The Technology Partnership / Mbed OS LEX_Threaded_Programming_V3

LEX_Threaded_Programming

Dependencies:   Heater_V2 MODSERIAL Nanopb FastPWM ADS8568_ADC

main.cpp@36:fef05d541679, 2020-03-30 (annotated)

Committer:
justinbuckland
Date:
Mon Mar 30 16:56:05 2020 +0000
Revision:
36:fef05d541679
Parent:
35:aa35c6325dac 
Removed old code no longer used

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 31:09d2f3e4ed99 14 #define PRESSURE_SMOOTH_FACTOR 0.9
justinbuckland 17:d86e749ae9be 15
justinbuckland 17:d86e749ae9be 16 //UID lookup address and pointer
justinbuckland 17:d86e749ae9be 17 #define UID_ADDR 0x1FFF7A10
justinbuckland 17:d86e749ae9be 18 unsigned long *uid = (unsigned long *) UID_ADDR;
justinbuckland 17:d86e749ae9be 19
justinbuckland 17:d86e749ae9be 20 //UID and drive board calibration table
justinbuckland 17:d86e749ae9be 21 #define UID_TABLE_LENGTH 4
justinbuckland 17:d86e749ae9be 22
justinbuckland 17:d86e749ae9be 23 int drive_board_serial_number[UID_TABLE_LENGTH] =
justinbuckland 17:d86e749ae9be 24 {1,
justinbuckland 17:d86e749ae9be 25 2,
justinbuckland 17:d86e749ae9be 26 3,
justinbuckland 17:d86e749ae9be 27 4};
justinbuckland 17:d86e749ae9be 28
justinbuckland 17:d86e749ae9be 29 unsigned long drive_board_uid[UID_TABLE_LENGTH][3] =
justinbuckland 17:d86e749ae9be 30 {{0x005B0060, 0x32375101, 0x32363531},
justinbuckland 28:b2513f36a50d 31 {0x00530028, 0x32375116, 0x30333732}, // updated board 2 UID {0x0051003D, 0x32375114, 0x30333732},
justinbuckland 17:d86e749ae9be 32 {0x00520060, 0x32375101, 0x32363531},
justinbuckland 17:d86e749ae9be 33 {0x00570060, 0x32375101, 0x32363531}};
justinbuckland 17:d86e749ae9be 34
justinbuckland 17:d86e749ae9be 35 float drive_board_cal[UID_TABLE_LENGTH][2][2] =
paullj 35:aa35c6325dac 36 {{{0.098846, 10.190057}, {0.060713, 10.208784}},
paullj 35:aa35c6325dac 37 {{0.060987, 10.154840}, {0.033058, 10.239591}},
paullj 35:aa35c6325dac 38 {{0.014312, 10.405662}, {0.000000, 1.0000000}},
paullj 35:aa35c6325dac 39 {{0.055152, 10.062970}, {0.114355, 10.123188}}};
justinbuckland 17:d86e749ae9be 40
omatthews 0:54bedd3964e2 41 Heater * heater;
intrinseca 4:63d7f2a0dec6 42 float r_gradient; //setpoint setting
omatthews 5:702b32ead94e 43
justinbuckland 8:58c6d51957df 44 MODSERIAL pc(PA_9, PA_10, BUFFER_SIZE); //mcu TX, RX, BUFFER_SIZE byte TX and RX buffers
omatthews 0:54bedd3964e2 45 ADS8568_ADC adc(PB_15, PB_14, PB_13, PB_12, PC_15, PC_0, PC_1, PC_2, PC_3);
omatthews 0:54bedd3964e2 46 I2C i2c(PB_7, PB_8); //SDA, SCL
omatthews 0:54bedd3964e2 47 Timer timer;
omatthews 0:54bedd3964e2 48 DigitalIn adc_busy(PA_8); //Busy interrupt sig#
omatthews 5:702b32ead94e 49
