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Dependencies:   mbed CANBuffer Watchdog MODSERIAL mbed-rtos xbeeRelay IAP

Fork of SystemManagement by Martin Deng

SysMngmt.cpp@11:1d086618dd18, 2014-10-19 (annotated)

Committer:
martydd3
Date:
Sun Oct 19 22:50:30 2014 +0000
Revision:
11:1d086618dd18
Parent:
10:db13782f05d9
Child:
12:e0adb697fcdb
Minor Edits

Who changed what in which revision?

UserRevisionLine numberNew contents of line
martydd3 0:e516fcccccda 1 /*
martydd3 0:e516fcccccda 2 Reads CAN Messages and various data inputs, outputs using Xbee radio modules
martydd3 0:e516fcccccda 3
martydd3 11:1d086618dd18 4 Revised Oct 19, 2014: First team repository version
martydd3 10:db13782f05d9 5 */
martydd3 10:db13782f05d9 6
martydd3 6:6a04210a3f4f 7 #include "Store_RTC.h"
martydd3 6:6a04210a3f4f 8 #include "XBee_Lib.h"
martydd3 6:6a04210a3f4f 9 #include "CANBuffer.h"
martydd3 0:e516fcccccda 10
martydd3 6:6a04210a3f4f 11 #include "mbed.h"
martydd3 6:6a04210a3f4f 12 #include "rtos.h"
martydd3 6:6a04210a3f4f 13
martydd3 9:ada056631cac 14 #include "Watchdog.h"
martydd3 6:6a04210a3f4f 15 #include "FanPump.h"
martydd3 6:6a04210a3f4f 16 #include "DC_DC.h"
martydd3 7:5f6e31faa08e 17 #include "PollSwitch.h"
martydd3 8:ecf68db484af 18 #include "IMD.h"
martydd3 10:db13782f05d9 19 #include "CurrentMonitor.h"
martydd3 10:db13782f05d9 20
martydd3 10:db13782f05d9 21 CANBuffer rxBuffer(CAN1, MEDIUM);
martydd3 11:1d086618dd18 22 XBee250x XbeeTx;
martydd3 10:db13782f05d9 23 Serial pc1(USBTX,USBRX);
martydd3 10:db13782f05d9 24
martydd3 10:db13782f05d9 25 char sys_src_id = 4; // source address of system management
martydd3 10:db13782f05d9 26 char reset_id = 0x010;
martydd3 10:db13782f05d9 27
martydd3 10:db13782f05d9 28 extern "C" void mbed_reset();
martydd3 10:db13782f05d9 29
martydd3 10:db13782f05d9 30 void soft_reset(){
martydd3 10:db13782f05d9 31 //http://developer.mbed.org/forum/mbed/topic/890/
martydd3 10:db13782f05d9 32 mbed_reset();
martydd3 10:db13782f05d9 33 }
martydd3 10:db13782f05d9 34
martydd3 10:db13782f05d9 35 int main() {
martydd3 10:db13782f05d9 36 CANMessage rx_msg;
martydd3 10:db13782f05d9 37 Watchdog wdt;
martydd3 10:db13782f05d9 38
martydd3 10:db13782f05d9 39 wdt.kick(10.0);
martydd3 10:db13782f05d9 40 pc1.baud(115200);
martydd3 10:db13782f05d9 41
martydd3 10:db13782f05d9 42 FanPump fanPump(&rxBuffer);
martydd3 10:db13782f05d9 43 DC dc_dc(&fanPump, &rxBuffer);
martydd3 10:db13782f05d9 44 PollSwitch pollSwitch(&rxBuffer);
martydd3 10:db13782f05d9 45 IMD imdMonitor(&rxBuffer);
martydd3 10:db13782f05d9 46 CurrentMonitor curMonitor(&rxBuffer);
martydd3 10:db13782f05d9 47
martydd3 10:db13782f05d9 48 fanPump.start_update();
