USB_Host_Shield_2.0/PS3USB.cpp

/* 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
 */

#include "PS3USB.h"
#define DEBUG // Uncomment to print data for debugging
//#define EXTRADEBUG // Uncomment to get even more debugging data
//#define PRINTREPORT // Uncomment to print the report send by the PS3 Controllers

prog_char PS3_REPORT_BUFFER[] PROGMEM = {
    0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00, 
    0xff, 0x27, 0x10, 0x00, 0x32, 
    0xff, 0x27, 0x10, 0x00, 0x32, 
    0xff, 0x27, 0x10, 0x00, 0x32, 
    0xff, 0x27, 0x10, 0x00, 0x32, 
    0x00, 0x00, 0x00, 0x00, 0x00, 
    0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 
};
prog_char MOVE_REPORT_BUFFER[] PROGMEM = {
    0x02, 0x00, // Always 0x02, 0x00, 
    0x00, 0x00, 0x00, // r, g, b, 
    0x00, // Always 0x00, 
    0x00 // Rumble
};

PS3USB::PS3USB(USB *p, uint8_t btadr5, uint8_t btadr4, uint8_t btadr3, uint8_t btadr2, uint8_t btadr1, uint8_t btadr0):
pUsb(p), // pointer to USB class instance - mandatory
bAddress(0), // device address - mandatory
bPollEnable(false) // don't start polling before dongle is connected
{
    for(uint8_t i=0; i<PS3_MAX_ENDPOINTS; i++)
	{
		epInfo[i].epAddr		= 0;
		epInfo[i].maxPktSize	= (i) ? 0 : 8;
		epInfo[i].epAttribs		= 0;        
        epInfo[i].bmNakPower    = (i) ? USB_NAK_NOWAIT : USB_NAK_MAX_POWER;
	}
    
    if (pUsb) // register in USB subsystem
		pUsb->RegisterDeviceClass(this); //set devConfig[] entry
    
    my_bdaddr[5] = btadr5; // Change to your dongle's Bluetooth address instead
    my_bdaddr[4] = btadr4;
    my_bdaddr[3] = btadr3;
    my_bdaddr[2] = btadr2;
    my_bdaddr[1] = btadr1;
    my_bdaddr[0] = btadr0;
}

uint8_t PS3USB::Init(uint8_t parent, uint8_t port, bool lowspeed)
{
    uint8_t	buf[sizeof(USB_DEVICE_DESCRIPTOR)];
	uint8_t	rcode;
	UsbDevice *p = NULL;
	EpInfo *oldep_ptr = NULL;
    uint16_t PID;
    uint16_t VID;
    
    // get memory address of USB device address pool
	AddressPool	&addrPool = pUsb->GetAddressPool();    
#ifdef EXTRADEBUG
	Notify(PSTR("\r\nPS3USB Init"));
#endif
    // check if address has already been assigned to an instance
    if (bAddress) 
    {
#ifdef DEBUG
        Notify(PSTR("\r\nAddress in use"));
#endif
        return USB_ERROR_CLASS_INSTANCE_ALREADY_IN_USE;
    }
    
    // Get pointer to pseudo device with address 0 assigned
    p = addrPool.GetUsbDevicePtr(0);
    
    if (!p) 
    {        
#ifdef DEBUG
	    Notify(PSTR("\r\nAddress not found"));
#endif
        return USB_ERROR_ADDRESS_NOT_FOUND_IN_POOL;
    }
    
    if (!p->epinfo) 
    {
#ifdef DEBUG
        Notify(PSTR("\r\nepinfo is null"));
#endif
        return USB_ERROR_EPINFO_IS_NULL;
    }
    
    // Save old pointer to EP_RECORD of address 0
    oldep_ptr = p->epinfo;
    
    // Temporary assign new pointer to epInfo to p->epinfo in order to avoid toggle inconsistence
    p->epinfo = epInfo;
    
    p->lowspeed = lowspeed;
    
    // Get device descriptor
    rcode = pUsb->getDevDescr(0, 0, sizeof(USB_DEVICE_DESCRIPTOR), (uint8_t*)buf);// Get device descriptor - addr, ep, nbytes, data
    
    // Restore p->epinfo
    p->epinfo = oldep_ptr;
    
    if(rcode)
        goto FailGetDevDescr;
    
    // Allocate new address according to device class
    bAddress = addrPool.AllocAddress(parent, false, port);
    
    if (!bAddress)
		return USB_ERROR_OUT_OF_ADDRESS_SPACE_IN_POOL;
    
    // Extract Max Packet Size from device descriptor
    epInfo[0].maxPktSize = (uint8_t)((USB_DEVICE_DESCRIPTOR*)buf)->bMaxPacketSize0; 
    
