/**
* @brief Enable or disable the rumble.
*
* @param wm Pointer to a wiimote_t structure.
* @param status 1 to enable, 0 to disable.
*/
void wiiuse_rumble(struct wiimote_t* wm, int status) {
byte buf;
if (!wm || !WIIMOTE_IS_CONNECTED(wm)) {
return;
}
/* make sure to keep the current lit leds */
buf = wm->leds;
if (status) {
WIIUSE_DEBUG("Starting rumble...");
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_RUMBLE);
buf |= 0x01;
} else {
WIIUSE_DEBUG("Stopping rumble...");
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_RUMBLE);
buf &= ~(0x01);
}
/* preserve IR state */
if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR)) {
buf |= 0x04;
}
wiiuse_send(wm, WM_CMD_RUMBLE, &buf, 1);
}
void wiiuse_handshake(struct wiimote_t* wm, byte* data, uint16_t len) {
/* send request to wiimote for accelerometer calibration */
byte buf[MAX_PAYLOAD];
/* step 0 - Reset wiimote */
{
//wiiuse_set_leds(wm, WIIMOTE_LED_NONE);
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_HANDSHAKE);
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_CONNECTED);
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_ACC);
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_IR);
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_RUMBLE);
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_EXP);
WIIMOTE_DISABLE_FLAG(wm, WIIUSE_CONTINUOUS);
wiiuse_set_report_type(wm);
wiiuse_millisleep(500);
WIIUSE_DEBUG("Wiimote reset!\n");
}
/* step 1 - calibration of accelerometers */
if(wm->type != WIIUSE_WIIMOTE_MOTION_PLUS_INSIDE)
{
struct accel_t* accel = &wm->accel_calib;
wiiuse_read_data_sync(wm, 1, WM_MEM_OFFSET_CALIBRATION, 8, buf);
/* received read data */
accel->cal_zero.x = buf[0];
accel->cal_zero.y = buf[1];
accel->cal_zero.z = buf[2];
accel->cal_g.x = buf[4] - accel->cal_zero.x;
accel->cal_g.y = buf[5] - accel->cal_zero.y;
accel->cal_g.z = buf[6] - accel->cal_zero.z;
WIIUSE_DEBUG("Calibrated wiimote acc\n");
}
/* step 2 - re-enable IR and ask for status */
{
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_HANDSHAKE_COMPLETE);
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_HANDSHAKE);
/* now enable IR if it was set before the handshake completed */
if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR)) {
WIIUSE_DEBUG("Handshake finished, enabling IR.");
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_IR);
wiiuse_set_ir(wm, 1);
}
WIIUSE_DEBUG("Asking for status ...\n");
wm->event = WIIUSE_CONNECT;
wiiuse_status(wm);
}
}
/**
* @brief Handle the handshake data from the wiiboard.
*
* @param wb A pointer to a wii_board_t structure.
* @param data The data read in from the device.
* @param len The length of the data block, in bytes.
*
* @return Returns 1 if handshake was successful, 0 if not.
*/
int wii_board_handshake(struct wiimote_t* wm, struct wii_board_t* wb, ubyte* data, uword len)
{
int offset = 0;
if (data[offset]==0xff) {
if (data[offset+16]==0xff) {
WIIUSE_DEBUG("Wii Balance Board handshake appears invalid, trying again.");
wiiuse_read_data(wm, data, WM_EXP_MEM_CALIBR, EXP_HANDSHAKE_LEN, wiiuse_handshake_expansion);
return 0;
}
offset += 16;
}
wb->ctr[0] = (data[offset+4]<<8)|data[offset+5];
wb->cbr[0] = (data[offset+6]<<8)|data[offset+7];
wb->ctl[0] = (data[offset+8]<<8)|data[offset+9];
wb->cbl[0] = (data[offset+10]<<8)|data[offset+11];
wb->ctr[1] = (data[offset+12]<<8)|data[offset+13];
wb->cbr[1] = (data[offset+14]<<8)|data[offset+15];
wb->ctl[1] = (data[offset+16]<<8)|data[offset+17];
wb->cbl[1] = (data[offset+18]<<8)|data[offset+19];
wb->ctr[2] = (data[offset+20]<<8)|data[offset+21];
wb->cbr[2] = (data[offset+22]<<8)|data[offset+23];
wb->ctl[2] = (data[offset+24]<<8)|data[offset+25];
wb->cbl[2] = (data[offset+26]<<8)|data[offset+27];
/* handshake done */
wm->event = WIIUSE_WII_BOARD_INSERTED;
wm->exp.type = EXP_WII_BOARD;
return 1;
}
/**
* @brief Send the next pending data read request to the wiimote.
