protocol/usb_hid/USB_Host_Shield_2.0/PS3BT.h

   1 /* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
   2
   3  This software may be distributed and modified under the terms of the GNU
   4  General Public License version 2 (GPL2) as published by the Free Software
   5  Foundation and appearing in the file GPL2.TXT included in the packaging of
   6  this file. Please note that GPL2 Section 2[b] requires that all works based
   7  on this software must also be made publicly available under the terms of
   8  the GPL2 ("Copyleft").
   9
  10  Contact information
  11  -------------------
  12
  13  Kristian Lauszus, TKJ Electronics
  14  Web      :  http://www.tkjelectronics.com
  15  e-mail   :  kristianl@tkjelectronics.com
  16  */
  17
  18 #ifndef _ps3bt_h_
  19 #define _ps3bt_h_
  20
  21 #include "BTD.h"
  22 #include "PS3Enums.h"
  23
  24 #define HID_BUFFERSIZE 50 // Size of the buffer for the Playstation Motion Controller
  25
  26 /**
  27  * This BluetoothService class implements support for all the official PS3 Controllers:
  28  * Dualshock 3, Navigation or a Motion controller via Bluetooth.
  29  *
  30  * Information about the protocol can be found at the wiki: https://github.com/felis/USB_Host_Shield_2.0/wiki/PS3-Information.
  31  */
  32 class PS3BT : public BluetoothService {
  33 public:
  34         /**
  35          * Constructor for the PS3BT class.
  36          * @param  pBtd   Pointer to BTD class instance.
  37          * @param  btadr5,btadr4,btadr3,btadr2,btadr1,btadr0
  38          * Pass your dongles Bluetooth address into the constructor,
  39          * This will set BTD#my_bdaddr, so you don't have to plug in the dongle before pairing with your controller.
  40          */
  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);
  42
  43         /** @name BluetoothService implementation */
  44         /** Used this to disconnect any of the controllers. */
  45         void disconnect();
  46         /**@}*/
  47
  48         /** @name PS3 Controller functions */
  49         /**
  50          * getButtonPress(ButtonEnum b) will return true as long as the button is held down.
  51          *
  52          * While getButtonClick(ButtonEnum b) will only return it once.
  53          *
  54          * So you instance if you need to increase a variable once you would use getButtonClick(ButtonEnum b),
  55          * but if you need to drive a robot forward you would use getButtonPress(ButtonEnum b).
  56          * @param  b          ::ButtonEnum to read.
  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.
  58          */
  59         bool getButtonPress(ButtonEnum b);
  60         bool getButtonClick(ButtonEnum b);
  61         /**@}*/
  62         /** @name PS3 Controller functions */
  63         /**
  64          * Used to get the analog value from button presses.
  65          * @param  a The ::ButtonEnum to read.
  66          * The supported buttons are:
  67          * ::UP, ::RIGHT, ::DOWN, ::LEFT, ::L1, ::L2, ::R1, ::R2,
  68          * ::TRIANGLE, ::CIRCLE, ::CROSS, ::SQUARE, and ::T.
  69          * @return   Analog value in the range of 0-255.
  70          */
  71         uint8_t getAnalogButton(ButtonEnum a);
  72         /**
  73          * Used to read the analog joystick.
  74          * @param  a ::LeftHatX, ::LeftHatY, ::RightHatX, and ::RightHatY.
  75          * @return   Return the analog value in the range of 0-255.
  76          */
  77         uint8_t getAnalogHat(AnalogHatEnum a);
  78         /**
  79          * Used to read the sensors inside the Dualshock 3 and Move controller.
  80          * @param  a
  81          * The Dualshock 3 has a 3-axis accelerometer and a 1-axis gyro inside.
  82          * The Move controller has a 3-axis accelerometer, a 3-axis gyro, a 3-axis magnetometer
  83          * and a temperature sensor inside.
  84          * @return   Return the raw sensor value.
  85          */
  86         int16_t getSensor(SensorEnum a);
  87         /**
  88          * Use this to get ::Pitch and ::Roll calculated using the accelerometer.
  89          * @param  a Either ::Pitch or ::Roll.
  90          * @return   Return the angle in the range of 0-360.
  91          */
  92         double getAngle(AngleEnum a);
  93         /**
  94          * Read the sensors inside the Move controller.
  95          * @param  a ::aXmove, ::aYmove, ::aZmove, ::gXmove, ::gYmove, ::gZmove, ::mXmove, ::mYmove, and ::mXmove.
  96          * @return   The value in SI units.
  97          */
  98         double get9DOFValues(SensorEnum a);
  99         /**
 100          * Get the status from the controller.
 101          * @param  c The ::StatusEnum you want to read.
 102          * @return   True if correct and false if not.
 103          */
 104         bool getStatus(StatusEnum c);
 105         /** Read all the available statuses from the controller and prints it as a nice formated string. */
 106         void printStatusString();
 107         /**
 108          * Read the temperature from the Move controller.
 109          * @return The temperature in degrees Celsius.
 110          */
 111         String getTemperature();
 112
 113         /** Used to set all LEDs and rumble off. */
 114         void setAllOff();
 115         /** Turn off rumble. */
 116         void setRumbleOff();
 117         /**
 118          * Turn on rumble.
