aboutsummaryrefslogtreecommitdiff
path: root/wiiremote.c
diff options
context:
space:
mode:
Diffstat (limited to 'wiiremote.c')
-rw-r--r--wiiremote.c343
1 files changed, 241 insertions, 102 deletions
diff --git a/wiiremote.c b/wiiremote.c
index 4b8955b..1494bd2 100644
--- a/wiiremote.c
+++ b/wiiremote.c
@@ -57,8 +57,8 @@ typedef struct _wiiremote
int reportMode;
- struct acc acc_zero, acc_one; // acceleration
- struct acc nc_acc_zero, nc_acc_one; // nunchuck acceleration
+ struct acc_cal acc_cal; /* calibration for built-in accelerometer */
+ struct acc_cal nc_acc_cal; /* calibration for nunchuk accelerometer */
// outlets:
t_outlet *outlet_data;
@@ -161,14 +161,31 @@ static void wiiremote_debug(t_wiiremote *x)
post("IR: %s", (x->reportMode & CWIID_RPT_IR)?"ON":"OFF");
post("extensions: %s", (x->reportMode & CWIID_RPT_EXT)?"ON":"OFF");
post("");
- post("Accelerometer calibration: zero=(%d,%d,%d) one=(%d,%d,%d)",x->acc_zero.x,x->acc_zero.y,x->acc_zero.z,x->acc_one.x,x->acc_one.y,x->acc_one.z);
- post("Nunchuck calibration: zero=(%d,%d,%d) one=(%d,%d,%d)",x->nc_acc_zero.x,x->nc_acc_zero.y,x->nc_acc_zero.z,x->nc_acc_one.x,x->nc_acc_one.y,x->nc_acc_one.z);
+ post("Accelerometer calibration: zero=(%d,%d,%d) one=(%d,%d,%d)",
+ x->acc_cal.zero[CWIID_X], x->acc_cal.zero[CWIID_Y], x->acc_cal.zero[CWIID_Z],
+ x->acc_cal.one [CWIID_X], x->acc_cal.one [CWIID_Y], x->acc_cal.one [CWIID_Z]);
+ post("Nunchuk calibration: zero=(%d,%d,%d) one=(%d,%d,%d)",
+ x->nc_acc_cal.zero[CWIID_X], x->nc_acc_cal.zero[CWIID_Y], x->nc_acc_cal.zero[CWIID_Z],
+ x->nc_acc_cal.one [CWIID_X], x->nc_acc_cal.one [CWIID_Y], x->nc_acc_cal.one [CWIID_Z]);
+
}
// ==============================================================
+static void wiiremote_cwiid_battery(t_wiiremote *x, int battery)
+{
+ t_atom ap[1];
+ t_float bat=(1.f*battery) / CWIID_BATTERY_MAX;
+
+ SETFLOAT(ap+0, bat);
+
+ verbose(1, "Battery: %d%%", (int) (100*bat));
+
+ outlet_anything(x->outlet_data, gensym("battery"), 1, ap);
+}
+
// Button handler:
static void wiiremote_cwiid_btn(t_wiiremote *x, struct cwiid_btn_mesg *mesg)
{
@@ -184,9 +201,9 @@ static void wiiremote_cwiid_acc(t_wiiremote *x, struct cwiid_acc_mesg *mesg)
double a_x, a_y, a_z;
t_atom ap[3];
- a_x = ((double)mesg->acc[CWIID_X] - x->acc_zero.x) / (x->acc_one.x - x->acc_zero.x);
- a_y = ((double)mesg->acc[CWIID_Y] - x->acc_zero.y) / (x->acc_one.y - x->acc_zero.y);
- a_z = ((double)mesg->acc[CWIID_Z] - x->acc_zero.z) / (x->acc_one.z - x->acc_zero.z);
