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.cpp

Committer:
robo_ichinoseki_a
Date:
2020-05-02
Revision:
1:da31140f2a1c
Parent:
0:b1ce54272580

File content as of revision 1:da31140f2a1c:

/*
  WString.cpp - String library for Wiring & Arduino
  ...mostly rewritten by Paul Stoffregen...
  Copyright (c) 2009-10 Hernando Barragan.  All rights reserved.
  Copyright 2011, Paul Stoffregen, paul@pjrc.com

  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License, or (at your option) any later version.

  This library is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General Public
  License along with this library; if not, write to the Free Software
  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
*/

#include "WString.h"
#include "itoa.h"
#include "avr/dtostrf.h"

/*********************************************/
/*  Constructors                             */
/*********************************************/

String::String(const char *cstr)
{
	init();
	if (cstr) copy(cstr, strlen(cstr));
}

String::String(const String &value)
{
	init();
	*this = value;
}

String::String(const __FlashStringHelper *pstr)
{
	init();
	*this = pstr;
}

#if __cplusplus >= 201103L || defined(__GXX_EXPERIMENTAL_CXX0X__)
String::String(String &&rval)
{
	init();
	move(rval);
}
String::String(StringSumHelper &&rval)
{
	init();
	move(rval);
}
#endif

String::String(char c)
{
	init();
	char buf[2];
	buf[0] = c;
	buf[1] = 0;
	*this = buf;
}

String::String(unsigned char value, unsigned char base)
{
	init();
	char buf[1 + 8 * sizeof(unsigned char)];
	utoa(value, buf, base);
	*this = buf;
}

String::String(int value, unsigned char base)
{
	init();
	char buf[2 + 8 * sizeof(int)];
	itoa(value, buf, base);
	*this = buf;
}

String::String(unsigned int value, unsigned char base)
{
	init();
	char buf[1 + 8 * sizeof(unsigned int)];
	utoa(value, buf, base);
	*this = buf;
}

String::String(long value, unsigned char base)
{
	init();
	char buf[2 + 8 * sizeof(long)];
	ltoa(value, buf, base);
	*this = buf;
}

String::String(unsigned long value, unsigned char base)
{
	init();
	char buf[1 + 8 * sizeof(unsigned long)];
	ultoa(value, buf, base);
	*this = buf;
}

String::String(float value, unsigned char decimalPlaces)
{
	init();
	char buf[33];
	*this = dtostrf(value, (decimalPlaces + 2), decimalPlaces, buf);
}

String::String(double value, unsigned char decimalPlaces)
{
	init();
	char buf[33];
	*this = dtostrf(value, (decimalPlaces + 2), decimalPlaces, buf);
}

String::~String()
{
	free(buffer);
}

/*********************************************/
/*  Memory Management                        */
/*********************************************/

inline void String::init(void)
{
	buffer = NULL;
	capacity = 0;
	len = 0;
}

void String::invalidate(void)
{
	if (buffer) free(buffer);
	buffer = NULL;
	capacity = len = 0;
}

unsigned char String::reserve(unsigned int size)
{
	if (buffer && capacity >= size) return 1;
	if (changeBuffer(size)) {
		if (len == 0) buffer[0] = 0;
		return 1;
	}
	return 0;
}

unsigned char String::changeBuffer(unsigned int maxStrLen)
{
	char *newbuffer = (char *)realloc(buffer, maxStrLen + 1);
	if (newbuffer) {
		buffer = newbuffer;
		capacity = maxStrLen;
		return 1;
	}
	return 0;
}

/*********************************************/
/*  Copy and Move                            */
/*********************************************/

String & String::copy(const char *cstr, unsigned int length)
{
	if (!reserve(length)) {
		invalidate();
		return *this;
	}
	len = length;
	strcpy(buffer, cstr);
	return *this;
}

String & String::copy(const __FlashStringHelper *pstr, unsigned int length)
{
	if (!reserve(length)) {
		invalidate();
		return *this;
	}
	len = length;
	strcpy_P(buffer, (PGM_P)pstr);
	return *this;
}

#if __cplusplus >= 201103L || defined(__GXX_EXPERIMENTAL_CXX0X__)
void String::move(String &rhs)
{
	if (buffer) {
		if (capacity >= rhs.len) {
			strcpy(buffer, rhs.buffer);
			len = rhs.len;
			rhs.len = 0;
			return;
		} else {
			free(buffer);
		}
	}
	buffer = rhs.buffer;
	capacity = rhs.capacity;
	len = rhs.len;
	rhs.buffer = NULL;
	rhs.capacity = 0;
	rhs.len = 0;
}
#endif

