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TinyWiimote.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 <HardwareSerial.h> // for Arduino
#include "time.h"
#include "sys/time.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 UNVERBOSE_PRINT(...) Serial.printf(__VA_ARGS__)
//#define UNVERBOSE_PRINT(...) do {} while(0)
#define HCI_H4_CMD_PREAMBLE_SIZE (4)
#define HCI_H4_ACL_PREAMBLE_SIZE (5)
#define BD_ADDR_LEN (6)
struct bd_addr_t {
uint8_t addr[BD_ADDR_LEN];
};
#define UINT16_TO_STREAM(p, u16) {*(p)++ = (uint8_t)(u16); *(p)++ = (uint8_t)((u16) >> 8);}
#define UINT8_TO_STREAM(p, u8) {*(p)++ = (uint8_t)(u8);}
#define BDADDR_TO_STREAM(p, a) {int ijk; for (ijk = 0; ijk < BD_ADDR_LEN; ijk++) *(p)++ = (uint8_t) a[BD_ADDR_LEN - 1 - ijk];}
#define STREAM_TO_BDADDR(a, p) {int ijk; for (ijk = 0; ijk < BD_ADDR_LEN; ijk++) a[BD_ADDR_LEN - 1 - ijk] = (p)[ijk];}
#define ARRAY_TO_STREAM(p, a, len) {int ijk; for (ijk = 0; ijk < len; ijk++) *(p)++ = (uint8_t) a[ijk];}
enum {
H4_TYPE_COMMAND = 1,
H4_TYPE_ACL = 2,
H4_TYPE_SCO = 3,
H4_TYPE_EVENT = 4
};
// L2CAP
#define L2CAP_CONNECT_RES 0x03
#define L2CAP_CONFIG_RES 0x05
#define L2CAP_CONFIG_REQ 0x04
// BTCODE
#define BTCODE_HID 0xA1
// HCI Events
#define HCI_INQUIRY_COMP_EVT 0x01
#define HCI_INQUIRY_RESULT_EVT 0x02
#define HCI_CONNECTION_COMP_EVT 0x03
#define HCI_DISCONNECTION_COMP_EVT 0x05
#define HCI_RMT_NAME_REQUEST_COMP_EVT 0x07
#define HCI_QOS_SETUP_COMP_EVT 0x0D
#define HCI_COMMAND_COMPLETE_EVT 0x0E
#define HCI_COMMAND_STATUS_EVT 0x0F
#define HCI_NUM_COMPL_DATA_PKTS_EVT 0x13
// HCI Command opcode group field(OGF) & Opcode Command Field (OCF)
// refer : http://software-dl.ti.com/lprf/simplelink_cc26x2_sdk-1.60/docs/ble5stack/vendor_specific_guide/BLE_Vendor_Specific_HCI_Guide/hci_interface.html
// Opcode Group Field (OGF) codes
#define HCI_OGF_LINK_CONTROL 0x01 // Link control group
#define HCI_OGF_CONTROL_BASEBAND 0x03 // Host Controller & Baseband group
#define HCI_OGF_INFORMATIONAL_PARAMETERS 0x04 // Information parameters group
// Host controller & baseband commands
#define HCI_OCF_RESET 0x0003
#define HCI_OCF_CHANGE_LOCAL_NAME 0x0013
#define HCI_OCF_WRITE_CLASS_OF_DEVICE 0x0024
#define HCI_OCF_WRITE_SCAN_ENABLE 0x001A
// Informational parameter commands
#define HCI_OCF_READ_BD_ADDR 0x0009
// Link control commands
#define HCI_OCF_INQUIRY 0x0001
#define HCI_OCF_INQUIRY_CANCEL 0x0002
#define HCI_OCF_CREATE_CONNECTION 0x0005
#define HCI_OCF_REMOTE_NAME_REQUEST 0x0019
// HCI Command opcodes(OGF + OCF)
#define HCI_OPCODE_RESET (HCI_OCF_RESET | (HCI_OGF_CONTROL_BASEBAND << 10))
#define HCI_OPCODE_WRITE_LOCAL_NAME (HCI_OCF_CHANGE_LOCAL_NAME | (HCI_OGF_CONTROL_BASEBAND << 10))
#define HCI_OPCODE_WRITE_CLASS_OF_DEVICE (HCI_OCF_WRITE_CLASS_OF_DEVICE | (HCI_OGF_CONTROL_BASEBAND << 10))
#define HCI_OPCODE_WRITE_SCAN_ENABLE (HCI_OCF_WRITE_SCAN_ENABLE | (HCI_OGF_CONTROL_BASEBAND << 10))
#define HCI_OPCODE_READ_BD_ADDR (HCI_OCF_READ_BD_ADDR | (HCI_OGF_INFORMATIONAL_PARAMETERS << 10))
#define HCI_OPCODE_INQUIRY (HCI_OCF_INQUIRY | (HCI_OGF_LINK_CONTROL << 10))
#define HCI_OPCODE_INQUIRY_CANCEL (HCI_OCF_INQUIRY_CANCEL | (HCI_OGF_LINK_CONTROL << 10))
#define HCI_OPCODE_CREATE_CONNECTION (HCI_OCF_CREATE_CONNECTION | (HCI_OGF_LINK_CONTROL << 10))
#define HCI_OPCODE_REMOTE_NAME_REQUEST (HCI_OCF_REMOTE_NAME_REQUEST | (HCI_OGF_LINK_CONTROL << 10))
#define HCIC_PARAM_SIZE_WRITE_LOCAL_NAME (248)
#define HCIC_PARAM_SIZE_WRITE_CLASS_OF_DEVICE (3)
#define HCIC_PARAM_SIZE_WRITE_SCAN_ENABLE (1)
#define HCIC_PARAM_SIZE_CREATE_CONNECTION (13)
#define HCIC_PARAM_SIZE_REMOTE_NAME_REQUEST (10)
#define HCIC_PARAM_SIZE_WRITE_INQUIRY_CANCEL (0)
#define HCIC_PARAM_SIZE_WRITE_INQUIRY (5)
static bool deviceInited = false;
static bool wiimoteConnected = false;
static bool nunchukConnected = false;
static bool useAccelerometer = true;
/**
* Command Maker
*/
static uint16_t make_cmd_reset(uint8_t *buf)
{
UINT8_TO_STREAM (buf, H4_TYPE_COMMAND);
UINT16_TO_STREAM (buf, HCI_OPCODE_RESET);
