mirror of
https://github.com/felis/USB_Host_Shield_2.0.git
synced 2024-03-22 11:31:26 +01:00
216 lines
7.8 KiB
C++
216 lines
7.8 KiB
C++
/* 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
|
|
*/
|
|
|
|
#ifndef _wii_h_
|
|
#define _wii_h_
|
|
|
|
#include "BTD.h"
|
|
|
|
/* Bluetooth L2CAP states for L2CAP_task() */
|
|
#define L2CAP_WAIT 0
|
|
#define L2CAP_CONTROL_CONNECT_REQUEST 1
|
|
#define L2CAP_CONTROL_CONFIG_REQUEST 2
|
|
#define L2CAP_INTERRUPT_CONNECT_REQUEST 3
|
|
#define L2CAP_INTERRUPT_CONFIG_REQUEST 4
|
|
|
|
#define L2CAP_CHECK_MOTION_PLUS_STATE 5
|
|
#define L2CAP_CHECK_EXTENSION_STATE 6
|
|
#define L2CAP_INIT_MOTION_PLUS_STATE 7
|
|
|
|
#define L2CAP_LED_STATE 8
|
|
#define L2CAP_DONE 9
|
|
#define L2CAP_INTERRUPT_DISCONNECT 10
|
|
#define L2CAP_CONTROL_DISCONNECT 11
|
|
|
|
/* 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
|
|
|
|
/* 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)
|
|
|
|
/* Wii event flags */
|
|
#define WII_FLAG_MOTION_PLUS_CONNECTED 0x100
|
|
#define WII_FLAG_NUNCHUCK_CONNECTED 0x200
|
|
|
|
#define motion_plus_connected_flag (l2cap_event_flag & WII_FLAG_MOTION_PLUS_CONNECTED)
|
|
#define nunchuck_connected_flag (l2cap_event_flag & WII_FLAG_NUNCHUCK_CONNECTED)
|
|
|
|
enum LED {
|
|
LED1 = 0x10,
|
|
LED2 = 0x20,
|
|
LED3 = 0x40,
|
|
LED4 = 0x80,
|
|
|
|
LED5 = 0x90,
|
|
LED6 = 0xA0,
|
|
LED7 = 0xC0,
|
|
LED8 = 0xD0,
|
|
LED9 = 0xE0,
|
|
LED10 = 0xF0,
|
|
};
|
|
|
|
enum Button {
|
|
LEFT = 0x00001,
|
|
RIGHT = 0x00002,
|
|
DOWN = 0x00004,
|
|
UP = 0x00008,
|
|
PLUS = 0x00010,
|
|
|
|
TWO = 0x00100,
|
|
ONE = 0x00200,
|
|
B = 0x00400,
|
|
A = 0x00800,
|
|
MINUS = 0x01000,
|
|
HOME = 0x08000,
|
|
|
|
Z = 0x10000,
|
|
C = 0x20000,
|
|
};
|
|
enum AnalogHat {
|
|
HatX = 0,
|
|
HatY = 1,
|
|
};
|
|
|
|
class WII : public BluetoothService {
|
|
public:
|
|
WII(BTD *pBtd, uint8_t btadr5=0, uint8_t btadr4=0, uint8_t btadr3=0, uint8_t btadr2=0, uint8_t btadr1=0, uint8_t btadr0=0);
|
|
|
|
// 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
|
|
|
|
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(AnalogHat 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);
|
|
|
|
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;
|
|
|
|
private:
|
|
/* Mandatory members */
|
|
BTD *pBtd;
|
|
|
|
void L2CAP_task(); // L2CAP state machine
|
|
|
|
/* Variables filled from HCI event management */
|
|
uint16_t hci_handle;
|
|
|
|
/* 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
|
|
uint8_t rumbleBit;
|
|
|
|
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;
|
|
};
|
|
#endif |