春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo_PS3_3_5

3/5

Dependencies:   mbed

Ps3USB.cpp@1:530908de68c6, 2019-03-05 (annotated)

Committer:
yuki0701
Date:
Tue Mar 05 04:30:35 2019 +0000
Revision:
1:530908de68c6
Parent:
0:a56be39653d0 
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
la00noix 0:a56be39653d0 1 /*
la00noix 0:a56be39653d0 2 Copyright (c) 2011 Bart Janssens
la00noix 0:a56be39653d0 3
la00noix 0:a56be39653d0 4 Permission is hereby granted, free of charge, to any person obtaining a copy
la00noix 0:a56be39653d0 5 of this software and associated documentation files (the "Software"), to deal
la00noix 0:a56be39653d0 6 in the Software without restriction, including without limitation the rights
la00noix 0:a56be39653d0 7 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
la00noix 0:a56be39653d0 8 copies of the Software, and to permit persons to whom the Software is
la00noix 0:a56be39653d0 9 furnished to do so, subject to the following conditions:
la00noix 0:a56be39653d0 10
la00noix 0:a56be39653d0 11 The above copyright notice and this permission notice shall be included in
la00noix 0:a56be39653d0 12 all copies or substantial portions of the Software.
la00noix 0:a56be39653d0 13
la00noix 0:a56be39653d0 14 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
la00noix 0:a56be39653d0 15 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
la00noix 0:a56be39653d0 16 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
la00noix 0:a56be39653d0 17 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
la00noix 0:a56be39653d0 18 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
la00noix 0:a56be39653d0 19 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
la00noix 0:a56be39653d0 20 THE SOFTWARE.
la00noix 0:a56be39653d0 21 */
la00noix 0:a56be39653d0 22
la00noix 0:a56be39653d0 23 #include <stdio.h>
la00noix 0:a56be39653d0 24 #include <stdlib.h>
la00noix 0:a56be39653d0 25 #include <string.h>
la00noix 0:a56be39653d0 26
la00noix 0:a56be39653d0 27 #include "USBHost.h"
la00noix 0:a56be39653d0 28 #include "hci.h"
la00noix 0:a56be39653d0 29 #include "Utils.h"
la00noix 0:a56be39653d0 30 #include "ps3.h"
la00noix 0:a56be39653d0 31 #include "User.h"
la00noix 0:a56be39653d0 32
la00noix 0:a56be39653d0 33 #include "mbed.h"
la00noix 0:a56be39653d0 34
la00noix 0:a56be39653d0 35 #define AUTOEVT(_class,_subclass,_protocol) (((_class) << 16) | ((_subclass) << 8) | _protocol)
la00noix 0:a56be39653d0 36 #define PS3EVT AUTOEVT(CLASS_HID,0,0)
la00noix 0:a56be39653d0 37 #define byteswap(x) ((x >> 8) | (x << 8))
la00noix 0:a56be39653d0 38
la00noix 0:a56be39653d0 39 u8 ps3_data[48];
la00noix 0:a56be39653d0 40
la00noix 0:a56be39653d0 41 Ps3USB::Ps3USB(int device, int configuration, int interfaceNumber)
la00noix 0:a56be39653d0 42 {
la00noix 0:a56be39653d0 43 printf("Creating new sixaxis \r\n");
la00noix 0:a56be39653d0 44 _device = device;
la00noix 0:a56be39653d0 45 _configuration = configuration;
la00noix 0:a56be39653d0 46 _interfaceNumber = interfaceNumber;
la00noix 0:a56be39653d0 47 printf("device = %d configuration = %d interfaceNumber = %d\r\n", device, configuration, interfaceNumber);
la00noix 0:a56be39653d0 48 int result;
la00noix 0:a56be39653d0 49 int err;
la00noix 0:a56be39653d0 50
la00noix 0:a56be39653d0 51 _count = 1;
