/*
* Copyright 1997, 1998, 1999, 2000, Silicon Graphics, Inc.
* ALL RIGHTS RESERVED
*
* This source code ("Source Code") was originally derived from a
* code base owned by Silicon Graphics, Inc. ("SGI")
*
* LICENSE: SGI grants the user ("Licensee") permission to reproduce,
* distribute, and create derivative works from this Source Code,
* provided that: (1) the user reproduces this entire notice within
* both source and binary format redistributions and any accompanying
* materials such as documentation in printed or electronic format;
* (2) the Source Code is not to be used, or ported or modified for
* use, except in conjunction with OpenGL Performer; and (3) the
* names of Silicon Graphics, Inc. and SGI may not be used in any
* advertising or publicity relating to the Source Code without the
* prior written permission of SGI. No further license or permission
* may be inferred or deemed or construed to exist with regard to the
* Source Code or the code base of which it forms a part. All rights
* not expressly granted are reserved.
*
* This Source Code is provided to Licensee AS IS, without any
* warranty of any kind, either express, implied, or statutory,
* including, but not limited to, any warranty that the Source Code
* will conform to specifications, any implied warranties of
* merchantability, fitness for a particular purpose, and freedom
* from infringement, and any warranty that the documentation will
* conform to the program, or any warranty that the Source Code will
* be error free.
*
* IN NO EVENT WILL SGI BE LIABLE FOR ANY DAMAGES, INCLUDING, BUT NOT
* LIMITED TO DIRECT, INDIRECT, SPECIAL OR CONSEQUENTIAL DAMAGES,
* ARISING OUT OF, RESULTING FROM, OR IN ANY WAY CONNECTED WITH THE
* SOURCE CODE, WHETHER OR NOT BASED UPON WARRANTY, CONTRACT, TORT OR
* OTHERWISE, WHETHER OR NOT INJURY WAS SUSTAINED BY PERSONS OR
* PROPERTY OR OTHERWISE, AND WHETHER OR NOT LOSS WAS SUSTAINED FROM,
* OR AROSE OUT OF USE OR RESULTS FROM USE OF, OR LACK OF ABILITY TO
* USE, THE SOURCE CODE.
*
* Contact information: Silicon Graphics, Inc.,
* 1600 Amphitheatre Pkwy, Mountain View, CA 94043,
* or: http://www.sgi.com
*/
#include <stdio.h>
#include <stdlib.h>
#include <time.h>
#include <signal.h>
#include <string.h>
#include <unistd.h>
#include <sys/schedctl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/prctl.h>
#include <fcntl.h>
#include <termio.h>
#include "BgPriv.h"
#define CLAMP(var) (var < .05 && var > -.05 ? 0 : var)
void rf_quit(void);
// Global data
static bglv bgdata;
RS_ERR rs_err;
void ExitFLYBOX(void)
{
close_lv (&bgdata);
}
void ReadFLYBOX(float *xjoy, float *yjoy, float *yaw, float *accel1, float *accel2 )
{
int st;
float scale, f, s;
float sin, cos;
int i, j;
st = w_lv(bgdata.sp_fd, "o");
st = r_lv(&bgdata);
// joy x
*xjoy = bgdata.ain[0];
// joy y
*yjoy = bgdata.ain[1];
// joy twist
*yaw = bgdata.ain[2];
// lever 1
*accel1 = bgdata.ain[3];
// lever2
*accel2 = bgdata.ain[4];
/*
for ( j = 0; j <=2; j++ ) {
if ( bgdata.dig_in & 0x10 << j ) {
for ( i = 0; i < 8; i++ ) {
if ( (bgdata.din[j]>>i) & 0x1 )
printf("1");
else
printf("0");
}
printf(" ");
}
}
printf("\n");
*/
}
void InitFLYBOX ()
{
int st;
