USB_Host_Shield_2.0/Wii.cpp

/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.

 This software may be distributed and modified under the terms of the GNU
 General Public License version 2 (GPL2) as published by the Free Software
 Foundation and appearing in the file GPL2.TXT included in the packaging of
 this file. Please note that GPL2 Section 2[b] requires that all works based
 on this software must also be made publicly available under the terms of
 the GPL2 ("Copyleft").

 Contact information
 -------------------

 Kristian Lauszus, TKJ Electronics
 Web      :  http://www.tkjelectronics.com
 e-mail   :  kristianl@tkjelectronics.com

 IR camera support added by:
 Allan Glover
 adglover9.81@gmail.com
 */

#include "Wii.h"
// To enable serial debugging uncomment "#define DEBUG_USB_HOST" in message.h
//#define EXTRADEBUG // Uncomment to get even more debugging data
//#define PRINTREPORT // Uncomment to print the report send by the Wii controllers

const uint8_t LEDS[] PROGMEM = {
        0x10, // LED1
        0x20, // LED2
        0x40, // LED3
        0x80, // LED4

        0x90, // LED5
        0xA0, // LED6
        0xC0, // LED7
        0xD0, // LED8
        0xE0, // LED9
        0xF0 // LED10
};

const uint32_t BUTTONS[] PROGMEM = {
        0x00008, // UP
        0x00002, // RIGHT
        0x00004, // DOWN
        0x00001, // LEFT

        0, // Skip
        0x00010, // PLUS
        0x00100, // TWO
        0x00200, // ONE

        0x01000, // MINUS
        0x08000, // HOME
        0x10000, // Z
        0x20000, // C

        0x00400, // B
        0x00800 // A
};
const uint32_t PROCONTROLLERBUTTONS[] PROGMEM = {
        0x00100, // UP
        0x00080, // RIGHT
        0x00040, // DOWN
        0x00200, // LEFT

        0, // Skip
        0x00004, // PLUS
        0x20000, // L3
        0x10000, // R3

        0x00010, // MINUS
        0x00008, // HOME
        0, 0, // Skip

        0x04000, // B
        0x01000, // A
        0x00800, // X
        0x02000, // Y

        0x00020, // L
        0x00002, // R
        0x08000, // ZL
        0x00400 // ZR
};

WII::WII(BTD *p, bool pair) :
pBtd(p) // pointer to USB class instance - mandatory
{
        if (pBtd)
                pBtd->registerServiceClass(this); // Register it as a Bluetooth service

        pBtd->pairWithWii = pair;

        HIDBuffer[0] = 0xA2; // HID BT DATA_request (0xA0) | Report Type (Output 0x02)

        /* Set device cid for the control and intterrupt channelse - LSB */
        control_dcid[0] = 0x60; //0x0060
        control_dcid[1] = 0x00;
        interrupt_dcid[0] = 0x61; //0x0061
        interrupt_dcid[1] = 0x00;

        Reset();
}

void WII::Reset() {
        wiimoteConnected = false;
        nunchuckConnected = false;
        motionPlusConnected = false;
        activateNunchuck = false;
        motionValuesReset = false;
        activeConnection = false;
        pBtd->motionPlusInside = false;
        pBtd->wiiUProController = false;
        wiiUProControllerConnected = false;
        l2cap_event_flag = 0; // Reset flags
        l2cap_state = L2CAP_WAIT;
}

void WII::disconnect() { // Use this void to disconnect any of the controllers
        if (motionPlusConnected && !pBtd->motionPlusInside) { // Disable the Motion Plus extension
#ifdef DEBUG_USB_HOST
                Notify(PSTR("\r\nDeactivating Motion Plus"), 0x80);
#endif
                initExtension1(); // This will disable the Motion Plus extension
        }
        //First the HID interrupt channel has to be disconencted, then the HID control channel and finally the HCI connection
        pBtd->l2cap_disconnection_request(hci_handle, 0x0A, interrupt_scid, interrupt_dcid);
        Reset();
        l2cap_state = L2CAP_INTERRUPT_DISCONNECT;
}