UINT8_TO_STREAM (buf, 0);
return HCI_H4_CMD_PREAMBLE_SIZE;
}
static uint16_t make_cmd_read_bd_addr(uint8_t *buf)
{
UINT8_TO_STREAM (buf, H4_TYPE_COMMAND);
UINT16_TO_STREAM (buf, HCI_OPCODE_READ_BD_ADDR);
UINT8_TO_STREAM (buf, 0);
return HCI_H4_CMD_PREAMBLE_SIZE;
}
static uint16_t make_cmd_write_local_name(uint8_t *buf, uint8_t* name, uint8_t len)
{
UINT8_TO_STREAM (buf, H4_TYPE_COMMAND);
UINT16_TO_STREAM (buf, HCI_OPCODE_WRITE_LOCAL_NAME);
UINT8_TO_STREAM (buf, HCIC_PARAM_SIZE_WRITE_LOCAL_NAME);
ARRAY_TO_STREAM(buf, name, len);
for(uint8_t i=len; i<HCIC_PARAM_SIZE_WRITE_LOCAL_NAME; i++){
UINT8_TO_STREAM (buf, 0);
}
return HCI_H4_CMD_PREAMBLE_SIZE + HCIC_PARAM_SIZE_WRITE_LOCAL_NAME;
}
static uint16_t make_cmd_write_class_of_device(uint8_t *buf, uint8_t* cod)
{
UINT8_TO_STREAM (buf, H4_TYPE_COMMAND);
UINT16_TO_STREAM (buf, HCI_OPCODE_WRITE_CLASS_OF_DEVICE);
UINT8_TO_STREAM (buf, HCIC_PARAM_SIZE_WRITE_CLASS_OF_DEVICE);
for(uint8_t i=0; i<HCIC_PARAM_SIZE_WRITE_CLASS_OF_DEVICE; i++){
UINT8_TO_STREAM (buf, cod[i]);
}
return HCI_H4_CMD_PREAMBLE_SIZE + HCIC_PARAM_SIZE_WRITE_CLASS_OF_DEVICE;
}
static uint16_t make_cmd_write_scan_enable(uint8_t *buf, uint8_t mode)
{
UINT8_TO_STREAM (buf, H4_TYPE_COMMAND);
UINT16_TO_STREAM (buf, HCI_OPCODE_WRITE_SCAN_ENABLE);
UINT8_TO_STREAM (buf, HCIC_PARAM_SIZE_WRITE_SCAN_ENABLE);
UINT8_TO_STREAM (buf, mode);
return HCI_H4_CMD_PREAMBLE_SIZE + HCIC_PARAM_SIZE_WRITE_SCAN_ENABLE;
}
static uint16_t make_cmd_inquiry(uint8_t *buf, uint32_t lap, uint8_t len, uint8_t num)
{
UINT8_TO_STREAM (buf, H4_TYPE_COMMAND);
UINT16_TO_STREAM (buf, HCI_OPCODE_INQUIRY);
UINT8_TO_STREAM (buf, HCIC_PARAM_SIZE_WRITE_INQUIRY);
UINT8_TO_STREAM (buf, (uint8_t)( lap & 0xFF)); // lap 0x33 <- 0x9E8B33
UINT8_TO_STREAM (buf, (uint8_t)((lap>> 8) & 0xFF)); // lap 0x8B
UINT8_TO_STREAM (buf, (uint8_t)((lap>>16) & 0xFF)); // lap 0x9E
UINT8_TO_STREAM (buf, len);
UINT8_TO_STREAM (buf, num);
return HCI_H4_CMD_PREAMBLE_SIZE + HCIC_PARAM_SIZE_WRITE_INQUIRY;
}
static uint16_t make_cmd_inquiry_cancel(uint8_t *buf)
{
UINT8_TO_STREAM (buf, H4_TYPE_COMMAND);
UINT16_TO_STREAM (buf, HCI_OPCODE_INQUIRY_CANCEL);
UINT8_TO_STREAM (buf, HCIC_PARAM_SIZE_WRITE_INQUIRY_CANCEL);
return HCI_H4_CMD_PREAMBLE_SIZE + HCIC_PARAM_SIZE_WRITE_INQUIRY_CANCEL;
}
static uint16_t make_cmd_remote_name_request(uint8_t *buf, struct bd_addr_t bdAddr, uint8_t psrm, uint16_t clkofs)
{
UINT8_TO_STREAM (buf, H4_TYPE_COMMAND);
UINT16_TO_STREAM (buf, HCI_OPCODE_REMOTE_NAME_REQUEST);
UINT8_TO_STREAM (buf, HCIC_PARAM_SIZE_REMOTE_NAME_REQUEST);
BDADDR_TO_STREAM (buf, bdAddr.addr);
UINT8_TO_STREAM (buf, psrm); // Page Scan Repetition Mode
UINT8_TO_STREAM (buf, 0); // Reserved
UINT16_TO_STREAM (buf, clkofs); // Clock Offset
return HCI_H4_CMD_PREAMBLE_SIZE + HCIC_PARAM_SIZE_REMOTE_NAME_REQUEST;
}
static uint16_t make_cmd_create_connection(uint8_t *buf, struct bd_addr_t bdAddr, uint16_t pt, uint8_t psrm, uint16_t clkofs, uint8_t ars)
{
UINT8_TO_STREAM (buf, H4_TYPE_COMMAND);
UINT16_TO_STREAM (buf, HCI_OPCODE_CREATE_CONNECTION);
UINT8_TO_STREAM (buf, HCIC_PARAM_SIZE_CREATE_CONNECTION);
BDADDR_TO_STREAM (buf, bdAddr.addr);
UINT16_TO_STREAM (buf, pt); // Packet Type
UINT8_TO_STREAM (buf, psrm); // Page Scan Repetition Mode
UINT8_TO_STREAM (buf, 0); // Reserved
UINT16_TO_STREAM (buf, clkofs); // Clock Offset
UINT8_TO_STREAM (buf, ars); // Allow Role Switch
return HCI_H4_CMD_PREAMBLE_SIZE + HCIC_PARAM_SIZE_CREATE_CONNECTION;
}
#define L2CAP_HEADER_LEN (4) //Length + Channel ID
static uint16_t make_l2cap_packet(uint8_t *buf, uint16_t channelID, uint8_t *data, uint16_t len) {
UINT16_TO_STREAM (buf, len);
UINT16_TO_STREAM (buf, channelID); // 0x0001=Signaling channel
ARRAY_TO_STREAM (buf, data, len);
return L2CAP_HEADER_LEN + len;
}
static uint16_t make_acl_l2cap_packet(uint8_t *buf, uint16_t ch, uint8_t pbf, uint8_t bf, uint16_t channelID, uint8_t *data, uint8_t len) {
uint8_t* l2cap_buf = buf + HCI_H4_ACL_PREAMBLE_SIZE;
uint16_t l2capLen = make_l2cap_packet(l2cap_buf, channelID, data, len);
