The Technology Partnership / Mbed OS LEX_Threaded_Programming_V3

LEX_Threaded_Programming

Dependencies:   Heater_V2 MODSERIAL Nanopb FastPWM ADS8568_ADC

main.cpp@23:d00849a9aa23, 2019-09-24 (annotated)

Committer:
paullj
Date:
Tue Sep 24 15:58:13 2019 +0000
Revision:
23:d00849a9aa23
Parent:
22:f65353f6e935
Child:
24:f59af7a2effb
modified output for gui

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;
omatthews 0:54bedd3964e2 55
omatthews 0:54bedd3964e2 56 //Heater Control
justinbuckland 18:376350fb7ef9 57 FastPWM drive_1(PC_9);
justinbuckland 18:376350fb7ef9 58 FastPWM drive_2(PC_8);
justinbuckland 18:376350fb7ef9 59 FastPWM guard_1(PC_7);
justinbuckland 18:376350fb7ef9 60 FastPWM guard_2(PC_6);
justinbuckland 7:a4fc853feb30 61
justinbuckland 18:376350fb7ef9 62 //ADC channels for heater current and voltage measurements
justinbuckland 18:376350fb7ef9 63 int i_port_1 = 0;
justinbuckland 18:376350fb7ef9 64 int i_port_2 = 2;
justinbuckland 18:376350fb7ef9 65 int v_port_1 = 1;
justinbuckland 18:376350fb7ef9 66 int v_port_2 = 3;
omatthews 0:54bedd3964e2 67
justinbuckland 18:376350fb7ef9 68 //Heater ID: heater 1 is nearer liquid sense location, heater 2 is other location
justinbuckland 18:376350fb7ef9 69 int heater_ID;
omatthews 0:54bedd3964e2 70
justinbuckland 9:9474da78cec3 71 //Illumination LED Control
justinbuckland 9:9474da78cec3 72
justinbuckland 7:a4fc853feb30 73 //Indicator LEDs
justinbuckland 13:b2e00297b465 74 DigitalOut hb_led(PC_13); //Red
justinbuckland 13:b2e00297b465 75 DigitalOut led_0(PC_4); //Green
justinbuckland 13:b2e00297b465 76 DigitalOut led_1(PC_5); //Red
omatthews 0:54bedd3964e2 77
justinbuckland 7:a4fc853feb30 78 //Camera and LED drive
justinbuckland 7:a4fc853feb30 79 DigitalOut camTrigger(PB_2); //Trigger camera
justinbuckland 12:cadcea541fbf 80 DigitalOut ledDrive(PB_4); //Drive LED for fluorescence detection
justinbuckland 7:a4fc853feb30 81
omatthews 0:54bedd3964e2 82 //User buttons
omatthews 0:54bedd3964e2 83 DigitalIn user_0(PB_0);
omatthews 0:54bedd3964e2 84 DigitalIn user_1(PB_1);
omatthews 0:54bedd3964e2 85
omatthews 0:54bedd3964e2 86 BusOut converts(PC_0, PC_1, PC_2, PC_3);
omatthews 0:54bedd3964e2 87
omatthews 0:54bedd3964e2 88 //Threads
omatthews 6:ef2bcc5fe3af 89 Thread heater_control(osPriorityHigh);
omatthews 6:ef2bcc5fe3af 90 Thread logging_thread(osPriorityAboveNormal);
justinbuckland 19:8154688252fd 91 Thread pressure_thread(osPriorityNormal);
omatthews 0:54bedd3964e2 92
omatthews 0:54bedd3964e2 93 //Tickers
omatthews 0:54bedd3964e2 94 Ticker heat_tick;
omatthews 0:54bedd3964e2 95 Ticker pressure_tick;
omatthews 0:54bedd3964e2 96 Ticker log_tick;
omatthews 0:54bedd3964e2 97
omatthews 0:54bedd3964e2 98
omatthews 0:54bedd3964e2 99 //Flags
omatthews 5:702b32ead94e 100 EventFlags flags; //Flags:
omatthews 5:702b32ead94e 101 // 0 => update heater
omatthews 5:702b32ead94e 102 // 1 => log state
justinbuckland 13:b2e00297b465 103 // 2 => read pressure
omatthews 5:702b32ead94e 104 bool triggered_flag;
omatthews 0:54bedd3964e2 105 bool status = true;
omatthews 0:54bedd3964e2 106
omatthews 0:54bedd3964e2 107 //Configuration data
omatthews 0:54bedd3964e2 108 memspcr_ExperimentConfiguration exp_config = memspcr_ExperimentConfiguration_init_zero;
omatthews 0:54bedd3964e2 109 int buffer_length;
omatthews 0:54bedd3964e2 110 size_t message_length;
