Prof Greg Egan / Mbed 2 deprecated UAVXArm-GKE

UAVX Multicopter Flight Controller.

Dependencies:   mbed

harness.c@1:1e3318a30ddd, 2011-02-25 (annotated)

Committer:
gke
Date:
Fri Feb 25 01:35:24 2011 +0000
Revision:
1:1e3318a30ddd
Parent:
0:62a1c91a859a
Child:
2:90292f8bd179
This version has broken I2C - posted for debugging involvement of Simon et al.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gke 0:62a1c91a859a 1 // ===============================================================================================
gke 0:62a1c91a859a 2 // = UAVXArm Quadrocopter Controller =
gke 0:62a1c91a859a 3 // = Copyright (c) 2008 by Prof. Greg Egan =
gke 0:62a1c91a859a 4 // = Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer =
gke 0:62a1c91a859a 5 // = http://code.google.com/p/uavp-mods/ http://uavp.ch =
gke 0:62a1c91a859a 6 // ===============================================================================================
gke 0:62a1c91a859a 7
gke 0:62a1c91a859a 8 // This is part of UAVXArm.
gke 0:62a1c91a859a 9
gke 0:62a1c91a859a 10 // UAVXArm is free software: you can redistribute it and/or modify it under the terms of the GNU
gke 0:62a1c91a859a 11 // General Public License as published by the Free Software Foundation, either version 3 of the
gke 0:62a1c91a859a 12 // License, or (at your option) any later version.
gke 0:62a1c91a859a 13
gke 0:62a1c91a859a 14 // UAVXArm is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without
gke 0:62a1c91a859a 15 // even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
gke 0:62a1c91a859a 16 // See the GNU General Public License for more details.
gke 0:62a1c91a859a 17
gke 0:62a1c91a859a 18 // You should have received a copy of the GNU General Public License along with this program.
gke 0:62a1c91a859a 19 // If not, see http://www.gnu.org/licenses/
gke 0:62a1c91a859a 20
gke 0:62a1c91a859a 21 #include "UAVXArm.h"
gke 0:62a1c91a859a 22
gke 0:62a1c91a859a 23 void UpdateRTC(void);
gke 0:62a1c91a859a 24 void InitHarness(void);
gke 0:62a1c91a859a 25
gke 0:62a1c91a859a 26 LocalFileSystem Flash("local");
gke 0:62a1c91a859a 27
gke 0:62a1c91a859a 28 // connections to ARM
gke 1:1e3318a30ddd 29 // 1 GND
gke 1:1e3318a30ddd 30 // 2 4.5-9V
gke 1:1e3318a30ddd 31 // 3 VBat
gke 1:1e3318a30ddd 32 // 4 NReset
gke 1:1e3318a30ddd 33
gke 0:62a1c91a859a 34 //SPI SPI0(p5, p6, p7); // 5 SPI MOSI, 6 SPI MOSO, 7 SPI CLK
gke 0:62a1c91a859a 35 //DigitalOut SPICS(p8); // 8
gke 0:62a1c91a859a 36 SDFileSystem SDCard(p5, p6, p7, p8, "SDCard");
gke 1:1e3318a30ddd 37
gke 0:62a1c91a859a 38 //I2C I2C1(p9, p10); // 9 Tx / I2C SDA, 10 Rx / I2C SCL
gke 0:62a1c91a859a 39 SerialBuffered TelemetrySerial(p9, p10);
gke 0:62a1c91a859a 40 DigitalIn Armed(p11); // 11 SPI MOSI
gke 0:62a1c91a859a 41 DigitalOut PWMCamPitch(p12); // 12 SPI MOSO
gke 1:1e3318a30ddd 42
gke 0:62a1c91a859a 43 Serial GPSSerial(p13, p14); // 13 Tx1 / SPI CLK, 14 Rx1
gke 0:62a1c91a859a 44
gke 0:62a1c91a859a 45 AnalogIn PitchADC(p15); // 15 AN0
