QVariantList -> list

Used for autoconnect

.gitignore

@@ -1,5 +1,3 @@
 target/
 result
-*.bin
+*.pyc
-
-__pycache__/

README.md

@@ -23,7 +23,7 @@ cargo build --release
 
 The resulting ELF file will be located under `target/thumbv7em-none-eabihf/release/thermostat`.
 
-Alternatively, you can install the Rust toolchain without Nix using rustup; see the `rust` variable in `flake.nix` to determine which Rust version to use.
+Alternatively, you can install the Rust toolchain without Nix using rustup; see the Rust manifest file pulled in `flake.nix` to determine which Rust version to use.
 
 ## Debugging
 
@@ -45,7 +45,7 @@ There are several options for flashing Thermostat. DFU requires only a micro-USB
 
 ### dfu-util on Linux
 * Install the DFU USB tool (dfu-util).
-* Convert firmware from ELF to BIN: `llvm-objcopy -O binary target/thumbv7em-none-eabihf/release/thermostat thermostat.bin` (you can skip this step if using the BIN from Hydra)
+* Convert firmware from ELF to BIN: `arm-none-eabi-objcopy -O binary thermostat thermostat.bin` (you can skip this step if using the BIN from Hydra)
 * Connect to the Micro USB connector to Thermostat below the RJ45.
 * Add jumper to Thermostat v2.0 across 2-pin jumper adjacent to JTAG connector.
 * Cycle board power to put it in DFU update mode
@@ -95,7 +95,9 @@ invalidate the first line of input.
 
 ### Reading ADC input
 
-ADC input data is provided in reports. Query for the latest report with the command `report`. See the *Reports* section below.
+Set report mode to `on` for a continuous stream of input data.
+
+The scope of this setting is per TCP session.
 
 
 ### TCP commands
@@ -103,41 +105,42 @@ ADC input data is provided in reports. Query for the latest report with the comm
 Send commands as simple text string terminated by `\n`. Responses are
 formatted as line-delimited JSON.
 
-| Syntax                                    | Function                                                                      |
+| Syntax                           | Function                                                                      |
-|-------------------------------------------|-------------------------------------------------------------------------------|
+|----------------------------------|-------------------------------------------------------------------------------|
-| `report`                                  | Show latest report of channel parameters (see *Reports* section)              |
+| `report`                         | Show current input                                                            |
-| `output`                                  | Show current output settings                                                  |
+| `report mode`                    | Show current report mode                                                      |
-| `output <0/1> max_i_pos <amp>`            | Set maximum positive output current, clamped to [0, 2]                        |
+| `report mode <off/on>`           | Set report mode                                                               |
-| `output <0/1> max_i_neg <amp>`            | Set maximum negative output current, clamped to [0, 2]                        |
+| `pwm`                            | Show current PWM settings                                                     |
-| `output <0/1> max_v <volt>`               | Set maximum output voltage, clamped to [0, 4]                                 |
+| `pwm <0/1> max_i_pos <amp>`      | Set maximum positive output current                                           |
-| `output <0/1> i_set <amp>`                | Disengage PID, set fixed output current, clamped to [-2, 2]                   |
+| `pwm <0/1> max_i_neg <amp>`      | Set maximum negative output current                                           |
-| `output <0/1> polarity <normal/reversed>` | Set output current polarity, with 'normal' being the front panel polarity     |
+| `pwm <0/1> max_v <volt>`         | Set maximum output voltage                                                    |
-| `output <0/1> pid`                        | Let output current to be controlled by the PID                                |
+| `pwm <0/1> i_set <amp>`          | Disengage PID, set fixed output current                                       |
-| `center <0/1> <volt>`                     | Set the MAX1968 0A-centerpoint to the specified fixed voltage                 |
+| `pwm <0/1> pid`                  | Let output current to be controlled by the PID                                |
-| `center <0/1> vref`                       | Set the MAX1968 0A-centerpoint to measure from VREF                           |
+| `center <0/1> <volt>`            | Set the MAX1968 0A-centerpoint to the specified fixed voltage                 |
-| `pid`                                     | Show PID configuration                                                        |
+| `center <0/1> vref`              | Set the MAX1968 0A-centerpoint to measure from VREF                           |
-| `pid <0/1> target <deg_celsius>`          | Set the PID controller target temperature                                     |
+| `pid`                            | Show PID configuration                                                        |
-| `pid <0/1> kp <value>`                    | Set proportional gain                                                         |
+| `pid <0/1> target <deg_celsius>` | Set the PID controller target temperature                                     |
-| `pid <0/1> ki <value>`                    | Set integral gain                                                             |
+| `pid <0/1> kp <value>`           | Set proportional gain                                                         |
-| `pid <0/1> kd <value>`                    | Set differential gain                                                         |
+| `pid <0/1> ki <value>`           | Set integral gain                                                             |
-| `pid <0/1> output_min <amp>`              | Set mininum output                                                            |
+| `pid <0/1> kd <value>`           | Set differential gain                                                         |
-| `pid <0/1> output_max <amp>`              | Set maximum output                                                            |
+| `pid <0/1> output_min <amp>`     | Set mininum output                                                            |
-| `b-p`                                     | Show B-Parameter equation parameters                                          |
+| `pid <0/1> output_max <amp>`     | Set maximum output                                                            |
-| `b-p <0/1> <t0/b/r0> <value>`             | Set B-Parameter for a channel                                                 |
+| `s-h`                            | Show Steinhart-Hart equation parameters                                       |
-| `postfilter`                              | Show postfilter settings                                                      |
+| `s-h <0/1> <t0/b/r0> <value>`    | Set Steinhart-Hart parameter for a channel                                    |
-| `postfilter <0/1> off`                    | Disable postfilter                                                            |
+| `postfilter`                     | Show postfilter settings                                                      |
-| `postfilter <0/1> rate <rate>`            | Set postfilter output data rate                                               |
+| `postfilter <0/1> off`           | Disable postfilter                                                            |
-| `load [0/1]`                              | Restore configuration for channel all/0/1 from flash                          |
+| `postfilter <0/1> rate <rate>`   | Set postfilter output data rate                                               |
-| `save [0/1]`                              | Save configuration for channel all/0/1 to flash                               |
+| `load [0/1]`                     | Restore configuration for channel all/0/1 from flash                          |
-| `reset`                                   | Reset the device                                                              |
+| `save [0/1]`                     | Save configuration for channel all/0/1 to flash                               |
-| `dfu`                                     | Reset device and enters USB device firmware update (DFU) mode                 |
+| `reset`                          | Reset the device                                                              |
-| `ipv4 <X.X.X.X/L> [Y.Y.Y.Y]`              | Configure IPv4 address, netmask length, and optional default gateway          |
+| `dfu`                            | Reset device and enters USB device firmware update (DFU) mode                 |
-| `fan`                                     | Show current fan settings and sensors' measurements                           |
+| `ipv4 <X.X.X.X/L> [Y.Y.Y.Y]`     | Configure IPv4 address, netmask length, and optional default gateway          |
-| `fan <value>`                             | Set fan power with values from 1 to 100                                       |
+| `fan`                            | Show current fan settings and sensors' measurements                           |
-| `fan auto`                                | Enable automatic fan speed control                                            |
+| `fan <value>`                    | Set fan power with values from 1 to 100                                       |
-| `fcurve <a> <b> <c>`                      | Set fan controller curve coefficients (see *Fan control* section)             |
+| `fan auto`                       | Enable automatic fan speed control                                            |
-| `fcurve default`                          | Set fan controller curve coefficients to defaults (see *Fan control* section) |
+| `fcurve <a> <b> <c>`             | Set fan controller curve coefficients (see *Fan control* section)             |
-| `hwrev`                                   | Show hardware revision, and settings related to it                            |
+| `fcurve default`                 | Set fan controller curve coefficients to defaults (see *Fan control* section) |
+| `hwrev`                          | Show hardware revision, and settings related to it                            |
 
 
 ## USB
@@ -155,22 +158,22 @@ output will be truncated when USB buffers are full.
 
 Connect the thermistor with the SENS pins of the
 device. Temperature-depending resistance is measured by the AD7172
-ADC. To prepare conversion to a temperature, set the parameters
+ADC. To prepare conversion to a temperature, set the Beta parameters
-for the B-Parameter equation.
+for the Steinhart-Hart equation.
 
 Set the base temperature in degrees celsius for the channel 0 thermistor:
 ```
-b-p 0 t0 20
+s-h 0 t0 20
 ```
 
 Set the resistance in Ohms measured at the base temperature t0:
 ```
-b-p 0 r0 10000
+s-h 0 r0 10000
 ```
 
 Set the Beta parameter:
 ```
-b-p 0 b 3800
+s-h 0 b 3800
 ```
 
 ### 50/60 Hz filtering
@@ -194,16 +197,14 @@ 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.
 
-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.
-
 Testing heat flow direction with a low set current is recommended before installation of the TEC module.
 
 ### Limits
 
-Each MAX1968 TEC driver has analog/PWM inputs for setting
+Each of the MAX1968 TEC driver has analog/PWM inputs for setting
 output limits.
 
-Use the `output` command to see current settings and maximum values.
+Use the `pwm` command to see current settings and maximum values.
 
 | Limit       | Unit    | Description                   |
 | ---         | :---:   | ---                           |
@@ -214,28 +215,28 @@ Use the `output` command to see current settings and maximum values.
 
 Example: set the maximum voltage of channel 0 to 1.5 V.
 ```
-output 0 max_v 1.5
+pwm 0 max_v 1.5
 ```
 
 Example: set the maximum negative current of channel 0 to -3 A.
 ```
-output 0 max_i_neg 3
+pwm 0 max_i_neg 3
 ```
 
 Example: set the maximum positive current of channel 1 to 3 A.
 ```
-output 0 max_i_pos 3
+pwm 0 max_i_pos 3
 ```
 
 ### Open-loop mode
 
-To manually control TEC output current, set a fixed output current with
+To manually control TEC output current, omit the limit parameter of
-the `output` command. Doing so will disengage the PID control for that
+the `pwm` command. Doing so will disengage the PID control for that
 channel.
 
 Example: set output current of channel 0 to 0 A.
 ```
-output 0 i_set 0
+pwm 0 i_set 0
 ```
 
 ## PID-stabilized temperature control
@@ -248,7 +249,7 @@ pid 0 target 20
 Enter closed-loop mode by switching control of the TEC output current
 of channel 0 to the PID algorithm:
 ```
-output 0 pid
+pwm 0 pid
 ```
 
 ## LED indicators
@@ -261,17 +262,17 @@ output 0 pid
 
 ## Reports
 
-Use the bare `report` command to obtain a single report. Reports are JSON objects
+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                         |
-| `interval`     | Seconds         | Time elapsed since last report update on channel     |
 | `adc`          | Volts           | AD7172 input                                         |
 | `sens`         | Ohms            | Thermistor resistance derived from `adc`             |
-| `temperature`  | Degrees Celsius | B-Parameter conversion result derived from `sens`    |
+| `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`                   |
@@ -281,7 +282,7 @@ with the following keys.
 | `tec_u_meas`   | Volts           | Measurement of the voltage across the TEC            |
 | `pid_output`   | Amperes         | PID control output                                   |
 
-Note: Prior to Thermostat hardware revision v2.2.4, 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).
+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].
 
 ## PID Tuning
 

flake.lock

@@ -1,45 +1,41 @@
 {
   "nodes": {
+    "mozilla-overlay": {
+      "flake": false,
+      "locked": {
+        "lastModified": 1704373101,
+        "narHash": "sha256-+gi59LRWRQmwROrmE1E2b3mtocwueCQqZ60CwLG+gbg=",
+        "owner": "mozilla",
+        "repo": "nixpkgs-mozilla",
+        "rev": "9b11a87c0cc54e308fa83aac5b4ee1816d5418a2",
+        "type": "github"
+      },
+      "original": {
+        "owner": "mozilla",
+        "repo": "nixpkgs-mozilla",
+        "type": "github"
+      }
+    },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1722791413,
+        "lastModified": 1704290814,
-        "narHash": "sha256-rCTrlCWvHzMCNcKxPE3Z/mMK2gDZ+BvvpEVyRM4tKmU=",
+        "narHash": "sha256-LWvKHp7kGxk/GEtlrGYV68qIvPHkU9iToomNFGagixU=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "8b5b6723aca5a51edf075936439d9cd3947b7b2c",
+        "rev": "70bdadeb94ffc8806c0570eb5c2695ad29f0e421",
         "type": "github"
       },
       "original": {
         "owner": "NixOS",
-        "ref": "nixos-24.05",
+        "ref": "nixos-23.05",
         "repo": "nixpkgs",
         "type": "github"
       }
     },
     "root": {
       "inputs": {
-        "nixpkgs": "nixpkgs",
+        "mozilla-overlay": "mozilla-overlay",
-        "rust-overlay": "rust-overlay"
+        "nixpkgs": "nixpkgs"
-      }
-    },
-    "rust-overlay": {
-      "inputs": {
-        "nixpkgs": [
-          "nixpkgs"
-        ]
-      },
-      "locked": {
-        "lastModified": 1719281921,
-        "narHash": "sha256-LIBMfhM9pMOlEvBI757GOK5l0R58SRi6YpwfYMbf4yc=",
-        "owner": "oxalica",
-        "repo": "rust-overlay",
-        "rev": "b6032d3a404d8a52ecfc8571ff0c26dfbe221d07",
-        "type": "github"
-      },
-      "original": {
-        "owner": "oxalica",
-        "repo": "rust-overlay",
-        "type": "github"
       }
     }
   },

flake.nix

@@ -1,34 +1,47 @@
 {
   description = "Firmware for the Sinara 8451 Thermostat";
 
-  inputs.nixpkgs.url = "github:NixOS/nixpkgs/nixos-24.05";
+  inputs.nixpkgs.url = "github:NixOS/nixpkgs/nixos-23.05";
-  inputs.rust-overlay = { 
+  inputs.mozilla-overlay = {
-    url = "github:oxalica/rust-overlay";
+    url = "github:mozilla/nixpkgs-mozilla";
-    inputs.nixpkgs.follows = "nixpkgs";
+    flake = false;
   };
 
-  outputs = { self, nixpkgs, rust-overlay }:
+  outputs = { self, nixpkgs, mozilla-overlay, }:
     let
-      pkgs = import nixpkgs { system = "x86_64-linux"; overlays = [ (import rust-overlay) ]; };
+      pkgs = import nixpkgs {
-
+        system = "x86_64-linux";
-      rust = pkgs.rust-bin.stable."1.66.0".default.override {
+        overlays = [ (import mozilla-overlay) ];
-        extensions = [ "rust-src" ];
-        targets = [ "thumbv7em-none-eabihf" ];
       };
-      rustPlatform = pkgs.makeRustPlatform {
+      rustManifest = pkgs.fetchurl {
+        url =
+          "https://static.rust-lang.org/dist/2022-12-15/channel-rust-stable.toml";
+        hash = "sha256-S7epLlflwt0d1GZP44u5Xosgf6dRrmr8xxC+Ml2Pq7c=";
+      };
+
+      targets = [ "thumbv7em-none-eabihf" ];
+      rustChannelOfTargets = _channel: _date: targets:
+        (pkgs.lib.rustLib.fromManifestFile rustManifest {
+          inherit (pkgs) stdenv lib fetchurl patchelf;
+        }).rust.override {
+          inherit targets;
+          extensions = [ "rust-src" ];
+        };
+      rust = rustChannelOfTargets "stable" null targets;
+      rustPlatform = pkgs.recurseIntoAttrs (pkgs.makeRustPlatform {
         rustc = rust;
         cargo = rust;
-      };
+      });
-
       thermostat = rustPlatform.buildRustPackage {
         name = "thermostat";
         version = "0.0.0";
 
         src = self;
-        cargoLock = { 
+        cargoLock = {
           lockFile = ./Cargo.lock;
           outputHashes = {
-            "stm32-eth-0.2.0" = "sha256-48RpZgagUqgVeKm7GXdk3Oo0v19ScF9Uby0nTFlve2o=";
+            "stm32-eth-0.2.0" =
+              "sha256-48RpZgagUqgVeKm7GXdk3Oo0v19ScF9Uby0nTFlve2o=";
           };
         };
 
@@ -47,7 +60,45 @@
         '';
 
         dontFixup = true;
-        auditable = false;
+      };
+
+      qasync = pkgs.python3Packages.buildPythonPackage rec {
+        pname = "qasync";
+        version = "0.27.1";
+        format = "pyproject";
+        src = pkgs.fetchPypi {
+          inherit pname version;
+          hash = "sha256-jcdo/R7l3hBEx8MF7M8tOdJNh4A+pxGJ1AJPtHX0mF8=";
+        };
+        buildInputs = [ pkgs.python3Packages.poetry-core ];
+        propagatedBuildInputs = [ pkgs.python3Packages.pyqt6 ];
+      };
+
+      pyqtgraph = pkgs.python3Packages.buildPythonPackage rec {
+        pname = "pyqtgraph";
+        version = "0.13.3";
+        format = "pyproject";
+        src = pkgs.fetchPypi {
+          inherit pname version;
+          hash = "sha256-WBCNhBHHBU4IQdi3ke6F4QH8KWubNZwOAd3jipj/Ks4=";
+        };
+        propagatedBuildInputs = with pkgs.python3Packages; [ numpy pyqt6 ];
+      };
+
+      qtextras = pkgs.python3Packages.buildPythonPackage rec {
+        pname = "qtextras";
+        version = "0.6.8";
+        format = "pyproject";
+        src = pkgs.fetchPypi {
+          inherit pname version;
+          hash = "sha256-d1ZotSlOI4surUy0H0N4xHoq94IRQvMHunwRH1uubFg=";
+        };
+        buildInputs = [ pkgs.python3Packages.hatchling ];
+        propagatedBuildInputs = with pkgs.python3Packages; [
+          numpy
+          pyqtgraph
+          ruamel-yaml
+        ];
       };
 
       pglive = pkgs.python3Packages.buildPythonPackage rec {
@@ -59,12 +110,22 @@
           hash = "sha256-jqj8X6H1N5mJQ4OrY5ANqRB0YJByqg/bNneEALWmH1A=";
         };
         buildInputs = [ pkgs.python3Packages.poetry-core ];
-        propagatedBuildInputs = with pkgs.python3Packages; [
+        propagatedBuildInputs = [ pyqtgraph pkgs.python3Packages.numpy ];
-          pyqtgraph
-          numpy
-        ];
       };
 
+      pytec-dev-wrappers = pkgs.runCommandNoCC "pytec-dev-wrappers" { } ''
+        mkdir -p $out/bin
+        for program in ${self}/pytec/*.py; do
+          if [ -x $program ]; then
+            progname=`basename -s .py $program`
+            outname=$out/bin/$progname
+            echo "#!${pkgs.bash}/bin/bash" >> $outname
+            echo "exec python3 -m pytec.$progname \"\$@\"" >> $outname
+            chmod 755 $outname
+          fi
+        done
+      '';
+
       thermostat_gui = pkgs.python3Packages.buildPythonPackage {
         pname = "thermostat_gui";
         version = "0.0.0";
@@ -72,13 +133,13 @@
         src = "${self}/pytec";
 
         nativeBuildInputs = [ pkgs.qt6.wrapQtAppsHook ];
-        propagatedBuildInputs =
+        propagatedBuildInputs = [ pkgs.qt6.qtbase ]
-          [ pkgs.qt6.qtbase ]
           ++ (with pkgs.python3Packages; [
             pyqtgraph
             pyqt6
             qasync
             pglive
+            qtextras
           ]);
 
         dontWrapQtApps = true;
@@ -87,33 +148,35 @@
         '';
       };
     in {
-      packages.x86_64-linux = {
+      packages.x86_64-linux = { inherit thermostat thermostat_gui; };
-        inherit thermostat thermostat_gui;
+
-        default = thermostat;
+      formatter.x86_64-linux = nixpkgs.legacyPackages.x86_64-linux.nixfmt;
-      };
 
       apps.x86_64-linux.thermostat_gui = {
         type = "app";
         program = "${self.packages.x86_64-linux.thermostat_gui}/bin/tec_qt";
       };
 
-      hydraJobs = {
+      hydraJobs = { inherit thermostat; };
-        inherit thermostat;
-      };
 
-      devShells.x86_64-linux.default = pkgs.mkShellNoCC {
+      devShell.x86_64-linux = pkgs.mkShell {
         name = "thermostat-dev-shell";
-        packages = with pkgs; [
+        buildInputs = with pkgs;
-          rust llvm
+          [ rust openocd dfu-util pytec-dev-wrappers ]
-          openocd dfu-util rlwrap
+          ++ (with python3Packages; [
-          qtcreator
+            numpy
-          ] ++ (with python3Packages; [
+            matplotlib
-            numpy matplotlib
             pyqtgraph
+            setuptools
             pyqt6
             qasync
             pglive
+            qtextras
           ]);
+        shellHook = ''
+          export PYTHONPATH=`pwd`/pytec:$PYTHONPATH
+        '';
       };
+      defaultPackage.x86_64-linux = thermostat;
     };
-}
+}

pytec/.flake8

@@ -0,0 +1,3 @@
+[flake8]
+max-line-length = 88
+extend-ignore = E203,E701

pytec/autotune.py

@@ -12,32 +12,33 @@ from pytec.client import Client
 
 
 class PIDAutotuneState(Enum):
-    STATE_OFF = 'off'
+    STATE_OFF = "off"
-    STATE_RELAY_STEP_UP = 'relay step up'
+    STATE_RELAY_STEP_UP = "relay step up"
-    STATE_RELAY_STEP_DOWN = 'relay step down'
+    STATE_RELAY_STEP_DOWN = "relay step down"
-    STATE_SUCCEEDED = 'succeeded'
+    STATE_SUCCEEDED = "succeeded"
-    STATE_FAILED = 'failed'
+    STATE_FAILED = "failed"
     STATE_READY = "ready"
 
 
 class PIDAutotune:
-    PIDParams = namedtuple('PIDParams', ['Kp', 'Ki', 'Kd'])
+    PIDParams = namedtuple("PIDParams", ["Kp", "Ki", "Kd"])
 
     PEAK_AMPLITUDE_TOLERANCE = 0.05
 
     _tuning_rules = {
         "ziegler-nichols": [0.6, 1.2, 0.075],
-        "tyreus-luyben": [0.4545,  0.2066, 0.07214],
+        "tyreus-luyben": [0.4545, 0.2066, 0.07214],
         "ciancone-marlin": [0.303, 0.1364, 0.0481],
         "pessen-integral": [0.7, 1.75, 0.105],
-        "some-overshoot": [0.333, 0.667,  0.111],
+        "some-overshoot": [0.333, 0.667, 0.111],
-        "no-overshoot": [0.2, 0.4,  0.0667]
+        "no-overshoot": [0.2, 0.4, 0.0667],
     }
 
-    def __init__(self, setpoint, out_step=10, lookback=60,
+    def __init__(
-                 noiseband=0.5, sampletime=1.2):
+        self, setpoint, out_step=10, lookback=60, noiseband=0.5, sampletime=1.2
+    ):
         if setpoint is None:
-            raise ValueError('setpoint must be specified')
+            raise ValueError("setpoint must be specified")
 
         self._inputs = deque(maxlen=round(lookback / sampletime))
         self._setpoint = setpoint
@@ -84,7 +85,7 @@ class PIDAutotune:
         """Get a list of all available tuning rules."""
         return self._tuning_rules.keys()
 
-    def get_pid_parameters(self, tuning_rule='ziegler-nichols'):
+    def get_pid_parameters(self, tuning_rule="ziegler-nichols"):
         """Get PID parameters.
 
