kopia lustrzana https://github.com/FreeSpacenav/spacenavd
started merging the serial magellan code
git-svn-id: svn+ssh://svn.code.sf.net/p/spacenav/code/trunk/spacenavd@149 ef983eb1-d774-4af8-acfd-baaf7b16a646pull/1/head
John Tsiombikas
rodzic
e6b41b7666
commit
d3b2f25748
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@ -1,5 +1,5 @@
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src = $(wildcard src/*.c) $(wildcard src/serial/*.c)
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hdr = $(wildcard src/*.h) $(wildcard src/serial/*.h)
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src = $(wildcard src/*.c) $(wildcard src/serial/*.c) $(wildcard src/magellan/*.c)
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hdr = $(wildcard src/*.h) $(wildcard src/serial/*.h) $(wildcard src/magellan/*.h)
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obj = $(src:.c=.o)
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dep = $(obj:.o=.d)
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bin = spacenavd
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@ -0,0 +1,28 @@
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/*
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serialmagellan - decoding serial magellan spaceball data.
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Copyright (C) 2010 Thomas Anderson <ta@nextgenengineering.com>
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef SERIAL_CONSTANTS_H_
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#define SERIAL_CONSTANTS_H_
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#define MAXPACKETSIZE 16
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#define VERSION_STRING_MAX 512
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#define DEVICE_NAME_MAX 64
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#define MAXREADSIZE 512
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#endif
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@ -0,0 +1,423 @@
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/*
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serial magellan device support for spacenavd
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Copyright (C) 2012 John Tsiombikas <nuclear@member.fsf.org>
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Copyright (C) 2010 Thomas Anderson <ta@nextgenengineering.com>
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdio.h>
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#include <string.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <termios.h>
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#include <sys/ioctl.h>
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#include "magellan/smag.h"
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#include "magellan/smag_comm.h"
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#include "magellan/smag_event.h"
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#include "magellan/serialconstants.h"
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static void gen_disp_events(int *newval);
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static void proc_disp_packet(void);
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static void gen_button_event(int button, int new_state);
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static void read_copy(void);
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static void proc_disp_packet(void);
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static void proc_bn_k_packet(void);
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static void proc_bn_c_packet(void);
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static void proc_bn_n_packet(void);
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static void proc_bn_q_packet(void);
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static void clean_input();
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static int dev_fd;
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struct input_struct {
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char rbuf[MAXREADSIZE];
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int rbuf_sz;
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char packet_buf[MAXPACKETSIZE];
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int packet_buf_pos;
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struct smag_event *evhead;
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struct smag_event *evtail;
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} input;
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static int first_byte_parity[16] = {
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0xE0, 0xA0, 0xA0, 0x60, 0xA0, 0x60, 0x60, 0xA0,
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0x90, 0x50, 0x50, 0x90, 0xD0, 0x90, 0x90, 0x50
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};
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static int second_byte_parity[64] = {
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0x80, 0x40, 0x40, 0x80, 0x40, 0x80, 0x80, 0x40,
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0x40, 0x80, 0x80, 0x40, 0x80, 0x40, 0x40, 0x80,
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0x40, 0x80, 0x80, 0x40, 0x80, 0x40, 0x40, 0x80,
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0x80, 0x40, 0x40, 0x80, 0xC0, 0x80, 0x80, 0x40,
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0xC0, 0x80, 0x80, 0x40, 0x80, 0x40, 0x40, 0x80,