void WII::ACLData(uint8_t* l2capinbuf) {
        if (!pBtd->l2capConnectionClaimed && pBtd->incomingWii && !wiimoteConnected && !activeConnection) {
                if (l2capinbuf[8] == L2CAP_CMD_CONNECTION_REQUEST) {
                        if ((l2capinbuf[12] | (l2capinbuf[13] << 8)) == HID_CTRL_PSM) {
                                pBtd->incomingWii = false;
                                pBtd->l2capConnectionClaimed = true; // Claim that the incoming connection belongs to this service
                                activeConnection = true;
                                hci_handle = pBtd->hci_handle; // Store the HCI Handle for the connection
                                l2cap_state = L2CAP_WAIT;
                        }
                }
        }
        if ((l2capinbuf[0] | (l2capinbuf[1] << 8)) == (hci_handle | 0x2000)) { // acl_handle_ok or it's a new connection
                if ((l2capinbuf[6] | (l2capinbuf[7] << 8)) == 0x0001) { //l2cap_control - Channel ID for ACL-U
                        if (l2capinbuf[8] == L2CAP_CMD_COMMAND_REJECT) {
#ifdef DEBUG_USB_HOST
                                Notify(PSTR("\r\nL2CAP Command Rejected - Reason: "), 0x80);
                                D_PrintHex<uint8_t > (l2capinbuf[13], 0x80);
                                Notify(PSTR(" "), 0x80);
                                D_PrintHex<uint8_t > (l2capinbuf[12], 0x80);
                                Notify(PSTR(" "), 0x80);
                                D_PrintHex<uint8_t > (l2capinbuf[17], 0x80);
                                Notify(PSTR(" "), 0x80);
                                D_PrintHex<uint8_t > (l2capinbuf[16], 0x80);
                                Notify(PSTR(" "), 0x80);
                                D_PrintHex<uint8_t > (l2capinbuf[15], 0x80);
                                Notify(PSTR(" "), 0x80);
                                D_PrintHex<uint8_t > (l2capinbuf[14], 0x80);
#endif
                        } else if (l2capinbuf[8] == L2CAP_CMD_CONNECTION_RESPONSE) {
                                if (((l2capinbuf[16] | (l2capinbuf[17] << 8)) == 0x0000) && ((l2capinbuf[18] | (l2capinbuf[19] << 8)) == SUCCESSFUL)) { // Success
                                        if (l2capinbuf[14] == control_dcid[0] && l2capinbuf[15] == control_dcid[1]) { // Success
                                                //Notify(PSTR("\r\nHID Control Connection Complete"), 0x80);
                                                identifier = l2capinbuf[9];
                                                control_scid[0] = l2capinbuf[12];
                                                control_scid[1] = l2capinbuf[13];
                                                l2cap_event_flag |= L2CAP_FLAG_CONTROL_CONNECTED;
                                        } else if (l2capinbuf[14] == interrupt_dcid[0] && l2capinbuf[15] == interrupt_dcid[1]) {
                                                //Notify(PSTR("\r\nHID Interrupt Connection Complete"), 0x80);
                                                identifier = l2capinbuf[9];
                                                interrupt_scid[0] = l2capinbuf[12];
                                                interrupt_scid[1] = l2capinbuf[13];
                                                l2cap_event_flag |= L2CAP_FLAG_INTERRUPT_CONNECTED;
                                        }
                                }
                        } else if (l2capinbuf[8] == L2CAP_CMD_CONNECTION_REQUEST) {
#ifdef EXTRADEBUG
                                Notify(PSTR("\r\nL2CAP Connection Request - PSM: "), 0x80);
                                D_PrintHex<uint8_t > (l2capinbuf[13], 0x80);
                                Notify(PSTR(" "), 0x80);
                                D_PrintHex<uint8_t > (l2capinbuf[12], 0x80);
                                Notify(PSTR(" SCID: "), 0x80);
                                D_PrintHex<uint8_t > (l2capinbuf[15], 0x80);
                                Notify(PSTR(" "), 0x80);
                                D_PrintHex<uint8_t > (l2capinbuf[14], 0x80);
                                Notify(PSTR(" Identifier: "), 0x80);
                                D_PrintHex<uint8_t > (l2capinbuf[9], 0x80);
#endif
                                if ((l2capinbuf[12] | (l2capinbuf[13] << 8)) == HID_CTRL_PSM) {
                                        identifier = l2capinbuf[9];
                                        control_scid[0] = l2capinbuf[14];
                                        control_scid[1] = l2capinbuf[15];
                                        l2cap_event_flag |= L2CAP_FLAG_CONNECTION_CONTROL_REQUEST;
                                } else if ((l2capinbuf[12] | (l2capinbuf[13] << 8)) == HID_INTR_PSM) {
                                        identifier = l2capinbuf[9];
                                        interrupt_scid[0] = l2capinbuf[14];
                                        interrupt_scid[1] = l2capinbuf[15];
                                        l2cap_event_flag |= L2CAP_FLAG_CONNECTION_INTERRUPT_REQUEST;
                                }
                        } else if (l2capinbuf[8] == L2CAP_CMD_CONFIG_RESPONSE) {
                                if ((l2capinbuf[16] | (l2capinbuf[17] << 8)) == 0x0000) { // Success
                                        if (l2capinbuf[12] == control_dcid[0] && l2capinbuf[13] == control_dcid[1]) {
                                                //Notify(PSTR("\r\nHID Control Configuration Complete"), 0x80);
                                                identifier = l2capinbuf[9];
                                                l2cap_event_flag |= L2CAP_FLAG_CONFIG_CONTROL_SUCCESS;
                                        } else if (l2capinbuf[12] == interrupt_dcid[0] && l2capinbuf[13] == interrupt_dcid[1]) {
                                                //Notify(PSTR("\r\nHID Interrupt Configuration Complete"), 0x80);
                                                identifier = l2capinbuf[9];
                                                l2cap_event_flag |= L2CAP_FLAG_CONFIG_INTERRUPT_SUCCESS;
                                        }
                                }
                        } else if (l2capinbuf[8] == L2CAP_CMD_CONFIG_REQUEST) {
                                if (l2capinbuf[12] == control_dcid[0] && l2capinbuf[13] == control_dcid[1]) {
                                        //Notify(PSTR("\r\nHID Control Configuration Request"), 0x80);
                                        pBtd->l2cap_config_response(hci_handle, l2capinbuf[9], control_scid);
                                } else if (l2capinbuf[12] == interrupt_dcid[0] && l2capinbuf[13] == interrupt_dcid[1]) {
                                        //Notify(PSTR("\r\nHID Interrupt Configuration Request"), 0x80);
                                        pBtd->l2cap_config_response(hci_handle, l2capinbuf[9], interrupt_scid);
                                }
                        } else if (l2capinbuf[8] == L2CAP_CMD_DISCONNECT_REQUEST) {
                                if (l2capinbuf[12] == control_dcid[0] && l2capinbuf[13] == control_dcid[1]) {
#ifdef DEBUG_USB_HOST
                                        Notify(PSTR("\r\nDisconnect Request: Control Channel"), 0x80);
#endif
                                        identifier = l2capinbuf[9];
                                        pBtd->l2cap_disconnection_response(hci_handle, identifier, control_dcid, control_scid);
                                        Reset();
                                } else if (l2capinbuf[12] == interrupt_dcid[0] && l2capinbuf[13] == interrupt_dcid[1]) {
#ifdef DEBUG_USB_HOST
                                        Notify(PSTR("\r\nDisconnect Request: Interrupt Channel"), 0x80);
#endif
                                        identifier = l2capinbuf[9];
                                        pBtd->l2cap_disconnection_response(hci_handle, identifier, interrupt_dcid, interrupt_scid);
                                        Reset();
                                }
                        } else if (l2capinbuf[8] == L2CAP_CMD_DISCONNECT_RESPONSE) {
                                if (l2capinbuf[12] == control_scid[0] && l2capinbuf[13] == control_scid[1]) {
                                        //Notify(PSTR("\r\nDisconnect Response: Control Channel"), 0x80);
                                        identifier = l2capinbuf[9];
                                        l2cap_event_flag |= L2CAP_FLAG_DISCONNECT_CONTROL_RESPONSE;
                                } else if (l2capinbuf[12] == interrupt_scid[0] && l2capinbuf[13] == interrupt_scid[1]) {
                                        //Notify(PSTR("\r\nDisconnect Response: Interrupt Channel"), 0x80);
                                        identifier = l2capinbuf[9];
                                        l2cap_event_flag |= L2CAP_FLAG_DISCONNECT_INTERRUPT_RESPONSE;
                                }
                        }
#ifdef EXTRADEBUG
                        else {
                                identifier = l2capinbuf[9];
                                Notify(PSTR("\r\nL2CAP Unknown Signaling Command: "), 0x80);
                                D_PrintHex<uint8_t > (l2capinbuf[8], 0x80);
                        }
#endif
                } else if (l2capinbuf[6] == interrupt_dcid[0] && l2capinbuf[7] == interrupt_dcid[1]) { // l2cap_interrupt
                        //Notify(PSTR("\r\nL2CAP Interrupt"), 0x80);
                        if (wiimoteConnected) {
                                if (l2capinbuf[8] == 0xA1) { // HID_THDR_DATA_INPUT
                                        if ((l2capinbuf[9] >= 0x20 && l2capinbuf[9] <= 0x22) || (l2capinbuf[9] >= 0x30 && l2capinbuf[9] <= 0x37) || l2capinbuf[9] == 0x3e || l2capinbuf[9] == 0x3f) { // These reports include the buttons
                                                if ((l2capinbuf[9] >= 0x20 && l2capinbuf[9] <= 0x22) || l2capinbuf[9] == 0x31 || l2capinbuf[9] == 0x33) // These reports have no extensions bytes
                                                        ButtonState = (uint32_t)((l2capinbuf[10] & 0x1F) | ((uint16_t)(l2capinbuf[11] & 0x9F) << 8));
                                                else if (wiiUProControllerConnected)
                                                        ButtonState = (uint32_t)(((~l2capinbuf[23]) & 0xFE) | ((uint16_t)(~l2capinbuf[24]) << 8) | ((uint32_t)((~l2capinbuf[25]) & 0x03) << 16));
                                                else if (motionPlusConnected) {
                                                        if (l2capinbuf[20] & 0x02) // Only update the wiimote buttons, since the extension bytes are from the Motion Plus
                                                                ButtonState = (uint32_t)((l2capinbuf[10] & 0x1F) | ((uint16_t)(l2capinbuf[11] & 0x9F) << 8) | ((uint32_t)(ButtonState & 0xFFFF0000)));
                                                        else if (nunchuckConnected) // Update if it's a report from the Nunchuck
                                                                ButtonState = (uint32_t)((l2capinbuf[10] & 0x1F) | ((uint16_t)(l2capinbuf[11] & 0x9F) << 8) | ((uint32_t)((~l2capinbuf[20]) & 0x0C) << 14));
                                                        //else if(classicControllerConnected) // Update if it's a report from the Classic Controller
                                                } else if (nunchuckConnected) // The Nunchuck is directly connected
                                                        ButtonState = (uint32_t)((l2capinbuf[10] & 0x1F) | ((uint16_t)(l2capinbuf[11] & 0x9F) << 8) | ((uint32_t)((~l2capinbuf[20]) & 0x03) << 16));
                                                        //else if(classicControllerConnected) // The Classic Controller is directly connected
                                                else if (!unknownExtensionConnected)
                                                        ButtonState = (uint32_t)((l2capinbuf[10] & 0x1F) | ((uint16_t)(l2capinbuf[11] & 0x9F) << 8));
#ifdef PRINTREPORT
                                                Notify(PSTR("ButtonState: "), 0x80);
                                                D_PrintHex<uint32_t > (ButtonState, 0x80);
                                                Notify(PSTR("\r\n"), 0x80);
#endif
                                                if (ButtonState != OldButtonState) {
