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WIP: checkpoint Wii native IMU and upstream IR bridge

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Pause Wii pointing work with firmware 0.33-wii-trace installed. Preserve the pinned libogc IR pipeline, calibrated native IMU, software BOOTSEL, and standard camera sensitivity trial.

Tracking instability, tracking loss, and ineffective vertical movement remain unresolved. Level-2 camera filtering is not hardware-qualified. Nine targeted regression tests pass; firmware and persistent storage were verified after flashing.
This commit is contained in:
Joey Yakimowich-Payne 2026-09-11 17:05:54 -06:00
commit 9f6dddb790
41 changed files with 7990 additions and 150 deletions
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libogc Wiiuse IR math component port
Upstream: https://github.com/devkitPro/libogc
Pinned commit: a4064a86487c46d8ab76d4fdf99e8059a62c4fa2
Modified for switch-pico on 2026-09-11.
This directory is a source extraction from the Wiiuse component of libogc,
not an independent reimplementation and not a copy of ordinary Wiiuse from
another repository. Original sources in upstream/ are byte-for-byte copies
from the pin; UPSTREAM.json records their URLs, checksums and retained ranges.
LICENSE AND ATTRIBUTION
The full, unchanged wiiuse/license_libogc.txt from that libogc revision is
provided here as license_libogc.txt. It contains GNU GPL version 3 plus the
section 18 exception for linking with independent modules. The opening scope
restriction (libogc and its covered or combined works) is retained. This is a
modified port of that libogc component; we explicitly extend and retain the
section 18 linking exception for this version, including the portable header
and generated IR translation unit. This component is not offered under MIT.
The surrounding independent switch-pico project is not relicensed.
Section 18 permits linking this library with independent modules under their
own licenses and distributing the executable under terms of your choice,
provided each independent module's license is satisfied. An independent
module is not derived from or based on this library. The exception does not
remove the GPL obligations for this component itself, including provision of
its corresponding source when distributing it in object-code form. The
original component, extraction script and portable header are supplied in
source form. Recipients should retain these notices and the full license.
The original Wiiuse notice in upstream/wiiuse_internal.h credits Michael
Laforest, copyright 2006-2007, grants GPL version 3 or later, and disclaims
warranty. It is retained intact in that file, the portable header, and the
generated C. There is no copyright/license preamble in the pinned ir.c,
ir.h, definitions.h or gc/wiiuse/wiiuse.h; none has been invented for them.
The root libogc notice is preserved verbatim as libogc_license.txt. It credits
Michael Wiedenbauer (shagkur) and Dave Murphy (WinterMute), copyright 2004-2009,
and grants permission subject to origin, altered-source marking and notice
retention restrictions. This root notice does not replace the Wiiuse-specific
GPL plus exception. There is no root LICENSE file at the pinned revision;
UPSTREAM.json records the failed LICENSE URL and the actual pinned root file.
EXACT PORTABILITY CHANGES
1. Keep upstream/ir.c untouched. tools/prepare_libogc_ir.py selects the exact
declared byte-preserving line ranges rather than rewriting any algorithm.
No function body, algorithm constant, comparison, arithmetic expression or
math-library call in the retained functions is changed.
2. Omit transport, report decoding, device setup and platform includes. No
unused transport function is compiled, and no fake Wiiuse I/O implementation
is supplied. The caller supplies decoded dots and orientation.
3. Supply a narrow C/C++ header instead of the Bluetooth/GEKKO headers. Keep
the original ubyte, orient_t, ir_dot_t, fdot_t, sb_t, aspect_t, ir_position_t
and ir_t declarations verbatim; supply the platform primitive f32 as float.
Copy the original anonymous IR state enum and original aspect-size macros
into this header. Add a unique include guard, C linkage and declarations
for the two already-external functions find_sensorbar/apply_ir_smoothing.
Retain the original calc_yaw/interpret_ir_data declarations.
4. Generated C starts with #include "libogc_ir/ir.h", includes standard math.h,
and copies the original PI/angle conversion macros. The original disabled
WIIUSE_DEBUG(fmt, ...) definition is retained, then redefined as
WIIUSE_DEBUG(...) with the same empty expansion. This makes one-argument
debug calls valid strict C11 without enabling logging, changing call sites,
suppressing compiler warnings, or modifying algorithm bodies/constants.
5. Add dated modification/license comments, blank separators and #line
directives around unchanged source sections. File names in those directives
are repository-relative, so output is independent of the build directory.
The extraction has no runtime dependency on Python or the filesystem.
The native relative-output adapter is separate from these upstream math
functions. It handles camera coordinate conventions, gravity units, camera
sequence consumption, configurable relative scale and USB delta baselines.
Those adaptations are not changes to the algorithm in this directory and do
not provide absolute host cursor synchronization.

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{
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},
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"local_path": "license_libogc.txt",
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"libogc_license.txt": {
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},
"root_license_lookup": {
"requested_url": "https://raw.githubusercontent.com/devkitPro/libogc/a4064a86487c46d8ab76d4fdf99e8059a62c4fa2/LICENSE",
"status": "HTTP 404: no LICENSE entry in the pinned root tree",
"tree_url": "https://api.github.com/repos/devkitPro/libogc/git/trees/a4064a86487c46d8ab76d4fdf99e8059a62c4fa2",
"actual_source": "libogc_license.txt"
},
"license": {
"component_license": "GNU GPL version 3 with libogc section 18 independent-module linking exception",
"upstream_internal_header_notice": "Michael Laforest, Copyright 2006-2007; GNU GPL version 3 or (at your option) any later version; no warranty",
"exception_extended_to_this_modified_component": true,
"full_component_license": "license_libogc.txt",
"full_root_notice": "libogc_license.txt",
"modification_notice": "NOTICE.txt",
"project_relicensed": false,
"inputs": "Only this pinned devkitPro/libogc component; no ordinary Wiiuse GPL-only repository inputs"
},
"extraction": {
"line_numbering": "1-based inclusive; bytes split with keepends=True, no newline or whitespace normalization",
"c_sections": [
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"sha256": "e78f559543e0d48e5f54d5316c55c98520e583ff16f0b9fecd2bb65efc3a97e9",
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},
{
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"first_line": 6,
"last_line": 6,
"first_line_text": "#define WIIMOTE_PI\t\t\t3.14159265f",
"last_line_text": "#define WIIMOTE_PI\t\t\t3.14159265f",
"sha256": "3c8132e59374a2aa64f38839677a5eda20286d0488f4b989ff2d60a00d15a501",
"purpose": "WIIMOTE_PI"
},
{
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"first_line": 31,
"last_line": 31,
"first_line_text": "\t#define WIIUSE_DEBUG(fmt, ...)",
"last_line_text": "\t#define WIIUSE_DEBUG(fmt, ...)",
"sha256": "3eb11daa6ec4902683edfbebb54fdad73cf2f4c3933f69dbc9b247f579206283",
"purpose": "upstream disabled WIIUSE_DEBUG definition"
},
{
"source": "wiiuse/definitions.h",
"first_line": 44,
"last_line": 46,
"first_line_text": "/* Convert between radians and degrees */",
"last_line_text": "#define DEGREE_TO_RAD(d)\t(d * (WIIMOTE_PI / 180.0f))",
"sha256": "87d7ef0bdfb09bc9f8be97e6938bb3cd0cd48836114aa398e6152fffb05c5739",
"purpose": "RAD_TO_DEGREE, DEGREE_TO_RAD"
},
{
"source": "wiiuse/ir.c",
"first_line": 15,
"last_line": 16,
"first_line_text": "static int ir_correct_for_bounds(float* x, float* y, enum aspect_t aspect, int offset_x, int offset_y);",
"last_line_text": "static void ir_convert_to_vres(float* x, float* y, enum aspect_t aspect, unsigned int vx, unsigned int vy);",
"sha256": "c20c25c89c31d8bddd6a885163d9c91e351e71c218731efb54af55a5edaec2e7",
"purpose": "original private helper prototypes"
},
{
"source": "wiiuse/ir.c",
"first_line": 55,
"last_line": 144,
"first_line_text": "static void rotate_dots(struct fdot_t* in, struct fdot_t *out, int count, float ang) {",
"last_line_text": "}",
"sha256": "cd6b24d0cb478cdc61270a45a7410a614ac6678c821a91e1ad9cac9d3809fac2",
"purpose": "rotate_dots, ir_correct_for_bounds, ir_convert_to_vres"
},
{
"source": "wiiuse/ir.c",
"first_line": 438,
"last_line": 833,
"first_line_text": "// half-height of the IR sensor if half-width is 1",
"last_line_text": "}",
"sha256": "2e8465a163a1d35a1781136d1078d3532b75995cb07cedfb96e9759daca5e7c2",
"purpose": "all sensorbar, smoothing and interpretation constants; find_sensorbar, apply_ir_smoothing, interpret_ir_data, calc_yaw"
}
],
"header_sections": [
{
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},
{
"source": "gc/wiiuse/wiiuse.h",
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{
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{
"source": "gc/wiiuse/wiiuse.h",
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{
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"purpose": "ir_dot_t, fdot_t, sb_t, aspect_t, ir_t"
},
{
"source": "wiiuse/ir.c",
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"first_line_text": "enum {",
"last_line_text": "};",
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},
{
"source": "wiiuse/wiiuse_internal.h",
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"first_line_text": "/* aspect ratio */",
"last_line_text": "#define WM_ASPECT_4_3_Y\t\t420",
"sha256": "8a6b6501b9b4e8645b3201c03fa6c114e5e557cac64d7659a0ce7358cbb4f8fc",
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},
{
"source": "wiiuse/ir.h",
"first_line": 15,
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"first_line_text": "float calc_yaw(struct ir_t* ir);",
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"sha256": "1b6d1fa3431f094bd6f25e1c9d9bbba3f4fd73183581cfb6685902b43e067dd9",
"purpose": "calc_yaw and interpret_ir_data prototypes"
}
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{
"name": "rotate_dots",
"source": "wiiuse/ir.c",
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{
"name": "ir_correct_for_bounds",
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"source": "wiiuse/ir.c",
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"sha256": "69a457776dadbec16cf6b71213943751814992d1f4b56c9bd96ad5473ea6797e"
},
{
"name": "find_sensorbar",
"source": "wiiuse/ir.c",
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"sha256": "e0cb1843e92043a86705dd19bcbb248d4fb977fd8e3a4f2a215e9532d2ebfba9"
},
{
"name": "apply_ir_smoothing",
"source": "wiiuse/ir.c",
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"sha256": "9ab2e0cef3167f5a1b156c32b0972766d704e69d12a1b492e14870034d7f84f6"
},
{
"name": "interpret_ir_data",
"source": "wiiuse/ir.c",
"first_line": 766,
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},
{
"name": "calc_yaw",
"source": "wiiuse/ir.c",
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}
],
"omitted_ir_c_ranges": [
{
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"last_line": 14,
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},
{
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"reason": "get_ir_sens device sensitivity helper"
},
{
"first_line": 146,
"last_line": 429,
"reason": "device mode/enable/configuration/sensitivity and basic/extended Bluetooth report decoding"
}
],
"debug": "Original disabled macro is retained, then equivalently redefined as WIIUSE_DEBUG(...) for strict C11 calls with only a format argument; logging remains disabled"
},
"portable_header": {
"path": "ir.h",
"sha256": "73bb59ab64183b943e206687883095723a39fd8a5d160dc32a6e8526f6ca1b7b",
"local_additions": [
"dated provenance/license comment",
"SWITCH_PICO_LIBOGC_IR_H include guard",
"typedef float f32;",
"extern C wrapper for the four public functions",
"find_sensorbar and apply_ir_smoothing declarations matching upstream definitions"
]
},
"generated_c": {
"first_line": "#include \"libogc_ir/ir.h\"",
"standard_include": "#include <math.h>",
"local_additions": [
"dated provenance/license comment",
"blank separators",
"repository-relative #line directives before unchanged C sections",
"equivalent disabled WIIUSE_DEBUG(...) macro replaces GNU empty variadic-tail syntax for strict C11"
],
"body_and_constant_rewrites": [],
"io_stubs": [],
"compile_language": "C11",
"include_root": "external/",
"math_library": "link the platform math library when required"
},
"helper": {
"path": "tools/prepare_libogc_ir.py",
"cli": "python tools/prepare_libogc_ir.py --output build/libogc_ir.c",
"python_api": "prepare(output: pathlib.Path) -> pathlib.Path",
"dependencies": "Python standard library only; vendored local inputs; no network or Git needed",
"writes": "Requested output only, and only when generated bytes differ"
},
"adaptation_boundary": "The native relative-output adapter supplies decoded dots and orientation, consumes each camera sequence once, maps unbounded smoothed coordinates into relative USB scale and manages output baselines. No such behavior is inserted into these upstream algorithm bodies."
