From daa398cb5e26352237dedc73afa3192163b26f9c Mon Sep 17 00:00:00 2001
From: Astro <astro@spaceboyz.net>
Date: Thu, 24 Sep 2020 21:10:27 +0200
Subject: [PATCH] config: add pwm limits

---
 src/config.rs | 41 ++++++++++++++++++++++++++++++++++++-----
 1 file changed, 36 insertions(+), 5 deletions(-)

diff --git a/src/config.rs b/src/config.rs
index 7773583..6a74f80 100644
--- a/src/config.rs
+++ b/src/config.rs
@@ -1,7 +1,10 @@
 use serde::{Serialize, Deserialize};
 use postcard::{from_bytes, to_slice};
+use uom::si::{
+    electric_potential::volt,
+    electric_current::ampere,
+};
 use crate::{
-    channel_state::ChannelState,
     channels::{CHANNELS, Channels},
     command_parser::CenterPoint,
     pid,
@@ -18,8 +21,8 @@ impl Config {
     pub fn new(channels: &mut Channels) -> Self {
         Config {
             channels: [
-                ChannelConfig::new(channels.channel_state(0usize)),
-                ChannelConfig::new(channels.channel_state(1usize)),
+                ChannelConfig::new(channels, 0),
+                ChannelConfig::new(channels, 1),
             ],
         }
     }
@@ -39,21 +42,44 @@ pub struct ChannelConfig {
     pid: pid::Parameters,
     pid_target: f32,
     sh: steinhart_hart::Parameters,
-    // TODO: pwm limits
+    pwm: PwmLimits,
 }
 
 impl ChannelConfig {
-    pub fn new(state: &ChannelState) -> Self {
+    pub fn new(channels: &mut Channels, channel: usize) -> Self {
+        let pwm = PwmLimits::new(channels, channel);
+        let state = channels.channel_state(channel);
         ChannelConfig {
             center: state.center.clone(),
             pid: state.pid.parameters.clone(),
             pid_target: state.pid.target as f32,
             sh: state.sh.clone(),
+            pwm,
         }
     }
 
 }
 
+#[derive(Clone, Serialize, Deserialize)]
+struct PwmLimits {
+    max_v: f32,
+    max_i_pos: f32,
+    max_i_neg: f32,
+}
+
+impl PwmLimits {
+    pub fn new(channels: &mut Channels, channel: usize) -> Self {
+        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 {
+            max_v: max_v.get::<volt>() as f32,
+            max_i_pos: max_i_pos.get::<ampere>() as f32,
+            max_i_neg: max_i_neg.get::<ampere>() as f32,
+        }
+    }
+}
+
 #[cfg(test)]
 mod test {
     use super::*;
@@ -65,6 +91,11 @@ mod test {
             pid: pid::Parameters::default(),
             pid_target: 93.7,
             sh: steinhart_hart::Parameters::default(),
+            pwm: PwmLimits {
+                max_v: 1.65,
+                max_i_pos: 2.1,
+                max_i_neg: 2.25,
+            },
         };
         let config = Config {
             channels: [