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use proper units for pwm pins

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Astro 2020-09-16 22:05:31 +02:00
parent 7d45d5ad32
commit 8c80062da8
5 changed files with 186 additions and 82 deletions
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6
README.md
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@ -52,9 +52,9 @@ The scope of this setting is per TCP session.
| `report mode` | Show current report mode | | `report mode` | Show current report mode |
| `report mode <off/on>` | Set report mode | | `report mode <off/on>` | Set report mode |
| `pwm` | Show current PWM settings | | `pwm` | Show current PWM settings |
| `pwm <0/1> max_i_pos <ratio>` | Set PWM duty cycle for **max_i_pos** to *ratio* | | `pwm <0/1> max_i_pos <ratio>` | Set PWM duty cycle for **max_i_pos** to *ampere* |
| `pwm <0/1> max_i_neg <ratio>` | Set PWM duty cycle for **max_i_neg** to *ratio* | | `pwm <0/1> max_i_neg <ratio>` | Set PWM duty cycle for **max_i_neg** to *ampere* |
| `pwm <0/1> max_v <ratio>` | Set PWM duty cycle for **max_v** to *ratio* | | `pwm <0/1> max_v <ratio>` | Set PWM duty cycle for **max_v** to *volt* |
| `pwm <0/1> <volts>` | Disengage PID, set **i_set** DAC to *volts* | | `pwm <0/1> <volts>` | Disengage PID, set **i_set** DAC to *volts* |
| `pwm <0/1> pid` | Set PWM to be controlled by PID | | `pwm <0/1> pid` | Set PWM to be controlled by PID |
| `pid` | Show PID configuration | | `pid` | Show PID configuration |

5
src/ad5680.rs
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@ -45,13 +45,14 @@ impl<SPI: Transfer<u8>, S: OutputPin> Dac<SPI, S> {
Ok(()) Ok(())
} }
pub fn set(&mut self, value: u32) -> Result<(), SPI::Error> { pub fn set(&mut self, value: u32) -> Result<u32, SPI::Error> {
let value = value.min(MAX_VALUE); let value = value.min(MAX_VALUE);
let mut buf = [ let mut buf = [
(value >> 14) as u8, (value >> 14) as u8,
(value >> 6) as u8, (value >> 6) as u8,
(value << 2) as u8, (value << 2) as u8,
]; ];
self.write(&mut buf) self.write(&mut buf)?;
Ok(value)
} }
} }

122
src/channels.rs
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@ -1,7 +1,10 @@
use stm32f4xx_hal::hal;
use smoltcp::time::Instant; use smoltcp::time::Instant;
use uom::si::{ use uom::si::{
f64::ElectricPotential, f64::{ElectricCurrent, ElectricPotential},
electric_potential::{millivolt, volt}, electric_potential::{millivolt, volt},
electric_current::ampere,
ratio::ratio,
}; };
use log::info; use log::info;
use crate::{ use crate::{
@ -9,6 +12,7 @@ use crate::{
ad7172, ad7172,
channel::{Channel, Channel0, Channel1}, channel::{Channel, Channel0, Channel1},
channel_state::ChannelState, channel_state::ChannelState,
command_parser::PwmPin,
pins, pins,
}; };
@ -87,24 +91,22 @@ impl Channels {
} }
/// i_set DAC /// i_set DAC
pub fn set_dac(&mut self, channel: usize, voltage: ElectricPotential) { pub fn set_dac(&mut self, channel: usize, voltage: ElectricPotential) -> (ElectricPotential, ElectricPotential) {
let dac_factor = match channel.into() { let dac_factor = match channel.into() {
0 => self.channel0.dac_factor, 0 => self.channel0.dac_factor,
1 => self.channel1.dac_factor, 1 => self.channel1.dac_factor,
_ => unreachable!(), _ => unreachable!(),
}; };
let value = (voltage.get::<volt>() * dac_factor) as u32; let value = (voltage.get::<volt>() * dac_factor) as u32;
match channel { let value = match channel {
0 => { 0 => self.channel0.dac.set(value).unwrap(),
self.channel0.dac.set(value).unwrap(); 1 => self.channel1.dac.set(value).unwrap(),
