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Ignore whitespace Rev 1690 → Rev 1689

/dongfang_FC_rewrite_tool/.project
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
File deleted
\ No newline at end of file
/dongfang_FC_rewrite_tool/configsets/ENC-03/configset.xml
File deleted
/dongfang_FC_rewrite_tool/configsets/ENC-03/imu.xml
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
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
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
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
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
File deleted
/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/ReadRCChannelsRequestFrame.java
File deleted
/dongfang_FC_rewrite_tool/src/dongfang/mkt/io/MKCommPort.java
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
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
File deleted
/dongfang_FC_rewrite_tool/src/dongfang/mkt/main/IMUConfigurator.java
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]);
}