Adam Wilcock / Mbed 2 deprecated IRIS_MBED

test

Dependencies:   MODDMA MODSERIAL mbed

Fork of IRIS_MBED by IRIS

main.cpp@0:2676c97df44e, 2015-03-15 (annotated)

Committer:
JonathanAshworth
Date:
Sun Mar 15 21:48:23 2015 +0000
Revision:
0:2676c97df44e
Child:
1:ccecc816c5e8
Interrupt driven. Passed pre-check testing using a terminal program but now requires pc:mbed testing.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JonathanAshworth 0:2676c97df44e 1 #include "mbed.h"
JonathanAshworth 0:2676c97df44e 2 #include "main.h"
JonathanAshworth 0:2676c97df44e 3 #include "RIT.h"
JonathanAshworth 0:2676c97df44e 4
JonathanAshworth 0:2676c97df44e 5 #define TIMEOUT_MESSAGE "MBED detected a timeout - eStop!\n\n\n\n"
JonathanAshworth 0:2676c97df44e 6 #define USB_BUFFER_SIZE 1024
JonathanAshworth 0:2676c97df44e 7
JonathanAshworth 0:2676c97df44e 8 Serial serial(USBTX, USBRX);
JonathanAshworth 0:2676c97df44e 9 Timer usbTimer;
JonathanAshworth 0:2676c97df44e 10 RIT usbRIT(100);
JonathanAshworth 0:2676c97df44e 11 Flags flags;
JonathanAshworth 0:2676c97df44e 12
JonathanAshworth 0:2676c97df44e 13 char txBuffer[USB_BUFFER_SIZE] = {0};
JonathanAshworth 0:2676c97df44e 14 char rxBuffer[USB_BUFFER_SIZE] = {0};
JonathanAshworth 0:2676c97df44e 15
JonathanAshworth 0:2676c97df44e 16 int main(void) {
JonathanAshworth 0:2676c97df44e 17
JonathanAshworth 0:2676c97df44e 18 flags.rxNewData = 0;
JonathanAshworth 0:2676c97df44e 19 flags.txSentData = 0;
JonathanAshworth 0:2676c97df44e 20 flags.usbTimeout = 0;
JonathanAshworth 0:2676c97df44e 21
JonathanAshworth 0:2676c97df44e 22 serial.baud(115200);
JonathanAshworth 0:2676c97df44e 23
JonathanAshworth 0:2676c97df44e 24 //NVIC_SetPriority(TIMER3_IRQn, 1);//priority 1
JonathanAshworth 0:2676c97df44e 25 //NVIC_SetPriority(USB_IRQn, 2);//priority 2
JonathanAshworth 0:2676c97df44e 26
JonathanAshworth 0:2676c97df44e 27 NVIC_SetPriority( NonMaskableInt_IRQn, 100 );
JonathanAshworth 0:2676c97df44e 28 NVIC_SetPriority(MemoryManagement_IRQn, 100);
JonathanAshworth 0:2676c97df44e 29
JonathanAshworth 0:2676c97df44e 30 NVIC_SetPriority(BusFault_IRQn, 100);
JonathanAshworth 0:2676c97df44e 31 NVIC_SetPriority(UsageFault_IRQn, 100);
JonathanAshworth 0:2676c97df44e 32 NVIC_SetPriority(SVCall_IRQn, 100);
JonathanAshworth 0:2676c97df44e 33 NVIC_SetPriority(DebugMonitor_IRQn, 100);
JonathanAshworth 0:2676c97df44e 34 NVIC_SetPriority(PendSV_IRQn, 100);
JonathanAshworth 0:2676c97df44e 35 NVIC_SetPriority(SysTick_IRQn, 50);
JonathanAshworth 0:2676c97df44e 36 NVIC_SetPriority(WDT_IRQn, 100);
JonathanAshworth 0:2676c97df44e 37 NVIC_SetPriority(TIMER0_IRQn, 85);
JonathanAshworth 0:2676c97df44e 38 NVIC_SetPriority(TIMER1_IRQn, 85);
JonathanAshworth 0:2676c97df44e 39 NVIC_SetPriority(TIMER2_IRQn, 85);
JonathanAshworth 0:2676c97df44e 40 NVIC_SetPriority(TIMER3_IRQn, 85);
JonathanAshworth 0:2676c97df44e 41 NVIC_SetPriority(UART0_IRQn, 100);
JonathanAshworth 0:2676c97df44e 42 NVIC_SetPriority(UART1_IRQn, 100);
