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Wii.cpp
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Wii.cpp
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/* 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
*/
#include "Wii.h"
// To enable serial debugging see "settings.h"
//#define EXTRADEBUG // Uncomment to get even more debugging data
//#define PRINTREPORT // Uncomment to print the report send by the Wii controllers
const uint8_t WII_LEDS[] PROGMEM = {
0x00, // OFF
0x10, // LED1
0x20, // LED2
0x40, // LED3
0x80, // LED4
0x90, // LED5
0xA0, // LED6
0xC0, // LED7
0xD0, // LED8
0xE0, // LED9
0xF0, // LED10
};
const uint32_t WII_BUTTONS[] PROGMEM = {
0x00008, // UP
0x00002, // RIGHT
0x00004, // DOWN
0x00001, // LEFT
0, // Skip
0x00010, // PLUS
0x00100, // TWO
0x00200, // ONE
0x01000, // MINUS
0x08000, // HOME
0x10000, // Z
0x20000, // C
0x00400, // B
0x00800, // A
};
const uint32_t WII_PROCONTROLLER_BUTTONS[] PROGMEM = {
0x00100, // UP
0x00080, // RIGHT
0x00040, // DOWN
0x00200, // LEFT
0, // Skip
0x00004, // PLUS
0x20000, // L3
0x10000, // R3
0x00010, // MINUS
0x00008, // HOME
0, 0, // Skip
0x04000, // B
0x01000, // A
0x00800, // X
0x02000, // Y
0x00020, // L
0x00002, // R
0x08000, // ZL
0x00400, // ZR
};
WII::WII(BTD *p, bool pair) :
BluetoothService(p) // Pointer to USB class instance - mandatory
{
pBtd->pairWithWii = pair;
HIDBuffer[0] = 0xA2; // HID BT DATA_request (0xA0) | Report Type (Output 0x02)
/* Set device cid for the control and intterrupt channelse - LSB */
control_dcid[0] = 0x60; // 0x0060
control_dcid[1] = 0x00;
interrupt_dcid[0] = 0x61; // 0x0061
interrupt_dcid[1] = 0x00;
Reset();
}
void WII::Reset() {
wiimoteConnected = false;
nunchuckConnected = false;
motionPlusConnected = false;
activateNunchuck = false;
motionValuesReset = false;
activeConnection = false;
motionPlusInside = false;
pBtd->wiiUProController = false;
wiiUProControllerConnected = false;
wiiBalanceBoardConnected = false;
l2cap_event_flag = 0; // Reset flags
l2cap_state = L2CAP_WAIT;
}
void WII::disconnect() { // Use this void to disconnect any of the controllers
if(!motionPlusInside) { // The old Wiimote needs a delay after the first command or it will automatically reconnect
if(motionPlusConnected) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nDeactivating Motion Plus"), 0x80);
#endif
initExtension1(); // This will disable the Motion Plus extension
}
timer = (uint32_t)millis() + 1000; // We have to wait for the message before the rest of the channels can be deactivated
} else
timer = (uint32_t)millis(); // Don't wait
// First the HID interrupt channel has to be disconnected, then the HID control channel and finally the HCI connection
pBtd->l2cap_disconnection_request(hci_handle, ++identifier, interrupt_scid, interrupt_dcid);
Reset();
l2cap_state = L2CAP_INTERRUPT_DISCONNECT;
}
void WII::ACLData(uint8_t* l2capinbuf) {
if(!pBtd->l2capConnectionClaimed && pBtd->incomingWii && !wiimoteConnected && !activeConnection) {
if(l2capinbuf[8] == L2CAP_CMD_CONNECTION_REQUEST) {
if((l2capinbuf[12] | (l2capinbuf[13] << 8)) == HID_CTRL_PSM) {
motionPlusInside = pBtd->motionPlusInside;
pBtd->incomingWii = false;
pBtd->l2capConnectionClaimed = true; // Claim that the incoming connection belongs to this service
activeConnection = true;
hci_handle = pBtd->hci_handle; // Store the HCI Handle for the connection
l2cap_state = L2CAP_WAIT;
}
}
}
if(checkHciHandle(l2capinbuf, hci_handle)) { // acl_handle_ok
if((l2capinbuf[6] | (l2capinbuf[7] << 8)) == 0x0001U) { // l2cap_control - Channel ID for ACL-U
if(l2capinbuf[8] == L2CAP_CMD_COMMAND_REJECT) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nL2CAP Command Rejected - Reason: "), 0x80);
D_PrintHex<uint8_t > (l2capinbuf[13], 0x80);
Notify(PSTR(" "), 0x80);
D_PrintHex<uint8_t > (l2capinbuf[12], 0x80);
Notify(PSTR(" "), 0x80);
D_PrintHex<uint8_t > (l2capinbuf[17], 0x80);
Notify(PSTR(" "), 0x80);
D_PrintHex<uint8_t > (l2capinbuf[16], 0x80);
Notify(PSTR(" "), 0x80);
D_PrintHex<uint8_t > (l2capinbuf[15], 0x80);
Notify(PSTR(" "), 0x80);
D_PrintHex<uint8_t > (l2capinbuf[14], 0x80);
#endif
} else if(l2capinbuf[8] == L2CAP_CMD_CONNECTION_RESPONSE) {
if(((l2capinbuf[16] | (l2capinbuf[17] << 8)) == 0x0000) && ((l2capinbuf[18] | (l2capinbuf[19] << 8)) == SUCCESSFUL)) { // Success
if(l2capinbuf[14] == control_dcid[0] && l2capinbuf[15] == control_dcid[1]) {
//Notify(PSTR("\r\nHID Control Connection Complete"), 0x80);
identifier = l2capinbuf[9];
control_scid[0] = l2capinbuf[12];
