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Servo Sipper KOC Lake.bas
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Servo Sipper KOC Lake.bas
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'The PCA9685 has a single 8-bit clock pre-scaler ( register $FE ) and, according to the datasheet, its value should be set as -
'pre-scaler value = ( clock / ( 4096 * update frequency ) ) - 1
'For a 25MHz clock and 50Hz frequency -
'pre-scaler value = ( 25MHz / ( 4096 * 50Hz ) ) - 1 = 121
'Note that the pre-scaler can only be written when in sleep mode, so it's probably the first register which needs to be set, or at least set before taking the chip out of sleep mode.
'So, if a 'PWM value' of 0 to 4095 gives an on period of 0ms to 20ms it should then be a simple matter of converting a servo position of 50 to 250 into a suitable off times to write to the LED control values -
'offTime = servoPosition * 4095 / 2000
'Untested, but I would guess something like -
'Hippy Servo code
'Symbol MODE1_REG = $00
'Symbol MODE2_REG = $01
'Symbol LED0_REG = $06
'Symbol PRESCALE_REG = $FE
'Symbol offTime = w0 ; 0 to 4095
'Symbol offTime.lsb = b0
'Symbol offTime.msb = b1
'Symbol register = b2
'Symbol servoNumber = b3 ; 0 to 15
'Symbol servoPosition = b4 ; 50 to 250
'PowerOnReset:
' HI2cSetup I2CMASTER, $84, I2CSLOW, I2CBYTE
' Hi2COut MODE1_REG, ( %00110000 )
' For servoNumber = 0 To 15
' servoPosition = 150
' Gosub SetServo
' Next
' Hi2COut PRESCALE_REG, ( 121 )
' Hi2COut MODE2_REG, ( %00000100 )
' Hi2COut MODE1_REG, ( %00100000 )
'MainLoop:
' Do
' servoNumber = 0
' For ServoPosition = 100 To 199
' Gosub SetServo
' Pause 20
' Next
' For ServoPosition = 200 To 101 Step -1
' Gosub SetServo
' Pause 20
' Next
' Loop
'SetServo:
' register = servoNumber * 4 + LED0_REG
' servoPosition = servoPosition Min 50 Max 250
' offTime = servoPosition * 2
' offTime = servoPosition ** 3112 + offTime
' HI2cOut register, ( 0,0, offTime.lsb,offTime.msb )
' Return
'Hippy added "Fixed maths overflow of 250 * 4095" , not sure where this is
'SLOT#0 USED FOR MAIN PROGRAM
' USING SLOT#1 AS SETUP MENU AND TESTING SECTION
'
' AXE020 board with DS3231 RTC+EEPROM
'
' Li-ion batt voltage ADC on A.3
'IMPORTANT STEPPER MOTOR AND DC PUMP CONNECTIONS
' C.7 to AN2 Black to A0
' C.6 to AN1 Red to A1
' C.5 to STDBY
' C.2 is PWM PWMA & PWMB connected together
' C.1 to BN1 Green to B1
' C.0 to BN2 Green to B1
'A.0 is Servo_I2C-6V LDO switch
' Dual Lift Pumps running on TB6612- B channels
' Pulsing vial fill Kamoer small pump on TB6612 A channels
'
#PICAXE 28X2
#slot 0
setfreq m8
pause 1000 ' give pause so terminal window can catch up
