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(Wii) Add customized Wiiuse - should reduce overall input latency

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(also debloats - no Guitar Hero 3/Wii Board/key down/key up)
This commit is contained in:
twinaphex 2013-01-07 04:09:13 +01:00
parent 1221b024cb
commit 5ee38b157d
29 changed files with 5370 additions and 3 deletions
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6
Makefile.wii
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@ -30,13 +30,13 @@ ELF2DOL = $(DEVKITPPC)/bin/elf2dol$(EXE_EXT)
DOL_TARGET := retroarch_wii.dol
ELF_TARGET := retroarch_wii.elf
INCLUDE := -I. -I$(DEVKITPRO)/libogc/include
INCLUDE := -I. -I$(DEVKITPRO)/libogc/include -I$(DEVKITPRO)/libogc/include/ogc
LIBDIRS := -L$(DEVKITPRO)/libogc/lib/wii -L.
MACHDEP := -DGEKKO -DHW_RVL -mrvl -mcpu=750 -meabi -mhard-float
CFLAGS += -Wall -std=gnu99 $(MACHDEP) $(INCLUDE)
LDFLAGS := $(MACHDEP) -Wl,-Map,$(notdir $(ELF_TARGET)).map,-wrap,malloc,-wrap,free,-wrap,memalign,-wrap,calloc,-wrap,realloc,-wrap,strdup,-wrap,strndup,-wrap,malloc_usable_size -T gx/ld/rvl.ld
LIBS := -lfat -lretro_wii -lwiiuse -logc -lbte
LIBS := -lfat -lretro_wii -logc -lbte
APP_BOOTER_DIR = wii/app_booter
@ -57,7 +57,7 @@ CFLAGS += -DHAVE_FILE_LOGGER
CFLAGS += -Iconsole/logger
endif
CFLAGS += -std=gnu99 -DHAVE_DEFAULT_RETROPAD_INPUT -DHAVE_RGUI -DHAVE_THREAD -DRARCH_CONSOLE -DHAVE_LIBRETRO_MANAGEMENT -DHAVE_RARCH_EXEC -DHAVE_RMENU -DGEKKO -DHAVE_ZLIB -DWANT_RZLIB -DHAVE_RARCH_MAIN_WRAP -DHAVE_GRIFFIN=1 -DHAVE_SCREENSHOTS -DPACKAGE_VERSION=\"0.9.8-beta3\" -Dmain=rarch_main -Wno-char-subscripts
CFLAGS += -std=gnu99 -DHAVE_DEFAULT_RETROPAD_INPUT -DHAVE_WIIUSE -DHAVE_RGUI -DHAVE_THREAD -DRARCH_CONSOLE -DHAVE_LIBRETRO_MANAGEMENT -DHAVE_RARCH_EXEC -DHAVE_RMENU -DGEKKO -DHAVE_ZLIB -DWANT_RZLIB -DHAVE_RARCH_MAIN_WRAP -DHAVE_GRIFFIN=1 -DHAVE_SCREENSHOTS -DPACKAGE_VERSION=\"0.9.8-beta3\" -Dmain=rarch_main -Wno-char-subscripts
ifeq ($(DEBUG), 1)
CFLAGS += -O0 -g -DDEBUG

14
console/griffin/griffin.c
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@ -227,6 +227,20 @@ INPUT
#include "../../input/overlay.c"
#endif
#ifdef HAVE_WIIUSE
#include "../../wii/wiiuse/classic.c"
#include "../../wii/wiiuse/dynamics.c"
#include "../../wii/wiiuse/events.c"
#include "../../wii/wiiuse/io.c"
#include "../../wii/wiiuse/io_wii.c"
#include "../../wii/wiiuse/ir.c"
#include "../../wii/wiiuse/motion_plus.c"
#include "../../wii/wiiuse/nunchuk.c"
#include "../../wii/wiiuse/speaker.c"
#include "../../wii/wiiuse/wiiuse.c"
#include "../../wii/wiiuse/wpad.c"
#endif
#if defined(__CELLOS_LV2__)
#include "../../ps3/ps3_input.c"
#elif defined(SN_TARGET_PSP2) || defined(PSP)

194
wii/wiiuse/classic.c Normal file
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@ -0,0 +1,194 @@
/*
* wiiuse
*
* Written By:
* Michael Laforest < para >
* Email: < thepara (--AT--) g m a i l [--DOT--] com >
*
* Copyright 2006-2007
*
* This file is part of wiiuse.
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* $Header: /lvm/shared/ds/ds/cvs/devkitpro-cvsbackup/libogc/wiiuse/classic.c,v 1.7 2008-11-14 13:34:57 shagkur Exp $
*
*/
/**
* @file
* @brief Classic controller expansion device.
*/
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <string.h>
#ifdef WIN32
#include <Winsock2.h>
#endif
#include "definitions.h"
#include "wiiuse_internal.h"
#include "dynamics.h"
#include "events.h"
#include "classic.h"
#include "io.h"
static void classic_ctrl_pressed_buttons(struct classic_ctrl_t* cc, short now);
/**
* @brief Handle the handshake data from the classic controller.
*
* @param cc A pointer to a classic_ctrl_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 classic_ctrl_handshake(struct wiimote_t* wm, struct classic_ctrl_t* cc, ubyte* data, uword len) {
//int i;
int offset = 0;
cc->btns = 0;
cc->btns_held = 0;
cc->btns_released = 0;
/* 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 again */
//WIIUSE_DEBUG("Classic controller handshake appears invalid, trying again.");
wiiuse_read_data(wm, data, WM_EXP_MEM_CALIBR, EXP_HANDSHAKE_LEN, wiiuse_handshake_expansion);
} else
offset += 16;
}
/* joystick stuff */
cc->ljs.max.x = data[0 + offset] / 4 == 0 ? 64 : data[0 + offset] / 4;
cc->ljs.min.x = data[1 + offset] / 4;
cc->ljs.center.x = data[2 + offset] / 4 == 0 ? 32 : data[2 + offset] / 4;
cc->ljs.max.y = data[3 + offset] / 4 == 0 ? 64 : data[3 + offset] / 4;
cc->ljs.min.y = data[4 + offset] / 4;
cc->ljs.center.y = data[5 + offset] / 4 == 0 ? 32 : data[5 + offset] / 4;
cc->rjs.max.x = data[6 + offset] / 8 == 0 ? 32 : data[6 + offset] / 8;
cc->rjs.min.x = data[7 + offset] / 8;
cc->rjs.center.x = data[8 + offset] / 8 == 0 ? 16 : data[8 + offset] / 8;
cc->rjs.max.y = data[9 + offset] / 8 == 0 ? 32 : data[9 + offset] / 8;
cc->rjs.min.y = data[10 + offset] / 8;
cc->rjs.center.y = data[11 + offset] / 8 == 0 ? 16 : data[11 + offset] / 8;
/* handshake done */
wm->event = WIIUSE_CLASSIC_CTRL_INSERTED;
wm->exp.type = EXP_CLASSIC;
#ifdef WIN32
wm->timeout = WIIMOTE_DEFAULT_TIMEOUT;
#endif
return 1;
}
/**
* @brief The classic controller disconnected.
*
* @param cc A pointer to a classic_ctrl_t structure.
*/
void classic_ctrl_disconnected(struct classic_ctrl_t* cc)
{
memset(cc, 0, sizeof(struct classic_ctrl_t));
}
/**
* @brief Handle classic controller event.
*
* @param cc A pointer to a classic_ctrl_t structure.
* @param msg The message specified in the event packet.
*/
void classic_ctrl_event(struct classic_ctrl_t* cc, ubyte* msg) {
//int i;
/* decrypt data */
/*
for (i = 0; i < 6; ++i)
msg[i] = (msg[i] ^ 0x17) + 0x17;
*/
classic_ctrl_pressed_buttons(cc, BIG_ENDIAN_SHORT(*(short*)(msg + 4)));
/* left/right buttons */
cc->ls_raw = (((msg[2] & 0x60) >> 2) | ((msg[3] & 0xE0) >> 5));
cc->rs_raw = (msg[3] & 0x1F);
/*
* TODO - LR range hardcoded from 0x00 to 0x1F.
* This is probably in the calibration somewhere.
*/
#ifndef GEKKO
cc->r_shoulder = ((float)r / 0x1F);
cc->l_shoulder = ((float)l / 0x1F);
#endif
/* calculate joystick orientation */
cc->ljs.pos.x = (msg[0] & 0x3F);
cc->ljs.pos.y = (msg[1] & 0x3F);
cc->rjs.pos.x = ((msg[0] & 0xC0) >> 3) | ((msg[1] & 0xC0) >> 5) | ((msg[2] & 0x80) >> 7);
cc->rjs.pos.y = (msg[2] & 0x1F);
#ifndef GEKKO
calc_joystick_state(&cc->ljs, cc->ljs.pos.x, cc->ljs.pos.y);
calc_joystick_state(&cc->rjs, cc->rjs.pos.x, cc->rjs.pos.y);
#endif
}
/**
* @brief Find what buttons are pressed.
*
* @param cc A pointer to a classic_ctrl_t structure.
* @param msg The message byte specified in the event packet.
*/
static void classic_ctrl_pressed_buttons(struct classic_ctrl_t* cc, short now) {
/* message is inverted (0 is active, 1 is inactive) */
now = ~now & CLASSIC_CTRL_BUTTON_ALL;
/* preserve old btns pressed */
cc->btns_last = cc->btns;
/* pressed now & were pressed, then held */
cc->btns_held = (now & cc->btns);
/* were pressed or were held & not pressed now, then released */
cc->btns_released = ((cc->btns | cc->btns_held) & ~now);
/* buttons pressed now */
cc->btns = now;
}

53
wii/wiiuse/classic.h Normal file
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@ -0,0 +1,53 @@
/*
* wiiuse
*
* Written By:
* Michael Laforest < para >
* Email: < thepara (--AT--) g m a i l [--DOT--] com >
*
* Copyright 2006-2007
*
* This file is part of wiiuse.
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* $Header: /lvm/shared/ds/ds/cvs/devkitpro-cvsbackup/libogc/wiiuse/classic.h,v 1.1 2008-05-08 09:42:14 shagkur Exp $
*
*/
/**
* @file
* @brief Classic controller expansion device.
*/
#ifndef CLASSIC_H_INCLUDED
#define CLASSIC_H_INCLUDED
#include "wiiuse_internal.h"
#ifdef __cplusplus
extern "C" {
#endif
int classic_ctrl_handshake(struct wiimote_t* wm, struct classic_ctrl_t* cc, ubyte* data, uword len);
void classic_ctrl_disconnected(struct classic_ctrl_t* cc);
void classic_ctrl_event(struct classic_ctrl_t* cc, ubyte* msg);
#ifdef __cplusplus
}
#endif
#endif // CLASSIC_H_INCLUDED

55
wii/wiiuse/definitions.h Normal file
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@ -0,0 +1,55 @@
#ifndef __DEFINITIONS_H__
#define __DEFINITIONS_H__
#include "os.h"
#define WIIMOTE_PI 3.14159265f
//#define WITH_WIIUSE_DEBUG
/* Error output macros */
#define WIIUSE_ERROR(fmt, ...) fprintf(stderr, "[ERROR] " fmt "\n", ##__VA_ARGS__)
/* Warning output macros */
#define WIIUSE_WARNING(fmt, ...) fprintf(stderr, "[WARNING] " fmt "\n", ##__VA_ARGS__)
/* Information output macros */
#define WIIUSE_INFO(fmt, ...) fprintf(stderr, "[INFO] " fmt "\n", ##__VA_ARGS__)
#ifdef WITH_WIIUSE_DEBUG
#ifdef WIN32
#define WIIUSE_DEBUG(fmt, ...) do { \
char* file = __FILE__; \
int i = strlen(file) - 1; \
for (; i && (file[i] != '\\'); --i); \
fprintf(stderr, "[DEBUG] %s:%i: " fmt "\n", file+i+1, __LINE__, ##__VA_ARGS__); \
} while (0)
#else
#define WIIUSE_DEBUG(fmt, ...) fprintf(stderr, "[DEBUG] " __FILE__ ":%i: " fmt "\n", __LINE__, ##__VA_ARGS__)
#endif
#else
#define WIIUSE_DEBUG(fmt, ...)
#endif
#if 1
#define WII_DEBUG(fmt, ...) do { \
printf("[WDEBUG] " __FILE__ ":%i: " fmt "\n", __LINE__, ##__VA_ARGS__); \
usleep(3000000); \
} while (0)
#else
#define WII_DEBUG(fmt, ...)
#endif
/* Convert between radians and degrees */
#define RAD_TO_DEGREE(r) ((r * 180.0f) / WIIMOTE_PI)
#define DEGREE_TO_RAD(d) (d * (WIIMOTE_PI / 180.0f))
/* Convert to big endian */
#define BIG_ENDIAN_LONG(i) (htonl(i))
#define BIG_ENDIAN_SHORT(i) (htons(i))
#define absf(x) ((x >= 0) ? (x) : (x * -1.0f))
#define diff_f(x, y) ((x >= y) ? (absf(x - y)) : (absf(y - x)))
#endif

