nxtOSEK/samples_c++/cpp/PSPNx/sample.cpp

   1 /* sample.cpp for TOPPERS/ATK(OSEK) */\r
   2 \r
   3 // ECRobot++ API\r
   4 #include "PSPNx.h"\r
   5 #include "Lcd.h"\r
   6 #include "Clock.h"\r
   7 using namespace ecrobot;\r
   8 \r
   9 extern "C"\r
  10 {\r
  11 #include "kernel.h"\r
  12 #include "kernel_id.h"\r
  13 #include "ecrobot_interface.h"\r
  14 \r
  15 PSPNx psStick(PORT_1);\r
  16 \r
  17 // nxtOSEK hook to be invoked from an ISR in category 2\r
  18 void user_1ms_isr_type2(void)\r
  19 {\r
  20         SleeperMonitor(); // needed for I2C device and Clock classes\r
  21 }\r
  22 \r
  23 TASK(TaskMain)\r
  24 {\r
  25         Clock clock;\r
  26         Lcd lcd;\r
  27 \r
  28         while(1)\r
  29         {\r
  30                 U8 rawData[PSPNx::DATA_BUFFER_BYTE_SIZE];\r
  31 \r
  32                 //Mindsensor's support confirms that for certain gamepads, setting a mode\r
  33                 //must be called several times until it becomes active\r
  34                 psStick.setAnalog();\r
  35                 psStick.update();\r
  36 \r
  37                 psStick.get(rawData); // get raw I2C data\r
  38                 //grab the first two bytes of the raw data (the button data)\r
  39             U16 rawDigitalPad = *(reinterpret_cast<U16 const * const>(rawData));\r
  40             //flip the bits\r
  41             rawDigitalPad ^= 0xffff;\r
  42 \r
  43                 lcd.clear();\r
  44             //display the bit set indicating whether or not a digital button is pressed\r
  45             for(int i = 0; i < 16; ++i)\r
  46             {\r
  47                 //quick and dirty way to display each bit's status\r
  48                 lcd.putf("d", ((rawDigitalPad & (1 << i))? 1 : 0),0);\r
  49             }\r
  50 \r
  51             //display the analog stick data\r
  52             lcd.cursor(0,1);\r
  53                 lcd.putf("sddn", " LeftX/Y:", rawData[2],0, rawData[3],5);\r
  54                 lcd.putf("sddn", "RightX/Y:", rawData[4],0, rawData[5],5);\r
  55 \r
  56                 //example of how to read and use the three distinct digital button states\r
  57             lcd.putf("s", "SQUARE:");\r
  58             if(psStick.pressed(PSPNx::SQUARE))\r
  59             {\r
  60                 lcd.putf("s", "Pressed ");\r
  61             }\r
  62 \r
  63             if(psStick.held(PSPNx::SQUARE))\r
  64             {\r
  65                 lcd.putf("s", "Held    ");\r
  66             }\r
  67 \r
  68             if(psStick.released(PSPNx::SQUARE))\r
  69             {\r
  70                 lcd.putf("s", "Released");\r
  71             }\r
  72 \r
  73             lcd.disp();\r
  74             clock.wait(20);\r
  75         }\r
  76 }\r
  77 }\r