| 1,106 → 1,56 |
|---|
| #include <confuse.h> |
| #include <string.h> |
| /************************************************** |
| * |
| * |
| * Riddim |
| * Remote Interactive Digital Drone Interface Mashup |
| * |
| * 2007-2008 Marcus -LiGi- Bueschleb |
| * |
| * |
| **************************************************/ |
| |
| #include <stdio.h> |
| #include <stdlib.h> |
| #include <string.h> |
| #include <fcntl.h> |
| #include "lib/x52/x52.h" |
| #include <unistd.h> |
| #include <sys/socket.h> |
| #include <bluetooth/bluetooth.h> |
| #include <bluetooth/hci.h> |
| #include <bluetooth/hci_lib.h> |
| #include "riddim.h" |
| |
| #include <sys/time.h> |
| #define FALSE 0 |
| #define TRUE 1 |
| |
| #define test_bit(bit, array) (array[bit/8] & (1<<(bit%8))) |
| |
| #include <bluetooth/rfcomm.h> |
| int state=STATEID_SCANNING; |
| |
| |
| #include <linux/joystick.h> |
| #define JOY_DEV "/dev/input/js0" |
| // from config |
| char *input_evdev_name; |
| int mk_socket_port=0; |
| int loop_delay=0; |
| |
| #define MAX_BT_DEVICES 3 |
| |
| |
| #define STATEID_SCANNING 0 |
| #define STATEID_CONNECTING 1 |
| double nick_mul=0.3f; |
| double roll_mul=0.3f; |
| double gier_mul=0.3f; |
| double gas_mul=0.3f; |
| |
| #define BUTTON_SELECT 26 |
| #define BUTTON_DOWN 28 |
| #define BUTTON_UP 27 |
| |
| int rel_axis_nick=1; |
| int rel_axis_roll=0; |
| int rel_axis_gier=5; |
| int rel_axis_gas=2; |
| |
| // #define AXIS_ROLL 0 |
| // #define AXIS_NICK 1 |
| // #define AXIS_GIER 5 |
| // #define AXIS_GAS 2 |
| |
| cfg_bool_t exit_after_init = cfg_false; |
| |
| |
| // 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 |
| |
| |
| #include <stdio.h> |
| #include <errno.h> |
| #include <string.h> |
| #include <sys/socket.h> |
| #include <sys/types.h> |
| #include <netinet/in.h> |
| #include <unistd.h>//for close() for socket |
| |
| |
| #define INPUT_NONE 0 |
| #define INPUT_JOYDEV 1 |
| #define INPUT_EVDEV 2 |
| |
| |
| // from config |
| char *input_evdev_name; |
| |
| // time struct for measuring |
| struct timeval time_struct1; |
| struct timeval time_struct2; |
| |
| |
| int act_nick=0; |
| int act_roll=0; |
| int act_gier=0; |
| int act_gas=0; |
| int act_mode=0; |
| char RxBuffer[150]; |
| |
| int bt_device_count=0; |
| |
| char names[MAX_BT_DEVICES][248]; |
| char addrs[MAX_BT_DEVICES][19]; |
| int status; |
| |
| int s, status; |
| unsigned char TxBuffer[150]; |
| unsigned char _TxBuffer[150]; |
| |
| char RxBuffer[150]; |
| |
| |
| int x52_input_fd, *axis=NULL, num_of_axis=0, num_of_buttons=0, x; |
| 113,87 → 63,101 |
|---|
| |
| char in_char; |
| |
| 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; //(Höhenregler) |
| unsigned char free; // (unbenutzt) |
| unsigned char Frame; // (Bestätigung) |
| unsigned char Config; |
| }; |
| struct x52 *x52_output; |
| |
| int selected_bt_device=0; |
| |
| struct ExternControl_s ExternControl ; |
| int yalv; /* loop counter */ |
| size_t read_bytes; /* how many bytes were read */ |
| struct input_event ev[64]; /* the events (up to 64 at once) */ |
| |
| int state=STATEID_SCANNING; |
| int evdev_fd; |
| int evdev_out_fd; |
| |
| int evdev_rw=TRUE; |
| |
