The Technology Partnership / Mbed OS LEX_Threaded_Programming_V3

LEX_Threaded_Programming

Dependencies:   Heater_V2 MODSERIAL Nanopb FastPWM ADS8568_ADC

main.cpp@18:376350fb7ef9, 2019-09-23 (annotated)

Committer:
justinbuckland
Date:
Mon Sep 23 15:42:13 2019 +0000
Revision:
18:376350fb7ef9
Parent:
17:d86e749ae9be
Child:
19:8154688252fd
Pass calibration coefficients to Heater; Heater now returns R in Ohms

Who changed what in which revision?

UserRevisionLine numberNew contents of line
omatthews 0:54bedd3964e2 1 #include "mbed.h"
omatthews 0:54bedd3964e2 2 #include "pb.h"
omatthews 0:54bedd3964e2 3 #include "pb_decode.h"
omatthews 0:54bedd3964e2 4 #include "pb_encode.h"
omatthews 0:54bedd3964e2 5 #include "MODSERIAL.h"
omatthews 0:54bedd3964e2 6 #include "ADS8568_ADC.h"
omatthews 0:54bedd3964e2 7 #include "Heater.h"
omatthews 0:54bedd3964e2 8 #include "FastPWM.h"
omatthews 0:54bedd3964e2 9 #include "memspcr.pb.h"
omatthews 0:54bedd3964e2 10 #include <vector>
omatthews 0:54bedd3964e2 11 #include <iterator>
omatthews 0:54bedd3964e2 12
paullj 14:39a5eb99fbdb 13 #define BUFFER_SIZE 8192
justinbuckland 17:d86e749ae9be 14
justinbuckland 17:d86e749ae9be 15 //UID lookup address and pointer
justinbuckland 17:d86e749ae9be 16 #define UID_ADDR 0x1FFF7A10
justinbuckland 17:d86e749ae9be 17 unsigned long *uid = (unsigned long *) UID_ADDR;
justinbuckland 17:d86e749ae9be 18
justinbuckland 17:d86e749ae9be 19 //UID and drive board calibration table
justinbuckland 17:d86e749ae9be 20 #define UID_TABLE_LENGTH 4
justinbuckland 17:d86e749ae9be 21
justinbuckland 17:d86e749ae9be 22 int drive_board_serial_number[UID_TABLE_LENGTH] =
justinbuckland 17:d86e749ae9be 23 {1,
justinbuckland 17:d86e749ae9be 24 2,
justinbuckland 17:d86e749ae9be 25 3,
justinbuckland 17:d86e749ae9be 26 4};
justinbuckland 17:d86e749ae9be 27
justinbuckland 17:d86e749ae9be 28 unsigned long drive_board_uid[UID_TABLE_LENGTH][3] =
justinbuckland 17:d86e749ae9be 29 {{0x005B0060, 0x32375101, 0x32363531},
justinbuckland 17:d86e749ae9be 30 {0x0051003D, 0x32375114, 0x30333732},
justinbuckland 17:d86e749ae9be 31 {0x00520060, 0x32375101, 0x32363531},
justinbuckland 17:d86e749ae9be 32 {0x00570060, 0x32375101, 0x32363531}};
justinbuckland 17:d86e749ae9be 33
justinbuckland 17:d86e749ae9be 34 float drive_board_cal[UID_TABLE_LENGTH][2][2] =
justinbuckland 17:d86e749ae9be 35 {{{0.096724353, 10.1817431}, {0.056098807, 10.19962849}},
justinbuckland 17:d86e749ae9be 36 {{0.059473025, 10.14814327}, {0.03200058, 10.25073923}},
justinbuckland 17:d86e749ae9be 37 {{0.01887149, 10.39360225}, {0.03115874, 10.28199855}},
justinbuckland 17:d86e749ae9be 38 {{0.052545339, 10.06008621}, {0.094239471, 10.11983777}}};
justinbuckland 17:d86e749ae9be 39
omatthews 0:54bedd3964e2 40 Heater * heater;
intrinseca 4:63d7f2a0dec6 41 float r_gradient; //setpoint setting
omatthews 5:702b32ead94e 42
