int
sc_set_graphics_mode(scr_stat *scp, struct tty *tp, int mode)
{
#ifdef SC_NO_MODE_CHANGE
return ENODEV;
#else
video_info_t info;
int error;
int s;
if (vidd_get_info(scp->sc->adp, mode, &info))
return ENODEV;
/* stop screen saver, etc */
s = spltty();
if ((error = sc_clean_up(scp))) {
splx(s);
return error;
}
if (sc_render_match(scp, scp->sc->adp->va_name, GRAPHICS_MODE) == NULL) {
splx(s);
return ENODEV;
}
/* set up scp */
scp->status |= (UNKNOWN_MODE | GRAPHICS_MODE | MOUSE_HIDDEN);
scp->status &= ~(PIXEL_MODE | MOUSE_VISIBLE);
scp->mode = mode;
/*
* Don't change xsize and ysize; preserve the previous vty
* and history buffers.
*/
scp->xoff = 0;
scp->yoff = 0;
scp->xpixel = info.vi_width;
scp->ypixel = info.vi_height;
scp->font = NULL;
scp->font_size = 0;
#ifndef SC_NO_SYSMOUSE
/* move the mouse cursor at the center of the screen */
sc_mouse_move(scp, scp->xpixel / 2, scp->ypixel / 2);
#endif
sc_init_emulator(scp, NULL);
splx(s);
if (scp == scp->sc->cur_scp)
set_mode(scp);
/* clear_graphics();*/
scp->status &= ~UNKNOWN_MODE;
if (tp == NULL)
return 0;
if (tp->t_winsize.ws_xpixel != scp->xpixel
|| tp->t_winsize.ws_ypixel != scp->ypixel) {
tp->t_winsize.ws_xpixel = scp->xpixel;
tp->t_winsize.ws_ypixel = scp->ypixel;
tty_signal_pgrp(tp, SIGWINCH);
}
return 0;
#endif /* SC_NO_MODE_CHANGE */
}
// do_aux_switch_function - implement the function invoked by the ch7 or ch8 switch
void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
{
switch(ch_function) {
case AUXSW_FLIP:
// flip if switch is on, positive throttle and we're actually flying
if(ch_flag == AUX_SWITCH_HIGH) {
set_mode(FLIP, MODE_REASON_TX_COMMAND);
}
break;
case AUXSW_SIMPLE_MODE:
// low = simple mode off, middle or high position turns simple mode on
set_simple_mode(ch_flag == AUX_SWITCH_HIGH || ch_flag == AUX_SWITCH_MIDDLE);
break;
case AUXSW_SUPERSIMPLE_MODE:
// low = simple mode off, middle = simple mode, high = super simple mode
set_simple_mode(ch_flag);
break;
case AUXSW_RTL:
if (ch_flag == AUX_SWITCH_HIGH) {
// engage RTL (if not possible we remain in current flight mode)
set_mode(RTL, MODE_REASON_TX_COMMAND);
}else{
// return to flight mode switch's flight mode if we are currently in RTL
if (control_mode == RTL) {
reset_control_switch();
}
}
break;
case AUXSW_SAVE_TRIM:
if ((ch_flag == AUX_SWITCH_HIGH) && (control_mode <= ACRO) && (channel_throttle->get_control_in() == 0)) {
save_trim();
}
break;
case AUXSW_SAVE_WP:
// save waypoint when switch is brought high
if (ch_flag == AUX_SWITCH_HIGH) {
// do not allow saving new waypoints while we're in auto or disarmed
if(control_mode == AUTO || !motors.armed()) {
return;
}
// do not allow saving the first waypoint with zero throttle
if((mission.num_commands() == 0) && (channel_throttle->get_control_in() == 0)){
return;
}
// create new mission command
AP_Mission::Mission_Command cmd = {};
// if the mission is empty save a takeoff command
if(mission.num_commands() == 0) {
// set our location ID to 16, MAV_CMD_NAV_WAYPOINT
cmd.id = MAV_CMD_NAV_TAKEOFF;
cmd.content.location.options = 0;
cmd.p1 = 0;
cmd.content.location.lat = 0;
cmd.content.location.lng = 0;
cmd.content.location.alt = MAX(current_loc.alt,100);
// use the current altitude for the target alt for takeoff.
// only altitude will matter to the AP mission script for takeoff.
if(mission.add_cmd(cmd)) {
// log event
Log_Write_Event(DATA_SAVEWP_ADD_WP);
}
}
// set new waypoint to current location
cmd.content.location = current_loc;
// if throttle is above zero, create waypoint command
if(channel_throttle->get_control_in() > 0) {
cmd.id = MAV_CMD_NAV_WAYPOINT;
}else{
// with zero throttle, create LAND command
cmd.id = MAV_CMD_NAV_LAND;
}
// save command
if(mission.add_cmd(cmd)) {
// log event
Log_Write_Event(DATA_SAVEWP_ADD_WP);
}
}
break;
#if CAMERA == ENABLED
case AUXSW_CAMERA_TRIGGER:
if (ch_flag == AUX_SWITCH_HIGH) {
do_take_picture();
}
break;
#endif
case AUXSW_RANGEFINDER:
// enable or disable the rangefinder
#if RANGEFINDER_ENABLED == ENABLED
if ((ch_flag == AUX_SWITCH_HIGH) && (rangefinder.num_sensors() >= 1)) {
rangefinder_state.enabled = true;
}else{
rangefinder_state.enabled = false;
}
#endif
break;
#if AC_FENCE == ENABLED
case AUXSW_FENCE:
// enable or disable the fence
if (ch_flag == AUX_SWITCH_HIGH) {
fence.enable(true);
Log_Write_Event(DATA_FENCE_ENABLE);
}else{
fence.enable(false);
Log_Write_Event(DATA_FENCE_DISABLE);
}
break;
#endif
case AUXSW_ACRO_TRAINER:
switch(ch_flag) {
case AUX_SWITCH_LOW:
g.acro_trainer = ACRO_TRAINER_DISABLED;
Log_Write_Event(DATA_ACRO_TRAINER_DISABLED);
break;
case AUX_SWITCH_MIDDLE:
g.acro_trainer = ACRO_TRAINER_LEVELING;
Log_Write_Event(DATA_ACRO_TRAINER_LEVELING);
break;
case AUX_SWITCH_HIGH:
g.acro_trainer = ACRO_TRAINER_LIMITED;
Log_Write_Event(DATA_ACRO_TRAINER_LIMITED);
break;
}
break;
#if EPM_ENABLED == ENABLED
case AUXSW_EPM:
switch(ch_flag) {
case AUX_SWITCH_LOW:
epm.release();
Log_Write_Event(DATA_EPM_RELEASE);
break;
case AUX_SWITCH_HIGH:
epm.grab();
Log_Write_Event(DATA_EPM_GRAB);
break;
}
break;
#endif
#if SPRAYER == ENABLED
case AUXSW_SPRAYER:
sprayer.enable(ch_flag == AUX_SWITCH_HIGH);
// if we are disarmed the pilot must want to test the pump
sprayer.test_pump((ch_flag == AUX_SWITCH_HIGH) && !motors.armed());
break;
#endif
case AUXSW_AUTO:
if (ch_flag == AUX_SWITCH_HIGH) {
set_mode(AUTO, MODE_REASON_TX_COMMAND);
}else{
// return to flight mode switch's flight mode if we are currently in AUTO
if (control_mode == AUTO) {
reset_control_switch();
}
}
break;
#if AUTOTUNE_ENABLED == ENABLED
case AUXSW_AUTOTUNE:
// turn on auto tuner
switch(ch_flag) {
case AUX_SWITCH_LOW:
case AUX_SWITCH_MIDDLE:
// restore flight mode based on flight mode switch position
if (control_mode == AUTOTUNE) {
reset_control_switch();
}
break;
case AUX_SWITCH_HIGH:
// start an autotuning session
set_mode(AUTOTUNE, MODE_REASON_TX_COMMAND);
break;
}
break;
#endif
case AUXSW_LAND:
if (ch_flag == AUX_SWITCH_HIGH) {
set_mode(LAND, MODE_REASON_TX_COMMAND);
}else{
// return to flight mode switch's flight mode if we are currently in LAND
if (control_mode == LAND) {
reset_control_switch();
}
}
break;
#if PARACHUTE == ENABLED
case AUXSW_PARACHUTE_ENABLE:
// Parachute enable/disable
parachute.enabled(ch_flag == AUX_SWITCH_HIGH);
break;
case AUXSW_PARACHUTE_RELEASE:
if (ch_flag == AUX_SWITCH_HIGH) {
parachute_manual_release();
}
break;
case AUXSW_PARACHUTE_3POS:
// Parachute disable, enable, release with 3 position switch
switch (ch_flag) {
case AUX_SWITCH_LOW:
parachute.enabled(false);
Log_Write_Event(DATA_PARACHUTE_DISABLED);
break;
case AUX_SWITCH_MIDDLE:
parachute.enabled(true);
Log_Write_Event(DATA_PARACHUTE_ENABLED);
break;
case AUX_SWITCH_HIGH:
parachute.enabled(true);
parachute_manual_release();
break;
}
break;
#endif
case AUXSW_MISSION_RESET:
if (ch_flag == AUX_SWITCH_HIGH) {
mission.reset();
}
break;
case AUXSW_ATTCON_FEEDFWD:
// enable or disable feed forward
attitude_control.bf_feedforward(ch_flag == AUX_SWITCH_HIGH);
break;
case AUXSW_ATTCON_ACCEL_LIM:
// enable or disable accel limiting by restoring defaults
attitude_control.accel_limiting(ch_flag == AUX_SWITCH_HIGH);
break;
#if MOUNT == ENABLE
case AUXSW_RETRACT_MOUNT:
switch (ch_flag) {
case AUX_SWITCH_HIGH:
camera_mount.set_mode(MAV_MOUNT_MODE_RETRACT);
break;
case AUX_SWITCH_LOW:
camera_mount.set_mode_to_default();
break;
}
break;
#endif
case AUXSW_RELAY:
ServoRelayEvents.do_set_relay(0, ch_flag == AUX_SWITCH_HIGH);
break;
case AUXSW_RELAY2:
ServoRelayEvents.do_set_relay(1, ch_flag == AUX_SWITCH_HIGH);
break;
case AUXSW_RELAY3:
ServoRelayEvents.do_set_relay(2, ch_flag == AUX_SWITCH_HIGH);
break;
case AUXSW_RELAY4:
ServoRelayEvents.do_set_relay(3, ch_flag == AUX_SWITCH_HIGH);
break;
case AUXSW_LANDING_GEAR:
switch (ch_flag) {
case AUX_SWITCH_LOW:
landinggear.set_cmd_mode(LandingGear_Deploy);
break;
case AUX_SWITCH_MIDDLE:
landinggear.set_cmd_mode(LandingGear_Auto);
break;
case AUX_SWITCH_HIGH:
landinggear.set_cmd_mode(LandingGear_Retract);
break;
}
break;
case AUXSW_LOST_COPTER_SOUND:
switch (ch_flag) {
case AUX_SWITCH_HIGH:
AP_Notify::flags.vehicle_lost = true;
break;
case AUX_SWITCH_LOW:
AP_Notify::flags.vehicle_lost = false;
break;
}
break;
case AUXSW_MOTOR_ESTOP:
// Turn on Emergency Stop logic when channel is high
set_motor_emergency_stop(ch_flag == AUX_SWITCH_HIGH);
break;
case AUXSW_MOTOR_INTERLOCK:
// Turn on when above LOW, because channel will also be used for speed
// control signal in tradheli
ap.motor_interlock_switch = (ch_flag == AUX_SWITCH_HIGH || ch_flag == AUX_SWITCH_MIDDLE);
break;
case AUXSW_BRAKE:
// brake flight mode
if (ch_flag == AUX_SWITCH_HIGH) {
set_mode(BRAKE, MODE_REASON_TX_COMMAND);
}else{
// return to flight mode switch's flight mode if we are currently in BRAKE
if (control_mode == BRAKE) {
reset_control_switch();
}
}
break;
case AUXSW_THROW:
// throw flight mode
if (ch_flag == AUX_SWITCH_HIGH) {
set_mode(THROW, MODE_REASON_TX_COMMAND);
} else {
// return to flight mode switch's flight mode if we are currently in throw mode
if (control_mode == THROW) {
reset_control_switch();
}
}
break;
case AUXSW_AVOID_ADSB:
// enable or disable AP_Avoidance
if (ch_flag == AUX_SWITCH_HIGH) {
avoidance_adsb.enable();
Log_Write_Event(DATA_AVOIDANCE_ADSB_ENABLE);
}else{
avoidance_adsb.disable();
Log_Write_Event(DATA_AVOIDANCE_ADSB_DISABLE);
}
break;
}
}
void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
{
// Act based on the function assigned to this button
switch (get_button(button)->function(shift)) {
case JSButton::button_function_t::k_arm_toggle:
if (motors.armed()) {
init_disarm_motors();
} else {
init_arm_motors(AP_Arming::ArmingMethod::MAVLINK);
}
break;
case JSButton::button_function_t::k_arm:
init_arm_motors(AP_Arming::ArmingMethod::MAVLINK);
break;
case JSButton::button_function_t::k_disarm:
init_disarm_motors();
break;
case JSButton::button_function_t::k_mode_manual:
set_mode(MANUAL, MODE_REASON_TX_COMMAND);
break;
case JSButton::button_function_t::k_mode_stabilize:
set_mode(STABILIZE, MODE_REASON_TX_COMMAND);
break;
case JSButton::button_function_t::k_mode_depth_hold:
set_mode(ALT_HOLD, MODE_REASON_TX_COMMAND);
break;
case JSButton::button_function_t::k_mode_auto:
set_mode(AUTO, MODE_REASON_TX_COMMAND);
break;
case JSButton::button_function_t::k_mode_guided:
set_mode(GUIDED, MODE_REASON_TX_COMMAND);
break;
case JSButton::button_function_t::k_mode_circle:
set_mode(CIRCLE, MODE_REASON_TX_COMMAND);
break;
case JSButton::button_function_t::k_mode_acro:
set_mode(ACRO, MODE_REASON_TX_COMMAND);
break;
case JSButton::button_function_t::k_mode_poshold:
set_mode(POSHOLD, MODE_REASON_TX_COMMAND);
break;
case JSButton::button_function_t::k_mount_center:
#if MOUNT == ENABLED
camera_mount.set_angle_targets(0, 0, 0);
// for some reason the call to set_angle_targets changes the mode to mavlink targeting!
