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Dependencies:   mbed CANBuffer Watchdog MODSERIAL mbed-rtos xbeeRelay IAP

Fork of SystemManagement by Martin Deng

SysMngmt.cpp@13:fbd9b3f5a07c, 2014-10-24 (annotated)

Committer:
pspatel321
Date:
Fri Oct 24 22:09:04 2014 +0000
Revision:
13:fbd9b3f5a07c
Parent:
12:e0adb697fcdb
Child:
17:c9ce210f6654
Fork showing Parth's changes to current monitor, IMD, and fanpump.

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 "XBee_Lib.h"
martydd3 6:6a04210a3f4f 8 #include "CANBuffer.h"
martydd3 0:e516fcccccda 9
martydd3 6:6a04210a3f4f 10 #include "mbed.h"
martydd3 6:6a04210a3f4f 11 #include "rtos.h"
martydd3 6:6a04210a3f4f 12
martydd3 9:ada056631cac 13 #include "Watchdog.h"
martydd3 6:6a04210a3f4f 14 #include "FanPump.h"
martydd3 6:6a04210a3f4f 15 #include "DC_DC.h"
martydd3 7:5f6e31faa08e 16 #include "PollSwitch.h"
martydd3 8:ecf68db484af 17 #include "IMD.h"
martydd3 10:db13782f05d9 18 #include "CurrentMonitor.h"
martydd3 10:db13782f05d9 19
martydd3 10:db13782f05d9 20 CANBuffer rxBuffer(CAN1, MEDIUM);
martydd3 12:e0adb697fcdb 21 Watchdog wdt;
martydd3 11:1d086618dd18 22 XBee250x XbeeTx;
martydd3 10:db13782f05d9 23 Serial pc1(USBTX,USBRX);
martydd3 10:db13782f05d9 24
martydd3 12:e0adb697fcdb 25 char sys_src_id = 0x4; // source address of system management
martydd3 10:db13782f05d9 26 char reset_id = 0x010;
martydd3 10:db13782f05d9 27
martydd3 12:e0adb697fcdb 28 int SYSMGMT_ERROR_ID = 0x400;
martydd3 12:e0adb697fcdb 29
martydd3 10:db13782f05d9 30 extern "C" void mbed_reset();
martydd3 10:db13782f05d9 31
martydd3 10:db13782f05d9 32 void soft_reset(){
martydd3 10:db13782f05d9 33 //http://developer.mbed.org/forum/mbed/topic/890/
martydd3 10:db13782f05d9 34 mbed_reset();
martydd3 10:db13782f05d9 35 }
martydd3 10:db13782f05d9 36
martydd3 12:e0adb697fcdb 37 void error_update(void const *arg){
martydd3 12:e0adb697fcdb 38 char data[1] = {0};
martydd3 12:e0adb697fcdb 39 while(1){
martydd3 12:e0adb697fcdb 40 data[0] = 0;
martydd3 12:e0adb697fcdb 41 if(wdt.checkFlag())
martydd3 12:e0adb697fcdb 42 {
martydd3 12:e0adb697fcdb 43 data[0] |= 0x2;
martydd3 12:e0adb697fcdb 44 }
martydd3 12:e0adb697fcdb 45 CANMessage txErrorMessage(SYSMGMT_ERROR_ID, data, 1);
martydd3 12:e0adb697fcdb 46 rxBuffer.txWrite(txErrorMessage);
martydd3 12:e0adb697fcdb 47 Thread::wait(10);
martydd3 12:e0adb697fcdb 48 }
martydd3 12:e0adb697fcdb 49 }
martydd3 12:e0adb697fcdb 50
martydd3 10:db13782f05d9 51 int main() {
martydd3 10:db13782f05d9 52 CANMessage rx_msg;
martydd3 10:db13782f05d9 53
martydd3 10:db13782f05d9 54 wdt.kick(10.0);
martydd3 10:db13782f05d9 55 pc1.baud(115200);
martydd3 10:db13782f05d9 56
martydd3 10:db13782f05d9 57 FanPump fanPump(&rxBuffer);
martydd3 10:db13782f05d9 58 DC dc_dc(&fanPump, &rxBuffer);
martydd3 10:db13782f05d9 59 PollSwitch pollSwitch(&rxBuffer);
