/* Round the heap up to the given alignment. */
void
round_heap (size_t align)
{
DWORD_PTR needs_to_be;
DWORD_PTR need_to_alloc;
needs_to_be = (DWORD_PTR) ROUND_UP (get_heap_end (), align);
need_to_alloc = needs_to_be - (DWORD_PTR) get_heap_end ();
if (need_to_alloc)
sbrk (need_to_alloc);
}
/* Round the heap up to the given alignment. */
void
round_heap (unsigned long align)
{
unsigned long needs_to_be;
unsigned long need_to_alloc;
needs_to_be = (unsigned long) ROUND_UP (get_heap_end (), align);
need_to_alloc = needs_to_be - (unsigned long) get_heap_end ();
if (need_to_alloc)
sbrk (need_to_alloc);
}
void OpenOBC::mainloop()
{
printf("stack: 0x%lx heap: 0x%lx free: %li\r\n", get_stack_top(), get_heap_end(), get_mem_free());
printf("starting mainloop...\r\n");
wdt.start(5);
Timer coolantTemperatureTimer(interruptManager);
Timer displayRefreshTimer(interruptManager);
while(1)
{
wdt.feed();
if(!disableComms)
{
if(coolantTemperatureTimer.read_ms() >= 1000)
{
coolantTemperatureTimer.start();
coolantTemperature = kombi->getCoolantTemperature();
}
}
else
{
coolantTemperature = 0;
}
ui->task();
ccm->task();
diag->task();
callback->task();
// if(displayRefreshTimer.read_ms() >= 100)
if(0)
{
displayRefreshTimer.start();
if(*stalkButton)
lcd->printfClock(" :D");
else
{
if(clockDisplayMode == CLOCKDISPLAY_CLOCK)
{
lcd->printfClock("%02i%02i", rtc->getHour(), rtc->getMinute());
}
else if(clockDisplayMode == CLOCKDISPLAY_DATE)
{
lcd->printfClock("%02i%02i", rtc->getMonth(), rtc->getDay());
}
}
if(0)
switch(displayMode)
{
case DISPLAY_CALIBRATE:
{
lcd->printf("set %.2fV", batteryVoltage->read());
break;
}
case DISPLAY_CLOCKSET:
{
lcd->printf("set clock");
break;
}
case DISPLAY_DATESET:
{
lcd->printf("set date %4i", rtc->getYear());
break;
}
default:
{
lcd->printf("invalid displayMode");
break;
}
}
}
if(doQuery)
{
printf("querying...\r\n");
zke->query();
srs->query();
ihkr->query();
kombi->query();
mk4->query();
printf("finished querying\r\n");
doQuery = false;
}
if(doUnlock)
{
printf("doing unlock\r\n");
zke->unlock();
printf("done\r\n");
doUnlock = false;
}
if(doLock)
{
printf("doing lock\r\n");
zke->lock();
printf("done\r\n");
doLock = false;
}
static Timer sleepTimer;
if(!doSleep)
{
sleepTimer.start();
}
else
{
if(sleepTimer.read_ms() >= 1000)
{
// while(doSleep)
sleep();
wake();
}
}
}
}
OpenOBC::OpenOBC() : displayMode(reinterpret_cast<volatile DisplayMode_Type&>(LPC_RTC->GPREG0)), averageLitresPer100km(reinterpret_cast<volatile float&>(LPC_RTC->GPREG1)), averageFuelConsumptionSeconds(reinterpret_cast<volatile uint32_t&>(LPC_RTC->GPREG2))
{
wdt.start(10);
GPIO_IntDisable(0, 0xffffffff, 0);