*
* @param wm Pointer to a wiimote_t structure.
*
* @see wiiuse_read_data()
*
* This function is not part of the wiiuse API.
*/
void wiiuse_send_next_pending_read_request(struct wiimote_t* wm) {
byte buf[6];
struct read_req_t* req;
if (!wm || !WIIMOTE_IS_CONNECTED(wm)) {
return;
}
if (!wm->read_req) {
return;
}
/* skip over dirty ones since they have already been read */
req = wm->read_req;
while (req && req->dirty) {
req = req->next;
}
if (!req) {
return;
}
/* the offset is in big endian */
to_big_endian_uint32_t(buf, req->addr);
/* the length is in big endian */
to_big_endian_uint16_t(buf + 4, req->size);
WIIUSE_DEBUG("Request read at address: 0x%x length: %i", req->addr, req->size);
wiiuse_send(wm, WM_CMD_READ_DATA, buf, 6);
}
int wiiuse_set_report_type(struct wiimote_t *wm,cmd_blk_cb cb)
{
ubyte buf[2];
int motion,ir,exp;
if(!wm || !WIIMOTE_IS_CONNECTED(wm)) return 0;
buf[0] = (WIIMOTE_IS_FLAG_SET(wm, WIIUSE_CONTINUOUS) ? 0x04 : 0x00); /* set to 0x04 for continuous reporting */
buf[1] = 0x00;
motion = WIIMOTE_IS_SET(wm, WIIMOTE_STATE_ACC) || WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR);
exp = WIIMOTE_IS_SET(wm, WIIMOTE_STATE_EXP);
ir = WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR);
if (motion && ir && exp) buf[1] = WM_RPT_BTN_ACC_IR_EXP;
else if (motion && exp) buf[1] = WM_RPT_BTN_ACC_EXP;
else if (motion && ir) buf[1] = WM_RPT_BTN_ACC_IR;
else if (ir && exp) buf[1] = WM_RPT_BTN_IR_EXP;
else if (ir) buf[1] = WM_RPT_BTN_ACC_IR;
else if (exp) buf[1] = WM_RPT_BTN_EXP;
else if (motion) buf[1] = WM_RPT_BTN_ACC;
else buf[1] = WM_RPT_BTN;
WIIUSE_DEBUG("Setting report type: 0x%x", buf[1]);
wiiuse_sendcmd(wm,WM_CMD_REPORT_TYPE,buf,2,cb);
return buf[1];
}
/**
* @brief Read data from the wiimote (callback version).
*
* @param wm Pointer to a wiimote_t structure.
* @param read_cb Function pointer to call when the data arrives from the wiimote.
* @param buffer An allocated buffer to store the data as it arrives from the wiimote.
* Must be persistent in memory and large enough to hold the data.
* @param addr The address of wiimote memory to read from.
* @param len The length of the block to be read.
*
* The library can only handle one data read request at a time
* because it must keep track of the buffer and other
* events that are specific to that request. So if a request
* has already been made, subsequent requests will be added
* to a pending list and be sent out when the previous
* finishes.
