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@12:e0adb697fcdb, 2014-10-21 (annotated)

Committer:
martydd3
Date:
Tue Oct 21 23:44:15 2014 +0000
Revision:
12:e0adb697fcdb
Parent:
11:1d086618dd18
Child:
13:fbd9b3f5a07c
Added Error update thread, changed CAN message IDs

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 12:e0adb697fcdb 22 Watchdog wdt;
martydd3 11:1d086618dd18 23 XBee250x XbeeTx;
martydd3 10:db13782f05d9 24 Serial pc1(USBTX,USBRX);
martydd3 10:db13782f05d9 25
martydd3 12:e0adb697fcdb 26 char sys_src_id = 0x4; // source address of system management
martydd3 10:db13782f05d9 27 char reset_id = 0x010;
martydd3 10:db13782f05d9 28
martydd3 12:e0adb697fcdb 29 int SYSMGMT_ERROR_ID = 0x400;
martydd3 12:e0adb697fcdb 30
martydd3 10:db13782f05d9 31 extern "C" void mbed_reset();
martydd3 10:db13782f05d9 32
martydd3 10:db13782f05d9 33 void soft_reset(){
martydd3 10:db13782f05d9 34 //http://developer.mbed.org/forum/mbed/topic/890/
martydd3 10:db13782f05d9 35 mbed_reset();
martydd3 10:db13782f05d9 36 }
martydd3 10:db13782f05d9 37
martydd3 12:e0adb697fcdb 38 void error_update(void const *arg){
martydd3 12:e0adb697fcdb 39 char data[1] = {0};
martydd3 12:e0adb697fcdb 40 while(1){
martydd3 12:e0adb697fcdb 41 data[0] = 0;
martydd3 12:e0adb697fcdb 42 if(wdt.checkFlag())
martydd3 12:e0adb697fcdb 43 {
martydd3 12:e0adb697fcdb 44 data[0] |= 0x2;
martydd3 12:e0adb697fcdb 45 }
martydd3 12:e0adb697fcdb 46 CANMessage txErrorMessage(SYSMGMT_ERROR_ID, data, 1);
martydd3 12:e0adb697fcdb 47 rxBuffer.txWrite(txErrorMessage);
martydd3 12:e0adb697fcdb 48 Thread::wait(10);
martydd3 12:e0adb697fcdb 49 }
martydd3 12:e0adb697fcdb 50 }
martydd3 12:e0adb697fcdb 51
martydd3 10:db13782f05d9 52 int main() {
martydd3 10:db13782f05d9 53 CANMessage rx_msg;
martydd3 10:db13782f05d9 54
martydd3 10:db13782f05d9 55 wdt.kick(10.0);
martydd3 10:db13782f05d9 56 pc1.baud(115200);
martydd3 10:db13782f05d9 57
martydd3 10:db13782f05d9 58 FanPump fanPump(&rxBuffer);
martydd3 10:db13782f05d9 59 DC dc_dc(&fanPump, &rxBuffer);
martydd3 10:db13782f05d9 60 PollSwitch pollSwitch(&rxBuffer);
martydd3 10:db13782f05d9 61 IMD imdMonitor(&rxBuffer);
martydd3 10:db13782f05d9 62 CurrentMonitor curMonitor(&rxBuffer);
martydd3 10:db13782f05d9 63
martydd3 10:db13782f05d9 64 fanPump.start_update();
martydd3 10:db13782f05d9 65 dc_dc.start_update();
martydd3 10:db13782f05d9 66 pollSwitch.start_update();
martydd3 10:db13782f05d9 67 imdMonitor.start_update();