martydd3 10:db13782f05d9 49 dc_dc.start_update();
martydd3 10:db13782f05d9 50 pollSwitch.start_update();
martydd3 10:db13782f05d9 51 imdMonitor.start_update();
martydd3 10:db13782f05d9 52 curMonitor.start_update();
martydd3 10:db13782f05d9 53
martydd3 10:db13782f05d9 54 while(1)
martydd3 10:db13782f05d9 55 {
martydd3 10:db13782f05d9 56 if(rxBuffer.rxRead(rx_msg)){
martydd3 10:db13782f05d9 57 if(rx_msg.id == reset_id)
martydd3 10:db13782f05d9 58 soft_reset();
martydd3 10:db13782f05d9 59
martydd3 10:db13782f05d9 60 char src_addr = (rx_msg.id & 0x0700) >> 8; // get bits 10:8
martydd3 10:db13782f05d9 61
martydd3 10:db13782f05d9 62 if(src_addr == sys_src_id){
martydd3 10:db13782f05d9 63 char cont_id = (rx_msg.id & 0x00FF); // get bits 7:0
martydd3 10:db13782f05d9 64
martydd3 10:db13782f05d9 65 // only control fans of dc_dc converter is on
martydd3 10:db13782f05d9 66 if(cont_id == RX_FAN_ID && dc_dc.is_on())
martydd3 10:db13782f05d9 67 {
martydd3 10:db13782f05d9 68 fanPump.set_fan((FanSelect)rx_msg.data[0], rx_msg.data[1]);
martydd3 10:db13782f05d9 69 }
martydd3 10:db13782f05d9 70
martydd3 10:db13782f05d9 71 if(cont_id == RX_DC_DC_ID){
martydd3 10:db13782f05d9 72 dc_dc.set(rx_msg.data[0]);
martydd3 10:db13782f05d9 73 }
martydd3 10:db13782f05d9 74 } // check for correct src_addr
martydd3 10:db13782f05d9 75 } // check CANBuffer
martydd3 10:db13782f05d9 76
martydd3 10:db13782f05d9 77 wdt.kick();
martydd3 10:db13782f05d9 78 } // main while loop
martydd3 10:db13782f05d9 79 }
martydd3 10:db13782f05d9 80
martydd3 11:1d086618dd18 81 /*
martydd3 0:e516fcccccda 82
martydd3 11:1d086618dd18 83 Below is Kiran's old code, keeping it commented as a reference.
martydd3 11:1d086618dd18 84
martydd3 11:1d086618dd18 85 */
martydd3 0:e516fcccccda 86
martydd3 0:e516fcccccda 87 /*
martydd3 0:e516fcccccda 88
martydd3 0:e516fcccccda 89 Attach Ticker every 10msec to
martydd3 0:e516fcccccda 90 Get IMD
martydd3 0:e516fcccccda 91 Poll Switches
martydd3 0:e516fcccccda 92 Temperature Read
martydd3 0:e516fcccccda 93 Get Battery State
martydd3 0:e516fcccccda 94 End Ticker Send message through CAN
martydd3 0:e516fcccccda 95
martydd3 0:e516fcccccda 96 CAN interrupt Rx Interrupt
martydd3 0:e516fcccccda 97 Recieve CAN message into a buffer. Return
martydd3 0:e516fcccccda 98 Buffer values(as long as !empty) -> SD Card, Xbee -> remove element
martydd3 0:e516fcccccda 99
martydd3 0:e516fcccccda 100 extern "C" void CAN_IRQHandler(void)
martydd3 0:e516fcccccda 101 {
martydd3 0:e516fcccccda 102 CANMessage Rxmsg;
martydd3 0:e516fcccccda 103 CAN_SysM.read(Rxmsg);
martydd3 0:e516fcccccda 104 RecieveBuffer.add(Rxmsg);
martydd3 0:e516fcccccda 105 }
martydd3 0:e516fcccccda 106
martydd3 1:e02eb179aed3 107 http://developer.mbed.org/users/AjK/notebook/getting-closer-to-the-hardware/
