Diff: harness.c

Revision:

0:62a1c91a859a

Child:

1:1e3318a30ddd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/harness.c	Fri Feb 18 22:28:05 2011 +0000
@@ -0,0 +1,111 @@
+// ===============================================================================================
+// =                              UAVXArm Quadrocopter Controller                                =
+// =                           Copyright (c) 2008 by Prof. Greg Egan                             =
+// =                 Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer                   =
+// =                     http://code.google.com/p/uavp-mods/ http://uavp.ch                      =
+// ===============================================================================================
+
+//    This is part of UAVXArm.
+
+//    UAVXArm is free software: you can redistribute it and/or modify it under the terms of the GNU
+//    General Public License as published by the Free Software Foundation, either version 3 of the
+//    License, or (at your option) any later version.
+
+//    UAVXArm is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without
+//    even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+//    See the GNU General Public License for more details.
+
+//    You should have received a copy of the GNU General Public License along with this program.
+//    If not, see http://www.gnu.org/licenses/
+
+#include "UAVXArm.h"
+
+void UpdateRTC(void);
+void InitHarness(void);
+
+LocalFileSystem Flash("local");
+
+// connections to ARM
+                                        // 1 GND
+                                        // 2 4.5-9V
+                                        // 3 VBat
+                                        // 4 NReset
+                                        
+//SPI SPI0(p5, p6, p7);                 // 5 SPI MOSI, 6 SPI MOSO, 7 SPI CLK
+//DigitalOut SPICS(p8);                 // 8
+SDFileSystem SDCard(p5, p6, p7, p8, "SDCard");
+                                        
+//I2C I2C1(p9, p10);                    // 9 Tx / I2C SDA, 10 Rx / I2C SCL
+SerialBuffered TelemetrySerial(p9, p10);
+DigitalIn Armed(p11);                   // 11 SPI MOSI
+DigitalOut PWMCamPitch(p12);            // 12 SPI MOSO
+                                        
+Serial GPSSerial(p13, p14);             // 13 Tx1 / SPI CLK, 14 Rx1
+
+AnalogIn PitchADC(p15);                 // 15 AN0
+AnalogIn RollADC(p16);                  // 16 AN1
+AnalogIn YawADC(p18);                   // 17 AN2 (has DAC capability)
+
+AnalogIn RangefinderADC(p17);           // 18 AN3
+AnalogIn BatteryCurrentADC(p19);        // 19 AN4
+AnalogIn BatteryVoltsADC(p20);          // 20 AN5 
+
+PwmOut Out0(p21);                       // 21
+PwmOut Out1(p22);                       // 22
+PwmOut Out2(p23);                       // 23
+PwmOut Out3(p24);                       // 24
+
+//PwmOut Out4(p25);                       // 25
+//PwmOut Out5(p26);                       // 26
+
+DigitalOut DebugPin(p25);                  // 25
+
+I2C I2C0(p28, p27);                     // 27, 28
+
+DigitalIn RCIn(p29);                    // 29 CAN
+DigitalOut PWMCamRoll(p30);             // 30 CAN 
+
+//Serial TelemetrySerial(USBTX, USBRX);   
+                                        // 31 USB +, 32 USB -
+                                        // 34 -37 Ethernet
+                                        // 38 IF +
+                                        // 39 IF -
+                                        // 40 3.3V Out 
+                
+// order L-R end of card                        
+DigitalOut BlueLED(LED1);
+DigitalOut GreenLED(LED2);
+DigitalOut RedLED(LED3);
+DigitalOut YellowLED(LED4);
+
+InterruptIn RCInterrupt(p29);
+
+char RTCString[32], RTCLogfile[32];
+struct tm* RTCTime;
+
+void UpdateRTC(void)
+{
+    time_t s = time(NULL);
+    RTCTime = localtime(&s);
+    strftime(RTCString, 32, "%a %b %d %H:%M:%S %Y", RTCTime );   
+} // UpdateRTCString
+
+void InitHarness(void){
+
+    I2C0.frequency(I2C_MAX_RATE_HZ);
+  
+    TelemetrySerial.baud(115200);
+    TelemetrySerial.set_tx_buffer_size(512);  
+
+    GPSSerial.baud(115200); // reduce baud rate to lighten interrupt traffic?
+    
+    PWMCamRoll.write(false);
+    PWMCamPitch.write(false);
+    
+    Armed.mode(PullUp);
+
+    CheckSDCardValid();
+    
+    UpdateRTC();
+
+} // InitHarness
\ No newline at end of file