From 1f3d07426118798b64c65d13d86cc907752d4d75 Mon Sep 17 00:00:00 2001 From: Jon Trulson Date: Tue, 10 Feb 2015 17:18:33 -0700 Subject: [PATCH] nunchuck: Initial implementation This was tested with the Grove Nunchuck adapter. Signed-off-by: Jon Trulson Signed-off-by: Zion Orent Signed-off-by: John Van Drasek --- examples/CMakeLists.txt | 3 + examples/javascript/nunchuck.js | 66 ++++++++++++++ examples/nunchuck.cxx | 79 +++++++++++++++++ src/nunchuck/CMakeLists.txt | 5 ++ src/nunchuck/jsupm_nunchuck.i | 8 ++ src/nunchuck/nunchuck.cxx | 143 ++++++++++++++++++++++++++++++ src/nunchuck/nunchuck.h | 148 ++++++++++++++++++++++++++++++++ src/nunchuck/pyupm_nunchuck.i | 9 ++ 8 files changed, 461 insertions(+) create mode 100644 examples/javascript/nunchuck.js create mode 100644 examples/nunchuck.cxx create mode 100644 src/nunchuck/CMakeLists.txt create mode 100644 src/nunchuck/jsupm_nunchuck.i create mode 100644 src/nunchuck/nunchuck.cxx create mode 100644 src/nunchuck/nunchuck.h create mode 100644 src/nunchuck/pyupm_nunchuck.i diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index 7b9be084..ac736c28 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -84,6 +84,7 @@ add_executable (mma7660-example mma7660.cxx) add_executable (cjq4435-example cjq4435.cxx) add_executable (adxl335-example adxl335.cxx) add_executable (hmtrp-example hmtrp.cxx) +add_executable (nunchuck-example nunchuck.cxx) include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l) include_directories (${PROJECT_SOURCE_DIR}/src/grove) @@ -153,6 +154,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/mma7660) include_directories (${PROJECT_SOURCE_DIR}/src/cjq4435) include_directories (${PROJECT_SOURCE_DIR}/src/adxl335) include_directories (${PROJECT_SOURCE_DIR}/src/hmtrp) +include_directories (${PROJECT_SOURCE_DIR}/src/nunchuck) target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT}) @@ -240,3 +242,4 @@ target_link_libraries (mma7660-example mma7660 ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (cjq4435-example cjq4435 ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (adxl335-example adxl335 ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (hmtrp-example hmtrp ${CMAKE_THREAD_LIBS_INIT}) +target_link_libraries (nunchuck-example nunchuck ${CMAKE_THREAD_LIBS_INIT}) diff --git a/examples/javascript/nunchuck.js b/examples/javascript/nunchuck.js new file mode 100644 index 00000000..c35a12af --- /dev/null +++ b/examples/javascript/nunchuck.js @@ -0,0 +1,66 @@ +/*jslint node:true, vars:true, bitwise:true, unparam:true */ +/*jshint unused:true */ + +/* +* Author: Zion Orent +* 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. +*/ + +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); +} + +setInterval(function() +{ + nunchuck_obj.update(); + + var outputStr = "stickX: " + nunchuck_obj.stickX + + ", stickY: " + nunchuck_obj.stickY; + console.log(outputStr); + outputStr = "accelX: " + nunchuck_obj.accelX + + ", accelY: " + nunchuck_obj.accelY + + ", accelZ: " + nunchuck_obj.accelZ; + console.log(outputStr); + + outputStr = "button C: " + + ((nunchuck_obj.buttonC) ? "pressed" : "not pressed"); + console.log(outputStr); + outputStr = "button Z: " + + ((nunchuck_obj.buttonZ) ? "pressed" : "not pressed"); + console.log(outputStr); +}, 100); + +// Print message when exiting +process.on('SIGINT', function() +{ + console.log("Exiting..."); + process.exit(0); +}); diff --git a/examples/nunchuck.cxx b/examples/nunchuck.cxx new file mode 100644 index 00000000..4b9d6170 --- /dev/null +++ b/examples/nunchuck.cxx @@ -0,0 +1,79 @@ +/* + * Author: Jon Trulson + * 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 +#include +#include + +#include "nunchuck.h" + +using namespace std; + +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 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; + } + + while (shouldRun) + { + nunchuck->update(); + + cout << "stickX: " << nunchuck->stickX + << ", stickY: " << nunchuck->stickY << endl; + cout << "accelX: " << nunchuck->accelX + << ", accelY: " << nunchuck->accelY + << ", accelZ: " << nunchuck->accelZ << endl; + + cout << "button C: " + << ((nunchuck->buttonC) ? "pressed" : "not pressed") << endl; + cout << "button Z: " + << ((nunchuck->buttonZ) ? "pressed" : "not pressed") << endl; + cout << endl; + + usleep(100000); + } + //! [Interesting] + + delete nunchuck; + return 0; +} diff --git a/src/nunchuck/CMakeLists.txt b/src/nunchuck/CMakeLists.txt new file mode 100644 index 