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nunchuck: C port; FTI; C++ wraps C

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Some API changes were made as well, see docs/apichanges.md.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson 2017-01-31 13:06:26 -07:00
parent 1bbb9386b7
commit 0749f130e1
15 changed files with 740 additions and 214 deletions
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8
docs/apichanges.md
View File

@ -4,6 +4,14 @@ API Changes {#apichanges}
Here's a list of other API changes made to the library that break source/binary
compatibility between releases:
* **nunchuck** This driver no longer supports the init() function.
All initialization is now done in the C nunchuck_init() function,
or the C++ constructor. In addition, the *NUNCHUCK_I2C_ADDR*
define is no longer exposed, as it is not possible to use any other
I2C address than *0x52*. The readBytes() and writeByte() functions
are also no longer exposed, since aside from what the driver does
to initialize and read data, there are no other options available.
* **enc03r** This driver no longer supports the value() function. In
addition, an update() function has been added. This function must be
called prior to calling angularVelocity(). angularVelocity() no

28
examples/c++/nunchuck.cxx
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@ -43,37 +43,29 @@ int main(int argc, char **argv)
signal(SIGINT, sig_handler);
//! [Interesting]
// Instantiate a nunchuck controller bus 0
upm::NUNCHUCK *nunchuck = new upm::NUNCHUCK(0);
// always do this first
cout << "Initializing... " << endl;
if (!nunchuck->init())
{
cerr << "nunchuck->init() failed." << endl;
return 0;
}
// Instantiate a nunchuck controller bus 3
upm::NUNCHUCK *nunchuck = new upm::NUNCHUCK(3);
while (shouldRun)
{
nunchuck->update();
cout << "stickX: " << nunchuck->stickX
cout << "stickX: " << nunchuck->stickX
<< ", stickY: " << nunchuck->stickY << endl;
cout << "accelX: " << nunchuck->accelX
<< ", accelY: " << nunchuck->accelY
cout << "accelX: " << nunchuck->accelX
<< ", accelY: " << nunchuck->accelY
<< ", accelZ: " << nunchuck->accelZ << endl;
cout << "button C: "
cout << "button C: "
<< ((nunchuck->buttonC) ? "pressed" : "not pressed") << endl;
cout << "button Z: "
cout << "button Z: "
<< ((nunchuck->buttonZ) ? "pressed" : "not pressed") << endl;
cout << endl;
usleep(100000);
}
//! [Interesting]
delete nunchuck;
return 0;
}

1
examples/c/CMakeLists.txt
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@ -148,6 +148,7 @@ add_example (cjq4435)
add_example (hmc5883l)
add_example (wfs)
add_example (enc03r)
add_example (nunchuck)
# Custom examples
add_custom_example (nmea_gps_i2c-example-c nmea_gps_i2c.c nmea_gps)

84
examples/c/nunchuck.c Normal file
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@ -0,0 +1,84 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <unistd.h>
#include <stdio.h>
#include <signal.h>
#include <upm_utilities.h>
#include "nunchuck.h"
bool shouldRun = true;
void sig_handler(int signo)
{
if (signo == SIGINT)
shouldRun = false;
}
int main(int argc, char **argv)
{
signal(SIGINT, sig_handler);
//! [Interesting]
// Instantiate a nunchuck controller bus 3
nunchuck_context sensor = nunchuck_init(3);
if (!sensor)
{
printf("%s: nunchuck_init() failed\n", __FUNCTION__);
return 1;
}
while (shouldRun)
{
if (nunchuck_update(sensor))
{
printf("%s: nunchuck_update() failed\n", __FUNCTION__);
nunchuck_close(sensor);
return 1;
}
int x, y, z;
nunchuck_get_stick(sensor, &x, &y);
printf("stickX: %d stickY: %d\n", x, y);
nunchuck_get_acceleration(sensor, &x, &y, &z);
printf("accelX: %d accelY: %d accelZ: %d\n", x, y, z);
bool bc, bz;
nunchuck_get_buttons(sensor, &bc, &bz);
printf("button C: %s\n",
((bc) ? "pressed" : "not pressed"));
printf("button Z: %s\n\n",
((bz) ? "pressed" : "not pressed"));
upm_delay_ms(100);
}
nunchuck_close(sensor);
//! [Interesting]
return 0;
}