JonathanAshworth 0:2676c97df44e 43 NVIC_SetPriority(UART2_IRQn, 100);
JonathanAshworth 0:2676c97df44e 44 NVIC_SetPriority(UART3_IRQn, 100);
JonathanAshworth 0:2676c97df44e 45
JonathanAshworth 0:2676c97df44e 46 NVIC_SetPriority(PWM1_IRQn, 100);
JonathanAshworth 0:2676c97df44e 47 NVIC_SetPriority(I2C0_IRQn, 100);
JonathanAshworth 0:2676c97df44e 48 NVIC_SetPriority(I2C1_IRQn, 100);
JonathanAshworth 0:2676c97df44e 49 NVIC_SetPriority(I2C2_IRQn, 100);
JonathanAshworth 0:2676c97df44e 50 NVIC_SetPriority(SPI_IRQn, 100);
JonathanAshworth 0:2676c97df44e 51 NVIC_SetPriority(SSP0_IRQn, 100);
JonathanAshworth 0:2676c97df44e 52 NVIC_SetPriority(SSP1_IRQn, 100);
JonathanAshworth 0:2676c97df44e 53 NVIC_SetPriority(PLL0_IRQn, 100);
JonathanAshworth 0:2676c97df44e 54 NVIC_SetPriority(RTC_IRQn, 100);
JonathanAshworth 0:2676c97df44e 55 NVIC_SetPriority(EINT0_IRQn, 100);
JonathanAshworth 0:2676c97df44e 56 NVIC_SetPriority(EINT1_IRQn, 100);
JonathanAshworth 0:2676c97df44e 57
JonathanAshworth 0:2676c97df44e 58 NVIC_SetPriority(EINT2_IRQn, 100);
JonathanAshworth 0:2676c97df44e 59 NVIC_SetPriority(EINT3_IRQn, 100);
JonathanAshworth 0:2676c97df44e 60 NVIC_SetPriority(ADC_IRQn, 100);
JonathanAshworth 0:2676c97df44e 61 NVIC_SetPriority(BOD_IRQn, 100);
JonathanAshworth 0:2676c97df44e 62 NVIC_SetPriority(USB_IRQn, 100);
JonathanAshworth 0:2676c97df44e 63 NVIC_SetPriority(CAN_IRQn, 100);
JonathanAshworth 0:2676c97df44e 64 NVIC_SetPriority(DMA_IRQn, 100);
JonathanAshworth 0:2676c97df44e 65
JonathanAshworth 0:2676c97df44e 66 NVIC_SetPriority(I2S_IRQn, 100);
JonathanAshworth 0:2676c97df44e 67 NVIC_SetPriority(ENET_IRQn, 100);
JonathanAshworth 0:2676c97df44e 68 NVIC_SetPriority(RIT_IRQn, 1);
JonathanAshworth 0:2676c97df44e 69 NVIC_SetPriority(MCPWM_IRQn, 100);
JonathanAshworth 0:2676c97df44e 70 NVIC_SetPriority(QEI_IRQn, 100);
JonathanAshworth 0:2676c97df44e 71 NVIC_SetPriority(PLL1_IRQn, 100);
JonathanAshworth 0:2676c97df44e 72
JonathanAshworth 0:2676c97df44e 73 serial.attach(&serialRx_ISR, Serial::RxIrq);
JonathanAshworth 0:2676c97df44e 74 usbRIT.append(&usbTimer_ISR);
JonathanAshworth 0:2676c97df44e 75 usbRIT.disable();
JonathanAshworth 0:2676c97df44e 76
JonathanAshworth 0:2676c97df44e 77 char responseData[USB_BUFFER_SIZE] = {0};
JonathanAshworth 0:2676c97df44e 78 char requestData[USB_BUFFER_SIZE] = {0};
JonathanAshworth 0:2676c97df44e 79
JonathanAshworth 0:2676c97df44e 80 //LPC_TIMER3->;
JonathanAshworth 0:2676c97df44e 81
JonathanAshworth 0:2676c97df44e 82 //setup ISRs
JonathanAshworth 0:2676c97df44e 83
JonathanAshworth 0:2676c97df44e 84 while(1) {
JonathanAshworth 0:2676c97df44e 85 if (flags.usbTimeout) {
JonathanAshworth 0:2676c97df44e 86 usbTimeout();
JonathanAshworth 0:2676c97df44e 87 }
JonathanAshworth 0:2676c97df44e 88 if (flags.rxNewData) {
JonathanAshworth 0:2676c97df44e 89 memcpy(requestData, rxBuffer, USB_BUFFER_SIZE); //requestData = rxBuffer;
JonathanAshworth 0:2676c97df44e 90 memset(rxBuffer, 0, USB_BUFFER_SIZE); //reset rx buffer
JonathanAshworth 0:2676c97df44e 91