justinbuckland 8:58c6d51957df 111 uint8_t buffer[BUFFER_SIZE];
omatthews 0:54bedd3964e2 112
omatthews 0:54bedd3964e2 113
omatthews 0:54bedd3964e2 114 //Functions for reading and decoding the message__________________________________________________
omatthews 0:54bedd3964e2 115
omatthews 0:54bedd3964e2 116 void read_message()
omatthews 0:54bedd3964e2 117 {
justinbuckland 7:a4fc853feb30 118 if (pc.scanf("%d",&message_length) < 0){pc.printf("# Error reading message length");}
omatthews 5:702b32ead94e 119 size_t buffer_length = sizeof(buffer);
omatthews 5:702b32ead94e 120 if (message_length > buffer_length)
omatthews 5:702b32ead94e 121 {
justinbuckland 7:a4fc853feb30 122 pc.printf("# Message length exceeds buffer. \n Input configuration file\n");
omatthews 5:702b32ead94e 123 read_message();
omatthews 5:702b32ead94e 124 return;
omatthews 5:702b32ead94e 125 }
justinbuckland 7:a4fc853feb30 126 pc.printf("# Message is %d chars long, buffer length is %d\n",message_length,buffer_length);
omatthews 5:702b32ead94e 127 unsigned int c;
omatthews 5:702b32ead94e 128 for (int i = 0; i < message_length; i++)
omatthews 0:54bedd3964e2 129 {
omatthews 0:54bedd3964e2 130 pc.scanf("%02X",&c);
omatthews 0:54bedd3964e2 131 buffer[i] = (char) c;
omatthews 0:54bedd3964e2 132 }
omatthews 0:54bedd3964e2 133 }
omatthews 0:54bedd3964e2 134
omatthews 0:54bedd3964e2 135 void decode_message()
omatthews 0:54bedd3964e2 136 {
omatthews 5:702b32ead94e 137 // Create a stream that reads from the buffer.
omatthews 0:54bedd3964e2 138 pb_istream_t istream = pb_istream_from_buffer(buffer, message_length);
omatthews 0:54bedd3964e2 139
omatthews 5:702b32ead94e 140 //Now we are ready to decode the message.
omatthews 0:54bedd3964e2 141 status = pb_decode(&istream, memspcr_ExperimentConfiguration_fields, &exp_config);
omatthews 0:54bedd3964e2 142
omatthews 5:702b32ead94e 143 // Check for errors...
omatthews 5:702b32ead94e 144 if (!status) {
justinbuckland 7:a4fc853feb30 145 pc.printf("# Decoding failed: %s\n", PB_GET_ERROR(&istream));
omatthews 0:54bedd3964e2 146 }
omatthews 0:54bedd3964e2 147 }
omatthews 0:54bedd3964e2 148
omatthews 0:54bedd3964e2 149 bool decode_callback(pb_istream_t *stream, const pb_field_t *field, void **arg)
omatthews 0:54bedd3964e2 150 {
omatthews 0:54bedd3964e2 151 vector <memspcr_ThermalStep> * dest = (vector <memspcr_ThermalStep> *)(*arg);
omatthews 0:54bedd3964e2 152 memspcr_ThermalStep result = memspcr_ThermalStep_init_zero;
omatthews 0:54bedd3964e2 153 status = pb_decode(stream, memspcr_ThermalStep_fields, & result);
omatthews 5:702b32ead94e 154
omatthews 5:702b32ead94e 155 if (!status) {
justinbuckland 7:a4fc853feb30 156 pc.printf("# Decode callback failed\n");
omatthews 0:54bedd3964e2 157 }
omatthews 0:54bedd3964e2 158
intrinseca 4:63d7f2a0dec6 159 dest->push_back(result); //CHECK: Does result get copied into the vector?
omatthews 0:54bedd3964e2 160 return true;
omatthews 0:54bedd3964e2 161 }
omatthews 0:54bedd3964e2 162
omatthews 0:54bedd3964e2 163
omatthews 0:54bedd3964e2 164 //Ticking functions_________________________________________________________________
omatthews 0:54bedd3964e2 165
omatthews 6:ef2bcc5fe3af 166
omatthews 5:702b32ead94e 167 void temp_trigger()
omatthews 0:54bedd3964e2 168 {
omatthews 5:702b32ead94e 169 //This function triggers a temperature update.
