Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 1 | #include <Wire.h> |
| 2 | #include <Servo.h> |
| 3 | |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 4 | #include <Max3421e.h> |
| 5 | #include <Usb.h> |
| 6 | #include <AndroidAccessory.h> |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 7 | |
Erik Gilling | ccfe939 | 2011-04-04 10:21:14 -0700 | [diff] [blame] | 8 | #include <CapSense.h> |
| 9 | |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 10 | #define LED3_RED 2 |
Erik Gilling | ea90900 | 2011-03-16 15:07:07 -0700 | [diff] [blame] | 11 | #define LED3_GREEN 4 |
| 12 | #define LED3_BLUE 3 |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 13 | |
| 14 | #define LED2_RED 5 |
Erik Gilling | ea90900 | 2011-03-16 15:07:07 -0700 | [diff] [blame] | 15 | #define LED2_GREEN 7 |
| 16 | #define LED2_BLUE 6 |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 17 | |
| 18 | #define LED1_RED 8 |
Erik Gilling | ea90900 | 2011-03-16 15:07:07 -0700 | [diff] [blame] | 19 | #define LED1_GREEN 10 |
| 20 | #define LED1_BLUE 9 |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 21 | |
| 22 | #define SERVO1 11 |
| 23 | #define SERVO2 12 |
| 24 | #define SERVO3 13 |
| 25 | |
Erik Gilling | ccfe939 | 2011-04-04 10:21:14 -0700 | [diff] [blame] | 26 | #define TOUCH_RECV 14 |
| 27 | #define TOUCH_SEND 15 |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 28 | |
| 29 | #define RELAY1 A0 |
| 30 | #define RELAY2 A1 |
| 31 | |
| 32 | #define LIGHT_SENSOR A2 |
| 33 | #define TEMP_SENSOR A3 |
| 34 | |
| 35 | #define BUTTON1 A6 |
| 36 | #define BUTTON2 A7 |
| 37 | #define BUTTON3 A8 |
| 38 | |
| 39 | #define JOY_SWITCH A9 // pulls line down when pressed |
| 40 | #define JOY_nINT A10 // active low interrupt input |
| 41 | #define JOY_nRESET A11 // active low reset output |
| 42 | |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 43 | AndroidAccessory acc("Google, Inc.", |
| 44 | "DemoKit", |
| 45 | "DemoKit Arduino Board", |
| 46 | "1.0", |
| 47 | "http://www.android.com", |
| 48 | "0000000012345678"); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 49 | Servo servos[3]; |
| 50 | |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 51 | // 10M ohm resistor on demo shield |
| 52 | CapSense touch_robot = CapSense(TOUCH_SEND, TOUCH_RECV); |
Erik Gilling | ccfe939 | 2011-04-04 10:21:14 -0700 | [diff] [blame] | 53 | |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 54 | void setup(); |
| 55 | void loop(); |
| 56 | |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 57 | void init_buttons() |
| 58 | { |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 59 | pinMode(BUTTON1, INPUT); |
| 60 | pinMode(BUTTON2, INPUT); |
| 61 | pinMode(BUTTON3, INPUT); |
| 62 | pinMode(JOY_SWITCH, INPUT); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 63 | |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 64 | // enable the internal pullups |
| 65 | digitalWrite(BUTTON1, HIGH); |
| 66 | digitalWrite(BUTTON2, HIGH); |
| 67 | digitalWrite(BUTTON3, HIGH); |
| 68 | digitalWrite(JOY_SWITCH, HIGH); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 69 | } |
| 70 | |
| 71 | |
| 72 | void init_relays() |
| 73 | { |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 74 | pinMode(RELAY1, OUTPUT); |
| 75 | pinMode(RELAY2, OUTPUT); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 76 | } |
| 77 | |
| 78 | |
| 79 | void init_leds() |
| 80 | { |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 81 | digitalWrite(LED1_RED, 1); |
| 82 | digitalWrite(LED1_GREEN, 1); |
| 83 | digitalWrite(LED1_BLUE, 1); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 84 | |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 85 | pinMode(LED1_RED, OUTPUT); |
| 86 | pinMode(LED1_GREEN, OUTPUT); |
| 87 | pinMode(LED1_BLUE, OUTPUT); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 88 | |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 89 | digitalWrite(LED2_RED, 1); |
| 90 | digitalWrite(LED2_GREEN, 1); |
| 91 | digitalWrite(LED2_BLUE, 1); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 92 | |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 93 | pinMode(LED2_RED, OUTPUT); |
| 94 | pinMode(LED2_GREEN, OUTPUT); |
| 95 | pinMode(LED2_BLUE, OUTPUT); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 96 | |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 97 | digitalWrite(LED3_RED, 1); |
| 98 | digitalWrite(LED3_GREEN, 1); |
| 99 | digitalWrite(LED3_BLUE, 1); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 100 | |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 101 | pinMode(LED3_RED, OUTPUT); |
| 102 | pinMode(LED3_GREEN, OUTPUT); |
