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USB_Host_Shield_2.0/Wii.h
Kristian Sloth Lauszus 219bd50c30 statusRequest is now public
2013-03-30 16:24:08 +01:00

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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"
/** 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 to true in order 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.
*
* <B>NOTE:</B> 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();
/**
* Call this to update battery level and Wiimote state
*/
void statusRequest();
/**
* Return the battery level of the Wiimote.
* @return The battery level in the range 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 read from the Wii IR camera.
* @return The x-position of the object in the range 0-1023.
*/
uint16_t getIRx1() {
return IR_object_x1;
};
/**
* IR object 1 y-position read from the Wii IR camera.
* @return The y-position of the object in the range 0-767.
*/
uint16_t getIRy1() {
return IR_object_y1;
};
/**
* IR object 1 size read from the Wii IR camera.
* @return The size of the object in the range 0-15.
*/
uint8_t getIRs1() {
return IR_object_s1;
};
/**
* IR object 2 x-position read from the Wii IR camera.
* @return The x-position of the object in the range 0-1023.
*/
uint16_t getIRx2() {
return IR_object_x2;
};
/**
* IR object 2 y-position read from the Wii IR camera.
* @return The y-position of the object in the range 0-767.
*/
uint16_t getIRy2() {
return IR_object_y2;
};
/**
* IR object 2 size read from the Wii IR camera.
* @return The size of the object in the range 0-15.
*/
uint8_t getIRs2() {
return IR_object_s2;
};
/**
* IR object 3 x-position read from the Wii IR camera.
* @return The x-position of the object in the range 0-1023.
*/
uint16_t getIRx3() {
return IR_object_x3;
};
/**
* IR object 3 y-position read from the Wii IR camera.
* @return The y-position of the object in the range 0-767.
*/
uint16_t getIRy3() {
return IR_object_y3;
};
/**
* IR object 3 size read from the Wii IR camera.
* @return The size of the object in the range 0-15.
*/
uint8_t getIRs3() {
return IR_object_s3;
};
/**
* IR object 4 x-position read from the Wii IR camera.
* @return The x-position of the object in the range 0-1023.
*/
uint16_t getIRx4() {
return IR_object_x4;
};
/**
* IR object 4 y-position read from the Wii IR camera.
* @return The y-position of the object in the range 0-767.
*/
uint16_t getIRy4() {
return IR_object_y4;
};
/**
* IR object 4 size read from the Wii IR camera.
* @return The size of the object in the range 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 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
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