Merge branch 'master' of https://gitlab.cvh-server.de/lf.ps/vbls

Conflicts:
	LeonardoMixerIO/src/MultiWiiSerial.cpp.lukas
	LeonardoMixerIO/src/MultiWiiSerial.h.lukas

LeonardoMixerIO/src/LeonardoMixer.cpp

 // LeonardoMixer.cpp
-// TODO License
-// Lukas Friedrichsen, Philipp Stenkamp, 2017-1-6
+// Copyright 2016, 2017 Lukas Friedrichsen, Philipp Stenkamp
+// License: Modified BSD-License
 //
+// Realtime RC mixer for Arduino-devices
+//
+// 2017-01-06
+
 
 #include <Arduino.h>
 #include "RC.h"
@@ -32,20 +36,17 @@ nRtTask *nRtTasks[] = { &readRawSerial, &readSpektrum, &mix,  NULL };
 
 void mix_Function (void)
   {
-    //Serial.println("MIX");
     mixer.mix();
   }
 
 void readSpektrum_Function (void)
   {
-    //Serial.println("SPEKTRUM");
     spektrum.dataReceive();
     spektrum.getData();
   }
 
 void readRawSerial_Function (void)
   {
-    //Serial.println("RAW_SERIAL");
     serial.dataReceive();
     serial.getData();
   }
@@ -75,9 +76,6 @@ void printLCD_Function ()
 
 void send_Function (void)
   {
-
-    //Serial.println("SEND");
-    //printDebug();
     msp.SerialEncode();
   }
 
@@ -117,7 +115,7 @@ void setup()
     lcd.begin(2, 8);
 
     while(Serial1.available()){
-      Serial1.read(); //gibt es eine bessere möglichkeit ()
+      Serial1.read();
     }
   }
 

LeonardoMixerIO/src/Mixer.cpp

 // Mixer.cpp
-// TODO License
-// Philipp Stenkamp, 2016-11-7
+// Copyright 2016, 2017 Lukas Friedrichsen, Philipp Stenkamp
+// License: Modified BSD-License
 //
 // Very basic implementation of an RC mixer.
 // Mixing can be activated remotely via one of the input channels
+//
+// 2016-11-07
+
 
 #include "Mixer.h"
 #include "Arduino.h"

LeonardoMixerIO/src/MultiWiiSerial.cpp

 // MultiWiiSerial.cpp
-// TODO License
-// Philipp Stenkamp, 2016-11-7
+// Copyright 2016, 2017 Lukas Friedrichsen, Philipp Stenkamp
+// License: Modified BSD-License
 //
 // Implementation of the MultiWii Serial Protocol for Arduino
 // http://www.multiwii.com/wiki/index.php?title=Multiwii_Serial_Protocol
+//
+// 2016-11-07
+
 
 #include "MultiWiiSerial.h"
 #include "Arduino.h"

