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/Riddim/Moved.txt
File deleted
/Riddim/config/riddim.conf
0,0 → 1,21
# Riddim Config File
 
input_evdev = "/dev/input/event14"
mk_socket_port = 5432
#1
#loop_delay=20000
 
loop_delay=90000
 
 
#loop_delay=50000
#loop_delay=500000
 
# to check how the system was inited
exit_after_init=false
#exit_after_init=true
 
#bluetooth_mac="00:0B:CE:01:2E:00"
gas_mul=0.3
rel_axis_gas=2
nick_mul=-0.3
/Riddim/config/riddim_av8r.conf
0,0 → 1,27
# Riddim Config File
 
input_evdev = "/dev/input/event10"
mk_socket_port = 5432
#1
#1
#loop_delay=20000
 
#working loop_delay=90000
loop_delay=600000
 
 
#loop_delay=50000
#loop_delay=500000
 
# to check how the system was inited
#exit_after_init=false
exit_after_init=true
 
#bluetooth_mac="00:0B:CE:01:2E:00"
gas_mul=0.003
rel_axis_gas=2
nick_mul=-0.003
roll_mul=0.003
gier_mul=0.003
 
rel_axis_gier=3
/Riddim/config/riddim_logitech.conf
0,0 → 1,33
# Riddim Config File
 
input_evdev = "/dev/input/event10"
mk_socket_port = 54321
#1
#loop_delay=20000
 
loop_delay=90000
 
 
#loop_delay=50000
#loop_delay=500000
 
# to check how the system was inited
exit_after_init=false
#exit_after_init=true
 
#bluetooth_mac="00:0B:CE:01:2E:00"
gas_mul=0.3
#rel_axis_gas=2
nick_mul=-0.3
 
 
rel_axis_roll=2
rel_axis_nick=5
rel_axis_gas=1
rel_axis_gier=0
 
gas_mul=-0.8
# a2->roll
# a5 -> nick
# a0 -> gas
# a1 -> gier
/Riddim/config/riddim_spacemouse.conf
0,0 → 1,21
 
# Riddim Config File
 
input_evdev = "/dev/input/event10"
mk_socket_port = 54321
#loop_delay=20000
 
loop_delay=90000
 
 
#loop_delay=50000
#loop_delay=500000
 
# to check how the system was inited
exit_after_init=false
#exit_after_init=true
 
#bluetooth_mac="00:0B:CE:01:2E:00"
gas_mul=0.3
rel_axis_gas=2
nick_mul=-0.3
/Riddim/config/test.conf
0,0 → 1,24
# Riddim Config File
 
#input_evdev = "/dev/input/event14"
input_joydev = "/dev/input/js0"
 
 
mk_socket_port = 5432
#1
#loop_delay=20000
 
loop_delay=90000
 
 
#loop_delay=50000
#loop_delay=500000
 
# to check how the system was inited
 
exit_after_init=true
 
#bluetooth_mac="00:0B:CE:01:2E:00"
gas_mul=0.3
rel_axis_gas=2
nick_mul=-0.3
/Riddim/doc/router_setup.dia
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
/Riddim/doc/router_setup.dia
Property changes:
Added: svn:mime-type
+application/octet-stream
\ No newline at end of property
/Riddim/lib/x52/COPYING
0,0 → 1,510
 
GNU LESSER GENERAL PUBLIC LICENSE
Version 2.1, February 1999
 
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51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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That's all there is to it!
 
 
/Riddim/lib/x52/README
0,0 → 1,30
This is the first release of the Linux library for the MFD and the
LEDs found on the SAITEK X52 ( and PRO ) HOTAS joystick. The informations needed
for accessing this nice device where kindly supplied by saitek.
 
The code is released under the LGPL. For more details please read the
COPYING file.
 
Compilation of this library requires the libusb http://www.linux-usb.org/
 
The library itself consists of the x52.c and the x52.h file.
Programs which want to use the library have to link "x52.o" and
the libusb. For more details please have a look at the Makefile
supplied with this package. The Makefile builds a test program
named x52test.
 
With the x52test program it is possible to test all the features
of the library:
 
x52test text 0 'First Line'
x52test text 1 'Second Line'
x52test text 2 'Third Line'
x52test bri 0 40
x52test bri 1 50
x52test led 1 1
x52test time 1 12 20
x52test date 7 10 17
 
If you have any questions regarding using this library and/or the x52 (pro)
please send an email to <eduard@hasenleithner.at>. I also welcome
any hints for improvements of this library.
/Riddim/lib/x52/x52.c
0,0 → 1,194
/* x52pro driver library
* Copyright (C) 2007 Eduard Hasenleithner <eduard@hasenleithner.at>
* Licensed under the LGPL. Please see "COPYING".
*/
#include <stdio.h>
#include <string.h>
#include <usb.h>
#include "x52.h"
 
struct x52 {
usb_dev_handle *hdl;
};
 
#define X52PRO_REQUEST 0x91
 
#define X52PRO_CLEAR1 0xd9
#define X52PRO_CLEAR2 0xda
#define X52PRO_CLEAR3 0xdc
#define X52PRO_WRITE1 0xd1
#define X52PRO_WRITE2 0xd2
#define X52PRO_WRITE3 0xd4
#define X52PRO_SETLED 0xb8
#define X52PRO_MFDBRI 0xb1
#define X52PRO_LEDBRI 0xb2
 
#define X52PRO_TIME 0xc0
#define X52PRO_DATE 0xc4
#define X52PRO_YEAR 0xc8
 
int write_idx[3] = {
X52PRO_WRITE1,
X52PRO_WRITE2,
X52PRO_WRITE3,
};
 
int clear_idx[3] = {
X52PRO_CLEAR1,
X52PRO_CLEAR2,
X52PRO_CLEAR3,
};
 
int x52_settext(struct x52 *x52, int line, char *text, int length)
{
int r;
if (line > 3) return -1;
r = usb_control_msg(x52->hdl,
USB_TYPE_VENDOR|USB_RECIP_DEVICE|USB_ENDPOINT_OUT,
X52PRO_REQUEST, 0x00, clear_idx[line], NULL, 0, 1000);
if (r < 0) {
fprintf(stderr, "x52_settext failed at clear command (%s)\n",
usb_strerror());
return -2;
}
 
while (length >= 1) {
int chars;
if (length == 1) chars = (' ' << 8) + *text;
else chars = *(unsigned short*) text;
r = usb_control_msg(x52->hdl,
USB_TYPE_VENDOR|USB_RECIP_DEVICE|USB_ENDPOINT_OUT,
X52PRO_REQUEST, chars, write_idx[line], NULL, 0, 1000);
if (r<0) {
fprintf(stderr, "x52_settext failed at write %d (%s)\n",
length, usb_strerror());
return -2;
}
length -= 2;
text += 2;
}
return 0;
}
 
int x52_setbri(struct x52 *x52, int mfd, int brightness)
{
int r;
r = usb_control_msg(x52->hdl,
USB_TYPE_VENDOR|USB_RECIP_DEVICE|USB_ENDPOINT_OUT,
X52PRO_REQUEST, brightness, mfd ? X52PRO_MFDBRI : X52PRO_LEDBRI,
NULL, 0, 1000);
if (r < 0) {
fprintf(stderr, "x52_setbri failed (%s)\n", usb_strerror());
return -2;
}
return 0;
}
 
int x52_setled(struct x52 *x52, int led, int on)
{
int r;
r = usb_control_msg(x52->hdl,
USB_TYPE_VENDOR|USB_RECIP_DEVICE|USB_ENDPOINT_OUT,
X52PRO_REQUEST, on | (led<<8), X52PRO_SETLED,
NULL, 0, 1000);
if (r < 0) {
fprintf(stderr, "x52_setled failed (%s)\n", usb_strerror());
return -2;
}
return 0;
}
 
int x52_settime(struct x52 *x52, int h24, int hour, int minute)
{
int r;
r = usb_control_msg(x52->hdl,
USB_TYPE_VENDOR|USB_RECIP_DEVICE|USB_ENDPOINT_OUT,
X52PRO_REQUEST, minute | (hour<<8) | (h24?0x8000:0), X52PRO_TIME,
NULL, 0, 1000);
if (r < 0) {
fprintf(stderr, "x52_settime failed (%s)\n", usb_strerror());
return -2;
}
return 0;
}
 
int x52_setdate(struct x52 *x52, int year, int month, int day)
{
int r;
r = usb_control_msg(x52->hdl,
USB_TYPE_VENDOR|USB_RECIP_DEVICE|USB_ENDPOINT_OUT,
X52PRO_REQUEST, day | (month<<8), X52PRO_DATE,
NULL, 0, 1000);
if (r < 0) {
fprintf(stderr, "x52_setdate failed (%s)\n", usb_strerror());
return -2;
}
r = usb_control_msg(x52->hdl,
USB_TYPE_VENDOR|USB_RECIP_DEVICE|USB_ENDPOINT_OUT,
X52PRO_REQUEST, year, X52PRO_YEAR,
NULL, 0, 1000);
if (r < 0) {
fprintf(stderr, "x52_setdate failed for year (%s)\n", usb_strerror());
return -2;
}
return 0;
}
 
int x52_custom(struct x52 *x52, int index, int value)
{
int r = usb_control_msg(x52->hdl,
USB_TYPE_VENDOR|USB_RECIP_DEVICE|USB_ENDPOINT_OUT,
X52PRO_REQUEST, value, index, NULL, 0, 1000);
if (r < 0) {
fprintf(stderr, "x52_settext failed at clear command (%s)\n",
usb_strerror());
return -2;
}
return 0;
}
 
struct x52* x52_init(void)
{
struct x52 x52, *x52p;
 
usb_init();
usb_find_busses();
usb_find_devices();
 
struct usb_bus *bus;
struct usb_device *joydev = NULL;
for (bus = usb_busses; bus; bus = bus->next) {
struct usb_device *dev;
for (dev = bus->devices; dev; dev = dev->next) {
struct usb_device_descriptor *dsc = &dev->descriptor;
if (dsc->idVendor == 0x6a3 && ((dsc->idProduct == 0x75c)||(dsc->idProduct == 0x762)))
{
joydev = dev;
break;
}
}
if (joydev) break;
}
if (!joydev) {
fprintf(stderr, "joystick not found\n");
return NULL;
}
fprintf(stderr, "joystick found\n");
x52.hdl = usb_open(joydev);
if (x52.hdl==NULL) {
fprintf(stderr, "joystick open failed\n");
return NULL;
}
x52p = malloc(sizeof(*x52p));
*x52p = x52;
return x52p;
}
 
 
void x52_close(struct x52* x52)
{
int r;
r = usb_close(x52->hdl);
free(x52);
printf("usb_close: %d\n", r);
}
/Riddim/lib/x52/x52.h
0,0 → 1,73
/* x52pro driver library
* Copyright (C) 2007 Eduard Hasenleithner <eduard@hasenleithner.at>
* Licensed under the LGPL. Please see "COPYING".
*/
struct x52;
 
