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