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WiiRemote.m
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WiiRemote.m
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//
// WiiRemote.m
// DarwiinRemote
//
// Created by KIMURA Hiroaki on 06/12/04.
// Copyright 2006 KIMURA Hiroaki. All rights reserved.
//
#import "WiiRemote.h"
static WiiJoyStickCalibData kWiiNullJoystickCalibData = {0, 0, 0, 0, 0, 0};
static WiiAccCalibData kWiiNullAccCalibData = {0, 0, 0, 0, 0, 0};
// define some constants
#define kWiiIRPixelsWidth 1024.0
#define kWiiIRPixelsHeight 768.0
#define WII_DECRYPT(data) (((data ^ 0x17) + 0x17) & 0xFF)
#define BIT_2x8_16(dp1, dp2) ((dp1 << 8) | dp2)
#define PRINT_BB_GRID(grid, value) printf("===Grid %fkg===\nTR %f\nBR %f\nTL %f\nTR %f\n", value, grid.tr, grid.br, grid.tl, grid.tr)
#define WIR_HALFRANGE 256.0
#define WIR_INTERVAL 10.0
// Notification strings
NSString * WiiRemoteExpansionPortChangedNotification = @"WiiRemoteExpansionPortChangedNotification";
// this type is used a lot (data array):
typedef unsigned char darr[];
typedef enum {
kWiiRemoteTwoButton = 0x0001,
kWiiRemoteOneButton = 0x0002,
kWiiRemoteBButton = 0x0004,
kWiiRemoteAButton = 0x0008,
kWiiRemoteMinusButton = 0x0010,
kWiiRemoteHomeButton = 0x0080,
kWiiRemoteLeftButton = 0x0100,
kWiiRemoteRightButton = 0x0200,
kWiiRemoteDownButton = 0x0400,
kWiiRemoteUpButton = 0x0800,
kWiiRemotePlusButton = 0x1000,
kWiiNunchukZButton = 0x0001,
kWiiNunchukCButton = 0x0002,
kWiiClassicControllerUpButton = 0x0001,
kWiiClassicControllerLeftButton = 0x0002,
kWiiClassicControllerZRButton = 0x0004,
kWiiClassicControllerXButton = 0x0008,
kWiiClassicControllerAButton = 0x0010,
kWiiClassicControllerYButton = 0x0020,
kWiiClassicControllerBButton = 0x0040,
kWiiClassicControllerZLButton = 0x0080,
kWiiClassicControllerUnUsedButton = 0x0100,
kWiiClassicControllerRButton = 0x0200,
kWiiClassicControllerPlusButton = 0x0400,
kWiiClassicControllerHomeButton = 0x0800,
kWiiClassicControllerMinusButton = 0x1000,
kWiiClassicControllerLButton = 0x2000,
kWiiClassicControllerDownButton = 0x4000,
kWiiClassicControllerRightButton = 0x8000
} WiiButtonBitMask;
@interface WiiRemote (Private)
- (IOBluetoothL2CAPChannel *) openL2CAPChannelWithPSM:(BluetoothL2CAPPSM) psm delegate:(id) delegate;
@end
@implementation WiiRemote
- (id) init
{
self = [super init];
NSLogDebug (@"Wii instantiated");
if (self != nil) {
#ifdef DEBUG
/* Allow full protocol logging */
_dump = TRUE;
#endif
accX = 0x10;
accY = 0x10;
accZ = 0x10;
buttonData = 0;
leftPoint = -1;
_batteryLevel = 0;
_warningBatteryLevel = 0.05;
_delegate = nil;
_shouldUpdateReportMode = NO;
_shouldReadExpansionCalibration = NO;
_shouldSetInitialConfiguration = YES; //Used as dirty hack to make sure the Initial configuration is set _after_ device has be indentified
_wiiDevice = nil;
_opened = NO;
_ichan = nil;
_cchan = nil;
_isIRSensorEnabled = NO;
_isMotionSensorEnabled = NO;
_isVibrationEnabled = NO;
_isExpansionPortEnabled = NO;
_isExpansionPortAttached = NO;
wiiIRMode = kWiiIRModeExtended;
expType = WiiExpUknown;
}
return self;
}
- (void) dealloc
{
NSLogDebug (@"Wii released");
[super dealloc];
}
- (void) setDelegate:(id) delegate
{
_delegate = delegate;
}
- (BOOL) available
{
if ((_wiiDevice != nil) && (_cchan != nil) && (_ichan != nil))
return YES;
return NO;
}
- (IOReturn) connectTo:(IOBluetoothDevice *) device
{
_wiiDevice = device;
if (_wiiDevice == nil)
return kIOReturnBadArgument;
IOReturn ret = kIOReturnSuccess;
// it seems like it is not needed to call openConnection in order to open L2CAP channels ...
