Diff: Nunchuk.cpp

Revision:

1:a74e42cf52b2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Nunchuk.cpp	Sun Apr 05 13:54:48 2015 +0000
@@ -0,0 +1,173 @@
+#include "Nunchuk.h"
+
+Nunchuk::Nunchuk(PinName sda,PinName scl,float mTe):myI2C(sda,scl)
+{
+    periodeTe=mTe;
+    myI2C.frequency(100000);
+
+    this->joyX=0x00;
+    this->joyY=0x00;
+    this->accX=0;
+    this->accY=0;
+    this->accZ=0;
+    this->btnC=false;
+    this->btnZ=false;
+
+    setup();
+
+    if(periodeTe>0)
+        myTicker.attach(this,&Nunchuk::process,periodeTe);
+}
+//-----------------------
+Nunchuk::~Nunchuk(void)
+{
+    if(periodeTe>0)
+        myTicker.detach();
+}
+//-----------------------
+void Nunchuk::process(void)
+{
+    bool res=false;
+    static char datas[6];
+
+    int i=0;
+
+    res=request();  //demande une mesure
+    if(res==false) {
+        return ;   //pb
+    }
+
+    if(myI2C.read(ADRESSE,datas,6)==0) {
+        res=true;
+
+        for(i=0; i<6; i++) {
+            datas[i]=decode(datas[i]);
+        }
+
+        //
+        if(datas[0] < 100)
+            joyX=-1;
+        else if(datas[0] >200)
+            joyX=1;
+        else
+            joyX=0;
+        //
+        if(datas[1] <100)
+            joyY=-1;
+        else if(datas[1] >140)
+            joyY=1;
+        else
+            joyY=0;
+        //
+        accX=datas[2]<<2;
+        accY=datas[3]<<2;
+        accZ=datas[4]<<2;
+
+        //btnZ
+        if(datas[5] & 0x01)
+            btnZ=false;
+        else
+            btnZ=true;
+
+
+        //btnC
+        if(datas[5]& 0x02)
+            btnC=false;
+        else
+            btnC=true;
+
+        accX+=(datas[5]>>2) & 0x0003;
+        accY+=(datas[5]>>4) & 0x0003;
+        accZ+=(datas[5]>>6) & 0x0003;
+
+
+    } else {
+        res=false;
+        joyX=0;
+        joyY=0;
+
+        accX=0;
+        accY=0;
+        accZ=0;
+        btnZ=false;
+        btnC=false;
+    }
+
+}
+//-----------------------
+bool Nunchuk::setup(void)
+{
+    char cmd[2];
+    bool res=false;
+
+    cmd[0]=0x40;
+    cmd[1]=0x00;
+
+    if(myI2C.write(ADRESSE,cmd,2)==0) {
+        res=true;
+    } else {
+        res=false;
+    }
+    return res;
+}
+//----------------------------
+bool Nunchuk::request(void)
+{
+    bool res=false;
+    char cmd[1]= {0x00};
+
+    if(myI2C.write(ADRESSE,cmd,1)==0) {
+        res=true;
+        wait(0.001);
+
+    } else {
+        res=false;
+    }
+
+    return res;
+}
+//-----------------------------
+float Nunchuk::getPeriodeTe(void)
+{
+    return periodeTe;
+}
+//-----------------------------
+char Nunchuk::decode(char data)
+{
+    return (data^0x17)+0x17;
+}
+//------------------------------
+signed char Nunchuk::getJoyX(void)
+{
+    return joyX;
+}
+//-------------------------------
+signed char Nunchuk::getJoyY(void)
+{
+    return joyY;
+}
+//--------------------------------
+int Nunchuk::getAccX(void)
+{
+    return accX;
+}
+//------------------------------
+int Nunchuk::getAccY(void)
+{
+    return accY;
+}
+//----------------------------
+int Nunchuk::getAccZ(void)
+{
+    return accZ;
+}
+//-----------------------------
+bool Nunchuk::getBtnC(void)
+{
+    return btnC;
+}
+//-------------------------------
+bool Nunchuk::getBtnZ(void)
+{
+    return btnZ;
+}
\ No newline at end of file