justinbuckland 17:d86e749ae9be 50 //Fluidic Control
justinbuckland 31:09d2f3e4ed99 51 AnalogIn pressure_0(PA_0);
justinbuckland 30:b28088f244c2 52 AnalogIn pressure_1(PA_1);
justinbuckland 30:b28088f244c2 53 DigitalOut pump(PA_4);
justinbuckland 31:09d2f3e4ed99 54 DigitalOut valve_0(PA_5);
justinbuckland 31:09d2f3e4ed99 55 DigitalOut valve_1(PA_6);
justinbuckland 13:b2e00297b465 56
justinbuckland 32:c825071486eb 57 float pressure_in = 0.1; // 0.1 - 0.9 corresponds to 0 - 15psi
justinbuckland 32:c825071486eb 58 float pressure_out = 0.1;
omatthews 0:54bedd3964e2 59
omatthews 0:54bedd3964e2 60 //Heater Control
justinbuckland 18:376350fb7ef9 61 FastPWM drive_1(PC_9);
justinbuckland 18:376350fb7ef9 62 FastPWM drive_2(PC_8);
justinbuckland 18:376350fb7ef9 63 FastPWM guard_1(PC_7);
justinbuckland 18:376350fb7ef9 64 FastPWM guard_2(PC_6);
justinbuckland 7:a4fc853feb30 65
justinbuckland 18:376350fb7ef9 66 //ADC channels for heater current and voltage measurements
justinbuckland 18:376350fb7ef9 67 int i_port_1 = 0;
justinbuckland 18:376350fb7ef9 68 int i_port_2 = 2;
justinbuckland 18:376350fb7ef9 69 int v_port_1 = 1;
justinbuckland 18:376350fb7ef9 70 int v_port_2 = 3;
omatthews 0:54bedd3964e2 71
justinbuckland 18:376350fb7ef9 72 //Heater ID: heater 1 is nearer liquid sense location, heater 2 is other location
justinbuckland 18:376350fb7ef9 73 int heater_ID;
omatthews 0:54bedd3964e2 74
justinbuckland 9:9474da78cec3 75 //Illumination LED Control
justinbuckland 9:9474da78cec3 76
justinbuckland 7:a4fc853feb30 77 //Indicator LEDs
justinbuckland 13:b2e00297b465 78 DigitalOut hb_led(PC_13); //Red
justinbuckland 13:b2e00297b465 79 DigitalOut led_0(PC_4); //Green
justinbuckland 13:b2e00297b465 80 DigitalOut led_1(PC_5); //Red
omatthews 0:54bedd3964e2 81
justinbuckland 7:a4fc853feb30 82 //Camera and LED drive
justinbuckland 7:a4fc853feb30 83 DigitalOut camTrigger(PB_2); //Trigger camera
justinbuckland 12:cadcea541fbf 84 DigitalOut ledDrive(PB_4); //Drive LED for fluorescence detection
justinbuckland 7:a4fc853feb30 85
omatthews 0:54bedd3964e2 86 //User buttons
omatthews 0:54bedd3964e2 87 DigitalIn user_0(PB_0);
omatthews 0:54bedd3964e2 88 DigitalIn user_1(PB_1);
omatthews 0:54bedd3964e2 89
omatthews 0:54bedd3964e2 90 BusOut converts(PC_0, PC_1, PC_2, PC_3);
omatthews 0:54bedd3964e2 91
omatthews 0:54bedd3964e2 92 //Threads
omatthews 6:ef2bcc5fe3af 93 Thread heater_control(osPriorityHigh);
omatthews 6:ef2bcc5fe3af 94 Thread logging_thread(osPriorityAboveNormal);
justinbuckland 19:8154688252fd 95 Thread pressure_thread(osPriorityNormal);
omatthews 0:54bedd3964e2 96
omatthews 0:54bedd3964e2 97 //Tickers
omatthews 0:54bedd3964e2 98 Ticker heat_tick;
