Penn Electric Racing
System Management code
Dependencies: mbed CANBuffer Watchdog MODSERIAL mbed-rtos xbeeRelay IAP
Fork of
SystemManagement
by 
Martin Deng
Diff: inCommands/inCommands.cpp
- Revision:
- 38:8efacce315ae
- Parent:
- 36:0afc0fc8f86b
- Child:
- 39:ddf38df9699e
--- a/inCommands/inCommands.cpp Thu Jan 22 07:59:48 2015 +0000
+++ b/inCommands/inCommands.cpp Sat Feb 07 08:54:51 2015 +0000
@@ -1,95 +1,19 @@
#include "inCommands.h"
-
-bool inCommands::serviceCAN(CANMessage* fromXbee)
-{
- CANMessage msg;
- if (fromXbee != NULL) {
- memcpy((void*)&msg, (void*)fromXbee, sizeof(CANMessage));
- } else {
- if (!can.rxRead(msg)) return false;
- }
-
- switch (msg.id) {
- case FAN_CONTROL_ID:
- if (msg.len != 2*sizeof(float)) break;
- memcpy((void*)&CANdata.dcdcFan1Duty, &msg.data[0], sizeof(float));
- memcpy((void*)&CANdata.dcdcFan2Duty, &msg.data[4], sizeof(float));
- dcdc.setPwm(FAN1, CANdata.dcdcFan1Duty);
- dcdc.setPwm(FAN2, CANdata.dcdcFan2Duty);
- break;
-
- case PUMP_CONTROL_ID:
- if (msg.len != 2*sizeof(float)) break;
- memcpy((void*)&CANdata.dcdcPump1Duty, &msg.data[0], sizeof(float));
- memcpy((void*)&CANdata.dcdcPump2Duty, &msg.data[4], sizeof(float));
- dcdc.setPwm(PUMP1, CANdata.dcdcPump1Duty);
- dcdc.setPwm(PUMP2, CANdata.dcdcPump2Duty);
- break;
-
- case DCDC_CONTROL_ID:
- if (msg.len != sizeof(char)) break;
- if (msg.data[0] == 1) dcdc.set(1);
- else dcdc.set(0);
- break;
-
- case AMS_MODE_ID:
- if (msg.len != sizeof(char)) break;
- if (msg.data[0] & 1<<2) { // AIRs closed?
- CANdata.airsClosed = true;
- dcdc.set(1);
- } else {
- CANdata.airsClosed = false;
- dcdc.set(0);
- }
- break;
-
- case GLVBAT_SETSOC_ID:
- if (msg.len != sizeof(float)) break;
- glvBat.resetToSOC(*((float*)(&msg.data[0])));
- break;
-
- case GLVBAT_SETAH_ID:
- if (msg.len != sizeof(float)) break;
- glvBat.resetToAh(*((float*)(&msg.data[0])));
- break;
-
- case GLVBAT_SETCAPAC_ID:
- if (msg.len != sizeof(float)) break;
- glvBat.changeCapacity(*((float*)(&msg.data[0])));
- break;
- case STEERING_RESET_ID:
- NVIC_SystemReset();
- break;
- default:
- break;
- }
-
- return true;
-
-}
-// Check for incoming messages from the xbees, relay them to the CAN function and send them out on the bus
-bool inCommands::receiveMsgXbee()
-{
- CANMessage msg;
- if (xbeeRelay.receive(msg)) { // Incoming CAN message string received
- if (!can.txWrite(msg)) data.canFault = true; // Send it out on the CAN bus
- serviceCAN(&msg); // Send it into the local serviceCAN routine
- return true;
- } else return false;
-}
+#include "runTime.h"
+#include "inMacros.h"
// Compare string to a word in the serial input, shorter to type
#define CMP(w, string) if (!strcasecmp(word[w-1], string))
// Serial input
-int inCommands::serviceSerial()
+int serviceSerial()
{
- static int end = 0; // End of string position
+ static int end = 0; // End of string position
int c=0;
if (pc.readable()) c = pc.getc();
- if (c == -1) return -2; // Invalid char, no char available
-
+ if (c == -1 || c == 0) return 0;
+
char b = c; // Casted to char type
bool process = false; // Is string complete (ready to parse)?
