protocol/usb_hid/USB_Host_Shield_2.0/Wii.h

   1 /* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
   2
   3  This software may be distributed and modified under the terms of the GNU
   4  General Public License version 2 (GPL2) as published by the Free Software
   5  Foundation and appearing in the file GPL2.TXT included in the packaging of
   6  this file. Please note that GPL2 Section 2[b] requires that all works based
   7  on this software must also be made publicly available under the terms of
   8  the GPL2 ("Copyleft").
   9
  10  Contact information
  11  -------------------
  12
  13  Kristian Lauszus, TKJ Electronics
  14  Web      :  http://www.tkjelectronics.com
  15  e-mail   :  kristianl@tkjelectronics.com
  16
  17  IR camera support added by Allan Glover (adglover9.81@gmail.com) and Kristian Lauszus
  18  */
  19
  20 #ifndef _wii_h_
  21 #define _wii_h_
  22
  23 #include "BTD.h"
  24 #include "controllerEnums.h"
  25
  26 /* Wii event flags */
  27 #define WII_FLAG_MOTION_PLUS_CONNECTED          (1 << 0)
  28 #define WII_FLAG_NUNCHUCK_CONNECTED             (1 << 1)
  29 #define WII_FLAG_CALIBRATE_BALANCE_BOARD        (1 << 2)
  30
  31 #define wii_check_flag(flag)  (wii_event_flag & (flag))
  32 #define wii_set_flag(flag)  (wii_event_flag |= (flag))
  33 #define wii_clear_flag(flag)  (wii_event_flag &= ~(flag))
  34
  35 /** Enum used to read the joystick on the Nunchuck. */
  36 enum HatEnum {
  37         /** Read the x-axis on the Nunchuck joystick. */
  38         HatX = 0,
  39         /** Read the y-axis on the Nunchuck joystick. */
  40         HatY = 1,
  41 };
  42
  43 /** Enum used to read the weight on Wii Balance Board. */
  44 enum BalanceBoardEnum {
  45         TopRight = 0,
  46         BotRight = 1,
  47         TopLeft = 2,
  48         BotLeft = 3,
  49 };
  50
  51 /**
  52  * This BluetoothService class implements support for the Wiimote including the Nunchuck and Motion Plus extension.
  53  *
  54  * It also support the Wii U Pro Controller.
  55  */
  56 class WII : public BluetoothService {
  57 public:
  58         /**
  59          * Constructor for the WII class.
  60          * @param  p   Pointer to BTD class instance.
  61          * @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.
  62          * One can use ::PAIR to set it to true.
  63          */
  64         WII(BTD *p, bool pair = false);
  65
  66         /** @name BluetoothService implementation */
  67         /** Used this to disconnect any of the controllers. */
  68         void disconnect();
  69         /**@}*/
  70
  71         /** @name Wii Controller functions */
  72         /**
  73          * getButtonPress(Button b) will return true as long as the button is held down.
  74          *
  75          * While getButtonClick(Button b) will only return it once.
  76          *
  77          * So you instance if you need to increase a variable once you would use getButtonClick(Button b),
  78          * but if you need to drive a robot forward you would use getButtonPress(Button b).
  79          * @param  b          ::ButtonEnum to read.
  80          * @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.
  81          */
  82         bool getButtonPress(ButtonEnum b);
  83         bool getButtonClick(ButtonEnum b);
  84         /**@}*/
  85
  86         /** @name Wii Controller functions */
  87
  88         /** Call this to start the paring sequence with a controller */
  89         void pair(void) {
  90                 if(pBtd)
  91                         pBtd->pairWithWiimote();
  92         };
  93         /**
  94          * Used to read the joystick of the Nunchuck.
  95          * @param  a Either ::HatX or ::HatY.
  96          * @return   Return the analog value in the range from approximately 25-230.
  97          */
  98         uint8_t getAnalogHat(HatEnum a);
  99         /**
 100          * Used to read the joystick of the Wii U Pro Controller.
