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readme-pid
Author | SHA1 | Date | |
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c59d5bbd25 |
128
README.md
128
README.md
@ -23,7 +23,7 @@ cargo build --release
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The resulting ELF file will be located under `target/thumbv7em-none-eabihf/release/thermostat`.
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The resulting ELF file will be located under `target/thumbv7em-none-eabihf/release/thermostat`.
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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.
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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.
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## Debugging
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## Debugging
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@ -92,41 +92,41 @@ ADC input data is provided in reports. Query for the latest report with the comm
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Send commands as simple text string terminated by `\n`. Responses are
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Send commands as simple text string terminated by `\n`. Responses are
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formatted as line-delimited JSON.
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formatted as line-delimited JSON.
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| Syntax | Function |
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| Syntax | Function |
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|-------------------------------------------|-------------------------------------------------------------------------------|
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|------------------------------------------- |-------------------------------------------------------------------------------|
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| `report` | Show latest report of channel parameters (see *Reports* section) |
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| `report` | Show current input |
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| `output` | Show current output settings |
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| `pwm` | Show current PWM settings |
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| `output <0/1> max_i_pos <amp>` | Set maximum positive output current, clamped to [0, 2] |
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| `pwm <0/1> max_i_pos <amp>` | Set maximum positive output current, clamped to [0, 2] |
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| `output <0/1> max_i_neg <amp>` | Set maximum negative output current, clamped to [0, 2] |
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| `pwm <0/1> max_i_neg <amp>` | Set maximum negative output current, clamped to [0, 2] |
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| `output <0/1> max_v <volt>` | Set maximum output voltage, clamped to [0, 4] |
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| `pwm <0/1> max_v <volt>` | Set maximum output voltage, clamped to [0, 4] |
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| `output <0/1> i_set <amp>` | Disengage PID, set fixed output current, clamped to [-2, 2] |
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| `pwm <0/1> i_set <amp>` | Disengage PID, set fixed output current, clamped to [-2, 2] |
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| `output <0/1> polarity <normal/reversed>` | Set output current polarity, with 'normal' being the front panel polarity |
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| `pwm <0/1> polarity <normal/reversed>` | Set output current polarity, with 'normal' being the front panel polarity |
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| `output <0/1> pid` | Let output current to be controlled by the PID |
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| `pwm <0/1> pid` | Let output current to be controlled by the PID |
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| `center <0/1> <volt>` | Set the MAX1968 0A-centerpoint to the specified fixed voltage |
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| `center <0/1> <volt>` | Set the MAX1968 0A-centerpoint to the specified fixed voltage |
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| `center <0/1> vref` | Set the MAX1968 0A-centerpoint to measure from VREF |
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| `center <0/1> vref` | Set the MAX1968 0A-centerpoint to measure from VREF |
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| `pid` | Show PID configuration |
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| `pid` | Show PID configuration |
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| `pid <0/1> target <deg_celsius>` | Set the PID controller target temperature |
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| `pid <0/1> target <deg_celsius>` | Set the PID controller target temperature |
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| `pid <0/1> kp <value>` | Set proportional gain |
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| `pid <0/1> kp <value>` | Set proportional gain |
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| `pid <0/1> ki <value>` | Set integral gain |
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| `pid <0/1> ki <value>` | Set integral gain |
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| `pid <0/1> kd <value>` | Set differential gain |
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| `pid <0/1> kd <value>` | Set differential gain |
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| `pid <0/1> output_min <amp>` | Set mininum output |
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| `pid <0/1> output_min <amp>` | Set lower limit of PID-regulated output current in Amperes |
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| `pid <0/1> output_max <amp>` | Set maximum output |
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| `pid <0/1> output_max <amp>` | Set upper limit of PID-regulated output current in Amperes |
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| `b-p` | Show B-Parameter equation parameters |
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| `s-h` | Show Steinhart-Hart equation parameters |
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| `b-p <0/1> <t0/b/r0> <value>` | Set B-Parameter for a channel |
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| `s-h <0/1> <t0/b/r0> <value>` | Set Steinhart-Hart parameter for a channel |
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| `postfilter` | Show postfilter settings |
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| `postfilter` | Show postfilter settings |
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| `postfilter <0/1> off` | Disable postfilter |
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| `postfilter <0/1> off` | Disable postfilter |
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| `postfilter <0/1> rate <rate>` | Set postfilter output data rate |
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| `postfilter <0/1> rate <rate>` | Set postfilter output data rate |
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| `load [0/1]` | Restore configuration for channel all/0/1 from flash |
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| `load [0/1]` | Restore configuration for channel all/0/1 from flash |
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| `save [0/1]` | Save configuration for channel all/0/1 to flash |
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| `save [0/1]` | Save configuration for channel all/0/1 to flash |
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| `reset` | Reset the device |
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| `reset` | Reset the device |
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| `dfu` | Reset device and enters USB device firmware update (DFU) mode |
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| `dfu` | Reset device and enters USB device firmware update (DFU) mode |
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| `ipv4 <X.X.X.X/L> [Y.Y.Y.Y]` | Configure IPv4 address, netmask length, and optional default gateway |
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| `ipv4 <X.X.X.X/L> [Y.Y.Y.Y]` | Configure IPv4 address, netmask length, and optional default gateway |
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| `fan` | Show current fan settings and sensors' measurements |
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| `fan` | Show current fan settings and sensors' measurements |
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| `fan <value>` | Set fan power with values from 1 to 100 |
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| `fan <value>` | Set fan power with values from 1 to 100 |
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| `fan auto` | Enable automatic fan speed control |
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| `fan auto` | Enable automatic fan speed control |
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| `fcurve <a> <b> <c>` | Set fan controller curve coefficients (see *Fan control* section) |
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| `fcurve <a> <b> <c>` | Set fan controller curve coefficients (see *Fan control* section) |
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| `fcurve default` | Set fan controller curve coefficients to defaults (see *Fan control* section) |
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| `fcurve default` | Set fan controller curve coefficients to defaults (see *Fan control* section) |
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| `hwrev` | Show hardware revision, and settings related to it |
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| `hwrev` | Show hardware revision, and settings related to it |
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## USB
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## USB
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@ -144,22 +144,22 @@ output will be truncated when USB buffers are full.
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Connect the thermistor with the SENS pins of the
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Connect the thermistor with the SENS pins of the
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device. Temperature-depending resistance is measured by the AD7172
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device. Temperature-depending resistance is measured by the AD7172
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ADC. To prepare conversion to a temperature, set the parameters
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ADC. To prepare conversion to a temperature, set the Beta parameters
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for the B-Parameter equation.
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for the Steinhart-Hart equation.
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Set the base temperature in degrees celsius for the channel 0 thermistor:
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Set the base temperature in degrees celsius for the channel 0 thermistor:
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```
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```
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b-p 0 t0 20
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s-h 0 t0 20
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```
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```
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Set the resistance in Ohms measured at the base temperature t0:
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Set the resistance in Ohms measured at the base temperature t0:
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```
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```
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b-p 0 r0 10000
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s-h 0 r0 10000
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```
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```
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Set the Beta parameter:
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Set the Beta parameter:
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```
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```
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b-p 0 b 3800
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s-h 0 b 3800
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```
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```
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### 50/60 Hz filtering
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### 50/60 Hz filtering
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@ -183,47 +183,48 @@ postfilter rate can be tuned with the `postfilter` command.
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When using a TEC module with the Thermostat, the Thermostat expects the thermal load (where the thermistor is located) to cool down with a positive software current set point, and heat up with a negative current set point.
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When using a TEC module with the Thermostat, the Thermostat expects the thermal load (where the thermistor is located) to cool down with a positive software current set point, and heat up with a negative current set point.
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If the Thermostat is used for temperature control with the Sinara 5432 DAC "Zotino", and is connected via an IDC cable, the TEC polarity may need to be reversed with the `output <ch> polarity reversed` TCP command.
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If the Thermostat is used for temperature control with the Sinara 5432 DAC "Zotino", and is connected via an IDC cable, the TEC polarity may need to be reversed with the `pwm <ch> polarity reversed` TCP command.
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Testing heat flow direction with a low set current is recommended before installation of the TEC module.
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Testing heat flow direction with a low set current is recommended before installation of the TEC module.
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### Limits
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### Limits
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Each channel has maximum value settings, for setting
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Each of the MAX1968 TEC driver has analog/PWM inputs for setting
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output limits.
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output limits.
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Use the `output` command to see them.
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Use the `pwm` command to see current settings and maximum values.
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| Limit | Unit | Description |
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| Limit | Unit | Description |
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| --- | :---: | --- |
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| --- | :---: | --- |
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| `max_v` | Volts | Maximum voltage |
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| `max_v` | Volts | Maximum voltage |
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| `max_i_pos` | Amperes | Maximum positive current |
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| `max_i_pos` | Amperes | Maximum positive current |
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| `max_i_neg` | Amperes | Maximum negative current |
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| `max_i_neg` | Amperes | Maximum negative current |
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| `i_set` | Amperes | (Not a limit; Open-loop mode) |
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Example: set the maximum voltage of channel 0 to 1.5 V.
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Example: set the maximum voltage of channel 0 to 1.5 V.
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```
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```
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output 0 max_v 1.5
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pwm 0 max_v 1.5
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```
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```
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Example: set the maximum negative current of channel 0 to -2 A.
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Example: set the maximum negative current of channel 0 to -3 A.
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```
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```
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output 0 max_i_neg 2
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pwm 0 max_i_neg 3
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```
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```
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Example: set the maximum positive current of channel 1 to 2 A.
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Example: set the maximum positive current of channel 1 to 3 A.
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```
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```
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output 1 max_i_pos 2
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pwm 0 max_i_pos 3
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```
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```
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### Open-loop mode
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### Open-loop mode
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To manually control TEC output current, set a fixed output current with
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To manually control TEC output current, omit the limit parameter of
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the `output` command. Doing so will disengage the PID control for that
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the `pwm` command. Doing so will disengage the PID control for that
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channel.
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channel.
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Example: set output current of channel 0 to 0 A.
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Example: set output current of channel 0 to 0 A.
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```
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```
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output 0 i_set 0
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pwm 0 i_set 0
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```
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```
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## PID-stabilized temperature control
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## PID-stabilized temperature control
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@ -236,23 +237,7 @@ pid 0 target 20
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Enter closed-loop mode by switching control of the TEC output current
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Enter closed-loop mode by switching control of the TEC output current
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of channel 0 to the PID algorithm:
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of channel 0 to the PID algorithm:
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```
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```
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output 0 pid
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pwm 0 pid
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```
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### PID output clamping
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It is possible to clamp the PID algorithm output independently of channel output limits. This is desirable when e.g. there is a need to keep the current value above a certain threshold in closed-loop mode.
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Note that the actual output will still ultimately be limited by the `max_i_pos` and `max_i_neg` values.
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Set PID maximum output of channel 0 to 1.5 A.
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```
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pid 0 output_max 1.5
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```
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Set PID minimum output of channel 0 to 0.1 A.
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```
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pid 0 output_min 0.1
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```
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```
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## LED indicators
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## LED indicators
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@ -272,10 +257,9 @@ with the following keys.
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| --- | :---: | --- |
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| --- | :---: | --- |
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| `channel` | Integer | Channel `0`, or `1` |
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| `channel` | Integer | Channel `0`, or `1` |
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| `time` | Seconds | Temperature measurement time |
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| `time` | Seconds | Temperature measurement time |
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| `interval` | Seconds | Time elapsed since last report update on channel |
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| `adc` | Volts | AD7172 input |
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| `adc` | Volts | AD7172 input |
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| `sens` | Ohms | Thermistor resistance derived from `adc` |
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| `sens` | Ohms | Thermistor resistance derived from `adc` |
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| `temperature` | Degrees Celsius | B-Parameter conversion result derived from `sens` |
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| `temperature` | Degrees Celsius | Steinhart-Hart conversion result derived from `sens` |
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| `pid_engaged` | Boolean | `true` if in closed-loop mode |
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| `pid_engaged` | Boolean | `true` if in closed-loop mode |
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| `i_set` | Amperes | TEC output current |
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| `i_set` | Amperes | TEC output current |
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| `dac_value` | Volts | AD5680 output derived from `i_set` |
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| `dac_value` | Volts | AD5680 output derived from `i_set` |
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@ -285,7 +269,7 @@ with the following keys.
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| `tec_u_meas` | Volts | Measurement of the voltage across the TEC |
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| `tec_u_meas` | Volts | Measurement of the voltage across the TEC |
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| `pid_output` | Amperes | PID control output |
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| `pid_output` | Amperes | PID control output |
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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).
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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].
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## PID Tuning
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## PID Tuning
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@ -13,7 +13,7 @@ When tuning Thermostat PID parameters, it is helpful to view the temperature, PI
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To use the Python real-time plotting utility, run
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To use the Python real-time plotting utility, run
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```shell
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```shell
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python pythermostat/pythermostat/plot.py
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python pytec/plot.py
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```
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```
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![default view](./assets/default%20view.png)
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![default view](./assets/default%20view.png)
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@ -44,12 +44,12 @@ Below are some general guidelines for manually tuning PID loops. Note that every
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## Auto Tuning
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## Auto Tuning
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A PID auto tuning utility is provided in the PyThermostat library. The auto tuning utility drives the the load to a controlled oscillation, observes the ultimate gain and oscillation period and calculates a set of PID parameters.
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A PID auto tuning utility is provided in the Pytec library. The auto tuning utility drives the the load to a controlled oscillation, observes the ultimate gain and oscillation period and calculates a set of PID parameters.
