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Merge pull request #29 from felis/Wii-Pair

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The Wii class can now pair with the Wiimote
This commit is contained in:
Kristian Lauszus 2012-10-07 13:46:42 -07:00
commit 9f20111d53
6 changed files with 187 additions and 73 deletions
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79
BTD.cpp Normal file → Executable file
View file

@ -427,12 +427,18 @@ void BTD::HCI_event_task() {
break;
case EV_PIN_CODE_REQUEST:
if(btdPin != NULL) {
if(pairWithWii) {
#ifdef DEBUG
Notify(PSTR("\r\nPairing with wiimote"));
#endif
hci_pin_code_request_reply();
}
else if(btdPin != NULL) {
#ifdef DEBUG
Notify(PSTR("\r\nBluetooth pin is set too: "));
Serial.print(btdPin);
#endif
hci_pin_code_request_reply(btdPin);
hci_pin_code_request_reply();
}
else {
#ifdef DEBUG
@ -449,6 +455,14 @@ void BTD::HCI_event_task() {
hci_link_key_request_negative_reply();
break;
case EV_AUTHENTICATION_COMPLETE:
if(pairWithWii && !connectToWii) {
#ifdef DEBUG
Notify(PSTR("\r\nPairing successful"));
#endif
connectToWii = true; // Only send the ACL data to the Wii service
}
break;
/* We will just ignore the following events */
case EV_NUM_COMPLETE_PKT:
case EV_ROLE_CHANGED:
@ -456,7 +470,6 @@ void BTD::HCI_event_task() {
case EV_LOOPBACK_COMMAND:
case EV_DATA_BUFFER_OVERFLOW:
case EV_CHANGE_CONNECTION_LINK:
case EV_AUTHENTICATION_COMPLETE:
case EV_MAX_SLOTS_CHANGE:
case EV_QOS_SETUP_COMPLETE:
case EV_LINK_KEY_NOTIFICATION:
@ -552,17 +565,13 @@ void BTD::HCI_task() {
break;
case HCI_CHECK_WII_SERVICE:
if(wiiServiceID != -1) { // Check if it should try to connect to a wiimote
if(disc_bdaddr[5] == 0 && disc_bdaddr[4] == 0 && disc_bdaddr[3] == 0 && disc_bdaddr[2] == 0 && disc_bdaddr[1] == 0 && disc_bdaddr[0] == 0) {
if(pairWithWii) { // Check if it should try to connect to a wiimote
#ifdef DEBUG
Notify(PSTR("\r\nStarting inquiry\r\nPress 1 & 2 on the Wiimote"));
#endif
hci_inquiry();
hci_state = HCI_INQUIRY_STATE;
}
else
hci_state = HCI_CONNECT_WII_STATE;
}
else
hci_state = HCI_SCANNING_STATE; // Don't try to connect to a Wiimote
break;
@ -572,23 +581,16 @@ void BTD::HCI_task() {
hci_inquiry_cancel(); // Stop inquiry
#ifdef DEBUG
Notify(PSTR("\r\nWiimote found"));
Notify(PSTR("\r\nCreate the instance like so to connect automatically:"));
Notify(PSTR("\r\nWII Wii(&Btd,"));
for(int8_t i = 5; i>0;i--) {
Notify(PSTR("0x"));
PrintHex<uint8_t>(disc_bdaddr[i]);
Notify(PSTR(","));
}
Notify(PSTR("0x"));
PrintHex<uint8_t>(disc_bdaddr[0]);
Notify(PSTR(");"));
Notify(PSTR("\r\nNow just create the instance like so:"));
Notify(PSTR("\r\nWII Wii(&Btd);"));
Notify(PSTR("\r\nAnd then press any button on the Wiimote"));
#endif
hci_state = HCI_CONNECT_WII_STATE;
}
break;
