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use 4x4 matrix

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This commit is contained in:
matthias.ringwald 2010-06-13 19:01:46 +00:00
parent c6d0d63abc
commit fc5ceb98a9
6 changed files with 186 additions and 35 deletions
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2
example/WiiMoteOpenGLDemo/Classes/EAGLView.h
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@ -61,7 +61,7 @@ Note that setting the view non-opaque will only work if the EAGL surface has an
- (void)setupView;
- (void)checkGLError:(BOOL)visibleCheck;
- (void)setRotationMatrix:(float[3][3]) matrix;
- (void)setRotationMatrix:(float[4][4]) matrix;
- (void)setRotationX:(int)X Y:(int)Y Z:(int)Z;
- (void)loadTexture;

28
example/WiiMoteOpenGLDemo/Classes/EAGLView.m
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@ -362,30 +362,14 @@
}
}
- (void)setRotationMatrix:(float[3][3]) matrix{
- (void)setRotationMatrix:(float[4][4]) matrix{
useRotationMatrix = YES;
// extend 3 by 3 matrix to 4 by 4
// copy and linearize matrix
int i,j;
int pos = 0;
rotationMatrix[pos++] = matrix[0][0];
rotationMatrix[pos++] = matrix[0][1];
rotationMatrix[pos++] = matrix[0][2];
rotationMatrix[pos++] = 0;
rotationMatrix[pos++] = matrix[1][0];
rotationMatrix[pos++] = matrix[1][1];
rotationMatrix[pos++] = matrix[1][2];
rotationMatrix[pos++] = 0;
rotationMatrix[pos++] = matrix[2][0];
rotationMatrix[pos++] = matrix[2][1];
rotationMatrix[pos++] = matrix[2][2];
rotationMatrix[pos++] = 0;
rotationMatrix[pos++] = 0;
rotationMatrix[pos++] = 0;
rotationMatrix[pos++] = 0;
rotationMatrix[pos++] = 1;
for (i=0;i<4;i++)
for (j=0; j<4; j++)
rotationMatrix[pos++] = matrix[i][j];
}
- (void)setRotationX:(int)x Y:(int)y Z:(int)z{

6
example/WiiMoteOpenGLDemo/Classes/WiiMoteOpenGLDemoAppDelegate.m
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@ -48,7 +48,7 @@
// quaternion rotation library
float norm(float *vector, int dim);
void normalizeVector(float *vector, int dim);
void getRotationMatrixFromVectors(float vin[3], float vout[3], float matrix[3][3]);
void getRotationMatrixFromVectors(float vin[3], float vout[3], float matrix[4][4]);
BTDevice *device;
uint16_t wiiMoteConHandle = 0;
@ -92,7 +92,9 @@ static void bt_data_cb(uint8_t x, uint8_t y, uint8_t z){
accData[1] = addToHistory( histY, 1 * (y - 128));
accData[2] = addToHistory( histZ, 1 * (z - 128));
float rotationMatrix[3][3];
printf("%f, %f, %f\n", accData[0], accData[1], accData[2]);
float rotationMatrix[4][4];
getRotationMatrixFromVectors(restPosition, accData, rotationMatrix);
[[theMainApp glView] setRotationMatrix:rotationMatrix];

4
example/WiiMoteOpenGLDemo/rotation.c
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@ -128,7 +128,7 @@ void getRotationMatrixFromQuartenion(float q[4], float m[4][4]){
}
void getRotationMatrixFromVectors(float vin[3], float vout[3], float matrix[3][3]){
void getRotationMatrixFromVectors(float vin[3], float vout[3], float matrix[4][4]){
normalizeVector(vout,3);
float q[4] = {0,0,0,0};
@ -147,7 +147,7 @@ void getRotationMatrixFromVectors(float vin[3], float vout[3], float matrix[3][3
q[0] = sqrt(vin_length * vout_length) + dotprod;
q[1] = -1*(vin[1]*vout[2] - vin[2]*vout[1]);
q[2] = -1*(vin[2]*vout[0] - vin[0]*vout[2]);
q[3] = -1*(vin[0]*vout[1] - vin[1]*vout[0]);
q[3] = 0;//-1*(vin[0]*vout[1] - vin[1]*vout[0]);
normalizeVector(q,4);