60
examples/java/NUNCHUCKSample.java
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@ -24,38 +24,38 @@
public class NUNCHUCKSample {
public static void main(String[] args) throws InterruptedException {
// ! [Interesting]
// Instantiate a nunchuck controller bus 0
upm_nunchuck.NUNCHUCK nunchuck = new upm_nunchuck.NUNCHUCK(0);
public static void main(String[] args) throws InterruptedException {
// ! [Interesting]
// Instantiate a nunchuck controller bus 0
upm_nunchuck.NUNCHUCK nunchuck = new upm_nunchuck.NUNCHUCK(3);
// always do this first
System.out.println("Initializing... ");
if (!nunchuck.init()) {
System.err.println("nunchuck->init() failed.");
return;
}
while (true)
{
nunchuck.update();
System.out.println("stickX: "
+ nunchuck.getStickX()
+ ", stickY: "
+ nunchuck.getStickY());
System.out.println("accelX: "
+ nunchuck.getAccelX()
+ ", accelY: "
+ nunchuck.getAccelY()
+ ", accelZ: "
+ nunchuck.getAccelZ());
while (true) {
nunchuck.update();
System.out.println("stickX: " + nunchuck.getStickX() + ", stickY: "
+ nunchuck.getStickY());
System.out.println("accelX: " + nunchuck.getAccelX() + ", accelY: "
+ nunchuck.getAccelY() + ", accelZ: " + nunchuck.getAccelZ());
if (nunchuck.getButtonC())
System.out.println("Button C pressed");
else
System.out.println("Button C not pressed");
if (nunchuck.getButtonC())
System.out.println("Button C pressed");
else
System.out.println("Button C not pressed");
if (nunchuck.getButtonZ())
System.out.println("Button Z pressed");
else
System.out.println("Button Z not pressed");
if (nunchuck.getButtonZ())
System.out.println("Button Z pressed");
else
System.out.println("Button Z not pressed");
Thread.sleep(100);
}
// ! [Interesting]
}
Thread.sleep(1000);
}
// ! [Interesting]
}
}
}

12
examples/javascript/nunchuck.js
View File

@ -24,16 +24,8 @@
var nunchuck_lib = require('jsupm_nunchuck');
// Instantiate a nunchuck controller bus 0
var nunchuck_obj = new nunchuck_lib.NUNCHUCK(0);
// always do this first
console.log("Initializing... ");
if (!nunchuck_obj.init())
{
console.log("nunchuck->init() failed.");
process.exit(0);
}
// Instantiate a nunchuck controller bus 3
var nunchuck_obj = new nunchuck_lib.NUNCHUCK(3);
setInterval(function()
{

10
examples/python/nunchuck.py
View File

@ -26,8 +26,8 @@ import time, sys, signal, atexit
from upm import pyupm_nunchuck as upmNunchuck
def main():
# Instantiate a nunchuck controller bus 0 on I2C
myNunchuck = upmNunchuck.NUNCHUCK(0)
# Instantiate a nunchuck controller bus 3 on I2C
myNunchuck = upmNunchuck.NUNCHUCK(3)
## Exit handlers ##
# This function stops python from printing a stacktrace when you hit control-C
@ -43,12 +43,6 @@ def main():
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)
# always do this first
print("Initializing... ")
if (not myNunchuck.init()):
print("nunchuck->init() failed.")
sys.exit(0);
def buttonStateStr(buttonState):
return "pressed" if buttonState else "not pressed"

