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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
+
+ IR camera support added by Allan Glover (adglover9.81@gmail.com) and Kristian Lauszus
+ */
+
+#ifndef _wii_h_
+#define _wii_h_
+
+#include "BTD.h"
+#include "controllerEnums.h"
+
+/* Wii event flags */
+#define WII_FLAG_MOTION_PLUS_CONNECTED (1 << 0)
+#define WII_FLAG_NUNCHUCK_CONNECTED (1 << 1)
+#define WII_FLAG_CALIBRATE_BALANCE_BOARD (1 << 2)
+
+#define wii_check_flag(flag) (wii_event_flag & (flag))
+#define wii_set_flag(flag) (wii_event_flag |= (flag))
+#define wii_clear_flag(flag) (wii_event_flag &= ~(flag))
+
+/** Enum used to read the joystick on the Nunchuck. */
+enum HatEnum {
+ /** Read the x-axis on the Nunchuck joystick. */
+ HatX = 0,
+ /** Read the y-axis on the Nunchuck joystick. */
+ HatY = 1,
+};
+
+/** Enum used to read the weight on Wii Balance Board. */
+enum BalanceBoardEnum {
+ TopRight = 0,
+ BotRight = 1,
+ TopLeft = 2,
+ BotLeft = 3,
+};
+
+/**
+ * This BluetoothService class implements support for the Wiimote including the Nunchuck and Motion Plus extension.
+ *
+ * It also support the Wii U Pro Controller.
+ */
+class WII : public BluetoothService {
+public:
+ /**
+ * Constructor for the WII class.
+ * @param p Pointer to BTD class instance.
+ * @param pair Set this to true in order to pair with the Wiimote. If the argument is omitted then it won't pair with it.
+ * One can use ::PAIR to set it to true.
+ */
+ WII(BTD *p, bool pair = false);
+
+ /** @name BluetoothService implementation */
+ /** Used this to disconnect any of the controllers. */
+ void disconnect();
+ /**@}*/
+
+ /** @name Wii Controller functions */
+ /**
+ * getButtonPress(Button b) will return true as long as the button is held down.
+ *
+ * While getButtonClick(Button b) will only return it once.
+ *
+ * So you instance if you need to increase a variable once you would use getButtonClick(Button b),
+ * but if you need to drive a robot forward you would use getButtonPress(Button b).
+ * @param b ::ButtonEnum to read.
+ * @return getButtonPress(ButtonEnum b) will return a true as long as a button is held down, while getButtonClick(ButtonEnum b) will return true once for each button press.
+ */
+ bool getButtonPress(ButtonEnum b);
+ bool getButtonClick(ButtonEnum b);
+ /**@}*/
+
+ /** @name Wii Controller functions */
+
+ /** Call this to start the paring sequence with a controller */
+ void pair(void) {
+ if(pBtd)
+ pBtd->pairWithWiimote();
+ };
+ /**
+ * Used to read the joystick of the Nunchuck.
+ * @param a Either ::HatX or ::HatY.
+ * @return Return the analog value in the range from approximately 25-230.
+ */
+ uint8_t getAnalogHat(HatEnum a);
+ /**
+ * Used to read the joystick of the Wii U Pro Controller.
+ * @param a Either ::LeftHatX, ::LeftHatY, ::RightHatX or ::RightHatY.
+ * @return Return the analog value in the range from approximately 800-3200.
+ */
+ uint16_t getAnalogHat(AnalogHatEnum a);
+
+ /**
+ * Pitch calculated from the Wiimote. A complimentary filter is used if the Motion Plus is connected.
+ * @return Pitch in the range from 0-360.
+ */
+ double getPitch() {
+ if(motionPlusConnected)
+ return compPitch;
+ return getWiimotePitch();
+ };
+
+ /**
+ * Roll calculated from the Wiimote. A complimentary filter is used if the Motion Plus is connected.
+ * @return Roll in the range from 0-360.
+ */
+ double getRoll() {
+ if(motionPlusConnected)
+ return compRoll;
+ return getWiimoteRoll();
+ };
+
+ /**
+ * This is the yaw calculated by the gyro.
+ *
+ * <B>NOTE:</B> This angle will drift a lot and is only available if the Motion Plus extension is connected.
+ * @return The angle calculated using the gyro.
