The Technology Partnership / Mbed OS LEX_Threaded_Programming_V3

LEX_Threaded_Programming

Dependencies:   Heater_V2 MODSERIAL Nanopb FastPWM ADS8568_ADC

main.cpp@21:1f233639f0ce, 2019-09-23 (annotated)

Committer:
paullj
Date:
Mon Sep 23 12:39:34 2019 +0000
Revision:
21:1f233639f0ce
Parent:
17:d86e749ae9be 
Changed the input messages to work with gui controller;

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
justinbuckland 17:d86e749ae9be 40 float drive_cal[2] = {0.0, 1.0};
justinbuckland 8:58c6d51957df 41
omatthews 0:54bedd3964e2 42 Heater * heater;
intrinseca 4:63d7f2a0dec6 43 float r_gradient; //setpoint setting
omatthews 5:702b32ead94e 44
justinbuckland 8:58c6d51957df 45 MODSERIAL pc(PA_9, PA_10, BUFFER_SIZE); //mcu TX, RX, BUFFER_SIZE byte TX and RX buffers
omatthews 0:54bedd3964e2 46 ADS8568_ADC adc(PB_15, PB_14, PB_13, PB_12, PC_15, PC_0, PC_1, PC_2, PC_3);
omatthews 0:54bedd3964e2 47 I2C i2c(PB_7, PB_8); //SDA, SCL
omatthews 0:54bedd3964e2 48 Timer timer;
omatthews 0:54bedd3964e2 49 DigitalIn adc_busy(PA_8); //Busy interrupt sig#
omatthews 5:702b32ead94e 50
justinbuckland 17:d86e749ae9be 51 //Fluidic Control
justinbuckland 13:b2e00297b465 52 DigitalOut pump(PA_2);
justinbuckland 13:b2e00297b465 53 AnalogIn pressure_1(PA_5);
justinbuckland 13:b2e00297b465 54
justinbuckland 17:d86e749ae9be 55 float pressure_in;
justinbuckland 17:d86e749ae9be 56 float pressure_out;
justinbuckland 17:d86e749ae9be 57 float pressure_set_low;
justinbuckland 17:d86e749ae9be 58 float pressure_set_high;
omatthews 0:54bedd3964e2 59
omatthews 0:54bedd3964e2 60 //Heater Control
omatthews 5:702b32ead94e 61 FastPWM drive_main(PC_9);
omatthews 5:702b32ead94e 62 FastPWM drive_lysis(PC_8);
omatthews 5:702b32ead94e 63 FastPWM guard_main(PC_7);
omatthews 5:702b32ead94e 64 FastPWM guard_lysis(PC_6);
justinbuckland 7:a4fc853feb30 65
justinbuckland 7:a4fc853feb30 66 int heater_ID_main = 1;
justinbuckland 7:a4fc853feb30 67 int heater_ID_lysis = 2;
omatthews 5:702b32ead94e 68 int i_port_main = 0;
omatthews 5:702b32ead94e 69 int i_port_lysis = 2;
omatthews 5:702b32ead94e 70 int v_port_main = 1;
omatthews 5:702b32ead94e 71 int v_port_lysis = 3;
omatthews 0:54bedd3964e2 72
justinbuckland 7:a4fc853feb30 73 int heater_ID = 0;
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 13:b2e00297b465 95 Thread pressure_thread(osPriorityAboveNormal);
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
omatthews 0:54bedd3964e2 103 //Flags
omatthews 5:702b32ead94e 104 EventFlags flags; //Flags:
omatthews 5:702b32ead94e 105 // 0 => update heater
omatthews 5:702b32ead94e 106 // 1 => log state
justinbuckland 13:b2e00297b465 107 // 2 => read pressure
omatthews 5:702b32ead94e 108 bool triggered_flag;
omatthews 0:54bedd3964e2 109 bool status = true;
omatthews 0:54bedd3964e2 110
omatthews 0:54bedd3964e2 111 //Configuration data
omatthews 0:54bedd3964e2 112 memspcr_ExperimentConfiguration exp_config = memspcr_ExperimentConfiguration_init_zero;
omatthews 0:54bedd3964e2 113 int buffer_length;
omatthews 0:54bedd3964e2 114 size_t message_length;
justinbuckland 8:58c6d51957df 115 uint8_t buffer[BUFFER_SIZE];
omatthews 0:54bedd3964e2 116
omatthews 0:54bedd3964e2 117
omatthews 0:54bedd3964e2 118 //Functions for reading and decoding the message__________________________________________________
