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https://github.com/felis/USB_Host_Shield_2.0.git
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236 lines
No EOL
8.6 KiB
C++
Executable file
236 lines
No EOL
8.6 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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*/
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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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/* 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 LED {
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LED1 = 0x10,
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LED2 = 0x20,
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LED3 = 0x40,
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LED4 = 0x80,
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LED5 = 0x90,
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LED6 = 0xA0,
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LED7 = 0xC0,
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LED8 = 0xD0,
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LED9 = 0xE0,
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LED10 = 0xF0,
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};
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enum Button {
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LEFT = 0x00001,
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RIGHT = 0x00002,
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DOWN = 0x00004,
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UP = 0x00008,
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PLUS = 0x00010,
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TWO = 0x00100,
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ONE = 0x00200,
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B = 0x00400,
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A = 0x00800,
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MINUS = 0x01000,
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HOME = 0x08000,
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Z = 0x10000,
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C = 0x20000,
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};
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enum AnalogHat {
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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(AnalogHat 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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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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/* 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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};
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#endif |