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/example1.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	#ifdef COMPILE_EXAMPLE1_CODE_MODSERIAL
DimitriGruebel	0:1447d2f773db	2
DimitriGruebel	0:1447d2f773db	3	/*
DimitriGruebel	0:1447d2f773db	4	* To run this test program, link p9 to p10 so the Serial loops
DimitriGruebel	0:1447d2f773db	5	* back and receives characters it sends.
DimitriGruebel	0:1447d2f773db	6	*/
DimitriGruebel	0:1447d2f773db	7
DimitriGruebel	0:1447d2f773db	8	#include "mbed.h"
DimitriGruebel	0:1447d2f773db	9	#include "MODSERIAL.h"
DimitriGruebel	0:1447d2f773db	10
DimitriGruebel	0:1447d2f773db	11	DigitalOut led1(LED1);
DimitriGruebel	0:1447d2f773db	12	DigitalOut led2(LED2);
DimitriGruebel	0:1447d2f773db	13	DigitalOut led3(LED3);
DimitriGruebel	0:1447d2f773db	14	DigitalOut led4(LED4);
DimitriGruebel	0:1447d2f773db	15
DimitriGruebel	0:1447d2f773db	16	MODSERIAL pc(USBTX, USBRX);
DimitriGruebel	0:1447d2f773db	17
DimitriGruebel	0:1447d2f773db	18	/*
DimitriGruebel	0:1447d2f773db	19	* As experiement, you can define MODSERIAL as show here and see what
DimitriGruebel	0:1447d2f773db	20	* effects it has on the LEDs.
DimitriGruebel	0:1447d2f773db	21	*
DimitriGruebel	0:1447d2f773db	22	* MODSERIAL uart(TX_PIN, RX_PIN, 512);
DimitriGruebel	0:1447d2f773db	23	* With this, the 512 characters sent can straight into the buffer
DimitriGruebel	0:1447d2f773db	24	* vary quickly. This means LED1 is only on briefly as the TX buffer
DimitriGruebel	0:1447d2f773db	25	* fills.
DimitriGruebel	0:1447d2f773db	26	*
DimitriGruebel	0:1447d2f773db	27	* MODSERIAL uart(TX_PIN, RX_PIN, 32);
DimitriGruebel	0:1447d2f773db	28	* With this, the buffer is smaller than the default 256 bytes and
DimitriGruebel	0:1447d2f773db	29	* therefore LED1 stays on much longer while the system waits for
DimitriGruebel	0:1447d2f773db	30	* room in the TX buffer.
DimitriGruebel	0:1447d2f773db	31	*/
DimitriGruebel	0:1447d2f773db	32	MODSERIAL uart(TX_PIN, RX_PIN);
DimitriGruebel	0:1447d2f773db	33
DimitriGruebel	0:1447d2f773db	34	// This function is called when a character goes from the TX buffer
DimitriGruebel	0:1447d2f773db	35	// to the Uart THR FIFO register.
DimitriGruebel	0:1447d2f773db	36	void txCallback(MODSERIAL_IRQ_INFO *q) {
DimitriGruebel	0:1447d2f773db	37	led2 = !led2;
DimitriGruebel	0:1447d2f773db	38	}
DimitriGruebel	0:1447d2f773db	39
DimitriGruebel	0:1447d2f773db	40	// This function is called when TX buffer goes empty
DimitriGruebel	0:1447d2f773db	41	void txEmpty(MODSERIAL_IRQ_INFO *q) {
DimitriGruebel	0:1447d2f773db	42	led2 = 0;
DimitriGruebel	0:1447d2f773db	43	pc.puts(" Done. ");
DimitriGruebel	0:1447d2f773db	44	}
DimitriGruebel	0:1447d2f773db	45
DimitriGruebel	0:1447d2f773db	46	// This function is called when a character goes into the RX buffer.
DimitriGruebel	0:1447d2f773db	47	void rxCallback(MODSERIAL_IRQ_INFO *q) {
DimitriGruebel	0:1447d2f773db	48	led3 = !led3;
DimitriGruebel	0:1447d2f773db	49	pc.putc(uart.getc());
DimitriGruebel	0:1447d2f773db	50	}
DimitriGruebel	0:1447d2f773db	51
DimitriGruebel	0:1447d2f773db	52	int main() {
DimitriGruebel	0:1447d2f773db	53	int c = 'A';
DimitriGruebel	0:1447d2f773db	54
DimitriGruebel	0:1447d2f773db	55	// Ensure the baud rate for the PC "USB" serial is much
DimitriGruebel	0:1447d2f773db	56	// higher than "uart" baud rate below.
DimitriGruebel	0:1447d2f773db	57	pc.baud(PC_BAUD);
DimitriGruebel	0:1447d2f773db	58
DimitriGruebel	0:1447d2f773db	59	// Use a deliberatly slow baud to fill up the TX buffer
DimitriGruebel	0:1447d2f773db	60	uart.baud(1200);
DimitriGruebel	0:1447d2f773db	61
DimitriGruebel	0:1447d2f773db	62	uart.attach(&txCallback, MODSERIAL::TxIrq);
DimitriGruebel	0:1447d2f773db	63	uart.attach(&rxCallback, MODSERIAL::RxIrq);
DimitriGruebel	0:1447d2f773db	64	uart.attach(&txEmpty, MODSERIAL::TxEmpty);
DimitriGruebel	0:1447d2f773db	65
DimitriGruebel	0:1447d2f773db	66	// Loop sending characters. We send 512
DimitriGruebel	0:1447d2f773db	67	// which is twice the default TX/RX buffer size.