omatthews 5:702b32ead94e 170 //N.B. update cannot be called directly from a ticker as tickers and
omatthews 0:54bedd3964e2 171 //reading the ADC both rely on interrupts.
omatthews 5:702b32ead94e 172 flags.set(0x1);
omatthews 0:54bedd3964e2 173 }
omatthews 0:54bedd3964e2 174
omatthews 6:ef2bcc5fe3af 175
omatthews 2:b27d8f9a6e49 176 void log_trigger()
omatthews 2:b27d8f9a6e49 177 {
omatthews 5:702b32ead94e 178 flags.set(0x2);
omatthews 2:b27d8f9a6e49 179 }
justinbuckland 7:a4fc853feb30 180
justinbuckland 13:b2e00297b465 181 void pressure_trigger()
omatthews 0:54bedd3964e2 182 {
justinbuckland 19:8154688252fd 183 flags.set(0x4);
justinbuckland 10:f8202e71e765 184 }
omatthews 0:54bedd3964e2 185
omatthews 0:54bedd3964e2 186
omatthews 5:702b32ead94e 187 //Other functions__________________________________________________________________
omatthews 0:54bedd3964e2 188
omatthews 0:54bedd3964e2 189
omatthews 0:54bedd3964e2 190 void temp_control() {
omatthews 0:54bedd3964e2 191 while(1){
omatthews 6:ef2bcc5fe3af 192 flags.wait_any(0x1,osWaitForever,true);
omatthews 0:54bedd3964e2 193 heater->read();
omatthews 0:54bedd3964e2 194 heater->update();
justinbuckland 17:d86e749ae9be 195 wait_us(200);//Give other threads time to get selected
omatthews 0:54bedd3964e2 196 }
omatthews 0:54bedd3964e2 197 }
omatthews 5:702b32ead94e 198
omatthews 2:b27d8f9a6e49 199 void log_state()
omatthews 2:b27d8f9a6e49 200 {
omatthews 2:b27d8f9a6e49 201 while(1){
omatthews 6:ef2bcc5fe3af 202 flags.wait_any(0x2,osWaitForever,true);
omatthews 6:ef2bcc5fe3af 203 //Output time, R_ref, R, error, error_integrated
justinbuckland 11:7394f281e845 204 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 205 wait_us(200);//Give other threads time to get selected
justinbuckland 19:8154688252fd 206 }
omatthews 2:b27d8f9a6e49 207 }
omatthews 5:702b32ead94e 208
justinbuckland 13:b2e00297b465 209 void pressure_control() {
justinbuckland 13:b2e00297b465 210 while(1){
justinbuckland 19:8154688252fd 211 flags.wait_any(0x4,osWaitForever,true);
justinbuckland 17:d86e749ae9be 212 pressure_in = pressure_1.read();
justinbuckland 20:ccbe2a03893d 213 if (pressure_in < exp_config.fluidics.pressure_sensor_setpoint_adc - exp_config.fluidics.pressure_sensor_hysteresis_adc) {
justinbuckland 13:b2e00297b465 214 led_1 = 1;
justinbuckland 13:b2e00297b465 215 pump = 1;
justinbuckland 13:b2e00297b465 216 }
justinbuckland 20:ccbe2a03893d 217 else if (pressure_in > exp_config.fluidics.pressure_sensor_setpoint_adc) {
justinbuckland 13:b2e00297b465 218 led_1 = 0;
justinbuckland 13:b2e00297b465 219 pump = 0;
justinbuckland 13:b2e00297b465 220 }
justinbuckland 13:b2e00297b465 221 }
justinbuckland 13:b2e00297b465 222 }
justinbuckland 13:b2e00297b465 223
justinbuckland 13:b2e00297b465 224
omatthews 5:702b32ead94e 225 void set_point_routine(std::vector<memspcr_ThermalStep> profile) {
omatthews 5:702b32ead94e 226 int curr_time;
omatthews 5:702b32ead94e 227 vector <memspcr_ThermalStep>::iterator it_prev, it = profile.begin();
omatthews 5:702b32ead94e 228 if (it->elapsed_time_ms != 0)
omatthews 5:702b32ead94e 229 {
justinbuckland 7:a4fc853feb30 230 pc.printf("# Error: the first point in the profile should be at time 0.\n");
omatthews 5:702b32ead94e 231 return;
omatthews 5:702b32ead94e 232 }
omatthews 2:b27d8f9a6e49 233 it++;
omatthews 0:54bedd3964e2 234
omatthews 0:54bedd3964e2 235 for (it_prev = profile.begin(); it < profile.end(); it ++, it_prev++){
omatthews 0:54bedd3964e2 236 triggered_flag = false;
