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control i_set dac in volts

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This commit is contained in:
Astro 2020-05-17 01:23:35 +02:00
parent 38a220ce4e
commit ba860e52ac
8 changed files with 47 additions and 49 deletions
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6
src/ad5680.rs
View File

@ -6,6 +6,7 @@ use stm32f4xx_hal::{
time::MegaHertz,
spi,
};
use crate::units::Volts;
/// SPI Mode 1
pub const SPI_MODE: spi::Mode = spi::Mode {
@ -44,8 +45,9 @@ impl<SPI: Transfer<u8>, S: OutputPin> Dac<SPI, S> {
Ok(())
}
/// value: `0..0x20_000`
pub fn set(&mut self, value: u32) -> Result<(), SPI::Error> {
pub fn set(&mut self, voltage: Volts) -> Result<(), SPI::Error> {
let value = ((voltage.0 * (MAX_VALUE as f64) / 5.0) as u32)
.min(MAX_VALUE);
let buf = [
(value >> 14) as u8,
(value >> 6) as u8,

11
src/channel.rs
View File

@ -1,6 +1,9 @@
use crate::pins::{ChannelPins, ChannelPinSet};
use crate::channel_state::ChannelState;
use crate::ad5680;
use crate::{
ad5680,
channel_state::ChannelState,
pins::{ChannelPins, ChannelPinSet},
units::Volts,
};
/// Marker type for the first channel
pub struct Channel0;
@ -25,7 +28,7 @@ impl<C: ChannelPins> Channel<C> {
pub fn new(pins: ChannelPinSet<C>) -> Self {
let state = ChannelState::default();
let mut dac = ad5680::Dac::new(pins.dac_spi, pins.dac_sync);
let _ = dac.set(0);
let _ = dac.set(Volts(0.0));
Channel {
state,

16
src/channel_state.rs
View File

@ -1,11 +1,16 @@
use smoltcp::time::Instant;
use crate::{ad5680, ad7172, pid, steinhart_hart as sh};
use crate::{
ad7172,
pid,
steinhart_hart as sh,
units::Volts,
};
pub struct ChannelState {
pub adc_data: Option<u32>,
pub adc_time: Instant,
pub dac_value: u32,
pub dac_value: Volts,
pub pid_engaged: bool,
pub pid: pid::Controller,
pub sh: sh::Parameters,
@ -16,7 +21,7 @@ impl Default for ChannelState {
ChannelState {
adc_data: None,
adc_time: Instant::from_secs(0),
dac_value: 0,
dac_value: Volts(0.0),
pid_engaged: false,
pid: pid::Controller::new(pid::Parameters::default()),
sh: sh::Parameters::default(),
@ -26,14 +31,13 @@ impl Default for ChannelState {
impl ChannelState {
/// Update PID state on ADC input, calculate new DAC output
pub fn update_pid(&mut self, now: Instant, adc_data: u32) -> u32 {
pub fn update_pid(&mut self, now: Instant, adc_data: u32) -> f64 {
self.adc_data = Some(adc_data);
self.adc_time = now;
// Update PID controller
let input = (adc_data as f64) / (ad7172::MAX_VALUE as f64);
let temperature = self.sh.get_temperature(input);
let output = self.pid.update(temperature);
(output * (ad5680::MAX_VALUE as f64)) as u32
self.pid.update(temperature)
}
}

12
src/channels.rs
View File

@ -59,7 +59,7 @@ impl Channels {
};
if let Some(dac_value) = dac_value {
// Forward PID output to i_set DAC
self.set_dac(channel.into(), dac_value);
self.set_dac(channel.into(), Volts(dac_value));
}
channel
@ -67,16 +67,16 @@ impl Channels {
}
/// i_set DAC
pub fn set_dac(&mut self, channel: usize, duty: u32) {
pub fn set_dac(&mut self, channel: usize, voltage: Volts) {
match channel {
0 => {
self.channel0.dac.set(duty).unwrap();
self.channel0.state.dac_value = duty;
self.channel0.dac.set(voltage).unwrap();
self.channel0.state.dac_value = voltage;
self.channel0.shdn.set_high().unwrap();
}
1 => {
self.channel1.dac.set(duty).unwrap();
self.channel1.state.dac_value = duty;
self.channel1.dac.set(voltage).unwrap();
self.channel1.state.dac_value = voltage;
self.channel1.shdn.set_high().unwrap();
}
_ => unreachable!(),

14
src/command_parser.rs
View File

@ -142,7 +142,7 @@ pub enum Command {
Pwm {
channel: usize,
pin: PwmPin,
duty: u32,
duty: f64,
},
/// Enable PID control for `i_set`
PwmPid {
@ -239,9 +239,9 @@ fn report(input: &[u8]) -> IResult<&[u8], Command> {
)(input)
}
fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<(PwmPin, u32), Error>> {
fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<(PwmPin, f64), Error>> {
let result_with_pin = |pin: PwmPin|
move |result: Result<u32, Error>|
move |result: Result<f64, Error>|
result.map(|duty| (pin, duty));
alt((
@ -250,7 +250,7 @@ fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<(PwmPin, u32), Error>> {
tag("max_i_pos"),
preceded(
whitespace,
unsigned
float
)
),
result_with_pin(PwmPin::MaxIPos)
@ -260,7 +260,7 @@ fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<(PwmPin, u32), Error>> {
tag("max_i_neg"),
preceded(
whitespace,
unsigned
float
)
),
result_with_pin(PwmPin::MaxINeg)
@ -270,12 +270,12 @@ fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<(PwmPin, u32), Error>> {
tag("max_v"),
preceded(
whitespace,
unsigned
float
)
),
result_with_pin(PwmPin::MaxV)
),
map(unsigned, result_with_pin(PwmPin::ISet)
map(float, result_with_pin(PwmPin::ISet)
))
)(input)
}

