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292 | //
//
//
#include "PressureLoop.h"
void PressureLoopClass::Init(float fast_ms, int32_t LoopRatio, void* handle)
{
DriverContext* dc;
dc = (DriverContext*)handle;
hwi = (HW*)dc->hwi;<--- C-style pointer casting [+]C-style pointer casting detected. C++ offers four different kinds of casts as replacements: static_cast, const_cast, dynamic_cast and reinterpret_cast. A C-style cast could evaluate to any of those automatically, thus it is considered safer if the programmer explicitly states which kind of cast is expected. See also: https://www.securecoding.cert.org/confluence/display/cplusplus/EXP05-CPP.+Do+not+use+C-style+casts.
dbg = (DebugIfaceClass*)dc->dbg;<--- C-style pointer casting [+]C-style pointer casting detected. C++ offers four different kinds of casts as replacements: static_cast, const_cast, dynamic_cast and reinterpret_cast. A C-style cast could evaluate to any of those automatically, thus it is considered safer if the programmer explicitly states which kind of cast is expected. See also: https://www.securecoding.cert.org/confluence/display/cplusplus/EXP05-CPP.+Do+not+use+C-style+casts.
cycle_Loop_LT = hwi->GetMillis();
_fast_ms = fast_ms;
_LoopRatio = LoopRatio;
LoopCounter = 0;
_PID_P = 25;
_PID_I = 400;
_PID_D = 0;
_PID_P2 = 1.3;
_PID_I2 = 12;
_PID_D2 = 0;
_pid_limit = 0.55;
_filter_fast = 0.94;// 0.9;
_filter_slow = 0.7;
_ValvePWM = 0;
last_fast_ms = hwi->GetMillis();
last_slow_ms = hwi->GetMillis();
}
void PressureLoopClass::PID_SLOW_LOOP()
{
static float pid_error = 0;<--- The scope of the variable 'pid_error' can be reduced. [+]The scope of the variable 'pid_error' can be reduced. Warning: Be careful when fixing this message, especially when there are inner loops. Here is an example where cppcheck will write that the scope for 'i' can be reduced:
void f(int x)
{
int i = 0;
if (x) {
// it's safe to move 'int i = 0;' here
for (int n = 0; n < 10; ++n) {
// it is possible but not safe to move 'int i = 0;' here
do_something(&i);
}
}
}
When you see this message it is always safe to reduce the variable scope 1 level.
static float pid_integral = 0;
static float pid_prec = 0;
static float pid_out = 0;<--- The scope of the variable 'pid_out' can be reduced. [+]The scope of the variable 'pid_out' can be reduced. Warning: Be careful when fixing this message, especially when there are inner loops. Here is an example where cppcheck will write that the scope for 'i' can be reduced:
void f(int x)
{
int i = 0;
if (x) {
// it's safe to move 'int i = 0;' here
for (int n = 0; n < 10; ++n) {
// it is possible but not safe to move 'int i = 0;' here
do_something(&i);
}
}
}
When you see this message it is always safe to reduce the variable scope 1 level.
float PID_P = _PID_P2;
float PID_I = _PID_I2;
float PID_D = _PID_D2;
static float Pset2 = 0;
static float pid_outb = 0;
float Pmeas = 0;
float dT = ((float)hwi->Get_dT_millis(last_slow_ms)) / 1000.0;<--- Variable 'dT' is assigned a value that is never used.