control_scid[1] = l2capinbuf[13];
l2cap_set_flag(L2CAP_FLAG_CONTROL_CONNECTED);
} else if(l2capinbuf[14] == interrupt_dcid[0] && l2capinbuf[15] == interrupt_dcid[1]) {
//Notify(PSTR("\r\nHID Interrupt Connection Complete"), 0x80);
identifier = l2capinbuf[9];
interrupt_scid[0] = l2capinbuf[12];
interrupt_scid[1] = l2capinbuf[13];
l2cap_set_flag(L2CAP_FLAG_INTERRUPT_CONNECTED);
}
}
} else if(l2capinbuf[8] == L2CAP_CMD_CONNECTION_REQUEST) {
#ifdef EXTRADEBUG
Notify(PSTR("\r\nL2CAP Connection Request - PSM: "), 0x80);
D_PrintHex<uint8_t > (l2capinbuf[13], 0x80);
Notify(PSTR(" "), 0x80);
D_PrintHex<uint8_t > (l2capinbuf[12], 0x80);
Notify(PSTR(" SCID: "), 0x80);
D_PrintHex<uint8_t > (l2capinbuf[15], 0x80);
Notify(PSTR(" "), 0x80);
D_PrintHex<uint8_t > (l2capinbuf[14], 0x80);
Notify(PSTR(" Identifier: "), 0x80);
D_PrintHex<uint8_t > (l2capinbuf[9], 0x80);
#endif
if((l2capinbuf[12] | (l2capinbuf[13] << 8)) == HID_CTRL_PSM) {
identifier = l2capinbuf[9];
control_scid[0] = l2capinbuf[14];
control_scid[1] = l2capinbuf[15];
l2cap_set_flag(L2CAP_FLAG_CONNECTION_CONTROL_REQUEST);
} else if((l2capinbuf[12] | (l2capinbuf[13] << 8)) == HID_INTR_PSM) {
identifier = l2capinbuf[9];
interrupt_scid[0] = l2capinbuf[14];
interrupt_scid[1] = l2capinbuf[15];
l2cap_set_flag(L2CAP_FLAG_CONNECTION_INTERRUPT_REQUEST);
}
} else if(l2capinbuf[8] == L2CAP_CMD_CONFIG_RESPONSE) {
if((l2capinbuf[16] | (l2capinbuf[17] << 8)) == 0x0000) { // Success
if(l2capinbuf[12] == control_dcid[0] && l2capinbuf[13] == control_dcid[1]) {
//Notify(PSTR("\r\nHID Control Configuration Complete"), 0x80);
identifier = l2capinbuf[9];
l2cap_set_flag(L2CAP_FLAG_CONFIG_CONTROL_SUCCESS);
} else if(l2capinbuf[12] == interrupt_dcid[0] && l2capinbuf[13] == interrupt_dcid[1]) {
//Notify(PSTR("\r\nHID Interrupt Configuration Complete"), 0x80);
identifier = l2capinbuf[9];
l2cap_set_flag(L2CAP_FLAG_CONFIG_INTERRUPT_SUCCESS);
}
}
} else if(l2capinbuf[8] == L2CAP_CMD_CONFIG_REQUEST) {
if(l2capinbuf[12] == control_dcid[0] && l2capinbuf[13] == control_dcid[1]) {
//Notify(PSTR("\r\nHID Control Configuration Request"), 0x80);
pBtd->l2cap_config_response(hci_handle, l2capinbuf[9], control_scid);
} else if(l2capinbuf[12] == interrupt_dcid[0] && l2capinbuf[13] == interrupt_dcid[1]) {
//Notify(PSTR("\r\nHID Interrupt Configuration Request"), 0x80);
pBtd->l2cap_config_response(hci_handle, l2capinbuf[9], interrupt_scid);
}
} else if(l2capinbuf[8] == L2CAP_CMD_DISCONNECT_REQUEST) {
if(l2capinbuf[12] == control_dcid[0] && l2capinbuf[13] == control_dcid[1]) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nDisconnect Request: Control Channel"), 0x80);
#endif
identifier = l2capinbuf[9];
pBtd->l2cap_disconnection_response(hci_handle, identifier, control_dcid, control_scid);
Reset();
} else if(l2capinbuf[12] == interrupt_dcid[0] && l2capinbuf[13] == interrupt_dcid[1]) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nDisconnect Request: Interrupt Channel"), 0x80);
#endif
identifier = l2capinbuf[9];
pBtd->l2cap_disconnection_response(hci_handle, identifier, interrupt_dcid, interrupt_scid);
Reset();
}
} else if(l2capinbuf[8] == L2CAP_CMD_DISCONNECT_RESPONSE) {
if(l2capinbuf[12] == control_scid[0] && l2capinbuf[13] == control_scid[1]) {
//Notify(PSTR("\r\nDisconnect Response: Control Channel"), 0x80);
identifier = l2capinbuf[9];
l2cap_set_flag(L2CAP_FLAG_DISCONNECT_CONTROL_RESPONSE);
} else if(l2capinbuf[12] == interrupt_scid[0] && l2capinbuf[13] == interrupt_scid[1]) {
//Notify(PSTR("\r\nDisconnect Response: Interrupt Channel"), 0x80);
identifier = l2capinbuf[9];
l2cap_set_flag(L2CAP_FLAG_DISCONNECT_INTERRUPT_RESPONSE);
}
}
#ifdef EXTRADEBUG
else {
identifier = l2capinbuf[9];
Notify(PSTR("\r\nL2CAP Unknown Signaling Command: "), 0x80);
D_PrintHex<uint8_t > (l2capinbuf[8], 0x80);
}
#endif
} else if(l2capinbuf[6] == interrupt_dcid[0] && l2capinbuf[7] == interrupt_dcid[1]) { // l2cap_interrupt
//Notify(PSTR("\r\nL2CAP Interrupt"), 0x80);
if(l2capinbuf[8] == 0xA1) { // HID_THDR_DATA_INPUT
if((l2capinbuf[9] >= 0x20 && l2capinbuf[9] <= 0x22) || (l2capinbuf[9] >= 0x30 && l2capinbuf[9] <= 0x37) || l2capinbuf[9] == 0x3e || l2capinbuf[9] == 0x3f) { // These reports include the buttons
if((l2capinbuf[9] >= 0x20 && l2capinbuf[9] <= 0x22) || l2capinbuf[9] == 0x31 || l2capinbuf[9] == 0x33) // These reports have no extensions bytes
ButtonState = (uint32_t)((l2capinbuf[10] & 0x1F) | ((uint16_t)(l2capinbuf[11] & 0x9F) << 8));
else if(wiiUProControllerConnected)