                                                        ButtonClickState = ButtonState & ~OldButtonState; // Update click state variable
                                                        OldButtonState = ButtonState;
                                                }
                                        }
                                        if (l2capinbuf[9] == 0x31 || l2capinbuf[9] == 0x33 || l2capinbuf[9] == 0x35 || l2capinbuf[9] == 0x37) { // Read the accelerometer
                                                accX = ((l2capinbuf[12] << 2) | (l2capinbuf[10] & 0x60 >> 5)) - 500;
                                                accY = ((l2capinbuf[13] << 2) | (l2capinbuf[11] & 0x20 >> 4)) - 500;
                                                accZ = ((l2capinbuf[14] << 2) | (l2capinbuf[11] & 0x40 >> 5)) - 500;
                                                wiimotePitch = (atan2(accY, accZ) + PI) * RAD_TO_DEG;
                                                wiimoteRoll = (atan2(accX, accZ) + PI) * RAD_TO_DEG;
                                        }
                                        switch (l2capinbuf[9]) {
                                                case 0x20: // Status Information - (a1) 20 BB BB LF 00 00 VV
                                                        wiiState = l2capinbuf[12]; // (0x01: Battery is nearly empty), (0x02:  An Extension Controller is connected), (0x04: Speaker enabled), (0x08: IR enabled), (0x10: LED1, 0x20: LED2, 0x40: LED3, 0x80: LED4)
                                                        batteryLevel = l2capinbuf[15]; // Update battery level
                                                        if (l2capinbuf[12] & 0x01) {
#ifdef DEBUG_USB_HOST
                                                                Notify(PSTR("\r\nWARNING: Battery is nearly empty"), 0x80);
#endif
                                                        }
                                                        if (l2capinbuf[12] & 0x02) { // Check if a extension is connected
#ifdef DEBUG_USB_HOST
                                                                if (!unknownExtensionConnected)
                                                                        Notify(PSTR("\r\nExtension connected"), 0x80);
#endif
                                                                unknownExtensionConnected = true;
#ifdef WIICAMERA
                                                                if (!isIRCameraEnabled()) // Don't activate the Motion Plus if we are trying to initialize the IR camera
#endif
                                                                        setReportMode(false, 0x35); // Also read the extension
                                                        } else {
#ifdef DEBUG_USB_HOST
                                                                Notify(PSTR("\r\nExtension disconnected"), 0x80);
#endif
                                                                if (motionPlusConnected) {
#ifdef DEBUG_USB_HOST
                                                                        Notify(PSTR(" - from Motion Plus"), 0x80);
#endif
                                                                        l2cap_event_flag &= ~WII_FLAG_NUNCHUCK_CONNECTED;
                                                                        if (!activateNunchuck) // If it's already trying to initialize the Nunchuck don't set it to false
                                                                                nunchuckConnected = false;
                                                                        //else if(classicControllerConnected)
                                                                } else if (nunchuckConnected) {
#ifdef DEBUG_USB_HOST
                                                                        Notify(PSTR(" - Nunchuck"), 0x80);
#endif
                                                                        nunchuckConnected = false; // It must be the Nunchuck controller then
                                                                        l2cap_event_flag &= ~WII_FLAG_NUNCHUCK_CONNECTED;
                                                                        onInit();
                                                                        setReportMode(false, 0x31); // If there is no extension connected we will read the button and accelerometer
                                                                } else {
                                                                        setReportMode(false, 0x31); // If there is no extension connected we will read the button and accelerometer
                                                                }
                                                        }
                                                        break;
                                                case 0x21: // Read Memory Data
                                                        if ((l2capinbuf[12] & 0x0F) == 0) { // No error
                                                                // See: http://wiibrew.org/wiki/Wiimote/Extension_Controllers
                                                                if (l2capinbuf[16] == 0x00 && l2capinbuf[17] == 0xA4 && l2capinbuf[18] == 0x20 && l2capinbuf[19] == 0x00 && l2capinbuf[20] == 0x00) {
#ifdef DEBUG_USB_HOST
                                                                        Notify(PSTR("\r\nNunchuck connected"), 0x80);
#endif
                                                                        l2cap_event_flag |= WII_FLAG_NUNCHUCK_CONNECTED;
                                                                } else if (l2capinbuf[16] == 0x00 && (l2capinbuf[17] == 0xA6 || l2capinbuf[17] == 0xA4) && l2capinbuf[18] == 0x20 && l2capinbuf[19] == 0x00 && l2capinbuf[20] == 0x05) {
#ifdef DEBUG_USB_HOST
                                                                        Notify(PSTR("\r\nMotion Plus connected"), 0x80);
#endif
                                                                        l2cap_event_flag |= WII_FLAG_MOTION_PLUS_CONNECTED;
                                                                } else if (l2capinbuf[16] == 0x00 && l2capinbuf[17] == 0xA4 && l2capinbuf[18] == 0x20 && l2capinbuf[19] == 0x04 && l2capinbuf[20] == 0x05) {
#ifdef DEBUG_USB_HOST
                                                                        Notify(PSTR("\r\nMotion Plus activated in normal mode"), 0x80);
#endif
                                                                        motionPlusConnected = true;
                                                                } else if (l2capinbuf[16] == 0x00 && l2capinbuf[17] == 0xA4 && l2capinbuf[18] == 0x20 && l2capinbuf[19] == 0x05 && l2capinbuf[20] == 0x05) {
#ifdef DEBUG_USB_HOST
                                                                        Notify(PSTR("\r\nMotion Plus activated in Nunchuck pass-through mode"), 0x80);
#endif
                                                                        activateNunchuck = false;
                                                                        motionPlusConnected = true;
                                                                        nunchuckConnected = true;
                                                                } else if (l2capinbuf[16] == 0x00 && l2capinbuf[17] == 0xA6 && l2capinbuf[18] == 0x20 && (l2capinbuf[19] == 0x00 || l2capinbuf[19] == 0x04 || l2capinbuf[19] == 0x05 || l2capinbuf[19] == 0x07) && l2capinbuf[20] == 0x05) {
#ifdef DEBUG_USB_HOST
                                                                        Notify(PSTR("\r\nInactive Wii Motion Plus"), 0x80);
                                                                        Notify(PSTR("\r\nPlease unplug the Motion Plus, disconnect the Wiimote and then replug the Motion Plus Extension"), 0x80);
#endif
                                                                        stateCounter = 300; // Skip the rest in "L2CAP_CHECK_MOTION_PLUS_STATE"
                                                                } else if (l2capinbuf[16] == 0x00 && l2capinbuf[17] == 0xA4 && l2capinbuf[18] == 0x20 && l2capinbuf[19] == 0x01 && l2capinbuf[20] == 0x20) {
#ifdef DEBUG_USB_HOST
                                                                        Notify(PSTR("\r\nWii U Pro Controller connected"), 0x80);
#endif
                                                                        wiiUProControllerConnected = true;
                                                                }
#ifdef DEBUG_USB_HOST
                                                                else {
                                                                        Notify(PSTR("\r\nUnknown Device: "), 0x80);
                                                                        D_PrintHex<uint8_t > (l2capinbuf[13], 0x80);
                                                                        D_PrintHex<uint8_t > (l2capinbuf[14], 0x80);
                                                                        Notify(PSTR("\r\nData: "), 0x80);
                                                                        for (uint8_t i = 0; i < ((l2capinbuf[12] >> 4) + 1); i++) { // bit 4-7 is the length-1
                                                                                D_PrintHex<uint8_t > (l2capinbuf[15 + i], 0x80);
                                                                                Notify(PSTR(" "), 0x80);
                                                                        }
                                                                }
#endif
                                                        }
#ifdef EXTRADEBUG
                                                        else {
                                                                Notify(PSTR("\r\nReport Error: "), 0x80);
                                                                D_PrintHex<uint8_t > (l2capinbuf[13], 0x80);
                                                                D_PrintHex<uint8_t > (l2capinbuf[14], 0x80);
                                                        }
#endif
                                                        break;
                                                case 0x22: // Acknowledge output report, return function result
#ifdef DEBUG_USB_HOST
                                                        if (l2capinbuf[13] != 0x00) { // Check if there is an error
                                                                Notify(PSTR("\r\nCommand failed: "), 0x80);
                                                                D_PrintHex<uint8_t > (l2capinbuf[12], 0x80);
                                                        }
#endif
                                                        break;
                                                case 0x30: // Core buttons - (a1) 30 BB BB
                                                        break;
                                                case 0x31: // Core Buttons and Accelerometer - (a1) 31 BB BB AA AA AA
                                                        pitch = wiimotePitch; // The pitch is just equal to the angle calculated from the wiimote as there is no Motion Plus connected
                                                        roll = wiimoteRoll;
                                                        break;
                                                case 0x32: // Core Buttons with 8 Extension bytes - (a1) 32 BB BB EE EE EE EE EE EE EE EE
                                                        break;
                                                case 0x33: // Core Buttons with Accelerometer and 12 IR bytes - (a1) 33 BB BB AA AA AA II II II II II II II II II II II II
                                                        pitch = wiimotePitch; // The pitch is just equal to the angle calculated from the wiimote as there is no Motion Plus data available
                                                        roll = wiimoteRoll;
#ifdef WIICAMERA
                                                        // Read the IR data
                                                        IR_object_x1 = (l2capinbuf[15] | ((uint16_t)(l2capinbuf[17] & 0x30) << 4)); // x position
                                                        IR_object_y1 = (l2capinbuf[16] | ((uint16_t)(l2capinbuf[17] & 0xC0) << 2)); // y position
                                                        IR_object_s1 = (l2capinbuf[17] & 0x0F); // size value, 0-15