@@ -112,7 +36,7 @@
}
// Continue to parsing section only if flagged as complete and string not empty
if (!process || strlen((char*)tempData.inputStr) == 0) return 0;
-
+
static char word[3][RX_SIZE+1]; // Hold 3 words
int pieces = sscanf(tempData.inputStr, "%s %s %s", word[0], word[1], word[2]); // Populate words
tempData.inputStr[0] = 0; // Empty the string displayed on screen
@@ -125,17 +49,79 @@
NVIC_SystemReset();
return 1;
}
+ // Clear non-volatile fault flags, then reset the microcontroller
+ CMP(1, "resetClear") {
+ runTime::clearFaults();
+ NVIC_SystemReset();
+ return 1;
+ }
+ return -1;
}
// Two word commands
if (pieces == 2) {
- // Manual DC-DC on/off control
- CMP(1, "dcdc") {
- CMP(2, "on") {
- dcdc.set(1);
+ // Change the serial dashboard display mode
+ CMP(1, "display") {
+ CMP(2, "compact") {
+ if (param->change_extendedSerial(0)) {
+ op->profileModded=true;
+ return 1; // Change function defined by macro
+ }
+ }
+ CMP(2, "extended") {
+ if (param->change_extendedSerial(1)) {
+ op->profileModded=true;
+ return 1; // Change function defined by macro
+ }
+ }
+ }
+ // Change ACK setting for CAN (noAck allows testing of CAN without other nodes)
+ CMP(1, "CANack") {
+ CMP(2, "noack") { // NoAck test mode
+ if (param->change_CANnoAck(1)) {
+ op->profileModded=true;
+ return 1;
+ }
+ }
+ CMP(2, "ack") { // Normal CAN protocol
+ if (param->change_CANnoAck(0)) {
+ op->profileModded=true;
+ return 1;
+ }
+ }
+ return -1;
+ }
+ // Artificially capture a freeze frame, save to flash
+ CMP(1, "capture") {
+ CMP(2, "freeze") {
+ if (!FreezeFrame::getError()) { // Only allow capture if spot available (last error frame was cleared manually)
+ if (FreezeFrame::writeFrame()) { // Copy RAM frame to freezree sector in flash
+ return 1;
+ }
+ }
+ }
+ return -1;
+ }
+ // Clear fault conditions
+ CMP(1, "clear") {
+ CMP(2, "freeze") { // Clear the freeze frame (mark as read)
+ FreezeFrame::clearError(); // Clear the non-volatile error marker
return 1;
}
- CMP(2, "off") {
- dcdc.set(0);
+ CMP(2, "faults") { // Clear everything
+ runTime::clearFaults();
+ return 1;
+ }
+ return -1;
+ }
+ // Change the display contents
+ CMP(1, "view") {
+ CMP(2, "freeze") { // View the last stored freeze frame
+ if (FreezeFrame::getFrame(&tempData.freeze)) { // Fetch the pointer from flash
+ return 1;
+ }
+ }
+ CMP(2, "live") { // View live data from RAM
+ tempData.freeze = NULL; // Zero the pointer
return 1;
}
return -1;
@@ -172,6 +158,44 @@
}
return -1;
}
+
+ bool parsed=false;
+
+ CHANGE_VAR("GLVchar", chargeCurrent)
+ CHANGE_VAR("GLVdisch", dischargeCurrent)
+ CHANGE_VAR("GLVnomCap", nominalCapacity)
+ CHANGE_VAR("GLVtaps", glvBat_taps)
+ CHANGE_VAR("dcdcThres", dcdcThreshold)
+ CHANGE_VAR("dcdcOver", dcdcOverCurrent)
+ CHANGE_VAR("dcdcStart", dcdcStartDelay)
+ CHANGE_VAR("dcdcStop", dcdcStopDelay)
+ CHANGE_VAR("dcdcTaps", dcdc_taps)
+ CHANGE_VAR("imdStart", imdStartDelay)
+ CHANGE_VAR("amsStart", amsStartDelay)
+ CHANGE_VAR("IntOverT", internalOverTemp)
+ CHANGE_VAR("CANtxSize", CANtxSize)
+ CHANGE_VAR("CANrxSize", CANrxSize)
+ CHANGE_VAR("SerialBaud", SerialBaud)
+ CHANGE_VAR("SerialTx", SerialTxSize)
+ CHANGE_VAR("XbeeBaud", XbeeBaud)
+ CHANGE_VAR("XbeeTxSize", XbeeTxSize)
+ CHANGE_VAR("XbeeRxSize", XbeeRxSize)
+ CHANGE_VAR("CANack", CANnoAck)
+
+ if (!parsed) return -1;
+