_cchan = [self openL2CAPChannelWithPSM:kBluetoothL2CAPPSMHIDControl delegate:self];
if (!_cchan)
return kIOReturnNotOpen;
usleep (20000);
_ichan = [self openL2CAPChannelWithPSM:kBluetoothL2CAPPSMHIDInterrupt delegate:self];
if (!_ichan)
return kIOReturnNotOpen;
NSLogDebug(@"Allow bluetooth stack to 'settle', wait few milliseconds");
usleep (20000);
//statusTimer = [[NSTimer scheduledTimerWithTimeInterval:60 target:self selector:@selector(getCurrentStatus:) userInfo:nil repeats:YES] retain];
//Initial polling - find out of status of current device
ret = [self getCurrentStatus:nil];
/* Allow recoginition of device, BB for example is kind of slow in startup ;-)
* Value determined by experimenting:
* *20000 is causing timeouts
* *1000 causes WiiBalanceBoard not be be detected
*/
usleep (10000);
/* Moved initial intitalization after device recognising scheme, as Balanance Board dieds while polling the IRSensor
* Find a more clever way to detect we are actually talking to the Wii Device
*/
if ((ret == kIOReturnSuccess) && [self available]) {
disconnectNotification = [_wiiDevice registerForDisconnectNotification:self selector:@selector(disconnected:fromDevice:)];
_opened = YES;
} else {
_opened = NO;
[self closeConnection];
}
return ret;
}
- (void) disconnected:(IOBluetoothUserNotification*) note fromDevice:(IOBluetoothDevice*) device
{
NSLogDebug (@"Disconnected.");
if (device == _wiiDevice) {
// _cchan = nil;
// _ichan = nil;
[self closeConnection];
}
}
- (IOReturn) sendCommand:(const unsigned char *) data length:(size_t) length
{
unsigned char buf[40];
memset (buf, 0, 40);
buf[0] = 0x52;
memcpy (buf+1, data, length);
if (buf[1] == 0x16) length = 23;
else length++;
#ifdef DEBUG
if (_dump) {
int i;
printf ("channel:%i - send%3u:", [_cchan getPSM], (unsigned int)length);
for(i=0 ; i<length ; i++) {
printf(" %02X", buf[i]);
}
printf("\n");
}
#endif
IOReturn ret = kIOReturnSuccess;
int i;
// cam: i think there is no need to do the loop many times in order to see there is an error
// if there's an error it must be managed right away
for (i=0; i<10 ; i++) {
ret = [_cchan writeSync:buf length:length];
if (ret != kIOReturnSuccess) {
NSLogDebug(@"Write Error for command 0x%x:", buf[1], ret);
LogIOReturn (ret);
// [self closeConnection];
usleep (10000);
}
else
break;
}
return ret;
}
- (double) batteryLevel
{
return _batteryLevel;
}
- (NSString *) address
{
return [_wiiDevice getAddressString];
}
- (void) setMotionSensorEnabled:(BOOL) enabled
{
if (enabled) {
NSLogDebug (@"Set motion sensor enabled");
} else {
NSLogDebug (@"Set motion sensor disabled");
}
// this variable indicate a desire, and should be updated regardless of the sucess of sending the command
_isMotionSensorEnabled = enabled;
[self updateReportMode];
}
- (void) setForceFeedbackEnabled:(BOOL) enabled
{
// this variable indicate a desire, and should be updated regardless of the sucess of sending the command
_isVibrationEnabled = enabled;
[self updateReportMode];
}
- (void) setLEDEnabled1:(BOOL) enabled1 enabled2:(BOOL) enabled2 enabled3:(BOOL) enabled3 enabled4:(BOOL) enabled4
{
unsigned char cmd[] = {0x11, 0x00};
if (_isVibrationEnabled) cmd[1] |= 0x01;
if (enabled1) cmd[1] |= 0x10;
if (enabled2) cmd[1] |= 0x20;
if (enabled3) cmd[1] |= 0x40;
if (enabled4) cmd[1] |= 0x80;
_isLED1Illuminated = enabled1;
_isLED2Illuminated = enabled2;
_isLED3Illuminated = enabled3;
_isLED4Illuminated = enabled4;
IOReturn ret = [self sendCommand:cmd length:2];
LogIOReturn (ret);
}
- (void) updateReportMode
{
_shouldUpdateReportMode = YES;
if (!_cchan)
[self closeConnection];
}
- (IOReturn) doUpdateReportMode
{
if (!_shouldUpdateReportMode)
return kIOReturnSuccess;
_shouldUpdateReportMode = NO;
NSLogDebug (@"Updating Report Mode");
// Set the report type the Wiimote should send.
unsigned char cmd[] = {0x12, 0x02, 0x30}; // Just buttons.
/*
There are numerous status report types that can be requested.
