forked from M-Labs/thermostat
602 lines
22 KiB
Rust
602 lines
22 KiB
Rust
use core::cmp::max_by;
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use heapless::{consts::U2, Vec};
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use serde::{Serialize, Serializer};
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use smoltcp::time::Instant;
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use stm32f4xx_hal::hal;
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use uom::si::{
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f64::{ElectricCurrent, ElectricPotential, ElectricalResistance, Time},
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electric_potential::{millivolt, volt},
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electric_current::ampere,
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electrical_resistance::ohm,
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ratio::ratio,
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thermodynamic_temperature::degree_celsius,
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};
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use crate::{
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ad5680,
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ad7172,
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channel::{Channel, Channel0, Channel1},
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channel_state::ChannelState,
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command_parser::{CenterPoint, PwmPin},
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command_handler::JsonBuffer,
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pins,
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steinhart_hart,
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};
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pub const CHANNELS: usize = 2;
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pub const R_SENSE: f64 = 0.05;
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// DAC chip outputs 0-5v, which is then passed through a resistor dividor to provide 0-3v range
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const DAC_OUT_V_MAX: f64 = 3.0;
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// TODO: -pub
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pub struct Channels {
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channel0: Channel<Channel0>,
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channel1: Channel<Channel1>,
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pub adc: ad7172::Adc<pins::AdcSpi, pins::AdcNss>,
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/// stm32f4 integrated adc
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pins_adc: pins::PinsAdc,
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pub pwm: pins::PwmPins,
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}
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impl Channels {
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pub fn new(pins: pins::Pins) -> Self {
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let mut adc = ad7172::Adc::new(pins.adc_spi, pins.adc_nss).unwrap();
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// Feature not used
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adc.set_sync_enable(false).unwrap();
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// Setup channels and start ADC
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adc.setup_channel(0, ad7172::Input::Ain2, ad7172::Input::Ain3).unwrap();
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let adc_calibration0 = adc.get_calibration(0)
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.expect("adc_calibration0");
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adc.setup_channel(1, ad7172::Input::Ain0, ad7172::Input::Ain1).unwrap();
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let adc_calibration1 = adc.get_calibration(1)
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.expect("adc_calibration1");
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adc.start_continuous_conversion().unwrap();
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let channel0 = Channel::new(pins.channel0, adc_calibration0);
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let channel1 = Channel::new(pins.channel1, adc_calibration1);
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let pins_adc = pins.pins_adc;
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let pwm = pins.pwm;
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let mut channels = Channels { channel0, channel1, adc, pins_adc, pwm };
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for channel in 0..CHANNELS {
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channels.calibrate_dac_value(channel);
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channels.set_i(channel, ElectricCurrent::new::<ampere>(0.0));
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}
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channels
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}
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pub fn channel_state<I: Into<usize>>(&mut self, channel: I) -> &mut ChannelState {
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match channel.into() {
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0 => &mut self.channel0.state,
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1 => &mut self.channel1.state,
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_ => unreachable!(),
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}
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}
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/// ADC input + PID processing
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pub fn poll_adc(&mut self, instant: Instant) -> Option<u8> {
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self.adc.data_ready().unwrap().map(|channel| {
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let data = self.adc.read_data().unwrap();
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let state = self.channel_state(channel);
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state.update(instant, data);
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match state.update_pid() {
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Some(pid_output) if state.pid_engaged => {
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// Forward PID output to i_set DAC
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self.set_i(channel.into(), ElectricCurrent::new::<ampere>(pid_output));
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self.power_up(channel);
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}
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None if state.pid_engaged => {
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self.power_down(channel);
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}
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_ => {}
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}
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channel
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})
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}
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/// calculate the TEC i_set centerpoint
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pub fn get_center(&mut self, channel: usize) -> ElectricPotential {
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match self.channel_state(channel).center {
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CenterPoint::Vref =>
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self.read_vref(channel),
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CenterPoint::Override(center_point) =>
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ElectricPotential::new::<volt>(center_point.into()),
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}
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}
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/// i_set DAC
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fn get_dac(&mut self, channel: usize) -> ElectricPotential {
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let voltage = self.channel_state(channel).dac_value;
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voltage
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}
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pub fn get_i(&mut self, channel: usize) -> ElectricCurrent {
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let center_point = self.get_center(channel);
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let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
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let voltage = self.get_dac(channel);
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let i_tec = (voltage - center_point) / (10.0 * r_sense);
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i_tec
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}
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/// i_set DAC
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fn set_dac(&mut self, channel: usize, voltage: ElectricPotential) -> ElectricPotential {
