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use PID for FV, print all debug messages

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This commit is contained in:
Sebastien Bourdeauducq 2017-05-12 11:07:35 +08:00
parent df335865b7
commit ad447cd5f9
4 changed files with 45 additions and 25 deletions
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2
firmware/src/electrometer.rs
View File

@ -50,7 +50,7 @@ impl Electrometer {
impl ElectrometerStatus {
pub fn debug_print(&self) {
if self.ic.is_some() {
println!("ion current: {}nA", 1e9*self.ic.unwrap());
println!("ion: {}nA", 1e9*self.ic.unwrap());
}
}
}

13
firmware/src/loop_anode.rs
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@ -5,12 +5,12 @@ use pid;
const PID_PARAMETERS: pid::Parameters = pid::Parameters {
kp: 0.027,
ki: 0.013,
ki: 0.014,
kd: 0.0,
output_min: 0.0,
output_max: 30.0,
integral_min: -5000.0,
integral_max: 5000.0
integral_min: -700.0,
integral_max: 700.0
};
@ -20,6 +20,7 @@ pub struct Controller {
last_av: Option<f32>
}
#[derive(Clone, Copy)]
pub struct ControllerStatus {
pub ready: bool,
pub av: Option<f32>
@ -38,8 +39,8 @@ impl Controller {
let av = av_sample as f32/board::AV_ADC_GAIN;
self.last_av = Some(av);
let pid_out = self.pid.update(av);
board::set_hv_pwm(pid_out as u16)
let hv_pwm_duty = self.pid.update(av);
board::set_hv_pwm(hv_pwm_duty as u16)
}
pub fn set_target(&mut self, volts: f32) {
@ -69,7 +70,7 @@ impl Controller {
impl ControllerStatus {
pub fn debug_print(&self) {
println!("anode ready: {}", self.ready);
println!("anode rdy: {}", self.ready);
if self.av.is_some() {
println!("voltage: {}V", self.av.unwrap());
}

49
firmware/src/loop_cathode.rs
View File

@ -3,14 +3,24 @@ use core::num::Float;
use board;
use pid;
const PID_PARAMETERS: pid::Parameters = pid::Parameters {
kp: 0.004,
ki: 0.002,
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,
kd: 0.0,
output_min: 0.0,
output_max: 30.0,
integral_min: -5000.0,
integral_max: 5000.0
integral_min: -50.0,
integral_max: 50.0
};
pub struct Controller {
@ -19,8 +29,9 @@ pub struct Controller {
fbi_buffer: [f32; 16],
fbi_buffer_count: usize,
last_fbi: Option<f32>,
pid: pid::Controller,
fbi_pid: pid::Controller,
fv_pid: pid::Controller,
last_fv: Option<f32>,
fbv_target: f32,
@ -35,7 +46,6 @@ pub struct ControllerStatus {
pub fbv: Option<f32>
}
impl Controller {
pub const fn new() -> Controller {
Controller {
@ -44,8 +54,9 @@ impl Controller {
fbi_buffer: [0.0; 16],
fbi_buffer_count: 0,
last_fbi: None,
pid: pid::Controller::new(PID_PARAMETERS),
fbi_pid: pid::Controller::new(FBI_PID_PARAMETERS),
fv_pid: pid::Controller::new(FV_PID_PARAMETERS),
last_fv: None,
fbv_target: 0.0,
@ -78,7 +89,14 @@ impl Controller {
self.fbi_buffer_count = 0;
}
self.last_fv = Some(fv_sample as f32/board::FV_ADC_GAIN);
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);
}
@ -102,7 +120,7 @@ impl Controller {
fn emission_ready(&self) -> bool {
match self.last_fbi {
None => false,
Some(last_fbi) => (self.fbi_target - last_fbi).abs()/self.fbi_target < 0.02
Some(last_fbi) => (self.fbi_target - last_fbi).abs()/self.fbi_target < 0.05
}
}
@ -114,7 +132,8 @@ impl Controller {
}
pub fn reset(&mut self) {
self.pid.reset();
self.fbi_pid.reset();
self.fv_pid.reset();
self.fbi_buffer_count = 0;
self.last_fbi = None;
self.last_fv = None;
@ -134,15 +153,15 @@ impl Controller {
impl ControllerStatus {
pub fn debug_print(&self) {
println!("cathode ready: {}", self.ready);
println!("cathode rdy: {}", self.ready);
if self.fbi.is_some() {
println!("emission: {}mA", 1000.0*self.fbi.unwrap());
println!("emi: {}mA", 1000.0*self.fbi.unwrap());
}
if self.fv.is_some() {
println!("fil voltage: {}V", self.fv.unwrap());
println!("fil: {}V", self.fv.unwrap());
}
if self.fbv.is_some() {
println!("bias voltage: {}V", self.fbv.unwrap());
println!("bias: {}V", self.fbv.unwrap());
}
}
}

6
firmware/src/main.rs
View File

@ -84,7 +84,6 @@ fn main() {
loop_anode.set_target(anode_cathode+cathode_bias);
loop_cathode.set_emission_target(anode_cathode/10000.0);
loop_cathode.set_bias_target(cathode_bias);
//board::set_fv_pwm(10);
});
println!(r#"
@ -171,8 +170,9 @@ extern fn adc0_ss0(_ctxt: ADC0SS0) {
time.set(time.get() + 1);
if time.get() % 300 == 0 {
//loop_anode.get_status().debug_print();
//loop_cathode.get_status().debug_print();
println!("");
loop_anode.get_status().debug_print();
loop_cathode.get_status().debug_print();
electrometer.get_status().debug_print();
}
});