The Technology Partnership / Mbed OS LEX_Threaded_Programming_V3

LEX_Threaded_Programming

Dependencies:   Heater_V2 MODSERIAL Nanopb FastPWM ADS8568_ADC

main.cpp@30:b28088f244c2, 2019-11-16 (annotated)

Committer:
justinbuckland
Date:
Sat Nov 16 06:21:24 2019 +0000
Revision:
30:b28088f244c2
Parent:
29:818c098c9e5a
Child:
31:09d2f3e4ed99
Updated pressure sensor reading code

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 28:b2513f36a50d 30 {0x00530028, 0x32375116, 0x30333732}, // updated board 2 UID {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] =
paullj 24:f59af7a2effb 35 {{{0.0908347476278717, 10.1921343711427}, {0.0497613470164513, 10.2109327517567}},
paullj 24:f59af7a2effb 36 {{0.0596907336847412, 10.1550084867437}, {0.0320376283698263, 10.2580153464834}},
paullj 24:f59af7a2effb 37 {{0.0119648730956925, 10.4065902688349}, {0.0256785142683800, 10.2921134395920}},
paullj 24:f59af7a2effb 38 {{0.0482969653247984, 10.0688110602909}, {0.0882102280729402, 10.1322703041679}}};
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 30:b28088f244c2 50 AnalogIn pressure_1(PA_0);
justinbuckland 30:b28088f244c2 51 AnalogIn pressure_1(PA_1);
justinbuckland 30:b28088f244c2 52 DigitalOut pump(PA_4);
justinbuckland 30:b28088f244c2 53 DigitalOut valve_1(PA_5);
justinbuckland 30:b28088f244c2 54 DigitalOut valve_2(PA_6);
justinbuckland 13:b2e00297b465 55
justinbuckland 17:d86e749ae9be 56 float pressure_in;
justinbuckland 17:d86e749ae9be 57 float pressure_out;
omatthews 0:54bedd3964e2 58
omatthews 0:54bedd3964e2 59 //Heater Control
justinbuckland 18:376350fb7ef9 60 FastPWM drive_1(PC_9);
justinbuckland 18:376350fb7ef9 61 FastPWM drive_2(PC_8);
justinbuckland 18:376350fb7ef9 62 FastPWM guard_1(PC_7);
justinbuckland 18:376350fb7ef9 63 FastPWM guard_2(PC_6);
justinbuckland 7:a4fc853feb30 64
justinbuckland 18:376350fb7ef9 65 //ADC channels for heater current and voltage measurements
justinbuckland 18:376350fb7ef9 66 int i_port_1 = 0;
justinbuckland 18:376350fb7ef9 67 int i_port_2 = 2;
justinbuckland 18:376350fb7ef9 68 int v_port_1 = 1;
justinbuckland 18:376350fb7ef9 69 int v_port_2 = 3;
omatthews 0:54bedd3964e2 70
justinbuckland 18:376350fb7ef9 71 //Heater ID: heater 1 is nearer liquid sense location, heater 2 is other location
justinbuckland 18:376350fb7ef9 72 int heater_ID;
omatthews 0:54bedd3964e2 73
justinbuckland 9:9474da78cec3 74 //Illumination LED Control
justinbuckland 9:9474da78cec3 75
justinbuckland 7:a4fc853feb30 76 //Indicator LEDs
justinbuckland 13:b2e00297b465 77 DigitalOut hb_led(PC_13); //Red
justinbuckland 13:b2e00297b465 78 DigitalOut led_0(PC_4); //Green
justinbuckland 13:b2e00297b465 79 DigitalOut led_1(PC_5); //Red
omatthews 0:54bedd3964e2 80
justinbuckland 7:a4fc853feb30 81 //Camera and LED drive
justinbuckland 7:a4fc853feb30 82 DigitalOut camTrigger(PB_2); //Trigger camera
justinbuckland 12:cadcea541fbf 83 DigitalOut ledDrive(PB_4); //Drive LED for fluorescence detection
justinbuckland 7:a4fc853feb30 84
omatthews 0:54bedd3964e2 85 //User buttons
omatthews 0:54bedd3964e2 86 DigitalIn user_0(PB_0);
omatthews 0:54bedd3964e2 87 DigitalIn user_1(PB_1);
omatthews 0:54bedd3964e2 88
omatthews 0:54bedd3964e2 89 BusOut converts(PC_0, PC_1, PC_2, PC_3);
omatthews 0:54bedd3964e2 90
omatthews 0:54bedd3964e2 91 //Threads
omatthews 6:ef2bcc5fe3af 92 Thread heater_control(osPriorityHigh);
omatthews 6:ef2bcc5fe3af 93 Thread logging_thread(osPriorityAboveNormal);