 101          * @param  a Either ::LeftHatX, ::LeftHatY, ::RightHatX or ::RightHatY.
 102          * @return   Return the analog value in the range from approximately 800-3200.
 103          */
 104         uint16_t getAnalogHat(AnalogHatEnum a);
 105
 106         /**
 107          * Pitch calculated from the Wiimote. A complimentary filter is used if the Motion Plus is connected.
 108          * @return Pitch in the range from 0-360.
 109          */
 110         double getPitch() {
 111                 if(motionPlusConnected)
 112                         return compPitch;
 113                 return getWiimotePitch();
 114         };
 115
 116         /**
 117          * Roll calculated from the Wiimote. A complimentary filter is used if the Motion Plus is connected.
 118          * @return Roll in the range from 0-360.
 119          */
 120         double getRoll() {
 121                 if(motionPlusConnected)
 122                         return compRoll;
 123                 return getWiimoteRoll();
 124         };
 125
 126         /**
 127          * This is the yaw calculated by the gyro.
 128          *
 129          * <B>NOTE:</B> This angle will drift a lot and is only available if the Motion Plus extension is connected.
 130          * @return The angle calculated using the gyro.
 131          */
 132         double getYaw() {
 133                 return gyroYaw;
 134         };
 135
 136         /** Used to set all LEDs and rumble off. */
 137         void setAllOff();
 138         /** Turn off rumble. */
 139         void setRumbleOff();
 140         /** Turn on rumble. */
 141         void setRumbleOn();
 142         /** Toggle rumble. */
 143         void setRumbleToggle();
 144
 145         /**
 146          * Set LED value without using the ::LEDEnum.
 147          * @param value See: ::LEDEnum.
 148          */
 149         void setLedRaw(uint8_t value);
 150
 151         /** Turn all LEDs off. */
 152         void setLedOff() {
 153                 setLedRaw(0);
 154         };
 155         /**
 156          * Turn the specific ::LEDEnum off.
 157          * @param a The ::LEDEnum to turn off.
 158          */
 159         void setLedOff(LEDEnum a);
 160         /**
 161          * Turn the specific ::LEDEnum on.
 162          * @param a The ::LEDEnum to turn on.
 163          */
 164         void setLedOn(LEDEnum a);
 165         /**
 166          * Toggle the specific ::LEDEnum.
 167          * @param a The ::LEDEnum to toggle.
 168          */
 169         void setLedToggle(LEDEnum a);
 170         /**
 171          * This will set the LEDs, so the user can see which connections are active.
 172          *
 173          * The first ::LEDEnum indicate that the Wiimote is connected,
 174          * the second ::LEDEnum indicate indicate that a Motion Plus is also connected
 175          * the third ::LEDEnum will indicate that a Nunchuck controller is also connected.
 176          */
 177         void setLedStatus();
 178
 179         /**
 180          * Return the battery level of the Wiimote.
 181          * @return The battery level in the range 0-255.
 182          */
 183         uint8_t getBatteryLevel();
 184
 185         /**
 186          * Return the Wiimote state.
 187          * @return See: http://wiibrew.org/wiki/Wiimote#0x20:_Status.