}

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/*
* Portable extraction of the libogc Wiiuse IR component, modified 2026-09-11.
* Original declarations are copied verbatim from the pinned libogc sources.
* This component remains under the GNU GPL with the libogc section 18 linking
* exception, explicitly extended to this modified version. See
* license_libogc.txt, libogc_license.txt, NOTICE.txt and UPSTREAM.json beside
* this header. The surrounding independent project is not relicensed.
* The original Wiiuse notice below is from upstream/wiiuse_internal.h.
*/
/*
* 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: /lvm/shared/ds/ds/cvs/devkitpro-cvsbackup/libogc/wiiuse/wiiuse_internal.h,v 1.8 2008-12-10 16:16:40 shagkur Exp $
*
*/
#ifndef SWITCH_PICO_LIBOGC_IR_H
#define SWITCH_PICO_LIBOGC_IR_H
typedef unsigned char ubyte;
typedef float f32;
/* IR correction types */
typedef enum ir_position_t {
WIIUSE_IR_ABOVE,
WIIUSE_IR_BELOW
} ir_position_t;
/**
* @struct orient_t
* @brief Orientation struct.
*
* Yaw, pitch, and roll range from -180 to 180 degrees.
*/
typedef struct orient_t {
float roll; /**< roll, this may be smoothed if enabled */
float pitch; /**< pitch, this may be smoothed if enabled */
float yaw;
float a_roll; /**< absolute roll, unsmoothed */
float a_pitch; /**< absolute pitch, unsmoothed */
} orient_t;
/**
* @struct ir_dot_t
* @brief A single IR source.
*/
typedef struct ir_dot_t {
ubyte visible; /**< if the IR source is visible */
short rx; /**< raw X coordinate (0-1023) */
short ry; /**< raw Y coordinate (0-767) */
ubyte size; /**< size of the IR dot (0-15) */
} ir_dot_t;
typedef struct fdot_t {
float x,y;
} fdot_t;
typedef struct sb_t {
fdot_t dots[2];
fdot_t acc_dots[2];
fdot_t rot_dots[2];
float angle;
float off_angle;
float score;
} sb_t;
/**
* @enum aspect_t
* @brief Screen aspect ratio.
*/
typedef enum aspect_t {
WIIUSE_ASPECT_4_3,
WIIUSE_ASPECT_16_9
} aspect_t;
/**
* @struct ir_t
* @brief IR struct. Hold all data related to the IR tracking.
*/
typedef struct ir_t {
struct ir_dot_t dot[4]; /**< IR dots */
ubyte num_dots; /**< number of dots at this time */
int state; /**< keeps track of the IR state */
int raw_valid; /**< is the raw position valid? */
sb_t sensorbar; /**< sensor bar, detected or guessed */
float ax; /**< raw X coordinate */
float ay; /**< raw Y coordinate */
float distance; /**< pixel width of the sensor bar */
float z; /**< calculated distance in meters */
float angle; /**< angle of the wiimote to the sensor bar*/
int smooth_valid; /**< is the smoothed position valid? */
float sx; /**< smoothed X coordinate */
float sy; /**< smoothed Y coordinate */
float error_cnt; /**< error count, for smoothing algorithm*/
float glitch_cnt; /**< glitch count, same */
int valid; /**< is the bounded position valid? */
float x; /**< bounded X coordinate */
float y; /**< bounded Y coordinate */
enum aspect_t aspect; /**< aspect ratio of the screen */
enum ir_position_t pos; /**< IR sensor bar position */
unsigned int vres[2]; /**< IR virtual screen resolution */
int offset[2]; /**< IR XY correction offset */
} ir_t;
enum {
IR_STATE_DEAD = 0,
IR_STATE_GOOD,
IR_STATE_SINGLE,
IR_STATE_LOST,
};
/* aspect ratio */
#define WM_ASPECT_16_9_X 660
#define WM_ASPECT_16_9_Y 370
#define WM_ASPECT_4_3_X 560
#define WM_ASPECT_4_3_Y 420
#ifdef __cplusplus
extern "C" {
#endif
float calc_yaw(struct ir_t* ir);
void interpret_ir_data(struct ir_t* ir, struct orient_t *orient);
void find_sensorbar(struct ir_t* ir, struct orient_t *orient);
void apply_ir_smoothing(struct ir_t *ir);
#ifdef __cplusplus
}
#endif
#endif /* SWITCH_PICO_LIBOGC_IR_H */

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Copyright (C) 2004 - 2009
Michael Wiedenbauer (shagkur)
Dave Murphy (WinterMute)
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any
damages arising from the use of this software.
Permission is granted to anyone to use this software for any
purpose, including commercial applications, and to alter it and
redistribute it freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you
must not claim that you wrote the original software. If you use
this software in a product, an acknowledgment in the product
documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and
must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source
distribution.

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This license is valid ONLY for libogc and what this license
defines as a "covered work" or a "combined work" with libogc.
GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
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terms of your choice, provided that you also meet, for each linked
independent module, the terms and conditions of the license of that
module. An independent module is a module which is not derived from or
based on this library. If you modify this library, you may extend this
exception to your version of the library, but you are not obligated to
do so. If you do not wish to do so, delete this exception statement from
your version.

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external/libogc_ir/upstream/definitions.h vendored Normal file
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#ifndef __DEFINITIONS_H__
#define __DEFINITIONS_H__
#include "os.h"
#define WIIMOTE_PI 3.14159265f
//#define WITH_WIIUSE_DEBUG
/* Error output macros */
#define WIIUSE_ERROR(fmt, ...) fprintf(stderr, "[ERROR] " fmt "\n", ##__VA_ARGS__)
/* Warning output macros */
#define WIIUSE_WARNING(fmt, ...) fprintf(stderr, "[WARNING] " fmt "\n", ##__VA_ARGS__)
/* Information output macros */
#define WIIUSE_INFO(fmt, ...) fprintf(stderr, "[INFO] " fmt "\n", ##__VA_ARGS__)
#ifdef WITH_WIIUSE_DEBUG
#ifdef WIN32
#define WIIUSE_DEBUG(fmt, ...) do { \
char* file = __FILE__; \
int i = strlen(file) - 1; \
for (; i && (file[i] != '\\'); --i); \
fprintf(stderr, "[DEBUG] %s:%i: " fmt "\n", file+i+1, __LINE__, ##__VA_ARGS__); \
} while (0)
#else
#define WIIUSE_DEBUG(fmt, ...) fprintf(stderr, "[DEBUG] " __FILE__ ":%i: " fmt "\n", __LINE__, ##__VA_ARGS__)
#endif
#else
#define WIIUSE_DEBUG(fmt, ...)
#endif
#if 1
#define WII_DEBUG(fmt, ...) do { \
printf("[WDEBUG] " __FILE__ ":%i: " fmt "\n", __LINE__, ##__VA_ARGS__); \
usleep(3000000); \
} while (0)
#else
#define WII_DEBUG(fmt, ...)
