Penn Electric Racing / Mbed 2 deprecated SystemManagement

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Dependencies:   mbed CANBuffer Watchdog MODSERIAL mbed-rtos xbeeRelay IAP

Fork of SystemManagement by Martin Deng

SysMngmt.cpp@5:9258b685fea6, 2014-10-08 (annotated)

Committer:
martydd3
Date:
Wed Oct 08 20:56:41 2014 +0000
Revision:
5:9258b685fea6
Parent:
4:e31528929150
Child:
6:6a04210a3f4f
Added 10 Hz update threads for DC-DC and fans/pumps

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 0:e516fcccccda 4 Revised Sept 30, 2014: Began analyzing and commenting program, trying to figure out what the hell it does (Martin Deng)
martydd3 0:e516fcccccda 5 */
martydd3 0:e516fcccccda 6
martydd3 0:e516fcccccda 7 #include"SysMngmt.h"
martydd3 0:e516fcccccda 8 #include"Get_IMD.h"
martydd3 0:e516fcccccda 9 #include"PollSwitch.h"
martydd3 0:e516fcccccda 10 #include"TemperatureRead.h"
martydd3 0:e516fcccccda 11 #include"Store_RTC.h"
martydd3 0:e516fcccccda 12 #include"XBee_Lib.h"
martydd3 0:e516fcccccda 13 #include"CANBuffer.h"
martydd3 0:e516fcccccda 14
martydd3 2:baeb80c778f7 15 #include"mbed.h"
martydd3 2:baeb80c778f7 16 #include"rtos.h"
martydd3 0:e516fcccccda 17
martydd3 0:e516fcccccda 18 //Possible problems in IMD coz change of counter
martydd3 0:e516fcccccda 19 //Possible problems in BatteryStatus coz change in library
martydd3 0:e516fcccccda 20
martydd3 0:e516fcccccda 21 /*
martydd3 0:e516fcccccda 22
martydd3 0:e516fcccccda 23 Attach Ticker every 10msec to
martydd3 0:e516fcccccda 24 Get IMD
martydd3 0:e516fcccccda 25 Poll Switches
martydd3 0:e516fcccccda 26 Temperature Read
martydd3 0:e516fcccccda 27 Get Battery State
martydd3 0:e516fcccccda 28 End Ticker Send message through CAN
martydd3 0:e516fcccccda 29
martydd3 0:e516fcccccda 30 CAN interrupt Rx Interrupt
martydd3 0:e516fcccccda 31 Recieve CAN message into a buffer. Return
martydd3 0:e516fcccccda 32 Buffer values(as long as !empty) -> SD Card, Xbee -> remove element
martydd3 0:e516fcccccda 33
martydd3 0:e516fcccccda 34 extern "C" void CAN_IRQHandler(void)
martydd3 0:e516fcccccda 35 {
martydd3 0:e516fcccccda 36 CANMessage Rxmsg;
martydd3 0:e516fcccccda 37 CAN_SysM.read(Rxmsg);
martydd3 0:e516fcccccda 38 RecieveBuffer.add(Rxmsg);
martydd3 0:e516fcccccda 39 }
martydd3 0:e516fcccccda 40
martydd3 1:e02eb179aed3 41 http://developer.mbed.org/users/AjK/notebook/getting-closer-to-the-hardware/
martydd3 1:e02eb179aed3 42
martydd3 1:e02eb179aed3 43 extern "C" means this is linked assuming it's C code
martydd3 1:e02eb179aed3 44 C++ linker appearently adds extra crap with the function arguments keeping functions of this kind from linking properly
martydd3 1:e02eb179aed3 45
martydd3 1:e02eb179aed3 46 Interrupt handler, This is probably linked to the Timer 2 interrupt request somewhere by the libraries
