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| 1 | /******************************************************************************************************************************** |
1 | /******************************************************************************************************************************** |
| 2 | * |
2 | * |
| 3 | * Abstaction Layer to Communicate via J2ME and Bluetooth with the FlightCtrl of the MikroKopter Project (www.mikrokopter.de ) |
3 | * Abstaction Layer to Communicate via J2ME and Bluetooth with the FlightCtrl of the MikroKopter Project (www.mikrokopter.de ) |
| 4 | * |
4 | * |
| 5 | * Author: Marcus -LiGi- Bueschleb |
5 | * Author: Marcus -LiGi- Bueschleb |
| 6 | * |
6 | * |
| 7 | * see README for further Infos |
7 | * see README for further Infos |
| 8 | * |
8 | * |
| 9 | * |
9 | * |
| 10 | *******************************************************************************************************************************/ |
10 | *******************************************************************************************************************************/ |
| 11 | 11 | ||
| 12 | 12 | ||
| 13 | package org.ligi.ufo; |
13 | package org.ligi.ufo; |
| 14 | 14 | ||
| 15 | 15 | ||
| 16 | //#ifdef j2me |
16 | //#ifdef j2me |
| 17 | //# import javax.microedition.io.*; |
17 | //# import javax.microedition.io.*; |
| 18 | //#endif |
18 | //#endif |
| 19 | 19 | ||
| 20 | //#ifdef android |
20 | //#ifdef android |
| 21 | import android.util.Log; |
21 | import android.util.Log; |
| 22 | //#endif |
22 | //#endif |
| 23 | 23 | ||
| 24 | 24 | ||
| 25 | 25 | ||
| 26 | import java.io.*; |
26 | import java.io.*; |
| 27 | 27 | ||
| 28 | 28 | ||
| 29 | public class MKCommunicator |
29 | public class MKCommunicator |
| 30 | implements Runnable,DUBwiseDefinitions |
30 | implements Runnable,DUBwiseDefinitions |
| 31 | { |
31 | { |
| 32 | 32 | ||
| 33 | public int angle_nick=-4242; |
33 | public int angle_nick=-4242; |
| 34 | public int angle_roll=-4242; |
34 | public int angle_roll=-4242; |
| 35 | public byte bl_retrys=0; |
35 | public byte bl_retrys=0; |
| 36 | public boolean init_bootloader=false; |
36 | public boolean init_bootloader=false; |
| - | 37 | ||
| - | 38 | public boolean disconnect_notify=false; |
|
| 37 | 39 | ||
| 38 | public byte lib_version_major=0; |
40 | public byte lib_version_major=0; |
| - | 41 | public byte lib_version_minor=7; |
|
| - | 42 | ||
| 39 | public byte lib_version_minor=6; |
43 | public byte last_navi_error=0; |
| 40 | 44 | ||
| 41 | public String lib_version_str() |
45 | public String lib_version_str() |
| 42 | { |
46 | { |
| 43 | return "V"+lib_version_major+"."+lib_version_minor; |
47 | return "V"+lib_version_major+"."+lib_version_minor; |
| 44 | } |
48 | } |
| 45 | 49 | ||
| 46 | 50 | ||
| 47 | public int AngleNick() |
51 | public int AngleNick() |
| 48 | { |
52 | { |
| 49 | if (ufo_prober.is_mk()) |
53 | if (ufo_prober.is_mk()) |
| 50 | return angle_nick; |
54 | return angle_nick; |
| 51 | else if (ufo_prober.is_navi()) |
55 | else if (ufo_prober.is_navi()) |
| 52 | return debug_data.analog[0]; |
56 | return debug_data.analog[0]; |
| 53 | return -1; |
57 | return -1; |
| 54 | 58 | ||
| 55 | } |
59 | } |
| 56 | 60 | ||
| 57 | 61 | ||
| 58 | public int Alt() // in dm |
62 | public int Alt() // in dm |
| 59 | { |
63 | { |
| 60 | int alt=0; |
64 | int alt=0; |
| 61 | if (ufo_prober.is_mk()) |
65 | if (ufo_prober.is_mk()) |
| 62 | alt=debug_data.analog[5]/3; |
66 | alt=debug_data.analog[5]/3; |
| 63 | else |
67 | else |
| 64 | if (ufo_prober.is_navi()) |
68 | if (ufo_prober.is_navi()) |
| 65 | alt=gps_position.Altimeter/3; |
69 | alt=gps_position.Altimeter/3; |
| 66 | if ( alt<0) alt=0; // mk |
70 | if ( alt<0) alt=0; // mk |
| 67 | if ( alt>20000) alt=0; // navi |
71 | if ( alt>20000) alt=0; // navi |
| 68 | 72 | ||
| 69 | return alt; |
73 | return alt; |
| 70 | 74 | ||
| 71 | } |
75 | } |
| 72 | 76 | ||
| 73 | public String Alt_formated() // in dm |
77 | public String Alt_formated() // in dm |
| 74 | { |
78 | { |
| 75 | return "" + Alt()/10 + "m"; |
79 | return "" + Alt()/10 + "m"; |
| 76 | } |
80 | } |
| 77 | public int AngleRoll() |
81 | public int AngleRoll() |
| 78 | { |
82 | { |
| 79 | if (ufo_prober.is_mk()) |
83 | if (ufo_prober.is_mk()) |
| 80 | return angle_roll; |
84 | return angle_roll; |
| 81 | else if (ufo_prober.is_navi()) |
85 | else if (ufo_prober.is_navi()) |
| 82 | 86 | ||
| 83 | return debug_data.analog[1]; |
87 | return debug_data.analog[1]; |
| 84 | return -1; |
88 | return -1; |
| 85 | 89 | ||
| 86 | } |
90 | } |
| 87 | 91 | ||
| 88 | 92 | ||
| 89 | /***************** Section: public Attributes **********************************************/ |
93 | /***************** Section: public Attributes **********************************************/ |
| 90 | public boolean connected=false; // flag for the connection state |
94 | public boolean connected=false; // flag for the connection state |
| 91 | 95 | ||
| 92 | public String mk_url=""; // buffer the url which is given in the constuctor for reconnectin purposes |
96 | public String mk_url=""; // buffer the url which is given in the constuctor for reconnectin purposes |
| 93 | 97 | ||
| 94 | public final static int DATA_BUFF_LEN = 20; // in lines |
98 | public final static int DATA_BUFF_LEN = 20; // in lines |
| 95 | 99 | ||
| 96 | public String[] data_buff; |
100 | public String[] data_buff; |
| 97 | 101 | ||
| 98 | // boolean do_log=false; |
102 | // boolean do_log=false; |
| 99 | boolean do_log=true; |
103 | boolean do_log=true; |
| 100 | 104 | ||
| 101 | int data_buff_pos=0; |
105 | int data_buff_pos=0; |
| 102 | 106 | ||
| 103 | 107 | ||
| 104 | // public final static int DATA_IN_BUFF_SIZE=512; |
108 | // public final static int DATA_IN_BUFF_SIZE=512; |
| 105 | public final static int DATA_IN_BUFF_SIZE=2048; |
109 | public final static int DATA_IN_BUFF_SIZE=2048; |
| 106 | // public final static int DATA_IN_BUFF_SIZE=4096; |
110 | // public final static int DATA_IN_BUFF_SIZE=4096; |
| 107 | 111 | ||
| 108 | public byte user_intent=0; |
112 | public byte user_intent=0; |
| 109 | public final static int[] crc16_table = { |
113 | public final static int[] crc16_table = { |
| 110 | 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7, |
114 | 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7, |
| 111 | 0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF, |
115 | 0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF, |
| 112 | 0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6, |
116 | 0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6, |
| 113 | 0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE, |
117 | 0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE, |
| 114 | 0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485, |
118 | 0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485, |
| 115 | 0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D, |
119 | 0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D, |
| 116 | 0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4, |
120 | 0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4, |
| 117 | 0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC, |
121 | 0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC, |
| 118 | 0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823, |
122 | 0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823, |
| 119 | 0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B, |
123 | 0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B, |
| 120 | 0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12, |
124 | 0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12, |
| 121 | 0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A, |
125 | 0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A, |
| 122 | 0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41, |
126 | 0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41, |
| 123 | 0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49, |
127 | 0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49, |
| 124 | 0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70, |
128 | 0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70, |
| 125 | 0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78, |
129 | 0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78, |
| 126 | 0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F, |
130 | 0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F, |
| 127 | 0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067, |
131 | 0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067, |
| 128 | 0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E, |
132 | 0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E, |
| 129 | 0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256, |
133 | 0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256, |
| 130 | 0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D, |
134 | 0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D, |
| 131 | 0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, |
135 | 0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, |
| 132 | 0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C, |
136 | 0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C, |
| 133 | 0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634, |
137 | 0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634, |
| 134 | 0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB, |
138 | 0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB, |
| 135 | 0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3, |
139 | 0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3, |