 119          * @param mode Either ::RumbleHigh or ::RumbleLow.
 120          */
 121         void setRumbleOn(RumbleEnum mode);
 122         /**
 123          * Turn on rumble using custom duration and power.
 124          * @param rightDuration The duration of the right/low rumble effect.
 125          * @param rightPower The intensity of the right/low rumble effect.
 126          * @param leftDuration The duration of the left/high rumble effect.
 127          * @param leftPower The intensity of the left/high rumble effect.
 128          */
 129         void setRumbleOn(uint8_t rightDuration, uint8_t rightPower, uint8_t leftDuration, uint8_t leftPower);
 130
 131         /**
 132          * Set LED value without using ::LEDEnum.
 133          * @param value See: ::LEDEnum.
 134          */
 135         void setLedRaw(uint8_t value);
 136
 137         /** Turn all LEDs off. */
 138         void setLedOff() {
 139                 setLedRaw(0);
 140         };
 141         /**
 142          * Turn the specific LED off.
 143          * @param a The ::LEDEnum to turn off.
 144          */
 145         void setLedOff(LEDEnum a);
 146         /**
 147          * Turn the specific LED on.
 148          * @param a The ::LEDEnum to turn on.
 149          */
 150         void setLedOn(LEDEnum a);
 151         /**
 152          * Toggle the specific LED.
 153          * @param a The ::LEDEnum to toggle.
 154          */
 155         void setLedToggle(LEDEnum a);
 156
 157         /**
 158          * Use this to set the Color using RGB values.
 159          * @param r,g,b RGB value.
 160          */
 161         void moveSetBulb(uint8_t r, uint8_t g, uint8_t b);
 162         /**
 163          * Use this to set the color using the predefined colors in ::ColorsEnum.
 164          * @param color The desired color.
 165          */
 166         void moveSetBulb(ColorsEnum color);
 167         /**
 168          * Set the rumble value inside the Move controller.
 169          * @param rumble The desired value in the range from 64-255.
 170          */
 171         void moveSetRumble(uint8_t rumble);
 172
 173         /** Used to get the millis() of the last message */
 174         uint32_t getLastMessageTime() {
 175                 return lastMessageTime;
 176         };
 177         /**@}*/
 178
 179         /** Variable used to indicate if the normal Playstation controller is successfully connected. */
 180         bool PS3Connected;
 181         /** Variable used to indicate if the Move controller is successfully connected. */
 182         bool PS3MoveConnected;
 183         /** Variable used to indicate if the Navigation controller is successfully connected. */
 184         bool PS3NavigationConnected;
 185
 186 protected:
 187         /** @name BluetoothService implementation */
 188         /**
 189          * Used to pass acldata to the services.
 190          * @param ACLData Incoming acldata.
 191          */
 192         void ACLData(uint8_t* ACLData);
 193         /** Used to run part of the state machine. */
 194         void Run();
 195         /** Use this to reset the service. */
 196         void Reset();
 197         /**
 198          * Called when the controller is successfully initialized.
 199          * Use attachOnInit(void (*funcOnInit)(void)) to call your own function.
 200          * This is useful for instance if you want to set the LEDs in a specific way.
 201          */
 202         void onInit();
 203         /**@}*/
 204
 205 private:
 206
 207         void L2CAP_task(); // L2CAP state machine
 208
 209         /* Variables filled from HCI event management */
 210         char remote_name_first; // First letter in remote name
 211         bool activeConnection; // Used to indicate if it's already has established a connection
 212
 213         /* Variables used by high level L2CAP task */
 214         uint8_t l2cap_state;
 215
 216         uint32_t lastMessageTime; // Variable used to store the millis value of the last message.
 217
 218         uint32_t ButtonState;
 219         uint32_t OldButtonState;
 220         uint32_t ButtonClickState;
 221
 222         uint32_t timer; // Timer used to limit time between messages and also used to continuously set PS3 Move controller Bulb and rumble values
 223         uint32_t timerHID; // Timer used see if there has to be a delay before a new HID command
 224
 225         uint8_t l2capinbuf[BULK_MAXPKTSIZE]; // General purpose buffer for L2CAP in data
 226         uint8_t HIDBuffer[HID_BUFFERSIZE]; // Used to store HID commands
 227         uint8_t HIDMoveBuffer[HID_BUFFERSIZE]; // Used to store HID commands for the Move controller
 228
 229         /* L2CAP Channels */
 230         uint8_t control_scid[2]; // L2CAP source CID for HID_Control
 231         uint8_t control_dcid[2]; // 0x0040
 232         uint8_t interrupt_scid[2]; // L2CAP source CID for HID_Interrupt
 233         uint8_t interrupt_dcid[2]; // 0x0041
 234
 235         /* HID Commands */
 236         void HID_Command(uint8_t* data, uint8_t nbytes);
 237         void HIDMove_Command(uint8_t* data, uint8_t nbytes);
 238         void enable_sixaxis(); // Command used to enable the Dualshock 3 and Navigation controller to send data via Bluetooth
 239 };
 240 #endif