#define X52PRO_LED_FIRE 1 /* RED/GREEN LED of Fire Button */
#define X52PRO_LED_ARED 2 /* RED LED of A Button */
#define X52PRO_LED_AGREEN 3 /* GREEN LED of A Button */
#define X52PRO_LED_BRED 4 /* RED LED of B Button */
#define X52PRO_LED_BGREEN 5 /* GREEN LED of B Button */
#define X52PRO_LED_DRED 6 /* RED LED of D Button */
#define X52PRO_LED_DGREEN 7 /* GREEN LED of D Button */
#define X52PRO_LED_ERED 8 /* RED LED of E Button */
#define X52PRO_LED_EGREEN 9 /* GREEN LED of E Button */
#define X52PRO_LED_T1RED 10 /* RED LED of T1 Switch */
#define X52PRO_LED_T1GREEN 11 /* GREEN LED of T1 Switch */
#define X52PRO_LED_T2RED 12 /* RED LED of T2 Switch */
#define X52PRO_LED_T2GREEN 13 /* GREEN LED of T2 Switch */
#define X52PRO_LED_T3RED 14 /* RED LED of T3 Switch */
#define X52PRO_LED_T3GREEN 15 /* GREEN LED of T3 Switch */
#define X52PRO_LED_CORED 16 /* RED LED of Coolie Hat */
#define X52PRO_LED_COGREEN 17 /* GREEN LED of Coolie Hat */
#define X52PRO_LED_IRED 18 /* RED LED of i Button */
#define X52PRO_LED_IGREEN 19 /* GREEN LED of i Button */
 
/* Init function
* RETURN: handle to x52 if device opened successful */
struct x52* x52_init(void);
 
/* Close function
* hdl: handle to xte device */
void x52_close(struct x52* hdl);
 
/* Set the text of the MFD
* RETURN: 0 if successful
* hdl: handle to x52 device
* line: line of text to change
* text: character string of new text
* length: number of characters in string */
int x52_settext(struct x52 *hdl, int line, char *text, int length);
 
/* Set the brightness of the MFD or the LEDs
* RETURN: 0 if successful
* hdl: handle to x52 device
* mfd: boolean
* 0: change the LED brightness
* 1: change the MFD brightness
* brightness: value (0-127) */
int x52_setbri(struct x52 *hdl, int mfd, int brightness);
 
/* Set or clear one of the LEDs
* RETURN: 0 if successful
* hdl: handle to x52 device
* led: led index (1-19), see X52PRO_LED_XXX defines
* on: boolean */
int x52_setled(struct x52 *hdl, int led, int on);
 
/* Set the MFD display time
* RETURN: 0 if successful
* hdl: handle to x52 device
* h24: boolean, 24h output (1=on, 0=off)
* hour: value (0-23)
* minute: value (0-60) */
int x52_settime(struct x52 *hdl, int h24, int hour, int minute);
 
/* Set the MFD display date
* RETURN: 0 if successful
* year: value (0-99)
* month: value (1-12)
* day: value (1-31) */
int x52_setdate(struct x52 *hdl, int year, int month, int day);
 
/Riddim/openwrt_port/bin/riddim_0.0.7-1_mipsel.ipk
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
/Riddim/openwrt_port/bin/riddim_0.0.7-1_mipsel.ipk
Property changes:
Added: svn:mime-type
+application/octet-stream
\ No newline at end of property
/Riddim/openwrt_port/Makefile
0,0 → 1,47
#
# Copyright (C) 2006 OpenWrt.org
#
# This is free software, licensed under the GNU General Public License v2.
# See /LICENSE for more information.
#
# $Id: Makefile 9050 2007-09-28 01:23:17Z nbd $
 
include $(TOPDIR)/rules.mk
include $(INCLUDE_DIR)/kernel.mk
 
PKG_NAME:=riddim
PKG_VERSION:=0.0.7
PKG_RELEASE:=1
 
PKG_SOURCE:=$(PKG_NAME)-$(PKG_VERSION).tar.gz
PKG_SOURCE_URL:=http://mikrocontroller.cco-ev.de/mikrosvn/Projects/Riddim/
PKG_SOURCE_PROTO:=svn
PKG_SOURCE_VERSION:=488
PKG_SOURCE_SUBDIR:=$(PKG_NAME)-$(PKG_VERSION)
 
#PKG_MD5SUM:=9b7dc52656f5cbec846a7ba3299f73bd
 
include $(INCLUDE_DIR)/package.mk
 
define Package/riddim
SECTION:=utils
DEPENDS:=+confuse
DEPENDS:=+kmod-hid
CATEGORY:=Base system
TITLE:=Remote Interactive Digital Drone Interface Mashup
URL:=http://www.mikrokopter.de/ucwiki/en/Riddim
endef
 
define Package/riddim/description
Remote Interactive Digital Drone Interface Mashup
endef
 
 
 
define Package/riddim/install
$(INSTALL_DIR) $(1)/usr/sbin
$(INSTALL_BIN) $(PKG_BUILD_DIR)/riddim $(1)/usr/sbin/
endef
 
$(eval $(call BuildPackage,riddim))
 
/Riddim/Makefile
0,0 → 1,12
# Makefile for Riddim
#
#
CC=gcc
CFLAGS+=-Wall -g
LDFLAGS+=-g -lusb -lbluetooth -lconfuse
 
riddim: config.o statistics.o fc.o joy_handler.o evdev_handler.o bluetooth_handler.o riddim.o lib/x52/x52.o
 
 
clean:
rm -f *.o riddim *~ lib/*/*.o
/Riddim/README
0,0 → 1,54
# RIDDIM
#
# -> Remote Interactive Digital Drone Interface Mashup
#
# Author: Marcus -ligi- Bueschleb
#
# Contact: ligi
# -at-
# smart4mobile.de
#
# Project Start: 12/2007
#
# Credits:
# Holger & Ingo for the Mikrokopter Project ( www.mikrokopter.de ).
# eduard -- - at - -- hasenleithner.at for the linux x-52 lib
# Jo aka XM for helping with openwrt
# sublab.org for infrastructure
 
 
= Documentation / Infos =
http://www.mikrokopter.de/ucwiki/en/Riddim
= Licence =
 
http://creativecommons.org/licenses/by-nc-sa/2.0/de/ (Creative Commons / Non Commercial / Share Alike
Addtitonally to this Licence it is not allowed to use this software in any violent manner.
This explicitly includes that lethal Weapon owning "People" (e.g. Army & Police) are not allowed to use this Project
If you want to use this tool in any Commercial Context - please contact me first!
 
 
=Compile=
$> make
=Run=
$> ./riddim [configfile]
 
if no configfile is given riddim is trying to load "/etc/riddim.conf". If that fails riddim is using default values ( not very usefull perhaps )
 
example socat usage:
socat tcp-l:54321,reuseaddr,fork file:/dev/ttyUSB0,b57600,waitlock=/var/run/rfcomm0.lock
 
 
 
= Changelog =
 
0.8 - Modify altitude by input
0.7 - new MK Protocol
0.6 - misc
0.5 - code cleanup
0.4 - Measure time from send command to confirm
0.3 - mode selector
0.2 - first version with possibility to fly ( based on FC0.68b commands )
0.1 - initial release with basic functions and proove of concept Code ( Scanning for Blueooth Devices / read Joy / communicate to MK / ..)
/Riddim/bluetooth_handler.c
0,0 → 1,439
#include "bluetooth_handler.h"
 
int bt_device_count=0;
 
char names[MAX_BT_DEVICES][248];
char addrs[MAX_BT_DEVICES][19];
 
char BtHostRxBuffer[150];
char BtHostRxBufferDecoded[150];
 
int BtRxCount;
int scan_bt()
{
inquiry_info *ii = NULL;
 
int dev_id, sock, len, flags;
int i;
char addr[19] = { 0 };
char name[248] = { 0 };
dev_id = hci_get_route(NULL);
sock = hci_open_dev( dev_id );
if (dev_id < 0 || sock < 0) {
perror("opening socket");
return 0;
}
 
len = 8;
flags = IREQ_CACHE_FLUSH;
ii = (inquiry_info*)malloc(MAX_BT_DEVICES * sizeof(inquiry_info));
bt_device_count = hci_inquiry(dev_id, len, MAX_BT_DEVICES, NULL, &ii, flags);
if( bt_device_count < 0 ) perror("hci_inquiry");
for (i = 0; i < bt_device_count; i++) {
ba2str(&(ii+i)->bdaddr, addr);
sprintf(addrs[i],"%s",addr);
 
memset(name, 0, sizeof(name));
if (hci_read_remote_name(sock, &(ii+i)->bdaddr, sizeof(name),
name, 0) < 0)
sprintf(names[i],"[unknown]");
else
sprintf(names[i],"%s",name);
 
