446 lines
12 KiB
C
446 lines
12 KiB
C
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/****************************************************************************
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* examplex/nunchuck/nunchuck_main.c
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*
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* Copyright (C) 2017 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/ioctl.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <fixedmath.h>
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#include <debug.h>
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#include <nuttx/input/nunchuck.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Configuration ************************************************************/
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#ifndef CONFIG_INPUT_NUNCHUCK
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# error "CONFIG_NUNCHUCK is not defined in the configuration"
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#endif
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#ifndef CONFIG_EXAMPLES_NUNCHUCK_DEVNAME
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# define CONFIG_EXAMPLES_NUNCHUCK_DEVNAME "/dev/nunchuck0"
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#endif
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#define FULL_RANGE 16
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/* Helpers ******************************************************************/
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#ifndef MIN
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# define MIN(a,b) (a < b ? a : b)
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#endif
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#ifndef MAX
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# define MAX(a,b) (a > b ? a : b)
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#endif
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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static void show_buttons(nunchuck_buttonset_t oldset, nunchuck_buttonset_t newset);
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static void show_joystick(FAR const struct nunchuck_sample_s *sample);
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static int nunchuck_read(int fd, FAR struct nunchuck_sample_s *sample);
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static int nunchuck_calibrate(int fd);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/* The set of supported joystick buttons */
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static nunchuck_buttonset_t g_nunchucksupported;
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/* Last sampled button set */
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static nunchuck_buttonset_t g_nunchucklast;
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/* Calibration data */
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static bool g_calibrated;
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static bool g_lispositive;
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static bool g_fispositive;
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static int16_t g_xcenter;
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static int16_t g_ycenter;
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static b16_t g_xlslope;
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static b16_t g_xrslope;
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static b16_t g_yfslope;
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static b16_t g_ybslope;
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/* Joystick button names */
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static const char *g_nunchucknames[NUNCHUCK_NBUTTONS] =
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{
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"FIRE", "SELECT",
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};
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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static void show_buttons(nunchuck_buttonset_t oldset, nunchuck_buttonset_t newset)
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{
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nunchuck_buttonset_t chgset = oldset ^ newset;
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int i;
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if (chgset != 0)
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{
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/* Show each button state change */
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for (i = 0; i <= NUNCHUCK_NBUTTONS; i++)
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{
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nunchuck_buttonset_t mask = (1 << i);
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if ((chgset & mask) != 0)
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{
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FAR const char *state;
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/* Get the button state */
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if ((newset & mask) != 0)
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{
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state = "selected";
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}
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else
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{
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state = "released";
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}
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printf(" %-6s: %s\n", g_nunchucknames[i], state);
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}
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}
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}
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}
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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static void show_joystick(FAR const struct nunchuck_sample_s *sample)
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{
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printf(" RAW: X=%d Y=%d\n", sample->js_x, sample->js_y);
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if (g_calibrated)
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{
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int tmp;
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int x;
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int y;
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tmp = sample->js_x - g_xcenter;
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if ((g_lispositive && tmp >= 0) ||
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(!g_lispositive && tmp < 0))
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{
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x = tmp * g_xlslope;
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}
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else
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{
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x = tmp * g_xrslope;
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}
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tmp = sample->js_y - g_ycenter;
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if ((g_fispositive && tmp >= 0) ||
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(!g_fispositive && tmp < 0))
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{
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y = tmp * g_yfslope;
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}
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else
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{
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y = tmp * g_ybslope;
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}
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printf(" Calibrated: X=%d Y=%d\n", x, y);
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}
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}
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static int nunchuck_read(int fd, FAR struct nunchuck_sample_s *sample)
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{
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ssize_t nread;
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/* Read the joystack sample */
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nread = read(fd, sample, sizeof(struct nunchuck_sample_s));
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if (nread < 0)
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{
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int errcode = errno;
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fprintf(stderr, "ERROR: read() failed: %d\n", errcode);
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return -errcode;
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}
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else if (nread != sizeof(struct nunchuck_sample_s))
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{
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fprintf(stderr, "ERROR: read() unexpected size: %ld vs %d\n",
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(long)nread, sizeof(struct nunchuck_sample_s));
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return -EIO;
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}
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#ifdef CONFIG_DEBUG_INPUT
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/* Show the joystick position and set buttons accompanying the signal */
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/* Show the set of joystick buttons that we just read */
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printf("Read position and button set\n");
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show_joystick(sample);
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show_buttons(g_nunchucklast, sample->nck_buttons);
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#endif
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usleep(10000);
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return OK;
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}
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static b16_t nunchuck_slope(int16_t value, int32_t full_range)
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{
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return itob16(full_range) / (int32_t)value;
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}
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static int nunchuck_calibrate(int fd)
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{
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struct nunchuck_sample_s sample;
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int ret;
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printf("Calibrating the joystick...\n");
