mirror of
https://github.com/felis/USB_Host_Shield_2.0.git
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265 lines
No EOL
10 KiB
C++
Executable file
265 lines
No EOL
10 KiB
C++
Executable file
/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
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This software may be distributed and modified under the terms of the GNU
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General Public License version 2 (GPL2) as published by the Free Software
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Foundation and appearing in the file GPL2.TXT included in the packaging of
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this file. Please note that GPL2 Section 2[b] requires that all works based
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on this software must also be made publicly available under the terms of
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the GPL2 ("Copyleft").
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Contact information
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-------------------
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Kristian Lauszus, TKJ Electronics
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Web : http://www.tkjelectronics.com
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e-mail : kristianl@tkjelectronics.com
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IR camera support added by:
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Allan Glover
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adglover9.81@gmail.com
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*/
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#ifndef _wii_h_
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#define _wii_h_
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#include "BTD.h"
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#include "controllerEnums.h"
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//#define WIICAMERA //uncomment to enable IR camera
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/* Bluetooth L2CAP states for L2CAP_task() */
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#define L2CAP_WAIT 0
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// These states are used if the Wiimote is the host
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#define L2CAP_CONTROL_SUCCESS 1
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#define L2CAP_INTERRUPT_SETUP 2
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// These states are used if the Arduino is the host
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#define L2CAP_CONTROL_CONNECT_REQUEST 3
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#define L2CAP_CONTROL_CONFIG_REQUEST 4
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#define L2CAP_INTERRUPT_CONNECT_REQUEST 5
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#define L2CAP_INTERRUPT_CONFIG_REQUEST 6
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#define L2CAP_CHECK_MOTION_PLUS_STATE 7
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#define L2CAP_CHECK_EXTENSION_STATE 8
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#define L2CAP_INIT_MOTION_PLUS_STATE 9
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#define L2CAP_LED_STATE 10
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#define L2CAP_DONE 11
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#define L2CAP_INTERRUPT_DISCONNECT 12
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#define L2CAP_CONTROL_DISCONNECT 13
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/* L2CAP event flags */
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#define L2CAP_FLAG_CONTROL_CONNECTED 0x001
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#define L2CAP_FLAG_INTERRUPT_CONNECTED 0x002
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#define L2CAP_FLAG_CONFIG_CONTROL_SUCCESS 0x004
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#define L2CAP_FLAG_CONFIG_INTERRUPT_SUCCESS 0x008
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#define L2CAP_FLAG_DISCONNECT_CONTROL_RESPONSE 0x040
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#define L2CAP_FLAG_DISCONNECT_INTERRUPT_RESPONSE 0x080
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#define L2CAP_FLAG_CONNECTION_CONTROL_REQUEST 0x100
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#define L2CAP_FLAG_CONNECTION_INTERRUPT_REQUEST 0x200
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/* Macros for L2CAP event flag tests */
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#define l2cap_connected_control_flag (l2cap_event_flag & L2CAP_FLAG_CONTROL_CONNECTED)
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#define l2cap_connected_interrupt_flag (l2cap_event_flag & L2CAP_FLAG_INTERRUPT_CONNECTED)
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#define l2cap_config_success_control_flag (l2cap_event_flag & L2CAP_FLAG_CONFIG_CONTROL_SUCCESS)
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#define l2cap_config_success_interrupt_flag (l2cap_event_flag & L2CAP_FLAG_CONFIG_INTERRUPT_SUCCESS)
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#define l2cap_disconnect_response_control_flag (l2cap_event_flag & L2CAP_FLAG_DISCONNECT_CONTROL_RESPONSE)
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#define l2cap_disconnect_response_interrupt_flag (l2cap_event_flag & L2CAP_FLAG_DISCONNECT_INTERRUPT_RESPONSE)
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#define l2cap_connection_request_control_flag (l2cap_event_flag & L2CAP_FLAG_CONNECTION_CONTROL_REQUEST)
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#define l2cap_connection_request_interrupt_flag (l2cap_event_flag & L2CAP_FLAG_CONNECTION_INTERRUPT_REQUEST)
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/* Wii event flags */
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#define WII_FLAG_MOTION_PLUS_CONNECTED 0x400
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#define WII_FLAG_NUNCHUCK_CONNECTED 0x800
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#define motion_plus_connected_flag (l2cap_event_flag & WII_FLAG_MOTION_PLUS_CONNECTED)
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#define nunchuck_connected_flag (l2cap_event_flag & WII_FLAG_NUNCHUCK_CONNECTED)
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#define PAIR 1
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enum Hat {
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HatX = 0,
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HatY = 1,
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};
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class WII : public BluetoothService {
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public:
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WII(BTD *p, bool pair=false);
