Based on PS3_BlueUSB with reference to http://blog.goo.ne.jp/roboz80/e/10e7bf38d3a63b996ca2894e9fb5e3b6
Ps3USB.cpp@0:44619612f575, 2011-07-05 (annotated)
- Committer:
- kenbumono
- Date:
- Tue Jul 05 08:25:40 2011 +0000
- Revision:
- 0:44619612f575
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kenbumono | 0:44619612f575 | 1 | /* |
kenbumono | 0:44619612f575 | 2 | Copyright (c) 2011 Bart Janssens |
kenbumono | 0:44619612f575 | 3 | |
kenbumono | 0:44619612f575 | 4 | Permission is hereby granted, free of charge, to any person obtaining a copy |
kenbumono | 0:44619612f575 | 5 | of this software and associated documentation files (the "Software"), to deal |
kenbumono | 0:44619612f575 | 6 | in the Software without restriction, including without limitation the rights |
kenbumono | 0:44619612f575 | 7 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
kenbumono | 0:44619612f575 | 8 | copies of the Software, and to permit persons to whom the Software is |
kenbumono | 0:44619612f575 | 9 | furnished to do so, subject to the following conditions: |
kenbumono | 0:44619612f575 | 10 | |
kenbumono | 0:44619612f575 | 11 | The above copyright notice and this permission notice shall be included in |
kenbumono | 0:44619612f575 | 12 | all copies or substantial portions of the Software. |
kenbumono | 0:44619612f575 | 13 | |
kenbumono | 0:44619612f575 | 14 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
kenbumono | 0:44619612f575 | 15 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
kenbumono | 0:44619612f575 | 16 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
kenbumono | 0:44619612f575 | 17 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
kenbumono | 0:44619612f575 | 18 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
kenbumono | 0:44619612f575 | 19 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
kenbumono | 0:44619612f575 | 20 | THE SOFTWARE. |
kenbumono | 0:44619612f575 | 21 | */ |
kenbumono | 0:44619612f575 | 22 | |
kenbumono | 0:44619612f575 | 23 | #include <stdio.h> |
kenbumono | 0:44619612f575 | 24 | #include <stdlib.h> |
kenbumono | 0:44619612f575 | 25 | #include <string.h> |
kenbumono | 0:44619612f575 | 26 | |
kenbumono | 0:44619612f575 | 27 | #include "USBHost.h" |
kenbumono | 0:44619612f575 | 28 | #include "hci.h" |
kenbumono | 0:44619612f575 | 29 | #include "Utils.h" |
kenbumono | 0:44619612f575 | 30 | #include "ps3.h" |
kenbumono | 0:44619612f575 | 31 | #include "motordriver.h" |
kenbumono | 0:44619612f575 | 32 | |
kenbumono | 0:44619612f575 | 33 | #include "mbed.h" |
kenbumono | 0:44619612f575 | 34 | |
kenbumono | 0:44619612f575 | 35 | |
kenbumono | 0:44619612f575 | 36 | |
kenbumono | 0:44619612f575 | 37 | #define AUTOEVT(_class,_subclass,_protocol) (((_class) << 16) | ((_subclass) << 8) | _protocol) |
kenbumono | 0:44619612f575 | 38 | #define PS3EVT AUTOEVT(CLASS_HID,0,0) |
