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• This comparison shows the changes necessary to convert path

  → /dongfang_FC_rewrite_tool/ @ 1610

  → /dongfang_FC_rewrite_tool/ @ 1611

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Ignore whitespace Rev 1610 → Rev 1611

/dongfang_FC_rewrite_tool/configsets/ADXRS610/config.xml
File deleted

/dongfang_FC_rewrite_tool/configsets/ENC-03/config.xml
File deleted

/dongfang_FC_rewrite_tool/configsets/ENC-03/imu.xml
0,0 → 1,25
<imuconfiguration eepromVersion="0" length="11" name="ENC-03/FC1.3">
<parameter name="gyroQuadrant" value="0" />
<parameter name="accQuadrant" value="4" />
<parameter name="imuReversedFlags">
<bit name="IMU_REVERSE_GYRO_PR" value="0" />
<bit name="IMU_REVERSE_GYRO_YAW" value="0" />
<bit name="IMU_REVERSE_ACC_XY" value="1" />
<bit name="IMU_REVERSE_ACC_Z" 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="gyroPIDFilterConstant" value="1" />
<parameter name="gyroDFilterConstant" value="1" />
<parameter name="accFilterConstant" value="15" />
<parameter name="zerothOrderCorrection" value="10" />
<parameter name="rateTolerance" value="100" />
<parameter name="gyroActivityDamping" value="64" />
<parameter name="driftCompDivider" value="2" />
<parameter name="driftCompLimit" value="0" />
</imuconfiguration>

/dongfang_FC_rewrite_tool/configsets/InvenSense/imu.xml
0,0 → 1,25
<imuconfiguration eepromVersion="0" length="11" name="InvenSense">
<parameter name="gyroQuadrant" value="0" />
<parameter name="accQuadrant" value="4" />
<parameter name="imuReversedFlags">
<bit name="IMU_REVERSE_GYRO_PR" value="0" />
<bit name="IMU_REVERSE_GYRO_YAW" value="0" />
<bit name="IMU_REVERSE_ACC_XY" value="1" />
<bit name="IMU_REVERSE_ACC_Z" 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="gyroPIDFilterConstant" value="1" />
<parameter name="gyroDFilterConstant" value="1" />
<parameter name="accFilterConstant" value="15" />
<parameter name="zerothOrderCorrection" value="10" />
<parameter name="rateTolerance" value="100" />
<parameter name="gyroActivityDamping" value="64" />
<parameter name="driftCompDivider" value="2" />
<parameter name="driftCompLimit" value="0" />
</imuconfiguration>

/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/templates/imuconfiguration_v0.xml
0,0 → 1,26
<imuconfigurationtemplate eepromVersion="0" length="12" >
<parameter name="gyroQuadrant" />
<parameter name="accQuadrant" />
<parameter name="imuReversedFlags" type="bitset">
<bit name="IMU_REVERSE_GYRO_PR" />
<bit name="IMU_REVERSE_GYRO_YAW" />
<bit name="IMU_REVERSE_ACC_XY" />
<bit name="IMU_REVERSE_ACC_Z" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
</parameter>
<parameter name="gyroPIDFilterConstant" />
<parameter name="gyroDWindowLength" />
<parameter name="accFilterConstant" />
<parameter name="zerothOrderCorrection" />
<parameter name="rateTolerance" />
<parameter name="gyroActivityDamping" />
<parameter name="driftCompDivider" />
<parameter name="driftCompLimit" />
<parameter name="hae" />
</imuconfigurationtemplate>

/dongfang_FC_rewrite_tool/configsets/templates/parameterset_v2.xml
0,0 → 1,177
<parametertemplate eepromVersion="2" length="73">
<section name="config" title="Configuration">
<parameter name="bitConfig" type="bitset">
<bit name="CFG_SIMPLE_HEIGHT_CONTROL" />
<bit name="CFG_SIMPLE_HC_HOLD_SWITCH" />
<bit name="CFG_HEADING_HOLD" />
<bit name="CFG_COMPASS_ACTIVE" />
<bit name="CFG_COMPASS_FIX" />
<bit name="CFG_GPS_ACTIVE" />
<bit name="CFG_AXIS_COUPLING_ACTIVE" />
<bit name="CFG_GYRO_SATURATION_PREVENTION" />
</parameter>
</section>
<section name="imu" title="IMU (gyros, accelerometer and compass)">
<parameter name="gyroQuadrant" />
<parameter name="accQuadrant" />
<parameter name="imuReversedFlags" type="bitset">
<bit name="IMU_REVERSE_GYRO_PR" />
<bit name="IMU_REVERSE_GYRO_YAW" />
<bit name="IMU_REVERSE_ACC_XY" />
<bit name="IMU_REVERSE_ACC_Z" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
</parameter>
<parameter name="gyroPIDFilterConstant" />
<parameter name="gyroATTFilterConstant" />
<parameter name="gyroDFilterConstant" />
<parameter name="accFilterConstant" />
<parameter name="maxAccVector" />
<parameter name="maxControlActivity" />
<parameter name="zerothOrderCorrection" />
<parameter name="driftCompDivider" />
<parameter name="driftCompLimit" />
<parameter name="axisCoupling1" />
<parameter name="axisCoupling2" />
<parameter name="axisCouplingYawCorrection" />
<parameter name="levelCorrectionPitch" type="dynamic"/>
<parameter name="levelCorrectionRoll" type="dynamic"/>
</section>
<section name="control" title="Control">
<parameter name="gyroP" section="control" type="dynamic" />
<parameter name="gyroI" section="control" type="dynamic" />
<parameter name="gyroD" section="control" type="dynamic" />
<parameter name="attitudeControl" type="dynamic"/>
<parameter name="stickP" />
<parameter name="stickD" />
<parameter name="stickYawP" />
<parameter name="stickThrottleD" />
<parameter name="minThrottle" />
<parameter name="maxThrottle" />
<parameter name="externalControl" type="dynamic"/>
<parameter name="motorSmoothing" />
<parameter name="dynamicStability" type="dynamic" />
<parameter name="IFactor" />
<parameter name="yawIFactor" />
<parameter name="compassYawEffect" type="dynamic" />
<parameter name="batteryVoltageWarning" />
<parameter name="emergencyThrottle" />
<parameter name="emergencyFlightDuration" />
</section>
<section name="heightcontrol" title="Height Control">
<parameter name="airpressureFilterConstant" />
<parameter name="airpressureWindowLength" />
<parameter name="airpressureAccZCorrection" />
<parameter name="heightP" type="dynamic"/>
<parameter name="heightI" type="dynamic"/>
<parameter name="heightD" type="dynamic"/>
<parameter name="heightSetting" type="dynamic"/>
<parameter name="heightControlMaxIntegral" />
<parameter name="heightMaxThrottleChange" />
<parameter name="heightSlewRate" />
</section>
<section name="servos">
<parameter name="servoCount" />
<parameter name="servoManualMaxSpeed" />
<parameter name="pitchServoControl" type="dynamic"/>
<parameter name="pitchServoStabilization" />
<parameter name="pitchServoMinValue" />
<parameter name="pitchServoMaxValue" />
<parameter name="pitchServoFlags" type="bitset">
<bit name="reverseStabilization" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
</parameter>
<parameter name="rollServoControl" type="dynamic"/>
<parameter name="rollServoStabilization" />
<parameter name="rollServoMinValue" />
<parameter name="rollServoMaxValue" />
<parameter name="rollServoFlags" type="bitset">
<bit name="reverseStabilization" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
</parameter>
</section>
<section name="output">
<parameter name="output0BitMask" type="bitset">
<bit name="t0" />
<bit name="t1" />
<bit name="t2" />
<bit name="t3" />
<bit name="t4" />
<bit name="t5" />
<bit name="t6" />
<bit name="t7" />
</parameter>
<parameter name="output0Timing" type="dynamic"/>
<parameter name="output1BitMask" type="bitset">
<bit name="t0" />
<bit name="t1" />
<bit name="t2" />
<bit name="t3" />
<bit name="t4" />
<bit name="t5" />
<bit name="t6" />
<bit name="t7" />
</parameter>
<parameter name="output1Timing" type="dynamic"/>
<parameter name="outputDebugMask" type="bitset">
<bit name="DEBUG_MAINLOOP_TIMER" />
<bit name="DEBUG_HEIGHT_DIFF" />
<bit name="DEBUG_HOVERTHROTTLE" />
<bit name="DEBUG_ACC0THORDER" />
<bit name="DEBUG_SIGNAL" />
<bit name="DEBUG_PRESSURERANGE" />
<bit name="DEBUG_CLIP" />
<bit name="DEBUG_SENSORLIMIT" />
</parameter>
<parameter name="outputFlags" type="bitset">
<bit name="INVERT_OUTPUT0" />
<bit name="INVERT_OUTPUT1" />
<bit name="FLASH_OUTPUT0_BEEPING" />
<bit name="FLASH_OUTPUT1_BEEPING" />
<bit name="USE_ONBOARD_LEDS" />
<bit name="TEST_OFF" />
<bit name="TEST_ON" />
<bit name="UNUSED" />
</parameter>
</section>
<section name="userparams" title="User Parameters">
<parameter name="userparam0" />
<parameter name="userparam1" />
<parameter name="userparam2" />
<parameter name="userparam3" />
<parameter name="userparam4" />
<parameter name="userparam5" />
<parameter name="userparam6" />
<parameter name="userparam7" />
</section>
</parametertemplate>

