| 0,0 → 1,1169 |
|---|
| /******************************************************************************************************************************** |
| * |
| * Abstaction Layer to Communicate via J2ME and Bluetooth with the FlightCtrl of the MikroKopter Project (www.mikrokopter.de ) |
| * |
| * Author: Marcus -LiGi- Bueschleb |
| * |
| * see README for further Infos |
| * |
| * |
| *******************************************************************************************************************************/ |
| |
| |
| package org.ligi.ufo; |
| |
| |
| //#ifdef j2me |
| //# import javax.microedition.io.*; |
| //#endif |
| |
| //#ifdef android |
| import android.util.Log; |
| //#endif |
| |
| |
| |
| import java.io.*; |
| |
| |
| public class MKCommunicator |
| implements Runnable |
| { |
| /***************** Section: public Attributes **********************************************/ |
| public boolean connected=false; // flag for the connection state |
| |
| public String mk_url=""; // buffer the url which is given in the constuctor for reconnectin purposes |
| |
| public final static int DATA_BUFF_LEN = 20; // in lines |
| |
| public String[] data_buff; |
| |
| // boolean do_log=false; |
| boolean do_log=true; |
| |
| int data_buff_pos=0; |
| |
| public byte user_intent=0; |
| public final static int[] crc16_table = { |
| 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7, |
| 0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF, |
| 0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6, |
| 0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE, |
| 0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485, |
| 0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D, |
| 0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4, |
| 0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC, |
| 0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823, |
| 0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B, |
| 0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12, |
| 0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A, |
| 0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41, |
| 0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49, |
| 0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70, |
| 0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78, |
| 0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F, |
| 0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067, |
| 0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E, |
| 0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256, |
| 0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D, |
| 0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, |
| 0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C, |
| 0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634, |
| 0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB, |
| 0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3, |
| 0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A, |
| 0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92, |
| 0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9, |
| 0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1, |
| 0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8, |
| 0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0 |
| }; |
| |
| public void log(String str) |
| { |
| //#ifdef android |
