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ESP32Wiimote.cpp
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ESP32Wiimote.cpp
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// Copyright (c) 2020 Daiki Yasuda
//
// This is licensed under
// - Creative Commons Attribution-NonCommercial 3.0 Unported
// - https://creativecommons.org/licenses/by-nc/3.0/
// - Or see LICENSE.md
//
// The short of it is...
// You are free to:
// Share — copy and redistribute the material in any medium or format
// Adapt — remix, transform, and build upon the material
// Under the following terms:
// NonCommercial — You may not use the material for commercial purposes.
#define CONFIG_CLASSIC_BT_ENABLED
#include <stdint.h>
#include <string.h>
#include <stdbool.h>
#include <stdio.h>
#include "nvs.h"
#include "nvs_flash.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "Arduino.h"
#include "esp_bt.h"
#include <HardwareSerial.h>
#include "time.h"
#include "sys/time.h"
#include "ESP32Wiimote.h"
#include "TinyWiimote.h"
#define WIIMOTE_VERBOSE 0
#if WIIMOTE_VERBOSE
#define VERBOSE_PRINT(...) Serial.printf(__VA_ARGS__)
#define VERBOSE_PRINTLN(...) Serial.println(__VA_ARGS__)
#else
#define VERBOSE_PRINT(...) do {} while(0)
#define VERBOSE_PRINTLN(...) do {} while(0)
#endif
#define RX_QUEUE_SIZE 32
#define TX_QUEUE_SIZE 32
xQueueHandle ESP32Wiimote::rxQueue = NULL;
xQueueHandle ESP32Wiimote::txQueue = NULL;
const TwHciInterface ESP32Wiimote::tinywii_hci_interface = {
ESP32Wiimote::hciHostSendPacket
};
esp_vhci_host_callback_t ESP32Wiimote::vhci_callback;
ESP32Wiimote::ESP32Wiimote(void)
{
_pNunchukState = &_nunchukStateA;
_pOldNunchukState = &_nunchukStateB;
_nunStickThreshold = NUNCHUK_STICK_THRESHOLD * NUNCHUK_STICK_THRESHOLD;
_filter = FILTER_NONE;
}
void ESP32Wiimote::notifyHostSendAvailable(void) {
VERBOSE_PRINT("notifyHostSendAvailable\n");
if(!TinyWiimoteDeviceIsInited()){
TinyWiimoteResetDevice();
}
}
void ESP32Wiimote::createQueue(void) {
txQueue = xQueueCreate(TX_QUEUE_SIZE, sizeof(queuedata_t*));
if (txQueue == NULL){
VERBOSE_PRINTLN("xQueueCreate(txQueue) failed");
return;
}
rxQueue = xQueueCreate(RX_QUEUE_SIZE, sizeof(queuedata_t*));
if (rxQueue == NULL){
VERBOSE_PRINTLN("xQueueCreate(rxQueue) failed");
return;
}
}
void ESP32Wiimote::handleTxQueue(void) {
if(uxQueueMessagesWaiting(txQueue)){
bool ok = esp_vhci_host_check_send_available();
VERBOSE_PRINT("esp_vhci_host_check_send_available=%d", ok);
if(ok){
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));
free(queuedata);
}
}
}
}
void ESP32Wiimote::handleRxQueue(void) {
if(uxQueueMessagesWaiting(rxQueue)){
queuedata_t *queuedata = NULL;
if(xQueueReceive(rxQueue, &queuedata, 0) == pdTRUE){
handleHciData(queuedata->data, queuedata->len);
free(queuedata);
}
}
}
esp_err_t ESP32Wiimote::sendQueueData(xQueueHandle queue, uint8_t *data, size_t len) {
VERBOSE_PRINTLN("sendQueueData");
if(!data || !len){
VERBOSE_PRINTLN("no data");
return ESP_OK;
}
queuedata_t * queuedata = (queuedata_t*)malloc(sizeof(queuedata_t) + len);
if(!queuedata){
VERBOSE_PRINTLN("malloc failed");
return ESP_FAIL;
}
queuedata->len = len;
memcpy(queuedata->data, data, len);
if (xQueueSend(queue, &queuedata, portMAX_DELAY) != pdPASS) {
VERBOSE_PRINTLN("xQueueSend failed");
free(queuedata);
return ESP_FAIL;
}
return ESP_OK;
}
void ESP32Wiimote::hciHostSendPacket(uint8_t *data, size_t len) {
sendQueueData(txQueue, data, len);
}
int ESP32Wiimote::notifyHostRecv(uint8_t *data, uint16_t len) {
VERBOSE_PRINT("notifyHostRecv:");
for (int i = 0; i < len; i++)
{
VERBOSE_PRINT(" %02x", data[i]);
}
VERBOSE_PRINTLN("");
if(ESP_OK == sendQueueData(rxQueue, data, len)){
return ESP_OK;
}else{
return ESP_FAIL;
}
}
void ESP32Wiimote::init(void)
{
TinyWiimoteInit(tinywii_hci_interface);
createQueue();
vhci_callback.notify_host_recv = notifyHostRecv;
vhci_callback.notify_host_send_available = notifyHostSendAvailable;
esp_bt_controller_config_t bt_cfg = BT_CONTROLLER_INIT_CONFIG_DEFAULT();
if (!btStart()) {
Serial.printf( "btStart() failed\n");
return;
}
esp_err_t ret;
if ((ret = esp_vhci_host_register_callback(&vhci_callback)) != ESP_OK) {
return;
}
}
void ESP32Wiimote::task(void)
{
if(!btStarted()){
return;
}
handleTxQueue();
handleRxQueue();
}
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;
}
// 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;
}
// 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;
}
// check accel change
int accelIsChanged = false;
if (_filter & FILTER_NUNCHUK_ACCEL) {
; // ignore
}
else {
accelIsChanged = true;
}
stateIsAvailable =
( buttonIsChanged
| nunchukStickIsChanged
| nunchukButtonIsChanged
| accelIsChanged
);
}
return stateIsAvailable;
}
uint16_t ESP32Wiimote::getButtonState(void)
{
return _buttonState;
}
NunchukState ESP32Wiimote::getNunchukState(void)
{
return *_pNunchukState;
}
void ESP32Wiimote::addFilter(int action, int filter) {
if (action == ACTION_IGNORE) {
_filter = _filter | filter;
}
}