ButtonState = (uint32_t)(((~l2capinbuf[23]) & 0xFE) | ((uint16_t)(~l2capinbuf[24]) << 8) | ((uint32_t)((~l2capinbuf[25]) & 0x03) << 16));
else if(motionPlusConnected) {
if(l2capinbuf[20] & 0x02) // Only update the Wiimote buttons, since the extension bytes are from the Motion Plus
ButtonState = (uint32_t)((l2capinbuf[10] & 0x1F) | ((uint16_t)(l2capinbuf[11] & 0x9F) << 8) | ((uint32_t)(ButtonState & 0xFFFF0000)));
else if(nunchuckConnected) // Update if it's a report from the Nunchuck
ButtonState = (uint32_t)((l2capinbuf[10] & 0x1F) | ((uint16_t)(l2capinbuf[11] & 0x9F) << 8) | ((uint32_t)((~l2capinbuf[20]) & 0x0C) << 14));
//else if(classicControllerConnected) // Update if it's a report from the Classic Controller
} else if(nunchuckConnected) // The Nunchuck is directly connected
ButtonState = (uint32_t)((l2capinbuf[10] & 0x1F) | ((uint16_t)(l2capinbuf[11] & 0x9F) << 8) | ((uint32_t)((~l2capinbuf[20]) & 0x03) << 16));
//else if(classicControllerConnected) // The Classic Controller is directly connected
else if(!unknownExtensionConnected)
ButtonState = (uint32_t)((l2capinbuf[10] & 0x1F) | ((uint16_t)(l2capinbuf[11] & 0x9F) << 8));
#ifdef PRINTREPORT
Notify(PSTR("ButtonState: "), 0x80);
D_PrintHex<uint32_t > (ButtonState, 0x80);
Notify(PSTR("\r\n"), 0x80);
#endif
if(ButtonState != OldButtonState) {
ButtonClickState = ButtonState & ~OldButtonState; // Update click state variable
OldButtonState = ButtonState;
}
}
if(l2capinbuf[9] == 0x31 || l2capinbuf[9] == 0x33 || l2capinbuf[9] == 0x35 || l2capinbuf[9] == 0x37) { // Read the accelerometer
accXwiimote = ((l2capinbuf[12] << 2) | (l2capinbuf[10] & 0x60 >> 5)) - 500;
accYwiimote = ((l2capinbuf[13] << 2) | (l2capinbuf[11] & 0x20 >> 4)) - 500;
accZwiimote = ((l2capinbuf[14] << 2) | (l2capinbuf[11] & 0x40 >> 5)) - 500;
}
switch(l2capinbuf[9]) {
case 0x20: // Status Information - (a1) 20 BB BB LF 00 00 VV
#ifdef EXTRADEBUG
Notify(PSTR("\r\nStatus report was received"), 0x80);
#endif
wiiState = 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)
batteryLevel = l2capinbuf[15]; // Update battery level
if(!checkBatteryLevel) { // If this is true it means that the user must have called getBatteryLevel()
if(l2capinbuf[12] & 0x02) { // Check if a extension is connected
#ifdef DEBUG_USB_HOST
if(!unknownExtensionConnected)
Notify(PSTR("\r\nExtension connected"), 0x80);
#endif
unknownExtensionConnected = true;
#ifdef WIICAMERA
if(!isIRCameraEnabled()) // Don't activate the Motion Plus if we are trying to initialize the IR camera
#endif
setReportMode(false, 0x35); // Also read the extension
} else {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nExtension disconnected"), 0x80);
#endif
if(motionPlusConnected) {
#ifdef DEBUG_USB_HOST
Notify(PSTR(" - from Motion Plus"), 0x80);
#endif
wii_clear_flag(WII_FLAG_NUNCHUCK_CONNECTED);
if(!activateNunchuck) // If it's already trying to initialize the Nunchuck don't set it to false
nunchuckConnected = false;
//else if(classicControllerConnected)
} else if(nunchuckConnected) {
#ifdef DEBUG_USB_HOST
Notify(PSTR(" - Nunchuck"), 0x80);
#endif
nunchuckConnected = false; // It must be the Nunchuck controller then
wii_clear_flag(WII_FLAG_NUNCHUCK_CONNECTED);
onInit();
#ifdef WIICAMERA
if(!isIRCameraEnabled()) // We still want to read from the IR camera, so do not change the report mode
#endif
setReportMode(false, 0x31); // If there is no extension connected we will read the buttons and accelerometer
} else {
#ifdef WIICAMERA
if(!isIRCameraEnabled()) // We still want to read from the IR camera, so do not change the report mode
#endif
setReportMode(false, 0x31); // If there is no extension connected we will read the buttons and accelerometer
}
}
}
else {
#ifdef EXTRADEBUG
Notify(PSTR("\r\nChecking battery level"), 0x80);
#endif
checkBatteryLevel = false; // Check for extensions by default
}
#ifdef DEBUG_USB_HOST
if(l2capinbuf[12] & 0x01)
Notify(PSTR("\r\nWARNING: Battery is nearly empty"), 0x80);
#endif
break;
case 0x21: // Read Memory Data
if((l2capinbuf[12] & 0x0F) == 0) { // No error
uint8_t reportLength = (l2capinbuf[12] >> 4) + 1; // // Bit 4-7 is the length - 1
// See: http://wiibrew.org/wiki/Wiimote/Extension_Controllers
if(l2capinbuf[16] == 0x00 && l2capinbuf[17] == 0xA4 && l2capinbuf[18] == 0x20 && l2capinbuf[19] == 0x00 && l2capinbuf[20] == 0x00) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nNunchuck connected"), 0x80);
#endif
wii_set_flag(WII_FLAG_NUNCHUCK_CONNECTED);
