forked from M-Labs/thermostat
654 lines
24 KiB
Rust
654 lines
24 KiB
Rust
use crate::timer::sleep;
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use crate::{
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ad5680, ad7172,
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channel::{Channel, Channel0, Channel1},
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channel_state::ChannelState,
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command_handler::JsonBuffer,
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command_parser::{CenterPoint, Polarity, PwmPin},
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pins::{self, Channel0VRef, Channel1VRef},
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steinhart_hart,
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};
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use core::marker::PhantomData;
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use heapless::{consts::U2, Vec};
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use num_traits::Zero;
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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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electric_current::ampere,
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electric_potential::{millivolt, volt},
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electrical_resistance::ohm,
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f64::{ElectricCurrent, ElectricPotential, ElectricalResistance, Time},
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ratio::ratio,
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thermodynamic_temperature::degree_celsius,
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};
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pub enum PinsAdcReadTarget {
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VRef,
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DacVfb,
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ITec,
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VTec,
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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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// From design specs
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pub const MAX_TEC_I: ElectricCurrent = ElectricCurrent {
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dimension: PhantomData,
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units: PhantomData,
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value: 2.0,
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};
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pub const MAX_TEC_V: ElectricPotential = ElectricPotential {
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dimension: PhantomData,
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units: PhantomData,
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value: 4.0,
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};
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const MAX_TEC_I_DUTY_TO_CURRENT_RATE: ElectricCurrent = ElectricCurrent {
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dimension: PhantomData,
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units: PhantomData,
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value: 1.0 / (10.0 * R_SENSE / 3.3),
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};
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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: ElectricPotential = ElectricPotential {
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dimension: PhantomData,
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units: PhantomData,
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value: 3.0,
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};
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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)
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.unwrap();
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let adc_calibration0 = adc.get_calibration(0).expect("adc_calibration0");
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adc.setup_channel(1, ad7172::Input::Ain0, ad7172::Input::Ain1)
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.unwrap();
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let adc_calibration1 = adc.get_calibration(1).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 {
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channel0,
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channel1,
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adc,
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pins_adc,
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pwm,
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};
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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 => self.adc_read(channel, PinsAdcReadTarget::VRef, 8),
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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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}
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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 i_set = self.channel_state(channel).i_set;
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i_set
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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 / 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_set: ElectricCurrent) -> ElectricCurrent {
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let i_set = i_set.min(MAX_TEC_I).max(-MAX_TEC_I);
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self.channel_state(channel).i_set = i_set;
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let negate = match self.channel_state(channel).polarity {
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Polarity::Normal => 1.0,
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Polarity::Reversed => -1.0,
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};
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let vref_meas = match channel {
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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 = negate * i_set * 10.0 * r_sense + center_point;
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let voltage = self.set_dac(channel, voltage);
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negate * (voltage - center_point) / (10.0 * r_sense)
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}
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/// AN4073: ADC Reading Dispersion can be reduced through Averaging
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pub fn adc_read(
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&mut self,
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channel: usize,
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adc_read_target: PinsAdcReadTarget,
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avg_pt: u16,
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) -> ElectricPotential {
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let mut sample: u32 = 0;
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match channel {
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0 => {
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sample = match adc_read_target {
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PinsAdcReadTarget::VRef => match &self.channel0.vref_pin {
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Channel0VRef::Analog(vref_pin) => {
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for _ in (0..avg_pt).rev() {