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0x80, 0x40, 0x40, 0x80, 0x40, 0x80, 0x80, 0x40,
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0x80, 0x40, 0x40, 0x80, 0x40, 0x80, 0x80, 0x40,
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0x40, 0x80, 0x80, 0x40, 0x80, 0x40, 0x00, 0x80
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};
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void smag_init_device(int fd)
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{
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smag_write(fd, "", 0);
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smag_write(fd, "\r\rm0", 4);
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smag_write(fd, "pAA", 3);
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smag_write(fd, "q00", 3); /*default translation and rotation */
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smag_write(fd, "nM", 2); /*zero radius. 0-15 defaults to 13 */
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smag_write(fd, "z", 1); /*zero device */
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smag_write(fd, "c33", 3); /*set translation, rotation on and dominant axis off */
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smag_write(fd, "l2\r\0", 4);
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smag_write(fd, "\r\r", 2);
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smag_write(fd, "l300", 4);
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smag_write(fd, "b9", 2); /*these are beeps */
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smag_write(fd, "b9", 2);
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usleep(SMAG_DELAY_USEC);
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tcflush(fd, TCIOFLUSH);
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clean_input();
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}
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static void read_copy(void)
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{
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int i;
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for(i=0; i<input.rbuf_sz; i++) {
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if(input.rbuf[i] == '\n' || input.rbuf[i] == '\r') {
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input.packet_buf[input.packet_buf_pos] = 0; /* terminate string */
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if(input.packet_buf[0] == 'd' && input.packet_buf_pos == 15) {
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proc_disp_packet();
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} else if(input.packet_buf[0] == 'k' && input.packet_buf_pos == 4) {
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proc_bn_k_packet();
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} else if(input.packet_buf[0] == 'c' && input.packet_buf_pos == 3) {
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proc_bn_c_packet();
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} else if(input.packet_buf[0] == 'n' && input.packet_buf_pos == 2) {
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proc_bn_n_packet();
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} else if(input.packet_buf[0] == 'q' && input.packet_buf_pos == 3) {
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proc_bn_q_packet();
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} else {
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fprintf(stderr, "unknown packet %s\n", input.packet_buf);
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}
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input.packet_buf_pos = 0;
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} else {
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input.packet_buf[input.packet_buf_pos] = input.rbuf[i];
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input.packet_buf_pos++;
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if(input.packet_buf_pos == MAXPACKETSIZE) {
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input.packet_buf_pos = 0;
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fprintf(stderr, "packet buffer overrun\n");
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}
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}
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}
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}
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int open_smag(const char *devfile)
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{
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if((dev_fd = smag_open_device(devfile)) == -1) {
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return -1;
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}
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smag_set_port_magellan(dev_fd);
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smag_init_device(dev_fd);
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clean_input();
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return 0;
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}
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int close_smag()
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{
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smag_write(dev_fd, "l000", 4);
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close(dev_fd);
