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/example3a.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) 2011 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 example3.cpp
DimitriGruebel	0:1447d2f773db	23	@purpose Demos a simple filter.
DimitriGruebel	0:1447d2f773db	24	@version see ChangeLog.c
DimitriGruebel	0:1447d2f773db	25	@author Andy Kirkham
DimitriGruebel	0:1447d2f773db	26	*/
DimitriGruebel	0:1447d2f773db	27
DimitriGruebel	0:1447d2f773db	28	/*
DimitriGruebel	0:1447d2f773db	29	This example shows how to use the new callback system. In the old system
DimitriGruebel	0:1447d2f773db	30	Mbed's FunctionPointer[1] type was used to store abd make calls to callbacks.
DimitriGruebel	0:1447d2f773db	31	However, that limits the callback function prototype to void func(void);
DimitriGruebel	0:1447d2f773db	32	which means we cannot pass parameters.
DimitriGruebel	0:1447d2f773db	33
DimitriGruebel	0:1447d2f773db	34	This latest version of MODSERIAL now uses its own callback object. This allows
DimitriGruebel	0:1447d2f773db	35	the passing of a pointer to a class that holds information about the MODSERIAL
DimitriGruebel	0:1447d2f773db	36	object making the callback. As of version 1.18 one critcal piece of information
DimitriGruebel	0:1447d2f773db	37	is passed, a pointer to the MODSERIAL object. This allows callbacks to use the
DimitriGruebel	0:1447d2f773db	38	MODSERIAL functions and data.
DimitriGruebel	0:1447d2f773db	39
DimitriGruebel	0:1447d2f773db	40	Additionally, since MODSERIAL and the callback parameter class MODSERIAL_IRQ_INFO
DimitriGruebel	0:1447d2f773db	41	are friends, MODSERIAL_IRQ_INFO can access the protected functions of MODSERIAL.
DimitriGruebel	0:1447d2f773db	42	This is used to ensure functions that can only be called during a callback
DimitriGruebel	0:1447d2f773db	43	can be invoked from a callback.
DimitriGruebel	0:1447d2f773db	44
DimitriGruebel	0:1447d2f773db	45	[1] http://mbed.org/projects/libraries/svn/mbed/trunk/FunctionPointer.h
DimitriGruebel	0:1447d2f773db	46	*/
DimitriGruebel	0:1447d2f773db	47
DimitriGruebel	0:1447d2f773db	48	#ifdef COMPILE_EXAMPLE3_CODE_MODSERIAL
DimitriGruebel	0:1447d2f773db	49
DimitriGruebel	0:1447d2f773db	50	#include "mbed.h"
DimitriGruebel	0:1447d2f773db	51	#include "MODSERIAL.h"
DimitriGruebel	0:1447d2f773db	52
DimitriGruebel	0:1447d2f773db	53	DigitalOut led1(LED1);
DimitriGruebel	0:1447d2f773db	54
DimitriGruebel	0:1447d2f773db	55	MODSERIAL pc(USBTX, USBRX);
DimitriGruebel	0:1447d2f773db	56
DimitriGruebel	0:1447d2f773db	57	// The following callback is defined in example3b.cpp
DimitriGruebel	0:1447d2f773db	58	//! @see example3b.cpp
DimitriGruebel	0:1447d2f773db	59	void rxCallback(MODSERIAL_IRQ_INFO *info);
DimitriGruebel	0:1447d2f773db	60
DimitriGruebel	0:1447d2f773db	61	int main() {
DimitriGruebel	0:1447d2f773db	62
DimitriGruebel	0:1447d2f773db	63	int life_counter = 0;
DimitriGruebel	0:1447d2f773db	64
DimitriGruebel	0:1447d2f773db	65	pc.baud(115200);
DimitriGruebel	0:1447d2f773db	66
DimitriGruebel	0:1447d2f773db	67	pc.attach(&rxCallback, MODSERIAL::RxIrq);
DimitriGruebel	0:1447d2f773db	68
DimitriGruebel	0:1447d2f773db	69	while(1) {
DimitriGruebel	0:1447d2f773db	70	// Echo back any chars we get except 'A' which is filtered by the rxCallback.
DimitriGruebel	0:1447d2f773db	71	if (pc.readable()) {
DimitriGruebel	0:1447d2f773db	72	pc.putc(pc.getc());
DimitriGruebel	0:1447d2f773db	73	}
DimitriGruebel	0:1447d2f773db	74
DimitriGruebel	0:1447d2f773db	75	// Toggle LED1 every so often to show we are alive.
DimitriGruebel	0:1447d2f773db	76	if (life_counter++ == 1000000) {
DimitriGruebel	0:1447d2f773db	77	life_counter = 0;
DimitriGruebel	0:1447d2f773db	78	led1 = !led1;
DimitriGruebel	0:1447d2f773db	79	}
DimitriGruebel	0:1447d2f773db	80	}
DimitriGruebel	0:1447d2f773db	81	}
DimitriGruebel	0:1447d2f773db	82
DimitriGruebel	0:1447d2f773db	83	#endif