martydd3 1:e02eb179aed3 108
martydd3 1:e02eb179aed3 109 extern "C" means this is linked assuming it's C code
martydd3 1:e02eb179aed3 110 C++ linker appearently adds extra crap with the function arguments keeping functions of this kind from linking properly
martydd3 1:e02eb179aed3 111
martydd3 1:e02eb179aed3 112 Interrupt handler, This is probably linked to the Timer 2 interrupt request somewhere by the libraries
martydd3 2:baeb80c778f7 113
martydd3 10:db13782f05d9 114 */
martydd3 0:e516fcccccda 115
martydd3 10:db13782f05d9 116
martydd3 10:db13782f05d9 117 /*
martydd3 1:e02eb179aed3 118 Appears to read a whole bunch of DigitalOut pins in void PollSwitch(), store the value in uint16_t Rxpoll,
martydd3 1:e02eb179aed3 119 and write the result to the CAN bus
martydd3 2:baeb80c778f7 120
martydd3 0:e516fcccccda 121 void Poll()
martydd3 0:e516fcccccda 122 {
martydd3 0:e516fcccccda 123 uint16_t Rxpoll;
martydd3 0:e516fcccccda 124 uint16_t recv,temp,i=0; //Test
martydd3 0:e516fcccccda 125 char Result[4]={0};
martydd3 0:e516fcccccda 126 Rxpoll=PollSwitch();
martydd3 0:e516fcccccda 127
martydd3 0:e516fcccccda 128 Result[0]=(char)(Rxpoll&0x00ff);
martydd3 0:e516fcccccda 129 Result[1]=(char)((Rxpoll&0xff00)>>8);
martydd3 0:e516fcccccda 130 CANMessage Txmsg(410,Result,sizeof(Result));
martydd3 0:e516fcccccda 131 CAN_SysM.write(Txmsg);
martydd3 0:e516fcccccda 132
martydd3 0:e516fcccccda 133 //Test
martydd3 0:e516fcccccda 134 recv=(((uint16_t)Txmsg.data[1]<<8) | (0x00ff&(uint16_t)Txmsg.data[0]));
martydd3 0:e516fcccccda 135 printf("Recv:%d\n\r",recv);
martydd3 0:e516fcccccda 136
martydd3 0:e516fcccccda 137 while(i <= 12)
martydd3 0:e516fcccccda 138 {
martydd3 0:e516fcccccda 139 temp=recv;
martydd3 0:e516fcccccda 140 if(((temp & (1 << i))>>i)==1)
martydd3 0:e516fcccccda 141 pc.printf("Switch OFF:%d\n\r",i);
martydd3 0:e516fcccccda 142 ++i;
martydd3 0:e516fcccccda 143 }
martydd3 0:e516fcccccda 144 }
martydd3 0:e516fcccccda 145
martydd3 0:e516fcccccda 146
martydd3 0:e516fcccccda 147 void Temp()
martydd3 0:e516fcccccda 148 {
martydd3 0:e516fcccccda 149 float DC_DC_Temperature, Coolant1_Temperature, Coolant2_Temperature, ChargerFET_Temperature;
martydd3 0:e516fcccccda 150 float Resistance;
martydd3 0:e516fcccccda 151 float Vadc;
martydd3 0:e516fcccccda 152 int i;
martydd3 0:e516fcccccda 153 ftc send, recv;
martydd3 0:e516fcccccda 154 recv.FLOAT=0.0;
martydd3 0:e516fcccccda 155 send.FLOAT=0.0;
martydd3 0:e516fcccccda 156
martydd3 0:e516fcccccda 157 Vadc=DC_DC.read()*VDD;
martydd3 0:e516fcccccda 158 Resistance=((float)R10K*Vadc)/((float)VDD + Vadc);
martydd3 0:e516fcccccda 159 DC_DC_Temperature=ReadTemp(TR_NXFT15XH103FA_Map, Resistance, TABLE_SIZE_NXFT15XH103FA);
