The Technology Partnership / Mbed OS LEX_Threaded_Programming_V3

LEX_Threaded_Programming

Dependencies:   Heater_V2 MODSERIAL Nanopb FastPWM ADS8568_ADC

main.cpp@2:b27d8f9a6e49, 2019-08-27 (annotated)

Committer:
omatthews
Date:
Tue Aug 27 15:04:53 2019 +0000
Revision:
2:b27d8f9a6e49
Parent:
0:54bedd3964e2
Child:
4:63d7f2a0dec6
Final working version from Ollie

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 2:b27d8f9a6e49 48 Thread logging_thread;
omatthews 0:54bedd3964e2 49
omatthews 0:54bedd3964e2 50 //Tickers
omatthews 0:54bedd3964e2 51 Ticker heat_tick;
omatthews 0:54bedd3964e2 52 Ticker pressure_tick;
omatthews 0:54bedd3964e2 53 Ticker log_tick;
omatthews 0:54bedd3964e2 54
omatthews 0:54bedd3964e2 55
omatthews 0:54bedd3964e2 56 //Flags
omatthews 0:54bedd3964e2 57 bool start_flag = false;
omatthews 0:54bedd3964e2 58 bool config_flag = false;
omatthews 0:54bedd3964e2 59 volatile bool heater_flag = false;
omatthews 2:b27d8f9a6e49 60 volatile bool log_flag = false;
omatthews 0:54bedd3964e2 61 bool triggered_flag = false;
omatthews 0:54bedd3964e2 62 bool untriggered_flag = false;
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 std::vector<memspcr_ThermalStep> profile;
omatthews 0:54bedd3964e2 69 unsigned int c = 0;
omatthews 0:54bedd3964e2 70 size_t message_length;
omatthews 0:54bedd3964e2 71 uint8_t buffer[256];
omatthews 0:54bedd3964e2 72
omatthews 0:54bedd3964e2 73
omatthews 0:54bedd3964e2 74
omatthews 0:54bedd3964e2 75
omatthews 0:54bedd3964e2 76 //Functions for reading and decoding the message__________________________________________________
omatthews 0:54bedd3964e2 77
omatthews 0:54bedd3964e2 78 void read_message()
omatthews 0:54bedd3964e2 79 {
omatthews 0:54bedd3964e2 80 if (pc.scanf("%d",&message_length) < 0){pc.printf("Error reading message length");}
omatthews 0:54bedd3964e2 81 pc.printf("Message is %d chars long, buffer length is %d\n",message_length,buffer_length);
omatthews 0:54bedd3964e2 82 for (i = 0; i < message_length; i++)
omatthews 0:54bedd3964e2 83 {
omatthews 0:54bedd3964e2 84 i = i % buffer_length;
omatthews 0:54bedd3964e2 85 pc.scanf("%02X",&c);
omatthews 0:54bedd3964e2 86 buffer[i] = (char) c;
omatthews 0:54bedd3964e2 87 }
omatthews 0:54bedd3964e2 88 }
omatthews 0:54bedd3964e2 89
omatthews 0:54bedd3964e2 90 void decode_message()
omatthews 0:54bedd3964e2 91 {
omatthews 0:54bedd3964e2 92 // Create a stream that reads from the buffer.
omatthews 0:54bedd3964e2 93
omatthews 0:54bedd3964e2 94 pb_istream_t istream = pb_istream_from_buffer(buffer, message_length);
omatthews 0:54bedd3964e2 95
omatthews 0:54bedd3964e2 96 //Now we are ready to decode the message.
omatthews 0:54bedd3964e2 97 status = pb_decode(&istream, memspcr_ExperimentConfiguration_fields, &exp_config);
omatthews 0:54bedd3964e2 98
omatthews 0:54bedd3964e2 99 // Check for errors...
omatthews 0:54bedd3964e2 100 if (!status)
omatthews 0:54bedd3964e2 101 {
omatthews 0:54bedd3964e2 102 pc.printf("Decoding failed: %s\n", PB_GET_ERROR(&istream));
omatthews 0:54bedd3964e2 103 }
omatthews 0:54bedd3964e2 104 }
omatthews 0:54bedd3964e2 105
omatthews 0:54bedd3964e2 106 bool decode_callback(pb_istream_t *stream, const pb_field_t *field, void **arg)
omatthews 0:54bedd3964e2 107 {
omatthews 0:54bedd3964e2 108 vector <memspcr_ThermalStep> * dest = (vector <memspcr_ThermalStep> *)(*arg);
omatthews 0:54bedd3964e2 109 memspcr_ThermalStep result = memspcr_ThermalStep_init_zero;
omatthews 0:54bedd3964e2 110 status = pb_decode(stream, memspcr_ThermalStep_fields, & result);
omatthews 0:54bedd3964e2 111
