PyThermostat: Replace setup.py with pyproject.toml

Forms a more convienient interface.

README.md

@@ -93,15 +93,15 @@ Send commands as simple text string terminated by `\n`. Responses are
 formatted as line-delimited JSON.
 
 | Syntax                                    | Function                                                                      |
-|------------------------------------------- |-------------------------------------------------------------------------------|
+|-------------------------------------------|-------------------------------------------------------------------------------|
 | `report`                                  | Show latest report of channel parameters (see *Reports* section)              |
-| `pwm`                                      | Show current PWM settings                                                     |
+| `output`                                  | Show current output settings                                                  |
-| `pwm <0/1> max_i_pos <amp>`                | Set maximum positive output current, clamped to [0, 2]                        |
+| `output <0/1> max_i_pos <amp>`            | Set maximum positive output current, clamped to [0, 2]                        |
-| `pwm <0/1> max_i_neg <amp>`                | Set maximum negative output current, clamped to [0, 2]                        |
+| `output <0/1> max_i_neg <amp>`            | Set maximum negative output current, clamped to [0, 2]                        |
-| `pwm <0/1> max_v <volt>`                   | Set maximum output voltage, clamped to [0, 4]                                 |
+| `output <0/1> max_v <volt>`               | Set maximum output voltage, clamped to [0, 4]                                 |
-| `pwm <0/1> i_set <amp>`                    | Disengage PID, set fixed output current, clamped to [-2, 2]                   |
+| `output <0/1> i_set <amp>`                | Disengage PID, set fixed output current, clamped to [-2, 2]                   |
-| `pwm <0/1> polarity <normal/reversed>`     | Set output current polarity, with 'normal' being the front panel polarity     |
+| `output <0/1> polarity <normal/reversed>` | Set output current polarity, with 'normal' being the front panel polarity     |
-| `pwm <0/1> pid`                            | Let output current to be controlled by the PID                                |
+| `output <0/1> pid`                        | Let output current to be controlled by the PID                                |
 | `center <0/1> <volt>`                     | Set the MAX1968 0A-centerpoint to the specified fixed voltage                 |
 | `center <0/1> vref`                       | Set the MAX1968 0A-centerpoint to measure from VREF                           |
 | `pid`                                     | Show PID configuration                                                        |
@@ -111,8 +111,8 @@ formatted as line-delimited JSON.
 | `pid <0/1> kd <value>`                    | Set differential gain                                                         |
 | `pid <0/1> output_min <amp>`              | Set mininum output                                                            |
 | `pid <0/1> output_max <amp>`              | Set maximum output                                                            |
-| `s-h`                                      | Show Steinhart-Hart equation parameters                                       |
+| `b-p`                                     | Show B-Parameter equation parameters                                          |
-| `s-h <0/1> <t0/b/r0> <value>`              | Set Steinhart-Hart parameter for a channel                                    |
+| `b-p <0/1> <t0/b/r0> <value>`             | Set B-Parameter for a channel                                                 |
 | `postfilter`                              | Show postfilter settings                                                      |
 | `postfilter <0/1> off`                    | Disable postfilter                                                            |
 | `postfilter <0/1> rate <rate>`            | Set postfilter output data rate                                               |
@@ -144,22 +144,22 @@ output will be truncated when USB buffers are full.
 
 Connect the thermistor with the SENS pins of the
 device. Temperature-depending resistance is measured by the AD7172
-ADC. To prepare conversion to a temperature, set the Beta parameters
+ADC. To prepare conversion to a temperature, set the parameters
-for the Steinhart-Hart equation.
+for the B-Parameter equation.
 
 Set the base temperature in degrees celsius for the channel 0 thermistor:
 ```
-s-h 0 t0 20
+b-p 0 t0 20
 ```
 
 Set the resistance in Ohms measured at the base temperature t0:
 ```
-s-h 0 r0 10000
+b-p 0 r0 10000
 ```
 
 Set the Beta parameter:
 ```
-s-h 0 b 3800
+b-p 0 b 3800
 ```
 
 ### 50/60 Hz filtering
@@ -183,48 +183,47 @@ postfilter rate can be tuned with the `postfilter` command.
 
 When using a TEC module with the Thermostat, the Thermostat expects the thermal load (where the thermistor is located) to cool down with a positive software current set point, and heat up with a negative current set point.
 
-If the Thermostat is used for temperature control with the Sinara 5432 DAC "Zotino", and is connected via an IDC cable, the TEC polarity may need to be reversed with the `pwm <ch> polarity reversed` TCP command.
+If the Thermostat is used for temperature control with the Sinara 5432 DAC "Zotino", and is connected via an IDC cable, the TEC polarity may need to be reversed with the `output <ch> polarity reversed` TCP command.
 
 Testing heat flow direction with a low set current is recommended before installation of the TEC module.
 
 ### Limits
 
-Each MAX1968 TEC driver has analog/PWM inputs for setting
+Each channel has maximum value settings, for setting
 output limits.
 
-Use the `pwm` command to see current settings and maximum values.
+Use the `output` command to see them.
 
 | Limit       | Unit    | Description                   |
 | ---         | :---:   | ---                           |
 | `max_v`     | Volts   | Maximum voltage               |
 | `max_i_pos` | Amperes | Maximum positive current      |
 | `max_i_neg` | Amperes | Maximum negative current      |
-| `i_set`     | Amperes | (Not a limit; Open-loop mode) |
 
 Example: set the maximum voltage of channel 0 to 1.5 V.
 ```
-pwm 0 max_v 1.5
+output 0 max_v 1.5
 ```
 
-Example: set the maximum negative current of channel 0 to -3 A.
+Example: set the maximum negative current of channel 0 to -2 A.
 ```
-pwm 0 max_i_neg 3
+output 0 max_i_neg 2
 ```
 
-Example: set the maximum positive current of channel 1 to 3 A.
+Example: set the maximum positive current of channel 1 to 2 A.
 ```
-pwm 0 max_i_pos 3
+output 1 max_i_pos 2
 ```
 
 ### Open-loop mode
 
 To manually control TEC output current, set a fixed output current with
-the `pwm` command. Doing so will disengage the PID control for that
+the `output` command. Doing so will disengage the PID control for that
 channel.
 
