File content as of revision 2:5c2bfbd63297:
/* Copyright (c) 2011, mbed
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
// Simple decode class for Wii Remote data
#include "Wiimote.h"
#include "Utils.h"
#include "Socket.h"
// Wii Report Formats:
// * http://wiibrew.org/wiki/Wiimote#0x37:_Core_Buttons_and_Accelerometer_with_10_IR_bytes_and_6_Extension_Bytes
// * http://wiki.wiimoteproject.com/Reports#0x37_BTN_.2B_XLR_.2B_IR_.2B_6_EXT
// Input Report 0x37:
//
// 0 [ ? | X(1:0) | PLUS | UP | DOWN | RIGHT | LEFT ]
// 1 [ HOME | Z(1) | Y(1) | MINUS | A | B | ONE | TWO ]
// 2 [ X(9:2) ]
// 3 [ Y(9:2) ]
// 4 [ Z(9:2) ]
//
#include <stdio.h>
#include <math.h>
#define WII_ZERO 0x206
#define WII_1G 0x6A
Wiimote::Wiimote(): ledRumbleState(0){}
void Wiimote::setControl(const int& control){
_control = control;
}
void Wiimote::decode(char* data) {
// read buttons
left = (data[0] >> 0) & 0x1;
right = (data[0] >> 1) & 0x1;
down = (data[0] >> 2) & 0x1;
up = (data[0] >> 3) & 0x1;
plus = (data[0] >> 4) & 0x1;
two = (data[1] >> 0) & 0x1;
one = (data[1] >> 1) & 0x1;
b = (data[1] >> 2) & 0x1;
a = (data[1] >> 3) & 0x1;
minus = (data[1] >> 4) & 0x1;
home = (data[1] >> 7) & 0x1;
// read accelerometers
rawx = (data[2] << 2) | (data[0] & 0x60) >> 5;
rawy = (data[3] << 2) | (data[1] & 0x20) >> 4;
rawz = (data[4] << 2) | (data[1] & 0x40) >> 5;
// calculate accelerometer gravity
x = (float)((int)rawx - WII_ZERO) / (float)WII_1G;
y = (float)((int)rawy - WII_ZERO) / (float)WII_1G;
z = (float)((int)rawz - WII_ZERO) / (float)WII_1G;
// calculate wheel angle
wheel = atan2(-y, -x) * (180.0 / 3.141592);
}
void Wiimote::dump() {
printf("%d%d%d%d%d%d%d%d%d%d%d %.3f %.3f %.3f %.2f\n", left, right, down, up, plus, two, one, b, a, minus, home, x, y, z, wheel);
}
void Wiimote::turnOn(const int i){
ledRumbleState |= i; // set bit to 1
u8 led[3] = {0x52, 0x11, ledRumbleState};
Socket_Send(_control,led,3);
}
void Wiimote::turnOff(const int i){
ledRumbleState &= ~i; // clear bit
u8 led[3] = {0x52, 0x11, ledRumbleState};
Socket_Send(_control,led,3);
}
void Wiimote::toggle(const int i){
ledRumbleState ^= 1 << i; // clear bit
u8 led[3] = {0x52, 0x11, ledRumbleState};
Socket_Send(_control,led,3);
}
bool Wiimote::isOn(const int i){
return ((ledRumbleState & i ) == i ); // clear bit
}
// Accelerometer data
// y-
// +---+ +--+
// | + | + B
// | A | A |
// | | | |
// x+ | | x- z+ | | z-
// | 1 | 1 |
// | 2 | 2 |
// +---+ +--+
// y+
//
// x+ 0x19B
// x0 0x205
// x- 0x26E
//
// y+ 0x19C 0x6A
// y0 0x206
// y- 0x26E 0x68
//
// z+ 0x19C
// z0 0x208
// z- 0x26E