| /DUBwise/trunk/shared/src/MKCommunicator.java |
|---|
| 36,7 → 36,7 |
| public boolean init_bootloader=false; |
| public byte lib_version_major=0; |
| public byte lib_version_minor=3; |
| public byte lib_version_minor=4; |
| public String lib_version_str() |
| { |
| 513,11 → 513,11 |
| } |
| public void write_params() |
| public void write_params(int to) |
| { |
| params.update_backup(); |
| params.update_backup(to); |
| wait4send(); |
| send_command(FC_SLAVE_ADDR,'s',params.field_bak[params.act_paramset]); |
| send_command(FC_SLAVE_ADDR,'s',params.field_bak[to]); |
| } |
| public void send_command(int modul,char cmd) |
| 681,8 → 681,8 |
| case 'w': |
| int[] dec=Decode64(data,3,len-3); |
| angle_nick=debug_data.parse_signed_int_2(dec[0],dec[1]); |
| angle_roll=debug_data.parse_signed_int_2(dec[2],dec[3]); |
| angle_nick=MKHelper.parse_signed_int_2(dec[0],dec[1]); |
| angle_roll=MKHelper.parse_signed_int_2(dec[2],dec[3]); |
| stats.angle_data_count++; |
| break; |
| /DUBwise/trunk/shared/src/MKDebugData.java |
|---|
| 61,21 → 61,13 |
| names[id]+=":"; |
| } |
| public int parse_signed_int_2(int i1,int i2) |
| { |
| int res=(int)((i2<<8)|i1); |
| if ((res&(1<<15))!=0) |
| return -(res&(0xFFFF-1))^(0xFFFF-1); |
| else |
| return res; |
| } |
| public void set_by_mk_data(int[] in_arr,MKVersion version) |
| { |
| for (i=0;i<32;i++) |
| // { |
| analog[i]=parse_signed_int_2( in_arr[2+i*2], in_arr[3+i*2] ); |
| analog[i]=MKHelper.parse_signed_int_2( in_arr[2+i*2], in_arr[3+i*2] ); |
| //(int)((in_arr[3+i*2]<<8) | in_arr[2+i*2]); |
| // if ((analog[i]&(1<<15))!=0) |
| //analog[i]=-(analog[i]&(0xFFFF-1))^(0xFFFF-1); |
| /DUBwise/trunk/shared/src/MKHelper.java |
|---|
| 0,0 → 1,21 |
| package org.ligi.ufo; |
| public final class MKHelper |
| { |
| public final static int parse_signed_int_2(int i1,int i2) |
| { |
| int res=(int)((i2<<8)|i1); |
| if ((res&(1<<15))!=0) |
| return -(res&(0xFFFF-1))^(0xFFFF-1); |
| else |
| return res; |
| } |
| public final static int parse_unsigned_int_2(int i1,int i2) |
| { |
| return (int)((i2<<8)|i1); |
| } |
| } |
| /DUBwise/trunk/shared/src/MKParamsParser.java |
|---|
| 33,7 → 33,7 |
| public int[][] field; |
| public int[][] field_bak; |
| public String[] names={"","","","",""}; |
| // public String[] names={"","","","",""}; |
| public int act_paramset=0; |
| 74,7 → 74,7 |
| { |
| if (nme.length()>10) |
| nme=nme.substring(0,10); |
| names[act_paramset]=nme; |
| // names[act_paramset]=nme; |
| int nme_pos=0; |
| while(nme_pos<nme.length()) |
| { |
| 123,16 → 123,31 |
| set_by_mk_data(field_bak[act_paramset]); |
| } |
| public void update_backup() |
| public void update_backup(int to) |
| { |
| for ( int i=0 ; i<field[act_paramset].length;i++) |
| field_bak[act_paramset][i+2]=field[act_paramset][i]; |
| { |
| field_bak[to][i+2]=field[act_paramset][i]; |
| field[to][i]=field[act_paramset][i]; |
| } |
| field_bak[act_paramset][0]=act_paramset+1; |
| field_bak[act_paramset][1]=params_version; |
| field_bak[to][0]=to+1; |
| field_bak[to][1]=params_version; |
| } |
| public String getParamName(int paramset) |
| { |
| String res=""; |
| for ( int i=name_start;i<length;i++) |
| { |
| if(field[paramset][i]==0)break; |
| res+=(char)field[paramset][i]; |
| } |
| return res; |
| } |
| public void set_by_mk_data(int[] in_arr) |
| { |
| params_version=in_arr[1]; |
| 162,7 → 177,7 |
| field[last_parsed_paramset]=new int[length]; |
| field_bak[last_parsed_paramset]=new int[length+2]; |
| names[last_parsed_paramset]=""; |
| // names[last_parsed_paramset]=""; |
| for ( int i=0;i<length+2;i++) |
| { |
| if (i<length) |
| 170,11 → 185,6 |
| field_bak[last_parsed_paramset][i]=in_arr[i]; |
| } |
| for ( int i=name_start;i<length;i++) |
| { |
| if(in_arr[i+2]==0)break; |
| names[last_parsed_paramset]+=(char)in_arr[i+2]; |
| } |
| for (int i=0;i<10;i++) |
| stick_names[i]="not associated"; |