martydd3 10:db13782f05d9 68 curMonitor.start_update();
martydd3 10:db13782f05d9 69
martydd3 12:e0adb697fcdb 70 Thread error_thread(error_update);
martydd3 12:e0adb697fcdb 71
martydd3 10:db13782f05d9 72 while(1)
martydd3 10:db13782f05d9 73 {
martydd3 10:db13782f05d9 74 if(rxBuffer.rxRead(rx_msg)){
martydd3 10:db13782f05d9 75 if(rx_msg.id == reset_id)
martydd3 10:db13782f05d9 76 soft_reset();
martydd3 10:db13782f05d9 77
martydd3 10:db13782f05d9 78 char src_addr = (rx_msg.id & 0x0700) >> 8; // get bits 10:8
martydd3 10:db13782f05d9 79
martydd3 10:db13782f05d9 80 if(src_addr == sys_src_id){
martydd3 10:db13782f05d9 81 char cont_id = (rx_msg.id & 0x00FF); // get bits 7:0
martydd3 10:db13782f05d9 82
martydd3 10:db13782f05d9 83 // only control fans of dc_dc converter is on
martydd3 12:e0adb697fcdb 84 if(cont_id == RX_PUMP_ID && dc_dc.is_on())
martydd3 12:e0adb697fcdb 85 {
martydd3 12:e0adb697fcdb 86 float temp_float;
martydd3 12:e0adb697fcdb 87
martydd3 12:e0adb697fcdb 88 memcpy(&rx_msg.data[0], &temp_float, sizeof(float));
martydd3 12:e0adb697fcdb 89 fanPump.set_fan_pump(Pump1, temp_float);
martydd3 12:e0adb697fcdb 90
martydd3 12:e0adb697fcdb 91 memcpy(&rx_msg.data[4], &temp_float, sizeof(float));
martydd3 12:e0adb697fcdb 92 fanPump.set_fan_pump(Pump2, temp_float);
martydd3 12:e0adb697fcdb 93 }
martydd3 12:e0adb697fcdb 94
martydd3 10:db13782f05d9 95 if(cont_id == RX_FAN_ID && dc_dc.is_on())
martydd3 10:db13782f05d9 96 {
martydd3 12:e0adb697fcdb 97 float temp_float;
martydd3 12:e0adb697fcdb 98
martydd3 12:e0adb697fcdb 99 memcpy(&rx_msg.data[0], &temp_float, sizeof(float));
martydd3 12:e0adb697fcdb 100 fanPump.set_fan_pump(Fan1, temp_float);
martydd3 12:e0adb697fcdb 101
martydd3 12:e0adb697fcdb 102 memcpy(&rx_msg.data[4], &temp_float, sizeof(float));
martydd3 12:e0adb697fcdb 103 fanPump.set_fan_pump(Fan2, temp_float);
martydd3 10:db13782f05d9 104 }
martydd3 10:db13782f05d9 105
martydd3 10:db13782f05d9 106 if(cont_id == RX_DC_DC_ID){
martydd3 10:db13782f05d9 107 dc_dc.set(rx_msg.data[0]);
martydd3 10:db13782f05d9 108 }
martydd3 10:db13782f05d9 109 } // check for correct src_addr
martydd3 10:db13782f05d9 110 } // check CANBuffer
martydd3 10:db13782f05d9 111
martydd3 10:db13782f05d9 112 wdt.kick();
martydd3 10:db13782f05d9 113 } // main while loop
martydd3 10:db13782f05d9 114 }
martydd3 10:db13782f05d9 115
martydd3 11:1d086618dd18 116 /*
martydd3 0:e516fcccccda 117
martydd3 11:1d086618dd18 118 Below is Kiran's old code, keeping it commented as a reference.