omatthews 0:54bedd3964e2 119
omatthews 0:54bedd3964e2 120 void read_message()
omatthews 0:54bedd3964e2 121 {
paullj 21:1f233639f0ce 122 if (pc.scanf("%d",&message_length) < 0){pc.printf("[ERROR] Error reading message length");}
omatthews 5:702b32ead94e 123 size_t buffer_length = sizeof(buffer);
omatthews 5:702b32ead94e 124 if (message_length > buffer_length)
omatthews 5:702b32ead94e 125 {
paullj 21:1f233639f0ce 126 pc.printf("[ERROR] Message length exceeds buffer. \n Input configuration file\n");
paullj 21:1f233639f0ce 127 pc.printf("[CONFIG] Input configuration file\n");
omatthews 5:702b32ead94e 128 read_message();
omatthews 5:702b32ead94e 129 return;
omatthews 5:702b32ead94e 130 }
paullj 21:1f233639f0ce 131 pc.printf("Message is %d chars long, buffer length is %d\n",message_length,buffer_length);
omatthews 5:702b32ead94e 132 unsigned int c;
omatthews 5:702b32ead94e 133 for (int i = 0; i < message_length; i++)
omatthews 0:54bedd3964e2 134 {
omatthews 0:54bedd3964e2 135 pc.scanf("%02X",&c);
omatthews 0:54bedd3964e2 136 buffer[i] = (char) c;
omatthews 0:54bedd3964e2 137 }
omatthews 0:54bedd3964e2 138 }
omatthews 0:54bedd3964e2 139
omatthews 0:54bedd3964e2 140 void decode_message()
omatthews 0:54bedd3964e2 141 {
omatthews 5:702b32ead94e 142 // Create a stream that reads from the buffer.
omatthews 0:54bedd3964e2 143 pb_istream_t istream = pb_istream_from_buffer(buffer, message_length);
omatthews 0:54bedd3964e2 144
omatthews 5:702b32ead94e 145 //Now we are ready to decode the message.
omatthews 0:54bedd3964e2 146 status = pb_decode(&istream, memspcr_ExperimentConfiguration_fields, &exp_config);
omatthews 0:54bedd3964e2 147
omatthews 5:702b32ead94e 148 // Check for errors...
omatthews 5:702b32ead94e 149 if (!status) {
paullj 21:1f233639f0ce 150 pc.printf("[ERROR] Decoding failed: %s\n", PB_GET_ERROR(&istream));
omatthews 0:54bedd3964e2 151 }
omatthews 0:54bedd3964e2 152 }
omatthews 0:54bedd3964e2 153
omatthews 0:54bedd3964e2 154 bool decode_callback(pb_istream_t *stream, const pb_field_t *field, void **arg)
omatthews 0:54bedd3964e2 155 {
omatthews 0:54bedd3964e2 156 vector <memspcr_ThermalStep> * dest = (vector <memspcr_ThermalStep> *)(*arg);
omatthews 0:54bedd3964e2 157 memspcr_ThermalStep result = memspcr_ThermalStep_init_zero;
omatthews 0:54bedd3964e2 158 status = pb_decode(stream, memspcr_ThermalStep_fields, & result);
omatthews 5:702b32ead94e 159
omatthews 5:702b32ead94e 160 if (!status) {
paullj 21:1f233639f0ce 161 pc.printf("[ERROR] Decode callback failed\n");
omatthews 0:54bedd3964e2 162 }
omatthews 0:54bedd3964e2 163
intrinseca 4:63d7f2a0dec6 164 dest->push_back(result); //CHECK: Does result get copied into the vector?
omatthews 0:54bedd3964e2 165 return true;
omatthews 0:54bedd3964e2 166 }
omatthews 0:54bedd3964e2 167
omatthews 0:54bedd3964e2 168
omatthews 0:54bedd3964e2 169 //Ticking functions_________________________________________________________________
omatthews 0:54bedd3964e2 170
omatthews 6:ef2bcc5fe3af 171
omatthews 5:702b32ead94e 172 void temp_trigger()
omatthews 0:54bedd3964e2 173 {
omatthews 5:702b32ead94e 174 //This function triggers a temperature update.
omatthews 5:702b32ead94e 175 //N.B. update cannot be called directly from a ticker as tickers and
omatthews 0:54bedd3964e2 176 //reading the ADC both rely on interrupts.