JonathanAshworth 0:2676c97df44e 92 //deconstruct and validate request
JonathanAshworth 0:2676c97df44e 93
JonathanAshworth 0:2676c97df44e 94 //construct response:
JonathanAshworth 0:2676c97df44e 95 memcpy(responseData, requestData, USB_BUFFER_SIZE); //just echo request back for now
JonathanAshworth 0:2676c97df44e 96
JonathanAshworth 0:2676c97df44e 97 memcpy(txBuffer, responseData, USB_BUFFER_SIZE); //txBuffer = responseData;
JonathanAshworth 0:2676c97df44e 98
JonathanAshworth 0:2676c97df44e 99 serialTx();
JonathanAshworth 0:2676c97df44e 100
JonathanAshworth 0:2676c97df44e 101 flags.rxNewData = 0;
JonathanAshworth 0:2676c97df44e 102 }
JonathanAshworth 0:2676c97df44e 103 }
JonathanAshworth 0:2676c97df44e 104 }
JonathanAshworth 0:2676c97df44e 105
JonathanAshworth 0:2676c97df44e 106 void serialTx (void) {
JonathanAshworth 0:2676c97df44e 107 __disable_irq();
JonathanAshworth 0:2676c97df44e 108 char buffPntr;
JonathanAshworth 0:2676c97df44e 109 bool terminated = 0;
JonathanAshworth 0:2676c97df44e 110 for(buffPntr=0; buffPntr<4; buffPntr++) {
JonathanAshworth 0:2676c97df44e 111 serial.putc(txBuffer[buffPntr]);
JonathanAshworth 0:2676c97df44e 112 }
JonathanAshworth 0:2676c97df44e 113 while ((!terminated)&&(buffPntr != USB_BUFFER_SIZE-1)) {
JonathanAshworth 0:2676c97df44e 114 if ((txBuffer[buffPntr-3] == 0x0A)&&(txBuffer[buffPntr-2] == 0x0A)&&(txBuffer[buffPntr-1] == 0x0A)&&(txBuffer[buffPntr] == 0x0A)) {
JonathanAshworth 0:2676c97df44e 115 terminated = 1;
JonathanAshworth 0:2676c97df44e 116 }
JonathanAshworth 0:2676c97df44e 117 else {
JonathanAshworth 0:2676c97df44e 118 serial.putc(txBuffer[buffPntr]);
JonathanAshworth 0:2676c97df44e 119 }
JonathanAshworth 0:2676c97df44e 120 buffPntr++;
JonathanAshworth 0:2676c97df44e 121 }
JonathanAshworth 0:2676c97df44e 122 //send data from tx buffer
JonathanAshworth 0:2676c97df44e 123 memset(txBuffer, 0, USB_BUFFER_SIZE); //reset tx buffer
JonathanAshworth 0:2676c97df44e 124 flags.txSentData = 1;
JonathanAshworth 0:2676c97df44e 125 __enable_irq();
JonathanAshworth 0:2676c97df44e 126 }
JonathanAshworth 0:2676c97df44e 127
JonathanAshworth 0:2676c97df44e 128 void usbTimeout(void) {
JonathanAshworth 0:2676c97df44e 129 memcpy(txBuffer, TIMEOUT_MESSAGE, USB_BUFFER_SIZE); //send eStop over usb serial
JonathanAshworth 0:2676c97df44e 130 serialTx();
JonathanAshworth 0:2676c97df44e 131 shutdown();
JonathanAshworth 0:2676c97df44e 132 __disable_irq();
JonathanAshworth 0:2676c97df44e 133 while(1) {;} //remain here until hardware reset
JonathanAshworth 0:2676c97df44e 134 }
JonathanAshworth 0:2676c97df44e 135
JonathanAshworth 0:2676c97df44e 136 void shutdown(void) {
JonathanAshworth 0:2676c97df44e 137 //turn off each peripheral safely
JonathanAshworth 0:2676c97df44e 138 }
JonathanAshworth 0:2676c97df44e 139
JonathanAshworth 0:2676c97df44e 140
JonathanAshworth 0:2676c97df44e 141 /**************** ISRs ****************/
JonathanAshworth 0:2676c97df44e 142
JonathanAshworth 0:2676c97df44e 143 void serialRx_ISR(void) {
