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LEX_Threaded_Programming
Dependencies: Heater_V2 MODSERIAL Nanopb FastPWM ADS8568_ADC
main.cpp@5:702b32ead94e, 2019-08-29 (annotated)
- Committer:
- omatthews
- Date:
- Thu Aug 29 16:08:04 2019 +0000
- Revision:
- 5:702b32ead94e
- Parent:
- 4:63d7f2a0dec6
- Child:
- 6:ef2bcc5fe3af
Edits made
Who changed what in which revision?
User | Revision | Line number | New 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 | Heater * heater; |
intrinseca | 4:63d7f2a0dec6 | 14 | float r_gradient; //setpoint setting |
omatthews | 5:702b32ead94e | 15 | |
omatthews | 0:54bedd3964e2 | 16 | |
omatthews | 0:54bedd3964e2 | 17 | MODSERIAL pc(PA_9, PA_10, 512); //mcu TX, RX, 512 byte TX and RX buffers |
omatthews | 0:54bedd3964e2 | 18 | ADS8568_ADC adc(PB_15, PB_14, PB_13, PB_12, PC_15, PC_0, PC_1, PC_2, PC_3); |
omatthews | 0:54bedd3964e2 | 19 | I2C i2c(PB_7, PB_8); //SDA, SCL |
omatthews | 0:54bedd3964e2 | 20 | Timer timer; |
omatthews | 0:54bedd3964e2 | 21 | DigitalIn adc_busy(PA_8); //Busy interrupt sig# |
omatthews | 5:702b32ead94e | 22 | |
omatthews | 0:54bedd3964e2 | 23 | |
omatthews | 0:54bedd3964e2 | 24 | //Heater Control |
omatthews | 5:702b32ead94e | 25 | FastPWM drive_main(PC_9); |
omatthews | 5:702b32ead94e | 26 | FastPWM drive_lysis(PC_8); |
omatthews | 5:702b32ead94e | 27 | FastPWM guard_main(PC_7); |
omatthews | 5:702b32ead94e | 28 | FastPWM guard_lysis(PC_6); |
omatthews | 5:702b32ead94e | 29 | int i_port_main = 0; |
omatthews | 5:702b32ead94e | 30 | int i_port_lysis = 2; |
omatthews | 5:702b32ead94e | 31 | int v_port_main = 1; |
omatthews | 5:702b32ead94e | 32 | int v_port_lysis = 3; |
omatthews | 0:54bedd3964e2 | 33 | |
omatthews | 0:54bedd3964e2 | 34 | |
omatthews | 0:54bedd3964e2 | 35 | |
omatthews | 0:54bedd3964e2 | 36 | //indicator LEDs |
omatthews | 0:54bedd3964e2 | 37 | DigitalOut hb_led(PC_13); //Green |
omatthews | 0:54bedd3964e2 | 38 | DigitalOut led_0(PC_4); //Red |
omatthews | 0:54bedd3964e2 | 39 | DigitalOut led_1(PC_5); //Green |
omatthews | 0:54bedd3964e2 | 40 | |
omatthews | 0:54bedd3964e2 | 41 | //User buttons |
omatthews | 0:54bedd3964e2 | 42 | DigitalIn user_0(PB_0); |
omatthews | 0:54bedd3964e2 | 43 | DigitalIn user_1(PB_1); |
omatthews | 0:54bedd3964e2 | 44 | |
omatthews | 0:54bedd3964e2 | 45 | BusOut converts(PC_0, PC_1, PC_2, PC_3); |
omatthews | 0:54bedd3964e2 | 46 | |
omatthews | 0:54bedd3964e2 | 47 | |
omatthews | 0:54bedd3964e2 | 48 | //Threads |
omatthews | 0:54bedd3964e2 | 49 | Thread heater_control; |
omatthews | 2:b27d8f9a6e49 | 50 | Thread logging_thread; |
omatthews | 0:54bedd3964e2 | 51 | |
omatthews | 0:54bedd3964e2 | 52 | //Tickers |
omatthews | 0:54bedd3964e2 | 53 | Ticker heat_tick; |
omatthews | 0:54bedd3964e2 | 54 | Ticker pressure_tick; |
omatthews | 0:54bedd3964e2 | 55 | Ticker log_tick; |
omatthews | 0:54bedd3964e2 | 56 | |
omatthews | 0:54bedd3964e2 | 57 | |
omatthews | 0:54bedd3964e2 | 58 | //Flags |
omatthews | 5:702b32ead94e | 59 | EventFlags flags; //Flags: |
omatthews | 5:702b32ead94e | 60 | // 0 => update heater |
omatthews | 5:702b32ead94e | 61 | // 1 => log state |
omatthews | 5:702b32ead94e | 62 | bool triggered_flag; |