230
wii/wiiuse/dynamics.c Normal file
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@ -0,0 +1,230 @@
/*
* wiiuse
*
* Written By:
* Michael Laforest < para >
* Email: < thepara (--AT--) g m a i l [--DOT--] com >
*
* Copyright 2006-2007
*
* This file is part of wiiuse.
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* $Header: /lvm/shared/ds/ds/cvs/devkitpro-cvsbackup/libogc/wiiuse/dynamics.c,v 1.2 2008-11-14 13:34:57 shagkur Exp $
*
*/
/**
* @file
* @brief Handles the dynamics of the wiimote.
*
* The file includes functions that handle the dynamics
* of the wiimote. Such dynamics include orientation and
* motion sensing.
*/
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#ifdef WIN32
#include <float.h>
#endif
#include "definitions.h"
#include "wiiuse_internal.h"
#include "ir.h"
#include "dynamics.h"
/**
* @brief Calculate the roll, pitch, yaw.
*
* @param ac An accelerometer (accel_t) structure.
* @param accel [in] Pointer to a vec3w_t structure that holds the raw acceleration data.
* @param orient [out] Pointer to a orient_t structure that will hold the orientation data.
* @param rorient [out] Pointer to a orient_t structure that will hold the non-smoothed orientation data.
* @param smooth If smoothing should be performed on the angles calculated. 1 to enable, 0 to disable.
*
* Given the raw acceleration data from the accelerometer struct, calculate
* the orientation of the device and set it in the \a orient parameter.
*/
void calculate_orientation(struct accel_t* ac, struct vec3w_t* accel, struct orient_t* orient, int smooth) {
float xg, yg, zg;
float x, y, z;
/*
* roll - use atan(z / x) [ ranges from -180 to 180 ]
* pitch - use atan(z / y) [ ranges from -180 to 180 ]
* yaw - impossible to tell without IR
*/
/* yaw - set to 0, IR will take care of it if it's enabled */
orient->yaw = 0.0f;
/* find out how much it has to move to be 1g */
xg = (float)ac->cal_g.x;
yg = (float)ac->cal_g.y;
zg = (float)ac->cal_g.z;
/* find out how much it actually moved and normalize to +/- 1g */
x = ((float)accel->x - (float)ac->cal_zero.x) / xg;
y = ((float)accel->y - (float)ac->cal_zero.y) / yg;
z = ((float)accel->z - (float)ac->cal_zero.z) / zg;
/* make sure x,y,z are between -1 and 1 for the tan functions */
if (x < -1.0f) x = -1.0f;
else if (x > 1.0f) x = 1.0f;
if (y < -1.0f) y = -1.0f;
else if (y > 1.0f) y = 1.0f;
if (z < -1.0f) z = -1.0f;
else if (z > 1.0f) z = 1.0f;
/* if it is over 1g then it is probably accelerating and not reliable */
if (abs(accel->x - ac->cal_zero.x) <= (ac->cal_g.x+10)) {
/* roll */
x = RAD_TO_DEGREE(atan2f(x, z));
if(isfinite(x)) {
orient->roll = x;
orient->a_roll = x;
}
}
if (abs(accel->y - ac->cal_zero.y) <= (ac->cal_g.y+10)) {
/* pitch */
y = RAD_TO_DEGREE(atan2f(y, z));
if(isfinite(y)) {
orient->pitch = y;
orient->a_pitch = y;
}
}
/* smooth the angles if enabled */
if (smooth) {
apply_smoothing(ac, orient, SMOOTH_ROLL);
apply_smoothing(ac, orient, SMOOTH_PITCH);
}
}
/**
* @brief Calculate the gravity forces on each axis.
*
* @param ac An accelerometer (accel_t) structure.
* @param accel [in] Pointer to a vec3w_t structure that holds the raw acceleration data.
* @param gforce [out] Pointer to a gforce_t structure that will hold the gravity force data.
*/
void calculate_gforce(struct accel_t* ac, struct vec3w_t* accel, struct gforce_t* gforce) {
float xg, yg, zg;
/* find out how much it has to move to be 1g */
xg = (float)ac->cal_g.x;
yg = (float)ac->cal_g.y;
zg = (float)ac->cal_g.z;
/* find out how much it actually moved and normalize to +/- 1g */
gforce->x = ((float)accel->x - (float)ac->cal_zero.x) / xg;
gforce->y = ((float)accel->y - (float)ac->cal_zero.y) / yg;
gforce->z = ((float)accel->z - (float)ac->cal_zero.z) / zg;
}
/**
* @brief Calculate the angle and magnitude of a joystick.
*
* @param js [out] Pointer to a joystick_t structure.
* @param x The raw x-axis value.
* @param y The raw y-axis value.
*/
void calc_joystick_state(struct joystick_t* js, float x, float y) {
float rx, ry, ang;
/*
* Since the joystick center may not be exactly:
* (min + max) / 2
* Then the range from the min to the center and the center to the max
* may be different.
* Because of this, depending on if the current x or y value is greater
* or less than the assoicated axis center value, it needs to be interpolated
* between the center and the minimum or maxmimum rather than between
* the minimum and maximum.
*
* So we have something like this:
* (x min) [-1] ---------*------ [0] (x center) [0] -------- [1] (x max)
* Where the * is the current x value.
* The range is therefore -1 to 1, 0 being the exact center rather than
* the middle of min and max.
*/
if (x == js->center.x)
rx = 0;
else if (x >= js->center.x)
rx = ((float)(x - js->center.x) / (float)(js->max.x - js->center.x));
else
rx = ((float)(x - js->min.x) / (float)(js->center.x - js->min.x)) - 1.0f;
if (y == js->center.y)
ry = 0;
else if (y >= js->center.y)
ry = ((float)(y - js->center.y) / (float)(js->max.y - js->center.y));
else
ry = ((float)(y - js->min.y) / (float)(js->center.y - js->min.y)) - 1.0f;
/* calculate the joystick angle and magnitude */
ang = RAD_TO_DEGREE(atanf(ry / rx));
ang -= 90.0f;
if (rx < 0.0f)
ang -= 180.0f;
js->ang = absf(ang);
js->mag = (float) sqrt((rx * rx) + (ry * ry));
}
void apply_smoothing(struct accel_t* ac, struct orient_t* orient, int type) {
switch (type) {
case SMOOTH_ROLL:
{
/* it's possible last iteration was nan or inf, so set it to 0 if that happened */
if (isnan(ac->st_roll) || isinf(ac->st_roll))
ac->st_roll = 0.0f;
/*
* If the sign changes (which will happen if going from -180 to 180)
* or from (-1 to 1) then don't smooth, just use the new angle.
*/
if (((ac->st_roll < 0) && (orient->roll > 0)) || ((ac->st_roll > 0) && (orient->roll < 0))) {
ac->st_roll = orient->roll;
} else {
orient->roll = ac->st_roll + (ac->st_alpha * (orient->a_roll - ac->st_roll));
ac->st_roll = orient->roll;
}
return;
}
case SMOOTH_PITCH:
{
if (isnan(ac->st_pitch) || isinf(ac->st_pitch))
ac->st_pitch = 0.0f;
if (((ac->st_pitch < 0) && (orient->pitch > 0)) || ((ac->st_pitch > 0) && (orient->pitch < 0))) {
ac->st_pitch = orient->pitch;
} else {
orient->pitch = ac->st_pitch + (ac->st_alpha * (orient->a_pitch - ac->st_pitch));
ac->st_pitch = orient->pitch;
}
return;
}
}
}

56
wii/wiiuse/dynamics.h Normal file
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@ -0,0 +1,56 @@
/*
* wiiuse
*
* Written By:
* Michael Laforest < para >
* Email: < thepara (--AT--) g m a i l [--DOT--] com >
*
* Copyright 2006-2007
*
* This file is part of wiiuse.
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* $Header: /lvm/shared/ds/ds/cvs/devkitpro-cvsbackup/libogc/wiiuse/dynamics.h,v 1.2 2008-11-14 13:34:57 shagkur Exp $
*
*/
/**
* @file
* @brief Handles the dynamics of the wiimote.
*
* The file includes functions that handle the dynamics
* of the wiimote. Such dynamics include orientation and
* motion sensing.
*/
#ifndef DYNAMICS_H_INCLUDED
#define DYNAMICS_H_INCLUDED
#include "wiiuse_internal.h"
#ifdef __cplusplus
extern "C" {
#endif
void calculate_orientation(struct accel_t* ac, struct vec3w_t* accel, struct orient_t* orient, int smooth);
void calculate_gforce(struct accel_t* ac, struct vec3w_t* accel, struct gforce_t* gforce);
void calc_joystick_state(struct joystick_t* js, float x, float y);
void apply_smoothing(struct accel_t* ac, struct orient_t* orient, int type);
#ifdef __cplusplus
}
#endif
#endif // DYNAMICS_H_INCLUDED

331
wii/wiiuse/events.c Normal file
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@ -0,0 +1,331 @@
#include <stdio.h>
#ifndef WIN32
#include <sys/time.h>
#include <unistd.h>
#include <errno.h>
#else
#include <winsock2.h>
#endif
#include <sys/types.h>
#include <stdlib.h>
#include <math.h>
#include <string.h>
#include "dynamics.h"
#include "definitions.h"
#include "wiiuse_internal.h"
#include "events.h"
#include "nunchuk.h"
#include "classic.h"
#include "motion_plus.h"
#include "ir.h"
#include "io.h"
static void event_data_read(struct wiimote_t *wm,ubyte *msg)
{
ubyte err;
ubyte len;
uword offset;
struct op_t *op;
struct cmd_blk_t *cmd = wm->cmd_head;
wiiuse_pressed_buttons(wm,msg);
if(!cmd) return;
if(!(cmd->state==CMD_SENT && cmd->data[0]==WM_CMD_READ_DATA)) return;
//printf("event_data_read(%p)\n",cmd);
err = msg[2]&0x0f;
op = (struct op_t*)cmd->data;
if(err) {
wm->cmd_head = cmd->next;
cmd->state = CMD_DONE;
if(cmd->cb!=NULL) cmd->cb(wm,op->buffer,(op->readdata.size - op->wait));
__lwp_queue_append(&wm->cmdq,&cmd->node);
wiiuse_send_next_command(wm);
return;
}
len = ((msg[2]&0xf0)>>4)+1;
offset = BIG_ENDIAN_SHORT(*(uword*)(msg+3));
//printf("addr: %08x\noffset: %d\nlen: %d\n",req->addr,offset,len);
op->readdata.addr = (op->readdata.addr&0xffff);
op->wait -= len;
if(op->wait>=op->readdata.size) op->wait = 0;
memcpy((op->buffer+offset-op->readdata.addr),(msg+5),len);
if(!op->wait) {
wm->cmd_head = cmd->next;
wm->event = WIIUSE_READ_DATA;
cmd->state = CMD_DONE;
if(cmd->cb!=NULL) cmd->cb(wm,op->buffer,op->readdata.size);
__lwp_queue_append(&wm->cmdq,&cmd->node);
wiiuse_send_next_command(wm);
}
}
static void event_ack(struct wiimote_t *wm,ubyte *msg)
{
struct cmd_blk_t *cmd = wm->cmd_head;
wiiuse_pressed_buttons(wm,msg);
if(!cmd || cmd->state!=CMD_SENT || cmd->data[0]==WM_CMD_READ_DATA || cmd->data[0]==WM_CMD_CTRL_STATUS || cmd->data[0]!=msg[2]) {
//WIIUSE_WARNING("Unsolicited event ack: report %02x status %02x", msg[2], msg[3]);
return;
}
if(msg[3]) {
//WIIUSE_WARNING("Command %02x %02x failed: status %02x", cmd->data[0], cmd->data[1], msg[3]);
return;
}
//WIIUSE_DEBUG("Received ack for command %02x %02x", cmd->data[0], cmd->data[1]);
wm->cmd_head = cmd->next;
wm->event = WIIUSE_ACK;
cmd->state = CMD_DONE;
if(cmd->cb) cmd->cb(wm,NULL,0);
__lwp_queue_append(&wm->cmdq,&cmd->node);
wiiuse_send_next_command(wm);
}
static void event_status(struct wiimote_t *wm,ubyte *msg)
{
int ir = 0;
int attachment = 0;
int speaker = 0;
//int led[4]= {0};
struct cmd_blk_t *cmd = wm->cmd_head;
wiiuse_pressed_buttons(wm,msg);
wm->event = WIIUSE_STATUS;
//if(msg[2]&WM_CTRL_STATUS_BYTE1_LED_1) led[0] = 1;
//if(msg[2]&WM_CTRL_STATUS_BYTE1_LED_2) led[1] = 1;
//if(msg[2]&WM_CTRL_STATUS_BYTE1_LED_3) led[2] = 1;
//if(msg[2]&WM_CTRL_STATUS_BYTE1_LED_4) led[3] = 1;
if((msg[2]&WM_CTRL_STATUS_BYTE1_ATTACHMENT)==WM_CTRL_STATUS_BYTE1_ATTACHMENT) attachment = 1;
if((msg[2]&WM_CTRL_STATUS_BYTE1_SPEAKER_ENABLED)==WM_CTRL_STATUS_BYTE1_SPEAKER_ENABLED) speaker = 1;
if((msg[2]&WM_CTRL_STATUS_BYTE1_IR_ENABLED)==WM_CTRL_STATUS_BYTE1_IR_ENABLED) ir = 1;
wm->battery_level = msg[5];
if(!ir && WIIMOTE_IS_SET(wm,WIIMOTE_STATE_IR_INIT)) {
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_IR_INIT);
wiiuse_set_ir(wm, 1);
goto done;
}
if(ir && !WIIMOTE_IS_SET(wm,WIIMOTE_STATE_IR)) WIIMOTE_ENABLE_STATE(wm,WIIMOTE_STATE_IR);
else if(!ir && WIIMOTE_IS_SET(wm,WIIMOTE_STATE_IR)) WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_IR);
if(!speaker && WIIMOTE_IS_SET(wm,WIIMOTE_STATE_SPEAKER_INIT)) {
WIIMOTE_DISABLE_STATE(wm,WIIMOTE_STATE_SPEAKER_INIT);
wiiuse_set_speaker(wm,1);
goto done;
}
if(speaker && !WIIMOTE_IS_SET(wm,WIIMOTE_STATE_SPEAKER)) WIIMOTE_ENABLE_STATE(wm,WIIMOTE_STATE_SPEAKER);
else if(!speaker && WIIMOTE_IS_SET(wm,WIIMOTE_STATE_SPEAKER)) WIIMOTE_DISABLE_STATE(wm,WIIMOTE_STATE_SPEAKER);
if(attachment) {
if(!WIIMOTE_IS_SET(wm,WIIMOTE_STATE_EXP) && !WIIMOTE_IS_SET(wm,WIIMOTE_STATE_EXP_FAILED) && !WIIMOTE_IS_SET(wm,WIIMOTE_STATE_EXP_HANDSHAKE)) {
wiiuse_handshake_expansion_start(wm);
goto done;
}
} else {
WIIMOTE_DISABLE_STATE(wm,WIIMOTE_STATE_EXP_FAILED);
if(WIIMOTE_IS_SET(wm,WIIMOTE_STATE_EXP)) {
wiiuse_disable_expansion(wm);
goto done;
}
}
wiiuse_set_report_type(wm,NULL);
done:
if(!cmd) return;
if(!(cmd->state==CMD_SENT && cmd->data[0]==WM_CMD_CTRL_STATUS)) return;
wm->cmd_head = cmd->next;
cmd->state = CMD_DONE;
if(cmd->cb!=NULL) cmd->cb(wm,msg,6);
__lwp_queue_append(&wm->cmdq,&cmd->node);
wiiuse_send_next_command(wm);
}
static void handle_expansion(struct wiimote_t *wm,ubyte *msg)
{
switch (wm->exp.type) {
case EXP_NUNCHUK:
nunchuk_event(&wm->exp.nunchuk, msg);
break;
case EXP_CLASSIC:
classic_ctrl_event(&wm->exp.classic, msg);
break;
case EXP_MOTION_PLUS:
motion_plus_event(&wm->exp.mp, msg);
break;
default:
break;
}
}
/**
* @brief Called on a cycle where no significant change occurs.
*
* @param wm Pointer to a wiimote_t structure.
*/
void idle_cycle(struct wiimote_t* wm)
{
/*
* Smooth the angles.
*
* This is done to make sure that on every cycle the orientation
* angles are smoothed. Normally when an event occurs the angles
* are updated and smoothed, but if no packet comes in then the
* angles remain the same. This means the angle wiiuse reports
* is still an old value. Smoothing needs to be applied in this
* case in order for the angle it reports to converge to the true
* angle of the device.
*/
//printf("idle_cycle()\n");///
if (WIIUSE_USING_ACC(wm) && WIIMOTE_IS_FLAG_SET(wm, WIIUSE_SMOOTHING)) {
apply_smoothing(&wm->accel_calib, &wm->orient, SMOOTH_ROLL);
apply_smoothing(&wm->accel_calib, &wm->orient, SMOOTH_PITCH);
}
}
void parse_event(struct wiimote_t *wm)
{
ubyte event;
ubyte *msg;
event = wm->event_buf[0];
msg = wm->event_buf+1;
//printf("parse_event(%02x,%p)\n",event,msg);
switch(event) {
case WM_RPT_CTRL_STATUS:
event_status(wm,msg);
return;
case WM_RPT_READ:
event_data_read(wm,msg);
return;
case WM_RPT_ACK:
event_ack(wm,msg);
return;
case WM_RPT_BTN:
wiiuse_pressed_buttons(wm,msg);
break;
case WM_RPT_BTN_ACC:
wiiuse_pressed_buttons(wm,msg);
wm->accel.x = (msg[2]<<2)|((msg[0]>>5)&3);
wm->accel.y = (msg[3]<<2)|((msg[1]>>4)&2);
wm->accel.z = (msg[4]<<2)|((msg[1]>>5)&2);
#ifndef GEKKO
/* calculate the remote orientation */
calculate_orientation(&wm->accel_calib, &wm->accel, &wm->orient, WIIMOTE_IS_FLAG_SET(wm, WIIUSE_SMOOTHING));
/* calculate the gforces on each axis */
calculate_gforce(&wm->accel_calib, &wm->accel, &wm->gforce);
#endif
break;
case WM_RPT_BTN_ACC_IR:
wiiuse_pressed_buttons(wm,msg);
wm->accel.x = (msg[2]<<2)|((msg[0]>>5)&3);
wm->accel.y = (msg[3]<<2)|((msg[1]>>4)&2);
wm->accel.z = (msg[4]<<2)|((msg[1]>>5)&2);
#ifndef GEKKO
/* calculate the remote orientation */
calculate_orientation(&wm->accel_calib, &wm->accel, &wm->orient, WIIMOTE_IS_FLAG_SET(wm, WIIUSE_SMOOTHING));
/* calculate the gforces on each axis */
calculate_gforce(&wm->accel_calib, &wm->accel, &wm->gforce);
#endif
calculate_extended_ir(wm, msg+5);
break;
case WM_RPT_BTN_EXP:
wiiuse_pressed_buttons(wm,msg);
handle_expansion(wm,msg+2);
break;
case WM_RPT_BTN_ACC_EXP:
/* button - motion - expansion */
wiiuse_pressed_buttons(wm, msg);
wm->accel.x = (msg[2]<<2)|((msg[0]>>5)&3);
wm->accel.y = (msg[3]<<2)|((msg[1]>>4)&2);
wm->accel.z = (msg[4]<<2)|((msg[1]>>5)&2);
#ifndef GEKKO
calculate_orientation(&wm->accel_calib, &wm->accel, &wm->orient, WIIMOTE_IS_FLAG_SET(wm, WIIUSE_SMOOTHING));
calculate_gforce(&wm->accel_calib, &wm->accel, &wm->gforce);
#endif
handle_expansion(wm, msg+5);
break;
case WM_RPT_BTN_IR_EXP:
wiiuse_pressed_buttons(wm,msg);
calculate_basic_ir(wm, msg+2);
handle_expansion(wm,msg+12);
break;
case WM_RPT_BTN_ACC_IR_EXP:
/* button - motion - ir - expansion */
wiiuse_pressed_buttons(wm, msg);
wm->accel.x = (msg[2]<<2)|((msg[0]>>5)&3);
wm->accel.y = (msg[3]<<2)|((msg[1]>>4)&2);
wm->accel.z = (msg[4]<<2)|((msg[1]>>5)&2);
#ifndef GEKKO
calculate_orientation(&wm->accel_calib, &wm->accel, &wm->orient, WIIMOTE_IS_FLAG_SET(wm, WIIUSE_SMOOTHING));
calculate_gforce(&wm->accel_calib, &wm->accel, &wm->gforce);
#endif
/* ir */
calculate_basic_ir(wm, msg+5);
handle_expansion(wm, msg+15);
break;
default:
WIIUSE_WARNING("Unknown event, can not handle it [Code 0x%x].", event);
return;
}
/* was there an event? */
wm->event = WIIUSE_EVENT;
}
/**
* @brief Find what buttons are pressed.
*
* @param wm Pointer to a wiimote_t structure.
* @param msg The message specified in the event packet.
*/
void wiiuse_pressed_buttons(struct wiimote_t* wm, ubyte* msg) {
short now;
/* convert to big endian */
now = BIG_ENDIAN_SHORT(*(short*)msg) & WIIMOTE_BUTTON_ALL;
/* preserve old btns pressed */
wm->btns_last = wm->btns;
/* pressed now & were pressed, then held */
wm->btns_held = (now & wm->btns);
/* were pressed or were held & not pressed now, then released */
wm->btns_released = ((wm->btns | wm->btns_held) & ~now);
/* buttons pressed now */
wm->btns = now;
}