*/
int wiiuse_read_data_cb(struct wiimote_t* wm, wiiuse_read_cb read_cb, byte* buffer, unsigned int addr, uint16_t len) {
struct read_req_t* req;
if (!wm || !WIIMOTE_IS_CONNECTED(wm)) {
return 0;
}
if (!buffer || !len) {
return 0;
}
/* make this request structure */
req = (struct read_req_t*)malloc(sizeof(struct read_req_t));
if (req == NULL) {
return 0;
}
req->cb = read_cb;
req->buf = buffer;
req->addr = addr;
req->size = len;
req->wait = len;
req->dirty = 0;
req->next = NULL;
/* add this to the request list */
if (!wm->read_req) {
/* root node */
wm->read_req = req;
WIIUSE_DEBUG("Data read request can be sent out immediately.");
/* send the request out immediately */
wiiuse_send_next_pending_read_request(wm);
} else {
struct read_req_t* nptr = wm->read_req;
for (; nptr->next; nptr = nptr->next) {
;
}
nptr->next = req;
WIIUSE_DEBUG("Added pending data read request.");
}
return 1;
}
/**
* @brief Request the wiimote controller status.
*
* @param wm Pointer to a wiimote_t structure.
*
* Controller status includes: battery level, LED status, expansions
*/
void wiiuse_status(struct wiimote_t* wm) {
byte buf = 0;
if (!wm || !WIIMOTE_IS_CONNECTED(wm)) {
return;
}
WIIUSE_DEBUG("Requested wiimote status.");
wiiuse_send(wm, WM_CMD_CTRL_STATUS, &buf, 1);
}
/**
* @brief Set the report type based on the current wiimote state.
*
* @param wm Pointer to a wiimote_t structure.
*
* @return The report type sent.
*
* The wiimote reports formatted packets depending on the
* report type that was last requested. This function will
* update the type of report that should be sent based on
* the current state of the device.
*/
int wiiuse_set_report_type(struct wiimote_t* wm) {
byte buf[2];
int motion, exp, ir, balance_board;
if (!wm || !WIIMOTE_IS_CONNECTED(wm)) {
return 0;
}
buf[0] = (WIIMOTE_IS_FLAG_SET(wm, WIIUSE_CONTINUOUS) ? 0x04 : 0x00); /* set to 0x04 for continuous reporting */
buf[1] = 0x00;
/* if rumble is enabled, make sure we keep it */
if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_RUMBLE)) {
buf[0] |= 0x01;
}
motion = WIIMOTE_IS_SET(wm, WIIMOTE_STATE_ACC);
exp = WIIMOTE_IS_SET(wm, WIIMOTE_STATE_EXP);
ir = WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR);
balance_board = exp && (wm->exp.type == EXP_WII_BOARD);
if (motion && ir && exp) {
buf[1] = WM_RPT_BTN_ACC_IR_EXP;
} else if (motion && exp) {
buf[1] = WM_RPT_BTN_ACC_EXP;
} else if (motion && ir) {
buf[1] = WM_RPT_BTN_ACC_IR;
} else if (ir && exp) {
buf[1] = WM_RPT_BTN_IR_EXP;
} else if (ir) {
buf[1] = WM_RPT_BTN_ACC_IR;
} else if(exp && balance_board) {
if(wm->exp.wb.use_alternate_report)
buf[1] = WM_RPT_BTN_EXP_8;
else
buf[1] = WM_RPT_BTN_EXP;
} else if (exp) {
buf[1] = WM_RPT_BTN_EXP;
} else if (motion) {
buf[1] = WM_RPT_BTN_ACC;
} else {
buf[1] = WM_RPT_BTN;
}
WIIUSE_DEBUG("Setting report type: 0x%x", buf[1]);
exp = wiiuse_send(wm, WM_CMD_REPORT_TYPE, buf, 2);
if (exp <= 0) {
return exp;
}
return buf[1];
}
/**
* @brief Wait until specified report arrives and return it
*
* @param wm Pointer to a wiimote_t structure.
* @param buffer Pre-allocated memory to store the received data
* @param bufferLength size of buffer in bytes
*
* Synchronous/blocking, this function will not return until it receives the specified
* report from the Wiimote.