 Example: set output current of channel 0 to 0 A.
 ```
-pwm 0 i_set 0
+output 0 i_set 0
 ```
 
 ## PID-stabilized temperature control
@@ -237,7 +236,23 @@ pid 0 target 20
 Enter closed-loop mode by switching control of the TEC output current
 of channel 0 to the PID algorithm:
 ```
-pwm 0 pid
+output 0 pid
+```
+
+### PID output clamping
+
+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.
+
+Note that the actual output will still ultimately be limited by the `max_i_pos` and `max_i_neg` values.
+
+Set PID maximum output of channel 0 to 1.5 A.
+```
+pid 0 output_max 1.5
+```
+
+Set PID minimum output of channel 0 to 0.1 A.
+```
+pid 0 output_min 0.1
 ```
 
 ## LED indicators
@@ -260,7 +275,7 @@ with the following keys.
 | `interval`     | Seconds         | Time elapsed since last report update on channel     |
 | `adc`          | Volts           | AD7172 input                                         |
 | `sens`         | Ohms            | Thermistor resistance derived from `adc`             |
-| `temperature`  | Degrees Celsius | Steinhart-Hart conversion result derived from `sens` |
+| `temperature`  | Degrees Celsius | B-Parameter conversion result derived from `sens`    |
 | `pid_engaged`  | Boolean         | `true` if in closed-loop mode                        |
 | `i_set`        | Amperes         | TEC output current                                   |
 | `dac_value`    | Volts           | AD5680 output derived from `i_set`                   |

doc/PID tuning.md

@@ -13,7 +13,7 @@ When tuning Thermostat PID parameters, it is helpful to view the temperature, PI
 To use the Python real-time plotting utility, run
 
 ```shell
-python pytec/plot.py
+python pythermostat/pythermostat/plot.py
 ```
 
 ![default view](./assets/default%20view.png)
@@ -44,12 +44,12 @@ Below are some general guidelines for manually tuning PID loops. Note that every
 
 ## Auto Tuning
 
-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.
+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.
 
 To run the auto tuning utility, run
 
 ```shell
-python pytec/autotune.py
+python pythermostat/pythermostat/autotune.py
 ```
 
 After some time, the auto tuning utility will output the auto tuning results, below is a sample output

flake.nix

@@ -7,9 +7,17 @@
     inputs.nixpkgs.follows = "nixpkgs";
   };
 
-  outputs = { self, nixpkgs, rust-overlay }:
+  outputs =
+    {
+      self,
+      nixpkgs,
+      rust-overlay,
+    }:
     let
-      pkgs = import nixpkgs { system = "x86_64-linux"; overlays = [ (import rust-overlay) ]; };
+      pkgs = import nixpkgs {
+        system = "x86_64-linux";
+        overlays = [ (import rust-overlay) ];
+      };
 
       rust = pkgs.rust-bin.stable."1.66.0".default.override {
         extensions = [ "rust-src" ];
@@ -49,9 +57,23 @@
         dontFixup = true;
         auditable = false;
       };
-    in {
+
+      pythermostat = pkgs.python3Packages.buildPythonPackage {
+        pname = "pythermostat";
+        version = "0.0.0";
+        format = "pyproject";
+        src = "${self}/pythermostat";
+
+        propagatedBuildInputs =
+          with pkgs.python3Packages; [
+            numpy
+            matplotlib
+          ];
+      };
+    in
+    {
       packages.x86_64-linux = {
-        inherit thermostat;
+        inherit thermostat pythermostat;
         default = thermostat;
       };
 
@@ -61,12 +83,21 @@
 
       devShells.x86_64-linux.default = pkgs.mkShellNoCC {
         name = "thermostat-dev-shell";
-        packages = with pkgs; [
+        packages =
-          rust llvm
+          with pkgs;
-          openocd dfu-util rlwrap
+          [
-          ] ++ (with python3Packages; [
+            rust
-            numpy matplotlib
+            llvm
+            openocd
+            dfu-util
+            rlwrap
+          ]
+          ++ (with python3Packages; [
+            numpy
+            matplotlib
           ]);
       };
+
+      formatter.x86_64-linux = nixpkgs.legacyPackages.x86_64-linux.nixfmt-rfc-style;
     };
 }

pytec/example.py

@@ -1,11 +0,0 @@
-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)

pytec/plot.py

@@ -1,128 +0,0 @@
-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()

pytec/setup.py

@@ -1,12 +0,0 @@
-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(),
-)

pythermostat/example.py

@@ -0,0 +1,13 @@
+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)

pythermostat/pyproject.toml

@@ -0,0 +1,21 @@
+[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 = {}

pythermostat/pythermostat/autotune.py

@@ -1,9 +1,10 @@
 import math
 import logging
+import time
 from collections import deque, namedtuple
 from enum import Enum
 
-from pytec.client import Client
+from pythermostat.client import Client
 
 # Based on hirshmann pid-autotune libiary
 # See https://github.com/hirschmann/pid-autotune
@@ -236,13 +237,14 @@ def main():
 
     tec = Client()
 