The IR reports must be matched with the data format set when initializing the IR camera:
0x36, 0x37 - 10 IR bytes go with Basic mode
0x33 - 12 IR bytes go with Extended mode
0x3e/0x3f - 36 IR bytes go with Full mode
The Nunchuk and Classic controller use 6 bytes to report their state, so the reports that
give more extension bytes don't provide any more info.
Buttons | Accelerometer | IR | Extension
--------------------+-------------------+-----------+-------------
0x30: Core Buttons | | |
0x31: Core Buttons | Accelerometer | |
0x32: Core Buttons | | | 8 bytes
0x33: Core Buttons | Accelerometer | 12 bytes |
0x34: Core Buttons | | | 19 bytes
0x35: Core Buttons | Accelerometer | | 16 bytes
0x36: Core Buttons | | 10 bytes | 9 bytes
0x37: Core Buttons | Accelerometer | 10 bytes | 6 bytes
?? 0x38: Core Buttons and Accelerometer with 16 IR bytes ??
0x3d: | | | 21 bytes
0x3e / 0x3f: Interleaved Core Buttons and Accelerometer with 16/36 IR bytes
*/
if (_isIRSensorEnabled) {
cmd[2] = _isExpansionPortEnabled ? 0x36 : 0x33; // Buttons, 10 IR Bytes, 9 Extension Bytes
wiiIRMode = _isExpansionPortEnabled ? kWiiIRModeBasic : kWiiIRModeExtended;
// Set IR Mode
NSLogDebug (@"Setting IR Mode to finish initialization.");
// I don't think it should be here ...
[self writeData:(darr){ wiiIRMode } at:0x04B00033 length:1];
usleep(10000);
} else {
cmd[2] = _isExpansionPortEnabled ? 0x34 : 0x30; // Buttons, 19 Extension Bytes
}
if (_isVibrationEnabled)
cmd[1] |= 0x01;
if (_isMotionSensorEnabled)
cmd[2] |= 0x01; // Add Accelerometer
usleep(10000);
return [self sendCommand:cmd length:3];
} // updateReportMode
- (void) setExpansionPortEnabled:(BOOL) enabled
{
IOReturn ret = kIOReturnSuccess;
if (enabled)
NSLogDebug (@"Enabling expansion port.");
else
NSLogDebug (@"Disabling expansion port.");
if (_isExpansionPortAttached) {
_isExpansionPortEnabled = enabled;
// get expansion device calibration data
_shouldReadExpansionCalibration = YES;
/* Calibration of WiiRemote takes up only 16 bytes, BalanceBoard however uses 32 bytes
* http://wiibrew.org/wiki/Wii_Balance_Board#Calibration_Data as second set of bytes on WiiRemote
* are zero http://wiibrew.org/wiki/Wiimote#Extension_Controller no harm of fetching the full 32 bytes :-)
*/
NSLogDebug (@"Requesting expansion calibration data");
ret = [self readData:0x04A40020 length: 32];
LogIOReturn (ret);
}
[self updateReportMode];
}
//based on Ian's codes. thanks!
- (void) setIRSensorEnabled:(BOOL) enabled
{
_isIRSensorEnabled = enabled;
// ir enable 1
IOReturn ret = kIOReturnSuccess;
unsigned char cmd[] = {0x13, 0x00};
if (_isVibrationEnabled) cmd[1] |= 0x01;
if (_isIRSensorEnabled) cmd[1] |= 0x04;
ret = [self sendCommand:cmd length:2];
LogIOReturn (ret);
usleep(10000);
// set register 0x1a (ir enable 2)
unsigned char cmd2[] = {0x1a, 0x00};
if (_isIRSensorEnabled) cmd2[1] |= 0x04;
ret = [self sendCommand:cmd2 length:2];
LogIOReturn (ret);
usleep(10000);
if (_isIRSensorEnabled) {
NSLogDebug (@"Enabling IR Sensor");
// based on marcan's method, found on wiili wiki:
// tweaked to include some aspects of cliff's setup procedure in the hopes
// of it actually turning on 100% of the time (was seeing 30-40% failure rate before)
// the sleeps help it it seems
// start initializing camera
ret = [self writeData:(darr){0x01} at:0x04B00030 length:1];
LogIOReturn (ret);
usleep(10000);
// set sensitivity block 1