// Defaults to 5 analog, and 16 discretes
bgdata.analog_in = 0;
bgdata.analog_in = AIC1 | AIC2 | AIC3 | AIC4 | AIC5;
bgdata.dig_in = 0;
bgdata.dig_in = DIC1 | DIC2;
// Set the baud rate
bgdata.baud = BAUD192;
// Open the port & drivers
st = open_lv (&bgdata);
if (st < 0) {
printf("Unable to open port\n");
exit(-1);
}
// Send the init string
st = init_lv(&bgdata);
if ( st < 0 ) {
check_setup(&bgdata);
printf("Invalid setup requested. Bye\n");
exit(-1);
}
}
int open_lv (bglv *bgp)
{
int st;
char port[4];
char pt[32];
char *ep;
rs_err.wrt = 0;
rs_err.rd = 0;
rs_err.len = 0;
rs_err.nl = 0;
rs_err.cycles = 0;
rs_err.thou = 0;
// Initialize port
if ( ep = getenv("FBPORT") )
sprintf(pt,"%s",ep);
else
sprintf(pt,"%s",FBPORT);
port[0] = pt[strlen(pt)-1];
bgp->port = atoi(port);
printf ("****** trying to open port %s\n", pt);
bgp->sp_fd = open(pt, O_RDWR|O_NDELAY);
if (bgp->sp_fd < 0) {
perror(pt);
return(-1);
}
st = set_baud(bgp->sp_fd);
st = check_rev(bgp);
if ( st < 0 )
return(st);
else
return(0);
} // End open_lv
int set_baud (int sp_fd)
{
struct termio tios;
int st;
st = ioctl(sp_fd,TCGETA,&tios);
tios.c_iflag = IGNBRK|IXON|IXOFF;
tios.c_oflag = 0;
tios.c_lflag = ICANON;
tios.c_cflag = B19200|CS8|CREAD|CLOCAL;
tios.c_cflag = CS8|CREAD|CLOCAL;
//tios.c_ospeed = B19200;
st = ioctl(sp_fd,TCSETAF,&tios);
return(st);
} // End set_baud
int init_lv(bglv *bgp)
{
char c1, c2, c3, str[5];
int st, i;
st = check_setup(bgp);
if ( st < 0 )
return(st);
// Compute the number of channels requested, and the
// appropriate string length.
// Analog inputs
bgp->n_analog_in = 0;
for ( i=0; i < 8; i++)
if ( (bgp->analog_in >> i) & 0x1 )
bgp->n_analog_in++;
// Digital inputs
switch(bgp->dig_in) {
case 0x0:
bgp->n_dig_in = 0;
break;
case 0x10:
case 0x20:
case 0x40:
bgp->n_dig_in = 8;
break;
case 0x30:
case 0x50:
case 0x60:
bgp->n_dig_in = 16;
break;
case 0x70:
bgp->n_dig_in = 24;
break;
}
// Digital outputs
switch(bgp->dig_out) {
case 0x0:
bgp->n_dig_out = 0;
break;
case 0x10:
case 0x20:
case 0x40:
bgp->n_dig_out = 8;
break;
case 0x30:
case 0x50:
case 0x60:
bgp->n_dig_out = 16;
break;
case 0x70:
bgp->n_dig_out = 24;
break;
}
// Analog outputs
bgp->n_analog_out = 0;
if ( bgp->analog_out > 0 ) {
for ( i=0; i < 3; i++)
if ( (bgp->analog_out >> i) & 0x1 )
bgp->n_analog_out++;
}
// Set the string length for receiving data
bgp->str_len = 2 + (2*bgp->n_analog_in) + (bgp->n_dig_in/4);
// First character has the baud rate and the lower 4 analog ins.
c1 = bgp->baud;
c1 |= (bgp->analog_in & 0xf);
// Second character has the digital inputs and the upper 4 analog ins
c2 = bgp->dig_in;
c2 |= (bgp->analog_in & 0xf0) >> 4;
if ( bgp->Rev.major == 3 ) {
str[0] = 's';
// Third character (for rev 3 eproms only, has the digital outs (-F)
// and analog outs (-3G)
c3 = bgp->analog_out & 0xf;
c3 |= bgp->dig_out & 0xf0;
// Add the OFFSET to each character to make sure they are not control
// characters
str[1] = c1 + OFFSET;
str[2] = c2 + OFFSET;
str[3] = c3 + OFFSET;
str[4] = '\0';
st = w_lv(bgp->sp_fd, str);
// Make sure that the LV got the setup !
st = get_ack(bgp->sp_fd);
// If we have a rev 3.00 eprom, just don't check the return
// value - just proceed and assume things are OK.
// (Bug fixed in 3.01)
if ( bgp->Rev.bug != 0 ) {
if ( st < 0 )
return(st);
}
} else if ( bgp->Rev.major == 2 ) {
if ( bgp->Rev.minor == 2 ) {
// For rev 2.2 EPROMS use an 'R' and no offset -- so make
// sure c1 and c2 are not flow control characters !
str[0] = 'R';
str[1] = c1;
str[2] = c2;
} else if ( bgp->Rev.minor >= 3 ) {
// For rev 2.3 EPROMS use an 'r' and offset the characters
str[0] = 'r';
str[1] = c1 + OFFSET;
str[2] = c2 + OFFSET;
}
str[3] = '\0';
st = w_lv(bgp->sp_fd, str);
}
st = set_baud(bgp->sp_fd);
return(0);
}
int get_ack (int sp_fd)
{
int st;
int i = 0;
int chars = 2;
char str[36];
st = read(sp_fd,str,chars);
if (st < 0) {
printf("get_ack(): read error\n");
return(-1);
}
while ( st != 2 && i < 10000) {
sginap(1);
st = read(sp_fd,str,chars);
i++;
}
if ( i > 10000 )
printf("Timeout %d chars in buffer \n", chars);
if (str[0] == 'a' ) {
printf("Setup OK\n");
return (0);
} else if (str[0] == 'f' ) {
printf("Setup failed\n");
return (-1);
} else {
printf("Unexpected respons: %s\n", str);
return (-2);
}
//return(st);
}
static char Cpy[] = "Copyright (c), BG Systems";
int check_rev(bglv *bgp)
{
int st;
int chars_read = 0;
char str[64];
/*
* Send a "T" and see if the Box responds
*/
st = write(bgp->sp_fd, "T", 2);
sginap(100);
chars_read = read(bgp->sp_fd, str, 44);
/*
* If chars_read <= 0, looks like we have a Rev 1.x EPROM
*/
if (chars_read <= 0)
{
no_answer();
return(-1);
}
else
{
/*
* Check the string length
*/
if ( chars_read != 44 )
{
printf("Unexpected characters: %d %s\n", chars_read, str);
return(-1);
}
else
{
/*
* Check that it is the Copyright string
*/
if ( strncmp(str, Cpy, strlen(Cpy)) != 0 )
{
printf("Unexpected characters: %d %s\n", chars_read, str);
return(-1);
}
else
{
/*
* If we go this far, we should have the right string
*/
bgp->Rev.year = parse_year(str);
bgp->Rev.major = str[38]-48;
bgp->Rev.minor = str[40]-48;
bgp->Rev.bug = str[41]-48;
bgp->Rev.alpha = str[42];
/*
printf("%s %d Revision %d.%d%d%c\n", Cpy, bgp->Rev.year,
bgp->Rev.major, bgp->Rev.minor,
bgp->Rev.bug, bgp->Rev.alpha );
*/
}
}
}
return (bgp->Rev.major);
}
int parse_year(char *s)
{
int i = 0;
char yr[12];
while ( *s != '1' )
*s++;
yr[i] = *s;
while ( *s != ' ' && *s != ',' )
yr[i++] = *s++;
yr[i] = '\0';
return(atoi(yr));
}
int check_setup(bglv *bgp)
{
int i;
int st = 0;
/*
* This routine checks the EPROM revision against the
* requested setup, and attempts to identify inconsistencies !
*/
if ( bgp->Rev.major == 2 )
{
if ( bgp->analog_out != 0x0 )
{
printf(" Analog outputs not supported by LV816\n");
st = -1;
}
if ( bgp->dig_out != 0x0 )
{
printf(" Digital outputs not supported by LV816\n");
st = -2;
}
if ( bgp->dig_in & 0x40 )
{
printf(" Digital inputs 19-24 not supported by LV816\n");
st = -3;
}
}
else if ( bgp->Rev.major == 3 )
{
switch(bgp->Rev.alpha)
{
case 'e':
printf("LV824-E\n");
if ( bgp->analog_out != 0x0 )
{
printf(" Analog outputs not supported\n");
st = -1;
}
if ( bgp->dig_out != 0x0 )
{
printf(" Digital outputs not supported\n");
st = -2;
}
break;
case 'f':
printf("LV824-F\n");
if ( bgp->analog_out != 0x0 )
{
printf(" Analog outputs not supported\n");
st = -2;
}
break;
case 'g':
printf("LV824-G\n");
break;
default:
st = -3;
printf("Not an LV824 board\n");
break;
}
if ( st < 0 )
return(st);
/*
* Check also for conflict in the digital channels
*/
if ( bgp->dig_in && bgp->dig_out )
{
for ( i = 0; i < 3; i++ )
{
if ( ( (bgp->dig_in >> i) &0x1 )
&& ( (bgp->dig_out >> i) &0x1 ) )
{
printf("Invalid set-up requested.\n");
printf(" Digital input group %d AND output group %d selected\n", i+1, i+1);
printf("\n\n Digital channels can be set in groups of 8 as\n");
printf(" either inputs or outputs.\n");
printf(" Of course you can (for example) set the bottom 8\n");
printf(" to inputs DIC1 and the top 16 to outputs DOC2 | DOC3\n");
st = -5;
return(st);
}
}
}
}
return(st);
}
void no_answer()
{
printf("\nWriting a 'T' to the Box produced no answer. \n");
printf("\n");
printf("The expected string was not returned from the BG box.\n");
printf("Here are some possible problems:\n");
printf(" 1. Check power to Box\n");
printf(" 2. Check the serial cable\n");
printf(" 3. Check the environment variable FBPORT\n");
printf(" - does it match the connected serial port ?\n");
printf(" 4. Is the serial port configured as a terminal ? \n");
printf(" - if so use \"System Manager\" to disconnect the port\n");
printf(" 5. You have an old FlyBox (serial no. less than 60) \n");
printf(" which has a revision 1.0 EPROM. Call BG Systems.\n");
printf("\n\n");
}
int w_lv(int sp_fd, char *mode)
{
int st;
st = write(sp_fd, mode, strlen(mode));
if (st < 0)
rs_err.wrt++;
return(st);
}
int r_lv(bglv *bgp)
{
int st;
int i = 0;
char str[36];
rs_err.cycles++;
if( rs_err.cycles % 1000 == 0 ) {
rs_err.cycles = 0;
rs_err.thou++;
}
st = read(bgp->sp_fd,str,bgp->str_len);
if (st < 0) {
rs_err.rd++;
printf("r_lv(): read error\n");
return(-1);
}
while ( st != bgp->str_len && i < 100) {
st = read(bgp->sp_fd,str,bgp->str_len);
i++;
}
if ( i > 0 )
//printf("%d read attempts. \n", i);
if (str[0] != 'B' || str[bgp->str_len - 1] != '\n') {
printf("%d: %s\n", st, str);
rs_err.rd++;
return(-1);
}
st = convert_serial(bgp, str);
return st;
}
int convert_serial(bglv *bgp, char *str)
{
int i, digp, j;
int k = 0;
float tmp[8];
digp = 0;
// Load the digital input values into dioval
k = 1 + bgp->n_dig_in/4;
if ( k > 1) {
i = 1;
for ( j = 2; j >= 0; j-- ) {
if ( bgp->dig_in & 0x10<<j ) {
digp = 0x0f & (str[i++]-0x21);
digp = (digp << 4) | 0x0f & (str[i++]-0x21);
bgp->din[j] = digp;
}
}
}
// Load the 8 analog values into inbuf
for (i = k; i < bgp->str_len - 2; i += 2) {
digp = ((0x3f & (str[i]-0x21)) << 6) |
(0x3f & (str[i+1]-0x21));
tmp[(i-k)/2] = -1.0 + (2.0 * digp/4095);
}
for ( i = 0, k = 0; k < 8; k++ ) {
if ( bgp->analog_in >> k &0x1 ) {
bgp->ain[k] = tmp[i];
i++;
}
}
digp = ((0x0f & (str[22]-0x21)) << 4) |
(0x0f & (str[23]-0x21));
return (0);
}
void close_lv(bglv *bgp)
{
int att;
int st;
bgp->baud = BAUD192;
st = init_lv(bgp);
att = 1000*rs_err.thou + rs_err.cycles;
close(bgp->sp_fd);
//printf("\nRead Attempts: %d\n", att);
//printf("\nErrors Detected\n");
//printf("Read Write \n");
//printf("%5d %5d \n",rs_err.rd, rs_err.wrt);
}
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