/dongfang_FC_rewrite_tool/.project |
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20,15 → 20,4 |
<nature>org.eclipse.jdt.core.javanature</nature> |
<nature>org.eclipse.wst.common.project.facet.core.nature</nature> |
</natures> |
<filteredResources> |
<filter> |
<id>1339659083645</id> |
<name></name> |
<type>30</type> |
<matcher> |
<id>org.eclipse.ui.ide.multiFilter</id> |
<arguments>1.0-name-matches-false-false-.svn</arguments> |
</matcher> |
</filter> |
</filteredResources> |
</projectDescription> |
/dongfang_FC_rewrite_tool/configsets/ENC-03/imu_45degrotation.xml |
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File deleted |
\ No newline at end of file |
/dongfang_FC_rewrite_tool/configsets/ENC-03/configset.xml |
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File deleted |
/dongfang_FC_rewrite_tool/configsets/ENC-03/imu.xml |
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1,4 → 1,4 |
<imuconfiguration eepromVersion="1" length="12" name="ENC-03/FC1.3"> |
<imuconfiguration eepromVersion="0" length="11" name="ENC-03/FC1.3"> |
<parameter name="gyroQuadrant" value="0" /> |
<parameter name="accQuadrant" value="4" /> |
<parameter name="imuReversedFlags"> |
13,8 → 13,7 |
</parameter> |
<parameter name="gyroPIDFilterConstant" value="1" /> |
<parameter name="gyroDWindowLength" value="8" /> |
<parameter name="gyroDFilterConstant" value="0" /> |
<parameter name="gyroDFilterConstant" value="1" /> |
<parameter name="accFilterConstant" value="15" /> |
<parameter name="zerothOrderCorrection" value="10" /> |
22,5 → 21,5 |
<parameter name="gyroActivityDamping" value="64" /> |
<parameter name="driftCompDivider" value="2" /> |
<parameter name="driftCompLimit" value="50" /> |
<parameter name="driftCompLimit" value="0" /> |
</imuconfiguration> |
/dongfang_FC_rewrite_tool/configsets/templates/imuconfiguration_v0.xml |
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1,4 → 1,4 |
<imuconfigurationtemplate eepromVersion="0" length="11" > |
<imuconfigurationtemplate eepromVersion="0" length="12" > |
<parameter name="gyroQuadrant" /> |
<parameter name="accQuadrant" /> |
<parameter name="imuReversedFlags" type="bitset"> |
14,6 → 14,7 |
<parameter name="gyroPIDFilterConstant" /> |
<parameter name="gyroDWindowLength" /> |
<parameter name="gyroDFilterConstant" /> |
<parameter name="accFilterConstant" /> |
<parameter name="zerothOrderCorrection" /> |
/dongfang_FC_rewrite_tool/configsets/templates/imuconfiguration_v1.xml |
---|
1,4 → 1,4 |
<imuconfigurationtemplate eepromVersion="1" length="11" > |
<imuconfigurationtemplate eepromVersion="1" length="12" > |
<parameter name="gyroQuadrant" /> |
<parameter name="accQuadrant" /> |
<parameter name="imuReversedFlags" type="bitset"> |
14,6 → 14,7 |
<parameter name="gyroPIDFilterConstant" /> |
<parameter name="gyroDWindowLength" /> |
<parameter name="gyroDFilterConstant" /> |
<parameter name="accFilterConstant" /> |
<parameter name="zerothOrderCorrection" /> |
/dongfang_FC_rewrite_tool/src/dongfang/mkt/RequestFrameVisitor.java |
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16,7 → 16,6 |
import dongfang.mkt.frames.ReadIMUConfigurationRequestFrame; |
import dongfang.mkt.frames.ReadMotorMixerRequestFrame; |
import dongfang.mkt.frames.ReadParamSetRequestFrame; |
import dongfang.mkt.frames.ReadRCChannelsRequestFrame; |
import dongfang.mkt.frames.ReadVariablesRequestFrame; |
import dongfang.mkt.frames.ResetRequestFrame; |
import dongfang.mkt.frames.SetCompassHeadingRequestFrame; |
50,5 → 49,4 |
void visit(CompassHeadingRequestFrame f) throws IOException; |
void visit(WriteMotorMixerRequestFrame f) throws IOException; |
void visit(WriteIMUConfigurationRequestFrame f) throws IOException; |
void visit(ReadRCChannelsRequestFrame f) throws IOException; |
} |
/dongfang_FC_rewrite_tool/src/dongfang/mkt/comm/MKInputStream.java |
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18,15 → 18,14 |
import dongfang.mkt.frames.ReadExternalControlResponseFrame; |
import dongfang.mkt.frames.ReadIMUConfigurationResponseFrame; |
import dongfang.mkt.frames.ReadMotorMixerResponseFrame; |
import dongfang.mkt.frames.ReadParamSetResponseFrame; |
import dongfang.mkt.frames.ReadRCChannelsResponseFrame; |