justinbuckland 8:58c6d51957df 43 MODSERIAL pc(PA_9, PA_10, BUFFER_SIZE); //mcu TX, RX, BUFFER_SIZE byte TX and RX buffers
omatthews 0:54bedd3964e2 44 ADS8568_ADC adc(PB_15, PB_14, PB_13, PB_12, PC_15, PC_0, PC_1, PC_2, PC_3);
omatthews 0:54bedd3964e2 45 I2C i2c(PB_7, PB_8); //SDA, SCL
omatthews 0:54bedd3964e2 46 Timer timer;
omatthews 0:54bedd3964e2 47 DigitalIn adc_busy(PA_8); //Busy interrupt sig#
omatthews 5:702b32ead94e 48
justinbuckland 17:d86e749ae9be 49 //Fluidic Control
justinbuckland 13:b2e00297b465 50 DigitalOut pump(PA_2);
justinbuckland 13:b2e00297b465 51 AnalogIn pressure_1(PA_5);
justinbuckland 13:b2e00297b465 52
justinbuckland 17:d86e749ae9be 53 float pressure_in;
justinbuckland 17:d86e749ae9be 54 float pressure_out;
justinbuckland 17:d86e749ae9be 55 float pressure_set_low;
justinbuckland 17:d86e749ae9be 56 float pressure_set_high;
omatthews 0:54bedd3964e2 57
omatthews 0:54bedd3964e2 58 //Heater Control
justinbuckland 18:376350fb7ef9 59 FastPWM drive_1(PC_9);
justinbuckland 18:376350fb7ef9 60 FastPWM drive_2(PC_8);
justinbuckland 18:376350fb7ef9 61 FastPWM guard_1(PC_7);
justinbuckland 18:376350fb7ef9 62 FastPWM guard_2(PC_6);
justinbuckland 7:a4fc853feb30 63
justinbuckland 18:376350fb7ef9 64 //ADC channels for heater current and voltage measurements
justinbuckland 18:376350fb7ef9 65 int i_port_1 = 0;
justinbuckland 18:376350fb7ef9 66 int i_port_2 = 2;
justinbuckland 18:376350fb7ef9 67 int v_port_1 = 1;
justinbuckland 18:376350fb7ef9 68 int v_port_2 = 3;
omatthews 0:54bedd3964e2 69
justinbuckland 18:376350fb7ef9 70 //Heater ID: heater 1 is nearer liquid sense location, heater 2 is other location
justinbuckland 18:376350fb7ef9 71 int heater_ID;
omatthews 0:54bedd3964e2 72
justinbuckland 9:9474da78cec3 73 //Illumination LED Control
justinbuckland 9:9474da78cec3 74
justinbuckland 7:a4fc853feb30 75 //Indicator LEDs
justinbuckland 13:b2e00297b465 76 DigitalOut hb_led(PC_13); //Red
justinbuckland 13:b2e00297b465 77 DigitalOut led_0(PC_4); //Green
justinbuckland 13:b2e00297b465 78 DigitalOut led_1(PC_5); //Red
omatthews 0:54bedd3964e2 79
justinbuckland 7:a4fc853feb30 80 //Camera and LED drive
justinbuckland 7:a4fc853feb30 81 DigitalOut camTrigger(PB_2); //Trigger camera
justinbuckland 12:cadcea541fbf 82 DigitalOut ledDrive(PB_4); //Drive LED for fluorescence detection
justinbuckland 7:a4fc853feb30 83
omatthews 0:54bedd3964e2 84 //User buttons
omatthews 0:54bedd3964e2 85 DigitalIn user_0(PB_0);
omatthews 0:54bedd3964e2 86 DigitalIn user_1(PB_1);
omatthews 0:54bedd3964e2 87
omatthews 0:54bedd3964e2 88 BusOut converts(PC_0, PC_1, PC_2, PC_3);
omatthews 0:54bedd3964e2 89
omatthews 0:54bedd3964e2 90 //Threads
omatthews 6:ef2bcc5fe3af 91 Thread heater_control(osPriorityHigh);
omatthews 6:ef2bcc5fe3af 92 Thread logging_thread(osPriorityAboveNormal);
