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Author SHA1 Message Date
298746c338 Rename all Steinhart-Hart references to B-param
The Steinhart-Hart equation was changed in code long ago to the
B-parameter equation. Rename references to it and the interface
accordingly. The `s-h` command is now `b-p`.

The reason the name "B-Parameter" equation was chosen over
"Beta-Parameter" was due to its easier searchability.
2024-10-14 15:26:40 +08:00
fcb5cf1d4e Add command parser test for polarity command 2024-10-14 12:46:13 +08:00
d517087e10 README: Purge all traces of report mode 2024-10-14 10:08:08 +08:00
798b400aa5 Show and save set value for PWM limits
Show in PwmSummary the set value, before all PWM duty calculations
instead of the machine value after the calculations. Also save the set
value into the flash store instead of the machine value.
2024-10-07 10:41:31 +08:00
93dc39e943 README: Document PWM value clamping 2024-10-07 10:41:31 +08:00
5c3b759d0c PwmSummary: Don't show max PWM values
Putting the maximum in PwmSummary has little use - the maximum never
changes throughout the runtime of the firmware and can be replaced by
documentation elsewhere.
2024-10-07 10:41:31 +08:00
6224486662 Show polarity in pwm command 2024-09-30 17:36:50 +08:00
32bd49b258 Add a command to reverse the output polarity
Effectively flips all values related to the directionality of current
through the TEC, including current maximums. The reversed status is
stored in the flash store and will be loaded on reset once saved.

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

This is needed for IDC cable connections to the Sinara 5432 DAC
"Zotino", since the TEC pins of the 10-pin connector on the Thermostat
and Zotino have opposite polarities.
2024-09-30 17:36:47 +08:00
ad54842c43 Fix wrong current limit duty cycle calculation
- prev commit assumed setting 3.3V -> 3A current limit which is wrong
- Please refer to the MAX1968 datasheet for the duty cycle
calculation equation
2024-09-25 17:20:29 +08:00
b336c4f993 Remove report mode
As the report mode command breaks the send-receive architecture model of
the command interface, and is deemed an anti-feature, making clients
difficult to write, remove it from the firmware entirely.
2024-09-25 17:19:34 +08:00
680193b34b Fix incorrect dac calibration algo
- Fix abnormally long calibration time
2024-09-20 21:21:14 +08:00
ae4bea0c8a gitignore: Ignore .bin files and __pycache__ 2024-09-19 10:08:58 +08:00
1f2de942e4 flake: Add rlwrap to devShell 2024-09-19 10:06:45 +08:00
1041d3ecbb Improve the VREF calibration routine
* Fix wrong calibration of VREF on startup. Caused new v2.2.2 boards to
wrongly calibrate the zero-point to ~2.2 V instead of 1.5 V.

* Fix bootloop on some boards.

* Adjust watchdog interval accordingly.
2024-09-16 18:14:47 +08:00
c6040899dd ItecPin -> ITecPin 2024-08-12 13:02:22 +08:00
9d89104f50 README: Fix command to make firmware BIN ()
Co-authored-by: atse <atse@m-labs.hk>
Co-committed-by: atse <atse@m-labs.hk>
2024-08-07 18:22:48 +08:00
136c7a0b52 Calculate current_abs_max_tec_i from all channels
Instead of picking channels 0 and 1. Helps to generalise for more than 2
channels.
2024-08-07 16:14:28 +08:00
5000cae1b1 Grammar fixes 2024-08-07 16:09:30 +08:00
78ec77509f flake: Install LLVM in devShell too
So that developers can use `llvm-objcopy` in their devShells as well.
2024-08-07 16:06:19 +08:00
52aa3890c1 Update nix repos 2024-08-06 13:38:58 +08:00
1ae6a6fdd4 flake: More concise devShell
No need for C compiler in development shell + use "packages" to
explicitly refer to devShell packages
2024-08-06 11:14:25 +08:00
7333d2cea5 flake: Don't use deprecated flake output schemas 2024-08-06 11:09:51 +08:00
44e9130010 Use oxalica's rust-overlay
Follow ARTIQ, and in this project lets us include the version number
directly in flake.nix instead of linking to the toml file of a specific
release date, as we use stable Rust.

Also, from nixpkgs manual:
    both oxalica's overlay and fenix better integrate with nix and cache
    optimizations. Because of this and ergonomics, either of those
    community projects should be preferred to the Mozilla's Rust overlay
    (nixpkgs-mozilla).
2024-06-27 12:42:00 +08:00
5b0c6f7018 Save i_set into ChannelConfig 2024-05-18 10:50:54 +08:00
1007982b48 clamp TEC settings to a valid & design specs range
- Not respecting the design specs can cause hardware to get stuck in unrecoverable state
2024-05-10 15:17:46 +08:00
925601f4f5 rm pid setpoint change kick 2024-05-10 10:29:08 +08:00
8c1cb3117c README: Add notes on i_tec & tec_ireadouts 2024-05-02 17:48:47 +08:00
1fcfe41a63 Add averaging filter on the pin_adc readings
- Adapted from Kirdy Firmware
- Can reduce the i_tec readings noise dispersion
2024-05-02 16:49:55 +08:00
9fce19a418 Revert "Disable feedback current readout on flawed HW Revs"
This reverts commit ae3d8b51d4.
2024-05-02 14:38:40 +08:00
00d5feaa8d Limit i_set within range of MAX1968 chip 2024-04-24 18:05:20 +08:00
09be55e12a Don't load REF pin of MAX1968 chip on HWRevs < 3.0
The REF pin of the MAX1968 on hardware revisions v2.x is missing a
buffer, loading the pin on every CPU ADC read. Avoid reading from it and
leave the pin floating on affected hardware revisions, and return the
nominal 1.5V instead.
2024-04-03 16:32:57 +08:00
76547be90a i_tec -> i_set
i_tec is reserved for the voltage signal coming out of the MAX1968 chip
for now.
2024-02-14 17:27:12 +08:00
8b975e656e Stop i_set from fluctuating in every report
i_set is a user-provided value that shouldn't fluctuate with every VREF
measurement. Storing i_set as channel state is the simplest way to avoid
that.
2024-02-14 17:21:39 +08:00
ae3d8b51d4 Disable feedback current readout on flawed HW Revs
Thermostats v2.2 and below have a noisy and offset feedback current
`tec_i` caused by missing hardware on 2 MAX1968 TEC driver pins:

1. A missing RC filter on the ITEC pin that would have isolated CPU
sampling pulses from the signal; and
2. Some missing buffering on the VREF pin that would have avoided
loading the VREF signal, preventing voltage drops from the nominal 1.5V.

Since the resulting signal `tec_i` derived from these two signals can
have an error of around +/- 100mA, and readback may affect the stability
performance of the Thermostat, disable current readback entirely on
affected hardware revisions for now.

See https://github.com/sinara-hw/Thermostat/issues/117 and
https://github.com/sinara-hw/Thermostat/issues/120.

