moved wiiremote to aka.wiiremote to reflect the name of the Max/MSP object.

This is a direct port, so it makes sense to have the same name.


svn path=/trunk/externals/io/; revision=9551

1 files changed, 0 insertions, 1087 deletions

diff --git a/wiiremote/wiiremote.c b/wiiremote/wiiremote.c
deleted file mode 100644
index 481085e..0000000
--- a/wiiremote/wiiremote.c
+++ /dev/null
@@ -1,1087 +0,0 @@
-// wiiremote.c
-// Copyright by Masayuki Akamatsu
-// Based on "DarwiinRemote" by Hiroaki Kimura
-
-#include "wiiremote.h"
-#include <unistd.h>
-
-// this type is used a lot (data array):
-typedef unsigned char darr[];
-
-#define	kTrial	10
-#define kWait	10000
-//  the unit of kWait is microseconds, thus 10000 means 10ms
-
-#define kWiiIRPixelsWidth 1024.0
-#define kWiiIRPixelsHeight 768.0
-
-
-Boolean	requestUpdates(WiiRemoteRef wiiremote);
-void myEventListener(IOBluetoothL2CAPChannelRef channel, void *refCon, IOBluetoothL2CAPChannelEvent *event);
-
-
-//--------------------------------------------------------------------------------------------
-//--------------------------------------------------------------------------------------------
-
-void wiiremote_init(WiiRemoteRef wiiremote)
-{
-	wiiremote->inquiry = nil;
-	wiiremote->device = nil;
-	wiiremote->ichan = nil;
-	wiiremote->cchan = nil;
-	
-	wiiremote->address = nil;
-	
-	wiiremote->accX = 0x10;
-	wiiremote->accY = 0x10;
-	wiiremote->accZ = 0x10;
-	wiiremote->buttonData = 0;
-	
-	wiiremote->lowZ = 0;
-	wiiremote->lowX = 0;	
-	wiiremote->leftPoint = -1;
-	wiiremote->tracking = false;
-	
-	wiiremote->batteryLevel = 0;
-	
-	wiiremote->readingRegister = false;
-	wiiremote->isMotionSensorEnabled = false;
-	wiiremote->isVibrationEnabled = false;
-	wiiremote->isIRSensorEnabled = false;
-	wiiremote->wiiIRMode = kWiiIRModeExtended;
-	wiiremote->isExpansionPortEnabled = false;
-	wiiremote->isExpansionPortAttached = false;
-	wiiremote->expType = WiiExpNotAttached;
-	
-	wiiremote->isLED1Illuminated = false;
-	wiiremote->isLED2Illuminated = false;
-	wiiremote->isLED3Illuminated = false;
-	wiiremote->isLED4Illuminated = false;
-	
-	wiiremote->nAccX = 0x10;
-	wiiremote->nAccY = 0x10;
-	wiiremote->nAccZ = 0x10;
-	wiiremote->nButtonData = 0;
-	
-	wiiremote->nLowZ = 0;
-	wiiremote->nLowX = 0;	
-	
-}
-
-//--------------------------------------------------------------------------------------------
-//--------------------------------------------------------------------------------------------
-
-Boolean	openCChan(WiiRemoteRef wiiremote)
-{
-	short		i;
-	IOReturn	ret;
-	
-	// open L2CAPChannel : BluetoothL2CAPPSM = 17
-	for (i=0; i<kTrial; i++)
-	{
-		ret = IOBluetoothDeviceOpenL2CAPChannelSync(wiiremote->device, &(wiiremote->cchan), 17, myEventListener, (void *)wiiremote);
-		if ( ret == kIOReturnSuccess)
-			break;
-		usleep(kWait); //  wait 10ms
-	}
-	if (i==kTrial)
-	{
-		wiiremote->cchan = nil;
-		IOBluetoothDeviceCloseConnection(wiiremote->device);
-		return false;
-	}
-	IOBluetoothObjectRetain(wiiremote->cchan);
-	
-	return (ret==kIOReturnSuccess);
-}
-
-Boolean	openIChan(WiiRemoteRef wiiremote)
-{
-	short		i;
-	IOReturn	ret;
-	
-	// open L2CAPChannel : BluetoothL2CAPPSM = 19
-	for (i=0; i<kTrial; i++)
-	{
-		ret = IOBluetoothDeviceOpenL2CAPChannelSync(wiiremote->device, &(wiiremote->ichan), 19, myEventListener, (void *)wiiremote);
-		if ( ret == kIOReturnSuccess)
-			break;
-		usleep(kWait); //  wait 10ms
-	}
-	if (i==kTrial)
-	{
-		wiiremote->ichan = nil;
-		IOBluetoothL2CAPChannelCloseChannel(wiiremote->cchan);
-		IOBluetoothObjectRelease(wiiremote->cchan);
-		IOBluetoothDeviceCloseConnection(wiiremote->device);
-		return false;
-	}
-	IOBluetoothObjectRetain(wiiremote->ichan);
-
-	return (ret==kIOReturnSuccess);
-}
-
-//--------------------------------------------------------------------------------------------
-
-Boolean sendCommand(WiiRemoteRef wiiremote, unsigned char *data, unsigned short length)
-{
-	unsigned char buf[40];
-	IOReturn	ret;
-	int			i;
-	
-	memset(buf,0,40);
-	buf[0] = 0x52;
-	memcpy(buf+1, data, length);
-	if (buf[1] == 0x16)
-		length=23;
-	else
-		length++;
-	
-	usleep(kWait); //  wait 10ms	// Done to make sure commands don't happen too fast.