/dongfang_FC_rewrite_tool/configsets/templates/parameterset_v3.xml
0,0 → 1,167
<parametertemplate eepromVersion="3" length="73">
<section name="config" title="Configuration">
<parameter name="bitConfig" type="bitset">
<bit name="CFG_SIMPLE_HEIGHT_CONTROL" />
<bit name="CFG_SIMPLE_HC_HOLD_SWITCH" />
<bit name="CFG_HEADING_HOLD" />
<bit name="CFG_COMPASS_ACTIVE" />
<bit name="CFG_UNUSED" />
<bit name="CFG_GPS_ACTIVE" />
<bit name="CFG_AXIS_COUPLING_ACTIVE" />
<bit name="CFG_GYRO_SATURATION_PREVENTION" />
</parameter>
</section>
<section name="control" title="Control">
<parameter name="levelCorrectionPitch" staticCodeName="levelCorrection[0]" dynamicCodeName="levelCorrection[0]" type="dynamic"/>
<parameter name="levelCorrectionRoll" staticCodeName="levelCorrection[1]" dynamicCodeName="levelCorrection[1]" type="dynamic"/>
<parameter name="gyroP" section="control" type="dynamic" />
<parameter name="gyroI" section="control" type="dynamic" />
<parameter name="gyroD" section="control" type="dynamic" />
<parameter name="attitudeControl" type="dynamic"/>
<parameter name="stickP" />
<parameter name="stickD" />
<parameter name="stickYawP" />
<parameter name="stickThrottleD" />
<parameter name="minThrottle" />
<parameter name="maxThrottle" />
<parameter name="externalControl" type="dynamic"/>
<parameter name="motorSmoothing" />
<parameter name="dynamicStability" type="dynamic" />
<parameter name="IFactor" />
<parameter name="yawIFactor" />
<parameter name="compassMode" type="dynamic" />
<parameter name="compassYawCorrection" />
<parameter name="compassBendingReturnSpeed" />
<parameter name="compassP" />
<parameter name="batteryVoltageWarning" />
<parameter name="emergencyThrottle" />
<parameter name="emergencyFlightDuration" />
</section>
<section name="heightcontrol" title="Height Control">
<parameter name="airpressureFilterConstant" />
<parameter name="airpressureWindowLength" />
<parameter name="airpressureDWindowLength" />
<parameter name="airpressureAccZCorrection" />
<parameter name="heightP" type="dynamic"/>
<parameter name="heightI" type="dynamic"/>
<parameter name="heightD" type="dynamic"/>
<parameter name="heightSetting" type="dynamic"/>
<parameter name="heightControlMaxIntegralIn" />
<parameter name="heightControlMaxIntegralOut" />
<parameter name="heightMaxThrottleChange" />
<parameter name="heightControlTestOscPeriod" />
<parameter name="heightControlTestOscAmplitude" />
</section>
<section name="servos">
<parameter name="servoCount" />
<parameter name="servoManualMaxSpeed" />
<parameter name="pitchServoControl" staticCodeName="servoConfigurations[0].manualControl" dynamicCodeName="servoManualControl[0]" type="dynamic"/>
<parameter name="pitchServoStabilization" />
<parameter name="pitchServoMinValue" />
<parameter name="pitchServoMaxValue" />
<parameter name="pitchServoFlags" type="bitset">
<bit name="reverseStabilization" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
</parameter>
<parameter name="rollServoControl" staticCodeName="servoConfigurations[1].manualControl" dynamicCodeName="servoManualControl[1]" type="dynamic"/>
<parameter name="rollServoStabilization" />
<parameter name="rollServoMinValue" />
<parameter name="rollServoMaxValue" />
<parameter name="rollServoFlags" type="bitset">
<bit name="reverseStabilization" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
<bit name="Unused" />
</parameter>
</section>
<section name="output">
<parameter name="output0BitMask" type="bitset">
<bit name="t0" />
<bit name="t1" />
<bit name="t2" />
<bit name="t3" />
<bit name="t4" />
<bit name="t5" />
<bit name="t6" />
<bit name="t7" />
</parameter>
<parameter name="output0Timing" staticCodeName="outputFlash[0].timing" dynamicCodeName="output0Timing" type="dynamic"/>
<parameter name="output1BitMask" type="bitset">
<bit name="t0" />
<bit name="t1" />
<bit name="t2" />
<bit name="t3" />
<bit name="t4" />
<bit name="t5" />
<bit name="t6" />
<bit name="t7" />
</parameter>
<parameter name="output1Timing" staticCodeName="outputFlash[1].timing" dynamicCodeName="output1Timing" type="dynamic"/>
<parameter name="outputDebugMask" type="bitset">
<bit name="DEBUG_MAINLOOP_TIMER" />
<bit name="DEBUG_HEIGHT_DIFF" />
<bit name="DEBUG_HOVERTHROTTLE" />
<bit name="DEBUG_ACC0THORDER" />
<bit name="DEBUG_SIGNAL" />
<bit name="DEBUG_PRESSURERANGE" />
<bit name="DEBUG_CLIP" />
<bit name="DEBUG_SENSORLIMIT" />
</parameter>
<parameter name="outputFlags" type="bitset">
<bit name="INVERT_OUTPUT0" />
<bit name="INVERT_OUTPUT1" />
<bit name="FLASH_OUTPUT0_BEEPING" />
<bit name="FLASH_OUTPUT1_BEEPING" />
<bit name="USE_ONBOARD_LEDS" />
<bit name="TEST_OFF" />
<bit name="TEST_ON" />
<bit name="UNUSED" />
</parameter>
</section>
<section name="navigation" title="Navigation">
<parameter name="naviMode" type="dynamic"/>
<parameter name="naviStickThreshold" />
<parameter name="naviStickLimit" />
<parameter name="GPSMinimumSatellites" />
<parameter name="naviP" />
<parameter name="naviI" />
<parameter name="naviD" />
<parameter name="naviTestOscPeriod" />
<parameter name=" naviTestOscAmplitude" />
</section>
<section name="userparams" title="User Parameters">
<parameter name="userparam0" />
<parameter name="userparam1" />
<parameter name="userparam2" />
<parameter name="userparam3" />
<parameter name="userparam4" />
<parameter name="userparam5" />
<parameter name="userparam6" />
<parameter name="userparam7" />
</section>
</parametertemplate>