| 103 | pinMode(LED3_BLUE, OUTPUT); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 104 | } |
| 105 | |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 106 | void init_joystick(int threshold); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 107 | |
Erik Gilling | 894c5eb | 2011-04-04 10:46:13 -0700 | [diff] [blame] | 108 | byte b1, b2, b3, b4, c; |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 109 | void setup() |
| 110 | { |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 111 | Serial.begin(115200); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 112 | Serial.print("\r\nStart"); |
| 113 | |
| 114 | init_leds(); |
| 115 | init_relays(); |
| 116 | init_buttons(); |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 117 | init_joystick( 5 ); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 118 | |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 119 | // autocalibrate OFF |
| 120 | touch_robot.set_CS_AutocaL_Millis(0xFFFFFFFF); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 121 | |
| 122 | servos[0].attach(SERVO1); |
| 123 | servos[0].write(90); |
| 124 | servos[1].attach(SERVO2); |
| 125 | servos[1].write(90); |
| 126 | servos[2].attach(SERVO3); |
| 127 | servos[2].write(90); |
| 128 | |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 129 | |
| 130 | b1 = digitalRead(BUTTON1); |
| 131 | b2 = digitalRead(BUTTON2); |
| 132 | b3 = digitalRead(BUTTON3); |
Erik Gilling | 894c5eb | 2011-04-04 10:46:13 -0700 | [diff] [blame] | 133 | b4 = digitalRead(JOY_SWITCH); |
Erik Gilling | ccfe939 | 2011-04-04 10:21:14 -0700 | [diff] [blame] | 134 | c = 0; |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 135 | |
| 136 | acc.powerOn(); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 137 | } |
| 138 | |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 139 | void loop() |
| 140 | { |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 141 | byte err; |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 142 | byte idle; |
| 143 | static byte count = 0; |
| 144 | byte msg[3]; |
Erik Gilling | ccfe939 | 2011-04-04 10:21:14 -0700 | [diff] [blame] | 145 | long touchcount; |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 146 | |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 147 | if (acc.isConnected()) { |
| 148 | int len = acc.read(msg, sizeof(msg), 1); |
| 149 | int i; |
| 150 | byte b; |
| 151 | uint16_t val; |
| 152 | int x, y; |
| 153 | char c0; |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 154 | |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 155 | if (len > 0) { |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 156 | // assumes only one command per packet |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 157 | if (msg[0] == 0x2) { |
| 158 | if (msg[1] == 0x0) |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 159 | analogWrite(LED1_RED, 255 - msg[2]); |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 160 | else if (msg[1] == 0x1) |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 161 | analogWrite(LED1_GREEN, 255 - msg[2]); |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 162 | else if (msg[1] == 0x2) |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 163 | analogWrite(LED1_BLUE, 255 - msg[2]); |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 164 | else if (msg[1] == 0x3) |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 165 | analogWrite(LED2_RED, 255 - msg[2]); |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 166 | else if (msg[1] == 0x4) |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 167 | analogWrite(LED2_GREEN, 255 - msg[2]); |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 168 | else if (msg[1] == 0x5) |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 169 | analogWrite(LED2_BLUE, 255 - msg[2]); |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 170 | else if (msg[1] == 0x6) |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 171 | analogWrite(LED3_RED, 255 - msg[2]); |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 172 | else if (msg[1] == 0x7) |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 173 | analogWrite(LED3_GREEN, 255 - msg[2]); |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 174 | else if (msg[1] == 0x8) |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 175 | analogWrite(LED3_BLUE, 255 - msg[2]); |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 176 | else if (msg[1] == 0x10) |
| 177 | servos[0].write(map(msg[2], 0, 255, 0, 180)); |
| 178 | else if (msg[1] == 0x11) |
| 179 | servos[1].write(map(msg[2], 0, 255, 0, 180)); |
