void Thermocycler::SetPlateControlStrategy() {
if (InControlledRamp())
return;
if (absf(iTargetPlateTemp - GetPlateTemp()) >= PLATE_BANGBANG_THRESHOLD && !InControlledRamp()) {
iPlateControlMode = EBangBang;
iPlatePid.SetMode(MANUAL);
}
else {
iPlateControlMode = EPIDPlate;
iPlatePid.SetMode(AUTOMATIC);
}
if (iRamping) {
if (iTargetPlateTemp >= GetPlateTemp()) {
iDecreasing = false;
if (iTargetPlateTemp < PLATE_PID_INC_LOW_THRESHOLD)
iPlatePid.SetTunings(PLATE_PID_INC_LOW_P, PLATE_PID_INC_LOW_I, PLATE_PID_INC_LOW_D);
else
iPlatePid.SetTunings(PLATE_PID_INC_NORM_P, PLATE_PID_INC_NORM_I, PLATE_PID_INC_NORM_D);
}
else {
iDecreasing = true;
if (iTargetPlateTemp > PLATE_PID_DEC_HIGH_THRESHOLD)
iPlatePid.SetTunings(PLATE_PID_DEC_HIGH_P, PLATE_PID_DEC_HIGH_I, PLATE_PID_DEC_HIGH_D);
else if (iTargetPlateTemp < PLATE_PID_DEC_LOW_THRESHOLD)
iPlatePid.SetTunings(PLATE_PID_DEC_LOW_P, PLATE_PID_DEC_LOW_I, PLATE_PID_DEC_LOW_D);
else
iPlatePid.SetTunings(PLATE_PID_DEC_NORM_P, PLATE_PID_DEC_NORM_I, PLATE_PID_DEC_NORM_D);
}
}
}
void Thermocycler::SetPlateControlStrategy() {
if (InControlledRamp())
return;
if (fabs(m_target_plate_temp - GetPlateTemp()) >= PLATE_BANGBANG_THRESHOLD && !InControlledRamp()) {
m_plate_control_mode = EBangBang;
m_plate_pid->SetMode(MANUAL);
} else {
m_plate_control_mode = EPIDPlate;
m_plate_pid->SetMode(AUTOMATIC);
}
if (m_is_ramping) {
if (m_target_plate_temp >= GetPlateTemp()) {
m_is_decreasing = false;
if (m_target_plate_temp < PLATE_PID_INC_LOW_THRESHOLD)
m_plate_pid->SetTunings(PLATE_PID_INC_LOW_P, PLATE_PID_INC_LOW_I, PLATE_PID_INC_LOW_D);
else
m_plate_pid->SetTunings(PLATE_PID_INC_NORM_P, PLATE_PID_INC_NORM_I, PLATE_PID_INC_NORM_D);
} else {
m_is_decreasing = true;
if (m_target_plate_temp > PLATE_PID_DEC_HIGH_THRESHOLD)
m_plate_pid->SetTunings(PLATE_PID_DEC_HIGH_P, PLATE_PID_DEC_HIGH_I, PLATE_PID_DEC_HIGH_D);
else if (m_target_plate_temp < PLATE_PID_DEC_LOW_THRESHOLD)
m_plate_pid->SetTunings(PLATE_PID_DEC_LOW_P, PLATE_PID_DEC_LOW_I, PLATE_PID_DEC_LOW_D);
else
m_plate_pid->SetTunings(PLATE_PID_DEC_NORM_P, PLATE_PID_DEC_NORM_I, PLATE_PID_DEC_NORM_D);
}
}
}
boolean Thermocycler::Pause() {
if (iProgramState == ERunning && !iPaused) {
iPauseTemp = GetPlateTemp();
iPaused = true;
return true;
}
return false;
}
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));
}
void Thermocycler::PrepareStep() {
//update eta calc params
if (ipPreviousStep == NULL || ipPreviousStep->GetTemp() != ipCurrentStep->GetTemp()) {
iRamping = true;
iRampElapsedTimeMs = 0;
iRampStartTemp = GetPlateTemp();
}
else {
iCycleElapsedTimeMs = 0; //next step starts immediately
}
// Switch cycle to display
ProgramComponent *pComp = ipProgram->GetComponent(ipProgram->GetCurrentComponentIndex());
if (pComp->GetType() == ProgramComponent::ECycle) {
ipDisplayCycle = (Cycle*) pComp;
}
CalcPlateTarget();
SetPlateControlStrategy();
}
//private
void Thermocycler::AdvanceToNextStep() {
m_previous_step = m_current_step;
