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/*
* Copyright (C) 2011 by Daniel Friesel <derf@finalrewind.org>
* License: WTFPL <http://sam.zoy.org/wtfpl>
* 0. You just DO WHAT THE FUCK YOU WANT TO.
*/
#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>
#include <time.h>
#include <math.h>
#include <bluetooth/bluetooth.h>
#include <cwiid.h>
cwiid_mesg_callback_t cwiid_callback;
struct acc_cal wm_cal;
int main()
{
cwiid_wiimote_t *wiimote = NULL;
if ((wiimote = cwiid_open(BDADDR_ANY, 0)) == NULL) {
fputs("Unable to connect\n", stderr);
return EXIT_FAILURE;
}
sleep(2);
cwiid_set_led(wiimote, (1 << 3) | (1));
if (cwiid_get_acc_cal(wiimote, CWIID_EXT_NONE, &wm_cal))
fputs("unable to retrieve accelerometer calibration\n", stderr);
if (cwiid_set_mesg_callback(wiimote, cwiid_callback))
fputs("cannot set callback\n", stderr);
if (cwiid_enable(wiimote, CWIID_FLAG_MESG_IFC))
fputs("cannot enable callback\n", stderr);
if (cwiid_set_rpt_mode(wiimote,
CWIID_RPT_ACC))
fputs("cannot set report mode\n", stderr);
while (1) {
/* nothing to do here */
sleep(1);
}
return EXIT_SUCCESS;
}
void handle_acc(cwiid_wiimote_t *wiimote, struct cwiid_acc_mesg *am,
struct timespec *ts)
{
double a_x = ((double)am->acc[CWIID_X] - wm_cal.zero[CWIID_X]) /
(wm_cal.one[CWIID_X] - wm_cal.zero[CWIID_X]);
double a_y = ((double)am->acc[CWIID_Y] - wm_cal.zero[CWIID_Y]) /
(wm_cal.one[CWIID_Y] - wm_cal.zero[CWIID_Y]);
double a_z = ((double)am->acc[CWIID_Z] - wm_cal.zero[CWIID_Z]) /
(wm_cal.one[CWIID_Z] - wm_cal.zero[CWIID_Z]);
double accel = sqrt(pow(a_x,2)+pow(a_y,2)+pow(a_z,2));
double roll = atan(a_x / a_z);
if (a_z <= 0.0) {
roll += 3.14159265358979323 * ((a_x > 0.0) ? 1 : -1);
}
double pitch = atan( a_y / a_z * cos(roll));
printf("%ld.%09ld %f %f %f %f %f %f\n",
ts->tv_sec, ts->tv_nsec,
a_x, a_y, a_z,
accel, roll, pitch
);
}
void cwiid_callback(cwiid_wiimote_t *wiimote, int mesg_count,
union cwiid_mesg mesg[], struct timespec *ts)
{
for (int i = 0; i < mesg_count; i++)
if (mesg[i].type == CWIID_MESG_ACC)
handle_acc(wiimote, &mesg[i].acc_mesg, ts);
}