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178 Alpin 1
/*  
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 *  *****MoteCtrl*****
186 Alpin 3
 *      written by AndreasB (aka Alpin)
178 Alpin 4
 *
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 *               lets you control your MikroKopter with a Wiimote!
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 *
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 *
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 *      Copyright December 2008
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 *
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 *      Credits & Thx:
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 *      - Holger & Ingo for the MikroKopter Project (www.mikrokopter.de)
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 *      - ExternalControl implementation of the FlightControl
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 *  - Ligi for RIDDIM, proof of external control concept
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 *      - Documentation of the MK's SerialProtocol (www.mikrokopter.de/ucwiki/en/SerialProtocol)
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 *      - Michael Laforest for the wiiuse API (www.wiiuse.net)
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 *
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 *
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 *      http://www.mikrokopter.de/ucwiki/en/MoteCtrl
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 */
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/*
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*****Use at your own risk! No warranty. Only for private usage.*****
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#LICENSE:       Released under the GNU General Public License Version 2 or
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                        (at your option) a later version of this license.
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                        For further details see <www.gnu.org/licenses/>.
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#DISCLAIMER: Use this project at your own risk!
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                         No warrenty.
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                         Only for private usage.
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***** See READ_ME_FIRST.txt for further details about MoteCtrl *****
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*/
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/*
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Compiler & Linker Porperties:
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Set "Character Set"-CompilerFlag to "Not Set" or "Multi Byte Character Set" to
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avoid Errors about Windows API functions that can handle Unicode paramters.
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In Visual Studio: Properties of Project -> Configuration Properties -> General
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*/
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/*
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When compiling, don't forget to link wiiuse.lib (interface to the wiiuse.dll)
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In Visual Studio: Copy wiiuse.lib & wiiuse.dll to project directory.
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Afterwards: Properties of Project -> Configuration Properties -> Linker
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-> Input -> add "wiiuse.lib" to additional dependencies
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*/
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/*
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To avoid problems with dependencies on other windows machines, link the used
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windows DLLs statically to the project.
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In Visual Studio: Properties of Project -> Config. Properties -> C/C++
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-> Code Generation -> set "Runtime Library" to Multi-Threaded (/MT)
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*/
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/*Main.c merges all the resources provided by the header files to a functional
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program. The follwing "includes" include all the needed and used headers (which
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provide the resources, like fuctions, wrappers, structs, etc. main.c uses)
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*/
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/**********Main Header*********/
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//OS libs:
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#include <windows.h>    //Windows API, for API macros, constants, etc. (like stdlib.h)
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#include <stdio.h>              //Standard I/O (printf for instance)
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//MoteCtrl libs:
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#include "pc_serial_port.h"     //interface with a PC's serial port
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#include "fc_comm.h"            //encode & send data to FlightControl
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#include "wiimote.h"            //interface with the wiimote connected via Bluetooth
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//#include "main.h"
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//Pretty Text output: (==fun ;)
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void prettyText(char* string) {
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        int printed;
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        int i;
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        //pretty text output:
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        printed = printf("*****%s", string);
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        for (i=0;i<(65-printed);i++) {
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                printf("*");
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        }
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        printf("\n");
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}
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int main(int argc, char* argv[]) {
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        //temps & counters
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        int tmp;
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        int tmp1;
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        //int i;
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        //Print title:
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        printf("\n"); prettyText("*"); printf("*v0.1\n"
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                "*\t****MoteCtrl****     written by Alpin\n"
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                "*\tlets you control your MikroKopter with a Wiimote!\n*\n");
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        prettyText("*"); printf("\n");
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        //**********Serial COM Port init & config: 
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        prettyText("COM Port init");
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        printf("Serial COM Port you want to use to connect to the MikroKopter\n"
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                "(only type the number then hit enter):\n");
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        scanf_s("%d", &tmp);    //read a decimal from terminal
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        tmp1 = init_com_port(tmp);      //initialize & config COM port tmp
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        //init_com_port returned successfull?
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        if( tmp1 == EXIT_FAILURE ) {
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                printf("\n***COM%i Initilizaition/Configuration failed\n\n", tmp);
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                prettyText("COM Port Init FAILED!");
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                printf("exiting MoteCtrl...\n");
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                Sleep(1000);
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                return EXIT_FAILURE;
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        }
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        else { prettyText("Init & config of COM DONE!"); printf("\n\n"); }
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        //**********Wiimote init & config: 
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        prettyText("Wiimote Init");
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        Sleep(1000);
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        tmp = init_wiimote ();          //initialize wiimote
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        //was init_wiimote successfull?
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        if (tmp == EXIT_FAILURE ) {
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                prettyText("Wiimote Init FAILED!");
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                printf("exiting MoteCtrl...\n");
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                Sleep(1000);
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                return EXIT_FAILURE;
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        }
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        else { prettyText("Wiimote Init DONE!"); printf("\n\n"); }
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        /* Does not work yet:
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        if(mote[0]->exp.type == EXP_NUNCHUK) {printf("Nunchuck plugged in!"); }
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        else { printf("No Nunchuck extension found!"); }
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        */
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        /***********Main: reading acc-values of wiimote, sending them as external-
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        control data to the MikroKopter's FlightControl: */
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        /* This is the Core of MotionCtrl, since it transfers the Wiimote data via the
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        external control srtuct and the serial protocol encoding to the
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        FlightCtrl.*/
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        //Initialize entire ExternControl-struct with zeros
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        SecureZeroMemory(&ExternControl, sizeof(struct str_ExternControl));
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        //Activate the ExternalControl
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        //gas = 0;      //init gas value
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        ExternControl.Config = 1;
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        //Main loop, "virtual" polling the wiimote events:
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        while (1) {
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                //wiiuse_poll returns the number of wiimotes, at which an event occured:
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                if (wiiuse_poll(mote, MAX_WIIMOTES)) {
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                        switch (mote[0]->event) {       //what type of event happened?
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                                case WIIUSE_EVENT:
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                                        //a generic event occured!
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                                        /*Call function, which does the following: transferring
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                                        the wiimote data to the ExternalControl struct: */
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                                        handle_event(mote[0]);
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                                        //Send the (by handle_event) updated ExternControl struct
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                                        //to the FlightCtrl:
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                                        SendOutData('b', 1, (unsigned char *) &ExternControl, sizeof(struct str_ExternControl));
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                                        break;
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                                default:
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                                        break;
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                        }
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                }
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        }
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/* Some early tests
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        muh:
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        i=0;
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        while (1) {
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                //externcon typedeffen
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        SendOutData('b', 1, (unsigned char *) &ExternControl, sizeof(struct str_ExternControl));
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                //i++;
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                }
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        //sendStringToCom("#bR@T\r",6);         //send reset
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        i=0;
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        while(i<255) {
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                tmp = getCharFromCom(&b);
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                if (tmp) {
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                        printf("%c", b);
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                        i++;
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                }
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        }
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        goto muh;
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*/
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        return EXIT_SUCCESS;
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}