-
-	for (i = 0; i<kTrial; i++)
-	{
-		ret = IOBluetoothL2CAPChannelWriteSync(wiiremote->cchan, buf, length);
-		if (ret == kIOReturnSuccess)
-			break;
-		usleep(kWait);
-	}
-	
-	if (ret != kIOReturnSuccess)
-		wiiremote_disconnect(wiiremote);
-	
-	return (ret==kIOReturnSuccess);
-}
-
-Boolean	writeData(WiiRemoteRef wiiremote, const unsigned char *data, unsigned long address, unsigned short length)
-{
-	unsigned char cmd[22];
-	int i;
-	unsigned long addr = address;
-
-	
-	for(i=0 ; i<length ; i++)
-		cmd[i+6] = data[i];
-	
-	for(;i<16 ; i++)
-		cmd[i+6]= 0;
-	
-	cmd[0] = 0x16;
-	cmd[1] = (addr>>24) & 0xFF;
-	cmd[2] = (addr>>16) & 0xFF;
-	cmd[3] = (addr>> 8) & 0xFF;
-	cmd[4] = (addr>> 0) & 0xFF;
-	cmd[5] = length;
-	
-	// and of course the vibration flag, as usual
-	if (wiiremote->isVibrationEnabled)	cmd[1] |= 0x01;
-	
-	data = cmd;
-	
-	return sendCommand(wiiremote, cmd, 22);
-}
-
-Boolean readData(WiiRemoteRef wiiremote, unsigned long address, unsigned short length)
-{
-	
-	unsigned char cmd[7];
-	unsigned long addr = address;
-	unsigned short len = length;
-	
-	cmd[0] = 0x17;
-	cmd[1] = (addr>>24)&0xFF;
-	cmd[2] = (addr>>16)&0xFF;
-	cmd[3] = (addr>> 8)&0xFF;
-	cmd[4] = (addr>> 0)&0xFF;
-	
-	cmd[5] = (len >> 8)&0xFF;
-	cmd[6] = (len >> 0)&0xFF;
-	
-	if (wiiremote->isVibrationEnabled)	cmd[1] |= 0x01;
-	if (cmd[1] & 0x02) wiiremote->readingRegister = true;
-	
-	return sendCommand(wiiremote, cmd, 7);
-}
-
-//--------------------------------------------------------------------------------------------
-//--------------------------------------------------------------------------------------------
-
-void checkDevice(WiiRemoteRef wiiremote, IOBluetoothDeviceRef device)
-{
-    post("checkDevice");
-	CFStringRef	name;
-	CFStringRef	address;
-
-	if (wiiremote_isconnected(wiiremote))
-		return;
-	
-	name = IOBluetoothDeviceGetName(device);
-	address = IOBluetoothDeviceGetAddressString(device);
-    if (name != nil && address != nil)
-	{
-		if (CFStringCompare(name, CFSTR("Nintendo RVL-CNT-01"), 0) == kCFCompareEqualTo)
-		{
-			if ( CFStringGetLength(wiiremote->address) == 0
-			|| CFStringCompare(address, wiiremote->address, kCFCompareCaseInsensitive) == kCFCompareEqualTo)
-			{
-				wiiremote->device = IOBluetoothObjectRetain(device);
-				if ( wiiremote_connect(wiiremote) == false )
-					wiiremote_disconnect(wiiremote);
-			}
-		}
-	}
-}
-
-void myFoundFunc(void *refCon, IOBluetoothDeviceInquiryRef inquiry, IOBluetoothDeviceRef device)
-{
-    post("myFoundFunc");
-	checkDevice((WiiRemoteRef)refCon, device);
-}
-
-void myUpdatedFunc(void *refCon, IOBluetoothDeviceInquiryRef inquiry, IOBluetoothDeviceRef device, uint32_t devicesRemaining)
-{
-    post("myUpdatedFunc");
-
-	checkDevice((WiiRemoteRef)refCon, device);
-}
-
-void myCompleteFunc(void *refCon, IOBluetoothDeviceInquiryRef inquiry, IOReturn error, Boolean aborted)
-{
-    post("myCompleteFunc");
-
-	if (aborted) return; // called by stop ;)
-	
-	if (error != kIOReturnSuccess)
-	{
-		wiiremote_stopsearch((WiiRemoteRef)refCon);
-		return;
-	}
-#ifdef PD
-    // PD doesn't use the Carbon loop, so we have to manually control it
-    CFRunLoopStop( CFRunLoopGetCurrent() );