martydd3 10:db13782f05d9 60 IMD imdMonitor(&rxBuffer);
martydd3 10:db13782f05d9 61 CurrentMonitor curMonitor(&rxBuffer);
martydd3 10:db13782f05d9 62
martydd3 10:db13782f05d9 63 fanPump.start_update();
martydd3 10:db13782f05d9 64 dc_dc.start_update();
martydd3 10:db13782f05d9 65 pollSwitch.start_update();
martydd3 10:db13782f05d9 66 imdMonitor.start_update();
martydd3 10:db13782f05d9 67 curMonitor.start_update();
martydd3 10:db13782f05d9 68
martydd3 12:e0adb697fcdb 69 Thread error_thread(error_update);
martydd3 12:e0adb697fcdb 70
martydd3 10:db13782f05d9 71 while(1)
martydd3 10:db13782f05d9 72 {
martydd3 10:db13782f05d9 73 if(rxBuffer.rxRead(rx_msg)){
martydd3 10:db13782f05d9 74 if(rx_msg.id == reset_id)
martydd3 10:db13782f05d9 75 soft_reset();
martydd3 10:db13782f05d9 76
martydd3 10:db13782f05d9 77 char src_addr = (rx_msg.id & 0x0700) >> 8; // get bits 10:8
martydd3 10:db13782f05d9 78
martydd3 10:db13782f05d9 79 if(src_addr == sys_src_id){
martydd3 10:db13782f05d9 80 char cont_id = (rx_msg.id & 0x00FF); // get bits 7:0
martydd3 10:db13782f05d9 81
martydd3 10:db13782f05d9 82 // only control fans of dc_dc converter is on
martydd3 12:e0adb697fcdb 83 if(cont_id == RX_PUMP_ID && dc_dc.is_on())
martydd3 12:e0adb697fcdb 84 {
martydd3 12:e0adb697fcdb 85 float temp_float;
martydd3 12:e0adb697fcdb 86
martydd3 12:e0adb697fcdb 87 memcpy(&rx_msg.data[0], &temp_float, sizeof(float));
martydd3 12:e0adb697fcdb 88 fanPump.set_fan_pump(Pump1, temp_float);
martydd3 12:e0adb697fcdb 89
martydd3 12:e0adb697fcdb 90 memcpy(&rx_msg.data[4], &temp_float, sizeof(float));
martydd3 12:e0adb697fcdb 91 fanPump.set_fan_pump(Pump2, temp_float);
martydd3 12:e0adb697fcdb 92 }
martydd3 12:e0adb697fcdb 93
martydd3 10:db13782f05d9 94 if(cont_id == RX_FAN_ID && dc_dc.is_on())
martydd3 10:db13782f05d9 95 {
martydd3 12:e0adb697fcdb 96 float temp_float;
martydd3 12:e0adb697fcdb 97
martydd3 12:e0adb697fcdb 98 memcpy(&rx_msg.data[0], &temp_float, sizeof(float));
martydd3 12:e0adb697fcdb 99 fanPump.set_fan_pump(Fan1, temp_float);
martydd3 12:e0adb697fcdb 100
martydd3 12:e0adb697fcdb 101 memcpy(&rx_msg.data[4], &temp_float, sizeof(float));
martydd3 12:e0adb697fcdb 102 fanPump.set_fan_pump(Fan2, temp_float);
martydd3 10:db13782f05d9 103 }
martydd3 10:db13782f05d9 104
martydd3 10:db13782f05d9 105 if(cont_id == RX_DC_DC_ID){
martydd3 10:db13782f05d9 106 dc_dc.set(rx_msg.data[0]);
martydd3 10:db13782f05d9 107 }
martydd3 10:db13782f05d9 108 } // check for correct src_addr
martydd3 10:db13782f05d9 109 } // check CANBuffer
martydd3 10:db13782f05d9 110
martydd3 10:db13782f05d9 111 wdt.kick();
martydd3 10:db13782f05d9 112 } // main while loop
martydd3 10:db13782f05d9 113 }
martydd3 10:db13782f05d9 114
martydd3 11:1d086618dd18 115 /*
martydd3 0:e516fcccccda 116
martydd3 11:1d086618dd18 117 Below is Kiran's old code, keeping it commented as a reference.
