#include <ctype.h>
#include <time.h>
#include <errno.h>
-#include <alloca.h>
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include <sys/select.h>
#include <sys/time.h>
+#include <sys/ioctl.h>
#define INP_BUF_SZ 256
+enum {
+ SB4000 = 1,
+ FLIPXY = 2
+};
+
struct sball {
int fd;
+ unsigned int flags;
+ int nbuttons;
char buf[INP_BUF_SZ];
int len;
- int (*parse)(int, char*, int);
+ short mot[6];
+ unsigned int keystate;
+
+ struct termios saved_term;
+ int saved_mstat;
+
+ int (*parse)(struct sball*, int, char*, int);
};
-static int stty_sball(int fd);
-static int stty_mag(int fd);
+static int stty_sball(struct sball *sb);
+static int stty_mag(struct sball *sb);
+static void stty_save(struct sball *sb);
+static void stty_restore(struct sball *sb);
static int proc_input(struct sball *sb);
-static int mag_parsepkt(int id, char *data, int len);
-static int sball_parsepkt(int id, char *data, int len);
+static int mag_parsepkt(struct sball *sb, int id, char *data, int len);
+static int sball_parsepkt(struct sball *sb, int id, char *data, int len);
+
+static int guess_num_buttons(const char *verstr);
static void make_printable(char *buf, int len);
static int read_timeout(int fd, char *buf, int bufsz, long tm_usec);
+static void print_state(struct sball *sb);
+
+
struct sball *sball_open(const char *dev)
{
int fd, sz;
char buf[128];
struct sball *sb = 0;
- if((fd = open(dev, O_RDWR | O_NOCTTY)) == -1) {
+ if((fd = open(dev, O_RDWR | O_NOCTTY | O_NONBLOCK)) == -1) {
fprintf(stderr, "sball_open: failed to open device: %s: %s\n", dev, strerror(errno));
return 0;
}
goto err;
}
sb->fd = fd;
+ sb->flags = 0;
+ sb->len = 0;
+
+ stty_save(sb);
- if(stty_sball(fd) == -1) {
+ if(stty_sball(sb) == -1) {
goto err;
}
+ write(fd, "\r@RESET\r", 8);
- if((sz = read_timeout(fd, buf, sizeof buf - 1, 2000000)) > 0 && memcmp(buf, "\r@1", 3) == 0) {
+ if((sz = read_timeout(fd, buf, sizeof buf - 1, 2000000)) > 0 && strstr(buf, "\r@1")) {
/* we got a response, so it's a spaceball */
make_printable(buf, sz);
printf("Spaceball detected: %s\n", buf);
- /* set SS mode */
- write(fd, "MSS\r", 4);
+ sb->nbuttons = guess_num_buttons(buf);
+ printf("%d buttons\n", sb->nbuttons);
+
+ /* set binary mode and enable automatic data packet sending */
+ write(fd, "\rCB\rMSSV\r", 9);
sb->parse = sball_parsepkt;
return sb;
}
/* try as a magellan spacemouse */
- if(stty_mag(fd) == -1) {
+ if(stty_mag(sb) == -1) {
goto err;
}
write(fd, "vQ\r", 3);
if((sz = read_timeout(fd, buf, sizeof buf - 1, 250000)) > 0 && buf[0] == 'v') {
make_printable(buf, sz);
- printf("Magellan SpaceMouse detected: %s\n", buf);
+ printf("Magellan SpaceMouse detected:\n%s\n", buf);
+
+ sb->nbuttons = guess_num_buttons(buf);
+ printf("%d buttons\n", sb->nbuttons);
/* set 3D mode, not-dominant-axis, pass through motion and button packets */
write(fd, "m3\r", 3);
}
err:
+ stty_restore(sb);
close(fd);
free(sb);
return 0;
void sball_close(struct sball *sb)
{
if(!sb) return;
+
+ stty_restore(sb);
close(sb->fd);
}
return 0;
}
+int sball_axis(struct sball *sb, int axis)
+{
+ return sb->mot[axis];
+}
+
+unsigned int sball_buttons(struct sball *sb)
+{
+ return sb->keystate;
+}
+
+int sball_num_buttons(struct sball *sb)
+{
+ return sb->nbuttons;
+}
+
/* Labtec spaceball: 9600 8n1 XON/XOFF */
-static int stty_sball(int fd)
+static int stty_sball(struct sball *sb)
{
+ int mstat;
struct termios term;
- if(tcgetattr(fd, &term) == -1) {
- perror("sball_open: tcgetattr");
- return -1;
- }
-
+ term = sb->saved_term;
term.c_oflag = 0;
- term.c_lflag = 0;
+ term.c_lflag = ICANON;
term.c_cc[VMIN] = 0;
- term.c_cc[VTIME] = 1;
+ term.c_cc[VTIME] = 0;
+ term.c_cc[VEOF] = 0;
+ term.c_cc[VEOL] = '\r';
+ term.c_cc[VEOL2] = 0;
+ term.c_cc[VERASE] = 0;
+ term.c_cc[VKILL] = 0;
term.c_cflag = CLOCAL | CREAD | CS8 | HUPCL;
- term.c_iflag = IGNBRK | IGNPAR | IXON | IXOFF;
+ term.c_iflag = IGNBRK | IGNPAR;
cfsetispeed(&term, B9600);
cfsetospeed(&term, B9600);
- if(tcsetattr(fd, TCSANOW, &term) == -1) {
+ if(tcsetattr(sb->fd, TCSAFLUSH, &term) == -1) {
perror("sball_open: tcsetattr");
return -1;
}
+ tcflush(sb->fd, TCIOFLUSH);
+ mstat = sb->saved_mstat | TIOCM_DTR | TIOCM_RTS;
+ ioctl(sb->fd, TIOCMGET, &mstat);
return 0;
}
/* Logicad magellan spacemouse: 9600 8n2 CTS/RTS */
-static int stty_mag(int fd)
+static int stty_mag(struct sball *sb)
{
+ int mstat;
struct termios term;
- if(tcgetattr(fd, &term) == -1) {
- perror("sball_open: tcgetattr");
- return -1;
- }
-
+ term = sb->saved_term;
term.c_oflag = 0;
- term.c_lflag = 0;
+ term.c_lflag = ICANON;
term.c_cc[VMIN] = 0;
- term.c_cc[VTIME] = 1;
+ term.c_cc[VTIME] = 0;
+ term.c_cc[VEOF] = 0;
+ term.c_cc[VEOL] = '\r';
+ term.c_cc[VEOL2] = 0;
+ term.c_cc[VERASE] = 0;
+ term.c_cc[VKILL] = 0;
term.c_cflag = CLOCAL | CREAD | CS8 | CSTOPB | HUPCL | CRTSCTS;
term.c_iflag = IGNBRK | IGNPAR;
cfsetispeed(&term, B9600);
cfsetospeed(&term, B9600);
- if(tcsetattr(fd, TCSANOW, &term) == -1) {
+ if(tcsetattr(sb->fd, TCSAFLUSH, &term) == -1) {
perror("sball_open: tcsetattr");
return -1;
}
+ tcflush(sb->fd, TCIOFLUSH);
+ mstat = sb->saved_mstat | TIOCM_DTR | TIOCM_RTS;
+ ioctl(sb->fd, TIOCMGET, &mstat);
return 0;
}
+static void stty_save(struct sball *sb)
+{
+ tcgetattr(sb->fd, &sb->saved_term);
+ ioctl(sb->fd, TIOCMGET, &sb->saved_mstat);
+}
+
+static void stty_restore(struct sball *sb)
+{
+ tcsetattr(sb->fd, TCSAFLUSH, &sb->saved_term);
+ tcflush(sb->fd, TCIOFLUSH);
+ ioctl(sb->fd, TIOCMSET, &sb->saved_mstat);
+}
+
static int proc_input(struct sball *sb)
{
while(bptr < end) {
if(*bptr == '\r') {
*bptr = 0;
- sb->parse(*start, start + 1, bptr - start - 1);