ret = [self writeData:(darr){0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x90, 0x00, 0xC0} at:0x04B00000 length:9];
LogIOReturn (ret);
usleep(10000);
// set sensitivity block 2
ret = [self writeData:(darr){0x40, 0x00} at:0x04B0001A length:2];
LogIOReturn (ret);
usleep(10000);
// finish initializing camera
ret = [self writeData:(darr){0x08} at:0x04B00030 length:1];
LogIOReturn (ret);
usleep(10000);
if (ret != kIOReturnSuccess) {
NSLogDebug (@"Set IR Enabled failed, closing connection");
// [self closeConnection];
_isIRSensorEnabled = NO;
return;
}
}
[self updateReportMode];
}
- (IOReturn) writeData:(const unsigned char*) data at:(unsigned long) address length:(size_t) length
{
unsigned char cmd [22];
if (length > 16)
NSLog (@"Error! Trying to write more than 16 bytes of data (length=%i)", length);
memset (cmd, 0, 22);
memcpy (cmd + 6, data, length);
// register write header
cmd[0] = 0x16;
// write address
cmd[1] = (address >> 24) & 0xFF;
cmd[2] = (address >> 16) & 0xFF;
cmd[3] = (address >> 8) & 0xFF;
cmd[4] = (address >> 0) & 0xFF;
// data length
cmd[5] = length;
// and of course the vibration flag, as usual
if (_isVibrationEnabled)
cmd[1] |= 0x01;
return [self sendCommand:cmd length:22];
}
- (IOReturn) readData:(unsigned long) address length:(unsigned short) length
{
unsigned char cmd[7];
unsigned long addr = address;
unsigned short len = length;
cmd[0] = 0x17; // read memory
// address
cmd[1] = (addr >> 24) & 0xFF; // bit 2 being set indicates read from control registers, 0 indicates EEPROM Memory
cmd[2] = (addr >> 16) & 0xFF;
cmd[3] = (addr >> 8) & 0xFF;
cmd[4] = (addr >> 0) & 0xFF;
// Number of bytes to read
cmd[5] = (len >> 8) & 0xFF;
cmd[6] = (len >> 0) & 0xFF;
if (_isVibrationEnabled)
cmd[1] |= 0x01;
return [self sendCommand:cmd length:7];
}
- (IOReturn) closeConnection
{
IOReturn ret = 0;
_opened = NO;
[disconnectNotification unregister];
disconnectNotification = nil;
[_delegate wiiRemoteDisconnected:_wiiDevice];
_delegate = nil;
// cam: set delegate to nil
[_cchan setDelegate:nil];
ret = [_cchan closeChannel];
_cchan = nil;
LogIOReturn (ret);
[_ichan setDelegate:nil];
ret = [_ichan closeChannel];
_ichan = nil;
LogIOReturn (ret);
ret = [_wiiDevice closeConnection];
_wiiDevice = nil;
LogIOReturn (ret);
// no longer a delegate
[statusTimer invalidate];
[statusTimer release];
statusTimer = nil;
return ret;
}
- (void) setInitialConfiguration
{
if (_shouldSetInitialConfiguration) {
if (expType != WiiBalanceBoard) {
NSLogDebug(@"Setting default wiimote values");
IOReturn ret = [self readData:0x0020 length:7]; // Get Accelerometer calibration data
if (ret == kIOReturnSuccess) {
[self setMotionSensorEnabled:YES];
[self setIRSensorEnabled:NO];
[self setForceFeedbackEnabled:NO];
[self setLEDEnabled1:YES enabled2:NO enabled3:NO enabled4:NO];
[self updateReportMode];
//ret = [self doUpdateReportMode];
}
}
_shouldSetInitialConfiguration = NO;
}
}
- (void) handleWriteResponse:(unsigned char *) dp length:(size_t) dataLength
{
NSLogDebug (@"Write data response: %00x %00x %00x %00x", dp[2], dp[3], dp[4], dp[5]);
}
/** Also see: http://wiibrew.org/wiki/Wiimote#Reading_and_Writing
* Handle report 0x21 (Read Data) from wiimote.
* dp[0] = Bluetooth header
* dp[1] = (0x21) Report/Channel ID
* dp[2] = Wiimote Buttons
* dp[3] = Wiimote Buttons
* dp[4] = High 4 bits = payload size; Low 4 bits = Error flag (0 = all good)
* dp[5] = Offset of memory read
* dp[6] = Offset of memory read
* dp[7+] = the Data.