*
*/
void wiiuse_wait_report(struct wiimote_t *wm, int report, byte *buffer, int bufferLength) {
for (;;) {
if (wiiuse_os_read(wm, buffer, bufferLength) > 0) {
if (buffer[0] == report) {
break;
} else {
WIIUSE_DEBUG("(id %i) dropping report 0x%x, waiting for 0x%x", wm->unid, buffer[0], report);
}
}
}
}
/**
* @brief Write data to the wiimote (callback version).
*
* @param wm Pointer to a wiimote_t structure.
* @param addr The address to write to.
* @param data The data to be written to the memory location.
* @param len The length of the block to be written.
* @param cb Function pointer to call when the data arrives from the wiimote.
*
* The library can only handle one data read request at a time
* because it must keep track of the buffer and other
* events that are specific to that request. So if a request
* has already been made, subsequent requests will be added
* to a pending list and be sent out when the previous
* finishes.
*/
int wiiuse_write_data_cb(struct wiimote_t *wm, unsigned int addr, byte *data, byte len, wiiuse_write_cb write_cb) {
struct data_req_t* req;
if (!wm || !WIIMOTE_IS_CONNECTED(wm)) {
return 0;
}
if (!data || !len) {
return 0;
}
req = (struct data_req_t*)malloc(sizeof(struct data_req_t));
req->cb = write_cb;
req->len = len;
memcpy(req->data, data, req->len);
req->state = REQ_READY;
req->addr = addr;/* BIG_ENDIAN_LONG(addr); */
req->next = NULL;
/* add this to the request list */
if (!wm->data_req) {
/* root node */
wm->data_req = req;
WIIUSE_DEBUG("Data write request can be sent out immediately.");
/* send the request out immediately */
wiiuse_send_next_pending_write_request(wm);
} else {
struct data_req_t* nptr = wm->data_req;
WIIUSE_DEBUG("chaud2fois");
for (; nptr->next; nptr = nptr->next) {
;
}
nptr->next = req;
WIIUSE_DEBUG("Added pending data write request.");
}
return 1;
}
/**
* @brief Set the IR sensitivity.
*
* @param wm Pointer to a wiimote_t structure.
* @param level 1-5, same as Wii system sensitivity setting.
*
* If the level is < 1, then level will be set to 1.
* If the level is > 5, then level will be set to 5.
*/
void wiiuse_set_ir_sensitivity(struct wiimote_t* wm, int level) {
char* block1 = NULL;
char* block2 = NULL;
if (!wm) return;
if (level > 5) level = 5;
if (level < 1) level = 1;
WIIMOTE_DISABLE_STATE(wm, (WIIMOTE_STATE_IR_SENS_LVL1 |
WIIMOTE_STATE_IR_SENS_LVL2 |
WIIMOTE_STATE_IR_SENS_LVL3 |
WIIMOTE_STATE_IR_SENS_LVL4 |
WIIMOTE_STATE_IR_SENS_LVL5));
switch (level) {
case 1:
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_IR_SENS_LVL1);
break;
case 2:
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_IR_SENS_LVL2);
break;
case 3:
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_IR_SENS_LVL3);
break;
case 4:
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_IR_SENS_LVL4);
break;
case 5:
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_IR_SENS_LVL5);
break;
default:
return;
}
/* set the new sensitivity */
get_ir_sens(wm, &block1, &block2);
wiiuse_write_data(wm, WM_REG_IR_BLOCK1, (byte*)block1, 9);
wiiuse_write_data(wm, WM_REG_IR_BLOCK2, (byte*)block2, 2);
WIIUSE_DEBUG("Set IR sensitivity to level %i (unid %i)", level, wm->unid);
}
/**
* @brief Write data to the wiimote.
*
* @param wm Pointer to a wiimote_t structure.
* @param addr The address to write to.
* @param data The data to be written to the memory location.
* @param len The length of the block to be written.