String & String::operator = (const String &rhs)
{
	if (this == &rhs) return *this;
	
	if (rhs.buffer) copy(rhs.buffer, rhs.len);
	else invalidate();
	
	return *this;
}

#if __cplusplus >= 201103L || defined(__GXX_EXPERIMENTAL_CXX0X__)
String & String::operator = (String &&rval)
{
	if (this != &rval) move(rval);
	return *this;
}

String & String::operator = (StringSumHelper &&rval)
{
	if (this != &rval) move(rval);
	return *this;
}
#endif

String & String::operator = (const char *cstr)
{
	if (cstr) copy(cstr, strlen(cstr));
	else invalidate();
	
	return *this;
}

String & String::operator = (const __FlashStringHelper *pstr)
{
	if (pstr) copy(pstr, strlen_P((PGM_P)pstr));
	else invalidate();

	return *this;
}

/*********************************************/
/*  concat                                   */
/*********************************************/

unsigned char String::concat(const String &s)
{
	return concat(s.buffer, s.len);
}

unsigned char String::concat(const char *cstr, unsigned int length)
{
	unsigned int newlen = len + length;
	if (!cstr) return 0;
	if (length == 0) return 1;
	if (!reserve(newlen)) return 0;
	strcpy(buffer + len, cstr);
	len = newlen;
	return 1;
}

unsigned char String::concat(const char *cstr)
{
	if (!cstr) return 0;
	return concat(cstr, strlen(cstr));
}

unsigned char String::concat(char c)
{
	char buf[2];
	buf[0] = c;
	buf[1] = 0;
	return concat(buf, 1);
}

unsigned char String::concat(unsigned char num)
{
	char buf[1 + 3 * sizeof(unsigned char)];
	itoa(num, buf, 10);
	return concat(buf, strlen(buf));
}

unsigned char String::concat(int num)
{
	char buf[2 + 3 * sizeof(int)];
	itoa(num, buf, 10);
	return concat(buf, strlen(buf));
}

unsigned char String::concat(unsigned int num)
{
	char buf[1 + 3 * sizeof(unsigned int)];
	utoa(num, buf, 10);
	return concat(buf, strlen(buf));
}

unsigned char String::concat(long num)
{
	char buf[2 + 3 * sizeof(long)];
	ltoa(num, buf, 10);
	return concat(buf, strlen(buf));
}

unsigned char String::concat(unsigned long num)
{
	char buf[1 + 3 * sizeof(unsigned long)];
	ultoa(num, buf, 10);
	return concat(buf, strlen(buf));
}

unsigned char String::concat(float num)
{
	char buf[20];
	char* string = dtostrf(num, 4, 2, buf);
	return concat(string, strlen(string));
}

unsigned char String::concat(double num)
{
	char buf[20];
	char* string = dtostrf(num, 4, 2, buf);
	return concat(string, strlen(string));
}

unsigned char String::concat(const __FlashStringHelper * str)
{
	if (!str) return 0;
	int length = strlen_P((const char *) str);
	if (length == 0) return 1;
	unsigned int newlen = len + length;
	if (!reserve(newlen)) return 0;
	strcpy_P(buffer + len, (const char *) str);
	len = newlen;
	return 1;
}

/*********************************************/
/*  Concatenate                              */
/*********************************************/

StringSumHelper & operator + (const StringSumHelper &lhs, const String &rhs)
{
	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
	if (!a.concat(rhs.buffer, rhs.len)) a.invalidate();
	return a;
}

StringSumHelper & operator + (const StringSumHelper &lhs, const char *cstr)
{
	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
	if (!cstr || !a.concat(cstr, strlen(cstr))) a.invalidate();
	return a;
}

StringSumHelper & operator + (const StringSumHelper &lhs, char c)
{
	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
	if (!a.concat(c)) a.invalidate();
	return a;
}

StringSumHelper & operator + (const StringSumHelper &lhs, unsigned char num)
{
	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
	if (!a.concat(num)) a.invalidate();
	return a;
}

StringSumHelper & operator + (const StringSumHelper &lhs, int num)
{
	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
	if (!a.concat(num)) a.invalidate();
	return a;
}

StringSumHelper & operator + (const StringSumHelper &lhs, unsigned int num)
{
	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
	if (!a.concat(num)) a.invalidate();
	return a;
}

StringSumHelper & operator + (const StringSumHelper &lhs, long num)
{
	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
	if (!a.concat(num)) a.invalidate();
	return a;
}