justinbuckland 13:b2e00297b465 93 Thread pressure_thread(osPriorityAboveNormal);
omatthews 0:54bedd3964e2 94
omatthews 0:54bedd3964e2 95 //Tickers
omatthews 0:54bedd3964e2 96 Ticker heat_tick;
omatthews 0:54bedd3964e2 97 Ticker pressure_tick;
omatthews 0:54bedd3964e2 98 Ticker log_tick;
omatthews 0:54bedd3964e2 99
omatthews 0:54bedd3964e2 100
omatthews 0:54bedd3964e2 101 //Flags
omatthews 5:702b32ead94e 102 EventFlags flags; //Flags:
omatthews 5:702b32ead94e 103 // 0 => update heater
omatthews 5:702b32ead94e 104 // 1 => log state
justinbuckland 13:b2e00297b465 105 // 2 => read pressure
omatthews 5:702b32ead94e 106 bool triggered_flag;
omatthews 0:54bedd3964e2 107 bool status = true;
omatthews 0:54bedd3964e2 108
omatthews 0:54bedd3964e2 109 //Configuration data
omatthews 0:54bedd3964e2 110 memspcr_ExperimentConfiguration exp_config = memspcr_ExperimentConfiguration_init_zero;
omatthews 0:54bedd3964e2 111 int buffer_length;
omatthews 0:54bedd3964e2 112 size_t message_length;
justinbuckland 8:58c6d51957df 113 uint8_t buffer[BUFFER_SIZE];
omatthews 0:54bedd3964e2 114
omatthews 0:54bedd3964e2 115
omatthews 0:54bedd3964e2 116 //Functions for reading and decoding the message__________________________________________________
omatthews 0:54bedd3964e2 117
omatthews 0:54bedd3964e2 118 void read_message()
omatthews 0:54bedd3964e2 119 {
justinbuckland 7:a4fc853feb30 120 if (pc.scanf("%d",&message_length) < 0){pc.printf("# Error reading message length");}
omatthews 5:702b32ead94e 121 size_t buffer_length = sizeof(buffer);
omatthews 5:702b32ead94e 122 if (message_length > buffer_length)
omatthews 5:702b32ead94e 123 {
justinbuckland 7:a4fc853feb30 124 pc.printf("# Message length exceeds buffer. \n Input configuration file\n");
omatthews 5:702b32ead94e 125 read_message();
omatthews 5:702b32ead94e 126 return;
omatthews 5:702b32ead94e 127 }
justinbuckland 7:a4fc853feb30 128 pc.printf("# Message is %d chars long, buffer length is %d\n",message_length,buffer_length);
omatthews 5:702b32ead94e 129 unsigned int c;
omatthews 5:702b32ead94e 130 for (int i = 0; i < message_length; i++)
omatthews 0:54bedd3964e2 131 {
omatthews 0:54bedd3964e2 132 pc.scanf("%02X",&c);
omatthews 0:54bedd3964e2 133 buffer[i] = (char) c;
omatthews 0:54bedd3964e2 134 }
omatthews 0:54bedd3964e2 135 }
omatthews 0:54bedd3964e2 136
omatthews 0:54bedd3964e2 137 void decode_message()
omatthews 0:54bedd3964e2 138 {
omatthews 5:702b32ead94e 139 // Create a stream that reads from the buffer.
omatthews 0:54bedd3964e2 140 pb_istream_t istream = pb_istream_from_buffer(buffer, message_length);
omatthews 0:54bedd3964e2 141
omatthews 5:702b32ead94e 142 //Now we are ready to decode the message.
omatthews 0:54bedd3964e2 143 status = pb_decode(&istream, memspcr_ExperimentConfiguration_fields, &exp_config);
omatthews 0:54bedd3964e2 144
omatthews 5:702b32ead94e 145 // Check for errors...