omatthews 0:54bedd3964e2 99 Ticker pressure_tick;
omatthews 0:54bedd3964e2 100 Ticker log_tick;
omatthews 0:54bedd3964e2 101
omatthews 0:54bedd3964e2 102 //Flags
omatthews 5:702b32ead94e 103 EventFlags flags; //Flags:
omatthews 5:702b32ead94e 104 // 0 => update heater
omatthews 5:702b32ead94e 105 // 1 => log state
justinbuckland 13:b2e00297b465 106 // 2 => read pressure
omatthews 5:702b32ead94e 107 bool triggered_flag;
omatthews 0:54bedd3964e2 108 bool status = true;
omatthews 0:54bedd3964e2 109
omatthews 0:54bedd3964e2 110 //Configuration data
omatthews 0:54bedd3964e2 111 memspcr_ExperimentConfiguration exp_config = memspcr_ExperimentConfiguration_init_zero;
omatthews 0:54bedd3964e2 112 int buffer_length;
omatthews 0:54bedd3964e2 113 size_t message_length;
justinbuckland 8:58c6d51957df 114 uint8_t buffer[BUFFER_SIZE];
omatthews 0:54bedd3964e2 115
omatthews 0:54bedd3964e2 116
omatthews 0:54bedd3964e2 117 //Functions for reading and decoding the message__________________________________________________
omatthews 0:54bedd3964e2 118
omatthews 0:54bedd3964e2 119 void read_message()
omatthews 0:54bedd3964e2 120 {
justinbuckland 7:a4fc853feb30 121 if (pc.scanf("%d",&message_length) < 0){pc.printf("# Error reading message length");}
omatthews 5:702b32ead94e 122 size_t buffer_length = sizeof(buffer);
omatthews 5:702b32ead94e 123 if (message_length > buffer_length)
omatthews 5:702b32ead94e 124 {
justinbuckland 7:a4fc853feb30 125 pc.printf("# Message length exceeds buffer. \n Input configuration file\n");
omatthews 5:702b32ead94e 126 read_message();
omatthews 5:702b32ead94e 127 return;
omatthews 5:702b32ead94e 128 }
justinbuckland 7:a4fc853feb30 129 pc.printf("# Message is %d chars long, buffer length is %d\n",message_length,buffer_length);
omatthews 5:702b32ead94e 130 unsigned int c;
omatthews 5:702b32ead94e 131 for (int i = 0; i < message_length; i++)
omatthews 0:54bedd3964e2 132 {
omatthews 0:54bedd3964e2 133 pc.scanf("%02X",&c);
omatthews 0:54bedd3964e2 134 buffer[i] = (char) c;
omatthews 0:54bedd3964e2 135 }
omatthews 0:54bedd3964e2 136 }
omatthews 0:54bedd3964e2 137
omatthews 0:54bedd3964e2 138 void decode_message()
omatthews 0:54bedd3964e2 139 {
omatthews 5:702b32ead94e 140 // Create a stream that reads from the buffer.
omatthews 0:54bedd3964e2 141 pb_istream_t istream = pb_istream_from_buffer(buffer, message_length);
omatthews 0:54bedd3964e2 142
omatthews 5:702b32ead94e 143 //Now we are ready to decode the message.
omatthews 0:54bedd3964e2 144 status = pb_decode(&istream, memspcr_ExperimentConfiguration_fields, &exp_config);
omatthews 0:54bedd3964e2 145
omatthews 5:702b32ead94e 146 // Check for errors...
