Library to use Arduino USB host shield on mbed

Dependents:   USBHOST_PS5

ArduinoのUSB Host Shield 2.0をmbedで使えるようにしたライブラリです。
大体のコードがArduinoからそのまま移植可能です。

Arduino UNOやMega用のホストシールド以外にもミニサイズのホストシールドでも使用可能です https://os.mbed.com/media/uploads/kotakku/dffgfddswa.png

シールドについて

3.3VのI/O用にシールドの改造が必要になりますがネット上に記事がたくさんあるのでそちらを参考にしてください

接続例

https://os.mbed.com/media/uploads/kotakku/esgsvfvhjrekldkcjxvb.png

使い方

Arduinoのコードと違うのはUSBのインスタンスの宣言部分のみです。
ピンを自分で指定できるようにしたので使いやすくなりました。

仕様

  • Arduinoのmillis関数、micros関数の移植のために内部でTimerクラスを使用しています。

main.cpp

#include "mbed.h"
#include <PS3BT.h>
#include <usbhub.h>

Serial pc(USBTX, USBRX, 115200);

//Nucleo f303k8用
USB Usb(A6, A5, A4, A3, A2); // mosi, miso, sclk, ssel, intr
BTD Btd(&Usb);
PS3BT PS3(&Btd);

int main()
{
    bool printAngle = false;

    if (Usb.Init() == -1)
    {
        pc.printf("\r\nOSC did not start");
        while (1); // Halt
    }
    pc.printf("\r\nPS3 USB Library Started");

    while (1)
    {
        Usb.Task();
        
        if (PS3.PS3Connected || PS3.PS3NavigationConnected) {
            if (PS3.getAnalogHat(LeftHatX) > 137 || PS3.getAnalogHat(LeftHatX) < 117 || PS3.getAnalogHat(LeftHatY) > 137 || PS3.getAnalogHat(LeftHatY) < 117 || PS3.getAnalogHat(RightHatX) > 137 || PS3.getAnalogHat(RightHatX) < 117 || PS3.getAnalogHat(RightHatY) > 137 || PS3.getAnalogHat(RightHatY) < 117)
            {
                pc.printf("\r\nLeftHatX: %d", PS3.getAnalogHat(LeftHatX));
                pc.printf("\tLeftHatY: %d", PS3.getAnalogHat(LeftHatY));
                if (PS3.PS3Connected)
                { // The Navigation controller only have one joystick
                    pc.printf("\tRightHatX: %d", PS3.getAnalogHat(RightHatX));
                    pc.printf("\tRightHatY: %d", PS3.getAnalogHat(RightHatY));
                }
            }
            // Analog button values can be read from almost all buttons
            if (PS3.getAnalogButton(L2) || PS3.getAnalogButton(R2))
            {
                pc.printf("\r\nL2: %d", PS3.getAnalogButton(L2));
                if (!PS3.PS3NavigationConnected)
                {
                    pc.printf("\tR2: %d", PS3.getAnalogButton(R2));
                }
            }
            if (PS3.getButtonClick(PS))
            {
                PS3.disconnect();
                pc.printf("\r\nPS");
            }
    
            if (PS3.getButtonClick(TRIANGLE))
                pc.printf("\r\nTriangle");
            if (PS3.getButtonClick(CIRCLE))
                pc.printf("\r\nCircle");
            if (PS3.getButtonClick(CROSS))
                pc.printf("\r\nCross");
            if (PS3.getButtonClick(SQUARE))
                pc.printf("\r\nSquare");
    
            if (PS3.getButtonClick(UP))
            {
                pc.printf("\r\nUp");
                PS3.setLedOff();
                PS3.setLedOn(CONTROLLER_LED4);
            }
            if (PS3.getButtonClick(RIGHT))
            {
                pc.printf("\r\nRight");
                PS3.setLedOff();
                PS3.setLedOn(CONTROLLER_LED1);
            }
            if (PS3.getButtonClick(DOWN))
            {
                pc.printf("\r\nDown");
                PS3.setLedOff();
                PS3.setLedOn(CONTROLLER_LED2);
            }
            if (PS3.getButtonClick(LEFT))
            {
                pc.printf("\r\nLeft");
                PS3.setLedOff();
                PS3.setLedOn(CONTROLLER_LED3);
            }
    
