/QMK-Groundstation/branches/libMK/libMK/QTCommunication.cpp |
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/QMK-Groundstation/branches/libMK/libMK/Communication.cpp |
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/QMK-Groundstation/branches/libMK/libMK/QTCommunication.h |
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/QMK-Groundstation/branches/libMK/libMK/Communication.h |
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/QMK-Groundstation/branches/libMK/libMK/Handler.cpp |
---|
82,7 → 82,7 |
} |
/** |
* send a waypoint to the NaviCtrl (the copter will fly to the position emidiately) |
* send a waypoint to the NaviCtrl (the MikroKopter will fly to the position emidiately) |
*/ |
void Handler::send_waypoint(Waypoint_t desired_pos) { |
com->send_cmd('s', ADDRESS_NC, (char *)&desired_pos, sizeof(desired_pos), false); |
189,43 → 189,37 |
/** |
* receive data |
*/ |
void Handler::receive_data(sRxData RX) { |
//extract hardware ID from received Data |
int hardwareID = RX.input[1] - 'a'; |
//Parser::decode64(data); |
void Handler::receive_data(int hardwareID, int cmd, char * data) { |
switch(hardwareID) |
{ |
case ADDRESS_FC : |
switch(RX.input[2]) |
switch(cmd) |
{ |
// Motor-Mixer |
case 'N' : |
if (Parser::decode64(RX)) |
{ |
//if (Parser::decode64(RX)) |
//{ |
com->stop_resend(); |
if (RX.decode[0] == VERSION_MIXER) |
//decoded data |
if (data[0] == VERSION_MIXER) |
{ |
//f_MotorMixer->set_MotorConfig(RX); |
} |
} |
//} |
break; |
// Motor-Mixer Schreib-Bestätigung |
case 'M' : |
if (Parser::decode64(RX)) |
{ |
com->stop_resend(); |
if (RX.decode[0] == 1) |
if (data[0] == 1) |
{ |
//lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben.")); |
} |
} |
break; |
// Stick-Belegung der Fernsteuerung |
case 'P' : // DONE 0.71g |
if (Parser::decode64(RX)) |
{ |
/*f_Settings->pb_K1->setValue(Parser::dataToInt(RX.decode, 2,true)); |
f_Settings->pb_K2->setValue(Parser::dataToInt(RX.decode, 4,true)); |
f_Settings->pb_K3->setValue(Parser::dataToInt(RX.decode, 6,true)); |
234,17 → 228,14 |
f_Settings->pb_K6->setValue(Parser::dataToInt(RX.decode, 12,true)); |
f_Settings->pb_K7->setValue(Parser::dataToInt(RX.decode, 14,true)); |
f_Settings->pb_K8->setValue(Parser::dataToInt(RX.decode, 16,true));*/ |
} |
break; |
// Settings lesen |
case 'Q' : // DONE 0.71g |
if (Parser::decode64(RX)) |
{ |
com->stop_resend(); |
if (RX.decode[1] == VERSION_SETTINGS) |
if (data[1] == VERSION_SETTINGS) |
{ |
int Settings_ID = RX.decode[0]; |
int Settings_ID = data[0]; |
/*for (int a = 0; a < MaxParameter; a++) |
{ |
FCSettings[a] = RX.decode[a + 2]; |
267,7 → 258,6 |
QMessageBox::warning(this, QA_NAME, |
name, QMessageBox::Ok);*/ |
} |
} |
break; |
// Settings written |
case 'S' : // DONE 0.71g |
277,25 → 267,20 |
} |
case ADDRESS_NC : |
switch(RX.input[2]) |
switch(cmd) |
{ |
// Navigationsdaten |
case 'O' : // NOT DONE 0.12h |
if (Parser::decode64(RX)) |
{ |
//new_NaviData(RX); |
} |
break; |
} |
// case ADDRESS_MK3MAG : |
default : |
switch(RX.input[2]) |
switch(cmd) |
{ |
// LCD-Anzeige |
case 'L' : // DONE 0.71g |
if (Parser::decode64(RX)) |
{ |
com->stop_resend(); |
/*int LCD[150]; |
306,17 → 291,13 |
LCD_Page = RX.decode[0]; |
LCD_MAX_Page = RX.decode[1]; |
*/ |
} |
break; |
// Analoglabels |
case 'A' : // DONE 0.71g |
if (Parser::decode64(RX)) |
{ |
com->stop_resend(); |
int Position = RX.decode[0]; |
if (Position != 31) |
{ |
//check position |
if (data[0] != 31) { |
/* |
Settings->Analog1.Label[Position] = ToolBox::dataToQString(RX.decode,1,17).trimmed(); |
if (Settings->Analog1.Label[Position] == "") |
326,9 → 307,7 |
Position ++; |
TX_Data[0] = Position; |
o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true);*/ |
