OpenMoCo / SpaceBall

Library to handle SpaceBall, SpaceMouse and SpaceOrb on serial port. Gets access to 3D rotation and translation vector as well as button status. (USB is not supported)

Dependents:   SpaceBall_Example

Library to handle SpaceBall, SpaceMouse and SpaceOrb on serial port. Gets access to 3D rotation and translation vector as well as button status. (USB is not supported)

All handling and decoding is done in the RX interrupt and the vector values can be read out asynchronously with different coordinate mappings.

Example:

#include "mbed.h"
#include "SpaceBall.h"
 
PwmOut led[] = {(LED1), (LED2), (LED3), (LED4) };
SpaceBall SBall(p9, p10);   // tx, rx, bSOrb
 
int main() {
    SBall.Init();
    
    while(1) {
 
        led[0] = abs( SBall[TX] ) + abs( SBall[TY] ) + abs( SBall[TZ] );
        led[1] = abs( SBall[RX] );
        led[2] = abs( SBall[RY] );
        led[3] = abs( SBall[RZ] );
        
        wait_us(500);
    }
}

In this exaple the 4 LEDs are powered dependent on force at the Spaceball. LED1 shows the sum of all translation forces. LED2 to LED4 shows the rotation forces.

For more information about SpaceBall devices see manufactorers page http://www.3dconnexion.com

For connecting a SpaceBall (or SpaceMouse or SpaceOrb) to mbed see page wiki/Serial-Connection

Example: SpaceBall 4000

/media/uploads/jocis/spaceball1.jpg

SpaceBall.h@3:7bacae57a30b, 2014-09-02 (annotated)

