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ManualControl
Dependencies: TPixy-Interface
Fork of MbedOS_Robot by
WatchdogThread.cpp@29:83c103d12078, 2018-04-10 (annotated)
- Committer:
- asobhy
- Date:
- Tue Apr 10 20:54:37 2018 +0000
- Branch:
- ManualControl
- Revision:
- 29:83c103d12078
- Parent:
- 9:fe56b888985c
ManualControl
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
asobhy | 8:a0890fa79084 | 1 | /******************************************************************************/ |
asobhy | 8:a0890fa79084 | 2 | // ECE4333 |
asobhy | 9:fe56b888985c | 3 | // LAB Partner 1: Ahmed Sobhy - ID: 3594449 |
asobhy | 9:fe56b888985c | 4 | // LAB Partner 2: Brandon Kingman - ID: 3470444 |
asobhy | 9:fe56b888985c | 5 | // Project: Autonomous Robot Design |
asobhy | 9:fe56b888985c | 6 | // Instructor: Prof. Chris Diduch |
asobhy | 8:a0890fa79084 | 7 | /******************************************************************************/ |
asobhy | 8:a0890fa79084 | 8 | // filename: WatchdogThread.cpp |
asobhy | 8:a0890fa79084 | 9 | // file content description: |
asobhy | 8:a0890fa79084 | 10 | // * Function to create the Watchdog Thead |
asobhy | 8:a0890fa79084 | 11 | // * Watchdog thread |
asobhy | 8:a0890fa79084 | 12 | // * Watchdog ISR |
asobhy | 8:a0890fa79084 | 13 | // * Variables related to the functionality of the thread |
asobhy | 8:a0890fa79084 | 14 | /******************************************************************************/ |
asobhy | 8:a0890fa79084 | 15 | |
asobhy | 0:a355e511bc5d | 16 | #include "mbed.h" |
asobhy | 0:a355e511bc5d | 17 | |
asobhy | 0:a355e511bc5d | 18 | osThreadId WatchdogId; |
asobhy | 0:a355e511bc5d | 19 | osTimerId oneShot; |
asobhy | 0:a355e511bc5d | 20 | |
asobhy | 0:a355e511bc5d | 21 | |
asobhy | 0:a355e511bc5d | 22 | // Function prototypes |
asobhy | 0:a355e511bc5d | 23 | void WatchdogISR(void const *n); |
asobhy | 0:a355e511bc5d | 24 | void WatchdogThread(void const *argument); |
asobhy | 0:a355e511bc5d | 25 | |
asobhy | 0:a355e511bc5d | 26 | // Declare WatchdogThread as a thread/process |
asobhy | 0:a355e511bc5d | 27 | osTimerDef(Wdtimer, WatchdogISR); |
asobhy | 0:a355e511bc5d | 28 | |
asobhy | 0:a355e511bc5d | 29 | /******************************************************************************/ |
asobhy | 0:a355e511bc5d | 30 | // osPriorityIdle = -3, ///< priority: idle (lowest) |
asobhy | 0:a355e511bc5d | 31 | // osPriorityLow = -2, ///< priority: low |
asobhy | 0:a355e511bc5d | 32 | // osPriorityBelowNormal = -1, ///< priority: below normal |
asobhy | 0:a355e511bc5d | 33 | // osPriorityNormal = 0, ///< priority: normal (default) |
asobhy | 0:a355e511bc5d | 34 | // osPriorityAboveNormal = +1, ///< priority: above normal |
asobhy | 0:a355e511bc5d | 35 | // osPriorityHigh = +2, ///< priority: high |
asobhy | 0:a355e511bc5d | 36 | // osPriorityRealtime = +3, ///< priority: realtime (highest) |
asobhy | 0:a355e511bc5d | 37 | /******************************************************************************/ |
asobhy | 0:a355e511bc5d | 38 | |
asobhy | 0:a355e511bc5d | 39 | // Declare WatchdogThread as a thread/process |
asobhy | 0:a355e511bc5d | 40 | osThreadDef(WatchdogThread, osPriorityRealtime, 1024); |
asobhy | 0:a355e511bc5d | 41 | |
asobhy | 0:a355e511bc5d | 42 | DigitalOut led1(LED1); |
