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average emission current samples, implement emission_ready

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Sebastien Bourdeauducq 2017-05-10 00:29:52 +08:00
parent 8975f8c240
commit fd507cb6fb
1 changed files with 22 additions and 4 deletions
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26
firmware/src/loop_cathode.rs
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@ -16,6 +16,8 @@ const PID_PARAMETERS: pid::Parameters = pid::Parameters {
pub struct Controller {
fbi_target: f32,
fbi_range: board::EmissionRange,
fbi_buffer: [f32; 16],
fbi_buffer_count: usize,
last_fbi: Option<f32>,
pid: pid::Controller,
@ -31,6 +33,8 @@ impl Controller {
Controller {
fbi_target: 0.0,
fbi_range: board::EmissionRange::Low,
fbi_buffer: [0.0; 16],
fbi_buffer_count: 0,
last_fbi: None,
pid: pid::Controller::new(PID_PARAMETERS),
@ -44,17 +48,28 @@ impl Controller {
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;
self.last_fbi = Some(match self.fbi_range {
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;
let fd_voltage = 0.8;
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;
}
self.last_fv = Some(fv_sample as f32/board::FV_ADC_GAIN);
self.last_fbv = Some(fbv_sample as f32/board::FBV_ADC_GAIN);
}
@ -77,7 +92,10 @@ impl Controller {
}
pub fn emission_ready(&self) -> bool {
false
match self.last_fbi {
None => false,
Some(last_fbi) => (self.fbi_target - last_fbi).abs()/self.fbi_target < 0.02
}
}
pub fn bias_ready(&self) -> bool {