170
example/l2cap-server.c
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@ -42,6 +42,7 @@
#include <btstack/btstack.h>
#include <btstack/hci_cmds.h>
#include <btstack/sdp_util.h>
hci_con_handle_t con_handle;
@ -55,6 +56,8 @@ void packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packet, uint
uint16_t psm;
uint16_t local_cid;
uint16_t remote_cid;
char pin[20];
int i;
switch (packet_type) {
@ -96,6 +99,25 @@ void packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packet, uint
bt_send_cmd(&l2cap_accept_connection, local_cid);
break;
case HCI_EVENT_LINK_KEY_REQUEST:
// link key request
bt_flip_addr(event_addr, &packet[2]);
bt_send_cmd(&hci_link_key_request_negative_reply, &event_addr);
break;
case HCI_EVENT_PIN_CODE_REQUEST:
// inform about pin code request
printf("Please enter PIN here: ");
fgets(pin, 20, stdin);
i = strlen(pin)-1;
if( pin[i] == '\n') {
pin[i] = '\0';
}
printf("PIN = '%s'\n", pin);
bt_flip_addr(event_addr, &packet[2]);
bt_send_cmd(&hci_pin_code_request_reply, &event_addr, strlen(pin), pin);
break;
case L2CAP_EVENT_CHANNEL_OPENED:
// inform about new l2cap connection
bt_flip_addr(event_addr, &packet[3]);
@ -134,8 +156,9 @@ void packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packet, uint
case HCI_EVENT_DISCONNECTION_COMPLETE:
// connection closed -> quit tes app
printf("Basebank connection closed, exit.\n");
exit(0);
printf("Basebank connection closed\n");
// exit(0);
break;
case HCI_EVENT_COMMAND_COMPLETE:
@ -144,7 +167,7 @@ void packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packet, uint
bt_send_cmd(&hci_write_authentication_enable, 0);
}
if ( COMMAND_COMPLETE_EVENT(packet, hci_write_authentication_enable) ) {
bt_send_cmd(&hci_write_class_of_device, 0x2580);
bt_send_cmd(&hci_write_class_of_device, 0x2540);
}
default:
// other event
@ -158,6 +181,139 @@ void packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packet, uint
}
}
void create_serial_port_service(uint8_t * service){
// create RFCOMM service: UUID 0x1101, attributes serviceClass
de_create_sequence(service);
// 0x0001
uint8_t *serviceClassIDList = de_push_sequence(service);
de_add_number(serviceClassIDList, DE_UINT, DE_SIZE_16, 0x0001);
uint8_t *serviceClasses = de_push_sequence(serviceClassIDList);
de_add_number(serviceClasses, DE_UUID, DE_SIZE_16, 0x1101);
de_pop_sequence(serviceClassIDList, serviceClasses);
de_pop_sequence(service, serviceClassIDList);
// 0x0004
uint8_t *protocolDescriptorList = de_push_sequence(service);
de_add_number(protocolDescriptorList, DE_UINT, DE_SIZE_16, 0x0004);
uint8_t * protocolStack = de_push_sequence(protocolDescriptorList);
uint8_t * l2cpProtocol = de_push_sequence(protocolStack);
de_add_number(l2cpProtocol, DE_UUID, DE_SIZE_16, 0x0100);
de_pop_sequence(protocolStack, l2cpProtocol);
uint8_t * rfcommChannel = de_push_sequence(protocolStack);
de_add_number(rfcommChannel, DE_UUID, DE_SIZE_16, 0x0003);
de_add_number(rfcommChannel, DE_UINT, DE_SIZE_8, 0x0001);
de_pop_sequence(protocolStack, rfcommChannel);
de_pop_sequence(protocolDescriptorList, protocolStack);
de_pop_sequence(service, protocolDescriptorList);
// 0x0005
uint8_t *browseGroupList = de_push_sequence(service);
de_add_number(browseGroupList, DE_UINT, DE_SIZE_16, 0x0005);
uint8_t *groupList = de_push_sequence(browseGroupList);
de_add_number(groupList, DE_UUID, DE_SIZE_16, 0x1002);
de_pop_sequence(browseGroupList, groupList);
de_pop_sequence(service, browseGroupList);
// 0x0006
uint8_t *languageBaseAttributeIDList = de_push_sequence(service);
de_add_number(languageBaseAttributeIDList, DE_UINT, DE_SIZE_16, 0x0006);
uint8_t *languageAttributes = de_push_sequence(languageBaseAttributeIDList);
de_add_number(languageAttributes, DE_UINT, DE_SIZE_16, 0x656e);
de_add_number(languageAttributes, DE_UINT, DE_SIZE_16, 0x006a);
de_add_number(languageAttributes, DE_UINT, DE_SIZE_16, 0x0100);
de_pop_sequence(languageBaseAttributeIDList, languageAttributes);
de_pop_sequence(service, languageBaseAttributeIDList);
// 0x0100
uint8_t *serviceName = de_push_sequence(service);
de_add_number(serviceName, DE_UINT, DE_SIZE_16, 0x0100);
de_add_data(serviceName, DE_STRING, 6, (uint8_t *) "RFCOMM");
de_pop_sequence(service, serviceName);