omatthews 5:702b32ead94e 146 if (!status) {
justinbuckland 7:a4fc853feb30 147 pc.printf("# Decoding failed: %s\n", PB_GET_ERROR(&istream));
omatthews 0:54bedd3964e2 148 }
omatthews 0:54bedd3964e2 149 }
omatthews 0:54bedd3964e2 150
omatthews 0:54bedd3964e2 151 bool decode_callback(pb_istream_t *stream, const pb_field_t *field, void **arg)
omatthews 0:54bedd3964e2 152 {
omatthews 0:54bedd3964e2 153 vector <memspcr_ThermalStep> * dest = (vector <memspcr_ThermalStep> *)(*arg);
omatthews 0:54bedd3964e2 154 memspcr_ThermalStep result = memspcr_ThermalStep_init_zero;
omatthews 0:54bedd3964e2 155 status = pb_decode(stream, memspcr_ThermalStep_fields, & result);
omatthews 5:702b32ead94e 156
omatthews 5:702b32ead94e 157 if (!status) {
justinbuckland 7:a4fc853feb30 158 pc.printf("# Decode callback failed\n");
omatthews 0:54bedd3964e2 159 }
omatthews 0:54bedd3964e2 160
intrinseca 4:63d7f2a0dec6 161 dest->push_back(result); //CHECK: Does result get copied into the vector?
omatthews 0:54bedd3964e2 162 return true;
omatthews 0:54bedd3964e2 163 }
omatthews 0:54bedd3964e2 164
omatthews 0:54bedd3964e2 165
omatthews 0:54bedd3964e2 166 //Ticking functions_________________________________________________________________
omatthews 0:54bedd3964e2 167
omatthews 6:ef2bcc5fe3af 168
omatthews 5:702b32ead94e 169 void temp_trigger()
omatthews 0:54bedd3964e2 170 {
omatthews 5:702b32ead94e 171 //This function triggers a temperature update.
omatthews 5:702b32ead94e 172 //N.B. update cannot be called directly from a ticker as tickers and
omatthews 0:54bedd3964e2 173 //reading the ADC both rely on interrupts.
omatthews 5:702b32ead94e 174 flags.set(0x1);
omatthews 0:54bedd3964e2 175 }
omatthews 0:54bedd3964e2 176
omatthews 6:ef2bcc5fe3af 177
omatthews 2:b27d8f9a6e49 178 void log_trigger()
omatthews 2:b27d8f9a6e49 179 {
omatthews 5:702b32ead94e 180 flags.set(0x2);
omatthews 2:b27d8f9a6e49 181 }
justinbuckland 7:a4fc853feb30 182
justinbuckland 13:b2e00297b465 183 void pressure_trigger()
omatthews 0:54bedd3964e2 184 {
justinbuckland 13:b2e00297b465 185 flags.set(0x3);
justinbuckland 10:f8202e71e765 186 }
omatthews 0:54bedd3964e2 187
omatthews 0:54bedd3964e2 188
omatthews 5:702b32ead94e 189 //Other functions__________________________________________________________________
omatthews 0:54bedd3964e2 190
omatthews 0:54bedd3964e2 191
omatthews 0:54bedd3964e2 192 void temp_control() {
omatthews 0:54bedd3964e2 193 while(1){
omatthews 6:ef2bcc5fe3af 194 flags.wait_any(0x1,osWaitForever,true);
omatthews 0:54bedd3964e2 195 heater->read();
omatthews 0:54bedd3964e2 196 heater->update();
justinbuckland 17:d86e749ae9be 197 wait_us(200);//Give other threads time to get selected
omatthews 0:54bedd3964e2 198 }
omatthews 0:54bedd3964e2 199 }
omatthews 5:702b32ead94e 200
omatthews 2:b27d8f9a6e49 201 void log_state()
omatthews 2:b27d8f9a6e49 202 {
omatthews 2:b27d8f9a6e49 203 while(1){
omatthews 6:ef2bcc5fe3af 204 flags.wait_any(0x2,osWaitForever,true);
omatthews 6:ef2bcc5fe3af 205 //Output time, R_ref, R, error, error_integrated