-    data = next(tec.report_mode())
+    data = tec.get_report()
     ch = data[channel]
 
     tuner = PIDAutotune(target_temperature, output_step,
                         lookback, noiseband, ch['interval'])
 
-    for data in tec.report_mode():
+    while True:
+        data = tec.get_report()
 
         ch = data[channel]
 
@@ -253,9 +255,11 @@ def main():
 
         tuner_out = tuner.output()
 
-        tec.set_param("pwm", channel, "i_set", tuner_out)
+        tec.set_param("output", channel, "i_set", tuner_out)
 
-    tec.set_param("pwm", channel, "i_set", 0)
+        time.sleep(0.05)
+
+    tec.set_param("output", channel, "i_set", 0)
 
 
 if __name__ == "__main__":

pythermostat/pythermostat/client.py

@@ -1,7 +1,7 @@
 import socket
 import json
 import logging
-import time
+
 
 class CommandError(Exception):
     pass
@@ -12,12 +12,16 @@ class Client:
         self._lines = [""]
         self._check_zero_limits()
 
+    def disconnect(self):
+        self._socket.shutdown(socket.SHUT_RDWR)
+        self._socket.close()
+
     def _check_zero_limits(self):
-        pwm_report = self.get_pwm()
+        output_report = self.get_output()
-        for pwm_channel in pwm_report:
+        for output_channel in output_report:
             for limit in ["max_i_neg", "max_i_pos", "max_v"]:
-                if pwm_channel[limit] == 0.0:
+                if output_channel[limit] == 0.0:
-                    logging.warning("`{}` limit is set to zero on channel {}".format(limit, pwm_channel["channel"]))
+                    logging.warning("`{}` limit is set to zero on channel {}".format(limit, output_channel["channel"]))
 
     def _read_line(self):
         # read more lines
@@ -47,8 +51,8 @@ class Client:
             result[int(item["channel"])] = item
         return result
 
-    def get_pwm(self):
+    def get_output(self):
-        """Retrieve PWM limits for the TEC
+        """Retrieve output limits for the TEC
 
         Example::
             [{'channel': 0,
@@ -67,7 +71,7 @@ class Client:
               'polarity': 'normal',
             ]
         """
-        return self._get_conf("pwm")
+        return self._get_conf("output")
 
     def get_pid(self):
         """Retrieve PID control state
@@ -92,14 +96,14 @@ class Client:
         """
         return self._get_conf("pid")
 
-    def get_steinhart_hart(self):
+    def get_b_parameter(self):
-        """Retrieve Steinhart-Hart parameters for resistance to temperature conversion
+        """Retrieve B-Parameter equation parameters for resistance to temperature conversion
 
         Example::
             [{'params': {'b': 3800.0, 'r0': 10000.0, 't0': 298.15}, 'channel': 0},
              {'params': {'b': 3800.0, 'r0': 10000.0, 't0': 298.15}, 'channel': 1}]
         """
-        return self._get_conf("s-h")
+        return self._get_conf("b-p")
 
     def get_postfilter(self):
         """Retrieve DAC postfilter configuration
@@ -110,18 +114,18 @@ class Client:
         """
         return self._get_conf("postfilter")
 
-    def report_mode(self):
+    def get_report(self):
-        """Start reporting measurement values
+        """Obtain one-time report on measurement values
 
         Example of yielded data::
             {'channel': 0,
              'time': 2302524,
+             'interval': 0.12
              'adc': 0.6199188965423515,
              'sens': 6138.519310282602,
              'temperature': 36.87032392655527,
              'pid_engaged': True,
              'i_set': 2.0635816680889123,
-             'vref': 1.494,
              'dac_value': 2.527790834044456,
              'dac_feedback': 2.523,
              'i_tec': 2.331,
@@ -129,24 +133,27 @@ class Client:
              'tec_u_meas': 2.5340000000000003,
              'pid_output': 2.067581958092247}
         """
-        while True:
+        return self._get_conf("report")
-            self._socket.sendall("report\n".encode('utf-8'))
+
-            line = self._read_line()
+    def get_ipv4(self):
-            if not line:
+        """Get the IPv4 settings of the Thermostat"""
-                break
+        return self._command("ipv4")
-            try:
+
-                yield json.loads(line)
+    def get_fan(self):
-            except json.decoder.JSONDecodeError:
+        """Get Thermostat current fan settings"""
-                pass
+        return self._command("fan")
-            time.sleep(0.05)
+
+    def get_hwrev(self):
+        """Get Thermostat hardware revision"""
+        return self._command("hwrev")
 
     def set_param(self, topic, channel, field="", value=""):
         """Set configuration parameters
 
         Examples::
-            tec.set_param("pwm", 0, "max_v", 2.0)
+            tec.set_param("output", 0, "max_v", 2.0)
             tec.set_param("pid", 1, "output_max", 2.5)
-            tec.set_param("s-h", 0, "t0", 20.0)
+            tec.set_param("b-p", 0, "t0", 20.0)
             tec.set_param("center", 0, "vref")
             tec.set_param("postfilter", 1, 21)
 
@@ -161,12 +168,40 @@ class Client:
     def power_up(self, channel, target):
         """Start closed-loop mode"""
         self.set_param("pid", channel, "target", value=target)
-        self.set_param("pwm", channel, "pid")
+        self.set_param("output", channel, "pid")
 
-    def save_config(self):
+    def save_config(self, channel=""):
         """Save current configuration to EEPROM"""
-        self._command("save")
+        self._command("save", channel)
+        if channel != "":
+            self._read_line()  # read the extra {}
 