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To run the auto tuning utility, run
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To run the auto tuning utility, run
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```shell
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```shell
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python pythermostat/pythermostat/autotune.py
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python pytec/autotune.py
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```
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```
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After some time, the auto tuning utility will output the auto tuning results, below is a sample output
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After some time, the auto tuning utility will output the auto tuning results, below is a sample output
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49
flake.nix
49
flake.nix
@ -7,17 +7,9 @@
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inputs.nixpkgs.follows = "nixpkgs";
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inputs.nixpkgs.follows = "nixpkgs";
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};
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};
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outputs =
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outputs = { self, nixpkgs, rust-overlay }:
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{
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self,
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nixpkgs,
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rust-overlay,
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}:
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let
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let
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pkgs = import nixpkgs {
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pkgs = import nixpkgs { system = "x86_64-linux"; overlays = [ (import rust-overlay) ]; };
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system = "x86_64-linux";
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overlays = [ (import rust-overlay) ];
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};
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rust = pkgs.rust-bin.stable."1.66.0".default.override {
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rust = pkgs.rust-bin.stable."1.66.0".default.override {
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extensions = [ "rust-src" ];
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extensions = [ "rust-src" ];
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@ -57,23 +49,9 @@
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dontFixup = true;
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dontFixup = true;
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auditable = false;
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auditable = false;
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};
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};
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in {
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pythermostat = pkgs.python3Packages.buildPythonPackage {
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pname = "pythermostat";
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version = "0.0.0";
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format = "pyproject";
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src = "${self}/pythermostat";
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propagatedBuildInputs =
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with pkgs.python3Packages; [
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numpy
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||||||
matplotlib
|
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||||||
];
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};
|
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in
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{
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packages.x86_64-linux = {
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packages.x86_64-linux = {
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inherit thermostat pythermostat;
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inherit thermostat;
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default = thermostat;
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default = thermostat;
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};
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};
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@ -83,21 +61,12 @@
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|
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devShells.x86_64-linux.default = pkgs.mkShellNoCC {
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devShells.x86_64-linux.default = pkgs.mkShellNoCC {
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name = "thermostat-dev-shell";
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name = "thermostat-dev-shell";
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packages =
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packages = with pkgs; [
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with pkgs;
|
rust llvm
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[
|
openocd dfu-util rlwrap
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||||||
rust
|
] ++ (with python3Packages; [
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llvm
|
numpy matplotlib
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openocd
|
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||||||
dfu-util
|
|
||||||
rlwrap
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||||||
]
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++ (with python3Packages; [
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numpy
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||||||
matplotlib
|
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||||||
]);
|
]);
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||||||
};
|
};
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||||||
|
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formatter.x86_64-linux = nixpkgs.legacyPackages.x86_64-linux.nixfmt-rfc-style;
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};
|
};
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}
|
}
|
@ -1,10 +1,9 @@
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|||||||
import math
|
import math
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||||||
import logging
|
import logging
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||||||
import time
|
|
||||||
from collections import deque, namedtuple
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from collections import deque, namedtuple
|
||||||
from enum import Enum
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from enum import Enum
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||||||
|
|
||||||
from pythermostat.client import Client
|
from pytec.client import Client
|
||||||
|
|
||||||
# Based on hirshmann pid-autotune libiary
|
# Based on hirshmann pid-autotune libiary
|
||||||
# See https://github.com/hirschmann/pid-autotune
|
# See https://github.com/hirschmann/pid-autotune
|
||||||
@ -237,14 +236,13 @@ def main():
|
|||||||
|
|
||||||
tec = Client()
|
tec = Client()
|
||||||
|
|
||||||
data = tec.get_report()
|
data = next(tec.report_mode())
|
||||||
ch = data[channel]
|
ch = data[channel]
|
||||||
|
|
||||||
tuner = PIDAutotune(target_temperature, output_step,
|
tuner = PIDAutotune(target_temperature, output_step,
|
||||||
lookback, noiseband, ch['interval'])
|
lookback, noiseband, ch['interval'])
|
||||||
|
|
||||||
while True:
|
for data in tec.report_mode():
|
||||||
data = tec.get_report()
|
|
||||||
|
|
||||||
ch = data[channel]
|
ch = data[channel]
|
||||||
|
|
||||||
@ -255,11 +253,9 @@ def main():
|
|||||||
|
|
||||||
tuner_out = tuner.output()
|
tuner_out = tuner.output()
|
||||||
|
|
||||||
tec.set_param("output", channel, "i_set", tuner_out)
|
tec.set_param("pwm", channel, "i_set", tuner_out)
|
||||||
|
|
||||||
time.sleep(0.05)
|
tec.set_param("pwm", channel, "i_set", 0)
|
||||||
|
|
||||||
tec.set_param("output", channel, "i_set", 0)
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
if __name__ == "__main__":
|
11
pytec/example.py
Normal file
11
pytec/example.py
Normal file
@ -0,0 +1,11 @@
|
|||||||
|
from pytec.client import Client
|
||||||
|
|
||||||
|
tec = Client() #(host="localhost", port=6667)
|
||||||
|
tec.set_param("s-h", 1, "t0", 20)
|
||||||
|
print(tec.get_pwm())
|
||||||
|
print(tec.get_pid())
|
||||||
|
print(tec.get_pwm())
|
||||||
|
print(tec.get_postfilter())
|
||||||
|
print(tec.get_steinhart_hart())
|
||||||
|
for data in tec.report_mode():
|
||||||
|
print(data)
|
128
pytec/plot.py
Normal file
128
pytec/plot.py
Normal file
@ -0,0 +1,128 @@
|
|||||||
|
import numpy as np
|
||||||
|
import matplotlib.pyplot as plt
|
||||||
|
import matplotlib.animation as animation
|
||||||
|
from threading import Thread, Lock
|
||||||
|
from pytec.client import Client
|
||||||
|
|
||||||
|
TIME_WINDOW = 300.0
|
||||||
|
|
||||||
|
tec = Client()
|
||||||
|
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
|
||||||
|
self.x_data = []
|
||||||
|
self.y_data = []
|
||||||
|
|
||||||
|
def append(self, x, y):
|
||||||
|
self.x_data.append(x)
|
||||||
|
self.y_data.append(self.conv(y))
|
||||||
|
|
||||||
|
def clip(self, min_x):
|
||||||
|
drop = 0
|
||||||
|
while drop < len(self.x_data) and self.x_data[drop] < min_x:
|
||||||
|
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(),
|
||||||
|
# 'i_set': Series(),
|
||||||
|
'pid_output': Series(),
|
||||||
|
# 'vref': Series(),
|
||||||
|
# 'dac_value': Series(),
|
||||||
|
# 'dac_feedback': Series(),
|
||||||
|
# 'i_tec': Series(),
|
||||||
|
'tec_i': 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():
|
||||||
|
ch0 = data[0]
|
||||||
|
series_lock.acquire()
|
||||||
|
try:
|
||||||
|
for k, s in series.items():
|
||||||
|
if k in ch0:
|
||||||
|
v = ch0[k]
|
||||||
|
if type(v) is float:
|
||||||
|
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)
|
||||||
|
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():
|
||||||
|
s.plot.set_data(s.x_data, s.y_data)
|
||||||
|
if len(s.y_data) > 0:
|
||||||
|
s.plot.set_label("{}: {:.3f}".format(k, s.y_data[-1]))
|
||||||
|
|
||||||
|
if len(s.x_data) > 0:
|
||||||
|
min_x_ = min(s.x_data)
|
||||||
|
if min_x is None:
|
||||||
|
min_x = min_x_
|
||||||
|
else:
|
||||||
|
min_x = min(min_x, min_x_)
|
||||||
|
max_x_ = max(s.x_data)
|
||||||
|
if max_x is None:
|
||||||
|
max_x = max_x_
|
||||||
|
else:
|
||||||
|
max_x = max(max_x, max_x_)
|
||||||
|
if len(s.y_data) > 0:
|
||||||
|
min_y_ = min(s.y_data)
|
||||||
|
if min_y is None:
|
||||||
|
min_y = min_y_
|
||||||
|
else:
|
||||||
|
min_y = min(min_y, min_y_)
|
||||||
|
max_y_ = max(s.y_data)
|
||||||
|
if max_y is None:
|
||||||
|
max_y = max_y_
|
||||||
|
else:
|
||||||
|
max_y = max(max_y, max_y_)
|
||||||
|
|
||||||
|
if min_x and max_x - TIME_WINDOW > min_x:
|
||||||
|
for s in series.values():
|
||||||
|
s.clip(max_x - TIME_WINDOW)
|
||||||
|
finally:
|
||||||
|
series_lock.release()
|
||||||
|
|
||||||
|
if min_x != max_x:
|
||||||
|
ax.set_xlim(min_x, max_x)
|
||||||
|
if min_y != max_y:
|
||||||
|
margin_y = 0.01 * (max_y - min_y)
|
||||||
|
ax.set_ylim(min_y - margin_y, max_y + margin_y)
|
||||||
|
|
||||||
|
global legend
|
||||||
|
legend.remove()
|
||||||
|
legend = ax.legend()
|
||||||
|
|
||||||
|
ani = animation.FuncAnimation(
|
||||||
|
fig, animate, interval=1, blit=False, save_count=50)
|
||||||
|
|
||||||
|
plt.show()
|
||||||
|
quit = True
|
||||||
|
thread.join()
|
@ -1,7 +1,7 @@
|
|||||||
import socket
|
import socket
|
||||||
import json
|
import json
|
||||||
import logging
|
import logging
|
||||||
|
import time
|
||||||
|
|
||||||
class CommandError(Exception):
|
class CommandError(Exception):
|
||||||
pass
|
pass
|
||||||
@ -12,16 +12,12 @@ class Client:
|
|||||||
self._lines = [""]
|
self._lines = [""]
|
||||||
self._check_zero_limits()
|
self._check_zero_limits()
|
||||||
|
|
||||||
def disconnect(self):
|
|
||||||
self._socket.shutdown(socket.SHUT_RDWR)
|
|
||||||
self._socket.close()
|
|
||||||
|
|
||||||
def _check_zero_limits(self):
|
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"]:
|
for limit in ["max_i_neg", "max_i_pos", "max_v"]:
|
||||||
if output_channel[limit] == 0.0:
|
if pwm_channel[limit] == 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):
|
def _read_line(self):
|
||||||
# read more lines
|
# read more lines
|
||||||
@ -51,8 +47,8 @@ class Client:
|
|||||||
result[int(item["channel"])] = item
|
result[int(item["channel"])] = item
|
||||||
return result
|
return result
|
||||||
|
|
||||||
def get_output(self):
|
def get_pwm(self):
|
||||||
"""Retrieve output limits for the TEC
|
"""Retrieve PWM limits for the TEC
|
||||||
|
|
||||||
Example::
|
Example::
|
||||||
[{'channel': 0,
|
[{'channel': 0,
|
||||||
@ -71,7 +67,7 @@ class Client:
|
|||||||
'polarity': 'normal',
|
'polarity': 'normal',
|
||||||
]
|
]
|
||||||
"""
|
"""
|
||||||
return self._get_conf("output")
|
return self._get_conf("pwm")
|
||||||
|
|
||||||
def get_pid(self):
|
def get_pid(self):
|
||||||
"""Retrieve PID control state
|
"""Retrieve PID control state
|
||||||
@ -96,14 +92,14 @@ class Client:
|
|||||||
"""
|
"""
|
||||||
return self._get_conf("pid")
|
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::
|
Example::
|
||||||
[{'params': {'b': 3800.0, 'r0': 10000.0, 't0': 298.15}, 'channel': 0},
|
[{'params': {'b': 3800.0, 'r0': 10000.0, 't0': 298.15}, 'channel': 0},
|
||||||
{'params': {'b': 3800.0, 'r0': 10000.0, 't0': 298.15}, 'channel': 1}]
|
{'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):
|
def get_postfilter(self):
|
||||||
"""Retrieve DAC postfilter configuration
|
"""Retrieve DAC postfilter configuration
|
||||||
@ -114,18 +110,18 @@ class Client:
|
|||||||
"""
|
"""
|
||||||
return self._get_conf("postfilter")
|
return self._get_conf("postfilter")
|
||||||
|
|
||||||
def get_report(self):
|
def report_mode(self):
|
||||||
"""Obtain one-time report on measurement values
|
"""Start reporting measurement values
|
||||||
|
|
||||||
Example of yielded data::
|
Example of yielded data::
|
||||||
{'channel': 0,
|
{'channel': 0,
|
||||||
'time': 2302524,
|
'time': 2302524,
|
||||||
'interval': 0.12
|
|
||||||
'adc': 0.6199188965423515,
|
'adc': 0.6199188965423515,
|
||||||
'sens': 6138.519310282602,
|
'sens': 6138.519310282602,
|
||||||
'temperature': 36.87032392655527,
|
'temperature': 36.87032392655527,
|
||||||
'pid_engaged': True,
|
'pid_engaged': True,
|
||||||
'i_set': 2.0635816680889123,
|
'i_set': 2.0635816680889123,
|
||||||
|
'vref': 1.494,
|
||||||
'dac_value': 2.527790834044456,
|
'dac_value': 2.527790834044456,
|
||||||
'dac_feedback': 2.523,
|
'dac_feedback': 2.523,
|
||||||
'i_tec': 2.331,
|
'i_tec': 2.331,
|
||||||
@ -133,27 +129,24 @@ class Client:
|
|||||||
'tec_u_meas': 2.5340000000000003,
|
'tec_u_meas': 2.5340000000000003,
|
||||||
'pid_output': 2.067581958092247}
|
'pid_output': 2.067581958092247}
|
||||||
"""
|
"""
|
||||||
return self._get_conf("report")
|
while True:
|
||||||
|
self._socket.sendall("report\n".encode('utf-8'))
|
||||||
def get_ipv4(self):
|
line = self._read_line()
|
||||||
"""Get the IPv4 settings of the Thermostat"""
|
if not line:
|
||||||
return self._command("ipv4")
|
break
|
||||||
|
try:
|
||||||
def get_fan(self):
|
yield json.loads(line)
|
||||||
"""Get Thermostat current fan settings"""
|
except json.decoder.JSONDecodeError:
|
||||||
return self._command("fan")
|
pass
|
||||||
|
time.sleep(0.05)
|
||||||
def get_hwrev(self):
|
|
||||||
"""Get Thermostat hardware revision"""
|
|
||||||
return self._command("hwrev")
|
|
||||||
|
|
||||||
def set_param(self, topic, channel, field="", value=""):
|
def set_param(self, topic, channel, field="", value=""):
|
||||||
"""Set configuration parameters
|
"""Set configuration parameters
|
||||||
|
|
||||||
Examples::
|
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("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("center", 0, "vref")
|
||||||
tec.set_param("postfilter", 1, 21)
|
tec.set_param("postfilter", 1, 21)
|
||||||
|
|
||||||
@ -168,40 +161,12 @@ class Client:
|
|||||||
def power_up(self, channel, target):
|
def power_up(self, channel, target):
|
||||||
"""Start closed-loop mode"""
|
"""Start closed-loop mode"""
|
||||||
self.set_param("pid", channel, "target", value=target)
|
self.set_param("pid", channel, "target", value=target)
|
||||||
self.set_param("output", channel, "pid")
|
self.set_param("pwm", channel, "pid")
|
||||||
|
|
||||||
def save_config(self, channel=""):
|
def save_config(self):
|
||||||
"""Save current configuration to EEPROM"""
|
"""Save current configuration to EEPROM"""
|
||||||
self._command("save", channel)
|
self._command("save")
|
||||||
if channel != "":
|
|
||||||
self._read_line() # read the extra {}
|
|
||||||
|
|
||||||
def load_config(self, channel=""):
|
def load_config(self):
|
||||||
"""Load current configuration from EEPROM"""
|
"""Load current configuration from EEPROM"""
|
||||||
self._command("load", channel)
|
self._command("load")
|
||||||
if channel != "":
|
|
||||||
self._read_line() # read the extra {}
|
|
||||||
|
|
||||||
def reset(self):
|
|
||||||
"""Reset the device"""
|
|
||||||
self._socket.sendall("reset".encode("utf-8"))
|
|
||||||
self.disconnect() # resetting ends the TCP session, disconnect anyway
|
|
||||||
|
|
||||||
def enter_dfu_mode(self):
|
|
||||||
"""Reset device and enters USB device firmware update (DFU) mode"""
|
|
||||||
self._socket.sendall("dfu".encode("utf-8"))
|
|
||||||
self.disconnect() # resetting ends the TCP session, disconnect anyway
|
|
||||||
|
|
||||||
def set_ipv4(self, address, netmask, gateway=""):
|
|
||||||
"""Configure IPv4 address, netmask length, and optional default gateway"""
|
|
||||||
self._command("ipv4", f"{address}/{netmask}", gateway)
|
|
||||||
|
|
||||||
def set_fan(self, power=None):
|
|
||||||
"""Set fan power with values from 1 to 100. If omitted, set according to fcurve"""
|
|
||||||
if power is None:
|
|
||||||
power = "auto"
|
|
||||||
self._command("fan", power)
|
|
||||||
|
|
||||||
def set_fcurve(self, a=1.0, b=0.0, c=0.0):
|
|
||||||
"""Set fan controller curve coefficients"""
|
|
||||||
self._command("fcurve", a, b, c)
|
|
12
pytec/setup.py
Normal file
12
pytec/setup.py
Normal file
@ -0,0 +1,12 @@
|
|||||||
|
from setuptools import setup, find_packages
|
||||||
|
|
||||||
|
setup(
|
||||||
|
name="pytec",
|
||||||
|
version="0.0",
|
||||||
|
author="M-Labs",
|
||||||
|
url="https://git.m-labs.hk/M-Labs/thermostat",
|
||||||
|
description="Control TEC",
|
||||||
|
license="GPLv3",
|
||||||
|
install_requires=["setuptools"],
|
||||||
|
packages=find_packages(),
|
||||||
|
)
|
@ -1,13 +0,0 @@
|
|||||||
import time
|
|
||||||
from pythermostat.client import Client
|
|
||||||
|
|
||||||
tec = Client() #(host="localhost", port=6667)
|
|
||||||
tec.set_param("b-p", 1, "t0", 20)
|
|
||||||
print(tec.get_output())
|
|
||||||
print(tec.get_pid())
|
|
||||||
print(tec.get_output())
|
|
||||||
print(tec.get_postfilter())
|
|
||||||
print(tec.get_b_parameter())
|
|
||||||
while True:
|
|
||||||
print(tec.get_report())
|
|
||||||
time.sleep(0.05)
|
|
@ -1,21 +0,0 @@
|
|||||||
[build-system]
|
|
||||||
requires = ["setuptools"]
|
|
||||||
build-backend = "setuptools.build_meta"
|
|
||||||
|
|
||||||
[project]
|
|
||||||
name = "pythermostat"
|
|
||||||
version = "0.0"
|
|
||||||
authors = [{name = "M-Labs"}]
|
|
||||||
description = "Control TEC"
|
|
||||||
urls.Repository = "https://git.m-labs.hk/M-Labs/thermostat"
|
|
||||||
license = {text = "GPLv3"}
|
|
||||||
|
|
||||||
[project.gui-scripts]
|
|
||||||
thermostat_plot = "pythermostat.plot:main"
|
|
||||||
|
|
||||||
[project.scripts]
|
|
||||||
thermostat_autotune = "pythermostat.autotune:main"
|
|
||||||
thermostat_test = "pythermostat.test:main"
|
|
||||||
|
|
||||||
[tool.setuptools]
|
|
||||||
packages.find = {}
|
|
@ -1,137 +0,0 @@
|
|||||||
import time
|
|
||||||
import numpy as np
|
|
||||||
import matplotlib.pyplot as plt
|
|
||||||
import matplotlib.animation as animation
|
|
||||||
from threading import Thread, Lock
|
|
||||||
from pythermostat.client import Client
|
|
||||||
|
|
||||||
|
|
||||||
def main():
|
|
||||||
TIME_WINDOW = 300.0
|
|
||||||
|
|
||||||
tec = Client()
|
|
||||||
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
|
|
||||||
self.x_data = []
|
|
||||||
self.y_data = []
|
|
||||||
|
|
||||||
def append(self, x, y):
|
|
||||||
self.x_data.append(x)
|
|
||||||
self.y_data.append(self.conv(y))
|
|
||||||
|
|
||||||
def clip(self, min_x):
|
|
||||||
drop = 0
|
|
||||||
while drop < len(self.x_data) and self.x_data[drop] < min_x:
|
|
||||||
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(),
|
|
||||||
# 'i_set': Series(),
|
|
||||||
'pid_output': Series(),
|
|
||||||
# 'vref': Series(),
|
|
||||||
# 'dac_value': Series(),
|
|
||||||
# 'dac_feedback': Series(),
|
|
||||||
# 'i_tec': Series(),
|
|
||||||
'tec_i': Series(),
|
|
||||||
'tec_u_meas': Series(),
|
|
||||||
# 'interval': Series(),
|
|
||||||
}
|
|
||||||
series_lock = Lock()
|
|
||||||
|
|
||||||
quit = False
|
|
||||||
|
|
||||||
def recv_data(tec):
|
|
||||||
global last_packet_time
|
|
||||||
while True:
|
|
||||||
data = tec.get_report()
|
|
||||||
ch0 = data[0]
|
|
||||||
series_lock.acquire()
|
|
||||||
try:
|
|
||||||
for k, s in series.items():
|
|
||||||
if k in ch0:
|
|
||||||
v = ch0[k]
|
|
||||||
if type(v) is float:
|
|
||||||
s.append(ch0['time'], v)
|
|
||||||
finally:
|
|
||||||
series_lock.release()
|
|
||||||
|
|
||||||
if quit:
|
|
||||||
break
|
|
||||||
time.sleep(0.05)
|
|
||||||
|
|
||||||
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)
|
|
||||||
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():
|
|
||||||
s.plot.set_data(s.x_data, s.y_data)
|
|
||||||
if len(s.y_data) > 0:
|
|
||||||
s.plot.set_label("{}: {:.3f}".format(k, s.y_data[-1]))
|
|
||||||
|
|
||||||
if len(s.x_data) > 0:
|
|
||||||
min_x_ = min(s.x_data)
|
|
||||||
if min_x is None:
|
|
||||||
min_x = min_x_
|
|
||||||
else:
|
|
||||||
min_x = min(min_x, min_x_)
|
|
||||||
max_x_ = max(s.x_data)
|
|
||||||
if max_x is None:
|
|
||||||
max_x = max_x_
|
|
||||||
else:
|
|
||||||
max_x = max(max_x, max_x_)
|
|
||||||
if len(s.y_data) > 0:
|
|
||||||
min_y_ = min(s.y_data)
|
|
||||||
if min_y is None:
|
|
||||||
min_y = min_y_
|
|
||||||
else:
|
|
||||||
min_y = min(min_y, min_y_)
|
|
||||||
max_y_ = max(s.y_data)
|
|
||||||
if max_y is None:
|
|
||||||
max_y = max_y_
|
|
||||||
else:
|
|
||||||
max_y = max(max_y, max_y_)
|
|
||||||
|
|
||||||
if min_x and max_x - TIME_WINDOW > min_x:
|
|
||||||
for s in series.values():
|
|
||||||
s.clip(max_x - TIME_WINDOW)
|
|
||||||
finally:
|
|
||||||
series_lock.release()
|
|
||||||
|
|
||||||
if min_x != max_x:
|
|
||||||
ax.set_xlim(min_x, max_x)
|
|
||||||
if min_y != max_y:
|
|
||||||
margin_y = 0.01 * (max_y - min_y)
|
|
||||||
ax.set_ylim(min_y - margin_y, max_y + margin_y)
|
|
||||||
|
|
||||||
nonlocal legend
|
|
||||||
legend.remove()
|
|
||||||
legend = ax.legend()
|
|
||||||
|
|
||||||
ani = animation.FuncAnimation(
|
|
||||||
fig, animate, interval=1, blit=False, save_count=50)
|
|
||||||
|
|
||||||
plt.show()
|
|
||||||
quit = True
|
|
||||||
thread.join()
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
main()
|
|
@ -1,81 +0,0 @@
|
|||||||
import argparse
|
|
||||||
from contextlib import contextmanager
|
|
||||||
from pythermostat.client import Client
|
|
||||||
|
|
||||||
|
|
||||||
CHANNELS = 2
|
|
||||||
|
|
||||||
|
|
||||||
def get_argparser():
|
|
||||||
parser = argparse.ArgumentParser(description="Thermostat hardware testing script")
|
|
||||||
|
|
||||||
parser.add_argument("host", metavar="HOST", default="192.168.1.26", nargs="?")
|
|
||||||
parser.add_argument("port", metavar="PORT", default=23, nargs="?")
|
|
||||||
parser.add_argument(
|
|
||||||
"-r",
|
|
||||||
"--testing_resistance",
|
|
||||||
default=10_000,
|
|
||||||
help="Testing resistance value through SENS pin in Ohms",
|
|
||||||
)
|
|
||||||
parser.add_argument(
|
|
||||||
"-d",
|
|
||||||
"--deviation",
|
|
||||||
default=1,
|
|
||||||
help="Allowed deviation of resistance in percentage",
|
|
||||||
)
|
|
||||||
|
|
||||||
return parser
|
|
||||||
|
|
||||||
|
|
||||||
def main():
|
|
||||||
args = get_argparser().parse_args()
|
|
||||||
|
|
||||||
min_allowed_resistance = args.testing_resistance * (1 - args.deviation / 100)
|
|
||||||
max_allowed_resistance = args.testing_resistance * (1 + args.deviation / 100)
|
|
||||||
|
|
||||||
print(min_allowed_resistance, max_allowed_resistance)
|
|
||||||
|
|
||||||
thermostat = Client(args.host, args.port)
|
|
||||||
for channel in range(CHANNELS):
|
|
||||||
print(f"Channel {channel} is active")
|
|
||||||
|
|
||||||
print("Checking resistance through SENS input ....", end=" ")
|
|
||||||
sens_resistance = thermostat.get_report()[channel]["sens"]
|
|
||||||
if sens_resistance is not None:
|
|
||||||
print(sens_resistance, "Ω")
|
|
||||||
if min_allowed_resistance <= sens_resistance <= max_allowed_resistance:
|
|
||||||
print("PASSED")
|
|
||||||
else:
|
|
||||||
print("FAILED")
|
|
||||||
else:
|
|
||||||
print("Floating SENS input! Is the channel connected?")
|
|
||||||
|
|
||||||
with preserve_thermostat_output_settings(thermostat, channel):
|
|
||||||
test_output_settings = {
|
|
||||||
"max_i_pos": 2,
|
|
||||||
"max_i_neg": 2,
|
|
||||||
"max_v": 4,
|
|
||||||
"i_set": 0.1,
|
|
||||||
"polarity": "normal",
|
|
||||||
}
|
|
||||||
for field, value in test_output_settings.items():
|
|
||||||
thermostat.set_param("output", channel, field, value)
|
|
||||||
|
|
||||||
input(f"Check if channel {channel} current = 0.1 A, and press ENTER...")
|
|
||||||
|
|
||||||
input(f"Channel {channel} testing done, press ENTER to continue.")
|
|
||||||
print()
|
|
||||||
|
|
||||||
print("Testing complete.")
