549 lines
21 KiB
C++
549 lines
21 KiB
C++
/*
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Copyright (c) 2014-present PlatformIO <contact@platformio.org>
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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**/
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#include <cstdio>
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#include <unity.h>
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#define DATA_SIZE 800 // number of sample points to poll
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// buffer to hold data being read from controller
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bool buffer[DATA_SIZE];
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#define NUM_BITS 32
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// bit resolution and offsets
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int bitOffsets[NUM_BITS];
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int bitResolution = 0;
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int bitsToRead = DATA_SIZE;
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bool returnedBits[NUM_BITS];
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struct ControllerData {
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bool buttonA;
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bool buttonB;
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bool buttonZ;
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bool buttonL;
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bool buttonR;
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bool buttonStart;
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bool DPadUp;
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bool DPadDown;
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bool DPadLeft;
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bool DPadRight;
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bool CUp;
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bool CDown;
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bool CLeft;
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bool CRight;
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short xAxis;
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short yAxis;
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bool xAxisRaw[8];
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bool yAxisRaw[8];
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};
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ControllerData controller;
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void updateOffsetsAndResolution() {
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// the current bit counter
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int bitCounter = 0;
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// to hold the number of 1's in this bit
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int thisResolution = 0;
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// current index
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int i = 0;
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// we might be further refining a previous calibration, if non-zero, remove existing bitResolution
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for (int i = 0; i < NUM_BITS; i++) {
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bitOffsets[i] += bitResolution;
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}
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bitResolution /= 2;
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for (; i < DATA_SIZE; i++) {
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if (buffer[i] == false) {
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// we skip all leading 1's
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break;
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}
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}
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// iterate over buffer
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for (; i < DATA_SIZE - 1 && bitCounter < NUM_BITS; i++) {
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if (buffer[i] == true) {
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++thisResolution;
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// if a falling edge is detected
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if (buffer[1 + i] == false) {
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// store bit's earliest possible beginning offsets
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int thisOffset = i - thisResolution + 1;
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if (bitOffsets[bitCounter] == 0 || bitOffsets[bitCounter] > thisOffset) {
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bitOffsets[bitCounter] = thisOffset;
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}
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// store max resolution in bitResolution
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if (thisResolution > bitResolution) {
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bitResolution = thisResolution;
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}
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// reset thisResolution
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thisResolution = 0;
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// increment bitCounter
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++bitCounter;
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}
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}
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}
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// calculate bit's beginning offsets by subtracting resolution
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// if this index is 0, button is not pressed, if 1, button is pressed
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for (int i = 0; i < NUM_BITS; i++) {
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bitOffsets[i] -= bitResolution;
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}
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bitResolution *= 2;
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}
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void calcBitsToRead() {
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bitsToRead = bitOffsets[NUM_BITS - 1] + 1;
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if (bitsToRead < NUM_BITS * 2) {
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// todo: not enough, error out...
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}
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}
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void calcReturnedBits() {
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// the current bit counter
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int bitCounter = 0;
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// to hold the number of 1's in this bit
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int thisResolution = 0;
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// current index
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int i = 0;
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for (; i < DATA_SIZE; i++) {
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if (buffer[i] == false) {
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// we skip all leading 1's
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break;
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}
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}
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// iterate over buffer
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for (; i < DATA_SIZE - 1 && bitCounter < NUM_BITS; i++) {
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if (buffer[i] == true) {
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++thisResolution;
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// if a falling edge is detected
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if (buffer[1 + i] == false) {
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returnedBits[bitCounter] = thisResolution >= bitResolution;
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// reset thisResolution
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thisResolution = 0;
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// increment bitCounter
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++bitCounter;
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}
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}
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}
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}
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/* Function to extract a controller bit from the buffer of returned data */
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void getBit(bool *bit, int offset, bool *data) {
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*bit = data[offset];
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}
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/** Function to populate the controller struct if command 0x01 was sent.
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* Buttons are set according to data in buffer, raw axis data is written,
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* Axis Data is correctly decoded from raw axis data by taking two's complement
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* and checking if value if below 'MAX_INCLINE_AXIS_X' or 'MAX_INCLINE_AXIS_Y'.