} else if(l2capinbuf[16] == 0x00 && (l2capinbuf[17] == 0xA6 || l2capinbuf[17] == 0xA4) && l2capinbuf[18] == 0x20 && l2capinbuf[19] == 0x00 && l2capinbuf[20] == 0x05) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nMotion Plus connected"), 0x80);
#endif
wii_set_flag(WII_FLAG_MOTION_PLUS_CONNECTED);
} else if(l2capinbuf[16] == 0x00 && l2capinbuf[17] == 0xA4 && l2capinbuf[18] == 0x20 && l2capinbuf[19] == 0x04 && l2capinbuf[20] == 0x05) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nMotion Plus activated in normal mode"), 0x80);
#endif
motionPlusConnected = true;
#ifdef WIICAMERA
if(!isIRCameraEnabled()) // Don't activate the Motion Plus if we are trying to initialize the IR camera
#endif
setReportMode(false, 0x35); // Also read the extension
} else if(l2capinbuf[16] == 0x00 && l2capinbuf[17] == 0xA4 && l2capinbuf[18] == 0x20 && l2capinbuf[19] == 0x05 && l2capinbuf[20] == 0x05) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nMotion Plus activated in Nunchuck pass-through mode"), 0x80);
#endif
activateNunchuck = false;
motionPlusConnected = true;
nunchuckConnected = true;
#ifdef WIICAMERA
if(!isIRCameraEnabled()) // Don't activate the Motion Plus if we are trying to initialize the IR camera
#endif
setReportMode(false, 0x35); // Also read the extension
} else if(l2capinbuf[16] == 0x00 && l2capinbuf[17] == 0xA6 && l2capinbuf[18] == 0x20 && (l2capinbuf[19] == 0x00 || l2capinbuf[19] == 0x04 || l2capinbuf[19] == 0x05 || l2capinbuf[19] == 0x07) && l2capinbuf[20] == 0x05) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nInactive Wii Motion Plus"), 0x80);
Notify(PSTR("\r\nPlease unplug the Motion Plus, disconnect the Wiimote and then replug the Motion Plus Extension"), 0x80);
#endif
stateCounter = 300; // Skip the rest in "WII_CHECK_MOTION_PLUS_STATE"
} else if(l2capinbuf[16] == 0x00 && l2capinbuf[17] == 0xA4 && l2capinbuf[18] == 0x20 && l2capinbuf[19] == 0x01 && l2capinbuf[20] == 0x20) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nWii U Pro Controller connected"), 0x80);
#endif
wiiUProControllerConnected = true;
} else if(l2capinbuf[16] == 0x00 && l2capinbuf[17] == 0xA4 && l2capinbuf[18] == 0x20 && l2capinbuf[19] == 0x04 && l2capinbuf[20] == 0x02) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nWii Balance Board connected"), 0x80);
#endif
setReportMode(false, 0x32); // Read the Wii Balance Board extension
wii_set_flag(WII_FLAG_CALIBRATE_BALANCE_BOARD);
}
// Wii Balance Board calibration reports (24 bits in total)
else if(l2capinbuf[13] == 0x00 && l2capinbuf[14] == 0x24 && reportLength == 16) { // First 16-bit
for(uint8_t i = 0; i < 2; i++) {
for(uint8_t j = 0; j < 4; j++)
wiiBalanceBoardCal[i][j] = l2capinbuf[16 + 8 * i + 2 * j] | l2capinbuf[15 + 8 * i + 2 * j] << 8;
}
} else if(l2capinbuf[13] == 0x00 && l2capinbuf[14] == 0x34 && reportLength == 8) { // Last 8-bit
for(uint8_t j = 0; j < 4; j++)
wiiBalanceBoardCal[2][j] = l2capinbuf[16 + 2 * j] | l2capinbuf[15 + 2 * j] << 8;
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nWii Balance Board calibration values read successfully"), 0x80);
#endif
wii_clear_flag(WII_FLAG_CALIBRATE_BALANCE_BOARD);
wiiBalanceBoardConnected = true;
}
#ifdef DEBUG_USB_HOST
else {
Notify(PSTR("\r\nUnknown Device: "), 0x80);
D_PrintHex<uint8_t > (l2capinbuf[13], 0x80);
D_PrintHex<uint8_t > (l2capinbuf[14], 0x80);
Notify(PSTR("\r\nData: "), 0x80);
for(uint8_t i = 0; i < reportLength; i++) {
D_PrintHex<uint8_t > (l2capinbuf[15 + i], 0x80);
Notify(PSTR(" "), 0x80);
}
}
#endif
}
#ifdef EXTRADEBUG
else {
Notify(PSTR("\r\nReport Error: "), 0x80);
D_PrintHex<uint8_t > (l2capinbuf[13], 0x80);
D_PrintHex<uint8_t > (l2capinbuf[14], 0x80);
}
#endif
break;
case 0x22: // Acknowledge output report, return function result
#ifdef DEBUG_USB_HOST
if(l2capinbuf[13] != 0x00) { // Check if there is an error
Notify(PSTR("\r\nCommand failed: "), 0x80);
D_PrintHex<uint8_t > (l2capinbuf[12], 0x80);
}
#endif
break;
case 0x30: // Core buttons - (a1) 30 BB BB
break;
case 0x31: // Core Buttons and Accelerometer - (a1) 31 BB BB AA AA AA
break;
case 0x32: // Core Buttons with 8 Extension bytes - (a1) 32 BB BB EE EE EE EE EE EE EE EE
// See: http://wiibrew.org/wiki/Wii_Balance_Board#Data_Format
wiiBalanceBoardRaw[TopRight] = l2capinbuf[13] | l2capinbuf[12] << 8; // Top right
wiiBalanceBoardRaw[BotRight] = l2capinbuf[15] | l2capinbuf[14] << 8; // Bottom right
wiiBalanceBoardRaw[TopLeft] = l2capinbuf[17] | l2capinbuf[16] << 8; // Top left
wiiBalanceBoardRaw[BotLeft] = l2capinbuf[19] | l2capinbuf[18] << 8; // Bottom left
break;
case 0x33: // Core Buttons with Accelerometer and 12 IR bytes - (a1) 33 BB BB AA AA AA II II II II II II II II II II II II
