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1.1 root 1: /***************************************************************************
2: * CTM.C - CyberMAXX support routines *
3: * uses: SERIAL1.LIB functions *
4: * Written by: Les Bird *
5: ***************************************************************************/
6:
7: #define DOS4G
8:
9: #include "icorp.h"
10: #include <time.h>
11: #include "3d.h"
12: #include "commlib.h"
13:
14: PORT *sd;
15:
16: int iglassenabled;
17:
18: void
19: ctm_deinit(void)
20: {
21: if (cyberenabled) {
22: PortClose(sd);
23: cyberenabled=0;
24: }
25: }
26:
27: int
28: ctm_init(int port)
29: {
30: long cybcode=0,delayclock;
31:
32: sd=PortOpenGreenleafFast(port,9600L,'N',8,1);
33: if (sd->status == ASSUCCESS) {
34: cyberenabled=1;
35: WriteChar(sd,'X');
36: delayclock=totalclock+CLKIPS;
37: while (totalclock < delayclock && cybcode < 3) {
38: if (SpaceUsedInRXBuffer(sd) == 0) {
39: continue;
40: }
41: switch (cybcode) {
42: case 0:
43: if (ReadChar(sd) == 'C') {
44: cybcode++;
45: }
46: break;
47: case 1:
48: if (ReadChar(sd) == 'T') {
49: cybcode++;
50: }
51: break;
52: case 2:
53: if (ReadChar(sd) == 'M') {
54: cybcode++;
55: }
56: break;
57: }
58: }
59: if (cybcode != 3) {
60: ctm_deinit();
61: return(0);
62: }
63: WriteChar(sd,'C'); // CyberMAXX absolute coordinate mode
64: WriteChar(sd,'F'); // CyberMAXX binary transfer mode
65: WriteChar(sd,'M'); // CyberMAXX checksum byte
66: WriteChar(sd,'G'); // CyberMAXX continuous sample mode
67: cyberenabled=port+1;
68: return(1);
69: }
70: return(0);
71: }
72:
73: #if 0
74: short
75: getserch(PORT *s)
76: {
77: return((short)ReadChar(s));
78: }
79: #endif
80:
81: void
82: vio_deinit(void)
83: {
84: if (iglassenabled) {
85: PortClose(sd);
86: iglassenabled=0;
87: }
88: }
89:
90: void
91: vio_reset(void)
92: {
93: WriteChar(sd,'!');
94: WriteChar(sd,'R');
95: WriteChar(sd,0x0D);
96: }
97:
98: void
99: vio_setup(void)
100: {
101: WriteChar(sd,'!');
102: WriteChar(sd,'M');
103: WriteChar(sd,'2'); // cooked data mode
104: WriteChar(sd,',');
105: WriteChar(sd,'P'); // polled
106: WriteChar(sd,',');
107: WriteChar(sd,'B'); // binary
108: WriteChar(sd,0x0D);
109: }
110:
111: int
112: vio_init(int port)
113: {
114: long delayclock,tries=0;
115:
116: sd=PortOpenGreenleafFast(port,9600L,'N',8,1);
117: if (sd->status == ASSUCCESS) {
118: iglassenabled=0;
119: vio_reset();
120: delayclock=totalclock+(CLKIPS>>1);
121: while (totalclock < delayclock && iglassenabled == 0 && tries < 10) {
122: if (SpaceUsedInRXBuffer(sd) == 0) {
123: continue;
124: }
125: if (ReadChar(sd) == 'O') {
126: iglassenabled=port+1;
127: }
128: else {
129: vio_reset();
130: delayclock=totalclock+(CLKIPS>>1);
131: tries++;
132: }
133: }
134: if (iglassenabled == 0) {
135: vio_deinit();
136: return(0);
137: }
138: vio_setup();
139: return(1);
140: }
141: return(0);
142: }
143:
144: void
145: vio_read(short *yaw,short *pitch,short *roll)
146: {
147: short c,chk,chk2,yaw2,pitch2,roll2;
148: long delayclock;
149: PORT *s;
150:
151: s=sd;
152: if (SpaceUsedInTXBuffer(s) == 0) {
153: WriteChar(s,'S');
154: }
155: if (iglassenabled) {
156: if (SpaceUsedInRXBuffer(s) < 8) {
157: return;
158: }
159: }
160: else if (cyberenabled) {
161: if (SpaceUsedInRXBuffer(s) < 7) {
162: return;
163: }
164: }
165: chk=0;
166: pitch2=yaw2=roll2=0;
167: if ((c=ReadChar(s)) == 0xFF || cyberenabled) {
168: if (iglassenabled) {
169: chk+=c;
170: yaw2=((c=ReadChar(s))<<8); // yaw high byte
171: }
172: else {
173: yaw2=c<<8;
174: }
175: chk+=c;
176: yaw2+=(c=ReadChar(s)); // yaw low byte
177: chk+=c;
178: pitch2=((c=ReadChar(s))<<8); // pitch high byte
179: chk+=c;
180: pitch2+=(c=ReadChar(s)); // pitch low byte
181: chk+=c;
182: roll2=((c=ReadChar(s))<<8); // roll high byte
183: chk+=c;
184: roll2+=(c=ReadChar(s)); // roll low byte
185: chk+=c;
186: chk2=ReadChar(s); // checksum
187: if ((chk&0xFF) == chk2 || cyberenabled) {
188: *yaw=yaw2;
189: *pitch=pitch2;
190: *roll=roll2;
191: }
192: }
193: ClearTXBuffer(s);
194: ClearRXBuffer(s);
195: }
196:
197: extern
198: short pitch,
199: roll,
200: yaw;
201:
202: void
203: whvrmon(void)
204: {
205: #if 0
206: char tmpbuf[80];
207:
208: sprintf(tmpbuf,"Y: %05d P: %05d R: %05d C: %05d",yaw,pitch,roll,
209: sd.rx.q->count);
210: printext256(0L,8L,31,-1,tmpbuf,1);
211: #endif
212: }
213:
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