         Args:
@@ -116,27 +117,34 @@ class PIDAutotune:
         """
         now = time_input * 1000
 
-        if (self._state == PIDAutotuneState.STATE_OFF
+        if (
-                or self._state == PIDAutotuneState.STATE_SUCCEEDED
+            self._state == PIDAutotuneState.STATE_OFF
-                or self._state == PIDAutotuneState.STATE_FAILED):
+            or self._state == PIDAutotuneState.STATE_SUCCEEDED
+            or self._state == PIDAutotuneState.STATE_FAILED
+            or self._state == PIDAutotuneState.STATE_READY
+        ):
             self._state = PIDAutotuneState.STATE_RELAY_STEP_UP
 
         self._last_run_timestamp = now
 
         # check input and change relay state if necessary
-        if (self._state == PIDAutotuneState.STATE_RELAY_STEP_UP
+        if (
-                and input_val > self._setpoint + self._noiseband):
+            self._state == PIDAutotuneState.STATE_RELAY_STEP_UP
+            and input_val > self._setpoint + self._noiseband
+        ):
             self._state = PIDAutotuneState.STATE_RELAY_STEP_DOWN
-            logging.debug('switched state: {0}'.format(self._state))
+            logging.debug("switched state: {0}".format(self._state))
-            logging.debug('input: {0}'.format(input_val))
+            logging.debug("input: {0}".format(input_val))
-        elif (self._state == PIDAutotuneState.STATE_RELAY_STEP_DOWN
+        elif (
-                and input_val < self._setpoint - self._noiseband):
+            self._state == PIDAutotuneState.STATE_RELAY_STEP_DOWN
+            and input_val < self._setpoint - self._noiseband
+        ):
             self._state = PIDAutotuneState.STATE_RELAY_STEP_UP
-            logging.debug('switched state: {0}'.format(self._state))
+            logging.debug("switched state: {0}".format(self._state))
-            logging.debug('input: {0}'.format(input_val))
+            logging.debug("input: {0}".format(input_val))
 
         # set output
-        if (self._state == PIDAutotuneState.STATE_RELAY_STEP_UP):
+        if self._state == PIDAutotuneState.STATE_RELAY_STEP_UP:
             self._output = self._initial_output - self._outputstep
         elif self._state == PIDAutotuneState.STATE_RELAY_STEP_DOWN:
             self._output = self._initial_output + self._outputstep
@@ -179,8 +187,8 @@ class PIDAutotune:
             self._peak_count += 1
             self._peaks.append(input_val)
             self._peak_timestamps.append(now)
-            logging.debug('found peak: {0}'.format(input_val))
+            logging.debug("found peak: {0}".format(input_val))
-            logging.debug('peak count: {0}'.format(self._peak_count))
+            logging.debug("peak count: {0}".format(self._peak_count))
 
         # check for convergence of induced oscillation
         # convergence of amplitude assessed on last 4 peaks (1.5 cycles)
@@ -190,20 +198,19 @@ class PIDAutotune:
             abs_max = self._peaks[-2]
             abs_min = self._peaks[-2]
             for i in range(0, len(self._peaks) - 2):
-                self._induced_amplitude += abs(self._peaks[i]
+                self._induced_amplitude += abs(self._peaks[i] - self._peaks[i + 1])
-                                               - self._peaks[i+1])
                 abs_max = max(self._peaks[i], abs_max)
                 abs_min = min(self._peaks[i], abs_min)
 
             self._induced_amplitude /= 6.0
 
             # check convergence criterion for amplitude of induced oscillation
-            amplitude_dev = ((0.5 * (abs_max - abs_min)
+            amplitude_dev = (
-                              - self._induced_amplitude)
+                0.5 * (abs_max - abs_min) - self._induced_amplitude
-                             / self._induced_amplitude)
+            ) / self._induced_amplitude
 
-            logging.debug('amplitude: {0}'.format(self._induced_amplitude))
+            logging.debug("amplitude: {0}".format(self._induced_amplitude))
-            logging.debug('amplitude deviation: {0}'.format(amplitude_dev))
+            logging.debug("amplitude deviation: {0}".format(amplitude_dev))
 
             if amplitude_dev < PIDAutotune.PEAK_AMPLITUDE_TOLERANCE:
                 self._state = PIDAutotuneState.STATE_SUCCEEDED
@@ -217,25 +224,24 @@ class PIDAutotune:
 
         if self._state == PIDAutotuneState.STATE_SUCCEEDED:
             self._output = 0
-            logging.debug('peak finding successful')
+            logging.debug("peak finding successful")
 
             # calculate ultimate gain
-            self._Ku = 4.0 * self._outputstep / \
+            self._Ku = 4.0 * self._outputstep / (self._induced_amplitude * math.pi)
-                (self._induced_amplitude * math.pi)
+            logging.debug("Ku: {0}".format(self._Ku))
-            print('Ku: {0}'.format(self._Ku))
 
             # calculate ultimate period in seconds
             period1 = self._peak_timestamps[3] - self._peak_timestamps[1]
             period2 = self._peak_timestamps[4] - self._peak_timestamps[2]
             self._Pu = 0.5 * (period1 + period2) / 1000.0
-            print('Pu: {0}'.format(self._Pu))
+            logging.debug("Pu: {0}".format(self._Pu))
 
             for rule in self._tuning_rules:
                 params = self.get_pid_parameters(rule)
-                print('rule: {0}'.format(rule))
+                logging.debug("rule: {0}".format(rule))
-                print('Kp: {0}'.format(params.Kp))
+                logging.debug("Kp: {0}".format(params.Kp))
-                print('Ki: {0}'.format(params.Ki))
+                logging.debug("Ki: {0}".format(params.Ki))
-                print('Kd: {0}'.format(params.Kd))
+                logging.debug("Kd: {0}".format(params.Kd))
 
             return True
         return False
@@ -262,23 +268,24 @@ def main():
     data = next(tec.report_mode())
     ch = data[channel]
 
-    tuner = PIDAutotune(target_temperature, output_step,
+    tuner = PIDAutotune(
-                        lookback, noiseband, ch['interval'])
+        target_temperature, output_step, lookback, noiseband, ch["interval"]
+    )
 
     for data in tec.report_mode():
 
         ch = data[channel]
 
-        temperature = ch['temperature']
+        temperature = ch["temperature"]
 
-        if (tuner.run(temperature, ch['time'])):
+        if tuner.run(temperature, ch["time"]):
             break
 
         tuner_out = tuner.output()
 
-        tec.set_param("output", channel, "i_set", tuner_out)
+        tec.set_param("pwm", channel, "i_set", tuner_out)
 
-    tec.set_param("output", channel, "i_set", 0)
+    tec.set_param("pwm", channel, "i_set", 0)
 
 
 if __name__ == "__main__":

pytec/examples/aioexample.py

@@ -5,8 +5,8 @@ from pytec.aioclient import AsyncioClient
 
 async def poll_for_info(tec):
     while True:
-        print(tec.get_output())
+        print(tec.get_pwm())
-        print(tec.get_b_parameter())
+        print(tec.get_steinhart_hart())
         print(tec.get_pid())
         print(tec.get_postfilter())
         print(tec.get_fan())
@@ -17,12 +17,12 @@ async def poll_for_info(tec):
 async def main():
     tec = AsyncioClient()
     await tec.connect()  # (host="192.168.1.26", port=23)
-    await tec.set_param("b-p", 1, "t0", 20)
+    await tec.set_param("s-h", 1, "t0", 20)
-    print(await tec.get_output())
+    print(await tec.get_pwm())
     print(await tec.get_pid())
-    print(await tec.get_output())
+    print(await tec.get_pwm())
     print(await tec.get_postfilter())
-    print(await tec.get_b_parameter())
+    print(await tec.get_steinhart_hart())
 
     polling_task = asyncio.create_task(poll_for_info(tec))
 

pytec/examples/example.py

@@ -1,11 +1,11 @@
 from pytec.client import Client
 
-tec = Client() #(host="localhost", port=6667)
+tec = Client()  # (host="localhost", port=6667)
-tec.set_param("b-p", 1, "t0", 20)
+tec.set_param("s-h", 1, "t0", 20)
-print(tec.get_output())
+print(tec.get_pwm())
 print(tec.get_pid())
-print(tec.get_output())
+print(tec.get_pwm())
 print(tec.get_postfilter())
-print(tec.get_b_parameter())
+print(tec.get_steinhart_hart())
 for data in tec.report_mode():
     print(data)

pytec/plot.py

@@ -7,9 +7,10 @@ from pytec.client import Client
 TIME_WINDOW = 300.0
 
 tec = Client()
-target_temperature = tec.get_pid()[0]['target']
+target_temperature = tec.get_pid()[0]["target"]
 print("Channel 0 target temperature: {:.3f}".format(target_temperature))
 
+
 class Series:
     def __init__(self, conv=lambda x: x):
         self.conv = conv
@@ -26,25 +27,27 @@ class Series:
             drop += 1
         self.x_data = self.x_data[drop:]
         self.y_data = self.y_data[drop:]
-        
+
+
 series = {
     # 'adc': Series(),
     # 'sens': Series(lambda x: x * 0.0001),
-    'temperature': Series(),
+    "temperature": Series(),
     # 'i_set': Series(),
-    'pid_output': Series(),
+    "pid_output": Series(),
     # 'vref': Series(),
     # 'dac_value': Series(),
     # 'dac_feedback': Series(),
     # 'i_tec': Series(),
-    'tec_i': Series(),
+    "tec_i": Series(),
-    'tec_u_meas': Series(),
+    "tec_u_meas": Series(),
     # 'interval': Series(),
 }
 series_lock = Lock()
 
 quit = False
 
+
 def recv_data(tec):
     global last_packet_time
     for data in tec.report_mode():
@@ -55,25 +58,27 @@ def recv_data(tec):
                 if k in ch0:
                     v = ch0[k]
                     if type(v) is float:
-                        s.append(ch0['time'], v)
+                        s.append(ch0["time"], v)
         finally:
             series_lock.release()
 
         if quit:
             break
 
+
 thread = Thread(target=recv_data, args=(tec,))
 thread.start()
 
 fig, ax = plt.subplots()
 
 for k, s in series.items():
-    s.plot, = ax.plot([], [], label=k)
+    (s.plot,) = ax.plot([], [], label=k)
 legend = ax.legend()
 
+
 def animate(i):
     min_x, max_x, min_y, max_y = None, None, None, None
-    
+
     series_lock.acquire()
     try:
         for k, s in series.items():
@@ -120,8 +125,8 @@ def animate(i):
     legend.remove()
     legend = ax.legend()
 
-ani = animation.FuncAnimation(
+
-    fig, animate, interval=1, blit=False, save_count=50)
+ani = animation.FuncAnimation(fig, animate, interval=1, blit=False, save_count=50)
 
 plt.show()
 quit = True

pytec/pyproject.toml

@@ -16,3 +16,6 @@ tec_qt = "tec_qt:main"
 [tool.setuptools]
 packages.find = {}
 py-modules = ["autotune", "plot", "tec_qt"]
+
+[tool.pylint.format]
+max-line-length = "88"

pytec/pytec/aioclient.py

@@ -12,6 +12,7 @@ class AsyncioClient:
         self._reader = None
         self._writer = None
         self._command_lock = asyncio.Lock()
+        self._report_mode_on = False
 
     async def connect(self, host="192.168.1.26", port=23):
         """Connect to Thermostat at specified host and port.
@@ -40,13 +41,13 @@ class AsyncioClient:
         self._writer = None
 
     async def _check_zero_limits(self):
-        output_report = await self.get_output()
+        pwm_report = await self.get_pwm()
-        for output_channel in output_report:
+        for pwm_channel in pwm_report:
             for limit in ["max_i_neg", "max_i_pos", "max_v"]:
-                if output_channel[limit] == 0.0:
+                if pwm_channel[limit]["value"] == 0.0:
                     logging.warning(
                         "`{}` limit is set to zero on channel {}".format(
-                            limit, output_channel["channel"]
+                            limit, pwm_channel["channel"]
                         )
                     )
 
@@ -66,6 +67,7 @@ class AsyncioClient:
             line = await self._read_write(command)
 
         response = json.loads(line)
+        logging.debug("%s: %s", command, response)
         if "error" in response:
             raise CommandError(response["error"])
         return response
@@ -76,27 +78,25 @@ class AsyncioClient:
             result[int(item["channel"])] = item
         return result
 
-    async def get_output(self):
+    async def get_pwm(self):
-        """Retrieve output limits for the TEC
+        """Retrieve PWM limits for the TEC
 
         Example::
             [{'channel': 0,
               'center': 'vref',
-              'i_set': -0.02002179650216762,
+              'i_set': {'max': 2.9802790335151985, 'value': -0.02002179650216762},
-              'max_i_neg': 2.0,
+              'max_i_neg': {'max': 3.0, 'value': 3.0},
-              'max_v': : 3.988,
+              'max_v': {'max': 5.988, 'value': 5.988},
-              'max_i_pos': 2.0,
+              'max_i_pos': {'max': 3.0, 'value': 3.0}},
-              'polarity': 'normal'},
              {'channel': 1,
               'center': 'vref',
-              'i_set': -0.02002179650216762,
+              'i_set': {'max': 2.9802790335151985, 'value': -0.02002179650216762},
-              'max_i_neg': 2.0,
+              'max_i_neg': {'max': 3.0, 'value': 3.0},
-              'max_v': : 3.988,
+              'max_v': {'max': 5.988, 'value': 5.988},
-              'max_i_pos': 2.0,
+              'max_i_pos': {'max': 3.0, 'value': 3.0}}
-              'polarity': 'normal'},
             ]
         """
-        return await self._get_conf("output")
+        return await self._get_conf("pwm")
 
     async def get_pid(self):
         """Retrieve PID control state
@@ -121,14 +121,14 @@ class AsyncioClient:
         """
         return await self._get_conf("pid")
 
-    async def get_b_parameter(self):
+    async def get_steinhart_hart(self):
-        """Retrieve B-Parameter equation parameters for resistance to temperature conversion
+        """Retrieve Steinhart-Hart parameters for resistance to temperature conversion
 
         Example::
             [{'params': {'b': 3800.0, 'r0': 10000.0, 't0': 298.15}, 'channel': 0},
              {'params': {'b': 3800.0, 'r0': 10000.0, 't0': 298.15}, 'channel': 1}]
         """
-        return await self._get_conf("b-p")
+        return await self._get_conf("s-h")
 
     async def get_postfilter(self):
         """Retrieve DAC postfilter configuration
@@ -144,17 +144,21 @@ class AsyncioClient:
         return await self._command("fan")
 
     async def report(self):
-        """Obtain one-time report on measurement values
+        """Obtain one-time report on measurement values"""
-        
+        return await self._command("report")
-        Example of yielded data:
+
+    async def report_mode(self):
+        """Start reporting measurement values
+
+        Example of yielded data::
             {'channel': 0,
              'time': 2302524,
-             'interval': 0.12
              'adc': 0.6199188965423515,
              'sens': 6138.519310282602,
              'temperature': 36.87032392655527,
              'pid_engaged': True,
              'i_set': 2.0635816680889123,
+             'vref': 1.494,
              'dac_value': 2.527790834044456,
              'dac_feedback': 2.523,
              'i_tec': 2.331,
@@ -162,13 +166,29 @@ class AsyncioClient:
              'tec_u_meas': 2.5340000000000003,
              'pid_output': 2.067581958092247}
         """
-        return await self._command("report")
+        await self._command("report mode", "on")
+        self._report_mode_on = True
+
+        while self._report_mode_on:
+            async with self._command_lock:
+                line = await self._read_line()
+            if not line:
+                break
+            try:
+                yield json.loads(line)
+            except json.decoder.JSONDecodeError:
+                pass
+
+        await self._command("report mode", "off")
+
+    def stop_report_mode(self):
+        self._report_mode_on = False
 
     async def set_param(self, topic, channel, field="", value=""):
         """Set configuration parameters
 
         Examples::
-            await tec.set_param("output", 0, "max_v", 2.0)
+            await tec.set_param("pwm", 0, "max_v", 2.0)
             await tec.set_param("pid", 1, "output_max", 2.5)
             await tec.set_param("s-h", 0, "t0", 20.0)
             await tec.set_param("center", 0, "vref")
@@ -193,7 +213,7 @@ class AsyncioClient:
     async def power_up(self, channel, target):
         """Start closed-loop mode"""
         await self.set_param("pid", channel, "target", value=target)
-        await self.set_param("output", channel, "pid")
+        await self.set_param("pwm", channel, "pid")
 
     async def save_config(self, channel=""):
         """Save current configuration to EEPROM"""

pytec/pytec/client.py

@@ -1,23 +1,32 @@
 import socket
 import json
 import logging
-import time
+
 
 class CommandError(Exception):
     pass
 
+
 class Client:
     def __init__(self, host="192.168.1.26", port=23, timeout=None):
         self._socket = socket.create_connection((host, port), timeout)
         self._lines = [""]
         self._check_zero_limits()
 
+    def disconnect(self):
+        self._socket.shutdown(socket.SHUT_RDWR)
+        self._socket.close()
+
     def _check_zero_limits(self):
-        output_report = self.get_output()
+        pwm_report = self.get_pwm()
-        for output_channel in output_report:
+        for pwm_channel in pwm_report:
             for limit in ["max_i_neg", "max_i_pos", "max_v"]:
-                if output_channel[limit] == 0.0:
+                if pwm_channel[limit]["value"] == 0.0:
-                    logging.warning("`{}` limit is set to zero on channel {}".format(limit, output_channel["channel"]))
+                    logging.warning(
+                        "`{}` limit is set to zero on channel {}".format(
+                            limit, pwm_channel["channel"]
+                        )
+                    )
 
     def _read_line(self):
         # read more lines
@@ -25,7 +34,7 @@ class Client:
             chunk = self._socket.recv(4096)
             if not chunk:
                 return None
-            buf = self._lines[-1] + chunk.decode('utf-8', errors='ignore')
+            buf = self._lines[-1] + chunk.decode("utf-8", errors="ignore")
             self._lines = buf.split("\n")
 
         line = self._lines[0]
@@ -33,10 +42,11 @@ class Client:
         return line
 
     def _command(self, *command):
-        self._socket.sendall((" ".join(command) + "\n").encode('utf-8'))
+        self._socket.sendall((" ".join(command) + "\n").encode("utf-8"))
 
         line = self._read_line()
         response = json.loads(line)
+        logging.debug(f"{command}: {response}")
         if "error" in response:
             raise CommandError(response["error"])
         return response
@@ -47,27 +57,25 @@ class Client:
             result[int(item["channel"])] = item
         return result
 
-    def get_output(self):
+    def get_pwm(self):
-        """Retrieve output limits for the TEC
+        """Retrieve PWM limits for the TEC
 
         Example::
             [{'channel': 0,
               'center': 'vref',
-              'i_set': -0.02002179650216762,
+              'i_set': {'max': 2.9802790335151985, 'value': -0.02002179650216762},
-              'max_i_neg': 2.0,
+              'max_i_neg': {'max': 3.0, 'value': 3.0},
-              'max_v': 3.988,
+              'max_v': {'max': 5.988, 'value': 5.988},
-              'max_i_pos': 2.0,
+              'max_i_pos': {'max': 3.0, 'value': 3.0}},
-              'polarity': 'normal',
              {'channel': 1,
               'center': 'vref',
-              'i_set': -0.02002179650216762,
+              'i_set': {'max': 2.9802790335151985, 'value': -0.02002179650216762},
-              'max_i_neg': 2.0,
+              'max_i_neg': {'max': 3.0, 'value': 3.0},
-              'max_v': 3.988,
+              'max_v': {'max': 5.988, 'value': 5.988},
-              'max_i_pos': 2.0}
+              'max_i_pos': {'max': 3.0, 'value': 3.0}}
-              'polarity': 'normal',
             ]
         """
-        return self._get_conf("output")
+        return self._get_conf("pwm")
 
     def get_pid(self):
         """Retrieve PID control state
@@ -92,14 +100,14 @@ class Client:
         """
         return self._get_conf("pid")
 
-    def get_b_parameter(self):
+    def get_steinhart_hart(self):
-        """Retrieve B-Parameter equation parameters for resistance to temperature conversion
+        """Retrieve Steinhart-Hart parameters for resistance to temperature conversion
 
         Example::
             [{'params': {'b': 3800.0, 'r0': 10000.0, 't0': 298.15}, 'channel': 0},
              {'params': {'b': 3800.0, 'r0': 10000.0, 't0': 298.15}, 'channel': 1}]
         """
-        return self._get_conf("b-p")
+        return self._get_conf("s-h")
 
     def get_postfilter(self):
         """Retrieve DAC postfilter configuration
@@ -129,8 +137,9 @@ class Client:
              'tec_u_meas': 2.5340000000000003,
              'pid_output': 2.067581958092247}
         """
+        self._command("report mode", "on")
+
         while True:
-            self._socket.sendall("report\n".encode('utf-8'))
             line = self._read_line()
             if not line:
                 break
@@ -138,15 +147,14 @@ class Client:
                 yield json.loads(line)
             except json.decoder.JSONDecodeError:
                 pass
-            time.sleep(0.05)
 
     def set_param(self, topic, channel, field="", value=""):
         """Set configuration parameters
 
         Examples::
-            tec.set_param("output", 0, "max_v", 2.0)
+            tec.set_param("pwm", 0, "max_v", 2.0)
             tec.set_param("pid", 1, "output_max", 2.5)
-            tec.set_param("b-p", 0, "t0", 20.0)
+            tec.set_param("s-h", 0, "t0", 20.0)
             tec.set_param("center", 0, "vref")
             tec.set_param("postfilter", 1, 21)
 
@@ -161,7 +169,7 @@ class Client:
     def power_up(self, channel, target):
         """Start closed-loop mode"""
         self.set_param("pid", channel, "target", value=target)
-        self.set_param("output", channel, "pid")
+        self.set_param("pwm", channel, "pid")
 
     def save_config(self):
         """Save current configuration to EEPROM"""
@@ -170,3 +178,11 @@ class Client:
     def load_config(self):
         """Load current configuration from EEPROM"""
         self._command("load")
+
+    def hw_rev(self):
+        """Get Thermostat hardware revision"""
+        return self._command("hwrev")
+
+    def fan(self):
+        """Get Thermostat current fan settings"""
+        return self._command("fan")

pytec/pytec/gui/model/thermostat.py

@@ -85,10 +85,10 @@ class Thermostat(QObject, metaclass=PropertyMeta):
         self.fan, self.pwm, self.report, self.pid, self.thermistor, self.postfilter = (
             await asyncio.gather(
                 self._client.get_fan(),
-                self._client.get_output(),
+                self._client.get_pwm(),
                 self._client.report(),
                 self._client.get_pid(),
-                self._client.get_b_parameter(),
+                self._client.get_steinhart_hart(),
                 self._client.get_postfilter(),
             )
         )

pytec/pytec/gui/view/ctrl_panel.py

@@ -231,13 +231,13 @@ class CtrlPanel(QObject):
             with QSignalBlocker(self.params[channel]):
                 self.params[channel].child(
                     "Output Config", "Limits", "Max Voltage Difference"
-                ).setValue(pwm_params["max_v"])
+                ).setValue(pwm_params["max_v"]["value"])
                 self.params[channel].child(
                     "Output Config", "Limits", "Max Cooling Current"
-                ).setValue(pwm_params["max_i_pos"] * 1000)
+                ).setValue(pwm_params["max_i_pos"]["value"] * 1000)
                 self.params[channel].child(
                     "Output Config", "Limits", "Max Heating Current"
-                ).setValue(pwm_params["max_i_neg"] * 1000)
+                ).setValue(pwm_params["max_i_neg"]["value"] * 1000)
 
     @pyqtSlot(list)
     def update_postfilter(self, postfilter_data):

pytec/pytec/gui/view/param_tree.json

@@ -25,7 +25,6 @@
                    "Constant Current",
                    "Temperature PID"
                 ],
-                "value": "Constant Current",
                 "thermostat:set_param":{
                   "topic":"pwm",
                   "field":"pid"

pytec/pytec/gui/view/zero_limits_warning_view.py

@@ -17,7 +17,7 @@ class ZeroLimitsWarningView(QObject):
         for pwm_params in pwm_data:
             channel = pwm_params["channel"]
             for limit in "max_i_pos", "max_i_neg", "max_v":
-                if pwm_params[limit] == 0.0:
+                if pwm_params[limit]["value"] == 0.0:
                     channels_zeroed_limits[channel].add(limit)
 
         channel_disabled = [False, False]

pytec/tec_qt.py

@@ -1,15 +1,15 @@
 """GUI for the Sinara 8451 Thermostat"""
 
+import json
 import asyncio
 import logging
 import argparse
 import importlib.resources
-import json
-from PyQt6 import QtWidgets, QtGui, uic
-from PyQt6.QtCore import pyqtSlot
 import qasync
 from qasync import asyncSlot, asyncClose
 from autotune import PIDAutotuneState
+from PyQt6 import QtWidgets, QtGui, uic
+from PyQt6.QtCore import pyqtSlot
 from pytec.gui.model.thermostat import Thermostat, ThermostatConnectionState
 from pytec.gui.model.pid_autotuner import PIDAutoTuner
 from pytec.gui.view.zero_limits_warning_view import ZeroLimitsWarningView

src/ad5680.rs

@@ -1,9 +1,12 @@
-use crate::timer::sleep;
 use stm32f4xx_hal::{
-    hal::{blocking::spi::Transfer, digital::v2::OutputPin},
+    hal::{
-    spi,
+        blocking::spi::Transfer,
+        digital::v2::OutputPin,
+    },
     time::MegaHertz,
+    spi,
 };
+use crate::timer::sleep;
 
 /// SPI Mode 1
 pub const SPI_MODE: spi::Mode = spi::Mode {
@@ -24,8 +27,11 @@ pub struct Dac<SPI: Transfer<u8>, S: OutputPin> {
 impl<SPI: Transfer<u8>, S: OutputPin> Dac<SPI, S> {
     pub fn new(spi: SPI, mut sync: S) -> Self {
         let _ = sync.set_low();
-
+        
-        Dac { spi, sync }
+        Dac {
+            spi,
+            sync,
+        }
     }
 
     fn write(&mut self, buf: &mut [u8]) -> Result<(), SPI::Error> {
@@ -41,7 +47,11 @@ impl<SPI: Transfer<u8>, S: OutputPin> Dac<SPI, S> {
 
     pub fn set(&mut self, value: u32) -> Result<u32, SPI::Error> {
         let value = value.min(MAX_VALUE);
-        let mut buf = [(value >> 14) as u8, (value >> 6) as u8, (value << 2) as u8];
+        let mut buf = [
+            (value >> 14) as u8,
+            (value >> 6) as u8,
+            (value << 2) as u8,
+        ];
         self.write(&mut buf)?;
         Ok(value)
     }

src/ad7172/adc.rs

@@ -1,12 +1,18 @@
-use super::{
-    checksum::{Checksum, ChecksumMode},
-    regs::{self, Register, RegisterData},
-    DigitalFilterOrder, Input, Mode, PostFilter, RefSource,
-};
 use core::fmt;
 use log::{info, warn};
-use stm32f4xx_hal::hal::{blocking::spi::Transfer, digital::v2::OutputPin};
+use stm32f4xx_hal::hal::{
-use uom::si::{electric_potential::volt, f64::ElectricPotential};
+    blocking::spi::Transfer,
+    digital::v2::OutputPin,
+};
+use uom::si::{
+    f64::ElectricPotential,
+    electric_potential::volt,
+};
+use super::{
+    regs::{self, Register, RegisterData},
+    checksum::{ChecksumMode, Checksum},
+    Mode, Input, RefSource, PostFilter, DigitalFilterOrder,
+};
 
 /// AD7172-2 implementation
 ///
@@ -21,8 +27,7 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
     pub fn new(spi: SPI, mut nss: NSS) -> Result<Self, SPI::Error> {
         let _ = nss.set_high();
         let mut adc = Adc {
-            spi,
+            spi, nss,
-            nss,
             checksum_mode: ChecksumMode::Off,
         };
         adc.reset()?;
@@ -50,7 +55,8 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
 
     /// `0x00DX` for AD7172-2
     pub fn identify(&mut self) -> Result<u16, SPI::Error> {
-        self.read_reg(&regs::Id).map(|id| id.id())
+        self.read_reg(&regs::Id)
+            .map(|id| id.id())
     }
 
     pub fn set_checksum_mode(&mut self, mode: ChecksumMode) -> Result<(), SPI::Error> {
@@ -70,10 +76,7 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
     }
 
     pub fn setup_channel(
-        &mut self,
+        &mut self, index: u8, in_pos: Input, in_neg: Input
-        index: u8,
-        in_pos: Input,
-        in_neg: Input,
     ) -> Result<(), SPI::Error> {
         self.update_reg(&regs::SetupCon { index }, |data| {
             data.set_bipolar(false);
@@ -103,11 +106,7 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
         let offset = self.read_reg(&regs::Offset { index })?.offset();
         let gain = self.read_reg(&regs::Gain { index })?.gain();
         let bipolar = self.read_reg(&regs::SetupCon { index })?.bipolar();
-        Ok(ChannelCalibration {
+        Ok(ChannelCalibration { offset, gain, bipolar })
-            offset,
-            gain,
-            bipolar,
-        })
     }
 
     pub fn start_continuous_conversion(&mut self) -> Result<(), SPI::Error> {
@@ -120,43 +119,44 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
     }
 
     pub fn get_postfilter(&mut self, index: u8) -> Result<Option<PostFilter>, SPI::Error> {
-        self.read_reg(&regs::FiltCon { index }).map(|data| {
+        self.read_reg(&regs::FiltCon { index })
-            if data.enh_filt_en() {
+            .map(|data| {
-                Some(data.enh_filt())
+                if data.enh_filt_en() {
-            } else {
+                    Some(data.enh_filt())
-                None
+                } else {
-            }
+                    None
-        })
+                }
+            })
     }
 