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* If values surpass the maximum incline they are set to match those values.
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*/
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void populateControllerStructOLD(ControllerData *data) {
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// first byte
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getBit(&(data->buttonA), bitOffsets[0], &buffer[0]);
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getBit(&(data->buttonB), bitOffsets[1], &buffer[0]);
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getBit(&(data->buttonZ), bitOffsets[2], &buffer[0]);
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getBit(&(data->buttonStart), bitOffsets[3], &buffer[0]);
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getBit(&(data->DPadUp), bitOffsets[4], &buffer[0]);
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getBit(&(data->DPadDown), bitOffsets[5], &buffer[0]);
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getBit(&(data->DPadLeft), bitOffsets[6], &buffer[0]);
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getBit(&(data->DPadRight), bitOffsets[7], &buffer[0]);
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// second byte, first two bits are unused
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getBit(&(data->buttonL), bitOffsets[10], &buffer[0]);
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getBit(&(data->buttonR), bitOffsets[11], &buffer[0]);
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getBit(&(data->CUp), bitOffsets[12], &buffer[0]);
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getBit(&(data->CDown), bitOffsets[13], &buffer[0]);
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getBit(&(data->CLeft), bitOffsets[14], &buffer[0]);
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getBit(&(data->CRight), bitOffsets[15], &buffer[0]);
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// third byte
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getBit(&(data->xAxisRaw[0]), bitOffsets[16], &buffer[0]);
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getBit(&(data->xAxisRaw[1]), bitOffsets[17], &buffer[0]);
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getBit(&(data->xAxisRaw[2]), bitOffsets[18], &buffer[0]);
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getBit(&(data->xAxisRaw[3]), bitOffsets[19], &buffer[0]);
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getBit(&(data->xAxisRaw[4]), bitOffsets[20], &buffer[0]);
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getBit(&(data->xAxisRaw[5]), bitOffsets[21], &buffer[0]);
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getBit(&(data->xAxisRaw[6]), bitOffsets[22], &buffer[0]);
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getBit(&(data->xAxisRaw[7]), bitOffsets[23], &buffer[0]);
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// fourth byte
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getBit(&(data->yAxisRaw[0]), bitOffsets[24], &buffer[0]);
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getBit(&(data->yAxisRaw[1]), bitOffsets[25], &buffer[0]);
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getBit(&(data->yAxisRaw[2]), bitOffsets[26], &buffer[0]);
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getBit(&(data->yAxisRaw[3]), bitOffsets[27], &buffer[0]);
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getBit(&(data->yAxisRaw[4]), bitOffsets[28], &buffer[0]);
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getBit(&(data->yAxisRaw[5]), bitOffsets[29], &buffer[0]);
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getBit(&(data->yAxisRaw[6]), bitOffsets[30], &buffer[0]);
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getBit(&(data->yAxisRaw[7]), bitOffsets[31], &buffer[0]);
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// sum up bits to get axis bytes
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data->xAxis = 0;
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data->yAxis = 0;
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for (int i = 0; i < 8; i++) {
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data->xAxis += (data->xAxisRaw[i] * (0x80 >> (i)));
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data->yAxis += (data->yAxisRaw[i] * (0x80 >> (i)));
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}
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// print axis values
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#ifdef DEBUG
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printf("yRaw: %i %i %i %i %i %i %i %i xRaw: %i %i %i %i %i %i %i %i yAxis: %03i xAxis: %03i",
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data->yAxisRaw[0],
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data->yAxisRaw[1],
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data->yAxisRaw[2],
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data->yAxisRaw[3],
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data->yAxisRaw[4],
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data->yAxisRaw[5],
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data->yAxisRaw[6],
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data->yAxisRaw[7],
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data->xAxisRaw[0],
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data->xAxisRaw[1],
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data->xAxisRaw[2],
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data->xAxisRaw[3],
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data->xAxisRaw[4],
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data->xAxisRaw[5],
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data->xAxisRaw[6],
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data->xAxisRaw[7],
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data->yAxis,
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data->xAxis);
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#endif
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// decode xAxis two's complement