StringSumHelper & operator + (const StringSumHelper &lhs, unsigned long num)
{
	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
	if (!a.concat(num)) a.invalidate();
	return a;
}

StringSumHelper & operator + (const StringSumHelper &lhs, float num)
{
	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
	if (!a.concat(num)) a.invalidate();
	return a;
}

StringSumHelper & operator + (const StringSumHelper &lhs, double num)
{
	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
	if (!a.concat(num)) a.invalidate();
	return a;
}

StringSumHelper & operator + (const StringSumHelper &lhs, const __FlashStringHelper *rhs)
{
	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
	if (!a.concat(rhs))	a.invalidate();
	return a;
}

/*********************************************/
/*  Comparison                               */
/*********************************************/

int String::compareTo(const String &s) const
{
	if (!buffer || !s.buffer) {
		if (s.buffer && s.len > 0) return 0 - *(unsigned char *)s.buffer;
		if (buffer && len > 0) return *(unsigned char *)buffer;
		return 0;
	}
	return strcmp(buffer, s.buffer);
}

unsigned char String::equals(const String &s2) const
{
	return (len == s2.len && compareTo(s2) == 0);
}

unsigned char String::equals(const char *cstr) const
{
	if (len == 0) return (cstr == NULL || *cstr == 0);
	if (cstr == NULL) return buffer[0] == 0;
	return strcmp(buffer, cstr) == 0;
}

unsigned char String::operator<(const String &rhs) const
{
	return compareTo(rhs) < 0;
}

unsigned char String::operator>(const String &rhs) const
{
	return compareTo(rhs) > 0;
}

unsigned char String::operator<=(const String &rhs) const
{
	return compareTo(rhs) <= 0;
}

unsigned char String::operator>=(const String &rhs) const
{
	return compareTo(rhs) >= 0;
}

unsigned char String::equalsIgnoreCase( const String &s2 ) const
{
	if (this == &s2) return 1;
	if (len != s2.len) return 0;
	if (len == 0) return 1;
	const char *p1 = buffer;
	const char *p2 = s2.buffer;
	while (*p1) {
		if (tolower(*p1++) != tolower(*p2++)) return 0;
	} 
	return 1;
}

unsigned char String::startsWith( const String &s2 ) const
{
	if (len < s2.len) return 0;
	return startsWith(s2, 0);
}

unsigned char String::startsWith( const String &s2, unsigned int offset ) const
{
	if (offset > len - s2.len || !buffer || !s2.buffer) return 0;
	return strncmp( &buffer[offset], s2.buffer, s2.len ) == 0;
}

unsigned char String::endsWith( const String &s2 ) const
{
	if ( len < s2.len || !buffer || !s2.buffer) return 0;
	return strcmp(&buffer[len - s2.len], s2.buffer) == 0;
}

/*********************************************/
/*  Character Access                         */
/*********************************************/

char String::charAt(unsigned int loc) const
{
	return operator[](loc);
}

void String::setCharAt(unsigned int loc, char c) 
{
	if (loc < len) buffer[loc] = c;
}

char & String::operator[](unsigned int index)
{
	static char dummy_writable_char;
	if (index >= len || !buffer) {
		dummy_writable_char = 0;
		return dummy_writable_char;
	}
	return buffer[index];
}

char String::operator[]( unsigned int index ) const
{
	if (index >= len || !buffer) return 0;
	return buffer[index];
}

void String::getBytes(unsigned char *buf, unsigned int bufsize, unsigned int index) const
{
	if (!bufsize || !buf) return;
	if (index >= len) {
		buf[0] = 0;
		return;
	}
	unsigned int n = bufsize - 1;
	if (n > len - index) n = len - index;
	strncpy((char *)buf, buffer + index, n);
	buf[n] = 0;
}

/*********************************************/
/*  Search                                   */
/*********************************************/

int String::indexOf(char c) const
{
	return indexOf(c, 0);
}

int String::indexOf( char ch, unsigned int fromIndex ) const
{
	if (fromIndex >= len) return -1;
	const char* temp = strchr(buffer + fromIndex, ch);
	if (temp == NULL) return -1;
	return temp - buffer;
}

int String::indexOf(const String &s2) const
{
	return indexOf(s2, 0);
}

int String::indexOf(const String &s2, unsigned int fromIndex) const
{
	if (fromIndex >= len) return -1;
	const char *found = strstr(buffer + fromIndex, s2.buffer);
	if (found == NULL) return -1;
	return found - buffer;
}

int String::lastIndexOf( char theChar ) const
{
	return lastIndexOf(theChar, len - 1);
}

