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stk-code_catmod/lib/wiiuse/ir.c

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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/>.
*
* $Header$
*
*/
/**
* @file
* @brief Handles IR data.
*/
#include "ir.h"
#include <math.h> /* for atanf, cos, sin, sqrt */
static int get_ir_sens(struct wiimote_t* wm, const byte** block1, const byte** block2);
static void interpret_ir_data(struct wiimote_t* wm);
static void fix_rotated_ir_dots(struct ir_dot_t* dot, float ang);
static void get_ir_dot_avg(struct ir_dot_t* dot, int* x, int* y);
static void reorder_ir_dots(struct ir_dot_t* dot);
static float ir_distance(struct ir_dot_t* dot);
static int ir_correct_for_bounds(int* x, int* y, enum aspect_t aspect, int offset_x, int offset_y);
static void ir_convert_to_vres(int* x, int* y, enum aspect_t aspect, int vx, int vy);
/* ir block data */
static const byte WM_IR_BLOCK1_LEVEL1[] = "\x02\x00\x00\x71\x01\x00\x64\x00\xfe";
static const byte WM_IR_BLOCK2_LEVEL1[] = "\xfd\x05";
static const byte WM_IR_BLOCK1_LEVEL2[] = "\x02\x00\x00\x71\x01\x00\x96\x00\xb4";
static const byte WM_IR_BLOCK2_LEVEL2[] = "\xb3\x04";
static const byte WM_IR_BLOCK1_LEVEL3[] = "\x02\x00\x00\x71\x01\x00\xaa\x00\x64";
static const byte WM_IR_BLOCK2_LEVEL3[] = "\x63\x03";
static const byte WM_IR_BLOCK1_LEVEL4[] = "\x02\x00\x00\x71\x01\x00\xc8\x00\x36";
static const byte WM_IR_BLOCK2_LEVEL4[] = "\x35\x03";
static const byte WM_IR_BLOCK1_LEVEL5[] = "\x07\x00\x00\x71\x01\x00\x72\x00\x20";
static const byte WM_IR_BLOCK2_LEVEL5[] = "\x1f\x03";
void wiiuse_set_ir_mode(struct wiimote_t *wm) {
byte 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);
}
/**
* @brief Set if the wiimote should track IR targets.
*
* @param wm Pointer to a wiimote_t structure.
* @param status 1 to enable, 0 to disable.
*/
void wiiuse_set_ir(struct wiimote_t* wm, int status) {
byte buf;
const byte* block1 = NULL;
const byte* block2 = NULL;
int ir_level;
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)) {
if (status) {
WIIUSE_DEBUG("Tried to enable IR, will wait until handshake finishes.");
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_IR);
} /* else ignoring request to turn off, since it's turned off by default */
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)) {
return;
}
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_IR);
} else {
/* if already disabled then stop */
if (!WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR)) {
return;
}
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_IR);
}
/* set camera 1 and 2 */
buf = (status ? 0x04 : 0x00);
wiiuse_send(wm, WM_CMD_IR, &buf, 1);
wiiuse_send(wm, WM_CMD_IR_2, &buf, 1);
if (!status) {
WIIUSE_DEBUG("Disabled IR cameras for wiimote id %i.", wm->unid);
wiiuse_set_report_type(wm);
return;
}
/* enable IR, set sensitivity */
buf = 0x08;
wiiuse_write_data(wm, WM_REG_IR, &buf, 1);
/* wait for the wiimote to catch up */
wiiuse_millisleep(50);
/* write sensitivity blocks */
wiiuse_write_data(wm, WM_REG_IR_BLOCK1, (byte*)block1, 9);
wiiuse_write_data(wm, WM_REG_IR_BLOCK2, (byte*)block2, 2);
/* set the IR mode */
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);
wiiuse_millisleep(50);
/* set the wiimote report type */
wiiuse_set_report_type(wm);
WIIUSE_DEBUG("Enabled IR camera for wiimote id %i (sensitivity level %i).", wm->unid, ir_level);
}
/**
* @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, const byte** block1, const byte** 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;
}
/**
* @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 + 100;
} else if (wm->ir.aspect == WIIUSE_ASPECT_4_3) {
wm->ir.offset[1] = -WM_ASPECT_4_3_Y / 2 + 70;
}
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) {
const byte* block1 = NULL;
const byte* 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;
}
/* set the new sensitivity */
get_ir_sens(wm, &block1, &block2);
wiiuse_write_data(wm, WM_REG_IR_BLOCK1, block1, 9);
wiiuse_write_data(wm, WM_REG_IR_BLOCK2, block2, 2);
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, byte* 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) {
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 */
}
}
interpret_ir_data(wm);
}
/**
* @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, byte* 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] & 0x0F;
/* if in range set to visible */
if (dot[i].ry == 1023) {
dot[i].visible = 0;
} else {
dot[i].visible = 1;
}
}
interpret_ir_data(wm);
}
/**
* @brief Interpret IR data into more user friendly variables.