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wii/wiiuse/events.h Normal file
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#ifndef __EVENTS_H__
#define __EVENTS_H__
#ifdef __cplusplus
extern "C" {
#endif
void wiiuse_pressed_buttons(struct wiimote_t* wm, ubyte* msg);
#ifdef __cplusplus
}
#endif
#endif

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wii/wiiuse/io.c Normal file
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#include <stdio.h>
#include <stdlib.h>
#include "definitions.h"
#include "wiiuse_internal.h"
#include "nunchuk.h"
#include "classic.h"
#include "motion_plus.h"
#include "io.h"
#include "lwp_wkspace.inl"
void wiiuse_handshake(struct wiimote_t *wm,ubyte *data,uword len)
{
ubyte *buf = NULL;
struct accel_t *accel = &wm->accel_calib;
//printf("wiiuse_handshake(%d,%p,%d)\n",wm->handshake_state,data,len);
switch(wm->handshake_state) {
case 0:
wm->handshake_state++;
wiiuse_set_leds(wm,WIIMOTE_LED_NONE,NULL);
buf = __lwp_wkspace_allocate(sizeof(ubyte)*8);
wiiuse_read_data(wm,buf,WM_MEM_OFFSET_CALIBRATION,7,wiiuse_handshake);
break;
case 1:
wm->handshake_state++;
accel->cal_zero.x = ((data[0]<<2)|((data[3]>>4)&3));
accel->cal_zero.y = ((data[1]<<2)|((data[3]>>2)&3));
accel->cal_zero.z = ((data[2]<<2)|(data[3]&3));
accel->cal_g.x = (((data[4]<<2)|((data[7]>>4)&3)) - accel->cal_zero.x);
accel->cal_g.y = (((data[5]<<2)|((data[7]>>2)&3)) - accel->cal_zero.y);
accel->cal_g.z = (((data[6]<<2)|(data[7]&3)) - accel->cal_zero.z);
__lwp_wkspace_free(data);
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_HANDSHAKE);
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_HANDSHAKE_COMPLETE);
wm->event = WIIUSE_CONNECT;
wiiuse_status(wm,NULL);
break;
default:
break;
}
}
void wiiuse_handshake_expansion_start(struct wiimote_t *wm)
{
if(WIIMOTE_IS_SET(wm,WIIMOTE_STATE_EXP) || WIIMOTE_IS_SET(wm,WIIMOTE_STATE_EXP_FAILED) || WIIMOTE_IS_SET(wm,WIIMOTE_STATE_EXP_HANDSHAKE))
return;
wm->expansion_state = 0;
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_EXP_HANDSHAKE);
wiiuse_handshake_expansion(wm, NULL, 0);
}
void wiiuse_handshake_expansion(struct wiimote_t *wm,ubyte *data,uword len)
{
int id;
ubyte val;
ubyte *buf = NULL;
switch(wm->expansion_state) {
/* These two initialization writes disable the encryption */
case 0:
wm->expansion_state = 1;
val = 0x55;
wiiuse_write_data(wm,WM_EXP_MEM_ENABLE1,&val,1,wiiuse_handshake_expansion);
break;
case 1:
wm->expansion_state = 2;
val = 0x00;
wiiuse_write_data(wm,WM_EXP_MEM_ENABLE2,&val,1,wiiuse_handshake_expansion);
break;
case 2:
wm->expansion_state = 3;
buf = __lwp_wkspace_allocate(sizeof(ubyte)*EXP_HANDSHAKE_LEN);
wiiuse_read_data(wm,buf,WM_EXP_MEM_CALIBR,EXP_HANDSHAKE_LEN,wiiuse_handshake_expansion);
break;
case 3:
if(!data || !len) return;
id = BIG_ENDIAN_LONG(*(int*)(&data[220]));
switch(id) {
case EXP_ID_CODE_NUNCHUK:
if(!nunchuk_handshake(wm,&wm->exp.nunchuk,data,len)) return;
break;
case EXP_ID_CODE_CLASSIC_CONTROLLER:
case EXP_ID_CODE_CLASSIC_CONTROLLER_NYKOWING:
case EXP_ID_CODE_CLASSIC_CONTROLLER_NYKOWING2:
case EXP_ID_CODE_CLASSIC_CONTROLLER_NYKOWING3:
case EXP_ID_CODE_CLASSIC_CONTROLLER_GENERIC:
case EXP_ID_CODE_CLASSIC_CONTROLLER_GENERIC2:
case EXP_ID_CODE_CLASSIC_CONTROLLER_GENERIC3:
case EXP_ID_CODE_CLASSIC_CONTROLLER_GENERIC4:
case EXP_ID_CODE_CLASSIC_CONTROLLER_GENERIC5:
if(!classic_ctrl_handshake(wm,&wm->exp.classic,data,len)) return;
break;
default:
if(!classic_ctrl_handshake(wm,&wm->exp.classic,data,len)) return;
/*WIIMOTE_DISABLE_STATE(wm,WIIMOTE_STATE_EXP_HANDSHAKE);
WIIMOTE_ENABLE_STATE(wm,WIIMOTE_STATE_EXP_FAILED);
__lwp_wkspace_free(data);
wiiuse_status(wm,NULL);
return;*/
}
__lwp_wkspace_free(data);
WIIMOTE_DISABLE_STATE(wm,WIIMOTE_STATE_EXP_HANDSHAKE);
WIIMOTE_ENABLE_STATE(wm,WIIMOTE_STATE_EXP);
wiiuse_set_ir_mode(wm);
wiiuse_status(wm,NULL);
break;
}
}
void wiiuse_disable_expansion(struct wiimote_t *wm)
{
if(!WIIMOTE_IS_SET(wm, WIIMOTE_STATE_EXP)) return;
/* tell the associated module the expansion was removed */
switch(wm->exp.type) {
case EXP_NUNCHUK:
nunchuk_disconnected(&wm->exp.nunchuk);
wm->event = WIIUSE_NUNCHUK_REMOVED;
break;
case EXP_CLASSIC:
classic_ctrl_disconnected(&wm->exp.classic);
wm->event = WIIUSE_CLASSIC_CTRL_REMOVED;
break;
case EXP_MOTION_PLUS:
motion_plus_disconnected(&wm->exp.mp);
wm->event = WIIUSE_MOTION_PLUS_REMOVED;
break;
default:
break;
}
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_EXP);
wm->exp.type = EXP_NONE;
wiiuse_set_ir_mode(wm);
wiiuse_status(wm,NULL);
}

23
wii/wiiuse/io.h Normal file
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#ifndef __IO_H__
#define __IO_H__
#include "wiiuse_internal.h"
#ifdef __cplusplus
extern "C" {
#endif
void wiiuse_handshake(struct wiimote_t* wm,ubyte *data,uword len);
void wiiuse_handshake_expansion_start(struct wiimote_t *wm);
void wiiuse_handshake_expansion(struct wiimote_t *wm,ubyte *data,uword len);
void wiiuse_disable_expansion(struct wiimote_t *wm);
int wiiuse_io_read(struct wiimote_t* wm);
int wiiuse_io_write(struct wiimote_t* wm, ubyte* buf, int len);
#ifdef __cplusplus
}
#endif
#endif

176
wii/wiiuse/io_wii.c Normal file
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#ifdef GEKKO
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include "definitions.h"
#include "wiiuse_internal.h"
#include "events.h"
#include "io.h"
#include "lwp_wkspace.h"
#define MAX_COMMANDS 0x100
#define MAX_WIIMOTES 5
static vu32* const _ipcReg = (u32*)0xCD000000;
static u8 *__queue_buffer[MAX_WIIMOTES] = { 0, 0, 0, 0, 0 };
extern void parse_event(struct wiimote_t *wm);
extern void idle_cycle(struct wiimote_t* wm);
extern void hexdump(void *d, int len);
static __inline__ u32 ACR_ReadReg(u32 reg)
{
return _ipcReg[reg>>2];
}
static __inline__ void ACR_WriteReg(u32 reg,u32 val)
{
_ipcReg[reg>>2] = val;
}
static s32 __wiiuse_disconnected(void *arg,struct bte_pcb *pcb,u8 err)
{
struct wiimote_listen_t *wml = (struct wiimote_listen_t*)arg;
struct wiimote_t *wm = wml->wm;
if(!wm) return ERR_OK;
//printf("wiimote disconnected\n");
WIIMOTE_DISABLE_STATE(wm, (WIIMOTE_STATE_IR|WIIMOTE_STATE_IR_INIT));
WIIMOTE_DISABLE_STATE(wm, (WIIMOTE_STATE_SPEAKER|WIIMOTE_STATE_SPEAKER_INIT));
WIIMOTE_DISABLE_STATE(wm, (WIIMOTE_STATE_EXP|WIIMOTE_STATE_EXP_HANDSHAKE|WIIMOTE_STATE_EXP_FAILED));
WIIMOTE_DISABLE_STATE(wm,(WIIMOTE_STATE_CONNECTED|WIIMOTE_STATE_HANDSHAKE|WIIMOTE_STATE_HANDSHAKE_COMPLETE));
while(wm->cmd_head) {
__lwp_queue_append(&wm->cmdq,&wm->cmd_head->node);
wm->cmd_head = wm->cmd_head->next;
}
wm->cmd_tail = NULL;
if(wm->event_cb) wm->event_cb(wm,WIIUSE_DISCONNECT);
wml->wm = NULL;
return ERR_OK;
}
static s32 __wiiuse_receive(void *arg,void *buffer,u16 len)
{
struct wiimote_listen_t *wml = (struct wiimote_listen_t*)arg;
struct wiimote_t *wm = wml->wm;
if(!wm || !buffer || len==0) return ERR_OK;
//printf("__wiiuse_receive[%02x]\n",*(char*)buffer);
wm->event = WIIUSE_NONE;
memcpy(wm->event_buf,buffer,len);
memset(&(wm->event_buf[len]),0,(MAX_PAYLOAD - len));
parse_event(wm);
if(wm->event!=WIIUSE_NONE) {
if(wm->event_cb) wm->event_cb(wm,wm->event);
}
return ERR_OK;
}
static s32 __wiiuse_connected(void *arg,struct bte_pcb *pcb,u8 err)
{
struct wiimote_listen_t *wml = (struct wiimote_listen_t*)arg;
struct wiimote_t *wm;
wm = wml->assign_cb(&wml->bdaddr);
if(!wm) {
bte_disconnect(wml->sock);
return ERR_OK;
}
wml->wm = wm;
wm->sock = wml->sock;
wm->bdaddr = wml->bdaddr;
//printf("__wiiuse_connected()\n");
WIIMOTE_ENABLE_STATE(wm,(WIIMOTE_STATE_CONNECTED|WIIMOTE_STATE_HANDSHAKE));
wm->handshake_state = 0;
wiiuse_handshake(wm,NULL,0);
return ERR_OK;
}
void __wiiuse_sensorbar_enable(int enable)
{
u32 val;
u32 level;
level = IRQ_Disable();
val = (ACR_ReadReg(0xc0)&~0x100);
if(enable) val |= 0x100;
ACR_WriteReg(0xc0,val);
IRQ_Restore(level);
}
int wiiuse_register(struct wiimote_listen_t *wml, struct bd_addr *bdaddr, struct wiimote_t *(*assign_cb)(struct bd_addr *bdaddr))
{
s32 err;
if(!wml || !bdaddr || !assign_cb) return 0;
wml->wm = NULL;
wml->bdaddr = *bdaddr;
wml->sock = bte_new();
wml->assign_cb = assign_cb;
if(wml->sock==NULL) return 0;
bte_arg(wml->sock,wml);
bte_received(wml->sock,__wiiuse_receive);
bte_disconnected(wml->sock,__wiiuse_disconnected);
err = bte_registerdeviceasync(wml->sock,bdaddr,__wiiuse_connected);
if(err==ERR_OK) return 1;
return 0;
}
void wiiuse_disconnect(struct wiimote_t *wm)
{
if(wm==NULL || wm->sock==NULL) return;
WIIMOTE_DISABLE_STATE(wm,WIIMOTE_STATE_CONNECTED);
bte_disconnect(wm->sock);
}
void wiiuse_sensorbar_enable(int enable)
{
__wiiuse_sensorbar_enable(enable);
}
void wiiuse_init_cmd_queue(struct wiimote_t *wm)
{
u32 size;
if (!__queue_buffer[wm->unid]) {
size = (MAX_COMMANDS*sizeof(struct cmd_blk_t));
__queue_buffer[wm->unid] = __lwp_wkspace_allocate(size);
if(!__queue_buffer[wm->unid]) return;
}
__lwp_queue_initialize(&wm->cmdq,__queue_buffer[wm->unid],MAX_COMMANDS,sizeof(struct cmd_blk_t));
}
int wiiuse_io_write(struct wiimote_t *wm,ubyte *buf,int len)
{
if(wm->sock) {
return bte_senddata(wm->sock,buf,len);
}
return ERR_CONN;
}
#endif

