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/*
* Copyright (C) 2011 by Daniel Friesel <derf@finalrewind.org>
* License: WTFPL <http://sam.zoy.org/wtfpl>
* 0. You just DO WHAT THE FUCK YOU WANT TO.
*/
/*
* wibble: interactive wiimote blinkenlights with wobble.
*
* Usage: start wibble, put wiimote in discoverable mode, see blinkenlights
*
* Controls:
* D-Pad Up toggle auto / manual mode
* D-Pad Left previous animation
* D-Pad Right next animation
* D-Pad Down toggle rumble
*
* - decrease animation speed
* + increase animation speed
*
* Home quit
*/
#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>
#include <time.h>
#include <math.h>
#include <bluetooth/bluetooth.h>
#include <cwiid.h>
#define MAX_BRIGHTNESS 10
#define X_MAXP 19
#define X_MAXS 20
#define X_MAXB 36
#define X_MAX 36
cwiid_mesg_callback_t cwiid_callback;
volatile char rumble = 0;
volatile char auto_rumble = 1;
volatile char auto_mode = 1;
volatile int cur_mode = 0;
volatile int8_t cnt_max = 7;
volatile uint8_t f_led[4][X_MAX];
volatile uint8_t x_max = X_MAXP;
struct acc_cal wm_cal;
const uint8_t stevens_io[X_MAX] = {
0, 0, 1, 1, 1, 3, 5, 7, 9, 10, 9, 7, 5, 3, 1, 1, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
};
const uint8_t invb[X_MAX] = {
0, 0, 0, 0, 0, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
};
void set_led_fun(int new_mode)
{
const int max_current = 5;
int i;
cur_mode = new_mode;
if (cur_mode < 0)
cur_mode = max_current;
else if (cur_mode > max_current)
cur_mode = 0;
switch (cur_mode) {
case 0:
x_max = X_MAXP;
for (i = 0; i < x_max; i++) {
f_led[0][i] = floor( 5 * ( cos( (float) (i + 0) / 3 ) + 1 ) );
f_led[1][i] = floor( 5 * ( cos( (float) (i + 3) / 3 ) + 1 ) );
f_led[2][i] = floor( 5 * ( cos( (float) (i + 6) / 3 ) + 1 ) );
f_led[3][i] = floor( 5 * ( cos( (float) (i + 9) / 3 ) + 1 ) );
}
break;
case 1:
x_max = X_MAXP;
for (i = 0; i < x_max; i++) {
f_led[0][i] = floor( 5 * ( cos( (float) (i + 9) / 3 ) + 1 ) );
f_led[1][i] = floor( 5 * ( cos( (float) (i + 6) / 3 ) + 1 ) );
f_led[2][i] = floor( 5 * ( cos( (float) (i + 3) / 3 ) + 1 ) );
f_led[3][i] = floor( 5 * ( cos( (float) (i + 0) / 3 ) + 1 ) );
}
break;
case 2:
x_max = X_MAXP;
for (i = 0; i < x_max; i++)
f_led[0][i] = f_led[1][i] = f_led[2][i] = f_led[3][i]
= stevens_io[i];
break;
case 3:
x_max = X_MAXB;
for (i = 0; i < x_max; i++) {
f_led[0][i] = f_led[1][i] = f_led[2][i] = f_led[3][i] = 0;
if ((i%2) && (i<6))
f_led[0][i] = MAX_BRIGHTNESS;
if ((i%2) && (((i>=6) && (i<12)) || (i>=30)))
f_led[1][i] = MAX_BRIGHTNESS;
if ((i%2) && (((i>=12) && (i<18)) || ((i>=24) && (i<30))))
f_led[2][i] = MAX_BRIGHTNESS;
if ((i%2) && (i>=18) && (i<24))
f_led[3][i] = MAX_BRIGHTNESS;
}
break;
case 4:
x_max = X_MAXS;
for (i = 0; i < x_max; i++) {
f_led[0][i] = invb[(i + 15) % x_max];
f_led[1][i] = invb[(i + 10) % x_max];
f_led[2][i] = invb[(i + 5) % x_max];
f_led[3][i] = invb[i];
}
break;
case 5:
x_max = X_MAXS;
for (i = 0; i < x_max; i++)
f_led[0][i] = f_led[1][i] = f_led[2][i] = f_led[3][i]
= (i % 2) * 10;
break;
}
}
int main()
{
cwiid_wiimote_t *wiimote = NULL;
struct cwiid_state state;
uint8_t ledstate = 0x0f;
uint8_t cnt = 0;
uint8_t led[4] = {0, 0, 0, 0};
uint8_t step = 0;
uint8_t x = 0;
uint8_t i;
uint8_t next_mode = 0;
if ((wiimote = cwiid_open(BDADDR_ANY, 0)) == NULL) {
fputs("Unable to connect\n", stderr);
return EXIT_FAILURE;
}
fputs("connected\n", stdout);
sleep(2);
set_led_fun(0);
if (cwiid_get_acc_cal(wiimote, CWIID_EXT_NONE, &wm_cal))
fputs("unable to retrieve accelerometer calibration\n", stderr);
if (!cwiid_get_state(wiimote, &state))
printf("battery at %d%%\n",
(int)(100.0 * state.battery / CWIID_BATTERY_MAX));
if (cwiid_set_mesg_callback(wiimote, cwiid_callback))