/dongfang_FC_rewrite_tool/src/dongfang/mkt/RequestFrameVisitor.java
13,13 → 13,15
import dongfang.mkt.frames.MotorTestRequestFrame;
import dongfang.mkt.frames.OSDDataRequestFrame;
import dongfang.mkt.frames.ReadExternalControlRequestFrame;
import dongfang.mkt.frames.ReadIMUConfigurationRequestFrame;
import dongfang.mkt.frames.ReadParamSetRequestFrame;
import dongfang.mkt.frames.ResetRequestFrame;
import dongfang.mkt.frames.SetCompassHeadingRequestFrame;
import dongfang.mkt.frames.SingleDisplayRequestFrame;
import dongfang.mkt.frames.UniversalReadParamSetRequestFrame;
import dongfang.mkt.frames.UniversalWriteParamSetRequestFrame;
import dongfang.mkt.frames.VariablesRequestFrame;
import dongfang.mkt.frames.VersionRequestFrame;
import dongfang.mkt.frames.WriteIMUConfigurationRequestFrame;
import dongfang.mkt.frames.WriteParamSetRequestFrame;
public interface RequestFrameVisitor {
// void visit(RequestFrame f) throws IOException;
35,10 → 37,12
void visit(ExternalControlRequestFrame f) throws IOException;
void visit(ResetRequestFrame f) throws IOException;
void visit(ChangeParameterSetRequestFrame f) throws IOException;
void visit(UniversalReadParamSetRequestFrame f) throws IOException;
void visit(UniversalWriteParamSetRequestFrame f) throws IOException;
void visit(ReadParamSetRequestFrame f) throws IOException;
void visit(WriteParamSetRequestFrame f) throws IOException;
void visit(SetCompassHeadingRequestFrame f) throws IOException;
void visit(ReadExternalControlRequestFrame f) throws IOException;
void visit(OSDDataRequestFrame f) throws IOException;
void visit(CompassHeadingRequestFrame f) throws IOException;
void visit(ReadIMUConfigurationRequestFrame f) throws IOException;
void visit(WriteIMUConfigurationRequestFrame f) throws IOException;
}

/dongfang_FC_rewrite_tool/src/dongfang/mkt/comm/MKInputStream.java
16,10 → 16,12
import dongfang.mkt.frames.MotorTestResponseFrame;
import dongfang.mkt.frames.OSDDataResponseFrame;
import dongfang.mkt.frames.ReadExternalControlResponseFrame;
import dongfang.mkt.frames.ReadIMUConfigurationResponseFrame;
import dongfang.mkt.frames.ResponseFrame;
import dongfang.mkt.frames.SetCompassHeadingResponseFrame;
import dongfang.mkt.frames.UniversalReadParamSetResponseFrame;
import dongfang.mkt.frames.UniversalWriteParamSetResponseFrame;
import dongfang.mkt.frames.ReadParamSetResponseFrame;
import dongfang.mkt.frames.WriteIMUConfigurationResponseFrame;
import dongfang.mkt.frames.WriteParamSetResponseFrame;
import dongfang.mkt.frames.VariablesResponseFrame;
import dongfang.mkt.frames.VersionResponseFrame;
225,6 → 227,21
result = f;
break;
}
case 'I': {
ReadIMUConfigurationResponseFrame f = new ReadIMUConfigurationResponseFrame(address);
f.setConfigurationVersion(base64InputStream.readByte());
int length = base64InputStream.readByte();
f.setConfigurationSetLength(length);
f.setData(base64InputStream.readBytes(length));
result = f;
break;
}
case 'J': {
WriteIMUConfigurationResponseFrame f = new WriteIMUConfigurationResponseFrame(address);
f.setWasAccepted(base64InputStream.readByte()==1);
result = f;
break;
}
case 'k' : {
CompassHeadingResponseFrame f = new CompassHeadingResponseFrame(address);
base64InputStream.readSignedWords(2);
314,7 → 331,7
break;
}
case 'S': {
UniversalWriteParamSetResponseFrame f = new UniversalWriteParamSetResponseFrame(address);
WriteParamSetResponseFrame f = new WriteParamSetResponseFrame(address);
f.setParameterSetNumber(base64InputStream.readByte());
result = f;
break;
370,7 → 387,7
break;
}
case 'Q':
UniversalReadParamSetResponseFrame f = new UniversalReadParamSetResponseFrame(address);
ReadParamSetResponseFrame f = new ReadParamSetResponseFrame(address);
f.setConfigurationSetNumber(base64InputStream.readByte());
f.setConfigurationVersion(base64InputStream.readByte());
int length = base64InputStream.readByte();