camera_mount.set_mode(MAV_MOUNT_MODE_RC_TARGETING);
#endif
break;
case JSButton::button_function_t::k_mount_tilt_up:
cam_tilt = 1900;
break;
case JSButton::button_function_t::k_mount_tilt_down:
cam_tilt = 1100;
break;
case JSButton::button_function_t::k_camera_trigger:
break;
case JSButton::button_function_t::k_camera_source_toggle:
if (!held) {
static bool video_toggle = false;
video_toggle = !video_toggle;
if (video_toggle) {
video_switch = 1900;
gcs().send_text(MAV_SEVERITY_INFO,"Video Toggle: Source 2");
} else {
video_switch = 1100;
gcs().send_text(MAV_SEVERITY_INFO,"Video Toggle: Source 1");
}
}
break;
case JSButton::button_function_t::k_mount_pan_right:
cam_pan = 1900;
break;
case JSButton::button_function_t::k_mount_pan_left:
cam_pan = 1100;
break;
case JSButton::button_function_t::k_lights1_cycle:
if (!held) {
static bool increasing = true;
RC_Channel* chan = RC_Channels::rc_channel(8);
uint16_t min = chan->get_radio_min();
uint16_t max = chan->get_radio_max();
uint16_t step = (max - min) / g.lights_steps;
if (increasing) {
lights1 = constrain_float(lights1 + step, min, max);
} else {
lights1 = constrain_float(lights1 - step, min, max);
}
if (lights1 >= max || lights1 <= min) {
increasing = !increasing;
}
}
break;
case JSButton::button_function_t::k_lights1_brighter:
if (!held) {
RC_Channel* chan = RC_Channels::rc_channel(8);
uint16_t min = chan->get_radio_min();
uint16_t max = chan->get_radio_max();
uint16_t step = (max - min) / g.lights_steps;
lights1 = constrain_float(lights1 + step, min, max);
}
break;
case JSButton::button_function_t::k_lights1_dimmer:
if (!held) {
RC_Channel* chan = RC_Channels::rc_channel(8);
uint16_t min = chan->get_radio_min();
uint16_t max = chan->get_radio_max();
uint16_t step = (max - min) / g.lights_steps;
lights1 = constrain_float(lights1 - step, min, max);
}
break;
case JSButton::button_function_t::k_lights2_cycle:
if (!held) {
static bool increasing = true;
RC_Channel* chan = RC_Channels::rc_channel(9);
uint16_t min = chan->get_radio_min();
uint16_t max = chan->get_radio_max();
uint16_t step = (max - min) / g.lights_steps;
if (increasing) {
lights2 = constrain_float(lights2 + step, min, max);
} else {
lights2 = constrain_float(lights2 - step, min, max);
}
if (lights2 >= max || lights2 <= min) {
increasing = !increasing;
}
}
break;
case JSButton::button_function_t::k_lights2_brighter:
if (!held) {
RC_Channel* chan = RC_Channels::rc_channel(9);
uint16_t min = chan->get_radio_min();
uint16_t max = chan->get_radio_max();
uint16_t step = (max - min) / g.lights_steps;
lights2 = constrain_float(lights2 + step, min, max);
}
break;
case JSButton::button_function_t::k_lights2_dimmer:
if (!held) {
RC_Channel* chan = RC_Channels::rc_channel(9);
uint16_t min = chan->get_radio_min();
uint16_t max = chan->get_radio_max();
uint16_t step = (max - min) / g.lights_steps;
lights2 = constrain_float(lights2 - step, min, max);
}
break;
case JSButton::button_function_t::k_gain_toggle:
if (!held) {
static bool lowGain = false;
lowGain = !lowGain;
if (lowGain) {
gain = 0.5f;
} else {
gain = 1.0f;
}
gcs().send_text(MAV_SEVERITY_INFO,"#Gain: %2.0f%%",(double)gain*100);
}
break;
case JSButton::button_function_t::k_gain_inc:
if (!held) {
// check that our gain parameters are in correct range, update in eeprom and notify gcs if needed
g.minGain.set_and_save(constrain_float(g.minGain, 0.10, 0.80));
g.maxGain.set_and_save(constrain_float(g.maxGain, g.minGain, 1.0));
g.numGainSettings.set_and_save(constrain_int16(g.numGainSettings, 1, 10));
if (g.numGainSettings == 1) {
gain = constrain_float(g.gain_default, g.minGain, g.maxGain);
} else {
gain = constrain_float(gain + (g.maxGain-g.minGain)/(g.numGainSettings-1), g.minGain, g.maxGain);
}
gcs().send_text(MAV_SEVERITY_INFO,"#Gain is %2.0f%%",(double)gain*100);
}
break;
case JSButton::button_function_t::k_gain_dec:
if (!held) {
// check that our gain parameters are in correct range, update in eeprom and notify gcs if needed
g.minGain.set_and_save(constrain_float(g.minGain, 0.10, 0.80));
g.maxGain.set_and_save(constrain_float(g.maxGain, g.minGain, 1.0));
g.numGainSettings.set_and_save(constrain_int16(g.numGainSettings, 1, 10));
if (g.numGainSettings == 1) {
gain = constrain_float(g.gain_default, g.minGain, g.maxGain);
} else {
gain = constrain_float(gain - (g.maxGain-g.minGain)/(g.numGainSettings-1), g.minGain, g.maxGain);
}
gcs().send_text(MAV_SEVERITY_INFO,"#Gain is %2.0f%%",(double)gain*100);
}
break;
case JSButton::button_function_t::k_trim_roll_inc:
rollTrim = constrain_float(rollTrim+10,-200,200);
break;
case JSButton::button_function_t::k_trim_roll_dec:
rollTrim = constrain_float(rollTrim-10,-200,200);
break;
case JSButton::button_function_t::k_trim_pitch_inc:
pitchTrim = constrain_float(pitchTrim+10,-200,200);
break;
case JSButton::button_function_t::k_trim_pitch_dec:
pitchTrim = constrain_float(pitchTrim-10,-200,200);
break;
case JSButton::button_function_t::k_input_hold_set:
if(!motors.armed()) {
break;
}
if (!held) {
zTrim = abs(z_last-500) > 50 ? z_last-500 : 0;
xTrim = abs(x_last) > 50 ? x_last : 0;
yTrim = abs(y_last) > 50 ? y_last : 0;
bool input_hold_engaged_last = input_hold_engaged;
input_hold_engaged = zTrim || xTrim || yTrim;
if (input_hold_engaged) {
gcs().send_text(MAV_SEVERITY_INFO,"#Input Hold Set");
} else if (input_hold_engaged_last) {
gcs().send_text(MAV_SEVERITY_INFO,"#Input Hold Disabled");
}
}
break;
case JSButton::button_function_t::k_relay_1_on:
relay.on(0);
break;
case JSButton::button_function_t::k_relay_1_off:
relay.off(0);
break;
case JSButton::button_function_t::k_relay_1_toggle:
if (!held) {
relay.toggle(0);
}
break;
case JSButton::button_function_t::k_relay_1_momentary:
if (!held) {
relay.on(0);
}
break;
case JSButton::button_function_t::k_relay_2_on:
relay.on(1);
break;
case JSButton::button_function_t::k_relay_2_off:
relay.off(1);
break;
case JSButton::button_function_t::k_relay_2_toggle:
if (!held) {
relay.toggle(1);
}
break;
case JSButton::button_function_t::k_relay_2_momentary:
if (!held) {
relay.on(1);
}
break;
case JSButton::button_function_t::k_relay_3_on:
relay.on(2);
break;
case JSButton::button_function_t::k_relay_3_off:
relay.off(2);
break;
case JSButton::button_function_t::k_relay_3_toggle:
if (!held) {
relay.toggle(2);
}
break;
case JSButton::button_function_t::k_relay_3_momentary:
if (!held) {
relay.on(2);
}
break;
case JSButton::button_function_t::k_relay_4_on:
relay.on(3);
break;
case JSButton::button_function_t::k_relay_4_off:
relay.off(3);
break;
case JSButton::button_function_t::k_relay_4_toggle:
if (!held) {
relay.toggle(3);
}
break;
case JSButton::button_function_t::k_relay_4_momentary:
if (!held) {
relay.on(3);
}
break;
////////////////////////////////////////////////
// Servo functions
// TODO: initialize
case JSButton::button_function_t::k_servo_1_inc:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_1 - 1); // 0-indexed
pwm_out = constrain_int16(pwm_out + 50, chan->get_output_min(), chan->get_output_max());
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, pwm_out); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_1_dec:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_1 - 1); // 0-indexed
pwm_out = constrain_int16(pwm_out - 50, chan->get_output_min(), chan->get_output_max());
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, pwm_out); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_1_min:
case JSButton::button_function_t::k_servo_1_min_momentary:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_output_min()); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_1_min_toggle:
if(!held) {
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
if(chan->get_output_pwm() != chan->get_output_min()) {
