diff --git a/ADbasic_program_buffered.bas b/ADbasic_program_buffered.bas
index d9717586026d07364428ab5404ed28dfbde41a3f..93bcf0659c7f057f1b50894a44ee8c8fe8308ad8 100644
--- a/ADbasic_program_buffered.bas
+++ b/ADbasic_program_buffered.bas
@@ -12,7 +12,6 @@
' Info_Last_Save = QI-ADWIN QI-ADWIN\labuser
'<Header End>
#include adwinpro_all.inc
-Import Math.LIC
' Array Size Settings
' TODO: check these values in labscript_devices files
@@ -44,17 +43,18 @@ DIM DATA_3[MAX_EVENTS] AS LONG 'Analog ouput value
DIM DATA_4[MAX_PID_EVENTS] AS LONG 'Times for changing PID channels
DIM DATA_5[MAX_PID_EVENTS] AS LONG 'PID A_OUT channel
DIM DATA_6[MAX_PID_EVENTS] AS LONG 'PID A_In channel
-DIM DATA_25[MAX_PID_EVENTS] AS FLOAT 'PID P values
-DIM DATA_26[MAX_PID_EVENTS] AS FLOAT 'PID I values
-DIM DATA_27[MAX_PID_EVENTS] AS FLOAT 'PID D values
-DIM DATA_28[MAX_PID_EVENTS] AS LONG 'PID min values
-DIM DATA_29[MAX_PID_EVENTS] AS LONG 'PID max values
+DIM DATA_24[PIDNO] AS FLOAT 'PID channel for init parameters
+DIM DATA_25[PIDNO] AS FLOAT 'PID P values
+DIM DATA_26[PIDNO] AS FLOAT 'PID I values
+DIM DATA_27[PIDNO] AS FLOAT 'PID D values
+DIM DATA_28[PIDNO] AS LONG 'PID min values
+DIM DATA_29[PIDNO] AS LONG 'PID max values
+DIM DATA_30[MAX_PID_EVENTS] AS LONG 'PID start values
' Declare arrays for AIN Channel Timings
DIM DATA_7[AINNO] AS LONG 'Start times for channel recording
DIM DATA_8[AINNO] AS LONG 'End times for channel recording
DIM DATA_9[AINNO] AS LONG 'Gain modes for AIN channels
-DIM DATA_19[AINNO] AS LONG 'Storage rate for AIN channels
DIM DATA_199[A_IN_BUFFER+16] AS LONG 'Recorded Data - add padding at the end to ensure no overflow happens
DIM ain_index[AINNO] AS LONG 'Index of the data acquisition for each channel, to have the values sorted
@@ -103,7 +103,6 @@ DIM set_target[AOUTNO] AS LONG ' Set values to be written to AOUTs
DIM set_output[AOUTNO] AS LONG ' Set values to be written to AOUTs
DIM set_pid[AOUTNO] AS LONG ' PID selection for each AOUT
DIM act_values[PIDNO] AS LONG ' Analog values measured from AINs
-DIM ain_rate[AINNO] AS LONG ' How often should the AIN value be stored for each channel, combined with DATA_7 and DATA_8
'=========================================================================
@@ -178,6 +177,17 @@ init:
'Output set voltages
P2_Start_DAC(AOUT1)
P2_Start_DAC(AOUT2)
+
+ '=========================== INITIALIZE PIDs ==========================
+ FOR i=1 TO par_22
+ pidn = DATA_24[i]
+ pid_P[pidn] = DATA_25[i]
+ pid_I[pidn] = DATA_26[i]
+ pid_D[pidn] = DATA_27[i]
+ pid_min[pidn] = DATA_28[i]
+ pid_max[pidn] = DATA_29[i]
+ NEXT i
+
'=========================== OTHER SETTINGS ==========================
@@ -207,13 +217,8 @@ init:
'Determine indices for analog data acquisition
ain_index[1] = 1
- ain_rate[1] = Round(1e9 / PROCESSDELAY / DATA_19[1])
FOR i=2 TO AINNO
- ain_index[i] = ain_index[i-1] + ((DATA_8[i-1] - DATA_7[i-1]) / ain_rate[i-1])
- IF (Mod(DATA_8[i-1] - DATA_7[i-1],ain_rate[i-1]) <> 0) THEN
- ain_index[i] = ain_index[i] + 1
- ENDIF
- ain_rate[i] = Round(1e9 / PROCESSDELAY / DATA_19[i])
+ ain_index[i] = ain_index[i-1] + DATA_8[i-1] - DATA_7[i-1]
NEXT i
@@ -246,11 +251,6 @@ init:
EVENT:
timer = Read_Timer_Sync()
- 'Synchronize DIO Channels
- if(processIdx = 20) then
- P2_set_par(DIO1,1,20,1) 'starte tico event Modul 1
- P2_set_par(DIO2,1,20,1) 'starte tico event Modul 5
- endif