| 136 | 0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A, |
140 | 0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A, |
| 137 | 0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92, |
141 | 0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92, |
| 138 | 0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9, |
142 | 0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9, |
| 139 | 0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1, |
143 | 0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1, |
| 140 | 0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8, |
144 | 0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8, |
| 141 | 0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0 |
145 | 0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0 |
| 142 | }; |
146 | }; |
| 143 | 147 | ||
| 144 | public void log(String str) |
148 | public void log(String str) |
| 145 | { |
149 | { |
| 146 | //#ifdef android |
150 | //#ifdef android |
| 147 | if (do_log) Log.d("MK-Comm",str); |
151 | if (do_log) Log.d("MK-Comm",str); |
| 148 | //#endif |
152 | //#endif |
| 149 | // canvas.debug.log(str); |
153 | // canvas.debug.log(str); |
| 150 | // System.out.println(str); |
154 | // System.out.println(str); |
| 151 | } |
155 | } |
| 152 | 156 | ||
| 153 | public int CRC16(int ch, int crc) |
157 | public int CRC16(int ch, int crc) |
| 154 | { |
158 | { |
| 155 | return crc16_table[((crc >> 8) ^ (ch)) & 0xFF] ^ (crc << 8); |
159 | return crc16_table[((crc >> 8) ^ (ch)) & 0xFF] ^ (crc << 8); |
| 156 | } |
160 | } |
| 157 | 161 | ||
| 158 | 162 | ||
| 159 | public int conn_time_in_s() |
163 | public int conn_time_in_s() |
| 160 | { |
164 | { |
| 161 | if (connected) |
165 | if (connected) |
| 162 | return (int)((System.currentTimeMillis()-connection_start_time)/1000); |
166 | return (int)((System.currentTimeMillis()-connection_start_time)/1000); |
| 163 | else |
167 | else |
| 164 | return 0; |
168 | return 0; |
| 165 | } |
169 | } |
| 166 | public final static byte BOOTLOADER_STAGE_NONE=0; |
170 | public final static byte BOOTLOADER_STAGE_NONE=0; |
| 167 | public final static byte BOOTLOADER_STAGE_GOT_MKBL=1; |
171 | public final static byte BOOTLOADER_STAGE_GOT_MKBL=1; |
| 168 | 172 | ||
| 169 | byte bootloader_stage= BOOTLOADER_STAGE_NONE; |
173 | byte bootloader_stage= BOOTLOADER_STAGE_NONE; |
| 170 | 174 | ||
| 171 | public MKLCD LCD; |
175 | public MKLCD LCD; |
| 172 | public MKVersion version; |
176 | public MKVersion version; |
| 173 | public MKDebugData debug_data; |
177 | public MKDebugData debug_data; |
| 174 | 178 | ||
| 175 | public int[] extern_control; |
179 | public int[] extern_control; |
| 176 | 180 | ||
| 177 | public MKGPSPosition gps_position; |
181 | public MKGPSPosition gps_position; |
| 178 | 182 | ||
| 179 | public MKStickData stick_data; |
183 | public MKStickData stick_data; |
| 180 | public MKParamsParser params; |
184 | public MKParamsParser params; |
| 181 | public MKWatchDog watchdog; |
185 | public MKWatchDog watchdog; |
| 182 | public MKProxy proxy=null; |
186 | public MKProxy proxy=null; |
| 183 | public MKStatistics stats ; |
187 | public MKStatistics stats ; |
| 184 | // public DUBwiseDebug debug; |
188 | // public DUBwiseDebug debug; |
| 185 | 189 | ||
| 186 | public UFOProber ufo_prober; |
190 | public UFOProber ufo_prober; |
| 187 | public long connection_start_time=-1; |
191 | public long connection_start_time=-1; |
| 188 | 192 | ||
| 189 | 193 | ||
| 190 | public String error_str = null; |
194 | public String error_str = null; |
| 191 | 195 | ||
| 192 | 196 | ||
| 193 | public final static int FC_SLAVE_ADDR = 'a'+1; |
197 | public final static int FC_SLAVE_ADDR = 'a'+1; |
| 194 | public final static int NAVI_SLAVE_ADDR = 'a'+2; |
198 | public final static int NAVI_SLAVE_ADDR = 'a'+2; |
| 195 | public final static int MK3MAG_SLAVE_ADDR = 'a'+3; |
199 | public final static int MK3MAG_SLAVE_ADDR = 'a'+3; |
| 196 | 200 | ||
| 197 | 201 | ||
| 198 | 202 | ||
| 199 | 203 | ||
| 200 | /****************** Section: private Attributes **********************************************/ |
204 | /****************** Section: private Attributes **********************************************/ |
| 201 | //#ifdef j2me |
205 | //#ifdef j2me |
| 202 | //# private javax.microedition.io.StreamConnection connection; |
206 | //# private javax.microedition.io.StreamConnection connection; |
| 203 | //#endif |
207 | //#endif |
| 204 | 208 | ||
| 205 | //#ifdef android |
209 | //#ifdef android |
| 206 | // java.net.Socket connection; |
210 | // java.net.Socket connection; |
| 207 | java.net.Socket connection; |
211 | java.net.Socket connection; |
| 208 | //#endif |
212 | //#endif |
| 209 | 213 | ||
| 210 | 214 | ||
| 211 | private java.io.InputStream reader; |
215 | private java.io.InputStream reader; |
| 212 | private java.io.OutputStream writer; |
216 | private java.io.OutputStream writer; |
| 213 | 217 | ||
| 214 | 218 | ||
| 215 | 219 | ||
| 216 | public String name; |
220 | public String name; |
| 217 | // DUBwise root; |
221 | // DUBwise root; |
| 218 | 222 | ||
| 219 | 223 | ||
| 220 | private boolean sending=false; |
224 | private boolean sending=false; |
| 221 | private boolean recieving=false; |
225 | private boolean recieving=false; |
| 222 | 226 | ||
| 223 | 227 | ||
| 224 | 228 | ||
| 225 | /****************** Section: public Methods ************************************************/ |
229 | /****************** Section: public Methods ************************************************/ |
| 226 | public MKCommunicator() |
230 | public MKCommunicator() |
| 227 | { |
231 | { |
| 228 | 232 | ||
| 229 | data_buff=new String[DATA_BUFF_LEN]; |
233 | data_buff=new String[DATA_BUFF_LEN]; |
| 230 | for (int i=0;i<DATA_BUFF_LEN;i++) |
234 | for (int i=0;i<DATA_BUFF_LEN;i++) |
| 231 | data_buff[i]=""; |
235 | data_buff[i]=""; |
| 232 | // debug=debug_; |
236 | // debug=debug_; |
| 233 | // root=root_; |
237 | // root=root_; |
| 234 | version=new MKVersion(); |
238 | version=new MKVersion(); |
| 235 | debug_data=new MKDebugData(); |
239 | debug_data=new MKDebugData(); |
| 236 | stick_data=new MKStickData(); |
240 | stick_data=new MKStickData(); |
| 237 | params=new MKParamsParser(); |
241 | params=new MKParamsParser(); |
| 238 | extern_control=new int[EXTERN_CONTROL_LENGTH]; |
242 | extern_control=new int[EXTERN_CONTROL_LENGTH]; |
| 239 | extern_control[EXTERN_CONTROL_CONFIG]=1; |
243 | extern_control[EXTERN_CONTROL_CONFIG]=1; |
| 240 | extern_control[EXTERN_CONTROL_FRAME]=1; |
244 | extern_control[EXTERN_CONTROL_FRAME]=1; |
| 241 | 245 | ||
| 242 | LCD= new MKLCD(this); |
246 | LCD= new MKLCD(this); |
| 243 | watchdog=new MKWatchDog(this); |
247 | watchdog=new MKWatchDog(this); |
| 244 | gps_position=new MKGPSPosition(); |
248 | gps_position=new MKGPSPosition(); |
| 245 | stats = new MKStatistics(); |
249 | stats = new MKStatistics(); |
| 246 | proxy =new MKProxy(this); |
250 | proxy =new MKProxy(this); |
| 247 | ufo_prober=new UFOProber(); |
251 | ufo_prober=new UFOProber(); |
| 248 | new Thread( this ).start(); // fire up main Thread |
252 | new Thread( this ).start(); // fire up main Thread |
| 249 | } |
253 | } |
| 250 | 254 | ||
| 251 | 255 | ||
| 252 | 256 | ||
| 253 | public void write_raw(byte[] _data) |
257 | public void write_raw(byte[] _data) |
| 254 | { |
258 | { |
| 255 | wait4send(); |
259 | wait4send(); |
| 256 | sending=true; |
260 | sending=true; |
| 257 | try { |
261 | try { |
| 258 | writer.write(_data,0,_data.length); |
262 | writer.write(_data,0,_data.length); |
| 259 | writer.flush(); |
263 | writer.flush(); |
| 260 | 264 | ||
| 261 | stats.bytes_out+=_data.length; |
265 | stats.bytes_out+=_data.length; |
| 262 | } |
266 | } |
| 263 | catch ( Exception e){} |
267 | catch ( Exception e){} |
| 264 | sending=false; |
268 | sending=false; |
| 265 | } |
269 | } |
| 266 | 270 | ||
| 267 | public void do_proxy(String proxy_url) |
271 | public void do_proxy(String proxy_url) |
| 268 | { |
272 | { |
| 269 | proxy.connect(proxy_url); |
273 | proxy.connect(proxy_url); |
| 270 | } |
274 | } |
| 271 | 275 | ||
| 272 | // int port; |
276 | // int port; |
| 273 | 277 | ||
| 274 | // URL string: "btspp://XXXXXXXXXXXX:1" - the X-Part is the MAC-Adress of the Bluetooth-Device connected to the Fligth-Control |
278 | // URL string: "btspp://XXXXXXXXXXXX:1" - the X-Part is the MAC-Adress of the Bluetooth-Device connected to the Fligth-Control |
| 275 | public void connect_to(String _url,String _name) |
279 | public void connect_to(String _url,String _name) |
| 276 | { |
280 | { |
| 277 | // port=_port; |
281 | // port=_port; |
| 278 | mk_url=_url; // remember URL for connecting / reconnecting later |
282 | mk_url=_url; // remember URL for connecting / reconnecting later |
| 279 | name=_name; |
283 | name=_name; |
| 280 | force_disconnect=false; |
284 | force_disconnect=false; |
| 281 | connected=false; |
285 | connected=false; |
| 282 | } |
286 | } |
| 283 | 287 | ||
| 284 | public boolean ready() |
288 | public boolean ready() |
| 285 | { |
289 | { |
| 286 | return (connected&&(version.major!=-1)); |
290 | return (connected&&(version.major!=-1)); |
| 287 | } |
291 | } |
| 288 | 292 | ||
| 289 | 293 | ||
| 290 | public String get_buff(int age) |
294 | public String get_buff(int age) |
| 291 | { |
295 | { |
| 292 | 296 | ||
| 293 | age%=DATA_BUFF_LEN; |
297 | age%=DATA_BUFF_LEN; |
| 294 | 298 | ||
| 295 | if (age<=data_buff_pos) |
299 | if (age<=data_buff_pos) |
| 296 | return ""+data_buff[data_buff_pos-age]; |
300 | return ""+data_buff[data_buff_pos-age]; |
| 297 | else |
301 | else |
| 298 | return ""+data_buff[DATA_BUFF_LEN+data_buff_pos-age]; |