-#endif
-}
-
-//--------------------------------------------------------------------------------------------
-
-Boolean wiiremote_isconnected(WiiRemoteRef wiiremote)
-{
-	Boolean	result;
-	
-	result = wiiremote->device != nil && IOBluetoothDeviceIsConnected(wiiremote->device);
-	return result;
-}
-	
-Boolean wiiremote_search(WiiRemoteRef wiiremote, char *address)
-{
-    post("wiiremote_search");
-	IOReturn	ret;
-	
-	if (wiiremote->inquiry != nil)
-		return true;
-
-	wiiremote->inquiry = IOBluetoothDeviceInquiryCreateWithCallbackRefCon((void *)wiiremote);
-	IOBluetoothDeviceInquirySetDeviceFoundCallback(wiiremote->inquiry, myFoundFunc);
-	IOBluetoothDeviceInquirySetDeviceNameUpdatedCallback(wiiremote->inquiry, myUpdatedFunc);
-	IOBluetoothDeviceInquirySetCompleteCallback(wiiremote->inquiry, myCompleteFunc);
-	
-	if (wiiremote->address != nil)
-		CFRelease(wiiremote->address);
-	wiiremote->address = CFStringCreateWithCString(nil, address, kCFStringEncodingMacRoman);
-
-	ret = IOBluetoothDeviceInquiryStart(wiiremote->inquiry);
-	if (ret != kIOReturnSuccess)
-	{
-		IOBluetoothDeviceInquiryDelete(wiiremote->inquiry);
-		wiiremote->inquiry = nil;
-		return false;
-	}
-#ifdef PD
-    CFRunLoopRun(); // PD doesn't use the Carbon loop, so we have to manually control it
-#endif
-	return true;
-}
-
-Boolean wiiremote_stopsearch(WiiRemoteRef wiiremote)
-{
-    post("wiiremote_stopsearch");
-	IOReturn	ret;
-
-	if (wiiremote->inquiry == nil)
-	{
-		return true;	// already stopped
-	}
-	
-	ret = IOBluetoothDeviceInquiryStop(wiiremote->inquiry);
-	
-	if (ret != kIOReturnSuccess && ret != kIOReturnNotPermitted)
-	{
-		// kIOReturnNotPermitted is if it's already stopped
-	}
-	
-	IOBluetoothDeviceInquiryDelete(wiiremote->inquiry);
-	wiiremote->inquiry = nil;
-	
-	return (ret==kIOReturnSuccess);
-}
-
-//--------------------------------------------------------------------------------------------
-//--------------------------------------------------------------------------------------------
-
-unsigned char decrypt(unsigned char data)
-{
-	return (data ^ 0x17) + 0x17;
-}
-
-//--------------------------------------------------------------------------------------------
-
-/**
-* 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(WiiRemoteRef wiiremote, unsigned char *dp, size_t dataLength)
-{
-	// specify attached expasion device
-	if ((dp[5] == 0x00) && (dp[6] == 0xF0))
-	{
-		if (decrypt(dp[21]) == 0x00)
-		{
-			wiiremote->expType = WiiNunchuk;
-		}
-		else
-		if (decrypt(dp[21]) == 0x01)
-		{
-			wiiremote->expType = WiiClassicController;
-		}
-		else
-		{
-			wiiremote->expType = WiiExpNotAttached;
-		}
-		//		initExpPort = NO;
-		return;
-	}
-	
-	// wiimote calibration data
-	if (!wiiremote->readingRegister && dp[5] == 0x00 && dp[6] == 0x20)
-	{
-		wiiremote->wiiCalibData.accX_zero = dp[7];
-		wiiremote->wiiCalibData.accY_zero = dp[8];
-		wiiremote->wiiCalibData.accZ_zero = dp[9];
-		
-		//dp[10] - unknown/unused
-		
-		wiiremote->wiiCalibData.accX_1g = dp[11];
-		wiiremote->wiiCalibData.accY_1g = dp[12];
-		wiiremote->wiiCalibData.accZ_1g = dp[13];
-		return;
-	}
-	
-	// expansion device calibration data.		