Symbol Servo_address = $80 ' Base address is 0x80 (not 0x40 !!!) , set I2C address for Servo board
Symbol MODE1_REG = $00
Symbol MODE2_REG = $01
Symbol LED0_REG = $06
Symbol PRESCALE_REG = $FE
Symbol RTC_address = $D0 ' set RTC address same for DS3231 or DS1340
Symbol EEPROM_address = $AE ' set EEPROM address: $A0 for DS1340, $AE for DS3231
Symbol EEPROM_ptr_step = 32 ' set eeprom step, must be 8,16, or 32 for eeprom page length
'Symbol I2C_ON = C.0 ' power to I2C bus, has to match Servo I2C
'///// PIN ASSIGNMENTS ////////
symbol I2C_SERVO_RTC_LDO = A.0 ' turn on I2C FOR SERVO AND RTC AND 6V LDO
symbol Outlet_IO = B.7 ' servo control for outlet valve
' TB6612 peristaltic and stepper motor driver control pin settings
symbol Sample_AIN2 = C.7 ' drive Sample pump on C.7 and C.6
symbol Sample_AIN1 = C.6
symbol Lift_BIN1 = C.1 ' drive filtration pump with C.0 and C.1
symbol Lift_BIN2 = C.0
symbol TB6612_enable = C.5
symbol TB6612_PWM_port = C.2 ' PWMA and PWMB tied together to C.2 PWM
symbol PWM_period = 24 ' runs at 80KHz, if duty = 100 then should give ~100% of V2
symbol Sample_Stop = 8 ' max number of samples
Symbol MemMax = 64000 ' DS3231 with 512K bit 64000 data bytes = 4000 data lines for 16 byte increment
symbol Outlet_Servo = B.7 ' servo control for outlet valve
'symbol Servo_number_0 = B.0 ' single 8-valve servo, on B port
'symbol Servo_number_1 = B.1 ' single 8-valve servo, on B port
'symbol Servo_number_2 = B.2 ' single 8-valve servo, on B port
'symbol Servo_number_3 = B.3 ' single 8-valve servo, on B port
'/// Valve Servo Positions
symbol Servo_Move_time = 1500 ' msec pause time to allow servo to move, MG996R is slow
symbol Valve_0 = 255 ' closed position
symbol Valve_1 = 225
symbol Valve_2 = 200
symbol Valve_3 = 175
symbol Valve_4 = 150
symbol Valve_5 = 125
symbol Valve_6 = 100
symbol Valve_7 = 75
symbol Valve_8 = 50 ' some servos won't respond to 50
symbol Outlet_Open_position = 150 'stopcock arm up
symbol Outlet_Close_position = 50 ' stopcock arm to left
symbol Valve_Wakeup_interval = 5
symbol Valve_Wakeup_time = w9
'/// Peristaltic Pump fixed settings
symbol Pump_pulse_OFF_time = 900 ' peristaltic pulse = 800 ms
symbol Pump_pulse_ON_time = 100
'symbol Pump_pulse_duty = 100
'symbol Pump_pulse_Reverse_time = 25 ' reverse pump to decrease pressure
symbol Reservoir_Refill = 10 'top off reservoir if using
'symbol Reservoir_Refill = 60
'//SERVO variables////
Symbol offTime = w0 ; 0 to 4095
Symbol offTime.lsb = b0
Symbol offTime.msb = b1
Symbol register = b2
Symbol Servo_number = b3 ; 0 to 15
Symbol Valve_number = b4 ; 1-8
'symbol Servo_position = b5 ; 50 to 255
symbol Servo_position = w3 ' allows to go to 260?
