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/INIT.cpp@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	/*
DimitriGruebel	0:1447d2f773db	2	Copyright (c) 2010 Andy Kirkham
DimitriGruebel	0:1447d2f773db	3
DimitriGruebel	0:1447d2f773db	4	Permission is hereby granted, free of charge, to any person obtaining a copy
DimitriGruebel	0:1447d2f773db	5	of this software and associated documentation files (the "Software"), to deal
DimitriGruebel	0:1447d2f773db	6	in the Software without restriction, including without limitation the rights
DimitriGruebel	0:1447d2f773db	7	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
DimitriGruebel	0:1447d2f773db	8	copies of the Software, and to permit persons to whom the Software is
DimitriGruebel	0:1447d2f773db	9	furnished to do so, subject to the following conditions:
DimitriGruebel	0:1447d2f773db	10
DimitriGruebel	0:1447d2f773db	11	The above copyright notice and this permission notice shall be included in
DimitriGruebel	0:1447d2f773db	12	all copies or substantial portions of the Software.
DimitriGruebel	0:1447d2f773db	13
DimitriGruebel	0:1447d2f773db	14	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
DimitriGruebel	0:1447d2f773db	15	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
DimitriGruebel	0:1447d2f773db	16	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
DimitriGruebel	0:1447d2f773db	17	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
DimitriGruebel	0:1447d2f773db	18	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
DimitriGruebel	0:1447d2f773db	19	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
DimitriGruebel	0:1447d2f773db	20	THE SOFTWARE.
DimitriGruebel	0:1447d2f773db	21	*/
DimitriGruebel	0:1447d2f773db	22
DimitriGruebel	0:1447d2f773db	23	#include "MODSERIAL.h"
DimitriGruebel	0:1447d2f773db	24	#include "MACROS.h"
DimitriGruebel	0:1447d2f773db	25
DimitriGruebel	0:1447d2f773db	26	namespace AjK {
DimitriGruebel	0:1447d2f773db	27
DimitriGruebel	0:1447d2f773db	28	void
DimitriGruebel	0:1447d2f773db	29	MODSERIAL::init( int txSize, int rxSize )
DimitriGruebel	0:1447d2f773db	30	{
DimitriGruebel	0:1447d2f773db	31	disableIrq();
DimitriGruebel	0:1447d2f773db	32
DimitriGruebel	0:1447d2f773db	33	callbackInfo.setSerial(this);
DimitriGruebel	0:1447d2f773db	34
DimitriGruebel	0:1447d2f773db	35	#ifdef __LPC11UXX_H__
DimitriGruebel	0:1447d2f773db	36
DimitriGruebel	0:1447d2f773db	37	_base = LPC_USART;
DimitriGruebel	0:1447d2f773db	38
DimitriGruebel	0:1447d2f773db	39	#else
DimitriGruebel	0:1447d2f773db	40	switch(_serial.index) {
DimitriGruebel	0:1447d2f773db	41	case 0: _base = LPC_UART0; break;
DimitriGruebel	0:1447d2f773db	42	case 1: _base = LPC_UART1; break;
DimitriGruebel	0:1447d2f773db	43	case 2: _base = LPC_UART2; break;
DimitriGruebel	0:1447d2f773db	44	case 3: _base = LPC_UART3; break;
DimitriGruebel	0:1447d2f773db	45	default : _base = NULL; break;
DimitriGruebel	0:1447d2f773db	46	}
DimitriGruebel	0:1447d2f773db	47	#endif
DimitriGruebel	0:1447d2f773db	48
DimitriGruebel	0:1447d2f773db	49	dmaSendChannel = -1;
DimitriGruebel	0:1447d2f773db	50	moddma_p = (void *)NULL;
DimitriGruebel	0:1447d2f773db	51
DimitriGruebel	0:1447d2f773db	52	if (_base != NULL) {
DimitriGruebel	0:1447d2f773db	53	buffer_size[RxIrq] = rxSize;
DimitriGruebel	0:1447d2f773db	54	buffer[RxIrq] = rxSize > 0 ? (char )malloc(buffer_size[RxIrq]) : (char )NULL;
DimitriGruebel	0:1447d2f773db	55	buffer_in[RxIrq] = 0;
DimitriGruebel	0:1447d2f773db	56	buffer_out[RxIrq] = 0;
DimitriGruebel	0:1447d2f773db	57	buffer_count[RxIrq] = 0;
DimitriGruebel	0:1447d2f773db	58	buffer_overflow[RxIrq] = 0;
DimitriGruebel	0:1447d2f773db	59	Serial::attach(this, &MODSERIAL::isr_rx, Serial::RxIrq);
DimitriGruebel	0:1447d2f773db	60
DimitriGruebel	0:1447d2f773db	61	buffer_size[TxIrq] = txSize;
DimitriGruebel	0:1447d2f773db	62	buffer[TxIrq] = txSize > 0 ? (char )malloc(buffer_size[TxIrq]) : (char )NULL;
DimitriGruebel	0:1447d2f773db	63	buffer_in[TxIrq] = 0;
DimitriGruebel	0:1447d2f773db	64	buffer_out[TxIrq] = 0;
DimitriGruebel	0:1447d2f773db	65	buffer_count[TxIrq] = 0;
DimitriGruebel	0:1447d2f773db	66	buffer_overflow[TxIrq] = 0;
DimitriGruebel	0:1447d2f773db	67	Serial::attach(this, &MODSERIAL::isr_tx, Serial::TxIrq);
DimitriGruebel	0:1447d2f773db	68	}
DimitriGruebel	0:1447d2f773db	69	else {
DimitriGruebel	0:1447d2f773db	70	error("MODSERIAL must have a defined UART to function.");
DimitriGruebel	0:1447d2f773db	71	}
DimitriGruebel	0:1447d2f773db	72
DimitriGruebel	0:1447d2f773db	73	_FCR = MODSERIAL_FIFO_ENABLE \| MODSERIAL_FIFO_RX_RESET \| MODSERIAL_FIFO_TX_RESET;
DimitriGruebel	0:1447d2f773db	74
DimitriGruebel	0:1447d2f773db	75	auto_detect_char = 0;
DimitriGruebel	0:1447d2f773db	76
DimitriGruebel	0:1447d2f773db	77	enableIrq();
DimitriGruebel	0:1447d2f773db	78	}
DimitriGruebel	0:1447d2f773db	79
DimitriGruebel	0:1447d2f773db	80	}; // namespace AjK ends