                                                        IR_object_x2 = (l2capinbuf[18] | ((uint16_t)(l2capinbuf[20] & 0x30) << 4));
                                                        IR_object_y2 = (l2capinbuf[19] | ((uint16_t)(l2capinbuf[20] & 0xC0) << 2));
                                                        IR_object_s2 = (l2capinbuf[20] & 0x0F);

                                                        IR_object_x3 = (l2capinbuf[21] | ((uint16_t)(l2capinbuf[23] & 0x30) << 4));
                                                        IR_object_y3 = (l2capinbuf[22] | ((uint16_t)(l2capinbuf[23] & 0xC0) << 2));
                                                        IR_object_s3 = (l2capinbuf[23] & 0x0F);

                                                        IR_object_x4 = (l2capinbuf[24] | ((uint16_t)(l2capinbuf[26] & 0x30) << 4));
                                                        IR_object_y4 = (l2capinbuf[25] | ((uint16_t)(l2capinbuf[26] & 0xC0) << 2));
                                                        IR_object_s4 = (l2capinbuf[26] & 0x0F);
#endif
                                                        break;
                                                case 0x34: // Core Buttons with 19 Extension bytes - (a1) 34 BB BB EE EE EE EE EE EE EE EE EE EE EE EE EE EE EE EE EE EE EE
                                                        break;
                                                        /* 0x3e and 0x3f both give unknown report types when report mode is 0x3e or 0x3f with mode number 0x05 */
                                                case 0x3E: // Core Buttons with Accelerometer and 32 IR bytes
                                                        // (a1) 31 BB BB AA AA AA II II II II II II II II II II II II II II II II II II II II II II II II II II II II II II II II
                                                        // corresponds to output report mode 0x3e

                                                        /**** for reading in full mode: DOES NOT WORK YET ****/
                                                        /* When it works it will also have intensity and bounding box data */
                                                        /*
                                                        IR_object_x1 = (l2capinbuf[13] | ((uint16_t)(l2capinbuf[15] & 0x30) << 4));
                                                        IR_object_y1 = (l2capinbuf[14] | ((uint16_t)(l2capinbuf[15] & 0xC0) << 2));
                                                        IR_object_s1 = (l2capinbuf[15] & 0x0F);
                                                         */
                                                        break;
                                                case 0x3F:
                                                        /*
                                                        IR_object_x1 = (l2capinbuf[13] | ((uint16_t)(l2capinbuf[15] & 0x30) << 4));
                                                        IR_object_y1 = (l2capinbuf[14] | ((uint16_t)(l2capinbuf[15] & 0xC0) << 2));
                                                        IR_object_s1 = (l2capinbuf[15] & 0x0F);
                                                         */
                                                        break;
                                                case 0x35: // Core Buttons and Accelerometer with 16 Extension Bytes
                                                        // (a1) 35 BB BB AA AA AA EE EE EE EE EE EE EE EE EE EE EE EE EE EE EE EE
                                                        if (motionPlusConnected) {
                                                                if (l2capinbuf[20] & 0x02) { // Check if it's a report from the Motion controller or the extension
                                                                        if (motionValuesReset) { // We will only use the values when the gyro value has been set
                                                                                gyroYawRaw = ((l2capinbuf[15] | ((l2capinbuf[18] & 0xFC) << 6)) - gyroYawZero);
                                                                                gyroRollRaw = ((l2capinbuf[16] | ((l2capinbuf[19] & 0xFC) << 6)) - gyroRollZero);
                                                                                gyroPitchRaw = ((l2capinbuf[17] | ((l2capinbuf[20] & 0xFC) << 6)) - gyroPitchZero);

                                                                                yawGyroSpeed = (double)gyroYawRaw / ((double)gyroYawZero / yawGyroScale);
                                                                                rollGyroSpeed = -(double)gyroRollRaw / ((double)gyroRollZero / rollGyroScale); // We invert these values so they will fit the acc values
                                                                                pitchGyroSpeed = (double)gyroPitchRaw / ((double)gyroPitchZero / pitchGyroScale);

                                                                                /* The onboard gyro has two ranges for slow and fast mode */
                                                                                if (!(l2capinbuf[18] & 0x02)) // Check if fast more is used
                                                                                        yawGyroSpeed *= 4.545;
                                                                                if (!(l2capinbuf[18] & 0x01)) // Check if fast more is used
                                                                                        pitchGyroSpeed *= 4.545;
                                                                                if (!(l2capinbuf[19] & 0x02)) // Check if fast more is used
                                                                                        rollGyroSpeed *= 4.545;

