nunchuk.cpp

/**
 * @license Nunchuk Arduino library v0.0.1 16/12/2016
 * http://www.xarg.org/2016/12/arduino-nunchuk-library/
 *
 * Copyright (c) 2016, Robert Eisele (robert@xarg.org)
 * Dual licensed under the MIT or GPL Version 2 licenses.
 **/

#include <Wire.h>
#include "config.h"
#include "com.h"
#include "nunchuk.h"


// Calibration joystick values
#define NUNCHUK_JOYSTICK_X_ZERO 127
#define NUNCHUK_JOYSTICK_Y_ZERO 128

// The Nunchuk I2C address
#define NUNCHUK_ADDRESS 0x52

#if ARDUINO >= 100
#define I2C_READ() Wire.read()
#define I2C_WRITE(x) Wire.write(x)
#else
#define I2C_READ() Wire.receive()
#define I2C_WRITE(x) Wire.send(x)
#endif

#define I2C_START(x) Wire.beginTransmission(x)
#define I2C_STOP() Wire.endTransmission(true)

uint8_t nunchuk_data[6];

int8_t prevMoveX = 0;
int8_t prevMoveY = 0;
int8_t prevMoveZ = 0;
int8_t jogDistX = 0;
int8_t jogDistY = 0;
int8_t jogDistZ = 0;
float moveMultiplier ;
uint32_t cntSameMove = 0 ;

uint8_t jog_status = JOG_NO ;
boolean jogCancelFlag = false ;
boolean jogCmdFlag = false ; 

boolean nunchukOK ;  // keep flag to detect a nunchuk at startup

extern char machineStatus[9];
extern char lastMsg[23] ;

/**
 * Initializes the Nunchuk communication by sending a sequence of bytes
 */
void nunchuk_init() {
    Wire.begin();
    // Change TWI speed for nuchuk, which uses Fast-TWI (400kHz)
    // Normally this will be set in twi_init(), but this hack works without modifying the original source
    Wire.setClock(100000);
    delay(500);    // delay ajouté pour donner le temps à la nunchuk de s'initialiser

    Wire.beginTransmission(NUNCHUK_ADDRESS);
    if ( Wire.endTransmission()  ) {    // return 0 if the I2C device replies without error
      nunchukOK = false ;
      memccpy( lastMsg , "No nunchuk" , '\0' , 22) ;
    } else {
       nunchukOK = true ;
    }
    disableEncription() ;
}

void disableEncription() {
    I2C_START(NUNCHUK_ADDRESS);  // disable encription with next 2 commands
    I2C_WRITE(0xF0);
    I2C_WRITE(0x55);
    I2C_STOP();
    I2C_START(NUNCHUK_ADDRESS);
    I2C_WRITE(0xFB);
    I2C_WRITE(0x00);
    I2C_STOP();
    }

/**
 * Central function to read a full chunk of data from Nunchuk
 *
 * @return A boolean if the data transfer was successful
 */
uint8_t nunchuk_read() {
    I2C_START(NUNCHUK_ADDRESS);
    I2C_WRITE(0x00);
//#define NUNCHUK_DELAY
#ifdef NUNCHUK_DELAY
    delayMicroseconds(100);
#endif
    I2C_STOP();
    uint8_t i;
    uint8_t error = 0 ;
    Wire.requestFrom(NUNCHUK_ADDRESS, 6);
    delayMicroseconds(10);
    for (i = 0; i < 6 && Wire.available(); i++) {
          nunchuk_data[i] = I2C_READ();
          if ( nunchuk_data[i] == 0 || nunchuk_data[i] == 0xFF) { 
            error |= (1 << i) ;
          }
//          Serial.print( (uint8_t) nunchuk_data[i] , HEX) ;
    }
    if ( error == 0b00111111) {    // error when all received bytes are 00 or FF. 
      disableEncription() ;  // try to reactivate nunchunck in case of error.
      return false ;
    }
//    Serial.println(" ");
    return i == 6;
}

uint8_t nunchuk_buttonZ() {      // Checks the current state of button Z
    return (~nunchuk_data[5] >> 0) & 1;
}

uint8_t nunchuk_buttonC() {      // Checks the current state of button C
    return (~nunchuk_data[5] >> 1) & 1;
}


