forked from M-Labs/kirdy
ld: Use Timer IRQ to ramp up/down output current
- Fixes possible watchdog timeout - Improves ethernet response time & thermostat Pid update interval consistency
This commit is contained in:
parent
8139ebdc1b
commit
88cca12a60
@ -8,6 +8,7 @@ use crate::net::net::ServerHandle;
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use stm32_eth;
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use stm32_eth;
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use fugit::ExtU32;
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use fugit::ExtU32;
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use log::{info, debug};
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use log::{info, debug};
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use stm32f4xx_hal::timer::TimerExt;
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use stm32f4xx_hal::{
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use stm32f4xx_hal::{
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pac::{CorePeripherals, Peripherals},
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pac::{CorePeripherals, Peripherals},
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rcc::RccExt,
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rcc::RccExt,
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@ -71,7 +72,7 @@ pub fn bootup(
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debug!("Setting up Laser Driver");
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debug!("Setting up Laser Driver");
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let current_source = LdCtrl::new(current_source_phy);
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let current_source = LdCtrl::new(current_source_phy);
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let mut laser = LdDrive::new(current_source, perif.ADC2, pd_mon_phy);
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let mut laser = LdDrive::new(current_source, perif.ADC2, perif.TIM2.counter(&clocks), pd_mon_phy);
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laser.setup();
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laser.setup();
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laser.ld_open();
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laser.ld_open();
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laser.set_ld_drive_current_limit(ElectricCurrent::new::<ampere>(0.2));
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laser.set_ld_drive_current_limit(ElectricCurrent::new::<ampere>(0.2));
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@ -1,9 +1,11 @@
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use miniconf::Tree;
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use miniconf::Tree;
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use stm32f4xx_hal::pac::ADC2;
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use stm32f4xx_hal::timer::CounterUs;
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use stm32f4xx_hal::pac::{ADC2, TIM2};
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use uom::si::electric_current::ampere;
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use uom::si::electric_current::ampere;
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use crate::laser_diode::ld_ctrl::{LdCtrl, Impedance};
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use crate::laser_diode::ld_ctrl::{LdCtrl, Impedance};
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use crate::laser_diode::ld_pwr_exc_protector::{LdPwrExcProtector, self};
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use crate::laser_diode::ld_pwr_exc_protector::{LdPwrExcProtector, self};
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use crate::laser_diode::pd_responsitivity;
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use crate::laser_diode::pd_responsitivity;
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use crate::laser_diode::ld_current_out_ctrl_timer::LdCurrentOutCtrlTimer;
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use core::marker::PhantomData;
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use core::marker::PhantomData;
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use crate::device::sys_timer::sleep;
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use crate::device::sys_timer::sleep;
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use serde::{Deserialize, Serialize};
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use serde::{Deserialize, Serialize};
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@ -12,9 +14,7 @@ use uom::si::{
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electric_current::milliampere,
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electric_current::milliampere,
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f64::{ElectricPotential, ElectricCurrent, Power},
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f64::{ElectricPotential, ElectricCurrent, Power},
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};
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};
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use num_traits::Float;
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use uom::{si::{ISQ, SI, Quantity}, typenum::*};
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use uom::{si::{ISQ, SI, Quantity, ratio::ratio}, typenum::*};
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// Volt / Ampere
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// Volt / Ampere
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pub type TransimpedanceUnit = Quantity<ISQ<P2, P1, N3, N2, Z0, Z0, Z0>, SI<f64>, f64>;
