File content as of revision 2:90292f8bd179:

// ===============================================================================================
// =                              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/                               =
// ===============================================================================================

//    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");

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
// 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

#ifdef SW_I2C

MyI2C I2C0;

#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

//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