Revision 0:d825f8dae2be, committed 2010-11-22

Comitter:

shintamainjp

Date:

Mon Nov 22 12:23:23 2010 +0000

Commit message:

Initial version.

Changed in this revision

diff -r 000000000000 -r d825f8dae2be appconf.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/appconf.cpp	Mon Nov 22 12:23:23 2010 +0000
@@ -0,0 +1,87 @@
+#include "appconf.h"
+#include <ConfigFile.h>
+
+LocalFileSystem fs_local("local");
+
+/*
+ * Configuration File Example.
+ *
+ * Ch1=A
+ * Ch2=B
+ */
+
+#define CONFIG_FILENAME "/local/SETUP.CFG"
+
+#define KEY_CH1 "Ch1"
+#define KEY_CH2 "Ch2"
+#define VALUE_CHANNEL_A "A"
+#define VALUE_CHANNEL_B "B"
+#define VALUE_CHANNEL_C "C"
+#define VALUE_CHANNEL_D "D"
+
+/**
+ * Initialize a configuration.
+ *
+ * @param p A pointer to a configuration structure.
+ */
+void appconf_init(appconf_t *p) {
+    p->ch1 = ChoroQ::ChA;
+    p->ch2 = ChoroQ::ChB;
+}
+
+/**
+ * Get a channel from the key.
+ *
+ * @param cf A pointer to a config file object.
+ * @param p A pointer to a application config.
+ * @param key The key.
+ * @param ch A pointer to the channel.
+ *
+ * @return Return 0 if it succeed.
+ */
+static int getChannel(ConfigFile *cf, appconf_t *p, char *key, ChoroQ::Channel *ch) {
+    char value[64];
+    if (!cf->getValue(key, value, sizeof(value))) {
+        return -1;
+    }
+
+    if (strcmp(value, VALUE_CHANNEL_A) == 0) {
+        *ch = ChoroQ::ChA;
+        return 0;
+    } else if (strcmp(value, VALUE_CHANNEL_B) == 0) {
+        *ch = ChoroQ::ChB;
+        return 0;
+    } else if (strcmp(value, VALUE_CHANNEL_C) == 0) {
+        *ch = ChoroQ::ChC;
+        return 0;
+    } else if (strcmp(value, VALUE_CHANNEL_D) == 0) {
+        *ch = ChoroQ::ChD;
+        return 0;
+    } else {
+        return -2;
+    }
+}
+
+/**
+ * Read a configuration.
+ *
+ * @param p A pointer to a configuration structure.
+ *
+ * @return Return 0 if read succeed.
+ */
+int appconf_read(appconf_t *p) {
+    ConfigFile cfg;
+
+    if (!cfg.read(CONFIG_FILENAME)) {
+        return -1;
+    }
+
+    if (getChannel(&cfg, p, KEY_CH1, &p->ch1) != 0) {
+        return -2;
+    }
+    if (getChannel(&cfg, p, KEY_CH2, &p->ch2) != 0) {
+        return -3;
+    }
+
+    return 0;
+}

diff -r 000000000000 -r d825f8dae2be appconf.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/appconf.h	Mon Nov 22 12:23:23 2010 +0000
@@ -0,0 +1,27 @@
+#ifndef _APPCONF_H_
+#define _APPCONF_H_
+
+#include "ChoroQ.h"
+
+typedef struct {
+    ChoroQ::Channel ch1;
+    ChoroQ::Channel ch2;
+} appconf_t;
+
+/**
+ * Initialize a configuration.
+ *
+ * @param p A pointer to a configuration structure.
+ */
+void appconf_init(appconf_t *p);
+
+/**
+ * Read a configuration.
+ *
+ * @param p A pointer to a configuration structure.
+ *
+ * @return Return 0 if read succeed.
+ */
+int appconf_read(appconf_t *p);
+
+#endif