On hardware revisions v3.x and above, this would be fixed.
2024-01-31 12:12:22 +08:00
17edae44fb README: Proofread fan control documentation 2024-01-30 12:43:19 +08:00
03b4561142 Refactor current_abs_max_tec_i to use uom 2024-01-30 11:41:52 +08:00
631a10938d README: Remove VREF 2024-01-26 17:00:27 +08:00
18 changed files with 513 additions and 510 deletions

3
.gitignore vendored
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@ -1,2 +1,5 @@
target/
result
*.bin
__pycache__/

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@ -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: `arm-none-eabi-objcopy -O binary thermostat thermostat.bin` (you can skip this step if using the BIN from Hydra)
* 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)
* 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
@ -84,9 +84,7 @@ invalidate the first line of input.
### Reading ADC input
Set report mode to `on` for a continuous stream of input data.
The scope of this setting is per TCP session.
ADC input data is provided in reports. Query for the latest report with the command `report`. See the *Reports* section below.
### TCP commands
@ -95,15 +93,14 @@ Send commands as simple text string terminated by `\n`. Responses are
formatted as line-delimited JSON.
| Syntax | Function |
|----------------------------------|-------------------------------------------------------------------------------|
|------------------------------------------- |-------------------------------------------------------------------------------|
| `report` | Show current input |
| `report mode` | Show current report mode |
| `report mode <off/on>` | Set report mode |
| `pwm` | Show current PWM settings |
| `pwm <0/1> max_i_pos <amp>` | Set maximum positive output current |
| `pwm <0/1> max_i_neg <amp>` | Set maximum negative output current |
| `pwm <0/1> max_v <volt>` | Set maximum output voltage |
| `pwm <0/1> i_set <amp>` | Disengage PID, set fixed output current |
| `pwm <0/1> max_i_pos <amp>` | Set maximum positive output current, clamped to [0, 2] |
| `pwm <0/1> max_i_neg <amp>` | Set maximum negative output current, clamped to [0, 2] |
| `pwm <0/1> max_v <volt>` | Set maximum output voltage, clamped to [0, 4] |
| `pwm <0/1> i_set <amp>` | Disengage PID, set fixed output current, clamped to [-2, 2] |
| `pwm <0/1> polarity <normal/reversed>` | Set output current polarity, with 'normal' being the front panel polarity |
| `pwm <0/1> pid` | Let output current to be controlled by the PID |
| `center <0/1> <volt>` | Set the MAX1968 0A-centerpoint to the specified fixed voltage |
| `center <0/1> vref` | Set the MAX1968 0A-centerpoint to measure from VREF |
@ -114,8 +111,8 @@ formatted as line-delimited JSON.
| `pid <0/1> kd <value>` | Set differential gain |
| `pid <0/1> output_min <amp>` | Set mininum output |
| `pid <0/1> output_max <amp>` | Set maximum output |
| `s-h` | Show Steinhart-Hart equation parameters |
| `s-h <0/1> <t0/b/r0> <value>` | Set Steinhart-Hart parameter for a channel |
| `b-p` | Show B-Parameter equation parameters |
| `b-p <0/1> <t0/b/r0> <value>` | Set B-Parameter for a channel |
| `postfilter` | Show postfilter settings |
| `postfilter <0/1> off` | Disable postfilter |
| `postfilter <0/1> rate <rate>` | Set postfilter output data rate |
@ -147,22 +144,22 @@ 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 Beta parameters
for the Steinhart-Hart equation.
ADC. To prepare conversion to a temperature, set the parameters
for the B-Parameter equation.
Set the base temperature in degrees celsius for the channel 0 thermistor:
```
s-h 0 t0 20
b-p 0 t0 20
```
Set the resistance in Ohms measured at the base temperature t0:
```
s-h 0 r0 10000
b-p 0 r0 10000
```
Set the Beta parameter:
```
s-h 0 b 3800
b-p 0 b 3800
```
### 50/60 Hz filtering
@ -186,6 +183,8 @@ postfilter rate can be tuned with the `postfilter` command.
When using a TEC module with the Thermostat, the Thermostat expects the thermal load (where the thermistor is located) to cool down with a positive software current set point, and heat up with a negative current set point.
If the Thermostat is used for temperature control with the Sinara 5432 DAC "Zotino", and is connected via an IDC cable, the TEC polarity may need to be reversed with the `pwm <ch> polarity reversed` TCP command.
Testing heat flow direction with a low set current is recommended before installation of the TEC module.
### Limits
@ -251,8 +250,7 @@ pwm 0 pid
## Reports
Use the bare `report` command to obtain a single report. Enable
continuous reporting with `report mode on`. Reports are JSON objects
Use the bare `report` command to obtain a single report. Reports are JSON objects
with the following keys.
| Key | Unit | Description |
@ -261,10 +259,9 @@ with the following keys.
| `time` | Seconds | Temperature measurement time |
| `adc` | Volts | AD7172 input |
| `sens` | Ohms | Thermistor resistance derived from `adc` |
| `temperature` | Degrees Celsius | Steinhart-Hart conversion result derived from `sens` |
| `temperature` | Degrees Celsius | B-Parameter conversion result derived from `sens` |
| `pid_engaged` | Boolean | `true` if in closed-loop mode |
| `i_set` | Amperes | TEC output current |
| `vref` | Volts | MAX1968 VREF (1.5 V) |
| `dac_value` | Volts | AD5680 output derived from `i_set` |
| `dac_feedback` | Volts | ADC measurement of the AD5680 output |
| `i_tec` | Volts | MAX1968 TEC current monitor |
@ -272,18 +269,19 @@ with the following keys.
| `tec_u_meas` | Volts | Measurement of the voltage across the TEC |
| `pid_output` | Amperes | PID control output |
Note: With Thermostat v2 and below, the voltage and current readouts `i_tec` and `tec_i` are noisy without the hardware fix shown in [this PR][https://git.m-labs.hk/M-Labs/thermostat/pulls/105].
## PID Tuning
The thermostat implements a PID control loop for each of the TEC channels, more details on setting up the PID control loop can be found [here](./doc/PID%20tuning.md).
## Fan control
Fan control is available for the thermostat revisions with integrated fan system. For this purpose four commands are available:
Fan control commands are available for thermostat revisions with an integrated fan system:
1. `fan` - show fan stats: `fan_pwm`, `abs_max_tec_i`, `auto_mode`, `k_a`, `k_b`, `k_c`.
2. `fan auto` - enable auto speed controller mode, which correlates with fan curve `fcurve`.
3. `fan <value>` - set the fan power with the value from `1` to `100` and disable auto mode. There is no way to disable the fan.
2. `fan auto` - enable auto speed controller mode, where fan speed is controlled by the fan curve `fcurve`.
3. `fan <value>` - set the fan power with the value from `1` to `100` and disable auto mode. There is no way to completely disable the fan.
Please note that power doesn't correlate with the actual speed linearly.
4. `fcurve <a> <b> <c>` - set coefficients of the controlling curve `a*x^2 + b*x + c`, where `x` is `abs_max_tec_i/MAX_TEC_I`,
i.e. receives values from 0 to 1 linearly tied to the maximum current. The controlling curve should produce values from 0 to 1,
as below and beyond values would be substituted by 0 and 1 respectively.
5. `fcurve default` - restore fan curve settings to defaults: `a = 1.0, b = 0.0, c = 0.0`.
4. `fcurve <a> <b> <c>` - set coefficients of the controlling curve `a*x^2 + b*x + c`, where `x` is `abs_max_tec_i/MAX_TEC_I`, a normalized value in range [0,1],
i.e. the (linear) proportion of current output capacity used, on the channel with the largest current flow. The controlling curve is also clamped to [0,1].
5. `fcurve default` - restore fan curve coefficients to defaults: `a = 1.0, b = 0.0, c = 0.0`.