omatthews | 0:54bedd3964e2 | 63 | bool status = true; |
omatthews | 0:54bedd3964e2 | 64 | |
omatthews | 0:54bedd3964e2 | 65 | //Configuration data |
omatthews | 0:54bedd3964e2 | 66 | memspcr_ExperimentConfiguration exp_config = memspcr_ExperimentConfiguration_init_zero; |
omatthews | 0:54bedd3964e2 | 67 | int buffer_length; |
omatthews | 0:54bedd3964e2 | 68 | size_t message_length; |
omatthews | 5:702b32ead94e | 69 | uint8_t buffer[512]; //FIXME: Needs to be longer |
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 | 5:702b32ead94e | 79 | size_t buffer_length = sizeof(buffer); |
omatthews | 5:702b32ead94e | 80 | if (message_length > buffer_length) |
omatthews | 5:702b32ead94e | 81 | { |
omatthews | 5:702b32ead94e | 82 | pc.printf("Message length exceeds buffer. \n Input configuration file\n"); |
omatthews | 5:702b32ead94e | 83 | read_message(); |
omatthews | 5:702b32ead94e | 84 | return; |
omatthews | 5:702b32ead94e | 85 | } |
omatthews | 0:54bedd3964e2 | 86 | pc.printf("Message is %d chars long, buffer length is %d\n",message_length,buffer_length); |
omatthews | 5:702b32ead94e | 87 | unsigned int c; |
omatthews | 5:702b32ead94e | 88 | for (int i = 0; i < message_length; i++) |
omatthews | 0:54bedd3964e2 | 89 | { |
omatthews | 0:54bedd3964e2 | 90 | pc.scanf("%02X",&c); |
omatthews | 0:54bedd3964e2 | 91 | buffer[i] = (char) c; |
omatthews | 0:54bedd3964e2 | 92 | } |
omatthews | 0:54bedd3964e2 | 93 | } |
omatthews | 0:54bedd3964e2 | 94 | |
omatthews | 0:54bedd3964e2 | 95 | void decode_message() |
omatthews | 0:54bedd3964e2 | 96 | { |
omatthews | 5:702b32ead94e | 97 | // Create a stream that reads from the buffer. |
omatthews | 5:702b32ead94e | 98 | |
omatthews | 0:54bedd3964e2 | 99 | pb_istream_t istream = pb_istream_from_buffer(buffer, message_length); |
omatthews | 0:54bedd3964e2 | 100 | |
omatthews | 5:702b32ead94e | 101 | //Now we are ready to decode the message. |
omatthews | 0:54bedd3964e2 | 102 | status = pb_decode(&istream, memspcr_ExperimentConfiguration_fields, &exp_config); |
omatthews | 0:54bedd3964e2 | 103 | |
omatthews | 5:702b32ead94e | 104 | // Check for errors... |
omatthews | 5:702b32ead94e | 105 | if (!status) { |
omatthews | 0:54bedd3964e2 | 106 | pc.printf("Decoding failed: %s\n", PB_GET_ERROR(&istream)); |
omatthews | 0:54bedd3964e2 | 107 | } |
omatthews | 0:54bedd3964e2 | 108 | } |
omatthews | 0:54bedd3964e2 | 109 | |
omatthews | 0:54bedd3964e2 | 110 | bool decode_callback(pb_istream_t *stream, const pb_field_t *field, void **arg) |
omatthews | 0:54bedd3964e2 | 111 | { |
omatthews | 0:54bedd3964e2 | 112 | vector <memspcr_ThermalStep> * dest = (vector <memspcr_ThermalStep> *)(*arg); |
omatthews | 0:54bedd3964e2 | 113 | memspcr_ThermalStep result = memspcr_ThermalStep_init_zero; |
omatthews | 0:54bedd3964e2 | 114 | status = pb_decode(stream, memspcr_ThermalStep_fields, & result); |
omatthews | 5:702b32ead94e | 115 | |
omatthews | 5:702b32ead94e | 116 | if (!status) { |
omatthews | 0:54bedd3964e2 | 117 | pc.printf("Decode callback failed\n"); |
omatthews | 0:54bedd3964e2 | 118 | } |
omatthews | 0:54bedd3964e2 | 119 | |