diff -r 000000000000 -r d825f8dae2be extlib/WiiNunchuck/I2CConfig.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/extlib/WiiNunchuck/I2CConfig.h	Mon Nov 22 12:23:23 2010 +0000
@@ -0,0 +1,48 @@
+/*
+* WiiNunchuckReader. A program allowing the output of one or two
+* Wii Nunchucks to be read via I2C and decoded for use, using the mbed
+* microcontroller and its associated libraries.
+*
+* Copyright (C) <2009> Petras Saduikis <petras@petras.co.uk>
+*
+* This file is part of WiiNunchuckReader.
+*
+* WiiNunchuckReader 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.
+*
+* WiiNunchuckReader 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.
+*
+* You should have received a copy of the GNU General Public License
+* along with WiiNunchuckReader.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef SNATCH59_I2CCONFIG_H
+#define SNATCH59_I2CCONFIG_H
+
+#include <mbed.h>
+
+class I2CPort_A {
+public:
+    static const PinName SDA;
+    static const PinName SCL;
+};
+
+
+class I2CPort_B {
+public:
+    static const PinName SDA;
+    static const PinName SCL;
+};
+
+const PinName I2CPort_A::SDA = p9;
+const PinName I2CPort_A::SCL = p10;
+
+const PinName I2CPort_B::SDA = p28;
+const PinName I2CPort_B::SCL = p27;
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r d825f8dae2be extlib/WiiNunchuck/WiiNunchuckDefs.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/extlib/WiiNunchuck/WiiNunchuckDefs.h	Mon Nov 22 12:23:23 2010 +0000
@@ -0,0 +1,55 @@
+/*
+* WiiNunchuckReader. A program allowing the output of one or two
+* Wii Nunchucks to be read via I2C and decoded for use, using the mbed
+* microcontroller and its associated libraries.
+*
+* Copyright (C) <2009> Petras Saduikis <petras@petras.co.uk>
+*
+* This file is part of WiiNunchuckReader.
+*
+* WiiNunchuckReader 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.
+*
+* WiiNunchuckReader 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.
+*
+* You should have received a copy of the GNU General Public License
+* along with WiiNunchuckReader.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef SNATCH59_WIINUNCHUCKDEFS_H
+#define SNATCH59_WIINUNCHUCKDEFS_H
+
+// I2C
+#define NUNCHUCK_ADDR     0xA4  // I2C library doesn't right shift the address, so provided shifted
+#define NUNCHUCK_REGADDR  0x40  // relevant register address
+#define NUNCHUCK_READLEN  0x06  // always read this many bytes back
+
+// received byte position
+#define JOY_X      0
+#define JOY_Y      1
+#define ACCEL_X    2
+#define ACCEL_Y    3
+#define ACCEL_Z    4
+#define ADDITIONAL 5
+
+// bitmasks for addition info byte
+#define MASK_CZ      0x03
+#define MASK_ACCLX1  0x04
+#define MASK_ACCLX2  0x08
+#define MASK_ACCLY1  0x10
+#define MASK_ACCLY2  0x20
+#define MASK_ACCLZ1  0x40
+#define MASK_ACCLZ2  0x80
+
+// timing
+#define I2C_READ_DELAY  0.01
+
+// I2C status
+#define I2C_OK        0    // zero on success (ACK), non-zero on fail (NACK) for read or write
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r d825f8dae2be extlib/WiiNunchuck/WiiNunchuckReader.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/extlib/WiiNunchuck/WiiNunchuckReader.cpp	Mon Nov 22 12:23:23 2010 +0000
@@ -0,0 +1,118 @@
+/*
+* WiiNunchuckReader. A program allowing the output of one or two
+* Wii Nunchucks to be read via I2C and decoded for use, using the mbed
+* microcontroller and its associated libraries.
