📄 birdmain.c
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/****************************************************************************
*****************************************************************************
birdmain.c - Bird Talk Main
The Bird(tm) position and orientation measurement system is controled
via a serial RS232 communication link. This program allows the user
to 'experiment' with the Bird by selecting control commands from a
rudimentary menuing system. After becoming familiar with the commands
the user can CUT and PASTE code from the source files listed below for
use in their own application.
written for: Ascension Technology Corporation
PO Box 527
Burlington, Vermont 05402
802-655-7879
written by: Jeff Finkelstein
Modification History:
10/18/90 jf - released
11/5/90 jf - removed the 'Q' and the 'M' command from the Bird
initialization
11/6/90 jf - added new commands to mainmenu[]
2/20/91 jf - moved initialization of factory test to
birdloadconfig in BIRDCMDS.c
4/23/91 jf - removed ltoa() for NON-DOS applications
4/24/91 jf - added initconsole and restoreconsole routines
for UNIX platforms
4/29/91 jf - renamed birdpositionand.. to birdposand..
5/20/91 jf - add revision to Menu Header
6/18/91 jf - added FOB baudrate selections
8/19/91 jf - updated for prelimary release 3.0
9/14/91 jf - updated fob.c..release 3.01
9/16/91 jf - removed configuration menu..release 3.02
10/18/91 jf - max measurement rate changed to 144..release 3.03
11/1/91 jf - added chg/exm alpha max, glitch checking ..
release 3.04
11/7/91 jf - added exm model ..rev 3.05
11/28/91 eb - main menu item 0 changed to quit to DOS
1/3/92 jf - revised to revision ..rev 3.06
jf - fixed button mode shutting off problem
3/23/92 jf - modified alpha min/max to tables
3/27/92 jf - added rs232 to fbb command
4/7/92 jf - added set xmtr type ..rev 3.07
mo - added new output modes "Quaternions"
4/20/92 and "Position/Quaternions"
5/5/92 jf - added system test menu selection ..rev 3.08
6/1/92 jf - updated examine value for new status
definitions ..rev 3.09
10/12/92 jf - modified printmatrix..rev 3.10
11/3/92 jf - updated for UNIX compatibility ..rev 3.11
12/5/92 jf - fixed bug in serpcpl getserialrecord which
caused data errors.. rev 3.12
12/22/92 jf - updated for Platform compatibility.. rev 3.13
1/13/93 jf - serial_init now displays the comport name to
to be used
1/27/93 jf - merged with MULTI232 for RS232 to FBB command
and Group Data Command Display
1/31/93 jf - ..rev 3.14 pre release
2/23/93 jf - updated for 3.14 release
Now, Max RS232 to FBB Data selection is only
available with the FACTORYTESTS compile switch
3/22/93 jf - added note to expanded error message
..rev 3.15
7/7/93 jf - updated to allow button display from multiple
devices .. rev 3.16
10/21/93 jf - added code to redirect the IRQ 0 (PC TIMER) to
our own handler, thereby controlling the interrupt
latency. This allows a DOS Protected Mode
Compiler (DPMC) to NOT swith into real mode
when the IRQ0 occurs. This revision works
with the MetaWare HIGH C compiler and the
PHARLAP DOS Extender 386...rev 3.17
5/23/94 sw - added BIRD SYSTEM STATUS check for extended/normal
address mode (in Examine Value)
- Added XYZ Reference Frame in Examine Value and Change
Value command menu.
- Corrected Vm and Alpha_m range tables
6/23/94 sw - corrected lockout on no device on comport by
ingaging interupt handler through all of program.
- Changed rev number on main screen to 3.18
- Factory test of comport speed now works
9/22/94 sw - Corrected PCTIMER loop error which lead to lockup
on exit of program sometimes.
- Corrected "Exteneded" to "Expanded" address mode
- Changed rev number to reflect changes.
5/11/95 sw - Address mode is only checked in examine value if
user selects a command that will require that information.
- Change rev number to reflect change.
<<<< Copyright 1991 Ascension Technology Corporation >>>>
*****************************************************************************
****************************************************************************/
#include <stdio.h> /* general I/O */
#include <stdlib.h> /* for exit() */
#include <math.h> /* float math */
#include "asctech.h" /* Ascension Technology definitions */
#include "compiler.h" /* Compiler Specific Header */
#include "menu.h" /* Ascension Technology Menu Routines */
#include "serial.h" /* Ascension Technology Serial Port Routines */
#include "birdcmds.h" /* Bird Commands */
#include "rstofbb.h" /* RS232 to FBB Command Info */
#include "cmdutil.h"
#include "pctimer.h" /* Used to take over IRQ0 (PC TIMER) */
#include "birdmain.h" /* Prototypes for this file */
/*
Define Filename Globals
*/
char datafilename[81] = "BIRDDATA.dat"; /* default filename */
FILE * datafilestream;
extern unsigned char displaymultidataflg;
extern unsigned char displayliststartaddr;
extern unsigned char displayliststopaddr;
extern unsigned char fbbsystemstatus[];
#ifdef HIGHC
void save_ds(void);
#endif
/*
main - Main Program
Prototype in: no prototype...called by C startup Code
Parameters Passed: void
Return Value: 0 if exited OK
-1 if exited with an error
Remarks: The main routine called by the C startup code contains
the Bird initialization and the main menu selection.