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if (data->xAxis & 0x80) {
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data->xAxis = -1 * (0xff - data->xAxis);
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}
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// decode yAxis two's complement
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if (data->yAxis & 0x80) {
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data->yAxis = -1 * (0xff - data->yAxis);
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}
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/*
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// keep x axis below maxIncline
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if (data->xAxis > MAX_INCLINE_AXIS_X)
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data->xAxis = MAX_INCLINE_AXIS_X;
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if (data->xAxis < -MAX_INCLINE_AXIS_X)
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data->xAxis = -MAX_INCLINE_AXIS_X;
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// keep y axis below maxIncline
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if (data->yAxis > MAX_INCLINE_AXIS_Y)
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data->yAxis = MAX_INCLINE_AXIS_Y;
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if (data->yAxis < -MAX_INCLINE_AXIS_Y)
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data->yAxis = -MAX_INCLINE_AXIS_Y;
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*/
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//printf("xaxis: %-3i yaxis: %-3i \n",data->xAxis,data->yAxis);
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}
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void populateControllerStruct(ControllerData *data) {
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calcReturnedBits();
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// first byte
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data->buttonA = returnedBits[0];
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data->buttonB = returnedBits[1];
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data->buttonZ = returnedBits[2];
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data->buttonStart = returnedBits[3];
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data->DPadUp = returnedBits[4];
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data->DPadDown = returnedBits[5];
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data->DPadLeft = returnedBits[6];
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data->DPadRight = returnedBits[7];
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//
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// second byte, first two bits are unused
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data->buttonL = returnedBits[10];
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data->buttonR = returnedBits[11];
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data->CUp = returnedBits[12];
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data->CDown = returnedBits[13];
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data->CRight = returnedBits[14];
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/*
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// third byte
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getBit(&(data->xAxisRaw[0]), bitOffsets[16], &buffer[0]);
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getBit(&(data->xAxisRaw[1]), bitOffsets[17], &buffer[0]);
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getBit(&(data->xAxisRaw[2]), bitOffsets[18], &buffer[0]);
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getBit(&(data->xAxisRaw[3]), bitOffsets[19], &buffer[0]);
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getBit(&(data->xAxisRaw[4]), bitOffsets[20], &buffer[0]);
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getBit(&(data->xAxisRaw[5]), bitOffsets[21], &buffer[0]);
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getBit(&(data->xAxisRaw[6]), bitOffsets[22], &buffer[0]);
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getBit(&(data->xAxisRaw[7]), bitOffsets[23], &buffer[0]);
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// fourth byte
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getBit(&(data->yAxisRaw[0]), bitOffsets[24], &buffer[0]);
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getBit(&(data->yAxisRaw[1]), bitOffsets[25], &buffer[0]);
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getBit(&(data->yAxisRaw[2]), bitOffsets[26], &buffer[0]);
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getBit(&(data->yAxisRaw[3]), bitOffsets[27], &buffer[0]);
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getBit(&(data->yAxisRaw[4]), bitOffsets[28], &buffer[0]);
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getBit(&(data->yAxisRaw[5]), bitOffsets[29], &buffer[0]);
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getBit(&(data->yAxisRaw[6]), bitOffsets[30], &buffer[0]);
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getBit(&(data->yAxisRaw[7]), bitOffsets[31], &buffer[0]);
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// sum up bits to get axis bytes
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data->xAxis = 0;
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data->yAxis = 0;
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for (int i = 0; i < 8; i++) {
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data->xAxis += (data->xAxisRaw[i] * (0x80 >> (i)));
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data->yAxis += (data->yAxisRaw[i] * (0x80 >> (i)));
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}
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// print axis values
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#ifdef DEBUG
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printf("yRaw: %i %i %i %i %i %i %i %i xRaw: %i %i %i %i %i %i %i %i yAxis: %03i xAxis: %03i",
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data->yAxisRaw[0],
