public void Detach()
{
stop_polling = true;
if (xin != null)
{
xin.Disconnect(); xin.Dispose();
}
if (state > state_.NO_JOYCONS)
{
HIDapi.hid_set_nonblocking(handle, 0);
Subcommand(0x40, new byte[] { 0x0 }, 1);
//Subcommand(0x48, new byte[] { 0x0 }, 1); // Would turn off rumble?
if (isUSB)
{
byte[] a = Enumerable.Repeat((byte)0, 64).ToArray();
a[0] = 0x80; a[1] = 0x05; // Allow device to talk to BT again
HIDapi.hid_write(handle, a, new UIntPtr(2));
a[0] = 0x80; a[1] = 0x06; // Allow device to talk to BT again
HIDapi.hid_write(handle, a, new UIntPtr(2));
}
}
if (state > state_.DROPPED)
{
HIDapi.hid_close(handle);
}
state = state_.NOT_ATTACHED;
}
private byte[] Subcommand(byte sc, byte[] buf, uint len, bool print = true)
{
byte[] buf_ = new byte[report_len];
byte[] response = new byte[report_len];
Array.Copy(default_buf, 0, buf_, 2, 8);
Array.Copy(buf, 0, buf_, 11, len);
buf_[10] = sc;
buf_[1] = global_count;
buf_[0] = 0x1;
if (global_count == 0xf)
{
global_count = 0;
}
else
{
++global_count;
}
if (print)
{
PrintArray(buf_, DebugType.COMMS, len, 11, "Subcommand 0x" + string.Format("{0:X2}", sc) + " sent. Data: 0x{0:S}");
}
;
HIDapi.hid_write(handle, buf_, new UIntPtr(len + 11));
int res = HIDapi.hid_read_timeout(handle, response, new UIntPtr(report_len), 50);
if (res < 1)
{
DebugPrint("No response.", DebugType.COMMS);
}
else if (print)
{
PrintArray(response, DebugType.COMMS, report_len - 1, 1, "Response ID 0x" + string.Format("{0:X2}", response[0]) + ". Data: 0x{0:S}");
}
return(response);
}
private void SendRumble(byte[] buf)
{
byte[] buf_ = new byte[report_len];
buf_[0] = 0x10;
buf_[1] = global_count;
if (global_count == 0xf)
{
global_count = 0;
}
else
{
++global_count;
}
Array.Copy(buf, 0, buf_, 2, 8);
PrintArray(buf_, DebugType.RUMBLE, format: "Rumble data sent: {0:S}");
HIDapi.hid_write(handle, buf_, new UIntPtr(report_len));
}
public int Attach(byte leds_ = 0x0)
{
state = state_.ATTACHED;
// Make sure command is received
HIDapi.hid_set_nonblocking(handle, 0);
byte[] a = { 0x0 };
// Connect
if (!isUSB)
{
// Input report mode
Subcommand(0x03, new byte[] { 0x30 }, 1, false);
a[0] = 0x1;
dump_calibration_data();
}
else
{
Subcommand(0x03, new byte[] { 0x3f }, 1, false);
a = Enumerable.Repeat((byte)0, 64).ToArray();
form.AppendTextBox("Using USB.\r\n");
a[0] = 0x80;
a[1] = 0x01;
HIDapi.hid_write(handle, a, new UIntPtr(2));
HIDapi.hid_read(handle, a, new UIntPtr(64));
if (a[2] != 0x3)
{
PadMacAddress = new PhysicalAddress(new byte[] { a[9], a[8], a[7], a[6], a[5], a[4] });
}
// USB Pairing
a = Enumerable.Repeat((byte)0, 64).ToArray();
a[0] = 0x80; a[1] = 0x02; // Handshake
HIDapi.hid_write(handle, a, new UIntPtr(2));
a[0] = 0x80; a[1] = 0x03; // 3Mbit baud rate
HIDapi.hid_write(handle, a, new UIntPtr(2));
a[0] = 0x80; a[1] = 0x02; // Handshake at new baud rate
HIDapi.hid_write(handle, a, new UIntPtr(2));
a[0] = 0x80; a[1] = 0x04; // Prevent HID timeout
HIDapi.hid_write(handle, a, new UIntPtr(2));
dump_calibration_data();
}
BlinkHomeLight();
a[0] = leds_;
Subcommand(0x30, a, 1);
Subcommand(0x40, new byte[] { (imu_enabled ? (byte)0x1 : (byte)0x0) }, 1, true);
Subcommand(0x3, new byte[] { 0x30 }, 1, true);
Subcommand(0x48, new byte[] { 0x01 }, 1, true);
Subcommand(0x41, new byte[] { 0x03, 0x00, 0x00, 0x01 }, 4, false); // higher gyro performance rate
DebugPrint("Done with init.", DebugType.COMMS);
HIDapi.hid_set_nonblocking(handle, 1);
return(0);
}