GPIO_IntDisable(0, 0xffffffff, 1);
GPIO_IntDisable(2, 0xffffffff, 0);
GPIO_IntDisable(2, 0xffffffff, 1);
//enable bus, usage, and memmanage faults
SCB->SHCSR |= (1<<18) | (1<<17) | (1<<16);
idle = new IO(2, 0, true);
isr = new IO(2, 1, true);
obcS = this;
doHardwareTest = false;
callback = new Callback();
// callback->addCallback(this, &OpenOBC::buttonMemo, 10000);
__enable_irq();
SysTick_Config(SystemCoreClock/1000 - 1); //interrupt period 1ms
debug = new Debug(DEBUG_TX_PORTNUM, DEBUG_TX_PINNUM, DEBUG_RX_PORTNUM, DEBUG_RX_PINNUM, DEBUG_BAUD, &interruptManager); debugS = debug;
// printf("-"); fflush(stdout); delay(250); printf("-"); fflush(stdout); delay(250); printf("-"); fflush(stdout); delay(250); printf(">\r\n"); delay(250);
printf("--->\r\n");
printf("clock speed: %i MHz\r\n", SystemCoreClock / 1000000);
printf("stack: 0x%lx heap: 0x%lx free: %li\r\n", get_stack_top(), get_heap_end(), get_mem_free());
vrefEn = new IO(VREF_EN_PORT, VREF_EN_PIN, true, false);
//spi coniguration
spi0 = new SPI(SPI0_MOSI_PORT, SPI0_MOSI_PIN, SPI0_MISO_PORT, SPI0_MISO_PIN, SPI0_SCK_PORT, SPI0_SCK_PIN);
spi1 = new SPI(SPI1_MOSI_PORT, SPI1_MOSI_PIN, SPI1_MISO_PORT, SPI1_MISO_PIN, SPI1_SCK_PORT, SPI1_SCK_PIN);
//i2c configuration
i2c0 = new I2C(I2C0_SDA_PORT, I2C0_SDA_PIN, I2C0_SCL_PORT, I2C0_SCL_PIN);
i2c1 = new I2C(I2C1_SDA_PORT, I2C1_SDA_PIN, I2C1_SCL_PORT, I2C1_SCL_PIN);
//i/o expander configuration
Input* io0Interrupt = new Input(PCA95XX_INTERRUPT_PORT, PCA95XX_INTERRUPT_PIN);
io = new PCA95xx(*i2c0, PCA95XX_ADDRESS, *io0Interrupt, 400000);
codeLed = new PCA95xxPin(*io, CODE_LED_PORT, CODE_LED_PIN, true);
limitLed = new PCA95xxPin(*io, LIMIT_LED_PORT, LIMIT_LED_PIN, true);
timerLed = new PCA95xxPin(*io, TIMER_LED_PORT, TIMER_LED_PIN, true);
ccmLight = new PCA95xxPin(*io, CCM_LIGHT_PORT, CCM_LIGHT_PIN, true);
chime0 = new PCA95xxPin(*io, CHIME0_PORT, CHIME0_PIN, true);
chime1 = new PCA95xxPin(*io, CHIME1_PORT, CHIME1_PIN, true);
ventilation = new PCA95xxPin(*io, VENTILATION_PORT, VENTILATION_PIN, true);
antitheftHorn = new PCA95xxPin(*io, ANTITHEFT_HORN_PORT, ANTITHEFT_HORN_PIN, true);
ews = new PCA95xxPin(*io, EWS_PORT, EWS_PIN, true);
out0 = new PCA95xxPin(*io, OUT0_PORT, OUT0_PIN, true);
out1 = new PCA95xxPin(*io, OUT1_PORT, OUT1_PIN, true);
out2 = new PCA95xxPin(*io, OUT2_PORT, OUT2_PIN, true);
out3 = new PCA95xxPin(*io, OUT3_PORT, OUT3_PIN, true);
io0 = new PCA95xxPin(*io, IO0_PORT, IO0_PIN, false);
io1 = new PCA95xxPin(*io, IO1_PORT, IO1_PIN, false);
//lcd configuration
lcdBiasEn = new PCA95xxPin(*io, LCD_BIAS_EN_PORT, LCD_BIAS_EN_PIN, true);
lcdReset = new IO(LCD_RESET_PORT, LCD_RESET_PIN, false);
