1 /* Serial spaceball and space-mouse example driver code for UNIX systems.
2 * Tested with Spaceball 4000FLX and Magellan SpaceMouse on GNU/Linux, FreeBSD,
3 * SGI/IRIX, and SunOS (Solaris/Illumos).
5 * Author: John Tsiombikas <nuclear@member.fsf.org>
6 * No copyright, public domain.
17 #include <sys/select.h>
19 #include <sys/ioctl.h>
21 #if defined(__i386__) || defined(__ia64__) || defined(WIN32) || \
22 (defined(__alpha__) || defined(__alpha)) || \
24 (defined(__mips__) && defined(__MIPSEL__)) || \
25 defined(__SYMBIAN32__) || \
26 defined(__x86_64__) || \
27 defined(__LITTLE_ENDIAN__)
28 #define SBALL_LITTLE_ENDIAN
30 #define SBALL_BIG_ENDIAN
33 #define INP_BUF_SZ 256
49 unsigned int keystate, keymask;
51 struct termios saved_term;
54 int (*parse)(struct sball*, int, char*, int);
57 static int stty_sball(struct sball *sb);
58 static int stty_mag(struct sball *sb);
59 static void stty_save(struct sball *sb);
60 static void stty_restore(struct sball *sb);
62 static int proc_input(struct sball *sb);
64 static int mag_parsepkt(struct sball *sb, int id, char *data, int len);
65 static int sball_parsepkt(struct sball *sb, int id, char *data, int len);
67 static int guess_num_buttons(const char *verstr);
69 static void make_printable(char *buf, int len);
70 static int read_timeout(int fd, char *buf, int bufsz, long tm_usec);
72 static void print_state(struct sball *sb);
75 struct sball *sball_open(const char *dev)
81 if((fd = open(dev, O_RDWR | O_NOCTTY | O_NONBLOCK)) == -1) {
82 fprintf(stderr, "sball_open: failed to open device: %s: %s\n", dev, strerror(errno));
86 if(!(sb = calloc(1, sizeof *sb))) {
87 fprintf(stderr, "sball_open: failed to allocate sball object\n");
94 if(stty_sball(sb) == -1) {
97 write(fd, "\r@RESET\r", 8);
99 if((sz = read_timeout(fd, buf, sizeof buf - 1, 2000000)) > 0 && strstr(buf, "\r@1")) {
100 /* we got a response, so it's a spaceball */
101 make_printable(buf, sz);
102 printf("Spaceball detected: %s\n", buf);
104 sb->nbuttons = guess_num_buttons(buf);
105 sb->keymask = 0xffff >> (16 - sb->nbuttons);
106 printf("%d buttons\n", sb->nbuttons);
108 /* set binary mode and enable automatic data packet sending. also request
109 * a key event to find out as soon as possible if this is a 4000flx with
112 write(fd, "\rCB\rMSSV\rk\r", 11);
114 sb->parse = sball_parsepkt;
118 /* try as a magellan spacemouse */
119 if(stty_mag(sb) == -1) {
122 write(fd, "vQ\r", 3);
124 if((sz = read_timeout(fd, buf, sizeof buf - 1, 250000)) > 0 && buf[0] == 'v') {
125 make_printable(buf, sz);
126 printf("Magellan SpaceMouse detected:\n%s\n", buf);
128 sb->nbuttons = guess_num_buttons(buf);
129 sb->keymask = 0xffff >> (16 - sb->nbuttons);
130 printf("%d buttons\n", sb->nbuttons);
132 /* set 3D mode, not-dominant-axis, pass through motion and button packets */
133 write(fd, "m3\r", 3);
135 sb->parse = mag_parsepkt;
146 void sball_close(struct sball *sb)
154 int sball_fd(struct sball *sb)
159 int sball_read(struct sball *sb)
163 while((sz = read(sb->fd, sb->buf + sb->len, INP_BUF_SZ - sb->len - 1)) > 0) {
168 /* if we fill the input buffer, make a last attempt to parse it, and discard
169 * it so we can receive more
171 if(sb->len >= INP_BUF_SZ) {
179 int sball_axis(struct sball *sb, int axis)
181 return sb->mot[axis];
184 unsigned int sball_buttons(struct sball *sb)
189 int sball_num_buttons(struct sball *sb)
194 /* Labtec spaceball: 9600 8n1 XON/XOFF
195 * Can't use canonical mode to assemble input into lines for the spaceball,
196 * because binary data received for motion events can include newlines which
197 * would be eaten up by the line discipline. Therefore we'll rely on VTIME=1 to
198 * hopefully get more than 1 byte at a time. Alternatively we could request
199 * printable reports, but I don't feel like implementing that.
201 static int stty_sball(struct sball *sb)
206 term = sb->saved_term;
210 term.c_cc[VTIME] = 1;
212 term.c_cflag = CLOCAL | CREAD | CS8 | HUPCL;
213 term.c_iflag = IGNBRK | IGNPAR | IXON | IXOFF;
215 cfsetispeed(&term, B9600);
216 cfsetospeed(&term, B9600);
218 if(tcsetattr(sb->fd, TCSAFLUSH, &term) == -1) {
219 perror("sball_open: tcsetattr");
222 tcflush(sb->fd, TCIOFLUSH);
224 mstat = sb->saved_mstat | TIOCM_DTR | TIOCM_RTS;
225 ioctl(sb->fd, TIOCMGET, &mstat);
229 /* Logicad magellan spacemouse: 9600 8n2 CTS/RTS
230 * Since the magellan devices don't seem to send any newlines, we can rely on
231 * canonical mode to feed us nice whole lines at a time.
233 static int stty_mag(struct sball *sb)
238 term = sb->saved_term;
240 term.c_lflag = ICANON;
242 term.c_cc[VTIME] = 0;
244 term.c_cc[VEOL] = '\r';
245 term.c_cc[VEOL2] = 0;
246 term.c_cc[VERASE] = 0;
247 term.c_cc[VKILL] = 0;
249 term.c_cflag = CLOCAL | CREAD | CS8 | CSTOPB | HUPCL;
251 term.c_cflag |= CCTS_OFLOW;
252 #elif defined(CRTSCTS)
253 term.c_cflag |= CRTSCTS;
255 term.c_iflag = IGNBRK | IGNPAR;
257 cfsetispeed(&term, B9600);
258 cfsetospeed(&term, B9600);
260 if(tcsetattr(sb->fd, TCSAFLUSH, &term) == -1) {
261 perror("sball_open: tcsetattr");
264 tcflush(sb->fd, TCIOFLUSH);
266 mstat = sb->saved_mstat | TIOCM_DTR | TIOCM_RTS;
267 ioctl(sb->fd, TIOCMGET, &mstat);
271 static void stty_save(struct sball *sb)
273 tcgetattr(sb->fd, &sb->saved_term);
274 ioctl(sb->fd, TIOCMGET, &sb->saved_mstat);
277 static void stty_restore(struct sball *sb)
279 tcsetattr(sb->fd, TCSAFLUSH, &sb->saved_term);
280 tcflush(sb->fd, TCIOFLUSH);
281 ioctl(sb->fd, TIOCMSET, &sb->saved_mstat);
285 static int proc_input(struct sball *sb)
288 char *bptr = sb->buf;
289 char *start = sb->buf;
290 char *end = sb->buf + sb->len;
292 /* see if we have a CR in the buffer */
296 sb->parse(sb, *start, start + 1, bptr - start - 1);
303 sz = start - sb->buf;
305 memmove(sb->buf, start, sz);
311 static int mag_parsepkt(struct sball *sb, int id, char *data, int len)
315 /*printf("magellan packet: %c - %s (%d bytes)\n", (char)id, data, len);*/
320 fprintf(stderr, "magellan: invalid data packet, expected 24 bytes, got: %d\n", len);
324 sb->mot[i] = ((((int)data[0] & 0xf) << 12) | (((int)data[1] & 0xf) << 8) |
325 (((int)data[2] & 0xf) << 4) | (data[3] & 0xf)) - 0x8000;
333 fprintf(stderr, "magellan: invalid keyboard pakcet, expected 3 bytes, got: %d\n", len);
336 sb->keystate = (data[0] & 0xf) | ((data[1] & 0xf) << 4) | (((unsigned int)data[2] & 0xf) << 8);
338 sb->keystate |= ((unsigned int)data[3] & 0xf) << 12;
345 fprintf(stderr, "magellan error: illegal command: %c%c\n", data[1], data[2]);
346 } else if(data[0] == 2) {