-    pub fn set_postfilter(
+    pub fn set_postfilter(&mut self, index: u8, filter: Option<PostFilter>) -> Result<(), SPI::Error> {
-        &mut self,
+        self.update_reg(&regs::FiltCon { index }, |data| {
-        index: u8,
+            match filter {
-        filter: Option<PostFilter>,
+                None => data.set_enh_filt_en(false),
-    ) -> Result<(), SPI::Error> {
+                Some(filter) => {
-        self.update_reg(&regs::FiltCon { index }, |data| match filter {
+                    data.set_enh_filt_en(true);
-            None => data.set_enh_filt_en(false),
+                    data.set_enh_filt(filter);
-            Some(filter) => {
+                }
-                data.set_enh_filt_en(true);
-                data.set_enh_filt(filter);
             }
         })
     }
 
     /// Returns the channel the data is from
     pub fn data_ready(&mut self) -> Result<Option<u8>, SPI::Error> {
-        self.read_reg(&regs::Status).map(|status| {
+        self.read_reg(&regs::Status)
-            if status.ready() {
+            .map(|status| {
-                Some(status.channel())
+                if status.ready() {
-            } else {
+                    Some(status.channel())
-                None
+                } else {
-            }
+                    None
-        })
+                }
+            })
     }
 
     /// Get data
     pub fn read_data(&mut self) -> Result<u32, SPI::Error> {
-        self.read_reg(&regs::Data).map(|data| data.data())
+        self.read_reg(&regs::Data)
+            .map(|data| data.data())
     }
 
     fn read_reg<R: regs::Register>(&mut self, reg: &R) -> Result<R::Data, SPI::Error> {
@@ -175,21 +175,12 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
                 break;
             }
             // Retry
-            warn!(
+            warn!("read_reg {:02X}: checksum error: {:?}!={:?}, retrying", reg.address(), checksum_expected, checksum_in);
-                "read_reg {:02X}: checksum error: {:?}!={:?}, retrying",
-                reg.address(),
-                checksum_expected,
-                checksum_in
-            );
         }
         Ok(reg_data)
     }
 
-    fn write_reg<R: regs::Register>(
+    fn write_reg<R: regs::Register>(&mut self, reg: &R, reg_data: &mut R::Data) -> Result<(), SPI::Error> {
-        &mut self,
-        reg: &R,
-        reg_data: &mut R::Data,
-    ) -> Result<(), SPI::Error> {
         loop {
             let address = reg.address();
             let mut checksum = Checksum::new(match self.checksum_mode {
@@ -199,7 +190,7 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
                 ChecksumMode::Crc => ChecksumMode::Crc,
             });
             checksum.feed(&[address]);
-            checksum.feed(reg_data);
+            checksum.feed(&reg_data);
             let checksum_out = checksum.result();
 
             let mut data = reg_data.clone();
@@ -210,10 +201,7 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
             if *readback_data == **reg_data {
                 return Ok(());
             }
-            warn!(
+            warn!("write_reg {:02X}: readback error, {:?}!={:?}, retrying", address, &*readback_data, &**reg_data);
-                "write_reg {:02X}: readback error, {:?}!={:?}, retrying",
-                address, &*readback_data, &**reg_data
-            );
         }
     }
 
@@ -237,12 +225,7 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
         Ok(())
     }
 
-    fn transfer(
+    fn transfer<'w>(&mut self, addr: u8, reg_data: &'w mut [u8], checksum: Option<u8>) -> Result<Option<u8>, SPI::Error> {
-        &mut self,
-        addr: u8,
-        reg_data: &mut [u8],
-        checksum: Option<u8>,
-    ) -> Result<Option<u8>, SPI::Error> {
         let mut addr_buf = [addr];
 
         let _ = self.nss.set_low();
@@ -251,7 +234,8 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
             Err(e) => Err(e),
         };
         let result = match (result, checksum) {
-            (Ok(_), None) => Ok(None),
+            (Ok(_), None) =>
+                Ok(None),
             (Ok(_), Some(checksum_out)) => {
                 let mut checksum_buf = [checksum_out; 1];
                 match self.spi.transfer(&mut checksum_buf) {
@@ -259,7 +243,8 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
                     Err(e) => Err(e),
                 }
             }
-            (Err(e), _) => Err(e),
+            (Err(e), _) =>
+                Err(e),
         };
         let _ = self.nss.set_high();
 

src/ad7172/checksum.rs

@@ -29,13 +29,13 @@ impl Checksum {
 
     fn feed_byte(&mut self, input: u8) {
         match self.mode {
-            ChecksumMode::Off => {}
+            ChecksumMode::Off => {},
             ChecksumMode::Xor => self.state ^= input,
             ChecksumMode::Crc => {
                 for i in 0..8 {
                     let input_mask = 0x80 >> i;
-                    self.state = (self.state << 1)
+                    self.state = (self.state << 1) ^
-                        ^ if ((self.state & 0x80) != 0) != ((input & input_mask) != 0) {
+                        if ((self.state & 0x80) != 0) != ((input & input_mask) != 0) {
                             0x07 /* x8 + x2 + x + 1 */
                         } else {
                             0
@@ -54,7 +54,7 @@ impl Checksum {
     pub fn result(&self) -> Option<u8> {
         match self.mode {
             ChecksumMode::Off => None,
-            _ => Some(self.state),
+            _ => Some(self.state)
         }
     }
 }

src/ad7172/mod.rs

@@ -1,10 +1,13 @@
 use core::fmt;
 use num_traits::float::Float;
-use serde::{Deserialize, Serialize};
+use serde::{Serialize, Deserialize};
-use stm32f4xx_hal::{spi, time::MegaHertz};
+use stm32f4xx_hal::{
+    time::MegaHertz,
+    spi,
+};
 
-mod checksum;
 pub mod regs;
+mod checksum;
 pub use checksum::ChecksumMode;
 mod adc;
 pub use adc::*;
@@ -19,6 +22,7 @@ pub const SPI_CLOCK: MegaHertz = MegaHertz(2);
 
 pub const MAX_VALUE: u32 = 0xFF_FFFF;
 
+
 #[derive(Clone, Copy, Debug)]
 #[repr(u8)]
 pub enum Mode {
@@ -101,8 +105,7 @@ impl fmt::Display for Input {
             RefPos => "ref+",
             RefNeg => "ref-",
             _ => "<INVALID>",
-        }
+        }.fmt(fmt)
-        .fmt(fmt)
     }
 }
 
@@ -138,8 +141,7 @@ impl fmt::Display for RefSource {
             Internal => "internal",
             Avdd1MinusAvss => "avdd1-avss",
             _ => "<INVALID>",
-        }
+        }.fmt(fmt)
-        .fmt(fmt)
     }
 }
 

src/ad7172/regs.rs

@@ -1,6 +1,6 @@
-use bit_field::BitField;
-use byteorder::{BigEndian, ByteOrder};
 use core::ops::{Deref, DerefMut};
+use byteorder::{BigEndian, ByteOrder};
+use bit_field::BitField;
 
 use super::*;
 
@@ -9,7 +9,7 @@ pub trait Register {
     fn address(&self) -> u8;
 }
 
-pub trait RegisterData: Clone + Deref<Target = [u8]> + DerefMut {
+pub trait RegisterData: Clone + Deref<Target=[u8]> + DerefMut {
     fn empty() -> Self;
 }
 
@@ -49,9 +49,7 @@ macro_rules! def_reg {
         }
     };
     ($Reg: ident, u8, $reg: ident, $addr: expr, $size: expr) => {
-        pub struct $Reg {
+        pub struct $Reg { pub index: u8, }
-            pub index: u8,
-        }
         impl Register for $Reg {
             type Data = $reg::Data;
             fn address(&self) -> u8 {
@@ -78,7 +76,7 @@ macro_rules! def_reg {
                 }
             }
         }
-    };
+    }
 }
 
 macro_rules! reg_bit {
@@ -148,7 +146,7 @@ def_reg!(Status, status, 0x00, 1);
 impl status::Data {
     /// Is there new data to read?
     pub fn ready(&self) -> bool {
-        !self.not_ready()
+        ! self.not_ready()
     }
 
     reg_bit!(not_ready, 0, 7, "No data ready indicator");
@@ -161,21 +159,9 @@ impl status::Data {
 def_reg!(AdcMode, adc_mode, 0x01, 2);
 impl adc_mode::Data {
     reg_bits!(delay, set_delay, 0, 0..=2, "Delay after channel switch");
-    reg_bit!(
+    reg_bit!(sing_cyc, set_sing_cyc, 0, 5, "Can only used with single channel");
-        sing_cyc,
-        set_sing_cyc,
-        0,
-        5,
-        "Can only used with single channel"
-    );
     reg_bit!(hide_delay, set_hide_delay, 0, 6, "Hide delay");
-    reg_bit!(
+    reg_bit!(ref_en, set_ref_en, 0, 7, "Enable internal reference, output buffered 2.5 V to REFOUT");
-        ref_en,
-        set_ref_en,
-        0,
-        7,
-        "Enable internal reference, output buffered 2.5 V to REFOUT"
-    );
     reg_bits!(clockset, set_clocksel, 1, 2..=3, "Clock source");
     reg_bits!(mode, set_mode, 1, 4..=6, Mode, "Operating mode");
 }
@@ -188,19 +174,15 @@ impl if_mode::Data {
 def_reg!(Data, data, 0x04, 3);
 impl data::Data {
     pub fn data(&self) -> u32 {
-        (u32::from(self.0[0]) << 16) | (u32::from(self.0[1]) << 8) | u32::from(self.0[2])
+        (u32::from(self.0[0]) << 16) |
+        (u32::from(self.0[1]) << 8) |
+        u32::from(self.0[2])
     }
 }
 
 def_reg!(GpioCon, gpio_con, 0x06, 2);
 impl gpio_con::Data {
-    reg_bit!(
+    reg_bit!(sync_en, set_sync_en, 0, 3, "Enables the SYNC/ERROR pin as a sync input");
-        sync_en,
-        set_sync_en,
-        0,
-        3,
-        "Enables the SYNC/ERROR pin as a sync input"
-    );
 }
 
 def_reg!(Id, id, 0x07, 2);
@@ -218,7 +200,8 @@ impl channel::Data {
     /// Which input is connected to positive input of this channel
     #[allow(unused)]
     pub fn a_in_pos(&self) -> Input {
-        ((self.0[0].get_bits(0..=1) << 3) | self.0[1].get_bits(5..=7)).into()
+        ((self.0[0].get_bits(0..=1) << 3) |
+         self.0[1].get_bits(5..=7)).into()
     }
     /// Set which input is connected to positive input of this channel
     #[allow(unused)]
@@ -227,66 +210,27 @@ impl channel::Data {
         self.0[0].set_bits(0..=1, value >> 3);
         self.0[1].set_bits(5..=7, value & 0x7);
     }
-    reg_bits!(
+    reg_bits!(a_in_neg, set_a_in_neg, 1, 0..=4, Input,
-        a_in_neg,
+              "Which input is connected to negative input of this channel");
-        set_a_in_neg,
-        1,
-        0..=4,
-        Input,
-        "Which input is connected to negative input of this channel"
-    );
 }
 
 def_reg!(SetupCon, u8, setup_con, 0x20, 2);
 impl setup_con::Data {
-    reg_bit!(
+    reg_bit!(bipolar, set_bipolar, 0, 4, "Unipolar (`false`) or bipolar (`true`) coded output");
-        bipolar,
-        set_bipolar,
-        0,
-        4,
-        "Unipolar (`false`) or bipolar (`true`) coded output"
-    );
     reg_bit!(refbuf_pos, set_refbuf_pos, 0, 3, "Enable REF+ input buffer");
     reg_bit!(refbuf_neg, set_refbuf_neg, 0, 2, "Enable REF- input buffer");
     reg_bit!(ainbuf_pos, set_ainbuf_pos, 0, 1, "Enable AIN+ input buffer");
     reg_bit!(ainbuf_neg, set_ainbuf_neg, 0, 0, "Enable AIN- input buffer");
     reg_bit!(burnout_en, 1, 7, "enables a 10 µA current source on the positive analog input selected and a 10 µA current sink on the negative analog input selected");
-    reg_bits!(
+    reg_bits!(ref_sel, set_ref_sel, 1, 4..=5, RefSource, "Select reference source for conversion");
-        ref_sel,
-        set_ref_sel,
-        1,
-        4..=5,
-        RefSource,
-        "Select reference source for conversion"
-    );
 }
 
 def_reg!(FiltCon, u8, filt_con, 0x28, 2);
 impl filt_con::Data {
     reg_bit!(sinc3_map, 0, 7, "If set, mapping of filter register changes to directly program the decimation rate of the sinc3 filter");
-    reg_bit!(
+    reg_bit!(enh_filt_en, set_enh_filt_en, 0, 3, "Enable postfilters for enhanced 50Hz and 60Hz rejection");
-        enh_filt_en,
+    reg_bits!(enh_filt, set_enh_filt, 0, 0..=2, PostFilter, "Select postfilters for enhanced 50Hz and 60Hz rejection");
-        set_enh_filt_en,
+    reg_bits!(order, set_order, 1, 5..=6, DigitalFilterOrder, "order of the digital filter that processes the modulator data");
-        0,
-        3,
-        "Enable postfilters for enhanced 50Hz and 60Hz rejection"
-    );
-    reg_bits!(
-        enh_filt,
-        set_enh_filt,
-        0,
-        0..=2,
-        PostFilter,
-        "Select postfilters for enhanced 50Hz and 60Hz rejection"
-    );
-    reg_bits!(
-        order,
-        set_order,
-        1,
-        5..=6,
-        DigitalFilterOrder,
-        "order of the digital filter that processes the modulator data"
-    );
     reg_bits!(odr, set_odr, 1, 0..=4, "Output data rate");
 }
 
@@ -294,7 +238,9 @@ def_reg!(Offset, u8, offset, 0x30, 3);
 impl offset::Data {
     #[allow(unused)]
     pub fn offset(&self) -> u32 {
-        (u32::from(self.0[0]) << 16) | (u32::from(self.0[1]) << 8) | u32::from(self.0[2])
+        (u32::from(self.0[0]) << 16) |
+        (u32::from(self.0[1]) << 8) |
+        u32::from(self.0[2])
     }
     #[allow(unused)]
     pub fn set_offset(&mut self, value: u32) {
@@ -308,7 +254,9 @@ def_reg!(Gain, u8, gain, 0x38, 3);
 impl gain::Data {
     #[allow(unused)]
     pub fn gain(&self) -> u32 {
-        (u32::from(self.0[0]) << 16) | (u32::from(self.0[1]) << 8) | u32::from(self.0[2])
+        (u32::from(self.0[0]) << 16) |
+        (u32::from(self.0[1]) << 8) |
+        u32::from(self.0[2])
     }
     #[allow(unused)]
     pub fn set_gain(&mut self, value: u32) {

src/channel.rs

@@ -1,10 +1,14 @@
-use crate::{
-    ad5680, ad7172,
-    channel_state::ChannelState,
-    pins::{ChannelPinSet, ChannelPins},
-};
 use stm32f4xx_hal::hal::digital::v2::OutputPin;
-use uom::si::{electric_potential::volt, f64::ElectricPotential};
+use uom::si::{
+    f64::ElectricPotential,
+    electric_potential::volt,
+};
+use crate::{
+    ad5680,
+    ad7172,
+    channel_state::ChannelState,
+    pins::{ChannelPins, ChannelPinSet},
+};
 
 /// Marker type for the first channel
 pub struct Channel0;
@@ -20,7 +24,7 @@ pub struct Channel<C: ChannelPins> {
     pub vref_meas: ElectricPotential,
     pub shdn: C::Shdn,
     pub vref_pin: C::VRefPin,
-    pub itec_pin: C::ITecPin,
+    pub itec_pin: C::ItecPin,
     /// feedback from `dac` output
     pub dac_feedback_pin: C::DacFeedbackPin,
     pub tec_u_meas_pin: C::TecUMeasPin,
@@ -36,8 +40,7 @@ impl<C: ChannelPins> Channel<C> {
 
         Channel {
             state,
-            dac,
+            dac, vref_meas,
-            vref_meas,
             shdn: pins.shdn,
             vref_pin: pins.vref_pin,
             itec_pin: pins.itec_pin,

src/channel_state.rs

@@ -1,21 +1,24 @@
-use crate::{
-    ad7172, b_parameter as bp,
-    command_parser::{CenterPoint, Polarity},
-    config::PwmLimits,
-    pid,
-};
-use num_traits::Zero;
 use smoltcp::time::{Duration, Instant};
 use uom::si::{
-    electric_current::ampere,
-    electric_potential::volt,
-    electrical_resistance::ohm,
     f64::{
-        ElectricCurrent, ElectricPotential, ElectricalResistance, ThermodynamicTemperature, Time,
+        ElectricPotential,
+        ElectricCurrent,
+        ElectricalResistance,
+        ThermodynamicTemperature,
+        Time,
     },
+    electric_potential::volt,
+    electric_current::ampere,
+    electrical_resistance::ohm,
     thermodynamic_temperature::degree_celsius,
     time::millisecond,
 };
+use crate::{
+    ad7172,
+    pid,
+    steinhart_hart as sh,
+    command_parser::CenterPoint,
+};
 
 const R_INNER: f64 = 2.0 * 5100.0;
 const VREF_SENS: f64 = 3.3 / 2.0;
@@ -29,11 +32,9 @@ pub struct ChannelState {
     pub center: CenterPoint,
     pub dac_value: ElectricPotential,
     pub i_set: ElectricCurrent,
-    pub pwm_limits: PwmLimits,
     pub pid_engaged: bool,
     pub pid: pid::Controller,
-    pub bp: bp::Parameters,
+    pub sh: sh::Parameters,
-    pub polarity: Polarity,
 }
 
 impl ChannelState {
@@ -44,18 +45,12 @@ impl ChannelState {
             adc_time: Instant::from_secs(0),
             // default: 10 Hz
             adc_interval: Duration::from_millis(100),
-            center: CenterPoint::VRef,
+            center: CenterPoint::Vref,
             dac_value: ElectricPotential::new::<volt>(0.0),
             i_set: ElectricCurrent::new::<ampere>(0.0),
-            pwm_limits: PwmLimits {
-                max_v: ElectricPotential::zero(),
-                max_i_pos: ElectricCurrent::zero(),
-                max_i_neg: ElectricCurrent::zero(),
-            },
             pid_engaged: false,
             pid: pid::Controller::new(pid::Parameters::default()),
-            bp: bp::Parameters::default(),
+            sh: sh::Parameters::default(),
-            polarity: Polarity::Normal,
         }
     }
 
@@ -72,7 +67,8 @@ impl ChannelState {
 
     /// Update PID state on ADC input, calculate new DAC output
     pub fn update_pid(&mut self) -> Option<f64> {
-        let temperature = self.get_temperature()?.get::<degree_celsius>();
+        let temperature = self.get_temperature()?
+            .get::<degree_celsius>();
         let pid_output = self.pid.update(temperature);
         Some(pid_output)
     }
@@ -100,7 +96,7 @@ impl ChannelState {
 
     pub fn get_temperature(&self) -> Option<ThermodynamicTemperature> {
         let r = self.get_sens()?;
-        let temperature = self.bp.get_temperature(r);
+        let temperature = self.sh.get_temperature(r);
         Some(temperature)
     }
 }

src/channels.rs

@@ -1,29 +1,29 @@
-use crate::timer::sleep;
+use core::cmp::max_by;
-use crate::{
-    ad5680, ad7172, b_parameter,
-    channel::{Channel, Channel0, Channel1},
-    channel_state::ChannelState,
-    command_handler::JsonBuffer,
-    command_parser::{CenterPoint, Polarity, PwmPin},
-    pins::{self, Channel0VRef, Channel1VRef},
-};
-use core::marker::PhantomData;
 use heapless::{consts::U2, Vec};
-use num_traits::Zero;
 use serde::{Serialize, Serializer};
 use smoltcp::time::Instant;
 use stm32f4xx_hal::hal;
 use uom::si::{
-    electric_current::ampere,
-    electric_potential::{millivolt, volt},
-    electrical_resistance::ohm,
     f64::{ElectricCurrent, ElectricPotential, ElectricalResistance, Time},
+    electric_potential::{millivolt, volt},
+    electric_current::ampere,
+    electrical_resistance::ohm,
     ratio::ratio,
     thermodynamic_temperature::degree_celsius,
 };
+use crate::{
+    ad5680,
+    ad7172,
+    channel::{Channel, Channel0, Channel1},
+    channel_state::ChannelState,
+    command_parser::{CenterPoint, PwmPin},
+    command_handler::JsonBuffer,
+    pins::{self, Channel0VRef, Channel1VRef},
+    steinhart_hart,
+};
 
 pub enum PinsAdcReadTarget {
-    VRef,
+    VREF,
     DacVfb,
     ITec,
     VTec,
@@ -32,28 +32,12 @@ pub enum PinsAdcReadTarget {
 pub const CHANNELS: usize = 2;
 pub const R_SENSE: f64 = 0.05;
 
-// From design specs
+// as stated in the MAX1968 datasheet
-pub const MAX_TEC_I: ElectricCurrent = ElectricCurrent {
+pub const MAX_TEC_I: f64 = 3.0;
-    dimension: PhantomData,
+
-    units: PhantomData,
-    value: 2.0,
-};
-pub const MAX_TEC_V: ElectricPotential = ElectricPotential {
-    dimension: PhantomData,
-    units: PhantomData,
-    value: 4.0,
-};
-const MAX_TEC_I_DUTY_TO_CURRENT_RATE: ElectricCurrent = ElectricCurrent {
-    dimension: PhantomData,
-    units: PhantomData,
-    value: 1.0 / (10.0 * R_SENSE / 3.3),
-};
 // DAC chip outputs 0-5v, which is then passed through a resistor dividor to provide 0-3v range
-const DAC_OUT_V_MAX: ElectricPotential = ElectricPotential {
+const DAC_OUT_V_MAX: f64 = 3.0;
-    dimension: PhantomData,
+
-    units: PhantomData,
-    value: 3.0,
-};
 // TODO: -pub
 pub struct Channels {
     channel0: Channel<Channel0>,
@@ -71,25 +55,19 @@ impl Channels {
         adc.set_sync_enable(false).unwrap();
 
         // Setup channels and start ADC
-        adc.setup_channel(0, ad7172::Input::Ain2, ad7172::Input::Ain3)
+        adc.setup_channel(0, ad7172::Input::Ain2, ad7172::Input::Ain3).unwrap();
-            .unwrap();
+        let adc_calibration0 = adc.get_calibration(0)
-        let adc_calibration0 = adc.get_calibration(0).expect("adc_calibration0");
+            .expect("adc_calibration0");
-        adc.setup_channel(1, ad7172::Input::Ain0, ad7172::Input::Ain1)
+        adc.setup_channel(1, ad7172::Input::Ain0, ad7172::Input::Ain1).unwrap();
-            .unwrap();
+        let adc_calibration1 = adc.get_calibration(1)
-        let adc_calibration1 = adc.get_calibration(1).expect("adc_calibration1");
+            .expect("adc_calibration1");
         adc.start_continuous_conversion().unwrap();
 
         let channel0 = Channel::new(pins.channel0, adc_calibration0);
         let channel1 = Channel::new(pins.channel1, adc_calibration1);
         let pins_adc = pins.pins_adc;
         let pwm = pins.pwm;
-        let mut channels = Channels {
+        let mut channels = Channels { channel0, channel1, adc, pins_adc, pwm };
-            channel0,
-            channel1,
-            adc,
-            pins_adc,
-            pwm,
-        };
         for channel in 0..CHANNELS {
             channels.calibrate_dac_value(channel);
             channels.set_i(channel, ElectricCurrent::new::<ampere>(0.0));
@@ -130,10 +108,10 @@ impl Channels {
     /// calculate the TEC i_set centerpoint
     pub fn get_center(&mut self, channel: usize) -> ElectricPotential {
         match self.channel_state(channel).center {
-            CenterPoint::VRef => self.adc_read(channel, PinsAdcReadTarget::VRef, 8),
+            CenterPoint::Vref =>
-            CenterPoint::Override(center_point) => {
+                self.adc_read(channel, PinsAdcReadTarget::VREF, 8),
-                ElectricPotential::new::<volt>(center_point.into())
+            CenterPoint::Override(center_point) =>
-            }
+                ElectricPotential::new::<volt>(center_point.into()),
         }
     }
 
@@ -143,14 +121,14 @@ impl Channels {
         voltage
     }
 
-    pub fn get_i_set(&mut self, channel: usize) -> ElectricCurrent {
+    pub fn get_i(&mut self, channel: usize) -> ElectricCurrent {
         let i_set = self.channel_state(channel).i_set;
         i_set
     }
 
     /// i_set DAC
     fn set_dac(&mut self, channel: usize, voltage: ElectricPotential) -> ElectricPotential {
-        let value = ((voltage / DAC_OUT_V_MAX).get::<ratio>() * (ad5680::MAX_VALUE as f64)) as u32;
+        let value = ((voltage / ElectricPotential::new::<volt>(DAC_OUT_V_MAX)).get::<ratio>() * (ad5680::MAX_VALUE as f64)) as u32 ;
         match channel {
             0 => self.channel0.dac.set(value).unwrap(),
             1 => self.channel1.dac.set(value).unwrap(),
@@ -161,72 +139,69 @@ 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);
+        // Silently clamp i_set
-        self.channel_state(channel).i_set = i_set;
+        let i_ceiling = ElectricCurrent::new::<ampere>(MAX_TEC_I);
-        let negate = match self.channel_state(channel).polarity {
+        let i_floor = ElectricCurrent::new::<ampere>(-MAX_TEC_I);
-            Polarity::Normal => 1.0,
+        let i_set = i_set.min(i_ceiling).max(i_floor);
-            Polarity::Reversed => -1.0,
+
-        };
+        let vref_meas = match channel.into() {
-        let vref_meas = match channel {
             0 => self.channel0.vref_meas,
             1 => self.channel1.vref_meas,
             _ => unreachable!(),
         };
         let center_point = vref_meas;
         let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
-        let voltage = negate * i_set * 10.0 * r_sense + center_point;
+        let voltage = 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);
-        negate * (voltage - center_point) / (10.0 * r_sense)
+        self.channel_state(channel).i_set = i_set;
+        i_set
     }
 
