knaka _
Dependents: HoverboardTest RobotArmControl
main.cpp@1:2fde37da31b9, 2010-11-23 (annotated)
- Committer:
- knaka
- Date:
- Tue Nov 23 05:50:09 2010 +0000
- Revision:
- 1:2fde37da31b9
- Parent:
- 0:bc63bc0629f8
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| knaka | 0:bc63bc0629f8 | 1 | // |
| knaka | 0:bc63bc0629f8 | 2 | // WiiNunchuck |
| knaka | 0:bc63bc0629f8 | 3 | // |
| knaka | 0:bc63bc0629f8 | 4 | |
| knaka | 0:bc63bc0629f8 | 5 | #include "mbed.h" |
| knaka | 0:bc63bc0629f8 | 6 | #include "TextLCD.h" |
| knaka | 0:bc63bc0629f8 | 7 | |
| knaka | 0:bc63bc0629f8 | 8 | // I2C |
| knaka | 0:bc63bc0629f8 | 9 | #define NUNCHUCK_ADDR 0xA4 // 0x52 << 1 |
| knaka | 0:bc63bc0629f8 | 10 | #define NUNCHUCK_REGADDR 0x40 // |
| knaka | 0:bc63bc0629f8 | 11 | #define NUNCHUCK_READLEN 0x06 // |
| knaka | 0:bc63bc0629f8 | 12 | #define I2C_ACK 0 |
| knaka | 0:bc63bc0629f8 | 13 | #define I2C_READ_DELAY 0.01 |
| knaka | 0:bc63bc0629f8 | 14 | |
| knaka | 0:bc63bc0629f8 | 15 | #define Joy_X 0 |
| knaka | 0:bc63bc0629f8 | 16 | #define Joy_Y 1 |
| knaka | 0:bc63bc0629f8 | 17 | #define Acc_X 2 |
| knaka | 0:bc63bc0629f8 | 18 | #define Acc_Y 3 |
| knaka | 0:bc63bc0629f8 | 19 | #define Acc_Z 4 |
| knaka | 0:bc63bc0629f8 | 20 | #define Button 5 |
| knaka | 0:bc63bc0629f8 | 21 | |
| knaka | 0:bc63bc0629f8 | 22 | bool WiiNunInitFlag = false; |
| knaka | 0:bc63bc0629f8 | 23 | int joyX = 0, joyY = 0, accX = 0, accY = 0, accZ = 0, buttonC = 0, buttonZ = 0; |
| knaka | 0:bc63bc0629f8 | 24 | char readBuf[NUNCHUCK_READLEN]; |
| knaka | 0:bc63bc0629f8 | 25 | I2C WiiNun(p9, p10); |
| knaka | 0:bc63bc0629f8 | 26 | |
| knaka | 0:bc63bc0629f8 | 27 | TextLCD lcd(p24, p26, p27, p28, p29, p30); |
| knaka | 0:bc63bc0629f8 | 28 | |
| knaka | 0:bc63bc0629f8 | 29 | bool WiiNunInit() |
| knaka | 0:bc63bc0629f8 | 30 | { |
| knaka | 0:bc63bc0629f8 | 31 | bool result = false; |
| knaka | 0:bc63bc0629f8 | 32 | unsigned char cmd[] = {NUNCHUCK_REGADDR, 0x00}; |
| knaka | 0:bc63bc0629f8 | 33 | if (WiiNun.write(NUNCHUCK_ADDR, (const char*)cmd, sizeof(cmd)) == I2C_ACK) { |
| knaka | 0:bc63bc0629f8 | 34 | result = true; |
| knaka | 0:bc63bc0629f8 | 35 | } |
| knaka | 0:bc63bc0629f8 | 36 | return result; |
| knaka | 0:bc63bc0629f8 | 37 | } |
| knaka | 0:bc63bc0629f8 | 38 | |
| knaka | 0:bc63bc0629f8 | 39 | void WiiNunRead() |
| knaka | 0:bc63bc0629f8 | 40 | { |
| knaka | 0:bc63bc0629f8 | 41 | int i; |
| knaka | 0:bc63bc0629f8 | 42 | |
| knaka | 0:bc63bc0629f8 | 43 | if(!WiiNunInitFlag) { |
| knaka | 0:bc63bc0629f8 | 44 | WiiNunInitFlag = WiiNunInit(); |
| knaka | 0:bc63bc0629f8 | 45 | } |