/dongfang_FC_rewrite_tool/src/dongfang/mkt/comm/MKOutputStream.java
15,14 → 15,16
import dongfang.mkt.frames.MotorTestRequestFrame;
import dongfang.mkt.frames.OSDDataRequestFrame;
import dongfang.mkt.frames.ReadExternalControlRequestFrame;
import dongfang.mkt.frames.ReadIMUConfigurationRequestFrame;
import dongfang.mkt.frames.ReadParamSetRequestFrame;
import dongfang.mkt.frames.RequestFrame;
import dongfang.mkt.frames.ResetRequestFrame;
import dongfang.mkt.frames.SetCompassHeadingRequestFrame;
import dongfang.mkt.frames.SingleDisplayRequestFrame;
import dongfang.mkt.frames.UniversalReadParamSetRequestFrame;
import dongfang.mkt.frames.UniversalWriteParamSetRequestFrame;
import dongfang.mkt.frames.VariablesRequestFrame;
import dongfang.mkt.frames.VersionRequestFrame;
import dongfang.mkt.frames.WriteIMUConfigurationRequestFrame;
import dongfang.mkt.frames.WriteParamSetRequestFrame;
public class MKOutputStream extends OutputStream implements RequestFrameVisitor {
public class MKDataOutputStream {
191,12 → 193,12
base64OutputStream.writeChars(f.getChararray());
}
public void visit(UniversalReadParamSetRequestFrame f) throws IOException {
public void visit(ReadParamSetRequestFrame f) throws IOException {
writeByte('q');
base64OutputStream.writeByte(f.getConfigurationSetNumber());
}
public void visit(UniversalWriteParamSetRequestFrame f) throws IOException {
public void visit(WriteParamSetRequestFrame f) throws IOException {
writeByte('s');
base64OutputStream.writeByte(f.getConfigurationSetNumber());
base64OutputStream.writeByte(f.getConfigurationVersionNumber());
217,4 → 219,15
writeByte('o');
base64OutputStream.writeByte(f.getAutoSendInterval());
}
public void visit(ReadIMUConfigurationRequestFrame f) throws IOException {
writeByte('i');
}
public void visit(WriteIMUConfigurationRequestFrame f) throws IOException {
writeByte('j');
base64OutputStream.writeByte(f.getConfigurationVersionNumber());
base64OutputStream.writeByte(f.getDataLength());
base64OutputStream.writeBytes(f.getData());
}
}

/dongfang_FC_rewrite_tool/src/dongfang/mkt/configuration/ConfigSet.java
File deleted
\ No newline at end of file

/dongfang_FC_rewrite_tool/src/dongfang/mkt/configuration/ArrayEntry.java
0,0 → 1,46
package dongfang.mkt.configuration;
public class ArrayEntry extends ParameterEntry {
int length;
boolean isDynamic;
int[] values;
ArrayEntry(String name, boolean isDynamic, int length) {
super(name);
this.isDynamic = isDynamic;
this.length = length;
}
int[] getValue() {
return values;
}
int setValue(int[] data, int offset) {
values = new int[length];
System.arraycopy(data, offset, values, 0, length);
return length;
}
int getByteCount() {
return length;
}
String toStringWithValues() {
StringBuilder result = new StringBuilder(name + ":\t{");
for (int i = 0; i < length; i++) {
if (i != 0)
result.append(",");
result.append(values[i]);
}
result.append("}");
return result.toString();
}
void toXML(StringBuilder result) {
result.append(" <list name=\"" + name + "\">\n");
for (int i = 0; i < length; i++) {
result.append(" <entry value=\"" + values[i] + "\"/>\n");
}
result.append(" </list>\n");
}
}

/dongfang_FC_rewrite_tool/src/dongfang/mkt/configuration/BitSetEntry.java
0,0 → 1,44
package dongfang.mkt.configuration;
public class BitSetEntry extends ParameterEntry {
BitSetEntry(String name, String[] bitNames) {
super(name);
this.bitNames = bitNames;
}
int value;
String[] bitNames;
int getByteCount() {
return 1;
}
int getValue() {
return value;
}
int setValue(int[] data, int offset) {
value = data[offset];
return getByteCount();
}
String toStringWithValues() {
StringBuilder result = new StringBuilder(name + "\t[");
for (int i = 0; i < Math.min(bitNames.length, 8); i++) {
if (i != 0)
result.append(", ");
result.append(bitNames[i] + ":"
+ ((value & (1 << i)) != 0 ? "1" : "0"));
}
return result.toString();
}
void toXML(StringBuilder result) {
result.append(" <parameter name=\"" + name + "\">\n");
for (int i = 0; i < Math.min(bitNames.length, 8); i++) {
result.append(" <bit name=\"" + bitNames[i] + "\" value=\""
+ ((value & (1 << i)) != 0 ? "1" : "0") + "\"/>\n");
}
result.append(" </parameter>\n");
}
}