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wii/wiiuse/ir.c Normal file
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#include <stdio.h>
#include <math.h>
#include <time.h>
#ifndef WIN32
#include <unistd.h>
#endif
#ifdef GEKKO
#include <ogcsys.h>
#endif
#include "definitions.h"
#include "wiiuse_internal.h"
#include "ir.h"
static int ir_correct_for_bounds(float* x, float* y, enum aspect_t aspect, int offset_x, int offset_y);
static void ir_convert_to_vres(float* x, float* y, enum aspect_t aspect, unsigned int vx, unsigned int vy);
/**
* @brief Get the IR sensitivity settings.
*
* @param wm Pointer to a wiimote_t structure.
* @param block1 [out] Pointer to where block1 will be set.
* @param block2 [out] Pointer to where block2 will be set.
*
* @return Returns the sensitivity level.
*/
static int get_ir_sens(struct wiimote_t* wm, char** block1, char** block2) {
if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR_SENS_LVL1)) {
*block1 = WM_IR_BLOCK1_LEVEL1;
*block2 = WM_IR_BLOCK2_LEVEL1;
return 1;
} else if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR_SENS_LVL2)) {
*block1 = WM_IR_BLOCK1_LEVEL2;
*block2 = WM_IR_BLOCK2_LEVEL2;
return 2;
} else if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR_SENS_LVL3)) {
*block1 = WM_IR_BLOCK1_LEVEL3;
*block2 = WM_IR_BLOCK2_LEVEL3;
return 3;
} else if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR_SENS_LVL4)) {
*block1 = WM_IR_BLOCK1_LEVEL4;
*block2 = WM_IR_BLOCK2_LEVEL4;
return 4;
} else if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR_SENS_LVL5)) {
*block1 = WM_IR_BLOCK1_LEVEL5;
*block2 = WM_IR_BLOCK2_LEVEL5;
return 5;
}
*block1 = NULL;
*block2 = NULL;
return 0;
}
static void rotate_dots(struct fdot_t* in, struct fdot_t *out, int count, float ang) {
float s, c;
int i;
if (ang == 0) {
for (i = 0; i < count; ++i) {
out[i].x = in[i].x;
out[i].y = in[i].y;
}
return;
}
s = sin(DEGREE_TO_RAD(ang));
c = cos(DEGREE_TO_RAD(ang));
/*
* [ cos(theta) -sin(theta) ][ ir->rx ]
* [ sin(theta) cos(theta) ][ ir->ry ]
*/
for (i = 0; i < count; ++i) {
out[i].x = (c * in[i].x) + (-s * in[i].y);
out[i].y = (s * in[i].x) + (c * in[i].y);
}
}
/**
* @brief Correct for the IR bounding box.
*
* @param x [out] The current X, it will be updated if valid.
* @param y [out] The current Y, it will be updated if valid.
* @param aspect Aspect ratio of the screen.
* @param offset_x The X offset of the bounding box.
* @param offset_y The Y offset of the bounding box.
*
* @return Returns 1 if the point is valid and was updated.
*
* Nintendo was smart with this bit. They sacrifice a little
* precision for a big increase in usability.
*/
static int ir_correct_for_bounds(float* x, float* y, enum aspect_t aspect, int offset_x, int offset_y) {
float x0, y0;
int xs, ys;
if (aspect == WIIUSE_ASPECT_16_9) {
xs = WM_ASPECT_16_9_X;
ys = WM_ASPECT_16_9_Y;
} else {
xs = WM_ASPECT_4_3_X;
ys = WM_ASPECT_4_3_Y;
}
x0 = ((1024 - xs) / 2) + offset_x;
y0 = ((768 - ys) / 2) + offset_y;
if ((*x >= x0)
&& (*x <= (x0 + xs))
&& (*y >= y0)
&& (*y <= (y0 + ys)))
{
*x -= offset_x;
*y -= offset_y;
return 1;
}
return 0;
}
/**
* @brief Interpolate the point to the user defined virtual screen resolution.
*/
static void ir_convert_to_vres(float* x, float* y, enum aspect_t aspect, unsigned int vx, unsigned int vy) {
int xs, ys;
if (aspect == WIIUSE_ASPECT_16_9) {
xs = WM_ASPECT_16_9_X;
ys = WM_ASPECT_16_9_Y;
} else {
xs = WM_ASPECT_4_3_X;
ys = WM_ASPECT_4_3_Y;
}
*x -= ((1024-xs)/2);
*y -= ((768-ys)/2);
*x = (*x / (float)xs) * vx;
*y = (*y / (float)ys) * vy;
}
void wiiuse_set_ir_mode(struct wiimote_t *wm)
{
ubyte buf = 0x00;
if(!wm) return;
if(!WIIMOTE_IS_SET(wm,WIIMOTE_STATE_IR)) return;
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, NULL);
}
void wiiuse_set_ir(struct wiimote_t *wm,int status)
{
ubyte buf = 0x00;
int ir_level = 0;
char* block1 = NULL;
char* block2 = NULL;
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)) {
WIIUSE_DEBUG("Tried to enable IR, will wait until handshake finishes.\n");
if(status)
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_IR_INIT);
else
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_IR_INIT);
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)) {
wiiuse_status(wm,NULL);
return;
}
} else {
/* if already disabled then stop */
if (!WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR)) {
wiiuse_status(wm,NULL);
return;
}
}
buf = (status ? 0x04 : 0x00);
wiiuse_sendcmd(wm,WM_CMD_IR,&buf,1,NULL);
wiiuse_sendcmd(wm,WM_CMD_IR_2,&buf,1,NULL);
if (!status) {
WIIUSE_DEBUG("Disabled IR cameras for wiimote id %i.", wm->unid);
wiiuse_status(wm,NULL);
return;
}
/* enable IR, set sensitivity */
buf = 0x08;
wiiuse_write_data(wm,WM_REG_IR,&buf,1,NULL);
wiiuse_write_data(wm, WM_REG_IR_BLOCK1, (ubyte*)block1, 9, NULL);
wiiuse_write_data(wm, WM_REG_IR_BLOCK2, (ubyte*)block2, 2, NULL);
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, NULL);
wiiuse_status(wm,NULL);
return;
}
/**
* @brief Set the virtual screen resolution for IR tracking.
*
* @param wm Pointer to a wiimote_t structure.
* @param status 1 to enable, 0 to disable.
*/
void wiiuse_set_ir_vres(struct wiimote_t* wm, unsigned int x, unsigned int y) {
if (!wm) return;
wm->ir.vres[0] = (x-1);
wm->ir.vres[1] = (y-1);
}
/**
* @brief Set the XY position for the IR cursor.
*
* @param wm Pointer to a wiimote_t structure.
*/
void wiiuse_set_ir_position(struct wiimote_t* wm, enum ir_position_t pos) {
if (!wm) return;
wm->ir.pos = pos;
switch (pos) {
case WIIUSE_IR_ABOVE:
wm->ir.offset[0] = 0;
if (wm->ir.aspect == WIIUSE_ASPECT_16_9)
wm->ir.offset[1] = WM_ASPECT_16_9_Y/2 - 70;
else if (wm->ir.aspect == WIIUSE_ASPECT_4_3)
wm->ir.offset[1] = WM_ASPECT_4_3_Y/2 - 100;
return;
case WIIUSE_IR_BELOW:
wm->ir.offset[0] = 0;
if (wm->ir.aspect == WIIUSE_ASPECT_16_9)
wm->ir.offset[1] = -WM_ASPECT_16_9_Y/2 + 70;
else if (wm->ir.aspect == WIIUSE_ASPECT_4_3)
wm->ir.offset[1] = -WM_ASPECT_4_3_Y/2 + 100;
return;
default:
return;
};
}
/**
* @brief Set the aspect ratio of the TV/monitor.
*
* @param wm Pointer to a wiimote_t structure.
* @param aspect Either WIIUSE_ASPECT_16_9 or WIIUSE_ASPECT_4_3
*/
void wiiuse_set_aspect_ratio(struct wiimote_t* wm, enum aspect_t aspect) {
if (!wm) return;
wm->ir.aspect = aspect;
if (aspect == WIIUSE_ASPECT_4_3) {
wm->ir.vres[0] = WM_ASPECT_4_3_X;
wm->ir.vres[1] = WM_ASPECT_4_3_Y;
} else {
wm->ir.vres[0] = WM_ASPECT_16_9_X;
wm->ir.vres[1] = WM_ASPECT_16_9_Y;
}
/* reset the position offsets */
wiiuse_set_ir_position(wm, wm->ir.pos);
}
/**
* @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;
}
if(!WIIMOTE_IS_SET(wm,WIIMOTE_STATE_IR)) return;
/* set the new sensitivity */
get_ir_sens(wm, &block1, &block2);
wiiuse_write_data(wm, WM_REG_IR_BLOCK1, (ubyte*)block1, 9,NULL);
wiiuse_write_data(wm, WM_REG_IR_BLOCK2, (ubyte*)block2, 2,NULL);
WIIUSE_DEBUG("Set IR sensitivity to level %i (unid %i)", level, wm->unid);
}
/**
* @brief Calculate the data from the IR spots. Basic IR mode.
*
* @param wm Pointer to a wiimote_t structure.
* @param data Data returned by the wiimote for the IR spots.
*/
void calculate_basic_ir(struct wiimote_t* wm, ubyte* data) {
struct ir_dot_t* dot = wm->ir.dot;
int i;
dot[0].rx = 1023 - (data[0] | ((data[2] & 0x30) << 4));
dot[0].ry = data[1] | ((data[2] & 0xC0) << 2);
dot[1].rx = 1023 - (data[3] | ((data[2] & 0x03) << 8));
dot[1].ry = data[4] | ((data[2] & 0x0C) << 6);
dot[2].rx = 1023 - (data[5] | ((data[7] & 0x30) << 4));
dot[2].ry = data[6] | ((data[7] & 0xC0) << 2);
dot[3].rx = 1023 - (data[8] | ((data[7] & 0x03) << 8));
dot[3].ry = data[9] | ((data[7] & 0x0C) << 6);
/* set each IR spot to visible if spot is in range */
for (i = 0; i < 4; ++i) {
dot[i].rx = BIG_ENDIAN_SHORT(dot[i].rx);
dot[i].ry = BIG_ENDIAN_SHORT(dot[i].ry);
if (dot[i].ry == 1023)
dot[i].visible = 0;
else {
dot[i].visible = 1;
dot[i].size = 0; /* since we don't know the size, set it as 0 */
}
}
#ifndef GEKKO
interpret_ir_data(&wm->ir,&wm->orient,WIIMOTE_IS_SET(wm, WIIMOTE_STATE_ACC));
#endif
}
/**
* @brief Calculate the data from the IR spots. Extended IR mode.
*
* @param wm Pointer to a wiimote_t structure.
* @param data Data returned by the wiimote for the IR spots.
*/
void calculate_extended_ir(struct wiimote_t* wm, ubyte* data) {
struct ir_dot_t* dot = wm->ir.dot;
int i;
for (i = 0; i < 4; ++i) {
dot[i].rx = 1023 - (data[3*i] | ((data[(3*i)+2] & 0x30) << 4));
dot[i].ry = data[(3*i)+1] | ((data[(3*i)+2] & 0xC0) << 2);
dot[i].size = data[(3*i)+2];
dot[i].rx = BIG_ENDIAN_SHORT(dot[i].rx);
dot[i].ry = BIG_ENDIAN_SHORT(dot[i].ry);
dot[i].size = dot[i].size&0x0f;
/* if in range set to visible */
if (dot[i].ry == 1023)
dot[i].visible = 0;
else
dot[i].visible = 1;
}
#ifndef GEKKO
interpret_ir_data(&wm->ir,&wm->orient,WIIMOTE_IS_SET(wm, WIIMOTE_STATE_ACC));
#endif
}
enum {
IR_STATE_DEAD = 0,
IR_STATE_GOOD,
IR_STATE_SINGLE,
IR_STATE_LOST,
};
// half-height of the IR sensor if half-width is 1
#define HEIGHT (384.0f / 512.0f)
// maximum sensor bar slope (tan(35 degrees))
#define MAX_SB_SLOPE 0.7f
// minimum sensor bar width in view, relative to half of the IR sensor area
#define MIN_SB_WIDTH 0.1f
// reject "sensor bars" that happen to have a dot towards the middle
#define SB_MIDDOT_REJECT 0.05f
// physical dimensions
// cm center to center of emitters
#define SB_WIDTH 19.5f
// half-width in cm of emitters
#define SB_DOT_WIDTH 2.25f
// half-height in cm of emitters (with some tolerance)
#define SB_DOT_HEIGHT 1.0f
#define SB_DOT_WIDTH_RATIO (SB_DOT_WIDTH / SB_WIDTH)
#define SB_DOT_HEIGHT_RATIO (SB_DOT_HEIGHT / SB_WIDTH)
// dots further out than these coords are allowed to not be picked up
// otherwise assume something's wrong
//#define SB_OFF_SCREEN_X 0.8f
//#define SB_OFF_SCREEN_Y (0.8f * HEIGHT)
// disable, may be doing more harm than good due to sensor pickup glitches
#define SB_OFF_SCREEN_X 0.0f
#define SB_OFF_SCREEN_Y 0.0f
// if a point is closer than this to one of the previous SB points
// when it reappears, consider it the same instead of trying to guess
// which one of the two it is
#define SB_SINGLE_NOGUESS_DISTANCE (100.0 * 100.0)
// width of the sensor bar in pixels at one meter from the Wiimote
#define SB_Z_COEFFICIENT 256.0f
// distance in meters from the center of the FOV to the left or right edge,
// when the wiimote is at one meter
#define WIIMOTE_FOV_COEFFICIENT 0.39f
#define SQUARED(x) ((x)*(x))
#define WMAX(x,y) ((x>y)?(x):(y))
