specchioriflesso/USB_Host_Shield_2.0
1
Fork 0
mirror of https://github.com/felis/USB_Host_Shield_2.0.git synced 2024-03-22 11:31:26 +01:00
Code Issues Projects Releases Packages Wiki Activity
USB_Host_Shield_2.0/Wii.cpp
Kristian Lauszus 7eb2f39597 Added getPitch and getRoll
2012-08-21 17:36:37 +02:00

444 lines
No EOL
19 KiB
C++
Raw Blame History

/* 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
*/
#include "Wii.h"
#define DEBUG // Uncomment to print data for debugging
//#define EXTRADEBUG // Uncomment to get even more debugging data
//#define PRINTREPORT // Uncomment to print the report send by the Wiimote
WII::WII(BTD *p, uint8_t btadr5, uint8_t btadr4, uint8_t btadr3, uint8_t btadr2, uint8_t btadr1, uint8_t btadr0):
pBtd(p) // pointer to USB class instance - mandatory
{
if (pBtd)
pBtd->wiiServiceID = pBtd->registerServiceClass(this); // Register it as a Bluetooth service
pBtd->disc_bdaddr[5] = btadr5; // Change to your dongle's Bluetooth address instead
pBtd->disc_bdaddr[4] = btadr4;
pBtd->disc_bdaddr[3] = btadr3;
pBtd->disc_bdaddr[2] = btadr2;
pBtd->disc_bdaddr[1] = btadr1;
pBtd->disc_bdaddr[0] = btadr0;
HIDBuffer[0] = 0xA2;// HID BT DATA_request (0x50) | Report Type (Output 0x02)
/* Set device cid for the control and intterrupt channelse - LSB */
control_dcid[0] = 0x60;//0x0060
control_dcid[1] = 0x00;
interrupt_dcid[0] = 0x61;//0x0061
interrupt_dcid[1] = 0x00;
Reset();
}
void WII::Reset() {
connected = false;
l2cap_event_flag = 0; // Reset flags
l2cap_state = L2CAP_WAIT;
}
void WII::disconnect() { // Use this void to disconnect any of the controllers
//First the HID interrupt channel has to be disconencted, then the HID control channel and finally the HCI connection
pBtd->l2cap_disconnection_request(hci_handle,0x0A, interrupt_scid, interrupt_dcid);
Reset();
l2cap_state = L2CAP_INTERRUPT_DISCONNECT;
}
void WII::ACLData(uint8_t* l2capinbuf) {
if (((l2capinbuf[0] | (l2capinbuf[1] << 8)) == (hci_handle | 0x2000))) { //acl_handle_ok
if ((l2capinbuf[6] | (l2capinbuf[7] << 8)) == 0x0001) { //l2cap_control - Channel ID for ACL-U
if (l2capinbuf[8] == L2CAP_CMD_COMMAND_REJECT) {
#ifdef DEBUG
Notify(PSTR("\r\nL2CAP Command Rejected - Reason: "));
PrintHex<uint8_t>(l2capinbuf[13]);
Notify(PSTR(" "));
PrintHex<uint8_t>(l2capinbuf[12]);
Notify(PSTR(" "));
PrintHex<uint8_t>(l2capinbuf[17]);
Notify(PSTR(" "));
PrintHex<uint8_t>(l2capinbuf[16]);
Notify(PSTR(" "));
PrintHex<uint8_t>(l2capinbuf[15]);
Notify(PSTR(" "));
PrintHex<uint8_t>(l2capinbuf[14]);
#endif
}
else if (l2capinbuf[8] == L2CAP_CMD_CONNECTION_RESPONSE) {
if (((l2capinbuf[16] | (l2capinbuf[17] << 8)) == 0x0000) && ((l2capinbuf[18] | (l2capinbuf[19] << 8)) == SUCCESSFUL)) { // Success
if (l2capinbuf[14] == control_dcid[0] && l2capinbuf[15] == control_dcid[1]) { // Success
//Serial.print("\r\nHID Control Connection Complete");
identifier = l2capinbuf[9];
control_scid[0] = l2capinbuf[12];
control_scid[1] = l2capinbuf[13];
l2cap_event_flag |= L2CAP_FLAG_CONTROL_CONNECTED;
}
else if (l2capinbuf[14] == interrupt_dcid[0] && l2capinbuf[15] == interrupt_dcid[1]) {
//Serial.print("\r\nHID Interrupt Connection Complete");
identifier = l2capinbuf[9];
interrupt_scid[0] = l2capinbuf[12];
interrupt_scid[1] = l2capinbuf[13];
l2cap_event_flag |= L2CAP_FLAG_INTERRUPT_CONNECTED;
