mirror of
https://github.com/bluekitchen/btstack.git
synced 2025-02-05 18:40:27 +00:00
updated demo to use BTstackManager, XCode doesn't compile it, don't know if it works
This commit is contained in:
matthias.ringwald
parent
83ba7a8870
commit
3a1236a388
@ -36,14 +36,19 @@
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//
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#import <UIKit/UIKit.h>
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#import "BTInquiryViewController.h"
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#import <BTstack/BTstackManager.h>
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#import <BTstack/BTDiscoveryViewController.h>
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@class EAGLView;
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@class BTstackManager;
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@class BTDiscoveryViewController;
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@interface WiiMoteOpenGLDemoAppDelegate :
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NSObject<UIApplicationDelegate, BTstackManagerDelegate, BTstackManagerListener,BTDiscoveryDelegate>{
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@interface WiiMoteOpenGLDemoAppDelegate : NSObject <UIApplicationDelegate, BTInquiryDelegate> {
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UIWindow *window;
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UIViewController *glViewControl;
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BTInquiryViewController *inqViewControl;
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BTDiscoveryViewController* discoveryView;
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UINavigationController *navControl;
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EAGLView *glView;
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UILabel *status;
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@ -54,7 +59,6 @@
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@property (nonatomic, retain) UIWindow *window;
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@property (nonatomic, retain) UINavigationController *navControl;
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@property (nonatomic, retain) UIViewController *glViewControl;
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@property (nonatomic, retain) BTInquiryViewController *inqViewControl;
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@property (nonatomic, retain) EAGLView *glView;
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@end
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@ -36,10 +36,9 @@
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//
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#import "WiiMoteOpenGLDemoAppDelegate.h"
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#import "BTDevice.h"
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#import "BTstack/BTDevice.h"
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#import "EAGLView.h"
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#import "EAGLViewController.h"
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#import "BTInquiryViewController.h"
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#import <btstack/btstack.h>
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#import <btstack/run_loop.h>
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@ -61,14 +60,13 @@ WiiMoteOpenGLDemoAppDelegate * theMainApp;
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@synthesize glView;
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@synthesize navControl;
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@synthesize glViewControl;
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@synthesize inqViewControl;
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#define SIZE 5
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int counter;
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// define the rest position
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static float restPosition[3] = {0,0,1};
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static float restPosition2[3] = {0,0,-1};
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// static float restPosition2[3] = {0,0,-1};
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#define histSize 5
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int histX[histSize];
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int histY[histSize];
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@ -122,7 +120,13 @@ static void bt_data_cb(uint8_t x, uint8_t y, uint8_t z){
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[[theMainApp glView] setRotationMatrix:rotationMatrix];
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}
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void packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packet, uint16_t size){
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// direct access
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-(void) btstackManager:(BTstackManager*) manager
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handlePacketWithType:(uint8_t) packet_type
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forChannel:(uint16_t) channel
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andData:(uint8_t *)packet
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withLen:(uint16_t) size
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{
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bd_addr_t event_addr;
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switch (packet_type) {
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@ -145,7 +149,7 @@ void packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packet, uint
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uint16_t source_cid = READ_BT_16(packet, 13);
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wiiMoteConHandle = READ_BT_16(packet, 9);
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NSLog(@"Channel successfully opened: handle 0x%02x, psm 0x%02x, source cid 0x%02x, dest cid 0x%02x",
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wiiMoteConHandle, psm, source_cid, READ_BT_16(packet, 15));
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wiiMoteConHandle, psm, source_cid, READ_BT_16(packet, 15));
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if (psm == 0x13) {
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// interupt channel openedn succesfully, now open control channel, too.