martydd3 2:baeb80c778f7 47
martydd3 0:e516fcccccda 48 extern "C" void TIMER2_IRQHandler(void)
martydd3 0:e516fcccccda 49 {
martydd3 0:e516fcccccda 50 if((LPC_TIM2->IR & 0x01) == 0x01) // if MR0 interrupt
martydd3 0:e516fcccccda 51 {
martydd3 1:e02eb179aed3 52 // This probably shouldn't be here, never have a printf() in an interrupt, locks up the main thread
martydd3 1:e02eb179aed3 53 // printf("Every 1ms\n\r");
martydd3 1:e02eb179aed3 54
martydd3 0:e516fcccccda 55 LPC_TIM2->IR |= 1 << 0; // Clear MR0 interrupt flag
martydd3 0:e516fcccccda 56
martydd3 1:e02eb179aed3 57 // gonna hope all these calculations are correct
martydd3 1:e02eb179aed3 58 // writes to RTC store, but there's no read code here
martydd3 1:e02eb179aed3 59 // 2 misleading things. First, RTC store writes to a general purpose register
martydd3 1:e02eb179aed3 60 // secondly, no code reads from this register in this .cpp, but maybe some other code does
martydd3 1:e02eb179aed3 61
martydd3 0:e516fcccccda 62 Bat_I_Ratio=BatISense.read();
martydd3 0:e516fcccccda 63 BATA_msec=(((Bat_I_Ratio*3.3) - BAT_ISENSE_OFFSET_V)/BAT_ISENSE_INCREMENT);
martydd3 0:e516fcccccda 64 BATmA_Hr+=(BATA_msec*MSEC_HRS);
martydd3 0:e516fcccccda 65 store.write(BATmA_Hr,0);
martydd3 0:e516fcccccda 66
martydd3 0:e516fcccccda 67 DC_I_Ratio=DCSense.read();
martydd3 0:e516fcccccda 68 DCA_msec=(((DC_I_Ratio*3.3) - DC_DC_ISENSE_OFFSET_V)/DC_DC_ISENSE_INCREMENT);
martydd3 0:e516fcccccda 69 store.write(DCA_msec,1);
martydd3 0:e516fcccccda 70
martydd3 0:e516fcccccda 71 LPC_TIM2->TCR |= (1<<1); //Reset Timer1
martydd3 1:e02eb179aed3 72 LPC_TIM2->TCR &= ~(1<<1); //Re Enable Timer1
martydd3 0:e516fcccccda 73 }
martydd3 0:e516fcccccda 74 }
martydd3 0:e516fcccccda 75
martydd3 1:e02eb179aed3 76 Appears to read a whole bunch of DigitalOut pins in void PollSwitch(), store the value in uint16_t Rxpoll,
martydd3 1:e02eb179aed3 77 and write the result to the CAN bus
martydd3 2:baeb80c778f7 78
martydd3 0:e516fcccccda 79 void Poll()
martydd3 0:e516fcccccda 80 {
martydd3 0:e516fcccccda 81 uint16_t Rxpoll;
martydd3 0:e516fcccccda 82 uint16_t recv,temp,i=0; //Test
martydd3 0:e516fcccccda 83 char Result[4]={0};
martydd3 0:e516fcccccda 84 Rxpoll=PollSwitch();
martydd3 0:e516fcccccda 85
martydd3 0:e516fcccccda 86 Result[0]=(char)(Rxpoll&0x00ff);
martydd3 0:e516fcccccda 87 Result[1]=(char)((Rxpoll&0xff00)>>8);
martydd3 0:e516fcccccda 88 CANMessage Txmsg(410,Result,sizeof(Result));
martydd3 0:e516fcccccda 89 CAN_SysM.write(Txmsg);
martydd3 0:e516fcccccda 90
martydd3 0:e516fcccccda 91 //Test
martydd3 0:e516fcccccda 92 recv=(((uint16_t)Txmsg.data[1]<<8) | (0x00ff&(uint16_t)Txmsg.data[0]));
martydd3 0:e516fcccccda 93 printf("Recv:%d\n\r",recv);
martydd3 0:e516fcccccda 94
martydd3 0:e516fcccccda 95 while(i <= 12)
martydd3 0:e516fcccccda 96 {
martydd3 0:e516fcccccda 97 temp=recv;