/dongfang_FC_rewrite_tool/src/dongfang/mkt/configuration/ConfigurationSet.java
0,0 → 1,82
package dongfang.mkt.configuration;
import java.io.IOException;
import java.util.ArrayList;
import java.util.List;
public abstract class ConfigurationSet {
public static final int NUMBER_OF_VARIABLES = 8;
protected int eepromVersion;
protected List<ParameterEntry> entries = new ArrayList<ParameterEntry>();
public ConfigurationSet() {
super();
}
public List<ParameterEntry> getEntries() {
return entries;
}
protected abstract int correctLengthToExcludeName(int length);
protected abstract void setName(int[] data, int offset);
protected abstract void outputName(StringBuilder sb);
public void setData(int[] data) throws IOException {
int offset = 0;
int dataLength = correctLengthToExcludeName(data.length);
if (dataLength != getByteCount()) {
throw new IOException("The received number of databytes (" + dataLength + ") was not equal to the length of the declared parameter set(" + getByteCount()+").");
}
for (ParameterEntry entry : entries) {
offset += entry.setValue(data, offset);
}
setName(data, offset);
}
public int getByteCount() {
int result = 0;
for (ParameterEntry e : entries) {
result += e.getByteCount();
}
return result;
}
public String toStringWithValues() {
StringBuilder result = new StringBuilder();
outputName(result);
for (ParameterEntry entry : entries) {
result.append(entry.toStringWithValues() + "\n");
}
return result.toString();
}
public String generateDynamicSubstitutionCode() {
StringBuilder result = new StringBuilder(
"const MMXLATION XLATIONS[] = {\n");
boolean hasEntries = false;
for (ParameterEntry entry : entries) {
if (entry instanceof DynamicByteEntry) {
if (hasEntries)
result.append(",\n");
else
hasEntries = true;
DynamicByteEntry de = (DynamicByteEntry) entry;
result.append("{offsetof(ParamSet_t, ");
result.append(de.getStaticCodeName());
result.append("), offsetof(DynamicParams_t, ");
result.append(de.getDynamicCodeName());
result.append("),");
result.append(Integer.toString(de.getMinValue()));
result.append(",");
result.append(Integer.toString(de.getMaxValue()));
result.append("}");
}
}
result.append("};");
return result.toString();
}
}

/dongfang_FC_rewrite_tool/src/dongfang/mkt/configuration/DynamicByteEntry.java
0,0 → 1,55
package dongfang.mkt.configuration;
public class DynamicByteEntry extends StaticByteEntry {
int minValue = 0;
int maxValue = 255;
String staticCodeName;
String dynamicCodeName;
DynamicByteEntry(String name) {
super(name);
}
int getMinValue() {
return minValue;
}
int getMaxValue() {
return maxValue;
}
void setMinValue(int minValue) {
this.minValue = minValue;
}
void setMaxValue(int maxValue) {
this.maxValue = maxValue;
}
String getStaticCodeName() {
return staticCodeName;
}
String getDynamicCodeName() {
return dynamicCodeName;
}
void setStaticCodeName(String staticCodeName) {
this.staticCodeName = staticCodeName;
}
void setDynamicCodeName(String dynamicCodeName) {
this.dynamicCodeName = dynamicCodeName;
}
void toXML(StringBuilder result) {
String s_value;
int numberOfLowestVariable = 256 - ParameterSet.NUMBER_OF_VARIABLES;
if (value >= numberOfLowestVariable) {
s_value = "var" + (value - numberOfLowestVariable);
} else
s_value = Integer.toString(value);
result.append(" <parameter name=\"" + name + "\" value=\""
+ s_value + "\"/>\n");
}
}

/dongfang_FC_rewrite_tool/src/dongfang/mkt/configuration/IMUConfiguration.java
0,0 → 1,138
package dongfang.mkt.configuration;
import java.io.File;
import java.io.IOException;
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;
public class IMUConfiguration extends ConfigurationSet {
protected int correctLengthToExcludeName(int length) {
return length;
}
protected void setName(int[] data, int length) {}
protected void outputName(StringBuilder sb) {
}
public String toXML() {
StringBuilder result = new StringBuilder();
result.append("<imuconfiguration eepromVersion=\"" + eepromVersion
+ "\" length=\"" + getByteCount() + "\">\n");
for (int i = 0; i < entries.size(); i++) {
ParameterEntry entry = entries.get(i);
entry.toXML(result);
}
result.append("</imuconfiguration>\n");
return result.toString();
}
public IMUConfiguration(int eepromVersion) {
super();
this.eepromVersion = eepromVersion;
}
// This parses only for the purpose of naming and typing parameter sets!
// It does not parse the section and default information, which could be
// useful for GUIs etc.
public static IMUConfiguration parseXMLIMUConfiguration(int version)
throws IOException {
String fileName = "configsets/templates/imuconfiguration_v" + version
+ ".xml";
File f = new File(fileName);
DocumentBuilderFactory saxfac = DocumentBuilderFactory.newInstance();
saxfac.setValidating(false);
try {
DocumentBuilder bldr = saxfac.newDocumentBuilder();
Document doc = bldr.parse(f);
XPath xpath = XPathFactory.newInstance().newXPath();
String s_eepromVersion = xpath.evaluate(
"/imuconfigurationtemplate/@eepromVersion", doc);
int eepromVersion = Integer.parseInt(s_eepromVersion);
String s_declaredLength = xpath.evaluate(
"/imuconfigurationtemplate/@length", doc);
int declaredLength = Integer.parseInt(s_declaredLength);
if (eepromVersion != version) {
throw new IOException(
"Version mismatch between file name ("
+ fileName
+ ") and the version in the imuconfigurationtemplate/@eepromVersion attribute("
+ s_eepromVersion + ")");
}
IMUConfiguration result = new IMUConfiguration(eepromVersion);
NodeList parameterNodes = (NodeList) xpath.evaluate(
"/imuconfigurationtemplate/parameter", doc,
XPathConstants.NODESET);
for (int j = 0; j < parameterNodes.getLength(); j++) {
Element parameterNode = (Element) parameterNodes.item(j);
ParameterEntry entry;
String s_name = parameterNode.getAttribute("name");
String s_type;
if (parameterNode.hasAttribute("type")) {
s_type = parameterNode.getAttribute("type");
} else {
s_type = "static";
}
if ("static".equals(s_type)) {
entry = new StaticByteEntry(s_name);
} else if ("dynamic".equals(s_type)) {
throw new IOException("Dynamic parameters are not supported in IMU config.");
} else if ("bitset".equals(s_type)) {
NodeList bitNodes = (NodeList) xpath.evaluate("bit",
parameterNode, XPathConstants.NODESET);
String[] bitNames = new String[8];
for (int k = 0; k < 8; k++) {
Element bitNode = (Element) bitNodes.item(k);
if (bitNode != null) {
bitNames[k] = bitNode.getAttribute("name");
} else {
bitNames[k] = "Unused";
}
}
entry = new BitSetEntry(s_name, bitNames);
} else {
throw new IOException("Unknown parameter type: " + s_type);
}
result.entries.add(entry);
}
//result.name = "" + version;
if (result.getByteCount() != declaredLength) {
throw new IOException("The number of parameters in the set ("
+ result.getEntries().size()
+ ") was not equal to the declared length ("
+ declaredLength + ").");
}
return result;
} catch (IOException ex) {
throw ex;
} catch (XPathExpressionException ex) {
throw new IOException(ex);
} catch (SAXException ex) {
throw new IOException(ex);
} catch (ParserConfigurationException ex) {
throw new IOException(ex);
}
}
}