|
|
||||||
|
|
||||||
|
|
||||||
@contextmanager
|
|
||||||
def preserve_thermostat_output_settings(client, channel):
|
|
||||||
original_output_settings = client.get_output()[channel]
|
|
||||||
yield original_output_settings
|
|
||||||
for setting in "max_i_pos", "max_i_neg", "max_v", "i_set", "polarity":
|
|
||||||
client.set_param("output", channel, setting, original_output_settings[setting])
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
main()
|
|
@ -1,9 +1,12 @@
|
|||||||
use crate::timer::sleep;
|
|
||||||
use stm32f4xx_hal::{
|
use stm32f4xx_hal::{
|
||||||
hal::{blocking::spi::Transfer, digital::v2::OutputPin},
|
hal::{
|
||||||
spi,
|
blocking::spi::Transfer,
|
||||||
|
digital::v2::OutputPin,
|
||||||
|
},
|
||||||
time::MegaHertz,
|
time::MegaHertz,
|
||||||
|
spi,
|
||||||
};
|
};
|
||||||
|
use crate::timer::sleep;
|
||||||
|
|
||||||
/// SPI Mode 1
|
/// SPI Mode 1
|
||||||
pub const SPI_MODE: spi::Mode = spi::Mode {
|
pub const SPI_MODE: spi::Mode = spi::Mode {
|
||||||
@ -25,7 +28,10 @@ impl<SPI: Transfer<u8>, S: OutputPin> Dac<SPI, S> {
|
|||||||
pub fn new(spi: SPI, mut sync: S) -> Self {
|
pub fn new(spi: SPI, mut sync: S) -> Self {
|
||||||
let _ = sync.set_low();
|
let _ = sync.set_low();
|
||||||
|
|
||||||
Dac { spi, sync }
|
Dac {
|
||||||
|
spi,
|
||||||
|
sync,
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
fn write(&mut self, buf: &mut [u8]) -> Result<(), SPI::Error> {
|
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> {
|
pub fn set(&mut self, value: u32) -> Result<u32, SPI::Error> {
|
||||||
let value = value.min(MAX_VALUE);
|
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)?;
|
self.write(&mut buf)?;
|
||||||
Ok(value)
|
Ok(value)
|
||||||
}
|
}
|
||||||
|
@ -1,12 +1,18 @@
|
|||||||
use super::{
|
|
||||||
checksum::{Checksum, ChecksumMode},
|
|
||||||
regs::{self, Register, RegisterData},
|
|
||||||
DigitalFilterOrder, Input, Mode, PostFilter, RefSource,
|
|
||||||
};
|
|
||||||
use core::fmt;
|
use core::fmt;
|
||||||
use log::{info, warn};
|
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
|
/// 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> {
|
pub fn new(spi: SPI, mut nss: NSS) -> Result<Self, SPI::Error> {
|
||||||
let _ = nss.set_high();
|
let _ = nss.set_high();
|
||||||
let mut adc = Adc {
|
let mut adc = Adc {
|
||||||
spi,
|
spi, nss,
|
||||||
nss,
|
|
||||||
checksum_mode: ChecksumMode::Off,
|
checksum_mode: ChecksumMode::Off,
|
||||||
};
|
};
|
||||||
adc.reset()?;
|
adc.reset()?;
|
||||||
@ -50,7 +55,8 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
|
|||||||
|
|
||||||
/// `0x00DX` for AD7172-2
|
/// `0x00DX` for AD7172-2
|
||||||
pub fn identify(&mut self) -> Result<u16, SPI::Error> {
|
pub fn identify(&mut self) -> Result<u16, SPI::Error> {
|
||||||
self.read_reg(®s::Id).map(|id| id.id())
|
self.read_reg(®s::Id)
|
||||||
|
.map(|id| id.id())
|
||||||
}
|
}
|
||||||
|
|
||||||
pub fn set_checksum_mode(&mut self, mode: ChecksumMode) -> Result<(), SPI::Error> {
|
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(
|
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> {
|
) -> Result<(), SPI::Error> {
|
||||||
self.update_reg(®s::SetupCon { index }, |data| {
|
self.update_reg(®s::SetupCon { index }, |data| {
|
||||||
data.set_bipolar(false);
|
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(®s::Offset { index })?.offset();
|
let offset = self.read_reg(®s::Offset { index })?.offset();
|
||||||
let gain = self.read_reg(®s::Gain { index })?.gain();
|
let gain = self.read_reg(®s::Gain { index })?.gain();
|
||||||
let bipolar = self.read_reg(®s::SetupCon { index })?.bipolar();
|
let bipolar = self.read_reg(®s::SetupCon { index })?.bipolar();
|
||||||
Ok(ChannelCalibration {
|
Ok(ChannelCalibration { offset, gain, bipolar })
|
||||||
offset,
|
|
||||||
gain,
|
|
||||||
bipolar,
|
|
||||||
})
|
|
||||||
}
|
}
|
||||||
|
|
||||||
pub fn start_continuous_conversion(&mut self) -> Result<(), SPI::Error> {
|
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> {
|
pub fn get_postfilter(&mut self, index: u8) -> Result<Option<PostFilter>, SPI::Error> {
|
||||||
self.read_reg(®s::FiltCon { index }).map(|data| {
|
self.read_reg(®s::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(®s::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(®s::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
|
/// Returns the channel the data is from
|
||||||
pub fn data_ready(&mut self) -> Result<Option<u8>, SPI::Error> {
|
pub fn data_ready(&mut self) -> Result<Option<u8>, SPI::Error> {
|
||||||
self.read_reg(®s::Status).map(|status| {
|
self.read_reg(®s::Status)
|
||||||
if status.ready() {
|
.map(|status| {
|
||||||
Some(status.channel())
|
if status.ready() {
|
||||||
} else {
|
Some(status.channel())
|
||||||
None
|
} else {
|
||||||
}
|
None
|
||||||
})
|
}
|
||||||
|
})
|
||||||
}
|
}
|
||||||
|
|
||||||
/// Get data
|
/// Get data
|
||||||
pub fn read_data(&mut self) -> Result<u32, SPI::Error> {
|
pub fn read_data(&mut self) -> Result<u32, SPI::Error> {
|
||||||
self.read_reg(®s::Data).map(|data| data.data())
|
self.read_reg(®s::Data)
|
||||||
|
.map(|data| data.data())
|
||||||
}
|
}
|
||||||
|
|
||||||
fn read_reg<R: regs::Register>(&mut self, reg: &R) -> Result<R::Data, SPI::Error> {
|
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;
|
break;
|
||||||
}
|
}
|
||||||
// Retry
|
// 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)
|
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 {
|
loop {
|
||||||
let address = reg.address();
|
let address = reg.address();
|
||||||
let mut checksum = Checksum::new(match self.checksum_mode {
|
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,
|
ChecksumMode::Crc => ChecksumMode::Crc,
|
||||||
});
|
});
|
||||||
checksum.feed(&[address]);
|
checksum.feed(&[address]);
|
||||||
checksum.feed(reg_data);
|
checksum.feed(®_data);
|
||||||
let checksum_out = checksum.result();
|
let checksum_out = checksum.result();
|
||||||
|
|
||||||
let mut data = reg_data.clone();
|
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 {
|
if *readback_data == **reg_data {
|
||||||
return Ok(());
|
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(())
|
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 mut addr_buf = [addr];
|
||||||
|
|
||||||
let _ = self.nss.set_low();
|
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),
|
Err(e) => Err(e),
|
||||||
};
|
};
|
||||||
let result = match (result, checksum) {
|
let result = match (result, checksum) {
|
||||||
(Ok(_), None) => Ok(None),
|
(Ok(_), None) =>
|
||||||
|
Ok(None),
|
||||||
(Ok(_), Some(checksum_out)) => {
|
(Ok(_), Some(checksum_out)) => {
|
||||||
let mut checksum_buf = [checksum_out; 1];
|
let mut checksum_buf = [checksum_out; 1];
|
||||||
match self.spi.transfer(&mut checksum_buf) {
|
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),
|
(Err(e), _) =>
|
||||||
|
Err(e),
|
||||||
};
|
};
|
||||||
let _ = self.nss.set_high();
|
let _ = self.nss.set_high();
|
||||||
|
|
||||||
|
@ -29,13 +29,13 @@ impl Checksum {
|
|||||||
|
|
||||||
fn feed_byte(&mut self, input: u8) {
|
fn feed_byte(&mut self, input: u8) {
|
||||||
match self.mode {
|
match self.mode {
|
||||||
ChecksumMode::Off => {}
|
ChecksumMode::Off => {},
|
||||||
ChecksumMode::Xor => self.state ^= input,
|
ChecksumMode::Xor => self.state ^= input,
|
||||||
ChecksumMode::Crc => {
|
ChecksumMode::Crc => {
|
||||||
for i in 0..8 {
|
for i in 0..8 {
|
||||||
let input_mask = 0x80 >> i;
|
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 */
|
0x07 /* x8 + x2 + x + 1 */
|
||||||
} else {
|
} else {
|
||||||
0
|
0
|
||||||
@ -54,7 +54,7 @@ impl Checksum {
|
|||||||
pub fn result(&self) -> Option<u8> {
|
pub fn result(&self) -> Option<u8> {
|
||||||
match self.mode {
|
match self.mode {
|
||||||
ChecksumMode::Off => None,
|
ChecksumMode::Off => None,
|
||||||
_ => Some(self.state),
|
_ => Some(self.state)
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
@ -1,10 +1,13 @@
|
|||||||
use core::fmt;
|
use core::fmt;
|
||||||
use num_traits::float::Float;
|
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;
|
pub mod regs;
|
||||||
|
mod checksum;
|
||||||
pub use checksum::ChecksumMode;
|
pub use checksum::ChecksumMode;
|
||||||
mod adc;
|
mod adc;
|
||||||
pub use adc::*;
|
pub use adc::*;
|
||||||
@ -19,6 +22,7 @@ pub const SPI_CLOCK: MegaHertz = MegaHertz(2);
|
|||||||
|
|
||||||
pub const MAX_VALUE: u32 = 0xFF_FFFF;
|
pub const MAX_VALUE: u32 = 0xFF_FFFF;
|
||||||
|
|
||||||
|
|
||||||
#[derive(Clone, Copy, Debug)]
|
#[derive(Clone, Copy, Debug)]
|
||||||
#[repr(u8)]
|
#[repr(u8)]
|
||||||
pub enum Mode {
|
pub enum Mode {
|
||||||
@ -101,8 +105,7 @@ impl fmt::Display for Input {
|
|||||||
RefPos => "ref+",
|
RefPos => "ref+",
|
||||||
RefNeg => "ref-",
|
RefNeg => "ref-",
|
||||||
_ => "<INVALID>",
|
_ => "<INVALID>",
|
||||||
}
|
}.fmt(fmt)
|
||||||
.fmt(fmt)
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -138,8 +141,7 @@ impl fmt::Display for RefSource {
|
|||||||
Internal => "internal",
|
Internal => "internal",
|
||||||
Avdd1MinusAvss => "avdd1-avss",
|
Avdd1MinusAvss => "avdd1-avss",
|
||||||
_ => "<INVALID>",
|
_ => "<INVALID>",
|
||||||
}
|
}.fmt(fmt)
|
||||||
.fmt(fmt)
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -1,6 +1,6 @@
|
|||||||
use bit_field::BitField;
|
|
||||||
use byteorder::{BigEndian, ByteOrder};
|
|
||||||
use core::ops::{Deref, DerefMut};
|
use core::ops::{Deref, DerefMut};
|
||||||
|
use byteorder::{BigEndian, ByteOrder};
|
||||||
|
use bit_field::BitField;
|
||||||
|
|
||||||
use super::*;
|
use super::*;
|
||||||
|
|
||||||
@ -9,7 +9,7 @@ pub trait Register {
|
|||||||
fn address(&self) -> u8;
|
fn address(&self) -> u8;
|
||||||
}
|
}
|
||||||
|
|
||||||
pub trait RegisterData: Clone + Deref<Target = [u8]> + DerefMut {
|
pub trait RegisterData: Clone + Deref<Target=[u8]> + DerefMut {
|
||||||
fn empty() -> Self;
|
fn empty() -> Self;
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -49,9 +49,7 @@ macro_rules! def_reg {
|
|||||||
}
|
}
|
||||||
};
|
};
|
||||||
($Reg: ident, u8, $reg: ident, $addr: expr, $size: expr) => {
|
($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 {
|
impl Register for $Reg {
|
||||||
type Data = $reg::Data;
|
type Data = $reg::Data;
|
||||||
fn address(&self) -> u8 {
|
fn address(&self) -> u8 {
|
||||||
@ -78,7 +76,7 @@ macro_rules! def_reg {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
};
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
macro_rules! reg_bit {
|
macro_rules! reg_bit {
|
||||||
@ -148,7 +146,7 @@ def_reg!(Status, status, 0x00, 1);
|
|||||||
impl status::Data {
|
impl status::Data {
|
||||||
/// Is there new data to read?
|
/// Is there new data to read?
|
||||||
pub fn ready(&self) -> bool {
|
pub fn ready(&self) -> bool {
|
||||||
!self.not_ready()
|
! self.not_ready()
|
||||||
}
|
}
|
||||||
|
|
||||||
reg_bit!(not_ready, 0, 7, "No data ready indicator");
|
reg_bit!(not_ready, 0, 7, "No data ready indicator");
|
||||||
@ -161,21 +159,9 @@ impl status::Data {
|
|||||||
def_reg!(AdcMode, adc_mode, 0x01, 2);
|
def_reg!(AdcMode, adc_mode, 0x01, 2);
|
||||||
impl adc_mode::Data {
|
impl adc_mode::Data {
|
||||||
reg_bits!(delay, set_delay, 0, 0..=2, "Delay after channel switch");
|
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!(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!(clockset, set_clocksel, 1, 2..=3, "Clock source");
|
||||||
reg_bits!(mode, set_mode, 1, 4..=6, Mode, "Operating mode");
|
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);
|
def_reg!(Data, data, 0x04, 3);
|
||||||
impl data::Data {
|
impl data::Data {
|
||||||
pub fn data(&self) -> u32 {
|
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);
|
def_reg!(GpioCon, gpio_con, 0x06, 2);
|
||||||
impl gpio_con::Data {
|
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);
|
def_reg!(Id, id, 0x07, 2);
|
||||||
@ -218,7 +200,8 @@ impl channel::Data {
|
|||||||
/// Which input is connected to positive input of this channel
|
/// Which input is connected to positive input of this channel
|
||||||
#[allow(unused)]
|
#[allow(unused)]
|
||||||
pub fn a_in_pos(&self) -> Input {
|
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
|
/// Set which input is connected to positive input of this channel
|
||||||
#[allow(unused)]
|
#[allow(unused)]
|
||||||
@ -227,66 +210,27 @@ impl channel::Data {
|
|||||||
self.0[0].set_bits(0..=1, value >> 3);
|
self.0[0].set_bits(0..=1, value >> 3);
|
||||||
self.0[1].set_bits(5..=7, value & 0x7);
|
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);
|
def_reg!(SetupCon, u8, setup_con, 0x20, 2);
|
||||||
impl setup_con::Data {
|
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_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!(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_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!(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_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);
|
def_reg!(FiltCon, u8, filt_con, 0x28, 2);
|
||||||
impl filt_con::Data {
|
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!(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");
|
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 {
|
impl offset::Data {
|
||||||
#[allow(unused)]
|
#[allow(unused)]
|
||||||
pub fn offset(&self) -> u32 {
|
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)]
|
#[allow(unused)]
|
||||||
pub fn set_offset(&mut self, value: u32) {
|
pub fn set_offset(&mut self, value: u32) {
|
||||||
@ -308,7 +254,9 @@ def_reg!(Gain, u8, gain, 0x38, 3);
|
|||||||
impl gain::Data {
|
impl gain::Data {
|
||||||
#[allow(unused)]
|
#[allow(unused)]
|
||||||
pub fn gain(&self) -> u32 {
|
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)]
|
#[allow(unused)]
|
||||||
pub fn set_gain(&mut self, value: u32) {
|
pub fn set_gain(&mut self, value: u32) {
|
||||||
|
@ -1,10 +1,14 @@
|
|||||||
use crate::{
|
|
||||||
ad5680, ad7172,
|
|
||||||
channel_state::ChannelState,
|
|
||||||
pins::{ChannelPinSet, ChannelPins},
|
|
||||||
};
|
|
||||||
use stm32f4xx_hal::hal::digital::v2::OutputPin;
|
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
|
/// Marker type for the first channel
|
||||||
pub struct Channel0;
|
pub struct Channel0;
|
||||||
@ -36,8 +40,7 @@ impl<C: ChannelPins> Channel<C> {
|
|||||||
|
|
||||||
Channel {
|
Channel {
|
||||||
state,
|
state,
|
||||||
dac,
|
dac, vref_meas,
|
||||||
vref_meas,
|
|
||||||
shdn: pins.shdn,
|
shdn: pins.shdn,
|
||||||
vref_pin: pins.vref_pin,
|
vref_pin: pins.vref_pin,
|
||||||
itec_pin: pins.itec_pin,
|
itec_pin: pins.itec_pin,
|
||||||
|
@ -1,21 +1,25 @@
|
|||||||
use crate::{
|
|
||||||
ad7172, b_parameter as bp,
|
|
||||||
command_parser::{CenterPoint, Polarity},
|
|
||||||
config::PwmLimits,
|
|
||||||
pid,
|
|
||||||
};
|
|
||||||
use num_traits::Zero;
|
|
||||||
use smoltcp::time::{Duration, Instant};
|
use smoltcp::time::{Duration, Instant};
|
||||||
use uom::si::{
|
use uom::si::{
|
||||||
electric_current::ampere,
|
|
||||||
electric_potential::volt,
|
|
||||||
electrical_resistance::ohm,
|
|
||||||
f64::{
|
f64::{
|
||||||
ElectricCurrent, ElectricPotential, ElectricalResistance, ThermodynamicTemperature, Time,
|
ElectricPotential,
|
||||||
|
ElectricCurrent,
|
||||||
|
ElectricalResistance,
|
||||||
|
ThermodynamicTemperature,
|
||||||
|
Time,
|
||||||
},
|
},
|
||||||
|
electric_potential::volt,
|
||||||
|
electric_current::ampere,
|
||||||
|
electrical_resistance::ohm,
|
||||||
thermodynamic_temperature::degree_celsius,
|
thermodynamic_temperature::degree_celsius,
|
||||||
time::millisecond,
|
time::millisecond,
|
||||||
};
|
};
|
||||||
|
use crate::{
|
||||||
|
ad7172,
|
||||||
|
pid,
|
||||||
|
config::PwmLimits,
|
||||||
|
steinhart_hart as sh,
|
||||||
|
command_parser::{CenterPoint, Polarity},
|
||||||
|
};
|
||||||
|
|
||||||
const R_INNER: f64 = 2.0 * 5100.0;
|
const R_INNER: f64 = 2.0 * 5100.0;
|
||||||
const VREF_SENS: f64 = 3.3 / 2.0;
|
const VREF_SENS: f64 = 3.3 / 2.0;
|
||||||
@ -32,7 +36,7 @@ pub struct ChannelState {
|
|||||||
pub pwm_limits: PwmLimits,
|
pub pwm_limits: PwmLimits,
|
||||||
pub pid_engaged: bool,
|
pub pid_engaged: bool,
|
||||||
pub pid: pid::Controller,
|
pub pid: pid::Controller,
|
||||||
pub bp: bp::Parameters,
|
pub sh: sh::Parameters,
|
||||||
pub polarity: Polarity,
|
pub polarity: Polarity,
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -44,17 +48,17 @@ impl ChannelState {
|
|||||||
adc_time: Instant::from_secs(0),
|
adc_time: Instant::from_secs(0),
|
||||||
// default: 10 Hz
|
// default: 10 Hz
|
||||||
adc_interval: Duration::from_millis(100),
|
adc_interval: Duration::from_millis(100),
|
||||||
center: CenterPoint::VRef,
|
center: CenterPoint::Vref,
|
||||||
dac_value: ElectricPotential::new::<volt>(0.0),
|
dac_value: ElectricPotential::new::<volt>(0.0),
|
||||||
i_set: ElectricCurrent::new::<ampere>(0.0),
|
i_set: ElectricCurrent::new::<ampere>(0.0),
|
||||||
pwm_limits: PwmLimits {
|
pwm_limits: PwmLimits {
|
||||||
max_v: ElectricPotential::zero(),
|
max_v: 0.0,
|
||||||
max_i_pos: ElectricCurrent::zero(),
|
max_i_pos: 0.0,
|
||||||
max_i_neg: ElectricCurrent::zero(),
|
max_i_neg: 0.0,
|
||||||
},
|
},
|
||||||
pid_engaged: false,
|
pid_engaged: false,
|
||||||
pid: pid::Controller::new(pid::Parameters::default()),
|
pid: pid::Controller::new(pid::Parameters::default()),
|
||||||
bp: bp::Parameters::default(),
|
sh: sh::Parameters::default(),
|
||||||
polarity: Polarity::Normal,
|
polarity: Polarity::Normal,
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@ -72,7 +76,8 @@ impl ChannelState {
|
|||||||
|
|
||||||
/// Update PID state on ADC input, calculate new DAC output