last_slow_ms = hwi->GetMillis();
Pmeas = _pressure_patient;
if (_Pset == 0) {
Pset2 = Pmeas;
pid_integral = 0;
pid_prec = 0;
pid_outb = 0;
}
else {
Pset2 = (Pset2 * _filter_slow) + ((1 - _filter_slow) * (_Pset));
pid_error = Pset2 - Pmeas;
pid_integral += pid_error;
if (pid_integral < 0)
pid_integral = 0;
pid_out = PID_P * pid_error + PID_I * pid_integral + PID_D * (pid_error - pid_prec);
pid_outb = pid_out;
if (pid_outb < Pset2 * _pid_limit)
pid_outb = Pset2 * _pid_limit;
if (pid_outb > 50)
pid_outb = 50;
pid_prec = pid_error;
fast_pid_set = pid_outb;
}
}
float PressureLoopClass::ValveLUT(float pid_value)
{
float tret = 0;
// if (pid_value > pid_fast_last)
{
if (pid_value == 0)
tret = 30;
else
tret = (0.00126 * pid_value * pid_value) + (0.42098 * pid_value) + 37.32803;
}
// else
// {
// tret = (0.00309 * pid_value * pid_value) + (0.2777 * pid_value) + 34.93373;
// }
pid_fast_last = pid_value;
return tret;
}
void PressureLoopClass::PID_FAST_LOOP()
{
static float pid_error = 0;<--- The scope of the variable 'pid_error' can be reduced. [+]The scope of the variable 'pid_error' can be reduced. Warning: Be careful when fixing this message, especially when there are inner loops. Here is an example where cppcheck will write that the scope for 'i' can be reduced:
void f(int x)
{
int i = 0;
if (x) {
// it's safe to move 'int i = 0;' here
for (int n = 0; n < 10; ++n) {
// it is possible but not safe to move 'int i = 0;' here
do_something(&i);
}
}
}
When you see this message it is always safe to reduce the variable scope 1 level.
static float pid_integral = 0;<--- The scope of the variable 'pid_integral' can be reduced. [+]The scope of the variable 'pid_integral' can be reduced. Warning: Be careful when fixing this message, especially when there are inner loops. Here is an example where cppcheck will write that the scope for 'i' can be reduced:
void f(int x)
{
int i = 0;
if (x) {
// it's safe to move 'int i = 0;' here
for (int n = 0; n < 10; ++n) {
// it is possible but not safe to move 'int i = 0;' here
do_something(&i);
}
}
}
When you see this message it is always safe to reduce the variable scope 1 level.
static float pid_prec = 0;
static float pid_out = 0;<--- The scope of the variable 'pid_out' can be reduced. [+]The scope of the variable 'pid_out' can be reduced. Warning: Be careful when fixing this message, especially when there are inner loops. Here is an example where cppcheck will write that the scope for 'i' can be reduced:
void f(int x)
{
int i = 0;
if (x) {
// it's safe to move 'int i = 0;' here
for (int n = 0; n < 10; ++n) {
// it is possible but not safe to move 'int i = 0;' here
do_something(&i);
}
}
}
When you see this message it is always safe to reduce the variable scope 1 level.
static float fw_pid = 0;
float integral_before = 0;<--- The scope of the variable 'integral_before' can be reduced. [+]The scope of the variable 'integral_before' can be reduced. Warning: Be careful when fixing this message, especially when there are inner loops. Here is an example where cppcheck will write that the scope for 'i' can be reduced:<--- Variable 'integral_before' is assigned a value that is never used.
void f(int x)<--- Variable 'integral_before' is assigned a value that is never used.
{<--- Variable 'integral_before' is assigned a value that is never used.
int i = 0;<--- Variable 'integral_before' is assigned a value that is never used.
if (x) {<--- Variable 'integral_before' is assigned a value that is never used.
// it's safe to move 'int i = 0;' here<--- Variable 'integral_before' is assigned a value that is never used.
for (int n = 0; n < 10; ++n) {<--- Variable 'integral_before' is assigned a value that is never used.
// it is possible but not safe to move 'int i = 0;' here<--- Variable 'integral_before' is assigned a value that is never used.
do_something(&i);<--- Variable 'integral_before' is assigned a value that is never used.
}<--- Variable 'integral_before' is assigned a value that is never used.
}<--- Variable 'integral_before' is assigned a value that is never used.
}<--- Variable 'integral_before' is assigned a value that is never used.