+ sb->parse(sb, *start, start + 1, bptr - start - 1);
start = ++bptr;
} else {
bptr++;
return 0;
}
-static void print_keystate(unsigned int keystate)
+static int mag_parsepkt(struct sball *sb, int id, char *data, int len)
{
int i;
- printf("keystate: ");
- for(i=0; i<12; i++) {
- int b = 11 - i;
- int hex = b < 10 ? b + '0' : b - 10 + 'a';
- putchar(keystate & (1 << b) ? hex : '-');
- }
- putchar('\n');
-}
-
-static int mag_parsepkt(int id, char *data, int len)
-{
- int i, mot[6];
- unsigned int keystate;
-
/*printf("magellan packet: %c - %s (%d bytes)\n", (char)id, data, len);*/
switch(id) {
return -1;
}
for(i=0; i<6; i++) {
- mot[i] = ((((int)data[0] & 0xf) << 12) | (((int)data[1] & 0xf) << 8) |
+#ifdef SBALL_BIG_ENDIAN
+ sb->mot[i] = ((((int)data[3] & 0xf) << 12) | (((int)data[2] & 0xf) << 8) |
+ (((int)data[1] & 0xf) << 4) | (data[0] & 0xf)) - 0x8000;
+#else
+ sb->mot[i] = ((((int)data[0] & 0xf) << 12) | (((int)data[1] & 0xf) << 8) |
(((int)data[2] & 0xf) << 4) | (data[3] & 0xf)) - 0x8000;
+#endif
data += 4;
}
- printf("motion: T %+4d %+4d %+4d R %+4d %+4d %+4d\n", mot[0], mot[1], mot[2], mot[3], mot[4], mot[5]);
+ print_state(sb);
break;
case 'k':
fprintf(stderr, "magellan: invalid keyboard pakcet, expected 3 bytes, got: %d\n", len);
return -1;
}
- keystate = (data[0] & 0xf) | ((data[1] & 0xf) << 4) | (((unsigned int)data[2] & 0xf) << 8);
- print_keystate(keystate);
+ sb->keystate = (data[0] & 0xf) | ((data[1] & 0xf) << 4) | (((unsigned int)data[2] & 0xf) << 8);
+ print_state(sb);
break;
case 'e':
return 0;
}
-static int sball_parsepkt(int id, char *data, int len)
+static int sball_parsepkt(struct sball *sb, int id, char *data, int len)
{
int i;
- unsigned int keystate;
char c, *rd, *wr;
- short *mot;
/* decode data packet, replacing escaped values with the correct ones */
rd = wr = data;
break;
case '^':
*wr++ = '^';
+ break;
default:
fprintf(stderr, "sball decode: ignoring invalid escape code: %xh\n", (unsigned int)c);
}
return -1;
}
- mot = (short*)(data + 2); /* skip the period */
- printf("motion: T %+6d %+6d %+6d R %+6d %+6d %+6d\n", mot[0], mot[1], mot[2], mot[3], mot[4], mot[5]);
+#ifndef SBALL_BIG_ENDIAN
+ for(i=0; i<6; i++) {
+ data += 2;
+ c = data[0];
+ data[0] = data[1];
+ data[1] = c;
+ sb->mot[i] = *(short*)data;
+ }
+#else
+ memcpy(sb->mot, data + 2, 12);
+#endif
+ print_state(sb);
break;
case 'K':
fprintf(stderr, "sball: invalid key packet, expected 2 bytes, got: %d\n", len);
return -1;
}
- keystate = (data[1] & 0x30) >> 4;
- print_keystate(keystate);
+ if(sb->flags & SB4000) break; /* ignore K packets from spaceball 4000 devices */
+
+ /* data[1] bits 0-3 -> buttons 0,1,2,3
+ * data[1] bits 4,5 (3003 L/R) -> buttons 0, 1
+ * data[0] bits 0-2 -> buttons 4,5,6
+ * data[0] bit 4 is (2003 pick) -> button 7
+ */