intrinseca | 4:63d7f2a0dec6 | 120 | dest->push_back(result); //CHECK: Does result get copied into the vector? |
omatthews | 0:54bedd3964e2 | 121 | return true; |
omatthews | 0:54bedd3964e2 | 122 | } |
omatthews | 0:54bedd3964e2 | 123 | |
omatthews | 0:54bedd3964e2 | 124 | |
omatthews | 0:54bedd3964e2 | 125 | //Ticking functions_________________________________________________________________ |
omatthews | 0:54bedd3964e2 | 126 | |
omatthews | 5:702b32ead94e | 127 | void temp_trigger() |
omatthews | 0:54bedd3964e2 | 128 | { |
omatthews | 5:702b32ead94e | 129 | //This function triggers a temperature update. |
omatthews | 5:702b32ead94e | 130 | //N.B. update cannot be called directly from a ticker as tickers and |
omatthews | 0:54bedd3964e2 | 131 | //reading the ADC both rely on interrupts. |
omatthews | 5:702b32ead94e | 132 | flags.set(0x1); |
omatthews | 5:702b32ead94e | 133 | led_0 = !led_0; |
omatthews | 5:702b32ead94e | 134 | |
omatthews | 0:54bedd3964e2 | 135 | } |
omatthews | 0:54bedd3964e2 | 136 | |
omatthews | 2:b27d8f9a6e49 | 137 | void log_trigger() |
omatthews | 2:b27d8f9a6e49 | 138 | { |
omatthews | 5:702b32ead94e | 139 | flags.set(0x2); |
omatthews | 2:b27d8f9a6e49 | 140 | } |
omatthews | 5:702b32ead94e | 141 | void pressure_control() |
omatthews | 0:54bedd3964e2 | 142 | { |
omatthews | 0:54bedd3964e2 | 143 | //Input pressure control function here |
omatthews | 0:54bedd3964e2 | 144 | //i.e. |
omatthews | 0:54bedd3964e2 | 145 | //read_pressure(); |
omatthews | 0:54bedd3964e2 | 146 | //if (pressure < lower_bound) { |
omatthews | 5:702b32ead94e | 147 | //pump_turn_on(); |
omatthews | 5:702b32ead94e | 148 | //} |
omatthews | 0:54bedd3964e2 | 149 | //else if (pressure > upper_bound) { |
omatthews | 5:702b32ead94e | 150 | //pump_turn_off(); |
omatthews | 5:702b32ead94e | 151 | //} |
omatthews | 0:54bedd3964e2 | 152 | led_1 = !led_1; |
omatthews | 0:54bedd3964e2 | 153 | } |
omatthews | 0:54bedd3964e2 | 154 | |
omatthews | 2:b27d8f9a6e49 | 155 | |
omatthews | 0:54bedd3964e2 | 156 | |
omatthews | 0:54bedd3964e2 | 157 | |
omatthews | 5:702b32ead94e | 158 | //Other functions__________________________________________________________________ |
omatthews | 0:54bedd3964e2 | 159 | |
omatthews | 0:54bedd3964e2 | 160 | |
omatthews | 0:54bedd3964e2 | 161 | void temp_control() { |
omatthews | 0:54bedd3964e2 | 162 | while(1){ |
omatthews | 5:702b32ead94e | 163 | flags.wait_any(0x1); |
omatthews | 5:702b32ead94e | 164 | led_1 = !led_1; |
omatthews | 5:702b32ead94e | 165 | |
omatthews | 5:702b32ead94e | 166 | flags.clear(0x1); |
omatthews | 5:702b32ead94e | 167 | |
omatthews | 0:54bedd3964e2 | 168 | heater->read(); |
omatthews | 0:54bedd3964e2 | 169 | heater->update(); |
omatthews | 0:54bedd3964e2 | 170 | } |
omatthews | 0:54bedd3964e2 | 171 | } |
omatthews | 5:702b32ead94e | 172 | |
omatthews | 2:b27d8f9a6e49 | 173 | void log_state() |
omatthews | 2:b27d8f9a6e49 | 174 | { |
omatthews | 2:b27d8f9a6e49 | 175 | while(1){ |
omatthews | 5:702b32ead94e | 176 | flags.wait_any(0x2); |
omatthews | 5:702b32ead94e | 177 | flags.clear(0x2); |
omatthews | 2:b27d8f9a6e49 | 178 | heater->log(); |
omatthews | 2:b27d8f9a6e49 | 179 | } |
omatthews | 2:b27d8f9a6e49 | 180 | } |
