| 27,11 → 27,13 |
|---|
| |
| |
| public class MKCommunicator |
| implements Runnable |
| implements Runnable,DUBwiseDefinitions |
| { |
| public byte bl_retrys=0; |
| public boolean init_bootloader=false; |
| |
| public byte lib_version_major=0; |
| public byte lib_version_minor=1; |
| public byte lib_version_minor=3; |
| |
| public String lib_version_str() |
| { |
| 97,7 → 99,8 |
|---|
| } |
| |
| public int CRC16(int ch, int crc) |
| { return crc16_table[((crc >> 8) ^ (ch)) & 0xFF] ^ (crc << 8); |
| { |
| return crc16_table[((crc >> 8) ^ (ch)) & 0xFF] ^ (crc << 8); |
| } |
| |
| |
| 108,15 → 111,17 |
|---|
| else |
| return 0; |
| } |
| public final static int BOOTLOADER_STAGE_NONE=0; |
| public final static int BOOTLOADER_STAGE_GOT_MKBL=1; |
| public final static byte BOOTLOADER_STAGE_NONE=0; |
| public final static byte BOOTLOADER_STAGE_GOT_MKBL=1; |
| |
| int bootloader_stage= BOOTLOADER_STAGE_NONE; |
| byte bootloader_stage= BOOTLOADER_STAGE_NONE; |
| |
| public MKLCD LCD; |
| public MKVersion version; |
| public MKDebugData debug_data; |
| |
| public int[] extern_control; |
| |
| public MKGPSPosition gps_position; |
| |
| public MKStickData stick_data; |
| 178,6 → 183,10 |
|---|
| debug_data=new MKDebugData(); |
| stick_data=new MKStickData(); |
| params=new MKParamsParser(); |
| extern_control=new int[EXTERN_CONTROL_LENGTH]; |
| extern_control[EXTERN_CONTROL_CONFIG]=1; |
| extern_control[EXTERN_CONTROL_FRAME]=1; |
| |
| LCD= new MKLCD(this); |
| watchdog=new MKWatchDog(this); |
| gps_position=new MKGPSPosition(); |
| 355,11 → 364,19 |
|---|
| send_command(FC_SLAVE_ADDR,'t',params); |
| } |
| |
| public void send_keys(int[] params) |
| |
| public void send_extern_control() |
| { |
| send_command(FC_SLAVE_ADDR,'k',params); |
| |
| stats.external_control_request_count++; |
| send_command(FC_SLAVE_ADDR,'b',extern_control); |
| } |
| |
| /* public void send_keys(int[] params) |
| { |
| send_command(FC_SLAVE_ADDR,'k',params); |
| }*/ |
| |
| // get params |
| public void get_params(int id) |
| { |
| 457,6 → 474,8 |
|---|
| flash_msgs[msg_pos]="attempt "+attempt; |
| attempt++; |
| send_command_nocheck((byte)FC_SLAVE_ADDR,'R',new int[0]); |
| |
| try{ |
| writer.write( 27); |
| writer.flush(); |
| |
| 464,7 → 483,8 |
|---|
| |
| writer.write( 0xAA); |
| writer.flush(); |
| |
| } |
| catch (Exception e) { } |
| sleep((attempt%2==0)?80:800); //800 |
| } |
| msg_pos++; |
| 563,7 → 583,6 |
|---|
| // send command to FC ( add crc and pack into pseudo Base64 |
| public void send_command(int modul,char cmd,int[] params) |
| { |
| |
| // if (modul==0) return; |
| sending=true; |
| send_command_nocheck((byte)modul,cmd,params); |
| 612,6 → 631,10 |
|---|
| debug_data.set_names_by_mk_data(Decode64(data,3,len-3)); |
| break; |
| |
| case 'B': // external_control confirm frames |
| stats.external_control_confirm_frame_count++; |
| break; |
| |
| case 'L': // LCD Data |
| stats.lcd_data_count++; |
| LCD.handle_lcd_data(Decode64(data,3,len-3)); |
| 730,7 → 753,7 |
|---|
| // Thread to recieve data from Connection |
| public void run() |
| { |
| |
| boolean sigfail=false; |
| if (bootloader_stage==BOOTLOADER_STAGE_GOT_MKBL) |
| { |
| try { |
| 740,6 → 763,10 |
|---|
| writer.flush(); |
| |
| int avr_sig=reader.read(); |
| |
| while (avr_sig==63) |
| avr_sig=reader.read(); |
| |
| flash_msgs[msg_pos++]="got avr sig " + avr_sig; |
| |
| |
| 747,7 → 774,10 |
|---|
| throw new Exception("val after avrsig isnt 0"); |
| |
| if ((avr_sig!=0x74)&&(avr_sig!=224)&&(avr_sig!=120)) |
| { |
| sigfail=true; |
| throw new Exception("avr sig" + avr_sig + " unknown"); |
| } |
| |
| writer.write('T'); |
| // writer.flush(); |
| 784,27 → 814,32 |
|---|
| |
| byte[] flash_buff =new byte[send_buff_size]; ///!! |
| |
| String firmware_filename=(avr_sig==224)?"/navi.bin":((avr_sig==120)?"/mk3.bin":"/fc.bin"); |
| flash_msgs[msg_pos++]="Opening firmware " + firmware_filename + ".."; |
| |
| flash_msgs[msg_pos++]="Opening firmware .."; |
| |
| |
| InputStream in; |
| try { |
| in=this.getClass().getResourceAsStream((avr_sig==224)?"/navi.bin":((avr_sig==120)?"mk3.bin":"/fc.bin")); |
| in=this.getClass().getResourceAsStream(firmware_filename); |
| } |
| |
| catch (Exception e) { throw new Exception(" cant open firmware"); } |
| catch (Exception e) { throw new Exception(" .. cant open firmware"); } |
| int firmware_size=-1; |
| try { |
| |
| firmware_size= ((int)in.read()<<24) |((int)in.read()<<16) | ((int)in.read()<<8) | ((int)in.read()&0xff) ; |
| } |
| catch (Exception e) { throw new Exception(" .. cant read size"); } |
| |
| int firmware_size= ((int)in.read()<<24) |((int)in.read()<<16) | ((int)in.read()<<8) | ((int)in.read()&0xff) ; |
| |
| |
| flash_msgs[msg_pos++]=".. open with " + firmware_size + "bytes"; |
| int blocks2write=((firmware_size/send_buff_size)); |
| flash_msgs[msg_pos++]=".. open("+blocks2write+" blocks," + firmware_size + "bytes)"; |
| |
| |
| |
| // if (true) throw new Exception("before erasing"); |
| |
| |
| // if (true) throw new Exception("before erasing" ); |
| |
| flash_msgs[msg_pos++]="Erasing Flash .."; |
| 828,7 → 863,7 |
|---|
| flash_msgs[msg_pos++]="addr set"; |
| |
| |
| int blocks2write=((firmware_size/send_buff_size)); |
| // int blocks2write=((firmware_size/send_buff_size)); |
| if ((firmware_size%send_buff_size)>0) |
| blocks2write++; |
| |
| 993,9 → 1028,11 |
|---|
| flash_msgs[msg_pos++]="cant exit bootloader" ; |
| } |
| flash_msgs[msg_pos++]="Exit BL done" ; |
| |
| |
| |
| if (sigfail&&(bl_retrys<3)) |
| { |
| bl_retrys++; |
| init_bootloader=true; |
| } |
| close_connections(false); |
| } |
| |