omatthews 5:702b32ead94e 177 flags.set(0x1);
omatthews 0:54bedd3964e2 178 }
omatthews 0:54bedd3964e2 179
omatthews 6:ef2bcc5fe3af 180
omatthews 2:b27d8f9a6e49 181 void log_trigger()
omatthews 2:b27d8f9a6e49 182 {
omatthews 5:702b32ead94e 183 flags.set(0x2);
omatthews 2:b27d8f9a6e49 184 }
justinbuckland 7:a4fc853feb30 185
justinbuckland 13:b2e00297b465 186 void pressure_trigger()
omatthews 0:54bedd3964e2 187 {
justinbuckland 13:b2e00297b465 188 flags.set(0x3);
justinbuckland 10:f8202e71e765 189 }
omatthews 0:54bedd3964e2 190
omatthews 0:54bedd3964e2 191
omatthews 5:702b32ead94e 192 //Other functions__________________________________________________________________
omatthews 0:54bedd3964e2 193
omatthews 0:54bedd3964e2 194
omatthews 0:54bedd3964e2 195 void temp_control() {
omatthews 0:54bedd3964e2 196 while(1){
omatthews 6:ef2bcc5fe3af 197 flags.wait_any(0x1,osWaitForever,true);
omatthews 0:54bedd3964e2 198 heater->read();
omatthews 0:54bedd3964e2 199 heater->update();
justinbuckland 17:d86e749ae9be 200 wait_us(200);//Give other threads time to get selected
omatthews 0:54bedd3964e2 201 }
omatthews 0:54bedd3964e2 202 }
omatthews 5:702b32ead94e 203
omatthews 2:b27d8f9a6e49 204 void log_state()
omatthews 2:b27d8f9a6e49 205 {
omatthews 2:b27d8f9a6e49 206 while(1){
omatthews 6:ef2bcc5fe3af 207 flags.wait_any(0x2,osWaitForever,true);
omatthews 6:ef2bcc5fe3af 208 //Output time, R_ref, R, error, error_integrated
justinbuckland 11:7394f281e845 209 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 210 wait_us(200);//Give other threads time to get selected
omatthews 2:b27d8f9a6e49 211 }
omatthews 2:b27d8f9a6e49 212 }
omatthews 5:702b32ead94e 213
justinbuckland 13:b2e00297b465 214 void pressure_control() {
justinbuckland 13:b2e00297b465 215 while(1){
justinbuckland 13:b2e00297b465 216 flags.wait_any(0x3,osWaitForever,true);
justinbuckland 17:d86e749ae9be 217 pressure_in = pressure_1.read();
justinbuckland 13:b2e00297b465 218 if (pressure_in < pressure_set_low) {
justinbuckland 13:b2e00297b465 219 led_1 = 1;
justinbuckland 13:b2e00297b465 220 pump = 1;
justinbuckland 13:b2e00297b465 221 }
justinbuckland 13:b2e00297b465 222 else if (pressure_in > pressure_set_high) {
justinbuckland 13:b2e00297b465 223 led_1 = 0;
justinbuckland 13:b2e00297b465 224 pump = 0;
justinbuckland 13:b2e00297b465 225 }
justinbuckland 17:d86e749ae9be 226 wait_us(200);//Give other threads time to get selected
justinbuckland 13:b2e00297b465 227 }
justinbuckland 13:b2e00297b465 228 }
justinbuckland 13:b2e00297b465 229
justinbuckland 13:b2e00297b465 230
omatthews 5:702b32ead94e 231 void set_point_routine(std::vector<memspcr_ThermalStep> profile) {
omatthews 5:702b32ead94e 232 int curr_time;
omatthews 5:702b32ead94e 233 vector <memspcr_ThermalStep>::iterator it_prev, it = profile.begin();
omatthews 5:702b32ead94e 234 if (it->elapsed_time_ms != 0)
omatthews 5:702b32ead94e 235 {
paullj 21:1f233639f0ce 236 pc.printf("[ERROR] The first point in the profile should be at time 0.\n");
omatthews 5:702b32ead94e 237 return;
omatthews 5:702b32ead94e 238 }
omatthews 2:b27d8f9a6e49 239 it++;
omatthews 0:54bedd3964e2 240
omatthews 0:54bedd3964e2 241 for (it_prev = profile.begin(); it < profile.end(); it ++, it_prev++){
omatthews 0:54bedd3964e2 242 triggered_flag = false;
paullj 14:39a5eb99fbdb 243 r_gradient = (it->resistance_set_point - it_prev->resistance_set_point)/(it->elapsed_time_ms - it_prev->elapsed_time_ms);
