diff --git a/arduino/hev_prototype_v1/src/BreathingLoop.cpp b/arduino/hev_prototype_v1/src/BreathingLoop.cpp
index d73a89ca76f5dd8e6c8f28717506f1351046f4d4..bb2178e59cc2fef4533b06eed72cab9d9aaec498 100644
--- a/arduino/hev_prototype_v1/src/BreathingLoop.cpp
+++ b/arduino/hev_prototype_v1/src/BreathingLoop.cpp
@@ -100,7 +100,7 @@ void BreathingLoop::initTargets()
_targets_pcac.buffer_lower_pressure = 285.0;
_targets_pcac.buffer_upper_pressure = 300.0;
- _targets_pcac.inhale_rise_time = 100; // not yet doing anything
+ _targets_pcac.pid_gain = 1; // not yet doing anything
// copy all from PCAC
_targets_pcac_prvc = _targets_pcac;
@@ -1001,8 +1001,8 @@ void BreathingLoop::doPID(){
//Calculate the PID error based on the pid set point
float error = _pid.target_pressure - _pid.process_pressure;
- _pid.proportional = _pid.Kp*error;
- _pid.integral += _pid.Ki*error;
+ _pid.proportional = _targets_current->pid_gain * _pid.Kp*error;
+ _pid.integral += _targets_current->pid_gain * _pid.Ki*error;
//Derivative calculation
diff --git a/arduino/hev_prototype_v1/src/UILoop.cpp b/arduino/hev_prototype_v1/src/UILoop.cpp
index 05753f76509dcb5199111f37749c82ba661b18b5..7a32c023feefc6bedddf78afe33e0c9ce7eb199e 100644
--- a/arduino/hev_prototype_v1/src/UILoop.cpp
+++ b/arduino/hev_prototype_v1/src/UILoop.cpp
@@ -314,7 +314,7 @@ void UILoop::reportTargetsNow(target_variables &targets)
_target_data.exhale_trigger_threshold = targets.exhale_trigger_threshold;
_target_data.buffer_lower_pressure = targets.buffer_lower_pressure;
_target_data.buffer_upper_pressure = targets.buffer_upper_pressure;
- _target_data.inhale_rise_time = static_cast<uint16_t>(targets.inhale_rise_time);
+ _target_data.pid_gain = targets.pid_gain;
_pl_send.setPayload(PRIORITY::CMD_ADDR, reinterpret_cast<void *>(&_target_data), sizeof(_target_data));
_comms->writePayload(_pl_send);
diff --git a/arduino/hev_prototype_v1/src/common.cpp b/arduino/hev_prototype_v1/src/common.cpp
index 55dfab85c78923152c8d2f1ea1d597a0f11327c4..6475477675306c34d37b7f9824d6b3b940ada978 100644
--- a/arduino/hev_prototype_v1/src/common.cpp
+++ b/arduino/hev_prototype_v1/src/common.cpp
@@ -128,8 +128,8 @@ void setTarget(CMD_SET_TARGET cmd, target_variables &targets, float value)
case CMD_SET_TARGET::EXHALE_TRIGGER_THRESHOLD :
targets.exhale_trigger_threshold = value;
break;
- case CMD_SET_TARGET::INHALE_RISE_TIME:
- targets.inhale_rise_time = static_cast<uint16_t>(value);
+ case CMD_SET_TARGET::PID_GAIN:
+ targets.pid_gain = value;
break;
}
}
diff --git a/arduino/hev_prototype_v1/src/common.h b/arduino/hev_prototype_v1/src/common.h
index 326f6844f476fb0eecd68266fcd50d1f5014e0e6..9d62b9cd138a599e9bc74dfd6de3cd31eff9f6da 100644
--- a/arduino/hev_prototype_v1/src/common.h
+++ b/arduino/hev_prototype_v1/src/common.h
@@ -21,7 +21,7 @@
#include <Arduino_Due_pinout.h>
#endif
-#define HEV_FORMAT_VERSION 0xB2
+#define HEV_FORMAT_VERSION 0xB3
//
const float MAX_VALVE_FRAC_OPEN = 0.74;
@@ -128,7 +128,7 @@ enum CMD_SET_TARGET : uint8_t {