#define WMIN(x,y) ((x<y)?(x):(y))
/**
* @brief Interpret IR data into more user friendly variables.
*
* @param wm Pointer to a wiimote_t structure.
*/
void find_sensorbar(struct ir_t* ir, struct orient_t *orient) {
struct fdot_t dots[4];
struct fdot_t acc_dots[4];
struct sb_t cand;
struct sb_t candidates[6];
struct sb_t sb;
fdot_t difference;
int num_candidates = 0;
int i;
int j;
int first, second;
WIIUSE_DEBUG("IR: orient angle: %.02f\n",orient->roll);
/* count visible dots and populate dots structure */
/* dots[] is in -1..1 units for width */
ir->num_dots = 0;
for (i = 0; i < 4; i++) {
if (ir->dot[i].visible) {
dots[ir->num_dots].x = (ir->dot[i].rx - 512.0f) / 512.0f;
dots[ir->num_dots].y = (ir->dot[i].ry - 384.0f) / 512.0f;
WIIUSE_DEBUG("IR: dot %d at (%d,%d) (%.03f,%.03f)\n",ir->num_dots,ir->dot[i].rx,ir->dot[i].ry,dots[ir->num_dots].x,dots[ir->num_dots].y);
ir->num_dots++;
}
}
WIIUSE_DEBUG("IR: found %d dots\n",ir->num_dots);
// nothing to track
if(ir->num_dots == 0) {
if(ir->state != IR_STATE_DEAD)
ir->state = IR_STATE_LOST;
ir->ax = 0;
ir->ay = 0;
ir->distance = 0.0f;
ir->raw_valid = 0;
return;
}
/* ==== Find the Sensor Bar ==== */
// first rotate according to accelerometer orientation
rotate_dots(dots, acc_dots, ir->num_dots, orient->roll);
if(ir->num_dots > 1) {
WIIUSE_DEBUG("IR: locating sensor bar candidates\n");
// iterate through all dot pairs
for(first=0; first < (ir->num_dots-1); first++) {
for(second=(first+1); second < ir->num_dots; second++) {
WIIUSE_DEBUG("IR: trying dots %d and %d\n",first,second);
// order the dots leftmost first into cand
// storing both the raw dots and the accel-rotated dots
if(acc_dots[first].x > acc_dots[second].x) {
cand.dots[0] = dots[second];
cand.dots[1] = dots[first];
cand.acc_dots[0] = acc_dots[second];
cand.acc_dots[1] = acc_dots[first];
} else {
cand.dots[0] = dots[first];
cand.dots[1] = dots[second];
cand.acc_dots[0] = acc_dots[first];
cand.acc_dots[1] = acc_dots[second];
}
difference.x = cand.acc_dots[1].x - cand.acc_dots[0].x;
difference.y = cand.acc_dots[1].y - cand.acc_dots[0].y;
// check angle
if(fabsf(difference.y / difference.x) > MAX_SB_SLOPE)
continue;
WIIUSE_DEBUG("IR: passed angle check\n");
// rotate to the true sensor bar angle
cand.off_angle = -RAD_TO_DEGREE(atan2(difference.y, difference.x));
cand.angle = cand.off_angle + orient->roll;
rotate_dots(cand.dots, cand.rot_dots, 2, cand.angle);
WIIUSE_DEBUG("IR: off_angle: %.02f, angle: %.02f\n", cand.off_angle, cand.angle);
// recalculate x distance - y should be zero now, so ignore it
difference.x = cand.rot_dots[1].x - cand.rot_dots[0].x;
// check distance
if(difference.x < MIN_SB_WIDTH)
continue;
// middle dot check. If there's another source somewhere in the
// middle of this candidate, then this can't be a sensor bar
for(i=0; i<ir->num_dots; i++) {
float wadj, hadj;
struct fdot_t tdot;
if(i==first || i==second) continue;
hadj = SB_DOT_HEIGHT_RATIO * difference.x;
wadj = SB_DOT_WIDTH_RATIO * difference.x;
rotate_dots(&dots[i], &tdot, 1, cand.angle);
if( ((cand.rot_dots[0].x + wadj) < tdot.x) &&
((cand.rot_dots[1].x - wadj) > tdot.x) &&
((cand.rot_dots[0].y + hadj) > tdot.y) &&
((cand.rot_dots[0].y - hadj) < tdot.y))
break;
}
// failed middle dot check
if(i < ir->num_dots) continue;
WIIUSE_DEBUG("IR: passed middle dot check\n");
cand.score = 1 / (cand.rot_dots[1].x - cand.rot_dots[0].x);
// we have a candidate, store it
WIIUSE_DEBUG("IR: new candidate %d\n",num_candidates);
candidates[num_candidates++] = cand;
}
}
}
if(num_candidates == 0) {
int closest = -1;
int closest_to = 0;
float best = 999.0f;
float d;
float dx[2];
struct sb_t sbx[2];
// no sensor bar candidates, try to work with a lone dot
WIIUSE_DEBUG("IR: no candidates\n");
switch(ir->state) {
case IR_STATE_DEAD:
WIIUSE_DEBUG("IR: we're dead\n");
// we've never seen a sensor bar before, so we're screwed
ir->ax = 0.0f;
ir->ay = 0.0f;
ir->distance = 0.0f;
ir->raw_valid = 0;
return;
case IR_STATE_GOOD:
case IR_STATE_SINGLE:
case IR_STATE_LOST:
WIIUSE_DEBUG("IR: trying to keep track of single dot\n");
// try to find the dot closest to the previous sensor bar position
for(i=0; i<ir->num_dots; i++) {
WIIUSE_DEBUG("IR: checking dot %d (%.02f, %.02f)\n",i, acc_dots[i].x,acc_dots[i].y);
for(j=0; j<2; j++) {
WIIUSE_DEBUG(" to dot %d (%.02f, %.02f)\n",j, ir->sensorbar.acc_dots[j].x,ir->sensorbar.acc_dots[j].y);
d = SQUARED(acc_dots[i].x - ir->sensorbar.acc_dots[j].x);
d += SQUARED(acc_dots[i].y - ir->sensorbar.acc_dots[j].y);
if(d < best) {
best = d;
closest_to = j;
closest = i;
}
}
}
WIIUSE_DEBUG("IR: closest dot is %d to %d\n",closest,closest_to);
if(ir->state != IR_STATE_LOST || best < SB_SINGLE_NOGUESS_DISTANCE) {
// now work out where the other dot would be, in the acc frame
sb.acc_dots[closest_to] = acc_dots[closest];
sb.acc_dots[closest_to^1].x = ir->sensorbar.acc_dots[closest_to^1].x - ir->sensorbar.acc_dots[closest_to].x + acc_dots[closest].x;
sb.acc_dots[closest_to^1].y = ir->sensorbar.acc_dots[closest_to^1].y - ir->sensorbar.acc_dots[closest_to].y + acc_dots[closest].y;
// get the raw frame
rotate_dots(sb.acc_dots, sb.dots, 2, -orient->roll);
if((fabsf(sb.dots[closest_to^1].x) < SB_OFF_SCREEN_X) && (fabsf(sb.dots[closest_to^1].y) < SB_OFF_SCREEN_Y)) {
// this dot should be visible but isn't, since the candidate section failed.
// fall through and try to pick out the sensor bar without previous information
WIIUSE_DEBUG("IR: dot falls on screen, falling through\n");
} else {
// calculate the rotated dots frame
// angle tends to drift, so recalculate
sb.off_angle = -RAD_TO_DEGREE(atan2(sb.acc_dots[1].y - sb.acc_dots[0].y, sb.acc_dots[1].x - sb.acc_dots[0].x));
sb.angle = ir->sensorbar.off_angle + orient->roll;
rotate_dots(sb.acc_dots, sb.rot_dots, 2, ir->sensorbar.off_angle);
WIIUSE_DEBUG("IR: kept track of single dot\n");
break;
}
} else {
WIIUSE_DEBUG("IR: lost the dot and new one is too far away\n");
}
// try to find the dot closest to the sensor edge
WIIUSE_DEBUG("IR: trying to find best dot\n");
for(i=0; i<ir->num_dots; i++) {
d = WMIN(1.0f - fabsf(dots[i].x), HEIGHT - fabsf(dots[i].y));
if(d < best) {
best = d;
closest = i;
}
}
WIIUSE_DEBUG("IR: best dot: %d\n",closest);
// now try it as both places in the sensor bar
// and pick the one that places the other dot furthest off-screen
for(i=0; i<2; i++) {
sbx[i].acc_dots[i] = acc_dots[closest];
sbx[i].acc_dots[i^1].x = ir->sensorbar.acc_dots[i^1].x - ir->sensorbar.acc_dots[i].x + acc_dots[closest].x;
sbx[i].acc_dots[i^1].y = ir->sensorbar.acc_dots[i^1].y - ir->sensorbar.acc_dots[i].y + acc_dots[closest].y;
rotate_dots(sbx[i].acc_dots, sbx[i].dots, 2, -orient->roll);
dx[i] = WMAX(fabsf(sbx[i].dots[i^1].x),fabsf(sbx[i].dots[i^1].y / HEIGHT));
}
if(dx[0] > dx[1]) {
WIIUSE_DEBUG("IR: dot is LEFT: %.02f > %.02f\n",dx[0],dx[1]);
sb = sbx[0];
} else {
WIIUSE_DEBUG("IR: dot is RIGHT: %.02f < %.02f\n",dx[0],dx[1]);
sb = sbx[1];
}
// angle tends to drift, so recalculate
sb.off_angle = -RAD_TO_DEGREE(atan2(sb.acc_dots[1].y - sb.acc_dots[0].y, sb.acc_dots[1].x - sb.acc_dots[0].x));
sb.angle = ir->sensorbar.off_angle + orient->roll;
rotate_dots(sb.acc_dots, sb.rot_dots, 2, ir->sensorbar.off_angle);
WIIUSE_DEBUG("IR: found new dot to track\n");
break;
}
sb.score = 0;
ir->state = IR_STATE_SINGLE;
} else {
int bestidx = 0;
float best = 0.0f;
WIIUSE_DEBUG("IR: finding best candidate\n");
// look for the best candidate
// for now, the formula is simple: pick the one with the smallest distance
for(i=0; i<num_candidates; i++) {
if(candidates[i].score > best) {
bestidx = i;
best = candidates[i].score;
}
}
WIIUSE_DEBUG("IR: best candidate: %d\n",bestidx);
sb = candidates[bestidx];
ir->state = IR_STATE_GOOD;
}
ir->raw_valid = 1;
ir->ax = ((sb.rot_dots[0].x + sb.rot_dots[1].x) / 2) * 512.0 + 512.0;
ir->ay = ((sb.rot_dots[0].y + sb.rot_dots[1].y) / 2) * 512.0 + 384.0;
ir->sensorbar = sb;
ir->distance = (sb.rot_dots[1].x - sb.rot_dots[0].x) * 512.0;
}
#define SMOOTH_IR_RADIUS 8.0f
#define SMOOTH_IR_SPEED 0.25f
#define SMOOTH_IR_DEADZONE 2.5f
/**
* @brief Smooth the IR pointer position
*
* @param ir Pointer to an ir_t structure.
*/
void apply_ir_smoothing(struct ir_t *ir) {
f32 dx, dy, d, theta;
WIIUSE_DEBUG("Smooth: OK (%.02f, %.02f) LAST (%.02f, %.02f) ", ir->ax, ir->ay, ir->sx, ir->sy);
dx = ir->ax - ir->sx;
dy = ir->ay - ir->sy;
d = sqrtf(dx*dx + dy*dy);
if (d > SMOOTH_IR_DEADZONE) {
if (d < SMOOTH_IR_RADIUS) {
WIIUSE_DEBUG("INSIDE\n");
ir->sx += dx * SMOOTH_IR_SPEED;
ir->sy += dy * SMOOTH_IR_SPEED;
} else {
WIIUSE_DEBUG("OUTSIDE\n");
theta = atan2f(dy, dx);
ir->sx = ir->ax - cosf(theta) * SMOOTH_IR_RADIUS;
ir->sy = ir->ay - sinf(theta) * SMOOTH_IR_RADIUS;
}
} else {
WIIUSE_DEBUG("DEADZONE\n");
}
}
// max number of errors before cooked data drops out
#define ERROR_MAX_COUNT 8
// max number of glitches before cooked data updates
#define GLITCH_MAX_COUNT 5
// squared delta over which we consider something a glitch
#define GLITCH_DIST (150.0f * 150.0f)
/**
* @brief Interpret IR data into more user friendly variables.
*
* @param ir Pointer to an ir_t structure.
* @param orient Pointer to an orient_t structure.
*/
void interpret_ir_data(struct ir_t* ir, struct orient_t *orient) {
float x,y;
float d;
find_sensorbar(ir, orient);
if(ir->raw_valid) {
ir->angle = ir->sensorbar.angle;
ir->z = SB_Z_COEFFICIENT / ir->distance;
orient->yaw = calc_yaw(ir);
if(ir->error_cnt >= ERROR_MAX_COUNT) {
ir->sx = ir->ax;
ir->sy = ir->ay;
ir->glitch_cnt = 0;
} else {
d = SQUARED(ir->ax - ir->sx) + SQUARED(ir->ay - ir->sy);
if(d > GLITCH_DIST) {
if(ir->glitch_cnt > GLITCH_MAX_COUNT) {
apply_ir_smoothing(ir);
ir->glitch_cnt = 0;
} else {
ir->glitch_cnt++;
}
} else {
ir->glitch_cnt = 0;
apply_ir_smoothing(ir);
}
}
ir->smooth_valid = 1;
ir->error_cnt = 0;
} else {
if(ir->error_cnt >= ERROR_MAX_COUNT) {
ir->smooth_valid = 0;
} else {
ir->smooth_valid = 1;
ir->error_cnt++;
}
}
if(ir->smooth_valid) {
x = ir->sx;
y = ir->sy;
if (ir_correct_for_bounds(&x, &y, ir->aspect, ir->offset[0], ir->offset[1])) {
ir_convert_to_vres(&x, &y, ir->aspect, ir->vres[0], ir->vres[1]);
ir->x = x;
ir->y = y;
ir->valid = 1;
} else {
ir->valid = 0;
}
} else {
ir->valid = 0;
}
}
/**
* @brief Calculate yaw given the IR data.
*
* @param ir IR data structure.
*/
float calc_yaw(struct ir_t* ir) {
float x;
x = ir->ax - 512;
x *= WIIMOTE_FOV_COEFFICIENT / 512.0;
return RAD_TO_DEGREE( atanf(x) );
}