omatthews 0:54bedd3964e2 244 while ((curr_time = timer.read_ms()) <= it->elapsed_time_ms){
paullj 14:39a5eb99fbdb 245 heater->Set_ref(it_prev->resistance_set_point + r_gradient * (curr_time - it_prev->elapsed_time_ms));
justinbuckland 8:58c6d51957df 246
justinbuckland 9:9474da78cec3 247 if (!triggered_flag && (it->camera_offset_ms != 0) && (curr_time > it_prev->elapsed_time_ms + it->camera_offset_ms))
omatthews 0:54bedd3964e2 248 {
justinbuckland 9:9474da78cec3 249 //Start camera exposure and turn on LED if camera_offset_ms is non-zero
justinbuckland 7:a4fc853feb30 250 camTrigger = 0;
justinbuckland 7:a4fc853feb30 251 wait_us(10);
justinbuckland 7:a4fc853feb30 252 camTrigger = 1;
justinbuckland 7:a4fc853feb30 253 led_0 = 1;
justinbuckland 12:cadcea541fbf 254 ledDrive = 1;
omatthews 0:54bedd3964e2 255 triggered_flag = true;
omatthews 0:54bedd3964e2 256 }
justinbuckland 8:58c6d51957df 257 wait_us(200);
omatthews 0:54bedd3964e2 258 }
justinbuckland 8:58c6d51957df 259 //Stop camera exposure and turn off LED at end of time segment
justinbuckland 8:58c6d51957df 260 camTrigger = 0;
justinbuckland 8:58c6d51957df 261 led_0 = 0;
justinbuckland 12:cadcea541fbf 262 ledDrive = 0;
omatthews 0:54bedd3964e2 263 }
omatthews 0:54bedd3964e2 264 }
omatthews 0:54bedd3964e2 265
omatthews 0:54bedd3964e2 266
omatthews 5:702b32ead94e 267 int main()
omatthews 5:702b32ead94e 268 {
omatthews 0:54bedd3964e2 269 pc.baud(115200);
omatthews 0:54bedd3964e2 270 adc.init();
justinbuckland 17:d86e749ae9be 271
justinbuckland 17:d86e749ae9be 272 pc.printf("\r\nUnique ID: %08X %08X %08X \r\n", uid[0], uid[1], uid[2]);
justinbuckland 17:d86e749ae9be 273 int i_board = -1;
justinbuckland 17:d86e749ae9be 274 for (int i = 0; i < UID_TABLE_LENGTH; i++)
justinbuckland 17:d86e749ae9be 275 {
justinbuckland 17:d86e749ae9be 276 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 277 {
justinbuckland 17:d86e749ae9be 278 i_board = i;
justinbuckland 17:d86e749ae9be 279 i = UID_TABLE_LENGTH;
justinbuckland 17:d86e749ae9be 280 }
justinbuckland 17:d86e749ae9be 281 }
justinbuckland 17:d86e749ae9be 282
justinbuckland 17:d86e749ae9be 283 if (i_board != -1) pc.printf("Drive board: Board %d\n",drive_board_serial_number[i_board]);
paullj 21:1f233639f0ce 284 else pc.printf("[ERROR] Drive board UID match not found\n");
omatthews 5:702b32ead94e 285
omatthews 0:54bedd3964e2 286 buffer_length = sizeof(buffer)/sizeof(uint8_t);
paullj 21:1f233639f0ce 287 pc.printf("[CONFIG] Input configuration file\n");
justinbuckland 9:9474da78cec3 288
intrinseca 4:63d7f2a0dec6 289 //set up nanopb
omatthews 5:702b32ead94e 290 std::vector<memspcr_ThermalStep> profile;
omatthews 5:702b32ead94e 291 exp_config.profile.funcs.decode = decode_callback;
omatthews 5:702b32ead94e 292 exp_config.profile.arg = &profile;
omatthews 5:702b32ead94e 293
intrinseca 4:63d7f2a0dec6 294 //read and decode configuration
intrinseca 4:63d7f2a0dec6 295 read_message();
paullj 16:32b598af6f86 296
paullj 21:1f233639f0ce 297 pc.printf("Message read\n");
omatthews 0:54bedd3964e2 298 decode_message();
paullj 21:1f233639f0ce 299 pc.printf("Message decoded\n");
omatthews 5:702b32ead94e 300
omatthews 6:ef2bcc5fe3af 301 Heater * heater_main = new Heater(i_port_main, v_port_main, & drive_main, & guard_main, & adc, adc_busy, exp_config.thermal);