            if (PS3.getButtonClick(L1))
                pc.printf("\r\nL1");
            if (PS3.getButtonClick(L3))
                pc.printf("\r\nL3");
            if (PS3.getButtonClick(R1))
                pc.printf("\r\nR1");
            if (PS3.getButtonClick(R3))
                pc.printf("\r\nR3");
    
            if (PS3.getButtonClick(SELECT))
            {
                pc.printf("\r\nSelect - ");
                PS3.printStatusString();
            }
            if (PS3.getButtonClick(START))
            {
                pc.printf("\r\nStart");
                printAngle = !printAngle;
            }
            if (printAngle)
            {
                pc.printf("\r\nPitch: %.3lf", PS3.getAngle(Pitch));
                pc.printf("\tRoll: %.3lf", PS3.getAngle(Roll));
            }
        }
        else
        {
            pc.printf("not connect\n");
        }
    }
}
Committer:
robo_ichinoseki_a
Date:
Sat May 02 05:56:48 2020 +0000
Revision:
1:da31140f2a1c
Parent:
0:b1ce54272580
update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kotakku 0:b1ce54272580 1 /*
kotakku 0:b1ce54272580 2 Print.cpp - Base class that provides print() and println()
kotakku 0:b1ce54272580 3 Copyright (c) 2008 David A. Mellis. All right reserved.
kotakku 0:b1ce54272580 4
kotakku 0:b1ce54272580 5 This library is free software; you can redistribute it and/or
kotakku 0:b1ce54272580 6 modify it under the terms of the GNU Lesser General Public
kotakku 0:b1ce54272580 7 License as published by the Free Software Foundation; either
kotakku 0:b1ce54272580 8 version 2.1 of the License, or (at your option) any later version.
kotakku 0:b1ce54272580 9
kotakku 0:b1ce54272580 10 This library is distributed in the hope that it will be useful,
kotakku 0:b1ce54272580 11 but WITHOUT ANY WARRANTY; without even the implied warranty of
kotakku 0:b1ce54272580 12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
kotakku 0:b1ce54272580 13 Lesser General Public License for more details.
kotakku 0:b1ce54272580 14
kotakku 0:b1ce54272580 15 You should have received a copy of the GNU Lesser General Public
kotakku 0:b1ce54272580 16 License along with this library; if not, write to the Free Software
kotakku 0:b1ce54272580 17 Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
kotakku 0:b1ce54272580 18
kotakku 0:b1ce54272580 19 Modified 23 November 2006 by David A. Mellis
kotakku 0:b1ce54272580 20 */
kotakku 0:b1ce54272580 21
kotakku 0:b1ce54272580 22 #include <stdlib.h>
kotakku 0:b1ce54272580 23 #include <stdio.h>
kotakku 0:b1ce54272580 24 #include <string.h>
kotakku 0:b1ce54272580 25 #include <math.h>
kotakku 0:b1ce54272580 26 #include "Arduino.h"
kotakku 0:b1ce54272580 27
kotakku 0:b1ce54272580 28 #include "Print.h"
kotakku 0:b1ce54272580 29
kotakku 0:b1ce54272580 30 // Public Methods //////////////////////////////////////////////////////////////
kotakku 0:b1ce54272580 31
kotakku 0:b1ce54272580 32 /* default implementation: may be overridden */
kotakku 0:b1ce54272580 33 size_t Print::write(const uint8_t *buffer, size_t size)
kotakku 0:b1ce54272580 34 {
kotakku 0:b1ce54272580 35 size_t n = 0;
kotakku 0:b1ce54272580 36 while (size--) {