+ a_x = ((double)mesg->acc[CWIID_X] - x->acc_cal.zero[CWIID_X]) / (x->acc_cal.one[CWIID_X] - x->acc_cal.zero[CWIID_X]);
+ a_y = ((double)mesg->acc[CWIID_Y] - x->acc_cal.zero[CWIID_Y]) / (x->acc_cal.one[CWIID_Y] - x->acc_cal.zero[CWIID_Y]);
+ a_z = ((double)mesg->acc[CWIID_Z] - x->acc_cal.zero[CWIID_Z]) / (x->acc_cal.one[CWIID_Z] - x->acc_cal.zero[CWIID_Z]);
/*
double a, roll, pitch;
@@ -227,9 +244,9 @@ static void wiiremote_cwiid_nunchuk(t_wiiremote *x, struct cwiid_nunchuk_mesg *m
t_atom ap[4];
double a_x, a_y, a_z;
- a_x = ((double)mesg->acc[CWIID_X] - x->nc_acc_zero.x) / (x->nc_acc_one.x - x->nc_acc_zero.x);
- a_y = ((double)mesg->acc[CWIID_Y] - x->nc_acc_zero.y) / (x->nc_acc_one.y - x->nc_acc_zero.y);
- a_z = ((double)mesg->acc[CWIID_Z] - x->nc_acc_zero.z) / (x->nc_acc_one.z - x->nc_acc_zero.z);
+ a_x = ((double)mesg->acc[CWIID_X] - x->nc_acc_cal.zero[CWIID_X]) / (x->nc_acc_cal.one[CWIID_X] - x->nc_acc_cal.zero[CWIID_X]);
+ a_y = ((double)mesg->acc[CWIID_Y] - x->nc_acc_cal.zero[CWIID_Y]) / (x->nc_acc_cal.one[CWIID_Y] - x->nc_acc_cal.zero[CWIID_Y]);
+ a_z = ((double)mesg->acc[CWIID_Z] - x->nc_acc_cal.zero[CWIID_Z]) / (x->nc_acc_cal.one[CWIID_Z] - x->nc_acc_cal.zero[CWIID_Z]);
/*
double a, roll, pitch;
@@ -242,35 +259,184 @@ static void wiiremote_cwiid_nunchuk(t_wiiremote *x, struct cwiid_nunchuk_mesg *m
if (mesg->buttons & CWIID_NUNCHUK_BTN_C) {}
if (mesg->buttons & CWIID_NUNCHUK_BTN_Z) {}
- /* nunchuck button */
+ /* nunchuk button */
SETSYMBOL(ap+0, gensym("button"));
SETFLOAT (ap+1, (t_float)mesg->buttons);
- outlet_anything(x->outlet_data, gensym("nunchuck"), 2, ap);
+ outlet_anything(x->outlet_data, gensym("nunchuk"), 2, ap);
- /* nunchuck button */
+ /* nunchuk button */
SETSYMBOL(ap+0, gensym("acceleration"));
SETFLOAT (ap+1, a_x);
SETFLOAT (ap+2, a_y);
SETFLOAT (ap+3, a_z);
- outlet_anything(x->outlet_data, gensym("nunchuck"), 4, ap);
+ outlet_anything(x->outlet_data, gensym("nunchuk"), 4, ap);
- /* nunchuck button */
+ /* nunchuk button */
SETSYMBOL(ap+0, gensym("stick"));
SETFLOAT (ap+1, mesg->stick[CWIID_X]);
SETFLOAT (ap+2, mesg->stick[CWIID_Y]);
- outlet_anything(x->outlet_data, gensym("nunchuck"), 3, ap);
+ outlet_anything(x->outlet_data, gensym("nunchuk"), 3, ap);
}
+#ifdef CWIID_RPT_CLASSIC
+static void wiiremote_cwiid_classic(t_wiiremote *x, struct cwiid_classic_mesg *mesg)
+{
+ t_atom ap[3];
+
+ t_float scale = 1.f / ((uint16_t)0xFFFF);
+
+ SETSYMBOL(ap+0, gensym("left_stick"));
+ SETFLOAT (ap+1, mesg->l_stick[CWIID_X]);