*/
int wiiuse_write_data(struct wiimote_t* wm, unsigned int addr, const byte* data, byte len) {
byte buf[21] = {0}; /* the payload is always 23 */
byte * bufPtr = buf;
if (!wm || !WIIMOTE_IS_CONNECTED(wm)) {
WIIUSE_ERROR("Attempt to write, but no wiimote available or not connected!");
return 0;
}
if (!data || !len) {
WIIUSE_ERROR("Attempt to write, but no data or length == 0");
return 0;
}
WIIUSE_DEBUG("Writing %i bytes to memory location 0x%x...", len, addr);
#ifdef WITH_WIIUSE_DEBUG
{
int i = 0;
printf("Write data is: ");
for (; i < len; ++i) {
printf("%x ", data[i]);
}
printf("\n");
}
#endif
/* the offset is in big endian */
buffer_big_endian_uint32_t(&bufPtr, (uint32_t)addr);
/* length */
buffer_big_endian_uint8_t(&bufPtr, len);
/* data */
memcpy(bufPtr, data, len);
wiiuse_send(wm, WM_CMD_WRITE_DATA, buf, 21);
return 1;
}
/**
* @brief Set if the wiimote should track IR targets.
*
* @param wm Pointer to a wiimote_t structure.
* @param status 1 to enable, 0 to disable.
*/
void wiiuse_set_ir(struct wiimote_t* wm, int status) {
byte buf;
char* block1 = NULL;
char* block2 = NULL;
int ir_level;
if (!wm)
return;
/*
* Wait for the handshake to finish first.
* When it handshake finishes and sees that
* IR is enabled, it will call this function
* again to actually enable IR.
*/
if (!WIIMOTE_IS_SET(wm, WIIMOTE_STATE_HANDSHAKE_COMPLETE)) {
if(status) {
WIIUSE_DEBUG("Tried to enable IR, will wait until handshake finishes.");
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_IR);
} // else ignoring request to turn off, since it's turned off by default
return;
}
/*
* Check to make sure a sensitivity setting is selected.
*/
ir_level = get_ir_sens(wm, &block1, &block2);
if (!ir_level) {
WIIUSE_ERROR("No IR sensitivity setting selected.");
return;
}
if (status) {
/* if already enabled then stop */
if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR))
return;
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_IR);
} else {
/* if already disabled then stop */
if (!WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR))
return;
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_IR);
}
/* set camera 1 and 2 */
buf = (status ? 0x04 : 0x00);
wiiuse_send(wm, WM_CMD_IR, &buf, 1);
wiiuse_send(wm, WM_CMD_IR_2, &buf, 1);
if (!status) {
WIIUSE_DEBUG("Disabled IR cameras for wiimote id %i.", wm->unid);
wiiuse_set_report_type(wm);
return;
}
/* enable IR, set sensitivity */
buf = 0x08;
wiiuse_write_data(wm, WM_REG_IR, &buf, 1);
/* wait for the wiimote to catch up */
#ifndef WIN32
usleep(50000);
#else
Sleep(50);
#endif
/* write sensitivity blocks */
wiiuse_write_data(wm, WM_REG_IR_BLOCK1, (byte*)block1, 9);
wiiuse_write_data(wm, WM_REG_IR_BLOCK2, (byte*)block2, 2);
/* set the IR mode */
if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_EXP))
buf = WM_IR_TYPE_BASIC;
else
buf = WM_IR_TYPE_EXTENDED;
wiiuse_write_data(wm, WM_REG_IR_MODENUM, &buf, 1);
#ifndef WIN32
usleep(50000);
#else
Sleep(50);
#endif
/* set the wiimote report type */
wiiuse_set_report_type(wm);
WIIUSE_DEBUG("Enabled IR camera for wiimote id %i (sensitivity level %i).", wm->unid, ir_level);
}
/**
* @brief Interpret IR data into more user friendly variables.
*
* @param wm Pointer to a wiimote_t structure.
