Revision 13:4737ee9ebfee, committed 2012-10-25
- Comitter:
- maetugr
- Date:
- Thu Oct 25 19:27:56 2012 +0000
- Parent:
- 12:67a06c9b69d5
- Child:
- 14:cf260677ecde
- Commit message:
- Vor wechsel Comp -> Mag
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/InterruptControl/IntCtrl.cpp Thu Oct 25 19:27:56 2012 +0000
@@ -0,0 +1,110 @@
+// Funktionen zur Interruptkontrolle bei IO-Ports
+//---------------------------------------------------------------------------------------------------------------------------------------
+#include "mbed.h" //muss immer geladen werden
+#include "IntCtrl.h"
+
+
+
+// Enable GPIO Interrupt (nur fuer P0.0..P0.30 und P2.0..P2.13)
+// PortNumber = 0 oder 2, BitPosition = 0..31, RiseFall: 0 = rise, 1 = fall, 2 = rise and fall
+//-------------------------------------------------------------------------------
+void GPIO_IntEnable(char PortNumber, char BitPosition, char RiseFall)
+ {
+ switch ( PortNumber )
+ case 0:
+ {
+ switch ( RiseFall )
+ {
+ case 0:
+ LPC_GPIOINT->IO0IntEnR |= (0x1<<BitPosition);
+ break;
+
+ case 1:
+ LPC_GPIOINT->IO0IntEnF |= (0x1<<BitPosition);
+ break;
+
+ case 2:
+ LPC_GPIOINT->IO0IntEnR |= (0x1<<BitPosition);
+ LPC_GPIOINT->IO0IntEnF |= (0x1<<BitPosition);
+ break;
+
+ default:
+ break;
+ }
+
+ case 2:
+ {
+ switch ( RiseFall )
+ {
+ case 0:
+ LPC_GPIOINT->IO2IntEnR |= (0x1<<BitPosition);
+ break;
+
+ case 1:
+ LPC_GPIOINT->IO2IntEnF |= (0x1<<BitPosition);
+ break;
+
+ case 2:
+ LPC_GPIOINT->IO2IntEnR |= (0x1<<BitPosition);
+ LPC_GPIOINT->IO2IntEnF |= (0x1<<BitPosition);
+ break;
+
+ default:
+ break;
+ }
+ }
+ }
+ }
+
+
+// Disable GPIO Interrupt (nur fuer P0.0..P0.30 und P2.0..P2.13)
+// PortNumber = 0 oder 2, BitPosition = 0..31, RiseFall: 0 = rise, 1 = fall, 2 = rise and fall
+//-------------------------------------------------------------------------------
+void GPIO_IntDisable(char PortNumber, char BitPosition, char RiseFall)
+ {
+ switch ( PortNumber )
+ case 0:
+ {
+ switch ( RiseFall )
+ {
+ case 0:
+ LPC_GPIOINT->IO0IntEnR &= ~(0x1<<BitPosition);
+ break;
+
+ case 1:
+ LPC_GPIOINT->IO0IntEnF &= ~(0x1<<BitPosition);
+ break;
+
+ case 2:
+ LPC_GPIOINT->IO0IntEnR &= ~(0x1<<BitPosition);
+ LPC_GPIOINT->IO0IntEnF &= ~(0x1<<BitPosition);
+ break;
+
+ default:
+ break;
+ }
+
+ case 2:
+ {
+ switch ( RiseFall )
+ {
+ case 0:
+ LPC_GPIOINT->IO2IntEnR &= ~(0x1<<BitPosition);
+ break;
+
+ case 1:
+ LPC_GPIOINT->IO2IntEnF &= ~(0x1<<BitPosition);
+ break;
+
+ case 2:
+ LPC_GPIOINT->IO2IntEnR &= ~(0x1<<BitPosition);
+ LPC_GPIOINT->IO2IntEnF &= ~(0x1<<BitPosition);
+ break;
+
+ default:
+ break;
+ }
+ }
+ }
+ }
+
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/InterruptControl/IntCtrl.h Thu Oct 25 19:27:56 2012 +0000
@@ -0,0 +1,36 @@
+#ifndef __INTCTRL_H
+#define __INTCTRL_H
+
+extern void GPIO_IntEnable(char PortNumber, char BitPosition, char RiseFall);
+extern void GPIO_IntDisable(char PortNumber, char BitPosition, char RiseFall);
+
+
+/* mbed DIP Pin LPC1768 Pin
+ p5 = P0_9
+ p6 = P0_8
+ p7 = P0_7
+ p8 = P0_6
+ p9 = P0_0
+ p10 = P0_1
+ p11 = P0_18
+ p12 = P0_17
+ p13 = P0_15
+ p14 = P0_16
+ p15 = P0_23
+ p16 = P0_24
+ p17 = P0_25
+ p18 = P0_26
+ p21 = P2_5
+ p22 = P2_4
+ p23 = P2_3
+ p24 = P2_2
+ p25 = P2_1
+ p26 = P2_0
+ p27 = P0_11
+ p28 = P0_10
+ p29 = P0_5
+ p30 = P0_4
+*/
+
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/InterruptControl/IntCtrl.lib Thu Oct 25 19:27:56 2012 +0000
@@ -0,0 +1,1 @@
+IntCtrl#000000000000
--- a/Sensors/Comp/HMC5883.cpp Sat Oct 20 17:28:28 2012 +0000
+++ b/Sensors/Comp/HMC5883.cpp Thu Oct 25 19:27:56 2012 +0000
@@ -3,6 +3,8 @@
HMC5883::HMC5883(PinName sda, PinName scl) : local("local"), i2c(sda, scl)
{
+ i2c.frequency(400000); // zu testen!!