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_output_min()); // 1-indexed
} else {
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_trim()); // 1-indexed
}
}
break;
case JSButton::button_function_t::k_servo_1_max:
case JSButton::button_function_t::k_servo_1_max_momentary:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_output_max()); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_1_max_toggle:
if(!held) {
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
if(chan->get_output_pwm() != chan->get_output_max()) {
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_output_max()); // 1-indexed
} else {
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_trim()); // 1-indexed
}
}
break;
case JSButton::button_function_t::k_servo_1_center:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_trim()); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_2_inc:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_2 - 1); // 0-indexed
pwm_out = constrain_int16(pwm_out + 50, chan->get_output_min(), chan->get_output_max());
ServoRelayEvents.do_set_servo(SERVO_CHAN_2, pwm_out); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_2_dec:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_2 - 1); // 0-indexed
pwm_out = constrain_int16(pwm_out - 50, chan->get_output_min(), chan->get_output_max());
ServoRelayEvents.do_set_servo(SERVO_CHAN_2, pwm_out); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_2_min:
case JSButton::button_function_t::k_servo_2_min_momentary:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_output_min()); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_2_max:
case JSButton::button_function_t::k_servo_2_max_momentary:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_output_max()); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_2_center:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_trim()); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_3_inc:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_3 - 1); // 0-indexed
pwm_out = constrain_int16(pwm_out + 50, chan->get_output_min(), chan->get_output_max());
ServoRelayEvents.do_set_servo(SERVO_CHAN_3, pwm_out); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_3_dec:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_3 - 1); // 0-indexed
pwm_out = constrain_int16(pwm_out - 50, chan->get_output_min(), chan->get_output_max());
ServoRelayEvents.do_set_servo(SERVO_CHAN_3, pwm_out); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_3_min:
case JSButton::button_function_t::k_servo_3_min_momentary:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_output_min()); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_3_max:
case JSButton::button_function_t::k_servo_3_max_momentary:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_output_max()); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_3_center:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_trim()); // 1-indexed
}
break;
case JSButton::button_function_t::k_roll_pitch_toggle:
if (!held) {
roll_pitch_flag = !roll_pitch_flag;
}
break;
case JSButton::button_function_t::k_custom_1:
// Not implemented
break;
case JSButton::button_function_t::k_custom_2:
// Not implemented
break;
case JSButton::button_function_t::k_custom_3:
// Not implemented
break;
case JSButton::button_function_t::k_custom_4:
// Not implemented
break;
case JSButton::button_function_t::k_custom_5:
// Not implemented
break;
case JSButton::button_function_t::k_custom_6:
// Not implemented
break;
}
}
bool IcoPackImageButton::on_button_press_event(GdkEventButton* event)
{
bool res = false ;
set_mode(3) ;
return res ;
}
int main(void)
{
struct sigaction sigact;
int r = 1;
exit_sem = sem_open (SEM_NAME, O_CREAT, 0);
if (!exit_sem) {
fprintf(stderr, "failed to initialise semaphore error %d", errno);
exit(1);
}
/* only using this semaphore in this process so go ahead and unlink it now */
sem_unlink (SEM_NAME);
r = libusb_init(NULL);
if (r < 0) {
fprintf(stderr, "failed to initialise libusb\n");
exit(1);
}
r = find_dpfp_device();
if (r < 0) {
fprintf(stderr, "Could not find/open device\n");
goto out;
}
r = libusb_claim_interface(devh, 0);
if (r < 0) {
fprintf(stderr, "usb_claim_interface error %d %s\n", r, strerror(-r));
goto out;
}
printf("claimed interface\n");
r = print_f0_data();
if (r < 0)
goto out_release;
r = do_init();
if (r < 0)
goto out_deinit;
/* async from here onwards */
sigact.sa_handler = sighandler;
sigemptyset(&sigact.sa_mask);
sigact.sa_flags = 0;
sigaction(SIGINT, &sigact, NULL);
sigaction(SIGTERM, &sigact, NULL);
sigaction(SIGQUIT, &sigact, NULL);
r = pthread_create(&poll_thread, NULL, poll_thread_main, NULL);
if (r)
goto out_deinit;
r = alloc_transfers();
if (r < 0) {
request_exit(1);
pthread_join(poll_thread, NULL);
goto out_deinit;
}
r = init_capture();
if (r < 0) {
request_exit(1);
pthread_join(poll_thread, NULL);
goto out_deinit;
}
while (!do_exit)
sem_wait(exit_sem);
printf("shutting down...\n");
pthread_join(poll_thread, NULL);
r = libusb_cancel_transfer(irq_transfer);
if (r < 0) {
request_exit(1);
goto out_deinit;
}
r = libusb_cancel_transfer(img_transfer);
if (r < 0) {
request_exit(1);
goto out_deinit;
}
while (img_transfer || irq_transfer)
if (libusb_handle_events(NULL) < 0)
break;
if (do_exit == 1)
r = 0;
else
r = 1;
out_deinit:
libusb_free_transfer(img_transfer);
libusb_free_transfer(irq_transfer);
set_mode(0);
set_hwstat(0x80);
out_release:
libusb_release_interface(devh, 0);
out:
libusb_close(devh);
libusb_exit(NULL);
return r >= 0 ? r : -r;
}
static int reiser_copy(disk_t *disk_car, const partition_t *partition, dir_data_t *dir_data, const file_data_t *file)
{
reiserfs_file_t *in;
FILE *f_out;
char *new_file;
struct rfs_dir_struct *ls=(struct rfs_dir_struct*)dir_data->private_dir_data;
int error=0;
uint64_t file_size;
f_out=fopen_local(&new_file, dir_data->local_dir, dir_data->current_directory);
if(!f_out)
{
log_critical("Can't create file %s: %s\n", new_file, strerror(errno));
free(new_file);
return -4;
}
log_error("Try to open rfs file %s\n", dir_data->current_directory);
log_flush();
in=reiserfs_file_open(ls->current_fs, dir_data->current_directory, O_RDONLY);
if (in==NULL)
{
log_error("Error while opening rfs file %s\n", dir_data->current_directory);
free(new_file);
fclose(f_out);
return -1;
}
log_error("open rfs file %s done\n", dir_data->current_directory);
log_flush();
file_size = reiserfs_file_size(in);
#if 0
/* TODO: do not use so much memory */
{
void *buf=MALLOC(file_size+1);
if (reiserfs_file_read(in, buf, file_size) != file_size)
{
log_error("Error while reading rfs file %s\n", dir_data->current_directory);
error = -3;
}
else if (fwrite(buf, file_size, 1, f_out) != 1)
{
log_error("Error while writing file %s\n", new_file);
error = -5;
}
free(buf);
}
#else
{
/* require progsreiserfs-file-read.patch */
char buf[4096];
uint64_t offset=0;
while(file_size > 0)
{
int read_size=(file_size < sizeof(buf) ? file_size : sizeof(buf));
if (reiserfs_file_read(in, buf, read_size) == 0)
{
log_error("Error while reading rfs file %s\n", dir_data->current_directory);
error = -3;
}
else if (fwrite(buf, read_size, 1, f_out) != 1)
{
log_error("Error while writing file %s\n", new_file);
error = -5;
}
file_size -= read_size;
offset += read_size;
}
}
#endif
reiserfs_file_close(in);
fclose(f_out);
set_date(new_file, file->td_atime, file->td_mtime);
set_mode(new_file, file->st_mode);
free(new_file);
return error;
}
/**
* Sets active task to ordered task (or goto if none exists) after
* goto or aborting.
*/
void resume() {
set_mode(MODE_ORDERED);
}
//-----------------push menu-------------------
//sculpting
void option1(){
set_mode(1);
Master_ui->remove_menu();
}
//selection?
