}
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 {
- final SerialPort sp = detectObitsPort();
- sp.setSerialPortParams(115200, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
- sp.setFlowControlMode(sp.FLOWCONTROL_RTSCTS_OUT);
- final OutputStream out = sp.getOutputStream();
- final InputStream in = sp.getInputStream();
- while(in.available() > 0) in.read();
- sp.setDTR(true);
- Thread.sleep(500);
- sp.setDTR(false);
- Thread.sleep(3000);
- DataInputStream dis = new DataInputStream(in);
- System.err.println("waiting...");
- if (dis.readByte() != (byte)'O') throw new RuntimeException("didn't get the proper signature");
- if (dis.readByte() != (byte)'B') throw new RuntimeException("didn't get the proper signature");
- if (dis.readByte() != (byte)'I') throw new RuntimeException("didn't get the proper signature");
- if (dis.readByte() != (byte)'T') throw new RuntimeException("didn't get the proper signature");
- if (dis.readByte() != (byte)'S') throw new RuntimeException("didn't get the proper signature");
- if (dis.readByte() != (byte)'\n') throw new RuntimeException("didn't get the proper signature");
- System.err.println("ready.");
+ AvrDrone device = new AvrDrone(detectObitsPort());
int count = 0;
- new Thread() {
- public void run() {
- try {
- while(true) {
- System.err.println(sp.isDTR() + " " + sp.isDSR() + " " + sp.isRTS() + " " + sp.isCTS());
- Thread.sleep(250);
- }
- } catch (Exception e) {
- e.printStackTrace();
- }
- } }.start();
- new Thread() {
- public void run() {
- try {
- while(true) {
- int i2 = in.read();
- if (i2==-1) { System.err.println("input closed"); System.exit(-1); }
- System.out.print((char)i2);
- System.out.flush();
- }
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
- }.start();
try {
- Thread.sleep(1000);
long begin = System.currentTimeMillis();
- DataOutputStream dos = new DataOutputStream(out);
BufferedReader br = new BufferedReader(new InputStreamReader(System.in));
for(String str = br.readLine(); str != null; str = br.readLine()) {
long foo = Long.parseLong(str, 16);
- dos.writeByte(1);
- dos.writeByte((int)(foo >> 24));
- dos.writeByte((int)(foo >> 16));
- dos.writeByte((int)(foo >> 8));
- dos.writeByte((int)(foo >> 0));
+ 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");
}
- dos.flush();
+ device.flush();
long end = System.currentTimeMillis();
System.err.println("finished in " + ((end-begin)/1000) + "s");
System.exit(0);