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// BluetoothService implementation
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virtual void ACLData(uint8_t* ACLData); // Used to pass acldata to the services
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virtual void Run(); // Used to run part of the state maschine
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virtual void Reset(); // Use this to reset the service
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virtual void disconnect(); // Use this void to disconnect any of the controllers
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/*
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getButtonPress will return true as long as the button is held down
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While getButtonClick will only return it once
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So you instance if you need to increase a variable once you would use getButtonClick,
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but if you need to drive a robot forward you would use getButtonPress
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*/
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bool getButtonPress(Button b); // This will read true as long as the button is held down
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bool getButtonClick(Button b); // This will only be true when the button is clicked the first time
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uint8_t getAnalogHat(Hat a); // Used to read the joystick of the Nunchuck
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double getPitch() { return pitch; }; // Fusioned angle using a complimentary filter if the Motion Plus is connected
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double getRoll() { return roll; }; // Fusioned angle using a complimentary filter if the Motion Plus is connected
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double getYaw() { return gyroYaw; }; // This is the yaw calculated by the gyro
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void setAllOff(); // Turn both rumble and all LEDs off
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void setRumbleOff();
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void setRumbleOn();
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void setRumbleToggle();
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void setLedOff(LED a);
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void setLedOn(LED a);
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void setLedToggle(LED a);
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void setLedStatus(); // This will set the LEDs, so the user can see which connections are active
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bool wiimoteConnected; // Variable used to indicate if a Wiimote is connected
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bool nunchuckConnected; // Variable used to indicate if a Nunchuck controller is connected
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bool motionPlusConnected; // Variable used to indicate if a Nunchuck controller is connected
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/* IMU Data, might be usefull if you need to do something more advanced than just calculating the angle */
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double wiiMotePitch; // Pitch and roll calculated from the accelerometer inside the Wiimote
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double wiiMoteRoll;
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double nunchuckPitch; // Pitch and roll calculated from the accelerometer inside the Nunchuck
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double nunchuckRoll;
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int16_t accX; // Accelerometer values used to calculate pitch and roll
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int16_t accY;
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int16_t accZ;
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/* Variables for the gyro inside the Motion Plus */
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double gyroPitch; // This is the pitch calculated by the gyro - use this to tune pitchGyroScale
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double gyroRoll; // This is the roll calculated by the gyro - use this to tune rollGyroScale
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double gyroYaw; // This is the yaw calculated by the gyro - use this to tune yawGyroScale
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double pitchGyroSpeed; // The speed in deg/s from the gyro
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double rollGyroSpeed;
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double yawGyroSpeed;
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uint16_t pitchGyroScale; // You might need to fine-tune these values
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uint16_t rollGyroScale;
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uint16_t yawGyroScale;
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int16_t gyroYawRaw; // Raw value read directly from the Motion Plus
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int16_t gyroRollRaw;
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int16_t gyroPitchRaw;
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int16_t gyroYawZero; // These values are set when the controller is first initialized
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int16_t gyroRollZero;
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int16_t gyroPitchZero;
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uint8_t getBatteryLevel() { return batteryLevel; };
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uint8_t getWiiState() { return wiiState; };
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#ifdef WIICAMERA
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/* These are functions for the IR camera */
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void IRinitialize(); // Initialises the camera as per the steps from http://wiibrew.org/wiki/Wiimote#IR_Camera
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uint16_t getIRx1() { return IR_object_x1; }; // IR object 1 x position (0-1023)
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uint16_t getIRy1() { return IR_object_y1; }; // IR object 1 y position (0-767)
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uint8_t getIRs1() { return IR_object_s1; }; // IR object 1 size (0-15)
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uint16_t getIRx2() { return IR_object_x2; };
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uint16_t getIRy2() { return IR_object_y2; };