-    def load_config(self):
+    def load_config(self, channel=""):
         """Load current configuration from EEPROM"""
-        self._command("load")
+        self._command("load", channel)
+        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)

pythermostat/pythermostat/plot.py

@@ -0,0 +1,137 @@
+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()

pythermostat/pythermostat/test.py

@@ -0,0 +1,81 @@
+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()

src/b_parameter.rs

@@ -2,27 +2,28 @@ use num_traits::float::Float;
 use serde::{Deserialize, Serialize};
 use uom::si::{
     electrical_resistance::ohm,
-    f64::{ElectricalResistance, ThermodynamicTemperature},
+    f64::{ElectricalResistance, TemperatureInterval, ThermodynamicTemperature},
     ratio::ratio,
+    temperature_interval::kelvin as kelvin_interval,
     thermodynamic_temperature::{degree_celsius, kelvin},
 };
 
-/// Steinhart-Hart equation parameters
+/// B-Parameter equation parameters
 #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
 pub struct Parameters {
     /// Base temperature
     pub t0: ThermodynamicTemperature,
-    /// Base resistance
+    /// Thermistor resistance at base temperature
     pub r0: ElectricalResistance,
-    /// Beta
+    /// Beta (average slope of the function ln R vs. 1/T)
-    pub b: f64,
+    pub b: TemperatureInterval,
 }
 
 impl Parameters {
-    /// Perform the voltage to temperature conversion.
+    /// Perform the resistance to temperature conversion.
     pub fn get_temperature(&self, r: ElectricalResistance) -> ThermodynamicTemperature {
-        let inv_temp = 1.0 / self.t0.get::<kelvin>() + (r / self.r0).get::<ratio>().ln() / self.b;
+        let temp = (self.t0.recip() + (r / self.r0).get::<ratio>().ln() / self.b).recip();
-        ThermodynamicTemperature::new::<kelvin>(1.0 / inv_temp)
+        ThermodynamicTemperature::new::<kelvin>(temp.get::<kelvin_interval>())
     }
 }
 
@@ -31,7 +32,7 @@ impl Default for Parameters {
         Parameters {
             t0: ThermodynamicTemperature::new::<degree_celsius>(25.0),
             r0: ElectricalResistance::new::<ohm>(10_000.0),
-            b: 3800.0,
+            b: TemperatureInterval::new::<kelvin_interval>(3800.0),
         }
     }
 }

src/channel_state.rs

@@ -1,9 +1,10 @@
 use crate::{
-    ad7172,
+    ad7172, b_parameter as bp,
     command_parser::{CenterPoint, Polarity},
     config::PwmLimits,
-    pid, steinhart_hart as sh,
+    pid,
 };
+use num_traits::Zero;
 use smoltcp::time::{Duration, Instant};
 use uom::si::{
     electric_current::ampere,
@@ -31,7 +32,7 @@ pub struct ChannelState {
     pub pwm_limits: PwmLimits,
     pub pid_engaged: bool,
     pub pid: pid::Controller,
-    pub sh: sh::Parameters,
+    pub bp: bp::Parameters,
     pub polarity: Polarity,
 }
 
@@ -47,13 +48,13 @@ impl ChannelState {
             dac_value: ElectricPotential::new::<volt>(0.0),
             i_set: ElectricCurrent::new::<ampere>(0.0),
             pwm_limits: PwmLimits {
-                max_v: 0.0,
+                max_v: ElectricPotential::zero(),
-                max_i_pos: 0.0,
+                max_i_pos: ElectricCurrent::zero(),
-                max_i_neg: 0.0,
+                max_i_neg: ElectricCurrent::zero(),
             },
             pid_engaged: false,
             pid: pid::Controller::new(pid::Parameters::default()),
-            sh: sh::Parameters::default(),
+            bp: bp::Parameters::default(),
             polarity: Polarity::Normal,
         }
     }
@@ -99,7 +100,7 @@ impl ChannelState {
 
     pub fn get_temperature(&self) -> Option<ThermodynamicTemperature> {
         let r = self.get_sens()?;
-        let temperature = self.sh.get_temperature(r);
+        let temperature = self.bp.get_temperature(r);
         Some(temperature)
     }
 }

src/channels.rs

@@ -1,12 +1,11 @@
 use crate::timer::sleep;
 use crate::{
-    ad5680, ad7172,
+    ad5680, ad7172, b_parameter,
     channel::{Channel, Channel0, Channel1},
     channel_state::ChannelState,
     command_handler::JsonBuffer,
     command_parser::{CenterPoint, Polarity, PwmPin},
     pins::{self, Channel0VRef, Channel1VRef},
-    steinhart_hart,
 };
 use core::marker::PhantomData;
 use heapless::{consts::U2, Vec};
@@ -144,7 +143,7 @@ impl Channels {
         voltage
     }
 
-    pub fn get_i(&mut self, channel: usize) -> ElectricCurrent {
+    pub fn get_i_set(&mut self, channel: usize) -> ElectricCurrent {
         let i_set = self.channel_state(channel).i_set;
         i_set
     }
@@ -364,15 +363,15 @@ impl Channels {
     }
 
     pub fn get_max_v(&mut self, channel: usize) -> ElectricPotential {
-        ElectricPotential::new::<volt>(self.channel_state(channel).pwm_limits.max_v)
+        self.channel_state(channel).pwm_limits.max_v
     }
 
     pub fn get_max_i_pos(&mut self, channel: usize) -> ElectricCurrent {
-        ElectricCurrent::new::<ampere>(self.channel_state(channel).pwm_limits.max_i_pos)
+        self.channel_state(channel).pwm_limits.max_i_pos
     }
 
     pub fn get_max_i_neg(&mut self, channel: usize) -> ElectricCurrent {
-        ElectricCurrent::new::<ampere>(self.channel_state(channel).pwm_limits.max_i_neg)
+        self.channel_state(channel).pwm_limits.max_i_neg
     }
 
