package edu.berkeley.cs.obits;
+import edu.berkeley.cs.obits.device.atmel.*;
+import org.ibex.util.Log;
import java.io.*;
import java.util.*;
import gnu.io.*;
Enumeration e = CommPortIdentifier.getPortIdentifiers();
while(e.hasMoreElements()) {
CommPortIdentifier cpi = (CommPortIdentifier)e.nextElement();
- System.err.println("trying " + cpi.getName());
+ Log.info(AtmelSerial.class, "trying " + cpi.getName());
}
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 {
AvrDrone device = new AvrDrone(detectObitsPort());
int count = 0;
long foo = Long.parseLong(str, 16);
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");
+ if (count % 100 == 0) Log.info(AtmelSerial.class, "wrote " + count + " configuration octets");
}
device.flush();
long end = System.currentTimeMillis();
- System.err.println("finished in " + ((end-begin)/1000) + "s");
+ Log.info(AtmelSerial.class, "finished in " + ((end-begin)/1000) + "s");
System.exit(0);
} catch (Exception e) { e.printStackTrace(); }
}
--- /dev/null
+package edu.berkeley.cs.obits;
+
+import java.util.*;
+
+/** a physical or virtual reconfigurable device */
+public interface Device {
+
+ /** reset the device */
+ public void reset() throws DeviceException;
+
+ /** flush any commands issued so far, blocking until they have taken effect */
+ public void flush() throws DeviceException;
+
+ public static class DeviceException extends Exception {
+ public DeviceException(String s) { super(s); }
+ public DeviceException(Throwable t) { super(t); }
+ }
+
+}
--- /dev/null
+package edu.berkeley.cs.obits.device.atmel;
+
+import edu.berkeley.cs.obits.*;
+
+public interface AtmelDevice extends Device {
+ public void mode4(int z, int y, int x, int d) throws DeviceException;
+}
--- /dev/null
+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); }
+
+}