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# # old_revision [65df00aa2705ce33fd74f4dd706d2879fe99b2b0] # new_revision [23a3e9a50b4034343e3bd217d2c225dcaec064dd] # # patch "wmp.c" # from [9acbe9ae30b2b7c95b8a700f4f7bb97c38097e21] # to [1ab4017652548447277e83cf1697442cb7c6949b] # ============================================================ --- wmp.c 9acbe9ae30b2b7c95b8a700f4f7bb97c38097e21 +++ wmp.c 1ab4017652548447277e83cf1697442cb7c6949b @@ -2,9 +2,29 @@ #include "wmp.h" #include "i2c.h" #include "uart.h" +#include "dcm.h" +#include "fisqrt.h" -unsigned char wmp_init_command[2] = {0xfe, 0x04}; +#define WMP_ZERO_COUNT 100 + +#define ACCEL_ZERO_X 520 +#define ACCEL_ZERO_Y 516 +#define ACCEL_ZERO_Z 514 + +/* +516, 510, 710 +-4, -6, 196 +16, 36, 38416 = 38468 +sqrt(38468) = 196.1326... +... somehow once we scale by gravity we get almost exactly 0.05. +*/ + +#define ACCEL_SCALE 0.05 + +/* Nunchuck pass-through mode */ +unsigned char wmp_init_command[2] = {0xfe, 0x05}; + i2c_result wmp_result; unsigned int wmp_generation; @@ -81,21 +101,35 @@ unsigned int wmp_roll; unsigned int wmp_pitch; unsigned int wmp_roll; +unsigned int wmp_yaw_zero; +unsigned int wmp_pitch_zero; +unsigned int wmp_roll_zero; + bool wmp_yaw_fast; bool wmp_pitch_fast; bool wmp_roll_fast; +int accel_x; +int accel_y; +int accel_z; + +bool wmp_update; +bool wmp_zero; + +#define TWO_PI 6.28318531f +#define DEG_TO_RAD (TWO_PI/360.0f) + /* There's considerable debate about these values, and they may vary * between different models of the Wii Motion Plus. It would be nice * to be able to use the calibration data stored on the device itself * but we don't know the format yet. */ -#define SLOW_YAW_STEP (1000/20) -#define SLOW_PITCH_STEP (1000/20) -#define SLOW_ROLL_STEP (1000/20) -#define FAST_YAW_STEP (1000/4) -#define FAST_PITCH_STEP (1000/4) -#define FAST_ROLL_STEP (1000/4) +#define SLOW_YAW_STEP (20 / DEG_TO_RAD) +#define SLOW_PITCH_STEP (20 / DEG_TO_RAD) +#define SLOW_ROLL_STEP (20 / DEG_TO_RAD) +#define FAST_YAW_STEP (4 / DEG_TO_RAD) +#define FAST_PITCH_STEP (4 / DEG_TO_RAD) +#define FAST_ROLL_STEP (4 / DEG_TO_RAD) bool wmp_sample(void) { @@ -126,13 +160,10 @@ bool wmp_start_sample(void) return i2c_start_transaction(&wmp_sample_transaction); } -void wmp_event_handler(void) +void wmp_process_gyro_sample(void) { - if (wmp_result != I2C_SUCCESS) - return; + float yaw, pitch, roll; - wmp_result = I2C_IN_PROGRESS; - wmp_yaw = ((wmp_sample_data[3]>>2)<<8) + wmp_sample_data[0]; wmp_pitch = ((wmp_sample_data[4]>>2)<<8) + wmp_sample_data[1]; wmp_roll = ((wmp_sample_data[5]>>2)<<8) + wmp_sample_data[2]; @@ -142,15 +173,120 @@ void wmp_event_handler(void) wmp_pitch_fast = !(wmp_sample_data[3] & 0x1); wmp_roll_fast = !(wmp_sample_data[4] & 0x2); - wmp_generation++; - if ((wmp_generation % 100) == 0) { - putstr("("); - puthex(wmp_roll); - putstr(", "); - puthex(wmp_pitch); - putstr(", "); - puthex(wmp_yaw); - putstr(")\r\n"); + if (wmp_update) { + int tmp_yaw = wmp_yaw; + int tmp_pitch = wmp_pitch; + int tmp_roll = wmp_roll; + tmp_yaw -= wmp_yaw_zero; + tmp_pitch -= wmp_pitch_zero; + tmp_roll -= wmp_roll_zero; + + if (wmp_yaw_fast) + yaw = ((float)tmp_yaw) / FAST_YAW_STEP; + else + yaw = ((float)tmp_yaw) / SLOW_YAW_STEP; + + if (wmp_pitch_fast) + pitch = ((float)tmp_pitch) / FAST_PITCH_STEP; + else + pitch = ((float)tmp_pitch) / SLOW_PITCH_STEP; + + if (wmp_roll_fast) + roll = ((float)tmp_roll) / FAST_ROLL_STEP; + else + roll = ((float)tmp_roll) / SLOW_ROLL_STEP; + + dcm_update(roll, pitch, yaw); + + wmp_generation++; + +#if 1 + if ((wmp_generation % 2) == 0) + dcm_send_packet(); +#endif + + } else if (wmp_zero) { + wmp_yaw_zero += wmp_yaw; + wmp_pitch_zero += wmp_pitch; + wmp_roll_zero += wmp_roll; + wmp_generation++; + if (wmp_generation >= WMP_ZERO_COUNT) { + wmp_zero = FALSE; + wmp_update = TRUE; + wmp_generation = 0; + wmp_yaw_zero /= WMP_ZERO_COUNT; + wmp_pitch_zero /= WMP_ZERO_COUNT; + wmp_roll_zero /= WMP_ZERO_COUNT; + putstr("Zero finished\r\n"); + } } } + +void wmp_process_accel_sample(void) +{ + float x, y, z; +#if 0 + float invmag; +#endif + + accel_x = (wmp_sample_data[2]<<2) + ((wmp_sample_data[5]>>3) & 0x02); + accel_y = (wmp_sample_data[3]<<2) + ((wmp_sample_data[5]>>4) & 0x02); + accel_z = ((wmp_sample_data[4]<<2) & 0x3f8) + + ((wmp_sample_data[5]>>5) & 0x06); + + x = (accel_x - ACCEL_ZERO_X) * ACCEL_SCALE; + y = (accel_y - ACCEL_ZERO_Y) * ACCEL_SCALE; + z = (accel_z - ACCEL_ZERO_Z) * ACCEL_SCALE; + +#if 0 + invmag = fisqrt(x*x + y*y + z*z); + + x = x * invmag; + y = y * invmag; + z = z * invmag; +#endif + +#if 0 + accel_x = (x * 512.0 + 1000.0); + accel_y = (y * 512.0 + 1000.0); + accel_z = (z * 512.0 + 1000.0); +#endif + +#if 0 + putstr("("); + putint(accel_x); + putstr(", "); + putint(accel_y); + putstr(", "); + putint(accel_z); + putstr(")\r\n"); +#endif + + /* The minus signs are needed because something is upside down. + * It might actually be the WMP, but we're defining coordinates based + * on that so we'll just fudge it here. + */ + dcm_drift_correction(x, -y, -z); +} + +void wmp_event_handler(void) +{ + if (wmp_result != I2C_SUCCESS) + return; + + wmp_result = I2C_IN_PROGRESS; + + if (wmp_sample_data[5] & 0x02) + wmp_process_gyro_sample(); + else + wmp_process_accel_sample(); +} + +void wmp_start_zero(void) +{ + wmp_zero = TRUE; + wmp_update = FALSE; + wmp_generation = 0; + putstr("Starting zero\r\n"); +}