+*
+* Copyright (C) <2009> Petras Saduikis <petras@petras.co.uk>
+*
+* This file is part of WiiNunchuckReader.
+*
+* WiiNunchuckReader 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.
+*
+* WiiNunchuckReader 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.
+*
+* You should have received a copy of the GNU General Public License
+* along with WiiNunchuckReader.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "WiiNunchuckReader.h"
+
+// constructor
+WiiNunchuckReader::WiiNunchuckReader(PinName sda, PinName scl) :
+        joyX(0), joyY(0), accelX(0), accelY(0), accelZ(0),
+        buttonC(0), buttonZ(0), nunchuckInit(false),
+        nunchuckPort(sda, scl) {
+}
+
+void WiiNunchuckReader::RequestRead() {
+    // don't expect client to remember to send an init to the nunchuck
+    // so do it for them here
+    if (!nunchuckInit) {
+        nunchuckInit = NunchuckInit();
+    }
+
+    if (nunchuckInit) {  // don't start reading if init failed
+        if (NunchuckRead()) {
+            // only decode successful reads
+            NunchuckDecode();
+        }
+    }
+}
+
+bool WiiNunchuckReader::NunchuckInit() {
+    bool success = false;
+
+    const BYTE cmd[] = {NUNCHUCK_REGADDR, 0x00};
+    if (I2C_OK == nunchuckPort.write(NUNCHUCK_ADDR, (const char*)cmd, sizeof(cmd))) success = true;
+
+    return success;
+}
+
+bool WiiNunchuckReader::NunchuckRead() {
+    bool success = false;
+
+    // write the address we want to read from
+    const BYTE cmd[] = {0x00};
+    if (I2C_OK == nunchuckPort.write(NUNCHUCK_ADDR, (const char*)cmd, sizeof(cmd))) {
+        // the Wii Nunchuck is non-standard I2C
+        // and can't manage setting the read address and immediately supplying the data
+        // so wait a bit
+        wait(I2C_READ_DELAY);
+
+        if (I2C_OK == nunchuckPort.read(NUNCHUCK_ADDR, readBuf, sizeof(readBuf))) success = true;
+    }
+
+    return success;
+}
+
+void WiiNunchuckReader::NunchuckDecode() {
+    joyX = (int)readBuf[JOY_X];
+    joyY = (int)readBuf[JOY_Y];
+
+    // the accelerometer axis values are really 10 bit values
+    // so shift the 8 bit values read from the nunchuck
+    // 2 bits to the right
+    accelX = (int)readBuf[ACCEL_X] << 2;
+    accelY = (int)readBuf[ACCEL_Y] << 2;
+    accelZ = (int)readBuf[ACCEL_Z] << 2;
+
+    DecodeAdditional();
+}
+
+void WiiNunchuckReader::DecodeAdditional() {
+    // the nunchcuk buttons have their own idea of state
+    int buttonState = readBuf[ADDITIONAL] & MASK_CZ;
+    switch (buttonState) {
+        case 3:
+            buttonZ = 0;
+            buttonC = 0;
+            break;
+        case 2:
+            buttonZ = 1;
+            buttonC = 1;
+            break;
+        case 1:
+            buttonZ = 0;
+            buttonC = 1;
+            break;
+        case 0:
+            buttonZ = 1;
+            buttonC = 0;
+            break;
+    }
+
+    // and the accelerometer axis - for each axis value add bit 1 and bit 0
+    // as required
+    if (readBuf[ADDITIONAL] & MASK_ACCLX1) accelX += 2;
+    if (readBuf[ADDITIONAL] & MASK_ACCLX2) accelX += 1;
+    if (readBuf[ADDITIONAL] & MASK_ACCLY1) accelY += 2;
+    if (readBuf[ADDITIONAL] & MASK_ACCLY2) accelY += 1;
+    if (readBuf[ADDITIONAL] & MASK_ACCLZ1) accelZ += 2;
+    if (readBuf[ADDITIONAL] & MASK_ACCLZ2) accelZ += 1;
+}
\ No newline at end of file