                                                                                pitch = (0.93 * (pitch + (pitchGyroSpeed * (double)(micros() - timer) / 1000000)))+(0.07 * wiimotePitch); // Use a complimentary filter to calculate the angle
                                                                                roll = (0.93 * (roll + (rollGyroSpeed * (double)(micros() - timer) / 1000000)))+(0.07 * wiimoteRoll);

                                                                                gyroYaw += (yawGyroSpeed * ((double)(micros() - timer) / 1000000));
                                                                                gyroRoll += (rollGyroSpeed * ((double)(micros() - timer) / 1000000));
                                                                                gyroPitch += (pitchGyroSpeed * ((double)(micros() - timer) / 1000000));
                                                                                timer = micros();
                                                                                /*
                                                                                // Uncomment these lines to tune the gyro scale variabels
                                                                                Notify(PSTR("\r\ngyroYaw: "), 0x80);
                                                                                Notify(gyroYaw, 0x80);
                                                                                Notify(PSTR("\tgyroRoll: "), 0x80);
                                                                                Notify(gyroRoll, 0x80);
                                                                                Notify(PSTR("\tgyroPitch: "), 0x80);
                                                                                Notify(gyroPitch, 0x80);
                                                                                */
                                                                                /*
                                                                                Notify(PSTR("\twiimoteRoll: "), 0x80);
                                                                                Notify(wiimoteRoll, 0x80);
                                                                                Notify(PSTR("\twiimotePitch: "), 0x80);
                                                                                Notify(wiimotePitch, 0x80);
                                                                                */
                                                                        } else {
                                                                                if ((micros() - timer) > 1000000) { // Loop for 1 sec before resetting the values
#ifdef DEBUG_USB_HOST
                                                                                        Notify(PSTR("\r\nThe gyro values has been reset"), 0x80);
#endif
                                                                                        gyroYawZero = (l2capinbuf[15] | ((l2capinbuf[18] & 0xFC) << 6));
                                                                                        gyroRollZero = (l2capinbuf[16] | ((l2capinbuf[19] & 0xFC) << 6));
                                                                                        gyroPitchZero = (l2capinbuf[17] | ((l2capinbuf[20] & 0xFC) << 6));

                                                                                        rollGyroScale = 500; // You might need to adjust these
                                                                                        pitchGyroScale = 400;
                                                                                        yawGyroScale = 415;

                                                                                        gyroYaw = 0;
                                                                                        gyroRoll = 0;
                                                                                        gyroPitch = 0;

                                                                                        motionValuesReset = true;
                                                                                        timer = micros();
                                                                                }
                                                                        }
                                                                } else {
                                                                        if (nunchuckConnected) {
                                                                                hatValues[HatX] = l2capinbuf[15];
                                                                                hatValues[HatY] = l2capinbuf[16];
                                                                                accX = ((l2capinbuf[17] << 2) | (l2capinbuf[20] & 0x10 >> 3)) - 416;
                                                                                accY = ((l2capinbuf[18] << 2) | (l2capinbuf[20] & 0x20 >> 4)) - 416;
                                                                                accZ = (((l2capinbuf[19] & 0xFE) << 2) | (l2capinbuf[20] & 0xC0 >> 5)) - 416;
                                                                                nunchuckPitch = (atan2(accY, accZ) + PI) * RAD_TO_DEG;
                                                                                nunchuckRoll = (atan2(accX, accZ) + PI) * RAD_TO_DEG;
                                                                        }
                                                                        //else if(classicControllerConnected) { }
                                                                }
                                                                if (l2capinbuf[19] & 0x01) {
                                                                        if (!extensionConnected) {
                                                                                extensionConnected = true;
                                                                                unknownExtensionConnected = true;
#ifdef DEBUG_USB_HOST
                                                                                Notify(PSTR("\r\nExtension connected to Motion Plus"), 0x80);
#endif
                                                                        }
                                                                } else {
                                                                        if (extensionConnected && !unknownExtensionConnected) {
                                                                                extensionConnected = false;
                                                                                unknownExtensionConnected = true;
#ifdef DEBUG_USB_HOST
                                                                                Notify(PSTR("\r\nExtension disconnected from Motion Plus"), 0x80);
#endif
                                                                                nunchuckConnected = false; // There is no extension connected to the Motion Plus if this report is sent
                                                                        }
                                                                }

                                                        } else if (nunchuckConnected) {
                                                                hatValues[HatX] = l2capinbuf[15];
                                                                hatValues[HatY] = l2capinbuf[16];
                                                                accX = ((l2capinbuf[17] << 2) | (l2capinbuf[20] & 0x0C >> 2)) - 416;
                                                                accY = ((l2capinbuf[18] << 2) | (l2capinbuf[20] & 0x30 >> 4)) - 416;
                                                                accZ = ((l2capinbuf[19] << 2) | (l2capinbuf[20] & 0xC0 >> 6)) - 416;
                                                                nunchuckPitch = (atan2(accY, accZ) + PI) * RAD_TO_DEG;
                                                                nunchuckRoll = (atan2(accX, accZ) + PI) * RAD_TO_DEG;

                                                                pitch = wiimotePitch; // The pitch is just equal to the angle calculated from the wiimote as there is no Motion Plus connected
                                                                roll = wiimoteRoll;
                                                        } else if (wiiUProControllerConnected) {
                                                                hatValues[LeftHatX] = (l2capinbuf[15] | l2capinbuf[16] << 8);
                                                                hatValues[RightHatX] = (l2capinbuf[17] | l2capinbuf[18] << 8);
                                                                hatValues[LeftHatY] = (l2capinbuf[19] | l2capinbuf[20] << 8);
                                                                hatValues[RightHatY] = (l2capinbuf[21] | l2capinbuf[22] << 8);
                                                        }
                                                        break;
#ifdef DEBUG_USB_HOST
                                                default:
                                                        Notify(PSTR("\r\nUnknown Report type: "), 0x80);
                                                        D_PrintHex<uint8_t > (l2capinbuf[9], 0x80);
                                                        break;
#endif
                                        }
                                }
                        }
                }
                L2CAP_task();
        }
}

void WII::L2CAP_task() {
        switch (l2cap_state) {
                        /* These states are used if the Wiimote is the host */
                case L2CAP_CONTROL_SUCCESS:
                        if (l2cap_config_success_control_flag) {
#ifdef DEBUG_USB_HOST
                                Notify(PSTR("\r\nHID Control Successfully Configured"), 0x80);
#endif
                                l2cap_state = L2CAP_INTERRUPT_SETUP;
                        }
                        break;

                case L2CAP_INTERRUPT_SETUP:
                        if (l2cap_connection_request_interrupt_flag) {
#ifdef DEBUG_USB_HOST
                                Notify(PSTR("\r\nHID Interrupt Incoming Connection Request"), 0x80);
#endif
                                pBtd->l2cap_connection_response(hci_handle, identifier, interrupt_dcid, interrupt_scid, PENDING);
                                delay(1);
                                pBtd->l2cap_connection_response(hci_handle, identifier, interrupt_dcid, interrupt_scid, SUCCESSFUL);
                                identifier++;
                                delay(1);
                                pBtd->l2cap_config_request(hci_handle, identifier, interrupt_scid);