The routine initializes the serial port to COM1 at
9600 baud by default. Default factory addresses are
also initialized prior to prompting the user with
the menu selections.
*/
int main()
{
/*
Declare the Main Menu
*/
short exitflag = FALSE; /* exit flag */
short buttonmode = 0; /* holds the buttonmode, 0=manual, 1=send always */
short tempbuttonmode; /* temp value of buttonmode */
unsigned char datamode = POSANGLE; /* default data mode */
short user_sel;
static char * mainmenuhdr =
"****************************************************************************\n\r\
* ASCENSION TECHNOLOGY CORPORATION - Bird Main Menu Revision 3.21 *\n\r\
****************************************************************************\n\r";
static char * mainmenuptr[] =
{"Main Menu Selections:",
"Quit to DOS",
"Position",
"Angles",
"Matrix",
"Quaternions",
"Position/Angles",
"Position/Matrix",
"Position/Quaternions",
"Angle Align",
"Hemisphere",
"Reference Frame",
"Report Rate",
"Sleep/Wakeup",
"Mouse Buttons",
"XON/XOFF",
"Change Value",
"Examine Value",
"Syncronization",
"FBB Next Master",
"FBB Next Transmitter",
"Data Display List Address Init",
"RS232 to FBB Address Init",
"Set Transmitter Type",
"Serial Port Configuration",
"System Tests"};
#ifdef DOS /* Redirect IRQ 0 to our own handler */
pctimer_init(TICK_MSECS);
#endif
/*
Initialize the Position Conversion Constant
...done here for compatibility with Coherent's Compiler,
which can't evalute POSK36 at compile time
*/
posk = POSK36;
/*
Initialize the Console Into Raw Mode..
..for Menuing Compatibility under UNIX
*/
if (!initconsole())
exit(-1);
#ifdef HIGHC
save_ds(); /* save DS for interrupt handler */
#endif
/*
Call Serial Init in Case the user want COM2 or a different Baud Rate
*/
if (!serialinit())
{
printf("** ERROR ** could not initialize the serial port\n\r");
restoreconsole();
exit(-1);
}
while (!exitflag)
{
sendmenuhdr(mainmenuhdr);
/*
Clear the Receiver
*/
clear_rx();
/*
Send the first screen
*/
switch (user_sel = sendmenu(mainmenuptr,25))
{
case ESC_SEL:
break;
case 0: /* Quit */
if (askyesno("Are you sure you want to quit") == YES)
exitflag = TRUE;
break;
/* Pos/Orientation Output modes */
case 1: /* Position */
case 2: /* Angles */
case 3: /* Matrix */
case 4: /* Quaternions */
case 5: /* Position/Angles */
case 6: /* Position/Matrix */
case 7: /* Position/Quaternions */
/*
Set the Proper Data Mode
*/
switch(user_sel)
{
case 1:
datamode = POS;
break;
case 2:
datamode = ANGLE;
break;
case 3:
datamode = MATRIX;
break;
case 4:
datamode = QUATER;
break;
case 5:
datamode = POSANGLE;
break;
case 6:
datamode = POSMATRIX;
break;
case 7:
datamode = POSQUATER;
break;
}
/*
Get the Data from the Bird
*/
getbirddata(datamode,buttonmode);
break;
case 8: /* Angle Align */
bird_anglealign();
break;
case 9: /* Hemisphere */
bird_hemisphere();
break;
case 10: /* Reference Frame */
bird_referframe();
break;
case 11 : /* Report Rate */
bird_reportrate();
break;
case 12: /* Sleep/Wakeup */
bird_sleepwake();
break;
case 13: /* Mouse Buttons */
if (!((tempbuttonmode = bird_mousebuttons()) == ESC_SEL))
buttonmode = tempbuttonmode;
break;
case 14: /* XON-XOFF */
bird_xonxoff();
break;
case 15: /* Change Value */
bird_changevalue();
break;
case 16: /* Examine Value */
bird_examinevalue();
break;
case 17: /* CRT Synchronization */
bird_crtsync();
break;
case 18: /* Next Master Command */
nextmastercmd();
break;
case 19: /* Next Transmitter Command */
nextxmtrcmd();
break;
case 20: /* Display List Initialization */
displistinit();
break;
case 21: /* RS232 to FBB Pass Through Command */
rs232tofbbcmd();
break;
case 22: /* Flock/ER XMTR */
setxmtrtype();
break;
case 23 : /* Serial configuration */
if (!serialinit())
return(FALSE);
break;
case 24: /* System Tests */
alltests();
break;
}
}
/*
Close the Data file if already open
*/
if (datafilestream)
fclose(datafilestream);
/*
Restore the Serial Configuration
*/
restoreserialconfig();
/*
Restore console Configuration
*/
restoreconsole();
#ifdef DOS /* restore IRQ 0 handler */
pctimer_restore();
#endif
return(0);
}
/*
getbirddata Get Data from the Bird
Prototype in: birdmain.h
Parameters Passed: short outputmode - POINT, CONTINUOUS, STREAM
unsigned char datamode - POS, ANGLE, POSANGLE..