     // Get current passing through TEC
@@ -420,7 +419,7 @@ impl Channels {
         let max_v = max_v.min(MAX_TEC_V).max(ElectricPotential::zero());
         let duty = (max_v / max).get::<ratio>();
         let duty = self.set_pwm(channel, PwmPin::MaxV, duty);
-        self.channel_state(channel).pwm_limits.max_v = max_v.get::<volt>();
+        self.channel_state(channel).pwm_limits.max_v = max_v;
         (duty * max, max)
     }
 
@@ -436,7 +435,7 @@ impl Channels {
             Polarity::Normal => self.set_pwm(channel, PwmPin::MaxIPos, duty),
             Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxINeg, duty),
         };
-        self.channel_state(channel).pwm_limits.max_i_pos = max_i_pos.get::<ampere>();
+        self.channel_state(channel).pwm_limits.max_i_pos = max_i_pos;
         (duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
     }
 
@@ -452,7 +451,7 @@ impl Channels {
             Polarity::Normal => self.set_pwm(channel, PwmPin::MaxINeg, duty),
             Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxIPos, duty),
         };
-        self.channel_state(channel).pwm_limits.max_i_neg = max_i_neg.get::<ampere>();
+        self.channel_state(channel).pwm_limits.max_i_neg = max_i_neg;
         (duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
     }
 
@@ -470,7 +469,7 @@ impl Channels {
     }
 
     fn report(&mut self, channel: usize) -> Report {
-        let i_set = self.get_i(channel);
+        let i_set = self.get_i_set(channel);
         let i_tec = self.adc_read(channel, PinsAdcReadTarget::ITec, 16);
         let tec_i = self.get_tec_i(channel);
         let dac_value = self.get_dac(channel);
@@ -521,11 +520,11 @@ impl Channels {
         false
     }
 
-    fn pwm_summary(&mut self, channel: usize) -> PwmSummary {
+    fn output_summary(&mut self, channel: usize) -> OutputSummary {
-        PwmSummary {
+        OutputSummary {
             channel,
             center: CenterPointJson(self.channel_state(channel).center.clone()),
-            i_set: self.get_i(channel),
+            i_set: self.get_i_set(channel),
             max_v: self.get_max_v(channel),
             max_i_pos: self.get_max_i_pos(channel),
             max_i_neg: self.get_max_i_neg(channel),
@@ -533,10 +532,10 @@ impl Channels {
         }
     }
 
-    pub fn pwm_summaries_json(&mut self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
+    pub fn output_summaries_json(&mut self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
         let mut summaries = Vec::<_, U2>::new();
         for channel in 0..CHANNELS {
-            let _ = summaries.push(self.pwm_summary(channel));
+            let _ = summaries.push(self.output_summary(channel));
         }
         serde_json_core::to_vec(&summaries)
     }
@@ -558,17 +557,17 @@ impl Channels {
         serde_json_core::to_vec(&summaries)
     }
 
-    fn steinhart_hart_summary(&mut self, channel: usize) -> SteinhartHartSummary {
+    fn b_parameter_summary(&mut self, channel: usize) -> BParameterSummary {
-        let params = self.channel_state(channel).sh.clone();
+        let params = self.channel_state(channel).bp.clone();
-        SteinhartHartSummary { channel, params }
+        BParameterSummary { channel, params }
     }
 
-    pub fn steinhart_hart_summaries_json(
+    pub fn b_parameter_summaries_json(
         &mut self,
     ) -> Result<JsonBuffer, serde_json_core::ser::Error> {
         let mut summaries = Vec::<_, U2>::new();
         for channel in 0..CHANNELS {
-            let _ = summaries.push(self.steinhart_hart_summary(channel));
+            let _ = summaries.push(self.b_parameter_summary(channel));
         }
         serde_json_core::to_vec(&summaries)
     }
@@ -630,7 +629,7 @@ impl Serialize for PolarityJson {
 }
 
 #[derive(Serialize)]
-pub struct PwmSummary {
+pub struct OutputSummary {
     channel: usize,
     center: CenterPointJson,
     i_set: ElectricCurrent,
@@ -647,7 +646,7 @@ pub struct PostFilterSummary {
 }
 
 #[derive(Serialize)]
-pub struct SteinhartHartSummary {
+pub struct BParameterSummary {
     channel: usize,
-    params: steinhart_hart::Parameters,
+    params: b_parameter::Parameters,
 }

src/command_handler.rs

@@ -2,7 +2,7 @@ use super::{
     ad7172,
     channels::{Channels, CHANNELS},
     command_parser::{
-        CenterPoint, Command, Ipv4Config, PidParameter, Polarity, PwmPin, ShParameter, ShowCommand,
+        BpParameter, CenterPoint, Command, Ipv4Config, PidParameter, Polarity, PwmPin, ShowCommand,
     },
     config::ChannelConfig,
     dfu,
@@ -19,7 +19,11 @@ use uom::si::{
     electric_current::ampere,
     electric_potential::volt,
     electrical_resistance::ohm,
-    f64::{ElectricCurrent, ElectricPotential, ElectricalResistance, ThermodynamicTemperature},
+    f64::{
+        ElectricCurrent, ElectricPotential, ElectricalResistance, TemperatureInterval,
+        ThermodynamicTemperature,
+    },
+    temperature_interval::kelvin,
     thermodynamic_temperature::degree_celsius,
 };
 
@@ -96,7 +100,7 @@ impl Handler {
     }
 
     fn show_pwm(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
-        match channels.pwm_summaries_json() {
+        match channels.output_summaries_json() {
             Ok(buf) => {
                 send_line(socket, &buf);
             }
@@ -109,16 +113,13 @@ impl Handler {
         Ok(Handler::Handled)
     }
 