|
/// Update PID state on ADC input, calculate new DAC output
|
||||||
pub fn update_pid(&mut self) -> Option<f64> {
|
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);
|
let pid_output = self.pid.update(temperature);
|
||||||
Some(pid_output)
|
Some(pid_output)
|
||||||
}
|
}
|
||||||
@ -100,7 +105,7 @@ impl ChannelState {
|
|||||||
|
|
||||||
pub fn get_temperature(&self) -> Option<ThermodynamicTemperature> {
|
pub fn get_temperature(&self) -> Option<ThermodynamicTemperature> {
|
||||||
let r = self.get_sens()?;
|
let r = self.get_sens()?;
|
||||||
let temperature = self.bp.get_temperature(r);
|
let temperature = self.sh.get_temperature(r);
|
||||||
Some(temperature)
|
Some(temperature)
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
282
src/channels.rs
282
src/channels.rs
@ -1,12 +1,3 @@
|
|||||||
use crate::timer::sleep;
|
|
||||||
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 core::marker::PhantomData;
|
||||||
use heapless::{consts::U2, Vec};
|
use heapless::{consts::U2, Vec};
|
||||||
use num_traits::Zero;
|
use num_traits::Zero;
|
||||||
@ -14,16 +5,27 @@ use serde::{Serialize, Serializer};
|
|||||||
use smoltcp::time::Instant;
|
use smoltcp::time::Instant;
|
||||||
use stm32f4xx_hal::hal;
|
use stm32f4xx_hal::hal;
|
||||||
use uom::si::{
|
use uom::si::{
|
||||||
electric_current::ampere,
|
|
||||||
electric_potential::{millivolt, volt},
|
|
||||||
electrical_resistance::ohm,
|
|
||||||
f64::{ElectricCurrent, ElectricPotential, ElectricalResistance, Time},
|
f64::{ElectricCurrent, ElectricPotential, ElectricalResistance, Time},
|
||||||
|
electric_potential::{millivolt, volt},
|
||||||
|
electric_current::ampere,
|
||||||
|
electrical_resistance::ohm,
|
||||||
ratio::ratio,
|
ratio::ratio,
|
||||||
thermodynamic_temperature::degree_celsius,
|
thermodynamic_temperature::degree_celsius,
|
||||||
};
|
};
|
||||||
|
use crate::{
|
||||||
|
ad5680,
|
||||||
|
ad7172,
|
||||||
|
channel::{Channel, Channel0, Channel1},
|
||||||
|
channel_state::ChannelState,
|
||||||
|
command_parser::{CenterPoint, PwmPin, Polarity},
|
||||||
|
command_handler::JsonBuffer,
|
||||||
|
pins::{self, Channel0VRef, Channel1VRef},
|
||||||
|
steinhart_hart,
|
||||||
|
};
|
||||||
|
use crate::timer::sleep;
|
||||||
|
|
||||||
pub enum PinsAdcReadTarget {
|
pub enum PinsAdcReadTarget {
|
||||||
VRef,
|
VREF,
|
||||||
DacVfb,
|
DacVfb,
|
||||||
ITec,
|
ITec,
|
||||||
VTec,
|
VTec,
|
||||||
@ -71,25 +73,19 @@ impl Channels {
|
|||||||
adc.set_sync_enable(false).unwrap();
|
adc.set_sync_enable(false).unwrap();
|
||||||
|
|
||||||
// Setup channels and start ADC
|
// 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();
|
adc.start_continuous_conversion().unwrap();
|
||||||
|
|
||||||
let channel0 = Channel::new(pins.channel0, adc_calibration0);
|
let channel0 = Channel::new(pins.channel0, adc_calibration0);
|
||||||
let channel1 = Channel::new(pins.channel1, adc_calibration1);
|
let channel1 = Channel::new(pins.channel1, adc_calibration1);
|
||||||
let pins_adc = pins.pins_adc;
|
let pins_adc = pins.pins_adc;
|
||||||
let pwm = pins.pwm;
|
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 {
|
for channel in 0..CHANNELS {
|
||||||
channels.calibrate_dac_value(channel);
|
channels.calibrate_dac_value(channel);
|
||||||
channels.set_i(channel, ElectricCurrent::new::<ampere>(0.0));
|
channels.set_i(channel, ElectricCurrent::new::<ampere>(0.0));
|
||||||
@ -130,10 +126,10 @@ impl Channels {
|
|||||||
/// calculate the TEC i_set centerpoint
|
/// calculate the TEC i_set centerpoint
|
||||||
pub fn get_center(&mut self, channel: usize) -> ElectricPotential {
|
pub fn get_center(&mut self, channel: usize) -> ElectricPotential {
|
||||||
match self.channel_state(channel).center {
|
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 +139,14 @@ impl Channels {
|
|||||||
voltage
|
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;
|
let i_set = self.channel_state(channel).i_set;
|
||||||
i_set
|
i_set
|
||||||
}
|
}
|
||||||
|
|
||||||
/// i_set DAC
|
/// i_set DAC
|
||||||
fn set_dac(&mut self, channel: usize, voltage: ElectricPotential) -> ElectricPotential {
|
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 / DAC_OUT_V_MAX).get::<ratio>() * (ad5680::MAX_VALUE as f64)) as u32 ;
|
||||||
match channel {
|
match channel {
|
||||||
0 => self.channel0.dac.set(value).unwrap(),
|
0 => self.channel0.dac.set(value).unwrap(),
|
||||||
1 => self.channel1.dac.set(value).unwrap(),
|
1 => self.channel1.dac.set(value).unwrap(),
|
||||||
@ -167,7 +163,7 @@ impl Channels {
|
|||||||
Polarity::Normal => 1.0,
|
Polarity::Normal => 1.0,
|
||||||
Polarity::Reversed => -1.0,
|
Polarity::Reversed => -1.0,
|
||||||
};
|
};
|
||||||
let vref_meas = match channel {
|
let vref_meas = match channel.into() {
|
||||||
0 => self.channel0.vref_meas,
|
0 => self.channel0.vref_meas,
|
||||||
1 => self.channel1.vref_meas,
|
1 => self.channel1.vref_meas,
|
||||||
_ => unreachable!(),
|
_ => unreachable!(),
|
||||||
@ -176,57 +172,54 @@ impl Channels {
|
|||||||
let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
|
let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
|
||||||
let voltage = negate * i_set * 10.0 * r_sense + center_point;
|
let voltage = negate * i_set * 10.0 * r_sense + center_point;
|
||||||
let voltage = self.set_dac(channel, voltage);
|
let voltage = self.set_dac(channel, voltage);
|
||||||
|
let i_set = negate * (voltage - center_point) / (10.0 * r_sense);
|
||||||
negate * (voltage - center_point) / (10.0 * r_sense)
|
i_set
|
||||||
}
|
}
|
||||||
|
|
||||||
/// AN4073: ADC Reading Dispersion can be reduced through Averaging
|
/// 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;
|
let mut sample: u32 = 0;
|
||||||
match channel {
|
match channel {
|
||||||
0 => {
|
0 => {
|
||||||
sample = match adc_read_target {
|
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 => {
|
PinsAdcReadTarget::DacVfb => {
|
||||||
for _ in (0..avg_pt).rev() {
|
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
|
sample / avg_pt as u32
|
||||||
}
|
}
|
||||||
PinsAdcReadTarget::ITec => {
|
PinsAdcReadTarget::ITec => {
|
||||||
for _ in (0..avg_pt).rev() {
|
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
|
sample / avg_pt as u32
|
||||||
}
|
}
|
||||||
PinsAdcReadTarget::VTec => {
|
PinsAdcReadTarget::VTec => {
|
||||||
for _ in (0..avg_pt).rev() {
|
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
|
sample / avg_pt as u32
|
||||||
}
|
}
|
||||||
@ -236,42 +229,44 @@ impl Channels {
|
|||||||
}
|
}
|
||||||
1 => {
|
1 => {
|
||||||
sample = match adc_read_target {
|
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 => {
|
PinsAdcReadTarget::DacVfb => {
|
||||||
for _ in (0..avg_pt).rev() {
|
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
|
sample / avg_pt as u32
|
||||||
}
|
}
|
||||||
PinsAdcReadTarget::ITec => {
|
PinsAdcReadTarget::ITec => {
|
||||||
for _ in (0..avg_pt).rev() {
|
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
|
sample / avg_pt as u32
|
||||||
}
|
}
|
||||||
PinsAdcReadTarget::VTec => {
|
PinsAdcReadTarget::VTec => {
|
||||||
for _ in (0..avg_pt).rev() {
|
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
|
sample / avg_pt as u32
|
||||||
}
|
}
|
||||||
@ -279,7 +274,7 @@ impl Channels {
|
|||||||
let mv = self.pins_adc.sample_to_millivolts(sample as u16);
|
let mv = self.pins_adc.sample_to_millivolts(sample as u16);
|
||||||
ElectricPotential::new::<millivolt>(mv as f64)
|
ElectricPotential::new::<millivolt>(mv as f64)
|
||||||
}
|
}
|
||||||
_ => unreachable!(),
|
_ => unreachable!()
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -303,9 +298,9 @@ impl Channels {
|
|||||||
let samples = 50;
|
let samples = 50;
|
||||||
let mut target_voltage = ElectricPotential::new::<volt>(0.0);
|
let mut target_voltage = ElectricPotential::new::<volt>(0.0);
|
||||||
for _ in 0..samples {
|
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 start_value = 1;
|
||||||
let mut best_error = ElectricPotential::new::<volt>(100.0);
|
let mut best_error = ElectricPotential::new::<volt>(100.0);
|
||||||
|
|
||||||
@ -363,22 +358,20 @@ impl Channels {
|
|||||||
}
|
}
|
||||||
|
|
||||||
pub fn get_max_v(&mut self, channel: usize) -> ElectricPotential {
|
pub fn get_max_v(&mut self, channel: usize) -> ElectricPotential {
|
||||||
self.channel_state(channel).pwm_limits.max_v
|
ElectricPotential::new::<volt>(self.channel_state(channel).pwm_limits.max_v)
|
||||||
}
|
}
|
||||||
|
|
||||||
pub fn get_max_i_pos(&mut self, channel: usize) -> ElectricCurrent {
|
pub fn get_max_i_pos(&mut self, channel: usize) -> ElectricCurrent {
|
||||||
self.channel_state(channel).pwm_limits.max_i_pos
|
ElectricCurrent::new::<ampere>(self.channel_state(channel).pwm_limits.max_i_pos)
|
||||||
}
|
}
|
||||||
|
|
||||||
pub fn get_max_i_neg(&mut self, channel: usize) -> ElectricCurrent {
|
pub fn get_max_i_neg(&mut self, channel: usize) -> ElectricCurrent {
|
||||||
self.channel_state(channel).pwm_limits.max_i_neg
|
ElectricCurrent::new::<ampere>(self.channel_state(channel).pwm_limits.max_i_neg)
|
||||||
}
|
}
|
||||||
|
|
||||||
// Get current passing through TEC
|
// Get current passing through TEC
|
||||||
pub fn get_tec_i(&mut self, channel: usize) -> ElectricCurrent {
|
pub fn get_tec_i(&mut self, channel: usize) -> ElectricCurrent {
|
||||||
let tec_i = (self.adc_read(channel, PinsAdcReadTarget::ITec, 16)
|
let tec_i = (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 {
|
match self.channel_state(channel).polarity {
|
||||||
Polarity::Normal => tec_i,
|
Polarity::Normal => tec_i,
|
||||||
Polarity::Reversed => -tec_i,
|
Polarity::Reversed => -tec_i,
|
||||||
@ -387,47 +380,46 @@ impl Channels {
|
|||||||
|
|
||||||
// Get voltage across TEC
|
// Get voltage across TEC
|
||||||
pub fn get_tec_v(&mut self, channel: usize) -> ElectricPotential {
|
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_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 max = pin.get_max_duty();
|
||||||
let value = ((duty * (max as f64)) as u16).min(max);
|
let value = ((duty * (max as f64)) as u16).min(max);
|
||||||
pin.set_duty(value);
|
pin.set_duty(value);
|
||||||
value as f64 / (max as f64)
|
value as f64 / (max as f64)
|
||||||
}
|
}
|
||||||
match (channel, pin) {
|
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 = 4.0 * ElectricPotential::new::<volt>(3.3);
|
||||||
let max_v = max_v.min(MAX_TEC_V).max(ElectricPotential::zero());
|
let max_v = max_v.min(MAX_TEC_V).max(ElectricPotential::zero());
|
||||||
let duty = (max_v / max).get::<ratio>();
|
let duty = (max_v / max).get::<ratio>();
|
||||||
let duty = self.set_pwm(channel, PwmPin::MaxV, duty);
|
let duty = self.set_pwm(channel, PwmPin::MaxV, duty);
|
||||||
self.channel_state(channel).pwm_limits.max_v = max_v;
|
self.channel_state(channel).pwm_limits.max_v = max_v.get::<volt>();
|
||||||
(duty * max, max)
|
(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 = ElectricCurrent::new::<ampere>(3.0);
|
||||||
let max_i_pos = max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero());
|
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 = (max_i_pos / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
|
||||||
@ -435,15 +427,11 @@ impl Channels {
|
|||||||
Polarity::Normal => self.set_pwm(channel, PwmPin::MaxIPos, duty),
|
Polarity::Normal => self.set_pwm(channel, PwmPin::MaxIPos, duty),
|
||||||
Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxINeg, duty),
|
Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxINeg, duty),
|
||||||
};
|
};
|
||||||
self.channel_state(channel).pwm_limits.max_i_pos = max_i_pos;
|
self.channel_state(channel).pwm_limits.max_i_pos = max_i_pos.get::<ampere>();
|
||||||
(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
|
(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
|
||||||
}
|
}
|
||||||
|
|
||||||
pub fn set_max_i_neg(
|
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 = ElectricCurrent::new::<ampere>(3.0);
|
||||||
let max_i_neg = max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero());
|
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 = (max_i_neg / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
|
||||||
@ -451,7 +439,7 @@ impl Channels {
|
|||||||
Polarity::Normal => self.set_pwm(channel, PwmPin::MaxINeg, duty),
|
Polarity::Normal => self.set_pwm(channel, PwmPin::MaxINeg, duty),
|
||||||
Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxIPos, duty),
|
Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxIPos, duty),
|
||||||
};
|
};
|
||||||
self.channel_state(channel).pwm_limits.max_i_neg = max_i_neg;
|
self.channel_state(channel).pwm_limits.max_i_neg = max_i_neg.get::<ampere>();
|
||||||
(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
|
(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -469,7 +457,7 @@ impl Channels {
|
|||||||
}
|
}
|
||||||
|
|
||||||
fn report(&mut self, channel: usize) -> Report {
|
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 i_tec = self.adc_read(channel, PinsAdcReadTarget::ITec, 16);
|
||||||
let tec_i = self.get_tec_i(channel);
|
let tec_i = self.get_tec_i(channel);
|
||||||
let dac_value = self.get_dac(channel);
|
let dac_value = self.get_dac(channel);
|
||||||
@ -481,8 +469,7 @@ impl Channels {
|
|||||||
interval: state.get_adc_interval(),
|
interval: state.get_adc_interval(),
|
||||||
adc: state.get_adc(),
|
adc: state.get_adc(),
|
||||||
sens: state.get_sens(),
|
sens: state.get_sens(),
|
||||||
temperature: state
|
temperature: state.get_temperature()
|
||||||
.get_temperature()
|
|
||||||
.map(|temperature| temperature.get::<degree_celsius>()),
|
.map(|temperature| temperature.get::<degree_celsius>()),
|
||||||
pid_engaged: state.pid_engaged,
|
pid_engaged: state.pid_engaged,
|
||||||
i_set,
|
i_set,
|
||||||
@ -520,11 +507,11 @@ impl Channels {
|
|||||||
false
|
false
|
||||||
}
|
}
|
||||||
|
|
||||||
fn output_summary(&mut self, channel: usize) -> OutputSummary {
|
fn pwm_summary(&mut self, channel: usize) -> PwmSummary {
|
||||||
OutputSummary {
|
PwmSummary {
|
||||||
channel,
|
channel,
|
||||||
center: CenterPointJson(self.channel_state(channel).center.clone()),
|
center: CenterPointJson(self.channel_state(channel).center.clone()),
|
||||||
i_set: self.get_i_set(channel),
|
i_set: self.get_i(channel),
|
||||||
max_v: self.get_max_v(channel),
|
max_v: self.get_max_v(channel),
|
||||||
max_i_pos: self.get_max_i_pos(channel),
|
max_i_pos: self.get_max_i_pos(channel),
|
||||||
max_i_neg: self.get_max_i_neg(channel),
|
max_i_neg: self.get_max_i_neg(channel),
|
||||||
@ -532,19 +519,16 @@ impl Channels {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
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();
|
let mut summaries = Vec::<_, U2>::new();
|
||||||
for channel in 0..CHANNELS {
|
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)
|
serde_json_core::to_vec(&summaries)
|
||||||
}
|
}
|
||||||
|
|
||||||
fn postfilter_summary(&mut self, channel: usize) -> PostFilterSummary {
|
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());
|
.and_then(|filter| filter.output_rate());
|
||||||
PostFilterSummary { channel, rate }
|
PostFilterSummary { channel, rate }
|
||||||
}
|
}
|
||||||
@ -557,17 +541,15 @@ impl Channels {
|
|||||||
serde_json_core::to_vec(&summaries)
|
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();
|
let mut summaries = Vec::<_, U2>::new();
|
||||||
for channel in 0..CHANNELS {
|
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)
|
serde_json_core::to_vec(&summaries)
|
||||||
}
|
}
|
||||||
@ -607,8 +589,10 @@ impl Serialize for CenterPointJson {
|
|||||||
S: Serializer,
|
S: Serializer,
|
||||||
{
|
{
|
||||||
match self.0 {
|
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),
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@ -629,7 +613,7 @@ impl Serialize for PolarityJson {
|
|||||||
}
|
}
|
||||||
|
|
||||||
#[derive(Serialize)]
|
#[derive(Serialize)]
|
||||||
pub struct OutputSummary {
|
pub struct PwmSummary {
|
||||||
channel: usize,
|
channel: usize,
|
||||||
center: CenterPointJson,
|
center: CenterPointJson,
|
||||||
i_set: ElectricCurrent,
|
i_set: ElectricCurrent,
|
||||||
@ -646,7 +630,7 @@ pub struct PostFilterSummary {
|
|||||||
}
|
}
|
||||||
|
|
||||||
#[derive(Serialize)]
|
#[derive(Serialize)]
|
||||||
pub struct BParameterSummary {
|
pub struct SteinhartHartSummary {
|
||||||
channel: usize,
|
channel: usize,
|
||||||
params: b_parameter::Parameters,
|
params: steinhart_hart::Parameters,
|
||||||
}
|
}
|
||||||
|
@ -1,30 +1,45 @@
|
|||||||
|
use smoltcp::socket::TcpSocket;
|
||||||
|
use log::{error, warn};
|
||||||
|
use core::fmt::Write;
|
||||||
|
use heapless::{consts::U1024, Vec};
|
||||||
use super::{
|
use super::{
|
||||||
ad7172,
|
net,
|
||||||
channels::{Channels, CHANNELS},
|
|
||||||
command_parser::{
|
command_parser::{
|
||||||
BpParameter, CenterPoint, Command, Ipv4Config, PidParameter, Polarity, PwmPin, ShowCommand,
|
Ipv4Config,
|
||||||
|
Command,
|
||||||
|
ShowCommand,
|
||||||
|
CenterPoint,
|
||||||
|
PidParameter,
|
||||||
|
PwmPin,
|
||||||
|
ShParameter,
|
||||||
|
Polarity
|
||||||
|
},
|
||||||
|
ad7172,
|
||||||
|
CHANNEL_CONFIG_KEY,
|
||||||
|
channels::{
|
||||||
|
Channels,
|
||||||
|
CHANNELS
|
||||||
},
|
},
|
||||||
config::ChannelConfig,
|
config::ChannelConfig,
|
||||||
dfu,
|
dfu,
|
||||||
flash_store::FlashStore,
|
flash_store::FlashStore,
|
||||||
|
FanCtrl,
|
||||||
hw_rev::HWRev,
|
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)]
|
#[derive(Debug, Clone, PartialEq)]
|
||||||
@ -37,9 +52,9 @@ pub enum Handler {
|
|||||||
|
|
||||||
#[derive(Clone, Debug, PartialEq)]
|
#[derive(Clone, Debug, PartialEq)]