| struct x52 *x52_output; |
| int connect_evdev() |
| { |
| |
| int selected_bt_device=0; |
| void scan_bt() |
| { |
| inquiry_info *ii = NULL; |
| struct input_devinfo { |
| uint16_t bustype; |
| uint16_t vendor; |
| uint16_t product; |
| uint16_t version; |
| }; |
| struct input_devinfo device_info; |
| |
| int dev_id, sock, len, flags; |
| int i; |
| char addr[19] = { 0 }; |
| char name[248] = { 0 }; |
| if ((evdev_out_fd = open(input_evdev_name, O_WRONLY)) < 0) |
| { |
| printf(" cant open evdev read/write - trying readonly\n"); |
| evdev_rw=FALSE; |
| } |
| if ((evdev_fd = open(input_evdev_name, O_RDONLY)) < 0) |
| { |
| printf(" cant open evdev !"); |
| return 0; |
| } |
| |
| dev_id = hci_get_route(NULL); |
| sock = hci_open_dev( dev_id ); |
| if (dev_id < 0 || sock < 0) { |
| perror("opening socket"); |
| exit(1); |
| } |
| ioctl(evdev_fd,EVIOCGID,&device_info); |
| |
| printf("vendor 0x%04hx product 0x%04hx version 0x%04hx \n", |
| device_info.vendor, device_info.product, |
| device_info.version); |
| |
| 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); |
| char name[256]= "Unknown"; |
| |
| if(ioctl(evdev_fd, EVIOCGNAME(sizeof(name)), name) < 0) { |
| perror("evdev ioctl"); |
| } |
| |
| |
| free( ii ); |
| close( sock ); |
| } |
| printf("EVDEV reports name: %s\n", name); |
| |
| int yalv; /* loop counter */ |
| size_t read_bytes; /* how many bytes were read */ |
| struct input_event ev[64]; /* the events (up to 64 at once) */ |
| /* this macro is used to tell if "bit" is set in "array" |
| * it selects a byte from the array, and does a boolean AND |
| * operation with a byte that only has the relevant bit set. |
| * eg. to check for the 12th bit, we do (array[1] & 1<<4) |
| */ |
| |
| int evdev_fd; |
| int connect_evdev() |
| { |
| if ((evdev_fd = open(input_evdev_name, O_RDONLY)) < 0) { |
| printf(" cant open evdev "); |
| return 0; |
| } |
| |
| return 1; |
| uint8_t evtype_bitmask[EV_MAX/8 + 1]; |
| |
| if(ioctl(evdev_fd, EVIOCGBIT(0, sizeof(evtype_bitmask)), evtype_bitmask) < 0) |
| perror("evdev ioctl"); |
| |
| printf("Supported event types:\n"); |
| for (yalv = 0; yalv < EV_MAX; yalv++) { |
| if (test_bit(yalv, evtype_bitmask)) { |
| /* this means that the bit is set in the event types list */ |
| printf(" Event type 0x%02x ", yalv); |
| switch ( yalv) |
| { |
| case EV_KEY : |
| printf(" (Keys or Buttons)\n"); |
| break; |
| case EV_ABS : |
| printf(" (Absolute Axes)\n"); |
| break; |
| case EV_LED : |
| printf(" (LEDs)\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", yalv); |
| }}} |
| |
| return 1; |
| } |
| |
| int connect_joy() |
| 233,69 → 197,9 |
|---|
| |
| |
| |
| 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) |
| { |
| 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(s,"\r" , 1, 0); |
| |
| |
| // for (c=0;c<pt+2;c++) |
| // { |
| status = write(s,&TxBuffer , pt+3); |
| // printf("Send to MK %d \n" , TxBuffer[c] ); |
| // } |
| /*while(TxBuffer[i] !='\r' && i<150) |
| { |
| // TxBuffer[i]='#'; |
| status = send(s,&TxBuffer[i] , 1, 0); |
| printf(" +%d%c ",i,TxBuffer[i]); |
| i++; |
| } |
| |
| status = send(s,"\r" , 1, 0); |
| */ |