} |
if (Position == 31) |
{ |
} else { |
/* |
for (int a = 0; a < MaxAnalog; a++) |
{ |
338,23 → 317,16 |
Settings->write_Settings_AnalogLabels(HardwareID); |
config_Plot();*/ |
} |
} |
break; |
// Debug-Daten |
case 'D' : // DONE 0.71g |
if (Parser::decode64(RX)) |
{ |
for (int i = 0; i < MaxAnalog; i++) |
{ |
for (int i = 0; i < MaxAnalog; i++) { |
//AnalogData[i] = Parser::dataToInt(RX.decode, (i * 2) + 2); |
} |
//show_DebugData(); |
} |
break; |
// Version |
case 'V' : // DONE 0.71h |
if (Parser::decode64(RX)) |
{ |
com->stop_resend(); |
/* |
Mode.ID = HardwareID; |
462,7 → 434,6 |
lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
} |
config_Plot();*/ |
} |
break; |
} |
} |
/QMK-Groundstation/branches/libMK/libMK/Handler.h |
---|
1,6 → 1,5 |
#ifndef HANDLER_H |
#define HANDLER_H |
#include <string> |
#include "Parser.h" |
#include "Communication.h" |
#include "Kopter.h" |
16,10 → 15,11 |
private: |
Communication * com; |
sRxData rxData; |
public: |
KopterData * data; |
Handler(Communication * com, KopterData * data); |
//FlightCtrl commands |
void get_flightctrl_settings(int index); |
void set_flightctrl_settings(char * tx_data); |
53,7 → 53,7 |
void get_version(); |
void get_ppm_channels(); |
void receive_data(sRxData rx); |
void receive_data(int hardwareID, int cmd, char * data); |
}; |
#endif |
/QMK-Groundstation/branches/libMK/libMK/Kopter.h |
---|
1,13 → 1,12 |
#ifndef COPTER_H |
#define COPTER_H |
#include <string> |
using namespace std; |
/** |
* This file contains informations and configurations from the Mikrokopter |
*/ |
#define MAX_DATA_SIZE 150 |
// version information for the serial connection |
#define VERSION_SERIAL_MAJOR 10 |
#define VERSION_SERIAL_MINOR 0 |
24,7 → 23,7 |
// settings ID |
#define SETTINGS_ID 2 |
static const string HardwareType[] = {"Default", "FlightCtrl", "NaviCtrl", "MK3Mag"}; |
static const char * HardwareType[] = {"Default", "FlightCtrl", "NaviCtrl", "MK3Mag"}; |
static const int MaxTickerEvents = 5; |
40,7 → 39,7 |
int mixer_roll[MAX_MOTORS]; |
int mixer_yaw[MAX_MOTORS]; |
int desired_speed[MAX_MOTORS]; |
string mixer_name; |
char * mixer_name; |
int mixer_version; |
}; |
52,8 → 51,8 |
int version_patch; |
int version_serial_major; |
int version_serial_minor; |
string hardware; |
string version; |
char * hardware; |
char * version; |
}; |
struct sGPS_Pos |
/QMK-Groundstation/branches/libMK/libMK/Parser.cpp |
---|
1,34 → 1,73 |
#include <Parser.h> |
// Base64 Decoder |
// see Parser.h for details about sRxData |
bool Parser::decode64(sRxData &rx) |
/** |
* create a frame that can be send to the MK using the |
* connection class. |
* see http://www.mikrokopter.com/ucwiki/en/SerialProtocol |
* how the protocol is encoded and |
* see http://www.mikrokopter.com/ucwiki/en/SerialCommands |
* to look at the possible commands that are already coded |
* in data |
*/ |
void Parser::create_frame(char cmd, int address, char * data, unsigned int length) { |
//if # is cmd we do not touch anything, because |
// the command is already encoded in data |
if (cmd != '#') { |
/* |
//calculate buffer length |
//(4 Bytes for 1-byte '#', 1-byte address, and 2-byte crc) |
//(the rest for the data length - see encode how this is calculated) |
int buff_len = 4+(length/3 + (length%3==0?0:1) )*4; |
//allociate memory for the data we want to send |
char * send_data = (char *)malloc(buf_len); |
*/ |
char send_data[150]; |
send_data[0]='#'; |
send_data[1]=(char)address; |
send_data[2]=cmd; |
for (int i = 0; i < length; i++) |
send_data[i+3] = data[i]; |
//TODO: abgleich mit MKCommunication::send_command |
Parser::encode64(send_data, length); |
address = 'a' + address; |
} |
} |
/** |
* Base64 Decoder |