}
 
free( ii );
close( sock );
return 1;
}
 
//struct timeval timeout;
fd_set readfds, writefds;
int s;
struct sockaddr_rc loc_addr = { 0 }, rem_addr = { 0 };
char buf[1024] = { 0 };
int client, bytes_read, status;
unsigned int opt = sizeof(rem_addr);
 
int maxfd, sock_flags;
 
 
unsigned char BT_TxBuffer[MAX_BUFF_LEN];
 
extern struct str_DebugOut DebugOut;
struct str_VersionInfo VersionInfo;
 
int bt_host_init()
{
// allocate socket
s = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
// bind socket to port 1 of the first available bluetooth adapter
loc_addr.rc_family = AF_BLUETOOTH;
loc_addr.rc_bdaddr = *BDADDR_ANY;
loc_addr.rc_channel = 1;
bind(s, (struct sockaddr *)&loc_addr, sizeof(loc_addr));
// put server socket into listening mode
listen(s, 1);
// put server socket into nonblocking mode
sock_flags = fcntl( s, F_GETFL, 0 );
fcntl( s, F_SETFL, sock_flags | O_NONBLOCK );
 
return 1;
}
 
 
int bt_host_connected=0;
 
int bt_host_send(char RxBuffer[150],int len)
{
if (bt_host_connected)
{
send(client,"\r",1,0);
send(client,RxBuffer,len,0);
send(client,"\r",1,0);
}
return 1;
}
 
 
struct {
unsigned char MenuePunkt;
unsigned char MaxMenue;
char DisplayBuff[80];
} menu;
 
 
void copy_lcd_str(int x,int y,char str[])
{
int pos=0;
while (str[pos]!=0)
{
 
menu.DisplayBuff[y*20+x+pos]=str[pos];
pos++;
}
 
}
 
 
 
void Menu(void)
{
 
// menu.MenuePunkt=0;
menu.MaxMenue=3;
int x;
int y;
char tmp_str[20];
for (x=0;x<20;x++)
for (y=0;y<4;y++)
menu.DisplayBuff[y*20+x]=' ';
switch(menu.MenuePunkt)
{
case 0:
// LCD_printfxy(0,0,"+ Riddim +");
/* LCD_printfxy(0,1,"Version: %d %d",0,8);
LCD_printfxy(0,2,"");
LCD_printfxy(0,3,"(cc) 2009 ligi");
*/
// clear_lcd
 
 
 
sprintf(tmp_str,"+ Riddim +");
copy_lcd_str(0,0,tmp_str);
 
sprintf(tmp_str,"Version: V%d.%d/%d",RIDDIM_VERSION_MAJOR,RIDDIM_VERSION_MINOR,RIDDIM_VERSION_PATCH);
copy_lcd_str(0,1,tmp_str);
 
 
sprintf(tmp_str,"(cc) 2009 LiGi");
copy_lcd_str(0,3,tmp_str);
 
// sprintf(&menu.DisplayBuff,"+ Riddim ++");
 
// sprintf(&menu.DisplayBuff+20,"Version: %d %d",0,8);
 
break;
case 1:
sprintf(tmp_str,"Loop:");
copy_lcd_str(0,0,tmp_str);
sprintf(tmp_str," Count %ld",trip_count);
copy_lcd_str(0,1,tmp_str);
sprintf(tmp_str," Time %ld",last_trip_time);
copy_lcd_str(0,2,tmp_str);
break;
 
case 2:
sprintf(tmp_str,"Inputs:");
copy_lcd_str(0,0,tmp_str);
sprintf(tmp_str," Complete %d",evdevs_count);
copy_lcd_str(0,1,tmp_str);
sprintf(tmp_str," Connected %d",input_count);
copy_lcd_str(0,2,tmp_str);
sprintf(tmp_str," Configured %d",configured_input_count);
copy_lcd_str(0,3,tmp_str);
break;
 
case 3:
sprintf(tmp_str,"Nick: %d",act_nick);
copy_lcd_str(0,0,tmp_str);
sprintf(tmp_str,"Roll %d",act_roll);
copy_lcd_str(0,1,tmp_str);
sprintf(tmp_str,"Gier %d",act_gier);
copy_lcd_str(0,2,tmp_str);
sprintf(tmp_str,"Gas %d",act_gas);
copy_lcd_str(0,3,tmp_str);
break;
 
default:
sprintf(tmp_str,"illegal page %d",menu.MenuePunkt);
copy_lcd_str(0,0,tmp_str);
break;
}
}
 
 
 
void BT_Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden.
{
unsigned char a,b,c,d;
unsigned char x,y,z;
unsigned char ptrIn = 3; // start at begin of data block
unsigned char ptrOut = 0;
unsigned char len = BtRxCount - 5; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab.
 
while(len)
{
a = BtHostRxBuffer[ptrIn++] - '=';
b = BtHostRxBuffer[ptrIn++] - '=';
c = BtHostRxBuffer[ptrIn++] - '=';
d = BtHostRxBuffer[ptrIn++] - '=';
 
x = (a << 2) | (b >> 4);
y = ((b & 0x0f) << 4) | (c >> 2);
z = ((c & 0x03) << 6) | d;
printf("\naaaaa %d / %d\naaaaa s %s => x %d ; y %d ; z %d \n",ptrOut, BtRxCount ,BtHostRxBuffer,x,y,z);
 
 
if(len--) BtHostRxBufferDecoded[ptrOut++] = x; else break;
if(len--) BtHostRxBufferDecoded[ptrOut++] = y; else break;
if(len--) BtHostRxBufferDecoded[ptrOut++] = z; else break;
}
//RxDataLen = ptrOut ; // wie viele Bytes wurden dekodiert?
 
}
 
void BT_AddCRC(unsigned int wieviele)
{
unsigned int tmpCRC = 0,i;
for(i = 0; i < wieviele;i++)
{
tmpCRC += BT_TxBuffer[i];
}
tmpCRC %= 4096;
BT_TxBuffer[i++] = '=' + tmpCRC / 64;
BT_TxBuffer[i++] = '=' + tmpCRC % 64;
BT_TxBuffer[i++] = '\r';
}
 
void BT_SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len)
{
// return;
int status =0;
unsigned int pt = 0;
unsigned char a,b,c;
unsigned char ptr = 0;
 
printf("packing base len %d -cmd %c\n",len,cmd);
 
BT_TxBuffer[pt++] = '#'; // Startzeichen
BT_TxBuffer[pt++] = modul; // Adresse (a=0; b=1,...)
BT_TxBuffer[pt++] = cmd; // Commando
 
while(len)
{
if(len) { a = snd[ptr++]; len--;} else a = 0;
if(len) { b = snd[ptr++]; len--;} else b = 0;
if(len) { c = snd[ptr++]; len--;} else c = 0;
BT_TxBuffer[pt++] = '=' + (a >> 2);
BT_TxBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
BT_TxBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
BT_TxBuffer[pt++] = '=' + ( c & 0x3f);
}
 
BT_AddCRC(pt);
printf("Sending to BT_Client %d \n" , pt);
 
status = send(client,"\r" , 1, 0);
// for (c=0;c<pt+2;c++)
// {
status = write(client,&BT_TxBuffer , pt+3);
 
status = send(client,"\r" , 1, 0);
printf("\n");
}
 
 
void bt_process_buffer()
{
printf("processing buffer\n");
switch(BtHostRxBuffer[2])
{
 
case 'v':
printf("got version request\n");
VersionInfo.SWMinor=RIDDIM_VERSION_MINOR;
VersionInfo.SWMajor=RIDDIM_VERSION_MAJOR;
VersionInfo.SWPatch=RIDDIM_VERSION_PATCH;
 
BT_SendOutData('V', RIDDIM_ADDRESS, (unsigned char *) &VersionInfo, sizeof(VersionInfo));
break;
 
case 'l':
printf("got display request\n");
Menu();
menu.MenuePunkt=BtHostRxBufferDecoded[0];
printf("sending %s \n",menu.DisplayBuff);
BT_SendOutData('L', RIDDIM_ADDRESS, (unsigned char *) &menu, sizeof(menu));
break;
 
}
 
}
 
 
 
 
 
 
 
 
int r=0;
 
struct timeval last_debug_time;
struct timeval act_time;
 
int bt_host_tick(int mk_fd)
{
 
// try to accept connection if none yet
if (!bt_host_connected)
{
// timeout.tv_sec = 0;
// timeout.tv_usec = 100;
FD_ZERO(&readfds);
FD_ZERO(&writefds);
FD_SET(s, &readfds);
maxfd = s;
 
printf("waiting for bt connection\n");
// status = select(maxfd + 1, &readfds, &writefds, 0, &timeout);
status = select(maxfd + 1, &readfds, &writefds, 0,& (struct timeval) { 0, 100 });
if( status > 0 && FD_ISSET( s, &readfds ) ) {
// incoming connection
client = accept( s, (struct sockaddr*)&rem_addr, &opt );
if( client >= 0 )
{
bt_host_connected=1;
 
// close the server socket, leaving only the client socket open
// close(s);
ba2str( &rem_addr.rc_bdaddr, buf );
fprintf(stderr, "accepted connection from %s!!!!!!!\n", buf);
memset(buf, 0, sizeof(buf));
// put client socket into nonblocking mode
sock_flags = fcntl( client, F_GETFL, 0 );
fcntl( client, F_SETFL, sock_flags | O_NONBLOCK );
}
}
 
}
else
{
gettimeofday(&act_time,NULL);
if (act_time.tv_sec>last_debug_time.tv_sec)
{
 
DebugOut.Analog[9]=23; // voltage
DebugOut.Analog[5]=23; // alt
 
BT_SendOutData('D', RIDDIM_ADDRESS, (unsigned char *) &DebugOut, sizeof(DebugOut));
 
 
gettimeofday(&last_debug_time,NULL);
}
printf("reading from bt_host");
char in_char='#';
int count=0;
 
struct timeval timeout;
timeout.tv_sec = 0;
timeout.tv_usec = 100;
FD_ZERO(&readfds);
FD_ZERO(&writefds);
FD_SET(client, &readfds);
maxfd = client;
printf("waiting for connection\n");
status = select(maxfd + 1, &readfds, 0, 0, &timeout);
if( status >0 )
{
count=read(client,&in_char,1);
//send(mk_fd,"\r",1,0);
if (count==-1)
{
bt_host_connected=0;
//return 0;
}
else
if(in_char!='\r')
{
printf("count: %d in %d chr %c r:%d\n",count,in_char,in_char,r);
//send(mk_fd,&in_char,1,0);
BtHostRxBuffer[r++]=in_char;
 
