forked from felis/USB_Host_Shield_2.0
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Wii.h
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Wii.h
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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
*/
#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