| if (do_log) Log.d("MK-Comm",str); |
| //#endif |
| } |
| |
| public int CRC16(int ch, int crc) |
| { return crc16_table[((crc >> 8) ^ (ch)) & 0xFF] ^ (crc << 8); |
| } |
| |
| |
| public int conn_time_in_s() |
| { |
| if (connected) |
| return (int)((System.currentTimeMillis()-connection_start_time)/1000); |
| else |
| return 0; |
| } |
| public final static int BOOTLOADER_STAGE_NONE=0; |
| public final static int BOOTLOADER_STAGE_GOT_MKBL=1; |
| |
| int bootloader_stage= BOOTLOADER_STAGE_NONE; |
| |
| public MKLCD LCD; |
| public MKVersion version; |
| public MKDebugData debug_data; |
| |
| public MKGPSPosition gps_position; |
| |
| public MKStickData stick_data; |
| public MKParamsParser params; |
| public MKWatchDog watchdog; |
| public MKProxy proxy=null; |
| public MKStatistics stats ; |
| // public DUBwiseDebug debug; |
| |
| public UFOProber ufo_prober; |
| public long connection_start_time=-1; |
| |
| |
| public String error_str = null; |
| |
| |
| public final static int FC_SLAVE_ADDR = 'a'+1; |
| public final static int NAVI_SLAVE_ADDR = 'a'+2; |
| public final static int MK3MAG_SLAVE_ADDR = 'a'+3; |
| |
| |
| |
| |
| /****************** Section: private Attributes **********************************************/ |
| //#ifdef j2me |
| //# private javax.microedition.io.StreamConnection connection; |
| //#endif |
| |
| //#ifdef android |
| // java.net.Socket connection; |
| java.net.Socket connection; |
| //#endif |
| |
| |
| private java.io.InputStream reader; |
| private java.io.OutputStream writer; |
| |
| |
| |
| public String name; |
| // DUBwise root; |
| |
| |
| private boolean sending=false; |
| private boolean recieving=false; |
| |
| |
| |
| /****************** Section: public Methods ************************************************/ |
| public MKCommunicator() |
| { |
| |
| data_buff=new String[DATA_BUFF_LEN]; |
| for (int i=0;i<DATA_BUFF_LEN;i++) |
| data_buff[i]=""; |
| // debug=debug_; |
| // root=root_; |
| version=new MKVersion(); |
| debug_data=new MKDebugData(); |
| stick_data=new MKStickData(); |
| params=new MKParamsParser(); |
| LCD= new MKLCD(this); |
| watchdog=new MKWatchDog(this); |
| gps_position=new MKGPSPosition(); |
| stats = new MKStatistics(); |
| proxy =new MKProxy(this); |
| ufo_prober=new UFOProber(); |
| new Thread( this ).start(); // fire up main Thread |
| } |
| |
| |
| |
| public void write_raw(byte[] _data) |
| { |
| wait4send(); |
| sending=true; |
| try { |
| writer.write(_data,0,_data.length); |
| writer.flush(); |
| |
| stats.bytes_out+=_data.length; |
| } |
| catch ( Exception e){} |
| sending=false; |
| } |
| |
| public void do_proxy(String proxy_url) |
| { |
| proxy.connect(proxy_url); |
| } |
| |
| // int port; |
| |
| // URL string: "btspp://XXXXXXXXXXXX:1" - the X-Part is the MAC-Adress of the Bluetooth-Device connected to the Fligth-Control |
| public void connect_to(String _url,String _name) |
| { |
| // port=_port; |
| mk_url=_url; // remember URL for connecting / reconnecting later |
| name=_name; |
| force_disconnect=false; |
| connected=false; |
| } |
| |
| public boolean ready() |
| { |
| return (connected&&(version.major!=-1)); |
| } |
| |
| |
| public String get_buff(int age) |
| { |
| |
| age%=DATA_BUFF_LEN; |
| |
| if (age<=data_buff_pos) |
| return ""+data_buff[data_buff_pos-age]; |
| else |
| return ""+data_buff[DATA_BUFF_LEN+data_buff_pos-age]; |
