Diff: main.cpp

Revision:

38:8efacce315ae

Parent:

36:0afc0fc8f86b

Child:

39:ddf38df9699e

--- a/main.cpp	Thu Jan 22 07:59:48 2015 +0000
+++ b/main.cpp	Sat Feb 07 08:54:51 2015 +0000
@@ -3,64 +3,104 @@
 #include "outDiagnostics.h"
 #include "inCommands.h"
 
-//#define DEBUG_MODE
-
-void thread_watchDog(void const* args) {
+void thread_watchDog(void const* args)
+{
     tempData.wdtThreadId = Thread::gettid();
-#ifdef DEBUG_MODE
-    wdt.kick();
-#else
     wdt.kick(WDT_TIME);
-#endif
     while(1) {
-        Thread::signal_wait(0x1F);
+        Thread::wait(100);
+        //Thread::signal_wait(0x1F);
         wdt.kick();
-    }   
+    }
 }
+// Startup code to initialize interfaces and fetch the profile
+void init()
+{
+    char str[100];
+    sprintf(str, "\033[2J\033[2J\r\n");     // Clear screen
 
-int main() {
-    pc.baud(BAUD);
-    pc.format(8, SerialBase::None, 2);      // 2 Stop bits, reduce bad serial packets
-    pc.printf("\033[2J\033[2J\r\n");        // Clear screen
-    
-    can.mode(FIFO);
+    // GENERATE RESET TYPE MESSAGE
+    bool normalReset = true;
+    if (wdt.checkFlag()) {                  // Did a watchdog reset occur?
+        wdt.clearFlag();                    // Clear flag
+        op->faultCode |= WATCHDOG;          // Record fault
+        sprintf(str, "System Mgmt Watchdog Reset\r\n");
+        normalReset=false;
+    }
+    if (LPC_SC->RSID & (1<<3)) {            // Did a brownout reset occur?
+        LPC_SC->RSID = (1<<3);              // Clear flag
+        op->faultCode |= BROWNOUT;          // Record fault
+        sprintf(str, "System Mgmt Brownout Reset\r\n");
+        normalReset=false;
+    }
+    if (normalReset) sprintf(str, "System Mgmt Reset\r\n"); // Normal reset message
+
+    // SET INTERUPT PRIORITIES
     NVIC_SetPriority(TIMER0_IRQn, 0);
     NVIC_SetPriority(PWM1_IRQn, 1);
     NVIC_SetPriority(CAN_IRQn, 2);
     NVIC_SetPriority(UART0_IRQn, 3);
     NVIC_SetPriority(TIMER3_IRQn, 4);
 
-    bool normalReset = true;
-    // Did a watchdog reset occur since last power cycle?
-    if (wdt.checkFlag()) {
-        wdt.clearFlag();                    // Clear flag
-        data.watchdogReset = true;
-        pc.printf("Sys Mgmt Watchdog Reset\r\n");
-        normalReset=false;
+    // SET SYSTEM TIME (RTC)
+    int t = time(NULL);                     // Get RTC time
+    if (t == 0 || t == -1) set_time(0);     // Seed the timer if it was never setup
+    tempData.timeSynced = false;            // Time unsynced on reset, use AMS as master clock
+    op->startTime = time(NULL);             // Capture the startup time
+    op->SysTime = time(NULL);               // Caputre the system time
+    
+    // LOAD LAST-USED CONFIGURATION PROFILE
+    if (!Profile::loadStartUp()) {
+        strncat(str, "Profile load Failed, using default\r\n", 99);   
     }
-    // Did a brownout reset occur since last power cycle?
-    if (LPC_SC->RSID & (1<<3)) {
-        LPC_SC->RSID = (1<<3);              // Clear flag
-        pc.printf("Sys Mgmt Brownout Reset\r\n");
-        normalReset=false;
-    }
-    // Print normal reset string
-    if (normalReset) pc.printf("Sys Mgmt Reset\r\n");
-        
+    op->profileIndex = Profile::usingProfile();
+    wdt.kick();                                     // Kick watchdog timer before the wait
+    wait(0.5);                                      // Wait so above messages aren't immediately over-written
+    
+    // ALLOCATE/RESIZE BUFFERS
+    glvBat.size(param->glvBat_taps);
+    dcdc.size(param->dcdc_taps);
+    can.txSize(param->CANtxSize);
+    can.rxSize(param->CANrxSize);
+    pc.baud(param->SerialBaud);
+    pc.txBufferSetSize(param->SerialTxSize);
+    xbeeRelay.baud(param->XbeeBaud);
+    xbeeRelay.txSize(param->XbeeTxSize);
+    xbeeRelay.rxSize(param->XbeeRxSize);
+    
+    // INITIAL SETUP, LINK PROFILE VARIABLES
+    glvBat.changeCapacity(param->nominalCapacity);
+    glvBat.setup(&(param->chargeCurrent), &(param->dischargeCurrent));
+    dcdc.setup(&(param->dcdcThreshold), &(param->dcdcOverCurrent), &(param->dcdcStartDelay), &(param->dcdcStopDelay));
+    AMSlatch.setup(&(param->amsStartDelay));
+    IMDlatch.setup(&(param->imdStartDelay));
+    AMSlatch.delayStart();
+    IMDlatch.delayStart();
+    
+    // SETUP SERIAL PORT
+    pc.format(8, SerialBase::None, 2);      // 2 Stop bits, reduce bad serial packets
+    str[99] = 0;
+    pc.printf(str);
+}
+
+int main()
+{
+    init();
+    
     // Start the watchdog check-in thread
     Thread watchdogCheck(thread_watchDog, 0, osPriorityRealtime, 128);
-        
+
     // Start the 100Hz data timer (priotity high)
     RtosTimer sample(runTime::thread_sample, osTimerPeriodic);
     sample.start(FAST_LOOP*1000);
-    
+
     // Start the serial, CAN threads
     Thread serial_out(outDiagnostics::thread_serialOut, 0, osPriorityBelowNormal);
     Thread can_out(outDiagnostics::thread_canOut, 0, osPriorityBelowNormal, 512);
-    
+
     // Start the input polling thread
     Thread getInputs(inCommands::thread_getInputs, 0, osPriorityLow);
-        
+
     // Main task
     while(1) {
         runTime::gather(0);