Penn Electric Racing
System Management code
Dependencies: mbed CANBuffer Watchdog MODSERIAL mbed-rtos xbeeRelay IAP
Fork of
SystemManagement
by 
Martin Deng
Revision 19:3a817d2cef11, committed 2014-10-25
- Comitter:
- martydd3
- Date:
- Sat Oct 25 16:48:09 2014 +0000
- Parent:
- 18:915a235bc099
- Child:
- 20:3dfa7e9461a0
- Commit message:
- Testing from basics;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/IOobjects.cpp Sat Oct 25 16:48:09 2014 +0000 @@ -0,0 +1,7 @@ +#include "IOobjects.h" + +// I/O objects +MODSERIAL pc(USBTX, USBRX, 4096, 256); // Software buffered serial, 4kB buffer +CANBuffer can(CAN2, MEDIUM, p0_6); // Software buffered CAN +Watchdog wdt(0.11); // Watchdog timer set to 110ms +DigitalOut debugLED(LED4); \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/IOobjects.h Sat Oct 25 16:48:09 2014 +0000 @@ -0,0 +1,14 @@ +#ifndef _IO_OBJECTS_H +#define _IO_OBJECTS_H + +#include "mbed.h" +#include "MODSERIAL.h" +#include "CANBuffer.h" +#include "Watchdog.h" + +extern CANBuffer can; +extern MODSERIAL pc; +extern Watchdog wdt; +extern DigitalOut debugLED; + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MODSERIAL.lib Sat Oct 25 16:48:09 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/AjK/code/MODSERIAL/#ae0408ebdd68
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SerialDiagnostics/SerialDiagnostics.cpp Sat Oct 25 16:48:09 2014 +0000
@@ -0,0 +1,42 @@
+#include "SerialDiagnostics.h"
+
+// Macros for working with the string
+// Add newlines, add it to the working buffer
+#define ADD_LINE len+=sprintf(buff+len,"%s\r\n",line);
+#define ADD_SPRINTF_LINE padCenter(line,max_charsPerLine-2,temp,' '); len+=sprintf(buff+len,"%s\r\n",line);
+
+// Print to a string buffer, pad to maxLen chars and center it with char pad, str must be null terminated!
+void padCenter(char *buff, int LineLen, char *str, char pad) {
+ int len = strlen(str);
+ int padL = (LineLen-len)/2; // -1 to save room for the null terminator
+ for (int i=0; i<padL; i++) buff[i] = pad; // Fill in the left padding chars
+ strcpy(buff+padL, str);
+ for (int i = padL+len; i<LineLen; i++) buff[i] = pad; // Fill remaining with padding chars
+ buff[LineLen-1] = '\0'; // Add null terminator
+}
+
+void SerialDiagnostics::thread_serialOut(void const* args){
+ const int max_charsPerLine = 81; // Max chars per line
+ const int max_lines = 30; // Max lines that the layout prints out
+ pc.printf("\033[2J"); // Clear the screen to get rid of reset message
+
+ char buff[max_charsPerLine*max_lines]; // Giant string to store the printout
+ char line[max_charsPerLine]; // String buffer to work with one line at a time
+ char temp[max_charsPerLine]; // String buffer to sprintf into
+
+ while(1){
+
+ int len = 0;
+ len += sprintf(buff+len, "\033[0;0H"); // Home the cursor
+ padCenter(line, max_charsPerLine-2, "-", '-'); ADD_LINE // Generate a line full of 80 -'s
+ padCenter(line, max_charsPerLine-2, " Penn Electric Racing - REV0 System Management Module Serial Dashboard ", '-'); ADD_LINE
+ padCenter(line, max_charsPerLine-2, "-", '-'); ADD_LINE // Generate a line full of 80 -'s
+
