stk-code_catmod/lib/wiiuse/io.c

/*
 *	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/>.
 *
 *	$Header$
 *
 */

/**
 *	@file
 *	@brief Handles device I/O (non-OS specific).
 */

#include "io.h"
#include "ir.h"                         /* for wiiuse_set_ir_mode */
#include "wiiuse_internal.h"

#include "os.h"                         /* for wiiuse_os_* */

#include <stdlib.h>                     /* for free, malloc */

/**
 *  @brief Find a wiimote or wiimotes.
 *
 *  @param wm     An array of wiimote_t structures.
 *  @param max_wiimotes The number of wiimote structures in \a wm.
 *  @param timeout    The number of seconds before the search times out.
 *
 *  @return The number of wiimotes found.
 *
 *  @see wiiuse_connect()
 *  @see wiiuse_os_find()
 *
 *  This function will only look for wiimote devices.           \n
 *  When a device is found the address in the structures will be set.   \n
 *  You can then call wiiuse_connect() to connect to the found       \n
 *  devices.
 *
 *  This function only delegates to the platform-specific implementation
 *  wiiuse_os_find.
 *
 *  This function is declared in wiiuse.h
 */
int wiiuse_find(struct wiimote_t** wm, int max_wiimotes, int timeout) {
	return wiiuse_os_find(wm, max_wiimotes, timeout);
}

/**
 *  @brief Connect to a wiimote or wiimotes once an address is known.
 *
 *  @param wm     An array of wiimote_t structures.
 *  @param wiimotes   The number of wiimote structures in \a wm.
 *
 *  @return The number of wiimotes that successfully connected.
 *
 *  @see wiiuse_find()
 *  @see wiiuse_disconnect()
 *  @see wiiuse_os_connect()
 *
 *  Connect to a number of wiimotes when the address is already set
 *  in the wiimote_t structures.  These addresses are normally set
 *  by the wiiuse_find() function, but can also be set manually.
 *
 *  This function only delegates to the platform-specific implementation
 *  wiiuse_os_connect.
 *
 *  This function is declared in wiiuse.h
 */
int wiiuse_connect(struct wiimote_t** wm, int wiimotes) {
	return wiiuse_os_connect(wm, wiimotes);
}

/**
 *  @brief Disconnect a wiimote.
 *
 *  @param wm   Pointer to a wiimote_t structure.
 *
 *  @see wiiuse_connect()
 *  @see wiiuse_os_disconnect()
 *
 *  Note that this will not free the wiimote structure.
 *
 *  This function only delegates to the platform-specific implementation
 *  wiiuse_os_disconnect.
 *
 *  This function is declared in wiiuse.h
 */
void wiiuse_disconnect(struct wiimote_t* wm) {
	wiiuse_os_disconnect(wm);
}

/**
*    @brief Wait until specified report arrives and return it
*
*    @param wm             Pointer to a wiimote_t structure.
*    @param buffer         Pre-allocated memory to store the received data
*    @param bufferLength   size of buffer in bytes
*
*    Synchronous/blocking, this function will not return until it receives the specified
*    report from the Wiimote.
*
*/
void wiiuse_wait_report(struct wiimote_t *wm, int report, byte *buffer, int bufferLength) {
	for (;;) {
		if (wiiuse_os_read(wm, buffer, bufferLength) > 0) {
			if (buffer[0] == report) {
				break;
			} else {
				WIIUSE_DEBUG("(id %i) dropping report 0x%x, waiting for 0x%x", wm->unid, buffer[0], report);
			}
		}
	}
}

/**
*    @brief Read memory/register data synchronously
*
*    @param wm        Pointer to a wiimote_t structure.
*    @param memory    If set to non-zero, reads EEPROM, otherwise registers
*    @param addr      Address offset to read from
*    @param size      How many bytes to read
*    @param data      Pre-allocated memory to store the received data
*
*    Synchronous/blocking read, this function will not return until it receives the specified
*    amount of data from the Wiimote.
*
*/
void wiiuse_read_data_sync(struct wiimote_t *wm, byte memory, unsigned addr, unsigned short size, byte *data) {
	byte pkt[6];
	byte buf[MAX_PAYLOAD];
	unsigned n_full_reports;
	unsigned last_report;
	byte *output;
	unsigned int i;

	/*
	 * address in big endian first, the leading byte will
	 * be overwritten (only 3 bytes are sent)
	 */
	to_big_endian_uint32_t(pkt, addr);

	/* read from registers or memory */
	pkt[0] = (memory != 0) ? 0x00 : 0x04;

	/* length in big endian */
	to_big_endian_uint16_t(pkt + 4, size);

	/* send */
	wiiuse_send(wm, WM_CMD_READ_DATA, pkt, sizeof(pkt));

	/* calculate how many 16B packets we have to get back */
	n_full_reports = size / 16;
	last_report = size % 16;
	output = data;

	for (i = 0; i < n_full_reports; ++i) {
		wiiuse_wait_report(wm, WM_RPT_READ, buf, MAX_PAYLOAD);
		memmove(output, buf + 6, 16);
		output += 16;
	}

	/* read the last incomplete packet */
	if (last_report) {
		wiiuse_wait_report(wm, WM_RPT_READ, buf, MAX_PAYLOAD);
		memmove(output, buf + 6, last_report);
	}
}

/**
 *	@brief Get initialization data from the wiimote.
 *
 *	@param wm		Pointer to a wiimote_t structure.
 *	@param data		unused
 *	@param len		unused
 *
 *	When first called for a wiimote_t structure, a request
 *	is sent to the wiimote for initialization information.
 *	This includes factory set accelerometer data.
 *	The handshake will be concluded when the wiimote responds
 *	with this data.
 */

