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Accelerometer data of Wiimote (and improved output) #6

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Accelerometer data of Wiimote (and improved output) #6

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6bae807
added Nunchuck Buttons to ButtonState, changed stick threshold
hrgraf Oct 21, 2020
e2463d2
added Wiimote accelerometer data
hrgraf Oct 21, 2020
b0e6eac
data reporting depends on useAccelerometer; changed D-Pad orientation
hrgraf Oct 22, 2020
fd0904a
updated example
hrgraf Oct 22, 2020
af6c006
updated README
hrgraf Oct 22, 2020
b00c19a
Update README.md
hrgraf Oct 27, 2020
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227 changes: 150 additions & 77 deletions ESP32Wiimote.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@
// Under the following terms:
// NonCommercial — You may not use the material for commercial purposes.

#define CONFIG_CLASSIC_BT_ENABLED
//#define CONFIG_CLASSIC_BT_ENABLED 1

#include <stdint.h>
#include <string.h>
Expand Down Expand Up @@ -42,6 +42,9 @@
#define VERBOSE_PRINTLN(...) do {} while(0)
#endif

//#define UNVERBOSE_PRINT(...) Serial.printf(__VA_ARGS__)
#define UNVERBOSE_PRINT(...) do {} while(0)

#define RX_QUEUE_SIZE 32
#define TX_QUEUE_SIZE 32
xQueueHandle ESP32Wiimote::rxQueue = NULL;
Expand All @@ -53,11 +56,9 @@ const TwHciInterface ESP32Wiimote::tinywii_hci_interface = {

esp_vhci_host_callback_t ESP32Wiimote::vhci_callback;

ESP32Wiimote::ESP32Wiimote(void)
ESP32Wiimote::ESP32Wiimote(int NUNCHUK_STICK_THRESHOLD)
{
_pNunchukState = &_nunchukStateA;
_pOldNunchukState = &_nunchukStateB;
_nunStickThreshold = NUNCHUK_STICK_THRESHOLD * NUNCHUK_STICK_THRESHOLD;
_nunStickThreshold = NUNCHUK_STICK_THRESHOLD;
_filter = FILTER_NONE;
}

Expand Down Expand Up @@ -89,7 +90,7 @@ void ESP32Wiimote::handleTxQueue(void) {
queuedata_t *queuedata = NULL;
if(xQueueReceive(txQueue, &queuedata, 0) == pdTRUE){
esp_vhci_host_send_packet(queuedata->data, queuedata->len);
VERBOSE_PRINT("SEND => %s", format2Hex(queuedata->data, queuedata->len));
UNVERBOSE_PRINT("SEND => %s\n", format2Hex(queuedata->data, queuedata->len));
free(queuedata);
}
}
Expand Down Expand Up @@ -119,6 +120,7 @@ esp_err_t ESP32Wiimote::sendQueueData(xQueueHandle queue, uint8_t *data, size_t
}
queuedata->len = len;
memcpy(queuedata->data, data, len);
UNVERBOSE_PRINT("RECV <= %s\n", format2Hex(queuedata->data, queuedata->len));
if (xQueueSend(queue, &queuedata, portMAX_DELAY) != pdPASS) {
VERBOSE_PRINTLN("xQueueSend failed");
free(queuedata);
Expand Down Expand Up @@ -176,99 +178,170 @@ void ESP32Wiimote::task(void)

int ESP32Wiimote::available(void)
{
int stateIsAvailable = TinyWiimoteAvailable();
if (stateIsAvailable) {
NunchukState *pTmpNunchuck;

_gotData = TinyWiimoteRead();

// update old button state
_oldButtonState = _buttonState;

// update button state
_buttonState = 0;
_buttonState = (_gotData.data[TWII_OFFSET_BTNS1] << 8) | _gotData.data[TWII_OFFSET_BTNS2];

// update old nunchuck state(= exchange nunchuk state area)
pTmpNunchuck = _pOldNunchukState;
_pOldNunchukState = _pNunchukState;
_pNunchukState = pTmpNunchuck;

// update nunchuk state
_pNunchukState->xStick = _gotData.data[TWII_OFFSET_EXTCTRL + 0];
_pNunchukState->yStick = _gotData.data[TWII_OFFSET_EXTCTRL + 1];
_pNunchukState->xAxis = _gotData.data[TWII_OFFSET_EXTCTRL + 2];
_pNunchukState->yAxis = _gotData.data[TWII_OFFSET_EXTCTRL + 3];
_pNunchukState->zAxis = _gotData.data[TWII_OFFSET_EXTCTRL + 4];
_pNunchukState->cBtn = ((_gotData.data[TWII_OFFSET_EXTCTRL + 5] & 0x02) >> 1) ^ 0x01;
_pNunchukState->zBtn = (_gotData.data[TWII_OFFSET_EXTCTRL + 5] & 0x01) ^ 0x01;

// check button change
int buttonIsChanged = false;
if (_filter & FILTER_REMOTE_BUTTON) {
; // ignore
}
else if (_buttonState != _oldButtonState) {
buttonIsChanged = true;
}
int offs = 0;
int buttonIsChanged = false;
// int nunchukButtonIsChanged = false;
int accelIsChanged = false;
int nunchukStickIsChanged = false;
uint8_t cBtn = 0;
uint8_t zBtn = 0;

if (! TinyWiimoteAvailable())
return 0;

TinyWiimoteData rd = TinyWiimoteRead();

if (rd.len < 4) //
return 0;
if (rd.data[0] != 0xA1) // no data input
return 0;

