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) and Kristian Lauszus
 */

#ifndef _wii_h_
#define _wii_h_

#include "BTD.h"
#include "controllerEnums.h"

/* Wii event flags */
#define WII_FLAG_MOTION_PLUS_CONNECTED          (1 << 0)
#define WII_FLAG_NUNCHUCK_CONNECTED             (1 << 1)
#define WII_FLAG_CALIBRATE_BALANCE_BOARD        (1 << 2)

#define wii_check_flag(flag)  (wii_event_flag & (flag))
#define wii_set_flag(flag)  (wii_event_flag |= (flag))
#define wii_clear_flag(flag)  (wii_event_flag &= ~(flag))

enum HatEnum {
        HatX = 0,
        HatY = 1,
};

enum BalanceBoardEnum {
        TopRight = 0,
        BotRight = 1,
        TopLeft = 2,
        BotLeft = 3,
};

class WII : public BluetoothService {
public:
        WII(BTD *p, bool pair = false);

        void disconnect();
        bool getButtonPress(ButtonEnum b);
        bool getButtonClick(ButtonEnum b);
        void pair(void) {
                if(pBtd)
                        pBtd->pairWithWiimote();
        };
        uint8_t getAnalogHat(HatEnum a);
        uint16_t getAnalogHat(AnalogHatEnum a);

        float getPitch() {
                if(motionPlusConnected)
                        return compPitch;
                return getWiimotePitch();
        };

        float getRoll() {
                if(motionPlusConnected)
                        return compRoll;
                return getWiimoteRoll();
        };

        float getYaw() {
                return gyroYaw;
        };

        void setAllOff();
        void setRumbleOff();
        void setRumbleOn();
        void setRumbleToggle();

        void setLedRaw(uint8_t value);

        void setLedOff() {
                setLedRaw(0);
        };
        void setLedOff(LEDEnum a);
        void setLedOn(LEDEnum a);
        void setLedToggle(LEDEnum a);
        void setLedStatus();

        uint8_t getBatteryLevel();

        uint8_t getWiiState() {
                return wiiState;
        };
        bool wiimoteConnected;
        bool nunchuckConnected;
        bool motionPlusConnected;
        bool wiiUProControllerConnected;
        bool wiiBalanceBoardConnected;
        /* IMU Data, might be usefull if you need to do something more advanced than just calculating the angle */

        float getWiimotePitch() {
                return (atan2f(accYwiimote, accZwiimote) + PI) * RAD_TO_DEG;
        };

        float getWiimoteRoll() {
                return (atan2f(accXwiimote, accZwiimote) + PI) * RAD_TO_DEG;
        };
        float getNunchuckPitch() {
                return (atan2f(accYnunchuck, accZnunchuck) + PI) * RAD_TO_DEG;
        };

        float getNunchuckRoll() {
                return (atan2f(accXnunchuck, accZnunchuck) + PI) * RAD_TO_DEG;
        };
        int16_t accXwiimote, accYwiimote, accZwiimote;
        int16_t accXnunchuck, accYnunchuck, accZnunchuck;
        /* Variables for the gyro inside the Motion Plus */
        float gyroPitch;
        float gyroRoll;
        float gyroYaw;

        float pitchGyroSpeed;
        float rollGyroSpeed;
        float yawGyroSpeed;
        uint16_t pitchGyroScale;
        uint16_t rollGyroScale;
        uint16_t yawGyroScale;
        int16_t gyroYawRaw;
        int16_t gyroRollRaw;
        int16_t gyroPitchRaw;
        int16_t gyroYawZero;
        int16_t gyroRollZero;
        int16_t gyroPitchZero;
        float getWeight(BalanceBoardEnum pos);

        float getTotalWeight();

        uint16_t getWeightRaw(BalanceBoardEnum pos) {
                return wiiBalanceBoardRaw[pos];
        };
#ifdef WIICAMERA

        void IRinitialize();

        uint16_t getIRx1() {
                return IR_object_x1;
        };

        uint16_t getIRy1() {
                return IR_object_y1;
        };

        uint8_t getIRs1() {
                return IR_object_s1;
        };

        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

protected:
        void ACLData(uint8_t* ACLData);
        void Run();
        void Reset();
        void onInit();
private:

        void L2CAP_task(); // L2CAP state machine

        /* Variables filled from HCI event management */
        bool activeConnection; // Used to indicate if it's already has established a connection

        /* Variables used by high level L2CAP task */
        uint8_t l2cap_state;
        uint8_t wii_event_flag; // Used for Wii flags

        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;
        bool checkBatteryLevel; // Set to true when getBatteryLevel() is called otherwise if should be false
        bool motionPlusInside; // True if it's a new Wiimote with the Motion Plus extension build into it

        /* 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

        /* HID Commands */
        void HID_Command(uint8_t* data, uint8_t nbytes);
        void setReportMode(bool continuous, uint8_t mode);

        void writeData(uint32_t offset, uint8_t size, uint8_t* data);
        void initExtension1();
        void initExtension2();

        void statusRequest(); // Used to update the Wiimote state and battery level

        void readData(uint32_t offset, uint16_t size, bool EEPROM);
        void readExtensionType();
        void readCalData();
        void readWiiBalanceBoardCalibration(); // Used by the library to read the Wii Balance Board calibration values

        void checkMotionPresent(); // Used to see if a Motion Plus is connected to the Wiimote
        void initMotionPlus();
        void activateMotionPlus();

        uint16_t wiiBalanceBoardRaw[4]; // Wii Balance Board raw values
        uint16_t wiiBalanceBoardCal[3][4]; // Wii Balance Board calibration values

        float compPitch; // Fusioned angle using a complimentary filter if the Motion Plus is connected
        float compRoll; // 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
        uint32_t 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 the 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