/dongfang_FC_rewrite_tool/configsets/Extra_330_config.xml |
---|
File deleted |
/dongfang_FC_rewrite_tool/configsets/T28_Trojan_config.xml |
---|
File deleted |
/dongfang_FC_rewrite_tool/configsets/FC2.0_Quadcopter.xml |
---|
File deleted |
/dongfang_FC_rewrite_tool/configsets/config.xml |
---|
0,0 → 1,154 |
<parameterset eepromVersion="4" length="73" name="hundeprut"> |
<parameter name="bitConfig"> |
<bit name="CFG_SIMPLE_HEIGHT_CONTROL" value="1" /> |
<bit name="CFG_SIMPLE_HC_HOLD_SWITCH" value="1" /> |
<bit name="CFG_HEADING_HOLD" value="0" /> |
<bit name="CFG_COMPASS_ENABLED" value="1" /> |
<bit name="CFG_UNUSED" value="0" /> |
<bit name="CFG_NAVI_ENABLED" value="1" /> |
<bit name="CFG_AXIS_COUPLING_ENABLED" value="0" /> |
<bit name="CFG_GYRO_SATURATION_PREVENTION" value="1" /> |
</parameter> |
<parameter name="levelCorrectionPitch" value="var1" /> |
<parameter name="levelCorrectionRoll" value="var2" /> |
<parameter name="gyroP" value="80" /> |
<parameter name="gyroI" value="60" /> |
<parameter name="gyroD" value="15" /> |
<parameter name="attitudeControl" value="0" /> |
<parameter name="stickP" value="10" /> |
<parameter name="stickD" value="2" /> |
<parameter name="stickYawP" value="8" /> |
<parameter name="stickThrottleD" value="4" /> |
<parameter name="minThrottle" value="4" /> |
<parameter name="maxThrottle" value="220" /> |
<parameter name="externalControl" value="0" /> |
<parameter name="motorSmoothing" value="0" /> |
<parameter name="dynamicStability" value="50" /> |
<parameter name="IFactor" value="0" /> |
<parameter name="yawIFactor" value="50" /> |
<parameter name="compassMode" value="0" /> |
<parameter name="compassYawCorrection" value="20" /> |
<parameter name="compassBendingReturnSpeed" value="16" /> |
<parameter name="compassP" value="50" /> |
<parameter name="batteryVoltageWarning" value="100" /> |
<parameter name="emergencyThrottle" value="40" /> |
<parameter name="emergencyFlightDuration" value="30" /> |
<parameter name="airpressureFilterConstant" value="8" /> |
<parameter name="airpressureWindowLength" value="0" /> |
<parameter name="airpressureDWindowLength" value="24" /> |
<parameter name="airpressureAccZCorrection" value="0" /> <!-- 184 for my 2.0 board. --> |
<parameter name="heightP" value="110" /> |
<parameter name="heightI" value="90" /> |
<parameter name="heightD" value="25" /> <!-- 30 --> |
<parameter name="heightSetting" value="var0" /> |
<parameter name="heightControlMaxIntegralIn" value="125" /> |
<parameter name="heightControlMaxIntegralOut" value="75" /> |
<parameter name="heightMaxThrottleChange" value="75" /> |
<parameter name="heightControlTestOscPeriod" value="0" /> |
<parameter name="heightControlTestOscAmplitude" value="0" /> |
<parameter name="servoCount" value="7" /> |
<parameter name="servoManualMaxSpeed" value="10" /> |
<parameter name="pitchServoControl" value="128" /> |
<parameter name="pitchServoStabilization" value="200" /> |
<parameter name="pitchServoMinValue" value="32" /> |
<parameter name="pitchServoMaxValue" value="224" /> |
<parameter name="pitchServoFlags"> |
<bit name="reverseStabilization" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
</parameter> |
<parameter name="rollServoControl" value="128" /> |
<parameter name="rollServoStabilization" value="200" /> |
<parameter name="rollServoMinValue" value="32" /> |
<parameter name="rollServoMaxValue" value="224" /> |
