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thermostat
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dac: fix inconsistent current output behavior due to repeated sampling of noisy vref

This commit is contained in:
topquark12 2021-01-25 13:22:27 +08:00
parent 96f52ace8b
commit 16844a1dc1
4 changed files with 63 additions and 53 deletions
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15
src/channel.rs
View File

@ -1,4 +1,8 @@
use stm32f4xx_hal::hal::digital::v2::OutputPin;
use uom::si::{
f64::ElectricPotential,
electric_potential::volt,
};
use crate::{
ad5680,
ad7172,
@ -12,13 +16,12 @@ pub struct Channel0;
/// Marker type for the second channel
pub struct Channel1;
pub struct Channel<C: ChannelPins> {
pub state: ChannelState,
/// for `i_set`
pub dac: ad5680::Dac<C::DacSpi, C::DacSync>,
/// 1 / Volts
pub dac_factor: f64,
/// Measured vref of MAX driver chip
pub vref_meas: ElectricPotential,
pub shdn: C::Shdn,
pub vref_pin: C::VRefPin,
pub itec_pin: C::ItecPin,
@ -32,12 +35,12 @@ impl<C: ChannelPins> Channel<C> {
let state = ChannelState::new(adc_calibration);
let mut dac = ad5680::Dac::new(pins.dac_spi, pins.dac_sync);
let _ = dac.set(0);
// sensible dummy preset. calibrate_i_set() must be used.
let dac_factor = ad5680::MAX_VALUE as f64 / 5.0;
// sensible dummy preset taken from datasheet. calibrate_dac_value() should be used to override this value.
let vref_meas = ElectricPotential::new::<volt>(1.5);
Channel {
state,
dac, dac_factor,
dac, vref_meas,
shdn: pins.shdn,
vref_pin: pins.vref_pin,
itec_pin: pins.itec_pin,

