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Ignore whitespace Rev 1611 → Rev 1601

/dongfang_FC_rewrite_tool/configsets/config.xml
File deleted
/dongfang_FC_rewrite_tool/configsets/ADXRS610/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/ENC-03/imu.xml
File deleted
\ No newline at end of file
/dongfang_FC_rewrite_tool/configsets/ENC-03/config.xml
0,0 → 1,164
<parameterset eepromVersion="3" length="79">
<parameter name="bitConfig">
<bit name="CFG_SIMPLE_HEIGHT_CONTROL" value="0" />
<bit name="CFG_SIMPLE_HC_HOLD_SWITCH" value="0" />
<bit name="CFG_HEADING_HOLD" value="0" />
<bit name="CFG_COMPASS_ACTIVE" value="1" />
<bit name="CFG_COMPASS_FIX" value="0" />
<bit name="CFG_GPS_ACTIVE" value="0" />
<bit name="CFG_AXIS_COUPLING_ACTIVE" value="0" />
<bit name="CFG_GYRO_SATURATION_PREVENTION" value="1" />
</parameter>
 
<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="1" />
<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="gyroATTFilterConstant" value="1" />
<parameter name="gyroDFilterConstant" value="1" />
<parameter name="accFilterConstant" value="15" />
 
<parameter name="maxAccVector" value="250" />
<parameter name="maxControlActivity" value="25" />
<parameter name="zerothOrderCorrection" value="20" />
<parameter name="driftCompDivider" value="2" />
<parameter name="driftCompLimit" value="100" />
 
<parameter name="axisCoupling1" value="90" />
<parameter name="axisCoupling2" value="67" />
<parameter name="axisCouplingYawCorrection" value="0" />
 
<parameter name="levelCorrectionPitch" value="128" />
<parameter name="levelCorrectionRoll" value="128" />
 
<parameter name="gyroP" value="80" />
<parameter name="gyroI" value="100" />
<parameter name="gyroD" value="20" />
<parameter name="attitudeControl" value="0" />
<parameter name="stickP" value="8" />
<parameter name="stickD" value="2" />
<parameter name="stickYawP" value="8" />
<parameter name="stickThrottleD" value="8" />
<parameter name="minThrottle" value="4" />
<parameter name="maxThrottle" value="230" />
<parameter name="externalControl" value="0" />
<parameter name="motorSmoothing" value="0" />
<parameter name="dynamicStability" value="50" />
<parameter name="IFactor" value="32" />
<parameter name="yawIFactor" value="40" />
<parameter name="compassYawEffect" value="128" />
<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="airpressureAccZCorrection" value="184" />
<parameter name="heightP" value="var1" />
<parameter name="heightI" value="var2" />
<parameter name="heightD" value="100" />
<parameter name="heightSetting" value="var1" />
<parameter name="heightControlMaxIntegral" value="40" />
<parameter name="heightMaxThrottleChange" value="40" />
<parameter name="heightSlewRate" value="200" />
 
<parameter name="servoCount" value="7" />
<parameter name="servoManualMaxSpeed" value="10" />
<parameter name="pitchServoControl" value="128" />
<parameter name="pitchServoStabilization" value="0" />
<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="0" />
<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="10" />
<parameter name="GPSMinimumSatellites" value="6" />
<parameter name="naviP" value="50" />
<parameter name="naviI" value="0" />
<parameter name="naviD" value="50" />
 
<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/InvenSense/imu.xml
File deleted
\ No newline at end of file
/dongfang_FC_rewrite_tool/configsets/templates/imuconfiguration_v0.xml
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/dongfang_FC_rewrite_tool/configsets/templates/parameterset_v2.xml
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/dongfang_FC_rewrite_tool/configsets/templates/parameterset_v3.xml
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\ No newline at end of file
/dongfang_FC_rewrite_tool/src/dongfang/mkt/RequestFrameVisitor.java
13,15 → 13,13
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;
37,12 → 35,10
void visit(ExternalControlRequestFrame f) throws IOException;
void visit(ResetRequestFrame f) throws IOException;
void visit(ChangeParameterSetRequestFrame f) throws IOException;
void visit(ReadParamSetRequestFrame f) throws IOException;
void visit(WriteParamSetRequestFrame f) throws IOException;
void visit(UniversalReadParamSetRequestFrame f) throws IOException;
void visit(UniversalWriteParamSetRequestFrame 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
16,12 → 16,10
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.ReadParamSetResponseFrame;
import dongfang.mkt.frames.WriteIMUConfigurationResponseFrame;
import dongfang.mkt.frames.WriteParamSetResponseFrame;
import dongfang.mkt.frames.UniversalReadParamSetResponseFrame;
import dongfang.mkt.frames.UniversalWriteParamSetResponseFrame;
import dongfang.mkt.frames.VariablesResponseFrame;
import dongfang.mkt.frames.VersionResponseFrame;
 