When you see this message it is always safe to reduce the variable scope 1 level. <--- Variable 'integral_before' is assigned a value that is never used.
float PID_P = _PID_P;
float PID_I = _PID_I;
float PID_D = _PID_D;
static float Pset2 = 0;
static float pid_outb = 0;
float Pmeas = 0;
float dT = ((float)hwi->Get_dT_millis(last_fast_ms)) / 1000.0;<--- Variable 'dT' is assigned a value that is never used.
last_fast_ms = hwi->GetMillis();
fast_pid_set = _Pset;
Pmeas = _pressure_valve;
if (_Pset == 0) {
Pset2 = Pmeas;
//pid_integral = 0;
pid_prec = 0;
_ValvePWM = ValveLUT(0);
pid_outb = 0;
}
else {
Pset2 = (Pset2 * _filter_fast) + ((1 - _filter_fast) * fast_pid_set);
//Pset2 = fast_pid_set;
pid_error = Pset2 - Pmeas;
integral_before = pid_integral;
pid_integral += pid_error;
if ((pid_integral * PID_I) > 4095.0)
pid_integral = (4095.0 / PID_I);
//if ((pid_integral * PID_I) < -4095.0)
// pid_integral = -(4095.0 / PID_I);
if ((pid_integral * PID_I) < 0)
pid_integral = 0;
pid_out = PID_P * pid_error + PID_I * pid_integral + PID_D * (pid_error - pid_prec);
if (pid_out < 0)
pid_integral = integral_before;
//pid_outb = pid_outb * 0.9 + pid_out * 0.1;
pid_outb = pid_out;
if (pid_outb < 0)
pid_outb = 0;
//pid_outb = pid_outb + 500;
if (pid_outb > 4095.0)
pid_outb = 4095.0;
pid_prec = pid_error;
if (_Pset == 0)
_ValvePWM = ValveLUT(1);
else
_ValvePWM = ValveLUT(pid_outb * 100.0 / 4095);
}
}
void PressureLoopClass::SetTargetPressure(float pressure)
{
_Pset = pressure;
}
void PressureLoopClass::Tick()
{
if (hwi->Get_dT_millis(cycle_Loop_LT) >= _fast_ms)
{
cycle_Loop_LT = hwi->GetMillis();
if (_LoopRatio == 0)
{
PID_FAST_LOOP();
PID_SLOW_LOOP();
}
else
{
/*if (LoopCounter >= _LoopRatio)
{
PID_SLOW_LOOP();
LoopCounter = 0;
}
else*/
{
PID_FAST_LOOP();
LoopCounter++;
}
}
}
}
void PressureLoopClass::SetPressure(t_pressure_selector ps, float pressure)
{
if (ps == PRESSURE_VALVE)
{
_pressure_valve = pressure;
}
else
{
if (ps == PRESSURE_PATIENT)
{
_pressure_patient = pressure;
}
}
}
void PressureLoopClass::ConfigurePidSlow(float P, float I, float D, float pid_limiter)
{
_PID_P2 = P;
_PID_I2 = I;
_PID_D2 = D;
_pid_limit = pid_limiter;
}
void PressureLoopClass::ConfigurePidFast(float P, float I, float D)
{
_PID_P = P;
_PID_I = I;
_PID_D = D;
}
void PressureLoopClass::GetPidSlow(float* P, float* I, float* D, float* pid_limiter)<--- The function 'GetPidSlow' is never used.
{
*P = _PID_P2;
*I = _PID_I2;<--- *I is assigned
*I = _PID_D2;<--- *I is overwritten
*pid_limiter = _pid_limit;
}
void PressureLoopClass::GetPidFast(float* P, float* I, float* D)<--- The function 'GetPidFast' is never used.
{
*P = _PID_P;
*I = _PID_I;<--- *I is assigned
*I = _PID_D;<--- *I is overwritten
}
void PressureLoopClass::SetPidFilter(float fast, float slow)<--- The function 'SetPidFilter' is never used.
{
_filter_fast = fast;
_filter_slow = slow;
}
void PressureLoopClass::GetPidFilter(float* fast, float* slow)<--- The function 'GetPidFilter' is never used.
{
*fast = _filter_fast;
*slow = _filter_slow;
}
float PressureLoopClass::GetValveControl()
{
return _ValvePWM;
}
void PressureLoopClass::GetPidMonitor(float* slow, float* fast)
{
*fast = _ValvePWM;
*slow = fast_pid_set;
}
// # # ###
// ## # #
// # # # #
// # # # #
// # # # #
// # ## #
// # # ###
//
// Nuclear Instruments 2020 - All rights reserved
// Any commercial use of this code is forbidden
// Contact info@nuclearinstruments.eu
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