From 84a66bb5340840f93aec73eab5c1d3f373dff7f3 Mon Sep 17 00:00:00 2001 From: Kristian Sloth Lauszus Date: Thu, 18 Jul 2013 19:53:18 +0200 Subject: [PATCH] Fixed indent --- Wii.cpp | 638 ++++++++++++++++++++++++++++---------------------------- 1 file changed, 319 insertions(+), 319 deletions(-) diff --git a/Wii.cpp b/Wii.cpp index 7d5a869b..367683d2 100755 --- a/Wii.cpp +++ b/Wii.cpp @@ -257,329 +257,329 @@ void WII::ACLData(uint8_t* l2capinbuf) { #endif } else if (l2capinbuf[6] == interrupt_dcid[0] && l2capinbuf[7] == interrupt_dcid[1]) { // l2cap_interrupt //Notify(PSTR("\r\nL2CAP Interrupt"), 0x80); - 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)); + 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 (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 -#ifdef EXTRADEBUG - Notify(PSTR("\r\nStatus report was received"), 0x80); -#endif - 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 -#ifdef DEBUG_USB_HOST - if (l2capinbuf[12] & 0x01) - Notify(PSTR("\r\nWARNING: Battery is nearly empty"), 0x80); -#endif - if (checkExtension) { // If this is false it means that the user must have called getBatteryLevel() - 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 buttons and accelerometer - } else - setReportMode(false, 0x31); // If there is no extension connected we will read the buttons and accelerometer - } - } else - checkExtension = true; // Check for extensions by default - 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; - setReportMode(false, 0x35); // Also read the extension - } 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; - setReportMode(false, 0x35); // Also read the extension - } 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 (l2capinbuf[13], 0x80); - D_PrintHex (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 (l2capinbuf[15 + i], 0x80); - Notify(PSTR(" "), 0x80); - } - } -#endif - } -#ifdef EXTRADEBUG - else { - Notify(PSTR("\r\nReport Error: "), 0x80); - D_PrintHex (l2capinbuf[13], 0x80); - D_PrintHex (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 (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 (l2capinbuf[9], 0x80); - break; + Notify(PSTR("ButtonState: "), 0x80); + D_PrintHex (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 +#ifdef EXTRADEBUG + Notify(PSTR("\r\nStatus report was received"), 0x80); +#endif + 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 +#ifdef DEBUG_USB_HOST + if (l2capinbuf[12] & 0x01) + Notify(PSTR("\r\nWARNING: Battery is nearly empty"), 0x80); +#endif + if (checkExtension) { // If this is false it means that the user must have called getBatteryLevel() + 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 buttons and accelerometer + } else + setReportMode(false, 0x31); // If there is no extension connected we will read the buttons and accelerometer + } + } else + checkExtension = true; // Check for extensions by default + 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; + setReportMode(false, 0x35); // Also read the extension + } 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; + setReportMode(false, 0x35); // Also read the extension + } 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 (l2capinbuf[13], 0x80); + D_PrintHex (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 (l2capinbuf[15 + i], 0x80); + Notify(PSTR(" "), 0x80); + } + } +#endif + } +#ifdef EXTRADEBUG + else { + Notify(PSTR("\r\nReport Error: "), 0x80); + D_PrintHex (l2capinbuf[13], 0x80); + D_PrintHex (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 (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 (l2capinbuf[9], 0x80); + break; +#endif + } + } } L2CAP_task(); }