kenbumono | 0:44619612f575 | 39 | #define byteswap(x) ((x >> 8) | (x << 8)) |
kenbumono | 0:44619612f575 | 40 | |
kenbumono | 0:44619612f575 | 41 | u8 ps3_data[48]; |
kenbumono | 0:44619612f575 | 42 | |
kenbumono | 0:44619612f575 | 43 | |
kenbumono | 0:44619612f575 | 44 | Ps3USB::Ps3USB(int device, int configuration, int interfaceNumber) |
kenbumono | 0:44619612f575 | 45 | { |
kenbumono | 0:44619612f575 | 46 | printf("Creating new sixaxis \r\n"); |
kenbumono | 0:44619612f575 | 47 | _device = device; |
kenbumono | 0:44619612f575 | 48 | _configuration = configuration; |
kenbumono | 0:44619612f575 | 49 | _interfaceNumber = interfaceNumber; |
kenbumono | 0:44619612f575 | 50 | printf("device = %d configuration = %d interfaceNumber = %d\r\n", device, configuration, interfaceNumber); |
kenbumono | 0:44619612f575 | 51 | int result; |
kenbumono | 0:44619612f575 | 52 | int err; |
kenbumono | 0:44619612f575 | 53 | |
kenbumono | 0:44619612f575 | 54 | _count = 1; |
kenbumono | 0:44619612f575 | 55 | |
kenbumono | 0:44619612f575 | 56 | u8 abuffer[48] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
kenbumono | 0:44619612f575 | 57 | 0x00, 0x02, 0xff, 0x27, 0x10, 0x00, 0x32, 0xff, |
kenbumono | 0:44619612f575 | 58 | 0x27, 0x10, 0x00, 0x32, 0xff, 0x27, 0x10, 0x00, |
kenbumono | 0:44619612f575 | 59 | 0x32, 0xff, 0x27, 0x10, 0x00, 0x32, 0x00, 0x00, |
kenbumono | 0:44619612f575 | 60 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
kenbumono | 0:44619612f575 | 61 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; |
kenbumono | 0:44619612f575 | 62 | memcpy(ledrumble,abuffer,48); |
kenbumono | 0:44619612f575 | 63 | |
kenbumono | 0:44619612f575 | 64 | EndpointDescriptor* ep; |
kenbumono | 0:44619612f575 | 65 | |
kenbumono | 0:44619612f575 | 66 | u8 buffer[255]; |
kenbumono | 0:44619612f575 | 67 | err = GetDescriptor(_device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,255); |
kenbumono | 0:44619612f575 | 68 | if (err < 0) |
kenbumono | 0:44619612f575 | 69 | printf("Failed to get descriptor\r\n"); |
kenbumono | 0:44619612f575 | 70 | |
kenbumono | 0:44619612f575 | 71 | |
kenbumono | 0:44619612f575 | 72 | int len = buffer[2] | (buffer[3] << 8); |
kenbumono | 0:44619612f575 | 73 | u8* d = buffer; |
kenbumono | 0:44619612f575 | 74 | u8* end = d + len; |
kenbumono | 0:44619612f575 | 75 | while (d < end) |
kenbumono | 0:44619612f575 | 76 | { |
kenbumono | 0:44619612f575 | 77 | if (d[1] == DESCRIPTOR_TYPE_INTERFACE) |
kenbumono | 0:44619612f575 | 78 | { |
kenbumono | 0:44619612f575 | 79 | InterfaceDescriptor* id = (InterfaceDescriptor*)d; |
kenbumono | 0:44619612f575 | 80 | if (id->bInterfaceNumber == _interfaceNumber) |
kenbumono | 0:44619612f575 | 81 | { |
kenbumono | 0:44619612f575 | 82 | d += d[0]; |
kenbumono | 0:44619612f575 | 83 | while (d < end && d[1] != DESCRIPTOR_TYPE_INTERFACE) |
kenbumono | 0:44619612f575 | 84 | { |
kenbumono | 0:44619612f575 | 85 | if (d[1] == DESCRIPTOR_TYPE_ENDPOINT) |
kenbumono | 0:44619612f575 | 86 | ep = (EndpointDescriptor*)d; |
kenbumono | 0:44619612f575 | 87 | |
kenbumono | 0:44619612f575 | 88 | if (ep->bEndpointAddress == 0x02) { |
kenbumono | 0:44619612f575 | 89 | printf("PS3 input endpoint (0x02) found\r\n"); |
kenbumono | 0:44619612f575 | 90 | input_ep = 0x02; |
kenbumono | 0:44619612f575 | 91 | |
kenbumono | 0:44619612f575 | 92 | } |
kenbumono | 0:44619612f575 | 93 | if (ep->bEndpointAddress == 0x81) { |
kenbumono | 0:44619612f575 | 94 | printf("PS3 output endpoint (0x81) found\r\n"); |
kenbumono | 0:44619612f575 | 95 | output_ep = 0x81; |
kenbumono | 0:44619612f575 | 96 | //AddAutoEvent(device,id,(EndpointDescriptor*)d); |
kenbumono | 0:44619612f575 | 97 | } |
kenbumono | 0:44619612f575 | 98 | d += d[0]; |
kenbumono | 0:44619612f575 | 99 | } |
kenbumono | 0:44619612f575 | 100 | } |
kenbumono | 0:44619612f575 | 101 | } |
kenbumono | 0:44619612f575 | 102 | d += d[0]; |
kenbumono | 0:44619612f575 | 103 | } |
kenbumono | 0:44619612f575 | 104 | |
kenbumono | 0:44619612f575 | 105 | } |
kenbumono | 0:44619612f575 | 106 | |
kenbumono | 0:44619612f575 | 107 | int Ps3USB::Enable() |
kenbumono | 0:44619612f575 | 108 | { |
kenbumono | 0:44619612f575 | 109 | int err; |
kenbumono | 0:44619612f575 | 110 | |
kenbumono | 0:44619612f575 | 111 | u8 enable[4] = {0x42,0x0c,0x00,0x00}; |
kenbumono | 0:44619612f575 | 112 | |
kenbumono | 0:44619612f575 | 113 | |
kenbumono | 0:44619612f575 | 114 | err = USBControlTransfer(_device, HOST_TO_DEVICE|REQUEST_TYPE_CLASS|RECIPIENT_INTERFACE, HID_REQUEST_SET_REPORT, 0x03f4,0, enable, sizeof(enable), 0, 0 ); |
kenbumono | 0:44619612f575 | 115 | //printf("set report result = %d\r\n", err); |
kenbumono | 0:44619612f575 | 116 | _count ++; |
kenbumono | 0:44619612f575 | 117 | if (_count == 25) _count = 1; |
kenbumono | 0:44619612f575 | 118 | |
kenbumono | 0:44619612f575 | 119 | err = USBInterruptTransfer(_device,output_ep,ps3_data,sizeof(ps3_data),PS3EventCallback,this); |
kenbumono | 0:44619612f575 | 120 | wait_ms(4); |
kenbumono | 0:44619612f575 | 121 | |
kenbumono | 0:44619612f575 | 122 | return 0; |
kenbumono | 0:44619612f575 | 123 | |
kenbumono | 0:44619612f575 | 124 | } |
kenbumono | 0:44619612f575 | 125 | |
kenbumono | 0:44619612f575 | 126 | |
kenbumono | 0:44619612f575 | 127 | |
kenbumono | 0:44619612f575 | 128 | |
kenbumono | 0:44619612f575 | 129 | int Ps3USB::SetPair(u8* bdAddr) |
kenbumono | 0:44619612f575 | 130 | { |
kenbumono | 0:44619612f575 | 131 | int err; |
kenbumono | 0:44619612f575 | 132 | |
kenbumono | 0:44619612f575 | 133 | u8 buf[8]; |
kenbumono | 0:44619612f575 | 134 | u8 buf2[6]; |
kenbumono | 0:44619612f575 | 135 | |
kenbumono | 0:44619612f575 | 136 | memcpy(buf2,bdAddr,6); |
kenbumono | 0:44619612f575 | 137 | |