<parameter name="rollServoFlags"> |
<bit name="reverseStabilization" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
<bit name="Unused" value="0" /> |
</parameter> |
<parameter name="output0BitMask"> |
<bit name="t0" value="1" /> |
<bit name="t1" value="0" /> |
<bit name="t2" value="0" /> |
<bit name="t3" value="0" /> |
<bit name="t4" value="0" /> |
<bit name="t5" value="0" /> |
<bit name="t6" value="0" /> |
<bit name="t7" value="0" /> |
</parameter> |
<parameter name="output0Timing" value="15" /> |
<parameter name="output1BitMask"> |
<bit name="t0" value="1" /> |
<bit name="t1" value="0" /> |
<bit name="t2" value="0" /> |
<bit name="t3" value="0" /> |
<bit name="t4" value="0" /> |
<bit name="t5" value="0" /> |
<bit name="t6" value="0" /> |
<bit name="t7" value="0" /> |
</parameter> |
<parameter name="output1Timing" value="14" /> |
<parameter name="outputDebugMask"> |
<bit name="DEBUG_MAINLOOP_TIMER" value="0" /> |
<bit name="DEBUG_HEIGHT_DIFF" value="0" /> |
<bit name="DEBUG_HOVERTHROTTLE" value="0" /> |
<bit name="DEBUG_ACC0THORDER" value="1" /> |
<bit name="DEBUG_COMPASS" value="0" /> |
<bit name="DEBUG_PRESSURERANGE" value="0" /> |
<bit name="DEBUG_CLIP" value="0" /> |
<bit name="DEBUG_SENSORLIMIT" value="0" /> |
</parameter> |
<parameter name="outputFlags"> |
<bit name="INVERT_OUTPUT0" value="0" /> |
<bit name="INVERT_OUTPUT1" value="0" /> |
<bit name="FLASH_OUTPUT0_BEEPING" value="1" /> |
<bit name="FLASH_OUTPUT1_BEEPING" value="1" /> |
<bit name="USE_ONBOARD_LEDS" value="1" /> |
<bit name="TEST_OFF" value="0" /> |
<bit name="TEST_ON" value="0" /> |
<bit name="UNUSED" value="0" /> |
</parameter> |
<parameter name="naviMode" value="var0" /> |
<parameter name="naviStickThreshold" value="50" /> |
<parameter name="naviStickLimit" value="80" /> |
<parameter name="GPSMinimumSatellites" value="6" /> |
<parameter name="naviP" value="30" /> |
<parameter name="naviI" value="120" /> |
<parameter name="naviD" value="65" /> |
<parameter name="naviTestOscPeriod" value="30" /> |
<parameter name=" naviTestOscAmplitude" value="30" /> |
<parameter name="userparam0" value="0" /> |
<parameter name="userparam1" value="0" /> |
<parameter name="userparam2" value="0" /> |
<parameter name="userparam3" value="0" /> |
<parameter name="userparam4" value="0" /> |
<parameter name="userparam5" value="0" /> |
<parameter name="userparam6" value="0" /> |
<parameter name="userparam7" value="0" /> |
</parameterset> |
/dongfang_FC_rewrite_tool/configsets/fixedwing_config.xml |
---|
0,0 → 1,137 |
<parameterset eepromVersion="100" length="50"> |
<parameter name="bitConfig"> |
<bit name="CFG_GYRO_SATURATION_PREVENTION" value="1"/> |
<bit name="CFG_USE_AIRSPEED_PID" value="0"/> |
<bit name="unused" value="0"/> |
<bit name="unused" value="0"/> |
<bit name="unused" value="0"/> |
<bit name="unused" value="0"/> |
<bit name="unused" value="0"/> |
<bit name="unused" value="0"/> |
</parameter> |
<parameter name="pitchGyroP" value="120"/> |
<parameter name="pitchGyroI" value="80"/> |
<parameter name="pitchGyroD" value="40"/> |
<parameter name="pitchGyroIMax" value="30"/> |
<parameter name="rollGyroP" value="120"/> |
<parameter name="rollGyroI" value="80"/> |
<parameter name="rollGyroD" value="40"/> |
<parameter name="rollGyroIMax" value="30"/> |
<parameter name="yawGyroP" value="120"/> |
<parameter name="yawGyroI" value="80"/> |
<parameter name="yawGyroD" value="40"/> |
<parameter name="yawGyroIMax" value="30"/> |
