Javier Gómez Cabello
JGCtoGdT
Dependencies: ConfigFile MODSERIAL_uVision Watchdog mbed-rtos mbed
Diff: main.cpp
- Revision:
- 0:2e1b2d9fa0de
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun May 05 16:39:34 2013 +0000
@@ -0,0 +1,519 @@
+#include "mbed.h"
+#include "MODSERIAL.h"
+#include "rtos.h"
+#include "Watchdog.h"
+#include "ConfigFile.h"
+
+Watchdog wd;
+
+extern "C" void mbed_reset();
+
+char InitialMessage[50];
+
+DigitalOut ledCAN1(LED1);
+DigitalOut ledCAN2(LED2);
+DigitalOut led3(LED3);
+DigitalOut ledPC(LED4);
+
+
+time_t ctTime;
+struct tm * timeinfo;
+
+Ticker SpkTick;
+Timer myT;
+
+
+void LoadPCMail(char comm, char *mess);
+
+/************* Frequency ****************/
+InterruptIn Freq1(p15);
+InterruptIn Freq2(p16);
+InterruptIn Freq3(p17);
+Timer F1;
+Timer F2;
+Timer F3;
+
+int Period1,Period2,Period3;
+
+void Freq1_Meas(void)
+{
+ Period1=F1.read_us();
+ F1.reset();
+}
+void Freq2_Meas(void)
+{
+ Period2=F2.read_us();
+ F2.reset();
+}
+void Freq3_Meas(void)
+{
+ Period3=F3.read_us();
+ F3.reset();
+}
+/************* End Frequency ************/
+
+/************* PWM ****************/
+PwmOut PwmO1(LED3);
+/************* End PWM ************/
+
+/************* CAN ***********************/
+#define CAN_MaxMailElements 16
+#define CANMessWait 1//ms
+#define MessSizeCAN 128
+
+typedef struct {
+ char command; /* command to execute */
+ CANMessage mess;
+} CAN_mail_t;
+/************* CAN 1 *********************/
+CAN can1(p9,p10);
+int CAN1Freq=1000000;
+
+Mail<CAN_mail_t, CAN_MaxMailElements> CAN1_mail;
+int CAN1MailNum;
+
+void LoadCAN1Mail(char command, CANMessage mess) //para cargar mensajes de trabajo al proceso paralelo CAN1_thread_proc
+{
+ while(CAN1MailNum>=CAN_MaxMailElements) {
+ Thread::wait(CANMessWait);
+ }
+ CAN_mail_t *mail = CAN1_mail.alloc();
+ mail->command = command;
+ mail->mess=mess;
+ CAN1_mail.put(mail);
+ CAN1MailNum++;
+}
+
+void messageFromCAN1()
+{
+ ledCAN1=true;
+ CANMessage msg;
+ can1.read(msg);
+ LoadCAN1Mail(10,msg);
+}
+
+void CAN1_thread_proc(void const *args) //proceso paralelo de gestión CAN1
+{
+ char tmp[MessSizeCAN];
+ while(true) {
+ osEvent evt = CAN1_mail.get(osWaitForever);
+ if (evt.status == osEventMail) {
+ CAN_mail_t *mail = (CAN_mail_t*)evt.value.p;
+
+ switch (mail->command) {
+ case 0: //request Reset CAN
+ can1.reset();
+ LoadPCMail(1,"Reset CAN1");
+ break;
+ case 1: //set frequency
+ can1.frequency(mail->mess.id);
+ LoadPCMail(1,"Set Frequency CAN1");
+ break;
+ case 10: //Read from CAN
+ snprintf(tmp,MessSizeCAN,"ID=%i;TYPE=%i;FORMAT=%i;LEN=%d;DATA[0]=%u;DATA[1]=%u;DATA[2]=%u;DATA[3]=%u;DATA[4]=%u;DATA[5]=%u;DATA[6]=%u;DATA[7]=%u",mail->mess.id,mail->mess.type,mail->mess.format,mail->mess.len,mail->mess.data[0],mail->mess.data[1],mail->mess.data[2],mail->mess.data[3],mail->mess.data[4],mail->mess.data[5],mail->mess.data[6],mail->mess.data[7]);
