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Wiimote/Extension Controllers (view source)
Revision as of 14:44, 17 June 2009
, 14:44, 17 June 2009→Wii Motion Plus: Formatted in a table
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zz yy xx ZZ YY XX+where rotation rate about the X axis is XXxx, etc. in a right-handed orientation. Note that I'm not 100% on the least significant bytes, but that seems to be correct, and the format is self-consistent. When not activated, the MotionPlus is detected by regular polling (every 8 seconds or so) of 0x(4)a600fe. Writing 0x55 to 0x4A400F0, then 0x00 to 0x4A400FB (standard extension init, works fine even with no extension) re-activates the standard extension, if any, plugged into the MotionPlus pass-through port. The development version of the CWiid driver currently implements this method on the motionplus branch: http://abstrakraft.org/cwiid/browser/branches/motionplus/. Additional information on MotionPlus workings and implementation requirements are at http://abstrakraft.org/cwiid/wiki/MotionPlus.+
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Writing 0x04 to 0x(4)A600FE activates the MotionPlus as the "active" extension. This does 3 things (with no additional initialization):
Writing 0x04 to 0x(4)A600FE activates the MotionPlus as the "active" extension. This does 3 things (with no additional initialization):
* A status report (0x20) will automatically be sent indicating that a normal extension has been plugged in.
* A status report (0x20) will automatically be sent indicating that a normal extension has been plugged in.
−* The standard extension identifier at 0x04A400FA now reads 00 00 A4 20 04 05
+* The standard extension identifier at 0x(4)A400FA now reads 00 00 A4 20 04 05
−* Extension reports now contain MotionPlus data. Format is:
+* Extension reports now contain MotionPlus data.
−== Data Format ==
+The Wii Motion Plus reports its information as 6 bytes of data, readable at 0x(4)a40008 and streamable using Data Reporting Modes that include Extension bytes (unused bytes are filled with 0x00). The data is packed into the six bytes as follows:
−{| style="border-collapse: collapse; padding: 0.2em 0.2em 0.2em 0.2em; text-align: center;"
+|- style="background-color: #ddd;"
+| style="background-color: #fff;" |
+| style="border: 1px solid #ccc; padding: 0.2em; text-align: center;" colspan="8"| '''Bit'''
+|- style="background-color: #cdc;"
+| style="border: 1px solid #ccc; padding: 0.2em; background-color: #ddd;" | '''Byte'''
+| style="border: 1px solid #ccc; padding: 0.2em; width:3.3em;" | '''7'''
+| style="border: 1px solid #ccc; padding: 0.2em; width:3.3em;" | '''6'''
+| style="border: 1px solid #ccc; padding: 0.2em; width:3.3em;" | '''5'''
+| style="border: 1px solid #ccc; padding: 0.2em; width:3.3em;" | '''4'''
+| style="border: 1px solid #ccc; padding: 0.2em; width:3.3em;" | '''3'''
+| style="border: 1px solid #ccc; padding: 0.2em; width:3.3em;" | '''2'''
+| style="border: 1px solid #ccc; padding: 0.2em; width:3.3em;" | '''1'''
+| style="border: 1px solid #ccc; padding: 0.2em; width:3.3em;" | '''0'''
+|- style="background-color: #ded;"
+| style="border: 1px solid #ccc; padding: 0.2em; background-color: #eee;" | 0
+| style="border: 1px solid #ccc; padding: 0.2em;" colspan="8" | '''Yaw Left Speed'''<span style="color: #777;"><<span style="color: #c00;">7:0</span>></span>
+|- style="background-color: #ded;"
+| style="border: 1px solid #ccc; padding: 0.2em; background-color: #eee;" | 1
+| style="border: 1px solid #ccc; padding: 0.2em;" colspan="8" | '''Roll Left Speed'''<span style="color: #777;"><<span style="color: #c00;">7:0</span>></span>
+|- style="background-color: #ded;"
+| style="border: 1px solid #ccc; padding: 0.2em; background-color: #eee;" | 2
+| style="border: 1px solid #ccc; padding: 0.2em;" colspan="8" | '''Pitch Down Speed'''<span style="color: #777;"><<span style="color: #c00;">7:0</span>></span>
+|- style="background-color: #ded;"
+| style="border: 1px solid #ccc; padding: 0.2em; background-color: #eee;" | 3
+| style="border: 1px solid #ccc; padding: 0.2em;" colspan="8" | '''Yaw Left Speed'''<span style="color: #777;"><<span style="color: #c00;">15:8</span>></span>
+|- style="background-color: #ded;"
+| style="border: 1px solid #ccc; padding: 0.2em; background-color: #eee;" | 4
+| style="border: 1px solid #ccc; padding: 0.2em;" colspan="8" | '''Roll Left Speed'''<span style="color: #777;"><<span style="color: #c00;">15:8</span>></span>
+|- style="background-color: #ded;"
+| style="border: 1px solid #ccc; padding: 0.2em; background-color: #eee;" | 5
+| style="border: 1px solid #ccc; padding: 0.2em;" colspan="8" | '''Pitch Down Speed'''<span style="color: #777;"><<span style="color: #c00;">15:8</span>></span>
+|}
+While the Wiimote is still, the values will be about 32768 (0x8000).
+=Information=
+When not activated, the MotionPlus is detected by regular polling (every 8 seconds or so) of 0x(4)a600fe. Writing 0x55 to 0x4A400F0, then 0x00 to 0x4A400FB (standard extension init, works fine even with no extension) re-activates the standard extension, if any, plugged into the MotionPlus pass-through port. The development version of the CWiid driver currently implements this method on the motionplus branch: http://abstrakraft.org/cwiid/browser/branches/motionplus/. Additional information on MotionPlus workings and implementation requirements are at http://abstrakraft.org/cwiid/wiki/MotionPlus.
The combination of 3 linear accelerations with 3 angular rates allows what Nintendo refers to as 1:1 motion tracking, which is another way of saying 6DOF (degrees of freedom) over a short time. It's only valid over short times because of the integration involved to convert accelerations and rates into positions (input errors, when integrated, blow up over time).
The combination of 3 linear accelerations with 3 angular rates allows what Nintendo refers to as 1:1 motion tracking, which is another way of saying 6DOF (degrees of freedom) over a short time. It's only valid over short times because of the integration involved to convert accelerations and rates into positions (input errors, when integrated, blow up over time).