Rev 1540 | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 1540 | Rev 1698 | ||
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1 | package dongfang.mkt.frames; |
1 | package dongfang.mkt.frames; |
2 | 2 | ||
3 | public class VersionResponseFrame extends ResponseFrame { |
3 | public class VersionResponseFrame extends ResponseFrame { |
4 | /* |
4 | /* |
5 | * uint8_t SWMajor; |
5 | * uint8_t SWMajor; |
6 | * uint8_t SWMinor; |
6 | * uint8_t SWMinor; |
7 | * uint8_t ProtoMajor; |
7 | * uint8_t ProtoMajor; |
8 | * uint8_t ProtoMinor; |
8 | * uint8_t ProtoMinor; |
9 | * uint8_t SWPatch; |
9 | * uint8_t SWPatch; |
10 | * uint8_t Reserved[5]; |
10 | * uint8_t Reserved[5]; |
11 | */ |
11 | */ |
12 | private int SWMajor; |
12 | private int SWMajor; |
13 | private int SWMinor; |
13 | private int SWMinor; |
14 | private int protoMajor; |
14 | private int protoMajor; |
15 | private int protoMinor; |
15 | private int protoMinor; |
16 | private int SWPatch; |
16 | private int SWPatch; |
17 | private int[] hardwareErrors; |
17 | private int[] hardwareErrors; |
18 | /* |
18 | /* |
19 | * hardwareErrors[0] : |
19 | * hardwareErrors[0] : |
20 | * Pressure sensor (DEFEKT_PRESSURE=0x40), |
20 | * Pressure sensor (DEFEKT_PRESSURE=0x40), |
21 | * 3 * gyros (DEFEKT_G_NICK=0x1, DEFEKT_G_ROLL=0x2, DEFEKT_G_GIER=0x4), |
21 | * 3 * gyros (DEFEKT_G_NICK=0x1, DEFEKT_G_ROLL=0x2, DEFEKT_G_GIER=0x4), |
22 | * 3 * acc. meters (DEFEKT_A_NICK=0x8, DEFEKT_A_ROLL=0x10, DEFEKT_A_Z=0x20), |
22 | * 3 * acc. meters (DEFEKT_A_NICK=0x8, DEFEKT_A_ROLL=0x10, DEFEKT_A_Z=0x20), |
23 | * carefree (DEFEKT_CAREFREE_ERR=0x80). |
23 | * carefree (DEFEKT_CAREFREE_ERR=0x80). |
24 | * Any error bit set prevents motor-on. |
24 | * Any error bit set prevents motor-on. |
25 | * hardwareErrors[0] : |
25 | * hardwareErrors[0] : |
26 | * Missing motor errors (DEFEKT_MIXER_ERR=0x10), |
26 | * Missing motor errors (DEFEKT_MIXER_ERR=0x10), |
27 | * R/C signal missing (DEFEKT_PPM_ERR=0x8), |
27 | * R/C signal missing (DEFEKT_PPM_ERR=0x8), |
28 | * I2C error (DEFEKT_I2C=0x1), |
28 | * I2C error (DEFEKT_I2C=0x1), |
29 | * I2C timeout (DEFEKT_BL_MISSING=0x2), |
29 | * I2C timeout (DEFEKT_BL_MISSING=0x2), |
30 | * SPI error (DEFEKT_SPI_RX_ERR=0x4), |
30 | * SPI error (DEFEKT_SPI_RX_ERR=0x4), |
31 | * |
31 | * |
32 | */ |
32 | */ |
33 | 33 | ||
34 | public VersionResponseFrame(int address) { |
34 | public VersionResponseFrame(int address) { |
35 | super(address); |
35 | super(address); |
36 | } |
36 | } |
37 | 37 | ||
38 | @Override |
38 | @Override |
39 | public boolean isResponseTo(RequestFrame r) { |
39 | public boolean isResponseTo(RequestFrame r) { |
40 | return r instanceof VersionRequestFrame; |
40 | return r instanceof VersionRequestFrame; |
41 | } |
41 | } |
42 | 42 | ||
43 | public int getSWMajor() { |
43 | public int getSWMajor() { |
44 | return SWMajor; |
44 | return SWMajor; |
45 | } |
45 | } |
46 | 46 | ||
47 | public void setSWMajor(int major) { |
47 | public void setSWMajor(int major) { |
48 | SWMajor = major; |
48 | SWMajor = major; |
49 | } |
49 | } |
50 | 50 | ||
51 | public int getSWMinor() { |
51 | public int getSWMinor() { |
52 | return SWMinor; |
52 | return SWMinor; |
53 | } |
53 | } |
54 | 54 | ||
55 | public void setSWMinor(int minor) { |
55 | public void setSWMinor(int minor) { |
56 | SWMinor = minor; |
56 | SWMinor = minor; |
57 | } |
57 | } |
58 | 58 | ||
59 | public int getProtoMajor() { |
59 | public int getProtoMajor() { |
60 | return protoMajor; |
60 | return protoMajor; |
61 | } |
61 | } |
62 | 62 | ||
63 | public void setProtoMajor(int protoMajor) { |
63 | public void setProtoMajor(int protoMajor) { |
64 | this.protoMajor = protoMajor; |
64 | this.protoMajor = protoMajor; |
65 | } |
65 | } |
66 | 66 | ||
67 | public int getProtoMinor() { |
67 | public int getProtoMinor() { |
68 | return protoMinor; |
68 | return protoMinor; |
69 | } |
69 | } |
70 | 70 | ||
71 | public void setProtoMinor(int protoMinor) { |
71 | public void setProtoMinor(int protoMinor) { |
72 | this.protoMinor = protoMinor; |
72 | this.protoMinor = protoMinor; |
73 | } |
73 | } |
74 | 74 | ||
75 | public int getSWPatch() { |
75 | public int getSWPatch() { |
76 | return SWPatch; |
76 | return SWPatch; |
77 | } |
77 | } |
78 | 78 | ||
79 | public void setSWPatch(int patch) { |
79 | public void setSWPatch(int patch) { |
80 | SWPatch = patch; |
80 | SWPatch = patch; |
81 | } |
81 | } |
82 | 82 | ||
83 | public int[] getHardwareErrors() { |
83 | public int[] getHardwareErrors() { |
84 | return hardwareErrors; |
84 | return hardwareErrors; |
85 | } |
85 | } |
86 | 86 | ||
87 | public void setHardwareErrors(int[] hardwareErrors) { |
87 | public void setHardwareErrors(int[] hardwareErrors) { |
88 | this.hardwareErrors= hardwareErrors; |
88 | this.hardwareErrors= hardwareErrors; |
89 | } |
89 | } |
90 | 90 | ||
91 | public String toString() { |
91 | public String toString() { |
- | 92 | StringBuilder result = new StringBuilder(); |
|
92 | return getClass().getSimpleName() + ": SWMajor=" + SWMajor + ", SWMinor=" + SWMinor + ", SWPatch=" + SWPatch + ", protocolMajor="+protoMajor + ", protocolMinor=" + protoMinor; |
93 | result.append("SW=" + SWMajor + "." + SWMinor + "." + SWPatch + ", protocol=" + protoMajor + "." + protoMinor); |
- | 94 | result.append(); |
|
93 | } |
95 | } |
94 | } |
96 | } |
95 | 97 |