import dongfang.mkt.frames.ReadVariablesResponseFrame; |
import dongfang.mkt.frames.ResponseFrame; |
import dongfang.mkt.frames.SetCompassHeadingResponseFrame; |
import dongfang.mkt.frames.VersionResponseFrame; |
import dongfang.mkt.frames.ReadParamSetResponseFrame; |
import dongfang.mkt.frames.WriteIMUConfigurationResponseFrame; |
import dongfang.mkt.frames.WriteMotorMixerResponseFrame; |
import dongfang.mkt.frames.WriteParamSetResponseFrame; |
import dongfang.mkt.frames.ReadVariablesResponseFrame; |
import dongfang.mkt.frames.VersionResponseFrame; |
public class MKInputStream extends InputStream { |
int readByteCnt; |
369,15 → 368,7 |
f.setCapacityUsed(base64InputStream.readWord()); |
result = f; |
break; |
} |
case 'P': { |
ReadRCChannelsResponseFrame f = new ReadRCChannelsResponseFrame(address); |
int numberOfChannels = base64InputStream.readByte(); |
f.setNumberOfChannels(numberOfChannels); |
f.setChannels(base64InputStream.readSignedWords(numberOfChannels)); |
result = f; |
break; |
} |
} |
case 'S': { |
WriteParamSetResponseFrame f = new WriteParamSetResponseFrame(address); |
f.setParameterSetNumber(base64InputStream.readByte()); |
/dongfang_FC_rewrite_tool/src/dongfang/mkt/comm/MKOutputStream.java |
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18,7 → 18,6 |
import dongfang.mkt.frames.ReadIMUConfigurationRequestFrame; |
import dongfang.mkt.frames.ReadMotorMixerRequestFrame; |
import dongfang.mkt.frames.ReadParamSetRequestFrame; |
import dongfang.mkt.frames.ReadRCChannelsRequestFrame; |
import dongfang.mkt.frames.ReadVariablesRequestFrame; |
import dongfang.mkt.frames.RequestFrame; |
import dongfang.mkt.frames.ResetRequestFrame; |
262,8 → 261,4 |
base64OutputStream.writeByte(f.getDataLength()); |
base64OutputStream.writeBytes(f.getData()); |
} |
public void visit(ReadRCChannelsRequestFrame f) throws IOException { |
writeByte('p'); |
} |
} |
/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/ReadRCChannelsResponseFrame.java |
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File deleted |
/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/ReadRCChannelsRequestFrame.java |
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File deleted |
/dongfang_FC_rewrite_tool/src/dongfang/mkt/io/MKCommPort.java |
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1,6 → 1,5 |
package dongfang.mkt.io; |
/* |
import java.io.IOException; |
import java.io.InputStream; |
import java.io.OutputStream; |
10,5 → 9,3 |
InputStream getInputStream() throws IOException ; |
OutputStream getOutputStream() throws IOException ; |
} |
*/ |
/dongfang_FC_rewrite_tool/src/dongfang/mkt/io/RXTXSerialPort.java |
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9,7 → 9,6 |
import java.io.InputStream; |
import java.io.OutputStream; |
/* |
public class RXTXSerialPort implements MKCommPort { |
private SerialPort serialPort; |
61,4 → 60,3 |
return serialPort.getOutputStream(); |
} |
} |
*/ |
/dongfang_FC_rewrite_tool/src/dongfang/mkt/main/RCDump.java |
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File deleted |
/dongfang_FC_rewrite_tool/src/dongfang/mkt/main/IMUConfigurator.java |
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79,13 → 79,10 |
private static void readConfiguration(String portIdentifier, String fileName) throws IOException { |
IMUConfiguration cs = readConfiguration(portIdentifier); |
if (cs != null) { |
if (fileName != null) { |
FileWriter fw = new FileWriter(fileName); |
fw.write(cs.toXML()); |
fw.close(); |
} |
FileWriter fw = new FileWriter(fileName); |
fw.write(cs.toXML()); |
fw.close(); |
} |
System.out.println(cs.toXML()); |
} |
private static WriteIMUConfigurationRequestFrame parseXMLIMUConfiguration(InputStream input) throws IOException { |
190,12 → 187,12 |
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!=2)) help(); |
if ("r".equals(args[0]) && (args.length>2)) help(); |
if ("r".equals(args[0]) && (args.length!=2)) help(); |
String portIdentifier = null; |
if ("r".equals(args[0])) { |
readConfiguration(portIdentifier, args.length<2 ? null : args[1]); |
readConfiguration(portIdentifier, args[1]); |
} else { |
writeConfiguration(portIdentifier, args[1]); |
} |