*/
static void interpret_ir_data(struct wiimote_t* wm) {
struct ir_dot_t* dot = wm->ir.dot;
int i;
float roll = 0.0f;
int last_num_dots = wm->ir.num_dots;
if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_ACC))
roll = wm->orient.roll;
/* count visible dots */
wm->ir.num_dots = 0;
for (i = 0; i < 4; ++i) {
if (dot[i].visible)
wm->ir.num_dots++;
}
switch (wm->ir.num_dots) {
case 0:
{
wm->ir.state = 0;
/* reset the dot ordering */
for (i = 0; i < 4; ++i)
dot[i].order = 0;
wm->ir.x = 0;
wm->ir.y = 0;
wm->ir.z = 0.0f;
return;
}
case 1:
{
fix_rotated_ir_dots(wm->ir.dot, roll);
if (wm->ir.state < 2) {
/*
* Only 1 known dot, so use just that.
*/
for (i = 0; i < 4; ++i) {
if (dot[i].visible) {
wm->ir.x = dot[i].x;
wm->ir.y = dot[i].y;
wm->ir.ax = wm->ir.x;
wm->ir.ay = wm->ir.y;
/* can't calculate yaw because we don't have the distance */
//wm->orient.yaw = calc_yaw(&wm->ir);
ir_convert_to_vres(&wm->ir.x, &wm->ir.y, wm->ir.aspect, wm->ir.vres[0], wm->ir.vres[1]);
break;
}
}
} else {
/*
* Only see 1 dot but know theres 2.
* Try to estimate where the other one
* should be and use that.
*/
for (i = 0; i < 4; ++i) {
if (dot[i].visible) {
int ox = 0;
int x, y;
if (dot[i].order == 1)
/* visible is the left dot - estimate where the right is */
ox = dot[i].x + wm->ir.distance;
else if (dot[i].order == 2)
/* visible is the right dot - estimate where the left is */
ox = dot[i].x - wm->ir.distance;
x = ((signed int)dot[i].x + ox) / 2;
y = dot[i].y;
wm->ir.ax = x;
wm->ir.ay = y;
wm->orient.yaw = calc_yaw(&wm->ir);
if (ir_correct_for_bounds(&x, &y, wm->ir.aspect, wm->ir.offset[0], wm->ir.offset[1])) {
ir_convert_to_vres(&x, &y, wm->ir.aspect, wm->ir.vres[0], wm->ir.vres[1]);
wm->ir.x = x;
wm->ir.y = y;
}
break;
}
}
}
break;
}
case 2:
case 3:
case 4:
{
/*
* Two (or more) dots known and seen.
* Average them together to estimate the true location.
*/
int x, y;
wm->ir.state = 2;
fix_rotated_ir_dots(wm->ir.dot, roll);
/* if there is at least 1 new dot, reorder them all */
if (wm->ir.num_dots > last_num_dots) {
reorder_ir_dots(dot);
wm->ir.x = 0;
wm->ir.y = 0;
}
wm->ir.distance = ir_distance(dot);
wm->ir.z = 1023 - wm->ir.distance;
get_ir_dot_avg(wm->ir.dot, &x, &y);
wm->ir.ax = x;
wm->ir.ay = y;
wm->orient.yaw = calc_yaw(&wm->ir);
if (ir_correct_for_bounds(&x, &y, wm->ir.aspect, wm->ir.offset[0], wm->ir.offset[1])) {
ir_convert_to_vres(&x, &y, wm->ir.aspect, wm->ir.vres[0], wm->ir.vres[1]);
wm->ir.x = x;
wm->ir.y = y;
}
break;
}
default:
{
break;
}
}
#ifdef WITH_WIIUSE_DEBUG
{
int ir_level;
WIIUSE_GET_IR_SENSITIVITY(wm, &ir_level);
WIIUSE_DEBUG("IR sensitivity: %i", ir_level);
WIIUSE_DEBUG("IR visible dots: %i", wm->ir.num_dots);
for (i = 0; i < 4; ++i)
if (dot[i].visible)
WIIUSE_DEBUG("IR[%i][order %i] (%.3i, %.3i) -> (%.3i, %.3i)", i, dot[i].order, dot[i].rx, dot[i].ry, dot[i].x, dot[i].y);
WIIUSE_DEBUG("IR[absolute]: (%i, %i)", wm->ir.x, wm->ir.y);
}
#endif
}
void wiiuse_handshake(struct wiimote_t* wm, byte* data, uint16_t len) {
if (!wm) {
return;
}
switch (wm->handshake_state) {