'symbol ServoLoops = b5
'symbol Outlet_close_position = b5
'symbol Outlet_open_position = b6
'symbol = b7
'/// Peristaltic pump variables///
symbol Pump_time = w3
'symbol Pump_Pulses = w3
symbol Sample_pulses = w4 ' 100 pulses ~20 mL
symbol Sample_pump_time = b8
symbol Sample_pump_duty = b9
'symbol Pump_pulse_ON_time = w5 ' peristaltic pulse = 200 ms
'symbol Pump_pulse_OFF_time = w6 ' peristaltic pulse = 500 ms
'symbol Pump_pulse_Reverse_time = 25 ' reverse pump to decrease pressure
'symbol Filter_pump_time = w5
symbol Manifold_Flush_Time = w6
symbol Lift_Pump_time = w7
symbol Pump_duty = b17
'symbol Peristaltic_mode = b18 ' set peristaltic to lift or drain
'symbol Filter_pump_duty= b19
'symbol Sample_time = b15
'symbol DI_Rinse_time = b13
'symbol Slow_Drain_time = b15
'symbol Pump_OFF_time = w7
'symbol Pump_ON_time = b16
'symbol Fast_duty = b18
'symbol Slow_duty = b19
'/// SENSOR VARIABLES W10-W13
symbol Temp = w10
symbol Temp_lsb = b20
symbol Temp_msb = b21
symbol Picaxe_Batt = w11
symbol Li_Batt = w12
symbol Li_Batt_divider = b28
symbol CALVDD = 52378 ; 1023*1.024*1000/20 (DAC steps * Ref V / Resolution in mV)
symbol Batt = w0
symbol Batt_sum = w1
symbol Batt_correction = w2 ' only need during BATTcalc
symbol Batt_remainder = w27 ' only need during BATT calc
'ADC channel for Batt voltage
'//// COUNTERS AND FLAGS W15-W25 /////
symbol Second = b30 ' need unique variable or else countdown messes up
symbol Minute = b31
symbol Hour = b2
symbol Last_minute = b33
symbol Sleep_end = w17
symbol Minute_counter = w18
symbol Countdown = w19
symbol RTC_flag = b32
'///// SAMPLE TIMING, COUNTERS AND FLAGS W20-W25 ///////////
symbol SAM_1_interval = w20
symbol SAM_2_interval = w21
'symbol BigBubble_count = b44
symbol Subsample_count = b45
symbol SAM_1_number = b46
symbol Number_subsamples = b47
symbol Sample_count = w24
symbol EEPROM_ptr = w25
symbol Total_Sample_pulses = w0
symbol Total_Sample_time = w27
'/// GENERAL USE VARIABLES
symbol I = b52 '
symbol J = b53
symbol Z = w27
' goto Main_Menu
Load_Default_Parameters:
'Let Lift_pump_time = 10
Let Manifold_flush_time = 300 '60 for 3m
Let Sample_pulses = 30 '45
Let SAM_1_interval = 1440 ' 1440 min/day, 10080 min/week, 14400 min/10 days
'Let SAM_2_interval = 120 '120 min for sampling every 2 hours
Let SAM_1_number = 8
Let Number_subsamples = 7 'setting up for daily subsampling and weekly composite
if Li_Batt_divider = 0 then ' use stored batt-divider unless it's zero
let Li_Batt_divider = 60
else
read 26, Li_Batt_divider
endif
gosub Store_Variables
'return
Main_Menu:
disablebod
gosub Read_Memory
' if Sample_Pulses = 0 then goto Load_Default_Parameters
gosub Low_Power_Setup ' turn off ADCs and have background low power
gosub Reset_Minute_Counter
' gosub Get_Picaxe_batt
' gosub Get_Li_Batt
let RTC_flag = 0 ' reset flags
sertxd (CR,LF,CR,LF,"ServoSipper-Koocanusa-Slot#0-Stopcock Outlet+Wakeup-Sep1-2022",CR,LF)
gosub Show_Parameters
sertxd (CR,LF,"1)Pump & Timing Setup 4)Load Default Parameters")
sertxd (CR,LF,"5)Pump_Servo Test 6)Read/Retrieve data")
