--- /dev/null
+#include <stdio.h>
+#include <math.h>
+#include <conio.h>
+#include "serial.h"
+#include "device.h"
+#include "vmath.h"
+
+void init_gfx(void);
+void destroy_gfx(void);
+int handle_dev_event(device_event *ev);
+
+vec3_t pos = {0, 0, -6};
+quat_t rot = {0, 0, 0, 1}; /* that's 1 + 0i + 0j + 0k */
+
+static struct device *dev;
+
+int main(void)
+{
+ int devfd;
+
+ register_all();
+ set_port("COM1");
+
+ if(!(dev = dev_init(0))) {
+ fprintf(stderr, "failed to initialize 6dof serial device at COM1\n");
+ return 1;
+ }
+ if((devfd = dev->start()) == -1) {
+ return 1;
+ }
+
+ init_gfx();
+
+ for(;;) {
+ device_event ev;
+
+ if(kbhit() && getch() == 27) {
+ break;
+ }
+
+ while(dev->getevent(&ev)) {
+ handle_dev_event(&ev);
+ }
+
+ /* redisplay */
+ }
+
+ dev->stop();
+ dev_destroy();
+ destroy_gfx();
+ return 0;
+}
+
+void init_gfx(void)
+{
+}
+
+void destroy_gfx(void)
+{
+}
+
+#define TX(ev) ((ev)->motion.motion[0])
+#define TY(ev) ((ev)->motion.motion[1])
+#define TZ(ev) ((ev)->motion.motion[2])
+#define RX(ev) ((ev)->motion.motion[3])
+#define RY(ev) ((ev)->motion.motion[4])
+#define RZ(ev) ((ev)->motion.motion[5])
+
+int handle_dev_event(device_event *ev)
+{
+ switch(ev->type) {
+ case DEV_EV_MOTION:
+ printf("t: %5d %5d %5d - r: %5d %5d %5d\n", TX(ev), TY(ev), TZ(ev),
+ RX(ev), RY(ev), RZ(ev));
+ if(RX(ev) | RY(ev) | RZ(ev)) {
+ float axis_len = sqrt(RX(ev) * RX(ev) + RY(ev) * RY(ev) + RZ(ev) * RZ(ev));
+ if(axis_len != 0.0) {
+ rot = quat_rotate(rot, axis_len * 0.001, -RX(ev) / axis_len,
+ -RY(ev) / axis_len, -RZ(ev) / axis_len);
+ }
+ }
+
+ pos.x += TX(ev) * 0.001;
+ pos.y += TY(ev) * 0.001;
+ pos.z += TZ(ev) * 0.001;
+ break;
+
+ case DEV_EV_BUTTON:
+ if(ev->button.pressed) {
+ pos = v3_cons(0, 0, -6);
+ rot = quat_cons(1, 0, 0, 0);
+ }
+ break;
+ }
+
+ return 0;
+}
--- /dev/null
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdarg.h>
+#include <ctype.h>
+#include <dos.h>
+#include <conio.h>
+#include <i86.h>
+#include "serial.h"
+
+#define UART1_BASE 0x3f8
+#define UART2_BASE 0x2f8
+#define UART1_IRQ 4
+#define UART2_IRQ 3
+
+#define UART_DATA 0
+#define UART_INTR 1
+#define UART_DIVLO 0
+#define UART_DIVHI 1
+#define UART_FIFO 2
+#define UART_IID 2
+#define UART_LCTL 3
+#define UART_MCTL 4
+#define UART_LSTAT 5
+#define UART_MSTAT 6
+
+/* interrupt enable register bits */
+#define INTR_RECV 1
+#define INTR_SEND 2
+#define INTR_LSTAT 4
+#define INTR_DELTA 8
+
+/* fifo control register bits */
+#define FIFO_ENABLE 0x01
+#define FIFO_RECV_CLEAR 0x02
+#define FIFO_SEND_CLEAR 0x04
+#define FIFO_DMA 0x08
+#define FIFO_TRIG_4 0x40
+#define FIFO_TRIG_8 0x80
+#define FIFO_TRIG_14 0xc0
+
+/* interrupt id register bits */
+#define IID_PENDING 0x01
+#define IID_ID0 0x02
+#define IID_ID1 0x04
+#define IID_ID2 0x08
+#define IID_FIFO_EN 0xc0
+
+#define IID_SOURCE 0xe
+
+#define IID_DELTA 0
+#define IID_SEND 0x2
+#define IID_RECV 0x4
+#define IID_FIFO 0xc
+#define IID_STATUS 0x6
+
+/* line control register bits */
+#define LCTL_BITS_8 0x03
+#define LCTL_STOP_2 0x04
+#define LCTL_DLAB 0x80
+#define LCTL_8N1 LCTL_BITS_8
+#define LCTL_8N2 (LCTL_BITS_8 | LCTL_STOP_2)
+
+/* modem control register bits */
+#define MCTL_DTR 0x01
+#define MCTL_RTS 0x02
+#define MCTL_OUT1 0x04
+#define MCTL_OUT2 0x08
+#define MCTL_LOOP 0x10
+
+/* line status register bits */
+#define LST_DRDY 0x01
+#define LST_ERR_OVER 0x02
+#define LST_ERR_PARITY 0x04
+#define LST_ERR_FRAME 0x08
+#define LST_ERR_BRK 0x10
+#define LST_TREG_EMPTY 0x20
+#define LST_TIDLE 0x40
+#define LST_ERROR 0x80
+
+/* modem status register bits */
+#define MST_DELTA_CTS 0x01
+#define MST_DELTA_DSR 0x02
+#define MST_TERI 0x04
+#define MST_DELTA_DCD 0x08
+#define MST_CTS 0x10
+#define MST_DSR 0x20
+#define MST_RING 0x40
+#define MST_DCD 0x80
+
+/* interrupt controller stuff */
+#define PIC1_CMD_PORT 0x20
+#define PIC1_DATA_PORT 0x21
+#define PIC2_CMD_PORT 0xa0
+#define PIC2_DATA_PORT 0xa1
+#define OCW2_EOI 0x20
+
+#define COM_FMT_8N1 LCTL_8N1
+#define COM_FMT_8N2 LCTL_8N2
+
+struct serial_port {
+ int base, intr;
+ int blocking;
+
+ char inbuf[256];
+ int inbuf_ridx, inbuf_widx;
+};
+
+#define BNEXT(x) (((x) + 1) & 0xff)
+#define BEMPTY(b) (b##_ridx == b##_widx)
+
+static void ser_putc(int uart_base, char c);
+static void ser_puts(int uart_base, const char *s);
+static int ser_getc(int uart_base);
+static int have_recv(int base);
+static void __interrupt __far recv_intr(void);
+
+static struct serial_port ports[2];
+static int num_open;
+
+static int uart_base[] = {UART1_BASE, UART2_BASE};
+static int uart_irq[] = {UART1_IRQ, UART2_IRQ};
+
+static void (__interrupt __far *prev_recv_intr)(void);
+
+
+int ser_open(const char *port, int baud, unsigned int mode)
+{
+ unsigned char ctl;
+ unsigned short div = 115200 / baud;
+ int i, pidx, base, intr, fd;
+ unsigned int fmt;
+
+ if(toupper(port[0]) != 'C' || toupper(port[1]) != 'O' || toupper(port[2]) != 'M'
+ || !isdigit(port[3])) {
+ fprintf(stderr, "ser_open: invalid com port: %s\n", port);
+ return -1;
+ }
+ pidx = port[3] - '0';
+ if(pidx < 1 || pidx > 2) {
+ fprintf(stderr, "ser_open: invalid com port: %d\n", pidx);
+ return -1;
+ }
+
+ if(ports[pidx].base) {
+ fprintf(stderr, "ser_open: port %d already open!\n", pidx);
+ return -1;
+ }
+ memset(ports + pidx, 0, sizeof ports[pidx]);
+
+ base = uart_base[pidx];
+ intr = uart_irq[pidx] | 8;
+
+ if(mode & SER_8N2) {
+ fmt = COM_FMT_8N2;
+ } else {
+ fmt = COM_FMT_8N1;
+ }
+
+ _disable();
+ if(!prev_recv_intr) {
+ prev_recv_intr = _dos_getvect(intr);
+ _dos_setvect(intr, recv_intr);
+ }
+ /* unmask the appropriate interrupt */
+ outp(PIC1_DATA_PORT, inp(PIC1_DATA_PORT) & ~(1 << uart_irq[pidx]));
+
+ outp(base + UART_LCTL, LCTL_DLAB);
+ outp(base + UART_DIVLO, div & 0xff);
+ outp(base + UART_DIVHI, (div >> 8) & 0xff);
+ outp(base + UART_LCTL, fmt); /* fmt should be LCTL_8N1, LCTL_8N2 etc */
+ outp(base + UART_FIFO, FIFO_ENABLE | FIFO_SEND_CLEAR | FIFO_RECV_CLEAR);
+ outp(base + UART_MCTL, MCTL_DTR | MCTL_RTS | MCTL_OUT2);
+ outp(base + UART_INTR, INTR_RECV);
+
+ _enable();
+
+ ports[pidx].base = base;
+ ports[pidx].intr = intr;
+ ports[pidx].blocking = 1;
+ ++num_open;
+ return pidx;
+}
+
+void ser_close(int fd)
+{
+ if(--num_open == 0) {
+ _disable();
