304 lines
11 KiB
C++
304 lines
11 KiB
C++
/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
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This software may be distributed and modified under the terms of the GNU
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General Public License version 2 (GPL2) as published by the Free Software
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Foundation and appearing in the file GPL2.TXT included in the packaging of
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this file. Please note that GPL2 Section 2[b] requires that all works based
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on this software must also be made publicly available under the terms of
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the GPL2 ("Copyleft").
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Contact information
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-------------------
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Kristian Lauszus, TKJ Electronics
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Web : http://www.tkjelectronics.com
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e-mail : kristianl@tkjelectronics.com
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*/
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#ifndef _ps3usb_h_
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#define _ps3usb_h_
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#include "Usb.h"
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#include "hid.h"
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#include "PS3Enums.h"
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/* PS3 data taken from descriptors */
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#define EP_MAXPKTSIZE 64 // max size for data via USB
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/* Names we give to the 3 ps3 pipes - this is only used for setting the bluetooth address into the ps3 controllers */
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#define PS3_CONTROL_PIPE 0
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#define PS3_OUTPUT_PIPE 1
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#define PS3_INPUT_PIPE 2
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//PID and VID of the different devices
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#define PS3_VID 0x054C // Sony Corporation
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#define PS3_PID 0x0268 // PS3 Controller DualShock 3
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#define PS3NAVIGATION_PID 0x042F // Navigation controller
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#define PS3MOVE_PID 0x03D5 // Motion controller
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#define PS3_MAX_ENDPOINTS 3
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/**
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* This class implements support for all the official PS3 Controllers:
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* Dualshock 3, Navigation or a Motion controller via USB.
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*
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* One can only set the color of the bulb, set the rumble, set and get the bluetooth address and calibrate the magnetometer via USB on the Move controller.
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*
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* Information about the protocol can be found at the wiki: https://github.com/felis/USB_Host_Shield_2.0/wiki/PS3-Information.
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*/
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class PS3USB : public USBDeviceConfig {
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public:
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/**
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* Constructor for the PS3USB class.
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* @param pUsb Pointer to USB class instance.
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* @param btadr5,btadr4,btadr3,btadr2,btadr1,btadr0
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* Pass your dongles Bluetooth address into the constructor,
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* so you are able to pair the controller with a Bluetooth dongle.
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*/
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PS3USB(USB *pUsb, uint8_t btadr5 = 0, uint8_t btadr4 = 0, uint8_t btadr3 = 0, uint8_t btadr2 = 0, uint8_t btadr1 = 0, uint8_t btadr0 = 0);
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/** @name USBDeviceConfig implementation */
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/**
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* Initialize the PS3 Controller.
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* @param parent Hub number.
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* @param port Port number on the hub.
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* @param lowspeed Speed of the device.
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* @return 0 on success.
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*/
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uint8_t Init(uint8_t parent, uint8_t port, bool lowspeed);
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/**
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* Release the USB device.
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* @return 0 on success.
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*/
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uint8_t Release();
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/**
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* Poll the USB Input endpoins and run the state machines.
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* @return 0 on success.
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*/
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uint8_t Poll();
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/**
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* Get the device address.
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* @return The device address.
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*/
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virtual uint8_t GetAddress() {
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return bAddress;
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};
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/**
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* Used to check if the controller has been initialized.
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* @return True if it's ready.
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*/
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virtual bool isReady() {
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return bPollEnable;
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};
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/**
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* Used by the USB core to check what this driver support.
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* @param vid The device's VID.
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* @param pid The device's PID.
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* @return Returns true if the device's VID and PID matches this driver.
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*/
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virtual bool VIDPIDOK(uint16_t vid, uint16_t pid) {
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return (vid == PS3_VID && (pid == PS3_PID || pid == PS3NAVIGATION_PID || pid == PS3MOVE_PID));
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};
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/**@}*/
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/**
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* Used to set the Bluetooth address inside the Dualshock 3 and Navigation controller.
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* Set using LSB first.
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* @param bdaddr Your dongles Bluetooth address.
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*/
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void setBdaddr(uint8_t *bdaddr);
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/**
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* Used to get the Bluetooth address inside the Dualshock 3 and Navigation controller.
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* Will return LSB first.
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* @param bdaddr Your dongles Bluetooth address.
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*/
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void getBdaddr(uint8_t *bdaddr);
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/**
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* Used to set the Bluetooth address inside the Move controller.
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* Set using LSB first.
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* @param bdaddr Your dongles Bluetooth address.
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*/
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void setMoveBdaddr(uint8_t *bdaddr);
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/**
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* Used to get the Bluetooth address inside the Move controller.
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* Will return LSB first.
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* @param bdaddr Your dongles Bluetooth address.
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*/
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void getMoveBdaddr(uint8_t *bdaddr);
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/**
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* Used to get the calibration data inside the Move controller.
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* @param data Buffer to store data in. Must be at least 147 bytes
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*/
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void getMoveCalibration(uint8_t *data);
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/** @name PS3 Controller functions */
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/**
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* getButtonPress(ButtonEnum b) will return true as long as the button is held down.
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*
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* While getButtonClick(ButtonEnum b) will only return it once.
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*
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* So you instance if you need to increase a variable once you would use getButtonClick(ButtonEnum b),
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* but if you need to drive a robot forward you would use getButtonPress(ButtonEnum b).
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* @param b ::ButtonEnum to read.
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* @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.
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*/
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bool getButtonPress(ButtonEnum b);
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bool getButtonClick(ButtonEnum b);
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/**@}*/
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/** @name PS3 Controller functions */
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/**
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* Used to get the analog value from button presses.
