Merge pull request #222 from makers-for-life/supportFaulhabber

Support faulhaber
makers-for-life · May 1, 2020 · 85334a8 · 85334a8
2 parents 548e8cf + 64f2003
commit 85334a8
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diff --git a/.github/workflows/firmware-release.yml b/.github/workflows/firmware-release.yml
@@ -43,10 +43,45 @@ jobs:
         run: |
           sed -Ei "s/#define VERSION \".+\"/#define VERSION \"${{ steps.version.outputs.version }}\"/" src/software/firmware/includes/parameters.h
 
+      - name: Build production HW2-FAULHABER
+        run: |
+          sed -Ei 's/#define HARDWARE_VERSION [0-9]+/#define HARDWARE_VERSION 2/' src/software/firmware/includes/config.h
+          sed -Ei 's/#define MODE .+/#define MODE MODE_PROD/' src/software/firmware/includes/config.h
+          sed -Ei 's/#define PNEUMATIC_HARDWARE_VERSION .+/#define PNEUMATIC_HARDWARE_VERSION PHW_FAULHABER/' src/software/firmware/includes/config.h
+          sed -Ei 's/#define VALVE_TYPE .+/#define VALVE_TYPE VT_FAULHABER/' src/software/firmware/includes/config.h
+          arduino-cli compile --fqbn STM32:stm32:Nucleo_64:opt=o3std,pnum=NUCLEO_F411RE --verbose src/software/firmware/srcs/respirator.cpp --output src/software/firmware/output/respirator-production
+          mkdir -p dist/
+          VERSION=$(sed -En 's/#define VERSION[ ]+["](.+)["]/\1/p' src/software/firmware/includes/parameters.h)
+          cp src/software/firmware/output/respirator-production.bin "dist/respirator-production-HW2-FAULHABER-$VERSION-$GITHUB_SHA.bin"
+
+      - name: Build qualification HW2-FAULHABER
+        run: |
+          sed -Ei 's/#define HARDWARE_VERSION [0-9]+/#define HARDWARE_VERSION 2/' src/software/firmware/includes/config.h
+          sed -Ei 's/#define MODE .+/#define MODE MODE_QUALIFICATION/' src/software/firmware/includes/config.h
+          sed -Ei 's/#define PNEUMATIC_HARDWARE_VERSION .+/#define PNEUMATIC_HARDWARE_VERSION PHW_FAULHABER/' src/software/firmware/includes/config.h
+          sed -Ei 's/#define VALVE_TYPE .+/#define VALVE_TYPE VT_FAULHABER/' src/software/firmware/includes/config.h
+          arduino-cli compile --fqbn STM32:stm32:Nucleo_64:opt=o3std,pnum=NUCLEO_F411RE --verbose src/software/firmware/srcs/qualification.cpp --output src/software/firmware/output/respirator-qualification
+          mkdir -p dist/
+          VERSION=$(sed -En 's/#define VERSION[ ]+["](.+)["]/\1/p' src/software/firmware/includes/parameters.h)
+          cp src/software/firmware/output/respirator-qualification.bin "dist/respirator-qualification-HW2-FAULHABER-$VERSION-$GITHUB_SHA.bin"
+
+      - name: Build integration test HW2-FAULHABER
+        run: |
+          sed -Ei 's/#define HARDWARE_VERSION [0-9]+/#define HARDWARE_VERSION 2/' src/software/firmware/includes/config.h
+          sed -Ei 's/#define MODE .+/#define MODE MODE_INTEGRATION_TEST/' src/software/firmware/includes/config.h
+          sed -Ei 's/#define PNEUMATIC_HARDWARE_VERSION .+/#define PNEUMATIC_HARDWARE_VERSION PHW_FAULHABER/' src/software/firmware/includes/config.h
