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/MODSERIAL.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	@file MODSERIAL.h
DimitriGruebel	0:1447d2f773db	23	@purpose Extends Serial to provide fully buffered IO
DimitriGruebel	0:1447d2f773db	24	@version 1.6
DimitriGruebel	0:1447d2f773db	25	@date Nov 2010
DimitriGruebel	0:1447d2f773db	26	@author Andy Kirkham
DimitriGruebel	0:1447d2f773db	27	*/
DimitriGruebel	0:1447d2f773db	28
DimitriGruebel	0:1447d2f773db	29	#include "MODSERIAL.h"
DimitriGruebel	0:1447d2f773db	30	#include "MACROS.h"
DimitriGruebel	0:1447d2f773db	31
DimitriGruebel	0:1447d2f773db	32	namespace AjK {
DimitriGruebel	0:1447d2f773db	33
DimitriGruebel	0:1447d2f773db	34	MODSERIAL::MODSERIAL( PinName tx, PinName rx, const char *name ) : Serial( tx, rx, name )
DimitriGruebel	0:1447d2f773db	35	{
DimitriGruebel	0:1447d2f773db	36	init( MODSERIAL_DEFAULT_TX_BUFFER_SIZE, MODSERIAL_DEFAULT_RX_BUFFER_SIZE );
DimitriGruebel	0:1447d2f773db	37	}
DimitriGruebel	0:1447d2f773db	38
DimitriGruebel	0:1447d2f773db	39	MODSERIAL::MODSERIAL( PinName tx, PinName rx, int bufferSize, const char *name ) : Serial( tx, rx, name )
DimitriGruebel	0:1447d2f773db	40	{
DimitriGruebel	0:1447d2f773db	41	init( bufferSize, bufferSize );
DimitriGruebel	0:1447d2f773db	42	}
DimitriGruebel	0:1447d2f773db	43
DimitriGruebel	0:1447d2f773db	44	MODSERIAL::MODSERIAL( PinName tx, PinName rx, int txSize, int rxSize, const char *name ) : Serial( tx, rx, name )
DimitriGruebel	0:1447d2f773db	45	{
DimitriGruebel	0:1447d2f773db	46	init( txSize, rxSize );
DimitriGruebel	0:1447d2f773db	47	}
DimitriGruebel	0:1447d2f773db	48
DimitriGruebel	0:1447d2f773db	49	MODSERIAL::~MODSERIAL()
DimitriGruebel	0:1447d2f773db	50	{
DimitriGruebel	0:1447d2f773db	51	disableIrq();
DimitriGruebel	0:1447d2f773db	52	if ( buffer[0] != NULL) free((char *)buffer[0] );
DimitriGruebel	0:1447d2f773db	53	if ( buffer[1] != NULL) free((char *)buffer[1] );
DimitriGruebel	0:1447d2f773db	54	}
DimitriGruebel	0:1447d2f773db	55
DimitriGruebel	0:1447d2f773db	56	bool
DimitriGruebel	0:1447d2f773db	57	MODSERIAL::txBufferFull( void )
DimitriGruebel	0:1447d2f773db	58	{
DimitriGruebel	0:1447d2f773db	59	return MODSERIAL_TX_BUFFER_FULL;
DimitriGruebel	0:1447d2f773db	60	}
DimitriGruebel	0:1447d2f773db	61
DimitriGruebel	0:1447d2f773db	62	bool
DimitriGruebel	0:1447d2f773db	63	MODSERIAL::rxBufferFull( void )
DimitriGruebel	0:1447d2f773db	64	{
DimitriGruebel	0:1447d2f773db	65	return MODSERIAL_RX_BUFFER_FULL;
DimitriGruebel	0:1447d2f773db	66	}
DimitriGruebel	0:1447d2f773db	67
DimitriGruebel	0:1447d2f773db	68	bool
DimitriGruebel	0:1447d2f773db	69	MODSERIAL::txBufferEmpty( void )
DimitriGruebel	0:1447d2f773db	70	{
DimitriGruebel	0:1447d2f773db	71	return MODSERIAL_TX_BUFFER_EMPTY;
DimitriGruebel	0:1447d2f773db	72	}
DimitriGruebel	0:1447d2f773db	73
DimitriGruebel	0:1447d2f773db	74	bool
DimitriGruebel	0:1447d2f773db	75	MODSERIAL::rxBufferEmpty( void )
DimitriGruebel	0:1447d2f773db	76	{
DimitriGruebel	0:1447d2f773db	77	return MODSERIAL_RX_BUFFER_EMPTY;
DimitriGruebel	0:1447d2f773db	78	}
DimitriGruebel	0:1447d2f773db	79