+ SETFLOAT (ap+2, mesg->l_stick[CWIID_Y]);
+ outlet_anything(x->outlet_data, gensym("classic"), 3, ap);
+
+ SETSYMBOL(ap+0, gensym("right_stick"));
+ SETFLOAT (ap+1, mesg->r_stick[CWIID_X]);
+ SETFLOAT (ap+2, mesg->r_stick[CWIID_Y]);
+ outlet_anything(x->outlet_data, gensym("classic"), 3, ap);
+
+
+ SETSYMBOL(ap+0, gensym("left"));
+ SETFLOAT (ap+1, mesg->l);
+ outlet_anything(x->outlet_data, gensym("classic"), 2, ap);
+
+ SETSYMBOL(ap+0, gensym("right"));
+ SETFLOAT (ap+1, mesg->r);
+ outlet_anything(x->outlet_data, gensym("classic"), 2, ap);
+
+
+ SETSYMBOL(ap+0, gensym("button"));
+ SETFLOAT(ap+1, (mesg->buttons & 0xFF00)>>8);
+ SETFLOAT(ap+2, mesg->buttons & 0x00FF);
+
+ outlet_anything(x->outlet_data, gensym("classic"), 3, ap);
+
+
+}
+#endif
+
+#ifdef CWIID_RPT_BALANCE
+#warning Balance ignores calibration data
+static void wiiremote_cwiid_balance_output(t_wiiremote *x, t_symbol*s, uint16_t value[3], t_float scale)
+{
+ t_atom ap[4];
+ t_float a = scale*value[CWIID_X];
+ t_float b = scale*value[CWIID_Y];
+ t_float c = scale*value[CWIID_Z];
+
+ SETSYMBOL(ap+0, s);
+ SETFLOAT (ap+1, a);
+ SETFLOAT (ap+2, b);
+ SETFLOAT (ap+3, c);
+ outlet_anything(x->outlet_data, gensym("balance"), 4, ap);
+}
+
+static void wiiremote_cwiid_balance(t_wiiremote *x, struct cwiid_balance_mesg *mesg)
+{
+ t_float scale = 1.f / ((uint16_t)0xFFFF);
+ wiiremote_cwiid_balance_output(x, gensym("right_top"), &mesg->right_top, scale);
+ wiiremote_cwiid_balance_output(x, gensym("right_bottom"), &mesg->right_bottom, scale);
+ wiiremote_cwiid_balance_output(x, gensym("left_top"), &mesg->left_top, scale);
+ wiiremote_cwiid_balance_output(x, gensym("left_bottom"), &mesg->left_bottom, scale);
+}
+#endif
+
+#ifdef CWIID_RPT_MOTIONPLUS
static void wiiremote_cwiid_motionplus(t_wiiremote *x, struct cwiid_motionplus_mesg *mesg)
{
t_atom ap[3];
- SETFLOAT(ap+0, mesg->angle_rate[CWIID_PHI]);
- SETFLOAT(ap+1, mesg->angle_rate[CWIID_THETA]);
- SETFLOAT(ap+2, mesg->angle_rate[CWIID_PSI]);
+ t_float scale = 1.f / ((uint16_t)0xFFFF);
+
+ t_float phi = scale*mesg->angle_rate[CWIID_PHI];
+ t_float theta= scale*mesg->angle_rate[CWIID_THETA];
+ t_float psi = scale*mesg->angle_rate[CWIID_PSI];
+
+ SETFLOAT(ap+0, phi);
+ SETFLOAT(ap+1, theta);
+ SETFLOAT(ap+2, psi);
outlet_anything(x->outlet_data, gensym("motionplus"), 3, ap);
}
+#endif
+
+
+
+static void wiiremote_cwiid_message(t_wiiremote *x, union cwiid_mesg mesg) {
+ unsigned char buf[7];
+ switch (mesg.type) {