'======================== READ ANALOG IN CARDS =========================
@@ -260,42 +260,12 @@ EVENT:
'Start conversion at all ADC Channels Synced for next Event
P2_Sync_All(001100b)
-
- '====================== CALCULATE NEW SET VALUES =======================
-
- FOR i=1 TO AOUTNO
- pidn = set_pid[i]
- if (pidn = 0) then
- 'No PID active
- set_output[i]=set_target[i]
- else
- 'Get deviation from target voltage
- pid_error = set_target[i]- act_values[pidn]
- 'Get proportional part
- pid_lin=pid_P[pidn]*pid_error
- 'Get integral part
- pid_sum[i] = pid_sum[i] + pid_I[pidn]*pid_error
- 'Get differential part
- pid_dError = pid_D[pidn]* pid_error
- pid_diff = pid_dError - pid_prev_dError[i]
- pid_prev_dError[i] = pid_dError
-
- 'Check for integral overflow
- if (pid_sum[i] > N) then pid_sum[i] = N
- if (pid_sum[i] < -N) then pid_sum[i] = -N
-
- set_output[i]=(pid_lin+pid_sum[i]+pid_diff) + N
- ' Check that output is within safe limits
- if (set_output[i] < pid_min[pidn]) then set_output[i] = pid_min[pidn]
- if (set_output[i] > pid_max[pidn]) then set_output[i] = pid_max[pidn]
- endif
- NEXT i
-
-
- '========================= SET NEW AOUT VALUES =========================
- 'Write values to AOUT Cards
- P2_Write_DAC8(AOUT1,set_output,1)
- P2_Write_DAC8(AOUT2,set_output,9)
+
+ 'Synchronize DIO Channels (once after 20 events)
+ if(processIdx = 20) then
+ P2_set_par(DIO1,1,20,1) 'starte tico event Modul 1
+ P2_set_par(DIO2,1,20,1) 'starte tico event Modul 5
+ endif
'Set all voltages synchronously
P2_Sync_All(110000b)
@@ -306,10 +276,8 @@ EVENT:
FOR i=1 to AINNO
IF(processIdx < DATA_8[i]) THEN
IF (processIdx >= DATA_7[i]) THEN
- ' IF (Mod(processIdx-DATA_7[i], ain_rate[i]) = 0) THEN
DATA_199[ain_index[i]]=act_values[i]
inc ain_index[i]
- ' ENDIF
ENDIF 'processIdx > DATA_7[i]
ENDIF 'processIdx <= DATA_8[i]
NEXT i
@@ -329,30 +297,70 @@ EVENT:
UNTIL(DATA_1[eventIdx+1] > processIdx)
nextAOutTime = DATA_1[eventIdx+1]
ENDIF
+
+
+ '====================== CALCULATE NEW SET VALUES (PIDs) =======================
+
+ FOR i=1 TO AOUTNO
+ pidn = set_pid[i]
+ if (pidn = 0) then
+ 'No PID active
+ set_output[i]=set_target[i]
+ else
+ 'Get deviation from target voltage
+ pid_error = set_target[i]- act_values[pidn]
+ 'Get proportional part
+ pid_lin=pid_P[pidn]*pid_error
+ 'Get integral part
+ pid_sum[i] = pid_sum[i] + pid_I[pidn]*pid_error
+ 'Get differential part
+ pid_dError = pid_D[pidn]* pid_error
+ pid_diff = pid_dError - pid_prev_dError[i]
+ pid_prev_dError[i] = pid_dError
+
+ 'Check for integral overflow
+ if (pid_sum[i] > N) then pid_sum[i] = N
+ if (pid_sum[i] < -N) then pid_sum[i] = -N
+
+ set_output[i]=(pid_lin+pid_sum[i]+pid_diff) + N
+ ' Check that output is within safe limits
+ if (set_output[i] < pid_min[pidn]) then set_output[i] = pid_min[pidn]
+ if (set_output[i] > pid_max[pidn]) then set_output[i] = pid_max[pidn]
+ endif
+ NEXT i
'========================== Update pid target ==========================
IF(nextPidTime <= processIdx) Then
DO
inc pidIdx
i = DATA_5[pidIdx] ' output channel index
- set_pid[i] = DATA_6[pidIdx]
- pid_error = set_target[i] - act_values[DATA_6[pidIdx]]
- pid_sum[i] = pid_sum[i] + DATA_26[pidIdx]*pid_error
+ set_pid[i] = DATA_6[pidIdx] ' input/PID channel index
pid_prev_dError[i] = 0
+
+
IF (set_pid[i]=0) THEN
' When we turn off PID, use the last output value as the new target value.
