Reaction Wheel Actuated Satellite Dynamics Test Platform
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
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Diff: UM6_usart/UM6_usart.h
- Revision:
- 0:1447d2f773db
diff -r 000000000000 -r 1447d2f773db UM6_usart/UM6_usart.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/UM6_usart/UM6_usart.h Wed Jul 09 07:35:50 2014 +0000 @@ -0,0 +1,60 @@ +/* ______________________________________________________________________________________ + File: UM6_usart.h + Author: CH Robotics, adapted for mbed by lhiggs + Version: 1.0 + + Description: Function declarations for USART communucation + -------------------------------------------------------------------------------------- */ + + #ifndef _CHR_USART_H + #define _CHR_USART_H + + #define MAX_PACKET_DATA 40 + + // Definitions of states for USART receiver state machine (for receiving packets) + #define USART_STATE_WAIT 1 + #define USART_STATE_TYPE 2 + #define USART_STATE_ADDRESS 3 + #define USART_STATE_DATA 4 + #define USART_STATE_CHECKSUM 5 + + // Flags for interpreting the packet type byte in communication packets + #define PACKET_HAS_DATA (1 << 7) + #define PACKET_IS_BATCH (1 << 6) + #define PACKET_BATCH_LENGTH_MASK ( 0x0F ) + + #define PACKET_BATCH_LENGTH_OFFSET 2 + + #define BATCH_SIZE_2 2 + #define BATCH_SIZE_3 3 + + #define PACKET_NO_DATA 0 + #define PACKET_COMMAND_FAILED (1 << 0) + + + // Define flags for identifying the type of packet address received + #define ADDRESS_TYPE_CONFIG 0 + #define ADDRESS_TYPE_DATA 1 + #define ADDRESS_TYPE_COMMAND 2 + + +extern uint8_t gUSART_State; + + // Structure for storing TX and RX packet data + typedef struct _USARTPacket + { + uint8_t PT; // Packet type + uint8_t address; // Packet address + uint16_t checksum; // Checksum + + // Data included for convenience, but that isn't stored in the packet itself + uint8_t data_length; // Number of bytes in data section + uint8_t address_type; // Specified the address type (DATA, CONFIG, OR COMMAND) + + uint8_t packet_data[MAX_PACKET_DATA]; + + } USARTPacket; + +uint16_t ComputeChecksum( USARTPacket* new_packet ); + +#endif \ No newline at end of file