Android – 为什么ADK的ADK编程不能在Arduino中编译？

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我对Arduino和 Java有一个很好的了解,我决定采取一个刺,试图用我的三星Galaxy 10.1选项卡来控制我的Arduino ATMega.我已经使用SDK管理器安装了API 12,Eclipse的ADT插件,现在我按照 Installing the Arduino software and necessary libraries(Android Open Accessory Development Kit)的说明安装ADK板的固件.当我编译它给我两个错误：

demokit:146: error: ‘acc’ was not declared in this scope

demokit:249: error: ‘touch_robot’ was not declared in this scope

并说

‘AndroidAccessory’ does not name a type.

代码如下所示：

#include <Wire.h>
#include <Servo.h>

#include <Max3421e.h>
#include <Usb.h>
#include <AndroidAccessory.h>

#include <CapSense.h>

#define  LED3_RED       2
#define  LED3_GREEN     4
#define  LED3_BLUE      3

#define  LED2_RED       5
#define  LED2_GREEN     7
#define  LED2_BLUE      6

#define  LED1_RED       8
#define  LED1_GREEN     10
#define  LED1_BLUE      9

#define  SERVO1         11
#define  SERVO2         12
#define  SERVO3         13

#define  TOUCH_RECV     14
#define  TOUCH_SEND     15

#define  RELAY1         A0
#define  RELAY2         A1

#define  LIGHT_SENSOR   A2
#define  TEMP_SENSOR    A3

#define  BUTTON1        A6
#define  BUTTON2        A7
#define  BUTTON3        A8

#define  JOY_SWITCH     A9      // pulls line down when pressed
#define  JOY_nINT       A10     // active low interrupt input
#define  JOY_nRESET     A11     // active low reset output

AndroidAccessory acc("Google,Inc.","DemoKit","DemoKit Arduino Board","1.0","http://www.android.com","0000000012345678");
Servo servos[3];

// 10 Mohm resistor on demo shield
CapSense   touch_robot = CapSense(TOUCH_SEND,TOUCH_RECV);

void setup();
void loop();

void init_buttons()
{
    pinMode(BUTTON1,INPUT);
    pinMode(BUTTON2,INPUT);
    pinMode(BUTTON3,INPUT);
    pinMode(JOY_SWITCH,INPUT);

    // enable the internal pullups
    digitalWrite(BUTTON1,HIGH);
    digitalWrite(BUTTON2,HIGH);
    digitalWrite(BUTTON3,HIGH);
    digitalWrite(JOY_SWITCH,HIGH);
}

void init_relays()
{
    pinMode(RELAY1,OUTPUT);
    pinMode(RELAY2,OUTPUT);
}

void init_LEDs()
{
    digitalWrite(LED1_RED,1);
    digitalWrite(LED1_GREEN,1);
    digitalWrite(LED1_BLUE,1);

    pinMode(LED1_RED,OUTPUT);
    pinMode(LED1_GREEN,OUTPUT);
    pinMode(LED1_BLUE,OUTPUT);

    digitalWrite(LED2_RED,1);
    digitalWrite(LED2_GREEN,1);
    digitalWrite(LED2_BLUE,1);

    pinMode(LED2_RED,OUTPUT);
    pinMode(LED2_GREEN,OUTPUT);
    pinMode(LED2_BLUE,OUTPUT);

    digitalWrite(LED3_RED,1);
    digitalWrite(LED3_GREEN,1);
    digitalWrite(LED3_BLUE,1);

    pinMode(LED3_RED,OUTPUT);
    pinMode(LED3_GREEN,OUTPUT);
    pinMode(LED3_BLUE,OUTPUT);
}

void init_joystick(int threshold);

byte b1,b2,b3,b4,c;
void setup()
{
    Serial.begin(115200);
    Serial.print("\r\nStart");

    init_LEDs();
    init_relays();
    init_buttons();
    init_joystick( 5 );