+          sed -Ei 's/#define VALVE_TYPE .+/#define VALVE_TYPE VT_FAULHABER/' src/software/firmware/includes/config.h
+          arduino-cli compile --fqbn STM32:stm32:Nucleo_64:opt=o3std,pnum=NUCLEO_F411RE --verbose src/software/firmware/srcs/qualification.cpp --output src/software/firmware/output/respirator-integration-test
+          mkdir -p dist/
+          VERSION=$(sed -En 's/#define VERSION[ ]+["](.+)["]/\1/p' src/software/firmware/includes/parameters.h)
+          cp src/software/firmware/output/respirator-integration-test.bin "dist/respirator-integration-test-HW2-FAULHABER-$VERSION-$GITHUB_SHA.bin"
+
       - name: Build production HW2
         run: |
           sed -Ei 's/#define HARDWARE_VERSION [0-9]+/#define HARDWARE_VERSION 2/' src/software/firmware/includes/config.h
           sed -Ei 's/#define MODE .+/#define MODE MODE_PROD/' src/software/firmware/includes/config.h
+          sed -Ei 's/#define PNEUMATIC_HARDWARE_VERSION .+/#define PNEUMATIC_HARDWARE_VERSION PHW_CHU/' src/software/firmware/includes/config.h
+          sed -Ei 's/#define VALVE_TYPE .+/#define VALVE_TYPE VT_SERVO_V1/' src/software/firmware/includes/config.h
           arduino-cli compile --fqbn STM32:stm32:Nucleo_64:opt=o3std,pnum=NUCLEO_F411RE --verbose src/software/firmware/srcs/respirator.cpp --output src/software/firmware/output/respirator-production
           mkdir -p dist/
           VERSION=$(sed -En 's/#define VERSION[ ]+["](.+)["]/\1/p' src/software/firmware/includes/parameters.h)
@@ -56,6 +91,8 @@ jobs:
         run: |
           sed -Ei 's/#define HARDWARE_VERSION [0-9]+/#define HARDWARE_VERSION 2/' src/software/firmware/includes/config.h
           sed -Ei 's/#define MODE .+/#define MODE MODE_QUALIFICATION/' src/software/firmware/includes/config.h
+          sed -Ei 's/#define PNEUMATIC_HARDWARE_VERSION .+/#define PNEUMATIC_HARDWARE_VERSION PHW_CHU/' src/software/firmware/includes/config.h
+          sed -Ei 's/#define VALVE_TYPE .+/#define VALVE_TYPE VT_SERVO_V1/' src/software/firmware/includes/config.h
           arduino-cli compile --fqbn STM32:stm32:Nucleo_64:opt=o3std,pnum=NUCLEO_F411RE --verbose src/software/firmware/srcs/qualification.cpp --output src/software/firmware/output/respirator-qualification
           mkdir -p dist/
           VERSION=$(sed -En 's/#define VERSION[ ]+["](.+)["]/\1/p' src/software/firmware/includes/parameters.h)
@@ -65,6 +102,8 @@ jobs:
         run: |
           sed -Ei 's/#define HARDWARE_VERSION [0-9]+/#define HARDWARE_VERSION 2/' src/software/firmware/includes/config.h
           sed -Ei 's/#define MODE .+/#define MODE MODE_INTEGRATION_TEST/' src/software/firmware/includes/config.h
+          sed -Ei 's/#define PNEUMATIC_HARDWARE_VERSION .+/#define PNEUMATIC_HARDWARE_VERSION PHW_CHU/' src/software/firmware/includes/config.h
+          sed -Ei 's/#define VALVE_TYPE .+/#define VALVE_TYPE VT_SERVO_V1/' src/software/firmware/includes/config.h