| |
| |
| } |
| /****************** Section: private Methods ************************************************/ |
| private void connect() |
| { |
| log("trying to connect to" + mk_url); |
| try{ |
| |
| // old call |
| // connection = (StreamConnection) Connector.open(mk_url, Connector.READ_WRITE); |
| |
| //#ifdef android |
| connection = (new java.net.Socket(mk_url.split(":")[0],Integer.parseInt(mk_url.split(":")[1]))); |
| //.Socket |
| |
| reader=connection.getInputStream(); |
| writer=connection.getOutputStream(); |
| |
| String magic="conn:foo bar\r\n"; |
| writer.write(magic.getBytes()); |
| writer.flush(); |
| |
| //#else |
| |
| //# connection = (StreamConnection) Connector.open(mk_url); |
| |
| //# reader=connection.openInputStream(); |
| //# writer=connection.openOutputStream(); |
| |
| //#endif |
| connection_start_time=System.currentTimeMillis(); |
| connected=true; // if we get here everything seems to be OK |
| |
| stats.reset(); |
| |
| log("connecting OK"); |
| } |
| catch (Exception ex) |
| { |
| // TODO difference fatal errors from those which will lead to reconnection |
| log("Problem connecting" + "\n" + ex); |
| } |
| } |
| |
| public int[] Decode64(byte[] in_arr, int offset,int len) |
| { |
| int ptrIn=offset; |
| int a,b,c,d,x,y,z; |
| int ptr=0; |
| |
| int[] out_arr=new int[len]; |
| |
| while(len!=0) |
| { |
| a=0; |
| b=0; |
| c=0; |
| d=0; |
| try { |
| a = in_arr[ptrIn++] - '='; |
| b = in_arr[ptrIn++] - '='; |
| c = in_arr[ptrIn++] - '='; |
| d = in_arr[ptrIn++] - '='; |
| } |
| catch (Exception e) {} |
| //if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
| |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| |
| if((len--)!=0) out_arr[ptr++] = x; else break; |
| if((len--)!=0) out_arr[ptr++] = y; else break; |
| if((len--)!=0) out_arr[ptr++] = z; else break; |
| } |
| |
| return out_arr; |
| |
| } |
| |
| public void wait4send() |
| { |
| while(sending) //||recieving) |
| sleep(50); |
| } |
| |
| |
| public void sleep(int time) |
| { |
| try { Thread.sleep(time); } |
| catch (Exception e) { } |
| } |
| |
| // FC - Function Mappers |
| |
| // send a version Request to the FC - the reply to this request will be processed in process_data when it arrives |
| public void get_version() |
| { |
| stats.version_data_request_count++; |
| send_command(0,'v'); |
| } |
| |
| public void set_gps_target(int longitude,int latitude) |
| { |
| int[] target=new int[8]; |
| target[0]= (0xFF)&(longitude<<24); |
| target[1]= (0xFF)&(longitude<<16); |
| target[2]= (0xFF)&(longitude<<8); |
| target[3]= (0xFF)&(longitude); |
| // send_command(0,'s',target); |
| } |
| |
| // send a MotorTest request - params are the speed for each Motor |
| public void motor_test(int[] params) |
| { |
| stats.motortest_request_count++; |
| send_command(FC_SLAVE_ADDR,'t',params); |
| } |
| |
| public void send_keys(int[] params) |
| { |
| send_command(FC_SLAVE_ADDR,'k',params); |
| } |
| |
| // get params |
| public void get_params(int id) |
| { |
| wait4send(); |
| send_command(FC_SLAVE_ADDR,'q',id+1); |
| stats.params_data_request_count++; |
| } |
| |
| public void get_debug_name(int id) |
| { |
| |
| wait4send(); |
| send_command(0,'a',id); |
| } |
| |
| |
| public void trigger_LCD_by_page(int page) |
| { |
| wait4send(); |
| send_command(0,'l',page); |
| stats.lcd_data_request_count++; |
| } |
| |
