nunchuck: Initial implementation

This was tested with the Grove Nunchuck adapter.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Zion Orent <zorent@ics.com>
Signed-off-by: John Van Drasek <john.r.van.drasek@intel.com>

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})

examples/javascript/nunchuck.js

@@ -0,0 +1,66 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+* Author: Zion Orent <zorent@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.
+*/
+
+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);
+});

examples/nunchuck.cxx

@@ -0,0 +1,79 @@
+/*
+ * 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 <iostream>
+#include <signal.h>
+
+#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;
+}

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()

src/nunchuck/jsupm_nunchuck.i

@@ -0,0 +1,8 @@
+%module jsupm_nunchuck
+%include "../upm.i"
+
+%{
+    #include "nunchuck.h"
+%}
+
+%include "nunchuck.h"

src/nunchuck/nunchuck.cxx

@@ -0,0 +1,143 @@
+/*
+ * 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 <iostream>
+#include <string>
+#include <unistd.h>
+
+#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;
+}
+

src/nunchuck/nunchuck.h

@@ -0,0 +1,148 @@
+/*
+ * 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.
+ */
+#pragma once
+
+#include <string>
+#include <mraa/i2c.h>
+
+#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;
+  };
+}
+
+

src/nunchuck/pyupm_nunchuck.i

@@ -0,0 +1,9 @@
+%module pyupm_nunchuck
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "nunchuck.h"
+%{
+    #include "nunchuck.h"
+%}