|
||||||
pub enum Error {
|
pub enum Error {
|
||||||
Report,
|
ReportError,
|
||||||
PostFilterRate,
|
PostFilterRateError,
|
||||||
Flash,
|
FlashError
|
||||||
}
|
}
|
||||||
|
|
||||||
pub type JsonBuffer = Vec<u8, U1024>;
|
pub type JsonBuffer = Vec<u8, U1024>;
|
||||||
@ -51,19 +66,19 @@ fn send_line(socket: &mut TcpSocket, data: &[u8]) -> bool {
|
|||||||
// instead of sending incomplete line
|
// instead of sending incomplete line
|
||||||
warn!(
|
warn!(
|
||||||
"TCP socket has only {}/{} needed {}",
|
"TCP socket has only {}/{} needed {}",
|
||||||
send_free + 1,
|
send_free + 1, socket.send_capacity(), data.len(),
|
||||||
socket.send_capacity(),
|
|
||||||
data.len(),
|
|
||||||
);
|
);
|
||||||
} else {
|
} else {
|
||||||
match socket.send_slice(data) {
|
match socket.send_slice(&data) {
|
||||||
Ok(sent) if sent == data.len() => {
|
Ok(sent) if sent == data.len() => {
|
||||||
let _ = socket.send_slice(b"\n");
|
let _ = socket.send_slice(b"\n");
|
||||||
// success
|
// 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
|
// not success
|
||||||
@ -71,6 +86,7 @@ fn send_line(socket: &mut TcpSocket, data: &[u8]) -> bool {
|
|||||||
}
|
}
|
||||||
|
|
||||||
impl Handler {
|
impl Handler {
|
||||||
|
|
||||||
fn show_report(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
|
fn show_report(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
|
||||||
match channels.reports_json() {
|
match channels.reports_json() {
|
||||||
Ok(buf) => {
|
Ok(buf) => {
|
||||||
@ -79,7 +95,7 @@ impl Handler {
|
|||||||
Err(e) => {
|
Err(e) => {
|
||||||
error!("unable to serialize report: {:?}", e);
|
error!("unable to serialize report: {:?}", e);
|
||||||
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
||||||
return Err(Error::Report);
|
return Err(Error::ReportError);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
Ok(Handler::Handled)
|
Ok(Handler::Handled)
|
||||||
@ -93,41 +109,41 @@ impl Handler {
|
|||||||
Err(e) => {
|
Err(e) => {
|
||||||
error!("unable to serialize pid summary: {:?}", e);
|
error!("unable to serialize pid summary: {:?}", e);
|
||||||
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
||||||
return Err(Error::Report);
|
return Err(Error::ReportError);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
Ok(Handler::Handled)
|
Ok(Handler::Handled)
|
||||||
}
|
}
|
||||||
|
|
||||||
fn show_pwm(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
|
fn show_pwm(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
|
||||||
match channels.output_summaries_json() {
|
match channels.pwm_summaries_json() {
|
||||||
Ok(buf) => {
|
Ok(buf) => {
|
||||||
send_line(socket, &buf);
|
send_line(socket, &buf);
|
||||||
}
|
}
|
||||||
Err(e) => {
|
Err(e) => {
|
||||||
error!("unable to serialize pwm summary: {:?}", e);
|
error!("unable to serialize pwm summary: {:?}", e);
|
||||||
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
||||||
return Err(Error::Report);
|
return Err(Error::ReportError);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
Ok(Handler::Handled)
|
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) => {
|
Ok(buf) => {
|
||||||
send_line(socket, &buf);
|
send_line(socket, &buf);
|
||||||
}
|
}
|
||||||
Err(e) => {
|
Err(e) => {
|
||||||
error!("unable to serialize b parameter summaries: {:?}", e);
|
error!("unable to serialize steinhart-hart summaries: {:?}", e);
|
||||||
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
||||||
return Err(Error::Report);
|
return Err(Error::ReportError);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
Ok(Handler::Handled)
|
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() {
|
match channels.postfilter_summaries_json() {
|
||||||
Ok(buf) => {
|
Ok(buf) => {
|
||||||
send_line(socket, &buf);
|
send_line(socket, &buf);
|
||||||
@ -135,13 +151,13 @@ impl Handler {
|
|||||||
Err(e) => {
|
Err(e) => {
|
||||||
error!("unable to serialize postfilter summary: {:?}", e);
|
error!("unable to serialize postfilter summary: {:?}", e);
|
||||||
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
||||||
return Err(Error::Report);
|
return Err(Error::ReportError);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
Ok(Handler::Handled)
|
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 (cidr, gateway) = net::split_ipv4_config(ipv4_config.clone());
|
||||||
let _ = write!(socket, "{{\"addr\":\"{}\"", cidr);
|
let _ = write!(socket, "{{\"addr\":\"{}\"", cidr);
|
||||||
gateway.map(|gateway| write!(socket, ",\"gateway\":\"{}\"", gateway));
|
gateway.map(|gateway| write!(socket, ",\"gateway\":\"{}\"", gateway));
|
||||||
@ -149,34 +165,19 @@ impl Handler {
|
|||||||
Ok(Handler::Handled)
|
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;
|
channels.channel_state(channel).pid_engaged = true;
|
||||||
send_line(socket, b"{}");
|
send_line(socket, b"{}");
|
||||||
Ok(Handler::Handled)
|
Ok(Handler::Handled)
|
||||||
}
|
}
|
||||||
|
|
||||||
fn set_polarity(
|
fn set_polarity(socket: &mut TcpSocket, channels: &mut Channels, channel: usize, polarity: Polarity) -> Result<Handler, Error> {
|
||||||
socket: &mut TcpSocket,
|
|
||||||
channels: &mut Channels,
|
|
||||||
channel: usize,
|
|
||||||
polarity: Polarity,
|
|
||||||
) -> Result<Handler, Error> {
|
|
||||||
channels.set_polarity(channel, polarity);
|
channels.set_polarity(channel, polarity);
|
||||||
send_line(socket, b"{}");
|
send_line(socket, b"{}");
|
||||||
Ok(Handler::Handled)
|
Ok(Handler::Handled)
|
||||||
}
|
}
|
||||||
|
|
||||||
fn set_pwm(
|
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,
|
|
||||||
pin: PwmPin,
|
|
||||||
value: f64,
|
|
||||||
) -> Result<Handler, Error> {
|
|
||||||
match pin {
|
match pin {
|
||||||
PwmPin::ISet => {
|
PwmPin::ISet => {
|
||||||
channels.channel_state(channel).pid_engaged = false;
|
channels.channel_state(channel).pid_engaged = false;
|
||||||
@ -201,13 +202,8 @@ impl Handler {
|
|||||||
Ok(Handler::Handled)
|
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);
|
let state = channels.channel_state(channel);
|
||||||
state.center = center;
|
state.center = center;
|
||||||
if !state.pid_engaged {
|
if !state.pid_engaged {
|
||||||
@ -217,91 +213,65 @@ impl Handler {
|
|||||||
Ok(Handler::Handled)
|
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;
|
let pid = &mut channels.channel_state(channel).pid;
|
||||||
use super::command_parser::PidParameter::*;
|
use super::command_parser::PidParameter::*;
|
||||||
match parameter {
|
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"{}");
|
send_line(socket, b"{}");
|
||||||
Ok(Handler::Handled)
|
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 {
|
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"{}");
|
send_line(socket, b"{}");
|
||||||
Ok(Handler::Handled)
|
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();
|
channels.adc.set_postfilter(channel as u8, None).unwrap();
|
||||||
send_line(socket, b"{}");
|
send_line(socket, b"{}");
|
||||||
Ok(Handler::Handled)
|
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);
|
let filter = ad7172::PostFilter::closest(rate);
|
||||||
match filter {
|
match filter {
|
||||||
Some(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"{}");
|
send_line(socket, b"{}");
|
||||||
}
|
}
|
||||||
None => {
|
None => {
|
||||||
error!("unable to choose postfilter for rate {:.3}", rate);
|
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)
|
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) {
|
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)) => {
|
Ok(Some(config)) => {
|
||||||
config.apply(channels, c);
|
config.apply(channels, c);
|
||||||
send_line(socket, b"{}");
|
send_line(socket, b"{}");
|
||||||
@ -313,7 +283,7 @@ impl Handler {
|
|||||||
Err(e) => {
|
Err(e) => {
|
||||||
error!("unable to load config from flash: {:?}", e);
|
error!("unable to load config from flash: {:?}", e);
|
||||||
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
||||||
return Err(Error::Flash);
|
return Err(Error::FlashError);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@ -321,24 +291,19 @@ impl Handler {
|
|||||||
Ok(Handler::Handled)
|
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];
|
let mut store_value_buf = [0u8; 256];
|
||||||
if channel.is_none() || channel == Some(c) {
|
if channel.is_none() || channel == Some(c) {
|
||||||
let config = ChannelConfig::new(channels, 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(()) => {
|
Ok(()) => {
|
||||||
send_line(socket, b"{}");
|
send_line(socket, b"{}");
|
||||||
}
|
}
|
||||||
Err(e) => {
|
Err(e) => {
|
||||||
error!("unable to save channel {} config to flash: {:?}", c, e);
|
error!("unable to save channel {} config to flash: {:?}", c, e);
|
||||||
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
||||||
return Err(Error::Flash);
|
return Err(Error::FlashError);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@ -346,11 +311,7 @@ impl Handler {
|
|||||||
Ok(Handler::Handled)
|
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
|
let _ = store
|
||||||
.write_value("ipv4", &config, [0; 16])
|
.write_value("ipv4", &config, [0; 16])
|
||||||
.map_err(|e| error!("unable to save ipv4 config to flash: {:?}", e));
|
.map_err(|e| error!("unable to save ipv4 config to flash: {:?}", e));
|
||||||
@ -359,7 +320,7 @@ impl Handler {
|
|||||||
Ok(Handler::NewIPV4(new_ipv4_config.unwrap()))
|
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 {
|
for i in 0..CHANNELS {
|
||||||
channels.power_down(i);
|
channels.power_down(i);
|
||||||
}
|
}
|
||||||
@ -367,7 +328,7 @@ impl Handler {
|
|||||||
Ok(Handler::Reset)
|
Ok(Handler::Reset)
|
||||||
}
|
}
|
||||||
|
|
||||||
fn dfu(channels: &mut Channels) -> Result<Handler, Error> {
|
fn dfu (channels: &mut Channels) -> Result<Handler, Error> {
|
||||||
for i in 0..CHANNELS {
|
for i in 0..CHANNELS {
|
||||||
channels.power_down(i);
|
channels.power_down(i);
|
||||||
}
|
}
|
||||||
@ -378,16 +339,9 @@ impl Handler {
|
|||||||
Ok(Handler::Reset)
|
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() {
|
if !fan_ctrl.fan_available() {
|
||||||
send_line(
|
send_line(socket, b"{ \"warning\": \"this thermostat doesn't have a fan!\" }");
|
||||||
socket,
|
|
||||||
b"{ \"warning\": \"this thermostat doesn't have a fan!\" }",
|
|
||||||
);
|
|
||||||
return Ok(Handler::Handled);
|
return Ok(Handler::Handled);
|
||||||
}
|
}
|
||||||
fan_ctrl.set_auto_mode(false);
|
fan_ctrl.set_auto_mode(false);
|
||||||
@ -409,17 +363,14 @@ impl Handler {
|
|||||||
Err(e) => {
|
Err(e) => {
|
||||||
error!("unable to serialize fan summary: {:?}", e);
|
error!("unable to serialize fan summary: {:?}", e);
|
||||||
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", 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> {
|
fn fan_auto(socket: &mut TcpSocket, fan_ctrl: &mut FanCtrl) -> Result<Handler, Error> {
|
||||||
if !fan_ctrl.fan_available() {
|
if !fan_ctrl.fan_available() {
|
||||||
send_line(
|
send_line(socket, b"{ \"warning\": \"this thermostat doesn't have a fan!\" }");
|
||||||
socket,
|
|
||||||
b"{ \"warning\": \"this thermostat doesn't have a fan!\" }",
|
|
||||||
);
|
|
||||||
return Ok(Handler::Handled);
|
return Ok(Handler::Handled);
|
||||||
}
|
}
|
||||||
fan_ctrl.set_auto_mode(true);
|
fan_ctrl.set_auto_mode(true);
|
||||||
@ -431,13 +382,7 @@ impl Handler {
|
|||||||
Ok(Handler::Handled)
|
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);
|
fan_ctrl.set_curve(k_a, k_b, k_c);
|
||||||
send_line(socket, b"{}");
|
send_line(socket, b"{}");
|
||||||
Ok(Handler::Handled)
|
Ok(Handler::Handled)
|
||||||
@ -458,69 +403,37 @@ impl Handler {
|
|||||||
Err(e) => {
|
Err(e) => {
|
||||||
error!("unable to serialize HWRev summary: {:?}", e);
|
error!("unable to serialize HWRev summary: {:?}", e);
|
||||||
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", 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, 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 {
|
match command {
|
||||||
Command::Quit => Ok(Handler::CloseSocket),
|
Command::Quit => Ok(Handler::CloseSocket),
|
||||||
Command::Show(ShowCommand::Input) => Handler::show_report(socket, channels),
|
Command::Show(ShowCommand::Input) => Handler::show_report(socket, channels),
|
||||||
Command::Show(ShowCommand::Pid) => Handler::show_pid(socket, channels),
|
Command::Show(ShowCommand::Pid) => Handler::show_pid(socket, channels),
|
||||||
Command::Show(ShowCommand::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::PostFilter) => Handler::show_post_filter(socket, channels),
|
||||||
Command::Show(ShowCommand::Ipv4) => Handler::show_ipv4(socket, ipv4_config),
|
Command::Show(ShowCommand::Ipv4) => Handler::show_ipv4(socket, ipv4_config),
|
||||||
Command::OutputPid { channel } => Handler::engage_pid(socket, channels, channel),
|
Command::PwmPid { channel } => Handler::engage_pid(socket, channels, channel),
|
||||||
Command::OutputPolarity { channel, polarity } => {
|
Command::PwmPolarity { channel, polarity } => Handler::set_polarity(socket, channels, 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::Output {
|
Command::Pid { channel, parameter, value } => Handler::set_pid(socket, channels, channel, parameter, value),
|
||||||
channel,
|
Command::SteinhartHart { channel, parameter, value } => Handler::set_steinhart_hart(socket, channels, channel, parameter, value),
|
||||||
pin,
|
Command::PostFilter { channel, rate: None } => Handler::reset_post_filter(socket, channels, channel),
|
||||||
value,
|
Command::PostFilter { channel, rate: Some(rate) } => Handler::set_post_filter(socket, channels, channel, rate),
|
||||||
} => 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::Load { channel } => Handler::load_channel(socket, channels, store, channel),
|
||||||
Command::Save { channel } => Handler::save_channel(socket, channels, channel, store),
|
Command::Save { channel } => Handler::save_channel(socket, channels, channel, store),
|
||||||
Command::Ipv4(config) => Handler::set_ipv4(socket, store, config),
|
Command::Ipv4(config) => Handler::set_ipv4(socket, store, config),
|
||||||
Command::Reset => Handler::reset(channels),
|
Command::Reset => Handler::reset(channels),
|
||||||
Command::Dfu => Handler::dfu(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::ShowFan => Handler::show_fan(socket, fan_ctrl),
|
||||||
Command::FanAuto => Handler::fan_auto(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::FanCurveDefaults => Handler::fan_defaults(socket, fan_ctrl),
|
||||||
Command::ShowHWRev => Handler::show_hwrev(socket, hwrev),
|
Command::ShowHWRev => Handler::show_hwrev(socket, hwrev),
|
||||||
}
|
}
|
||||||
|
@ -2,20 +2,19 @@ use core::fmt;
|
|||||||
use core::num::ParseIntError;
|
use core::num::ParseIntError;
|
||||||
use core::str::{from_utf8, Utf8Error};
|
use core::str::{from_utf8, Utf8Error};
|
||||||
use nom::{
|
use nom::{
|
||||||
|
IResult,
|
||||||
branch::alt,
|
branch::alt,
|
||||||
bytes::complete::{is_a, tag, take_while1},
|
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},
|
combinator::{complete, map, opt, value},
|
||||||
error::ErrorKind,
|
|
||||||
multi::{fold_many0, fold_many1},
|
|
||||||
sequence::preceded,
|
sequence::preceded,
|
||||||
IResult, Needed,
|
multi::{fold_many0, fold_many1},
|
||||||
|
error::ErrorKind,
|
||||||
|
Needed,
|
||||||
};
|
};
|
||||||
use num_traits::{Num, ParseFloatError};
|
use num_traits::{Num, ParseFloatError};
|
||||||
use serde::{Deserialize, Serialize};
|
use serde::{Serialize, Deserialize};
|
||||||
|
|
||||||
|
|
||||||
#[derive(Clone, Debug, PartialEq)]
|
#[derive(Clone, Debug, PartialEq)]
|
||||||
pub enum Error {
|
pub enum Error {
|
||||||
@ -31,9 +30,12 @@ pub enum Error {
|
|||||||
impl<'t> From<nom::Err<(&'t [u8], ErrorKind)>> for Error {
|
impl<'t> From<nom::Err<(&'t [u8], ErrorKind)>> for Error {
|
||||||
fn from(e: nom::Err<(&'t [u8], ErrorKind)>) -> Self {
|
fn from(e: nom::Err<(&'t [u8], ErrorKind)>) -> Self {
|
||||||
match e {
|
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 {
|
impl fmt::Display for Error {
|
||||||
fn fmt(&self, fmt: &mut fmt::Formatter) -> Result<(), fmt::Error> {
|
fn fmt(&self, fmt: &mut fmt::Formatter) -> Result<(), fmt::Error> {
|
||||||
match self {
|
match self {
|
||||||
Error::Incomplete => "incomplete input".fmt(fmt),
|
Error::Incomplete =>
|
||||||
|
"incomplete input".fmt(fmt),
|
||||||
Error::UnexpectedInput(c) => {
|
Error::UnexpectedInput(c) => {
|
||||||
"unexpected input: ".fmt(fmt)?;
|
"unexpected input: ".fmt(fmt)?;
|
||||||
c.fmt(fmt)
|
c.fmt(fmt)
|
||||||
@ -76,7 +79,9 @@ impl fmt::Display for Error {
|
|||||||
"parsing int: ".fmt(fmt)?;
|
"parsing int: ".fmt(fmt)?;
|
||||||
(e as &dyn core::fmt::Debug).fmt(fmt)
|
(e as &dyn core::fmt::Debug).fmt(fmt)
|
||||||
}
|
}
|
||||||
Error::ParseFloat => "parsing float".fmt(fmt),
|
Error::ParseFloat => {
|
||||||
|
"parsing float".fmt(fmt)
|
||||||
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@ -91,9 +96,9 @@ pub struct Ipv4Config {
|
|||||||
#[derive(Debug, Clone, PartialEq)]
|
#[derive(Debug, Clone, PartialEq)]
|
||||||
pub enum ShowCommand {
|
pub enum ShowCommand {
|
||||||
Input,
|
Input,
|
||||||
Output,
|
Pwm,
|
||||||
Pid,
|
Pid,
|
||||||
BParameter,
|
SteinhartHart,
|
||||||
PostFilter,
|
PostFilter,
|
||||||
Ipv4,
|
Ipv4,
|
||||||
}
|
}
|
||||||
@ -108,9 +113,9 @@ pub enum PidParameter {
|
|||||||
OutputMax,
|
OutputMax,
|
||||||
}
|
}
|
||||||
|
|
||||||
/// B-Parameter equation parameter
|
/// Steinhart-Hart equation parameter
|
||||||
#[derive(Debug, Clone, PartialEq)]
|
#[derive(Debug, Clone, PartialEq)]
|
||||||
pub enum BpParameter {
|
pub enum ShParameter {
|
||||||
T0,
|
T0,
|
||||||
B,
|
B,
|
||||||
R0,
|