}
}
}
else if (l2capinbuf[8] == L2CAP_CMD_CONFIG_RESPONSE) {
if ((l2capinbuf[16] | (l2capinbuf[17] << 8)) == 0x0000) { // Success
if (l2capinbuf[12] == control_dcid[0] && l2capinbuf[13] == control_dcid[1]) {
//Serial.print("\r\nHID Control Configuration Complete");
identifier = l2capinbuf[9];
l2cap_event_flag |= L2CAP_FLAG_CONFIG_CONTROL_SUCCESS;
}
else if (l2capinbuf[12] == interrupt_dcid[0] && l2capinbuf[13] == interrupt_dcid[1]) {
//Serial.print("\r\nHID Interrupt Configuration Complete");
identifier = l2capinbuf[9];
l2cap_event_flag |= L2CAP_FLAG_CONFIG_INTERRUPT_SUCCESS;
}
}
}
else if (l2capinbuf[8] == L2CAP_CMD_CONFIG_REQUEST) {
if (l2capinbuf[12] == control_dcid[0] && l2capinbuf[13] == control_dcid[1]) {
//Serial.print("\r\nHID Control Configuration Request");
pBtd->l2cap_config_response(hci_handle, l2capinbuf[9], control_scid);
}
else if (l2capinbuf[12] == interrupt_dcid[0] && l2capinbuf[13] == interrupt_dcid[1]) {
//Serial.print("\r\nHID Interrupt Configuration Request");
pBtd->l2cap_config_response(hci_handle, l2capinbuf[9], interrupt_scid);
}
}
else if (l2capinbuf[8] == L2CAP_CMD_DISCONNECT_REQUEST) {
if (l2capinbuf[12] == control_dcid[0] && l2capinbuf[13] == control_dcid[1]) {
#ifdef DEBUG
Notify(PSTR("\r\nDisconnect Request: Control Channel"));
#endif
connected = false;
identifier = l2capinbuf[9];
pBtd->l2cap_disconnection_response(hci_handle,identifier,control_dcid,control_scid);
Reset();
}
else if (l2capinbuf[12] == interrupt_dcid[0] && l2capinbuf[13] == interrupt_dcid[1]) {
#ifdef DEBUG
Notify(PSTR("\r\nDisconnect Request: Interrupt Channel"));
#endif
connected = false;
identifier = l2capinbuf[9];
pBtd->l2cap_disconnection_response(hci_handle,identifier,interrupt_dcid,interrupt_scid);
Reset();
}
}
else if (l2capinbuf[8] == L2CAP_CMD_DISCONNECT_RESPONSE) {
if (l2capinbuf[12] == control_scid[0] && l2capinbuf[13] == control_scid[1]) {
//Serial.print("\r\nDisconnect Response: Control Channel");
identifier = l2capinbuf[9];
l2cap_event_flag |= L2CAP_FLAG_DISCONNECT_CONTROL_RESPONSE;
}
else if (l2capinbuf[12] == interrupt_scid[0] && l2capinbuf[13] == interrupt_scid[1]) {
//Serial.print("\r\nDisconnect Response: Interrupt Channel");
identifier = l2capinbuf[9];
l2cap_event_flag |= L2CAP_FLAG_DISCONNECT_INTERRUPT_RESPONSE;
}
}
#ifdef EXTRADEBUG
else {
identifier = l2capinbuf[9];
Notify(PSTR("\r\nL2CAP Unknown Signaling Command: "));
PrintHex<uint8_t>(l2capinbuf[8]);
}
#endif
} else if (l2capinbuf[6] == interrupt_dcid[0] && l2capinbuf[7] == interrupt_dcid[1]) { // l2cap_interrupt
//Serial.print("\r\nL2CAP Interrupt");
if(connected) {
/* Read Report */
if(l2capinbuf[8] == 0xA1) { // HID_THDR_DATA_INPUT
if(l2capinbuf[9] >= 0x30 && l2capinbuf[9] <= 0x37) { // These reports include the buttons
ButtonState = (uint16_t)((l2capinbuf[10] & 0x1F) | ((uint16_t)(l2capinbuf[11] & 0x9F) << 8));
ButtonClickState = ButtonState; // Update click state variable
#ifdef PRINTREPORT
Notify(PSTR("ButtonState: "));
PrintHex<uint16_t>(ButtonState);
Notify(PSTR("\r\n"));
#endif
if(ButtonState != OldButtonState) {
buttonChanged = true;
if(ButtonState != 0x0000) {
buttonPressed = true;
buttonReleased = false;
} else {
buttonPressed = false;
buttonReleased = true;
}
}
else {
buttonChanged = false;
buttonPressed = false;