/dongfang_FC_rewrite_tool/src/dongfang/mkt/configuration/ParameterEntry.java
0,0 → 1,25
package dongfang.mkt.configuration;
public abstract class ParameterEntry {
String name;
ParameterEntry(String name) {
this.name = name;
}
abstract int getByteCount();
abstract String toStringWithValues();
abstract void toXML(StringBuilder result);
abstract int setValue(int[] data, int offset);
public String getName() {
return name;
}
public String getSection() {
return name;
}
}

/dongfang_FC_rewrite_tool/src/dongfang/mkt/configuration/ParameterSection.java
0,0 → 1,31
package dongfang.mkt.configuration;
import java.util.ArrayList;
import java.util.List;
public class ParameterSection {
String name, title;
List<ParameterEntry> entries = new ArrayList<ParameterEntry>();
public ParameterSection(String name, String title) {
this.name = name;
this.title = title;
}
public void addConfigEntry(ParameterEntry e) {
this.entries.add(e);
}
public List<ParameterEntry> getEntries() {
return entries;
}
public String getName() {
return name;
}
public String getTitle() {
return title;
}
}

/dongfang_FC_rewrite_tool/src/dongfang/mkt/configuration/ParameterSet.java
0,0 → 1,195
package dongfang.mkt.configuration;
import java.io.File;
import java.io.IOException;
import java.util.ArrayList;
import java.util.List;
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;
public class ParameterSet extends ConfigurationSet {
public static final int NUMBER_OF_VARIABLES = 8;
List<ParameterSection> declaredSections = new ArrayList<ParameterSection>();
protected String name;
protected int correctLengthToExcludeName(int length) {
return length - 12;
}
protected void setName(int[] data) {
StringBuilder sbname = new StringBuilder();
for (int i = 0; i < 12; i++) {
if (data[offset] == 0)
break;
sbname.append((char) data[offset++]);
}
name = sbname.toString();
}
protected void outputName(StringBuilder sb) {
sb.append(name + "\n");
}
public List<ParameterSection> getDeclaredSections() {
return declaredSections;
}
public String toXML() {
StringBuilder result = new StringBuilder();
result.append("<parameterset eepromVersion=\"" + eepromVersion
+ "\" length=\"" + getByteCount() + "\">\n");
for (int i = 0; i < entries.size(); i++) {
ParameterEntry entry = entries.get(i);
entry.toXML(result);
}
result.append("</parameterset>\n");
return result.toString();
}
public ParameterSet(int eepromVersion) {
super();
this.eepromVersion = eepromVersion;
}
// This parses only for the purpose of naming and typing parameter sets!
// It does not parse the section and default information, which could be
// useful for GUIs etc.
public static ParameterSet parseXMLParameterSet(int version)
throws IOException {
String fileName = "configsets/templates/parameterset_v" + version
+ ".xml";
File f = new File(fileName);
DocumentBuilderFactory saxfac = DocumentBuilderFactory.newInstance();
saxfac.setValidating(false);
try {
DocumentBuilder bldr = saxfac.newDocumentBuilder();
Document doc = bldr.parse(f);
XPath xpath = XPathFactory.newInstance().newXPath();
String s_eepromVersion = xpath.evaluate(
"/parametertemplate/@eepromVersion", doc);
int eepromVersion = Integer.parseInt(s_eepromVersion);
String s_declaredLength = xpath.evaluate(
"/parametertemplate/@length", doc);
int declaredLength = Integer.parseInt(s_declaredLength);
if (eepromVersion != version) {
throw new IOException(
"Version mismatch between file name ("
+ fileName
+ ") and the version in the parametertemplate/@eepromVersion attribute("
+ s_eepromVersion + ")");
}
ParameterSet result = new ParameterSet(eepromVersion);
NodeList sectionNodes = (NodeList) xpath.evaluate(
"/parametertemplate/section", doc, XPathConstants.NODESET);
for (int i = 0; i < sectionNodes.getLength(); i++) {
Element sectionNode = (Element) sectionNodes.item(i);
ParameterSection section = new ParameterSection(
sectionNode.getAttribute("name"),
sectionNode.getAttribute("title"));
result.declaredSections.add(section);
NodeList parameterNodes = (NodeList) xpath.evaluate(
"parameter", sectionNode, XPathConstants.NODESET);
for (int j = 0; j < parameterNodes.getLength(); j++) {
Element parameterNode = (Element) parameterNodes.item(j);
ParameterEntry entry;
if (!sectionNode.hasAttribute("name")) {
throw new IOException("A parameter element (the " + j
+ "th in section "
+ sectionNode.getAttribute("name")
+ ") had no name attribute!");
}
String s_name = parameterNode.getAttribute("name");
String s_type;
if (parameterNode.hasAttribute("type")) {
s_type = parameterNode.getAttribute("type");
} else {
s_type = "static";
}
if ("static".equals(s_type)) {
entry = new StaticByteEntry(s_name);
} else if ("dynamic".equals(s_type)) {
DynamicByteEntry de = new DynamicByteEntry(s_name);
if (parameterNode.hasAttribute("minValue")) {
de.setMinValue(Integer.parseInt(parameterNode
.getAttribute("minValue")));
}
if (parameterNode.hasAttribute("maxValue")) {
de.setMinValue(Integer.parseInt(parameterNode
.getAttribute("maxValue")));
}
if (parameterNode.hasAttribute("staticCodeName")) {
de.setStaticCodeName(parameterNode
.getAttribute("staticCodeName"));
} else
de.setStaticCodeName(de.getName());
if (parameterNode.hasAttribute("dynamicCodeName")) {
de.setDynamicCodeName(parameterNode
.getAttribute("dynamicCodeName"));
} else
de.setDynamicCodeName(de.getName());
entry = de;
} else if ("bitset".equals(s_type)) {
NodeList bitNodes = (NodeList) xpath.evaluate("bit",
parameterNode, XPathConstants.NODESET);
String[] bitNames = new String[8];
for (int k = 0; k < 8; k++) {
Element bitNode = (Element) bitNodes.item(k);
if (bitNode != null) {
bitNames[k] = bitNode.getAttribute("name");
} else {
bitNames[k] = "Unused";
}
}
entry = new BitSetEntry(s_name, bitNames);
} else {
throw new IOException("Unknown parameter type: "
+ s_type);
}
result.entries.add(entry);
section.addConfigEntry(entry);
}
}
result.name = "" + version;
if (result.getByteCount() != declaredLength) {
throw new IOException("The number of parameters in the set ("
+ result.getEntries().size()
+ ") was not equal to the declared length ("
+ declaredLength + ").");
}
return result;
} catch (IOException ex) {
throw ex;
} catch (XPathExpressionException ex) {
throw new IOException(ex);
} catch (SAXException ex) {
throw new IOException(ex);
} catch (ParserConfigurationException ex) {
throw new IOException(ex);
}
}
}

