Diff: USB_Host/PS4Parser.h

Revision:

0:b1ce54272580

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/USB_Host/PS4Parser.h	Sat Jan 18 15:06:35 2020 +0000
@@ -0,0 +1,373 @@
+/* Copyright (C) 2014 Kristian Lauszus, TKJ Electronics. All rights reserved.
+
+ This software may be distributed and modified under the terms of the GNU
+ General Public License version 2 (GPL2) as published by the Free Software
+ Foundation and appearing in the file GPL2.TXT included in the packaging of
+ this file. Please note that GPL2 Section 2[b] requires that all works based
+ on this software must also be made publicly available under the terms of
+ the GPL2 ("Copyleft").
+
+ Contact information
+ -------------------
+
+ Kristian Lauszus, TKJ Electronics
+ Web      :  http://www.tkjelectronics.com
+ e-mail   :  kristianl@tkjelectronics.com
+ */
+
+#ifndef _ps4parser_h_
+#define _ps4parser_h_
+
+#include "Usb.h"
+#include "controllerEnums.h"
+
+/** Buttons on the controller */
+const uint8_t PS4_BUTTONS[] PROGMEM = {
+        UP, // UP
+        RIGHT, // RIGHT
+        DOWN, // DOWN
+        LEFT, // LEFT
+
+        0x0C, // SHARE
+        0x0D, // OPTIONS
+        0x0E, // L3
+        0x0F, // R3
+
+        0x0A, // L2
+        0x0B, // R2
+        0x08, // L1
+        0x09, // R1
+
+        0x07, // TRIANGLE
+        0x06, // CIRCLE
+        0x05, // CROSS
+        0x04, // SQUARE
+
+        0x10, // PS
+        0x11, // TOUCHPAD
+};
+
+union PS4Buttons {
+        struct {
+                uint8_t dpad : 4;
+                uint8_t square : 1;
+                uint8_t cross : 1;
+                uint8_t circle : 1;
+                uint8_t triangle : 1;
+
+                uint8_t l1 : 1;
+                uint8_t r1 : 1;
+                uint8_t l2 : 1;
+                uint8_t r2 : 1;
+                uint8_t share : 1;
+                uint8_t options : 1;
+                uint8_t l3 : 1;
+                uint8_t r3 : 1;
+
+                uint8_t ps : 1;
+                uint8_t touchpad : 1;
+                uint8_t reportCounter : 6;
+        } __attribute__((packed));
+        uint32_t val : 24;
+} __attribute__((packed));
+
+struct touchpadXY {
+        uint8_t dummy; // I can not figure out what this data is for, it seems to change randomly, maybe a timestamp?
+        struct {
+                uint8_t counter : 7; // Increments every time a finger is touching the touchpad
+                uint8_t touching : 1; // The top bit is cleared if the finger is touching the touchpad
+                uint16_t x : 12;
+                uint16_t y : 12;
+        } __attribute__((packed)) finger[2]; // 0 = first finger, 1 = second finger
+} __attribute__((packed));
+
+struct PS4Status {
+        uint8_t battery : 4;
+        uint8_t usb : 1;
+        uint8_t audio : 1;
+        uint8_t mic : 1;
+        uint8_t unknown : 1; // Extension port?
+} __attribute__((packed));
+
+struct PS4Data {
+        /* Button and joystick values */
+        uint8_t hatValue[4];
+        PS4Buttons btn;
+        uint8_t trigger[2];
+
+        /* Gyro and accelerometer values */
+        uint8_t dummy[3]; // First two looks random, while the third one might be some kind of status - it increments once in a while
+        int16_t gyroY, gyroZ, gyroX;
+        int16_t accX, accZ, accY;
+
+        uint8_t dummy2[5];
+        PS4Status status;
+        uint8_t dummy3[3];
+
+        /* The rest is data for the touchpad */
+        touchpadXY xy[3]; // It looks like it sends out three coordinates each time, this might be because the microcontroller inside the PS4 controller is much faster than the Bluetooth connection.
+                          // The last data is read from the last position in the array while the oldest measurement is from the first position.
+                          // The first position will also keep it's value after the finger is released, while the other two will set them to zero.
+                          // Note that if you read fast enough from the device, then only the first one will contain any data.
+
+        // The last three bytes are always: 0x00, 0x80, 0x00
+} __attribute__((packed));
+
+struct PS4Output {
+        uint8_t bigRumble, smallRumble; // Rumble
+        uint8_t r, g, b; // RGB
+        uint8_t flashOn, flashOff; // Time to flash bright/dark (255 = 2.5 seconds)
+        bool reportChanged; // The data is send when data is received from the controller
+} __attribute__((packed));
+
+/** This class parses all the data sent by the PS4 controller */
+class PS4Parser {
+public:
+        /** Constructor for the PS4Parser class. */
+        PS4Parser() {
+                Reset();
+        };
+
+        /** @name PS4 Controller functions */
+        /**
+         * getButtonPress(ButtonEnum b) will return true as long as the button is held down.