-    fn show_steinhart_hart(
+    fn show_b_parameter(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
+        match channels.b_parameter_summaries_json() {
-        channels: &mut Channels,
-    ) -> Result<Handler, Error> {
-        match channels.steinhart_hart_summaries_json() {
             Ok(buf) => {
                 send_line(socket, &buf);
             }
             Err(e) => {
-                error!("unable to serialize steinhart-hart summaries: {:?}", e);
+                error!("unable to serialize b parameter summaries: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
                 return Err(Error::Report);
             }
@@ -206,7 +207,7 @@ impl Handler {
         channel: usize,
         center: CenterPoint,
     ) -> Result<Handler, Error> {
-        let i_set = channels.get_i(channel);
+        let i_set = channels.get_i_set(channel);
         let state = channels.channel_state(channel);
         state.center = center;
         if !state.pid_engaged {
@@ -237,19 +238,19 @@ impl Handler {
         Ok(Handler::Handled)
     }
 
-    fn set_steinhart_hart(
+    fn set_b_parameter(
         socket: &mut TcpSocket,
         channels: &mut Channels,
         channel: usize,
-        parameter: ShParameter,
+        parameter: BpParameter,
         value: f64,
     ) -> Result<Handler, Error> {
-        let sh = &mut channels.channel_state(channel).sh;
+        let bp = &mut channels.channel_state(channel).bp;
-        use super::command_parser::ShParameter::*;
+        use super::command_parser::BpParameter::*;
         match parameter {
-            T0 => sh.t0 = ThermodynamicTemperature::new::<degree_celsius>(value),
+            T0 => bp.t0 = ThermodynamicTemperature::new::<degree_celsius>(value),
-            B => sh.b = value,
+            B => bp.b = TemperatureInterval::new::<kelvin>(value),
-            R0 => sh.r0 = ElectricalResistance::new::<ohm>(value),
+            R0 => bp.r0 = ElectricalResistance::new::<ohm>(value),
         }
         send_line(socket, b"{}");
         Ok(Handler::Handled)
@@ -475,17 +476,15 @@ impl Handler {
             Command::Quit => Ok(Handler::CloseSocket),
             Command::Show(ShowCommand::Input) => Handler::show_report(socket, channels),
             Command::Show(ShowCommand::Pid) => Handler::show_pid(socket, channels),
-            Command::Show(ShowCommand::Pwm) => Handler::show_pwm(socket, channels),
+            Command::Show(ShowCommand::Output) => Handler::show_pwm(socket, channels),
-            Command::Show(ShowCommand::SteinhartHart) => {
+            Command::Show(ShowCommand::BParameter) => Handler::show_b_parameter(socket, channels),
-                Handler::show_steinhart_hart(socket, channels)
-            }
             Command::Show(ShowCommand::PostFilter) => Handler::show_post_filter(socket, channels),
             Command::Show(ShowCommand::Ipv4) => Handler::show_ipv4(socket, ipv4_config),
-            Command::PwmPid { channel } => Handler::engage_pid(socket, channels, channel),
+            Command::OutputPid { channel } => Handler::engage_pid(socket, channels, channel),
-            Command::PwmPolarity { channel, polarity } => {
+            Command::OutputPolarity { channel, polarity } => {
                 Handler::set_polarity(socket, channels, channel, polarity)
             }
-            Command::Pwm {
+            Command::Output {
                 channel,
                 pin,
                 value,
@@ -498,11 +497,11 @@ impl Handler {
                 parameter,
                 value,
             } => Handler::set_pid(socket, channels, channel, parameter, value),
-            Command::SteinhartHart {
+            Command::BParameter {
                 channel,
                 parameter,
                 value,
-            } => Handler::set_steinhart_hart(socket, channels, channel, parameter, value),
+            } => Handler::set_b_parameter(socket, channels, channel, parameter, value),
             Command::PostFilter {
                 channel,
                 rate: None,

src/command_parser.rs

@@ -91,9 +91,9 @@ pub struct Ipv4Config {
 #[derive(Debug, Clone, PartialEq)]
 pub enum ShowCommand {
     Input,
-    Pwm,
+    Output,
     Pid,
-    SteinhartHart,
+    BParameter,
     PostFilter,
     Ipv4,
 }
@@ -108,9 +108,9 @@ pub enum PidParameter {
     OutputMax,
 }
 
-/// Steinhart-Hart equation parameter
+/// B-Parameter equation parameter
 #[derive(Debug, Clone, PartialEq)]
-pub enum ShParameter {
+pub enum BpParameter {
     T0,
     B,
     R0,
@@ -149,16 +149,16 @@ pub enum Command {
     Ipv4(Ipv4Config),
     Show(ShowCommand),
     /// PWM parameter setting
-    Pwm {
+    Output {
         channel: usize,
         pin: PwmPin,
         value: f64,
     },
     /// Enable PID control for `i_set`
-    PwmPid {
+    OutputPid {
         channel: usize,
     },
-    PwmPolarity {
+    OutputPolarity {
         channel: usize,
         polarity: Polarity,
     },
@@ -172,9 +172,9 @@ pub enum Command {
         parameter: PidParameter,
         value: f64,
     },
-    SteinhartHart {
+    BParameter {
         channel: usize,
-        parameter: ShParameter,
+        parameter: BpParameter,
         value: f64,
     },
     PostFilter {
@@ -260,12 +260,12 @@ fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<(PwmPin, f64), Error>> {
     ))(input)
 }
 
