README: Document swap status in report

Signed-off-by: Egor Savkin <es@m-labs.hk>

.gitignore

@@ -1,2 +1,5 @@
 target/
 result
+*.bin
+
+__pycache__/

README.md

@@ -94,42 +94,43 @@ The scope of this setting is per TCP session.
 Send commands as simple text string terminated by `\n`. Responses are
 formatted as line-delimited JSON.
 
-| Syntax                           | Function                                                                      |
-|----------------------------------|-------------------------------------------------------------------------------|
-| `report`                         | Show current input                                                            |
-| `report mode`                    | Show current report mode                                                      |
-| `report mode <off/on>`           | Set report mode                                                               |
-| `pwm`                            | Show current PWM settings                                                     |
-| `pwm <0/1> max_i_pos <amp>`      | Set maximum positive output current                                           |
-| `pwm <0/1> max_i_neg <amp>`      | Set maximum negative output current                                           |
-| `pwm <0/1> max_v <volt>`         | Set maximum output voltage                                                    |
-| `pwm <0/1> i_set <amp>`          | Disengage PID, set fixed output current                                       |
-| `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> vref`              | Set the MAX1968 0A-centerpoint to measure from VREF                           |
-| `pid`                            | Show PID configuration                                                        |
-| `pid <0/1> target <deg_celsius>` | Set the PID controller target temperature                                     |
-| `pid <0/1> kp <value>`           | Set proportional gain                                                         |
-| `pid <0/1> ki <value>`           | Set integral gain                                                             |
-| `pid <0/1> kd <value>`           | Set differential gain                                                         |
-| `pid <0/1> output_min <amp>`     | Set mininum output                                                            |
-| `pid <0/1> output_max <amp>`     | Set maximum output                                                            |
-| `s-h`                            | Show Steinhart-Hart equation parameters                                       |
-| `s-h <0/1> <t0/b/r0> <value>`    | Set Steinhart-Hart parameter for a channel                                    |
-| `postfilter`                     | Show postfilter settings                                                      |
-| `postfilter <0/1> off`           | Disable postfilter                                                            |
-| `postfilter <0/1> rate <rate>`   | Set postfilter output data rate                                               |
-| `load [0/1]`                     | Restore configuration for channel all/0/1 from flash                          |
-| `save [0/1]`                     | Save configuration for channel all/0/1 to flash                               |
-| `reset`                          | Reset the device                                                              |
-| `dfu`                            | Reset device and enters USB device firmware update (DFU) mode                 |
-| `ipv4 <X.X.X.X/L> [Y.Y.Y.Y]`     | Configure IPv4 address, netmask length, and optional default gateway          |
-| `fan`                            | Show current fan settings and sensors' measurements                           |
-| `fan <value>`                    | Set fan power with values from 1 to 100                                       |
-| `fan auto`                       | Enable automatic fan speed control                                            |
-| `fcurve <a> <b> <c>`             | Set fan controller curve coefficients (see *Fan control* section)             |
-| `fcurve default`                 | Set fan controller curve coefficients to defaults (see *Fan control* section) |
-| `hwrev`                          | Show hardware revision, and settings related to it                            |
+| Syntax                                    | Function                                                                      |
+|-------------------------------------------|-------------------------------------------------------------------------------|
+| `report`                                  | Show current input                                                            |
+| `report mode`                             | Show current report mode                                                      |
+| `report mode <off/on>`                    | Set report mode                                                               |
+| `pwm`                                     | Show current PWM settings                                                     |
+| `pwm <0/1> max_i_pos <amp>`               | Set maximum positive output current                                           |
+| `pwm <0/1> max_i_neg <amp>`               | Set maximum negative output current                                           |
+| `pwm <0/1> max_v <volt>`                  | Set maximum output voltage                                                    |
+| `pwm <0/1> i_set <amp>`                   | Disengage PID, set fixed output current                                       |
+| `pwm <0/1> polarity_swapped <false/true>` | Swap output current polarity on channel                                       |
+| `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> vref`                       | Set the MAX1968 0A-centerpoint to measure from VREF                           |
+| `pid`                                     | Show PID configuration                                                        |
+| `pid <0/1> target <deg_celsius>`          | Set the PID controller target temperature                                     |
+| `pid <0/1> kp <value>`                    | Set proportional gain                                                         |
+| `pid <0/1> ki <value>`                    | Set integral gain                                                             |
+| `pid <0/1> kd <value>`                    | Set differential gain                                                         |
+| `pid <0/1> output_min <amp>`              | Set mininum output                                                            |
+| `pid <0/1> output_max <amp>`              | Set maximum output                                                            |
+| `s-h`                                     | Show Steinhart-Hart equation parameters                                       |
+| `s-h <0/1> <t0/b/r0> <value>`             | Set Steinhart-Hart parameter for a channel                                    |
+| `postfilter`                              | Show postfilter settings                                                      |
+| `postfilter <0/1> off`                    | Disable postfilter                                                            |
+| `postfilter <0/1> rate <rate>`            | Set postfilter output data rate                                               |
+| `load [0/1]`                              | Restore configuration for channel all/0/1 from flash                          |
+| `save [0/1]`                              | Save configuration for channel all/0/1 to flash                               |
+| `reset`                                   | Reset the device                                                              |
+| `dfu`                                     | Reset device and enters USB device firmware update (DFU) mode                 |
+| `ipv4 <X.X.X.X/L> [Y.Y.Y.Y]`              | Configure IPv4 address, netmask length, and optional default gateway          |
+| `fan`                                     | Show current fan settings and sensors' measurements                           |
+| `fan <value>`                             | Set fan power with values from 1 to 100                                       |
+| `fan auto`                                | Enable automatic fan speed control                                            |
+| `fcurve <a> <b> <c>`                      | Set fan controller curve coefficients (see *Fan control* section)             |
+| `fcurve default`                          | Set fan controller curve coefficients to defaults (see *Fan control* section) |
+| `hwrev`                                   | Show hardware revision, and settings related to it                            |
 