justinbuckland 19:8154688252fd 94 Thread pressure_thread(osPriorityNormal);
omatthews 0:54bedd3964e2 95
omatthews 0:54bedd3964e2 96 //Tickers
omatthews 0:54bedd3964e2 97 Ticker heat_tick;
omatthews 0:54bedd3964e2 98 Ticker pressure_tick;
omatthews 0:54bedd3964e2 99 Ticker log_tick;
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 19:8154688252fd 185 flags.set(0x4);
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);
justinbuckland 29:818c098c9e5a 205 //Output time, R_avg, R_ref, R_var, error, error_integrated, duty cycle, input pressure, output pressure
justinbuckland 26:e2e834e16367 206 pc.printf("%10d,%10d,%10.6f,%10.6f,%10.6f,%10.6f,%10.6f,%10.6f,%10.6f,%10.6f\n",
justinbuckland 29:818c098c9e5a 207 heater_ID, timer.read_ms(), heater->Get_R_avg(), heater->Get_R_ref(), heater->Get_R_var(), heater->Get_error(), heater->Get_error_integrated(), heater->Get_D(), pressure_in, pressure_out);
justinbuckland 17:d86e749ae9be 208 wait_us(200);//Give other threads time to get selected
justinbuckland 19:8154688252fd 209 }
omatthews 2:b27d8f9a6e49 210 }
omatthews 5:702b32ead94e 211
justinbuckland 13:b2e00297b465 212 void pressure_control() {
justinbuckland 13:b2e00297b465 213 while(1){
justinbuckland 19:8154688252fd 214 flags.wait_any(0x4,osWaitForever,true);
justinbuckland 30:b28088f244c2 215 pressure_in = pressure_1.read(); // fraction of supply voltage as float in range 0-1; values 0.1-0.9 correspond to 0-15PSI using pressure sensor Honeywell HSCSANN015PGAA3
justinbuckland 30:b28088f244c2 216 pressure_out = pressure_2.read();
justinbuckland 20:ccbe2a03893d 217 if (pressure_in < exp_config.fluidics.pressure_sensor_setpoint_adc - exp_config.fluidics.pressure_sensor_hysteresis_adc) {
justinbuckland 13:b2e00297b465 218 led_1 = 1;
justinbuckland 13:b2e00297b465 219 pump = 1;
justinbuckland 13:b2e00297b465 220 }
justinbuckland 20:ccbe2a03893d 221 else if (pressure_in > exp_config.fluidics.pressure_sensor_setpoint_adc) {
justinbuckland 13:b2e00297b465 222 led_1 = 0;
justinbuckland 13:b2e00297b465 223 pump = 0;
justinbuckland 13:b2e00297b465 224 }
justinbuckland 13:b2e00297b465 225 }
justinbuckland 13:b2e00297b465 226 }
justinbuckland 13:b2e00297b465 227
justinbuckland 13:b2e00297b465 228
omatthews 5:702b32ead94e 229 void set_point_routine(std::vector<memspcr_ThermalStep> profile) {
omatthews 5:702b32ead94e 230 int curr_time;
omatthews 5:702b32ead94e 231 vector <memspcr_ThermalStep>::iterator it_prev, it = profile.begin();
omatthews 5:702b32ead94e 232 if (it->elapsed_time_ms != 0)
omatthews 5:702b32ead94e 233 {
justinbuckland 7:a4fc853feb30 234 pc.printf("# Error: the first point in the profile should be at time 0.\n");
omatthews 5:702b32ead94e 235 return;
omatthews 5:702b32ead94e 236 }
omatthews 2:b27d8f9a6e49 237 it++;
omatthews 0:54bedd3964e2 238
omatthews 0:54bedd3964e2 239 for (it_prev = profile.begin(); it < profile.end(); it ++, it_prev++){
omatthews 0:54bedd3964e2 240 triggered_flag = false;
paullj 14:39a5eb99fbdb 241 r_gradient = (it->resistance_set_point - it_prev->resistance_set_point)/(it->elapsed_time_ms - it_prev->elapsed_time_ms);
omatthews 0:54bedd3964e2 242 while ((curr_time = timer.read_ms()) <= it->elapsed_time_ms){
paullj 14:39a5eb99fbdb 243 heater->Set_ref(it_prev->resistance_set_point + r_gradient * (curr_time - it_prev->elapsed_time_ms));
justinbuckland 8:58c6d51957df 244