+ LoadPCMail(2,tmp);
+ break;
+ case 20: //Write to CAN
+ can1.write(mail->mess);
+ LoadPCMail(1,"Write to CAN1");
+ break;
+ default: // request to send message from code
+ break;
+ }
+ CAN1_mail.free(mail);
+ CAN1MailNum--;
+ ledCAN1=false;
+ }
+ }
+}
+/************* END CAN 1 ****************/
+/************* CAN 2 ********************/
+CAN can2(p30,p29);
+int CAN2Freq=1000000;
+
+Mail<CAN_mail_t, CAN_MaxMailElements> CAN2_mail;
+int CAN2MailNum;
+
+void LoadCAN2Mail(char command, CANMessage mess) //para cargar mensajes de trabajo al proceso paralelo CAN1_thread_proc
+{
+ while(CAN2MailNum>=CAN_MaxMailElements) {
+ Thread::wait(CANMessWait);
+ }
+ CAN_mail_t *mail = CAN2_mail.alloc();
+ mail->command = command;
+ mail->mess=mess;
+ CAN2_mail.put(mail);
+ CAN2MailNum++;
+}
+void messageFromCAN2()
+{
+ ledCAN2=true;
+ CANMessage msg;
+ can2.read(msg);
+ LoadCAN2Mail(10,msg);
+}
+void CAN2_thread_proc(void const *args) //proceso paralelo de gestión CAN1
+{
+ char tmp[MessSizeCAN];
+ while(true) {
+ osEvent evt = CAN2_mail.get(osWaitForever);
+ if (evt.status == osEventMail) {
+ CAN_mail_t *mail = (CAN_mail_t*)evt.value.p;
+
+ switch (mail->command) {
+ case 0: //request Reset CAN
+ can2.reset();
+ LoadPCMail(1,"Reset CAN2");
+ break;
+ case 1: //set frequency
+ can2.frequency(mail->mess.id);
+ LoadPCMail(1,"Set Frequency CAN2");
+ break;
+ case 10: //Read from CAN
+ snprintf(tmp,MessSizeCAN,"ID=%i;TYPE=%i;FORMAT=%i;LEN=%d;DATA[0]=%u;DATA[1]=%u;DATA[2]=%u;DATA[3]=%u;DATA[4]=%u;DATA[5]=%u;DATA[6]=%u;DATA[7]=%u",mail->mess.id,mail->mess.type,mail->mess.format,mail->mess.len,mail->mess.data[0],mail->mess.data[1],mail->mess.data[2],mail->mess.data[3],mail->mess.data[4],mail->mess.data[5],mail->mess.data[6],mail->mess.data[7]);
+ LoadPCMail(3,tmp);
+ break;
+ case 20: //Write to CAN
+ can2.write(mail->mess);
+ LoadPCMail(1,"Write to CAN2");
+ break;
+ default: // request to send message from code
+ break;
+ }
+ CAN2_mail.free(mail);
+ CAN2MailNum--;
+ ledCAN2=false;
+ }
+ }
+}
+/************* END CAN 2 ****************/
+/************* END CAN ******************/
+
+/************* RS232 PC ******************/
+#define TxBuffer_NumMess 16
+#define RxBuffer_NumMess 16
+#define MessSizePC 128
+#define TxBuffer TxBuffer_NumMess*MessSizePC
+#define RxBuffer RxBuffer_NumMess*MessSizePC
+#define PC_MaxMailElements 16
+#define PCMessWait MessSizePC*10/9.6 //ms
+
+MODSERIAL pc(USBTX, USBRX,TxBuffer,RxBuffer);
+bool LOGPC;
+int BaudRate;
+double TxBufferWait;
+char ChEnd;
+