}
void create_hid_service(uint8_t * service){
// create HID service
de_create_sequence(service);
// 0x0001
uint8_t *serviceClassIDList = de_push_sequence(service);
de_add_number(serviceClassIDList, DE_UINT, DE_SIZE_16, 0x0001);
uint8_t *serviceClasses = de_push_sequence(serviceClassIDList);
de_add_number(serviceClasses, DE_UUID, DE_SIZE_16, 0x1124);
de_pop_sequence(serviceClassIDList, serviceClasses);
de_pop_sequence(service, serviceClassIDList);
// 0x0004
uint8_t *protocolDescriptorList = de_push_sequence(service);
de_add_number(protocolDescriptorList, DE_UINT, DE_SIZE_16, 0x0004);
uint8_t * protocolStack = de_push_sequence(protocolDescriptorList);
uint8_t * l2cpProtocol = de_push_sequence(protocolStack);
de_add_number(l2cpProtocol, DE_UUID, DE_SIZE_16, 0x0100);
de_add_number(l2cpProtocol, DE_UUID, DE_SIZE_16, 0x0011);
de_pop_sequence(protocolStack, l2cpProtocol);
uint8_t * hidp = de_push_sequence(protocolStack);
de_add_number(hidp, DE_UUID, DE_SIZE_16, 0x0011);
de_pop_sequence(protocolStack, hidp);
de_pop_sequence(protocolDescriptorList, protocolStack);
de_pop_sequence(service, protocolDescriptorList);
// 0x0005
uint8_t *browseGroupList = de_push_sequence(service);
de_add_number(browseGroupList, DE_UINT, DE_SIZE_16, 0x0005);
uint8_t *groupList = de_push_sequence(browseGroupList);
de_add_number(groupList, DE_UUID, DE_SIZE_16, 0x1002);
de_pop_sequence(browseGroupList, groupList);
de_pop_sequence(service, browseGroupList);
// 0x0006
uint8_t *languageBaseAttributeIDList = de_push_sequence(service);
de_add_number(languageBaseAttributeIDList, DE_UINT, DE_SIZE_16, 0x0006);
uint8_t *languageAttributes = de_push_sequence(languageBaseAttributeIDList);
de_add_number(languageAttributes, DE_UINT, DE_SIZE_16, 0x656e);
de_add_number(languageAttributes, DE_UINT, DE_SIZE_16, 0x006a);
de_add_number(languageAttributes, DE_UINT, DE_SIZE_16, 0x0100);
de_pop_sequence(languageBaseAttributeIDList, languageAttributes);
de_pop_sequence(service, languageBaseAttributeIDList);
// 0x0009
uint8_t *bluetoothProfileDescriptorList = de_push_sequence(service);
de_add_number(bluetoothProfileDescriptorList, DE_UINT, DE_SIZE_16, 0x0009);
uint8_t * profileDescriptors = de_push_sequence(bluetoothProfileDescriptorList);
uint8_t * hidProtocol = de_push_sequence(profileDescriptors);
de_add_number(hidProtocol, DE_UUID, DE_SIZE_16, 0x1124);
de_add_number(hidProtocol, DE_UINT, DE_SIZE_16, 0x0100);
de_pop_sequence(profileDescriptors, hidProtocol);
de_pop_sequence(bluetoothProfileDescriptorList, profileDescriptors);
de_pop_sequence(service, bluetoothProfileDescriptorList);
// 0x000d
uint8_t *additionalProtocolDescriptorLists = de_push_sequence(service);
de_add_number(additionalProtocolDescriptorLists, DE_UINT, DE_SIZE_16, 0x000d);
protocolDescriptorList = de_push_sequence(additionalProtocolDescriptorLists);
protocolStack = de_push_sequence(protocolDescriptorList);
l2cpProtocol = de_push_sequence(protocolStack);
de_add_number(l2cpProtocol, DE_UUID, DE_SIZE_16, 0x0100);
de_add_number(l2cpProtocol, DE_UUID, DE_SIZE_16, 0x0013);
de_pop_sequence(protocolStack, l2cpProtocol);
hidp = de_push_sequence(protocolStack);
de_add_number(hidp, DE_UUID, DE_SIZE_16, 0x0011);
de_pop_sequence(protocolStack, hidp);
de_pop_sequence(protocolDescriptorList, protocolStack);
de_pop_sequence(additionalProtocolDescriptorLists, protocolDescriptorList);
de_pop_sequence(service, additionalProtocolDescriptorLists);
// 0x0100
uint8_t *serviceName = de_push_sequence(service);
de_add_number(serviceName, DE_UINT, DE_SIZE_16, 0x0100);
de_add_data(serviceName, DE_STRING, 16, (uint8_t *) "BTstack Keyboard");
de_pop_sequence(service, serviceName);
}
int main (int argc, const char * argv[]){
run_loop_init(RUN_LOOP_POSIX);
int err = bt_open();
@ -168,6 +324,14 @@ int main (int argc, const char * argv[]){
bt_register_packet_handler(packet_handler);
bt_send_cmd(&l2cap_register_service, 0x11, 250);
bt_send_cmd(&l2cap_register_service, 0x13, 250);
// done
uint8_t service[200];
create_hid_service(service);
de_dump_data_element(service);
bt_send_cmd(&sdp_register_service_record, service);
bt_send_cmd(&btstack_set_power_mode, HCI_POWER_ON );
run_loop_execute();
bt_close();

