Takumi Odashima / ArduinoUsbHostShield

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");
        }
    }
}

Arduino_lib/WString.h@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?

UserRevisionLine numberNew contents of line
kotakku 0:b1ce54272580 1 /*
kotakku 0:b1ce54272580 2 WString.h - String library for Wiring & Arduino
kotakku 0:b1ce54272580 3 ...mostly rewritten by Paul Stoffregen...
kotakku 0:b1ce54272580 4 Copyright (c) 2009-10 Hernando Barragan. All right reserved.
kotakku 0:b1ce54272580 5 Copyright 2011, Paul Stoffregen, paul@pjrc.com
kotakku 0:b1ce54272580 6
kotakku 0:b1ce54272580 7 This library is free software; you can redistribute it and/or
kotakku 0:b1ce54272580 8 modify it under the terms of the GNU Lesser General Public
kotakku 0:b1ce54272580 9 License as published by the Free Software Foundation; either
kotakku 0:b1ce54272580 10 version 2.1 of the License, or (at your option) any later version.
kotakku 0:b1ce54272580 11
kotakku 0:b1ce54272580 12 This library is distributed in the hope that it will be useful,
kotakku 0:b1ce54272580 13 but WITHOUT ANY WARRANTY; without even the implied warranty of
kotakku 0:b1ce54272580 14 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
kotakku 0:b1ce54272580 15 Lesser General Public License for more details.
kotakku 0:b1ce54272580 16
kotakku 0:b1ce54272580 17 You should have received a copy of the GNU Lesser General Public
kotakku 0:b1ce54272580 18 License along with this library; if not, write to the Free Software
kotakku 0:b1ce54272580 19 Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
kotakku 0:b1ce54272580 20 */
kotakku 0:b1ce54272580 21
kotakku 0:b1ce54272580 22 #ifndef String_class_h
kotakku 0:b1ce54272580 23 #define String_class_h
kotakku 0:b1ce54272580 24 #ifdef __cplusplus
kotakku 0:b1ce54272580 25
kotakku 0:b1ce54272580 26 #include <stdlib.h>
kotakku 0:b1ce54272580 27 #include <string.h>
kotakku 0:b1ce54272580 28 #include <ctype.h>
kotakku 0:b1ce54272580 29 #include <avr/pgmspace.h>
kotakku 0:b1ce54272580 30
kotakku 0:b1ce54272580 31 // When compiling programs with this class, the following gcc parameters
kotakku 0:b1ce54272580 32 // dramatically increase performance and memory (RAM) efficiency, typically
kotakku 0:b1ce54272580 33 // with little or no increase in code size.
kotakku 0:b1ce54272580 34 // -felide-constructors
kotakku 0:b1ce54272580 35 // -std=c++0x
kotakku 0:b1ce54272580 36
kotakku 0:b1ce54272580 37 class __FlashStringHelper;
kotakku 0:b1ce54272580 38 #define F(string_literal) (reinterpret_cast<const __FlashStringHelper *>(PSTR(string_literal)))
kotakku 0:b1ce54272580 39
kotakku 0:b1ce54272580 40 // An inherited class for holding the result of a concatenation. These
kotakku 0:b1ce54272580 41 // result objects are assumed to be writable by subsequent concatenations.
kotakku 0:b1ce54272580 42 class StringSumHelper;
kotakku 0:b1ce54272580 43
kotakku 0:b1ce54272580 44 // The string class
kotakku 0:b1ce54272580 45 class String
kotakku 0:b1ce54272580 46 {
kotakku 0:b1ce54272580 47 // use a function pointer to allow for "if (s)" without the
kotakku 0:b1ce54272580 48 // complications of an operator bool(). for more information, see:
kotakku 0:b1ce54272580 49 // http://www.artima.com/cppsource/safebool.html
kotakku 0:b1ce54272580 50 typedef void (String::*StringIfHelperType)() const;
kotakku 0:b1ce54272580 51 void StringIfHelper() const {}
kotakku 0:b1ce54272580 52
kotakku 0:b1ce54272580 53 public:
kotakku 0:b1ce54272580 54 // constructors
kotakku 0:b1ce54272580 55 // creates a copy of the initial value.
kotakku 0:b1ce54272580 56 // if the initial value is null or invalid, or if memory allocation
kotakku 0:b1ce54272580 57 // fails, the string will be marked as invalid (i.e. "if (s)" will
kotakku 0:b1ce54272580 58 // be false).