// IO lcdBias(LCD_BIASCLOCK_PORT, LCD_BIASCLOCK_PIN, true);
lcdBiasClock = new PWM(LCD_BIASCLOCK_PORT, LCD_BIASCLOCK_PIN, .99);
IO* lcdSel = new IO(LCD_SELECT_PORT, LCD_SELECT_PIN, true);
IO* lcdRefresh = new IO(LCD_REFRESH_PORT, LCD_REFRESH_PIN, false);
IO* lcdUnk0 = new IO(LCD_UNK0_PORT, LCD_UNK0_PIN, true);
IO* lcdUnk1 = new IO(LCD_UNK1_PORT, LCD_UNK1_PIN, false);
lcd = new ObcLcd(*spi1, *lcdSel, *lcdRefresh, *lcdUnk0, *lcdUnk1);
*lcdReset = true;
*lcdBiasEn = true;
//backlight configuration
lcdLight = new IO(LCD_BACKLIGHT_PORT, LCD_BACKLIGHT_PIN, true);
clockLight = new IO(CLOCK_BACKLIGHT_PORT, CLOCK_BACKLIGHT_PIN, true);
auxLight = new IO(AUX_BACKLIGHT_PORT, AUX_BACKLIGHT_PIN, true);
keypadLight = new IO(KEYPAD_BACKLIGHT_PORT, KEYPAD_BACKLIGHT_PIN, true);
// lcdBacklight = new PWM(LCD_BACKLIGHT_PORT, LCD_BACKLIGHT_PIN, .2);
// clockBacklight = new PWM(CLOCK_BACKLIGHT_PORT, CLOCK_BACKLIGHT_PIN);
printf("openOBC firmware version: %s\r\n", GIT_VERSION);
//config file configuration
IO* sdcardCs = new IO(SDCARD_CS_PORT, SDCARD_CS_PIN);
sd = new SDFS(*spi1, *sdcardCs);
sd->mount("sd");
config = new ConfigFile("/sd/openobc.cfg");
//parse the config file; create one with default parameters if it doesn't exist
if(config->readConfig() < 0)
{
int32_t result = config->writeConfig();
if(result >= 0)
{
DEBUG("created new config file: %s\r\n", config->getFilename().c_str());
}
else
{
DEBUG("couldn't open file for writing: %s\r\n", config->getFilename().c_str());
}
}
ObcBootupText::mode mode;
std::string bootupTextMode = config->getValueByNameWithDefault("BootupTextMode", "GitHash");
std::string bootupText;
std::string customBootupText = config->getValueByNameWithDefault("CustomBootupText", "openOBC");
uint bootupDelay = atoi(config->getValueByNameWithDefault("BootupDelay", "800").c_str());
if(bootupTextMode == "GitHash")
{
mode = ObcBootupText::GitHash;
bootupText = "openOBC " GIT_VERSION;
lcd->printfClock("%s", GIT_TAG);
}
else if(bootupTextMode == "Custom")
{
mode = ObcBootupText::Custom;
bootupText = customBootupText;
}
else if(bootupTextMode == "None")
{
mode = ObcBootupText::None;
bootupText = "";
}
lcd->printf("%s", bootupText.c_str());
ccmLight->on();
codeLed->on();
limitLed->on();
timerLed->on();
delay(bootupDelay);
if(config->getValueByNameWithDefault("LogConsoleToFile", "no") == "yes")
freopen("/sd/stdout.log", "a", stdout);
//default config file parameters
if(config->getValueByName("DefaultDisplayMode") == "")
config->setValueByName("DefaultDisplayMode", "DISPLAY_LAST_DISPLAYMODE");
if(config->getValueByName("BatteryVoltageCalibration") == "")