 
 ## USB
@@ -255,21 +256,22 @@ Use the bare `report` command to obtain a single report. Enable
 continuous reporting with `report mode on`. Reports are JSON objects
 with the following keys.
 
-| Key            | Unit            | Description                                          |
-| ---            | :---:           | ---                                                  |
-| `channel`      | Integer         | Channel `0`, or `1`                                  |
-| `time`         | Seconds         | Temperature measurement time                         |
-| `adc`          | Volts           | AD7172 input                                         |
-| `sens`         | Ohms            | Thermistor resistance derived from `adc`             |
-| `temperature`  | Degrees Celsius | Steinhart-Hart conversion result derived from `sens` |
-| `pid_engaged`  | Boolean         | `true` if in closed-loop mode                        |
-| `i_set`        | Amperes         | TEC output current                                   |
-| `dac_value`    | Volts           | AD5680 output derived from `i_set`                   |
-| `dac_feedback` | Volts           | ADC measurement of the AD5680 output                 |
-| `i_tec`        | Volts           | MAX1968 TEC current monitor                          |
-| `tec_i`        | Amperes         | TEC output current feedback derived from `i_tec`     |
-| `tec_u_meas`   | Volts           | Measurement of the voltage across the TEC            |
-| `pid_output`   | Amperes         | PID control output                                   |
+| Key               | Unit            | Description                                                        |
+| ---               | :---:           | ---                                                                |
+| `channel`         | Integer         | Channel `0`, or `1`                                                |
+| `time`            | Seconds         | Temperature measurement time                                       |
+| `adc`             | Volts           | AD7172 input                                                       |
+| `sens`            | Ohms            | Thermistor resistance derived from `adc`                           |
+| `temperature`     | Degrees Celsius | Steinhart-Hart conversion result derived from `sens`               |
+| `pid_engaged`     | Boolean         | `true` if in closed-loop mode                                      |
+| `current_swapped` | Boolean         | `true` if TEC current direction is swapped relative to front panel |
+| `i_set`           | Amperes         | TEC output current                                                 |
+| `dac_value`       | Volts           | AD5680 output derived from `i_set`                                 |
+| `dac_feedback`    | Volts           | ADC measurement of the AD5680 output                               |
+| `i_tec`           | Volts           | MAX1968 TEC current monitor                                        |
+| `tec_i`           | Amperes         | TEC output current feedback derived from `i_tec`                   |
+| `tec_u_meas`      | Volts           | Measurement of the voltage across the TEC                          |
+| `pid_output`      | Amperes         | PID control output                                                 |
 