martydd3 11:1d086618dd18 118
martydd3 11:1d086618dd18 119 */
martydd3 0:e516fcccccda 120
martydd3 0:e516fcccccda 121 /*
martydd3 0:e516fcccccda 122
martydd3 0:e516fcccccda 123 Attach Ticker every 10msec to
martydd3 0:e516fcccccda 124 Get IMD
martydd3 0:e516fcccccda 125 Poll Switches
martydd3 0:e516fcccccda 126 Temperature Read
martydd3 0:e516fcccccda 127 Get Battery State
martydd3 0:e516fcccccda 128 End Ticker Send message through CAN
martydd3 0:e516fcccccda 129
martydd3 0:e516fcccccda 130 CAN interrupt Rx Interrupt
martydd3 0:e516fcccccda 131 Recieve CAN message into a buffer. Return
martydd3 0:e516fcccccda 132 Buffer values(as long as !empty) -> SD Card, Xbee -> remove element
martydd3 0:e516fcccccda 133
martydd3 0:e516fcccccda 134 extern "C" void CAN_IRQHandler(void)
martydd3 0:e516fcccccda 135 {
martydd3 0:e516fcccccda 136 CANMessage Rxmsg;
martydd3 0:e516fcccccda 137 CAN_SysM.read(Rxmsg);
martydd3 0:e516fcccccda 138 RecieveBuffer.add(Rxmsg);
martydd3 0:e516fcccccda 139 }
martydd3 0:e516fcccccda 140
martydd3 1:e02eb179aed3 141 http://developer.mbed.org/users/AjK/notebook/getting-closer-to-the-hardware/
martydd3 1:e02eb179aed3 142
martydd3 1:e02eb179aed3 143 extern "C" means this is linked assuming it's C code
martydd3 1:e02eb179aed3 144 C++ linker appearently adds extra crap with the function arguments keeping functions of this kind from linking properly
martydd3 1:e02eb179aed3 145
martydd3 1:e02eb179aed3 146 Interrupt handler, This is probably linked to the Timer 2 interrupt request somewhere by the libraries
martydd3 2:baeb80c778f7 147
martydd3 10:db13782f05d9 148 */
martydd3 0:e516fcccccda 149
martydd3 10:db13782f05d9 150
martydd3 10:db13782f05d9 151 /*
martydd3 1:e02eb179aed3 152 Appears to read a whole bunch of DigitalOut pins in void PollSwitch(), store the value in uint16_t Rxpoll,
martydd3 1:e02eb179aed3 153 and write the result to the CAN bus
martydd3 2:baeb80c778f7 154
martydd3 0:e516fcccccda 155 void Poll()
martydd3 0:e516fcccccda 156 {
martydd3 0:e516fcccccda 157 uint16_t Rxpoll;
martydd3 0:e516fcccccda 158 uint16_t recv,temp,i=0; //Test
martydd3 0:e516fcccccda 159 char Result[4]={0};
martydd3 0:e516fcccccda 160 Rxpoll=PollSwitch();
martydd3 0:e516fcccccda 161
martydd3 0:e516fcccccda 162 Result[0]=(char)(Rxpoll&0x00ff);
martydd3 0:e516fcccccda 163 Result[1]=(char)((Rxpoll&0xff00)>>8);
martydd3 0:e516fcccccda 164 CANMessage Txmsg(410,Result,sizeof(Result));
martydd3 0:e516fcccccda 165 CAN_SysM.write(Txmsg);
martydd3 0:e516fcccccda 166
martydd3 0:e516fcccccda 167 //Test
martydd3 0:e516fcccccda 168 recv=(((uint16_t)Txmsg.data[1]<<8) | (0x00ff&(uint16_t)Txmsg.data[0]));
martydd3 0:e516fcccccda 169 printf("Recv:%d\n\r",recv);
martydd3 0:e516fcccccda 170
martydd3 0:e516fcccccda 171 while(i <= 12)
martydd3 0:e516fcccccda 172 {
martydd3 0:e516fcccccda 173 temp=recv;
martydd3 0:e516fcccccda 174 if(((temp & (1 << i))>>i)==1)
martydd3 0:e516fcccccda 175 pc.printf("Switch OFF:%d\n\r",i);
martydd3 0:e516fcccccda 176 ++i;
