1 package edu.berkeley.cs.obits.device.atmel;
3 import edu.berkeley.cs.obits.*;
4 import org.ibex.util.Log;
9 /** the "host" side of the AVR Drone; see AvrDrone.c for the other side */
10 public class AvrDrone extends AtmelDevice {
12 final DataInputStream in;
14 final DataOutputStream out;
18 public AvrDrone(SerialPort sp) throws IOException, UnsupportedCommOperationException, InterruptedException, DeviceException {
20 sp.setSerialPortParams(115200, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
21 sp.setFlowControlMode(sp.FLOWCONTROL_RTSCTS_OUT);
22 this.out = new DataOutputStream(sp.getOutputStream());
23 this.in = new DataInputStream(sp.getInputStream());
24 Log.debug(this, "consuming any leftover data on the serial port");
25 while(in.available() > 0) in.read();
27 Log.debug(this, "waiting for device to identify itself");
28 if (in.readByte() != (byte)'O') throw new RuntimeException("didn't get the proper signature");
29 if (in.readByte() != (byte)'B') throw new RuntimeException("didn't get the proper signature");
30 if (in.readByte() != (byte)'I') throw new RuntimeException("didn't get the proper signature");
31 if (in.readByte() != (byte)'T') throw new RuntimeException("didn't get the proper signature");
32 if (in.readByte() != (byte)'S') throw new RuntimeException("didn't get the proper signature");
33 if (in.readByte() != (byte)'\n') throw new RuntimeException("didn't get the proper signature");
34 Log.info(this, "device correctly identified itself; ready for operation");
37 public void reset() throws DeviceException {
39 Log.info(this, "resetting device");
44 } catch (InterruptedException e) { throw new DeviceException(e); }
47 public void mode4(int z, int y, int x, int d) throws DeviceException {
49 Log.debug(this, "writing configuration frame [zyxd]: " +
50 pad(2, Integer.toString(z, 16)) + " " +
51 pad(2, Integer.toString(y, 16)) + " " +
52 pad(2, Integer.toString(x, 16)) + " " +
53 pad(2, Integer.toString(d, 16))
60 } catch (IOException e) { throw new DeviceException(e); }
63 public void flush() throws DeviceException {
66 } catch (IOException e) { throw new DeviceException(e); }
69 private String pad(int i, String s) { if (s.length()>i) return s; return "0"+pad((i-1),s); }