Struct EpidFastPvt 

pub struct EpidFastPvt {

    pub kp: f64,
    pub ki: f64,
    pub kd: f64,
    pub drvh: f64,
    pub drvl: f64,
    pub val: f64,
    pub fbon: bool,
    pub cval: f64,
    pub oval: f64,
    pub err: f64,
    pub p: f64,
    pub i: f64,
    pub d: f64,
    pub dt: f64,
    pub ct: Instant,
    pub fbop: bool,
    pub callback_interval: f64,
    pub time_per_point_requested: f64,
    pub time_per_point_actual: f64,
    pub num_average: u32,
    pub accumulated: f64,
    pub count: u32,
    pub output_writer: Option<Arc<Mutex<dyn FnMut(f64) + Send>>>,
    pub output_reader: Option<Arc<Mutex<dyn FnMut() -> Option<f64> + Send>>>,
}

Private state for the fast PID loop, shared between the record process thread and the interrupt callback task.

Fields

kp: f64

ki: f64

kd: f64

drvh: f64

drvl: f64

val: f64

fbon: bool

cval: f64

oval: f64

err: f64

p: f64

i: f64

d: f64

dt: f64

ct: Instant

fbop: bool

callback_interval: f64

Interval (seconds) between successive driver data callbacks. C callbackInterval, set by intervalCallback from the driver and also used directly as dt in do_PID (devEpidFast.c:430).

time_per_point_requested: f64

Requested time-per-point (C timePerPointRequested), copied from the record’s DT field by update_params (devEpidFast.c:320).

time_per_point_actual: f64

Actual time-per-point achieved (C timePerPointActual) — num_average * callback_interval.

num_average: u32

accumulated: f64

count: u32

output_writer: Option<Arc<Mutex<dyn FnMut(f64) + Send>>>

output_reader: Option<Arc<Mutex<dyn FnMut() -> Option<f64> + Send>>>

Output port reader — C devEpidFast.c:446-448 reads the actual current value of the output (DAC) on the feedback OFF->ON edge via pPvt->pfloat64Output->read(...) so the integral term is seeded bumplessly from the hardware’s real output, not the last value the loop happened to command. When None (no output-port reader wired), the bumpless edge falls back to the last commanded oval — see do_pid.

Implementations

impl EpidFastPvt

pub fn compute_num_average(&mut self)

Recompute the number of points to average and the resulting actual time-per-point. C devEpidFast.c::computeNumAverage (devEpidFast.c:356-362): numAverage = 0.5 + timePerPointRequested/callbackInterval, clamped to >= 1, then timePerPointActual = numAverage * callbackInterval.

pub fn interval_callback(&mut self, seconds: f64)

Callback from the driver when the data-callback interval changes. C devEpidFast.c::intervalCallback (devEpidFast.c:367-375): updates callbackInterval then recomputes numAverage.

pub fn do_pid(&mut self, new_cval: f64)

Execute one PID cycle on new data. Called from the interrupt callback task. After computing the output, writes to the output port if configured.

Mirrors C devEpidFast.c::dataCallback (averaging) + do_PID (devEpidFast.c:379-482).

Trait Implementations

impl Default for EpidFastPvt

fn default() -> Self

Returns the “default value” for a type.