<parameter name="stickIElevator" value="60"/> |
<parameter name="stickIAilerons" value="80"/> |
<parameter name="stickIRudder" value="25"/> |
<parameter name="IFactor" value="52"/> |
<parameter name="externalControl" value="0"/> |
<parameter name="batteryWarningVoltage" value="101"/> |
<parameter name="airspeedCorrention" value="100"/> |
<parameter name="isFlyingThreshold" value="100"/> |
<parameter name="servoCount" value="7"/> |
<parameter name="servosReverse"> |
<bit name="reverseElevator" value="1"/> |
<bit name="reverseAilerons" value="0"/> |
<bit name="reverserudder" value="1"/> |
<bit name="reverseThrottle" value="0"/> |
<bit name="reverseFeatured0" value="0"/> |
<bit name="reverseFeatured1" value="0"/> |
<bit name="reverseFeatured2" value="0"/> |
<bit name="reverseFeatured3" value="0"/> |
</parameter> |
<parameter name="controlServoMinValue" value="0"/> |
<parameter name="controlServoMaxValue" value="255"/> |
<parameter name="gimbalServoMaxManualSpeed" value="10"/> |
<parameter name="gimbalPitchServoControl" value="128"/> |
<parameter name="gimbalPitchServoStabilization" value="0"/> |
<parameter name="gimbalPitchServoMinValue" value="32"/> |
<parameter name="gimbalPitchServoMaxValue" value="224"/> |
<parameter name="gimbalPitchServoFlags"> |
<bit name="reverseStabilization" value="0"/> |
<bit name="Unused" value="0"/> |
<bit name="Unused" value="0"/> |
<bit name="Unused" value="0"/> |
<bit name="Unused" value="0"/> |
<bit name="Unused" value="0"/> |
<bit name="Unused" value="0"/> |
<bit name="Unused" value="0"/> |
</parameter> |
<parameter name="gimbalRollServoControl" value="128"/> |
<parameter name="gimbalRollServoStabilization" value="0"/> |
<parameter name="gimbalRollServoMinValue" value="32"/> |
<parameter name="gimbalRollServoMaxValue" value="224"/> |
<parameter name="gimbalRollServoFlags"> |
<bit name="reverseStabilization" value="0"/> |
<bit name="Unused" value="0"/> |
<bit name="Unused" value="0"/> |
<bit name="Unused" value="0"/> |
<bit name="Unused" value="0"/> |
<bit name="Unused" value="0"/> |
<bit name="Unused" value="0"/> |
<bit name="Unused" value="0"/> |
</parameter> |
<parameter name="output0BitMask"> |
<bit name="t0" value="1"/> |
<bit name="t1" value="1"/> |
<bit name="t2" value="1"/> |
<bit name="t3" value="1"/> |
<bit name="t4" value="1"/> |
<bit name="t5" value="1"/> |
<bit name="t6" value="0"/> |
<bit name="t7" value="0"/> |
</parameter> |
<parameter name="output0Timing" value="14"/> |
<parameter name="output1BitMask"> |
<bit name="t0" value="1"/> |
<bit name="t1" value="0"/> |
<bit name="t2" value="1"/> |
<bit name="t3" value="0"/> |
<bit name="t4" value="1"/> |
<bit name="t5" value="0"/> |
<bit name="t6" value="1"/> |
<bit name="t7" value="0"/> |
</parameter> |
<parameter name="output1Timing" value="15"/> |
<parameter name="outputDebugMask"> |
<bit name="DEBUG_MAINLOOP_TIMER" value="1"/> |
<bit name="DEBUG_HEIGHT_DIFF" value="0"/> |
<bit name="DEBUG_HOVERTHROTTLE" value="0"/> |
<bit name="DEBUG_ACC0THORDER" value="0"/> |
<bit name="DEBUG_SIGNAL" value="0"/> |
<bit name="DEBUG_PRESSURERANGE" value="0"/> |
<bit name="DEBUG_CLIP" value="0"/> |
<bit name="DEBUG_SENSORLIMIT" value="0"/> |
</parameter> |
<parameter name="outputFlags"> |
<bit name="INVERT_OUTPUT0" value="0"/> |
<bit name="INVERT_OUTPUT1" value="0"/> |
<bit name="FLASH_OUTPUT0_BEEPING" value="1"/> |
<bit name="FLASH_OUTPUT1_BEEPING" value="1"/> |
