USB_Host_Shield_2.0/PS3BT.h

/* 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
#define OUTPUT_REPORT_BUFFER_SIZE   48 //Size of the output report buffer for the controllers

/* Bluetooth L2CAP states for L2CAP_task() */
#define L2CAP_WAIT                   0
#define L2CAP_CONTROL_REQUEST        1
#define L2CAP_CONTROL_SUCCESS        2
#define L2CAP_INTERRUPT_SETUP        3
#define L2CAP_INTERRUPT_REQUEST      4
#define L2CAP_INTERRUPT_SUCCESS      5
#define L2CAP_HID_ENABLE_SIXAXIS     6
#define L2CAP_HID_PS3_LED            7
#define L2CAP_DONE                   8
#define L2CAP_INTERRUPT_DISCONNECT   9
#define L2CAP_CONTROL_DISCONNECT     10

/* L2CAP event flags */
#define L2CAP_FLAG_CONNECTION_CONTROL_REQUEST     0x01
#define L2CAP_FLAG_CONFIG_CONTROL_REQUEST         0x02
#define L2CAP_FLAG_CONFIG_CONTROL_SUCCESS         0x04
#define L2CAP_FLAG_CONNECTION_INTERRUPT_REQUEST   0x08
#define L2CAP_FLAG_CONFIG_INTERRUPT_REQUEST       0x10
#define L2CAP_FLAG_CONFIG_INTERRUPT_SUCCESS       0x20
#define L2CAP_FLAG_DISCONNECT_CONTROL_RESPONSE    0x40
#define L2CAP_FLAG_DISCONNECT_INTERRUPT_RESPONSE  0x80

/*Macros for L2CAP event flag tests */
#define l2cap_connection_request_control_flag (l2cap_event_flag & L2CAP_FLAG_CONNECTION_CONTROL_REQUEST)
#define l2cap_config_request_control_flag (l2cap_event_flag & L2CAP_FLAG_CONFIG_CONTROL_REQUEST)
#define l2cap_config_success_control_flag (l2cap_event_flag & L2CAP_FLAG_CONFIG_CONTROL_SUCCESS)
#define l2cap_connection_request_interrupt_flag (l2cap_event_flag & L2CAP_FLAG_CONNECTION_INTERRUPT_REQUEST)
#define l2cap_config_request_interrupt_flag (l2cap_event_flag & L2CAP_FLAG_CONFIG_INTERRUPT_REQUEST)
#define l2cap_config_success_interrupt_flag (l2cap_event_flag & L2CAP_FLAG_CONFIG_INTERRUPT_SUCCESS)
#define l2cap_disconnect_response_control_flag (l2cap_event_flag & L2CAP_FLAG_DISCONNECT_CONTROL_RESPONSE)
#define l2cap_disconnect_response_interrupt_flag (l2cap_event_flag & L2CAP_FLAG_DISCONNECT_INTERRUPT_RESPONSE)

/**
 * 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 to pass acldata to the services.
     * @param ACLData Incoming acldata.
     */
    virtual void ACLData(uint8_t* ACLData);
    /** Used to run part of the state maschine. */
    virtual void Run();
    /** Use this to reset the service. */
    virtual void Reset();
    /** Used this to disconnect any of the controllers. */
    virtual void disconnect();
    /**@}*/
            
    /** @name PS3 Controller functions */
    /**
     * getButtonPress(Button b) will return true as long as the button is held down.
     * 
     * While getButtonClick(Button b) will only return it once.
     * 
     * So you instance if you need to increase a variable once you would use getButtonClick(Button b), 
     * but if you need to drive a robot forward you would use getButtonPress(Button b).
     */
    bool getButtonPress(Button b);
    bool getButtonClick(Button b);
    /**@}*/
    /** @name PS3 Controller functions */
    /**
     * Used to get the analog value from button presses.
     * @param  a The ::Button 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(Button 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(AnalogHat 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(Sensor 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.
     */
    double getAngle(Angle 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.
     */
    double get9DOFValues(Sensor a);
    /**
     * Get the ::Status from the controller.
     * @param  c The ::Status you want to read.
     * @return   True if correct and false if not.
     */
    bool getStatus(Status c);
    /**
     * Read all the available ::Status from the controller.
     * @return One large string with all the information.
     */
    String getStatusString();
    /**
     * 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(Rumble mode);
    /**
     * Turn the specific ::LED off.
     * @param a The ::LED to turn off.
     */
    void setLedOff(LED a);
    /**
     * Turn the specific ::LED on.
     * @param a The ::LED to turn on.
     */
    void setLedOn(LED a);
    /**
     * Toggle the specific ::LED.
     * @param a The ::LED to toggle.
     */
    void setLedToggle(LED 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 ::Colors.
     * @param color The desired color.
     */
    void moveSetBulb(Colors 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);
    /**@}*/
    
    /** 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;
    
private:
    /* mandatory members */
    BTD *pBtd;
    
    void L2CAP_task(); // L2CAP state machine
    
    /* Variables filled from HCI event management */
    int16_t hci_handle;
    uint8_t remote_name[30]; // First 30 chars of 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;
    uint16_t l2cap_event_flag; // L2CAP flags of received bluetooth events
    
    unsigned long timer;
    
    uint32_t ButtonState;
    uint32_t OldButtonState;
    uint32_t ButtonClickState;
    
    uint32_t timerHID; // Timer used see if there has to be a delay before a new HID command
    uint32_t timerBulbRumble;// used to continuously set PS3 Move controller Bulb and rumble values
    
    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
    uint8_t identifier; // Identifier for connection    
    
    /* 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