void option3(){
set_mode(3);
Master_ui->remove_menu();
}
void Wiring_Pin::write_analog(unsigned int value) {
set_mode(OUTPUT);
analogWrite(pin, value);
}
unsigned int Wiring_Pin::read_analog() {
set_mode(INPUT);
return analogRead(pin);
}
unsigned int Wiring_Pin::read_digital() {
set_mode(INPUT);
return digitalRead(pin);
}
void Wiring_Pin::write_digital(unsigned int value) {
set_mode(OUTPUT);
digitalWrite(pin, value);
}
int
sc_vid_ioctl(struct tty *tp, u_long cmd, caddr_t data, struct thread *td)
{
scr_stat *scp;
video_adapter_t *adp;
video_info_t info;
video_adapter_info_t adp_info;
int error;
int s;
#if defined(COMPAT_FREEBSD6) || defined(COMPAT_FREEBSD5) || \
defined(COMPAT_FREEBSD4) || defined(COMPAT_43)
int ival;
#endif
scp = SC_STAT(tp);
if (scp == NULL) /* tp == SC_MOUSE */
return ENOIOCTL;
adp = scp->sc->adp;
if (adp == NULL) /* shouldn't happen??? */
return ENODEV;
switch (cmd) {
case CONS_CURRENTADP: /* get current adapter index */
case FBIO_ADAPTER:
return fb_ioctl(adp, FBIO_ADAPTER, data);
case CONS_CURRENT: /* get current adapter type */
case FBIO_ADPTYPE:
return fb_ioctl(adp, FBIO_ADPTYPE, data);
case OLD_CONS_ADPINFO: /* adapter information (old interface) */
if (((old_video_adapter_t *)data)->va_index >= 0) {
adp = vid_get_adapter(((old_video_adapter_t *)data)->va_index);
if (adp == NULL)
return ENODEV;
}
((old_video_adapter_t *)data)->va_index = adp->va_index;
((old_video_adapter_t *)data)->va_type = adp->va_type;
((old_video_adapter_t *)data)->va_flags = adp->va_flags;
((old_video_adapter_t *)data)->va_crtc_addr = adp->va_crtc_addr;
((old_video_adapter_t *)data)->va_window = adp->va_window;
((old_video_adapter_t *)data)->va_window_size = adp->va_window_size;
((old_video_adapter_t *)data)->va_window_gran = adp->va_window_gran;
((old_video_adapter_t *)data)->va_buffer = adp->va_buffer;
((old_video_adapter_t *)data)->va_buffer_size = adp->va_buffer_size;
((old_video_adapter_t *)data)->va_mode = adp->va_mode;
((old_video_adapter_t *)data)->va_initial_mode = adp->va_initial_mode;
((old_video_adapter_t *)data)->va_initial_bios_mode
= adp->va_initial_bios_mode;
return 0;
case OLD_CONS_ADPINFO2: /* adapter information (yet another old I/F) */
adp_info.va_index = ((old_video_adapter_info_t *)data)->va_index;
if (adp_info.va_index >= 0) {
adp = vid_get_adapter(adp_info.va_index);
if (adp == NULL)
return ENODEV;
}
error = fb_ioctl(adp, FBIO_ADPINFO, &adp_info);
if (error == 0)
bcopy(&adp_info, data, sizeof(old_video_adapter_info_t));
return error;
case CONS_ADPINFO: /* adapter information */
case FBIO_ADPINFO:
if (((video_adapter_info_t *)data)->va_index >= 0) {
adp = vid_get_adapter(((video_adapter_info_t *)data)->va_index);
if (adp == NULL)
return ENODEV;
}
return fb_ioctl(adp, FBIO_ADPINFO, data);
case CONS_GET: /* get current video mode */
case FBIO_GETMODE:
*(int *)data = scp->mode;
return 0;
#ifndef SC_NO_MODE_CHANGE
case FBIO_SETMODE: /* set video mode */
if (!(adp->va_flags & V_ADP_MODECHANGE))
return ENODEV;
info.vi_mode = *(int *)data;
error = fb_ioctl(adp, FBIO_MODEINFO, &info);
if (error)
return error;
if (info.vi_flags & V_INFO_GRAPHICS)
return sc_set_graphics_mode(scp, tp, *(int *)data);
else
return sc_set_text_mode(scp, tp, *(int *)data, 0, 0, 0, 0);
#endif /* SC_NO_MODE_CHANGE */
case OLD_CONS_MODEINFO: /* get mode information (old infterface) */
info.vi_mode = ((old_video_info_t *)data)->vi_mode;
error = fb_ioctl(adp, FBIO_MODEINFO, &info);
if (error == 0)
bcopy(&info, (old_video_info_t *)data, sizeof(old_video_info_t));
return error;
case CONS_MODEINFO: /* get mode information */
case FBIO_MODEINFO:
return fb_ioctl(adp, FBIO_MODEINFO, data);
case OLD_CONS_FINDMODE: /* find a matching video mode (old interface) */
bzero(&info, sizeof(info));
bcopy((old_video_info_t *)data, &info, sizeof(old_video_info_t));
error = fb_ioctl(adp, FBIO_FINDMODE, &info);
if (error == 0)
bcopy(&info, (old_video_info_t *)data, sizeof(old_video_info_t));
return error;
case CONS_FINDMODE: /* find a matching video mode */
case FBIO_FINDMODE:
return fb_ioctl(adp, FBIO_FINDMODE, data);
#if defined(COMPAT_FREEBSD6) || defined(COMPAT_FREEBSD5) || \
defined(COMPAT_FREEBSD4) || defined(COMPAT_43)
case _IO('c', 104):
ival = IOCPARM_IVAL(data);
data = (caddr_t)&ival;
/* FALLTHROUGH */
#endif
case CONS_SETWINORG: /* set frame buffer window origin */
case FBIO_SETWINORG:
if (scp != scp->sc->cur_scp)
return ENODEV; /* XXX */
return fb_ioctl(adp, FBIO_SETWINORG, data);
case FBIO_GETWINORG: /* get frame buffer window origin */
if (scp != scp->sc->cur_scp)
return ENODEV; /* XXX */
return fb_ioctl(adp, FBIO_GETWINORG, data);
case FBIO_GETDISPSTART:
case FBIO_SETDISPSTART:
case FBIO_GETLINEWIDTH:
case FBIO_SETLINEWIDTH:
if (scp != scp->sc->cur_scp)
return ENODEV; /* XXX */
return fb_ioctl(adp, cmd, data);
case FBIO_GETPALETTE:
case FBIO_SETPALETTE:
case FBIOPUTCMAP:
case FBIOGETCMAP:
case FBIOGTYPE:
case FBIOGATTR:
case FBIOSVIDEO:
case FBIOGVIDEO:
case FBIOSCURSOR:
case FBIOGCURSOR:
case FBIOSCURPOS:
case FBIOGCURPOS:
case FBIOGCURMAX:
if (scp != scp->sc->cur_scp)
return ENODEV; /* XXX */
return fb_ioctl(adp, cmd, data);
case FBIO_BLANK:
if (scp != scp->sc->cur_scp)
return ENODEV; /* XXX */
return fb_ioctl(adp, cmd, data);
#ifndef SC_NO_MODE_CHANGE
/* generic text modes */
case SW_TEXT_80x25: case SW_TEXT_80x30:
case SW_TEXT_80x43: case SW_TEXT_80x50:
case SW_TEXT_80x60:
/* FALLTHROUGH */
/* VGA TEXT MODES */
case SW_VGA_C40x25:
case SW_VGA_C80x25: case SW_VGA_M80x25:
case SW_VGA_C80x30: case SW_VGA_M80x30:
case SW_VGA_C80x50: case SW_VGA_M80x50:
case SW_VGA_C80x60: case SW_VGA_M80x60:
case SW_VGA_C90x25: case SW_VGA_M90x25:
case SW_VGA_C90x30: case SW_VGA_M90x30:
case SW_VGA_C90x43: case SW_VGA_M90x43:
case SW_VGA_C90x50: case SW_VGA_M90x50:
case SW_VGA_C90x60: case SW_VGA_M90x60:
case SW_B40x25: case SW_C40x25:
case SW_B80x25: case SW_C80x25:
case SW_ENH_B40x25: case SW_ENH_C40x25:
case SW_ENH_B80x25: case SW_ENH_C80x25:
case SW_ENH_B80x43: case SW_ENH_C80x43:
case SW_EGAMONO80x25:
#ifdef PC98
/* PC98 TEXT MODES */
case SW_PC98_80x25:
case SW_PC98_80x30:
#endif
if (!(adp->va_flags & V_ADP_MODECHANGE))
return ENODEV;
return sc_set_text_mode(scp, tp, cmd & 0xff, 0, 0, 0, 0);
/* GRAPHICS MODES */
case SW_BG320: case SW_BG640:
case SW_CG320: case SW_CG320_D: case SW_CG640_E:
case SW_CG640x350: case SW_ENH_CG640:
case SW_BG640x480: case SW_CG640x480: case SW_VGA_CG320:
case SW_VGA_MODEX:
#ifdef PC98
/* PC98 GRAPHICS MODES */
case SW_PC98_EGC640x400: case SW_PC98_PEGC640x400:
case SW_PC98_PEGC640x480:
#endif
if (!(adp->va_flags & V_ADP_MODECHANGE))
return ENODEV;
return sc_set_graphics_mode(scp, tp, cmd & 0xff);
#endif /* SC_NO_MODE_CHANGE */
#if defined(COMPAT_FREEBSD6) || defined(COMPAT_FREEBSD5) || \
defined(COMPAT_FREEBSD4) || defined(COMPAT_43)
case _IO('K', 10):
ival = IOCPARM_IVAL(data);
data = (caddr_t)&ival;
/* FALLTHROUGH */
#endif
case KDSETMODE: /* set current mode of this (virtual) console */
switch (*(int *)data) {
case KD_TEXT: /* switch to TEXT (known) mode */
/*
* If scp->mode is of graphics modes, we don't know which
* text mode to switch back to...
*/
if (scp->status & GRAPHICS_MODE)
return EINVAL;
/* restore fonts & palette ! */
#if 0
#ifndef SC_NO_FONT_LOADING
if (ISFONTAVAIL(adp->va_flags)
&& !(scp->status & (GRAPHICS_MODE | PIXEL_MODE)))
/*
* FONT KLUDGE
* Don't load fonts for now... XXX
*/
if (scp->sc->fonts_loaded & FONT_8)
sc_load_font(scp, 0, 8, 8, scp->sc->font_8, 0, 256);
if (scp->sc->fonts_loaded & FONT_14)
sc_load_font(scp, 0, 14, 8, scp->sc->font_14, 0, 256);
if (scp->sc->fonts_loaded & FONT_16)
sc_load_font(scp, 0, 16, 8, scp->sc->font_16, 0, 256);
}
#endif /* SC_NO_FONT_LOADING */
#endif
#ifndef SC_NO_PALETTE_LOADING
#ifdef SC_PIXEL_MODE
if (adp->va_info.vi_mem_model == V_INFO_MM_DIRECT)
vidd_load_palette(adp, scp->sc->palette2);
else
#endif
vidd_load_palette(adp, scp->sc->palette);
#endif
#ifndef PC98
/* move hardware cursor out of the way */
vidd_set_hw_cursor(adp, -1, -1);
#endif
/* FALLTHROUGH */
case KD_TEXT1: /* switch to TEXT (known) mode */
/*
* If scp->mode is of graphics modes, we don't know which
* text/pixel mode to switch back to...
*/
if (scp->status & GRAPHICS_MODE)
return EINVAL;
s = spltty();
if ((error = sc_clean_up(scp))) {
splx(s);
return error;
}
#ifndef PC98
scp->status |= UNKNOWN_MODE | MOUSE_HIDDEN;
splx(s);
/* no restore fonts & palette */
if (scp == scp->sc->cur_scp)
set_mode(scp);
sc_clear_screen(scp);
scp->status &= ~UNKNOWN_MODE;
#else /* PC98 */
scp->status &= ~UNKNOWN_MODE;
/* no restore fonts & palette */
if (scp == scp->sc->cur_scp)
set_mode(scp);
sc_clear_screen(scp);
splx(s);
#endif /* PC98 */
return 0;
#ifdef SC_PIXEL_MODE
case KD_PIXEL: /* pixel (raster) display */
if (!(scp->status & (GRAPHICS_MODE | PIXEL_MODE)))
return EINVAL;
if (scp->status & GRAPHICS_MODE)
return sc_set_pixel_mode(scp, tp, scp->xsize, scp->ysize,
scp->font_size, scp->font_width);
s = spltty();
if ((error = sc_clean_up(scp))) {
splx(s);
return error;
}
scp->status |= (UNKNOWN_MODE | PIXEL_MODE | MOUSE_HIDDEN);
splx(s);
if (scp == scp->sc->cur_scp) {
set_mode(scp);
#ifndef SC_NO_PALETTE_LOADING
if (adp->va_info.vi_mem_model == V_INFO_MM_DIRECT)
vidd_load_palette(adp, scp->sc->palette2);
else
vidd_load_palette(adp, scp->sc->palette);
#endif
}
sc_clear_screen(scp);
scp->status &= ~UNKNOWN_MODE;
return 0;
#endif /* SC_PIXEL_MODE */
case KD_GRAPHICS: /* switch to GRAPHICS (unknown) mode */
s = spltty();
if ((error = sc_clean_up(scp))) {
splx(s);
return error;
}
scp->status |= UNKNOWN_MODE | MOUSE_HIDDEN;
splx(s);
#ifdef PC98
if (scp == scp->sc->cur_scp)
set_mode(scp);
#endif
return 0;
default:
return EINVAL;
}
/* NOT REACHED */
#ifdef SC_PIXEL_MODE
case KDRASTER: /* set pixel (raster) display mode */
if (ISUNKNOWNSC(scp) || ISTEXTSC(scp))
return ENODEV;
return sc_set_pixel_mode(scp, tp, ((int *)data)[0], ((int *)data)[1],
((int *)data)[2], 8);
#endif /* SC_PIXEL_MODE */
case KDGETMODE: /* get current mode of this (virtual) console */
/*
* From the user program's point of view, KD_PIXEL is the same
* as KD_TEXT...