R0,
|
||||||
@ -126,7 +131,7 @@ pub enum PwmPin {
|
|||||||
|
|
||||||
#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
|
#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
|
||||||
pub enum CenterPoint {
|
pub enum CenterPoint {
|
||||||
VRef,
|
Vref,
|
||||||
Override(f32),
|
Override(f32),
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -149,16 +154,16 @@ pub enum Command {
|
|||||||
Ipv4(Ipv4Config),
|
Ipv4(Ipv4Config),
|
||||||
Show(ShowCommand),
|
Show(ShowCommand),
|
||||||
/// PWM parameter setting
|
/// PWM parameter setting
|
||||||
Output {
|
Pwm {
|
||||||
channel: usize,
|
channel: usize,
|
||||||
pin: PwmPin,
|
pin: PwmPin,
|
||||||
value: f64,
|
value: f64,
|
||||||
},
|
},
|
||||||
/// Enable PID control for `i_set`
|
/// Enable PID control for `i_set`
|
||||||
OutputPid {
|
PwmPid {
|
||||||
channel: usize,
|
channel: usize,
|
||||||
},
|
},
|
||||||
OutputPolarity {
|
PwmPolarity {
|
||||||
channel: usize,
|
channel: usize,
|
||||||
polarity: Polarity,
|
polarity: Polarity,
|
||||||
},
|
},
|
||||||
@ -172,9 +177,9 @@ pub enum Command {
|
|||||||
parameter: PidParameter,
|
parameter: PidParameter,
|
||||||
value: f64,
|
value: f64,
|
||||||
},
|
},
|
||||||
BParameter {
|
SteinhartHart {
|
||||||
channel: usize,
|
channel: usize,
|
||||||
parameter: BpParameter,
|
parameter: ShParameter,
|
||||||
value: f64,
|
value: f64,
|
||||||
},
|
},
|
||||||
PostFilter {
|
PostFilter {
|
||||||
@ -183,7 +188,7 @@ pub enum Command {
|
|||||||
},
|
},
|
||||||
Dfu,
|
Dfu,
|
||||||
FanSet {
|
FanSet {
|
||||||
fan_pwm: u32,
|
fan_pwm: u32
|
||||||
},
|
},
|
||||||
FanAuto,
|
FanAuto,
|
||||||
ShowFan,
|
ShowFan,
|
||||||
@ -197,7 +202,12 @@ pub enum Command {
|
|||||||
}
|
}
|
||||||
|
|
||||||
fn end(input: &[u8]) -> IResult<&[u8], ()> {
|
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], ()> {
|
fn whitespace(input: &[u8]) -> IResult<&[u8], ()> {
|
||||||
@ -205,21 +215,28 @@ fn whitespace(input: &[u8]) -> IResult<&[u8], ()> {
|
|||||||
}
|
}
|
||||||
|
|
||||||
fn unsigned(input: &[u8]) -> IResult<&[u8], Result<u32, Error>> {
|
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>> {
|
fn float(input: &[u8]) -> IResult<&[u8], Result<f64, Error>> {
|
||||||
let (input, sign) = opt(is_a("-"))(input)?;
|
let (input, sign) = opt(is_a("-"))(input)?;
|
||||||
let negative = sign.is_some();
|
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())
|
.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 });
|
.map(|result: f64| if negative { -result } else { result });
|
||||||
Ok((input, result))
|
Ok((input, result))
|
||||||
}
|
}
|
||||||
@ -232,54 +249,78 @@ fn report(input: &[u8]) -> IResult<&[u8], Command> {
|
|||||||
preceded(
|
preceded(
|
||||||
tag("report"),
|
tag("report"),
|
||||||
// `report` - Report once
|
// `report` - Report once
|
||||||
value(Command::Show(ShowCommand::Input), end),
|
value(Command::Show(ShowCommand::Input), end)
|
||||||
)(input)
|
)(input)
|
||||||
}
|
}
|
||||||
|
|
||||||
fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<(PwmPin, f64), Error>> {
|
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((
|
alt((
|
||||||
map(
|
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(
|
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(
|
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(
|
map(
|
||||||
preceded(tag("max_v"), preceded(whitespace, float)),
|
preceded(
|
||||||
result_with_pin(PwmPin::MaxV),
|
tag("max_v"),
|
||||||
),
|
preceded(
|
||||||
))(input)
|
whitespace,
|
||||||
|
float
|
||||||
|
)
|
||||||
|
),
|
||||||
|
result_with_pin(PwmPin::MaxV)
|
||||||
|
))
|
||||||
|
)(input)
|
||||||
}
|
}
|
||||||
|
|
||||||
/// `output <0-1> pid` - Set output to be controlled by PID
|
/// `pwm <0-1> pid` - Set PWM to be controlled by PID
|
||||||
fn output_pid(input: &[u8]) -> IResult<&[u8], ()> {
|
fn pwm_pid(input: &[u8]) -> IResult<&[u8], ()> {
|
||||||
value((), tag("pid"))(input)
|
value((), tag("pid"))(input)
|
||||||
}
|
}
|
||||||
|
|
||||||
fn output_polarity(input: &[u8]) -> IResult<&[u8], Polarity> {
|
fn pwm_polarity(input: &[u8]) -> IResult<&[u8], Polarity> {
|
||||||
preceded(
|
preceded(
|
||||||
tag("polarity"),
|
tag("polarity"),
|
||||||
preceded(
|
preceded(
|
||||||
whitespace,
|
whitespace,
|
||||||
alt((
|
alt((value(Polarity::Normal, tag("normal")),
|
||||||
value(Polarity::Normal, tag("normal")),
|
value(Polarity::Reversed, tag("reversed"))
|
||||||
value(Polarity::Reversed, tag("reversed")),
|
))
|
||||||
)),
|
)
|
||||||
),
|
|
||||||
)(input)
|
)(input)
|
||||||
}
|
}
|
||||||
|
|
||||||
fn output(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
||||||
let (input, _) = tag("output")(input)?;
|
let (input, _) = tag("pwm")(input)?;
|
||||||
alt((
|
alt((
|
||||||
|input| {
|
|input| {
|
||||||
let (input, _) = whitespace(input)?;
|
let (input, _) = whitespace(input)?;
|
||||||
@ -287,32 +328,27 @@ fn output(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
|||||||
let (input, _) = whitespace(input)?;
|
let (input, _) = whitespace(input)?;
|
||||||
let (input, result) = alt((
|
let (input, result) = alt((
|
||||||
|input| {
|
|input| {
|
||||||
let (input, ()) = output_pid(input)?;
|
let (input, ()) = pwm_pid(input)?;
|
||||||
Ok((input, Ok(Command::OutputPid { channel })))
|
Ok((input, Ok(Command::PwmPid { channel })))
|
||||||
},
|
},
|
||||||
|input| {
|
|input| {
|
||||||
let (input, polarity) = output_polarity(input)?;
|
let (input, polarity) = pwm_polarity(input)?;
|
||||||
Ok((input, Ok(Command::OutputPolarity { channel, polarity })))
|
Ok((input, Ok(Command::PwmPolarity { channel, polarity })))
|
||||||
},
|
},
|
||||||
|input| {
|
|input| {
|
||||||
let (input, config) = pwm_setup(input)?;
|
let (input, config) = pwm_setup(input)?;
|
||||||
match config {
|
match config {
|
||||||
Ok((pin, value)) => Ok((
|
Ok((pin, value)) =>
|
||||||
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)?;
|
))(input)?;
|
||||||
end(input)?;
|
end(input)?;
|
||||||
Ok((input, result))
|
Ok((input, result))
|
||||||
},
|
},
|
||||||
value(Ok(Command::Show(ShowCommand::Output)), end),
|
value(Ok(Command::Show(ShowCommand::Pwm)), end)
|
||||||
))(input)
|
))(input)
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -321,39 +357,36 @@ fn center_point(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
|||||||
let (input, _) = whitespace(input)?;
|
let (input, _) = whitespace(input)?;
|
||||||
let (input, channel) = channel(input)?;
|
let (input, channel) = channel(input)?;
|
||||||
let (input, _) = whitespace(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)?;
|
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>`
|
/// `pid <0-1> <parameter> <value>`
|
||||||
fn pid_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
fn pid_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
||||||
let (input, channel) = channel(input)?;
|
let (input, channel) = channel(input)?;
|
||||||
let (input, _) = whitespace(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, _) = whitespace(input)?;
|
||||||
let (input, value) = float(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))
|
Ok((input, result))
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -361,66 +394,70 @@ fn pid_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
|||||||
fn pid(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
fn pid(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
||||||
let (input, _) = tag("pid")(input)?;
|
let (input, _) = tag("pid")(input)?;
|
||||||
alt((
|
alt((
|
||||||
preceded(whitespace, pid_parameter),
|
preceded(
|
||||||
value(Ok(Command::Show(ShowCommand::Pid)), end),
|
whitespace,
|
||||||
|
pid_parameter
|
||||||
|
),
|
||||||
|
value(Ok(Command::Show(ShowCommand::Pid)), end)
|
||||||
))(input)
|
))(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, channel) = channel(input)?;
|
||||||
let (input, _) = whitespace(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, _) = whitespace(input)?;
|
||||||
let (input, value) = float(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))
|
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((
|
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)
|
))(input)
|
||||||
}
|
}
|
||||||
|
|
||||||
fn postfilter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
fn postfilter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
||||||
let (input, _) = tag("postfilter")(input)?;
|
let (input, _) = tag("postfilter")(input)?;
|
||||||
alt((
|
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,
|
channel,
|
||||||
rate: None,
|
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)
|
))(input)
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -433,7 +470,7 @@ fn load(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
|||||||
let (input, _) = end(input)?;
|
let (input, _) = end(input)?;
|
||||||
Ok((input, Some(channel)))
|
Ok((input, Some(channel)))
|
||||||
},
|
},
|
||||||
value(None, end),
|
value(None, end)
|
||||||
))(input)?;
|
))(input)?;
|
||||||
|
|
||||||
let result = Ok(Command::Load { channel });
|
let result = Ok(Command::Load { channel });
|
||||||
@ -449,7 +486,7 @@ fn save(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
|||||||
let (input, _) = end(input)?;
|
let (input, _) = end(input)?;
|
||||||
Ok((input, Some(channel)))
|
Ok((input, Some(channel)))
|
||||||
},
|
},
|
||||||
value(None, end),
|
value(None, end)
|
||||||
))(input)?;
|
))(input)?;
|
||||||
|
|
||||||
let result = Ok(Command::Save { channel });
|
let result = Ok(Command::Save { channel });
|
||||||
@ -511,17 +548,12 @@ fn fan(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
|||||||
},
|
},
|
||||||
|input| {
|
|input| {
|
||||||
let (input, value) = unsigned(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)?;
|
))(input)?;
|
||||||
Ok((input, result))
|
Ok((input, result))
|
||||||
},
|
},
|
||||||
value(Ok(Command::ShowFan), end),
|
value(Ok(Command::ShowFan), end)
|
||||||
))(input)
|
))(input)
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -541,15 +573,8 @@ fn fan_curve(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
|||||||
let (input, k_b) = float(input)?;
|
let (input, k_b) = float(input)?;
|
||||||
let (input, _) = whitespace(input)?;
|
let (input, _) = whitespace(input)?;
|
||||||
let (input, k_c) = float(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 {
|
} else {
|
||||||
Err(nom::Err::Incomplete(Needed::Size(3)))
|
Err(nom::Err::Incomplete(Needed::Size(3)))
|
||||||
}
|
}
|
||||||
@ -557,36 +582,38 @@ fn fan_curve(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
|||||||
))(input)?;
|
))(input)?;
|
||||||
Ok((input, result))
|
Ok((input, result))
|
||||||
},
|
},
|
||||||
value(Err(Error::Incomplete), end),
|
value(Err(Error::Incomplete), end)
|
||||||
))(input)
|
))(input)
|
||||||
}
|
}
|
||||||
|
|
||||||
fn command(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|
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)
|
))(input)
|
||||||
}
|
}
|
||||||
|
|
||||||
impl Command {
|
impl Command {
|
||||||
pub fn parse(input: &[u8]) -> Result<Self, Error> {
|
pub fn parse(input: &[u8]) -> Result<Self, Error> {
|
||||||
match command(input) {
|
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 +661,21 @@ mod test {
|
|||||||
#[test]
|
#[test]
|
||||||
fn parse_ipv4() {
|
fn parse_ipv4() {
|
||||||
let command = Command::parse(b"ipv4 192.168.1.26/24");
|
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]
|
#[test]
|
||||||
fn parse_ipv4_and_gateway() {
|
fn parse_ipv4_and_gateway() {
|
||||||
let command = Command::parse(b"ipv4 10.42.0.126/8 10.1.0.1");
|
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]
|
#[test]
|
||||||
@ -664,73 +685,60 @@ mod test {
|
|||||||
}
|
}
|
||||||
|
|
||||||
#[test]
|
#[test]
|
||||||
fn parse_output_i_set() {
|
fn parse_pwm_i_set() {
|
||||||
let command = Command::parse(b"output 1 i_set 16383");
|
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: 1,
|
value: 16383.0,
|
||||||
pin: PwmPin::ISet,
|
}));
|
||||||
value: 16383.0,
|
|
||||||
})
|
|
||||||
);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
#[test]
|
#[test]
|
||||||
fn parse_output_polarity() {
|
fn parse_pwm_polarity() {
|
||||||
let command = Command::parse(b"output 0 polarity reversed");
|
let command = Command::parse(b"pwm 0 polarity reversed");
|
||||||
assert_eq!(
|
assert_eq!(command, Ok(Command::PwmPolarity {
|
||||||
command,
|
channel: 0,
|
||||||
Ok(Command::OutputPolarity {
|
polarity: Polarity::Reversed,
|
||||||
channel: 0,
|
}));
|
||||||
polarity: Polarity::Reversed,
|
|
||||||
})
|
|
||||||
);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
#[test]
|
#[test]
|
||||||
fn parse_output_pid() {
|
fn parse_pwm_pid() {
|
||||||
let command = Command::parse(b"output 0 pid");
|
let command = Command::parse(b"pwm 0 pid");
|
||||||
assert_eq!(command, Ok(Command::OutputPid { channel: 0 }));
|
assert_eq!(command, Ok(Command::PwmPid {
|
||||||
|
channel: 0,
|
||||||
|
}));
|
||||||
}
|
}
|
||||||
|
|
||||||
#[test]
|
#[test]
|
||||||
fn parse_output_max_i_pos() {
|
fn parse_pwm_max_i_pos() {
|
||||||
let command = Command::parse(b"output 0 max_i_pos 7");
|
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::MaxIPos,
|
}));
|
||||||
value: 7.0,
|
|
||||||
})
|
|
||||||
);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
#[test]
|
#[test]
|
||||||
fn parse_output_max_i_neg() {
|
fn parse_pwm_max_i_neg() {
|
||||||
let command = Command::parse(b"output 0 max_i_neg 128");
|
let command = Command::parse(b"pwm 0 max_i_neg 128");
|
||||||
assert_eq!(
|
assert_eq!(command, Ok(Command::Pwm {
|
||||||
command,
|
channel: 0,
|
||||||
Ok(Command::Output {
|
pin: PwmPin::MaxINeg,
|
||||||
channel: 0,
|
value: 128.0,
|
||||||
pin: PwmPin::MaxINeg,
|
}));
|
||||||
value: 128.0,
|
|
||||||
})
|
|
||||||
);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
#[test]
|
#[test]
|
||||||
fn parse_output_max_v() {
|
fn parse_pwm_max_v() {
|
||||||
let command = Command::parse(b"output 0 max_v 32768");
|
let command = Command::parse(b"pwm 0 max_v 32768");
|
||||||
assert_eq!(
|
assert_eq!(command, Ok(Command::Pwm {
|
||||||
command,
|
channel: 0,
|
||||||
Ok(Command::Output {
|
pin: PwmPin::MaxV,
|
||||||
channel: 0,
|
value: 32768.0,
|
||||||
pin: PwmPin::MaxV,
|
}));
|
||||||
value: 32768.0,
|
|
||||||
})
|
|
||||||
);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
#[test]
|
#[test]
|
||||||
@ -742,33 +750,27 @@ mod test {
|
|||||||
#[test]
|
#[test]
|
||||||
fn parse_pid_target() {
|
fn parse_pid_target() {
|
||||||
let command = Command::parse(b"pid 0 target 36.5");
|
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]
|
#[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]
|
#[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]
|
#[test]
|
||||||
@ -780,49 +782,37 @@ mod test {
|
|||||||
#[test]
|
#[test]
|
||||||
fn parse_postfilter_off() {
|
fn parse_postfilter_off() {
|
||||||
let command = Command::parse(b"postfilter 1 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]
|
#[test]
|
||||||
fn parse_postfilter_rate() {
|
fn parse_postfilter_rate() {
|
||||||
let command = Command::parse(b"postfilter 0 rate 21");
|
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]
|
#[test]
|
||||||
fn parse_center_point() {
|
fn parse_center_point() {
|
||||||
let command = Command::parse(b"center 0 1.5");
|
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]
|
#[test]
|
||||||
fn parse_center_point_vref() {
|
fn parse_center_point_vref() {
|
||||||
let command = Command::parse(b"center 1 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]
|
#[test]
|
||||||
@ -834,7 +824,7 @@ mod test {
|
|||||||
#[test]
|
#[test]
|
||||||
fn parse_fan_set() {
|
fn parse_fan_set() {
|
||||||
let command = Command::parse(b"fan 42");
|
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]
|
#[test]
|
||||||
@ -846,14 +836,11 @@ mod test {
|
|||||||
#[test]
|
#[test]
|
||||||
fn parse_fcurve_set() {
|
fn parse_fcurve_set() {
|
||||||
let command = Command::parse(b"fcurve 1.2 3.4 5.6");
|
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]
|
#[test]
|
||||||
|
@ -1,13 +1,17 @@
|
|||||||
|
use num_traits::Zero;
|
||||||
|
use serde::{Serialize, Deserialize};
|
||||||
|
use uom::si::{
|
||||||
|
electric_potential::volt,
|
||||||
|
electric_current::ampere,
|
||||||
|
f64::{ElectricCurrent, ElectricPotential},
|
||||||
|
};
|
||||||
use crate::{
|
use crate::{
|
||||||
ad7172::PostFilter,
|
ad7172::PostFilter,
|
||||||
b_parameter,
|
|
||||||
channels::Channels,
|
channels::Channels,
|
||||||
command_parser::{CenterPoint, Polarity},
|
command_parser::{CenterPoint, Polarity},
|
||||||
pid,
|
pid,
|
||||||
|
steinhart_hart,
|
||||||
};
|
};
|
||||||
use num_traits::Zero;
|
|
||||||
use serde::{Deserialize, Serialize};
|
|
||||||
use uom::si::f64::{ElectricCurrent, ElectricPotential};
|
|
||||||
|
|
||||||
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
|
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
|
||||||
pub struct ChannelConfig {
|
pub struct ChannelConfig {
|
||||||
@ -17,7 +21,7 @@ pub struct ChannelConfig {
|
|||||||
pid_engaged: bool,
|
pid_engaged: bool,
|
||||||
i_set: ElectricCurrent,
|
i_set: ElectricCurrent,
|
||||||
polarity: Polarity,
|
polarity: Polarity,
|
||||||
bp: b_parameter::Parameters,
|
sh: steinhart_hart::Parameters,
|
||||||
pwm: PwmLimits,
|
pwm: PwmLimits,
|
||||||
/// uses variant `PostFilter::Invalid` instead of `None` to save space
|
/// uses variant `PostFilter::Invalid` instead of `None` to save space
|
||||||
adc_postfilter: PostFilter,
|
adc_postfilter: PostFilter,
|
||||||
@ -27,9 +31,7 @@ impl ChannelConfig {
|
|||||||
pub fn new(channels: &mut Channels, channel: usize) -> Self {