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bt_send_cmd(&l2cap_create_channel, event_addr, 0x11);
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@ -157,7 +161,7 @@ void packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packet, uint
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bt_send_l2cap( source_cid, setLEDs, sizeof(setLEDs));
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// start demo
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[theMainApp startDemo];
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[self startDemo];
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}
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}
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break;
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@ -170,7 +174,9 @@ void packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packet, uint
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default:
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break;
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}
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}
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- (void)startDemo {
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NSLog(@"startDemo");
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@ -182,133 +188,61 @@ void packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packet, uint
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glView.animationInterval = 1.0 / 60.0;
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[glView startAnimation];
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[[[theMainApp inqViewControl] tableView] reloadData];
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[navControl pushViewController:glViewControl animated:YES];
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}
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- (void)applicationDidFinishLaunching:(UIApplication *)application {
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NSLog(@"Started");
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bool btOK = false;
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#ifdef USE_BLUETOOTH
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run_loop_init(RUN_LOOP_COCOA);
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if ( bt_open() ){
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UIAlertView* alertView = [[UIAlertView alloc] init];
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alertView.title = @"Bluetooth not accessible!";
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alertView.message = @"Connection to BTstack failed!\n"
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"Please make sure that BTstack is installed correctly.";
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NSLog(@"Alert: %@ - %@", alertView.title, alertView.message);
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[alertView addButtonWithTitle:@"Dismiss"];
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[alertView show];
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} else {
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bt_register_packet_handler(packet_handler);
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btOK = true;
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}
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#endif
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// create discovery controller
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discoveryView = [[BTDiscoveryViewController alloc] init];
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[discoveryView setDelegate:self];
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// create window
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// TODO fix
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// [discoveryView setAllowSelection:NO];
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UINavigationController *nav = [[UINavigationController alloc] initWithRootViewController:discoveryView];
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window = [[UIWindow alloc] initWithFrame:[[UIScreen mainScreen] bounds]];
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[window setBackgroundColor:[UIColor blueColor]];
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[window addSubview:nav.view];
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[window makeKeyAndVisible];
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// BTstack
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BTstackManager * bt = [BTstackManager sharedInstance];
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[bt setDelegate:self];
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[bt addListener:self];