*/
*data = ISGRAPHSC(scp) ? KD_GRAPHICS : KD_TEXT;
return 0;
#if defined(COMPAT_FREEBSD6) || defined(COMPAT_FREEBSD5) || \
defined(COMPAT_FREEBSD4) || defined(COMPAT_43)
case _IO('K', 13):
ival = IOCPARM_IVAL(data);
data = (caddr_t)&ival;
/* FALLTHROUGH */
#endif
case KDSBORDER: /* set border color of this (virtual) console */
scp->border = *(int *)data;
if (scp == scp->sc->cur_scp)
sc_set_border(scp, scp->border);
return 0;
}
static void print_char(mps_t *mps, unsigned int prnr, const BYTE c)
{
if (mps->pos >= MAX_COL) { /* flush buffer*/
write_line(mps, prnr);
clear_buffer(mps);
}
if (mps->tab) { /* decode tab-number*/
mps->tabc[2 - mps->tab] = c;
if (mps->tab == 1) {
mps->pos =
is_mode(mps, MPS_ESC) ?
mps->tabc[0] << 8 | mps->tabc[1] :
atoi((char *)mps->tabc) * 6;
del_mode(mps, MPS_ESC);
}
mps->tab--;
return;
}
if (is_mode(mps, MPS_ESC) && (c != 16)) {
del_mode(mps, MPS_ESC);
}
if (is_mode(mps, MPS_REPEAT)) {
mps->repeatn = c;
del_mode(mps, MPS_REPEAT);
return;
}
if (is_mode(mps, MPS_BITMODE) && (c & 128)) {
print_bitmask(mps, c);
return;
}
/* it seems that CR works even in quote mode */
switch (c) {
case 13: /* CR*/
mps->pos = 0;
if (is_mode(mps, MPS_BUSINESS)) {
del_mode(mps, MPS_CRSRUP);
} else {
set_mode(mps, MPS_CRSRUP);
}
/* CR resets Quote mode, revers mode, ... */
del_mode(mps, MPS_QUOTED);
del_mode(mps, MPS_REVERSE);
write_line(mps, prnr);
clear_buffer(mps);
return;
}
/* in text mode ignore most (?) other control chars when quote mode is active */
if (!is_mode(mps, MPS_QUOTED) || is_mode(mps, MPS_BITMODE)) {
switch (c) {
case 8:
set_mode(mps, MPS_BITMODE);
mps->bitcnt = 0;
return;
case 10: /* LF*/
write_line(mps, prnr);
clear_buffer(mps);
return;
#ifdef notyet
/* Not really sure if the MPS803 recognizes this one... */
case 13 + 128: /* shift CR: CR without LF (from 4023 printer) */
mps->pos = 0;
if (is_mode(mps, MPS_BUSINESS)) {
del_mode(mps, MPS_CRSRUP);
} else {
set_mode(mps, MPS_CRSRUP);
}
/* CR resets Quote mode, revers mode, ... */
del_mode(mps, MPS_QUOTED);
del_mode(mps, MPS_REVERSE);
return;
#endif
case 14: /* EN on*/
set_mode(mps, MPS_DBLWDTH);
if (is_mode(mps, MPS_BITMODE)) {
bitmode_off(mps);
}
return;
case 15: /* EN off*/
del_mode(mps, MPS_DBLWDTH);
if (is_mode(mps, MPS_BITMODE)) {
bitmode_off(mps);
}
return;
case 16: /* POS*/
mps->tab = 2; /* 2 chars (digits) following, number of first char*/
return;
/*
* By sending the cursor up code [CHR$(145)] to your printer, following
* characters will be printed in cursor up (graphic) mode until either
* a carriage return or cursor down code [CHR$(17)] is detected.
*
* By sending the cursor down code [CHR$(17)] to your printer,
* following characters will be printed in business mode until either
* a carriage return or cursor up code [CHR$(145)] is detected.
*/
case 17: /* crsr dn, enter businessmode local */
del_mode(mps, MPS_CRSRUP);
return;
case 145: /* CRSR up, enter gfxmode local */
set_mode(mps, MPS_CRSRUP);
return;
case 18:
set_mode(mps, MPS_REVERSE);
return;
case 146: /* 18+128*/
del_mode(mps, MPS_REVERSE);
return;
case 26: /* repeat last chr$(8) c times.*/
set_mode(mps, MPS_REPEAT);
mps->repeatn = 0;
mps->bitcnt = 0;
return;
case 27:
set_mode(mps, MPS_ESC); /* followed by 16, and number MSB, LSB*/
return;
}
}
if (is_mode(mps, MPS_BITMODE)) {
return;
}
/*
* When an odd number of CHR$(34) is detected in a line, the control
* codes $00-$1F and $80-$9F will be made visible by printing a
* reverse character for each of these controls. This will continue
* until an even number of quotes [CHR$(34)] has been received or until
* end of this line.
*/
if (c == 34) {
mps->mode ^= MPS_QUOTED;
}
if (is_mode(mps, MPS_QUOTED)) {
if (c <= 0x1f) {
set_mode(mps, MPS_REVERSE);
print_cbm_char(mps, (BYTE)(c + 0x40));
del_mode(mps, MPS_REVERSE);
return;
}
if ((c >= 0x80) && (c <= 0x9f)) {
set_mode(mps, MPS_REVERSE);
print_cbm_char(mps, (BYTE)(c - 0x20));
del_mode(mps, MPS_REVERSE);
return;
}
}
print_cbm_char(mps, c);
}
// rtl_descent_run - implements the final descent to the RTL_ALT
// called by rtl_run at 100hz or more
void Copter::rtl_descent_run()
{
int16_t roll_control = 0, pitch_control = 0;
float target_yaw_rate = 0;
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
// set target to current position
wp_nav.init_loiter_target();
return;
}
// process pilot's input
if (!failsafe.radio) {
if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
// exit land if throttle is high
if (!set_mode(LOITER, MODE_REASON_THROTTLE_LAND_ESCAPE)) {
set_mode(ALT_HOLD, MODE_REASON_THROTTLE_LAND_ESCAPE);
}
}
if (g.land_repositioning) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// process pilot's roll and pitch input
roll_control = channel_roll->get_control_in();
pitch_control = channel_pitch->get_control_in();
}
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
}
// set motors to full range
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// process roll, pitch inputs
wp_nav.set_pilot_desired_acceleration(roll_control, pitch_control);
// run loiter controller
wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
// call z-axis position controller
pos_control.set_alt_target_with_slew(rtl_path.descent_target.alt, G_Dt);
pos_control.update_z_controller();
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate, get_smoothing_gain());
// check if we've reached within 20cm of final altitude
rtl_state_complete = fabsf(rtl_path.descent_target.alt - current_loc.alt) < 20.0f;
}
//--------- Begin of function Unit::change_nation ---------//
//
// This function is called when a unit change nation.
// It is not necessarily a result of betray, when a spy
// hands over his new nation to his parent nation, this
// function will also be called.
//
// <int> newNationRecno - change the nation of the unit.
//
void Unit::change_nation(int newNationRecno)
{
err_when( newNationRecno && nation_array.is_deleted(newNationRecno) );
err_when( unit_mode == UNIT_MODE_REBEL ); // rebels do not change nation
//--- special case: units in Monster Fortress cannot change nation ---//
if( unit_mode == UNIT_MODE_OVERSEE &&
firm_array[unit_mode_para]->firm_id == FIRM_FORTRESS )
{
return;
}
//---------------------------------//
int oldAiUnit = is_ai;
int oldNationRecno = nation_recno;
//-- if the player is giving a command to this unit, cancel the command --//
if( nation_recno == nation_array.player_recno &&
sprite_recno == unit_array.selected_recno &&
power.command_id )
{
power.command_id = 0;
}
//---------- stop all action to attack this unit ------------//
unit_array.stop_attack_obj(base_obj_recno);
//---- update nation_unit_count_array[] ----//
unit_res[unit_id]->unit_change_nation(newNationRecno, nation_recno, rank_id);
//------- if the nation has an AI action -------//
stop_order(); // clear the existing order
//---------------- update vars ----------------//
// unit_group_id = unit_array.cur_group_id++; // separate from the current group
nation_recno = newNationRecno;
home_camp_firm_recno = 0; // reset it
if( race_id )
{
nation_contribution = 0; // contribution to the nation
total_reward = 0;
}
// #### begin Gilbert 24/12 #######//
// -------- reset royal -------//
is_royal = 0;
// #### end Gilbert 24/12 #######//
//-------- if change to one of the existing nations ------//
is_ai = nation_recno && nation_array[nation_recno]->is_ai();
//------------ update AI info --------------//
if( oldNationRecno )
{
Nation* nationPtr = nation_array[oldNationRecno];
if( rank_id == RANK_GENERAL || rank_id == RANK_KING )
nationPtr->del_general_info(sprite_recno);
else if( unit_res[unit_id]->unit_class == UNIT_CLASS_CARAVAN )
nationPtr->del_caravan_info(sprite_recno);
else if( unit_res[unit_id]->unit_class == UNIT_CLASS_SHIP )
nationPtr->del_ship_info(sprite_recno);
}
if( nation_recno )
{
Nation* nationPtr = nation_array[nation_recno];
if( rank_id == RANK_GENERAL || rank_id == RANK_KING )
nationPtr->add_general_info(sprite_recno);
else if( unit_res[unit_id]->unit_class == UNIT_CLASS_CARAVAN )
nationPtr->add_caravan_info(sprite_recno);
else if( unit_res[unit_id]->unit_class == UNIT_CLASS_SHIP )
nationPtr->add_ship_info(sprite_recno);
}
//------ if this unit oversees a firm -----//
if( unit_mode==UNIT_MODE_OVERSEE )
firm_array[unit_mode_para]->change_nation(newNationRecno);
//----- this unit was defending the town before it gets killed ----//
else if( unit_mode==UNIT_MODE_TOWN_DEFENDER )
{
if( !town_array.is_deleted(unit_mode_para) )
town_array[unit_mode_para]->reduce_defender_count();
set_mode(0); // reset unit mode
}
//---- if the unit is no longer the same nation as the leader ----//
if( leader_unit_recno )
{
Unit* leaderUnit = unit_array[leader_unit_recno];
if( leaderUnit->nation_recno != nation_recno )
{
err_when( !leaderUnit->team_info );
leaderUnit->team_info->del_member(sprite_recno);
leader_unit_recno = 0;
// team_id = 0;
}
}
// ##### begin Gilbert 9/2 #######//
explore_area();
// ##### end Gilbert 9/2 #######//
//------ if it is currently selected -------//
if( selected_flag )
info.disp();
err_when( spy_recno && spy_array[spy_recno]->cloaked_nation_recno != nation_recno );
if( spy_recno && spy_array[spy_recno]->cloaked_nation_recno != nation_recno ) // BUGHERE - fix bug on-fly
spy_array[spy_recno]->cloaked_nation_recno = nation_recno;
}
void apollo_kbd_device::kgetchar(UINT8 data)
{
static const UINT8 ff1116_data[] = { 0x00, 0xff, 0x00 };
LOG1(("getchar <- %02x", data));
if (data == 0xff)
{
m_rx_message = data;
putdata(&data, 1);
m_loopback_mode = 1;
}
else if (data == 0x00)
{
if (m_loopback_mode)
{
set_mode(KBD_MODE_0_COMPATIBILITY);
m_loopback_mode = 0;
}
}
else
{
m_rx_message = m_rx_message << 8 | data;
switch (m_rx_message)
{
case 0xff00:
putdata(&data, 1);
m_mode = KBD_MODE_0_COMPATIBILITY;
m_loopback_mode = 0;
m_rx_message = 0;
case 0xff01:
putdata(&data, 1);
m_mode = KBD_MODE_1_KEYSTATE;
m_rx_message = 0;
break;
case 0xff11:
putdata(&data, 1);
break;
case 0xff1116:
putdata(ff1116_data, sizeof(ff1116_data));
m_loopback_mode = 0;
m_rx_message = 0;
break;
case 0xff1117:
m_rx_message = 0;
break;
case 0xff12:
putdata(&data, 1);
break;
case 0xff1221: // receive ID message
m_loopback_mode = 0;
putdata(&data, 1);
if (keyboard_is_german())
{
putstring("3-A\r2-0\rSD-03863-MS\r");
}
else
{
putstring("3-@\r2-0\rSD-03863-MS\r");
}
if (m_mode == KBD_MODE_0_COMPATIBILITY)
{
set_mode(KBD_MODE_0_COMPATIBILITY);
}
else
{
set_mode(KBD_MODE_1_KEYSTATE);
}
m_rx_message = 0;
break;
case 0xff2181: // beeper on (for 300 ms)
putdata(&data, 1);
m_rx_message = 0;
m_beeper.on();
break;
case 0xff2182: // beeper off
putdata(&data, 1);
m_rx_message = 0;
m_beeper.off();
break;
default:
if (m_loopback_mode && data != 0)
{
putdata(&data, 1);
}
break;
}
}
}
/** Set active task to abort mode. */
void abort() {
set_mode(MODE_ABORT);
}
int apollo_kbd_device::push_scancode(UINT8 code, UINT8 repeat)
{
int n_chars = 0;
UINT16 key_code = 0;
UINT8 caps = BIT(machine().root_device().ioport("keyboard4")->read(),0);
UINT8 shift = BIT(machine().root_device().ioport("keyboard4")->read(),1) | BIT(machine().root_device().ioport("keyboard4")->read(),5);
UINT8 ctrl = BIT(machine().root_device().ioport("keyboard4")->read(),2);
UINT8 numlock = BIT(machine().root_device().ioport("keyboard4")->read(),6);
UINT16 index;
if (keyboard_is_german())
{
// map special keys for German keyboard
switch (code)
{
case 0x00: code = 0x68; break; // _
case 0x0e: code = 0x6b; break; // #
case 0x29: code = 0x69; break; // <>
case 0x42: code = 0x6f; break; // NP-
case 0x46: code = 0x6e; break; // NP+
case 0x4e: code = 0x73; break; // NP ENTER
}
}
#if MAP_APOLLO_KEYS
if (numlock)
{
// don't map function keys to Apollo left keypad
switch (code)
{
case 0x52: code = 0x75; break; // F1
case 0x53: code = 0x76; break; // F2
case 0x54: code = 0x77; break; // F3
case 0x55: code = 0x78; break; // F4
case 0x56: code = 0x79; break; // F5
case 0x57: code = 0x7a; break; // F6
case 0x58: code = 0x7b; break; // F7
case 0x59: code = 0x7c; break; // F8
case 0x5a: code = 0x7d; break; // F9
case 0x5b: code = 0x74; break; // F0 = F10
}
}
#endif
index = (code & 0x7f) * CODE_TABLE_ENTRY_SIZE;
if (m_mode == KBD_MODE_0_COMPATIBILITY)
{
if (code & 0x80)
{
// skip up code in ASCII mode
}
else if (repeat > 0
&& m_code_table[index + CODE_TABLE_AUTO_REPEAT_CODE] != Yes)
{
// skip repeat in ASCII mode
}
else if (ctrl)
{
key_code = m_code_table[index + CODE_TABLE_CONTROL_CODE];
}
else if (shift)
{
key_code = m_code_table[index + CODE_TABLE_SHIFTED_CODE];
}
else if (caps)
{
key_code = m_code_table[index + CODE_TABLE_CAPS_LOCK_CODE];
}
else
{
key_code = m_code_table[index + CODE_TABLE_UNSHIFTED_CODE];
}
}
else
{
if (repeat > 0)
{
if (repeat == 1)
{
// auto repeat (but only for first scanned key)
key_code = 0x7f;
}
}
else if (code & 0x80)
{
key_code = m_code_table[index + CODE_TABLE_UP_CODE];
}
else
{
key_code = m_code_table[index + CODE_TABLE_DOWN_CODE];
}
}
if (key_code != 0)
{
LOG2(("scan_code = 0x%02x key_code = 0x%04x",code, key_code));
if (m_mode > KBD_MODE_1_KEYSTATE)
{
set_mode(KBD_MODE_1_KEYSTATE);
}
if (key_code & 0xff00)
{
xmit_char(key_code >> 8);
n_chars++;
}
bool IcoPackImageButton::on_leave_notify_event(GdkEventCrossing* event)
{
bool res = false ;
set_mode(1) ;
return res ;
}
void Tracker::init_tracker()
{
// initialise console serial port
serial_manager.init_console();
hal.console->printf_P(PSTR("\n\nInit " THISFIRMWARE
"\n\nFree RAM: %u\n"),
hal.util->available_memory());
// Check the EEPROM format version before loading any parameters from EEPROM
load_parameters();
BoardConfig.init();
// initialise serial ports
serial_manager.init();
// init baro before we start the GCS, so that the CLI baro test works
barometer.init();
// init the GCS and start snooping for vehicle data
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);
gcs[0].set_snoop(mavlink_snoop_static);
// Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
// we start by assuming USB connected, as we initialed the serial
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
usb_connected = true;
check_usb_mux();
// setup serial port for telem1 and start snooping for vehicle data
gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
gcs[1].set_snoop(mavlink_snoop_static);
#if MAVLINK_COMM_NUM_BUFFERS > 2
// setup serial port for telem2 and start snooping for vehicle data
gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 1);
gcs[2].set_snoop(mavlink_snoop_static);
#endif
#if MAVLINK_COMM_NUM_BUFFERS > 3
// setup serial port for fourth telemetry port (not used by default) and start snooping for vehicle data
gcs[3].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 2);
gcs[3].set_snoop(mavlink_snoop_static);
#endif
mavlink_system.sysid = g.sysid_this_mav;
if (g.compass_enabled==true) {
if (!compass.init() || !compass.read()) {
hal.console->println_P(PSTR("Compass initialisation failed!"));
g.compass_enabled = false;
} else {
ahrs.set_compass(&compass);
}
}
// GPS Initialization
gps.init(NULL, serial_manager);
ahrs.init();
ahrs.set_fly_forward(false);
ins.init(AP_InertialSensor::WARM_START, ins_sample_rate);
ahrs.reset();
init_barometer();
// set serial ports non-blocking
serial_manager.set_blocking_writes_all(false);
// initialise servos
init_servos();
// use given start positions - useful for indoor testing, and
// while waiting for GPS lock
current_loc.lat = g.start_latitude * 1.0e7f;
current_loc.lng = g.start_longitude * 1.0e7f;
// see if EEPROM has a default location as well
if (current_loc.lat == 0 && current_loc.lng == 0) {
get_home_eeprom(current_loc);
}
gcs_send_text_P(SEVERITY_LOW,PSTR("\nReady to track."));
hal.scheduler->delay(1000); // Why????
set_mode(AUTO); // tracking
if (g.startup_delay > 0) {
// arm servos with trim value to allow them to start up (required
// for some servos)
prepare_servos();
}
// calibrate pressure on startup by default
nav_status.need_altitude_calibration = true;
}
int
PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
{
int ret = OK;
lock();
switch (cmd) {
case PWM_SERVO_ARM:
up_pwm_servo_arm(true);
break;
case PWM_SERVO_SET_ARM_OK:
case PWM_SERVO_CLEAR_ARM_OK:
case PWM_SERVO_SET_FORCE_SAFETY_OFF:
// these are no-ops, as no safety switch
break;
case PWM_SERVO_DISARM:
up_pwm_servo_arm(false);
break;
case PWM_SERVO_GET_DEFAULT_UPDATE_RATE:
*(uint32_t *)arg = _pwm_default_rate;
break;
case PWM_SERVO_SET_UPDATE_RATE:
ret = set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, arg);
break;
case PWM_SERVO_GET_UPDATE_RATE:
*(uint32_t *)arg = _pwm_alt_rate;
break;
case PWM_SERVO_SET_SELECT_UPDATE_RATE:
ret = set_pwm_rate(arg, _pwm_default_rate, _pwm_alt_rate);
break;
case PWM_SERVO_GET_SELECT_UPDATE_RATE:
*(uint32_t *)arg = _pwm_alt_rate_channels;
break;
case PWM_SERVO_SET_FAILSAFE_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
/* discard if too many values are sent */
if (pwm->channel_count > _max_actuators) {
ret = -EINVAL;
break;
}
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (pwm->values[i] == 0) {
/* ignore 0 */
} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
_failsafe_pwm[i] = PWM_HIGHEST_MAX;
} else if (pwm->values[i] < PWM_LOWEST_MIN) {
_failsafe_pwm[i] = PWM_LOWEST_MIN;
} else {
_failsafe_pwm[i] = pwm->values[i];
}
}
/*
* update the counter
* this is needed to decide if disarmed PWM output should be turned on or not
*/
_num_failsafe_set = 0;
for (unsigned i = 0; i < _max_actuators; i++) {
if (_failsafe_pwm[i] > 0)
_num_failsafe_set++;
}
break;
}
case PWM_SERVO_GET_FAILSAFE_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < _max_actuators; i++) {
pwm->values[i] = _failsafe_pwm[i];
}
pwm->channel_count = _max_actuators;
break;
}
case PWM_SERVO_SET_DISARMED_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
/* discard if too many values are sent */
if (pwm->channel_count > _max_actuators) {
ret = -EINVAL;
break;
}
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (pwm->values[i] == 0) {
/* ignore 0 */
} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
_disarmed_pwm[i] = PWM_HIGHEST_MAX;
} else if (pwm->values[i] < PWM_LOWEST_MIN) {
_disarmed_pwm[i] = PWM_LOWEST_MIN;
} else {
_disarmed_pwm[i] = pwm->values[i];
}
}
/*
* update the counter
* this is needed to decide if disarmed PWM output should be turned on or not
*/
_num_disarmed_set = 0;
for (unsigned i = 0; i < _max_actuators; i++) {
if (_disarmed_pwm[i] > 0)
_num_disarmed_set++;
}
break;
}
case PWM_SERVO_GET_DISARMED_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < _max_actuators; i++) {
pwm->values[i] = _disarmed_pwm[i];
}
pwm->channel_count = _max_actuators;
break;
}
case PWM_SERVO_SET_MIN_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
/* discard if too many values are sent */
if (pwm->channel_count > _max_actuators) {
ret = -EINVAL;
break;
}
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (pwm->values[i] == 0) {
/* ignore 0 */
} else if (pwm->values[i] > PWM_HIGHEST_MIN) {
_min_pwm[i] = PWM_HIGHEST_MIN;
} else if (pwm->values[i] < PWM_LOWEST_MIN) {
_min_pwm[i] = PWM_LOWEST_MIN;
} else {
_min_pwm[i] = pwm->values[i];
}
}
break;
}
case PWM_SERVO_GET_MIN_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < _max_actuators; i++) {
pwm->values[i] = _min_pwm[i];
}
pwm->channel_count = _max_actuators;
arg = (unsigned long)&pwm;
break;
}
case PWM_SERVO_SET_MAX_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
/* discard if too many values are sent */
