The Technology Partnership / Mbed OS LEX_Threaded_Programming_V3

LEX_Threaded_Programming

Dependencies:   Heater_V2 MODSERIAL Nanopb FastPWM ADS8568_ADC

main.cpp@0:54bedd3964e2, 2019-08-27 (annotated)

Committer:
omatthews
Date:
Tue Aug 27 07:51:34 2019 +0000
Revision:
0:54bedd3964e2
Child:
2:b27d8f9a6e49
Forgot ADC init

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
omatthews 0:54bedd3964e2 13
omatthews 0:54bedd3964e2 14 #define ALL_CH 15 //value of convst bus to read all chanels simultaneosly
omatthews 0:54bedd3964e2 15 Heater * heater;
omatthews 0:54bedd3964e2 16 float r_gradient;
omatthews 0:54bedd3964e2 17 int curr_time;
omatthews 0:54bedd3964e2 18
omatthews 0:54bedd3964e2 19 MODSERIAL pc(PA_9, PA_10, 512); //mcu TX, RX, 512 byte TX and RX buffers
omatthews 0:54bedd3964e2 20 ADS8568_ADC adc(PB_15, PB_14, PB_13, PB_12, PC_15, PC_0, PC_1, PC_2, PC_3);
omatthews 0:54bedd3964e2 21 I2C i2c(PB_7, PB_8); //SDA, SCL
omatthews 0:54bedd3964e2 22 Timer timer;
omatthews 0:54bedd3964e2 23 DigitalIn adc_busy(PA_8); //Busy interrupt sig#
omatthews 0:54bedd3964e2 24 int i;
omatthews 0:54bedd3964e2 25
omatthews 0:54bedd3964e2 26 //Heater Control
omatthews 0:54bedd3964e2 27 FastPWM drive_1(PC_9);
omatthews 0:54bedd3964e2 28 FastPWM drive_2(PC_8);
omatthews 0:54bedd3964e2 29 FastPWM guard_1(PC_7);
omatthews 0:54bedd3964e2 30 FastPWM guard_2(PC_6);
omatthews 0:54bedd3964e2 31
omatthews 0:54bedd3964e2 32
omatthews 0:54bedd3964e2 33
omatthews 0:54bedd3964e2 34 //indicator LEDs
omatthews 0:54bedd3964e2 35 DigitalOut hb_led(PC_13); //Green
omatthews 0:54bedd3964e2 36 DigitalOut led_0(PC_4); //Red
omatthews 0:54bedd3964e2 37 DigitalOut led_1(PC_5); //Green
omatthews 0:54bedd3964e2 38
omatthews 0:54bedd3964e2 39 //User buttons
omatthews 0:54bedd3964e2 40 DigitalIn user_0(PB_0);
omatthews 0:54bedd3964e2 41 DigitalIn user_1(PB_1);
omatthews 0:54bedd3964e2 42
omatthews 0:54bedd3964e2 43 BusOut converts(PC_0, PC_1, PC_2, PC_3);
omatthews 0:54bedd3964e2 44
omatthews 0:54bedd3964e2 45
omatthews 0:54bedd3964e2 46 //Threads
omatthews 0:54bedd3964e2 47 Thread heater_control;
omatthews 0:54bedd3964e2 48
omatthews 0:54bedd3964e2 49 //Tickers
omatthews 0:54bedd3964e2 50 Ticker heat_tick;
omatthews 0:54bedd3964e2 51 Ticker pressure_tick;
omatthews 0:54bedd3964e2 52 Ticker log_tick;
omatthews 0:54bedd3964e2 53
omatthews 0:54bedd3964e2 54
omatthews 0:54bedd3964e2 55 //Flags
omatthews 0:54bedd3964e2 56 bool start_flag = false;
omatthews 0:54bedd3964e2 57 bool config_flag = false;
omatthews 0:54bedd3964e2 58 volatile bool heater_flag = false;
omatthews 0:54bedd3964e2 59 bool triggered_flag = false;
omatthews 0:54bedd3964e2 60 bool untriggered_flag = false;
omatthews 0:54bedd3964e2 61 bool status = true;
omatthews 0:54bedd3964e2 62
omatthews 0:54bedd3964e2 63 //Configuration data
omatthews 0:54bedd3964e2 64 memspcr_ExperimentConfiguration exp_config = memspcr_ExperimentConfiguration_init_zero;
omatthews 0:54bedd3964e2 65 int buffer_length;
omatthews 0:54bedd3964e2 66 std::vector<memspcr_ThermalStep> profile;