UINT8_TO_STREAM (buf, H4_TYPE_ACL);
UINT8_TO_STREAM (buf, ch & 0xFF);
UINT8_TO_STREAM (buf, ((ch >> 8) & 0x0F) | pbf << 4 | bf << 6);
UINT16_TO_STREAM (buf, l2capLen);
return HCI_H4_ACL_PREAMBLE_SIZE + l2capLen;
}
static TwHciInterface _hciInterface;
static void sendHciPacket(uint8_t *data, size_t len) {
VERBOSE_PRINTLN("sendHciPacket");
_hciInterface.hci_send_packet(data, len);
}
static int findItemsInArray(uint8_t* array, size_t arraySize, size_t itemLength, uint8_t* data, size_t dataLength, size_t alignment) {
for(int i=0; i<arraySize; i++){
if(memcmp(array + (itemLength*i) + alignment, data, dataLength) == 0){
return i;
}
}
return -1;
}
#define FORMAT_HEX_MAX_BYTES 30
static char formatHexBuffer[FORMAT_HEX_MAX_BYTES*3 + 4];
char* format2Hex(uint8_t* data, uint16_t len) {
for(uint16_t i=0; i<len && i<FORMAT_HEX_MAX_BYTES; i++){
sprintf(formatHexBuffer+3*i, "%02X ", data[i]);
formatHexBuffer[3*i+3] = '\0';
}
if(FORMAT_HEX_MAX_BYTES<len){
sprintf(formatHexBuffer+3*FORMAT_HEX_MAX_BYTES, "...");
formatHexBuffer[3*FORMAT_HEX_MAX_BYTES+3] = '\0';
}
return formatHexBuffer;
}
/**
* Connected device list
*/
struct connected_device_t {
bd_addr_t bdAddr;
uint8_t psrm;
uint16_t clkofs;
};
static int connectedDeviceListNum = 0;
#define SCANNED_DEVICE_LIST_SIZE 16
static connected_device_t connectedDeviceList[SCANNED_DEVICE_LIST_SIZE];
static int findConnectedDevice(struct bd_addr_t bdAddr) {
return findItemsInArray((uint8_t*)connectedDeviceList, connectedDeviceListNum, sizeof(connected_device_t), (uint8_t*)&bdAddr.addr, BD_ADDR_LEN, 0);
}
static int connected_device_add(struct connected_device_t connected_device) {
if(SCANNED_DEVICE_LIST_SIZE == connectedDeviceListNum){
return -1;
}
connectedDeviceList[connectedDeviceListNum++] = connected_device;
return connectedDeviceListNum;
}
static void connected_device_clear(void) {
connectedDeviceListNum = 0;
}
/**
* L2CAP
*/
struct l2cap_connection_t {
uint16_t ch;
uint16_t remoteCID;
};
static int l2capConnectionSize = 0;
#define L2CAP_CONNECTION_LIST_SIZE 8
static l2cap_connection_t l2capConnectionList[L2CAP_CONNECTION_LIST_SIZE];
static int l2capFindConnection(uint16_t ch) {
return findItemsInArray((uint8_t*)l2capConnectionList, l2capConnectionSize, sizeof(l2cap_connection_t), (uint8_t*)&ch, sizeof(uint16_t), 0);
}
static int l2capAddConnection(struct l2cap_connection_t connection) {
if(L2CAP_CONNECTION_LIST_SIZE == l2capConnectionSize){
return -1;
}
l2capConnectionList[l2capConnectionSize++] = connection;
return l2capConnectionSize;
}
static void l2capClearConnection(void) {
l2capConnectionSize = 0;
}
static uint8_t tmpQueueData[256];
static void resetDevice(void) {
UNVERBOSE_PRINT("resetDevice\n");
connected_device_clear();
l2capClearConnection();
uint16_t len = make_cmd_reset(tmpQueueData);
sendHciPacket(tmpQueueData, len);
}
/**
* HCI Event Handler
*/
static void handleCommandCompleteEvent(uint8_t len, uint8_t* data) {
VERBOSE_PRINTLN("handleCommandCompleteEvent");
uint16_t cmdOpcode = (uint16_t)data[1] | ((uint16_t)data[2] << 8);
switch(cmdOpcode){
case HCI_OPCODE_RESET:
if(data[3]==0x00){ // OK
VERBOSE_PRINTLN("reset succeeded");
uint16_t len = make_cmd_read_bd_addr(tmpQueueData);
sendHciPacket(tmpQueueData, len);
VERBOSE_PRINTLN("queued read_bd_addr");
}else{
VERBOSE_PRINTLN("reset failed");
}
break;
case HCI_OPCODE_READ_BD_ADDR:
if(data[3] == 0x00){ // OK
VERBOSE_PRINT("read_bd_addr succeeded(BD_ADDR=%s)", format2Hex(data+4, 6));
char name[] = "ESP32-BT-L2CAP";
VERBOSE_PRINT("sizeof(name)=%d", sizeof(name));
uint16_t len = make_cmd_write_local_name(tmpQueueData, (uint8_t*)name, sizeof(name));
sendHciPacket(tmpQueueData, len);
VERBOSE_PRINTLN("queued write_local_name");
}else{
VERBOSE_PRINTLN("read_bd_addr failed");
}
break;
case HCI_OPCODE_WRITE_LOCAL_NAME:
if(data[3] == 0x00){ // OK
VERBOSE_PRINTLN("write_local_name succeeded");
uint8_t cod[3] = {0x04, 0x05, 0x00};
uint16_t len = make_cmd_write_class_of_device(tmpQueueData, cod);
sendHciPacket(tmpQueueData, len);