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return 0;
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}
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int read_smag(struct dev_input *inp)
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{
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/*need to return 1 if we fill in inp or 0 if no events */
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struct smag_event *ev;
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input.rbuf_sz = smag_read(dev_fd, input.rbuf, MAXREADSIZE);
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if(input.rbuf_sz > 0) {
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read_copy();
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}
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ev = input.evhead;
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if(ev) {
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input.evhead = input.evhead->next;
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*inp = ev->data;
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free_event(ev);
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return 1;
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}
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return 0;
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}
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int get_fd_smag()
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{
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return dev_fd;
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}
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void get_version_string(int fd, char *buf, int sz)
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{
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int bytesrd;
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char tmpbuf[MAXREADSIZE];
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smag_write(fd, "\r\rm0", 4);
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smag_write(fd, "", 0);
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smag_write(fd, "\r\rm0", 4);
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smag_write(fd, "c03", 3);
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smag_write(fd, "z", 1);
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smag_write(fd, "Z", 1);
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smag_write(fd, "l000", 4);
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usleep(SMAG_DELAY_USEC);
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tcflush(fd, TCIOFLUSH);
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clean_input();
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smag_write(fd, "vQ", 2);
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bytesrd = smag_read(fd, tmpbuf, MAXREADSIZE);
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if(bytesrd > 0 && bytesrd < sz) {
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strcpy(buf, tmpbuf);
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}
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clean_input();
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}
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static void gen_disp_events(int *newval)
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{
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int i, pending;
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static int oldval[6] = {0, 0, 0, 0, 0, 0};
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struct smag_event *newev;
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pending = 0;
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for(i=0; i<6; i++) {
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if(newval[i] == oldval[i]) {
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continue;
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}
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oldval[i] = newval[i];
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newev = alloc_event();
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if(newev) {
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newev->data.type = INP_MOTION;
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newev->data.idx = i;
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newev->data.val = newval[i];
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newev->next = 0;
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if(input.evhead) {
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input.evtail->next = newev;
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input.evtail = newev;
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} else
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input.evhead = input.evtail = newev;
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pending = 1;
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}
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}
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if(pending) {
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newev = alloc_event();
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if(newev) {
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newev->data.type = INP_FLUSH;
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newev->next = 0;
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}
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if(input.evhead) {