DimitriGruebel	0:1447d2f773db	68
DimitriGruebel	0:1447d2f773db	69	led1 = 1; // Show start of sending with LED1.
DimitriGruebel	0:1447d2f773db	70
DimitriGruebel	0:1447d2f773db	71	for (int loop = 0; loop < 512; loop++) {
DimitriGruebel	0:1447d2f773db	72	uart.printf("%c", c);
DimitriGruebel	0:1447d2f773db	73	c++;
DimitriGruebel	0:1447d2f773db	74	if (c > 'Z') c = 'A';
DimitriGruebel	0:1447d2f773db	75	}
DimitriGruebel	0:1447d2f773db	76
DimitriGruebel	0:1447d2f773db	77	led1 = 0; // Show the end of sending by switching off LED1.
DimitriGruebel	0:1447d2f773db	78
DimitriGruebel	0:1447d2f773db	79	// End program. Flash LED4. Notice how LED 2 and 3 continue
DimitriGruebel	0:1447d2f773db	80	// to flash for a short period while the interrupt system
DimitriGruebel	0:1447d2f773db	81	// continues to send the characters left in the TX buffer.
DimitriGruebel	0:1447d2f773db	82
DimitriGruebel	0:1447d2f773db	83	while(1) {
DimitriGruebel	0:1447d2f773db	84	led4 = !led4;
DimitriGruebel	0:1447d2f773db	85	wait(0.25);
DimitriGruebel	0:1447d2f773db	86	}
DimitriGruebel	0:1447d2f773db	87	}
DimitriGruebel	0:1447d2f773db	88
DimitriGruebel	0:1447d2f773db	89	/*
DimitriGruebel	0:1447d2f773db	90	* Notes. Here is the sort of output you can expect on your PC/Mac/Linux host
DimitriGruebel	0:1447d2f773db	91	* machine that is connected to the "pc" USB serial port.
DimitriGruebel	0:1447d2f773db	92	*
DimitriGruebel	0:1447d2f773db	93	* ABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUV
DimitriGruebel	0:1447d2f773db	94	* WXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQR
DimitriGruebel	0:1447d2f773db	95	* STUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMN
DimitriGruebel	0:1447d2f773db	96	* OPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJ
DimitriGruebel	0:1447d2f773db	97	* KLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEF
DimitriGruebel	0:1447d2f773db	98	* GHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZAB
DimitriGruebel	0:1447d2f773db	99	* CDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQ Done. R
DimitriGruebel	0:1447d2f773db	100	*
DimitriGruebel	0:1447d2f773db	101	* Of interest is that last "R" character after the system has said "Done."
DimitriGruebel	0:1447d2f773db	102	* This comes from the fact that the TxEmpty callback is made when the TX buffer
DimitriGruebel	0:1447d2f773db	103	* becomes empty. MODSERIAL makes use of the fact that the Uarts built into the
DimitriGruebel	0:1447d2f773db	104	* LPC17xx device use a 16 byte FIFO on both RX and TX channels. This means that
DimitriGruebel	0:1447d2f773db	105	* when the TxEmpty callback is made, the TX buffer is empty, but that just means
DimitriGruebel	0:1447d2f773db	106	* the "last few characters" were written to the TX FIFO. So although the TX
DimitriGruebel	0:1447d2f773db	107	* buffer has gone empty, the Uart's transmit system is still sending any remaining
DimitriGruebel	0:1447d2f773db	108	* characters from it's TX FIFO. If you want to be truely sure all the characters
DimitriGruebel	0:1447d2f773db	109	* you have sent have left the Mbed then call txIsBusy(); This function will
DimitriGruebel	0:1447d2f773db	110	* return true if characters are still being sent. If it returns false after
DimitriGruebel	0:1447d2f773db	111	* the Tx buffer is empty then all your characters have been sent.
DimitriGruebel	0:1447d2f773db	112	*
DimitriGruebel	0:1447d2f773db	113	* In a similar way, when characters are received into the RX FIFO, the entire
DimitriGruebel	0:1447d2f773db	114	* FIFO contents is moved to the RX buffer, assuming there is room left in the
DimitriGruebel	0:1447d2f773db	115	* RX buffer. If there is not, any remaining characters are left in the RX FIFO
DimitriGruebel	0:1447d2f773db	116	* and will be moved to the RX buffer on the next interrupt or when the running
DimitriGruebel	0:1447d2f773db	117	* program removes a character(s) from the RX buffer with the getc() method.
DimitriGruebel	0:1447d2f773db	118	*/
DimitriGruebel	0:1447d2f773db	119
DimitriGruebel	0:1447d2f773db	120	#endif