WiiChuck.h

00001 /*
00002  * Copyright (c) 2011 Greg Brush
00003  * Portions copyright (C) 2014 Clark Scheff
00004  *
00005  * Permission is hereby granted, free of charge, to any person obtaining a copy
00006  * of this software and associated documentation files (the "Software"), to deal
00007  * in the Software without restriction, including without limitation the rights
00008  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00009  * copies of the Software, and to permit persons to whom the Software is
00010  * furnished to do so, subject to the following conditions:
00011  *
00012  * The above copyright notice and this permission notice shall be included in
00013  * all copies or substantial portions of the Software.
00014  *
00015  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00016  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00017  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00018  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00019  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00020  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00021  * THE SOFTWARE.
00022  *
00023  * This code based on:
00024  *  WiiChuck
00025  *  http://mbed.org/users/FrankWeissenborn/libraries/WiiChuck/lnae1a
00026  *  2011-03-14
00027  *  New initialization compatible with 3rd party controllers
00028  *
00029  */
00030  
00031 #ifndef __WIICHUCK_H
00032 #define __WIICHUCK_H
00033 
00034 #include "mbed.h"
00035 
00036 #define NUNCHUCK_ADDR           0xA4
00037 #define NUNCHUCK_READLEN        0x06
00038 #define I2C_ACK                 0
00039 #define I2C_READ_DELAY          0.0001
00040 #define I2C_DEFAULT_FREQUENCY   400000
00041 
00042 #define JOY_X_IDX               0
00043 #define JOY_Y_IDX               1
00044 #define ACC_X_IDX               2
00045 #define ACC_Y_IDX               3
00046 #define ACC_Z_IDX               4
00047 #define BUTTON_IDX              5
00048 
00049 /**
00050  * @struct nunchuck_data_s
00051  * @brief Data structure used for holding nunchuck data
00052  * @var joyX Single byte indicating the position of the joystick in the X axis
00053  * @var joyY Single byte indicating the position of the joystick in the Y axis
00054  * @var accX 10-bit value representing the acceleration in the X axis
00055  * @var accY 10-bit value representing the acceleration in the Y axis
00056  * @var accZ 10-bit value representing the acceleration in the Z axis
00057  * @var buttonC Pressed state of the C button
00058  * @var buttonZ Pressed state of the Z button
00059  */
00060 typedef struct nunchuck_data_s {
00061     uint8_t     joyX;
00062     uint8_t     joyY;
00063     uint16_t    accX;
00064     uint16_t    accY;
00065     uint16_t    accZ;
00066     bool        buttonC;
00067     bool        buttonZ;
00068 } nunchuck_data_t;
00069 
00070 /**
00071  * @typedef pt2Func Callback function typedef
00072  */
00073 typedef void(*pt2Func)(nunchuck_data_t*);
00074 
00075 /**
00076  * Class for interfacing with a Wii Nunchuck (including knock offs)
00077  *
00078  * Example:
00079  * @code
00080  * // Continuously read data from the nunchuck
00081  * #include "mbed.h"
00082  * #include "WiiChuck.h"
00083  * 
00084  * WiiChuck nunchuck(PB_9, PB_8);
00085  * 
00086  * int main() {
00087  *     nunchuck_data_t nunchuckData;
00088  *     
00089  *     printf("joyX\tjoyY\taccX\taccY\taccZ\tbuttC\tbuttD\r\n"); 
00090  *     while(1) {
00091  *         nunchuck.read(&nunchuckData);
00092  *         printf("%d\t%d\t%d\t%d\t%d\t%s\t%s\r\n",
00093  *                 nunchuckData.joyX, nunchuckData.joyY, nunchuckData.accX, nunchuckData.accY,
00094  *                 nunchuckData.accZ, nunchuckData.buttonC ? "X" : "", nunchuckData.buttonZ ? "X" : "");
00095  *     }
00096  * }
00097  * @endcode
00098  */
00099 class WiiChuck {
00100 public:
00101     /**
00102      * @param data I2C data pin
00103      * @param clk I2C clock pin
00104      */
00105     WiiChuck (PinName data, PinName clk, uint32_t i2cFrequency=I2C_DEFAULT_FREQUENCY);
00106     
00107     /**
00108      * Reads a packet of data from the nunchuck and fills in the supplied data structure.
00109      *
00110      * @param data Pointer to the data that will be filled in.
00111      */
00112     bool read(nunchuck_data_t* data);
00113     
00114     /**
00115      * Attach a callback function that can be called when new data is available.
00116      *
00117      * @param callback Pointer to function to be called when data has been read
00118      * @param readInterval Time interval in seconds to perform successive reads from the nunchuck
00119      */
00120     void attach(pt2Func callback, float readInterval);
00121     
00122     /**
00123      * Detach the callback and stop polling the nunchuck
00124      */
00125     void detach();
00126     
00127     /**
00128      * Gets the value for the x and y position of the joystick when it is in the neutral position.
00129      *
00130      * @param centerX Pointer to a uint8_t that will hold the center x value
00131      * @param centerY Pointer to a uint8_t that will hold the center y value
00132      */
00133     bool calibrateJoystickNeutralPosition(uint8_t* centerX, uint8_t* centerY);
00134 
00135 private: 
00136     void getValues();
00137 
00138     I2C _i2c;
00139     pt2Func _callback;
00140     Ticker _getValues; 
00141     bool _initialized;
00142     nunchuck_data_t _data;
00143 };
00144 
00145 #endif