config->setValueByName("BatteryVoltageCalibration", "1.0000");
//default display mode configuration
std::string defaultDisplayModeString = config->getValueByName("DefaultDisplayMode");
if(defaultDisplayModeString == "DISPLAY_LAST_DISPLAYMODE")
displayMode = displayMode;
else if(defaultDisplayModeString == "DISPLAY_CHECK")
displayMode = DISPLAY_CHECK;
else if(defaultDisplayModeString == "DISPLAY_CONSUM1")
displayMode = DISPLAY_CONSUM1;
else if(defaultDisplayModeString == "DISPLAY_CONSUM2")
displayMode = DISPLAY_CONSUM2;
else if(defaultDisplayModeString == "DISPLAY_CONSUM3")
displayMode = DISPLAY_CONSUM3;
else if(defaultDisplayModeString == "DISPLAY_CONSUM4")
displayMode = DISPLAY_CONSUM4;
else if(defaultDisplayModeString == "DISPLAY_FREEMEM")
displayMode = DISPLAY_FREEMEM;
else if(defaultDisplayModeString == "DISPLAY_RANGE1")
displayMode = DISPLAY_RANGE1;
else if(defaultDisplayModeString == "DISPLAY_RANGE2")
displayMode = DISPLAY_RANGE2;
else if(defaultDisplayModeString == "DISPLAY_ACCELEROMETER")
displayMode = DISPLAY_ACCELEROMETER;
else if(defaultDisplayModeString == "DISPLAY_OPENOBC")
displayMode = DISPLAY_OPENOBC;
else if(defaultDisplayModeString == "DISPLAY_SPEED")
displayMode = DISPLAY_SPEED;
else if(defaultDisplayModeString == "DISPLAY_TEMP")
displayMode = DISPLAY_TEMP;
else if(defaultDisplayModeString == "DISPLAY_VOLTAGE")
displayMode = DISPLAY_VOLTAGE;
else
displayMode = DISPLAY_OPENOBC;
clockDisplayMode = CLOCKDISPLAY_CLOCK;
batteryVoltageCalibration = atof(config->getValueByName("BatteryVoltageCalibration").c_str());
//rtc configuration
rtc = new RTC(); rtcS = rtc;
RTC_TIME_Type settime;
settime.YEAR = 2012;
settime.MONTH = 9;
settime.DOM = 20;
settime.HOUR = 20;
settime.MIN = 29;
settime.SEC = 0;
// rtc->setTime(&settime);
//accelerometer configuration
Input* accelInterrupt = new Input(ACCEL_INTERRUPT_PORT, ACCEL_INTERRUPT_PIN);
accel = new MMA845x(*i2c0, ACCEL_ADDRESS, *accelInterrupt, interruptManager);
//ccm configuration
Input* ccmData = new Input(CCM_DATA_PORT, CCM_DATA_PIN);
IO* ccmClock = new IO(CCM_CLOCK_PORT, CCM_CLOCK_PIN);
IO* ccmLatch = new IO(CCM_LATCH_PORT, CCM_LATCH_PIN);
uint8_t ccmDisableMask = strtoul(config->getValueByNameWithDefault("ObcCheckDisableMask", "0x%02x", DEFAULT_CCM_DISABLE_MASK).c_str(), NULL, 0);
uint8_t ccmInvertMask = strtoul(config->getValueByNameWithDefault("ObcCheckInvertMask", "0x%02x", DEFAULT_CCM_INVERT_MASK).c_str(), NULL, 0);
ccm = new CheckControlModule(*ccmData, *ccmClock, *ccmLatch, ccmDisableMask, ccmInvertMask);
//fuel level configuration
Input* fuelLevelInput = new Input(FUEL_LEVEL_PORT, FUEL_LEVEL_PIN);
fuelLevel = new FuelLevel(*fuelLevelInput, interruptManager);
