int joystickGetAxes(lua_State *L) {
love_joystick *self = luaobj_checkudata(L, 1, CLASS_TYPE);
int numAxesCheck = lua_gettop(L);
for (int i = 2; i <= numAxesCheck; i++) {
int axisId = luaL_checkinteger(L, i);
if( axisId < 5 ) { // Circle Axes
circlePosition circleData;
hidCircleRead(&circleData);
if( axisId == 1 ) lua_pushinteger(L, circleData.dx);
if( axisId == 2 ) lua_pushinteger(L, circleData.dy);
circlePosition cStickData;
irrstCstickRead(&cStickData);
if( axisId == 3 ) lua_pushinteger(L, cStickData.dx);
if( axisId == 4 ) lua_pushinteger(L, cStickData.dy);
} else if( axisId < 8 ) { // Gyro Axes
HIDUSER_EnableGyroscope();
angularRate gyroData;
hidGyroRead(&gyroData);
if( axisId == 5 ) lua_pushinteger(L, gyroData.x);
if( axisId == 6 ) lua_pushinteger(L, gyroData.y);
if( axisId == 7 ) lua_pushinteger(L, gyroData.z);
} else if ( axisId < 11 ) { // Accelloremeter Axes
HIDUSER_EnableAccelerometer();
accelVector accelData;
hidAccelRead(&accelData);
if( axisId == 8 ) lua_pushinteger(L, accelData.x);
if( axisId == 9 ) lua_pushinteger(L, accelData.y);
if( axisId == 10 ) lua_pushinteger(L, accelData.z);
} else {
luaError(L, "AxisId out of bounds");
}
}
return numAxesCheck-1;
}
static int lua_accel(lua_State *L)
{
int argc = lua_gettop(L);
#ifndef SKIP_ERROR_HANDLING
if (argc != 0) return luaL_error(L, "wrong number of arguments.");
#endif
accelVector cpos;
hidAccelRead(&cpos);
lua_pushnumber(L, cpos.x);
lua_pushnumber(L, cpos.y);
lua_pushnumber(L, cpos.z);
return 3;
}
void Sensor::update()
{
#ifndef EMULATION
if(m_gyro_enabled) {
angularRate gyro;
hidGyroRead(&gyro);
m_gyro = Vector3f{gyro.x/100.f, gyro.y/100.f, gyro.z/100.f};
}
if(m_accel_enabled) {
accelVector accel;
hidAccelRead(&accel);
m_accel = {accel.x/100.f, accel.y/100.f, accel.z/100.f};
}
#endif
}
int joystickGetAxis(lua_State *L) {
love_joystick *self = luaobj_checkudata(L, 1, CLASS_TYPE);
int axisId = luaL_checkinteger(L, 2);
if( axisId < 3 ) { // Circle Axes
circlePosition circleData;
hidCircleRead(&circleData);
if( axisId == 1 ) lua_pushinteger(L, circleData.dx);
if( axisId == 2 ) lua_pushinteger(L, circleData.dy);
} else if( axisId < 6 ) { // Gyro Axes
HIDUSER_EnableGyroscope();
angularRate gyroData;
hidGyroRead(&gyroData);
if( axisId == 3 ) lua_pushinteger(L, gyroData.x);
if( axisId == 4 ) lua_pushinteger(L, gyroData.y);
if( axisId == 5 ) lua_pushinteger(L, gyroData.z);
} else if ( axisId < 9 ) { // Accelloremeter Axes
HIDUSER_EnableAccelerometer();
accelVector accelData;
hidAccelRead(&accelData);
if( axisId == 6 ) lua_pushinteger(L, accelData.x);
if( axisId == 7 ) lua_pushinteger(L, accelData.y);
if( axisId == 8 ) lua_pushinteger(L, accelData.z);
} else {
luaError(L, "AxisId out of bounds");
}
return 1;
}
int main(int argc, char **argv){
// Initialize services
gfxInitDefault();
//Initialize console on top screen. Using NULL as the second argument tells the console library to use the internal console structure as current one
consoleInit(GFX_TOP, NULL);
int alevel=0, glevel = 0;
//print GyroscopeRawToDpsCoefficient
float gyroCoef;
HIDUSER_GetGyroscopeRawToDpsCoefficient_(&gyroCoef);
printf("\x1b[0;0HGyroCoef:%f", gyroCoef);
//print GyroscopeLowCalibrateParam
u8 Calibrate[20];
HIDUSER_GetGyroscopeLowCalibrateParam(Calibrate);
for(int i = 0; i<3; ++i){
printf("\x1b[%d;0HGyroCalibrate(%d):", i+1, i+1);
for(int j = 0; j<6; ++j){
printf("%02X ", Calibrate[i*6+j]);
}
}
printf("\x1b[13;0HPad:\n");
printf("A:call EnableGyroscope\n");
printf("B:call DisableGyroscope\n");
printf("X:call EnableAccelerometer\n");
printf("Y:call DisableAccelerometer\n");
Result result=0;
while(aptMainLoop()){
hidScanInput();
u32 kDown = hidKeysDown();
if(kDown & KEY_START) break; // break in order to return to hbmenu
if(kDown & KEY_A){
++glevel;
result=HIDUSER_EnableGyroscope();
}
if(kDown & KEY_B){
--glevel;
result = HIDUSER_DisableGyroscope();
}
if(kDown & KEY_X){
++alevel;
result = HIDUSER_EnableAccelerometer();
}
if(kDown & KEY_Y){
--alevel;
result = HIDUSER_DisableAccelerometer();
}
//Read gyro data
myAngularRate gyro;
hidGyroRead((angularRate*)&gyro);
printf("\x1b[5;0Hgyro(level=%3d)%6d;%6d;%6d",glevel, gyro.x, gyro.y, gyro.z);
//Read raw gyro data
gyro = *(myAngularRate*)&hidSharedMem[86+6];
printf("\x1b[6;0Hgyro(raw )%6d;%6d;%6d", gyro.x, gyro.y, gyro.z);
//Read accel data
accelVector vector;
hidAccelRead(&vector);
printf("\x1b[7;0Hacce(level=%3d)%6d;%6d;%6d",alevel, vector.x, vector.y, vector.z);
//Read raw accel
vector = *(accelVector*)&hidSharedMem[66+6];
printf("\x1b[8;0Hacce(raw )%6d;%6d;%6d", vector.x, vector.y, vector.z);
//test if gyro and accel events are activated
printf("\x1b[9;0Hgyro event: %s", hidTryWaitForEvent(HIDEVENT_Gyro, 10000000) ? "true " : "false");
printf("\x1b[10;0Hacce event: %s", hidTryWaitForEvent(HIDEVENT_Accel, 10000000)?"true ":"false");
//print the last result of enable/disable gyroscope/accelerometer call
printf("\x1b[11;0Henable/disable call result=%08lX", result);
// Flush and swap framebuffers
gfxFlushBuffers();
gfxSwapBuffers();
//Wait for VBlank
gspWaitForVBlank();
}
// Exit services
gfxExit();
return 0;
}