omatthews 5:702b32ead94e 147 if (!status) {
justinbuckland 7:a4fc853feb30 148 pc.printf("# Decoding failed: %s\n", PB_GET_ERROR(&istream));
omatthews 0:54bedd3964e2 149 }
omatthews 0:54bedd3964e2 150 }
omatthews 0:54bedd3964e2 151
omatthews 0:54bedd3964e2 152 bool decode_callback(pb_istream_t *stream, const pb_field_t *field, void **arg)
omatthews 0:54bedd3964e2 153 {
omatthews 0:54bedd3964e2 154 vector <memspcr_ThermalStep> * dest = (vector <memspcr_ThermalStep> *)(*arg);
omatthews 0:54bedd3964e2 155 memspcr_ThermalStep result = memspcr_ThermalStep_init_zero;
omatthews 0:54bedd3964e2 156 status = pb_decode(stream, memspcr_ThermalStep_fields, & result);
omatthews 5:702b32ead94e 157
omatthews 5:702b32ead94e 158 if (!status) {
justinbuckland 7:a4fc853feb30 159 pc.printf("# Decode callback failed\n");
omatthews 0:54bedd3964e2 160 }
omatthews 0:54bedd3964e2 161
intrinseca 4:63d7f2a0dec6 162 dest->push_back(result); //CHECK: Does result get copied into the vector?
omatthews 0:54bedd3964e2 163 return true;
omatthews 0:54bedd3964e2 164 }
omatthews 0:54bedd3964e2 165
omatthews 0:54bedd3964e2 166
omatthews 0:54bedd3964e2 167 //Ticking functions_________________________________________________________________
omatthews 0:54bedd3964e2 168
omatthews 6:ef2bcc5fe3af 169
omatthews 5:702b32ead94e 170 void temp_trigger()
omatthews 0:54bedd3964e2 171 {
omatthews 5:702b32ead94e 172 //This function triggers a temperature update.
omatthews 5:702b32ead94e 173 //N.B. update cannot be called directly from a ticker as tickers and
omatthews 0:54bedd3964e2 174 //reading the ADC both rely on interrupts.
omatthews 5:702b32ead94e 175 flags.set(0x1);
omatthews 0:54bedd3964e2 176 }
omatthews 0:54bedd3964e2 177
omatthews 6:ef2bcc5fe3af 178
omatthews 2:b27d8f9a6e49 179 void log_trigger()
omatthews 2:b27d8f9a6e49 180 {
omatthews 5:702b32ead94e 181 flags.set(0x2);
omatthews 2:b27d8f9a6e49 182 }
justinbuckland 7:a4fc853feb30 183
omatthews 0:54bedd3964e2 184
omatthews 5:702b32ead94e 185 //Other functions__________________________________________________________________
omatthews 0:54bedd3964e2 186
omatthews 0:54bedd3964e2 187
omatthews 0:54bedd3964e2 188 void temp_control() {
omatthews 0:54bedd3964e2 189 while(1){
omatthews 6:ef2bcc5fe3af 190 flags.wait_any(0x1,osWaitForever,true);
omatthews 0:54bedd3964e2 191 heater->read();
omatthews 0:54bedd3964e2 192 heater->update();
justinbuckland 17:d86e749ae9be 193 wait_us(200);//Give other threads time to get selected
omatthews 0:54bedd3964e2 194 }
omatthews 0:54bedd3964e2 195 }
omatthews 5:702b32ead94e 196
omatthews 2:b27d8f9a6e49 197 void log_state()
omatthews 2:b27d8f9a6e49 198 {
omatthews 2:b27d8f9a6e49 199 while(1){
omatthews 6:ef2bcc5fe3af 200 flags.wait_any(0x2,osWaitForever,true);
justinbuckland 32:c825071486eb 201
justinbuckland 32:c825071486eb 202 //Read and control pressure
justinbuckland 32:c825071486eb 203 pressure_in = pressure_in * PRESSURE_SMOOTH_FACTOR + (1 - PRESSURE_SMOOTH_FACTOR) * pressure_1.read();