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let value = ((voltage / ElectricPotential::new::<volt>(DAC_OUT_V_MAX)).get::<ratio>() * (ad5680::MAX_VALUE as f64)) as u32 ;
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match channel {
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0 => self.channel0.dac.set(value).unwrap(),
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1 => self.channel1.dac.set(value).unwrap(),
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_ => unreachable!(),
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};
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self.channel_state(channel).dac_value = voltage;
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voltage
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}
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pub fn set_i(&mut self, channel: usize, i_tec: ElectricCurrent) -> ElectricCurrent {
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let vref_meas = match channel.into() {
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0 => self.channel0.vref_meas,
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1 => self.channel1.vref_meas,
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_ => unreachable!(),
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};
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let center_point = vref_meas;
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let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
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let voltage = i_tec * 10.0 * r_sense + center_point;
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let voltage = self.set_dac(channel, voltage);
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let i_tec = (voltage - center_point) / (10.0 * r_sense);
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i_tec
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}
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pub fn read_dac_feedback(&mut self, channel: usize) -> ElectricPotential {
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match channel {
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0 => {
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let sample = self.pins_adc.convert(
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&self.channel0.dac_feedback_pin,
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stm32f4xx_hal::adc::config::SampleTime::Cycles_480
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);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
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1 => {
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let sample = self.pins_adc.convert(
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&self.channel1.dac_feedback_pin,
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stm32f4xx_hal::adc::config::SampleTime::Cycles_480
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);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
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_ => unreachable!(),
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}
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}
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pub fn read_dac_feedback_until_stable(&mut self, channel: usize, tolerance: ElectricPotential) -> ElectricPotential {
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let mut prev = self.read_dac_feedback(channel);
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loop {
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let current = self.read_dac_feedback(channel);
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if (current - prev).abs() < tolerance {
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return current;
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}
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prev = current;
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}
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}
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pub fn read_itec(&mut self, channel: usize) -> ElectricPotential {
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match channel {
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0 => {
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let sample = self.pins_adc.convert(
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&self.channel0.itec_pin,
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stm32f4xx_hal::adc::config::SampleTime::Cycles_480
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);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
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1 => {
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let sample = self.pins_adc.convert(
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&self.channel1.itec_pin,
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stm32f4xx_hal::adc::config::SampleTime::Cycles_480
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);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
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_ => unreachable!(),
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}
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}
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/// should be 1.5V
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pub fn read_vref(&mut self, channel: usize) -> ElectricPotential {
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match channel {
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0 => {
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let sample = self.pins_adc.convert(
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&self.channel0.vref_pin,
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stm32f4xx_hal::adc::config::SampleTime::Cycles_480
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);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
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1 => {
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let sample = self.pins_adc.convert(
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&self.channel1.vref_pin,
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stm32f4xx_hal::adc::config::SampleTime::Cycles_480
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);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
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_ => unreachable!(),
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}
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}
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pub fn read_tec_u_meas(&mut self, channel: usize) -> ElectricPotential {
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match channel {
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0 => {
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let sample = self.pins_adc.convert(
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&self.channel0.tec_u_meas_pin,
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stm32f4xx_hal::adc::config::SampleTime::Cycles_480
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);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
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1 => {
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let sample = self.pins_adc.convert(
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&self.channel1.tec_u_meas_pin,
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stm32f4xx_hal::adc::config::SampleTime::Cycles_480
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);
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let mv = self.pins_adc.sample_to_millivolts(sample);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
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_ => unreachable!(),
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}
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}
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/// Calibrates the DAC output to match vref of the MAX driver to reduce zero-current offset of the MAX driver output.
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///
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/// The thermostat DAC applies a control voltage signal to the CTLI pin of MAX driver chip to control its output current.
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/// The CTLI input signal is centered around VREF of the MAX chip. Applying VREF to CTLI sets the output current to 0.
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///
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/// This calibration routine measures the VREF voltage and the DAC output with the STM32 ADC, and uses a breadth-first
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/// search to find the DAC setting that will produce a DAC output voltage closest to VREF. This DAC output voltage will
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/// be stored and used in subsequent i_set routines to bias the current control signal to the measured VREF, reducing
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/// the offset error of the current control signal.