| public void trigger_debug() |
| { |
| if (sending||recieving) return; // its not that important - can be dropped |
| send_command(0,'c'); |
| } |
| |
| |
| |
| public void switch_to_fc() |
| { |
| wait4send(); |
| send_command(NAVI_SLAVE_ADDR,'u',0); |
| sleep(50); |
| version=new MKVersion(); |
| LCD= new MKLCD(this); |
| } |
| |
| |
| public void switch_to_mk3mag() |
| { |
| wait4send(); |
| send_command(NAVI_SLAVE_ADDR ,'u',1); |
| sleep(50); |
| version=new MKVersion(); |
| LCD= new MKLCD(this); |
| } |
| |
| public void switch_to_navi() |
| { |
| wait4send(); |
| sending=true; |
| try |
| { |
| writer.write( 27); |
| writer.write( 27); |
| writer.write( 0x55); |
| writer.write( 0xaa); |
| writer.write( 0); |
| writer.write('\r'); |
| stats.bytes_out+=6; |
| writer.flush(); |
| } |
| catch (Exception e) { } |
| sending=false; |
| |
| sleep(50); |
| version=new MKVersion(); |
| LCD= new MKLCD(this); |
| } |
| |
| public String[] flash_msgs; |
| int msg_pos=0; |
| |
| |
| public boolean bootloader_intension_flash=false; |
| public void jump_bootloader() |
| { |
| |
| msg_pos=0; |
| bootloader_stage= BOOTLOADER_STAGE_NONE; |
| flash_msgs=new String[100]; |
| flash_msgs[msg_pos++]="Initiializing Bootloader"; |
| wait4send(); |
| sending=true; |
| |
| try |
| { |
| int attempt=0; |
| |
| while(bootloader_stage!= BOOTLOADER_STAGE_GOT_MKBL) |
| { |
| flash_msgs[msg_pos]="attempt "+attempt; |
| attempt++; |
| send_command_nocheck((byte)FC_SLAVE_ADDR,'R',new int[0]); |
| writer.write( 27); |
| writer.flush(); |
| |
| sleep(20); |
| |
| writer.write( 0xAA); |
| writer.flush(); |
| |
| sleep((attempt%2==0)?80:800); //800 |
| } |
| msg_pos++; |
| } |
| |
| catch (Exception e) { |
| flash_msgs[msg_pos++]="Exception:" +e.getMessage() ; |
| flash_msgs[msg_pos++]=e.toString() ; |
| } |
| |
| new Thread( this ).start(); // fire up main Thread |
| } |
| |
| |
| public void get_error_str() |
| { |
| send_command(NAVI_SLAVE_ADDR,'e'); |
| } |
| |
| public void trigger_rcdata() |
| { |
| send_command(FC_SLAVE_ADDR,'p'); |
| } |
| |
| |
| public void write_params() |
| { |
| params.update_backup(); |
| wait4send(); |
| send_command(FC_SLAVE_ADDR,'s',params.field_bak[params.act_paramset]); |
| } |
| |
| public void send_command(int modul,char cmd) |
| { |
| send_command(modul,cmd,new int[0]); |
| } |
| |
| public void send_command(int modul,char cmd,int param) |
| { |
| int[] params=new int[1]; |
| params[0]=param; |
| send_command(modul,cmd,params); |
| } |
| |
| public void send_command_nocheck(byte modul,char cmd,int[] params) |
| { |
| // char[] send_buff=new char[5 + (params.length/3 + (params.length%3==0?0:1) )*4]; // 5=1*start_char+1*addr+1*cmd+2*crc |
| |
| byte[] send_buff=new byte[3 + (params.length/3 + (params.length%3==0?0:1) )*4]; // 5=1*start_char+1*addr+1*cmd+2*crc |
| send_buff[0]='#'; |
| send_buff[1]=modul; |
| send_buff[2]=(byte)cmd; |
| |
| for(int param_pos=0;param_pos<(params.length/3 + (params.length%3==0?0:1)) ;param_pos++) |
| { |
| int a = (param_pos*3<params.length)?params[param_pos*3]:0; |
| int b = ((param_pos*3+1)<params.length)?params[param_pos*3+1]:0; |
| int c = ((param_pos*3+2)<params.length)?params[param_pos*3+2]:0; |
| |
| send_buff[3+param_pos*4] = (byte)((a >> 2)+'=' ); |
| send_buff[3+param_pos*4+1] = (byte)('=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4))); |