302 | return ""+data_buff[DATA_BUFF_LEN+data_buff_pos-age]; |
| 299 | 303 | ||
| 300 | 304 | ||
| 301 | } |
305 | } |
| 302 | /****************** Section: private Methods ************************************************/ |
306 | /****************** Section: private Methods ************************************************/ |
| 303 | private void connect() |
307 | private void connect() |
| 304 | { |
308 | { |
| 305 | log("trying to connect to" + mk_url); |
309 | log("trying to connect to" + mk_url); |
| 306 | try{ |
310 | try{ |
| 307 | 311 | ||
| 308 | // old call |
312 | // old call |
| 309 | // connection = (StreamConnection) Connector.open(mk_url, Connector.READ_WRITE); |
313 | // connection = (StreamConnection) Connector.open(mk_url, Connector.READ_WRITE); |
| 310 | 314 | ||
| 311 | //#ifdef android |
315 | //#ifdef android |
| 312 | connection = (new java.net.Socket(mk_url.split(":")[0],Integer.parseInt(mk_url.split(":")[1]))); |
316 | connection = (new java.net.Socket(mk_url.split(":")[0],Integer.parseInt(mk_url.split(":")[1]))); |
| 313 | //.Socket |
317 | //.Socket |
| 314 | 318 | ||
| 315 | reader=connection.getInputStream(); |
319 | reader=connection.getInputStream(); |
| 316 | writer=connection.getOutputStream(); |
320 | writer=connection.getOutputStream(); |
| 317 | 321 | ||
| 318 | String magic="conn:foo bar\r\n"; |
322 | String magic="conn:foo bar\r\n"; |
| 319 | writer.write(magic.getBytes()); |
323 | writer.write(magic.getBytes()); |
| 320 | writer.flush(); |
324 | writer.flush(); |
| 321 | 325 | ||
| 322 | //#else |
326 | //#else |
| 323 | 327 | ||
| 324 | //# connection = (StreamConnection) Connector.open(mk_url); |
328 | //# connection = (StreamConnection) Connector.open(mk_url); |
| 325 | 329 | ||
| 326 | //# reader=connection.openInputStream(); |
330 | //# reader=connection.openInputStream(); |
| 327 | //# writer=connection.openOutputStream(); |
331 | //# writer=connection.openOutputStream(); |
| 328 | 332 | ||
| 329 | //#endif |
333 | //#endif |
| 330 | connection_start_time=System.currentTimeMillis(); |
334 | connection_start_time=System.currentTimeMillis(); |
| 331 | connected=true; // if we get here everything seems to be OK |
335 | connected=true; // if we get here everything seems to be OK |
| 332 | 336 | ||
| 333 | stats.reset(); |
337 | stats.reset(); |
| 334 | 338 | ||
| 335 | log("connecting OK"); |
339 | log("connecting OK"); |
| 336 | } |
340 | } |
| 337 | catch (Exception ex) |
341 | catch (Exception ex) |
| 338 | { |
342 | { |
| 339 | // TODO difference fatal errors from those which will lead to reconnection |
343 | // TODO difference fatal errors from those which will lead to reconnection |
| 340 | log("Problem connecting" + "\n" + ex); |
344 | log("Problem connecting" + "\n" + ex); |
| 341 | } |
345 | } |
| 342 | } |
346 | } |
| 343 | 347 | ||
| 344 | public int[] Decode64(byte[] in_arr, int offset,int len) |
348 | public int[] Decode64(byte[] in_arr, int offset,int len) |
| 345 | { |
349 | { |
| 346 | int ptrIn=offset; |
350 | int ptrIn=offset; |
| 347 | int a,b,c,d,x,y,z; |
351 | int a,b,c,d,x,y,z; |
| 348 | int ptr=0; |
352 | int ptr=0; |
| 349 | 353 | ||
| 350 | int[] out_arr=new int[len]; |
354 | int[] out_arr=new int[len]; |
| 351 | 355 | ||
| 352 | while(len!=0) |
356 | while(len!=0) |
| 353 | { |
357 | { |
| 354 | a=0; |
358 | a=0; |
| 355 | b=0; |
359 | b=0; |
| 356 | c=0; |
360 | c=0; |
| 357 | d=0; |
361 | d=0; |
| 358 | try { |
362 | try { |
| 359 | a = in_arr[ptrIn++] - '='; |
363 | a = in_arr[ptrIn++] - '='; |
| 360 | b = in_arr[ptrIn++] - '='; |
364 | b = in_arr[ptrIn++] - '='; |
| 361 | c = in_arr[ptrIn++] - '='; |
365 | c = in_arr[ptrIn++] - '='; |
| 362 | d = in_arr[ptrIn++] - '='; |
366 | d = in_arr[ptrIn++] - '='; |
| 363 | } |
367 | } |
| 364 | catch (Exception e) {} |
368 | catch (Exception e) {} |
| 365 | //if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
369 | //if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
| 366 | 370 | ||
| 367 | x = (a << 2) | (b >> 4); |
371 | x = (a << 2) | (b >> 4); |
| 368 | y = ((b & 0x0f) << 4) | (c >> 2); |
372 | y = ((b & 0x0f) << 4) | (c >> 2); |
| 369 | z = ((c & 0x03) << 6) | d; |
373 | z = ((c & 0x03) << 6) | d; |
| 370 | 374 | ||
| 371 | if((len--)!=0) out_arr[ptr++] = x; else break; |
375 | if((len--)!=0) out_arr[ptr++] = x; else break; |
| 372 | if((len--)!=0) out_arr[ptr++] = y; else break; |
376 | if((len--)!=0) out_arr[ptr++] = y; else break; |
| 373 | if((len--)!=0) out_arr[ptr++] = z; else break; |
377 | if((len--)!=0) out_arr[ptr++] = z; else break; |
| 374 | } |
378 | } |
| 375 | 379 | ||
| 376 | return out_arr; |
380 | return out_arr; |
| 377 | 381 | ||
| 378 | } |
382 | } |
| 379 | 383 | ||
| 380 | public void wait4send() |
384 | public void wait4send() |
| 381 | { |
385 | { |
| 382 | while(sending) //||recieving) |
386 | while(sending) //||recieving) |
| 383 | sleep(50); |
387 | sleep(50); |
| 384 | } |
388 | } |
| 385 | 389 | ||
| 386 | 390 | ||
| 387 | public void sleep(int time) |
391 | public void sleep(int time) |
| 388 | { |
392 | { |
| 389 | try { Thread.sleep(time); } |
393 | try { Thread.sleep(time); } |
| 390 | catch (Exception e) { } |
394 | catch (Exception e) { } |
| 391 | } |
395 | } |
| 392 | 396 | ||
| 393 | // FC - Function Mappers |
397 | // FC - Function Mappers |
| 394 | 398 | ||
| 395 | // send a version Request to the FC - the reply to this request will be processed in process_data when it arrives |
399 | // send a version Request to the FC - the reply to this request will be processed in process_data when it arrives |
| 396 | public void get_version() |
400 | public void get_version() |
| 397 | { |
401 | { |
| 398 | stats.version_data_request_count++; |
402 | stats.version_data_request_count++; |
| 399 | send_command(0,'v'); |
403 | send_command(0,'v'); |
| 400 | } |
404 | } |
| 401 | 405 | ||
| 402 | public void set_gps_target(int longitude,int latitude) |
406 | public void set_gps_target(int longitude,int latitude) |
| 403 | { |
407 | { |
| 404 | int[] target=new int[8]; |
408 | int[] target=new int[8]; |
| 405 | target[0]= (0xFF)&(longitude<<24); |
409 | target[0]= (0xFF)&(longitude<<24); |
| 406 | target[1]= (0xFF)&(longitude<<16); |
410 | target[1]= (0xFF)&(longitude<<16); |
| 407 | target[2]= (0xFF)&(longitude<<8); |
411 | target[2]= (0xFF)&(longitude<<8); |
| 408 | target[3]= (0xFF)&(longitude); |
412 | target[3]= (0xFF)&(longitude); |
| 409 | // send_command(0,'s',target); |
413 | // send_command(0,'s',target); |
| 410 | } |
414 | } |
| 411 | 415 | ||
| 412 | // send a MotorTest request - params are the speed for each Motor |
416 | // send a MotorTest request - params are the speed for each Motor |
| 413 | public void motor_test(int[] params) |
417 | public void motor_test(int[] params) |
| 414 | { |
418 | { |
| 415 | stats.motortest_request_count++; |
419 | stats.motortest_request_count++; |
| 416 | send_command(FC_SLAVE_ADDR,'t',params); |
420 | send_command(FC_SLAVE_ADDR,'t',params); |
| 417 | } |
421 | } |
| 418 | 422 | ||
| 419 | 423 | ||
| 420 | public void send_extern_control() |
424 | public void send_extern_control() |
| 421 | { |
425 | { |
| 422 | 426 | ||
| 423 | stats.external_control_request_count++; |
427 | stats.external_control_request_count++; |
| 424 | send_command(FC_SLAVE_ADDR,'b',extern_control); |
428 | send_command(FC_SLAVE_ADDR,'b',extern_control); |
| 425 | } |
429 | } |
| 426 | 430 | ||
| 427 | /* public void send_keys(int[] params) |
431 | /* public void send_keys(int[] params) |
| 428 | { |
432 | { |
| 429 | send_command(FC_SLAVE_ADDR,'k',params); |
433 | send_command(FC_SLAVE_ADDR,'k',params); |
| 430 | }*/ |
434 | }*/ |
| 431 | 435 | ||
| 432 | // get params |
436 | // get params |
| 433 | public void get_params(int id) |
437 | public void get_params(int id) |
| 434 | { |
438 | { |
| 435 | wait4send(); |
439 | wait4send(); |
| 436 | send_command(FC_SLAVE_ADDR,'q',id+1); |
440 | send_command(FC_SLAVE_ADDR,'q',id+1); |
| 437 | stats.params_data_request_count++; |
441 | stats.params_data_request_count++; |
| 438 | } |
442 | } |
| 439 | 443 | ||
| 440 | public void get_debug_name(int id) |
444 | public void get_debug_name(int id) |
| 441 | { |
445 | { |
| 442 | 446 | ||
| 443 | wait4send(); |
447 | wait4send(); |
| 444 | send_command(0,'a',id); |
448 | send_command(0,'a',id); |
| 445 | } |
449 | } |
| 446 | 450 | ||
| 447 | 451 | ||
| 448 | public void trigger_LCD_by_page(int page) |
452 | public void trigger_LCD_by_page(int page) |
| 449 | { |
453 | { |
| 450 | wait4send(); |
454 | wait4send(); |
| 451 | send_command(0,'l',page); |
455 | send_command(0,'l',page); |
| 452 | stats.lcd_data_request_count++; |
456 | stats.lcd_data_request_count++; |
| 453 | } |
457 | } |
| 454 | 458 | ||
| 455 | public void trigger_debug() |
459 | public void trigger_debug() |
| 456 | { |
460 | { |
| 457 | if (sending||recieving) return; // its not that important - can be dropped |
461 | if (sending||recieving) return; // its not that important - can be dropped |
| 458 | send_command(0,'c'); |
462 | send_command(0,'c'); |
| 459 | } |
463 | } |
| 460 | 464 | ||
| 461 | 465 | ||
| 462 | public void switch_todo() |
466 | public void switch_todo() |
| 463 | { |
467 | { |
| 464 | sleep(150); |
468 | sleep(150); |
| 465 | version=new MKVersion(); |
469 | version.reset(); |
| 466 | LCD= new MKLCD(this); |
470 | // LCD= new MKLCD(this); |
| 467 | debug_data=new MKDebugData(); |
471 | debug_data=new MKDebugData(); |
| 468 | 472 | ||
| 469 | } |
473 | } |
| 470 | 474 | ||
| 471 | public void switch_to_fc() |
475 | public void switch_to_fc() |
| 472 | { |
476 | { |
| 473 | wait4send(); |
477 | wait4send(); |
| 474 | send_command(NAVI_SLAVE_ADDR,'u',0); |
