USB_Host_Shield_2.0/PS5Parser.h

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/* Copyright (C) 2021 Kristian Sloth Lauszus. 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 Sloth Lauszus
Web : https://lauszus.com
e-mail : lauszus@gmail.com
Thanks to Joseph Duchesne for the initial code.
Based on Ludwig Füchsl's https://github.com/Ohjurot/DualSense-Windows PS5 port
and the series of patches found here: https://patchwork.kernel.org/project/linux-input/cover/20201219062336.72568-1-roderick@gaikai.com/
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*/
#ifndef _ps5parser_h_
#define _ps5parser_h_
#include "Usb.h"
#include "controllerEnums.h"
#include "PS5Trigger.h"
/** Buttons on the controller */
const uint8_t PS5_BUTTONS[] PROGMEM = {
UP, // UP
RIGHT, // RIGHT
DOWN, // DOWN
LEFT, // LEFT
0x0C, // CREATE
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0x0D, // OPTIONS
0x0E, // L3
0x0F, // R3
0x0A, // L2
0x0B, // R2
0x08, // L1
0x09, // R1
0x07, // TRIANGLE
0x06, // CIRCLE
0x05, // CROSS
0x04, // SQUARE
0x10, // PS
0x11, // TOUCHPAD
0x12, // MICROPHONE
};
union PS5Buttons {
struct {
uint8_t dpad : 4;
uint8_t square : 1;
uint8_t cross : 1;
uint8_t circle : 1;
uint8_t triangle : 1;
uint8_t l1 : 1;
uint8_t r1 : 1;
uint8_t l2 : 1;
uint8_t r2 : 1;
uint8_t create : 1;
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uint8_t menu : 1;
uint8_t l3 : 1;
uint8_t r3 : 1;
uint8_t ps : 1;
uint8_t touchpad : 1;
uint8_t mic : 1;
uint8_t dummy : 5;
} __attribute__((packed));
uint32_t val : 24;
} __attribute__((packed));
struct ps5TouchpadXY {
struct {
uint8_t counter : 7; // Increments every time a finger is touching the touchpad
uint8_t touching : 1; // The top bit is cleared if the finger is touching the touchpad
uint16_t x : 12;
uint16_t y : 12;
} __attribute__((packed)) finger[2]; // 0 = first finger, 1 = second finger
} __attribute__((packed));
union PS5Status {
struct {
// first byte
uint8_t headphone : 1;
uint8_t dummy : 2; // Seems to change when a jack is plugged in. First bit stays on when a mic is plugged in.
uint8_t usb : 1; // charging
uint8_t dummy2: 4;
// second byte
uint8_t mic : 1;
uint8_t dummy3 : 3;
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} __attribute__((packed));
uint16_t val;
} __attribute__((packed));
struct PS5Data {
/* Button and joystick values */
uint8_t hatValue[4]; // 0-3 bytes
uint8_t trigger[2]; // 4-5
uint8_t sequence_number; // 6
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PS5Buttons btn; // 7-9
uint8_t reserved[5]; // 0xA-0xD
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/* Gyro and accelerometer values */
int16_t gyroX, gyroZ, gyroY; // 0x0F - 0x14
int16_t accX, accZ, accY; // 0x15-0x1A
int32_t sensor_timestamp;
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uint8_t reserved2;
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// 0x20 - 0x23 touchpad point 1
// 0x24 - 0x27 touchpad point 2
ps5TouchpadXY xy;
#if 0 // The status byte depends on if it's sent via USB or Bluetooth, so is not parsed for now
uint8_t reserved3; // 0x28
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uint8_t rightTriggerFeedback; // 0x29
uint8_t leftTriggerFeedback; // 0x2A
uint8_t reserved4[10]; // 0x2B - 0x34
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// status bytes 0x35-0x36
PS5Status status;
#endif
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} __attribute__((packed));
struct PS5Output {
uint8_t bigRumble, smallRumble; // Rumble
uint8_t microphoneLed;
uint8_t disableLeds;
uint8_t playerLeds;
uint8_t r, g, b; // RGB for lightbar
bool reportChanged; // The data is send when data is received from the controller
} __attribute__((packed));
/** This class parses all the data sent by the PS5 controller */
class PS5Parser {
public:
/** Constructor for the PS5Parser class. */
PS5Parser() : leftTrigger(), rightTrigger() {
Reset();
};
/** Used these to manipulate the haptic triggers */
PS5Trigger leftTrigger, rightTrigger;
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/** @name PS5 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 PS5 Controller functions */
/**
* Used to get the analog value from button presses.
* @param b The ::ButtonEnum to read.
* The supported buttons are:
* ::L2 and ::R2.
* @return Analog value in the range of 0-255.
*/
uint8_t getAnalogButton(ButtonEnum b);
/**
* 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);
/**
* Get the x-coordinate of the touchpad. Position 0 is in the top left.
* @param finger 0 = first finger, 1 = second finger. If omitted, then 0 will be used.
*/
uint16_t getX(uint8_t finger = 0) {
return ps5Data.xy.finger[finger].x;
};
/**
* Get the y-coordinate of the touchpad. Position 0 is in the top left.
* @param finger 0 = first finger, 1 = second finger. If omitted, then 0 will be used.
* @return Returns the y-coordinate of the finger.
*/
uint16_t getY(uint8_t finger = 0) {
return ps5Data.xy.finger[finger].y;
};
/**
* Returns whenever the user is toucing the touchpad.
* @param finger 0 = first finger, 1 = second finger. If omitted, then 0 will be used.
* @return Returns true if the specific finger is touching the touchpad.
