package edu.berkeley.cs.obits;
+import edu.berkeley.cs.obits.device.atmel.*;
+import org.ibex.util.Log;
import java.io.*;
import java.util.*;
import gnu.io.*;
Enumeration e = CommPortIdentifier.getPortIdentifiers();
while(e.hasMoreElements()) {
CommPortIdentifier cpi = (CommPortIdentifier)e.nextElement();
- System.err.println("trying " + cpi.getName());
+ Log.info(AtmelSerial.class, "trying " + cpi.getName());
}
return new RXTXPort("/dev/cu.usbserial-FTBUODP4");
}
- public static class AvrDrone {
- final DataInputStream in;
- final DataOutputStream out;
- final SerialPort sp;
- public AvrDrone(SerialPort sp) throws IOException, UnsupportedCommOperationException, InterruptedException {
- 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());
- while(in.available() > 0) in.read();
- reset();
- System.err.println("waiting...");
- 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");
- System.err.println("ready.");
- }
- public void reset() throws InterruptedException {
- sp.setDTR(true);
- Thread.sleep(500);
- sp.setDTR(false);
- Thread.sleep(3000);
- }
- public void mode4(int z, int y, int x, int d) throws IOException {
- out.writeByte(1);
- out.writeByte(z);
- out.writeByte(y);
- out.writeByte(x);
- out.writeByte(d);
- }
- public void flush() throws IOException {
- out.flush();
- }
- }
-
-
public static void main(String[] s) throws Exception {
AvrDrone device = new AvrDrone(detectObitsPort());
int count = 0;
long foo = Long.parseLong(str, 16);
device.mode4((int)(foo >> 24), (int)(foo >> 16), (int)(foo >> 8), (int)(foo >> 0));
count++;
- if (count % 100 == 0) System.err.println("wrote " + count + " configuration octets");
+ if (count % 100 == 0) Log.info(AtmelSerial.class, "wrote " + count + " configuration octets");
}
device.flush();
long end = System.currentTimeMillis();
- System.err.println("finished in " + ((end-begin)/1000) + "s");
+ Log.info(AtmelSerial.class, "finished in " + ((end-begin)/1000) + "s");
System.exit(0);
} catch (Exception e) { e.printStackTrace(); }
}