+ // Write it all at once to output tx buffer
+ for (int i = 0; i < strlen(buff); i++) {
+ pc.putc(buff[i]);
+ }
+
+ Thread::wait(100);
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SerialDiagnostics/SerialDiagnostics.h Sat Oct 25 16:48:09 2014 +0000
@@ -0,0 +1,13 @@
+#ifndef _SERIAL_DIAGNOSTICS_H
+#define _SERIAL_DIAGNOSTICS_H
+
+#include "MODSERIAL.h"
+#include "rtos.h"
+#include "IOobjects.h"
+
+namespace SerialDiagnostics {
+ void thread_serialOut(void const *args);
+
+}
+
+#endif
\ No newline at end of file
--- a/SysMngmt.cpp Sat Oct 25 15:54:19 2014 +0000
+++ b/SysMngmt.cpp Sat Oct 25 16:48:09 2014 +0000
@@ -4,333 +4,16 @@
Revised Oct 19, 2014: First team repository version
*/
-#include "XBee_Lib.h"
-#include "CANBuffer.h"
-
#include "mbed.h"
-#include "rtos.h"
-#include "Watchdog.h"
-#include "FanPump.h"
-#include "DC_DC.h"
-#include "PollSwitch.h"
-#include "IMD.h"
-#include "CoulombCounter.h"
+DigitalOut myled(LED1);
-CANBuffer rxBuffer(CAN1, MEDIUM);
-Watchdog wdt;
-XBee250x XbeeTx;
-Serial pc1(USBTX,USBRX);
-
-char sys_src_id = 0x4; // source address of system management
-char reset_id = 0x010;
+int main(){
-int SYSMGMT_ERROR_ID = 0x400;
-
-extern "C" void mbed_reset();
-
-void soft_reset(){
- //http://developer.mbed.org/forum/mbed/topic/890/
- mbed_reset();
-}
-
-void error_update(void const *arg){
- char data[1] = {0};
while(1){
- data[0] = 0;
- if(wdt.checkFlag())
- {
- data[0] |= 0x2;
- }
- CANMessage txErrorMessage(SYSMGMT_ERROR_ID, data, 1);
- rxBuffer.txWrite(txErrorMessage);
- Thread::wait(10);
+ myled = 1;
+ wait(0.2);
+ myled = 0;
+ wait(0.2);
}
}
-
-int main() {
- CANMessage rx_msg;
-
- wdt.kick(10.0);
- pc1.baud(115200);
-
-/*
- FanPump fanPump(&rxBuffer);
- DC dc_dc(&fanPump, &rxBuffer);
- PollSwitch pollSwitch(&rxBuffer);
- IMD imdMonitor(&rxBuffer);
- CurrentMonitor curMonitor(&rxBuffer);
-
- fanPump.start_update();
- dc_dc.start_update();
- pollSwitch.start_update();
- imdMonitor.start_update();
- curMonitor.start_update();
-
- Thread error_thread(error_update);
-
- while(1)
- {
- if(rxBuffer.rxRead(rx_msg)){
- if(rx_msg.id == reset_id)
- soft_reset();
-
- char src_addr = (rx_msg.id & 0x0700) >> 8; // get bits 10:8
-
- if(src_addr == sys_src_id){
- char cont_id = (rx_msg.id & 0x00FF); // get bits 7:0
-
- // only control fans of dc_dc converter is on
- if(cont_id == RX_PUMP_ID && dc_dc.is_on())
- {
- float temp_float;
-
- memcpy(&rx_msg.data[0], &temp_float, sizeof(float));
- fanPump.set_fan_pump(Pump1, temp_float);
-
- memcpy(&rx_msg.data[4], &temp_float, sizeof(float));
- fanPump.set_fan_pump(Pump2, temp_float);
- }
-
- if(cont_id == RX_FAN_ID && dc_dc.is_on())
- {
- float temp_float;
-
- memcpy(&rx_msg.data[0], &temp_float, sizeof(float));
- fanPump.set_fan_pump(Fan1, temp_float);
-
- memcpy(&rx_msg.data[4], &temp_float, sizeof(float));
- fanPump.set_fan_pump(Fan2, temp_float);
- }
-
- if(cont_id == RX_DC_DC_ID){
- dc_dc.set(rx_msg.data[0]);
- }
- } // check for correct src_addr
- } // check CANBuffer
-
- wdt.kick();
- } // main while loop
-
-*/
-}
-
-/*
-
- Below is Kiran's old code, keeping it commented as a reference.