+ CMP(1, "GLVnomCap") return glvBat.changeCapacity(param->nominalCapacity)?1:-1;
+ CMP(1, "GLVtaps") return glvBat.size(param->glvBat_taps)?1:-1;
+ CMP(1, "dcdcTaps") return dcdc.size(param->dcdc_taps)?1:-1;
+ CMP(1, "CANtxSize") return can.txSize(param->CANtxSize)?1:-1;
+ CMP(1, "CANrxSize") return can.rxSize(param->CANrxSize)?1:-1;
+ CMP(1, "SerialBaud") pc.baud(param->SerialBaud);
+ CMP(1, "SerialTx") return (pc.txBufferSetSize(param->SerialTxSize) == 0)?1:-1;
+ CMP(1, "XbeeBaud") xbeeRelay.baud(param->XbeeBaud);
+ CMP(1, "XbeeTxSize") return (xbeeRelay.txSize(param->XbeeTxSize))?1:-1;
+ CMP(1, "XbeeRxSize") return (xbeeRelay.rxSize(param->XbeeRxSize))?1:-1;
+
+ return 1;
}
// Three word commands
if (pieces == 3) {
@@ -181,8 +205,8 @@
if (*next == 0) {
float val2 = strtod(word[2], &next);
if (*next == 0) {
- dcdc.setPwm(FAN1, val1);
- dcdc.setPwm(FAN2, val2);
+ op->dcdc.request.fan1 = val1;
+ op->dcdc.request.fan2 = val2;
return 1;
}
}
@@ -195,24 +219,323 @@
if (*next == 0) {
float val2 = strtod(word[2], &next);
if (*next == 0) {
- dcdc.setPwm(FAN1, val1);
- dcdc.setPwm(FAN2, val2);
+ op->dcdc.request.pump1 = val1;
+ op->dcdc.request.pump2 = val2;
+ return 1;
+ }
+ }
+ return -1;
+ }
+ // Set the system time (RTC)
+ CMP(1, "Time") {
+ struct tm t; // Time & date struct
+ int ret = sscanf(word[1], "%d/%d/%d", &t.tm_mon, &t.tm_mday, &t.tm_year); // Populate date
+ t.tm_year = t.tm_year - 1900; // Year mod to fix 0 index
+ t.tm_mon = t.tm_mon - 1; // Month mod to fix 0 index
+ if (ret == 3) { // All 3 items found
+ ret = sscanf(word[2], "%d:%d:%d", &t.tm_hour, &t.tm_min, &t.tm_sec); // Populate time
+ if (ret == 3) { // All 3 items found
+ set_time(mktime(&t)); // Set the RTC
+ time_t diff = time(NULL) - op->SysTime; // Get change in time from old to new
+ op->startTime += diff; // Shift the startTime to new timebase
return 1;
}
}
return -1;
}
+
+ // Profile manipulations between RAM and flash
+ CMP(1, "Profile") {
+ // Write, copy RAM to a flash sector
+ CMP(2, "Write") {
+ unsigned int index = strtoul(word[2], &next, 10); // Get index from command "profile write xxx"
+ if (index <= NUM_STORED_PROFILES && index > 0 && *next == 0) { // Check within bounds
+ bool s = Profile::saveProfile(index); // Write to flash
+ if (s) { // Successful?
+ op->profileModded = false; // Mark it as a fresh, unmodified profile
+ op->profileIndex = Profile::usingProfile(); // Change the currently loaded profile marker
+ return 1;
+ }
+ }
+ return -1;
+ }
+ // Load, read from flash to RAM
+ CMP(2, "Load") {
+ CMP(3, "default") { // The hard-coded flash profile (found in FreezeFrame.cpp)
+ Profile::loadProfile(0); // Copy default to RAM
+ op->profileIndex = Profile::usingProfile(); // Change the currently loaded profile marker
+ op->profileModded = false; // Mark it as a fresh, unmodified profile
+ return 1;
+ }
+ CMP(3, "freeze") { // Get the profile portion of the last freeze frame captured
+ if(Profile::loadProfile(-1)) { // Attemp to retrieve and copy to RAM
+ op->profileModded = false; // Mark it as a fresh, unmodified profile
+ op->profileIndex = Profile::usingProfile(); // Change the currently loaded profile marker
+ return 1;
+ }
+ }
+ int index = strtol(word[2], &next, 10); // Command was "profile load xxx"
+ if (index <= NUM_STORED_PROFILES && index >= -1 && *next == 0) { // Valid index found?