la00noix 0:a56be39653d0 52
la00noix 0:a56be39653d0 53 u8 abuffer[48] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
la00noix 0:a56be39653d0 54 0x00, 0x02, 0xff, 0x27, 0x10, 0x00, 0x32, 0xff,
la00noix 0:a56be39653d0 55 0x27, 0x10, 0x00, 0x32, 0xff, 0x27, 0x10, 0x00,
la00noix 0:a56be39653d0 56 0x32, 0xff, 0x27, 0x10, 0x00, 0x32, 0x00, 0x00,
la00noix 0:a56be39653d0 57 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
la00noix 0:a56be39653d0 58 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
la00noix 0:a56be39653d0 59 memcpy(ledrumble,abuffer,48);
la00noix 0:a56be39653d0 60
la00noix 0:a56be39653d0 61 EndpointDescriptor* ep;
la00noix 0:a56be39653d0 62
la00noix 0:a56be39653d0 63 u8 buffer[255];
la00noix 0:a56be39653d0 64 err = GetDescriptor(_device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,255);
la00noix 0:a56be39653d0 65 if (err < 0)
la00noix 0:a56be39653d0 66 printf("Failed to get descriptor\r\n");
la00noix 0:a56be39653d0 67
la00noix 0:a56be39653d0 68
la00noix 0:a56be39653d0 69 int len = buffer[2] | (buffer[3] << 8);
la00noix 0:a56be39653d0 70 u8* d = buffer;
la00noix 0:a56be39653d0 71 u8* end = d + len;
la00noix 0:a56be39653d0 72 while (d < end)
la00noix 0:a56be39653d0 73 {
la00noix 0:a56be39653d0 74 if (d[1] == DESCRIPTOR_TYPE_INTERFACE)
la00noix 0:a56be39653d0 75 {
la00noix 0:a56be39653d0 76 InterfaceDescriptor* id = (InterfaceDescriptor*)d;
la00noix 0:a56be39653d0 77 if (id->bInterfaceNumber == _interfaceNumber)
la00noix 0:a56be39653d0 78 {
la00noix 0:a56be39653d0 79 d += d[0];
la00noix 0:a56be39653d0 80 while (d < end && d[1] != DESCRIPTOR_TYPE_INTERFACE)
la00noix 0:a56be39653d0 81 {
la00noix 0:a56be39653d0 82 if (d[1] == DESCRIPTOR_TYPE_ENDPOINT)
la00noix 0:a56be39653d0 83 ep = (EndpointDescriptor*)d;
la00noix 0:a56be39653d0 84
la00noix 0:a56be39653d0 85 if (ep->bEndpointAddress == 0x02) {
la00noix 0:a56be39653d0 86 printf("PS3 input endpoint (0x02) found\r\n");
la00noix 0:a56be39653d0 87 input_ep = 0x02;
la00noix 0:a56be39653d0 88
la00noix 0:a56be39653d0 89 }
la00noix 0:a56be39653d0 90 if (ep->bEndpointAddress == 0x81) {
la00noix 0:a56be39653d0 91 printf("PS3 output endpoint (0x81) found\r\n");
la00noix 0:a56be39653d0 92 output_ep = 0x81;
la00noix 0:a56be39653d0 93 //AddAutoEvent(device,id,(EndpointDescriptor*)d);
la00noix 0:a56be39653d0 94 }
la00noix 0:a56be39653d0 95 d += d[0];
la00noix 0:a56be39653d0 96 }
la00noix 0:a56be39653d0 97 }
la00noix 0:a56be39653d0 98 }
la00noix 0:a56be39653d0 99 d += d[0];
la00noix 0:a56be39653d0 100 }
la00noix 0:a56be39653d0 101
la00noix 0:a56be39653d0 102 }
la00noix 0:a56be39653d0 103
la00noix 0:a56be39653d0 104 int Ps3USB::Enable()
la00noix 0:a56be39653d0 105 {
la00noix 0:a56be39653d0 106 int err;
la00noix 0:a56be39653d0 107
la00noix 0:a56be39653d0 108 u8 enable[4] = {0x42,0x0c,0x00,0x00};
la00noix 0:a56be39653d0 109
la00noix 0:a56be39653d0 110
la00noix 0:a56be39653d0 111 err = USBControlTransfer(_device, HOST_TO_DEVICE|REQUEST_TYPE_CLASS|RECIPIENT_INTERFACE, HID_REQUEST_SET_REPORT, 0x03f4,0, enable, sizeof(enable), 0, 0 );
la00noix 0:a56be39653d0 112 //printf("set report result = %d\r\n", err);
la00noix 0:a56be39653d0 113 _count ++;
la00noix 0:a56be39653d0 114 if (_count == 25) _count = 1;
la00noix 0:a56be39653d0 115
