Revision 2:50b1371247da, committed 2019-10-06

Comitter:

rlanders73

Date:

Sun Oct 06 02:59:58 2019 +0000

Parent:

1:38b385f34687

Commit message:

using new STM_ResetSupervisor library that has watchdog functionality

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/STM_ResetSupervisor.lib	Sun Oct 06 02:59:58 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/PointLabs/code/STM_ResetSupervisor/#f31b32884780

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/USBDevice.lib	Sun Oct 06 02:59:58 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/PointLabs/code/USBDevice/#584b0afbd742

--- a/Watchdog/Watchdog.cpp	Tue Jun 25 23:49:40 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,131 +0,0 @@
-/// @file Watchdog.cpp provides the interface to the Watchdog module
-///
-/// This provides basic Watchdog service for the mbed. You can configure
-/// various timeout intervals that meet your system needs. Additionally,
-/// it is possible to identify if the Watchdog was the cause of any 
-/// system restart.
-/// 
-/// Adapted from Simon's Watchdog code from http://mbed.org/forum/mbed/topic/508/
-///
-/// @note Copyright © 2011 by Smartware Computing, all rights reserved.
-///     This software may be used to derive new software, as long as
-///     this copyright statement remains in the source file.
-/// @author David Smart
-///
-/// @note Copyright © 2015 by NBRemond, all rights reserved.
-///     This software may be used to derive new software, as long as
-///     this copyright statement remains in the source file.
-///
-///     Added support for STM32 Nucleo platforms
-///
-/// @author Bernaérd Remond
-///
-
-//#define LPC
-#define ST_NUCLEO
-
-
-#include "mbed.h"
-#include "Watchdog.h"
-
-
-/// Watchdog gets instantiated at the module level
-Watchdog::Watchdog() {
-#ifdef LPC    
-    wdreset = (LPC_WDT->WDMOD >> 2) & 1;    // capture the cause of the previous reset
-#endif
-#ifdef ST_NUCLEO
-    // capture the cause of the previous reset
-    /* Check if the system has resumed from IWDG reset */
-/*
-    if (__HAL_RCC_GET_FLAG(RCC_FLAG_IWDGRST)) {
-        wdreset = true;
-    }
-    else {
-        wdreset = false; 
-    }
-*/       
-        printf("in constructor\r\n");
-        wdreset = false; 
-#endif
-
-}
-
-/// Load timeout value in watchdog timer and enable
-void Watchdog::Configure(float timeout) {
-#ifdef LPC    
-    LPC_WDT->WDCLKSEL = 0x1;                // Set CLK src to PCLK
-    uint32_t clk = SystemCoreClock / 16;    // WD has a fixed /4 prescaler, PCLK default is /4
-    LPC_WDT->WDTC = (uint32_t)(timeout * (float)clk);
-    LPC_WDT->WDMOD = 0x3;                   // Enabled and Reset
-#endif  
- 
-#ifdef ST_NUCLEO
-    // see http://embedded-lab.com/blog/?p=9662    
-    #define LsiFreq (45000)
-    uint16_t PrescalerCode;
-    uint16_t Prescaler;
-    uint16_t ReloadValue;
-    float Calculated_timeout;
-    
-    if ((timeout * (LsiFreq/4)) < 0x7FF) {
-        PrescalerCode = IWDG_PRESCALER_4;
-        Prescaler = 4;
-    }
-    else if ((timeout * (LsiFreq/8)) < 0xFF0) {
-        PrescalerCode = IWDG_PRESCALER_8;
-        Prescaler = 8;
-    }
-    else if ((timeout * (LsiFreq/16)) < 0xFF0) {
-        PrescalerCode = IWDG_PRESCALER_16;
-        Prescaler = 16;
-    }
-    else if ((timeout * (LsiFreq/32)) < 0xFF0) {
-        PrescalerCode = IWDG_PRESCALER_32;
-        Prescaler = 32;
-    }
-    else if ((timeout * (LsiFreq/64)) < 0xFF0) {
-        PrescalerCode = IWDG_PRESCALER_64;
-        Prescaler = 64;
-    }
-    else if ((timeout * (LsiFreq/128)) < 0xFF0) {
-        PrescalerCode = IWDG_PRESCALER_128;
-        Prescaler = 128;
-    }
-    else {
-        PrescalerCode = IWDG_PRESCALER_256;
-        Prescaler = 256;
-    }
-    
-    // specifies the IWDG Reload value. This parameter must be a number between 0 and 0x0FFF.
-    ReloadValue = (uint32_t)(timeout * (LsiFreq/Prescaler));
-    
-    Calculated_timeout = ((float)(Prescaler * ReloadValue)) / LsiFreq;
-    printf("WATCHDOG set with prescaler:%d reload value: 0x%X - timeout:%f\n",Prescaler, ReloadValue, Calculated_timeout);
-    
-    IWDG->KR = 0x5555; //Disable write protection of IWDG registers      
-    IWDG->PR = PrescalerCode;      //Set PR value      
-    IWDG->RLR = ReloadValue;      //Set RLR value      
-    IWDG->KR = 0xAAAA;    //Reload IWDG      
-    IWDG->KR = 0xCCCC;    //Start IWDG - See more at: http://embedded-lab.com/blog/?p=9662#sthash.6VNxVSn0.dpuf       
-#endif
- 
-    Service();
-}
-
-/// "Service", "kick" or "feed" the dog - reset the watchdog timer
-/// by writing this required bit pattern
-void Watchdog::Service() {
-#ifdef LPC    
-    LPC_WDT->WDFEED = 0xAA;
-    LPC_WDT->WDFEED = 0x55;
-#endif    
-#ifdef ST_NUCLEO
-    IWDG->KR = 0xAAAA;         //Reload IWDG - See more at: http://embedded-lab.com/blog/?p=9662#sthash.6VNxVSn0.dpuf
-#endif
-}
-
-/// get the flag to indicate if the watchdog causes the reset
-bool Watchdog::WatchdogCausedReset() {
-    return wdreset;
-}

