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Added expansion detection from fWiine

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Added gyro rate calculations & calibrations from WiiC

Conflicts:

	src/events.c
	src/io.c
	src/motion_plus.c
	src/wiiuse_internal.h
This commit is contained in:
Jan Ciger
2011-09-14 09:12:33 -05:00
committed by Ryan Pavlik
parent 80e8fa37ac
commit 9ae7f37396
4 changed files with 149 additions and 47 deletions
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17
src/motion_plus.c
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@@ -53,6 +53,7 @@ void wiiuse_motion_plus_handshake(struct wiimote_t *wm,byte *data,unsigned short
{
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_EXP_FAILED);
WIIMOTE_DISABLE_STATE(wm, WIIMOTE_STATE_EXP_HANDSHAKE);
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_EXP); /* tell wiimote to include exp. data in reports */
val = from_big_endian_uint32_t(data + 2);
@@ -103,6 +104,7 @@ void wiiuse_motion_plus_handshake(struct wiimote_t *wm,byte *data,unsigned short
wm->exp.mp.ext_initialized = 0;
wiiuse_set_ir_mode(wm);
wiiuse_set_report_type(wm);
}
}
}
@@ -129,7 +131,7 @@ void wiiuse_set_motion_plus(struct wiimote_t *wm, int status)
{
WIIMOTE_ENABLE_STATE(wm, WIIMOTE_STATE_EXP_HANDSHAKE);
val = (status == 1) ? 0x04 : 0x05;
wiiuse_write_data_cb(wm, WM_EXP_MOTION_PLUS_ENABLE, &val, 1, wiiuse_motion_plus_check);
wiiuse_write_data_cb(wm, WM_EXP_MOTION_PLUS_ENABLE, &val, 1, wiiuse_motion_plus_handshake);
}
else
{
@@ -165,10 +167,15 @@ void motion_plus_event(struct motion_plus_t* mp, int exp_type, byte* msg)
mp->raw_gyro.y = ((msg[3] & 0xFC) << 6) | msg[0];
/* First calibration */
if ((mp->raw_gyro.r > 5000) && (mp->raw_gyro.p > 5000) && (mp->raw_gyro.y > 5000) &&
!(mp->cal_gyro.r)
&& !(mp->cal_gyro.p)
&& !(mp->cal_gyro.y))
if ((mp->raw_gyro.r > 5000) &&
(mp->raw_gyro.p > 5000) &&
(mp->raw_gyro.y > 5000) &&
(mp->raw_gyro.r < 0x3fff) &&
(mp->raw_gyro.p < 0x3fff) &&
(mp->raw_gyro.y < 0x3fff) &&
!(mp->cal_gyro.r) &&
!(mp->cal_gyro.p) &&
!(mp->cal_gyro.y))
{
wiiuse_calibrate_motion_plus(mp);
}