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///
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/// The input offset of the STM32 ADC is eliminated by using the same ADC for the measurements, and by only using the
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/// difference in VREF and DAC output for the calibration.
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///
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/// This routine should be called only once after boot, repeated reading of the vref signal and changing of the stored
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/// VREF measurement can introduce significant noise at the current output, degrading the stabilily performance of the
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/// thermostat.
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pub fn calibrate_dac_value(&mut self, channel: usize) {
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let samples = 50;
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let mut target_voltage = ElectricPotential::new::<volt>(0.0);
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for _ in 0..samples {
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target_voltage = target_voltage + self.get_center(channel);
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}
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target_voltage = target_voltage / samples as f64;
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let mut start_value = 1;
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let mut best_error = ElectricPotential::new::<volt>(100.0);
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for step in (0..18).rev() {
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let mut prev_value = start_value;
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for value in (start_value..=ad5680::MAX_VALUE).step_by(1 << step) {
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match channel {
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0 => {
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self.channel0.dac.set(value).unwrap();
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}
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1 => {
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self.channel1.dac.set(value).unwrap();
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}
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_ => unreachable!(),
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}
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let dac_feedback = self.read_dac_feedback_until_stable(channel, ElectricPotential::new::<volt>(0.001));
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let error = target_voltage - dac_feedback;
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if error < ElectricPotential::new::<volt>(0.0) {
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break;
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} else if error < best_error {
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best_error = error;
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start_value = prev_value;
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let vref = (value as f64 / ad5680::MAX_VALUE as f64) * ElectricPotential::new::<volt>(DAC_OUT_V_MAX);
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match channel {
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0 => self.channel0.vref_meas = vref,
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1 => self.channel1.vref_meas = vref,
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_ => unreachable!(),
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}
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}
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prev_value = value;
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}
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}
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// Reset
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self.set_dac(channel, ElectricPotential::new::<volt>(0.0));
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}
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// power up TEC
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pub fn power_up<I: Into<usize>>(&mut self, channel: I) {
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match channel.into() {
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0 => self.channel0.power_up(),
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1 => self.channel1.power_up(),
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_ => unreachable!(),
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}
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}
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// power down TEC
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pub fn power_down<I: Into<usize>>(&mut self, channel: I) {
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match channel.into() {
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0 => self.channel0.power_down(),
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1 => self.channel1.power_down(),
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_ => unreachable!(),
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}
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}
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fn get_pwm(&self, channel: usize, pin: PwmPin) -> f64 {
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fn get<P: hal::PwmPin<Duty=u16>>(pin: &P) -> f64 {
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let duty = pin.get_duty();
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let max = pin.get_max_duty();
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duty as f64 / (max as f64)
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}
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match (channel, pin) {
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(_, PwmPin::ISet) =>
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panic!("i_set is no pwm pin"),
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(0, PwmPin::MaxIPos) =>
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get(&self.pwm.max_i_pos0),
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(0, PwmPin::MaxINeg) =>
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get(&self.pwm.max_i_neg0),
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(0, PwmPin::MaxV) =>