46
include/fti/upm_buttons.h Normal file
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@ -0,0 +1,46 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2017 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#ifndef UPM_BUTTONS_H_
#define UPM_BUTTONS_H_
#ifdef __cplusplus
extern "C" {
#endif
// Buttons function table
typedef struct _upm_buttons_ft {
// This function is used to query button state. The num_button
// specifies the total number of buttons present, and the values
// indicates each button's current value as an array of bools.
upm_result_t (*upm_buttons_get_num_buttons) (const void *dev,
unsigned int *num_buttons);
upm_result_t (*upm_buttons_get_values) (const void *dev,
bool *values);
} upm_buttons_ft;
#ifdef __cplusplus
}
#endif
#endif /* UPM_BUTTONS_H_ */

5
include/upm_fti.h
View File

@ -75,7 +75,8 @@ typedef enum {
UPM_STREAM,
UPM_ORP,
UPM_BINARY,
UPM_ROTARYENCODER
UPM_ROTARYENCODER,
UPM_BUTTONS
} upm_sensor_t;
/* Supported IO protocols via MRAA */
@ -127,6 +128,8 @@ typedef struct _upm_sensor_ft* (*func_get_upm_sensor_ft)(upm_sensor_t sensor_typ
#include <fti/upm_pressure.h>
#include <fti/upm_compass.h>
#include <fti/upm_gyroscope.h>
#include <fti/upm_buttons.h>
#include <fti/upm_joystick.h>
#ifdef __cplusplus
}

14
src/nunchuck/CMakeLists.txt
View File

@ -1,5 +1,9 @@
set (libname "nunchuck")
set (libdescription "Wii nunchuck module")
set (module_src ${libname}.cxx)
set (module_hpp ${libname}.hpp)
upm_module_init()
upm_mixed_module_init (NAME nunchuck
DESCRIPTION "I2C nunchuck driver"
C_HDR nunchuck.h
C_SRC nunchuck.c
CPP_HDR nunchuck.hpp
CPP_SRC nunchuck.cxx
FTI_SRC nunchuck_fti.c
CPP_WRAPS_C
REQUIRES mraa)