| send_buff[3+param_pos*4+2] = (byte)('=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6))); |
| send_buff[3+param_pos*4+3] = (byte)('=' + ( c & 0x3f)); |
| |
| //send_buff[3+foo]='='; |
| } |
| |
| /* for(int foo=0;foo<(params.length/3 + (params.length%3==0?0:1) )*4;foo++) |
| { |
| int a = (foo<params.length) params[foo]; |
| int a = params[foo]; |
| |
| //send_buff[3+foo]='='; |
| } |
| */ |
| try |
| { |
| int tmp_crc=0; |
| for ( int tmp_i=0; tmp_i<send_buff.length;tmp_i++) |
| tmp_crc+=(int)send_buff[tmp_i]; |
| |
| writer.write(send_buff,0,send_buff.length); |
| tmp_crc%=4096; |
| |
| writer.write( (char)(tmp_crc/64 + '=')); |
| writer.write( (char)(tmp_crc%64 + '=')); |
| writer.write('\r'); |
| stats.bytes_out+=send_buff.length+3; |
| writer.flush(); |
| } |
| catch (Exception e) |
| { // problem sending data to FC |
| } |
| |
| } |
| // send command to FC ( add crc and pack into pseudo Base64 |
| public void send_command(int modul,char cmd,int[] params) |
| { |
| |
| // if (modul==0) return; |
| sending=true; |
| send_command_nocheck((byte)modul,cmd,params); |
| sending=false; |
| } |
| |
| |
| public int slave_addr=-1; |
| |
| |
| public int UBatt() |
| { |
| if (ufo_prober.is_mk()) |
| return debug_data.UBatt(); |
| else if (ufo_prober.is_navi()) |
| return gps_position.UBatt; |
| |
| return -1; |
| |
| } |
| |
| |
| |
| public int SenderOkay() |
| { |
| if (ufo_prober.is_mk()) |
| return debug_data.SenderOkay(); |
| else if (ufo_prober.is_navi()) |
| return gps_position.SenderOkay; |
| |
| return -1; |
| |
| } |
| |
| |
| public void process_data(byte[] data,int len) |
| { |
| |
| |
| log("command " +(char)data[2] ); |
| switch((char)data[2]) |
| { |
| |
| case 'A': // debug Data Names |
| stats.debug_names_count++; |
| debug_data.set_names_by_mk_data(Decode64(data,3,len-3)); |
| break; |
| |
| case 'L': // LCD Data |
| stats.lcd_data_count++; |
| LCD.handle_lcd_data(Decode64(data,3,len-3)); |
| |
| break; |
| |
| case 'D': // debug Data |
| log("got debug data"); |
| stats.debug_data_count++; |
| debug_data.set_by_mk_data(Decode64(data,3,len-3),version); |
| log("processed debug data"); |
| break; |
| |
| case 'V': // Version Info |
| stats.version_data_count++; |
| slave_addr=data[1]; |
| |
| switch(slave_addr) |
| { |
| case FC_SLAVE_ADDR: |
| ufo_prober.set_to_mk(); |
| break; |
| |
| case NAVI_SLAVE_ADDR: |
| ufo_prober.set_to_navi(); |
| break; |
| |
| case MK3MAG_SLAVE_ADDR: |
| // ufo_prober.set_to_mk(); |
| ufo_prober.set_to_mk3mag(); |
| break; |
| |
| default: |
| ufo_prober.set_to_incompatible(); |
| break; |
| } |
| |
| |
| version.set_by_mk_data(Decode64(data,3,len-3)); |
| break; |
| |
| case 'w': |
| stats.angle_data_count++; |
| |
| break; |
| |
| |
| case 'Q': |
| if (ufo_prober.is_mk()) |
| { |
| stats.params_data_count++; |
| params.set_by_mk_data(Decode64(data,3,len-3)); |
| } |
| break; |
| |
| case 'P': |
| stats.stick_data_count++; |
| stick_data.set_by_mk_data(Decode64(data,3,20)); |
| break; |
| |
| |
| case 'E': |
| int[] dec_data=Decode64(data,3,len-3); |
| error_str=""; |
| for(int foo=0;foo<20;foo++) |
| if (dec_data[foo]!=0) |
| error_str+=(char)dec_data[foo]; |
| break; |
| |
| |
| case 'O': |
| stats.navi_data_count++; |
| log("got navi data(" + len +"):"); |
| |
| gps_position.set_by_mk_data(Decode64(data,3,len-3),version); |
| |
| log("long:" + gps_position.Longitude); |
| log("lat:" + gps_position.Latitude); |