self.channel0.state.dac_value = voltage;
}
1 => {
self.channel1.dac.set(value).unwrap();
self.channel1.state.dac_value = voltage;
}
_ => unreachable!(), _ => 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)
} }
pub fn read_dac_feedback(&mut self, channel: usize) -> ElectricPotential { pub fn read_dac_feedback(&mut self, channel: usize) -> ElectricPotential {
@ -255,4 +257,100 @@ impl Channels {
// Reset // Reset
self.set_dac(channel, ElectricPotential::new::<volt>(0.0)); self.set_dac(channel, ElectricPotential::new::<volt>(0.0));
} }
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, ElectricPotential) {
let vref = self.channel_state(channel).vref;
let duty = self.get_pwm(channel, PwmPin::MaxV);
(duty * 4.0 * vref, 4.0 * vref)
}
pub fn get_max_i_pos(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
let vref = self.channel_state(channel).vref;
let scale = vref / ElectricPotential::new::<volt>(3.0) / ElectricCurrent::new::<ampere>(1.0);
let duty = self.get_pwm(channel, PwmPin::MaxIPos);
(duty / scale, 1.0 / scale)
}
pub fn get_max_i_neg(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
let vref = self.channel_state(channel).vref;
let scale = vref / ElectricPotential::new::<volt>(3.0) / ElectricCurrent::new::<ampere>(1.0);
let duty = self.get_pwm(channel, PwmPin::MaxINeg);
(duty / scale, 1.0 / scale)
}
fn set_pwm(&mut self, channel: usize, pin: PwmPin, duty: f64) -> f64 {
fn set<P: hal::PwmPin<Duty=u16>>(pin: &mut P, duty: f64) -> f64 {
let max = pin.get_max_duty();
let value = ((duty * (max as f64)) as u16).min(max);
pin.set_duty(value);
value as f64 / (max as f64)
}
match (channel, pin) {
(_, PwmPin::ISet) =>
panic!("i_set is no pwm pin"),
(0, PwmPin::MaxIPos) =>
set(&mut self.pwm.max_i_pos0, duty),
(0, PwmPin::MaxINeg) =>
set(&mut self.pwm.max_i_neg0, duty),
(0, PwmPin::MaxV) =>
set(&mut self.pwm.max_v0, duty),
(1, PwmPin::MaxIPos) =>
set(&mut self.pwm.max_i_pos1, duty),
(1, PwmPin::MaxINeg) =>
set(&mut self.pwm.max_i_neg1, duty),
(1, PwmPin::MaxV) =>
set(&mut self.pwm.max_v1, duty),
_ =>
unreachable!(),
}
}
pub fn set_max_v(&mut self, channel: usize, max_v: ElectricPotential) -> (ElectricPotential, ElectricPotential) {
let vref = self.channel_state(channel).vref;
let duty = (max_v / 4.0 / vref).get::<ratio>();
let duty = self.set_pwm(channel, PwmPin::MaxV, duty);
(duty * 4.0 * vref, 4.0 * vref)
}
pub fn set_max_i_pos(&mut self, channel: usize, max_i_pos: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
let vref = self.channel_state(channel).vref;
let scale = vref / ElectricPotential::new::<volt>(3.0) / ElectricCurrent::new::<ampere>(1.0);
let duty = (max_i_pos * scale).get::<ratio>();
let duty = self.set_pwm(channel, PwmPin::MaxIPos, duty);
(duty / scale, 1.0 / scale)
}
pub fn set_max_i_neg(&mut self, channel: usize, max_i_neg: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
let vref = self.channel_state(channel).vref;
let scale = vref / ElectricPotential::new::<volt>(3.0) / ElectricCurrent::new::<ampere>(1.0);
let duty = (max_i_neg * scale).get::<ratio>();
let duty = self.set_pwm(channel, PwmPin::MaxINeg, duty);
(duty / scale, 1.0 / scale)
}
} }

16
src/command_parser.rs
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@ -142,7 +142,7 @@ pub enum Command {
Pwm { Pwm {
channel: usize, channel: usize,
pin: PwmPin, pin: PwmPin,
duty: f64, value: f64,
}, },
/// Enable PID control for `i_set` /// Enable PID control for `i_set`
PwmPid { PwmPid {
@ -242,7 +242,7 @@ fn report(input: &[u8]) -> IResult<&[u8], Command> {
fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<(PwmPin, f64), Error>> { fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<(PwmPin, f64), Error>> {
let result_with_pin = |pin: PwmPin| let result_with_pin = |pin: PwmPin|
move |result: Result<f64, Error>| move |result: Result<f64, Error>|
result.map(|duty| (pin, duty)); result.map(|value| (pin, value));
alt(( alt((
map( map(
@ -300,8 +300,8 @@ fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
|input| { |input| {
let (input, config) = pwm_setup(input)?; let (input, config) = pwm_setup(input)?;
match config { match config {
Ok((pin, duty)) => Ok((pin, value)) =>
Ok((input, Ok(Command::Pwm { channel, pin, duty }))), Ok((input, Ok(Command::Pwm { channel, pin, value }))),
Err(e) => Err(e) =>
Ok((input, Err(e))), Ok((input, Err(e))),
} }
@ -461,7 +461,7 @@ mod test {
assert_eq!(command, Ok(Command::Pwm { assert_eq!(command, Ok(Command::Pwm {
channel: 1, channel: 1,
pin: PwmPin::ISet, pin: PwmPin::ISet,
duty: 16383, value: 16383,
})); }));
} }
@ -480,7 +480,7 @@ mod test {
assert_eq!(command, Ok(Command::Pwm { assert_eq!(command, Ok(Command::Pwm {
channel: 0, channel: 0,
pin: PwmPin::MaxIPos, pin: PwmPin::MaxIPos,
duty: 7, value: 7,
})); }));
} }
@ -490,7 +490,7 @@ mod test {
assert_eq!(command, Ok(Command::Pwm { assert_eq!(command, Ok(Command::Pwm {
channel: 0, channel: 0,
pin: PwmPin::MaxINeg, pin: PwmPin::MaxINeg,
duty: 128, value: 128,
})); }));
} }
@ -500,7 +500,7 @@ mod test {
assert_eq!(command, Ok(Command::Pwm { assert_eq!(command, Ok(Command::Pwm {
channel: 0, channel: 0,
pin: PwmPin::MaxV, pin: PwmPin::MaxV,
duty: 32768, value: 32768,
})); }));
} }

119
src/main.rs
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@ -32,6 +32,7 @@ use uom::{
fmt::DisplayStyle::Abbreviation, fmt::DisplayStyle::Abbreviation,
si::{ si::{
f64::{ f64::{
ElectricCurrent,
ElectricPotential, ElectricPotential,
ElectricalResistance, ElectricalResistance,
ThermodynamicTemperature, ThermodynamicTemperature,
@ -228,33 +229,27 @@ fn main() -> ! {
channel, channel,
if state.pid_engaged { "engaged" } else { "disengaged" } if state.pid_engaged { "engaged" } else { "disengaged" }
); );
let _ = writeln!(socket, "- i_set={}", state.dac_value.into_format_args(volt, Abbreviation)); let _ = writeln!(socket, "- i_set={:.3}", state.dac_value.into_format_args(volt, Abbreviation));
fn show_pwm_channel<S, P>(mut socket: S, name: &str, pin: &P) let max_v = channels.get_max_v(channel);
where let _ = writeln!(
S: core::fmt::Write, socket, "- max_v={:.3} / {:.3}",
P: hal::PwmPin<Duty=u16>, max_v.0.into_format_args(volt, Abbreviation),
{ max_v.1.into_format_args(volt, Abbreviation),
let _ = writeln!( );
socket, let max_i_pos = channels.get_max_i_pos(channel);
"- {}={}/{}", let _ = writeln!(
name, pin.get_duty(), pin.get_max_duty() socket, "- max_i_pos={:.3} / {:.3}",
); max_i_pos.0.into_format_args(ampere, Abbreviation),
} max_i_pos.1.into_format_args(ampere, Abbreviation),
match channel { );
0 => { let max_i_neg = channels.get_max_i_neg(channel);
show_pwm_channel(socket.deref_mut(), "max_v", &channels.pwm.max_v0); let _ = writeln!(
show_pwm_channel(socket.deref_mut(), "max_i_pos", &channels.pwm.max_i_pos0); socket, "- max_i_neg={:.3} / {:.3}",
show_pwm_channel(socket.deref_mut(), "max_i_neg", &channels.pwm.max_i_neg0); max_i_neg.0.into_format_args(ampere, Abbreviation),
} max_i_neg.1.into_format_args(ampere, Abbreviation),
1 => { );
show_pwm_channel(socket.deref_mut(), "max_v", &channels.pwm.max_v1);