| 180 | else if (msg[1] == 0x12) |
| 181 | servos[2].write(map(msg[2], 0, 255, 0, 180)); |
| 182 | } else if (msg[0] == 0x3) { |
| 183 | if (msg[1] == 0x0) |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 184 | digitalWrite(RELAY1, msg[2] ? HIGH : LOW); |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 185 | else if (msg[1] == 0x1) |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 186 | digitalWrite(RELAY2, msg[2] ? HIGH : LOW); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 187 | } |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 188 | } |
| 189 | |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 190 | msg[0] = 0x1; |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 191 | |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 192 | b = digitalRead(BUTTON1); |
| 193 | if (b != b1) { |
| 194 | msg[1] = 0; |
| 195 | msg[2] = b ? 0 : 1; |
| 196 | acc.write(msg, 3); |
| 197 | b1 = b; |
| 198 | } |
| 199 | |
| 200 | b = digitalRead(BUTTON2); |
| 201 | if (b != b2) { |
| 202 | msg[1] = 1; |
| 203 | msg[2] = b ? 0 : 1; |
| 204 | acc.write(msg, 3); |
| 205 | b2 = b; |
| 206 | } |
| 207 | |
| 208 | b = digitalRead(BUTTON3); |
| 209 | if (b != b3) { |
| 210 | msg[1] = 2; |
| 211 | msg[2] = b ? 0 : 1; |
| 212 | acc.write(msg, 3); |
| 213 | b3 = b; |
| 214 | } |
| 215 | |
Erik Gilling | 894c5eb | 2011-04-04 10:46:13 -0700 | [diff] [blame] | 216 | b = digitalRead(JOY_SWITCH); |
| 217 | if (b != b4) { |
| 218 | msg[1] = 4; |
| 219 | msg[2] = b ? 0 : 1; |
| 220 | acc.write(msg, 3); |
| 221 | b4 = b; |
| 222 | } |
| 223 | |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 224 | switch (count++ % 0x10) { |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 225 | case 0: |
| 226 | val = analogRead(TEMP_SENSOR); |
| 227 | msg[0] = 0x4; |
| 228 | msg[1] = val >> 8; |
| 229 | msg[2] = val & 0xff; |
| 230 | acc.write(msg, 3); |
| 231 | break; |
| 232 | |
| 233 | case 0x4: |
| 234 | val = analogRead(LIGHT_SENSOR); |
| 235 | msg[0] = 0x5; |
| 236 | msg[1] = val >> 8; |
| 237 | msg[2] = val & 0xff; |
| 238 | acc.write(msg, 3); |
| 239 | break; |
| 240 | |
| 241 | case 0x8: |
| 242 | read_joystick(&x, &y); |
| 243 | msg[0] = 0x6; |
| 244 | msg[1] = constrain(x, -128, 127); |
| 245 | msg[2] = constrain(y, -128, 127); |
| 246 | acc.write(msg, 3); |
| 247 | break; |
| 248 | |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 249 | case 0xc: |
Erik Gilling | ccfe939 | 2011-04-04 10:21:14 -0700 | [diff] [blame] | 250 | touchcount = touch_robot.capSense(5); |
| 251 | |
| 252 | c0 = touchcount > 750; |
| 253 | |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 254 | if (c0 != c) { |
| 255 | msg[0] = 0x1; |
| 256 | msg[1] = 3; |
Erik Gilling | ccfe939 | 2011-04-04 10:21:14 -0700 | [diff] [blame] | 257 | msg[2] = c0; |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 258 | acc.write(msg, 3); |
| 259 | c = c0; |
| 260 | } |
Erik Gilling | ccfe939 | 2011-04-04 10:21:14 -0700 | [diff] [blame] | 261 | |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 262 | break; |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 263 | } |
Rob Tsuk | b63ed7a | 2011-05-05 16:39:13 -0700 | [diff] [blame] | 264 | } else { |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 265 | // reset outputs to default values on disconnect |
Rob Tsuk | b63ed7a | 2011-05-05 16:39:13 -0700 | [diff] [blame] | 266 | analogWrite(LED1_RED, 255); |
| 267 | analogWrite(LED1_GREEN, 255); |
| 268 | analogWrite(LED1_BLUE, 255); |
| 269 | analogWrite(LED2_RED, 255); |
| 270 | analogWrite(LED2_GREEN, 255); |
| 271 | analogWrite(LED2_BLUE, 255); |
| 272 | analogWrite(LED3_RED, 255); |
| 273 | analogWrite(LED3_GREEN, 255); |
| 274 | analogWrite(LED3_BLUE, 255); |
| 275 | servos[0].write(90); |
| 276 | servos[0].write(90); |
| 277 | servos[0].write(90); |
| 278 | digitalWrite(RELAY1, LOW); |
| 279 | digitalWrite(RELAY2, LOW); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 280 | } |
| 281 | |
Erik Gilling | 9c16e96 | 2011-03-16 17:27:09 -0700 | [diff] [blame] | 282 | delay(10); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 283 | } |
| 284 | |
| 285 | // ============================================================================== |
| 286 | // Austria Microsystems i2c Joystick |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 287 | void init_joystick(int threshold) |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 288 | { |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 289 | byte status = 0; |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 290 | |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 291 | pinMode(JOY_SWITCH, INPUT); |