justinbuckland 11:7394f281e845 206 pc.printf("%10d,%10d,%10.6f,%10.6f,%10.6f,%10.6f\n", heater_ID, timer.read_ms(), heater->Get_R(), heater->Get_R_ref(), pressure_in, pressure_out);
justinbuckland 17:d86e749ae9be 207 wait_us(200);//Give other threads time to get selected
omatthews 2:b27d8f9a6e49 208 }
omatthews 2:b27d8f9a6e49 209 }
omatthews 5:702b32ead94e 210
justinbuckland 13:b2e00297b465 211 void pressure_control() {
justinbuckland 13:b2e00297b465 212 while(1){
justinbuckland 13:b2e00297b465 213 flags.wait_any(0x3,osWaitForever,true);
justinbuckland 17:d86e749ae9be 214 pressure_in = pressure_1.read();
justinbuckland 13:b2e00297b465 215 if (pressure_in < pressure_set_low) {
justinbuckland 13:b2e00297b465 216 led_1 = 1;
justinbuckland 13:b2e00297b465 217 pump = 1;
justinbuckland 13:b2e00297b465 218 }
justinbuckland 13:b2e00297b465 219 else if (pressure_in > pressure_set_high) {
justinbuckland 13:b2e00297b465 220 led_1 = 0;
justinbuckland 13:b2e00297b465 221 pump = 0;
justinbuckland 13:b2e00297b465 222 }
justinbuckland 17:d86e749ae9be 223 wait_us(200);//Give other threads time to get selected
justinbuckland 13:b2e00297b465 224 }
justinbuckland 13:b2e00297b465 225 }
justinbuckland 13:b2e00297b465 226
justinbuckland 13:b2e00297b465 227
omatthews 5:702b32ead94e 228 void set_point_routine(std::vector<memspcr_ThermalStep> profile) {
omatthews 5:702b32ead94e 229 int curr_time;
omatthews 5:702b32ead94e 230 vector <memspcr_ThermalStep>::iterator it_prev, it = profile.begin();
omatthews 5:702b32ead94e 231 if (it->elapsed_time_ms != 0)
omatthews 5:702b32ead94e 232 {
justinbuckland 7:a4fc853feb30 233 pc.printf("# Error: the first point in the profile should be at time 0.\n");
omatthews 5:702b32ead94e 234 return;
omatthews 5:702b32ead94e 235 }
omatthews 2:b27d8f9a6e49 236 it++;
omatthews 0:54bedd3964e2 237
omatthews 0:54bedd3964e2 238 for (it_prev = profile.begin(); it < profile.end(); it ++, it_prev++){
omatthews 0:54bedd3964e2 239 triggered_flag = false;
paullj 14:39a5eb99fbdb 240 r_gradient = (it->resistance_set_point - it_prev->resistance_set_point)/(it->elapsed_time_ms - it_prev->elapsed_time_ms);
omatthews 0:54bedd3964e2 241 while ((curr_time = timer.read_ms()) <= it->elapsed_time_ms){
paullj 14:39a5eb99fbdb 242 heater->Set_ref(it_prev->resistance_set_point + r_gradient * (curr_time - it_prev->elapsed_time_ms));
justinbuckland 8:58c6d51957df 243
justinbuckland 9:9474da78cec3 244 if (!triggered_flag && (it->camera_offset_ms != 0) && (curr_time > it_prev->elapsed_time_ms + it->camera_offset_ms))
omatthews 0:54bedd3964e2 245 {
justinbuckland 9:9474da78cec3 246 //Start camera exposure and turn on LED if camera_offset_ms is non-zero
justinbuckland 7:a4fc853feb30 247 camTrigger = 0;
justinbuckland 7:a4fc853feb30 248 wait_us(10);
justinbuckland 7:a4fc853feb30 249 camTrigger = 1;
justinbuckland 7:a4fc853feb30 250 led_0 = 1;
justinbuckland 12:cadcea541fbf 251 ledDrive = 1;
omatthews 0:54bedd3964e2 252 triggered_flag = true;
omatthews 0:54bedd3964e2 253 }
justinbuckland 8:58c6d51957df 254 wait_us(200);
omatthews 0:54bedd3964e2 255 }
justinbuckland 8:58c6d51957df 256 //Stop camera exposure and turn off LED at end of time segment