* see Parser.h for details about sRxData |
* data = data that will be decoded |
* len = length of data |
* ptrOut = pointer to decoded data |
* offset = offset in data |
*/ |
int Parser::decode64(char * data, int len, unsigned char *ptrOut, int offset) |
{ |
int length = rx.str.size(); |
unsigned char a,b,c,d; |
unsigned char ptr = 0; |
unsigned char x,y,z; |
int ptrOut[150]; |
int ptrIn = 3; |
int max = length; |
int len = length; |
int decLen = 0; |
if (rx.input[ptrIn] == 0) { |
return false; |
/* |
//FIXME: dies wieder einklammern! |
if (data[ptrIn] == 0) { |
return -1; |
//TODO: catch error to show that something went wrong during the decode process |
//throw "Nothing received"; |
} |
*/ |
//decode data |
while(len) { |
a = data[offset++] - '='; |
b = data[offset++] - '='; |
c = data[offset++] - '='; |
d = data[offset++] - '='; |
while(len != 0) { |
a = rx.input[ptrIn++] - '='; |
b = rx.input[ptrIn++] - '='; |
c = rx.input[ptrIn++] - '='; |
d = rx.input[ptrIn++] - '='; |
//if(offset > max - 2) break; |
if(ptrIn > max - 2) break; |
x = (a << 2) | (b >> 4); |
y = ((b & 0x0f) << 4) | (c >> 2); |
z = ((c & 0x03) << 6) | d; |
37,9 → 76,13 |
if(len--) ptrOut[ptr++] = y; else break; |
if(len--) ptrOut[ptr++] = z; else break; |
} |
//decoded data |
unsigned char * decData; |
for (int a=0; a<ptr; a++) { |
if (length == false) { |
if (len) { |
decData[decLen] = ptrOut[a]; |
decLen++; |
} else { |
int b1, b2, b3; |
b1 = ptrOut[a++]; |
50,19 → 93,18 |
if (b3 > 32767) |
b3 = b3 - 65536; |
rx.decode[decLen] = b3; |
decData[decLen] = b3; |
decLen++; |
} else { |
rx.decode[decLen] = ptrOut[a]; |
decLen++; |
} |
rx.decLen = decLen; |
} |
return true; |
ptrOut = decData; |
return decLen; |
} |
// base64 encoder |
string Parser::encode64(char data[150],unsigned int length) |
/** |
* base64 encoder |
*/ |
void Parser::encode64(char data[150],unsigned int length) |
{ |
unsigned int pt = 0; |
unsigned char a,b,c; |
83,7 → 125,8 |
} |
tx_buff[pt] = 0; |
return string(tx_buff); |
//move pointer of tx_buff to data |
data = tx_buff; |
} |
// Datensatz nach 8bit Integer |
96,7 → 139,9 |
return out; |
} |
// received char to 8 bit integer |
/** |
* received char to 8 bit integer |
*/ |
int Parser::charToData(int data) { |
if (data < 0) |
return data + 256; |
103,7 → 148,9 |
return data; |
} |
// convert data to 16bit Integer |
/** |
* convert data to 16bit Integer |
*/ |
int Parser::dataToInt(int *Data , int Start, bool is_signed) |
{ |
int Out = (Data[Start+1]<<8) | (Data[Start+0]); |
115,7 → 162,9 |
} |
// convert data to 32bit Long |
/** |
* convert data to 32bit Long |
*/ |
long Parser::dataToLong(int *Data , int Start, bool is_signed) |
{ |
long Out = (Data[Start+3]<<24) | (Data[Start+2]<<16) | (Data[Start+1]<<8) | (Data[Start+0]); |
135,43 → 184,31 |
return temp / num; |
} |
string Parser::dataToString(int Data[150], int Start, int End) |
/** |
* check CRC |
*/ |
bool Parser::check_CRC(char * rx, int length) |
{ |
char String[150]; |
for (int a = Start; a < End; a++) |
{ |
String[a - Start] = Data[a]; |
} |
String[End - Start] = '\0'; |
return string(String); |
} |
// check CRC |
bool Parser::check_CRC(string RXstr) |
{ |
int length = RXstr.size(); |
int CRC = 0; |
char *RX = (char *)RXstr.c_str(); |
if (RX[1] == 127) |
if (rx[1] == 127) |
{ |
RX[1] = 0; |
rx[1] = 0; |
} |
for(int i=0; i < length-2; i++) |
{ |
CRC+=RX[i]; |
CRC+=rx[i]; |
} |
CRC = CRC % 4096; |
if(RX[length - 2] != ('=' + (CRC / 64))) |
if(rx[length - 2] != ('=' + (CRC / 64))) |
{ |
return false; |
} |
if(RX[length - 1] != ('=' + CRC % 64)) |
if(rx[length - 1] != ('=' + CRC % 64)) |
{ |
return false; |
} |
179,25 → 216,22 |
return true; |
} |
// add CRC |
string Parser::add_CRC(string TX) |