buttonReleased = false;
}
OldButtonState = ButtonState;
}
if(l2capinbuf[9] == 0x31 || l2capinbuf[9] == 0x35) { // Read the accelerometer
int16_t accX = ((l2capinbuf[12] << 2) | (l2capinbuf[10] & 0x60 >> 5))-500;
int16_t accY = ((l2capinbuf[13] << 2) | (l2capinbuf[11] & 0x20 >> 4))-500;
int16_t accZ = ((l2capinbuf[14] << 2) | (l2capinbuf[11] & 0x40 >> 5))-500;
/*
Notify(PSTR("\r\naccX: "));
Serial.print(accX);
Notify(PSTR("\taccY: "));
Serial.print(accY);
Notify(PSTR("\taccZ: "));
Serial.print(accZ);
*/
pitch = (atan2(accY,accZ)+PI)*RAD_TO_DEG;
roll = (atan2(accX,accZ)+PI)*RAD_TO_DEG;
/*
Notify(PSTR("\r\nPitch: "));
Serial.print(pitch);
Notify(PSTR("\tRoll: "));
Serial.print(roll);
*/
}
switch (l2capinbuf[9]) {
case 0x20: // Status Information
// (a1) 20 BB BB LF 00 00 VV
if(l2capinbuf[12] & 0x02) // Check if a extension is connected
setReportMode(false,0x35); // Also read the extension
else
setReportMode(false,0x31); // If there is no extension connected we will read the button and accelerometer
break;
case 0x30: // Core buttons
// (a1) 30 BB BB
break;
case 0x31: // Core Buttons and Accelerometer
// (a1) 31 BB BB AA AA AA
break;
case 0x32: // Core Buttons with 8 Extension bytes
// (a1) 32 BB BB EE EE EE EE EE EE EE EE
/*
Notify(PSTR("\r\n"));
for (uint8_t i = 0; i < 8; i++) {
Serial.print(l2capinbuf[12+i]);
Notify(PSTR(" "));
}
*/
break;
case 0x34: // Core Buttons with 19 Extension bytes
// (a1) 34 BB BB EE EE EE EE EE EE EE EE EE EE EE EE EE EE EE EE EE EE EE
/*
Notify(PSTR("\r\n"));
for (uint8_t i = 0; i < 19; i++) {
Serial.print(l2capinbuf[12+i]);
Notify(PSTR(" "));
}
*/
break;
case 0x35: // Core Buttons and Accelerometer with 16 Extension Bytes
// (a1) 35 BB BB AA AA AA EE EE EE EE EE EE EE EE EE EE EE EE EE EE EE EE
/*
Notify(PSTR("\r\n"));
for (uint8_t i = 0; i < 16; i++) {
Serial.print(l2capinbuf[15+i]);
Notify(PSTR(" "));
}
*/
break;
#ifdef DEBUG
default:
Notify(PSTR("\r\nUnknown Report type: "));
Serial.print(l2capinbuf[9],HEX);
break;
#endif
}
}
}
}
L2CAP_task();
}
}
void WII::L2CAP_task() {
switch (l2cap_state) {
case L2CAP_CONTROL_CONNECT_REQUEST:
if (l2cap_connected_control_flag) {
#ifdef DEBUG
Notify(PSTR("\r\nSend HID Control Config Request"));
#endif
identifier++;
pBtd->l2cap_config_request(hci_handle, identifier, control_scid);
l2cap_state = L2CAP_CONTROL_CONFIG_REQUEST;
}
break;
case L2CAP_CONTROL_CONFIG_REQUEST:
if(l2cap_config_success_control_flag) {
#ifdef DEBUG
Notify(PSTR("\r\nSend HID Interrupt Connection Request"));
#endif
identifier++;
pBtd->l2cap_connection_request(hci_handle,identifier,interrupt_dcid,HID_INTR_PSM);
l2cap_state = L2CAP_INTERRUPT_CONNECT_REQUEST;
}
break;
case L2CAP_INTERRUPT_CONNECT_REQUEST:
if(l2cap_connected_interrupt_flag) {
#ifdef DEBUG
Notify(PSTR("\r\nSend HID Interrupt Config Request"));
#endif
identifier++;
pBtd->l2cap_config_request(hci_handle, identifier, interrupt_scid);
l2cap_state = L2CAP_INTERRUPT_CONFIG_REQUEST;
}
break;
case L2CAP_INTERRUPT_CONFIG_REQUEST:
if(l2cap_config_success_interrupt_flag) {
#ifdef DEBUG
Notify(PSTR("\r\nHID Channels Established"));
#endif
statusRequest();
l2cap_state = L2CAP_WII_STATUS_STATE;
}
break;
case L2CAP_WII_STATUS_STATE:
connected = true;
pBtd->connectToWii = false;
ButtonState = 0;
OldButtonState = 0;
