USB_Host_Shield_2.0/Wii.cpp

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2012-08-21 14:31:11 +02:00
/* 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
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*/
#include "Wii.h"
#define DEBUG // Uncomment to print data for debugging
//#define EXTRADEBUG // Uncomment to get even more debugging data
//#define PRINTREPORT // Uncomment to print the report send by the Wii controllers
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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
};
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WII::WII(BTD *p, bool pair):
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pBtd(p) // pointer to USB class instance - mandatory
{
if (pBtd)
pBtd->registerServiceClass(this); // Register it as a Bluetooth service
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pBtd->pairWithWii = pair;
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HIDBuffer[0] = 0xA2;// HID BT DATA_request (0xA0) | Report Type (Output 0x02)
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/* 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;
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activateNunchuck = false;
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motionValuesReset = false;
activeConnection = false;
pBtd->motionPlusInside = false;
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l2cap_event_flag = 0; // Reset flags
l2cap_state = L2CAP_WAIT;
}
void WII::disconnect() { // Use this void to disconnect any of the controllers
//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 (((l2capinbuf[0] | (l2capinbuf[1] << 8)) == (hci_handle | 0x2000)) || (pBtd->incomingWii && !wiimoteConnected && !activeConnection)) { // acl_handle_ok or it's a new connection
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if ((l2capinbuf[6] | (l2capinbuf[7] << 8)) == 0x0001) { //l2cap_control - Channel ID for ACL-U
if (l2capinbuf[8] == L2CAP_CMD_COMMAND_REJECT) {
#ifdef DEBUG
Notify(PSTR("\r\nL2CAP Command Rejected - Reason: "));
PrintHex<uint8_t>(l2capinbuf[13]);
Notify(PSTR(" "));
PrintHex<uint8_t>(l2capinbuf[12]);
Notify(PSTR(" "));
PrintHex<uint8_t>(l2capinbuf[17]);
Notify(PSTR(" "));
PrintHex<uint8_t>(l2capinbuf[16]);
Notify(PSTR(" "));
PrintHex<uint8_t>(l2capinbuf[15]);
Notify(PSTR(" "));
PrintHex<uint8_t>(l2capinbuf[14]);
#endif
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}
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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
//Serial.print("\r\nHID Control Connection Complete");
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]) {
//Serial.print("\r\nHID Interrupt Connection Complete");
identifier = l2capinbuf[9];
interrupt_scid[0] = l2capinbuf[12];
interrupt_scid[1] = l2capinbuf[13];
l2cap_event_flag |= L2CAP_FLAG_INTERRUPT_CONNECTED;
}
}
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}
else if (l2capinbuf[8] == L2CAP_CMD_CONNECTION_REQUEST) {
#ifdef EXTRADEBUG
Notify(PSTR("\r\nL2CAP Connection Request - PSM: "));
PrintHex<uint8_t>(l2capinbuf[13]);
Notify(PSTR(" "));
PrintHex<uint8_t>(l2capinbuf[12]);
Notify(PSTR(" SCID: "));
PrintHex<uint8_t>(l2capinbuf[15]);
Notify(PSTR(" "));
PrintHex<uint8_t>(l2capinbuf[14]);
Notify(PSTR(" Identifier: "));
PrintHex<uint8_t>(l2capinbuf[9]);
#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;
}
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}
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]) {
//Serial.print("\r\nHID Control Configuration Complete");
identifier = l2capinbuf[9];
l2cap_event_flag |= L2CAP_FLAG_CONFIG_CONTROL_SUCCESS;
}
else if (l2capinbuf[12] == interrupt_dcid[0] && l2capinbuf[13] == interrupt_dcid[1]) {
//Serial.print("\r\nHID Interrupt Configuration Complete");
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]) {
//Serial.print("\r\nHID Control Configuration Request");
pBtd->l2cap_config_response(hci_handle, l2capinbuf[9], control_scid);
}
else if (l2capinbuf[12] == interrupt_dcid[0] && l2capinbuf[13] == interrupt_dcid[1]) {
//Serial.print("\r\nHID Interrupt Configuration Request");
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