**/
- (void) handleRAMData:(unsigned char *) dp length:(size_t) dataLength
{
/**
if (dp[1] == 0x21){
int i;
printf ("ack%3d:", dataLength);
for(i=0 ; i<dataLength ; i++) {
printf(" %02X", dp[i]);
}
printf("\n");
}**/
unsigned short addr = (dp[5] * 256) + dp[6];
NSLogDebug (@"handleRAMData (0x21) addr=0x%x", addr);
//mii data
if ((dataLength >= 20) && (addr >= WIIMOTE_MII_DATA_BEGIN_ADDR) && (addr <= WIIMOTE_MII_CHECKSUM1_ADDR)) {
if ([_delegate respondsToSelector:@selector (gotMiidata:at:)]) {
int slot = MII_SLOT(addr);
int len = dataLength - 7;
memcpy (&mii_data_buf[mii_data_offset], &dp[7], len);
mii_data_offset += len;
if (mii_data_offset >= WIIMOTE_MII_DATA_BYTES_PER_SLOT)
[_delegate gotMiiData: (Mii *)mii_data_buf at: slot];
}
}
// specify attached expasion device
if (addr == 0x00F0) {
NSLogDebug (@"Expansion device connected.");
switch (WII_DECRYPT(dp[21])) {
case 0x00:
NSLogDebug (@"Nunchuk connected.");
if (expType != WiiNunchuk) {
expType = WiiNunchuk;
[[NSNotificationCenter defaultCenter] postNotificationName:WiiRemoteExpansionPortChangedNotification object:self];
}
break;
case 0x01:
NSLogDebug (@"Classic controller connected.");
if (expType != WiiClassicController) {
expType = WiiClassicController;
[[NSNotificationCenter defaultCenter] postNotificationName:WiiRemoteExpansionPortChangedNotification object:self];
}
break;
case 0x2a:
NSLogDebug (@"Balance Board connected.");
if (expType != WiiBalanceBoard) {
expType = WiiBalanceBoard;
[[NSNotificationCenter defaultCenter] postNotificationName:WiiRemoteExpansionPortChangedNotification object:self];
}
break;
case 0x2e:
NSLogDebug(@"No Expansion detected.");
if (expType != WiiExpNotAttached) {
expType = WiiExpNotAttached;
[[NSNotificationCenter defaultCenter] postNotificationName:WiiRemoteExpansionPortChangedNotification object:self];
}
break;
default:
NSLogDebug (@"Unknown device connected (0x%x). ", WII_DECRYPT(dp[21]));
expType = WiiExpUknown;
break;
}
[self setInitialConfiguration];
return;
}
// wiimote calibration data
if (!_shouldReadExpansionCalibration && (addr == 0x0020)) {
NSLogDebug (@"Read Wii calibration");
wiiCalibData.accX_zero = dp[7] << 1;
wiiCalibData.accY_zero = dp[8] << 1;
wiiCalibData.accZ_zero = dp[9] << 1;
//dp[10] - unknown/unused
wiiCalibData.accX_1g = dp[11] << 1;
wiiCalibData.accY_1g = dp[12] << 1;
wiiCalibData.accZ_1g = dp[13] << 1;
return;
}
// expansion device calibration data.
if (_shouldReadExpansionCalibration && (addr == 0x0020)) {
if (expType == WiiNunchuk) {
NSLogDebug (@"Read nunchuk calibration");
//nunchuk calibration data
nunchukCalibData.accX_zero = WII_DECRYPT(dp[7]);
nunchukCalibData.accY_zero = WII_DECRYPT(dp[8]);
nunchukCalibData.accZ_zero = WII_DECRYPT(dp[9]);
nunchukCalibData.accX_1g = WII_DECRYPT(dp[11]);
nunchukCalibData.accY_1g = WII_DECRYPT(dp[12]);
nunchukCalibData.accZ_1g = WII_DECRYPT(dp[13]);
nunchukJoyStickCalibData.x_max = WII_DECRYPT(dp[15]);
nunchukJoyStickCalibData.x_min = WII_DECRYPT(dp[16]);
nunchukJoyStickCalibData.x_center = WII_DECRYPT(dp[17]);
nunchukJoyStickCalibData.y_max = WII_DECRYPT(dp[18]);
nunchukJoyStickCalibData.y_min = WII_DECRYPT(dp[19]);
nunchukJoyStickCalibData.y_center = WII_DECRYPT(dp[20]);
_shouldReadExpansionCalibration = NO;
return;
} else if (expType == WiiBalanceBoard) {
NSLogDebug (@"Read Balance Board calibration");
/* Format found at http://wiibrew.org/wiki/Wii_Balance_Board#Calibration_Data
* in 24 bytes from 0xa40024 to 0xa4003a
*/
/* First 4 values 0xa40020 - 0xa40023 unknown */
balanceBoardCalibData.kg0.tr = BIT_2x8_16(dp[11], dp[12]);
balanceBoardCalibData.kg0.br = BIT_2x8_16(dp[13], dp[14]);
balanceBoardCalibData.kg0.tl = BIT_2x8_16(dp[15], dp[16]);
balanceBoardCalibData.kg0.bl = BIT_2x8_16(dp[17], dp[18]);
balanceBoardCalibData.kg17.tr = BIT_2x8_16(dp[19], dp[20]);
balanceBoardCalibData.kg17.br = BIT_2x8_16(dp[21], dp[22]);
/* Not yet fully configured, so keep the _shouldReadExpansionCalibration set */
return;
} else if (expType == WiiClassicController) {
//classic controller calibration data (probably)
}
} else if (_shouldReadExpansionCalibration && (addr == 0x0030)) {
if (expType == WiiBalanceBoard) {
balanceBoardCalibData.kg17.tl = BIT_2x8_16(dp[7], dp[8]);
balanceBoardCalibData.kg17.bl = BIT_2x8_16(dp[9], dp[10]);
balanceBoardCalibData.kg34.tr = BIT_2x8_16(dp[11], dp[12]);
balanceBoardCalibData.kg34.br = BIT_2x8_16(dp[13], dp[14]);
balanceBoardCalibData.kg34.tl = BIT_2x8_16(dp[15], dp[16]);
balanceBoardCalibData.kg34.bl = BIT_2x8_16(dp[17], dp[18]);
/* Usage of last 4 values also unkown */
PRINT_BB_GRID(balanceBoardCalibData.kg0, (float)0);
PRINT_BB_GRID(balanceBoardCalibData.kg17, (float)17);
PRINT_BB_GRID(balanceBoardCalibData.kg34, (float)34);
/* All data read, as 0x0020 data is presented to us already */
_shouldReadExpansionCalibration = NO;
}
} // expansion device calibration data
// wiimote buttons
buttonData = ((short)dp[2] << 8) + dp[3];
[self sendWiiRemoteButtonEvent:buttonData];
} // handleRAMData
- (void) handleStatusReport:(unsigned char *) dp length:(size_t) dataLength
{
NSLogDebug (@"Status Report (0x%x)", dp[4]);
/* sample: A1 20 00 00 02 00 00 AB */
double level = (double) dp[7];
level /= (double) 0xC0; // C0 = fully charged.