     /// AN4073: ADC Reading Dispersion can be reduced through Averaging
-    pub fn adc_read(
+    pub fn adc_read(&mut self, channel: usize, adc_read_target: PinsAdcReadTarget, avg_pt: u16) -> ElectricPotential {
-        &mut self,
-        channel: usize,
-        adc_read_target: PinsAdcReadTarget,
-        avg_pt: u16,
-    ) -> ElectricPotential {
         let mut sample: u32 = 0;
         match channel {
             0 => {
                 sample = match adc_read_target {
-                    PinsAdcReadTarget::VRef => match &self.channel0.vref_pin {
+                    PinsAdcReadTarget::VREF => {
-                        Channel0VRef::Analog(vref_pin) => {
+                        match &self.channel0.vref_pin {
-                            for _ in (0..avg_pt).rev() {
+                            Channel0VRef::Analog(vref_pin) => {
-                                sample += self.pins_adc.convert(
+                                for _ in (0..avg_pt).rev() {
-                                    vref_pin,
+                                    sample += self
-                                    stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
+                                        .pins_adc
-                                ) as u32;
+                                        .convert(vref_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
-                            }
+                                        as u32;
-                            sample / avg_pt as u32
+                                }
+                                sample / avg_pt as u32
+                            },
+                            Channel0VRef::Disabled(_) => {2048 as u32}
                         }
-                        Channel0VRef::Disabled(_) => 2048_u32,
+                    }
-                    },
                     PinsAdcReadTarget::DacVfb => {
                         for _ in (0..avg_pt).rev() {
-                            sample += self.pins_adc.convert(
+                            sample += self
-                                &self.channel0.dac_feedback_pin,
+                                .pins_adc
-                                stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
+                                .convert(&self.channel0.dac_feedback_pin,stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
-                            ) as u32;
+                                as u32;
                         }
                         sample / avg_pt as u32
                     }
                     PinsAdcReadTarget::ITec => {
                         for _ in (0..avg_pt).rev() {
-                            sample += self.pins_adc.convert(
+                            sample += self
-                                &self.channel0.itec_pin,
+                                .pins_adc
-                                stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
+                                .convert(&self.channel0.itec_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
-                            ) as u32;
+                                as u32;
                         }
                         sample / avg_pt as u32
                     }
                     PinsAdcReadTarget::VTec => {
                         for _ in (0..avg_pt).rev() {
-                            sample += self.pins_adc.convert(
+                            sample += self
-                                &self.channel0.tec_u_meas_pin,
+                                .pins_adc
-                                stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
+                                .convert(&self.channel0.tec_u_meas_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
-                            ) as u32;
+                                as u32;
                         }
                         sample / avg_pt as u32
                     }
@@ -236,42 +211,44 @@ impl Channels {
             }
             1 => {
                 sample = match adc_read_target {
-                    PinsAdcReadTarget::VRef => match &self.channel1.vref_pin {
+                    PinsAdcReadTarget::VREF => {
-                        Channel1VRef::Analog(vref_pin) => {
+                        match &self.channel1.vref_pin {
-                            for _ in (0..avg_pt).rev() {
+                            Channel1VRef::Analog(vref_pin) => {
-                                sample += self.pins_adc.convert(
+                                for _ in (0..avg_pt).rev() {
-                                    vref_pin,
+                                    sample += self
-                                    stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
+                                        .pins_adc
-                                ) as u32;
+                                        .convert(vref_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
-                            }
+                                        as u32;
-                            sample / avg_pt as u32
+                                }
+                                sample / avg_pt as u32
+                            },
+                            Channel1VRef::Disabled(_) => {2048 as u32}
                         }
-                        Channel1VRef::Disabled(_) => 2048_u32,
+                    }
-                    },
                     PinsAdcReadTarget::DacVfb => {
                         for _ in (0..avg_pt).rev() {
-                            sample += self.pins_adc.convert(
+                            sample += self
-                                &self.channel1.dac_feedback_pin,
+                                .pins_adc
-                                stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
+                                .convert(&self.channel1.dac_feedback_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
-                            ) as u32;
+                                as u32;
                         }
                         sample / avg_pt as u32
                     }
                     PinsAdcReadTarget::ITec => {
                         for _ in (0..avg_pt).rev() {
-                            sample += self.pins_adc.convert(
+                            sample += self
-                                &self.channel1.itec_pin,
+                                .pins_adc
-                                stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
+                                .convert(&self.channel1.itec_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
-                            ) as u32;
+                                as u32;
                         }
                         sample / avg_pt as u32
                     }
                     PinsAdcReadTarget::VTec => {
                         for _ in (0..avg_pt).rev() {
-                            sample += self.pins_adc.convert(
+                            sample += self
-                                &self.channel1.tec_u_meas_pin,
+                                .pins_adc
-                                stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
+                                .convert(&self.channel1.tec_u_meas_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
-                            ) as u32;
+                                as u32;
                         }
                         sample / avg_pt as u32
                     }
@@ -279,7 +256,18 @@ impl Channels {
                 let mv = self.pins_adc.sample_to_millivolts(sample as u16);
                 ElectricPotential::new::<millivolt>(mv as f64)
             }
-            _ => unreachable!(),
+            _ => unreachable!()
+        }
+    }
+
+    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;
         }
     }
 
@@ -287,29 +275,30 @@ impl Channels {
     ///
     /// The thermostat DAC applies a control voltage signal to the CTLI pin of MAX driver chip to control its output current.
     /// The CTLI input signal is centered around VREF of the MAX chip. Applying VREF to CTLI sets the output current to 0.
-    ///
+    /// 
     /// This calibration routine measures the VREF voltage and the DAC output with the STM32 ADC, and uses a breadth-first     
-    /// search to find the DAC setting that will produce a DAC output voltage closest to VREF. This DAC output voltage will
+    /// search to find the DAC setting that will produce a DAC output voltage closest to VREF. This DAC output voltage will 
-    /// be stored and used in subsequent i_set routines to bias the current control signal to the measured VREF, reducing
+    /// be stored and used in subsequent i_set routines to bias the current control signal to the measured VREF, reducing 
     /// the offset error of the current control signal.
     ///
     /// The input offset of the STM32 ADC is eliminated by using the same ADC for the measurements, and by only using the
     /// difference in VREF and DAC output for the calibration.
-    ///
+    /// 
-    /// This routine should be called only once after boot, repeated reading of the vref signal and changing of the stored
+    /// This routine should be called only once after boot, repeated reading of the vref signal and changing of the stored 
     /// VREF measurement can introduce significant noise at the current output, degrading the stabilily performance of the
-    /// thermostat.
+    /// thermostat. 
     pub fn calibrate_dac_value(&mut self, channel: usize) {
         let samples = 50;
         let mut target_voltage = ElectricPotential::new::<volt>(0.0);
         for _ in 0..samples {
-            target_voltage += self.get_center(channel);
+            target_voltage = target_voltage + self.get_center(channel);
         }
-        target_voltage /= samples as f64;
+        target_voltage = target_voltage / samples as f64;
         let mut start_value = 1;
         let mut best_error = ElectricPotential::new::<volt>(100.0);
 
-        for step in (5..18).rev() {
+        for step in (0..18).rev() {
+            let mut prev_value = start_value;
             for value in (start_value..=ad5680::MAX_VALUE).step_by(1 << step) {
                 match channel {
                     0 => {
@@ -320,23 +309,24 @@ impl Channels {
                     }
                     _ => unreachable!(),
                 }
-                sleep(10);
 
-                let dac_feedback = self.adc_read(channel, PinsAdcReadTarget::DacVfb, 64);
+                let dac_feedback = self.read_dac_feedback_until_stable(channel, ElectricPotential::new::<volt>(0.001));
                 let error = target_voltage - dac_feedback;
                 if error < ElectricPotential::new::<volt>(0.0) {
                     break;
                 } else if error < best_error {
                     best_error = error;
-                    start_value = value;
+                    start_value = prev_value;
 
-                    let vref = (value as f64 / ad5680::MAX_VALUE as f64) * DAC_OUT_V_MAX;
+                    let vref = (value as f64 / ad5680::MAX_VALUE as f64) * ElectricPotential::new::<volt>(DAC_OUT_V_MAX);
                     match channel {
                         0 => self.channel0.vref_meas = vref,
                         1 => self.channel1.vref_meas = vref,
                         _ => unreachable!(),
                     }
                 }
+
+                prev_value = value;
             }
         }
 
@@ -362,114 +352,110 @@ 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 {
-        self.channel_state(channel).pwm_limits.max_v
+        let max = 4.0 * ElectricPotential::new::<volt>(3.3);
+        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, ElectricCurrent) {
-        self.channel_state(channel).pwm_limits.max_i_pos
+        let max = ElectricCurrent::new::<ampere>(3.0);
+        let duty = self.get_pwm(channel, PwmPin::MaxIPos);
+        (duty * max, max)
     }
 
-    pub fn get_max_i_neg(&mut self, channel: usize) -> ElectricCurrent {
+    pub fn get_max_i_neg(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
-        self.channel_state(channel).pwm_limits.max_i_neg
+        let max = ElectricCurrent::new::<ampere>(3.0);
+        let duty = self.get_pwm(channel, PwmPin::MaxINeg);
+        (duty * max, max)
     }
 
     // Get current passing through TEC
     pub fn get_tec_i(&mut self, channel: usize) -> ElectricCurrent {
-        let tec_i = (self.adc_read(channel, PinsAdcReadTarget::ITec, 16)
+        (self.adc_read(channel, PinsAdcReadTarget::ITec, 16) - self.adc_read(channel, PinsAdcReadTarget::VREF, 16)) / ElectricalResistance::new::<ohm>(0.4)
-            - 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
     pub fn get_tec_v(&mut self, channel: usize) -> ElectricPotential {
-        (self.adc_read(channel, PinsAdcReadTarget::VTec, 16) - ElectricPotential::new::<volt>(1.5))
+        (self.adc_read(channel, PinsAdcReadTarget::VTec, 16) - ElectricPotential::new::<volt>(1.5)) * 4.0
-            * 4.0
     }
 
     fn set_pwm(&mut self, channel: usize, pin: PwmPin, duty: f64) -> f64 {
-        fn set<P: hal::PwmPin<Duty = u16>>(pin: &mut P, duty: f64) -> f64 {
+        fn set<P: hal::PwmPin<Duty=u16>>(pin: &mut P, duty: f64) -> f64 {
             let max = pin.get_max_duty();
             let value = ((duty * (max as f64)) as u16).min(max);
             pin.set_duty(value);
             value as f64 / (max as f64)
         }
         match (channel, pin) {
-            (_, PwmPin::ISet) => panic!("i_set is no pwm pin"),
+            (_, PwmPin::ISet) =>
-            (0, PwmPin::MaxIPos) => set(&mut self.pwm.max_i_pos0, duty),
+                panic!("i_set is no pwm pin"),
-            (0, PwmPin::MaxINeg) => set(&mut self.pwm.max_i_neg0, duty),
+            (0, PwmPin::MaxIPos) =>
-            (0, PwmPin::MaxV) => set(&mut self.pwm.max_v0, duty),
+                set(&mut self.pwm.max_i_pos0, duty),
-            (1, PwmPin::MaxIPos) => set(&mut self.pwm.max_i_pos1, duty),
+            (0, PwmPin::MaxINeg) =>
-            (1, PwmPin::MaxINeg) => set(&mut self.pwm.max_i_neg1, duty),
+                set(&mut self.pwm.max_i_neg0, duty),
-            (1, PwmPin::MaxV) => set(&mut self.pwm.max_v1, duty),
+            (0, PwmPin::MaxV) =>
-            _ => unreachable!(),
+                set(&mut self.pwm.max_v0, duty),
+            (1, PwmPin::MaxIPos) =>
+                set(&mut self.pwm.max_i_pos1, duty),
+            (1, PwmPin::MaxINeg) =>
+                set(&mut self.pwm.max_i_neg1, duty),
+            (1, PwmPin::MaxV) =>
+                set(&mut self.pwm.max_v1, duty),
+            _ =>
+                unreachable!(),
         }
     }
 
-    pub fn set_max_v(
+    pub fn set_max_v(&mut self, channel: usize, max_v: ElectricPotential) -> (ElectricPotential, ElectricPotential) {
-        &mut self,
-        channel: usize,
-        max_v: ElectricPotential,
-    ) -> (ElectricPotential, ElectricPotential) {
         let max = 4.0 * ElectricPotential::new::<volt>(3.3);
-        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);
-        self.channel_state(channel).pwm_limits.max_v = max_v;
         (duty * max, max)
     }
 
-    pub fn set_max_i_pos(
+    pub fn set_max_i_pos(&mut self, channel: usize, max_i_pos: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
-        &mut self,
-        channel: usize,
-        max_i_pos: ElectricCurrent,
-    ) -> (ElectricCurrent, ElectricCurrent) {
         let max = ElectricCurrent::new::<ampere>(3.0);
-        let max_i_pos = max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero());
+        let duty = (max_i_pos / max).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 {
+        (duty * max, max)
-            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;
-        (duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
     }
 
-    pub fn set_max_i_neg(
+    pub fn set_max_i_neg(&mut self, channel: usize, max_i_neg: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
-        &mut self,
-        channel: usize,
-        max_i_neg: ElectricCurrent,
-    ) -> (ElectricCurrent, ElectricCurrent) {
         let max = ElectricCurrent::new::<ampere>(3.0);
-        let max_i_neg = max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero());
+        let duty = (max_i_neg / max).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 {
+        (duty * max, max)
-            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;
-        (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 {
-        let i_set = self.get_i_set(channel);
+        let i_set = self.get_i(channel);
         let i_tec = self.adc_read(channel, PinsAdcReadTarget::ITec, 16);
         let tec_i = self.get_tec_i(channel);
         let dac_value = self.get_dac(channel);
@@ -481,8 +467,7 @@ impl Channels {
             interval: state.get_adc_interval(),
             adc: state.get_adc(),
             sens: state.get_sens(),
-            temperature: state
+            temperature: state.get_temperature()
-                .get_temperature()
                 .map(|temperature| temperature.get::<degree_celsius>()),
             pid_engaged: state.pid_engaged,
             i_set,
@@ -520,31 +505,27 @@ impl Channels {
         false
     }
 
-    fn output_summary(&mut self, channel: usize) -> OutputSummary {
+    fn pwm_summary(&mut self, channel: usize) -> PwmSummary {
-        OutputSummary {
+        PwmSummary {
             channel,
             center: CenterPointJson(self.channel_state(channel).center.clone()),
-            i_set: self.get_i_set(channel),
+            i_set: (self.get_i(channel), ElectricCurrent::new::<ampere>(3.0)).into(),
-            max_v: self.get_max_v(channel),
+            max_v: (self.get_max_v(channel), ElectricPotential::new::<volt>(5.0)).into(),
-            max_i_pos: self.get_max_i_pos(channel),
+            max_i_pos: self.get_max_i_pos(channel).into(),
-            max_i_neg: self.get_max_i_neg(channel),
+            max_i_neg: self.get_max_i_neg(channel).into(),
-            polarity: PolarityJson(self.channel_state(channel).polarity.clone()),
         }
     }
 
-    pub fn output_summaries_json(&mut self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
+    pub fn pwm_summaries_json(&mut self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
         let mut summaries = Vec::<_, U2>::new();
         for channel in 0..CHANNELS {
-            let _ = summaries.push(self.output_summary(channel));
+            let _ = summaries.push(self.pwm_summary(channel));
         }
         serde_json_core::to_vec(&summaries)
     }
 
     fn postfilter_summary(&mut self, channel: usize) -> PostFilterSummary {
-        let rate = self
+        let rate = self.adc.get_postfilter(channel as u8).unwrap()
-            .adc
-            .get_postfilter(channel as u8)
-            .unwrap()
             .and_then(|filter| filter.output_rate());
         PostFilterSummary { channel, rate }
     }
@@ -557,26 +538,23 @@ impl Channels {
         serde_json_core::to_vec(&summaries)
     }
 
-    fn b_parameter_summary(&mut self, channel: usize) -> BParameterSummary {
+    fn steinhart_hart_summary(&mut self, channel: usize) -> SteinhartHartSummary {
-        let params = self.channel_state(channel).bp.clone();
+        let params = self.channel_state(channel).sh.clone();
-        BParameterSummary { channel, params }
+        SteinhartHartSummary { channel, params }
     }
 
-    pub fn b_parameter_summaries_json(
+    pub fn steinhart_hart_summaries_json(&mut self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
-        &mut self,
-    ) -> Result<JsonBuffer, serde_json_core::ser::Error> {
         let mut summaries = Vec::<_, U2>::new();
         for channel in 0..CHANNELS {
-            let _ = summaries.push(self.b_parameter_summary(channel));
+            let _ = summaries.push(self.steinhart_hart_summary(channel));
         }
         serde_json_core::to_vec(&summaries)
     }
 
     pub fn current_abs_max_tec_i(&mut self) -> ElectricCurrent {
-        (0..CHANNELS)
+        max_by(self.get_tec_i(0).abs(),
-            .map(|channel| self.get_tec_i(channel).abs())
+               self.get_tec_i(1).abs(),
-            .max_by(|a, b| a.partial_cmp(b).unwrap_or(core::cmp::Ordering::Equal))
+               |a, b| a.partial_cmp(b).unwrap_or(core::cmp::Ordering::Equal))
-            .unwrap()
     }
 }
 
@@ -607,36 +585,34 @@ impl Serialize for CenterPointJson {
         S: Serializer,
     {
         match self.0 {
-            CenterPoint::VRef => serializer.serialize_str("vref"),
+            CenterPoint::Vref =>
-            CenterPoint::Override(vref) => serializer.serialize_f32(vref),
+                serializer.serialize_str("vref"),
+            CenterPoint::Override(vref) =>
+                serializer.serialize_f32(vref),
         }
     }
 }
 
-pub struct PolarityJson(Polarity);
+#[derive(Serialize)]
+pub struct PwmSummaryField<T: Serialize> {
+    value: T,
+    max: T,
+}
 
-// used in JSON encoding, not for config
+impl<T: Serialize> From<(T, T)> for PwmSummaryField<T> {
-impl Serialize for PolarityJson {
+    fn from((value, max): (T, T)) -> Self {
-    fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
+        PwmSummaryField { value, max }
-    where
-        S: Serializer,
-    {
-        serializer.serialize_str(match self.0 {
-            Polarity::Normal => "normal",
-            Polarity::Reversed => "reversed",
-        })
     }
 }
 
 #[derive(Serialize)]
-pub struct OutputSummary {
+pub struct PwmSummary {
     channel: usize,
     center: CenterPointJson,
-    i_set: ElectricCurrent,
+    i_set: PwmSummaryField<ElectricCurrent>,
-    max_v: ElectricPotential,
+    max_v: PwmSummaryField<ElectricPotential>,
-    max_i_pos: ElectricCurrent,
+    max_i_pos: PwmSummaryField<ElectricCurrent>,
-    max_i_neg: ElectricCurrent,
+    max_i_neg: PwmSummaryField<ElectricCurrent>,
-    polarity: PolarityJson,
 }
 
 #[derive(Serialize)]
@@ -646,7 +622,7 @@ pub struct PostFilterSummary {
 }
 
 #[derive(Serialize)]
-pub struct BParameterSummary {
+pub struct SteinhartHartSummary {
     channel: usize,
-    params: b_parameter::Parameters,
+    params: steinhart_hart::Parameters,
 }

src/command_handler.rs

@@ -1,30 +1,45 @@
+use smoltcp::socket::TcpSocket;
+use log::{error, warn};
+use core::fmt::Write;
+use heapless::{consts::U1024, Vec};
 use super::{
-    ad7172,
+    net,
-    channels::{Channels, CHANNELS},
     command_parser::{
-        BpParameter, CenterPoint, Command, Ipv4Config, PidParameter, Polarity, PwmPin, ShowCommand,
+        Ipv4Config, 
+        Command, 
+        ShowCommand, 
+        CenterPoint, 
+        PidParameter, 
+        PwmPin, 
+        ShParameter
+    },
+    ad7172,
+    CHANNEL_CONFIG_KEY,
+    channels::{
+        Channels, 
+        CHANNELS
     },
     config::ChannelConfig,
     dfu,
     flash_store::FlashStore,
+    session::Session,
+    FanCtrl,
     hw_rev::HWRev,
-    net, FanCtrl, CHANNEL_CONFIG_KEY,
 };
-use core::fmt::Write;
-use heapless::{consts::U1024, Vec};
-use log::{error, warn};
-use smoltcp::socket::TcpSocket;
 
-use uom::si::{
+use uom::{
-    electric_current::ampere,
+    si::{
-    electric_potential::volt,
+        f64::{
-    electrical_resistance::ohm,
+            ElectricCurrent,
-    f64::{
+            ElectricPotential,
-        ElectricCurrent, ElectricPotential, ElectricalResistance, TemperatureInterval,
+            ElectricalResistance,
-        ThermodynamicTemperature,
+            ThermodynamicTemperature,
+        },
+        electric_current::ampere,
+        electric_potential::volt,
+        electrical_resistance::ohm,
+        thermodynamic_temperature::degree_celsius,
     },
-    temperature_interval::kelvin,
-    thermodynamic_temperature::degree_celsius,
 };
 
 #[derive(Debug, Clone, PartialEq)]
@@ -37,9 +52,9 @@ pub enum Handler {
 
 #[derive(Clone, Debug, PartialEq)]
 pub enum Error {
-    Report,
+    ReportError,
-    PostFilterRate,
+    PostFilterRateError,
-    Flash,
+    FlashError
 }
 
 pub type JsonBuffer = Vec<u8, U1024>;
@@ -51,19 +66,19 @@ fn send_line(socket: &mut TcpSocket, data: &[u8]) -> bool {
         // instead of sending incomplete line
         warn!(
             "TCP socket has only {}/{} needed {}",
-            send_free + 1,
+            send_free + 1, socket.send_capacity(), data.len(),
-            socket.send_capacity(),
-            data.len(),
         );
     } else {
-        match socket.send_slice(data) {
+        match socket.send_slice(&data) {
             Ok(sent) if sent == data.len() => {
                 let _ = socket.send_slice(b"\n");
                 // success
-                return true;
+                return true
             }
-            Ok(sent) => warn!("sent only {}/{} bytes", sent, data.len()),
+            Ok(sent) =>
-            Err(e) => error!("error sending line: {:?}", e),
+                warn!("sent only {}/{} bytes", sent, data.len()),
+            Err(e) =>
+                error!("error sending line: {:?}", e),
         }
     }
     // not success
@@ -71,6 +86,17 @@ fn send_line(socket: &mut TcpSocket, data: &[u8]) -> bool {
 }
 
 impl Handler {
+
+    fn reporting(socket: &mut TcpSocket) -> Result<Handler, Error> {
+        send_line(socket, b"{}");
+        Ok(Handler::Handled)
+    }
+
+    fn show_report_mode(socket: &mut TcpSocket, session: &Session) -> Result<Handler, Error> {
+        let _ = writeln!(socket, "{{ \"report\": {:?} }}", session.reporting());
+        Ok(Handler::Handled)
+    }
+
     fn show_report(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
         match channels.reports_json() {
             Ok(buf) => {
@@ -79,7 +105,7 @@ impl Handler {
             Err(e) => {
                 error!("unable to serialize report: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                return Err(Error::Report);
+                return Err(Error::ReportError);
             }
         }
         Ok(Handler::Handled)
@@ -93,41 +119,41 @@ impl Handler {
             Err(e) => {
                 error!("unable to serialize pid summary: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                return Err(Error::Report);
+                return Err(Error::ReportError);
             }
         }
         Ok(Handler::Handled)
     }
 
     fn show_pwm(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
-        match channels.output_summaries_json() {
+        match channels.pwm_summaries_json() {
             Ok(buf) => {
                 send_line(socket, &buf);
             }
             Err(e) => {
                 error!("unable to serialize pwm summary: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                return Err(Error::Report);
+                return Err(Error::ReportError);
             }
         }
         Ok(Handler::Handled)
     }
 
-    fn show_b_parameter(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
+    fn show_steinhart_hart(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
-        match channels.b_parameter_summaries_json() {
+        match channels.steinhart_hart_summaries_json() {
             Ok(buf) => {
                 send_line(socket, &buf);
             }
             Err(e) => {
-                error!("unable to serialize b parameter summaries: {:?}", e);
+                error!("unable to serialize steinhart-hart summaries: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                return Err(Error::Report);
+                return Err(Error::ReportError);
             }
         }
         Ok(Handler::Handled)
     }
 
-    fn show_post_filter(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
+    fn show_post_filter (socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
         match channels.postfilter_summaries_json() {
             Ok(buf) => {
                 send_line(socket, &buf);
@@ -135,13 +161,13 @@ impl Handler {
             Err(e) => {
                 error!("unable to serialize postfilter summary: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                return Err(Error::Report);
+                return Err(Error::ReportError);
             }
         }
         Ok(Handler::Handled)
     }
 
-    fn show_ipv4(socket: &mut TcpSocket, ipv4_config: &mut Ipv4Config) -> Result<Handler, Error> {
+    fn show_ipv4 (socket: &mut TcpSocket, ipv4_config: &mut Ipv4Config) -> Result<Handler, Error> {
         let (cidr, gateway) = net::split_ipv4_config(ipv4_config.clone());
         let _ = write!(socket, "{{\"addr\":\"{}\"", cidr);
         gateway.map(|gateway| write!(socket, ",\"gateway\":\"{}\"", gateway));
@@ -149,34 +175,13 @@ impl Handler {
         Ok(Handler::Handled)
     }
 
-    fn engage_pid(
+    fn engage_pid (socket: &mut TcpSocket, channels: &mut Channels, channel: usize) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
-        channels: &mut Channels,
-        channel: usize,
-    ) -> Result<Handler, Error> {
         channels.channel_state(channel).pid_engaged = true;
         send_line(socket, b"{}");
         Ok(Handler::Handled)
     }
 
-    fn set_polarity(
+    fn set_pwm (socket: &mut TcpSocket, channels: &mut Channels, channel: usize, pin: PwmPin, value: f64) -> Result<Handler, Error> {
-        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> {
         match pin {
             PwmPin::ISet => {
                 channels.channel_state(channel).pid_engaged = false;
@@ -201,13 +206,8 @@ impl Handler {
         Ok(Handler::Handled)
     }
 