/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/UniversalReadParamSetResponseFrame.java
File deleted

/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/UniversalWriteParamSetResponseFrame.java
File deleted

/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/UniversalReadParamSetRequestFrame.java
File deleted

/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/UniversalWriteParamSetRequestFrame.java
File deleted

/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/ReadIMUConfigurationRequestFrame.java
0,0 → 1,18
package dongfang.mkt.frames;
import java.io.IOException;
import dongfang.mkt.RequestFrameVisitor;
public class ReadIMUConfigurationRequestFrame extends RequestFrame {
public ReadIMUConfigurationRequestFrame() {
super(FC_ADDRESS);
}
@Override
public void accept(RequestFrameVisitor o) throws IOException {
o.visit(this);
}
}

/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/ReadIMUConfigurationResponseFrame.java
0,0 → 1,40
package dongfang.mkt.frames;
public class ReadIMUConfigurationResponseFrame extends ResponseFrame {
private int configurationVersion;
private int length;
private int[] data;
public ReadIMUConfigurationResponseFrame(int address) {
super(address);
}
@Override
public boolean isResponseTo(RequestFrame r) {
return r instanceof ReadIMUConfigurationRequestFrame;
}
public int getConfigurationVersion() {
return configurationVersion;
}
public void setConfigurationVersion(int configurationVersion) {
this.configurationVersion = configurationVersion;
}
public int getConfigurationSetLength() {
return length;
}
public void setConfigurationSetLength(int configurationSetLength) {
this.length = configurationSetLength;
}
public int[] getData() {
return data;
}
public void setData(int[] data) {
this.data = data;
}
}

/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/ReadParamSetRequestFrame.java
6,11 → 6,22
public class ReadParamSetRequestFrame extends RequestFrame {
ReadParamSetRequestFrame(int address) {
super(address);
private int configurationSetNumber;
public ReadParamSetRequestFrame() {
super(FC_ADDRESS);
}
@Override
public void accept(RequestFrameVisitor o) throws IOException {
o.visit(this);
}
public int getConfigurationSetNumber() {
return configurationSetNumber;
}
public void setConfigurationSetNumber(int number) {
this.configurationSetNumber = number;
}
}

/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/ReadParamSetResponseFrame.java
0,0 → 1,49
package dongfang.mkt.frames;
public class ReadParamSetResponseFrame extends ResponseFrame {
private int configurationSetNumber;
private int configurationVersion;
private int length;
private int[] data;
public ReadParamSetResponseFrame(int address) {
super(address);
}
@Override
public boolean isResponseTo(RequestFrame r) {
return r instanceof ReadParamSetRequestFrame;
}
public int getConfigurationSetNumber() {
return configurationSetNumber;
}
public void setConfigurationSetNumber(int configurationSetNumber) {
this.configurationSetNumber = configurationSetNumber;
}
public int getConfigurationVersion() {
return configurationVersion;
}
public void setConfigurationVersion(int configurationVersion) {
this.configurationVersion = configurationVersion;
}
public int getConfigurationSetLength() {
return length;
}
public void setConfigurationSetLength(int configurationSetLength) {
this.length = configurationSetLength;
}
public int[] getData() {
return data;
}
public void setData(int[] data) {
this.data = data;
}
}

/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/RequestFrameVisitor.java
17,8 → 17,8
void visit(ExternalControlRequestFrame f) throws IOException;
void visit(ResetRequestFrame f) throws IOException;
void visit(ChangeParameterSetRequestFrame f) throws IOException;
void visit(UniversalReadParamSetRequestFrame f) throws IOException;
void visit(UniversalWriteParamSetRequestFrame f) throws IOException;
void visit(ReadParamSetRequestFrame f) throws IOException;
void visit(WriteParamSetRequestFrame f) throws IOException;
void visit(SetCompassHeadingRequestFrame f) throws IOException;
void visit(ReadExternalControlRequestFrame f) throws IOException;
void visit(OSDDataRequestFrame f) throws IOException;

/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/WriteIMUConfigurationResponseFrame.java
0,0 → 1,23
package dongfang.mkt.frames;
public class WriteIMUConfigurationResponseFrame extends ResponseFrame {
private int parameterSetNumber;
private boolean wasAccepted;
public WriteIMUConfigurationResponseFrame(int address) {
super(address);
}
@Override
public boolean isResponseTo(RequestFrame r) {
return r instanceof WriteIMUConfigurationRequestFrame;
}
public boolean wasAccepted() {
return wasAccepted;
}
public void setWasAccepted(boolean wasAccepted) {
this.wasAccepted = wasAccepted;
}
}

/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/WriteParamSetRequestFrame.java
6,11 → 6,44
public class WriteParamSetRequestFrame extends RequestFrame {
WriteParamSetRequestFrame(int address) {
super(address);
private char[] name;
private int[] data;
private int configurationSetNumber;
private int configurationVersionNumber;
public WriteParamSetRequestFrame(int configurationVersionNumber, char[] name, int[] data) {
super(FC_ADDRESS);
this.configurationVersionNumber = configurationVersionNumber;
this.name = name;
this.data = data;
}
@Override
public void accept(RequestFrameVisitor o) throws IOException {
o.visit(this);
}
public int getConfigurationSetNumber() {
return configurationSetNumber;
}
public void setConfigurationSetNumber(int n) {
this.configurationSetNumber = n ;
}
public int getConfigurationVersionNumber() {
return configurationVersionNumber;
}
public int getDataLength() {
return data.length;
}
public int[] getData() {
return data;
}
public char[] getName() {
return name;
}
}