48
flake.lock generated
View File

@ -1,41 +1,45 @@
{
"nodes": {
"mozilla-overlay": {
"flake": false,
"locked": {
"lastModified": 1690536331,
"narHash": "sha256-aRIf2FB2GTdfF7gl13WyETmiV/J7EhBGkSWXfZvlxcA=",
"owner": "mozilla",
"repo": "nixpkgs-mozilla",
"rev": "db89c8707edcffefcd8e738459d511543a339ff5",
"type": "github"
},
"original": {
"owner": "mozilla",
"repo": "nixpkgs-mozilla",
"type": "github"
}
},
"nixpkgs": {
"locked": {
"lastModified": 1691421349,
"narHash": "sha256-RRJyX0CUrs4uW4gMhd/X4rcDG8PTgaaCQM5rXEJOx6g=",
"lastModified": 1722791413,
"narHash": "sha256-rCTrlCWvHzMCNcKxPE3Z/mMK2gDZ+BvvpEVyRM4tKmU=",
"owner": "NixOS",
"repo": "nixpkgs",
"rev": "011567f35433879aae5024fc6ec53f2a0568a6c4",
"rev": "8b5b6723aca5a51edf075936439d9cd3947b7b2c",
"type": "github"
},
"original": {
"owner": "NixOS",
"ref": "nixos-23.05",
"ref": "nixos-24.05",
"repo": "nixpkgs",
"type": "github"
}
},
"root": {
"inputs": {
"mozilla-overlay": "mozilla-overlay",
"nixpkgs": "nixpkgs"
"nixpkgs": "nixpkgs",
"rust-overlay": "rust-overlay"
}
},
"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"
}
}
},

View File

@ -1,32 +1,25 @@
{
description = "Firmware for the Sinara 8451 Thermostat";
inputs.nixpkgs.url = github:NixOS/nixpkgs/nixos-23.05;
inputs.mozilla-overlay = { url = github:mozilla/nixpkgs-mozilla; flake = false; };
inputs.nixpkgs.url = "github:NixOS/nixpkgs/nixos-24.05";
inputs.rust-overlay = {
url = "github:oxalica/rust-overlay";
inputs.nixpkgs.follows = "nixpkgs";
};
outputs = { self, nixpkgs, mozilla-overlay }:
outputs = { self, nixpkgs, rust-overlay }:
let
pkgs = import nixpkgs { system = "x86_64-linux"; overlays = [ (import mozilla-overlay) ]; };
rustManifest = pkgs.fetchurl {
url = "https://static.rust-lang.org/dist/2022-12-15/channel-rust-stable.toml";
hash = "sha256-S7epLlflwt0d1GZP44u5Xosgf6dRrmr8xxC+Ml2Pq7c=";
};
pkgs = import nixpkgs { system = "x86_64-linux"; overlays = [ (import rust-overlay) ]; };
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 = pkgs.rust-bin.stable."1.66.0".default.override {
extensions = [ "rust-src" ];
targets = [ "thumbv7em-none-eabihf" ];
};
rust = rustChannelOfTargets "stable" null targets;
rustPlatform = pkgs.recurseIntoAttrs (pkgs.makeRustPlatform {
rustPlatform = pkgs.makeRustPlatform {
rustc = rust;
cargo = rust;
});
};
thermostat = rustPlatform.buildRustPackage {
name = "thermostat";
version = "0.0.0";
@ -54,24 +47,26 @@
'';
dontFixup = true;
auditable = false;
};
in {
packages.x86_64-linux = {
inherit thermostat;
default = thermostat;
};
hydraJobs = {
inherit thermostat;
};
devShell.x86_64-linux = pkgs.mkShell {
devShells.x86_64-linux.default = pkgs.mkShellNoCC {
name = "thermostat-dev-shell";
buildInputs = with pkgs; [
rust openocd dfu-util
packages = with pkgs; [
rust llvm
openocd dfu-util rlwrap
] ++ (with python3Packages; [
numpy matplotlib
]);
};
defaultPackage.x86_64-linux = thermostat;
};
}

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

View File

@ -1,6 +1,7 @@
import socket
import json
import logging
import time
class CommandError(Exception):
pass
@ -15,7 +16,7 @@ class Client:
pwm_report = self.get_pwm()
for pwm_channel in pwm_report:
for limit in ["max_i_neg", "max_i_pos", "max_v"]:
if pwm_channel[limit]["value"] == 0.0:
if pwm_channel[limit] == 0.0:
logging.warning("`{}` limit is set to zero on channel {}".format(limit, pwm_channel["channel"]))
def _read_line(self):
@ -52,16 +53,18 @@ class Client:
Example::
[{'channel': 0,
'center': 'vref',
'i_set': {'max': 2.9802790335151985, 'value': -0.02002179650216762},
'max_i_neg': {'max': 3.0, 'value': 3.0},
'max_v': {'max': 5.988, 'value': 5.988},
'max_i_pos': {'max': 3.0, 'value': 3.0}},
'i_set': -0.02002179650216762,
'max_i_neg': 2.0,
'max_v': 3.988,
'max_i_pos': 2.0,
'polarity': 'normal',
{'channel': 1,
'center': 'vref',
'i_set': {'max': 2.9802790335151985, 'value': -0.02002179650216762},
'max_i_neg': {'max': 3.0, 'value': 3.0},
'max_v': {'max': 5.988, 'value': 5.988},
'max_i_pos': {'max': 3.0, 'value': 3.0}}
'i_set': -0.02002179650216762,
'max_i_neg': 2.0,
'max_v': 3.988,
'max_i_pos': 2.0}
'polarity': 'normal',
]
"""
return self._get_conf("pwm")
@ -89,14 +92,14 @@ class Client:
"""
return self._get_conf("pid")
def get_steinhart_hart(self):
"""Retrieve Steinhart-Hart parameters for resistance to temperature conversion
def get_b_parameter(self):
"""Retrieve B-Parameter equation 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("s-h")
return self._get_conf("b-p")
def get_postfilter(self):
"""Retrieve DAC postfilter configuration
@ -126,9 +129,8 @@ 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
@ -136,6 +138,7 @@ 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
@ -143,7 +146,7 @@ class Client:
Examples::
tec.set_param("pwm", 0, "max_v", 2.0)
tec.set_param("pid", 1, "output_max", 2.5)
tec.set_param("s-h", 0, "t0", 20.0)
tec.set_param("b-p", 0, "t0", 20.0)
tec.set_param("center", 0, "vref")
tec.set_param("postfilter", 1, 21)

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@ -10,15 +10,15 @@ use uom::si::{
};
use serde::{Deserialize, Serialize};
/// Steinhart-Hart equation parameters
/// B-Parameter equation parameters
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
pub struct Parameters {
/// Base temperature
pub t0: ThermodynamicTemperature,
/// Base resistance
/// Thermistor resistance at base temperature
pub r0: ElectricalResistance,
/// Beta
pub b: f64,
/// B, the average slope of the function ln R vs. 1/T
pub b: ThermodynamicTemperature,
}
impl Parameters {

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@ -24,7 +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,

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@ -2,11 +2,13 @@ use smoltcp::time::{Duration, Instant};
use uom::si::{
f64::{
ElectricPotential,
ElectricCurrent,
ElectricalResistance,
ThermodynamicTemperature,
Time,
},
electric_potential::volt,
electric_current::ampere,
electrical_resistance::ohm,
thermodynamic_temperature::degree_celsius,
time::millisecond,
@ -14,8 +16,9 @@ use uom::si::{
use crate::{
ad7172,
pid,
steinhart_hart as sh,
command_parser::CenterPoint,
config::PwmLimits,
b_parameter as bp,
command_parser::{CenterPoint, Polarity},
};
const R_INNER: f64 = 2.0 * 5100.0;
@ -29,9 +32,12 @@ pub struct ChannelState {
/// i_set 0A center point
pub center: CenterPoint,
pub dac_value: ElectricPotential,
pub i_set: ElectricCurrent,
pub pwm_limits: PwmLimits,
pub pid_engaged: bool,
pub pid: pid::Controller,
pub sh: sh::Parameters,
pub bp: bp::Parameters,
pub polarity: Polarity,
}
impl ChannelState {
@ -44,9 +50,16 @@ impl ChannelState {
adc_interval: Duration::from_millis(100),
center: CenterPoint::Vref,
dac_value: ElectricPotential::new::<volt>(0.0),
i_set: ElectricCurrent::new::<ampere>(0.0),
pwm_limits: PwmLimits {
max_v: 0.0,
max_i_pos: 0.0,
max_i_neg: 0.0,
},
pid_engaged: false,
pid: pid::Controller::new(pid::Parameters::default()),
sh: sh::Parameters::default(),
bp: bp::Parameters::default(),
polarity: Polarity::Normal,
}
}
@ -92,7 +105,7 @@ impl ChannelState {
pub fn get_temperature(&self) -> Option<ThermodynamicTemperature> {
let r = self.get_sens()?;
let temperature = self.sh.get_temperature(r);
let temperature = self.bp.get_temperature(r);
Some(temperature)
}
}