-    fn set_center_point(
+    fn set_center_point(socket: &mut TcpSocket, channels: &mut Channels, channel: usize, center: CenterPoint) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
+        let i_set = channels.get_i(channel);
-        channels: &mut Channels,
-        channel: usize,
-        center: CenterPoint,
-    ) -> Result<Handler, Error> {
-        let i_set = channels.get_i_set(channel);
         let state = channels.channel_state(channel);
         state.center = center;
         if !state.pid_engaged {
@@ -217,91 +217,65 @@ impl Handler {
         Ok(Handler::Handled)
     }
 
-    fn set_pid(
+    fn set_pid (socket: &mut TcpSocket, channels: &mut Channels, channel: usize, parameter: PidParameter, value: f64) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
-        channels: &mut Channels,
-        channel: usize,
-        parameter: PidParameter,
-        value: f64,
-    ) -> Result<Handler, Error> {
         let pid = &mut channels.channel_state(channel).pid;
         use super::command_parser::PidParameter::*;
         match parameter {
-            Target => pid.target = value,
+            Target =>
-            KP => pid.parameters.kp = value as f32,
+                pid.target = value,
-            KI => pid.update_ki(value as f32),
+            KP =>
-            KD => pid.parameters.kd = value as f32,
+                pid.parameters.kp = value as f32,
-            OutputMin => pid.parameters.output_min = value as f32,
+            KI => 
-            OutputMax => pid.parameters.output_max = value as f32,
+                pid.update_ki(value as f32),
+            KD =>
+                pid.parameters.kd = value as f32,
+            OutputMin =>
+                pid.parameters.output_min = value as f32,
+            OutputMax =>
+                pid.parameters.output_max = value as f32,
         }
         send_line(socket, b"{}");
         Ok(Handler::Handled)
     }
 
-    fn set_b_parameter(
+    fn set_steinhart_hart (socket: &mut TcpSocket, channels: &mut Channels, channel: usize, parameter: ShParameter, value: f64) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
+        let sh = &mut channels.channel_state(channel).sh;
-        channels: &mut Channels,
+        use super::command_parser::ShParameter::*;
-        channel: usize,
-        parameter: BpParameter,
-        value: f64,
-    ) -> Result<Handler, Error> {
-        let bp = &mut channels.channel_state(channel).bp;
-        use super::command_parser::BpParameter::*;
         match parameter {
-            T0 => bp.t0 = ThermodynamicTemperature::new::<degree_celsius>(value),
+            T0 => sh.t0 = ThermodynamicTemperature::new::<degree_celsius>(value),
-            B => bp.b = TemperatureInterval::new::<kelvin>(value),
+            B => sh.b = value,
-            R0 => bp.r0 = ElectricalResistance::new::<ohm>(value),
+            R0 => sh.r0 = ElectricalResistance::new::<ohm>(value),
         }
         send_line(socket, b"{}");
         Ok(Handler::Handled)
     }
 
-    fn reset_post_filter(
+    fn reset_post_filter (socket: &mut TcpSocket, channels: &mut Channels, channel: usize) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
-        channels: &mut Channels,
-        channel: usize,
-    ) -> Result<Handler, Error> {
         channels.adc.set_postfilter(channel as u8, None).unwrap();
         send_line(socket, b"{}");
         Ok(Handler::Handled)
     }
 
-    fn set_post_filter(
+    fn set_post_filter (socket: &mut TcpSocket, channels: &mut Channels, channel: usize, rate: f32) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
-        channels: &mut Channels,
-        channel: usize,
-        rate: f32,
-    ) -> Result<Handler, Error> {
         let filter = ad7172::PostFilter::closest(rate);
         match filter {
             Some(filter) => {
-                channels
+                channels.adc.set_postfilter(channel as u8, Some(filter)).unwrap();
-                    .adc
-                    .set_postfilter(channel as u8, Some(filter))
-                    .unwrap();
                 send_line(socket, b"{}");
             }
             None => {
                 error!("unable to choose postfilter for rate {:.3}", rate);
-                send_line(
+                send_line(socket, b"{{\"error\": \"unable to choose postfilter rate\"}}");
-                    socket,
+                return Err(Error::PostFilterRateError);
-                    b"{{\"error\": \"unable to choose postfilter rate\"}}",
-                );
-                return Err(Error::PostFilterRate);
             }
         }
         Ok(Handler::Handled)
     }
 
-    fn load_channel(
+    fn load_channel (socket: &mut TcpSocket, channels: &mut Channels, store: &mut FlashStore, channel: Option<usize>) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
+        for c in 0..CHANNELS {
-        channels: &mut Channels,
-        store: &mut FlashStore,
-        channel: Option<usize>,
-    ) -> Result<Handler, Error> {
-        for (c, key) in CHANNEL_CONFIG_KEY.iter().enumerate().take(CHANNELS) {
             if channel.is_none() || channel == Some(c) {
-                match store.read_value::<ChannelConfig>(key) {
+                match store.read_value::<ChannelConfig>(CHANNEL_CONFIG_KEY[c]) {
                     Ok(Some(config)) => {
                         config.apply(channels, c);
                         send_line(socket, b"{}");
@@ -313,7 +287,7 @@ impl Handler {
                     Err(e) => {
                         error!("unable to load config from flash: {:?}", e);
                         let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                        return Err(Error::Flash);
+                        return Err(Error::FlashError);
                     }
                 }
             }
@@ -321,24 +295,19 @@ impl Handler {
         Ok(Handler::Handled)
     }
 
-    fn save_channel(
+    fn save_channel (socket: &mut TcpSocket, channels: &mut Channels, channel: Option<usize>, store: &mut FlashStore) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
+        for c in 0..CHANNELS {
-        channels: &mut Channels,
-        channel: Option<usize>,
-        store: &mut FlashStore,
-    ) -> Result<Handler, Error> {
-        for (c, key) in CHANNEL_CONFIG_KEY.iter().enumerate().take(CHANNELS) {
             let mut store_value_buf = [0u8; 256];
             if channel.is_none() || channel == Some(c) {
                 let config = ChannelConfig::new(channels, c);
-                match store.write_value(key, &config, &mut store_value_buf) {
+                match store.write_value(CHANNEL_CONFIG_KEY[c], &config, &mut store_value_buf) {
                     Ok(()) => {
                         send_line(socket, b"{}");
                     }
                     Err(e) => {
                         error!("unable to save channel {} config to flash: {:?}", c, e);
                         let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                        return Err(Error::Flash);
+                        return Err(Error::FlashError);
                     }
                 }
             }
@@ -346,11 +315,7 @@ impl Handler {
         Ok(Handler::Handled)
     }
 
-    fn set_ipv4(
+    fn set_ipv4 (socket: &mut TcpSocket, store: &mut FlashStore, config: Ipv4Config) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
-        store: &mut FlashStore,
-        config: Ipv4Config,
-    ) -> Result<Handler, Error> {
         let _ = store
             .write_value("ipv4", &config, [0; 16])
             .map_err(|e| error!("unable to save ipv4 config to flash: {:?}", e));
@@ -359,7 +324,7 @@ impl Handler {
         Ok(Handler::NewIPV4(new_ipv4_config.unwrap()))
     }
 
-    fn reset(channels: &mut Channels) -> Result<Handler, Error> {
+    fn reset (channels: &mut Channels) -> Result<Handler, Error> {
         for i in 0..CHANNELS {
             channels.power_down(i);
         }
@@ -367,7 +332,7 @@ impl Handler {
         Ok(Handler::Reset)
     }
 
-    fn dfu(channels: &mut Channels) -> Result<Handler, Error> {
+    fn dfu (channels: &mut Channels) -> Result<Handler, Error> {
         for i in 0..CHANNELS {
             channels.power_down(i);
         }
@@ -378,16 +343,9 @@ impl Handler {
         Ok(Handler::Reset)
     }
 
-    fn set_fan(
+    fn set_fan(socket: &mut TcpSocket, fan_pwm: u32, fan_ctrl: &mut FanCtrl) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
-        fan_pwm: u32,
-        fan_ctrl: &mut FanCtrl,
-    ) -> Result<Handler, Error> {
         if !fan_ctrl.fan_available() {
-            send_line(
+            send_line(socket, b"{ \"warning\": \"this thermostat doesn't have fan!\" }");
-                socket,
-                b"{ \"warning\": \"this thermostat doesn't have a fan!\" }",
-            );
             return Ok(Handler::Handled);
         }
         fan_ctrl.set_auto_mode(false);
@@ -409,17 +367,14 @@ impl Handler {
             Err(e) => {
                 error!("unable to serialize fan summary: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                Err(Error::Report)
+                Err(Error::ReportError)
             }
         }
     }
 
     fn fan_auto(socket: &mut TcpSocket, fan_ctrl: &mut FanCtrl) -> Result<Handler, Error> {
         if !fan_ctrl.fan_available() {
-            send_line(
+            send_line(socket, b"{ \"warning\": \"this thermostat doesn't have fan!\" }");
-                socket,
-                b"{ \"warning\": \"this thermostat doesn't have a fan!\" }",
-            );
             return Ok(Handler::Handled);
         }
         fan_ctrl.set_auto_mode(true);
@@ -431,13 +386,7 @@ impl Handler {
         Ok(Handler::Handled)
     }
 
-    fn fan_curve(
+    fn fan_curve(socket: &mut TcpSocket, fan_ctrl: &mut FanCtrl, k_a: f32, k_b: f32, k_c: f32) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
-        fan_ctrl: &mut FanCtrl,
-        k_a: f32,
-        k_b: f32,
-        k_c: f32,
-    ) -> Result<Handler, Error> {
         fan_ctrl.set_curve(k_a, k_b, k_c);
         send_line(socket, b"{}");
         Ok(Handler::Handled)
@@ -458,71 +407,40 @@ impl Handler {
             Err(e) => {
                 error!("unable to serialize HWRev summary: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                Err(Error::Report)
+                Err(Error::ReportError)
             }
         }
     }
 
-    pub fn handle_command(
+    pub fn handle_command(command: Command, socket: &mut TcpSocket, channels: &mut Channels, session: &Session, store: &mut FlashStore, ipv4_config: &mut Ipv4Config, fan_ctrl: &mut FanCtrl, hwrev: HWRev) -> Result<Self, Error> {
-        command: Command,
-        socket: &mut TcpSocket,
-        channels: &mut Channels,
-        store: &mut FlashStore,
-        ipv4_config: &mut Ipv4Config,
-        fan_ctrl: &mut FanCtrl,
-        hwrev: HWRev,
-    ) -> Result<Self, Error> {
         match command {
             Command::Quit => Ok(Handler::CloseSocket),
+            Command::Reporting(_reporting) => Handler::reporting(socket),            
+            Command::Show(ShowCommand::Reporting) => Handler::show_report_mode(socket, session),            
             Command::Show(ShowCommand::Input) => Handler::show_report(socket, channels),
             Command::Show(ShowCommand::Pid) => Handler::show_pid(socket, channels),
-            Command::Show(ShowCommand::Output) => Handler::show_pwm(socket, channels),
+            Command::Show(ShowCommand::Pwm) => Handler::show_pwm(socket, channels),
-            Command::Show(ShowCommand::BParameter) => Handler::show_b_parameter(socket, channels),
+            Command::Show(ShowCommand::SteinhartHart) => Handler::show_steinhart_hart(socket, channels),
             Command::Show(ShowCommand::PostFilter) => Handler::show_post_filter(socket, channels),
             Command::Show(ShowCommand::Ipv4) => Handler::show_ipv4(socket, ipv4_config),
-            Command::OutputPid { channel } => Handler::engage_pid(socket, channels, channel),
+            Command::PwmPid { channel } => Handler::engage_pid(socket, channels, channel),
-            Command::OutputPolarity { channel, polarity } => {
+            Command::Pwm { channel, pin, value } => Handler::set_pwm(socket, channels, channel, pin, value),
-                Handler::set_polarity(socket, channels, channel, polarity)
+            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::Output {
+            Command::SteinhartHart { channel, parameter, value } => Handler::set_steinhart_hart(socket, channels, channel, parameter, value),
-                channel,
+            Command::PostFilter { channel, rate: None } => Handler::reset_post_filter(socket, channels, channel),
-                pin,
+            Command::PostFilter { channel, rate: Some(rate) } => Handler::set_post_filter(socket, channels, channel, rate),
-                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),
-            Command::BParameter {
-                channel,
-                parameter,
-                value,
-            } => Handler::set_b_parameter(socket, channels, channel, parameter, value),
-            Command::PostFilter {
-                channel,
-                rate: None,
-            } => Handler::reset_post_filter(socket, channels, channel),
-            Command::PostFilter {
-                channel,
-                rate: Some(rate),
-            } => Handler::set_post_filter(socket, channels, channel, rate),
             Command::Load { channel } => Handler::load_channel(socket, channels, store, channel),
             Command::Save { channel } => Handler::save_channel(socket, channels, channel, store),
             Command::Ipv4(config) => Handler::set_ipv4(socket, store, config),
             Command::Reset => Handler::reset(channels),
             Command::Dfu => Handler::dfu(channels),
-            Command::FanSet { fan_pwm } => Handler::set_fan(socket, fan_pwm, fan_ctrl),
+            Command::FanSet {fan_pwm} => Handler::set_fan(socket, fan_pwm, fan_ctrl),
             Command::ShowFan => Handler::show_fan(socket, fan_ctrl),
             Command::FanAuto => Handler::fan_auto(socket, fan_ctrl),
-            Command::FanCurve { k_a, k_b, k_c } => {
+            Command::FanCurve { k_a, k_b, k_c } => Handler::fan_curve(socket, fan_ctrl, k_a, k_b, k_c),
-                Handler::fan_curve(socket, fan_ctrl, k_a, k_b, k_c)
-            }
             Command::FanCurveDefaults => Handler::fan_defaults(socket, fan_ctrl),
             Command::ShowHWRev => Handler::show_hwrev(socket, hwrev),
         }
     }
-}
+}

src/command_parser.rs

@@ -2,20 +2,19 @@ use core::fmt;
 use core::num::ParseIntError;
 use core::str::{from_utf8, Utf8Error};
 use nom::{
+    IResult,
     branch::alt,
     bytes::complete::{is_a, tag, take_while1},
-    character::{
+    character::{is_digit, complete::{char, one_of}},
-        complete::{char, one_of},
-        is_digit,
-    },
     combinator::{complete, map, opt, value},
-    error::ErrorKind,
-    multi::{fold_many0, fold_many1},
     sequence::preceded,
-    IResult, Needed,
+    multi::{fold_many0, fold_many1},
+    error::ErrorKind,
+    Needed,
 };
 use num_traits::{Num, ParseFloatError};
-use serde::{Deserialize, Serialize};
+use serde::{Serialize, Deserialize};
+
 
 #[derive(Clone, Debug, PartialEq)]
 pub enum Error {
@@ -31,9 +30,12 @@ pub enum Error {
 impl<'t> From<nom::Err<(&'t [u8], ErrorKind)>> for Error {
     fn from(e: nom::Err<(&'t [u8], ErrorKind)>) -> Self {
         match e {
-            nom::Err::Incomplete(_) => Error::Incomplete,
+            nom::Err::Incomplete(_) =>
-            nom::Err::Error((_, e)) => Error::Parser(e),
+                Error::Incomplete,
-            nom::Err::Failure((_, e)) => Error::Parser(e),
+            nom::Err::Error((_, e)) =>
+                Error::Parser(e),
+            nom::Err::Failure((_, e)) =>
+                Error::Parser(e),
         }
     }
 }
@@ -59,7 +61,8 @@ impl From<ParseFloatError> for Error {
 impl fmt::Display for Error {
     fn fmt(&self, fmt: &mut fmt::Formatter) -> Result<(), fmt::Error> {
         match self {
-            Error::Incomplete => "incomplete input".fmt(fmt),
+            Error::Incomplete =>
+                "incomplete input".fmt(fmt),
             Error::UnexpectedInput(c) => {
                 "unexpected input: ".fmt(fmt)?;
                 c.fmt(fmt)
@@ -76,7 +79,9 @@ impl fmt::Display for Error {
                 "parsing int: ".fmt(fmt)?;
                 (e as &dyn core::fmt::Debug).fmt(fmt)
             }
-            Error::ParseFloat => "parsing float".fmt(fmt),
+            Error::ParseFloat => {
+                "parsing float".fmt(fmt)
+            }
         }
     }
 }
@@ -91,9 +96,10 @@ pub struct Ipv4Config {
 #[derive(Debug, Clone, PartialEq)]
 pub enum ShowCommand {
     Input,
-    Output,
+    Reporting,
+    Pwm,
     Pid,
-    BParameter,
+    SteinhartHart,
     PostFilter,
     Ipv4,
 }
@@ -108,9 +114,9 @@ pub enum PidParameter {
     OutputMax,
 }
 
-/// B-Parameter equation parameter
+/// Steinhart-Hart equation parameter
 #[derive(Debug, Clone, PartialEq)]
-pub enum BpParameter {
+pub enum ShParameter {
     T0,
     B,
     R0,
@@ -126,16 +132,10 @@ pub enum PwmPin {
 
 #[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
 pub enum CenterPoint {
-    VRef,
+    Vref,
     Override(f32),
 }
 
-#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
-pub enum Polarity {
-    Normal,
-    Reversed,
-}
-
 #[derive(Debug, Clone, PartialEq)]
 pub enum Command {
     Quit,
@@ -148,20 +148,17 @@ pub enum Command {
     Reset,
     Ipv4(Ipv4Config),
     Show(ShowCommand),
+    Reporting(bool),
     /// PWM parameter setting
-    Output {
+    Pwm {
         channel: usize,
         pin: PwmPin,
         value: f64,
     },
     /// Enable PID control for `i_set`
-    OutputPid {
+    PwmPid {
         channel: usize,
     },
-    OutputPolarity {
-        channel: usize,
-        polarity: Polarity,
-    },
     CenterPoint {
         channel: usize,
         center: CenterPoint,
@@ -172,9 +169,9 @@ pub enum Command {
         parameter: PidParameter,
         value: f64,
     },
-    BParameter {
+    SteinhartHart {
         channel: usize,
-        parameter: BpParameter,
+        parameter: ShParameter,
         value: f64,
     },
     PostFilter {
@@ -183,7 +180,7 @@ pub enum Command {
     },
     Dfu,
     FanSet {
-        fan_pwm: u32,
+        fan_pwm: u32
     },
     FanAuto,
     ShowFan,
@@ -197,7 +194,12 @@ pub enum Command {
 }
 
 fn end(input: &[u8]) -> IResult<&[u8], ()> {
-    complete(fold_many0(one_of("\r\n\t "), (), |(), _| ()))(input)
+    complete(
+        fold_many0(
+            one_of("\r\n\t "),
+            (), |(), _| ()
+        )
+    )(input)
 }
 
 fn whitespace(input: &[u8]) -> IResult<&[u8], ()> {
@@ -205,25 +207,38 @@ fn whitespace(input: &[u8]) -> IResult<&[u8], ()> {
 }
 
 fn unsigned(input: &[u8]) -> IResult<&[u8], Result<u32, Error>> {
-    take_while1(is_digit)(input).map(|(input, digits)| {
+    take_while1(is_digit)(input)
-        let result = from_utf8(digits)
+        .map(|(input, digits)| {
-            .map_err(|e| e.into())
+            let result =
-            .and_then(|digits| digits.parse::<u32>().map_err(|e| e.into()));
+                from_utf8(digits)
-        (input, result)
+                .map_err(|e| e.into())
-    })
+                .and_then(|digits| u32::from_str_radix(digits, 10)
+                     .map_err(|e| e.into())
+                );
+            (input, result)
+        })
 }
 
 fn float(input: &[u8]) -> IResult<&[u8], Result<f64, Error>> {
     let (input, sign) = opt(is_a("-"))(input)?;
     let negative = sign.is_some();
-    let (input, digits) = take_while1(|c| is_digit(c) || c == b'.')(input)?;
+    let (input, digits) = take_while1(|c| is_digit(c) || c == '.' as u8)(input)?;
-    let result = from_utf8(digits)
+    let result =
+        from_utf8(digits)
         .map_err(|e| e.into())
-        .and_then(|digits| f64::from_str_radix(digits, 10).map_err(|e| e.into()))
+        .and_then(|digits| f64::from_str_radix(digits, 10)
+                  .map_err(|e| e.into())
+        )
         .map(|result: f64| if negative { -result } else { result });
     Ok((input, result))
 }
 
+fn off_on(input: &[u8]) -> IResult<&[u8], bool> {
+    alt((value(false, tag("off")),
+         value(true, tag("on"))
+    ))(input)
+}
+
 fn channel(input: &[u8]) -> IResult<&[u8], usize> {
     map(one_of("01"), |c| (c as usize) - ('0' as usize))(input)
 }
@@ -231,55 +246,83 @@ fn channel(input: &[u8]) -> IResult<&[u8], usize> {
 fn report(input: &[u8]) -> IResult<&[u8], Command> {
     preceded(
         tag("report"),
-        // `report` - Report once
+        alt((
-        value(Command::Show(ShowCommand::Input), end),
+            preceded(
+                whitespace,
+                preceded(
+                    tag("mode"),
+                    alt((
+                        preceded(
+                            whitespace,
+                            // `report mode <on | off>` - Switch repoting mode
+                            map(off_on, Command::Reporting)
+                        ),
+                        // `report mode` - Show current reporting state
+                        value(Command::Show(ShowCommand::Reporting), end)
+                    ))
+                )),
+            // `report` - Report once
+            value(Command::Show(ShowCommand::Input), end)
+        ))
     )(input)
 }
 
 fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<(PwmPin, f64), Error>> {
-    let result_with_pin =
+    let result_with_pin = |pin: PwmPin|
-        |pin: PwmPin| move |result: Result<f64, Error>| result.map(|value| (pin, value));
+        move |result: Result<f64, Error>|
+        result.map(|value| (pin, value));
 
     alt((
         map(
-            preceded(tag("i_set"), preceded(whitespace, float)),
+            preceded(
-            result_with_pin(PwmPin::ISet),
+                tag("i_set"),
+                preceded(
+                    whitespace,
+                    float
+                )
+            ),
+            result_with_pin(PwmPin::ISet)
         ),
         map(
-            preceded(tag("max_i_pos"), preceded(whitespace, float)),
+            preceded(
-            result_with_pin(PwmPin::MaxIPos),
+                tag("max_i_pos"),
+                preceded(
+                    whitespace,
+                    float
+                )
+            ),
+            result_with_pin(PwmPin::MaxIPos)
         ),
         map(
-            preceded(tag("max_i_neg"), preceded(whitespace, float)),
+            preceded(
-            result_with_pin(PwmPin::MaxINeg),
+                tag("max_i_neg"),
+                preceded(
+                    whitespace,
+                    float
+                )
+            ),
+            result_with_pin(PwmPin::MaxINeg)
         ),
         map(
-            preceded(tag("max_v"), preceded(whitespace, float)),
+            preceded(
-            result_with_pin(PwmPin::MaxV),
+                tag("max_v"),
-        ),
+                preceded(
-    ))(input)
+                    whitespace,
-}
+                    float
-
+                )
-/// `output <0-1> pid` - Set output to be controlled by PID
+            ),
-fn output_pid(input: &[u8]) -> IResult<&[u8], ()> {
+            result_with_pin(PwmPin::MaxV)
-    value((), tag("pid"))(input)
+        ))
-}
-
-fn output_polarity(input: &[u8]) -> IResult<&[u8], Polarity> {
-    preceded(
-        tag("polarity"),
-        preceded(
-            whitespace,
-            alt((
-                value(Polarity::Normal, tag("normal")),
-                value(Polarity::Reversed, tag("reversed")),
-            )),
-        ),
     )(input)
 }
 
-fn output(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+/// `pwm <0-1> pid` - Set PWM to be controlled by PID
-    let (input, _) = tag("output")(input)?;
+fn pwm_pid(input: &[u8]) -> IResult<&[u8], ()> {
+    value((), tag("pid"))(input)
+}
+
+fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+    let (input, _) = tag("pwm")(input)?;
     alt((
         |input| {
             let (input, _) = whitespace(input)?;
@@ -287,32 +330,23 @@ fn output(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
             let (input, _) = whitespace(input)?;
             let (input, result) = alt((
                 |input| {
-                    let (input, ()) = output_pid(input)?;
+                    let (input, ()) = pwm_pid(input)?;
-                    Ok((input, Ok(Command::OutputPid { channel })))
+                    Ok((input, Ok(Command::PwmPid { channel })))
-                },
-                |input| {
-                    let (input, polarity) = output_polarity(input)?;
-                    Ok((input, Ok(Command::OutputPolarity { channel, polarity })))
                 },
                 |input| {
                     let (input, config) = pwm_setup(input)?;
                     match config {
-                        Ok((pin, value)) => Ok((
+                        Ok((pin, value)) =>
-                            input,
+                            Ok((input, Ok(Command::Pwm { channel, pin, value }))),
-                            Ok(Command::Output {
+                        Err(e) =>
-                                channel,
+                            Ok((input, Err(e))),
-                                pin,
-                                value,
-                            }),
-                        )),
-                        Err(e) => Ok((input, Err(e))),
                     }
                 },
             ))(input)?;
             end(input)?;
             Ok((input, result))
         },
-        value(Ok(Command::Show(ShowCommand::Output)), end),
+        value(Ok(Command::Show(ShowCommand::Pwm)), end)
     ))(input)
 }
 
@@ -321,39 +355,36 @@ fn center_point(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     let (input, _) = whitespace(input)?;
     let (input, channel) = channel(input)?;
     let (input, _) = whitespace(input)?;
-    let (input, center) = alt((value(Ok(CenterPoint::VRef), tag("vref")), |input| {
+    let (input, center) = alt((
-        let (input, value) = float(input)?;
+        value(Ok(CenterPoint::Vref), tag("vref")),
-        Ok((
+        |input| {
-            input,
+            let (input, value) = float(input)?;
-            value.map(|value| CenterPoint::Override(value as f32)),
+            Ok((input, value.map(|value| CenterPoint::Override(value as f32))))
-        ))
+        }
-    }))(input)?;
+    ))(input)?;
     end(input)?;
-    Ok((
+    Ok((input, center.map(|center| Command::CenterPoint {
-        input,
+        channel,
-        center.map(|center| Command::CenterPoint { channel, center }),
+        center,
-    ))
+    })))
 }
 