martydd3 0:e516fcccccda 98 if(((temp & (1 << i))>>i)==1)
martydd3 0:e516fcccccda 99 pc.printf("Switch OFF:%d\n\r",i);
martydd3 0:e516fcccccda 100 ++i;
martydd3 0:e516fcccccda 101 }
martydd3 0:e516fcccccda 102 }
martydd3 0:e516fcccccda 103
martydd3 0:e516fcccccda 104
martydd3 0:e516fcccccda 105 void Temp()
martydd3 0:e516fcccccda 106 {
martydd3 0:e516fcccccda 107 float DC_DC_Temperature, Coolant1_Temperature, Coolant2_Temperature, ChargerFET_Temperature;
martydd3 0:e516fcccccda 108 float Resistance;
martydd3 0:e516fcccccda 109 float Vadc;
martydd3 0:e516fcccccda 110 int i;
martydd3 0:e516fcccccda 111 ftc send, recv;
martydd3 0:e516fcccccda 112 recv.FLOAT=0.0;
martydd3 0:e516fcccccda 113 send.FLOAT=0.0;
martydd3 0:e516fcccccda 114
martydd3 0:e516fcccccda 115 Vadc=DC_DC.read()*VDD;
martydd3 0:e516fcccccda 116 Resistance=((float)R10K*Vadc)/((float)VDD + Vadc);
martydd3 0:e516fcccccda 117 DC_DC_Temperature=ReadTemp(TR_NXFT15XH103FA_Map, Resistance, TABLE_SIZE_NXFT15XH103FA);
martydd3 0:e516fcccccda 118 send.FLOAT=DC_DC_Temperature;
martydd3 0:e516fcccccda 119 CANMessage Txmsg_DC_DC(450,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 120 CAN_SysM.write(Txmsg_DC_DC);
martydd3 0:e516fcccccda 121
martydd3 0:e516fcccccda 122 for(i=0; i<4;i++)
martydd3 0:e516fcccccda 123 recv.C_FLOAT[i]=Txmsg_DC_DC.data[i];
martydd3 0:e516fcccccda 124 pc.printf("DC_DC:%f\n\r",recv.FLOAT);
martydd3 0:e516fcccccda 125
martydd3 0:e516fcccccda 126 Vadc=ChargerFET.read()*VDD;
martydd3 0:e516fcccccda 127 Resistance=((float)R10K*Vadc)/((float)VDD + Vadc);
martydd3 0:e516fcccccda 128 ChargerFET_Temperature=ReadTemp(TR_NXFT15XH103FA_Map, Resistance, TABLE_SIZE_NXFT15XH103FA);
martydd3 0:e516fcccccda 129 send.FLOAT=ChargerFET_Temperature;
martydd3 0:e516fcccccda 130 CANMessage Txmsg_ChargerFET(451,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 131 CAN_SysM.write(Txmsg_ChargerFET);
martydd3 0:e516fcccccda 132
martydd3 0:e516fcccccda 133 for(i=0; i<4;i++)
martydd3 0:e516fcccccda 134 recv.C_FLOAT[i]=Txmsg_ChargerFET.data[i];
martydd3 0:e516fcccccda 135 pc.printf("ChargerFET:%f\n\r",recv.FLOAT);
martydd3 0:e516fcccccda 136
martydd3 0:e516fcccccda 137 Vadc=Coolant1.read()*VDD;
martydd3 0:e516fcccccda 138 Resistance=((float)R10K*Vadc)/((float)VDD + Vadc);
martydd3 0:e516fcccccda 139 Coolant1_Temperature=ReadTemp(TR_NTCLP00E3103H_Map, Resistance, TABLE_SIZE_NTCLP00E3103H);
martydd3 0:e516fcccccda 140 send.FLOAT=Coolant1_Temperature;
martydd3 0:e516fcccccda 141 CANMessage Txmsg_Coolant1(452,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 142 CAN_SysM.write(Txmsg_Coolant1);
martydd3 0:e516fcccccda 143 //Control Fans
martydd3 0:e516fcccccda 144
martydd3 0:e516fcccccda 145 for(i=0; i<4;i++)
martydd3 0:e516fcccccda 146 recv.C_FLOAT[i]=Txmsg_Coolant1.data[i];