sertxd (CR,LF,"7)Set RTC 9)Start Sampling")
gosub Get_Counters_Voltages
sertxd (CR,LF,"ENTER number ") 'Get input
' if RTC_flag = 0 then
gosub Display_Time
' else ' download data if reset with RTC failure
' sertxd (CR,LF,CR,LF,"RTC FAIL",CR,LF)
' sertxd (CR,LF,"6)DOWNLOAD EEPROM",CR,LF)
' sertxd (CR,LF,"8)RESET RTC_FLAG",CR,LF)
' serrxd #J
' if J = 6 OR J = 7 then
' pause 500
' run 1
' goto Read_Data
' endif6
' if J = then
' goto Read_Data
' endif
' if J = 8 then
' RTC_flag = 0`
' goto Main_Menu
' endif
' endif
serrxd [65000,Main_Menu],#J ' gives 15 second wait if connected to computer
if J = 1 then gosub Pump_Timing_Menu
if J = 4 THEN gosub Load_Default_Parameters
if J = 5 THEN goto Pump_Servo_Test
if J = 6 THEN gosub Read_Data
IF J=7 THEN
pause 100 ' need slight pause or program hangs up
run 1
endif
' IF J = 7 then GOSUB Set_Clock ' Goto Display time subroutine
' IF J = 8 THEN gosub Reset_EEPROM
IF J = 9 THEN goto Start_Delay
goto Main_Menu
Show_Parameters:
Total_Sample_time = SAM_1_interval * Number_subsamples
sertxd (CR,LF,"Manifold_Flush(sec) SAM_pulses Pulse_ON Pulse_OFF",CR,LF)
sertxd (" ",#Manifold_Flush_time," ",#Sample_pulses," ",#Pump_pulse_ON_time," ",#Pump_pulse_OFF_time,CR,LF)
sertxd ("SAM_interval(min) #Subsamples TotalCompositeTime",CR,LF)
sertxd (" ",#SAM_1_interval," ",#Number_subsamples," ",#Total_Sample_time)
return
Get_Counters_Voltages:
gosub Get_Picaxe_batt
gosub Get_Li_Batt
gosub Read_Memory
SerTxd (CR,LF,CR,LF,"EEPROM=",#EEPROM_ptr,", LastSAM=",#Sample_count,"-",#Subsample_count,", Pic_Volts= ",#Picaxe_Batt,", Li_Volts= ",#Li_Batt,CR,LF)
return
Check_Parameters:
' if Coil_Fill_time <2 then ' check to see if Sample_pulses loaded correctly
' gosub Load_Default_Parameters
' pause 200
' endif
' gosub Read_Memory
return
Start_Deployment:
' gosub Load_Default_Parameters
EEPROM_ptr = 0 ' reset EEPROM_ptr
gosub Get_Time
RTC_flag = 0 ' reset RTC_flag
Sample_count = 1 ' reset Sample_count
Subsample_count = 0
Let Servo_number = 0 ' start sampling with valve = 0
Let Valve_number = 1
write 3, Servo_number
write 4, Valve_number
goto Servo_Sipper_Sampling
return
Servo_Sipper_Sampling: ' #Subsamples = 1 is discrete, #Subsample > 1 is integrated sampling
sertxd (CR,LF,CR,LF,"Servo Sampling",CR,LF)
write 48, word Sample_count
for Subsample_count = 1 to Number_subsamples
gosub Reset_Minute_Counter
if RTC_flag = 0 then
gosub Get_Time
else
sertxd(CR,LF,CR,LF,"RTC FAIL SMAPLING",CR,LF)
endif
if Subsample_count = 1 then
gosub Store_Data ' store beginning of sample integration
else
gosub Display_data ' display subsample data
endif
write 45, Subsample_count ' save subsample count for RTC fail sampling indicator
' if RTC_flag = 1 then
' gosub RTC_fail_sleep
' endif
' gosub Lift_Pump_Run
' gosub Close_All_valves
gosub Manifold_Flush
gosub Filtered_Unfiltered_Sampling
' gosub Manifold_Drain
RTC_Fail_return: ' Get_Time subroutine return point if RTC fail
gosub Sleep_Setup
next Subsample_count
gosub Get_Servo_Valve_number
Sample_count = Sample_count + 2 ' increment sample# to next sample set of 2
