root/libcwiid/cwiid.h

Revision 1a6f4671cbdc7bd54db8046818012c5e3a20264b, 9.1 kB (checked in by L. Donnie Smith <donnie.smith@…>, 2 years ago)

Basic support for cwiid_listen
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1/* Copyright (C) 2007 L. Donnie Smith <donnie.smith@gatech.edu>
2 *
3 *  This program is free software; you can redistribute it and/or modify
4 *  it under the terms of the GNU General Public License as published by
5 *  the Free Software Foundation; either version 2 of the License, or
6 *  (at your option) any later version.
7 *
8 *  This program is distributed in the hope that it will be useful,
9 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
10 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
11 *  GNU General Public License for more details.
12 *
13 *  You should have received a copy of the GNU General Public License
14 *  along with this program; if not, write to the Free Software
15 *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
16 *
17 */
18
19#ifndef CWIID_H
20#define CWIID_H
21
22#include <stdarg.h>
23#include <stdint.h>
24#include <time.h>
25#include <bluetooth/bluetooth.h>        /* bdaddr_t */
26
27/* Flags */
28#define CWIID_FLAG_MESG_IFC             0x01
29#define CWIID_FLAG_CONTINUOUS   0x02
30#define CWIID_FLAG_REPEAT_BTN   0x04
31#define CWIID_FLAG_NONBLOCK             0x08
32#define CWIID_FLAG_MOTIONPLUS   0x10
33
34/* Report Mode Flags */
35#define CWIID_RPT_STATUS                0x01
36#define CWIID_RPT_BTN                   0x02
37#define CWIID_RPT_ACC                   0x04
38#define CWIID_RPT_IR                    0x08
39#define CWIID_RPT_NUNCHUK               0x10
40#define CWIID_RPT_CLASSIC               0x20
41#define CWIID_RPT_BALANCE               0x40
42#define CWIID_RPT_MOTIONPLUS    0x80
43#define CWIID_RPT_EXT           (CWIID_RPT_NUNCHUK | CWIID_RPT_CLASSIC | \
44                             CWIID_RPT_BALANCE | CWIID_RPT_MOTIONPLUS)
45
46/* LED flags */
47#define CWIID_LED1_ON   0x01
48#define CWIID_LED2_ON   0x02
49#define CWIID_LED3_ON   0x04
50#define CWIID_LED4_ON   0x08
51
52/* Button flags */
53#define CWIID_BTN_2             0x0001
54#define CWIID_BTN_1             0x0002
55#define CWIID_BTN_B             0x0004
56#define CWIID_BTN_A             0x0008
57#define CWIID_BTN_MINUS 0x0010
58#define CWIID_BTN_HOME  0x0080
59#define CWIID_BTN_LEFT  0x0100
60#define CWIID_BTN_RIGHT 0x0200
61#define CWIID_BTN_DOWN  0x0400
62#define CWIID_BTN_UP    0x0800
63#define CWIID_BTN_PLUS  0x1000
64
65#define CWIID_NUNCHUK_BTN_Z     0x01
66#define CWIID_NUNCHUK_BTN_C     0x02
67
68#define CWIID_CLASSIC_BTN_UP    0x0001
69#define CWIID_CLASSIC_BTN_LEFT  0x0002
70#define CWIID_CLASSIC_BTN_ZR    0x0004
71#define CWIID_CLASSIC_BTN_X             0x0008
72#define CWIID_CLASSIC_BTN_A             0x0010
73#define CWIID_CLASSIC_BTN_Y             0x0020
74#define CWIID_CLASSIC_BTN_B             0x0040
75#define CWIID_CLASSIC_BTN_ZL    0x0080
76#define CWIID_CLASSIC_BTN_R             0x0200
77#define CWIID_CLASSIC_BTN_PLUS  0x0400
78#define CWIID_CLASSIC_BTN_HOME  0x0800
79#define CWIID_CLASSIC_BTN_MINUS 0x1000
80#define CWIID_CLASSIC_BTN_L             0x2000
81#define CWIID_CLASSIC_BTN_DOWN  0x4000
82#define CWIID_CLASSIC_BTN_RIGHT 0x8000
83
84/* Send Report flags */
85#define CWIID_SEND_RPT_NO_RUMBLE    0x01
86
87/* Data Read/Write flags */
88#define CWIID_RW_EEPROM 0x00
89#define CWIID_RW_REG    0x04
90#define CWIID_RW_DECODE 0x00
91
92/* Maximum Data Read Length */
93#define CWIID_MAX_READ_LEN      0xFFFF
94
95/* Array Index Defs */
96#define CWIID_X         0
97#define CWIID_Y         1
98#define CWIID_Z         2
99#define CWIID_PHI       0
100#define CWIID_THETA     1
101#define CWIID_PSI       2
102
103/* Acc Defs */
104#define CWIID_ACC_MAX   0xFF
105
106/* IR Defs */
107#define CWIID_IR_SRC_COUNT      4
108#define CWIID_IR_X_MAX          1024