11
example/test.c
View File

@ -44,7 +44,8 @@
#include <btstack/hci_cmds.h>
// bd_addr_t addr = {0x00, 0x03, 0xc9, 0x3d, 0x77, 0x43 }; // Think Outside Keyboard
bd_addr_t addr = {0x00, 0x19, 0x1d, 0x90, 0x44, 0x68 }; // WiiMote
// bd_addr_t addr = {0x00, 0x19, 0x1d, 0x90, 0x44, 0x68 }; // WiiMote
bd_addr_t addr = {0x76, 0x6d, 0x62, 0xdb, 0xca, 0x73 }; // iPad
hci_con_handle_t con_handle;
uint16_t source_cid_interrupt;
@ -113,11 +114,11 @@ void packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packet, uint
} else {
source_cid_control = source_cid;
// request acceleration data..
uint8_t setMode31[] = { 0x52, 0x12, 0x00, 0x31 };
bt_send_l2cap( source_cid, setMode31, sizeof(setMode31));
// uint8_t setMode31[] = { 0x52, 0x12, 0x00, 0x31 };
// bt_send_l2cap( source_cid, setMode31, sizeof(setMode31));
// stop blinking
uint8_t setLEDs[] = { 0x52, 0x11, 0x10 };
bt_send_l2cap( source_cid, setLEDs, sizeof(setLEDs));
// uint8_t setLEDs[] = { 0x52, 0x11, 0x10 };
// bt_send_l2cap( source_cid, setLEDs, sizeof(setLEDs));
}
} else {
printf("L2CAP connection to device ");