/* 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 */ #ifndef _wii_h_ #define _wii_h_ #include "BTD.h" #include "controllerEnums.h" /** You will have to uncomment this to use the IR camera */ //#define WIICAMERA /* Bluetooth L2CAP states for L2CAP_task() */ #define L2CAP_WAIT 0 // These states are used if the Wiimote is the host #define L2CAP_CONTROL_SUCCESS 1 #define L2CAP_INTERRUPT_SETUP 2 // 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 #define L2CAP_FLAG_INTERRUPT_CONNECTED 0x002 #define L2CAP_FLAG_CONFIG_CONTROL_SUCCESS 0x004 #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) #define l2cap_connected_interrupt_flag (l2cap_event_flag & L2CAP_FLAG_INTERRUPT_CONNECTED) #define l2cap_config_success_control_flag (l2cap_event_flag & L2CAP_FLAG_CONFIG_CONTROL_SUCCESS) #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 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 used to read the joystick on the Nunchuck. */ enum Hat { /** Read the x-axis on the Nunchuck joystick. */ HatX = 0, /** Read the y-axis on the Nunchuck joystick. */ HatY = 1, }; /** * This BluetoothService class implements support for the Wiimote including the Nunchuck and Motion Plus extension. * * It also support the Wii U Pro Controller. */ class WII : public BluetoothService { public: /** * Constructor for the WII class. * @param p Pointer to BTD class instance. * @param pair Set this true to pair with the Wiimote. If the argument is omitted then it won't pair with it. * One can use ::PAIR to set it to true. */ WII(BTD *p, bool pair=false); /** @name BluetoothService implementation */ /** * Used to pass acldata to the services. * @param ACLData Incoming acldata. */ virtual void ACLData(uint8_t* ACLData); /** Used to run part of the state maschine. */ virtual void Run(); /** Use this to reset the service. */ virtual void Reset(); /** Used this to disconnect any of the controllers. */ virtual void disconnect(); /**@}*/ /** @name Wii Controller functions */ /** * getButtonPress(Button b) will return true as long as the button is held down * While getButtonClick(Button b) will only return it once * So you instance if you need to increase a variable once you would use getButtonClick(Button b), * but if you need to drive a robot forward you would use getButtonPress(Button b). */ bool getButtonPress(Button b); bool getButtonClick(Button b); /**@}*/ /** @name Wii Controller functions */ /** * Used to read the joystick of the Nunchuck. * @param a Either ::HatX or ::HatY. * @return Return the analog value in the range from approximately 25-230. */ uint8_t getAnalogHat(Hat a); /** * Used to read the joystick of the Wii U Pro Controller. * @param a Either ::LeftHatX, ::LeftHatY, ::RightHatX or ::RightHatY. * @return Return the analog value in the range from approximately 800-3200. */ uint16_t getAnalogHat(AnalogHat a); /** * Pitch calculated from the Wiimote. A complimentary filter is used if the Motion Plus is connected. * @return Pitch in the range from 0-360. */ double getPitch() { return pitch; }; /** * Roll calculated from the Wiimote. A complimentary filter is used if the Motion Plus is connected. * @return Roll in the range from 0-360. */ double getRoll() { return roll; }; /** * This is the yaw calculated by the gyro. * * NOTE: This angle will drift a lot and is only available if the Motion Plus extension is connected. * @return The angle calculated using the gyro. */ double getYaw() { return gyroYaw; }; /** Used to set all LEDs and rumble off. */ void setAllOff(); /** Turn off rumble. */ void setRumbleOff(); /** Turn on rumble. */ void setRumbleOn(); /** Toggle rumble. */ void setRumbleToggle(); /** * Turn the specific ::LED off. * @param a The ::LED to turn off. */ void setLedOff(LED a); /** * Turn the specific ::LED on. * @param a The ::LED to turn on. */ void setLedOn(LED a); /** * Toggle the specific ::LED. * @param a The ::LED to toggle. */ void setLedToggle(LED a); /** * This will set the LEDs, so the user can see which connections are active. * * The first ::LED indicate that the Wiimote is connected, * * the second ::LED indicate indicate that a Motion Plus is also connected * * the third ::LED will indicate that a Nunchuck controller is also connected. */ void setLedStatus(); /** * Return the battery level of the Wiimote. * @return The barrey level in the range form 0-255. */ uint8_t getBatteryLevel() { return batteryLevel; }; /** * Return the Wiimote state. * @return See: http://wiibrew.org/wiki/Wiimote#0x20:_Status. */ uint8_t getWiiState() { return wiiState; }; /**@}*/ /**@{*/ /** Variable used to indicate if a Wiimote is connected. */ bool wiimoteConnected; /** Variable used to indicate if a Nunchuck controller is connected. */ bool nunchuckConnected; /** Variable used to indicate if a Nunchuck controller is connected. */ bool motionPlusConnected; /** Variable used to indicate if a Wii U Pro controller is connected. */ bool wiiUProControllerConnected; /**@}*/ /* IMU Data, might be usefull if you need to do something more advanced than just calculating the angle */ /**@{*/ /** Pitch and roll calculated from the accelerometer inside the Wiimote. */ double wiimotePitch; double wiimoteRoll; /**@}*/ /**@{*/ /** Pitch and roll calculated from the accelerometer inside the Nunchuck. */ double nunchuckPitch; double nunchuckRoll; /**@}*/ /**@{*/ /** Accelerometer values used to calculate pitch and roll. */ int16_t accX; int16_t accY; int16_t accZ; /**@}*/ /* Variables for the gyro inside the Motion Plus */ /** This is the pitch calculated by the gyro - use this to tune WII#pitchGyroScale. */ double gyroPitch; /** This is the roll calculated by the gyro - use this to tune WII#rollGyroScale. */ double gyroRoll; /** This is the yaw calculated by the gyro - use this to tune WII#yawGyroScale. */ double gyroYaw; /**@{*/ /** The speed in deg/s from the gyro. */ double pitchGyroSpeed; double rollGyroSpeed; double yawGyroSpeed; /**@}*/ /**@{*/ /** You might need to fine-tune these values. */ uint16_t pitchGyroScale; uint16_t rollGyroScale; uint16_t yawGyroScale; /**@}*/ /**@{*/ /** Raw value read directly from the Motion Plus. */ int16_t gyroYawRaw; int16_t gyroRollRaw; int16_t gyroPitchRaw; /**@}*/ /**@{*/ /** These values are set when the controller is first initialized. */ int16_t gyroYawZero; int16_t gyroRollZero; int16_t gyroPitchZero; /**@}*/ #ifdef WIICAMERA /** @name Wiimote IR camera functions * You will have to uncomment #WIICAMERA in Wii.h to use the IR camera. */ /** Initialises the camera as per the steps from: http://wiibrew.org/wiki/Wiimote#IR_Camera */ void IRinitialize(); /** IR object 1 x position (0-1023). */ uint16_t getIRx1() { return IR_object_x1; }; /** IR object 1 y position (0-767). */ uint16_t getIRy1() { return IR_object_y1; }; /** IR object 1 size (0-15). */ uint8_t getIRs1() { return IR_object_s1; }; /** IR object 2 x position (0-1023). */ uint16_t getIRx2() { return IR_object_x2; }; /** IR object 2 y position (0-767). */ uint16_t getIRy2() { return IR_object_y2; }; /** IR object 2 size (0-15). */ uint8_t getIRs2() { return IR_object_s2; }; /** IR object 3 x position (0-1023). */ uint16_t getIRx3() { return IR_object_x3; }; /** IR object 3 y position (0-767). */ uint16_t getIRy3() { return IR_object_y3; }; /** IR object 3 size (0-15). */ uint8_t getIRs3() { return IR_object_s3; }; /** IR object 4 x position (0-1023). */ uint16_t getIRx4() { return IR_object_x4; }; /** IR object 4 y position (0-767). */ uint16_t getIRy4() { return IR_object_y4; }; /** IR object 4 size (0-15). */ uint8_t getIRs4() { return IR_object_s4; }; /** * Use this to check if the camera is enabled or not. * If not call WII#IRinitialize to initialize the IR camera. * @return True if it's enabled, false if not. */ bool isIRCameraEnabled() { return (wiiState & 0x08); }; /**@}*/ #endif private: /* Mandatory members */ BTD *pBtd; void L2CAP_task(); // L2CAP state machine /* Variables filled from HCI event management */ uint16_t hci_handle; bool activeConnection; // Used to indicate if it's already has established a connection /* variables used by high level L2CAP task */ uint8_t l2cap_state; uint16_t l2cap_event_flag;// l2cap flags of received bluetooth events uint32_t ButtonState; uint32_t OldButtonState; uint32_t ButtonClickState; uint16_t hatValues[4]; uint8_t HIDBuffer[3];// Used to store HID commands uint16_t stateCounter; bool unknownExtensionConnected; bool extensionConnected; /* L2CAP Channels */ uint8_t control_scid[2]; // L2CAP source CID for HID_Control uint8_t control_dcid[2]; // 0x0060 uint8_t interrupt_scid[2]; // L2CAP source CID for HID_Interrupt uint8_t interrupt_dcid[2]; // 0x0061 uint8_t identifier; // Identifier for connection /* HID Commands */ void HID_Command(uint8_t* data, uint8_t nbytes); void setReportMode(bool continuous, uint8_t mode); void statusRequest(); void writeData(uint32_t offset, uint8_t size, uint8_t* data); void initExtension1(); void initExtension2(); void readData(uint32_t offset, uint16_t size, bool EEPROM); void readExtensionType(); void readCalData(); void checkMotionPresent(); // Used to see if a Motion Plus is connected to the Wiimote void initMotionPlus(); void activateMotionPlus(); double pitch; // Fusioned angle using a complimentary filter if the Motion Plus is connected double roll; // Fusioned angle using a complimentary filter if the Motion Plus is connected bool activateNunchuck; bool motionValuesReset; // This bool is true when the gyro values has been reset unsigned long timer; uint8_t wiiState; // Stores the value in 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) uint8_t batteryLevel; #ifdef WIICAMERA /* Private function and variables for the readings from teh IR Camera */ void enableIRCamera1(); // Sets bit 2 of output report 13 void enableIRCamera2(); // Sets bit 2 of output report 1A void writeSensitivityBlock1(); void writeSensitivityBlock2(); void write0x08Value(); void setWiiModeNumber(uint8_t mode_number); uint16_t IR_object_x1; // IR x position 10 bits uint16_t IR_object_y1; // IR y position 10 bits uint8_t IR_object_s1; // IR size value uint16_t IR_object_x2; uint16_t IR_object_y2; uint8_t IR_object_s2; uint16_t IR_object_x3; // IR x position 10 bits uint16_t IR_object_y3; // IR y position 10 bits uint8_t IR_object_s3; // IR size value uint16_t IR_object_x4; uint16_t IR_object_y4; uint8_t IR_object_s4; #endif }; #endif