martydd3 11:1d086618dd18 119
martydd3 11:1d086618dd18 120 */
martydd3 0:e516fcccccda 121
martydd3 0:e516fcccccda 122 /*
martydd3 0:e516fcccccda 123
martydd3 0:e516fcccccda 124 Attach Ticker every 10msec to
martydd3 0:e516fcccccda 125 Get IMD
martydd3 0:e516fcccccda 126 Poll Switches
martydd3 0:e516fcccccda 127 Temperature Read
martydd3 0:e516fcccccda 128 Get Battery State
martydd3 0:e516fcccccda 129 End Ticker Send message through CAN
martydd3 0:e516fcccccda 130
martydd3 0:e516fcccccda 131 CAN interrupt Rx Interrupt
martydd3 0:e516fcccccda 132 Recieve CAN message into a buffer. Return
martydd3 0:e516fcccccda 133 Buffer values(as long as !empty) -> SD Card, Xbee -> remove element
martydd3 0:e516fcccccda 134
martydd3 0:e516fcccccda 135 extern "C" void CAN_IRQHandler(void)
martydd3 0:e516fcccccda 136 {
martydd3 0:e516fcccccda 137 CANMessage Rxmsg;
martydd3 0:e516fcccccda 138 CAN_SysM.read(Rxmsg);
martydd3 0:e516fcccccda 139 RecieveBuffer.add(Rxmsg);
martydd3 0:e516fcccccda 140 }
martydd3 0:e516fcccccda 141
martydd3 1:e02eb179aed3 142 http://developer.mbed.org/users/AjK/notebook/getting-closer-to-the-hardware/
martydd3 1:e02eb179aed3 143
martydd3 1:e02eb179aed3 144 extern "C" means this is linked assuming it's C code
martydd3 1:e02eb179aed3 145 C++ linker appearently adds extra crap with the function arguments keeping functions of this kind from linking properly
martydd3 1:e02eb179aed3 146
martydd3 1:e02eb179aed3 147 Interrupt handler, This is probably linked to the Timer 2 interrupt request somewhere by the libraries
martydd3 2:baeb80c778f7 148
martydd3 10:db13782f05d9 149 */
martydd3 0:e516fcccccda 150
martydd3 10:db13782f05d9 151
martydd3 10:db13782f05d9 152 /*
martydd3 1:e02eb179aed3 153 Appears to read a whole bunch of DigitalOut pins in void PollSwitch(), store the value in uint16_t Rxpoll,
martydd3 1:e02eb179aed3 154 and write the result to the CAN bus
martydd3 2:baeb80c778f7 155
martydd3 0:e516fcccccda 156 void Poll()
martydd3 0:e516fcccccda 157 {
martydd3 0:e516fcccccda 158 uint16_t Rxpoll;
martydd3 0:e516fcccccda 159 uint16_t recv,temp,i=0; //Test
martydd3 0:e516fcccccda 160 char Result[4]={0};
martydd3 0:e516fcccccda 161 Rxpoll=PollSwitch();
martydd3 0:e516fcccccda 162
martydd3 0:e516fcccccda 163 Result[0]=(char)(Rxpoll&0x00ff);
martydd3 0:e516fcccccda 164 Result[1]=(char)((Rxpoll&0xff00)>>8);
martydd3 0:e516fcccccda 165 CANMessage Txmsg(410,Result,sizeof(Result));
martydd3 0:e516fcccccda 166 CAN_SysM.write(Txmsg);
martydd3 0:e516fcccccda 167
martydd3 0:e516fcccccda 168 //Test
martydd3 0:e516fcccccda 169 recv=(((uint16_t)Txmsg.data[1]<<8) | (0x00ff&(uint16_t)Txmsg.data[0]));
martydd3 0:e516fcccccda 170 printf("Recv:%d\n\r",recv);
martydd3 0:e516fcccccda 171
martydd3 0:e516fcccccda 172 while(i <= 12)
martydd3 0:e516fcccccda 173 {
martydd3 0:e516fcccccda 174 temp=recv;
martydd3 0:e516fcccccda 175 if(((temp & (1 << i))>>i)==1)
martydd3 0:e516fcccccda 176 pc.printf("Switch OFF:%d\n\r",i);
martydd3 0:e516fcccccda 177 ++i;