206
src/nunchuck/nunchuck.c Normal file
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@ -0,0 +1,206 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2017 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <assert.h>
#include "nunchuck.h"
// This is not changeable
#define NUNCHUCK_I2C_ADDR 0x52
// static functions for r/w the device. No user-serviceable parts
// inside.
static upm_result_t nunchuck_write_byte(const nunchuck_context dev,
uint8_t reg, uint8_t byte)
{
assert(dev != NULL);
if (mraa_i2c_write_byte_data(dev->i2c, byte, reg))
{
printf("%s: mraa_i2c_write_byte_data() failed\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
static int nunchuck_read_bytes(const nunchuck_context dev, uint8_t reg,
uint8_t *buffer, int len)
{
assert(dev != NULL);
if (!len || !buffer)
return 0;
if (mraa_i2c_write_byte(dev->i2c, reg))
{
printf("%s: mraa_i2c_write_byte() failed\n", __FUNCTION__);
return -1;
}
return mraa_i2c_read(dev->i2c, buffer, len);
}
// init
nunchuck_context nunchuck_init(int bus)
{
// make sure MRAA is initialized
int mraa_rv;
if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
{
printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
return NULL;
}
nunchuck_context dev =
(nunchuck_context)malloc(sizeof(struct _nunchuck_context));
if (!dev)
return NULL;
memset((void *)dev, 0, sizeof(struct _nunchuck_context));
// setup our i2c link
if ( !(dev->i2c = mraa_i2c_init(bus)) )
{
printf("%s: mraa_i2c_init() failed\n", __FUNCTION__);
nunchuck_close(dev);
return NULL;
}
if (mraa_i2c_address(dev->i2c, NUNCHUCK_I2C_ADDR))
{
printf("%s: mraa_i2c_address() failed\n", __FUNCTION__);
nunchuck_close(dev);
return NULL;
}
// sleep for a second to let things settle
upm_delay(1);
// disable encryption
if (nunchuck_write_byte(dev, 0xf0, 0x55)
|| nunchuck_write_byte(dev, 0xfb, 0x00))
{
printf("%s: nunchuck_write_byte() failed\n", __FUNCTION__);
nunchuck_close(dev);
return NULL;
}
return dev;
}
void nunchuck_close(nunchuck_context dev)
{
assert(dev != NULL);
if (dev->i2c)
mraa_i2c_stop(dev->i2c);
free(dev);
}
upm_result_t nunchuck_update(const nunchuck_context dev)
{
assert(dev != NULL);
const int bufsize = 6;
uint8_t buf[bufsize];
int rv;
rv = nunchuck_read_bytes(dev, 0x00, buf, bufsize);
if (rv != bufsize)
{
printf("%s: nunchuck_read_bytes() failed. Expected %d, got %d.\n",
__FUNCTION__, bufsize, rv);
return UPM_ERROR_OPERATION_FAILED;
}
// analog stick X
dev->stickX = buf[0];
// analog stick Y
dev->stickY = buf[1];
// accelerometer X
dev->accelX = ( (buf[2] << 2) | ((buf[5] & 0x0c) >> 2) );
// accelerometer Y
dev->accelY = ( (buf[3] << 2) | ((buf[5] & 0x30) >> 4) );
// accelerometer Z
dev->accelZ = ( (buf[4] << 2) | ((buf[5] & 0xc0) >> 6) );
// buttonC
if (buf[5] & 0x02)
dev->buttonC = false;
else
dev->buttonC = true;
// buttonZ
if (buf[5] & 0x01)
dev->buttonZ = false;
else
dev->buttonZ = true;
return UPM_SUCCESS;
}
void nunchuck_get_stick(const nunchuck_context dev, int *x, int *y)
{
assert(dev != NULL);
if (x)
*x = dev->stickX;
if (y)
*y = dev->stickY;
}
void nunchuck_get_acceleration(const nunchuck_context dev,
int *x, int *y, int *z)
{
assert(dev != NULL);
if (x)
*x = dev->accelX;
if (y)
*y = dev->accelY;
if (z)
*z = dev->accelZ;
}
void nunchuck_get_buttons(const nunchuck_context dev, bool *c, bool *z)
{
assert(dev != NULL);
if (c)
*c = dev->buttonC;
if (z)
*z = dev->buttonZ;
}