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[bt addListener:discoveryView];
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BTstackError err = [bt activate];
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if (err) NSLog(@"activate err 0x%02x!", err);
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// extra -- not handled yet
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// create view controller
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glViewControl = [[EAGLViewController alloc] init];
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// create inq controller
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inqViewControl = [[BTInquiryViewController alloc] init];
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[inqViewControl setTitle:@"BTstack Device Selector"];
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[inqViewControl setAllowSelection:NO];
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if (btOK) {
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UITextView *footer = [[UITextView alloc] initWithFrame:CGRectMake(10,00,300,85)];
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footer.text = @"Please make your WiiMote discoverable by pressing the 1+2 buttons at the same time.";
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footer.textColor = [UIColor blackColor];
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footer.font = [UIFont fontWithName:@"Arial" size:18];
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// footer.textAlignment = UITextAlignmentCenter;
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footer.backgroundColor = [UIColor whiteColor];
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footer.autoresizingMask = UIViewAutoresizingFlexibleWidth;
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footer.editable = false;
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[[inqViewControl tableView] setTableFooterView:footer];
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}
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// create nav view controller
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navControl = [[UINavigationController alloc] initWithRootViewController:inqViewControl];
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// add view to window
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[window addSubview:[navControl view]];
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theMainApp = self;
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if (btOK) {
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[inqViewControl setDelegate:self];
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[inqViewControl startInquiry];
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}
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[window makeKeyAndVisible];
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}
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- (void)applicationWillResignActive:(UIApplication *)application {
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// glView.animationInterval = 1.0 / 5.0;
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if (wiiMoteConHandle) {
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bt_send_cmd(&hci_disconnect, wiiMoteConHandle, 0x13); // remote closed connection
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wiiMoteConHandle = 0;
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}
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// bt_send_cmd(&btstack_set_power_mode, HCI_POWER_OFF );
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bt_close();
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UIAlertView* alertView = [[UIAlertView alloc] init];
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alertView.title = @"Power Management ?";
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alertView.message = @"Don't know yet, what to do when\n"
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"phone gets locked.\n"
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"Turning Bluetooth off for now. :)\n";
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NSLog(@"Alert: %@ - %@", alertView.title, alertView.message);
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// [alertView addButtonWithTitle:@"Dismiss"];
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[alertView show];
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// new
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-(void) activatedBTstackManager:(BTstackManager*) manager {
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NSLog(@"activated!");
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[[BTstackManager sharedInstance] startDiscovery];
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}