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uint8_t getIRs2() { return IR_object_s2; };
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uint16_t getIRx3() { return IR_object_x3; };
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uint16_t getIRy3() { return IR_object_y3; };
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uint8_t getIRs3() { return IR_object_s3; };
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uint16_t getIRx4() { return IR_object_x4; };
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uint16_t getIRy4() { return IR_object_y4; };
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uint8_t getIRs4() { return IR_object_s4; };
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bool isIRCameraEnabled() { return (wiiState & 0x08); };
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#endif
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private:
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/* Mandatory members */
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BTD *pBtd;
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void L2CAP_task(); // L2CAP state machine
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/* Variables filled from HCI event management */
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uint16_t hci_handle;
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bool activeConnection; // Used to indicate if it's already has established a connection
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/* variables used by high level L2CAP task */
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uint8_t l2cap_state;
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uint16_t l2cap_event_flag;// l2cap flags of received bluetooth events
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uint32_t ButtonState;
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uint32_t OldButtonState;
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uint32_t ButtonClickState;
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uint8_t hatValues[2];
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uint8_t HIDBuffer[3];// Used to store HID commands
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uint16_t stateCounter;
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bool unknownExtensionConnected;
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bool extensionConnected;
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/* L2CAP Channels */
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uint8_t control_scid[2]; // L2CAP source CID for HID_Control
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uint8_t control_dcid[2]; // 0x0060
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uint8_t interrupt_scid[2]; // L2CAP source CID for HID_Interrupt
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uint8_t interrupt_dcid[2]; // 0x0061
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uint8_t identifier; // Identifier for connection
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/* HID Commands */
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void HID_Command(uint8_t* data, uint8_t nbytes);
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void setReportMode(bool continuous, uint8_t mode);
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void statusRequest();
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void writeData(uint32_t offset, uint8_t size, uint8_t* data);
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void initExtension1();
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void initExtension2();
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void readData(uint32_t offset, uint16_t size, bool EEPROM);
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void readExtensionType();
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void readCalData();
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void checkMotionPresent(); // Used to see if a Motion Plus is connected to the Wiimote
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void initMotionPlus();
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void activateMotionPlus();
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double pitch; // Fusioned angle using a complimentary filter if the Motion Plus is connected
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double roll; // Fusioned angle using a complimentary filter if the Motion Plus is connected
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bool activateNunchuck;
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bool motionValuesReset; // This bool is true when the gyro values has been reset
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unsigned long timer;
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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)
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uint8_t batteryLevel;
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#ifdef WIICAMERA
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/* Private function and variables for the readings from teh IR Camera */
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void enableIRCamera1(); // Sets bit 2 of output report 13
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void enableIRCamera2(); // Sets bit 2 of output report 1A
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void writeSensitivityBlock1();
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void writeSensitivityBlock2();
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void write0x08Value();
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void setWiiModeNumber(uint8_t mode_number);
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uint16_t IR_object_x1; // IR x position 10 bits
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uint16_t IR_object_y1; // IR y position 10 bits
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uint8_t IR_object_s1; // IR size value
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uint16_t IR_object_x2;
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uint16_t IR_object_y2;
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uint8_t IR_object_s2;
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uint16_t IR_object_x3; // IR x position 10 bits
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uint16_t IR_object_y3; // IR y position 10 bits
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uint8_t IR_object_s3; // IR size value
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uint16_t IR_object_x4;
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uint16_t IR_object_y4;
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uint8_t IR_object_s4;
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#endif
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};
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#endif |