+++ /dev/null
-package edu.berkeley.cs.obits.device.atmel;
-
-import edu.berkeley.cs.obits.*;
-import org.ibex.util.Log;
-import java.io.*;
-import java.util.*;
-import gnu.io.*;
-
-/** the "host" side of the AVR Drone; see AvrDrone.c for the other side */
-public class AvrDrone extends AtmelDevice {
-
- final DataInputStream in;
-
- final DataOutputStream out;
-
- final SerialPort sp;
-
- public AvrDrone(SerialPort sp) throws IOException, UnsupportedCommOperationException, InterruptedException, DeviceException {
- this.sp = sp;
- sp.setSerialPortParams(115200, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
- sp.setFlowControlMode(sp.FLOWCONTROL_RTSCTS_OUT);
- this.out = new DataOutputStream(sp.getOutputStream());
- this.in = new DataInputStream(sp.getInputStream());
- Log.debug(this, "consuming any leftover data on the serial port");
- while(in.available() > 0) in.read();
- reset();
- Log.debug(this, "waiting for device to identify itself");
- if (in.readByte() != (byte)'O') throw new RuntimeException("didn't get the proper signature");
- if (in.readByte() != (byte)'B') throw new RuntimeException("didn't get the proper signature");
- if (in.readByte() != (byte)'I') throw new RuntimeException("didn't get the proper signature");
- if (in.readByte() != (byte)'T') throw new RuntimeException("didn't get the proper signature");
- if (in.readByte() != (byte)'S') throw new RuntimeException("didn't get the proper signature");
- if (in.readByte() != (byte)'\n') throw new RuntimeException("didn't get the proper signature");
- Log.info(this, "device correctly identified itself; ready for operation");
- }
-
- public void reset() throws DeviceException {
- try {
- Log.info(this, "resetting device");
- sp.setDTR(true);
- Thread.sleep(500);
- sp.setDTR(false);
- Thread.sleep(3000);
- } catch (InterruptedException e) { throw new DeviceException(e); }
- }
-
- public void mode4(int z, int y, int x, int d) throws DeviceException {
- try {
- Log.debug(this, "writing configuration frame [zyxd]: " +
- pad(2, Integer.toString(z, 16)) + " " +
- pad(2, Integer.toString(y, 16)) + " " +
- pad(2, Integer.toString(x, 16)) + " " +
- pad(2, Integer.toString(d, 16))
- );
- out.writeByte(1);
- out.writeByte(z);
- out.writeByte(y);
- out.writeByte(x);
- out.writeByte(d);
- } catch (IOException e) { throw new DeviceException(e); }
- }
-
- public void flush() throws DeviceException {
- try {
- out.flush();
- } catch (IOException e) { throw new DeviceException(e); }
- }
-
- private String pad(int i, String s) { if (s.length()>i) return s; return "0"+pad((i-1),s); }
-
-}