int main() {
int c, res ,seq = 0 ,len;
unsigned char result, serialRead;
struct sockaddr_in receiver_addr;
int sock_fd;
/* Prepare Serial Port */
if(serialOpen() != 0) return -1;
signal(SIGINT, interrupt); //set ctrl-c handler
/* Prepare Socket */
sock_fd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
receiver_addr.sin_family = AF_INET;
if( inet_aton( ADDR, &receiver_addr.sin_addr )== 0) {
printf("Crap!, Init failed\n");
close(sock_fd);
return;
}
receiver_addr.sin_port = htons( PORT );
while (isrunning) { /*endless loop until ctrl-c is typed */
serialRead = serialReadChar();
printf("value is %c\n", serialRead);
makeATCommand(at_command,seq,serialRead);
len = strlen(at_command);
sendto(sock_fd, at_command, len, 0,(struct sockaddr*)&receiver_addr,sizeof(receiver_addr));
seq ++;
}
close(sock_fd);
serialClose();
return 0;
}
void makeATCommand(char *at_command,int seq,char serialRead){
strcpy(at_command,"");
char at[5] = "AT*" ,command[9],seri_num[6];
strcpy(at_command,at);
sprintf(seri_num,"%d",seq);
if(serialRead == 'k'){
//takeoff
strcat(at_command,"REF=");
strcat(at_command,seri_num);
strcat(at_command,",");
strcat(at_command,"290718208\r");
return;
}else if(serialRead == 'j'){
//landing
strcat(at_command,"REF=");
strcat(at_command,seri_num);
strcat(at_command,",");
strcat(at_command,"290717696\r");
return;
}else if(serialRead == 'w'){
//move forward
strcat(at_command,"PCMD=");
strcat(at_command,seri_num);
strcat(at_command,",");
strcat(at_command,"1,0,-1102263091,0,0\r");
return;
}else if(serialRead == 's'){
//move backward
strcat(at_command,"PCMD=");
strcat(at_command,seri_num);
strcat(at_command,",");
strcat(at_command,"1,0,1045220577,0,0\r");
return;
}else if(serialRead == 'd'){
//move to right
strcat(at_command,"PCMD=");
strcat(at_command,seri_num);
strcat(at_command,",");
strcat(at_command,"1,1045220557,0,0,0\r");
return;
}else if(serialRead == 'a'){
//move left
strcat(at_command,"PCMD=");
strcat(at_command,seri_num);
strcat(at_command,",");
strcat(at_command,"1,-1102263091,0,0,0\r");
return;
}else if(serialRead == '1'){
//rise upward
strcat(at_command,"PCMD=");
strcat(at_command,seri_num);
strcat(at_command,",");
strcat(at_command,"1,0,0,1102263091,0\r");
return;
}else if(serialRead == '3'){
//rise downward
strcat(at_command,"PCMD=");
strcat(at_command,seri_num);
strcat(at_command,",");
strcat(at_command,"1,0,0,-1102263091,0\r");
return;
}
else if(serialRead == 'e'){
//rotate right
strcat(at_command,"PCMD=");
strcat(at_command,seri_num);
strcat(at_command,",");
strcat(at_command,"1,0,0,0,1102263091\r");
return;
}else if(serialRead == 'q'){
//rotate left
strcat(at_command,"PCMD=");
strcat(at_command,seri_num);
strcat(at_command,",");
strcat(at_command,"1,0,0,0,-1102263091\r");
return;
}else if(serialRead == 'x' | serialRead == '2'){
//hover
strcat(at_command,"PCMD=");
strcat(at_command,seri_num);
strcat(at_command,",");
strcat(at_command,"0,0,0,0,0\r");
return;
}else {
//watchdog
serialReadChar();
strcat(at_command,"COMWDG=");