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get(&self.pwm.max_v0),
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(1, PwmPin::MaxIPos) =>
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get(&self.pwm.max_i_pos1),
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(1, PwmPin::MaxINeg) =>
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get(&self.pwm.max_i_neg1),
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(1, PwmPin::MaxV) =>
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get(&self.pwm.max_v1),
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_ =>
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unreachable!(),
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}
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}
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pub fn get_max_v(&mut self, channel: usize) -> ElectricPotential {
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let max = 4.0 * ElectricPotential::new::<volt>(3.3);
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let duty = self.get_pwm(channel, PwmPin::MaxV);
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duty * max
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}
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pub fn get_max_i_pos(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
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let max = ElectricCurrent::new::<ampere>(3.0);
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let duty = self.get_pwm(channel, PwmPin::MaxIPos);
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(duty * max, max)
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}
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pub fn get_max_i_neg(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
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let max = ElectricCurrent::new::<ampere>(3.0);
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let duty = self.get_pwm(channel, PwmPin::MaxINeg);
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(duty * max, max)
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}
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// Get current passing through TEC
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pub fn get_tec_i(&mut self, channel: usize) -> ElectricCurrent {
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(self.read_itec(channel) - self.read_vref(channel)) / ElectricalResistance::new::<ohm>(0.4)
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}
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// Get voltage across TEC
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pub fn get_tec_v(&mut self, channel: usize) -> ElectricPotential {
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(self.read_tec_u_meas(channel) - ElectricPotential::new::<volt>(1.5)) * 4.0
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}
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fn set_pwm(&mut self, channel: usize, pin: PwmPin, duty: f64) -> f64 {
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fn set<P: hal::PwmPin<Duty=u16>>(pin: &mut P, duty: f64) -> f64 {
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let max = pin.get_max_duty();
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let value = ((duty * (max as f64)) as u16).min(max);
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pin.set_duty(value);
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value as f64 / (max as f64)
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}
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match (channel, pin) {
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(_, PwmPin::ISet) =>
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panic!("i_set is no pwm pin"),
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(0, PwmPin::MaxIPos) =>
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set(&mut self.pwm.max_i_pos0, duty),
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(0, PwmPin::MaxINeg) =>
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set(&mut self.pwm.max_i_neg0, duty),
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(0, PwmPin::MaxV) =>
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set(&mut self.pwm.max_v0, duty),
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(1, PwmPin::MaxIPos) =>
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set(&mut self.pwm.max_i_pos1, duty),
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(1, PwmPin::MaxINeg) =>
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set(&mut self.pwm.max_i_neg1, duty),
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(1, PwmPin::MaxV) =>
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set(&mut self.pwm.max_v1, duty),
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_ =>
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unreachable!(),
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}
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}
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pub fn set_max_v(&mut self, channel: usize, max_v: ElectricPotential) -> (ElectricPotential, ElectricPotential) {
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let max = 4.0 * ElectricPotential::new::<volt>(3.3);
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let duty = (max_v / max).get::<ratio>();
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let duty = self.set_pwm(channel, PwmPin::MaxV, duty);
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(duty * max, max)
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}
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pub fn set_max_i_pos(&mut self, channel: usize, max_i_pos: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
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let max = ElectricCurrent::new::<ampere>(3.0);
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let duty = (max_i_pos / max).get::<ratio>();
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let duty = self.set_pwm(channel, PwmPin::MaxIPos, duty);
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(duty * max, max)
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}
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pub fn set_max_i_neg(&mut self, channel: usize, max_i_neg: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
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let max = ElectricCurrent::new::<ampere>(3.0);