#endif
/* Convert between radians and degrees */
#define RAD_TO_DEGREE(r) ((r * 180.0f) / WIIMOTE_PI)
#define DEGREE_TO_RAD(d) (d * (WIIMOTE_PI / 180.0f))
/* Convert to big endian */
#define BIG_ENDIAN_LONG(i) (htonl(i))
#define BIG_ENDIAN_SHORT(i) (htons(i))
#define absf(x) ((x >= 0) ? (x) : (x * -1.0f))
#define diff_f(x, y) ((x >= y) ? (absf(x - y)) : (absf(y - x)))
#endif

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#include <stdio.h>
#include <math.h>
#include <time.h>
#ifndef WIN32
#include <unistd.h>
#endif
#ifdef GEKKO
#include <ogcsys.h>
#endif
#include "definitions.h"
#include "wiiuse_internal.h"
#include "ir.h"
static int ir_correct_for_bounds(float* x, float* y, enum aspect_t aspect, int offset_x, int offset_y);
static void ir_convert_to_vres(float* x, float* y, enum aspect_t aspect, unsigned int vx, unsigned int vy);
/**
* @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, char** block1, char** 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;
}
static void rotate_dots(struct fdot_t* in, struct fdot_t *out, int count, float ang) {
float s, c;
int i;
if (ang == 0) {
for (i = 0; i < count; ++i) {
out[i].x = in[i].x;
out[i].y = in[i].y;
}
return;
}
s = sin(DEGREE_TO_RAD(ang));
c = cos(DEGREE_TO_RAD(ang));
/*
* [ cos(theta) -sin(theta) ][ ir->rx ]
* [ sin(theta) cos(theta) ][ ir->ry ]
*/
for (i = 0; i < count; ++i) {
out[i].x = (c * in[i].x) + (-s * in[i].y);
out[i].y = (s * in[i].x) + (c * in[i].y);
}
}
/**
* @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(float* x, float* y, enum aspect_t aspect, int offset_x, int offset_y) {
float 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(float* x, float* y, enum aspect_t aspect, unsigned int vx, unsigned 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 = (*x / (float)xs) * vx;
*y = (*y / (float)ys) * vy;
}
void wiiuse_set_ir_mode(struct wiimote_t *wm)
{
ubyte 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, NULL);
}
void wiiuse_set_ir(struct wiimote_t *wm,int status)
{
ubyte buf = 0x00;
int ir_level = 0;
char* block1 = NULL;
char* block2 = NULL;
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)) {
WIIUSE_DEBUG("Tried to enable IR, will wait until handshake finishes.\n");
if(status)
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_IR_INIT);
else
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_IR_INIT);
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) || WIIMOTE_IS_SET(wm, WIIMOTE_STATE_WIIU_PRO)) {
wiiuse_status(wm,NULL);
return;
}
} else {
/* if already disabled then stop */
if (!WIIMOTE_IS_SET(wm, WIIMOTE_STATE_IR)) {
wiiuse_status(wm,NULL);
return;
}
}
buf = (status ? 0x04 : 0x00);
wiiuse_sendcmd(wm,WM_CMD_IR,&buf,1,NULL);
wiiuse_sendcmd(wm,WM_CMD_IR_2,&buf,1,NULL);
if (!status) {
WIIUSE_DEBUG("Disabled IR cameras for wiimote id %i.", wm->unid);
wiiuse_status(wm,NULL);
return;
}
/* enable IR, set sensitivity */
buf = 0x08;
wiiuse_write_data(wm,WM_REG_IR,&buf,1,NULL);
wiiuse_write_data(wm, WM_REG_IR_BLOCK1, (ubyte*)block1, 9, NULL);
wiiuse_write_data(wm, WM_REG_IR_BLOCK2, (ubyte*)block2, 2, NULL);
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, NULL);
wiiuse_status(wm,NULL);
return;
}
/**
* @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 + 70;
else if (wm->ir.aspect == WIIUSE_ASPECT_4_3)
wm->ir.offset[1] = -WM_ASPECT_4_3_Y/2 + 100;
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) {
char* block1 = NULL;
char* 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;
}
if(!WIIMOTE_IS_SET(wm,WIIMOTE_STATE_IR)) return;
/* set the new sensitivity */
get_ir_sens(wm, &block1, &block2);
wiiuse_write_data(wm, WM_REG_IR_BLOCK1, (ubyte*)block1, 9,NULL);
wiiuse_write_data(wm, WM_REG_IR_BLOCK2, (ubyte*)block2, 2,NULL);
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, ubyte* 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) {
dot[i].rx = BIG_ENDIAN_SHORT(dot[i].rx);
dot[i].ry = BIG_ENDIAN_SHORT(dot[i].ry);
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 */
}
}
#ifndef GEKKO
interpret_ir_data(&wm->ir,&wm->orient,WIIMOTE_IS_SET(wm, WIIMOTE_STATE_ACC));
#endif
}
/**
* @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, ubyte* 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];
dot[i].rx = BIG_ENDIAN_SHORT(dot[i].rx);
dot[i].ry = BIG_ENDIAN_SHORT(dot[i].ry);
dot[i].size = dot[i].size&0x0f;
/* if in range set to visible */
if (dot[i].ry == 1023)
dot[i].visible = 0;
else
dot[i].visible = 1;
}
#ifndef GEKKO
interpret_ir_data(&wm->ir,&wm->orient,WIIMOTE_IS_SET(wm, WIIMOTE_STATE_ACC));
#endif
}
enum {
IR_STATE_DEAD = 0,
IR_STATE_GOOD,
IR_STATE_SINGLE,
IR_STATE_LOST,
};
// half-height of the IR sensor if half-width is 1
#define HEIGHT (384.0f / 512.0f)
// maximum sensor bar slope (tan(35 degrees))
#define MAX_SB_SLOPE 0.7f
// minimum sensor bar width in view, relative to half of the IR sensor area
#define MIN_SB_WIDTH 0.1f
// reject "sensor bars" that happen to have a dot towards the middle
#define SB_MIDDOT_REJECT 0.05f
// physical dimensions
// cm center to center of emitters
#define SB_WIDTH 19.5f
// half-width in cm of emitters
#define SB_DOT_WIDTH 2.25f
// half-height in cm of emitters (with some tolerance)
#define SB_DOT_HEIGHT 1.0f
#define SB_DOT_WIDTH_RATIO (SB_DOT_WIDTH / SB_WIDTH)
#define SB_DOT_HEIGHT_RATIO (SB_DOT_HEIGHT / SB_WIDTH)
// dots further out than these coords are allowed to not be picked up
// otherwise assume something's wrong
//#define SB_OFF_SCREEN_X 0.8f
//#define SB_OFF_SCREEN_Y (0.8f * HEIGHT)
// disable, may be doing more harm than good due to sensor pickup glitches
#define SB_OFF_SCREEN_X 0.0f
#define SB_OFF_SCREEN_Y 0.0f
// if a point is closer than this to one of the previous SB points
// when it reappears, consider it the same instead of trying to guess
// which one of the two it is
#define SB_SINGLE_NOGUESS_DISTANCE (100.0 * 100.0)
// width of the sensor bar in pixels at one meter from the Wiimote
#define SB_Z_COEFFICIENT 256.0f
// distance in meters from the center of the FOV to the left or right edge,
// when the wiimote is at one meter
#define WIIMOTE_FOV_COEFFICIENT 0.39f
#define SQUARED(x) ((x)*(x))
#define WMAX(x,y) ((x>y)?(x):(y))
#define WMIN(x,y) ((x<y)?(x):(y))
/**
* @brief Interpret IR data into more user friendly variables.
*
* @param wm Pointer to a wiimote_t structure.
*/
void find_sensorbar(struct ir_t* ir, struct orient_t *orient) {
struct fdot_t dots[4];
struct fdot_t acc_dots[4];
struct sb_t cand;
struct sb_t candidates[6];
struct sb_t sb;
fdot_t difference;
int num_candidates = 0;
int i;
int j;
int first, second;
WIIUSE_DEBUG("IR: orient angle: %.02f\n",orient->roll);
/* count visible dots and populate dots structure */
/* dots[] is in -1..1 units for width */
ir->num_dots = 0;
for (i = 0; i < 4; i++) {
if (ir->dot[i].visible) {
dots[ir->num_dots].x = (ir->dot[i].rx - 512.0f) / 512.0f;
dots[ir->num_dots].y = (ir->dot[i].ry - 384.0f) / 512.0f;
WIIUSE_DEBUG("IR: dot %d at (%d,%d) (%.03f,%.03f)\n",ir->num_dots,ir->dot[i].rx,ir->dot[i].ry,dots[ir->num_dots].x,dots[ir->num_dots].y);
ir->num_dots++;
}
}
WIIUSE_DEBUG("IR: found %d dots\n",ir->num_dots);
// nothing to track
if(ir->num_dots == 0) {
if(ir->state != IR_STATE_DEAD)
ir->state = IR_STATE_LOST;
ir->ax = 0;
ir->ay = 0;
ir->distance = 0.0f;
ir->raw_valid = 0;
return;
}
/* ==== Find the Sensor Bar ==== */
// first rotate according to accelerometer orientation
rotate_dots(dots, acc_dots, ir->num_dots, orient->roll);
if(ir->num_dots > 1) {
WIIUSE_DEBUG("IR: locating sensor bar candidates\n");
// iterate through all dot pairs
for(first=0; first < (ir->num_dots-1); first++) {
for(second=(first+1); second < ir->num_dots; second++) {
WIIUSE_DEBUG("IR: trying dots %d and %d\n",first,second);
// order the dots leftmost first into cand
// storing both the raw dots and the accel-rotated dots
if(acc_dots[first].x > acc_dots[second].x) {
cand.dots[0] = dots[second];
cand.dots[1] = dots[first];
cand.acc_dots[0] = acc_dots[second];
cand.acc_dots[1] = acc_dots[first];
} else {
cand.dots[0] = dots[first];
cand.dots[1] = dots[second];
cand.acc_dots[0] = acc_dots[first];
cand.acc_dots[1] = acc_dots[second];
}
difference.x = cand.acc_dots[1].x - cand.acc_dots[0].x;