martydd3 0:e516fcccccda 147 pc.printf("Coolant1:%f\n\r",recv.FLOAT);
martydd3 0:e516fcccccda 148
martydd3 0:e516fcccccda 149 Vadc=Coolant2.read()*VDD;
martydd3 0:e516fcccccda 150 Resistance=((float)R10K*Vadc)/((float)VDD + Vadc);
martydd3 0:e516fcccccda 151 Coolant2_Temperature=ReadTemp(TR_NTCLP00E3103H_Map, Resistance, TABLE_SIZE_NTCLP00E3103H);
martydd3 0:e516fcccccda 152 send.FLOAT=Coolant2_Temperature;
martydd3 0:e516fcccccda 153 CANMessage Txmsg_Coolant2(453,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 154 CAN_SysM.write(Txmsg_Coolant2);
martydd3 0:e516fcccccda 155 //Control Fans
martydd3 0:e516fcccccda 156
martydd3 0:e516fcccccda 157 for(i=0; i<4;i++)
martydd3 0:e516fcccccda 158 recv.C_FLOAT[i]=Txmsg_Coolant2.data[i];
martydd3 0:e516fcccccda 159 pc.printf("Coolant2:%f\n\r",recv.FLOAT);
martydd3 0:e516fcccccda 160 }
martydd3 0:e516fcccccda 161
martydd3 0:e516fcccccda 162 void IMD()
martydd3 0:e516fcccccda 163 {
martydd3 0:e516fcccccda 164 IMD_Measurement_Output IMD_Signal;
martydd3 0:e516fcccccda 165 char status[4];
martydd3 0:e516fcccccda 166 ftc send;
martydd3 0:e516fcccccda 167
martydd3 0:e516fcccccda 168 IMD_Signal=Get_Measurement();
martydd3 0:e516fcccccda 169 send.FLOAT=IMD_Signal.Frequency;
martydd3 0:e516fcccccda 170 CANMessage Txmsg_Frequency(421,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 171 CAN_SysM.write(Txmsg_Frequency);
martydd3 0:e516fcccccda 172
martydd3 0:e516fcccccda 173 send.FLOAT=IMD_Signal.Duty_Cycle;
martydd3 0:e516fcccccda 174 CANMessage Txmsg_DutyCycle(422,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 175 CAN_SysM.write(Txmsg_DutyCycle);
martydd3 0:e516fcccccda 176
martydd3 0:e516fcccccda 177 status[0]=Result.Encoded_Status;
martydd3 0:e516fcccccda 178 CANMessage Txmsg_Status(423,status,sizeof(status));
martydd3 0:e516fcccccda 179 CAN_SysM.write(Txmsg_Status);
martydd3 0:e516fcccccda 180 }
martydd3 5:9258b685fea6 181 */
martydd3 0:e516fcccccda 182
martydd3 5:9258b685fea6 183 /*
martydd3 0:e516fcccccda 184 Activates a whole crapload of functions and pins on the chip
martydd3 2:baeb80c778f7 185
martydd3 0:e516fcccccda 186 void Init()
martydd3 0:e516fcccccda 187 {
martydd3 2:baeb80c778f7 188
martydd3 0:e516fcccccda 189 Timers to call various functions at different intervals
martydd3 0:e516fcccccda 190 These things behave weirdly when wait(ms) is involved. Probably have to rewrite
martydd3 2:baeb80c778f7 191
martydd3 0:e516fcccccda 192
martydd3 0:e516fcccccda 193 //ReadIMD.attach(&IMD,0.1);
martydd3 0:e516fcccccda 194 //PollSDSwitch.attach(&Poll,0.1);
martydd3 0:e516fcccccda 195
martydd3 0:e516fcccccda 196 //ReadTemperature.attach(&Temp,0.1);
martydd3 0:e516fcccccda 197 //ReadBatteryState.attach(&Battery,0.1);
martydd3 0:e516fcccccda 198
martydd3 2:baeb80c778f7 199
martydd3 0:e516fcccccda 200 Initialize Timer2 for Battery State
