PS3USB.h

00001 /* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
00002 
00003  This software may be distributed and modified under the terms of the GNU
00004  General Public License version 2 (GPL2) as published by the Free Software
00005  Foundation and appearing in the file GPL2.TXT included in the packaging of
00006  this file. Please note that GPL2 Section 2[b] requires that all works based
00007  on this software must also be made publicly available under the terms of
00008  the GPL2 ("Copyleft").
00009 
00010  Contact information
00011  -------------------
00012 
00013  Kristian Lauszus, TKJ Electronics
00014  Web      :  http://www.tkjelectronics.com
00015  e-mail   :  kristianl@tkjelectronics.com
00016  */
00017 
00018 #ifndef _ps3usb_h_
00019 #define _ps3usb_h_
00020 
00021 #include "Usb.h"
00022 #include "usbhid.h"
00023 #include "PS3Enums.h"
00024 
00025 /* PS3 data taken from descriptors */
00026 #define EP_MAXPKTSIZE           64 // max size for data via USB
00027 
00028 /* Names we give to the 3 ps3 pipes - this is only used for setting the bluetooth address into the ps3 controllers */
00029 #define PS3_CONTROL_PIPE        0
00030 #define PS3_OUTPUT_PIPE         1
00031 #define PS3_INPUT_PIPE          2
00032 
00033 //PID and VID of the different devices
00034 #define PS3_VID                 0x054C  // Sony Corporation
00035 #define PS3_PID                 0x0268  // PS3 Controller DualShock 3
00036 #define PS3NAVIGATION_PID       0x042F  // Navigation controller
00037 #define PS3MOVE_PID             0x03D5  // Motion controller
00038 
00039 #define PS3_MAX_ENDPOINTS       3
00040 
00041 /**
00042  * This class implements support for all the official PS3 Controllers:
00043  * Dualshock 3, Navigation or a Motion controller via USB.
00044  *
00045  * One can only set the color of the bulb, set the rumble, set and get the bluetooth address and calibrate the magnetometer via USB on the Move controller.
00046  *
00047  * Information about the protocol can be found at the wiki: https://github.com/felis/USB_Host_Shield_2.0/wiki/PS3-Information.
00048  */
00049 class PS3USB : public USBDeviceConfig {
00050 public:
00051         /**
00052          * Constructor for the PS3USB class.
00053          * @param  pUsb   Pointer to USB class instance.
00054          * @param  btadr5,btadr4,btadr3,btadr2,btadr1,btadr0
00055          * Pass your dongles Bluetooth address into the constructor,
00056          * so you are able to pair the controller with a Bluetooth dongle.
00057          */
00058         PS3USB(Usb *pUsb, uint8_t btadr5 = 0, uint8_t btadr4 = 0, uint8_t btadr3 = 0, uint8_t btadr2 = 0, uint8_t btadr1 = 0, uint8_t btadr0 = 0);
00059 
00060         /** @name USBDeviceConfig implementation */
00061         /**
00062          * Initialize the PS3 Controller.
00063          * @param  parent   Hub number.
00064          * @param  port     Port number on the hub.
00065          * @param  lowspeed Speed of the device.
00066          * @return          0 on success.
00067          */
00068         uint8_t Init(uint8_t parent, uint8_t port, bool lowspeed);
00069         /**
00070          * Release the USB device.
00071          * @return 0 on success.
00072          */
00073         uint8_t Release();
00074         /**
00075          * Poll the USB Input endpoins and run the state machines.
00076          * @return 0 on success.
00077          */
00078         uint8_t Poll();
00079 
00080         /**
00081          * Get the device address.
00082          * @return The device address.
00083          */
00084         virtual uint8_t GetAddress() {
00085                 return bAddress;
00086         };
00087 
00088         /**
00089          * Used to check if the controller has been initialized.
00090          * @return True if it's ready.
00091          */
00092         virtual bool isReady() {
00093                 return bPollEnable;
00094         };
00095 
00096         /**
00097          * Used by the USB core to check what this driver support.
00098          * @param  vid The device's VID.
00099          * @param  pid The device's PID.
00100          * @return     Returns true if the device's VID and PID matches this driver.