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input.evtail->next = newev;
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input.evtail = newev;
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} else {
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input.evhead = input.evtail = newev;
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}
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}
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}
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static void proc_disp_packet(void)
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{
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int i, last_bytes, offset, values[6];
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short int accum_last, number, accum_last_adj;
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accum_last = offset = 0;
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for(i=1; i<13; i+=2) {
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/*first byte check */
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unsigned char low, up;
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low = input.packet_buf[i] & 0x0F;
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up = input.packet_buf[i] & 0xF0;
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if(up != first_byte_parity[low]) {
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fprintf(stderr, "bad first packet\n");
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return;
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}
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/*second byte check */
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low = input.packet_buf[i + 1] & 0x3F;
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up = input.packet_buf[i + 1] & 0xC0;
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if(up != second_byte_parity[low]) {
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fprintf(stderr, "bad second packet\n");
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return;
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}
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number = (short int)((input.packet_buf[i] << 6 & 0x03C0) | (input.packet_buf[i + 1] & 0x3F));
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if(number > 512) {
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number -= 1024;
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}
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accum_last += number;
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if(number < 0) {
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offset += ((int)(number + 1) / 64) - 1;
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} else {
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offset += (int)number / 64;
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}
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/*printf("%8i ", number); */
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values[(i + 1) / 2 - 1] = number;
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}
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/*last byte of packet is a sum of 6 numbers and a factor of 64. use as a packet check.
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still not sure what the second to last byte is for. */
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accum_last_adj = accum_last & 0x003F;
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accum_last_adj += offset;
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if(accum_last_adj < 0) {
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accum_last_adj += 64;
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}
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if(accum_last_adj > 63) {
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accum_last_adj -= 64;
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}
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last_bytes = (short int)(input.packet_buf[14] & 0x3F);
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if(accum_last_adj != last_bytes) {
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printf(" bad packet\n");
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return;
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}
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gen_disp_events(values);
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return;
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}
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static void gen_button_event(int button, int new_state)
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{
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struct smag_event *newev = alloc_event();
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|
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if(!newev) {
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return;
|
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}
|
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|
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newev->data.type = INP_BUTTON;
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newev->data.idx = button;
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newev->data.val = new_state;
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newev->next = 0;