-
-*/
-
-/*
-
-Attach Ticker every 10msec to
-Get IMD
-Poll Switches
-Temperature Read
-Get Battery State
-End Ticker Send message through CAN
-
-CAN interrupt Rx Interrupt
-Recieve CAN message into a buffer. Return
-Buffer values(as long as !empty) -> SD Card, Xbee -> remove element
-
-extern "C" void CAN_IRQHandler(void)
-{
- CANMessage Rxmsg;
- CAN_SysM.read(Rxmsg);
- RecieveBuffer.add(Rxmsg);
-}
-
- http://developer.mbed.org/users/AjK/notebook/getting-closer-to-the-hardware/
-
- extern "C" means this is linked assuming it's C code
- C++ linker appearently adds extra crap with the function arguments keeping functions of this kind from linking properly
-
- Interrupt handler, This is probably linked to the Timer 2 interrupt request somewhere by the libraries
-
-*/
-
-
-/*
- Appears to read a whole bunch of DigitalOut pins in void PollSwitch(), store the value in uint16_t Rxpoll,
- and write the result to the CAN bus
-
-void Poll()
-{
- uint16_t Rxpoll;
- uint16_t recv,temp,i=0; //Test
- char Result[4]={0};
- Rxpoll=PollSwitch();
-
- Result[0]=(char)(Rxpoll&0x00ff);
- Result[1]=(char)((Rxpoll&0xff00)>>8);
- CANMessage Txmsg(410,Result,sizeof(Result));
- CAN_SysM.write(Txmsg);
-
- //Test
- recv=(((uint16_t)Txmsg.data[1]<<8) | (0x00ff&(uint16_t)Txmsg.data[0]));
- printf("Recv:%d\n\r",recv);
-
- while(i <= 12)
- {
- temp=recv;
- if(((temp & (1 << i))>>i)==1)
- pc.printf("Switch OFF:%d\n\r",i);
- ++i;
- }
-}
-
-
-void Temp()
-{
- float DC_DC_Temperature, Coolant1_Temperature, Coolant2_Temperature, ChargerFET_Temperature;
- float Resistance;
- float Vadc;
- int i;
- ftc send, recv;
- recv.FLOAT=0.0;
- send.FLOAT=0.0;
-
- Vadc=DC_DC.read()*VDD;
- Resistance=((float)R10K*Vadc)/((float)VDD + Vadc);
- DC_DC_Temperature=ReadTemp(TR_NXFT15XH103FA_Map, Resistance, TABLE_SIZE_NXFT15XH103FA);
- send.FLOAT=DC_DC_Temperature;
- CANMessage Txmsg_DC_DC(450,send.C_FLOAT,sizeof(send.C_FLOAT));
- CAN_SysM.write(Txmsg_DC_DC);
-
- for(i=0; i<4;i++)
- recv.C_FLOAT[i]=Txmsg_DC_DC.data[i];
- pc.printf("DC_DC:%f\n\r",recv.FLOAT);
-
- Vadc=ChargerFET.read()*VDD;
- Resistance=((float)R10K*Vadc)/((float)VDD + Vadc);
- ChargerFET_Temperature=ReadTemp(TR_NXFT15XH103FA_Map, Resistance, TABLE_SIZE_NXFT15XH103FA);
- send.FLOAT=ChargerFET_Temperature;
- CANMessage Txmsg_ChargerFET(451,send.C_FLOAT,sizeof(send.C_FLOAT));
- CAN_SysM.write(Txmsg_ChargerFET);
-
- for(i=0; i<4;i++)
- recv.C_FLOAT[i]=Txmsg_ChargerFET.data[i];
- pc.printf("ChargerFET:%f\n\r",recv.FLOAT);
-
- Vadc=Coolant1.read()*VDD;
- Resistance=((float)R10K*Vadc)/((float)VDD + Vadc);
- Coolant1_Temperature=ReadTemp(TR_NTCLP00E3103H_Map, Resistance, TABLE_SIZE_NTCLP00E3103H);
- send.FLOAT=Coolant1_Temperature;
- CANMessage Txmsg_Coolant1(452,send.C_FLOAT,sizeof(send.C_FLOAT));
- CAN_SysM.write(Txmsg_Coolant1);
- //Control Fans
-
- for(i=0; i<4;i++)
- recv.C_FLOAT[i]=Txmsg_Coolant1.data[i];
- pc.printf("Coolant1:%f\n\r",recv.FLOAT);
-
- Vadc=Coolant2.read()*VDD;
- Resistance=((float)R10K*Vadc)/((float)VDD + Vadc);
- Coolant2_Temperature=ReadTemp(TR_NTCLP00E3103H_Map, Resistance, TABLE_SIZE_NTCLP00E3103H);
- send.FLOAT=Coolant2_Temperature;