if (level != _batteryLevel) {
_batteryLevel = level;
if ([_delegate respondsToSelector:@selector (batteryLevelChanged:)])
[_delegate batteryLevelChanged:_batteryLevel];
}
if (_batteryLevel < _warningBatteryLevel)
[[NSNotificationCenter defaultCenter] postNotificationName:@"WiiRemoteBatteryLowNotification" object:self];
IOReturn ret = kIOReturnSuccess;
if (dp[4] & 0x02) { //some device attached to Wiimote
NSLogDebug (@"Expantion device Attached");
if (!_isExpansionPortAttached) {
/* Initialize the device, reason unknown see for example
* http://www.wiili.org/index.php/Wiimote/Extension_Controllers/Nunchuk#Communication
*/
ret = [self writeData:(darr){0x00} at:(unsigned long)0x04A40040 length:1];
usleep (10000);
if (ret != kIOReturnSuccess) {
NSLogDebug (@"Problem occured while initializing the expansion port.");
LogIOReturn (ret);
return;
}
/* Purpose unkown, but only succesfull when controller attached */
IOReturn ret = [self readData:0x04A400F0 length:16]; // read expansion device type
LogIOReturn (ret);
_isExpansionPortAttached = (ret == kIOReturnSuccess);
if (ret == kIOReturnSuccess) {
NSLogDebug (@"Expansion Device initialized");
} else
NSLogDebug (@"Failed to initialize Expansion Device");
return;
}
} else { // unplugged
if (_isExpansionPortAttached) {
NSLogDebug (@"Device Detached");
_isExpansionPortAttached = NO;
expType = WiiExpNotAttached;
[[NSNotificationCenter defaultCenter] postNotificationName:WiiRemoteExpansionPortChangedNotification object:self];
}
}
[self setInitialConfiguration];
_isLED1Illuminated = (dp[4] & 0x10);
_isLED2Illuminated = (dp[4] & 0x20);
_isLED3Illuminated = (dp[4] & 0x40);
_isLED4Illuminated = (dp[4] & 0x80);
} // handleStatusReport
- (float) bbPressure2kg:(float) value pkg0:(float) pkg0 pkg17:(float) pkg17 pkg34:(float) pkg34
{
/* Convert to Kilograms
* 0kg=0; value=20; 17kg=100
* eachKG = high - low / 17
* startKG = 0
* result = startKG + (value - low) /result;
*/
if (value < pkg0) {
/* Lower than 0kg should never happen..., but make it 0 anyway */
return 0;
} else if (value < pkg17) {
return 0 + (value - pkg0) / ((pkg17 - pkg0) / 17);
} else if (value < pkg34) {
return 17 + (value - pkg17) / ((pkg34 - pkg17) / 17);
} else {
return 34 + (value - pkg34) / ((pkg34 - pkg0) / 34);
}
}
- (void) handleExtensionData:(unsigned char *) dp length:(size_t) dataLength
{
unsigned char startByte;
switch (dp[1]) {
case 0x34 :
startByte = 4;
break;
case 0x35 :
startByte = 7;
break;
case 0x36 :
startByte = 14;
break;
case 0x37 :
startByte = 17;
break;
default:
NSLogDebug (@"Unsupported Report mode for extension data.");
return; // This shouldn't ever happen.
}
switch (expType) {
case WiiNunchuk:
nStickX = WII_DECRYPT(dp[startByte +0]);
nStickY = WII_DECRYPT(dp[startByte +1]);
nAccX = WII_DECRYPT(dp[startByte +2]);
nAccY = WII_DECRYPT(dp[startByte +3]);
nAccZ = WII_DECRYPT(dp[startByte +4]);
nButtonData = WII_DECRYPT(dp[startByte +5]);
[self sendWiiNunchukButtonEvent:nButtonData];
if ([_delegate respondsToSelector:@selector (accelerationChanged:accX:accY:accZ:)])
[_delegate accelerationChanged:WiiNunchukAccelerationSensor accX:nAccX accY:nAccY accZ:nAccZ];
if ([_delegate respondsToSelector:@selector (joyStickChanged:tiltX:tiltY:)])
[_delegate joyStickChanged:WiiNunchukJoyStick tiltX:nStickX tiltY:nStickY];
break;
case WiiClassicController:
cButtonData = (unsigned short)((WII_DECRYPT(dp[startByte+4]) << 8) + WII_DECRYPT(dp[startByte+5]));
cStickX1 = WII_DECRYPT(dp[startByte +0]) & 0x3F;
cStickY1 = WII_DECRYPT(dp[startByte +1]) & 0x3F;
cStickX2 =
(((WII_DECRYPT(dp[startByte +0]) & 0xC0) >> 3) |
((WII_DECRYPT(dp[startByte +1]) & 0xC0) >> 5) |
((WII_DECRYPT(dp[startByte +2]) & 0x80) >> 7)) & 0x1F;
cStickY2 = WII_DECRYPT(dp[startByte +2]) & 0x1F;
cAnalogL =
(((WII_DECRYPT(dp[startByte +2]) & 0x60) >> 2) |
((WII_DECRYPT(dp[startByte +3]) & 0xE0) >> 5)) & 0x1F;
cAnalogR = WII_DECRYPT(dp[startByte +3]) & 0x1F;
[self sendWiiClassicControllerButtonEvent:cButtonData];
if ([_delegate respondsToSelector:@selector (joyStickChanged:tiltX:tiltY:)]) {
[_delegate joyStickChanged:WiiClassicControllerLeftJoyStick tiltX:cStickX1 tiltY:cStickY1];
[_delegate joyStickChanged:WiiClassicControllerRightJoyStick tiltX:cStickX2 tiltY:cStickY2];
}
if ([_delegate respondsToSelector:@selector (analogButtonChanged:amount:)]) {
[_delegate analogButtonChanged:WiiClassicControllerLButton amount:cAnalogL];
[_delegate analogButtonChanged:WiiClassicControllerRButton amount:cAnalogR];
}
break;
case WiiBalanceBoard:
/* http://www.wiili.org/index.php/Wii_Balance_Board_PC_Drivers
* 34 00 00 AA AA BB BB CC CC DD DD? ? ? ? EE..
* AA AA right-top (L)
* BB BB right-bottom (S)
* CC CC left-top (S)
* DD DD left-bottom (L)
*
* (AA AA... are BigEndian)
*
* It seems that some value is also in EE, but the usage is unclear. There are four sensors.
* It seems that they are placed at each of the 4 feet of the balance board itself.
*
* +--------------------+
* | C0C1 (S) A0A1 (L) | bPressureTL | bPressureTR // b(alance board) Pressure (sensor) [T(top)|B(bottom)][L(eft)|R(ight)]
* | D0D1 (L) B0B1 (S) | bPressureBL | bPressureBR
* | POWER |
* +--------------------+
*/
bPressure.tr = BIT_2x8_16(dp[startByte +0], dp[startByte +1]);
bPressure.br = BIT_2x8_16(dp[startByte +2], dp[startByte +3]);
bPressure.tl = BIT_2x8_16(dp[startByte +4], dp[startByte +5]);
bPressure.bl = BIT_2x8_16(dp[startByte +6], dp[startByte +7]);
bKg.tr = [self bbPressure2kg:bPressure.tr pkg0:balanceBoardCalibData.kg0.tr pkg17:balanceBoardCalibData.kg17.tr pkg34:balanceBoardCalibData.kg34.tr];
bKg.br = [self bbPressure2kg:bPressure.br pkg0:balanceBoardCalibData.kg0.br pkg17:balanceBoardCalibData.kg17.br pkg34:balanceBoardCalibData.kg34.br];
bKg.tl = [self bbPressure2kg:bPressure.tl pkg0:balanceBoardCalibData.kg0.tl pkg17:balanceBoardCalibData.kg17.tl pkg34:balanceBoardCalibData.kg34.tl];
bKg.bl = [self bbPressure2kg:bPressure.bl pkg0:balanceBoardCalibData.kg0.bl pkg17:balanceBoardCalibData.kg17.bl pkg34:balanceBoardCalibData.kg34.bl];
if ([_delegate respondsToSelector:@selector (pressureChanged:pressureTR:pressureBR:pressureTL:pressureBL:)])