omatthews 0:54bedd3964e2 67 unsigned int c = 0;
omatthews 0:54bedd3964e2 68 size_t message_length;
omatthews 0:54bedd3964e2 69 uint8_t buffer[256];
omatthews 0:54bedd3964e2 70
omatthews 0:54bedd3964e2 71
omatthews 0:54bedd3964e2 72
omatthews 0:54bedd3964e2 73
omatthews 0:54bedd3964e2 74 //Functions for reading and decoding the message__________________________________________________
omatthews 0:54bedd3964e2 75
omatthews 0:54bedd3964e2 76 void read_message()
omatthews 0:54bedd3964e2 77 {
omatthews 0:54bedd3964e2 78 if (pc.scanf("%d",&message_length) < 0){pc.printf("Error reading message length");}
omatthews 0:54bedd3964e2 79 pc.printf("Message is %d chars long, buffer length is %d\n",message_length,buffer_length);
omatthews 0:54bedd3964e2 80 for (i = 0; i < message_length; i++)
omatthews 0:54bedd3964e2 81 {
omatthews 0:54bedd3964e2 82 i = i % buffer_length;
omatthews 0:54bedd3964e2 83 pc.scanf("%02X",&c);
omatthews 0:54bedd3964e2 84 buffer[i] = (char) c;
omatthews 0:54bedd3964e2 85 }
omatthews 0:54bedd3964e2 86 }
omatthews 0:54bedd3964e2 87
omatthews 0:54bedd3964e2 88 void decode_message()
omatthews 0:54bedd3964e2 89 {
omatthews 0:54bedd3964e2 90 // Create a stream that reads from the buffer.
omatthews 0:54bedd3964e2 91
omatthews 0:54bedd3964e2 92 pb_istream_t istream = pb_istream_from_buffer(buffer, message_length);
omatthews 0:54bedd3964e2 93
omatthews 0:54bedd3964e2 94 //Now we are ready to decode the message.
omatthews 0:54bedd3964e2 95 status = pb_decode(&istream, memspcr_ExperimentConfiguration_fields, &exp_config);
omatthews 0:54bedd3964e2 96
omatthews 0:54bedd3964e2 97 // Check for errors...
omatthews 0:54bedd3964e2 98 if (!status)
omatthews 0:54bedd3964e2 99 {
omatthews 0:54bedd3964e2 100 pc.printf("Decoding failed: %s\n", PB_GET_ERROR(&istream));
omatthews 0:54bedd3964e2 101 }
omatthews 0:54bedd3964e2 102 }
omatthews 0:54bedd3964e2 103
omatthews 0:54bedd3964e2 104 bool decode_callback(pb_istream_t *stream, const pb_field_t *field, void **arg)
omatthews 0:54bedd3964e2 105 {
omatthews 0:54bedd3964e2 106 vector <memspcr_ThermalStep> * dest = (vector <memspcr_ThermalStep> *)(*arg);
omatthews 0:54bedd3964e2 107 memspcr_ThermalStep result = memspcr_ThermalStep_init_zero;
omatthews 0:54bedd3964e2 108 status = pb_decode(stream, memspcr_ThermalStep_fields, & result);
omatthews 0:54bedd3964e2 109
omatthews 0:54bedd3964e2 110 if (!status)
omatthews 0:54bedd3964e2 111 {
omatthews 0:54bedd3964e2 112 pc.printf("Decode callback failed\n");
omatthews 0:54bedd3964e2 113 }
omatthews 0:54bedd3964e2 114
omatthews 0:54bedd3964e2 115 dest->push_back(result);
omatthews 0:54bedd3964e2 116 return true;
omatthews 0:54bedd3964e2 117 }
omatthews 0:54bedd3964e2 118
omatthews 0:54bedd3964e2 119
omatthews 0:54bedd3964e2 120 //Ticking functions_________________________________________________________________
omatthews 0:54bedd3964e2 121
omatthews 0:54bedd3964e2 122 void temp_trigger()
omatthews 0:54bedd3964e2 123 {
omatthews 0:54bedd3964e2 124 //This function triggers a temperature update.