omatthews | 5:702b32ead94e | 181 | |
omatthews | 5:702b32ead94e | 182 | void set_point_routine(std::vector<memspcr_ThermalStep> profile) { |
omatthews | 5:702b32ead94e | 183 | int curr_time; |
omatthews | 5:702b32ead94e | 184 | vector <memspcr_ThermalStep>::iterator it_prev, it = profile.begin(); |
omatthews | 5:702b32ead94e | 185 | if (it->elapsed_time_ms != 0) |
omatthews | 5:702b32ead94e | 186 | { |
omatthews | 5:702b32ead94e | 187 | pc.printf("\nError: the first point in the profile should be at time 0.\n"); |
omatthews | 5:702b32ead94e | 188 | return; |
omatthews | 5:702b32ead94e | 189 | } |
omatthews | 2:b27d8f9a6e49 | 190 | it++; |
omatthews | 0:54bedd3964e2 | 191 | |
omatthews | 0:54bedd3964e2 | 192 | for (it_prev = profile.begin(); it < profile.end(); it ++, it_prev++){ |
omatthews | 0:54bedd3964e2 | 193 | triggered_flag = false; |
omatthews | 0:54bedd3964e2 | 194 | r_gradient = (it->resistance - it_prev->resistance)/(it->elapsed_time_ms - it_prev->elapsed_time_ms); |
omatthews | 0:54bedd3964e2 | 195 | while ((curr_time = timer.read_ms()) <= it->elapsed_time_ms){ |
omatthews | 5:702b32ead94e | 196 | heater->Set_ref(it_prev->resistance + r_gradient * (curr_time - it_prev->elapsed_time_ms)); |
omatthews | 0:54bedd3964e2 | 197 | |
omatthews | 5:702b32ead94e | 198 | |
omatthews | 0:54bedd3964e2 | 199 | if (!triggered_flag && curr_time > it_prev->elapsed_time_ms + it->camera_offset_ms) |
omatthews | 0:54bedd3964e2 | 200 | { |
omatthews | 0:54bedd3964e2 | 201 | //Start camera trigger |
omatthews | 0:54bedd3964e2 | 202 | //trigger_out = 1; |
omatthews | 0:54bedd3964e2 | 203 | triggered_flag = true; |
omatthews | 0:54bedd3964e2 | 204 | } |
omatthews | 5:702b32ead94e | 205 | else |
omatthews | 5:702b32ead94e | 206 | { |
omatthews | 5:702b32ead94e | 207 | //trigger_out = 0; |
intrinseca | 4:63d7f2a0dec6 | 208 | } |
omatthews | 0:54bedd3964e2 | 209 | |
intrinseca | 4:63d7f2a0dec6 | 210 | wait_us(200); |
omatthews | 0:54bedd3964e2 | 211 | } |
omatthews | 0:54bedd3964e2 | 212 | |
omatthews | 0:54bedd3964e2 | 213 | } |
omatthews | 0:54bedd3964e2 | 214 | } |
omatthews | 0:54bedd3964e2 | 215 | |
omatthews | 0:54bedd3964e2 | 216 | |
omatthews | 5:702b32ead94e | 217 | |
omatthews | 5:702b32ead94e | 218 | |
omatthews | 0:54bedd3964e2 | 219 | |
omatthews | 5:702b32ead94e | 220 | |
omatthews | 5:702b32ead94e | 221 | int main() |
omatthews | 5:702b32ead94e | 222 | { |
omatthews | 0:54bedd3964e2 | 223 | pc.baud(115200); |
omatthews | 0:54bedd3964e2 | 224 | adc.init(); |
omatthews | 5:702b32ead94e | 225 | |
omatthews | 0:54bedd3964e2 | 226 | buffer_length = sizeof(buffer)/sizeof(uint8_t); |
omatthews | 5:702b32ead94e | 227 | pc.printf("\n\nInput configuration file\n"); |
omatthews | 5:702b32ead94e | 228 | |
intrinseca | 4:63d7f2a0dec6 | 229 | //set up nanopb |
omatthews | 5:702b32ead94e | 230 | std::vector<memspcr_ThermalStep> profile; |
omatthews | 5:702b32ead94e | 231 | exp_config.profile.funcs.decode = decode_callback; |
omatthews | 5:702b32ead94e | 232 | exp_config.profile.arg = &profile; |
omatthews | 5:702b32ead94e | 233 | |
omatthews | 5:702b32ead94e | 234 | |
intrinseca | 4:63d7f2a0dec6 | 235 | //read and decode configuration |
