ionpak-thermostat/firmware/src/loop_cathode.rs

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use core::num::Float;
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use board;
use pid;
const FBI_PID_PARAMETERS: pid::Parameters = pid::Parameters {
kp: 180.0,
ki: 90.0,
kd: 0.0,
output_min: 0.5,
output_max: 3.0,
integral_min: -0.02,
integral_max: 0.02
};
const FV_PID_PARAMETERS: pid::Parameters = pid::Parameters {
kp: 1.80,
ki: 0.3,
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kd: 0.0,
output_min: 0.0,
output_max: 30.0,
integral_min: -50.0,
integral_max: 50.0
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};
pub struct Controller {
fbi_target: f32,
fbi_range: board::EmissionRange,
fbi_buffer: [f32; 16],
fbi_buffer_count: usize,
last_fbi: Option<f32>,
fbi_pid: pid::Controller,
fv_pid: pid::Controller,
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last_fv: Option<f32>,
fbv_target: f32,
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last_fbv: Option<f32>
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}
#[derive(Clone, Copy)]
pub struct ControllerStatus {
pub ready: bool,
pub fbi: Option<f32>,
pub fv: Option<f32>,
pub fbv: Option<f32>
}
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impl Controller {
pub const fn new() -> Controller {
Controller {
fbi_target: 0.0,
fbi_range: board::EmissionRange::Med,
fbi_buffer: [0.0; 16],
fbi_buffer_count: 0,
last_fbi: None,
fbi_pid: pid::Controller::new(FBI_PID_PARAMETERS),
fv_pid: pid::Controller::new(FV_PID_PARAMETERS),
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last_fv: None,
fbv_target: 0.0,
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last_fbv: None,
}
}
pub fn adc_input(&mut self, fbi_sample: u16, fd_sample: u16, fv_sample: u16, fbv_sample: u16) {
let fbi_voltage = ((fbi_sample as f32) - board::FBI_ADC_OFFSET)/board::FBI_ADC_GAIN;
let fbi_r225 = fbi_voltage/board::FBI_R225;
let fbi = match self.fbi_range {
board::EmissionRange::Low => fbi_r225,
board::EmissionRange::Med => {
let fd_voltage = ((fd_sample as f32) - board::FD_ADC_OFFSET)/board::FD_ADC_GAIN;
fbi_r225 + (fbi_voltage - fd_voltage)/board::FBI_R223
},
board::EmissionRange::High => {
let fd_voltage = 0.9;
fbi_r225 + (fbi_voltage - fd_voltage)/board::FBI_R224
}
};
self.fbi_buffer[self.fbi_buffer_count] = fbi;
self.fbi_buffer_count += 1;
if self.fbi_buffer_count == self.fbi_buffer.len() {
let mut fbi_avg: f32 = 0.0;
for fbi in self.fbi_buffer.iter() {
fbi_avg += *fbi;
}
self.last_fbi = Some(fbi_avg/(self.fbi_buffer.len() as f32));
self.fbi_buffer_count = 0;
}
let fv_target = self.fbi_pid.update(fbi);
self.fv_pid.set_target(fv_target);
let fv = fv_sample as f32/board::FV_ADC_GAIN;
let fv_pwm_duty = self.fv_pid.update(fv);
board::set_fv_pwm(fv_pwm_duty as u16);
self.last_fv = Some(fv);
self.last_fbv = Some(fbv_sample as f32/board::FBV_ADC_GAIN);
}
pub fn set_emission_target(&mut self, amperes: f32) {
self.fbi_target = amperes;
self.fbi_range = board::EmissionRange::Low;
if amperes > 120e-6 {
self.fbi_range = board::EmissionRange::Med;
}
if amperes > 8e-3 {
self.fbi_range = board::EmissionRange::High;
}
board::set_emission_range(self.fbi_range);
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}
pub fn set_bias_target(&mut self, volts: f32) {
self.fbv_target = volts;
board::set_fbv_pwm((volts/board::FBV_PWM_GAIN) as u16);
}
fn emission_ready(&self) -> bool {
match self.last_fbi {
None => false,
Some(last_fbi) => (self.fbi_target - last_fbi).abs()/self.fbi_target < 0.05
}
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}
fn bias_ready(&self) -> bool {
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match self.last_fbv {
None => false,
Some(last_fbv) => (self.fbv_target - last_fbv).abs() < 1.0
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}
}
pub fn reset(&mut self) {
self.fbi_pid.reset();
self.fv_pid.reset();
self.fbi_buffer_count = 0;
self.last_fbi = None;
self.last_fv = None;
self.last_fbv = None;
}
pub fn get_status(&self) -> ControllerStatus {
ControllerStatus {
ready: self.emission_ready() & self.bias_ready(),
fbi: self.last_fbi,
fv: self.last_fv,
fbv: self.last_fbv
}
}
}
impl ControllerStatus {
pub fn debug_print(&self) {
println!("cathode rdy: {}", self.ready);
if self.fbi.is_some() {
println!("emi: {}mA", 1000.0*self.fbi.unwrap());
}
if self.fv.is_some() {
println!("fil: {}V", self.fv.unwrap());
}
if self.fbv.is_some() {
println!("bias: {}V", self.fbv.unwrap());
}
}
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}