omatthews 6:ef2bcc5fe3af 302 Heater * heater_lysis = new Heater(i_port_lysis, v_port_lysis, & drive_lysis, & guard_lysis, & adc, adc_busy, exp_config.thermal);
omatthews 5:702b32ead94e 303
omatthews 5:702b32ead94e 304 //Select heater. Put control times in us for ticker functions
paullj 14:39a5eb99fbdb 305 if (exp_config.selected_heater == memspcr_ExperimentConfiguration_Heater_HEATER_1) {
omatthews 5:702b32ead94e 306 heater = heater_main;
justinbuckland 7:a4fc853feb30 307 heater_ID = heater_ID_main;
paullj 14:39a5eb99fbdb 308 } else if (exp_config.selected_heater == memspcr_ExperimentConfiguration_Heater_HEATER_2) {
omatthews 5:702b32ead94e 309 heater = heater_lysis;
justinbuckland 7:a4fc853feb30 310 heater_ID = heater_ID_lysis;
omatthews 5:702b32ead94e 311 } else {
paullj 21:1f233639f0ce 312 pc.printf("[ERROR] No heater has been selected\n");
omatthews 5:702b32ead94e 313 return 1;
omatthews 5:702b32ead94e 314 }
omatthews 5:702b32ead94e 315
justinbuckland 17:d86e749ae9be 316 //Set drive ADC->Resistance calibration coefficients
justinbuckland 17:d86e749ae9be 317 if (i_board != -1)
justinbuckland 17:d86e749ae9be 318 for (int i=0; i<2; i++) drive_cal[i] = drive_board_cal[i_board][heater_ID-1][i];
justinbuckland 17:d86e749ae9be 319 else {
justinbuckland 17:d86e749ae9be 320 drive_cal[0] = 0.0;
paullj 21:1f233639f0ce 321 drive_cal[1] = 10.0;
justinbuckland 17:d86e749ae9be 322 }
justinbuckland 17:d86e749ae9be 323
justinbuckland 17:d86e749ae9be 324 pc.printf("Heater: %d drive_cal[0]: %10.6f drive_cal[1]: %10.6f\n", heater_ID, drive_cal[0], drive_cal[1]);
justinbuckland 17:d86e749ae9be 325
justinbuckland 13:b2e00297b465 326 pc.printf("# Starting pressure control\n");
justinbuckland 13:b2e00297b465 327 pressure_thread.start(& pressure_control);
justinbuckland 13:b2e00297b465 328 pressure_tick.attach_us(& pressure_trigger, 500000);
justinbuckland 13:b2e00297b465 329
paullj 21:1f233639f0ce 330 pc.printf("[START] Waiting for start signal to begin temperature control (type in an s or press button 0)\n");
omatthews 6:ef2bcc5fe3af 331 heater->Set_ref(0.0);
omatthews 6:ef2bcc5fe3af 332 heater_control.start(& temp_control);
omatthews 6:ef2bcc5fe3af 333 heat_tick.attach_us(& temp_trigger,exp_config.thermal.control_loop_interval_ms * 1000);
omatthews 6:ef2bcc5fe3af 334
omatthews 2:b27d8f9a6e49 335 while (pc.getcNb()!='s' && !user_0);
omatthews 5:702b32ead94e 336
paullj 21:1f233639f0ce 337 pc.printf("Start signal received\n");
omatthews 0:54bedd3964e2 338
omatthews 2:b27d8f9a6e49 339 logging_thread.start(& log_state);
omatthews 6:ef2bcc5fe3af 340 log_tick.attach_us(& log_trigger,exp_config.logging_interval_ms * 1000);
omatthews 0:54bedd3964e2 341
paullj 21:1f233639f0ce 342 pc.printf("Starting routine\n");
paullj 21:1f233639f0ce 343 pc.printf("heater, time(ms), r, rSet, pIn, pOut\n");
omatthews 2:b27d8f9a6e49 344 timer.start();
omatthews 5:702b32ead94e 345 set_point_routine(profile);
omatthews 6:ef2bcc5fe3af 346
omatthews 6:ef2bcc5fe3af 347 //Turn off
omatthews 5:702b32ead94e 348 heat_tick.detach();
omatthews 5:702b32ead94e 349 log_tick.detach();
omatthews 5:702b32ead94e 350 wait(1);
omatthews 2:b27d8f9a6e49 351 heater->turn_off();
justinbuckland 8:58c6d51957df 352
justinbuckland 8:58c6d51957df 353
justinbuckland 7:a4fc853feb30 354 pc.printf("# Finished\n");
justinbuckland 7:a4fc853feb30 355
omatthews 5:702b32ead94e 356 return 0;
omatthews 5:702b32ead94e 357 }