fputs("cannot set callback. buttons won't work.\n", stderr);
/* cwiid_enable(wiimote, CWIID_FLAG_MOTIONPLUS);
*/
if (cwiid_enable(wiimote, CWIID_FLAG_MESG_IFC))
fputs("cannot enable callback. buttons won't work.\n", stderr);
if (cwiid_set_rpt_mode(wiimote,
CWIID_RPT_BTN | CWIID_RPT_ACC | CWIID_RPT_STATUS | CWIID_RPT_EXT))
fputs("cannot set report mode. buttons won't work.\n", stderr);
while (1) {
if (++cnt >= cnt_max) {
cnt = 0;
if (++x == x_max) {
x = 0;
if (!auto_mode && (++next_mode == 42)) {
set_led_fun(cur_mode + 1);
next_mode = 0;
}
}
for (i = 0; i < 4; i++)
led[i] = f_led[i][x];
}
step = cnt % MAX_BRIGHTNESS;
if (step == 0)
ledstate = 0x0f;
for (i = 0; i < 4; i++)
if (step == led[i])
ledstate &= ~(1 << i);
if (cwiid_set_led(wiimote, ledstate))
fputs("Error setting LED state\n", stderr);
}
return EXIT_SUCCESS;
}
/* 97 .. 122 .. 150 */
/* mp: normal 8200 .. 8250? */
void cwiid_callback(cwiid_wiimote_t *wiimote, int mesg_count,
union cwiid_mesg mesg[], struct timespec *ts)
{
static double ff_start, ff_diff;
static double fp_start, fp_diff;
double a_x, a_y, a_z, accel;
struct cwiid_acc_mesg *am;
for (int i = 0; i < mesg_count; i++) {
if (mesg[i].type == CWIID_MESG_BTN) {
if (mesg[i].btn_mesg.buttons & CWIID_BTN_LEFT)
set_led_fun(cur_mode - 1);
if (mesg[i].btn_mesg.buttons & CWIID_BTN_RIGHT)
set_led_fun(cur_mode + 1);
if (mesg[i].btn_mesg.buttons & CWIID_BTN_PLUS)
cnt_max -= (cnt_max > 1 ? 1 : 0);
if (mesg[i].btn_mesg.buttons & CWIID_BTN_MINUS)
cnt_max += 1;
if (mesg[i].btn_mesg.buttons & CWIID_BTN_UP) {
auto_mode = !auto_mode;
if (auto_mode)
x_max = X_MAXP;
}
if (mesg[i].btn_mesg.buttons & CWIID_BTN_DOWN) {
if (auto_mode)
auto_rumble = !auto_rumble;
else if (!rumble)
cwiid_set_rumble(wiimote, (rumble = 1));
}
else if (rumble && !auto_mode)
cwiid_set_rumble(wiimote, (rumble = 0));
if (mesg[i].btn_mesg.buttons & CWIID_BTN_HOME) {
exit(0);
}
}
/* else if ((mesg[i].type == CWIID_MESG_MOTIONPLUS) && auto_mode ) {
if ((mesg[i].motionplus_mesg.angle_rate[2] < 8000) && !fp_start)
fp_start = ((uint64_t)ts->tv_sec * 1000000000) + ts->tv_nsec;
else if ((mesg[i].motionplus_mesg.angle_rate[2] > 8200) && fp_start) {
fp_diff = ((((uint64_t)ts->tv_sec * 1000000000)
+ ts->tv_nsec
- ff_start) / 1000000000);
printf("mpdel_t %.3fs - Fell approx. %.2fm\n", ff_diff,
(double)((9.81 * (double)(fp_diff) * (double)(fp_diff)) / (double)2));
fp_start = 0;
}
}
*/ else if ((mesg[i].type == CWIID_MESG_ACC) && auto_mode) {
am = &mesg[i].acc_mesg;
a_x = ((double)am->acc[CWIID_X] - wm_cal.zero[CWIID_X]) /
(wm_cal.one[CWIID_X] - wm_cal.zero[CWIID_X]);
a_y = ((double)am->acc[CWIID_Y] - wm_cal.zero[CWIID_Y]) /
(wm_cal.one[CWIID_Y] - wm_cal.zero[CWIID_Y]);
a_z = ((double)am->acc[CWIID_Z] - wm_cal.zero[CWIID_Z]) /
(wm_cal.one[CWIID_Z] - wm_cal.zero[CWIID_Z]);
accel = sqrt(pow(a_x,2)+pow(a_y,2)+pow(a_z,2));
if ((accel < 0.07) && !ff_start)
ff_start = ((uint64_t)ts->tv_sec * 1000000000) + ts->tv_nsec;
else if ((accel > 1.0) && ff_start) {
ff_diff = ((((uint64_t)ts->tv_sec * 1000000000)
+ ts->tv_nsec
- ff_start) / 1000000000);
printf("delta_t %.3fs - Fell approx. %.2fm\n", ff_diff,
(double)((9.81 * (double)(ff_diff) * (double)(ff_diff)) / (double)2));
ff_start = 0;
}
if (auto_rumble && (accel > 1.5)) {
if (!rumble)
cwiid_set_rumble(wiimote, (rumble = 1));
}
else {
if (rumble)
cwiid_set_rumble(wiimote, (rumble = 0));
}
if (mesg[i].acc_mesg.acc[CWIID_X] < 123) {
if (cur_mode != 0)
set_led_fun(0);
cnt_max = (mesg[i].acc_mesg.acc[CWIID_X] - 95) / 2;
if (cnt_max < 2)
cnt_max = 2;
}
else {
if (cur_mode != 1)
set_led_fun(1);
cnt_max = (150 - mesg[i].acc_mesg.acc[CWIID_X]) / 2;
if (cnt_max < 2)
cnt_max = 2;
}
}
}
}
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