Merge commit 'd9e077468ab3446cbd7306a453a73dad2c1403e8' into firmware_21

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diff --git a/lib/usbhost/USB_Host_Shield_2.0/examples/Bluetooth/WiiIRCamera/WiiIRCamera.ino b/lib/usbhost/USB_Host_Shield_2.0/examples/Bluetooth/WiiIRCamera/WiiIRCamera.ino
new file mode 100644
index 0000000000..573b8bd48c
--- /dev/null
+++ b/lib/usbhost/USB_Host_Shield_2.0/examples/Bluetooth/WiiIRCamera/WiiIRCamera.ino
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+/*
+Example sketch for the Wii libary showing the IR camera functionality. This example
+is for the Bluetooth Wii library developed for the USB shield from Circuits@Home
+
+Created by Allan Glover and Kristian Lauszus.
+Contact Kristian:  http://blog.tkjelectronics.dk/ or send an email at kristianl@tkjelectronics.com.
+Contact Allan at adglover9.81@gmail.com
+
+To test the Wiimote IR camera, you will need access to an IR source. Sunlight will work but is not ideal.
+The simpleist solution is to use the Wii sensor bar, i.e. emitter bar, supplied by the Wii system.
+Otherwise, wire up a IR LED yourself.
+*/
+
+#include <Wii.h>
+#include <usbhub.h>
+
+// Satisfy the IDE, which needs to see the include statment in the ino too.
+#ifdef dobogusinclude
+#include <spi4teensy3.h>
+#include <SPI.h>
+#endif
+
+#ifndef WIICAMERA // Used to check if WIICAMERA is defined
+#error "Please set ENABLE_WII_IR_CAMERA to 1 in settings.h"
+#endif
+
+USB Usb;
+//USBHub Hub1(&Usb); // Some dongles have a hub inside
+
+BTD Btd(&Usb); // You have to create the Bluetooth Dongle instance like so
+/* You can create the instance of the class in two ways */
+WII Wii(&Btd, PAIR); // This will start an inquiry and then pair with your Wiimote - you only have to do this once
+//WII Wii(&Btd); // After the Wiimote pairs once with the line of code above, you can simply create the instance like so and re upload and then press any button on the Wiimote
+
+bool printAngle;
+uint8_t printObjects;
+
+void setup() {
+  Serial.begin(115200);
+#if !defined(__MIPSEL__)
+  while (!Serial); // Wait for serial port to connect - used on Leonardo, Teensy and other boards with built-in USB CDC serial connection
+#endif
+  if (Usb.Init() == -1) {
+    Serial.print(F("\r\nOSC did not start"));
+    while (1); //halt
+  }
+  Serial.print(F("\r\nWiimote Bluetooth Library Started"));
+}
+
+void loop() {
+  Usb.Task();
+  if (Wii.wiimoteConnected) {
+    if (Wii.getButtonClick(HOME)) { // You can use getButtonPress to see if the button is held down
+      Serial.print(F("\r\nHOME"));
+      Wii.disconnect();
+    }
+    else {
+      if (Wii.getButtonClick(ONE))
+        Wii.IRinitialize(); // Run the initialisation sequence
+      if (Wii.getButtonClick(MINUS) || Wii.getButtonClick(PLUS)) {
+        if (!Wii.isIRCameraEnabled())
+          Serial.print(F("\r\nEnable IR camera first"));
+        else {
+          if (Wii.getButtonPress(MINUS)) { // getButtonClick will only return true once
+            if (printObjects > 0)
+              printObjects--;
+          }
+          else {
+            if (printObjects < 4)
+              printObjects++;
+          }
+          Serial.print(F("\r\nTracking "));
+          Serial.print(printObjects);
+          Serial.print(F(" objects"));
+        }
+      }
+      if (Wii.getButtonClick(A)) {
+        printAngle = !printAngle;
+        Serial.print(F("\r\nA"));
+      }
+      if (Wii.getButtonClick(B)) {
+        Serial.print(F("\r\nBattery level: "));
+        Serial.print(Wii.getBatteryLevel()); // You can get the battery level as well
+      }
+    }
+    if (printObjects > 0) {
+      if (Wii.getIRx1() != 0x3FF || Wii.getIRy1() != 0x3FF || Wii.getIRs1() != 0) { // Only print if the IR camera is actually seeing something
+        Serial.print(F("\r\nx1: "));
+        Serial.print(Wii.getIRx1());
+        Serial.print(F("\ty1: "));
+        Serial.print(Wii.getIRy1());
+        Serial.print(F("\ts1:"));
+        Serial.print(Wii.getIRs1());
+      }
+      if (printObjects > 1) {
+        if (Wii.getIRx2() != 0x3FF || Wii.getIRy2() != 0x3FF || Wii.getIRs2() != 0) {
+          Serial.print(F("\r\nx2: "));
+          Serial.print(Wii.getIRx2());
+          Serial.print(F("\ty2: "));
+          Serial.print(Wii.getIRy2());
+          Serial.print(F("\ts2:"));
+          Serial.print(Wii.getIRs2());
+        }
+        if (printObjects > 2) {
+          if (Wii.getIRx3() != 0x3FF || Wii.getIRy3() != 0x3FF || Wii.getIRs3() != 0) {
+            Serial.print(F("\r\nx3: "));
+            Serial.print(Wii.getIRx3());
+            Serial.print(F("\ty3: "));
+            Serial.print(Wii.getIRy3());
+            Serial.print(F("\ts3:"));
+            Serial.print(Wii.getIRs3());
+          }
+          if (printObjects > 3) {
+            if (Wii.getIRx4() != 0x3FF || Wii.getIRy4() != 0x3FF || Wii.getIRs4() != 0) {
+              Serial.print(F("\r\nx4: "));
+              Serial.print(Wii.getIRx4());
+              Serial.print(F("\ty4: "));
+              Serial.print(Wii.getIRy4());
+              Serial.print(F("\ts4:"));
+              Serial.print(Wii.getIRs4());
+            }
+          }
+        }
+      }
+    }
+    if (printAngle) { // There is no extension bytes available, so the MotionPlus or Nunchuck can't be read
+      Serial.print(F("\r\nPitch: "));
+      Serial.print(Wii.getPitch());
+      Serial.print(F("\tRoll: "));
+      Serial.print(Wii.getRoll());
+    }
+  }
+}