Diff: main.cpp

Revision:

34:18bcf276d3bf

Parent:

33:6bc82b6b62e5

Child:

36:0afc0fc8f86b

--- a/main.cpp	Tue Jan 06 20:45:26 2015 +0000
+++ b/main.cpp	Wed Jan 07 03:25:50 2015 +0000
@@ -1,7 +1,7 @@
 #include "IOobjects.h"
 #include "runTime.h"
 #include "outDiagnostics.h"
-#include "serviceCAN.h"
+#include "inCommands.h"
 
 int main() {
     wdt.kick();                         // Kick the watchdog timer
@@ -9,7 +9,11 @@
     pc.format(8, SerialBase::None, 2);  // 2 Stop bits, reduce bad serial packets
     
     can.mode(FIFO);
-    DigitalOut led1(LED1);
+    NVIC_SetPriority(TIMER3_IRQn, 4);
+    NVIC_SetPriority(UART0_IRQn, 0);
+    NVIC_SetPriority(CAN_IRQn, 3);
+    NVIC_SetPriority(TIMER0_IRQn, 1);
+    NVIC_SetPriority(PWM1_IRQn, 2);
     
     bool normalReset = true;
     // Did a watchdog reset occur since last power cycle?
@@ -17,7 +21,6 @@
         wdt.clearFlag();                    // Clear flag
         data.watchdogReset = true;
         pc.printf("Sys Mgmt Watchdog Reset\r\n");
-        led1=1;
         normalReset=false;
     }
     // Did a brownout reset occur since last power cycle?
@@ -30,23 +33,26 @@
     if (normalReset) pc.printf("Sys Mgmt Reset\r\n");
     
     // Start the 10Hz data thread
-    // Thread gather(runTime::thread_gather, 0, osPriorityHigh);
+    Thread gather(runTime::thread_gather, 0, osPriorityHigh, 512);
     
     // Start the 100Hz data timer (more time critical than thread)
-    //RtosTimer sample(runTime::thread_sample, osTimerPeriodic);
-    //sample.start(FAST_LOOP*1000);
+    RtosTimer sample(runTime::thread_sample, osTimerPeriodic);
+    sample.start(FAST_LOOP*1000);
     
     // Start the serial, CAN threads
-    Thread serial_out(outDiagnostics::thread_serialOut, 0, osPriorityAboveNormal, 6000);     // Allocate 6kB RAM stack
-    //Thread can_out(outDiagnostics::thread_canOut, 0, osPriorityAboveNormal);            // Allocate 256B RAM stack
+    Thread serial_out(outDiagnostics::thread_serialOut, 0, osPriorityAboveNormal, 2000);     // Allocate 6kB RAM stack
+    Thread can_out(outDiagnostics::thread_canOut, 0, osPriorityAboveNormal, 512);            // Allocate 256B RAM stack
     
-    wdt.kick(WDT_TIME);     // Startup complete, normal timeout
-    
+    wdt.kick(1);     // Startup complete, normal timeout
     // Background task
     while(1) {
         // Service CAN and Xbee logic
-        //if (canbus::serviceCAN());
-        //canbus::receiveMsgXbee();
+        inCommands::serviceCAN();
+        inCommands::receiveMsgXbee();
+        
+        int ret = inCommands::serviceSerial();
+        if (ret == -1) tempData.parseGoodChar = 'x';
+        if (ret == 1)  tempData.parseGoodChar = 251;
         wdt.kick();
     }
 }
\ No newline at end of file