<bit name="USE_ONBOARD_LEDS" value="1"/> |
<bit name="TEST_OFF" value="0"/> |
<bit name="TEST_ON" value="0"/> |
<bit name="UNUSED" value="0"/> |
</parameter> |
<parameter name="userparam0" value="0"/> |
<parameter name="userparam1" value="1"/> |
<parameter name="userparam2" value="2"/> |
<parameter name="userparam3" value="3"/> |
<parameter name="userparam4" value="4"/> |
<parameter name="userparam5" value="5"/> |
<parameter name="userparam6" value="6"/> |
<parameter name="userparam7" value="7"/> |
</parameterset> |
/dongfang_FC_rewrite_tool/src/dongfang/mkt/main/ParameterSetConfigurator.java |
---|
237,9 → 237,9 |
static void help() { |
System.err |
.println("Usage: ParameterSetConfigurator r [parameter set number to read from] [filename to write to]"); |
.println("Usage: UniversalConfigurator r [parameter set number to read from] [filename to write to]"); |
System.err |
.println("Usage: ParameterSetConfigurator w [parameter set number to write to] [filename to read from]"); |
.println("Usage: UniversalConfigurator w [parameter set number to write to] [filename to read from]"); |
System.exit(-1); |
} |
/dongfang_FC_rewrite_tool/src/dongfang/mkt/main/UniversalConfigurator.java |
---|
0,0 → 1,260 |
package dongfang.mkt.main; |
import java.io.FileInputStream; |
import java.io.FileWriter; |
import java.io.IOException; |
import java.io.InputStream; |
import javax.xml.parsers.DocumentBuilder; |
import javax.xml.parsers.DocumentBuilderFactory; |
import javax.xml.parsers.ParserConfigurationException; |
import javax.xml.xpath.XPath; |
import javax.xml.xpath.XPathConstants; |
import javax.xml.xpath.XPathExpressionException; |
import javax.xml.xpath.XPathFactory; |
import org.w3c.dom.Document; |
import org.w3c.dom.Element; |
import org.w3c.dom.NodeList; |
import org.xml.sax.SAXException; |
import dongfang.mkt.comm.FrameQueue; |
import dongfang.mkt.comm.MKConnection; |
import dongfang.mkt.comm.serial.RXTXSerialPort; |
import dongfang.mkt.configuration.ConfigSet; |
import dongfang.mkt.frames.UniversalReadParamSetRequestFrame; |
import dongfang.mkt.frames.UniversalReadParamSetResponseFrame; |
import dongfang.mkt.frames.UniversalWriteParamSetRequestFrame; |
import dongfang.mkt.frames.UniversalWriteParamSetResponseFrame; |
public class UniversalConfigurator { |
private static void configure(String portIdentifier, UniversalWriteParamSetRequestFrame frame, |
int parameterSetNumber) throws IOException { |
MKConnection port = new RXTXSerialPort(); |
port.init(portIdentifier); |
FrameQueue q = new FrameQueue(port); |
frame.setConfigurationSetNumber(parameterSetNumber); |
q.sendRequest(frame); |
UniversalWriteParamSetResponseFrame r = (UniversalWriteParamSetResponseFrame) q.getResponseFor(frame, 5000); |
if (r == null) { |
System.err.println("ERROR. Timeout waiting for response."); |
} else if (!r.wasAccepted()) { |
System.err |
.println("ERROR. Parameter set not accepted. Check version against MK firmware EEPROM configuration version and checkparameter set number"); |
} else { |
System.out.println("Saved parameter set #" |
+ r.getParameterSetNumber() + "."); |
} |
q.kill(); |
} |
private static void writeConfiguration(String portIdentifier, String s_parameterSetNumber, |
String fileName) throws IOException { |
System.out.println("Writing parameter set #" + s_parameterSetNumber + " from file: " + fileName); |
int parameterSetNumber = Integer.parseInt(s_parameterSetNumber); |