}
else
{
BtRxCount=r;
r=0;
BT_Decode64();
bt_process_buffer();
}
// send(mk_fd,"\r",1,0);
}
else
return 0;
}
return 1;
}
/Riddim/bluetooth_handler.h
0,0 → 1,57
 
#if !defined(BLUETOOTH_HANDLER_H)
#define BLUETOOTH_HANDLER_H
 
 
#define RIDDIM_ADDRESS 12+'a'
#include <bluetooth/bluetooth.h>
#include <bluetooth/rfcomm.h>
#include <bluetooth/hci.h>
#include <bluetooth/hci_lib.h>
 
#include <unistd.h>//for close() for socket
#include <stdlib.h>
 
 
#include <stdio.h>
#include <stdlib.h>
#include <fcntl.h>
 
 
 
 
#include <errno.h>
#include <sys/types.h>
#include <netinet/in.h>
#include <sys/time.h>
 
#include <unistd.h>//for close() for socket
 
#include <string.h>
#include "riddim_meta.h"
#include "statistics.h"
#include "config.h"
#include "riddim.h"
#include "fc.h"
 
#define MAX_BT_DEVICES 3
 
extern int bt_device_count;
 
extern char names[MAX_BT_DEVICES][248];
extern char addrs[MAX_BT_DEVICES][19];
 
int scan_bt();
int bt_host_tick(int mk_fd);
int bt_host_init();
int bt_host_send(char RxBuffer[150],int len);
 
 
#define MAX_BUFF_LEN 150
 
 
extern struct str_DebugOut DebugOut;
extern struct str_VersionInfo VersionInfo;
 
 
#endif
/Riddim/config.c
0,0 → 1,183
#include "config.h"
 
 
char *input_evdev_name;
char *input_joydev_name;
 
char *bluetooth_mac;
char *mk_tty;
 
 
char *evdev_path;
 
int mk_socket_port=0;
int loop_delay=0;
 
double nick_mul=0.3f;
double roll_mul=0.3f;
double gier_mul=0.3f;
double gas_mul=0.3f;
 
 
double nick_add=0.3f;
double roll_add=0.3f;
double gier_add=0.3f;
double gas_add=0.3f;
 
int rel_axis_nick;
int rel_axis_roll;
int rel_axis_gier;
int rel_axis_gas;
 
cfg_bool_t exit_after_init = cfg_false;
 
 
int input_count=0;
int configured_input_count=0;
cfg_t *cfg;
 
void parse_config(char* fname)
{
 
// section for inputs
static cfg_opt_t input_opts[] = {
CFG_STR("name", 0, CFGF_NONE),
 
CFG_FLOAT("nick_mul", 1.0,CFGF_NONE),
CFG_FLOAT("roll_mul", 1.0,CFGF_NONE),
CFG_FLOAT("gier_mul", 1.0,CFGF_NONE),
CFG_FLOAT("gas_mul", 1.0,CFGF_NONE),
CFG_FLOAT("alt_mul", 1.0,CFGF_NONE),
 
CFG_FLOAT("nick_add", 0,CFGF_NONE),
CFG_FLOAT("roll_add", 0,CFGF_NONE),
CFG_FLOAT("gier_add", 0,CFGF_NONE),
CFG_FLOAT("gas_add", 0,CFGF_NONE),
CFG_INT("rel_axis_nick", -1,CFGF_NONE),
CFG_INT("rel_axis_roll", -1,CFGF_NONE),
CFG_INT("rel_axis_gier", -1,CFGF_NONE),
CFG_INT("rel_axis_gas", -1,CFGF_NONE),
CFG_INT("rel_axis_alt", -1,CFGF_NONE),
 
CFG_INT("nick_up_btn", -1,CFGF_NONE),
CFG_INT("nick_down_btn", -1,CFGF_NONE),
CFG_INT("roll_left_btn", -1,CFGF_NONE),
CFG_INT("roll_right_btn", -1,CFGF_NONE),
 
 
CFG_INT("engine_switch_btn", -1,CFGF_NONE),
 
CFG_END()
};
 
cfg_opt_t opts[] = {
CFG_SEC("input", input_opts, CFGF_MULTI | CFGF_TITLE),
CFG_SIMPLE_STR("bluetooth_mac", &bluetooth_mac),
 
CFG_SIMPLE_STR("mk_tty", &mk_tty),
CFG_SIMPLE_STR("evdev_path", &evdev_path),
 
CFG_SIMPLE_BOOL("exit_after_init", &exit_after_init),
CFG_SIMPLE_STR("input_evdev", &input_evdev_name),
CFG_SIMPLE_STR("input_joydev", &input_joydev_name),
CFG_SIMPLE_INT("loop_delay", &loop_delay),
CFG_SIMPLE_INT("mk_socket_port", &mk_socket_port),
CFG_SIMPLE_FLOAT("nick_mul", &nick_mul),
CFG_SIMPLE_FLOAT("roll_mul", &roll_mul),
CFG_SIMPLE_FLOAT("gier_mul", &gier_mul),
CFG_SIMPLE_FLOAT("gas_mul", &gas_mul),
 
CFG_SIMPLE_FLOAT("nick_add", &nick_add),
CFG_SIMPLE_FLOAT("roll_add", &roll_add),
CFG_SIMPLE_FLOAT("gier_add", &gier_add),
CFG_SIMPLE_FLOAT("gas_add", &gas_add),
CFG_SIMPLE_INT("rel_axis_nick", &rel_axis_nick),
CFG_SIMPLE_INT("rel_axis_roll", &rel_axis_roll),
CFG_SIMPLE_INT("rel_axis_gier", &rel_axis_gier),
CFG_SIMPLE_INT("rel_axis_gas", &rel_axis_gas),
CFG_END()
};
 
printf("Parsing config file %s\n",fname);
cfg = cfg_init(opts, 0);
 
cfg_parse(cfg,fname);
 
}
 
void parse_config_input_sections()
{
printf("parsing inputs \n");
configured_input_count=cfg_size(cfg,"input");
printf("%d inputs configured\n", input_count);
int i;
int act_input=0;
for (i=0;i<configured_input_count;i++)
{
cfg_t *input_sect=cfg_getnsec(cfg,"input",i);
 
 
printf("processing input: %s\n",cfg_getstr( input_sect, "name"));
int evdev_i=0;
for (evdev_i=0;evdev_i<evdevs_count;evdev_i++)
if (!strcmp(cfg_getstr( input_sect, "name"),evdevs[evdev_i].name))
{
sprintf( inputs[act_input].fname,"%s",evdevs[evdev_i].fname);
// todo check lengt
sprintf(inputs[act_input].name,"processing input: %s\n",cfg_getstr( input_sect, "name"));
inputs[act_input].nick_mul=cfg_getfloat(input_sect,"nick_mul");
inputs[act_input].roll_mul=cfg_getfloat(input_sect,"roll_mul");
inputs[act_input].gier_mul=cfg_getfloat(input_sect,"gier_mul");
inputs[act_input].gas_mul=cfg_getfloat(input_sect,"gas_mul");
inputs[act_input].alt_mul=cfg_getfloat(input_sect,"alt_mul");
inputs[act_input].nick_add=cfg_getfloat(input_sect,"nick_add");
inputs[act_input].roll_add=cfg_getfloat(input_sect,"roll_add");
inputs[act_input].gier_add=cfg_getfloat(input_sect,"gier_add");
inputs[act_input].gas_add=cfg_getfloat(input_sect,"gas_add");
 
 
inputs[act_input].nick_up_btn=cfg_getint(input_sect,"nick_up_btn");
printf("nick_up_btn %ld\n" ,cfg_getint(input_sect,"nick_up_btn"));
 
inputs[act_input].nick_down_btn=cfg_getint(input_sect,"nick_down_btn");
 
inputs[act_input].roll_left_btn=cfg_getint(input_sect,"roll_left_btn");
inputs[act_input].roll_right_btn=cfg_getint(input_sect,"roll_right_btn");
 
 
inputs[act_input].rel_axis_nick=cfg_getint(input_sect,"rel_axis_nick");
inputs[act_input].rel_axis_roll=cfg_getint(input_sect,"rel_axis_roll");
 
inputs[act_input].rel_axis_gier=cfg_getint(input_sect,"rel_axis_gier");
inputs[act_input].rel_axis_gas=cfg_getint(input_sect,"rel_axis_gas");
 
inputs[act_input].rel_axis_alt=cfg_getint(input_sect,"rel_axis_alt");
 
inputs[act_input].engine_switch_btn=cfg_getint(input_sect,"engine_switch_btn");
 
 
 
act_input++;
}
 
 
}
input_count=act_input;
printf("%d inputs matching\n", input_count);
 
}
 
 
/Riddim/config.h
0,0 → 1,87
#if !defined(CONFIG_H)
#define CONFIG_H
 
 
#define MAX_INPUTS 5
 
#include <confuse.h>
#include "evdev_handler.h"
 
// values from config
extern char *input_evdev_name;
extern char *input_joydev_name;
extern char *bluetooth_mac;
extern char *evdev_path;
extern int mk_socket_port;
extern char *mk_tty;
extern int loop_delay;
 
extern double nick_mul;
extern double roll_mul;
extern double gier_mul;
extern double gas_mul;
 
extern double nick_add;
extern double roll_add;
extern double gier_add;
extern double gas_add;
 
extern int rel_axis_nick;
extern int rel_axis_roll;
extern int rel_axis_gier;
extern int rel_axis_gas;
 
 
extern cfg_bool_t exit_after_init ;
 
 
extern int input_count;
extern int configured_input_count;
struct {
 
 
int *evdev_rel_axis;
char *evdev_button;
 
double nick_mul;
double roll_mul;
double gier_mul;
double gas_mul;
double alt_mul;
 
double nick_add;
double roll_add;
double gier_add;
double gas_add;
double alt_add;
 
int rel_axis_nick;
int rel_axis_roll;
int rel_axis_gier;
int rel_axis_gas;
int rel_axis_alt;
 
int nick_up_btn;
int nick_down_btn;
 
int roll_left_btn;
int roll_right_btn;
 
int engine_switch_btn;
 
char name[255];
char fname[255];
 
 
int evdev_id;
 
int evdev_out_fd;
int evdev_in_fd;
 