//stalk button configuration
stalkButton = new Input(STALK_BUTTON_PORT, STALK_BUTTON_PIN, false);
//brake switch configuration
brakeSwitch = new Input(BRAKE_SWITCH_PORT, BRAKE_SWITCH_PIN);
brakeCheck = new Input(BRAKE_CHECK_PORT, BRAKE_CHECK_PIN);
//illumination input configuration
illumination = new Input(ILLUMINATION_PORT, ILLUMINATION_PIN);
//ambient light input configuration
ambientLight = new Input(AMBIENT_LIGHT_PORT, AMBIENT_LIGHT_PIN);
//diagnostics interface configuration
klWake = new IO(KL_WAKE_PORT, KL_WAKE_PIN, true);
kline = new Uart(KLINE_TX_PORTNUM, KLINE_TX_PINNUM, KLINE_RX_PORTNUM, KLINE_RX_PINNUM, KLINE_BAUD, UART_PARITY_EVEN, &interruptManager);
lline = new Uart(LLINE_TX_PORTNUM, LLINE_TX_PINNUM, LLINE_RX_PORTNUM, LLINE_RX_PINNUM, LLINE_BAUD, UART_PARITY_EVEN, &interruptManager);
DS2Bus* k = new Bus(*kline);
DS2Bus* l = new Bus(*lline);
diag = new DS2(*k, *l);
disableComms = false;
// while(1)
// {
// int length = (rand() % 15) + 1;
// uint8_t* data = new uint8_t[length];
// uint32_t r = rand();
// for(int i = 0; i < length; i++)
// data[i] = r >> (i*2);
// DS2Packet packet(0x55, data, length, DS2_16BIT);
// delete[] data;
// k->write(packet.getRawPacket(), packet.getPacketLength());
// // diag->query(packet, DS2_K);
// delay(200);
// }
zke = new E36ZKE4(*diag);
srs = new E36SRS(*diag);
ihkr = new E36IHKR(*diag);
kombi = new E36Kombi(*diag);
mk4 = new E36MK4(*diag);
//ignition/run/on input configuration
run = new Input(RUN_PORT, RUN_PIN);
PINSEL_CFG_Type pincfg;
pincfg.Funcnum = PINSEL_FUNC_1;
pincfg.OpenDrain = PINSEL_PINMODE_NORMAL;
pincfg.Pinmode = PINSEL_PINMODE_TRISTATE;
pincfg.Portnum = RUN_PORT;
pincfg.Pinnum = RUN_PIN;
interruptManager.attach(IRQ_EINT1, &runHandler); //do this first...
PINSEL_ConfigPin(&pincfg); //because this immediately triggers an unwanted interrupt
EXTI_Init();
EXTI_InitTypeDef EXTICfg;
EXTICfg.EXTI_Line = EXTI_EINT1;
EXTICfg.EXTI_Mode = EXTI_MODE_EDGE_SENSITIVE;
EXTICfg.EXTI_polarity = EXTI_POLARITY_HIGH_ACTIVE_OR_RISING_EDGE;
EXTI_ClearEXTIFlag(EXTI_EINT1);
EXTI_Config(&EXTICfg);
NVIC_SetPriorityGrouping(4);
NVIC_SetPriority(EINT1_IRQn, 0);
NVIC_EnableIRQ(EINT1_IRQn);
//fuel consumption configuration
Input* fuelConsInput = new Input(FUEL_CONS_PORT, FUEL_CONS_PIN);
fuelConsInput->setPullup();
fuelCons = new FuelConsumption(*fuelConsInput, interruptManager);
//speed configuration
Input* speedPin = new Input(SPEED_PORT, SPEED_PIN);
// speedPin->setPullup(); //for bench use only
speed = new SpeedInput(*speedPin, interruptManager);
//sd card configuration
sdcardDetect = new Input(SDCARD_DETECT_PORT, SDCARD_DETECT_PIN, false);
