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");
        }
    }
}

USB_Host/PS4BT.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 /* Copyright (C) 2014 Kristian Lauszus, TKJ Electronics. All rights reserved.
kotakku 0:b1ce54272580 2
kotakku 0:b1ce54272580 3 This software may be distributed and modified under the terms of the GNU
kotakku 0:b1ce54272580 4 General Public License version 2 (GPL2) as published by the Free Software
kotakku 0:b1ce54272580 5 Foundation and appearing in the file GPL2.TXT included in the packaging of
kotakku 0:b1ce54272580 6 this file. Please note that GPL2 Section 2[b] requires that all works based
kotakku 0:b1ce54272580 7 on this software must also be made publicly available under the terms of
kotakku 0:b1ce54272580 8 the GPL2 ("Copyleft").
kotakku 0:b1ce54272580 9
kotakku 0:b1ce54272580 10 Contact information
kotakku 0:b1ce54272580 11 -------------------
kotakku 0:b1ce54272580 12
kotakku 0:b1ce54272580 13 Kristian Lauszus, TKJ Electronics
kotakku 0:b1ce54272580 14 Web : http://www.tkjelectronics.com
kotakku 0:b1ce54272580 15 e-mail : kristianl@tkjelectronics.com
kotakku 0:b1ce54272580 16 */
kotakku 0:b1ce54272580 17
kotakku 0:b1ce54272580 18 #ifndef _ps4bt_h_
kotakku 0:b1ce54272580 19 #define _ps4bt_h_
kotakku 0:b1ce54272580 20
kotakku 0:b1ce54272580 21 #include "BTHID.h"
kotakku 0:b1ce54272580 22 #include "PS4Parser.h"
kotakku 0:b1ce54272580 23
kotakku 0:b1ce54272580 24 /**
kotakku 0:b1ce54272580 25 * This class implements support for the PS4 controller via Bluetooth.
kotakku 0:b1ce54272580 26 * It uses the BTHID class for all the Bluetooth communication.
kotakku 0:b1ce54272580 27 */
kotakku 0:b1ce54272580 28 class PS4BT : public BTHID, public PS4Parser {
kotakku 0:b1ce54272580 29 public:
kotakku 0:b1ce54272580 30 /**
kotakku 0:b1ce54272580 31 * Constructor for the PS4BT class.
kotakku 0:b1ce54272580 32 * @param p Pointer to the BTD class instance.
kotakku 0:b1ce54272580 33 * @param pair Set this to true in order to pair with the device. If the argument is omitted then it will not pair with it. One can use ::PAIR to set it to true.
kotakku 0:b1ce54272580 34 * @param pin Write the pin to BTD#btdPin. If argument is omitted, then "0000" will be used.
kotakku 0:b1ce54272580 35 */
kotakku 0:b1ce54272580 36 PS4BT(BTD *p, bool pair = false, const char *pin = "0000") :
kotakku 0:b1ce54272580 37 BTHID(p, pair, pin) {
kotakku 0:b1ce54272580 38 PS4Parser::Reset();
kotakku 0:b1ce54272580 39 };
kotakku 0:b1ce54272580 40
kotakku 0:b1ce54272580 41 /**
kotakku 0:b1ce54272580 42 * Used to check if a PS4 controller is connected.
kotakku 0:b1ce54272580 43 * @return Returns true if it is connected.
kotakku 0:b1ce54272580 44 */
kotakku 0:b1ce54272580 45 bool connected() {
kotakku 0:b1ce54272580 46 return BTHID::connected;
kotakku 0:b1ce54272580 47 };
kotakku 0:b1ce54272580 48
kotakku 0:b1ce54272580 49 protected:
kotakku 0:b1ce54272580 50 /** @name BTHID implementation */
kotakku 0:b1ce54272580 51 /**
kotakku 0:b1ce54272580 52 * Used to parse Bluetooth HID data.
kotakku 0:b1ce54272580 53 * @param len The length of the incoming data.
kotakku 0:b1ce54272580 54 * @param buf Pointer to the data buffer.
kotakku 0:b1ce54272580 55 */
kotakku 0:b1ce54272580 56 virtual void ParseBTHIDData(uint8_t len, uint8_t *buf) {
kotakku 0:b1ce54272580 57 PS4Parser::Parse(len, buf);
kotakku 0:b1ce54272580 58 };
kotakku 0:b1ce54272580 59
kotakku 0:b1ce54272580 60 /**
kotakku 0:b1ce54272580 61 * Called when a device is successfully initialized.
