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[slipway.git]
/
src
/
edu
/
berkeley
/
slipway
/
FtdiBoard.java
diff --git
a/src/edu/berkeley/slipway/FtdiBoard.java
b/src/edu/berkeley/slipway/FtdiBoard.java
index
cf2cfd7
..
ba84988
100644
(file)
--- a/
src/edu/berkeley/slipway/FtdiBoard.java
+++ b/
src/edu/berkeley/slipway/FtdiBoard.java
@@
-23,7
+23,7
@@
public class FtdiBoard extends Fpslic implements Board {
public FtdiBoard() throws Exception {
super(24, 24);
public FtdiBoard() throws Exception {
super(24, 24);
- chip = new FpslicBoot(new FpslicBootPinsUsb(new FtdiUart(0x6666, 0x3133, 1500 * 1000)));
+ chip = new FpslicBoot(new FpslicBootPinsUsb(new FtdiUart(0x6666, 0x3133, 1500 * 1000/2)));
String bstFile = this.getClass().getName();
bstFile = bstFile.substring(0, bstFile.lastIndexOf('.'));
bstFile = bstFile.replace('.', '/')+"/slipway_drone.bst";
String bstFile = this.getClass().getName();
bstFile = bstFile.substring(0, bstFile.lastIndexOf('.'));
bstFile = bstFile.replace('.', '/')+"/slipway_drone.bst";
@@
-87,7
+87,7
@@
public class FtdiBoard extends Fpslic implements Board {
public void run() {
while(true) {
try {
public void run() {
while(true) {
try {
- while(callbacks.size() == 0) Thread.sleep(500);
+ while(callbacks.size() == 0) Thread.sleep(50);
byte b = in.readByte();
ByteCallback bc = (ByteCallback)callbacks.remove(0);
//System.out.println("readback " + b + " in " + (System.currentTimeMillis()-bc.time));
byte b = in.readByte();
ByteCallback bc = (ByteCallback)callbacks.remove(0);
//System.out.println("readback " + b + " in " + (System.currentTimeMillis()-bc.time));
@@
-129,7
+129,8
@@
public class FtdiBoard extends Fpslic implements Board {
}
}
}
}
- public void flush() { try { out.flush(); } catch (IOException e) { throw new RuntimeException(e); } }
+ public synchronized void flush() {
+ try { out.flush(); } catch (IOException e) { throw new RuntimeException(e); } }
// Callbacks //////////////////////////////////////////////////////////////////////////////
// Callbacks //////////////////////////////////////////////////////////////////////////////
@@
-168,6
+169,12
@@
public class FtdiBoard extends Fpslic implements Board {
((in.read() & 0xff) << 16) |
((in.read() & 0xff) << 8) |
((in.read() & 0xff) << 0);
((in.read() & 0xff) << 16) |
((in.read() & 0xff) << 8) |
((in.read() & 0xff) << 0);
+ timer =
+ ((in.read() & 0xff) << 24) |
+ ((in.read() & 0xff) << 16) |
+ ((in.read() & 0xff) << 8) |
+ ((in.read() & 0xff) << 0);
+ //System.out.println("timer => " + Integer.toString(timer, 16));
this.notify();
}
};
this.notify();
}
};
@@
-181,18
+188,20
@@
public class FtdiBoard extends Fpslic implements Board {
} catch (Exception e) { throw new RuntimeException(e); }
}
} catch (Exception e) { throw new RuntimeException(e); }
}
+ public int timer = 0;
public synchronized void readBus(ByteCallback bc) throws IOException {
enqueue(bc);
out.writeByte(2);
out.flush();
}
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();
}
public synchronized void readInterrupts(ByteCallback bc) throws IOException {
enqueue(bc);
out.writeByte(3);
out.flush();
}
-
+ */
// Util //////////////////////////////////////////////////////////////////////////////
// Util //////////////////////////////////////////////////////////////////////////////