Valve_number = Valve_Number + 2 ' increment valve 2 positions for next sample set
if Valve_number < 8 then ' increment valve number and keep servo number same
Servo_number = Servo_number
Valve_number = Valve_Number
else ' increment servo number and reset valve number
Servo_number = Servo_number + 1 ' select next servo number
Valve_number = 1 ' reseet to valve1 for new servo sample set
Subsample_count = 1 ' reset subsample to 1
endif
write 3, Servo_number 'store new servo number
write 4, Valve_Number 'store new valve number
if Sample_count > Sample_stop then goto Shutdown
goto Servo_Sipper_Sampling ' repeat sampling
return
Get_Servo_Valve_number:
read 3, Servo_number ' get stored servo#
read 4, Valve_number ' get stored valve#
return
Filtered_Unfiltered_Sampling:
gosub Get_Servo_Valve_number
gosub Sample_Fill
pause 1000
gosub Get_Servo_Valve_number
Let Valve_number = Valve_number + 1 ' move to next valve for unfiltered sample
gosub Sample_Fill
gosub Open_Outlet_valve ' open outlet valve to take pressure out of system, then move 8 valve to home
return
Sample_Fill:
gosub Close_outlet_valve
gosub Get_Valve_position
gosub Move_Servo
gosub Pulsed_Sample_Pump_Run
gosub Close_Servo_Valve ' move servo to home, all valves closed
return
Pump_Servo_Test:
gosub I2C_OFF
SerTxd (CR,LF,CR,LF,"TESTS 99=exit") ' Get input gosub Exit_99
SerTxd (CR,LF,"1)Move Servo") ' Get input
' SerTxd (CR,LF,"2)Sample Pump pulses") ' Get input
SerTxd (CR,LF,"3)Sample Pump") ' Get input
' SerTxd (CR,LF,"4)Drain") ' Get input
SerTxd (CR,LF,"5)Open/Close Outlet") ' Get input
' SerTxd (CR,LF,"6)Cycle valve") ' Get input
SerTxd (CR,LF,"7)Wet Filters") ' Get input
SerTxd (CR,LF,"8)Sample Fill") ' Get input
' SerTxd (CR,LF,"9)check valve pos") ' Get input
' SerTxd (CR,LF,"10)Run Fan",CR,LF) ' Get input
' SerTxd (CR,LF,"10)Sleep current",CR,LF) ' Get input
SerRxd [65535,Pump_Servo_Test], #J
if J = 99 then goto Main_Menu
if J = 1 then
Repeat_Servo:
gosub Select_Servo_Valve
gosub Move_Servo
gosub I2C_OFF
goto Repeat_Servo
endif
if J = 2 then
' gosub Open_Outlet_valve
' gosub Enter_pump_pulses
' gosub Pulsed_Sample_Pump_Run
' J=0
endif
if J = 3 then
gosub Open_Outlet_valve
gosub Enter_pump_time_duty
gosub Sample_Pump_Run
J=0
endif
if J = 5 then
SerTxd (CR,LF,"0=Open, 1=Close") ' Get input
SerRxd [65535,Pump_Servo_Test], #J
If J = 0 then
gosub Open_Outlet_valve
else
gosub Close_Outlet_valve
endif
endif
If J=6 then
' SerTxd (CR,LF,"Select Servo# (0-15)") ' Get input
' SerRxd [65535,Pump_Servo_Test], #Servo_number
' if Servo_number <16 then
' for J = 1 to 3
' gosub Servo_ON
' Servo_position = Valve_8
' gosub Move_Servo
' Servo_position = Valve_0
' gosub Move_Servo
' next J
' else ' cycle all valves
' gosub Servo_ON ' turn on I2C
' for Servo_number = 0 to 15
' Servo_position = Valve_8
' gosub Move_Servo
' Servo_position = Valve_0
' gosub Move_Servo
' next Servo_number
' endif
' gosub I2C_OFF
endif
if J = 7 then
' SerTxd (CR,LF,CR,LF,"Enter #Valves") ' Get input
' SerRxd [65535,Pump_Servo_Test], #Z