martydd3 0:e516fcccccda 160 send.FLOAT=DC_DC_Temperature;
martydd3 0:e516fcccccda 161 CANMessage Txmsg_DC_DC(450,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 162 CAN_SysM.write(Txmsg_DC_DC);
martydd3 0:e516fcccccda 163
martydd3 0:e516fcccccda 164 for(i=0; i<4;i++)
martydd3 0:e516fcccccda 165 recv.C_FLOAT[i]=Txmsg_DC_DC.data[i];
martydd3 0:e516fcccccda 166 pc.printf("DC_DC:%f\n\r",recv.FLOAT);
martydd3 0:e516fcccccda 167
martydd3 0:e516fcccccda 168 Vadc=ChargerFET.read()*VDD;
martydd3 0:e516fcccccda 169 Resistance=((float)R10K*Vadc)/((float)VDD + Vadc);
martydd3 0:e516fcccccda 170 ChargerFET_Temperature=ReadTemp(TR_NXFT15XH103FA_Map, Resistance, TABLE_SIZE_NXFT15XH103FA);
martydd3 0:e516fcccccda 171 send.FLOAT=ChargerFET_Temperature;
martydd3 0:e516fcccccda 172 CANMessage Txmsg_ChargerFET(451,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 173 CAN_SysM.write(Txmsg_ChargerFET);
martydd3 0:e516fcccccda 174
martydd3 0:e516fcccccda 175 for(i=0; i<4;i++)
martydd3 0:e516fcccccda 176 recv.C_FLOAT[i]=Txmsg_ChargerFET.data[i];
martydd3 0:e516fcccccda 177 pc.printf("ChargerFET:%f\n\r",recv.FLOAT);
martydd3 0:e516fcccccda 178
martydd3 0:e516fcccccda 179 Vadc=Coolant1.read()*VDD;
martydd3 0:e516fcccccda 180 Resistance=((float)R10K*Vadc)/((float)VDD + Vadc);
martydd3 0:e516fcccccda 181 Coolant1_Temperature=ReadTemp(TR_NTCLP00E3103H_Map, Resistance, TABLE_SIZE_NTCLP00E3103H);
martydd3 0:e516fcccccda 182 send.FLOAT=Coolant1_Temperature;
martydd3 0:e516fcccccda 183 CANMessage Txmsg_Coolant1(452,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 184 CAN_SysM.write(Txmsg_Coolant1);
martydd3 0:e516fcccccda 185 //Control Fans
martydd3 0:e516fcccccda 186
martydd3 0:e516fcccccda 187 for(i=0; i<4;i++)
martydd3 0:e516fcccccda 188 recv.C_FLOAT[i]=Txmsg_Coolant1.data[i];
martydd3 0:e516fcccccda 189 pc.printf("Coolant1:%f\n\r",recv.FLOAT);
martydd3 0:e516fcccccda 190
martydd3 0:e516fcccccda 191 Vadc=Coolant2.read()*VDD;
martydd3 0:e516fcccccda 192 Resistance=((float)R10K*Vadc)/((float)VDD + Vadc);
martydd3 0:e516fcccccda 193 Coolant2_Temperature=ReadTemp(TR_NTCLP00E3103H_Map, Resistance, TABLE_SIZE_NTCLP00E3103H);
martydd3 0:e516fcccccda 194 send.FLOAT=Coolant2_Temperature;
martydd3 0:e516fcccccda 195 CANMessage Txmsg_Coolant2(453,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 196 CAN_SysM.write(Txmsg_Coolant2);
martydd3 0:e516fcccccda 197 //Control Fans
martydd3 0:e516fcccccda 198
martydd3 0:e516fcccccda 199 for(i=0; i<4;i++)
martydd3 0:e516fcccccda 200 recv.C_FLOAT[i]=Txmsg_Coolant2.data[i];
martydd3 0:e516fcccccda 201 pc.printf("Coolant2:%f\n\r",recv.FLOAT);
martydd3 0:e516fcccccda 202 }
martydd3 0:e516fcccccda 203