// update old states
_oldButtonState = _buttonState;
_oldAccelState = _accelState;
_oldNunchukState = _nunchukState;

if ((rd.data[1] >= 0x30) && (rd.data[1] <= 0x37)) // data report with button data
offs = 2;

if (offs) // update button state
_buttonState = (ButtonState)((rd.data[offs + 0] << 8) | rd.data[offs + 1]);

// get accelerometer offset
switch (rd.data[1])
{
case 0x31: offs = 4; break; // Core Buttons and Accelerometer
case 0x35: offs = 4; break; // Core Buttons and Accelerometer with 16 Extension Bytes
default: offs = 0;
}

// check nunchuk stick change
int nunchukStickIsChanged = false;
int nunXStickDelta = (int)(_pNunchukState->xStick) - _pOldNunchukState->xStick;
int nunYStickDelta = (int)(_pNunchukState->yStick) - _pOldNunchukState->yStick;
int nunStickDelta = (nunXStickDelta*nunXStickDelta + nunYStickDelta*nunYStickDelta) / 2;
if (_filter & FILTER_NUNCHUK_STICK) {
; // ignore
}
else if (nunStickDelta >= _nunStickThreshold) {
nunchukStickIsChanged = true;
}
if (offs) // update accelerometer
{
_accelState.xAxis = rd.data[offs + 0];
_accelState.yAxis = rd.data[offs + 1];
_accelState.zAxis = rd.data[offs + 2];

// check accel change
if (_filter & FILTER_ACCEL) {
; // ignore
}
else {
accelIsChanged = true;
}
}
else
{
_accelState.xAxis = 0;
_accelState.yAxis = 0;
_accelState.zAxis = 0;
}

// check nunchuk button change
int nunchukButtonIsChanged = false;
if (_filter & FILTER_NUNCHUK_BUTTON) {
; // ignore
}
else if (
(_pNunchukState->cBtn != _pOldNunchukState->cBtn)
|| (_pNunchukState->zBtn != _pOldNunchukState->zBtn)
) {
nunchukButtonIsChanged = true;
}
// get extension offset
switch (rd.data[1])
{
case 0x32: offs = 4; break; // Core Buttons with 8 Extension bytes
case 0x35: offs = 7; break; // Core Buttons and Accelerometer with 16 Extension Bytes
default: offs = 0;
}

if (offs) // update nunchuk state
{
_nunchukState.xStick = rd.data[offs + 0];
_nunchukState.yStick = rd.data[offs + 1];
_nunchukState.xAxis = rd.data[offs + 2];
_nunchukState.yAxis = rd.data[offs + 3];
_nunchukState.zAxis = rd.data[offs + 4];

// update nunchuk buttons
cBtn = ((rd.data[offs + 5] & 0x02) >> 1) ^ 0x01;
zBtn = (rd.data[offs + 5] & 0x01) ^ 0x01;
}
else
{
_nunchukState.xStick = 0;
_nunchukState.yStick = 0;
_nunchukState.xAxis = 0;
_nunchukState.yAxis = 0;
_nunchukState.zAxis = 0;
}


// check accel change
int accelIsChanged = false;
if (_filter & FILTER_NUNCHUK_ACCEL) {
// add nunchuk buttons
if (cBtn)
_buttonState = (ButtonState)((int)_buttonState | BUTTON_C);
if (zBtn)
_buttonState = (ButtonState)((int)_buttonState | BUTTON_Z);

// check button change
if (_filter & FILTER_BUTTON) {
; // ignore
}
else {
accelIsChanged = true;
}
}
else if (_buttonState != _oldButtonState) {
buttonIsChanged = true;
}

stateIsAvailable =
// check nunchuk stick change
if (offs)
{
int nunXStickDelta = (int)(_nunchukState.xStick) - _oldNunchukState.xStick;
int nunYStickDelta = (int)(_nunchukState.yStick) - _oldNunchukState.yStick;
int nunStickDelta = (nunXStickDelta*nunXStickDelta + nunYStickDelta*nunYStickDelta);
if (_filter & FILTER_NUNCHUK_STICK) {
; // ignore
}
else if (nunStickDelta >= _nunStickThreshold) {
nunchukStickIsChanged = true;
}

// // check nunchuk button change
// if (_filter & FILTER_NUNCHUK_BUTTON) {
// ; // ignore
// }
// else if (
// (_pNunchukState->cBtn != _pOldNunchukState->cBtn)
// || (_pNunchukState->zBtn != _pOldNunchukState->zBtn)
// ) {
// nunchukButtonIsChanged = true;
// }

// check accel change
if (_filter & FILTER_ACCEL) {
; // ignore
}
else {
accelIsChanged = true;
}
}

return
( buttonIsChanged
| nunchukStickIsChanged
| nunchukButtonIsChanged
// | nunchukButtonIsChanged
| accelIsChanged
);

}
return stateIsAvailable;
}

uint16_t ESP32Wiimote::getButtonState(void)
ButtonState ESP32Wiimote::getButtonState(void)
{
return _buttonState;
}

AccelState ESP32Wiimote::getAccelState(void)
{
return _accelState;
}

NunchukState ESP32Wiimote::getNunchukState(void)
{
return *_pNunchukState;
return _nunchukState;
}

void ESP32Wiimote::addFilter(int action, int filter) {
if (action == ACTION_IGNORE) {
_filter = _filter | filter;

if (filter & FILTER_ACCEL)
TinyWiimoteReqAccelerometer(false);
}
}

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