From 72162d64e2d3b471fb14a38d550182ea334c3231 Mon Sep 17 00:00:00 2001
From: Brendan <brendan.haines@gmail.com>
Date: Tue, 10 Mar 2015 19:43:16 -0600
Subject: [PATCH] adds working DSM2 satellite receiver class

---
 CopterController/v2DSM2.cpp       | 34 +++++++++++++++++++++++++++++++
 CopterController/v2DSM2.h         | 18 ++++++++++++++++
 CopterController/v2DSM2tester.cpp | 15 ++++++++++++++
 3 files changed, 67 insertions(+)
 create mode 100644 CopterController/v2DSM2.cpp
 create mode 100644 CopterController/v2DSM2.h
 create mode 100644 CopterController/v2DSM2tester.cpp

diff --git a/CopterController/v2DSM2.cpp b/CopterController/v2DSM2.cpp
new file mode 100644
index 0000000..1c21a40
--- /dev/null
+++ b/CopterController/v2DSM2.cpp
@@ -0,0 +1,34 @@
+#include "v2DSM2.h"
+
+#include <iostream>
+#include "wiringSerial.h"
+
+#define VALUE_MASK 0x3FF
+
+v2DSM2::v2DSM2( int mode )
+{
+    std::cout << "opening serial port..." << std::flush;
+    fd = serialOpen( "/dev/ttyAMA0", 115200 );
+    std::cout << "SUCCESS " << fd << std::endl;
+    std::cout << "flushing serial..." << std::flush;
+    serialFlush(fd);
+    std::cout << "SUCCESS" << std::endl;
+}
+
+void v2DSM2::update()
+{
+    int i = 0;
+
+    if( serialDataAvail(fd) < 16 ) return;
+
+    for( i = 0; i < 8; i++ )
+        data[ i ] = ( (int)(serialGetchar(fd)) << 8 ) + serialGetchar(fd);
+
+    *(values + 0) = data[7] & VALUE_MASK; //Throttle
+    *(values + 1) = data[1] & VALUE_MASK; //Aileron
+    *(values + 2) = data[3] & VALUE_MASK; //Elevator
+    *(values + 3) = data[5] & VALUE_MASK; //Rudder
+    *(values + 4) = data[4] & VALUE_MASK; //Gear
+    *(values + 5) = data[2] & VALUE_MASK; //Aux1
+    return;
+}
diff --git a/CopterController/v2DSM2.h b/CopterController/v2DSM2.h
new file mode 100644
index 0000000..dff6534
--- /dev/null
+++ b/CopterController/v2DSM2.h
@@ -0,0 +1,18 @@
+#ifndef V2DSM2_H
+#define V2DSM2_H
+
+class v2DSM2
+{
+public:
+    v2DSM2( int mode = 1024 );
+
+    void update();
+    int values[7];
+private:
+    int fd;
+    int valueMask;
+    char thisByte, lastByte;
+    int data[7];
+};
+
+#endif
\ No newline at end of file
diff --git a/CopterController/v2DSM2tester.cpp b/CopterController/v2DSM2tester.cpp
new file mode 100644
index 0000000..0ac2fc5
--- /dev/null
+++ b/CopterController/v2DSM2tester.cpp
@@ -0,0 +1,15 @@
+#include <iostream>
+#include "v2DSM2.h"
+
+using namespace std;
+
+int main(int argc, char const *argv[])
+{
+    v2DSM2 dsm;
+    while( true )
+    {
+        dsm.update();
+        cout << "THRO " << dsm.values[0] << "\tAILE " << dsm.values[1] << "\tELEV " << dsm.values[2] << "\tRUDD " << dsm.values[3] << "\tGEAR " << dsm.values[4] << "\tAUX1 " << dsm.values[5] << endl;
+    }
+    return 0;
+}
\ No newline at end of file