' With this we can turn a beam off and on with the previous power during one shot.
- set_target[i] = set_output[i]
+ IF (DATA_30[pidIdx]=100000) THEN set_target[i] = set_output[i]
+ ELSE
+ ' Set output value when PID is tunred on. Because we don't have an input value yet, use just the I part.
+ ' (Either the I value from the previous PID time, or the one set in Data_30.
+ IF (DATA_30[pidIdx] = 100000) THEN
+ set_output[i] = pid_sum[i] + N
+ ELSE
+ set_output[i] = DATA_30[pidIdx]
+ pid_sum[i] = set_output[i] - N
+ ENDIF
ENDIF
- i = DATA_6[pidIdx] ' input/PID channel index
- pid_P[i] = DATA_25[pidIdx]
- pid_I[i] = DATA_26[pidIdx]
- pid_D[i] = DATA_27[pidIdx]
- pid_min[i] = DATA_28[pidIdx]
- pid_max[i] = DATA_29[pidIdx]
+
UNTIL(DATA_4[pidIdx+1] > processIdx)
nextPidTime = DATA_4[pidIdx+1]
ENDIF
+
+ '========================= SET AOUT VALUES =========================
+ 'Write values to AOUT Cards
+ P2_Write_DAC8(AOUT1,set_output,1)
+ P2_Write_DAC8(AOUT2,set_output,9)
'### Debug Timer
timer=READ_TIMER_SYNC() - timer
diff --git a/README.md b/README.md
index 3005a51c089c5581efff7efb59daacfcf42c9b79..837adae971c13a6444d51886dd73aa6b2ce103da 100644
--- a/README.md
+++ b/README.md
@@ -31,6 +31,7 @@ The global variables in the ADwin can be used for data transfer with the compute
| Par_15 | Process index, updated every event loop |
| Par_20 | Tico Process status of *DIO2* at end of shot, running (fine) = 1, stopped (error) = 0 |
| Par_21 | PID No. which gets its parameters set from GUI |
+| Par_22 | Total numbers of PIDs with settings, that are set in the INIT block |
| Par_91 | Digital output of DIO1 for *manual programming* |
| Par_92 | Digital output of DIO2 for *manual programming* |
| FPar_21 | Value set from GUI for `pid_P[Par_21]` |
@@ -47,9 +48,16 @@ The global variables in the ADwin can be used for data transfer with the compute
| Data_9 | Gain modes for 16 Analog Input channels |
| Data_10 | Time for digital outputs of DIO1 (in number of *TiCo* process cycles) |
| Data_11 | **Digital** output bitfield for 32 channels of DIO1 at time from Data_10 |
-| Data_19 | Storage rate for Analog Input channels |
+| Data_19 | Storage rate for Analog Input channels (depreciated) |
| Data_20 | Time for digital outputs of DIO2 (in number of *TiCo* process cycles) |
| Data_21 | **Digital** output bitfield for 32 channels of DIO2 at time from Data_10 |
+| Data_24 | PID channel for config |
+| Data_25 | P gain of PID in Data_24 |
+| Data_26 | I gain of PID in Data_24 |
+| Data_27 | D gain of PID in Data_24 |
+| Data_28 | Lower bound of PID in Data_24 |
+| Data_29 | Upper bound of PID in Data_24 |
+| Data_30 | Start value of PID at time Data_4 for AnalogOut in Data_5 |
| Data_31 | Workload array for testing |
| Data_93 | Analog input of AIN1 for *manual programming* |
| Data_94 | Analog input of AIN2 for *manual programming* |
diff --git a/Tico_DIO32.bas b/Tico_DIO32.bas
index 44bcd3816534f4d4f9f070a6532cae629173703e..d86183510e2f84f3974b14a60a8f53b8e02d0688 100644
--- a/Tico_DIO32.bas
+++ b/Tico_DIO32.bas
@@ -7,7 +7,7 @@
' TiCoBasic_Version = 1.6.4
' Optimize = Yes
' Optimize_Level = 2
-' Info_Last_Save = ATI098-60 ATI098-60\labuser
+' Info_Last_Save = QI-ADWIN QI-ADWIN\labuser
'<Header End>
@@ -27,6 +27,7 @@ INIT:
UNTIL (par_20=1)
'nops(0) 'for tico module 2 (started second)
nops(8) 'for tico module 1 (started first)
+ sleep(5)
Event: