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Regard whitespace Rev 47 → Rev 48

/Riddim/riddim.c
35,11 → 35,20
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;
char *button=NULL,*button_trigger=NULL, name_of_joystick[80];
 
struct js_event x52_event_struct;
 
 
int engines_on=0;
int old_engines_on=0;
 
char in_char;
 
struct
{
char val[4];
53,7 → 62,7
signed char Roll;
signed char Gier;
unsigned char Gas; //(es wird das Stick-Gas auf diesen Wert begrenzt; --> StickGas ist das Maximum)
signed char Hight; //(Höhenregler)
signed char Higt; //(Höhenregler)
unsigned char free; // (unbenutzt)
unsigned char Frame; // (Bestätigung)
unsigned char Config;
154,10 → 163,13
TxBuffer[i++] = '\r';
}
 
void SendOutData(unsigned char cmd,unsigned char modul, int len)
 
void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len)
{
unsigned int pt = 0,ptr=0,i;
int a,b,c;
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
164,9 → 176,9
 
while(len)
{
if(len) { a = _TxBuffer[ptr++]; len--;} else a = 0;
if(len) { b = _TxBuffer[ptr++]; len--;} else b = 0;
if(len) { c = _TxBuffer[ptr++]; len--;} else c = 0;
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));
173,9 → 185,20
TxBuffer[pt++] = '=' + ( c & 0x3f);
}
 
AddCRC(pt);
printf("Sending to MK %d \n" , pt);
 
status = send(s,"\r" , 1, 0);
i=0;
while(TxBuffer[i] !='\r' && i<150)
// 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);
184,18 → 207,12
}
status = send(s,"\r" , 1, 0);
*/
// status = send(s,"\r" , 1, 0);
printf("\n");
AddCRC(pt);
printf("Sending to MK\n");
}
 
 
int engines_on=0;
int old_engines_on=0;
 
 
void write_display(int line,char* text)
{
if (x52_output) x52_settext(x52_output, line , text, strlen(text));
247,6 → 264,8
 
 
 
int r=0;
int count=0;
 
int main(int argc, char**argv)
{
254,7 → 273,7
printf("\tRemote Interactive Digital Drone Interface Mashup\n");
//int tmp=2;
// connect_mk("00:0B:CE:01:6B:4F");
connect_mk("00:0B:CE:01:6B:4F");
 
 
282,12 → 301,12
printf("Scanning for Bluetooth Devices ..\n");
write_display(1,"Bluetooth Scan");
 
scan_bt();
// scan_bt();
printf(" done \n");
printf(" %d Devices found \n",bt_device_count);
 
 
for(i=0;i<bt_device_count;i++)
/* for(i=0;i<bt_device_count;i++)
{
printf(" %d -> %s (%s) \n",i,names[i],addrs[i]);
if (i<3) write_display(i,names[i]);
294,8 → 313,8
}
output_device_list() ;
*/
 
 
int v_old;
while( 1 )
{
329,7 → 348,33
switch(state)
{
 
case STATEID_SCANNING:
 
state=STATEID_CONNECTING; //e
 
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");
 
SendOutData('b', 0, &ExternControl, sizeof(ExternControl));
 
 
if (button_trigger[BUTTON_SELECT]==1)
{
state=STATEID_CONNECTING;
351,28 → 396,66
output_device_list() ;
}
break;
case STATEID_CONNECTING:
// for (polls=0;polls<10;polls++) // FIXME - better Polling
RxBuffer[1]=0;
while (RxBuffer[1]!='t')
{
r=0;
in_char='#';
 
_TxBuffer[0]=(axis[2]>>8)*(-1)+127;
if (button[7]!=1)_TxBuffer[0] =0;
while(in_char!='\r')
{
count=read(s,&in_char,1);
if (in_char!=0)
{
RxBuffer[r++]=in_char;
}
else
{
RxBuffer[r++]='0';
}
// printf("count:%d r:%d %d %c \n",count , r, in_char, in_char);
}
RxBuffer[r++]='\0';
printf("--->%s\n",RxBuffer);
_TxBuffer[1]=_TxBuffer[0];
_TxBuffer[2]=_TxBuffer[0];
_TxBuffer[3]=_TxBuffer[0];
}
SendOutData('t', 0, 4);
ExternControl.Digital[0]=0;
ExternControl.Digital[1]=0;
ExternControl.RemoteTasten=0;
ExternControl.Nick=(axis[1]>>8)*(-1);
printf("nick%d\n",ExternControl.Nick);
ExternControl.Roll=(axis[0]>>8)*(-1);
ExternControl.Gier=(axis[5]>>8);
ExternControl.Gas=(axis[2]>>8)*(-1)+127;
ExternControl.Higt=0;
ExternControl.free=0;
ExternControl.Frame='t';
ExternControl.Config=1;
sleep(0.05);
 
printf("sending data\n");
 
SendOutData('b', 0, &ExternControl, sizeof(ExternControl));
 
printf("sent data\n");
 
printf("sleeping\n");
// usleep(10000);
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 \r",v);
printf("v: %d \n",v);
 
for (i=0;i<num_of_axis;i++)
385,10 → 468,10
break;
}
printf("\r");
printf("\n");
fflush(stdout);
printf("loop fin");
}