X-Git-Url: http://git.megacz.com/?a=blobdiff_plain;f=src%2Fedu%2Fberkeley%2Fobits%2Fdevice%2Fatmel%2FAvrDrone.java;h=7860ad69206e26bfba387b7deda011c7b58f989a;hb=bb3326dd8253c36b342063dbbd1c24ef866c37b9;hp=5e5489b7a0a7ccc3e728c79f4b21e1b6479c2cef;hpb=cddd782397e118024c4b428263f969c57c0c2c29;p=slipway.git

diff --git a/src/edu/berkeley/obits/device/atmel/AvrDrone.java b/src/edu/berkeley/obits/device/atmel/AvrDrone.java
index 5e5489b..7860ad6 100644
--- a/src/edu/berkeley/obits/device/atmel/AvrDrone.java
+++ b/src/edu/berkeley/obits/device/atmel/AvrDrone.java
@@ -30,23 +30,28 @@ public class AvrDrone extends AtmelDevice {
     }
 
     private void init() throws IOException {
-        //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");
-        */
-        out.write(0);
         byte[] bytes = new byte[6];
-        for(int i=0; i<6; i++) {
-            bytes[i] = in.readByte();
-            //System.out.println("got " + (i+1) + " header bytes: " + (bytes[i] & 0xff) + " '" + ((char)bytes[i]) + "'");
-            // FIXME
+        int i=0;
+
+        out.write(0);
+        out.flush();
+
+        // read any crap that might be left in the buffer
+        while(true) {
+            System.arraycopy(bytes, 1, bytes, 0, 5);
+            bytes[5] = in.readByte();
+            i++;
+            System.out.print("\rsignature: read \"" + new String(bytes) + "\"                   ");
+            if (bytes[0] == (byte)'O' &&
+                bytes[1] == (byte)'B' &&
+                bytes[2] == (byte)'I' &&
+                bytes[3] == (byte)'T' &&
+                bytes[4] == (byte)'S') {
+                System.out.println("\rsignature: got proper signature                  ");
+                break;
+            }
         }
-        //Log.info(this, "device correctly identified itself; ready for operation");
+
     }
 
     public synchronized void scanFPGA(boolean on) throws DeviceException {