justinbuckland 8:58c6d51957df 257 camTrigger = 0;
justinbuckland 8:58c6d51957df 258 led_0 = 0;
justinbuckland 12:cadcea541fbf 259 ledDrive = 0;
omatthews 0:54bedd3964e2 260 }
omatthews 0:54bedd3964e2 261 }
omatthews 0:54bedd3964e2 262
omatthews 0:54bedd3964e2 263
omatthews 5:702b32ead94e 264 int main()
omatthews 5:702b32ead94e 265 {
justinbuckland 18:376350fb7ef9 266 int i_board = -1;
justinbuckland 18:376350fb7ef9 267 int i_heater;
justinbuckland 18:376350fb7ef9 268 float drive_cal_a, drive_cal_b;
justinbuckland 18:376350fb7ef9 269
omatthews 0:54bedd3964e2 270 pc.baud(115200);
omatthews 0:54bedd3964e2 271 adc.init();
justinbuckland 17:d86e749ae9be 272
justinbuckland 17:d86e749ae9be 273 pc.printf("\r\nUnique ID: %08X %08X %08X \r\n", uid[0], uid[1], uid[2]);
justinbuckland 17:d86e749ae9be 274 for (int i = 0; i < UID_TABLE_LENGTH; i++)
justinbuckland 17:d86e749ae9be 275 {
justinbuckland 17:d86e749ae9be 276 if (uid[0]==drive_board_uid[i][0] && uid[1]==drive_board_uid[i][1] && uid[2]==drive_board_uid[i][2])
justinbuckland 17:d86e749ae9be 277 {
justinbuckland 17:d86e749ae9be 278 i_board = i;
justinbuckland 17:d86e749ae9be 279 i = UID_TABLE_LENGTH;
justinbuckland 17:d86e749ae9be 280 }
justinbuckland 17:d86e749ae9be 281 }
justinbuckland 17:d86e749ae9be 282
justinbuckland 17:d86e749ae9be 283 if (i_board != -1) pc.printf("Drive board: Board %d\n",drive_board_serial_number[i_board]);
justinbuckland 17:d86e749ae9be 284 else pc.printf("Drive board UID match not found\n");
omatthews 5:702b32ead94e 285
omatthews 0:54bedd3964e2 286 buffer_length = sizeof(buffer)/sizeof(uint8_t);
justinbuckland 7:a4fc853feb30 287 pc.printf("# Input configuration file\n");
justinbuckland 9:9474da78cec3 288
intrinseca 4:63d7f2a0dec6 289 //set up nanopb
omatthews 5:702b32ead94e 290 std::vector<memspcr_ThermalStep> profile;
omatthews 5:702b32ead94e 291 exp_config.profile.funcs.decode = decode_callback;
omatthews 5:702b32ead94e 292 exp_config.profile.arg = &profile;
omatthews 5:702b32ead94e 293
intrinseca 4:63d7f2a0dec6 294 //read and decode configuration
justinbuckland 18:376350fb7ef9 295 read_message();
justinbuckland 7:a4fc853feb30 296 pc.printf("# Message read\n");
omatthews 0:54bedd3964e2 297 decode_message();
justinbuckland 7:a4fc853feb30 298 pc.printf("# Message decoded\n");
omatthews 5:702b32ead94e 299
omatthews 5:702b32ead94e 300
justinbuckland 18:376350fb7ef9 301 //Select heater
justinbuckland 18:376350fb7ef9 302 if (exp_config.selected_heater == memspcr_ExperimentConfiguration_Heater_HEATER_1)
justinbuckland 18:376350fb7ef9 303 i_heater = 0;
justinbuckland 18:376350fb7ef9 304 else if (exp_config.selected_heater == memspcr_ExperimentConfiguration_Heater_HEATER_2)
justinbuckland 18:376350fb7ef9 305 i_heater = 1;
justinbuckland 18:376350fb7ef9 306 else {
justinbuckland 8:58c6d51957df 307 pc.printf("# Error - no heater has been selected\n");
omatthews 5:702b32ead94e 308 return 1;
omatthews 5:702b32ead94e 309 }
justinbuckland 18:376350fb7ef9 310 heater_ID = i_heater + 1;
justinbuckland 18:376350fb7ef9 311
justinbuckland 18:376350fb7ef9 312 //Set drive ADC->Resistance calibration coefficients (default: no change if board not found)