VERBOSE_PRINTLN("queued write_class_of_device");
}else{
VERBOSE_PRINTLN("write_local_name failed");
}
break;
case HCI_OPCODE_WRITE_CLASS_OF_DEVICE:
if(data[3] == 0x00){ // OK
VERBOSE_PRINTLN("write_class_of_device succeeded");
uint16_t len = make_cmd_write_scan_enable(tmpQueueData, 3);
sendHciPacket(tmpQueueData, len);
VERBOSE_PRINTLN("queued write_scan_enable");
}else{
VERBOSE_PRINTLN("write_class_of_device failed");
}
break;
case HCI_OPCODE_WRITE_SCAN_ENABLE:
if(data[3] == 0x00){ // OK
VERBOSE_PRINTLN("write_scan_enable succeeded");
connected_device_clear();
uint16_t len = make_cmd_inquiry(tmpQueueData, 0x9E8B33, 0x05/*0x30*/, 0x00);
sendHciPacket(tmpQueueData, len);
VERBOSE_PRINTLN("queued inquiry");
}else{
VERBOSE_PRINTLN("write_scan_enable failed.");
}
break;
case HCI_OPCODE_INQUIRY_CANCEL:
if(data[3] == 0x00){ // OK
VERBOSE_PRINTLN("inquiry_cancel succeeded");
}else{
VERBOSE_PRINTLN("inquiry_cancel failed");
}
break;
default:
VERBOSE_PRINTLN("UNKNOWN COMMAND EVENT");
break;
}
}
static void handleCommandStatusEvent(uint8_t len, uint8_t* data) {
VERBOSE_PRINTLN("handleCommandStatusEvent");
uint16_t cmdOpcode = (uint16_t)data[2] | ((uint16_t)data[3] << 8);
switch(cmdOpcode){
case HCI_OPCODE_INQUIRY:
if(data[0] == 0x00){
VERBOSE_PRINTLN("pending HCI_OPCODE_INQUIRY");
}else{
VERBOSE_PRINT("failed HCI_OPCODE_INQUIRY (error=%02X)", data[0]);
}
break;
case HCI_OPCODE_REMOTE_NAME_REQUEST:
if(data[0] == 0x00){
VERBOSE_PRINTLN("pending HCI_OPCODE_REMOTE_NAME_REQUEST");
}else{
VERBOSE_PRINT("failed HCI_OPCODE_REMOTE_NAME_REQUEST (error=%02X)", data[0]);
}
break;
case HCI_OPCODE_CREATE_CONNECTION:
if(data[0] == 0x00){
VERBOSE_PRINTLN("pending HCI_OPCODE_CREATE_CONNECTION");
}else{
VERBOSE_PRINT("failed HCI_OPCODE_CREATE_CONNECTION(error=%02X)", data[0]);
}
break;
default:
VERBOSE_PRINTLN("UNKNOWN STATUS EVENT");
break;
}
}
static void handleInquiryCompleteEvent(uint8_t len, uint8_t* data) {
uint8_t status = data[0];
VERBOSE_PRINT("inquiry_complete status=%02X", status);
resetDevice();
}
static void handleInquiryResultEvent(uint8_t len, uint8_t* data) {
uint8_t num = data[0];
VERBOSE_PRINTLN("inquiry_result");
for(int i=0; i<num; i++){
int pos = 1 + (6+1+2+3+2) * i;
struct bd_addr_t bdAddr;
STREAM_TO_BDADDR(bdAddr.addr, data+pos);
VERBOSE_PRINT("BD_ADDR(%d/%d) : %s ", i, num, format2Hex((uint8_t*)&bdAddr.addr, BD_ADDR_LEN));
int idx = findConnectedDevice(bdAddr);
if(idx == -1){
VERBOSE_PRINT("Page_Scan_Repetition_Mode = %02X ", data[pos+6]);
// data[pos+7] data[pos+8] // Reserved
VERBOSE_PRINT("Class_of_Device = %02X %02X %02X ", data[pos+9], data[pos+10], data[pos+11]);
VERBOSE_PRINT("Clock_Offset = %02X %02X ", data[pos+12], data[pos+13]);
struct connected_device_t connected_device;
connected_device.bdAddr = bdAddr;
connected_device.psrm = data[pos+6];
connected_device.clkofs = ((0x80 | data[pos+12]) << 8) | (data[pos+13]);
idx = connected_device_add(connected_device);
if(0<=idx){
if(data[pos+9]==0x04 && data[pos+10]==0x25 && data[pos+11]==0x00){ // Filter for Wiimote [04 25 00]
uint16_t len = make_cmd_remote_name_request(tmpQueueData, connected_device.bdAddr, connected_device.psrm, connected_device.clkofs);
sendHciPacket(tmpQueueData, len);
//log_d(" connected_list_add n=%d", n);
VERBOSE_PRINTLN("queued remote_name_request");
}else{
VERBOSE_PRINTLN("skiped to remote_name_request (!= Wiimote COD)");
}
}else{
VERBOSE_PRINTLN("failed to connected_list_add");
}
}else{
VERBOSE_PRINT(" (dup idx:%d)", idx);
}
}
}
static void handleRemoteNameRequestCompleteEvent(uint8_t len, uint8_t* data) {
uint8_t status = data[0];
VERBOSE_PRINT("remote_name_request_complete status=%02X", status);
struct bd_addr_t bdAddr;
STREAM_TO_BDADDR(bdAddr.addr, data+1);
VERBOSE_PRINT(" BD_ADDR = %s", format2Hex((uint8_t*)&bdAddr.addr, BD_ADDR_LEN));
char* name = (char*)(data+7);
VERBOSE_PRINT(" REMOTE_NAME = %s", name);
int idx = findConnectedDevice(bdAddr);
if(0<=idx && strcmp("Nintendo RVL-CNT-01", name)==0){
{
uint16_t len = make_cmd_inquiry_cancel(tmpQueueData);
