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Diffstat (limited to 'tmk_core/protocol/usb_hid/USB_Host_Shield_2.0/Wii.h')
| m--------- | tmk_core/protocol/usb_hid/USB_Host_Shield_2.0 | 0 | ||||
| -rwxr-xr-x | tmk_core/protocol/usb_hid/USB_Host_Shield_2.0/Wii.h | 518 |
2 files changed, 518 insertions, 0 deletions
diff --git a/tmk_core/protocol/usb_hid/USB_Host_Shield_2.0 b/tmk_core/protocol/usb_hid/USB_Host_Shield_2.0 deleted file mode 160000 -Subproject 7c2e6c1bcdcc22cfdbd82edd9d8fc4c4276ead4 diff --git a/tmk_core/protocol/usb_hid/USB_Host_Shield_2.0/Wii.h b/tmk_core/protocol/usb_hid/USB_Host_Shield_2.0/Wii.h new file mode 100755 index 0000000000..960f2273de --- /dev/null +++ b/tmk_core/protocol/usb_hid/USB_Host_Shield_2.0/Wii.h @@ -0,0 +1,518 @@ +/* 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 |