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amiro-os / components / bluetooth / bluetooth-wiimote.cpp @ 58fe0e0b

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1 58fe0e0b Thomas Schöpping
#include <ch.hpp>
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#include <hal.h>
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#include <amiro/bluetooth/bluetooth-wiimote.hpp>
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using namespace chibios_rt;
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using namespace amiro;
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/*
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 * Class constructor
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 */
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BluetoothWiimote::BluetoothWiimote(BLUETOOTH *bluetooth, uint8_t rxtx) :
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  BaseStaticThread<128>(), wiimoteConn(bluetooth, this, "WIIMOTE"),
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  mailbox(mailboxBuffer, BLUETOOTH_WIIMOTE_MAILBOX_SIZE), accelerometer{0,0,0} {
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  iwrap = &(bluetooth->iwrap);
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  rx_tx = rxtx;
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  linkId = 0xFF;
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  stopflag = 0;
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}
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//----------------------------------------------------------------
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msg_t BluetoothWiimote::main(void) {
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  setName("BluetoothWiimote");
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  while (!this->shouldTerminate()) {
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    if (wiimoteReceive())
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      this->requestTerminate();
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  }
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  return RDY_OK;
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}
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/*
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 * Member functions
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 */
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msg_t BluetoothWiimote::wiimoteReceive() {
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  BluetoothDescriptor* recv_descriptor = NULL;
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  uint8_t *buffer;
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  size_t length;
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  msg_t msg;
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  static uint8_t button_up;
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  static uint8_t button_down;
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  static uint8_t button_right;
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  static uint8_t button_left;
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  static uint8_t button_plus;
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  static uint8_t button_home;
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  static uint8_t button_minus;
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  static uint8_t button_A;
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  static uint8_t button_B;
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  static uint8_t button_1;
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  static uint8_t button_2;
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  msg = mailbox.fetch((msg_t*) &recv_descriptor, TIME_INFINITE);
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  if ((msg == RDY_RESET) || stopflag)
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    return RDY_RESET;
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  buffer = recv_descriptor->bluetoothDescriptorGetPayload();
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  length = recv_descriptor->bluetoothDescriptorGetPayloadLength();
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  if (buffer[0] == 0xA1 && buffer[1] == 0x31) {
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    accelerometer.x_axis = (buffer[4] << 2) + ((buffer[2] & 0x60) >> 5) - 0x1EC;
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    accelerometer.y_axis = (buffer[5] << 2) + ((buffer[3] & 0x20) >> 4) - 0x1EA;
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    accelerometer.z_axis = (buffer[6] << 2) + ((buffer[3] & 0x40) >> 5) - 0x1EE;
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    if (buffer[3] & 0x80) {             // Press home to return button reporting
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      bluetoothWiimoteDataBtn();
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      accelerometer.x_axis = 0;
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      accelerometer.y_axis = 0;
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      accelerometer.z_axis = 0;
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    }
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  } else if (buffer[0] == 0xA1 && buffer[1] == 0x30) {
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    button_up    = (buffer[2] & 0x08) >> 3;
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    button_down  = (buffer[2] & 0x04) >> 2;
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    button_right = (buffer[2] & 0x02) >> 1;
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    button_left  = (buffer[2] & 0x01) >> 0;
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    button_plus  = (buffer[2] & 0x10) >> 4;
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    button_home  = (buffer[3] & 0x80) >> 7;
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    button_minus = (buffer[3] & 0x10) >> 4;
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    button_A     = (buffer[3] & 0x08) >> 3;
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    button_B     = (buffer[3] & 0x04) >> 2;
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    button_1     = (buffer[3] & 0x02) >> 1;
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    button_2     = (buffer[3] & 0x01) >> 0;
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    if (button_up)
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      chSequentialStreamPut((BaseSequentialStream*) &SD1, 'U');
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    if (button_down)
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      chSequentialStreamPut((BaseSequentialStream*) &SD1, 'D');
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    if (button_right)
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      chSequentialStreamPut((BaseSequentialStream*) &SD1, 'R');
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    if (button_left)
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      chSequentialStreamPut((BaseSequentialStream*) &SD1, 'L');
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    if (button_plus)
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      chSequentialStreamPut((BaseSequentialStream*) &SD1, '+');
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    if (button_home)
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      chSequentialStreamPut((BaseSequentialStream*) &SD1, 'H');
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    if (button_minus)
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      chSequentialStreamPut((BaseSequentialStream*) &SD1, '-');