DimitriGruebel	0:1447d2f773db	80	bool
DimitriGruebel	0:1447d2f773db	81	MODSERIAL::txIsBusy( void )
DimitriGruebel	0:1447d2f773db	82	{
DimitriGruebel	0:1447d2f773db	83	return ( _LSR & ( 3UL << 5 ) == 0 ) ? true : false;
DimitriGruebel	0:1447d2f773db	84	}
DimitriGruebel	0:1447d2f773db	85
DimitriGruebel	0:1447d2f773db	86	void
DimitriGruebel	0:1447d2f773db	87	MODSERIAL::disableIrq( void )
DimitriGruebel	0:1447d2f773db	88	{
DimitriGruebel	0:1447d2f773db	89
DimitriGruebel	0:1447d2f773db	90	#ifdef __LPC11UXX_H__
DimitriGruebel	0:1447d2f773db	91	NVIC_DisableIRQ( UART_IRQn );
DimitriGruebel	0:1447d2f773db	92	#else
DimitriGruebel	0:1447d2f773db	93	switch(_serial.index) {
DimitriGruebel	0:1447d2f773db	94	case 0: NVIC_DisableIRQ( UART0_IRQn ); break;
DimitriGruebel	0:1447d2f773db	95	case 1: NVIC_DisableIRQ( UART1_IRQn ); break;
DimitriGruebel	0:1447d2f773db	96	case 2: NVIC_DisableIRQ( UART2_IRQn ); break;
DimitriGruebel	0:1447d2f773db	97	case 3: NVIC_DisableIRQ( UART3_IRQn ); break;
DimitriGruebel	0:1447d2f773db	98	}
DimitriGruebel	0:1447d2f773db	99	#endif
DimitriGruebel	0:1447d2f773db	100	}
DimitriGruebel	0:1447d2f773db	101
DimitriGruebel	0:1447d2f773db	102	void
DimitriGruebel	0:1447d2f773db	103	MODSERIAL::enableIrq(void)
DimitriGruebel	0:1447d2f773db	104	{
DimitriGruebel	0:1447d2f773db	105	#ifdef __LPC11UXX_H__
DimitriGruebel	0:1447d2f773db	106	NVIC_EnableIRQ( UART_IRQn );
DimitriGruebel	0:1447d2f773db	107	#else
DimitriGruebel	0:1447d2f773db	108	switch( _serial.index ) {
DimitriGruebel	0:1447d2f773db	109	case 0: NVIC_EnableIRQ( UART0_IRQn ); break;
DimitriGruebel	0:1447d2f773db	110	case 1: NVIC_EnableIRQ( UART1_IRQn ); break;
DimitriGruebel	0:1447d2f773db	111	case 2: NVIC_EnableIRQ( UART2_IRQn ); break;
DimitriGruebel	0:1447d2f773db	112	case 3: NVIC_EnableIRQ( UART3_IRQn ); break;
DimitriGruebel	0:1447d2f773db	113	}
DimitriGruebel	0:1447d2f773db	114	#endif
DimitriGruebel	0:1447d2f773db	115	}
DimitriGruebel	0:1447d2f773db	116
DimitriGruebel	0:1447d2f773db	117	int
DimitriGruebel	0:1447d2f773db	118	MODSERIAL::rxDiscardLastChar( void )
DimitriGruebel	0:1447d2f773db	119	{
DimitriGruebel	0:1447d2f773db	120	// This function can only be called indirectly from
DimitriGruebel	0:1447d2f773db	121	// an rxCallback function. Therefore, we know we
DimitriGruebel	0:1447d2f773db	122	// just placed a char into the buffer.
DimitriGruebel	0:1447d2f773db	123	char c = buffer[RxIrq][buffer_in[RxIrq]];
DimitriGruebel	0:1447d2f773db	124
DimitriGruebel	0:1447d2f773db	125	if (buffer_count[RxIrq]) {
DimitriGruebel	0:1447d2f773db	126	buffer_count[RxIrq]--;
DimitriGruebel	0:1447d2f773db	127	buffer_in[RxIrq]--;
DimitriGruebel	0:1447d2f773db	128	if (buffer_in[RxIrq] < 0) {
DimitriGruebel	0:1447d2f773db	129	buffer_in[RxIrq] = buffer_size[RxIrq] - 1;
DimitriGruebel	0:1447d2f773db	130	}
DimitriGruebel	0:1447d2f773db	131	}
DimitriGruebel	0:1447d2f773db	132
DimitriGruebel	0:1447d2f773db	133	return (int)c;
DimitriGruebel	0:1447d2f773db	134	}
DimitriGruebel	0:1447d2f773db	135
DimitriGruebel	0:1447d2f773db	136
DimitriGruebel	0:1447d2f773db	137	}; // namespace AjK ends