*
* @param wm Pointer to a wiimote_t structure.
*/
static void interpret_ir_data(struct wiimote_t* wm) {
struct ir_dot_t* dot = wm->ir.dot;
int i;
float roll = 0.0f;
int last_num_dots = wm->ir.num_dots;
if (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_ACC)) {
roll = wm->orient.roll;
}
/* count visible dots */
wm->ir.num_dots = 0;
for (i = 0; i < 4; ++i) {
if (dot[i].visible) {
wm->ir.num_dots++;
}
}
switch (wm->ir.num_dots) {
case 0: {
wm->ir.state = 0;
/* reset the dot ordering */
for (i = 0; i < 4; ++i) {
dot[i].order = 0;
}
wm->ir.x = 0;
wm->ir.y = 0;
wm->ir.z = 0.0f;
return;
}
case 1: {
fix_rotated_ir_dots(wm->ir.dot, roll);
if (wm->ir.state < 2) {
/*
* Only 1 known dot, so use just that.
*/
for (i = 0; i < 4; ++i) {
if (dot[i].visible) {
wm->ir.x = dot[i].x;
wm->ir.y = dot[i].y;
wm->ir.ax = wm->ir.x;
wm->ir.ay = wm->ir.y;
/* can't calculate yaw because we don't have the distance */
/* wm->orient.yaw = calc_yaw(&wm->ir); */
ir_convert_to_vres(&wm->ir.x, &wm->ir.y, wm->ir.aspect, wm->ir.vres[0], wm->ir.vres[1]);
break;
}
}
} else {
/*
* Only see 1 dot but know theres 2.
* Try to estimate where the other one
* should be and use that.
*/
for (i = 0; i < 4; ++i) {
if (dot[i].visible) {
int ox = 0;
int x, y;
if (dot[i].order == 1)
/* visible is the left dot - estimate where the right is */
{
ox = (int32_t)(dot[i].x + wm->ir.distance);
} else if (dot[i].order == 2)
/* visible is the right dot - estimate where the left is */
{
ox = (int32_t)(dot[i].x - wm->ir.distance);
}
x = ((signed int)dot[i].x + ox) / 2;
y = dot[i].y;
wm->ir.ax = x;
wm->ir.ay = y;
wm->orient.yaw = calc_yaw(&wm->ir);
if (ir_correct_for_bounds(&x, &y, wm->ir.aspect, wm->ir.offset[0], wm->ir.offset[1])) {
ir_convert_to_vres(&x, &y, wm->ir.aspect, wm->ir.vres[0], wm->ir.vres[1]);
wm->ir.x = x;
wm->ir.y = y;
}
break;
}
}
}
break;
}
case 2:
case 3:
case 4: {
/*
* Two (or more) dots known and seen.
* Average them together to estimate the true location.
*/
int x, y;
wm->ir.state = 2;
fix_rotated_ir_dots(wm->ir.dot, roll);
/* if there is at least 1 new dot, reorder them all */
if (wm->ir.num_dots > last_num_dots) {
reorder_ir_dots(dot);
wm->ir.x = 0;
wm->ir.y = 0;
}
wm->ir.distance = ir_distance(dot);
wm->ir.z = 1023 - wm->ir.distance;
get_ir_dot_avg(wm->ir.dot, &x, &y);
wm->ir.ax = x;
wm->ir.ay = y;
wm->orient.yaw = calc_yaw(&wm->ir);
if (ir_correct_for_bounds(&x, &y, wm->ir.aspect, wm->ir.offset[0], wm->ir.offset[1])) {
ir_convert_to_vres(&x, &y, wm->ir.aspect, wm->ir.vres[0], wm->ir.vres[1]);
wm->ir.x = x;
wm->ir.y = y;
}
break;
}
default: {
break;
}
}
#ifdef WITH_WIIUSE_DEBUG
{
int ir_level;
WIIUSE_GET_IR_SENSITIVITY(wm, &ir_level);
WIIUSE_DEBUG("IR sensitivity: %i", ir_level);
WIIUSE_DEBUG("IR visible dots: %i", wm->ir.num_dots);
for (i = 0; i < 4; ++i)
if (dot[i].visible) {
WIIUSE_DEBUG("IR[%i][order %i] (%.3i, %.3i) -> (%.3i, %.3i)", i, dot[i].order, dot[i].rx, dot[i].ry, dot[i].x, dot[i].y);
}
WIIUSE_DEBUG("IR[absolute]: (%i, %i)", wm->ir.x, wm->ir.y);
}
#endif
}
/**
* @brief Fix the rotation of the IR dots.