paullj 14:39a5eb99fbdb 237 r_gradient = (it->resistance_set_point - it_prev->resistance_set_point)/(it->elapsed_time_ms - it_prev->elapsed_time_ms);
omatthews 0:54bedd3964e2 238 while ((curr_time = timer.read_ms()) <= it->elapsed_time_ms){
paullj 14:39a5eb99fbdb 239 heater->Set_ref(it_prev->resistance_set_point + r_gradient * (curr_time - it_prev->elapsed_time_ms));
justinbuckland 8:58c6d51957df 240
justinbuckland 9:9474da78cec3 241 if (!triggered_flag && (it->camera_offset_ms != 0) && (curr_time > it_prev->elapsed_time_ms + it->camera_offset_ms))
omatthews 0:54bedd3964e2 242 {
justinbuckland 9:9474da78cec3 243 //Start camera exposure and turn on LED if camera_offset_ms is non-zero
justinbuckland 7:a4fc853feb30 244 camTrigger = 0;
justinbuckland 7:a4fc853feb30 245 wait_us(10);
justinbuckland 7:a4fc853feb30 246 camTrigger = 1;
justinbuckland 7:a4fc853feb30 247 led_0 = 1;
justinbuckland 12:cadcea541fbf 248 ledDrive = 1;
omatthews 0:54bedd3964e2 249 triggered_flag = true;
omatthews 0:54bedd3964e2 250 }
justinbuckland 8:58c6d51957df 251 wait_us(200);
omatthews 0:54bedd3964e2 252 }
justinbuckland 8:58c6d51957df 253 //Stop camera exposure and turn off LED at end of time segment
justinbuckland 8:58c6d51957df 254 camTrigger = 0;
justinbuckland 8:58c6d51957df 255 led_0 = 0;
justinbuckland 12:cadcea541fbf 256 ledDrive = 0;
omatthews 0:54bedd3964e2 257 }
omatthews 0:54bedd3964e2 258 }
omatthews 0:54bedd3964e2 259
omatthews 0:54bedd3964e2 260
omatthews 5:702b32ead94e 261 int main()
omatthews 5:702b32ead94e 262 {
justinbuckland 18:376350fb7ef9 263 int i_board = -1;
justinbuckland 18:376350fb7ef9 264 int i_heater;
justinbuckland 18:376350fb7ef9 265 float drive_cal_a, drive_cal_b;
justinbuckland 18:376350fb7ef9 266
omatthews 0:54bedd3964e2 267 pc.baud(115200);
omatthews 0:54bedd3964e2 268 adc.init();
justinbuckland 17:d86e749ae9be 269
justinbuckland 17:d86e749ae9be 270 pc.printf("\r\nUnique ID: %08X %08X %08X \r\n", uid[0], uid[1], uid[2]);
justinbuckland 17:d86e749ae9be 271 for (int i = 0; i < UID_TABLE_LENGTH; i++)
justinbuckland 17:d86e749ae9be 272 {
justinbuckland 17:d86e749ae9be 273 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 274 {
justinbuckland 17:d86e749ae9be 275 i_board = i;
justinbuckland 17:d86e749ae9be 276 i = UID_TABLE_LENGTH;
justinbuckland 17:d86e749ae9be 277 }
justinbuckland 17:d86e749ae9be 278 }
justinbuckland 17:d86e749ae9be 279
justinbuckland 17:d86e749ae9be 280 if (i_board != -1) pc.printf("Drive board: Board %d\n",drive_board_serial_number[i_board]);
justinbuckland 17:d86e749ae9be 281 else pc.printf("Drive board UID match not found\n");
omatthews 5:702b32ead94e 282
omatthews 0:54bedd3964e2 283 buffer_length = sizeof(buffer)/sizeof(uint8_t);
paullj 22:f65353f6e935 284 pc.printf("# Input [CONFIGURATION] file\n");
justinbuckland 9:9474da78cec3 285
intrinseca 4:63d7f2a0dec6 286 //set up nanopb
omatthews 5:702b32ead94e 287 std::vector<memspcr_ThermalStep> profile;
omatthews 5:702b32ead94e 288 exp_config.profile.funcs.decode = decode_callback;
omatthews 5:702b32ead94e 289 exp_config.profile.arg = &profile;
omatthews 5:702b32ead94e 290
intrinseca 4:63d7f2a0dec6 291 //read and decode configuration
justinbuckland 18:376350fb7ef9 292 read_message();
justinbuckland 7:a4fc853feb30 293 pc.printf("# Message read\n");
omatthews 0:54bedd3964e2 294 decode_message();
justinbuckland 7:a4fc853feb30 295 pc.printf("# Message decoded\n");
omatthews 5:702b32ead94e 296
