Diploma Thesis in Aerospace Engineering, January 2014

University of Applied Sciences Munich, Faculty 03

Electronics:

1x mbed NXP LPC 1768 Microcontroller
2x XBee S1 Radios + Sparkfun USB Adapter
1x CHR UM6-lt IMU
4x Graupner BEC 8 Motor Controllers
4x ROXXY 2826/09 Brushless Motors
1x Hacker TopFuel LiPo 1300mAh Battery
1x big Selfmade BreakOutBoard to connect all components
1x small BreakOutBoard to connect IMU

Hardware developed with Catia V5R20

Manufactoring Technology: Rapid Prototyping - EOS Formiga P110

Controlled via text based menu with DockLight

__________________

MODSERIAL/ChangeLog.c@0:1447d2f773db, 2014-07-09 (annotated)

Committer:: DimitriGruebel
Date:: Wed Jul 09 07:35:50 2014 +0000
Revision:: 0:1447d2f773db

Dynamics Test Platform

Who changed what in which revision?

User	Revision	Line number	New contents of line
DimitriGruebel	0:1447d2f773db	1	/* $Id:$
DimitriGruebel	0:1447d2f773db	2
DimitriGruebel	0:1447d2f773db	3	1.23 25th July 2012
DimitriGruebel	0:1447d2f773db	4
DimitriGruebel	0:1447d2f773db	5	* LPC1768 code as was. This release includes "alpha" support for the LPC11U24
DimitriGruebel	0:1447d2f773db	6
DimitriGruebel	0:1447d2f773db	7	1.22 19th April 2012
DimitriGruebel	0:1447d2f773db	8
DimitriGruebel	0:1447d2f773db	9	* http://mbed.org/forum/bugs-suggestions/topic/2936/
DimitriGruebel	0:1447d2f773db	10	* Bug fix, protect important buffer pointers from IRQ corruption.
DimitriGruebel	0:1447d2f773db	11	Credits:
DimitriGruebel	0:1447d2f773db	12	Anthony Wieser http://mbed.org/users/WieserSoftwareLtd/ for the fix.
DimitriGruebel	0:1447d2f773db	13	BlazeX http://mbed.org/users/BlazeX/ for the alert that a fix was needed!
DimitriGruebel	0:1447d2f773db	14
DimitriGruebel	0:1447d2f773db	15	1.21 10 May 2011
DimitriGruebel	0:1447d2f773db	16
DimitriGruebel	0:1447d2f773db	17	* http://mbed.org/forum/mbed/topic/2264
DimitriGruebel	0:1447d2f773db	18
DimitriGruebel	0:1447d2f773db	19	1.20 26 April 2011
DimitriGruebel	0:1447d2f773db	20
DimitriGruebel	0:1447d2f773db	21	* Bug fix, not blocking on transmit
DimitriGruebel	0:1447d2f773db	22	by Erik Petrich, http://mbed.org/forum/bugs-suggestions/topic/2200
DimitriGruebel	0:1447d2f773db	23
DimitriGruebel	0:1447d2f773db	24	1.19 20 April 2011
DimitriGruebel	0:1447d2f773db	25
DimitriGruebel	0:1447d2f773db	26	* Fixed some doxygen comment bugs.
DimitriGruebel	0:1447d2f773db	27
DimitriGruebel	0:1447d2f773db	28	1.18 20 April 2011
DimitriGruebel	0:1447d2f773db	29
DimitriGruebel	0:1447d2f773db	30	* All callbacks now use MODSERIAL_callback (rather than Mbed's FunctionPointer[1] type)
DimitriGruebel	0:1447d2f773db	31	to store and invoke it's callbacks. This allows MODSERIAL to pass a parameter
DimitriGruebel	0:1447d2f773db	32	to callbacks. The function prototype is now void func(MODSERIAL_IRQ_INFO *q).
DimitriGruebel	0:1447d2f773db	33	* Callbacks now pass a pointer to a MODSERIAL_IRQ_INFO class type.
DimitriGruebel	0:1447d2f773db	34	This class holds a pointer to the MODSERIAL object that invoked the callback
DimitriGruebel	0:1447d2f773db	35	thus freeing callbacks need to use the global variable of the original
DimitriGruebel	0:1447d2f773db	36	MODSERIAL instance.
DimitriGruebel	0:1447d2f773db	37	* MODSERIAL_IRQ_INFO also declares public functions that are protected within MODSERIAL
DimitriGruebel	0:1447d2f773db	38	thus allowing certain functions to be restricted to callback context only.
DimitriGruebel	0:1447d2f773db	39	* New function MODSERIAL_IRQ_INFO::rxDiscardLastChar() allows an rxCallback function
DimitriGruebel	0:1447d2f773db	40	to remove the character that was just placed into the RX buffer.
DimitriGruebel	0:1447d2f773db	41
DimitriGruebel	0:1447d2f773db	42	[1] http://mbed.org/users/AjK/libraries/FPointer/latest/docs/
DimitriGruebel	0:1447d2f773db	43
DimitriGruebel	0:1447d2f773db	44	1.17 08/Mar/2011