InputStream inputStream = new FileInputStream(fileName); |
UniversalWriteParamSetRequestFrame frame = parseXMLParameterSet(inputStream); |
configure(portIdentifier, frame, parameterSetNumber); |
} |
private static ConfigSet readConfiguration(String portIdentifier, String s_parameterSetNumber) throws IOException { |
MKConnection port = new RXTXSerialPort(); |
port.init(portIdentifier); |
FrameQueue q = new FrameQueue(port); |
ConfigSet cs = null; |
int parameterSetNumber = Integer.parseInt(s_parameterSetNumber); |
UniversalReadParamSetRequestFrame frame = new UniversalReadParamSetRequestFrame(); |
frame.setConfigurationSetNumber(parameterSetNumber); |
q.sendRequest(frame); |
UniversalReadParamSetResponseFrame r = (UniversalReadParamSetResponseFrame) q.getResponseFor(frame, 5000); |
if (r == null) { |
System.err.println("ERROR. Timeout waiting for response."); |
} else { |
int paramSetVersion = r.getConfigurationVersion(); |
int[] data = r.getData(); |
cs = ConfigSet.parseXMLConfigSet(paramSetVersion); |
cs.setData(data); |
System.out.println(cs.toXML()); |
} |
q.kill(); |
return cs; |
} |
/* |
private static ConfigSet simpleReadConfiguration(int parameterSetNumber) |
throws IOException { |
MKCommPort port = new RXTXSerialPort(); |
port.init(null); |
FrameQueue q = new FrameQueue(port); |
ConfigSet cs = null; |
UniversalReadParamSetRequestFrame frame = new UniversalReadParamSetRequestFrame(); |
frame.setConfigurationSetNumber(parameterSetNumber); |
q.sendRequest(frame); |
UniversalReadParamSetResponseFrame r = (UniversalReadParamSetResponseFrame) q |
.getResponseFor(frame, 3000); |
if (r == null) { |
System.err.println("ERROR. Timeout waiting for response."); |
} else { |
int paramSetVersion = r.getConfigurationVersion(); |
int[] data = r.getData(); |
for (int i=0; i<data.length; i++) |
System.out.println(data[i]); |
} |
q.kill(); |
return cs; |
} |
*/ |
private static void readConfiguration(String portIdentifier, String s_parameterSetNumber, String fileName) throws IOException { |
ConfigSet cs = readConfiguration(portIdentifier, s_parameterSetNumber); |
if (cs != null) { |
FileWriter fw = new FileWriter(fileName); |
fw.write(cs.toXML()); |
fw.close(); |
} |
} |
private static int substituteVariables(String s_value) { |
int numberOfHighestVar = 255; |
int numberOfLowestVar = numberOfHighestVar - ConfigSet.NUMBER_OF_VARIABLES + 1; |
for (int i = 0; i < ConfigSet.NUMBER_OF_VARIABLES; i++) { |
String varName = "var" + i; |
if (varName.equals(s_value)) { |
System.out.println("Substing: " + s_value + "-->" + (numberOfLowestVar + i)); |
return numberOfLowestVar + i; |
} |
} |
return -1; |
} |
private static UniversalWriteParamSetRequestFrame parseXMLParameterSet( |
InputStream input) throws IOException { |
DocumentBuilderFactory saxfac = DocumentBuilderFactory.newInstance(); |
saxfac.setValidating(false); |
try { |
DocumentBuilder bldr = saxfac.newDocumentBuilder(); |
Document doc = bldr.parse(input); |
XPath xpath = XPathFactory.newInstance().newXPath(); |
String s_eepromVersion = xpath.evaluate( |
"/parameterset/@eepromVersion", doc); |
String ss_length = xpath.evaluate("/parameterset/@length", doc); |
int s_length = 0; |
try { |
s_length = Integer.parseInt(ss_length); |
} catch (NumberFormatException ex) { |
// ignore. |
} |
int eepromVersion = -1; |
try { |
eepromVersion = Integer.parseInt(s_eepromVersion); |