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    if (button_A)
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      chSequentialStreamPut((BaseSequentialStream*) &SD1, 'A');
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    if (button_B)
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      chSequentialStreamPut((BaseSequentialStream*) &SD1, 'B');
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    if (button_1)
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      chSequentialStreamPut((BaseSequentialStream*) &SD1, '1');
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    if (button_2)
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      chSequentialStreamPut((BaseSequentialStream*) &SD1, '2');
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    if (button_minus && button_plus)   // Press minus and plue to return accelerometer reporting
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      bluetoothWiimoteDataBtnAcc();
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  } else {
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    chSequentialStreamWrite((BaseSequentialStream*) &SD1, buffer, length);
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  }
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  msg = iwrap->transport.bluetoothTransportGetStorageMailbox()->post((msg_t) recv_descriptor, TIME_INFINITE);
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  if ((msg == RDY_RESET) || stopflag)
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    return RDY_RESET;
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  return RDY_OK;
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}
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msg_t BluetoothWiimote::wiimoteTransmit(const uint8_t* wiimotecmd, size_t length) {
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  msg_t msg;
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  if ((rx_tx & 0x01) && (linkId != 0xFF) && (!stopflag))
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    msg = iwrap->iwrapTransmit(linkId, wiimotecmd, length);
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  else
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    msg = RDY_RESET;
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  return msg;
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}
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void BluetoothWiimote::bluetoothWiimoteStart(uint8_t linkid) {
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  linkId = linkid;
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  iwrap->transport.bluetoothTransportSetReceiveMailbox(linkId, &this->mailbox);
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  if ((rx_tx & 0x02)) {   // && (!stopflag)
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    this->start(NORMALPRIO);
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  }
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  stopflag = 0;
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}
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void BluetoothWiimote::bluetoothWiimoteStop() {
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  linkId = 0xFF;
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  stopflag = 1;
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  mailbox.post(RDY_RESET, TIME_INFINITE);        // TIME_IMMEDIATE TIME_INFINITE
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}
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bool BluetoothWiimote::bluetoothWiimoteIsConnected() {
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  if (linkId == 0xFF)
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    return false;
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  return true;
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}
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void BluetoothWiimote::bluetoothWiimoteListen(const char *addr) {
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  wiimoteConn.bluetoothConnectorListen(addr);
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}
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void BluetoothWiimote::bluetoothWiimoteConnect(const char *addr) {
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  wiimoteConn.bluetoothConnectorConnect(addr);
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}
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void BluetoothWiimote::bluetoothWiimoteDisconnect(const char *addr) {
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  wiimoteConn.bluetoothConnectorDisconnect(addr);
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}
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BluetoothWiimote::Accelerometer * BluetoothWiimote::getAccelerometer() {
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  return &accelerometer;
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}
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/*
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 * @brief :  On-off LEDs and Motor of Wiimote.
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 *
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 * @param[in] ledid_flag     On-off flag of LEDs 1,2,3,4
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 *                           (LED1: 0x10, LED2: 0x20, LED3: 0x40, LED4: 0x80)
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 * @param[in] vibrate_flag   On-off flag of Vibration Motor (On: 1, off: 0)
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 */
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void BluetoothWiimote::bluetoothWiimoteLedVibrate(uint8_t ledid_flag, uint8_t vibrate_flag) {
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  const uint8_t data[] = {0xA2, 0x11, (uint8_t) (ledid_flag | vibrate_flag)};
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  wiimoteTransmit(data, 3);
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}
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/*
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 * @brief :  Show status information of Wiimote.
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 */
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void BluetoothWiimote::bluetoothWiimoteStatusInfo() {
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  const uint8_t data[] = {0xA2, 0x15, 0x00};
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  wiimoteTransmit(data, 3);
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}
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/*
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 * @brief :  Send button status (change event) of Wiimote.
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 */
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void BluetoothWiimote::bluetoothWiimoteDataBtn() {
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  const uint8_t data[] = {0xA2, 0x12, 0x00, 0x30};
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  wiimoteTransmit(data, 4);
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}
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/*
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 * @brief :  Send button & accelerometer status (change event) of Wiimote.
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 */
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void BluetoothWiimote::bluetoothWiimoteDataBtnAcc() {
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  const uint8_t data[] = {0xA2, 0x12, 0x00, 0x31};
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  wiimoteTransmit(data, 4);
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}