Initial commit, based on .tar.gz file as provided by 3DR , see SOURCE file

artoo/tools/stick-map/stick-axis-cfg.py

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+#!/usr/bin/env python
+#
+# valid fields for each axis: stick_id, direction, expo (optional, defaults to 2)
+#
+
+import sys, os, struct, ConfigParser
+import serial, slip
+
+ARTOO_BAUD = 115200
+DEFAULT_EXPO = 2
+
+ARTOO_STORED_PARAMS_ID  = chr(0xb)
+ARTOO_CFG_STICK_AXES_ID = chr(0xf)
+
+def wait_for_params(slipdev):
+    while True:
+        slipdev.write("".join([ARTOO_STORED_PARAMS_ID]))
+        pkt = slipdev.read()
+        pkt = "".join(pkt)
+        if pkt[0] == ARTOO_STORED_PARAMS_ID:
+            return pkt[1:]
+
+def get_field(cfg, axis, field, valid_range = None):
+    # if not specified, leave uninitialized
+    if not cfg.has_option(axis, field):
+        return 0xff
+
+    f = cfg.getint(axis, field)
+    if valid_range:
+        if f not in valid_range:
+            raise ValueError("bad value for %s" % field)
+
+    return f
+
+def validate_and_pack_axis_info(cfg, axis):
+    stick_id = get_field(cfg, axis, 'mapped_stick_id', range(5))
+    # NB: direction - non-zero is Forward, 0 is Reverse
+    direction = get_field(cfg, axis, 'direction', [0, 1])
+    expo = get_field(cfg, axis, 'expo')
+
+    return struct.pack("<BBBBI", stick_id, direction, expo, 0, 0xffffffff)
+
+
+def mainloop(serialpath, cfg):
+
+    serialport = serial.Serial(serialpath, ARTOO_BAUD)
+    slipdev = slip.SlipDevice(serialport)
+
+    payload = ""
+    for axis in ["stick-0", "stick-1", "stick-2", "stick-3", "stick-4", "stick-5"]:
+        payload += validate_and_pack_axis_info(cfg, axis)
+
+    slipdev.write(ARTOO_CFG_STICK_AXES_ID + payload)
+    print "\nverifying config..."
+    params = wait_for_params(slipdev)
+    # XXX: compare params...
+    print "Calibration complete, values stored."
+
+
+#
+# main
+#
+
+if len(sys.argv) < 3:
+    print "usage: stick-axis-cfg.py /dev/ttyMyDev configfile.cfg"
+    sys.exit(1)
+
+config = ConfigParser.ConfigParser()
+config.optionxform = str    # don't lower case all option names
+config.read(os.path.join(os.getcwd(), sys.argv[2]))
+
+mainloop(sys.argv[1], config)

artoo/tools/stick-map/stick-cfg-bb04.cfg

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+
+[stick-0]
+stick_id: 0
+direction: 0
+
+[stick-1]
+stick_id: 1
+direction: 0
+
+[stick-2]
+stick_id: 2
+direction: 0
+
+[stick-3]
+stick_id: 3
+direction: 1
+
+[stick-4]
+direction: 1
+
+[stick-5]
+direction: 1

artoo/tools/stick-map/stick-cfg-evt-mode1.cfg

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+
+[stick-0]
+mapped_stick_id: 3
+direction: 0
+
+[stick-1]
+mapped_stick_id: 0
+direction: 0
+
+[stick-2]
+mapped_stick_id: 1
+direction: 1
+
+[stick-3]
+mapped_stick_id: 2
+direction: 0

artoo/tools/stick-map/stick-cfg-evt-mode2.cfg

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+
+[stick-0]
+stick_id: 3
+direction: 0
+
+[stick-1]
+stick_id: 2
+direction: 1
+
+[stick-2]
+stick_id: 1
+direction: 1
+
+[stick-3]
+stick_id: 0
+direction: 1