use proper units for pwm pins

README.md

@@ -52,9 +52,9 @@ The scope of this setting is per TCP session.
 | `report mode`                    | Show current report mode                        |
 | `report mode <off/on>`           | Set report mode                                 |
 | `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> pid`                  | Set PWM to be controlled by PID                 |
 | `pid`                            | Show PID configuration                          |

src/ad5680.rs

@@ -45,13 +45,14 @@ impl<SPI: Transfer<u8>, S: OutputPin> Dac<SPI, S> {
         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 mut buf = [
             (value >> 14) as u8,
             (value >> 6) as u8,
             (value << 2) as u8,
         ];
-        self.write(&mut buf)
+        self.write(&mut buf)?;
+        Ok(value)
     }
 }

src/channels.rs

@@ -1,7 +1,10 @@
+use stm32f4xx_hal::hal;
 use smoltcp::time::Instant;
 use uom::si::{
-    f64::ElectricPotential,
+    f64::{ElectricCurrent, ElectricPotential},
     electric_potential::{millivolt, volt},
+    electric_current::ampere,
+    ratio::ratio,
 };
 use log::info;
 use crate::{
@@ -9,6 +12,7 @@ use crate::{
     ad7172,
     channel::{Channel, Channel0, Channel1},
     channel_state::ChannelState,
+    command_parser::PwmPin,
     pins,
 };
 
@@ -87,24 +91,22 @@ impl Channels {
     }
 
     /// 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() {
             0 => self.channel0.dac_factor,
             1 => self.channel1.dac_factor,
             _ => unreachable!(),
         };
         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!(),
-        }
+        };
+        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 {
@@ -255,4 +257,100 @@ impl Channels {
         // Reset
         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)
+    }
 }

src/command_parser.rs

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

src/main.rs

@@ -32,6 +32,7 @@ use uom::{
     fmt::DisplayStyle::Abbreviation,
     si::{
         f64::{
+            ElectricCurrent,
             ElectricPotential,
             ElectricalResistance,
             ThermodynamicTemperature,
@@ -228,34 +229,28 @@ fn main() -> ! {
                                             channel,
                                             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
-                                            S: core::fmt::Write,
-                                            P: hal::PwmPin<Duty=u16>,
-                                        {
                                         let _ = writeln!(
-                                                socket,
+                                            socket, "- max_v={:.3} / {:.3}",
-                                                "- {}={}/{}",
+                                            max_v.0.into_format_args(volt, Abbreviation),
-                                                name, pin.get_duty(), pin.get_max_duty()
+                                            max_v.1.into_format_args(volt, Abbreviation),
+                                        );
+                                        let max_i_pos = channels.get_max_i_pos(channel);
+                                        let _ = writeln!(
+                                            socket, "- max_i_pos={:.3} / {:.3}",
+                                            max_i_pos.0.into_format_args(ampere, Abbreviation),
+                                            max_i_pos.1.into_format_args(ampere, Abbreviation),
+                                        );
+                                        let max_i_neg = channels.get_max_i_neg(channel);
+                                        let _ = writeln!(
+                                            socket, "- max_i_neg={:.3} / {:.3}",
+                                            max_i_neg.0.into_format_args(ampere, Abbreviation),
+                                            max_i_neg.1.into_format_args(ampere, Abbreviation),
                                         );
                                     }
-                                        match channel {
-                                            0 => {
-                                                show_pwm_channel(socket.deref_mut(), "max_v", &channels.pwm.max_v0);
-                                                show_pwm_channel(socket.deref_mut(), "max_i_pos", &channels.pwm.max_i_pos0);
-                                                show_pwm_channel(socket.deref_mut(), "max_i_neg", &channels.pwm.max_i_neg0);
-                                            }
-                                            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, "");
                                 }
-                                }
                                 Command::Show(ShowCommand::SteinhartHart) => {
                                     for channel in 0..CHANNELS {
                                         let state = channels.channel_state(channel);
@@ -304,46 +299,56 @@ fn main() -> ! {
                                     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;
                                     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!(
-                                        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
                                             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!(),
-                                    };
+                                    }
-                                    let _ = writeln!(
-                                        socket, "channel {}: PWM {} reconfigured to {}/{}",
-                                        channel, pin.name(), value, max
-                                    );
                                 }
                                 Command::Pid { channel, parameter, value } => {
                                     let pid = &mut channels.channel_state(channel).pid;