                                l2cap_state = L2CAP_INTERRUPT_CONFIG_REQUEST;
                        }
                        break;

                        /* These states are used if the Arduino is the host */
                case L2CAP_CONTROL_CONNECT_REQUEST:
                        if (l2cap_connected_control_flag) {
#ifdef DEBUG_USB_HOST
                                Notify(PSTR("\r\nSend HID Control Config Request"), 0x80);
#endif
                                identifier++;
                                pBtd->l2cap_config_request(hci_handle, identifier, control_scid);
                                l2cap_state = L2CAP_CONTROL_CONFIG_REQUEST;
                        }
                        break;

                case L2CAP_CONTROL_CONFIG_REQUEST:
                        if (l2cap_config_success_control_flag) {
#ifdef DEBUG_USB_HOST
                                Notify(PSTR("\r\nSend HID Interrupt Connection Request"), 0x80);
#endif
                                identifier++;
                                pBtd->l2cap_connection_request(hci_handle, identifier, interrupt_dcid, HID_INTR_PSM);
                                l2cap_state = L2CAP_INTERRUPT_CONNECT_REQUEST;
                        }
                        break;

                case L2CAP_INTERRUPT_CONNECT_REQUEST:
                        if (l2cap_connected_interrupt_flag) {
#ifdef DEBUG_USB_HOST
                                Notify(PSTR("\r\nSend HID Interrupt Config Request"), 0x80);
#endif
                                identifier++;
                                pBtd->l2cap_config_request(hci_handle, identifier, interrupt_scid);
                                l2cap_state = L2CAP_INTERRUPT_CONFIG_REQUEST;
                        }
                        break;

                case L2CAP_INTERRUPT_CONFIG_REQUEST:
                        if (l2cap_config_success_interrupt_flag) { // Now the HID channels is established
#ifdef DEBUG_USB_HOST
                                Notify(PSTR("\r\nHID Channels Established"), 0x80);
#endif
                                pBtd->connectToWii = false;
                                pBtd->pairWithWii = false;
                                wiimoteConnected = true;
                                stateCounter = 0;
                                l2cap_state = L2CAP_CHECK_MOTION_PLUS_STATE;
                        }
                        break;

                        /* The next states are in run() */

                case L2CAP_INTERRUPT_DISCONNECT:
                        if (l2cap_disconnect_response_interrupt_flag) {
#ifdef DEBUG_USB_HOST
                                Notify(PSTR("\r\nDisconnected Interrupt Channel"), 0x80);
#endif
                                identifier++;
                                pBtd->l2cap_disconnection_request(hci_handle, identifier, control_scid, control_dcid);
                                l2cap_state = L2CAP_CONTROL_DISCONNECT;
                        }
                        break;

                case L2CAP_CONTROL_DISCONNECT:
                        if (l2cap_disconnect_response_control_flag) {
#ifdef DEBUG_USB_HOST
                                Notify(PSTR("\r\nDisconnected Control Channel"), 0x80);
#endif
                                pBtd->hci_disconnect(hci_handle);
                                hci_handle = -1; // Reset handle
                                l2cap_event_flag = 0; // Reset flags
                                l2cap_state = L2CAP_WAIT;
                        }
                        break;
        }
}

void WII::Run() {
        switch (l2cap_state) {
                case L2CAP_WAIT:
                        if (pBtd->connectToWii && !pBtd->l2capConnectionClaimed && !wiimoteConnected && !activeConnection) {
                                pBtd->l2capConnectionClaimed = true;
                                activeConnection = true;
#ifdef DEBUG_USB_HOST
                                Notify(PSTR("\r\nSend HID Control Connection Request"), 0x80);
#endif
                                hci_handle = pBtd->hci_handle; // Store the HCI Handle for the connection
                                l2cap_event_flag = 0; // Reset flags
                                identifier = 0;
                                pBtd->l2cap_connection_request(hci_handle, identifier, control_dcid, HID_CTRL_PSM);
                                l2cap_state = L2CAP_CONTROL_CONNECT_REQUEST;
                        } else if (l2cap_connection_request_control_flag) {
#ifdef DEBUG_USB_HOST
                                Notify(PSTR("\r\nHID Control Incoming Connection Request"), 0x80);
#endif
                                pBtd->l2cap_connection_response(hci_handle, identifier, control_dcid, control_scid, PENDING);
                                delay(1);
                                pBtd->l2cap_connection_response(hci_handle, identifier, control_dcid, control_scid, SUCCESSFUL);
                                identifier++;
                                delay(1);
                                pBtd->l2cap_config_request(hci_handle, identifier, control_scid);
                                l2cap_state = L2CAP_CONTROL_SUCCESS;
                        }
                        break;

                case L2CAP_CHECK_MOTION_PLUS_STATE:
#ifdef DEBUG_USB_HOST
                        if (stateCounter == 0) // Only print onnce
                                Notify(PSTR("\r\nChecking if a Motion Plus is connected"), 0x80);
#endif
                        stateCounter++;
                        if (stateCounter % 200 == 0)
                                checkMotionPresent(); // Check if there is a motion plus connected
                        if (motion_plus_connected_flag) {
                                stateCounter = 0;
                                l2cap_state = L2CAP_INIT_MOTION_PLUS_STATE;
                                timer = micros();

                                if (unknownExtensionConnected) {
#ifdef DEBUG_USB_HOST
                                        Notify(PSTR("\r\nA extension is also connected"), 0x80);
#endif
                                        activateNunchuck = true; // For we will just set this to true as this the only extension supported so far
                                }

                        } else if (stateCounter == 601) { // We will try three times to check for the motion plus
#ifdef DEBUG_USB_HOST
                                Notify(PSTR("\r\nNo Motion Plus was detected"), 0x80);
#endif
                                stateCounter = 0;
                                l2cap_state = L2CAP_CHECK_EXTENSION_STATE;
                        }
                        break;

                case L2CAP_CHECK_EXTENSION_STATE: // This is used to check if there is anything plugged in to the extension port
#ifdef DEBUG_USB_HOST
                        if (stateCounter == 0) // Only print onnce
                                Notify(PSTR("\r\nChecking if there is any extension connected"), 0x80);
#endif
                        stateCounter++; // We use this counter as there has to be a short delay between the commands
                        if (stateCounter == 1)
                                statusRequest(); // See if a new device has connected
                        if (stateCounter == 100) {
                                if (unknownExtensionConnected) // Check if there is a extension is connected to the port
                                        initExtension1();
                                else
                                        stateCounter = 399;
                        } else if (stateCounter == 200)
                                initExtension2();
                        else if (stateCounter == 300) {
                                readExtensionType();
                                unknownExtensionConnected = false;
                        } else if (stateCounter == 400) {
                                stateCounter = 0;
                                l2cap_state = L2CAP_LED_STATE;
                        }
                        break;

                case L2CAP_INIT_MOTION_PLUS_STATE:
                        stateCounter++;
                        if (stateCounter == 1)
                                initMotionPlus();
                        else if (stateCounter == 100)
                                activateMotionPlus();
                        else if (stateCounter == 200)
                                readExtensionType(); // Check if it has been activated
                        else if (stateCounter == 300) {
                                stateCounter = 0;
                                unknownExtensionConnected = false; // The motion plus will send a status report when it's activated, we will set this to false so it doesn't reinitialize the Motion Plus
                                l2cap_state = L2CAP_LED_STATE;
                        }
                        break;

                case L2CAP_LED_STATE:
                        if (nunchuck_connected_flag)
                                nunchuckConnected = true;
                        onInit();
                        l2cap_state = L2CAP_DONE;
                        break;