+typedef struct {
+ char command; /* command to execute */
+ char message[MessSizePC]; /* arguments */
+} PC_mail_t;
+
+Mail<PC_mail_t, PC_MaxMailElements> PC_mail;
+int PCMailNum;
+
+void TLogSTR(char *Tstr)
+{
+ ctTime = time(NULL);
+ timeinfo = localtime ( &ctTime );
+ timeinfo->tm_hour=(timeinfo->tm_hour+1)%24;
+ strftime (Tstr,MessSizePC,"%H:%M:%S",timeinfo);
+}
+
+void LoadPCMail(char comm, char *mess) //para cargar mensajes de trabajo al proceso paralelo ComPC_thread_proc
+{
+ while(PCMailNum>=PC_MaxMailElements) {
+ Thread::wait(PCMessWait);
+ }
+ if(comm!=1 || LOGPC) {
+ PC_mail_t *mail = PC_mail.alloc();
+ mail->command = comm;
+ snprintf(mail->message,MessSizePC,"%s",mess);
+ PC_mail.put(mail);
+ PCMailNum++;
+ }
+}
+
+void messageFromPC(MODSERIAL_IRQ_INFO *q) //trabajo solicitado desde PC
+{
+ ledPC=true;
+ MODSERIAL *sys = q->serial;
+ char temp[MessSizePC];
+
+ int i=sys->move(temp,MessSizePC,ChEnd);
+ if (temp[i-2]=='\r') {
+ i-=2;
+ } else {
+ i-=1;
+ }
+ temp[i]=0;
+ LoadPCMail(0,temp);
+}
+
+int ComPC_Write(char *mess) //sólo para usarse en ComPC_thread_proc
+{
+ int i=strlen(mess);
+ if(i>0) {
+ while((TxBuffer-pc.txBufferGetCount())<i) {
+ Thread::wait(TxBufferWait);
+ }
+ return pc.printf(mess);
+ }
+ return 0;
+}
+
+void ComPC_thread_proc(void const *args) //proceso paralelo de gestión PC: tareas solicitadas y envío a PC
+{
+
+ while(true) {
+ osEvent evt = PC_mail.get(osWaitForever);
+ if (evt.status == osEventMail) {
+ PC_mail_t *mail = (PC_mail_t*)evt.value.p;
+
+ char mess[MessSizePC];
+ char Tstr[20];
+ TLogSTR(Tstr);
+ switch (mail->command) {
+ case 0: //request from PC
+ CANMessage CanMess;
+ switch (mail->message[0]) {
+ case 'T':
+ float seconds;
+ sscanf(&mail->message[1],"%f",&seconds);
+ set_time((double)seconds);
+ time_t ctTime;
+ ctTime = time(NULL);
+ snprintf(mess,MessSizePC,"%s",ctime(&ctTime));
+ LoadPCMail(1,mess);
+ break;
+ case 'C': //CAN
+ switch (mail->message[1]) {
+ case '1': //CAN1, Send from PC a Message to CAN1
+ switch (mail->message[2]) {
+ case 'R': //reset CAN
+ LoadCAN1Mail(0,CanMess);
+ snprintf (mess,MessSizePC,"ACK(%s):%s\r\n",Tstr, mail->message);
+ break;
+ case 'F': //set Frequency CAN
+ sscanf(&mail->message[3],"%i",&CanMess.id);
+ LoadCAN1Mail(1,CanMess);
+ snprintf (mess,MessSizePC,"ACK(%s):%s\r\n",Tstr, mail->message);
+ break;
+ case 'W': //Write CAN
+ sscanf(&mail->message[3],"%i;%i;%i;%u;%u;%u;%u;%u;%u;%u;%u;%u",&CanMess.id,&CanMess.type,&CanMess.format,&CanMess.len,&CanMess.data[0],&CanMess.data[1],&CanMess.data[2],&CanMess.data[3],&CanMess.data[4],&CanMess.data[5],&CanMess.data[6],&CanMess.data[7]);
+ LoadCAN1Mail(20,CanMess);
+ snprintf (mess,MessSizePC,"ACK(%s):%s\r\n",Tstr, mail->message);