#ifdef WIICAMERA
// Read the IR data
IR_object_x1 = (l2capinbuf[15] | ((uint16_t)(l2capinbuf[17] & 0x30) << 4)); // x position
IR_object_y1 = (l2capinbuf[16] | ((uint16_t)(l2capinbuf[17] & 0xC0) << 2)); // y position
IR_object_s1 = (l2capinbuf[17] & 0x0F); // Size value, 0-15
IR_object_x2 = (l2capinbuf[18] | ((uint16_t)(l2capinbuf[20] & 0x30) << 4));
IR_object_y2 = (l2capinbuf[19] | ((uint16_t)(l2capinbuf[20] & 0xC0) << 2));
IR_object_s2 = (l2capinbuf[20] & 0x0F);
IR_object_x3 = (l2capinbuf[21] | ((uint16_t)(l2capinbuf[23] & 0x30) << 4));
IR_object_y3 = (l2capinbuf[22] | ((uint16_t)(l2capinbuf[23] & 0xC0) << 2));
IR_object_s3 = (l2capinbuf[23] & 0x0F);
IR_object_x4 = (l2capinbuf[24] | ((uint16_t)(l2capinbuf[26] & 0x30) << 4));
IR_object_y4 = (l2capinbuf[25] | ((uint16_t)(l2capinbuf[26] & 0xC0) << 2));
IR_object_s4 = (l2capinbuf[26] & 0x0F);
#endif
break;
case 0x34: // Core Buttons with 19 Extension bytes - (a1) 34 BB BB EE EE EE EE EE EE EE EE EE EE EE EE EE EE EE EE EE EE EE
break;
/* 0x3e and 0x3f both give unknown report types when report mode is 0x3e or 0x3f with mode number 0x05 */
case 0x3E: // Core Buttons with Accelerometer and 32 IR bytes
// (a1) 31 BB BB AA AA AA II II II II II II II II II II II II II II II II II II II II II II II II II II II II II II II II
// corresponds to output report mode 0x3e
/**** for reading in full mode: DOES NOT WORK YET ****/
/* When it works it will also have intensity and bounding box data */
/*
IR_object_x1 = (l2capinbuf[13] | ((uint16_t)(l2capinbuf[15] & 0x30) << 4));
IR_object_y1 = (l2capinbuf[14] | ((uint16_t)(l2capinbuf[15] & 0xC0) << 2));
IR_object_s1 = (l2capinbuf[15] & 0x0F);
*/
break;
case 0x3F:
/*
IR_object_x1 = (l2capinbuf[13] | ((uint16_t)(l2capinbuf[15] & 0x30) << 4));
IR_object_y1 = (l2capinbuf[14] | ((uint16_t)(l2capinbuf[15] & 0xC0) << 2));
IR_object_s1 = (l2capinbuf[15] & 0x0F);
*/
break;
case 0x35: // Core Buttons and Accelerometer with 16 Extension Bytes
// (a1) 35 BB BB AA AA AA EE EE EE EE EE EE EE EE EE EE EE EE EE EE EE EE
#if 1 // Set this to 0 if you don't want to use an extension, this reduceds the size of the library a lot!
if(motionPlusConnected) {
if(l2capinbuf[20] & 0x02) { // Check if it's a report from the Motion controller or the extension
if(motionValuesReset) { // We will only use the values when the gyro value has been set
gyroYawRaw = ((l2capinbuf[15] | ((l2capinbuf[18] & 0xFC) << 6)) - gyroYawZero);
gyroRollRaw = ((l2capinbuf[16] | ((l2capinbuf[19] & 0xFC) << 6)) - gyroRollZero);
gyroPitchRaw = ((l2capinbuf[17] | ((l2capinbuf[20] & 0xFC) << 6)) - gyroPitchZero);
yawGyroSpeed = (float)gyroYawRaw / ((float)gyroYawZero / yawGyroScale);
rollGyroSpeed = -(float)gyroRollRaw / ((float)gyroRollZero / rollGyroScale); // We invert these values so they will fit the acc values
pitchGyroSpeed = (float)gyroPitchRaw / ((float)gyroPitchZero / pitchGyroScale);
/* The onboard gyro has two ranges for slow and fast mode */
if(!(l2capinbuf[18] & 0x02)) // Check if fast mode is used
yawGyroSpeed *= 4.545;
if(!(l2capinbuf[18] & 0x01)) // Check if fast mode is used
pitchGyroSpeed *= 4.545;
if(!(l2capinbuf[19] & 0x02)) // Check if fast mode is used
rollGyroSpeed *= 4.545;
compPitch = (0.93f * (compPitch + (pitchGyroSpeed * (float)((uint32_t)micros() - timer) / 1000000.0f)))+(0.07f * getWiimotePitch()); // Use a complimentary filter to calculate the angle
compRoll = (0.93f * (compRoll + (rollGyroSpeed * (float)((uint32_t)micros() - timer) / 1000000.0f)))+(0.07f * getWiimoteRoll());
gyroYaw += (yawGyroSpeed * ((float)((uint32_t)micros() - timer) / 1000000.0f));
gyroRoll += (rollGyroSpeed * ((float)((uint32_t)micros() - timer) / 1000000.0f));
gyroPitch += (pitchGyroSpeed * ((float)((uint32_t)micros() - timer) / 1000000.0f));
timer = (uint32_t)micros();
/*
// Uncomment these lines to tune the gyro scale variabels
Notify(PSTR("\r\ngyroYaw: "), 0x80);
Notify(gyroYaw, 0x80);
Notify(PSTR("\tgyroRoll: "), 0x80);
Notify(gyroRoll, 0x80);
Notify(PSTR("\tgyroPitch: "), 0x80);
Notify(gyroPitch, 0x80);
*/
/*
Notify(PSTR("\twiimoteRoll: "), 0x80);
Notify(wiimoteRoll, 0x80);
Notify(PSTR("\twiimotePitch: "), 0x80);
Notify(wiimotePitch, 0x80);
*/
} else {
if((int32_t)((uint32_t)micros() - timer) > 1000000) { // Loop for 1 sec before resetting the values
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nThe gyro values has been reset"), 0x80);
#endif
gyroYawZero = (l2capinbuf[15] | ((l2capinbuf[18] & 0xFC) << 6));