 /// `pid <0-1> <parameter> <value>`
 fn pid_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     let (input, channel) = channel(input)?;
     let (input, _) = whitespace(input)?;
-    let (input, parameter) = alt((
+    let (input, parameter) =
-        value(PidParameter::Target, tag("target")),
+        alt((value(PidParameter::Target, tag("target")),
-        value(PidParameter::KP, tag("kp")),
+             value(PidParameter::KP, tag("kp")),
-        value(PidParameter::KI, tag("ki")),
+             value(PidParameter::KI, tag("ki")),
-        value(PidParameter::KD, tag("kd")),
+             value(PidParameter::KD, tag("kd")),
-        value(PidParameter::OutputMin, tag("output_min")),
+             value(PidParameter::OutputMin, tag("output_min")),
-        value(PidParameter::OutputMax, tag("output_max")),
+             value(PidParameter::OutputMax, tag("output_max")),
-    ))(input)?;
+        ))(input)?;
     let (input, _) = whitespace(input)?;
     let (input, value) = float(input)?;
-    let result = value.map(|value| Command::Pid {
+    let result = value
-        channel,
+        .map(|value| Command::Pid { channel, parameter, value });
-        parameter,
-        value,
-    });
     Ok((input, result))
 }
 
@@ -361,66 +392,70 @@ fn pid_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
 fn pid(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     let (input, _) = tag("pid")(input)?;
     alt((
-        preceded(whitespace, pid_parameter),
+        preceded(
-        value(Ok(Command::Show(ShowCommand::Pid)), end),
+            whitespace,
+            pid_parameter
+        ),
+        value(Ok(Command::Show(ShowCommand::Pid)), end)
     ))(input)
 }
 
-/// `b-p <0-1> <parameter> <value>`
+/// `s-h <0-1> <parameter> <value>`
-fn b_parameter_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+fn steinhart_hart_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     let (input, channel) = channel(input)?;
     let (input, _) = whitespace(input)?;
-    let (input, parameter) = alt((
+    let (input, parameter) =
-        value(BpParameter::T0, tag("t0")),
+        alt((value(ShParameter::T0, tag("t0")),
-        value(BpParameter::B, tag("b")),
+             value(ShParameter::B, tag("b")),
-        value(BpParameter::R0, tag("r0")),
+             value(ShParameter::R0, tag("r0"))
-    ))(input)?;
+        ))(input)?;
     let (input, _) = whitespace(input)?;
     let (input, value) = float(input)?;
-    let result = value.map(|value| Command::BParameter {
+    let result = value
-        channel,
+        .map(|value| Command::SteinhartHart { channel, parameter, value });
-        parameter,
-        value,
-    });
     Ok((input, result))
 }
 
-/// `b-p` | `b-p <b_parameter_parameter>`
+/// `s-h` | `s-h <steinhart_hart_parameter>`
-fn b_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+fn steinhart_hart(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
-    let (input, _) = tag("b-p")(input)?;
+    let (input, _) = tag("s-h")(input)?;
     alt((
-        preceded(whitespace, b_parameter_parameter),
+        preceded(
-        value(Ok(Command::Show(ShowCommand::BParameter)), end),
+            whitespace,
+            steinhart_hart_parameter
+        ),
+        value(Ok(Command::Show(ShowCommand::SteinhartHart)), end)
     ))(input)
 }
 
 fn postfilter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     let (input, _) = tag("postfilter")(input)?;
     alt((
-        preceded(whitespace, |input| {
+        preceded(
-            let (input, channel) = channel(input)?;
+            whitespace,
-            let (input, _) = whitespace(input)?;
+            |input| {
-            alt((
+                let (input, channel) = channel(input)?;
-                value(
+                let (input, _) = whitespace(input)?;
-                    Ok(Command::PostFilter {
+                alt((
+                    value(Ok(Command::PostFilter {
                         channel,
                         rate: None,
-                    }),
+                    }), tag("off")),
-                    tag("off"),
+                    move |input| {
-                ),
+                        let (input, _) = tag("rate")(input)?;
-                move |input| {
+                        let (input, _) = whitespace(input)?;
-                    let (input, _) = tag("rate")(input)?;
+                        let (input, rate) = float(input)?;
-                    let (input, _) = whitespace(input)?;
+                        let result = rate
-                    let (input, rate) = float(input)?;
+                            .map(|rate| Command::PostFilter {
-                    let result = rate.map(|rate| Command::PostFilter {
+                                channel,
-                        channel,
+                                rate: Some(rate as f32),
-                        rate: Some(rate as f32),
+                            });
-                    });
+                        Ok((input, result))
-                    Ok((input, result))
+                    }
-                },
+                ))(input)
-            ))(input)
+            }
-        }),
+        ),
-        value(Ok(Command::Show(ShowCommand::PostFilter)), end),
+        value(Ok(Command::Show(ShowCommand::PostFilter)), end)
     ))(input)
 }
 
@@ -433,7 +468,7 @@ fn load(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
             let (input, _) = end(input)?;
             Ok((input, Some(channel)))
         },
-        value(None, end),
+        value(None, end)
     ))(input)?;
 
     let result = Ok(Command::Load { channel });
@@ -449,7 +484,7 @@ fn save(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
             let (input, _) = end(input)?;
             Ok((input, Some(channel)))
         },
-        value(None, end),
+        value(None, end)
     ))(input)?;
 
     let result = Ok(Command::Save { channel });
@@ -511,17 +546,12 @@ fn fan(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
                 },
                 |input| {
                     let (input, value) = unsigned(input)?;
-                    Ok((
+                    Ok((input, Ok(Command::FanSet { fan_pwm: value.unwrap_or(0)})))
-                        input,
-                        Ok(Command::FanSet {
-                            fan_pwm: value.unwrap_or(0),
-                        }),
-                    ))
                 },
             ))(input)?;
             Ok((input, result))
         },
-        value(Ok(Command::ShowFan), end),
+        value(Ok(Command::ShowFan), end)
     ))(input)
 }
 
@@ -541,15 +571,8 @@ fn fan_curve(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
                     let (input, k_b) = float(input)?;
                     let (input, _) = whitespace(input)?;
                     let (input, k_c) = float(input)?;
-                    if let (Ok(k_a), Ok(k_b), Ok(k_c)) = (k_a, k_b, k_c) {
+                    if k_a.is_ok() && k_b.is_ok() && k_c.is_ok() {
-                        Ok((
+                        Ok((input, Ok(Command::FanCurve { k_a: k_a.unwrap() as f32, k_b: k_b.unwrap() as f32, k_c: k_c.unwrap() as f32 })))
-                            input,
-                            Ok(Command::FanCurve {
-                                k_a: k_a as f32,
-                                k_b: k_b as f32,
-                                k_c: k_c as f32,
-                            }),
-                        ))
                     } else {
                         Err(nom::Err::Incomplete(Needed::Size(3)))
                     }
@@ -557,36 +580,38 @@ fn fan_curve(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
             ))(input)?;
             Ok((input, result))
         },
-        value(Err(Error::Incomplete), end),
+        value(Err(Error::Incomplete), end)
     ))(input)
 }
 
 fn command(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
-    alt((
+    alt((value(Ok(Command::Quit), tag("quit")),
-        value(Ok(Command::Quit), tag("quit")),
+         load,
-        load,
+         save,
-        save,
+         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,
-        b_parameter,
+         postfilter,
-        postfilter,
+         value(Ok(Command::Dfu), tag("dfu")),
-        value(Ok(Command::Dfu), tag("dfu")),
+         fan,
-        fan,
+         fan_curve,
-        fan_curve,
+         value(Ok(Command::ShowHWRev), tag("hwrev")),
-        value(Ok(Command::ShowHWRev), tag("hwrev")),
     ))(input)
 }
 
 impl Command {
     pub fn parse(input: &[u8]) -> Result<Self, Error> {
         match command(input) {
-            Ok((input_remain, result)) if input_remain.is_empty() => result,
+            Ok((input_remain, result)) if input_remain.len() == 0 =>
-            Ok((input_remain, _)) => Err(Error::UnexpectedInput(input_remain[0])),
+                result,
-            Err(e) => Err(e.into()),
+            Ok((input_remain, _)) =>
+                Err(Error::UnexpectedInput(input_remain[0])),
+            Err(e) =>
+                Err(e.into()),
         }
     }
 }
@@ -634,27 +659,21 @@ mod test {
     #[test]
     fn parse_ipv4() {
         let command = Command::parse(b"ipv4 192.168.1.26/24");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::Ipv4(Ipv4Config {
-            command,
+            address: [192, 168, 1, 26],
-            Ok(Command::Ipv4(Ipv4Config {
+            mask_len: 24,
-                address: [192, 168, 1, 26],
+            gateway: None,
-                mask_len: 24,
+        })));
-                gateway: None,
-            }))
-        );
     }
 
     #[test]
     fn parse_ipv4_and_gateway() {
         let command = Command::parse(b"ipv4 10.42.0.126/8 10.1.0.1");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::Ipv4(Ipv4Config {
-            command,
+            address: [10, 42, 0, 126],
-            Ok(Command::Ipv4(Ipv4Config {
+            mask_len: 8,
-                address: [10, 42, 0, 126],
+            gateway: Some([10, 1, 0, 1]),
-                mask_len: 8,
+        })));
-                gateway: Some([10, 1, 0, 1]),
-            }))
-        );
     }
 
     #[test]
@@ -664,73 +683,69 @@ mod test {
     }
 
     #[test]
-    fn parse_output_i_set() {
+    fn parse_report_mode() {
-        let command = Command::parse(b"output 1 i_set 16383");
+        let command = Command::parse(b"report mode");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::Show(ShowCommand::Reporting)));
-            command,
-            Ok(Command::Output {
-                channel: 1,
-                pin: PwmPin::ISet,
-                value: 16383.0,
-            })
-        );
     }
 
     #[test]
-    fn parse_output_polarity() {
+    fn parse_report_mode_on() {
-        let command = Command::parse(b"output 0 polarity reversed");
+        let command = Command::parse(b"report mode on");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::Reporting(true)));
-            command,
-            Ok(Command::OutputPolarity {
-                channel: 0,
-                polarity: Polarity::Reversed,
-            })
-        );
     }
 
     #[test]
-    fn parse_output_pid() {
+    fn parse_report_mode_off() {
-        let command = Command::parse(b"output 0 pid");
+        let command = Command::parse(b"report mode off");
-        assert_eq!(command, Ok(Command::OutputPid { channel: 0 }));
+        assert_eq!(command, Ok(Command::Reporting(false)));
     }
 
     #[test]
-    fn parse_output_max_i_pos() {
+    fn parse_pwm_i_set() {
-        let command = Command::parse(b"output 0 max_i_pos 7");
+        let command = Command::parse(b"pwm 1 i_set 16383");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::Pwm {
-            command,
+            channel: 1,
-            Ok(Command::Output {
+            pin: PwmPin::ISet,
-                channel: 0,
+            value: 16383.0,
-                pin: PwmPin::MaxIPos,
+        }));
-                value: 7.0,
-            })
-        );
     }
 
     #[test]
-    fn parse_output_max_i_neg() {
+    fn parse_pwm_pid() {
-        let command = Command::parse(b"output 0 max_i_neg 128");
+        let command = Command::parse(b"pwm 0 pid");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::PwmPid {
-            command,
+            channel: 0,
-            Ok(Command::Output {
+        }));
-                channel: 0,
-                pin: PwmPin::MaxINeg,
-                value: 128.0,
-            })
-        );
     }
 
     #[test]
-    fn parse_output_max_v() {
+    fn parse_pwm_max_i_pos() {
-        let command = Command::parse(b"output 0 max_v 32768");
+        let command = Command::parse(b"pwm 0 max_i_pos 7");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::Pwm {
-            command,
+            channel: 0,
-            Ok(Command::Output {
+            pin: PwmPin::MaxIPos,
-                channel: 0,
+            value: 7.0,
-                pin: PwmPin::MaxV,
+        }));
-                value: 32768.0,
+    }
-            })
+
-        );
+    #[test]
+    fn parse_pwm_max_i_neg() {
+        let command = Command::parse(b"pwm 0 max_i_neg 128");
+        assert_eq!(command, Ok(Command::Pwm {
+            channel: 0,
+            pin: PwmPin::MaxINeg,
+            value: 128.0,
+        }));
+    }
+
+    #[test]
+    fn parse_pwm_max_v() {
+        let command = Command::parse(b"pwm 0 max_v 32768");
+        assert_eq!(command, Ok(Command::Pwm {
+            channel: 0,
+            pin: PwmPin::MaxV,
+            value: 32768.0,
+        }));
     }
 
     #[test]
@@ -742,33 +757,27 @@ mod test {
     #[test]
     fn parse_pid_target() {
         let command = Command::parse(b"pid 0 target 36.5");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::Pid {
-            command,
+            channel: 0,
-            Ok(Command::Pid {
+            parameter: PidParameter::Target,
-                channel: 0,
+            value: 36.5,
-                parameter: PidParameter::Target,
+        }));
-                value: 36.5,
-            })
-        );
     }
 
     #[test]
-    fn parse_b_parameter() {
+    fn parse_steinhart_hart() {
-        let command = Command::parse(b"b-p");
+        let command = Command::parse(b"s-h");
-        assert_eq!(command, Ok(Command::Show(ShowCommand::BParameter)));
+        assert_eq!(command, Ok(Command::Show(ShowCommand::SteinhartHart)));
     }
 
     #[test]
-    fn parse_b_parameter_set() {
+    fn parse_steinhart_hart_set() {
-        let command = Command::parse(b"b-p 1 t0 23.05");
+        let command = Command::parse(b"s-h 1 t0 23.05");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::SteinhartHart {
-            command,
+            channel: 1,
-            Ok(Command::BParameter {
+            parameter: ShParameter::T0,
-                channel: 1,
+            value: 23.05,
-                parameter: BpParameter::T0,
+        }));
-                value: 23.05,
-            })
-        );
     }
 
     #[test]
@@ -780,49 +789,37 @@ mod test {
     #[test]
     fn parse_postfilter_off() {
         let command = Command::parse(b"postfilter 1 off");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::PostFilter {
-            command,
+            channel: 1,
-            Ok(Command::PostFilter {
+            rate: None,
-                channel: 1,
+        }));
-                rate: None,
-            })
-        );
     }
 
     #[test]
     fn parse_postfilter_rate() {
         let command = Command::parse(b"postfilter 0 rate 21");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::PostFilter {
-            command,
+            channel: 0,
-            Ok(Command::PostFilter {
+            rate: Some(21.0),
-                channel: 0,
+        }));
-                rate: Some(21.0),
-            })
-        );
     }
 
     #[test]
     fn parse_center_point() {
         let command = Command::parse(b"center 0 1.5");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::CenterPoint {
-            command,
+            channel: 0,
-            Ok(Command::CenterPoint {
+            center: CenterPoint::Override(1.5),
-                channel: 0,
+        }));
-                center: CenterPoint::Override(1.5),
-            })
-        );
     }
 
     #[test]
     fn parse_center_point_vref() {
         let command = Command::parse(b"center 1 vref");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::CenterPoint {
-            command,
+            channel: 1,
-            Ok(Command::CenterPoint {
+            center: CenterPoint::Vref,
-                channel: 1,
+        }));
-                center: CenterPoint::VRef,
-            })
-        );
     }
 
     #[test]
@@ -834,7 +831,7 @@ mod test {
     #[test]
     fn parse_fan_set() {
         let command = Command::parse(b"fan 42");
-        assert_eq!(command, Ok(Command::FanSet { fan_pwm: 42 }));
+        assert_eq!(command, Ok(Command::FanSet {fan_pwm: 42}));
     }
 
     #[test]
@@ -846,14 +843,11 @@ mod test {
     #[test]
     fn parse_fcurve_set() {
         let command = Command::parse(b"fcurve 1.2 3.4 5.6");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::FanCurve {
-            command,
+            k_a: 1.2,
-            Ok(Command::FanCurve {
+            k_b: 3.4,
-                k_a: 1.2,
+            k_c: 5.6
-                k_b: 3.4,
+        }));
-                k_c: 5.6
-            })
-        );
     }
 
     #[test]

src/config.rs

@@ -1,13 +1,16 @@
+use serde::{Serialize, Deserialize};
+use uom::si::{
+    electric_potential::volt,
+    electric_current::ampere,
+    f64::{ElectricCurrent, ElectricPotential},
+};
 use crate::{
     ad7172::PostFilter,
-    b_parameter,
     channels::Channels,
-    command_parser::{CenterPoint, Polarity},
+    command_parser::CenterPoint,
     pid,
+    steinhart_hart,
 };
-use num_traits::Zero;
-use serde::{Deserialize, Serialize};
-use uom::si::f64::{ElectricCurrent, ElectricPotential};
 
 #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
 pub struct ChannelConfig {
@@ -15,9 +18,7 @@ pub struct ChannelConfig {
     pid: pid::Parameters,
     pid_target: f32,
     pid_engaged: bool,
-    i_set: ElectricCurrent,
+    sh: steinhart_hart::Parameters,
-    polarity: Polarity,
-    bp: b_parameter::Parameters,
     pwm: PwmLimits,
     /// uses variant `PostFilter::Invalid` instead of `None` to save space
     adc_postfilter: PostFilter,
@@ -27,26 +28,17 @@ impl ChannelConfig {
     pub fn new(channels: &mut Channels, channel: usize) -> Self {
         let pwm = PwmLimits::new(channels, channel);
 
-        let adc_postfilter = channels
+        let adc_postfilter = channels.adc.get_postfilter(channel as u8)
-            .adc
-            .get_postfilter(channel as u8)
             .unwrap()
             .unwrap_or(PostFilter::Invalid);
 
         let state = channels.channel_state(channel);
-        let i_set = if state.pid_engaged {
-            ElectricCurrent::zero()
-        } else {
-            state.i_set
-        };
         ChannelConfig {
             center: state.center.clone(),
             pid: state.pid.parameters.clone(),
             pid_target: state.pid.target as f32,
             pid_engaged: state.pid_engaged,
-            i_set,
+            sh: state.sh.clone(),
-            polarity: state.polarity.clone(),
-            bp: state.bp.clone(),
             pwm,
             adc_postfilter,
         }
@@ -58,7 +50,7 @@ impl ChannelConfig {
         state.pid.parameters = self.pid.clone();
         state.pid.target = self.pid_target.into();
         state.pid_engaged = self.pid_engaged;
-        state.bp = self.bp.clone();
+        state.sh = self.sh.clone();
 
         self.pwm.apply(channels, channel);
 
@@ -67,33 +59,31 @@ impl ChannelConfig {
             adc_postfilter => Some(adc_postfilter),
         };
         let _ = channels.adc.set_postfilter(channel as u8, adc_postfilter);
-        let _ = channels.set_i(channel, self.i_set);
-        channels.set_polarity(channel, self.polarity.clone());
     }
 }
 
 #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
-pub struct PwmLimits {
+struct PwmLimits {
-    pub max_v: ElectricPotential,
+    max_v: f64,
-    pub max_i_pos: ElectricCurrent,
+    max_i_pos: f64,
-    pub max_i_neg: ElectricCurrent,
+    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_pos, _) = channels.get_max_i_pos(channel);
-        let max_i_neg = channels.get_max_i_neg(channel);
+        let (max_i_neg, _) = channels.get_max_i_neg(channel);
         PwmLimits {
-            max_v,
+            max_v: max_v.get::<volt>(),
-            max_i_pos,
+            max_i_pos: max_i_pos.get::<ampere>(),
-            max_i_neg,
+            max_i_neg: max_i_neg.get::<ampere>(),
         }
     }
 
     pub fn apply(&self, channels: &mut Channels, channel: usize) {
-        channels.set_max_v(channel, self.max_v);
+        channels.set_max_v(channel, ElectricPotential::new::<volt>(self.max_v));
-        channels.set_max_i_pos(channel, self.max_i_pos);
+        channels.set_max_i_pos(channel, ElectricCurrent::new::<ampere>(self.max_i_pos));
-        channels.set_max_i_neg(channel, self.max_i_neg);
+        channels.set_max_i_neg(channel, ElectricCurrent::new::<ampere>(self.max_i_neg));
     }
 }

src/dfu.rs

@@ -14,7 +14,7 @@ pub unsafe fn set_dfu_trigger() {
 }
 
 /// Called by reset handler in lib.rs immediately after reset.
-/// This function should not be called outside of reset handler as
+/// This function should not be called outside of reset handler as 
 /// bootloader expects MCU to be in reset state when called.
 #[cfg(target_arch = "arm")]
 #[pre_init]
@@ -27,13 +27,13 @@ unsafe fn __pre_init() {
         rcc.apb2enr.modify(|_, w| w.syscfgen().set_bit());
 
         // Bypass BOOT pins and remap bootloader to 0x00000000
-        let syscfg = &*SYSCFG::ptr();
+        let syscfg = &*SYSCFG::ptr() ;
-        syscfg.memrm.write(|w| w.mem_mode().bits(0b01));
+        syscfg.memrm.write(|w| w.mem_mode().bits(0b01));  
 
         // Impose instruction and memory barriers
         cortex_m::asm::isb();
         cortex_m::asm::dsb();
-
+        
         asm!(
             // Set stack pointer to bootloader location
             "LDR R0, =0x1FFF0000",

src/fan_ctrl.rs

@@ -1,17 +1,25 @@
-use crate::{channels::MAX_TEC_I, command_handler::JsonBuffer, hw_rev::HWSettings};
 use num_traits::Float;
 use serde::Serialize;
 use stm32f4xx_hal::{
-    pac::TIM8,
     pwm::{self, PwmChannels},
+    pac::TIM8,
+};
+use uom::si::{
+    f64::ElectricCurrent,
+    electric_current::ampere,
+};
+use crate::{
+    hw_rev::HWSettings,
+    command_handler::JsonBuffer,
+    channels::MAX_TEC_I,
 };
-use uom::si::{electric_current::ampere, f64::ElectricCurrent};
 
 pub type FanPin = PwmChannels<TIM8, pwm::C4>;
 
 const MAX_USER_FAN_PWM: f32 = 100.0;
 const MIN_USER_FAN_PWM: f32 = 1.0;
 
+
 pub struct FanCtrl {
     fan: Option<FanPin>,
     fan_auto: bool,
@@ -46,11 +54,9 @@ impl FanCtrl {
     pub fn cycle(&mut self, abs_max_tec_i: ElectricCurrent) {
         self.abs_max_tec_i = abs_max_tec_i.get::<ampere>() as f32;
         if self.fan_auto && self.hw_settings.fan_available {
-            let scaled_current = self.abs_max_tec_i / MAX_TEC_I.get::<ampere>() as f32;
+            let scaled_current = self.abs_max_tec_i / MAX_TEC_I as f32;
             // do not limit upper bound, as it will be limited in the set_pwm()
-            let pwm = (MAX_USER_FAN_PWM
+            let pwm = (MAX_USER_FAN_PWM * (scaled_current * (scaled_current * self.k_a + self.k_b) + self.k_c)) as u32;
-                * (scaled_current * (scaled_current * self.k_a + self.k_b) + self.k_c))
-                as u32;
             self.set_pwm(pwm);
         }
     }
@@ -83,26 +89,18 @@ impl FanCtrl {
     }
 
     pub fn restore_defaults(&mut self) {
-        self.set_curve(
+        self.set_curve(self.hw_settings.fan_k_a,
-            self.hw_settings.fan_k_a,
+                       self.hw_settings.fan_k_b,
-            self.hw_settings.fan_k_b,
+                       self.hw_settings.fan_k_c);
-            self.hw_settings.fan_k_c,
-        );
     }
 
     pub fn set_pwm(&mut self, fan_pwm: u32) -> f32 {
-        if self.fan.is_none() || (!self.pwm_enabled && !self.enable_pwm()) {
+        if self.fan.is_none() || (!self.pwm_enabled && !self.enable_pwm())  {
             return 0f32;
         }
         let fan = self.fan.as_mut().unwrap();
-        let fan_pwm = fan_pwm.clamp(MIN_USER_FAN_PWM as u32, MAX_USER_FAN_PWM as u32);
+        let fan_pwm = fan_pwm.min(MAX_USER_FAN_PWM as u32).max(MIN_USER_FAN_PWM as u32);
-        let duty = scale_number(
+        let duty = scale_number(fan_pwm as f32, self.hw_settings.min_fan_pwm, self.hw_settings.max_fan_pwm, MIN_USER_FAN_PWM, MAX_USER_FAN_PWM);
-            fan_pwm as f32,
-            self.hw_settings.min_fan_pwm,
-            self.hw_settings.max_fan_pwm,
-            MIN_USER_FAN_PWM,
-            MAX_USER_FAN_PWM,
-        );
         let max = fan.get_max_duty();
         let value = ((duty * (max as f32)) as u16).min(max);
         fan.set_duty(value);
@@ -121,17 +119,8 @@ impl FanCtrl {
         if let Some(fan) = &self.fan {
             let duty = fan.get_duty();
             let max = fan.get_max_duty();
-            scale_number(
+            scale_number(duty as f32 / (max as f32), MIN_USER_FAN_PWM, MAX_USER_FAN_PWM, self.hw_settings.min_fan_pwm, self.hw_settings.max_fan_pwm).round() as u32
-                duty as f32 / (max as f32),
+        } else { 0 }
-                MIN_USER_FAN_PWM,
-                MAX_USER_FAN_PWM,
-                self.hw_settings.min_fan_pwm,
-                self.hw_settings.max_fan_pwm,
-            )
-            .round() as u32
-        } else {
-            0
-        }
     }
 
     fn enable_pwm(&mut self) -> bool {
@@ -147,6 +136,7 @@ impl FanCtrl {
     }
 }
 
+
 fn scale_number(unscaled: f32, to_min: f32, to_max: f32, from_min: f32, from_max: f32) -> f32 {
     (to_max - to_min) * (unscaled - from_min) / (from_max - from_min) + to_min
 }

src/flash_store.rs

@@ -1,9 +1,9 @@
-use log::{error, info};
+use log::{info, error};
-use sfkv::{Store, StoreBackend};
 use stm32f4xx_hal::{
     flash::{Error, FlashExt},
     stm32::FLASH,
 };
+use sfkv::{Store, StoreBackend};
 