case HCI_CONNECT_WII_STATE:
if(!hci_wii_found || hci_cmd_complete) {
if(hci_cmd_complete) {
#ifdef DEBUG
Notify(PSTR("\r\nConnecting to Wiimote"));
#endif
@ -603,7 +605,7 @@ void BTD::HCI_task() {
#ifdef DEBUG
Notify(PSTR("\r\nConnected to Wiimote"));
#endif
connectToWii = true; // Only send the ACL data to the Wii service
hci_authentication_request(); // This will start the pairing with the wiimote
hci_state = HCI_SCANNING_STATE;
} else {
#ifdef DEBUG
@ -615,7 +617,7 @@ void BTD::HCI_task() {
break;
case HCI_SCANNING_STATE:
if(!connectToWii) {
if(!connectToWii && !pairWithWii) {
#ifdef DEBUG
Notify(PSTR("\r\nWait For Incoming Connection Request"));
#endif
@ -663,6 +665,12 @@ void BTD::HCI_task() {
PrintHex<uint8_t>(disc_bdaddr[0]);
#endif
l2capConnectionClaimed = false;
if(strncmp((const char*)remote_name, "Nintendo", 8) == 0) {
#ifdef DEBUG
Notify(PSTR("\r\nWiimote is connecting"));
#endif
incomingWii = true;
}
hci_event_flag = 0;
hci_state = HCI_DONE_STATE;
}
@ -849,7 +857,7 @@ void BTD::hci_connect() {
HCI_Command(hcibuf, 16);
}
void BTD::hci_pin_code_request_reply(const char* key) {
void BTD::hci_pin_code_request_reply() {
hcibuf[0] = 0x0D; // HCI OCF = 0D
hcibuf[1] = 0x01 << 2; // HCI OGF = 1
hcibuf[2] = 0x17; // parameter length 23
@ -859,12 +867,24 @@ void BTD::hci_pin_code_request_reply(const char* key) {
hcibuf[6] = disc_bdaddr[3];
hcibuf[7] = disc_bdaddr[4];
hcibuf[8] = disc_bdaddr[5];
hcibuf[9] = strlen(key); // Length of key
if(pairWithWii) {
hcibuf[9] = 6; // Pin length is the length of the bt address
hcibuf[10] = disc_bdaddr[0]; // The pin is the Wiimotes bt address backwards
hcibuf[11] = disc_bdaddr[1];
hcibuf[12] = disc_bdaddr[2];
hcibuf[13] = disc_bdaddr[3];
hcibuf[14] = disc_bdaddr[4];
hcibuf[15] = disc_bdaddr[5];
for(uint8_t i = 16; i < 26; i++)
hcibuf[i] = 0x00; // The rest should be 0
} else {
hcibuf[9] = strlen(btdPin); // Length of pin
uint8_t i;
for(i = 0; i < strlen(key); i++) // The maximum size of the key is 16
hcibuf[i+10] = key[i];
for(i = 0; i < strlen(btdPin); i++) // The maximum size of the pin is 16
hcibuf[i+10] = btdPin[i];
for(;i < 16; i++)
hcibuf[i+10] = 0x00; // The rest should be 0
}
HCI_Command(hcibuf, 26);
}
@ -894,6 +914,15 @@ void BTD::hci_link_key_request_negative_reply() {
HCI_Command(hcibuf, 9);
}
void BTD::hci_authentication_request() {
hcibuf[0] = 0x11; // HCI OCF = 11
hcibuf[1] = 0x01 << 2; // HCI OGF = 1
hcibuf[2] = 0x02; // parameter length = 2
hcibuf[3] = (uint8_t)(hci_handle & 0xFF);//connection handle - low byte
hcibuf[4] = (uint8_t)((hci_handle >> 8) & 0x0F);//connection handle - high byte
HCI_Command(hcibuf, 5);
}
void BTD::hci_disconnect(uint16_t handle) { // This is called by the different services
hci_event_flag &= ~HCI_FLAG_DISCONN_COMPLETE;
hcibuf[0] = 0x06; // HCI OCF = 6

