Wii.h

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/* 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"

//#define WIICAMERA //uncomment to enable IR camera

/* 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 Hat {
    HatX = 0,
    HatY = 1,
};

class WII : public BluetoothService {
public:
    WII(BTD *p, bool pair=false);
    
    // BluetoothService implementation
    virtual void ACLData(uint8_t* ACLData); // Used to pass acldata to the services
    virtual void Run(); // Used to run part of the state maschine
    virtual void Reset(); // Use this to reset the service
    virtual void disconnect(); // Use this void to disconnect any of the controllers
                
    /*
      getButtonPress will return true as long as the button is held down
      While getButtonClick will only return it once
      So you instance if you need to increase a variable once you would use getButtonClick,
      but if you need to drive a robot forward you would use getButtonPress
    */
    bool getButtonPress(Button b); // This will read true as long as the button is held down
    bool getButtonClick(Button b); // This will only be true when the button is clicked the first time
    
    uint8_t getAnalogHat(Hat a); // Used to read the joystick of the Nunchuck

    double getPitch() { return pitch; }; // Fusioned angle using a complimentary filter if the Motion Plus is connected
    double getRoll() { return roll; }; // Fusioned angle using a complimentary filter if the Motion Plus is connected
    double getYaw() { return gyroYaw; }; // This is the yaw calculated by the gyro
    
    void setAllOff(); // Turn both rumble and all LEDs off
    void setRumbleOff();
    void setRumbleOn();
    void setRumbleToggle();
    void setLedOff(LED a);
    void setLedOn(LED a);
    void setLedToggle(LED a);
    void setLedStatus(); // This will set the LEDs, so the user can see which connections are active
    
    bool wiimoteConnected; // Variable used to indicate if a Wiimote is connected
    bool nunchuckConnected; // Variable used to indicate if a Nunchuck controller is connected
    bool motionPlusConnected; // Variable used to indicate if a Nunchuck controller is connected
    
    /* IMU Data, might be usefull if you need to do something more advanced than just calculating the angle */
    
    double wiiMotePitch; // Pitch and roll calculated from the accelerometer inside the Wiimote
    double wiiMoteRoll;
    double nunchuckPitch; // Pitch and roll calculated from the accelerometer inside the Nunchuck
    double nunchuckRoll;
    
    int16_t accX; // Accelerometer values used to calculate pitch and roll
    int16_t accY;
    int16_t accZ;
    
    /* Variables for the gyro inside the Motion Plus */
    double gyroPitch; // This is the pitch calculated by the gyro - use this to tune pitchGyroScale
    double gyroRoll; // This is the roll calculated by the gyro - use this to tune rollGyroScale
    double gyroYaw; // This is the yaw calculated by the gyro - use this to tune yawGyroScale

    double pitchGyroSpeed; // The speed in deg/s from the gyro
    double rollGyroSpeed;
    double yawGyroSpeed;
    
    uint16_t pitchGyroScale; // You might need to fine-tune these values
    uint16_t rollGyroScale;
    uint16_t yawGyroScale;
    
    int16_t gyroYawRaw; // Raw value read directly from the Motion Plus
    int16_t gyroRollRaw;
    int16_t gyroPitchRaw;
    
    int16_t gyroYawZero; // These values are set when the controller is first initialized
    int16_t gyroRollZero;
    int16_t gyroPitchZero;

    uint8_t getBatteryLevel() { return batteryLevel; };
    uint8_t getWiiState() { return wiiState; };

#ifdef WIICAMERA
    /* These are functions for the IR camera */
    void IRinitialize(); // Initialises the camera as per the steps from http://wiibrew.org/wiki/Wiimote#IR_Camera    

    uint16_t getIRx1() { return IR_object_x1; }; // IR object 1 x position (0-1023)
    uint16_t getIRy1() { return IR_object_y1; }; // IR object 1 y position (0-767)
    uint8_t getIRs1() { return IR_object_s1; }; // IR object 1 size (0-15)

    uint16_t getIRx2() { return IR_object_x2; };
    uint16_t getIRy2() { return IR_object_y2; };
    uint8_t getIRs2() { return IR_object_s2; };

    uint16_t getIRx3() { return IR_object_x3; };
    uint16_t getIRy3() { return IR_object_y3; };
    uint8_t getIRs3() { return IR_object_s3; };

    uint16_t getIRx4() { return IR_object_x4; };
    uint16_t getIRy4() { return IR_object_y4; };
    uint8_t getIRs4() { return IR_object_s4; };

    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;
    uint8_t hatValues[2];
    
    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