/* Don't use raw values, but use KG for the time beeing */
//[_delegate pressureChanged:WiiBalanceBoardPressureSensor pressureTR:bPressure.tr pressureBR:bPressure.br pressureTL:bPressure.tl pressureBL:bPressure.bl];
[_delegate pressureChanged:WiiBalanceBoardPressureSensor pressureTR:bKg.tr pressureBR:bKg.br pressureTL:bKg.tl pressureBL:bKg.bl];
if ([_delegate respondsToSelector:@selector (rawPressureChanged:)])
[_delegate rawPressureChanged:bPressure];
if ([_delegate respondsToSelector:@selector (allPressureChanged:bbData:bbDataInKg:)])
[_delegate allPressureChanged:WiiBalanceBoardPressureSensor bbData:bPressure bbDataInKg:bKg];
break;
}
} // handleExtensionData
- (void) handleIRData:(unsigned char *) dp length:(size_t) dataLength
{
/* Set all IR data to array, based on input format */
// NSLog(@"Handling IR Data for 0x%00x", dp[1]);
int i = 0;
if (dp[1] == 0x33) { // 12 IR bytes
int startByte = 0;
for(i=0 ; i < 4 ; i++) {
startByte = 7 + 3 * i;
irData[i].x = (dp[startByte +0] | ((dp[startByte +2] & 0x30) << 4)) & 0x3FF;
irData[i].y = (dp[startByte +1] | ((dp[startByte +2] & 0xC0) << 2)) & 0x3FF;
irData[i].s = dp[startByte +2] & 0x0F;
}
} else { // 10 IR bytes
int shift = (dp[1] == 0x36) ? 4 : 7;
int startByte = 0;
int i;
for (i=0; i < 2; i++) {
startByte = shift + 5 * i;
irData[2*i].x = (dp[startByte +0] | ((dp[startByte +2] & 0x30) << 4)) & 0x3FF;
irData[2*i].y = (dp[startByte +1] | ((dp[startByte +2] & 0xC0) << 2)) & 0x3FF;
irData[2*i].s = ((irData[2*i].x == irData[2*i].y) && (irData[2*i].x == 0x3FF)) ? 0x0F : 0x05; // No size is given in 10 byte report.
irData[(2*i)+1].x = (dp[startByte +3] | ((dp[startByte +2] & 0x03) << 8)) & 0x3FF;
irData[(2*i)+1].y = (dp[startByte +4] | ((dp[startByte +2] & 0x0C) << 6)) & 0x3FF;
irData[(2*i)+1].s = ((irData[(2*i)+1].x == irData[(2*i)+1].y) && (irData[(2*i)+1].x == 0x3FF)) ? 0x0F : 0x05; // No size is given in 10 byte report.
}
}
// NSLogDebug (@"IR Data (%i, %i, %i) (%i, %i, %i) (%i, %i, %i) (%i, %i, %i)",
// irData[0].x, irData[0].y, irData[0].s,
// irData[1].x, irData[1].y, irData[1].s,
// irData[2].x, irData[2].y, irData[2].s,
// irData[3].x, irData[3].y, irData[3].s);
/* Determine 2 out of 4 points to be used for position calculations */
int p1 = -1;
int p2 = -1;
// we should modify this loop to take the points with the lowest s (the brightest ones)
for (i=0 ; i<4 ; i++) {
if (p1 == -1) {
if (irData [i].s < 0x0F)
p1 = i;
} else {
if (irData [i].s < 0x0F) {
p2 = i;
break;
}
}
}
// NSLogDebug (@"p1=%i ; p2=%i", p1, p2);
double ox, oy;
/* Verify wether there exists two points allowing us to do proper tracking */
if ((p1 > -1) && (p2 > -1)) {
/* Determine left and right point??? */
int l = leftPoint;
if (leftPoint == -1) {
switch (orientation) {
case 0: l = (irData[p1].x < irData[p2].x) ? 0 : 1; break;
case 1: l = (irData[p1].y > irData[p2].y) ? 0 : 1; break;
case 2: l = (irData[p1].x > irData[p2].x) ? 0 : 1; break;
case 3: l = (irData[p1].y < irData[p2].y) ? 0 : 1; break;
}
leftPoint = l;
}
int r = 1-l;
/* Calculate space between point L,R */
double dx = irData[r].x - irData[l].x;
double dy = irData[r].y - irData[l].y;
/* http://en.wikipedia.org/wiki/Atan2#The_hypot_function */
double d = hypot (dx, dy);
/* Normalize distances */
dx /= d;
dy /= d;
/* RvdZ: What is happening over here? */
double cx = (irData[l].x + irData[r].x)/kWiiIRPixelsWidth - 1;
double cy = (irData[l].y + irData[r].y)/kWiiIRPixelsHeight - 1;
/* RvdZ: What is happening over here? */
ox = -dy*cy-dx*cx;