omatthews 0:54bedd3964e2 125 //N.B. update cannot be called directly from a ticker as tickers and
omatthews 0:54bedd3964e2 126 //reading the ADC both rely on interrupts.
omatthews 0:54bedd3964e2 127 heater_flag = true;
omatthews 0:54bedd3964e2 128 }
omatthews 0:54bedd3964e2 129
omatthews 0:54bedd3964e2 130 void pressure_control()
omatthews 0:54bedd3964e2 131 {
omatthews 0:54bedd3964e2 132 //Input pressure control function here
omatthews 0:54bedd3964e2 133 //i.e.
omatthews 0:54bedd3964e2 134 //read_pressure();
omatthews 0:54bedd3964e2 135 //if (pressure < lower_bound) {
omatthews 0:54bedd3964e2 136 //pump_turn_on();
omatthews 0:54bedd3964e2 137 //}
omatthews 0:54bedd3964e2 138 //else if (pressure > upper_bound) {
omatthews 0:54bedd3964e2 139 //pump_turn_off();
omatthews 0:54bedd3964e2 140 //}
omatthews 0:54bedd3964e2 141 led_1 = !led_1;
omatthews 0:54bedd3964e2 142 }
omatthews 0:54bedd3964e2 143
omatthews 0:54bedd3964e2 144 void log_state()
omatthews 0:54bedd3964e2 145 {
omatthews 0:54bedd3964e2 146 heater->log();
omatthews 0:54bedd3964e2 147 }
omatthews 0:54bedd3964e2 148
omatthews 0:54bedd3964e2 149
omatthews 0:54bedd3964e2 150 //Other functions__________________________________________________________________
omatthews 0:54bedd3964e2 151
omatthews 0:54bedd3964e2 152
omatthews 0:54bedd3964e2 153 void temp_control() {
omatthews 0:54bedd3964e2 154 while(1){
omatthews 0:54bedd3964e2 155 while(!heater_flag);
omatthews 0:54bedd3964e2 156 led_0 = !led_0;
omatthews 0:54bedd3964e2 157 heater->read();
omatthews 0:54bedd3964e2 158 heater->update();
omatthews 0:54bedd3964e2 159 heater_flag = false;
omatthews 0:54bedd3964e2 160 }
omatthews 0:54bedd3964e2 161 }
omatthews 0:54bedd3964e2 162
omatthews 0:54bedd3964e2 163
omatthews 0:54bedd3964e2 164 void set_point_routine() {
omatthews 0:54bedd3964e2 165 memspcr_ThermalStep step;
omatthews 0:54bedd3964e2 166 step.resistance = 0.0;
omatthews 0:54bedd3964e2 167 step.elapsed_time_ms = 0;
omatthews 0:54bedd3964e2 168 step.camera_offset_ms = 0;
omatthews 0:54bedd3964e2 169 vector <memspcr_ThermalStep>::iterator it = profile.begin();
omatthews 0:54bedd3964e2 170 vector <memspcr_ThermalStep>::iterator it_prev;
omatthews 0:54bedd3964e2 171 profile.insert(it,step);
omatthews 0:54bedd3964e2 172
omatthews 0:54bedd3964e2 173 for (it_prev = profile.begin(); it < profile.end(); it ++, it_prev++){
omatthews 0:54bedd3964e2 174 triggered_flag = false;
omatthews 0:54bedd3964e2 175 untriggered_flag = false;
omatthews 0:54bedd3964e2 176 r_gradient = (it->resistance - it_prev->resistance)/(it->elapsed_time_ms - it_prev->elapsed_time_ms);
omatthews 0:54bedd3964e2 177 while ((curr_time = timer.read_ms()) <= it->elapsed_time_ms){
omatthews 0:54bedd3964e2 178 heater->Set_ref(it_prev->resistance + r_gradient * (curr_time - it_prev->elapsed_time_ms));
omatthews 0:54bedd3964e2 179
omatthews 0:54bedd3964e2 180 if (!untriggered_flag && triggered_flag)