sdcardDetect->setPullup();
//keypad configuration
IO* x0 = new IO(1, 20);
IO* x1 = new IO(1, 21);
IO* x2 = new IO(1, 22);
IO* x3 = new IO(1, 25);
IO* x4 = new IO(1, 27);
Input* y0 = new Input(0, 0);
Input* y1 = new Input(0, 1);
Input* y2 = new Input(0, 10);
Input* y3 = new Input(0, 11);
keypad = new ObcKeypad(*x0, *x1, *x2, *x3, *x4, *y0, *y1, *y2, *y3, interruptManager);
keypad->attach(BUTTON_1000, this, &OpenOBC::button1000);
keypad->attach(BUTTON_100, this, &OpenOBC::button100);
keypad->attach(BUTTON_10, this, &OpenOBC::button10);
keypad->attach(BUTTON_1, this, &OpenOBC::button1);
//analog input configuration
batteryVoltage = new AnalogIn(BATTERY_VOLTAGE_PORT, BATTERY_VOLTAGE_PIN, REFERENCE_VOLTAGE, (10.0 + 1.0) / 1.0 * REFERENCE_VOLTAGE, atof(config->getValueByName("BatteryVoltageCalibration").c_str()));
temperature = new AnalogIn(EXT_TEMP_PORT,EXT_TEMP_PIN, REFERENCE_VOLTAGE);
analogIn1 = new AnalogIn(ANALOG_IN1_PORT, ANALOG_IN1_PIN, REFERENCE_VOLTAGE);
analogIn2 = new AnalogIn(ANALOG_IN2_PORT, ANALOG_IN2_PIN, REFERENCE_VOLTAGE);
vstart = new AnalogIn(VSTART_PORT, VSTART_PIN, REFERENCE_VOLTAGE, (10.0 + 1.0) / 1.0 * REFERENCE_VOLTAGE);
//analog output configuration
analogOut = new AnalogOut(ANALOG_OUT_PORT, ANALOG_OUT_PIN, REFERENCE_VOLTAGE);
analogOut->writeVoltage(1.0);
// averageFuelConsumptionSeconds = 0;
// averageLitresPer100km = 0;
debug->attach(this, &OpenOBC::uartHandler);
if(wdt.wasReset())
{
printf("WATCHDOG RESET\r\n");
lcd->printfClock("!!!!");
Timer flashTimer;
while((keypad->getKeys() & BUTTON_SET_MASK) != BUTTON_SET_MASK)
{
if(flashTimer.read_ms() <= 1500)
{
lcd->printf("WATCHDOG RESET");
}
else if(flashTimer.read_ms() <= 3000)
{
lcd->printf("push SET to continue");
}
else
{
flashTimer.start();
}
wdt.feed();
}
lcd->clear();
lcd->clearClock();
}
coolantTemperature = 0;
ui = new ObcUI(*lcd, *keypad, *config);
keypad->attachRaw(ui, &ObcUI::handleButtonEvent);
ui->addTask(new ObcClock(*this));
ui->addTask(new ObcOdometer(*this));
ui->addTask(new ObcSpeed(*this));
ui->addTask(new ObcMemo(*this));
ui->addTask(new ObcTemp(*this));
ui->addTask(new ObcCheck(*this));
ui->addTask(new ObcLimit(*this));
ui->addTask(new ObcConsum(*this));
ui->addTask(new ObcDist(*this));
ui->addTask(new ObcRange(*this));
ui->addTask(new ObcTimer(*this));
ui->addTask(new ObcKmmls(*this));
ui->addTask(new ObcCode(*this));
ui->wake();
lcd->printf("");
lcd->printfClock("");
ccmLight->off();
codeLed->off();
limitLed->off();
timerLed->off();
// if(keypad->getKeys() == (BUTTON_1000_MASK | BUTTON_10_MASK))
// if(*stalkButton)
if(doHardwareTest)
hardwareTest();
doSleepCheck = true;
}