checkpoint

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

diff --git a/src/edu/berkeley/obits/device/atmel/AvrDrone.java b/src/edu/berkeley/obits/device/atmel/AvrDrone.java
index 23cf27d..7860ad6 100644 (file)
--- a/src/edu/berkeley/obits/device/atmel/AvrDrone.java
+++ b/src/edu/berkeley/obits/device/atmel/AvrDrone.java
@@ -1,5 +1,6 @@
 package edu.berkeley.obits.device.atmel;
 
+import edu.berkeley.slipway.*;
 import edu.berkeley.obits.*;
 import org.ibex.util.Log;
 import java.io.*;
@@ -20,26 +21,37 @@ public class AvrDrone extends AtmelDevice {
         init();
     } 
 
-    public void reset() { board.reset(); }
+    public void reset() throws DeviceException {
+        try {
+            board.reset();
+        } catch (IOException e) {
+            throw new DeviceException(e);
+        }
+    }
 
     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 {