From fc3d3c0a4f110a23335398c327ac0a4fc949d5cb Mon Sep 17 00:00:00 2001 From: Guenter Geiger Date: Mon, 17 Jun 2002 10:13:57 +0000 Subject: This commit was generated by cvs2svn to compensate for changes in r12, which included commits to RCS files with non-trunk default branches. svn path=/trunk/externals/ggee/; revision=13 --- control/serial_bird.c | 264 ++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 264 insertions(+) create mode 100755 control/serial_bird.c (limited to 'control/serial_bird.c') diff --git a/control/serial_bird.c b/control/serial_bird.c new file mode 100755 index 0000000..25a837d --- /dev/null +++ b/control/serial_bird.c @@ -0,0 +1,264 @@ +/* (C) Guenter Geiger */ + + +#include + +#define DEBUG(x) +/*#define DEBUG(x) x*/ + +static t_class *serial_bird_class; + + +#define BIRD_DATA_START 0x80 + +#define BIRDCMD_MODE_POS 86 +#define BIRD_BYTES_POS 6 + +#define BIRDCMD_MODE_POSANG 89 +#define BIRD_BYTES_POSANG 12 + +#define BIRDCMD_MODE_POSMAT 90 +#define BIRD_BYTES_POSMAT 24 + +#define BIRDCMD_MODE_POSQUAT 93 +#define BIRD_BYTES_POSQUAT 14 + +#define BIRDCMD_MODE_QUAT 92 +#define BIRD_BYTES_QUAT 8 + +#define BIRDCMD_STREAM 64 +#define BIRDCMD_POINT 66 + +#define BIRD_GETDATA(x,y) ((float)((short)(y<<9 | x<<2))) + +#define MAXBUFFER 32 + + + +typedef struct _serial_bird +{ + t_object x_obj; + char x_c[MAXBUFFER]; + t_int x_dataformat; + t_int x_maxcount; + t_int x_count; + t_float x_posx; + t_float x_posy; + t_float x_posz; + t_outlet *x_out2; +} t_serial_bird; + + +static void serial_bird_reset( t_serial_bird* x) +{ + x->x_posx=0; + x->x_posy=0; + x->x_count = 0; + outlet_float(x->x_obj.ob_outlet, x->x_posx); + outlet_float(x->x_out2, x->x_posy); +} + +static void serial_bird_float( t_serial_bird* x,t_floatarg f) +{ + unsigned char c = (unsigned char) f; + t_atom at[BIRD_BYTES_POSMAT]; + t_int ac = 0; + + if (c&BIRD_DATA_START) { + x->x_count=0; + x->x_c[x->x_count] = c & 0x7f; + } + else + x->x_c[x->x_count] = c; + + DEBUG(post("data %d in = %x, start = %d",x->x_count,c,c&BIRD_DATA_START);) + + if (x->x_count == x->x_maxcount-1) { + switch (x->x_dataformat) { + case BIRDCMD_MODE_POS: + ac = 3; + SETFLOAT(&at[0], 0.25*BIRD_GETDATA(x->x_c[0],x->x_c[1])); + SETFLOAT(&at[1], 0.25*BIRD_GETDATA(x->x_c[2],x->x_c[3])); + SETFLOAT(&at[2], 0.25*BIRD_GETDATA(x->x_c[4],x->x_c[5])); + break; + case BIRDCMD_MODE_POSANG: + ac = 6; + SETFLOAT(&at[0], 0.25*BIRD_GETDATA(x->x_c[0],x->x_c[1])); + SETFLOAT(&at[1], 0.25*BIRD_GETDATA(x->x_c[2],x->x_c[3])); + SETFLOAT(&at[2], 