INHALE_TIME = 7,
INHALE_TRIGGER_THRESHOLD = 8,
EXHALE_TRIGGER_THRESHOLD = 9,
- INHALE_RISE_TIME = 10,
+ PID_GAIN = 10,
// for debugging only; not for UIs
INHALE_TRIGGER_ENABLE = 11,
EXHALE_TRIGGER_ENABLE = 12,
@@ -394,7 +394,7 @@ struct target_data_format{
float exhale_trigger_threshold ;
float buffer_upper_pressure = 0.0;
float buffer_lower_pressure = 0.0;
- uint16_t inhale_rise_time = 0; //ms
+ float pid_gain = 0;
};
#pragma pack()
@@ -630,7 +630,7 @@ struct target_variables {
float exhale_trigger_threshold ;
float buffer_upper_pressure;
float buffer_lower_pressure;
- uint16_t inhale_rise_time; //ms
+ float pid_gain; //ms
bool ie_selected;
};
diff --git a/raspberry-backend/templates/index.html b/raspberry-backend/templates/index.html
index 7db9d0f81a188a7dbd77642505fa635c23e0c641..abc60eec5ff52383cf3b16a75603bb602d9a2375 100644
--- a/raspberry-backend/templates/index.html
+++ b/raspberry-backend/templates/index.html
@@ -144,7 +144,7 @@
<div class="card-header d-flex align-items-center justify-content-between">
<a class="small text-dark col-center" href="#">Inhale Rise Time <small>[s]</small></a>
</div>
- <div class="card-body px-1 py-1 tiny"><input class = "setting-main lockable" id = "inhale_rise_time" value=0.0 onclick="show_easy_numpad(this,new input_controller('INHALE_RISE_TIME',this))"></div>
+ <div class="card-body px-1 py-1 tiny"><input class = "setting-main lockable" id = "pid_gain" value=0.0 onclick="show_easy_numpad(this,new input_controller('PID_GAIN',this))"></div>
</div>
diff --git a/raspberry-backend/templates/settings.html b/raspberry-backend/templates/settings.html
index 2601c06f6bee2215258b0683419999e9f92d2bc4..0600e20c63c19196b267198585a8a6ae4f102ad8 100644
--- a/raspberry-backend/templates/settings.html
+++ b/raspberry-backend/templates/settings.html
@@ -96,7 +96,7 @@
<tr>
<td></td>
<td><label class="small">Inhale Rise Time</label></td>
- <td><input name="Inhale Rise Time" class="form-control py-1 lockable" id="pcac_setting_inhale_rise_time" step = "any" type="number" value="" disabled /> ms</td>
+ <td><input name="Inhale Rise Time" class="form-control py-1 lockable" id="pcac_setting_pid_gain" step = "any" type="number" value="" disabled /> ms</td>
</tr>
<tr>
<td></td>
@@ -160,7 +160,7 @@
<tr>
<td></td>
<td><label class="small">Inhale Rise Time </label></td>
- <td><input name="Inhale Rise Time" class="form-control py-1 lockable" id="prvc_setting_inhale_rise_time" step = "any" type="number" value="" disabled /> ms</td>
+ <td><input name="Inhale Rise Time" class="form-control py-1 lockable" id="prvc_setting_pid_gain" step = "any" type="number" value="" disabled /> ms</td>
</tr>
<tr>
<td></td>
@@ -224,7 +224,7 @@
<tr>
<td></td>
<td><label class="small">Inhale Rise Time </label></td>
- <td><input name="Inhale Rise Time" class="form-control py-1 lockable" id="psv_setting_inhale_rise_time" step = "any" type="number" value="" disabled /> ms</td>
