Takumi Odashima / ArduinoUsbHostShield

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Dependents:   USBHOST_PS5

USB_Host/PS3BT.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) 2012 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 _ps3bt_h_
kotakku 0:b1ce54272580 19 #define _ps3bt_h_
kotakku 0:b1ce54272580 20
kotakku 0:b1ce54272580 21 #include "BTD.h"
kotakku 0:b1ce54272580 22 #include "PS3Enums.h"
kotakku 0:b1ce54272580 23
kotakku 0:b1ce54272580 24 #define HID_BUFFERSIZE 50 // Size of the buffer for the Playstation Motion Controller
kotakku 0:b1ce54272580 25
kotakku 0:b1ce54272580 26 /**
kotakku 0:b1ce54272580 27 * This BluetoothService class implements support for all the official PS3 Controllers:
kotakku 0:b1ce54272580 28 * Dualshock 3, Navigation or a Motion controller via Bluetooth.
kotakku 0:b1ce54272580 29 *
kotakku 0:b1ce54272580 30 * Information about the protocol can be found at the wiki: https://github.com/felis/USB_Host_Shield_2.0/wiki/PS3-Information.
kotakku 0:b1ce54272580 31 */
kotakku 0:b1ce54272580 32 class PS3BT : public BluetoothService {
kotakku 0:b1ce54272580 33 public:
kotakku 0:b1ce54272580 34 /**
kotakku 0:b1ce54272580 35 * Constructor for the PS3BT class.
kotakku 0:b1ce54272580 36 * @param pBtd Pointer to BTD class instance.
kotakku 0:b1ce54272580 37 * @param btadr5,btadr4,btadr3,btadr2,btadr1,btadr0
kotakku 0:b1ce54272580 38 * Pass your dongles Bluetooth address into the constructor,
kotakku 0:b1ce54272580 39 * This will set BTD#my_bdaddr, so you don't have to plug in the dongle before pairing with your controller.
kotakku 0:b1ce54272580 40 */
kotakku 0:b1ce54272580 41 PS3BT(BTD *pBtd, uint8_t btadr5 = 0, uint8_t btadr4 = 0, uint8_t btadr3 = 0, uint8_t btadr2 = 0, uint8_t btadr1 = 0, uint8_t btadr0 = 0);
kotakku 0:b1ce54272580 42
kotakku 0:b1ce54272580 43 /** @name BluetoothService implementation */
kotakku 0:b1ce54272580 44 /** Used this to disconnect any of the controllers. */
kotakku 0:b1ce54272580 45 void disconnect();
kotakku 0:b1ce54272580 46 /**@}*/
kotakku 0:b1ce54272580 47
kotakku 0:b1ce54272580 48 /** @name PS3 Controller functions */
kotakku 0:b1ce54272580 49 /**
kotakku 0:b1ce54272580 50 * getButtonPress(ButtonEnum b) will return true as long as the button is held down.
kotakku 0:b1ce54272580 51 *
kotakku 0:b1ce54272580 52 * While getButtonClick(ButtonEnum b) will only return it once.
kotakku 0:b1ce54272580 53 *
kotakku 0:b1ce54272580 54 * So you instance if you need to increase a variable once you would use getButtonClick(ButtonEnum b),
kotakku 0:b1ce54272580 55 * but if you need to drive a robot forward you would use getButtonPress(ButtonEnum b).
kotakku 0:b1ce54272580 56 * @param b ::ButtonEnum to read.
kotakku 0:b1ce54272580 57 * @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.
kotakku 0:b1ce54272580 58 */
kotakku 0:b1ce54272580 59 bool getButtonPress(ButtonEnum b);
kotakku 0:b1ce54272580 60 bool getButtonClick(ButtonEnum b);
kotakku 0:b1ce54272580 61 /**@}*/
kotakku 0:b1ce54272580 62 /** @name PS3 Controller functions */
kotakku 0:b1ce54272580 63 /**
kotakku 0:b1ce54272580 64 * Used to get the analog value from button presses.
kotakku 0:b1ce54272580 65 * @param a The ::ButtonEnum to read.
kotakku 0:b1ce54272580 66 * The supported buttons are:
kotakku 0:b1ce54272580 67 * ::UP, ::RIGHT, ::DOWN, ::LEFT, ::L1, ::L2, ::R1, ::R2,
kotakku 0:b1ce54272580 68 * ::TRIANGLE, ::CIRCLE, ::CROSS, ::SQUARE, and ::T.
