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[eltron.git] / src / edu / berkeley / cs / obits / device / atmel / AvrDrone.java

diff --git a/src/edu/berkeley/cs/obits/device/atmel/AvrDrone.java b/src/edu/berkeley/cs/obits/device/atmel/AvrDrone.java
new file mode 100644 (file)
index 0000000..c77f05c
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+++ b/src/edu/berkeley/cs/obits/device/atmel/AvrDrone.java
@@ -0,0 +1,72 @@
+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 implements 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); }
+    }
+
+    /** issue a command to the device in Mode4 format; see Gosset's documentation for further details */
+    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); }
+
+}