 Note: With Thermostat v2 and below, the voltage and current readouts `i_tec` and `tec_i` are noisy without the hardware fix shown in [this PR][https://git.m-labs.hk/M-Labs/thermostat/pulls/105].
 

flake.nix

@@ -63,7 +63,7 @@
         name = "thermostat-dev-shell";
         packages = with pkgs; [
           rust llvm
-          openocd dfu-util
+          openocd dfu-util rlwrap
           ] ++ (with python3Packages; [
             numpy matplotlib
           ]);

src/channel_state.rs

@@ -35,6 +35,7 @@ pub struct ChannelState {
     pub pid_engaged: bool,
     pub pid: pid::Controller,
     pub sh: sh::Parameters,
+    pub polarity_swapped: bool,
 }
 
 impl ChannelState {
@@ -51,6 +52,7 @@ impl ChannelState {
             pid_engaged: false,
             pid: pid::Controller::new(pid::Parameters::default()),
             sh: sh::Parameters::default(),
+            polarity_swapped: false,
         }
     }
 

src/channels.rs

@@ -22,6 +22,7 @@ use crate::{
     pins::{self, Channel0VRef, Channel1VRef},
     steinhart_hart,
 };
+use crate::timer::sleep;
 
 pub enum PinsAdcReadTarget {
     VREF,
@@ -153,6 +154,12 @@ impl Channels {
 
     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);
+        self.channel_state(channel).i_set = i_set;
+        let negate = if self.channel_state(channel).polarity_swapped {
+            -1.0
+        } else {
+            1.0
+        };
         let vref_meas = match channel.into() {
             0 => self.channel0.vref_meas,
             1 => self.channel1.vref_meas,
@@ -160,10 +167,9 @@ impl Channels {
         };
         let center_point = vref_meas;
         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 i_set = (voltage - center_point) / (10.0 * r_sense);
-        self.channel_state(channel).i_set = i_set;
+        let i_set = negate * (voltage - center_point) / (10.0 * r_sense);
         i_set
     }
 
@@ -269,17 +275,6 @@ impl Channels {
         }
     }
 
-    pub fn read_dac_feedback_until_stable(&mut self, channel: usize, tolerance: ElectricPotential) -> ElectricPotential {
-        let mut prev = self.adc_read(channel, PinsAdcReadTarget::DacVfb, 1);
-        loop {
-            let current = self.adc_read(channel, PinsAdcReadTarget::DacVfb, 1);
-            if (current - prev).abs() < tolerance {
-                return current;
-            }
-            prev = current;
-        }
-    }
-
     /// Calibrates the DAC output to match vref of the MAX driver to reduce zero-current offset of the MAX driver output.
     ///
     /// The thermostat DAC applies a control voltage signal to the CTLI pin of MAX driver chip to control its output current.
@@ -306,7 +301,7 @@ impl Channels {
         let mut start_value = 1;
         let mut best_error = ElectricPotential::new::<volt>(100.0);
 
-        for step in (0..18).rev() {
+        for step in (5..18).rev() {
             let mut prev_value = start_value;
             for value in (start_value..=ad5680::MAX_VALUE).step_by(1 << step) {
                 match channel {
@@ -318,8 +313,9 @@ impl Channels {
                     }
                     _ => unreachable!(),
                 }
+                sleep(10);
 