+ */
+ double getYaw() {
+ return gyroYaw;
+ };
+
+ /** Used to set all LEDs and rumble off. */
+ void setAllOff();
+ /** Turn off rumble. */
+ void setRumbleOff();
+ /** Turn on rumble. */
+ void setRumbleOn();
+ /** Toggle rumble. */
+ void setRumbleToggle();
+
+ /**
+ * Set LED value without using the ::LEDEnum.
+ * @param value See: ::LEDEnum.
+ */
+ void setLedRaw(uint8_t value);
+
+ /** Turn all LEDs off. */
+ void setLedOff() {
+ setLedRaw(0);
+ };
+ /**
+ * Turn the specific ::LEDEnum off.
+ * @param a The ::LEDEnum to turn off.
+ */
+ void setLedOff(LEDEnum a);
+ /**
+ * Turn the specific ::LEDEnum on.
+ * @param a The ::LEDEnum to turn on.
+ */
+ void setLedOn(LEDEnum a);
+ /**
+ * Toggle the specific ::LEDEnum.
+ * @param a The ::LEDEnum to toggle.
+ */
+ void setLedToggle(LEDEnum a);
+ /**
+ * This will set the LEDs, so the user can see which connections are active.
+ *
+ * The first ::LEDEnum indicate that the Wiimote is connected,
+ * the second ::LEDEnum indicate indicate that a Motion Plus is also connected
+ * the third ::LEDEnum will indicate that a Nunchuck controller is also connected.
+ */
+ void setLedStatus();
+
+ /**
+ * Return the battery level of the Wiimote.
+ * @return The battery level in the range 0-255.
+ */
+ uint8_t getBatteryLevel();
+
+ /**
+ * Return the Wiimote state.
+ * @return See: http://wiibrew.org/wiki/Wiimote#0x20:_Status.
+ */
+ uint8_t getWiiState() {
+ return wiiState;
+ };
+ /**@}*/
+
+ /**@{*/
+ /** Variable used to indicate if a Wiimote is connected. */
+ bool wiimoteConnected;
+ /** Variable used to indicate if a Nunchuck controller is connected. */
+ bool nunchuckConnected;
+ /** Variable used to indicate if a Nunchuck controller is connected. */
+ bool motionPlusConnected;
+ /** Variable used to indicate if a Wii U Pro controller is connected. */
+ bool wiiUProControllerConnected;
+ /** Variable used to indicate if a Wii Balance Board is connected. */
+ bool wiiBalanceBoardConnected;
+ /**@}*/
+
+ /* IMU Data, might be usefull if you need to do something more advanced than just calculating the angle */
+
+ /**@{*/
+
+ /** Pitch and roll calculated from the accelerometer inside the Wiimote. */
+ double getWiimotePitch() {
+ return (atan2(accYwiimote, accZwiimote) + PI) * RAD_TO_DEG;
+ };
+
+ double getWiimoteRoll() {
+ return (atan2(accXwiimote, accZwiimote) + PI) * RAD_TO_DEG;
+ };
+ /**@}*/
+
+ /**@{*/
+
+ /** Pitch and roll calculated from the accelerometer inside the Nunchuck. */
+ double getNunchuckPitch() {
+ return (atan2(accYnunchuck, accZnunchuck) + PI) * RAD_TO_DEG;
+ };
+
+ double getNunchuckRoll() {
+ return (atan2(accXnunchuck, accZnunchuck) + PI) * RAD_TO_DEG;
+ };
+ /**@}*/
+
+ /**@{*/
+ /** Accelerometer values used to calculate pitch and roll. */
+ int16_t accXwiimote, accYwiimote, accZwiimote;
+ int16_t accXnunchuck, accYnunchuck, accZnunchuck;
+ /**@}*/
+
+ /* Variables for the gyro inside the Motion Plus */
+ /** This is the pitch calculated by the gyro - use this to tune WII#pitchGyroScale. */
+ double gyroPitch;
+ /** This is the roll calculated by the gyro - use this to tune WII#rollGyroScale. */
+ double gyroRoll;
+ /** This is the yaw calculated by the gyro - use this to tune WII#yawGyroScale. */
+ double gyroYaw;
+
+ /**@{*/
+ /** The speed in deg/s from the gyro. */
+ double pitchGyroSpeed;
+ double rollGyroSpeed;
+ double yawGyroSpeed;
+ /**@}*/
+
+ /**@{*/
+ /** You might need to fine-tune these values. */
+ uint16_t pitchGyroScale;
+ uint16_t rollGyroScale;
+ uint16_t yawGyroScale;
+ /**@}*/
+
+ /**@{*/
+ /** Raw value read directly from the Motion Plus. */
+ int16_t gyroYawRaw;
+ int16_t gyroRollRaw;
+ int16_t gyroPitchRaw;
+ /**@}*/
+
+ /**@{*/
+ /** These values are set when the controller is first initialized. */
+ int16_t gyroYawZero;
+ int16_t gyroRollZero;
+ int16_t gyroPitchZero;
+ /**@}*/
+
+ /** @name Wii Balance Board functions */
+
+ /**
+ * Used to get the weight at the specific position on the Wii Balance Board.