-/// `pwm <0-1> pid` - Set PWM to be controlled by PID
+/// `output <0-1> pid` - Set output to be controlled by PID
-fn pwm_pid(input: &[u8]) -> IResult<&[u8], ()> {
+fn output_pid(input: &[u8]) -> IResult<&[u8], ()> {
     value((), tag("pid"))(input)
 }
 
-fn pwm_polarity(input: &[u8]) -> IResult<&[u8], Polarity> {
+fn output_polarity(input: &[u8]) -> IResult<&[u8], Polarity> {
     preceded(
         tag("polarity"),
         preceded(
@@ -278,8 +278,8 @@ fn pwm_polarity(input: &[u8]) -> IResult<&[u8], Polarity> {
     )(input)
 }
 
-fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+fn output(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
-    let (input, _) = tag("pwm")(input)?;
+    let (input, _) = tag("output")(input)?;
     alt((
         |input| {
             let (input, _) = whitespace(input)?;
@@ -287,19 +287,19 @@ fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
             let (input, _) = whitespace(input)?;
             let (input, result) = alt((
                 |input| {
-                    let (input, ()) = pwm_pid(input)?;
+                    let (input, ()) = output_pid(input)?;
-                    Ok((input, Ok(Command::PwmPid { channel })))
+                    Ok((input, Ok(Command::OutputPid { channel })))
                 },
                 |input| {
-                    let (input, polarity) = pwm_polarity(input)?;
+                    let (input, polarity) = output_polarity(input)?;
-                    Ok((input, Ok(Command::PwmPolarity { channel, polarity })))
+                    Ok((input, Ok(Command::OutputPolarity { channel, polarity })))
                 },
                 |input| {
                     let (input, config) = pwm_setup(input)?;
                     match config {
                         Ok((pin, value)) => Ok((
                             input,
-                            Ok(Command::Pwm {
+                            Ok(Command::Output {
                                 channel,
                                 pin,
                                 value,
@@ -312,7 +312,7 @@ fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
             end(input)?;
             Ok((input, result))
         },
-        value(Ok(Command::Show(ShowCommand::Pwm)), end),
+        value(Ok(Command::Show(ShowCommand::Output)), end),
     ))(input)
 }
 
@@ -366,18 +366,18 @@ fn pid(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     ))(input)
 }
 
-/// `s-h <0-1> <parameter> <value>`
+/// `b-p <0-1> <parameter> <value>`
-fn steinhart_hart_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+fn b_parameter_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     let (input, channel) = channel(input)?;
     let (input, _) = whitespace(input)?;
     let (input, parameter) = alt((
-        value(ShParameter::T0, tag("t0")),
+        value(BpParameter::T0, tag("t0")),
-        value(ShParameter::B, tag("b")),
+        value(BpParameter::B, tag("b")),
-        value(ShParameter::R0, tag("r0")),
+        value(BpParameter::R0, tag("r0")),
     ))(input)?;
     let (input, _) = whitespace(input)?;
     let (input, value) = float(input)?;
-    let result = value.map(|value| Command::SteinhartHart {
+    let result = value.map(|value| Command::BParameter {
         channel,
         parameter,
         value,
@@ -385,12 +385,12 @@ fn steinhart_hart_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Erro
     Ok((input, result))
 }
 
-/// `s-h` | `s-h <steinhart_hart_parameter>`
+/// `b-p` | `b-p <b_parameter_parameter>`
-fn steinhart_hart(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+fn b_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
-    let (input, _) = tag("s-h")(input)?;
+    let (input, _) = tag("b-p")(input)?;
     alt((
-        preceded(whitespace, steinhart_hart_parameter),
+        preceded(whitespace, b_parameter_parameter),
-        value(Ok(Command::Show(ShowCommand::SteinhartHart)), end),
+        value(Ok(Command::Show(ShowCommand::BParameter)), end),
     ))(input)
 }
 
@@ -569,10 +569,10 @@ fn command(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
         value(Ok(Command::Reset), tag("reset")),
         ipv4,
         map(report, Ok),
-        pwm,
+        output,
         center_point,
         pid,
-        steinhart_hart,
+        b_parameter,
         postfilter,
         value(Ok(Command::Dfu), tag("dfu")),
         fan,
@@ -664,11 +664,11 @@ mod test {
     }
 
     #[test]
-    fn parse_pwm_i_set() {
+    fn parse_output_i_set() {
-        let command = Command::parse(b"pwm 1 i_set 16383");
+        let command = Command::parse(b"output 1 i_set 16383");
         assert_eq!(
             command,
-            Ok(Command::Pwm {
+            Ok(Command::Output {
                 channel: 1,
                 pin: PwmPin::ISet,
                 value: 16383.0,
@@ -677,11 +677,11 @@ mod test {
     }
 
     #[test]
-    fn parse_pwm_polarity() {
+    fn parse_output_polarity() {
-        let command = Command::parse(b"pwm 0 polarity reversed");
+        let command = Command::parse(b"output 0 polarity reversed");
         assert_eq!(
             command,
-            Ok(Command::PwmPolarity {
+            Ok(Command::OutputPolarity {
                 channel: 0,
                 polarity: Polarity::Reversed,
             })
@@ -689,17 +689,17 @@ mod test {
     }
 
     #[test]
-    fn parse_pwm_pid() {
+    fn parse_output_pid() {
-        let command = Command::parse(b"pwm 0 pid");
+        let command = Command::parse(b"output 0 pid");
-        assert_eq!(command, Ok(Command::PwmPid { channel: 0 }));
+        assert_eq!(command, Ok(Command::OutputPid { channel: 0 }));
     }
 