#ifdef WIIUSE_SYNC_HANDSHAKE

void wiiuse_handshake(struct wiimote_t* wm, byte* data, uint16_t len) {
	/* send request to wiimote for accelerometer calibration */
	byte buf[MAX_PAYLOAD];

	/* step 0 - Reset wiimote */
	{
		//wiiuse_set_leds(wm, WIIMOTE_LED_NONE);

		WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_HANDSHAKE);
		WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_CONNECTED);
		WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_ACC);
		WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_IR);
		WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_RUMBLE);
		WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_EXP);
		WIIMOTE_DISABLE_FLAG(wm, WIIUSE_CONTINUOUS);

		wiiuse_set_report_type(wm);
		wiiuse_millisleep(500);

		WIIUSE_DEBUG("Wiimote reset!\n");
	}

	/* step 1 - calibration of accelerometers */
	{
		struct accel_t* accel = &wm->accel_calib;

		wiiuse_read_data_sync(wm, 1, WM_MEM_OFFSET_CALIBRATION, 8, buf);

		/* received read data */
		accel->cal_zero.x = buf[0];
		accel->cal_zero.y = buf[1];
		accel->cal_zero.z = buf[2];

		accel->cal_g.x = buf[4] - accel->cal_zero.x;
		accel->cal_g.y = buf[5] - accel->cal_zero.y;
		accel->cal_g.z = buf[6] - accel->cal_zero.z;

		WIIUSE_DEBUG("Calibrated wiimote acc\n");
	}

	/* step 2 - re-enable IR and ask for status */
	{
		WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_HANDSHAKE_COMPLETE);
		WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_HANDSHAKE);

		/* now enable IR if it was set before the handshake completed */
		if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR)) {
			WIIUSE_DEBUG("Handshake finished, enabling IR.");
			WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_IR);
			wiiuse_set_ir(wm, 1);
		}

		WIIUSE_DEBUG("Asking for status ...\n");
		wm->event = WIIUSE_CONNECT;
		wiiuse_status(wm);
	}
}

#else

static void wiiuse_disable_motion_plus1(struct wiimote_t *wm, byte *data, unsigned short len);
static void wiiuse_disable_motion_plus2(struct wiimote_t *wm, byte *data, unsigned short len);

void wiiuse_handshake(struct wiimote_t* wm, byte* data, uint16_t len) {
	if (!wm)	{
		return;
	}

	switch (wm->handshake_state) {
		case 0: {
				byte* buf;

				/* continuous reporting off, report to buttons only */
				WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_HANDSHAKE);
				wiiuse_set_leds(wm, WIIMOTE_LED_NONE);

				WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_ACC);
				WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_IR);
				WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_RUMBLE);
				WIIMOTE_DISABLE_FLAG(wm, WIIUSE_CONTINUOUS);

				wiiuse_set_report_type(wm);

				/* send request to wiimote for accelerometer calibration */
				buf = (byte*)malloc(sizeof(byte) * 8);
				wiiuse_read_data_cb(wm, wiiuse_handshake, buf, WM_MEM_OFFSET_CALIBRATION, 7);
				wm->handshake_state++;

				wiiuse_set_leds(wm, WIIMOTE_LED_NONE);

				break;
			}

		case 1: {
				struct read_req_t* req = wm->read_req;
				struct accel_t* accel = &wm->accel_calib;
				byte val;

				/* received read data */
				accel->cal_zero.x = req->buf[0];
				accel->cal_zero.y = req->buf[1];
				accel->cal_zero.z = req->buf[2];

				accel->cal_g.x = req->buf[4] - accel->cal_zero.x;
				accel->cal_g.y = req->buf[5] - accel->cal_zero.y;
				accel->cal_g.z = req->buf[6] - accel->cal_zero.z;

				/* done with the buffer */
				free(req->buf);

				/* handshake is done */
				WIIUSE_DEBUG("Handshake finished. Calibration: Idle: X=%x Y=%x Z=%x\t+1g: X=%x Y=%x Z=%x",
				             accel->cal_zero.x, accel->cal_zero.y, accel->cal_zero.z,
				             accel->cal_g.x, accel->cal_g.y, accel->cal_g.z);

				/* M+ off */
				val = 0x55;
				wiiuse_write_data_cb(wm, WM_EXP_MEM_ENABLE1, &val, 1, wiiuse_disable_motion_plus1);

				break;
			}

		case 2: {
				/* request the status of the wiimote to check for any expansion */
				WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_HANDSHAKE);
				WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_HANDSHAKE_COMPLETE);
				wm->handshake_state++;

				/* now enable IR if it was set before the handshake completed */
				if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR)) {
					WIIUSE_DEBUG("Handshake finished, enabling IR.");
					WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_IR);
					wiiuse_set_ir(wm, 1);
				}

				wm->event = WIIUSE_CONNECT;
				wiiuse_status(wm);

				break;
			}

		default: {
				break;
			}
	}
}

static void wiiuse_disable_motion_plus1(struct wiimote_t *wm, byte *data, unsigned short len) {
	byte val = 0x00;
	wiiuse_write_data_cb(wm, WM_EXP_MEM_ENABLE1, &val, 1, wiiuse_disable_motion_plus2);
}

static void wiiuse_disable_motion_plus2(struct wiimote_t *wm, byte *data, unsigned short len) {
	WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_EXP_FAILED);
	WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_EXP_HANDSHAKE);
	wiiuse_set_ir_mode(wm);

	wm->handshake_state++;
	wiiuse_handshake(wm, NULL, 0);
}

#endif