347 fprintf(stderr, "magellan error: framing error\n");
349 fprintf(stderr, "magellan error: unknown device error\n");
359 static int sball_parsepkt(struct sball *sb, int id, char *data, int len)
364 /* decode data packet, replacing escaped values with the correct ones */
366 while(rd < data + len) {
367 if((c = *rd++) == '^') {
370 *wr++ = 0x11; /* XON */
373 *wr++ = 0x13; /* XOFF */
382 fprintf(stderr, "sball decode: ignoring invalid escape code: %xh\n", (unsigned int)c);
388 len = wr - data; /* update the decoded length */
393 fprintf(stderr, "sball: invalid data packet, expected 14 bytes, got: %d\n", len);
397 #ifndef SBALL_BIG_ENDIAN
406 memcpy(sb->mot, data + 2, 12);
412 fprintf(stderr, "sball: invalid key packet, expected 2 bytes, got: %d\n", len);
415 if(sb->flags & SB4000) break; /* ignore K packets from spaceball 4000 devices */
417 /* data[1] bits 0-3 -> buttons 0,1,2,3
418 * data[1] bits 4,5 (3003 L/R) -> buttons 0, 1
419 * data[0] bits 0-2 -> buttons 4,5,6
420 * data[0] bit 4 is (2003 pick) -> button 7
422 sb->keystate = ((data[1] & 0xf) | ((data[1] >> 4) & 3) | ((data[0] & 7) << 4) |
423 ((data[0] & 0x10) << 3)) & sb->keymask;
429 fprintf(stderr, "sball: invalid sb4k key packet, expected 2 bytes, got: %d\n", len);
432 /* spaceball 4000 key packet */
433 if(!(sb->flags & SB4000)) {
434 printf("Switching to spaceball 4000flx/5000flx-a mode (12 buttons) \n");
436 sb->nbuttons = 12; /* might have guessed 8 before */
439 /* update orientation flag (actually don't bother) */
444 sb->flags &= ~FLIPXY;
448 /* data[1] bits 0-5 -> buttons 0,1,2,3,4,5
449 * data[1] bit 7 -> button 6
450 * data[0] bits 0-4 -> buttons 7,8,9,10,11
452 sb->keystate = (data[1] & 0x3f) | ((data[1] & 0x80) >> 1) | ((data[0] & 0x1f) << 7);
457 fprintf(stderr, "sball: error:");
458 for(i=0; i<len; i++) {
459 if(isprint((int)data[i])) {
460 fprintf(stderr, " %c", data[i]);
462 fprintf(stderr, " %02xh", (unsigned int)data[i]);
467 case 'M': /* ignore MSS responses */
472 fprintf(stderr, "sball: got '%c' packet:", (char)id);
473 for(i=0; i<len; i++) {
474 fprintf(stderr, " %02x", (unsigned int)data[i]);
481 static int guess_num_buttons(const char *verstr)
486 if((s = strstr(verstr, "Firmware version"))) { /* spaceball */
487 /* try to guess based on firmware number */
488 if(sscanf(s + 17, "%d.%d", &major, &minor) == 2 && major == 2) {
489 if(minor == 35 || minor == 62 || minor == 63) {
490 return 2; /* spaceball 3003/3003C */
492 if(minor == 43 || minor == 45) {
493 return 12; /* spaceball 4000flx/5000flx-a */
495 if(minor == 2 || minor == 13 || minor == 15 || minor == 42) {
496 /* 2.42 is also used by spaceball 4000flx. we'll guess 2003c for
497 * now, and change the buttons to 12 first time we get a '.'