kotakku 0:b1ce54272580 37 n += write(*buffer++);
kotakku 0:b1ce54272580 38 }
kotakku 0:b1ce54272580 39 return n;
kotakku 0:b1ce54272580 40 }
kotakku 0:b1ce54272580 41
kotakku 0:b1ce54272580 42 size_t Print::print(const __FlashStringHelper *ifsh)
kotakku 0:b1ce54272580 43 {
kotakku 0:b1ce54272580 44 return print(reinterpret_cast<const char *>(ifsh));
kotakku 0:b1ce54272580 45 }
kotakku 0:b1ce54272580 46
kotakku 0:b1ce54272580 47 size_t Print::print(const String &s)
kotakku 0:b1ce54272580 48 {
kotakku 0:b1ce54272580 49 return write(s.c_str(), s.length());
kotakku 0:b1ce54272580 50 }
kotakku 0:b1ce54272580 51
kotakku 0:b1ce54272580 52 size_t Print::print(const char str[])
kotakku 0:b1ce54272580 53 {
kotakku 0:b1ce54272580 54 return write(str);
kotakku 0:b1ce54272580 55 }
kotakku 0:b1ce54272580 56
kotakku 0:b1ce54272580 57 size_t Print::print(char c)
kotakku 0:b1ce54272580 58 {
kotakku 0:b1ce54272580 59 return write(c);
kotakku 0:b1ce54272580 60 }
kotakku 0:b1ce54272580 61
kotakku 0:b1ce54272580 62 size_t Print::print(unsigned char b, int base)
kotakku 0:b1ce54272580 63 {
kotakku 0:b1ce54272580 64 return print((unsigned long) b, base);
kotakku 0:b1ce54272580 65 }
kotakku 0:b1ce54272580 66
kotakku 0:b1ce54272580 67 size_t Print::print(int n, int base)
kotakku 0:b1ce54272580 68 {
kotakku 0:b1ce54272580 69 return print((long) n, base);
kotakku 0:b1ce54272580 70 }
kotakku 0:b1ce54272580 71
kotakku 0:b1ce54272580 72 size_t Print::print(unsigned int n, int base)
kotakku 0:b1ce54272580 73 {
kotakku 0:b1ce54272580 74 return print((unsigned long) n, base);
kotakku 0:b1ce54272580 75 }
kotakku 0:b1ce54272580 76
kotakku 0:b1ce54272580 77 size_t Print::print(long n, int base)
kotakku 0:b1ce54272580 78 {
kotakku 0:b1ce54272580 79 if (base == 0) {
kotakku 0:b1ce54272580 80 return write(n);
kotakku 0:b1ce54272580 81 } else if (base == 10) {
kotakku 0:b1ce54272580 82 if (n < 0) {
kotakku 0:b1ce54272580 83 int t = print('-');
kotakku 0:b1ce54272580 84 n = -n;
kotakku 0:b1ce54272580 85 return printNumber(n, 10) + t;
kotakku 0:b1ce54272580 86 }
kotakku 0:b1ce54272580 87 return printNumber(n, 10);
kotakku 0:b1ce54272580 88 } else {
kotakku 0:b1ce54272580 89 return printNumber(n, base);
kotakku 0:b1ce54272580 90 }
kotakku 0:b1ce54272580 91 }
kotakku 0:b1ce54272580 92
kotakku 0:b1ce54272580 93 size_t Print::print(unsigned long n, int base)
kotakku 0:b1ce54272580 94 {
kotakku 0:b1ce54272580 95 if (base == 0) return write(n);
kotakku 0:b1ce54272580 96 else return printNumber(n, base);
kotakku 0:b1ce54272580 97 }
kotakku 0:b1ce54272580 98
kotakku 0:b1ce54272580 99 size_t Print::print(double n, int digits)
kotakku 0:b1ce54272580 100 {
kotakku 0:b1ce54272580 101 return printFloat(n, digits);
kotakku 0:b1ce54272580 102 }
kotakku 0:b1ce54272580 103
kotakku 0:b1ce54272580 104 size_t Print::println(const __FlashStringHelper *ifsh)
kotakku 0:b1ce54272580 105 {
kotakku 0:b1ce54272580 106 size_t n = print(ifsh);
kotakku 0:b1ce54272580 107 n += println();
kotakku 0:b1ce54272580 108 return n;
kotakku 0:b1ce54272580 109 }
kotakku 0:b1ce54272580 110
kotakku 0:b1ce54272580 111 size_t Print::print(const Printable& x)
kotakku 0:b1ce54272580 112 {
kotakku 0:b1ce54272580 113 return x.printTo(*this);