+ break;
+ default:
+ snprintf (mess,MessSizePC,"NAK(%s):%s\r\n",Tstr, mail->message);
+ break;
+ }
+ break;
+ case '2': //CAN2, Send from PC a Message to CAN2
+ switch (mail->message[2]) {
+ case 'R': //reset CAN
+ LoadCAN2Mail(0,CanMess);
+ snprintf (mess,MessSizePC,"ACK(%s):%s\r\n",Tstr, mail->message);
+ break;
+ case 'F': //set Frequency CAN
+ sscanf(&mail->message[3],"%i",&CanMess.id);
+ LoadCAN2Mail(1,CanMess);
+ snprintf (mess,MessSizePC,"ACK(%s):%s\r\n",Tstr, mail->message);
+ break;
+ case 'W': //Write CAN
+ sscanf(&mail->message[3],"%i;%i;%i;%u;%u;%u;%u;%u;%u;%u;%u;%u",&CanMess.id,&CanMess.type,&CanMess.format,&CanMess.len,&CanMess.data[0],&CanMess.data[1],&CanMess.data[2],&CanMess.data[3],&CanMess.data[4],&CanMess.data[5],&CanMess.data[6],&CanMess.data[7]);
+ LoadCAN2Mail(20,CanMess);
+ snprintf (mess,MessSizePC,"ACK(%s):%s\r\n",Tstr, mail->message);
+ break;
+ default:
+ snprintf (mess,MessSizePC,"NAK(%s):%s\r\n",Tstr, mail->message);
+ break;
+ }
+ break;
+ default:
+ snprintf (mess,MessSizePC,"NAK(%s):%s\r\n",Tstr, mail->message);
+ break;
+ }
+ break;
+ case 'F': //Frequencies
+ switch (mail->message[1]) {
+ case '1': //Freq1, Get Freq11
+ snprintf(mess,MessSizePC,"F1= %i usec\r\n",Period1);
+ break;
+ case '2': //Freq2, Get Freq2
+ snprintf(mess,MessSizePC,"F2= %i usec\r\n",Period2);
+ break;
+ case '3': //Freq3, Get Freq3
+ snprintf(mess,MessSizePC,"F3= %i usec\r\n",Period3);
+ break;
+ default:
+ snprintf (mess,MessSizePC,"NAK(%s):%s\r\n",Tstr, mail->message);
+ break;
+ }
+ break;
+ case 'P':
+ float duty=0;
+ int periodus=0;
+ switch (mail->message[1]) {
+ case '1':
+ sscanf(&mail->message[2],"%f;%i",&duty,&periodus);
+ PwmO1.write(duty);
+ PwmO1.period_us(periodus);
+ snprintf (mess,MessSizePC,"ACK(%s):%s\r\n",Tstr, mail->message);
+ break;
+ default:
+ snprintf (mess,MessSizePC,"NAK(%s):%s\r\n",Tstr, mail->message);
+ break;
+ }
+ break;
+ case 'R':
+ if(strcmp(mail->message,"REBOOT")==0) {
+ mbed_reset();//wd.Configure(2.0);
+ } else {
+ snprintf (mess,MessSizePC,"NAK(%s):%s\r\n",Tstr, mail->message);
+ }
+ break;
+ case 'r':
+ if(strcmp(mail->message,"reboot")==0) {
+ mbed_reset();//wd.Configure(2.0);
+ } else {
+ snprintf (mess,MessSizePC,"NAK(%s):%s\r\n",Tstr, mail->message);
+ }
+ break;
+ default:
+ snprintf (mess,MessSizePC,"NAK(%s):%s\r\n",Tstr, mail->message);
+ break;
+ }
+ break;
+ case 1: //Send LOG to PC
+ if(LOGPC) {
+ snprintf(mess,MessSizePC,"LOG(%s):%s\r\n",Tstr ,mail->message);
+ } else {
+ mess[0]=0;
+ }
+ break;
+ case 2: //Send to PC a Message from CAN1
+ snprintf(mess,MessSizePC,"CAN1:%s\r\n",mail->message);
+ break;
+ case 3: //Send to PC a Message from CAN2
