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