asobhy | 0:a355e511bc5d | 43 | |
asobhy | 0:a355e511bc5d | 44 | |
asobhy | 0:a355e511bc5d | 45 | bool WatchdogThreadInit() |
asobhy | 0:a355e511bc5d | 46 | { |
asobhy | 0:a355e511bc5d | 47 | bool retval; |
asobhy | 0:a355e511bc5d | 48 | |
asobhy | 0:a355e511bc5d | 49 | WatchdogId = osThreadCreate(osThread(WatchdogThread), NULL); |
asobhy | 0:a355e511bc5d | 50 | |
asobhy | 0:a355e511bc5d | 51 | if(WatchdogId) |
asobhy | 0:a355e511bc5d | 52 | { |
asobhy | 0:a355e511bc5d | 53 | // Start the watch dog timer and enable the watch dog interrupt |
asobhy | 0:a355e511bc5d | 54 | oneShot = osTimerCreate(osTimer(Wdtimer), osTimerOnce, (void *)0); |
asobhy | 0:a355e511bc5d | 55 | retval = true; |
asobhy | 0:a355e511bc5d | 56 | } |
asobhy | 0:a355e511bc5d | 57 | else |
asobhy | 0:a355e511bc5d | 58 | { |
asobhy | 0:a355e511bc5d | 59 | retval = false; |
asobhy | 0:a355e511bc5d | 60 | } |
asobhy | 0:a355e511bc5d | 61 | |
asobhy | 0:a355e511bc5d | 62 | return retval; |
asobhy | 0:a355e511bc5d | 63 | |
asobhy | 0:a355e511bc5d | 64 | } |
asobhy | 0:a355e511bc5d | 65 | |
asobhy | 0:a355e511bc5d | 66 | |
asobhy | 0:a355e511bc5d | 67 | /******************************************************************************* |
asobhy | 0:a355e511bc5d | 68 | * ******** Watchdog Reset ******** |
asobhy | 0:a355e511bc5d | 69 | *******************************************************************************/ |
asobhy | 0:a355e511bc5d | 70 | void WatchdogReset(void) |
asobhy | 0:a355e511bc5d | 71 | { |
asobhy | 0:a355e511bc5d | 72 | led1=0; // Turn LED off. |
asobhy | 0:a355e511bc5d | 73 | // Start or restart the watchdog timer interrupt and set to 2000ms. |
asobhy | 0:a355e511bc5d | 74 | osTimerStart(oneShot, 2000); |
asobhy | 0:a355e511bc5d | 75 | } |
asobhy | 0:a355e511bc5d | 76 | |
asobhy | 0:a355e511bc5d | 77 | |
asobhy | 0:a355e511bc5d | 78 | /******************************************************************************* |
asobhy | 0:a355e511bc5d | 79 | * ******** Watchdog Thread ******** |
asobhy | 0:a355e511bc5d | 80 | *******************************************************************************/ |
asobhy | 0:a355e511bc5d | 81 | static void WatchdogThread(void const *argument) |
asobhy | 0:a355e511bc5d | 82 | { |
asobhy | 0:a355e511bc5d | 83 | while (true) |
asobhy | 0:a355e511bc5d | 84 | { |
asobhy | 0:a355e511bc5d | 85 | // Go to sleep until a signal, SignalWatchdog, is received |
asobhy | 0:a355e511bc5d | 86 | osSignalWait(0x01, osWaitForever); |
asobhy | 0:a355e511bc5d | 87 | led1 = 1; |
asobhy | 0:a355e511bc5d | 88 | } |
asobhy | 0:a355e511bc5d | 89 | |
asobhy | 0:a355e511bc5d | 90 | } |
asobhy | 0:a355e511bc5d | 91 | |
asobhy | 0:a355e511bc5d | 92 | |
asobhy | 0:a355e511bc5d | 93 | /******************************************************************************* |
asobhy | 0:a355e511bc5d | 94 | * ******** Watchdog Interrupt Handler ******** |
asobhy | 0:a355e511bc5d | 95 | *******************************************************************************/ |
asobhy | 0:a355e511bc5d | 96 | void WatchdogISR(void const *n) |
asobhy | 0:a355e511bc5d | 97 | { |
asobhy | 0:a355e511bc5d | 98 | // Send signal to thread with ID, WatchdogId, i.e., WatchdogThread |
asobhy | 0:a355e511bc5d | 99 | osSignalSet(WatchdogId,0x01); |
asobhy | 0:a355e511bc5d | 100 | } |