kenbumono | 0:44619612f575 | 138 | buf[0] = 0x01; |
kenbumono | 0:44619612f575 | 139 | buf[1] = 0x00; |
kenbumono | 0:44619612f575 | 140 | buf[2] = buf2[0]; |
kenbumono | 0:44619612f575 | 141 | buf[3] = buf2[1]; |
kenbumono | 0:44619612f575 | 142 | buf[4] = buf2[2]; |
kenbumono | 0:44619612f575 | 143 | buf[5] = buf2[3]; |
kenbumono | 0:44619612f575 | 144 | buf[6] = buf2[4]; |
kenbumono | 0:44619612f575 | 145 | buf[7] = buf2[5]; |
kenbumono | 0:44619612f575 | 146 | |
kenbumono | 0:44619612f575 | 147 | //set Mac address |
kenbumono | 0:44619612f575 | 148 | err = USBControlTransfer(_device, HOST_TO_DEVICE|REQUEST_TYPE_CLASS|RECIPIENT_INTERFACE, HID_REQUEST_SET_REPORT, 0x03f5, 0, buf, sizeof(buf), 0, 0 ); |
kenbumono | 0:44619612f575 | 149 | wait_ms(4); |
kenbumono | 0:44619612f575 | 150 | 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); |
kenbumono | 0:44619612f575 | 151 | |
kenbumono | 0:44619612f575 | 152 | return 0; |
kenbumono | 0:44619612f575 | 153 | } |
kenbumono | 0:44619612f575 | 154 | |
kenbumono | 0:44619612f575 | 155 | int Ps3USB::ShowPair() |
kenbumono | 0:44619612f575 | 156 | { |
kenbumono | 0:44619612f575 | 157 | int err; |
kenbumono | 0:44619612f575 | 158 | |
kenbumono | 0:44619612f575 | 159 | u8 buf[8]; |
kenbumono | 0:44619612f575 | 160 | //get Mac address |
kenbumono | 0:44619612f575 | 161 | err = USBControlTransfer(_device, DEVICE_TO_HOST|REQUEST_TYPE_CLASS|RECIPIENT_INTERFACE, HID_REQUEST_GET_REPORT, 0x03f5, 0, buf, sizeof(buf), 0, 0 ); |
kenbumono | 0:44619612f575 | 162 | wait_ms(4); |
kenbumono | 0:44619612f575 | 163 | 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); |
kenbumono | 0:44619612f575 | 164 | |
kenbumono | 0:44619612f575 | 165 | |
kenbumono | 0:44619612f575 | 166 | return 0; |
kenbumono | 0:44619612f575 | 167 | } |
kenbumono | 0:44619612f575 | 168 | |
kenbumono | 0:44619612f575 | 169 | int Ps3USB::Led(int i) |
kenbumono | 0:44619612f575 | 170 | { |
kenbumono | 0:44619612f575 | 171 | int err; |
kenbumono | 0:44619612f575 | 172 | u8 ledpattern[7] = {0x02, 0x04, 0x08, 0x10, 0x12, 0x14, 0x18 }; |
kenbumono | 0:44619612f575 | 173 | u8 buf[48]; |
kenbumono | 0:44619612f575 | 174 | |
kenbumono | 0:44619612f575 | 175 | if (i < 7) ledrumble[9] = ledpattern[i]; |
kenbumono | 0:44619612f575 | 176 | memcpy(buf, ledrumble, 48); |
kenbumono | 0:44619612f575 | 177 | |
kenbumono | 0:44619612f575 | 178 | err = USBControlTransfer(_device, HOST_TO_DEVICE|REQUEST_TYPE_CLASS|RECIPIENT_INTERFACE, HID_REQUEST_SET_REPORT, 0x0201,0, buf, sizeof(buf), 0, 0 ); |
kenbumono | 0:44619612f575 | 179 | wait_ms(4); |
kenbumono | 0:44619612f575 | 180 | |
kenbumono | 0:44619612f575 | 181 | return 0; |
kenbumono | 0:44619612f575 | 182 | } |
kenbumono | 0:44619612f575 | 183 | |
kenbumono | 0:44619612f575 | 184 | // left and right: duration and power, both from 0 to 255 |