*/
bool isTouching(uint8_t finger = 0) {
return !(ps5Data.xy.finger[finger].touching); // The bit is cleared when a finger is touching the touchpad
};
/**
* This counter increments every time a finger touches the touchpad.
* @param finger 0 = first finger, 1 = second finger. If omitted, then 0 will be used.
* @return Return the value of the counter, note that it is only a 7-bit value.
*/
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uint8_t getTouchCounter(uint8_t finger = 0) {
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return ps5Data.xy.finger[finger].counter;
};
/**
* Get the angle of the controller calculated using the accelerometer.
* @param a Either ::Pitch or ::Roll.
* @return Return the angle in the range of 0-360.
*/
float getAngle(AngleEnum a) {
if (a == Pitch)
return (atan2f(-ps5Data.accY, -ps5Data.accZ) + PI) * RAD_TO_DEG;
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else
return (atan2f(ps5Data.accX, -ps5Data.accZ) + PI) * RAD_TO_DEG;
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};
/**
* Used to get the raw values from the 3-axis gyroscope and 3-axis accelerometer inside the PS5 controller.
* @param s The sensor to read.
* @return Returns the raw sensor reading.
*/
int16_t getSensor(SensorEnum s) {
switch(s) {
case gX:
return ps5Data.gyroX;
case gY:
return ps5Data.gyroY;
case gZ:
return ps5Data.gyroZ;
case aX:
return ps5Data.accX;
case aY:
return ps5Data.accY;
case aZ:
return ps5Data.accZ;
default:
return 0;
}
};
#if 0 // Seems to only be available via Bluetooth, so have been disabled for now
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/**
* Return the battery level of the PS5 controller.
* @return The battery level in the range 0-15.
*/
uint8_t getBatteryLevel() {
return ps5Data.status.battery;
};
#endif
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#if 0 // These are only valid via USB, so have been commented out for now
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/**
* Use this to check if an USB cable is connected to the PS5 controller.
* @return Returns true if an USB cable is connected.
*/
bool getUsbStatus() {
return ps5Data.status.usb;
};
/**
* Use this to check if an audio jack cable is connected to the PS5 controller.
* @return Returns true if an audio jack cable is connected.
*/
bool getAudioStatus() {
return ps5Data.status.headphone;
};
/**
* Use this to check if a microphone is connected to the PS5 controller.
* @return Returns true if a microphone is connected.
*/
bool getMicStatus() {
return ps5Data.status.mic;
};
#endif
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/** Turn both rumble and the LEDs off. */
void setAllOff() {
setRumbleOff();
setLedOff();
};
/** Set rumble off. */
void setRumbleOff() {
setRumbleOn(0, 0);
};
/**
* Turn on rumble.
* @param mode Either ::RumbleHigh or ::RumbleLow.
*/
void setRumbleOn(RumbleEnum mode) {
if (mode == RumbleLow)
setRumbleOn(0x00, 0xFF);
else
setRumbleOn(0xFF, 0x00);
};
/**
* Turn on rumble.
* @param bigRumble Value for big motor.
* @param smallRumble Value for small motor.
*/
void setRumbleOn(uint8_t bigRumble, uint8_t smallRumble) {
ps5Output.bigRumble = bigRumble;
ps5Output.smallRumble = smallRumble;
ps5Output.reportChanged = true;
};
/** Turn all LEDs off. */
void setLedOff() {
setLed(0, 0, 0);
};
/**
* Use this to set the color using RGB values.
* @param r,g,b RGB value.
*/
void setLed(uint8_t r, uint8_t g, uint8_t b) {
ps5Output.r = r;
ps5Output.g = g;
ps5Output.b = b;
ps5Output.reportChanged = true;
};
/**
* Use this to set the color using the predefined colors in ::ColorsEnum.
* @param color The desired color.
*/
void setLed(ColorsEnum color) {
setLed((uint8_t)(color >> 16), (uint8_t)(color >> 8), (uint8_t)(color));
};
/** Turn all player LEDs off. */
void setPlayerLedOff() {
setPlayerLed(0);
}
/**
* Use this to set five player LEDs.
* @param mask Bit mask to set the five player LEDs. The first 5 bits represent a LED each.
*/
void setPlayerLed(uint8_t mask) {
ps5Output.playerLeds = mask;
ps5Output.reportChanged = true;
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}
/** Use to turn the microphone LED off. */
void setMicLedOff() {
setMicLed(0);
}
/**
* Use this to turn the microphone LED on/off.
* @param on Turn the microphone LED on/off.
*/
void setMicLed(bool on) {
ps5Output.microphoneLed = on ? 1 : 0;
ps5Output.reportChanged = true;
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}
/** Get the incoming message count. */
uint16_t getMessageCounter(){
return message_counter;
}
protected:
/**
* Used to parse data sent from the PS5 controller.
* @param len Length of the data.
* @param buf Pointer to the data buffer.
*/
void Parse(uint8_t len, uint8_t *buf);
/** Used to reset the different buffers to their default values */
void Reset();
/**
* Send the output to the PS5 controller. This is implemented in PS5BT.h and PS5USB.h.
* @param output Pointer to PS5Output buffer;
*/
virtual void sendOutputReport(PS5Output *output) = 0;
private:
static int8_t getButtonIndex(ButtonEnum b);
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bool checkDpad(ButtonEnum b); // Used to check PS5 DPAD buttons
PS5Data ps5Data;
PS5Buttons oldButtonState, buttonClickState;
PS5Output ps5Output;
uint8_t oldDpad;
uint16_t message_counter = 0;
};
#endif