DimitriGruebel	0:1447d2f773db	45	Fixed a memory leak in the DMA code.
DimitriGruebel	0:1447d2f773db	46
DimitriGruebel	0:1447d2f773db	47	1.16 - 12 Feb 2011
DimitriGruebel	0:1447d2f773db	48
DimitriGruebel	0:1447d2f773db	49	* Missed one, doh!
DimitriGruebel	0:1447d2f773db	50
DimitriGruebel	0:1447d2f773db	51	1.15 - 12 Feb 2011
DimitriGruebel	0:1447d2f773db	52
DimitriGruebel	0:1447d2f773db	53	* Fixed some typos.
DimitriGruebel	0:1447d2f773db	54
DimitriGruebel	0:1447d2f773db	55	1.14 - 7 Feb 2011
DimitriGruebel	0:1447d2f773db	56
DimitriGruebel	0:1447d2f773db	57	* Fixed a bug in __putc() that caused the output buffer pointer to
DimitriGruebel	0:1447d2f773db	58	become corrupted.
DimitriGruebel	0:1447d2f773db	59
DimitriGruebel	0:1447d2f773db	60	1.13 - 20/01/2011
DimitriGruebel	0:1447d2f773db	61
DimitriGruebel	0:1447d2f773db	62	* Added extra documentation.
DimitriGruebel	0:1447d2f773db	63	* Fixed some typos.
DimitriGruebel	0:1447d2f773db	64
DimitriGruebel	0:1447d2f773db	65	1.12 - 20/01/2011
DimitriGruebel	0:1447d2f773db	66
DimitriGruebel	0:1447d2f773db	67	* Added new "autoDetectChar()" function. To use:-
DimitriGruebel	0:1447d2f773db	68	1st: Add a callback to invoke when the char is detected:-
DimitriGruebel	0:1447d2f773db	69	.attach(&detectedChar, MODSERIAL::RxAutoDetect);
DimitriGruebel	0:1447d2f773db	70	2nd: Send the char to detect.
DimitriGruebel	0:1447d2f773db	71	.autoDectectChar('\n');
DimitriGruebel	0:1447d2f773db	72	Whenever that char goes into the RX buffer your callback will be invoked.
DimitriGruebel	0:1447d2f773db	73	Added example2.cpp to demo a simple messaging system using this auto feature.
DimitriGruebel	0:1447d2f773db	74
DimitriGruebel	0:1447d2f773db	75
DimitriGruebel	0:1447d2f773db	76	1.11 - 23/11/2010
DimitriGruebel	0:1447d2f773db	77
DimitriGruebel	0:1447d2f773db	78	* Fixed a minor issue with 1.10 missed an alteration of name change.
DimitriGruebel	0:1447d2f773db	79
DimitriGruebel	0:1447d2f773db	80	1.10 - 23/11/2010
DimitriGruebel	0:1447d2f773db	81
DimitriGruebel	0:1447d2f773db	82	* Rename the DMA callback from attach_dma_complete() to attach_dmaSendComplete()
DimitriGruebel	0:1447d2f773db	83
DimitriGruebel	0:1447d2f773db	84	1.9 - 23/11/2010
DimitriGruebel	0:1447d2f773db	85
DimitriGruebel	0:1447d2f773db	86	* Added support for DMA sending of characters. Required is
DimitriGruebel	0:1447d2f773db	87	the MODDMA library module:-
DimitriGruebel	0:1447d2f773db	88	http://mbed.org/users/AjK/libraries/MODDMA/latest
DimitriGruebel	0:1447d2f773db	89	See example_dma.cpp for more information.
DimitriGruebel	0:1447d2f773db	90
DimitriGruebel	0:1447d2f773db	91	1.8 - 22/11/2010
DimitriGruebel	0:1447d2f773db	92
DimitriGruebel	0:1447d2f773db	93	* Added code so that if a buffer is set to zero length then
DimitriGruebel	0:1447d2f773db	94	MODSERIAL defaults to just using the FIFO for that stream
DimitriGruebel	0:1447d2f773db	95	thus making the library "fall back" to teh same operation
DimitriGruebel	0:1447d2f773db	96	that the Mbed Serial library performs.
DimitriGruebel	0:1447d2f773db	97	* Removed dmaSend() function that should have been removed
DimitriGruebel	0:1447d2f773db	98	at 1.7
DimitriGruebel	0:1447d2f773db	99
DimitriGruebel	0:1447d2f773db	100	1.7 - 21/11/2010
DimitriGruebel	0:1447d2f773db	101
DimitriGruebel	0:1447d2f773db	102	* Remove the DMA enum from MODSERIAL.h as it's not currently
DimitriGruebel	0:1447d2f773db	103	ready for release.
DimitriGruebel	0:1447d2f773db	104	* Added page doxygen comments.
DimitriGruebel	0:1447d2f773db	105
DimitriGruebel	0:1447d2f773db	106	1.6 - 21/11/2010
DimitriGruebel	0:1447d2f773db	107
DimitriGruebel	0:1447d2f773db	108	* Version 1.5 solved a blocking problem on putc() when called
DimitriGruebel	0:1447d2f773db	109	from another ISR. However, isr_tx() invokes a callback of it's
DimitriGruebel	0:1447d2f773db	110	own when a byte is tranferred from TX buffer to TX FIFO. User