m_current_step = m_program->GetNextStep();
if (m_current_step == NULL)
return;
//update eta calc params
if (m_previous_step == NULL || m_previous_step->GetTemp() != m_current_step->GetTemp()) {
m_is_ramping = true;
m_ramp_start_time = millis();
m_ramp_start_temp = GetPlateTemp();
} else {
m_cycle_start_time = millis(); //next step starts immediately
}
CalcPlateTarget();
SetPlateControlStrategy();
}
//private
void Thermocycler::AdvanceToNextStep() {
ipPreviousStep = ipCurrentStep;
ipCurrentStep = ipProgram->GetNextStep();
if (ipCurrentStep == NULL)
return;
//update eta calc params
if (ipPreviousStep == NULL || ipPreviousStep->GetTemp() != ipCurrentStep->GetTemp()) {
iRamping = true;
iRampStartTime = millis();
iRampStartTemp = GetPlateTemp();
} else {
iCycleStartTime = millis(); //next step starts immediately
}
CalcPlateTarget();
SetPlateControlStrategy();
}
//PreprocessProgram initializes ETA parameters and validates/modifies ramp conditions
void Thermocycler::PreprocessProgram() {
Step* pCurrentStep;
Step* pPreviousStep = NULL;
iProgramHoldDurationS = 0;
iEstimatedTimeRemainingS = 0;
iHasCooled = false;
iProgramControlledRampDurationS = 0;
iProgramFastRampDegrees = 0;
iElapsedFastRampDegrees = 0;
iTotalElapsedFastRampDurationMs = 0;
ipProgram->BeginIteration();
while ((pCurrentStep = ipProgram->GetNextStep()) && !pCurrentStep->IsFinal()) {
//validate ramp
if (pPreviousStep != NULL && pCurrentStep->GetRampDurationS() * 1000 < absf(pCurrentStep->GetTemp() - pPreviousStep->GetTemp()) * PLATE_FAST_RAMP_THRESHOLD_MS) {
//cannot ramp that fast, ignored set ramp
pCurrentStep->SetRampDurationS(0);
}
//update eta hold
iProgramHoldDurationS += pCurrentStep->GetStepDurationS();
//update eta ramp
if (pCurrentStep->GetRampDurationS() > 0) {
//controlled ramp
iProgramControlledRampDurationS += pCurrentStep->GetRampDurationS();
}
else {
//fast ramp
double previousTemp = pPreviousStep ? pPreviousStep->GetTemp() : GetPlateTemp();
iProgramFastRampDegrees += absf(previousTemp - pCurrentStep->GetTemp()) - CYCLE_START_TOLERANCE;
}
pPreviousStep = pCurrentStep;
}
}
//PreprocessProgram initializes ETA parameters and validates/modifies ramp conditions
void Thermocycler::PreprocessProgram() {
Step* pCurrentStep;
Step* pPreviousStep = NULL;
m_program_hold_duration_sec = 0;
m_estimated_time_remaining_sec = 0;
m_has_cooled = false;
m_program_controlled_ramp_duration_sec = 0;
m_program_fast_ramp_degrees = 0;
m_elapsed_fast_ramp_degrees = 0;
m_total_elapsed_fast_ramp_duration_ms = 0;
m_program->BeginIteration();
while ((pCurrentStep = m_program->GetNextStep()) && !pCurrentStep->IsFinal()) {
//validate ramp
if (pPreviousStep != NULL && pCurrentStep->GetRampDurationS() * 1000 < fabs(pCurrentStep->GetTemp() - pPreviousStep->GetTemp()) * PLATE_FAST_RAMP_THRESHOLD_MS) {
//cannot ramp that fast, ignored set ramp
pCurrentStep->SetRampDurationS(0);
}
//update eta hold
m_program_hold_duration_sec += pCurrentStep->GetStepDurationS();
//update eta ramp