|
pub fn new(channels: &mut Channels, channel: usize) -> Self {
|
||||||
let pwm = PwmLimits::new(channels, channel);
|
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()
|
||||||
.unwrap_or(PostFilter::Invalid);
|
.unwrap_or(PostFilter::Invalid);
|
||||||
|
|
||||||
@ -46,7 +48,7 @@ impl ChannelConfig {
|
|||||||
pid_engaged: state.pid_engaged,
|
pid_engaged: state.pid_engaged,
|
||||||
i_set,
|
i_set,
|
||||||
polarity: state.polarity.clone(),
|
polarity: state.polarity.clone(),
|
||||||
bp: state.bp.clone(),
|
sh: state.sh.clone(),
|
||||||
pwm,
|
pwm,
|
||||||
adc_postfilter,
|
adc_postfilter,
|
||||||
}
|
}
|
||||||
@ -58,7 +60,7 @@ impl ChannelConfig {
|
|||||||
state.pid.parameters = self.pid.clone();
|
state.pid.parameters = self.pid.clone();
|
||||||
state.pid.target = self.pid_target.into();
|
state.pid.target = self.pid_target.into();
|
||||||
state.pid_engaged = self.pid_engaged;
|
state.pid_engaged = self.pid_engaged;
|
||||||
state.bp = self.bp.clone();
|
state.sh = self.sh.clone();
|
||||||
|
|
||||||
self.pwm.apply(channels, channel);
|
self.pwm.apply(channels, channel);
|
||||||
|
|
||||||
@ -74,9 +76,9 @@ impl ChannelConfig {
|
|||||||
|
|
||||||
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
|
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
|
||||||
pub struct PwmLimits {
|
pub struct PwmLimits {
|
||||||
pub max_v: ElectricPotential,
|
pub max_v: f64,
|
||||||
pub max_i_pos: ElectricCurrent,
|
pub max_i_pos: f64,
|
||||||
pub max_i_neg: ElectricCurrent,
|
pub max_i_neg: f64,
|
||||||
}
|
}
|
||||||
|
|
||||||
impl PwmLimits {
|
impl PwmLimits {
|
||||||
@ -85,15 +87,15 @@ impl PwmLimits {
|
|||||||
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 {
|
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) {
|
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));
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
@ -27,7 +27,7 @@ unsafe fn __pre_init() {
|
|||||||
rcc.apb2enr.modify(|_, w| w.syscfgen().set_bit());
|
rcc.apb2enr.modify(|_, w| w.syscfgen().set_bit());
|
||||||
|
|
||||||
// Bypass BOOT pins and remap bootloader to 0x00000000
|
// 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
|
// Impose instruction and memory barriers
|
||||||
|
@ -1,17 +1,25 @@
|
|||||||
use crate::{channels::MAX_TEC_I, command_handler::JsonBuffer, hw_rev::HWSettings};
|
|
||||||
use num_traits::Float;
|
use num_traits::Float;
|
||||||
use serde::Serialize;
|
use serde::Serialize;
|
||||||
use stm32f4xx_hal::{
|
use stm32f4xx_hal::{
|
||||||
pac::TIM8,
|
|
||||||
pwm::{self, PwmChannels},
|
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>;
|
pub type FanPin = PwmChannels<TIM8, pwm::C4>;
|
||||||
|
|
||||||
const MAX_USER_FAN_PWM: f32 = 100.0;
|
const MAX_USER_FAN_PWM: f32 = 100.0;
|
||||||
const MIN_USER_FAN_PWM: f32 = 1.0;
|
const MIN_USER_FAN_PWM: f32 = 1.0;
|
||||||
|
|
||||||
|
|
||||||
pub struct FanCtrl {
|
pub struct FanCtrl {
|
||||||
fan: Option<FanPin>,
|
fan: Option<FanPin>,
|
||||||
fan_auto: bool,
|
fan_auto: bool,
|
||||||
@ -48,9 +56,7 @@ impl FanCtrl {
|
|||||||
if self.fan_auto && self.hw_settings.fan_available {
|
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.get::<ampere>() as f32;
|
||||||
// do not limit upper bound, as it will be limited in the set_pwm()
|
// 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);
|
self.set_pwm(pwm);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@ -83,26 +89,18 @@ impl FanCtrl {
|
|||||||
}
|
}
|
||||||
|
|
||||||
pub fn restore_defaults(&mut self) {
|
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 {
|
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;
|
return 0f32;
|
||||||
}
|
}
|
||||||
let fan = self.fan.as_mut().unwrap();
|
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 max = fan.get_max_duty();
|
||||||
let value = ((duty * (max as f32)) as u16).min(max);
|
let value = ((duty * (max as f32)) as u16).min(max);
|
||||||
fan.set_duty(value);
|
fan.set_duty(value);
|
||||||
@ -121,17 +119,8 @@ impl FanCtrl {
|
|||||||
if let Some(fan) = &self.fan {
|
if let Some(fan) = &self.fan {
|
||||||
let duty = fan.get_duty();
|
let duty = fan.get_duty();
|
||||||
let max = fan.get_max_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 {
|
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 {
|
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
|
(to_max - to_min) * (unscaled - from_min) / (from_max - from_min) + to_min
|
||||||
}
|
}
|
||||||
|
@ -1,9 +1,9 @@
|
|||||||
use log::{error, info};
|
use log::{info, error};
|
||||||
use sfkv::{Store, StoreBackend};
|
|
||||||
use stm32f4xx_hal::{
|
use stm32f4xx_hal::{
|
||||||
flash::{Error, FlashExt},
|
flash::{Error, FlashExt},
|
||||||
stm32::FLASH,
|
stm32::FLASH,
|
||||||
};
|
};
|
||||||
|
use sfkv::{Store, StoreBackend};
|
||||||
|
|
||||||
/// 16 KiB
|
/// 16 KiB
|
||||||
pub const FLASH_SECTOR_SIZE: usize = 0x4000;
|
pub const FLASH_SECTOR_SIZE: usize = 0x4000;
|
||||||
@ -21,7 +21,9 @@ pub struct FlashBackend {
|
|||||||
}
|
}
|
||||||
|
|
||||||
fn get_offset() -> usize {
|
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 {
|
impl StoreBackend for FlashBackend {
|
||||||
@ -38,8 +40,7 @@ impl StoreBackend for FlashBackend {
|
|||||||
}
|
}
|
||||||
|
|
||||||
fn program(&mut self, offset: usize, payload: &[u8]) -> Result<(), Self::Error> {
|
fn program(&mut self, offset: usize, payload: &[u8]) -> Result<(), Self::Error> {
|
||||||
self.flash
|
self.flash.unlocked()
|
||||||
.unlocked()
|
|
||||||
.program(get_offset() + offset, payload.iter())
|
.program(get_offset() + offset, payload.iter())
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -59,8 +60,7 @@ pub fn store(flash: FLASH) -> FlashStore {
|
|||||||
Ok(_) => {}
|
Ok(_) => {}
|
||||||
Err(e) => {
|
Err(e) => {
|
||||||
error!("corrupt store, erasing. error: {:?}", e);
|
error!("corrupt store, erasing. error: {:?}", e);
|
||||||
let _ = store
|
let _ = store.erase()
|
||||||
.erase()
|
|
||||||
.map_err(|e| error!("flash erase failed: {:?}", e));
|
.map_err(|e| error!("flash erase failed: {:?}", e));
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
@ -1,6 +1,9 @@
|
|||||||
use serde::Serialize;
|
use serde::Serialize;
|
||||||
|
|
||||||
use crate::{command_handler::JsonBuffer, pins::HWRevPins};
|
use crate::{
|
||||||
|
pins::HWRevPins,
|
||||||
|
command_handler::JsonBuffer,
|
||||||
|
};
|
||||||
|
|
||||||
#[derive(Serialize, Copy, Clone)]
|
#[derive(Serialize, Copy, Clone)]
|
||||||
pub struct HWRev {
|
pub struct HWRev {
|
||||||
@ -28,17 +31,13 @@ struct HWSummary<'a> {
|
|||||||
|
|
||||||
impl HWRev {
|
impl HWRev {
|
||||||
pub fn detect_hw_rev(hwrev_pins: &HWRevPins) -> Self {
|
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) {
|
match (h0, h1, h2, h3) {
|
||||||
(true, true, true, false) => HWRev { major: 1, minor: 0 },
|
(true, true, true, false) => HWRev { major: 1, minor: 0 },
|
||||||
(true, false, false, false) => HWRev { major: 2, minor: 0 },
|
(true, false, false, false) => HWRev { major: 2, minor: 0 },
|
||||||
(false, true, false, false) => HWRev { major: 2, minor: 2 },
|
(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_pwm_freq_hz: 0,
|
||||||
fan_available: false,
|
fan_available: false,
|
||||||
fan_pwm_recommended: false,
|
fan_pwm_recommended: false,
|
||||||
},
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
pub fn summary(&self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
|
pub fn summary(&self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
|
||||||
let settings = self.settings();
|
let settings = self.settings();
|
||||||
let summary = HWSummary {
|
let summary = HWSummary { rev: self, settings: &settings };
|
||||||
rev: self,
|
|
||||||
settings: &settings,
|
|
||||||
};
|
|
||||||
serde_json_core::to_vec(&summary)
|
serde_json_core::to_vec(&summary)
|
||||||
}
|
}
|
||||||
}
|
}
|
@ -10,15 +10,17 @@ pub fn init_log() {
|
|||||||
|
|
||||||
#[cfg(feature = "semihosting")]
|
#[cfg(feature = "semihosting")]
|
||||||
pub fn init_log() {
|
pub fn init_log() {
|
||||||
use cortex_m_log::log::{init, Logger};
|
|
||||||
use cortex_m_log::printer::semihosting::{hio::HStdout, InterruptOk};
|
|
||||||
use log::LevelFilter;
|
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;
|
static mut LOGGER: Option<Logger<InterruptOk<HStdout>>> = None;
|
||||||
let logger = Logger {
|
let logger = Logger {
|
||||||
inner: InterruptOk::<_>::stdout().expect("semihosting stdout"),
|
inner: InterruptOk::<_>::stdout().expect("semihosting stdout"),
|
||||||
level: LevelFilter::Info,
|
level: LevelFilter::Info,
|
||||||
};
|
};
|
||||||
let logger = unsafe { LOGGER.get_or_insert(logger) };
|
let logger = unsafe {
|
||||||
|
LOGGER.get_or_insert(logger)
|
||||||
|
};
|
||||||
|
|
||||||
init(logger).expect("set logger");
|
init(logger).expect("set logger");
|
||||||
}
|
}
|
||||||
|
@ -1,6 +1,6 @@
|
|||||||
use stm32f4xx_hal::{
|
use stm32f4xx_hal::{
|
||||||
gpio::{
|
gpio::{
|
||||||
gpiod::{PD10, PD11, PD9},
|
gpiod::{PD9, PD10, PD11},
|
||||||
Output, PushPull,
|
Output, PushPull,
|
||||||
},
|
},
|
||||||
hal::digital::v2::OutputPin,
|
hal::digital::v2::OutputPin,
|
||||||
|
257
src/main.rs
257
src/main.rs
@ -8,26 +8,30 @@ use panic_halt as _;
|
|||||||
#[cfg(all(feature = "semihosting", not(test)))]
|
#[cfg(all(feature = "semihosting", not(test)))]
|
||||||
use panic_semihosting as _;
|
use panic_semihosting as _;
|
||||||
|
|
||||||
|
use log::{error, info, warn};
|
||||||
use cortex_m::asm::wfi;
|
use cortex_m::asm::wfi;
|
||||||
use cortex_m_rt::entry;
|
use cortex_m_rt::entry;
|
||||||
use log::{error, info, warn};
|
|
||||||
use smoltcp::{socket::TcpSocket, time::Instant, wire::EthernetAddress};
|
|
||||||
use stm32f4xx_hal::{
|
use stm32f4xx_hal::{
|
||||||
hal::watchdog::{Watchdog, WatchdogEnable},
|
hal::watchdog::{WatchdogEnable, Watchdog},
|
||||||
rcc::RccExt,
|
rcc::RccExt,
|
||||||
stm32::{CorePeripherals, Peripherals, SCB},
|
stm32::{CorePeripherals, Peripherals, SCB},
|
||||||
time::{MegaHertz, U32Ext},
|
time::{U32Ext, MegaHertz},
|
||||||
watchdog::IndependentWatchdog,
|
watchdog::IndependentWatchdog,
|
||||||
};
|
};
|
||||||
|
use smoltcp::{
|
||||||
|
time::Instant,
|
||||||
|
socket::TcpSocket,
|
||||||
|
wire::EthernetAddress,
|
||||||
|
};
|
||||||
|
|
||||||
mod init_log;
|
mod init_log;
|
||||||
use init_log::init_log;
|
use init_log::init_log;
|
||||||
|
mod usb;
|
||||||
mod leds;
|
mod leds;
|
||||||
mod pins;
|
mod pins;
|
||||||
mod usb;
|
|
||||||
use pins::Pins;
|
use pins::Pins;
|
||||||
mod ad5680;
|
|
||||||
mod ad7172;
|
mod ad7172;
|
||||||
|
mod ad5680;
|
||||||
mod net;
|
mod net;
|
||||||
mod server;
|
mod server;
|
||||||
use server::Server;
|
use server::Server;
|
||||||
@ -35,18 +39,18 @@ mod session;
|
|||||||
use session::{Session, SessionInput};
|
use session::{Session, SessionInput};
|
||||||
mod command_parser;
|
mod command_parser;
|
||||||
use command_parser::Ipv4Config;
|
use command_parser::Ipv4Config;
|
||||||
mod b_parameter;
|
|
||||||
mod channels;
|
|
||||||
mod pid;
|
|
||||||
mod timer;
|
mod timer;
|
||||||
use channels::{Channels, CHANNELS};
|
mod pid;
|
||||||
|
mod steinhart_hart;
|
||||||
|
mod channels;
|
||||||
|
use channels::{CHANNELS, Channels};
|
||||||
mod channel;
|
mod channel;
|
||||||
mod channel_state;
|
mod channel_state;
|
||||||
mod config;
|
mod config;
|
||||||
use config::ChannelConfig;
|
use config::ChannelConfig;
|
||||||
mod command_handler;
|
|
||||||
mod dfu;
|
|
||||||
mod flash_store;
|
mod flash_store;
|
||||||
|
mod dfu;
|
||||||
|
mod command_handler;
|
||||||
use command_handler::Handler;
|
use command_handler::Handler;
|
||||||
mod fan_ctrl;
|
mod fan_ctrl;
|
||||||
use fan_ctrl::FanCtrl;
|
use fan_ctrl::FanCtrl;
|
||||||
@ -69,19 +73,19 @@ fn send_line(socket: &mut TcpSocket, data: &[u8]) -> bool {
|
|||||||
// instead of sending incomplete line
|
// instead of sending incomplete line
|
||||||
warn!(
|
warn!(
|
||||||
"TCP socket has only {}/{} needed {}",
|
"TCP socket has only {}/{} needed {}",
|
||||||
send_free + 1,
|
send_free + 1, socket.send_capacity(), data.len(),
|
||||||
socket.send_capacity(),
|
|
||||||
data.len(),
|
|
||||||
);
|
);
|
||||||
} else {
|
} else {
|
||||||
match socket.send_slice(data) {
|
match socket.send_slice(&data) {
|
||||||
Ok(sent) if sent == data.len() => {
|
Ok(sent) if sent == data.len() => {
|
||||||
let _ = socket.send_slice(b"\n");
|
let _ = socket.send_slice(b"\n");
|
||||||
// success
|
// 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
|
// not success
|
||||||
@ -100,9 +104,7 @@ fn main() -> ! {
|
|||||||
cp.SCB.enable_dcache(&mut cp.CPUID);
|
cp.SCB.enable_dcache(&mut cp.CPUID);
|
||||||
|
|
||||||
let dp = Peripherals::take().unwrap();
|
let dp = Peripherals::take().unwrap();
|
||||||
let clocks = dp
|
let clocks = dp.RCC.constrain()
|
||||||
.RCC
|
|
||||||
.constrain()
|
|
||||||
.cfgr
|
.cfgr
|
||||||
.use_hse(HSE)
|
.use_hse(HSE)
|
||||||
.sysclk(168.mhz())
|
.sysclk(168.mhz())
|
||||||
@ -118,15 +120,14 @@ fn main() -> ! {
|
|||||||
timer::setup(cp.SYST, clocks);
|
timer::setup(cp.SYST, clocks);
|
||||||
|
|
||||||
let (pins, mut leds, mut eeprom, eth_pins, usb, fan, hwrev, hw_settings) = Pins::setup(
|
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.I2C1,
|
||||||
(dp.SPI2, dp.SPI4, dp.SPI5),
|
dp.SPI2, dp.SPI4, dp.SPI5,
|
||||||
dp.ADC1,
|
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();
|
leds.r1.on();
|
||||||
@ -138,11 +139,14 @@ fn main() -> ! {
|
|||||||
let mut store = flash_store::store(dp.FLASH);
|
let mut store = flash_store::store(dp.FLASH);
|
||||||
|
|
||||||
let mut channels = Channels::new(pins);
|
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,
|
gateway: None,
|
||||||
};
|
};
|
||||||
match store.read_value("ipv4") {
|
match store.read_value("ipv4") {
|
||||||
Ok(Some(config)) => ipv4_config = config,
|
Ok(Some(config)) =>
|
||||||
|
ipv4_config = config,
|
||||||
Ok(None) => {}
|
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
|
// EEPROM ships with a read-only EUI-48 identifier
|
||||||
@ -166,115 +172,102 @@ fn main() -> ! {
|
|||||||
let hwaddr = EthernetAddress(eui48);
|
let hwaddr = EthernetAddress(eui48);
|
||||||
info!("EEPROM MAC address: {}", hwaddr);
|
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);
|
channels.poll_adc(instant);
|
||||||
|
|
||||||
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);
|
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, &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);
|
|
||||||
send_line(&mut socket, b"{ \"error\": \"invalid input\" }");
|
|
||||||
}
|
|
||||||
Err(_) => socket.close(),
|
|
||||||
}
|
}
|
||||||
|
Ok(SessionInput::Error(e)) => {
|
||||||
|
error!("session input: {:?}", e);
|
||||||
|
send_line(&mut socket, b"{ \"error\": \"invalid input\" }");
|
||||||
|
}
|
||||||
|
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!()
|
unreachable!()
|
||||||
}
|
}
|
||||||
|
46
src/net.rs
46
src/net.rs
@ -1,17 +1,20 @@
|
|||||||
//! As there is only one peripheral, supporting data structures are
|
//! As there is only one peripheral, supporting data structures are
|
||||||
//! declared once and globally.
|
//! declared once and globally.
|
||||||
|
|
||||||
use crate::command_parser::Ipv4Config;
|
|
||||||
use crate::pins::EthernetPins;
|
|
||||||
use core::cell::RefCell;
|
use core::cell::RefCell;
|
||||||
use cortex_m::interrupt::{CriticalSection, Mutex};
|
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::{
|
use stm32f4xx_hal::{
|
||||||
pac::{interrupt, Peripherals, ETHERNET_DMA, ETHERNET_MAC},
|
|
||||||
rcc::Clocks,
|
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
|
/// Not on the stack so that stack can be placed in CCMRAM (which the
|
||||||
/// ethernet peripheral cannot access)
|
/// 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
|
/// Run callback `f` with ethernet driver and TCP/IP stack
|
||||||
pub fn run<F>(
|
pub fn run<F>(
|
||||||
clocks: Clocks,
|
clocks: Clocks,
|
||||||
ethernet_mac: ETHERNET_MAC,
|
ethernet_mac: ETHERNET_MAC, ethernet_dma: ETHERNET_DMA,
|
||||||
ethernet_dma: ETHERNET_DMA,
|
|
||||||
eth_pins: EthernetPins,
|
eth_pins: EthernetPins,
|
||||||
ethernet_addr: EthernetAddress,
|
ethernet_addr: EthernetAddress,
|
||||||
ipv4_config: Ipv4Config,
|
ipv4_config: Ipv4Config,
|
||||||
f: F,
|
f: F
|
||||||
) where
|
) where
|
||||||
F: FnOnce(EthernetInterface<&mut stm32_eth::Eth<'static, 'static>>),
|
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
|
// Ethernet driver
|
||||||
let mut eth_dev = Eth::new(
|
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,
|
clocks,
|
||||||
eth_pins,
|
eth_pins,
|
||||||
)
|
).unwrap();
|
||||||
.unwrap();
|
|
||||||
eth_dev.enable_interrupt();
|
eth_dev.enable_interrupt();
|
||||||
|
|
||||||
// IP stack
|
// IP stack
|
||||||
@ -73,7 +76,8 @@ pub fn run<F>(
|
|||||||
#[interrupt]
|
#[interrupt]
|
||||||
fn ETH() {
|
fn ETH() {
|
||||||
cortex_m::interrupt::free(|cs| {
|
cortex_m::interrupt::free(|cs| {
|
||||||
*NET_PENDING.borrow(cs).borrow_mut() = true;
|
*NET_PENDING.borrow(cs)
|
||||||
|
.borrow_mut() = true;
|
||||||
});
|
});
|
||||||
|
|
||||||
let p = unsafe { Peripherals::steal() };
|
let p = unsafe { Peripherals::steal() };
|
||||||
@ -82,13 +86,15 @@ fn ETH() {
|
|||||||
|
|
||||||
/// Has an interrupt occurred since last call to `clear_pending()`?
|
/// Has an interrupt occurred since last call to `clear_pending()`?
|
||||||
pub fn is_pending(cs: &CriticalSection) -> bool {
|
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
|
/// Clear the interrupt pending flag before polling the interface for
|
||||||
/// data.
|
/// data.