+ case CWIID_MESG_STATUS:
+ wiiremote_cwiid_battery(x, mesg.status_mesg.battery);
+ switch (mesg.status_mesg.ext_type) {
+ case CWIID_EXT_NONE:
+ post("No extension attached");
+ break;
+ case CWIID_EXT_NUNCHUK:
+ post("Nunchuk extension attached");
+ if(cwiid_get_acc_cal(x->wiiremote, CWIID_EXT_NUNCHUK, &x->nc_acc_cal)) {
+ post("Unable to retrieve nunchuk calibration");
+ } else {
+ post("Retrieved nunchuk calibration: zero=(%02d,%02d,%02d) one=(%02d,%02d,%02d)",
+ x->nc_acc_cal.zero[CWIID_X],
+ x->nc_acc_cal.zero[CWIID_Y],
+ x->nc_acc_cal.zero[CWIID_Z],
+ x->nc_acc_cal.one [CWIID_X],
+ x->nc_acc_cal.one [CWIID_Y],
+ x->nc_acc_cal.one [CWIID_Z]);
+ }
+ break;
+ case CWIID_EXT_CLASSIC:
+ post("Classic controller attached. There is no support for this yet.");
+ break;
+ case CWIID_EXT_BALANCE:
+ post("Balance controller attached. There is no support for this yet.");
+ break;
+ case CWIID_EXT_MOTIONPLUS:
+ post("MotionPlus controller attached.");
+ /* no calibration needed for MotionPlus */
+ break;
+ case CWIID_EXT_UNKNOWN:
+ post("Unknown extension attached");
+ break;
+ default:
+ post("ext mesg %d unknown", mesg.status_mesg.ext_type);
+ break;
+ }
+ break;
+ case CWIID_MESG_BTN:
+ wiiremote_cwiid_btn(x, &mesg.btn_mesg);
+ break;
+ case CWIID_MESG_ACC:
+ wiiremote_cwiid_acc(x, &mesg.acc_mesg);
+ break;
+ case CWIID_MESG_IR:
+ wiiremote_cwiid_ir(x, &mesg.ir_mesg);
+ break;
+#ifdef CWIID_RPT_NUNCHUK
+ case CWIID_MESG_NUNCHUK:
+ wiiremote_cwiid_nunchuk(x, &mesg.nunchuk_mesg);
+ break;
+#endif
+#ifdef CWIID_RPT_CLASSIC
+ case CWIID_MESG_CLASSIC:
+ // todo
+ break;
+#endif
+#ifdef CWIID_RPT_MOTIONPLUS
+ case CWIID_MESG_MOTIONPLUS:
+ wiiremote_cwiid_motionplus(x, &mesg.motionplus_mesg);
+ break;
+#endif
+#ifdef CWIID_RPT_BALANCE
+ case CWIID_MESG_BALANCE:
+ wiiremote_cwiid_balance(x, &mesg.balance_mesg);
+ break;
+#endif
+ default:
+ post("mesg %d unknown", (mesg.type));
+ break;
+ }
+}
// The CWiid library invokes a callback function whenever events are
@@ -279,7 +445,7 @@ static void wiiremote_cwiid_motionplus(t_wiiremote *x, struct cwiid_motionplus_m
// Unfortunately, the mesg struct passed as an argument to the
// callback does not have a pointer to the wiiremote instance, and it
-// is thus impossible to know which wiiremote has invoked the callback.
+// is thus impossible to know which wiiremote-object has invoked the callback.
// For this case we provide a hard-coded set of wrapper callbacks to
// indicate which Pd wiiremote instance to control.