+ sb->keystate = (data[1] & 0xf) | ((data[1] >> 4) & 3) | ((data[0] & 7) << 4) |
+ ((data[0] & 0x10) >> 1);
+ print_state(sb);
+ break;
+
+ case '.':
+ if(len != 2) {
+ fprintf(stderr, "sball: invalid sb4k key packet, expected 2 bytes, got: %d\n", len);
+ return -1;
+ }
+ /* spaceball 4000 key packet */
+ sb->flags |= SB4000;
+ /* update orientation flag (actually don't bother) */
+ /*
+ if(data[0] & 0x20) {
+ sb->flags |= FLIPXY;
+ } else {
+ sb->flags &= ~FLIPXY;
+ }
+ */
+
+ /* data[1] bits 0-5 -> buttons 0,1,2,3,4,5
+ * data[1] bit 7 -> button 6
+ * data[0] bits 0-4 -> buttons 7,8,9,10,11
+ */
+ sb->keystate = (data[1] & 0x3f) | ((data[1] & 0x80) >> 1) | ((data[0] & 0x1f) << 7);
+ print_state(sb);
break;
case 'E':
}
break;
+ case 'M': /* ignore MSS responses */
+ break;
+
default:
/* DEBUG */
fprintf(stderr, "sball: got '%c' packet:", (char)id);
return 0;
}
+static int guess_num_buttons(const char *verstr)
+{
+ int major, minor;
+ const char *s, *model;
+
+ if((s = strstr(verstr, "Firmware version"))) { /* spaceball */
+
+ /* if we got a model number, guess based on that */
+ if((model = strchr(s, '('))) {
+ if(memcmp(model, "(Model ", 7) == 0) {
+ model += 7;
+ } else {
+ model++;
+ }
+ switch(atoi(model)) {
+ case 2003:
+ return 8;
+ case 3003:
+ return 2;
+ case 5000:
+ return 12;
+ default:
+ break;
+ }
+ }
+ /* try to guess based on firmware number */
+ if(sscanf(s + 17, "%d.%d", &major, &minor) == 2 && major == 2) {
+ if(minor == 35 || minor == 62 || minor == 63) {
+ return 2; /* spaceball 3003/3003C */
+ }
+ if(minor == 42 || minor == 43 || minor == 45) {
+ /* 2.42 is also used by spaceball 2003C, but this should be
+ * caught before we get here by the model number guess
+ */
+ return 12; /* spaceball 4000flx/5000flx-a */
+ }
+ if(minor == 2 || minor == 13 || minor == 15) {
+ return 8; /* spaceball 1003/2003/2003c */
+ }
+ }
+ }
+
+ if(strstr(verstr, "MAGELLAN")) {
+ return 9; /* magellan spacemouse */
+ }
+
+ if(strstr(verstr, "SPACEBALL")) {
+ return 12; /* spaceball 5000 */
+ }
+
+ if(strstr(verstr, "CadMan")) {
+ return 2;
+ }
+
+ fprintf(stderr, "Can't guess number of buttons, default to 8, report this as a bug!\n");
+ return 8;
+}
+
static void make_printable(char *buf, int len)
{
int i, c;
return sz > 0 ? sz : -1;
}
+static void print_motion(short *mot)
+{
+ printf(" T[%+6d %+6d %+6d] R[%+6d %+6d %+6d]", mot[0], mot[1],
+ mot[2], mot[3], mot[4], mot[5]);
+}
+
+static void print_keystate(unsigned int keystate)
+{
+ int i;
+
+ for(i=0; i<12; i++) {
+ int b = 11 - i;
+ int hex = b < 10 ? b + '0' : b - 10 + 'a';
+ putchar(keystate & (1 << b) ? hex : '-');
+ }
+}
+
+static void print_state(struct sball *sb)
+{
+ print_motion(sb->mot);
+ printf(" B[");
+ print_keystate(sb->keystate);
+ printf("]\r");
+ fflush(stdout);
+}
projects / sball / blobdiff