difference.y = cand.acc_dots[1].y - cand.acc_dots[0].y;
// check angle
if(fabsf(difference.y / difference.x) > MAX_SB_SLOPE)
continue;
WIIUSE_DEBUG("IR: passed angle check\n");
// rotate to the true sensor bar angle
cand.off_angle = -RAD_TO_DEGREE(atan2(difference.y, difference.x));
cand.angle = cand.off_angle + orient->roll;
rotate_dots(cand.dots, cand.rot_dots, 2, cand.angle);
WIIUSE_DEBUG("IR: off_angle: %.02f, angle: %.02f\n", cand.off_angle, cand.angle);
// recalculate x distance - y should be zero now, so ignore it
difference.x = cand.rot_dots[1].x - cand.rot_dots[0].x;
// check distance
if(difference.x < MIN_SB_WIDTH)
continue;
// middle dot check. If there's another source somewhere in the
// middle of this candidate, then this can't be a sensor bar
for(i=0; i<ir->num_dots; i++) {
float wadj, hadj;
struct fdot_t tdot;
if(i==first || i==second) continue;
hadj = SB_DOT_HEIGHT_RATIO * difference.x;
wadj = SB_DOT_WIDTH_RATIO * difference.x;
rotate_dots(&dots[i], &tdot, 1, cand.angle);
if( ((cand.rot_dots[0].x + wadj) < tdot.x) &&
((cand.rot_dots[1].x - wadj) > tdot.x) &&
((cand.rot_dots[0].y + hadj) > tdot.y) &&
((cand.rot_dots[0].y - hadj) < tdot.y))
break;
}
// failed middle dot check
if(i < ir->num_dots) continue;
WIIUSE_DEBUG("IR: passed middle dot check\n");
cand.score = 1 / (cand.rot_dots[1].x - cand.rot_dots[0].x);
// we have a candidate, store it
WIIUSE_DEBUG("IR: new candidate %d\n",num_candidates);
candidates[num_candidates++] = cand;
}
}
}
if(num_candidates == 0) {
int closest = -1;
int closest_to = 0;
float best = 999.0f;
float d;
float dx[2];
struct sb_t sbx[2];
// no sensor bar candidates, try to work with a lone dot
WIIUSE_DEBUG("IR: no candidates\n");
switch(ir->state) {
case IR_STATE_DEAD:
WIIUSE_DEBUG("IR: we're dead\n");
// we've never seen a sensor bar before, so we're screwed
ir->ax = 0.0f;
ir->ay = 0.0f;
ir->distance = 0.0f;
ir->raw_valid = 0;
return;
case IR_STATE_GOOD:
case IR_STATE_SINGLE:
case IR_STATE_LOST:
WIIUSE_DEBUG("IR: trying to keep track of single dot\n");
// try to find the dot closest to the previous sensor bar position
for(i=0; i<ir->num_dots; i++) {
WIIUSE_DEBUG("IR: checking dot %d (%.02f, %.02f)\n",i, acc_dots[i].x,acc_dots[i].y);
for(j=0; j<2; j++) {
WIIUSE_DEBUG(" to dot %d (%.02f, %.02f)\n",j, ir->sensorbar.acc_dots[j].x,ir->sensorbar.acc_dots[j].y);
d = SQUARED(acc_dots[i].x - ir->sensorbar.acc_dots[j].x);
d += SQUARED(acc_dots[i].y - ir->sensorbar.acc_dots[j].y);
if(d < best) {
best = d;
closest_to = j;
closest = i;
}
}
}
WIIUSE_DEBUG("IR: closest dot is %d to %d\n",closest,closest_to);
if(ir->state != IR_STATE_LOST || best < SB_SINGLE_NOGUESS_DISTANCE) {
// now work out where the other dot would be, in the acc frame
sb.acc_dots[closest_to] = acc_dots[closest];
sb.acc_dots[closest_to^1].x = ir->sensorbar.acc_dots[closest_to^1].x - ir->sensorbar.acc_dots[closest_to].x + acc_dots[closest].x;
sb.acc_dots[closest_to^1].y = ir->sensorbar.acc_dots[closest_to^1].y - ir->sensorbar.acc_dots[closest_to].y + acc_dots[closest].y;
// get the raw frame
rotate_dots(sb.acc_dots, sb.dots, 2, -orient->roll);
if((fabsf(sb.dots[closest_to^1].x) < SB_OFF_SCREEN_X) && (fabsf(sb.dots[closest_to^1].y) < SB_OFF_SCREEN_Y)) {
// this dot should be visible but isn't, since the candidate section failed.
// fall through and try to pick out the sensor bar without previous information
WIIUSE_DEBUG("IR: dot falls on screen, falling through\n");
} else {
// calculate the rotated dots frame
// angle tends to drift, so recalculate
sb.off_angle = -RAD_TO_DEGREE(atan2(sb.acc_dots[1].y - sb.acc_dots[0].y, sb.acc_dots[1].x - sb.acc_dots[0].x));
sb.angle = ir->sensorbar.off_angle + orient->roll;
rotate_dots(sb.acc_dots, sb.rot_dots, 2, ir->sensorbar.off_angle);
WIIUSE_DEBUG("IR: kept track of single dot\n");
break;
}
} else {
WIIUSE_DEBUG("IR: lost the dot and new one is too far away\n");
}
// try to find the dot closest to the sensor edge
WIIUSE_DEBUG("IR: trying to find best dot\n");
for(i=0; i<ir->num_dots; i++) {
d = WMIN(1.0f - fabsf(dots[i].x), HEIGHT - fabsf(dots[i].y));
if(d < best) {
best = d;
closest = i;
}
}
WIIUSE_DEBUG("IR: best dot: %d\n",closest);
// now try it as both places in the sensor bar
// and pick the one that places the other dot furthest off-screen
for(i=0; i<2; i++) {
sbx[i].acc_dots[i] = acc_dots[closest];
sbx[i].acc_dots[i^1].x = ir->sensorbar.acc_dots[i^1].x - ir->sensorbar.acc_dots[i].x + acc_dots[closest].x;
sbx[i].acc_dots[i^1].y = ir->sensorbar.acc_dots[i^1].y - ir->sensorbar.acc_dots[i].y + acc_dots[closest].y;
rotate_dots(sbx[i].acc_dots, sbx[i].dots, 2, -orient->roll);
dx[i] = WMAX(fabsf(sbx[i].dots[i^1].x),fabsf(sbx[i].dots[i^1].y / HEIGHT));
}
if(dx[0] > dx[1]) {
WIIUSE_DEBUG("IR: dot is LEFT: %.02f > %.02f\n",dx[0],dx[1]);
sb = sbx[0];
} else {
WIIUSE_DEBUG("IR: dot is RIGHT: %.02f < %.02f\n",dx[0],dx[1]);
sb = sbx[1];
}
// angle tends to drift, so recalculate
sb.off_angle = -RAD_TO_DEGREE(atan2(sb.acc_dots[1].y - sb.acc_dots[0].y, sb.acc_dots[1].x - sb.acc_dots[0].x));
sb.angle = ir->sensorbar.off_angle + orient->roll;
rotate_dots(sb.acc_dots, sb.rot_dots, 2, ir->sensorbar.off_angle);
WIIUSE_DEBUG("IR: found new dot to track\n");
break;
}
sb.score = 0;
ir->state = IR_STATE_SINGLE;
} else {
int bestidx = 0;
float best = 0.0f;
WIIUSE_DEBUG("IR: finding best candidate\n");
// look for the best candidate
// for now, the formula is simple: pick the one with the smallest distance
for(i=0; i<num_candidates; i++) {
if(candidates[i].score > best) {
bestidx = i;
best = candidates[i].score;
}
}
WIIUSE_DEBUG("IR: best candidate: %d\n",bestidx);
sb = candidates[bestidx];
ir->state = IR_STATE_GOOD;
}
ir->raw_valid = 1;
ir->ax = ((sb.rot_dots[0].x + sb.rot_dots[1].x) / 2) * 512.0 + 512.0;
ir->ay = ((sb.rot_dots[0].y + sb.rot_dots[1].y) / 2) * 512.0 + 384.0;
ir->sensorbar = sb;
ir->distance = (sb.rot_dots[1].x - sb.rot_dots[0].x) * 512.0;
}
#define SMOOTH_IR_RADIUS 8.0f
#define SMOOTH_IR_SPEED 0.25f
#define SMOOTH_IR_DEADZONE 2.5f
/**
* @brief Smooth the IR pointer position
*
* @param ir Pointer to an ir_t structure.
*/
void apply_ir_smoothing(struct ir_t *ir) {
f32 dx, dy, d, theta;
WIIUSE_DEBUG("Smooth: OK (%.02f, %.02f) LAST (%.02f, %.02f) ", ir->ax, ir->ay, ir->sx, ir->sy);
dx = ir->ax - ir->sx;
dy = ir->ay - ir->sy;
d = sqrtf(dx*dx + dy*dy);
if (d > SMOOTH_IR_DEADZONE) {
if (d < SMOOTH_IR_RADIUS) {
WIIUSE_DEBUG("INSIDE\n");
ir->sx += dx * SMOOTH_IR_SPEED;
ir->sy += dy * SMOOTH_IR_SPEED;
} else {
WIIUSE_DEBUG("OUTSIDE\n");
theta = atan2f(dy, dx);
ir->sx = ir->ax - cosf(theta) * SMOOTH_IR_RADIUS;
ir->sy = ir->ay - sinf(theta) * SMOOTH_IR_RADIUS;
}
} else {
WIIUSE_DEBUG("DEADZONE\n");
}
}
// max number of errors before cooked data drops out
#define ERROR_MAX_COUNT 8
// max number of glitches before cooked data updates
#define GLITCH_MAX_COUNT 5
// squared delta over which we consider something a glitch
#define GLITCH_DIST (150.0f * 150.0f)
/**
* @brief Interpret IR data into more user friendly variables.
*
* @param ir Pointer to an ir_t structure.
* @param orient Pointer to an orient_t structure.
*/
void interpret_ir_data(struct ir_t* ir, struct orient_t *orient) {
float x,y;
float d;
find_sensorbar(ir, orient);
if(ir->raw_valid) {
ir->angle = ir->sensorbar.angle;
ir->z = SB_Z_COEFFICIENT / ir->distance;
orient->yaw = calc_yaw(ir);
if(ir->error_cnt >= ERROR_MAX_COUNT) {
ir->sx = ir->ax;
ir->sy = ir->ay;
ir->glitch_cnt = 0;
} else {
d = SQUARED(ir->ax - ir->sx) + SQUARED(ir->ay - ir->sy);
if(d > GLITCH_DIST) {
if(ir->glitch_cnt > GLITCH_MAX_COUNT) {
apply_ir_smoothing(ir);
ir->glitch_cnt = 0;
} else {
ir->glitch_cnt++;
}
} else {
ir->glitch_cnt = 0;
apply_ir_smoothing(ir);
}
}
ir->smooth_valid = 1;
ir->error_cnt = 0;
} else {
if(ir->error_cnt >= ERROR_MAX_COUNT) {
ir->smooth_valid = 0;
} else {
ir->smooth_valid = 1;
ir->error_cnt++;
}
}
if(ir->smooth_valid) {
x = ir->sx;
y = ir->sy;
if (ir_correct_for_bounds(&x, &y, ir->aspect, ir->offset[0], ir->offset[1])) {
ir_convert_to_vres(&x, &y, ir->aspect, ir->vres[0], ir->vres[1]);
ir->x = x;
ir->y = y;
ir->valid = 1;
} else {
ir->valid = 0;
}
} else {
ir->valid = 0;
}
}
/**
* @brief Calculate yaw given the IR data.
