Junichi Katsu / Mbed 2 deprecated ChuckChoroQ

ヌンチャクでコントロールするチョロQ機能に限定した物です。

Fork of StarBoardOrangeExample3 by Shinichiro Nakamura

extlib/WiiNunchuck/WiiNunchuckReader.cpp@2:1d9c1cd90695, 2012-08-18 (annotated)

Committer:
jksoft
Date:
Sat Aug 18 13:21:50 2012 +0000
Revision:
2:1d9c1cd90695
Parent:
0:127b9ca59547 
Rev1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shintamainjp 0:127b9ca59547 1 /*
shintamainjp 0:127b9ca59547 2 * WiiNunchuckReader. A program allowing the output of one or two
shintamainjp 0:127b9ca59547 3 * Wii Nunchucks to be read via I2C and decoded for use, using the mbed
shintamainjp 0:127b9ca59547 4 * microcontroller and its associated libraries.
shintamainjp 0:127b9ca59547 5 *
shintamainjp 0:127b9ca59547 6 * Copyright (C) <2009> Petras Saduikis <petras@petras.co.uk>
shintamainjp 0:127b9ca59547 7 *
shintamainjp 0:127b9ca59547 8 * This file is part of WiiNunchuckReader.
shintamainjp 0:127b9ca59547 9 *
shintamainjp 0:127b9ca59547 10 * WiiNunchuckReader is free software: you can redistribute it and/or modify
shintamainjp 0:127b9ca59547 11 * it under the terms of the GNU General Public License as published by
shintamainjp 0:127b9ca59547 12 * the Free Software Foundation, either version 3 of the License, or
shintamainjp 0:127b9ca59547 13 * (at your option) any later version.
shintamainjp 0:127b9ca59547 14 *
shintamainjp 0:127b9ca59547 15 * WiiNunchuckReader is distributed in the hope that it will be useful,
shintamainjp 0:127b9ca59547 16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
shintamainjp 0:127b9ca59547 17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
shintamainjp 0:127b9ca59547 18 * GNU General Public License for more details.
shintamainjp 0:127b9ca59547 19 *
shintamainjp 0:127b9ca59547 20 * You should have received a copy of the GNU General Public License
shintamainjp 0:127b9ca59547 21 * along with WiiNunchuckReader. If not, see <http://www.gnu.org/licenses/>.
shintamainjp 0:127b9ca59547 22 */
shintamainjp 0:127b9ca59547 23
shintamainjp 0:127b9ca59547 24 #include "WiiNunchuckReader.h"
shintamainjp 0:127b9ca59547 25
shintamainjp 0:127b9ca59547 26 // constructor
shintamainjp 0:127b9ca59547 27 WiiNunchuckReader::WiiNunchuckReader(PinName sda, PinName scl) :
shintamainjp 0:127b9ca59547 28 joyX(0), joyY(0), accelX(0), accelY(0), accelZ(0),
shintamainjp 0:127b9ca59547 29 buttonC(0), buttonZ(0), nunchuckInit(false),
shintamainjp 0:127b9ca59547 30 nunchuckPort(sda, scl) {
shintamainjp 0:127b9ca59547 31 }
shintamainjp 0:127b9ca59547 32
shintamainjp 0:127b9ca59547 33 void WiiNunchuckReader::RequestRead() {
shintamainjp 0:127b9ca59547 34 // don't expect client to remember to send an init to the nunchuck
shintamainjp 0:127b9ca59547 35 // so do it for them here
shintamainjp 0:127b9ca59547 36 if (!nunchuckInit) {
shintamainjp 0:127b9ca59547 37 nunchuckInit = NunchuckInit();
shintamainjp 0:127b9ca59547 38 }
shintamainjp 0:127b9ca59547 39
shintamainjp 0:127b9ca59547 40 if (nunchuckInit) { // don't start reading if init failed
shintamainjp 0:127b9ca59547 41 if (NunchuckRead()) {
shintamainjp 0:127b9ca59547 42 // only decode successful reads
shintamainjp 0:127b9ca59547 43 NunchuckDecode();
shintamainjp 0:127b9ca59547 44 }
shintamainjp 0:127b9ca59547 45 }
shintamainjp 0:127b9ca59547 46 }
shintamainjp 0:127b9ca59547 47
shintamainjp 0:127b9ca59547 48 bool WiiNunchuckReader::NunchuckInit() {
shintamainjp 0:127b9ca59547 49 bool success = false;
shintamainjp 0:127b9ca59547 50
shintamainjp 0:127b9ca59547 51 const BYTE cmd[] = {NUNCHUCK_REGADDR, 0x00};
shintamainjp 0:127b9ca59547 52 if (I2C_OK == nunchuckPort.write(NUNCHUCK_ADDR, (const char*)cmd, sizeof(cmd))) success = true;