diff -r 000000000000 -r d825f8dae2be extlib/WiiNunchuck/WiiNunchuckReader.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/extlib/WiiNunchuck/WiiNunchuckReader.h	Mon Nov 22 12:23:23 2010 +0000
@@ -0,0 +1,95 @@
+/*
+* WiiNunchuckReader. A program allowing the output of one or two
+* Wii Nunchucks to be read via I2C and decoded for use, using the mbed
+* microcontroller and its associated libraries.
+*
+* Copyright (C) <2009> Petras Saduikis <petras@petras.co.uk>
+*
+* This file is part of WiiNunchuckReader.
+*
+* WiiNunchuckReader 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.
+*
+* WiiNunchuckReader 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.
+*
+* You should have received a copy of the GNU General Public License
+* along with WiiNunchuckReader.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef SNATCH59_WIINUNCHUCKREADER_H
+#define SNATCH59_WIINUNCHUCKREADER_H
+
+#include <mbed.h>
+#include "WiiNunchuckDefs.h"
+
+typedef unsigned char BYTE;
+
+class WiiNunchuckReader {
+public:
+    // constructors
+    WiiNunchuckReader(PinName sda, PinName scl);
+
+    // functions
+    void RequestRead();
+
+    // accessors
+    int getJoyX() const {
+        return joyX;
+    }
+    int getJoyY() const {
+        return joyY;
+    }
+    int getAccelX() const {
+        return accelX;
+    }
+    int getAccelY() const {
+        return accelY;
+    }
+    int getAccelZ() const {
+        return accelZ;
+    }
+    int getButtonC() const {
+        return buttonC;
+    }
+    int getButtonZ() const {
+        return buttonZ;
+    }
+    int getBufferSize() const {
+        return sizeof(readBuf);
+    }
+    char* getReadBuf() {
+        return readBuf;
+    }
+
+private:
+    // nunchuck controls states
+    int joyX;
+    int joyY;
+    int accelX;
+    int accelY;
+    int accelZ;
+    int buttonC;
+    int buttonZ;
+
+    // nunchuck init state
+    bool nunchuckInit;
+
+    // nunchuck I2C port
+    I2C nunchuckPort;
+
+    // read data
+    char readBuf[NUNCHUCK_READLEN];
+
+    // functions
+    bool NunchuckInit();
+    bool NunchuckRead();
+    void NunchuckDecode();
+    void DecodeAdditional();
+};
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r d825f8dae2be main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Nov 22 12:23:23 2010 +0000
@@ -0,0 +1,164 @@
+/**
+ * StarBoard Orange - Example application No.3 (Version 0.0.1)
+ * Drive a CHORO Q HYBRID with wii nunchuk
+ *
+ * See also ... http://mbed.org/users/shintamainjp/notebook/starboard_example3_ja/
+ * See also ... http://mbed.org/users/shintamainjp/notebook/starboard_example3_en/
+ *
+ * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
+ * http://shinta.main.jp/
+ */
+
+/*
+ * Connection map.
+ *
+ * +---+----------------+---------+
+ * |Pin|Target          |Direction|
+ * +---+----------------+---------+
+ * |p21|IR transmitter  |OUT      |
+ * +---+----------------+---------+
+ */
+
+/*
+ * Include files.
+ */
+
+#include <mbed.h>
+#include <algorithm>
+#include <ChoroQ.h>
+#include <I2CConfig.h>
+#include <WiiNunchuckReader.h>
+#include "appconf.h"
+
+/*
+ * Objects.
+ */
+
+WiiNunchuckReader wn1(I2CPort_A::SDA, I2CPort_A::SCL);
+WiiNunchuckReader wn2(I2CPort_B::SDA, I2CPort_B::SCL);
+ChoroQ cq(p21);
+BusOut led(LED4, LED3, LED2, LED1);
+
+/**
+ * Display a splash screen.
+ */
+void splash(void) {
+    // Do nothing.
+}
+
+/**
+ * Get an action from a coordinate.
+ *
+ * @param x X axis.