kenbumono | 0:44619612f575 | 185 | int Ps3USB::Rumble(u8 duration_right, u8 power_right, u8 duration_left, u8 power_left) |
kenbumono | 0:44619612f575 | 186 | { |
kenbumono | 0:44619612f575 | 187 | int err; |
kenbumono | 0:44619612f575 | 188 | u8 buf[48]; |
kenbumono | 0:44619612f575 | 189 | |
kenbumono | 0:44619612f575 | 190 | memcpy(buf, ledrumble, 48); |
kenbumono | 0:44619612f575 | 191 | buf[1] = duration_right; |
kenbumono | 0:44619612f575 | 192 | buf[2] = power_right; |
kenbumono | 0:44619612f575 | 193 | buf[3] = duration_left; |
kenbumono | 0:44619612f575 | 194 | buf[4] = power_left; |
kenbumono | 0:44619612f575 | 195 | |
kenbumono | 0:44619612f575 | 196 | err = USBControlTransfer(_device, HOST_TO_DEVICE|REQUEST_TYPE_CLASS|RECIPIENT_INTERFACE, HID_REQUEST_SET_REPORT, 0x0201,0, buf, sizeof(buf), 0, 0 ); |
kenbumono | 0:44619612f575 | 197 | wait_ms(4); |
kenbumono | 0:44619612f575 | 198 | |
kenbumono | 0:44619612f575 | 199 | return 0; |
kenbumono | 0:44619612f575 | 200 | } |
kenbumono | 0:44619612f575 | 201 | |
kenbumono | 0:44619612f575 | 202 | |
kenbumono | 0:44619612f575 | 203 | void PS3EventCallback(int device, int endpoint, int status, u8* data, int len, void* userData) |
kenbumono | 0:44619612f575 | 204 | { |
kenbumono | 0:44619612f575 | 205 | Ps3USB* t = (Ps3USB*)userData; |
kenbumono | 0:44619612f575 | 206 | |
kenbumono | 0:44619612f575 | 207 | t->_count ++; |
kenbumono | 0:44619612f575 | 208 | if (t->_count == 25) t->_count = 1; |
kenbumono | 0:44619612f575 | 209 | |
kenbumono | 0:44619612f575 | 210 | ParsePs3Result(data, sizeof(ps3report),t->_count); |
kenbumono | 0:44619612f575 | 211 | USBInterruptTransfer(device, endpoint , data, len, PS3EventCallback, userData); |
kenbumono | 0:44619612f575 | 212 | wait_ms(4); |
kenbumono | 0:44619612f575 | 213 | |
kenbumono | 0:44619612f575 | 214 | } |
kenbumono | 0:44619612f575 | 215 | |
kenbumono | 0:44619612f575 | 216 | Motor A(p22, p7, p8, 1); // pwm, fwd, rev, can break |
kenbumono | 0:44619612f575 | 217 | Motor B(p21, p5, p6, 1); // pwm, fwd, rev, can break |
kenbumono | 0:44619612f575 | 218 | |
kenbumono | 0:44619612f575 | 219 | int ParsePs3Result(const u8* data,int len,int count) |
kenbumono | 0:44619612f575 | 220 | { |
kenbumono | 0:44619612f575 | 221 | float speed; |
kenbumono | 0:44619612f575 | 222 | ps3report* _ps3report = (ps3report*)data; |
kenbumono | 0:44619612f575 | 223 | |
kenbumono | 0:44619612f575 | 224 | /* 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"); |
kenbumono | 0:44619612f575 | 225 | printf("%3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %4d %4d %4d %4d \r\n", |
kenbumono | 0:44619612f575 | 226 | _ps3report->LeftStickX, |
kenbumono | 0:44619612f575 | 227 | _ps3report->LeftStickY, |
kenbumono | 0:44619612f575 | 228 | _ps3report->RightStickX, |
kenbumono | 0:44619612f575 | 229 | _ps3report->RightStickY, |