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|
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if(input.evhead) {
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input.evtail->next = newev;
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input.evtail = newev;
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} else {
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input.evhead = input.evtail = newev;
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}
|
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}
|
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|
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static void proc_bn_k_packet(void)
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{
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static char old_state[5] = { 0, 0, 0, 0, 0 };
|
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|
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if(input.packet_buf[1] != old_state[1]) {
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if((input.packet_buf[1] & 0x01) != (old_state[1] & 0x01)) {
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gen_button_event(0, input.packet_buf[1] & 0x01);
|
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}
|
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if((input.packet_buf[1] & 0x02) != (old_state[1] & 0x02)) {
|
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gen_button_event(1, input.packet_buf[1] & 0x02);
|
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}
|
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if((input.packet_buf[1] & 0x04) != (old_state[1] & 0x04)) {
|
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gen_button_event(2, input.packet_buf[1] & 0x04);
|
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}
|
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if((input.packet_buf[1] & 0x08) != (old_state[1] & 0x08)) {
|
||||
gen_button_event(3, input.packet_buf[1] & 0x08);
|
||||
}
|
||||
}
|
||||
|
||||
if(input.packet_buf[2] != old_state[2]) {
|
||||
if((input.packet_buf[2] & 0x01) != (old_state[2] & 0x01)) {
|
||||
gen_button_event(4, input.packet_buf[2] & 0x01);
|
||||
}
|
||||
if((input.packet_buf[2] & 0x02) != (old_state[2] & 0x02)) {
|
||||
gen_button_event(5, input.packet_buf[2] & 0x02);
|
||||
}
|
||||
if((input.packet_buf[2] & 0x04) != (old_state[2] & 0x04)) {
|
||||
gen_button_event(6, input.packet_buf[2] & 0x04);
|
||||
}
|
||||
if((input.packet_buf[2] & 0x08) != (old_state[2] & 0x08)) {
|
||||
gen_button_event(7, input.packet_buf[2] & 0x08);
|
||||
}
|
||||
}
|
||||
|
||||
/*skipping asterisk button. asterisk function come in through other packets. */
|
||||
/*magellan plus has left and right (10, 11) buttons not magellan classic */
|
||||
/*not sure if we need to filter out lower button events for magellan classic */
|
||||
|
||||
if(input.packet_buf[3] != old_state[3]) {
|
||||
/*
|
||||
if (input.packet_buf[3] & 0x01)
|
||||
printf("button asterisk ");
|
||||
*/
|
||||
if((input.packet_buf[3] & 0x02) != (old_state[3] & 0x02)) {
|
||||
gen_button_event(8, input.packet_buf[3] & 0x02); /*left button */
|
||||
}
|
||||
if((input.packet_buf[3] & 0x04) != (old_state[3] & 0x04)) {
|
||||
gen_button_event(9, input.packet_buf[3] & 0x04); /*right button */
|
||||
}
|
||||
}
|
||||
|
||||
strcpy(old_state, input.packet_buf);
|
||||
}
|
||||
|
||||
static void proc_bn_c_packet(void)
|
||||
{
|
||||
/*these are implemented at device and these signals are to keep the driver in sync */
|
||||
if(input.packet_buf[1] & 0x02) {
|
||||
printf("translation is on ");
|
||||
} else {
|
||||
printf("translation is off ");
|
||||
}
|
||||
|
||||
if(input.packet_buf[1] & 0x01) {
|
||||
printf("rotation is on ");
|
||||
} else {
|
||||
printf("rotation is off ");
|
||||
}
|
||||
|
||||
if(input.packet_buf[1] & 0x04) {
|
||||
printf("dominant axis is on ");
|
||||
} else {
|
||||
printf("dominant axis is off ");
|
||||
}
|
||||
|
||||
printf("\n");
|
||||
/*printf("%s\n", input.packet_buf); */
|
||||
}
|
||||
|
||||
static void proc_bn_n_packet(void)
|
||||
{
|
||||
int radius;
|
||||
|
||||
radius = (int)input.packet_buf[1] & 0x0F;
|
||||
printf("zero radius set to %i\n", radius);
|
||||
}
|
||||
|
||||
static void proc_bn_q_packet(void)
|
||||
{
|
||||
/* this has no effect on the device numbers. Driver is to implement any scale of numbers */
|
||||
int rotation, translation;
|
||||
|
||||
rotation = (int)input.packet_buf[1] & 0x07;
|
||||
translation = (int)input.packet_buf[2] & 0x07;
|
||||
printf("rotation = %i translation = %i\n", rotation, translation);
|
||||
}
|
||||
|
||||
|
||||
static void clean_input(void)
|
||||
{
|
||||
memset(input.rbuf, 0x00, MAXREADSIZE);
|
||||
input.rbuf_sz = 0;
|
||||
memset(input.packet_buf, 0x00, MAXPACKETSIZE);
|
||||
input.packet_buf_pos = 0;
|
||||
}
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
serial magellan device support for spacenavd
|
||||
|
||||
Copyright (C) 2012 John Tsiombikas <nuclear@member.fsf.org>
|
||||
Copyright (C) 2010 Thomas Anderson <ta@nextgenengineering.com>
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
#include "event.h"
|
||||
|
||||
int open_smag(const char *devfile);
|
||||
int close_smag();
|
||||
int read_smag(struct dev_input *inp);
|
||||
int get_fd_smag();
|
||||
|
||||
void get_version_string(int fd, char *buf, int sz);
|
||||
|
||||
void smag_init_device(int fd);
|
||||
void clearInput(void);
|
||||
void readCopy(void);
|
||||