kotakku 0:b1ce54272580 114 }
kotakku 0:b1ce54272580 115
kotakku 0:b1ce54272580 116 size_t Print::println(void)
kotakku 0:b1ce54272580 117 {
kotakku 0:b1ce54272580 118 return write("\r\n");
kotakku 0:b1ce54272580 119 }
kotakku 0:b1ce54272580 120
kotakku 0:b1ce54272580 121 size_t Print::println(const String &s)
kotakku 0:b1ce54272580 122 {
kotakku 0:b1ce54272580 123 size_t n = print(s);
kotakku 0:b1ce54272580 124 n += println();
kotakku 0:b1ce54272580 125 return n;
kotakku 0:b1ce54272580 126 }
kotakku 0:b1ce54272580 127
kotakku 0:b1ce54272580 128 size_t Print::println(const char c[])
kotakku 0:b1ce54272580 129 {
kotakku 0:b1ce54272580 130 size_t n = print(c);
kotakku 0:b1ce54272580 131 n += println();
kotakku 0:b1ce54272580 132 return n;
kotakku 0:b1ce54272580 133 }
kotakku 0:b1ce54272580 134
kotakku 0:b1ce54272580 135 size_t Print::println(char c)
kotakku 0:b1ce54272580 136 {
kotakku 0:b1ce54272580 137 size_t n = print(c);
kotakku 0:b1ce54272580 138 n += println();
kotakku 0:b1ce54272580 139 return n;
kotakku 0:b1ce54272580 140 }
kotakku 0:b1ce54272580 141
kotakku 0:b1ce54272580 142 size_t Print::println(unsigned char b, int base)
kotakku 0:b1ce54272580 143 {
kotakku 0:b1ce54272580 144 size_t n = print(b, base);
kotakku 0:b1ce54272580 145 n += println();
kotakku 0:b1ce54272580 146 return n;
kotakku 0:b1ce54272580 147 }
kotakku 0:b1ce54272580 148
kotakku 0:b1ce54272580 149 size_t Print::println(int num, int base)
kotakku 0:b1ce54272580 150 {
kotakku 0:b1ce54272580 151 size_t n = print(num, base);
kotakku 0:b1ce54272580 152 n += println();
kotakku 0:b1ce54272580 153 return n;
kotakku 0:b1ce54272580 154 }
kotakku 0:b1ce54272580 155
kotakku 0:b1ce54272580 156 size_t Print::println(unsigned int num, int base)
kotakku 0:b1ce54272580 157 {
kotakku 0:b1ce54272580 158 size_t n = print(num, base);
kotakku 0:b1ce54272580 159 n += println();
kotakku 0:b1ce54272580 160 return n;
kotakku 0:b1ce54272580 161 }
kotakku 0:b1ce54272580 162
kotakku 0:b1ce54272580 163 size_t Print::println(long num, int base)
kotakku 0:b1ce54272580 164 {
kotakku 0:b1ce54272580 165 size_t n = print(num, base);
kotakku 0:b1ce54272580 166 n += println();
kotakku 0:b1ce54272580 167 return n;
kotakku 0:b1ce54272580 168 }
kotakku 0:b1ce54272580 169
kotakku 0:b1ce54272580 170 size_t Print::println(unsigned long num, int base)
kotakku 0:b1ce54272580 171 {
kotakku 0:b1ce54272580 172 size_t n = print(num, base);
kotakku 0:b1ce54272580 173 n += println();
kotakku 0:b1ce54272580 174 return n;
kotakku 0:b1ce54272580 175 }
kotakku 0:b1ce54272580 176
kotakku 0:b1ce54272580 177 size_t Print::println(double num, int digits)
kotakku 0:b1ce54272580 178 {
kotakku 0:b1ce54272580 179 size_t n = print(num, digits);
kotakku 0:b1ce54272580 180 n += println();
kotakku 0:b1ce54272580 181 return n;
kotakku 0:b1ce54272580 182 }
kotakku 0:b1ce54272580 183
kotakku 0:b1ce54272580 184 size_t Print::println(const Printable& x)
kotakku 0:b1ce54272580 185 {
kotakku 0:b1ce54272580 186 size_t n = print(x);
kotakku 0:b1ce54272580 187 n += println();
kotakku 0:b1ce54272580 188 return n;
kotakku 0:b1ce54272580 189 }
kotakku 0:b1ce54272580 190
kotakku 0:b1ce54272580 191 // Private Methods /////////////////////////////////////////////////////////////