*
* @param ir IR data structure.
*/
float calc_yaw(struct ir_t* ir) {
float x;
x = ir->ax - 512;
x *= WIIMOTE_FOV_COEFFICIENT / 512.0;
return RAD_TO_DEGREE( atanf(x) );
}

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#ifndef __IR_H__
#define __IR_H__
#include "wiiuse_internal.h"
#define WII_VRES_X 560
#define WII_VRES_Y 340
#ifdef __cplusplus
extern "C" {
#endif
void calculate_basic_ir(struct wiimote_t* wm, ubyte* data);
void calculate_extended_ir(struct wiimote_t* wm, ubyte* data);
float calc_yaw(struct ir_t* ir);
void interpret_ir_data(struct ir_t* ir, struct orient_t *orient);
#ifdef __cplusplus
}
#endif
#endif

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#ifndef __WIIUSE_H__
#define __WIIUSE_H__
#if defined(_WIN32)
/* windows */
#include <windows.h>
#elif defined(GEKKO)
/* wii */
#include <bte/bte.h>
#elif defined(__linux__)
/* nix */
#include <bluetooth/bluetooth.h>
#endif
#ifdef WIIUSE_INTERNAL_H_INCLUDED
#define WCONST
#else
#define WCONST const
#endif
/* led bit masks */
#define WIIMOTE_LED_NONE 0x00
#define WIIMOTE_LED_1 0x10
#define WIIMOTE_LED_2 0x20
#define WIIMOTE_LED_3 0x40
#define WIIMOTE_LED_4 0x80
/* button codes */
#define WIIMOTE_BUTTON_TWO 0x0001
#define WIIMOTE_BUTTON_ONE 0x0002
#define WIIMOTE_BUTTON_B 0x0004
#define WIIMOTE_BUTTON_A 0x0008
#define WIIMOTE_BUTTON_MINUS 0x0010
#define WIIMOTE_BUTTON_ZACCEL_BIT6 0x0020
#define WIIMOTE_BUTTON_ZACCEL_BIT7 0x0040
#define WIIMOTE_BUTTON_HOME 0x0080
#define WIIMOTE_BUTTON_LEFT 0x0100
#define WIIMOTE_BUTTON_RIGHT 0x0200
#define WIIMOTE_BUTTON_DOWN 0x0400
#define WIIMOTE_BUTTON_UP 0x0800
#define WIIMOTE_BUTTON_PLUS 0x1000
#define WIIMOTE_BUTTON_ZACCEL_BIT4 0x2000
#define WIIMOTE_BUTTON_ZACCEL_BIT5 0x4000
#define WIIMOTE_BUTTON_UNKNOWN 0x8000
#define WIIMOTE_BUTTON_ALL 0x1F9F
/* nunchul button codes */
#define NUNCHUK_BUTTON_Z 0x01
#define NUNCHUK_BUTTON_C 0x02
#define NUNCHUK_BUTTON_ALL 0x03
/* classic controller button codes */
#define CLASSIC_CTRL_BUTTON_UP 0x0001
#define CLASSIC_CTRL_BUTTON_LEFT 0x0002
#define CLASSIC_CTRL_BUTTON_ZR 0x0004
#define CLASSIC_CTRL_BUTTON_X 0x0008
#define CLASSIC_CTRL_BUTTON_A 0x0010
#define CLASSIC_CTRL_BUTTON_Y 0x0020
#define CLASSIC_CTRL_BUTTON_B 0x0040
#define CLASSIC_CTRL_BUTTON_ZL 0x0080
#define CLASSIC_CTRL_BUTTON_FULL_R 0x0200
#define CLASSIC_CTRL_BUTTON_PLUS 0x0400
#define CLASSIC_CTRL_BUTTON_HOME 0x0800
#define CLASSIC_CTRL_BUTTON_MINUS 0x1000
#define CLASSIC_CTRL_BUTTON_FULL_L 0x2000
#define CLASSIC_CTRL_BUTTON_DOWN 0x4000
#define CLASSIC_CTRL_BUTTON_RIGHT 0x8000
#define CLASSIC_CTRL_BUTTON_ALL 0xFEFF
/* guitar hero 3 button codes */
#define GUITAR_HERO_3_BUTTON_STRUM_UP 0x0001
#define GUITAR_HERO_3_BUTTON_YELLOW 0x0008
#define GUITAR_HERO_3_BUTTON_GREEN 0x0010
#define GUITAR_HERO_3_BUTTON_BLUE 0x0020
#define GUITAR_HERO_3_BUTTON_RED 0x0040
#define GUITAR_HERO_3_BUTTON_ORANGE 0x0080
#define GUITAR_HERO_3_BUTTON_PLUS 0x0400
#define GUITAR_HERO_3_BUTTON_MINUS 0x1000
#define GUITAR_HERO_3_BUTTON_STRUM_DOWN 0x4000
#define GUITAR_HERO_3_BUTTON_ALL 0xFEFF
/* guitar hero world tour touch bar codes */
#define GUITAR_HERO_3_TOUCH_AVAILABLE 0x1000
#define GUITAR_HERO_3_TOUCH_GREEN 0x1001
#define GUITAR_HERO_3_TOUCH_RED 0x1002
#define GUITAR_HERO_3_TOUCH_YELLOW 0x1004
#define GUITAR_HERO_3_TOUCH_BLUE 0x1008
#define GUITAR_HERO_3_TOUCH_ORANGE 0x1010
/* wiimote option flags */
#define WIIUSE_SMOOTHING 0x01
#define WIIUSE_CONTINUOUS 0x02
#define WIIUSE_ACCEL_THRESH 0x04
#define WIIUSE_IR_THRESH 0x08
#define WIIUSE_JS_THRESH 0x10
#define WIIUSE_INIT_FLAGS WIIUSE_SMOOTHING
#define WIIUSE_ORIENT_PRECISION 100.0f
/* expansion codes */
#define EXP_NONE 0
#define EXP_NUNCHUK 1
#define EXP_CLASSIC 2
#define EXP_GUITAR_HERO_3 3
#define EXP_WII_BOARD 4
#define EXP_MOTION_PLUS 5
/* IR correction types */
typedef enum ir_position_t {
WIIUSE_IR_ABOVE,
WIIUSE_IR_BELOW
} ir_position_t;
/**
* @brief Check if a button is pressed.
* @param dev Pointer to a wiimote_t or expansion structure.
* @param button The button you are interested in.
* @return 1 if the button is pressed, 0 if not.
*/
#define IS_PRESSED(dev, button) ((dev->btns & button) == button)
/**
* @brief Check if a button is being held.
* @param dev Pointer to a wiimote_t or expansion structure.
* @param button The button you are interested in.
* @return 1 if the button is held, 0 if not.
*/
#define IS_HELD(dev, button) ((dev->btns_held & button) == button)
/**
* @brief Check if a button is released on this event. \n\n
* This does not mean the button is not pressed, it means \n
* this button was just now released.
* @param dev Pointer to a wiimote_t or expansion structure.
* @param button The button you are interested in.
* @return 1 if the button is released, 0 if not.
*
*/
#define IS_RELEASED(dev, button) ((dev->btns_released & button) == button)
/**
* @brief Check if a button has just been pressed this event.
* @param dev Pointer to a wiimote_t or expansion structure.
* @param button The button you are interested in.
* @return 1 if the button is pressed, 0 if not.
*/
#define IS_JUST_PRESSED(dev, button) (IS_PRESSED(dev, button) && !IS_HELD(dev, button))
/**
* @brief Return the IR sensitivity level.
* @param wm Pointer to a wiimote_t structure.
* @param lvl [out] Pointer to an int that will hold the level setting.
* If no level is set 'lvl' will be set to 0.
*/
#define WIIUSE_GET_IR_SENSITIVITY(dev, lvl) \
do { \
if ((wm->state & 0x01000) == 0x01000) *lvl = 1; \
else if ((wm->state & 0x02000) == 0x02000) *lvl = 2; \
else if ((wm->state & 0x04000) == 0x04000) *lvl = 3; \
else if ((wm->state & 0x08000) == 0x08000) *lvl = 4; \
else if ((wm->state & 0x10000) == 0x10000) *lvl = 5; \
else *lvl = 0; \
} while (0)
#define WIIUSE_USING_ACC(wm) ((wm->state & 0x00100) == 0x00100)
#define WIIUSE_USING_EXP(wm) ((wm->state & 0x00200) == 0x00200)
#define WIIUSE_USING_IR(wm) ((wm->state & 0x00400) == 0x00400)
#define WIIUSE_USING_SPEAKER(wm) ((wm->state & 0x00800) == 0x00800)
#define WIIUSE_IS_LED_SET(wm, num) ((wm->leds & WIIMOTE_LED_##num) == WIIMOTE_LED_##num)
/*
* Largest known payload is 21 bytes.
* Add 2 for the prefix and round up to a power of 2.
*/
#define MAX_PAYLOAD 32
/*
* This is left over from an old hack, but it may actually
* be a useful feature to keep so it wasn't removed.
*/
#ifdef WIN32
#define WIIMOTE_DEFAULT_TIMEOUT 100
#define WIIMOTE_EXP_TIMEOUT 100
#endif
typedef unsigned char ubyte;
typedef char sbyte;
typedef unsigned short uword;
typedef short sword;
typedef unsigned int uint;
typedef char sint;
struct wiimote_t;
struct vec3b_t;
struct orient_t;
struct gforce_t;
#ifdef GEKKO
typedef void (*wii_event_cb)(struct wiimote_t*, s32 event);
#endif
/**
* @brief Callback that handles a read event.