Notify(PSTR("\r\nDisconnect Request: Control Channel"));
#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
Notify(PSTR("\r\nDisconnect Request: Interrupt Channel"));
#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]) {
//Serial.print("\r\nDisconnect Response: Control Channel");
identifier = l2capinbuf[9];
l2cap_event_flag |= L2CAP_FLAG_DISCONNECT_CONTROL_RESPONSE;
}
else if (l2capinbuf[12] == interrupt_scid[0] && l2capinbuf[13] == interrupt_scid[1]) {
//Serial.print("\r\nDisconnect Response: Interrupt Channel");
identifier = l2capinbuf[9];
l2cap_event_flag |= L2CAP_FLAG_DISCONNECT_INTERRUPT_RESPONSE;
}
}
#ifdef EXTRADEBUG
else {
identifier = l2capinbuf[9];
Notify(PSTR("\r\nL2CAP Unknown Signaling Command: "));
PrintHex<uint8_t>(l2capinbuf[8]);
}
#endif
} else if (l2capinbuf[6] == interrupt_dcid[0] && l2capinbuf[7] == interrupt_dcid[1]) { // l2cap_interrupt
//Serial.print("\r\nL2CAP Interrupt");
if(wiimoteConnected) {
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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(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
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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
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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));
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#ifdef PRINTREPORT
Notify(PSTR("ButtonState: "));
PrintHex<uint32_t>(ButtonState);
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Notify(PSTR("\r\n"));
#endif
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if(ButtonState != OldButtonState) {
ButtonClickState = ButtonState & ~OldButtonState; // Update click state variable
OldButtonState = ButtonState;
}
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}
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;
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}
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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
Notify(PSTR("\r\nWARNING: Battery is nearly empty"));
#endif
}
if(l2capinbuf[12] & 0x02) { // Check if a extension is connected
#ifdef DEBUG
if(!unknownExtensionConnected)
Notify(PSTR("\r\nExtension connected"));
#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
Notify(PSTR("\r\nExtension disconnected"));
#endif
if(motionPlusConnected) {
#ifdef DEBUG
Notify(PSTR(" - from Motion Plus"));
#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
Notify(PSTR(" - Nunchuck"));
#endif
nunchuckConnected = false; // It must be the Nunchuck controller then
l2cap_event_flag &= ~WII_FLAG_NUNCHUCK_CONNECTED;
setLedStatus();
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
Notify(PSTR("\r\nNunchuck connected"));
#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
Notify(PSTR("\r\nMotion Plus connected"));
#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
Notify(PSTR("\r\nMotion Plus activated in normal mode"));
#endif
motionPlusConnected = true;
} else if(l2capinbuf[16] == 0x00 && l2capinbuf[17] == 0xA4 && l2capinbuf[18] == 0x20 && l2capinbuf[19] == 0x05 && l2capinbuf[20] == 0x05) {
#ifdef DEBUG
Notify(PSTR("\r\nMotion Plus activated in Nunchuck pass-through mode"));
#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) {
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#ifdef DEBUG
Notify(PSTR("\r\nInactive Wii Motion Plus"));
Notify(PSTR("\r\nPlease unplug the Motion Plus, disconnect the Wiimote and then replug the Motion Plus Extension"));
#endif
stateCounter = 300; // Skip the rest in "L2CAP_CHECK_MOTION_PLUS_STATE"
}
#ifdef DEBUG
else {
Notify(PSTR("\r\nUnknown Device: "));
PrintHex<uint8_t>(l2capinbuf[13]);
PrintHex<uint8_t>(l2capinbuf[14]);
Notify(PSTR("\r\nData: "));
for(uint8_t i = 0; i < ((l2capinbuf[12] >> 4)+1); i++) { // bit 4-7 is the length-1
PrintHex<uint8_t>(l2capinbuf[15+i]);
Notify(PSTR(" "));
}
}
#endif
}
#ifdef EXTRADEBUG
else {
Notify(PSTR("\r\nReport Error: "));
PrintHex<uint8_t>(l2capinbuf[13]);
PrintHex<uint8_t>(l2capinbuf[14]);
}
#endif
break;
case 0x22: // Acknowledge output report, return function result
#ifdef DEBUG
if(l2capinbuf[13] != 0x00) { // Check if there is an error