#define NUNCHUK_READ_DELAY 100 // read nunchuk every 200 msec (about)
//#define NUNCHUK_READ_DELAY_FIRST_CMD  5000 
// if statusPrinting = PRINTING_STOPPED  and if machineStatus= Idle or Jog, then if delay since previous read exceed 10msec, then read nunchuk data
//  and if buttonZ or buttonC is released while it was pressed bebore, then send a command to cancel JOG (= char 0x85 )
//  If button buttonZ or buttonC is pressed and if joysttick is moved, then send a jog command accordingly
//  sending grbl jogging commands is done in communications.cpp because it has to wait for ok after sending a command.
// There are 2 type of grbl commands  : one for canceling and some for jogging

void handleNunchuk (void) {
  uint32_t nunchukMillis = millis() ;
  static uint32_t lastNunchukMillis = 0;
//  static uint8_t previousButtonC = 0 ;
//  static uint8_t previousButtonZ = 0 ;
//  int8_t moveDx ;
//  int8_t moveDy ;
  int8_t moveX = 0 ; //static int8 prevMoveX = 0;
  int8_t moveY = 0 ; //static int8 prevMoveY = 0;
  int8_t moveZ = 0 ; //static int8 prevMoveZ = 0;
  //float moveMultiplier ;
  
  if ( jogCancelFlag == false && jogCmdFlag == false ) { // read only if the is no pending jog flag 
    //if ( ( ( nunchukMillis - lastNunchukMillis ) > NUNCHUK_READ_DELAY  ) && ( (cntSameMove !=1)  || (( nunchukMillis - lastNunchukMillis ) > NUNCHUK_READ_DELAY_FIRST_CMD  ) ) ) {                // we can not read to fast
    if  ( ( nunchukMillis - lastNunchukMillis ) > NUNCHUK_READ_DELAY  )    {                // we can not read to fast
      lastNunchukMillis = nunchukMillis  ;
      nunchuk_read() ;
      //Serial.print(nunchuk_read()) ;
      //Serial.print(nunchuk_data[0],HEX); Serial.print(",");Serial.print(nunchuk_data[1],HEX);Serial.print(",");Serial.print(nunchuk_data[2],HEX);
      //Serial.print(",");Serial.print(nunchuk_data[3],HEX);Serial.print(",");Serial.print(nunchuk_data[4],HEX);Serial.print(",");Serial.println(nunchuk_data[5],HEX);
      if ( nunchuk_buttonC() && nunchuk_buttonZ() == 0 ) {     // si le bouton C est enfoncé mais pas le bouton Z  
        //Serial.print( ( int )nunchuk_data[0] ) ; Serial.print(" ") ; Serial.println( ( int )nunchuk_data[1] ) ; 
        if (nunchuk_data[0] < 50 ) {
          moveX = - 1 ;
        } else if (nunchuk_data[0] > 200 ) {
          moveX =  1 ;
        }
        if (nunchuk_data[1] < 50 ) {
          moveY = - 1 ;
        } else if (nunchuk_data[1] > 200 ) {
          moveY =  1 ;
        }
      } else if ( nunchuk_buttonZ() && nunchuk_buttonC() == 0 ) {   // si le bouton Z est enfoncé mais pas le bouton C
         if (nunchuk_data[1] < 50 ) {
          moveZ = - 1 ;
        } else if (nunchuk_data[1] > 200 ) {
          moveZ =  1 ;
        } 
      }
      //if ( (machineStatus[0] == 'J' ) && ( ( prevMoveX != moveX) || ( prevMoveY != moveY)  || ( prevMoveZ != moveZ) ) ) { // cancel Jog if jogging and t least one direction change 
      if ( (machineStatus[0] == 'J' || machineStatus[0] == 'I' ) && ( ( prevMoveX != moveX) || ( prevMoveY != moveY)  || ( prevMoveZ != moveZ) ) ) { // cancel Jog if jogging and at least one direction change       
        jogCancelFlag = true ; 
        cntSameMove = 0 ;             // reset the counter
        //Serial.println("cancel jog") ;
      } else {
        jogCancelFlag = false ;
      }
      if ( moveX || moveY || moveZ) {    // if at least one move is asked
        if (cntSameMove == 0 ) { 
          moveMultiplier = 0.01 ; 
        } else if (cntSameMove < 5 ) {   // avoid to send to fast a new move
          moveMultiplier = 0.0 ;
        } else if (cntSameMove < 10 ) {
          moveMultiplier = 0.01 ;
        } else if (cntSameMove < 15 ) {
          moveMultiplier = 0.1 ;
        } else if (cntSameMove < 20 ) {
          moveMultiplier = 1 ;
        } else {
          moveMultiplier = 3 ;
        } 
        cntSameMove++ ;
        jogCmdFlag = true ;
        jogDistX = moveX;
        jogDistY = moveY;
        jogDistZ = moveZ;
      } else {               // no move asked ( moveX || moveY || moveZ) 
        cntSameMove = 0 ; 
        jogCmdFlag = false ;
      } // end if ( moveX || moveY || moveZ)
      prevMoveX = moveX ;
      prevMoveY = moveY ;
      prevMoveZ = moveZ ;
      //Serial.print("cnt= ") ; Serial.println( cntSameMove ) ;
    }
  }  // end of test on flags  
} // end handleNunchuk