-	if (wiiremote->readingRegister && dp[5] == 0x00 && dp[6] == 0x20)
-	{
-		if (wiiremote->expType == WiiNunchuk)
-		{
-			//nunchuk calibration data
-			wiiremote->nunchukCalibData.accX_zero =  decrypt(dp[7]);
-			wiiremote->nunchukCalibData.accY_zero =  decrypt(dp[8]);
-			wiiremote->nunchukCalibData.accZ_zero =  decrypt(dp[9]);
-			
-			wiiremote->nunchukCalibData.accX_1g =  decrypt(dp[11]);
-			wiiremote->nunchukCalibData.accY_1g =  decrypt(dp[12]);
-			wiiremote->nunchukCalibData.accZ_1g =  decrypt(dp[13]);
-			
-			wiiremote->nunchukJoyStickCalibData.x_max =  decrypt(dp[15]);
-			wiiremote->nunchukJoyStickCalibData.x_min =  decrypt(dp[16]);
-			wiiremote->nunchukJoyStickCalibData.x_center =  decrypt(dp[17]);
-			
-			wiiremote->nunchukJoyStickCalibData.y_max =  decrypt(dp[18]);
-			wiiremote->nunchukJoyStickCalibData.y_min =  decrypt(dp[19]);
-			wiiremote->nunchukJoyStickCalibData.y_center =  decrypt(dp[20]);	
-			
-			return;
-		}
-		else
-		if (wiiremote->expType == WiiClassicController)
-		{
-			//classic controller calibration data (probably)
-		}
-	}
-	
-	// wii remote buttons
-	wiiremote->buttonData = ((short)dp[2] << 8) + dp[3];
-}
-
-void handleStatusReport(WiiRemoteRef wiiremote, unsigned char *dp, size_t dataLength)
-{
-	wiiremote->batteryLevel = (double)dp[7];
-	wiiremote->batteryLevel /= (double)0xC0; // C0 = fully charged.
-	
-	if ((dp[4] & 0x02)) //some device attached to Wiimote
-	{	
-		wiiremote->isExpansionPortAttached = true;
-		// initExpPort = YES;
-		
-		Boolean ret = writeData(wiiremote, (darr){0x00}, 0x04A40040, 1); // Initialize the device
-		
-		if (ret == false)
-		{
-			wiiremote->isExpansionPortAttached = false;
-			return;
-		}
-		
-		usleep(kWait); // Give the write a chance to be processed.
-		
-		ret = readData(wiiremote, 0x04A400F0, 16); // read expansion device type
-		if (ret == false)
-		{
-			wiiremote->isExpansionPortAttached = false;
-		}
-	}
-	else
-	{ // unplugged
-		wiiremote->isExpansionPortAttached = false;
-		wiiremote->expType = WiiExpNotAttached;
-	}
-	
-	if (dp[4] & 0x10)
-		wiiremote->isLED1Illuminated = true;
-	else
-		wiiremote->isLED1Illuminated = false;
-	
-	if (dp[4] & 0x20)
-		wiiremote->isLED2Illuminated = true;
-	else
-		wiiremote->isLED2Illuminated = false;
-	
-	if (dp[4] & 0x40)
-		wiiremote->isLED3Illuminated = true;
-	else
-		wiiremote->isLED3Illuminated = false;
-	
-	if (dp[4] & 0x80)
-		wiiremote->isLED4Illuminated = true;
-	else
-		wiiremote->isLED4Illuminated = false;
-}
-
-void handleExtensionData(WiiRemoteRef wiiremote, unsigned char *dp, 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:
-			return; // This shouldn't ever happen.
-			break;
-	}
-	
-	if (wiiremote->expType == WiiNunchuk)
-	{
-		wiiremote->nStickX = decrypt(dp[startByte]);
-		wiiremote->nStickY = decrypt(dp[startByte +1]);
-		wiiremote->nAccX   = decrypt(dp[startByte +2]);
-		wiiremote->nAccY   = decrypt(dp[startByte +3]);
-		wiiremote->nAccZ   = decrypt(dp[startByte +4]);
-		wiiremote->nButtonData = decrypt(dp[startByte +5]);
-
-		wiiremote->nLowZ = wiiremote->nLowZ * .9 + wiiremote->nAccZ * .1;
-		wiiremote->nLowX = wiiremote->nLowX * .9 + wiiremote->nAccX * .1;
-		
-		float absx = abs(wiiremote->nLowX - 128);
-		float absz = abs(wiiremote->nLowZ - 128);
-		
-		if (wiiremote->nOrientation == 0 || wiiremote->nOrientation == 2) absx -= 5;
-		if (wiiremote->nOrientation == 1 || wiiremote->nOrientation == 3) absz -= 5;
-		
-		if (absz >= absx)
-		{
-			if (absz > 5)
-				wiiremote->nOrientation = (wiiremote->nLowZ > 128) ? 0 : 2;
-		}
-		else
-		{
-			if (absx > 5)
-				wiiremote->nOrientation = (wiiremote->nLowX > 128) ? 3 : 1;
-		}
-	}
-	else
-	if (wiiremote->expType == WiiClassicController)