/** |
* create CRC and add it to tx |
*/ |
void Parser::add_CRC(char * tx, int length) |
{ |
int length = TX.size(); |
unsigned int tmpCRC = 0; |
char CRC[2]; |
for(int i = 0; i < length; i++) |
{ |
tmpCRC += TX[i]; |
tmpCRC += tx[i]; |
} |
tmpCRC %= 4096; |
CRC[0] = '=' + tmpCRC / 64; |
CRC[1] = '=' + tmpCRC % 64; |
CRC[2] = '\0'; |
return string(TX) + string(CRC); |
tx[length-2] = '=' + tmpCRC / 64; |
tx[length-1] = '=' + tmpCRC % 64; |
tx[length] = '\0'; |
} |
/QMK-Groundstation/branches/libMK/libMK/Parser.h |
---|
1,6 → 1,5 |
#ifndef PARSER_H |
#define PARSER_H |
#include <string> |
#include <cmath> |
/** |
7,31 → 6,29 |
* The Parser gets values from the Mikrokopter-USART interface |
* and parses them into a sRxData-Struct |
*/ |
using namespace std; |
/* |
struct sRxData |
{ |
char *input; |
string str; |
int decode[150]; |
int decLen; |
}; |
*/ |
class Parser { |
public: |
static bool decode64(sRxData &rx); |
static string encode64(char data[150],unsigned int length); |
void create_frame(char cmd, int address, char * data, unsigned int length); |
static string add_CRC(string TX); |
static bool check_CRC(string RX); |
static int decode64(char * data, int len, unsigned char *ptrOut, int offset); |
static void encode64(char data[150],unsigned int length); |
static void add_CRC(char * tx, int length); |
static bool check_CRC(char * rx, int length); |
static float getFloat(long value, int count); |
static int dataToInt(int *Data , int Start, bool is_signed = true); |
static long dataToLong(int *Data , int Start, bool is_signed = true); |
static int dataToInt(int *data , int start, bool is_signed = true); |
static long dataToLong(int *data , int start, bool is_signed = true); |
static int dataToChar(int *data , int start, bool is_signed = true); |
static string dataToString(int Data[150], int Start = 0, int End = 150); |
static int charToData(int data); |
}; |
/QMK-Groundstation/branches/libMK/libMK/QTSerialCommunication.cpp |
---|
0,0 → 1,43 |
#include "QTSerialCommunication.h" |
#include "../libMK/Parser.h" |
/** |
* initiate connection and stuff |
*/ |
QTSerialCommunication::QTSerialCommunication() { |
serial = new ManageSerialPort(); |
serial->setBaudRate(BAUD57600); //BaudRate |
serial->setDataBits(DATA_8); //DataBits |
serial->setParity(PAR_NONE); //Parity |
serial->setStopBits(STOP_1); //StopBits |
serial->setFlowControl(FLOW_OFF); //FlowControl |
serial->setTimeout(0, 10); |
serial->enableSending(); |
serial->enableReceiving(); |
} |
/** |
* connect to Mikrokopter |
*/ |
void QTSerialCommunication::connect_MK(string addr) { |
}; |
/** |
* send command to Mikrokopter |
*/ |
bool QTSerialCommunication::send_cmd(char cmd, int address, char data[150], unsigned int length, bool resend) { |
if (is_connected()) { |
//a valid command starts |
} |
return true; |
}; |
/** |
* stop sending commands to Mikrokopter |
* stop timer |
*/ |
void QTSerialCommunication::stop_resend() { |
}; |
/QMK-Groundstation/branches/libMK/libMK/QTSerialCommunication.h |
---|
0,0 → 1,25 |
#ifndef QT_SERIAL_COMMUNICATION_H |
#define QT_SERIAL_COMMUNICATION_H |
#include "Communication.h" |
#include "../SerialPort/ManageSerialPort.h" |
/** |
* QT specific communication class |
* based on the communication interface |
* using the SerialPort implementation |
* by VIANNEY-LIAUD Philippe |
* ( philippe.vianney.liaud gmail.com ) |
*/ |
using namespace std; |
class QTSerialCommunication : public Communication { |
private: |
ManageSerialPort * serial; |
public: |
QTSerialCommunication(); |
void connect_MK(string addr); |
bool send_cmd(char cmd, int address, char data[150], unsigned int length, bool resend); |
void stop_resend(); |
}; |
#endif |