settings merged

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;
@@ -599,7 +599,7 @@ void BreathingLoop::FSM_breathCycle()
             break;
         case BL_STATES::STOP: 
             // TODO : require a reset command to go back to idle
-            _valves_controller.setValves(VALVE_STATE::CLOSED, VALVE_STATE::CLOSED, VALVE_STATE::FULLY_CLOSED, VALVE_STATE::CLOSED, VALVE_STATE::CLOSED);
+            _valves_controller.setValves(VALVE_STATE::CLOSED, VALVE_STATE::CLOSED, VALVE_STATE::FULLY_CLOSED, VALVE_STATE::OPEN, VALVE_STATE::CLOSED);
             _fsm_timeout = 1000;
             break;
         default:
@@ -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
 

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);
 

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;
     }
 }

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;
 };
 

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>
 
 

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)

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)

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)