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/*  

 *  *****MoteCtrl*****

 *      written by Andreas Benzin (aka Alpin)

 *

 *               lets you control your MikroKopter with a Wiimote!

 *

 *

 *      Copyright December 2008

 *

 *      Credits & Thx:

 *      - Holger & Ingo for the MikroKopter Project (www.mikrokopter.de)

 *      - ExternalControl implementation of the FlightControl

 *  - Ligi for RIDDIM, proof of external control concept

 *      - Documentation of the MK's SerialProtocol (www.mikrokopter.de/ucwiki/en/SerialProtocol)

 *      - Michael Laforest for the wiiuse API (www.wiiuse.net)

 *

 *

 *      http://www.mikrokopter.de/ucwiki/en/MoteCtrl

 */

/*

*****Use at your own risk! No warranty. Only for private usage.*****

#LICENSE:       Released under the GNU General Public License Version 2 or

                        (at your option) a later version of this license.

                        For further details see <www.gnu.org/licenses/>.

#DISCLAIMER: Use this project at your own risk!

                         No warrenty.

                         Only for private usage.

***** See READ_ME_FIRST.txt for further details about MoteCtrl *****

*/

/*

Compiler & Linker Porperties:

Set "Character Set"-CompilerFlag to "Not Set" or "Multi Byte Character Set" to

avoid Errors about Windows API functions that can handle Unicode paramters.

In Visual Studio: Properties of Project -> Configuration Properties -> General

*/

/*

When compiling, don't forget to link wiiuse.lib (interface to the wiiuse.dll)

In Visual Studio: Copy wiiuse.lib & wiiuse.dll to project directory.

Afterwards: Properties of Project -> Configuration Properties -> Linker

-> Input -> add "wiiuse.lib" to additional dependencies

*/

/*

To avoid problems with dependencies on other windows machines, link the used

windows DLLs statically to the project.

In Visual Studio: Properties of Project -> Config. Properties -> C/C++

-> Code Generation -> set "Runtime Library" to Multi-Threaded (/MT)

*/

/*Main.c merges all the resources provided by the header files to a functional

program. The follwing "includes" include all the needed and used headers (which

provide the resources, like fuctions, wrappers, structs, etc. main.c uses)

*/

/**********Main Header*********/

//OS libs:

#include <windows.h>    //Windows API, for API macros, constants, etc. (like stdlib.h)

#include <stdio.h>              //Standard I/O (printf for instance)

//MoteCtrl libs:

#include "pc_serial_port.h"     //interface with a PC's serial port

#include "fc_comm.h"            //encode & send data to FlightControl

#include "wiimote.h"            //interface with the wiimote connected via Bluetooth

//#include "main.h"

//Pretty Text output: (==fun ;)

void prettyText(char* string) {

        int printed;

        int i;

        //pretty text output:

        printed = printf("*****%s", string);

        for (i=0;i<(65-printed);i++) {

                printf("*");

        }

        printf("\n");

}

int main(int argc, char* argv[]) {

        //temps & counters

        int tmp;

        int tmp1;

        //int i;

        //Print title:

        printf("\n"); prettyText("*"); printf("*v0.1\n"

                "*\t****MoteCtrl****     written by Alpin\n"

                "*\tlets you control your MikroKopter with a Wiimote!\n*\n");

        prettyText("*"); printf("\n");

        //**********Serial COM Port init & config: 

        prettyText("COM Port init");

        printf("Serial COM Port you want to use to connect to the MikroKopter\n"

                "(only type the number then hit enter):\n");

        scanf_s("%d", &tmp);    //read a decimal from terminal

        tmp1 = init_com_port(tmp);      //initialize & config COM port tmp

        //init_com_port returned successfull?

        if( tmp1 == EXIT_FAILURE ) {

                printf("\n***COM%i Initilizaition/Configuration failed\n\n", tmp);

                prettyText("COM Port Init FAILED!");

                printf("exiting MoteCtrl...\n");

                Sleep(1000);

                return EXIT_FAILURE;

        }

        else { prettyText("Init & config of COM DONE!"); printf("\n\n"); }

        //**********Wiimote init & config: 

        prettyText("Wiimote Init");

        Sleep(1000);

        tmp = init_wiimote ();          //initialize wiimote

        //was init_wiimote successfull?

        if (tmp == EXIT_FAILURE ) {

                prettyText("Wiimote Init FAILED!");

                printf("exiting MoteCtrl...\n");

                Sleep(1000);

                return EXIT_FAILURE;

        }

        else { prettyText("Wiimote Init DONE!"); printf("\n\n"); }

        /* Does not work yet:

        if(mote[0]->exp.type == EXP_NUNCHUK) {printf("Nunchuck plugged in!"); }

        else { printf("No Nunchuck extension found!"); }

        */

        /***********Main: reading acc-values of wiimote, sending them as external-

        control data to the MikroKopter's FlightControl: */

        /* This is the Core of MotionCtrl, since it transfers the Wiimote data via the

        external control srtuct and the serial protocol encoding to the

        FlightCtrl.*/

        //Initialize entire ExternControl-struct with zeros

        SecureZeroMemory(&ExternControl, sizeof(struct str_ExternControl));

        //Activate the ExternalControl

        //gas = 0;      //init gas value

        ExternControl.Config = 1;

        //Main loop, "virtual" polling the wiimote events:

        while (1) {

                //wiiuse_poll returns the number of wiimotes, at which an event occured:

                if (wiiuse_poll(mote, MAX_WIIMOTES)) {

                        switch (mote[0]->event) {       //what type of event happened?

                                case WIIUSE_EVENT:

                                        //a generic event occured!

                                        /*Call function, which does the following: transferring

                                        the wiimote data to the ExternalControl struct: */

                                        handle_event(mote[0]);

                                        //Send the (by handle_event) updated ExternControl struct

                                        //to the FlightCtrl:

                                        SendOutData('b', 1, (unsigned char *) &ExternControl, sizeof(struct str_ExternControl));

                                        break;

                                default:

                                        break;

                        }

                }

        }

/* Some early tests

        muh:

        i=0;

        while (1) {

                //externcon typedeffen

        SendOutData('b', 1, (unsigned char *) &ExternControl, sizeof(struct str_ExternControl));

                //i++;

                }

        //sendStringToCom("#bR@T\r",6);         //send reset

        i=0;

        while(i<255) {

                tmp = getCharFromCom(&b);

                if (tmp) {

                        printf("%c", b);

                        i++;

                }

        }

        goto muh;

*/

        return EXIT_SUCCESS;

}