+ if (Profile::loadProfile(index)) { // Attempt to retrieve and copy to RAM
+ op->profileModded = false; // Mark it as a fresh, unmodified profile
+ op->profileIndex = Profile::usingProfile(); // Change the currently loaded profile marker
+ return 1;
+ }
+ }
+ return -1;
+ }
+ // View the profile only (NOT loaded to RAM, just display changed)
+ CMP(2, "view") {
+ CMP(3, "default") { // View the hard-coded flash profile
+ if (Profile::getProfile(&tempData.viewProfile, 0)) { // Attempt to fetch pointer
+ tempData.viewProfileNum = 0; // Mark the index of the fetched profile
+ return 1;
+ }
+ }
+ CMP(3, "freeze") { // View the profile portion only of the last captured freeze frame
+ if (Profile::getProfile(&tempData.viewProfile, -1)) { // Attempt to fetch pointer
+ tempData.viewProfileNum = -1; // Mark the index of the fetched profile
+ return 1;
+ }
+ }
+ CMP(3, "live") { // Revert to normal, live view
+ tempData.viewProfileNum = -2; // Mark live
+ tempData.viewProfile = NULL; // Clear the pointer
+ return 1;
+ }
+
+ int index = strtol(word[2], &next, 10); // Command was "profile view xxx"
+ if (index <= NUM_STORED_PROFILES && index >= -1 && *next == 0) { // Valid index found?
+ if (Profile::getProfile(&tempData.viewProfile, index)) { // Attempt to fetch pointer
+ tempData.viewProfileNum = index; // Mark the index of the fetched profile
+ return 1;
+ }
+ }
+ return -1;
+ }
+ }
}
return -1;
}
+// Called when AMS AIRs Mode message stops coming in
+Timeout timer_AIRS_CLOSED;
+void timeout_AIRS_CLOSED()
+{
+ op->signals &= ~AIRS_CLOSED;
+}
+
+// Called when Charger CAN messages stop coming in
+Timeout timer_CHARGER_DET;
+void timeout_CHARGER_DET()
+{
+ op->signals &= ~CHARGER_DET;
+}
+
+// Called when PCM messages stop coming in
+Timeout timer_FANS;
+void timeout_FANS()
+{
+ op->dcdc.request.fan1 = 0;
+ op->dcdc.request.fan2 = 0;
+}
+Timeout timer_PUMPS;
+void timeout_PUMPS()
+{
+ op->dcdc.request.pump1 = 0;
+ op->dcdc.request.pump2 = 0;
+}
+
+#define REFRESH_TIMEOUT(NAME) \
+timer_##NAME.detach(); \
+timer_##NAME.attach(&timeout_##NAME, CAN_DEVICE_TIMEOUT);
+
+bool serviceCAN(CANMessage* fromXbee)
+{
+ CANMessage msg;
+ if (fromXbee != NULL) {
+ memcpy((void*)&msg, (void*)fromXbee, sizeof(CANMessage));
+ } else {
+ if (!can.rxRead(msg)) return false;
+ }
+ // Redirect global car reset
+ if (msg.id == GLOBAL_CAR_RESET_RX_ID) msg.id = RESETCLEAR_RX_ID;
+
+ switch (msg.id) {
+ // Reset microntroller
+ case (RESET_RX_ID):
+ if (msg.len == 0) { // Length must = 0
+ NVIC_SystemReset();
+ CAN_SUCCESS
+ }
+ CAN_FAIL
+
+
+ // Clear non-volatile fault flags, then reset microcontroller
+ case (RESETCLEAR_RX_ID):
+ if (msg.len == 0) { // Length must = 0
+ FreezeFrame::clearError();
+ NVIC_SystemReset();
+ CAN_SUCCESS
+ }
+ CAN_FAIL
+
+ // Artificially capture a freeze frame
+ case (CAPTURE_RX_ID):
+ if (msg.len == 0) { // Length must = 0
+ if (!FreezeFrame::getError()) { // Only allow capture if freeze frame from the last error was read