|
||||||
pub fn clear_pending(cs: &CriticalSection) {
|
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
|
/// utility for destructuring into smoltcp types
|
||||||
|
31
src/pid.rs
31
src/pid.rs
@ -1,4 +1,4 @@
|
|||||||
use serde::{Deserialize, Serialize};
|
use serde::{Serialize, Deserialize};
|
||||||
|
|
||||||
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
|
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
|
||||||
pub struct Parameters {
|
pub struct Parameters {
|
||||||
@ -29,22 +29,22 @@ impl Default for Parameters {
|
|||||||
#[derive(Clone)]
|
#[derive(Clone)]
|
||||||
pub struct Controller {
|
pub struct Controller {
|
||||||
pub parameters: Parameters,
|
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 {
|
impl Controller {
|
||||||
pub const fn new(parameters: Parameters) -> Controller {
|
pub const fn new(parameters: Parameters) -> Controller {
|
||||||
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,
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -56,10 +56,11 @@ impl Controller {
|
|||||||
// + x2 * kd
|
// + x2 * kd
|
||||||
// y0 = clip(y0', ymin, ymax)
|
// y0 = clip(y0', ymin, ymax)
|
||||||
pub fn update(&mut self, input: f64) -> f64 {
|
pub fn update(&mut self, input: f64) -> f64 {
|
||||||
|
|
||||||
let mut output: f64 = self.y1 - self.target * f64::from(self.parameters.ki)
|
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);
|
||||||
if output < self.parameters.output_min.into() {
|
if output < self.parameters.output_min.into() {
|
||||||
output = self.parameters.output_min.into();
|
output = self.parameters.output_min.into();
|
||||||
}
|
}
|
||||||
|
213
src/pins.rs
213
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::{
|
use stm32f4xx_hal::{
|
||||||
adc::Adc,
|
adc::Adc,
|
||||||
gpio::{
|
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},
|
hal::{self, blocking::spi::Transfer, digital::v2::OutputPin},
|
||||||
i2c::I2c,
|
i2c::I2c,
|
||||||
otg_fs::USB,
|
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,
|
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,
|
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<
|
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::page_size::B8,
|
||||||
eeprom24x::addr_size::OneByte,
|
eeprom24x::addr_size::OneByte
|
||||||
>;
|
>;
|
||||||
|
|
||||||
pub type EthernetPins = EthPins<
|
pub type EthernetPins = EthPins<
|
||||||
@ -46,7 +54,7 @@ pub type EthernetPins = EthPins<
|
|||||||
PB13<Input<Floating>>,
|
PB13<Input<Floating>>,
|
||||||
PC4<Input<Floating>>,
|
PC4<Input<Floating>>,
|
||||||
PC5<Input<Floating>>,
|
PC5<Input<Floating>>,
|
||||||
>;
|
>;
|
||||||
|
|
||||||
pub trait ChannelPins {
|
pub trait ChannelPins {
|
||||||
type DacSpi: Transfer<u8>;
|
type DacSpi: Transfer<u8>;
|
||||||
@ -89,15 +97,7 @@ impl ChannelPins for Channel1 {
|
|||||||
}
|
}
|
||||||
|
|
||||||
/// SPI peripheral used for communication with the ADC
|
/// 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>>;
|
pub type AdcNss = PB12<Output<PushPull>>;
|
||||||
type Dac0Spi = Spi<SPI4, (PE2<Alternate<AF5>>, NoMiso, PE6<Alternate<AF5>>), TransferModeNormal>;
|
type Dac0Spi = Spi<SPI4, (PE2<Alternate<AF5>>, NoMiso, PE6<Alternate<AF5>>), TransferModeNormal>;
|
||||||
type Dac1Spi = Spi<SPI5, (PF7<Alternate<AF5>>, NoMiso, PF9<Alternate<AF5>>), TransferModeNormal>;
|
type Dac1Spi = Spi<SPI5, (PF7<Alternate<AF5>>, NoMiso, PF9<Alternate<AF5>>), TransferModeNormal>;
|
||||||
@ -133,34 +133,13 @@ impl Pins {
|
|||||||
/// Setup GPIO pins and configure MCU peripherals
|
/// Setup GPIO pins and configure MCU peripherals
|
||||||
pub fn setup(
|
pub fn setup(
|
||||||
clocks: Clocks,
|
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,
|
i2c1: I2C1,
|
||||||
(spi2, spi4, spi5): (SPI2, SPI4, SPI5),
|
spi2: SPI2, spi4: SPI4, spi5: SPI5,
|
||||||
adc1: ADC1,
|
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 gpioa = gpioa.split();
|
||||||
let gpiob = gpiob.split();
|
let gpiob = gpiob.split();
|
||||||
let gpioc = gpioc.split();
|
let gpioc = gpioc.split();
|
||||||
@ -175,29 +154,23 @@ impl Pins {
|
|||||||
let pins_adc = Adc::adc1(adc1, true, Default::default());
|
let pins_adc = Adc::adc1(adc1, true, Default::default());
|
||||||
|
|
||||||
let pwm = PwmPins::setup(
|
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 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();
|
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 itec0_pin = gpioa.pa6.into_analog();
|
||||||
let dac_feedback0_pin = gpioa.pa4.into_analog();
|
let dac_feedback0_pin = gpioa.pa4.into_analog();
|
||||||
let tec_u_meas0_pin = gpioc.pc2.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,
|
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();
|
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 itec1_pin = gpiob.pb0.into_analog();
|
||||||
let dac_feedback1_pin = gpioa.pa5.into_analog();
|
let dac_feedback1_pin = gpioa.pa5.into_analog();
|
||||||
let tec_u_meas1_pin = gpioc.pc3.into_analog();
|
let tec_u_meas1_pin = gpioc.pc3.into_analog();
|
||||||
@ -233,19 +205,14 @@ impl Pins {
|
|||||||
};
|
};
|
||||||
|
|
||||||
let pins = Pins {
|
let pins = Pins {
|
||||||
adc_spi,
|
adc_spi, adc_nss,
|
||||||
adc_nss,
|
|
||||||
pins_adc,
|
pins_adc,
|
||||||
pwm,
|
pwm,
|
||||||
channel0,
|
channel0,
|
||||||
channel1,
|
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_scl = gpiob.pb8.into_alternate().set_open_drain();
|
||||||
let eeprom_sda = gpiob.pb9.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 {
|
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)
|
(pins, leds, eeprom, eth_pins, usb, fan, hwrev, hw_settings)
|
||||||
}
|
}
|
||||||
@ -290,7 +252,8 @@ impl Pins {
|
|||||||
sck: PB10<M1>,
|
sck: PB10<M1>,
|
||||||
miso: PB14<M2>,
|
miso: PB14<M2>,
|
||||||
mosi: PB15<M3>,
|
mosi: PB15<M3>,
|
||||||
) -> AdcSpi {
|
) -> AdcSpi
|
||||||
|
{
|
||||||
let sck = sck.into_alternate();
|
let sck = sck.into_alternate();
|
||||||
let miso = miso.into_alternate();
|
let miso = miso.into_alternate();
|
||||||
let mosi = mosi.into_alternate();
|
let mosi = mosi.into_alternate();
|
||||||
@ -299,16 +262,13 @@ impl Pins {
|
|||||||
(sck, miso, mosi),
|
(sck, miso, mosi),
|
||||||
crate::ad7172::SPI_MODE,
|
crate::ad7172::SPI_MODE,
|
||||||
crate::ad7172::SPI_CLOCK,
|
crate::ad7172::SPI_CLOCK,
|
||||||
clocks,
|
clocks
|
||||||
)
|
)
|
||||||
}
|
}
|
||||||
|
|
||||||
fn setup_dac0<M1, M2, M3>(
|
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) {
|
) -> (Dac0Spi, <Channel0 as ChannelPins>::DacSync) {
|
||||||
let sclk = sclk.into_alternate();
|
let sclk = sclk.into_alternate();
|
||||||
let sdin = sdin.into_alternate();
|
let sdin = sdin.into_alternate();
|
||||||
@ -317,7 +277,7 @@ impl Pins {
|
|||||||
(sclk, NoMiso {}, sdin),
|
(sclk, NoMiso {}, sdin),
|
||||||
crate::ad5680::SPI_MODE,
|
crate::ad5680::SPI_MODE,
|
||||||
crate::ad5680::SPI_CLOCK,
|
crate::ad5680::SPI_CLOCK,
|
||||||
clocks,
|
clocks
|
||||||
);
|
);
|
||||||
let sync = sync.into_push_pull_output();
|
let sync = sync.into_push_pull_output();
|
||||||
|
|
||||||
@ -325,11 +285,8 @@ impl Pins {
|
|||||||
}
|
}
|
||||||
|
|
||||||
fn setup_dac1<M1, M2, M3>(
|
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) {
|
) -> (Dac1Spi, <Channel1 as ChannelPins>::DacSync) {
|
||||||
let sclk = sclk.into_alternate();
|
let sclk = sclk.into_alternate();
|
||||||
let sdin = sdin.into_alternate();
|
let sdin = sdin.into_alternate();
|
||||||
@ -338,7 +295,7 @@ impl Pins {
|
|||||||
(sclk, NoMiso {}, sdin),
|
(sclk, NoMiso {}, sdin),
|
||||||
crate::ad5680::SPI_MODE,
|
crate::ad5680::SPI_MODE,
|
||||||
crate::ad5680::SPI_CLOCK,
|
crate::ad5680::SPI_CLOCK,
|
||||||
clocks,
|
clocks
|
||||||
);
|
);
|
||||||
let sync = sync.into_push_pull_output();
|
let sync = sync.into_push_pull_output();
|
||||||
|
|
||||||
@ -358,18 +315,25 @@ pub struct PwmPins {
|
|||||||
impl PwmPins {
|
impl PwmPins {
|
||||||
fn setup<M1, M2, M3, M4, M5, M6>(
|
fn setup<M1, M2, M3, M4, M5, M6>(
|
||||||
clocks: Clocks,
|
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 {
|
) -> PwmPins {
|
||||||
let freq = 20u32.khz();
|
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.set_duty(0);
|
||||||
pin.enable();
|
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) = pwm::tim3(tim3, channels, clocks, freq);
|
||||||
let (mut max_v0, mut max_v1) = Timer::new(tim3, &clocks).pwm(channels, freq);
|
let (mut max_v0, mut max_v1) = Timer::new(tim3, &clocks).pwm(channels, freq);
|
||||||
init_pwm_pin(&mut max_v0);
|
init_pwm_pin(&mut max_v0);
|
||||||
@ -389,12 +353,9 @@ impl PwmPins {
|
|||||||
init_pwm_pin(&mut max_i_neg1);
|
init_pwm_pin(&mut max_i_neg1);
|
||||||
|
|
||||||
PwmPins {
|
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,
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
@ -1,29 +1,25 @@
|
|||||||
use crate::command_parser::Ipv4Config;
|
|
||||||
use crate::net::split_ipv4_config;
|
|
||||||
use smoltcp::{
|
use smoltcp::{
|
||||||
iface::EthernetInterface,
|
iface::EthernetInterface,
|
||||||
socket::{SocketHandle, SocketRef, SocketSet, TcpSocket, TcpSocketBuffer},
|
socket::{SocketSet, SocketHandle, TcpSocket, TcpSocketBuffer, SocketRef},
|
||||||
time::Instant,
|
time::Instant,
|
||||||
wire::{IpAddress, IpCidr, Ipv4Address, Ipv4Cidr},
|
wire::{IpAddress, IpCidr, Ipv4Address, Ipv4Cidr},
|
||||||
};
|
};
|
||||||
|
use crate::command_parser::Ipv4Config;
|
||||||
|
use crate::net::split_ipv4_config;
|
||||||
|
|
||||||
pub struct SocketState<S> {
|
pub struct SocketState<S> {
|
||||||
handle: SocketHandle,
|
handle: SocketHandle,
|
||||||
state: S,
|
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_rx_buffer = TcpSocketBuffer::new(&mut tcp_rx_storage[..]);
|
||||||
let tcp_tx_buffer = TcpSocketBuffer::new(&mut tcp_tx_storage[..]);
|
let tcp_tx_buffer = TcpSocketBuffer::new(&mut tcp_tx_storage[..]);
|
||||||
let tcp_socket = TcpSocket::new(tcp_rx_buffer, tcp_tx_buffer);
|
let tcp_socket = TcpSocket::new(tcp_rx_buffer, tcp_tx_buffer);
|
||||||
SocketState::<S> {
|
SocketState::<S> {
|
||||||
handle: sockets.add(tcp_socket),
|
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, $tx_storage:ident) => {
|
($rx_storage:ident, $tx_storage:ident) => {
|
||||||
let mut $rx_storage = [0; TCP_RX_BUFFER_SIZE];
|
let mut $rx_storage = [0; TCP_RX_BUFFER_SIZE];
|
||||||
let mut $tx_storage = [0; TCP_TX_BUFFER_SIZE];
|
let mut $tx_storage = [0; TCP_TX_BUFFER_SIZE];
|
||||||
};
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
create_rtx_storage!(tcp_rx_storage0, tcp_tx_storage0);
|
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) {
|
fn set_ipv4_address(&mut self, ipv4_address: Ipv4Cidr) {
|
||||||
self.net.update_ip_addrs(|addrs| {
|
self.net.update_ip_addrs(|addrs| {
|
||||||
for addr in addrs.iter_mut() {
|
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>) {
|
fn set_gateway(&mut self, gateway: Option<Ipv4Address>) {
|
||||||
let routes = self.net.routes_mut();
|
let routes = self.net.routes_mut();
|
||||||
match gateway {
|
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) => {
|
Some(gateway) => {
|
||||||
routes.add_default_ipv4_route(gateway).unwrap();
|
routes.add_default_ipv4_route(gateway).unwrap();
|
||||||
}
|
}
|
||||||
|
@ -45,8 +45,7 @@ pub enum SessionInput {
|
|||||||
|
|
||||||
impl From<Result<Command, ParserError>> for SessionInput {
|
impl From<Result<Command, ParserError>> for SessionInput {
|
||||||
fn from(input: Result<Command, ParserError>) -> Self {
|
fn from(input: Result<Command, ParserError>) -> Self {
|
||||||
input
|
input.map(SessionInput::Command)
|
||||||
.map(SessionInput::Command)
|
|
||||||
.unwrap_or_else(SessionInput::Error)
|
.unwrap_or_else(SessionInput::Error)
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@ -77,9 +76,12 @@ impl Session {
|
|||||||
for (i, b) in buf.iter().enumerate() {
|
for (i, b) in buf.iter().enumerate() {
|
||||||
buf_bytes = i + 1;
|
buf_bytes = i + 1;
|
||||||
let line = self.reader.feed(*b);
|
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);
|
||||||
|
return (buf_bytes, command.into());
|
||||||
|
}
|
||||||
|
None => {}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
(buf_bytes, SessionInput::Nothing)
|
(buf_bytes, SessionInput::Nothing)
|
||||||
|
@ -1,29 +1,31 @@
|
|||||||
use num_traits::float::Float;
|
use num_traits::float::Float;
|
||||||
use serde::{Deserialize, Serialize};
|
|
||||||
use uom::si::{
|
use uom::si::{
|
||||||
|
f64::{
|
||||||
|
ElectricalResistance,
|
||||||
|
ThermodynamicTemperature,
|
||||||
|
},
|
||||||
electrical_resistance::ohm,
|
electrical_resistance::ohm,
|
||||||
f64::{ElectricalResistance, TemperatureInterval, ThermodynamicTemperature},
|
|
||||||
ratio::ratio,
|
ratio::ratio,
|
||||||
temperature_interval::kelvin as kelvin_interval,
|
|
||||||
thermodynamic_temperature::{degree_celsius, kelvin},
|
thermodynamic_temperature::{degree_celsius, kelvin},
|
||||||
};
|
};
|
||||||
|
use serde::{Deserialize, Serialize};
|
||||||
|
|
||||||
/// B-Parameter equation parameters
|
/// Steinhart-Hart equation parameters
|
||||||
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
|
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
|
||||||
pub struct Parameters {
|
pub struct Parameters {
|
||||||
/// Base temperature
|
/// Base temperature
|
||||||
pub t0: ThermodynamicTemperature,
|
pub t0: ThermodynamicTemperature,
|
||||||
/// Thermistor resistance at base temperature
|
/// Base resistance
|
||||||
pub r0: ElectricalResistance,
|
pub r0: ElectricalResistance,
|
||||||
/// Beta (average slope of the function ln R vs. 1/T)
|
/// Beta
|
||||||
pub b: TemperatureInterval,
|
pub b: f64,
|
||||||
}
|
}
|
||||||
|
|
||||||
impl Parameters {
|
impl Parameters {
|
||||||
/// Perform the resistance to temperature conversion.
|
/// Perform the voltage to temperature conversion.
|
||||||
pub fn get_temperature(&self, r: ElectricalResistance) -> ThermodynamicTemperature {
|
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 {
|
Parameters {
|
||||||
t0: ThermodynamicTemperature::new::<degree_celsius>(25.0),
|
t0: ThermodynamicTemperature::new::<degree_celsius>(25.0),
|
||||||
r0: ElectricalResistance::new::<ohm>(10_000.0),
|
r0: ElectricalResistance::new::<ohm>(10_000.0),
|
||||||
b: TemperatureInterval::new::<kelvin_interval>(3800.0),
|
b: 3800.0,
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
14
src/timer.rs
14
src/timer.rs
@ -4,9 +4,9 @@ use cortex_m::interrupt::Mutex;
|
|||||||
use cortex_m_rt::exception;
|
use cortex_m_rt::exception;
|
||||||
use stm32f4xx_hal::{
|
use stm32f4xx_hal::{
|
||||||
rcc::Clocks,
|
rcc::Clocks,
|
||||||
stm32::SYST,
|
|
||||||
time::U32Ext,
|
time::U32Ext,
|
||||||
timer::{Event as TimerEvent, Timer},
|
timer::{Timer, Event as TimerEvent},
|
||||||
|
stm32::SYST,
|
||||||
};
|
};
|
||||||
|
|
||||||
/// Rate in Hz
|
/// Rate in Hz
|
||||||
@ -18,6 +18,7 @@ static TIMER_MS: Mutex<RefCell<u32>> = Mutex::new(RefCell::new(0));
|
|||||||
|
|
||||||
/// Setup SysTick exception
|
/// Setup SysTick exception
|
||||||
pub fn setup(syst: SYST, clocks: Clocks) {
|
pub fn setup(syst: SYST, clocks: Clocks) {
|
||||||
|
|
||||||
let timer = Timer::syst(syst, &clocks);
|
let timer = Timer::syst(syst, &clocks);
|
||||||
let mut countdown = timer.start_count_down(TIMER_RATE.hz());
|
let mut countdown = timer.start_count_down(TIMER_RATE.hz());
|
||||||
countdown.listen(TimerEvent::TimeOut);
|
countdown.listen(TimerEvent::TimeOut);
|
||||||
@ -27,13 +28,18 @@ pub fn setup(syst: SYST, clocks: Clocks) {
|
|||||||
#[exception]
|
#[exception]
|
||||||
fn SysTick() {
|
fn SysTick() {
|
||||||
cortex_m::interrupt::free(|cs| {
|
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
|
/// Obtain current time in milliseconds
|
||||||
pub fn now() -> u32 {
|
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
|
/// block for at least `amount` milliseconds
|
||||||
|
18
src/usb.rs
18
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 cortex_m::interrupt::free;
|
||||||
use log::{Log, Metadata, Record};
|
|
||||||
use stm32f4xx_hal::{
|
use stm32f4xx_hal::{
|
||||||
otg_fs::{UsbBus as Bus, USB},
|
otg_fs::{USB, UsbBus as Bus},
|
||||||
stm32::{interrupt, Interrupt, NVIC},
|
stm32::{interrupt, Interrupt, NVIC},
|
||||||
};
|
};
|
||||||
use usb_device::{
|
use usb_device::{
|
||||||
class_prelude::UsbBusAllocator,
|
class_prelude::{UsbBusAllocator},
|
||||||
prelude::{UsbDevice, UsbDeviceBuilder, UsbVidPid},
|
prelude::{UsbDevice, UsbDeviceBuilder, UsbVidPid},
|
||||||
};
|
};
|
||||||
use usbd_serial::SerialPort;
|
use usbd_serial::SerialPort;
|
||||||
|
use log::{Record, Log, Metadata};
|
||||||
|
|
||||||
static mut EP_MEMORY: [u32; 1024] = [0; 1024];
|
static mut EP_MEMORY: [u32; 1024] = [0; 1024];
|
||||||
|
|
||||||
@ -39,8 +36,8 @@ impl State {
|
|||||||
.device_class(usbd_serial::USB_CLASS_CDC)
|
.device_class(usbd_serial::USB_CLASS_CDC)
|
||||||
.build();
|
.build();
|
||||||
|
|
||||||
free(|_| unsafe {
|
free(|_| {
|
||||||
STATE = Some(State { serial, dev });
|
unsafe { STATE = Some(State { serial, dev }); }
|
||||||
});
|
});
|
||||||
|
|
||||||
unsafe {
|
unsafe {
|
||||||
@ -97,7 +94,8 @@ impl Write for SerialOutput {
|
|||||||
fn write_str(&mut self, s: &str) -> core::result::Result<(), core::fmt::Error> {
|
fn write_str(&mut self, s: &str) -> core::result::Result<(), core::fmt::Error> {
|
||||||
if let Some(ref mut state) = State::get() {
|
if let Some(ref mut state) = State::get() {
|
||||||
for chunk in s.as_bytes().chunks(16) {
|
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(())
|
Ok(())
|
||||||
|
Loading…
Reference in New Issue
Block a user