martydd3 0:e516fcccccda 178 }
martydd3 0:e516fcccccda 179 }
martydd3 0:e516fcccccda 180
martydd3 0:e516fcccccda 181
martydd3 0:e516fcccccda 182 void Temp()
martydd3 0:e516fcccccda 183 {
martydd3 0:e516fcccccda 184 float DC_DC_Temperature, Coolant1_Temperature, Coolant2_Temperature, ChargerFET_Temperature;
martydd3 0:e516fcccccda 185 float Resistance;
martydd3 0:e516fcccccda 186 float Vadc;
martydd3 0:e516fcccccda 187 int i;
martydd3 0:e516fcccccda 188 ftc send, recv;
martydd3 0:e516fcccccda 189 recv.FLOAT=0.0;
martydd3 0:e516fcccccda 190 send.FLOAT=0.0;
martydd3 0:e516fcccccda 191
martydd3 0:e516fcccccda 192 Vadc=DC_DC.read()*VDD;
martydd3 0:e516fcccccda 193 Resistance=((float)R10K*Vadc)/((float)VDD + Vadc);
martydd3 0:e516fcccccda 194 DC_DC_Temperature=ReadTemp(TR_NXFT15XH103FA_Map, Resistance, TABLE_SIZE_NXFT15XH103FA);
martydd3 0:e516fcccccda 195 send.FLOAT=DC_DC_Temperature;
martydd3 0:e516fcccccda 196 CANMessage Txmsg_DC_DC(450,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 197 CAN_SysM.write(Txmsg_DC_DC);
martydd3 0:e516fcccccda 198
martydd3 0:e516fcccccda 199 for(i=0; i<4;i++)
martydd3 0:e516fcccccda 200 recv.C_FLOAT[i]=Txmsg_DC_DC.data[i];
martydd3 0:e516fcccccda 201 pc.printf("DC_DC:%f\n\r",recv.FLOAT);
martydd3 0:e516fcccccda 202
martydd3 0:e516fcccccda 203 Vadc=ChargerFET.read()*VDD;
martydd3 0:e516fcccccda 204 Resistance=((float)R10K*Vadc)/((float)VDD + Vadc);
martydd3 0:e516fcccccda 205 ChargerFET_Temperature=ReadTemp(TR_NXFT15XH103FA_Map, Resistance, TABLE_SIZE_NXFT15XH103FA);
martydd3 0:e516fcccccda 206 send.FLOAT=ChargerFET_Temperature;
martydd3 0:e516fcccccda 207 CANMessage Txmsg_ChargerFET(451,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 208 CAN_SysM.write(Txmsg_ChargerFET);
martydd3 0:e516fcccccda 209
martydd3 0:e516fcccccda 210 for(i=0; i<4;i++)
martydd3 0:e516fcccccda 211 recv.C_FLOAT[i]=Txmsg_ChargerFET.data[i];
martydd3 0:e516fcccccda 212 pc.printf("ChargerFET:%f\n\r",recv.FLOAT);
martydd3 0:e516fcccccda 213
martydd3 0:e516fcccccda 214 Vadc=Coolant1.read()*VDD;
martydd3 0:e516fcccccda 215 Resistance=((float)R10K*Vadc)/((float)VDD + Vadc);
martydd3 0:e516fcccccda 216 Coolant1_Temperature=ReadTemp(TR_NTCLP00E3103H_Map, Resistance, TABLE_SIZE_NTCLP00E3103H);
martydd3 0:e516fcccccda 217 send.FLOAT=Coolant1_Temperature;
martydd3 0:e516fcccccda 218 CANMessage Txmsg_Coolant1(452,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 219 CAN_SysM.write(Txmsg_Coolant1);
martydd3 0:e516fcccccda 220 //Control Fans
martydd3 0:e516fcccccda 221
martydd3 0:e516fcccccda 222 for(i=0; i<4;i++)
martydd3 0:e516fcccccda 223 recv.C_FLOAT[i]=Txmsg_Coolant1.data[i];
martydd3 0:e516fcccccda 224 pc.printf("Coolant1:%f\n\r",recv.FLOAT);
martydd3 0:e516fcccccda 225
martydd3 0:e516fcccccda 226 Vadc=Coolant2.read()*VDD;
martydd3 0:e516fcccccda 227 Resistance=((float)R10K*Vadc)/((float)VDD + Vadc);
martydd3 0:e516fcccccda 228 Coolant2_Temperature=ReadTemp(TR_NTCLP00E3103H_Map, Resistance, TABLE_SIZE_NTCLP00E3103H);
