New firmware ready for testing

firmware/pid_controller/pid_controller.ino

+#include <SPI.h>
+#include <ltc6992.hpp>
+#include <ad7124_4.hpp>
+#include <ad7124_registers.hpp>
+#include <spi_selecta.hpp>
+#include <temp_table.hpp>
+#include <DueTimer.h>
+#include <utility.hpp>
+#include <pid_controller.hpp>
+#include <communicator.hpp>
+
+
+#define SPIRATE 84000000/32
+
+#define nCS_0 4
+#define nCS_1 10
+#define nCS_2 52
+#define nCS_3 46
+
+/*SPI Settings*/
+SPISettings spisettings = SPISettings(SPIRATE, MSBFIRST, SPI_MODE3);
+/*ADC Device Handles*/
+Ad7124_4 adc_1(nCS_1, &spisettings);
+Ad7124_4 adc_2(nCS_2, &spisettings);
+/*ADC Data Storage*/
+Adc_data adc1_data;
+Adc_data adc2_data;
+
+
+/*Set up Timer Interrupt Infrastructure*/
+volatile bool pidUpdRq = false;
+const long pidUpdRqPeriod = 750000; //update pid every 750ms
+
+void handlerPid(){
+  pidUpdRq = true; //set pid update request flag
+}
+
+void setup() {
+    Temperatures::init();
+
+    SerialUSB.begin(9600);
+
+    Ltc6992::init();
+
+    Spi_selecta::register_device(&adc_1);
+    Spi_selecta::register_device(&adc_2);
+
+    SPI.begin();
+    delay(2000);
+
+
+    Spi_selecta::select_device(&adc_1);
+      adc_1.reset();
+      delay(2000);
+      adc_1.write_register<uint16_t>(
+        REG_ADC_CONTROL,
+        ADC_CONTROL_REF_EN_1 | ADC_CONTROL_POWER_MODE_FULL_POWER | ADC_CONTROL_Mode_CONTINUOUS | ADC_CONTROL_CLK_SEL_INTERNAL | ADC_CONTROL_nCS_EN_1
+      );
+      adc_1.write_register<uint16_t>(
+        REG_CONFIG_0,
+        CONFIG_Burnout_OFF | CONFIG_REF_BUFP_1 | CONFIG_REF_BUFM_1 | CONFIG_AIN_BUFP_1 | CONFIG_AIN_BUFM_1 | CONFIG_REF_SEL_INTERNAL | CONFIG_PGA_GAIN1
+      );
+      adc_1.write_register<uint32_t>(
+        REG_FILTER_0,
+        FILTER_Filter_SINC4 | FILTER_FS_2047
+      );
+      adc_1.write_register<uint16_t>(
+        REG_CHANNEL_0,
+        CHANNEL_Enable_1 | CHANNEL_Setup_0 | CHANNEL_AINP_AIN0 | CHANNEL_AINM_AIN1
+      );
+    Spi_selecta::deselect_device();
+
+    Spi_selecta::select_device(&adc_2);
+      adc_2.reset();
+      delay(2000);
+      adc_2.write_register<uint16_t>(
+        REG_ADC_CONTROL,
+        ADC_CONTROL_REF_EN_1 | ADC_CONTROL_POWER_MODE_FULL_POWER | ADC_CONTROL_Mode_CONTINUOUS | ADC_CONTROL_CLK_SEL_INTERNAL | ADC_CONTROL_nCS_EN_1// | ADC_CONTROL_DATA_STATUS_1
+      );
+      adc_2.write_register<uint16_t>(
+        REG_CONFIG_0,
+        CONFIG_Burnout_OFF | CONFIG_REF_BUFP_1 | CONFIG_REF_BUFM_1 | CONFIG_AIN_BUFP_1 | CONFIG_AIN_BUFM_1 | CONFIG_REF_SEL_INTERNAL | CONFIG_PGA_GAIN1
+      );
+      adc_2.write_register<uint32_t>(
+        REG_FILTER_0,
+        FILTER_Filter_SINC4 | FILTER_FS_2047
+      );
+      /*Setup channel 0*/
+      adc_2.write_register<uint16_t>(
+        REG_CHANNEL_0,
+        CHANNEL_Enable_1 | CHANNEL_Setup_0 | CHANNEL_AINP_AIN0 | CHANNEL_AINM_AIN1
+      );
+      /*Setup channel 1*/
+      adc_2.write_register<uint16_t>(
+        REG_CHANNEL_1,
+        CHANNEL_Enable_1 | CHANNEL_Setup_0 | CHANNEL_AINP_AIN2 | CHANNEL_AINM_AIN3
+      );
+      /*Setup channel 2*/
+      adc_2.write_register<uint16_t>(
+        REG_CHANNEL_2,
+        CHANNEL_Enable_1 | CHANNEL_Setup_0 | CHANNEL_AINP_AIN4 | CHANNEL_AINM_AIN5
+      );
+      //Setup channel 3
+      
+      adc_2.write_register<uint16_t>(
+        REG_CHANNEL_3,
+        CHANNEL_Enable_1 | CHANNEL_Setup_0 | CHANNEL_AINP_AIN6 | CHANNEL_AINM_AIN7
+      );
+      
+    Spi_selecta::deselect_device();
+  
+    /*Start Interrupt Timers*/
+    Timer.getAvailable().attachInterrupt(handlerPid).start(pidUpdRqPeriod);
+}
+
+void loop() {
+    /*Read ADC Data*/
+    //ADC 1
+    adc1Data = readAdc(&adc_1);
+    if(adc1Data.valid && pidUpdRq){
+        pidUpdRq = false;
+        Temperatures::temperatures[0] = data_to_temperature(adc1Data.data);
+        Pid_controller::update_pid(Temperatures::temperatures[0]);
+    }
+    //ADC 2
+    adc2Data = readAdc(&adc_2);
+    if(adc2Data.valid && adc2Data.channel < 4u){
+        Temperatures[adc2Data.channel+1] = data_to_temperature(adc2Data.data);
+    }
+
+    /*Receive Commands*/
+    Communicator::communicate();
+}