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- (void)applicationDidBecomeActive:(UIApplication *)application {
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glView.animationInterval = 1.0 / 60.0;
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}
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-(void) deviceChoosen:(BTInquiryViewController *) inqView device:(BTDevice*) selectedDevice{
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NSLog(@"deviceChoosen %@", [device toString]);
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}
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- (void) deviceDetected:(BTInquiryViewController *) inqView device:(BTDevice*) selectedDevice {
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NSLog(@"deviceDetected %@", [device toString]);
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if ([selectedDevice name] && [[selectedDevice name] caseInsensitiveCompare:@"Nintendo RVL-CNT-01"] == NSOrderedSame){
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NSLog(@"WiiMote found with address %@", [BTDevice stringForAddress:[selectedDevice address]]);
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device = selectedDevice;
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[inqViewControl stopInquiry];
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[inqViewControl showConnecting:device];
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// connect to device
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[device setConnectionState:kBluetoothConnectionConnecting];
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[[[theMainApp inqViewControl] tableView] reloadData];
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bt_send_cmd(&l2cap_create_channel, [device address], 0x13);
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-(void) btstackManager:(BTstackManager*)manager deviceInfo:(BTDevice*)newDevice {
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NSLog(@"Device Info: addr %@ name %@ COD 0x%06x", [newDevice addressString], [newDevice name], [newDevice classOfDevice] );
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if ([newDevice name] && [[newDevice name] caseInsensitiveCompare:@"Nintendo RVL-CNT-01"] == NSOrderedSame){
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NSLog(@"WiiMote found with address %@", [newDevice addressString]);
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device = newDevice;
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[[BTstackManager sharedInstance] stopDiscovery];
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}
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}
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- (void) inquiryStopped{
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NSLog(@"inquiryStopped");
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}
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- (void) disconnectDevice:(BTInquiryViewController *) inqView device:(BTDevice*) selectedDevice {
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}
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- (void)applicationWillTerminate:(UIApplication *)application {
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// disconnect
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if (wiiMoteConHandle) {
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bt_send_cmd(&hci_disconnect, wiiMoteConHandle, 0x13); // remote closed connection
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}
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// bt_send_cmd(&btstack_set_power_mode, HCI_POWER_OFF );
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bt_close();
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-(void) discoveryStoppedBTstackManager:(BTstackManager*) manager {
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NSLog(@"discoveryStopped!");
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// connect to device
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bt_send_cmd(&l2cap_create_channel, [device address], 0x13);
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}
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- (void)dealloc {
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[window release];
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[glView release];
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[super dealloc];
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@ -7,7 +7,7 @@
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<key>CFBundleDisplayName</key>
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<string>WiiMote</string>
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<key>CFBundleExecutable</key>
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<string>${EXECUTABLE_NAME}</string>