martydd3 0:e516fcccccda 229 send.FLOAT=Coolant2_Temperature;
martydd3 0:e516fcccccda 230 CANMessage Txmsg_Coolant2(453,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 231 CAN_SysM.write(Txmsg_Coolant2);
martydd3 0:e516fcccccda 232 //Control Fans
martydd3 0:e516fcccccda 233
martydd3 0:e516fcccccda 234 for(i=0; i<4;i++)
martydd3 0:e516fcccccda 235 recv.C_FLOAT[i]=Txmsg_Coolant2.data[i];
martydd3 0:e516fcccccda 236 pc.printf("Coolant2:%f\n\r",recv.FLOAT);
martydd3 0:e516fcccccda 237 }
martydd3 0:e516fcccccda 238
martydd3 0:e516fcccccda 239 void IMD()
martydd3 0:e516fcccccda 240 {
martydd3 0:e516fcccccda 241 IMD_Measurement_Output IMD_Signal;
martydd3 0:e516fcccccda 242 char status[4];
martydd3 0:e516fcccccda 243 ftc send;
martydd3 0:e516fcccccda 244
martydd3 0:e516fcccccda 245 IMD_Signal=Get_Measurement();
martydd3 0:e516fcccccda 246 send.FLOAT=IMD_Signal.Frequency;
martydd3 0:e516fcccccda 247 CANMessage Txmsg_Frequency(421,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 248 CAN_SysM.write(Txmsg_Frequency);
martydd3 0:e516fcccccda 249
martydd3 0:e516fcccccda 250 send.FLOAT=IMD_Signal.Duty_Cycle;
martydd3 0:e516fcccccda 251 CANMessage Txmsg_DutyCycle(422,send.C_FLOAT,sizeof(send.C_FLOAT));
martydd3 0:e516fcccccda 252 CAN_SysM.write(Txmsg_DutyCycle);
martydd3 0:e516fcccccda 253
martydd3 0:e516fcccccda 254 status[0]=Result.Encoded_Status;
martydd3 0:e516fcccccda 255 CANMessage Txmsg_Status(423,status,sizeof(status));
martydd3 0:e516fcccccda 256 CAN_SysM.write(Txmsg_Status);
martydd3 0:e516fcccccda 257 }
martydd3 5:9258b685fea6 258 */
martydd3 0:e516fcccccda 259
martydd3 5:9258b685fea6 260 /*
martydd3 0:e516fcccccda 261 Activates a whole crapload of functions and pins on the chip
martydd3 2:baeb80c778f7 262
martydd3 0:e516fcccccda 263 void Init()
martydd3 0:e516fcccccda 264 {
martydd3 2:baeb80c778f7 265
martydd3 0:e516fcccccda 266 Timers to call various functions at different intervals
martydd3 0:e516fcccccda 267 These things behave weirdly when wait(ms) is involved. Probably have to rewrite
martydd3 2:baeb80c778f7 268
martydd3 0:e516fcccccda 269
martydd3 0:e516fcccccda 270 //ReadIMD.attach(&IMD,0.1);
martydd3 0:e516fcccccda 271 //PollSDSwitch.attach(&Poll,0.1);
martydd3 0:e516fcccccda 272
martydd3 0:e516fcccccda 273 //ReadTemperature.attach(&Temp,0.1);
martydd3 0:e516fcccccda 274 //ReadBatteryState.attach(&Battery,0.1);
martydd3 0:e516fcccccda 275
martydd3 2:baeb80c778f7 276
martydd3 0:e516fcccccda 277 Initialize Timer2 for Battery State
martydd3 0:e516fcccccda 278
martydd3 0:e516fcccccda 279 LPC_SC 0x400F C000 (System Control)
martydd3 0:e516fcccccda 280 ->PCONP 0x400F C0C4 (Power Control for Peripherals Register)
martydd3 0:e516fcccccda 281 |= (1<<22) 22 Bit (Timer 2 power/clock control bit)
martydd3 0:e516fcccccda 282
martydd3 0:e516fcccccda 283 ->PCLKSEL1 Peripheral Clock Selection register 1 (controls rate of clock signal supplied to peripheral)