478 | send_command(NAVI_SLAVE_ADDR,'u',0); |
| 475 | switch_todo(); |
479 | switch_todo(); |
| 476 | 480 | ||
| 477 | } |
481 | } |
| 478 | 482 | ||
| 479 | 483 | ||
| 480 | public void switch_to_mk3mag() |
484 | public void switch_to_mk3mag() |
| 481 | { |
485 | { |
| 482 | wait4send(); |
486 | wait4send(); |
| 483 | send_command(NAVI_SLAVE_ADDR ,'u',1); |
487 | send_command(NAVI_SLAVE_ADDR ,'u',1); |
| 484 | switch_todo(); |
488 | switch_todo(); |
| 485 | } |
489 | } |
| 486 | 490 | ||
| 487 | public final static byte[] navi_switch_magic={27,27,0x55,(byte)0xAA,0,(byte)'\r'}; |
491 | public final static byte[] navi_switch_magic={27,27,0x55,(byte)0xAA,0,(byte)'\r'}; |
| 488 | public void switch_to_navi() |
492 | public void switch_to_navi() |
| 489 | { |
493 | { |
| 490 | wait4send(); |
494 | wait4send(); |
| 491 | sending=true; |
495 | sending=true; |
| 492 | try |
496 | try |
| 493 | { |
497 | { |
| 494 | writer.write(navi_switch_magic); |
498 | writer.write(navi_switch_magic); |
| 495 | stats.bytes_out+=6; |
499 | stats.bytes_out+=6; |
| 496 | writer.flush(); |
500 | writer.flush(); |
| 497 | } |
501 | } |
| 498 | catch (Exception e) { } |
502 | catch (Exception e) { } |
| 499 | sending=false; |
503 | sending=false; |
| 500 | 504 | ||
| 501 | switch_todo(); |
505 | switch_todo(); |
| 502 | 506 | ||
| 503 | } |
507 | } |
| 504 | 508 | ||
| 505 | public String[] flash_msgs; |
509 | public String[] flash_msgs; |
| 506 | int msg_pos=0; |
510 | int msg_pos=0; |
| 507 | 511 | ||
| 508 | 512 | ||
| 509 | public boolean bootloader_intension_flash=false; |
513 | public boolean bootloader_intension_flash=false; |
| 510 | 514 | ||
| 511 | public boolean bootloader_finish_ok=false; |
515 | public boolean bootloader_finish_ok=false; |
| 512 | 516 | ||
| 513 | public void jump_bootloader() |
517 | public void jump_bootloader() |
| 514 | { |
518 | { |
| 515 | 519 | ||
| 516 | bootloader_finish_ok=false; |
520 | bootloader_finish_ok=false; |
| 517 | msg_pos=0; |
521 | msg_pos=0; |
| 518 | bootloader_stage= BOOTLOADER_STAGE_NONE; |
522 | bootloader_stage= BOOTLOADER_STAGE_NONE; |
| 519 | flash_msgs=new String[100]; |
523 | flash_msgs=new String[100]; |
| 520 | flash_msgs[msg_pos++]="Initiializing Bootloader"; |
524 | flash_msgs[msg_pos++]="Initiializing Bootloader"; |
| 521 | wait4send(); |
525 | wait4send(); |
| 522 | sending=true; |
526 | sending=true; |
| 523 | 527 | ||
| 524 | try |
528 | try |
| 525 | { |
529 | { |
| 526 | int attempt=0; |
530 | int attempt=0; |
| 527 | 531 | ||
| 528 | while(bootloader_stage!= BOOTLOADER_STAGE_GOT_MKBL) |
532 | while(bootloader_stage!= BOOTLOADER_STAGE_GOT_MKBL) |
| 529 | { |
533 | { |
| 530 | flash_msgs[msg_pos]="attempt "+attempt; |
534 | flash_msgs[msg_pos]="attempt "+attempt; |
| 531 | attempt++; |
535 | attempt++; |
| 532 | send_command_nocheck((byte)FC_SLAVE_ADDR,'R',new int[0]); |
536 | send_command_nocheck((byte)FC_SLAVE_ADDR,'R',new int[0]); |
| 533 | 537 | ||
| 534 | try{ |
538 | try{ |
| 535 | writer.write( 27); |
539 | writer.write( 27); |
| 536 | writer.flush(); |
540 | writer.flush(); |
| 537 | 541 | ||
| 538 | sleep(20); |
542 | sleep(20); |
| 539 | 543 | ||
| 540 | writer.write( 0xAA); |
544 | writer.write( 0xAA); |
| 541 | writer.flush(); |
545 | writer.flush(); |
| 542 | } |
546 | } |
| 543 | catch (Exception e) { } |
547 | catch (Exception e) { } |
| 544 | sleep((attempt%2==0)?80:800); //800 |
548 | sleep((attempt%2==0)?80:800); //800 |
| 545 | } |
549 | } |
| 546 | msg_pos++; |
550 | msg_pos++; |
| 547 | } |
551 | } |
| 548 | 552 | ||
| 549 | catch (Exception e) { |
553 | catch (Exception e) { |
| 550 | flash_msgs[msg_pos++]="Exception:" +e.getMessage() ; |
554 | flash_msgs[msg_pos++]="Exception:" +e.getMessage() ; |
| 551 | flash_msgs[msg_pos++]=e.toString() ; |
555 | flash_msgs[msg_pos++]=e.toString() ; |
| 552 | } |
556 | } |
| 553 | 557 | ||
| 554 | new Thread( this ).start(); // fire up main Thread |
558 | new Thread( this ).start(); // fire up main Thread |
| 555 | } |
559 | } |
| 556 | 560 | ||
| 557 | 561 | ||
| 558 | public void get_error_str() |
562 | public void get_error_str() |
| 559 | { |
563 | { |
| 560 | send_command(NAVI_SLAVE_ADDR,'e'); |
564 | send_command(NAVI_SLAVE_ADDR,'e'); |
| 561 | } |
565 | } |
| 562 | 566 | ||
| 563 | public void trigger_rcdata() |
567 | public void trigger_rcdata() |
| 564 | { |
568 | { |
| 565 | send_command(FC_SLAVE_ADDR,'p'); |
569 | send_command(FC_SLAVE_ADDR,'p'); |
| 566 | } |
570 | } |
| 567 | 571 | ||
| 568 | 572 | ||
| 569 | public void write_params(int to) |
573 | public void write_params(int to) |
| 570 | { |
574 | { |
| 571 | params.update_backup(to); |
575 | params.update_backup(to); |
| 572 | write_params_(to) ; |
576 | write_params_(to) ; |
| 573 | } |
577 | } |
| 574 | 578 | ||
| 575 | public void write_params_(int to) |
579 | public void write_params_(int to) |
| 576 | { |
580 | { |
| 577 | wait4send(); |
581 | wait4send(); |
| 578 | params.active_paramset=to; |
582 | params.active_paramset=to; |
| 579 | send_command(FC_SLAVE_ADDR,'s',params.field_bak[to]); |
583 | send_command(FC_SLAVE_ADDR,'s',params.field_bak[to]); |
| 580 | 584 | ||
| 581 | } |
585 | } |
| 582 | 586 | ||
| 583 | public void set_debug_interval(int interval) |
587 | public void set_debug_interval(int interval) |
| 584 | { |
588 | { |
| 585 | send_command(2,'d',interval); |
589 | send_command(2,'d',interval); |
| 586 | } |
590 | } |
| 587 | 591 | ||
| 588 | 592 | ||
| 589 | public void set_gpsosd_interval(int interval) |
593 | public void set_gpsosd_interval(int interval) |
| 590 | { |
594 | { |
| 591 | send_command(NAVI_SLAVE_ADDR,'o',interval); |
595 | send_command(NAVI_SLAVE_ADDR,'o',interval); |
| 592 | } |
596 | } |
| 593 | 597 | ||
| 594 | public void send_command(int modul,char cmd) |
598 | public void send_command(int modul,char cmd) |
| 595 | { |
599 | { |
| 596 | send_command(modul,cmd,new int[0]); |
600 | send_command(modul,cmd,new int[0]); |
| 597 | } |
601 | } |
| 598 | 602 | ||
| 599 | 603 | ||
| 600 | 604 | ||
| 601 | public void send_command(int modul,char cmd,int param) |
605 | public void send_command(int modul,char cmd,int param) |
| 602 | { |
606 | { |
| 603 | int[] params=new int[1]; |
607 | int[] params=new int[1]; |
| 604 | params[0]=param; |
608 | params[0]=param; |
| 605 | send_command(modul,cmd,params); |
609 | send_command(modul,cmd,params); |
| 606 | } |
610 | } |
| 607 | 611 | ||
| 608 | public void send_command_nocheck(byte modul,char cmd,int[] params) |
612 | public void send_command_nocheck(byte modul,char cmd,int[] params) |
| 609 | { |
613 | { |
| 610 | // 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 |
614 | // 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 |
| 611 | 615 | ||
| 612 | 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 |
616 | 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 |
| 613 | send_buff[0]='#'; |
617 | send_buff[0]='#'; |
| 614 | send_buff[1]=modul; |
618 | send_buff[1]=modul; |
| 615 | send_buff[2]=(byte)cmd; |
619 | send_buff[2]=(byte)cmd; |
| 616 | 620 | ||
| 617 | for(int param_pos=0;param_pos<(params.length/3 + (params.length%3==0?0:1)) ;param_pos++) |
621 | for(int param_pos=0;param_pos<(params.length/3 + (params.length%3==0?0:1)) ;param_pos++) |
| 618 | { |
622 | { |
| 619 | int a = (param_pos*3<params.length)?params[param_pos*3]:0; |
623 | int a = (param_pos*3<params.length)?params[param_pos*3]:0; |
| 620 | int b = ((param_pos*3+1)<params.length)?params[param_pos*3+1]:0; |
624 | int b = ((param_pos*3+1)<params.length)?params[param_pos*3+1]:0; |
| 621 | int c = ((param_pos*3+2)<params.length)?params[param_pos*3+2]:0; |
625 | int c = ((param_pos*3+2)<params.length)?params[param_pos*3+2]:0; |
| 622 | 626 | ||
| 623 | send_buff[3+param_pos*4] = (byte)((a >> 2)+'=' ); |
627 | send_buff[3+param_pos*4] = (byte)((a >> 2)+'=' ); |
| 624 | send_buff[3+param_pos*4+1] = (byte)('=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4))); |
628 | send_buff[3+param_pos*4+1] = (byte)('=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4))); |
| 625 | send_buff[3+param_pos*4+2] = (byte)('=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6))); |
629 | send_buff[3+param_pos*4+2] = (byte)('=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6))); |
| 626 | send_buff[3+param_pos*4+3] = (byte)('=' + ( c & 0x3f)); |
630 | send_buff[3+param_pos*4+3] = (byte)('=' + ( c & 0x3f)); |
| 627 | 631 | ||
| 628 | //send_buff[3+foo]='='; |
632 | //send_buff[3+foo]='='; |
| 629 | } |
633 | } |
| 630 | 634 | ||
| 631 | /* for(int foo=0;foo<(params.length/3 + (params.length%3==0?0:1) )*4;foo++) |
635 | /* for(int foo=0;foo<(params.length/3 + (params.length%3==0?0:1) )*4;foo++) |
| 632 | { |
636 | { |
| 633 | int a = (foo<params.length) params[foo]; |
637 | int a = (foo<params.length) params[foo]; |
| 634 | int a = params[foo]; |
638 | int a = params[foo]; |
| 635 | |
639 | |
| 636 | //send_buff[3+foo]='='; |
640 | //send_buff[3+foo]='='; |
| 637 | } |
641 | } |
| 638 | */ |
642 | */ |
| 639 | try |
643 | try |
| 640 | { |
644 | { |
| 641 | int tmp_crc=0; |
645 | int tmp_crc=0; |
| 642 | for ( int tmp_i=0; tmp_i<send_buff.length;tmp_i++) |
646 | for ( int tmp_i=0; tmp_i<send_buff.length;tmp_i++) |
| 643 | tmp_crc+=(int)send_buff[tmp_i]; |
647 | tmp_crc+=(int)send_buff[tmp_i]; |
| 644 | 648 | ||
| 645 | writer.write(send_buff,0,send_buff.length); |
649 | writer.write(send_buff,0,send_buff.length); |
| 646 | tmp_crc%=4096; |
650 | tmp_crc%=4096; |
| 647 | 651 | ||
| 648 | writer.write( (char)(tmp_crc/64 + '=')); |
652 | writer.write( (char)(tmp_crc/64 + '=')); |
| 649 | writer.write( (char)(tmp_crc%64 + '=')); |
653 | writer.write( (char)(tmp_crc%64 + '=')); |