| // status = send(s,"\r" , 1, 0); |
| printf("\n"); |
| } |
| |
| |
| void write_display(int line,char* text) |
| { |
| if (x52_output) x52_settext(x52_output, line , text, strlen(text)); |
| 327,53 → 231,15 |
|---|
| } |
| } |
| |
| int connect_mk(char dest[18]) |
| |
| void print_device_list() |
| { |
| |
| struct sockaddr_rc addr ; |
| struct sockaddr_in sa; |
| |
| sa.sin_family = AF_INET; |
| sa.sin_addr.s_addr = htonl(0x0); |
| sa.sin_port = htons(54321); |
| |
| // allocate a socket |
| // s = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM); |
| s = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP); |
| //); |
| |
| // 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(s, (struct sockaddr *)&addr, sizeof(addr)); |
| status = connect(s,(struct sockaddr*) &sa, sizeof(struct sockaddr_in)); |
| |
| return status; |
| |
| /* |
| struct sockaddr_rc addr ; |
| |
| // allocate a socket |
| s = 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(s, (struct sockaddr *)&addr, sizeof(addr)); |
| |
| return status; |
| */ |
| int i; |
| for(i=0;i<bt_device_count;i++) |
| printf("device%i->%s\n",i,names[i]); |
| } |
| |
| |
| |
| |
| int r=0; |
| int count=0; |
| int connected=0; |
| 387,11 → 253,27 |
|---|
| |
| printf("Starting Riddim \n"); |
| printf("\tRemote Interactive Digital Drone Interface Mashup\n"); |
| printf("\nusage:\n"); |
| printf("\t riddim [config_file]\n\n"); |
| |
| |
| |
| cfg_opt_t opts[] = { |
| |
| CFG_SIMPLE_BOOL("exit_after_init", &exit_after_init), |
| CFG_SIMPLE_STR("input_evdev", &input_evdev_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_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() |
| }; |
| |
| 398,30 → 280,39 |
|---|
| cfg_t *cfg; |
| |
| // input_evdev_name=strdup("/dev/event0"); |
| printf("Parsing config file"); |
| printf("Parsing config file "); |
| |
| cfg = cfg_init(opts, 0); |
| cfg_parse(cfg, "/etc/riddim.conf"); |
| printf("input %s:",input_evdev_name); |
| |
| // 1st argument -> Bluetooth adrees to bypass scanning ( takes to long for short testing roundtrips ) |
| if (argv[1]) |
| { |
| if (connect_mk(argv[1])==-1) |
| printf("%s\n ",argv[1]); |
| cfg_parse(cfg, argv[1]); |
| } |
| else |
| { |
| printf("/etc/riddim.conf\n"); |
| cfg_parse(cfg, "/etc/riddim.conf"); |
| } |
| printf("input %s:\n",input_evdev_name); |
| |
| // 1st argument -> Bluetooth adrees to bypass scanning ( takes to long for short testing roundtrips ) |
| |
| if (mk_socket_port) |
| { |
| printf("connecting to local port: %i\n",mk_socket_port); |
| |
| if (connect_mk_localhost_socket(mk_socket_port)==-1) |
| printf("cant connect !!"); |
| else |
| { |
| printf("cant connect to QC at adress: %s\n",argv[1]); |
| return 0; |
| printf("connected to QC at adress: %s\n",argv[1]); |
| connected=TRUE; |
| } |
| printf("connected to QC at adress: %s\n",argv[1]); |
| connected=1; |
| } |
| |
| int i; |
| |
| |
| |
| |
| |
| |
| printf("\nInitializing X-52 input ..\n"); |
| if (connect_joy()) |
| { |
| 454,6 → 345,7 |
|---|
| else |
| printf(" not found \n"); |
| |
| /* |
| if (!connected) |
| { |
| printf("Scanning for Bluetooth Devices ..\n"); |
| 461,57 → 353,98 |
|---|
