| 3,9 → 3,6 |
|---|
| #include <string.h> |
| #include <fcntl.h> |
| #include "lib/x52/x52.h" |
| |
| |
| |
| #include <unistd.h> |
| #include <sys/socket.h> |
| #include <bluetooth/bluetooth.h> |
| 13,7 → 10,9 |
|---|
| #include <bluetooth/hci_lib.h> |
| |
| |
| #include <bluetooth/rfcomm.h> |
| |
| |
| #include <linux/joystick.h> |
| #define JOY_DEV "/dev/input/js0" |
| |
| 24,6 → 23,21 |
|---|
| char names[MAX_BT_DEVICES][248]; |
| char addrs[MAX_BT_DEVICES][19]; |
| |
| int s, status; |
| unsigned char TxBuffer[150]; |
| unsigned char _TxBuffer[150]; |
| |
| #define STATEID_SCANNING 0 |
| #define STATEID_CONNECTING 1 |
| int state=STATEID_SCANNING; |
| |
| #define BUTTON_SELECT 26 |
| #define BUTTON_DOWN 27 |
| #define BUTTON_UP 28 |
| |
| struct x52 *x52_output; |
| |
| int selected_bt_device=0; |
| void scan_bt() |
| { |
| inquiry_info *ii = NULL; |
| 67,65 → 81,367 |
|---|
| close( sock ); |
| } |
| |
| 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; |
| |
| void connect_joy() |
| { |
| |
| int main(int argc, char**argv) |
| |
| if( ( x52_input_fd = open( JOY_DEV, O_RDONLY ) ) < 0 ) |
| { |
| printf( "Couldn't open joystick device %s\n", JOY_DEV ); |
| return ; |
| } |
| |
| 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 ); |
| |
| 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 ) ); |
| |
| 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 ); /* use non-blocking mode */ |
| |
| } |
| |
| |
| struct |
| { |
| int i; |
| char val[4]; |
| } MotortestParam; |
| |
| int x52_input_fd; |
| struct JS_DATA_TYPE x52_input_struct; |
| |
| 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'; |
| } |
| |
| if( ( x52_input_fd = open( JOY_DEV, O_RDONLY ) ) < 0 ) |
| void SendOutData(unsigned char cmd,unsigned char modul, int len) |
| { |
| unsigned int pt = 0,ptr=0,i; |
| int a,b,c; |
| TxBuffer[pt++] = '#'; // Startzeichen |
| TxBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| TxBuffer[pt++] = cmd; // Commando |
| |
| while(len) |
| { |
| printf( "Couldn't open joystick device %s\n", JOY_DEV ); |
| return -1; |
| 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; |
| TxBuffer[pt++] = '=' + (a >> 2); |
| TxBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| TxBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| TxBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| |
| status = send(s,"\r" , 1, 0); |
| i=0; |
| 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); |
| |
| printf("\n"); |
| AddCRC(pt); |
| printf("Sending to MK\n"); |
| |
| } |
| |
| |
| int engines_on=0; |
| int old_engines_on=0; |
| |
| printf("Initializing X-52 output .."); |
| struct x52 *x52_output = x52_init(); |
| if (x52_output) x52_settext(x52_output, 0 , "RIDDIM active", strlen("Scanning BT")); |
| if (x52_output) x52_setbri(x52_output, 1,128); |
| if (x52_output) |
| printf(" done \n"); |
| |
| 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 connect_mk(char dest[18]) |
| { |
| 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)); |
| |
| } |
| |
| |
| |
| |
| |
| int main(int argc, char**argv) |
| { |
| printf("Starting Riddim \n"); |
| printf("\tRemote Interactive Digital Drone Interface Mashup\n"); |
| |
| //int tmp=2; |
| // connect_mk("00:0B:CE:01:6B:4F"); |