/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/WriteParamSetResponseFrame.java
0,0 → 1,26
package dongfang.mkt.frames;
public class WriteParamSetResponseFrame extends ResponseFrame {
private int parameterSetNumber;
public WriteParamSetResponseFrame(int address) {
super(address);
}
@Override
public boolean isResponseTo(RequestFrame r) {
return r instanceof WriteParamSetRequestFrame;
}
public void setParameterSetNumber(int parameterSetNumber) {
this.parameterSetNumber = parameterSetNumber;
}
public int getParameterSetNumber() {
return this.parameterSetNumber;
}
public boolean wasAccepted() {
return parameterSetNumber != 0;
}
}

/dongfang_FC_rewrite_tool/src/dongfang/mkt/main/CodeGenerator.java
2,11 → 2,12
import java.io.IOException;
import dongfang.mkt.configuration.ConfigSet;
import dongfang.mkt.configuration.ConfigurationSet;
import dongfang.mkt.configuration.ParameterSet;
public class CodeGenerator {
static void generateDynamicSubstitutionCode(int paramSetVersion) throws IOException {
ConfigSet cs = ConfigSet.parseXMLConfigSet(paramSetVersion);
ConfigurationSet cs = ParameterSet.parseXMLConfigSet(paramSetVersion);
System.out.println(cs.generateDynamicSubstitutionCode());
}

/dongfang_FC_rewrite_tool/src/dongfang/mkt/main/IMUConfigurator.java
0,0 → 1,201
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.IMUConfiguration;
import dongfang.mkt.frames.ReadIMUConfigurationRequestFrame;
import dongfang.mkt.frames.ReadIMUConfigurationResponseFrame;
import dongfang.mkt.frames.WriteIMUConfigurationRequestFrame;
import dongfang.mkt.frames.WriteIMUConfigurationResponseFrame;
public class IMUConfigurator {
private static void configure(String portIdentifier, WriteIMUConfigurationRequestFrame frame) throws IOException {
MKConnection port = new RXTXSerialPort();
port.init(portIdentifier);
FrameQueue q = new FrameQueue(port);
q.sendRequest(frame);
WriteIMUConfigurationResponseFrame r = (WriteIMUConfigurationResponseFrame) 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.");
} else {
System.out.println("Saved IMU configuration.");
}
q.kill();
}
private static void writeConfiguration(String portIdentifier, String fileName) throws IOException {
System.out.println("Writing IMU configuration from file: " + fileName);
InputStream inputStream = new FileInputStream(fileName);
WriteIMUConfigurationRequestFrame frame = parseXMLIMUConfiguration(inputStream);
configure(portIdentifier, frame);
}
private static IMUConfiguration readConfiguration(String portIdentifier) throws IOException {
MKConnection port = new RXTXSerialPort();
port.init(portIdentifier);
FrameQueue q = new FrameQueue(port);
IMUConfiguration cs = null;
ReadIMUConfigurationRequestFrame frame = new ReadIMUConfigurationRequestFrame();
q.sendRequest(frame);
ReadIMUConfigurationResponseFrame r = (ReadIMUConfigurationResponseFrame) 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 = IMUConfiguration.parseXMLIMUConfiguration(paramSetVersion);
cs.setData(data);
System.out.println(cs.toXML());
}
q.kill();
return cs;
}
private static void readConfiguration(String portIdentifier, String fileName) throws IOException {
IMUConfiguration cs = readConfiguration(portIdentifier);
if (cs != null) {
FileWriter fw = new FileWriter(fileName);
fw.write(cs.toXML());
fw.close();
}
}
private static WriteIMUConfigurationRequestFrame parseXMLIMUConfiguration(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(
"/imuconfiguration/@eepromVersion", doc);
String ss_length = xpath.evaluate("/imuconfiguration/@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 imuconfiguration element must have an 'eepromVersion' attribute with a numerical value (eg.<parameterset eepromVersion='74'>)");
System.exit(-1);
}
NodeList parameterNodes = (NodeList) xpath.evaluate(
"/imuconfiguration/parameter", doc, XPathConstants.NODESET);
int[] parameters = new int[parameterNodes.getLength()];
NodeList allChildNodes = (NodeList) xpath.evaluate("/imuconfiguration/*", doc, XPathConstants.NODESET);
if (parameterNodes.getLength() != allChildNodes.getLength()) {
System.err.println("There seems to be a child element of imuconfiguration 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 imuconfiguration 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 = Integer.parseInt(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 WriteIMUConfigurationRequestFrame(eepromVersion, 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: IMUConfigurator r [filename to write to]");
System.err.println("Usage: IMUConfigurator w [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!=2)) help();
if ("r".equals(args[0]) && (args.length!=2)) help();
String portIdentifier = null;
if ("r".equals(args[0])) {
readConfiguration(portIdentifier, args[1]);
} else {
writeConfiguration(portIdentifier, args[1]);
}
System.exit(0);
}
}

/dongfang_FC_rewrite_tool/src/dongfang/mkt/main/ParameterSetConfigurator.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.ParameterSet;
import dongfang.mkt.frames.ReadParamSetRequestFrame;
import dongfang.mkt.frames.ReadParamSetResponseFrame;
import dongfang.mkt.frames.WriteParamSetRequestFrame;
import dongfang.mkt.frames.WriteParamSetResponseFrame;
public class ParameterSetConfigurator {
private static void configure(String portIdentifier, WriteParamSetRequestFrame frame,
int parameterSetNumber) throws IOException {
MKConnection port = new RXTXSerialPort();
port.init(portIdentifier);
FrameQueue q = new FrameQueue(port);
frame.setConfigurationSetNumber(parameterSetNumber);
q.sendRequest(frame);
WriteParamSetResponseFrame r = (WriteParamSetResponseFrame) 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);
WriteParamSetRequestFrame frame = parseXMLParameterSet(inputStream);
configure(portIdentifier, frame, parameterSetNumber);
}
private static ParameterSet readConfiguration(String portIdentifier, String s_parameterSetNumber) throws IOException {
MKConnection port = new RXTXSerialPort();
port.init(portIdentifier);
FrameQueue q = new FrameQueue(port);
ParameterSet cs = null;
int parameterSetNumber = Integer.parseInt(s_parameterSetNumber);
ReadParamSetRequestFrame frame = new ReadParamSetRequestFrame();
frame.setConfigurationSetNumber(parameterSetNumber);
q.sendRequest(frame);
ReadParamSetResponseFrame r = (ReadParamSetResponseFrame) 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 = ParameterSet.parseXMLParameterSet(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 {
ParameterSet 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 - ParameterSet.NUMBER_OF_VARIABLES + 1;
for (int i = 0; i < ParameterSet.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 WriteParamSetRequestFrame 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 WriteParamSetRequestFrame(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);
}
}