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[slipway.git]
/
src
/
edu
/
berkeley
/
slipway
/
FtdiBoard.java
diff --git
a/src/edu/berkeley/slipway/FtdiBoard.java
b/src/edu/berkeley/slipway/FtdiBoard.java
index
ab95011
..
ba84988
100644
(file)
--- a/
src/edu/berkeley/slipway/FtdiBoard.java
+++ b/
src/edu/berkeley/slipway/FtdiBoard.java
@@
-23,7
+23,7
@@
public class FtdiBoard extends Fpslic implements Board {
public FtdiBoard() throws Exception {
super(24, 24);
public FtdiBoard() throws Exception {
super(24, 24);
- chip = new FpslicBoot(new FpslicBootPinsUsb(new FtdiUart(0x6666, 0x3133, 1500 * 1000)));
+ chip = new FpslicBoot(new FpslicBootPinsUsb(new FtdiUart(0x6666, 0x3133, 1500 * 1000/2)));
String bstFile = this.getClass().getName();
bstFile = bstFile.substring(0, bstFile.lastIndexOf('.'));
bstFile = bstFile.replace('.', '/')+"/slipway_drone.bst";
String bstFile = this.getClass().getName();
bstFile = bstFile.substring(0, bstFile.lastIndexOf('.'));
bstFile = bstFile.replace('.', '/')+"/slipway_drone.bst";
@@
-77,6
+77,7
@@
public class FtdiBoard extends Fpslic implements Board {
bytes[3] == (byte)'T' &&
bytes[4] == (byte)'S') {
System.out.println("\rsignature: got proper signature ");
bytes[3] == (byte)'T' &&
bytes[4] == (byte)'S') {
System.out.println("\rsignature: got proper signature ");
+ chip.purge();
break;
}
}
break;
}
}
@@
-86,9
+87,10
@@
public class FtdiBoard extends Fpslic implements Board {
public void run() {
while(true) {
try {
public void run() {
while(true) {
try {
- while(callbacks.size() == 0) Thread.sleep(500);
+ while(callbacks.size() == 0) Thread.sleep(50);
byte b = in.readByte();
ByteCallback bc = (ByteCallback)callbacks.remove(0);
byte b = in.readByte();
ByteCallback bc = (ByteCallback)callbacks.remove(0);
+ //System.out.println("readback " + b + " in " + (System.currentTimeMillis()-bc.time));
bc.call(b);
synchronized(lock) {
lock.notifyAll();
bc.call(b);
synchronized(lock) {
lock.notifyAll();
@@
-111,7
+113,7
@@
public class FtdiBoard extends Fpslic implements Board {
return cache[x][y][z];
}
return cache[x][y][z];
}
- public void mode4(int z, int y, int x, int d) {
+ public synchronized void mode4(int z, int y, int x, int d) {
try {
if (cache[x & 0xff]==null) cache[x & 0xff] = new byte[24][];
if (cache[x & 0xff][y & 0xff]==null) cache[x & 0xff][y & 0xff] = new byte[256];
try {
if (cache[x & 0xff]==null) cache[x & 0xff] = new byte[24][];
if (cache[x & 0xff][y & 0xff]==null) cache[x & 0xff][y & 0xff] = new byte[256];
@@
-127,7
+129,8
@@
public class FtdiBoard extends Fpslic implements Board {
}
}
}
}
- public void flush() { try { out.flush(); } catch (IOException e) { throw new RuntimeException(e); } }
+ public synchronized void flush() {
+ try { out.flush(); } catch (IOException e) { throw new RuntimeException(e); } }
// Callbacks //////////////////////////////////////////////////////////////////////////////
// Callbacks //////////////////////////////////////////////////////////////////////////////
@@
-141,19
+144,19
@@
public class FtdiBoard extends Fpslic implements Board {
synchronized(lock) {
try {
while (callbacks.size() >= limit) {
synchronized(lock) {
try {
while (callbacks.size() >= limit) {
- System.out.println("block");
lock.wait(100);
lock.wait(100);
- System.out.println("unblock => " + callbacks.size());
}
} catch (Exception e) {
throw new RuntimeException(e);
}
}
}
} catch (Exception e) {
throw new RuntimeException(e);
}
}
+ bcb.time = System.currentTimeMillis();
callbacks.add(bcb);
}
public static abstract class ByteCallback {
public int result;
callbacks.add(bcb);
}
public static abstract class ByteCallback {
public int result;
+ public long time;
public abstract void call(byte b) throws Exception;
}
public abstract void call(byte b) throws Exception;
}
@@
-166,6
+169,12
@@
public class FtdiBoard extends Fpslic implements Board {
((in.read() & 0xff) << 16) |
((in.read() & 0xff) << 8) |
((in.read() & 0xff) << 0);
((in.read() & 0xff) << 16) |
((in.read() & 0xff) << 8) |
((in.read() & 0xff) << 0);
+ timer =
+ ((in.read() & 0xff) << 24) |
+ ((in.read() & 0xff) << 16) |
+ ((in.read() & 0xff) << 8) |
+ ((in.read() & 0xff) << 0);
+ //System.out.println("timer => " + Integer.toString(timer, 16));
this.notify();
}
};
this.notify();
}
};
@@
-179,18
+188,20
@@
public class FtdiBoard extends Fpslic implements Board {
} catch (Exception e) { throw new RuntimeException(e); }
}
} catch (Exception e) { throw new RuntimeException(e); }
}
+ public int timer = 0;
public synchronized void readBus(ByteCallback bc) throws IOException {
enqueue(bc);
out.writeByte(2);
out.flush();
}
public synchronized void readBus(ByteCallback bc) throws IOException {
enqueue(bc);
out.writeByte(2);
out.flush();
}
+ /*
public synchronized void readInterrupts(ByteCallback bc) throws IOException {
enqueue(bc);
out.writeByte(3);
out.flush();
}
public synchronized void readInterrupts(ByteCallback bc) throws IOException {
enqueue(bc);
out.writeByte(3);
out.flush();
}
-
+ */
// Util //////////////////////////////////////////////////////////////////////////////
// Util //////////////////////////////////////////////////////////////////////////////