+
// load calibration values
FILE *fp = fopen("/local/compass.txt", "r");
for(int i = 0; i < 3; i++)
--- a/main.cpp Sat Oct 20 17:28:28 2012 +0000
+++ b/main.cpp Thu Oct 25 19:27:56 2012 +0000
@@ -1,24 +1,26 @@
#include "mbed.h" // Standard Library
#include "LED.h" // LEDs framework for blinking ;)
-#include "PC.h" // Serial Port via USB for debugging in TeraTerm (driver needed: https://mbed.org/media/downloads/drivers/mbedWinSerial_16466.exe)
+#include "PC.h" // Serial Port via USB by Roland Elmiger for debugging with Terminal (driver needed: https://mbed.org/media/downloads/drivers/mbedWinSerial_16466.exe)
#include "L3G4200D.h" // Gyro (Gyroscope)
#include "ADXL345.h" // Acc (Accelerometer)
#include "HMC5883.h" // Comp (Compass)
#include "BMP085.h" // Alt (Altitude sensor)
#include "RC_Channel.h" // RemoteControl Chnnels with PPM
#include "Servo.h" // Motor PPM
-#include "PID.h" // PID Library from Aaron Berk
+#include "PID.h" // PID Library by Aaron Berk
+#include "IntCtrl.h" // Interrupt Control by Roland Elmiger
#define PI 3.1415926535897932384626433832795
#define Rad2Deg 57.295779513082320876798154814105
#define RATE 0.02 // speed of Ticker/PID
-//#define COMPASSCALIBRATE
+//#define COMPASSCALIBRATE decomment if you want to calibrate the Compass on start
Timer GlobalTimer; // global time to calculate processing speed
Ticker Datagetter; // timecontrolled interrupt to get data form IMU and RC
PID controller(1.0, 0.0, 0.0, RATE); // test PID controller for throttle
PID pid(1.0, 1.0, 0.0, RATE); // test PID controller for throttle
+//PID P:3,0 bis 3,5 I:0,010 und 0,050 D:5 und 25
// initialisation of hardware
LED LEDs;
@@ -27,7 +29,7 @@
ADXL345 Acc(p28, p27);
HMC5883 Comp(p28, p27);
BMP085 Alt(p28, p27);
-RC_Channel RC[] = {(p10), (p11), (p12), (p13)}; // noooo p19/p20!!!!
+RC_Channel RC[] = {(p11), (p12), (p13), (p14)}; // noooo p19/p20!!!!
Servo Motor[] = {(p15), (p16), (p17), (p18)};
// variables for loop
@@ -45,11 +47,21 @@
{
time_read_sensors = GlobalTimer.read_us();
+ GPIO_IntDisable(0, 18, 2); // abschalten der Pins 11-14 mit Göttis library
+ GPIO_IntDisable(0, 17, 2);
+ GPIO_IntDisable(0, 16, 2);
+ GPIO_IntDisable(0, 15, 2);
+ //__disable_irq(); // test, deactivate all interrupts, I2C working?
// read data from sensors
- Gyro.read();
+ Gyro.read(); // einzeln testen! mit LEDs
Acc.read();
Comp.read();
- //Alt.Update();
+ //Alt.Update(); TODO braucht zu lange zum auslesen!
+ //__enable_irq();
+ GPIO_IntEnable(0, 18, 2); // schaltet enable wirklich wieder ein?? änderungsbedarf??
+ GPIO_IntEnable(0, 17, 2);
+ GPIO_IntEnable(0, 16, 2);
+ GPIO_IntEnable(0, 15, 2);
dt_read_sensors = GlobalTimer.read_us() - time_read_sensors;
Matthias Grob