-	{
-		wiiremote->cButtonData = (unsigned short)(decrypt(dp[startByte + 4]) << 8) + decrypt(dp[startByte + 5]);
-		wiiremote->cButtonData = ~wiiremote->cButtonData;	// bit reverse
-		
-		wiiremote->cStickX1 = decrypt(dp[startByte]) & 0x3F;
-		wiiremote->cStickY1 = decrypt(dp[startByte + 1]) & 0x3F;
-
-		wiiremote->cStickX2 = (((decrypt(dp[startByte +0]) & 0xC0) >> 3) |
-							   ((decrypt(dp[startByte +1]) & 0xC0) >> 5) |
-							   ((decrypt(dp[startByte +2]) & 0x80) >> 7)) & 0x1F;
-		wiiremote->cStickY2 = decrypt(dp[startByte + 2]) & 0x1F;
-		
-		wiiremote->cAnalogL = (((decrypt(dp[startByte +2]) & 0x60) >> 2) |
-							   ((decrypt(dp[startByte +3]) & 0xE0) >> 5)) & 0x1F;
-		wiiremote->cAnalogR =  decrypt(dp[startByte + 3]) & 0x1F;
-	}
-}
-
-void handleIRData(WiiRemoteRef wiiremote, unsigned char *dp, size_t dataLength)
-{
-	int i;
-
-	if (dp[1] == 0x33)
-	{ // 12 IR bytes
-		int startByte = 0;
-		for(i=0 ; i < 4 ; i++)
-		{
-			startByte = 7 + 3 * i;
-			wiiremote->irData[i].x = (dp[startByte +0] | ((dp[startByte +2] & 0x30) << 4)) & 0x3FF;
-			wiiremote->irData[i].y = (dp[startByte +1] | ((dp[startByte +2] & 0xC0) << 2)) & 0x3FF;
-			wiiremote->irData[i].s =  dp[startByte +2] & 0x0F;
-		}
- 	}
-	else
-	{ // 10 IR bytes
-		int shift = (dp[1] == 0x36) ? 4 : 7;
-		int startByte = 0;
-		for (i=0; i < 2; i++) {
-			startByte = shift + 5 * i;
-			wiiremote->irData[2*i].x = (dp[startByte +0] | ((dp[startByte +2] & 0x30) << 4)) & 0x3FF;
-			wiiremote->irData[2*i].y = (dp[startByte +1] | ((dp[startByte +2] & 0xC0) << 2)) & 0x3FF;
-			wiiremote->irData[2*i].s = ((wiiremote->irData[2*i].x == wiiremote->irData[2*i].y) && (wiiremote->irData[2*i].x == 0x3FF)) ? 0x0F : 0x05;  // No size is given in 10 byte report.
-			
-			wiiremote->irData[(2*i)+1].x = (dp[startByte +3] | ((dp[startByte +2] & 0x03) << 8)) & 0x3FF;
-			wiiremote->irData[(2*i)+1].y = (dp[startByte +4] | ((dp[startByte +2] & 0x0C) << 6)) & 0x3FF;
-			wiiremote->irData[(2*i)+1].s = ((wiiremote->irData[(2*i)+1].x == wiiremote->irData[(2*i)+1].y) && (wiiremote->irData[(2*i)+1].x == 0x3FF)) ? 0x0F : 0x05;  // No size is given in 10 byte report.
-		}
-	}
-	
-	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 (wiiremote->irData [i].s < 0x0F)
-				p1 = i;
-		} else {
-			if (wiiremote->irData [i].s < 0x0F) {
-				p2 = i;
-				break;
-			}
-		}
-	}
-
-	double ox, oy;
-	if ((p1 > -1) && (p2 > -1))
-	{
-		int l = wiiremote->leftPoint;
-		if (wiiremote->leftPoint == -1)
-		{
-			switch (wiiremote->orientation)
-			{
-				case 0: l = (wiiremote->irData[p1].x < wiiremote->irData[p2].x) ? 0 : 1; break;
-				case 1: l = (wiiremote->irData[p1].y > wiiremote->irData[p2].y) ? 0 : 1; break;
-				case 2: l = (wiiremote->irData[p1].x > wiiremote->irData[p2].x) ? 0 : 1; break;
-				case 3: l = (wiiremote->irData[p1].y < wiiremote->irData[p2].y) ? 0 : 1; break;
-			}
-			
-			wiiremote->leftPoint = l;
-		}
-		
-		int r = 1-l;
-		
-		double dx = wiiremote->irData[r].x - wiiremote->irData[l].x;
-		double dy = wiiremote->irData[r].y - wiiremote->irData[l].y;
-		double d = hypot (dx, dy);
-		
-		dx /= d;
-		dy /= d;
-		
-		double cx = (wiiremote->irData[l].x + wiiremote->irData[r].x)/kWiiIRPixelsWidth - 1;
-		double cy = (wiiremote->irData[l].y + wiiremote->irData[r].y)/kWiiIRPixelsHeight - 1;
-		
-		ox = -dy*cy-dx*cx;
-		oy = -dx*cy+dy*cx;
-		
-		// cam:
-		// Compensate for distance. There must be fewer than 0.75*768 pixels between the spots for this to work.
-		// In other words, you have to be far enough away from the sensor bar for the two spots to have enough
-		// space on the image sensor to travel without one of the points going off the image.
-		// note: it is working very well ...