| scan_bt(); |
| printf(" done \n"); |
| printf(" %d Devices found \n",bt_device_count); |
| print_device_list() ; |
| } |
| */ |
| |
| |
| int v_old; |
| int polls=0; |
| |
| int retval; |
| if (exit_after_init) |
| exit(0); |
| printf("starting loop ..\n"); |
| |
| struct input_event led_event; |
| led_event.type=EV_LED; |
| |
| int complete_misses=0; |
| if (evdev_out_fd) |
| { |
| led_event.code = LED_MISC; |
| led_event.value = 1; |
| retval = write(evdev_out_fd, &led_event, sizeof(struct input_event)); |
| } |
| |
| int confirm_misses; |
| while( 1 ) |
| { |
| |
| 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)); |
| } |
| |
| usleep(loop_delay); |
| switch (input) |
| { |
| |
| |
| case INPUT_NONE: |
| printf("input none\n"); |
| usleep(10000); |
| |
| printf("starting input none\n"); |
| break; |
| |
| case INPUT_EVDEV: |
| printf("input evdev\n"); |
| usleep(30000); |
| |
| struct timeval tv; |
| int retval; |
| fd_set rfds; |
| FD_ZERO(&rfds); |
| FD_SET(evdev_fd,&rfds); |
| |
| read_bytes = read(evdev_fd, ev, sizeof(struct input_event) * 64); |
| printf("read done\n"); |
| if (read_bytes < (int) sizeof(struct input_event)) { |
| perror("evtest: short read"); |
| exit (1); |
| } |
| tv.tv_sec = 0; |
| tv.tv_usec = 5; |
| |
| for (yalv = 0; yalv < (int) (read_bytes / sizeof(struct input_event)); yalv++) |
| { |
| // 1 -> nick |
| // 2 -> gas |
| // 4->roll |
| // 5-> gier |
| axis[ ev[yalv].code]= ev[yalv].value; |
| |
| printf("nick:%d roll:%d gier:%d gas:%d\n",axis[3] , axis[4] , axis[5] , axis[2]); |
| /*if ( ev[yalv].code==5) |
| printf("Event: time %ld.%06ld, type %d, code %d, value %d\n", |
| ev[yalv].time.tv_sec, ev[yalv].time.tv_usec, ev[yalv].type, |
| ev[yalv].code, ev[yalv].value); |
| */ |
| } |
| retval = select(evdev_fd+1, &rfds, NULL, NULL, &tv); |
| |
| if (retval==-1) |
| printf("error in select!!!!!!!!\n"); |
| else if (retval) |
| { |
| read_bytes = read(evdev_fd, ev, sizeof(struct input_event) * 64); |
| |
| break; |
| if (read_bytes < (int) sizeof(struct input_event)) { |
| perror("evtest: short read"); |
| exit (1); |
| } |
| |
| for (yalv = 0; yalv < (int) (read_bytes / sizeof(struct input_event)); yalv++) |
| { |
| |
| printf("%d type:%d code:%d val:%d \n",yalv,ev[yalv].type,ev[yalv].code,ev[yalv].value); |
| if (ev[yalv].type==EV_REL) axis[ ev[yalv].code]= ev[yalv].value; |
| if (ev[yalv].type==EV_KEY) button[ ev[yalv].code-256]= ev[yalv].value; |
| } |
| |
| |
| for (yalv=0;yalv<10;yalv++) |
| printf("A%d %d -" , yalv, axis[yalv] ); |
| printf("\n"); |
| |
| for (yalv=0;yalv<10;yalv++) |
| printf("B%d %d -" , yalv, button[yalv] ); |
| // 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"); |
| |
| break; |
| |
| case INPUT_JOYDEV: |
| printf("input joydev\n"); |
| // poll values from input device |
| 570,7 → 503,7 |
|---|
| printf("sending data\n"); |
| |
| |
| SendOutData('b', 0, (unsigned char *)&ExternControl, sizeof(ExternControl)); |
| if (connected)SendOutData('b', 0, (unsigned char *)&ExternControl, sizeof(ExternControl)); |
| gettimeofday(&time_struct1,NULL); |
| |
| if (button_trigger[BUTTON_SELECT]==1) |
| 579,7 → 512,7 |
|---|
| clear_display(); |