+         *
+         * While getButtonClick(ButtonEnum b) will only return it once.
+         *
+         * So you instance if you need to increase a variable once you would use getButtonClick(ButtonEnum b),
+         * but if you need to drive a robot forward you would use getButtonPress(ButtonEnum b).
+         * @param  b          ::ButtonEnum to read.
+         * @return            getButtonPress(ButtonEnum b) will return a true as long as a button is held down, while getButtonClick(ButtonEnum b) will return true once for each button press.
+         */
+        bool getButtonPress(ButtonEnum b);
+        bool getButtonClick(ButtonEnum b);
+        /**@}*/
+        /** @name PS4 Controller functions */
+        /**
+         * Used to get the analog value from button presses.
+         * @param  b The ::ButtonEnum to read.
+         * The supported buttons are:
+         * ::L2 and ::R2.
+         * @return   Analog value in the range of 0-255.
+         */
+        uint8_t getAnalogButton(ButtonEnum b);
+
+        /**
+         * Used to read the analog joystick.
+         * @param  a ::LeftHatX, ::LeftHatY, ::RightHatX, and ::RightHatY.
+         * @return   Return the analog value in the range of 0-255.
+         */
+        uint8_t getAnalogHat(AnalogHatEnum a);
+
+        /**
+         * Get the x-coordinate of the touchpad. Position 0 is in the top left.
+         * @param  finger 0 = first finger, 1 = second finger. If omitted, then 0 will be used.
+         * @param  xyId   The controller sends out three packets with the same structure.
+         *                The third one will contain the last measure, but if you read from the controller then there is only be data in the first one.
+         *                For that reason it will be set to 0 if the argument is omitted.
+         * @return        Returns the x-coordinate of the finger.
+         */
+        uint16_t getX(uint8_t finger = 0, uint8_t xyId = 0) {
+                return ps4Data.xy[xyId].finger[finger].x;
+        };
+
+        /**
+         * Get the y-coordinate of the touchpad. Position 0 is in the top left.
+         * @param  finger 0 = first finger, 1 = second finger. If omitted, then 0 will be used.
+         * @param  xyId   The controller sends out three packets with the same structure.
+         *                The third one will contain the last measure, but if you read from the controller then there is only be data in the first one.
+         *                For that reason it will be set to 0 if the argument is omitted.
+         * @return        Returns the y-coordinate of the finger.
+         */
+        uint16_t getY(uint8_t finger = 0, uint8_t xyId = 0) {
+                return ps4Data.xy[xyId].finger[finger].y;
+        };
+
+        /**
+         * Returns whenever the user is toucing the touchpad.
+         * @param  finger 0 = first finger, 1 = second finger. If omitted, then 0 will be used.
+         * @param  xyId   The controller sends out three packets with the same structure.
+         *                The third one will contain the last measure, but if you read from the controller then there is only be data in the first one.
+         *                For that reason it will be set to 0 if the argument is omitted.
+         * @return        Returns true if the specific finger is touching the touchpad.
+         */
+        bool isTouching(uint8_t finger = 0, uint8_t xyId = 0) {
+                return !(ps4Data.xy[xyId].finger[finger].touching); // The bit is cleared when a finger is touching the touchpad
+        };
+
+        /**
+         * This counter increments every time a finger touches the touchpad.
+         * @param  finger 0 = first finger, 1 = second finger. If omitted, then 0 will be used.
+         * @param  xyId   The controller sends out three packets with the same structure.
+         *                The third one will contain the last measure, but if you read from the controller then there is only be data in the first one.
+         *                For that reason it will be set to 0 if the argument is omitted.
+         * @return        Return the value of the counter, note that it is only a 7-bit value.
+         */
+        uint8_t getTouchCounter(uint8_t finger = 0, uint8_t xyId = 0) {
+                return ps4Data.xy[xyId].finger[finger].counter;
+        };
+
+        /**
+         * Get the angle of the controller calculated using the accelerometer.
+         * @param  a Either ::Pitch or ::Roll.
+         * @return   Return the angle in the range of 0-360.
+         */
+        float getAngle(AngleEnum a) {
+                if (a == Pitch)
+                        return (atan2f(ps4Data.accY, ps4Data.accZ) + PI) * RAD_TO_DEG;
+                else
+                        return (atan2f(ps4Data.accX, ps4Data.accZ) + PI) * RAD_TO_DEG;
+        };
+
+        /**
+         * Used to get the raw values from the 3-axis gyroscope and 3-axis accelerometer inside the PS4 controller.