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<string>WiiMoteOpenGLDemo</string>
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<key>CFBundleIconFile</key>
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<string>wiimote_logo_55px.png</string>
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<key>CFBundleIdentifier</key>
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@ -15,7 +15,7 @@
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<key>CFBundleInfoDictionaryVersion</key>
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<string>6.0</string>
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<key>CFBundleName</key>
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<string>${PRODUCT_NAME}</string>
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<string>WiiMote</string>
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<key>CFBundlePackageType</key>
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<string>APPL</string>
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<key>CFBundleSignature</key>
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@ -9,38 +9,32 @@
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/* Begin PBXBuildFile section */
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1D60589B0D05DD56006BFB54 /* main.m in Sources */ = {isa = PBXBuildFile; fileRef = 29B97316FDCFA39411CA2CEA /* main.m */; };
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/* End PBXBuildFile section */
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/* Begin PBXFileReference section */
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|
||||
9C0D06381091035200FC3BBA /* BTInquiryViewController.m */ = {isa = PBXFileReference; fileEncoding = 5; lastKnownFileType = sourcecode.c.objc; name = BTInquiryViewController.m; path = ../../CocoaTouch/src/BTInquiryViewController.m; sourceTree = SOURCE_ROOT; };
|
||||
9C0D070B1092316D00FC3BBA /* EAGLViewController.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = EAGLViewController.h; sourceTree = "<group>"; };
|
||||
9C0D070C1092316D00FC3BBA /* EAGLViewController.m */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.objc; path = EAGLViewController.m; sourceTree = "<group>"; };
|
||||
9C18001B108B94FB00824BE7 /* btstack.h */ = {isa = PBXFileReference; fileEncoding = 5; lastKnownFileType = sourcecode.c.h; path = btstack.h; sourceTree = "<group>"; };
|
||||
@ -48,8 +42,15 @@
|
||||
9C18001D108B94FB00824BE7 /* linked_list.h */ = {isa = PBXFileReference; fileEncoding = 5; lastKnownFileType = sourcecode.c.h; path = linked_list.h; sourceTree = "<group>"; };
|
||||
9C18001E108B94FB00824BE7 /* run_loop.h */ = {isa = PBXFileReference; fileEncoding = 5; lastKnownFileType = sourcecode.c.h; path = run_loop.h; sourceTree = "<group>"; };
|
||||
9C18001F108B94FB00824BE7 /* utils.h */ = {isa = PBXFileReference; fileEncoding = 5; lastKnownFileType = sourcecode.c.h; path = utils.h; sourceTree = "<group>"; };
|
||||
9C5E121512DE55B80013EF2C /* Foundation.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; name = Foundation.framework; path = System/Library/Frameworks/Foundation.framework; sourceTree = SDKROOT; };
|
||||
9C5E127012DE59E30013EF2C /* UIKit.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; name = UIKit.framework; path = System/Library/Frameworks/UIKit.framework; sourceTree = SDKROOT; };
|
||||
9C5E127212DE59EB0013EF2C /* CoreGraphics.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; name = CoreGraphics.framework; path = System/Library/Frameworks/CoreGraphics.framework; sourceTree = SDKROOT; };
|
||||
9C5E127612DE59FA0013EF2C /* OpenGLES.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; name = OpenGLES.framework; path = System/Library/Frameworks/OpenGLES.framework; sourceTree = SDKROOT; };
|
||||
9C6BB62D1027911E00A0BCB0 /* wiimote_texture.png */ = {isa = PBXFileReference; lastKnownFileType = image.png; path = wiimote_texture.png; sourceTree = "<group>"; };
|
||||
9CB96E9710278945002663D0 /* CoreGraphics.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; name = CoreGraphics.framework; path = System/Library/Frameworks/CoreGraphics.framework; sourceTree = SDKROOT; };
|
||||
9C8B71C312DBB9FE00E3FD8A /* BTstackManager.h */ = {isa = PBXFileReference; fileEncoding = 5; lastKnownFileType = sourcecode.c.h; name = BTstackManager.h; path = ../../CocoaTouch/include/BTstack/BTstackManager.h; sourceTree = SOURCE_ROOT; };
|
||||
9C8B71C412DBB9FE00E3FD8A /* BTstackManager.m */ = {isa = PBXFileReference; fileEncoding = 5; lastKnownFileType = sourcecode.c.objc; name = BTstackManager.m; path = ../../CocoaTouch/src/BTstackManager.m; sourceTree = SOURCE_ROOT; };
|
||||
