space mouse

#include "TLx493D_inc.hpp"
#include <SimpleKalmanFilter.h>
#include <OneButton.h>
#include <Adafruit_NeoPixel.h>

// How many internal neopixels do we have? some boards have more than one!
#define NUMPIXELS 1

Adafruit_NeoPixel pixels(NUMPIXELS, PIN_NEOPIXEL, NEO_GRB + NEO_KHZ800);


using namespace ifx::tlx493d;

/* Definition of the power pin and sensor objects for Kit2Go XMC1100 boards. */
const uint8_t POWER_PIN = 15;  // XMC1100 : LED2

// some board swith multiple I2C need Wire --> Wire1
TLx493D_A1B6 mag(Wire1, TLx493D_IIC_ADDR_A0_e);

SimpleKalmanFilter xFilter(1, 1, 0.2), yFilter(1, 1, 0.2), zFilter(1, 1, 0.2);

// Setup buttons
OneButton button1(27, true);
OneButton button2(24, true);

float xOffset = 0, yOffset = 0, zOffset = 0;
float xCurrent = 0, yCurrent = 0, zCurrent = 0;
int calSamples = 300;

/** Definition of a counter variable. */
uint8_t count = 0;

void calibrate() {
  double x, y, z;

  Wire1.begin();

  // mag sensor init
  mag.setPowerPin(POWER_PIN, OUTPUT, INPUT, HIGH, LOW, 0, 250000);
  mag.begin();

  for (int i = 1; i <= calSamples; i++) {
    mag.getMagneticField(&x, &y, &z);

    xOffset += x;
    yOffset += y;
    zOffset += z;
  }

  xOffset = xOffset / calSamples;
  yOffset = yOffset / calSamples;
  zOffset = zOffset / calSamples;
}

// the setup routine runs once when you press reset:
void setup() {

// Red LED at start
#if defined(NEOPIXEL_POWER)
  pinMode(NEOPIXEL_POWER, OUTPUT);
  digitalWrite(NEOPIXEL_POWER, HIGH);
#endif

  pixels.begin();           // INITIALIZE NeoPixel strip object (REQUIRED)
  pixels.setBrightness(4);  // not so bright
  pixels.fill(0xFF0000);
  pixels.show();

  Serial.begin(115200);


  if (Serial) {
    Serial.println("Waiting for other USB ports");
  }


  delay(1000);


  Serial.print("You are port 0\n\r\n0> ");


  calibrate();
}



void getMagnet() {
  double x, y, z;
  mag.getMagneticField(&x, &y, &z);

  xCurrent = xFilter.updateEstimate(x - xOffset);
  yCurrent = yFilter.updateEstimate(y - yOffset);
  zCurrent = zFilter.updateEstimate(z - zOffset);


  static uint32_t ms = 0;
  static uint32_t ms2 = 0;


  Serial.print(xCurrent);
  Serial.print(",");
  Serial.print(yCurrent);
  Serial.print(",");
  Serial.print(zCurrent);
  Serial.println();
}

// the loop routine runs over and over again forever:
void loop() {
  pixels.fill(0x33ff33);
  pixels.show();

  // keep watching the push buttons
  //button1.tick();
  //button2.tick();

  getMagnet();
  delay(1000);
}