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.setSerialPortParams(115200, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
+ sp.setSerialPortParams(38400, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
sp.setFlowControlMode(sp.FLOWCONTROL_RTSCTS_OUT);
+ sp.setInputBufferSize(1024);
//sp.setFlowControlMode(sp.FLOWCONTROL_NONE);
this.out = new DataOutputStream(sp.getOutputStream());
this.in = new DataInputStream(sp.getInputStream());
Log.info(this, "device correctly identified itself; ready for operation");
}
- public void reset() throws DeviceException {
+ public synchronized void scanFPGA(boolean on) throws DeviceException {
+ try {
+ if (on) {
+ out.writeByte(3);
+ out.flush();
+ } else {
+ // FIXME
+ }
+ } catch (IOException e) { throw new DeviceException(e); }
+ }
+ // fixme!
+ public static int retval = 0;
+ public synchronized int readCount() throws DeviceException {
+ try {
+ if (reader != null) {
+ reader.start();
+ reader = null;
+ }
+ ByteCallback bc = new ByteCallback() {
+ public synchronized void call(byte b) throws Exception {
+ retval =
+ ((b & 0xff) << 24) |
+ ((in.read() & 0xff) << 16) |
+ ((in.read() & 0xff) << 8) |
+ ((in.read() & 0xff) << 0);
+ this.notify();
+ }
+ };
+ synchronized(bc) {
+ callbacks.add(bc);
+ out.writeByte(6);
+ out.flush();
+ bc.wait();
+ }
+ return retval;
+ } catch (Exception e) { throw new DeviceException(e); }
+ }
+
+ public static interface ByteCallback {
+ public void call(byte b) throws Exception;
+ }
+
+ private Vector callbacks = new Vector();
+
+ private Thread reader = new Thread() {
+ public void run() {
+ while(true) {
+ try {
+ byte b = in.readByte();
+ ByteCallback bc = (ByteCallback)callbacks.remove(0);
+ bc.call(b);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ }
+ };
+
+ public synchronized void readBus(ByteCallback bc) throws DeviceException {
+ try {
+ callbacks.add(bc);
+ out.writeByte(2);
+ out.flush();
+ if (reader != null) {
+ reader.start();
+ reader = null;
+ }
+ } catch (IOException e) { throw new DeviceException(e); }
+ }
+
+ public synchronized void readInterrupts(ByteCallback bc) throws DeviceException {
+ try {
+ callbacks.add(bc);
+ out.writeByte(6);
+ out.flush();
+ if (reader != null) {
+ reader.start();
+ reader = null;
+ }
+ } catch (IOException e) { throw new DeviceException(e); }
+ }
+
+ public synchronized void reset() throws DeviceException {
try {
Log.info(this, "resetting device");
sp.setDTR(true);
}
private byte[][][] cache = new byte[24][][];
- public byte mode4(int z, int y, int x) throws DeviceException {
+ public synchronized byte mode4(int z, int y, int x) throws DeviceException {
if (cache[x]==null) return 0;
if (cache[x][y]==null) return 0;
return cache[x][y][z];
}
- public void mode4(int z, int y, int x, int d) throws DeviceException {
+
+ int lastz = 0;
+ int lastx = 0;
+ int lasty = 0;
+ public static int save = 0;
+ public static int saveof = 0;
+ public synchronized 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))
+ /*
+ Log.info(this, "writing configuration frame [zyxd]: " +
+ pad(1, Integer.toString(z&0xff, 16)) + " " +
+ pad(1, Integer.toString(y&0xff, 16)) + " " +
+ pad(1, Integer.toString(x&0xff, 16)) + " " +
+ pad(1, Integer.toString(d&0xff, 16))
);
- out.writeByte(1);
- out.writeByte(z);
- out.writeByte(y);
- out.writeByte(x);
+ */
+ boolean zchange = z!=lastz;
+ boolean ychange = y!=lasty;
+ boolean xchange = x!=lastx;
+ boolean zinc = z==lastz+1;
+ boolean yinc = y==lasty+1;
+ boolean xinc = x==lastx+1;
+ boolean zdec = z==lastz-1;
+ boolean ydec = y==lasty-1;
+ boolean xdec = x==lastx-1;
+
+ //System.out.println(zchange + " " + ychange + " " + xchange);
+ out.writeByte(0x80
+ | (zinc?0x40:zdec?0x04:zchange?0x44:0x00)
+ | (yinc?0x20:ydec?0x02:ychange?0x22:0x00)
+ | (xinc?0x10:xdec?0x01:xchange?0x11:0x00));
+ if (!zinc && !zdec && zchange) out.writeByte(z); else save++;
+ if (!yinc && !ydec && ychange) out.writeByte(y); else save++;
+ if (!xinc && !xdec && xchange) out.writeByte(x); else save++;
+ saveof++;
+ lastz = z;
+ lastx = x;
+ lasty = y;
out.writeByte(d);
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];
} catch (IOException e) { throw new DeviceException(e); }
}
- public void flush() throws DeviceException {
+ public synchronized void flush() throws DeviceException {
try {
out.flush();
} catch (IOException e) { throw new DeviceException(e); }