--- a/Watchdog/Watchdog.h	Tue Jun 25 23:49:40 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,101 +0,0 @@
-/// @file Watchdog.h provides the interface to the Watchdog module
-///
-/// This provides basic Watchdog service for the mbed. You can configure
-/// various timeout intervals that meet your system needs. Additionally,
-/// it is possible to identify if the Watchdog was the cause of any 
-/// system restart, permitting the application code to take appropriate
-/// behavior.
-/// 
-/// Adapted from Simon's Watchdog code from http://mbed.org/forum/mbed/topic/508/
-///
-/// @note Copyright © 2011 by Smartware Computing, all rights reserved.
-///     This software may be used to derive new software, as long as
-///     this copyright statement remains in the source file.
-/// @author David Smart
-///
-/// History
-/// \li v1.00 - 20110616: initial release with some documentation improvements
-///
-#ifndef WATCHDOG_H
-#define WATCHDOG_H
-#include "mbed.h"
-
-/// The Watchdog class provides the interface to the Watchdog feature
-///
-/// Embedded programs, by their nature, are usually unattended. If things
-/// go wrong, it is usually important that the system attempts to recover.
-/// Aside from robust software, a hardware watchdog can monitor the
-/// system and initiate a system reset when appropriate.
-///
-/// This Watchdog is patterned after one found elsewhere on the mbed site,
-/// however this one also provides a method for the application software
-/// to determine the cause of the reset - watchdog or otherwise.
-///
-/// example:
-/// @code
-/// Watchdog wd;
-///
-/// ...
-/// main() {
-///    if (wd.WatchdogCausedReset())
-///        pc.printf("Watchdog caused reset.\r\n");
-///      
-///    wd.Configure(3.0);       // sets the timeout interval
-///    for (;;) {
-///         wd.Service();       // kick the dog before the timeout
-///         // do other work
-///    }
-/// }
-/// @endcode
-///
-class Watchdog {
-public:
-    /// Create a Watchdog object
-    ///
-    /// example:
-    /// @code
-    /// Watchdog wd;    // placed before main
-    /// @endcode
-    Watchdog();
-    
-    /// Configure the timeout for the Watchdog
-    ///
-    /// This configures the Watchdog service and starts it. It must
-    /// be serviced before the timeout, or the system will be restarted.
-    ///
-    /// example:
-    /// @code
-    ///     ...
-    ///     wd.Configure(1.4);  // configure for a 1.4 second timeout
-    ///     ...
-    /// @endcode
-    ///
-    /// @param[in] timeout in seconds, as a floating point number
-    /// @returns none
-    ///
-    void Configure(float timeout);
-    
-    /// Service the Watchdog so it does not cause a system reset
-    ///
-    /// example:
-    /// @code
-    ///    wd.Service();
-    /// @endcode
-    /// @returns none
-    void Service();
-    
-    /// WatchdogCausedReset identifies if the cause of the system
-    /// reset was the Watchdog
-    ///
-    /// example:
-    /// @code
-    ///    if (wd.WatchdogCausedReset())) {
-    /// @endcode
-    ///
-    /// @returns true if the Watchdog was the cause of the reset
-    bool WatchdogCausedReset();
-private:
-    bool wdreset;
-};
-
-#endif // WATCHDOG_H
\ No newline at end of file