|
|
@ -0,0 +1,151 @@
|
|||
/*
|
||||
serial magellan device support for spacenavd
|
||||
|
||||
Copyright (C) 2012 John Tsiombikas <nuclear@member.fsf.org>
|
||||
Copyright (C) 2010 Thomas Anderson <ta@nextgenengineering.com>
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <errno.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include <termios.h>
|
||||
#include "magellan/smag_comm.h"
|
||||
|
||||
|
||||
int smag_open_device(const char *fname)
|
||||
{
|
||||
return open(fname, O_RDWR | O_NOCTTY | O_NONBLOCK | O_NDELAY);
|
||||
}
|
||||
|
||||
int smag_set_port_spaceball(int fd)
|
||||
{
|
||||
int status;
|
||||
struct termios term;
|
||||
|
||||
if(tcgetattr(fd, &term) == -1) {
|
||||
perror("error tcgetattr");
|
||||
return -1;
|
||||
}
|
||||
|
||||
term.c_cflag = CREAD | CS8 | CLOCAL | HUPCL;
|
||||
term.c_iflag |= IGNBRK | IGNPAR;
|
||||
term.c_oflag = 0;
|
||||
term.c_lflag = 0;
|
||||
term.c_cc[VMIN] = 1;
|
||||
term.c_cc[VTIME] = 0;
|
||||
|
||||
cfsetispeed(&term, 9600);
|
||||
cfsetospeed(&term, 9600);
|
||||
if(tcsetattr(fd, TCSANOW, &term) == -1) {
|
||||
perror("error tcsetattr");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if(ioctl(fd, TIOCMGET, &status) == -1) {
|
||||
perror("error TIOMCGET");
|
||||
return -1;
|
||||
}
|
||||
status |= TIOCM_DTR;
|
||||
status |= TIOCM_RTS;
|
||||
if(ioctl(fd, TIOCMSET, &status) == -1) {
|
||||
perror("error TIOCMSET");
|
||||
return -1;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
int smag_set_port_magellan(int fd)
|
||||
{
|
||||
int status;
|
||||
struct termios term;
|
||||
|
||||
if(tcgetattr(fd, &term) == -1) {
|
||||
perror("error tcgetattr");
|
||||
return -1;
|
||||
}
|
||||
|
||||
term.c_cflag = CS8 | CSTOPB | CRTSCTS | CREAD | HUPCL | CLOCAL;
|
||||
term.c_iflag |= IGNBRK | IGNPAR;
|
||||
term.c_oflag = 0;
|
||||
term.c_lflag = 0;
|
||||
term.c_cc[VMIN] = 1;
|
||||
term.c_cc[VTIME] = 0;
|
||||
|
||||
cfsetispeed(&term, 9600);
|
||||
cfsetospeed(&term, 9600);
|
||||
if(tcsetattr(fd, TCSANOW, &term) == -1) {
|
||||
perror("error tcsetattr");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if(ioctl(fd, TIOCMGET, &status) == -1) {
|
||||
perror("error TIOCMGET");
|
||||
return -1;
|
||||
}
|
||||
status |= TIOCM_DTR;
|
||||
status |= TIOCM_RTS;
|
||||
if(ioctl(fd, TIOCMSET, &status) == -1) {
|
||||
perror("error TIOCMSET");
|
||||
return -1;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
#define LONG_DELAY 150000
|
||||
|
||||
void smag_write(int fd, const char *buf, int sz)
|
||||
{
|
||||
int i;
|
||||
|
||||
for(i=0; i<sz; i++) {
|
||||
write(fd, buf + i, 1);
|
||||
usleep(SMAG_DELAY_USEC);
|
||||
}
|
||||
write(fd, "\r", 1);
|
||||
usleep(LONG_DELAY);
|
||||
}
|
||||
|
||||
int smag_read(int fd, char *buf, int sz)
|
||||
{
|
||||
int bytesrd = read(fd, buf, sz - 1);
|
||||
if(bytesrd < 1) {
|
||||
return 0;
|
||||
}
|
||||
buf[bytesrd] = 0;
|
||||
return bytesrd;
|
||||
}
|
||||
|
||||
int smag_wait_read(int fd, char *buf, int sz, int wait_sec)
|
||||
{
|
||||
int res;
|
||||
fd_set set;
|
||||
struct timeval tv;
|
||||
|
||||
FD_ZERO(&set);
|
||||
FD_SET(fd, &set);
|
||||
|
||||
tv.tv_sec = wait_sec;
|
||||
tv.tv_usec = 0;
|
||||
|
||||
do {
|
||||
res = select(fd + 1, &set, 0, 0, &tv);
|
||||
} while(res == -1 && errno == EINTR);
|
||||
|
||||
return res == -1 ? -1 : smag_read(fd, buf, sz);
|
||||
}
|
||||
|
|
@ -0,0 +1,32 @@
|
|||
/*
|
||||
serial magellan device support for spacenavd
|
||||
|
||||
Copyright (C) 2012 John Tsiombikas <nuclear@member.fsf.org>
|
||||
Copyright (C) 2010 Thomas Anderson <ta@nextgenengineering.com>
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
#ifndef SMAG_COMM_H_
|
||||
#define SMAG_COMM_H_
|
||||
|
||||
#define SMAG_DELAY_USEC 2000
|
||||
|
||||
int smag_open_device(const char *fname);
|
||||
int smag_set_port_spaceball(int fd);
|
||||
int smag_set_port_magellan(int fd);
|
||||
void smag_write(int fd, const char *buf, int sz);
|
||||
int smag_read(int fd, char *buf, int sz);
|
||||
int smag_wait_read(int fd, char *buf, int sz, int wait_sec);
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,104 @@
|
|||
/*
|
||||
serial magellan device support for spacenavd
|
||||
|
||||
Copyright (C) 2012 John Tsiombikas <nuclear@member.fsf.org>
|
||||
Copyright (C) 2010 Thomas Anderson <ta@nextgenengineering.com>
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include "magellan/smag.h"
|
||||
#include "magellan/smag_detect.h"
|
||||
#include "magellan/serialconstants.h"
|
||||
#include "magellan/smag_comm.h"
|
||||
|
||||
/*swap out /r for /n for string printing*/
|
||||
static void make_printable(char *str)
|
||||
{
|
||||
while(*str) {
|
||||
if(*str == '\r') {
|
||||
*str = '\n';
|
||||
}
|
||||
str++;
|
||||
}
|
||||
}
|
||||
|
||||
int smag_detect(const char *fname, char *buf, int sz)
|
||||
{
|
||||
int fd, bytesrd, pos;
|
||||
char tmpbuf[MAXREADSIZE];
|
||||
|
||||
if((fd = smag_open_device(fname)) == -1) {
|
||||
fprintf(stderr, "%s: couldn't open device file: %s\n", __func__, fname);
|
||||
return -1;
|
||||
}
|
||||
if(smag_set_port_spaceball(fd) == -1) {
|
||||
close(fd);
|
||||
fprintf(stderr, "%s: couldn't setup port\n", __func__);
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* first look for spaceball. should have data after open and port setup.
|
||||
* I was hoping that using the select inside serialWaitRead would allow me
|
||||
* to get rid of the following sleep. Removing the sleep causes port to freeze.