29
src/main.rs
View File

@ -43,7 +43,7 @@ mod command_parser;
use command_parser::{Command, ShowCommand, PwmPin};
mod timer;
mod units;
use units::{Amps, Ohms};
use units::{Amps, Ohms, Volts};
mod pid;
mod steinhart_hart;
mod channels;
@ -144,7 +144,7 @@ fn main() -> ! {
for channel in 0..CHANNELS {
if let Some(adc_data) = channels.channel_state(channel).adc_data {
let dac_loopback = channels.read_dac_loopback(channel);
let dac_i = dac_loopback.clone() / Ohms(5.0);
let dac_i = dac_loopback / Ohms(5.0);
let itec = channels.read_itec(channel);
let tec_i = Amps((itec.0 - 1.5) / 8.0);
@ -194,7 +194,7 @@ fn main() -> ! {
channel,
if state.pid_engaged { "engaged" } else { "disengaged" }
);
let _ = writeln!(socket, "- i_set={}/{}", state.dac_value, ad5680::MAX_VALUE);
let _ = writeln!(socket, "- i_set={}", state.dac_value);
fn show_pwm_channel<S, P>(mut socket: S, name: &str, pin: &P)
where
S: core::fmt::Write,
@ -258,21 +258,16 @@ fn main() -> ! {
let _ = writeln!(socket, "channel {}: PID enabled to control PWM", channel
);
}
Command::Pwm { channel, pin: PwmPin::ISet, duty } if duty <= ad5680::MAX_VALUE => {
Command::Pwm { channel, pin: PwmPin::ISet, duty } => {
channels.channel_state(channel).pid_engaged = false;
channels.set_dac(channel, duty);
let voltage = Volts(duty);
channels.set_dac(channel, voltage);
let _ = writeln!(
socket, "channel {}: PWM duty cycle manually set to {}/{}",
channel, duty, ad5680::MAX_VALUE
socket, "channel {}: PWM duty cycle manually set to {}",
channel, voltage
);
}
Command::Pwm { pin: PwmPin::ISet, duty, .. } if duty > ad5680::MAX_VALUE => {
let _ = writeln!(
socket, "error: PWM duty range must not exceed {}",
ad5680::MAX_VALUE
);
}
Command::Pwm { channel, pin, duty } if duty <= 0xFFFF => {
Command::Pwm { channel, pin, duty } => {
let duty = duty as u16;
fn set_pwm_channel<P: hal::PwmPin<Duty=u16>>(pin: &mut P, duty: u16) -> u16 {
@ -303,9 +298,6 @@ fn main() -> ! {
channel, pin.name(), duty, max
);
}
Command::Pwm { duty, .. } if duty > 0xFFFF => {
let _ = writeln!(socket, "error: PWM duty range must fit 16 bits");
}
Command::Pid { channel, parameter, value } => {
let pid = &mut channels.channel_state(channel).pid;
use command_parser::PidParameter::*;
@ -357,9 +349,6 @@ fn main() -> ! {
}
}
}
cmd => {
let _ = writeln!(socket, "Not yet implemented: {:?}", cmd);
}
}
Ok(SessionOutput::Error(e)) => {
let _ = writeln!(socket, "Command error: {:?}", e);

2
src/pid.rs
View File

@ -16,7 +16,7 @@ impl Default for Parameters {
ki: 0.05,
kd: 0.45,
output_min: 0.0,
output_max: 1.0,
output_max: 5.0,
integral_min: 0.0,
integral_max: 1.0,
}

6
src/units.rs
View File

@ -3,7 +3,7 @@ use core::{
ops::Div,
};
#[derive(Debug, Clone, PartialEq, PartialOrd)]
#[derive(Debug, Clone, Copy, PartialEq, PartialOrd)]
pub struct Volts(pub f64);
impl fmt::Display for Volts {
@ -19,7 +19,7 @@ impl Div<Ohms> for Volts {
}
}
#[derive(Debug, Clone, PartialEq, PartialOrd)]
#[derive(Debug, Clone, Copy, PartialEq, PartialOrd)]
pub struct Amps(pub f64);
impl fmt::Display for Amps {
@ -27,7 +27,7 @@ impl fmt::Display for Amps {
write!(f, "{:.3}A", self.0)
}
}
#[derive(Debug, Clone, PartialEq, PartialOrd)]
#[derive(Debug, Clone, Copy, PartialEq, PartialOrd)]
pub struct Ohms(pub f64);
impl fmt::Display for Ohms {