int String::lastIndexOf(char ch, unsigned int fromIndex) const
{
	if (fromIndex >= len) return -1;
	char tempchar = buffer[fromIndex + 1];
	buffer[fromIndex + 1] = '\0';
	char* temp = strrchr( buffer, ch );
	buffer[fromIndex + 1] = tempchar;
	if (temp == NULL) return -1;
	return temp - buffer;
}

int String::lastIndexOf(const String &s2) const
{
	return lastIndexOf(s2, len - s2.len);
}

int String::lastIndexOf(const String &s2, unsigned int fromIndex) const
{
  	if (s2.len == 0 || len == 0 || s2.len > len) return -1;
	if (fromIndex >= len) fromIndex = len - 1;
	int found = -1;
	for (char *p = buffer; p <= buffer + fromIndex; p++) {
		p = strstr(p, s2.buffer);
		if (!p) break;
		if ((unsigned int)(p - buffer) <= fromIndex) found = p - buffer;
	}
	return found;
}

String String::substring(unsigned int left, unsigned int right) const
{
	if (left > right) {
		unsigned int temp = right;
		right = left;
		left = temp;
	}
	String out;
	if (left >= len) return out;
	if (right > len) right = len;
	char temp = buffer[right];  // save the replaced character
	buffer[right] = '\0';	
	out = buffer + left;  // pointer arithmetic
	buffer[right] = temp;  //restore character
	return out;
}

/*********************************************/
/*  Modification                             */
/*********************************************/

void String::replace(char find, char replace)
{
	if (!buffer) return;
	for (char *p = buffer; *p; p++) {
		if (*p == find) *p = replace;
	}
}

void String::replace(const String& find, const String& replace)
{
	if (len == 0 || find.len == 0) return;
	int diff = replace.len - find.len;
	char *readFrom = buffer;
	char *foundAt;
	if (diff == 0) {
		while ((foundAt = strstr(readFrom, find.buffer)) != NULL) {
			memcpy(foundAt, replace.buffer, replace.len);
			readFrom = foundAt + replace.len;
		}
	} else if (diff < 0) {
		char *writeTo = buffer;
		while ((foundAt = strstr(readFrom, find.buffer)) != NULL) {
			unsigned int n = foundAt - readFrom;
			memcpy(writeTo, readFrom, n);
			writeTo += n;
			memcpy(writeTo, replace.buffer, replace.len);
			writeTo += replace.len;
			readFrom = foundAt + find.len;
			len += diff;
		}
		strcpy(writeTo, readFrom);
	} else {
		unsigned int size = len; // compute size needed for result
		while ((foundAt = strstr(readFrom, find.buffer)) != NULL) {
			readFrom = foundAt + find.len;
			size += diff;
		}
		if (size == len) return;
		if (size > capacity && !changeBuffer(size)) return; // XXX: tell user!
		int index = len - 1;
		while (index >= 0 && (index = lastIndexOf(find, index)) >= 0) {
			readFrom = buffer + index + find.len;
			memmove(readFrom + diff, readFrom, len - (readFrom - buffer));
			len += diff;
			buffer[len] = 0;
			memcpy(buffer + index, replace.buffer, replace.len);
			index--;
		}
	}
}

void String::remove(unsigned int index){
	// Pass the biggest integer as the count. The remove method
	// below will take care of truncating it at the end of the
	// string.
	remove(index, (unsigned int)-1);
}

void String::remove(unsigned int index, unsigned int count){
	if (index >= len) { return; }
	if (count <= 0) { return; }
	if (count > len - index) { count = len - index; }
	char *writeTo = buffer + index;
	len = len - count;
	strncpy(writeTo, buffer + index + count,len - index);
	buffer[len] = 0;
}

void String::toLowerCase(void)
{
	if (!buffer) return;
	for (char *p = buffer; *p; p++) {
		*p = tolower(*p);
	}
}

void String::toUpperCase(void)
{
	if (!buffer) return;
	for (char *p = buffer; *p; p++) {
		*p = toupper(*p);
	}
}

void String::trim(void)
{
	if (!buffer || len == 0) return;
	char *begin = buffer;
	while (isspace(*begin)) begin++;
	char *end = buffer + len - 1;
	while (isspace(*end) && end >= begin) end--;
	len = end + 1 - begin;
	if (begin > buffer) memcpy(buffer, begin, len);
	buffer[len] = 0;
}

/*********************************************/
/*  Parsing / Conversion                     */
/*********************************************/

long String::toInt(void) const
{
	if (buffer) return atol(buffer);
	return 0;
}

float String::toFloat(void) const
{
	if (buffer) return float(atof(buffer));
	return 0;
}