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

__________________

UM6_usart/UM6_usart.h@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	File: UM6_usart.h
DimitriGruebel	0:1447d2f773db	3	Author: CH Robotics, adapted for mbed by lhiggs
DimitriGruebel	0:1447d2f773db	4	Version: 1.0
DimitriGruebel	0:1447d2f773db	5
DimitriGruebel	0:1447d2f773db	6	Description: Function declarations for USART communucation
DimitriGruebel	0:1447d2f773db	7	-------------------------------------------------------------------------------------- */
DimitriGruebel	0:1447d2f773db	8
DimitriGruebel	0:1447d2f773db	9	#ifndef _CHR_USART_H
DimitriGruebel	0:1447d2f773db	10	#define _CHR_USART_H
DimitriGruebel	0:1447d2f773db	11
DimitriGruebel	0:1447d2f773db	12	#define MAX_PACKET_DATA 40
DimitriGruebel	0:1447d2f773db	13
DimitriGruebel	0:1447d2f773db	14	// Definitions of states for USART receiver state machine (for receiving packets)
DimitriGruebel	0:1447d2f773db	15	#define USART_STATE_WAIT 1
DimitriGruebel	0:1447d2f773db	16	#define USART_STATE_TYPE 2
DimitriGruebel	0:1447d2f773db	17	#define USART_STATE_ADDRESS 3
DimitriGruebel	0:1447d2f773db	18	#define USART_STATE_DATA 4
DimitriGruebel	0:1447d2f773db	19	#define USART_STATE_CHECKSUM 5
DimitriGruebel	0:1447d2f773db	20
DimitriGruebel	0:1447d2f773db	21	// Flags for interpreting the packet type byte in communication packets
DimitriGruebel	0:1447d2f773db	22	#define PACKET_HAS_DATA (1 << 7)
DimitriGruebel	0:1447d2f773db	23	#define PACKET_IS_BATCH (1 << 6)
DimitriGruebel	0:1447d2f773db	24	#define PACKET_BATCH_LENGTH_MASK ( 0x0F )
DimitriGruebel	0:1447d2f773db	25
DimitriGruebel	0:1447d2f773db	26	#define PACKET_BATCH_LENGTH_OFFSET 2
DimitriGruebel	0:1447d2f773db	27
DimitriGruebel	0:1447d2f773db	28	#define BATCH_SIZE_2 2
DimitriGruebel	0:1447d2f773db	29	#define BATCH_SIZE_3 3
DimitriGruebel	0:1447d2f773db	30
DimitriGruebel	0:1447d2f773db	31	#define PACKET_NO_DATA 0
DimitriGruebel	0:1447d2f773db	32	#define PACKET_COMMAND_FAILED (1 << 0)
DimitriGruebel	0:1447d2f773db	33
DimitriGruebel	0:1447d2f773db	34
DimitriGruebel	0:1447d2f773db	35	// Define flags for identifying the type of packet address received
DimitriGruebel	0:1447d2f773db	36	#define ADDRESS_TYPE_CONFIG 0
DimitriGruebel	0:1447d2f773db	37	#define ADDRESS_TYPE_DATA 1
DimitriGruebel	0:1447d2f773db	38	#define ADDRESS_TYPE_COMMAND 2
DimitriGruebel	0:1447d2f773db	39
DimitriGruebel	0:1447d2f773db	40
DimitriGruebel	0:1447d2f773db	41	extern uint8_t gUSART_State;
DimitriGruebel	0:1447d2f773db	42
DimitriGruebel	0:1447d2f773db	43	// Structure for storing TX and RX packet data
DimitriGruebel	0:1447d2f773db	44	typedef struct _USARTPacket
DimitriGruebel	0:1447d2f773db	45	{
DimitriGruebel	0:1447d2f773db	46	uint8_t PT; // Packet type
DimitriGruebel	0:1447d2f773db	47	uint8_t address; // Packet address
DimitriGruebel	0:1447d2f773db	48	uint16_t checksum; // Checksum
DimitriGruebel	0:1447d2f773db	49
DimitriGruebel	0:1447d2f773db	50	// Data included for convenience, but that isn't stored in the packet itself
DimitriGruebel	0:1447d2f773db	51	uint8_t data_length; // Number of bytes in data section
DimitriGruebel	0:1447d2f773db	52	uint8_t address_type; // Specified the address type (DATA, CONFIG, OR COMMAND)
DimitriGruebel	0:1447d2f773db	53
DimitriGruebel	0:1447d2f773db	54	uint8_t packet_data[MAX_PACKET_DATA];
DimitriGruebel	0:1447d2f773db	55
DimitriGruebel	0:1447d2f773db	56	} USARTPacket;
DimitriGruebel	0:1447d2f773db	57
DimitriGruebel	0:1447d2f773db	58	uint16_t ComputeChecksum( USARTPacket* new_packet );
DimitriGruebel	0:1447d2f773db	59
DimitriGruebel	0:1447d2f773db	60	#endif