kotakku 0:b1ce54272580 69 * @return Analog value in the range of 0-255.
kotakku 0:b1ce54272580 70 */
kotakku 0:b1ce54272580 71 uint8_t getAnalogButton(ButtonEnum a);
kotakku 0:b1ce54272580 72 /**
kotakku 0:b1ce54272580 73 * Used to read the analog joystick.
kotakku 0:b1ce54272580 74 * @param a ::LeftHatX, ::LeftHatY, ::RightHatX, and ::RightHatY.
kotakku 0:b1ce54272580 75 * @return Return the analog value in the range of 0-255.
kotakku 0:b1ce54272580 76 */
kotakku 0:b1ce54272580 77 uint8_t getAnalogHat(AnalogHatEnum a);
kotakku 0:b1ce54272580 78 /**
kotakku 0:b1ce54272580 79 * Used to read the sensors inside the Dualshock 3 and Move controller.
kotakku 0:b1ce54272580 80 * @param a
kotakku 0:b1ce54272580 81 * The Dualshock 3 has a 3-axis accelerometer and a 1-axis gyro inside.
kotakku 0:b1ce54272580 82 * The Move controller has a 3-axis accelerometer, a 3-axis gyro, a 3-axis magnetometer
kotakku 0:b1ce54272580 83 * and a temperature sensor inside.
kotakku 0:b1ce54272580 84 * @return Return the raw sensor value.
kotakku 0:b1ce54272580 85 */
kotakku 0:b1ce54272580 86 int16_t getSensor(SensorEnum a);
kotakku 0:b1ce54272580 87 /**
kotakku 0:b1ce54272580 88 * Use this to get ::Pitch and ::Roll calculated using the accelerometer.
kotakku 0:b1ce54272580 89 * @param a Either ::Pitch or ::Roll.
kotakku 0:b1ce54272580 90 * @return Return the angle in the range of 0-360.
kotakku 0:b1ce54272580 91 */
kotakku 0:b1ce54272580 92 float getAngle(AngleEnum a);
kotakku 0:b1ce54272580 93 /**
kotakku 0:b1ce54272580 94 * Read the sensors inside the Move controller.
kotakku 0:b1ce54272580 95 * @param a ::aXmove, ::aYmove, ::aZmove, ::gXmove, ::gYmove, ::gZmove, ::mXmove, ::mYmove, and ::mXmove.
kotakku 0:b1ce54272580 96 * @return The value in SI units.
kotakku 0:b1ce54272580 97 */
kotakku 0:b1ce54272580 98 float get9DOFValues(SensorEnum a);
kotakku 0:b1ce54272580 99 /**
kotakku 0:b1ce54272580 100 * Get the status from the controller.
kotakku 0:b1ce54272580 101 * @param c The ::StatusEnum you want to read.
kotakku 0:b1ce54272580 102 * @return True if correct and false if not.
kotakku 0:b1ce54272580 103 */
kotakku 0:b1ce54272580 104 bool getStatus(StatusEnum c);
kotakku 0:b1ce54272580 105 /** Read all the available statuses from the controller and prints it as a nice formated string. */
kotakku 0:b1ce54272580 106 void printStatusString();
kotakku 0:b1ce54272580 107 /**
kotakku 0:b1ce54272580 108 * Read the temperature from the Move controller.
kotakku 0:b1ce54272580 109 * @return The temperature in degrees Celsius.
kotakku 0:b1ce54272580 110 */
kotakku 0:b1ce54272580 111 String getTemperature();
kotakku 0:b1ce54272580 112
kotakku 0:b1ce54272580 113 /** Used to set all LEDs and rumble off. */
kotakku 0:b1ce54272580 114 void setAllOff();
kotakku 0:b1ce54272580 115 /** Turn off rumble. */
kotakku 0:b1ce54272580 116 void setRumbleOff();
kotakku 0:b1ce54272580 117 /**
kotakku 0:b1ce54272580 118 * Turn on rumble.
kotakku 0:b1ce54272580 119 * @param mode Either ::RumbleHigh or ::RumbleLow.
kotakku 0:b1ce54272580 120 */
kotakku 0:b1ce54272580 121 void setRumbleOn(RumbleEnum mode);
kotakku 0:b1ce54272580 122 /**
kotakku 0:b1ce54272580 123 * Turn on rumble using custom duration and power.
kotakku 0:b1ce54272580 124 * @param rightDuration The duration of the right/low rumble effect.