| |
| break; |
| |
| |
| // Error from Navi |
| |
| |
| default: |
| stats.other_data_count++; |
| break; |
| |
| } |
| |
| } |
| |
| public boolean force_disconnect=true; |
| |
| public void close_connections(boolean force) |
| { |
| // if ((!force)&&root.canvas.do_vibra) root.vibrate(500); |
| force_disconnect=force; |
| try{ reader.close(); } |
| catch (Exception inner_ex) { } |
| |
| try{ writer.close(); } |
| catch (Exception inner_ex) { } |
| |
| //#ifdef j2me |
| //# try{ connection.close(); } |
| //# catch (Exception inner_ex) { } |
| //#endif |
| ufo_prober.set_to_none(); |
| stats.reset(); |
| connected=false; |
| version=new MKVersion(); |
| } |
| |
| // Thread to recieve data from Connection |
| public void run() |
| { |
| |
| if (bootloader_stage==BOOTLOADER_STAGE_GOT_MKBL) |
| { |
| try { |
| flash_msgs[msg_pos++]="reading avr_sig"; |
| |
| writer.write( 't'); |
| writer.flush(); |
| |
| int avr_sig=reader.read(); |
| flash_msgs[msg_pos++]="got avr sig " + avr_sig; |
| |
| |
| if (reader.read()!=0) |
| throw new Exception("val after avrsig isnt 0"); |
| |
| if ((avr_sig!=0x74)&&(avr_sig!=224)&&(avr_sig!=120)) |
| throw new Exception("avr sig" + avr_sig + " unknown"); |
| |
| writer.write('T'); |
| // writer.flush(); |
| writer.write(avr_sig); // set devicetyp = 0x74 oder 0x76 |
| writer.flush(); |
| |
| if (reader.read()!=0x0d) |
| throw new Exception("cant get buffer size"); |
| |
| writer.write('V'); |
| writer.flush(); |
| |
| int bl_version_major=reader.read(); |
| int bl_version_minor=reader.read(); |
| |
| flash_msgs[msg_pos++]="BL Version " + bl_version_major+"."+bl_version_minor; |
| |
| |
| writer.write('b'); |
| writer.flush(); |
| |
| if (reader.read()!='Y') |
| throw new Exception("cant get buffer size"); |
| |
| int send_buff_size1=reader.read(); |
| int send_buff_size2=reader.read(); |
| int send_buff_size=send_buff_size1*0x100+send_buff_size2; |
| |
| flash_msgs[msg_pos++]="BUFF Size:" + send_buff_size; |
| // if (send_buff_size>128) |
| // send_buff_size=128; |
| if (bootloader_intension_flash) |
| { |
| |
| byte[] flash_buff =new byte[send_buff_size]; ///!! |
| |
| |
| flash_msgs[msg_pos++]="Opening firmware .."; |
| |
| |
| InputStream in; |
| try { |
| in=this.getClass().getResourceAsStream((avr_sig==224)?"/navi.bin":((avr_sig==120)?"mk3.bin":"/fc.bin")); |
| } |
| |
| catch (Exception e) { throw new Exception(" cant open firmware"); } |
| |
| |
| int firmware_size= ((int)in.read()<<24) |((int)in.read()<<16) | ((int)in.read()<<8) | ((int)in.read()&0xff) ; |
| |
| |
| flash_msgs[msg_pos++]=".. open with " + firmware_size + "bytes"; |
| |
| |
| |
| |
| |
| // if (true) throw new Exception("before erasing" ); |
| |
| flash_msgs[msg_pos++]="Erasing Flash .."; |
| writer.write('e'); |
| writer.flush(); |
| |
| if (reader.read()!=0x0d) |
| throw new Exception("cant erase flash"); |
| |
| flash_msgs[msg_pos]+="OK"; |
| |
| |
| writer.write('A'); |
| writer.write(0); |
| writer.write(0); |
| writer.flush(); |
| |
| if (reader.read()!=0x0d) |
| throw new Exception("cant set addr"); |
| |
| flash_msgs[msg_pos++]="addr set"; |
| |
| |
| int blocks2write=((firmware_size/send_buff_size)); |
| if ((firmware_size%send_buff_size)>0) |
| blocks2write++; |
| |
| for ( int block=0; block<blocks2write; block ++) |
| { |
| int hex_bytes_read=in.read(flash_buff,0,send_buff_size); |
| |