+ * @param y Y axis.
+ * @param dash State of dash.
+ *
+ * @return An action.
+ */
+ChoroQ::Action getAction(const int x, const int y, bool dash) {
+    static const int MAX_X = 200;
+    static const int MIN_X = 20;
+    static const int MAX_Y = 200;
+    static const int MIN_Y = 20;
+    int px = ((x - MIN_X) * 100) / (MAX_X - MIN_X);
+    int py = ((y - MIN_Y) * 100) / (MAX_Y - MIN_Y);
+    px = std::max(0, std::min(100, px)) - 50;   // Range of a value is -50 to +50
+    py = std::max(0, std::min(100, py)) - 50;   // Range of a value is -50 to +50
+
+    if ((std::abs(px) <= 10) && (std::abs(py) <= 10)) {
+        return ChoroQ::Stop;
+    }
+
+    if ((x == 0) && (y == 0)) {
+        return ChoroQ::Stop;
+    }
+
+    if (std::abs(px) < 10) {
+        if (py < 0) {
+            if (dash) {
+                return ChoroQ::DownDash;
+            } else {
+                return ChoroQ::Down;
+            }
+        } else {
+            if (dash) {
+                return ChoroQ::UpDash;
+            } else {
+                return ChoroQ::Up;
+            }
+        }
+    }
+    if (std::abs(py) < 10) {
+        if (px < -20) {
+            return ChoroQ::Left;
+        }
+        if (20 < px) {
+            return ChoroQ::Right;
+        }
+    }
+    if ((10 < px) && (10 < py)) {
+        if (dash) {
+            return ChoroQ::UpRightDash;
+        } else {
+            return ChoroQ::UpRight;
+        }
+    }
+    if ((px < -10) && (10 < py)) {
+        if (dash) {
+            return ChoroQ::UpLeftDash;
+        } else {
+            return ChoroQ::UpLeft;
+        }
+    }
+    if ((px < -10) && (py < -10)) {
+        if (dash) {
+            return ChoroQ::DownLeftDash;
+        } else {
+            return ChoroQ::DownLeft;
+        }
+    }
+    if ((10 < px) && (py < -10)) {
+        if (dash) {
+            return ChoroQ::DownRightDash;
+        } else {
+            return ChoroQ::DownRight;
+        }
+    }
+    return ChoroQ::Stop;
+}
+
+/**
+ * Entry point.
+ */
+int main() {
+    /*
+     * Splash.
+     */
+    splash();
+
+    /*
+     * Setup a configuration.
+     */
+    appconf_t conf;
+    appconf_init(&conf);
+    if (appconf_read(&conf) != 0) {
+        error("Please check the configuration.");
+    }
+
+    /*
+     * Application loop.
+     */
+    while (true) {
+        led = led + 1;
+        wn1.RequestRead();
+        ChoroQ::Action ac1 = getAction(wn1.getJoyX(), wn1.getJoyY(), (wn1.getButtonZ() == 1) ? true : false);
+        cq.execute(conf.ch1, ac1, false);
+        wait_ms(25);
+
+        led = led + 1;
+        wn2.RequestRead();
+        ChoroQ::Action ac2 = getAction(wn2.getJoyX(), wn2.getJoyY(), (wn2.getButtonZ() == 1) ? true : false);
+        cq.execute(conf.ch2, ac2, false);
+        wait_ms(25);
+    }
+}

diff -r 000000000000 -r d825f8dae2be mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Nov 22 12:23:23 2010 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e

diff -r 000000000000 -r d825f8dae2be mylib/ChoroQ.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mylib/ChoroQ.lib	Mon Nov 22 12:23:23 2010 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/shintamainjp/code/ChoroQ/#97921a2adf78

diff -r 000000000000 -r d825f8dae2be mylib/ConfigFile.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mylib/ConfigFile.lib	Mon Nov 22 12:23:23 2010 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/shintamainjp/code/ConfigFile/#f6ceafabe9f8