View File

@ -1,5 +1,6 @@
use core::cmp::max_by;
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;
@ -16,17 +17,45 @@ use crate::{
ad7172,
channel::{Channel, Channel0, Channel1},
channel_state::ChannelState,
command_parser::{CenterPoint, PwmPin},
command_parser::{CenterPoint, PwmPin, Polarity},
command_handler::JsonBuffer,
pins,
steinhart_hart,
pins::{self, Channel0VRef, Channel1VRef},
b_parameter,
};
use crate::timer::sleep;
pub enum PinsAdcReadTarget {
VREF,
DacVfb,
ITec,
VTec,
}
pub const CHANNELS: usize = 2;
pub const R_SENSE: f64 = 0.05;
// DAC chip outputs 0-5v, which is then passed through a resistor dividor to provide 0-3v range
const DAC_OUT_V_MAX: f64 = 3.0;
// From design specs
pub const MAX_TEC_I: ElectricCurrent = ElectricCurrent {
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 {
dimension: PhantomData,
units: PhantomData,
value: 3.0,
};
// TODO: -pub
pub struct Channels {
channel0: Channel<Channel0>,
@ -98,7 +127,7 @@ impl Channels {
pub fn get_center(&mut self, channel: usize) -> ElectricPotential {
match self.channel_state(channel).center {
CenterPoint::Vref =>
self.read_vref(channel),
self.adc_read(channel, PinsAdcReadTarget::VREF, 8),
CenterPoint::Override(center_point) =>
ElectricPotential::new::<volt>(center_point.into()),
}
@ -111,16 +140,13 @@ impl Channels {
}
pub fn get_i(&mut self, channel: usize) -> ElectricCurrent {
let center_point = self.get_center(channel);
let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
let voltage = self.get_dac(channel);
let i_tec = (voltage - center_point) / (10.0 * r_sense);
i_tec
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 / ElectricPotential::new::<volt>(DAC_OUT_V_MAX)).get::<ratio>() * (ad5680::MAX_VALUE as f64)) as u32 ;
let value = ((voltage / 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(),
@ -130,7 +156,13 @@ impl Channels {
voltage
}
pub fn set_i(&mut self, channel: usize, i_tec: ElectricCurrent) -> ElectricCurrent {
pub fn set_i(&mut self, channel: usize, i_set: ElectricCurrent) -> ElectricCurrent {
let i_set = i_set.min(MAX_TEC_I).max(-MAX_TEC_I);
self.channel_state(channel).i_set = i_set;
let negate = match self.channel_state(channel).polarity {
Polarity::Normal => 1.0,
Polarity::Reversed => -1.0,
};
let vref_meas = match channel.into() {
0 => self.channel0.vref_meas,
1 => self.channel1.vref_meas,
@ -138,109 +170,111 @@ impl Channels {
};
let center_point = vref_meas;
let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
let voltage = i_tec * 10.0 * r_sense + center_point;
let voltage = negate * i_set * 10.0 * r_sense + center_point;
let voltage = self.set_dac(channel, voltage);
let i_tec = (voltage - center_point) / (10.0 * r_sense);
i_tec
let i_set = negate * (voltage - center_point) / (10.0 * r_sense);
i_set
}
pub fn read_dac_feedback(&mut self, channel: usize) -> ElectricPotential {
/// AN4073: ADC Reading Dispersion can be reduced through Averaging
pub fn adc_read(&mut self, channel: usize, adc_read_target: PinsAdcReadTarget, avg_pt: u16) -> ElectricPotential {
let mut sample: u32 = 0;
match channel {
0 => {
let sample = self.pins_adc.convert(
&self.channel0.dac_feedback_pin,
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
);
let mv = self.pins_adc.sample_to_millivolts(sample);
sample = match adc_read_target {
PinsAdcReadTarget::VREF => {
match &self.channel0.vref_pin {
Channel0VRef::Analog(vref_pin) => {
for _ in (0..avg_pt).rev() {
sample += self
.pins_adc
.convert(vref_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
as u32;
}
sample / avg_pt as u32
},
Channel0VRef::Disabled(_) => {2048 as u32}
}
}
PinsAdcReadTarget::DacVfb => {
for _ in (0..avg_pt).rev() {
sample += self
.pins_adc
.convert(&self.channel0.dac_feedback_pin,stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
as u32;
}
sample / avg_pt as u32
}
PinsAdcReadTarget::ITec => {
for _ in (0..avg_pt).rev() {
sample += self
.pins_adc
.convert(&self.channel0.itec_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
as u32;
}
sample / avg_pt as u32
}
PinsAdcReadTarget::VTec => {
for _ in (0..avg_pt).rev() {
sample += self
.pins_adc
.convert(&self.channel0.tec_u_meas_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
as u32;
}
sample / avg_pt as u32
}
};
let mv = self.pins_adc.sample_to_millivolts(sample as u16);
ElectricPotential::new::<millivolt>(mv as f64)
}
1 => {
let sample = self.pins_adc.convert(
&self.channel1.dac_feedback_pin,
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
);
let mv = self.pins_adc.sample_to_millivolts(sample);
sample = match adc_read_target {
PinsAdcReadTarget::VREF => {
match &self.channel1.vref_pin {
Channel1VRef::Analog(vref_pin) => {
for _ in (0..avg_pt).rev() {
sample += self
.pins_adc
.convert(vref_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
as u32;
}
sample / avg_pt as u32
},
Channel1VRef::Disabled(_) => {2048 as u32}
}
}
PinsAdcReadTarget::DacVfb => {
for _ in (0..avg_pt).rev() {
sample += self
.pins_adc
.convert(&self.channel1.dac_feedback_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
as u32;
}
sample / avg_pt as u32
}
PinsAdcReadTarget::ITec => {
for _ in (0..avg_pt).rev() {
sample += self
.pins_adc
.convert(&self.channel1.itec_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
as u32;
}
sample / avg_pt as u32
}
PinsAdcReadTarget::VTec => {
for _ in (0..avg_pt).rev() {
sample += self
.pins_adc
.convert(&self.channel1.tec_u_meas_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
as u32;
}
sample / avg_pt as u32
}
};
let mv = self.pins_adc.sample_to_millivolts(sample as u16);
ElectricPotential::new::<millivolt>(mv as f64)
}
_ => unreachable!(),
}
}
pub fn read_dac_feedback_until_stable(&mut self, channel: usize, tolerance: ElectricPotential) -> ElectricPotential {
let mut prev = self.read_dac_feedback(channel);
loop {
let current = self.read_dac_feedback(channel);
if (current - prev).abs() < tolerance {
return current;
}
prev = current;
}
}
pub fn read_itec(&mut self, channel: usize) -> ElectricPotential {
match channel {
0 => {
let sample = self.pins_adc.convert(
&self.channel0.itec_pin,
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
);
let mv = self.pins_adc.sample_to_millivolts(sample);
ElectricPotential::new::<millivolt>(mv as f64)
}
1 => {
let sample = self.pins_adc.convert(
&self.channel1.itec_pin,
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
);
let mv = self.pins_adc.sample_to_millivolts(sample);
ElectricPotential::new::<millivolt>(mv as f64)
}
_ => unreachable!(),
}
}
/// should be 1.5V
pub fn read_vref(&mut self, channel: usize) -> ElectricPotential {
match channel {
0 => {
let sample = self.pins_adc.convert(
&self.channel0.vref_pin,
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
);
let mv = self.pins_adc.sample_to_millivolts(sample);
ElectricPotential::new::<millivolt>(mv as f64)
}
1 => {
let sample = self.pins_adc.convert(
&self.channel1.vref_pin,
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
);
let mv = self.pins_adc.sample_to_millivolts(sample);
ElectricPotential::new::<millivolt>(mv as f64)
}
_ => unreachable!(),
}
}
pub fn read_tec_u_meas(&mut self, channel: usize) -> ElectricPotential {
match channel {
0 => {
let sample = self.pins_adc.convert(
&self.channel0.tec_u_meas_pin,
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
);
let mv = self.pins_adc.sample_to_millivolts(sample);
ElectricPotential::new::<millivolt>(mv as f64)
}
1 => {
let sample = self.pins_adc.convert(
&self.channel1.tec_u_meas_pin,
stm32f4xx_hal::adc::config::SampleTime::Cycles_480
);
let mv = self.pins_adc.sample_to_millivolts(sample);
ElectricPotential::new::<millivolt>(mv as f64)
}
_ => unreachable!(),
_ => unreachable!()
}
}
@ -270,8 +304,7 @@ impl Channels {
let mut start_value = 1;
let mut best_error = ElectricPotential::new::<volt>(100.0);
for step in (0..18).rev() {
let mut prev_value = start_value;
