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Show and save set value for PWM limits

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Show in PwmSummary the set value, before all PWM duty calculations
instead of the machine value after the calculations. Also save the set
value into the flash store instead of the machine value.
This commit is contained in:
atse 2024-08-16 12:24:23 +08:00
parent 93dc39e943
commit 798b400aa5
3 changed files with 23 additions and 46 deletions
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7
src/channel_state.rs
View File

@ -16,6 +16,7 @@ use uom::si::{
use crate::{
ad7172,
pid,
config::PwmLimits,
steinhart_hart as sh,
command_parser::{CenterPoint, Polarity},
};
@ -32,6 +33,7 @@ pub struct ChannelState {
pub center: CenterPoint,
pub dac_value: ElectricPotential,
pub i_set: ElectricCurrent,
pub pwm_limits: PwmLimits,
pub pid_engaged: bool,
pub pid: pid::Controller,
pub sh: sh::Parameters,
@ -49,6 +51,11 @@ impl ChannelState {
center: CenterPoint::Vref,
dac_value: ElectricPotential::new::<volt>(0.0),
i_set: ElectricCurrent::new::<ampere>(0.0),
pwm_limits: PwmLimits {
max_v: 0.0,
max_i_pos: 0.0,
max_i_neg: 0.0,
},
pid_engaged: false,
pid: pid::Controller::new(pid::Parameters::default()),
sh: sh::Parameters::default(),

54
src/channels.rs
View File

@ -357,52 +357,16 @@ impl Channels {
}
}
fn get_pwm(&self, channel: usize, pin: PwmPin) -> f64 {
fn get<P: hal::PwmPin<Duty=u16>>(pin: &P) -> f64 {
let duty = pin.get_duty();
let max = pin.get_max_duty();
duty as f64 / (max as f64)
}
match (channel, pin) {
(_, PwmPin::ISet) =>
panic!("i_set is no pwm pin"),
(0, PwmPin::MaxIPos) =>
get(&self.pwm.max_i_pos0),
(0, PwmPin::MaxINeg) =>
get(&self.pwm.max_i_neg0),
(0, PwmPin::MaxV) =>
get(&self.pwm.max_v0),
(1, PwmPin::MaxIPos) =>
get(&self.pwm.max_i_pos1),
(1, PwmPin::MaxINeg) =>
get(&self.pwm.max_i_neg1),
(1, PwmPin::MaxV) =>
get(&self.pwm.max_v1),
_ =>
unreachable!(),
}
}
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
ElectricPotential::new::<volt>(self.channel_state(channel).pwm_limits.max_v)
}
pub fn get_max_i_pos(&mut self, channel: usize) -> ElectricCurrent {
let duty = match self.channel_state(channel).polarity {
Polarity::Normal => self.get_pwm(channel, PwmPin::MaxIPos),
Polarity::Reversed => self.get_pwm(channel, PwmPin::MaxINeg),
};
duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE
ElectricCurrent::new::<ampere>(self.channel_state(channel).pwm_limits.max_i_pos)
}
pub fn get_max_i_neg(&mut self, channel: usize) -> ElectricCurrent {
let duty = match self.channel_state(channel).polarity {
Polarity::Normal => self.get_pwm(channel, PwmPin::MaxINeg),
Polarity::Reversed => self.get_pwm(channel, PwmPin::MaxIPos),
};
duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE
ElectricCurrent::new::<ampere>(self.channel_state(channel).pwm_limits.max_i_neg)
}
// Get current passing through TEC
@ -448,28 +412,34 @@ impl Channels {
pub fn set_max_v(&mut self, channel: usize, max_v: ElectricPotential) -> (ElectricPotential, ElectricPotential) {
let max = 4.0 * ElectricPotential::new::<volt>(3.3);
let duty = (max_v.min(MAX_TEC_V).max(ElectricPotential::zero()) / max).get::<ratio>();
let max_v = max_v.min(MAX_TEC_V).max(ElectricPotential::zero());
let duty = (max_v / max).get::<ratio>();
let duty = self.set_pwm(channel, PwmPin::MaxV, duty);
self.channel_state(channel).pwm_limits.max_v = max_v.get::<volt>();
(duty * max, max)
}
pub fn set_max_i_pos(&mut self, channel: usize, max_i_pos: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
let max = ElectricCurrent::new::<ampere>(3.0);
let duty = (max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero()) / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
let max_i_pos = max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero());
let duty = (max_i_pos / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
let duty = match self.channel_state(channel).polarity {
Polarity::Normal => self.set_pwm(channel, PwmPin::MaxIPos, duty),
Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxINeg, duty),
};
self.channel_state(channel).pwm_limits.max_i_pos = max_i_pos.get::<ampere>();
(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
}
pub fn set_max_i_neg(&mut self, channel: usize, max_i_neg: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
let max = ElectricCurrent::new::<ampere>(3.0);
let duty = (max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero()) / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
let max_i_neg = max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero());
let duty = (max_i_neg / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
let duty = match self.channel_state(channel).polarity {
Polarity::Normal => self.set_pwm(channel, PwmPin::MaxINeg, duty),
Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxIPos, duty),
};
self.channel_state(channel).pwm_limits.max_i_neg = max_i_neg.get::<ampere>();
(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
}

8
src/config.rs
View File

@ -75,10 +75,10 @@ impl ChannelConfig {
}
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
struct PwmLimits {
max_v: f64,
max_i_pos: f64,
max_i_neg: f64,
pub struct PwmLimits {
pub max_v: f64,
pub max_i_pos: f64,
pub max_i_neg: f64,
}
impl PwmLimits {