+         * @param  s The sensor to read.
+         * @return   Returns the raw sensor reading.
+         */
+        int16_t getSensor(SensorEnum s) {
+                switch(s) {
+                        case gX:
+                                return ps4Data.gyroX;
+                        case gY:
+                                return ps4Data.gyroY;
+                        case gZ:
+                                return ps4Data.gyroZ;
+                        case aX:
+                                return ps4Data.accX;
+                        case aY:
+                                return ps4Data.accY;
+                        case aZ:
+                                return ps4Data.accZ;
+                        default:
+                                return 0;
+                }
+        };
+
+        /**
+         * Return the battery level of the PS4 controller.
+         * @return The battery level in the range 0-15.
+         */
+        uint8_t getBatteryLevel() {
+                return ps4Data.status.battery;
+        };
+
+        /**
+         * Use this to check if an USB cable is connected to the PS4 controller.
+         * @return Returns true if an USB cable is connected.
+         */
+        bool getUsbStatus() {
+                return ps4Data.status.usb;
+        };
+
+        /**
+         * Use this to check if an audio jack cable is connected to the PS4 controller.
+         * @return Returns true if an audio jack cable is connected.
+         */
+        bool getAudioStatus() {
+                return ps4Data.status.audio;
+        };
+
+        /**
+         * Use this to check if a microphone is connected to the PS4 controller.
+         * @return Returns true if a microphone is connected.
+         */
+        bool getMicStatus() {
+                return ps4Data.status.mic;
+        };
+
+        /** Turn both rumble and the LEDs off. */
+        void setAllOff() {
+                setRumbleOff();
+                setLedOff();
+        };
+
+        /** Set rumble off. */
+        void setRumbleOff() {
+                setRumbleOn(0, 0);
+        };
+
+        /**
+         * Turn on rumble.
+         * @param mode Either ::RumbleHigh or ::RumbleLow.
+         */
+        void setRumbleOn(RumbleEnum mode) {
+                if (mode == RumbleLow)
+                        setRumbleOn(0x00, 0xFF);
+                else
+                        setRumbleOn(0xFF, 0x00);
+        };
+
+        /**
+         * Turn on rumble.
+         * @param bigRumble   Value for big motor.
+         * @param smallRumble Value for small motor.
+         */
+        void setRumbleOn(uint8_t bigRumble, uint8_t smallRumble) {
+                ps4Output.bigRumble = bigRumble;
+                ps4Output.smallRumble = smallRumble;
+                ps4Output.reportChanged = true;
+        };
+
+        /** Turn all LEDs off. */
+        void setLedOff() {
+                setLed(0, 0, 0);
+        };
+
+        /**
+         * Use this to set the color using RGB values.
+         * @param r,g,b RGB value.
+         */
+        void setLed(uint8_t r, uint8_t g, uint8_t b) {
+                ps4Output.r = r;
+                ps4Output.g = g;
+                ps4Output.b = b;
+                ps4Output.reportChanged = true;
+        };
+
+        /**
+         * Use this to set the color using the predefined colors in ::ColorsEnum.
+         * @param color The desired color.
+         */
+        void setLed(ColorsEnum color) {
+                setLed((uint8_t)(color >> 16), (uint8_t)(color >> 8), (uint8_t)(color));
+        };
+
+        /**
+         * Set the LEDs flash time.
+         * @param flashOn  Time to flash bright (255 = 2.5 seconds).
+         * @param flashOff Time to flash dark (255 = 2.5 seconds).
+         */
+        void setLedFlash(uint8_t flashOn, uint8_t flashOff) {
+                ps4Output.flashOn = flashOn;
+                ps4Output.flashOff = flashOff;
+                ps4Output.reportChanged = true;
+        };
+        /**@}*/
+
+protected:
+        /**
+         * Used to parse data sent from the PS4 controller.
+         * @param len Length of the data.
+         * @param buf Pointer to the data buffer.
+         */
+        void Parse(uint8_t len, uint8_t *buf);
+
+        /** Used to reset the different buffers to their default values */
+        void Reset();
+
+        /**
+         * Send the output to the PS4 controller. This is implemented in PS4BT.h and PS4USB.h.
+         * @param output Pointer to PS4Output buffer;
+         */
+        virtual void sendOutputReport(PS4Output *output) = 0;
+
+private:
+        bool checkDpad(ButtonEnum b); // Used to check PS4 DPAD buttons
+
+        PS4Data ps4Data;
+        PS4Buttons oldButtonState, buttonClickState;
+        PS4Output ps4Output;
+        uint8_t oldDpad;
+};
+#endif
+