case 0: {
byte* buf;
/* continuous reporting off, report to buttons only */
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_HANDSHAKE);
wiiuse_set_leds(wm, WIIMOTE_LED_NONE);
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_ACC);
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_IR);
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_RUMBLE);
WIIMOTE_DISABLE_FLAG(wm, WIIUSE_CONTINUOUS);
wiiuse_set_report_type(wm);
/* send request to wiimote for accelerometer calibration */
buf = (byte*)malloc(sizeof(byte) * 8);
wiiuse_read_data_cb(wm, wiiuse_handshake, buf, WM_MEM_OFFSET_CALIBRATION, 7);
wm->handshake_state++;
wiiuse_set_leds(wm, WIIMOTE_LED_NONE);
break;
}
case 1: {
struct read_req_t* req = wm->read_req;
struct accel_t* accel = &wm->accel_calib;
byte val;
/* received read data */
accel->cal_zero.x = req->buf[0];
accel->cal_zero.y = req->buf[1];
accel->cal_zero.z = req->buf[2];
accel->cal_g.x = req->buf[4] - accel->cal_zero.x;
accel->cal_g.y = req->buf[5] - accel->cal_zero.y;
accel->cal_g.z = req->buf[6] - accel->cal_zero.z;
/* done with the buffer */
free(req->buf);
/* handshake is done */
WIIUSE_DEBUG("Handshake finished. Calibration: Idle: X=%x Y=%x Z=%x\t+1g: X=%x Y=%x Z=%x",
accel->cal_zero.x, accel->cal_zero.y, accel->cal_zero.z,
accel->cal_g.x, accel->cal_g.y, accel->cal_g.z);
/* M+ off */
val = 0x55;
wiiuse_write_data_cb(wm, WM_EXP_MEM_ENABLE1, &val, 1, wiiuse_disable_motion_plus1);
break;
}
case 2: {
/* request the status of the wiimote to check for any expansion */
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_HANDSHAKE);
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_HANDSHAKE_COMPLETE);
wm->handshake_state++;
/* now enable IR if it was set before the handshake completed */
if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR)) {
WIIUSE_DEBUG("Handshake finished, enabling IR.");
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_IR);
wiiuse_set_ir(wm, 1);
}
wm->event = WIIUSE_CONNECT;
wiiuse_status(wm);
break;
}
default: {
break;
}
}
}
/**
* @brief Handle the handshake data from the nunchuk.
*
* @param nc A pointer to a nunchuk_t structure.
* @param data The data read in from the device.
* @param len The length of the data block, in bytes.
*
* @return Returns 1 if handshake was successful, 0 if not.
*/
int nunchuk_handshake(struct wiimote_t* wm, struct nunchuk_t* nc, byte* data, unsigned short len) {
int i;
int offset = 0;
nc->btns = 0;
nc->btns_held = 0;
nc->btns_released = 0;
/* set the smoothing to the same as the wiimote */
nc->flags = &wm->flags;
nc->accel_calib.st_alpha = wm->accel_calib.st_alpha;
/* decrypt data */
for (i = 0; i < len; ++i)
data[i] = (data[i] ^ 0x17) + 0x17;
if (data[offset] == 0xFF) {
/*
* Sometimes the data returned here is not correct.
* This might happen because the wiimote is lagging
* behind our initialization sequence.
* To fix this just request the handshake again.
*
* Other times it's just the first 16 bytes are 0xFF,
* but since the next 16 bytes are the same, just use
* those.
