Penn Electric Racing / Mbed 2 deprecated SystemManagement

System Management code

Dependencies:   mbed CANBuffer Watchdog MODSERIAL mbed-rtos xbeeRelay IAP

Fork of SystemManagement by Martin Deng

main.cpp@36:0afc0fc8f86b, 2015-01-22 (annotated)

Committer:
pspatel321
Date:
Thu Jan 22 07:58:51 2015 +0000
Revision:
36:0afc0fc8f86b
Parent:
34:18bcf276d3bf
Child:
38:8efacce315ae
Tested in car with other systems.  Most features are good to go.  Except xbees need work.  The DC-DC protection features were giving problems due to spurious current measurements.  They have been edited to reduce glitchy errors.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pspatel321 30:91af74a299e1 1 #include "IOobjects.h"
pspatel321 30:91af74a299e1 2 #include "runTime.h"
pspatel321 30:91af74a299e1 3 #include "outDiagnostics.h"
pspatel321 34:18bcf276d3bf 4 #include "inCommands.h"
pspatel321 30:91af74a299e1 5
pspatel321 36:0afc0fc8f86b 6 //#define DEBUG_MODE
pspatel321 36:0afc0fc8f86b 7
pspatel321 36:0afc0fc8f86b 8 void thread_watchDog(void const* args) {
pspatel321 36:0afc0fc8f86b 9 tempData.wdtThreadId = Thread::gettid();
pspatel321 36:0afc0fc8f86b 10 #ifdef DEBUG_MODE
pspatel321 36:0afc0fc8f86b 11 wdt.kick();
pspatel321 36:0afc0fc8f86b 12 #else
pspatel321 36:0afc0fc8f86b 13 wdt.kick(WDT_TIME);
pspatel321 36:0afc0fc8f86b 14 #endif
pspatel321 36:0afc0fc8f86b 15 while(1) {
pspatel321 36:0afc0fc8f86b 16 Thread::signal_wait(0x1F);
pspatel321 36:0afc0fc8f86b 17 wdt.kick();
pspatel321 36:0afc0fc8f86b 18 }
pspatel321 36:0afc0fc8f86b 19 }
pspatel321 36:0afc0fc8f86b 20
pspatel321 30:91af74a299e1 21 int main() {
pspatel321 33:6bc82b6b62e5 22 pc.baud(BAUD);
pspatel321 36:0afc0fc8f86b 23 pc.format(8, SerialBase::None, 2); // 2 Stop bits, reduce bad serial packets
pspatel321 36:0afc0fc8f86b 24 pc.printf("\033[2J\033[2J\r\n"); // Clear screen
pspatel321 30:91af74a299e1 25
pspatel321 33:6bc82b6b62e5 26 can.mode(FIFO);
pspatel321 36:0afc0fc8f86b 27 NVIC_SetPriority(TIMER0_IRQn, 0);
pspatel321 36:0afc0fc8f86b 28 NVIC_SetPriority(PWM1_IRQn, 1);
pspatel321 36:0afc0fc8f86b 29 NVIC_SetPriority(CAN_IRQn, 2);
pspatel321 36:0afc0fc8f86b 30 NVIC_SetPriority(UART0_IRQn, 3);
pspatel321 34:18bcf276d3bf 31 NVIC_SetPriority(TIMER3_IRQn, 4);
pspatel321 36:0afc0fc8f86b 32
pspatel321 33:6bc82b6b62e5 33 bool normalReset = true;
pspatel321 30:91af74a299e1 34 // Did a watchdog reset occur since last power cycle?
pspatel321 30:91af74a299e1 35 if (wdt.checkFlag()) {
pspatel321 33:6bc82b6b62e5 36 wdt.clearFlag(); // Clear flag
pspatel321 30:91af74a299e1 37 data.watchdogReset = true;
pspatel321 33:6bc82b6b62e5 38 pc.printf("Sys Mgmt Watchdog Reset\r\n");
pspatel321 33:6bc82b6b62e5 39 normalReset=false;
pspatel321 30:91af74a299e1 40 }
pspatel321 33:6bc82b6b62e5 41 // Did a brownout reset occur since last power cycle?
pspatel321 33:6bc82b6b62e5 42 if (LPC_SC->RSID & (1<<3)) {
pspatel321 33:6bc82b6b62e5 43 LPC_SC->RSID = (1<<3); // Clear flag
pspatel321 33:6bc82b6b62e5 44 pc.printf("Sys Mgmt Brownout Reset\r\n");
pspatel321 33:6bc82b6b62e5 45 normalReset=false;
pspatel321 33:6bc82b6b62e5 46 }
pspatel321 33:6bc82b6b62e5 47 // Print normal reset string
pspatel321 33:6bc82b6b62e5 48 if (normalReset) pc.printf("Sys Mgmt Reset\r\n");
pspatel321 36:0afc0fc8f86b 49
pspatel321 36:0afc0fc8f86b 50 // Start the watchdog check-in thread
pspatel321 36:0afc0fc8f86b 51 Thread watchdogCheck(thread_watchDog, 0, osPriorityRealtime, 128);
pspatel321 36:0afc0fc8f86b 52
pspatel321 36:0afc0fc8f86b 53 // Start the 100Hz data timer (priotity high)
pspatel321 34:18bcf276d3bf 54 RtosTimer sample(runTime::thread_sample, osTimerPeriodic);
pspatel321 34:18bcf276d3bf 55 sample.start(FAST_LOOP*1000);
pspatel321 33:6bc82b6b62e5 56
pspatel321 30:91af74a299e1 57 // Start the serial, CAN threads
pspatel321 36:0afc0fc8f86b 58 Thread serial_out(outDiagnostics::thread_serialOut, 0, osPriorityBelowNormal);
pspatel321 36:0afc0fc8f86b 59 Thread can_out(outDiagnostics::thread_canOut, 0, osPriorityBelowNormal, 512);
pspatel321 33:6bc82b6b62e5 60
pspatel321 36:0afc0fc8f86b 61 // Start the input polling thread
pspatel321 36:0afc0fc8f86b 62 Thread getInputs(inCommands::thread_getInputs, 0, osPriorityLow);
pspatel321 36:0afc0fc8f86b 63
pspatel321 36:0afc0fc8f86b 64 // Main task
pspatel321 30:91af74a299e1 65 while(1) {
pspatel321 36:0afc0fc8f86b 66 runTime::gather(0);
pspatel321 36:0afc0fc8f86b 67 osSignalSet((osThreadId)(tempData.wdtThreadId), 1<<0); // Signal watchdog thread
pspatel321 36:0afc0fc8f86b 68 Thread::wait(GATHER_LOOP*1000);
pspatel321 30:91af74a299e1 69 }
pspatel321 30:91af74a299e1 70 }