' SerTxd (CR,LF,"#Vales= ",#Z) ' Get input
gosub Enter_Pump_pulses
gosub Close_Outlet_valve
' for Servo_number = 0 to Z
Servo_number = 0
for Valve_number = 1 to 8
gosub Get_Valve_position
gosub Move_Servo
gosub Pulsed_Sample_Pump_Run
next Valve_number
gosub Close_Servo_valve
gosub Open_Outlet_Valve
' next Servo_number
' gosub Close_Servo_valve
gosub I2C_OFF
endif
if J = 8 then
gosub Close_Outlet_valve
gosub Select_Servo_valve
gosub Move_Servo
gosub Enter_Pump_pulses
gosub Pulsed_Sample_Pump_Run
gosub Open_Outlet_valve ' open outlet to drop pressure before moving 8 valve to home
gosub Close_Servo_Valve
endif
if J = 9 then
Repeat_Servo_Position:
gosub Select_Servo_Position
gosub Move_Servo
gosub I2C_OFF
goto Repeat_Servo_Position
endif
if J = 99 then goto Main_Menu
' if J = 9 then goto Main_Menu ' return to Main Program
goto Pump_Servo_Test
return
'/// SERVO OPERATIONS /////////////////////////////////////////////////
Get_Valve_position:
lookup Valve_number,(Valve_0,Valve_1,Valve_2,Valve_3,Valve_4,Valve_5,Valve_6,Valve_7,Valve_8),Servo_position
return
Servo_ON: ' initialize servo I2C and turn on 6V LDO_6V
gosub I2C_ON
HI2cSetup I2CMASTER, Servo_address, I2CSLOW, I2CBYTE
Hi2COut MODE1_REG, ( %00110000 )
Hi2COut PRESCALE_REG, ( 121 )
Hi2COut MODE2_REG, ( %00000100 )
Hi2COut MODE1_REG, ( %00100000 )
return
Move_Servo: ' make sure turn servo off after pumping
gosub Servo_ON
sertxd (CR,LF,"Servo# ",#Servo_number,", Valve# ",#Valve_number,", position= ",#Servo_position)
register = Servo_number * 4 + LED0_REG
Servo_position = Servo_position 'Min 0 Max 255
offTime = Servo_position * 2
offTime = Servo_position ** 3112 + offTime
' offTime = Servo_position ** offTime_Offset + offTime
' sertxd (CR,LF,"Offtime= ",#Offtime)
HI2cOut register, (0,0, offTime.lsb,offTime.msb)
' pause 100
' HI2cOut register, (0,0, offTime.lsb,offTime.msb) ' send signal twice
pause Servo_Move_time ' give time for servo to move, MG966R and CS238MG are slow
gosub I2C_OFF ' turn off servo after
Return
Select_Servo_Valve:
sertxd (CR,LF,CR,LF,"Enter Servo (0-15)") ' Get input
gosub Exit_99
Servo_number = Z
sertxd (CR,LF,CR,LF,"Enter Valve# (1-8, 0=closed, 4=middle)") ' Get input
serrxd [65535,Pump_Servo_Test], #Valve_number
gosub Get_Valve_position
return
Select_Servo_position:
sertxd (CR,LF,CR,LF,"Enter Servo (0-15)") ' Get input
gosub Exit_99
Servo_number = Z
sertxd (CR,LF,CR,LF,"Enter Position (50=left, 150=center, 250=right)") ' Get input
serrxd [65535,Pump_Servo_Test], #Servo_position
' sertxd (CR,LF,CR,LF,"Servo# ",#Servo_number,", position= ",#Servo_position)
' gosub Move_Servo
return
Open_Outlet_Valve:
sertxd (CR,LF,CR,LF,"Open outlet")
' sertxd (CR,LF,CR,LF,"Enter Outlet Open position (75-100)")
' serrxd [65535,Main_Menu], #Outlet_open_position
gosub Servo_ON
servo Outlet_IO,Outlet_open_position ; initialise servo
servopos Outlet_IO,Outlet_open_position ; initialise servo
pause 1000
gosub I2C_OFF
servopos Outlet_IO,OFF ' PWM for pump messed up if servopos not turned off, no idea why
gosub I2C_OFF
return
Close_Outlet_Valve:
