Library to use Arduino USB host shield on mbed
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
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
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"); } } }
Arduino_lib/Print.cpp@1:da31140f2a1c, 2020-05-02 (annotated)
- 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?
User | Revision | Line number | New 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 |