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Ignore whitespace Rev 1623 → Rev 1622

/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);
}
}