DimitriGruebel	0:1447d2f773db	111	programs may interpret that as an IRQ callback. That's an ISR
DimitriGruebel	0:1447d2f773db	112	call from within an existing ISR which is not good. So the
DimitriGruebel	0:1447d2f773db	113	TxIrq callback from isr_tx is now conditional. It will only
DimitriGruebel	0:1447d2f773db	114	be called when isr_tx() is actually within it's own ISR and
DimitriGruebel	0:1447d2f773db	115	not when called from alternate ISR handlers.
DimitriGruebel	0:1447d2f773db	116
DimitriGruebel	0:1447d2f773db	117	1.5 - 21/11/2010
DimitriGruebel	0:1447d2f773db	118
DimitriGruebel	0:1447d2f773db	119	* Calling putc() (or any derived function that uses it like
DimitriGruebel	0:1447d2f773db	120	printf()) while inside an interrupt service routine can
DimitriGruebel	0:1447d2f773db	121	cause the system to lock up if the TX buffer is full. This
DimitriGruebel	0:1447d2f773db	122	is because bytes are only transferred from the TX buffer to
DimitriGruebel	0:1447d2f773db	123	the TX FIFO via the TX ISR. If we are, say in an RX ISR already,
DimitriGruebel	0:1447d2f773db	124	then the TX ISR will never trigger. The TX buffer stays full and
DimitriGruebel	0:1447d2f773db	125	there is never space to putc() the byte. So, while putc() blocks
DimitriGruebel	0:1447d2f773db	126	waiting for space it calls isr_tx() to ensure if TX FIFO space
DimitriGruebel	0:1447d2f773db	127	becomes available it will move bytes from the TX buffer to TX
DimitriGruebel	0:1447d2f773db	128	FIFO thus removing the blocking condition within putc().
DimitriGruebel	0:1447d2f773db	129
DimitriGruebel	0:1447d2f773db	130	1.4 - 21/11/2010
DimitriGruebel	0:1447d2f773db	131
DimitriGruebel	0:1447d2f773db	132	* Removed all the new DMA code. I wish mbed.org had proper SVN
DimitriGruebel	0:1447d2f773db	133	versioning, I'm use to working in HEAD and BRANCHES after I've
DimitriGruebel	0:1447d2f773db	134	released a project. Getting bug reports in current releases
DimitriGruebel	0:1447d2f773db	135	while trying to dev new code is hard to manage without source
DimitriGruebel	0:1447d2f773db	136	control of some type!
DimitriGruebel	0:1447d2f773db	137
DimitriGruebel	0:1447d2f773db	138	1.3 - 21/11/2010
DimitriGruebel	0:1447d2f773db	139
DimitriGruebel	0:1447d2f773db	140	* Fixed a macro problem with txIsBusy()
DimitriGruebel	0:1447d2f773db	141	* Started adding code to use "block data" sending using DMA
DimitriGruebel	0:1447d2f773db	142	* Removed #include "IOMACROS.h"
DimitriGruebel	0:1447d2f773db	143
DimitriGruebel	0:1447d2f773db	144	1.2 - 21/11/2010
DimitriGruebel	0:1447d2f773db	145
DimitriGruebel	0:1447d2f773db	146	* Removed unsed variables from flushBuffer()
DimitriGruebel	0:1447d2f773db	147	* Fixed a bug where both RX AND TX fifos are cleared/reset
DimitriGruebel	0:1447d2f773db	148	when just TX OR RX should be cleared.
DimitriGruebel	0:1447d2f773db	149	* Fixed a bug that cleared IIR when in fact it should be left
DimitriGruebel	0:1447d2f773db	150	alone so that any pending interrupt after flush is handled.
DimitriGruebel	0:1447d2f773db	151	* Merged setBase() into init() as it wasn't required anywhere else.
DimitriGruebel	0:1447d2f773db	152	* Changed init() to enforce _uidx is set by Serial to define the _base
DimitriGruebel	0:1447d2f773db	153	address of the Uart in use.
DimitriGruebel	0:1447d2f773db	154
DimitriGruebel	0:1447d2f773db	155	1.1 - 20/11/2010
DimitriGruebel	0:1447d2f773db	156
DimitriGruebel	0:1447d2f773db	157	* Added this file
DimitriGruebel	0:1447d2f773db	158	* Removed cruft from GETC.cpp
DimitriGruebel	0:1447d2f773db	159	* "teh" should be "the", why do my fingers do that?
DimitriGruebel	0:1447d2f773db	160
DimitriGruebel	0:1447d2f773db	161	1.0 - 20/11/2010
DimitriGruebel	0:1447d2f773db	162
DimitriGruebel	0:1447d2f773db	163	* First release.
DimitriGruebel	0:1447d2f773db	164
DimitriGruebel	0:1447d2f773db	165	*/