} inputs[MAX_INPUTS];
 
 
void parse_config(char* fname);
void parse_config_input_sections();
 
#endif
/Riddim/definitions.h
0,0 → 1,0
#define MAX_INPUTS=2
/Riddim/evdev_handler.c
0,0 → 1,257
#include "evdev_handler.h"
#include "config.h"
 
int retval;
size_t read_bytes; /* how many bytes were read */
struct input_event ev[64]; /* the events (up to 64 at once) */
struct input_event led_event;
 
 
 
int counter;
 
int evdevs_count=0;
int file_select(const struct direct *entry)
{
if ((strncmp(entry->d_name, "event",5))==0)
return (TRUE);
else
return(FALSE);
}
 
 
void collect_evdev_devices()
{
 
// char event_dev_path[]="/dev/input/";
struct direct **files;
evdevs_count = scandir(evdev_path, &files, file_select, NULL);
 
printf("%d inputs found in %s\n" , evdevs_count,evdev_path);
 
int i=0;
for (i=0;i<evdevs_count;++i)
{
 
printf("%s",files[i]->d_name);
sprintf(evdevs[i].fname,"%s%s",evdev_path,files[i]->d_name);
int act_fd;
 
if ((act_fd = open(evdevs[i].fname, O_RDONLY)) < 0)
{
printf(" cant open %s for reading!",evdevs[i].name);
}
else
{
if(ioctl(act_fd , EVIOCGNAME(sizeof(evdevs[i].name)), evdevs[i].name) < 0) {
perror("evdev ioctl");
}
printf("EVDEV reports name: %s\n", evdevs[i].name);
close(act_fd);
}
 
 
/*
FILE *fp=NULL ;
 
sprintf(evdevs[i].fname,"/sys/class/input/%s/name",files[i-1]->d_name);
fp = fopen ( evdevs[i].fname, "r") ;
 
if (fp==NULL)
{
printf("cannot read %s\n",evdevs[i].fname);
// exit(1);
}
int ch=-2;
int str_pos=0;
while ( (ch!=-1) && (ch!='\n') )
{
 
ch = fgetc ( fp ) ;
if ((ch!=13)&&(ch!=10))evdevs[i].name[str_pos++]=ch;
printf("%c",ch);
}
 
fclose(fp);
evdevs[i].name[str_pos++]=0;
*/
 
}
}
 
 
void print_event_str(int id)
{
switch ( id)
{
case EV_KEY :
printf("Keys or Button\n");
break;
case EV_ABS :
printf("Absolute Axis\n");
break;
case EV_LED :
printf("LED(s)\n");
break;
case EV_REP :
printf("Repeat\n");
break;
case EV_SYN :
printf("Sync?\n");
break;
case EV_REL :
printf("Relative Axis\n");
break;
case EV_MSC :
printf("Misc\n");
break;
default:
printf("Unknown event type ( 0x%04hx)\n", id);
}
 
}
 
int connect_evdev()
{
 
 
struct input_devinfo {
uint16_t bustype;
uint16_t vendor;
uint16_t product;
uint16_t version;
};
struct input_devinfo device_info;
 
int i;
for ( i =0 ; i< input_count;i++)
{
inputs[i].evdev_rel_axis = (int *) calloc( 100, sizeof( int ) );
inputs[i].evdev_button = (char *)calloc( 500, sizeof( char ) );
 
 
printf(" opening evdev %s\n",inputs[i].fname);
if ((inputs[i].evdev_out_fd = open(inputs[i].fname, O_WRONLY)) < 0)
{
printf(" cant open %s for writing\n",inputs[i].fname);
}
 
if ((inputs[i].evdev_in_fd = open(inputs[i].fname, O_RDONLY)) < 0)
{
printf(" cant open %s for reading!",inputs[i].fname);
return 0;
}
ioctl(inputs[i].evdev_in_fd ,EVIOCGID,&device_info);
printf("vendor 0x%04hx product 0x%04hx version 0x%04hx \n",
device_info.vendor, device_info.product,
device_info.version);
 
 
uint8_t evtype_bitmask[EV_MAX/8 + 1];
if(ioctl(inputs[i].evdev_in_fd , EVIOCGBIT(0, sizeof(evtype_bitmask)), evtype_bitmask) < 0)
perror("evdev ioctl");
printf("Supported event types:\n");
int i;
for (i = 0; i < EV_MAX; i++) {
if (test_bit(i, evtype_bitmask)) {
/* this means that the bit is set in the event types list */
printf(" Event type 0x%02x ", i);
print_event_str(i);
}}
}
return 1;
}
 
/*
int init_evdevstatus_led()
{
led_event.type=EV_LED;
led_event.code = LED_MISC;
led_event.value = 1;
if (evdev_out_fd)
retval = write(evdev_out_fd, &led_event, sizeof(struct input_event));
return 1;
}
 
int blink_evdev_led()
{
 
if (evdev_out_fd)
{
if (led_event.value)
led_event.value = 0;
else
led_event.value = 1 ;
retval = write(evdev_out_fd, &led_event, sizeof(struct input_event));
}
return 1;
}
*/
 
int poll_evdev()
{
 
printf("polling evdev\n");
int i;
for ( i =0 ; i< input_count;i++)
{
struct timeval tv = {0,5};
fd_set rfds;
FD_ZERO(&rfds);
FD_SET(inputs[i].evdev_in_fd,&rfds);
 
retval = select(inputs[i].evdev_in_fd+1, &rfds, NULL, NULL, &tv);
if (retval==-1)
printf("error in select!!!!!!!!\n");
else if (retval)
{
read_bytes = read(inputs[i].evdev_in_fd, ev, sizeof(struct input_event) * 64);
if (read_bytes < (int) sizeof(struct input_event)) {
perror("evtest: short read");
exit (1);
}
for (counter = 0; counter < (int) (read_bytes / sizeof(struct input_event)); counter++)
{
// print_event_str(ev[counter].type);
// printf(" code:%d val:%d \n",ev[counter].code,ev[counter].value);
// if (ev[counter].type==EV_REL) evdev_rel_axis[ ev[counter].code]= ev[counter].value;
// for logitech problem
if (ev[counter].type==EV_REL) inputs[i].evdev_rel_axis[ ev[counter].code]= ev[counter].value;
if (ev[counter].type==EV_KEY) inputs[i].evdev_button[ ev[counter].code]= ev[counter].value;
}
for (counter=0;counter<20;counter++)
printf("A%d %d -" , counter, inputs[i].evdev_rel_axis[counter] );
printf("\n");
for (counter=0;counter<10;counter++)
printf("B%d %d -" , counter, inputs[i].evdev_button[counter] );
// printf("input read done: nick:%d roll:%d gier:%d gas:%d\n",axis[3] , axis[4] , axis[5] , axis[2]);
}
else
printf("no data from evdev data from evdev: \n");
}
return 1;
}
/Riddim/evdev_handler.h
0,0 → 1,45
#if !defined(EVDEV_HANDLER_H)
#define EVDEV_HANDLER_H
 
#include <stdio.h>
#include <sys/types.h>
#include <fcntl.h>
#include <stdlib.h>
#include <unistd.h>//for close() for socket
#include <string.h>
#include <linux/joystick.h>
#include <netinet/in.h>
 
#include <sys/types.h>
#include <sys/dir.h>
#include <sys/param.h>
 
#define MAX_EVDEVS 20
 
#define test_bit(bit, array) (array[bit/8] & (1<<(bit%8)))
 
int connect_evdev();
int blink_evdev_led();
int init_evdevstatus_led();
int poll_evdev();
void collect_evdev_devices();
 
extern int *evdev_rel_axis;
extern char *evdev_button;
 
 
 
typedef struct
{
char name[255];
char fname[255];
} evdevs_t ;
 
evdevs_t evdevs[MAX_EVDEVS];
extern int evdevs_count;
 
 
#define FALSE 0
#define TRUE 1
 
#endif
/Riddim/fc.c
0,0 → 1,296
#include "fc.h"
 
 
 
unsigned char TxBuffer[MAX_BUFF_LEN];
unsigned char _TxBuffer[MAX_BUFF_LEN];
 
unsigned char RxBuffer[MAX_BUFF_LEN];
char PrintableRxBuffer[MAX_BUFF_LEN];
 
 
 
int mk_socket;
 
int status;
 
void AddCRC(unsigned int wieviele)
{
unsigned int tmpCRC = 0,i;
for(i = 0; i < wieviele;i++)
{
tmpCRC += TxBuffer[i];
}
tmpCRC %= 4096;
TxBuffer[i++] = '=' + tmpCRC / 64;
TxBuffer[i++] = '=' + tmpCRC % 64;
TxBuffer[i++] = '\r';
}
 
 
void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len)
{
// return;
int status =0;
unsigned int pt = 0;
unsigned char a,b,c;
unsigned char ptr = 0;
 
TxBuffer[pt++] = '#'; // Startzeichen
TxBuffer[pt++] = modul; // Adresse (a=0; b=1,...)
TxBuffer[pt++] = cmd; // Commando
 
while(len)
{
if(len) { a = snd[ptr++]; len--;} else a = 0;
if(len) { b = snd[ptr++]; len--;} else b = 0;
if(len) { c = snd[ptr++]; len--;} else c = 0;
TxBuffer[pt++] = '=' + (a >> 2);
TxBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
TxBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
TxBuffer[pt++] = '=' + ( c & 0x3f);
}
 
AddCRC(pt);
printf("Sending to MK %d \n" , pt);
 
status = send(mk_socket,"\r" , 1, 0);
// for (c=0;c<pt+2;c++)
// {
status = write(mk_socket,&TxBuffer , pt+3);
 
// printf("Send to MK %d \n" , TxBuffer[c] );
// }
/* int i=0;
while(TxBuffer[i] !='\r' && i<150)
{
// TxBuffer[i]='#';
status = send(mk_socket,TxBuffer[i] , 1, 0);
printf(" +%d%c ",i,TxBuffer[i]);
i++;
}
 
