel, PwmPin::MaxIPos, duty), Polarity::Normal => self.set_pwm(channel, PwmPin::MaxIPos, duty),
Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxINeg, duty), Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxINeg, duty),
}; };
self.channel_state(channel).pwm_limits.max_i_pos = max_i_pos.get::<ampere>();
(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max) (duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
} }
pub fn set_max_i_neg(&mut self, channel: usize, max_i_neg: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) { pub fn set_max_i_neg(&mut self, channel: usize, max_i_neg: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
let max = ElectricCurrent::new::<ampere>(3.0); let max = ElectricCurrent::new::<ampere>(3.0);
let duty = (max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero()) / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>(); let max_i_neg = max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero());
let duty = (max_i_neg / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
let duty = match self.channel_state(channel).polarity { let duty = match self.channel_state(channel).polarity {
Polarity::Normal => self.set_pwm(channel, PwmPin::MaxINeg, duty), Polarity::Normal => self.set_pwm(channel, PwmPin::MaxINeg, duty),
Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxIPos, duty), Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxIPos, duty),
}; };
self.channel_state(channel).pwm_limits.max_i_neg = max_i_neg.get::<ampere>();
(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max) (duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
} }

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@ -75,10 +75,10 @@ impl ChannelConfig {
} }
#[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 {