if (pCurrentStep->GetRampDurationS() > 0) {
//controlled ramp
m_program_controlled_ramp_duration_sec += pCurrentStep->GetRampDurationS();
} else {
//fast ramp
double previousTemp = pPreviousStep ? pPreviousStep->GetTemp() : GetPlateTemp();
m_program_fast_ramp_degrees += fabs(previousTemp - pCurrentStep->GetTemp()) - CYCLE_START_TOLERANCE;
}
pPreviousStep = pCurrentStep;
}
}
void Thermocycler::SetPeltier(ThermalDirection dir, int pwm /* Signed value of peltier */) {
// TODO Use table of internal heat & peltier efficiency
if (dir == COOL) {
if (GetPlateTemp() < 30) {
pwm = pwm/8;
}
else if (GetPlateTemp() < 35) {
pwm = pwm/4;
}
else if (GetPlateTemp() < 40) {
pwm = pwm/2;
}
else if (GetPlateTemp() < 50) {
pwm = pwm * 2 / 3;
}
}
pwm = max(-MAX_PELTIER_PWM, min(MAX_PELTIER_PWM, (int)(pwm * iPowerOutputRatio)));
Thermocycler::ThermalDirection dirActual;
int pwmActual;
if (dir != OFF && prevActualDirection != OFF && dir != prevActualDirection && prevActualPWMDuty!=0) {
// Direction will be changed.
if (prevPWMDuty==0 && pwm > PWM_SWITCHING_THRESHOLD) {
pwmActual = pwm;
dirActual = dir;
} else {
// Once set zero without switching relay
pwmActual = 0;
dirActual = prevActualDirection;
}
} else {
// No need of switching direction.
dirActual = dir;
pwmActual = pwm;
}
PCR_DEBUG("Pout(A)=");
PCR_DEBUG(pwmActual);
PCR_DEBUG(", dir=");
PCR_DEBUG_LINE(dirActual);
#ifdef USE_FAN
digitalWrite(PIN_FAN, PIN_FAN_VALUE_ON);
#endif
if (dirActual == COOL) {
digitalWrite(PIN_WELL_INA, PIN_WELL_VALUE_OFF);
digitalWrite(PIN_WELL_INB, PIN_WELL_VALUE_ON);
}
else if (dirActual == HEAT) {
digitalWrite(PIN_WELL_INA, PIN_WELL_VALUE_ON);
digitalWrite(PIN_WELL_INB, PIN_WELL_VALUE_OFF);
}
else {
// Off
digitalWrite(PIN_WELL_INA, PIN_WELL_VALUE_OFF);
digitalWrite(PIN_WELL_INB, PIN_WELL_VALUE_OFF);
}
analogValuePeltier = pwmActual;
int absOutput = (dir==COOL)?-pwmActual:pwmActual;
#ifdef PIN_WELL_PWM_ACTIVE_LOW
analogWrite(PIN_WELL_PWM, MAX_PELTIER_PWM-absOutput);
#else
analogWrite(PIN_WELL_PWM, absOutput);
#endif /* PIN_WELL_PWM_ACTIVE_LOW */
statusBuff[statusIndex].wellOutput = pwm;
prevDirection = dir;
prevPWMDuty = pwm;
prevActualDirection = dirActual;
prevActualPWMDuty = pwmActual;
}
// 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;
}
// internal
void Thermocycler::Loop() {
digitalWrite(6, (lamp)?HIGH:LOW);
digitalWrite(5, (!lamp)?HIGH:LOW);
lamp = !lamp;
switch (iProgramState) {
case EStartup:
if (millis() > STARTUP_DELAY) {
iProgramState = EStopped;
iRestarted = false;
if (!iRestarted && !ipSerialControl->CommandReceived()) {
//check for stored program
SCommand command;
if (ProgramStore::RetrieveProgram(command, (char*)ipSerialControl->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 (iProgramState == ERunning) {
if (iRamping && abs(ipCurrentStep->GetTemp() - GetPlateTemp()) <= CYCLE_START_TOLERANCE && GetRampElapsedTimeMs() > ipCurrentStep->GetRampDurationS() * 1000) {
//begin step hold
//eta updates