martydd3 0:e516fcccccda 177 }
martydd3 0:e516fcccccda 178 }
martydd3 0:e516fcccccda 179
martydd3 0:e516fcccccda 180
martydd3 0:e516fcccccda 181 void Temp()
martydd3 0:e516fcccccda 182 {
martydd3 0:e516fcccccda 183 float DC_DC_Temperature, Coolant1_Temperature, Coolant2_Temperature, ChargerFET_Temperature;
martydd3 0:e516fcccccda 184 float Resistance;
martydd3 0:e516fcccccda 185 float Vadc;
martydd3 0:e516fcccccda 186 int i;
martydd3 0:e516fcccccda 187 ftc send, recv;
martydd3 0:e516fcccccda 188 recv.FLOAT=0.0;
martydd3 0:e516fcccccda 189 send.FLOAT=0.0;
martydd3 0:e516fcccccda 190
martydd3 0:e516fcccccda 191 Vadc=DC_DC.read()*VDD;
martydd3 0:e516fcccccda 192 Resistance=((float)R10K*Vadc)/((float)VDD + Vadc);
martydd3 0:e516fcccccda 193 DC_DC_Temperature=ReadTemp(TR_NXFT15XH103FA_Map, Resistance, TABLE_SIZE_NXFT15XH103FA);
martydd3 0:e516fcccccda 194 send.FLOAT=DC_DC_Temperature;
martydd3 0:e516fcccccda 195 CANMessage Txmsg_DC_DC(450,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 196 CAN_SysM.write(Txmsg_DC_DC);
martydd3 0:e516fcccccda 197
martydd3 0:e516fcccccda 198 for(i=0; i<4;i++)
martydd3 0:e516fcccccda 199 recv.C_FLOAT[i]=Txmsg_DC_DC.data[i];
martydd3 0:e516fcccccda 200 pc.printf("DC_DC:%f\n\r",recv.FLOAT);
martydd3 0:e516fcccccda 201
martydd3 0:e516fcccccda 202 Vadc=ChargerFET.read()*VDD;
martydd3 0:e516fcccccda 203 Resistance=((float)R10K*Vadc)/((float)VDD + Vadc);
martydd3 0:e516fcccccda 204 ChargerFET_Temperature=ReadTemp(TR_NXFT15XH103FA_Map, Resistance, TABLE_SIZE_NXFT15XH103FA);
martydd3 0:e516fcccccda 205 send.FLOAT=ChargerFET_Temperature;
martydd3 0:e516fcccccda 206 CANMessage Txmsg_ChargerFET(451,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 207 CAN_SysM.write(Txmsg_ChargerFET);
martydd3 0:e516fcccccda 208
martydd3 0:e516fcccccda 209 for(i=0; i<4;i++)
martydd3 0:e516fcccccda 210 recv.C_FLOAT[i]=Txmsg_ChargerFET.data[i];
martydd3 0:e516fcccccda 211 pc.printf("ChargerFET:%f\n\r",recv.FLOAT);
martydd3 0:e516fcccccda 212
martydd3 0:e516fcccccda 213 Vadc=Coolant1.read()*VDD;
martydd3 0:e516fcccccda 214 Resistance=((float)R10K*Vadc)/((float)VDD + Vadc);
martydd3 0:e516fcccccda 215 Coolant1_Temperature=ReadTemp(TR_NTCLP00E3103H_Map, Resistance, TABLE_SIZE_NTCLP00E3103H);
martydd3 0:e516fcccccda 216 send.FLOAT=Coolant1_Temperature;
martydd3 0:e516fcccccda 217 CANMessage Txmsg_Coolant1(452,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 218 CAN_SysM.write(Txmsg_Coolant1);
martydd3 0:e516fcccccda 219 //Control Fans
martydd3 0:e516fcccccda 220
martydd3 0:e516fcccccda 221 for(i=0; i<4;i++)
martydd3 0:e516fcccccda 222 recv.C_FLOAT[i]=Txmsg_Coolant1.data[i];
martydd3 0:e516fcccccda 223 pc.printf("Coolant1:%f\n\r",recv.FLOAT);
martydd3 0:e516fcccccda 224
martydd3 0:e516fcccccda 225 Vadc=Coolant2.read()*VDD;
martydd3 0:e516fcccccda 226 Resistance=((float)R10K*Vadc)/((float)VDD + Vadc);
martydd3 0:e516fcccccda 227 Coolant2_Temperature=ReadTemp(TR_NTCLP00E3103H_Map, Resistance, TABLE_SIZE_NTCLP00E3103H);