omatthews 0:54bedd3964e2 112 if (!status)
omatthews 0:54bedd3964e2 113 {
omatthews 0:54bedd3964e2 114 pc.printf("Decode callback failed\n");
omatthews 0:54bedd3964e2 115 }
omatthews 0:54bedd3964e2 116
omatthews 0:54bedd3964e2 117 dest->push_back(result);
omatthews 0:54bedd3964e2 118 return true;
omatthews 0:54bedd3964e2 119 }
omatthews 0:54bedd3964e2 120
omatthews 0:54bedd3964e2 121
omatthews 0:54bedd3964e2 122 //Ticking functions_________________________________________________________________
omatthews 0:54bedd3964e2 123
omatthews 0:54bedd3964e2 124 void temp_trigger()
omatthews 0:54bedd3964e2 125 {
omatthews 0:54bedd3964e2 126 //This function triggers a temperature update.
omatthews 0:54bedd3964e2 127 //N.B. update cannot be called directly from a ticker as tickers and
omatthews 0:54bedd3964e2 128 //reading the ADC both rely on interrupts.
omatthews 0:54bedd3964e2 129 heater_flag = true;
omatthews 0:54bedd3964e2 130 }
omatthews 0:54bedd3964e2 131
omatthews 2:b27d8f9a6e49 132 void log_trigger()
omatthews 2:b27d8f9a6e49 133 {
omatthews 2:b27d8f9a6e49 134 log_flag = true;
omatthews 2:b27d8f9a6e49 135 }
omatthews 0:54bedd3964e2 136 void pressure_control()
omatthews 0:54bedd3964e2 137 {
omatthews 0:54bedd3964e2 138 //Input pressure control function here
omatthews 0:54bedd3964e2 139 //i.e.
omatthews 0:54bedd3964e2 140 //read_pressure();
omatthews 0:54bedd3964e2 141 //if (pressure < lower_bound) {
omatthews 0:54bedd3964e2 142 //pump_turn_on();
omatthews 0:54bedd3964e2 143 //}
omatthews 0:54bedd3964e2 144 //else if (pressure > upper_bound) {
omatthews 0:54bedd3964e2 145 //pump_turn_off();
omatthews 0:54bedd3964e2 146 //}
omatthews 0:54bedd3964e2 147 led_1 = !led_1;
omatthews 0:54bedd3964e2 148 }
omatthews 0:54bedd3964e2 149
omatthews 2:b27d8f9a6e49 150
omatthews 0:54bedd3964e2 151
omatthews 0:54bedd3964e2 152
omatthews 0:54bedd3964e2 153 //Other functions__________________________________________________________________
omatthews 0:54bedd3964e2 154
omatthews 0:54bedd3964e2 155
omatthews 0:54bedd3964e2 156 void temp_control() {
omatthews 0:54bedd3964e2 157 while(1){
omatthews 0:54bedd3964e2 158 while(!heater_flag);
omatthews 0:54bedd3964e2 159 heater->read();
omatthews 0:54bedd3964e2 160 heater->update();
omatthews 0:54bedd3964e2 161 heater_flag = false;
omatthews 0:54bedd3964e2 162 }
omatthews 0:54bedd3964e2 163 }
omatthews 2:b27d8f9a6e49 164
omatthews 2:b27d8f9a6e49 165 void log_state()
omatthews 2:b27d8f9a6e49 166 {
omatthews 2:b27d8f9a6e49 167 while(1){
omatthews 2:b27d8f9a6e49 168 while(!log_flag);
omatthews 2:b27d8f9a6e49 169 heater->log();
omatthews 2:b27d8f9a6e49 170 log_flag = false;
omatthews 2:b27d8f9a6e49 171 }
omatthews 2:b27d8f9a6e49 172 }
omatthews 0:54bedd3964e2 173
omatthews 0:54bedd3964e2 174 void set_point_routine() {
omatthews 0:54bedd3964e2 175 memspcr_ThermalStep step;
omatthews 0:54bedd3964e2 176 step.resistance = 0.0;
omatthews 0:54bedd3964e2 177 step.elapsed_time_ms = 0;
omatthews 0:54bedd3964e2 178 step.camera_offset_ms = 0;
omatthews 0:54bedd3964e2 179 vector <memspcr_ThermalStep>::iterator it = profile.begin();
omatthews 0:54bedd3964e2 180 vector <memspcr_ThermalStep>::iterator it_prev;
omatthews 0:54bedd3964e2 181 profile.insert(it,step);
omatthews 2:b27d8f9a6e49 182 it++;
omatthews 0:54bedd3964e2 183
omatthews 0:54bedd3964e2 184 for (it_prev = profile.begin(); it < profile.end(); it ++, it_prev++){
omatthews 0:54bedd3964e2 185 triggered_flag = false;
omatthews 0:54bedd3964e2 186 untriggered_flag = false;