+ <td><input name="Inhale Rise Time" class="form-control py-1 lockable" id="psv_setting_pid_gain" step = "any" type="number" value="" disabled /> ms</td>
</tr>
<tr>
<td></td>
@@ -287,7 +287,7 @@
<tr>
<td></td>
<td><label class="small">Inhale Rise Time </label></td>
- <td><input name="Inhale Rise Time" class="form-control py-1 lockable" id="test_setting_inhale_rise_time" step = "any" type="number" value="" disabled /> ms</td>
+ <td><input name="Inhale Rise Time" class="form-control py-1 lockable" id="test_setting_pid_gain" step = "any" type="number" value="" disabled /> ms</td>
</tr>
<tr>
<td></td>
@@ -559,7 +559,7 @@ function openSetting(el, cityName) {
//var settings = ["respiratory_rate", "peep", "ie_ratio", "inhale_time", "inhale_trigger_threshold", "exhale_trigger_threshold","fio2_percent","volume", "inspiratory_pressure"];
-var settings = ["mode", "inspiratory_pressure", "ie_ratio", "volume", "respiratory_rate", "peep", "fiO2_percent", "inhale_time", "inhale_trigger_threshold", "exhale_trigger_threshold", "buffer_upper_pressure", "buffer_lower_pressure", "inhale_rise_time"]
+var settings = ["mode", "inspiratory_pressure", "ie_ratio", "volume", "respiratory_rate", "peep", "fiO2_percent", "inhale_time", "inhale_trigger_threshold", "exhale_trigger_threshold", "buffer_upper_pressure", "buffer_lower_pressure", "pid_gain"]
$(document).ready(function(){
var tablinks = document.getElementsByClassName("tablinks");
diff --git a/raspberry-dataserver/CommsCommon.py b/raspberry-dataserver/CommsCommon.py
index 6b99847f5d17785996341626efa0646a0b1274f6..8dbd15f2d2bc6cb13166c47082e70023cff2c172 100644
--- a/raspberry-dataserver/CommsCommon.py
+++ b/raspberry-dataserver/CommsCommon.py
@@ -99,7 +99,7 @@ class CMD_SET_TARGET(Enum):
INHALE_TIME = 7
INHALE_TRIGGER_THRESHOLD = 8
EXHALE_TRIGGER_THRESHOLD = 9
- INHALE_RISE_TIME = 10
+ PID_GAIN = 10
# for debugging only; not for UIs
INHALE_TRIGGER_ENABLE = 11
EXHALE_TRIGGER_ENABLE = 12
@@ -206,7 +206,7 @@ class HEVVersionError(Exception):
@dataclass
class PayloadFormat():
# class variables excluded from init args and output dict
- _RPI_VERSION: ClassVar[int] = field(default=0xB2, init=False, repr=False)
+ _RPI_VERSION: ClassVar[int] = field(default=0xB3, init=False, repr=False)
_dataStruct: ClassVar[Any] = field(default=Struct("<BIB"), init=False, repr=False)
_byteArray: ClassVar[bytearray] = field(default=None, init=False, repr=False)
@@ -625,7 +625,7 @@ class IVTFormat(PayloadFormat):
# =======================================
@dataclass
class TargetFormat(PayloadFormat):
- _dataStruct = Struct("<BIBBffffffHBBBffffH")
+ _dataStruct = Struct("<BIBBffffffHBBBfffff")
payload_type: PAYLOAD_TYPE = PAYLOAD_TYPE.TARGET
mode : int = 0
@@ -643,7 +643,7 @@ class TargetFormat(PayloadFormat):
exhale_trigger_threshold : float = 0.0
buffer_upper_pressure : float = 0.0
buffer_lower_pressure : float = 0.0
- inhale_rise_time : int = 0
+ pid_gain : float = 0.0
# for receiving DataFormat from microcontroller
# fill the struct from a byteArray,
@@ -670,7 +670,7 @@ class TargetFormat(PayloadFormat):