martydd3 0:e516fcccccda 204 void IMD()
martydd3 0:e516fcccccda 205 {
martydd3 0:e516fcccccda 206 IMD_Measurement_Output IMD_Signal;
martydd3 0:e516fcccccda 207 char status[4];
martydd3 0:e516fcccccda 208 ftc send;
martydd3 0:e516fcccccda 209
martydd3 0:e516fcccccda 210 IMD_Signal=Get_Measurement();
martydd3 0:e516fcccccda 211 send.FLOAT=IMD_Signal.Frequency;
martydd3 0:e516fcccccda 212 CANMessage Txmsg_Frequency(421,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 213 CAN_SysM.write(Txmsg_Frequency);
martydd3 0:e516fcccccda 214
martydd3 0:e516fcccccda 215 send.FLOAT=IMD_Signal.Duty_Cycle;
martydd3 0:e516fcccccda 216 CANMessage Txmsg_DutyCycle(422,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 217 CAN_SysM.write(Txmsg_DutyCycle);
martydd3 0:e516fcccccda 218
martydd3 0:e516fcccccda 219 status[0]=Result.Encoded_Status;
martydd3 0:e516fcccccda 220 CANMessage Txmsg_Status(423,status,sizeof(status));
martydd3 0:e516fcccccda 221 CAN_SysM.write(Txmsg_Status);
martydd3 0:e516fcccccda 222 }
martydd3 5:9258b685fea6 223 */
martydd3 0:e516fcccccda 224
martydd3 5:9258b685fea6 225 /*
martydd3 0:e516fcccccda 226 Activates a whole crapload of functions and pins on the chip
martydd3 2:baeb80c778f7 227
martydd3 0:e516fcccccda 228 void Init()
martydd3 0:e516fcccccda 229 {
martydd3 2:baeb80c778f7 230
martydd3 0:e516fcccccda 231 Timers to call various functions at different intervals
martydd3 0:e516fcccccda 232 These things behave weirdly when wait(ms) is involved. Probably have to rewrite
martydd3 2:baeb80c778f7 233
martydd3 0:e516fcccccda 234
martydd3 0:e516fcccccda 235 //ReadIMD.attach(&IMD,0.1);
martydd3 0:e516fcccccda 236 //PollSDSwitch.attach(&Poll,0.1);
martydd3 0:e516fcccccda 237
martydd3 0:e516fcccccda 238 //ReadTemperature.attach(&Temp,0.1);
martydd3 0:e516fcccccda 239 //ReadBatteryState.attach(&Battery,0.1);
martydd3 0:e516fcccccda 240
martydd3 2:baeb80c778f7 241
martydd3 0:e516fcccccda 242 Initialize Timer2 for Battery State
martydd3 0:e516fcccccda 243
martydd3 0:e516fcccccda 244 LPC_SC 0x400F C000 (System Control)
martydd3 0:e516fcccccda 245 ->PCONP 0x400F C0C4 (Power Control for Peripherals Register)
martydd3 0:e516fcccccda 246 |= (1<<22) 22 Bit (Timer 2 power/clock control bit)
martydd3 0:e516fcccccda 247
martydd3 0:e516fcccccda 248 ->PCLKSEL1 Peripheral Clock Selection register 1 (controls rate of clock signal supplied to peripheral)
martydd3 0:e516fcccccda 249 |= ((1<<12) | (1<<13)); 12:13 Bits (Peripheral Clock Selection for TIMER2)
martydd3 0:e516fcccccda 250
martydd3 0:e516fcccccda 251 LPC_TIM2 0x4009 0000 (Timer 2)
martydd3 0:e516fcccccda 252 ->TCR 0x4009 0004 (Timer Control Register)
martydd3 0:e516fcccccda 253 |= (1<<0); 0 Bit (Counter Enable)