omatthews 0:54bedd3964e2 181 {
omatthews 0:54bedd3964e2 182 //Untrigger on the next cycle
omatthews 0:54bedd3964e2 183 //trigger_out = 0;
omatthews 0:54bedd3964e2 184 untriggered_flag = true;
omatthews 0:54bedd3964e2 185 }
omatthews 0:54bedd3964e2 186
omatthews 0:54bedd3964e2 187 if (!triggered_flag && curr_time > it_prev->elapsed_time_ms + it->camera_offset_ms)
omatthews 0:54bedd3964e2 188 {
omatthews 0:54bedd3964e2 189 //Start camera trigger
omatthews 0:54bedd3964e2 190 //trigger_out = 1;
omatthews 0:54bedd3964e2 191 triggered_flag = true;
omatthews 0:54bedd3964e2 192 }
omatthews 0:54bedd3964e2 193
omatthews 0:54bedd3964e2 194 wait_ms(1);
omatthews 0:54bedd3964e2 195 }
omatthews 0:54bedd3964e2 196
omatthews 0:54bedd3964e2 197 }
omatthews 0:54bedd3964e2 198 }
omatthews 0:54bedd3964e2 199
omatthews 0:54bedd3964e2 200
omatthews 0:54bedd3964e2 201
omatthews 0:54bedd3964e2 202
omatthews 0:54bedd3964e2 203
omatthews 0:54bedd3964e2 204
omatthews 0:54bedd3964e2 205 int main() {
omatthews 0:54bedd3964e2 206 pc.baud(115200);
omatthews 0:54bedd3964e2 207 adc.init();
omatthews 0:54bedd3964e2 208 buffer_length = sizeof(buffer)/sizeof(uint8_t);
omatthews 0:54bedd3964e2 209 pc.printf("Input configuration file\n");
omatthews 0:54bedd3964e2 210
omatthews 0:54bedd3964e2 211 read_message();
omatthews 0:54bedd3964e2 212
omatthews 0:54bedd3964e2 213 pc.printf("\nMessage read\n");
omatthews 0:54bedd3964e2 214
omatthews 0:54bedd3964e2 215 exp_config.thermal.profile.arg = &profile;
omatthews 0:54bedd3964e2 216 exp_config.thermal.profile.funcs.decode = decode_callback;
omatthews 0:54bedd3964e2 217
omatthews 0:54bedd3964e2 218
omatthews 0:54bedd3964e2 219 decode_message();
omatthews 0:54bedd3964e2 220 printf("\nMessage decoded\n");
omatthews 0:54bedd3964e2 221 Heater heater_(exp_config.thermal);
omatthews 0:54bedd3964e2 222 heater = &heater_;
omatthews 0:54bedd3964e2 223
omatthews 0:54bedd3964e2 224 pc.printf("\nStarting pressure control\n");
omatthews 0:54bedd3964e2 225 pressure_tick.attach(& pressure_control, 1);
omatthews 0:54bedd3964e2 226 pc.printf("\nWaiting for start signal to begin temperature control\n");
omatthews 0:54bedd3964e2 227
omatthews 0:54bedd3964e2 228 while (pc.getc()!='s');
omatthews 0:54bedd3964e2 229
omatthews 0:54bedd3964e2 230 pc.printf("Start signal received");
omatthews 0:54bedd3964e2 231 heater_control.start(& temp_control);
omatthews 0:54bedd3964e2 232 heat_tick.attach_us(& temp_trigger,exp_config.thermal.control_loop_interval);
omatthews 0:54bedd3964e2 233
omatthews 0:54bedd3964e2 234 log_tick.attach_us(& log_state,exp_config.logging_interval_ms * 1000);
omatthews 0:54bedd3964e2 235
omatthews 0:54bedd3964e2 236
omatthews 0:54bedd3964e2 237 pc.printf("\nStarting routine\n");
omatthews 0:54bedd3964e2 238 set_point_routine();
omatthews 0:54bedd3964e2 239 pc.printf("Finished");
omatthews 0:54bedd3964e2 240
omatthews 0:54bedd3964e2 241
omatthews 0:54bedd3964e2 242 }