gke 0:62a1c91a859a 46 AnalogIn RollADC(p16); // 16 AN1
gke 0:62a1c91a859a 47 AnalogIn YawADC(p18); // 17 AN2 (has DAC capability)
gke 0:62a1c91a859a 48
gke 0:62a1c91a859a 49 AnalogIn RangefinderADC(p17); // 18 AN3
gke 0:62a1c91a859a 50 AnalogIn BatteryCurrentADC(p19); // 19 AN4
gke 1:1e3318a30ddd 51 AnalogIn BatteryVoltsADC(p20); // 20 AN5
gke 0:62a1c91a859a 52
gke 0:62a1c91a859a 53 PwmOut Out0(p21); // 21
gke 0:62a1c91a859a 54 PwmOut Out1(p22); // 22
gke 0:62a1c91a859a 55 PwmOut Out2(p23); // 23
gke 0:62a1c91a859a 56 PwmOut Out3(p24); // 24
gke 0:62a1c91a859a 57
gke 0:62a1c91a859a 58 //PwmOut Out4(p25); // 25
gke 0:62a1c91a859a 59 //PwmOut Out5(p26); // 26
gke 0:62a1c91a859a 60
gke 0:62a1c91a859a 61 DigitalOut DebugPin(p25); // 25
gke 0:62a1c91a859a 62
gke 1:1e3318a30ddd 63 #ifdef SW_I2C
gke 1:1e3318a30ddd 64 MyI2C I2C0;
gke 1:1e3318a30ddd 65 DigitalInOut I2C0SCL(p27);
gke 1:1e3318a30ddd 66 DigitalInOut I2C0SDA(p28);
gke 1:1e3318a30ddd 67 #else
gke 0:62a1c91a859a 68 I2C I2C0(p28, p27); // 27, 28
gke 1:1e3318a30ddd 69 #endif // SW_I2C
gke 0:62a1c91a859a 70 DigitalIn RCIn(p29); // 29 CAN
gke 1:1e3318a30ddd 71 DigitalOut PWMCamRoll(p30); // 30 CAN
gke 0:62a1c91a859a 72
gke 1:1e3318a30ddd 73 //Serial TelemetrySerial(USBTX, USBRX);
gke 1:1e3318a30ddd 74 // 31 USB +, 32 USB -
gke 1:1e3318a30ddd 75 // 34 -37 Ethernet
gke 1:1e3318a30ddd 76 // 38 IF +
gke 1:1e3318a30ddd 77 // 39 IF -
gke 1:1e3318a30ddd 78 // 40 3.3V Out
gke 1:1e3318a30ddd 79
gke 1:1e3318a30ddd 80 // order L-R end of card
gke 0:62a1c91a859a 81 DigitalOut BlueLED(LED1);
gke 0:62a1c91a859a 82 DigitalOut GreenLED(LED2);
gke 0:62a1c91a859a 83 DigitalOut RedLED(LED3);
gke 0:62a1c91a859a 84 DigitalOut YellowLED(LED4);
gke 0:62a1c91a859a 85
gke 0:62a1c91a859a 86 InterruptIn RCInterrupt(p29);
gke 0:62a1c91a859a 87
gke 0:62a1c91a859a 88 char RTCString[32], RTCLogfile[32];
gke 0:62a1c91a859a 89 struct tm* RTCTime;
gke 0:62a1c91a859a 90
gke 1:1e3318a30ddd 91 void UpdateRTC(void) {
gke 0:62a1c91a859a 92 time_t s = time(NULL);
gke 0:62a1c91a859a 93 RTCTime = localtime(&s);
gke 1:1e3318a30ddd 94 strftime(RTCString, 32, "%a %b %d %H:%M:%S %Y", RTCTime );
gke 0:62a1c91a859a 95 } // UpdateRTCString
gke 0:62a1c91a859a 96
gke 1:1e3318a30ddd 97 void InitHarness(void) {
gke 0:62a1c91a859a 98
gke 0:62a1c91a859a 99 I2C0.frequency(I2C_MAX_RATE_HZ);
gke 1:1e3318a30ddd 100
gke 0:62a1c91a859a 101 TelemetrySerial.baud(115200);
gke 1:1e3318a30ddd 102 TelemetrySerial.set_tx_buffer_size(512);
gke 0:62a1c91a859a 103
gke 0:62a1c91a859a 104 GPSSerial.baud(115200); // reduce baud rate to lighten interrupt traffic?
gke 1:1e3318a30ddd 105
gke 0:62a1c91a859a 106 PWMCamRoll.write(false);
gke 0:62a1c91a859a 107 PWMCamPitch.write(false);
gke 1:1e3318a30ddd 108
gke 0:62a1c91a859a 109 Armed.mode(PullUp);
gke 0:62a1c91a859a 110
gke 0:62a1c91a859a 111 CheckSDCardValid();
gke 1:1e3318a30ddd 112
gke 0:62a1c91a859a 113 UpdateRTC();
gke 0:62a1c91a859a 114
gke 0:62a1c91a859a 115 } // InitHarness