--- a/main.cpp	Tue Jun 25 23:49:40 2019 +0000
+++ b/main.cpp	Sun Oct 06 02:59:58 2019 +0000
@@ -1,29 +1,37 @@
 #include "mbed.h"
-#include <ros.h>
-#include <nav_msgs/Odometry.h>  //contains both the twist and pose
-#include "Watchdog.h"
+#include "ResetSupervisor.h"
 
 int i = 1;
 
-Serial pc(USBTX, USBRX, 57600);     //Serial Monitor
+#include "USBSerial.h"
 
+/******************** Comms *********************/
+USBSerial pc;
+FileHandle* mbed::mbed_override_console(int)
+{   
+    return &pc;
+}
+
+Supervisor foreman;
 int main(void)
 {
-    Watchdog dog;
-    dog.Configure(1);
-    pc.printf("I'm resetting!\n", dog.WatchdogCausedReset());
+    wait(1);
+
+    foreman.initWD(5); // turn on the Watchdog Timer and set it for 5 seconds
+    if(foreman.resetReason() == RCC_FLAG_IWDGRST)
+        pc.printf("Watchdog Reset!\n");
     
-    while(i++)
+    while(1)
     {
-    pc.printf("Hello! I'm working! Iteration: %d \n", i);
-    wait(0.9);
-    
-    if (i == 10) {
-        wait(0.6);
-    }
-    
-    
-    dog.Service();
-    //return 0;
+        pc.printf("Hello! I'm working! Iteration: %d \n", i);
+        wait(1);
+        
+        if (i == 10) {
+            wait(10);
+        }
+        
+        
+        foreman.pingWD();
+        i++;
     }
 }
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed_app.json	Sun Oct 06 02:59:58 2019 +0000
@@ -0,0 +1,25 @@
+{
+    "config": {
+        "trace-level": {
+            "help": "Options are TRACE_LEVEL_ERROR,TRACE_LEVEL_WARN,TRACE_LEVEL_INFO,TRACE_LEVEL_DEBUG",
+            "macro_name": "MBED_TRACE_MAX_LEVEL",
+            "value": "TRACE_LEVEL_DEBUG"
+        }
+    },
+    "macros": [
+        "MODEM_UBLOX_R41XM",
+        "GPS_CFG_FILE=\"gps_config.h\""
+
+    ],
+    "target_overrides": {
+        "*": {
+            "target.features_add": ["COMMON_PAL"],
+            "target.device_has_add":["RESET_REASON"],
+            "platform.stdio-baud-rate": 115200,
+            "platform.stdio-convert-newlines": true,
+            "platform.default-serial-baud-rate": 115200,
+            "platform.stdio-buffered-serial": true,
+            "target.network-default-interface-type" : "CELLULAR"
+        }
+    }
+}
\ No newline at end of file

--- a/ros_lib_kinetic.lib	Tue Jun 25 23:49:40 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://developer.mbed.org/users/garyservin/code/ros_lib_kinetic/#a849bf78d77f