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pub type TransimpedanceUnit = Quantity<ISQ<P2, P1, N3, N2, Z0, Z0, Z0>, SI<f64>, f64>;
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@ -40,14 +40,6 @@ impl Settings{
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units: PhantomData,
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units: PhantomData,
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value: 10.0 / 0.75,
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value: 10.0 / 0.75,
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};
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};
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const LD_CURRENT_STEP_SIZE: ElectricCurrent = ElectricCurrent {
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dimension: PhantomData,
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units: PhantomData,
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value: 0.0001,
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};
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const LD_CURRENT_TIME_STEP_MS: u32 = 1;
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}
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}
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#[derive(Clone, Debug, Tree)]
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#[derive(Clone, Debug, Tree)]
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@ -84,8 +76,9 @@ pub struct LdDrive{
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}
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}
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impl LdDrive{
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impl LdDrive{
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pub fn new(current_source: LdCtrl, pins_adc: ADC2, phy: ld_pwr_exc_protector::LdPwrExcProtectorPhy)-> Self {
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pub fn new(current_source: LdCtrl, pins_adc: ADC2, tim2: CounterUs<TIM2>, phy: ld_pwr_exc_protector::LdPwrExcProtectorPhy)-> Self {
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LdPwrExcProtector::setup(pins_adc, phy);
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LdPwrExcProtector::setup(pins_adc, phy);
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LdCurrentOutCtrlTimer::setup(tim2);
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LdDrive {
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LdDrive {
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ctrl: current_source,
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ctrl: current_source,
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@ -95,7 +88,8 @@ impl LdDrive{
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pub fn setup(&mut self) {
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pub fn setup(&mut self) {
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LdPwrExcProtector::pwr_off();
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LdPwrExcProtector::pwr_off();
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self.ld_set_i(ElectricCurrent::new::<milliampere>(0.0));
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self.ctrl.set_i(ElectricCurrent::new::<milliampere>(0.0), Settings::LD_DRIVE_TRANSIMPEDANCE, Settings::DAC_OUT_V_MAX);
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LdCurrentOutCtrlTimer::reset();
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self.ld_short();
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self.ld_short();
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}
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}
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@ -117,6 +111,7 @@ impl LdDrive{
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pub fn power_up(&mut self){
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pub fn power_up(&mut self){
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let _ = self.ctrl.set_i(ElectricCurrent::new::<milliampere>(0.0), Settings::LD_DRIVE_TRANSIMPEDANCE, Settings::DAC_OUT_V_MAX);
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let _ = self.ctrl.set_i(ElectricCurrent::new::<milliampere>(0.0), Settings::LD_DRIVE_TRANSIMPEDANCE, Settings::DAC_OUT_V_MAX);
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LdCurrentOutCtrlTimer::reset();
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LdPwrExcProtector::pwr_on_and_arm_protection();
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LdPwrExcProtector::pwr_on_and_arm_protection();
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// Wait for LD Power Supply to start up before driving current to laser diode
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// Wait for LD Power Supply to start up before driving current to laser diode
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sleep(30);
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sleep(30);
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@ -135,28 +130,22 @@ impl LdDrive{
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self.settings.pd_responsitivity.get_ld_pwr_from_ld_i(LdPwrExcProtector::get_status().v * Settings::PD_MON_TRANSCONDUCTANCE)
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self.settings.pd_responsitivity.get_ld_pwr_from_ld_i(LdPwrExcProtector::get_status().v * Settings::PD_MON_TRANSCONDUCTANCE)
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}
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}
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// Ramping up or down laser diode current according to preset current step size and time step.