| 650 | writer.write('\r'); |
654 | writer.write('\r'); |
| 651 | stats.bytes_out+=send_buff.length+3; |
655 | stats.bytes_out+=send_buff.length+3; |
| 652 | writer.flush(); |
656 | writer.flush(); |
| 653 | } |
657 | } |
| 654 | catch (Exception e) |
658 | catch (Exception e) |
| 655 | { // problem sending data to FC |
659 | { // problem sending data to FC |
| 656 | } |
660 | } |
| 657 | 661 | ||
| 658 | } |
662 | } |
| 659 | // send command to FC ( add crc and pack into pseudo Base64 |
663 | // send command to FC ( add crc and pack into pseudo Base64 |
| 660 | public void send_command(int modul,char cmd,int[] params) |
664 | public void send_command(int modul,char cmd,int[] params) |
| 661 | { |
665 | { |
| 662 | // if (modul==0) return; |
666 | // if (modul==0) return; |
| 663 | sending=true; |
667 | sending=true; |
| 664 | send_command_nocheck((byte)modul,cmd,params); |
668 | send_command_nocheck((byte)modul,cmd,params); |
| 665 | sending=false; |
669 | sending=false; |
| 666 | } |
670 | } |
| 667 | 671 | ||
| 668 | 672 | ||
| 669 | public int slave_addr=-1; |
673 | public int slave_addr=-1; |
| 670 | 674 | ||
| 671 | 675 | ||
| 672 | public int UBatt() |
676 | public int UBatt() |
| 673 | { |
677 | { |
| 674 | if (ufo_prober.is_mk()) |
678 | if (ufo_prober.is_mk()) |
| 675 | return debug_data.UBatt(); |
679 | return debug_data.UBatt(); |
| 676 | else if (ufo_prober.is_navi()) |
680 | else if (ufo_prober.is_navi()) |
| 677 | return gps_position.UBatt; |
681 | return gps_position.UBatt; |
| 678 | 682 | ||
| 679 | return -1; |
683 | return -1; |
| 680 | 684 | ||
| 681 | } |
685 | } |
| 682 | 686 | ||
| 683 | 687 | ||
| 684 | 688 | ||
| 685 | public int SenderOkay() |
689 | public int SenderOkay() |
| 686 | { |
690 | { |
| 687 | if (ufo_prober.is_mk()) |
691 | if (ufo_prober.is_mk()) |
| 688 | return debug_data.SenderOkay(); |
692 | return debug_data.SenderOkay(); |
| 689 | else if (ufo_prober.is_navi()) |
693 | else if (ufo_prober.is_navi()) |
| 690 | return gps_position.SenderOkay; |
694 | return gps_position.SenderOkay; |
| 691 | 695 | ||
| 692 | return -1; |
696 | return -1; |
| 693 | 697 | ||
| 694 | } |
698 | } |
| 695 | 699 | ||
| 696 | 700 | ||
| 697 | public int[][] debug_buff=null; |
701 | public int[][] debug_buff=null; |
| 698 | public int debug_buff_off=0; |
702 | public int debug_buff_off=0; |
| 699 | public int debug_buff_len=0; |
703 | public int debug_buff_len=0; |
| 700 | public int debug_buff_interval=0; |
704 | public int debug_buff_interval=0; |
| 701 | public int debug_buff_lastset=0; |
705 | public int debug_buff_lastset=0; |
| 702 | public int debug_buff_max=1; |
706 | public int debug_buff_max=1; |
| 703 | 707 | ||
| 704 | public int[] debug_buff_targets=null; |
708 | public int[] debug_buff_targets=null; |
| 705 | 709 | ||
| 706 | public void setup_debug_buff(int[] targets,int len,int interval) |
710 | public void setup_debug_buff(int[] targets,int len,int interval) |
| 707 | { |
711 | { |
| 708 | debug_buff=new int[len][targets.length]; |
712 | debug_buff=new int[len][targets.length]; |
| 709 | 713 | ||
| 710 | debug_buff_off=0; |
714 | debug_buff_off=0; |
| 711 | debug_buff_len=len; |
715 | debug_buff_len=len; |
| 712 | 716 | ||
| 713 | debug_buff_interval=interval; |
717 | debug_buff_interval=interval; |
| 714 | if (debug_buff_interval<2)debug_buff_interval=2; |
718 | if (debug_buff_interval<2)debug_buff_interval=2; |
| 715 | debug_buff_targets=targets; |
719 | debug_buff_targets=targets; |
| 716 | debug_buff_max=1; |
720 | debug_buff_max=1; |
| 717 | debug_buff_lastset=0; |
721 | debug_buff_lastset=0; |
| 718 | } |
722 | } |
| 719 | 723 | ||
| 720 | public int chg_debug_max(int val) |
724 | public int chg_debug_max(int val) |
| 721 | { |
725 | { |
| 722 | if (val>debug_buff_max) |
726 | if (val>debug_buff_max) |
| 723 | debug_buff_max=val; |
727 | debug_buff_max=val; |
| 724 | if (-val>debug_buff_max) |
728 | if (-val>debug_buff_max) |
| 725 | debug_buff_max=-val; |
729 | debug_buff_max=-val; |
| 726 | return val; |
730 | return val; |
| 727 | } |
731 | } |
| 728 | 732 | ||
| 729 | public void destroy_debug_buff() |
733 | public void destroy_debug_buff() |
| 730 | { |
734 | { |
| 731 | debug_buff_targets=null; |
735 | debug_buff_targets=null; |
| 732 | } |
736 | } |
| 733 | 737 | ||
| 734 | public void process_data(byte[] data,int len) |
738 | public void process_data(byte[] data,int len) |
| 735 | { |
739 | { |
| 736 | 740 | ||
| 737 | slave_addr=data[1]; |
741 | slave_addr=data[1]; |
| 738 | log("command " +(char)data[2] ); |
742 | log("command " +(char)data[2] ); |
| 739 | switch((char)data[2]) |
743 | switch((char)data[2]) |
| 740 | { |
744 | { |
| 741 | 745 | ||
| 742 | case 'A': // debug Data Names |
746 | case 'A': // debug Data Names |
| 743 | stats.debug_names_count++; |
747 | stats.debug_names_count++; |
| 744 | debug_data.set_names_by_mk_data(Decode64(data,3,len-3)); |
748 | debug_data.set_names_by_mk_data(Decode64(data,3,len-3)); |
| 745 | break; |
749 | break; |
| 746 | 750 | ||
| 747 | case 'B': // external_control confirm frames |
751 | case 'B': // external_control confirm frames |
| 748 | stats.external_control_confirm_frame_count++; |
752 | stats.external_control_confirm_frame_count++; |
| 749 | break; |
753 | break; |
| 750 | 754 | ||
| 751 | case 'L': // LCD Data |
755 | case 'L': // LCD Data |
| 752 | stats.lcd_data_count++; |
756 | stats.lcd_data_count++; |
| 753 | LCD.handle_lcd_data(Decode64(data,3,len-3)); |
757 | LCD.handle_lcd_data(Decode64(data,3,len-3)); |
| 754 | 758 | ||
| 755 | break; |
759 | break; |
| 756 | 760 | ||
| 757 | case 'D': // debug Data |
761 | case 'D': // debug Data |
| 758 | log("got debug data"); |
762 | log("got debug data"); |
| 759 | stats.debug_data_count++; |
763 | stats.debug_data_count++; |
| 760 | debug_data.set_by_mk_data(Decode64(data,3,len-3),version); |
764 | debug_data.set_by_mk_data(Decode64(data,3,len-3),version); |
| 761 | 765 | ||
| 762 | if (ufo_prober.is_mk()) |
766 | if (ufo_prober.is_mk()) |
| - | 767 | { |
|
| 763 | stats.process_mkflags(debug_data.motor_val(0)); // TODO remove dirty hack |
768 | stats.process_mkflags(debug_data.motor_val(0)); // TODO remove dirty hack |
| - | 769 | stats.process_alt(Alt()); |
|
| - | 770 | } |
|
| 764 | if (debug_buff_targets!=null) |
771 | if (debug_buff_targets!=null) |
| 765 | { |
772 | { |
| 766 | for (int sp=0;sp<debug_buff_targets.length;sp++) |
773 | for (int sp=0;sp<debug_buff_targets.length;sp++) |
| 767 | debug_buff[debug_buff_off][sp]=chg_debug_max(debug_data.analog[debug_buff_targets[sp]]); |
774 | debug_buff[debug_buff_off][sp]=chg_debug_max(debug_data.analog[debug_buff_targets[sp]]); |
| 768 | if (debug_buff_off>debug_buff_lastset) |
775 | if (debug_buff_off>debug_buff_lastset) |
| 769 | debug_buff_lastset=debug_buff_off; |
776 | debug_buff_lastset=debug_buff_off; |
| 770 | 777 | ||
| 771 | debug_buff_off=(debug_buff_off+1)%debug_buff_len; |
778 | debug_buff_off=(debug_buff_off+1)%debug_buff_len; |
| 772 | - | ||
| 773 | - | ||
| 774 | 779 | ||
| 775 | } |
780 | } |
| 776 | log("processed debug data"); |
781 | log("processed debug data"); |
| 777 | break; |
782 | break; |
| 778 | 783 | ||
| 779 | case 'V': // Version Info |
784 | case 'V': // Version Info |
| 780 | stats.version_data_count++; |
785 | stats.version_data_count++; |
| 781 | slave_addr=data[1]; |
786 | slave_addr=data[1]; |
| 782 | 787 | ||
| 783 | switch(slave_addr) |
788 | switch(slave_addr) |
| 784 | { |
789 | { |
| 785 | case FC_SLAVE_ADDR: |
790 | case FC_SLAVE_ADDR: |
| 786 | ufo_prober.set_to_mk(); |
791 | ufo_prober.set_to_mk(); |
| 787 | break; |
792 | break; |
| 788 | 793 | ||
| 789 | case NAVI_SLAVE_ADDR: |
794 | case NAVI_SLAVE_ADDR: |
| 790 | ufo_prober.set_to_navi(); |
795 | ufo_prober.set_to_navi(); |
| 791 | break; |
796 | break; |
| 792 | 797 | ||
| 793 | case MK3MAG_SLAVE_ADDR: |
798 | case MK3MAG_SLAVE_ADDR: |
| 794 | // ufo_prober.set_to_mk(); |
799 | // ufo_prober.set_to_mk(); |
| 795 | ufo_prober.set_to_mk3mag(); |
800 | ufo_prober.set_to_mk3mag(); |
| 796 | break; |
801 | break; |
| 797 | 802 | ||
| 798 | default: |
803 | default: |
| 799 | ufo_prober.set_to_incompatible(); |
804 | ufo_prober.set_to_incompatible(); |
| 800 | break; |
805 | break; |
| 801 | } |
806 | } |
| 802 | 807 | ||
| 803 | 808 | ||
| 804 | version.set_by_mk_data(Decode64(data,3,len-3)); |
809 | version.set_by_mk_data(Decode64(data,3,len-3)); |
| 805 | break; |
810 | break; |
| 806 | 811 | ||
| 807 | case 'w': |
812 | case 'w': |
| 808 | int[] dec=Decode64(data,3,len-3); |
813 | int[] dec=Decode64(data,3,len-3); |
| 809 | angle_nick=MKHelper.parse_signed_int_2(dec[0],dec[1]); |
814 | angle_nick=MKHelper.parse_signed_int_2(dec[0],dec[1]); |
| 810 | angle_roll=MKHelper.parse_signed_int_2(dec[2],dec[3]); |
815 | angle_roll=MKHelper.parse_signed_int_2(dec[2],dec[3]); |
| 811 | stats.angle_data_count++; |
816 | stats.angle_data_count++; |
| 812 | 817 | ||
| 813 | break; |
818 | break; |
| 814 | 819 | ||
| 815 | 820 | ||
| 816 | case 'Q': |
821 | case 'Q': |
| 817 | if (ufo_prober.is_mk()) |
822 | if (ufo_prober.is_mk()) |
| 818 | { |
823 | { |
| 819 | stats.params_data_count++; |
824 | stats.params_data_count++; |
| 820 | params.set_by_mk_data(Decode64(data,3,len-3)); |
825 | params.set_by_mk_data(Decode64(data,3,len-3)); |
| 821 | } |
826 | } |
| 822 | break; |
827 | break; |
| 823 | 828 | ||
| 824 | case 'P': |
829 | case 'P': |
| 825 | stats.stick_data_count++; |
830 | stats.stick_data_count++; |
| 826 | stick_data.set_by_mk_data(Decode64(data,3,20)); |
831 | stick_data.set_by_mk_data(Decode64(data,3,20)); |
| 827 | break; |
832 | break; |
| 828 | 833 | ||
| 829 | 834 | ||