for step in (5..18).rev() {
for value in (start_value..=ad5680::MAX_VALUE).step_by(1 << step) {
match channel {
0 => {
@ -282,24 +315,23 @@ impl Channels {
}
_ => unreachable!(),
}
sleep(10);
let dac_feedback = self.read_dac_feedback_until_stable(channel, ElectricPotential::new::<volt>(0.001));
let dac_feedback = self.adc_read(channel, PinsAdcReadTarget::DacVfb, 64);
let error = target_voltage - dac_feedback;
if error < ElectricPotential::new::<volt>(0.0) {
break;
} else if error < best_error {
best_error = error;
start_value = prev_value;
start_value = value;
let vref = (value as f64 / ad5680::MAX_VALUE as f64) * ElectricPotential::new::<volt>(DAC_OUT_V_MAX);
let vref = (value as f64 / ad5680::MAX_VALUE as f64) * DAC_OUT_V_MAX;
match channel {
0 => self.channel0.vref_meas = vref,
1 => self.channel1.vref_meas = vref,
_ => unreachable!(),
}
}
prev_value = value;
}
}
@ -325,58 +357,30 @@ 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 {
let max = 4.0 * ElectricPotential::new::<volt>(3.3);
let duty = self.get_pwm(channel, PwmPin::MaxV);
duty * max
ElectricPotential::new::<volt>(self.channel_state(channel).pwm_limits.max_v)
}
pub fn get_max_i_pos(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
let max = ElectricCurrent::new::<ampere>(3.0);
let duty = self.get_pwm(channel, PwmPin::MaxIPos);
(duty * max, max)
pub fn get_max_i_pos(&mut self, channel: usize) -> ElectricCurrent {
ElectricCurrent::new::<ampere>(self.channel_state(channel).pwm_limits.max_i_pos)
}
pub fn get_max_i_neg(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
let max = ElectricCurrent::new::<ampere>(3.0);
let duty = self.get_pwm(channel, PwmPin::MaxINeg);
(duty * max, max)
pub fn get_max_i_neg(&mut self, channel: usize) -> ElectricCurrent {
ElectricCurrent::new::<ampere>(self.channel_state(channel).pwm_limits.max_i_neg)
}
// Get current passing through TEC
pub fn get_tec_i(&mut self, channel: usize) -> ElectricCurrent {
(self.read_itec(channel) - self.read_vref(channel)) / ElectricalResistance::new::<ohm>(0.4)
let tec_i = (self.adc_read(channel, PinsAdcReadTarget::ITec, 16) - self.adc_read(channel, PinsAdcReadTarget::VREF, 16)) / ElectricalResistance::new::<ohm>(0.4);
match self.channel_state(channel).polarity {
Polarity::Normal => tec_i,
Polarity::Reversed => -tec_i,
}
}
// Get voltage across TEC
pub fn get_tec_v(&mut self, channel: usize) -> ElectricPotential {
(self.read_tec_u_meas(channel) - ElectricPotential::new::<volt>(1.5)) * 4.0
(self.adc_read(channel, PinsAdcReadTarget::VTec, 16) - ElectricPotential::new::<volt>(1.5)) * 4.0
}
fn set_pwm(&mut self, channel: usize, pin: PwmPin, duty: f64) -> f64 {
@ -408,28 +412,53 @@ impl Channels {
pub fn set_max_v(&mut self, channel: usize, max_v: ElectricPotential) -> (ElectricPotential, ElectricPotential) {
let max = 4.0 * ElectricPotential::new::<volt>(3.3);
let max_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.get::<volt>();
(duty * max, max)
}
pub fn set_max_i_pos(&mut self, channel: usize, max_i_pos: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
let max = ElectricCurrent::new::<ampere>(3.0);
let duty = (max_i_pos / max).get::<ratio>();
let duty = self.set_pwm(channel, PwmPin::MaxIPos, duty);
(duty * max, max)
let max_i_pos = max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero());
let duty = (max_i_pos / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
let duty = match self.channel_state(channel).polarity {
Polarity::Normal => self.set_pwm(channel, PwmPin::MaxIPos, duty),
Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxINeg, duty),
};
self.channel_state(channel).pwm_limits.max_i_pos = max_i_pos.get::<ampere>();
(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
}
pub fn set_max_i_neg(&mut self, channel: usize, max_i_neg: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
let max = ElectricCurrent::new::<ampere>(3.0);
let duty = (max_i_neg / max).get::<ratio>();
let duty = self.set_pwm(channel, PwmPin::MaxINeg, duty);
(duty * max, max)
let max_i_neg = max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero());
let duty = (max_i_neg / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
let duty = match self.channel_state(channel).polarity {
Polarity::Normal => self.set_pwm(channel, PwmPin::MaxINeg, duty),
Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxIPos, duty),
};
self.channel_state(channel).pwm_limits.max_i_neg = max_i_neg.get::<ampere>();
(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(channel);
let i_tec = self.read_itec(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);
let state = self.channel_state(channel);
@ -445,7 +474,7 @@ impl Channels {
pid_engaged: state.pid_engaged,
i_set,
dac_value,
dac_feedback: self.read_dac_feedback(channel),
dac_feedback: self.adc_read(channel, PinsAdcReadTarget::DacVfb, 1),
i_tec,
tec_i,
tec_u_meas: self.get_tec_v(channel),
@ -482,10 +511,11 @@ impl Channels {
PwmSummary {
channel,
center: CenterPointJson(self.channel_state(channel).center.clone()),
i_set: (self.get_i(channel), ElectricCurrent::new::<ampere>(3.0)).into(),
max_v: (self.get_max_v(channel), ElectricPotential::new::<volt>(5.0)).into(),
max_i_pos: self.get_max_i_pos(channel).into(),
max_i_neg: self.get_max_i_neg(channel).into(),
i_set: self.get_i(channel),
max_v: self.get_max_v(channel),
max_i_pos: self.get_max_i_pos(channel),
max_i_neg: self.get_max_i_neg(channel),
polarity: PolarityJson(self.channel_state(channel).polarity.clone()),
}
}
@ -511,23 +541,24 @@ impl Channels {
serde_json_core::to_vec(&summaries)
}
fn steinhart_hart_summary(&mut self, channel: usize) -> SteinhartHartSummary {
let params = self.channel_state(channel).sh.clone();
SteinhartHartSummary { channel, params }
fn b_parameter_summary(&mut self, channel: usize) -> BParameterSummary {
let params = self.channel_state(channel).bp.clone();
BParameterSummary { channel, params }
}
pub fn steinhart_hart_summaries_json(&mut self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
pub fn b_parameter_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.steinhart_hart_summary(channel));
let _ = summaries.push(self.b_parameter_summary(channel));
}
serde_json_core::to_vec(&summaries)
}
pub fn current_abs_max_tec_i(&mut self) -> f64 {
max_by(self.get_tec_i(0).abs().get::<ampere>(),
self.get_tec_i(1).abs().get::<ampere>(),
|a, b| a.partial_cmp(b).unwrap_or(core::cmp::Ordering::Equal))
pub fn current_abs_max_tec_i(&mut self) -> ElectricCurrent {
(0..CHANNELS)
.map(|channel| self.get_tec_i(channel).abs())
.max_by(|a, b| a.partial_cmp(b).unwrap_or(core::cmp::Ordering::Equal))
.unwrap()
}
}
@ -566,15 +597,18 @@ impl Serialize for CenterPointJson {
}
}
#[derive(Serialize)]
pub struct PwmSummaryField<T: Serialize> {
value: T,
max: T,
}
pub struct PolarityJson(Polarity);
impl<T: Serialize> From<(T, T)> for PwmSummaryField<T> {
fn from((value, max): (T, T)) -> Self {
PwmSummaryField { value, max }
// used in JSON encoding, not for config
impl Serialize for PolarityJson {
fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
where
S: Serializer,
{
serializer.serialize_str(match self.0 {
Polarity::Normal => "normal",
Polarity::Reversed => "reversed",
})
}
}
@ -582,10 +616,11 @@ impl<T: Serialize> From<(T, T)> for PwmSummaryField<T> {
pub struct PwmSummary {
channel: usize,
center: CenterPointJson,
i_set: PwmSummaryField<ElectricCurrent>,
max_v: PwmSummaryField<ElectricPotential>,
max_i_pos: PwmSummaryField<ElectricCurrent>,
max_i_neg: PwmSummaryField<ElectricCurrent>,
i_set: ElectricCurrent,
max_v: ElectricPotential,
max_i_pos: ElectricCurrent,
max_i_neg: ElectricCurrent,
polarity: PolarityJson,
}
#[derive(Serialize)]
@ -595,7 +630,7 @@ pub struct PostFilterSummary {
}
#[derive(Serialize)]
pub struct SteinhartHartSummary {
pub struct BParameterSummary {
channel: usize,
params: steinhart_hart::Parameters,
params: b_parameter::Parameters,
}