kotakku 0:b1ce54272580 62 * Use attachOnInit(void (*funcOnInit)(void)) to call your own function.
kotakku 0:b1ce54272580 63 * This is useful for instance if you want to set the LEDs in a specific way.
kotakku 0:b1ce54272580 64 */
kotakku 0:b1ce54272580 65 virtual void OnInitBTHID() {
kotakku 0:b1ce54272580 66 PS4Parser::Reset();
kotakku 0:b1ce54272580 67 enable_sixaxis(); // Make the controller send out the entire output report
kotakku 0:b1ce54272580 68 if (pFuncOnInit)
kotakku 0:b1ce54272580 69 pFuncOnInit(); // Call the user function
kotakku 0:b1ce54272580 70 else
kotakku 0:b1ce54272580 71 setLed(Blue);
kotakku 0:b1ce54272580 72 };
kotakku 0:b1ce54272580 73
kotakku 0:b1ce54272580 74 /** Used to reset the different buffers to there default values */
kotakku 0:b1ce54272580 75 virtual void ResetBTHID() {
kotakku 0:b1ce54272580 76 PS4Parser::Reset();
kotakku 0:b1ce54272580 77 };
kotakku 0:b1ce54272580 78 /**@}*/
kotakku 0:b1ce54272580 79
kotakku 0:b1ce54272580 80 /** @name PS4Parser implementation */
kotakku 0:b1ce54272580 81 virtual void sendOutputReport(PS4Output *output) { // Source: https://github.com/chrippa/ds4drv
kotakku 0:b1ce54272580 82 uint8_t buf[79];
kotakku 0:b1ce54272580 83 memset(buf, 0, sizeof(buf));
kotakku 0:b1ce54272580 84
kotakku 0:b1ce54272580 85 buf[0] = 0x52; // HID BT Set_report (0x50) | Report Type (Output 0x02)
kotakku 0:b1ce54272580 86 buf[1] = 0x11; // Report ID
kotakku 0:b1ce54272580 87 buf[2] = 0x80;
kotakku 0:b1ce54272580 88 buf[4]= 0xFF;
kotakku 0:b1ce54272580 89
kotakku 0:b1ce54272580 90 buf[7] = output->smallRumble; // Small Rumble
kotakku 0:b1ce54272580 91 buf[8] = output->bigRumble; // Big rumble
kotakku 0:b1ce54272580 92
kotakku 0:b1ce54272580 93 buf[9] = output->r; // Red
kotakku 0:b1ce54272580 94 buf[10] = output->g; // Green
kotakku 0:b1ce54272580 95 buf[11] = output->b; // Blue
kotakku 0:b1ce54272580 96
kotakku 0:b1ce54272580 97 buf[12] = output->flashOn; // Time to flash bright (255 = 2.5 seconds)
kotakku 0:b1ce54272580 98 buf[13] = output->flashOff; // Time to flash dark (255 = 2.5 seconds)
kotakku 0:b1ce54272580 99
kotakku 0:b1ce54272580 100 output->reportChanged = false;
kotakku 0:b1ce54272580 101
kotakku 0:b1ce54272580 102 // The PS4 console actually set the four last bytes to a CRC32 checksum, but it seems like it is actually not needed
kotakku 0:b1ce54272580 103
kotakku 0:b1ce54272580 104 HID_Command(buf, sizeof(buf));
kotakku 0:b1ce54272580 105 };
kotakku 0:b1ce54272580 106 /**@}*/
kotakku 0:b1ce54272580 107
kotakku 0:b1ce54272580 108 private:
kotakku 0:b1ce54272580 109 void enable_sixaxis() { // Command used to make the PS4 controller send out the entire output report
kotakku 0:b1ce54272580 110 uint8_t buf[2];
kotakku 0:b1ce54272580 111 buf[0] = 0x43; // HID BT Get_report (0x40) | Report Type (Feature 0x03)
kotakku 0:b1ce54272580 112 buf[1] = 0x02; // Report ID
kotakku 0:b1ce54272580 113
kotakku 0:b1ce54272580 114 HID_Command(buf, 2);
kotakku 0:b1ce54272580 115 };
kotakku 0:b1ce54272580 116
kotakku 0:b1ce54272580 117 void HID_Command(uint8_t *data, uint8_t nbytes) {
kotakku 0:b1ce54272580 118 pBtd->L2CAP_Command(hci_handle, data, nbytes, control_scid[0], control_scid[1]);
kotakku 0:b1ce54272580 119 };
kotakku 0:b1ce54272580 120 };
kotakku 0:b1ce54272580 121 #endif
kotakku 0:b1ce54272580 122