+ * @param ::BalanceBoardEnum to read from.
+ * @return Returns the weight in kg.
+ */
+ float getWeight(BalanceBoardEnum pos);
+
+ /**
+ * Used to get total weight on the Wii Balance Board.
+ * @returnReturns the weight in kg.
+ */
+ float getTotalWeight();
+
+ /**
+ * Used to get the raw reading at the specific position on the Wii Balance Board.
+ * @param ::BalanceBoardEnum to read from.
+ * @return Returns the raw reading.
+ */
+ uint16_t getWeightRaw(BalanceBoardEnum pos) {
+ return wiiBalanceBoardRaw[pos];
+ };
+ /**@}*/
+
+#ifdef WIICAMERA
+ /** @name Wiimote IR camera functions
+ * You will have to set ::ENABLE_WII_IR_CAMERA in settings.h to 1 in order use the IR camera.
+ */
+ /** Initialises the camera as per the steps from: http://wiibrew.org/wiki/Wiimote#IR_Camera */
+ void IRinitialize();
+
+ /**
+ * IR object 1 x-position read from the Wii IR camera.
+ * @return The x-position of the object in the range 0-1023.
+ */
+ uint16_t getIRx1() {
+ return IR_object_x1;
+ };
+
+ /**
+ * IR object 1 y-position read from the Wii IR camera.
+ * @return The y-position of the object in the range 0-767.
+ */
+ uint16_t getIRy1() {
+ return IR_object_y1;
+ };
+
+ /**
+ * IR object 1 size read from the Wii IR camera.
+ * @return The size of the object in the range 0-15.
+ */
+ uint8_t getIRs1() {
+ return IR_object_s1;
+ };
+
+ /**
+ * IR object 2 x-position read from the Wii IR camera.
+ * @return The x-position of the object in the range 0-1023.
+ */
+ uint16_t getIRx2() {
+ return IR_object_x2;
+ };
+
+ /**
+ * IR object 2 y-position read from the Wii IR camera.
+ * @return The y-position of the object in the range 0-767.
+ */
+ uint16_t getIRy2() {
+ return IR_object_y2;
+ };
+
+ /**
+ * IR object 2 size read from the Wii IR camera.
+ * @return The size of the object in the range 0-15.
+ */
+ uint8_t getIRs2() {
+ return IR_object_s2;
+ };
+
+ /**
+ * IR object 3 x-position read from the Wii IR camera.
+ * @return The x-position of the object in the range 0-1023.
+ */
+ uint16_t getIRx3() {
+ return IR_object_x3;
+ };
+
+ /**
+ * IR object 3 y-position read from the Wii IR camera.
+ * @return The y-position of the object in the range 0-767.
+ */
+ uint16_t getIRy3() {
+ return IR_object_y3;
+ };
+
+ /**
+ * IR object 3 size read from the Wii IR camera.
+ * @return The size of the object in the range 0-15.
+ */
+ uint8_t getIRs3() {
+ return IR_object_s3;
+ };
+
+ /**
+ * IR object 4 x-position read from the Wii IR camera.
+ * @return The x-position of the object in the range 0-1023.
+ */
+ uint16_t getIRx4() {
+ return IR_object_x4;
+ };
+
+ /**
+ * IR object 4 y-position read from the Wii IR camera.
+ * @return The y-position of the object in the range 0-767.