+ if (FreezeFrame::writeFrame()) { // Capture the RAM contents to flash
+ CAN_SUCCESS
+ }
+ }
+ }
+ CAN_FAIL
+
+ // Clear fault conditions
+ case (CLEAR_RX_ID):
+ if (msg.len == 1) { // One data byte
+ if (msg.data[0] == 0) { // Clear only freeze frame error if = 0
+ FreezeFrame::clearError(); // Clear non-volatile freeze frame marker
+ CAN_SUCCESS
+ }
+ if (msg.data[0] == 1) { // Clear everything if = 1
+ runTime::clearFaults();
+ op->faultCode = 0;
+ CAN_SUCCESS
+ }
+ }
+ CAN_FAIL
+
+ // Set the time (RTC)
+ case (TIME_RX_ID):
+ if (msg.len == 6*sizeof(char)) { // 6 Bytes
+ struct tm t; // Time & date struct
+ t.tm_mon = msg.data[0]; // Month in byte[0]
+ t.tm_mday = msg.data[1]; // Day
+ t.tm_year = msg.data[2]; // Year (offset from 2000)
+ t.tm_year = t.tm_year - 1900 + 2000; // Apply year index mod and offset
+ t.tm_mon = t.tm_mon - 1; // Month index mod
+ t.tm_hour = msg.data[3]; // Get hour of time in byte[3] (24 hr format)
+ t.tm_min = msg.data[4]; // Minutes
+ t.tm_sec = msg.data[5]; // Seconds
+ set_time(mktime(&t)); // Set RTC
+ time_t diff = time(NULL) - op->SysTime; // Old time to new time change
+ op->startTime += diff; // Shift the startTime to new timebase
+ CAN_SUCCESS
+ }
+ CAN_FAIL
+
+ // RAM and flash profile manipulations
+ case (PROFILE_RX_ID):
+ if (msg.len == 2*sizeof(char)) { // 2 command bytes
+ if (msg.data[0] == 0) { // Load profile from a flash location to RAM
+ int index = msg.data[1]; // Second byte contains profile index
+ if (msg.data[1] == 0xff) index = -1; // If freeze (special case)
+ if (Profile::loadProfile(index)) { // Attempt to load (copy flash to RAM)
+ op->profileIndex = Profile::usingProfile(); // Change the currently loaded profile marker
+ op->profileModded = false; // Mark it as a fresh, unmodified profile
+ CAN_SUCCESS
+ }
+ }
+ if (msg.data[0] == 1) { // Write profile to flash from RAM
+ int index = msg.data[1]; // Get which slot to write to from message
+ if (msg.data[1] == 0xff) index = -1; // If freeze (special case)
+ bool s = Profile::saveProfile(index); // Write profile to flash slot
+ if (s) {
+ op->profileIndex = Profile::usingProfile(); // Change the currently loaded profile marker
+ op->profileModded = false; // Mark it as a fresh, unmodified profile
+ CAN_SUCCESS
+ }
+ }
+ }
+ CAN_FAIL
+
+ case FAN_CONTROL_ID:
+ if (msg.len != 2*sizeof(float)) return false;
+ REFRESH_TIMEOUT(FANS)
+ op->dcdc.request.fan1 = *((float*)((void*)(&msg.data[0])));
+ op->dcdc.request.fan2 = *((float*)((void*)(&msg.data[4])));
+ return true;
+
+ case PUMP_CONTROL_ID:
+ if (msg.len != 2*sizeof(float)) return false;
+ REFRESH_TIMEOUT(PUMPS)
+ op->dcdc.request.pump1 = *((float*)((void*)(&msg.data[0])));
+ op->dcdc.request.pump2 = *((float*)((void*)(&msg.data[4])));
+ return true;
+
+ case AMS_MODE_ID:
+ if (msg.len != sizeof(char)) return false;
+ REFRESH_TIMEOUT(AIRS_CLOSED)
+ if (msg.data[0] & 1<<2) { // AIRs closed?