    // autocalibrate OFF
    touch_robot.set_CS_AutocaL_Millis(0xFFFFFFFF);

    servos[0].attach(SERVO1);
    servos[0].write(90);
    servos[1].attach(SERVO2);
    servos[1].write(90);
    servos[2].attach(SERVO3);
    servos[2].write(90);

    b1 = digitalRead(BUTTON1);
    b2 = digitalRead(BUTTON2);
    b3 = digitalRead(BUTTON3);
    b4 = digitalRead(JOY_SWITCH);
    c = 0;

    acc.powerOn();
}

void loop()
{
    byte err;
    byte idle;
    static byte count = 0;
    byte msg[3];
    long touchcount;

    if (acc.isConnected()) {
        int len = acc.read(msg,sizeof(msg),1);
        int i;
        byte b;
        uint16_t val;
        int x,y;
        char c0;

        if (len > 0) {
            // assumes only one command per packet
            if (msg[0] == 0x2) {
                if (msg[1] == 0x0)
                    analogWrite(LED1_RED,255 - msg[2]);
                else if (msg[1] == 0x1)
                    analogWrite(LED1_GREEN,255 - msg[2]);
                else if (msg[1] == 0x2)
                    analogWrite(LED1_BLUE,255 - msg[2]);
                else if (msg[1] == 0x3)
                    analogWrite(LED2_RED,255 - msg[2]);
                else if (msg[1] == 0x4)
                    analogWrite(LED2_GREEN,255 - msg[2]);
                else if (msg[1] == 0x5)
                    analogWrite(LED2_BLUE,255 - msg[2]);
                else if (msg[1] == 0x6)
                    analogWrite(LED3_RED,255 - msg[2]);
                else if (msg[1] == 0x7)
                    analogWrite(LED3_GREEN,255 - msg[2]);
                else if (msg[1] == 0x8)
                    analogWrite(LED3_BLUE,255 - msg[2]);
                else if (msg[1] == 0x10)
                    servos[0].write(map(msg[2],255,180));
                else if (msg[1] == 0x11)
                    servos[1].write(map(msg[2],180));
                else if (msg[1] == 0x12)
                    servos[2].write(map(msg[2],180));
            } else if (msg[0] == 0x3) {
                if (msg[1] == 0x0)
                    digitalWrite(RELAY1,msg[2] ? HIGH : LOW);
                else if (msg[1] == 0x1)
                    digitalWrite(RELAY2,msg[2] ? HIGH : LOW);
            }
        }

        msg[0] = 0x1;

        b = digitalRead(BUTTON1);
        if (b != b1) {
            msg[1] = 0;
            msg[2] = b ? 0 : 1;
            acc.write(msg,3);
            b1 = b;
        }

        b = digitalRead(BUTTON2);
        if (b != b2) {
            msg[1] = 1;
            msg[2] = b ? 0 : 1;
            acc.write(msg,3);
            b2 = b;
        }

        b = digitalRead(BUTTON3);
        if (b != b3) {
            msg[1] = 2;
            msg[2] = b ? 0 : 1;
            acc.write(msg,3);
            b3 = b;
        }

        b = digitalRead(JOY_SWITCH);
        if (b != b4) {
            msg[1] = 4;
            msg[2] = b ? 0 : 1;
            acc.write(msg,3);
            b4 = b;
        }

        switch (count++ % 0x10) {
        case 0:
            val = analogRead(TEMP_SENSOR);
            msg[0] = 0x4;
            msg[1] = val >> 8;
            msg[2] = val & 0xff;
            acc.write(msg,3);
            break;

        case 0x4:
            val = analogRead(LIGHT_SENSOR);
            msg[0] = 0x5;
            msg[1] = val >> 8;
            msg[2] = val & 0xff;
            acc.write(msg,3);
            break;

        case 0x8:
            read_joystick(&x,&y);
            msg[0] = 0x6;
            msg[1] = constrain(x,-128,127);
            msg[2] = constrain(y,127);
            acc.write(msg,3);
            break;

        case 0xc:
            touchcount = touch_robot.capSense(5);

            c0 = touchcount > 750;

            if (c0 != c) {
                msg[0] = 0x1;
                msg[1] = 3;
                msg[2] = c0;
                acc.write(msg,3);
                c = c0;
            }

            break;
        }
    }
    else {
        // reset outputs to default values on disconnect
        analogWrite(LED1_RED,255);
        analogWrite(LED1_GREEN,255);
        analogWrite(LED1_BLUE,255);
        analogWrite(LED2_RED,255);
        analogWrite(LED2_GREEN,255);
        analogWrite(LED2_BLUE,255);
        analogWrite(LED3_RED,255);
        analogWrite(LED3_GREEN,255);
        analogWrite(LED3_BLUE,255);
        servos[0].write(90);
        servos[0].write(90);
        servos[0].write(90);
        digitalWrite(RELAY1,LOW);
        digitalWrite(RELAY2,LOW);
    }