gyroRollZero = (l2capinbuf[16] | ((l2capinbuf[19] & 0xFC) << 6));
gyroPitchZero = (l2capinbuf[17] | ((l2capinbuf[20] & 0xFC) << 6));
rollGyroScale = 500; // You might need to adjust these
pitchGyroScale = 400;
yawGyroScale = 415;
gyroYaw = 0;
gyroRoll = 0;
gyroPitch = 0;
motionValuesReset = true;
timer = (uint32_t)micros();
}
}
} else {
if(nunchuckConnected) {
hatValues[HatX] = l2capinbuf[15];
hatValues[HatY] = l2capinbuf[16];
accXnunchuck = ((l2capinbuf[17] << 2) | (l2capinbuf[20] & 0x10 >> 3)) - 416;
accYnunchuck = ((l2capinbuf[18] << 2) | (l2capinbuf[20] & 0x20 >> 4)) - 416;
accZnunchuck = (((l2capinbuf[19] & 0xFE) << 2) | (l2capinbuf[20] & 0xC0 >> 5)) - 416;
}
//else if(classicControllerConnected) { }
}
if(l2capinbuf[19] & 0x01) {
if(!extensionConnected) {
extensionConnected = true;
unknownExtensionConnected = true;
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nExtension connected to Motion Plus"), 0x80);
#endif
}
} else {
if(extensionConnected && !unknownExtensionConnected) {
extensionConnected = false;
unknownExtensionConnected = true;
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nExtension disconnected from Motion Plus"), 0x80);
#endif
nunchuckConnected = false; // There is no extension connected to the Motion Plus if this report is sent
}
}
} else if(nunchuckConnected) {
hatValues[HatX] = l2capinbuf[15];
hatValues[HatY] = l2capinbuf[16];
accXnunchuck = ((l2capinbuf[17] << 2) | (l2capinbuf[20] & 0x0C >> 2)) - 416;
accYnunchuck = ((l2capinbuf[18] << 2) | (l2capinbuf[20] & 0x30 >> 4)) - 416;
accZnunchuck = ((l2capinbuf[19] << 2) | (l2capinbuf[20] & 0xC0 >> 6)) - 416;
} else if(wiiUProControllerConnected) {
hatValues[LeftHatX] = (l2capinbuf[15] | l2capinbuf[16] << 8);
hatValues[RightHatX] = (l2capinbuf[17] | l2capinbuf[18] << 8);
hatValues[LeftHatY] = (l2capinbuf[19] | l2capinbuf[20] << 8);
hatValues[RightHatY] = (l2capinbuf[21] | l2capinbuf[22] << 8);
}
#endif
break;
#ifdef DEBUG_USB_HOST
default:
Notify(PSTR("\r\nUnknown Report type: "), 0x80);
D_PrintHex<uint8_t > (l2capinbuf[9], 0x80);
break;
#endif
}
}
}
L2CAP_task();
}
}
void WII::L2CAP_task() {
switch(l2cap_state) {
/* These states are used if the Wiimote is the host */
case L2CAP_CONTROL_SUCCESS:
if(l2cap_check_flag(L2CAP_FLAG_CONFIG_CONTROL_SUCCESS)) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nHID Control Successfully Configured"), 0x80);
#endif
l2cap_state = L2CAP_INTERRUPT_SETUP;
}
break;
case L2CAP_INTERRUPT_SETUP:
if(l2cap_check_flag(L2CAP_FLAG_CONNECTION_INTERRUPT_REQUEST)) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nHID Interrupt Incoming Connection Request"), 0x80);
#endif
pBtd->l2cap_connection_response(hci_handle, identifier, interrupt_dcid, interrupt_scid, PENDING);
delay(1);
pBtd->l2cap_connection_response(hci_handle, identifier, interrupt_dcid, interrupt_scid, SUCCESSFUL);
identifier++;
delay(1);
pBtd->l2cap_config_request(hci_handle, identifier, interrupt_scid);
l2cap_state = L2CAP_INTERRUPT_CONFIG_REQUEST;
}
break;
/* These states are used if the Arduino is the host */
case L2CAP_CONTROL_CONNECT_REQUEST:
if(l2cap_check_flag(L2CAP_FLAG_CONTROL_CONNECTED)) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nSend HID Control Config Request"), 0x80);
#endif
identifier++;
pBtd->l2cap_config_request(hci_handle, identifier, control_scid);
l2cap_state = L2CAP_CONTROL_CONFIG_REQUEST;
}
break;
case L2CAP_CONTROL_CONFIG_REQUEST:
if(l2cap_check_flag(L2CAP_FLAG_CONFIG_CONTROL_SUCCESS)) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nSend HID Interrupt Connection Request"), 0x80);
#endif
identifier++;
pBtd->l2cap_connection_request(hci_handle, identifier, interrupt_dcid, HID_INTR_PSM);
l2cap_state = L2CAP_INTERRUPT_CONNECT_REQUEST;
}
break;
case L2CAP_INTERRUPT_CONNECT_REQUEST:
if(l2cap_check_flag(L2CAP_FLAG_INTERRUPT_CONNECTED)) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nSend HID Interrupt Config Request"), 0x80);
#endif
identifier++;
pBtd->l2cap_config_request(hci_handle, identifier, interrupt_scid);
l2cap_state = L2CAP_INTERRUPT_CONFIG_REQUEST;
}
break;
case L2CAP_INTERRUPT_CONFIG_REQUEST:
if(l2cap_check_flag(L2CAP_FLAG_CONFIG_INTERRUPT_SUCCESS)) { // Now the HID channels is established
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nHID Channels Established"), 0x80);
#endif
pBtd->connectToWii = false;
pBtd->pairWithWii = false;
stateCounter = 0;
l2cap_state = WII_CHECK_MOTION_PLUS_STATE;
}
break;
/* The next states are in run() */
case L2CAP_INTERRUPT_DISCONNECT:
if(l2cap_check_flag(L2CAP_FLAG_DISCONNECT_INTERRUPT_RESPONSE) && ((int32_t)((uint32_t)millis() - timer) >= 0L)) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nDisconnected Interrupt Channel"), 0x80);
#endif
identifier++;
pBtd->l2cap_disconnection_request(hci_handle, identifier, control_scid, control_dcid);
l2cap_state = L2CAP_CONTROL_DISCONNECT;
}
break;
case L2CAP_CONTROL_DISCONNECT:
if(l2cap_check_flag(L2CAP_FLAG_DISCONNECT_CONTROL_RESPONSE)) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nDisconnected Control Channel"), 0x80);
#endif
pBtd->hci_disconnect(hci_handle);
hci_handle = -1; // Reset handle
l2cap_event_flag = 0; // Reset flags
l2cap_state = L2CAP_WAIT;
}
break;
}
}
void WII::Run() {
if(l2cap_state == L2CAP_INTERRUPT_DISCONNECT && ((int32_t)((uint32_t)millis() - timer) >= 0L))
L2CAP_task(); // Call the rest of the disconnection routine after we have waited long enough
switch(l2cap_state) {
case L2CAP_WAIT:
if(pBtd->connectToWii && !pBtd->l2capConnectionClaimed && !wiimoteConnected && !activeConnection) {
pBtd->l2capConnectionClaimed = true;
activeConnection = true;
motionPlusInside = pBtd->motionPlusInside;
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nSend HID Control Connection Request"), 0x80);
#endif
hci_handle = pBtd->hci_handle; // Store the HCI Handle for the connection
l2cap_event_flag = 0; // Reset flags
identifier = 0;
pBtd->l2cap_connection_request(hci_handle, identifier, control_dcid, HID_CTRL_PSM);
l2cap_state = L2CAP_CONTROL_CONNECT_REQUEST;
} else if(l2cap_check_flag(L2CAP_FLAG_CONNECTION_CONTROL_REQUEST)) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nHID Control Incoming Connection Request"), 0x80);
#endif
pBtd->l2cap_connection_response(hci_handle, identifier, control_dcid, control_scid, PENDING);
delay(1);
pBtd->l2cap_connection_response(hci_handle, identifier, control_dcid, control_scid, SUCCESSFUL);
identifier++;
delay(1);
pBtd->l2cap_config_request(hci_handle, identifier, control_scid);
l2cap_state = L2CAP_CONTROL_SUCCESS;
}
break;
case WII_CHECK_MOTION_PLUS_STATE:
#ifdef DEBUG_USB_HOST
if(stateCounter == 0) // Only print onnce
Notify(PSTR("\r\nChecking if a Motion Plus is connected"), 0x80);
#endif
stateCounter++;
if(stateCounter % 200 == 0)
checkMotionPresent(); // Check if there is a motion plus connected
if(wii_check_flag(WII_FLAG_MOTION_PLUS_CONNECTED)) {
stateCounter = 0;
l2cap_state = WII_INIT_MOTION_PLUS_STATE;
timer = (uint32_t)micros();
if(unknownExtensionConnected) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nA extension is also connected"), 0x80);
#endif
activateNunchuck = true; // For we will just set this to true as this the only extension supported so far
}
} else if(stateCounter == 601) { // We will try three times to check for the motion plus
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nNo Motion Plus was detected"), 0x80);
#endif
stateCounter = 0;
l2cap_state = WII_CHECK_EXTENSION_STATE;
}
break;
case WII_CHECK_EXTENSION_STATE: // This is used to check if there is anything plugged in to the extension port
#ifdef DEBUG_USB_HOST
if(stateCounter == 0) // Only print onnce
Notify(PSTR("\r\nChecking if there is any extension connected"), 0x80);
#endif
stateCounter++; // We use this counter as there has to be a short delay between the commands
if(stateCounter == 1)
statusRequest(); // See if a new device has connected
if(stateCounter == 100) {
if(unknownExtensionConnected) // Check if there is a extension is connected to the port
initExtension1();
else
stateCounter = 499;
} else if(stateCounter == 200)
initExtension2();
else if(stateCounter == 300) {
readExtensionType();
unknownExtensionConnected = false;
} else if(stateCounter == 400) {
if(wii_check_flag(WII_FLAG_CALIBRATE_BALANCE_BOARD)) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nReading Wii Balance Board calibration values"), 0x80);
#endif
readWiiBalanceBoardCalibration();
} else
stateCounter = 499;
} else if(stateCounter == 500) {
stateCounter = 0;
l2cap_state = TURN_ON_LED;
}
break;
case WII_INIT_MOTION_PLUS_STATE:
stateCounter++;
if(stateCounter == 1)
initMotionPlus();
else if(stateCounter == 100)
activateMotionPlus();
else if(stateCounter == 200)
readExtensionType(); // Check if it has been activated
else if(stateCounter == 300) {
stateCounter = 0;
unknownExtensionConnected = false; // The motion plus will send a status report when it's activated, we will set this to false so it doesn't reinitialize the Motion Plus
l2cap_state = TURN_ON_LED;
}
break;
case TURN_ON_LED:
if(wii_check_flag(WII_FLAG_NUNCHUCK_CONNECTED))