*
* @param wm Pointer to a wiimote_t structure.
* @param data Pointer to the filled data block.
* @param len Length in bytes of the data block.
*
* @see wiiuse_init()
*
* A registered function of this type is called automatically by the wiiuse
* library when the wiimote has returned the full data requested by a previous
* call to wiiuse_read_data().
*/
typedef void (*wiiuse_data_cb)(struct wiimote_t* wm, ubyte* data, unsigned short len);
typedef enum data_req_s
{
REQ_READY = 0,
REQ_SENT,
REQ_DONE
} data_req_s;
/**
* @struct data_req_t
* @brief Data read request structure.
*/
struct data_req_t {
lwp_node node;
ubyte data[48]; /**< buffer where read data is written */
unsigned int len;
data_req_s state; /**< set to 1 if not using callback and needs to be cleaned up */
wiiuse_data_cb cb; /**< read data callback */
struct data_req_t *next;
};
typedef void (*cmd_blk_cb)(struct wiimote_t *wm,ubyte *data,uword len);
typedef enum cmd_blk_s
{
CMD_READY = 0,
CMD_SENT,
CMD_DONE
} cmd_blk_s;
struct cmd_blk_t
{
lwp_node node;
ubyte data[48];
uint len;
cmd_blk_s state;
cmd_blk_cb cb;
struct cmd_blk_t *next;
};
/**
* @struct vec2b_t
* @brief Unsigned x,y byte vector.
*/
typedef struct vec2b_t {
ubyte x, y;
} vec2b_t;
/**
* @struct vec3b_t
* @brief Unsigned x,y,z byte vector.
*/
typedef struct vec3b_t {
ubyte x, y, z;
} vec3b_t;
/**
* @struct vec3b_t
* @brief Unsigned x,y,z byte vector.
*/
typedef struct vec3w_t {
uword x, y, z;
} vec3w_t;
/**
* @struct vec3f_t
* @brief Signed x,y,z float struct.
*/
typedef struct vec3f_t {
float x, y, z;
} vec3f_t;
/**
* @struct orient_t
* @brief Orientation struct.
*
* Yaw, pitch, and roll range from -180 to 180 degrees.
*/
typedef struct orient_t {
float roll; /**< roll, this may be smoothed if enabled */
float pitch; /**< pitch, this may be smoothed if enabled */
float yaw;
float a_roll; /**< absolute roll, unsmoothed */
float a_pitch; /**< absolute pitch, unsmoothed */
} orient_t;
/**
* @struct gforce_t
* @brief Gravity force struct.
*/
typedef struct gforce_t {
float x, y, z;
} gforce_t;
/**
* @struct accel_t
* @brief Accelerometer struct. For any device with an accelerometer.
*/
typedef struct accel_t {
struct vec3w_t cal_zero; /**< zero calibration */
struct vec3w_t cal_g; /**< 1g difference around 0cal */
float st_roll; /**< last smoothed roll value */
float st_pitch; /**< last smoothed roll pitch */
float st_alpha; /**< alpha value for smoothing [0-1] */
} accel_t;
/**
* @struct ir_dot_t
* @brief A single IR source.
*/
typedef struct ir_dot_t {
ubyte visible; /**< if the IR source is visible */
short rx; /**< raw X coordinate (0-1023) */
short ry; /**< raw Y coordinate (0-767) */
ubyte size; /**< size of the IR dot (0-15) */
} ir_dot_t;
typedef struct fdot_t {
float x,y;
} fdot_t;
typedef struct sb_t {
fdot_t dots[2];
fdot_t acc_dots[2];
fdot_t rot_dots[2];
float angle;
float off_angle;
float score;
} sb_t;
/**
* @enum aspect_t
* @brief Screen aspect ratio.
*/
typedef enum aspect_t {
WIIUSE_ASPECT_4_3,
WIIUSE_ASPECT_16_9
} aspect_t;
/**
* @struct ir_t
* @brief IR struct. Hold all data related to the IR tracking.
*/
typedef struct ir_t {
struct ir_dot_t dot[4]; /**< IR dots */
ubyte num_dots; /**< number of dots at this time */
int state; /**< keeps track of the IR state */
int raw_valid; /**< is the raw position valid? */
sb_t sensorbar; /**< sensor bar, detected or guessed */
float ax; /**< raw X coordinate */
float ay; /**< raw Y coordinate */
float distance; /**< pixel width of the sensor bar */
float z; /**< calculated distance in meters */
float angle; /**< angle of the wiimote to the sensor bar*/
int smooth_valid; /**< is the smoothed position valid? */
float sx; /**< smoothed X coordinate */
float sy; /**< smoothed Y coordinate */
float error_cnt; /**< error count, for smoothing algorithm*/
float glitch_cnt; /**< glitch count, same */
int valid; /**< is the bounded position valid? */
float x; /**< bounded X coordinate */
float y; /**< bounded Y coordinate */
enum aspect_t aspect; /**< aspect ratio of the screen */
enum ir_position_t pos; /**< IR sensor bar position */
unsigned int vres[2]; /**< IR virtual screen resolution */
int offset[2]; /**< IR XY correction offset */
} ir_t;
/**
* @struct joystick_t
* @brief Joystick calibration structure.
*
* The angle \a ang is relative to the positive y-axis into quadrant I
* and ranges from 0 to 360 degrees. So if the joystick is held straight
* upwards then angle is 0 degrees. If it is held to the right it is 90,
* down is 180, and left is 270.
*
* The magnitude \a mag is the distance from the center to where the
* joystick is being held. The magnitude ranges from 0 to 1.
* If the joystick is only slightly tilted from the center the magnitude
* will be low, but if it is closer to the outter edge the value will
* be higher.
*/
typedef struct joystick_t {
struct vec2b_t max; /**< maximum joystick values */
struct vec2b_t min; /**< minimum joystick values */
struct vec2b_t center; /**< center joystick values */
struct vec2b_t pos; /**< raw position values */
float ang; /**< angle the joystick is being held */
float mag; /**< magnitude of the joystick (range 0-1) */
} joystick_t;
/**
* @struct nunchuk_t
* @brief Nunchuk expansion device.
*/
typedef struct nunchuk_t {
struct accel_t accel_calib; /**< nunchuk accelerometer calibration */
struct joystick_t js; /**< joystick calibration */
int* flags; /**< options flag (points to wiimote_t.flags) */
ubyte btns; /**< what buttons have just been pressed */
ubyte btns_last; /**< what buttons have just been pressed */
ubyte btns_held; /**< what buttons are being held down */
ubyte btns_released; /**< what buttons were just released this */
struct vec3w_t accel; /**< current raw acceleration data */
struct orient_t orient; /**< current orientation on each axis */
struct gforce_t gforce; /**< current gravity forces on each axis */
} nunchuk_t;
/**
* @struct classic_ctrl_t
* @brief Classic controller expansion device.
*/
typedef struct classic_ctrl_t {
short btns; /**< what buttons have just been pressed */
short btns_last; /**< what buttons have just been pressed */
short btns_held; /**< what buttons are being held down */
short btns_released; /**< what buttons were just released this */
ubyte rs_raw;
ubyte ls_raw;
float r_shoulder; /**< right shoulder button (range 0-1) */
float l_shoulder; /**< left shoulder button (range 0-1) */
struct joystick_t ljs; /**< left joystick calibration */
struct joystick_t rjs; /**< right joystick calibration */
ubyte type; /**< original, pro, wiiu pro */
} classic_ctrl_t;
/**
* @struct guitar_hero_3_t
* @brief Guitar Hero 3 expansion device.
*/
typedef struct guitar_hero_3_t {
short btns; /**< what buttons have just been pressed */
short btns_last; /**< what buttons have just been pressed */
short btns_held; /**< what buttons are being held down */
short btns_released; /**< what buttons were just released this */
ubyte wb_raw;
float whammy_bar; /**< whammy bar (range 0-1) */
ubyte tb_raw;
int touch_bar; /**< touch bar */
struct joystick_t js; /**< joystick calibration */
} guitar_hero_3_t;
/**
* @struct wii_board_t
* @brief Wii Balance Board expansion device.
*/
typedef struct wii_board_t {
float tl; /* Interpolated */
float tr;
float bl;
float br; /* End interp */
short rtl; /* RAW */
short rtr;
short rbl;
short rbr; /* /RAW */
short ctl[3]; /* Calibration */
short ctr[3];
short cbl[3];
short cbr[3]; /* /Calibration */
float x;
float y;
} wii_board_t;
typedef struct motion_plus_t
{
short rx, ry, rz;
ubyte status;
ubyte ext;
} motion_plus_t;
/**
* @struct expansion_t
* @brief Generic expansion device plugged into wiimote.
*/
typedef struct expansion_t {
int type; /**< type of expansion attached */
union {
struct nunchuk_t nunchuk;
struct classic_ctrl_t classic;
struct guitar_hero_3_t gh3;
struct wii_board_t wb;
struct motion_plus_t mp;
};
} expansion_t;
/**
* @enum win32_bt_stack_t
* @brief Available bluetooth stacks for Windows.
*/
typedef enum win_bt_stack_t {
WIIUSE_STACK_UNKNOWN,
WIIUSE_STACK_MS,
WIIUSE_STACK_BLUESOLEIL
} win_bt_stack_t;
/**
* @struct wiimote_state_t
* @brief Significant data from the previous event.
*/
typedef struct wiimote_state_t {
unsigned short btns;
struct ir_t ir;
struct vec3w_t accel;
struct expansion_t exp;
} wiimote_state_t;
/**
* @enum WIIUSE_EVENT_TYPE
* @brief Events that wiiuse can generate from a poll.
