amiro-os / components / bluetooth / bluetooth-wiimote.cpp @ 58fe0e0b
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1 | 58fe0e0b | Thomas Schöpping | #include <ch.hpp> |
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2 | #include <hal.h> |
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3 | |||
4 | #include <amiro/bluetooth/bluetooth-wiimote.hpp> |
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5 | |||
6 | using namespace chibios_rt; |
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7 | using namespace amiro; |
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8 | |||
9 | /*
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10 | * Class constructor
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11 | */
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12 | BluetoothWiimote::BluetoothWiimote(BLUETOOTH *bluetooth, uint8_t rxtx) : |
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13 | BaseStaticThread<128>(), wiimoteConn(bluetooth, this, "WIIMOTE"), |
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14 | mailbox(mailboxBuffer, BLUETOOTH_WIIMOTE_MAILBOX_SIZE), accelerometer{0,0,0} { |
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15 | iwrap = &(bluetooth->iwrap); |
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16 | rx_tx = rxtx; |
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17 | linkId = 0xFF;
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18 | stopflag = 0;
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19 | } |
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20 | |||
21 | //----------------------------------------------------------------
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22 | |||
23 | msg_t BluetoothWiimote::main(void) {
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24 | setName("BluetoothWiimote");
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25 | |||
26 | while (!this->shouldTerminate()) { |
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27 | if (wiimoteReceive())
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28 | this->requestTerminate();
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29 | } |
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30 | return RDY_OK;
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31 | } |
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32 | |||
33 | /*
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34 | * Member functions
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35 | */
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36 | msg_t BluetoothWiimote::wiimoteReceive() { |
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37 | BluetoothDescriptor* recv_descriptor = NULL;
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38 | uint8_t *buffer; |
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39 | size_t length; |
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40 | msg_t msg; |
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41 | |||
42 | static uint8_t button_up;
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43 | static uint8_t button_down;
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44 | static uint8_t button_right;
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45 | static uint8_t button_left;
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46 | static uint8_t button_plus;
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47 | static uint8_t button_home;
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48 | static uint8_t button_minus;
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49 | static uint8_t button_A;
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50 | static uint8_t button_B;
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51 | static uint8_t button_1;
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52 | static uint8_t button_2;
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53 | |||
54 | msg = mailbox.fetch((msg_t*) &recv_descriptor, TIME_INFINITE); |
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55 | if ((msg == RDY_RESET) || stopflag)
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56 | return RDY_RESET;
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57 | |||
58 | buffer = recv_descriptor->bluetoothDescriptorGetPayload(); |
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59 | length = recv_descriptor->bluetoothDescriptorGetPayloadLength(); |
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60 | |||
61 | if (buffer[0] == 0xA1 && buffer[1] == 0x31) { |
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62 | accelerometer.x_axis = (buffer[4] << 2) + ((buffer[2] & 0x60) >> 5) - 0x1EC; |
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63 | accelerometer.y_axis = (buffer[5] << 2) + ((buffer[3] & 0x20) >> 4) - 0x1EA; |
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64 | accelerometer.z_axis = (buffer[6] << 2) + ((buffer[3] & 0x40) >> 5) - 0x1EE; |
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65 | |||
66 | if (buffer[3] & 0x80) { // Press home to return button reporting |
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67 | bluetoothWiimoteDataBtn(); |
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68 | accelerometer.x_axis = 0;
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69 | accelerometer.y_axis = 0;
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70 | accelerometer.z_axis = 0;
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71 | } |
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72 | |||
73 | } else if (buffer[0] == 0xA1 && buffer[1] == 0x30) { |
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74 | button_up = (buffer[2] & 0x08) >> 3; |
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75 | button_down = (buffer[2] & 0x04) >> 2; |
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76 | button_right = (buffer[2] & 0x02) >> 1; |
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77 | button_left = (buffer[2] & 0x01) >> 0; |
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78 | button_plus = (buffer[2] & 0x10) >> 4; |
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79 | button_home = (buffer[3] & 0x80) >> 7; |
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80 | button_minus = (buffer[3] & 0x10) >> 4; |
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81 | button_A = (buffer[3] & 0x08) >> 3; |
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82 | button_B = (buffer[3] & 0x04) >> 2; |
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83 | button_1 = (buffer[3] & 0x02) >> 1; |
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84 | button_2 = (buffer[3] & 0x01) >> 0; |
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85 | |||
86 | if (button_up)
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87 | chSequentialStreamPut((BaseSequentialStream*) &SD1, 'U');
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88 | |||
89 | if (button_down)
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90 | chSequentialStreamPut((BaseSequentialStream*) &SD1, 'D');
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91 | |||
92 | if (button_right)
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93 | chSequentialStreamPut((BaseSequentialStream*) &SD1, 'R');
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94 | |||
95 | if (button_left)
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96 | chSequentialStreamPut((BaseSequentialStream*) &SD1, 'L');
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97 | |||
98 | if (button_plus)
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99 | chSequentialStreamPut((BaseSequentialStream*) &SD1, '+');
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100 | |||
101 | if (button_home)
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102 | chSequentialStreamPut((BaseSequentialStream*) &SD1, 'H');
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103 | |||
104 | if (button_minus)
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105 | chSequentialStreamPut((BaseSequentialStream*) &SD1, '-');
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106 | |||
107 | if (button_A)
