Minimum 8mm valve current 0.53 duty cycle, proportional 0.01, Integrap 4E-4,...

Minimum 8mm valve current 0.53 duty cycle, proportional 0.01, Integrap 4E-4, inhale valve closed during calibration, PID target pressure rise up in steps

arduino/hev_prototype_v1/src/BreathingLoop.cpp

@@ -35,7 +35,8 @@ BreathingLoop::BreathingLoop()
     _pid.Ki = 0.000007;   // integral factor
     _pid.Kd = 0;   // derivative factor
 
-    _pid_integral = 0.;
+    _pid_integral  = 0.;
+    _pid_set_point = 0.;
 }
 
 BreathingLoop::~BreathingLoop()
@@ -96,14 +97,14 @@ void BreathingLoop::updateReadings()
 
                 float_t _pressure_inhale = adcToMillibarFloat((_readings_sums.pressure_inhale          / _readings_N), _calib_avgs.pressure_inhale     );
 
-                doPID(10., _pressure_inhale, _valve_inhale_PID_percentage, _airway_pressure, _volume, _flow);
+                doPID(5, 25., _pressure_inhale, _valve_inhale_PID_percentage, _airway_pressure, _volume, _flow);
 		//_volume = _valve_inhale_PID_percentage;
 
 		//_valve_inhale_PID_percentage /= 10.; // In the Labview code the output was defined from 0-10V. It is a simple rescale to keep the same parameters
                 //Lazy approach
                 //airway_pressure = Proportional
                 //volume = Integral
-                //flow = Derivative
+                _flow = _valve_inhale_PID_percentage;
 
                 _valves_controller.setPIDoutput(_valve_inhale_PID_percentage);
                 _valves_controller.setValves(VALVE_STATE::CLOSED, VALVE_STATE::CLOSED, VALVE_STATE::PID, VALVE_STATE::CLOSED, VALVE_STATE::CLOSED);
@@ -348,7 +349,7 @@ void BreathingLoop::FSM_breathCycle()
             initCalib();
             break;
         case BL_STATES::CALIBRATION : 
-            _valves_controller.setValves(VALVE_STATE::CLOSED, VALVE_STATE::CLOSED, VALVE_STATE::CALIB_OPEN, VALVE_STATE::CALIB_OPEN, VALVE_STATE::OPEN);
+            _valves_controller.setValves(VALVE_STATE::CLOSED, VALVE_STATE::CLOSED, VALVE_STATE::CLOSED, VALVE_STATE::CALIB_OPEN, VALVE_STATE::OPEN);
             calibrate();
             _fsm_timeout = _states_durations.calibration;
             break;
@@ -393,7 +394,8 @@ void BreathingLoop::FSM_breathCycle()
                     _fsm_timeout = _states_durations.buff_pre_inhale;
             }
 
-	    _pid_integral = 0.;//Resets the integral of the Inhale Valve PID before the inhale cycle starts 
+	    _pid_integral  = 0.;//Resets the integral of the Inhale Valve PID before the inhale cycle starts 
+	    _pid_set_point = 0.;//Resets the integral of the Inhale Valve PID before the inhale cycle starts 
         
             break;
         case BL_STATES::INHALE:
@@ -559,19 +561,29 @@ float BreathingLoop::getAirwayPressure(){
     return _airway_pressure;
 }
 
-void BreathingLoop::doPID(float target_pressure, float process_pressure, float &output, float &proportional, float &integral, float &derivative){
+void BreathingLoop::doPID(int nsteps, float target_pressure, float process_pressure, float &output, float &proportional, float &integral, float &derivative){
 
-    float error = target_pressure - process_pressure;
+    // Set PID profile using the set point
+    // nsteps defines the number of intermediate steps
+
+    float _pid_set_point_step = target_pressure/nsteps;
+
+    _pid_set_point += _pid_set_point_step;
+
+    if(_pid_set_point > target_pressure) _pid_set_point = target_pressure;
+
+    //Calculate the PID error based on the pid set point
+    float error = _pid_set_point - process_pressure;
 
     proportional       = _pid.Kp*error;
     _pid_integral     += _pid.Ki*error;
 
     integral = _pid_integral;
 
-    //TODO integral and derivative
+    //TODO derivative
     
-    float minimum_open_frac = 0.54; //Minimum opening to avoid vibrations on the valve control
-    float maximum_open_frac = 0.64; //Maximum opening for the PID control
+    float minimum_open_frac = 0.53; //Minimum opening to avoid vibrations on the valve control
+    float maximum_open_frac = 0.70; //Maximum opening for the PID control
 
     output = proportional + integral + minimum_open_frac;
 

arduino/hev_prototype_v1/src/BreathingLoop.h

@@ -93,7 +93,8 @@ private:
 
     // timeouts
     uint32_t calculateDurationExhale();
-    states_durations _states_durations = {10000, 600, 600, 100, 600, 100, 100, 1000, 500, 600, 400};
+    //durations = 			 {calibration,	buff_purge, 	buff_flush,	buff_prefill, buff_fill, buff_loaded, buff_pre_inhale, inhale, pause, exhale_fill, exhale }
+    states_durations _states_durations = {10000, 	600, 		600, 		100, 600, 100, 200, 1000, 200, 600, 400};
 
     // readings
     void resetReadingSums();
@@ -117,7 +118,7 @@ private:
     float _airway_pressure;
     float _valve_inhale_PID_percentage;//from 0 to 1.
 