kotakku 0:b1ce54272580 192
kotakku 0:b1ce54272580 193 size_t Print::printNumber(unsigned long n, uint8_t base) {
kotakku 0:b1ce54272580 194 char buf[8 * sizeof(long) + 1]; // Assumes 8-bit chars plus zero byte.
kotakku 0:b1ce54272580 195 char *str = &buf[sizeof(buf) - 1];
kotakku 0:b1ce54272580 196
kotakku 0:b1ce54272580 197 *str = '\0';
kotakku 0:b1ce54272580 198
kotakku 0:b1ce54272580 199 // prevent crash if called with base == 1
kotakku 0:b1ce54272580 200 if (base < 2) base = 10;
kotakku 0:b1ce54272580 201
kotakku 0:b1ce54272580 202 do {
kotakku 0:b1ce54272580 203 unsigned long m = n;
kotakku 0:b1ce54272580 204 n /= base;
kotakku 0:b1ce54272580 205 char c = m - base * n;
kotakku 0:b1ce54272580 206 *--str = c < 10 ? c + '0' : c + 'A' - 10;
kotakku 0:b1ce54272580 207 } while(n);
kotakku 0:b1ce54272580 208
kotakku 0:b1ce54272580 209 return write(str);
kotakku 0:b1ce54272580 210 }
kotakku 0:b1ce54272580 211
kotakku 0:b1ce54272580 212 size_t Print::printFloat(double number, uint8_t digits)
kotakku 0:b1ce54272580 213 {
kotakku 0:b1ce54272580 214 size_t n = 0;
kotakku 0:b1ce54272580 215
kotakku 0:b1ce54272580 216 if (isnan(number)) return print("nan");
kotakku 0:b1ce54272580 217 if (isinf(number)) return print("inf");
kotakku 0:b1ce54272580 218 if (number > 4294967040.0) return print ("ovf"); // constant determined empirically
kotakku 0:b1ce54272580 219 if (number <-4294967040.0) return print ("ovf"); // constant determined empirically
kotakku 0:b1ce54272580 220
kotakku 0:b1ce54272580 221 // Handle negative numbers
kotakku 0:b1ce54272580 222 if (number < 0.0)
kotakku 0:b1ce54272580 223 {
kotakku 0:b1ce54272580 224 n += print('-');
kotakku 0:b1ce54272580 225 number = -number;
kotakku 0:b1ce54272580 226 }
kotakku 0:b1ce54272580 227
kotakku 0:b1ce54272580 228 // Round correctly so that print(1.999, 2) prints as "2.00"
kotakku 0:b1ce54272580 229 double rounding = 0.5;
kotakku 0:b1ce54272580 230 for (uint8_t i=0; i<digits; ++i)
kotakku 0:b1ce54272580 231 rounding /= 10.0;
kotakku 0:b1ce54272580 232
kotakku 0:b1ce54272580 233 number += rounding;
kotakku 0:b1ce54272580 234
kotakku 0:b1ce54272580 235 // Extract the integer part of the number and print it
kotakku 0:b1ce54272580 236 unsigned long int_part = (unsigned long)number;
kotakku 0:b1ce54272580 237 double remainder = number - (double)int_part;
kotakku 0:b1ce54272580 238 n += print(int_part);
kotakku 0:b1ce54272580 239
kotakku 0:b1ce54272580 240 // Print the decimal point, but only if there are digits beyond
kotakku 0:b1ce54272580 241 if (digits > 0) {
kotakku 0:b1ce54272580 242 n += print(".");
kotakku 0:b1ce54272580 243 }
kotakku 0:b1ce54272580 244
kotakku 0:b1ce54272580 245 // Extract digits from the remainder one at a time
kotakku 0:b1ce54272580 246 while (digits-- > 0)
kotakku 0:b1ce54272580 247 {
kotakku 0:b1ce54272580 248 remainder *= 10.0;
kotakku 0:b1ce54272580 249 int toPrint = int(remainder);
kotakku 0:b1ce54272580 250 n += print(toPrint);
kotakku 0:b1ce54272580 251 remainder -= toPrint;
kotakku 0:b1ce54272580 252 }
kotakku 0:b1ce54272580 253
kotakku 0:b1ce54272580 254 return n;
kotakku 0:b1ce54272580 255 }
kotakku 0:b1ce54272580 256