Wiichuck.h

00001 /*  
00002       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
00003       Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
00004       Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
00005       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. 
00006 */
00007 #ifndef WIICHUCK_H
00008 #define WIICHUCK_H
00009 #include "mbed.h" // mbed.h lib
00010 
00011 using namespace std;
00012 #include <vector>
00013 #include <string>
00014 #include <cstdio>
00015 #include <cstdarg>
00016 
00017 #define DEVICE_NUNCHUCK             0x0000
00018 #define DEVICE_CLASSIC              0x0101
00019 #define DEVICE_INACT_WMP            0x0005
00020 #define DEVICE_WMP                  0x0405
00021 #define DEVICE_WMP_NUNCHUCK         0x0505
00022 #define DEVICE_WMP_CLASSIC          0x0705
00023 
00024 #define WIICHUCK                    0xA4
00025 
00026 class Wiichuck {
00027 public:
00028     Wiichuck(PinName sda, PinName scl, int frequency = 10000){
00029         this->i2c_mine = true;
00030 
00031         this->i2c = new mbed::I2C(sda, scl);   
00032         this->i2c->frequency(frequency);
00033     }
00034 
00035     Wiichuck(I2C* i2c){
00036         this->i2c_mine = false;
00037 
00038         this->i2c = i2c;
00039     }
00040 
00041     ~Wiichuck(){
00042         if(this->i2c_mine)
00043             delete this->i2c;
00044     }
00045 
00046     void init_device(){
00047         char cmd[2];
00048         data_ready = false;
00049 
00050         cmd[0] = 0xF0; // first two writes are a magic init sequence
00051         cmd[1] = 0x55;
00052         this->i2c->write(WIICHUCK, cmd, 2);
00053         wait_ms(10);
00054         cmd[0] = 0xFB;
00055         cmd[1] = 0x00;
00056         this->i2c->write(WIICHUCK, cmd, 2);
00057         wait_ms(10);
00058         cmd[0] = 0xFA; // read out the device type
00059         this->i2c->write(WIICHUCK, cmd, 1, false);
00060         int res = this->i2c->read(WIICHUCK, data_buf, 6);
00061         cmd[0] = 0x00; // request first sensor readings
00062         this->i2c->write(WIICHUCK, cmd, 1);
00063         if(res == 0 && data_buf[2] == 0xA4){
00064             device_type = (data_buf[4] << 8) + data_buf[5];
00065         }else{
00066             device_type = -1;
00067         }
00068     }
00069 
00070     void poll_device() {
00071         data_ready = false;
00072         if(device_type < 0) {
00073             init_device();
00074             wait_ms(100);
00075         }
00076         // if there is a connected device read it and if it responds right parse the data
00077         if(device_type >= 0 && read_device() == 0) {
00078             switch(device_type) {
00079             case DEVICE_NUNCHUCK:       parse_nunchuck(); break;
00080             case DEVICE_CLASSIC:        parse_classic(); break;
00081             case DEVICE_INACT_WMP:      init_wmp(); break;
00082             case DEVICE_WMP:            parse_wmp(); break;
00083             default:
00084                 break;
00085             }
00086         }
00087     }
00088 
00089     int read_device() {
00090         char cmd = 0x00;
00091         int res = this->i2c->read(WIICHUCK, data_buf, 6); // read sensors
00092         this->i2c->write(WIICHUCK, &cmd, 1); // request next sensor readings
00093         return res;
00094     }
00095 
00096     void parse_nunchuck() {
00097         SX = data_buf[0];
00098         SY = data_buf[1];
00099         AX = (data_buf[2] << 2) + ((data_buf[5] >> 2) & 0x03);
00100         AY = (data_buf[3] << 2) + ((data_buf[5] >> 4) & 0x03);
00101         AZ = (data_buf[5] << 2) + ((data_buf[5] >> 6) & 0x03);
00102         BC = (data_buf[5] >> 1) & 0x01;
00103         BZ = data_buf[5] & 0x01;
00104         data_ready = true;
00105     }
00106 
00107     void parse_classic() {
00108         LX = data_buf[0] << 2;
00109         LY = data_buf[1] << 2;
00110         RX = (data_buf[0] & 0xC0) + ((data_buf[1] & 0xC0) >> 2) + ((data_buf[2] & 0x80) >> 4);
00111         RY = data_buf[2] << 3;
00112         LT = ((data_buf[2] & 0x60) << 1) + ((data_buf[3] & 0xE0) >> 2);
00113         RT = data_buf[3] << 3;
00114         BDU = data_buf[5] & 0x01;
00115         BDD = (data_buf[4] >> 6) & 0x01;
00116         BDL = (data_buf[5] >> 1) & 0x01;
00117         BDR = (data_buf[4] >> 7) & 0x01;
00118         BLT = (data_buf[4] >> 5) & 0x01;
00119         BRT = (data_buf[4] >> 1) & 0x01;
00120         BH  = (data_buf[4] >> 3) & 0x01;
00121         BP  = (data_buf[4] >> 2) & 0x01;
00122         BM  = (data_buf[4] >> 4) & 0x01;
00123         BA  = (data_buf[5] >> 4) & 0x01;
00124         BB  = (data_buf[5] >> 6) & 0x01;
00125         BX  = (data_buf[5] >> 3) & 0x01;
00126         BY  = (data_buf[5] >> 5) & 0x01;
00127         BZL = (data_buf[5] >> 7) & 0x01;
00128         BZR = (data_buf[5] >> 2) & 0x01;
00129         data_ready = true;
00130     }
00131 
00132     void init_wmp() {
00133     }
00134 
00135     void activate_wmp() {
00136     }
00137 
00138     void deactivate_wmp() {
00139     }
00140 
00141     void parse_wmp() {
00142     }
00143 
00144     char* get_raw() {
00145         return data_buf;
00146     }
00147 
00148     // nunchuck input state variables
00149     char SX,SY;               // 8-bit joystick
00150     short AX,AY,AZ;           // 10-bit accelerometer
00151     bool BC,BZ;               // buttons
00152 
00153     // classic input state variables
00154     char LX,LY,RX,RY,LT,RT;   // 6-bit left joystick, 5-bit right joystick and triggers
00155     bool BDU,BDD,BDL,BDR;     // d-pad buttons
00156     bool BLT,BRT;             // digital click of triggers
00157     bool BH,BP,BM;            // home, plus, minus buttons
00158     bool BA,BB,BX,BY,BZL,BZR; // buttons
00159 
00160     bool i2c_mine;
00161     bool data_ready = false;
00162     char data_buf[6];
00163     int device_type = -1;
00164     mbed::I2C* i2c;
00165 };
00166 
00167 
00168 #endif // WIICHUCK_H
00169