+ */
+ uint16_t getIRy4() {
+ return IR_object_y4;
+ };
+
+ /**
+ * IR object 4 size read from the Wii IR camera.
+ * @return The size of the object in the range 0-15.
+ */
+ uint8_t getIRs4() {
+ return IR_object_s4;
+ };
+
+ /**
+ * Use this to check if the camera is enabled or not.
+ * If not call WII#IRinitialize to initialize the IR camera.
+ * @return True if it's enabled, false if not.
+ */
+ bool isIRCameraEnabled() {
+ return (wiiState & 0x08);
+ };
+ /**@}*/
+#endif
+
+protected:
+ /** @name BluetoothService implementation */
+ /**
+ * Used to pass acldata to the services.
+ * @param ACLData Incoming acldata.
+ */
+ void ACLData(uint8_t* ACLData);
+ /** Used to run part of the state machine. */
+ void Run();
+ /** Use this to reset the service. */
+ void Reset();
+ /**
+ * Called when the controller is successfully initialized.
+ * Use attachOnInit(void (*funcOnInit)(void)) to call your own function.
+ * This is useful for instance if you want to set the LEDs in a specific way.
+ */
+ void onInit();
+ /**@}*/
+
+private:
+
+ void L2CAP_task(); // L2CAP state machine
+
+ /* Variables filled from HCI event management */
+ bool activeConnection; // Used to indicate if it's already has established a connection
+
+ /* Variables used by high level L2CAP task */
+ uint8_t l2cap_state;
+ uint8_t wii_event_flag; // Used for Wii flags
+
+ uint32_t ButtonState;
+ uint32_t OldButtonState;
+ uint32_t ButtonClickState;
+ uint16_t hatValues[4];
+
+ uint8_t HIDBuffer[3]; // Used to store HID commands
+
+ uint16_t stateCounter;
+ bool unknownExtensionConnected;
+ bool extensionConnected;
+ bool checkBatteryLevel; // Set to true when getBatteryLevel() is called otherwise if should be false
+ bool motionPlusInside; // True if it's a new Wiimote with the Motion Plus extension build into it
+
+ /* 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
+
+ /* HID Commands */
+ void HID_Command(uint8_t* data, uint8_t nbytes);
+ void setReportMode(bool continuous, uint8_t mode);
+
+ void writeData(uint32_t offset, uint8_t size, uint8_t* data);
+ void initExtension1();
+ void initExtension2();
+
+ void statusRequest(); // Used to update the Wiimote state and battery level
+
+ void readData(uint32_t offset, uint16_t size, bool EEPROM);
+ void readExtensionType();
+ void readCalData();
+ void readWiiBalanceBoardCalibration(); // Used by the library to read the Wii Balance Board calibration values
+
+ void checkMotionPresent(); // Used to see if a Motion Plus is connected to the Wiimote
+ void initMotionPlus();
+ void activateMotionPlus();
+
+ uint16_t wiiBalanceBoardRaw[4]; // Wii Balance Board raw values
+ uint16_t wiiBalanceBoardCal[3][4]; // Wii Balance Board calibration values
+
+ double compPitch; // Fusioned angle using a complimentary filter if the Motion Plus is connected
+ double compRoll; // 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
+ uint32_t timer;
+
+ 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)
+ uint8_t batteryLevel;
+
+#ifdef WIICAMERA
+ /* Private function and variables for the readings from the IR Camera */
+ void enableIRCamera1(); // Sets bit 2 of output report 13
+ void enableIRCamera2(); // Sets bit 2 of output report 1A
+ void writeSensitivityBlock1();
+ void writeSensitivityBlock2();
+ void write0x08Value();
+ void setWiiModeNumber(uint8_t mode_number);
+
+ uint16_t IR_object_x1; // IR x position 10 bits
+ uint16_t IR_object_y1; // IR y position 10 bits
+ uint8_t IR_object_s1; // IR size value
+ uint16_t IR_object_x2;
+ uint16_t IR_object_y2;
+ uint8_t IR_object_s2;
+ uint16_t IR_object_x3; // IR x position 10 bits
+ uint16_t IR_object_y3; // IR y position 10 bits
+ uint8_t IR_object_s3; // IR size value
+ uint16_t IR_object_x4;
+ uint16_t IR_object_y4;
+ uint8_t IR_object_s4;
+#endif
+};
+#endif
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