martydd3 0:e516fcccccda 228 send.FLOAT=Coolant2_Temperature;
martydd3 0:e516fcccccda 229 CANMessage Txmsg_Coolant2(453,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 230 CAN_SysM.write(Txmsg_Coolant2);
martydd3 0:e516fcccccda 231 //Control Fans
martydd3 0:e516fcccccda 232
martydd3 0:e516fcccccda 233 for(i=0; i<4;i++)
martydd3 0:e516fcccccda 234 recv.C_FLOAT[i]=Txmsg_Coolant2.data[i];
martydd3 0:e516fcccccda 235 pc.printf("Coolant2:%f\n\r",recv.FLOAT);
martydd3 0:e516fcccccda 236 }
martydd3 0:e516fcccccda 237
martydd3 0:e516fcccccda 238 void IMD()
martydd3 0:e516fcccccda 239 {
martydd3 0:e516fcccccda 240 IMD_Measurement_Output IMD_Signal;
martydd3 0:e516fcccccda 241 char status[4];
martydd3 0:e516fcccccda 242 ftc send;
martydd3 0:e516fcccccda 243
martydd3 0:e516fcccccda 244 IMD_Signal=Get_Measurement();
martydd3 0:e516fcccccda 245 send.FLOAT=IMD_Signal.Frequency;
martydd3 0:e516fcccccda 246 CANMessage Txmsg_Frequency(421,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 247 CAN_SysM.write(Txmsg_Frequency);
martydd3 0:e516fcccccda 248
martydd3 0:e516fcccccda 249 send.FLOAT=IMD_Signal.Duty_Cycle;
martydd3 0:e516fcccccda 250 CANMessage Txmsg_DutyCycle(422,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 251 CAN_SysM.write(Txmsg_DutyCycle);
martydd3 0:e516fcccccda 252
martydd3 0:e516fcccccda 253 status[0]=Result.Encoded_Status;
martydd3 0:e516fcccccda 254 CANMessage Txmsg_Status(423,status,sizeof(status));
martydd3 0:e516fcccccda 255 CAN_SysM.write(Txmsg_Status);
martydd3 0:e516fcccccda 256 }
martydd3 5:9258b685fea6 257 */
martydd3 0:e516fcccccda 258
martydd3 5:9258b685fea6 259 /*
martydd3 0:e516fcccccda 260 Activates a whole crapload of functions and pins on the chip
martydd3 2:baeb80c778f7 261
martydd3 0:e516fcccccda 262 void Init()
martydd3 0:e516fcccccda 263 {
martydd3 2:baeb80c778f7 264
martydd3 0:e516fcccccda 265 Timers to call various functions at different intervals
martydd3 0:e516fcccccda 266 These things behave weirdly when wait(ms) is involved. Probably have to rewrite
martydd3 2:baeb80c778f7 267
martydd3 0:e516fcccccda 268
martydd3 0:e516fcccccda 269 //ReadIMD.attach(&IMD,0.1);
martydd3 0:e516fcccccda 270 //PollSDSwitch.attach(&Poll,0.1);
martydd3 0:e516fcccccda 271
martydd3 0:e516fcccccda 272 //ReadTemperature.attach(&Temp,0.1);
martydd3 0:e516fcccccda 273 //ReadBatteryState.attach(&Battery,0.1);
martydd3 0:e516fcccccda 274
martydd3 2:baeb80c778f7 275
martydd3 0:e516fcccccda 276 Initialize Timer2 for Battery State
martydd3 0:e516fcccccda 277
martydd3 0:e516fcccccda 278 LPC_SC 0x400F C000 (System Control)
martydd3 0:e516fcccccda 279 ->PCONP 0x400F C0C4 (Power Control for Peripherals Register)
martydd3 0:e516fcccccda 280 |= (1<<22) 22 Bit (Timer 2 power/clock control bit)
martydd3 0:e516fcccccda 281
martydd3 0:e516fcccccda 282 ->PCLKSEL1 Peripheral Clock Selection register 1 (controls rate of clock signal supplied to peripheral)