-		double gain = 4;
-		if (d < (0.75 * kWiiIRPixelsHeight)) 
-			gain = 1 / (1 - d/kWiiIRPixelsHeight);
-		
-		ox *= gain;
-		oy *= gain;		
-
-		wiiremote->angle = atan2(dy, dx);
-		wiiremote->tracking = true;
-	}
-	else
-	{
-		ox = oy = -100;
-		wiiremote->leftPoint = -1;	// not tracking
-		wiiremote->angle = -100;
-		wiiremote->tracking = false;
-	}
-
-	wiiremote->posX = ox;	
-	wiiremote->posY = oy;
-}
-
-void handleButtonReport(WiiRemoteRef wiiremote, unsigned char *dp, size_t dataLength)
-{
-	// wiimote buttons
-	wiiremote->buttonData = ((short)dp[2] << 8) + dp[3];
-				
-	// report contains extension data		
-	switch (dp[1])
-	{
-		case 0x34 :
-		case 0x35 :
-		case 0x36 :
-		case 0x37 : 
-			handleExtensionData(wiiremote, dp, dataLength);
-			break;
-	}
-	
-	// report contains IR data
-	if (dp[1] & 0x02)
-	{
-		handleIRData(wiiremote, dp, dataLength);
-	}
-	
-	// report contains motion sensor data
-	if (dp[1] & 0x01)
-	{
-		wiiremote->accX = dp[4];
-		wiiremote->accY = dp[5];
-		wiiremote->accZ = dp[6];
-		
-		wiiremote->lowZ = wiiremote->lowZ * 0.9 + wiiremote->accZ * 0.1;
-		wiiremote->lowX = wiiremote->lowX * 0.9 + wiiremote->accX * 0.1;
-		
-		float absx = abs(wiiremote->lowX-128);
-		float absz = abs(wiiremote->lowZ-128);
-		
-		if (wiiremote->orientation == 0 || wiiremote->orientation == 2) absx -= 5;
-		if (wiiremote->orientation == 1 || wiiremote->orientation == 3) absz -= 5;
-		
-		if (absz >= absx)
-		{
-			if (absz > 5)
-				wiiremote->orientation = (wiiremote->lowZ > 128)?0:2;
-		}
-		else
-		{
-			if (absx > 5)
-				wiiremote->orientation = (wiiremote->lowX > 128)?3:1;
-		}
-	}
-}
-
-//--------------------------------------------------------------------------------------------
-
- void myDataListener(IOBluetoothL2CAPChannelRef channel, void *dataPointer, UInt16 dataLength, void *refCon)
-{
-	WiiRemoteRef	wiiremote = (WiiRemoteRef)refCon;
-	unsigned char* dp = (unsigned char*)dataPointer;
-
-	if (!wiiremote->device)
-		return;
-	
-	//controller status (expansion port and battery level data) - received when report 0x15 sent to Wiimote (getCurrentStatus:) or status of expansion port changes.
-	if (dp[1] == 0x20 && dataLength >= 8)
-	{
-		handleStatusReport(wiiremote, dp, dataLength);
-		requestUpdates(wiiremote); // Make sure we keep getting state change reports.
-		return;
-	}
-	
-	if (dp[1] == 0x21)
-	{
-		handleRAMData(wiiremote, dp, dataLength);
-		return;
-	}
-	
-	if (dp[1] == 0x22)
-	{ // Write data response
-		//NSLog(@"Write data response: %00x %00x %00x %00x", dp[2], dp[3], dp[4], dp[5]);
-		return;
-	}
-	
-	// report contains button info
-	if ((dp[1] & 0xF0) == 0x30)
-	{
-		handleButtonReport(wiiremote, dp, dataLength);
-	}
-}
-
-void myEventListener(IOBluetoothL2CAPChannelRef channel, void *refCon, IOBluetoothL2CAPChannelEvent *event)
-{
-	if (event->eventType == kIOBluetoothL2CAPChannelEventTypeData)
-	{
-		// In thise case:
-		// event->u.newData.dataPtr  is a pointer to the block of data received.
-		// event->u.newData.dataSize is the size of the block of data.
-		myDataListener(channel, event->u.data.dataPtr, event->u.data.dataSize, refCon);
-	}
-	else
-	if (event->eventType == kIOBluetoothL2CAPChannelEventTypeClosed)
-	{
-		// In this case:
-		// event->u.terminatedChannel is the channel that was terminated. It can be converted in an IOBluetoothL2CAPChannel
-		// object with [IOBluetoothL2CAPChannel withL2CAPChannelRef:]. (see below).