justinbuckland 32:c825071486eb 204 pressure_out = pressure_out * PRESSURE_SMOOTH_FACTOR + (1 - PRESSURE_SMOOTH_FACTOR) * pressure_0.read();
justinbuckland 32:c825071486eb 205 if (pressure_in < exp_config.fluidics.pressure_sensor_setpoint_adc - exp_config.fluidics.pressure_sensor_hysteresis_adc) {
justinbuckland 32:c825071486eb 206 led_1 = 1;
justinbuckland 32:c825071486eb 207 pump = 1;
justinbuckland 32:c825071486eb 208 }
justinbuckland 32:c825071486eb 209 else if (pressure_in > exp_config.fluidics.pressure_sensor_setpoint_adc) {
justinbuckland 32:c825071486eb 210 led_1 = 0;
justinbuckland 32:c825071486eb 211 pump = 0;
justinbuckland 32:c825071486eb 212 }
justinbuckland 32:c825071486eb 213
justinbuckland 29:818c098c9e5a 214 //Output time, R_avg, R_ref, R_var, error, error_integrated, duty cycle, input pressure, output pressure
justinbuckland 26:e2e834e16367 215 pc.printf("%10d,%10d,%10.6f,%10.6f,%10.6f,%10.6f,%10.6f,%10.6f,%10.6f,%10.6f\n",
justinbuckland 29:818c098c9e5a 216 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 217 wait_us(200);//Give other threads time to get selected
justinbuckland 19:8154688252fd 218 }
omatthews 2:b27d8f9a6e49 219 }
omatthews 5:702b32ead94e 220
justinbuckland 13:b2e00297b465 221
omatthews 5:702b32ead94e 222 void set_point_routine(std::vector<memspcr_ThermalStep> profile) {
omatthews 5:702b32ead94e 223 int curr_time;
omatthews 5:702b32ead94e 224 vector <memspcr_ThermalStep>::iterator it_prev, it = profile.begin();
omatthews 5:702b32ead94e 225 if (it->elapsed_time_ms != 0)
omatthews 5:702b32ead94e 226 {
justinbuckland 7:a4fc853feb30 227 pc.printf("# Error: the first point in the profile should be at time 0.\n");
omatthews 5:702b32ead94e 228 return;
omatthews 5:702b32ead94e 229 }
omatthews 2:b27d8f9a6e49 230 it++;
omatthews 0:54bedd3964e2 231
omatthews 0:54bedd3964e2 232 for (it_prev = profile.begin(); it < profile.end(); it ++, it_prev++){
omatthews 0:54bedd3964e2 233 triggered_flag = false;
paullj 14:39a5eb99fbdb 234 r_gradient = (it->resistance_set_point - it_prev->resistance_set_point)/(it->elapsed_time_ms - it_prev->elapsed_time_ms);
omatthews 0:54bedd3964e2 235 while ((curr_time = timer.read_ms()) <= it->elapsed_time_ms){
paullj 14:39a5eb99fbdb 236 heater->Set_ref(it_prev->resistance_set_point + r_gradient * (curr_time - it_prev->elapsed_time_ms));
justinbuckland 8:58c6d51957df 237
justinbuckland 9:9474da78cec3 238 if (!triggered_flag && (it->camera_offset_ms != 0) && (curr_time > it_prev->elapsed_time_ms + it->camera_offset_ms))
omatthews 0:54bedd3964e2 239 {
justinbuckland 9:9474da78cec3 240 //Start camera exposure and turn on LED if camera_offset_ms is non-zero
justinbuckland 7:a4fc853feb30 241 camTrigger = 0;
justinbuckland 7:a4fc853feb30 242 wait_us(10);
justinbuckland 7:a4fc853feb30 243 camTrigger = 1;
justinbuckland 7:a4fc853feb30 244 led_0 = 1;
justinbuckland 12:cadcea541fbf 245 ledDrive = 1;
omatthews 0:54bedd3964e2 246 triggered_flag = true;
omatthews 0:54bedd3964e2 247 }
justinbuckland 8:58c6d51957df 248 wait_us(200);