| 830 | case 'E': |
835 | case 'E': |
| 831 | int[] dec_data=Decode64(data,3,len-3); |
836 | int[] dec_data=Decode64(data,3,len-3); |
| 832 | error_str=""; |
837 | error_str=""; |
| 833 | for(int foo=0;foo<20;foo++) |
838 | for(int foo=0;foo<20;foo++) |
| 834 | if (dec_data[foo]!=0) |
839 | if (dec_data[foo]!=0) |
| 835 | error_str+=(char)dec_data[foo]; |
840 | error_str+=(char)dec_data[foo]; |
| 836 | break; |
841 | break; |
| 837 | 842 | ||
| 838 | 843 | ||
| 839 | case 'O': |
844 | case 'O': |
| 840 | stats.navi_data_count++; |
845 | stats.navi_data_count++; |
| 841 | log("got navi data(" + len +"):"); |
846 | log("got navi data(" + len +"):"); |
| 842 | 847 | ||
| 843 | gps_position.set_by_mk_data(Decode64(data,3,len-3),version); |
848 | gps_position.set_by_mk_data(Decode64(data,3,len-3),version); |
| 844 | 849 | ||
| 845 | stats.process_mkflags(gps_position.MKFlags); |
850 | stats.process_mkflags(gps_position.MKFlags); |
| 846 | stats.process_compas(gps_position.CompasHeading); |
851 | stats.process_compas(gps_position.CompasHeading); |
| - | 852 | stats.process_speed(gps_position.GroundSpeed); |
|
| - | 853 | stats.process_alt(Alt()); |
|
| 847 | log("long:" + gps_position.Longitude); |
854 | log("long:" + gps_position.Longitude); |
| 848 | log("lat:" + gps_position.Latitude); |
855 | log("lat:" + gps_position.Latitude); |
| 849 | 856 | ||
| 850 | break; |
857 | break; |
| 851 | 858 | ||
| 852 | 859 | ||
| 853 | // Error from Navi |
860 | // Error from Navi |
| 854 | 861 | ||
| 855 | 862 | ||
| 856 | default: |
863 | default: |
| 857 | stats.other_data_count++; |
864 | stats.other_data_count++; |
| 858 | break; |
865 | break; |
| 859 | 866 | ||
| 860 | } |
867 | } |
| 861 | 868 | ||
| 862 | } |
869 | } |
| 863 | 870 | ||
| 864 | 871 | ||
| 865 | 872 | ||
| 866 | public boolean force_disconnect=true; |
873 | public boolean force_disconnect=true; |
| 867 | 874 | ||
| 868 | public void close_connections(boolean force) |
875 | public void close_connections(boolean force) |
| 869 | { |
876 | { |
| - | 877 | ||
| 870 | // if ((!force)&&root.canvas.do_vibra) root.vibrate(500); |
878 | // if ((!force)&&root.canvas.do_vibra) root.vibrate(500); |
| 871 | force_disconnect=force; |
879 | force_disconnect=force; |
| 872 | try{ reader.close(); } |
880 | try{ reader.close(); } |
| 873 | catch (Exception inner_ex) { } |
881 | catch (Exception inner_ex) { } |
| 874 | 882 | ||
| 875 | try{ writer.close(); } |
883 | try{ writer.close(); } |
| 876 | catch (Exception inner_ex) { } |
884 | catch (Exception inner_ex) { } |
| 877 | 885 | ||
| 878 | //#ifdef j2me |
886 | //#ifdef j2me |
| 879 | //# try{ connection.close(); } |
887 | //# try{ connection.close(); } |
| 880 | //# catch (Exception inner_ex) { } |
888 | //# catch (Exception inner_ex) { } |
| 881 | //#endif |
889 | //#endif |
| 882 | ufo_prober.set_to_none(); |
890 | ufo_prober.set_to_none(); |
| 883 | stats.reset(); |
891 | stats.reset(); |
| 884 | connected=false; |
892 | connected=false; |
| 885 | version=new MKVersion(); |
893 | version.reset(); |
| - | 894 | disconnect_notify=true; |
|
| 886 | } |
895 | } |
| 887 | 896 | ||
| 888 | // Thread to recieve data from Connection |
897 | // Thread to recieve data from Connection |
| 889 | public void run() |
898 | public void run() |
| 890 | { |
899 | { |
| 891 | boolean sigfail=false; |
900 | boolean sigfail=false; |
| 892 | if (bootloader_stage==BOOTLOADER_STAGE_GOT_MKBL) |
901 | if (bootloader_stage==BOOTLOADER_STAGE_GOT_MKBL) |
| 893 | { |
902 | { |
| 894 | try { |
903 | try { |
| 895 | flash_msgs[msg_pos++]="reading avr_sig"; |
904 | flash_msgs[msg_pos++]="reading avr_sig"; |
| 896 | 905 | ||
| 897 | writer.write( 't'); |
906 | writer.write( 't'); |
| 898 | writer.flush(); |
907 | writer.flush(); |
| 899 | 908 | ||
| 900 | int avr_sig=reader.read(); |
909 | int avr_sig=reader.read(); |
| 901 | 910 | ||
| 902 | //while (avr_sig==63) |
911 | //while (avr_sig==63) |
| 903 | // avr_sig=reader.read(); |
912 | // avr_sig=reader.read(); |
| 904 | 913 | ||
| 905 | flash_msgs[msg_pos++]="got avr sig " + avr_sig; |
914 | flash_msgs[msg_pos++]="got avr sig " + avr_sig; |
| 906 | 915 | ||
| 907 | int avrsig_suff=reader.read(); |
916 | int avrsig_suff=reader.read(); |
| 908 | if (avrsig_suff!=0) |
917 | if (avrsig_suff!=0) |
| 909 | throw new Exception("val after avrsig is" +avrsig_suff +"should b 0"); |
918 | throw new Exception("val after avrsig is" +avrsig_suff +"should b 0"); |
| 910 | 919 | ||
| 911 | if ((avr_sig!=0x74)&&(avr_sig!=224)&&(avr_sig!=120)) |
920 | if ((avr_sig!=0x74)&&(avr_sig!=224)&&(avr_sig!=120)) |
| 912 | { |
921 | { |
| 913 | sigfail=true; |
922 | sigfail=true; |
| 914 | throw new Exception("avr sig" + avr_sig + " unknown"); |
923 | throw new Exception("avr sig" + avr_sig + " unknown"); |
| 915 | } |
924 | } |
| 916 | 925 | ||
| 917 | writer.write('T'); |
926 | writer.write('T'); |
| 918 | // writer.flush(); |
927 | // writer.flush(); |
| 919 | writer.write(avr_sig); // set devicetyp = 0x74 oder 0x76 |
928 | writer.write(avr_sig); // set devicetyp = 0x74 oder 0x76 |
| 920 | writer.flush(); |
929 | writer.flush(); |
| 921 | 930 | ||
| 922 | if (reader.read()!=0x0d) |
931 | if (reader.read()!=0x0d) |
| 923 | throw new Exception("cant get buffer size"); |
932 | throw new Exception("cant get buffer size"); |
| 924 | 933 | ||
| 925 | writer.write('V'); |
934 | writer.write('V'); |
| 926 | writer.flush(); |
935 | writer.flush(); |
| 927 | 936 | ||
| 928 | int bl_version_major=reader.read(); |
937 | int bl_version_major=reader.read(); |
| 929 | int bl_version_minor=reader.read(); |
938 | int bl_version_minor=reader.read(); |
| 930 | 939 | ||
| 931 | flash_msgs[msg_pos++]="BL Version " + bl_version_major+"."+bl_version_minor; |
940 | flash_msgs[msg_pos++]="BL Version " + bl_version_major+"."+bl_version_minor; |
| 932 | 941 | ||
| 933 | 942 | ||
| 934 | writer.write('b'); |
943 | writer.write('b'); |
| 935 | writer.flush(); |
944 | writer.flush(); |
| 936 | 945 | ||
| 937 | if (reader.read()!='Y') |
946 | if (reader.read()!='Y') |
| 938 | throw new Exception("cant get buffer size"); |
947 | throw new Exception("cant get buffer size"); |
| 939 | 948 | ||
| 940 | int send_buff_size1=reader.read(); |
949 | int send_buff_size1=reader.read(); |
| 941 | int send_buff_size2=reader.read(); |
950 | int send_buff_size2=reader.read(); |
| 942 | int send_buff_size=send_buff_size1*0x100+send_buff_size2; |
951 | int send_buff_size=send_buff_size1*0x100+send_buff_size2; |
| 943 | 952 | ||
| 944 | flash_msgs[msg_pos++]="BUFF Size:" + send_buff_size; |
953 | flash_msgs[msg_pos++]="BUFF Size:" + send_buff_size; |
| 945 | // if (send_buff_size>128) |
954 | // if (send_buff_size>128) |
| 946 | // send_buff_size=128; |
955 | // send_buff_size=128; |
| 947 | 956 | ||
| 948 | // if (!bootloader_intension |
957 | // if (!bootloader_intension |
| 949 | if (bootloader_intension_flash) |
958 | if (bootloader_intension_flash) |
| 950 | { |
959 | { |
| 951 | 960 | ||
| 952 | byte[] flash_buff =new byte[send_buff_size]; ///!! |
961 | byte[] flash_buff =new byte[send_buff_size]; ///!! |
| 953 | 962 | ||
| 954 | String firmware_filename=(avr_sig==224)?"/navi.bin":((avr_sig==120)?"/mk3.bin":"/fc.bin"); |
963 | String firmware_filename=(avr_sig==224)?"/navi.bin":((avr_sig==120)?"/mk3.bin":"/fc.bin"); |
| 955 | flash_msgs[msg_pos++]="Opening firmware " + firmware_filename + ".."; |
964 | flash_msgs[msg_pos++]="Opening firmware " + firmware_filename + ".."; |
| 956 | 965 | ||
| 957 | 966 | ||
| 958 | InputStream in; |
967 | InputStream in; |
| 959 | try { |
968 | try { |
| 960 | in=this.getClass().getResourceAsStream(firmware_filename); |
969 | in=this.getClass().getResourceAsStream(firmware_filename); |
| 961 | } |
970 | } |
| 962 | 971 | ||
| 963 | catch (Exception e) { throw new Exception(" .. cant open firmware"); } |
972 | catch (Exception e) { throw new Exception(" .. cant open firmware"); } |
| 964 | int firmware_size=-1; |
973 | int firmware_size=-1; |
| 965 | try { |
974 | try { |
| 966 | 975 | ||
| 967 | firmware_size= ((int)in.read()<<24) |((int)in.read()<<16) | ((int)in.read()<<8) | ((int)in.read()&0xff) ; |
976 | firmware_size= ((int)in.read()<<24) |((int)in.read()<<16) | ((int)in.read()<<8) | ((int)in.read()&0xff) ; |
| 968 | } |
977 | } |
| 969 | catch (Exception e) { throw new Exception(" .. cant read size"); } |
978 | catch (Exception e) { throw new Exception(" .. cant read size"); } |
| 970 | 979 | ||
| 971 | 980 | ||
| 972 | 981 | ||
| 973 | int blocks2write=((firmware_size/send_buff_size)); |
982 | int blocks2write=((firmware_size/send_buff_size)); |
| 974 | flash_msgs[msg_pos++]=".. open("+blocks2write+" blocks," + firmware_size + "bytes)"; |
983 | flash_msgs[msg_pos++]=".. open("+blocks2write+" blocks," + firmware_size + "bytes)"; |
| 975 | 984 | ||
| 976 | 985 | ||
| 977 | 986 | ||
| 978 | // if (true) throw new Exception("before erasing"); |
987 | // if (true) throw new Exception("before erasing"); |
| 979 | 988 | ||
| 980 | // if (true) throw new Exception("before erasing" ); |
989 | // if (true) throw new Exception("before erasing" ); |
| 981 | 990 | ||
| 982 | flash_msgs[msg_pos++]="Erasing Flash .."; |
991 | flash_msgs[msg_pos++]="Erasing Flash .."; |
| 983 | writer.write('e'); |
992 | writer.write('e'); |
| 984 | writer.flush(); |
993 | writer.flush(); |
| 985 | 994 | ||
| 986 | if (reader.read()!=0x0d) |
995 | if (reader.read()!=0x0d) |
| 987 | throw new Exception("cant erase flash"); |
996 | throw new Exception("cant erase flash"); |
| 988 | 997 | ||
| 989 | flash_msgs[msg_pos]+="OK"; |
998 | flash_msgs[msg_pos]+="OK"; |
| 990 | 999 | ||
| 991 | 1000 | ||
| 992 | writer.write('A'); |