justinbuckland 18:376350fb7ef9 313 drive_cal_a = drive_board_cal[i_board][i_heater][0];
justinbuckland 18:376350fb7ef9 314 drive_cal_b = drive_board_cal[i_board][i_heater][1];
justinbuckland 18:376350fb7ef9 315
justinbuckland 18:376350fb7ef9 316 pc.printf("# Heater: %d\n", heater_ID);
justinbuckland 18:376350fb7ef9 317 pc.printf("# Calibration: %10.6f, %10.6f\n", drive_cal_a, drive_cal_b);
omatthews 5:702b32ead94e 318
justinbuckland 18:376350fb7ef9 319 //Define heaters
justinbuckland 18:376350fb7ef9 320 Heater * heater_1 = new Heater(i_port_1, v_port_1, drive_cal_a, drive_cal_b, & drive_1, & guard_1, & adc, adc_busy, exp_config.thermal);
justinbuckland 18:376350fb7ef9 321 Heater * heater_2 = new Heater(i_port_2, v_port_2, drive_cal_a, drive_cal_b, & drive_2, & guard_2, & adc, adc_busy, exp_config.thermal);
justinbuckland 18:376350fb7ef9 322 if (i_heater == 0)
justinbuckland 18:376350fb7ef9 323 heater = heater_1;
justinbuckland 18:376350fb7ef9 324 else
justinbuckland 18:376350fb7ef9 325 heater = heater_2;
justinbuckland 18:376350fb7ef9 326
justinbuckland 18:376350fb7ef9 327 pc.printf("# Waiting for signal to begin pressure control (type p or press button 0)\n");
justinbuckland 18:376350fb7ef9 328 while (pc.getcNb()!='p' && !user_0);
justinbuckland 18:376350fb7ef9 329 pc.printf("# Pressure control start signal received\n");
justinbuckland 13:b2e00297b465 330 pressure_thread.start(& pressure_control);
justinbuckland 13:b2e00297b465 331 pressure_tick.attach_us(& pressure_trigger, 500000);
justinbuckland 13:b2e00297b465 332
justinbuckland 18:376350fb7ef9 333 pc.printf("# Waiting for signal to begin temperature control (type s or press button 0)\n");
justinbuckland 18:376350fb7ef9 334 while (pc.getcNb()!='s' && !user_0);
justinbuckland 18:376350fb7ef9 335 pc.printf("# Temperature control start signal received\n");
justinbuckland 18:376350fb7ef9 336
omatthews 6:ef2bcc5fe3af 337 heater->Set_ref(0.0);
omatthews 6:ef2bcc5fe3af 338 heater_control.start(& temp_control);
justinbuckland 18:376350fb7ef9 339 heat_tick.attach_us(& temp_trigger,exp_config.thermal.control_loop_interval_ms * 1000);
omatthews 0:54bedd3964e2 340
omatthews 2:b27d8f9a6e49 341 logging_thread.start(& log_state);
omatthews 6:ef2bcc5fe3af 342 log_tick.attach_us(& log_trigger,exp_config.logging_interval_ms * 1000);
omatthews 0:54bedd3964e2 343
justinbuckland 13:b2e00297b465 344 pc.printf("# Starting routine\n");
justinbuckland 11:7394f281e845 345 pc.printf("# heater, time(ms), r, rSet, pIn, pOut\n");
omatthews 2:b27d8f9a6e49 346 timer.start();
omatthews 5:702b32ead94e 347 set_point_routine(profile);
omatthews 6:ef2bcc5fe3af 348
omatthews 6:ef2bcc5fe3af 349 //Turn off
omatthews 5:702b32ead94e 350 heat_tick.detach();
omatthews 5:702b32ead94e 351 log_tick.detach();
omatthews 5:702b32ead94e 352 wait(1);
omatthews 2:b27d8f9a6e49 353 heater->turn_off();
justinbuckland 18:376350fb7ef9 354
justinbuckland 7:a4fc853feb30 355 pc.printf("# Finished\n");
justinbuckland 7:a4fc853feb30 356
omatthews 5:702b32ead94e 357 return 0;
omatthews 5:702b32ead94e 358 }