Greg Brush / WiiMP

Connect to a Wii Motion Plus (compatible) unit with no pass through or other controllers connected. The Motion Plus is a 3-axis gyroscope add-on w/Invensense IDG655 & IXZ650 MEMS gyros communicating via I2C @ 100KHz clock (some may do 400KHz)

WiiMP.c@0:506079387c48, 2011-03-14 (annotated)

Committer:
gbrush
Date:
Mon Mar 14 22:39:59 2011 +0000
Revision:
0:506079387c48
Child:
1:727906cb5051
Initial

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gbrush 0:506079387c48 1 #include "WiiMP.h"
gbrush 0:506079387c48 2
gbrush 0:506079387c48 3
gbrush 0:506079387c48 4
gbrush 0:506079387c48 5 WiiMP::WiiMP(PinName data, PinName clk):_i2c(data, clk) {
gbrush 0:506079387c48 6 _i2c.frequency(100000); // Some report success at 400000, but 100000 should be guaranteed
gbrush 0:506079387c48 7 Error = true;
gbrush 0:506079387c48 8
gbrush 0:506079387c48 9 //initialize whatever is at 0xA4 (if anything) -- will turn off MP+ if it's already on
gbrush 0:506079387c48 10 unsigned char cmd[] = {0xF0, 0x55};
gbrush 0:506079387c48 11 _i2c.write(WIIEXT_ADDR, (const char*)cmd, sizeof(cmd));
gbrush 0:506079387c48 12 wait_ms(I2C_READ_DELAY);
gbrush 0:506079387c48 13
gbrush 0:506079387c48 14 // Instruct WiiMP to change address from 0xA6 to 0xA4 and initialize
gbrush 0:506079387c48 15 cmd[0] = 0xfe; cmd[1]= 0x04;
gbrush 0:506079387c48 16 if (_i2c.write(WMP_ADDR, (const char*)cmd, sizeof(cmd)) == I2C_ACK) {
gbrush 0:506079387c48 17 Error = false;
gbrush 0:506079387c48 18 }
gbrush 0:506079387c48 19
gbrush 0:506079387c48 20 }
gbrush 0:506079387c48 21
gbrush 0:506079387c48 22 bool WiiMP::Read(int* Yaw,int* Roll,int* Pitch) {
gbrush 0:506079387c48 23
gbrush 0:506079387c48 24 int i;
gbrush 0:506079387c48 25 char readBuf[WIIMP_READLEN];
gbrush 0:506079387c48 26
gbrush 0:506079387c48 27 if (Error) {
gbrush 0:506079387c48 28 return false;
gbrush 0:506079387c48 29 }
gbrush 0:506079387c48 30
gbrush 0:506079387c48 31 const unsigned char cmd[] = {0x00};
gbrush 0:506079387c48 32 if (_i2c.write(WIIEXT_ADDR, (const char*)cmd, sizeof(cmd)) == I2C_ACK) {
gbrush 0:506079387c48 33 wait_ms(I2C_READ_DELAY);
gbrush 0:506079387c48 34 if (_i2c.read(WIIEXT_ADDR, readBuf, sizeof(readBuf)) == I2C_ACK) {
gbrush 0:506079387c48 35 //init values
gbrush 0:506079387c48 36 *Yaw = 0; *Roll = 0; *Pitch = 0;
gbrush 0:506079387c48 37
gbrush 0:506079387c48 38 for (i = 0; i < WIIMP_READLEN; ++i) {
gbrush 0:506079387c48 39 readBuf[i] = (readBuf[i] ^ 0x17) + 0x17;
gbrush 0:506079387c48 40 }
gbrush 0:506079387c48 41 *Yaw = ((readBuf[YawH] >> 2) << 8) + readBuf[YawL];
gbrush 0:506079387c48 42 *Roll = ((readBuf[RollH] >> 2) << 8) + readBuf[RollL];
gbrush 0:506079387c48 43 *Pitch = ((readBuf[PitchH] >> 2) << 8) + readBuf[PitchL];
gbrush 0:506079387c48 44
gbrush 0:506079387c48 45 }
gbrush 0:506079387c48 46 else
gbrush 0:506079387c48 47 {
gbrush 0:506079387c48 48 return false;
gbrush 0:506079387c48 49 }
gbrush 0:506079387c48 50 } else {
gbrush 0:506079387c48 51 return false;
gbrush 0:506079387c48 52 }
gbrush 0:506079387c48 53 return true;
gbrush 0:506079387c48 54 }