97
src/channels.rs
View File

@ -22,6 +22,8 @@ use crate::{
pub const CHANNELS: usize = 2;
pub const R_SENSE: f64 = 0.05;
// DAC chip outputs 0-5v, which is then passed through a resistor dividor to provide 0-3v range
const DAC_OUT_V_MAX: f64 = 3.0;
// TODO: -pub
pub struct Channels {
@ -106,53 +108,43 @@ impl Channels {
}
/// i_set DAC
fn get_dac(&mut self, channel: usize) -> (ElectricPotential, ElectricPotential) {
let dac_factor = match channel.into() {
0 => self.channel0.dac_factor,
1 => self.channel1.dac_factor,
_ => unreachable!(),
};
fn get_dac(&mut self, channel: usize) -> ElectricPotential {
let voltage = self.channel_state(channel).dac_value;
let max = ElectricPotential::new::<volt>(ad5680::MAX_VALUE as f64 / dac_factor);
(voltage, max)
voltage
}
pub fn get_i(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
pub fn get_i(&mut self, channel: usize) -> ElectricCurrent {
let center_point = self.get_center(channel);
let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
let (voltage, max) = self.get_dac(channel);
let voltage = self.get_dac(channel);
let i_tec = (voltage - center_point) / (10.0 * r_sense);
let max = (max - center_point) / (10.0 * r_sense);
(i_tec, max)
i_tec
}
/// i_set DAC
fn set_dac(&mut self, channel: usize, voltage: ElectricPotential) -> (ElectricPotential, ElectricPotential) {
let dac_factor = match channel.into() {
0 => self.channel0.dac_factor,
1 => self.channel1.dac_factor,
_ => unreachable!(),
};
let value = (voltage.get::<volt>() * dac_factor) as u32;
let value = match channel {
fn set_dac(&mut self, channel: usize, voltage: ElectricPotential) -> ElectricPotential {
let value = ((voltage / ElectricPotential::new::<volt>(DAC_OUT_V_MAX)).get::<ratio>() * (ad5680::MAX_VALUE as f64)) as u32 ;
match channel {
0 => self.channel0.dac.set(value).unwrap(),
1 => self.channel1.dac.set(value).unwrap(),
_ => unreachable!(),
};
let voltage = ElectricPotential::new::<volt>(value as f64 / dac_factor);
self.channel_state(channel).dac_value = voltage;
let max = ElectricPotential::new::<volt>(ad5680::MAX_VALUE as f64 / dac_factor);
(voltage, max)
voltage
}
pub fn set_i(&mut self, channel: usize, i_tec: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
let center_point = self.get_center(channel);
pub fn set_i(&mut self, channel: usize, i_tec: ElectricCurrent) -> ElectricCurrent {
let vref_meas = match channel.into() {
0 => self.channel0.vref_meas,
1 => self.channel1.vref_meas,
_ => unreachable!(),
};
let center_point = vref_meas;
let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
let voltage = i_tec * 10.0 * r_sense + center_point;
let (voltage, max) = self.set_dac(channel, voltage);
let voltage = self.set_dac(channel, voltage);
let i_tec = (voltage - center_point) / (10.0 * r_sense);
let max = (max - center_point) / (10.0 * r_sense);
(i_tec, max)
i_tec
}
pub fn read_dac_feedback(&mut self, channel: usize) -> ElectricPotential {
@ -255,12 +247,29 @@ impl Channels {
}
}
/// Calibrate the I_SET DAC using the DAC_FB ADC pin.
/// Calibrates the DAC output to match vref of the MAX driver to reduce zero-current offset of the MAX driver output.
///
/// These loops perform a breadth-first search for the DAC setting
/// that will produce a `target_voltage`.
/// The thermostat DAC applies a control voltage signal to the CTLI pin of MAX driver chip to control its output current.
/// The CTLI input signal is centered around VREF of the MAX chip. Applying VREF to CTLI sets the output current to 0.
///
/// This calibration routine measures the VREF voltage and the DAC output with the STM32 ADC, and uses a breadth-first
/// search to find the DAC setting that will produce a DAC output voltage closest to VREF. This DAC output voltage will
/// be stored and used in subsequent i_set routines to bias the current control signal to the measured VREF, reducing
/// the offset error of the current control signal.
///
/// The input offset of the STM32 ADC is eliminated by using the same ADC for the measurements, and by only using the
/// difference in VREF and DAC output for the calibration.
///
/// This routine should be called only once after boot, repeated reading of the vref signal and changing of the stored
/// VREF measurement can introduce significant noise at the current output, degrading the stabilily performance of the
/// thermostat.
pub fn calibrate_dac_value(&mut self, channel: usize) {
let target_voltage = ElectricPotential::new::<volt>(2.5);
let samples = 50;
let mut target_voltage = ElectricPotential::new::<volt>(0.0);
for _ in 0..samples {
target_voltage = target_voltage + self.get_center(channel);
}
target_voltage = target_voltage / samples as f64;
let mut start_value = 1;
let mut best_error = ElectricPotential::new::<volt>(100.0);
@ -285,10 +294,10 @@ impl Channels {
best_error = error;
start_value = prev_value;
let dac_factor = value as f64 / dac_feedback.get::<volt>();
let vref = (value as f64 / ad5680::MAX_VALUE as f64) * ElectricPotential::new::<volt>(DAC_OUT_V_MAX);
match channel {
0 => self.channel0.dac_factor = dac_factor,
1 => self.channel1.dac_factor = dac_factor,
0 => self.channel0.vref_meas = vref,
1 => self.channel1.vref_meas = vref,
_ => unreachable!(),
}
}
@ -345,11 +354,10 @@ impl Channels {
}
}
pub fn get_max_v(&mut self, channel: usize) -> (ElectricPotential, ElectricPotential) {
let vref = self.channel_state(channel).vref;
let max = 4.0 * vref;
pub fn get_max_v(&mut self, channel: usize) -> ElectricPotential {
let max = 4.0 * ElectricPotential::new::<volt>(3.3);
let duty = self.get_pwm(channel, PwmPin::MaxV);
(duty * max, max)
duty * max
}
pub fn get_max_i_pos(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
@ -402,8 +410,7 @@ impl Channels {
}
pub fn set_max_v(&mut self, channel: usize, max_v: ElectricPotential) -> (ElectricPotential, ElectricPotential) {
let vref = self.channel_state(channel).vref;
let max = 4.0 * vref;
let max = 4.0 * ElectricPotential::new::<volt>(3.3);
let duty = (max_v / max).get::<ratio>();
let duty = self.set_pwm(channel, PwmPin::MaxV, duty);
(duty * max, max)
@ -425,10 +432,10 @@ impl Channels {
fn report(&mut self, channel: usize) -> Report {
let vref = self.channel_state(channel).vref;
let (i_set, _) = self.get_i(channel);
let i_set = self.get_i(channel);
let i_tec = self.read_itec(channel);
let tec_i = self.get_tec_i(channel);
let (dac_value, _) = self.get_dac(channel);
let dac_value = self.get_dac(channel);
let state = self.channel_state(channel);
let pid_output = state.pid.last_output.map(|last_output|
ElectricCurrent::new::<ampere>(last_output)
@ -473,8 +480,8 @@ impl Channels {
PwmSummary {
channel,
center: CenterPointJson(self.channel_state(channel).center.clone()),
i_set: self.get_i(channel).into(),
max_v: self.get_max_v(channel).into(),
i_set: (self.get_i(channel), ElectricCurrent::new::<ampere>(3.0)).into(),
max_v: (self.get_max_v(channel), ElectricPotential::new::<volt>(5.0)).into(),
max_i_pos: self.get_max_i_pos(channel).into(),
max_i_neg: self.get_max_i_neg(channel).into(),
}

2
src/config.rs
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@ -71,7 +71,7 @@ struct PwmLimits {
impl PwmLimits {
pub fn new(channels: &mut Channels, channel: usize) -> Self {
let (max_v, _) = channels.get_max_v(channel);
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 {

2
src/main.rs
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@ -316,7 +316,7 @@ fn main() -> ! {
send_line(&mut socket, b"{}");
}
Command::CenterPoint { channel, center } => {
let (i_tec, _) = channels.get_i(channel);
let i_tec = channels.get_i(channel);
let state = channels.channel_state(channel);
state.center = center;
if !state.pid_engaged {