227,21 → 225,6
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);
331,7 → 314,7
break;
}
case 'S': {
WriteParamSetResponseFrame f = new WriteParamSetResponseFrame(address);
UniversalWriteParamSetResponseFrame f = new UniversalWriteParamSetResponseFrame(address);
f.setParameterSetNumber(base64InputStream.readByte());
result = f;
break;
387,7 → 370,7
break;
}
case 'Q':
ReadParamSetResponseFrame f = new ReadParamSetResponseFrame(address);
UniversalReadParamSetResponseFrame f = new UniversalReadParamSetResponseFrame(address);
f.setConfigurationSetNumber(base64InputStream.readByte());
f.setConfigurationVersion(base64InputStream.readByte());
int length = base64InputStream.readByte();
/dongfang_FC_rewrite_tool/src/dongfang/mkt/comm/MKOutputStream.java
15,16 → 15,14
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 {
193,12 → 191,12
base64OutputStream.writeChars(f.getChararray());
}
public void visit(ReadParamSetRequestFrame f) throws IOException {
public void visit(UniversalReadParamSetRequestFrame f) throws IOException {
writeByte('q');
base64OutputStream.writeByte(f.getConfigurationSetNumber());
}
 
public void visit(WriteParamSetRequestFrame f) throws IOException {
public void visit(UniversalWriteParamSetRequestFrame f) throws IOException {
writeByte('s');
base64OutputStream.writeByte(f.getConfigurationSetNumber());
base64OutputStream.writeByte(f.getConfigurationVersionNumber());
219,15 → 217,4
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/ConfigurationSet.java
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/dongfang_FC_rewrite_tool/src/dongfang/mkt/configuration/ParameterSet.java
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/dongfang_FC_rewrite_tool/src/dongfang/mkt/configuration/BitSetEntry.java
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/dongfang_FC_rewrite_tool/src/dongfang/mkt/configuration/DynamicByteEntry.java
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/dongfang_FC_rewrite_tool/src/dongfang/mkt/configuration/ParameterEntry.java
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/dongfang_FC_rewrite_tool/src/dongfang/mkt/configuration/ArrayEntry.java
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/dongfang_FC_rewrite_tool/src/dongfang/mkt/configuration/ParameterSection.java
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/dongfang_FC_rewrite_tool/src/dongfang/mkt/configuration/IMUConfiguration.java
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/dongfang_FC_rewrite_tool/src/dongfang/mkt/configuration/ConfigSet.java
0,0 → 1,458
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 ConfigSet {
public static final int NUMBER_OF_VARIABLES = 8;
String name;
int eepromVersion;
 
List<Section> declaredSections = new ArrayList<Section>();
List<ConfigEntry> entries = new ArrayList<ConfigEntry>();
 
public static class Section {
String name, title;
List<ConfigEntry> entries = new ArrayList<ConfigEntry>();
 
public Section(String name, String title) {
this.name = name;
this.title = title;
}
 
public void addConfigEntry(ConfigEntry e) {
this.entries.add(e);
}
 
public List<ConfigEntry> getEntries() {
return entries;
}
 
public String getName() {
return name;
}
 
public String getTitle() {
return title;
}
}
 
public static abstract class ConfigEntry {
String name;
 
ConfigEntry(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;
}
}
 
public static class StaticByteEntry extends ConfigEntry {
StaticByteEntry(String name) {
super(name);
}
 
int value;
 
int getByteCount() {
return 1;
}
 
int getValue() {
return value;
}
 
int setValue(int[] data, int offset) {
this.value = data[offset];
return getByteCount();
}
 
String toStringWithValues() {
return name + ":\t" + value;
}
 
void toXML(StringBuilder result) {
String s_value;
s_value = Integer.toString(value);
result.append(" <parameter name=\"" + name + "\" value=\""
+ s_value + "\"/>\n");
}
}
 
public static 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 - 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");
}
}
 
public static class BitSetEntry extends ConfigEntry {
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");
}
}
 
public static class ArrayEntry extends ConfigEntry {
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");
}
}
 
public List<ConfigEntry> getEntries() {
return entries;
}
 
public List<Section> getDeclaredSections() {
return declaredSections;
}
 
public void setData(int[] data) throws IOException {
int offset = 0;
int dataLength = data.length - 12;
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 (ConfigEntry entry : entries) {
offset += entry.setValue(data, offset);
}
StringBuilder sbname = new StringBuilder();
for (int i = 0; i < 12; i++) {
if (data[offset] == 0)
break;
sbname.append((char) data[offset++]);
}
name = sbname.toString();
}
 
public int getByteCount() {
int result = 0;
for (ConfigEntry e : entries) {
result += e.getByteCount();
}
return result;
}
 
public String toStringWithValues() {
StringBuilder result = new StringBuilder();
result.append(name + "\n");
for (ConfigEntry entry : entries) {
result.append(entry.toStringWithValues() + "\n");
}
return result.toString();
}
 
public String toXML() {
StringBuilder result = new StringBuilder();
result.append("<parameterset eepromVersion=\"" + eepromVersion
+ "\" length=\"" + getByteCount() + "\">\n");
for (int i = 0; i < entries.size(); i++) {
ConfigEntry entry = entries.get(i);
entry.toXML(result);
}
result.append("</parameterset>\n");
return result.toString();
}
 
public ConfigSet(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 ConfigSet parseXMLConfigSet(int version) throws IOException {
String fileName = "configsets/templates/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 + ")");
}
 