*
* @param dot An array of 4 ir_dot_t objects.
* @param ang The roll angle to correct by (-180, 180)
*
* If there is roll then the dots are rotated
* around the origin and give a false cursor
* position. Correct for the roll.
*
* If the accelerometer is off then obviously
* this will not do anything and the cursor
* position may be inaccurate.
*/
static void fix_rotated_ir_dots(struct ir_dot_t* dot, float ang) {
float s, c;
int x, y;
int i;
if (!ang) {
for (i = 0; i < 4; ++i) {
dot[i].x = dot[i].rx;
dot[i].y = dot[i].ry;
}
return;
}
s = sinf(DEGREE_TO_RAD(ang));
c = cosf(DEGREE_TO_RAD(ang));
/*
* [ cos(theta) -sin(theta) ][ ir->rx ]
* [ sin(theta) cos(theta) ][ ir->ry ]
*/
for (i = 0; i < 4; ++i) {
if (!dot[i].visible) {
continue;
}
x = dot[i].rx - (1024 / 2);
y = dot[i].ry - (768 / 2);
dot[i].x = (uint32_t)((c * x) + (-s * y));
dot[i].y = (uint32_t)((s * x) + (c * y));
dot[i].x += (1024 / 2);
dot[i].y += (768 / 2);
}
}
/**
* @brief Average IR dots.
*
* @param dot An array of 4 ir_dot_t objects.
* @param x [out] Average X
* @param y [out] Average Y
*/
static void get_ir_dot_avg(struct ir_dot_t* dot, int* x, int* y) {
int vis = 0, i = 0;
*x = 0;
*y = 0;
for (; i < 4; ++i) {
if (dot[i].visible) {
*x += dot[i].x;
*y += dot[i].y;
++vis;
}
}
*x /= vis;
*y /= vis;
}
/**
* @brief Reorder the IR dots.
*
* @param dot An array of 4 ir_dot_t objects.
*/
static void reorder_ir_dots(struct ir_dot_t* dot) {
int i, j, order;
/* reset the dot ordering */
for (i = 0; i < 4; ++i) {
dot[i].order = 0;
}
for (order = 1; order < 5; ++order) {
i = 0;
for (; !dot[i].visible || dot[i].order; ++i)
if (i >= 3) {
return;
}
for (j = 0; j < 4; ++j) {
if (dot[j].visible && !dot[j].order && (dot[j].x < dot[i].x)) {
i = j;
}
}
dot[i].order = order;
}
}
/**
* @brief Calculate the distance between the first 2 visible IR dots.
*
* @param dot An array of 4 ir_dot_t objects.
*/
static float ir_distance(struct ir_dot_t* dot) {
int i1, i2;
int xd, yd;
for (i1 = 0; i1 < 4; ++i1)
if (dot[i1].visible) {
break;
}
if (i1 == 4) {
return 0.0f;
}
for (i2 = i1 + 1; i2 < 4; ++i2)
if (dot[i2].visible) {
break;
}
if (i2 == 4) {
return 0.0f;
}
xd = dot[i2].x - dot[i1].x;
yd = dot[i2].y - dot[i1].y;
return sqrtf((float)(xd * xd + yd * yd));
}
/**
* @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(int* x, int* y, enum aspect_t aspect, int offset_x, int offset_y) {
int 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(int* x, int* y, enum aspect_t aspect, int vx, 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 = (int)((*x / (float)xs) * vx);
*y = (int)((*y / (float)ys) * vy);
}
/**
* @brief Calculate yaw given the IR data.
*
* @param ir IR data structure.
*/
float calc_yaw(struct ir_t* ir) {
float x;
x = (float)(ir->ax - 512);
x = x * (ir->z / 1024.0f);
return RAD_TO_DEGREE(atanf(x / ir->z));
}
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