if (pwm->channel_count > _max_actuators) {
ret = -EINVAL;
break;
}
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (pwm->values[i] == 0) {
/* ignore 0 */
} else if (pwm->values[i] < PWM_LOWEST_MAX) {
_max_pwm[i] = PWM_LOWEST_MAX;
} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
_max_pwm[i] = PWM_HIGHEST_MAX;
} else {
_max_pwm[i] = pwm->values[i];
}
}
break;
}
case PWM_SERVO_GET_MAX_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < _max_actuators; i++) {
pwm->values[i] = _max_pwm[i];
}
pwm->channel_count = _max_actuators;
arg = (unsigned long)&pwm;
break;
}
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case PWM_SERVO_SET(7):
case PWM_SERVO_SET(6):
if (_mode < MODE_8PWM) {
ret = -EINVAL;
break;
}
#endif
case PWM_SERVO_SET(5):
case PWM_SERVO_SET(4):
if (_mode < MODE_6PWM) {
ret = -EINVAL;
break;
}
/* FALLTHROUGH */
case PWM_SERVO_SET(3):
case PWM_SERVO_SET(2):
if (_mode < MODE_4PWM) {
ret = -EINVAL;
break;
}
/* FALLTHROUGH */
case PWM_SERVO_SET(1):
case PWM_SERVO_SET(0):
if (arg <= 2100) {
up_pwm_servo_set(cmd - PWM_SERVO_SET(0), arg);
} else {
ret = -EINVAL;
}
break;
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case PWM_SERVO_GET(7):
case PWM_SERVO_GET(6):
if (_mode < MODE_8PWM) {
ret = -EINVAL;
break;
}
#endif
case PWM_SERVO_GET(5):
case PWM_SERVO_GET(4):
if (_mode < MODE_6PWM) {
ret = -EINVAL;
break;
}
/* FALLTHROUGH */
case PWM_SERVO_GET(3):
case PWM_SERVO_GET(2):
if (_mode < MODE_4PWM) {
ret = -EINVAL;
break;
}
/* FALLTHROUGH */
case PWM_SERVO_GET(1):
case PWM_SERVO_GET(0):
*(servo_position_t *)arg = up_pwm_servo_get(cmd - PWM_SERVO_GET(0));
break;
case PWM_SERVO_GET_RATEGROUP(0):
case PWM_SERVO_GET_RATEGROUP(1):
case PWM_SERVO_GET_RATEGROUP(2):
case PWM_SERVO_GET_RATEGROUP(3):
case PWM_SERVO_GET_RATEGROUP(4):
case PWM_SERVO_GET_RATEGROUP(5):
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case PWM_SERVO_GET_RATEGROUP(6):
case PWM_SERVO_GET_RATEGROUP(7):
#endif
*(uint32_t *)arg = up_pwm_servo_get_rate_group(cmd - PWM_SERVO_GET_RATEGROUP(0));
break;
case PWM_SERVO_GET_COUNT:
case MIXERIOCGETOUTPUTCOUNT:
switch (_mode) {
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case MODE_8PWM:
*(unsigned *)arg = 8;
break;
#endif
case MODE_6PWM:
*(unsigned *)arg = 6;
break;
case MODE_4PWM:
*(unsigned *)arg = 4;
break;
case MODE_2PWM:
*(unsigned *)arg = 2;
break;
default:
ret = -EINVAL;
break;
}
break;
case PWM_SERVO_SET_COUNT: {
/* change the number of outputs that are enabled for
* PWM. This is used to change the split between GPIO
* and PWM under control of the flight config
* parameters. Note that this does not allow for
* changing a set of pins to be used for serial on
* FMUv1
*/
switch (arg) {
case 0:
set_mode(MODE_NONE);
break;
case 2:
set_mode(MODE_2PWM);
break;
case 4:
set_mode(MODE_4PWM);
break;
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
case 6:
set_mode(MODE_6PWM);
break;
#endif
#if defined(CONFIG_ARCH_BOARD_AEROCORE)
case 8:
set_mode(MODE_8PWM);
break;
#endif
default:
ret = -EINVAL;
break;
}
break;
}
case MIXERIOCRESET:
if (_mixers != nullptr) {
delete _mixers;
_mixers = nullptr;
_groups_required = 0;
}
break;
case MIXERIOCADDSIMPLE: {
mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
SimpleMixer *mixer = new SimpleMixer(control_callback,
(uintptr_t)_controls, mixinfo);
if (mixer->check()) {
delete mixer;
_groups_required = 0;
ret = -EINVAL;
} else {
if (_mixers == nullptr)
_mixers = new MixerGroup(control_callback,
(uintptr_t)_controls);
_mixers->add_mixer(mixer);
_mixers->groups_required(_groups_required);
}
break;
}
case MIXERIOCLOADBUF: {
const char *buf = (const char *)arg;
unsigned buflen = strnlen(buf, 1024);
if (_mixers == nullptr)
_mixers = new MixerGroup(control_callback, (uintptr_t)_controls);
if (_mixers == nullptr) {
_groups_required = 0;
ret = -ENOMEM;
} else {
ret = _mixers->load_from_buf(buf, buflen);
if (ret != 0) {
debug("mixer load failed with %d", ret);
delete _mixers;
_mixers = nullptr;
_groups_required = 0;
ret = -EINVAL;
} else {
_mixers->groups_required(_groups_required);
}
}
break;
}
default:
ret = -ENOTTY;
break;
}
unlock();
return ret;
}
// set_mode_to_default - restores the mode to it's default mode held in the MNT_MODE parameter
// this operation requires 230us on an APM2, 60us on a Pixhawk/PX4
void AP_Mount::set_mode_to_default(uint8_t instance)
{
set_mode(instance, (enum MAV_MOUNT_MODE)state[instance]._default_mode.get());
}
main() {
bool flat = false;
//int *low, *high;
vector_t light;
surface_t screen;
// this is a vector buffer, for the transformations
// our only object have 5 vertexes, but we'll make space for 32 anyway
vector_t *pbuffer;
// off-screen surface buffer
//u_char* sbuffer = (u_char*)malloc(MODE2_MAX);
// our solid :)
object_t triangle;
heapinit (HPSIZE);
pbuffer = newa(vector_t, 32);
triangle.mesh = build_mesh();
triangle.rot_x = triangle.rot_y = triangle.rot_z = 0;
triangle.trans_x = triangle.trans_y = 0;
triangle.trans_z = i2f(30); // remember: we are using fixed-point numbers
screen.data.ram = sbuffer;
// polygon rendering buffers
//low = newa(int, MODE2_HEIGHT);
//high = newa(int, MODE2_HEIGHT);
// light source
light.x = light.y = light.z = i2f(1);
vector_normalize(&light, &light);
printf("spinning solid demo\n\n");
printf("instructions:\n press [UP] to toggle flat shading\n\n");
printf("creating look-up tables, please wait\n");
create_lookup_tables();
// set screen to graphic mode
set_color(15, 1, 1);
set_mode(mode_2);
fill(MODE2_ATTR, 0xF1, MODE2_MAX);
//surface_line(&screen, 0, 0, 0, 0); // FIXME: won't compile without this crap
while (!get_trigger(0)) {
if (get_stick(0) == 1)
flat = !flat;
// rotate a bit
triangle.rot_y += 2;
triangle.rot_x += 3;
triangle.rot_z += 1;
// clear the off-screen buffer
memset(sbuffer, 0, MODE2_MAX); // [*]
//surface_line(screen, 0, 0, 10, 10);
// render the object
if (flat)
//object_render_flatshading(&screen, &triangle, pbuffer, low, high, &light);
object_render_flatshading(&screen, &triangle, pbuffer, stencil, &light);
else
object_render_wireframe(&screen, &triangle, pbuffer);
// show the off-screen buffer
//vwrite(screen.data.ram, 0, MODE2_MAX); // [*]
msx_vwrite_direct(screen.data.ram, 0, MODE2_MAX);
// [*] FIXME: there will be better ways of doing this (soon)
}
// go back to text mode
set_mode(mode_0);
// deallocate stuff
mesh_delete(triangle.mesh);
//free(sbuffer);
//free(low);
//free(high);
//destroy_lookup_tables();
}
void t5()
{
int BAUD=4800;
char *TEXT=
"\n\
Now is the winter of our discontent\n\
Made glorious summer by this sun of York;\n\
And all the clouds that lour'd upon our house\n\
In the deep bosom of the ocean buried.\n\
Now are our brows bound with victorious wreaths;\n\
Our bruised arms hung up for monuments;\n\
Our stern alarums changed to merry meetings,\n\
Our dreadful marches to delightful measures.\n\
Grim-visaged war hath smooth'd his wrinkled front;\n\
And now, instead of mounting barded steeds\n\
To fright the souls of fearful adversaries,\n\
He capers nimbly in a lady's chamber\n\
To the lascivious pleasing of a lute.\n\
";
gpioPulse_t wf[] =
{
{1<<GPIO, 0, 10000},
{0, 1<<GPIO, 30000},
{1<<GPIO, 0, 60000},
{0, 1<<GPIO, 100000},
};
int e, oc, c;
char text[2048];
printf("Waveforms & serial read/write tests.\n");
callback(GPIO, FALLING_EDGE, t5cbf);
set_mode(GPIO, PI_OUTPUT);
e = wave_clear();
CHECK(5, 1, e, 0, 0, "callback, set mode, wave clear");
e = wave_add_generic(4, wf);
CHECK(5, 2, e, 4, 0, "pulse, wave add generic");
e = wave_tx_repeat();
CHECK(5, 3, e, 9, 0, "wave tx repeat");
oc = t5_count;
time_sleep(5);
c = t5_count - oc;
CHECK(5, 4, c, 50, 1, "callback");
e = wave_tx_stop();
CHECK(5, 5, e, 0, 0, "wave tx stop");
e = serial_read_open(GPIO, BAUD);
CHECK(5, 6, e, 0, 0, "serial read open");
wave_clear();
e = wave_add_serial(GPIO, BAUD, 5000000, strlen(TEXT), TEXT);
CHECK(5, 7, e, 3405, 0, "wave clear, wave add serial");
e = wave_tx_start();
CHECK(5, 8, e, 6811, 0, "wave tx start");
oc = t5_count;
time_sleep(3);
c = t5_count - oc;
CHECK(5, 9, c, 0, 0, "callback");
oc = t5_count;
while (wave_tx_busy()) time_sleep(0.1);
time_sleep(0.1);
c = t5_count - oc;
CHECK(5, 10, c, 1702, 0, "wave tx busy, callback");
c = serial_read(GPIO, text, sizeof(text)-1);
if (c > 0) text[c] = 0; /* null terminate string */
CHECK(5, 11, strcmp(TEXT, text), 0, 0, "wave tx busy, serial read");
e = serial_read_close(GPIO);
CHECK(5, 12, e, 0, 0, "serial read close");
c = wave_get_micros();
CHECK(5, 13, c, 6158704, 0, "wave get micros");
c = wave_get_high_micros();
CHECK(5, 14, c, 6158704, 0, "wave get high micros");
c = wave_get_max_micros();
CHECK(5, 15, c, 1800000000, 0, "wave get max micros");
c = wave_get_pulses();
CHECK(5, 16, c, 3405, 0, "wave get pulses");
c = wave_get_high_pulses();
CHECK(5, 17, c, 3405, 0, "wave get high pulses");
c = wave_get_max_pulses();
CHECK(5, 18, c, 12000, 0, "wave get max pulses");
c = wave_get_cbs();
CHECK(5, 19, c, 6810, 0, "wave get cbs");
c = wave_get_high_cbs();
CHECK(5, 20, c, 6810, 0, "wave get high cbs");
c = wave_get_max_cbs();
CHECK(5, 21, c, 25016, 0, "wave get max cbs");
}
// auto_land_run - lands in auto mode
// called by auto_run at 100hz or more
void Copter::auto_land_run()
{
int16_t roll_control = 0, pitch_control = 0;
float target_yaw_rate = 0;
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors.armed() || !ap.auto_armed || ap.land_complete) {
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
// set target to current position
wp_nav.init_loiter_target();
return;
}
// relax loiter targets if we might be landed
if (ap.land_complete_maybe) {
wp_nav.loiter_soften_for_landing();
}
// process pilot's input
if (!failsafe.radio) {
if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