View File

@ -11,7 +11,8 @@ use super::{
CenterPoint,
PidParameter,
PwmPin,
ShParameter
BpParameter,
Polarity
},
ad7172,
CHANNEL_CONFIG_KEY,
@ -22,7 +23,6 @@ use super::{
config::ChannelConfig,
dfu,
flash_store::FlashStore,
session::Session,
FanCtrl,
hw_rev::HWRev,
};
@ -87,16 +87,6 @@ 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) => {
@ -139,13 +129,13 @@ impl Handler {
Ok(Handler::Handled)
}
fn show_steinhart_hart(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
match channels.steinhart_hart_summaries_json() {
fn show_b_parameter(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
match channels.b_parameter_summaries_json() {
Ok(buf) => {
send_line(socket, &buf);
}
Err(e) => {
error!("unable to serialize steinhart-hart summaries: {:?}", e);
error!("unable to serialize b parameter summaries: {:?}", e);
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
return Err(Error::ReportError);
}
@ -181,6 +171,12 @@ impl Handler {
Ok(Handler::Handled)
}
fn set_polarity(socket: &mut TcpSocket, channels: &mut Channels, channel: usize, polarity: Polarity) -> Result<Handler, Error> {
channels.set_polarity(channel, polarity);
send_line(socket, b"{}");
Ok(Handler::Handled)
}
fn set_pwm (socket: &mut TcpSocket, channels: &mut Channels, channel: usize, pin: PwmPin, value: f64) -> Result<Handler, Error> {
match pin {
PwmPin::ISet => {
@ -207,11 +203,11 @@ impl Handler {
}
fn set_center_point(socket: &mut TcpSocket, channels: &mut Channels, channel: usize, center: CenterPoint) -> Result<Handler, Error> {
let i_tec = channels.get_i(channel);
let i_set = channels.get_i(channel);
let state = channels.channel_state(channel);
state.center = center;
if !state.pid_engaged {
channels.set_i(channel, i_tec);
channels.set_i(channel, i_set);
}
send_line(socket, b"{}");
Ok(Handler::Handled)
@ -238,13 +234,13 @@ impl Handler {
Ok(Handler::Handled)
}
fn set_steinhart_hart (socket: &mut TcpSocket, channels: &mut Channels, channel: usize, parameter: ShParameter, value: f64) -> Result<Handler, Error> {
let sh = &mut channels.channel_state(channel).sh;
use super::command_parser::ShParameter::*;
fn set_b_parameter (socket: &mut TcpSocket, channels: &mut Channels, 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 => sh.t0 = ThermodynamicTemperature::new::<degree_celsius>(value),
B => sh.b = value,
R0 => sh.r0 = ElectricalResistance::new::<ohm>(value),
T0 => bp.t0 = ThermodynamicTemperature::new::<degree_celsius>(value),
B => bp.b = value,
R0 => bp.r0 = ElectricalResistance::new::<ohm>(value),
}
send_line(socket, b"{}");
Ok(Handler::Handled)
@ -345,7 +341,7 @@ impl Handler {
fn set_fan(socket: &mut TcpSocket, fan_pwm: u32, fan_ctrl: &mut FanCtrl) -> Result<Handler, Error> {
if !fan_ctrl.fan_available() {
send_line(socket, b"{ \"warning\": \"this thermostat doesn't have fan!\" }");
send_line(socket, b"{ \"warning\": \"this thermostat doesn't have a fan!\" }");
return Ok(Handler::Handled);
}
fan_ctrl.set_auto_mode(false);
@ -374,7 +370,7 @@ impl Handler {
fn fan_auto(socket: &mut TcpSocket, fan_ctrl: &mut FanCtrl) -> Result<Handler, Error> {
if !fan_ctrl.fan_available() {
send_line(socket, b"{ \"warning\": \"this thermostat doesn't have fan!\" }");
send_line(socket, b"{ \"warning\": \"this thermostat doesn't have a fan!\" }");
return Ok(Handler::Handled);
}
fan_ctrl.set_auto_mode(true);
@ -412,22 +408,21 @@ impl Handler {
}
}
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> {
pub fn handle_command(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::Pwm) => Handler::show_pwm(socket, channels),
Command::Show(ShowCommand::SteinhartHart) => Handler::show_steinhart_hart(socket, channels),
Command::Show(ShowCommand::BParameter) => Handler::show_b_parameter(socket, channels),
Command::Show(ShowCommand::PostFilter) => Handler::show_post_filter(socket, channels),
Command::Show(ShowCommand::Ipv4) => Handler::show_ipv4(socket, ipv4_config),
Command::PwmPid { channel } => Handler::engage_pid(socket, channels, channel),
Command::PwmPolarity { channel, polarity } => Handler::set_polarity(socket, channels, channel, polarity),
Command::Pwm { channel, pin, value } => Handler::set_pwm(socket, channels, channel, pin, value),
Command::CenterPoint { channel, center } => Handler::set_center_point(socket, channels, channel, center),
Command::Pid { channel, parameter, value } => Handler::set_pid(socket, channels, channel, parameter, value),
Command::SteinhartHart { channel, parameter, value } => Handler::set_steinhart_hart(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),