shintamainjp 0:127b9ca59547 53
shintamainjp 0:127b9ca59547 54 return success;
shintamainjp 0:127b9ca59547 55 }
shintamainjp 0:127b9ca59547 56
shintamainjp 0:127b9ca59547 57 bool WiiNunchuckReader::NunchuckRead() {
shintamainjp 0:127b9ca59547 58 bool success = false;
shintamainjp 0:127b9ca59547 59
shintamainjp 0:127b9ca59547 60 // write the address we want to read from
shintamainjp 0:127b9ca59547 61 const BYTE cmd[] = {0x00};
shintamainjp 0:127b9ca59547 62 if (I2C_OK == nunchuckPort.write(NUNCHUCK_ADDR, (const char*)cmd, sizeof(cmd))) {
shintamainjp 0:127b9ca59547 63 // the Wii Nunchuck is non-standard I2C
shintamainjp 0:127b9ca59547 64 // and can't manage setting the read address and immediately supplying the data
shintamainjp 0:127b9ca59547 65 // so wait a bit
shintamainjp 0:127b9ca59547 66 wait(I2C_READ_DELAY);
shintamainjp 0:127b9ca59547 67
shintamainjp 0:127b9ca59547 68 if (I2C_OK == nunchuckPort.read(NUNCHUCK_ADDR, readBuf, sizeof(readBuf))) success = true;
shintamainjp 0:127b9ca59547 69 }
shintamainjp 0:127b9ca59547 70
shintamainjp 0:127b9ca59547 71 return success;
shintamainjp 0:127b9ca59547 72 }
shintamainjp 0:127b9ca59547 73
shintamainjp 0:127b9ca59547 74 void WiiNunchuckReader::NunchuckDecode() {
shintamainjp 0:127b9ca59547 75 joyX = (int)readBuf[JOY_X];
shintamainjp 0:127b9ca59547 76 joyY = (int)readBuf[JOY_Y];
shintamainjp 0:127b9ca59547 77
shintamainjp 0:127b9ca59547 78 // the accelerometer axis values are really 10 bit values
shintamainjp 0:127b9ca59547 79 // so shift the 8 bit values read from the nunchuck
shintamainjp 0:127b9ca59547 80 // 2 bits to the right
shintamainjp 0:127b9ca59547 81 accelX = (int)readBuf[ACCEL_X] << 2;
shintamainjp 0:127b9ca59547 82 accelY = (int)readBuf[ACCEL_Y] << 2;
shintamainjp 0:127b9ca59547 83 accelZ = (int)readBuf[ACCEL_Z] << 2;
shintamainjp 0:127b9ca59547 84
shintamainjp 0:127b9ca59547 85 DecodeAdditional();
shintamainjp 0:127b9ca59547 86 }
shintamainjp 0:127b9ca59547 87
shintamainjp 0:127b9ca59547 88 void WiiNunchuckReader::DecodeAdditional() {
shintamainjp 0:127b9ca59547 89 // the nunchcuk buttons have their own idea of state
shintamainjp 0:127b9ca59547 90 int buttonState = readBuf[ADDITIONAL] & MASK_CZ;
shintamainjp 0:127b9ca59547 91 switch (buttonState) {
shintamainjp 0:127b9ca59547 92 case 3:
shintamainjp 0:127b9ca59547 93 buttonZ = 0;
shintamainjp 0:127b9ca59547 94 buttonC = 0;
shintamainjp 0:127b9ca59547 95 break;
shintamainjp 0:127b9ca59547 96 case 2:
shintamainjp 0:127b9ca59547 97 buttonZ = 1;
shintamainjp 0:127b9ca59547 98 buttonC = 1;
shintamainjp 0:127b9ca59547 99 break;
shintamainjp 0:127b9ca59547 100 case 1:
shintamainjp 0:127b9ca59547 101 buttonZ = 0;
shintamainjp 0:127b9ca59547 102 buttonC = 1;
shintamainjp 0:127b9ca59547 103 break;
shintamainjp 0:127b9ca59547 104 case 0:
shintamainjp 0:127b9ca59547 105 buttonZ = 1;
shintamainjp 0:127b9ca59547 106 buttonC = 0;
shintamainjp 0:127b9ca59547 107 break;
shintamainjp 0:127b9ca59547 108 }
shintamainjp 0:127b9ca59547 109
shintamainjp 0:127b9ca59547 110 // and the accelerometer axis - for each axis value add bit 1 and bit 0
shintamainjp 0:127b9ca59547 111 // as required
shintamainjp 0:127b9ca59547 112 if (readBuf[ADDITIONAL] & MASK_ACCLX1) accelX += 2;
shintamainjp 0:127b9ca59547 113 if (readBuf[ADDITIONAL] & MASK_ACCLX2) accelX += 1;
shintamainjp 0:127b9ca59547 114 if (readBuf[ADDITIONAL] & MASK_ACCLY1) accelY += 2;
shintamainjp 0:127b9ca59547 115 if (readBuf[ADDITIONAL] & MASK_ACCLY2) accelY += 1;
shintamainjp 0:127b9ca59547 116 if (readBuf[ADDITIONAL] & MASK_ACCLZ1) accelZ += 2;
shintamainjp 0:127b9ca59547 117 if (readBuf[ADDITIONAL] & MASK_ACCLZ2) accelZ += 1;
shintamainjp 0:127b9ca59547 118 }