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/* Get the center position */
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printf("Center the joystick and press any button\n");
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sample.nck_buttons = 0;
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while (sample.nck_buttons == 0)
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{
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ret = nunchuck_read(fd, &sample);
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if (ret < 0)
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{
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fprintf(stderr, "ERROR: nunchuck_read() failed: %d\n", errno);
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return ret;
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}
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}
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g_xcenter = sample.js_x;
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g_ycenter = sample.js_y;
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/* Wait release the button */
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while (sample.nck_buttons != 0)
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{
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ret = nunchuck_read(fd, &sample);
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if (ret < 0)
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{
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fprintf(stderr, "ERROR: nunchuck_read() failed: %d\n", errno);
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return ret;
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}
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}
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/* Get the left/right calibration data */
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printf("Move the joystick to the far RIGHT and press any button\n");
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while (sample.nck_buttons == 0)
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{
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ret = nunchuck_read(fd, &sample);
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if (ret < 0)
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{
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fprintf(stderr, "ERROR: nunchuck_read() failed: %d\n", errno);
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return ret;
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}
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}
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g_lispositive = (sample.js_x > g_xcenter);
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g_xlslope = nunchuck_slope(sample.js_x - g_xcenter, FULL_RANGE);
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/* Wait release the button */
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while (sample.nck_buttons != 0)
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{
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ret = nunchuck_read(fd, &sample);
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if (ret < 0)
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{
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fprintf(stderr, "ERROR: nunchuck_read() failed: %d\n", errno);
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return ret;
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}
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}
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printf("Move the joystick to the far LEFT and press any button\n");
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while (sample.nck_buttons == 0)
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{
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ret = nunchuck_read(fd, &sample);
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if (ret < 0)
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{
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fprintf(stderr, "ERROR: nunchuck_read() failed: %d\n", errno);
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return ret;
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}
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}
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g_xrslope = nunchuck_slope(sample.js_x - g_xcenter, -FULL_RANGE);
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/* Wait release the button */
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while (sample.nck_buttons != 0)
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{
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ret = nunchuck_read(fd, &sample);
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if (ret < 0)
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{
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fprintf(stderr, "ERROR: nunchuck_read() failed: %d\n", errno);
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return ret;
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}
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}
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/* Get the forward/backward calibration data */
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printf("Move the joystick to the far FORWARD and press any button\n");
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while (sample.nck_buttons == 0)
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{
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ret = nunchuck_read(fd, &sample);
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if (ret < 0)
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{
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fprintf(stderr, "ERROR: nunchuck_read() failed: %d\n", errno);
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return ret;
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}
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}
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g_fispositive = (sample.js_y > g_ycenter);
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g_yfslope = nunchuck_slope(sample.js_y - g_ycenter, FULL_RANGE);
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/* Wait release the button */
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while (sample.nck_buttons != 0)
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{
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ret = nunchuck_read(fd, &sample);
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if (ret < 0)
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{
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fprintf(stderr, "ERROR: nunchuck_read() failed: %d\n", errno);
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return ret;
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}
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}
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printf("Move the joystick to the far BACKWARD and press any button\n");
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while (sample.nck_buttons == 0)
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{
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ret = nunchuck_read(fd, &sample);
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if (ret < 0)
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{
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fprintf(stderr, "ERROR: nunchuck_read() failed: %d\n", errno);
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return ret;
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}
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}
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g_ybslope = nunchuck_slope(sample.js_y - g_ycenter, -FULL_RANGE);
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printf("Calibrated:\n");
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g_calibrated = true;
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printf(" X: center=%d, R-slope=%08lx L-slope=%08lx\n",
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g_xcenter, g_xrslope, g_xlslope);
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printf(" Y: center=%d, F-slope=%08lx B-slope=%08lx\n",
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g_ycenter, g_yfslope, g_ybslope);
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return OK;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* nunchuck_main
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****************************************************************************/
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int main(int argc, FAR char *argv[])
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{
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int fd;
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int tmp;
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int ret;
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int errcode = EXIT_FAILURE;
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/* Reset some globals that might been been left in a bad state */
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g_nunchucklast = 0;
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/* Open the nunchuck device */
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fd = open(CONFIG_EXAMPLES_NUNCHUCK_DEVNAME, O_RDONLY);
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if (fd < 0)
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{
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fprintf(stderr, "ERROR: Failed to open %s: %d\n",
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CONFIG_EXAMPLES_NUNCHUCK_DEVNAME, errno);
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return EXIT_FAILURE;
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}
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|
|
|
||
|
|
/* Get the set of supported buttons */
|
||
|
|
|
||
|
|
ret = ioctl(fd, NUNCHUCKIOC_SUPPORTED, (unsigned long)((uintptr_t)&tmp));
|
||
|
|
if (ret < 0)
|
||
|
|
{
|
||
|
|
fprintf(stderr, "ERROR: ioctl(NUNCHUCKIOC_SUPPORTED) failed: %d\n", errno);
|
||
|
|
goto errout_with_fd;
|
||
|
|
}
|
||
|
|
|
||
|
|
g_nunchucksupported = (nunchuck_buttonset_t)tmp;
|
||
|
|
printf("Supported joystick buttons:\n");
|
||
|
|
show_buttons(0, g_nunchucksupported);
|
||
|
|
|
||
|
|
/* Calibrate the joystick */
|
||
|
|
|
||
|
|
nunchuck_calibrate(fd);
|
||
|
|
|
||
|
|
for (;;)
|
||
|
|
{
|
||
|
|
struct nunchuck_sample_s sample;
|
||
|
|
|
||
|
|
/* Wait for a signal and read the sample */
|
||
|
|
|
||
|
|
ret = nunchuck_read(fd, &sample);
|
||
|
|
if (ret < 0)
|
||
|
|
{
|
||
|
|
fprintf(stderr, "ERROR: nunchuck_read() failed: %d\n", errno);
|
||
|
|
goto errout_with_fd;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Show read sample */
|
||
|
|
|
||
|
|
show_joystick(&sample);
|
||
|
|
show_buttons(g_nunchucklast, sample.nck_buttons);
|
||
|
|
g_nunchucklast = sample.nck_buttons;
|
||
|
|
}
|
||
|
|
|
||
|
|
errcode = EXIT_SUCCESS;
|
||
|
|
|
||
|
|
errout_with_fd:
|
||
|
|
close(fd);
|
||
|
|
return errcode;
|
||
|
|
}
|