*/
if (data[offset + 16] == 0xFF) {
/* get the calibration data */
byte* handshake_buf = malloc(EXP_HANDSHAKE_LEN * sizeof(byte));
WIIUSE_DEBUG("Nunchuk handshake appears invalid, trying again.");
wiiuse_read_data_cb(wm, handshake_expansion, handshake_buf, WM_EXP_MEM_CALIBR, EXP_HANDSHAKE_LEN);
return 0;
} else
offset += 16;
}
nc->accel_calib.cal_zero.x = data[offset + 0];
nc->accel_calib.cal_zero.y = data[offset + 1];
nc->accel_calib.cal_zero.z = data[offset + 2];
nc->accel_calib.cal_g.x = data[offset + 4];
nc->accel_calib.cal_g.y = data[offset + 5];
nc->accel_calib.cal_g.z = data[offset + 6];
nc->js.max.x = data[offset + 8];
nc->js.min.x = data[offset + 9];
nc->js.center.x = data[offset + 10];
nc->js.max.y = data[offset + 11];
nc->js.min.y = data[offset + 12];
nc->js.center.y = data[offset + 13];
/* default the thresholds to the same as the wiimote */
nc->orient_threshold = wm->orient_threshold;
nc->accel_threshold = wm->accel_threshold;
/* handshake done */
wm->exp.type = EXP_NUNCHUK;
#ifdef WIN32
wm->timeout = WIIMOTE_DEFAULT_TIMEOUT;
#endif
return 1;
}
void motion_plus_disconnected(struct motion_plus_t* mp)
{
WIIUSE_DEBUG("Motion plus disconnected");
memset(mp, 0, sizeof(struct motion_plus_t));
}
/**
* @brief Get initialization data from the wiimote.
*
* @param wm Pointer to a wiimote_t structure.
* @param data unused
* @param len unused
*
* When first called for a wiimote_t structure, a request
* is sent to the wiimote for initialization information.
* This includes factory set accelerometer data.
* The handshake will be concluded when the wiimote responds
* with this data.
*/
void wiiuse_handshake(struct wiimote_t* wm, byte* data, uint16_t len) {
if (!wm) return;
switch (wm->handshake_state) {
case 0:
{
/* send request to wiimote for accelerometer calibration */
byte* buf;
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_HANDSHAKE);
wiiuse_set_leds(wm, WIIMOTE_LED_NONE);
buf = (byte*)malloc(sizeof(byte) * 8);
wiiuse_read_data_cb(wm, wiiuse_handshake, buf, WM_MEM_OFFSET_CALIBRATION, 7);
wm->handshake_state++;
wiiuse_set_leds(wm, WIIMOTE_LED_NONE);
break;
}
case 1:
{
struct read_req_t* req = wm->read_req;
struct accel_t* accel = &wm->accel_calib;
/* received read data */
accel->cal_zero.x = req->buf[0];
accel->cal_zero.y = req->buf[1];
accel->cal_zero.z = req->buf[2];
accel->cal_g.x = req->buf[4] - accel->cal_zero.x;
accel->cal_g.y = req->buf[5] - accel->cal_zero.y;
accel->cal_g.z = req->buf[6] - accel->cal_zero.z;
/* done with the buffer */
free(req->buf);
/* handshake is done */
WIIUSE_DEBUG("Handshake finished. Calibration: Idle: X=%x Y=%x Z=%x\t+1g: X=%x Y=%x Z=%x",
accel->cal_zero.x, accel->cal_zero.y, accel->cal_zero.z,
accel->cal_g.x, accel->cal_g.y, accel->cal_g.z);
/* request the status of the wiimote to see if there is an expansion */
wiiuse_status(wm);
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_HANDSHAKE);
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_HANDSHAKE_COMPLETE);
wm->handshake_state++;
/* now enable IR if it was set before the handshake completed */
if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR)) {
WIIUSE_DEBUG("Handshake finished, enabling IR.");
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_IR);
wiiuse_set_ir(wm, 1);
}
break;
}
default:
{
break;
}
}
}