22
wii/wiiuse/ir.h Normal file
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@ -0,0 +1,22 @@
#ifndef __IR_H__
#define __IR_H__
#include "wiiuse_internal.h"
#define WII_VRES_X 560
#define WII_VRES_Y 340
#ifdef __cplusplus
extern "C" {
#endif
void calculate_basic_ir(struct wiimote_t* wm, ubyte* data);
void calculate_extended_ir(struct wiimote_t* wm, ubyte* data);
float calc_yaw(struct ir_t* ir);
void interpret_ir_data(struct ir_t* ir, struct orient_t *orient);
#ifdef __cplusplus
}
#endif
#endif

641
wii/wiiuse/license_libogc.txt Normal file
View File

@ -0,0 +1,641 @@
This license is valid ONLY for libogc and what this license
defines as a "covered work" or a "combined work" with libogc.
GNU GENERAL PUBLIC LICENSE
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or that patent license was granted, prior to 28 March 2007.
Nothing in this License shall be construed as excluding or limiting
any implied license or other defenses to infringement that may
otherwise be available to you under applicable patent law.
12. No Surrender of Others' Freedom.
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14. Revised Versions of this License.
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your version.

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#ifndef __LWP_PRIORITY_INL__
#define __LWP_PRIORITY_INL__
static __inline__ void __lwp_priomap_init(prio_cntrl *theprio,u32 prio)
{
u32 major,minor,mask;
major = prio/16;
minor = prio%16;
theprio->minor = &_prio_bitmap[major];
mask = 0x80000000>>major;
theprio->ready_major = mask;
theprio->block_major = ~mask;
mask = 0x80000000>>minor;
theprio->ready_minor = mask;
theprio->block_minor = ~mask;
#ifdef _LWPPRIO_DEBUG
printf("__lwp_priomap_init(%p,%d,%p,%d,%d,%d,%d)\n",theprio,prio,theprio->minor,theprio->ready_major,theprio->ready_minor,theprio->block_major,theprio->block_minor);
#endif
}
static __inline__ void __lwp_priomap_addto(prio_cntrl *theprio)
{
*theprio->minor |= theprio->ready_minor;
_prio_major_bitmap |= theprio->ready_major;
}
static __inline__ void __lwp_priomap_removefrom(prio_cntrl *theprio)
{
*theprio->minor &= theprio->block_minor;
if(*theprio->minor==0)
_prio_major_bitmap &= theprio->block_major;
}
static __inline__ u32 __lwp_priomap_highest()
{
u32 major,minor;
major = cntlzw(_prio_major_bitmap);
minor = cntlzw(_prio_bitmap[major]);
#ifdef _LWPPRIO_DEBUG
printf("__lwp_priomap_highest(%d)\n",((major<<4)+minor));
#endif
return ((major<<4)+minor);
}
#endif

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#ifndef __LWP_INL__
#define __LWP_INL__
static __inline__ u32 __lwp_thread_isexec(lwp_cntrl *thethread)
{
return (thethread==_thr_executing);
}
static __inline__ u32 __lwp_thread_isheir(lwp_cntrl *thethread)
{
return (thethread==_thr_heir);
}
static __inline__ void __lwp_thread_calcheir()
{
_thr_heir = (lwp_cntrl*)_lwp_thr_ready[__lwp_priomap_highest()].first;
#ifdef _LWPTHREADS_DEBUG
printf("__lwp_thread_calcheir(%p)\n",_thr_heir);
#endif
}
static __inline__ u32 __lwp_thread_isallocatedfp(lwp_cntrl *thethread)
{
return (thethread==_thr_allocated_fp);
}
static __inline__ void __lwp_thread_deallocatefp()
{
_thr_allocated_fp = NULL;
}
static __inline__ void __lwp_thread_dispatchinitialize()
{
_thread_dispatch_disable_level = 1;
}
static __inline__ void __lwp_thread_dispatchenable()
{
if((--_thread_dispatch_disable_level)==0)
__thread_dispatch();
}
static __inline__ void __lwp_thread_dispatchdisable()
{
++_thread_dispatch_disable_level;
}
static __inline__ void __lwp_thread_dispatchunnest()
{
--_thread_dispatch_disable_level;
}
static __inline__ void __lwp_thread_unblock(lwp_cntrl *thethread)
{
__lwp_thread_clearstate(thethread,LWP_STATES_BLOCKED);
}
static __inline__ void** __lwp_thread_getlibcreent()
{
return __lwp_thr_libc_reent;
}
static __inline__ void __lwp_thread_setlibcreent(void **libc_reent)
{
__lwp_thr_libc_reent = libc_reent;
}
static __inline__ bool __lwp_thread_isswitchwant()
{
return _context_switch_want;
}
static __inline__ bool __lwp_thread_isdispatchenabled()
{
return (_thread_dispatch_disable_level==0);
}
static __inline__ void __lwp_thread_inittimeslice()
{
__lwp_wd_initialize(&_lwp_wd_timeslice,__lwp_thread_tickle_timeslice,LWP_TIMESLICE_TIMER_ID,NULL);
}
static __inline__ void __lwp_thread_starttimeslice()
{
__lwp_wd_insert_ticks(&_lwp_wd_timeslice,millisecs_to_ticks(1));
}
static __inline__ void __lwp_thread_stoptimeslice()
{
__lwp_wd_remove_ticks(&_lwp_wd_timeslice);
}
#endif

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#ifndef __LWP_WATCHDOG_INL__
#define __LWP_WATCHDOG_INL__
static __inline__ void __lwp_wd_initialize(wd_cntrl *wd,wd_service_routine routine,u32 id,void *usr_data)
{
wd->state = LWP_WD_INACTIVE;
wd->id = id;
wd->routine = routine;
wd->usr_data = usr_data;
}
static __inline__ wd_cntrl* __lwp_wd_first(lwp_queue *queue)
{
return (wd_cntrl*)queue->first;
}
static __inline__ wd_cntrl* __lwp_wd_last(lwp_queue *queue)
{
return (wd_cntrl*)queue->last;
}
static __inline__ wd_cntrl* __lwp_wd_next(wd_cntrl *wd)
{
return (wd_cntrl*)wd->node.next;
}
static __inline__ wd_cntrl* __lwp_wd_prev(wd_cntrl *wd)
{
return (wd_cntrl*)wd->node.prev;
}
static __inline__ void __lwp_wd_activate(wd_cntrl *wd)
{
wd->state = LWP_WD_ACTIVE;
}
static __inline__ void __lwp_wd_deactivate(wd_cntrl *wd)
{
wd->state = LWP_WD_REMOVE;
}
static __inline__ u32 __lwp_wd_isactive(wd_cntrl *wd)
{
return (wd->state==LWP_WD_ACTIVE);
}
static __inline__ u64 __lwp_wd_calc_ticks(const struct timespec *time)
{
u64 ticks;
ticks = secs_to_ticks(time->tv_sec);
ticks += nanosecs_to_ticks(time->tv_nsec);
return ticks;
}
static __inline__ void __lwp_wd_tickle_ticks()
{
__lwp_wd_tickle(&_wd_ticks_queue);
}
static __inline__ void __lwp_wd_insert_ticks(wd_cntrl *wd,s64 interval)
{
wd->start = gettime();
wd->fire = (wd->start+LWP_WD_ABS(interval));
__lwp_wd_insert(&_wd_ticks_queue,wd);
}
static __inline__ void __lwp_wd_adjust_ticks(u32 dir,s64 interval)
{
__lwp_wd_adjust(&_wd_ticks_queue,dir,interval);
}
static __inline__ void __lwp_wd_remove_ticks(wd_cntrl *wd)
{
__lwp_wd_remove(&_wd_ticks_queue,wd);
}
static __inline__ void __lwp_wd_reset(wd_cntrl *wd)
{
__lwp_wd_remove(&_wd_ticks_queue,wd);
__lwp_wd_insert(&_wd_ticks_queue,wd);
}
#endif

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wii/wiiuse/lwp_wkspace.inl Normal file
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#ifndef __LWP_WKSPACE_INL__
#define __LWP_WKSPACE_INL__
static __inline__ void* __lwp_wkspace_allocate(u32 size)
{
return __lwp_heap_allocate(&__wkspace_heap,size);
}
static __inline__ BOOL __lwp_wkspace_free(void *ptr)
{
return __lwp_heap_free(&__wkspace_heap,ptr);
}
#endif

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#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <string.h>
#ifdef WIN32
#include <Winsock2.h>
#endif
#include "definitions.h"
#include "wiiuse_internal.h"
#include "dynamics.h"
#include "events.h"
#include "io.h"
void wiiuse_motion_plus_check(struct wiimote_t *wm,ubyte *data,uword len)
{
u32 val;
if(data == NULL)
{
wiiuse_read_data(wm, wm->motion_plus_id, WM_EXP_ID, 6, wiiuse_motion_plus_check);
}
else
{
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_EXP);
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_EXP_FAILED);
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_EXP_HANDSHAKE);
val = (data[3] << 16) | (data[2] << 24) | (data[4] << 8) | data[5];
if(val == EXP_ID_CODE_MOTION_PLUS)
{
/* handshake done */
wm->event = WIIUSE_MOTION_PLUS_ACTIVATED;
wm->exp.type = EXP_MOTION_PLUS;
WIIMOTE_ENABLE_STATE(wm,WIIMOTE_STATE_EXP);
wiiuse_set_ir_mode(wm);
}
}
}
static void wiiuse_set_motion_plus_clear2(struct wiimote_t *wm,ubyte *data,uword len)
{
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_EXP);
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_EXP_FAILED);
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_EXP_HANDSHAKE);
wiiuse_set_ir_mode(wm);
wiiuse_status(wm,NULL);
}
static void wiiuse_set_motion_plus_clear1(struct wiimote_t *wm,ubyte *data,uword len)
{
ubyte val = 0x00;
wiiuse_write_data(wm,WM_EXP_MEM_ENABLE1,&val,1,wiiuse_set_motion_plus_clear2);
}
void wiiuse_set_motion_plus(struct wiimote_t *wm, int status)
{
ubyte val;
if(WIIMOTE_IS_SET(wm,WIIMOTE_STATE_EXP_HANDSHAKE))
return;
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_EXP_HANDSHAKE);
if(status)
{
val = 0x04;
wiiuse_write_data(wm,WM_EXP_MOTION_PLUS_ENABLE,&val,1,wiiuse_motion_plus_check);
}
else
{
wiiuse_disable_expansion(wm);
val = 0x55;
wiiuse_write_data(wm,WM_EXP_MEM_ENABLE1,&val,1,wiiuse_set_motion_plus_clear1);
}
}
void motion_plus_disconnected(struct motion_plus_t* mp)
{
WIIUSE_DEBUG("Motion plus disconnected");
memset(mp, 0, sizeof(struct motion_plus_t));
}
void motion_plus_event(struct motion_plus_t* mp, ubyte* msg)
{
mp->rx = ((msg[5] & 0xFC) << 6) | msg[2]; // Pitch
mp->ry = ((msg[4] & 0xFC) << 6) | msg[1]; // Roll
mp->rz = ((msg[3] & 0xFC) << 6) | msg[0]; // Yaw
mp->ext = msg[4] & 0x1;
mp->status = (msg[3] & 0x3) | ((msg[4] & 0x2) << 1); // roll, yaw, pitch
}

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/**
* @file
* @brief Motion plus extension
*/
#ifndef MOTION_PLUS_H_INCLUDED
#define MOTION_PLUS_H_INCLUDED
#include "wiiuse_internal.h"
#ifdef __cplusplus
extern "C" {
#endif
void motion_plus_disconnected(struct motion_plus_t* mp);
void motion_plus_event(struct motion_plus_t* mp, ubyte* msg);
#ifdef __cplusplus
}
#endif
#endif

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#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <string.h>
#include "dynamics.h"
#include "definitions.h"
#include "wiiuse_internal.h"
#include "nunchuk.h"
#include "io.h"
/**
* @brief Find what buttons are pressed.
*
* @param nc Pointer to a nunchuk_t structure.
* @param msg The message byte specified in the event packet.
*/
static void nunchuk_pressed_buttons(struct nunchuk_t* nc, ubyte now) {
/* message is inverted (0 is active, 1 is inactive) */
now = ~now & NUNCHUK_BUTTON_ALL;
/* preserve old btns pressed */
nc->btns_last = nc->btns;
/* pressed now & were pressed, then held */
nc->btns_held = (now & nc->btns);
/* were pressed or were held & not pressed now, then released */
nc->btns_released = ((nc->btns | nc->btns_held) & ~now);
/* buttons pressed now */
nc->btns = now;
}
int nunchuk_handshake(struct wiimote_t *wm,struct nunchuk_t *nc,ubyte *data,uword len)
{
//int i;
int offset = 0;
nc->btns = 0;
nc->btns_held = 0;
nc->btns_released = 0;
nc->flags = &wm->flags;
nc->accel_calib = wm->accel_calib;
//for(i=0;i<len;i++) data[i] = (data[i]^0x17)+0x17;
if(data[offset]==0xff) {
if(data[offset+16]==0xff) {
// try to read the calibration data again
wiiuse_read_data(wm,data,WM_EXP_MEM_CALIBR,EXP_HANDSHAKE_LEN,wiiuse_handshake_expansion);
} else
offset += 16;
}
nc->accel_calib.cal_zero.x = (data[offset + 0]<<2)|((data[offset + 3]>>4)&3);
nc->accel_calib.cal_zero.y = (data[offset + 1]<<2)|((data[offset + 3]>>2)&3);
nc->accel_calib.cal_zero.z = (data[offset + 2]<<2)|(data[offset + 3]&3);
nc->accel_calib.cal_g.x = (data[offset + 4]<<2)|((data[offset + 7]>>4)&3);
nc->accel_calib.cal_g.y = (data[offset + 5]<<2)|((data[offset + 7]>>2)&3);
nc->accel_calib.cal_g.z = (data[offset + 6]<<2)|(data[offset + 7]&3);
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];
// set to defaults (averages from 5 nunchuks) if calibration data is invalid
if(nc->accel_calib.cal_zero.x == 0)
nc->accel_calib.cal_zero.x = 499;
if(nc->accel_calib.cal_zero.y == 0)
nc->accel_calib.cal_zero.y = 509;
if(nc->accel_calib.cal_zero.z == 0)
nc->accel_calib.cal_zero.z = 507;
if(nc->accel_calib.cal_g.x == 0)
nc->accel_calib.cal_g.x = 703;
if(nc->accel_calib.cal_g.y == 0)
nc->accel_calib.cal_g.y = 709;
if(nc->accel_calib.cal_g.z == 0)
nc->accel_calib.cal_g.z = 709;
if(nc->js.max.x == 0)
nc->js.max.x = 223;
if(nc->js.min.x == 0)
nc->js.min.x = 27;
if(nc->js.center.x == 0)
nc->js.center.x = 126;
if(nc->js.max.y == 0)
nc->js.max.y = 222;
if(nc->js.min.y == 0)
nc->js.min.y = 30;
if(nc->js.center.y == 0)
nc->js.center.y = 131;
wm->event = WIIUSE_NUNCHUK_INSERTED;
wm->exp.type = EXP_NUNCHUK;
return 1;
}
/**
* @brief The nunchuk disconnected.
*
* @param nc A pointer to a nunchuk_t structure.
*/
void nunchuk_disconnected(struct nunchuk_t* nc)
{
//printf("nunchuk_disconnected()\n");
memset(nc, 0, sizeof(struct nunchuk_t));
}
/**
* @brief Handle nunchuk event.
*
* @param nc A pointer to a nunchuk_t structure.
* @param msg The message specified in the event packet.
*/
void nunchuk_event(struct nunchuk_t* nc, ubyte* msg) {
//int i;
/* decrypt data */
/*
for (i = 0; i < 6; ++i)
msg[i] = (msg[i] ^ 0x17) + 0x17;
*/
/* get button states */
nunchuk_pressed_buttons(nc, msg[5]);
nc->js.pos.x = msg[0];
nc->js.pos.y = msg[1];
/* extend min and max values to physical range of motion */
if (nc->js.center.x) {
if (nc->js.min.x > nc->js.pos.x) nc->js.min.x = nc->js.pos.x;
if (nc->js.max.x < nc->js.pos.x) nc->js.max.x = nc->js.pos.x;
}
if (nc->js.center.y) {
if (nc->js.min.y > nc->js.pos.y) nc->js.min.y = nc->js.pos.y;
if (nc->js.max.y < nc->js.pos.y) nc->js.max.y = nc->js.pos.y;
}
#ifndef GEKKO
/* calculate joystick state */
calc_joystick_state(&nc->js, nc->js.pos.x, nc->js.pos.y);
#endif
/* calculate orientation */
nc->accel.x = (msg[2]<<2) + ((msg[5]>>2)&3);
nc->accel.y = (msg[3]<<2) + ((msg[5]>>4)&3);
nc->accel.z = (msg[4]<<2) + ((msg[5]>>6)&3);
#ifndef GEKKO
calculate_orientation(&nc->accel_calib, &nc->accel, &nc->orient, NUNCHUK_IS_FLAG_SET(nc, WIIUSE_SMOOTHING));
calculate_gforce(&nc->accel_calib, &nc->accel, &nc->gforce);
#endif
}