+ snprintf(mess,MessSizePC,"CAN2:%s\r\n",mail->message);
+ break;
+ default:
+ break;
+ }
+ PC_mail.free(mail);
+ PCMailNum--;
+ ledPC=false;
+ ComPC_Write(mess);
+ }
+ }
+}
+/************* END RS232 PC **************/
+
+void GetConfig()
+{
+
+#define CfgNumParam 6
+#define CfgSizeParam 50
+
+ pc.format(8,Serial::Even,1);
+ pc.baud(115200);
+ ConfigFile cfg;
+ LocalFileSystem local("local");
+
+ int i;
+ char value[CfgNumParam][CfgSizeParam];
+ char CfgK[CfgNumParam][CfgSizeParam]= {"InitialMessage","BaudRate","ChEnd","LOGPC","CAN1Freq","CAN2Freq"};
+
+ pc.printf("\r\n* * *\r\n* * *\r\n");
+
+ if (!cfg.read("/local/config.cfg")) {
+ error("\r\nFailure to read a configuration file");
+ }
+ char Tstr[10];
+ for (i=0; i<CfgNumParam; i++) {
+ if (cfg.getValue(CfgK[i], &value[i][0], sizeof(value[i]))) {
+ TLogSTR(Tstr);
+ pc.printf("CFG_Param(%s): '%s'='%s'\r\n", Tstr,CfgK[i], value[i]);
+ } else {
+ error("Failure Reading '%s'\r\n", CfgK[i]);
+ }
+ }
+ strcpy(InitialMessage,value[0]);
+ BaudRate=atoi(value[1]);
+ ChEnd=(char)atoi(value[2]);
+ LOGPC=(bool)atoi(value[3]);
+ CAN1Freq=atoi(value[4]);
+ CAN2Freq=atoi(value[5]);
+
+ TxBufferWait= 10000*MessSizePC/BaudRate;
+
+ pc.printf("* * *\r\n* * *\r\n");
+
+ while(!pc.txBufferEmpty()) {
+ Thread::wait(100);
+ };
+}
+
+int main()
+{
+
+ //char tempMessPC[MessSizePC];
+ PCMailNum=0;
+ GetConfig();
+
+ // ************ PC ^^^^^^^^^^^^^
+ pc.baud(BaudRate);
+ Thread ComPC_thread (ComPC_thread_proc,NULL,osPriorityBelowNormal);
+ pc.attach(&messageFromPC, MODSERIAL::RxAutoDetect);
+ pc.autoDetectChar(ChEnd);
+
+ // ************ PC_end ^^^^^^^^^^^^^
+
+ LoadPCMail(1,"");
+ LoadPCMail(1,"");
+ LoadPCMail(1,"");
+ LoadPCMail(1,"*****************************");
+ LoadPCMail(1,InitialMessage);
+ LoadPCMail(1,"*****************************");
+ LoadPCMail(1,"");
+ LoadPCMail(1,"");
+ LoadPCMail(1,"");
+
+ // ************ CAN1 ^^^^^^^^^^^
+ Thread CAN1_thread (CAN1_thread_proc,NULL,osPriorityNormal);
+ can1.frequency(CAN1Freq);
+ can1.attach(&messageFromCAN1);
+ // ************ CAN1_end ^^^^^^^
+
+ // ************ CAN2 ^^^^^^^^^^^
+ Thread CAN2_thread (CAN2_thread_proc,NULL,osPriorityNormal);
+ can2.frequency(CAN2Freq);
+ can2.attach(&messageFromCAN2);
+ // ************ CAN2_end ^^^^^^^
+
+ // ************ WD *************
+ wd.WatchdogCausedReset();
+ wd.Configure(5.0);
+ // ************ WD_end *********
+
+ // ************ Interrupts Freqs
+ F1.start();
+ F2.start();
+ F3.start();
+ Period1=0;
+ Period2=0;
+ Period3=0;
+
+ Freq1.rise(Freq1_Meas);
+ Freq2.rise(Freq2_Meas);
+ Freq3.rise(Freq3_Meas);
+
+ // ************ End Interrupts Freqs
+
+ while(true) {
+ //Thread::wait(osWaitForever);
+ wd.Service();
+ Thread::wait(1000);
+ }
+}