martydd3 0:e516fcccccda 254
martydd3 0:e516fcccccda 255 ->MR0 0x4009 0018 (Match Register)
martydd3 0:e516fcccccda 256
martydd3 1:e02eb179aed3 257 ->MCR 0x4009 0014 (Match Control Register) What to do when Match Register matches the Timer Counter
martydd3 1:e02eb179aed3 258 |= (1<<0); 0 Bit (Interrupt on MR0, interrupt generated when MR0 matches the value in TC)
martydd3 0:e516fcccccda 259
martydd3 2:baeb80c778f7 260
martydd3 0:e516fcccccda 261 LPC_SC->PCONP |= (1<<22); //PoewerOn Timer/Counter2
martydd3 0:e516fcccccda 262 LPC_SC->PCLKSEL1 |= ((1<<12) | (1<<13)); //Prescale Timer2 CCLK/8
martydd3 0:e516fcccccda 263 LPC_TIM2->TCR |= (1<<0); //Enable Timer2
martydd3 0:e516fcccccda 264 LPC_TIM2->MR0 = 11999; // 1msec
martydd3 0:e516fcccccda 265 LPC_TIM2->MCR |= (1<<0);
martydd3 2:baeb80c778f7 266
martydd3 1:e02eb179aed3 267 Nested Vectored Interrupt Controller (NVIC)
martydd3 1:e02eb179aed3 268
martydd3 1:e02eb179aed3 269 NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority)
martydd3 1:e02eb179aed3 270 sets priority of an interrupt
martydd3 1:e02eb179aed3 271
martydd3 1:e02eb179aed3 272 IRQn_Type
martydd3 1:e02eb179aed3 273 Interrupt number definitions
martydd3 1:e02eb179aed3 274 Interrupt Request (IRQ)
martydd3 1:e02eb179aed3 275
martydd3 1:e02eb179aed3 276 NVIC_EnableIRQ(IRQn_Type IRQn)
martydd3 1:e02eb179aed3 277 Enable external interrupt (in this case, the TIMER2_IRQHandler(void) function above gets called every time
martydd3 1:e02eb179aed3 278 Timer2 generates an interrupt signal)
martydd3 1:e02eb179aed3 279
martydd3 2:baeb80c778f7 280
martydd3 0:e516fcccccda 281 NVIC_SetPriority(TIMER0_IRQn,200); //IMD Capture Interrupt
martydd3 0:e516fcccccda 282 NVIC_SetPriority(TIMER1_IRQn,200); //IMD 1msec sampling Interrupt
martydd3 0:e516fcccccda 283 NVIC_SetPriority(TIMER2_IRQn,1); //Battery 1msec sampling Interrupt
martydd3 0:e516fcccccda 284 NVIC_SetPriority(TIMER3_IRQn,255); //mbed Timer/Ticker/Wait Interrupt
martydd3 0:e516fcccccda 285 NVIC_SetPriority(CAN_IRQn,2);
martydd3 0:e516fcccccda 286
martydd3 0:e516fcccccda 287 NVIC_EnableIRQ(TIMER2_IRQn); //Enable TIMER2 IRQ
martydd3 0:e516fcccccda 288
martydd3 0:e516fcccccda 289 CAN_SysM.mode(CAN::GlobalTest);
martydd3 2:baeb80c778f7 290
martydd3 2:baeb80c778f7 291
martydd3 0:e516fcccccda 292 //NVIC_EnableIRQ(CAN_IRQn);
martydd3 0:e516fcccccda 293 //NVIC_EnableIRQ(CANActivity_IRQn);
martydd3 0:e516fcccccda 294 }
martydd3 0:e516fcccccda 295
martydd3 2:baeb80c778f7 296
martydd3 0:e516fcccccda 297 Main Loop: Currently reads CANMessages from Can interface (Pins: rd = p30, td = p29)
martydd3 0:e516fcccccda 298 Send CANMessage data through XBee radio transmitters
martydd3 2:baeb80c778f7 299 */