Diff: harness.c

Revision:

2:90292f8bd179

Parent:

1:1e3318a30ddd

--- a/harness.c	Fri Feb 25 01:35:24 2011 +0000
+++ b/harness.c	Tue Apr 26 12:12:29 2011 +0000
@@ -2,7 +2,7 @@
 // =                              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                      =
+// =                           http://code.google.com/p/uavp-mods/                               =
 // ===============================================================================================
 
 //    This is part of UAVXArm.
@@ -25,6 +25,23 @@
 
 LocalFileSystem Flash("local");
 
+const uint8 mbed1768Pins[32] = { // Maping of mbed pins to LPC 1768 "port" pins
+    255,255,255,255,255,9,8,7,6,0,
+    1,18,17,15,16,23,24,25,26,62,
+    63,69,68,67,66,65,64,11,10,5,
+    4,255
+};
+
+/*
+const uint32 mbed1768Ports[8] = { 
+    LPC_GPIO0_BASE,
+    LPC_GPIO1_BASE,
+    LPC_GPIO2_BASE,
+    LPC_GPIO3_BASE,
+    LPC_GPIO4_BASE
+};
+*/
+
 // connections to ARM
 // 1 GND
 // 2 4.5-9V
@@ -61,12 +78,23 @@
 DigitalOut DebugPin(p25);                  // 25
 
 #ifdef SW_I2C
+
 MyI2C I2C0;
-DigitalInOut I2C0SCL(p27);
-DigitalInOut I2C0SDA(p28);
+
+#define I2C0SDASet (1<<mbed1768Pins[28&0x1f]) // 10
+#define I2C0SDAPort (mbed1768Pins[28&0x0f]>>5)
+PortInOut I2C0SDA(Port0, I2C0SDASet );
+
+#define I2C0SCLSet (1<<mbed1768Pins[27&0x1f]) // 11
+#define I2C0SCLPort (mbed1768Pins[27&0x0f]>>5)
+PortInOut I2C0SCL(Port0, I2C0SCLSet );
+
 #else
+
 I2C I2C0(p28, p27);                     // 27, 28
+
 #endif // SW_I2C
+
 DigitalIn RCIn(p29);                    // 29 CAN
 DigitalOut PWMCamRoll(p30);             // 30 CAN