omatthews 0:54bedd3964e2 249 }
justinbuckland 8:58c6d51957df 250 //Stop camera exposure and turn off LED at end of time segment
justinbuckland 8:58c6d51957df 251 camTrigger = 0;
justinbuckland 8:58c6d51957df 252 led_0 = 0;
justinbuckland 12:cadcea541fbf 253 ledDrive = 0;
omatthews 0:54bedd3964e2 254 }
omatthews 0:54bedd3964e2 255 }
omatthews 0:54bedd3964e2 256
omatthews 0:54bedd3964e2 257
omatthews 5:702b32ead94e 258 int main()
omatthews 5:702b32ead94e 259 {
justinbuckland 18:376350fb7ef9 260 int i_board = -1;
justinbuckland 18:376350fb7ef9 261 int i_heater;
justinbuckland 18:376350fb7ef9 262 float drive_cal_a, drive_cal_b;
justinbuckland 36:fef05d541679 263
omatthews 0:54bedd3964e2 264 pc.baud(115200);
omatthews 0:54bedd3964e2 265 adc.init();
justinbuckland 17:d86e749ae9be 266
justinbuckland 17:d86e749ae9be 267 pc.printf("\r\nUnique ID: %08X %08X %08X \r\n", uid[0], uid[1], uid[2]);
justinbuckland 17:d86e749ae9be 268 for (int i = 0; i < UID_TABLE_LENGTH; i++)
justinbuckland 17:d86e749ae9be 269 {
justinbuckland 17:d86e749ae9be 270 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 271 {
justinbuckland 17:d86e749ae9be 272 i_board = i;
justinbuckland 17:d86e749ae9be 273 i = UID_TABLE_LENGTH;
justinbuckland 17:d86e749ae9be 274 }
justinbuckland 17:d86e749ae9be 275 }
justinbuckland 17:d86e749ae9be 276
omatthews 0:54bedd3964e2 277 buffer_length = sizeof(buffer)/sizeof(uint8_t);
paullj 22:f65353f6e935 278 pc.printf("# Input [CONFIGURATION] file\n");
justinbuckland 9:9474da78cec3 279
intrinseca 4:63d7f2a0dec6 280 //set up nanopb
omatthews 5:702b32ead94e 281 std::vector<memspcr_ThermalStep> profile;
omatthews 5:702b32ead94e 282 exp_config.profile.funcs.decode = decode_callback;
omatthews 5:702b32ead94e 283 exp_config.profile.arg = &profile;
omatthews 5:702b32ead94e 284
intrinseca 4:63d7f2a0dec6 285 //read and decode configuration
justinbuckland 18:376350fb7ef9 286 read_message();
justinbuckland 7:a4fc853feb30 287 pc.printf("# Message read\n");
omatthews 0:54bedd3964e2 288 decode_message();
justinbuckland 7:a4fc853feb30 289 pc.printf("# Message decoded\n");
omatthews 5:702b32ead94e 290
justinbuckland 18:376350fb7ef9 291 //Select heater
justinbuckland 18:376350fb7ef9 292 if (exp_config.selected_heater == memspcr_ExperimentConfiguration_Heater_HEATER_1)
justinbuckland 18:376350fb7ef9 293 i_heater = 0;
justinbuckland 18:376350fb7ef9 294 else if (exp_config.selected_heater == memspcr_ExperimentConfiguration_Heater_HEATER_2)
justinbuckland 18:376350fb7ef9 295 i_heater = 1;
justinbuckland 18:376350fb7ef9 296 else {
justinbuckland 8:58c6d51957df 297 pc.printf("# Error - no heater has been selected\n");
omatthews 5:702b32ead94e 298 return 1;
omatthews 5:702b32ead94e 299 }
justinbuckland 18:376350fb7ef9 300 heater_ID = i_heater + 1;
justinbuckland 18:376350fb7ef9 301
justinbuckland 18:376350fb7ef9 302 //Set drive ADC->Resistance calibration coefficients (default: no change if board not found)
justinbuckland 18:376350fb7ef9 303 drive_cal_a = drive_board_cal[i_board][i_heater][0];