sendHciPacket(tmpQueueData, len);
VERBOSE_PRINTLN("queued inquiry_cancel");
}
struct connected_device_t connected_device = connectedDeviceList[idx];
uint16_t pt = 0x0008;
uint8_t ars = 0x00;
uint16_t len = make_cmd_create_connection(tmpQueueData, connected_device.bdAddr, pt, connected_device.psrm, connected_device.clkofs, ars);
sendHciPacket(tmpQueueData, len);
VERBOSE_PRINTLN("queued create_connection");
}
}
#define L2CAP_PAYLOAD_MAX_LEN (64)
static uint8_t payload[L2CAP_PAYLOAD_MAX_LEN];
static void l2capConnect(uint16_t ch, uint16_t psm, uint16_t cid) {
uint8_t pbf = 0b10; // Packet Boundary Flag
uint8_t bf = 0b00; // Broadcast Flag
uint16_t channelID = 0x0001;
// create command of 'Control frame'
uint8_t posi = 0;
// Command Header
payload[posi++] = 0x02; // CODE:CONNECTION REQUEST
payload[posi++] = 0x01; // Identifier
payload[posi++] = 0x04; // Length: 0x0008
payload[posi++] = 0x00;
// PSM: HID_Control=0x0011, HID_Interrupt=0x0013
payload[posi++] = (uint8_t)(psm & 0xFF);
payload[posi++] = (uint8_t)(psm >> 8);
// Source CID: 0x0040+
payload[posi++] = (uint8_t)(cid & 0xFF);
payload[posi++] = (uint8_t)(cid >> 8);
uint16_t dataLen = posi;
uint16_t len = make_acl_l2cap_packet(tmpQueueData, ch, pbf, bf, channelID, payload, dataLen);
sendHciPacket(tmpQueueData, len);
VERBOSE_PRINTLN("queued acl_l2cap_single_packet(CONNECTION REQUEST)");
}
static void handleConnectionCompleteEvent(uint8_t len, uint8_t* data) {
uint8_t status = data[0];
VERBOSE_PRINT("connection_complete status=%02X", status);
uint16_t ch = data[2] << 8 | data[1]; // Connection Handle
struct bd_addr_t bdAddr;
STREAM_TO_BDADDR(bdAddr.addr, data+3);
uint8_t lt = data[9]; // Link Type
uint8_t ee = data[10]; // Encryption Enabled
VERBOSE_PRINT(" Connection_Handle = 0x%04X", ch);
VERBOSE_PRINT(" BD_ADDR = %s", format2Hex((uint8_t*)&bdAddr.addr, BD_ADDR_LEN));
VERBOSE_PRINT(" Link_Type = %02X", lt);
VERBOSE_PRINT(" Encryption_Enabled = %02X", ee);
l2capConnect(ch, 0x0013, 0x0045);
}
static void handleDisconnectionCompleteEvent(uint8_t len, uint8_t* data) {
uint8_t status = data[0];
VERBOSE_PRINT("disconnection_complete status=%02X ", status);
uint16_t ch = data[2] << 8 | data[1]; //Connection Handle
uint8_t reason = data[3]; // Reason
VERBOSE_PRINT("Connection_Handle = 0x%04X ", ch);
VERBOSE_PRINT("Reason = %02X", reason);
UNVERBOSE_PRINT("Wiimote lost\n");
wiimoteConnected = false;
nunchukConnected = false;
resetDevice();
}
void handleHciEvent(uint8_t event_code, uint8_t len, uint8_t* data) {
VERBOSE_PRINTLN("handleHciEvent");
if(event_code != HCI_INQUIRY_RESULT_EVT){ // suppress HCI_INQUIRY_RESULT_EVT
VERBOSE_PRINT("EVENT code=%02X len=%d data=%s", event_code, len, format2Hex(data, len));
}
switch(event_code){
case HCI_INQUIRY_COMP_EVT:
handleInquiryCompleteEvent(len, data);;
break;
case HCI_INQUIRY_RESULT_EVT:
handleInquiryResultEvent(len, data);;
break;
case HCI_CONNECTION_COMP_EVT:
handleConnectionCompleteEvent(len, data);;
break;
case HCI_DISCONNECTION_COMP_EVT:
handleDisconnectionCompleteEvent(len, data);;
break;
case HCI_RMT_NAME_REQUEST_COMP_EVT:
handleRemoteNameRequestCompleteEvent(len, data);;
break;
case HCI_COMMAND_COMPLETE_EVT:
handleCommandCompleteEvent(len, data);;
break;
case HCI_COMMAND_STATUS_EVT:
handleCommandStatusEvent(len, data);;
break;
default:
// handleHciEvent no impl
break;
}
}
static void handleL2capConnectionResponse(uint16_t ch, uint8_t* data) {
uint8_t identifier = data[1];
// uint16_t len = (data[3] << 8) | data[2];
uint16_t dstCID = (data[5] << 8) | data[4];
uint16_t srcCID = (data[7] << 8) | data[6];
uint16_t result = (data[9] << 8) | data[8];
uint16_t status = (data[11] << 8) | data[10];
// VERBOSE_PRINT("L2CAP CONNECTION RESPONSE");
VERBOSE_PRINT(" identifier = %02X", identifier);
VERBOSE_PRINT(" dest cid = %04X", dstCID);
VERBOSE_PRINT(" src cid = %04X", srcCID);
VERBOSE_PRINT(" result = %04X", result);
VERBOSE_PRINT(" status = %04X", status);
if(result == 0x0000){
struct l2cap_connection_t connection;
