application: extend states and add central management
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51cf8b0f95
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dde56c996c
228
application.c
228
application.c
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@ -125,8 +125,39 @@ enum state_e {
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STATE_SAFE, /**< safe state entered, probably because of an error */
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STATE_HEAT, /**< simply heat up bed */
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STATE_COOL, /**< simply cool down bed */
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STATE_FAN, /**< simply use fan to set to ambient temperature */
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STATE_PREPARE, /**< heat up for initialisation/first denaturation */
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STATE_INITIALISATION, /**< first (longer) denaturation phase */
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STATE_TO_DENATURATION, /**< transition to denaturation phase */
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STATE_DENATURATION, /**< denaturation phase */
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STATE_TO_ANNEALING, /**< transition to annealing phase */
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STATE_ANNEALING, /**< annealing phase */
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STATE_TO_EXTENSTION, /**< transition to extension phase */
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STATE_EXTENSION, /**< extension phase */
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STATE_TO_HOLD, /**< transition to final hold */
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STATE_HOLD, /**< final hold */
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} state = STATE_IDLE;
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/** name of the states */
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const char* state_names[] = {
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[STATE_IDLE] = "ready",
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[STATE_SAFE] = "safe",
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[STATE_HEAT] = "heating",
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[STATE_COOL] = "cooling",
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[STATE_FAN] = "fanning",
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[STATE_PREPARE] = ">initialisation",
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[STATE_INITIALISATION] = "initialisation",
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[STATE_TO_DENATURATION] = ">denaturation",
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[STATE_DENATURATION] = "denaturation",
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[STATE_TO_ANNEALING] = ">annealing",
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[STATE_ANNEALING] = "annealing",
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[STATE_TO_EXTENSTION] = ">extension",
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[STATE_EXTENSION] = "extension",
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// there is an optional final extension
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[STATE_TO_HOLD] = ">final hold",
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[STATE_HOLD] = "final hold",
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};
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/** set if an error or anomaly has been encountered */
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static char* error = NULL;
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@ -151,8 +182,6 @@ size_t putc(char c)
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*/
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static void safe_state(void)
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{
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state = STATE_SAFE; // remember we entered safe state
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// this is the safest configuration of TEC switching (in cooling mode it switches all off, in heating mode it only heats mildly the top part
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gpio_set(GPIO_PORT(MBLK019_CH26_PIN), GPIO_PIN(MBLK019_CH26_PIN)); // don't sink current (e.g. not powering the opto-coupler/transistor)
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gpio_set(GPIO_PORT(MBLK019_CH14_PIN), GPIO_PIN(MBLK019_CH14_PIN)); // don't sink current (e.g. not powering the opto-coupler/transistor)
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@ -177,13 +206,9 @@ static void safe_state(void)
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led_cool_blink = false; // stop blinking LED
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led_cool_off(); // switch off LED
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oled_text_clear(); // clear screen
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oled_text_line("safe", 0); // indicate state
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oled_text_update(); // display text
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if (error) {
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led_power_blink = false; // start blinking red LED to indicate error
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oled_text_line("error", 1);
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oled_text_line("error", 2);
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oled_text_update();
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}
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}
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@ -429,6 +454,155 @@ static void bed_pid(void)
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tec_power((uint16_t)power); // set power
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}
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/** set new state
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* @param[in] new new state to set
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*/
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static void set_state(enum state_e new)
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{
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if (STATE_SAFE == state && STATE_SAFE != new) {
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puts("restart controller to exit safe state\n");
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return;
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}
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switch (new) {
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case STATE_IDLE: // you can go to idle from any state (except safe)
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tec_power(0); // ensure bed is not powered anymore
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tec_power_yellow_off(); // disconnect all wires
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tec_power_orange_off(); // disconnect all wires
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lid_power(0); // ensure lid is not powered
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break;
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case STATE_SAFE: // go to safe state
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safe_state(); // put all peripherals in safe mode
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break;
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case STATE_HEAT:
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heatsink_fan_on(); // switch fan on
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tec_power(0); // switch power off before changing mode
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tec_heat(); // switch to heating mode
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break;
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case STATE_COOL:
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heatsink_fan_on(); // switch fan on
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tec_power(0); // switch power off before changing mode
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tec_cool(); // switch to heating mode
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break;
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case STATE_FAN:
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tec_power(0); // ensure bed is not powered anymore
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tec_power_yellow_off(); // disconnect all wires
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tec_power_orange_off(); // disconnect all wires
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lid_power(0); // ensure lid is not powered
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heatsink_fan_on(); // switch fan on
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break;
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case STATE_PREPARE:
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if (STATE_IDLE == state) { // only allowed from idle state
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bed_target = 95.0; // set target temperature
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lid_target = bed_target; // set temperature
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heatsink_fan_on(); // switch fan on
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tec_power(0); // switch power off
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tec_heat(); // switch to heating mode
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// TODO set unlimited time
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} else { // transition not allowed
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set_state(STATE_SAFE);
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}
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break;
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case STATE_INITIALISATION:
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if (STATE_PREPARE == state) { // only allowed from state
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// temperature and heating is already set
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// TODO set time to 5 min
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} else { // transition not allowed
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set_state(STATE_SAFE);
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}
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break;
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case STATE_TO_DENATURATION:
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if (STATE_EXTENSION == state) { // only allowed from state
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lid_target = 95.0; // set target temperature
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bed_target = 95.0; // set target temperature
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// heating is already set
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// TODO set unlimited time
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} else { // transition not allowed
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set_state(STATE_SAFE);
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}
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break;
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case STATE_DENATURATION:
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if (STATE_TO_DENATURATION == state) { // only allowed from state
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// temperature and heating is already set
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// TODO set time to 5 min
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} else { // transition not allowed
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set_state(STATE_SAFE);
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}
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break;
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case STATE_TO_ANNEALING:
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if (STATE_DENATURATION == state) { // only allowed from state
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bed_target = 45.0; // set target temperature (5 °C below primer)
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lid_target = bed_target; // same temperature
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tec_power(0); // switch power off
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tec_cool(); // switch to cooling mode
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// TODO set unlimited time
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} else { // transition not allowed
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set_state(STATE_SAFE);
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}
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break;
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case STATE_ANNEALING:
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if (STATE_TO_ANNEALING == state) { // only allowed from state
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tec_power(0); // switch power off before switching mode
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tec_heat(); // switch to heating mode
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// temperature is already set
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// TODO set time to 30-40 s
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} else { // transition not allowed
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set_state(STATE_SAFE);
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}
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break;
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case STATE_TO_EXTENSTION:
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if (STATE_ANNEALING == state) { // only allowed from state
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bed_target = 72.0; // set target temperature
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lid_target = bed_target; // set target temperature
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// heating is already set
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// TODO set unlimited time
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} else { // transition not allowed
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set_state(STATE_SAFE);
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}
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break;
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case STATE_EXTENSION:
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if (STATE_TO_EXTENSTION == state) { // only allowed from state
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// temperature and heating is already set
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// TODO set time to ~1 min/kb of expected product; 5-10 min on last cycle.