martydd3 0:e516fcccccda 284 |= ((1<<12) | (1<<13)); 12:13 Bits (Peripheral Clock Selection for TIMER2)
martydd3 0:e516fcccccda 285
martydd3 0:e516fcccccda 286 LPC_TIM2 0x4009 0000 (Timer 2)
martydd3 0:e516fcccccda 287 ->TCR 0x4009 0004 (Timer Control Register)
martydd3 0:e516fcccccda 288 |= (1<<0); 0 Bit (Counter Enable)
martydd3 0:e516fcccccda 289
martydd3 0:e516fcccccda 290 ->MR0 0x4009 0018 (Match Register)
martydd3 0:e516fcccccda 291
martydd3 1:e02eb179aed3 292 ->MCR 0x4009 0014 (Match Control Register) What to do when Match Register matches the Timer Counter
martydd3 1:e02eb179aed3 293 |= (1<<0); 0 Bit (Interrupt on MR0, interrupt generated when MR0 matches the value in TC)
martydd3 0:e516fcccccda 294
martydd3 2:baeb80c778f7 295
martydd3 0:e516fcccccda 296 LPC_SC->PCONP |= (1<<22); //PoewerOn Timer/Counter2
martydd3 0:e516fcccccda 297 LPC_SC->PCLKSEL1 |= ((1<<12) | (1<<13)); //Prescale Timer2 CCLK/8
martydd3 0:e516fcccccda 298 LPC_TIM2->TCR |= (1<<0); //Enable Timer2
martydd3 0:e516fcccccda 299 LPC_TIM2->MR0 = 11999; // 1msec
martydd3 0:e516fcccccda 300 LPC_TIM2->MCR |= (1<<0);
martydd3 2:baeb80c778f7 301
martydd3 1:e02eb179aed3 302 Nested Vectored Interrupt Controller (NVIC)
martydd3 1:e02eb179aed3 303
martydd3 1:e02eb179aed3 304 NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority)
martydd3 1:e02eb179aed3 305 sets priority of an interrupt
martydd3 1:e02eb179aed3 306
martydd3 1:e02eb179aed3 307 IRQn_Type
martydd3 1:e02eb179aed3 308 Interrupt number definitions
martydd3 1:e02eb179aed3 309 Interrupt Request (IRQ)
martydd3 1:e02eb179aed3 310
martydd3 1:e02eb179aed3 311 NVIC_EnableIRQ(IRQn_Type IRQn)
martydd3 1:e02eb179aed3 312 Enable external interrupt (in this case, the TIMER2_IRQHandler(void) function above gets called every time
martydd3 1:e02eb179aed3 313 Timer2 generates an interrupt signal)
martydd3 1:e02eb179aed3 314
martydd3 2:baeb80c778f7 315
martydd3 0:e516fcccccda 316 NVIC_SetPriority(TIMER0_IRQn,200); //IMD Capture Interrupt
martydd3 0:e516fcccccda 317 NVIC_SetPriority(TIMER1_IRQn,200); //IMD 1msec sampling Interrupt
martydd3 0:e516fcccccda 318 NVIC_SetPriority(TIMER2_IRQn,1); //Battery 1msec sampling Interrupt
martydd3 0:e516fcccccda 319 NVIC_SetPriority(TIMER3_IRQn,255); //mbed Timer/Ticker/Wait Interrupt
martydd3 0:e516fcccccda 320 NVIC_SetPriority(CAN_IRQn,2);
martydd3 0:e516fcccccda 321
martydd3 0:e516fcccccda 322 NVIC_EnableIRQ(TIMER2_IRQn); //Enable TIMER2 IRQ
martydd3 0:e516fcccccda 323
martydd3 0:e516fcccccda 324 CAN_SysM.mode(CAN::GlobalTest);
martydd3 2:baeb80c778f7 325
martydd3 2:baeb80c778f7 326
martydd3 0:e516fcccccda 327 //NVIC_EnableIRQ(CAN_IRQn);
martydd3 0:e516fcccccda 328 //NVIC_EnableIRQ(CANActivity_IRQn);
martydd3 0:e516fcccccda 329 }
martydd3 0:e516fcccccda 330
martydd3 2:baeb80c778f7 331
martydd3 0:e516fcccccda 332 Main Loop: Currently reads CANMessages from Can interface (Pins: rd = p30, td = p29)
martydd3 0:e516fcccccda 333 Send CANMessage data through XBee radio transmitters
martydd3 2:baeb80c778f7 334 */