Notify(PSTR("\r\nCommand failed: "));
PrintHex<uint8_t>(l2capinbuf[12]);
}
#endif
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break;
case 0x30: // Core buttons - (a1) 30 BB BB
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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;
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break;
case 0x32: // Core Buttons with 8 Extension bytes - (a1) 32 BB BB EE EE EE EE EE EE EE EE
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
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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;
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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
Serial.print("\r\ngyroYaw: ");
Serial.print(gyroYaw);
Serial.print("\tgyroRoll: ");
Serial.print(gyroRoll);
Serial.print("\tgyroPitch: ");
Serial.print(gyroPitch);
*/
/*
Serial.print("\twiiMoteRoll: ");
Serial.print(wiiMoteRoll);
Serial.print("\twiiMotePitch: ");
Serial.print(wiiMotePitch);
*/
} else {
if((micros() - timer) > 1000000) { // Loop for 1 sec before resetting the values
#ifdef DEBUG
Notify(PSTR("\r\nThe gyro values has been reset"));
#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;
motionValuesReset = true;
timer = micros();
}
}
} else {
if(nunchuckConnected) {
hatValues[0] = l2capinbuf[15];
hatValues[1] = 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;
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#ifdef DEBUG
Notify(PSTR("\r\nExtension connected to Motion Plus"));
#endif
}
}
else {
if(extensionConnected && !unknownExtensionConnected) {
extensionConnected = false;
unknownExtensionConnected = true;
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#ifdef DEBUG
Notify(PSTR("\r\nExtension disconnected from Motion Plus"));
#endif
nunchuckConnected = false; // There is no extension connected to the Motion Plus if this report is sent
}
}
} else if(nunchuckConnected) {
hatValues[0] = l2capinbuf[15];
hatValues[1] = 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;
}
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break;
#ifdef DEBUG
default:
Notify(PSTR("\r\nUnknown Report type: "));
Serial.print(l2capinbuf[9],HEX);
break;
#endif
}
}
}
}
L2CAP_task();
}
}
void WII::L2CAP_task() {
switch (l2cap_state) {
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/* These states are used if the Wiimote is the host */
case L2CAP_CONTROL_SUCCESS:
if (l2cap_config_success_control_flag) {
#ifdef DEBUG
Notify(PSTR("\r\nHID Control Successfully Configured"));
#endif
l2cap_state = L2CAP_INTERRUPT_SETUP;
}
break;
case L2CAP_INTERRUPT_SETUP:
if (l2cap_connection_request_interrupt_flag) {
#ifdef DEBUG
Notify(PSTR("\r\nHID Interrupt Incoming Connection Request"));
#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 */
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case L2CAP_CONTROL_CONNECT_REQUEST:
if (l2cap_connected_control_flag) {
#ifdef DEBUG
Notify(PSTR("\r\nSend HID Control Config Request"));
#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
Notify(PSTR("\r\nSend HID Interrupt Connection Request"));
#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
Notify(PSTR("\r\nSend HID Interrupt Config Request"));
#endif
identifier++;
pBtd->l2cap_config_request(hci_handle, identifier, interrupt_scid);
l2cap_state = L2CAP_INTERRUPT_CONFIG_REQUEST;
}
break;
case L2CAP_INTERRUPT_CONFIG_REQUEST:
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if(l2cap_config_success_interrupt_flag) { // Now the HID channels is established
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#ifdef DEBUG
Notify(PSTR("\r\nHID Channels Established"));
#endif
pBtd->connectToWii = false;
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pBtd->pairWithWii = false;
wiimoteConnected = true;
stateCounter = 0;
l2cap_state = L2CAP_CHECK_MOTION_PLUS_STATE;
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}
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break;
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/* The next states are in run() */
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case L2CAP_INTERRUPT_DISCONNECT:
if (l2cap_disconnect_response_interrupt_flag) {
#ifdef DEBUG
Notify(PSTR("\r\nDisconnected Interrupt Channel"));
#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
Notify(PSTR("\r\nDisconnected Control Channel"));
#endif
pBtd->hci_disconnect(hci_handle);
hci_handle = -1; // Reset handle
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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;
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#ifdef DEBUG
Notify(PSTR("\r\nSend HID Control Connection Request"));
#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;
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} else if (l2cap_connection_request_control_flag) {
hci_handle = pBtd->hci_handle;
pBtd->incomingWii = false;
activeConnection = true;
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#ifdef DEBUG
Notify(PSTR("\r\nHID Control Incoming Connection Request"));
#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;
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}
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break;
case L2CAP_CHECK_MOTION_PLUS_STATE:
#ifdef DEBUG
if(stateCounter == 0) // Only print onnce
Notify(PSTR("\r\nChecking if a Motion Plus is connected"));
#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
Notify(PSTR("\r\nA extension is also connected"));
#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
Notify(PSTR("\r\nNo Motion Plus was detected"));
#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
if(stateCounter == 0) // Only print onnce
Notify(PSTR("\r\nChecking if there is any extension connected"));
#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;
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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;
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case L2CAP_LED_STATE:
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if(nunchuck_connected_flag)
nunchuckConnected = true;
setLedStatus();
l2cap_state = L2CAP_DONE;
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break;
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case L2CAP_DONE:
if(unknownExtensionConnected) {
#ifdef DEBUG
if(stateCounter == 0) // Only print once
Notify(PSTR("\r\nChecking extension port"));
#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
Notify(PSTR("\r\nNunchuck was reconnected"));
#endif
activateNunchuck = true;
nunchuckConnected = true;
}
if(!motionPlusConnected)
stateCounter = 449;
}
else if (stateCounter == 300) {
if(motionPlusConnected) {
#ifdef DEBUG
Notify(PSTR("\r\nReactivating the Motion Plus"));
#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) {
setLedStatus();
stateCounter = 0;
unknownExtensionConnected = false;
}
} else
stateCounter = 0;
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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]);
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}
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::setLedOff(LED a) {
HIDBuffer[1] = 0x11;
HIDBuffer[2] &= ~(pgm_read_byte(&LEDS[(uint8_t)a]));
HID_Command(HIDBuffer, 3);
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}
void WII::setLedOn(LED a) {
HIDBuffer[1] = 0x11;
HIDBuffer[2] |= pgm_read_byte(&LEDS[(uint8_t)a]);
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HID_Command(HIDBuffer, 3);
}
void WII::setLedToggle(LED a) {
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HIDBuffer[1] = 0x11;
HIDBuffer[2] ^= pgm_read_byte(&LEDS[(uint8_t)a]);
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HID_Command(HIDBuffer, 3);
}
void WII::setLedStatus() {
HIDBuffer[1] = 0x11;
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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);
}
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void WII::setReportMode(bool continuous, uint8_t mode) {
uint8_t cmd_buf[4];
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cmd_buf[0] = 0xA2; // HID BT DATA_request (0xA0) | Report Type (Output 0x02)
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cmd_buf[1] = 0x12;
if(continuous)
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cmd_buf[2] = 0x04 | (HIDBuffer[2] & 0x01); // Keep the rumble bit