           arduino-cli compile --fqbn STM32:stm32:Nucleo_64:opt=o3std,pnum=NUCLEO_F411RE --verbose src/software/firmware/srcs/qualification.cpp --output src/software/firmware/output/respirator-integration-test
           mkdir -p dist/
           VERSION=$(sed -En 's/#define VERSION[ ]+["](.+)["]/\1/p' src/software/firmware/includes/parameters.h)
@@ -74,6 +113,8 @@ jobs:
         run: |
           sed -Ei 's/#define HARDWARE_VERSION [0-9]+/#define HARDWARE_VERSION 1/' src/software/firmware/includes/config.h
           sed -Ei 's/#define MODE .+/#define MODE MODE_PROD/' src/software/firmware/includes/config.h
+          sed -Ei 's/#define PNEUMATIC_HARDWARE_VERSION .+/#define PNEUMATIC_HARDWARE_VERSION PHW_CHU/' src/software/firmware/includes/config.h
+          sed -Ei 's/#define VALVE_TYPE .+/#define VALVE_TYPE VT_SERVO_V1/' src/software/firmware/includes/config.h
           arduino-cli compile --fqbn STM32:stm32:Nucleo_64:opt=o3std,pnum=NUCLEO_F411RE --verbose src/software/firmware/srcs/respirator.cpp --output src/software/firmware/output/respirator-production
           mkdir -p dist/
           VERSION=$(sed -En 's/#define VERSION[ ]+["](.+)["]/\1/p' src/software/firmware/includes/parameters.h)
@@ -83,6 +124,8 @@ jobs:
         run: |
           sed -Ei 's/#define HARDWARE_VERSION [0-9]+/#define HARDWARE_VERSION 1/' src/software/firmware/includes/config.h
           sed -Ei 's/#define MODE .+/#define MODE MODE_QUALIFICATION/' src/software/firmware/includes/config.h
+          sed -Ei 's/#define PNEUMATIC_HARDWARE_VERSION .+/#define PNEUMATIC_HARDWARE_VERSION PHW_CHU/' src/software/firmware/includes/config.h
+          sed -Ei 's/#define VALVE_TYPE .+/#define VALVE_TYPE VT_SERVO_V1/' src/software/firmware/includes/config.h
           arduino-cli compile --fqbn STM32:stm32:Nucleo_64:opt=o3std,pnum=NUCLEO_F411RE --verbose src/software/firmware/srcs/qualification.cpp --output src/software/firmware/output/respirator-qualification
           mkdir -p dist/
           VERSION=$(sed -En 's/#define VERSION[ ]+["](.+)["]/\1/p' src/software/firmware/includes/parameters.h)
@@ -92,6 +135,8 @@ jobs:
         run: |
           sed -Ei 's/#define HARDWARE_VERSION [0-9]+/#define HARDWARE_VERSION 1/' src/software/firmware/includes/config.h
           sed -Ei 's/#define MODE .+/#define MODE MODE_INTEGRATION_TEST/' src/software/firmware/includes/config.h
+          sed -Ei 's/#define PNEUMATIC_HARDWARE_VERSION .+/#define PNEUMATIC_HARDWARE_VERSION PHW_CHU/' src/software/firmware/includes/config.h
+          sed -Ei 's/#define VALVE_TYPE .+/#define VALVE_TYPE VT_SERVO_V1/' src/software/firmware/includes/config.h
           arduino-cli compile --fqbn STM32:stm32:Nucleo_64:opt=o3std,pnum=NUCLEO_F411RE --verbose src/software/firmware/srcs/qualification.cpp --output src/software/firmware/output/respirator-integration-test
           mkdir -p dist/
           VERSION=$(sed -En 's/#define VERSION[ ]+["](.+)["]/\1/p' src/software/firmware/includes/parameters.h)