kenbumono | 0:44619612f575 | 230 | _ps3report->PressureUp, |
kenbumono | 0:44619612f575 | 231 | _ps3report->PressureRight, |
kenbumono | 0:44619612f575 | 232 | _ps3report->PressureDown, |
kenbumono | 0:44619612f575 | 233 | _ps3report->PressureLeft, |
kenbumono | 0:44619612f575 | 234 | _ps3report->PressureL2, |
kenbumono | 0:44619612f575 | 235 | _ps3report->PressureR2, |
kenbumono | 0:44619612f575 | 236 | _ps3report->PressureL1, |
kenbumono | 0:44619612f575 | 237 | _ps3report->PressureR1, |
kenbumono | 0:44619612f575 | 238 | _ps3report->PressureTriangle, |
kenbumono | 0:44619612f575 | 239 | _ps3report->PressureCircle, |
kenbumono | 0:44619612f575 | 240 | _ps3report->PressureCross, |
kenbumono | 0:44619612f575 | 241 | _ps3report->PressureSquare, |
kenbumono | 0:44619612f575 | 242 | (_ps3report->AccelX), |
kenbumono | 0:44619612f575 | 243 | (_ps3report->AccelY), |
kenbumono | 0:44619612f575 | 244 | (_ps3report->AccelZ), |
kenbumono | 0:44619612f575 | 245 | (_ps3report->GyroZ)); |
kenbumono | 0:44619612f575 | 246 | |
kenbumono | 0:44619612f575 | 247 | */ |
kenbumono | 0:44619612f575 | 248 | //printfBytes("data",data,len); |
kenbumono | 0:44619612f575 | 249 | if(100 <= _ps3report->LeftStickY && _ps3report->LeftStickY <= 155) |
kenbumono | 0:44619612f575 | 250 | { |
kenbumono | 0:44619612f575 | 251 | A.stop(0); |
kenbumono | 0:44619612f575 | 252 | } else if(0 <= _ps3report->LeftStickY && _ps3report->LeftStickY <= 99) { |
kenbumono | 0:44619612f575 | 253 | speed = (100 - _ps3report->LeftStickY) * 0.01; |
kenbumono | 0:44619612f575 | 254 | A.speed(speed); |
kenbumono | 0:44619612f575 | 255 | printf("A:%f", speed); |
kenbumono | 0:44619612f575 | 256 | } else { |
kenbumono | 0:44619612f575 | 257 | speed = (155 - _ps3report->LeftStickY) * 0.01; |
kenbumono | 0:44619612f575 | 258 | A.speed(speed); |
kenbumono | 0:44619612f575 | 259 | printf("A:%f", speed); |
kenbumono | 0:44619612f575 | 260 | } |
kenbumono | 0:44619612f575 | 261 | |
kenbumono | 0:44619612f575 | 262 | if(100 <= _ps3report->RightStickY && _ps3report->RightStickY <= 155) |
kenbumono | 0:44619612f575 | 263 | { |
kenbumono | 0:44619612f575 | 264 | B.stop(0); |
kenbumono | 0:44619612f575 | 265 | } else if(0 <= _ps3report->RightStickY && _ps3report->RightStickY <= 99) { |
kenbumono | 0:44619612f575 | 266 | speed = (100 - _ps3report->RightStickY) * 0.01; |
kenbumono | 0:44619612f575 | 267 | B.speed(speed); |
kenbumono | 0:44619612f575 | 268 | printf("B:%f", speed); |
kenbumono | 0:44619612f575 | 269 | } else { |
kenbumono | 0:44619612f575 | 270 | speed = (155 - _ps3report->RightStickY) * 0.01; |
kenbumono | 0:44619612f575 | 271 | B.speed(speed); |
kenbumono | 0:44619612f575 | 272 | printf("B:%f", speed); |
kenbumono | 0:44619612f575 | 273 | } |
kenbumono | 0:44619612f575 | 274 | } |
kenbumono | 0:44619612f575 | 275 | |
kenbumono | 0:44619612f575 | 276 |