116
src/nunchuck/nunchuck.cxx
View File

@ -1,6 +1,6 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
* Copyright (c) 2015-2017 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
@ -33,117 +33,27 @@ using namespace upm;
using namespace std;
NUNCHUCK::NUNCHUCK(int bus, uint8_t addr)
NUNCHUCK::NUNCHUCK(int bus) :
m_nunchuck(nunchuck_init(bus))
{
stickX = 0;
stickY = 0;
accelX = 0;
accelY = 0;
accelZ = 0;
buttonC = false;
buttonZ = false;
// setup our i2c link
if ( !(m_i2c = mraa_i2c_init(bus)) )
{
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_init() failed");
return;
}
mraa_result_t rv;
if ( (rv = mraa_i2c_address(m_i2c, addr)) != MRAA_SUCCESS )
{
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_i2c_address() failed");
}
if (!m_nunchuck)
throw std::runtime_error(string(__FUNCTION__)
+ ": nunchuck_init() failed");
}
NUNCHUCK::~NUNCHUCK()
{
mraa_i2c_stop(m_i2c);
}
bool NUNCHUCK::writeByte(uint8_t reg, uint8_t byte)
{
mraa_result_t rv;
if ( (rv = mraa_i2c_write_byte_data(m_i2c, byte, reg)) != MRAA_SUCCESS )
{
throw std::runtime_error(std::string(__FUNCTION__) +
": mraa_i2c_write_byte_data() failed");
return false;
}
return true;
}
int NUNCHUCK::readBytes(uint8_t reg, uint8_t *buffer, int len)
{
if (!len || !buffer)
return 0;
mraa_i2c_address(m_i2c, NUNCHUCK_I2C_ADDR);
mraa_i2c_write_byte(m_i2c, reg);
return mraa_i2c_read(m_i2c, buffer, len);
}
bool NUNCHUCK::init()
{
usleep(1000000);
// disable encryption
if (!writeByte(0xf0, 0x55))
return false;
if (!writeByte(0xfb, 0x00))
return false;
return true;
nunchuck_close(m_nunchuck);
}
void NUNCHUCK::update()
{
const int bufsize = 6;
uint8_t buf[bufsize];
int rv;
if (nunchuck_update(m_nunchuck))
throw std::runtime_error(string(__FUNCTION__)
+ ": nunchuck_update() failed");
rv = readBytes(0x00, buf, bufsize);
if (rv != bufsize)
{
throw std::runtime_error(std::string(__FUNCTION__) +
": readBytes() failed");
return;
}
// analog stick X
stickX = buf[0];
// analog stick Y
stickY = buf[1];
// accelerometer X
accelX = ( (buf[2] << 2) | ((buf[5] & 0x0c) >> 2) );
// accelerometer Y
accelY = ( (buf[3] << 2) | ((buf[5] & 0x30) >> 4) );
// accelerometer Z
accelZ = ( (buf[4] << 2) | ((buf[5] & 0xc0) >> 6) );
// buttonC
if (buf[5] & 0x02)
buttonC = false;
else
buttonC = true;
// buttonZ
if (buf[5] & 0x01)
buttonZ = false;
else
buttonZ = true;
nunchuck_get_stick(m_nunchuck, &stickX, &stickY);
nunchuck_get_acceleration(m_nunchuck, &accelX, &accelY, &accelZ);
nunchuck_get_buttons(m_nunchuck, &buttonC, &buttonZ);
}

123
src/nunchuck/nunchuck.h Normal file
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@ -0,0 +1,123 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2017 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#pragma once
#include <stdlib.h>
#include <stdio.h>
#include <upm.h>
#include <mraa/i2c.h>
#ifdef __cplusplus
extern "C" {
#endif
/**
* @file nunchuck.h
* @library nunchuck
* @brief C API for the nunchuck driver
*
* @include nunchuck.c
*/
/**
* Device context
*/
typedef struct _nunchuck_context {
mraa_i2c_context i2c;
// sticks - x, y
int stickX;
int stickY;
// accel
int accelX;
int accelY;
int accelZ;
// buttons
bool buttonC;
bool buttonZ;
} *nunchuck_context;
/**
* NUNCHUCK constructor
*
* @param bus I2C bus to use
* @return A Device context, or NULL on error
*/
nunchuck_context nunchuck_init(int bus);
/**
* Close the device and deallocate all resources.
*
* @param dev Device context
*/
void nunchuck_close(nunchuck_context dev);
/**
* Reads and updates the current state of the controller.
*
* @param dev Device context
* @return UPM result
*/
upm_result_t nunchuck_update(const nunchuck_context dev);
/**
* Returns the current analog stick X and Y positions.
* nunchuck_update() must have been called prior to calling this
* function.
*
* @param dev Device context
* @param x Pointer in which the X value will be stored
* @param y Pointer in which the Y value will be stored
*/
void nunchuck_get_stick(const nunchuck_context dev, int *x, int *y);
/**
* Returns the current accelerometer values. nunchuck_update()
* must have been called prior to calling this function.
*
* @param dev Device context
* @param x Pointer in which the X value will be stored
* @param y Pointer in which the Y value will be stored
* @param z Pointer in which the Z value will be stored
*/
void nunchuck_get_acceleration(const nunchuck_context dev,
int *x, int *y, int *z);
/**
* Returns the current button values values. nunchuck_update()
* must have been called prior to calling this function.
*
* @param dev Device context
* @param c Pointer in which the C button value will be stored
* @param z Pointer in which the Z button value will be stored
*/
void nunchuck_get_buttons(const nunchuck_context dev, bool *c, bool *z);
#ifdef __cplusplus
}
#endif