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let duty = (max_i_neg / max).get::<ratio>();
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let duty = self.set_pwm(channel, PwmPin::MaxINeg, duty);
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(duty * max, max)
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}
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fn report(&mut self, channel: usize) -> Report {
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let i_set = self.get_i(channel);
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let i_tec = self.read_itec(channel);
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let tec_i = self.get_tec_i(channel);
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let dac_value = self.get_dac(channel);
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let state = self.channel_state(channel);
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let pid_output = ElectricCurrent::new::<ampere>(state.pid.y1);
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Report {
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channel,
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time: state.get_adc_time(),
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interval: state.get_adc_interval(),
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adc: state.get_adc(),
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sens: state.get_sens(),
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temperature: state.get_temperature()
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.map(|temperature| temperature.get::<degree_celsius>()),
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pid_engaged: state.pid_engaged,
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i_set,
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dac_value,
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dac_feedback: self.read_dac_feedback(channel),
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i_tec,
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tec_i,
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tec_u_meas: self.get_tec_v(channel),
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pid_output,
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}
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}
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|
|
pub fn reports_json(&mut self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
|
|
let mut reports = Vec::<_, U2>::new();
|
|
for channel in 0..CHANNELS {
|
|
let _ = reports.push(self.report(channel));
|
|
}
|
|
serde_json_core::to_vec(&reports)
|
|
}
|
|
|
|
pub fn pid_summaries_json(&mut self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
|
|
let mut summaries = Vec::<_, U2>::new();
|
|
for channel in 0..CHANNELS {
|
|
let _ = summaries.push(self.channel_state(channel).pid.summary(channel));
|
|
}
|
|
serde_json_core::to_vec(&summaries)
|
|
}
|
|
|
|
pub fn pid_engaged(&mut self) -> bool {
|
|
for channel in 0..CHANNELS {
|
|
if self.channel_state(channel).pid_engaged {
|
|
return true;
|
|
}
|
|
}
|
|
false
|
|
}
|
|
|
|
fn pwm_summary(&mut self, channel: usize) -> PwmSummary {
|
|
PwmSummary {
|
|
channel,
|
|
center: CenterPointJson(self.channel_state(channel).center.clone()),
|
|
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(),
|
|
}
|
|
}
|
|
|
|
pub fn pwm_summaries_json(&mut self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
|
|
let mut summaries = Vec::<_, U2>::new();
|
|
for channel in 0..CHANNELS {
|
|
let _ = summaries.push(self.pwm_summary(channel));
|
|
}
|
|
serde_json_core::to_vec(&summaries)
|
|
}
|
|
|
|
fn postfilter_summary(&mut self, channel: usize) -> PostFilterSummary {
|
|
let rate = self.adc.get_postfilter(channel as u8).unwrap()
|
|
.and_then(|filter| filter.output_rate());
|
|
PostFilterSummary { channel, rate }
|
|
}
|
|
|
|
pub fn postfilter_summaries_json(&mut self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
|
|
let mut summaries = Vec::<_, U2>::new();
|
|
for channel in 0..CHANNELS {
|
|
let _ = summaries.push(self.postfilter_summary(channel));
|
|
}
|
|
serde_json_core::to_vec(&summaries)
|
|
}
|
|
|
|
fn steinhart_hart_summary(&mut self, channel: usize) -> SteinhartHartSummary {
|
|
let params = self.channel_state(channel).sh.clone();
|
|
SteinhartHartSummary { channel, params }
|
|
}
|
|
|
|
pub fn steinhart_hart_summaries_json(&mut self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
|
|
let mut summaries = Vec::<_, U2>::new();
|
|
for channel in 0..CHANNELS {
|
|
let _ = summaries.push(self.steinhart_hart_summary(channel));
|
|
}
|
|
serde_json_core::to_vec(&summaries)
|
|
}
|
|
|
|
pub fn current_abs_max_tec_i(&mut self) -> ElectricCurrent {
|
|
max_by(self.get_tec_i(0).abs(),
|
|
self.get_tec_i(1).abs(),
|
|
|a, b| a.partial_cmp(b).unwrap_or(core::cmp::Ordering::Equal))
|
|
}
|
|
}
|
|
|
|
#[derive(Serialize)]
|
|
pub struct Report {
|
|
channel: usize,
|
|
time: Time,
|
|
interval: Time,
|
|
adc: Option<ElectricPotential>,
|
|
sens: Option<ElectricalResistance>,
|
|
temperature: Option<f64>,
|
|
pid_engaged: bool,
|
|
i_set: ElectricCurrent,
|
|
dac_value: ElectricPotential,
|
|
dac_feedback: ElectricPotential,
|
|
i_tec: ElectricPotential,
|
|
tec_i: ElectricCurrent,
|
|
tec_u_meas: ElectricPotential,
|
|
pid_output: ElectricCurrent,
|
|
}
|
|
|
|
pub struct CenterPointJson(CenterPoint);
|
|
|
|
// used in JSON encoding, not for config
|
|
impl Serialize for CenterPointJson {
|
|
fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
|
|
where
|
|
S: Serializer,
|
|
{
|
|
match self.0 {
|
|
CenterPoint::Vref =>
|
|
serializer.serialize_str("vref"),
|
|
CenterPoint::Override(vref) =>
|
|
serializer.serialize_f32(vref),
|
|
}
|
|
}
|
|
}
|
|
|
|
#[derive(Serialize)]
|
|
pub struct PwmSummaryField<T: Serialize> {
|
|
value: T,
|
|
max: T,
|
|
}
|
|
|
|
impl<T: Serialize> From<(T, T)> for PwmSummaryField<T> {
|
|
fn from((value, max): (T, T)) -> Self {
|
|
PwmSummaryField { value, max }
|
|
}
|
|
}
|
|
|
|
#[derive(Serialize)]
|
|
pub struct PwmSummary {
|
|
channel: usize,
|
|
center: CenterPointJson,
|
|
i_set: PwmSummaryField<ElectricCurrent>,
|
|
max_v: PwmSummaryField<ElectricPotential>,
|
|
max_i_pos: PwmSummaryField<ElectricCurrent>,
|
|
max_i_neg: PwmSummaryField<ElectricCurrent>,
|
|
}
|
|
|
|
#[derive(Serialize)]
|
|
pub struct PostFilterSummary {
|
|
channel: usize,
|
|
rate: Option<f32>,
|
|
}
|
|
|
|
#[derive(Serialize)]
|
|
pub struct SteinhartHartSummary {
|
|
channel: usize,
|
|
params: steinhart_hart::Parameters,
|
|
}
|