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# # old_revision [b85a3bbccc40f21e02f50101af764be93eeb9538] # new_revision [4cc7246c1b6c809c9dc15997798f6deed15b3631] # # patch "wmp.c" # from [8d25d8c39e514fb55119ecd0aa362a137e760a46] # to [76b67ab3d8729319797c8f0f7ca2839524a76a20] # ============================================================ --- wmp.c 8d25d8c39e514fb55119ecd0aa362a137e760a46 +++ wmp.c 76b67ab3d8729319797c8f0f7ca2839524a76a20 @@ -1,100 +1,214 @@ #include "wmp.h" #include "i2c.h" +#include "uart.h" +#include "dcm.h" +#define WMP_ZERO_COUNT 100 + +unsigned char wmp_init_command[2] = {0xfe, 0x04}; + +i2c_result wmp_result; +unsigned int wmp_generation; + +struct i2c_transaction wmp_init_transaction = { + (0x53 << 1) + 0, /* write */ + 2, + wmp_init_command, + &wmp_result, + NULL +}; + +unsigned char wmp_read_cal_command[1] = {0x20}; + +struct i2c_transaction wmp_read_cal_transaction2; + +struct i2c_transaction wmp_read_cal_transaction = { + (0x53 << 1) + 0, /* write */ + 1, + wmp_read_cal_command, + &wmp_result, + &wmp_read_cal_transaction2 +}; + +struct i2c_transaction wmp_read_cal_transaction2 = { + (0x53 << 1) + 1, /* read */ + 0x20, + wmp_calibration_data, + &wmp_result, + NULL +}; + +unsigned char wmp_sample_command[1] = {0x00}; + +unsigned char wmp_sample_data[6]; + +struct i2c_transaction wmp_sample_transaction2; + +struct i2c_transaction wmp_sample_transaction = { + (0x52 << 1) + 0, /* write */ + 1, + wmp_sample_command, + &wmp_result, + &wmp_sample_transaction2 +}; + +struct i2c_transaction wmp_sample_transaction2 = { + (0x52 << 1) + 1, /* read */ + 6, + wmp_sample_data, + &wmp_result, + NULL +}; + + bool wmp_init(void) { - if (!i2c_send_start()) + if (!i2c_start_transaction(&wmp_init_transaction)) return FALSE; - if (!i2c_send_address(0x53, TRUE)) - return FALSE; - if (!i2c_send_data(0xfe)) - return FALSE; - if (!i2c_send_data(0x04)) - return FALSE; - i2c_send_stop(); + while (i2c_busy()) ; + return (wmp_result == I2C_SUCCESS); } unsigned char wmp_calibration_data[0x20]; bool wmp_read_calibration_data(void) { - int i; - - if (!i2c_send_start()) + if (!i2c_start_transaction(&wmp_read_cal_transaction)) return FALSE; - if (!i2c_send_address(0x53, TRUE)) - return FALSE; - if (!i2c_send_data(0x20)) - return FALSE; - i2c_send_stop(); - - if (!i2c_send_start()) - return FALSE; - if (!i2c_send_address(0x53, FALSE)) - return FALSE; - for (i = 0; i < 0x20; i++) { - unsigned int data; - if (!i2c_receive_data(&data, (i == 0x1f))) - return FALSE; - wmp_calibration_data[i] = data; - } - i2c_send_stop(); - return TRUE; + while (i2c_busy()); + return (wmp_result == I2C_SUCCESS); } unsigned int wmp_yaw; 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; +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) { - int i; - unsigned int b[6]; - - if (!i2c_send_start()) + if (!i2c_start_transaction(&wmp_sample_transaction)) return FALSE; - if (!i2c_send_address(0x52, TRUE)) + + while (i2c_busy()); + + if (wmp_result != I2C_SUCCESS) return FALSE; - if (!i2c_send_data(0x00)) - return FALSE; - i2c_send_stop(); - if (!i2c_send_start()) - return FALSE; - if (!i2c_send_address(0x52, FALSE)) - return FALSE; - for (i = 0; i < 6; i++) { - if (!i2c_receive_data(&(b[i]), (i == 5))) - return FALSE; - } - i2c_send_stop(); + wmp_result = I2C_IN_PROGRESS; - wmp_yaw = ((b[3]>>2)<<8) + b[0]; - wmp_pitch = ((b[4]>>2)<<8) + b[1]; - wmp_roll = ((b[5]>>2)<<8) + b[2]; + 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]; /* XXX We don't take into account the fast/slow mode flag here */ - wmp_yaw_fast = !(b[3] & 0x2); - wmp_pitch_fast = !(b[3] & 0x1); - wmp_roll_fast = !(b[4] & 0x2); + wmp_yaw_fast = !(wmp_sample_data[3] & 0x2); + wmp_pitch_fast = !(wmp_sample_data[3] & 0x1); + wmp_roll_fast = !(wmp_sample_data[4] & 0x2); return TRUE; } +bool wmp_start_sample(void) +{ + return i2c_start_transaction(&wmp_sample_transaction); +} + +void wmp_event_handler(void) +{ + float yaw, pitch, roll; + + if (wmp_result != I2C_SUCCESS) + return; + + 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]; + + /* XXX We don't take into account the fast/slow mode flag here */ + wmp_yaw_fast = !(wmp_sample_data[3] & 0x2); + wmp_pitch_fast = !(wmp_sample_data[3] & 0x1); + wmp_roll_fast = !(wmp_sample_data[4] & 0x2); + + 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 ((wmp_generation % 2) == 0) + dcm_send_packet(); + + } 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_start_zero(void) +{ + wmp_zero = TRUE; + wmp_update = FALSE; + wmp_generation = 0; + putstr("Starting zero\r\n"); +}