From 1fa87aae68b1fe16879121443b7856a7bcd58129 Mon Sep 17 00:00:00 2001
From: Pascal Engeler <engelerp@phys.ethz.ch>
Date: Fri, 9 Jun 2023 23:31:48 +0200
Subject: [PATCH] New firmware ready for testing
---
firmware/pid_controller/pid_controller.ino | 133 +++++++++++++++++++++
1 file changed, 133 insertions(+)
create mode 100644 firmware/pid_controller/pid_controller.ino
diff --git a/firmware/pid_controller/pid_controller.ino b/firmware/pid_controller/pid_controller.ino
new file mode 100644
index 0000000..9b83ecf
--- /dev/null
+++ b/firmware/pid_controller/pid_controller.ino
@@ -0,0 +1,133 @@
+#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();
+}
--
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