kotakku 0:b1ce54272580 125 * @param rightPower The intensity of the right/low rumble effect.
kotakku 0:b1ce54272580 126 * @param leftDuration The duration of the left/high rumble effect.
kotakku 0:b1ce54272580 127 * @param leftPower The intensity of the left/high rumble effect.
kotakku 0:b1ce54272580 128 */
kotakku 0:b1ce54272580 129 void setRumbleOn(uint8_t rightDuration, uint8_t rightPower, uint8_t leftDuration, uint8_t leftPower);
kotakku 0:b1ce54272580 130
kotakku 0:b1ce54272580 131 /**
kotakku 0:b1ce54272580 132 * Set LED value without using ::LEDEnum.
kotakku 0:b1ce54272580 133 * @param value See: ::LEDEnum.
kotakku 0:b1ce54272580 134 */
kotakku 0:b1ce54272580 135 void setLedRaw(uint8_t value);
kotakku 0:b1ce54272580 136
kotakku 0:b1ce54272580 137 /** Turn all LEDs off. */
kotakku 0:b1ce54272580 138 void setLedOff() {
kotakku 0:b1ce54272580 139 setLedRaw(0);
kotakku 0:b1ce54272580 140 };
kotakku 0:b1ce54272580 141 /**
kotakku 0:b1ce54272580 142 * Turn the specific LED off.
kotakku 0:b1ce54272580 143 * @param a The ::LEDEnum to turn off.
kotakku 0:b1ce54272580 144 */
kotakku 0:b1ce54272580 145 void setLedOff(LEDEnum a);
kotakku 0:b1ce54272580 146 /**
kotakku 0:b1ce54272580 147 * Turn the specific LED on.
kotakku 0:b1ce54272580 148 * @param a The ::LEDEnum to turn on.
kotakku 0:b1ce54272580 149 */
kotakku 0:b1ce54272580 150 void setLedOn(LEDEnum a);
kotakku 0:b1ce54272580 151 /**
kotakku 0:b1ce54272580 152 * Toggle the specific LED.
kotakku 0:b1ce54272580 153 * @param a The ::LEDEnum to toggle.
kotakku 0:b1ce54272580 154 */
kotakku 0:b1ce54272580 155 void setLedToggle(LEDEnum a);
kotakku 0:b1ce54272580 156
kotakku 0:b1ce54272580 157 /**
kotakku 0:b1ce54272580 158 * Use this to set the Color using RGB values.
kotakku 0:b1ce54272580 159 * @param r,g,b RGB value.
kotakku 0:b1ce54272580 160 */
kotakku 0:b1ce54272580 161 void moveSetBulb(uint8_t r, uint8_t g, uint8_t b);
kotakku 0:b1ce54272580 162 /**
kotakku 0:b1ce54272580 163 * Use this to set the color using the predefined colors in ::ColorsEnum.
kotakku 0:b1ce54272580 164 * @param color The desired color.
kotakku 0:b1ce54272580 165 */
kotakku 0:b1ce54272580 166 void moveSetBulb(ColorsEnum color);
kotakku 0:b1ce54272580 167 /**
kotakku 0:b1ce54272580 168 * Set the rumble value inside the Move controller.
kotakku 0:b1ce54272580 169 * @param rumble The desired value in the range from 64-255.
kotakku 0:b1ce54272580 170 */
kotakku 0:b1ce54272580 171 void moveSetRumble(uint8_t rumble);
kotakku 0:b1ce54272580 172
kotakku 0:b1ce54272580 173 /** Used to get the millis() of the last message */
kotakku 0:b1ce54272580 174 uint32_t getLastMessageTime() {
kotakku 0:b1ce54272580 175 return lastMessageTime;
kotakku 0:b1ce54272580 176 };
kotakku 0:b1ce54272580 177 /**@}*/
kotakku 0:b1ce54272580 178
kotakku 0:b1ce54272580 179 /** Variable used to indicate if the normal Playstation controller is successfully connected. */
kotakku 0:b1ce54272580 180 bool PS3Connected;
kotakku 0:b1ce54272580 181 /** Variable used to indicate if the Move controller is successfully connected. */
kotakku 0:b1ce54272580 182 bool PS3MoveConnected;
kotakku 0:b1ce54272580 183 /** Variable used to indicate if the Navigation controller is successfully connected. */
kotakku 0:b1ce54272580 184 bool PS3NavigationConnected;
kotakku 0:b1ce54272580 185
kotakku 0:b1ce54272580 186 protected:
kotakku 0:b1ce54272580 187 /** @name BluetoothService implementation */
kotakku 0:b1ce54272580 188 /**
kotakku 0:b1ce54272580 189 * Used to pass acldata to the services.