 188          */
 189         uint8_t getWiiState() {
 190                 return wiiState;
 191         };
 192         /**@}*/
 193
 194         /**@{*/
 195         /** Variable used to indicate if a Wiimote is connected. */
 196         bool wiimoteConnected;
 197         /** Variable used to indicate if a Nunchuck controller is connected. */
 198         bool nunchuckConnected;
 199         /** Variable used to indicate if a Nunchuck controller is connected. */
 200         bool motionPlusConnected;
 201         /** Variable used to indicate if a Wii U Pro controller is connected. */
 202         bool wiiUProControllerConnected;
 203         /** Variable used to indicate if a Wii Balance Board is connected. */
 204         bool wiiBalanceBoardConnected;
 205         /**@}*/
 206
 207         /* IMU Data, might be usefull if you need to do something more advanced than just calculating the angle */
 208
 209         /**@{*/
 210
 211         /** Pitch and roll calculated from the accelerometer inside the Wiimote. */
 212         double getWiimotePitch() {
 213                 return (atan2(accYwiimote, accZwiimote) + PI) * RAD_TO_DEG;
 214         };
 215
 216         double getWiimoteRoll() {
 217                 return (atan2(accXwiimote, accZwiimote) + PI) * RAD_TO_DEG;
 218         };
 219         /**@}*/
 220
 221         /**@{*/
 222
 223         /** Pitch and roll calculated from the accelerometer inside the Nunchuck. */
 224         double getNunchuckPitch() {
 225                 return (atan2(accYnunchuck, accZnunchuck) + PI) * RAD_TO_DEG;
 226         };
 227
 228         double getNunchuckRoll() {
 229                 return (atan2(accXnunchuck, accZnunchuck) + PI) * RAD_TO_DEG;
 230         };
 231         /**@}*/
 232
 233         /**@{*/
 234         /** Accelerometer values used to calculate pitch and roll. */
 235         int16_t accXwiimote, accYwiimote, accZwiimote;
 236         int16_t accXnunchuck, accYnunchuck, accZnunchuck;
 237         /**@}*/
 238
 239         /* Variables for the gyro inside the Motion Plus */
 240         /** This is the pitch calculated by the gyro - use this to tune WII#pitchGyroScale. */
 241         double gyroPitch;
 242         /** This is the roll calculated by the gyro - use this to tune WII#rollGyroScale. */
 243         double gyroRoll;
 244         /** This is the yaw calculated by the gyro - use this to tune WII#yawGyroScale. */
 245         double gyroYaw;
 246
 247         /**@{*/
 248         /** The speed in deg/s from the gyro. */
 249         double pitchGyroSpeed;
 250         double rollGyroSpeed;
 251         double yawGyroSpeed;
 252         /**@}*/
 253
 254         /**@{*/
 255         /** You might need to fine-tune these values. */
 256         uint16_t pitchGyroScale;
 257         uint16_t rollGyroScale;
 258         uint16_t yawGyroScale;
 259         /**@}*/
 260
 261         /**@{*/
 262         /** Raw value read directly from the Motion Plus. */
 263         int16_t gyroYawRaw;
 264         int16_t gyroRollRaw;
 265         int16_t gyroPitchRaw;
 266         /**@}*/
 267
 268         /**@{*/
 269         /** These values are set when the controller is first initialized. */
 270         int16_t gyroYawZero;
 271         int16_t gyroRollZero;
 272         int16_t gyroPitchZero;
 273         /**@}*/
 274
 275         /** @name Wii Balance Board functions */
 276
 277         /**
 278          * Used to get the weight at the specific position on the Wii Balance Board.
 279          * @param ::BalanceBoardEnum to read from.
 280          * @return Returns the weight in kg.
 281          */
 282         float getWeight(BalanceBoardEnum pos);
 283
 284         /**
 285          * Used to get total weight on the Wii Balance Board.
 286          * @returnReturns the weight in kg.
 287          */
 288         float getTotalWeight();
 289
 290         /**
 291          * Used to get the raw reading at the specific position on the Wii Balance Board.
 292          * @param ::BalanceBoardEnum to read from.
 293          * @return Returns the raw reading.
 294          */
 295         uint16_t getWeightRaw(BalanceBoardEnum pos) {
 296                 return wiiBalanceBoardRaw[pos];
 297         };
 298         /**@}*/
 299
 300 #ifdef WIICAMERA
 301         /** @name Wiimote IR camera functions
 302          * You will have to set ::ENABLE_WII_IR_CAMERA in settings.h to 1 in order use the IR camera.