kotakku 0:b1ce54272580 59 String(const char *cstr = "");
kotakku 0:b1ce54272580 60 String(const String &str);
kotakku 0:b1ce54272580 61 String(const __FlashStringHelper *str);
kotakku 0:b1ce54272580 62 #if __cplusplus >= 201103L || defined(__GXX_EXPERIMENTAL_CXX0X__)
kotakku 0:b1ce54272580 63 String(String &&rval);
kotakku 0:b1ce54272580 64 String(StringSumHelper &&rval);
kotakku 0:b1ce54272580 65 #endif
kotakku 0:b1ce54272580 66 explicit String(char c);
kotakku 0:b1ce54272580 67 explicit String(unsigned char, unsigned char base=10);
kotakku 0:b1ce54272580 68 explicit String(int, unsigned char base=10);
kotakku 0:b1ce54272580 69 explicit String(unsigned int, unsigned char base=10);
kotakku 0:b1ce54272580 70 explicit String(long, unsigned char base=10);
kotakku 0:b1ce54272580 71 explicit String(unsigned long, unsigned char base=10);
kotakku 0:b1ce54272580 72 explicit String(float, unsigned char decimalPlaces=2);
kotakku 0:b1ce54272580 73 explicit String(double, unsigned char decimalPlaces=2);
kotakku 0:b1ce54272580 74 ~String(void);
kotakku 0:b1ce54272580 75
kotakku 0:b1ce54272580 76 // memory management
kotakku 0:b1ce54272580 77 // return true on success, false on failure (in which case, the string
kotakku 0:b1ce54272580 78 // is left unchanged). reserve(0), if successful, will validate an
kotakku 0:b1ce54272580 79 // invalid string (i.e., "if (s)" will be true afterwards)
kotakku 0:b1ce54272580 80 unsigned char reserve(unsigned int size);
kotakku 0:b1ce54272580 81 inline unsigned int length(void) const {return len;}
kotakku 0:b1ce54272580 82
kotakku 0:b1ce54272580 83 // creates a copy of the assigned value. if the value is null or
kotakku 0:b1ce54272580 84 // invalid, or if the memory allocation fails, the string will be
kotakku 0:b1ce54272580 85 // marked as invalid ("if (s)" will be false).
kotakku 0:b1ce54272580 86 String & operator = (const String &rhs);
kotakku 0:b1ce54272580 87 String & operator = (const char *cstr);
kotakku 0:b1ce54272580 88 String & operator = (const __FlashStringHelper *str);
kotakku 0:b1ce54272580 89 #if __cplusplus >= 201103L || defined(__GXX_EXPERIMENTAL_CXX0X__)
kotakku 0:b1ce54272580 90 String & operator = (String &&rval);
kotakku 0:b1ce54272580 91 String & operator = (StringSumHelper &&rval);
kotakku 0:b1ce54272580 92 #endif
kotakku 0:b1ce54272580 93
kotakku 0:b1ce54272580 94 // concatenate (works w/ built-in types)
kotakku 0:b1ce54272580 95
kotakku 0:b1ce54272580 96 // returns true on success, false on failure (in which case, the string
kotakku 0:b1ce54272580 97 // is left unchanged). if the argument is null or invalid, the
kotakku 0:b1ce54272580 98 // concatenation is considered unsucessful.
kotakku 0:b1ce54272580 99 unsigned char concat(const String &str);
kotakku 0:b1ce54272580 100 unsigned char concat(const char *cstr);
kotakku 0:b1ce54272580 101 unsigned char concat(char c);
kotakku 0:b1ce54272580 102 unsigned char concat(unsigned char c);
kotakku 0:b1ce54272580 103 unsigned char concat(int num);
kotakku 0:b1ce54272580 104 unsigned char concat(unsigned int num);
kotakku 0:b1ce54272580 105 unsigned char concat(long num);
kotakku 0:b1ce54272580 106 unsigned char concat(unsigned long num);
kotakku 0:b1ce54272580 107 unsigned char concat(float num);
kotakku 0:b1ce54272580 108 unsigned char concat(double num);
kotakku 0:b1ce54272580 109 unsigned char concat(const __FlashStringHelper * str);
kotakku 0:b1ce54272580 110
kotakku 0:b1ce54272580 111 // if there's not enough memory for the concatenated value, the string
kotakku 0:b1ce54272580 112 // will be left unchanged (but this isn't signalled in any way)
kotakku 0:b1ce54272580 113 String & operator += (const String &rhs) {concat(rhs); return (*this);}
kotakku 0:b1ce54272580 114 String & operator += (const char *cstr) {concat(cstr); return (*this);}
kotakku 0:b1ce54272580 115 String & operator += (char c) {concat(c); return (*this);}
kotakku 0:b1ce54272580 116 String & operator += (unsigned char num) {concat(num); return (*this);}