-                let dac_feedback = self.read_dac_feedback_until_stable(channel, ElectricPotential::new::<volt>(0.001));
+                let dac_feedback = self.adc_read(channel, PinsAdcReadTarget::DacVfb, 64);
                 let error = target_voltage - dac_feedback;
                 if error < ElectricPotential::new::<volt>(0.0) {
                     break;
@@ -395,19 +391,32 @@ impl Channels {
 
     pub fn get_max_i_pos(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
         let max = ElectricCurrent::new::<ampere>(3.0);
-        let duty = self.get_pwm(channel, PwmPin::MaxIPos);
+        let duty = if self.channel_state(channel).polarity_swapped {
+            self.get_pwm(channel, PwmPin::MaxINeg)
+        } else {
+            self.get_pwm(channel, PwmPin::MaxIPos)
+        };
         (duty * max, MAX_TEC_I)
     }
 
     pub fn get_max_i_neg(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
         let max = ElectricCurrent::new::<ampere>(3.0);
-        let duty = self.get_pwm(channel, PwmPin::MaxINeg);
+        let duty = if self.channel_state(channel).polarity_swapped {
+            self.get_pwm(channel, PwmPin::MaxIPos)
+        } else {
+            self.get_pwm(channel, PwmPin::MaxINeg)
+        };
         (duty * max, MAX_TEC_I)
     }
 
     // Get current passing through TEC
     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);
+        if self.channel_state(channel).polarity_swapped {
+            -tec_i
+        } else {
+            tec_i
+        }
     }
 
     // Get voltage across TEC
@@ -452,17 +461,38 @@ impl Channels {
     pub fn set_max_i_pos(&mut self, channel: usize, max_i_pos: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
         let max = ElectricCurrent::new::<ampere>(3.0);
         let duty = (max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero()) / max).get::<ratio>();
-        let duty = self.set_pwm(channel, PwmPin::MaxIPos, duty);
+        let duty = if self.channel_state(channel).polarity_swapped {
+            self.set_pwm(channel, PwmPin::MaxINeg, duty)
+        } else {
+            self.set_pwm(channel, PwmPin::MaxIPos, duty)
+        };
         (duty * max, max)
     }
 
     pub fn set_max_i_neg(&mut self, channel: usize, max_i_neg: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
         let max = ElectricCurrent::new::<ampere>(3.0);
         let duty = (max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero()) / max).get::<ratio>();
-        let duty = self.set_pwm(channel, PwmPin::MaxINeg, duty);
+        let duty = if self.channel_state(channel).polarity_swapped {
+            self.set_pwm(channel, PwmPin::MaxIPos, duty)
+        } else {
+            self.set_pwm(channel, PwmPin::MaxINeg, duty)
+        };
         (duty * max, max)
     }
 
+    pub fn swap_polarity(&mut self, channel: usize, swapped: bool) {
+        if self.channel_state(channel).polarity_swapped != swapped {
+            let i_set = self.channel_state(channel).i_set;
+            let max_i_pos = self.get_max_i_pos(channel).0;
+            let max_i_neg = self.get_max_i_neg(channel).0;
+
+            self.channel_state(channel).polarity_swapped = swapped;
+            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 {
         let i_set = self.get_i(channel);
         let i_tec = self.adc_read(channel, PinsAdcReadTarget::ITec, 16);
@@ -479,6 +509,7 @@ impl Channels {
             temperature: state.get_temperature()
                 .map(|temperature| temperature.get::<degree_celsius>()),
             pid_engaged: state.pid_engaged,
+            current_swapped: state.polarity_swapped,
             i_set,
             dac_value,
             dac_feedback: self.adc_read(channel, PinsAdcReadTarget::DacVfb, 1),
@@ -577,6 +608,7 @@ pub struct Report {
     sens: Option<ElectricalResistance>,
     temperature: Option<f64>,
     pid_engaged: bool,
+    current_swapped: bool,
     i_set: ElectricCurrent,
     dac_value: ElectricPotential,
     dac_feedback: ElectricPotential,