 303          */
 304         /** Initialises the camera as per the steps from: http://wiibrew.org/wiki/Wiimote#IR_Camera */
 305         void IRinitialize();
 306
 307         /**
 308          * IR object 1 x-position read from the Wii IR camera.
 309          * @return The x-position of the object in the range 0-1023.
 310          */
 311         uint16_t getIRx1() {
 312                 return IR_object_x1;
 313         };
 314
 315         /**
 316          * IR object 1 y-position read from the Wii IR camera.
 317          * @return The y-position of the object in the range 0-767.
 318          */
 319         uint16_t getIRy1() {
 320                 return IR_object_y1;
 321         };
 322
 323         /**
 324          * IR object 1 size read from the Wii IR camera.
 325          * @return The size of the object in the range 0-15.
 326          */
 327         uint8_t getIRs1() {
 328                 return IR_object_s1;
 329         };
 330
 331         /**
 332          * IR object 2 x-position read from the Wii IR camera.
 333          * @return The x-position of the object in the range 0-1023.
 334          */
 335         uint16_t getIRx2() {
 336                 return IR_object_x2;
 337         };
 338
 339         /**
 340          * IR object 2 y-position read from the Wii IR camera.
 341          * @return The y-position of the object in the range 0-767.
 342          */
 343         uint16_t getIRy2() {
 344                 return IR_object_y2;
 345         };
 346
 347         /**
 348          * IR object 2 size read from the Wii IR camera.
 349          * @return The size of the object in the range 0-15.
 350          */
 351         uint8_t getIRs2() {
 352                 return IR_object_s2;
 353         };
 354
 355         /**
 356          * IR object 3 x-position read from the Wii IR camera.
 357          * @return The x-position of the object in the range 0-1023.
 358          */
 359         uint16_t getIRx3() {
 360                 return IR_object_x3;
 361         };
 362
 363         /**
 364          * IR object 3 y-position read from the Wii IR camera.
 365          * @return The y-position of the object in the range 0-767.
 366          */
 367         uint16_t getIRy3() {
 368                 return IR_object_y3;
 369         };
 370
 371         /**
 372          * IR object 3 size read from the Wii IR camera.
 373          * @return The size of the object in the range 0-15.
 374          */
 375         uint8_t getIRs3() {
 376                 return IR_object_s3;
 377         };
 378
 379         /**
 380          * IR object 4 x-position read from the Wii IR camera.
 381          * @return The x-position of the object in the range 0-1023.
 382          */
 383         uint16_t getIRx4() {
 384                 return IR_object_x4;
 385         };
 386
 387         /**
 388          * IR object 4 y-position read from the Wii IR camera.
 389          * @return The y-position of the object in the range 0-767.
 390          */
 391         uint16_t getIRy4() {
 392                 return IR_object_y4;
 393         };
 394
 395         /**
 396          * IR object 4 size read from the Wii IR camera.
 397          * @return The size of the object in the range 0-15.
 398          */
 399         uint8_t getIRs4() {
 400                 return IR_object_s4;
 401         };
 402
 403         /**
 404          * Use this to check if the camera is enabled or not.
 405          * If not call WII#IRinitialize to initialize the IR camera.
 406          * @return     True if it's enabled, false if not.
 407          */
 408         bool isIRCameraEnabled() {
 409                 return (wiiState & 0x08);
 410         };
 411         /**@}*/
 412 #endif
 413
 414 protected:
 415         /** @name BluetoothService implementation */
 416         /**
 417          * Used to pass acldata to the services.
 418          * @param ACLData Incoming acldata.
 419          */
 420         void ACLData(uint8_t* ACLData);
 421         /** Used to run part of the state machine. */
 422         void Run();
 423         /** Use this to reset the service. */
 424         void Reset();
 425         /**
 426          * Called when the controller is successfully initialized.
 427          * Use attachOnInit(void (*funcOnInit)(void)) to call your own function.
 428          * This is useful for instance if you want to set the LEDs in a specific way.
