removes old, non-functional DSM2 code

CopterController/DSM2.cpp

@@ -1,63 +1,34 @@
 #include "DSM2.h"
 
+#include <iostream>
 #include "wiringSerial.h"
-#include <cstring>
 
+#define VALUE_MASK 0x3FF
 
-DSM2::DSM2( char* device, int mode )
+DSM2::DSM2( int mode )
 {
-
-    fd = serialOpen( device, 115200 );
-    if( mode != 1024 && mode != 2048 ) mode = 1024;
-    if( mode == 1024 )
-    {
-        valueSize = 10;
-        valueMask = 0x3FF;
-
-    }
-    else
-    {
-        valueSize = 11;
-        valueMask = 0x7FF;
-    }
+    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;
 }
 
-bool DSM2::ready()
-{
-    if( serialDataAvail( fd ) >= 16 ) return true;
-    return false;
-}
-
-void DSM2::update( bool block )
+void DSM2::update()
 {
     int i = 0;
-    if( block )
-    {
-        while( !ready() );
-    }
-    else if( !ready() ) return;
-
-    for( i = 0; i < 8; i++ ) readNext();
-    return;
-}
-
-void DSM2::readNext()
-{
-    int channel, value, raw;
-    raw = ( serialGetchar( fd ) << 8 ) + serialGetchar( fd );
-
-    if( lastReadChan == chanBeforeFl )
-    {
-        frameLoss = raw << 1 >> 1;
-        lastReadChan = -1;
-        return;
-    }
-
-    channel = (raw & 0x7FFF) >> valueSize;
-    value = raw & valueMask;
-    values[ channel ] = value;
-
-    lastReadChan = channel;
 
+    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;
 }

CopterController/DSM2.h

@@ -1,24 +1,18 @@
 #ifndef DSM2_H
 #define DSM2_H
 
-#define chanBeforeFl -1
-
-class DSM2 {
+class DSM2
+{
 public:
-    DSM2( char* device = "/dev/ttyAMA0", int mode = 1024 );
-    
-    bool ready();
-    void update( bool block = false );
-    void readNext();
+    DSM2( int mode = 1024 );
 
-    int* values;
-    int frameLoss;
+    void update();
+    int values[7];
 private:
-    int lastReadChan;
-
-    int fd; // file descriptor for serial bus
-    int valueSize;  // number of bits for value part of frame
+    int fd;
     int valueMask;
+    char thisByte, lastByte;
+    int data[7];
 };
 
 #endif

CopterController/DSM2tester.cpp

@@ -1,21 +1,15 @@
+#include <iostream>
 #include "DSM2.h"
 
 using namespace std;
 
-int main( int argc, char* argv[] )
+int main(int argc, char const *argv[])
 {
-    DSM2 dsm();
-
+    DSM2 dsm;
     while( true )
     {
-        cout << "Thro" << dsm.values[0] <<
-                "Aile" << dsm.values[1] << 
-                "Elev" << dsm.values[2] << 
-                "Rudd" << dsm.values[3] << 
-                "Gear" << dsm.values[4] << 
-                "Aux1" << dsm.values[5] << 
-                "FL" << dsm.frameLoss << endl;
-
-        dsm.update( 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;
 }

CopterController/Makefile

@@ -1,4 +1,4 @@
-all: PID.o I2Cdev.o MPU6050.o PCA9685.o DSM2.o main v2main PCA9685tester echoServerAdvanced
+all: PID.o I2Cdev.o MPU6050.o PCA9685.o DSM2.o PID.o
 
 PCA_HDRS = PCA9685.h PCA9685_Addresses.h
 MPU_HDRS = helper_3dmath.h I2Cdev.h MPU6050_6Axis_MotionApps20.h MPU6050.h
@@ -11,11 +11,13 @@ CXXFLAGS = -DDMP_FIFO_RATE=9 -Wall -lwiringPi
 I2Cdev.o MPU6050.o PCA9685.o PID.o: $(HDRS)
 PCA9685tester.o echoServerAdvanced.o main.o: $(HDRS)
 
-# version 2 stuff
 v2Parser.o: v2Parser.h helper_3dmath.h
-DSM2.o: $(DSM_HDRS)
 PID.o: $(PID_HDRS)
 
+DSM2.o DSM2tester.o: $(DSM_HDRS)
+DSM2tester: DSM2tester.o DSM2.o
+	$(CXX) $^ -lwiringPi -o $@
+
 v2main.o: v2Parser.h $(PCA_HDRS) $(MPU_HDRS) $(PID_HDRS)
 v2main: v2main.o v2Parser.o PCA9685.o PID.o I2Cdev.o MPU6050.o DSM2.o
 	$(CXX) $^ -lwiringPi -o $@
@@ -32,5 +34,9 @@ PCA9685tester: PCA9685.o PCA9685tester.o
 echoServerAdvanced: echoServerAdvanced.o PCA9685.o
 	$(CXX) $^ -lwiringPi -o $@
 
+SatelliteReceiver.o SatelliteReceiverTest.o: SatelliteReceiver.h
+SatelliteReceiverTest: SatelliteReceiver.o SatelliteReceiverTest.o
+	$(CXX) $^ -lwiringPi -o $@
+
 clean:
 	rm I2Cdev.o MPU6050.o MPU6050dmp.o MPU6050dmp_tester.o MPU6050dmp_tester PID.o main.o main PCA9685tester

CopterController/README.md

@@ -1,8 +1,2 @@
 Copter Controller
 ===
-Notes:
----
--DSM2 class does not work!  
---DSM2.cpp  
---DSM2.h  
---DSM2tester.cpp

CopterController/v2DSM2.cpp

@@ -1,34 +0,0 @@
-#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;
-}

CopterController/v2DSM2.h

@@ -1,18 +0,0 @@
-#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

CopterController/v2DSM2tester.cpp

@@ -1,15 +0,0 @@
-#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;
-}

README.md

@@ -1,2 +1,4 @@
 RasPi
 =====
+###Notes:
+**DO NOT** run setup.sh, it doesn't work

setup.sh

@@ -53,7 +53,7 @@ iptables -A FORWARD -i wlan0 -o eth0 -j ACCEPT
 # save these settings
 sh -c "iptables-save > /etc/iptables.ipv4.nat"
 
-# modify /etc/network/interfaces
+# modify /etc/network/interfaces (again)
 cat "up iptables-restore < /etc/iptables.ipv4.nat" >> /etc/network/interfaces
 
 # update hostapd