kotakku 0:b1ce54272580 117 String & operator += (int num) {concat(num); return (*this);}
kotakku 0:b1ce54272580 118 String & operator += (unsigned int num) {concat(num); return (*this);}
kotakku 0:b1ce54272580 119 String & operator += (long num) {concat(num); return (*this);}
kotakku 0:b1ce54272580 120 String & operator += (unsigned long num) {concat(num); return (*this);}
kotakku 0:b1ce54272580 121 String & operator += (float num) {concat(num); return (*this);}
kotakku 0:b1ce54272580 122 String & operator += (double num) {concat(num); return (*this);}
kotakku 0:b1ce54272580 123 String & operator += (const __FlashStringHelper *str){concat(str); return (*this);}
kotakku 0:b1ce54272580 124
kotakku 0:b1ce54272580 125 friend StringSumHelper & operator + (const StringSumHelper &lhs, const String &rhs);
kotakku 0:b1ce54272580 126 friend StringSumHelper & operator + (const StringSumHelper &lhs, const char *cstr);
kotakku 0:b1ce54272580 127 friend StringSumHelper & operator + (const StringSumHelper &lhs, char c);
kotakku 0:b1ce54272580 128 friend StringSumHelper & operator + (const StringSumHelper &lhs, unsigned char num);
kotakku 0:b1ce54272580 129 friend StringSumHelper & operator + (const StringSumHelper &lhs, int num);
kotakku 0:b1ce54272580 130 friend StringSumHelper & operator + (const StringSumHelper &lhs, unsigned int num);
kotakku 0:b1ce54272580 131 friend StringSumHelper & operator + (const StringSumHelper &lhs, long num);
kotakku 0:b1ce54272580 132 friend StringSumHelper & operator + (const StringSumHelper &lhs, unsigned long num);
kotakku 0:b1ce54272580 133 friend StringSumHelper & operator + (const StringSumHelper &lhs, float num);
kotakku 0:b1ce54272580 134 friend StringSumHelper & operator + (const StringSumHelper &lhs, double num);
kotakku 0:b1ce54272580 135 friend StringSumHelper & operator + (const StringSumHelper &lhs, const __FlashStringHelper *rhs);
kotakku 0:b1ce54272580 136
kotakku 0:b1ce54272580 137 // comparison (only works w/ Strings and "strings")
kotakku 0:b1ce54272580 138 operator StringIfHelperType() const { return buffer ? &String::StringIfHelper : 0; }
kotakku 0:b1ce54272580 139 int compareTo(const String &s) const;
kotakku 0:b1ce54272580 140 unsigned char equals(const String &s) const;
kotakku 0:b1ce54272580 141 unsigned char equals(const char *cstr) const;
kotakku 0:b1ce54272580 142 unsigned char operator == (const String &rhs) const {return equals(rhs);}
kotakku 0:b1ce54272580 143 unsigned char operator == (const char *cstr) const {return equals(cstr);}
kotakku 0:b1ce54272580 144 unsigned char operator != (const String &rhs) const {return !equals(rhs);}
kotakku 0:b1ce54272580 145 unsigned char operator != (const char *cstr) const {return !equals(cstr);}
kotakku 0:b1ce54272580 146 unsigned char operator < (const String &rhs) const;
kotakku 0:b1ce54272580 147 unsigned char operator > (const String &rhs) const;
kotakku 0:b1ce54272580 148 unsigned char operator <= (const String &rhs) const;
kotakku 0:b1ce54272580 149 unsigned char operator >= (const String &rhs) const;
kotakku 0:b1ce54272580 150 unsigned char equalsIgnoreCase(const String &s) const;
kotakku 0:b1ce54272580 151 unsigned char startsWith( const String &prefix) const;
kotakku 0:b1ce54272580 152 unsigned char startsWith(const String &prefix, unsigned int offset) const;
kotakku 0:b1ce54272580 153 unsigned char endsWith(const String &suffix) const;
kotakku 0:b1ce54272580 154
kotakku 0:b1ce54272580 155 // character acccess
kotakku 0:b1ce54272580 156 char charAt(unsigned int index) const;
kotakku 0:b1ce54272580 157 void setCharAt(unsigned int index, char c);
kotakku 0:b1ce54272580 158 char operator [] (unsigned int index) const;
kotakku 0:b1ce54272580 159 char& operator [] (unsigned int index);
kotakku 0:b1ce54272580 160 void getBytes(unsigned char *buf, unsigned int bufsize, unsigned int index=0) const;