ButtonClickState = 0;
setLedOn(LED1);
l2cap_state = L2CAP_DONE;
break;
/*
case L2CAP_WIIREMOTE_CAL_STATE:
//Todo enable support for Motion Plus
break;
*/
case L2CAP_DONE:
break;
case L2CAP_INTERRUPT_DISCONNECT:
if (l2cap_disconnect_response_interrupt_flag) {
#ifdef DEBUG
Notify(PSTR("\r\nDisconnected Interrupt Channel"));
#endif
identifier++;
pBtd->l2cap_disconnection_request(hci_handle, identifier, control_scid, control_dcid);
l2cap_state = L2CAP_CONTROL_DISCONNECT;
}
break;
case L2CAP_CONTROL_DISCONNECT:
if (l2cap_disconnect_response_control_flag) {
#ifdef DEBUG
Notify(PSTR("\r\nDisconnected Control Channel"));
#endif
pBtd->hci_disconnect(hci_handle);
l2cap_event_flag = 0; // Reset flags
l2cap_state = L2CAP_WAIT;
}
break;
}
}
void WII::Run() {
switch (l2cap_state) {
case L2CAP_WAIT:
if(pBtd->connectToWii) {
#ifdef DEBUG
Notify(PSTR("\r\nSend HID Control Connection Request"));
#endif
hci_handle = pBtd->hci_handle; // Store the HCI Handle for the connection
l2cap_event_flag = 0; // Reset flags
identifier = 0;
pBtd->l2cap_connection_request(hci_handle,identifier,control_dcid,HID_CTRL_PSM);
l2cap_state = L2CAP_CONTROL_CONNECT_REQUEST;
}
break;
}
}
/************************************************************/
/* HID Commands */
/************************************************************/
void WII::HID_Command(uint8_t* data, uint8_t nbytes) {
pBtd->L2CAP_Command(hci_handle,data,nbytes,control_scid[0],control_scid[1]); // Both the Navigation and Dualshock controller sends data via the control channel
}
void WII::setAllOff() {
HIDBuffer[1] = 0x11;
HIDBuffer[2] = 0x00;
HID_Command(HIDBuffer, 3);
}
void WII::setRumbleOff() {
HIDBuffer[1] = 0x11;
HIDBuffer[2] &= ~0x01; // Bit 0 control the rumble
HID_Command(HIDBuffer, 3);
}
void WII::setRumbleOn() {
HIDBuffer[1] = 0x11;
HIDBuffer[2] |= 0x01; // Bit 0 control the rumble
HID_Command(HIDBuffer, 3);
}
void WII::setRumbleToggle() {
HIDBuffer[1] = 0x11;
HIDBuffer[2] ^= 0x01; // Bit 0 control the rumble
HID_Command(HIDBuffer, 3);
}
void WII::setLedOff(LED a) {
HIDBuffer[1] = 0x11;
HIDBuffer[2] &= ~((uint8_t)a);
HID_Command(HIDBuffer, 3);
}
void WII::setLedOn(LED a) {
HIDBuffer[1] = 0x11;
HIDBuffer[2] |= (uint8_t)a;
HID_Command(HIDBuffer, 3);
}
void WII::setLedToggle(LED a) {
HIDBuffer[1] = 0x11;
HIDBuffer[2] ^= (uint8_t)a;
HID_Command(HIDBuffer, 3);
}
void WII::setReportMode(bool continuous, uint8_t mode) {
uint8_t cmd_buf[4];
cmd_buf[0] = 0xA2; // HID BT DATA_request (0x50) | Report Type (Output 0x02)
cmd_buf[1] = 0x12;
if(continuous)
cmd_buf[2] = 0x04;
else
cmd_buf[2] = 0x00;
cmd_buf[3] = mode;
HID_Command(cmd_buf, 4);
}
void WII::statusRequest() {
uint8_t cmd_buf[3];
cmd_buf[0] = 0xA2; // HID BT DATA_request (0x50) | Report Type (Output 0x02)
cmd_buf[1] = 0x15;
cmd_buf[2] = 0x00;
HID_Command(cmd_buf, 3);
}
/************************************************************/
/* WII Commands */
/************************************************************/
bool WII::getButtonPress(Button b) {
if(ButtonState & (uint16_t)b)
return true;
else
return false;
}
bool WII::getButtonClick(Button b) {
bool click = ((ButtonClickState & (uint16_t)b) != 0);
ButtonClickState &= ~((uint16_t)b); // clear "click" event
return click;
}
Reference in a new issue View git blame Copy permalink