*/
typedef enum WIIUSE_EVENT_TYPE {
WIIUSE_NONE = 0,
WIIUSE_EVENT,
WIIUSE_STATUS,
WIIUSE_CONNECT,
WIIUSE_DISCONNECT,
WIIUSE_UNEXPECTED_DISCONNECT,
WIIUSE_READ_DATA,
WIIUSE_ACK,
WIIUSE_NUNCHUK_INSERTED,
WIIUSE_NUNCHUK_REMOVED,
WIIUSE_CLASSIC_CTRL_INSERTED,
WIIUSE_CLASSIC_CTRL_REMOVED,
WIIUSE_GUITAR_HERO_3_CTRL_INSERTED,
WIIUSE_GUITAR_HERO_3_CTRL_REMOVED,
WIIUSE_WII_BOARD_INSERTED,
WIIUSE_WII_BOARD_REMOVED,
WIIUSE_MOTION_PLUS_ACTIVATED,
WIIUSE_MOTION_PLUS_REMOVED
} WIIUSE_EVENT_TYPE;
/**
* @struct wiimote_t
* @brief Wiimote structure.
*/
typedef struct wiimote_t {
WCONST int unid; /**< user specified id */
#if defined(_WIN32)
WCONST HANDLE dev_handle; /**< HID handle */
WCONST OVERLAPPED hid_overlap; /**< overlap handle */
WCONST enum win_bt_stack_t stack; /**< type of bluetooth stack to use */
WCONST int timeout; /**< read timeout */
WCONST ubyte normal_timeout; /**< normal timeout */
WCONST ubyte exp_timeout; /**< timeout for expansion handshake */
#elif defined(GEKKO)
WCONST lwp_queue cmdq;
WCONST struct bd_addr bdaddr; /**< bt address */
WCONST char bdaddr_str[18]; /**< readable bt address */
WCONST struct bte_pcb *sock; /**< output socket */
WCONST wii_event_cb event_cb; /**< event callback */
#elif defined(unix)
WCONST bdaddr_t bdaddr; /**< bt address */
WCONST char bdaddr_str[18]; /**< readable bt address */
WCONST int out_sock; /**< output socket */
WCONST int in_sock; /**< input socket */
#endif
WCONST int state; /**< various state flags */
WCONST ubyte leds; /**< currently lit leds */
#ifdef GEKKO
WCONST ubyte battery_level; /**< battery level */
#else
WCONST float battery_level; /**< battery level */
#endif
WCONST int flags; /**< options flag */
WCONST ubyte handshake_state; /**< the state of the connection handshake */
WCONST ubyte expansion_state; /**< the state of the expansion handshake */
WCONST struct data_req_t* data_req; /**< list of data read requests */
WCONST struct cmd_blk_t *cmd_head;
WCONST struct cmd_blk_t *cmd_tail;
WCONST struct accel_t accel_calib; /**< wiimote accelerometer calibration */
WCONST struct expansion_t exp; /**< wiimote expansion device */
WCONST struct vec3w_t accel; /**< current raw acceleration data */
WCONST struct orient_t orient; /**< current orientation on each axis */
WCONST struct gforce_t gforce; /**< current gravity forces on each axis */
WCONST struct ir_t ir; /**< IR data */
WCONST unsigned short btns; /**< what buttons are down */
WCONST unsigned short btns_last; /**< what buttons were down before */
WCONST unsigned short btns_held; /**< what buttons are and were held down */
WCONST unsigned short btns_released; /**< what buttons were just released */
WCONST struct wiimote_state_t lstate; /**< last saved state */
WCONST WIIUSE_EVENT_TYPE event; /**< type of event that occured */
WCONST ubyte event_buf[MAX_PAYLOAD]; /**< event buffer */
WCONST ubyte motion_plus_id[6];
} wiimote;
#if defined(GEKKO)
/**
* @struct wiimote_listen_t
* @brief Wiimote listen structure.
*/
typedef struct wiimote_listen_t {
WCONST struct bd_addr bdaddr;
WCONST struct bte_pcb *sock;
WCONST struct wiimote_t *(*assign_cb)(struct bd_addr *bdaddr);
WCONST struct wiimote_t *wm;
} wiimote_listen;
#endif
/*****************************************
*
* Include API specific stuff
*
*****************************************/
#ifdef _WIN32
#define WIIUSE_EXPORT_DECL __declspec(dllexport)
#define WIIUSE_IMPORT_DECL __declspec(dllimport)
#else
#define WIIUSE_EXPORT_DECL
#define WIIUSE_IMPORT_DECL
#endif
#ifdef WIIUSE_COMPILE_LIB
#define WIIUSE_EXPORT WIIUSE_EXPORT_DECL
#else
#define WIIUSE_EXPORT WIIUSE_IMPORT_DECL
#endif
#ifdef __cplusplus
extern "C" {
#endif
/* wiiuse.c */
WIIUSE_EXPORT extern const char* wiiuse_version();
#ifndef GEKKO
WIIUSE_EXPORT extern struct wiimote_t** wiiuse_init(int wiimotes);
#else
WIIUSE_EXPORT extern int wiiuse_register(struct wiimote_listen_t *wml, struct bd_addr *bdaddr, struct wiimote_t *(*assign_cb)(struct bd_addr *bdaddr));
WIIUSE_EXPORT extern struct wiimote_t** wiiuse_init(int wiimotes, wii_event_cb event_cb);
WIIUSE_EXPORT extern void wiiuse_sensorbar_enable(int enable);
#endif
WIIUSE_EXPORT extern void wiiuse_disconnected(struct wiimote_t* wm);
WIIUSE_EXPORT extern void wiiuse_cleanup(struct wiimote_t** wm, int wiimotes);
WIIUSE_EXPORT extern void wiiuse_rumble(struct wiimote_t* wm, int status);
WIIUSE_EXPORT extern void wiiuse_toggle_rumble(struct wiimote_t* wm);
WIIUSE_EXPORT extern void wiiuse_set_leds(struct wiimote_t* wm, int leds,cmd_blk_cb cb);
WIIUSE_EXPORT extern void wiiuse_motion_sensing(struct wiimote_t* wm, int status);
WIIUSE_EXPORT extern int wiiuse_read_data(struct wiimote_t* wm, ubyte* buffer, unsigned int offset, unsigned short len, cmd_blk_cb cb);
WIIUSE_EXPORT extern int wiiuse_write_data(struct wiimote_t *wm,unsigned int addr,ubyte *data,ubyte len,cmd_blk_cb cb);
WIIUSE_EXPORT extern void wiiuse_status(struct wiimote_t *wm,cmd_blk_cb cb);
WIIUSE_EXPORT extern struct wiimote_t* wiiuse_get_by_id(struct wiimote_t** wm, int wiimotes, int unid);
WIIUSE_EXPORT extern int wiiuse_set_flags(struct wiimote_t* wm, int enable, int disable);
WIIUSE_EXPORT extern float wiiuse_set_smooth_alpha(struct wiimote_t* wm, float alpha);
WIIUSE_EXPORT extern void wiiuse_set_bluetooth_stack(struct wiimote_t** wm, int wiimotes, enum win_bt_stack_t type);
WIIUSE_EXPORT extern void wiiuse_resync(struct wiimote_t* wm);
WIIUSE_EXPORT extern void wiiuse_set_timeout(struct wiimote_t** wm, int wiimotes, ubyte normal_timeout, ubyte exp_timeout);
WIIUSE_EXPORT extern int wiiuse_write_streamdata(struct wiimote_t *wm,ubyte *data,ubyte len,cmd_blk_cb cb);
/* connect.c */
WIIUSE_EXPORT extern int wiiuse_find(struct wiimote_t** wm, int max_wiimotes, int timeout);
WIIUSE_EXPORT extern int wiiuse_connect(struct wiimote_t** wm, int wiimotes);
WIIUSE_EXPORT extern void wiiuse_disconnect(struct wiimote_t* wm);
/* events.c */
WIIUSE_EXPORT extern int wiiuse_poll(struct wiimote_t** wm, int wiimotes);
/* ir.c */
WIIUSE_EXPORT extern void wiiuse_set_ir_mode(struct wiimote_t *wm);
WIIUSE_EXPORT extern void wiiuse_set_ir(struct wiimote_t* wm, int status);
WIIUSE_EXPORT extern void wiiuse_set_ir_vres(struct wiimote_t* wm, unsigned int x, unsigned int y);
WIIUSE_EXPORT extern void wiiuse_set_ir_position(struct wiimote_t* wm, enum ir_position_t pos);
WIIUSE_EXPORT extern void wiiuse_set_aspect_ratio(struct wiimote_t* wm, enum aspect_t aspect);
WIIUSE_EXPORT extern void wiiuse_set_ir_sensitivity(struct wiimote_t* wm, int level);
/* motion_plus.c */
WIIUSE_EXPORT extern void wiiuse_set_motion_plus(struct wiimote_t *wm, int status);
/* speaker.c */
WIIUSE_EXPORT extern void wiiuse_set_speaker(struct wiimote_t *wm, int status);
#ifdef __cplusplus
}
#endif
#endif

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external/libogc_ir/upstream/wiiuse_internal.h vendored Normal file
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@ -0,0 +1,277 @@
/*
* 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: /lvm/shared/ds/ds/cvs/devkitpro-cvsbackup/libogc/wiiuse/wiiuse_internal.h,v 1.8 2008-12-10 16:16:40 shagkur Exp $
*
*/
/**
* @file
* @brief General internal wiiuse stuff.
*
* Since Wiiuse is a library, wiiuse.h is a duplicate
* of the API header.
*
* The code that would normally go in that file, but
* which is not needed by third party developers,
* is put here.
*
* So wiiuse_internal.h is included by other files
* internally, wiiuse.h is included only here.