ConfigSet result = new ConfigSet(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);
Section section = new Section(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);
 
ConfigEntry 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 ConfigSet.StaticByteEntry(s_name);
} else if ("dynamic".equals(s_type)) {
ConfigSet.DynamicByteEntry de = new ConfigSet.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 ConfigSet.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);
}
}
 
public String generateDynamicSubstitutionCode() {
StringBuilder result = new StringBuilder(
"const MMXLATION XLATIONS[] = {\n");
boolean hasEntries = false;
for (ConfigEntry entry : entries) {
if (entry instanceof ConfigSet.DynamicByteEntry) {
if (hasEntries)
result.append(",\n");
else
hasEntries = true;
ConfigSet.DynamicByteEntry de = (ConfigSet.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/frames/ReadParamSetResponseFrame.java
File deleted
/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/WriteIMUConfigurationResponseFrame.java
File deleted
/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/ReadIMUConfigurationRequestFrame.java
File deleted
/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/WriteParamSetResponseFrame.java
File deleted
/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/ReadIMUConfigurationResponseFrame.java
File deleted
/dongfang_FC_rewrite_tool/src/dongfang/mkt/frames/ReadParamSetRequestFrame.java
6,22 → 6,11
 
 
public class ReadParamSetRequestFrame extends RequestFrame {
private int configurationSetNumber;
 
public ReadParamSetRequestFrame() {
super(FC_ADDRESS);
ReadParamSetRequestFrame(int address) {
super(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/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(ReadParamSetRequestFrame f) throws IOException;
void visit(WriteParamSetRequestFrame f) throws IOException;
void visit(UniversalReadParamSetRequestFrame f) throws IOException;
void visit(UniversalWriteParamSetRequestFrame 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/UniversalReadParamSetRequestFrame.java
0,0 → 1,27
package dongfang.mkt.frames;
 
import java.io.IOException;
 
import dongfang.mkt.RequestFrameVisitor;
 
 
public class UniversalReadParamSetRequestFrame extends RequestFrame {
private int configurationSetNumber;
 
public UniversalReadParamSetRequestFrame() {
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/UniversalReadParamSetResponseFrame.java
0,0 → 1,49
package dongfang.mkt.frames;
 
public class UniversalReadParamSetResponseFrame extends ResponseFrame {
private int configurationSetNumber;
private int configurationVersion;
private int length;
private int[] data;
 
public UniversalReadParamSetResponseFrame(int address) {
super(address);
}
 
@Override
public boolean isResponseTo(RequestFrame r) {
return r instanceof UniversalReadParamSetRequestFrame;
}
 
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/UniversalWriteParamSetRequestFrame.java
0,0 → 1,49
package dongfang.mkt.frames;
 
import java.io.IOException;
 
import dongfang.mkt.RequestFrameVisitor;
 
 
public class UniversalWriteParamSetRequestFrame extends RequestFrame {
private char[] name;
private int[] data;
private int configurationSetNumber;
private int configurationVersionNumber;
public UniversalWriteParamSetRequestFrame(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/UniversalWriteParamSetResponseFrame.java
0,0 → 1,26
package dongfang.mkt.frames;
 
public class UniversalWriteParamSetResponseFrame extends ResponseFrame {
private int parameterSetNumber;
 
public UniversalWriteParamSetResponseFrame(int address) {
super(address);
}
 
@Override
public boolean isResponseTo(RequestFrame r) {
return r instanceof UniversalWriteParamSetRequestFrame;
}
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/frames/WriteParamSetRequestFrame.java
6,44 → 6,11
 
 
public class WriteParamSetRequestFrame extends RequestFrame {
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;
WriteParamSetRequestFrame(int address) {
super(address);
}
 
@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/main/IMUConfigurator.java
File deleted
\ No newline at end of file
/dongfang_FC_rewrite_tool/src/dongfang/mkt/main/ParameterSetConfigurator.java
File deleted
\ No newline at end of file
/dongfang_FC_rewrite_tool/src/dongfang/mkt/main/CodeGenerator.java
2,12 → 2,11
 
import java.io.IOException;
 
import dongfang.mkt.configuration.ConfigurationSet;
import dongfang.mkt.configuration.ParameterSet;
import dongfang.mkt.configuration.ConfigSet;
 
public class CodeGenerator {
static void generateDynamicSubstitutionCode(int paramSetVersion) throws IOException {
ConfigurationSet cs = ParameterSet.parseXMLConfigSet(paramSetVersion);
ConfigSet cs = ConfigSet.parseXMLConfigSet(paramSetVersion);
System.out.println(cs.generateDynamicSubstitutionCode());
}