| knaka | 0:bc63bc0629f8 | 46 | |
| knaka | 0:bc63bc0629f8 | 47 | if(WiiNunInitFlag) { |
| knaka | 0:bc63bc0629f8 | 48 | const unsigned char cmd[] = {0x00}; |
| knaka | 0:bc63bc0629f8 | 49 | if (WiiNun.write(NUNCHUCK_ADDR, (const char*)cmd, sizeof(cmd)) == I2C_ACK) { |
| knaka | 0:bc63bc0629f8 | 50 | wait(I2C_READ_DELAY); |
| knaka | 0:bc63bc0629f8 | 51 | if (WiiNun.read(NUNCHUCK_ADDR, readBuf, sizeof(readBuf)) == I2C_ACK) { |
| knaka | 0:bc63bc0629f8 | 52 | for(i = 0; i < NUNCHUCK_READLEN; ++i) { |
| knaka | 0:bc63bc0629f8 | 53 | readBuf[i] = (readBuf[i] ^ 0x17) + 0x17; |
| knaka | 0:bc63bc0629f8 | 54 | } |
| knaka | 0:bc63bc0629f8 | 55 | joyX = readBuf[Joy_X]; |
| knaka | 0:bc63bc0629f8 | 56 | joyY = readBuf[Joy_Y]; |
| knaka | 0:bc63bc0629f8 | 57 | accX = readBuf[Acc_X] << 2; |
| knaka | 0:bc63bc0629f8 | 58 | accY = readBuf[Acc_Y] << 2; |
| knaka | 0:bc63bc0629f8 | 59 | accZ = readBuf[Acc_Z] << 2; |
| knaka | 0:bc63bc0629f8 | 60 | |
| knaka | 0:bc63bc0629f8 | 61 | if(readBuf[Button] & 0x01) { |
| knaka | 0:bc63bc0629f8 | 62 | buttonZ = 0; |
| knaka | 0:bc63bc0629f8 | 63 | } else { |
| knaka | 0:bc63bc0629f8 | 64 | buttonZ = 1; |
| knaka | 0:bc63bc0629f8 | 65 | } |
| knaka | 0:bc63bc0629f8 | 66 | if(readBuf[Button] & 0x02) { |
| knaka | 0:bc63bc0629f8 | 67 | buttonC = 0; |
| knaka | 0:bc63bc0629f8 | 68 | } else { |
| knaka | 0:bc63bc0629f8 | 69 | buttonC = 1; |
| knaka | 0:bc63bc0629f8 | 70 | } |
| knaka | 1:2fde37da31b9 | 71 | if(readBuf[Button] & 0x04) accX += 1; |
| knaka | 1:2fde37da31b9 | 72 | if(readBuf[Button] & 0x08) accX += 2; |
| knaka | 1:2fde37da31b9 | 73 | if(readBuf[Button] & 0x10) accY += 1; |
| knaka | 1:2fde37da31b9 | 74 | if(readBuf[Button] & 0x20) accY += 2; |
| knaka | 1:2fde37da31b9 | 75 | if(readBuf[Button] & 0x40) accZ += 1; |
| knaka | 1:2fde37da31b9 | 76 | if(readBuf[Button] & 0x80) accZ += 2; |
| knaka | 0:bc63bc0629f8 | 77 | } |
| knaka | 0:bc63bc0629f8 | 78 | } |
| knaka | 0:bc63bc0629f8 | 79 | } |
| knaka | 0:bc63bc0629f8 | 80 | } |
| knaka | 0:bc63bc0629f8 | 81 | |
| knaka | 0:bc63bc0629f8 | 82 | |
| knaka | 0:bc63bc0629f8 | 83 | int main() { |
| knaka | 0:bc63bc0629f8 | 84 | while(1) { |
| knaka | 0:bc63bc0629f8 | 85 | WiiNunRead(); |
| knaka | 0:bc63bc0629f8 | 86 | lcd.cls(); |
| knaka | 0:bc63bc0629f8 | 87 | lcd.printf("x%3d y%3d c%1d z%1d", joyX, joyY, buttonC, buttonZ); |
| knaka | 0:bc63bc0629f8 | 88 | lcd.locate(0, 1); |
| knaka | 0:bc63bc0629f8 | 89 | lcd.printf("x%d y%d z%d", accX, accY, accZ); |
| knaka | 0:bc63bc0629f8 | 90 | wait(0.1); |
| knaka | 0:bc63bc0629f8 | 91 | } |
| knaka | 0:bc63bc0629f8 | 92 | } |