sertxd (CR,LF,CR,LF,"Close Outlet")
' serrxd [65535,Main_Menu], #Outlet_close_position
gosub Servo_ON
servo Outlet_IO,Outlet_close_position ; initialise servo
servopos Outlet_IO,Outlet_close_position ; initialise servo
pause 1000
servopos Outlet_IO,OFF ' PWM for pump messed up if servopos not turned off, no idea why
gosub I2C_OFF
return
Move_Outlet_Valve:
' sertxd (CR,LF,CR,LF,"Select Position (50=left, 150=center, 250=right) (99=exit)") ' Get input
' serrxd [65535,Pump_Servo_Test], #Servo_position
' if Servo_position = 99 then goto Pump_Servo_Test
' gosub Servo_ON
' setfreq m8 ' Servo command only works at 8MHz
' servo Outlet_IO,Outlet_close_position ; initialise servo
' pause 1000
' sertxd (CR,LF,"Move to 250 then move position= ",#Servo_position)
' servopos Outlet_IO,Servo_position ; initialise servo
' pause 1000
' goto Move_Outlet_Valve
' gosub I2C_OFF
return
Close_Servo_Valve:
sertxd (CR,LF,CR,LF,"Close valve")
' for J = 1 to 2 ' multiple close valves if get stuck
Valve_number = 0
gosub Get_Valve_position
Gosub Move_Servo
' next J
return
Close_All_Valves:
gosub Servo_ON
For Servo_number = 0 To 15
Valve_number = 0
gosub Get_Valve_position
Gosub Move_Servo
Next
gosub I2C_OFF 'HAVE TO POWER OFF I2C BEFORE SELECTING Sample FILL VALVE, NOT SURE WHY
return
I2C_ON: 'turn on I2C, +V pin defined by symbol at top of program
high I2C_SERVO_RTC_LDO
pause 100
return
I2C_OFF:
low I2C_SERVO_RTC_LDO
pause 500
return
'////////// PERISTALTIC PUMP ROUTINES ////////////////////////////////////////
Pulsed_Sample_Pump_Run:
high TB6612_enable ' high C.5 ' enable STDBY
SerTxd (CR,LF,CR,LF,"Pulses= ",#Sample_pulses,CR,LF) ' Get input
SerTxd (CR,LF,"Pulse# ")
for Z = 1 to Sample_pulses
SerTxd (#Z,",") ' Get input
pwmout TB6612_PWM_port, PWM_period, 100 ' Pulse peristaltic set at 100% duty
low Sample_AIN1 ' low C.6
high Sample_AIN2 'high C.7 ' forward TB6612
pause Pump_pulse_ON_time ' run pump for pulse time, 100 ms
pwmout TB6612_PWM_port, PWM_period, 0 ' pause pumping
Pause Pump_Pulse_OFF_time ' Pulse relaxation time
next Z
gosub Pumps_OFF
return
Sample_Pump_Run:
' setfreq m8
SerTxd (CR,LF,"Pump time= ",#Pump_time,", Duty= ",#Pump_duty)
high TB6612_enable ' high C.5 ' enable STDBY
pause 50
pwmout TB6612_PWM_port, PWM_period, Pump_duty
low Sample_AIN1 ' low C.6
high Sample_AIN2 'high C.7 ' forward TB6612
for Z = 1 to Pump_time
pause 1000 ' give 1 second pause at 8Hz
next Z
gosub Pumps_OFF
return
Manifold_Flush:
gosub Open_Outlet_Valve
' pause 500
SERTXD (CR,LF,CR,LF,"Manifold flush")
Pump_duty = 100
Pump_time = Manifold_Flush_time
' Peristaltic_mode = 0 ' set to lift
gosub Sample_Pump_Run
return
Pumps_OFF: ' make sure all B ports off
let pinsB = %00000000 ' switch all B outputs off, including 3 way valve
let pinsC = %00000000 ' switch all C outputs off
pwmout TB6612_PWM_port, 0, 0 ' turn off PWM
gosub I2C_OFF ' turn off servos
return
Enter_pump_time_duty:
SerTxd (CR,LF,CR,LF,"Enter Pump time")
gosub Exit_99
Pump_time = Z
SerTxd (CR,LF,"Enter Pump_duty") ' Get input
SerRxd [65535,Pump_Servo_Test], #Pump_duty
