WebSVN - Projects - Path Comparison - /Riddim/ Rev 50 and /Riddim Rev 49

Regard whitespace Rev 50 → Rev 49

 /Riddim/README
 ,7 → 1,7
 # RIDDIM
 #  -> Remote Interactive Digital Drone Interface Mashup
 #
-# Author:        Marcus -ligi- Bueschleb
+# Author:        Marcus -ligi- Büschleb
 #
 # Contact: ligi
 #          -at-
 ,9 → 56,6
 = Changelog =
-.5 - code cleanup
-.4 - Measure time from send command to confirm
-.3 - mode selector
 .2 - first version with possibility to fly ( based on FC0.68b commands )
 .1 - initial release with basic functions and proove of concept Code ( Scanning for Blueooth Devices / read Joy / communicate to MK / ..)
 ,6 → 62,6
 = ToDo =
+ - Measure timings
  - Force Feedback from ACC Sensor Data
- - Support more JoySticks -> generalize
- - Support more Aircraft types -> generalize
+ - Support more JoySticks -> generalize

 /Riddim/riddim.c
 ,9 → 9,7
 #include <bluetooth/hci.h>
 #include <bluetooth/hci_lib.h>
-#include <sys/time.h>
 #include <bluetooth/rfcomm.h>
 ,29 → 26,6
 #define BUTTON_DOWN 28
 #define BUTTON_UP 27
-#define AXIS_ROLL 0
-#define AXIS_NICK 1
-#define AXIS_GIER 5
-#define AXIS_GAS  2
-#define INVERT_ROLL -1
-#define INVERT_NICK -1
-#define INVERT_GIER 1
-#define INVERT_GAS  -1
-// 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;
 int bt_device_count=0;
 char names[MAX_BT_DEVICES][248];
 ,13 → 43,19
 struct js_event x52_event_struct;
 int engines_on=0;
 int old_engines_on=0;
 char in_char;
-struct ExternControl_s
+struct
 {
+  char val[4];
+} MotortestParam;
+struct
+{
   unsigned char Digital[2];   // (noch unbenutzt)
   unsigned char RemoteTasten; //(gab es schon für das virtuelle Display)
   signed char   Nick;
 ,10 → 66,9
   unsigned char free;         // (unbenutzt)
   unsigned char Frame;        // (Bestätigung)
   unsigned char Config;
-};
+} ExternControl;
-struct ExternControl_s  ExternControl ;
 int state=STATEID_SCANNING;
 ,7 → 120,7
 }
-int connect_joy()
+void connect_joy()
 {
 ,8 → 127,7
   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;
+      return ;
     }
   ioctl( x52_input_fd, JSIOCGAXES, &num_of_axis );
 ,7 → 145,6
   fcntl( x52_input_fd, F_SETFL, O_NONBLOCK );   /* use non-blocking mode */
-  return 1;
 }
 ,7 → 244,7
     }
 }
-int connect_mk(char dest[18])
+void connect_mk(char dest[18])
 {
   struct sockaddr_rc addr ;
 ,8 → 259,6
   // connect to server
   status = connect(s, (struct sockaddr *)&addr, sizeof(addr));
-  return status;
 }
 ,7 → 266,6
 int r=0;
 int count=0;
-int connected=0;
 int main(int argc, char**argv)
 {
 ,24 → 272,18
   printf("Starting Riddim \n");
   printf("\tRemote Interactive Digital Drone Interface Mashup\n");
-  // 1st argument -> Bluetooth adrees to bypass scanning ( takes to long for short testing roundtrips )
-  if (argv[1])
-    {
-      if (connect_mk(argv[1])==-1)
-        {
-          printf("cant connect to QC at adress: %s\n",argv[1]);
-          return 0;
-        }
-        printf("connected to QC at adress: %s\n",argv[1]);
-        connected=1;
-    }
+  //int tmp=2;
+  connect_mk("00:0B:CE:01:6B:4F");
   int i;
   printf("\nInitializing X-52 input ..\n");
-  if (!connect_joy()) return 0;
-  printf(".. done");//
+  connect_joy();
+  printf(".. done");
   printf("\nInitializing X-52 output ..");
   x52_output = x52_init();
 ,22 → 298,28
   else
     printf(" not found \n");
-  if (!connected)
-    {
       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++)
+    {
+      printf(" %d -> %s (%s) \n",i,names[i],addrs[i]);
+      if (i<3) write_display(i,names[i]);
     }
+  output_device_list() ;
+  */
   int v_old;
   while( 1 )
     {
-      // poll values from input device
       int polls=0;
-      for (polls=0;polls<100;polls++) // FIXME - better Polling
+      for (polls=0;polls<1000;polls++) // FIXME - better Polling
         {
           read(x52_input_fd, &x52_event_struct, sizeof(struct js_event));
 ,7 → 352,7
         case STATEID_SCANNING:
-          state=STATEID_CONNECTING;
+          state=STATEID_CONNECTING; //e
           ExternControl.Digital[0]=0;
           ExternControl.Digital[1]=0;
 ,11 → 368,12
           ExternControl.Frame='t';
           ExternControl.Config=1;
           printf("sending data\n");
+          SendOutData('b', 0, &ExternControl, sizeof(ExternControl));
-          SendOutData('b', 0, (unsigned char *)&ExternControl, sizeof(ExternControl));
-          gettimeofday(&time_struct1,NULL);
           if (button_trigger[BUTTON_SELECT]==1)
             {
 ,12 → 398,8
           break;
         case STATEID_CONNECTING:
+          //      for (polls=0;polls<10;polls++) // FIXME - better Polling
           RxBuffer[1]=0;
-          //      ftime(&time_struct);
-          //printf("t:%d",time_struct.millitm);
           while (RxBuffer[1]!='t')
             {
 ,68 → 423,34
               printf("--->%s\n",RxBuffer);
             }
-          gettimeofday(&time_struct2,NULL);
-          printf("last trip: %d",(int)(time_struct1.tv_usec-time_struct2.tv_usec));
-          act_mode=button[24] | (button[25]<<1);
-          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)*(INVERT_GAS);
-              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.Nick=act_nick;  //(axis[1]>>8)*(-1)/2;
-          //      printf("nick%d\n",ExternControl.Nick);
-          ExternControl.Roll=act_roll; //(axis[0]>>8)*(-1)/2;
+          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;
-          printf("act_mode %d , act_nick %d , act_roll %d , act_gier %d , act_gas %d",act_mode , act_nick  , act_roll  , act_gier , act_gas);
           printf("sending data\n");
-          SendOutData('b', 0, (unsigned char *)&ExternControl, sizeof(ExternControl));
-          gettimeofday(&time_struct1,NULL);
+           SendOutData('b', 0, &ExternControl, sizeof(ExternControl));
           printf("sent data\n");
-          // printf("sleeping\n");
+          printf("sleeping\n");
           // usleep(10000);
-          // printf("end_sleep\n");
+          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;

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Regard whitespace Rev 50 → Rev 49