51
src/nunchuck/nunchuck.hpp
View File

@ -1,6 +1,6 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
* Copyright (c) 2015-2017 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
@ -24,9 +24,8 @@
#pragma once
#include <string>
#include <mraa/i2c.h>
#include "nunchuck.h"
#define NUNCHUCK_I2C_ADDR 0x52
namespace upm {
@ -48,17 +47,16 @@ namespace upm {
* @brief API for the Wii* Nunchuk controller
*
* UPM module for the Wii Nunchuk controller. This module was tested with
* Wii Nunchuk connected to I2C via a Grove Wii Nunchuk adapter.
* Wii Nunchuck connected to I2C via a Grove Wii Nunchuck adapter.
*
* See http://wiibrew.org/wiki/Wiimote/Extension_Controllers and
* http://wiibrew.org/wiki/Wiimote/Extension_Controllers/Nunchuck
* for more details on the controller and its protocol.
*
* A warning for the Grove Wii Nunchuk adapter: it has 2 traces on one
* side, and 3 traces on the other. Do not match these up with the
* Nunchuk connector's traces. The connector's 'Grove'
* should be on the same side as the Grove interface socket on the
* adapter.
* A warning for the Grove Wii Nunchuk adapter: it has 2 traces on
* one side, and 3 traces on the other. Do not match these up with
* the Nunchuk connector's traces. The connector's 'groove' should
* be on the same side as the Grove interface socket on the adapter.
*
* @image html nunchuck.jpg
* @snippet nunchuck.cxx Interesting
@ -71,39 +69,12 @@ namespace upm {
* @param bus I2C bus to use
* @param addr I2C address to use
*/
NUNCHUCK(int bus, uint8_t addr=NUNCHUCK_I2C_ADDR);
NUNCHUCK(int bus);
/**
* NUNCHUCK destructor
*/
~NUNCHUCK();
/**
* Writes value(s) into registers
*
* @param reg Register location to start writing into
* @param byte Byte to write
* @return True if successful
*/
bool writeByte(uint8_t reg, uint8_t byte);
/**
* Reads value(s) from registers
*
* @param reg Register location to start reading from
* @param buffer Buffer for data storage
* @param len Number of bytes to read
* @return Number of bytes read
*/
int readBytes(uint8_t reg, uint8_t *buffer, int len);
/**
* Initializes the controller. Here, we disable encryption after
* delaying for a time to ensure the controller is ready.
*
* @return True if initialization is successful
*/
bool init();
virtual ~NUNCHUCK();
/**
* Reads and updates the current state of the controller.
@ -153,8 +124,10 @@ namespace upm {
*/
bool buttonZ;
protected:
nunchuck_context m_nunchuck;
private:
mraa_i2c_context m_i2c;
};
}

