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Changed the initial handshake to be synchronous

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Made the Motion+ init a lot more robust
Code cleanup
This commit is contained in:
Jan Ciger
2012-01-15 04:43:09 +01:00
committed by Ryan Pavlik
parent ce9e1b6156
commit 2e347bc523
6 changed files with 268 additions and 9 deletions
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69
src/motion_plus.c
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@@ -30,6 +30,7 @@
#include "motion_plus.h"
#include "wiiuse_internal.h" /* for endian conversions */
#include "events.h" /* for disable_expansion */
#include "ir.h" /* for wiiuse_set_ir_mode */
#include "nunchuk.h" /* for nunchuk_pressed_buttons */
@@ -42,6 +43,68 @@ static void wiiuse_calibrate_motion_plus(struct motion_plus_t *mp);
static void calculate_gyro_rates(struct motion_plus_t* mp);
void wiiuse_probe_motion_plus(struct wiimote_t *wm)
{
byte buf[32];
unsigned id;
wiiuse_read(wm, 0, WM_EXP_MOTION_PLUS_IDENT, 6, buf);
/* check error code */
if(buf[4] & 0x0f)
{
WIIUSE_DEBUG("No Motion+ available, stopping probe.");
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_MPLUS_PRESENT);
return;
}
/* decode the id*/
id = from_big_endian_uint32_t(buf + 2);
if(id != EXP_ID_CODE_INACTIVE_MOTION_PLUS &&
id != EXP_ID_CODE_NLA_MOTION_PLUS &&
id != EXP_ID_CODE_NLA_MOTION_PLUS_NUNCHUK &&
id != EXP_ID_CODE_NLA_MOTION_PLUS_CLASSIC)
{
/* we have read something weird */
WIIUSE_DEBUG("Motion+ ID doesn't match, probably not connected.");
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_MPLUS_PRESENT);
return;
}
WIIUSE_DEBUG("Detected inactive Motion+!");
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_MPLUS_PRESENT);
/* init M+ */
buf[0] = 0x55;
wiiuse_write_data(wm, WM_EXP_MOTION_PLUS_INIT, buf, 1);
/* Init whatever is hanging on the pass-through port */
buf[0] = 0x55;
wiiuse_write_data(wm, WM_EXP_MEM_ENABLE1, buf, 1);
buf[0] = 0x00;
wiiuse_write_data(wm, WM_EXP_MEM_ENABLE2, buf, 1);
/* Init gyroscope data */
wm->exp.mp.cal_gyro.roll = 0;
wm->exp.mp.cal_gyro.pitch = 0;
wm->exp.mp.cal_gyro.yaw = 0;
wm->exp.mp.orient.roll = 0.0;
wm->exp.mp.orient.pitch = 0.0;
wm->exp.mp.orient.yaw = 0.0;
wm->exp.mp.raw_gyro_threshold = 10;
wm->exp.mp.nc = &(wm->exp.nunchuk);
wm->exp.mp.classic = &(wm->exp.classic);
wm->exp.nunchuk.flags = &wm->flags;
wm->exp.mp.ext = 0;
wiiuse_set_ir_mode(wm);
wiiuse_set_report_type(wm);
}
void wiiuse_motion_plus_handshake(struct wiimote_t *wm,byte *data,unsigned short len)
{
uint32_t val;
@@ -133,7 +196,11 @@ void wiiuse_set_motion_plus(struct wiimote_t *wm, int status)
{
byte val;
if(status && !WIIMOTE_IS_SET(wm,WIIMOTE_STATE_EXP_HANDSHAKE))
if(!WIIMOTE_IS_SET(wm, WIIMOTE_STATE_MPLUS_PRESENT) ||
WIIMOTE_IS_SET(wm, WIIMOTE_STATE_EXP_HANDSHAKE))
return;
if(status)
{
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_EXP_HANDSHAKE);
val = (status == 1) ? 0x04 : 0x05;