8
BTD.h Normal file → Executable file
View file

@ -44,7 +44,7 @@
#define HCI_SET_NAME_STATE 4
#define HCI_CHECK_WII_SERVICE 5
#define HCI_INQUIRY_STATE 6 // These three states are only used if it should connect to a Wii controller
#define HCI_INQUIRY_STATE 6 // These three states are only used if it should pair and connect to a Wii controller
#define HCI_CONNECT_WII_STATE 7
#define HCI_CONNECTED_WII_STATE 8
@ -182,7 +182,10 @@ public:
uint8_t hci_version;
int8_t wiiServiceID; // Stores the service ID of the Wii service
bool connectToWii; // Used to only send the ACL data to the wiimote
bool incomingWii;
bool pairWithWii;
/* HCI Commands */
void HCI_Command(uint8_t* data, uint16_t nbytes);
@ -195,9 +198,10 @@ public:
void hci_accept_connection();
void hci_write_scan_disable();
void hci_disconnect(uint16_t handle);
void hci_pin_code_request_reply(const char* key);
void hci_pin_code_request_reply();
void hci_pin_code_negative_request_reply();
void hci_link_key_request_negative_reply();
void hci_authentication_request();
void hci_inquiry();
void hci_inquiry_cancel();
void hci_connect();

93
Wii.cpp Normal file → Executable file
View file

@ -20,20 +20,15 @@
//#define EXTRADEBUG // Uncomment to get even more debugging data
//#define PRINTREPORT // Uncomment to print the report send by the Wii controllers
WII::WII(BTD *p, uint8_t btadr5, uint8_t btadr4, uint8_t btadr3, uint8_t btadr2, uint8_t btadr1, uint8_t btadr0):
WII::WII(BTD *p, bool pair):
pBtd(p) // pointer to USB class instance - mandatory
{
if (pBtd)
pBtd->wiiServiceID = pBtd->registerServiceClass(this); // Register it as a Bluetooth service
pBtd->disc_bdaddr[5] = btadr5; // Change to your dongle's Bluetooth address instead
pBtd->disc_bdaddr[4] = btadr4;
pBtd->disc_bdaddr[3] = btadr3;
pBtd->disc_bdaddr[2] = btadr2;
pBtd->disc_bdaddr[1] = btadr1;
pBtd->disc_bdaddr[0] = btadr0;
pBtd->pairWithWii = pair;
HIDBuffer[0] = 0xA2;// HID BT DATA_request (0x50) | Report Type (Output 0x02)
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
@ -47,6 +42,8 @@ void WII::Reset() {
wiimoteConnected = false;
nunchuckConnected = false;
motionPlusConnected = false;
activateNunchuck = false;
motionValuesReset = false;
l2cap_event_flag = 0; // Reset flags
l2cap_state = L2CAP_WAIT;
}
@ -59,7 +56,7 @@ void WII::disconnect() { // Use this void to disconnect any of the controllers
}
void WII::ACLData(uint8_t* l2capinbuf) {
if (((l2capinbuf[0] | (l2capinbuf[1] << 8)) == (hci_handle | 0x2000))) { //acl_handle_ok
if (((l2capinbuf[0] | (l2capinbuf[1] << 8)) == (hci_handle | 0x2000)) || pBtd->incomingWii) { // 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
@ -95,6 +92,32 @@ void WII::ACLData(uint8_t* l2capinbuf) {
}
}
}
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;
}
}
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]) {
@ -251,6 +274,12 @@ void WII::ACLData(uint8_t* l2capinbuf) {
activateNunchuck = false;
motionPlusConnected = true;
nunchuckConnected = true;
} else if(l2capinbuf[15] == 0x00 && 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
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 {
@ -410,6 +439,33 @@ void WII::ACLData(uint8_t* l2capinbuf) {
}
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
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 */
case L2CAP_CONTROL_CONNECT_REQUEST:
if (l2cap_connected_control_flag) {
#ifdef DEBUG
@ -443,13 +499,13 @@ void WII::L2CAP_task() {
}
break;
case L2CAP_INTERRUPT_CONFIG_REQUEST:
if(l2cap_config_success_interrupt_flag) {
if(l2cap_config_success_interrupt_flag) { // Now the HID channels is established
#ifdef DEBUG
Notify(PSTR("\r\nHID Channels Established"));
#endif
pBtd->connectToWii = false;
pBtd->pairWithWii = false;
wiimoteConnected = true;
stateCounter = 0;
l2cap_state = L2CAP_CHECK_MOTION_PLUS_STATE;
@ -493,11 +549,22 @@ void WII::Run() {
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) {
hci_handle = pBtd->hci_handle;
pBtd->incomingWii = false;
#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;
}
break;
case L2CAP_CHECK_MOTION_PLUS_STATE:
#ifdef DEBUG
if(stateCounter == 0) // Only print onnce