nunchuckConnected = true;
wiimoteConnected = true;
onInit();
l2cap_state = L2CAP_DONE;
break;
case L2CAP_DONE:
if(unknownExtensionConnected) {
#ifdef DEBUG_USB_HOST
if(stateCounter == 0) // Only print once
Notify(PSTR("\r\nChecking extension port"), 0x80);
#endif
stateCounter++; // We will use this counter as there has to be a short delay between the commands
if(stateCounter == 50)
statusRequest();
else if(stateCounter == 100)
initExtension1();
else if(stateCounter == 150)
if((extensionConnected && motionPlusConnected) || (unknownExtensionConnected && !motionPlusConnected))
initExtension2();
else
stateCounter = 299; // There is no extension connected
else if(stateCounter == 200)
readExtensionType();
else if(stateCounter == 250) {
if(wii_check_flag(WII_FLAG_NUNCHUCK_CONNECTED)) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nNunchuck was reconnected"), 0x80);
#endif
activateNunchuck = true;
nunchuckConnected = true;
}
if(!motionPlusConnected)
stateCounter = 449;
} else if(stateCounter == 300) {
if(motionPlusConnected) {
#ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nReactivating the Motion Plus"), 0x80);
#endif
initMotionPlus();
} else
stateCounter = 449;
} else if(stateCounter == 350)
activateMotionPlus();
else if(stateCounter == 400)
readExtensionType(); // Check if it has been activated
else if(stateCounter == 450) {
onInit();
stateCounter = 0;
unknownExtensionConnected = false;
}
} else
stateCounter = 0;
break;
}
}
/************************************************************/
/* HID Commands */
/************************************************************/
void WII::HID_Command(uint8_t* data, uint8_t nbytes) {
if(motionPlusInside)
pBtd->L2CAP_Command(hci_handle, data, nbytes, interrupt_scid[0], interrupt_scid[1]); // It's the new Wiimote with the Motion Plus Inside or Wii U Pro controller
else
pBtd->L2CAP_Command(hci_handle, data, nbytes, control_scid[0], control_scid[1]);
}
void WII::setAllOff() {
HIDBuffer[1] = 0x11;
HIDBuffer[2] = 0x00;
HID_Command(HIDBuffer, 3);
}
void WII::setRumbleOff() {
HIDBuffer[1] = 0x11;
HIDBuffer[2] &= ~0x01; // Bit 0 control the rumble
HID_Command(HIDBuffer, 3);
}
void WII::setRumbleOn() {
HIDBuffer[1] = 0x11;
HIDBuffer[2] |= 0x01; // Bit 0 control the rumble
HID_Command(HIDBuffer, 3);
}
void WII::setRumbleToggle() {
HIDBuffer[1] = 0x11;
HIDBuffer[2] ^= 0x01; // Bit 0 control the rumble
HID_Command(HIDBuffer, 3);
}
void WII::setLedRaw(uint8_t value) {
HIDBuffer[1] = 0x11;
HIDBuffer[2] = value | (HIDBuffer[2] & 0x01); // Keep the rumble bit
HID_Command(HIDBuffer, 3);
}
void WII::setLedOff(LEDEnum a) {
HIDBuffer[1] = 0x11;
HIDBuffer[2] &= ~(pgm_read_byte(&WII_LEDS[(uint8_t)a]));
HID_Command(HIDBuffer, 3);
}
void WII::setLedOn(LEDEnum a) {
if(a == OFF)
setLedRaw(0);
else {
HIDBuffer[1] = 0x11;
HIDBuffer[2] |= pgm_read_byte(&WII_LEDS[(uint8_t)a]);
HID_Command(HIDBuffer, 3);
}
}
void WII::setLedToggle(LEDEnum a) {
HIDBuffer[1] = 0x11;
HIDBuffer[2] ^= pgm_read_byte(&WII_LEDS[(uint8_t)a]);
HID_Command(HIDBuffer, 3);
}
void WII::setLedStatus() {
HIDBuffer[1] = 0x11;
HIDBuffer[2] = (HIDBuffer[2] & 0x01); // Keep the rumble bit
if(wiimoteConnected)
HIDBuffer[2] |= 0x10; // If it's connected LED1 will light up
if(motionPlusConnected)
HIDBuffer[2] |= 0x20; // If it's connected LED2 will light up
if(nunchuckConnected)
HIDBuffer[2] |= 0x40; // If it's connected LED3 will light up
HID_Command(HIDBuffer, 3);
}
uint8_t WII::getBatteryLevel() {
checkBatteryLevel = true; // This is needed so the library knows that the status response is a response to this function
statusRequest(); // This will update the battery level
return batteryLevel;
};
void WII::setReportMode(bool continuous, uint8_t mode) {
#ifdef EXTRADEBUG
Notify(PSTR("\r\nReport mode was changed to: "), 0x80);
D_PrintHex<uint8_t > (mode, 0x80);
#endif
uint8_t cmd_buf[4];
cmd_buf[0] = 0xA2; // HID BT DATA_request (0xA0) | Report Type (Output 0x02)
cmd_buf[1] = 0x12;
if(continuous)
cmd_buf[2] = 0x04 | (HIDBuffer[2] & 0x01); // Keep the rumble bit
else
cmd_buf[2] = 0x00 | (HIDBuffer[2] & 0x01); // Keep the rumble bit
cmd_buf[3] = mode;
HID_Command(cmd_buf, 4);
}
void WII::statusRequest() {
uint8_t cmd_buf[3];
cmd_buf[0] = 0xA2; // HID BT DATA_request (0xA0) | Report Type (Output 0x02)
cmd_buf[1] = 0x15;
cmd_buf[2] = (HIDBuffer[2] & 0x01); // Keep the rumble bit
HID_Command(cmd_buf, 3);
}
/************************************************************/
/* Memmory Commands */
/************************************************************/