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auto-off working as planned: HCI disconnect after 5 seconds without L2CAP, Power Off after 20 seconds

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matthias.ringwald 2009-11-05 22:59:06 +00:00
parent 6b7936f7ee
commit 998c32acab
2 changed files with 30 additions and 7 deletions
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1
TODO.txt
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@ -1,7 +1,6 @@
/* new todo file for BTstack */
NEXT:
- check why BT does not shut off after a while of inactivity on iPhone
- WiiMote Demo
- upside down is not shown correctly
- check/fix BTstack for iPhone 2G

36
example/WiiMoteOpenGLDemo/Classes/WiiMoteOpenGLDemoAppDelegate.m
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@ -66,20 +66,44 @@ static void bt_data_cb(uint8_t x, uint8_t y, uint8_t z){
float ay = y - 128;
float az = z - 128;
#if 0
// normalize
float sum = ax + ay + az;
ax /= sum;
ay /= sum;
az /= sum;
// mini calib
az /= 2;
#if 1
// normalize vector
float length = sqrt( ax*ax + ay*ay + az*az);
ax /= length;
ay /= length;
az /= length;
#endif
// cross product between A and (0,0,1)
float crossX = ay;
float crossY = -ax;
float crossZ = 0;
float omega = acos( az );
// normalize quat
float quatSum = crossX * crossX + crossY * crossY + omega * omega;
crossX /= quatSum;
crossY /= quatSum;
crossZ /= quatSum;
omega /= quatSum;
//
int pitch = atan2( 2*(omega*crossX), omega*omega - crossX*crossX - crossY*crossY)* 180 / M_PI;
int roll = atan2( 2*(crossX * crossY), omega*omega + crossX*crossX - crossY*crossY) * 180 / M_PI;
int theta = 0;
#if 0
int roll = atan2(ax, sqrt(ay*ay+az*az)) * 180 / M_PI;
int pitch = atan2(ay, sqrt(ax*ax+az*az)) * 180 / M_PI;
int theta = atan2(sqrt(ax*ax+ay*ay), az) * 180 / M_PI;
if (az < 0) {
pitch = 180 - pitch;
}
#endif
if ( (++counter & 15) == 0)
NSLog(@"BT data: %f %f %f: pitch %i, roll %i, yaw %i", ax , ay ,az, pitch, roll, theta);