-    void doPID(float, float, float&, float&, float&, float&);
+    void doPID(int, float, float, float&, float&, float&, float&);
 
     // safety
     void safetyCheck();
@@ -126,6 +127,7 @@ private:
     // PID vars
 
     float _pid_integral; 
+    float _pid_set_point; 
 };
 
 

arduino/hev_prototype_v1/src/ValvesController.cpp

@@ -30,7 +30,7 @@ ValvesController::ValvesController()
 
     _inhale_duty_cycle = 0;
     _inhale_open_max = MAX_VALVE_FRAC_OPEN;
-    _inhale_open_min = 0.54;
+    _inhale_open_min = 0.53;
 
     _valve_inhale_percent      = 0;   // replaced by a min level and a max level; bias inhale level.  very slightly open at "closed" position
     _valve_exhale_percent      = 0;

arduino/hev_prototype_v1/src/common.h

@@ -22,7 +22,7 @@
 #define HEV_FORMAT_VERSION 0xA5
 
 // 
-const float MAX_VALVE_FRAC_OPEN = 0.68;
+const float MAX_VALVE_FRAC_OPEN = 0.70;
 const uint8_t MAX_PATIENT_PRESSURE = 40; //mbar
 // input params
 enum PAYLOAD_TYPE : uint8_t {

raspberry-dataserver/CommsDebug.py

@@ -33,8 +33,8 @@ class Dependant(object):
     def update_llipacket(self, payload):
         #logging.info(f"payload received: {payload}")
         if payload.getType() == 1:
-        #    logging.info(f"payload received: {payload}")
-            logging.info(f"Fsm state: {payload.fsm_state} ")
+            logging.info(f"payload received: {payload}")
+            #logging.info(f"Fsm state: {payload.fsm_state} ")
         if payload.getType() == 7:
             logging.info(f" PID {payload.kp:3.6f} {payload.ki:3.6f} {payload.kd:3.6f}")
         #if hasattr(payload, 'ventilation_mode'):
@@ -51,10 +51,10 @@ async def commsDebug():
     #comms.writePayload(cmd)
 
     await asyncio.sleep(1)
-    cmd = CommandFormat(cmd_type=CMD_TYPE.SET_PID.value, cmd_code=CMD_SET_PID.KP.value, param=0.0033) # to set Kp=0.0002, param=200 i.e., micro_Kp
+    cmd = CommandFormat(cmd_type=CMD_TYPE.SET_PID.value, cmd_code=CMD_SET_PID.KP.value, param=0.01) # to set Kp=0.0002, param=200 i.e., micro_Kp
     comms.writePayload(cmd)
     await asyncio.sleep(1)
-    cmd = CommandFormat(cmd_type=CMD_TYPE.SET_PID.value, cmd_code=CMD_SET_PID.KI.value, param=0.0022) # to set Kp=0.0002, param=200 i.e., micro_Kp
+    cmd = CommandFormat(cmd_type=CMD_TYPE.SET_PID.value, cmd_code=CMD_SET_PID.KI.value, param=0.0004)#0002) # to set Kp=0.0002, param=200 i.e., micro_Kp
     comms.writePayload(cmd)
     await asyncio.sleep(1)
     cmd = CommandFormat(cmd_type=CMD_TYPE.SET_PID.value, cmd_code=CMD_SET_PID.KD.value, param=0.0011) # to set Kp=0.0002, param=200 i.e., micro_Kp
@@ -66,11 +66,11 @@ async def commsDebug():
     print('sent cmd start')
     toggle = 2
     while True:
-        await asyncio.sleep(30)
+        await asyncio.sleep(10)
         #cmd = CommandFormat(cmd_type=CMD_TYPE.SET_PID.value, cmd_code=CMD_SET_PID.KP.value, param=5) # to set Kp=0.2, param=200 i.e., milli_Kp
         #comms.writePayload(cmd)
         #print('sent cmd set Kp = 0.2')
-        await asyncio.sleep(30)
+        await asyncio.sleep(10)
         cmd = CommandFormat(cmd_type=CMD_TYPE.GENERAL.value, cmd_code=toggle, param=0)
         if toggle == 2 :
             toggle = 1