+ op->signals |= AIRS_CLOSED;
+ } else {
+ op->signals &= ~AIRS_CLOSED;
+ }
+ return true;
+ case CHARGER_ERR_ID:
+ REFRESH_TIMEOUT(CHARGER_DET)
+ op->signals |= CHARGER_DET;
+ return true;
+ default:
+ break;
+ }
+ bool parsed=false;
+
+ CAN_CHANGE(chargeCurrent, PROFILE_CHARGECURRENT_RX_ID )
+ CAN_CHANGE(dischargeCurrent, PROFILE_DISCHARGECURRENT_RX_ID )
+ CAN_CHANGE(nominalCapacity, PROFILE_NOMINALCAPACITY_RX_ID )
+ CAN_CHANGE(glvBat_taps, PROFILE_GLVBATTAPS_RX_ID )
+ CAN_CHANGE(dcdcThreshold, PROFILE_DCDCONTHRESHOLD_RX_ID )
+ CAN_CHANGE(dcdcOverCurrent, PROFILE_DCDCOVERCURRENT_RX_ID )
+ CAN_CHANGE(dcdcStartDelay, PROFILE_DCDCSTARTDELAY_RX_ID )
+ CAN_CHANGE(dcdcStopDelay, PROFILE_DCDCSTOPDELAY_RX_ID )
+ CAN_CHANGE(dcdc_taps, PROFILE_DCDC_TAPS_RX_ID )
+ CAN_CHANGE(imdStartDelay, PROFILE_IMDSTARTDELAY_RX_ID )
+ CAN_CHANGE(internalOverTemp, PROFILE_INTERNALOVERTEMP_RX_ID )
+ CAN_CHANGE(CANnoAck, PROFILE_CANNOACK_RX_ID )
+ CAN_CHANGE(extendedSerial, PROFILE_EXTENDSERIAL_RX_ID )
+ CAN_CHANGE(CANtxSize, PROFILE_CANTXSIZE_RX_ID )
+ CAN_CHANGE(CANrxSize, PROFILE_CANRXSIZE_RX_ID )
+ CAN_CHANGE(SerialBaud, PROFILE_SERIALBAUD_RX_ID )
+ CAN_CHANGE(SerialTxSize, PROFILE_SERIALTXSIZE_RX_ID )
+ CAN_CHANGE(XbeeBaud, PROFILE_XBEEBAUD_RX_ID )
+ CAN_CHANGE(XbeeTxSize, PROFILE_XBEETXSIZE_RX_ID )
+ CAN_CHANGE(XbeeRxSize, PROFILE_XBEERXSIZE_RX_ID )
+
+ if (!parsed) return false;
+
+ if (msg.id == PROFILE_NOMINALCAPACITY_RX_ID ) return glvBat.changeCapacity(param->nominalCapacity)?1:-1;
+ if (msg.id == PROFILE_GLVBATTAPS_RX_ID ) return glvBat.size(param->glvBat_taps)?1:-1;
+ if (msg.id == PROFILE_DCDC_TAPS_RX_ID ) return dcdc.size(param->dcdc_taps)?1:-1;
+ if (msg.id == PROFILE_CANTXSIZE_RX_ID ) return can.txSize(param->CANtxSize)?1:-1;
+ if (msg.id == PROFILE_CANRXSIZE_RX_ID ) return can.rxSize(param->CANrxSize)?1:-1;
+ if (msg.id == PROFILE_SERIALBAUD_RX_ID ) pc.baud(param->SerialBaud);
+ if (msg.id == PROFILE_SERIALTXSIZE_RX_ID ) return (pc.txBufferSetSize(param->SerialTxSize) == 0)?1:-1;
+ if (msg.id == PROFILE_XBEEBAUD_RX_ID ) xbeeRelay.baud(param->XbeeBaud);
+ if (msg.id == PROFILE_XBEETXSIZE_RX_ID ) return (xbeeRelay.txSize(param->XbeeTxSize))?1:-1;
+ if (msg.id == PROFILE_XBEERXSIZE_RX_ID ) return (xbeeRelay.rxSize(param->XbeeRxSize))?1:-1;
+
+ return true;
+}
+// Check for incoming messages from the xbees, relay them to the CAN function and send them out on the bus
+bool receiveMsgXbee()
+{
+ CANMessage msg;
+ if (xbeeRelay.receive(msg)) { // Incoming CAN message string received
+ if (!can.txWrite(msg)) op->faultCode |= CAN_FAULT; // Send it out on the CAN bus
+ serviceCAN(&msg); // Send it into the local serviceCAN routine
+ return true;
+ } else return false;
+}
+
void inCommands::thread_getInputs(void const* args)
{
while(1) {
- inCommands::serviceCAN();
- inCommands::receiveMsgXbee();
+ serviceCAN(0);
+ receiveMsgXbee();
- int ret = inCommands::serviceSerial();
+ int ret = serviceSerial();
if (ret == -1) tempData.parseGoodChar = 'x';
if (ret == 1) tempData.parseGoodChar = 251;
osSignalSet((osThreadId)(tempData.wdtThreadId), 1<<2); // Signal watchdog thread