Thermostat: Add pid_ctrl parms & its related fns

- setup: include the pid_ctrl
- poll_adc: Fetch Temperature and Update PID to set the current output

src/device/boot.rs

@@ -41,7 +41,7 @@ pub fn bootup(
 
     sys_timer::setup(core_perif.SYST, clocks);
 
-    let (_eth_pins, usb, current_source_phy, _ad7172_phy, max1968_phy) = gpio::setup(
+    let (_eth_pins, usb, current_source_phy, ad7172_phy, max1968_phy) = gpio::setup(
         clocks,
         perif.TIM4,
         perif.GPIOA,
@@ -73,7 +73,7 @@ pub fn bootup(
 
     let tec_driver = MAX1968::new(max1968_phy, perif.ADC1);
 
-    let mut thermostat = Thermostat::new(tec_driver);
+    let mut thermostat = Thermostat::new(tec_driver, ad7172_phy);
     thermostat.setup();
 
     thermostat.power_up();

src/thermostat/thermostat.rs

@@ -1,13 +1,16 @@
 use core::marker::PhantomData;
+use smoltcp::time::Instant;
 use crate::sys_timer;
 use crate::thermostat::ad5680;
 use crate::thermostat::max1968::{MAX1968, AdcReadTarget, PwmPinsEnum};
+use crate::thermostat::ad7172;
+use crate::thermostat::channel_state::ChannelState;
 use log::info;
 use uom::si::{
     electric_current::ampere,
     electric_potential::volt,
     electrical_resistance::ohm,
-    f64::{ElectricCurrent, ElectricPotential, ElectricalResistance},
+    f64::{ElectricCurrent, ElectricPotential, ElectricalResistance, Time},
     ratio::ratio,
 };
 use miniconf::Miniconf;
@@ -88,18 +91,27 @@ impl Default for Settings {
 
 pub struct Thermostat {
     max1968: MAX1968,
+    ad7172: ad7172::AdcPhy,
     pub tec_setting: Settings,
-    // TADC
+    pid_ctrl_ch0: ChannelState,
 }
 
 impl Thermostat{
-    pub fn new (max1968: MAX1968) -> Self {
+    pub fn new (max1968: MAX1968, ad7172: ad7172::AdcPhy) -> Self {
         Thermostat{
             max1968: max1968,
+            ad7172: ad7172,
             tec_setting: Settings::default(),
+            pid_ctrl_ch0: ChannelState::default(),
         }
     }
     pub fn setup(&mut self){
+        self.tec_setup();
+        let t_adc_ch0_cal = self.t_adc_setup();
+        self.pid_ctrl_ch0.adc_calibration = t_adc_ch0_cal;
+    }
+
+    fn tec_setup(&mut self) {
         self.power_down();
 
         self.tec_setting = Settings::default();
@@ -111,6 +123,36 @@ impl Thermostat{
         self.set_max_i_neg(self.tec_setting.max_i_neg_set);
     }
 
+    fn t_adc_setup(&mut self)->ad7172::ChannelCalibration{
+        self.ad7172.set_sync_enable(false).unwrap();
+        self.ad7172.setup_channel(0, ad7172::Input::Ain0, ad7172::Input::Ain1).unwrap();
+        let adc_calibration0 = self.ad7172.get_calibration(0)
+            .expect("adc_calibration0");
+        self.ad7172.start_continuous_conversion().unwrap();
+        adc_calibration0
+    }
+
+    pub fn poll_adc(&mut self, instant: Instant) -> Option<u8> {
+        self.ad7172.data_ready().unwrap().map(|channel| {
+            let data = self.ad7172.read_data().unwrap();
+            let state: &mut ChannelState = &mut self.pid_ctrl_ch0;
+            state.update(instant, data);
+            match state.update_pid() {
+                Some(pid_output) if state.pid_engaged => {
+                    // Forward PID output to i_set DAC
+                    self.set_i(ElectricCurrent::new::<ampere>(pid_output));
+                    self.power_up();
+                }
+                None if state.pid_engaged => {
+                    self.power_down();
+                }
+                _ => {}
+            }
+
+            channel
+        })
+    }
+
     pub fn power_up(&mut self){
         self.max1968.power_up();
     }
@@ -216,4 +258,11 @@ impl Thermostat{
         info!("Best Error: {:?}", best_error);
     }
     
+    pub fn pid_engaged(&mut self) -> bool {
+        if self.pid_ctrl_ch0.pid_engaged {
+            return true;
+        }
+        false
+    }
+
 }