return
Enter_pump_pulses:
SerTxd (CR,LF,CR,LF,"Enter Pulse#") ' Get input
gosub Exit_99
Sample_pulses = Z
SerTxd ("Pulses= ",#Sample_pulses)
return
Exit_99:
sertxd("(99=Exit)") ' exits out of test loops
SerRxd [65535,Pump_Servo_Test], #Z
if Z = 99 then goto Pump_Servo_Test
return
'/////// ' SUBROUTINES /////////////////////////////
Sleep_Setup:
' sertxd (CR,LF,"SleepSetup")
if RTC_flag = 0 then
gosub Get_Time
Sleep_end = SAM_1_interval - Minute_counter ' uses minute_counter to count elapsed pump run time
if Sleep_end > SAM_1_interval then 'reset sleep end if roll over barf
Sleep_end = SAM_1_interval
endif
' sertxd (CR,LF,"Sleep end= ",#Sleep_end,CR,LF)
gosub Deep_Sleep
else ' goes to RTC fail if RTC_flag = 1
gosub RTC_Fail_Sleep
endif
return
Low_Power_Setup:
disablebod ' make sure disablebod on,
let adcsetup = %000000000000000 ' make sure ADCs OFF
let dirsA = %1111 'switch A ports pn 28X2 board to outputs for lowest powersleep
let dirsB = %11111111
let dirsC = %11111111
let pinsA = %0000 ' make sure all pins OFF
let pinsB = %00000000 ' make sure all pins OFF
let pinsC = %00000000 ' make sure all pins OFF
return
RTC_FAIL_Sleep:
sertxd (CR,LF,"RTC-fail Sleep, Countdown= ",#Countdown)
Z = Manifold_flush_time + Sample_pulses ' Get sample run time in seconds
Z = Z/60 ' convert sample run time to minutes
sertxd (CR,LF,"Sample_duration (min)= ",#Z)
Sleep_end = SAM_1_interval - Z
sertxd (CR,LF,"RTC-fail Sleep (min)= ",#Sleep_end)
Sleep_end = Countdown * 28 ' computes sleep end minutes (minutes * 29 sleepticks/minute
sleep Sleep_end ' goes to sleep and bypasses RTC
return
Deep_Sleep:
gosub Low_Power_Setup
if Sample_count => Sample_stop then goto Shutdown 'goto Shutdown at end of run
gosub Reset_Minute_Counter ' restart minute counter for deep sleep
Countdown = Sleep_end
Valve_Wakeup_time = Countdown - Valve_Wakeup_interval ' set initial wakeup time
gosub Minute_Countdown
gosub Subminute_Countdown
gosub Zero_Countdown
setfreq m8 ' make sure power up back to m8 for sample runs
return
Wakeup_Valves:
sertxd (CR,LF,"Wakeup Valves")
gosub Close_Outlet_Valve
gosub Open_Outlet_Valve
Valve_Wakeup_time = Countdown - Valve_Wakeup_interval ' reset wakeup time
return
Minute_Countdown:
sertxd (CR,LF,"Countdown= ",#Countdown,CR,LF)
do while Countdown > 1 ' exits countdown 1 minute before wakeup
sertxd (CR,LF,"Countdown= ",#Countdown,", Wake= ",#Valve_Wakeup_time)
sleep 20 ' sleep 20 ~45 secs
gosub Get_Time
Countdown = Sleep_end - Minute_counter
If Countdown = Valve_Wakeup_time then gosub Wakeup_Valves
if Countdown > Sleep_end then ' failsafe for sleep end, resets countdown if sleep_end-minute_counter returns negative number and rolls over to >65000
Countdown = Sleep_end
endif
loop
return
Subminute_Countdown:
do while Second < 50 ' needs to wakeup a few sec sec before 0 seconds so sample start is exactly on time
sleep 4 ' sleeps 8-9 seconds
gosub Get_Time
loop
return
Zero_Countdown:
do while Second <> 0 ' finish sleep loop when get to 0 seconds
pause 200
gosub Get_Time
' sertxd ("sec = ",#Second,CR,LF)