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#ifndef __NUNCHUK_H__
#define __NUNCHUK_H__
#include "wiiuse_internal.h"
#ifdef __cplusplus
extern "C" {
#endif
int nunchuk_handshake(struct wiimote_t* wm, struct nunchuk_t* nc, ubyte* data, uword len);
void nunchuk_disconnected(struct nunchuk_t* nc);
void nunchuk_event(struct nunchuk_t* nc, ubyte* msg);
#ifdef __cplusplus
}
#endif
#endif

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#ifndef __OS_H__
#define __OS_H__
#ifdef WIN32
/* windows */
#define isnan(x) _isnan(x)
#define isinf(x) !_finite(x)
/* disable warnings I don't care about */
#pragma warning(disable:4244) /* possible loss of data conversion */
#pragma warning(disable:4273) /* inconsistent dll linkage */
#pragma warning(disable:4217)
#else
/* nix/gekko */
#ifdef GEKKO
#include <gccore.h>
#include <ogcsys.h>
#include <bte/bte.h>
#include "network.h"
#include <ogc/lwp_queue.h>
#include <ogc/machine/asm.h>
#include <ogc/machine/processor.h>
#include <ogc/lwp_wkspace.h>
#else
#endif
#endif
#endif

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#include <stdio.h>
#include <math.h>
#include <string.h>
#include <time.h>
#ifndef WIN32
#include <unistd.h>
#endif
#ifdef GEKKO
#include <ogcsys.h>
#endif
#include "definitions.h"
#include "wiiuse_internal.h"
#include "speaker.h"
#define WENCMIN(a,b) ((a)>(b)?(b):(a))
#define ABS(x) ((s32)(x)>0?(s32)(x):-((s32)(x)))
static const int yamaha_indexscale[] = {
230, 230, 230, 230, 307, 409, 512, 614,
230, 230, 230, 230, 307, 409, 512, 614
};
static const int yamaha_difflookup[] = {
1, 3, 5, 7, 9, 11, 13, 15,
-1, -3, -5, -7, -9, -11, -13, -15
};
static ubyte __wiiuse_speaker_vol = 0x40;
static ubyte __wiiuse_speaker_defconf[7] = { 0x00,0x00,0xD0,0x07,0x40,0x0C,0x0E };
static __inline__ short wenc_clip_short(int a)
{
if((a+32768)&~65535) return (a>>31)^32767;
else return a;
}
static __inline__ int wenc_clip(int a,int amin,int amax)
{
if(a<amin) return amin;
else if(a>amax) return amax;
else return a;
}
ubyte wencdata(WENCStatus *info,short sample)
{
int nibble,delta;
if(!info->step) {
info->predictor = 0;
info->step = 127;
}
delta = sample - info->predictor;
nibble = WENCMIN(7,(ABS(delta)*4)/info->step) + ((delta<0)*8);
info->predictor += ((info->step*yamaha_difflookup[nibble])/8);
info->predictor = wenc_clip_short(info->predictor);
info->step = (info->step*yamaha_indexscale[nibble])>>8;
info->step = wenc_clip(info->step,127,24576);
return nibble;
}
void wiiuse_set_speaker(struct wiimote_t *wm,int status)
{
ubyte conf[7];
ubyte buf = 0x00;
if(!wm) return;
if(!WIIMOTE_IS_SET(wm,WIIMOTE_STATE_HANDSHAKE_COMPLETE)) {
WIIUSE_DEBUG("Tried to enable speaker, will wait until handshake finishes.\n");
if(status)
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_SPEAKER_INIT);
else
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_SPEAKER_INIT);
return;
}
if(status) {
if(WIIMOTE_IS_SET(wm,WIIMOTE_STATE_SPEAKER)) {
wiiuse_status(wm,NULL);
return;
}
} else {
if(!WIIMOTE_IS_SET(wm,WIIMOTE_STATE_SPEAKER)) {
wiiuse_status(wm,NULL);
return;
}
}
buf = 0x04;
wiiuse_sendcmd(wm,WM_CMD_SPEAKER_MUTE,&buf,1,NULL);
if (!status) {
WIIUSE_DEBUG("Disabled speaker for wiimote id %i.", wm->unid);
buf = 0x01;
wiiuse_write_data(wm,WM_REG_SPEAKER_REG1,&buf,1,NULL);
buf = 0x00;
wiiuse_write_data(wm,WM_REG_SPEAKER_REG3,&buf,1,NULL);
buf = 0x00;
wiiuse_sendcmd(wm,WM_CMD_SPEAKER_ENABLE,&buf,1,NULL);
wiiuse_status(wm,NULL);
return;
}
memcpy(conf,__wiiuse_speaker_defconf,7);
buf = 0x04;
wiiuse_sendcmd(wm,WM_CMD_SPEAKER_ENABLE,&buf,1,NULL);
buf = 0x01;
wiiuse_write_data(wm,WM_REG_SPEAKER_REG3,&buf,1,NULL);
buf = 0x08;
wiiuse_write_data(wm,WM_REG_SPEAKER_REG1,&buf,1,NULL);
conf[2] = 0xd0;
conf[3] = 0x07;
conf[4] = __wiiuse_speaker_vol;
wiiuse_write_data(wm,WM_REG_SPEAKER_BLOCK,conf,7,NULL);
buf = 0x01;
wiiuse_write_data(wm,WM_REG_SPEAKER_REG2,&buf,1,NULL);
buf = 0x00;
wiiuse_sendcmd(wm,WM_CMD_SPEAKER_MUTE,&buf,1,NULL);
wiiuse_status(wm,NULL);
return;
}
void set_speakervol(struct wiimote_t *wm,ubyte vol)
{
__wiiuse_speaker_vol = vol;
}

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#ifndef __SPEAKER_H__
#define __SPEAKER_H__
#include "wiiuse_internal.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef struct _wencstatus
{
s32 predictor;
s16 step_index;
s32 step;
s32 prev_sample;
s16 sample1;
s16 sample2;
s32 coeff1;
s32 coeff2;
s32 idelta;
} WENCStatus;
u8 wencdata(WENCStatus *info,s16 sample);
void set_speakervol(struct wiimote_t *wm,ubyte vol);
#ifdef __cplusplus
}
#endif
#endif

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#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#ifndef WIN32
#include <unistd.h>
#else
#include <Winsock2.h>
#endif
#include "definitions.h"
#include "wiiuse_internal.h"
#include "io.h"
static struct wiimote_t** __wm = NULL;
void wiiuse_send_next_command(struct wiimote_t *wm)
{
struct cmd_blk_t *cmd = wm->cmd_head;
if(!wm || !WIIMOTE_IS_CONNECTED(wm)) return;
if(!cmd) return;
if(cmd->state!=CMD_READY) return;
cmd->state = CMD_SENT;
if(WIIMOTE_IS_SET(wm,WIIMOTE_STATE_RUMBLE)) cmd->data[1] |= 0x01;
WIIUSE_DEBUG("Sending command: %02x %02x", cmd->data[0], cmd->data[1]);
wiiuse_io_write(wm,cmd->data,cmd->len);
}
static __inline__ void __wiiuse_push_command(struct wiimote_t *wm,struct cmd_blk_t *cmd)
{
uint level;
if(!wm || !cmd) return;
cmd->next = NULL;
cmd->state = CMD_READY;
_CPU_ISR_Disable(level);
if(wm->cmd_head==NULL) {
wm->cmd_head = wm->cmd_tail = cmd;
wiiuse_send_next_command(wm);
} else {
wm->cmd_tail->next = cmd;
wm->cmd_tail = cmd;
}
_CPU_ISR_Restore(level);
}
#ifndef GEKKO
struct wiimote_t** wiiuse_init(int wiimotes) {
#else
extern void __wiiuse_sensorbar_enable(int enable);
struct wiimote_t** wiiuse_init(int wiimotes, wii_event_cb event_cb) {
#endif
int i = 0;
if (!wiimotes)
return NULL;
if (!__wm) {
__wm = __lwp_wkspace_allocate(sizeof(struct wiimote_t*) * wiimotes);
if(!__wm) return NULL;
memset(__wm, 0, sizeof(struct wiimote_t*) * wiimotes);
}
for (i = 0; i < wiimotes; ++i) {
if(!__wm[i])
__wm[i] = __lwp_wkspace_allocate(sizeof(struct wiimote_t));
memset(__wm[i], 0, sizeof(struct wiimote_t));
__wm[i]->unid = i;
#if defined(WIN32)
__wm[i]->dev_handle = 0;
__wm[i]->stack = WIIUSE_STACK_UNKNOWN;
__wm[i]->normal_timeout = WIIMOTE_DEFAULT_TIMEOUT;
__wm[i]->exp_timeout = WIIMOTE_EXP_TIMEOUT;
__wm[i]->timeout = __wm[i]->normal_timeout;
#elif defined(GEKKO)
__wm[i]->sock = NULL;
__wm[i]->bdaddr = *BD_ADDR_ANY;
__wm[i]->event_cb = event_cb;
wiiuse_init_cmd_queue(__wm[i]);
#elif defined(unix)
__wm[i]->bdaddr = *BDADDR_ANY;
__wm[i]->out_sock = -1;
__wm[i]->in_sock = -1;
#endif
__wm[i]->state = WIIMOTE_INIT_STATES;
__wm[i]->flags = WIIUSE_INIT_FLAGS;
__wm[i]->event = WIIUSE_NONE;
__wm[i]->exp.type = EXP_NONE;
wiiuse_set_aspect_ratio(__wm[i], WIIUSE_ASPECT_4_3);
wiiuse_set_ir_position(__wm[i], WIIUSE_IR_ABOVE);
__wm[i]->accel_calib.st_alpha = WIIUSE_DEFAULT_SMOOTH_ALPHA;
}
return __wm;
}
/**
* @brief Set flags for the specified wiimote.
*
* @param wm Pointer to a wiimote_t structure.
* @param enable Flags to enable.
* @param disable Flags to disable.
*
* @return The flags set after 'enable' and 'disable' have been applied.
*
* The values 'enable' and 'disable' may be any flags OR'ed together.
* Flags are defined in wiiuse.h.
*/
int wiiuse_set_flags(struct wiimote_t* wm, int enable, int disable) {
if (!wm) return 0;
/* remove mutually exclusive flags */
enable &= ~disable;
disable &= ~enable;
wm->flags |= enable;
wm->flags &= ~disable;
return wm->flags;
}
/**
* @brief Set if the wiimote should report motion sensing.
*
* @param wm Pointer to a wiimote_t structure.
* @param status 1 to enable, 0 to disable.
*
* Since reporting motion sensing sends a lot of data,
* the wiimote saves power by not transmitting it
* by default.
*/
void wiiuse_motion_sensing(struct wiimote_t* wm, int status)
{
if (status) {
if(WIIMOTE_IS_SET(wm,WIIMOTE_STATE_ACC)) return;
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_ACC);
} else {
if(!WIIMOTE_IS_SET(wm,WIIMOTE_STATE_ACC)) return;
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_ACC);
}
if(!WIIMOTE_IS_SET(wm,WIIMOTE_STATE_HANDSHAKE_COMPLETE)) return;
wiiuse_status(wm,NULL);
}
/**
* @brief Toggle the state of the rumble.
*
* @param wm Pointer to a wiimote_t structure.
*/
void wiiuse_toggle_rumble(struct wiimote_t* wm)
{
if (!wm) return;
WIIMOTE_TOGGLE_STATE(wm, WIIMOTE_STATE_RUMBLE);
if(!WIIMOTE_IS_SET(wm,WIIMOTE_STATE_HANDSHAKE_COMPLETE)) return;
wiiuse_set_leds(wm,wm->leds,NULL);
}
/**
* @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)
{
if (status && WIIMOTE_IS_SET(wm,WIIMOTE_STATE_RUMBLE)) return;
else if(!status && !WIIMOTE_IS_SET(wm,WIIMOTE_STATE_RUMBLE)) return;
wiiuse_toggle_rumble(wm);
}
void wiiuse_set_leds(struct wiimote_t *wm,int leds,cmd_blk_cb cb)
{
ubyte buf;
if(!wm || !WIIMOTE_IS_CONNECTED(wm)) return;
wm->leds = (leds&0xf0);
buf = wm->leds;
wiiuse_sendcmd(wm,WM_CMD_LED,&buf,1,cb);
}
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];
}
void wiiuse_status(struct wiimote_t *wm,cmd_blk_cb cb)
{
ubyte buf;
if(!wm || !WIIMOTE_IS_CONNECTED(wm)) return;
buf = 0x00;
wiiuse_sendcmd(wm,WM_CMD_CTRL_STATUS,&buf,1,cb);
}
int wiiuse_read_data(struct wiimote_t *wm,ubyte *buffer,uint addr,uword len,cmd_blk_cb cb)
{
struct op_t *op;
struct cmd_blk_t *cmd;
if(!wm || !WIIMOTE_IS_CONNECTED(wm)) return 0;
if(!buffer || !len) return 0;
cmd = (struct cmd_blk_t*)__lwp_queue_get(&wm->cmdq);
if(!cmd) return 0;
cmd->cb = cb;
cmd->len = 7;
op = (struct op_t*)cmd->data;
op->cmd = WM_CMD_READ_DATA;
op->buffer = buffer;
op->wait = len;
op->readdata.addr = BIG_ENDIAN_LONG(addr);
op->readdata.size = BIG_ENDIAN_SHORT(len);
__wiiuse_push_command(wm,cmd);
return 1;
}
int wiiuse_write_data(struct wiimote_t *wm,uint addr,ubyte *data,ubyte len,cmd_blk_cb cb)
{
struct op_t *op;
struct cmd_blk_t *cmd;
if(!wm || !WIIMOTE_IS_CONNECTED(wm)) return 0;
if(!data || !len) return 0;
cmd = (struct cmd_blk_t*)__lwp_queue_get(&wm->cmdq);
if(!cmd) return 0;
cmd->cb = cb;
cmd->len = 22;
op = (struct op_t*)cmd->data;
op->cmd = WM_CMD_WRITE_DATA;
op->buffer = NULL;
op->wait = 0;
op->writedata.addr = BIG_ENDIAN_LONG(addr);
op->writedata.size = (len&0x0f);
memcpy(op->writedata.data,data,len);
memset(op->writedata.data+len,0,(16 - len));
__wiiuse_push_command(wm,cmd);
return 1;
}
int wiiuse_write_streamdata(struct wiimote_t *wm,ubyte *data,ubyte len,cmd_blk_cb cb)
{
struct cmd_blk_t *cmd;
if(!wm || !WIIMOTE_IS_CONNECTED(wm)) return 0;
if(!data || !len || len>20) return 0;
cmd = (struct cmd_blk_t*)__lwp_queue_get(&wm->cmdq);
if(!cmd) return 0;
cmd->cb = cb;
cmd->len = 22;
cmd->data[0] = WM_CMD_STREAM_DATA;
cmd->data[1] = (len<<3);
memcpy(cmd->data+2,data,len);
__wiiuse_push_command(wm,cmd);
return 1;
}
int wiiuse_sendcmd(struct wiimote_t *wm,ubyte report_type,ubyte *msg,int len,cmd_blk_cb cb)
{
struct cmd_blk_t *cmd;
cmd = (struct cmd_blk_t*)__lwp_queue_get(&wm->cmdq);
if(!cmd) return 0;
cmd->cb = cb;
cmd->len = (1+len);
cmd->data[0] = report_type;
memcpy(cmd->data+1,msg,len);
if(report_type!=WM_CMD_READ_DATA && report_type!=WM_CMD_CTRL_STATUS)
cmd->data[1] |= 0x02;
//WIIUSE_DEBUG("Pushing command: %02x %02x", cmd->data[0], cmd->data[1]);
__wiiuse_push_command(wm,cmd);
return 1;
}

