config: save postfilter setting

This commit is contained in:
Astro 2020-09-26 01:40:01 +02:00
parent 97a09e422b
commit aea306cf17
2 changed files with 20 additions and 1 deletions

View File

@ -1,5 +1,6 @@
use core::fmt;
use num_traits::float::Float;
use serde::{Serialize, Deserialize};
use stm32f4xx_hal::{
time::MegaHertz,
spi,
@ -144,7 +145,7 @@ impl fmt::Display for RefSource {
}
}
#[derive(Clone, Copy)]
#[derive(Clone, Copy, Debug, PartialEq, Serialize, Deserialize)]
#[repr(u8)]
pub enum PostFilter {
/// 27 SPS, 47 dB rejection, 36.7 ms settling

View File

@ -9,6 +9,7 @@ use uom::si::{
thermodynamic_temperature::degree_celsius,
};
use crate::{
ad7172::PostFilter,
channels::{CHANNELS, Channels},
command_parser::CenterPoint,
EEPROM_SIZE, EEPROM_PAGE_SIZE,
@ -94,11 +95,18 @@ pub struct ChannelConfig {
pid_target: f32,
sh: SteinhartHartConfig,
pwm: PwmLimits,
/// uses variant `PostFilter::Invalid` instead of `None` to save space
adc_postfilter: PostFilter,
}
impl ChannelConfig {
pub fn new(channels: &mut Channels, channel: usize) -> Self {
let pwm = PwmLimits::new(channels, channel);
let adc_postfilter = channels.adc.get_postfilter(channel as u8)
.unwrap()
.unwrap_or(PostFilter::Invalid);
let state = channels.channel_state(channel);
ChannelConfig {
center: state.center.clone(),
@ -106,6 +114,7 @@ impl ChannelConfig {
pid_target: state.pid.target as f32,
sh: (&state.sh).into(),
pwm,
adc_postfilter,
}
}
@ -115,7 +124,14 @@ impl ChannelConfig {
state.pid.parameters = self.pid.clone();
state.pid.target = self.pid_target.into();
state.sh = (&self.sh).into();
self.pwm.apply(channels, channel);
let adc_postfilter = match self.adc_postfilter {
PostFilter::Invalid => None,
adc_postfilter => Some(adc_postfilter),
};
let _ = channels.adc.set_postfilter(channel as u8, adc_postfilter);
}
}
@ -188,6 +204,7 @@ mod test {
max_i_pos: 2.1,
max_i_neg: 2.25,
},
adc_postfilter: PostFilter::F21SPS,
};
let config = Config {
channels: [
@ -213,6 +230,7 @@ mod test {
max_i_pos: 2.1,
max_i_neg: 2.25,
},
adc_postfilter: PostFilter::F21SPS,
};
let config = Config {
channels: [