} catch (NumberFormatException ex) { |
System.err |
.println("The parameterset element must have an 'eepromVersion' attribute with a numerical value (eg.<parameterset eepromVersion='74'>)"); |
System.exit(-1); |
} |
// if (s_length != null) |
// try { |
// length = Integer.parseInt(s_length); |
// } catch (NumberFormatException ex) { |
// System.err.println("The length attribute of the parameterset must have a numerical value"); |
// System.exit(-1); |
// } |
NodeList parameterNodes = (NodeList) xpath.evaluate( |
"/parameterset/parameter", doc, XPathConstants.NODESET); |
int[] parameters = new int[parameterNodes.getLength()]; |
NodeList allChildNodes = (NodeList) xpath.evaluate( |
"/parameterset/*", doc, XPathConstants.NODESET); |
if (parameterNodes.getLength() != allChildNodes.getLength()) { |
System.err.println("There seems to be a child element of parameterset whose name is not \"parameter\"."); |
// System.exit(-1); |
} |
if (s_length >=0 && s_length != parameterNodes.getLength()) { |
System.err.println("The number of parameters ("+parameterNodes.getLength()+") does not match the number in the length attribute of the parameterset element ("+s_length+")."); |
// System.exit(-1); |
} |
for (int i = 0; i < parameterNodes.getLength(); i++) { |
Element e = (Element) parameterNodes.item(i); |
int value = 0; |
if (e.hasAttribute("value")) { |
String s_value = e.getAttribute("value"); |
value = substituteVariables(s_value); |
if (value < 0) |
try { |
value = Integer.parseInt(s_value); |
} catch (NumberFormatException ex) { |
throw new NumberFormatException( |
"Value is not a number and not a variable name."); |
} |
} else { |
NodeList bitNodes = (NodeList) xpath.evaluate("bit", e, |
XPathConstants.NODESET); |
for (int j = 0; j < 8; j++) { |
Element bitElement = (Element) bitNodes.item(j); |
if (bitElement != null) { |
String s_bitValue = bitElement |
.getAttribute("value"); |
if ("1".equals(s_bitValue)) |
value |= (1 << j); |
else if (!"0".equals(s_bitValue)) |
throw new NumberFormatException( |
"Bit value was not 0 or 1."); |
} |
} |
} |
parameters[i] = value; |
} |
input.close(); |
return new UniversalWriteParamSetRequestFrame(eepromVersion, "01234567890ab".toCharArray(), parameters); |
} catch (ParserConfigurationException ex) { |
// Should never happen. |
throw new RuntimeException(ex); |
} catch (SAXException ex) { |
System.err.println(ex); |
System.err |
.println("There is something screwed with your XML document. It is not well-formed and won't parse."); |
throw new RuntimeException("Parse error."); |
} catch (XPathExpressionException ex) { |
// Should never happen. |
throw new RuntimeException(ex); |
} |
} |
static void help() { |
System.err |
.println("Usage: UniversalConfigurator r [parameter set number to read from] [filename to write to]"); |
System.err |
.println("Usage: UniversalConfigurator w [parameter set number to write to] [filename to read from]"); |
System.exit(-1); |
} |
public static void main(String[] args) throws IOException { |
if (!"r".equals(args[0]) && !"w".equals(args[0])) help(); |
if ("w".equals(args[0]) && (args.length!=3 && args.length!=4)) help(); |
if ("r".equals(args[0]) && (args.length!=3 && args.length!=4)) help(); |
String portIdentifier = null; |
if ("r".equals(args[0])) { |
readConfiguration(portIdentifier, args[1]); |
} else { |
writeConfiguration(portIdentifier, args[1], args[2]); |
} |
System.exit(0); |
} |
} |