justinbuckland 9:9474da78cec3 245 if (!triggered_flag && (it->camera_offset_ms != 0) && (curr_time > it_prev->elapsed_time_ms + it->camera_offset_ms))
omatthews 0:54bedd3964e2 246 {
justinbuckland 9:9474da78cec3 247 //Start camera exposure and turn on LED if camera_offset_ms is non-zero
justinbuckland 7:a4fc853feb30 248 camTrigger = 0;
justinbuckland 7:a4fc853feb30 249 wait_us(10);
justinbuckland 7:a4fc853feb30 250 camTrigger = 1;
justinbuckland 7:a4fc853feb30 251 led_0 = 1;
justinbuckland 12:cadcea541fbf 252 ledDrive = 1;
omatthews 0:54bedd3964e2 253 triggered_flag = true;
omatthews 0:54bedd3964e2 254 }
justinbuckland 8:58c6d51957df 255 wait_us(200);
omatthews 0:54bedd3964e2 256 }
justinbuckland 8:58c6d51957df 257 //Stop camera exposure and turn off LED at end of time segment
justinbuckland 8:58c6d51957df 258 camTrigger = 0;
justinbuckland 8:58c6d51957df 259 led_0 = 0;
justinbuckland 12:cadcea541fbf 260 ledDrive = 0;
omatthews 0:54bedd3964e2 261 }
omatthews 0:54bedd3964e2 262 }
omatthews 0:54bedd3964e2 263
omatthews 0:54bedd3964e2 264
omatthews 5:702b32ead94e 265 int main()
omatthews 5:702b32ead94e 266 {
justinbuckland 18:376350fb7ef9 267 int i_board = -1;
justinbuckland 18:376350fb7ef9 268 int i_heater;
justinbuckland 18:376350fb7ef9 269 float drive_cal_a, drive_cal_b;
justinbuckland 18:376350fb7ef9 270
omatthews 0:54bedd3964e2 271 pc.baud(115200);
omatthews 0:54bedd3964e2 272 adc.init();
justinbuckland 17:d86e749ae9be 273
justinbuckland 17:d86e749ae9be 274 pc.printf("\r\nUnique ID: %08X %08X %08X \r\n", uid[0], uid[1], uid[2]);
justinbuckland 17:d86e749ae9be 275 for (int i = 0; i < UID_TABLE_LENGTH; i++)
justinbuckland 17:d86e749ae9be 276 {
justinbuckland 17:d86e749ae9be 277 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 278 {
justinbuckland 17:d86e749ae9be 279 i_board = i;
justinbuckland 17:d86e749ae9be 280 i = UID_TABLE_LENGTH;
justinbuckland 17:d86e749ae9be 281 }
justinbuckland 17:d86e749ae9be 282 }
justinbuckland 17:d86e749ae9be 283
omatthews 0:54bedd3964e2 284 buffer_length = sizeof(buffer)/sizeof(uint8_t);
paullj 22:f65353f6e935 285 pc.printf("# Input [CONFIGURATION] file\n");
justinbuckland 9:9474da78cec3 286
intrinseca 4:63d7f2a0dec6 287 //set up nanopb
omatthews 5:702b32ead94e 288 std::vector<memspcr_ThermalStep> profile;
omatthews 5:702b32ead94e 289 exp_config.profile.funcs.decode = decode_callback;
omatthews 5:702b32ead94e 290 exp_config.profile.arg = &profile;
omatthews 5:702b32ead94e 291
intrinseca 4:63d7f2a0dec6 292 //read and decode configuration
justinbuckland 18:376350fb7ef9 293 read_message();
justinbuckland 7:a4fc853feb30 294 pc.printf("# Message read\n");
omatthews 0:54bedd3964e2 295 decode_message();
justinbuckland 7:a4fc853feb30 296 pc.printf("# Message decoded\n");
omatthews 5:702b32ead94e 297
justinbuckland 18:376350fb7ef9 298 //Select heater
justinbuckland 18:376350fb7ef9 299 if (exp_config.selected_heater == memspcr_ExperimentConfiguration_Heater_HEATER_1)
justinbuckland 18:376350fb7ef9 300 i_heater = 0;
justinbuckland 18:376350fb7ef9 301 else if (exp_config.selected_heater == memspcr_ExperimentConfiguration_Heater_HEATER_2)
justinbuckland 18:376350fb7ef9 302 i_heater = 1;
justinbuckland 18:376350fb7ef9 303 else {
justinbuckland 8:58c6d51957df 304 pc.printf("# Error - no heater has been selected\n");
omatthews 5:702b32ead94e 305 return 1;
omatthews 5:702b32ead94e 306 }
justinbuckland 18:376350fb7ef9 307 heater_ID = i_heater + 1;
justinbuckland 18:376350fb7ef9 308