109#define CWIID_IR_Y_MAX          768
110
111/* Battery */
112#define CWIID_BATTERY_MAX       0xD0
113
114/* Classic Controller Maxes */
115#define CWIID_CLASSIC_L_STICK_MAX       0x3F
116#define CWIID_CLASSIC_R_STICK_MAX       0x1F
117#define CWIID_CLASSIC_LR_MAX    0x1F
118
119/* Environment Variables */
120#define WIIMOTE_BDADDR  "WIIMOTE_BDADDR"
121
122/* Callback Maximum Message Count */
123#define CWIID_MAX_MESG_COUNT    5
124
125/* Enumerations */
126enum cwiid_command {
127        CWIID_CMD_STATUS,
128        CWIID_CMD_LED,
129        CWIID_CMD_RUMBLE,
130        CWIID_CMD_RPT_MODE
131};
132
133enum cwiid_mesg_type {
134        CWIID_MESG_STATUS,
135        CWIID_MESG_BTN,
136        CWIID_MESG_ACC,
137        CWIID_MESG_IR,
138        CWIID_MESG_NUNCHUK,
139        CWIID_MESG_CLASSIC,
140        CWIID_MESG_BALANCE,
141        CWIID_MESG_MOTIONPLUS,
142        CWIID_MESG_ERROR,
143        CWIID_MESG_UNKNOWN
144};
145
146enum cwiid_ext_type {
147        CWIID_EXT_NONE,
148        CWIID_EXT_NUNCHUK,
149        CWIID_EXT_CLASSIC,
150        CWIID_EXT_BALANCE,
151        CWIID_EXT_MOTIONPLUS,
152        CWIID_EXT_UNKNOWN
153};
154
155enum cwiid_error {
156        CWIID_ERROR_NONE,
157        CWIID_ERROR_DISCONNECT,
158        CWIID_ERROR_COMM
159};
160
161struct acc_cal {
162        uint8_t zero[3];
163        uint8_t one[3];
164};
165
166struct balance_cal {
167        uint16_t right_top[3];
168        uint16_t right_bottom[3];
169        uint16_t left_top[3];
170        uint16_t left_bottom[3];
171};
172
173/* Message Structs */
174struct cwiid_status_mesg {
175        enum cwiid_mesg_type type;
176        uint8_t battery;
177        enum cwiid_ext_type ext_type;
178};     
179
180struct cwiid_btn_mesg {
181        enum cwiid_mesg_type type;
182        uint16_t buttons;
183};
184
185struct cwiid_acc_mesg {
186        enum cwiid_mesg_type type;
187        uint8_t acc[3];
188};
189
190struct cwiid_ir_src {
191        char valid;
192        uint16_t pos[2];
193        int8_t size;
194};
195
196struct cwiid_ir_mesg {
197        enum cwiid_mesg_type type;
198        struct cwiid_ir_src src[CWIID_IR_SRC_COUNT];
199};
200
201struct cwiid_nunchuk_mesg {
202        enum cwiid_mesg_type type;
203        uint8_t stick[2];
204        uint8_t acc[3];
205        uint8_t buttons;
206};
207
208struct cwiid_classic_mesg {
209        enum cwiid_mesg_type type;
210        uint8_t l_stick[2];
211        uint8_t r_stick[2];
212        uint8_t l;
213        uint8_t r;
214        uint16_t buttons;
215};
216
217struct cwiid_balance_mesg {
218        enum cwiid_mesg_type type;
219        uint16_t right_top;
220        uint16_t right_bottom;
221        uint16_t left_top;
222        uint16_t left_bottom;
223};
224
225struct cwiid_motionplus_mesg {
226        enum cwiid_mesg_type type;
227        uint16_t angle_rate[3];
228        uint8_t low_speed[3];
229};
230
231struct cwiid_error_mesg {
232        enum cwiid_mesg_type type;
233        enum cwiid_error error;
234};
235
236union cwiid_mesg {
237        enum cwiid_mesg_type type;
238        struct cwiid_status_mesg status_mesg;
239        struct cwiid_btn_mesg btn_mesg;
240        struct cwiid_acc_mesg acc_mesg;
241        struct cwiid_ir_mesg ir_mesg;
242        struct cwiid_nunchuk_mesg nunchuk_mesg;
243        struct cwiid_classic_mesg classic_mesg;
244        struct cwiid_balance_mesg balance_mesg;
245        struct cwiid_motionplus_mesg motionplus_mesg;
246        struct cwiid_error_mesg error_mesg;
247};
248
249/* State Structs */
250struct nunchuk_state {
251        uint8_t stick[2];
252        uint8_t acc[3];
253        uint8_t buttons;
254};
255
256struct classic_state {
257        uint8_t l_stick[2];
258        uint8_t r_stick[2];
259        uint8_t l;
260        uint8_t r;
261        uint16_t buttons;
262};
263
264struct balance_state {
265        uint16_t right_top;
