/* 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. * * NOTE: 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