int main()
{
int rfbargc = 0;
char **rfbargv = 0;
int bpp = 4;
rfbScreenInfoPtr server = rfbGetScreen(&rfbargc, rfbargv, FRAMEBUFFER_WIDTH, FRAMEBUFFER_HEIGHT, 8, 3, bpp);
fb = new unsigned char[FRAMEBUFFER_WIDTH * FRAMEBUFFER_HEIGHT * bpp];
server->frameBuffer = (char *)fb;
server->kbdAddEvent = handleKey;
server->ptrAddEvent = handlePointer;
rfbInitServer(server);
int file;
file = open(devname, O_RDWR);
if (file < 0) {
perror("open");
exit(EXIT_FAILURE);
}
int addr = ADXL345_ADDRESS; /* The I2C address */
if (ioctl(file, I2C_SLAVE, addr) < 0) {
perror("ioctl");
exit(EXIT_FAILURE);
}
uint16_t id = read_u16(file, 0x00);
printf("id is 0x%04X\n", id);
ADXL345_init(file);
int tilt_was_valid = false;
while(1) {
int16_t xdata = read_u16_le(file, ADXL345_DATAX0);
int16_t ydata = read_u16_le(file, ADXL345_DATAY0);
int16_t zdata = read_u16_le(file, ADXL345_DATAZ0);
float xg = xdata / 256.0;
float yg = ydata / 256.0;
float zg = zdata / 256.0;
float theta_y = -atan2(yg, zg);
float theta_x = atan2(xg, zg);
float y_angle_center = 40.0 / 180.0 * M_PI;
float y_angle_range = 25.0 / 180.0 * M_PI;
float x_angle_center = 0.0 / 180.0 * M_PI;
float x_angle_range = 25.0 / 180.0 * M_PI;
int tilt_is_valid =
(theta_y > y_angle_center - y_angle_range) &&
(theta_y < y_angle_center + y_angle_range) &&
(theta_x > x_angle_center - x_angle_range) &&
(theta_x < x_angle_center + x_angle_range);
if(tilt_is_valid != tilt_was_valid) {
if(tilt_is_valid)
printf("TILT_VALID\n");
else
printf("TILT_INVALID\n");
tilt_was_valid = tilt_is_valid;
}
if(tilt_is_valid) {
float tilt_x_valuator = (theta_x - x_angle_center) / x_angle_range;
float tilt_y_valuator = (theta_y - y_angle_center) / y_angle_range;
// printf(" %f, %f\n", tilt_x_valuator, tilt_y_valuator);
draw_new_circle(server,
(tilt_x_valuator + 1) * .5 * FRAMEBUFFER_WIDTH,
(tilt_y_valuator + 1) * .5 * FRAMEBUFFER_HEIGHT,
1.0);
}
// usleep(100000);
rfbProcessEvents(server, 10000);
}
}
void
test_read_u16_le() {
unsigned char buf[2] = { 0x03, 0xd9 };
uint16_t n = read_u16_le(buf);
assert(0xd903 == n);
}