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pub fn ld_set_i(&mut self, i: ElectricCurrent){
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pub fn ld_set_i(&mut self, i: ElectricCurrent) -> ElectricCurrent {
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LdCurrentOutCtrlTimer::set_target_i_and_listen_irq(i, self.settings.ld_drive_current);
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let mut prev_i_set = self.settings.ld_drive_current;
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let final_i_set = i.min(self.settings.ld_drive_current_limit).max(ElectricCurrent::new::<ampere>(0.0));
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let num_of_step = ((final_i_set - prev_i_set)/Settings::LD_CURRENT_STEP_SIZE).get::<ratio>().floor() as i32;
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let current_step = if num_of_step.is_positive() {
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Settings::LD_CURRENT_STEP_SIZE
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} else {
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-Settings::LD_CURRENT_STEP_SIZE
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};
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for _ in 0..num_of_step.abs() {
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prev_i_set = prev_i_set + current_step;
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let _ = self.ctrl.set_i(prev_i_set, Settings::LD_DRIVE_TRANSIMPEDANCE, Settings::DAC_OUT_V_MAX);
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sleep(Settings::LD_CURRENT_TIME_STEP_MS);
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}
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}
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let prev_i_set = self.ctrl.set_i(final_i_set, Settings::LD_DRIVE_TRANSIMPEDANCE, Settings::DAC_OUT_V_MAX);
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self.settings.ld_drive_current = prev_i_set;
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pub fn poll_and_update_output_current(&mut self) -> ElectricCurrent {
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prev_i_set
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match LdCurrentOutCtrlTimer::get_irq_status() {
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Some(i_set) => {
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let i_set = self.ctrl.set_i(i_set, Settings::LD_DRIVE_TRANSIMPEDANCE, Settings::DAC_OUT_V_MAX);
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self.settings.ld_drive_current = i_set;
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LdCurrentOutCtrlTimer::clear_alarm_and_resume_listening();
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i_set
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}
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None => {
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ElectricCurrent::new::<ampere>(0.0)
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}
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}
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}
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}
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// Set the calibrated VDDA value obtained from ADC1 calibration
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// Set the calibrated VDDA value obtained from ADC1 calibration
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120
src/laser_diode/ld_current_out_ctrl_timer.rs
Normal file
120
src/laser_diode/ld_current_out_ctrl_timer.rs
Normal file
@ -0,0 +1,120 @@
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use stm32f4xx_hal::timer::{CounterUs, Event};
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use stm32f4xx_hal::pac::{interrupt, Interrupt, TIM2};
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use uom::si::{f64::ElectricCurrent, electric_current::ampere};
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use fugit::{TimerDurationU32, KilohertzU32};
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use core::marker::PhantomData;
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pub struct LdCurrentOutCtrlTimer {
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target_i: ElectricCurrent,
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now_i: ElectricCurrent,
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timer: CounterUs<TIM2>,
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timeout: bool,
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}
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static mut LD_CURRENT_OUT_CTRL_TIMER: Option<LdCurrentOutCtrlTimer> = None;
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/// This timer notifies the main loop to set the correct output current so that ld output current can ramp up/down slowly.
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/// The current output slope is guaranteed to be larger but not necessarily equal to than the preset value.
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impl LdCurrentOutCtrlTimer {
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const TIME_STEP_MS: TimerDurationU32<1000000> = TimerDurationU32::from_rate(KilohertzU32::from_raw(1));
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const STEP_SIZE: ElectricCurrent = ElectricCurrent {
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dimension: PhantomData,
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units: PhantomData,
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value: 0.0001,
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};
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pub fn setup(mut tim2: CounterUs<TIM2>) {
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tim2.start(LdCurrentOutCtrlTimer::TIME_STEP_MS).unwrap();
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unsafe {
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cortex_m::peripheral::NVIC::unmask(Interrupt::TIM2);
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}
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unsafe {
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LD_CURRENT_OUT_CTRL_TIMER = Some(
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LdCurrentOutCtrlTimer {
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target_i: ElectricCurrent::new::<ampere>(0.0),
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now_i: ElectricCurrent::new::<ampere>(0.0),
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timer: tim2,
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timeout: false
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}
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);
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}
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}
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fn get() -> Option<&'static mut Self> {
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unsafe { LD_CURRENT_OUT_CTRL_TIMER.as_mut() }
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}
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pub fn reset() {
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if let Some(ref mut ld_current_out_ctrl_timer ) = LdCurrentOutCtrlTimer::get() {
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ld_current_out_ctrl_timer.target_i = ElectricCurrent::new::<ampere>(0.0);
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ld_current_out_ctrl_timer.now_i = ElectricCurrent::new::<ampere>(0.0);
