/* 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 */ #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 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->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; 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) { // 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 Notify(PSTR("\r\nL2CAP Command Rejected - Reason: ")); PrintHex(l2capinbuf[13]); Notify(PSTR(" ")); PrintHex(l2capinbuf[12]); Notify(PSTR(" ")); PrintHex(l2capinbuf[17]); Notify(PSTR(" ")); PrintHex(l2capinbuf[16]); Notify(PSTR(" ")); PrintHex(l2capinbuf[15]); Notify(PSTR(" ")); PrintHex(l2capinbuf[14]); #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 //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; } } } else if (l2capinbuf[8] == L2CAP_CMD_CONNECTION_REQUEST) { #ifdef EXTRADEBUG Notify(PSTR("\r\nL2CAP Connection Request - PSM: ")); PrintHex(l2capinbuf[13]); Notify(PSTR(" ")); PrintHex(l2capinbuf[12]); Notify(PSTR(" SCID: ")); PrintHex(l2capinbuf[15]); Notify(PSTR(" ")); PrintHex(l2capinbuf[14]); Notify(PSTR(" Identifier: ")); PrintHex(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]) { //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(l2capinbuf[8]); } #endif } else if (l2capinbuf[6] == interrupt_dcid[0] && l2capinbuf[7] == interrupt_dcid[1]) { // l2cap_interrupt //Serial.print("\r\nL2CAP Interrupt"); if(wiimoteConnected) { if(l2capinbuf[8] == 0xA1) { // HID_THDR_DATA_INPUT if(l2capinbuf[9] >= 0x30 && l2capinbuf[9] <= 0x37) { // These reports include the buttons 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: ")); PrintHex(ButtonState); Notify(PSTR("\r\n")); #endif if(ButtonState != OldButtonState) { ButtonClickState = ButtonState & ~OldButtonState; // Update click state variable OldButtonState = ButtonState; } } if(l2capinbuf[9] == 0x31 || l2capinbuf[9] == 0x35) { // 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 if(l2capinbuf[12] & 0x02) { // Check if a extension is connected #ifdef DEBUG if(!unknownExtensionConnected) Notify(PSTR("\r\nExtension connected")); #endif unknownExtensionConnected = true; 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[15] == 0x00 && 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[15] == 0x00 && l2capinbuf[16] == 0x00 && l2capinbuf[17] == 0xA6 && 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[15] == 0x00 && 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[15] == 0x00 && 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[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 { Notify(PSTR("\r\nUnknown Device: ")); PrintHex(l2capinbuf[13]); PrintHex(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(l2capinbuf[15+i]); Notify(PSTR(" ")); } } #endif } #ifdef EXTRADEBUG else { Notify(PSTR("\r\nReport Error: ")); PrintHex(l2capinbuf[13]); PrintHex(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(l2capinbuf[12]); } #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 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; 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; #ifdef DEBUG Notify(PSTR("\r\nExtension connected to Motion Plus")); #endif } } else { if(extensionConnected && !unknownExtensionConnected) { extensionConnected = false; unknownExtensionConnected = true; #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; } 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) { /* 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 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: 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; } break; /* The next states are in run() */ 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); l2cap_event_flag = 0; // Reset flags l2cap_state = L2CAP_WAIT; } break; } } void WII::Run() { switch (l2cap_state) { case L2CAP_WAIT: if(pBtd->connectToWii) { #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; } 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 Notify(PSTR("\r\nChecking if a Motion Plus is connected")); #endif stateCounter++; if(stateCounter%100 == 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 == 301) { // 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; 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; setLedStatus(); l2cap_state = L2CAP_DONE; break; 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; break; } } /************************************************************/ /* HID Commands */ /************************************************************/ void WII::HID_Command(uint8_t* data, uint8_t nbytes) { pBtd->L2CAP_Command(hci_handle,data,nbytes,control_scid[0],control_scid[1]); // Both the Navigation and Dualshock controller sends data via the control channel } 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] &= ~((uint8_t)a); HID_Command(HIDBuffer, 3); } void WII::setLedOn(LED a) { HIDBuffer[1] = 0x11; HIDBuffer[2] |= (uint8_t)a; HID_Command(HIDBuffer, 3); } void WII::setLedToggle(LED a) { HIDBuffer[1] = 0x11; HIDBuffer[2] ^= (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(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]; 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 return (ButtonState & (uint32_t)b); } bool WII::getButtonClick(Button b) { // Only return true when a button is clicked bool click = (ButtonClickState & (uint32_t)b); ButtonClickState &= ~((uint32_t)b); // clear "click" event return click; } uint8_t WII::getAnalogHat(AnalogHat 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; } }