    delay(10);
}

// ==============================================================================
// Austria Microsystems i2c Joystick
void init_joystick(int threshold)
{
    byte status = 0;

    pinMode(JOY_SWITCH,INPUT);
    digitalWrite(JOY_SWITCH,HIGH);

    pinMode(JOY_nINT,INPUT);
    digitalWrite(JOY_nINT,HIGH);

    pinMode(JOY_nRESET,OUTPUT);

    digitalWrite(JOY_nRESET,1);
    delay(1);
    digitalWrite(JOY_nRESET,0);
    delay(1);
    digitalWrite(JOY_nRESET,1);

    Wire.begin();

    do {
        status = read_joy_reg(0x0f);
    } while ((status & 0xf0) != 0xf0);

    // invert magnet polarity setting,per datasheet
    write_joy_reg(0x2e,0x86);

    calibrate_joystick(threshold);
}


int offset_X,offset_Y;

void calibrate_joystick(int dz)
{
    char iii;
    int x_cal = 0;
    int y_cal = 0;

    // Low Power Mode,20ms auto wakeup
    // INTn output enabled
    // INTn active after each measurement
    // Normal (non-Reset) mode
    write_joy_reg(0x0f,0x00);
    delay(1);

    // dummy read of Y_reg to reset interrupt
    read_joy_reg(0x11);

    for(iii = 0; iii != 16; iii++) {
        while(!joystick_interrupt()) {}

        x_cal += read_joy_reg(0x10);
        y_cal += read_joy_reg(0x11);
    }

    // Divide by 16 to get average
    offset_X = -(x_cal>>4);
    offset_Y = -(y_cal>>4);

    write_joy_reg(0x12,dz - offset_X);  // Xp,LEFT threshold for INTn
    write_joy_reg(0x13,-dz - offset_X);  // Xn,RIGHT threshold for INTn
    write_joy_reg(0x14,dz - offset_Y);  // Yp,UP threshold for INTn
    write_joy_reg(0x15,-dz - offset_Y);  // Yn,DOWN threshold for INTn

    // Dead zone threshold detect requested?
    if (dz)
        write_joy_reg(0x0f,0x04);
}

void read_joystick(int *x,int *y)
{
    *x = read_joy_reg(0x10) + offset_X;
    *y = read_joy_reg(0x11) + offset_Y;  // reading Y clears the interrupt
}

char joystick_interrupt()
{
    return digitalRead(JOY_nINT) == 0;
}

#define  JOY_I2C_ADDR    0x40

char read_joy_reg(char reg_addr)
{
    char c;

    Wire.beginTransmission(JOY_I2C_ADDR);
    Wire.send(reg_addr);
    Wire.endTransmission();

    Wire.requestFrom(JOY_I2C_ADDR,1);

    while(Wire.available())
        c = Wire.receive();

    return c;
}

void write_joy_reg(char reg_addr,char val)
{
    Wire.beginTransmission(JOY_I2C_ADDR);
    Wire.send(reg_addr);
    Wire.send(val);
    Wire.endTransmission();
}

顺便说一句,我甚至试图复制我的arduino目录中的ADK_relsease_0512文件夹仍然没有工作.提前致谢！

解决方法

现在我用Arduino 1.0获得了成功,我想分享解决方案：

>我用的是CapSense04.zip库：
>我从arduino_bundle_ADK.zip更改了以下文件中的类型从void到size_t：

AndroidAccessory.cpp行280：size_t AndroidAccessory :: write(uint8_t b)
AndroidAccessory.h第71行：size_t write(uint8_t b);

Max_LCD.cpp行257：inline size_t Max_LCD :: write(uint8_t value)
Max_LCD.h行101：virtual size_t write(uint8_t);

我也改了发送来写和接收来读,在demokit.pde(你会发现它在adk_release_0512.zip)

Demokit.pde行377：Wire.write(reg_addr);行383：c = Wire.read();第391行：Wire.write(reg_addr);第392行：Wire.write(val);

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