| write_display(0,"connecting to"); |
| write_display(1,names[selected_bt_device]); |
| connect_mk(addrs[selected_bt_device]); |
| //connect_mk(addrs[selected_bt_device]); |
| write_display(0,"connected to"); |
| } |
| |
| 591,29 → 524,33 |
|---|
| if (button_trigger[BUTTON_UP]==1) |
| if (selected_bt_device<bt_device_count-1) selected_bt_device++; |
| |
| output_device_list() ; |
| |
| } |
| break; |
| |
| case STATEID_CONNECTING: |
| |
| |
| RxBuffer[1]=0; |
| confirm_misses=0; |
| printf("connected:%d",connected); |
| if (connected) while (RxBuffer[1]!='t') |
| { |
| |
| RxBuffer[1]=0; |
| |
| // ftime(&time_struct); |
| printf("waiting for confirm frame\n"); |
| RxBuffer[2]=0; |
| int confirm_misses=0; |
| |
| while (RxBuffer[2]!='t') |
| { |
| // ftime(&time_struct); |
| printf("waiting for confirm frame ( misses:%d )\n",confirm_misses); |
| RxBuffer[2]=0; |
| |
| |
| |
| r=0; |
| in_char='#'; |
| |
| while(in_char!='\n') |
| { |
| count=read(s,&in_char,1); |
| count=read(mk_socket,&in_char,1); |
| if (in_char!=0) |
| { |
| RxBuffer[r++]=in_char; |
| 625,7 → 562,7 |
|---|
| // printf("\ncount:%d r:%d %d %c \n",count , r, in_char, in_char); |
| } |
| RxBuffer[r++]='\0'; |
| printf("--->%s\n",RxBuffer); |
| printf("%d--->%s\n",complete_misses,RxBuffer); |
| // new |
| if (button_trigger[12]>1) |
| { |
| 633,23 → 570,40 |
|---|
| button_trigger[12]=0; |
| } |
| if (++confirm_misses>4) |
| SendOutData('b', 0, (unsigned char *)&ExternControl, sizeof(ExternControl)); |
| |
| { |
| 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",(int)(time_struct1.tv_usec-time_struct2.tv_usec)); |
| act_mode=button[24] | (button[25]<<1); |
| |
| |
| |
| // Step converting axis data to nick/roll/gier/gas/.. |
| |
| 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]*gas_mul; |
| act_gas=255; |
| |
| |
| /* |
| switch (act_mode) |
| { |
| case 0: |
| |
| |
| act_nick=(axis[AXIS_NICK]>>8)*(INVERT_NICK); |
| act_roll=(axis[AXIS_ROLL]>>8)*(INVERT_ROLL); |
| act_gier=(axis[AXIS_GIER]>>8)*(INVERT_GIER); |
| act_gas=((axis[AXIS_GAS]>>8)-128)*(-1); |
| 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; |
| 677,7 → 631,7 |
|---|
| break; |
| |
| } |
| |
| */ |
| ExternControl.Digital[0]=0; |
| ExternControl.Digital[1]=0; |
| ExternControl.RemoteTasten=0; |
| 698,24 → 652,26 |
|---|
| |
| |
| |
| printf("sending data\n"); |
| |
| SendOutData('b', 0, (unsigned char *)&ExternControl, sizeof(ExternControl)); |
| gettimeofday(&time_struct1,NULL); |
| printf("sent data\n"); |
| |
| if (connected) |
| { |
| 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"); |
| |
| // 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 ); |
| |
| 722,13 → 678,13 |
|---|
| for( x=0 ; x<num_of_buttons ; ++x ) |
| |
| printf("B%d: %d ", x, button[x] ); |
| |
| |
| break; |
| } |
| |
| |
| printf("\n"); |
| fflush(stdout); |
| printf("loop fin"); |
| printf("loop fin ( misses:%d)\n",complete_misses); |
| |
| } |
| |
| 735,7 → 691,7 |
|---|
| |
| /******************** Cleanup **********************/ |
| close(x52_input_fd); |
| close(s); |
| close(mk_socket); |
| |
| if (x52_output) x52_close(x52_output); |
| return 0; |