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ld_current_out_ctrl_timer.timeout = false;
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ld_current_out_ctrl_timer.timer.unlisten(Event::Update);
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}
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}
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pub fn set_target_i_and_listen_irq(target: ElectricCurrent, now: ElectricCurrent) {
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if let Some(ref mut ld_current_out_ctrl_timer ) = LdCurrentOutCtrlTimer::get() {
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cortex_m::interrupt::free(|_| {
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ld_current_out_ctrl_timer.target_i = target;
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ld_current_out_ctrl_timer.now_i = now;
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ld_current_out_ctrl_timer.timer.listen(Event::Update);
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}
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)
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}
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}
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pub fn set_alarm() {
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if let Some(ref mut ld_current_out_ctrl_timer ) = LdCurrentOutCtrlTimer::get() {
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ld_current_out_ctrl_timer.timeout = true;
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}
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}
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pub fn clear_alarm_and_resume_listening() {
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if let Some(ref mut ld_current_out_ctrl_timer ) = LdCurrentOutCtrlTimer::get() {
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ld_current_out_ctrl_timer.timeout = false;
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ld_current_out_ctrl_timer.timer.listen(Event::Update);
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}
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}
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pub fn get_irq_status() -> Option<ElectricCurrent> {
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if let Some(ref mut ld_current_out_ctrl_timer ) = LdCurrentOutCtrlTimer::get() {
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if ld_current_out_ctrl_timer.timeout {
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return Some(ld_current_out_ctrl_timer.now_i);
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}
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}
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None
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}
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pub fn clear_irq_flag() {
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if let Some(ref mut ld_current_out_ctrl_timer ) = LdCurrentOutCtrlTimer::get() {
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ld_current_out_ctrl_timer.timer.clear_interrupt(Event::Update);
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}
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}
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pub fn update_next_i_set() -> bool {
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if let Some(ref mut ld_current_out_ctrl_timer ) = LdCurrentOutCtrlTimer::get() {
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let update = ld_current_out_ctrl_timer.now_i != ld_current_out_ctrl_timer.target_i;
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if ld_current_out_ctrl_timer.target_i > ld_current_out_ctrl_timer.now_i {
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ld_current_out_ctrl_timer.now_i = (ld_current_out_ctrl_timer.now_i + LdCurrentOutCtrlTimer::STEP_SIZE).min(ld_current_out_ctrl_timer.target_i);
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}
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else {
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ld_current_out_ctrl_timer.now_i = (ld_current_out_ctrl_timer.now_i - LdCurrentOutCtrlTimer::STEP_SIZE).max(ld_current_out_ctrl_timer.target_i);
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}
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return update
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}
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false
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}
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pub fn stop_listening() {
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if let Some(ref mut ld_current_out_ctrl_timer ) = LdCurrentOutCtrlTimer::get() {
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ld_current_out_ctrl_timer.timer.unlisten(Event::Update);
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}
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}
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}
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#[interrupt]
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fn TIM2(){
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if LdCurrentOutCtrlTimer::update_next_i_set() {
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LdCurrentOutCtrlTimer::set_alarm();
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}
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LdCurrentOutCtrlTimer::stop_listening();
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LdCurrentOutCtrlTimer::clear_irq_flag();
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}
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@ -3,3 +3,4 @@ pub mod max5719;
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pub mod laser_diode;
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pub mod laser_diode;
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pub mod pd_responsitivity;
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pub mod pd_responsitivity;
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pub mod ld_pwr_exc_protector;
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pub mod ld_pwr_exc_protector;
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pub mod ld_current_out_ctrl_timer;
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@ -94,6 +94,8 @@ fn main() -> ! {
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if !should_reset {
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if !should_reset {
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let mut eth_is_pending = false;
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let mut eth_is_pending = false;
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laser.poll_and_update_output_current();
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if thermostat.poll_adc_and_update_pid() {
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if thermostat.poll_adc_and_update_pid() {
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info!("curr_dac_vfb: {:?}", volt_fmt.with(thermostat.get_dac_vfb()));
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info!("curr_dac_vfb: {:?}", volt_fmt.with(thermostat.get_dac_vfb()));
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info!("curr_vref: {:?}", volt_fmt.with(thermostat.get_vref()));
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info!("curr_vref: {:?}", volt_fmt.with(thermostat.get_vref()));
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