Merge accelerometers.c and motors.c into tilt.c, clean up a bit

We don't need two calls for degrees and radians for tilt, since everyone
knows how to trivially convert between them.

Signed-off-by: Hector Martin <[email protected]>

Author: marcan

c/examples/glview.c

@@ -273,7 +273,7 @@ int main(int argc, char **argv)
 		printf("Could not open device\n");
 		return 1;
 	}
-        freenect_set_tilt_in_degrees(f_dev,0);
+        freenect_set_tilt_degs(f_dev,0);
         freenect_set_led(f_dev,LED_RED);
 	freenect_set_depth_callback(f_dev, depth_cb);
 	freenect_set_rgb_callback(f_dev, rgb_cb);
@@ -292,9 +292,9 @@ int main(int argc, char **argv)
 	while(!die && freenect_process_events(f_ctx) >= 0 )
 	{
 		int16_t ax,ay,az;
-		freenect_get_raw_accelerometers(f_dev, &ax, &ay, &az);
+		freenect_get_raw_accel(f_dev, &ax, &ay, &az);
 		double dx,dy,dz;
-		freenect_get_mks_accelerometers(f_dev, &dx, &dy, &dz);
+		freenect_get_mks_accel(f_dev, &dx, &dy, &dz);
 		printf("\r raw acceleration: %4d %4d %4d  mks acceleration: %4f %4f %4f", ax, ay, az, dx, dy, dz);
 		fflush(stdout);
 	}

c/include/libfreenect.h

@@ -100,12 +100,11 @@ int freenect_start_rgb(freenect_device *dev);
 int freenect_stop_depth(freenect_device *dev);
 int freenect_stop_rgb(freenect_device *dev);
 
-int freenect_set_tilt_in_degrees(freenect_device *dev, double angle);
-int freenect_set_tilt_in_radians(freenect_device *dev, double angle);
+int freenect_set_tilt_degs(freenect_device *dev, double angle);
 int freenect_set_led(freenect_device *dev, freenect_led_options option);
 
-int freenect_get_raw_accelerometers(freenect_device *dev, int16_t* x, int16_t* y, int16_t* z);
-int freenect_get_mks_accelerometers(freenect_device *dev, double* x, double* y, double* z);
+int freenect_get_raw_accel(freenect_device *dev, int16_t* x, int16_t* y, int16_t* z);
+int freenect_get_mks_accel(freenect_device *dev, double* x, double* y, double* z);
 
 #ifdef __cplusplus
 }

c/lib/CMakeLists.txt

@@ -5,7 +5,7 @@ find_package(Threads REQUIRED)
 find_package(USB REQUIRED)
 include_directories(${USB_INCLUDE_DIRS})
 
-SET(SRC motors.c accelerometers.c core.c cameras.c usb_libusb10.c)
+SET(SRC core.c tilt.c cameras.c usb_libusb10.c)
 
 if (NOT PROJECT_OS_WIN)
 	add_library (freenect SHARED ${SRC} ${CMAKE_CURRENT_BINARY_DIR}/inits.c)

c/lib/motors.c

@@ -31,38 +31,62 @@
 #include <math.h>
 
 #include "freenect_internal.h"
+
+// The kinect can tilt from +31 to -31 degrees in what looks like 1 degree increments
+// The control input looks like 2*desired_degrees
+#define MAX_TILT_ANGLE 31
+#define MIN_TILT_ANGLE (-31)
+
 #define GRAVITY 9.80665
 
-int freenect_get_raw_accelerometers(freenect_device *dev, int16_t* x, int16_t* y, int16_t* z)
+int freenect_set_tilt_degs(freenect_device *dev, double angle)
+{
+	int ret;
+	uint8_t empty[0x1];
+
+	angle = (angle<MIN_TILT_ANGLE) ? MIN_TILT_ANGLE : ((angle>MAX_TILT_ANGLE) ? MAX_TILT_ANGLE : angle);
+	angle = angle * 2;
+
+	ret = fnusb_control(&dev->usb_motor, 0x40, 0x31, (uint16_t)angle, 0x0, empty, 0x0);
+	return ret;
+}
+
+int freenect_set_led(freenect_device *dev, freenect_led_options option)
 {
-	unsigned char buf[10];
+	int ret;
+	uint8_t empty[0x1];
+	ret = fnusb_control(&dev->usb_motor, 0x40, 0x06, (uint16_t)option, 0x0, empty, 0x0);
+	return ret;
+}
+
+int freenect_get_raw_accel(freenect_device *dev, int16_t* x, int16_t* y, int16_t* z)
+{
+	uint8_t buf[10];
 	uint16_t ux, uy, uz;
 	int ret = fnusb_control(&dev->usb_motor, 0xC0, 0x32, 0x0, 0x0, buf, 10);
 	if (ret != 10)
 		printf("Error in accelerometer reading, libusb_control_transfer returned %d\n", ret);
-	
+
 	ux = ((uint16_t)buf[2] << 8) | buf[3];
 	uy = ((uint16_t)buf[4] << 8) | buf[5];
 	uz = ((uint16_t)buf[6] << 8) | buf[7];
 	*x = (int16_t)ux;
 	*y = (int16_t)uy;
 	*z = (int16_t)uz;
-	
+
 	return ret;
 }
 
-int freenect_get_mks_accelerometers(freenect_device *dev, double* x, double* y, double* z)
+int freenect_get_mks_accel(freenect_device *dev, double* x, double* y, double* z)
 {
 	//the documentation for the accelerometer (http://www.kionix.com/Product%20Sheets/KXSD9%20Product%20Brief.pdf)
 	//states there are 819 counts/g
 	int16_t ix, iy, iz;
-	int ret = freenect_get_raw_accelerometers(dev,&ix,&iy,&iz);
+	int ret = freenect_get_raw_accel(dev,&ix,&iy,&iz);
 
 	*x = (double)ix/FREENECT_COUNTS_PER_G*GRAVITY;
 	*y = (double)iy/FREENECT_COUNTS_PER_G*GRAVITY;
 	*z = (double)iz/FREENECT_COUNTS_PER_G*GRAVITY;
 
 	return ret;
 }
-
-