X-Git-Url: http://git.megacz.com/?a=blobdiff_plain;f=src%2Fedu%2Fberkeley%2Fslipway%2FFtdiBoard.java;h=cf2cfd7f0d4c8a80b65991fcfef726debb9c72a0;hb=dfa9f65eb0614beb6fe0d7e7660a300087fc656d;hp=d1c582c6b200f3374323f702453ae7fd3fae800d;hpb=6e3baea580262d8ec8074350dfcc3308286ae669;p=slipway.git

diff --git a/src/edu/berkeley/slipway/FtdiBoard.java b/src/edu/berkeley/slipway/FtdiBoard.java
index d1c582c..cf2cfd7 100644
--- a/src/edu/berkeley/slipway/FtdiBoard.java
+++ b/src/edu/berkeley/slipway/FtdiBoard.java
@@ -8,37 +8,36 @@ import java.io.*;
 import java.util.*;
 import gnu.io.*;
 
-public class FtdiBoard extends Board {
+public class FtdiBoard extends Fpslic implements Board {
 
     static {
         System.load(new File("build/"+System.mapLibraryName("FtdiUartNative")).getAbsolutePath());
     }
 
-    private final FpslicRaw chip;
-    private final InputStream in;
-    private final OutputStream out;
+    private final FpslicBoot chip;
+    private final DataInputStream in;
+    private final DataOutputStream out;
 
     public InputStream getInputStream() { return in; }
     public OutputStream getOutputStream() { return out; }
 
     public FtdiBoard() throws Exception {
-        chip = new FpslicRaw(new FpslicPinsUsb(new FtdiUart(0x6666, 0x3133, 1500 * 1000)));
+        super(24, 24);
+        chip = new FpslicBoot(new FpslicBootPinsUsb(new FtdiUart(0x6666, 0x3133, 1500 * 1000)));
         String bstFile = this.getClass().getName();
         bstFile = bstFile.substring(0, bstFile.lastIndexOf('.'));
         bstFile = bstFile.replace('.', '/')+"/slipway_drone.bst";
         boot(new InputStreamReader(this.getClass().getClassLoader().getResourceAsStream(bstFile)));
-        in = chip.getInputStream();
-        out = chip.getOutputStream();
+        in = new DataInputStream(chip.getInputStream());
+        out = new DataOutputStream(chip.getOutputStream());
         for(int i=0; i<255; i++) out.write(0);
         out.flush();
+        init();
     }
 
-    public void reset() throws IOException {
-        chip.reset();
-    }
+    public void reset() throws IOException { chip.reset(); }
 
     public void boot(Reader r) throws Exception {
-
         chip.selfTest();
 
         int total = 75090/9;
@@ -56,8 +55,151 @@ public class FtdiBoard extends Board {
         os.close();
     }
 
+
+    // AvrDrone leftovers //////////////////////////////////////////////////////////////////////////////
+
+    private void init() throws IOException {
+        byte[] bytes = new byte[6];
+        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                  ");
+                chip.purge();
+                break;
+            }
+        }
+
+        // FIXME: what if init() is called twice?
+        new Thread() {
+            public void run() {
+                while(true) {
+                    try {
+                        while(callbacks.size() == 0) Thread.sleep(500);
+                        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();
+                        }
+                    } catch (Exception e) {
+                        e.printStackTrace();
+                    }
+                }
+            }
+        }.start();
+    }
+
+
+    // Programming ///////////////////////////////////////////////////////////////////////////////
+
+    private byte[][][] cache = new byte[24][][];
+    public byte mode4(int z, int y, int x) {
+        if (cache[x]==null) return 0;
+        if (cache[x][y]==null) return 0;
+        return cache[x][y][z];
+    }
+
+    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];
+            cache[x & 0xff][y & 0xff][z & 0xff] = (byte)(d & 0xff);
+
+            out.writeByte(1);
+            out.writeByte(z);
+            out.writeByte(y);
+            out.writeByte(x);
+            out.writeByte(d);
+        } catch (IOException e) {
+            throw new RuntimeException(e);
+        }
+    }
+
+    public void flush() { try { out.flush(); } catch (IOException e) { throw new RuntimeException(e); } }
+
+
+    // Callbacks //////////////////////////////////////////////////////////////////////////////
+
+    private Vector callbacks = new Vector();
+
+    private Object lock = new Object();
+    private static final int limit = 40;
+
+    private void enqueue(ByteCallback bcb) {
+        synchronized(lock) {
+            try {
+                while (callbacks.size() >= limit) {
+                    lock.wait(100);
+                }
+            } catch (Exception e) {
+                throw new RuntimeException(e);
+            }
+        }
+        bcb.time = System.currentTimeMillis();
+        callbacks.add(bcb);
+    }
+
+    public static abstract class ByteCallback {
+        public int result;
+        public long time;
+        public abstract void call(byte b) throws Exception;
+    }
+
+    public synchronized int readCount() {
+        try {
+            ByteCallback bc = new ByteCallback() {
+                    public synchronized void call(byte b) throws Exception {
+                        result =
+                            ((b & 0xff) << 24) |
+                            ((in.read() & 0xff) << 16) |
+                            ((in.read() & 0xff) << 8) |
+                            ((in.read() & 0xff) << 0);
+                        this.notify();
+                    }
+                };
+            synchronized(bc) {
+                enqueue(bc);
+                out.writeByte(3);
+                out.flush();
+                bc.wait();
+            }
+            return bc.result;
+        } catch (Exception e) { throw new RuntimeException(e); }
+    }
+
+    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();
+    }
+
+
+    // Util //////////////////////////////////////////////////////////////////////////////
+
+    private String pad(int i, String s) { if (s.length()>i) return s; return "0"+pad((i-1),s); }
     public static String pad(String s, int i) {
         if (s.length() >= i) return s;
         return "0"+pad(s, i-1);
     }
+
 }