justinbuckland 18:376350fb7ef9 309 //Set drive ADC->Resistance calibration coefficients (default: no change if board not found)
justinbuckland 18:376350fb7ef9 310 drive_cal_a = drive_board_cal[i_board][i_heater][0];
justinbuckland 18:376350fb7ef9 311 drive_cal_b = drive_board_cal[i_board][i_heater][1];
justinbuckland 18:376350fb7ef9 312
justinbuckland 18:376350fb7ef9 313 pc.printf("# Heater: %d\n", heater_ID);
justinbuckland 20:ccbe2a03893d 314 pc.printf("# Drive board calibration: %10.6f, %10.6f\n", drive_cal_a, drive_cal_b);
omatthews 5:702b32ead94e 315
justinbuckland 18:376350fb7ef9 316 //Define heaters
justinbuckland 18:376350fb7ef9 317 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 318 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 319 if (i_heater == 0)
justinbuckland 18:376350fb7ef9 320 heater = heater_1;
justinbuckland 18:376350fb7ef9 321 else
justinbuckland 18:376350fb7ef9 322 heater = heater_2;
justinbuckland 18:376350fb7ef9 323
justinbuckland 20:ccbe2a03893d 324 //Start pressure control
justinbuckland 20:ccbe2a03893d 325 pc.printf("# Pressure setpoint: %10.6f hystersess: %10.6f\n",exp_config.fluidics.pressure_sensor_setpoint_adc, exp_config.fluidics.pressure_sensor_hysteresis_adc);
paullj 22:f65353f6e935 326 pc.printf("# Waiting for signal to begin [PRESSURE] control (type p or press button 0)\n");
justinbuckland 18:376350fb7ef9 327 while (pc.getcNb()!='p' && !user_0);
justinbuckland 18:376350fb7ef9 328 pc.printf("# Pressure control start signal received\n");
justinbuckland 13:b2e00297b465 329 pressure_thread.start(& pressure_control);
justinbuckland 20:ccbe2a03893d 330 pressure_tick.attach_us(& pressure_trigger, exp_config.fluidics.pressure_control_loop_interval_ms * 1000);
justinbuckland 13:b2e00297b465 331
justinbuckland 20:ccbe2a03893d 332 //Start logging
omatthews 2:b27d8f9a6e49 333 logging_thread.start(& log_state);
omatthews 6:ef2bcc5fe3af 334 log_tick.attach_us(& log_trigger,exp_config.logging_interval_ms * 1000);
omatthews 0:54bedd3964e2 335
paullj 22:f65353f6e935 336 //Start temperature control
paullj 22:f65353f6e935 337 pc.printf("# Waiting for signal to begin [THERMAL] control (type s or press button 0)\n");
paullj 22:f65353f6e935 338 while (pc.getcNb()!='s' && !user_0);
paullj 22:f65353f6e935 339 pc.printf("# Thermal control start signal received\n");
paullj 22:f65353f6e935 340
paullj 22:f65353f6e935 341 heater->Set_ref(0.0);
paullj 22:f65353f6e935 342 heater_control.start(& temp_control);
paullj 22:f65353f6e935 343 heat_tick.attach_us(& temp_trigger,exp_config.thermal.thermal_control_loop_interval_ms * 1000);
paullj 22:f65353f6e935 344
justinbuckland 27:0ee855da5ba9 345 pc.printf("# Starting routine on drive board: %d\n",drive_board_serial_number[i_board]);
justinbuckland 26:e2e834e16367 346 pc.printf("heater id, time (ms), R_avg (Ohm), R_set (Ohm), R (Ohm), Err (Ohm), Err_int (Ohm.ms), Duty cycle, P1 (ADC), P2 (ADC)\n");
paullj 23:d00849a9aa23 347 timer.start();
omatthews 5:702b32ead94e 348 set_point_routine(profile);
omatthews 6:ef2bcc5fe3af 349
omatthews 6:ef2bcc5fe3af 350 //Turn off
omatthews 5:702b32ead94e 351 heat_tick.detach();
omatthews 5:702b32ead94e 352 log_tick.detach();
omatthews 5:702b32ead94e 353 wait(1);
omatthews 2:b27d8f9a6e49 354 heater->turn_off();
justinbuckland 18:376350fb7ef9 355
justinbuckland 7:a4fc853feb30 356 pc.printf("# Finished\n");
justinbuckland 7:a4fc853feb30 357
omatthews 5:702b32ead94e 358 return 0;
omatthews 5:702b32ead94e 359 }