                case L2CAP_DONE:
                        if (unknownExtensionConnected) {
#ifdef DEBUG_USB_HOST
                                if (stateCounter == 0) // Only print once
                                        Notify(PSTR("\r\nChecking extension port"), 0x80);
#endif
                                stateCounter++; // We will use this counter as there has to be a short delay between the commands
                                if (stateCounter == 50)
                                        statusRequest();
                                else if (stateCounter == 100)
                                        initExtension1();
                                else if (stateCounter == 150)
                                        if ((extensionConnected && motionPlusConnected) || (unknownExtensionConnected && !motionPlusConnected))
                                                initExtension2();
                                        else
                                                stateCounter = 299; // There is no extension connected
                                else if (stateCounter == 200)
                                        readExtensionType();
                                else if (stateCounter == 250) {
                                        if (nunchuck_connected_flag) {
#ifdef DEBUG_USB_HOST
                                                Notify(PSTR("\r\nNunchuck was reconnected"), 0x80);
#endif
                                                activateNunchuck = true;
                                                nunchuckConnected = true;
                                        }
                                        if (!motionPlusConnected)
                                                stateCounter = 449;
                                } else if (stateCounter == 300) {
                                        if (motionPlusConnected) {
#ifdef DEBUG_USB_HOST
                                                Notify(PSTR("\r\nReactivating the Motion Plus"), 0x80);
#endif
                                                initMotionPlus();
                                        } else
                                                stateCounter = 449;
                                } else if (stateCounter == 350)
                                        activateMotionPlus();
                                else if (stateCounter == 400)
                                        readExtensionType(); // Check if it has been activated
                                else if (stateCounter == 450) {
                                        onInit();
                                        stateCounter = 0;
                                        unknownExtensionConnected = false;
                                }
                        } else
                                stateCounter = 0;
                        break;
        }
}

/************************************************************/
/*                    HID Commands                          */

/************************************************************/
void WII::HID_Command(uint8_t* data, uint8_t nbytes) {
        if (pBtd->motionPlusInside)
                pBtd->L2CAP_Command(hci_handle, data, nbytes, interrupt_scid[0], interrupt_scid[1]); // It's the new wiimote with the Motion Plus Inside
        else
                pBtd->L2CAP_Command(hci_handle, data, nbytes, control_scid[0], control_scid[1]);
}

void WII::setAllOff() {
        HIDBuffer[1] = 0x11;
        HIDBuffer[2] = 0x00;
        HID_Command(HIDBuffer, 3);
}

void WII::setRumbleOff() {
        HIDBuffer[1] = 0x11;
        HIDBuffer[2] &= ~0x01; // Bit 0 control the rumble
        HID_Command(HIDBuffer, 3);
}

void WII::setRumbleOn() {
        HIDBuffer[1] = 0x11;
        HIDBuffer[2] |= 0x01; // Bit 0 control the rumble
        HID_Command(HIDBuffer, 3);
}

void WII::setRumbleToggle() {
        HIDBuffer[1] = 0x11;
        HIDBuffer[2] ^= 0x01; // Bit 0 control the rumble
        HID_Command(HIDBuffer, 3);
}

void WII::setLedRaw(uint8_t value) {
        HIDBuffer[1] = 0x11;
        HIDBuffer[2] = value | (HIDBuffer[2] & 0x01); // Keep the rumble bit
        HID_Command(HIDBuffer, 3);
}
void WII::setLedOff(LED a) {
        HIDBuffer[1] = 0x11;
        HIDBuffer[2] &= ~(pgm_read_byte(&LEDS[(uint8_t)a]));
        HID_Command(HIDBuffer, 3);
}

void WII::setLedOn(LED a) {
        HIDBuffer[1] = 0x11;
        HIDBuffer[2] |= pgm_read_byte(&LEDS[(uint8_t)a]);
        HID_Command(HIDBuffer, 3);
}

void WII::setLedToggle(LED a) {
        HIDBuffer[1] = 0x11;
        HIDBuffer[2] ^= pgm_read_byte(&LEDS[(uint8_t)a]);
        HID_Command(HIDBuffer, 3);
}

void WII::setLedStatus() {
        HIDBuffer[1] = 0x11;
        HIDBuffer[2] = (HIDBuffer[2] & 0x01); // Keep the rumble bit
        if (wiimoteConnected)
                HIDBuffer[2] |= 0x10; // If it's connected LED1 will light up
        if (motionPlusConnected)
                HIDBuffer[2] |= 0x20; // If it's connected LED2 will light up
        if (nunchuckConnected)
                HIDBuffer[2] |= 0x40; // If it's connected LED3 will light up

        HID_Command(HIDBuffer, 3);
}

void WII::setReportMode(bool continuous, uint8_t mode) {
        uint8_t cmd_buf[4];
        cmd_buf[0] = 0xA2; // HID BT DATA_request (0xA0) | Report Type (Output 0x02)
        cmd_buf[1] = 0x12;
        if (continuous)
                cmd_buf[2] = 0x04 | (HIDBuffer[2] & 0x01); // Keep the rumble bit
        else
                cmd_buf[2] = 0x00 | (HIDBuffer[2] & 0x01); // Keep the rumble bit
        cmd_buf[3] = mode;
        HID_Command(cmd_buf, 4);
}

void WII::statusRequest() {
        uint8_t cmd_buf[3];
        cmd_buf[0] = 0xA2; // HID BT DATA_request (0xA0) | Report Type (Output 0x02)
        cmd_buf[1] = 0x15;
        cmd_buf[2] = (HIDBuffer[2] & 0x01); // Keep the rumble bit
        HID_Command(cmd_buf, 3);
}

/************************************************************/
/*                    Memmory Commands                      */

/************************************************************/
void WII::writeData(uint32_t offset, uint8_t size, uint8_t* data) {
        uint8_t cmd_buf[23];
        cmd_buf[0] = 0xA2; // HID BT DATA_request (0xA0) | Report Type (Output 0x02)
        cmd_buf[1] = 0x16; // Write data
        cmd_buf[2] = 0x04 | (HIDBuffer[2] & 0x01); // Write to memory, clear bit 2 to write to EEPROM
        cmd_buf[3] = (uint8_t)((offset & 0xFF0000) >> 16);
        cmd_buf[4] = (uint8_t)((offset & 0xFF00) >> 8);
        cmd_buf[5] = (uint8_t)(offset & 0xFF);
        cmd_buf[6] = size;
        uint8_t i = 0;
        for (; i < size; i++)
                cmd_buf[7 + i] = data[i];
        for (; i < 16; i++) // Set the rest to zero
                cmd_buf[7 + i] = 0x00;
        HID_Command(cmd_buf, 23);
}

void WII::initExtension1() {
        uint8_t buf[1];
        buf[0] = 0x55;
        writeData(0xA400F0, 1, buf);
}

void WII::initExtension2() {
        uint8_t buf[1];
        buf[0] = 0x00;
        writeData(0xA400FB, 1, buf);
}

void WII::initMotionPlus() {
        uint8_t buf[1];
        buf[0] = 0x55;
        writeData(0xA600F0, 1, buf);
}

