summaryrefslogtreecommitdiffstats
path: root/lib/usbhost/USB_Host_Shield_2.0/Wii.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'lib/usbhost/USB_Host_Shield_2.0/Wii.cpp')
-rw-r--r--lib/usbhost/USB_Host_Shield_2.0/Wii.cpp1268
1 files changed, 1268 insertions, 0 deletions
diff --git a/lib/usbhost/USB_Host_Shield_2.0/Wii.cpp b/lib/usbhost/USB_Host_Shield_2.0/Wii.cpp
new file mode 100644
index 0000000000..4bbf4c91cb
--- /dev/null
+++ b/lib/usbhost/USB_Host_Shield_2.0/Wii.cpp
@@ -0,0 +1,1268 @@
+/* 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 = millis() + 1000; // We have to wait for the message before the rest of the channels can be deactivated
+ } else
+ timer = 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();
+ setReportMode(false, 0x31); // If there is no extension connected we will read the buttons and accelerometer
+ } else
+ 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 = (double)gyroYawRaw / ((double)gyroYawZero / yawGyroScale);
+ rollGyroSpeed = -(double)gyroRollRaw / ((double)gyroRollZero / rollGyroScale); // We invert these values so they will fit the acc values
+ pitchGyroSpeed = (double)gyroPitchRaw / ((double)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 = (0.93 * (compPitch + (pitchGyroSpeed * (double)(micros() - timer) / 1000000)))+(0.07 * getWiimotePitch()); // Use a complimentary filter to calculate the angle
+ compRoll = (0.93 * (compRoll + (rollGyroSpeed * (double)(micros() - timer) / 1000000)))+(0.07 * getWiimoteRoll());
+
+ gyroYaw += (yawGyroSpeed * ((double)(micros() - timer) / 1000000));
+ gyroRoll += (rollGyroSpeed * ((double)(micros() - timer) / 1000000));
+ gyroPitch += (pitchGyroSpeed * ((double)(micros() - timer) / 1000000));
+ timer = 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((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 = 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 = ((l2capinb