kotakku 0:b1ce54272580 161 void toCharArray(char *buf, unsigned int bufsize, unsigned int index=0) const
kotakku 0:b1ce54272580 162 {getBytes((unsigned char *)buf, bufsize, index);}
kotakku 0:b1ce54272580 163 const char * c_str() const { return buffer; }
kotakku 0:b1ce54272580 164
kotakku 0:b1ce54272580 165 // search
kotakku 0:b1ce54272580 166 int indexOf( char ch ) const;
kotakku 0:b1ce54272580 167 int indexOf( char ch, unsigned int fromIndex ) const;
kotakku 0:b1ce54272580 168 int indexOf( const String &str ) const;
kotakku 0:b1ce54272580 169 int indexOf( const String &str, unsigned int fromIndex ) const;
kotakku 0:b1ce54272580 170 int lastIndexOf( char ch ) const;
kotakku 0:b1ce54272580 171 int lastIndexOf( char ch, unsigned int fromIndex ) const;
kotakku 0:b1ce54272580 172 int lastIndexOf( const String &str ) const;
kotakku 0:b1ce54272580 173 int lastIndexOf( const String &str, unsigned int fromIndex ) const;
kotakku 0:b1ce54272580 174 String substring( unsigned int beginIndex ) const { return substring(beginIndex, len); };
kotakku 0:b1ce54272580 175 String substring( unsigned int beginIndex, unsigned int endIndex ) const;
kotakku 0:b1ce54272580 176
kotakku 0:b1ce54272580 177 // modification
kotakku 0:b1ce54272580 178 void replace(char find, char replace);
kotakku 0:b1ce54272580 179 void replace(const String& find, const String& replace);
kotakku 0:b1ce54272580 180 void remove(unsigned int index);
kotakku 0:b1ce54272580 181 void remove(unsigned int index, unsigned int count);
kotakku 0:b1ce54272580 182 void toLowerCase(void);
kotakku 0:b1ce54272580 183 void toUpperCase(void);
kotakku 0:b1ce54272580 184 void trim(void);
kotakku 0:b1ce54272580 185
kotakku 0:b1ce54272580 186 // parsing/conversion
kotakku 0:b1ce54272580 187 long toInt(void) const;
kotakku 0:b1ce54272580 188 float toFloat(void) const;
kotakku 0:b1ce54272580 189
kotakku 0:b1ce54272580 190 protected:
kotakku 0:b1ce54272580 191 char *buffer; // the actual char array
kotakku 0:b1ce54272580 192 unsigned int capacity; // the array length minus one (for the '\0')
kotakku 0:b1ce54272580 193 unsigned int len; // the String length (not counting the '\0')
kotakku 0:b1ce54272580 194 protected:
kotakku 0:b1ce54272580 195 void init(void);
kotakku 0:b1ce54272580 196 void invalidate(void);
kotakku 0:b1ce54272580 197 unsigned char changeBuffer(unsigned int maxStrLen);
kotakku 0:b1ce54272580 198 unsigned char concat(const char *cstr, unsigned int length);
kotakku 0:b1ce54272580 199
kotakku 0:b1ce54272580 200 // copy and move
kotakku 0:b1ce54272580 201 String & copy(const char *cstr, unsigned int length);
kotakku 0:b1ce54272580 202 String & copy(const __FlashStringHelper *pstr, unsigned int length);
kotakku 0:b1ce54272580 203 #if __cplusplus >= 201103L || defined(__GXX_EXPERIMENTAL_CXX0X__)
kotakku 0:b1ce54272580 204 void move(String &rhs);
kotakku 0:b1ce54272580 205 #endif
kotakku 0:b1ce54272580 206 };
kotakku 0:b1ce54272580 207
kotakku 0:b1ce54272580 208 class StringSumHelper : public String
kotakku 0:b1ce54272580 209 {
kotakku 0:b1ce54272580 210 public:
kotakku 0:b1ce54272580 211 StringSumHelper(const String &s) : String(s) {}
kotakku 0:b1ce54272580 212 StringSumHelper(const char *p) : String(p) {}
kotakku 0:b1ce54272580 213 StringSumHelper(char c) : String(c) {}
kotakku 0:b1ce54272580 214 StringSumHelper(unsigned char num) : String(num) {}
kotakku 0:b1ce54272580 215 StringSumHelper(int num) : String(num) {}
kotakku 0:b1ce54272580 216 StringSumHelper(unsigned int num) : String(num) {}
kotakku 0:b1ce54272580 217 StringSumHelper(long num) : String(num) {}
kotakku 0:b1ce54272580 218 StringSumHelper(unsigned long num) : String(num) {}
kotakku 0:b1ce54272580 219 StringSumHelper(float num) : String(num) {}
kotakku 0:b1ce54272580 220 StringSumHelper(double num) : String(num) {}
kotakku 0:b1ce54272580 221 };
kotakku 0:b1ce54272580 222
kotakku 0:b1ce54272580 223 #endif // __cplusplus
kotakku 0:b1ce54272580 224 #endif // String_class_h
kotakku 0:b1ce54272580 225