justinbuckland 18:376350fb7ef9 297 //Select heater
justinbuckland 18:376350fb7ef9 298 if (exp_config.selected_heater == memspcr_ExperimentConfiguration_Heater_HEATER_1)
justinbuckland 18:376350fb7ef9 299 i_heater = 0;
justinbuckland 18:376350fb7ef9 300 else if (exp_config.selected_heater == memspcr_ExperimentConfiguration_Heater_HEATER_2)
justinbuckland 18:376350fb7ef9 301 i_heater = 1;
justinbuckland 18:376350fb7ef9 302 else {
justinbuckland 8:58c6d51957df 303 pc.printf("# Error - no heater has been selected\n");
omatthews 5:702b32ead94e 304 return 1;
omatthews 5:702b32ead94e 305 }
justinbuckland 18:376350fb7ef9 306 heater_ID = i_heater + 1;
justinbuckland 18:376350fb7ef9 307
justinbuckland 18:376350fb7ef9 308 //Set drive ADC->Resistance calibration coefficients (default: no change if board not found)
justinbuckland 18:376350fb7ef9 309 drive_cal_a = drive_board_cal[i_board][i_heater][0];
justinbuckland 18:376350fb7ef9 310 drive_cal_b = drive_board_cal[i_board][i_heater][1];
justinbuckland 18:376350fb7ef9 311
justinbuckland 18:376350fb7ef9 312 pc.printf("# Heater: %d\n", heater_ID);
justinbuckland 20:ccbe2a03893d 313 pc.printf("# Drive board calibration: %10.6f, %10.6f\n", drive_cal_a, drive_cal_b);
omatthews 5:702b32ead94e 314
justinbuckland 18:376350fb7ef9 315 //Define heaters
justinbuckland 18:376350fb7ef9 316 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 317 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 318 if (i_heater == 0)
justinbuckland 18:376350fb7ef9 319 heater = heater_1;
justinbuckland 18:376350fb7ef9 320 else
justinbuckland 18:376350fb7ef9 321 heater = heater_2;
justinbuckland 18:376350fb7ef9 322
justinbuckland 20:ccbe2a03893d 323 //Start pressure control
justinbuckland 20:ccbe2a03893d 324 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 325 pc.printf("# Waiting for signal to begin [PRESSURE] control (type p or press button 0)\n");
justinbuckland 18:376350fb7ef9 326 while (pc.getcNb()!='p' && !user_0);
justinbuckland 18:376350fb7ef9 327 pc.printf("# Pressure control start signal received\n");
justinbuckland 13:b2e00297b465 328 pressure_thread.start(& pressure_control);
justinbuckland 20:ccbe2a03893d 329 pressure_tick.attach_us(& pressure_trigger, exp_config.fluidics.pressure_control_loop_interval_ms * 1000);
justinbuckland 13:b2e00297b465 330
justinbuckland 20:ccbe2a03893d 331 //Start logging
omatthews 2:b27d8f9a6e49 332 logging_thread.start(& log_state);
omatthews 6:ef2bcc5fe3af 333 log_tick.attach_us(& log_trigger,exp_config.logging_interval_ms * 1000);
omatthews 0:54bedd3964e2 334
paullj 22:f65353f6e935 335 //Start temperature control
paullj 22:f65353f6e935 336 pc.printf("# Waiting for signal to begin [THERMAL] control (type s or press button 0)\n");
paullj 22:f65353f6e935 337 while (pc.getcNb()!='s' && !user_0);
paullj 22:f65353f6e935 338 pc.printf("# Thermal control start signal received\n");
paullj 22:f65353f6e935 339
paullj 22:f65353f6e935 340 heater->Set_ref(0.0);
paullj 22:f65353f6e935 341 heater_control.start(& temp_control);
paullj 22:f65353f6e935 342 heat_tick.attach_us(& temp_trigger,exp_config.thermal.thermal_control_loop_interval_ms * 1000);
paullj 22:f65353f6e935 343
paullj 23:d00849a9aa23 344 pc.printf("# Starting routine\n");
paullj 23:d00849a9aa23 345 pc.printf("heater id, time (ms), measured resistance (ohms), resistance setpoint (ohms), pressure in (adc), pressure out (adc)\n");
paullj 23:d00849a9aa23 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 }