use serde::{Serialize, Deserialize}; use postcard::{from_bytes, to_slice}; use uom::si::{ electric_potential::volt, electric_current::ampere, }; use crate::{ channels::{CHANNELS, Channels}, command_parser::CenterPoint, pid, steinhart_hart, }; /// Just for encoding/decoding, actual state resides in ChannelState #[derive(Serialize, Deserialize)] pub struct Config { channels: [ChannelConfig; CHANNELS], } impl Config { pub fn new(channels: &mut Channels) -> Self { Config { channels: [ ChannelConfig::new(channels, 0), ChannelConfig::new(channels, 1), ], } } pub fn encode<'a>(&self, buffer: &'a mut [u8]) -> Result<&'a mut [u8], postcard::Error> { to_slice(self, buffer) } pub fn decode(buffer: &[u8]) -> Result { from_bytes(buffer) } } #[derive(Clone, Serialize, Deserialize)] pub struct ChannelConfig { center: CenterPoint, pid: pid::Parameters, pid_target: f32, sh: steinhart_hart::Parameters, pwm: PwmLimits, } impl ChannelConfig { pub fn new(channels: &mut Channels, channel: usize) -> Self { let pwm = PwmLimits::new(channels, channel); let state = channels.channel_state(channel); ChannelConfig { center: state.center.clone(), pid: state.pid.parameters.clone(), pid_target: state.pid.target as f32, sh: state.sh.clone(), pwm, } } } #[derive(Clone, Serialize, Deserialize)] struct PwmLimits { max_v: f32, max_i_pos: f32, max_i_neg: f32, } impl PwmLimits { pub fn new(channels: &mut Channels, channel: usize) -> Self { let (max_v, _) = channels.get_max_v(channel); let (max_i_pos, _) = channels.get_max_i_pos(channel); let (max_i_neg, _) = channels.get_max_i_neg(channel); PwmLimits { max_v: max_v.get::() as f32, max_i_pos: max_i_pos.get::() as f32, max_i_neg: max_i_neg.get::() as f32, } } } #[cfg(test)] mod test { use super::*; #[test] fn test_fit_eeprom() { let channel_config = ChannelConfig { center: CenterPoint::Override(1.5), pid: pid::Parameters::default(), pid_target: 93.7, sh: steinhart_hart::Parameters::default(), pwm: PwmLimits { max_v: 1.65, max_i_pos: 2.1, max_i_neg: 2.25, }, }; let config = Config { channels: [ channel_config.clone(), channel_config.clone(), ], }; const EEPROM_SIZE: usize = 0x80; let mut buffer = [0; EEPROM_SIZE]; let buffer = config.encode(&mut buffer).unwrap(); assert!(buffer.len() <= EEPROM_SIZE); } }