LeonardoMixerIO/src/MultiWiiSerial.cpp.lukas

-#include "MultiWiiSerial.h"
-#include "Arduino.h"
-#include "RC.h"
-
-/*
- * The general format of an MSP message is:
- * <preamble>,<direction>,<size>,<command>,<data>,<crc>
- * preamble = the ASCII characters '$M'
- * direction = the ASCII character '<' if to the MWC or '>' if from the MWC
- * size = number of data bytes, binary. Can be zero as in the case of a data request to the MWC
- * command = message_id as per the table below
- * data = as per the table below. UINT16 values are LSB first.
- * crc = XOR of <size>, <command> and each data byte into a zero'ed sum
- */
-
-MultiWiiSerial::MultiWiiSerial(rcSource *source) {
-  _source = source;
-}
-/* Needed if a reference to an HardwareSerial object is given, needs some logic to decide which type of Serial Object needs to be initialized
-
-void MultiWiiSerial::init(Serial_ *msp_Serial){
-  _Serial = msp_Serial;
-  _Serial->begin(115200);
-}
-*/
-void MultiWiiSerial::init(HardwareSerial *msp_Serial){
-  _Serial = msp_Serial;
-  _Serial->begin(115200);
-}
-
-void MultiWiiSerial::SerialEncode()
-{
-    uint8_t header[] = {'$', 'M', '<', MSP_FRAME_SIZE, 200};      //Fixed header for sending raw RC Data
-    uint8_t crc = 0;
-    crc ^= MSP_FRAME_SIZE;
-    crc ^= 200;
-    //crc = makeCRC(crc, header + 3, 2);                      // checksum starts from len field
-    _Serial->write(header, 5);
-    for(uint8_t i = 0; i < MSP_FRAME_SIZE/2; i++){
-      crc = crc ^ uint8_t(_source->data[i]%256);
-      _Serial->write(uint8_t(_source->data[i]%256));
-      crc = crc ^ uint8_t(_source->data[i]/256);
-      _Serial->write(uint8_t(_source->data[i]/256));
-    }
-    _Serial->write(crc);
-}
-
-
-void MultiWiiSerial::dataReceive(){
-    while (_Serial->available() >= MSP_FRAME_SIZE)  //DANGEROUS, runtime dependent on serial input, NO REALTIME AT ALL!!
-    {
-      _Serial->readBytes(frame, MSP_FRAME_SIZE);
-    }
-}
-
-uint16_t MultiWiiSerial::readRawRC(uint8_t chan){
-    return frame[chan];
-
-}

LeonardoMixerIO/src/MultiWiiSerial.h

 // MultiWiiSerial.h
-// TODO License
-// Philipp Stenkamp, 2016-11-7
+// Copyright 2016, 2017 Lukas Friedrichsen, Philipp Stenkamp
+// License: Modified BSD-License
 //
-// Implementation of the MultiWii Serial Protocol for Arduino
-// http://www.multiwii.com/wiki/index.php?title=Multiwii_Serial_Protocol
+// 2016-11-07
+
 
 #ifndef MultiWiiSerial_h
 #define MultiWiiSerial_h

LeonardoMixerIO/src/MultiWiiSerial.h.lukas

-/*
- * Implementation of the MultiWii Serial Protocol
- * http://www.multiwii.com/wiki/index.php?title=Multiwii_Serial_Protocol
- *
- *
- *
- * Philipp Stenkamp - 7-11-2016
- */
-
-#ifndef MultiWiiSerial_h
-#define MultiWiiSerial_h
-
-#include <stdbool.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include "Arduino.h"
-#include "RC.h"
-
-#define MSP_MAX_SUPPORTED_CHANNEL_COUNT 8
-#define MSP_FRAME_SIZE 8*2
-
-class MultiWiiSerial {
-  public:
-    MultiWiiSerial(rcSource *source);
-    //void init(Serial_ *msp_Serial);
-    void init(HardwareSerial *msp_Serial);
-    void dataReceive();
-    uint16_t readRawRC(uint8_t chan);
-
-    void SerialEncode();
-
-  private:
-    HardwareSerial *_Serial;
-    rcSource *_source;
-    uint8_t channelCount;
-    uint16_t rxRefreshRate;
-
-    uint8_t frame[MSP_FRAME_SIZE];
-
-    uint16_t channelData[MSP_MAX_SUPPORTED_CHANNEL_COUNT]; // shouldn't be channelCount to prevent going out of bounds in case of misconfiguration
-};
-
-#endif

LeonardoMixerIO/src/RawSerial.cpp

 // RawSerial.h
-// TODO License
-// Philipp Stenkamp, 2016-11-7
+// Copyright 2016, 2017 Lukas Friedrichsen, Philipp Stenkamp
+// License: Modified BSD-License
 //
 // Implementation of a simple serial data protocol.
 // Primarily meant for use with our OpenCV Android Circle Tracking App
-// TODO Project Name
-// TODO url
+// Visual Based Landing System
+// https://gitlab.cvh-server.de/lf.ps/vbls/Visual-Based-Landing-System/
+//
+// 2016-11-07
+
 
 #include "RawSerial.h"
 #include "Arduino.h"