 429          */
 430         void onInit();
 431         /**@}*/
 432
 433 private:
 434
 435         void L2CAP_task(); // L2CAP state machine
 436
 437         /* Variables filled from HCI event management */
 438         bool activeConnection; // Used to indicate if it's already has established a connection
 439
 440         /* Variables used by high level L2CAP task */
 441         uint8_t l2cap_state;
 442         uint8_t wii_event_flag; // Used for Wii flags
 443
 444         uint32_t ButtonState;
 445         uint32_t OldButtonState;
 446         uint32_t ButtonClickState;
 447         uint16_t hatValues[4];
 448
 449         uint8_t HIDBuffer[3]; // Used to store HID commands
 450
 451         uint16_t stateCounter;
 452         bool unknownExtensionConnected;
 453         bool extensionConnected;
 454         bool checkBatteryLevel; // Set to true when getBatteryLevel() is called otherwise if should be false
 455         bool motionPlusInside; // True if it's a new Wiimote with the Motion Plus extension build into it
 456
 457         /* L2CAP Channels */
 458         uint8_t control_scid[2]; // L2CAP source CID for HID_Control
 459         uint8_t control_dcid[2]; // 0x0060
 460         uint8_t interrupt_scid[2]; // L2CAP source CID for HID_Interrupt
 461         uint8_t interrupt_dcid[2]; // 0x0061
 462
 463         /* HID Commands */
 464         void HID_Command(uint8_t* data, uint8_t nbytes);
 465         void setReportMode(bool continuous, uint8_t mode);
 466
 467         void writeData(uint32_t offset, uint8_t size, uint8_t* data);
 468         void initExtension1();
 469         void initExtension2();
 470
 471         void statusRequest(); // Used to update the Wiimote state and battery level
 472
 473         void readData(uint32_t offset, uint16_t size, bool EEPROM);
 474         void readExtensionType();
 475         void readCalData();
 476         void readWiiBalanceBoardCalibration(); // Used by the library to read the Wii Balance Board calibration values
 477
 478         void checkMotionPresent(); // Used to see if a Motion Plus is connected to the Wiimote
 479         void initMotionPlus();
 480         void activateMotionPlus();
 481
 482         uint16_t wiiBalanceBoardRaw[4]; // Wii Balance Board raw values
 483         uint16_t wiiBalanceBoardCal[3][4]; // Wii Balance Board calibration values
 484
 485         double compPitch; // Fusioned angle using a complimentary filter if the Motion Plus is connected
 486         double compRoll; // Fusioned angle using a complimentary filter if the Motion Plus is connected
 487
 488         bool activateNunchuck;
 489         bool motionValuesReset; // This bool is true when the gyro values has been reset
 490         uint32_t timer;
 491
 492         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)
 493         uint8_t batteryLevel;
 494
 495 #ifdef WIICAMERA
 496         /* Private function and variables for the readings from the IR Camera */
 497         void enableIRCamera1(); // Sets bit 2 of output report 13
 498         void enableIRCamera2(); // Sets bit 2 of output report 1A
 499         void writeSensitivityBlock1();
 500         void writeSensitivityBlock2();
 501         void write0x08Value();
 502         void setWiiModeNumber(uint8_t mode_number);
 503
 504         uint16_t IR_object_x1; // IR x position 10 bits
 505         uint16_t IR_object_y1; // IR y position 10 bits
 506         uint8_t IR_object_s1; // IR size value
 507         uint16_t IR_object_x2;
 508         uint16_t IR_object_y2;
 509         uint8_t IR_object_s2;
 510         uint16_t IR_object_x3; // IR x position 10 bits
 511         uint16_t IR_object_y3; // IR y position 10 bits
 512         uint8_t IR_object_s3; // IR size value
 513         uint16_t IR_object_x4;
 514         uint16_t IR_object_y4;
 515         uint8_t IR_object_s4;
 516 #endif
 517 };
 518 #endif