package edu.berkeley.obits.device.atmel;
+import edu.berkeley.slipway.*;
import edu.berkeley.obits.*;
import org.ibex.util.Log;
import java.io.*;
/** the "host" side of the AVR Drone; see AvrDrone.c for the other side */
public class AvrDrone extends AtmelDevice {
- final DataInputStream in;
+ private final DataInputStream in;
+ private final DataOutputStream out;
+ private final Board board;
- final DataOutputStream out;
+ public AvrDrone(Board b) throws IOException {
+ this.board = b;
+ this.out = new DataOutputStream(b.getOutputStream());
+ this.in = new DataInputStream(b.getInputStream());
+ init();
+ }
- final SerialPort sp;
+ public void reset() throws DeviceException {
+ try {
+ board.reset();
+ } catch (IOException e) {
+ throw new DeviceException(e);
+ }
+ }
- 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);
- sp.setInputBufferSize(1024);
- //sp.setFlowControlMode(sp.FLOWCONTROL_NONE);
- 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();
+ 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
+ }
Log.info(this, "device correctly identified itself; ready for operation");
}
}
} 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 Thread reader = new Thread() {
public void run() {
+ System.out.println("*** reader thread begun");
while(true) {
try {
byte b = in.readByte();
public synchronized void readBus(ByteCallback bc) throws DeviceException {
try {
- System.out.println("capacity: " + callbacks.size());
callbacks.add(bc);
out.writeByte(2);
out.flush();
} catch (IOException e) { throw new DeviceException(e); }
}
- public synchronized void reset() throws DeviceException {
+ public synchronized void readInterrupts(ByteCallback bc) throws DeviceException {
try {
- Log.info(this, "resetting device");
- sp.setDTR(true);
- sp.setRTS(true);
- Thread.sleep(500);
- Log.info(this, "deasserting reset signal");
- sp.setDTR(false);
- sp.setRTS(false);
- Thread.sleep(100);
- } catch (InterruptedException e) { throw new DeviceException(e); }
+ callbacks.add(bc);
+ out.writeByte(6);
+ out.flush();
+ if (reader != null) {
+ reader.start();
+ reader = null;
+ }
+ } catch (IOException e) { throw new DeviceException(e); }
}
private byte[][][] cache = new byte[24][][];
- public synchronized 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 synchronized 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.info(this, "writing configuration frame [zyxd]: " +
pad(1, Integer.toString(d&0xff, 16))
);
*/
+ 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;
+
out.writeByte(1);
out.writeByte(z);
out.writeByte(y);
out.writeByte(x);
+ 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];
cache[x & 0xff][y & 0xff][z & 0xff] = (byte)(d & 0xff);
} catch (IOException e) { throw new DeviceException(e); }
}
- public synchronized void flush() throws DeviceException {
+ public /*synchronized*/ void flush() throws DeviceException {
try {
out.flush();
} catch (IOException e) { throw new DeviceException(e); }
projects / slipway.git / blobdiff