9C8B71C512DBB9FE00E3FD8A /* BTDiscoveryViewController.h */ = {isa = PBXFileReference; fileEncoding = 5; lastKnownFileType = sourcecode.c.h; name = BTDiscoveryViewController.h; path = ../../CocoaTouch/include/BTstack/BTDiscoveryViewController.h; sourceTree = SOURCE_ROOT; };
|
||||
9C8B71C612DBB9FE00E3FD8A /* BTDiscoveryViewController.m */ = {isa = PBXFileReference; fileEncoding = 5; lastKnownFileType = sourcecode.c.objc; name = BTDiscoveryViewController.m; path = ../../CocoaTouch/src/BTDiscoveryViewController.m; sourceTree = SOURCE_ROOT; };
|
||||
9CC8B5E41093727700BCBA1F /* wiimote_logo_55px.png */ = {isa = PBXFileReference; lastKnownFileType = image.png; path = wiimote_logo_55px.png; sourceTree = "<group>"; };
|
||||
9CD1C866117E2F6900C7A4F4 /* libBTstack.dylib */ = {isa = PBXFileReference; lastKnownFileType = "compiled.mach-o.dylib"; name = libBTstack.dylib; path = ../../src/libBTstack.dylib; sourceTree = SOURCE_ROOT; };
|
||||
9CFFD60D11C5484300A37038 /* rotation.c */ = {isa = PBXFileReference; fileEncoding = 5; lastKnownFileType = sourcecode.c.c; path = rotation.c; sourceTree = "<group>"; };
|
||||
@ -60,12 +61,11 @@
|
||||
isa = PBXFrameworksBuildPhase;
|
||||
buildActionMask = 2147483647;
|
||||
files = (
|
||||
1D60589F0D05DD5A006BFB54 /* Foundation.framework in Frameworks */,
|
||||
1DF5F4E00D08C38300B7A737 /* UIKit.framework in Frameworks */,
|
||||
28FD15000DC6FC520079059D /* OpenGLES.framework in Frameworks */,
|
||||
28FD15080DC6FC5B0079059D /* QuartzCore.framework in Frameworks */,
|
||||
9CB96E9810278945002663D0 /* CoreGraphics.framework in Frameworks */,
|
||||
9CD1C867117E2F6900C7A4F4 /* libBTstack.dylib in Frameworks */,
|
||||
9C5E121612DE55B80013EF2C /* Foundation.framework in Frameworks */,
|
||||
9C5E127112DE59E30013EF2C /* UIKit.framework in Frameworks */,
|
||||
9C5E127312DE59EB0013EF2C /* CoreGraphics.framework in Frameworks */,
|
||||
9C5E127712DE59FA0013EF2C /* OpenGLES.framework in Frameworks */,
|
||||
);
|
||||
runOnlyForDeploymentPostprocessing = 0;
|
||||
};
|
||||
@ -131,11 +131,10 @@
|
||||
29B97323FDCFA39411CA2CEA /* Frameworks */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
9CB96E9710278945002663D0 /* CoreGraphics.framework */,
|
||||
28FD15070DC6FC5B0079059D /* QuartzCore.framework */,
|
||||
28FD14FF0DC6FC520079059D /* OpenGLES.framework */,
|
||||
1DF5F4DF0D08C38300B7A737 /* UIKit.framework */,
|
||||
1D30AB110D05D00D00671497 /* Foundation.framework */,
|
||||
9C5E121512DE55B80013EF2C /* Foundation.framework */,
|
||||
9C5E127012DE59E30013EF2C /* UIKit.framework */,
|
||||
9C5E127212DE59EB0013EF2C /* CoreGraphics.framework */,
|
||||
9C5E127612DE59FA0013EF2C /* OpenGLES.framework */,
|
||||
);
|
||||
name = Frameworks;
|
||||
sourceTree = "<group>";
|
||||
@ -158,8 +157,10 @@
|
||||
children = (
|
||||
9C0D06351091035200FC3BBA /* BTDevice.h */,
|
||||
9C0D06361091035200FC3BBA /* BTDevice.m */,
|
||||
9C0D06371091035200FC3BBA /* BTInquiryViewController.h */,
|
||||
9C0D06381091035200FC3BBA /* BTInquiryViewController.m */,
|
||||
9C8B71C312DBB9FE00E3FD8A /* BTstackManager.h */,
|
||||
9C8B71C412DBB9FE00E3FD8A /* BTstackManager.m */,
|
||||
9C8B71C512DBB9FE00E3FD8A /* BTDiscoveryViewController.h */,
|
||||
9C8B71C612DBB9FE00E3FD8A /* BTDiscoveryViewController.m */,
|
||||
);
|
||||
name = BTstack;
|
||||
sourceTree = "<group>";
|
||||
@ -191,7 +192,14 @@
|
||||
isa = PBXProject;
|
||||
buildConfigurationList = C01FCF4E08A954540054247B /* Build configuration list for PBXProject "WiiMoteOpenGLDemo" */;
|
||||
compatibilityVersion = "Xcode 3.1";
|
||||
developmentRegion = English;
|
||||
hasScannedForEncodings = 1;
|
||||
knownRegions = (
|
||||
English,
|
||||
Japanese,
|
||||
French,
|
||||
German,
|
||||
);
|
||||
mainGroup = 29B97314FDCFA39411CA2CEA /* CustomTemplate */;
|
||||
projectDirPath = "";
|
||||
projectRoot = "";
|
||||
@ -222,9 +230,10 @@
|
||||
1D3623260D0F684500981E51 /* WiiMoteOpenGLDemoAppDelegate.m in Sources */,
|
||||
9CB96EEF10278D8D002663D0 /* EAGLView.m in Sources */,
|
||||
9C0D06391091035200FC3BBA /* BTDevice.m in Sources */,
|
||||
9C0D063A1091035200FC3BBA /* BTInquiryViewController.m in Sources */,
|
||||
9C0D070D1092316D00FC3BBA /* EAGLViewController.m in Sources */,
|
||||
9CFFD60E11C5484300A37038 /* rotation.c in Sources */,
|
||||
9C8B71C712DBB9FE00E3FD8A /* BTstackManager.m in Sources */,
|
||||
9C8B71C812DBB9FE00E3FD8A /* BTDiscoveryViewController.m in Sources */,
|
||||
);
|
||||
runOnlyForDeploymentPostprocessing = 0;
|
||||
};
|
||||
@ -236,10 +245,6 @@
|
||||
buildSettings = {
|
||||
ALWAYS_SEARCH_USER_PATHS = NO;
|
||||
COPY_PHASE_STRIP = NO;
|
||||
FRAMEWORK_SEARCH_PATHS = (
|
||||
"$(inherited)",
|
||||
"\"$(DEVELOPER_DIR)-SDK3.0-final/Platforms/iPhoneOS.platform/Developer/SDKs/iPhoneOS2.2.1.sdk/System/Library/Frameworks\"",
|
||||
);
|
||||
GCC_DYNAMIC_NO_PIC = NO;
|
||||
GCC_OPTIMIZATION_LEVEL = 0;
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||||