// status = send(s,"\r" , 1, 0);
*/
status = send(mk_socket,"\r" , 1, 0);
status = send(mk_socket,"\n" , 1, 0);
printf("\n");
}
 
 
int rx_last_length;
 
 
void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max)
{
unsigned char a,b,c,d;
unsigned char ptr = 0;
unsigned char x,y,z;
while(len)
{
a = RxBuffer[ptrIn++] - '=';
b = RxBuffer[ptrIn++] - '=';
c = RxBuffer[ptrIn++] - '=';
d = RxBuffer[ptrIn++] - '=';
if(ptrIn > max - 2) break;
 
x = (a << 2) | (b >> 4);
y = ((b & 0x0f) << 4) | (c >> 2);
z = ((c & 0x03) << 6) | d;
 
if(len--) ptrOut[ptr++] = x; else break;
if(len--) ptrOut[ptr++] = y; else break;
if(len--) ptrOut[ptr++] = z; else break;
}
 
}
 
int read_from_mk()
{
char in_char='#';
int count=0;
int r=0;
// int i=0;
 
int p=0;
printf("starting read\n");
while(in_char!='\r')
{
p++;
// printf("b read\n");
count=read(mk_socket,&in_char,1);
// if ( count ==-1) exit(0);
printf("a read %d %d %c %d\n",p,count,in_char,in_char);
if (count!=-1)
{
// printf("%c\n",in_char);
RxBuffer[r]=in_char;
if (in_char!=0)
PrintableRxBuffer[r++]=in_char;
else
PrintableRxBuffer[r++]='0';
}
 
}
rx_last_length=r;
PrintableRxBuffer[r++]='\0'; // terminate
printf("done --->%s\n",PrintableRxBuffer);
 
if (RxBuffer[2]=='D')
{
debug_sets++;
Decode64((unsigned char *) &DebugOut,sizeof(DebugOut),3,rx_last_length);
printf("decoded FC Debug data height:%d\n",DebugOut.Analog[5]);
}
return 1;
}
 
 
int connect_mk_bluetooth(char dest[18])
{
struct sockaddr_rc addr ;
 
// allocate a socket
mk_socket = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
// set the connection parameters (who to connect to)
addr.rc_family = AF_BLUETOOTH;
addr.rc_channel = 1;
str2ba( dest, &addr.rc_bdaddr );
 
// connect to server
status = connect(mk_socket, (struct sockaddr *)&addr, sizeof(addr));
 
printf("connection status %d\n",status);
return status;
}
 
 
int connect_mk_tty(char* tty_filename)
{
mk_socket = open(tty_filename,O_RDWR | O_NOCTTY);
 
 
 
struct termios termattr;
// speed_t baudRate;
 
/* Make a copy of the termios structure. */
tcgetattr(mk_socket, &termattr);
termattr.c_cc[VMIN]=0;
termattr.c_cc[VTIME]=1;
 
termattr.c_cflag|=CREAD|CLOCAL;
termattr.c_lflag&=(~(ICANON|ECHO|ECHOE|ECHOK|ECHONL|ISIG));
termattr.c_iflag&=(~(INPCK|IGNPAR|PARMRK|ISTRIP|ICRNL|IXANY));
termattr.c_oflag&=(~OPOST);
termattr.c_cc[VMIN]=0;
termattr.c_cc[VINTR] = _POSIX_VDISABLE;
termattr.c_cc[VQUIT] = _POSIX_VDISABLE;
termattr.c_cc[VSTART] = _POSIX_VDISABLE;
termattr.c_cc[VSTOP] = _POSIX_VDISABLE;
termattr.c_cc[VSUSP] = _POSIX_VDISABLE;
 
//data 8
termattr.c_cflag&=(~CSIZE);
// no par
termattr.c_cflag&=(~PARENB);
termattr.c_cflag |=CS8 | CREAD | CLOCAL ;
termattr.c_iflag |= IGNPAR;
// stop1
termattr.c_cflag&=(~CSTOPB);
// Flow off
termattr.c_cflag&=(~CRTSCTS);
termattr.c_iflag&=(~(IXON|IXOFF|IXANY | ICRNL));
cfsetospeed(&termattr,B57600);
cfsetispeed(&termattr,B57600);
 
printf("set attr: %d\n" , tcsetattr(mk_socket, TCSANOW, &termattr));
 
/*
usleep(1000000);
char in_char='#';
int count=0;
int r=0;
int i=0;
 
int p=0;
printf("starting read %d\n",mk_socket);
while (1)
{
p=0;
r=0;
char in_char='#';
while((in_char!='\r'))//&&(r<MAX_BUFF_LEN))
{
// p++;
// printf("b read\n");
count=read(mk_socket,&in_char,1);
// tcflush( mk_socket, TCOFLUSH );
// printf("\np !read %d %d %c \n",p,count,in_char);
 
//count=read(mk_socket,&in_char,1);
// tcflush( mk_socket, TCOFLUSH );
// printf("\np !read %d %d %d %c \n",r,p,count,in_char);
printf("%d %c \n",r, in_char);
if (count==1)
{
// printf("%c\n",in_char);
RxBuffer[r]=in_char;
if (in_char!=0)
PrintableRxBuffer[r]=in_char;
else
PrintableRxBuffer[r]='0';
r++;
}
//else
//printf("%d/%d",errno,EBADF);
}
PrintableRxBuffer[r]=0;
printf("buff> %d\n %s\n", r, PrintableRxBuffer);
}
*/
if (mk_socket<0)
return 0;
else
return 1;
 
}
 
 
int connect_mk_localhost_socket(int port)
{
struct sockaddr_in sa;
sa.sin_family = AF_INET;
sa.sin_addr.s_addr = htonl(0x0);
sa.sin_port = htons(port);
mk_socket = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP);
 
return connect(mk_socket,(struct sockaddr*) &sa, sizeof(struct sockaddr_in));
 
}
 
/Riddim/fc.h
0,0 → 1,79
#ifndef FC_H
#define FC_H
 
#include <stdio.h>
#include <termios.h>
#include <sys/socket.h>
#include <sys/types.h>
#include <netinet/in.h>
#include <unistd.h>
#include <inttypes.h>
#include "bluetooth_handler.h"
#include "statistics.h"
 
struct ExternControl_s
{
unsigned char Digital[2]; // (noch unbenutzt)
unsigned char RemoteTasten; //(gab es schon für das virtuelle Display)
signed char Nick;
signed char Roll;
signed char Gier;
unsigned char Gas; //(es wird das Stick-Gas auf diesen Wert begrenzt; --> StickGas ist das Maximum)
signed char Higt; //(Hoehenregler)
unsigned char free; // (unbenutzt)
unsigned char Frame; // (Bestätigung)
unsigned char Config;
};
 
struct ExternEvent_s
{
unsigned char key;
unsigned char value[4];
 
};
 
struct str_DebugOut
{
unsigned char Digital[2];
//# signed int
 
uint16_t Analog[32]; // Debugwert//
};
 
 
struct str_VersionInfo
{
unsigned char SWMajor;
unsigned char SWMinor;
unsigned char ProtoMajor;
unsigned char ProtoMinor;
unsigned char SWPatch;
unsigned char Reserved[5];
};
 
 
struct str_DebugOut DebugOut;
 
 
struct ExternControl_s ExternControl;
struct ExternEvent_s ExternEvent;
 
extern int mk_socket;
 
//int connect_mk_bluetooth(char dest[18]);
int connect_mk_localhost_socket(int port);
int connect_mk_bluetooth(char dest[18]);
int connect_mk_tty(char* tty_filename);
 
void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len);
int read_from_mk();
 
 
#define MAX_BUFF_LEN 150
 
extern unsigned char RxBuffer[MAX_BUFF_LEN ];
extern char PrintableRxBuffer[MAX_BUFF_LEN ];
extern int rx_last_length;
 
 
#endif
/Riddim/joy_handler.c
0,0 → 1,71
#include "joy_handler.h"
 
 
int connect_joy()
{
axis = (int *) calloc( 100, sizeof( int ) );
button = (char *)calloc( 100, sizeof( char ) );
button_trigger = (char *) calloc( 100, sizeof( char ) );
 
// axis = (int *) calloc( num_of_axis, sizeof( int ) );
// button = (char *)calloc( num_of_buttons, sizeof( char ) );
// button_trigger = (char *) calloc( num_of_buttons, sizeof( char ) );
 
if( ( joy_input_fd = open( input_joydev_name, O_RDONLY ) ) < 0 )
{
printf( "can't open %s !\nHint: try modprobe joydev\n",input_joydev_name );
return 0;
}
 
ioctl( joy_input_fd, JSIOCGAXES, &num_of_axis );
ioctl( joy_input_fd, JSIOCGBUTTONS, &num_of_buttons );
ioctl( joy_input_fd, JSIOCGNAME(80), &name_of_joystick );
 
printf("Joystick detected: %s\n\t%d axis\n\t%d buttons\n\n"
, name_of_joystick
, num_of_axis
, num_of_buttons );
fcntl( joy_input_fd, F_SETFL, O_NONBLOCK ); /* use non-blocking mode */
 
return 1;
}
 
/*
int connect_joy()
{
axis = (int *) calloc( 100, sizeof( int ) );
button = (char *)calloc( 100, sizeof( char ) );
button_trigger = (char *) calloc( 100, sizeof( char ) );
 
// axis = (int *) calloc( num_of_axis, sizeof( int ) );
// button = (char *)calloc( num_of_buttons, sizeof( char ) );
// button_trigger = (char *) calloc( num_of_buttons, sizeof( char ) );
 
if( ( x52_input_fd = open( JOY_DEV, O_RDONLY ) ) < 0 )
{
printf( "Couldn't open joystick device %s\n", JOY_DEV );
printf( "try modprobe joydev\n" );
return 0;
}
 
ioctl( x52_input_fd, JSIOCGAXES, &num_of_axis );
ioctl( x52_input_fd, JSIOCGBUTTONS, &num_of_buttons );
ioctl( x52_input_fd, JSIOCGNAME(80), &name_of_joystick );
 
printf("Joystick detected: %s\n\t%d axis\n\t%d buttons\n\n"
, name_of_joystick
, num_of_axis
, num_of_buttons );
fcntl( x52_input_fd, F_SETFL, O_NONBLOCK );
 
return 1;
}
*/
/Riddim/joy_handler.h
0,0 → 1,24
#if !defined(JOYDEV_HANDLER_H)
#define JOYDEV_HANDLER_H
 
