241 lines
9.5 KiB
C++
241 lines
9.5 KiB
C++
/* Copyright (C) 2012 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 _ps3bt_h_
|
|
#define _ps3bt_h_
|
|
|
|
#include "BTD.h"
|
|
#include "PS3Enums.h"
|
|
|
|
#define HID_BUFFERSIZE 50 // Size of the buffer for the Playstation Motion Controller
|
|
|
|
/**
|
|
* This BluetoothService class implements support for all the official PS3 Controllers:
|
|
* Dualshock 3, Navigation or a Motion controller via Bluetooth.
|
|
*
|
|
* Information about the protocol can be found at the wiki: https://github.com/felis/USB_Host_Shield_2.0/wiki/PS3-Information.
|
|
*/
|
|
class PS3BT : public BluetoothService {
|
|
public:
|
|
/**
|
|
* Constructor for the PS3BT class.
|
|
* @param pBtd Pointer to BTD class instance.
|
|
* @param btadr5,btadr4,btadr3,btadr2,btadr1,btadr0
|
|
* Pass your dongles Bluetooth address into the constructor,
|
|
* This will set BTD#my_bdaddr, so you don't have to plug in the dongle before pairing with your controller.
|
|
*/
|
|
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);
|
|
|
|
/** @name BluetoothService implementation */
|
|
/** Used this to disconnect any of the controllers. */
|
|
void disconnect();
|
|
/**@}*/
|
|
|
|
/** @name PS3 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 PS3 Controller functions */
|
|
/**
|
|
* Used to get the analog value from button presses.
|
|
* @param a The ::ButtonEnum to read.
|
|
* The supported buttons are:
|
|
* ::UP, ::RIGHT, ::DOWN, ::LEFT, ::L1, ::L2, ::R1, ::R2,
|
|
* ::TRIANGLE, ::CIRCLE, ::CROSS, ::SQUARE, and ::T.
|
|
* @return Analog value in the range of 0-255.
|
|
*/
|
|
uint8_t getAnalogButton(ButtonEnum a);
|
|
/**
|
|
* 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);
|
|
/**
|
|
* Used to read the sensors inside the Dualshock 3 and Move controller.
|
|
* @param a
|
|
* The Dualshock 3 has a 3-axis accelerometer and a 1-axis gyro inside.
|
|
* The Move controller has a 3-axis accelerometer, a 3-axis gyro, a 3-axis magnetometer
|
|
* and a temperature sensor inside.
|
|
* @return Return the raw sensor value.
|
|
*/
|
|
int16_t getSensor(SensorEnum a);
|
|
/**
|
|
* Use this to get ::Pitch and ::Roll calculated using the accelerometer.
|
|
* @param a Either ::Pitch or ::Roll.
|
|
* @return Return the angle in the range of 0-360.
|
|
*/
|
|
float getAngle(AngleEnum a);
|
|
/**
|
|
* Read the sensors inside the Move controller.
|
|
* @param a ::aXmove, ::aYmove, ::aZmove, ::gXmove, ::gYmove, ::gZmove, ::mXmove, ::mYmove, and ::mXmove.
|
|
* @return The value in SI units.
|
|
*/
|
|
float get9DOFValues(SensorEnum a);
|
|
/**
|
|
* Get the status from the controller.
|
|
* @param c The ::StatusEnum you want to read.
|
|
* @return True if correct and false if not.
|
|
*/
|
|
bool getStatus(StatusEnum c);
|
|
/** Read all the available statuses from the controller and prints it as a nice formated string. */
|
|
void printStatusString();
|
|
/**
|
|
* Read the temperature from the Move controller.
|
|
* @return The temperature in degrees Celsius.
|
|
*/
|
|
String getTemperature();
|
|
|
|
/** Used to set all LEDs and rumble off. */
|
|
void setAllOff();
|
|
/** Turn off rumble. */
|
|
void setRumbleOff();
|
|
/**
|
|
* Turn on rumble.
|
|
* @param mode Either ::RumbleHigh or ::RumbleLow.
|
|
*/
|
|
void setRumbleOn(RumbleEnum mode);
|
|
/**
|
|
* Turn on rumble using custom duration and power.
|
|
* @param rightDuration The duration of the right/low rumble effect.
|
|
* @param rightPower The intensity of the right/low rumble effect.
|
|
* @param leftDuration The duration of the left/high rumble effect.
|
|
* @param leftPower The intensity of the left/high rumble effect.
|
|
*/
|
|
void setRumbleOn(uint8_t rightDuration, uint8_t rightPower, uint8_t leftDuration, uint8_t leftPower);
|
|
|
|
/**
|
|
* Set LED value without using ::LEDEnum.