00101          */
00102         virtual bool VIDPIDOK(uint16_t vid, uint16_t pid) {
00103                 return (vid == PS3_VID && (pid == PS3_PID || pid == PS3NAVIGATION_PID || pid == PS3MOVE_PID));
00104         };
00105         /**@}*/
00106 
00107         /**
00108          * Used to set the Bluetooth address inside the Dualshock 3 and Navigation controller.
00109          * Set using LSB first.
00110          * @param bdaddr Your dongles Bluetooth address.
00111          */
00112         void setBdaddr(uint8_t *bdaddr);
00113         /**
00114          * Used to get the Bluetooth address inside the Dualshock 3 and Navigation controller.
00115          * Will return LSB first.
00116          * @param bdaddr Your dongles Bluetooth address.
00117          */
00118         void getBdaddr(uint8_t *bdaddr);
00119 
00120         /**
00121          * Used to set the Bluetooth address inside the Move controller.
00122          * Set using LSB first.
00123          * @param bdaddr Your dongles Bluetooth address.
00124          */
00125         void setMoveBdaddr(uint8_t *bdaddr);
00126         /**
00127          * Used to get the Bluetooth address inside the Move controller.
00128          * Will return LSB first.
00129          * @param bdaddr Your dongles Bluetooth address.
00130          */
00131         void getMoveBdaddr(uint8_t *bdaddr);
00132         /**
00133          * Used to get the calibration data inside the Move controller.
00134          * @param data Buffer to store data in. Must be at least 147 bytes
00135          */
00136         void getMoveCalibration(uint8_t *data);
00137 
00138         /** @name PS3 Controller functions */
00139         /**
00140          * getButtonPress(ButtonEnum b) will return true as long as the button is held down.
00141          *
00142          * While getButtonClick(ButtonEnum b) will only return it once.
00143          *
00144          * So you instance if you need to increase a variable once you would use getButtonClick(ButtonEnum b),
00145          * but if you need to drive a robot forward you would use getButtonPress(ButtonEnum b).
00146          * @param  b          ::ButtonEnum to read.
00147          * @return            getButtonPress(ButtonEnum b) will return a true as long as a button is held down, while getButtonClick(ButtonEnum b) will return true once for each button press.
00148          */
00149         bool getButtonPress(ButtonEnum b);
00150         bool getButtonClick(ButtonEnum b);
00151         /**@}*/
00152         /** @name PS3 Controller functions */
00153         /**
00154          * Used to get the analog value from button presses.
00155          * @param  a The ::ButtonEnum to read.
00156          * The supported buttons are:
00157          * ::UP, ::RIGHT, ::DOWN, ::LEFT, ::L1, ::L2, ::R1, ::R2,
00158          * ::TRIANGLE, ::CIRCLE, ::CROSS, ::SQUARE, and ::T.
00159          * @return   Analog value in the range of 0-255.
00160          */
00161         uint8_t getAnalogButton(ButtonEnum a);
00162         /**
00163          * Used to read the analog joystick.
00164          * @param  a ::LeftHatX, ::LeftHatY, ::RightHatX, and ::RightHatY.
00165          * @return   Return the analog value in the range of 0-255.
00166          */
00167         uint8_t getAnalogHat(AnalogHatEnum a);
00168         /**
00169          * Used to read the sensors inside the Dualshock 3 controller.
00170          * @param  a
00171          * The Dualshock 3 has a 3-axis accelerometer and a 1-axis gyro inside.
00172          * @return   Return the raw sensor value.
00173          */
00174         uint16_t getSensor(SensorEnum a);
00175         /**
00176          * Use this to get ::Pitch and ::Roll calculated using the accelerometer.
00177          * @param  a Either ::Pitch or ::Roll.
00178          * @return   Return the angle in the range of 0-360.
00179          */
00180         float getAngle(AngleEnum a);
00181         /**
00182          * Get the ::StatusEnum from the controller.
00183          * @param  c The ::StatusEnum you want to read.
00184          * @return   True if correct and false if not.
00185          */
00186         bool getStatus(StatusEnum c);
00187         /** Read all the available statuses from the controller and prints it as a nice formated string. */
00188         void printStatusString();
00189 
00190         /** Used to set all LEDs and rumble off. */
00191         void setAllOff();
00192         /** Turn off rumble. */
00193         void setRumbleOff();
00194         /**
00195          * Turn on rumble.
00196          * @param mode Either ::RumbleHigh or ::RumbleLow.