#include <linux/joystick.h>
#include <stdio.h>
#include <stdlib.h>
#include <fcntl.h>
#include "config.h"
 
extern int *axis;
extern char *button;
 
 
 
int joy_input_fd;
int num_of_axis,num_of_buttons;
 
char *button_trigger;
char name_of_joystick[80];
 
 
int connect_joy();
 
#endif
/Riddim/riddim.c
0,0 → 1,621
/**************************************************
*
*
* Riddim
* Remote Interactive Digital Drone Interface Mashup
*
* (cc) 2007-2009 Marcus -LiGi- Bueschleb
*
*
**************************************************/
 
#include "riddim.h"
 
int state=STATEID_SCANNING;
struct js_event x52_event_struct;
 
int engines_on=0;
int old_engines_on=0;
 
int *axis;
char *button;
 
int act_nick=0;
int act_roll=0;
int act_gier=0;
int act_gas=0;
int act_mode=0;
 
int act_alt=0;
long act_long_alt=0;
 
struct x52 *x52_output;
 
int selected_bt_device=0;
 
int count=0;
int connected=0;
int input=INPUT_NONE;
 
void write_display(int line,char* text)
{
if (x52_output) x52_settext(x52_output, line , text, strlen(text));
}
 
void clear_display()
{
write_display(0,"");
write_display(1,"");
write_display(2,"");
}
 
 
void output_device_list()
{
int i;
char disp_txt[20];
for(i=0;i<bt_device_count;i++)
{
if (i<3)
{
if (selected_bt_device==i)
sprintf(disp_txt,"#%s",names[i]);
else
sprintf(disp_txt," %s",names[i]);
write_display(i,disp_txt);
}
}
}
 
 
void print_device_list()
{
int i;
for(i=0;i<bt_device_count;i++)
printf("device%i->%s\n",i,names[i]);
}
 
 
 
 
int main(int argc, char**argv)
{
 
printf("Starting Riddim %d.%d \n",RIDDIM_VERSION_MAJOR,RIDDIM_VERSION_MINOR );
printf("\tRemote Interactive Digital Drone Interface Mashup\n");
printf("\nusage:\n");
printf("\t riddim [config_file]\n\n");
 
// check if config file as argument
if (argv[1])
parse_config(argv[1]);
else
parse_config("/etc/riddim.conf");
 
bt_host_init();
collect_evdev_devices();
parse_config_input_sections();
// exit(0);
 
printf("input %s:\n",input_evdev_name);
/*
if (bluetooth_mac)
{
 
printf("Connecting via Bluetooth to %s\n",bluetooth_mac);
if (connect_mk_bluetooth(bluetooth_mac));;
connected=TRUE;
}
*/
 
if (mk_tty)
{
printf("connecting to mk via tty: %s\n",mk_tty);
if (!connect_mk_tty(mk_tty))
printf("cant connect !!");
else
{
printf("connected !-)");
connected=TRUE;
}
}
 
if (mk_socket_port)
{
printf("connecting to mk via local port: %i\n",mk_socket_port);
if (connect_mk_localhost_socket(mk_socket_port)==-1)
printf("cant connect !!");
else
{
printf("connected !-)");
connected=TRUE;
}
}
 
// todo reenable bluetooth connection
 
connect_evdev();
 
/*
if ((input_evdev_name))
{
printf("\nInitializing evdev input (%s) ..\n",input_evdev_name);
if (connect_evdev(input_evdev_name))
{
printf(".. done");//
input=INPUT_EVDEV;
}
else
printf(".. ERROR ");//
}
*/
if (input_joydev_name)
{
printf("\nInitializing joystick input from %s ..\n",input_joydev_name);
if (connect_joy())
{
printf(".. done");//
input=INPUT_JOYDEV;
}
else
printf(".. ERROR ");//
}
 
 
printf("\nInitializing X-52 output ..");
 
x52_output = x52_init();
clear_display();
 
write_display(0, "RIDDIM active");
 
if (x52_output) x52_setbri(x52_output, 1,128);
if (x52_output)
printf(" done \n");
else
printf(" not found \n");
 
/*
if (!connected)
{
printf("Scanning for Bluetooth Devices ..\n");
write_display(1,"Bluetooth Scan");
scan_bt();
printf(" done \n");
printf(" %d Devices found \n",bt_device_count);
print_device_list() ;
}
*/
 
// int v_old;
int polls=0;
 
 
if (exit_after_init)
exit(0);
printf("starting loop ..\n");
 
 
 
int complete_misses=0;
int complete_matches=0;
 
 
int confirm_misses;
 
 
 
// init_evdevstatus_led();
 
while( TRUE )
{
 
gettimeofday(&loop_start_time,NULL);
 
 
// blink_evdev_led();
bt_host_tick(mk_socket);
usleep(loop_delay);
 
poll_evdev();
 
switch (input)
{
 
case INPUT_NONE:
printf("processing input none\n");
break;
 
case INPUT_EVDEV:
printf("processing input evdev\n");
 
break;
 
case INPUT_JOYDEV:
printf("processing input joydev\n");
// poll values from input device
for (polls=0;polls<100;polls++) // FIXME - better Polling
{
read(joy_input_fd, &x52_event_struct, sizeof(struct js_event));
/* see what to do with the event */
switch (x52_event_struct.type & ~JS_EVENT_INIT)
{
case JS_EVENT_AXIS:
axis [ x52_event_struct.number ] = x52_event_struct.value;
break;
case JS_EVENT_BUTTON:
button [ x52_event_struct.number ] = x52_event_struct.value;
break;
}
}
int x;
for( x=0 ; x<num_of_buttons ; ++x )
if( button[x]==0)
button_trigger[x]=0;
else
{
if (button_trigger[x]<100)button_trigger[x]++;
}
break;
} // switch (input)
 
printf("input done\n");
switch(state)
{
case STATEID_SCANNING:
state=STATEID_CONNECTING;
/*
ExternControl.Digital[0]=0;
ExternControl.Digital[1]=0;
ExternControl.RemoteTasten=0;
ExternControl.Nick=(axis[1]>>8)*(-1)+127;;
 
printf("nick%d\n",ExternControl.Nick);
ExternControl.Roll=(axis[0]>>8)*(-1)+127;;
ExternControl.Gier=(axis[5]>>8)*(-1)+127;;
ExternControl.Gas=(axis[2]>>8)*(-1)+127;
ExternControl.Higt=0;
ExternControl.free=0;
ExternControl.Frame='t';
ExternControl.Config=1;
 
printf("sending data\n");
 
if (connected)SendOutData('b', 0, (unsigned char *)&ExternControl, sizeof(ExternControl));
gettimeofday(&time_struct1,NULL);
 
if (button_trigger[BUTTON_SELECT]==1)
{
state=STATEID_CONNECTING;
clear_display();
write_display(0,"connecting to");
write_display(1,names[selected_bt_device]);
//connect_mk(addrs[selected_bt_device]);
write_display(0,"connected to");
}
if ((button_trigger[BUTTON_UP]+button_trigger[BUTTON_DOWN])==1)
{
printf("-> sel_dev %d - %d\n",selected_bt_device,button_trigger[19]);
if (button_trigger[BUTTON_DOWN]==1)
if (selected_bt_device>0) selected_bt_device--;
if (button_trigger[BUTTON_UP]==1)
if (selected_bt_device<bt_device_count-1) selected_bt_device++;
 
}
*/
break;
case STATEID_CONNECTING:
 
 
 
confirm_misses=0;
 
RxBuffer[2]=0;
if (connected)
{
read_from_mk();
if (RxBuffer[2]=='B')
complete_misses++;
/*while (RxBuffer[2]!='B')
{
 
RxBuffer[1]=0;
read_from_mk();
// bt_host_send(RxBuffer,rx_last_length);
printf("sending to host: %s",PrintableRxBuffer);
 
 
// ftime(&time_struct);
 
printf("waiting for confirm frame ( confirmed:%d misses:%d %c)\n",complete_matches,complete_misses,RxBuffer[2]);
// RxBuffer[2]=0;
 
// r=0;
 
// new
//if (button_trigger[12]>1)
// {
// SendOutData('s', 0, (unsigned char *)&ExternControl, sizeof(ExternControl));
// button_trigger[12]=0;
// }
ExternControl.Frame='t';
if (++confirm_misses>4)
{
complete_misses++;
printf("sending again\n");
SendOutData('b', 0, (unsigned char *)&ExternControl, sizeof(ExternControl));
}
*/
}
else
printf("not connected to mk\n");
// gettimeofday(&time_struct2,NULL);
 
// printf("last trip: %d\n",(int)(time_struct2.tv_usec-time_struct1.tv_usec));
// act_mode=button[24] | (button[25]<<1);
 
 
 
// Step converting axis data to nick/roll/gier/gas/..
 