martydd3 0:e516fcccccda 201
martydd3 0:e516fcccccda 202 LPC_SC 0x400F C000 (System Control)
martydd3 0:e516fcccccda 203 ->PCONP 0x400F C0C4 (Power Control for Peripherals Register)
martydd3 0:e516fcccccda 204 |= (1<<22) 22 Bit (Timer 2 power/clock control bit)
martydd3 0:e516fcccccda 205
martydd3 0:e516fcccccda 206 ->PCLKSEL1 Peripheral Clock Selection register 1 (controls rate of clock signal supplied to peripheral)
martydd3 0:e516fcccccda 207 |= ((1<<12) | (1<<13)); 12:13 Bits (Peripheral Clock Selection for TIMER2)
martydd3 0:e516fcccccda 208
martydd3 0:e516fcccccda 209 LPC_TIM2 0x4009 0000 (Timer 2)
martydd3 0:e516fcccccda 210 ->TCR 0x4009 0004 (Timer Control Register)
martydd3 0:e516fcccccda 211 |= (1<<0); 0 Bit (Counter Enable)
martydd3 0:e516fcccccda 212
martydd3 0:e516fcccccda 213 ->MR0 0x4009 0018 (Match Register)
martydd3 0:e516fcccccda 214
martydd3 1:e02eb179aed3 215 ->MCR 0x4009 0014 (Match Control Register) What to do when Match Register matches the Timer Counter
martydd3 1:e02eb179aed3 216 |= (1<<0); 0 Bit (Interrupt on MR0, interrupt generated when MR0 matches the value in TC)
martydd3 0:e516fcccccda 217
martydd3 2:baeb80c778f7 218
martydd3 0:e516fcccccda 219 LPC_SC->PCONP |= (1<<22); //PoewerOn Timer/Counter2
martydd3 0:e516fcccccda 220 LPC_SC->PCLKSEL1 |= ((1<<12) | (1<<13)); //Prescale Timer2 CCLK/8
martydd3 0:e516fcccccda 221 LPC_TIM2->TCR |= (1<<0); //Enable Timer2
martydd3 0:e516fcccccda 222 LPC_TIM2->MR0 = 11999; // 1msec
martydd3 0:e516fcccccda 223 LPC_TIM2->MCR |= (1<<0);
martydd3 2:baeb80c778f7 224
martydd3 1:e02eb179aed3 225 Nested Vectored Interrupt Controller (NVIC)
martydd3 1:e02eb179aed3 226
martydd3 1:e02eb179aed3 227 NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority)
martydd3 1:e02eb179aed3 228 sets priority of an interrupt
martydd3 1:e02eb179aed3 229
martydd3 1:e02eb179aed3 230 IRQn_Type
martydd3 1:e02eb179aed3 231 Interrupt number definitions
martydd3 1:e02eb179aed3 232 Interrupt Request (IRQ)
martydd3 1:e02eb179aed3 233
martydd3 1:e02eb179aed3 234 NVIC_EnableIRQ(IRQn_Type IRQn)
martydd3 1:e02eb179aed3 235 Enable external interrupt (in this case, the TIMER2_IRQHandler(void) function above gets called every time
martydd3 1:e02eb179aed3 236 Timer2 generates an interrupt signal)
martydd3 1:e02eb179aed3 237
martydd3 2:baeb80c778f7 238
martydd3 0:e516fcccccda 239 NVIC_SetPriority(TIMER0_IRQn,200); //IMD Capture Interrupt
martydd3 0:e516fcccccda 240 NVIC_SetPriority(TIMER1_IRQn,200); //IMD 1msec sampling Interrupt
martydd3 0:e516fcccccda 241 NVIC_SetPriority(TIMER2_IRQn,1); //Battery 1msec sampling Interrupt
martydd3 0:e516fcccccda 242 NVIC_SetPriority(TIMER3_IRQn,255); //mbed Timer/Ticker/Wait Interrupt
martydd3 0:e516fcccccda 243 NVIC_SetPriority(CAN_IRQn,2);
martydd3 0:e516fcccccda 244
martydd3 0:e516fcccccda 245 NVIC_EnableIRQ(TIMER2_IRQn); //Enable TIMER2 IRQ
