void Thermocycler::ControlPeltier() {
Thermocycler::ThermalDirection newDirection = Thermocycler::ThermalDirection::OFF;
if (iProgramState == ERunning || (iProgramState == EComplete && ipCurrentStep != NULL)) {
// Check whether we are nearing target and should switch to PID control
// float plateTemp = GetPlateTemp();
/* Test: Use estimated sample temp instead or measured well temp */
float plateTemp = GetTemp();
if (iPlateControlMode == EBangBang && absf(iTargetPlateTemp - plateTemp) < PLATE_BANGBANG_THRESHOLD) {
iPlateControlMode = EPIDPlate;
iPlatePid.SetMode(AUTOMATIC);
iPlatePid.ResetI();
}
// Apply control mode
if (iPlateControlMode == EBangBang) {
// Full drive
iPeltierPwm = (iTargetPlateTemp > plateTemp) ? MAX_PELTIER_PWM : MIN_PELTIER_PWM;
}
iPlatePid.Compute();
if (iDecreasing && iTargetPlateTemp > PLATE_PID_DEC_LOW_THRESHOLD) {
if (iTargetPlateTemp < plateTemp) {
iPlatePid.ResetI();
}
else {
iDecreasing = false;
}
}
if (iPeltierPwm > 0)
newDirection = HEAT;
else if (iPeltierPwm < 0)
newDirection = COOL;
else
newDirection = OFF;
}
else {
iPeltierPwm = 0;
}
iThermalDirection = newDirection;
SetPeltier(newDirection, iPeltierPwm);
}
void Thermocycler::ControlPeltier() {
ThermalDirection newDirection = OFF;
if (iProgramState == ERunning || (iProgramState == EComplete && ipCurrentStep != NULL)) {
// Check whether we are nearing target and should switch to PID control
if (iPlateControlMode == EBangBang && absf(iTargetPlateTemp - GetPlateTemp()) < PLATE_BANGBANG_THRESHOLD) {
iPlateControlMode = EPIDPlate;
iPlatePid.SetMode(AUTOMATIC);
iPlatePid.ResetI();
}
// Apply control mode
if (iPlateControlMode == EBangBang)
iPeltierPwm = iTargetPlateTemp > GetPlateTemp() ? MAX_PELTIER_PWM : MIN_PELTIER_PWM;
iPlatePid.Compute();
if (iDecreasing && iTargetPlateTemp > PLATE_PID_DEC_LOW_THRESHOLD) {
if (iTargetPlateTemp < GetPlateTemp())
iPlatePid.ResetI();
else
iDecreasing = false;
}
if (iPeltierPwm > 0)
newDirection = HEAT;
else if (iPeltierPwm < 0)
newDirection = COOL;
else
newDirection = OFF;
}
else {
iPeltierPwm = 0;
}
iThermalDirection = newDirection;
SetPeltier(newDirection, abs(iPeltierPwm));
}
void Thermocycler::ControlPeltier() {
ThermalDirection newDirection = OFF;
if (m_program_state == ERunning || (m_program_state == EComplete && m_current_step != NULL)) {
// Check whether we are nearing target and should switch to PID control
if (m_plate_control_mode == EBangBang && fabs(m_target_plate_temp - GetPlateTemp()) < PLATE_BANGBANG_THRESHOLD) {
m_plate_control_mode = EPIDPlate;
m_plate_pid->SetMode(AUTOMATIC);
m_plate_pid->ResetI();
}
// Apply control mode
if (m_plate_control_mode == EBangBang)
m_peltier_pwm = m_target_plate_temp > GetPlateTemp() ? MAX_PELTIER_PWM : MIN_PELTIER_PWM;
m_plate_pid->Compute();
if (m_is_decreasing && m_target_plate_temp > PLATE_PID_DEC_LOW_THRESHOLD) {
if (m_target_plate_temp < GetPlateTemp())
m_plate_pid->ResetI();
else
m_is_decreasing = false;
}
if (m_peltier_pwm > 0)
newDirection = HEAT;
else if (m_peltier_pwm < 0)
newDirection = COOL;
else
newDirection = OFF;
} else {
m_peltier_pwm = 0;
}
m_thermal_direction = newDirection;
SetPeltier(newDirection, abs(m_peltier_pwm));
}
// internal
boolean Thermocycler::Loop() {
ipCommunicator->Process();
unsigned long loopElapsedTimeMs = millis() - iPrevLoopStartTimeMs;
iPrevLoopStartTimeMs = millis();
switch (iProgramState) {
case EStartup:
iTempUpdated = false;
if (millis() > STARTUP_DELAY) {
iProgramState = EStopped;
iRestarted = false;
if (!iRestarted && !ipCommunicator->CommandReceived()) {
//check for stored program
SCommand command;
/*