0.25*BIRD_GETDATA(x->x_c[4],x->x_c[5])); + SETFLOAT(&at[3], BIRD_GETDATA(x->x_c[6],x->x_c[7])); + SETFLOAT(&at[4], BIRD_GETDATA(x->x_c[8],x->x_c[9])); + SETFLOAT(&at[5], BIRD_GETDATA(x->x_c[10],x->x_c[11])); + break; + case BIRDCMD_MODE_POSMAT: + ac = 12; + SETFLOAT(&at[0], BIRD_GETDATA(x->x_c[0],x->x_c[1])); + SETFLOAT(&at[1], BIRD_GETDATA(x->x_c[2],x->x_c[3])); + SETFLOAT(&at[2], BIRD_GETDATA(x->x_c[4],x->x_c[5])); + SETFLOAT(&at[3], BIRD_GETDATA(x->x_c[6],x->x_c[7])); + SETFLOAT(&at[4], BIRD_GETDATA(x->x_c[8],x->x_c[9])); + SETFLOAT(&at[5], BIRD_GETDATA(x->x_c[10],x->x_c[11])); + SETFLOAT(&at[6], BIRD_GETDATA(x->x_c[12],x->x_c[13])); + SETFLOAT(&at[7], BIRD_GETDATA(x->x_c[14],x->x_c[15])); + SETFLOAT(&at[8], BIRD_GETDATA(x->x_c[16],x->x_c[17])); + SETFLOAT(&at[9], BIRD_GETDATA(x->x_c[18],x->x_c[19])); + SETFLOAT(&at[10], BIRD_GETDATA(x->x_c[20],x->x_c[21])); + SETFLOAT(&at[11], BIRD_GETDATA(x->x_c[22],x->x_c[23])); + break; + case BIRDCMD_MODE_POSQUAT: + ac = 7; + SETFLOAT(&at[0], BIRD_GETDATA(x->x_c[0],x->x_c[1])); + SETFLOAT(&at[1], BIRD_GETDATA(x->x_c[2],x->x_c[3])); + SETFLOAT(&at[2], BIRD_GETDATA(x->x_c[4],x->x_c[5])); + SETFLOAT(&at[3], BIRD_GETDATA(x->x_c[6],x->x_c[7])); + SETFLOAT(&at[4], BIRD_GETDATA(x->x_c[8],x->x_c[9])); + SETFLOAT(&at[5], BIRD_GETDATA(x->x_c[10],x->x_c[11])); + SETFLOAT(&at[6], BIRD_GETDATA(x->x_c[12],x->x_c[13])); + break; + case BIRDCMD_MODE_QUAT: + ac = 4; + SETFLOAT(&at[0], BIRD_GETDATA(x->x_c[0],x->x_c[1])); + SETFLOAT(&at[1], BIRD_GETDATA(x->x_c[2],x->x_c[3])); + SETFLOAT(&at[2], BIRD_GETDATA(x->x_c[4],x->x_c[5])); + SETFLOAT(&at[3], BIRD_GETDATA(x->x_c[6],x->x_c[7])); + break; + } + +/* post("posx %d, posy %d",x->x_posx,x->x_posy);*/ + outlet_list(x->x_obj.ob_outlet,&s_list, ac, at); + } + + x->x_count = (++x->x_count)%(x->x_maxcount); +} + +static void serial_bird_poll( t_serial_bird* x) +{ + post("poll"); + /* outlet_float(x->x_out2,(float)x->x_dataformat);*/ + outlet_float(x->x_out2,(float)BIRDCMD_POINT); +} + +static void serial_bird_mode( t_serial_bird* x,t_symbol* s) +{ + post("mode"); + /* outlet_float(x->x_out2,(float)x->x_dataformat);*/ + + + if (!strcmp(s->s_name,"position")) { + x->x_dataformat = BIRDCMD_MODE_POS; + x->x_maxcount = BIRD_BYTES_POS; + } + + if (!strcmp(s->s_name,"positionangle")) { + x->x_dataformat = BIRDCMD_MODE_POSANG; + x->x_maxcount = BIRD_BYTES_POSANG; + } + + if (!strcmp(s->s_name,"positionmatrix")) { + x->x_dataformat = BIRDCMD_MODE_POSMAT; + x->x_maxcount = BIRD_BYTES_POSMAT; + } + + if (!strcmp(s->s_name,"positionquat")) { + x->x_dataformat = BIRDCMD_MODE_POSQUAT; + x->x_maxcount = BIRD_BYTES_POSQUAT; + } + + if (!strcmp(s->s_name,"quaternion")) { + x->x_dataformat = BIRDCMD_MODE_QUAT; + x->x_maxcount = BIRD_BYTES_QUAT; + } + + outlet_float(x->x_out2,(float)x->x_dataformat); +} + +static void serial_bird_init( t_serial_bird* x) +{ + t_atom cmd[8]; + + SETFLOAT(cmd,14400.); + outlet_anything(x->x_out2,gensym("speed"),1,cmd); + + + SETFLOAT(cmd,0.); + SETSYMBOL(cmd+1,gensym("CLOCAL")); + SETSYMBOL(cmd+2,gensym("CREAD")); + SETSYMBOL(cmd+3,gensym("CS8")); + outlet_anything(x->x_out2,gensym("setcontrol"),4,cmd); + + SETFLOAT(cmd,0.); + SETSYMBOL(cmd+1,gensym("IXOFF")); + outlet_anything(x->x_out2,gensym("setinput"),2,cmd); + + SETFLOAT(cmd,0.); + outlet_anything(x->x_out2,gensym("setlocal"),1,cmd); + + SETFLOAT(cmd,0.); + SETFLOAT(cmd+1,20.); + outlet_anything(x->x_out2,gensym("vtime"),2,cmd); + + + SETSYMBOL(cmd,gensym("RTS")); + SETFLOAT(cmd+1,0.); + outlet_anything(x->x_out2,gensym("setlines"),2,cmd); + + SETSYMBOL(cmd,gensym("DTR")); + SETFLOAT(cmd+1,1.); + outlet_anything(x->x_out2,gensym("setlines"),2,cmd); + + + /* start the polling on the serial device immediately */ + + outlet_anything(x->x_out2,gensym("start"),0,cmd); + +} + +static void serial_bird_start( t_serial_bird* x) +{ + post("start"); + /* outlet_float(x->x_out2,(float)x->x_dataformat);*/ + outlet_float(x->x_out2,(float)BIRDCMD_STREAM); +} + + +static void serial_bird_stop( t_serial_bird* x) +{ + post("stop"); + outlet_float(x->x_out2,(float)BIRDCMD_POINT); +} + +static void *serial_bird_new(t_symbol *s) +{ + t_serial_bird *x = (t_serial_bird *)pd_new(serial_bird_class); + + x->x_count = 0; + x->x_posx = 0; + x->x_posy = 0; + x->x_dataformat = BIRDCMD_MODE_POSANG; + x->x_maxcount = BIRD_BYTES_POSANG; + + + outlet_new(&x->x_obj, &s_float); + x->x_out2 = outlet_new(&x->x_obj, &s_float); + + return x; +} + + +void serial_bird_setup(void) +{ + serial_bird_class = class_new(gensym("serial_bird"), (t_newmethod)serial_bird_new, + NULL, + sizeof(t_serial_bird), 0,A_DEFSYM,0); + class_addfloat(serial_bird_class,serial_bird_float); + class_addmethod(serial_bird_class,(t_method) serial_bird_reset,gensym("reset"),0); + class_addmethod(serial_bird_class,(t_method) serial_bird_init,gensym("init"),0); + + + class_addmethod(serial_bird_class,(t_method) serial_bird_start,gensym("start"),0); + class_addmethod(serial_bird_class,(t_method) serial_bird_stop,gensym("stop"),0); + class_addmethod(serial_bird_class,(t_method) serial_bird_poll,gensym("poll"),0); + class_addmethod(serial_bird_class,(t_method) serial_bird_mode,gensym("mode"),A_SYMBOL,NULL); +} + + -- cgit v1.2.1