martydd3 0:e516fcccccda 246
martydd3 0:e516fcccccda 247 CAN_SysM.mode(CAN::GlobalTest);
martydd3 2:baeb80c778f7 248
martydd3 2:baeb80c778f7 249
martydd3 0:e516fcccccda 250 //NVIC_EnableIRQ(CAN_IRQn);
martydd3 0:e516fcccccda 251 //NVIC_EnableIRQ(CANActivity_IRQn);
martydd3 0:e516fcccccda 252 }
martydd3 0:e516fcccccda 253
martydd3 2:baeb80c778f7 254
martydd3 0:e516fcccccda 255 Main Loop: Currently reads CANMessages from Can interface (Pins: rd = p30, td = p29)
martydd3 0:e516fcccccda 256 Send CANMessage data through XBee radio transmitters
martydd3 2:baeb80c778f7 257 */
martydd3 2:baeb80c778f7 258
martydd3 2:baeb80c778f7 259
martydd3 2:baeb80c778f7 260 CANBuffer rxBuffer(CAN1, MEDIUM);
martydd3 2:baeb80c778f7 261 XBee250x XbeeTx;
martydd3 2:baeb80c778f7 262
martydd3 4:e31528929150 263 char sys_src_id = 4; // source address of system management
martydd3 2:baeb80c778f7 264
martydd3 4:e31528929150 265 char fan_id = 1; // first byte of CANData, last byte states the duty cycle, second-last states which fan to control
martydd3 2:baeb80c778f7 266
martydd3 4:e31528929150 267 Thread *fan_threads[4] = {NULL, NULL, NULL, NULL}; // Threads currently running on the 4 output pins
martydd3 2:baeb80c778f7 268
martydd3 2:baeb80c778f7 269 /*
martydd3 2:baeb80c778f7 270 Pins for Fans and Pumps
martydd3 2:baeb80c778f7 271 PUMP_PWM = p2.0
martydd3 2:baeb80c778f7 272 FAN1_PWM = p2.1
martydd3 2:baeb80c778f7 273 FAN2_PWM = p2.2
martydd3 2:baeb80c778f7 274 FAN3_PWM = p2.3
martydd3 2:baeb80c778f7 275 */
martydd3 2:baeb80c778f7 276
martydd3 2:baeb80c778f7 277 PwmOut pump_pwm(P2_0);
martydd3 2:baeb80c778f7 278 PwmOut fan1_pwm(P2_1);
martydd3 2:baeb80c778f7 279 PwmOut fan2_pwm(P2_2);
martydd3 2:baeb80c778f7 280 PwmOut fan3_pwm(P2_3);
martydd3 2:baeb80c778f7 281
martydd3 5:9258b685fea6 282 char fan1_duty = 0;
martydd3 5:9258b685fea6 283 char fan2_duty = 0;
martydd3 5:9258b685fea6 284 char fan3_duty = 0;
martydd3 5:9258b685fea6 285 char pump_duty = 0;
martydd3 5:9258b685fea6 286
martydd3 5:9258b685fea6 287 int tx_fan_id = ((int)sys_src_id << 8)&((int)fan_id);
martydd3 5:9258b685fea6 288
martydd3 2:baeb80c778f7 289 // duty goes from 0 to 100
martydd3 2:baeb80c778f7 290 void rampFans(void const *arg){
martydd3 0:e516fcccccda 291
martydd3 4:e31528929150 292 char *data = (char *)arg;
martydd3 2:baeb80c778f7 293
martydd3 4:e31528929150 294 // bounds checking
martydd3 4:e31528929150 295 char duty = data[1];
martydd3 4:e31528929150 296 if(duty > 100)
martydd3 2:baeb80c778f7 297 return;
martydd3 2:baeb80c778f7 298
martydd3 4:e31528929150 299 char pin_id = data[0];
martydd3 4:e31528929150 300 if(pin_id > 3)
martydd3 4:e31528929150 301 return;
martydd3 4:e31528929150 302
martydd3 4:e31528929150 303 char *cur_duty;
martydd3 2:baeb80c778f7 304 PwmOut *out_pin;
martydd3 2:baeb80c778f7 305