-	}
-}
-
-void myDisconnectedFunc(void * refCon, IOBluetoothUserNotificationRef inRef, IOBluetoothObjectRef objectRef)
-{
-	CFStringRef	itsAddress, myAddress;
-	
-	itsAddress = IOBluetoothDeviceGetAddressString(objectRef);
-	if (itsAddress != nil)
-	{
-		myAddress = IOBluetoothDeviceGetAddressString(((WiiRemoteRef)refCon)->device);
-		if (myAddress != nil)
-		{
-			if (CFStringCompare(itsAddress, myAddress, 0) == kCFCompareEqualTo)
-			{
-				wiiremote_disconnect((WiiRemoteRef)refCon);
-			}
-			CFRelease(myAddress);
-		}
-		CFRelease(itsAddress);
-	}
-}
-
-//--------------------------------------------------------------------------------------------
-
-void wiiremote_getaddress(WiiRemoteRef wiiremote, char *address)
-{
-	CFStringRef	cfstring;
-	
-	cfstring = IOBluetoothDeviceGetAddressString(wiiremote->device);
-	CFStringGetCString(cfstring, address, 32, kCFStringEncodingMacRoman);
-	CFRelease(cfstring);
-	
-}
-
-//--------------------------------------------------------------------------------------------
-
-Boolean wiiremote_connect(WiiRemoteRef wiiremote)
-{
-	IOReturn	ret;
-	Boolean		result;
-	short		i;
-	
-	if (wiiremote->device == nil)
-		return false;
-	
-	// connect the device
-	for (i=0; i<kTrial; i++)
-	{
-		ret = IOBluetoothDeviceOpenConnection(wiiremote->device, nil, nil);
-		if ( ret == kIOReturnSuccess)
-			break;
-		usleep(kWait); //  wait 10ms
-	}
-	if (i==kTrial)
-		return false;
-	
-	wiiremote->disconnectNotification = IOBluetoothDeviceRegisterForDisconnectNotification(wiiremote->device, myDisconnectedFunc, (void *)wiiremote);
-	
-	// performs an SDP query
-	for (i=0; i<kTrial; i++)
-	{
-		ret = IOBluetoothDevicePerformSDPQuery(wiiremote->device, nil, nil);
-		if ( ret == kIOReturnSuccess)
-			break;
-		usleep(kWait); //  wait 10ms
-	}
-	if (i==kTrial)
-		return false;
-		
-	result = openCChan(wiiremote);
-	result = openIChan(wiiremote);
-	
-	if (result)
-	{
-		result = wiiremote_led(wiiremote, wiiremote->isLED1Illuminated, wiiremote->isLED2Illuminated, wiiremote->isLED3Illuminated, wiiremote->isLED4Illuminated);
-	}
-	
-	if (result == false)
-	{
-		wiiremote_disconnect(wiiremote);
-		return result;
-	}
-	
-	wiiremote_getstatus(wiiremote);
-	requestUpdates(wiiremote);
-	
-	readData(wiiremote, 0x0020, 7);	//	Get Accelerometer callibration data
-	
-	return true;
-}
-
-
-Boolean wiiremote_disconnect(WiiRemoteRef wiiremote)
-{
-	short	i = 0;	
-
-	if (wiiremote->cchan)
-	{
-		if (IOBluetoothDeviceIsConnected(wiiremote->device))
-		{
-			for (i=0; i<kTrial; i++)
-			{
-				if (IOBluetoothL2CAPChannelCloseChannel(wiiremote->cchan) == kIOReturnSuccess)
-					break;
-				usleep(kWait); //  wait 10ms
-			}
-		}
-		if (i==kTrial)	return false;
-		IOBluetoothObjectRelease(wiiremote->cchan);
-		wiiremote->cchan = nil;
-	}
-	
-	if (wiiremote->ichan)
-	{
-		if (IOBluetoothDeviceIsConnected(wiiremote->device))
-		{
-			for (i=0; i<kTrial; i++)
-			{
-				if (IOBluetoothL2CAPChannelCloseChannel(wiiremote->ichan) == kIOReturnSuccess)
-					break;
-			}
-		}
-		if (i==kTrial)	return false;
-		IOBluetoothObjectRelease(wiiremote->ichan);
-		wiiremote->ichan = nil;
-	}
-	
-	if (wiiremote->device)
-	{
-		if (IOBluetoothDeviceIsConnected(wiiremote->device))
-		{
-			for (i=0; i<kTrial; i++)
-			{
-				if (IOBluetoothDeviceCloseConnection(wiiremote->device) == kIOReturnSuccess)
-					break;
-			}
-		}
-		if (i==kTrial)	return false;
-		IOBluetoothObjectRelease(wiiremote->device);
-		wiiremote->device = nil;
-	}
-	
-	if (wiiremote->disconnectNotification != nil)
-	{
-		IOBluetoothUserNotificationUnregister(wiiremote->disconnectNotification);
-		wiiremote->disconnectNotification = nil;
-	}
-	
-	return true;
-}
-
-//--------------------------------------------------------------------------------------------
-//--------------------------------------------------------------------------------------------
-
-Boolean	requestUpdates(WiiRemoteRef wiiremote)
-{	
-	Boolean	result;
-	
-	// Set the report type the Wiimote should send.
-	unsigned char cmd[] = {0x12, 0x02, 0x30}; // Just buttons.
-	
-	if (wiiremote->isVibrationEnabled)	cmd[1] |= 0x01;
-	
-	/*
-	 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 (wiiremote->isIRSensorEnabled)
-	{
-		if (wiiremote->isExpansionPortEnabled)
-		{
-			cmd[2] = 0x36;	// Buttons, 10 IR Bytes, 9 Extension Bytes
-			wiiremote->wiiIRMode = kWiiIRModeBasic;
-		}
-		else
-		{
-			cmd[2] = 0x33; // Buttons, Accelerometer, and 12 IR Bytes.