| flash_msgs[msg_pos]="bl:" + block + "/" + blocks2write + " si:"+hex_bytes_read ; |
| |
| |
| writer.write('B'); |
| writer.write((hex_bytes_read>>8)& 0xFF); |
| writer.write((hex_bytes_read)& 0xFF); |
| writer.write('F'); |
| writer.flush(); |
| |
| |
| writer.write(flash_buff,0,hex_bytes_read); |
| writer.flush(); |
| |
| |
| if (avr_sig==224) |
| { |
| int crc=0xFFFF; |
| for (int crc_pos=0;crc_pos<hex_bytes_read;crc_pos++) |
| crc=CRC16(flash_buff[crc_pos],crc); |
| writer.write(crc>>8); |
| writer.write(crc&0xff); |
| writer.flush(); |
| } |
| // flash_msgs[msg_pos]+="ok"; |
| // writer.flush(); |
| |
| |
| |
| if (reader.read()!=0x0d) |
| throw new Exception("abort write at block"+block); |
| |
| |
| |
| // sleep(1000); |
| } |
| // flash_msgs[msg_pos]="bl:" + block + "/" + blocks2write + " si:"+hex_bytes_read ; |
| /* |
| |
| int inp=0; |
| int block=0; |
| while (inp!=-1) |
| { |
| int flash_buff_pos=0; |
| int crc=0xFFFF; |
| |
| while ((flash_buff_pos<send_buff_size)&&(inp!=-1)) |
| { |
| inp=in.read(); |
| if (inp!=-1) |
| { |
| crc=CRC16(inp,crc); |
| flash_buff[flash_buff_pos++]=(byte)inp; |
| } |
| } |
| // flash_msgs[msg_pos]="block" + block + "size:"+flash_buff_pos; |
| |
| block++; |
| |
| boolean block_fin=false; |
| |
| |
| while(!block_fin) |
| { |
| |
| writer.write('B'); |
| writer.write((flash_buff_pos>>8)& 0xFF); |
| writer.write((flash_buff_pos)& 0xFF); |
| writer.write('F'); |
| writer.flush(); |
| |
| // int ret_v=-1; |
| |
| writer.write(flash_buff,0,flash_buff_pos); |
| flash_msgs[msg_pos]="bl:" + block + "si:"+flash_buff_pos ; |
| |
| writer.flush(); |
| // flash_msgs[msg_pos]+="wtc"; |
| |
| |
| // append crc if navi |
| if (avr_sig==224) |
| { |
| writer.write(crc>>8); |
| writer.write(crc&0xff); |
| writer.flush(); |
| } |
| // flash_msgs[msg_pos]+="ok"; |
| // writer.flush(); |
| // if (reader.read()!=0x0d) |
| // throw new Exception("abort write at block"+block); |
| |
| |
| //ret_v=reader.read(); |
| // flash_msgs[msg_pos]="ret"+ret_v + "crc"+crc; |
| |
| if (reader.read()==0x0d) |
| block_fin=true; |
| |
| } |
| |
| } |
| */ |
| flash_msgs[++msg_pos]="written last block "; |
| msg_pos++; |
| flash_buff=null; |
| |
| ufo_prober.set_to_none(); |
| stats.reset(); |
| version=new MKVersion(); |
| System.gc(); |
| } |
| else // bootloader intension clear settings |
| { |
| |
| flash_msgs[msg_pos]="reset params .."; |
| writer.write('B'); |
| writer.write(0); |
| writer.write(4); |
| writer.write('E'); |
| writer.flush(); |
| |
| writer.write(0xFF); |
| writer.write(0xFF); |
| writer.write(0xFF); |
| writer.write(0xFF); |
| writer.flush(); |
| flash_msgs[msg_pos++]+=" done"; |
| } |
| |
| flash_msgs[msg_pos++]="Exiting Bootloader" ; |
| params=new MKParamsParser(); |
| try{ |
| writer.write('E'); |
| writer.flush(); |
| } |
| catch (Exception e) { |
| flash_msgs[msg_pos++]="cant exit bootloader" ; |
| } |
| flash_msgs[msg_pos++]="Exit BL done" ; |
| |
| |
| } |
| |
| catch (Exception e) { |
| flash_msgs[msg_pos++]="Fail:" +e.getMessage() ; |
| |
| |
| flash_msgs[msg_pos++]="Exiting Bootloader" ; |
| params=new MKParamsParser(); |
| try{ |
| writer.write('E'); |
| writer.flush(); |
| } |
| catch (Exception e2) { |
| flash_msgs[msg_pos++]="cant exit bootloader" ; |
| } |
| flash_msgs[msg_pos++]="Exit BL done" ; |
| |
| |
| |
| close_connections(false); |
| } |
| |
| |
| sending=false; |
| } |
| |