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data->yAxisRaw[1],
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data->yAxisRaw[2],
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data->yAxisRaw[3],
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data->yAxisRaw[4],
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data->yAxisRaw[5],
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data->yAxisRaw[6],
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data->yAxisRaw[7],
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data->xAxisRaw[0],
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data->xAxisRaw[1],
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data->xAxisRaw[2],
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data->xAxisRaw[3],
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data->xAxisRaw[4],
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data->xAxisRaw[5],
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data->xAxisRaw[6],
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data->xAxisRaw[7],
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data->yAxis,
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data->xAxis);
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#endif
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// decode xAxis two's complement
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if (data->xAxis & 0x80) {
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data->xAxis = -1 * (0xff - data->xAxis);
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}
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// decode yAxis two's complement
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if (data->yAxis & 0x80) {
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data->yAxis = -1 * (0xff - data->yAxis);
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}
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//printf("xaxis: %-3i yaxis: %-3i \n",data->xAxis,data->yAxis);
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*/
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}
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void load(const char *s) {
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const char *t;
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int i = 0;
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// convert test string to buffer
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for (t = s; *t != '\0'; t++) {
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buffer[i++] = *t == '1';
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}
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}
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void loadUpdate(const char *s) {
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load(s);
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updateOffsetsAndResolution();
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/*
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for (int i = 0; i < DATA_SIZE; i++) {
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printf(buffer[i] ? "1" : "0");
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}
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printf("\n----------------\n");
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*/
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printf("bitOffsets: ");
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for (int i = 0; i < NUM_BITS; i++) {
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//printf("%i ", bitOffsets[i]);
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printf("%i:%i ", i, bitOffsets[i]);
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}
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printf("\n");
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printf("bitResolution: %i\n", bitResolution);
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//printf("bit 0: %i\n", buffer[0]]);
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printf("bit buffer[14]: %i\n", buffer[14]);
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printf("bit buffer[15]: %i\n", buffer[15]);
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printf("bit buffer[16]: %i\n", buffer[16]);
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}
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void reset() {
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// reset all bitOffsets to 0 which is invalid
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for (int i = 0; i < NUM_BITS; i++) {
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bitOffsets[i] = 0;
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}
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bitResolution = 0;
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bitsToRead = DATA_SIZE;
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}
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void print(const char *s) {
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printf(s);
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}
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// void setUp(void) {
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// // set stuff up here
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// }
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// void tearDown(void) {
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// // clean stuff up here
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// }
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/*
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*/
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void test_function_updateOffsetsAndResolution(void) {
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reset();
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loadUpdate(
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"0000000000000000111110000000000000000011110000000000000000011111000000000000000011111000000000000000011111000000000000000001111000000000000000001111100000000000000001111100000000000000001111"