connection.ch = ch;
connection.remoteCID = dstCID;
int idx = l2capAddConnection(connection);
if(idx == -1){
VERBOSE_PRINTLN("l2cap connection failed");
return;
}
uint8_t pbf = 0b10; // Packet Boundary Flag
uint8_t bf = 0b00; // Broadcast Flag
uint16_t channelID = 0x0001;
// create command of 'Control frame'
uint8_t posi = 0;
// Command Header
payload[posi++] = 0x04; // CODE:CONFIGURATION REQUEST
payload[posi++] = 0x02; // Identifier
payload[posi++] = 0x08; // Length: 0x0008
payload[posi++] = 0x00;
// Destination CID
payload[posi++] = (uint8_t)(dstCID & 0xFF);
payload[posi++] = (uint8_t)(dstCID >> 8);
// Flags
payload[posi++] = 0x00;
payload[posi++] = 0x00;
// type=01 len=02 value=00 40
payload[posi++] = 0x01;
payload[posi++] = 0x02;
payload[posi++] = 0x40;
payload[posi++] = 0x00;
uint16_t dataLen = posi;
uint16_t len = make_acl_l2cap_packet(tmpQueueData, ch, pbf, bf, channelID, payload, dataLen);
sendHciPacket(tmpQueueData, len);
VERBOSE_PRINTLN("queued acl_l2cap_single_packet(CONFIGURATION REQUEST)");
}
}
static void handleL2capConfigurationResponse(uint16_t ch, uint8_t* data) {
uint8_t identifier = data[1];
uint16_t len = (data[3] << 8) | data[2];
uint16_t cid = (data[5] << 8) | data[4];
uint16_t flags = (data[7] << 8) | data[6];
uint16_t result = (data[9] << 8) | data[8];
// config = data[10..]
// VERBOSE_PRINTLN("L2CAP CONFIGURATION RESPONSE ");
VERBOSE_PRINT("identifier = %02X ", identifier);
VERBOSE_PRINT("len = %04X ", len);
VERBOSE_PRINT("cid = %04X ", cid);
VERBOSE_PRINT("flags = %04X ", flags);
VERBOSE_PRINT("result = %04X ", result);
VERBOSE_PRINT("config = %s", format2Hex(data+10, len-6));
}
static void handleL2capConfigurationRequest(uint16_t ch, uint8_t* data) {
uint8_t identifier = data[1];
uint16_t len = (data[3] << 8) | data[2];
uint16_t dstCID = (data[5] << 8) | data[4];
uint16_t flags = (data[7] << 8) | data[6];
// VERBOSE_PRINTLN("L2CAP CONFIGURATION REQUEST");
VERBOSE_PRINT("identifier = %02X", identifier);
VERBOSE_PRINT("len = %02X ", len);
VERBOSE_PRINT("dstCID = %04X ", dstCID);
VERBOSE_PRINT("flags = %04X ", flags);
VERBOSE_PRINT("config = %s", format2Hex(data+8, len-4));
if(flags != 0x0000){
VERBOSE_PRINTLN("flags!=0x0000");
return;
}
if(len != 0x08){
VERBOSE_PRINTLN("len!=0x08");
return;
}
if((data[8] == 0x01) && (data[9] == 0x02)){ // MTU
uint16_t mtu = (data[11] << 8) | data[10];
VERBOSE_PRINT(" MTU=%d", mtu);
int idx = l2capFindConnection(ch);
struct l2cap_connection_t connection = l2capConnectionList[idx];
uint8_t pbf = 0b10; // Packet Boundary Flag
uint8_t bf = 0b00; // Broadcast Flag
uint16_t channelID = 0x0001;
uint16_t cid = connection.remoteCID;
// create command of 'Control frame'
uint8_t posi = 0;
// Command Header
payload[posi++] = 0x05; // CODE:CONFIGURATION RESPONSE
payload[posi++] = identifier; // Identifier
payload[posi++] = 0x0A; // Length: 0x000A
payload[posi++] = 0x00;
// Source CID
payload[posi++] = (uint8_t)(cid & 0xFF);
payload[posi++] = (uint8_t)(cid >> 8);
// Flags
payload[posi++] = 0x00;
payload[posi++] = 0x00;
// Res
payload[posi++] = 0x00;
payload[posi++] = 0x00;
// type=01 len=02 value=xx xx
payload[posi++] = 0x01;
payload[posi++] = 0x02;
payload[posi++] = (uint8_t)(mtu & 0xFF);
payload[posi++] = (uint8_t)(mtu >> 8);
uint16_t dataLen = posi;
uint16_t len = make_acl_l2cap_packet(tmpQueueData, ch, pbf, bf, channelID, payload, dataLen);
sendHciPacket(tmpQueueData, len);
VERBOSE_PRINTLN("queued acl_l2cap_single_packet(CONFIGURATION RESPONSE)");
}
}
static void setPlayerLEDs(uint16_t ch, uint8_t leds) {
int idx = l2capFindConnection(ch);
struct l2cap_connection_t connection = l2capConnectionList[idx];
uint8_t pbf = 0b10; // Packet Boundary Flag
uint8_t bf = 0b00; // Broadcast Flag
uint16_t channelID = connection.remoteCID;
// create information payload of 'Basic information frame'
// wiimote report: (a2) 11 LL
uint8_t posi = 0;
// Information Payload
payload[posi++] = 0xA2; // Output report
payload[posi++] = 0x11; // Function:Player LEDs