// act_nick=(evdev_rel_axis[rel_axis_nick]-128)*nick_mul;
 
 
 
 
/* Mix input values */
 
act_gas=0;
act_nick=0;
act_roll=0;
act_gier=0;
 
int act_input=0;
for (act_input=0;act_input<input_count;act_input++)
{
 
printf("process b %d\n",inputs[act_input].nick_up_btn);
//process buttons
if (inputs[act_input].nick_up_btn!=-1)
{
if (inputs[act_input].evdev_button[inputs[act_input].nick_up_btn]!=0)
act_nick=100;
}
 
 
if (inputs[act_input].nick_down_btn!=-1)
{
if (inputs[act_input].evdev_button[inputs[act_input].nick_down_btn]!=0)
act_nick=-100;
}
 
 
if (inputs[act_input].roll_left_btn!=-1)
{
if (inputs[act_input].evdev_button[inputs[act_input].roll_left_btn]!=0)
act_roll=100;
}
 
if (inputs[act_input].roll_right_btn!=-1)
{
if (inputs[act_input].evdev_button[inputs[act_input].roll_right_btn]!=0)
act_roll=-100;
 
}
 
// process axis
if (inputs[act_input].rel_axis_nick!=-1)
act_nick=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_nick]*inputs[act_input].nick_mul;
 
if (inputs[act_input].rel_axis_roll!=-1)
act_roll=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_roll]*inputs[act_input].roll_mul;
 
 
if (inputs[act_input].rel_axis_gier!=-1)
act_gier=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_gier]*inputs[act_input].gier_mul;
 
 
if (inputs[act_input].rel_axis_gas!=-1)
act_gas=inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_gas]*inputs[act_input].gas_mul;
 
 
 
if (inputs[act_input].rel_axis_alt!=-1)
{
 
if (inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_alt]>300)
act_long_alt-=last_trip_time/100;
 
if (inputs[act_input].evdev_rel_axis[inputs[act_input].rel_axis_alt]<-300)
act_long_alt+=last_trip_time/100;
act_alt=act_long_alt/1000;
 
if (act_alt>120)act_alt=120;
else if (act_alt<-120)act_alt=-120;
}
// process_events
if (inputs[act_input].engine_switch_btn!=-1)
{
if ((inputs[act_input].evdev_button[inputs[act_input].engine_switch_btn]==0)&&(DebugOut.Analog[16]==1))
{
ExternEvent.key=2;
SendOutData('e', 0, (unsigned char *)&ExternEvent, sizeof(ExternEvent));
}
if ((inputs[act_input].evdev_button[inputs[act_input].engine_switch_btn]!=0)&&(DebugOut.Analog[16]==0))
{
ExternEvent.key=1;
SendOutData('e', 0, (unsigned char *)&ExternEvent, sizeof(ExternEvent));
}
 
 
 
}
 
}
 
switch(input)
{
case INPUT_EVDEV:
/*
act_nick=(evdev_rel_axis[rel_axis_nick]-nick_add)*nick_mul;
act_roll=(evdev_rel_axis[rel_axis_roll]-nick_add)*roll_mul;
act_gier=(evdev_rel_axis[rel_axis_gier]-nick_add)*gier_mul;
act_gas=(evdev_rel_axis[rel_axis_gas]-nick_add)*gas_mul;
*/
 
break;
 
case INPUT_JOYDEV:
act_nick=(axis[rel_axis_nick])*nick_mul;
act_roll=(axis[rel_axis_roll])*roll_mul;
act_gier=(axis[rel_axis_gier])*gier_mul;
act_gas=(axis[rel_axis_gas]*-1+33000)*gas_mul;
break;
}
 
// act values clipping to usefull vals
// act_gas=0;
 
// act_gas=255;
 
 
/*
switch (act_mode)
{
case 0:
 
 
act_nick=(axis[AXIS_NICK])*(INVERT_NICK);
act_roll=(axis[AXIS_ROLL])*(INVERT_ROLL);
act_gier=(axis[AXIS_GIER])*(INVERT_GIER);
act_gas=((axis[AXIS_GAS])-128)*(-1);
// clip gas
if (act_gas<0) act_gas=0;
 
if (act_gas>250) act_gas=250;
 
//////// act_gas=0;
break;
 
case 1:
act_nick=(axis[AXIS_NICK]>>8)*(INVERT_NICK)/2;
act_roll=(axis[AXIS_ROLL]>>8)*(INVERT_ROLL)/2;
act_gier=(axis[AXIS_GIER]>>8)*(INVERT_GIER)/2;
act_gas=(axis[AXIS_GAS]>>8)*(INVERT_GAS);
 
break;
case 2:
act_nick=(axis[AXIS_NICK]>>8)*(INVERT_NICK)/3;
act_roll=(axis[AXIS_ROLL]>>8)*(INVERT_ROLL)/3;
act_gier=(axis[AXIS_GIER]>>8)*(INVERT_GIER)/3;
act_gas=(axis[AXIS_GAS]>>8)*(INVERT_GAS);
 
 
break;
 
}
*/
ExternControl.Digital[0]=0;
ExternControl.Digital[1]=0;
ExternControl.RemoteTasten=0;
ExternControl.Higt=act_alt;
ExternControl.free=0;
ExternControl.Frame='t';
ExternControl.Config=1;
 
 
ExternControl.Nick=act_nick; //(axis[1]>>8)*(-1)/2;
ExternControl.Roll=act_roll*(-1); //(axis[0]>>8)*(-1)/2;
ExternControl.Gier=act_gier; // ************
ExternControl.Gas=act_gas; // ************
ExternControl.Gas=255; // ************
 
 
printf("act_mode %d , act_nick %d , act_roll %d , act_gier %d , act_gas %d , act_alt %d",act_mode , act_nick , act_roll , act_gier , act_gas,act_alt);
 
if (connected)
{
complete_matches++;
printf("sending data\n");
SendOutData('b', 0, (unsigned char *)&ExternControl, sizeof(ExternControl));
// gettimeofday(&time_struct1,NULL);
printf("sent data\n");
}
// printf("sleeping\n");
// for (polls=0;polls<100;polls++) // FIXME - better Polling
// printf("end_sleep\n");
// int v=axis[6]/655+50;
// if (v!=v_old)if (x52_output) x52_setbri(x52_output, 0,v );
// v_old=v;
// printf("v: %d \n",v);
/*
for (i=0;i<num_of_axis;i++)
printf("A%d: %d ", i,axis[i]>>8 );
for( x=0 ; x<num_of_buttons ; ++x )
printf("B%d: %d ", x, button[x] );
*/
 
break;
}
printf("\n");
fflush(stdout);
printf("loop fin ( confirmed:%d misses:%d | debug_sets:%d )\n",complete_matches,complete_misses,debug_sets);
printf("------------------------------------------------------------------------\n");
gettimeofday(&loop_end_time,NULL);
last_trip_time=(unsigned long)(loop_end_time.tv_usec-loop_start_time.tv_usec)+(unsigned long)(loop_end_time.tv_sec-loop_start_time.tv_sec)*1000000;
printf("last trip: %ld\n",last_trip_time);
 
trip_count++;
}
 
 
/******************** Cleanup **********************/
close(joy_input_fd);
close(mk_socket);
 
if (x52_output) x52_close(x52_output);
return 0;
}
/Riddim/riddim.conf
0,0 → 1,20
# Riddim Config File
 
input_evdev = "/dev/input/event10"
mk_socket_port = 54321
#loop_delay=20000
 
loop_delay=90000
 
 
#loop_delay=50000
#loop_delay=500000
 
# to check how the system was inited
exit_after_init=false
#exit_after_init=true
 
#bluetooth_mac="00:0B:CE:01:2E:00"
gas_mul=0.3
rel_axis_gas=2
nick_mul=-0.3
/Riddim/riddim.h
0,0 → 1,120
/**************************************************
*
*
* Riddim
* Remote Interactive Digital Drone Interface Mashup
*
* 2008 Marcus -LiGi- Bueschleb
*
*
**************************************************/
 
#if !defined(RIDDIM_H)
#define RIDDIM_H
 
 
 
 
// for config file parsing
#include <confuse.h>
#include <string.h>
#include "riddim_meta.h"
 
// for configuration file parsing
#include "config.h"
// for measuring
#include "statistics.h"
// for understanding the FC
#include "fc.h"
#include "bluetooth_handler.h"
 
#include "evdev_handler.h"
 
#include "joy_handler.h"
 
#include <stdio.h>
#include <stdlib.h>
#include <fcntl.h>
 
 
#include "lib/x52/x52.h"
 
#include <sys/socket.h>
 
 
#include <sys/time.h>
 
 
 
#include <sys/types.h>
#include <sys/dir.h>
#include <sys/param.h>
#include <stdio.h>
 
 
 
 
#include <errno.h>
#include <sys/types.h>
#include <netinet/in.h>
#include <unistd.h>//for close() for socket
 
 
extern int act_nick;
extern int act_roll;
extern int act_gier;
extern int act_gas;
extern int act_mode;
 
extern int act_alt;
extern long act_long_alt;
 
#define FALSE 0
#define TRUE 1
 
#define STATEID_SCANNING 0
#define STATEID_CONNECTING 1
 
 
#define BUTTON_SELECT 26
#define BUTTON_DOWN 28
#define BUTTON_UP 27
 
 
// #define AXIS_ROLL 0
// #define AXIS_NICK 1
// #define AXIS_GIER 5
// #define AXIS_GAS 2
 
 
 
// for x52
/*
#define AXIS_ROLL 4
#define AXIS_NICK 3
#define AXIS_GIER 5
#define AXIS_GAS 2
 
#define INVERT_ROLL -1
#define INVERT_NICK -1
#define INVERT_GIER 1
#define INVERT_GAS -1
*/
 
#define AXIS_ROLL 0
#define AXIS_NICK 1
#define AXIS_GIER 3
#define AXIS_GAS 2
 
#define INVERT_ROLL 1
#define INVERT_NICK -1
#define INVERT_GIER 1
#define INVERT_GAS -1
 
 
#define INPUT_NONE 0
#define INPUT_JOYDEV 1
#define INPUT_EVDEV 2
 
 
#endif
/Riddim/riddim_meta.h
0,0 → 1,4
#define RIDDIM_VERSION_MAJOR 0
#define RIDDIM_VERSION_MINOR 9
#define RIDDIM_VERSION_PATCH 1
 
/Riddim/statistics.c
0,0 → 1,15
#include "statistics.h"
 
struct timeval loop_start_time;
struct timeval loop_end_time;
 
struct timeval time_struct1;
struct timeval time_struct2;
 
 
int debug_sets=0;
int confirm_sets=0;
int version_sets=0;
 
unsigned long last_trip_time=0;
unsigned long trip_count=0;
/Riddim/statistics.h
0,0 → 1,14
#include <sys/time.h>
 
// time struct for measuring
extern struct timeval loop_start_time;
extern struct timeval loop_end_time;
 
 
extern int debug_sets;
extern int confirm_sets;
extern int version_sets;
 
extern unsigned long last_trip_time;
extern unsigned long trip_count;