self.exhale_trigger_threshold ,
self.buffer_upper_pressure,
self.buffer_lower_pressure,
- self.inhale_rise_time ) = self._dataStruct.unpack(byteArray)
+ self.pid_gain ) = self._dataStruct.unpack(byteArray)
self.checkVersion()
self.payload_type = PAYLOAD_TYPE(tmp_payload_type)
diff --git a/raspberry-dataserver/CommsDebug.py b/raspberry-dataserver/CommsDebug.py
index f510e2dd8f1a7a1ceb6a7f08816632fb69e45d6c..d73f9afcb55cc1c2fab46779d28b35e2453f2f9f 100755
--- a/raspberry-dataserver/CommsDebug.py
+++ b/raspberry-dataserver/CommsDebug.py
@@ -86,6 +86,7 @@ async def commsDebug():
send_cmd(cmd_type="SET_PID", cmd_code="KP", param=1.0*0.001)#
send_cmd(cmd_type="SET_PID", cmd_code="KI", param=1.0*0.0005)# 0.0005
send_cmd(cmd_type="SET_PID", cmd_code="KD", param=1.0*0.001)# 0.001
+ send_cmd(cmd_type="SET_TARGET_CURRENT", cmd_code="PID_GAIN", param=2.5)
send_cmd(cmd_type="SET_PID", cmd_code="NSTEPS", param=3) #
# # Change TIMEOUT of breathing cycle (BUFF-PRE-INHALE)
diff --git a/raspberry-dataserver/CommsDebug2.py b/raspberry-dataserver/CommsDebug2.py
index 49a8cf37b1e9e732e8361816b9c1478fc2898ed0..ec2a8a86c3b27f2512e72b3d3c2512fe446e268b 100755
--- a/raspberry-dataserver/CommsDebug2.py
+++ b/raspberry-dataserver/CommsDebug2.py
@@ -36,7 +36,7 @@ class Dependant(object):
while True:
payload = await self._lli._payloadrecv.get()
global fsm
- logging.info(f"payload received: {payload}")
+ #logging.info(f"payload received: {payload}")
#if payload.getType() == PAYLOAD_TYPE.ALARM.value:
# logging.info(f"Alarm: {payload.alarm_code} of priority: {payload.alarm_type}")
@@ -57,10 +57,10 @@ class Dependant(object):
# logging.info(f"payload received: {payload.peep} {fsm}")
#if payload.getType() == PAYLOAD_TYPE.DEBUG.value:
# logging.info(f" PID {payload.kp:3.6f} {payload.ki:3.6f} {payload.kd:3.6f} {payload.proportional:3.6f} {payload.integral:3.6f} {payload.derivative:3.6f} {payload.valve_duty_cycle:3.6f} {payload.target_pressure:3.6f} {payload.process_pressure:3.6f} fsm {fsm}")
- if payload.getType() == PAYLOAD_TYPE.PERSONAL.value:
- logging.info(f"payload received: {payload} ")
- if payload.getType() == PAYLOAD_TYPE.LOGMSG.value:
- logging.info(f"LOGMSG {payload.timestamp}:{payload.message} {fsm}")
+ #if payload.getType() == PAYLOAD_TYPE.PERSONAL.value:
+ # logging.info(f"payload received: {payload} ")
+ #if payload.getType() == PAYLOAD_TYPE.LOGMSG.value:
+ # logging.info(f"LOGMSG {payload.timestamp}:{payload.message} {fsm}")
if payload.getType() == PAYLOAD_TYPE.TARGET.value:
logging.info(f"TARGET {payload} {fsm}")
if payload.getType() == PAYLOAD_TYPE.CMD.value:
@@ -135,7 +135,7 @@ async def commsDebug():
await asyncio.sleep(1)
- send_cmd(cmd_type="SET_TARGET_CURRENT", cmd_code="INHALE_RISE_TIME", param=200.0)
+ send_cmd(cmd_type="SET_TARGET_CURRENT", cmd_code="PID_GAIN", param=2.3)
#send_cmd(cmd_type="SET_TARGET_CURRENT", cmd_code="INHALE_TIME", param=1.220)
#send_cmd(cmd_type="SET_TARGET_CURRENT", cmd_code="INSPIRATORY_PRESSURE", param=25)
#await asyncio.sleep(1)