@@ -290,7 +456,6 @@ static void wiiremote_cwiid_motionplus(t_wiiremote *x, struct cwiid_motionplus_m
static void cwiid_callback(cwiid_wiimote_t *wiiremote, int mesg_count,
union cwiid_mesg mesg_array[], struct timespec *timestamp)
{
- unsigned char buf[7];
int i;
t_wiiremote *x=NULL;
@@ -304,77 +469,24 @@ static void cwiid_callback(cwiid_wiimote_t *wiiremote, int mesg_count,
return;
}
- for (i=0; i < mesg_count; i++)
- {
- switch (mesg_array[i].type) {
- case CWIID_MESG_STATUS:
- post("Battery: %d%", (int) (100.0 * mesg_array[i].status_mesg.battery / CWIID_BATTERY_MAX));
- switch (mesg_array[i].status_mesg.ext_type) {
- case CWIID_EXT_NONE:
- post("No extension attached");
- break;
- case CWIID_EXT_NUNCHUK:
- post("Nunchuck extension attached");
-
- if (cwiid_read(x->wiiremote, CWIID_RW_REG | CWIID_RW_DECODE, 0xA40020, 7, buf)) {
- post("Unable to retrieve Nunchuk calibration");
- }
- else {
- x->nc_acc_zero.x = buf[0];
- x->nc_acc_zero.y = buf[1];
- x->nc_acc_zero.z = buf[2];
- x->nc_acc_one.x = buf[4];
- x->nc_acc_one.y = buf[5];
- x->nc_acc_one.z = buf[6];
- }
- break;
- case CWIID_EXT_CLASSIC:
- post("Classic controller attached. There is no support for this yet.");
- break;
- case CWIID_EXT_UNKNOWN:
- post("Unknown extension attached");
- break;
- default:
- post("ext mesg %d unknown", (mesg_array[i].type));
- break;
- }
- break;
- case CWIID_MESG_BTN:
- wiiremote_cwiid_btn(x, &mesg_array[i].btn_mesg);
- break;
- case CWIID_MESG_ACC:
- wiiremote_cwiid_acc(x, &mesg_array[i].acc_mesg);
- break;
- case CWIID_MESG_IR:
- wiiremote_cwiid_ir(x, &mesg_array[i].ir_mesg);
- break;
- case CWIID_MESG_NUNCHUK:
- wiiremote_cwiid_nunchuk(x, &mesg_array[i].nunchuk_mesg);
- break;
-#ifdef CWIID_FLAG_CLASSIC
- case CWIID_MESG_CLASSIC:
- // todo
- break;
-#endif
-#ifdef CWIID_FLAG_MOTIONPLUS
- case CWIID_MESG_MOTIONPLUS:
- wiiremote_cwiid_motionplus(x, &mesg_array[i].motionplus_mesg);
- break;
-#endif
-#ifdef CWIID_MESG_BALANCE
- case CWIID_MESG_BALANCE:
- wiiremote_cwiid_balance(x, &mesg_array[i].balance_mesg);
- break;
-#endif
- default:
- post("mesg %d unknown", (mesg_array[i].type));
- break;
- }
- }
+ for (i=0; i < mesg_count; i++) {
+ wiiremote_cwiid_message(x, mesg_array[i]);
+ }
}
// ==============================================================
+static void wiiremote_status(t_wiiremote *x)
+{
+ if(x->connected) {
+ if (cwiid_request_status(x->wiiremote)) {
+ pd_error(x, "error requesting status message");
+ }
+ }
+
+}
+
+
static void wiiremote_resetReportMode(t_wiiremote *x)
{
if (x->connected) {
@@ -417,10 +529,32 @@ static void wiiremote_reportIR(t_wiiremote *x, t_floatarg f)
wiiremote_report(x, CWIID_RPT_IR, f);
}
-static void wiiremote_reportNunchuck(t_wiiremote *x, t_floatarg f)
+static void wiiremote_reportNunchuk(t_wiiremote *x, t_floatarg f)
{
wiiremote_report(x, CWIID_RPT_EXT, f);
}
+
+static void wiiremote_reportMotionplus(t_wiiremote *x, t_floatarg f)
+{
+#ifdef CWIID_RPT_MOTIONPLUS
+ int flag=f;
+ if (x->connected) {
+ verbose(1, "changing motionplus report mode for Wii%02d to %d", x->wiiremoteID, flag);
+ int err=0;
+ if(flag) {