martydd3 4:e31528929150 306 switch(pin_id){
martydd3 2:baeb80c778f7 307 case 0: cur_duty = &pump_duty;
martydd3 2:baeb80c778f7 308 out_pin = &pump_pwm;
martydd3 2:baeb80c778f7 309 break;
martydd3 2:baeb80c778f7 310 case 1: cur_duty = &fan1_duty;
martydd3 2:baeb80c778f7 311 out_pin = &fan1_pwm;
martydd3 2:baeb80c778f7 312 break;
martydd3 2:baeb80c778f7 313 case 2: cur_duty = &fan2_duty;
martydd3 2:baeb80c778f7 314 out_pin = &fan2_pwm;
martydd3 2:baeb80c778f7 315 break;
martydd3 2:baeb80c778f7 316 case 3: cur_duty = &fan3_duty;
martydd3 2:baeb80c778f7 317 out_pin = &fan3_pwm;
martydd3 2:baeb80c778f7 318 break;
martydd3 2:baeb80c778f7 319 default:
martydd3 2:baeb80c778f7 320 return;
martydd3 2:baeb80c778f7 321 }
martydd3 2:baeb80c778f7 322
martydd3 2:baeb80c778f7 323 while(*cur_duty != duty){
martydd3 2:baeb80c778f7 324
martydd3 2:baeb80c778f7 325 if(duty > *cur_duty){
martydd3 2:baeb80c778f7 326 *cur_duty += 10;
martydd3 2:baeb80c778f7 327
martydd3 2:baeb80c778f7 328 if(*cur_duty > duty)
martydd3 2:baeb80c778f7 329 *cur_duty = duty;
martydd3 2:baeb80c778f7 330 } else if(duty < *cur_duty){
martydd3 2:baeb80c778f7 331 *cur_duty -= 10;
martydd3 2:baeb80c778f7 332
martydd3 2:baeb80c778f7 333 if(*cur_duty < duty)
martydd3 2:baeb80c778f7 334 *cur_duty = duty;
martydd3 2:baeb80c778f7 335 }
martydd3 2:baeb80c778f7 336
martydd3 2:baeb80c778f7 337 out_pin->write((*cur_duty)*0.01);
martydd3 2:baeb80c778f7 338
martydd3 2:baeb80c778f7 339 Thread::wait(10);
martydd3 2:baeb80c778f7 340 }
martydd3 2:baeb80c778f7 341 }
martydd3 2:baeb80c778f7 342
martydd3 5:9258b685fea6 343 void updateFans(void const *arg){
martydd3 5:9258b685fea6 344 char data[4] = {0, 0, 0, 0};
martydd3 5:9258b685fea6 345 while(1){
martydd3 5:9258b685fea6 346 data[0] = pump_duty;
martydd3 5:9258b685fea6 347 data[1] = fan1_duty;
martydd3 5:9258b685fea6 348 data[2] = fan2_duty;
martydd3 5:9258b685fea6 349 data[3] = fan3_duty;
martydd3 5:9258b685fea6 350 CANMessage txMessage(tx_fan_id, data, 4);
martydd3 5:9258b685fea6 351 rxBuffer.txWrite(txMessage);
martydd3 5:9258b685fea6 352 Thread::wait(100);
martydd3 5:9258b685fea6 353 }
martydd3 5:9258b685fea6 354 }
martydd3 5:9258b685fea6 355
martydd3 5:9258b685fea6 356 char dc_id = 0; // first byte of CANData, last byte states whether to toggle on (1) or off (0)
martydd3 3:1345f882d8f3 357 DigitalOut dcPin(p20);
martydd3 4:e31528929150 358 bool dc_on = false;
martydd3 3:1345f882d8f3 359
martydd3 5:9258b685fea6 360 int tx_dc_id = ((int)sys_src_id << 8)&((int)dc_id);
martydd3 5:9258b685fea6 361
martydd3 3:1345f882d8f3 362 void toggleDC_DC(bool toggle){
martydd3 3:1345f882d8f3 363
martydd3 3:1345f882d8f3 364 //dcPin turns on DC_DC converter when 0, off when 1
martydd3 3:1345f882d8f3 365
martydd3 3:1345f882d8f3 366 if(toggle && !dc_on){
martydd3 3:1345f882d8f3 367 dcPin = 0;