la00noix 0:a56be39653d0 116 err = USBInterruptTransfer(_device,output_ep,ps3_data,sizeof(ps3_data),PS3EventCallback,this);
la00noix 0:a56be39653d0 117 wait_ms(4);
la00noix 0:a56be39653d0 118
la00noix 0:a56be39653d0 119 return 0;
la00noix 0:a56be39653d0 120
la00noix 0:a56be39653d0 121 }
la00noix 0:a56be39653d0 122
la00noix 0:a56be39653d0 123
la00noix 0:a56be39653d0 124
la00noix 0:a56be39653d0 125
la00noix 0:a56be39653d0 126 int Ps3USB::SetPair(u8* bdAddr)
la00noix 0:a56be39653d0 127 {
la00noix 0:a56be39653d0 128 int err;
la00noix 0:a56be39653d0 129
la00noix 0:a56be39653d0 130 u8 buf[8];
la00noix 0:a56be39653d0 131 u8 buf2[6];
la00noix 0:a56be39653d0 132
la00noix 0:a56be39653d0 133 memcpy(buf2,bdAddr,6);
la00noix 0:a56be39653d0 134
la00noix 0:a56be39653d0 135 buf[0] = 0x01;
la00noix 0:a56be39653d0 136 buf[1] = 0x00;
la00noix 0:a56be39653d0 137 buf[2] = buf2[0];
la00noix 0:a56be39653d0 138 buf[3] = buf2[1];
la00noix 0:a56be39653d0 139 buf[4] = buf2[2];
la00noix 0:a56be39653d0 140 buf[5] = buf2[3];
la00noix 0:a56be39653d0 141 buf[6] = buf2[4];
la00noix 0:a56be39653d0 142 buf[7] = buf2[5];
la00noix 0:a56be39653d0 143
la00noix 0:a56be39653d0 144 //set Mac address
la00noix 0:a56be39653d0 145 err = USBControlTransfer(_device, HOST_TO_DEVICE|REQUEST_TYPE_CLASS|RECIPIENT_INTERFACE, HID_REQUEST_SET_REPORT, 0x03f5, 0, buf, sizeof(buf), 0, 0 );
la00noix 0:a56be39653d0 146 wait_ms(4);
la00noix 0:a56be39653d0 147 printf("set Mac address to %02X:%02X:%02X:%02X:%02X:%02X , result = %d\r\n", buf[2], buf[3], buf[4], buf[5], buf[6], buf[7], err);
la00noix 0:a56be39653d0 148
la00noix 0:a56be39653d0 149 return 0;
la00noix 0:a56be39653d0 150 }
la00noix 0:a56be39653d0 151
la00noix 0:a56be39653d0 152 int Ps3USB::ShowPair()
la00noix 0:a56be39653d0 153 {
la00noix 0:a56be39653d0 154 int err;
la00noix 0:a56be39653d0 155
la00noix 0:a56be39653d0 156 u8 buf[8];
la00noix 0:a56be39653d0 157 //get Mac address
la00noix 0:a56be39653d0 158 err = USBControlTransfer(_device, DEVICE_TO_HOST|REQUEST_TYPE_CLASS|RECIPIENT_INTERFACE, HID_REQUEST_GET_REPORT, 0x03f5, 0, buf, sizeof(buf), 0, 0 );
la00noix 0:a56be39653d0 159 wait_ms(4);
la00noix 0:a56be39653d0 160 printf("Mac address is set to %02X:%02X:%02X:%02X:%02X:%02X , result = %d\r\n",buf[2], buf[3], buf[4], buf[5], buf[6], buf[7], err);
la00noix 0:a56be39653d0 161
la00noix 0:a56be39653d0 162
la00noix 0:a56be39653d0 163 return 0;
la00noix 0:a56be39653d0 164 }
la00noix 0:a56be39653d0 165
la00noix 0:a56be39653d0 166 int Ps3USB::Led(int i)
la00noix 0:a56be39653d0 167 {
la00noix 0:a56be39653d0 168 int err;
la00noix 0:a56be39653d0 169 u8 ledpattern[7] = {0x02, 0x04, 0x08, 0x10, 0x12, 0x14, 0x18 };
la00noix 0:a56be39653d0 170 u8 buf[48];
la00noix 0:a56be39653d0 171
la00noix 0:a56be39653d0 172 if (i < 7) ledrumble[9] = ledpattern[i];
la00noix 0:a56be39653d0 173 memcpy(buf, ledrumble, 48);
la00noix 0:a56be39653d0 174
la00noix 0:a56be39653d0 175 err = USBControlTransfer(_device, HOST_TO_DEVICE|REQUEST_TYPE_CLASS|RECIPIENT_INTERFACE, HID_REQUEST_SET_REPORT, 0x0201,0, buf, sizeof(buf), 0, 0 );
la00noix 0:a56be39653d0 176 wait_ms(4);
la00noix 0:a56be39653d0 177
la00noix 0:a56be39653d0 178 return 0;
la00noix 0:a56be39653d0 179 }
la00noix 0:a56be39653d0 180
la00noix 0:a56be39653d0 181 // left and right: duration and power, both from 0 to 255