| |
| byte[] data_set=new byte[1024]; |
| int data_set_pos=0; |
| byte[] data_in_buff=new byte[2048]; |
| |
| int input; |
| int pos=0; |
| |
| |
| |
| |
| |
| log("Thread started"); |
| while(true) |
| { |
| |
| if (!connected) |
| { |
| if (!force_disconnect) connect(); |
| sleep(100); |
| } |
| else |
| try{ |
| |
| /* |
| while(sending) |
| {try { Thread.sleep(50); } |
| catch (Exception e) { } |
| } |
| */ |
| |
| recieving=true; |
| int read_count =reader.read(data_in_buff,0,reader.available()); |
| log("Connected - reading data " + read_count); |
| // pos=0; |
| input=0; |
| //data_buff[data_buff_pos]=""; |
| // recieve data-set |
| if (read_count==0) sleep(50); |
| |
| // int read_count =reader.read(data_in_buff,0,reader.available()); |
| stats.bytes_in+=read_count; |
| if (read_count>0) |
| { |
| log("read" + read_count + " ds_pos" + data_set_pos); |
| |
| for ( pos=0;pos<read_count;pos++) |
| { |
| if (data_in_buff[pos]==13) |
| { |
| data_buff[data_buff_pos]=""+data_buff_pos+ "--"+new String(data_set, 0, data_set_pos); |
| data_buff_pos++; |
| data_buff_pos%=DATA_BUFF_LEN; |
| |
| |
| try{process_data(data_set,data_set_pos); } |
| catch (Exception e) |
| { |
| log(".. problem processing"); |
| log(e.toString()); |
| } |
| |
| |
| |
| |
| proxy.write(data_set,0,data_set_pos); |
| // proxy.writer.write('\r'); |
| //proxy.writer.write('\n'); |
| //proxy.writer.flush(); |
| /* |
| if (proxy!=null) |
| { |
| |
| |
| |
| } |
| */ |
| data_set_pos=0; |
| |
| } |
| else |
| { |
| data_set[data_set_pos++]=data_in_buff[pos]; |
| |
| |
| |
| if ( (data_set_pos>4) && (data_set[data_set_pos-4]==(byte)'M') && (data_set[data_set_pos-3]==(byte)'K') && (data_set[data_set_pos-2]==(byte)'B') && (data_set[data_set_pos-1]==(byte)'L')) |
| { |
| bootloader_stage= BOOTLOADER_STAGE_GOT_MKBL; |
| return; |
| } |
| |
| } |
| |
| } |
| |
| |
| } |
| else |
| sleep(50); |
| /* |
| while ((input != 13)) //&&(input!=-1)) |
| { |
| { |
| //log("pre read"); |
| log(""+reader.available()); |
| input = reader.read() ; |
| log("Byte rcv" + input +"pos"+ pos); |
| |
| proxy.write(input); |
| |
| data_buff[data_buff_pos]+=(char)input; |
| |
| if ((data_buff[data_buff_pos].length()>3)&&(data_buff[data_buff_pos].substring(data_buff[data_buff_pos].length()-4,data_buff[data_buff_pos].length()).equals("MKBL"))) |
| { |
| bootloader_stage= BOOTLOADER_STAGE_GOT_MKBL; |
| return; |
| } |
| if (input==-1) throw new Exception("disconnect"); |
| else |
| { |
| stats.bytes_in++; |
| data_set[pos]=input; |
| pos++; |
| } |
| } |
| |
| } |
| |
| |
| |
| data_buff_pos++; |
| data_buff_pos%=DATA_BUFF_LEN; |
| recieving=false; |
| log("Data recieved (" + pos + "Bytes)"); |
| log("processing .."); |
| */ |
| |
| /* |
| if (proxy!=null) |
| { |
| proxy.writer.write('\r'); |
| proxy.writer.write('\n'); |
| proxy.writer.flush(); |
| } |
| */ |
| /*if (pos>5) |
| { |
| try{process_data(data_set,pos); } |
| catch (Exception e) |
| { |
| log(".. problem processing"); |
| log(e.toString()); |
| } |
| |
| log(".. processing done"); |
| } |
| */ |
| } |
| catch (Exception ex) |
| { |
| log("Problem reading from MK -> closing conn"); |
| log(ex.toString()); |
| // close the connection |
| close_connections(false); |
| } |
| |
| // sleep a bit to get someting more done |
| // sleep(5); //50 |
| |
| } // while |
| // log("Leaving Communicator thread"); |
| } // run() |
| } |