| |
| /* |
| |
| { |
| // send a message |
| |
| MotortestParam.val[0]=tmp; |
| MotortestParam.val[1]=tmp; |
| MotortestParam.val[2]=tmp; |
| MotortestParam.val[3]=tmp; |
| |
| engines_on=1; |
| |
| |
| else |
| printf(" not found \n"); |
| engines_on=0; |
| |
| if (engines_on!=old_engines_on) |
| { |
| int c; |
| |
| if( 0 == status )for (c=0;c<10;c++) |
| int c; |
| for (c=0;c<2;c++) |
| SendOutData('t', 0, &MotortestParam, sizeof(MotortestParam)); |
| |
| |
| |
| sleep(1); |
| } |
| */ |
| |
| printf("Scanning for Bluetooth Devices .."); |
| if (x52_output) x52_settext(x52_output, 1 , "Scanning BT", strlen("Scanning BT")); |
| // scan_bt(); |
| |
| if( status < 0 ) perror("uh oh"); |
| printf ("send status %d",status); |
| // close(s); |
| |
| int i; |
| /* |
| |
| MotortestParam.val[0]=2; |
| MotortestParam.val[1]=2; |
| MotortestParam.val[2]=2; |
| MotortestParam.val[3]=2; |
| |
| |
| |
| |
| while(1) |
| { |
| initSerial("/dev/rfcomm0"); |
| sleep(2); |
| SendOutData('t', 0, &MotortestParam, sizeof(MotortestParam)); |
| sleep(1); |
| } |
| */ |
| |
| |
| printf("\nInitializing X-52 input ..\n"); |
| connect_joy(); |
| printf(".. done"); |
| |
| 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"); |
| |
| |
| |
| printf("Scanning for Bluetooth Devices ..\n"); |
| write_display(1,"Bluetooth Scan"); |
| |
| |
| 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]); |
| printf("Starting UFO Control Seet ( ^c to quit ) \n"); |
| { |
| 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 ) |
| { |
| |
| int polls=0; |
| for (polls=0;polls<1000;polls++) |
| { |
| read(x52_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; |
| } |
| } |
| if (1) |
| { |
| |
| } |
| |
| 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]++; |
| } |
| |
| |
| |
| switch(state) |
| { |
| case STATEID_SCANNING: |
| 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++; |
| |
| output_device_list() ; |
| } |
| break; |
| case STATEID_CONNECTING: |
| |
| |
| _TxBuffer[0]=(axis[2]>>8)*(-1)+127; |
| if (button[7]!=1)_TxBuffer[0] =0; |
| |
| _TxBuffer[1]=_TxBuffer[0]; |
| _TxBuffer[2]=_TxBuffer[0]; |
| _TxBuffer[3]=_TxBuffer[0]; |
| |
| SendOutData('t', 0, 4); |
| |
| |
| sleep(0.05); |
| |
| |
| |
| 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); |
| |
| |
| 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("\r"); |
| fflush(stdout); |
| |
| /* |
| if( read( x52_input_fd, &x52_input_struct, JS_RETURN ) != JS_RETURN ) |
| { |
| printf( "\nFailed to read from Joystick\n" ); |
| } |
| |
| if (x52_output) x52_setbri(x52_output, 0,x52_input_struct.x ); |
| |
| if (x52_output) x52_setbri(x52_output, 1,x52_input_struct.y ); |
| if (x52_output) x52_setbri(x52_output, 2,x52_input_struct.x ); |
| // if (x52_output) x52_setbri(x52_output, 2,x52_input_struct.x ); |
| |
| printf("X: % 4d Y: % 4d Z: % 4d B1: %1d B2: %1d \r" |
| ,x52_input_struct.x /* X axis */ |
| ,x52_input_struct.y /* Y axis */ |
| ,x52_input_struct.y /* Z axis */ |
| ,(x52_input_struct.buttons & 1) ? 1 : 0 /* button 1 */ |
| ,(x52_input_struct.buttons & 2) ? 1 : 0 ); /* button 2 */ |
| } |
| |
| */ |
| } |
| |
| close(x52_input_fd); /* too bad we never get here */ |
| |
| if (x52_output) x52_close(x52_output); |