JonathanAshworth 0:2676c97df44e 144 char buffPntr = 0;
JonathanAshworth 0:2676c97df44e 145 bool terminated = 0;
JonathanAshworth 0:2676c97df44e 146
JonathanAshworth 0:2676c97df44e 147 usbRIT.disable();
JonathanAshworth 0:2676c97df44e 148 usbTimer.stop();
JonathanAshworth 0:2676c97df44e 149 usbTimer.reset();
JonathanAshworth 0:2676c97df44e 150 usbTimer.start();
JonathanAshworth 0:2676c97df44e 151 usbRIT.enable();
JonathanAshworth 0:2676c97df44e 152 if (!flags.rxNewData) { //prevent too short windows
JonathanAshworth 0:2676c97df44e 153 while ((buffPntr != USB_BUFFER_SIZE-1)&&(!flags.usbTimeout)) {
JonathanAshworth 0:2676c97df44e 154 if (buffPntr >= 3) {
JonathanAshworth 0:2676c97df44e 155 if ((rxBuffer[buffPntr-3] == 0x0A)&&(rxBuffer[buffPntr-2] == 0x0A)&&(rxBuffer[buffPntr-1] == 0x0A)&&(rxBuffer[buffPntr] == 0x0A)) {
JonathanAshworth 0:2676c97df44e 156 terminated = 1;
JonathanAshworth 0:2676c97df44e 157 }
JonathanAshworth 0:2676c97df44e 158 }
JonathanAshworth 0:2676c97df44e 159 if (!terminated) {
JonathanAshworth 0:2676c97df44e 160 while((!serial.readable())&&(!flags.usbTimeout)) {;}
JonathanAshworth 0:2676c97df44e 161 if (serial.readable()) {
JonathanAshworth 0:2676c97df44e 162 rxBuffer[buffPntr] = serial.getc();//whenDataReady, insert into rx buffer
JonathanAshworth 0:2676c97df44e 163 }
JonathanAshworth 0:2676c97df44e 164 }
JonathanAshworth 0:2676c97df44e 165 else {
JonathanAshworth 0:2676c97df44e 166 rxBuffer[buffPntr] = 0;
JonathanAshworth 0:2676c97df44e 167 }
JonathanAshworth 0:2676c97df44e 168 buffPntr++;
JonathanAshworth 0:2676c97df44e 169 }
JonathanAshworth 0:2676c97df44e 170 if (!terminated) {
JonathanAshworth 0:2676c97df44e 171 flags.usbTimeout = 1; //no valid termination seen
JonathanAshworth 0:2676c97df44e 172 }
JonathanAshworth 0:2676c97df44e 173 else {
JonathanAshworth 0:2676c97df44e 174 flags.rxNewData = 1;
JonathanAshworth 0:2676c97df44e 175 }
JonathanAshworth 0:2676c97df44e 176 }
JonathanAshworth 0:2676c97df44e 177 else {
JonathanAshworth 0:2676c97df44e 178 flags.usbTimeout = 1; //received another window too early
JonathanAshworth 0:2676c97df44e 179 }
JonathanAshworth 0:2676c97df44e 180 flags.rxNewData = 1;
JonathanAshworth 0:2676c97df44e 181 }
JonathanAshworth 0:2676c97df44e 182
JonathanAshworth 0:2676c97df44e 183 void usbTimer_ISR(void) {
JonathanAshworth 0:2676c97df44e 184 usbRIT.disable();
JonathanAshworth 0:2676c97df44e 185 usbTimer.stop();
JonathanAshworth 0:2676c97df44e 186 if ((flags.rxNewData) && (flags.txSentData)) {
JonathanAshworth 0:2676c97df44e 187 usbTimer.reset();
JonathanAshworth 0:2676c97df44e 188 usbTimer.start();
JonathanAshworth 0:2676c97df44e 189 usbRIT.enable();
JonathanAshworth 0:2676c97df44e 190 flags.rxNewData = 0;
JonathanAshworth 0:2676c97df44e 191 flags.txSentData = 0;
JonathanAshworth 0:2676c97df44e 192 }
JonathanAshworth 0:2676c97df44e 193 else {
JonathanAshworth 0:2676c97df44e 194 flags.usbTimeout = 1;
JonathanAshworth 0:2676c97df44e 195 }
JonathanAshworth 0:2676c97df44e 196 }