payload[posi++] = (uint8_t)(leds << 4); // LL:controls the four LEDs
uint16_t dataLen = posi;
uint16_t len = make_acl_l2cap_packet(tmpQueueData, ch, pbf, bf, channelID, payload, dataLen);
sendHciPacket(tmpQueueData, len);
VERBOSE_PRINT("queued acl_l2cap_single_packet(Set LEDs)");
}
enum address_space_t {
EEPROM_MEMORY,
CONTROL_REGISTER
};
static uint8_t getAddrSpace(int as)
{
switch(as){
case EEPROM_MEMORY : return 0x00;
case CONTROL_REGISTER: return 0x04;
}
return 0xFF;
}
#define OFFSET_EEP_DATA (7)
#define SIZE_EEP_DATA (16)
static void writingEEPROM(uint16_t ch, int as, uint32_t offset, const uint8_t* eepData, uint8_t eepLen) {
int idx = l2capFindConnection(ch);
struct l2cap_connection_t connection = l2capConnectionList[idx];
uint8_t pbf = 0b10; // Packet Boundary Flag
uint8_t bf = 0b00; // Broadcast Flag
uint16_t channelID = connection.remoteCID;
// create information payload of 'Basic information frame'
// wiimote report: (a2) 16 MM FF FF FF SS DD DD DD DD DD DD DD DD DD DD DD DD DD DD DD DD
uint8_t posi = 0;
// Information Payload
payload[posi++] = 0xA2; // Output report
payload[posi++] = 0x16; // Function:Write Memory and Registers
payload[posi++] = getAddrSpace((int)as); // MM Address space: 0x00=EEPROM, 0x04=ControlRegister
payload[posi++] = (uint8_t)((offset >> 16) & 0xFF); //FF
payload[posi++] = (uint8_t)((offset >> 8) & 0xFF); //FF
payload[posi++] = (uint8_t)((offset ) & 0xFF); //FF
payload[posi++] = eepLen; // SS write eeprom size: 1..16
memset(&payload[posi], 0, SIZE_EEP_DATA); // DD
posi += SIZE_EEP_DATA;
memcpy(payload+OFFSET_EEP_DATA, eepData, eepLen);
uint16_t dataLen = posi;
uint16_t len = make_acl_l2cap_packet(tmpQueueData, ch, pbf, bf, channelID, payload, dataLen);
sendHciPacket(tmpQueueData, len);
VERBOSE_PRINTLN("queued writingEEPROM");
}
static void readingEEPROM(uint16_t ch, int as, uint32_t offset, uint16_t size) {
int idx = l2capFindConnection(ch);
struct l2cap_connection_t connection = l2capConnectionList[idx];
uint8_t pbf = 0b10; // Packet Boundary Flag
uint8_t bf = 0b00; // Broadcast Flag
uint16_t channelID = connection.remoteCID;
// create information payload of 'Basic information frame'
// wiimote report: (a2) 17 MM FF FF FF SS SS
uint8_t posi = 0;
// Information Payload
payload[posi++] = 0xA2; // Output report
payload[posi++] = 0x17; // Function:Read Memory and Registers
payload[posi++] = getAddrSpace((int)as); // MM Address space: 0x00=EEPROM, 0x04=ControlRegister
payload[posi++] = (uint8_t)((offset >> 16) & 0xFF); // FF
payload[posi++] = (uint8_t)((offset >> 8) & 0xFF); // FF
payload[posi++] = (uint8_t)((offset ) & 0xFF); // FF
payload[posi++] = (uint8_t)((size >> 8 ) & 0xFF); // SS read eeprom size: 1..16
payload[posi++] = (uint8_t)((size ) & 0xFF); // SS
uint16_t dataLen = posi;
uint16_t len = make_acl_l2cap_packet(tmpQueueData, ch, pbf, bf, channelID, payload, dataLen);
sendHciPacket(tmpQueueData, len);
VERBOSE_PRINTLN("queued readingEEPROM");
}
static void setDataReportingMode(uint16_t ch, uint8_t mode, bool continuous) {
UNVERBOSE_PRINT("setDataReportingMode 0x%02X (ch:%d)\n", (int)mode, (int)ch);
int idx = l2capFindConnection(ch);
struct l2cap_connection_t connection = l2capConnectionList[idx];
uint8_t pbf = 0b10; // Packet Boundary Flag
uint8_t bf = 0b00; // Broadcast Flag
uint16_t channelID = connection.remoteCID;
uint8_t contReportIsDesired = continuous ? 0x04 : 0x00; // 0x00, 0x04
// create information payload of 'Basic information frame'
// report: (a2) 12 TT MM
uint8_t posi = 0;
// Information Payload
payload[posi++] = 0xA2; // Output report
payload[posi++] = 0x12; // Function:Data Reporting mode
payload[posi++] = contReportIsDesired; // TT whether continuous reporting is desired
payload[posi++] = mode; // MM
uint16_t dataLen = posi;
uint16_t len = make_acl_l2cap_packet(tmpQueueData, ch, pbf, bf, channelID, payload, dataLen);
sendHciPacket(tmpQueueData, len);
VERBOSE_PRINTLN("queued setDataReportingMode");
}
enum {
REPORT_STATE_INIT = 0,
REPORT_STATE_WAIT_ACK_OUT_REPORT,