omatthews 0:54bedd3964e2 187 r_gradient = (it->resistance - it_prev->resistance)/(it->elapsed_time_ms - it_prev->elapsed_time_ms);
omatthews 0:54bedd3964e2 188 while ((curr_time = timer.read_ms()) <= it->elapsed_time_ms){
omatthews 0:54bedd3964e2 189 heater->Set_ref(it_prev->resistance + r_gradient * (curr_time - it_prev->elapsed_time_ms));
omatthews 0:54bedd3964e2 190
omatthews 0:54bedd3964e2 191 if (!untriggered_flag && triggered_flag)
omatthews 0:54bedd3964e2 192 {
omatthews 0:54bedd3964e2 193 //Untrigger on the next cycle
omatthews 0:54bedd3964e2 194 //trigger_out = 0;
omatthews 0:54bedd3964e2 195 untriggered_flag = true;
omatthews 0:54bedd3964e2 196 }
omatthews 0:54bedd3964e2 197
omatthews 0:54bedd3964e2 198 if (!triggered_flag && curr_time > it_prev->elapsed_time_ms + it->camera_offset_ms)
omatthews 0:54bedd3964e2 199 {
omatthews 0:54bedd3964e2 200 //Start camera trigger
omatthews 0:54bedd3964e2 201 //trigger_out = 1;
omatthews 0:54bedd3964e2 202 triggered_flag = true;
omatthews 0:54bedd3964e2 203 }
omatthews 0:54bedd3964e2 204
omatthews 0:54bedd3964e2 205 wait_ms(1);
omatthews 0:54bedd3964e2 206 }
omatthews 0:54bedd3964e2 207
omatthews 0:54bedd3964e2 208 }
omatthews 0:54bedd3964e2 209 }
omatthews 0:54bedd3964e2 210
omatthews 0:54bedd3964e2 211
omatthews 0:54bedd3964e2 212
omatthews 0:54bedd3964e2 213
omatthews 0:54bedd3964e2 214
omatthews 0:54bedd3964e2 215
omatthews 0:54bedd3964e2 216 int main() {
omatthews 0:54bedd3964e2 217 pc.baud(115200);
omatthews 0:54bedd3964e2 218 adc.init();
omatthews 2:b27d8f9a6e49 219
omatthews 0:54bedd3964e2 220 buffer_length = sizeof(buffer)/sizeof(uint8_t);
omatthews 0:54bedd3964e2 221 pc.printf("Input configuration file\n");
omatthews 0:54bedd3964e2 222
omatthews 0:54bedd3964e2 223 read_message();
omatthews 0:54bedd3964e2 224
omatthews 0:54bedd3964e2 225 pc.printf("\nMessage read\n");
omatthews 0:54bedd3964e2 226
omatthews 0:54bedd3964e2 227 exp_config.thermal.profile.arg = &profile;
omatthews 0:54bedd3964e2 228 exp_config.thermal.profile.funcs.decode = decode_callback;
omatthews 0:54bedd3964e2 229
omatthews 0:54bedd3964e2 230
omatthews 0:54bedd3964e2 231 decode_message();
omatthews 0:54bedd3964e2 232 printf("\nMessage decoded\n");
omatthews 0:54bedd3964e2 233 Heater heater_(exp_config.thermal);
omatthews 0:54bedd3964e2 234 heater = &heater_;
omatthews 0:54bedd3964e2 235
omatthews 0:54bedd3964e2 236 pc.printf("\nStarting pressure control\n");
omatthews 0:54bedd3964e2 237 pressure_tick.attach(& pressure_control, 1);
omatthews 2:b27d8f9a6e49 238 pc.printf("\nWaiting for start signal to begin temperature control (type in an s or press button 0)\n");
omatthews 0:54bedd3964e2 239
omatthews 2:b27d8f9a6e49 240 while (pc.getcNb()!='s' && !user_0);
omatthews 0:54bedd3964e2 241
omatthews 0:54bedd3964e2 242 pc.printf("Start signal received");
omatthews 0:54bedd3964e2 243 heater_control.start(& temp_control);
omatthews 2:b27d8f9a6e49 244 heat_tick.attach_us(& temp_trigger,exp_config.thermal.control_loop_interval * 1000);
omatthews 0:54bedd3964e2 245
omatthews 2:b27d8f9a6e49 246 logging_thread.start(& log_state);
omatthews 2:b27d8f9a6e49 247 log_tick.attach_us(& log_trigger,exp_config.logging_interval_ms * 1000);
omatthews 0:54bedd3964e2 248
omatthews 0:54bedd3964e2 249
omatthews 0:54bedd3964e2 250 pc.printf("\nStarting routine\n");
omatthews 2:b27d8f9a6e49 251 timer.start();
omatthews 0:54bedd3964e2 252 set_point_routine();
omatthews 2:b27d8f9a6e49 253 heater->turn_off();
omatthews 0:54bedd3964e2 254 pc.printf("Finished");
omatthews 0:54bedd3964e2 255
omatthews 0:54bedd3964e2 256
omatthews 0:54bedd3964e2 257 }