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else
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cmd_buf[2] = 0x00 | (HIDBuffer[2] & 0x01); // Keep the rumble bit
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cmd_buf[3] = mode;
HID_Command(cmd_buf, 4);
}
void WII::statusRequest() {
uint8_t cmd_buf[3];
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cmd_buf[0] = 0xA2; // HID BT DATA_request (0xA0) | Report Type (Output 0x02)
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cmd_buf[1] = 0x15;
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cmd_buf[2] = (HIDBuffer[2] & 0x01); // Keep the rumble bit
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HID_Command(cmd_buf, 3);
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}
/************************************************************/
/* Memmory Commands */
/************************************************************/
void WII::writeData(uint32_t offset, uint8_t size, uint8_t* data) {
uint8_t cmd_buf[23];
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cmd_buf[0] = 0xA2; // HID BT DATA_request (0xA0) | Report Type (Output 0x02)
cmd_buf[1] = 0x16; // Write data
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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(activateNunchuck) {
#ifdef DEBUG
Notify(PSTR("\r\nActivating Motion Plus in pass-through mode"));
#endif
buf[0] = 0x05; // Activate nunchuck pass-through mode
}
//else if(classicControllerConnected && extensionConnected)
//buf[0] = 0x07;
else {
#ifdef DEBUG
Notify(PSTR("\r\nActivating Motion Plus in normal mode"));
#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];
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cmd_buf[0] = 0xA2; // HID BT DATA_request (0xA0) | Report Type (Output 0x02)
cmd_buf[1] = 0x17; // Read data
if(EEPROM)
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cmd_buf[2] = 0x00 | (HIDBuffer[2] & 0x01); // Read from EEPROM
else
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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);
}
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/************************************************************/
/* WII Commands */
/************************************************************/
bool WII::getButtonPress(Button b) { // Return true when a button is pressed
return (ButtonState & pgm_read_dword(&BUTTONS[(uint8_t)b]));
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}
bool WII::getButtonClick(Button b) { // Only return true when a button is clicked
uint32_t button = pgm_read_dword(&BUTTONS[(uint8_t)b]);
bool click = (ButtonClickState & button);
ButtonClickState &= ~button; // clear "click" event
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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;
}
}
/************************************************************/
/* The following functions are for the IR camera */
/************************************************************/
#ifdef WIICAMERA
void WII::IRinitialize(){ // Turns on and initialises the IR camera
enableIRCamera1();
#ifdef DEBUG
Notify(PSTR("\r\nEnable IR Camera1 Complete"));
#endif
delay(80);
enableIRCamera2();
#ifdef DEBUG
Notify(PSTR("\r\nEnable IR Camera2 Complete"));
#endif
delay(80);
write0x08Value();
#ifdef DEBUG
Notify(PSTR("\r\nWrote hex number 0x08"));
#endif
delay(80);
writeSensitivityBlock1();
#ifdef DEBUG
Notify(PSTR("\r\nWrote Sensitivity Block 1"));
#endif
delay(80);
writeSensitivityBlock2();
#ifdef DEBUG
Notify(PSTR("\r\nWrote Sensitivity Block 2"));
#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
Notify(PSTR("\r\nSet Wii Mode Number To 0x"));
PrintHex<uint8_t>(mode_num);
#endif
delay(80);
write0x08Value();
#ifdef DEBUG
Notify(PSTR("\r\nWrote Hex Number 0x08"));
#endif
delay(80);
setReportMode(false, 0x33);
//setReportMode(false, 0x3f); // For full reporting mode, doesn't work yet
#ifdef DEBUG
Notify(PSTR("\r\nSet Report Mode to 0x33"));
#endif
delay(80);
statusRequest(); // Used to update wiiState - call isIRCameraEnabled() afterwards to check if it actually worked
#ifdef DEBUG
Notify(PSTR("\r\nIR Initialized"));
#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