00000000..7263ec87 --- /dev/null +++ b/src/nunchuck/CMakeLists.txt @@ -0,0 +1,5 @@ +set (libname "nunchuck") +set (libdescription "upm wii nunchuck module") +set (module_src ${libname}.cxx) +set (module_h ${libname}.h) +upm_module_init() diff --git a/src/nunchuck/jsupm_nunchuck.i b/src/nunchuck/jsupm_nunchuck.i new file mode 100644 index 00000000..2e67267f --- /dev/null +++ b/src/nunchuck/jsupm_nunchuck.i @@ -0,0 +1,8 @@ +%module jsupm_nunchuck +%include "../upm.i" + +%{ + #include "nunchuck.h" +%} + +%include "nunchuck.h" diff --git a/src/nunchuck/nunchuck.cxx b/src/nunchuck/nunchuck.cxx new file mode 100644 index 00000000..4cd70010 --- /dev/null +++ b/src/nunchuck/nunchuck.cxx @@ -0,0 +1,143 @@ +/* + * Author: Jon Trulson + * 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 +#include +#include + +#include "nunchuck.h" + +using namespace upm; +using namespace std; + + +NUNCHUCK::NUNCHUCK(int bus, uint8_t addr) +{ + stickX = 0; + stickY = 0; + accelX = 0; + accelY = 0; + accelZ = 0; + buttonC = false; + buttonZ = false; + + // setup our i2c link + m_i2c = mraa_i2c_init(bus); + + mraa_result_t rv; + + if ( (rv = mraa_i2c_address(m_i2c, addr)) != MRAA_SUCCESS ) + { + cerr << __FUNCTION__ << ": mraa_i2c_address() failed." << endl; + mraa_result_print(rv); + } +} + +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 ) + { + cerr << __FUNCTION__ << ": mraa_i2c_write_byte_data() failed." << endl; + mraa_result_print(rv); + return false; + } + + return true; +} + +uint8_t NUNCHUCK::readBytes(uint8_t reg, uint8_t *buffer, unsigned 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; +} + +void NUNCHUCK::update() +{ + const int bufsize = 6; + uint8_t buf[bufsize]; + int rv; + + rv = readBytes(0x00, buf, bufsize); + + if (rv != bufsize) + { + cerr << __FUNCTION__ << "read failed, expected " << bufsize + << "bytes, got " << rv << endl; + 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; +} + diff --git a/src/nunchuck/nunchuck.h b/src/nunchuck/nunchuck.h new file mode 100644 index 00000000..afbddb27 --- /dev/null +++ b/src/nunchuck/nunchuck.h @@ -0,0 +1,148 @@ +/* + * Author: Jon Trulson + * 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. + */ +#pragma once + +#include +#include + +#define NUNCHUCK_I2C_ADDR 0x52 + +namespace upm { + + /** + * @brief C++ API for the Wii Nunchuck + * + * UPM module for the Wii Nunchuck. This module was tested with the + * 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 detailed information on the controller and it's protocol. + * + * A warning for the Grove nunchuck adapter: It has 2 traces on one + * side, and 3 traces on the other. Do not match these up with the + * nunchuck connector's traces. The nunchuck connector 'groove' + * should be on the same side as the grove interface socket on the + * adapter. + * + * @ingroup nunchuck + * @defgroup nunchuck libupm-nunchuck + * @snippet nunchuck.cxx Interesting + */ + class NUNCHUCK { + public: + /** + * NUNCHUCK constructor + * + * @param bus i2c bus to use + * @param addr i2c address to use + */ + NUNCHUCK(int bus, uint8_t addr=NUNCHUCK_I2C_ADDR); + + /** + * NUNCHUCK destructor + */ + ~NUNCHUCK(); + + /** + * Write 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); + + /** + * Read 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 + */ + uint8_t readBytes(uint8_t reg, uint8_t *buffer, unsigned int len); + + /** + * Initialize the controller. Here, we disable encryption after + * delaying for a time to ensure the controller is ready. + * + * @return true if initialized successfully + */ + bool init(); + + /** + * Read and update the current state of the controller. + * + */ + void update(); + + /** + * Current analog stick X position + * + */ + int stickX; + + /** + * Current analog stick Y position + * + */ + int stickY; + + /** + * Current accelerometer X value + * + */ + int accelX; + + /** + * Current accelerometer Y value + * + */ + int accelY; + + /** + * Current accelerometer Z value + * + */ + int accelZ; + + /** + * Button C pressed? + * + */ + bool buttonC; + + /** + * Button Z pressed? + * + */ + bool buttonZ; + + private: + mraa_i2c_context m_i2c; + }; +} + + diff --git a/src/nunchuck/pyupm_nunchuck.i b/src/nunchuck/pyupm_nunchuck.i new file mode 100644 index 00000000..5abb37ba --- /dev/null +++ b/src/nunchuck/pyupm_nunchuck.i @@ -0,0 +1,9 @@ +%module pyupm_nunchuck +%include "../upm.i" + +%feature("autodoc", "3"); + +%include "nunchuck.h" +%{ + #include "nunchuck.h" +%}