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"1000000000000000001111000000000000000001111100000000000000001111100000000000000000111100000000000000000111100000000000000000111110000000000000000111110000000000000000011110000000000000000011"
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"1100000000000000000111110000000000000000111110000000000000000011110000000000000000011110000000000000000011111000000000000000011111000000000000000001111000000000000000001111000000000000000001"
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"1111000000000000000011111000000000000000001111000000000000000001111100000000000000001111100000000000000001111100000000000111111111111111111111111111111111111111111111111111111111111111111111"
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"1111111111111111111111111111111111111111");
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TEST_ASSERT_EQUAL(5, bitResolution);
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loadUpdate(
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"1000000000000001111110000000000000000011110000000000000000011111000000000000000011111000000000000000011111000000000000000001111000000000000000001111100000000000000001111100000000000000001111"
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"1000000000000000001111000000000000000001111100000000000000001111100000000000000000111100000000000000000111100000000000000000111110000000000000000111110000000000000000011110000000000000000011"
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"1100000000000000000111110000000000000000111110000000000000000011110000000000000000011110000000000000000011111000000000000000011111000000000000000001111000000000000000001111000000000000000001"
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"1111000000000000000011111000000000000000001111000000000000000001111100000000000000001111100000000000000001111100000000000111111111111111111111111111111111111111111111111111111111111111111111"
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"1111111111111111111111111111111111111111");
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TEST_ASSERT_EQUAL(6, bitResolution);
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loadUpdate(
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"1000000000000000001111000000000000000011110000000000000000011111000000000000000011111000000000000000011111000000000000000001111000000000000000001111100000000000000001111100000000000000001111"
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"1000000000000000001111000000000000000001111100000000000000001111100000000000000000111100000000000000000111100000000000000000111110000000000000000111110000000000000000011110000000000000000011"
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"1100000000000000000111110000000000000000111110000000000000000011110000000000000000011110000000000000000011111000000000000000011111000000000000000001111000000000000000001111000000000000000001"
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"1111000000000000000011111000000000000000001111000000000000000001111100000000000000001111100000000000000001111100000000000111111111111111111111111111111111111111111111111111111111111111111111"
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"1111111111111111111111111111111111111111");
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TEST_ASSERT_EQUAL(6, bitResolution);
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calcBitsToRead();
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TEST_ASSERT_EQUAL(670, bitsToRead);
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bool buttonA = false;
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getBit(&buttonA, bitOffsets[0], &buffer[0]);
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TEST_ASSERT_EQUAL(false, buttonA);
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load(
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"0000001111111111111110000000000000000011110000000000000000011111000000000000000011111000000000000000011111000000000000000001111000000000000000001111100000000000000001111100000000000000001111"
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"1000000000000000001111000000000000000001111100000000000000001111100000000000000000111100000000000000000111100000000000000000111110000000000000000111110000000000000000011110000000000000000011"
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"1100000000000000000111110000000000000000111110000000000000000011110000000000000000011110000000000000000011111000000000000000011111000000000000000001111000000000000000001111000000000000000001"
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"1111000000000000000011111000000000000000001111000000000000000001111100000000000000001111100000000000000001111100000000000111111111111111111111111111111111111111111111111111111111111111111111"
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"1111111111111111111111111111111111111111");
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getBit(&buttonA, bitOffsets[0], &buffer[0]);
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TEST_ASSERT_EQUAL(true, buttonA);
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}
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void test_function_realControllerRead(void) {
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reset();
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loadUpdate(
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"0000000000000011111000000000000000111100000000000000001111000000000000000011110000000000000000111100000000000000001111000000000000000111110000000000000001111100000000000000011111000000000000"
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"0001111100000000000000011111000000000000000111100000000000000001111000000000000000011110000000000000000111100000000000000001111000000000000000011110000000000000000111100000000000000011100000"
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"0000000000111100000000000000011110000000000000000111100000000000000001111000000000000000111110000000000000001111100000000000000011111000000000000000111110000000000000001111100000000000000011"