if (ProgramStore::RetrieveProgram(command, (char*)ipCommunicator->GetBuffer())) {
ProcessCommand(command);
}
*/
}
}
break;
case ELidWait:
if (GetLidTemp() >= iTargetLidTemp - LID_START_TOLERANCE) {
//lid has warmed, begin program
iThermalDirection = OFF;
iPeltierPwm = 0;
PreprocessProgram();
iProgramState = ERunning;
ipProgram->BeginIteration();
AdvanceToNextStep();
iProgramStartTimeMs = millis();
}
break;
case ERunning:
//update program
if (!iPaused) {
if (iRamping) {
// Increment ramping time
iRampElapsedTimeMs += loopElapsedTimeMs;
} else {
// Increment holding time
iCycleElapsedTimeMs += loopElapsedTimeMs;
}
if (iProgramState == ERunning) {
if (!ipCurrentStep->IsFinal() && (iNextStepPending || iNextCyclePending)) {
if (iNextStepPending) {
iNextStepPending = false;
AdvanceToNextStep();
}
if (iNextCyclePending) {
iNextCyclePending = false;
AdvanceToNextCycle();
}
//check for program completion
if (ipCurrentStep == NULL || ipCurrentStep->IsFinal()) {
iProgramState = EComplete;
}
} else if (iRamping && abs(ipCurrentStep->GetTemp() - GetTemp()) <= CYCLE_START_TOLERANCE && GetRampElapsedTimeMs() > ipCurrentStep->GetRampDurationS() * 1000) {
//begin step hold
//eta updates
if (ipCurrentStep->GetRampDurationS() == 0) {
//fast ramp
iElapsedFastRampDegrees += absf(GetTemp() - iRampStartTemp);
iTotalElapsedFastRampDurationMs += iRampElapsedTimeMs;
}
if (iRampStartTemp > GetTemp()) {
iHasCooled = true;
}
iRamping = false;
iCycleElapsedTimeMs = 0;
}
else if (!iRamping && !ipCurrentStep->IsFinal() && iCycleElapsedTimeMs > (unsigned long)ipCurrentStep->GetStepDurationS() * 1000) {
//begin next step
AdvanceToNextStep();
//check for program completion
if (ipCurrentStep == NULL || ipCurrentStep->IsFinal()) {
iProgramState = EComplete;
}
}
}
break;
case EComplete:
PCR_DEBUG_LINE(ipCurrentStep->GetTemp());
if (iRamping && ipCurrentStep != NULL && abs(ipCurrentStep->GetTemp() - GetTemp()) <= CYCLE_START_TOLERANCE) {
iRamping = false;
}
break;
}
}
statusBuff[statusIndex].timestamp = millis();
//Read lid and well temp
statusBuff[statusIndex].hardwareStatus = HARD_NO_ERROR;
HardwareStatus result = iPlateThermistor.ReadTemp();
if (result!=HARD_NO_ERROR) {
statusBuff[statusIndex].hardwareStatus = result;
}
result = iLidThermistor.ReadTemp();
if (result!=HARD_NO_ERROR) {
statusBuff[statusIndex].hardwareStatus = result;
}
statusBuff[statusIndex].lidTemp = GetLidTemp();
statusBuff[statusIndex].wellTemp = GetPlateTemp();
float lidTemp = 0;
float wellTemp = 0;
CheckHardware(&lidTemp, &wellTemp);
PCR_DEBUG("L=");
PCR_DEBUG(lidTemp);
PCR_DEBUG(" W=wellTemp");
PCR_DEBUG_LINE(wellTemp);
iLidThermistor.setTemp(lidTemp);
iPlateThermistor.setTemp(wellTemp);
double estimatedAirTemp = wellTemp * 0.4 + lidTemp * 0.6;
// Estimated delta to next 1 sec
double diff = ((wellTemp - iEstimatedSampleTemp)/THETA_WELL + (estimatedAirTemp-iEstimatedSampleTemp)/THETA_LID ) / CAPACITY_TUBE;
if (!iTempUpdated) {
iTempUpdated = true;
iEstimatedSampleTemp = estimatedAirTemp;
} else if ( 5>diff && diff > -5) {
iEstimatedSampleTemp += diff;
}
CalcPlateTarget();
// Check error
//if (iHardwareStatus==HARD_NO_ERROR || true) { //TODO WELL_TEST (dummy line)
if (iHardwareStatus==HARD_NO_ERROR) { //TODO WELL_TEST
ControlLid();
ControlPeltier();
if (iHardwareStatus!=HARD_NO_ERROR) {
PCR_DEBUG("ERR=");
PCR_DEBUG_LINE(iHardwareStatus);
}
} else {
PCR_DEBUG_LINE("ALL OFF");
iProgramState = EError;
SetPeltier(OFF, 0);
SetLidOutput(0);
}
//program
UpdateEta();
#ifdef USE_LCD
ipDisplay->Update();
#endif
statusIndex = (statusIndex+1) % CyclerStatusBuffSize;
statusCount++;
return true;
}
