36,7 → 36,7 |
public boolean init_bootloader=false; |
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public byte lib_version_major=0; |
public byte lib_version_minor=5; |
public byte lib_version_minor=6; |
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public String lib_version_str() |
{ |
44,6 → 44,29 |
} |
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public int AngleNick() |
{ |
if (ufo_prober.is_mk()) |
return angle_nick; |
else if (ufo_prober.is_navi()) |
return debug_data.analog[0]; |
return -1; |
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} |
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public int AngleRoll() |
{ |
if (ufo_prober.is_mk()) |
return angle_roll; |
else if (ufo_prober.is_navi()) |
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return debug_data.analog[1]; |
return -1; |
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} |
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/***************** Section: public Attributes **********************************************/ |
public boolean connected=false; // flag for the connection state |
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58,6 → 81,11 |
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int data_buff_pos=0; |
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// public final static int DATA_IN_BUFF_SIZE=512; |
public final static int DATA_IN_BUFF_SIZE=2048; |
// public final static int DATA_IN_BUFF_SIZE=4096; |
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public byte user_intent=0; |
public final static int[] crc16_table = { |
0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7, |
99,7 → 127,8 |
//#ifdef android |
if (do_log) Log.d("MK-Comm",str); |
//#endif |
System.out.println(str); |
// canvas.debug.log(str); |
// System.out.println(str); |
} |
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public int CRC16(int ch, int crc) |
413,7 → 442,7 |
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public void switch_todo() |
{ |
sleep(50); |
sleep(150); |
version=new MKVersion(); |
LCD= new MKLCD(this); |
debug_data=new MKDebugData(); |
534,8 → 563,15 |
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public void set_debug_interval(int interval) |
{ |
send_command(FC_SLAVE_ADDR,'d',interval); |
send_command(2,'d',interval); |
} |
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public void set_gpsosd_interval(int interval) |
{ |
send_command(NAVI_SLAVE_ADDR,'o',interval); |
} |
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public void send_command(int modul,char cmd) |
{ |
send_command(modul,cmd,new int[0]); |
654,7 → 690,9 |
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debug_buff_off=0; |
debug_buff_len=len; |
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debug_buff_interval=interval; |
if (debug_buff_interval<2)debug_buff_interval=2; |
debug_buff_targets=targets; |
debug_buff_max=1; |
debug_buff_lastset=0; |
677,7 → 715,7 |
public void process_data(byte[] data,int len) |
{ |
|
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slave_addr=data[1]; |
log("command " +(char)data[2] ); |
switch((char)data[2]) |
{ |
1117,7 → 1155,11 |
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byte[] data_set=new byte[1024]; |
int data_set_pos=0; |
byte[] data_in_buff=new byte[2048]; |
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|
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byte[] data_in_buff=new byte[DATA_IN_BUFF_SIZE]; |
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int input; |
int pos=0; |
1129,6 → 1171,10 |
log("Thread started"); |
while(true) |
{ |
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data_buff[data_buff_pos]="ct-l" +data_buff_pos + "" + connected ; |
data_buff_pos++; |
data_buff_pos%=DATA_BUFF_LEN; |
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if (!connected) |
{ |
1146,13 → 1192,28 |
*/ |
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recieving=true; |
int read_count =reader.read(data_in_buff,0,reader.available()); |
int read_count ; |
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|
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if (reader.available()<DATA_IN_BUFF_SIZE) |
read_count =reader.read(data_in_buff,0,reader.available()); |
else |
read_count =reader.read(data_in_buff,0,DATA_IN_BUFF_SIZE); |
|
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if ( read_count!=0) |
{ |
data_buff[data_buff_pos]="avail:" + reader.available(); |
data_buff_pos++; |
data_buff_pos%=DATA_BUFF_LEN; |
} |
// log("Connected - reading data " + read_count); |
// pos=0; |
input=0; |
//data_buff[data_buff_pos]=""; |
// recieve data-set |
if (read_count==0) sleep(50); |
if (read_count==0) sleep(20); |
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// int read_count =reader.read(data_in_buff,0,reader.available()); |
stats.bytes_in+=read_count; |
1213,7 → 1274,7 |
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} |
else |
sleep(50); |
sleep(5); |
/* |
while ((input != 13)) //&&(input!=-1)) |
{ |