1001 | writer.write('A'); |
| 993 | writer.write(0); |
1002 | writer.write(0); |
| 994 | writer.write(0); |
1003 | writer.write(0); |
| 995 | writer.flush(); |
1004 | writer.flush(); |
| 996 | 1005 | ||
| 997 | if (reader.read()!=0x0d) |
1006 | if (reader.read()!=0x0d) |
| 998 | throw new Exception("cant set addr"); |
1007 | throw new Exception("cant set addr"); |
| 999 | 1008 | ||
| 1000 | flash_msgs[msg_pos++]="addr set"; |
1009 | flash_msgs[msg_pos++]="addr set"; |
| 1001 | 1010 | ||
| 1002 | 1011 | ||
| 1003 | // int blocks2write=((firmware_size/send_buff_size)); |
1012 | // int blocks2write=((firmware_size/send_buff_size)); |
| 1004 | if ((firmware_size%send_buff_size)>0) |
1013 | if ((firmware_size%send_buff_size)>0) |
| 1005 | blocks2write++; |
1014 | blocks2write++; |
| 1006 | 1015 | ||
| 1007 | for ( int block=0; block<blocks2write; block ++) |
1016 | for ( int block=0; block<blocks2write; block ++) |
| 1008 | { |
1017 | { |
| 1009 | int hex_bytes_read=in.read(flash_buff,0,send_buff_size); |
1018 | int hex_bytes_read=in.read(flash_buff,0,send_buff_size); |
| 1010 | 1019 | ||
| 1011 | flash_msgs[msg_pos]="bl:" + block + "/" + blocks2write + " si:"+hex_bytes_read ; |
1020 | flash_msgs[msg_pos]="bl:" + block + "/" + blocks2write + " si:"+hex_bytes_read ; |
| 1012 | 1021 | ||
| 1013 | 1022 | ||
| 1014 | writer.write('B'); |
1023 | writer.write('B'); |
| 1015 | writer.write((hex_bytes_read>>8)& 0xFF); |
1024 | writer.write((hex_bytes_read>>8)& 0xFF); |
| 1016 | writer.write((hex_bytes_read)& 0xFF); |
1025 | writer.write((hex_bytes_read)& 0xFF); |
| 1017 | writer.write('F'); |
1026 | writer.write('F'); |
| 1018 | writer.flush(); |
1027 | writer.flush(); |
| 1019 | 1028 | ||
| 1020 | 1029 | ||
| 1021 | writer.write(flash_buff,0,hex_bytes_read); |
1030 | writer.write(flash_buff,0,hex_bytes_read); |
| 1022 | writer.flush(); |
1031 | writer.flush(); |
| 1023 | 1032 | ||
| 1024 | 1033 | ||
| 1025 | if (avr_sig==224) |
1034 | if (avr_sig==224) |
| 1026 | { |
1035 | { |
| 1027 | int crc=0xFFFF; |
1036 | int crc=0xFFFF; |
| 1028 | for (int crc_pos=0;crc_pos<hex_bytes_read;crc_pos++) |
1037 | for (int crc_pos=0;crc_pos<hex_bytes_read;crc_pos++) |
| 1029 | crc=CRC16(flash_buff[crc_pos],crc); |
1038 | crc=CRC16(flash_buff[crc_pos],crc); |
| 1030 | writer.write(crc>>8); |
1039 | writer.write(crc>>8); |
| 1031 | writer.write(crc&0xff); |
1040 | writer.write(crc&0xff); |
| 1032 | writer.flush(); |
1041 | writer.flush(); |
| 1033 | } |
1042 | } |
| 1034 | // flash_msgs[msg_pos]+="ok"; |
1043 | // flash_msgs[msg_pos]+="ok"; |
| 1035 | // writer.flush(); |
1044 | // writer.flush(); |
| 1036 | 1045 | ||
| 1037 | 1046 | ||
| 1038 | 1047 | ||
| 1039 | if (reader.read()!=0x0d) |
1048 | if (reader.read()!=0x0d) |
| 1040 | throw new Exception("abort write at block"+block); |
1049 | throw new Exception("abort write at block"+block); |
| 1041 | 1050 | ||
| 1042 | 1051 | ||
| 1043 | 1052 | ||
| 1044 | // sleep(1000); |
1053 | // sleep(1000); |
| 1045 | } |
1054 | } |
| 1046 | // flash_msgs[msg_pos]="bl:" + block + "/" + blocks2write + " si:"+hex_bytes_read ; |
1055 | // flash_msgs[msg_pos]="bl:" + block + "/" + blocks2write + " si:"+hex_bytes_read ; |
| 1047 | /* |
1056 | /* |
| 1048 | |
1057 | |
| 1049 | int inp=0; |
1058 | int inp=0; |
| 1050 | int block=0; |
1059 | int block=0; |
| 1051 | while (inp!=-1) |
1060 | while (inp!=-1) |
| 1052 | { |
1061 | { |
| 1053 | int flash_buff_pos=0; |
1062 | int flash_buff_pos=0; |
| 1054 | int crc=0xFFFF; |
1063 | int crc=0xFFFF; |
| 1055 | |
1064 | |
| 1056 | while ((flash_buff_pos<send_buff_size)&&(inp!=-1)) |
1065 | while ((flash_buff_pos<send_buff_size)&&(inp!=-1)) |
| 1057 | { |
1066 | { |
| 1058 | inp=in.read(); |
1067 | inp=in.read(); |
| 1059 | if (inp!=-1) |
1068 | if (inp!=-1) |
| 1060 | { |
1069 | { |
| 1061 | crc=CRC16(inp,crc); |
1070 | crc=CRC16(inp,crc); |
| 1062 | flash_buff[flash_buff_pos++]=(byte)inp; |
1071 | flash_buff[flash_buff_pos++]=(byte)inp; |
| 1063 | } |
1072 | } |
| 1064 | } |
1073 | } |
| 1065 | // flash_msgs[msg_pos]="block" + block + "size:"+flash_buff_pos; |
1074 | // flash_msgs[msg_pos]="block" + block + "size:"+flash_buff_pos; |
| 1066 | |
1075 | |
| 1067 | block++; |
1076 | block++; |
| 1068 | |
1077 | |
| 1069 | boolean block_fin=false; |
1078 | boolean block_fin=false; |
| 1070 | 1079 | ||
| 1071 | 1080 | ||
| 1072 | while(!block_fin) |
1081 | while(!block_fin) |
| 1073 | { |
1082 | { |
| 1074 | |
1083 | |
| 1075 | writer.write('B'); |
1084 | writer.write('B'); |
| 1076 | writer.write((flash_buff_pos>>8)& 0xFF); |
1085 | writer.write((flash_buff_pos>>8)& 0xFF); |
| 1077 | writer.write((flash_buff_pos)& 0xFF); |
1086 | writer.write((flash_buff_pos)& 0xFF); |
| 1078 | writer.write('F'); |
1087 | writer.write('F'); |
| 1079 | writer.flush(); |
1088 | writer.flush(); |
| 1080 | 1089 | ||
| 1081 | // int ret_v=-1; |
1090 | // int ret_v=-1; |
| 1082 | |
1091 | |
| 1083 | writer.write(flash_buff,0,flash_buff_pos); |
1092 | writer.write(flash_buff,0,flash_buff_pos); |
| 1084 | flash_msgs[msg_pos]="bl:" + block + "si:"+flash_buff_pos ; |
1093 | flash_msgs[msg_pos]="bl:" + block + "si:"+flash_buff_pos ; |
| 1085 | |
1094 | |
| 1086 | writer.flush(); |
1095 | writer.flush(); |
| 1087 | // flash_msgs[msg_pos]+="wtc"; |
1096 | // flash_msgs[msg_pos]+="wtc"; |
| 1088 | |
1097 | |
| 1089 | |
1098 | |
| 1090 | // append crc if navi |
1099 | // append crc if navi |
| 1091 | if (avr_sig==224) |
1100 | if (avr_sig==224) |
| 1092 | { |
1101 | { |
| 1093 | writer.write(crc>>8); |
1102 | writer.write(crc>>8); |
| 1094 | writer.write(crc&0xff); |
1103 | writer.write(crc&0xff); |
| 1095 | writer.flush(); |
1104 | writer.flush(); |
| 1096 | } |
1105 | } |
| 1097 | // flash_msgs[msg_pos]+="ok"; |
1106 | // flash_msgs[msg_pos]+="ok"; |
| 1098 | // writer.flush(); |
1107 | // writer.flush(); |
| 1099 | // if (reader.read()!=0x0d) |
1108 | // if (reader.read()!=0x0d) |
| 1100 | // throw new Exception("abort write at block"+block); |
1109 | // throw new Exception("abort write at block"+block); |
| 1101 | |
1110 | |
| 1102 | |
1111 | |
| 1103 | //ret_v=reader.read(); |
1112 | //ret_v=reader.read(); |
| 1104 | // flash_msgs[msg_pos]="ret"+ret_v + "crc"+crc; |
1113 | // flash_msgs[msg_pos]="ret"+ret_v + "crc"+crc; |
| 1105 | |
1114 | |
| 1106 | if (reader.read()==0x0d) |
1115 | if (reader.read()==0x0d) |
| 1107 | block_fin=true; |
1116 | block_fin=true; |
| 1108 | |
1117 | |
| 1109 | } |
1118 | } |
| 1110 | 1119 | ||
| 1111 | } |
1120 | } |
| 1112 | */ |
1121 | */ |
| 1113 | flash_msgs[++msg_pos]="written last block "; |
1122 | flash_msgs[++msg_pos]="written last block "; |
| 1114 | msg_pos++; |
1123 | msg_pos++; |
| 1115 | flash_buff=null; |
1124 | flash_buff=null; |
| 1116 | 1125 | ||
| 1117 | ufo_prober.set_to_none(); |
1126 | ufo_prober.set_to_none(); |
| 1118 | stats.reset(); |
1127 | stats.reset(); |
| 1119 | version=new MKVersion(); |
1128 | version=new MKVersion(); |
| 1120 | System.gc(); |
1129 | System.gc(); |
| 1121 | } |
1130 | } |
| 1122 | else // bootloader intension clear settings |
1131 | else // bootloader intension clear settings |
| 1123 | { |
1132 | { |
| 1124 | 1133 | ||
| 1125 | flash_msgs[msg_pos]="reset params .."; |
1134 | flash_msgs[msg_pos]="reset params .."; |
| 1126 | writer.write('B'); |
1135 | writer.write('B'); |
| 1127 | writer.write(0); |
1136 | writer.write(0); |
| 1128 | writer.write(4); |
1137 | writer.write(4); |
| 1129 | writer.write('E'); |
1138 | writer.write('E'); |
| 1130 | writer.flush(); |
1139 | writer.flush(); |
| 1131 | 1140 | ||
| 1132 | writer.write(0xFF); |
1141 | writer.write(0xFF); |
| 1133 | writer.write(0xFF); |
1142 | writer.write(0xFF); |
| 1134 | writer.write(0xFF); |
1143 | writer.write(0xFF); |
| 1135 | writer.write(0xFF); |
1144 | writer.write(0xFF); |
| 1136 | writer.flush(); |
1145 | writer.flush(); |
| 1137 | flash_msgs[msg_pos++]+=" done"; |
1146 | flash_msgs[msg_pos++]+=" done"; |
| 1138 | } |
1147 | } |
| 1139 | 1148 | ||
| 1140 | flash_msgs[msg_pos++]="Exiting Bootloader" ; |
1149 | flash_msgs[msg_pos++]="Exiting Bootloader" ; |
| 1141 | params=new MKParamsParser(); |
1150 | params=new MKParamsParser(); |
| 1142 | try{ |
1151 | try{ |
| 1143 | writer.write('E'); |
1152 | writer.write('E'); |
| 1144 | writer.flush(); |
1153 | writer.flush(); |
| 1145 | } |
1154 | } |
| 1146 | catch (Exception e) { |
1155 | catch (Exception e) { |
| 1147 | flash_msgs[msg_pos++]="cant exit bootloader" ; |
1156 | flash_msgs[msg_pos++]="cant exit bootloader" ; |
| 1148 | } |
1157 | } |
| 1149 | flash_msgs[msg_pos++]="Exit BL done" ; |
1158 | flash_msgs[msg_pos++]="Exit BL done" ; |
| 1150 | 1159 | ||
| 1151 | bootloader_finish_ok=true; |
1160 | bootloader_finish_ok=true; |
| 1152 | } |
1161 | } |
| 1153 | 1162 | ||
| 1154 | catch (Exception e) { |
1163 | catch (Exception e) { |
| 1155 | flash_msgs[msg_pos++]="Fail:" +e.getMessage() ; |
1164 | flash_msgs[msg_pos++]="Fail:" +e.getMessage() ; |
| 1156 | 1165 | ||
| 1157 | 1166 | ||
| 1158 | flash_msgs[msg_pos++]="Exiting Bootloader" ; |
1167 | flash_msgs[msg_pos++]="Exiting Bootloader" ; |
| 1159 | params=new MKParamsParser(); |
1168 | params=new MKParamsParser(); |
| 1160 | try{ |
1169 | try{ |
| 1161 | writer.write('E'); |
1170 | writer.write('E'); |
| 1162 | writer.flush(); |
1171 | writer.flush(); |
| 1163 | } |
1172 | } |
| 1164 | catch (Exception e2) { |
1173 | catch (Exception e2) { |
| 1165 | flash_msgs[msg_pos++]="cant exit bootloader" ; |
1174 | flash_msgs[msg_pos++]="cant exit bootloader" ; |
| 1166 | } |
1175 | } |
| 1167 | flash_msgs[msg_pos++]="Exit BL done" ; |
1176 | flash_msgs[msg_pos++]="Exit BL done" ; |
| 1168 | if (sigfail&&(bl_retrys<3)) |
1177 | if (sigfail&&(bl_retrys<3)) |