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* @param a The ::ButtonEnum to read.
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* The supported buttons are:
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* ::UP, ::RIGHT, ::DOWN, ::LEFT, ::L1, ::L2, ::R1, ::R2,
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* ::TRIANGLE, ::CIRCLE, ::CROSS, ::SQUARE, and ::T.
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* @return Analog value in the range of 0-255.
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*/
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uint8_t getAnalogButton(ButtonEnum a);
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/**
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* Used to read the analog joystick.
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* @param a ::LeftHatX, ::LeftHatY, ::RightHatX, and ::RightHatY.
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* @return Return the analog value in the range of 0-255.
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*/
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uint8_t getAnalogHat(AnalogHatEnum a);
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/**
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* Used to read the sensors inside the Dualshock 3 controller.
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* @param a
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* The Dualshock 3 has a 3-axis accelerometer and a 1-axis gyro inside.
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* @return Return the raw sensor value.
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*/
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uint16_t getSensor(SensorEnum a);
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/**
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* Use this to get ::Pitch and ::Roll calculated using the accelerometer.
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* @param a Either ::Pitch or ::Roll.
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* @return Return the angle in the range of 0-360.
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*/
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double getAngle(AngleEnum a);
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/**
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* Get the ::StatusEnum from the controller.
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* @param c The ::StatusEnum you want to read.
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* @return True if correct and false if not.
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*/
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bool getStatus(StatusEnum c);
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/** Read all the available statuses from the controller and prints it as a nice formated string. */
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void printStatusString();
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/** Used to set all LEDs and rumble off. */
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void setAllOff();
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/** Turn off rumble. */
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void setRumbleOff();
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/**
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* Turn on rumble.
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* @param mode Either ::RumbleHigh or ::RumbleLow.
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*/
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void setRumbleOn(RumbleEnum mode);
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/**
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* Turn on rumble using custom duration and power.
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* @param rightDuration The duration of the right/low rumble effect.
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* @param rightPower The intensity of the right/low rumble effect.
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* @param leftDuration The duration of the left/high rumble effect.
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* @param leftPower The intensity of the left/high rumble effect.
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*/
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void setRumbleOn(uint8_t rightDuration, uint8_t rightPower, uint8_t leftDuration, uint8_t leftPower);
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/**
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* Set LED value without using the ::LEDEnum.
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* @param value See: ::LEDEnum.
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*/
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void setLedRaw(uint8_t value);
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/** Turn all LEDs off. */
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void setLedOff() {
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setLedRaw(0);
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}
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/**
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* Turn the specific ::LEDEnum off.
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* @param a The ::LEDEnum to turn off.
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*/
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void setLedOff(LEDEnum a);
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/**
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* Turn the specific ::LEDEnum on.
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* @param a The ::LEDEnum to turn on.
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*/
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void setLedOn(LEDEnum a);
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/**
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* Toggle the specific ::LEDEnum.
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* @param a The ::LEDEnum to toggle.
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*/
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void setLedToggle(LEDEnum a);
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/**
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* Use this to set the Color using RGB values.
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* @param r,g,b RGB value.
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*/
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void moveSetBulb(uint8_t r, uint8_t g, uint8_t b);
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/**
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* Use this to set the color using the predefined colors in ::ColorsEnum.
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* @param color The desired color.
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*/
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void moveSetBulb(ColorsEnum color);
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/**
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* Set the rumble value inside the Move controller.
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* @param rumble The desired value in the range from 64-255.
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*/
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void moveSetRumble(uint8_t rumble);
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/**
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* Used to call your own function when the controller is successfully initialized.
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* @param funcOnInit Function to call.
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*/
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void attachOnInit(void (*funcOnInit)(void)) {
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pFuncOnInit = funcOnInit;
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};
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/**@}*/
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/** Variable used to indicate if the normal playstation controller is successfully connected. */
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bool PS3Connected;
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/** Variable used to indicate if the move controller is successfully connected. */
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bool PS3MoveConnected;
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/** Variable used to indicate if the navigation controller is successfully connected. */
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bool PS3NavigationConnected;
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protected:
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/** Pointer to USB class instance. */
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USB *pUsb;
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/** Device address. */
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uint8_t bAddress;
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/** Endpoint info structure. */
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EpInfo epInfo[PS3_MAX_ENDPOINTS];
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private:
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/**
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* Called when the controller is successfully initialized.
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* Use attachOnInit(void (*funcOnInit)(void)) to call your own function.
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* This is useful for instance if you want to set the LEDs in a specific way.
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*/
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void onInit();
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void (*pFuncOnInit)(void); // Pointer to function called in onInit()
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bool bPollEnable;
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uint32_t timer; // used to continuously set PS3 Move controller Bulb and rumble values
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uint32_t ButtonState;
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uint32_t OldButtonState;
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uint32_t ButtonClickState;
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uint8_t my_bdaddr[6]; // Change to your dongles Bluetooth address in the constructor
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uint8_t readBuf[EP_MAXPKTSIZE]; // General purpose buffer for input data
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uint8_t writeBuf[EP_MAXPKTSIZE]; // General purpose buffer for output data
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void readReport(); // read incoming data
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void printReport(); // print incoming date - Uncomment for debugging
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/* Private commands */
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void PS3_Command(uint8_t *data, uint16_t nbytes);
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void enable_sixaxis(); // Command used to enable the Dualshock 3 and Navigation controller to send data via USB
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void Move_Command(uint8_t *data, uint16_t nbytes);
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};
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#endif
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