Committer:
jocis
Date:
Tue Sep 02 09:34:06 2014 +0000
Revision:
3:7bacae57a30b
Parent:
2:a7c0fcd157f7
Child:
4:f953792e45cb
Initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jocis 3:7bacae57a30b 1 /* mbed SpaceBall, SpaceMouse and SpaceOrb Library
jocis 3:7bacae57a30b 2 * Copyright (c) 2012 Jochen Krapf
jocis 3:7bacae57a30b 3 *
jocis 3:7bacae57a30b 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
jocis 3:7bacae57a30b 5 * of this software and associated documentation files (the "Software"), to deal
jocis 3:7bacae57a30b 6 * in the Software without restriction, including without limitation the rights
jocis 3:7bacae57a30b 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
jocis 3:7bacae57a30b 8 * copies of the Software, and to permit persons to whom the Software is
jocis 3:7bacae57a30b 9 * furnished to do so, subject to the following conditions:
jocis 3:7bacae57a30b 10 *
jocis 3:7bacae57a30b 11 * The above copyright notice and this permission notice shall be included in
jocis 3:7bacae57a30b 12 * all copies or substantial portions of the Software.
jocis 3:7bacae57a30b 13 *
jocis 3:7bacae57a30b 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
jocis 3:7bacae57a30b 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
jocis 3:7bacae57a30b 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
jocis 3:7bacae57a30b 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
jocis 3:7bacae57a30b 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
jocis 3:7bacae57a30b 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
jocis 3:7bacae57a30b 20 * THE SOFTWARE.
jocis 3:7bacae57a30b 21 */
jocis 3:7bacae57a30b 22
jocis 0:f67a8fffd94a 23 #include "mbed.h"
jocis 0:f67a8fffd94a 24
jocis 0:f67a8fffd94a 25 /* Spaceball Button bit-masks */
jocis 0:f67a8fffd94a 26 #define SBALL_BUTTON_1 0x0001 /* bit 0 */
jocis 0:f67a8fffd94a 27 #define SBALL_BUTTON_2 0x0002 /* bit 1 */
jocis 0:f67a8fffd94a 28 #define SBALL_BUTTON_3 0x0004 /* bit 2 */
jocis 0:f67a8fffd94a 29 #define SBALL_BUTTON_4 0x0008 /* bit 3 */
jocis 0:f67a8fffd94a 30 #define SBALL_BUTTON_5 0x0010 /* bit 4 */
jocis 0:f67a8fffd94a 31 #define SBALL_BUTTON_6 0x0020 /* bit 5 */
jocis 0:f67a8fffd94a 32 #define SBALL_BUTTON_7 0x0040 /* bit 6 */
jocis 0:f67a8fffd94a 33 #define SBALL_BUTTON_8 0x0080 /* bit 7 */
jocis 0:f67a8fffd94a 34 #define SBALL_BUTTON_9 0x0100 /* bit 8 */
jocis 0:f67a8fffd94a 35 #define SBALL_BUTTON_10 0x0200 /* bit 9 */
jocis 0:f67a8fffd94a 36 #define SBALL_BUTTON_11 0x0400 /* bit 10 */
jocis 0:f67a8fffd94a 37 #define SBALL_BUTTON_12 0x0800 /* bit 11 */
jocis 0:f67a8fffd94a 38
jocis 0:f67a8fffd94a 39 /* The Spaceball 3003 and 3003 FLX only have "left" and "right" buttons */
jocis 0:f67a8fffd94a 40 #define SBALL_BUTTON_RIGHT 0x1000 /* bit 12 */
jocis 0:f67a8fffd94a 41 #define SBALL_BUTTON_LEFT 0x2000 /* bit 13 */
jocis 0:f67a8fffd94a 42
jocis 0:f67a8fffd94a 43 /* The Spaceball 2003A and 2003B have a dedicated pick button on the ball */
jocis 0:f67a8fffd94a 44 /* The Spaceball 2003 FLX uses "button 9" as the pick button. */
jocis 0:f67a8fffd94a 45 /* All of them return this as "button 9" in their encoded button data */
jocis 0:f67a8fffd94a 46 #define SBALL_BUTTON_PICK SBALL_BUTTON_RIGHT /* bit 12 */
jocis 0:f67a8fffd94a 47
jocis 0:f67a8fffd94a 48 /* On Spaceball 2003A and 2003B, the Rezero is "button 8" on the device */
jocis 0:f67a8fffd94a 49 /* On the newer devices, there are dedicated rezero buttons */
jocis 0:f67a8fffd94a 50 #define SBALL_BUTTON_REZERO 0x4000 /* bit 14 */
jocis 0:f67a8fffd94a 51
jocis 0:f67a8fffd94a 52 /* The Spaceball 4000 FLX has a configurable palm rest which can be in */
jocis 0:f67a8fffd94a 53 /* either "left" or "right" handed mode. When it is configured in "left" */
jocis 0:f67a8fffd94a 54 /* handed mode, the "lefty" bit is set, and coordinate systems need to be */
jocis 0:f67a8fffd94a 55 /* inverted on one axis. */
jocis 0:f67a8fffd94a 56 #define SBALL_MODE_LEFTY 0x8000 /* bit 15 */
jocis 0:f67a8fffd94a 57
jocis 0:f67a8fffd94a 58
jocis 1:e6282b645d9b 59 #define SPACEBALL_MAX_LENGTH 128
jocis 1:e6282b645d9b 60
jocis 0:f67a8fffd94a 61 enum eSpaceBallAxis {
jocis 0:f67a8fffd94a 62 TX=0, TY, TZ,
jocis 0:f67a8fffd94a 63 Right=0, Forward, Up,
jocis 0:f67a8fffd94a 64 RX=3, RY, RZ,
jocis 0:f67a8fffd94a 65 Pitch=3, Roll, Yaw };
jocis 0:f67a8fffd94a 66
jocis 2:a7c0fcd157f7 67 enum eSpaceBallMapping {