190
src/nunchuck/nunchuck_fti.c Normal file
View File

@ -0,0 +1,190 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2017 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include "nunchuck.h"
#include "upm_fti.h"
/**
* This file implements the Function Table Interface (FTI) for this sensor
*/
const char upm_nunchuck_name[] = "NUNCHUCK";
const char upm_nunchuck_description[] = "Nunchuck controller";
const upm_protocol_t upm_nunchuck_protocol[] = {UPM_I2C};
const upm_sensor_t upm_nunchuck_category[] =
{ UPM_ACCELEROMETER, UPM_JOYSTICK, UPM_BUTTONS};
// forward declarations
const void* upm_nunchuck_get_ft(upm_sensor_t sensor_type);
void* upm_nunchuck_init_name();
void upm_nunchuck_close(void *dev);
upm_result_t upm_nunchuck_get_accel_values(void *dev, float *value, upm_acceleration_u unit);
upm_result_t upm_nunchuck_get_joystick_value_x(const void *dev, float *value);
upm_result_t upm_nunchuck_get_joystick_value_y(const void *dev, float *value);
upm_result_t upm_nunchuck_get_num_buttons(const void *dev,
unsigned int *num_buttons);
upm_result_t upm_nunchuck_get_button_values(const void *dev,
bool *values);
const upm_sensor_descriptor_t upm_nunchuck_get_descriptor()
{
upm_sensor_descriptor_t usd;
usd.name = upm_nunchuck_name;
usd.description = upm_nunchuck_description;
usd.protocol_size = 1;
usd.protocol = upm_nunchuck_protocol;
usd.category_size = 3;
usd.category = upm_nunchuck_category;
return usd;
}
static const upm_sensor_ft ft =
{
.upm_sensor_init_name = upm_nunchuck_init_name,
.upm_sensor_close = upm_nunchuck_close,
};
static const upm_acceleration_ft aft =
{
.upm_acceleration_get_value = upm_nunchuck_get_accel_values
};
static const upm_joystick_ft jft =
{
.upm_joystick_get_value_x = upm_nunchuck_get_joystick_value_x,
.upm_joystick_get_value_y = upm_nunchuck_get_joystick_value_y
};
static const upm_buttons_ft bft =
{
.upm_buttons_get_num_buttons = upm_nunchuck_get_num_buttons,
.upm_buttons_get_values = upm_nunchuck_get_button_values
};
const void* upm_nunchuck_get_ft(upm_sensor_t sensor_type)
{
switch(sensor_type)
{
case UPM_SENSOR:
return &ft;
case UPM_ACCELEROMETER:
return &aft;
case UPM_JOYSTICK:
return &jft;
case UPM_BUTTONS:
return &bft;
default:
return NULL;
}
}
void* upm_nunchuck_init_name()
{
return NULL;
}
void upm_nunchuck_close(void *dev)
{
nunchuck_close((nunchuck_context)dev);
}
upm_result_t upm_nunchuck_get_accel_values(void *dev,
float *value,
upm_acceleration_u unit)
{
if (nunchuck_update((nunchuck_context)dev))
return UPM_ERROR_OPERATION_FAILED;
int x, y, z;
nunchuck_get_acceleration((nunchuck_context)dev, &x, &y, &z);
value[0] = (float)x;
value[1] = (float)y;
value[2] = (float)z;
return UPM_SUCCESS;
}
upm_result_t upm_nunchuck_get_joystick_value_x(const void *dev, float *value)
{
// This is bad - separating getting X and Y stick values... You
// can't be sure when updating for one axis whether the other
// changed... Should be fixed by having a single function return
// both values from the same sampletime. Same goes for the rest
// of the values reported.
if (nunchuck_update((nunchuck_context)dev))
return UPM_ERROR_OPERATION_FAILED;
int x;
nunchuck_get_stick((nunchuck_context)dev, &x, NULL);
*value = (float)x;
return UPM_SUCCESS;
}
upm_result_t upm_nunchuck_get_joystick_value_y(const void *dev, float *value)
{
// This is bad - separating getting X and Y stick values... You
// can't be sure when updating for one axis whether the other
// changed... Should be fixed by having a single function return
// both values from the same sampletime. Same goes for the rest
// of the values reported.
if (nunchuck_update((nunchuck_context)dev))
return UPM_ERROR_OPERATION_FAILED;
int y;
nunchuck_get_stick((nunchuck_context)dev, NULL, &y);
*value = (float)y;
return UPM_SUCCESS;
}
upm_result_t upm_nunchuck_get_num_buttons(const void *dev,
unsigned int *num_buttons)
{
// always 2 buttons (C and Z)
*num_buttons = 2;
return UPM_SUCCESS;
}
upm_result_t upm_nunchuck_get_button_values(const void *dev,
bool *values)
{
if (nunchuck_update((nunchuck_context)dev))
return UPM_ERROR_OPERATION_FAILED;
bool bc, bz;
nunchuck_get_buttons((nunchuck_context)dev, &bc, &bz);
// hope they passed a bool[2]....
values[0] = bc;
values[1] = bz;
return UPM_SUCCESS;
}