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/*
* wiiuse
*
* Written By:
* Michael Laforest < para >
* Email: < thepara (--AT--) g m a i l [--DOT--] com >
*
* Copyright 2006-2007
*
* This file is part of wiiuse.
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* $Header: /lvm/shared/ds/ds/cvs/devkitpro-cvsbackup/libogc/wiiuse/wiiuse_internal.h,v 1.8 2008-12-10 16:16:40 shagkur Exp $
*
*/
/**
* @file
* @brief General internal wiiuse stuff.
*
* Since Wiiuse is a library, wiiuse.h is a duplicate
* of the API header.
*
* The code that would normally go in that file, but
* which is not needed by third party developers,
* is put here.
*
* So wiiuse_internal.h is included by other files
* internally, wiiuse.h is included only here.
*/
#ifndef WIIUSE_INTERNAL_H_INCLUDED
#define WIIUSE_INTERNAL_H_INCLUDED
#if defined(__linux__)
#include <arpa/inet.h> /* htons() */
#include <bluetooth/bluetooth.h>
#endif
#include "definitions.h"
/* wiiuse version */
#define WIIUSE_VERSION "0.12"
/********************
*
* Wiimote internal codes
*
********************/
/* Communication channels */
#define WM_OUTPUT_CHANNEL 0x11
#define WM_INPUT_CHANNEL 0x13
#define WM_SET_REPORT 0x50
#define WM_DATA 0xA0
/* commands */
#define WM_CMD_RUMBLE 0x10
#define WM_CMD_LED 0x11
#define WM_CMD_REPORT_TYPE 0x12
#define WM_CMD_IR 0x13
#define WM_CMD_SPEAKER_ENABLE 0x14
#define WM_CMD_CTRL_STATUS 0x15
#define WM_CMD_WRITE_DATA 0x16
#define WM_CMD_READ_DATA 0x17
#define WM_CMD_STREAM_DATA 0x18
#define WM_CMD_SPEAKER_MUTE 0x19
#define WM_CMD_IR_2 0x1A
/* input report ids */
#define WM_RPT_CTRL_STATUS 0x20
#define WM_RPT_READ 0x21
#define WM_RPT_ACK 0x22
#define WM_RPT_BTN 0x30
#define WM_RPT_BTN_ACC 0x31
#define WM_RPT_BTN_ACC_IR 0x33
#define WM_RPT_BTN_EXP 0x34
#define WM_RPT_BTN_ACC_EXP 0x35
#define WM_RPT_BTN_IR_EXP 0x36
#define WM_RPT_BTN_ACC_IR_EXP 0x37
#define WM_BT_INPUT 0x01
#define WM_BT_OUTPUT 0x02
/* Identify the wiimote device by its class */
#define WM_DEV_CLASS_0 0x04
#define WM_DEV_CLASS_1 0x25
#define WM_DEV_CLASS_2 0x00
#define WM_VENDOR_ID 0x057E
#define WM_PRODUCT_ID 0x0306
/* controller status stuff */
#define WM_MAX_BATTERY_CODE 0xC8
/* offsets in wiimote memory */
#define WM_MEM_OFFSET_CALIBRATION 0x16
#define WM_EXP_MEM_BASE 0x04A40000
#define WM_EXP_MEM_ENABLE1 0x04A400F0
#define WM_EXP_MEM_ENABLE2 0x04A400FB
#define WM_EXP_MEM_KEY 0x04A40040
#define WM_EXP_MEM_CALIBR 0x04A40020
#define WM_EXP_MOTION_PLUS_ENABLE 0x04A600FE
#define WM_EXP_ID 0x04A400FA
#define WM_REG_IR 0x04B00030
#define WM_REG_IR_BLOCK1 0x04B00000
#define WM_REG_IR_BLOCK2 0x04B0001A
#define WM_REG_IR_MODENUM 0x04B00033
#define WM_REG_SPEAKER_REG1 0x04A20001
#define WM_REG_SPEAKER_REG2 0x04A20008
#define WM_REG_SPEAKER_REG3 0x04A20009
#define WM_REG_SPEAKER_BLOCK 0x04A20001
/* ir block data */
#define WM_IR_BLOCK1_LEVEL1 "\x02\x00\x00\x71\x01\x00\x64\x00\xfe"
#define WM_IR_BLOCK2_LEVEL1 "\xfd\x05"
#define WM_IR_BLOCK1_LEVEL2 "\x02\x00\x00\x71\x01\x00\x96\x00\xb4"
#define WM_IR_BLOCK2_LEVEL2 "\xb3\x04"
#define WM_IR_BLOCK1_LEVEL3 "\x02\x00\x00\x71\x01\x00\xaa\x00\x64"
#define WM_IR_BLOCK2_LEVEL3 "\x63\x03"
#define WM_IR_BLOCK1_LEVEL4 "\x02\x00\x00\x71\x01\x00\xc8\x00\x36"
#define WM_IR_BLOCK2_LEVEL4 "\x35\x03"
#define WM_IR_BLOCK1_LEVEL5 "\x07\x00\x00\x71\x01\x00\x72\x00\x20"
#define WM_IR_BLOCK2_LEVEL5 "\x1f\x03"
#define WM_IR_TYPE_BASIC 0x01
#define WM_IR_TYPE_EXTENDED 0x03
#define WM_IR_TYPE_FULL 0x05
/* controller status flags for the first message byte */
/* bit 1 is unknown */
#define WM_CTRL_STATUS_BYTE1_ATTACHMENT 0x02
#define WM_CTRL_STATUS_BYTE1_SPEAKER_ENABLED 0x04
#define WM_CTRL_STATUS_BYTE1_IR_ENABLED 0x08
#define WM_CTRL_STATUS_BYTE1_LED_1 0x10
#define WM_CTRL_STATUS_BYTE1_LED_2 0x20
#define WM_CTRL_STATUS_BYTE1_LED_3 0x40
#define WM_CTRL_STATUS_BYTE1_LED_4 0x80
/* aspect ratio */
#define WM_ASPECT_16_9_X 660
#define WM_ASPECT_16_9_Y 370
#define WM_ASPECT_4_3_X 560
#define WM_ASPECT_4_3_Y 420
/**
* Expansion stuff
*/
/* encrypted expansion id codes (located at 0x04A400FC) */
#define EXP_ID_CODE_NUNCHUK 0xa4200000
#define EXP_ID_CODE_CLASSIC_CONTROLLER 0xa4200101
#define EXP_ID_CODE_CLASSIC_CONTROLLER_NYKOWING 0x90908f00
#define EXP_ID_CODE_CLASSIC_CONTROLLER_NYKOWING2 0x9e9f9c00
#define EXP_ID_CODE_CLASSIC_CONTROLLER_NYKOWING3 0x908f8f00
#define EXP_ID_CODE_CLASSIC_CONTROLLER_GENERIC 0xa5a2a300
#define EXP_ID_CODE_CLASSIC_CONTROLLER_GENERIC2 0x98999900
#define EXP_ID_CODE_CLASSIC_CONTROLLER_GENERIC3 0xa0a1a000
#define EXP_ID_CODE_CLASSIC_CONTROLLER_GENERIC4 0x8d8d8e00
#define EXP_ID_CODE_CLASSIC_CONTROLLER_GENERIC5 0x93949400
//#define EXP_ID_CODE_GUITAR 0xa4200103
//#define EXP_ID_CODE_WIIBOARD 0xa4200402
#define EXP_ID_CODE_MOTION_PLUS 0xa4200405
#define EXP_HANDSHAKE_LEN 224
/********************
*
* End Wiimote internal codes
*
********************/
/* wiimote state flags - (some duplicated in wiiuse.h)*/
#define WIIMOTE_STATE_DEV_FOUND 0x00001
//#define WIIMOTE_STATE_DEV_REGISTER 0x00002
#define WIIMOTE_STATE_HANDSHAKE 0x00004 /* actual connection exists but no handshake yet */
#define WIIMOTE_STATE_HANDSHAKE_COMPLETE 0x00008 /* actual connection exists but no handshake yet */
#define WIIMOTE_STATE_CONNECTED 0x00010
#define WIIMOTE_STATE_EXP_HANDSHAKE 0x00020 /* actual connection exists but no handshake yet */
#define WIIMOTE_STATE_EXP_FAILED 0x00040 /* actual connection exists but no handshake yet */
#define WIIMOTE_STATE_RUMBLE 0x00080
#define WIIMOTE_STATE_ACC 0x00100
#define WIIMOTE_STATE_EXP 0x00200
#define WIIMOTE_STATE_IR 0x00400
#define WIIMOTE_STATE_SPEAKER 0x00800
#define WIIMOTE_STATE_IR_SENS_LVL1 0x01000
#define WIIMOTE_STATE_IR_SENS_LVL2 0x02000
#define WIIMOTE_STATE_IR_SENS_LVL3 0x04000
#define WIIMOTE_STATE_IR_SENS_LVL4 0x08000
#define WIIMOTE_STATE_IR_SENS_LVL5 0x10000
#define WIIMOTE_STATE_IR_INIT 0x20000
#define WIIMOTE_STATE_SPEAKER_INIT 0x40000
#define WIIMOTE_INIT_STATES (WIIMOTE_STATE_IR_SENS_LVL3)
/* macro to manage states */
#define WIIMOTE_IS_SET(wm, s) ((wm->state & (s)) == (s))
#define WIIMOTE_ENABLE_STATE(wm, s) (wm->state |= (s))
#define WIIMOTE_DISABLE_STATE(wm, s) (wm->state &= ~(s))
#define WIIMOTE_TOGGLE_STATE(wm, s) ((wm->state & (s)) ? WIIMOTE_DISABLE_STATE(wm, s) : WIIMOTE_ENABLE_STATE(wm, s))
#define WIIMOTE_IS_FLAG_SET(wm, s) ((wm->flags & (s)) == (s))
#define WIIMOTE_ENABLE_FLAG(wm, s) (wm->flags |= (s))
#define WIIMOTE_DISABLE_FLAG(wm, s) (wm->flags &= ~(s))
#define WIIMOTE_TOGGLE_FLAG(wm, s) ((wm->flags & (s)) ? WIIMOTE_DISABLE_FLAG(wm, s) : WIIMOTE_ENABLE_FLAG(wm, s))
#define NUNCHUK_IS_FLAG_SET(wm, s) ((*(wm->flags) & (s)) == (s))
/* misc macros */
#define WIIMOTE_ID(wm) (wm->unid)
#define WIIMOTE_IS_CONNECTED(wm) (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_CONNECTED))
/*
* Smooth tilt calculations are computed with the
* exponential moving average formula:
* St = St_last + (alpha * (tilt - St_last))
* alpha is between 0 and 1
*/
#define WIIUSE_DEFAULT_SMOOTH_ALPHA 0.3f
#define SMOOTH_ROLL 0x01
#define SMOOTH_PITCH 0x02
#include <wiiuse/wiiuse.h>
#ifdef __cplusplus
extern "C" {
#endif
struct op_t
{
ubyte cmd;
union {
struct {
uint addr;
uword size;
} readdata;
struct {
uint addr;
ubyte size;
ubyte data[16];
} writedata;
ubyte __data[MAX_PAYLOAD];
};
void *buffer;
int wait;
} __attribute__((packed));
/* not part of the api */
void wiiuse_init_cmd_queue(struct wiimote_t *wm);
void wiiuse_send_next_command(struct wiimote_t *wm);
int wiiuse_set_report_type(struct wiimote_t* wm,cmd_blk_cb cb);
int wiiuse_sendcmd(struct wiimote_t *wm,ubyte report_type,ubyte *msg,int len,cmd_blk_cb cb);
#ifdef __cplusplus
}
#endif
#endif /* WIIUSE_INTERNAL_H_INCLUDED */

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