GCC_PRECOMPILE_PREFIX_HEADER = YES;
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||||
@ -258,10 +263,6 @@
|
||||
buildSettings = {
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||||
ALWAYS_SEARCH_USER_PATHS = NO;
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||||
COPY_PHASE_STRIP = YES;
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||||
FRAMEWORK_SEARCH_PATHS = (
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||||
"$(inherited)",
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||||
"\"$(DEVELOPER_DIR)-SDK3.0-final/Platforms/iPhoneOS.platform/Developer/SDKs/iPhoneOS2.2.1.sdk/System/Library/Frameworks\"",
|
||||
);
|
||||
GCC_PRECOMPILE_PREFIX_HEADER = YES;
|
||||
GCC_PREFIX_HEADER = WiiMoteOpenGLDemo_Prefix.pch;
|
||||
INFOPLIST_FILE = Info.plist;
|
||||
@ -294,7 +295,7 @@
|
||||
);
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||||
PREBINDING = NO;
|
||||
"PROVISIONING_PROFILE[sdk=iphoneos*]" = "86D3FD5B-5B72-4D87-88B3-0737B204F98E";
|
||||
SDKROOT = iphoneos2.0;
|
||||
SDKROOT = iphonesimulator3.0;
|
||||
USER_HEADER_SEARCH_PATHS = "";
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||||
};
|
||||
name = Debug;
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||||
@ -307,6 +308,7 @@
|
||||
GCC_C_LANGUAGE_STANDARD = c99;
|
||||
GCC_WARN_ABOUT_RETURN_TYPE = YES;
|
||||
GCC_WARN_UNUSED_VARIABLE = YES;
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||||
ONLY_ACTIVE_ARCH = YES;
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||||
OTHER_CFLAGS = (
|
||||
"-I../../CocoaTouch/include",
|
||||
"-I../../include",
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@ -318,7 +320,7 @@
|
||||
);
|
||||
PREBINDING = NO;
|
||||
"PROVISIONING_PROFILE[sdk=iphoneos*]" = "86D3FD5B-5B72-4D87-88B3-0737B204F98E";
|
||||
SDKROOT = iphoneos2.0;
|
||||
SDKROOT = iphonesimulator3.0;
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||||
USER_HEADER_SEARCH_PATHS = "";
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||||
};
|
||||
name = Release;
|
||||
|
||||
@ -10,3 +10,4 @@ Homepage: http://code.google.com/p/btstack/
|
||||
Depends: ch.ringwald.btstack
|
||||
Maintainer: Matthias Ringwald <iphone@ringwald.ch>
|
||||
Author: Matthias Ringwald <iphone@ringwald.ch>
|
||||
Version: 1.0
|
||||
@ -6,7 +6,7 @@
|
||||
#define deg 180.0/M_PI
|
||||
|
||||
// define the rest position
|
||||
static float restPosition[3] = {1,0,0};
|
||||
// static float restPosition[3] = {1,0,0};
|
||||
|
||||
float norm(float *vector, int dim){
|
||||
float result = 0;
|
||||
@ -30,6 +30,7 @@ void normalizeVector(float *vector, int dim){
|
||||
|
||||
/****** START OF TEST FUNCTIONS THAT CREATE ACC_DATA ******/
|
||||
|
||||
#if 0
|
||||
// define X and Y axes
|
||||
static float rotationAxisX[3] = {0,0,-1};
|
||||
static float rotationAxisY[3] = {1,0,0};
|
||||
@ -46,7 +47,6 @@ static void quaternionFromAxis(float angle, float axis[3], float quaternion[4]){
|
||||
quaternion[3] = axis[2]*sinQAngle;
|
||||
}
|
||||
|
||||
|
||||
static void multiplyQuaternions(float qy[4], float qx[4], float result[4]){
|
||||
// p0*q2 - p*q + p0*q + q0*p + pxq
|
||||
|
||||
@ -80,18 +80,7 @@ static void rotateVectorWithQuaternion(float restPosition[3], float qrot[4], flo
|
||||
qaxis[1] = result[2];
|
||||
qaxis[2] = result[3];
|
||||
}
|
||||
|
||||
static void getAccellerometerData(float radrotationAngleX, float radrotationAngleY, float qaxis[3]){
|
||||
float qx[4] = {0,0,0,0};
|
||||
float qy[4] = {0,0,0,0};
|
||||
float qrot[4] = {0,0,0,0};
|
||||
|
||||
quaternionFromAxis(radrotationAngleX,rotationAxisX,qx);
|
||||
quaternionFromAxis(radrotationAngleY,rotationAxisY,qy);
|
||||
|
||||
multiplyQuaternions(qy,qx,qrot);
|
||||
rotateVectorWithQuaternion(restPosition,qrot,qaxis);
|
||||
}
|
||||
#endif
|
||||
|
||||
/****** END OF TEST FUNCTIONS THAT CREATE ACC_DATA ******/
|
||||
|
||||
@ -242,12 +231,24 @@ void getRotationMatrixFromVectors(float vin[3], float vout[3], float matrix[4][4
|
||||
#endif
|
||||
normalizeVector(q,4);
|
||||
|
||||
float attitude = asin( 2*(q[0]*q[2]+q[1]*q[3]));
|
||||
// float attitude = asin( 2*(q[0]*q[2]+q[1]*q[3]));
|
||||
|
||||
getRotationMatrixFromQuartenion(q,matrix);
|
||||
}
|
||||
|
||||
#if 0
|
||||
static void getAccellerometerData(float radrotationAngleX, float radrotationAngleY, float qaxis[3]){
|
||||
float qx[4] = {0,0,0,0};
|
||||
float qy[4] = {0,0,0,0};
|
||||
float qrot[4] = {0,0,0,0};
|
||||
|
||||
quaternionFromAxis(radrotationAngleX,rotationAxisX,qx);
|
||||
quaternionFromAxis(radrotationAngleY,rotationAxisY,qy);
|
||||
|
||||
multiplyQuaternions(qy,qx,qrot);
|
||||
rotateVectorWithQuaternion(restPosition,qrot,qaxis);
|
||||
}
|
||||
|
||||
int main(void)
|
||||
{
|
||||
float accData[3] = {1,0,0};
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user