void WII::activateMotionPlus() {
        uint8_t buf[1];
        if (pBtd->wiiUProController) {
#ifdef DEBUG_USB_HOST
                Notify(PSTR("\r\nActivating Wii U Pro Controller"), 0x80);
#endif
                buf[0] = 0x00; // It seems like you can send anything but 0x04, 0x05, and 0x07
        } else if (activateNunchuck) {
#ifdef DEBUG_USB_HOST
                Notify(PSTR("\r\nActivating Motion Plus in pass-through mode"), 0x80);
#endif
                buf[0] = 0x05; // Activate nunchuck pass-through mode
        }                //else if(classicControllerConnected && extensionConnected)
                //buf[0] = 0x07;
        else {
#ifdef DEBUG_USB_HOST
                Notify(PSTR("\r\nActivating Motion Plus in normal mode"), 0x80);
#endif
                buf[0] = 0x04; // Don't use any extension
        }
        writeData(0xA600FE, 1, buf);
}

void WII::readData(uint32_t offset, uint16_t size, bool EEPROM) {
        uint8_t cmd_buf[8];
        cmd_buf[0] = 0xA2; // HID BT DATA_request (0xA0) | Report Type (Output 0x02)
        cmd_buf[1] = 0x17; // Read data
        if (EEPROM)
                cmd_buf[2] = 0x00 | (HIDBuffer[2] & 0x01); // Read from EEPROM
        else
                cmd_buf[2] = 0x04 | (HIDBuffer[2] & 0x01); // Read from memory
        cmd_buf[3] = (uint8_t)((offset & 0xFF0000) >> 16);
        cmd_buf[4] = (uint8_t)((offset & 0xFF00) >> 8);
        cmd_buf[5] = (uint8_t)(offset & 0xFF);
        cmd_buf[6] = (uint8_t)((size & 0xFF00) >> 8);
        cmd_buf[7] = (uint8_t)(size & 0xFF);

        HID_Command(cmd_buf, 8);
}

void WII::readExtensionType() {
        readData(0xA400FA, 6, false);
}

void WII::readCalData() {
        readData(0x0016, 8, true);
}

void WII::checkMotionPresent() {
        readData(0xA600FA, 6, false);
}

/************************************************************/
/*                    WII Commands                          */

/************************************************************/

bool WII::getButtonPress(Button b) { // Return true when a button is pressed
        if (wiiUProControllerConnected)
                return (ButtonState & pgm_read_dword(&PROCONTROLLERBUTTONS[(uint8_t)b]));
        else
                return (ButtonState & pgm_read_dword(&BUTTONS[(uint8_t)b]));
}

bool WII::getButtonClick(Button b) { // Only return true when a button is clicked
        uint32_t button;
        if (wiiUProControllerConnected)
                button = pgm_read_dword(&PROCONTROLLERBUTTONS[(uint8_t)b]);
        else
                button = pgm_read_dword(&BUTTONS[(uint8_t)b]);
        bool click = (ButtonClickState & button);
        ButtonClickState &= ~button; // clear "click" event
        return click;
}

uint8_t WII::getAnalogHat(Hat a) {
        if (!nunchuckConnected)
                return 127; // Return center position
        else {
                uint8_t output = hatValues[(uint8_t)a];
                if (output == 0xFF || output == 0x00) // The joystick will only read 255 or 0 when the cable is unplugged or initializing, so we will just return the center position
                        return 127;
                else
                        return output;
        }
}

uint16_t WII::getAnalogHat(AnalogHat a) {
        if (!wiiUProControllerConnected)
                return 2000;
        else {
                uint16_t output = hatValues[(uint8_t)a];
                if (output == 0x00) // The joystick will only read 0 when it is first initializing, so we will just return the center position
                        return 2000;
                else
                        return output;
        }
}

void WII::onInit() {
        if (pFuncOnInit)
                pFuncOnInit(); // Call the user function
        else
                setLedStatus();
}

/************************************************************/
/*       The following functions are for the IR camera      */
/************************************************************/

#ifdef WIICAMERA

void WII::IRinitialize() { // Turns on and initialises the IR camera

        enableIRCamera1();
#ifdef DEBUG_USB_HOST
        Notify(PSTR("\r\nEnable IR Camera1 Complete"), 0x80);
#endif
        delay(80);

        enableIRCamera2();
#ifdef DEBUG_USB_HOST
        Notify(PSTR("\r\nEnable IR Camera2 Complete"), 0x80);
#endif
        delay(80);

        write0x08Value();
#ifdef DEBUG_USB_HOST
        Notify(PSTR("\r\nWrote hex number 0x08"), 0x80);
#endif
        delay(80);

        writeSensitivityBlock1();
#ifdef DEBUG_USB_HOST
        Notify(PSTR("\r\nWrote Sensitivity Block 1"), 0x80);
#endif
        delay(80);

        writeSensitivityBlock2();
#ifdef DEBUG_USB_HOST
        Notify(PSTR("\r\nWrote Sensitivity Block 2"), 0x80);
#endif
        delay(80);

        uint8_t mode_num = 0x03;
        setWiiModeNumber(mode_num); // Change input for whatever mode you want i.e. 0x01, 0x03, or 0x05
#ifdef DEBUG_USB_HOST
        Notify(PSTR("\r\nSet Wii Mode Number To 0x"), 0x80);
        D_PrintHex<uint8_t > (mode_num, 0x80);
#endif
        delay(80);

        write0x08Value();
#ifdef DEBUG_USB_HOST
        Notify(PSTR("\r\nWrote Hex Number 0x08"), 0x80);
#endif
        delay(80);

        setReportMode(false, 0x33);
        //setReportMode(false, 0x3f); // For full reporting mode, doesn't work yet
#ifdef DEBUG_USB_HOST
        Notify(PSTR("\r\nSet Report Mode to 0x33"), 0x80);
#endif
        delay(80);

        statusRequest(); // Used to update wiiState - call isIRCameraEnabled() afterwards to check if it actually worked
#ifdef DEBUG_USB_HOST
        Notify(PSTR("\r\nIR Initialized"), 0x80);
#endif
}

void WII::enableIRCamera1() {
        uint8_t cmd_buf[3];
        cmd_buf[0] = 0xA2; // HID BT DATA_request (0xA0) | Report Type (Output 0x02)
        cmd_buf[1] = 0x13; // Output report 13
        cmd_buf[2] = 0x04 | (HIDBuffer[2] & 0x01); // Keep the rumble bit and sets bit 2
        HID_Command(cmd_buf, 3);
}

void WII::enableIRCamera2() {
        uint8_t cmd_buf[3];
        cmd_buf[0] = 0xA2; // HID BT DATA_request (0xA0) | Report Type (Output 0x02)
        cmd_buf[1] = 0x1A; // Output report 1A
        cmd_buf[2] = 0x04 | (HIDBuffer[2] & 0x01); // Keep the rumble bit and sets bit 2
        HID_Command(cmd_buf, 3);
}

void WII::writeSensitivityBlock1() {
        uint8_t buf[9];
        buf[0] = 0x00;
        buf[1] = 0x00;
        buf[2] = 0x00;
        buf[3] = 0x00;
        buf[4] = 0x00;
        buf[5] = 0x00;
        buf[6] = 0x90;
        buf[7] = 0x00;
        buf[8] = 0x41;

        writeData(0xB00000, 9, buf);
}

void WII::writeSensitivityBlock2() {
        uint8_t buf[2];
        buf[0] = 0x40;
        buf[1] = 0x00;

        writeData(0xB0001A, 2, buf);
}

void WII::write0x08Value() {
        uint8_t cmd = 0x08;
        writeData(0xb00030, 1, &cmd);
}

void WII::setWiiModeNumber(uint8_t mode_number) { // mode_number in hex i.e. 0x03 for extended mode
        writeData(0xb00033, 1, &mode_number);
}
#endif