| 1169 | { |
1178 | { |
| 1170 | bl_retrys++; |
1179 | bl_retrys++; |
| 1171 | init_bootloader=true; |
1180 | init_bootloader=true; |
| 1172 | } |
1181 | } |
| 1173 | close_connections(false); |
1182 | close_connections(false); |
| 1174 | } |
1183 | } |
| 1175 | 1184 | ||
| 1176 | 1185 | ||
| 1177 | sending=false; |
1186 | sending=false; |
| 1178 | } |
1187 | } |
| 1179 | 1188 | ||
| 1180 | 1189 | ||
| 1181 | byte[] data_set=new byte[1024]; |
1190 | byte[] data_set=new byte[1024]; |
| 1182 | int data_set_pos=0; |
1191 | int data_set_pos=0; |
| 1183 | 1192 | ||
| 1184 | 1193 | ||
| 1185 | 1194 | ||
| 1186 | 1195 | ||
| 1187 | byte[] data_in_buff=new byte[DATA_IN_BUFF_SIZE]; |
1196 | byte[] data_in_buff=new byte[DATA_IN_BUFF_SIZE]; |
| 1188 | 1197 | ||
| 1189 | int input; |
1198 | int input; |
| 1190 | int pos=0; |
1199 | int pos=0; |
| 1191 | 1200 | ||
| 1192 | 1201 | ||
| 1193 | 1202 | ||
| 1194 | 1203 | ||
| 1195 | 1204 | ||
| 1196 | log("Thread started"); |
1205 | log("Thread started"); |
| 1197 | while(true) |
1206 | while(true) |
| 1198 | { |
1207 | { |
| 1199 | - | ||
| 1200 | data_buff[data_buff_pos]="ct-l" +data_buff_pos + "" + connected ; |
- | |
| 1201 | data_buff_pos++; |
- | |
| 1202 | data_buff_pos%=DATA_BUFF_LEN; |
- | |
| 1203 | 1208 | ||
| 1204 | if (!connected) |
1209 | if (!connected) |
| 1205 | { |
1210 | { |
| 1206 | if (!force_disconnect) connect(); |
1211 | if (!force_disconnect) connect(); |
| 1207 | sleep(100); |
1212 | sleep(100); |
| 1208 | } |
1213 | } |
| 1209 | else |
1214 | else |
| 1210 | try{ |
1215 | try{ |
| 1211 | 1216 | ||
| 1212 | /* |
1217 | /* |
| 1213 | while(sending) |
1218 | while(sending) |
| 1214 | {try { Thread.sleep(50); } |
1219 | {try { Thread.sleep(50); } |
| 1215 | catch (Exception e) { } |
1220 | catch (Exception e) { } |
| 1216 | } |
1221 | } |
| 1217 | */ |
1222 | */ |
| 1218 | - | ||
| 1219 | recieving=true; |
1223 | recieving=true; |
| 1220 | int read_count ; |
1224 | int read_count ; |
| 1221 | - | ||
| 1222 | - | ||
| 1223 | 1225 | ||
| 1224 | if (reader.available()<DATA_IN_BUFF_SIZE) |
1226 | if (reader.available()<DATA_IN_BUFF_SIZE) |
| 1225 | read_count =reader.read(data_in_buff,0,reader.available()); |
1227 | read_count =reader.read(data_in_buff,0,reader.available()); |
| 1226 | else |
1228 | else |
| 1227 | read_count =reader.read(data_in_buff,0,DATA_IN_BUFF_SIZE); |
1229 | read_count =reader.read(data_in_buff,0,DATA_IN_BUFF_SIZE); |
| 1228 | - | ||
| 1229 | - | ||
| 1230 | if ( read_count!=0) |
- | |
| 1231 | { |
- | |
| 1232 | data_buff[data_buff_pos]="avail:" + reader.available(); |
- | |
| 1233 | data_buff_pos++; |
- | |
| 1234 | data_buff_pos%=DATA_BUFF_LEN; |
- | |
| 1235 | } |
1230 | |
| 1236 | // log("Connected - reading data " + read_count); |
1231 | // log("Connected - reading data " + read_count); |
| 1237 | // pos=0; |
1232 | // pos=0; |
| 1238 | input=0; |
1233 | input=0; |
| 1239 | //data_buff[data_buff_pos]=""; |
1234 | //data_buff[data_buff_pos]=""; |
| 1240 | // recieve data-set |
1235 | // recieve data-set |
| 1241 | if (read_count==0) sleep(20); |
- | |
| 1242 | 1236 | ||
| 1243 | // int read_count =reader.read(data_in_buff,0,reader.available()); |
1237 | // int read_count =reader.read(data_in_buff,0,reader.available()); |
| 1244 | stats.bytes_in+=read_count; |
1238 | stats.bytes_in+=read_count; |
| 1245 | if (read_count>0) |
1239 | if (read_count>0) |
| 1246 | { |
1240 | { |
| 1247 | log("read" + read_count + " ds_pos" + data_set_pos); |
1241 | log("read" + read_count + " ds_pos" + data_set_pos); |
| 1248 | 1242 | ||
| 1249 | for ( pos=0;pos<read_count;pos++) |
1243 | for ( pos=0;pos<read_count;pos++) |
| 1250 | { |
1244 | { |
| 1251 | if (data_in_buff[pos]==13) |
1245 | if (data_in_buff[pos]==13) |
| 1252 | { |
1246 | { |
| 1253 | data_buff[data_buff_pos]=new String(data_set, 0, data_set_pos); |
1247 | data_buff[data_buff_pos]=new String(data_set, 0, data_set_pos); |
| 1254 | data_buff_pos++; |
1248 | data_buff_pos++; |
| 1255 | data_buff_pos%=DATA_BUFF_LEN; |
1249 | data_buff_pos%=DATA_BUFF_LEN; |
| 1256 | 1250 | ||
| 1257 | 1251 | ||
| 1258 | try{process_data(data_set,data_set_pos); } |
1252 | try{process_data(data_set,data_set_pos); } |
| 1259 | catch (Exception e) |
1253 | catch (Exception e) |
| 1260 | { |
1254 | { |
| 1261 | log(".. problem processing"); |
1255 | log(".. problem processing"); |
| 1262 | log(e.toString()); |
1256 | log(e.toString()); |
| 1263 | } |
1257 | } |
| 1264 | 1258 | ||
| 1265 | 1259 | ||
| 1266 | 1260 | ||
| 1267 | 1261 | ||
| 1268 | proxy.write(data_set,0,data_set_pos); |
1262 | proxy.write(data_set,0,data_set_pos); |
| 1269 | // proxy.writer.write('\r'); |
1263 | // proxy.writer.write('\r'); |
| 1270 | //proxy.writer.write('\n'); |
1264 | //proxy.writer.write('\n'); |
| 1271 | //proxy.writer.flush(); |
1265 | //proxy.writer.flush(); |
| 1272 | /* |
1266 | /* |
| 1273 | if (proxy!=null) |
1267 | if (proxy!=null) |
| 1274 | { |
1268 | { |
| 1275 | |
1269 | |
| 1276 | 1270 | ||
| 1277 | 1271 | ||
| 1278 | } |
1272 | } |
| 1279 | */ |
1273 | */ |
| 1280 | data_set_pos=0; |
1274 | data_set_pos=0; |
| 1281 | 1275 | ||
| 1282 | } |
1276 | } |
| 1283 | else |
1277 | else |
| 1284 | { |
1278 | { |
| 1285 | data_set[data_set_pos++]=data_in_buff[pos]; |
1279 | data_set[data_set_pos++]=data_in_buff[pos]; |
| 1286 | 1280 | ||
| 1287 | 1281 | ||
| 1288 | 1282 | ||
| 1289 | 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')) |
1283 | 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')) |
| 1290 | { |
1284 | { |
| 1291 | bootloader_stage= BOOTLOADER_STAGE_GOT_MKBL; |
1285 | bootloader_stage= BOOTLOADER_STAGE_GOT_MKBL; |
| 1292 | return; |
1286 | return; |
| 1293 | } |
1287 | } |
| 1294 | 1288 | ||
| 1295 | } |
1289 | } |
| 1296 | 1290 | ||
| 1297 | } |
1291 | } |
| 1298 | 1292 | ||
| 1299 | 1293 | ||
| 1300 | } |
1294 | } |
| 1301 | else |
1295 | else |
| - | 1296 | { |
|
| - | 1297 | recieving=false; |
|
| 1302 | sleep(5); |
1298 | sleep(20); |
| - | 1299 | } |
|
| 1303 | /* |
1300 | /* |
| 1304 | while ((input != 13)) //&&(input!=-1)) |
1301 | while ((input != 13)) //&&(input!=-1)) |
| 1305 | { |
1302 | { |
| 1306 | { |
1303 | { |
| 1307 | //log("pre read"); |
1304 | //log("pre read"); |
| 1308 | log(""+reader.available()); |
1305 | log(""+reader.available()); |
| 1309 | input = reader.read() ; |
1306 | input = reader.read() ; |
| 1310 | log("Byte rcv" + input +"pos"+ pos); |
1307 | log("Byte rcv" + input +"pos"+ pos); |
| 1311 | |
1308 | |
| 1312 | proxy.write(input); |
1309 | proxy.write(input); |
| 1313 | |
1310 | |
| 1314 | data_buff[data_buff_pos]+=(char)input; |
1311 | data_buff[data_buff_pos]+=(char)input; |
| 1315 | |
1312 | |
| 1316 | 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"))) |
1313 | 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"))) |
| 1317 | { |
1314 | { |
| 1318 | bootloader_stage= BOOTLOADER_STAGE_GOT_MKBL; |
1315 | bootloader_stage= BOOTLOADER_STAGE_GOT_MKBL; |
| 1319 | return; |
1316 | return; |
| 1320 | } |
1317 | } |
| 1321 | if (input==-1) throw new Exception("disconnect"); |
1318 | if (input==-1) throw new Exception("disconnect"); |
| 1322 | else |
1319 | else |
| 1323 | { |
1320 | { |
| 1324 | stats.bytes_in++; |
1321 | stats.bytes_in++; |
| 1325 | data_set[pos]=input; |
1322 | data_set[pos]=input; |
| 1326 | pos++; |
1323 | pos++; |
| 1327 | } |
1324 | } |
| 1328 | } |
1325 | } |
| 1329 | |
1326 | |
| 1330 | } |
1327 | } |
| 1331 | |
1328 | |
| 1332 | |
1329 | |
| 1333 | 1330 | ||
| 1334 | data_buff_pos++; |
1331 | data_buff_pos++; |
| 1335 | data_buff_pos%=DATA_BUFF_LEN; |
1332 | data_buff_pos%=DATA_BUFF_LEN; |
| 1336 | recieving=false; |
1333 | recieving=false; |
| 1337 | log("Data recieved (" + pos + "Bytes)"); |
1334 | log("Data recieved (" + pos + "Bytes)"); |
| 1338 | log("processing .."); |
1335 | log("processing .."); |
| 1339 | */ |
1336 | */ |
| 1340 | 1337 | ||
| 1341 | /* |
1338 | /* |
| 1342 | if (proxy!=null) |
1339 | if (proxy!=null) |
| 1343 | { |
1340 | { |
| 1344 | proxy.writer.write('\r'); |
1341 | proxy.writer.write('\r'); |
| 1345 | proxy.writer.write('\n'); |
1342 | proxy.writer.write('\n'); |
| 1346 | proxy.writer.flush(); |
1343 | proxy.writer.flush(); |
| 1347 | } |
1344 | } |
| 1348 | */ |
1345 | */ |
| 1349 | /*if (pos>5) |
1346 | /*if (pos>5) |
| 1350 | { |
1347 | { |
| 1351 | try{process_data(data_set,pos); } |
1348 | try{process_data(data_set,pos); } |
| 1352 | catch (Exception e) |
1349 | catch (Exception e) |
| 1353 | { |
1350 | { |
| 1354 | log(".. problem processing"); |
1351 | log(".. problem processing"); |
| 1355 | log(e.toString()); |
1352 | log(e.toString()); |
| 1356 | } |
1353 | } |
| 1357 | |
1354 | |
| 1358 | log(".. processing done"); |
1355 | log(".. processing done"); |
| 1359 | } |
1356 | } |
| 1360 | */ |
1357 | */ |
| 1361 | } |
1358 | } |
| 1362 | catch (Exception ex) |
1359 | catch (Exception ex) |
| 1363 | { |
1360 | { |
| 1364 | log("Problem reading from MK -> closing conn"); |
1361 | log("Problem reading from MK -> closing conn"); |
| 1365 | log(ex.toString()); |
1362 | log(ex.toString()); |
| 1366 | // close the connection |
1363 | // close the connection |
| 1367 | close_connections(false); |
1364 | close_connections(false); |
| 1368 | } |
1365 | } |
| 1369 | 1366 | ||
| 1370 | // sleep a bit to get someting more done |
1367 | // sleep a bit to get someting more done |
| 1371 | // sleep(5); //50 |
1368 | // sleep(5); //50 |
| 1372 | 1369 | ||
| 1373 | } // while |
1370 | } // while |
| 1374 | // log("Leaving Communicator thread"); |
1371 | // log("Leaving Communicator thread"); |
| 1375 | } // run() |
1372 | } // run() |
| 1376 | } |
1373 | } |
| 1377 | 1374 | ||