diff --git a/src/software/firmware/includes/config.h b/src/software/firmware/includes/config.h
@@ -33,13 +33,15 @@
 // Available pneumatic versions
 #define PHW_PIGGY 0
 #define PHW_CHU 1
+#define PHW_FAULHABER 2
 
 /// Defines which preset to use for controlling pressure
 #define PNEUMATIC_HARDWARE_VERSION PHW_CHU
 
 // Available valves
 #define VT_SERVO_V1 0
 #define VT_EMERSON_ASCO 1
+#define VT_FAULHABER 2
 
 // Defines which valves are fitted
 #define VALVE_TYPE VT_SERVO_V1

diff --git a/src/software/firmware/includes/parameters.h b/src/software/firmware/includes/parameters.h
@@ -90,6 +90,25 @@ static const int32_t PID_PATIENT_INTEGRAL_MIN = -630;
 /// Increase target pressure by an offset (in mmH2O) for safety, to avoid going below the target
 /// pressure
 static const int32_t PID_PATIENT_SAFETY_PEEP_OFFSET = 0;
+
+#elif PNEUMATIC_HARDWARE_VERSION == PHW_FAULHABER
+
+static const int32_t PID_BLOWER_KP = 1;
+static const int32_t PID_BLOWER_KI = 25;
+static const int32_t PID_BLOWER_KD = 0;
+static const int32_t PID_BLOWER_INTEGRAL_MAX = 1000;
+static const int32_t PID_BLOWER_INTEGRAL_MIN = -1000;
+
+static const int32_t PID_PATIENT_KP = 4;
+static const int32_t PID_PATIENT_KI = 20;
+static const int32_t PID_PATIENT_KD = 10;
+static const int32_t PID_PATIENT_INTEGRAL_MAX = 400;
+static const int32_t PID_PATIENT_INTEGRAL_MIN = -400;
+
+/// Increase target pressure by an offset (in mmH2O) for safety, to avoid going below the target
+/// pressure
+static const int32_t PID_PATIENT_SAFETY_PEEP_OFFSET = 10;
+
 #endif
 
 ///@}
@@ -104,13 +123,18 @@ static const int32_t PID_PATIENT_SAFETY_PEEP_OFFSET = 0;
 
 /// Angle when closed
 #define VALVE_CLOSED_STATE 125u
+
 #if VALVE_TYPE == VT_SERVO_V1
 #define SERVO_VALVE_PERIOD                                                                         \
     10000  // 100 Hz : on hardware 1, esc timer is shared between servo and esc. Servo can handle
-           // 100hz too
+           // 100 Hz too
 #elif VALVE_TYPE == VT_EMERSON_ASCO
 #define SERVO_VALVE_PERIOD 3278  // 305 Hz
 #define EMERSON_MIN_PWM 600      // 18 % PWM is the minimum to start opening (3278 * 0.18)
+#elif VALVE_TYPE == VT_FAULHABER
+#define SERVO_VALVE_PERIOD 1000  // 1 kHz Faulhaber motors are controlled with a 1 kHz PWM
+#define FAULHABER_OPENED 640     // PWM duty cycle 64% -> open
+#define FAULHABER_CLOSED 900     // PWM duty cycle 90% -> closed
 #endif
 
 #if HARDWARE_VERSION == 1
@@ -282,8 +306,13 @@ static const int32_t PID_PATIENT_SAFETY_PEEP_OFFSET = 0;
 ///@{
 
 #define ALARM_THRESHOLD_MIN_PRESSURE 20u         // RCM-SW-2 + RCM-SW-19
-#define ALARM_THRESHOLD_MAX_PRESSURE 800u         // RCM-SW-18
+#define ALARM_THRESHOLD_MAX_PRESSURE 800u        // RCM-SW-18
 #define ALARM_THRESHOLD_DIFFERENCE_PERCENT 20u   // RCM-SW-1 + RCM-SW-14
 #define ALARM_THRESHOLD_DIFFERENCE_PRESSURE 20u  // RCM-SW-3 + RCM-SW-15
 
 ///@}
+
+// Preprocessor checks
+#if VALVE_TYPE == VT_FAULHABER && HARDWARE_VERSION == 1
+#error "Faulhaber can only be driven with hardware v2"
+#endif
diff --git a/src/software/firmware/includes/pressure_controller.h b/src/software/firmware/includes/pressure_controller.h
@@ -176,7 +176,7 @@ class PressureController {
     void inhale();
 
     /// Perform the pressure control and compute the transistors commands during the plateau phase
-    void plateau();
+    void plateau(uint16_t p_centiSec);
 
     /// Perform the pressure control and compute the transistors commands during the exhalation
     /// phase
@@ -274,6 +274,9 @@ class PressureController {
     /// Positive End Expiratory Pressure
     uint16_t m_peep;
 
+    /// Blower valve angle at peak
+    uint32_t m_peakBlowerValveAngle;
+
     /// Current respiratory cycle phase
     CyclePhases m_phase;
 