View File

@ -96,10 +96,9 @@ pub struct Ipv4Config {
#[derive(Debug, Clone, PartialEq)]
pub enum ShowCommand {
Input,
Reporting,
Pwm,
Pid,
SteinhartHart,
BParameter,
PostFilter,
Ipv4,
}
@ -114,9 +113,9 @@ pub enum PidParameter {
OutputMax,
}
/// Steinhart-Hart equation parameter
/// B-Parameter equation parameter
#[derive(Debug, Clone, PartialEq)]
pub enum ShParameter {
pub enum BpParameter {
T0,
B,
R0,
@ -136,6 +135,12 @@ pub enum CenterPoint {
Override(f32),
}
#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
pub enum Polarity {
Normal,
Reversed,
}
#[derive(Debug, Clone, PartialEq)]
pub enum Command {
Quit,
@ -148,7 +153,6 @@ pub enum Command {
Reset,
Ipv4(Ipv4Config),
Show(ShowCommand),
Reporting(bool),
/// PWM parameter setting
Pwm {
channel: usize,
@ -159,6 +163,10 @@ pub enum Command {
PwmPid {
channel: usize,
},
PwmPolarity {
channel: usize,
polarity: Polarity,
},
CenterPoint {
channel: usize,
center: CenterPoint,
@ -169,9 +177,9 @@ pub enum Command {
parameter: PidParameter,
value: f64,
},
SteinhartHart {
BParameter {
channel: usize,
parameter: ShParameter,
parameter: BpParameter,
value: f64,
},
PostFilter {
@ -233,12 +241,6 @@ fn float(input: &[u8]) -> IResult<&[u8], Result<f64, Error>> {
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)
}
@ -246,24 +248,8 @@ fn channel(input: &[u8]) -> IResult<&[u8], usize> {
fn report(input: &[u8]) -> IResult<&[u8], Command> {
preceded(
tag("report"),
alt((
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)
}
@ -321,6 +307,18 @@ fn pwm_pid(input: &[u8]) -> IResult<&[u8], ()> {
value((), tag("pid"))(input)
}
fn pwm_polarity(input: &[u8]) -> IResult<&[u8], Polarity> {
preceded(
tag("polarity"),
preceded(
whitespace,
alt((value(Polarity::Normal, tag("normal")),
value(Polarity::Reversed, tag("reversed"))
))
)
)(input)
}
fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, _) = tag("pwm")(input)?;
alt((
@ -333,6 +331,10 @@ fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, ()) = pwm_pid(input)?;
Ok((input, Ok(Command::PwmPid { channel })))
},
|input| {
let (input, polarity) = pwm_polarity(input)?;
Ok((input, Ok(Command::PwmPolarity { channel, polarity })))
},
|input| {
let (input, config) = pwm_setup(input)?;
match config {
@ -400,31 +402,31 @@ fn pid(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
))(input)
}
/// `s-h <0-1> <parameter> <value>`
fn steinhart_hart_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
/// `b-p <0-1> <parameter> <value>`
fn b_parameter_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, channel) = channel(input)?;
let (input, _) = whitespace(input)?;
let (input, parameter) =
alt((value(ShParameter::T0, tag("t0")),
value(ShParameter::B, tag("b")),
value(ShParameter::R0, tag("r0"))
alt((value(BpParameter::T0, tag("t0")),
value(BpParameter::B, tag("b")),
value(BpParameter::R0, tag("r0"))
))(input)?;
let (input, _) = whitespace(input)?;
let (input, value) = float(input)?;
let result = value
.map(|value| Command::SteinhartHart { channel, parameter, value });
.map(|value| Command::BParameter { channel, parameter, value });
Ok((input, result))
}
/// `s-h` | `s-h <steinhart_hart_parameter>`
fn steinhart_hart(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, _) = tag("s-h")(input)?;
/// `b-p` | `b-p <b_parameter_parameter>`
fn b_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, _) = tag("b-p")(input)?;
alt((
preceded(
whitespace,
steinhart_hart_parameter
b_parameter_parameter
),
value(Ok(Command::Show(ShowCommand::SteinhartHart)), end)
value(Ok(Command::Show(ShowCommand::BParameter)), end)
))(input)
}
@ -594,7 +596,7 @@ fn command(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
pwm,
center_point,
pid,
steinhart_hart,
b_parameter,
postfilter,
value(Ok(Command::Dfu), tag("dfu")),
fan,
@ -682,24 +684,6 @@ mod test {
assert_eq!(command, Ok(Command::Show(ShowCommand::Input)));
}
#[test]
fn parse_report_mode() {
let command = Command::parse(b"report mode");
assert_eq!(command, Ok(Command::Show(ShowCommand::Reporting)));
}
#[test]
fn parse_report_mode_on() {
let command = Command::parse(b"report mode on");
assert_eq!(command, Ok(Command::Reporting(true)));
}
#[test]
fn parse_report_mode_off() {
let command = Command::parse(b"report mode off");
assert_eq!(command, Ok(Command::Reporting(false)));
}
#[test]
fn parse_pwm_i_set() {
let command = Command::parse(b"pwm 1 i_set 16383");
@ -710,6 +694,15 @@ mod test {
}));
}
#[test]
fn parse_pwm_polarity() {
let command = Command::parse(b"pwm 0 polarity reversed");
assert_eq!(command, Ok(Command::PwmPolarity {
channel: 0,
polarity: Polarity::Reversed,
}));
}
#[test]
fn parse_pwm_pid() {
let command = Command::parse(b"pwm 0 pid");
@ -765,17 +758,17 @@ mod test {
}
#[test]
fn parse_steinhart_hart() {
let command = Command::parse(b"s-h");
assert_eq!(command, Ok(Command::Show(ShowCommand::SteinhartHart)));
fn parse_b_parameter() {
let command = Command::parse(b"b-p");
assert_eq!(command, Ok(Command::Show(ShowCommand::BParameter)));
}
#[test]
fn parse_steinhart_hart_set() {
let command = Command::parse(b"s-h 1 t0 23.05");
assert_eq!(command, Ok(Command::SteinhartHart {
fn parse_b_parameter_set() {
let command = Command::parse(b"b-p 1 t0 23.05");
assert_eq!(command, Ok(Command::BParameter {
channel: 1,
parameter: ShParameter::T0,
parameter: BpParameter::T0,
value: 23.05,
}));
}