41
Wii.h Normal file → Executable file
View file

@ -22,19 +22,26 @@
/* Bluetooth L2CAP states for L2CAP_task() */
#define L2CAP_WAIT 0
#define L2CAP_CONTROL_CONNECT_REQUEST 1
#define L2CAP_CONTROL_CONFIG_REQUEST 2
#define L2CAP_INTERRUPT_CONNECT_REQUEST 3
#define L2CAP_INTERRUPT_CONFIG_REQUEST 4
#define L2CAP_CHECK_MOTION_PLUS_STATE 5
#define L2CAP_CHECK_EXTENSION_STATE 6
#define L2CAP_INIT_MOTION_PLUS_STATE 7
// These states are used if the Wiimote is the host
#define L2CAP_CONTROL_SUCCESS 1
#define L2CAP_INTERRUPT_SETUP 2
#define L2CAP_LED_STATE 8
#define L2CAP_DONE 9
#define L2CAP_INTERRUPT_DISCONNECT 10
#define L2CAP_CONTROL_DISCONNECT 11
// These states are used if the Arduino is the host
#define L2CAP_CONTROL_CONNECT_REQUEST 3
#define L2CAP_CONTROL_CONFIG_REQUEST 4
#define L2CAP_INTERRUPT_CONNECT_REQUEST 5
#define L2CAP_INTERRUPT_CONFIG_REQUEST 6
#define L2CAP_CHECK_MOTION_PLUS_STATE 7
#define L2CAP_CHECK_EXTENSION_STATE 8
#define L2CAP_INIT_MOTION_PLUS_STATE 9
#define L2CAP_LED_STATE 10
#define L2CAP_DONE 11
#define L2CAP_INTERRUPT_DISCONNECT 12
#define L2CAP_CONTROL_DISCONNECT 13
/* L2CAP event flags */
#define L2CAP_FLAG_CONTROL_CONNECTED 0x001
@ -43,6 +50,8 @@
#define L2CAP_FLAG_CONFIG_INTERRUPT_SUCCESS 0x008
#define L2CAP_FLAG_DISCONNECT_CONTROL_RESPONSE 0x040
#define L2CAP_FLAG_DISCONNECT_INTERRUPT_RESPONSE 0x080
#define L2CAP_FLAG_CONNECTION_CONTROL_REQUEST 0x100
#define L2CAP_FLAG_CONNECTION_INTERRUPT_REQUEST 0x200
/* Macros for L2CAP event flag tests */
#define l2cap_connected_control_flag (l2cap_event_flag & L2CAP_FLAG_CONTROL_CONNECTED)
@ -51,14 +60,18 @@
#define l2cap_config_success_interrupt_flag (l2cap_event_flag & L2CAP_FLAG_CONFIG_INTERRUPT_SUCCESS)
#define l2cap_disconnect_response_control_flag (l2cap_event_flag & L2CAP_FLAG_DISCONNECT_CONTROL_RESPONSE)
#define l2cap_disconnect_response_interrupt_flag (l2cap_event_flag & L2CAP_FLAG_DISCONNECT_INTERRUPT_RESPONSE)
#define l2cap_connection_request_control_flag (l2cap_event_flag & L2CAP_FLAG_CONNECTION_CONTROL_REQUEST)
#define l2cap_connection_request_interrupt_flag (l2cap_event_flag & L2CAP_FLAG_CONNECTION_INTERRUPT_REQUEST)
/* Wii event flags */
#define WII_FLAG_MOTION_PLUS_CONNECTED 0x100
#define WII_FLAG_NUNCHUCK_CONNECTED 0x200
#define WII_FLAG_MOTION_PLUS_CONNECTED 0x400
#define WII_FLAG_NUNCHUCK_CONNECTED 0x800
#define motion_plus_connected_flag (l2cap_event_flag & WII_FLAG_MOTION_PLUS_CONNECTED)
#define nunchuck_connected_flag (l2cap_event_flag & WII_FLAG_NUNCHUCK_CONNECTED)
#define PAIR 1
enum LED {
LED1 = 0x10,
LED2 = 0x20,
@ -97,7 +110,7 @@ enum AnalogHat {
class WII : public BluetoothService {
public:
WII(BTD *pBtd, uint8_t btadr5=0, uint8_t btadr4=0, uint8_t btadr3=0, uint8_t btadr2=0, uint8_t btadr1=0, uint8_t btadr0=0);
WII(BTD *p, bool pair=false);
// BluetoothService implementation
virtual void ACLData(uint8_t* ACLData); // Used to pass acldata to the services

4
examples/Bluetooth/Wii/Wii.ino
View file

@ -8,8 +8,8 @@
USB Usb;
BTD Btd(&Usb); // You have to create the Bluetooth Dongle instance like so
/* You can create the instance of the class in two ways */
WII Wii(&Btd); // This will start inquiry which will connect to any Wiimote
//WII Wii(&Btd,0x00,0x26,0x59,0x48,0xFF,0xFB); // This will connect to the Wiimote with that specific Bluetooth Address
WII Wii(&Btd,PAIR); // This will start an inquiry and then pair with your Wiimote - you only have to do this once
//WII Wii(&Btd); // After that you can simply create the instance like so and then press any button on the Wiimote
bool printAngle;

1
keywords.txt
View file

@ -223,3 +223,4 @@ setRumbleToggle KEYWORD2
getPitch KEYWORD2
getRoll KEYWORD2
getYaw KEYWORD2
PAIR KEYWORD2