+ outp(ports[fd].base + UART_INTR, 0);
+ outp(ports[fd].base + UART_MCTL, 0);
+ _dos_setvect(ports[fd].intr, prev_recv_intr);
+ prev_recv_intr = 0;
+ _enable();
+ }
+
+ ports[fd].base = 0;
+}
+
+int ser_block(int fd)
+{
+ ports[fd].blocking = 1;
+ return 0;
+}
+
+int ser_nonblock(int fd)
+{
+ ports[fd].blocking = 0;
+ return 0;
+}
+
+int ser_pending(int fd)
+{
+ return !BEMPTY(ports[fd].inbuf);
+}
+
+/* if msec < 0: wait for ever */
+int ser_wait(int fd, long msec)
+{
+ int res;
+ while(!(res = ser_pending(fd))) {
+ delay(25);
+ if(msec >= 0) {
+ if((msec -= 25) < 0) msec = 0;
+ }
+ }
+ return res;
+}
+
+static int can_send(int fd)
+{
+ int base = ports[fd].base;
+ return inp(base + UART_LSTAT) & LST_TREG_EMPTY;
+}
+
+static void ser_putc(int fd, char c)
+{
+ int base = ports[fd].base;
+ while(!can_send(fd));
+ while((inp(base + UART_MSTAT) & MST_CTS) == 0);
+ outp(base + UART_DATA, c);
+}
+
+static void ser_puts(int fd, const char *s)
+{
+ int base = ports[fd].base;
+ while(*s) {
+ ser_putc(fd, *s++);
+ }
+}
+
+static int ser_getc(int fd)
+{
+ struct serial_port *p = ports + fd;
+ int have, c = -1;
+
+ if(p->blocking) {
+ while(!(have = ser_pending(fd)));
+ } else {
+ have = ser_pending(fd);
+ }
+
+ if(have) {
+ c = p->inbuf[p->inbuf_ridx];
+ p->inbuf_ridx = BNEXT(p->inbuf_ridx);
+ }
+ return c;
+}
+
+int ser_write(int fd, const char *buf, int count)
+{
+ int n = count;
+ while(n--) {
+ ser_putc(fd, *buf++);
+ }
+ return count;
+}
+
+int ser_read(int fd, char *buf, int count)
+{
+ int c, n = 0;
+ while(n < count && (c = ser_getc(fd)) != -1) {
+ *buf++ = c;
+ ++n;
+ }
+ return n;
+}
+
+void ser_printf(int fd, const char *fmt, ...)
+{
+ static char buf[128];
+ va_list ap;
+
+ va_start(ap, fmt);
+ vsprintf(buf, fmt, ap);
+ va_end(ap);
+
+ ser_puts(fd, buf);
+}
+
+char *ser_getline(int fd, char *buf, int bsz)
+{
+ static char linebuf[512];
+ static int widx;
+ int i, rd, size, offs;
+
+ size = sizeof linebuf - widx;
+ while(size && (rd = ser_read(fd, linebuf + widx, size)) > 0) {
+ widx += rd;
+ size -= rd;
+ }
+
+ linebuf[widx] = 0;
+
+ for(i=0; i<widx; i++) {
+ if(linebuf[i] == '\r' || linebuf[i] == '\n') {
+ size = i >= bsz ? bsz - 1 : i;
+ memcpy(buf, linebuf, size);
+ buf[size] = 0;
+
+ offs = i + 1;
+ memmove(linebuf, linebuf + offs, widx - offs);
+ widx -= offs;
+ return buf;
+ }
+ }
+ return 0;
+}
+
+static int have_recv(int base)
+{
+ unsigned short stat = inp(base + UART_LSTAT);
+ if(stat & LST_ERROR) {
+ fprintf(stderr, "receive error\n");
+ abort();
+ }
+ return stat & LST_DRDY;
+}
+
+static void __interrupt __far recv_intr()
+{
+ int i, idreg, c;
+
+ for(i=0; i<2; i++) {
+ int base = uart_base[i];
+ struct serial_port *p = ports + i;
+
+ while(((idreg = inp(base + UART_IID)) & IID_PENDING) == 0) {
+ while(have_recv(base)) {
+ c = inp(base + UART_DATA);
+
+ p->inbuf[p->inbuf_widx] = inp(base + UART_DATA);
+ p->inbuf_widx = BNEXT(p->inbuf_widx);
+
+ if(p->inbuf_widx == p->inbuf_ridx) {
+ /* we overflowed, drop the oldest */
+ p->inbuf_ridx = BNEXT(p->inbuf_ridx);
+ }
+ }
+ }
+ }
+
+ outp(PIC1_CMD_PORT, OCW2_EOI);
+}
projects / smouse / commitdiff