show_pwm_channel(socket.deref_mut(), "max_i_pos", &channels.pwm.max_i_pos1);
show_pwm_channel(socket.deref_mut(), "max_i_neg", &channels.pwm.max_i_neg1);
}
_ => unreachable!(),
}
let _ = writeln!(socket, "");
} }
let _ = writeln!(socket, "");
} }
Command::Show(ShowCommand::SteinhartHart) => { Command::Show(ShowCommand::SteinhartHart) => {
for channel in 0..CHANNELS { for channel in 0..CHANNELS {
@ -304,46 +299,56 @@ fn main() -> ! {
let _ = writeln!(socket, "channel {}: PID enabled to control PWM", channel let _ = writeln!(socket, "channel {}: PID enabled to control PWM", channel
); );
} }
Command::Pwm { channel, pin: PwmPin::ISet, duty } => { Command::Pwm { channel, pin: PwmPin::ISet, value } => {
channels.channel_state(channel).pid_engaged = false; channels.channel_state(channel).pid_engaged = false;
leds.g3.off(); leds.g3.off();
let voltage = ElectricPotential::new::<volt>(duty); let voltage = ElectricPotential::new::<volt>(value);
channels.set_dac(channel, voltage); let (voltage, max) = channels.set_dac(channel, voltage);
let _ = writeln!( let _ = writeln!(
socket, "channel {}: PWM duty cycle manually set to {}", socket, "channel {}: i_set DAC output set to {:.3} / {:.3}",
channel, voltage.into_format_args(volt, Abbreviation), channel,
voltage.into_format_args(volt, Abbreviation),
max.into_format_args(volt, Abbreviation),
); );
} }
Command::Pwm { channel, pin, duty } => { Command::Pwm { channel, pin, value } => {
fn set_pwm_channel<P: hal::PwmPin<Duty=u16>>(pin: &mut P, duty: f64) -> (u16, u16) { match pin {
let max = pin.get_max_duty(); PwmPin::ISet =>
let value = (duty * (max as f64)) as u16;
pin.set_duty(value);
(value, max)
}
let (value, max) = match (channel, pin) {
(_, PwmPin::ISet) =>
// Handled above // Handled above
unreachable!(), unreachable!(),
(0, PwmPin::MaxIPos) => PwmPin::MaxV => {
set_pwm_channel(&mut channels.pwm.max_i_pos0, duty), let voltage = ElectricPotential::new::<volt>(value);
(0, PwmPin::MaxINeg) => let (voltage, max) = channels.set_max_v(channel, voltage);
set_pwm_channel(&mut channels.pwm.max_i_neg0, duty), let _ = writeln!(
(0, PwmPin::MaxV) => socket, "channel {:.3}: max_v set to {:.3} / {:.3}",
set_pwm_channel(&mut channels.pwm.max_v0, duty), channel,
(1, PwmPin::MaxIPos) => voltage.into_format_args(volt, Abbreviation),
set_pwm_channel(&mut channels.pwm.max_i_pos1, duty), max.into_format_args(volt, Abbreviation),
(1, PwmPin::MaxINeg) => );
set_pwm_channel(&mut channels.pwm.max_i_neg1, duty), }
(1, PwmPin::MaxV) => PwmPin::MaxIPos => {
set_pwm_channel(&mut channels.pwm.max_v1, duty), let current = ElectricCurrent::new::<ampere>(value);
let (current, max) = channels.set_max_i_pos(channel, current);
let _ = writeln!(
socket, "channel {:.3}: max_i_pos set to {:.3} / {:.3}",
channel,
current.into_format_args(ampere, Abbreviation),
max.into_format_args(ampere, Abbreviation),
);
}
PwmPin::MaxINeg => {
let current = ElectricCurrent::new::<ampere>(value);
let (current, max) = channels.set_max_i_neg(channel, current);
let _ = writeln!(
socket, "channel {:.3}: max_i_neg set to {:.3} / {:.3}",
channel,
current.into_format_args(ampere, Abbreviation),
max.into_format_args(ampere, Abbreviation),
);
}
_ => _ =>
unreachable!(), unreachable!(),
}; }
let _ = writeln!(
socket, "channel {}: PWM {} reconfigured to {}/{}",
channel, pin.name(), value, max
);
} }
Command::Pid { channel, parameter, value } => { Command::Pid { channel, parameter, value } => {
let pid = &mut channels.channel_state(channel).pid; let pid = &mut channels.channel_state(channel).pid;