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sample += self.pins_adc.convert(
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vref_pin,
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stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
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) as u32;
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}
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sample / avg_pt as u32
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}
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Channel0VRef::Disabled(_) => 2048_u32,
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},
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PinsAdcReadTarget::DacVfb => {
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for _ in (0..avg_pt).rev() {
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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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) as u32;
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}
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sample / avg_pt as u32
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}
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PinsAdcReadTarget::ITec => {
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for _ in (0..avg_pt).rev() {
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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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) as u32;
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}
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sample / avg_pt as u32
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}
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PinsAdcReadTarget::VTec => {
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for _ in (0..avg_pt).rev() {
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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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) as u32;
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}
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sample / avg_pt as u32
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}
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};
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let mv = self.pins_adc.sample_to_millivolts(sample as u16);
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ElectricPotential::new::<millivolt>(mv as f64)
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}
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1 => {
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sample = match adc_read_target {
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PinsAdcReadTarget::VRef => match &self.channel1.vref_pin {
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Channel1VRef::Analog(vref_pin) => {
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for _ in (0..avg_pt).rev() {
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sample += self.pins_adc.convert(
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vref_pin,
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stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
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) as u32;
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}
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sample / avg_pt as u32
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}
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Channel1VRef::Disabled(_) => 2048_u32,
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},
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PinsAdcReadTarget::DacVfb => {
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for _ in (0..avg_pt).rev() {
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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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) as u32;
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}
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sample / avg_pt as u32
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}
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PinsAdcReadTarget::ITec => {
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for _ in (0..avg_pt).rev() {
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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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) as u32;
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}
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sample / avg_pt as u32
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}
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PinsAdcReadTarget::VTec => {
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for _ in (0..avg_pt).rev() {
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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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) as u32;
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}
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sample / avg_pt as u32
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}
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};
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let mv = self.pins_adc.sample_to_millivolts(sample as u16);
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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 += self.get_center(channel);
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}
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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 (5..18).rev() {
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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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sleep(10);
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let dac_feedback = self.adc_read(channel, PinsAdcReadTarget::DacVfb, 64);
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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 = value;
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let vref = (value as f64 / ad5680::MAX_VALUE as f64) * 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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}
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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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pub fn get_max_v(&mut self, channel: usize) -> ElectricPotential {
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ElectricPotential::new::<volt>(self.channel_state(channel).pwm_limits.max_v)
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}
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pub fn get_max_i_pos(&mut self, channel: usize) -> ElectricCurrent {
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ElectricCurrent::new::<ampere>(self.channel_state(channel).pwm_limits.max_i_pos)
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}
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pub fn get_max_i_neg(&mut self, channel: usize) -> ElectricCurrent {
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ElectricCurrent::new::<ampere>(self.channel_state(channel).pwm_limits.max_i_neg)
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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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let tec_i = (self.adc_read(channel, PinsAdcReadTarget::ITec, 16)
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- self.adc_read(channel, PinsAdcReadTarget::VRef, 16))
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/ ElectricalResistance::new::<ohm>(0.4);