| 292 | digitalWrite(JOY_SWITCH, HIGH); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 293 | |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 294 | pinMode(JOY_nINT, INPUT); |
| 295 | digitalWrite(JOY_nINT, HIGH); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 296 | |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 297 | pinMode(JOY_nRESET, OUTPUT); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 298 | |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 299 | digitalWrite(JOY_nRESET, 1); |
| 300 | delay(1); |
| 301 | digitalWrite(JOY_nRESET, 0); |
| 302 | delay(1); |
| 303 | digitalWrite(JOY_nRESET, 1); |
| 304 | |
| 305 | Wire.begin(); |
| 306 | |
| 307 | do { |
| 308 | status = read_joy_reg(0x0f); |
| 309 | } while ((status & 0xf0) != 0xf0); |
| 310 | |
| 311 | // invert magnet polarity setting, per datasheet |
| 312 | write_joy_reg(0x2e, 0x86); |
| 313 | |
| 314 | calibrate_joystick(threshold); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 315 | } |
| 316 | |
| 317 | |
| 318 | int offset_X, offset_Y; |
| 319 | |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 320 | void calibrate_joystick(int dz) |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 321 | { |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 322 | char iii; |
| 323 | int x_cal = 0; |
| 324 | int y_cal = 0; |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 325 | |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 326 | // Low Power Mode, 20ms auto wakeup |
| 327 | // INTn output enabled |
| 328 | // INTn active after each measurement |
| 329 | // Normal (non-Reset) mode |
| 330 | write_joy_reg(0x0f, 0x00); |
| 331 | delay(1); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 332 | |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 333 | // dummy read of Y_reg to reset interrupt |
| 334 | read_joy_reg(0x11); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 335 | |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 336 | for(iii = 0; iii != 16; iii++) { |
| 337 | while(!joystick_interrupt()) {} |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 338 | |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 339 | x_cal += read_joy_reg(0x10); |
| 340 | y_cal += read_joy_reg(0x11); |
| 341 | } |
| 342 | |
| 343 | // divide by 16 to get average |
| 344 | offset_X = -(x_cal>>4); |
| 345 | offset_Y = -(y_cal>>4); |
| 346 | |
| 347 | write_joy_reg(0x12, dz - offset_X); // Xp, LEFT threshold for INTn |
| 348 | write_joy_reg(0x13, -dz - offset_X); // Xn, RIGHT threshold for INTn |
| 349 | write_joy_reg(0x14, dz - offset_Y); // Yp, UP threshold for INTn |
| 350 | write_joy_reg(0x15, -dz - offset_Y); // Yn, DOWN threshold for INTn |
| 351 | |
| 352 | // dead zone threshold detect requested? |
| 353 | if (dz) |
| 354 | write_joy_reg(0x0f, 0x04); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 355 | } |
| 356 | |
| 357 | |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 358 | void read_joystick(int *x, int *y) |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 359 | { |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 360 | *x = read_joy_reg(0x10) + offset_X; |
| 361 | *y = read_joy_reg(0x11) + offset_Y; // reading Y clears the interrupt |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 362 | } |
| 363 | |
| 364 | char joystick_interrupt() |
| 365 | { |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 366 | return digitalRead(JOY_nINT) == 0; |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 367 | } |
| 368 | |
| 369 | |
| 370 | #define JOY_I2C_ADDR 0x40 |
| 371 | |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 372 | char read_joy_reg(char reg_addr) |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 373 | { |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 374 | char c; |
| 375 | |
| 376 | Wire.beginTransmission(JOY_I2C_ADDR); |
| 377 | Wire.send(reg_addr); |
| 378 | Wire.endTransmission(); |
| 379 | |
| 380 | Wire.requestFrom(JOY_I2C_ADDR, 1); |
| 381 | |
| 382 | while(Wire.available()) |
| 383 | c = Wire.receive(); |
| 384 | |
| 385 | return c; |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 386 | } |
| 387 | |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 388 | void write_joy_reg(char reg_addr, char val) |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 389 | { |
Erik Gilling | c91d588 | 2011-05-06 08:52:22 -0700 | [diff] [blame^] | 390 | Wire.beginTransmission(JOY_I2C_ADDR); |
| 391 | Wire.send(reg_addr); |
| 392 | Wire.send(val); |
| 393 | Wire.endTransmission(); |
Erik Gilling | 3edead5 | 2011-03-08 15:59:23 -0800 | [diff] [blame] | 394 | } |