diff --git a/src/software/firmware/srcs/pressure_controller.cpp b/src/software/firmware/srcs/pressure_controller.cpp
@@ -64,7 +64,8 @@ PressureController::PressureController()
       m_lastPressureValuesIndex(0),
       m_sumOfPressures(0),
       m_numberOfPressures(0),
-      m_plateauStartTime(0u) {
+      m_plateauStartTime(0u),
+      m_peakBlowerValveAngle(VALVE_CLOSED_STATE) {
     computeCentiSecParameters();
     for (uint8_t i = 0; i < MAX_PRESSURE_SAMPLES; i++) {
         m_lastPressureValues[i] = 0;
@@ -112,7 +113,8 @@ PressureController::PressureController(int16_t p_cyclesPerMinute,
       m_lastPressureValuesIndex(0),
       m_sumOfPressures(0),
       m_numberOfPressures(0),
-      m_plateauStartTime(0u) {
+      m_plateauStartTime(0u),
+      m_peakBlowerValveAngle(VALVE_CLOSED_STATE) {
     computeCentiSecParameters();
     for (uint8_t i = 0; i < MAX_PRESSURE_SAMPLES; i++) {
         m_lastPressureValues[i] = 0;
@@ -241,7 +243,7 @@ void PressureController::compute(uint16_t p_centiSec) {
         break;
     }
     case CycleSubPhases::HOLD_INSPIRATION: {
-        plateau();
+        plateau(p_centiSec);
         break;
     }
     case CycleSubPhases::EXHALE:
@@ -375,7 +377,7 @@ void PressureController::onPeakPressureDecrease(uint8_t p_decrement) {
     m_maxPeakPressureCommand = m_maxPeakPressureCommand - p_decrement;
 
     m_maxPeakPressureCommand =
-            max(m_maxPeakPressureCommand, static_cast<uint16_t>(CONST_MIN_PEAK_PRESSURE));
+        max(m_maxPeakPressureCommand, static_cast<uint16_t>(CONST_MIN_PEAK_PRESSURE));
 }
 
 void PressureController::onPeakPressureIncrease(uint8_t p_increment) {
@@ -412,7 +414,8 @@ void PressureController::updatePhase(uint16_t p_centiSec) {
 
 void PressureController::inhale() {
     // Open the air stream towards the patient's lungs
-    m_blower_valve.open(pidBlower(m_pressureCommand, m_pressure, m_dt));
+    m_peakBlowerValveAngle = pidBlower(m_pressureCommand, m_pressure, m_dt);
+    m_blower_valve.open(m_peakBlowerValveAngle);
 
     // Open the air stream towards the patient's lungs
     m_patient_valve.close();
@@ -421,12 +424,23 @@ void PressureController::inhale() {
     m_peakPressure = max(m_pressure, m_peakPressure);
 }
 
-void PressureController::plateau() {
+void PressureController::plateau(uint16_t p_centiSec) {
     // Deviate the air stream outside
     m_blower_valve.close();
 
-    // Close the air stream towards the patient's lungs
+#if VALVE_TYPE == VT_FAULHABER
+    // With Faulhaber valves, gently close the air stream towards the patient's lungs
+    if (p_centiSec < (m_plateauStartTime + 10u)) {
+        m_blower_valve.open(((p_centiSec - m_plateauStartTime)
+                             * (VALVE_CLOSED_STATE - m_peakBlowerValveAngle) / 10u)
+                            + m_peakBlowerValveAngle);
+    } else {
+        m_patient_valve.close();
+    }
+#else
+    (void)p_centiSec;
     m_patient_valve.close();
+#endif
 
     // Update the peak pressure
     m_peakPressure = max(m_pressure, m_peakPressure);

diff --git a/src/software/firmware/srcs/pressure_valve.cpp b/src/software/firmware/srcs/pressure_valve.cpp
@@ -59,11 +59,14 @@ uint16_t valveAngle2MicroSeconds(uint16_t value) {
     // TODO: avoid 500ns spikes
     uint16_t result = 1;
 
-    // map 0 - 125 ° to 100% pwm - EMERSON_MIN_PWM (0% when fully closed)
+    // map 0 - 125 ° to 100% PWM - EMERSON_MIN_PWM (0% when fully closed)
     if (VALVE_CLOSED_STATE != value) {
         result = map(value, 0, 125, SERVO_VALVE_PERIOD, EMERSON_MIN_PWM);
     }
 
     return result;
+#elif VALVE_TYPE == VT_FAULHABER
+    // Faulhaber motors works with PWM
+    return map(value, 0, 125, FAULHABER_OPENED, FAULHABER_CLOSED);
 #endif
 }