martydd3 3:1345f882d8f3 368 dc_on = true;
martydd3 3:1345f882d8f3 369 } else if(!toggle && dc_on){
martydd3 3:1345f882d8f3 370 dcPin = 1;
martydd3 3:1345f882d8f3 371 dc_on = false;
martydd3 3:1345f882d8f3 372 }
martydd3 3:1345f882d8f3 373 }
martydd3 3:1345f882d8f3 374
martydd3 5:9258b685fea6 375 void updateDC(void const *arg){
martydd3 5:9258b685fea6 376 char data[4] = {0, 0, 0, 0};
martydd3 5:9258b685fea6 377 while(1){
martydd3 5:9258b685fea6 378 data[0] = dc_on;
martydd3 5:9258b685fea6 379 CANMessage txMessage(tx_dc_id, data, 4);
martydd3 5:9258b685fea6 380 rxBuffer.txWrite(txMessage);
martydd3 5:9258b685fea6 381 Thread::wait(100);
martydd3 5:9258b685fea6 382 }
martydd3 5:9258b685fea6 383 }
martydd3 5:9258b685fea6 384
martydd3 0:e516fcccccda 385 int main() {
martydd3 2:baeb80c778f7 386 CANMessage rx_msg;
martydd3 2:baeb80c778f7 387
martydd3 3:1345f882d8f3 388 //turn off DC-DC converter on startup
martydd3 3:1345f882d8f3 389 toggleDC_DC(false);
martydd3 3:1345f882d8f3 390
martydd3 5:9258b685fea6 391 //CANMessage update threads
martydd3 5:9258b685fea6 392 Thread fan_update(updateFans);
martydd3 5:9258b685fea6 393 Thread dc_update(updateDC);
martydd3 5:9258b685fea6 394
martydd3 0:e516fcccccda 395 while(1)
martydd3 0:e516fcccccda 396 {
martydd3 4:e31528929150 397 if(rxBuffer.rxRead(rx_msg)){
martydd3 4:e31528929150 398 char src_addr = (rx_msg.id & 0x0700) >> 8; // get bits 10:8
martydd3 4:e31528929150 399
martydd3 4:e31528929150 400 if(src_addr == sys_src_id){
martydd3 4:e31528929150 401 char cont_id = (rx_msg.id & 0x00FF); // get bits 7:0
martydd3 2:baeb80c778f7 402
martydd3 4:e31528929150 403 // only control fans of dc_dc converter is on
martydd3 4:e31528929150 404 if(cont_id == fan_id && dc_on)
martydd3 4:e31528929150 405 {
martydd3 4:e31528929150 406 char duty = rx_msg.data[1];
martydd3 4:e31528929150 407 if(duty > 100)
martydd3 4:e31528929150 408 break;
martydd3 4:e31528929150 409
martydd3 4:e31528929150 410 char pin_id = rx_msg.data[0];
martydd3 4:e31528929150 411 if(pin_id > 3)
martydd3 4:e31528929150 412 break;
martydd3 2:baeb80c778f7 413
martydd3 4:e31528929150 414 if(fan_threads[pin_id] != NULL){
martydd3 4:e31528929150 415 fan_threads[pin_id]->terminate();
martydd3 4:e31528929150 416 free(fan_threads[pin_id]);
martydd3 4:e31528929150 417 }
martydd3 4:e31528929150 418
martydd3 4:e31528929150 419 fan_threads[pin_id] = new Thread(rampFans, rx_msg.data);
martydd3 2:baeb80c778f7 420 }
martydd3 2:baeb80c778f7 421
martydd3 5:9258b685fea6 422 if(cont_id == dc_id){
martydd3 4:e31528929150 423 toggleDC_DC(rx_msg.data[0]);
martydd3 4:e31528929150 424 }
martydd3 4:e31528929150 425
martydd3 4:e31528929150 426 } // check for correct src_addr
martydd3 4:e31528929150 427 } // check CANBuffer
martydd3 4:e31528929150 428 } // main while loop
martydd3 0:e516fcccccda 429 }