REPORT_STATE_WAIT_READ_COTRLLER_TYPE,
REPORT_STATE_WAIT_READ_RESPONSE,
};
static void handleExtensionControllerReports(uint16_t ch, uint16_t channelID, uint8_t* data, uint16_t len) {
static int controllerReportState = REPORT_STATE_INIT;
switch(controllerReportState){
case REPORT_STATE_INIT:
VERBOSE_PRINT("REPORT_STATE_INIT\n");
// data report(Status)
// (a1) 20 BB BB LF 00 00 VV
if(data[1] == 0x20){
if(data[4] & 0x02){ // extension controller is connected
UNVERBOSE_PRINT("Extension controller connected\n");
writingEEPROM(ch, CONTROL_REGISTER, 0xA400F0, (const uint8_t[]){0x55}, 1);
controllerReportState = REPORT_STATE_WAIT_ACK_OUT_REPORT;
}else{ // extension controller is NOT connected
UNVERBOSE_PRINT("Extension controller NOT connected\n");
nunchukConnected = false;
if (useAccelerometer)
setDataReportingMode(ch, 0x31, false); // Core Buttons and Accelerometer: 31 BB BB AA AA AA
else
setDataReportingMode(ch, 0x30, false); // Core Buttons : 30 BB BB
// [note] Core Buttons and Accelerometer with 12 IR bytes: 33 BB BB AA AA AA II II II II II II II II II II II II
}
}
break;
case REPORT_STATE_WAIT_ACK_OUT_REPORT:
VERBOSE_PRINT("REPORT_STATE_WAIT_ACK_OUT_REPORT\n");
// data report(Acknowledge output report, return function result)
// (a1) 22 BB BB 16 00 : OK
// (a1) 22 BB BB 16 04 : NG
if((data[1] == 0x22) && (data[4] == 0x16)){
if(data[5] == 0x00){
writingEEPROM(ch, CONTROL_REGISTER, 0xA400FB, (const uint8_t[]){0x00}, 1);
controllerReportState = REPORT_STATE_WAIT_READ_COTRLLER_TYPE;
}else{
controllerReportState = REPORT_STATE_INIT;
}
}
break;
case REPORT_STATE_WAIT_READ_COTRLLER_TYPE:
VERBOSE_PRINT("REPORT_STATE_WAIT_READ_COTRLLER_TYPE\n");
if((data[1] == 0x22) && (data[4] == 0x16)){
if(data[5] == 0x00){
readingEEPROM(ch, CONTROL_REGISTER, 0xA400FA, 6); // read controller type
controllerReportState = REPORT_STATE_WAIT_READ_RESPONSE;
}else{
controllerReportState = REPORT_STATE_INIT;
}
}
break;
case REPORT_STATE_WAIT_READ_RESPONSE:
VERBOSE_PRINT("REPORT_STATE_WAIT_READ_RESPONSE\n");
// data report(Read response)
// (a1) 21 BB BB SE FF FF DD DD DD DD DD DD DD DD DD DD DD DD DD DD DD DD
if(data[1] == 0x21){
if(memcmp(data+5, (const uint8_t[]){0x00, 0xFA}, 2) == 0){
if(memcmp(data+7, (const uint8_t[]){0x00, 0x00, 0xA4, 0x20, 0x00, 0x00}, 6) == 0){ // Nunchuk
UNVERBOSE_PRINT("Nunchuk detected\n");
nunchukConnected = true;
if (useAccelerometer)
setDataReportingMode(ch, 0x35, false); // Core Buttons and Accelerometer with 16 Extension bytes: 35 BB BB AA AA AA EE EE ...
else
setDataReportingMode(ch, 0x32, false); // Core Buttons with 8 Extension bytes : 32 BB BB EE EE EE EE EE EE EE EE
}
controllerReportState = REPORT_STATE_INIT;
}
}
break;
}
}
/**
* Received Data
*/
struct recv_data_rb {
uint8_t wp;
uint8_t rp;
uint8_t cnt;
};
static recv_data_rb receivedDataRb;
#define RECIEVED_DATA_MAX_NUM (5)
static TinyWiimoteData receivedData[RECIEVED_DATA_MAX_NUM];
void putWiimoteReceivedData(uint8_t number, uint8_t* data, uint8_t len) {
if(receivedDataRb.cnt < RECIEVED_DATA_MAX_NUM) {
TinyWiimoteData *target = &(receivedData[receivedDataRb.wp]);
memcpy(target->data, data, len);
target->number = number;
target->len = len;
receivedDataRb.wp = (receivedDataRb.wp + 1) % RECIEVED_DATA_MAX_NUM;
receivedDataRb.cnt++;
}
VERBOSE_PRINTLN("");
}
static void handleReport(uint8_t* data, uint16_t len) {
VERBOSE_PRINT("REPORT len=%d data=%s", len, format2Hex(data, len));
uint8_t idx = 0; //only supports one wiimote
putWiimoteReceivedData(idx, data, len);
}
static void handleL2capData(uint16_t ch, uint16_t channelID, uint8_t* data, uint16_t len) {
VERBOSE_PRINTLN("handleL2capData");
VERBOSE_PRINT("data[0]=%02X\n", data[0]);
switch(data[0]) {
case L2CAP_CONNECT_RES:
VERBOSE_PRINT("L2CAP CONNECTION RESPONSE");
handleL2capConnectionResponse(ch, data);
break;
case L2CAP_CONFIG_REQ:
VERBOSE_PRINTLN("L2CAP CONFIGURATION REQUEST");
handleL2capConfigurationRequest(ch, data);
break;
case L2CAP_CONFIG_RES:
VERBOSE_PRINTLN("L2CAP CONFIGURATION RESPONSE");