+ err=cwiid_enable(x->wiiremote, CWIID_FLAG_MOTIONPLUS);
+ } else {
+ err=cwiid_disable(x->wiiremote, CWIID_FLAG_MOTIONPLUS);
+ }
+ if(err) {
+ pd_error(x, "turning %s motionplus returned %d", (flag?"on":"off"), err);
+ } else {
+ wiiremote_report(x, CWIID_RPT_MOTIONPLUS, f);
+ }
+ }
+#endif
+}
+
static void wiiremote_setRumble(t_wiiremote *x, t_floatarg f)
{
if (x->connected)
@@ -484,10 +618,6 @@ static void wiiremote_doConnect(t_wiiremote *x, t_symbol *addr, t_symbol *dongad
}
// connect:
-#ifdef CWIID_FLAG_MOTIONPLUS
- flags |= CWIID_FLAG_MOTIONPLUS;
-#endif
-
#if 0
x->wiiremote = cwiid_open(&bdaddr, dong_bdaddr_ptr, flags);
@@ -510,16 +640,17 @@ static void wiiremote_doConnect(t_wiiremote *x, t_symbol *addr, t_symbol *dongad
x->wiiremoteID= cwiid_get_id(x->wiiremote);
post("wiiremote %i is successfully connected", x->wiiremoteID);
- if (cwiid_read(x->wiiremote, CWIID_RW_EEPROM, 0x16, 7, buf)) {
+
+ if(cwiid_get_acc_cal(x->wiiremote, CWIID_EXT_NONE, &x->acc_cal)) {
post("Unable to retrieve accelerometer calibration");
} else {
- x->acc_zero.x = buf[0];
- x->acc_zero.y = buf[1];
- x->acc_zero.z = buf[2];
- x->acc_one.x = buf[4];
- x->acc_one.y = buf[5];
- x->acc_one.z = buf[6];
- //post("Retrieved wiiremote calibration: zero=(%.1f,%.1f,%.1f) one=(%.1f,%.1f,%.1f)",buf[0],buf[2],buf[3],buf[4],buf[5],buf[6]);
+ post("Retrieved wiiremote calibration: zero=(%02d,%02d,%02d) one=(%02d,%02d,%02d)",
+ x->acc_cal.zero[CWIID_X],
+ x->acc_cal.zero[CWIID_Y],
+ x->acc_cal.zero[CWIID_Z],
+ x->acc_cal.one [CWIID_X],
+ x->acc_cal.one [CWIID_Y],
+ x->acc_cal.one [CWIID_Z]);
}
x->connected = 1;
@@ -615,10 +746,18 @@ void wiiremote_setup(void)
class_addmethod(wiiremote_class, (t_method) wiiremote_doConnect, gensym("connect"), A_SYMBOL, A_SYMBOL, 0);
class_addmethod(wiiremote_class, (t_method) wiiremote_doDisconnect, gensym("disconnect"), 0);
class_addmethod(wiiremote_class, (t_method) wiiremote_discover, gensym("discover"), 0);
+
+
+ class_addmethod(wiiremote_class, (t_method) wiiremote_status, gensym("status"), 0);
+
class_addmethod(wiiremote_class, (t_method) wiiremote_setReportMode, gensym("setReportMode"), A_DEFFLOAT, 0);
class_addmethod(wiiremote_class, (t_method) wiiremote_reportAcceleration, gensym("reportAcceleration"), A_DEFFLOAT, 0);
- class_addmethod(wiiremote_class, (t_method) wiiremote_reportNunchuck, gensym("reportNunchuck"), A_DEFFLOAT, 0);
+ class_addmethod(wiiremote_class, (t_method) wiiremote_reportNunchuk, gensym("reportNunchuck"), A_DEFFLOAT, 0);
+ class_addmethod(wiiremote_class, (t_method) wiiremote_reportNunchuk, gensym("reportNunchuk"), A_DEFFLOAT, 0);
+ class_addmethod(wiiremote_class, (t_method) wiiremote_reportMotionplus, gensym("reportMotionplus"), A_DEFFLOAT, 0);
class_addmethod(wiiremote_class, (t_method) wiiremote_reportIR, gensym("reportIR"), A_DEFFLOAT, 0);
+
+
class_addmethod(wiiremote_class, (t_method) wiiremote_setRumble, gensym("setRumble"), A_DEFFLOAT, 0);
class_addmethod(wiiremote_class, (t_method) wiiremote_setLED, gensym("setLED"), A_DEFFLOAT, 0);
}
generated by cgit v1.2.1 (git 2.18.0) at 2024-11-19 07:08:14 +0000