*/
#ifndef WIIUSE_INTERNAL_H_INCLUDED
#define WIIUSE_INTERNAL_H_INCLUDED
#if defined(__linux__)
#include <arpa/inet.h> /* htons() */
#include <bluetooth/bluetooth.h>
#endif
#include "definitions.h"
/* wiiuse version */
#define WIIUSE_VERSION "0.12"
/********************
*
* Wiimote internal codes
*
********************/
/* Communication channels */
#define WM_OUTPUT_CHANNEL 0x11
#define WM_INPUT_CHANNEL 0x13
#define WM_SET_REPORT 0x50
#define WM_DATA 0xA0
/* commands */
#define WM_CMD_RUMBLE 0x10
#define WM_CMD_LED 0x11
#define WM_CMD_REPORT_TYPE 0x12
#define WM_CMD_IR 0x13
#define WM_CMD_SPEAKER_ENABLE 0x14
#define WM_CMD_CTRL_STATUS 0x15
#define WM_CMD_WRITE_DATA 0x16
#define WM_CMD_READ_DATA 0x17
#define WM_CMD_STREAM_DATA 0x18
#define WM_CMD_SPEAKER_MUTE 0x19
#define WM_CMD_IR_2 0x1A
/* input report ids */
#define WM_RPT_CTRL_STATUS 0x20
#define WM_RPT_READ 0x21
#define WM_RPT_ACK 0x22
#define WM_RPT_BTN 0x30
#define WM_RPT_BTN_ACC 0x31
#define WM_RPT_BTN_ACC_IR 0x33
#define WM_RPT_BTN_EXP 0x34
#define WM_RPT_BTN_ACC_EXP 0x35
#define WM_RPT_BTN_IR_EXP 0x36
#define WM_RPT_BTN_ACC_IR_EXP 0x37
#define WM_BT_INPUT 0x01
#define WM_BT_OUTPUT 0x02
/* Identify the wiimote device by its class */
#define WM_DEV_CLASS_0 0x04
#define WM_DEV_CLASS_1 0x25
#define WM_DEV_CLASS_2 0x00
#define WM_VENDOR_ID 0x057E
#define WM_PRODUCT_ID 0x0306
/* controller status stuff */
#define WM_MAX_BATTERY_CODE 0xC8
/* offsets in wiimote memory */
#define WM_MEM_OFFSET_CALIBRATION 0x16
#define WM_EXP_MEM_BASE 0x04A40000
#define WM_EXP_MEM_ENABLE1 0x04A400F0
#define WM_EXP_MEM_ENABLE2 0x04A400FB
#define WM_EXP_MEM_KEY 0x04A40040
#define WM_EXP_MEM_CALIBR 0x04A40020
#define WM_EXP_MOTION_PLUS_ENABLE 0x04A600FE
#define WM_EXP_ID 0x04A400FA
#define WM_REG_IR 0x04B00030
#define WM_REG_IR_BLOCK1 0x04B00000
#define WM_REG_IR_BLOCK2 0x04B0001A
#define WM_REG_IR_MODENUM 0x04B00033
#define WM_REG_SPEAKER_REG1 0x04A20001
#define WM_REG_SPEAKER_REG2 0x04A20008
#define WM_REG_SPEAKER_REG3 0x04A20009
#define WM_REG_SPEAKER_BLOCK 0x04A20001
/* ir block data */
#define WM_IR_BLOCK1_LEVEL1 "\x02\x00\x00\x71\x01\x00\x64\x00\xfe"
#define WM_IR_BLOCK2_LEVEL1 "\xfd\x05"
#define WM_IR_BLOCK1_LEVEL2 "\x02\x00\x00\x71\x01\x00\x96\x00\xb4"
#define WM_IR_BLOCK2_LEVEL2 "\xb3\x04"
#define WM_IR_BLOCK1_LEVEL3 "\x02\x00\x00\x71\x01\x00\xaa\x00\x64"
#define WM_IR_BLOCK2_LEVEL3 "\x63\x03"
#define WM_IR_BLOCK1_LEVEL4 "\x02\x00\x00\x71\x01\x00\xc8\x00\x36"
#define WM_IR_BLOCK2_LEVEL4 "\x35\x03"
#define WM_IR_BLOCK1_LEVEL5 "\x07\x00\x00\x71\x01\x00\x72\x00\x20"
#define WM_IR_BLOCK2_LEVEL5 "\x1f\x03"
#define WM_IR_TYPE_BASIC 0x01
#define WM_IR_TYPE_EXTENDED 0x03
#define WM_IR_TYPE_FULL 0x05
/* controller status flags for the first message byte */
/* bit 1 is unknown */
#define WM_CTRL_STATUS_BYTE1_ATTACHMENT 0x02
#define WM_CTRL_STATUS_BYTE1_SPEAKER_ENABLED 0x04
#define WM_CTRL_STATUS_BYTE1_IR_ENABLED 0x08
#define WM_CTRL_STATUS_BYTE1_LED_1 0x10
#define WM_CTRL_STATUS_BYTE1_LED_2 0x20
#define WM_CTRL_STATUS_BYTE1_LED_3 0x40
#define WM_CTRL_STATUS_BYTE1_LED_4 0x80
/* aspect ratio */
#define WM_ASPECT_16_9_X 660
#define WM_ASPECT_16_9_Y 370
#define WM_ASPECT_4_3_X 560
#define WM_ASPECT_4_3_Y 420
/**
* Expansion stuff
*/
/* encrypted expansion id codes (located at 0x04A400FC) */
#define EXP_ID_CODE_NUNCHUK 0xa4200000
#define EXP_ID_CODE_CLASSIC_CONTROLLER 0xa4200101
#define EXP_ID_CODE_CLASSIC_CONTROLLER_NYKOWING 0x90908f00
#define EXP_ID_CODE_CLASSIC_CONTROLLER_NYKOWING2 0x9e9f9c00
#define EXP_ID_CODE_CLASSIC_CONTROLLER_NYKOWING3 0x908f8f00
#define EXP_ID_CODE_CLASSIC_CONTROLLER_GENERIC 0xa5a2a300
#define EXP_ID_CODE_CLASSIC_CONTROLLER_GENERIC2 0x98999900
#define EXP_ID_CODE_CLASSIC_CONTROLLER_GENERIC3 0xa0a1a000
#define EXP_ID_CODE_CLASSIC_CONTROLLER_GENERIC4 0x8d8d8e00
#define EXP_ID_CODE_CLASSIC_CONTROLLER_GENERIC5 0x93949400
#define EXP_ID_CODE_CLASSIC_WIIU_PRO 0xa4200120
#define EXP_ID_CODE_GUITAR 0xa4200103
#define EXP_ID_CODE_WIIBOARD 0xa4200402
#define EXP_ID_CODE_MOTION_PLUS 0xa4200405
#define EXP_HANDSHAKE_LEN 224
/********************
*
* End Wiimote internal codes
*
********************/
/* wiimote state flags - (some duplicated in wiiuse.h)*/
#define WIIMOTE_STATE_DEV_FOUND 0x00001
//#define WIIMOTE_STATE_DEV_REGISTER 0x00002
#define WIIMOTE_STATE_HANDSHAKE 0x00004 /* actual connection exists but no handshake yet */
#define WIIMOTE_STATE_HANDSHAKE_COMPLETE 0x00008 /* actual connection exists but no handshake yet */
#define WIIMOTE_STATE_CONNECTED 0x00010
#define WIIMOTE_STATE_EXP_HANDSHAKE 0x00020 /* actual connection exists but no handshake yet */
#define WIIMOTE_STATE_EXP_FAILED 0x00040 /* actual connection exists but no handshake yet */
#define WIIMOTE_STATE_RUMBLE 0x00080
#define WIIMOTE_STATE_ACC 0x00100
#define WIIMOTE_STATE_EXP 0x00200
#define WIIMOTE_STATE_IR 0x00400
#define WIIMOTE_STATE_SPEAKER 0x00800
#define WIIMOTE_STATE_IR_SENS_LVL1 0x01000
#define WIIMOTE_STATE_IR_SENS_LVL2 0x02000
#define WIIMOTE_STATE_IR_SENS_LVL3 0x04000
#define WIIMOTE_STATE_IR_SENS_LVL4 0x08000
#define WIIMOTE_STATE_IR_SENS_LVL5 0x10000
#define WIIMOTE_STATE_IR_INIT 0x20000
#define WIIMOTE_STATE_SPEAKER_INIT 0x40000
#define WIIMOTE_STATE_WIIU_PRO 0x80000
#define WIIMOTE_INIT_STATES (WIIMOTE_STATE_IR_SENS_LVL3)
/* macro to manage states */
#define WIIMOTE_IS_SET(wm, s) ((wm->state & (s)) == (s))
#define WIIMOTE_ENABLE_STATE(wm, s) (wm->state |= (s))
#define WIIMOTE_DISABLE_STATE(wm, s) (wm->state &= ~(s))
#define WIIMOTE_TOGGLE_STATE(wm, s) ((wm->state & (s)) ? WIIMOTE_DISABLE_STATE(wm, s) : WIIMOTE_ENABLE_STATE(wm, s))
#define WIIMOTE_IS_FLAG_SET(wm, s) ((wm->flags & (s)) == (s))
#define WIIMOTE_ENABLE_FLAG(wm, s) (wm->flags |= (s))
#define WIIMOTE_DISABLE_FLAG(wm, s) (wm->flags &= ~(s))
#define WIIMOTE_TOGGLE_FLAG(wm, s) ((wm->flags & (s)) ? WIIMOTE_DISABLE_FLAG(wm, s) : WIIMOTE_ENABLE_FLAG(wm, s))
#define NUNCHUK_IS_FLAG_SET(wm, s) ((*(wm->flags) & (s)) == (s))
/* misc macros */
#define WIIMOTE_ID(wm) (wm->unid)
#define WIIMOTE_IS_CONNECTED(wm) (WIIMOTE_IS_SET(wm, WIIMOTE_STATE_CONNECTED))
/*
* Smooth tilt calculations are computed with the
* exponential moving average formula:
* St = St_last + (alpha * (tilt - St_last))
* alpha is between 0 and 1
*/
#define WIIUSE_DEFAULT_SMOOTH_ALPHA 0.3f
#define SMOOTH_ROLL 0x01
#define SMOOTH_PITCH 0x02
#include <wiiuse/wiiuse.h>
#ifdef __cplusplus
extern "C" {
#endif
struct op_t
{
ubyte cmd;
union {
struct {
uint addr;
uword size;
} readdata;
struct {
uint addr;
ubyte size;
ubyte data[16];
} writedata;
ubyte __data[MAX_PAYLOAD];
};
void *buffer;
int wait;
} __attribute__((packed));
/* not part of the api */
void wiiuse_init_cmd_queue(struct wiimote_t *wm);
void wiiuse_send_next_command(struct wiimote_t *wm);
int wiiuse_set_report_type(struct wiimote_t* wm,cmd_blk_cb cb);
int wiiuse_sendcmd(struct wiimote_t *wm,ubyte report_type,ubyte *msg,int len,cmd_blk_cb cb);
#ifdef __cplusplus
}
#endif
#endif /* WIIUSE_INTERNAL_H_INCLUDED */