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108 | chSequentialStreamPut((BaseSequentialStream*) &SD1, 'A');
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109 | |||
110 | if (button_B)
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111 | chSequentialStreamPut((BaseSequentialStream*) &SD1, 'B');
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112 | |||
113 | if (button_1)
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114 | chSequentialStreamPut((BaseSequentialStream*) &SD1, '1');
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115 | |||
116 | if (button_2)
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117 | chSequentialStreamPut((BaseSequentialStream*) &SD1, '2');
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118 | |||
119 | if (button_minus && button_plus) // Press minus and plue to return accelerometer reporting |
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120 | bluetoothWiimoteDataBtnAcc(); |
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121 | } else {
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122 | chSequentialStreamWrite((BaseSequentialStream*) &SD1, buffer, length); |
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123 | } |
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124 | |||
125 | msg = iwrap->transport.bluetoothTransportGetStorageMailbox()->post((msg_t) recv_descriptor, TIME_INFINITE); |
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126 | if ((msg == RDY_RESET) || stopflag)
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127 | return RDY_RESET;
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128 | |||
129 | return RDY_OK;
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130 | } |
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131 | |||
132 | msg_t BluetoothWiimote::wiimoteTransmit(const uint8_t* wiimotecmd, size_t length) {
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133 | msg_t msg; |
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134 | |||
135 | if ((rx_tx & 0x01) && (linkId != 0xFF) && (!stopflag)) |
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136 | msg = iwrap->iwrapTransmit(linkId, wiimotecmd, length); |
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137 | else
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138 | msg = RDY_RESET; |
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139 | |||
140 | return msg;
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141 | } |
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142 | |||
143 | void BluetoothWiimote::bluetoothWiimoteStart(uint8_t linkid) {
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144 | linkId = linkid; |
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145 | iwrap->transport.bluetoothTransportSetReceiveMailbox(linkId, &this->mailbox);
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146 | |||
147 | if ((rx_tx & 0x02)) { // && (!stopflag) |
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148 | this->start(NORMALPRIO);
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149 | } |
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150 | stopflag = 0;
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151 | } |
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152 | |||
153 | void BluetoothWiimote::bluetoothWiimoteStop() {
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154 | linkId = 0xFF;
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155 | stopflag = 1;
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156 | mailbox.post(RDY_RESET, TIME_INFINITE); // TIME_IMMEDIATE TIME_INFINITE
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157 | } |
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158 | |||
159 | bool BluetoothWiimote::bluetoothWiimoteIsConnected() {
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160 | if (linkId == 0xFF) |
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161 | return false; |
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162 | |||
163 | return true; |
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164 | } |
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165 | |||
166 | void BluetoothWiimote::bluetoothWiimoteListen(const char *addr) { |
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167 | wiimoteConn.bluetoothConnectorListen(addr); |
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168 | } |
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169 | |||
170 | void BluetoothWiimote::bluetoothWiimoteConnect(const char *addr) { |
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171 | wiimoteConn.bluetoothConnectorConnect(addr); |
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172 | } |
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173 | |||
174 | void BluetoothWiimote::bluetoothWiimoteDisconnect(const char *addr) { |
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175 | wiimoteConn.bluetoothConnectorDisconnect(addr); |
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176 | } |
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177 | |||
178 | BluetoothWiimote::Accelerometer * BluetoothWiimote::getAccelerometer() { |
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179 | return &accelerometer;
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180 | } |
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181 | |||
182 | /*
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183 | * @brief : On-off LEDs and Motor of Wiimote.
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184 | *
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185 | * @param[in] ledid_flag On-off flag of LEDs 1,2,3,4
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186 | * (LED1: 0x10, LED2: 0x20, LED3: 0x40, LED4: 0x80)
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187 | * @param[in] vibrate_flag On-off flag of Vibration Motor (On: 1, off: 0)
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188 | */
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189 | void BluetoothWiimote::bluetoothWiimoteLedVibrate(uint8_t ledid_flag, uint8_t vibrate_flag) {
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190 | const uint8_t data[] = {0xA2, 0x11, (uint8_t) (ledid_flag | vibrate_flag)}; |
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191 | wiimoteTransmit(data, 3);
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192 | } |
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193 | |||
194 | /*
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195 | * @brief : Show status information of Wiimote.
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196 | */
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197 | void BluetoothWiimote::bluetoothWiimoteStatusInfo() {
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198 | const uint8_t data[] = {0xA2, 0x15, 0x00}; |
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199 | wiimoteTransmit(data, 3);
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200 | } |
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201 | |||
202 | /*
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203 | * @brief : Send button status (change event) of Wiimote.
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204 | */
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205 | void BluetoothWiimote::bluetoothWiimoteDataBtn() {
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206 | const uint8_t data[] = {0xA2, 0x12, 0x00, 0x30}; |
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207 | wiimoteTransmit(data, 4);
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208 | } |
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209 | |||
210 | /*
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211 | * @brief : Send button & accelerometer status (change event) of Wiimote.
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212 | */
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213 | void BluetoothWiimote::bluetoothWiimoteDataBtnAcc() {
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214 | const uint8_t data[] = {0xA2, 0x12, 0x00, 0x31}; |
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215 | wiimoteTransmit(data, 4);
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216 | } |