- CANMessage Txmsg_Coolant2(453,send.C_FLOAT,sizeof(send.C_FLOAT));
- CAN_SysM.write(Txmsg_Coolant2);
- //Control Fans
-
- for(i=0; i<4;i++)
- recv.C_FLOAT[i]=Txmsg_Coolant2.data[i];
- pc.printf("Coolant2:%f\n\r",recv.FLOAT);
-}
-
-void IMD()
-{
- IMD_Measurement_Output IMD_Signal;
- char status[4];
- ftc send;
-
- IMD_Signal=Get_Measurement();
- send.FLOAT=IMD_Signal.Frequency;
- CANMessage Txmsg_Frequency(421,send.C_FLOAT,sizeof(send.C_FLOAT));
- CAN_SysM.write(Txmsg_Frequency);
-
- send.FLOAT=IMD_Signal.Duty_Cycle;
- CANMessage Txmsg_DutyCycle(422,send.C_FLOAT,sizeof(send.C_FLOAT));
- CAN_SysM.write(Txmsg_DutyCycle);
-
- status[0]=Result.Encoded_Status;
- CANMessage Txmsg_Status(423,status,sizeof(status));
- CAN_SysM.write(Txmsg_Status);
-}
-*/
-
-/*
- Activates a whole crapload of functions and pins on the chip
-
-void Init()
-{
-
- Timers to call various functions at different intervals
- These things behave weirdly when wait(ms) is involved. Probably have to rewrite
-
-
- //ReadIMD.attach(&IMD,0.1);
- //PollSDSwitch.attach(&Poll,0.1);
-
- //ReadTemperature.attach(&Temp,0.1);
- //ReadBatteryState.attach(&Battery,0.1);
-
-
- Initialize Timer2 for Battery State
-
- LPC_SC 0x400F C000 (System Control)
- ->PCONP 0x400F C0C4 (Power Control for Peripherals Register)
- |= (1<<22) 22 Bit (Timer 2 power/clock control bit)
-
- ->PCLKSEL1 Peripheral Clock Selection register 1 (controls rate of clock signal supplied to peripheral)
- |= ((1<<12) | (1<<13)); 12:13 Bits (Peripheral Clock Selection for TIMER2)
-
- LPC_TIM2 0x4009 0000 (Timer 2)
- ->TCR 0x4009 0004 (Timer Control Register)
- |= (1<<0); 0 Bit (Counter Enable)
-
- ->MR0 0x4009 0018 (Match Register)
-
- ->MCR 0x4009 0014 (Match Control Register) What to do when Match Register matches the Timer Counter
- |= (1<<0); 0 Bit (Interrupt on MR0, interrupt generated when MR0 matches the value in TC)
-
-
- LPC_SC->PCONP |= (1<<22); //PoewerOn Timer/Counter2
- LPC_SC->PCLKSEL1 |= ((1<<12) | (1<<13)); //Prescale Timer2 CCLK/8
- LPC_TIM2->TCR |= (1<<0); //Enable Timer2
- LPC_TIM2->MR0 = 11999; // 1msec
- LPC_TIM2->MCR |= (1<<0);
-
- Nested Vectored Interrupt Controller (NVIC)
-
- NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority)
- sets priority of an interrupt
-
- IRQn_Type
- Interrupt number definitions
- Interrupt Request (IRQ)
-
- NVIC_EnableIRQ(IRQn_Type IRQn)
- Enable external interrupt (in this case, the TIMER2_IRQHandler(void) function above gets called every time
- Timer2 generates an interrupt signal)
-
-
- NVIC_SetPriority(TIMER0_IRQn,200); //IMD Capture Interrupt
- NVIC_SetPriority(TIMER1_IRQn,200); //IMD 1msec sampling Interrupt
- NVIC_SetPriority(TIMER2_IRQn,1); //Battery 1msec sampling Interrupt
- NVIC_SetPriority(TIMER3_IRQn,255); //mbed Timer/Ticker/Wait Interrupt
- NVIC_SetPriority(CAN_IRQn,2);
-
- NVIC_EnableIRQ(TIMER2_IRQn); //Enable TIMER2 IRQ
-
- CAN_SysM.mode(CAN::GlobalTest);
-
-
- //NVIC_EnableIRQ(CAN_IRQn);
- //NVIC_EnableIRQ(CANActivity_IRQn);
-}
-
-
- Main Loop: Currently reads CANMessages from Can interface (Pins: rd = p30, td = p29)
- Send CANMessage data through XBee radio transmitters
-*/