LeonardoMixerIO/src/Scheduler.cpp

 // Scheduler.cpp
-// TODO License
-// Lukas Friedrichsen, 2016-12-
+// Copyright 2016, 2017 Lukas Friedrichsen, Philipp Stenkamp
+// License: Modified BSD-License
 //
+// Implementation of a cooperative multitasking based scheduler for Arduino-devices
+//
+// 2017-02-10
+
 
 #include "Scheduler.h"
 
@@ -244,7 +248,6 @@ void Scheduler::schedule (void) {
   if (rtTasks) {
     unsigned long timerDiff = getTaskTimerDiff(rtTasks->listElement);
     unsigned long cycleTime = getTaskCycleTime((rtTask *) rtTasks->listElement);
-    //debugger->println("cycle-time: "+(String)cycleTime+" timer-diff: "+(String)timerDiff+"    micros: "+(String)micros());
     if (timerDiff >= cycleTime) {
       if (((timerDiff-cycleTime)*100/cycleTime) > OVERLOAD_THRESHOLD_PERCENT) {
         overloadCounter++;

stuff/LeonardoMixerDemo/src/Mixer.h

 // Mixer.h
-// TODO License
-// Philipp Stenkamp, 2016-11-7
+// Copyright 2016, 2017 Lukas Friedrichsen, Philipp Stenkamp
+// License: Modified BSD-License
+//
+// 2016-11-07
+
 
 #ifndef Mixer_h
 #define Mixer_h

stuff/LeonardoMixerDemo/src/RC.h

 // RC.h
-// TODO License
-// Philipp Stenkamp, 2016-11-7
+// Copyright 2016, 2017 Lukas Friedrichsen, Philipp Stenkamp
+// License: Modified BSD-License
 //
-// Provides an array of channel data for a given number of channels.
-// Can be signed with a timestamp to indicate timeliness of the data.
+// 2016-11-07
+
 
 #ifndef RC_h
 #define RC_h

stuff/LeonardoMixerDemo/src/RawSerial.h

 // RawSerial.h
-// TODO License
-// Philipp Stenkamp, 2016-11-7
+// Copyright 2016, 2017 Lukas Friedrichsen, Philipp Stenkamp
+// License: Modified BSD-License
 //
-// Implementation of a simple serial RC data protocol.
-// Primarily meant for use with our OpenCV Android Circle Tracking App
-// TODO Project Name
-// TODO url
+// 2016-11-07
+
 
 #ifndef RawSerial_h
 #define RawSerial_h

stuff/LeonardoMixerDemo/src/Scheduler.h

 // Scheduler.h
-// TODO License
-// Lukas Friedrichsen, 2016-12-
+// Copyright 2016, 2017 Lukas Friedrichsen, Philipp Stenkamp
+// License: Modified BSD-License
 //
+// 2017-02-10
+
 
 #ifndef Scheduler_h
 #define Scheduler_h

stuff/LeonardoMixerDemo/src/Spektrum.cpp

 // Spektrum.cpp
-// TODO License
-// Philipp Stenkamp, 2016-11-7
+// Copyright 2016, 2017 Lukas Friedrichsen, Philipp Stenkamp
+// License: Modified BSD-License
 //
 // Implementation of the Spektrum Satellite Serial Protocol for Arduino
 // based on the Spektrum Remote Receiver Interfacing Specification
@@ -8,6 +8,7 @@
 //
 // In the style of Cleanflight
 // https://github.com/cleanflight/cleanflight/tree/master/src/main/rx
+// 2016-11-07
 
 
 #include "Spektrum.h"

stuff/LeonardoMixerDemo/src/Spektrum.h

 // Spektrum.h
-// TODO License
-// Philipp Stenkamp, 2016-11-7
+// Copyright 2016, 2017 Lukas Friedrichsen, Philipp Stenkamp
+// License: Modified BSD-License
 //
-// Implementation of the Spektrum Remote Receiver Interfacing Specification
-// https://www.spektrumrc.com/ProdInfo/Files/Remote%20Receiver%20Interfacing%20Rev%20A.pdf
-//
-// Partly based on and heavily influenced by Cleanflight
-// https://github.com/cleanflight/cleanflight/tree/master/src/main/rx
+// 2016-11-07
+
 
 #ifndef Spektrum_h
 #define Spektrum_h