     #[test]
-    fn parse_pwm_max_i_pos() {
+    fn parse_output_max_i_pos() {
-        let command = Command::parse(b"pwm 0 max_i_pos 7");
+        let command = Command::parse(b"output 0 max_i_pos 7");
         assert_eq!(
             command,
-            Ok(Command::Pwm {
+            Ok(Command::Output {
                 channel: 0,
                 pin: PwmPin::MaxIPos,
                 value: 7.0,
@@ -708,11 +708,11 @@ mod test {
     }
 
     #[test]
-    fn parse_pwm_max_i_neg() {
+    fn parse_output_max_i_neg() {
-        let command = Command::parse(b"pwm 0 max_i_neg 128");
+        let command = Command::parse(b"output 0 max_i_neg 128");
         assert_eq!(
             command,
-            Ok(Command::Pwm {
+            Ok(Command::Output {
                 channel: 0,
                 pin: PwmPin::MaxINeg,
                 value: 128.0,
@@ -721,11 +721,11 @@ mod test {
     }
 
     #[test]
-    fn parse_pwm_max_v() {
+    fn parse_output_max_v() {
-        let command = Command::parse(b"pwm 0 max_v 32768");
+        let command = Command::parse(b"output 0 max_v 32768");
         assert_eq!(
             command,
-            Ok(Command::Pwm {
+            Ok(Command::Output {
                 channel: 0,
                 pin: PwmPin::MaxV,
                 value: 32768.0,
@@ -753,19 +753,19 @@ mod test {
     }
 
     #[test]
-    fn parse_steinhart_hart() {
+    fn parse_b_parameter() {
-        let command = Command::parse(b"s-h");
+        let command = Command::parse(b"b-p");
-        assert_eq!(command, Ok(Command::Show(ShowCommand::SteinhartHart)));
+        assert_eq!(command, Ok(Command::Show(ShowCommand::BParameter)));
     }
 
     #[test]
-    fn parse_steinhart_hart_set() {
+    fn parse_b_parameter_set() {
-        let command = Command::parse(b"s-h 1 t0 23.05");
+        let command = Command::parse(b"b-p 1 t0 23.05");
         assert_eq!(
             command,
-            Ok(Command::SteinhartHart {
+            Ok(Command::BParameter {
                 channel: 1,
-                parameter: ShParameter::T0,
+                parameter: BpParameter::T0,
                 value: 23.05,
             })
         );

src/config.rs

@@ -1,16 +1,13 @@
 use crate::{
     ad7172::PostFilter,
+    b_parameter,
     channels::Channels,
     command_parser::{CenterPoint, Polarity},
-    pid, steinhart_hart,
+    pid,
 };
 use num_traits::Zero;
 use serde::{Deserialize, Serialize};
-use uom::si::{
+use uom::si::f64::{ElectricCurrent, ElectricPotential};
-    electric_current::ampere,
-    electric_potential::volt,
-    f64::{ElectricCurrent, ElectricPotential},
-};
 
 #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
 pub struct ChannelConfig {
@@ -20,7 +17,7 @@ pub struct ChannelConfig {
     pid_engaged: bool,
     i_set: ElectricCurrent,
     polarity: Polarity,
-    sh: steinhart_hart::Parameters,
+    bp: b_parameter::Parameters,
     pwm: PwmLimits,
     /// uses variant `PostFilter::Invalid` instead of `None` to save space
     adc_postfilter: PostFilter,
@@ -49,7 +46,7 @@ impl ChannelConfig {
             pid_engaged: state.pid_engaged,
             i_set,
             polarity: state.polarity.clone(),
-            sh: state.sh.clone(),
+            bp: state.bp.clone(),
             pwm,
             adc_postfilter,
         }
@@ -61,7 +58,7 @@ impl ChannelConfig {
         state.pid.parameters = self.pid.clone();
         state.pid.target = self.pid_target.into();
         state.pid_engaged = self.pid_engaged;
-        state.sh = self.sh.clone();
+        state.bp = self.bp.clone();
 
         self.pwm.apply(channels, channel);
 
@@ -77,9 +74,9 @@ impl ChannelConfig {
 
 #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
 pub struct PwmLimits {
-    pub max_v: f64,
+    pub max_v: ElectricPotential,
-    pub max_i_pos: f64,
+    pub max_i_pos: ElectricCurrent,
-    pub max_i_neg: f64,
+    pub max_i_neg: ElectricCurrent,
 }
 
 impl PwmLimits {
@@ -88,15 +85,15 @@ impl PwmLimits {
         let max_i_pos = channels.get_max_i_pos(channel);
         let max_i_neg = channels.get_max_i_neg(channel);
         PwmLimits {
-            max_v: max_v.get::<volt>(),
+            max_v,
-            max_i_pos: max_i_pos.get::<ampere>(),
+            max_i_pos,
-            max_i_neg: max_i_neg.get::<ampere>(),
+            max_i_neg,
         }
     }
 
     pub fn apply(&self, channels: &mut Channels, channel: usize) {
-        channels.set_max_v(channel, ElectricPotential::new::<volt>(self.max_v));
+        channels.set_max_v(channel, self.max_v);
-        channels.set_max_i_pos(channel, ElectricCurrent::new::<ampere>(self.max_i_pos));
+        channels.set_max_i_pos(channel, self.max_i_pos);
-        channels.set_max_i_neg(channel, ElectricCurrent::new::<ampere>(self.max_i_neg));
+        channels.set_max_i_neg(channel, self.max_i_neg);
     }
 }

src/main.rs

@@ -35,9 +35,9 @@ mod session;
 use session::{Session, SessionInput};
 mod command_parser;
 use command_parser::Ipv4Config;
+mod b_parameter;
 mod channels;
 mod pid;
-mod steinhart_hart;
 mod timer;
 use channels::{Channels, CHANNELS};
 mod channel;