498 * packet. I'll also request a key report during init to make
499 * sure this happens as soon as possible, before clients have a
502 return 8; /* spaceball 1003/2003/2003c */
507 if(strstr(verstr, "MAGELLAN")) {
508 return 9; /* magellan spacemouse */
511 if(strstr(verstr, "SPACEBALL")) {
512 return 12; /* spaceball 5000 */
515 if(strstr(verstr, "CadMan")) {
519 fprintf(stderr, "Can't guess number of buttons, default to 8, report this as a bug!\n");
523 static void make_printable(char *buf, int len)
528 for(i=0; i<len; i++) {
532 while(*buf == '\n' || *buf == '\r') buf++;
540 static int read_timeout(int fd, char *buf, int bufsz, long tm_usec)
544 struct timeval tv0, tv;
547 if(!buf || bufsz <= 0) return -1;
550 gettimeofday(&tv0, 0);
552 while(sz < bufsz && usec > 0) {
553 tv.tv_sec = usec / 1000000;
554 tv.tv_usec = usec % 1000000;
558 if((res = select(fd + 1, &rdset, 0, 0, &tv)) > 0 && FD_ISSET(fd, &rdset)) {
559 sz += read(fd, buf + sz, bufsz - sz);
561 tm_usec = usec = 128000; /* wait 128ms for the rest of the message to appear */
562 gettimeofday(&tv0, 0);
565 if(res == -1 && (errno == EWOULDBLOCK || errno == EAGAIN)) {
568 gettimeofday(&tv, 0);
569 usec = tm_usec - ((tv.tv_sec - tv0.tv_sec) * 1000000 + (tv.tv_usec - tv0.tv_usec));
572 return sz > 0 ? sz : -1;
575 static void print_motion(short *mot)
577 printf(" T[%+6d %+6d %+6d] R[%+6d %+6d %+6d]", mot[0], mot[1],
578 mot[2], mot[3], mot[4], mot[5]);
581 static void print_keystate(unsigned int keystate)
585 for(i=0; i<16; i++) {
587 int hex = b < 10 ? b + '0' : b - 10 + 'a';
588 putchar(keystate & (1 << b) ? hex : '-');
592 static void print_state(struct sball *sb)
594 print_motion(sb->mot);
596 print_keystate(sb->keystate);
602 /* test all known button packets for all models */
616 static const char *btest_models[NUM_BTEST_MODELS] = {
621 "Spacemouse classic",
622 "Spacemouse plus/xt",
633 struct btest_data btest_data[] = {
634 {BTEST_SB2003, "bn 1", "K@A\r"},
635 {BTEST_SB2003, "bn 2", "K@B\r"},
636 {BTEST_SB2003, "bn 3", "K@D\r"},
637 {BTEST_SB2003, "bn 4", "K@H\r"},
638 {BTEST_SB2003, "bn 5", "KA@\r"},
639 {BTEST_SB2003, "bn 6", "KB@\r"},
640 {BTEST_SB2003, "bn 7", "KD@\r"},
641 {BTEST_SB2003, "bn 8", "KH@\r"},
642 {BTEST_SB2003, "pick", "KP@\r"},
644 {BTEST_SB2003C, "bn 1", "K@A\r"},
645 {BTEST_SB2003C, "bn 2", "K@B\r"},
646 {BTEST_SB2003C, "bn 3", "K@D\r"},
647 {BTEST_SB2003C, "bn 4", "K@H\r"},
648 {BTEST_SB2003C, "bn 5", "KA@\r"},
649 {BTEST_SB2003C, "bn 6", "KB@\r"},
650 {BTEST_SB2003C, "bn 7", "KD@\r"},
651 {BTEST_SB2003C, "bn 8", "KP@\r"},
652 {BTEST_SB2003C, "zero", "K`@\r"},
654 {BTEST_SB3003C, "bn R", "KPP\r"},
655 {BTEST_SB3003C, "bn L", "K@`\r"},
656 {BTEST_SB3003C, "zero", "K`@\r"},
658 {BTEST_SB4000FLX, "bn 1", ".@A\r"},
659 {BTEST_SB4000FLX, "bn 2", ".@B\r"},
660 {BTEST_SB4000FLX, "bn 3", ".@D\r"},