 /// 16 KiB
 pub const FLASH_SECTOR_SIZE: usize = 0x4000;
@@ -21,7 +21,9 @@ pub struct FlashBackend {
 }
 
 fn get_offset() -> usize {
-    unsafe { (&_config_start as *const usize as usize) - (&_flash_start as *const usize as usize) }
+    unsafe {
+        (&_config_start as *const usize as usize) - (&_flash_start as *const usize as usize)
+    }    
 }
 
 impl StoreBackend for FlashBackend {
@@ -38,8 +40,7 @@ impl StoreBackend for FlashBackend {
     }
 
     fn program(&mut self, offset: usize, payload: &[u8]) -> Result<(), Self::Error> {
-        self.flash
+        self.flash.unlocked()
-            .unlocked()
             .program(get_offset() + offset, payload.iter())
     }
 
@@ -59,8 +60,7 @@ pub fn store(flash: FLASH) -> FlashStore {
         Ok(_) => {}
         Err(e) => {
             error!("corrupt store, erasing. error: {:?}", e);
-            let _ = store
+            let _ = store.erase()
-                .erase()
                 .map_err(|e| error!("flash erase failed: {:?}", e));
         }
     }

src/hw_rev.rs

@@ -1,6 +1,9 @@
 use serde::Serialize;
 
-use crate::{command_handler::JsonBuffer, pins::HWRevPins};
+use crate::{
+    pins::HWRevPins,
+    command_handler::JsonBuffer,
+};
 
 #[derive(Serialize, Copy, Clone)]
 pub struct HWRev {
@@ -28,17 +31,13 @@ struct HWSummary<'a> {
 
 impl HWRev {
     pub fn detect_hw_rev(hwrev_pins: &HWRevPins) -> Self {
-        let (h0, h1, h2, h3) = (
+        let (h0, h1, h2, h3) = (hwrev_pins.hwrev0.is_high(), hwrev_pins.hwrev1.is_high(),
-            hwrev_pins.hwrev0.is_high(),
+                                hwrev_pins.hwrev2.is_high(), hwrev_pins.hwrev3.is_high());
-            hwrev_pins.hwrev1.is_high(),
-            hwrev_pins.hwrev2.is_high(),
-            hwrev_pins.hwrev3.is_high(),
-        );
         match (h0, h1, h2, h3) {
             (true, true, true, false) => HWRev { major: 1, minor: 0 },
             (true, false, false, false) => HWRev { major: 2, minor: 0 },
             (false, true, false, false) => HWRev { major: 2, minor: 2 },
-            (_, _, _, _) => HWRev { major: 0, minor: 0 },
+            (_, _, _, _) => HWRev { major: 0, minor: 0 }
         }
     }
 
@@ -71,16 +70,13 @@ impl HWRev {
                 fan_pwm_freq_hz: 0,
                 fan_available: false,
                 fan_pwm_recommended: false,
-            },
+            }
         }
     }
 
     pub fn summary(&self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
         let settings = self.settings();
-        let summary = HWSummary {
+        let summary = HWSummary { rev: self, settings: &settings };
-            rev: self,
-            settings: &settings,
-        };
         serde_json_core::to_vec(&summary)
     }
-}
+}

src/init_log.rs

@@ -10,15 +10,17 @@ pub fn init_log() {
 
 #[cfg(feature = "semihosting")]
 pub fn init_log() {
-    use cortex_m_log::log::{init, Logger};
-    use cortex_m_log::printer::semihosting::{hio::HStdout, InterruptOk};
     use log::LevelFilter;
+    use cortex_m_log::log::{Logger, init};
+    use cortex_m_log::printer::semihosting::{InterruptOk, hio::HStdout};
     static mut LOGGER: Option<Logger<InterruptOk<HStdout>>> = None;
     let logger = Logger {
         inner: InterruptOk::<_>::stdout().expect("semihosting stdout"),
         level: LevelFilter::Info,
     };
-    let logger = unsafe { LOGGER.get_or_insert(logger) };
+    let logger = unsafe {
+        LOGGER.get_or_insert(logger)
+    };
 
     init(logger).expect("set logger");
 }

src/leds.rs

@@ -1,6 +1,6 @@
 use stm32f4xx_hal::{
     gpio::{
-        gpiod::{PD10, PD11, PD9},
+        gpiod::{PD9, PD10, PD11},
         Output, PushPull,
     },
     hal::digital::v2::OutputPin,

src/main.rs

@@ -8,26 +8,30 @@ use panic_halt as _;
 #[cfg(all(feature = "semihosting", not(test)))]
 use panic_semihosting as _;
 
+use log::{error, info, warn};
 use cortex_m::asm::wfi;
 use cortex_m_rt::entry;
-use log::{error, info, warn};
-use smoltcp::{socket::TcpSocket, time::Instant, wire::EthernetAddress};
 use stm32f4xx_hal::{
-    hal::watchdog::{Watchdog, WatchdogEnable},
+    hal::watchdog::{WatchdogEnable, Watchdog},
     rcc::RccExt,
     stm32::{CorePeripherals, Peripherals, SCB},
-    time::{MegaHertz, U32Ext},
+    time::{U32Ext, MegaHertz},
     watchdog::IndependentWatchdog,
 };
+use smoltcp::{
+    time::Instant,
+    socket::TcpSocket,
+    wire::EthernetAddress,
+};
 
 mod init_log;
 use init_log::init_log;
+mod usb;
 mod leds;
 mod pins;
-mod usb;
 use pins::Pins;
-mod ad5680;
 mod ad7172;
+mod ad5680;
 mod net;
 mod server;
 use server::Server;
@@ -35,18 +39,18 @@ mod session;
 use session::{Session, SessionInput};
 mod command_parser;
 use command_parser::Ipv4Config;
-mod b_parameter;
-mod channels;
-mod pid;
 mod timer;
-use channels::{Channels, CHANNELS};
+mod pid;
+mod steinhart_hart;
+mod channels;
+use channels::{CHANNELS, Channels};
 mod channel;
 mod channel_state;
 mod config;
 use config::ChannelConfig;
-mod command_handler;
-mod dfu;
 mod flash_store;
+mod dfu;
+mod command_handler;
 use command_handler::Handler;
 mod fan_ctrl;
 use fan_ctrl::FanCtrl;
@@ -69,19 +73,19 @@ fn send_line(socket: &mut TcpSocket, data: &[u8]) -> bool {
         // instead of sending incomplete line
         warn!(
             "TCP socket has only {}/{} needed {}",
-            send_free + 1,
+            send_free + 1, socket.send_capacity(), data.len(),
-            socket.send_capacity(),
-            data.len(),
         );
     } else {
-        match socket.send_slice(data) {
+        match socket.send_slice(&data) {
             Ok(sent) if sent == data.len() => {
                 let _ = socket.send_slice(b"\n");
                 // success
-                return true;
+                return true
             }
-            Ok(sent) => warn!("sent only {}/{} bytes", sent, data.len()),
+            Ok(sent) =>
-            Err(e) => error!("error sending line: {:?}", e),
+                warn!("sent only {}/{} bytes", sent, data.len()),
+            Err(e) =>
+                error!("error sending line: {:?}", e),
         }
     }
     // not success
@@ -100,9 +104,7 @@ fn main() -> ! {
     cp.SCB.enable_dcache(&mut cp.CPUID);
 
     let dp = Peripherals::take().unwrap();
-    let clocks = dp
+    let clocks = dp.RCC.constrain()
-        .RCC
-        .constrain()
         .cfgr
         .use_hse(HSE)
         .sysclk(168.mhz())
@@ -118,15 +120,14 @@ fn main() -> ! {
     timer::setup(cp.SYST, clocks);
 
     let (pins, mut leds, mut eeprom, eth_pins, usb, fan, hwrev, hw_settings) = Pins::setup(
-        clocks,
+        clocks, dp.TIM1, dp.TIM3, dp.TIM8,
-        (dp.TIM1, dp.TIM3, dp.TIM8),
+        dp.GPIOA, dp.GPIOB, dp.GPIOC, dp.GPIOD, dp.GPIOE, dp.GPIOF, dp.GPIOG,
-        (
-            dp.GPIOA, dp.GPIOB, dp.GPIOC, dp.GPIOD, dp.GPIOE, dp.GPIOF, dp.GPIOG,
-        ),
         dp.I2C1,
-        (dp.SPI2, dp.SPI4, dp.SPI5),
+        dp.SPI2, dp.SPI4, dp.SPI5,
         dp.ADC1,
-        (dp.OTG_FS_GLOBAL, dp.OTG_FS_DEVICE, dp.OTG_FS_PWRCLK),
+        dp.OTG_FS_GLOBAL,
+        dp.OTG_FS_DEVICE,
+        dp.OTG_FS_PWRCLK,
     );
 
     leds.r1.on();
@@ -138,11 +139,14 @@ fn main() -> ! {
     let mut store = flash_store::store(dp.FLASH);
 
     let mut channels = Channels::new(pins);
-    for (c, key) in CHANNEL_CONFIG_KEY.iter().enumerate().take(CHANNELS) {
+    for c in 0..CHANNELS {
-        match store.read_value::<ChannelConfig>(key) {
+        match store.read_value::<ChannelConfig>(CHANNEL_CONFIG_KEY[c]) {
-            Ok(Some(config)) => config.apply(&mut channels, c),
+            Ok(Some(config)) =>
-            Ok(None) => error!("flash config not found for channel {}", c),
+                config.apply(&mut channels, c),
-            Err(e) => error!("unable to load config {} from flash: {:?}", c, e),
+            Ok(None) =>
+                error!("flash config not found for channel {}", c),
+            Err(e) =>
+                error!("unable to load config {} from flash: {:?}", c, e),
         }
     }
 
@@ -155,9 +159,11 @@ fn main() -> ! {
         gateway: None,
     };
     match store.read_value("ipv4") {
-        Ok(Some(config)) => ipv4_config = config,
+        Ok(Some(config)) =>
+            ipv4_config = config,
         Ok(None) => {}
-        Err(e) => error!("cannot read ipv4 config: {:?}", e),
+        Err(e) =>
+            error!("cannot read ipv4 config: {:?}", e),
     }
 
     // EEPROM ships with a read-only EUI-48 identifier
@@ -166,115 +172,118 @@ fn main() -> ! {
     let hwaddr = EthernetAddress(eui48);
     info!("EEPROM MAC address: {}", hwaddr);
 
-    net::run(
+    net::run(clocks, dp.ETHERNET_MAC, dp.ETHERNET_DMA, eth_pins, hwaddr, ipv4_config.clone(), |iface| {
-        clocks,
+        Server::<Session>::run(iface, |server| {
-        dp.ETHERNET_MAC,
+            leds.r1.off();
-        dp.ETHERNET_DMA,
+            let mut should_reset = false;
-        eth_pins,
-        hwaddr,
-        ipv4_config.clone(),
-        |iface| {
-            Server::<Session>::run(iface, |server| {
-                leds.r1.off();
-                let mut should_reset = false;
 
-                loop {
+            loop {
-                    let mut new_ipv4_config = None;
+                let mut new_ipv4_config = None;
-                    let instant = Instant::from_millis(i64::from(timer::now()));
+                let instant = Instant::from_millis(i64::from(timer::now()));
-                    channels.poll_adc(instant);
+                let updated_channel = channels.poll_adc(instant);
+                if let Some(channel) = updated_channel {
+                    server.for_each(|_, session| session.set_report_pending(channel.into()));
+                }
 
-                    fan_ctrl.cycle(channels.current_abs_max_tec_i());
+                fan_ctrl.cycle(channels.current_abs_max_tec_i());
 
-                    if channels.pid_engaged() {
+                if channels.pid_engaged() {
-                        leds.g3.on();
+                    leds.g3.on();
-                    } else {
+                } else {
-                        leds.g3.off();
+                    leds.g3.off();
-                    }
+                }
 
-                    let instant = Instant::from_millis(i64::from(timer::now()));
+                let instant = Instant::from_millis(i64::from(timer::now()));
-                    cortex_m::interrupt::free(net::clear_pending);
+                cortex_m::interrupt::free(net::clear_pending);
-                    server.poll(instant).unwrap_or_else(|e| {
+                server.poll(instant)
+                    .unwrap_or_else(|e| {
                         warn!("poll: {:?}", e);
                     });
 
-                    if !should_reset {
+                if ! should_reset {
-                        // TCP protocol handling
+                    // TCP protocol handling
-                        server.for_each(|mut socket, session| {
+                    server.for_each(|mut socket, session| {
-                            if !socket.is_active() {
+                        if ! socket.is_active() {
-                                let _ = socket.listen(TCP_PORT);
+                            let _ = socket.listen(TCP_PORT);
-                                session.reset();
+                            session.reset();
-                            } else if socket.may_send() && !socket.may_recv() {
+                        } else if socket.may_send() && !socket.may_recv() {
-                                socket.close()
+                            socket.close()
-                            } else if socket.can_send() && socket.can_recv() {
+                        } else if socket.can_send() && socket.can_recv() {
-                                match socket.recv(|buf| session.feed(buf)) {
+                            match socket.recv(|buf| session.feed(buf)) {
-                                    // SessionInput::Nothing happens when the line reader parses a string of characters that is not
+                                // SessionInput::Nothing happens when the line reader parses a string of characters that is not
-                                    // followed by a newline character. Could be due to partial commands not terminated with newline,
+                                // followed by a newline character. Could be due to partial commands not terminated with newline,
-                                    // socket RX ring buffer wraps around, or when the command is sent as seperate TCP packets etc.
+                                // socket RX ring buffer wraps around, or when the command is sent as seperate TCP packets etc.
-                                    // Do nothing and feed more data to the line reader in the next loop cycle.
+                                // Do nothing and feed more data to the line reader in the next loop cycle.
-                                    Ok(SessionInput::Nothing) => {}
+                                Ok(SessionInput::Nothing) => {}
-                                    Ok(SessionInput::Command(command)) => {
+                                Ok(SessionInput::Command(command)) => {
-                                        match Handler::handle_command(
+                                    match Handler::handle_command(command, &mut socket, &mut channels, session, &mut store, &mut ipv4_config, &mut fan_ctrl, hwrev) {
-                                            command,
+                                        Ok(Handler::NewIPV4(ip)) => new_ipv4_config = Some(ip),                                
-                                            &mut socket,
+                                        Ok(Handler::Handled) => {},
-                                            &mut channels,
+                                        Ok(Handler::CloseSocket) => socket.close(),
-                                            &mut store,
+                                        Ok(Handler::Reset) => should_reset = true,
-                                            &mut ipv4_config,
+                                        Err(_) => {},
-                                            &mut fan_ctrl,
-                                            hwrev,
-                                        ) {
-                                            Ok(Handler::NewIPV4(ip)) => new_ipv4_config = Some(ip),
-                                            Ok(Handler::Handled) => {}
-                                            Ok(Handler::CloseSocket) => socket.close(),
-                                            Ok(Handler::Reset) => should_reset = true,
-                                            Err(_) => {}
-                                        }
                                     }
-                                    Ok(SessionInput::Error(e)) => {
+                                }
-                                        error!("session input: {:?}", e);
+                                Ok(SessionInput::Error(e)) => {
-                                        send_line(&mut socket, b"{ \"error\": \"invalid input\" }");
+                                    error!("session input: {:?}", e);
+                                    send_line(&mut socket, b"{ \"error\": \"invalid input\" }");
+                                }
+                                Err(_) =>
+                                    socket.close(),
+                            }
+                        } else if socket.can_send() {
+                            if let Some(channel) = session.is_report_pending() {
+                                match channels.reports_json() {
+                                    Ok(buf) => {
+                                        send_line(&mut socket, &buf[..]);
+                                        session.mark_report_sent(channel);
+                                    }
+                                    Err(e) => {
+                                        error!("unable to serialize report: {:?}", e);
+
                                     }
-                                    Err(_) => socket.close(),
                                 }
                             }
-                        });
-                    } else {
-                        // Should reset, close all TCP sockets.
-                        let mut any_socket_alive = false;
-                        server.for_each(|mut socket, _| {
-                            if socket.is_active() {
-                                socket.abort();
-                                any_socket_alive = true;
-                            }
-                        });
-                        // Must let loop run for one more cycle to poll server for RST to be sent,
-                        // this makes sure system does not reset right after socket.abort() is called.
-                        if !any_socket_alive {
-                            SCB::sys_reset();
-                        }
-                    }
-
-                    // Apply new IPv4 address/gateway
-                    if let Some(config) = new_ipv4_config.take() {
-                        server.set_ipv4_config(config.clone());
-                        ipv4_config = config;
-                    };
-
-                    // Update watchdog
-                    wd.feed();
-
-                    leds.g4.off();
-                    cortex_m::interrupt::free(|cs| {
-                        if !net::is_pending(cs) {
-                            // Wait for interrupts
-                            // (Ethernet, SysTick, or USB)
-                            wfi();
                         }
                     });
-                    leds.g4.on();
+                } else {
+                    // Should reset, close all TCP sockets.
+                    let mut any_socket_alive = false;
+                    server.for_each(|mut socket, _| {                        
+                        if socket.is_active() {
+                            socket.abort();
+                            any_socket_alive = true;
+                        }
+                    });
+                    // Must let loop run for one more cycle to poll server for RST to be sent,
+                    // this makes sure system does not reset right after socket.abort() is called.
+                    if !any_socket_alive {
+                        SCB::sys_reset();
+                    }  
                 }
-            });
+
-        },
+                // Apply new IPv4 address/gateway
-    );
+                new_ipv4_config.take()
+                    .map(|config| {
+                        server.set_ipv4_config(config.clone());
+                        ipv4_config = config;
+                    });
+
+                // Update watchdog
+                wd.feed();
+
+                leds.g4.off();
+                cortex_m::interrupt::free(|cs| {
+                    if !net::is_pending(cs) {
+                        // Wait for interrupts
+                        // (Ethernet, SysTick, or USB)
+                        wfi();
+                    }
+                });
+                leds.g4.on();
+            }
+        });
+    });
 
     unreachable!()
 }

src/net.rs

@@ -1,17 +1,20 @@
 //! As there is only one peripheral, supporting data structures are
 //! declared once and globally.
 
-use crate::command_parser::Ipv4Config;
-use crate::pins::EthernetPins;
 use core::cell::RefCell;
 use cortex_m::interrupt::{CriticalSection, Mutex};
-use smoltcp::iface::{EthernetInterface, EthernetInterfaceBuilder, NeighborCache, Routes};
-use smoltcp::wire::{EthernetAddress, Ipv4Address, Ipv4Cidr};
-use stm32_eth::{Eth, RingEntry, RxDescriptor, TxDescriptor};
 use stm32f4xx_hal::{
-    pac::{interrupt, Peripherals, ETHERNET_DMA, ETHERNET_MAC},
     rcc::Clocks,
+    pac::{interrupt, Peripherals, ETHERNET_MAC, ETHERNET_DMA},
 };
+use smoltcp::wire::{EthernetAddress, Ipv4Address, Ipv4Cidr};
+use smoltcp::iface::{
+    EthernetInterfaceBuilder, EthernetInterface,
+    NeighborCache, Routes,
+};
+use stm32_eth::{Eth, RingEntry, RxDescriptor, TxDescriptor};
+use crate::command_parser::Ipv4Config;
+use crate::pins::EthernetPins;
 
 /// Not on the stack so that stack can be placed in CCMRAM (which the
 /// ethernet peripheral cannot access)
@@ -27,27 +30,27 @@ static NET_PENDING: Mutex<RefCell<bool>> = Mutex::new(RefCell::new(false));
 /// Run callback `f` with ethernet driver and TCP/IP stack
 pub fn run<F>(
     clocks: Clocks,
-    ethernet_mac: ETHERNET_MAC,
+    ethernet_mac: ETHERNET_MAC, ethernet_dma: ETHERNET_DMA,
-    ethernet_dma: ETHERNET_DMA,
     eth_pins: EthernetPins,
     ethernet_addr: EthernetAddress,
     ipv4_config: Ipv4Config,
-    f: F,
+    f: F
 ) where
     F: FnOnce(EthernetInterface<&mut stm32_eth::Eth<'static, 'static>>),
 {
-    let rx_ring = unsafe { RX_RING.get_or_insert(Default::default()) };
+    let rx_ring = unsafe {
-    let tx_ring = unsafe { TX_RING.get_or_insert(Default::default()) };
+        RX_RING.get_or_insert(Default::default())
+    };
+    let tx_ring = unsafe {
+        TX_RING.get_or_insert(Default::default())
+    };
     // Ethernet driver
     let mut eth_dev = Eth::new(
-        ethernet_mac,
+        ethernet_mac, ethernet_dma,
-        ethernet_dma,
+        &mut rx_ring[..], &mut tx_ring[..],
-        &mut rx_ring[..],
-        &mut tx_ring[..],
         clocks,
         eth_pins,
-    )
+    ).unwrap();
-    .unwrap();
     eth_dev.enable_interrupt();
 
     // IP stack
@@ -73,7 +76,8 @@ pub fn run<F>(
 #[interrupt]
 fn ETH() {
     cortex_m::interrupt::free(|cs| {
-        *NET_PENDING.borrow(cs).borrow_mut() = true;
+        *NET_PENDING.borrow(cs)
+            .borrow_mut() = true;
     });
 
     let p = unsafe { Peripherals::steal() };
@@ -82,13 +86,15 @@ fn ETH() {
 
 /// Has an interrupt occurred since last call to `clear_pending()`?
 pub fn is_pending(cs: &CriticalSection) -> bool {
-    *NET_PENDING.borrow(cs).borrow()
+    *NET_PENDING.borrow(cs)
+        .borrow()
 }
 
 /// Clear the interrupt pending flag before polling the interface for
 /// data.
 pub fn clear_pending(cs: &CriticalSection) {
-    *NET_PENDING.borrow(cs).borrow_mut() = false;
+    *NET_PENDING.borrow(cs)
+        .borrow_mut() = false;
 }
 
 /// utility for destructuring into smoltcp types

src/pid.rs

@@ -1,4 +1,4 @@
-use serde::{Deserialize, Serialize};
+use serde::{Serialize, Deserialize};
 
 #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
 pub struct Parameters {
@@ -29,37 +29,40 @@ impl Default for Parameters {
 #[derive(Clone)]
 pub struct Controller {
     pub parameters: Parameters,
-    pub target: f64,
+    pub target : f64,
-    u1: f64,
+    u1 : f64,
-    x1: f64,
+    x1 : f64,
-    x2: f64,
+    x2 : f64,
-    pub y1: f64,
+    pub y1 : f64,
 }
 
 impl Controller {
     pub const fn new(parameters: Parameters) -> Controller {
         Controller {
-            parameters,
+            parameters: parameters,
-            target: 0.0,
+            target : 0.0,
-            u1: 0.0,
+            u1 : 0.0,
-            x1: 0.0,
+            x1 : 0.0,
-            x2: 0.0,
+            x2 : 0.0,
-            y1: 0.0,
+            y1 : 0.0,
         }
     }
 
     // Based on https://hackmd.io/IACbwcOTSt6Adj3_F9bKuw PID implementation
     // Input x(t), target u(t), output y(t)
-    // y0' =   y1 - ki * u0
+    // y0' =   y1 - ki * u0   
     //       + x0 * (kp + ki + kd)
     //       - x1 * (kp + 2kd)
     //       + x2 * kd
+    //       + kp * (u0 - u1)
     // y0  = clip(y0', ymin, ymax)
     pub fn update(&mut self, input: f64) -> f64 {
+        
         let mut output: f64 = self.y1 - self.target * f64::from(self.parameters.ki)
-            + input * f64::from(self.parameters.kp + self.parameters.ki + self.parameters.kd)
+                            + input * f64::from(self.parameters.kp + self.parameters.ki + self.parameters.kd)
-            - self.x1 * f64::from(self.parameters.kp + 2.0 * self.parameters.kd)
+                            - self.x1 * f64::from(self.parameters.kp + 2.0 * self.parameters.kd)
-            + self.x2 * f64::from(self.parameters.kd);
+                            + self.x2 * f64::from(self.parameters.kd)
+                            + f64::from(self.parameters.kp) * (self.target - self.u1);
         if output < self.parameters.output_min.into() {
             output = self.parameters.output_min.into();
         }
@@ -69,7 +72,7 @@ impl Controller {
         self.x2 = self.x1;
         self.x1 = input;
         self.u1 = self.target;
-        self.y1 = output;
+        self.y1 = output;        
         output
     }
 