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"1100000000000000001111000000000000000011110000000000000000111100000000000111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111"
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"1111111111111111111111111111111111111111");
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loadUpdate(
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"0000000000000011111000000000000000111110000000000000001111000000000000000011110000000000000000111100000000000000001111000000000000000011110000000000000000111100000000000000001111000000000000"
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"0000111100000000000000001111000000000000000111110000000000000001111100000000000000011111000000000000000111110000000000000001111100000000000000011110000000000000000111100000000000000001111000"
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"0000000000000111100000000000000001111000000000000000011110000000000000000111100000000000000001111000000000000000011110000000000000000111100000000000000011111000000000000000111110000000000000"
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"0011111000000000000000111110000000000000001111000000000000000011110000000000011111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111"
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"1111111111111111111111111111111111111111");
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loadUpdate(
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"0000000000000000111100000000000000001111000000000000000011110000000000000000111100000000000000001111000000000000000011110000000000000000111100000000000000001111000000000000000011110000000000"
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"0000011111000000000000000111110000000000000001111100000000000000011111000000000000000111100000000000000001111000000000000000011110000000000000000111100000000000000001111000000000000000011110"
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"0000000000000001111000000000000000011110000000000000000111100000000000000001111000000000000000111110000000000000001111100000000000000011111000000000000000111110000000000000001111100000000000"
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"0000111100000000000000001111000000000000000011110000000000000000111100000000000111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111"
|
|
"1111111111111111111111111111111111111111");
|
|
loadUpdate(
|
|
"0000000000000001111100000000000000011110000000000000000111100000000000000001111000000000000000011110000000000000000111100000000000000001111000000000000000011110000000000000000111100000000000"
|
|
"0000011110000000000000000111100000000000000011111000000000000000111110000000000000001111100000000000000011111000000000000000111100000000000000001111000000000000000011110000000000000000111100"
|
|
"0000000000000011110000000000000000111100000000000000001111000000000000000011110000000000000000111100000000000000001111000000000000000111110000000000000001111100000000000000011111000000000000"
|
|
"0001111100000000000000011110000000000000000111100000000000000001111000000000001111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111"
|
|
"1111111111111111111111111111111111111111");
|
|
loadUpdate(
|
|
"0000000000000011111000000000000000111110000000000000001111100000000000000011110000000000000000111100000000000000001111000000000000000011110000000000000000111100000000000000001111000000000000"
|
|
"0000111100000000000000001111000000000000000011110000000000000001111100000000000000011111000000000000000111110000000000000001111100000000000000011111000000000000000111100000000000000001111000"
|
|
"0000000000000111100000000000000001111000000000000000011110000000000000000111100000000000000001111000000000000000011110000000000000000111100000000000000001111000000000000000111110000000000000"
|
|
"0011111000000000000000111110000000000000001111100000000000000011110000000000011111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111"
|
|
"1111111111111111111111111111111111111111");
|
|
|
|
//TEST_ASSERT_EQUAL(5, bitResolution);
|
|
|
|
calcBitsToRead();
|
|
//TEST_ASSERT_EQUAL(624, bitsToRead);
|
|
|
|
load(
|
|
"0000000000000000000000000000011111111111111011110000000000000000111100000000000000001111000000000000000011110000000000000000111100000000000000001111000000000000000011110000000000000001111100"
|
|
"0000000000"
|
|
"0001111100000000000000011111000000000000000111110000000000000001111100000000000000011110000000000000000111100000000000000001111000000111111111111110000001111111111111100000011111111111111000"
|
|
"0000000000000111100000000000000001111000000111111111111110000001111111111111100000000000000011111000000000000000111110000011111111111111100000000000000011111000000000000000111100000000000000"
|
|
"001111000000111111111111110000001111111111111100000011");
|
|
|
|
bool buttonA = true;
|
|
|
|
getBit(&buttonA, bitOffsets[0], &buffer[0]);
|
|
|
|
TEST_ASSERT_EQUAL(false, buttonA);
|
|
|
|
populateControllerStruct(&controller);
|
|
|
|
print(" buttons: ");
|
|
/*
|
|
*/
|
|
print(controller.buttonA ? "A" : "-");
|
|
print(controller.buttonB ? "B" : "-");
|
|
print(controller.buttonZ ? "Z" : "-");
|
|
print(controller.buttonL ? "L" : "-");
|
|
print(controller.buttonR ? "R" : "-");
|
|
print(controller.buttonStart ? "S" : "-");
|
|
print(" DPAD: ");
|
|
print(controller.DPadUp ? "U" : "-");
|
|
print(controller.DPadDown ? "D" : "-");
|
|
print(controller.DPadLeft ? "L" : "-");
|
|
print(controller.DPadRight ? "R" : "-");
|
|
print(" C: ");
|
|
print(controller.CUp ? "U" : "-");
|
|
print(controller.CDown ? "D" : "-");
|
|
print(controller.CLeft ? "L" : "-");
|
|
print(controller.CRight ? "R" : "-");
|
|
print(" Y: ");
|
|
//print(controller.yAxis);
|
|
//print(" YT: ");
|
|
//print(translateAxis(controller.yAxis));
|
|
print(" X: ");
|
|
//print(controller.xAxis);
|
|
//print(" XT: ");
|
|
//print(translateAxis(controller.xAxis));
|
|
printf("\n");
|
|
}
|
|
|
|
int main(int argc, char **argv) {
|
|
UNITY_BEGIN();
|
|
//RUN_TEST(test_function_updateOffsetsAndResolution);
|
|
RUN_TEST(test_function_realControllerRead);
|
|
UNITY_END();
|
|
|
|
return 0;
|
|
}
|