Return Value: int TRUE if test ends normally
int FALSE if failure
int ESC_SEL if user escape
Remarks: set up to collect data from the Bird(s)
*/
int getbirddata(datamode,buttonmode)
unsigned char datamode;
short buttonmode;
{
int retval;
short outputmode; /* POINT, CONTINUOUS, STREAM */
/*
Get the Outputmode from the user
*/
if ((outputmode = get_output_mode()) == ESC_SEL)
return(ESC_SEL); /* If the user Selects ESC
...skip the command */
/*
If NOT in GROUP DATA mode (see change value command)
AND NOT in RS232 to FBB command mode get the data
then get the data using the getsinglebirddata,
else, use the getmultibirddata
*/
if ((fbbgroupdataflg == FALSE) && (displaymultidataflg == FALSE))
retval = (getsinglebirddata(outputmode,datamode,ON,buttonmode));
else
retval = (getmultibirddata(outputmode,datamode,ON,buttonmode));
return(retval);
}
/*
displistinit Display List Initialization
Prototype in: birdmain.h
Parameters Passed: none
Return Value: TRUE if start/stop address set
FALSE if not set
ESC_SEL if the user selects ESCAPE
Remarks: setsup the display list Start and Stop Addresses
*/
int displistinit()
{
#ifdef SINGLEBIRDOPER
int answer;
#endif
/*
Ask the user if they want to use Display Data from Multiple Devices
*/
if (!fbbgroupdataflg)
{
printf ("\n\rThe Display List is used for display of data from Multiple 6DFOBs and\n\rhas no effect when the FBB Group Mode is enabled...\n\r");
#ifdef SINGLEBIRDOPER
if ((answer = askyesno("\n\rDo you want enable display of data from Multiple 6DFOBs")) == ESC_SEL)
{
return (ESC_SEL);
}
else
{
/*
Shut off the Command if the user answer NO
*/
if (answer == FALSE)
{
displaymultidataflg = FALSE;
return (FALSE);
}
}
#endif
}
else
{
printf ("\n\rCurrently in FBB Group Mode, therefore, the Display Start\n\rand Stop addresses are determined by AUTO CONFIGURATION\n\r");
hitkeycontinue();
return(TRUE);
}
/*
get the addressing mode
*/
if (getaddrmode() == 0)
return(FALSE);
/*
Get the Destination Addresses
*/
getfbbdestaddress(&displayliststartaddr,&displayliststopaddr);
displaymultidataflg = TRUE;
return(TRUE);
}
/*
alltests All system test functions
Prototype in: birdmain.c
Parameters Passed: void
Return Value: TRUE if test ends normally
FALSE otherwise
Remarks: Puts up a Menu for Test Selection
*/
int alltests()
{
static char * allsystestptr[] = {"Select Test:",
"Return to Main Menu",
"System Factory Tests",
"Max RS232 To FBB Data Rate",
"Noise statistics"};
short testsel;
testsel = sendmenu(allsystestptr,4);
if (testsel < 0 ) return(FALSE);
switch (testsel) {
case 0: /* return to main menu */
return(TRUE);
case 1: /* System factory tests */
systests();
break;
case 2: /* Maximum RS232 to FBB Data Rate */
getmaxrs232tofbbrate();
break;
case 3: /* Noise statistics */
getbirdstatistics();
break;
}
return(TRUE);
}
/*
systests System Tests
Prototype in: birdmain.c
Parameters Passed: void
Return Value: TRUE if test ends normally
FALSE otherwise
Remarks: Puts up a Menu for Test Selection
*/
int systests()
{
static char * systestptr[] = {"Select Test:",
"Return to Main Menu",
"Bird Output Test",
"Bird Echo Test",
"Host Data Read",
"Host Data Read Block"};
static short systestnum[5] = {0,3,5,7,9};
short testsel;
testsel = sendmenu(systestptr,5);
if (testsel > 0) /* Return to Main Menu */
{
/*
Inform the User to Set the DIP switch correctly
*/
printf("** NOTE ** The DIP switch should be set to Test Number: %d\n\r",
systestnum[testsel]);
hitkeycontinue();
switch(testsel)
{
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