src/command_handler.rs

@@ -181,6 +181,12 @@ impl Handler {
         Ok(Handler::Handled)
     }
 
+    fn swap_polarity (socket: &mut TcpSocket, channels: &mut Channels, channel: usize, swapped: bool) -> Result<Handler, Error> {
+        channels.swap_polarity(channel, swapped);
+        send_line(socket, b"{}");
+        Ok(Handler::Handled)
+    }
+
     fn set_pwm (socket: &mut TcpSocket, channels: &mut Channels, channel: usize, pin: PwmPin, value: f64) -> Result<Handler, Error> {
         match pin {
             PwmPin::ISet => {
@@ -424,6 +430,7 @@ impl Handler {
             Command::Show(ShowCommand::PostFilter) => Handler::show_post_filter(socket, channels),
             Command::Show(ShowCommand::Ipv4) => Handler::show_ipv4(socket, ipv4_config),
             Command::PwmPid { channel } => Handler::engage_pid(socket, channels, channel),
+            Command::PwmPolaritySwapped { channel, swapped } => Handler::swap_polarity(socket, channels, channel, swapped),
             Command::Pwm { channel, pin, value } => Handler::set_pwm(socket, channels, channel, pin, value),
             Command::CenterPoint { channel, center } => Handler::set_center_point(socket, channels, channel, center),
             Command::Pid { channel, parameter, value } => Handler::set_pid(socket, channels, channel, parameter, value),

src/command_parser.rs

@@ -159,6 +159,10 @@ pub enum Command {
     PwmPid {
         channel: usize,
     },
+    PwmPolaritySwapped {
+        channel: usize,
+        swapped: bool,
+    },
     CenterPoint {
         channel: usize,
         center: CenterPoint,
@@ -239,6 +243,12 @@ fn off_on(input: &[u8]) -> IResult<&[u8], bool> {
     ))(input)
 }
 
+fn boolean(input: &[u8]) -> IResult<&[u8], bool> {
+    alt((value(false, tag("false")),
+         value(true, tag("true"))
+    ))(input)
+}
+
 fn channel(input: &[u8]) -> IResult<&[u8], usize> {
     map(one_of("01"), |c| (c as usize) - ('0' as usize))(input)
 }
@@ -321,6 +331,16 @@ fn pwm_pid(input: &[u8]) -> IResult<&[u8], ()> {
     value((), tag("pid"))(input)
 }
 
+fn pwm_polarity_swapped(input: &[u8]) -> IResult<&[u8], bool> {
+    preceded(
+        tag("polarity_swapped"),
+        preceded(
+            whitespace,
+            boolean,
+        )
+    )(input)
+}
+
 fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     let (input, _) = tag("pwm")(input)?;
     alt((
@@ -333,6 +353,10 @@ fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
                     let (input, ()) = pwm_pid(input)?;
                     Ok((input, Ok(Command::PwmPid { channel })))
                 },
+                |input| {
+                    let (input, swapped) = pwm_polarity_swapped(input)?;
+                    Ok((input, Ok(Command::PwmPolaritySwapped { channel, swapped })))
+                },
                 |input| {
                     let (input, config) = pwm_setup(input)?;
                     match config {

src/config.rs

@@ -20,6 +20,7 @@ pub struct ChannelConfig {
     pid_target: f32,
     pid_engaged: bool,
     i_set: ElectricCurrent,
+    polarity_swapped: bool,
     sh: steinhart_hart::Parameters,
     pwm: PwmLimits,
     /// uses variant `PostFilter::Invalid` instead of `None` to save space
@@ -45,7 +46,8 @@ impl ChannelConfig {
             pid: state.pid.parameters.clone(),
             pid_target: state.pid.target as f32,
             pid_engaged: state.pid_engaged,
-            i_set: i_set,
+            i_set,
+            polarity_swapped: state.polarity_swapped,
             sh: state.sh.clone(),
             pwm,
             adc_postfilter,
@@ -68,6 +70,7 @@ impl ChannelConfig {
         };
         let _ = channels.adc.set_postfilter(channel as u8, adc_postfilter);
         let _ = channels.set_i(channel, self.i_set);
+        channels.swap_polarity(channel, self.polarity_swapped);
     }
 }
 

src/main.rs

@@ -58,7 +58,7 @@ mod hw_rev;
 
 const HSE: MegaHertz = MegaHertz(8);
 #[cfg(not(feature = "semihosting"))]
-const WATCHDOG_INTERVAL: u32 = 1_000;
+const WATCHDOG_INTERVAL: u32 = 2_000;
 #[cfg(feature = "semihosting")]
 const WATCHDOG_INTERVAL: u32 = 30_000;