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/PUTC.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	int
DimitriGruebel	0:1447d2f773db	29	MODSERIAL::__putc(int c, bool block) {
DimitriGruebel	0:1447d2f773db	30
DimitriGruebel	0:1447d2f773db	31	// If no buffer is in use fall back to standard TX FIFO usage.
DimitriGruebel	0:1447d2f773db	32	// Note, we must block in this case and ignore bool "block"
DimitriGruebel	0:1447d2f773db	33	// so as to maintain compat with Mbed Serial.
DimitriGruebel	0:1447d2f773db	34	if (buffer[TxIrq] == (char *)NULL \|\| buffer_size[TxIrq] == 0) {
DimitriGruebel	0:1447d2f773db	35	while (! MODSERIAL_THR_HAS_SPACE) ; // Wait for space in the TX FIFO.
DimitriGruebel	0:1447d2f773db	36	_THR = (uint32_t)c;
DimitriGruebel	0:1447d2f773db	37	return 0;
DimitriGruebel	0:1447d2f773db	38	}
DimitriGruebel	0:1447d2f773db	39
DimitriGruebel	0:1447d2f773db	40	if ( MODSERIAL_THR_HAS_SPACE && MODSERIAL_TX_BUFFER_EMPTY && dmaSendChannel == -1 ) {
DimitriGruebel	0:1447d2f773db	41	_THR = (uint32_t)c;
DimitriGruebel	0:1447d2f773db	42	}
DimitriGruebel	0:1447d2f773db	43	else {
DimitriGruebel	0:1447d2f773db	44	if (block) {
DimitriGruebel	0:1447d2f773db	45	uint32_t ier = _IER; _IER = 1;
DimitriGruebel	0:1447d2f773db	46	while ( MODSERIAL_TX_BUFFER_FULL ) { // Blocks!
DimitriGruebel	0:1447d2f773db	47	// If putc() is called from an ISR then we are stuffed
DimitriGruebel	0:1447d2f773db	48	// because in an ISR no bytes from the TX buffer will
DimitriGruebel	0:1447d2f773db	49	// get transferred to teh TX FIFOs while we block here.
DimitriGruebel	0:1447d2f773db	50	// So, to work around this, instead of sitting in a
DimitriGruebel	0:1447d2f773db	51	// loop waiting for space in the TX buffer (which will
DimitriGruebel	0:1447d2f773db	52	// never happen in IRQ context), check to see if the
DimitriGruebel	0:1447d2f773db	53	// TX FIFO has space available to move bytes from the
DimitriGruebel	0:1447d2f773db	54	// TX buffer to TX FIFO to make space. The easiest way
DimitriGruebel	0:1447d2f773db	55	// to do this is to poll the isr_tx() function while we
DimitriGruebel	0:1447d2f773db	56	// are blocking.
DimitriGruebel	0:1447d2f773db	57	isr_tx(false);
DimitriGruebel	0:1447d2f773db	58	}
DimitriGruebel	0:1447d2f773db	59	_IER = ier;
DimitriGruebel	0:1447d2f773db	60	}
DimitriGruebel	0:1447d2f773db	61	else if( MODSERIAL_TX_BUFFER_FULL ) {
DimitriGruebel	0:1447d2f773db	62	buffer_overflow[TxIrq] = c; // Oh dear, no room in buffer.
DimitriGruebel	0:1447d2f773db	63	_isr[TxOvIrq].call(&this->callbackInfo);
DimitriGruebel	0:1447d2f773db	64	return -1;
DimitriGruebel	0:1447d2f773db	65	}
DimitriGruebel	0:1447d2f773db	66	_IER &= ~2;
DimitriGruebel	0:1447d2f773db	67	buffer[TxIrq][buffer_in[TxIrq]] = c;
DimitriGruebel	0:1447d2f773db	68	__disable_irq();
DimitriGruebel	0:1447d2f773db	69	buffer_count[TxIrq]++;
DimitriGruebel	0:1447d2f773db	70	__enable_irq();
DimitriGruebel	0:1447d2f773db	71	buffer_in[TxIrq]++;
DimitriGruebel	0:1447d2f773db	72	if (buffer_in[TxIrq] >= buffer_size[TxIrq]) {
DimitriGruebel	0:1447d2f773db	73	buffer_in[TxIrq] = 0;
DimitriGruebel	0:1447d2f773db	74	}
DimitriGruebel	0:1447d2f773db	75	_IER \|= 2;
DimitriGruebel	0:1447d2f773db	76	}
DimitriGruebel	0:1447d2f773db	77
DimitriGruebel	0:1447d2f773db	78	return 0;
DimitriGruebel	0:1447d2f773db	79	}
DimitriGruebel	0:1447d2f773db	80
DimitriGruebel	0:1447d2f773db	81	}; // namespace AjK ends