strcat(at_command,seri_num);
strcat(at_command,"\r");
return;
}
}
int main(int argc, char *argv[]) {
FILE *fp;
char c;
time_t start = time(NULL), end;
if ((argc < 3) || (argc > 4)) {
printf("Usage:\n%s /dev/port /path/to.hex [q]\n", argv[0]);
return 1;
}
// Open HEX File
if ((fp = fopen(argv[2], "r")) == NULL) {
printf("Could not open file %s\n", argv[2]);
return 1;
}
// Read it's contents
if (readHex(fp) != 0) {
printf("Could not parse HEX file %s\n", argv[2]);
fclose(fp);
return 1;
}
fclose(fp);
if (!isValid()) {
printf("HEX-File not valid!\n");
freeHex();
return 1;
}
uint32_t min = minAddress();
uint32_t max = maxAddress();
uint32_t length = dataLength();
printf("Hex File Path : %s\n", argv[2]);
printf("Minimum Address : 0x%X\n", min);
printf("Maximum Address : 0x%X\n", max);
printf("Data payload : %i bytes\n\n", length);
uint8_t *d = (uint8_t *)malloc(length * sizeof(uint8_t));
if (d == NULL) {
fprintf(stderr, "Not enough memory (%lu bytes)!\n", length * sizeof(uint8_t));
freeHex();
return 1;
}
parseData(d);
freeHex();
// Open serial port
if ((fd = serialOpen(argv[1], 38400, 1)) == -1) {
printf("Could not open port %s\n", argv[1]);
free(d);
return 1;
}
signal(SIGINT, intHandler);
signal(SIGQUIT, intHandler);
ping:
printf("Pinging bootloader... Stop with CTRL+C\n");
if (argc > 3) {
c = argv[3][0];
} else {
c = 'f';
}
serialWriteChar(fd, c);
usleep(PINGDELAY * 1000);
if ((serialReadRaw(fd, &c, 1) != 1) || (c != OKAY)) {
goto ping;
}
printf("Got response... Acknowledging...\n");
serialWriteChar(fd, CONFIRM);
serialReadChar(fd, &c);
if (c != ACK) {
printf("Invalid acknowledge! Trying again...\n", c, c);
goto ping;
}
printf("Connection established successfully!\n");
printf("Sending target address...\n");
serialWriteChar(fd, (min & 0xFF000000) >> 24);
serialWriteChar(fd, (min & 0x00FF0000) >> 16);
serialWriteChar(fd, (min & 0x0000FF00) >> 8);
serialWriteChar(fd, min & 0x000000FF);
serialReadChar(fd, &c);
if (c != OKAY) {
printf("Invalid acknowledge from YASAB!\n", c, c);
free(d);
serialClose(fd);
return 1;
}
printf("Sending data length...\n");
serialWriteChar(fd, (length & 0xFF000000) >> 24);
serialWriteChar(fd, (length & 0x00FF0000) >> 16);
serialWriteChar(fd, (length & 0x0000FF00) >> 8);
serialWriteChar(fd, length & 0x000000FF);
serialReadChar(fd, &c);
if (c != OKAY) {
printf("Invalid acknowledge from YASAB (%x)!\n", c, c);
free(d);
serialClose(fd);
return 1;
}
printf("\n\n");
for (uint32_t i = 0; i < length; i++) {
serialWriteChar(fd, d[i]);
if (serialHasChar(fd)) {
serialReadChar(fd, &c);
if (c == OKAY) {
printNextPage();
} else if (c == ERROR) {
printf("YASAB aborted the connection!\n");
free(d);
serialClose(fd);
return 1;
} else {
printf("Unknown answer from YASAB (%x)!\n", c, c);
}
}
printProgress(i + 1, length);
}
end = time(NULL);
printf("\n\nUpload finished after %3.1f seconds.\n", difftime(end, start));
printf("YASAB - Yet another simple AVR Bootloader\n");
printf("By xythobuz - Visit www.xythobuz.org\n");
free(d);
serialClose(fd);
return 0;
}