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match self.channel_state(channel).polarity {
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Polarity::Normal => tec_i,
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Polarity::Reversed => -tec_i,
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}
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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.adc_read(channel, PinsAdcReadTarget::VTec, 16) - ElectricPotential::new::<volt>(1.5))
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* 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) => panic!("i_set is no pwm pin"),
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(0, PwmPin::MaxIPos) => set(&mut self.pwm.max_i_pos0, duty),
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(0, PwmPin::MaxINeg) => set(&mut self.pwm.max_i_neg0, duty),
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(0, PwmPin::MaxV) => set(&mut self.pwm.max_v0, duty),
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(1, PwmPin::MaxIPos) => set(&mut self.pwm.max_i_pos1, duty),
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(1, PwmPin::MaxINeg) => set(&mut self.pwm.max_i_neg1, duty),
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(1, PwmPin::MaxV) => set(&mut self.pwm.max_v1, duty),
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_ => unreachable!(),
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}
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}
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pub fn set_max_v(
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&mut self,
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channel: usize,
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max_v: ElectricPotential,
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) -> (ElectricPotential, ElectricPotential) {
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let max = 4.0 * ElectricPotential::new::<volt>(3.3);
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let max_v = max_v.min(MAX_TEC_V).max(ElectricPotential::zero());
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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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self.channel_state(channel).pwm_limits.max_v = max_v.get::<volt>();
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(duty * max, max)
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}
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pub fn set_max_i_pos(
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&mut self,
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channel: usize,
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max_i_pos: ElectricCurrent,
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) -> (ElectricCurrent, ElectricCurrent) {
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let max = ElectricCurrent::new::<ampere>(3.0);
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let max_i_pos = max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero());
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let duty = (max_i_pos / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
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let duty = match self.channel_state(channel).polarity {
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Polarity::Normal => self.set_pwm(channel, PwmPin::MaxIPos, duty),
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Polarity::Reversed => self.set_pwm(channel, PwmPin::MaxINeg, duty),
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};
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self.channel_state(channel).pwm_limits.max_i_pos = max_i_pos.get::<ampere>();
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(duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
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}
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pub fn set_max_i_neg(
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&mut self,
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channel: usize,
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max_i_neg: ElectricCurrent,
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) -> (ElectricCurrent, ElectricCurrent) {
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let max = ElectricCurrent::new::<ampere>(3.0);
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let max_i_neg = max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero());
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let duty = (max_i_neg / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
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let duty = match self.channel_state(channel).polarity {
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Polarity::Normal => self.set_pwm(channel, PwmPin::MaxINeg, duty),
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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)
|
|
}
|
|
|
|
pub fn set_polarity(&mut self, channel: usize, polarity: Polarity) {
|
|
if self.channel_state(channel).polarity != polarity {
|
|
let i_set = self.channel_state(channel).i_set;
|
|
let max_i_pos = self.get_max_i_pos(channel);
|
|
let max_i_neg = self.get_max_i_neg(channel);
|
|
self.channel_state(channel).polarity = polarity;
|
|
|
|
self.set_i(channel, i_set);
|
|
self.set_max_i_pos(channel, max_i_pos);
|
|
self.set_max_i_neg(channel, max_i_neg);
|
|
}
|
|
}
|
|
|
|
fn report(&mut self, channel: usize) -> Report {
|
|
let i_set = self.get_i(channel);
|
|
let i_tec = self.adc_read(channel, PinsAdcReadTarget::ITec, 16);
|
|
let tec_i = self.get_tec_i(channel);
|
|
let dac_value = self.get_dac(channel);
|
|
let state = self.channel_state(channel);
|
|
let pid_output = ElectricCurrent::new::<ampere>(state.pid.y1);
|
|
Report {
|
|
channel,
|
|
time: state.get_adc_time(),
|
|
interval: state.get_adc_interval(),
|
|
adc: state.get_adc(),
|
|
sens: state.get_sens(),
|
|
temperature: state
|
|
.get_temperature()
|
|
.map(|temperature| temperature.get::<degree_celsius>()),
|
|
pid_engaged: state.pid_engaged,
|
|
i_set,
|
|
dac_value,
|
|
dac_feedback: self.adc_read(channel, PinsAdcReadTarget::DacVfb, 1),
|
|
i_tec,
|
|
tec_i,
|
|
tec_u_meas: self.get_tec_v(channel),
|
|
pid_output,
|
|
}
|
|
}
|
|
|
|
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),
|
|
max_v: self.get_max_v(channel),
|
|
max_i_pos: self.get_max_i_pos(channel),
|
|
max_i_neg: self.get_max_i_neg(channel),
|
|
polarity: PolarityJson(self.channel_state(channel).polarity.clone()),
|
|
}
|
|
}
|
|
|
|
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 {
|
|
(0..CHANNELS)
|
|
.map(|channel| self.get_tec_i(channel).abs())
|
|
.max_by(|a, b| a.partial_cmp(b).unwrap_or(core::cmp::Ordering::Equal))
|
|
.unwrap()
|
|
}
|
|
}
|
|
|
|
#[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),
|
|
}
|
|
}
|
|
}
|
|
|
|
pub struct PolarityJson(Polarity);
|
|
|
|
// used in JSON encoding, not for config
|
|
impl Serialize for PolarityJson {
|
|
fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
|
|
where
|
|
S: Serializer,
|
|
{
|
|
serializer.serialize_str(match self.0 {
|
|
Polarity::Normal => "normal",
|
|
Polarity::Reversed => "reversed",
|
|
})
|
|
}
|
|
}
|
|
|
|
#[derive(Serialize)]
|
|
pub struct PwmSummary {
|
|
channel: usize,
|
|
center: CenterPointJson,
|
|
i_set: ElectricCurrent,
|
|
max_v: ElectricPotential,
|
|
max_i_pos: ElectricCurrent,
|
|
max_i_neg: ElectricCurrent,
|
|
polarity: PolarityJson,
|
|
}
|
|
|
|
#[derive(Serialize)]
|
|
pub struct PostFilterSummary {
|
|
channel: usize,
|
|
rate: Option<f32>,
|
|
}
|
|
|
|
#[derive(Serialize)]
|
|
pub struct SteinhartHartSummary {
|
|
channel: usize,
|
|
params: steinhart_hart::Parameters,
|
|
}
|