@@ -108,17 +111,17 @@ mod test {
     #[test]
     fn test_controller() {
         // Initial and ambient temperature
-        const DEFAULT: f64 = 20.0;
+        const DEFAULT: f64 = 20.0;    
-        // Target temperature
+        // Target temperature  
-        const TARGET: f64 = 40.0;
+        const TARGET: f64 = 40.0;   
-        // Control tolerance
+        // Control tolerance    
-        const ERROR: f64 = 0.01;
+        const ERROR: f64 = 0.01;    
-        // System response delay
+        // System response delay    
-        const DELAY: usize = 10;
+        const DELAY: usize = 10;  
         // Heat lost
-        const LOSS: f64 = 0.05;
+        const LOSS: f64 = 0.05;    
-        // Limit simulation cycle, reaching this limit before settling fails test
+        // Limit simulation cycle, reaching this limit before settling fails test      
-        const CYCLE_LIMIT: u32 = 1000;
+        const CYCLE_LIMIT: u32 = 1000;  
 
         let mut pid = Controller::new(PARAMETERS.clone());
         pid.target = TARGET;

src/pins.rs

@@ -1,41 +1,49 @@
-use crate::{
-    channel::{Channel0, Channel1},
-    fan_ctrl::FanPin,
-    hw_rev::{HWRev, HWSettings},
-    leds::Leds,
-};
-use eeprom24x::{self, Eeprom24x};
-use stm32_eth::EthPins;
 use stm32f4xx_hal::{
     adc::Adc,
     gpio::{
-        gpioa::*, gpiob::*, gpioc::*, gpioe::*, gpiof::*, gpiog::*, Alternate, AlternateOD, Analog,
+        AF5, Alternate, AlternateOD, Analog, Floating, Input,
-        Floating, GpioExt, Input, Output, PushPull, AF5,
+        gpioa::*,
+        gpiob::*,
+        gpioc::*,
+        gpioe::*,
+        gpiof::*,
+        gpiog::*,
+        GpioExt,
+        Output, PushPull,
     },
     hal::{self, blocking::spi::Transfer, digital::v2::OutputPin},
     i2c::I2c,
     otg_fs::USB,
-    pac::{
-        ADC1, GPIOA, GPIOB, GPIOC, GPIOD, GPIOE, GPIOF, GPIOG, I2C1, OTG_FS_DEVICE, OTG_FS_GLOBAL,
-        OTG_FS_PWRCLK, SPI2, SPI4, SPI5, TIM1, TIM3, TIM8,
-    },
-    pwm::{self, PwmChannels},
     rcc::Clocks,
-    spi::{NoMiso, Spi, TransferModeNormal},
+    pwm::{self, PwmChannels},
-    time::U32Ext,
+    spi::{Spi, NoMiso, TransferModeNormal},
+    pac::{
+        ADC1,
+        GPIOA, GPIOB, GPIOC, GPIOD, GPIOE, GPIOF, GPIOG,
+        I2C1,
+        OTG_FS_GLOBAL, OTG_FS_DEVICE, OTG_FS_PWRCLK,
+        SPI2, SPI4, SPI5,
+        TIM1, TIM3, TIM8
+    },
     timer::Timer,
+    time::U32Ext,
+};
+use eeprom24x::{self, Eeprom24x};
+use stm32_eth::EthPins;
+use crate::{
+    channel::{Channel0, Channel1},
+    leds::Leds,
+    fan_ctrl::FanPin,
+    hw_rev::{HWRev, HWSettings},
 };
 
 pub type Eeprom = Eeprom24x<
-    I2c<
+    I2c<I2C1, (
-        I2C1,
+        PB8<AlternateOD<{ stm32f4xx_hal::gpio::AF4 }>>,
-        (
+        PB9<AlternateOD<{ stm32f4xx_hal::gpio::AF4 }>>
-            PB8<AlternateOD<{ stm32f4xx_hal::gpio::AF4 }>>,
+    )>,
-            PB9<AlternateOD<{ stm32f4xx_hal::gpio::AF4 }>>,
-        ),
-    >,
     eeprom24x::page_size::B8,
-    eeprom24x::addr_size::OneByte,
+    eeprom24x::addr_size::OneByte
 >;
 
 pub type EthernetPins = EthPins<
@@ -46,14 +54,14 @@ pub type EthernetPins = EthPins<
     PB13<Input<Floating>>,
     PC4<Input<Floating>>,
     PC5<Input<Floating>>,
->;
+ >;
 
 pub trait ChannelPins {
     type DacSpi: Transfer<u8>;
     type DacSync: OutputPin;
     type Shdn: OutputPin;
     type VRefPin;
-    type ITecPin;
+    type ItecPin;
     type DacFeedbackPin;
     type TecUMeasPin;
 }
@@ -68,7 +76,7 @@ impl ChannelPins for Channel0 {
     type DacSync = PE4<Output<PushPull>>;
     type Shdn = PE10<Output<PushPull>>;
     type VRefPin = Channel0VRef;
-    type ITecPin = PA6<Analog>;
+    type ItecPin = PA6<Analog>;
     type DacFeedbackPin = PA4<Analog>;
     type TecUMeasPin = PC2<Analog>;
 }
@@ -83,21 +91,13 @@ impl ChannelPins for Channel1 {
     type DacSync = PF6<Output<PushPull>>;
     type Shdn = PE15<Output<PushPull>>;
     type VRefPin = Channel1VRef;
-    type ITecPin = PB0<Analog>;
+    type ItecPin = PB0<Analog>;
     type DacFeedbackPin = PA5<Analog>;
     type TecUMeasPin = PC3<Analog>;
 }
 
 /// SPI peripheral used for communication with the ADC
-pub type AdcSpi = Spi<
+pub type AdcSpi = Spi<SPI2, (PB10<Alternate<AF5>>, PB14<Alternate<AF5>>, PB15<Alternate<AF5>>), TransferModeNormal>;
-    SPI2,
-    (
-        PB10<Alternate<AF5>>,
-        PB14<Alternate<AF5>>,
-        PB15<Alternate<AF5>>,
-    ),
-    TransferModeNormal,
->;
 pub type AdcNss = PB12<Output<PushPull>>;
 type Dac0Spi = Spi<SPI4, (PE2<Alternate<AF5>>, NoMiso, PE6<Alternate<AF5>>), TransferModeNormal>;
 type Dac1Spi = Spi<SPI5, (PF7<Alternate<AF5>>, NoMiso, PF9<Alternate<AF5>>), TransferModeNormal>;
@@ -108,7 +108,7 @@ pub struct ChannelPinSet<C: ChannelPins> {
     pub dac_sync: C::DacSync,
     pub shdn: C::Shdn,
     pub vref_pin: C::VRefPin,
-    pub itec_pin: C::ITecPin,
+    pub itec_pin: C::ItecPin,
     pub dac_feedback_pin: C::DacFeedbackPin,
     pub tec_u_meas_pin: C::TecUMeasPin,
 }
@@ -133,34 +133,13 @@ impl Pins {
     /// Setup GPIO pins and configure MCU peripherals
     pub fn setup(
         clocks: Clocks,
-        (tim1, tim3, tim8): (TIM1, TIM3, TIM8),
+        tim1: TIM1, tim3: TIM3, tim8: TIM8,
-        (gpioa, gpiob, gpioc, gpiod, gpioe, gpiof, gpiog): (
+        gpioa: GPIOA, gpiob: GPIOB, gpioc: GPIOC, gpiod: GPIOD, gpioe: GPIOE, gpiof: GPIOF, gpiog: GPIOG,
-            GPIOA,
-            GPIOB,
-            GPIOC,
-            GPIOD,
-            GPIOE,
-            GPIOF,
-            GPIOG,
-        ),
         i2c1: I2C1,
-        (spi2, spi4, spi5): (SPI2, SPI4, SPI5),
+        spi2: SPI2, spi4: SPI4, spi5: SPI5,
         adc1: ADC1,
-        (otg_fs_global, otg_fs_device, otg_fs_pwrclk): (
+        otg_fs_global: OTG_FS_GLOBAL, otg_fs_device: OTG_FS_DEVICE, otg_fs_pwrclk: OTG_FS_PWRCLK,
-            OTG_FS_GLOBAL,
+    ) -> (Self, Leds, Eeprom, EthernetPins, USB, Option<FanPin>, HWRev, HWSettings) {
-            OTG_FS_DEVICE,
-            OTG_FS_PWRCLK,
-        ),
-    ) -> (
-        Self,
-        Leds,
-        Eeprom,
-        EthernetPins,
-        USB,
-        Option<FanPin>,
-        HWRev,
-        HWSettings,
-    ) {
         let gpioa = gpioa.split();
         let gpiob = gpiob.split();
         let gpioc = gpioc.split();
@@ -175,29 +154,23 @@ impl Pins {
         let pins_adc = Adc::adc1(adc1, true, Default::default());
 
         let pwm = PwmPins::setup(
-            clocks,
+            clocks, tim1, tim3,
-            (tim1, tim3),
+            gpioc.pc6, gpioc.pc7,
-            (gpioc.pc6, gpioc.pc7),
+            gpioe.pe9, gpioe.pe11,
-            (gpioe.pe9, gpioe.pe11),
+            gpioe.pe13, gpioe.pe14
-            (gpioe.pe13, gpioe.pe14),
         );
 
-        let hwrev = HWRev::detect_hw_rev(&HWRevPins {
+        let hwrev = HWRev::detect_hw_rev(&HWRevPins {hwrev0: gpiod.pd0, hwrev1: gpiod.pd1,
-            hwrev0: gpiod.pd0,
+            hwrev2: gpiod.pd2, hwrev3: gpiod.pd3});
-            hwrev1: gpiod.pd1,
-            hwrev2: gpiod.pd2,
-            hwrev3: gpiod.pd3,
-        });
         let hw_settings = hwrev.settings();
 
-        let (dac0_spi, dac0_sync) = Self::setup_dac0(clocks, spi4, gpioe.pe2, gpioe.pe4, gpioe.pe6);
+        let (dac0_spi, dac0_sync) = Self::setup_dac0(
+            clocks, spi4,
+            gpioe.pe2, gpioe.pe4, gpioe.pe6
+        );
         let mut shdn0 = gpioe.pe10.into_push_pull_output();
-        shdn0.set_low();
+        let _ = shdn0.set_low();
-        let vref0_pin = if hwrev.major > 2 {
+        let vref0_pin = if hwrev.major > 2 {Channel0VRef::Analog(gpioa.pa0.into_analog())} else {Channel0VRef::Disabled(gpioa.pa0)};
-            Channel0VRef::Analog(gpioa.pa0.into_analog())
-        } else {
-            Channel0VRef::Disabled(gpioa.pa0)
-        };
         let itec0_pin = gpioa.pa6.into_analog();
         let dac_feedback0_pin = gpioa.pa4.into_analog();
         let tec_u_meas0_pin = gpioc.pc2.into_analog();
@@ -211,14 +184,13 @@ impl Pins {
             tec_u_meas_pin: tec_u_meas0_pin,
         };
 
-        let (dac1_spi, dac1_sync) = Self::setup_dac1(clocks, spi5, gpiof.pf7, gpiof.pf6, gpiof.pf9);
+        let (dac1_spi, dac1_sync) = Self::setup_dac1(
+            clocks, spi5,
+            gpiof.pf7, gpiof.pf6, gpiof.pf9
+        );
         let mut shdn1 = gpioe.pe15.into_push_pull_output();
-        shdn1.set_low();
+        let _ = shdn1.set_low();
-        let vref1_pin = if hwrev.major > 2 {
+        let vref1_pin = if hwrev.major > 2 {Channel1VRef::Analog(gpioa.pa3.into_analog())} else {Channel1VRef::Disabled(gpioa.pa3)};
-            Channel1VRef::Analog(gpioa.pa3.into_analog())
-        } else {
-            Channel1VRef::Disabled(gpioa.pa3)
-        };
         let itec1_pin = gpiob.pb0.into_analog();
         let dac_feedback1_pin = gpioa.pa5.into_analog();
         let tec_u_meas1_pin = gpioc.pc3.into_analog();
@@ -233,19 +205,14 @@ impl Pins {
         };
 
         let pins = Pins {
-            adc_spi,
+            adc_spi, adc_nss,
-            adc_nss,
             pins_adc,
             pwm,
             channel0,
             channel1,
         };
 
-        let leds = Leds::new(
+        let leds = Leds::new(gpiod.pd9, gpiod.pd10.into_push_pull_output(), gpiod.pd11.into_push_pull_output());
-            gpiod.pd9,
-            gpiod.pd10.into_push_pull_output(),
-            gpiod.pd11.into_push_pull_output(),
-        );
 
         let eeprom_scl = gpiob.pb8.into_alternate().set_open_drain();
         let eeprom_sda = gpiob.pb9.into_alternate().set_open_drain();
@@ -272,13 +239,8 @@ impl Pins {
         };
 
         let fan = if hw_settings.fan_available {
-            Some(
+             Some(Timer::new(tim8, &clocks).pwm(gpioc.pc9.into_alternate(), hw_settings.fan_pwm_freq_hz.hz()))
-                Timer::new(tim8, &clocks)
+        } else { None };
-                    .pwm(gpioc.pc9.into_alternate(), hw_settings.fan_pwm_freq_hz.hz()),
-            )
-        } else {
-            None
-        };
 
         (pins, leds, eeprom, eth_pins, usb, fan, hwrev, hw_settings)
     }
@@ -290,7 +252,8 @@ impl Pins {
         sck: PB10<M1>,
         miso: PB14<M2>,
         mosi: PB15<M3>,
-    ) -> AdcSpi {
+    ) -> AdcSpi
+    {
         let sck = sck.into_alternate();
         let miso = miso.into_alternate();
         let mosi = mosi.into_alternate();
@@ -299,16 +262,13 @@ impl Pins {
             (sck, miso, mosi),
             crate::ad7172::SPI_MODE,
             crate::ad7172::SPI_CLOCK,
-            clocks,
+            clocks
         )
     }
 
     fn setup_dac0<M1, M2, M3>(
-        clocks: Clocks,
+        clocks: Clocks, spi4: SPI4,
-        spi4: SPI4,
+        sclk: PE2<M1>, sync: PE4<M2>, sdin: PE6<M3>
-        sclk: PE2<M1>,
-        sync: PE4<M2>,
-        sdin: PE6<M3>,
     ) -> (Dac0Spi, <Channel0 as ChannelPins>::DacSync) {
         let sclk = sclk.into_alternate();
         let sdin = sdin.into_alternate();
@@ -317,7 +277,7 @@ impl Pins {
             (sclk, NoMiso {}, sdin),
             crate::ad5680::SPI_MODE,
             crate::ad5680::SPI_CLOCK,
-            clocks,
+            clocks
         );
         let sync = sync.into_push_pull_output();
 
@@ -325,11 +285,8 @@ impl Pins {
     }
 
     fn setup_dac1<M1, M2, M3>(
-        clocks: Clocks,
+        clocks: Clocks, spi5: SPI5,
-        spi5: SPI5,
+        sclk: PF7<M1>, sync: PF6<M2>, sdin: PF9<M3>
-        sclk: PF7<M1>,
-        sync: PF6<M2>,
-        sdin: PF9<M3>,
     ) -> (Dac1Spi, <Channel1 as ChannelPins>::DacSync) {
         let sclk = sclk.into_alternate();
         let sdin = sdin.into_alternate();
@@ -338,7 +295,7 @@ impl Pins {
             (sclk, NoMiso {}, sdin),
             crate::ad5680::SPI_MODE,
             crate::ad5680::SPI_CLOCK,
-            clocks,
+            clocks
         );
         let sync = sync.into_push_pull_output();
 
@@ -358,18 +315,25 @@ pub struct PwmPins {
 impl PwmPins {
     fn setup<M1, M2, M3, M4, M5, M6>(
         clocks: Clocks,
-        (tim1, tim3): (TIM1, TIM3),
+        tim1: TIM1,
-        (max_v0, max_v1): (PC6<M1>, PC7<M2>),
+        tim3: TIM3,
-        (max_i_pos0, max_i_pos1): (PE9<M3>, PE11<M4>),
+        max_v0: PC6<M1>,
-        (max_i_neg0, max_i_neg1): (PE13<M5>, PE14<M6>),
+        max_v1: PC7<M2>,
+        max_i_pos0: PE9<M3>,
+        max_i_pos1: PE11<M4>,
+        max_i_neg0: PE13<M5>,
+        max_i_neg1: PE14<M6>,
     ) -> PwmPins {
         let freq = 20u32.khz();
 
-        fn init_pwm_pin<P: hal::PwmPin<Duty = u16>>(pin: &mut P) {
+        fn init_pwm_pin<P: hal::PwmPin<Duty=u16>>(pin: &mut P) {
             pin.set_duty(0);
             pin.enable();
         }
-        let channels = (max_v0.into_alternate(), max_v1.into_alternate());
+        let channels = (
+            max_v0.into_alternate(),
+            max_v1.into_alternate(),
+        );
         //let (mut max_v0, mut max_v1) = pwm::tim3(tim3, channels, clocks, freq);
         let (mut max_v0, mut max_v1) = Timer::new(tim3, &clocks).pwm(channels, freq);
         init_pwm_pin(&mut max_v0);
@@ -389,12 +353,9 @@ impl PwmPins {
         init_pwm_pin(&mut max_i_neg1);
 
         PwmPins {
-            max_v0,
+            max_v0, max_v1,
-            max_v1,
+            max_i_pos0, max_i_pos1,
-            max_i_pos0,
+            max_i_neg0, max_i_neg1,
-            max_i_pos1,
-            max_i_neg0,
-            max_i_neg1,
         }
     }
 }

src/server.rs

@@ -1,29 +1,25 @@
-use crate::command_parser::Ipv4Config;
-use crate::net::split_ipv4_config;
 use smoltcp::{
     iface::EthernetInterface,
-    socket::{SocketHandle, SocketRef, SocketSet, TcpSocket, TcpSocketBuffer},
+    socket::{SocketSet, SocketHandle, TcpSocket, TcpSocketBuffer, SocketRef},
     time::Instant,
     wire::{IpAddress, IpCidr, Ipv4Address, Ipv4Cidr},
 };
+use crate::command_parser::Ipv4Config;
+use crate::net::split_ipv4_config;
 
 pub struct SocketState<S> {
     handle: SocketHandle,
     state: S,
 }
 
-impl<'a, S: Default> SocketState<S> {
+impl<'a, S: Default> SocketState<S>{
-    fn new(
+    fn new(sockets: &mut SocketSet<'a>, tcp_rx_storage: &'a mut [u8; TCP_RX_BUFFER_SIZE], tcp_tx_storage: &'a mut [u8; TCP_TX_BUFFER_SIZE]) -> SocketState<S> {
-        sockets: &mut SocketSet<'a>,
-        tcp_rx_storage: &'a mut [u8; TCP_RX_BUFFER_SIZE],
-        tcp_tx_storage: &'a mut [u8; TCP_TX_BUFFER_SIZE],
-    ) -> SocketState<S> {
         let tcp_rx_buffer = TcpSocketBuffer::new(&mut tcp_rx_storage[..]);
         let tcp_tx_buffer = TcpSocketBuffer::new(&mut tcp_tx_storage[..]);
         let tcp_socket = TcpSocket::new(tcp_rx_buffer, tcp_tx_buffer);
         SocketState::<S> {
             handle: sockets.add(tcp_socket),
-            state: S::default(),
+            state: S::default()
         }
     }
 }
@@ -54,7 +50,7 @@ impl<'a, 'b, S: Default> Server<'a, 'b, S> {
             ($rx_storage:ident, $tx_storage:ident) => {
                 let mut $rx_storage = [0; TCP_RX_BUFFER_SIZE];
                 let mut $tx_storage = [0; TCP_TX_BUFFER_SIZE];
-            };
+            }
         }
 
         create_rtx_storage!(tcp_rx_storage0, tcp_tx_storage0);
@@ -103,10 +99,15 @@ impl<'a, 'b, S: Default> Server<'a, 'b, S> {
     fn set_ipv4_address(&mut self, ipv4_address: Ipv4Cidr) {
         self.net.update_ip_addrs(|addrs| {
             for addr in addrs.iter_mut() {
-                if let IpCidr::Ipv4(_) = addr {
+                match addr {
-                    *addr = IpCidr::Ipv4(ipv4_address);
+                    IpCidr::Ipv4(_) => {
-                    // done
+                        *addr = IpCidr::Ipv4(ipv4_address);
-                    break;
+                        // done
+                        break
+                    }
+                    _ => {
+                        // skip
+                    }
                 }
             }
         });
@@ -115,9 +116,10 @@ impl<'a, 'b, S: Default> Server<'a, 'b, S> {
     fn set_gateway(&mut self, gateway: Option<Ipv4Address>) {
         let routes = self.net.routes_mut();
         match gateway {
-            None => routes.update(|routes_storage| {
+            None =>
-                routes_storage.remove(&IpCidr::new(IpAddress::v4(0, 0, 0, 0), 0));
+                routes.update(|routes_storage| {
-            }),
+                    routes_storage.remove(&IpCidr::new(IpAddress::v4(0, 0, 0, 0), 0));
+                }),
             Some(gateway) => {
                 routes.add_default_ipv4_route(gateway).unwrap();
             }

src/session.rs

@@ -1,4 +1,5 @@
 use super::command_parser::{Command, Error as ParserError};
+use super::channels::CHANNELS;
 
 const MAX_LINE_LEN: usize = 64;
 
@@ -45,14 +46,15 @@ pub enum SessionInput {
 
 impl From<Result<Command, ParserError>> for SessionInput {
     fn from(input: Result<Command, ParserError>) -> Self {
-        input
+        input.map(SessionInput::Command)
-            .map(SessionInput::Command)
             .unwrap_or_else(SessionInput::Error)
     }
 }
 
 pub struct Session {
     reader: LineReader,
+    reporting: bool,
+    report_pending: [bool; CHANNELS],
 }
 
 impl Default for Session {
@@ -65,11 +67,43 @@ impl Session {
     pub fn new() -> Self {
         Session {
             reader: LineReader::new(),
+            reporting: false,
+            report_pending: [false; CHANNELS],
         }
     }
 
     pub fn reset(&mut self) {
         self.reader = LineReader::new();
+        self.reporting = false;
+        self.report_pending = [false; CHANNELS];
+    }
+
+    pub fn reporting(&self) -> bool {
+        self.reporting
+    }
+
+    pub fn set_report_pending(&mut self, channel: usize) {
+        if self.reporting {
+            self.report_pending[channel] = true;
+        }
+    }
+
+    pub fn is_report_pending(&self) -> Option<usize> {
+        if ! self.reporting {
+            None
+        } else {
+            self.report_pending.iter()
+                .enumerate()
+                .fold(None, |result, (channel, report_pending)| {
+                    result.or_else(|| {
+                        if *report_pending { Some(channel) } else { None }
+                    })
+                })
+        }
+    }
+
+    pub fn mark_report_sent(&mut self, channel: usize) {
+        self.report_pending[channel] = false;
     }
 
     pub fn feed(&mut self, buf: &[u8]) -> (usize, SessionInput) {
@@ -77,9 +111,18 @@ impl Session {
         for (i, b) in buf.iter().enumerate() {
             buf_bytes = i + 1;
             let line = self.reader.feed(*b);
-            if let Some(line) = line {
+            match line {
-                let command = Command::parse(line);
+                Some(line) => {
-                return (buf_bytes, command.into());
+                    let command = Command::parse(&line);
+                    match command {
+                        Ok(Command::Reporting(reporting)) => {
+                            self.reporting = reporting;
+                        }
+                        _ => {}
+                    }
+                    return (buf_bytes, command.into());
+                }
+                None => {}
             }
         }
         (buf_bytes, SessionInput::Nothing)

src/steinhart_hart.rs

@@ -1,29 +1,31 @@
 use num_traits::float::Float;
-use serde::{Deserialize, Serialize};
 use uom::si::{
+    f64::{
+        ElectricalResistance,
+        ThermodynamicTemperature,
+    },
     electrical_resistance::ohm,
-    f64::{ElectricalResistance, TemperatureInterval, ThermodynamicTemperature},
     ratio::ratio,
-    temperature_interval::kelvin as kelvin_interval,
     thermodynamic_temperature::{degree_celsius, kelvin},
 };
+use serde::{Deserialize, Serialize};
 
-/// B-Parameter equation parameters
+/// Steinhart-Hart equation parameters
 #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
 pub struct Parameters {
     /// Base temperature
     pub t0: ThermodynamicTemperature,
-    /// Thermistor resistance at base temperature
+    /// Base resistance
     pub r0: ElectricalResistance,
-    /// Beta (average slope of the function ln R vs. 1/T)
+    /// Beta
-    pub b: TemperatureInterval,
+    pub b: f64,
 }
 
 impl Parameters {
-    /// Perform the resistance to temperature conversion.
+    /// Perform the voltage to temperature conversion.
     pub fn get_temperature(&self, r: ElectricalResistance) -> ThermodynamicTemperature {
-        let temp = (self.t0.recip() + (r / self.r0).get::<ratio>().ln() / self.b).recip();
+        let inv_temp = 1.0 / self.t0.get::<kelvin>() + (r / self.r0).get::<ratio>().ln() / self.b;
-        ThermodynamicTemperature::new::<kelvin>(temp.get::<kelvin_interval>())
+        ThermodynamicTemperature::new::<kelvin>(1.0 / inv_temp)
     }
 }
 
@@ -32,7 +34,7 @@ impl Default for Parameters {
         Parameters {
             t0: ThermodynamicTemperature::new::<degree_celsius>(25.0),
             r0: ElectricalResistance::new::<ohm>(10_000.0),
-            b: TemperatureInterval::new::<kelvin_interval>(3800.0),
+            b: 3800.0,
         }
     }
 }

src/timer.rs

@@ -4,9 +4,9 @@ use cortex_m::interrupt::Mutex;
 use cortex_m_rt::exception;
 use stm32f4xx_hal::{
     rcc::Clocks,
-    stm32::SYST,
     time::U32Ext,
-    timer::{Event as TimerEvent, Timer},
+    timer::{Timer, Event as TimerEvent},
+    stm32::SYST,
 };
 
 /// Rate in Hz
@@ -18,6 +18,7 @@ static TIMER_MS: Mutex<RefCell<u32>> = Mutex::new(RefCell::new(0));
 
 /// Setup SysTick exception
 pub fn setup(syst: SYST, clocks: Clocks) {
+    
     let timer = Timer::syst(syst, &clocks);
     let mut countdown = timer.start_count_down(TIMER_RATE.hz());
     countdown.listen(TimerEvent::TimeOut);
@@ -27,13 +28,18 @@ pub fn setup(syst: SYST, clocks: Clocks) {
 #[exception]
 fn SysTick() {
     cortex_m::interrupt::free(|cs| {
-        *TIMER_MS.borrow(cs).borrow_mut() += TIMER_DELTA;
+        *TIMER_MS.borrow(cs)
+            .borrow_mut() += TIMER_DELTA;
     });
 }
 
 /// Obtain current time in milliseconds
 pub fn now() -> u32 {
-    cortex_m::interrupt::free(|cs| *TIMER_MS.borrow(cs).borrow().deref())
+    cortex_m::interrupt::free(|cs| {
+        *TIMER_MS.borrow(cs)
+            .borrow()
+            .deref()
+    })
 }
 
 /// block for at least `amount` milliseconds

src/usb.rs

@@ -1,18 +1,15 @@
-use core::{
+use core::{fmt::{self, Write}, mem::MaybeUninit};
-    fmt::{self, Write},
-    mem::MaybeUninit,
-};
 use cortex_m::interrupt::free;
-use log::{Log, Metadata, Record};
 use stm32f4xx_hal::{
-    otg_fs::{UsbBus as Bus, USB},
+    otg_fs::{USB, UsbBus as Bus},
     stm32::{interrupt, Interrupt, NVIC},
 };
 use usb_device::{
-    class_prelude::UsbBusAllocator,
+    class_prelude::{UsbBusAllocator},
     prelude::{UsbDevice, UsbDeviceBuilder, UsbVidPid},
 };
 use usbd_serial::SerialPort;
+use log::{Record, Log, Metadata};
 
 static mut EP_MEMORY: [u32; 1024] = [0; 1024];
 
@@ -39,8 +36,8 @@ impl State {
             .device_class(usbd_serial::USB_CLASS_CDC)
             .build();
 
-        free(|_| unsafe {
+        free(|_| {
-            STATE = Some(State { serial, dev });
+            unsafe { STATE = Some(State { serial, dev }); }
         });
 
         unsafe {
@@ -97,7 +94,8 @@ impl Write for SerialOutput {
     fn write_str(&mut self, s: &str) -> core::result::Result<(), core::fmt::Error> {
         if let Some(ref mut state) = State::get() {
             for chunk in s.as_bytes().chunks(16) {
-                free(|_| state.serial.write(chunk)).map_err(|_| fmt::Error)?;
+                free(|_| state.serial.write(chunk))
+                    .map_err(|_| fmt::Error)?;
             }
         }
         Ok(())