if (ipCurrentStep->GetRampDurationS() == 0) {
//fast ramp
iElapsedFastRampDegrees += absf(GetPlateTemp() - iRampStartTemp);
iTotalElapsedFastRampDurationMs += millis() - iRampStartTime;
}
if (iRampStartTemp > GetPlateTemp()) {
iHasCooled = true;
}
iRamping = false;
iCycleStartTime = millis();
}
else if (!iRamping && !ipCurrentStep->IsFinal() && millis() - iCycleStartTime > (unsigned long)ipCurrentStep->GetStepDurationS() * 1000) {
//begin next step
AdvanceToNextStep();
//check for program completion
if (ipCurrentStep == NULL || ipCurrentStep->IsFinal()) {
iProgramState = EComplete;
}
}
}
break;
case EComplete:
if (iRamping && ipCurrentStep != NULL && abs(ipCurrentStep->GetTemp() - GetPlateTemp()) <= CYCLE_START_TOLERANCE)
iRamping = false;
break;
}
//lid
iLidThermistor.ReadTemp();
ControlLid();
//plate
iPlateThermistor.ReadTemp();
CalcPlateTarget();
ControlPeltier();
//program
UpdateEta();
ipDisplay->Update();
ipSerialControl->Process();
}
void Thermocycler::Loop()
{
switch (m_program_state)
{
case EStartup:
if (millis() > STARTUP_DELAY) {
m_program_state = EStopped;
//if (!m_is_restarted && !m_serial_control->CommandReceived())
{
//check for stored program
//SCommand command;
//if (ProgramStore::RetrieveProgram(command, (char*)m_serial_control->GetBuffer()))
// ProcessCommand(command);
}
}
break;
case ELidWait:
if (GetLidTemp() >= m_target_lid_temp - LID_START_TOLERANCE) {
//lid has warmed, begin program
m_thermal_direction = OFF;
m_peltier_pwm = 0;
PreprocessProgram();
m_program_state = ERunning;
m_program->BeginIteration();
AdvanceToNextStep();
m_program_start_time_ms = millis();
}
break;
case ERunning:
//update program
if (m_program_state == ERunning) {
if (m_is_ramping && abs(m_current_step->GetTemp() - GetPlateTemp()) <= CYCLE_START_TOLERANCE && GetRampElapsedTimeMs() > m_current_step->GetRampDurationS() * 1000) {
//begin step hold
//eta updates
if (m_current_step->GetRampDurationS() == 0) {
//fast ramp
m_elapsed_fast_ramp_degrees += fabs(GetPlateTemp() - m_ramp_start_temp);
m_total_elapsed_fast_ramp_duration_ms += millis() - m_ramp_start_time;
}
if (m_ramp_start_temp > GetPlateTemp())
m_has_cooled = true;
m_is_ramping = false;
m_cycle_start_time = millis();
} else if (!m_is_ramping && !m_current_step->IsFinal() && millis() - m_cycle_start_time > (unsigned long)m_current_step->GetStepDurationS() * 1000) {
//begin next step
AdvanceToNextStep();
//check for program completion
if (m_current_step == NULL || m_current_step->IsFinal())
m_program_state = EComplete;
}
}
break;
case EComplete:
if (m_is_ramping && m_current_step != NULL && abs(m_current_step->GetTemp() - GetPlateTemp()) <= CYCLE_START_TOLERANCE)
m_is_ramping = false;
break;
case EStopped: //Nothing
case EError: //Nothing
case EClear: //Nothing
break;
}
//lid
m_lid_thermistor.ReadTemp();
ControlLid();
//plate
m_plate_thermistor.ReadTemp();
CalcPlateTarget();
ControlPeltier();
//program
UpdateEta();
m_display->Update();
m_serial_control->Process();
}