la00noix 0:a56be39653d0 182 int Ps3USB::Rumble(u8 duration_right, u8 power_right, u8 duration_left, u8 power_left)
la00noix 0:a56be39653d0 183 {
la00noix 0:a56be39653d0 184 int err;
la00noix 0:a56be39653d0 185 u8 buf[48];
la00noix 0:a56be39653d0 186
la00noix 0:a56be39653d0 187 memcpy(buf, ledrumble, 48);
la00noix 0:a56be39653d0 188 buf[1] = duration_right;
la00noix 0:a56be39653d0 189 buf[2] = power_right;
la00noix 0:a56be39653d0 190 buf[3] = duration_left;
la00noix 0:a56be39653d0 191 buf[4] = power_left;
la00noix 0:a56be39653d0 192
la00noix 0:a56be39653d0 193 err = USBControlTransfer(_device, HOST_TO_DEVICE|REQUEST_TYPE_CLASS|RECIPIENT_INTERFACE, HID_REQUEST_SET_REPORT, 0x0201,0, buf, sizeof(buf), 0, 0 );
la00noix 0:a56be39653d0 194 wait_ms(4);
la00noix 0:a56be39653d0 195
la00noix 0:a56be39653d0 196 return 0;
la00noix 0:a56be39653d0 197 }
la00noix 0:a56be39653d0 198
la00noix 0:a56be39653d0 199
la00noix 0:a56be39653d0 200 void PS3EventCallback(int device, int endpoint, int status, u8* data, int len, void* userData)
la00noix 0:a56be39653d0 201 {
la00noix 0:a56be39653d0 202 Ps3USB* t = (Ps3USB*)userData;
la00noix 0:a56be39653d0 203
la00noix 0:a56be39653d0 204 t->_count ++;
la00noix 0:a56be39653d0 205 if (t->_count == 25) t->_count = 1;
la00noix 0:a56be39653d0 206
la00noix 0:a56be39653d0 207 ParsePs3Result(data, sizeof(ps3report),t->_count);
la00noix 0:a56be39653d0 208 USBInterruptTransfer(device, endpoint , data, len, PS3EventCallback, userData);
la00noix 0:a56be39653d0 209 wait_ms(4);
la00noix 0:a56be39653d0 210
la00noix 0:a56be39653d0 211 }
la00noix 0:a56be39653d0 212
la00noix 0:a56be39653d0 213 int ParsePs3Result(const u8* data,int len,int count)
la00noix 0:a56be39653d0 214 {
la00noix 0:a56be39653d0 215 ps3report* _ps3report = (ps3report*)data;
la00noix 0:a56be39653d0 216 /* if (count == 24) printf("LSX LSY RSX RSY UPA RPA DPA RPA L2 R2 L1 R1 TRI CIR CRO SQU ACX ACY ACZ GYZ \r\n");
la00noix 0:a56be39653d0 217 printf("%3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %4d %4d %4d %4d \r\n",
la00noix 0:a56be39653d0 218 _ps3report->LeftStickX,
la00noix 0:a56be39653d0 219 _ps3report->LeftStickY,
la00noix 0:a56be39653d0 220 _ps3report->RightStickX,
la00noix 0:a56be39653d0 221 _ps3report->RightStickY,
la00noix 0:a56be39653d0 222 _ps3report->PressureUp,
la00noix 0:a56be39653d0 223 _ps3report->PressureRight,
la00noix 0:a56be39653d0 224 _ps3report->PressureDown,
la00noix 0:a56be39653d0 225 _ps3report->PressureLeft,
la00noix 0:a56be39653d0 226 _ps3report->PressureL2,
la00noix 0:a56be39653d0 227 _ps3report->PressureR2,
la00noix 0:a56be39653d0 228 _ps3report->PressureL1,
la00noix 0:a56be39653d0 229 _ps3report->PressureR1,
la00noix 0:a56be39653d0 230 _ps3report->PressureTriangle,
la00noix 0:a56be39653d0 231 _ps3report->PressureCircle,
la00noix 0:a56be39653d0 232 _ps3report->PressureCross,
la00noix 0:a56be39653d0 233 _ps3report->PressureSquare,
la00noix 0:a56be39653d0 234 (_ps3report->AccelX),
la00noix 0:a56be39653d0 235 (_ps3report->AccelY),
la00noix 0:a56be39653d0 236 (_ps3report->AccelZ),
la00noix 0:a56be39653d0 237 (_ps3report->GyroZ));
la00noix 0:a56be39653d0 238 */
la00noix 0:a56be39653d0 239 UserLoop(0,data);
la00noix 0:a56be39653d0 240 //printfBytes("data",data,len);
la00noix 0:a56be39653d0 241 }
la00noix 0:a56be39653d0 242
la00noix 0:a56be39653d0 243