266        uint16_t right_bottom;
267        uint16_t left_top;
268        uint16_t left_bottom;
269};
270
271struct motionplus_state {
272        uint16_t angle_rate[3];
273        uint8_t low_speed[3];
274};
275
276union ext_state {
277        struct nunchuk_state nunchuk;
278        struct classic_state classic;
279        struct balance_state balance;
280        struct motionplus_state motionplus;
281};
282
283struct cwiid_state {
284        uint8_t rpt_mode;
285        uint8_t led;
286        uint8_t rumble;
287        uint8_t battery;
288        uint16_t buttons;
289        uint8_t acc[3];
290        struct cwiid_ir_src ir_src[CWIID_IR_SRC_COUNT];
291        enum cwiid_ext_type ext_type;
292        union ext_state ext;
293        enum cwiid_error error;
294};
295
296/* Typedefs */
297typedef struct wiimote cwiid_wiimote_t;
298
299typedef void cwiid_mesg_callback_t(cwiid_wiimote_t *, int,
300                                   union cwiid_mesg [], struct timespec *);
301typedef void cwiid_err_t(cwiid_wiimote_t *, const char *, va_list ap);
302
303/* get_bdinfo */
304#define BT_NO_WIIMOTE_FILTER 0x01
305#define BT_NAME_LEN 32
306
307struct cwiid_bdinfo {
308        bdaddr_t bdaddr;
309        uint8_t btclass[3];
310        char name[BT_NAME_LEN];
311};
312
313#ifdef __cplusplus
314extern "C" {
315#endif
316
317/* Error reporting (library wide) */
318int cwiid_set_err(cwiid_err_t *err);
319void cwiid_err_default(struct wiimote *wiimote, const char *str, va_list ap);
320
321/* Connection */
322#define cwiid_connect cwiid_open
323#define cwiid_disconnect cwiid_close
324cwiid_wiimote_t *cwiid_open(bdaddr_t *bdaddr, int flags);
325cwiid_wiimote_t *cwiid_open_timeout(bdaddr_t *bdaddr, int flags, int timeout);
326cwiid_wiimote_t *cwiid_listen(int flags);
327int cwiid_close(cwiid_wiimote_t *wiimote);
328
329int cwiid_get_id(cwiid_wiimote_t *wiimote);
330int cwiid_set_data(cwiid_wiimote_t *wiimote, const void *data);
331const void *cwiid_get_data(cwiid_wiimote_t *wiimote);
332int cwiid_enable(cwiid_wiimote_t *wiimote, int flags);
333int cwiid_disable(cwiid_wiimote_t *wiimote, int flags);
334
335/* Interfaces */
336int cwiid_set_mesg_callback(cwiid_wiimote_t *wiimote,
337                       cwiid_mesg_callback_t *callback);
338int cwiid_get_mesg(cwiid_wiimote_t *wiimote, int *mesg_count,
339                   union cwiid_mesg *mesg[], struct timespec *timestamp);
340int cwiid_get_state(cwiid_wiimote_t *wiimote, struct cwiid_state *state);
341int cwiid_get_acc_cal(struct wiimote *wiimote, enum cwiid_ext_type ext_type,
342                      struct acc_cal *acc_cal);
343int cwiid_get_balance_cal(struct wiimote *wiimote,
344                          struct balance_cal *balance_cal);
345
346/* Operations */
347int cwiid_command(cwiid_wiimote_t *wiimote, enum cwiid_command command,
348                  int flags);
349int cwiid_send_rpt(cwiid_wiimote_t *wiimote, uint8_t flags, uint8_t report,
350                   size_t len, const void *data);
351int cwiid_request_status(cwiid_wiimote_t *wiimote);
352int cwiid_set_led(cwiid_wiimote_t *wiimote, uint8_t led);
353int cwiid_set_rumble(cwiid_wiimote_t *wiimote, uint8_t rumble);
354int cwiid_set_rpt_mode(cwiid_wiimote_t *wiimote, uint8_t rpt_mode);
355int cwiid_read(cwiid_wiimote_t *wiimote, uint8_t flags, uint32_t offset,
356               uint16_t len, void *data);
357int cwiid_write(cwiid_wiimote_t *wiimote, uint8_t flags, uint32_t offset,
358                uint16_t len, const void *data);
359/* int cwiid_beep(cwiid_wiimote_t *wiimote); */
360
361/* HCI functions */
362int cwiid_get_bdinfo_array(int dev_id, unsigned int timeout, int max_bdinfo,
363                           struct cwiid_bdinfo **bdinfo, uint8_t flags);
364int cwiid_find_wiimote(bdaddr_t *bdaddr, int timeout);
365
366#ifdef __cplusplus
367}
368#endif
369
370#endif
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