kotakku 0:b1ce54272580 190 * @param ACLData Incoming acldata.
kotakku 0:b1ce54272580 191 */
kotakku 0:b1ce54272580 192 void ACLData(uint8_t* ACLData);
kotakku 0:b1ce54272580 193 /** Used to run part of the state machine. */
kotakku 0:b1ce54272580 194 void Run();
kotakku 0:b1ce54272580 195 /** Use this to reset the service. */
kotakku 0:b1ce54272580 196 void Reset();
kotakku 0:b1ce54272580 197 /**
kotakku 0:b1ce54272580 198 * Called when the controller is successfully initialized.
kotakku 0:b1ce54272580 199 * Use attachOnInit(void (*funcOnInit)(void)) to call your own function.
kotakku 0:b1ce54272580 200 * This is useful for instance if you want to set the LEDs in a specific way.
kotakku 0:b1ce54272580 201 */
kotakku 0:b1ce54272580 202 void onInit();
kotakku 0:b1ce54272580 203 /**@}*/
kotakku 0:b1ce54272580 204
kotakku 0:b1ce54272580 205 private:
kotakku 0:b1ce54272580 206
kotakku 0:b1ce54272580 207 void L2CAP_task(); // L2CAP state machine
kotakku 0:b1ce54272580 208
kotakku 0:b1ce54272580 209 /* Variables filled from HCI event management */
kotakku 0:b1ce54272580 210 char remote_name_first; // First letter in remote name
kotakku 0:b1ce54272580 211 bool activeConnection; // Used to indicate if it's already has established a connection
kotakku 0:b1ce54272580 212
kotakku 0:b1ce54272580 213 /* Variables used by high level L2CAP task */
kotakku 0:b1ce54272580 214 uint8_t l2cap_state;
kotakku 0:b1ce54272580 215
kotakku 0:b1ce54272580 216 uint32_t lastMessageTime; // Variable used to store the millis value of the last message.
kotakku 0:b1ce54272580 217
kotakku 0:b1ce54272580 218 uint32_t ButtonState;
kotakku 0:b1ce54272580 219 uint32_t OldButtonState;
kotakku 0:b1ce54272580 220 uint32_t ButtonClickState;
kotakku 0:b1ce54272580 221
kotakku 0:b1ce54272580 222 uint32_t timer; // Timer used to limit time between messages and also used to continuously set PS3 Move controller Bulb and rumble values
kotakku 0:b1ce54272580 223 uint32_t timerHID; // Timer used see if there has to be a delay before a new HID command
kotakku 0:b1ce54272580 224
kotakku 0:b1ce54272580 225 uint8_t l2capinbuf[BULK_MAXPKTSIZE]; // General purpose buffer for L2CAP in data
kotakku 0:b1ce54272580 226 uint8_t HIDBuffer[HID_BUFFERSIZE]; // Used to store HID commands
kotakku 0:b1ce54272580 227 uint8_t HIDMoveBuffer[HID_BUFFERSIZE]; // Used to store HID commands for the Move controller
kotakku 0:b1ce54272580 228
kotakku 0:b1ce54272580 229 /* L2CAP Channels */
kotakku 0:b1ce54272580 230 uint8_t control_scid[2]; // L2CAP source CID for HID_Control
kotakku 0:b1ce54272580 231 uint8_t control_dcid[2]; // 0x0040
kotakku 0:b1ce54272580 232 uint8_t interrupt_scid[2]; // L2CAP source CID for HID_Interrupt
kotakku 0:b1ce54272580 233 uint8_t interrupt_dcid[2]; // 0x0041
kotakku 0:b1ce54272580 234
kotakku 0:b1ce54272580 235 /* HID Commands */
kotakku 0:b1ce54272580 236 void HID_Command(uint8_t* data, uint8_t nbytes);
kotakku 0:b1ce54272580 237 void HIDMove_Command(uint8_t* data, uint8_t nbytes);
kotakku 0:b1ce54272580 238 void enable_sixaxis(); // Command used to enable the Dualshock 3 and Navigation controller to send data via Bluetooth
kotakku 0:b1ce54272580 239 };
kotakku 0:b1ce54272580 240 #endif
kotakku 0:b1ce54272580 241