Rev 1540 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1540 | - | 1 | package dongfang.mkt.frames; |
| 2 | |||
| 3 | public class VersionResponseFrame extends ResponseFrame { |
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| 4 | /* |
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| 5 | * uint8_t SWMajor; |
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| 6 | * uint8_t SWMinor; |
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| 7 | * uint8_t ProtoMajor; |
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| 8 | * uint8_t ProtoMinor; |
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| 9 | * uint8_t SWPatch; |
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| 10 | * uint8_t Reserved[5]; |
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| 11 | */ |
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| 12 | private int SWMajor; |
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| 13 | private int SWMinor; |
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| 14 | private int protoMajor; |
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| 15 | private int protoMinor; |
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| 16 | private int SWPatch; |
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| 17 | private int[] hardwareErrors; |
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| 18 | /* |
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| 19 | * hardwareErrors[0] : |
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| 20 | * Pressure sensor (DEFEKT_PRESSURE=0x40), |
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| 21 | * 3 * gyros (DEFEKT_G_NICK=0x1, DEFEKT_G_ROLL=0x2, DEFEKT_G_GIER=0x4), |
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| 22 | * 3 * acc. meters (DEFEKT_A_NICK=0x8, DEFEKT_A_ROLL=0x10, DEFEKT_A_Z=0x20), |
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| 23 | * carefree (DEFEKT_CAREFREE_ERR=0x80). |
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| 24 | * Any error bit set prevents motor-on. |
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| 25 | * hardwareErrors[0] : |
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| 26 | * Missing motor errors (DEFEKT_MIXER_ERR=0x10), |
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| 27 | * R/C signal missing (DEFEKT_PPM_ERR=0x8), |
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| 28 | * I2C error (DEFEKT_I2C=0x1), |
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| 29 | * I2C timeout (DEFEKT_BL_MISSING=0x2), |
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| 30 | * SPI error (DEFEKT_SPI_RX_ERR=0x4), |
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| 31 | * |
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| 32 | */ |
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| 33 | |||
| 34 | public VersionResponseFrame(int address) { |
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| 35 | super(address); |
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| 36 | } |
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| 37 | |||
| 38 | @Override |
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| 39 | public boolean isResponseTo(RequestFrame r) { |
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| 40 | return r instanceof VersionRequestFrame; |
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| 41 | } |
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| 42 | |||
| 43 | public int getSWMajor() { |
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| 44 | return SWMajor; |
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| 45 | } |
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| 46 | |||
| 47 | public void setSWMajor(int major) { |
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| 48 | SWMajor = major; |
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| 49 | } |
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| 50 | |||
| 51 | public int getSWMinor() { |
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| 52 | return SWMinor; |
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| 53 | } |
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| 54 | |||
| 55 | public void setSWMinor(int minor) { |
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| 56 | SWMinor = minor; |
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| 57 | } |
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| 58 | |||
| 59 | public int getProtoMajor() { |
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| 60 | return protoMajor; |
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| 61 | } |
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| 62 | |||
| 63 | public void setProtoMajor(int protoMajor) { |
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| 64 | this.protoMajor = protoMajor; |
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| 65 | } |
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| 66 | |||
| 67 | public int getProtoMinor() { |
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| 68 | return protoMinor; |
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| 69 | } |
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| 70 | |||
| 71 | public void setProtoMinor(int protoMinor) { |
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| 72 | this.protoMinor = protoMinor; |
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| 73 | } |
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| 74 | |||
| 75 | public int getSWPatch() { |
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| 76 | return SWPatch; |
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| 77 | } |
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| 78 | |||
| 79 | public void setSWPatch(int patch) { |
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| 80 | SWPatch = patch; |
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| 81 | } |
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| 82 | |||
| 83 | public int[] getHardwareErrors() { |
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| 84 | return hardwareErrors; |
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| 85 | } |
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| 86 | |||
| 87 | public void setHardwareErrors(int[] hardwareErrors) { |
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| 88 | this.hardwareErrors= hardwareErrors; |
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| 89 | } |
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| 90 | |||
| 91 | public String toString() { |
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| 1698 | - | 92 | StringBuilder result = new StringBuilder(); |
| 93 | result.append("SW=" + SWMajor + "." + SWMinor + "." + SWPatch + ", protocol=" + protoMajor + "." + protoMinor); |
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| 94 | result.append(); |
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| 1540 | - | 95 | } |
| 96 | } |