From b9d05ff2742186cf3f8c600767c44e56608a18a1 Mon Sep 17 00:00:00 2001
From: Astro <astro@spaceboyz.net>
Date: Wed, 13 May 2020 21:02:26 +0200
Subject: [PATCH] channels: add set_dac()

---
 src/channels.rs | 30 ++++++++++++++++++------------
 src/main.rs     | 14 +-------------
 2 files changed, 19 insertions(+), 25 deletions(-)

diff --git a/src/channels.rs b/src/channels.rs
index ff4d0db..0483463 100644
--- a/src/channels.rs
+++ b/src/channels.rs
@@ -58,24 +58,30 @@ impl Channels {
             };
             if let Some(dac_value) = dac_value {
                 // Forward PID output to i_set DAC
-                match channel {
-                    0 => {
-                        self.channel0.dac.set(dac_value).unwrap();
-                        self.channel0.shdn.set_high().unwrap();
-                    }
-                    1 => {
-                        self.channel1.dac.set(dac_value).unwrap();
-                        self.channel1.shdn.set_high().unwrap();
-                    }
-                    _ =>
-                        unreachable!(),
-                }
+                self.set_dac(channel.into(), dac_value);
             }
 
             channel
         })
     }
 
+    /// i_set DAC
+    pub fn set_dac(&mut self, channel: usize, duty: u32) {
+        match channel {
+            0 => {
+                self.channel0.dac.set(duty).unwrap();
+                self.channel0.state.dac_value = duty;
+                self.channel0.shdn.set_high().unwrap();
+            }
+            1 => {
+                self.channel1.dac.set(duty).unwrap();
+                self.channel1.state.dac_value = duty;
+                self.channel1.shdn.set_high().unwrap();
+            }
+            _ => unreachable!(),
+        }
+    }
+
     pub fn read_ref_adc(&mut self, channel: usize) -> u16 {
         match channel {
             0 => self.channel0.ref_adc.convert(
diff --git a/src/main.rs b/src/main.rs
index d0b3ad4..06a377c 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -16,7 +16,6 @@ use cortex_m_rt::entry;
 use stm32f4xx_hal::{
     hal::{
         self,
-        digital::v2::OutputPin,
         watchdog::{WatchdogEnable, Watchdog},
     },
     rcc::RccExt,
@@ -253,18 +252,7 @@ fn main() -> ! {
                                 }
                                 Command::Pwm { channel, pin: PwmPin::ISet, duty } if duty <= ad5680::MAX_VALUE => {
                                     channels.channel_state(channel).pid_engaged = false;
-                                    match channel {
-                                        0 => {
-                                            channels.channel0.dac.set(duty).unwrap();
-                                            channels.channel0.shdn.set_high().unwrap();
-                                        }
-                                        1 => {
-                                            channels.channel1.dac.set(duty).unwrap();
-                                            channels.channel1.shdn.set_high().unwrap();
-                                        }
-                                        _ => unreachable!(),
-                                    }
-                                    channels.channel_state(channel).dac_value = duty;
+                                    channels.set_dac(channel, duty);
                                     let _ = writeln!(
                                         socket, "channel {}: PWM duty cycle manually set to {}/{}",
                                         channel, duty, ad5680::MAX_VALUE