jocis 2:a7c0fcd157f7 68 RAW=0, CNC, CNCvert };
jocis 2:a7c0fcd157f7 69
jocis 3:7bacae57a30b 70 /** SpaceBall class, based on serial connection
jocis 3:7bacae57a30b 71 *
jocis 3:7bacae57a30b 72 * Example:
jocis 3:7bacae57a30b 73 * @code
jocis 3:7bacae57a30b 74 * @endcode
jocis 3:7bacae57a30b 75 */
jocis 0:f67a8fffd94a 76 class SpaceBall {
jocis 0:f67a8fffd94a 77 public:
jocis 0:f67a8fffd94a 78
jocis 3:7bacae57a30b 79 /** Create a input object connected to the specified serial pin
jocis 3:7bacae57a30b 80 *
jocis 3:7bacae57a30b 81 * @param pin PwmOut pin to connect to
jocis 3:7bacae57a30b 82 */
jocis 0:f67a8fffd94a 83 SpaceBall ( PinName tx, PinName rx, bool bSpaceOrb=false );
jocis 0:f67a8fffd94a 84 ~SpaceBall() {};
jocis 0:f67a8fffd94a 85
jocis 3:7bacae57a30b 86 /** ...
jocis 3:7bacae57a30b 87 *
jocis 3:7bacae57a30b 88 * @param xxx ...
jocis 3:7bacae57a30b 89 */
jocis 0:f67a8fffd94a 90 void Init();
jocis 0:f67a8fffd94a 91
jocis 2:a7c0fcd157f7 92 void SetMapping ( int mapping )
jocis 2:a7c0fcd157f7 93 { _mapping = mapping; }
jocis 2:a7c0fcd157f7 94
jocis 0:f67a8fffd94a 95 void GetTranslation ( float* fValue[3] ) const
jocis 0:f67a8fffd94a 96 {
jocis 0:f67a8fffd94a 97 *fValue[0] = GetAxis ( TX );
jocis 0:f67a8fffd94a 98 *fValue[1] = GetAxis ( TY );
jocis 0:f67a8fffd94a 99 *fValue[2] = GetAxis ( TZ );
jocis 0:f67a8fffd94a 100 }
jocis 2:a7c0fcd157f7 101
jocis 0:f67a8fffd94a 102 void GetRotation ( float* fValue[3] ) const
jocis 0:f67a8fffd94a 103 {
jocis 0:f67a8fffd94a 104 *fValue[0] = GetAxis ( RX );
jocis 0:f67a8fffd94a 105 *fValue[1] = GetAxis ( RY );
jocis 0:f67a8fffd94a 106 *fValue[2] = GetAxis ( RZ );
jocis 0:f67a8fffd94a 107 }
jocis 2:a7c0fcd157f7 108
jocis 2:a7c0fcd157f7 109 float GetAxis ( int nAxis ) const;
jocis 2:a7c0fcd157f7 110
jocis 2:a7c0fcd157f7 111 int GetAxisRaw ( int nAxis ) const;
jocis 2:a7c0fcd157f7 112
jocis 0:f67a8fffd94a 113 float operator[] (eSpaceBallAxis nAxis) const
jocis 0:f67a8fffd94a 114 { return GetAxis ( nAxis ); }
jocis 0:f67a8fffd94a 115 float operator[] (int nAxis) const
jocis 0:f67a8fffd94a 116 { return GetAxis ( nAxis ); }
jocis 0:f67a8fffd94a 117
jocis 0:f67a8fffd94a 118 int GetButtons() const
jocis 2:a7c0fcd157f7 119 { return _buttons; }
jocis 2:a7c0fcd157f7 120
jocis 0:f67a8fffd94a 121 operator int (void) const
jocis 0:f67a8fffd94a 122 { return GetButtons(); }
jocis 0:f67a8fffd94a 123
jocis 0:f67a8fffd94a 124 void SetScale ( float fScale=1.0f )
jocis 0:f67a8fffd94a 125 { _fScale = fScale; }
jocis 0:f67a8fffd94a 126 float GetScale ( void )
jocis 0:f67a8fffd94a 127 { return _fScale; }
jocis 0:f67a8fffd94a 128
jocis 0:f67a8fffd94a 129
jocis 0:f67a8fffd94a 130 protected:
jocis 0:f67a8fffd94a 131 Serial _serial;
jocis 0:f67a8fffd94a 132 bool _bSpaceOrb;
jocis 0:f67a8fffd94a 133 float _fScale;
jocis 0:f67a8fffd94a 134
jocis 2:a7c0fcd157f7 135 int _axis[6]; /* last translational data received */
jocis 2:a7c0fcd157f7 136 int _buttons; /* current button status */
jocis 0:f67a8fffd94a 137
jocis 0:f67a8fffd94a 138 void SerialISR(void);
jocis 0:f67a8fffd94a 139 void Process ( char c );
jocis 0:f67a8fffd94a 140
jocis 0:f67a8fffd94a 141 virtual void DoChangedAxis (void) {};
jocis 0:f67a8fffd94a 142 virtual void DoChangedButtons (void) {};
jocis 0:f67a8fffd94a 143
jocis 0:f67a8fffd94a 144 private:
jocis 0:f67a8fffd94a 145 int m_erroroccured; /* if set, we've received an error packet or packets */
jocis 0:f67a8fffd94a 146 int m_resetoccured; /* if set, ball was reset, so have to reinitialize it */
jocis 0:f67a8fffd94a 147 int m_spaceball4000; /* if set, its a Spaceball 4000 */
jocis 0:f67a8fffd94a 148 int m_leftymode4000; /* if set, Spaceball 4000 in "lefty" orientation */
jocis 0:f67a8fffd94a 149
jocis 1:e6282b645d9b 150 bool _escape;
jocis 1:e6282b645d9b 151 int _idx;
jocis 1:e6282b645d9b 152 char _data[SPACEBALL_MAX_LENGTH];
jocis 2:a7c0fcd157f7 153
jocis 2:a7c0fcd157f7 154 float _fScaleR;
jocis 2:a7c0fcd157f7 155 float _fScaleT;
jocis 2:a7c0fcd157f7 156 int _mapping;
jocis 1:e6282b645d9b 157
jocis 1:e6282b645d9b 158 void InitSB();
jocis 1:e6282b645d9b 159 void InitSO();
jocis 0:f67a8fffd94a 160
jocis 0:f67a8fffd94a 161 void ProcessSB ( char c );
jocis 0:f67a8fffd94a 162 void ProcessSO ( char c );
jocis 1:e6282b645d9b 163
jocis 1:e6282b645d9b 164 void ProcessPacketSB ( void );
jocis 1:e6282b645d9b 165 void ProcessPacketSO ( void );
jocis 1:e6282b645d9b 166
jocis 0:f67a8fffd94a 167 };