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} else { // transition not allowed
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set_state(STATE_SAFE);
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}
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break;
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case STATE_TO_HOLD:
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if (STATE_EXTENSION == state) { // only allowed from state
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bed_target = 10.0; // set target temperature (5 °C below primer)
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lid_target = NAN; // we don't need to heat anymore
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lid_power(0); // switch power off
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tec_power(0); // switch power off
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tec_cool(); // switch to cooling mode
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// TODO set unlimited time
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} else { // transition not allowed
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set_state(STATE_SAFE);
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}
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break;
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case STATE_HOLD:
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if (STATE_TO_HOLD == state) { // only allowed from state
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// nothing to do, we just reached the final hold up
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// TODO set time to 30-40 s
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} else { // transition not allowed
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set_state(STATE_SAFE);
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}
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break;
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default: // unknown new state
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error = "unknown state to set";
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set_state(STATE_SAFE);
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break;
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}
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// display state
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if (new != state && STATE_SAFE != state) {
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state = new; // save new state
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printf("new state: %s\n", state_names[state]); // show new state
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oled_text_line(state_names[state], 1); // set new state
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oled_text_update(); // show on display
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}
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}
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/** display available commands
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* @param[in] argument no argument required
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*/
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@ -467,25 +641,17 @@ static void command_bed_power(void* argument)
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return;
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}
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if (0 == target) { // switch off
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// turn all off
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tec_power(0); // switch power off
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tec_power_yellow_off(); // disconnect 12V from yellow TEC line
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tec_power_orange_off(); // disconnect 12V from orange TEC line
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heatsink_fan_off(); // we can switch the fan off now
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bed_target = 0; // remember we have no target
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state = STATE_IDLE; // set new state
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set_state(STATE_IDLE); // set new state
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} else if (1 == target) { // just use fan
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bed_target = 0; // remember we have no target
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set_state(STATE_FAN); // set new state
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} else if (target > 0) { // heat
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heatsink_fan_on(); // switch fan on
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tec_power(0); // switch power off
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tec_heat(); // switch to heating mode
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bed_target = target; // remember target
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state = STATE_HEAT; // set new state
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set_state(STATE_HEAT); // set new state
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} else { // cool
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heatsink_fan_on(); // switch fan on
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tec_power(0); // switch power off
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tec_cool(); // switch to heating mode
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bed_target = -target; // remember target
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state = STATE_COOL; // set new state
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set_state(STATE_COOL); // set new state
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}
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}
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@ -543,24 +709,14 @@ static void command_lid_temperature(void* argument)
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static void command_safe(void* argument)
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{
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(void)argument; // we won't use the argument
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safe_state();
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set_state(STATE_SAFE);
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printf("in safe state\n");
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}
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static void command_state(void* argument)
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{
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(void)argument; // we won't use the argument
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switch (state) {
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case STATE_IDLE:
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puts("idle");
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break;
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case STATE_SAFE:
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puts("safe");
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break;
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default:
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puts("unknown state");
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break;
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}
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puts(state_names[state]);
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putc('\n');
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if (error) {
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@ -951,7 +1107,7 @@ void main(void)
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if (oled_text_setup()) { // setup OLED display with default slave address
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oled_text_clear(); // clear buffer (else last state is displayed)
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oled_text_line("PCR 3000", 0);
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oled_text_line("system ready", 1);
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oled_text_line(state_names[state], 1); // show state
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oled_text_update();
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puts("OK\n");
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} else {
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@ -975,7 +1131,7 @@ void main(void)
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terminal_setup(); // start terminal
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if (error && STATE_SAFE != state) { // an error has occurred during initialisation
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safe_state(); // go to safe state
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set_state(STATE_SAFE); // go to safe state
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} else {
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led_power_on(); // indicate user we are ready
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}
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@ -1078,7 +1234,7 @@ void main(void)
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error = "heat sink is getting too warm";
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}
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if (error) { // an error has occurred
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safe_state(); // go to safe state
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set_state(STATE_SAFE); // go to safe state
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}
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}
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}
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