intrinseca | 4:63d7f2a0dec6 | 236 | read_message(); |
omatthews | 5:702b32ead94e | 237 | pc.printf("\nMessage read\n"); |
omatthews | 0:54bedd3964e2 | 238 | decode_message(); |
omatthews | 0:54bedd3964e2 | 239 | printf("\nMessage decoded\n"); |
omatthews | 5:702b32ead94e | 240 | |
omatthews | 5:702b32ead94e | 241 | |
omatthews | 5:702b32ead94e | 242 | |
omatthews | 5:702b32ead94e | 243 | Heater * heater_main = new Heater(i_port_main, v_port_main, & drive_main, & guard_main, exp_config.thermal); |
omatthews | 5:702b32ead94e | 244 | Heater * heater_lysis = new Heater(i_port_lysis, v_port_lysis, & drive_lysis, & guard_lysis, exp_config.thermal); |
omatthews | 5:702b32ead94e | 245 | |
omatthews | 5:702b32ead94e | 246 | //Select heater. Put control times in us for ticker functions |
omatthews | 5:702b32ead94e | 247 | if (exp_config.selected_heater == memspcr_ExperimentConfiguration_Heater_MAIN) { |
omatthews | 5:702b32ead94e | 248 | heater = heater_main; |
omatthews | 5:702b32ead94e | 249 | } else if (exp_config.selected_heater == memspcr_ExperimentConfiguration_Heater_LYSIS) { |
omatthews | 5:702b32ead94e | 250 | heater = heater_lysis; |
omatthews | 5:702b32ead94e | 251 | } else { |
omatthews | 5:702b32ead94e | 252 | pc.printf("Error - no heater has been selected"); |
omatthews | 5:702b32ead94e | 253 | return 1; |
omatthews | 5:702b32ead94e | 254 | } |
omatthews | 5:702b32ead94e | 255 | |
omatthews | 0:54bedd3964e2 | 256 | pc.printf("\nStarting pressure control\n"); |
omatthews | 0:54bedd3964e2 | 257 | pressure_tick.attach(& pressure_control, 1); |
omatthews | 2:b27d8f9a6e49 | 258 | pc.printf("\nWaiting for start signal to begin temperature control (type in an s or press button 0)\n"); |
omatthews | 0:54bedd3964e2 | 259 | |
omatthews | 2:b27d8f9a6e49 | 260 | while (pc.getcNb()!='s' && !user_0); |
omatthews | 5:702b32ead94e | 261 | |
omatthews | 0:54bedd3964e2 | 262 | pc.printf("Start signal received"); |
omatthews | 0:54bedd3964e2 | 263 | heater_control.start(& temp_control); |
omatthews | 5:702b32ead94e | 264 | |
omatthews | 5:702b32ead94e | 265 | heat_tick.attach_us(& temp_trigger,exp_config.thermal.control_loop_interval_ms * 500); |
omatthews | 0:54bedd3964e2 | 266 | |
omatthews | 2:b27d8f9a6e49 | 267 | logging_thread.start(& log_state); |
omatthews | 5:702b32ead94e | 268 | log_tick.attach_us(& log_trigger,exp_config.logging_interval_ms * 500); |
omatthews | 0:54bedd3964e2 | 269 | |
omatthews | 5:702b32ead94e | 270 | |
omatthews | 0:54bedd3964e2 | 271 | pc.printf("\nStarting routine\n"); |
omatthews | 2:b27d8f9a6e49 | 272 | timer.start(); |
omatthews | 5:702b32ead94e | 273 | set_point_routine(profile); |
omatthews | 5:702b32ead94e | 274 | heat_tick.detach(); |
omatthews | 5:702b32ead94e | 275 | log_tick.detach(); |
omatthews | 5:702b32ead94e | 276 | wait(1); |
omatthews | 2:b27d8f9a6e49 | 277 | heater->turn_off(); |
omatthews | 5:702b32ead94e | 278 | |
omatthews | 0:54bedd3964e2 | 279 | pc.printf("Finished"); |
omatthews | 5:702b32ead94e | 280 | |
omatthews | 5:702b32ead94e | 281 | |
omatthews | 5:702b32ead94e | 282 | return 0; |
omatthews | 5:702b32ead94e | 283 | } |