justinbuckland 18:376350fb7ef9 304 drive_cal_b = drive_board_cal[i_board][i_heater][1];
justinbuckland 18:376350fb7ef9 305
justinbuckland 18:376350fb7ef9 306 pc.printf("# Heater: %d\n", heater_ID);
justinbuckland 20:ccbe2a03893d 307 pc.printf("# Drive board calibration: %10.6f, %10.6f\n", drive_cal_a, drive_cal_b);
omatthews 5:702b32ead94e 308
justinbuckland 18:376350fb7ef9 309 //Define heaters
justinbuckland 18:376350fb7ef9 310 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 311 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 312 if (i_heater == 0)
justinbuckland 18:376350fb7ef9 313 heater = heater_1;
justinbuckland 18:376350fb7ef9 314 else
justinbuckland 18:376350fb7ef9 315 heater = heater_2;
justinbuckland 18:376350fb7ef9 316
justinbuckland 20:ccbe2a03893d 317 //Start pressure control
justinbuckland 20:ccbe2a03893d 318 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 319 pc.printf("# Waiting for signal to begin [PRESSURE] control (type p or press button 0)\n");
justinbuckland 18:376350fb7ef9 320 while (pc.getcNb()!='p' && !user_0);
justinbuckland 18:376350fb7ef9 321 pc.printf("# Pressure control start signal received\n");
justinbuckland 13:b2e00297b465 322
justinbuckland 36:fef05d541679 323 //Start logging (pressure control takes place within logging thread)
omatthews 2:b27d8f9a6e49 324 logging_thread.start(& log_state);
omatthews 6:ef2bcc5fe3af 325 log_tick.attach_us(& log_trigger,exp_config.logging_interval_ms * 1000);
omatthews 0:54bedd3964e2 326
paullj 22:f65353f6e935 327 //Start temperature control
paullj 22:f65353f6e935 328 pc.printf("# Waiting for signal to begin [THERMAL] control (type s or press button 0)\n");
paullj 22:f65353f6e935 329 while (pc.getcNb()!='s' && !user_0);
paullj 22:f65353f6e935 330 pc.printf("# Thermal control start signal received\n");
paullj 22:f65353f6e935 331
paullj 22:f65353f6e935 332 heater->Set_ref(0.0);
paullj 22:f65353f6e935 333 heater_control.start(& temp_control);
paullj 22:f65353f6e935 334 heat_tick.attach_us(& temp_trigger,exp_config.thermal.thermal_control_loop_interval_ms * 1000);
paullj 22:f65353f6e935 335
justinbuckland 27:0ee855da5ba9 336 pc.printf("# Starting routine on drive board: %d\n",drive_board_serial_number[i_board]);
justinbuckland 32:c825071486eb 337 pc.printf("heater id, time (ms), R_avg (Ohm), R_set (Ohm), R_var (Ohm), Err (Ohm), Err_int (Ohm.ms), Duty cycle, P0 (ADC), P1 (ADC)\n");
paullj 23:d00849a9aa23 338 timer.start();
omatthews 5:702b32ead94e 339 set_point_routine(profile);
omatthews 6:ef2bcc5fe3af 340
omatthews 6:ef2bcc5fe3af 341 //Turn off
omatthews 5:702b32ead94e 342 heat_tick.detach();
omatthews 5:702b32ead94e 343 log_tick.detach();
omatthews 5:702b32ead94e 344 wait(1);
omatthews 2:b27d8f9a6e49 345 heater->turn_off();
justinbuckland 18:376350fb7ef9 346
justinbuckland 7:a4fc853feb30 347 pc.printf("# Finished\n");
justinbuckland 7:a4fc853feb30 348
omatthews 5:702b32ead94e 349 return 0;
omatthews 5:702b32ead94e 350 }