// exit land if throttle is high
if (!set_mode(LOITER)) {
set_mode(ALT_HOLD);
}
}
if (g.land_repositioning) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// process pilot's roll and pitch input
roll_control = channel_roll->control_in;
pitch_control = channel_pitch->control_in;
}
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
}
// set motors to full range
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// process roll, pitch inputs
wp_nav.set_pilot_desired_acceleration(roll_control, pitch_control);
// run loiter controller
wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
// call z-axis position controller
float cmb_rate = get_land_descent_speed();
pos_control.set_alt_target_from_climb_rate(cmb_rate, G_Dt, true);
pos_control.update_z_controller();
// record desired climb rate for logging
desired_climb_rate = cmb_rate;
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
}
void *main_thread( void )
{
unsigned int i, j, frame = 0, bgColor = 230, counter = 0, cycleOn = 0;
set_mode( VGA_MODE );
//Initialization
initialize_keyboardISR( );
intro( );
xvideo_rect_fill( 0, 0, SCREEN_WIDTH - 1, SCREEN_HEIGHT - 1, bgColor );
while( 1 ) {
if( getKey( ) != 0 ) cycleOn = !cycleOn;
xvideo_rect_fill( 144, 84, 176, 116, bgColor );
switch( frame ) {
case 0:
xvideo_put_trans_image( 144, 84, 0x6B, "run1" );
break;
case 1:
xvideo_put_trans_image( 144, 84, 0x6B, "run2" );
break;
case 2:
xvideo_put_trans_image( 144, 84, 0x6B, "run3" );
break;
case 3:
xvideo_put_trans_image( 144, 84, 0x6B, "run4" );
break;
case 4:
xvideo_put_trans_image( 144, 84, 0x6B, "run5" );
break;
case 5:
xvideo_put_trans_image( 144, 84, 0x6B, "run6" );
break;
case 6:
xvideo_put_trans_image( 144, 84, 0x6B, "run7" );
break;
case 7:
xvideo_put_trans_image( 144, 84, 0x6B, "run8" );
break;
}
frame++;
if( frame > 7 ) frame = 0;
//Delay
for( i = 0; i < 4000; i++ ) {
for( j = 0; j < 5000; j++ ) { }
}
if( cycleOn ) {
counter++;
if( counter == 16 ) {
counter = 0;
bgColor++;
if( bgColor > 255 ) {
bgColor = 230;
}
xvideo_rect_fill( 0, 0, SCREEN_WIDTH - 1, SCREEN_HEIGHT - 1, bgColor );
}
}
}
return NULL;
}
/*
update navigation for landing. Called when on landing approach or
final flare
*/
bool Plane::verify_land()
{
// we don't 'verify' landing in the sense that it never completes,
// so we don't verify command completion. Instead we use this to
// adjust final landing parameters
// when aborting a landing, mimic the verify_takeoff with steering hold. Once
// the altitude has been reached, restart the landing sequence
if (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_ABORT) {
throttle_suppressed = false;
auto_state.land_complete = false;
auto_state.land_pre_flare = false;
nav_controller->update_heading_hold(get_bearing_cd(prev_WP_loc, next_WP_loc));
// see if we have reached abort altitude
if (adjusted_relative_altitude_cm() > auto_state.takeoff_altitude_rel_cm) {
next_WP_loc = current_loc;
mission.stop();
bool success = restart_landing_sequence();
mission.resume();
if (!success) {
// on a restart failure lets RTL or else the plane may fly away with nowhere to go!
set_mode(RTL, MODE_REASON_MISSION_END);
}
// make sure to return false so it leaves the mission index alone
}
return false;
}
float height = height_above_target();
// use rangefinder to correct if possible
height -= rangefinder_correction();
/* Set land_complete (which starts the flare) under 3 conditions:
1) we are within LAND_FLARE_ALT meters of the landing altitude
2) we are within LAND_FLARE_SEC of the landing point vertically
by the calculated sink rate (if LAND_FLARE_SEC != 0)
3) we have gone past the landing point and don't have
rangefinder data (to prevent us keeping throttle on
after landing if we've had positive baro drift)
*/
#if RANGEFINDER_ENABLED == ENABLED
bool rangefinder_in_range = rangefinder_state.in_range;
#else
bool rangefinder_in_range = false;
#endif
// flare check:
// 1) below flare alt/sec requires approach stage check because if sec/alt are set too
// large, and we're on a hard turn to line up for approach, we'll prematurely flare by
// skipping approach phase and the extreme roll limits will make it hard to line up with runway
// 2) passed land point and don't have an accurate AGL
// 3) probably crashed (ensures motor gets turned off)
bool on_approach_stage = (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH ||
flight_stage == AP_SpdHgtControl::FLIGHT_LAND_PREFLARE);
bool below_flare_alt = (height <= g.land_flare_alt);
bool below_flare_sec = (aparm.land_flare_sec > 0 && height <= auto_state.sink_rate * aparm.land_flare_sec);
bool probably_crashed = (g.crash_detection_enable && fabsf(auto_state.sink_rate) < 0.2f && !is_flying());
if ((on_approach_stage && below_flare_alt) ||
(on_approach_stage && below_flare_sec && (auto_state.wp_proportion > 0.5)) ||
(!rangefinder_in_range && auto_state.wp_proportion >= 1) ||
probably_crashed) {
if (!auto_state.land_complete) {
auto_state.post_landing_stats = true;
if (!is_flying() && (millis()-auto_state.last_flying_ms) > 3000) {
gcs_send_text_fmt(MAV_SEVERITY_CRITICAL, "Flare crash detected: speed=%.1f", (double)gps.ground_speed());
} else {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Flare %.1fm sink=%.2f speed=%.1f dist=%.1f",
(double)height, (double)auto_state.sink_rate,
(double)gps.ground_speed(),
(double)get_distance(current_loc, next_WP_loc));
}
auto_state.land_complete = true;
update_flight_stage();
}
if (gps.ground_speed() < 3) {
// reload any airspeed or groundspeed parameters that may have
// been set for landing. We don't do this till ground
// speed drops below 3.0 m/s as otherwise we will change
// target speeds too early.
g.airspeed_cruise_cm.load();
g.min_gndspeed_cm.load();
aparm.throttle_cruise.load();
}
} else if (!auto_state.land_complete && !auto_state.land_pre_flare && aparm.land_pre_flare_airspeed > 0) {
bool reached_pre_flare_alt = g.land_pre_flare_alt > 0 && (height <= g.land_pre_flare_alt);
bool reached_pre_flare_sec = g.land_pre_flare_sec > 0 && (height <= auto_state.sink_rate * g.land_pre_flare_sec);
if (reached_pre_flare_alt || reached_pre_flare_sec) {
auto_state.land_pre_flare = true;
update_flight_stage();
}
}
/*
when landing we keep the L1 navigation waypoint 200m ahead. This
prevents sudden turns if we overshoot the landing point
*/
struct Location land_WP_loc = next_WP_loc;
int32_t land_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc);
location_update(land_WP_loc,
land_bearing_cd*0.01f,
get_distance(prev_WP_loc, current_loc) + 200);
nav_controller->update_waypoint(prev_WP_loc, land_WP_loc);
// once landed and stationary, post some statistics
// this is done before disarm_if_autoland_complete() so that it happens on the next loop after the disarm
if (auto_state.post_landing_stats && !arming.is_armed()) {
auto_state.post_landing_stats = false;
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Distance from LAND point=%.2fm", (double)get_distance(current_loc, next_WP_loc));
}
// check if we should auto-disarm after a confirmed landing
disarm_if_autoland_complete();
/*
we return false as a landing mission item never completes
we stay on this waypoint unless the GCS commands us to change
mission item, reset the mission, command a go-around or finish
a land_abort procedure.
*/
return false;
}
int
sc_set_text_mode(scr_stat *scp, struct tty *tp, int mode, int xsize, int ysize,
int fontsize, int fontwidth)
{
video_info_t info;
u_char *font;
int prev_ysize;
int error;
int s;
if (vidd_get_info(scp->sc->adp, mode, &info))
return ENODEV;
/* adjust argument values */
if (fontwidth <= 0)
fontwidth = info.vi_cwidth;
if (fontsize <= 0)
fontsize = info.vi_cheight;
if (fontsize < 14)
fontsize = 8;
else if (fontsize >= 16)
fontsize = 16;
else
fontsize = 14;
#ifndef SC_NO_FONT_LOADING
switch (fontsize) {
case 8:
if ((scp->sc->fonts_loaded & FONT_8) == 0)
return (EINVAL);
font = scp->sc->font_8;
break;
case 14:
if ((scp->sc->fonts_loaded & FONT_14) == 0)
return (EINVAL);
font = scp->sc->font_14;
break;
case 16:
if ((scp->sc->fonts_loaded & FONT_16) == 0)
return (EINVAL);
font = scp->sc->font_16;
break;
}
#else
font = NULL;
#endif
if ((xsize <= 0) || (xsize > info.vi_width))
xsize = info.vi_width;
if ((ysize <= 0) || (ysize > info.vi_height))
ysize = info.vi_height;
/* stop screen saver, etc */
s = spltty();
if ((error = sc_clean_up(scp))) {
splx(s);
return error;
}
if (sc_render_match(scp, scp->sc->adp->va_name, 0) == NULL) {
splx(s);
return ENODEV;
}
/* set up scp */
#ifndef SC_NO_HISTORY
if (scp->history != NULL)
sc_hist_save(scp);
#endif
prev_ysize = scp->ysize;
/*
* This is a kludge to fend off scrn_update() while we
* muck around with scp. XXX
*/
scp->status |= UNKNOWN_MODE | MOUSE_HIDDEN;
scp->status &= ~(GRAPHICS_MODE | PIXEL_MODE | MOUSE_VISIBLE);
scp->mode = mode;
scp->xsize = xsize;
scp->ysize = ysize;
scp->xoff = 0;
scp->yoff = 0;
scp->xpixel = scp->xsize*8;
scp->ypixel = scp->ysize*fontsize;
scp->font = font;
scp->font_size = fontsize;
scp->font_width = fontwidth;
/* allocate buffers */
sc_alloc_scr_buffer(scp, TRUE, TRUE);
sc_init_emulator(scp, NULL);
#ifndef SC_NO_CUTPASTE
sc_alloc_cut_buffer(scp, FALSE);
#endif
#ifndef SC_NO_HISTORY
sc_alloc_history_buffer(scp, 0, prev_ysize, FALSE);
#endif
splx(s);
if (scp == scp->sc->cur_scp)
set_mode(scp);
scp->status &= ~UNKNOWN_MODE;
if (tp == NULL)
return 0;
DPRINTF(5, ("ws_*size (%d,%d), size (%d,%d)\n",
tp->t_winsize.ws_col, tp->t_winsize.ws_row, scp->xsize, scp->ysize));
if (tp->t_winsize.ws_col != scp->xsize
|| tp->t_winsize.ws_row != scp->ysize) {
tp->t_winsize.ws_col = scp->xsize;
tp->t_winsize.ws_row = scp->ysize;
tty_signal_pgrp(tp, SIGWINCH);
}
return 0;
}