|
||||
*/
|
||||
sleep(1);
|
||||
|
||||
bytesrd = 0;
|
||||
pos = 0;
|
||||
|
||||
while((pos = smag_wait_read(fd, tmpbuf + bytesrd, MAXREADSIZE - bytesrd, 1)) > 0) {
|
||||
bytesrd += pos;
|
||||
}
|
||||
if(bytesrd > 0) {
|
||||
smag_write(fd, "hm", 2);
|
||||
while((pos = smag_wait_read(fd, tmpbuf + bytesrd, MAXREADSIZE - bytesrd, 1)) > 0) {
|
||||
bytesrd += pos;
|
||||
}
|
||||
|
||||
smag_write(fd, "\"", 1);
|
||||
while((pos = smag_wait_read(fd, tmpbuf + bytesrd, MAXREADSIZE - bytesrd, 1)) > 0) {
|
||||
bytesrd += pos;
|
||||
}
|
||||
|
||||
make_printable(tmpbuf);
|
||||
strncpy(buf, tmpbuf, sz);
|
||||
if(bytesrd < sz) {
|
||||
fprintf(stderr, "%s: buffer overrun\n", __func__);
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
/*now if we are here we don't have a spaceball and now we need to check for a magellan */
|
||||
close(fd);
|
||||
pos = 0;
|
||||
|
||||
if((fd = smag_open_device(fname)) == -1) {
|
||||
return -1;
|
||||
}
|
||||
if(smag_set_port_magellan(fd) == -1) {
|
||||
return -1;
|
||||
}
|
||||
sleep(1);
|
||||
|
||||
smag_init_device(fd);
|
||||
get_version_string(fd, tmpbuf, MAXREADSIZE);
|
||||
|
||||
make_printable(tmpbuf);
|
||||
strncpy(buf, tmpbuf, sz);
|
||||
close(fd);
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -0,0 +1,25 @@
|
|||
/*
|
||||
serial magellan device support for spacenavd
|
||||
|
||||
Copyright (C) 2012 John Tsiombikas <nuclear@member.fsf.org>
|
||||
Copyright (C) 2010 Thomas Anderson <ta@nextgenengineering.com>
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
#ifndef SMAG_DETECT_H_
|
||||
#define SMAG_DETECT_H_
|
||||
|
||||
int smag_detect(const char *fname, char *buf, int sz);
|
||||
|
||||
#endif /* SMAG_DETECT_H_ */
|
||||
|
|
@ -0,0 +1,48 @@
|
|||
/*
|
||||
spacenavd - a free software replacement driver for 6dof space-mice.
|
||||
Copyright (C) 2007-2010 John Tsiombikas <nuclear@member.fsf.org>
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdlib.h>
|
||||
#include "smag_event.h"
|
||||
|
||||
int evpool_size = 0;
|
||||
static struct smag_event *ev_free_list;
|
||||
|
||||
struct smag_event *alloc_event(void)
|
||||
{
|
||||
struct smag_event *ev;
|
||||
|
||||
if(ev_free_list) {
|
||||
ev = ev_free_list;
|
||||
ev_free_list = ev->next;
|
||||
} else {
|
||||
ev = malloc(sizeof *ev);
|
||||
evpool_size++;
|
||||
}
|
||||
return ev;
|
||||
}
|
||||
|
||||
void free_event(struct smag_event *ev)
|
||||
{
|
||||
if(evpool_size > 512) {
|
||||
free(ev);
|
||||
evpool_size--;
|
||||
} else {
|
||||
ev->next = ev_free_list;
|
||||
ev_free_list = ev;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
/*
|
||||
serial magellan device support for spacenavd
|
||||
|
||||
Copyright (C) 2012 John Tsiombikas <nuclear@member.fsf.org>
|
||||
Copyright (C) 2010 Thomas Anderson <ta@nextgenengineering.com>
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
#ifndef SMAG_EVENT_H_
|
||||
#define SMAG_EVENT_H_
|
||||
|
||||
#include "event.h"
|
||||
|
||||
struct smag_event {
|
||||
struct dev_input data;
|
||||
struct smag_event *next;
|
||||
};
|
||||
|
||||
struct smag_event *alloc_event(void);
|
||||
void free_event(struct smag_event *ev);
|
||||
|
||||
#endif /* SMAG_EVENT_H_ */
|
||||
Ładowanie…
Reference in New Issue