|
|
* @param value See: ::LEDEnum.
|
|
*/
|
|
void setLedRaw(uint8_t value);
|
|
|
|
/** Turn all LEDs off. */
|
|
void setLedOff() {
|
|
setLedRaw(0);
|
|
};
|
|
/**
|
|
* Turn the specific LED off.
|
|
* @param a The ::LEDEnum to turn off.
|
|
*/
|
|
void setLedOff(LEDEnum a);
|
|
/**
|
|
* Turn the specific LED on.
|
|
* @param a The ::LEDEnum to turn on.
|
|
*/
|
|
void setLedOn(LEDEnum a);
|
|
/**
|
|
* Toggle the specific LED.
|
|
* @param a The ::LEDEnum to toggle.
|
|
*/
|
|
void setLedToggle(LEDEnum a);
|
|
|
|
/**
|
|
* Use this to set the Color using RGB values.
|
|
* @param r,g,b RGB value.
|
|
*/
|
|
void moveSetBulb(uint8_t r, uint8_t g, uint8_t b);
|
|
/**
|
|
* Use this to set the color using the predefined colors in ::ColorsEnum.
|
|
* @param color The desired color.
|
|
*/
|
|
void moveSetBulb(ColorsEnum color);
|
|
/**
|
|
* Set the rumble value inside the Move controller.
|
|
* @param rumble The desired value in the range from 64-255.
|
|
*/
|
|
void moveSetRumble(uint8_t rumble);
|
|
|
|
/** Used to get the millis() of the last message */
|
|
uint32_t getLastMessageTime() {
|
|
return lastMessageTime;
|
|
};
|
|
/**@}*/
|
|
|
|
/** Variable used to indicate if the normal Playstation controller is successfully connected. */
|
|
bool PS3Connected;
|
|
/** Variable used to indicate if the Move controller is successfully connected. */
|
|
bool PS3MoveConnected;
|
|
/** Variable used to indicate if the Navigation controller is successfully connected. */
|
|
bool PS3NavigationConnected;
|
|
|
|
protected:
|
|
/** @name BluetoothService implementation */
|
|
/**
|
|
* Used to pass acldata to the services.
|
|
* @param ACLData Incoming acldata.
|
|
*/
|
|
void ACLData(uint8_t* ACLData);
|
|
/** Used to run part of the state machine. */
|
|
void Run();
|
|
/** Use this to reset the service. */
|
|
void Reset();
|
|
/**
|
|
* Called when the controller is successfully initialized.
|
|
* Use attachOnInit(void (*funcOnInit)(void)) to call your own function.
|
|
* This is useful for instance if you want to set the LEDs in a specific way.
|
|
*/
|
|
void onInit();
|
|
/**@}*/
|
|
|
|
private:
|
|
|
|
void L2CAP_task(); // L2CAP state machine
|
|
|
|
/* Variables filled from HCI event management */
|
|
char remote_name_first; // First letter in remote name
|
|
bool activeConnection; // Used to indicate if it's already has established a connection
|
|
|
|
/* Variables used by high level L2CAP task */
|
|
uint8_t l2cap_state;
|
|
|
|
uint32_t lastMessageTime; // Variable used to store the millis value of the last message.
|
|
|
|
uint32_t ButtonState;
|
|
uint32_t OldButtonState;
|
|
uint32_t ButtonClickState;
|
|
|
|
uint32_t timer; // Timer used to limit time between messages and also used to continuously set PS3 Move controller Bulb and rumble values
|
|
uint32_t timerHID; // Timer used see if there has to be a delay before a new HID command
|
|
|
|
uint8_t l2capinbuf[BULK_MAXPKTSIZE]; // General purpose buffer for L2CAP in data
|
|
uint8_t HIDBuffer[HID_BUFFERSIZE]; // Used to store HID commands
|
|
uint8_t HIDMoveBuffer[HID_BUFFERSIZE]; // Used to store HID commands for the Move controller
|
|
|
|
/* L2CAP Channels */
|
|
uint8_t control_scid[2]; // L2CAP source CID for HID_Control
|
|
uint8_t control_dcid[2]; // 0x0040
|
|
uint8_t interrupt_scid[2]; // L2CAP source CID for HID_Interrupt
|
|
uint8_t interrupt_dcid[2]; // 0x0041
|
|
|
|
/* HID Commands */
|
|
void HID_Command(uint8_t* data, uint8_t nbytes);
|
|
void HIDMove_Command(uint8_t* data, uint8_t nbytes);
|
|
void enable_sixaxis(); // Command used to enable the Dualshock 3 and Navigation controller to send data via Bluetooth
|
|
};
|
|
#endif
|