martydd3 0:e516fcccccda 283 |= ((1<<12) | (1<<13)); 12:13 Bits (Peripheral Clock Selection for TIMER2)
martydd3 0:e516fcccccda 284
martydd3 0:e516fcccccda 285 LPC_TIM2 0x4009 0000 (Timer 2)
martydd3 0:e516fcccccda 286 ->TCR 0x4009 0004 (Timer Control Register)
martydd3 0:e516fcccccda 287 |= (1<<0); 0 Bit (Counter Enable)
martydd3 0:e516fcccccda 288
martydd3 0:e516fcccccda 289 ->MR0 0x4009 0018 (Match Register)
martydd3 0:e516fcccccda 290
martydd3 1:e02eb179aed3 291 ->MCR 0x4009 0014 (Match Control Register) What to do when Match Register matches the Timer Counter
martydd3 1:e02eb179aed3 292 |= (1<<0); 0 Bit (Interrupt on MR0, interrupt generated when MR0 matches the value in TC)
martydd3 0:e516fcccccda 293
martydd3 2:baeb80c778f7 294
martydd3 0:e516fcccccda 295 LPC_SC->PCONP |= (1<<22); //PoewerOn Timer/Counter2
martydd3 0:e516fcccccda 296 LPC_SC->PCLKSEL1 |= ((1<<12) | (1<<13)); //Prescale Timer2 CCLK/8
martydd3 0:e516fcccccda 297 LPC_TIM2->TCR |= (1<<0); //Enable Timer2
martydd3 0:e516fcccccda 298 LPC_TIM2->MR0 = 11999; // 1msec
martydd3 0:e516fcccccda 299 LPC_TIM2->MCR |= (1<<0);
martydd3 2:baeb80c778f7 300
martydd3 1:e02eb179aed3 301 Nested Vectored Interrupt Controller (NVIC)
martydd3 1:e02eb179aed3 302
martydd3 1:e02eb179aed3 303 NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority)
martydd3 1:e02eb179aed3 304 sets priority of an interrupt
martydd3 1:e02eb179aed3 305
martydd3 1:e02eb179aed3 306 IRQn_Type
martydd3 1:e02eb179aed3 307 Interrupt number definitions
martydd3 1:e02eb179aed3 308 Interrupt Request (IRQ)
martydd3 1:e02eb179aed3 309
martydd3 1:e02eb179aed3 310 NVIC_EnableIRQ(IRQn_Type IRQn)
martydd3 1:e02eb179aed3 311 Enable external interrupt (in this case, the TIMER2_IRQHandler(void) function above gets called every time
martydd3 1:e02eb179aed3 312 Timer2 generates an interrupt signal)
martydd3 1:e02eb179aed3 313
martydd3 2:baeb80c778f7 314
martydd3 0:e516fcccccda 315 NVIC_SetPriority(TIMER0_IRQn,200); //IMD Capture Interrupt
martydd3 0:e516fcccccda 316 NVIC_SetPriority(TIMER1_IRQn,200); //IMD 1msec sampling Interrupt
martydd3 0:e516fcccccda 317 NVIC_SetPriority(TIMER2_IRQn,1); //Battery 1msec sampling Interrupt
martydd3 0:e516fcccccda 318 NVIC_SetPriority(TIMER3_IRQn,255); //mbed Timer/Ticker/Wait Interrupt
martydd3 0:e516fcccccda 319 NVIC_SetPriority(CAN_IRQn,2);
martydd3 0:e516fcccccda 320
martydd3 0:e516fcccccda 321 NVIC_EnableIRQ(TIMER2_IRQn); //Enable TIMER2 IRQ
martydd3 0:e516fcccccda 322
martydd3 0:e516fcccccda 323 CAN_SysM.mode(CAN::GlobalTest);
martydd3 2:baeb80c778f7 324
martydd3 2:baeb80c778f7 325
martydd3 0:e516fcccccda 326 //NVIC_EnableIRQ(CAN_IRQn);
martydd3 0:e516fcccccda 327 //NVIC_EnableIRQ(CANActivity_IRQn);
martydd3 0:e516fcccccda 328 }
martydd3 0:e516fcccccda 329
martydd3 2:baeb80c778f7 330
martydd3 0:e516fcccccda 331 Main Loop: Currently reads CANMessages from Can interface (Pins: rd = p30, td = p29)
martydd3 0:e516fcccccda 332 Send CANMessage data through XBee radio transmitters
martydd3 2:baeb80c778f7 333 */