00197          */
00198         void setRumbleOn(RumbleEnum mode);
00199         /**
00200          * Turn on rumble using custom duration and power.
00201          * @param rightDuration The duration of the right/low rumble effect.
00202          * @param rightPower The intensity of the right/low rumble effect.
00203          * @param leftDuration The duration of the left/high rumble effect.
00204          * @param leftPower The intensity of the left/high rumble effect.
00205          */
00206         void setRumbleOn(uint8_t rightDuration, uint8_t rightPower, uint8_t leftDuration, uint8_t leftPower);
00207 
00208         /**
00209          * Set LED value without using the ::LEDEnum.
00210          * @param value See: ::LEDEnum.
00211          */
00212         void setLedRaw(uint8_t value);
00213 
00214         /** Turn all LEDs off. */
00215         void setLedOff() {
00216                 setLedRaw(0);
00217         }
00218         /**
00219          * Turn the specific ::LEDEnum off.
00220          * @param a The ::LEDEnum to turn off.
00221          */
00222         void setLedOff(LEDEnum a);
00223         /**
00224          * Turn the specific ::LEDEnum on.
00225          * @param a The ::LEDEnum to turn on.
00226          */
00227         void setLedOn(LEDEnum a);
00228         /**
00229          * Toggle the specific ::LEDEnum.
00230          * @param a The ::LEDEnum to toggle.
00231          */
00232         void setLedToggle(LEDEnum a);
00233 
00234         /**
00235          * Use this to set the Color using RGB values.
00236          * @param r,g,b RGB value.
00237          */
00238         void moveSetBulb(uint8_t r, uint8_t g, uint8_t b);
00239         /**
00240          * Use this to set the color using the predefined colors in ::ColorsEnum.
00241          * @param color The desired color.
00242          */
00243         void moveSetBulb(ColorsEnum color);
00244         /**
00245          * Set the rumble value inside the Move controller.
00246          * @param rumble The desired value in the range from 64-255.
00247          */
00248         void moveSetRumble(uint8_t rumble);
00249 
00250         /**
00251          * Used to call your own function when the controller is successfully initialized.
00252          * @param funcOnInit Function to call.
00253          */
00254         void attachOnInit(void (*funcOnInit)(void)) {
00255                 pFuncOnInit = funcOnInit;
00256         };
00257         /**@}*/
00258 
00259         /** Variable used to indicate if the normal playstation controller is successfully connected. */
00260         bool PS3Connected;
00261         /** Variable used to indicate if the move controller is successfully connected. */
00262         bool PS3MoveConnected;
00263         /** Variable used to indicate if the navigation controller is successfully connected. */
00264         bool PS3NavigationConnected;
00265 
00266 protected:
00267         /** Pointer to USB class instance. */
00268         Usb *pUsb;
00269         /** Device address. */
00270         uint8_t bAddress;
00271         /** Endpoint info structure. */
00272         EpInfo epInfo[PS3_MAX_ENDPOINTS];
00273 
00274 private:
00275         /**
00276          * Called when the controller is successfully initialized.
00277          * Use attachOnInit(void (*funcOnInit)(void)) to call your own function.
00278          * This is useful for instance if you want to set the LEDs in a specific way.
00279          */
00280         void onInit();
00281         void (*pFuncOnInit)(void); // Pointer to function called in onInit()
00282 
00283         bool bPollEnable;
00284 
00285         uint32_t timer; // used to continuously set PS3 Move controller Bulb and rumble values
00286 
00287         uint32_t ButtonState;
00288         uint32_t OldButtonState;
00289         uint32_t ButtonClickState;
00290 
00291         uint8_t my_bdaddr[6]; // Change to your dongles Bluetooth address in the constructor
00292         uint8_t readBuf[EP_MAXPKTSIZE]; // General purpose buffer for input data
00293         uint8_t writeBuf[EP_MAXPKTSIZE]; // General purpose buffer for output data
00294 
00295         void readReport(); // read incoming data
00296         void printReport(); // print incoming date - Uncomment for debugging
00297 
00298         /* Private commands */
00299         void PS3_Command(uint8_t *data, uint16_t nbytes);
00300         void enable_sixaxis(); // Command used to enable the Dualshock 3 and Navigation controller to send data via USB
00301         void Move_Command(uint8_t *data, uint16_t nbytes);
00302 };
00303 #endif