-			wiiremote->wiiIRMode = kWiiIRModeExtended;		
-		}
-		
-		// Set IR Mode
-		writeData(wiiremote, (darr){ wiiremote->wiiIRMode }, 0x04B00033, 1);
-		usleep(kWait); //  wait 10ms
-	}
-	else
-	{
-		if (wiiremote->isExpansionPortEnabled)
-		{
-			cmd[2] = 0x34;	// Buttons, 19 Extension Bytes	 
-		}
-		else
-		{
-			cmd[2] = 0x30; // Buttons
-		}
-	}
-	
-	if (wiiremote->isMotionSensorEnabled)	cmd[2] |= 0x01;	// Add Accelerometer
-	
-	usleep(kWait); //  wait 10ms
-	result = sendCommand(wiiremote, cmd, 3);
-	
-	return(result);
-}
-
-//--------------------------------------------------------------------------------------------
-
-Boolean wiiremote_motionsensor(WiiRemoteRef wiiremote, Boolean enabled)
-{
-	wiiremote->isMotionSensorEnabled = enabled;
-	return requestUpdates(wiiremote);
-}
-
-Boolean wiiremote_vibration(WiiRemoteRef wiiremote, Boolean enabled)
-{
-	
-	wiiremote->isVibrationEnabled = enabled;
-	return requestUpdates(wiiremote);
-}
-
-Boolean wiiremote_led(WiiRemoteRef wiiremote, Boolean enabled1, Boolean enabled2, Boolean enabled3, Boolean enabled4)
-{
-	unsigned char cmd[] = {0x11, 0x00};
-	if (wiiremote->isVibrationEnabled)	cmd[1] |= 0x01;
-	if (enabled1)	cmd[1] |= 0x10;
-	if (enabled2)	cmd[1] |= 0x20;
-	if (enabled3)	cmd[1] |= 0x40;
-	if (enabled4)	cmd[1] |= 0x80;
-	
-	wiiremote->isLED1Illuminated = enabled1;
-	wiiremote->isLED2Illuminated = enabled2;
-	wiiremote->isLED3Illuminated = enabled3;
-	wiiremote->isLED4Illuminated = enabled4;
-	
-	return sendCommand(wiiremote, cmd, 2);
-}
-
-Boolean wiiremote_expansion(WiiRemoteRef wiiremote, Boolean enabled)
-{	
-	wiiremote->isExpansionPortEnabled = enabled;
-	if (wiiremote->isExpansionPortAttached == false)
-	{
-		wiiremote->isExpansionPortEnabled = false;
-	}
-	else
-	{
-		readData(wiiremote, 0x04A40020, 16);	//get calbdata
-	}
-	
-	return requestUpdates(wiiremote);
-}
-
-Boolean wiiremote_irsensor(WiiRemoteRef wiiremote, Boolean enabled)
-{
-	Boolean	ret;
-	
-	wiiremote->isIRSensorEnabled = enabled;
-	
-	// ir enable 1
-	unsigned char cmd[] = {0x13, 0x00};
-	if (wiiremote->isVibrationEnabled)	cmd[1] |= 0x01;
-	if (wiiremote->isIRSensorEnabled)	cmd[1] |= 0x04;
-	if ((ret = sendCommand(wiiremote, cmd, 2)) == false)
-		return ret;
-	usleep(kWait);
-	
-	// set register 0x1a (ir enable 2)
-	unsigned char cmd2[] = {0x1a, 0x00};
-	if (enabled)	cmd2[1] |= 0x04;
-	if ((ret = sendCommand(wiiremote, cmd2, 2)) == false)
-		return ret;
-	usleep(kWait);
-	
-	if(enabled)
-	{
-		// 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
-		usleep(kWait);
-		if ((ret = writeData(wiiremote, (darr){0x01}, 0x04B00030, 1)) == false)	return ret;
-		usleep(kWait);
-		if ((ret = writeData(wiiremote, (darr){0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x90, 0x00, 0xC0}, 0x04B00000, 9)) == false)	return ret;
-		usleep(kWait);
-		if ((ret = writeData(wiiremote, (darr){0x40, 0x00}, 0x04B0001A, 2)) == false)	return ret;
-		usleep(kWait);
-		if ((ret = writeData(wiiremote, (darr){0x08}, 0x04B00030, 1)) == false)	return ret;
-		usleep(kWait);
-		
-		requestUpdates(wiiremote);
-	}
-	else
-	{
-		// probably should do some writes to power down the camera, save battery
-		// but don't know how yet.
-		
-		ret = wiiremote_motionsensor(wiiremote, wiiremote->isMotionSensorEnabled);
-		ret = wiiremote_vibration(wiiremote, wiiremote->isVibrationEnabled);
-		ret = wiiremote_expansion(wiiremote, wiiremote->isExpansionPortEnabled);
-	}
-	
-	return ret;
-}
-
-Boolean wiiremote_getstatus(WiiRemoteRef wiiremote)
-{
-	unsigned char cmd[] = {0x15, 0x00};
-	return sendCommand(wiiremote, cmd, 2);
-}
-
-