661 {BTEST_SB4000FLX, "bn 4", ".@H\r"},
662 {BTEST_SB4000FLX, "bn 5", ".@P\r"},
663 {BTEST_SB4000FLX, "bn 6", ".@`\r"},
664 {BTEST_SB4000FLX, "bn 7", ".@\xc0\r"},
665 {BTEST_SB4000FLX, "bn 8", ".A@\r"},
666 {BTEST_SB4000FLX, "bn 9", ".B@\r"},
667 {BTEST_SB4000FLX, "bn A", ".D@\r"},
668 {BTEST_SB4000FLX, "bn B", ".H@\r"},
669 {BTEST_SB4000FLX, "bn C", ".P@\r"},
670 {BTEST_SB4000FLX, "r.h.", ".`@\r"},
672 {BTEST_SMCLASSIC, "bn 1", "kA00\r"},
673 {BTEST_SMCLASSIC, "bn 2", "kB00\r"},
674 {BTEST_SMCLASSIC, "bn 3", "kD00\r"},
675 {BTEST_SMCLASSIC, "bn 4", "kH00\r"},
676 {BTEST_SMCLASSIC, "bn 5", "k0A0\r"},
677 {BTEST_SMCLASSIC, "bn 6", "k0B0\r"},
678 {BTEST_SMCLASSIC, "bn 7", "k0D0\r"},
679 {BTEST_SMCLASSIC, "bn 8", "k0H0\r"},
680 {BTEST_SMCLASSIC, "bn *", "k00A\r"},
682 {BTEST_SMPLUS, "bn 1", "kA00\r"},
683 {BTEST_SMPLUS, "bn 2", "kB00\r"},
684 {BTEST_SMPLUS, "bn 3", "kD00\r"},
685 {BTEST_SMPLUS, "bn 4", "kH00\r"},
686 {BTEST_SMPLUS, "bn 5", "k0A0\r"},
687 {BTEST_SMPLUS, "bn 6", "k0B0\r"},
688 {BTEST_SMPLUS, "bn 7", "k0D0\r"},
689 {BTEST_SMPLUS, "bn 8", "k0H0\r"},
690 {BTEST_SMPLUS, "bn *", "k00A\r"},
691 {BTEST_SMPLUS, "bn A", "k00B\r"},
692 {BTEST_SMPLUS, "bn B", "k00D\r"},
694 {BTEST_SB5000FLX, "bn 1", "kA00\r"},
695 {BTEST_SB5000FLX, "bn 2", "kB00\r"},
696 {BTEST_SB5000FLX, "bn 3", "kD00\r"},
697 {BTEST_SB5000FLX, "bn 4", "kH00\r"},
698 {BTEST_SB5000FLX, "bn 5", "k0A0\r"},
699 {BTEST_SB5000FLX, "bn 6", "k0B0\r"},
700 {BTEST_SB5000FLX, "bn 7", "k0D0\r"},
701 {BTEST_SB5000FLX, "bn 8", "k0H0\r"},
702 {BTEST_SB5000FLX, "bn 9", "k00A\r"},
703 {BTEST_SB5000FLX, "bn A", "k00B\r"},
704 {BTEST_SB5000FLX, "bn B", "k00D\r"},
705 {BTEST_SB5000FLX, "bn C", "k00H\r"},
707 {BTEST_SPEXP, "bn 1", "kA000\r"},
708 {BTEST_SPEXP, "bn 2", "kB000\r"},
709 {BTEST_SPEXP, "bn T", "kD000\r"},
710 {BTEST_SPEXP, "bn L", "kH000\r"},
711 {BTEST_SPEXP, "bn R", "k0A00\r"},
712 {BTEST_SPEXP, "bn F", "k0B00\r"},
713 {BTEST_SPEXP, " ALT", "k0D00\r"},
714 {BTEST_SPEXP, " ESC", "k0H00\r"},
715 {BTEST_SPEXP, "SHFT", "k00A0\r"},
716 {BTEST_SPEXP, "CTRL", "k00B0\r"},
717 {BTEST_SPEXP, " fit", "k00D0\r"},
718 {BTEST_SPEXP, "panl", "k00H0\r"},
719 {BTEST_SPEXP, "bn +", "k000A\r"},
720 {BTEST_SPEXP, "bn -", "k000B\r"},
721 {BTEST_SPEXP, " 2D", "k000D\r"},
726 void sball_button_test(void)
730 int (*parse)(struct sball*, int, char*, int);
731 struct btest_data *td = btest_data;
732 struct sball sb = {0};
735 while(td->device >= 0) {
736 if(td->device != dev) {
738 sb.keymask = dev == BTEST_SB3003C ? 3 : 0xffff;
739 parse = (dev < BTEST_SMCLASSIC) ? sball_parsepkt : mag_parsepkt;
740 printf("\n\nTesting button packets for: %s", btest_models[dev]);
743 strcpy(pkt, td->pkt + 1);
744 sb.flags = dev == BTEST_SB4000FLX ? SB4000 : 0;
746 printf("\n %s: ", td->label);
747 parse(&sb, td->pkt[0], pkt, strlen(pkt) - 1);