View File

@ -1,3 +1,4 @@
use num_traits::Zero;
use serde::{Serialize, Deserialize};
use uom::si::{
electric_potential::volt,
@ -7,9 +8,9 @@ use uom::si::{
use crate::{
ad7172::PostFilter,
channels::Channels,
command_parser::CenterPoint,
command_parser::{CenterPoint, Polarity},
pid,
steinhart_hart,
b_parameter,
};
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
@ -18,7 +19,9 @@ pub struct ChannelConfig {
pid: pid::Parameters,
pid_target: f32,
pid_engaged: bool,
sh: steinhart_hart::Parameters,
i_set: ElectricCurrent,
polarity: Polarity,
bp: b_parameter::Parameters,
pwm: PwmLimits,
/// uses variant `PostFilter::Invalid` instead of `None` to save space
adc_postfilter: PostFilter,
@ -33,12 +36,19 @@ impl ChannelConfig {
.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,
sh: state.sh.clone(),
i_set,
polarity: state.polarity.clone(),
bp: state.bp.clone(),
pwm,
adc_postfilter,
}
@ -50,7 +60,7 @@ impl ChannelConfig {
state.pid.parameters = self.pid.clone();
state.pid.target = self.pid_target.into();
state.pid_engaged = self.pid_engaged;
state.sh = self.sh.clone();
state.bp = self.bp.clone();
self.pwm.apply(channels, channel);
@ -59,21 +69,23 @@ 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)]
struct PwmLimits {
max_v: f64,
max_i_pos: f64,
max_i_neg: f64,
pub struct PwmLimits {
pub max_v: f64,
pub max_i_pos: f64,
pub max_i_neg: f64,
}
impl PwmLimits {
pub fn new(channels: &mut Channels, channel: usize) -> Self {
let max_v = channels.get_max_v(channel);
let (max_i_pos, _) = channels.get_max_i_pos(channel);
let (max_i_neg, _) = channels.get_max_i_neg(channel);
let max_i_pos = channels.get_max_i_pos(channel);
let max_i_neg = channels.get_max_i_neg(channel);
PwmLimits {
max_v: max_v.get::<volt>(),
max_i_pos: max_i_pos.get::<ampere>(),

View File

@ -4,17 +4,18 @@ use stm32f4xx_hal::{
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,
};
pub type FanPin = PwmChannels<TIM8, pwm::C4>;
// as stated in the schematics
const MAX_TEC_I: f32 = 3.0;
const MAX_USER_FAN_PWM: f32 = 100.0;
const MIN_USER_FAN_PWM: f32 = 1.0;
@ -50,10 +51,10 @@ impl FanCtrl {
fan_ctrl
}
pub fn cycle(&mut self, abs_max_tec_i: f32) {
self.abs_max_tec_i = abs_max_tec_i;
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;
let scaled_current = self.abs_max_tec_i / MAX_TEC_I.get::<ampere>() as f32;
// do not limit upper bound, as it will be limited in the set_pwm()
let pwm = (MAX_USER_FAN_PWM * (scaled_current * (scaled_current * self.k_a + self.k_b) + self.k_c)) as u32;
self.set_pwm(pwm);

View File

@ -41,7 +41,7 @@ mod command_parser;
use command_parser::Ipv4Config;
mod timer;
mod pid;
mod steinhart_hart;
mod b_parameter;
mod channels;
use channels::{CHANNELS, Channels};
mod channel;
@ -180,12 +180,9 @@ fn main() -> ! {
loop {
let mut new_ipv4_config = None;
let instant = Instant::from_millis(i64::from(timer::now()));
let updated_channel = channels.poll_adc(instant);
if let Some(channel) = updated_channel {
server.for_each(|_, session| session.set_report_pending(channel.into()));
}
channels.poll_adc(instant);
fan_ctrl.cycle(channels.current_abs_max_tec_i() as f32);
fan_ctrl.cycle(channels.current_abs_max_tec_i());
if channels.pid_engaged() {
leds.g3.on();
@ -216,7 +213,7 @@ fn main() -> ! {
// Do nothing and feed more data to the line reader in the next loop cycle.
Ok(SessionInput::Nothing) => {}
Ok(SessionInput::Command(command)) => {
match Handler::handle_command(command, &mut socket, &mut channels, session, &mut store, &mut ipv4_config, &mut fan_ctrl, hwrev) {
match Handler::handle_command(command, &mut socket, &mut channels, &mut store, &mut ipv4_config, &mut fan_ctrl, hwrev) {
Ok(Handler::NewIPV4(ip)) => new_ipv4_config = Some(ip),
Ok(Handler::Handled) => {},
Ok(Handler::CloseSocket) => socket.close(),
@ -231,19 +228,6 @@ fn main() -> ! {
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);
}
}
}
}
});
} else {

View File

@ -54,15 +54,13 @@ impl Controller {
// + 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)
- self.x1 * f64::from(self.parameters.kp + 2.0 * self.parameters.kd)
+ self.x2 * f64::from(self.parameters.kd)
+ f64::from(self.parameters.kp) * (self.target - self.u1);
+ self.x2 * f64::from(self.parameters.kd);
if output < self.parameters.output_min.into() {
output = self.parameters.output_min.into();
}

View File

@ -61,27 +61,37 @@ pub trait ChannelPins {
type DacSync: OutputPin;
type Shdn: OutputPin;
type VRefPin;
type ItecPin;
type ITecPin;
type DacFeedbackPin;
type TecUMeasPin;
}
pub enum Channel0VRef {
Analog(PA0<Analog>),
Disabled(PA0<Input<Floating>>),
}
impl ChannelPins for Channel0 {
type DacSpi = Dac0Spi;
type DacSync = PE4<Output<PushPull>>;
type Shdn = PE10<Output<PushPull>>;
type VRefPin = PA0<Analog>;
type ItecPin = PA6<Analog>;
type VRefPin = Channel0VRef;
type ITecPin = PA6<Analog>;
type DacFeedbackPin = PA4<Analog>;
type TecUMeasPin = PC2<Analog>;
}
pub enum Channel1VRef {
Analog(PA3<Analog>),
Disabled(PA3<Input<Floating>>),
}
impl ChannelPins for Channel1 {
type DacSpi = Dac1Spi;
type DacSync = PF6<Output<PushPull>>;
type Shdn = PE15<Output<PushPull>>;
type VRefPin = PA3<Analog>;
type ItecPin = PB0<Analog>;
type VRefPin = Channel1VRef;
type ITecPin = PB0<Analog>;
type DacFeedbackPin = PA5<Analog>;
type TecUMeasPin = PC3<Analog>;
}
@ -98,7 +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,
}
@ -150,13 +160,17 @@ impl Pins {
gpioe.pe13, gpioe.pe14
);
let hwrev = HWRev::detect_hw_rev(&HWRevPins {hwrev0: gpiod.pd0, 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 mut shdn0 = gpioe.pe10.into_push_pull_output();
let _ = shdn0.set_low();
let vref0_pin = gpioa.pa0.into_analog();
let vref0_pin = if hwrev.major > 2 {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();
@ -176,7 +190,7 @@ impl Pins {
);
let mut shdn1 = gpioe.pe15.into_push_pull_output();
let _ = shdn1.set_low();
let vref1_pin = gpioa.pa3.into_analog();
let vref1_pin = if hwrev.major > 2 {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();
@ -198,10 +212,6 @@ impl Pins {
channel1,
};
let hwrev = HWRev::detect_hw_rev(&HWRevPins {hwrev0: gpiod.pd0, hwrev1: gpiod.pd1,
hwrev2: gpiod.pd2, hwrev3: gpiod.pd3});
let hw_settings = hwrev.settings();
let leds = Leds::new(gpiod.pd9, gpiod.pd10.into_push_pull_output(), gpiod.pd11.into_push_pull_output());
let eeprom_scl = gpiob.pb8.into_alternate().set_open_drain();

View File

@ -1,5 +1,4 @@
use super::command_parser::{Command, Error as ParserError};
use super::channels::CHANNELS;
const MAX_LINE_LEN: usize = 64;
@ -53,8 +52,6 @@ impl From<Result<Command, ParserError>> for SessionInput {
pub struct Session {
reader: LineReader,
reporting: bool,
report_pending: [bool; CHANNELS],
}
impl Default for Session {
@ -67,43 +64,11 @@ 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) {
@ -114,12 +79,6 @@ impl Session {
match line {
Some(line) => {
let command = Command::parse(&line);
match command {
Ok(Command::Reporting(reporting)) => {
self.reporting = reporting;
}
_ => {}
}
return (buf_bytes, command.into());
}
None => {}