    // Assign new address to the device
    rcode = pUsb->setAddr( 0, 0, bAddress );
    if (rcode) 
    {
        p->lowspeed = false;
        addrPool.FreeAddress(bAddress);
        bAddress = 0;
#ifdef DEBUG
        Notify(PSTR("\r\nsetAddr: "));
#endif
        PrintHex<uint8_t>(rcode);
        return rcode;
    }
#ifdef EXTRADEBUG
    Notify(PSTR("\r\nAddr: "));
    PrintHex<uint8_t>(bAddress);
#endif
    p->lowspeed = false;
    
    //get pointer to assigned address record
    p = addrPool.GetUsbDevicePtr(bAddress);
    if (!p) 
        return USB_ERROR_ADDRESS_NOT_FOUND_IN_POOL;
    
    p->lowspeed = lowspeed;        
    
    // Assign epInfo to epinfo pointer - only EP0 is known
    rcode = pUsb->setEpInfoEntry(bAddress, 1, epInfo);
    if (rcode)
        goto FailSetDevTblEntry;
    
    VID = ((USB_DEVICE_DESCRIPTOR*)buf)->idVendor;
    PID = ((USB_DEVICE_DESCRIPTOR*)buf)->idProduct;
    
    if(VID == PS3_VID && (PID == PS3_PID ||  PID == PS3NAVIGATION_PID || PID == PS3MOVE_PID)) {                
        /* The application will work in reduced host mode, so we can save program and data
         memory space. After verifying the PID and VID we will use known values for the 
         configuration values for device, interface, endpoints and HID for the PS3 Controllers */
        
        /* Initialize data structures for endpoints of device */
        epInfo[ PS3_OUTPUT_PIPE ].epAddr = 0x02;    // PS3 output endpoint
        epInfo[ PS3_OUTPUT_PIPE ].epAttribs  = EP_INTERRUPT;
        epInfo[ PS3_OUTPUT_PIPE ].bmNakPower = USB_NAK_NOWAIT; // Only poll once for interrupt endpoints
        epInfo[ PS3_OUTPUT_PIPE ].maxPktSize = EP_MAXPKTSIZE;
        epInfo[ PS3_OUTPUT_PIPE ].bmSndToggle = bmSNDTOG0;
        epInfo[ PS3_OUTPUT_PIPE ].bmRcvToggle = bmRCVTOG0;
        epInfo[ PS3_INPUT_PIPE ].epAddr = 0x01;    // PS3 report endpoint            
        epInfo[ PS3_INPUT_PIPE ].epAttribs  = EP_INTERRUPT;
        epInfo[ PS3_INPUT_PIPE ].bmNakPower = USB_NAK_NOWAIT; // Only poll once for interrupt endpoints
        epInfo[ PS3_INPUT_PIPE ].maxPktSize = EP_MAXPKTSIZE;
        epInfo[ PS3_INPUT_PIPE ].bmSndToggle = bmSNDTOG0;
        epInfo[ PS3_INPUT_PIPE ].bmRcvToggle = bmRCVTOG0; 
        
        rcode = pUsb->setEpInfoEntry(bAddress, 3, epInfo);
        if( rcode ) 
            goto FailSetDevTblEntry;
        
        delay(200);//Give time for address change
        
        rcode = pUsb->setConf(bAddress, epInfo[ PS3_CONTROL_PIPE ].epAddr, 1);
        if( rcode ) 
            goto FailSetConf;
        
        if(PID == PS3_PID || PID == PS3NAVIGATION_PID)
        {            
            if(PID == PS3_PID) {                                      
#ifdef DEBUG
                Notify(PSTR("\r\nDualshock 3 Controller Connected"));    
#endif                
                PS3Connected = true;
            } else { // must be a navigation controller
#ifdef DEBUG
                Notify(PSTR("\r\nNavigation Controller Connected"));
#endif
                PS3NavigationConnected = true;
            }          
            /* Set internal bluetooth address and request for data */        
            setBdaddr(my_bdaddr);
            enable_sixaxis();
            setLedOn(LED1);
            
            // Needed for PS3 Dualshock and Navigation commands to work
            for (uint8_t i = 0; i < PS3_REPORT_BUFFER_SIZE; i++)
                writeBuf[i] = pgm_read_byte(&PS3_REPORT_BUFFER[i]);
            
            for (uint8_t i = 6; i < 10; i++)
                readBuf[i] = 0x7F; // Set the analog joystick values to center position                        
        }
        else // must be a Motion controller
        {
#ifdef DEBUG
            Notify(PSTR("\r\nMotion Controller Connected"));            
#endif                         
            PS3MoveConnected = true;            
            setMoveBdaddr(my_bdaddr); // Set internal bluetooth address            
            moveSetBulb(Red);
            
            // Needed for Move commands to work
            for (uint8_t i = 0; i < MOVE_REPORT_BUFFER_SIZE; i++)
                writeBuf[i] = pgm_read_byte(&MOVE_REPORT_BUFFER[i]);            
        }           
    }
    else
        goto FailUnknownDevice;               

    bPollEnable = true;
    Notify(PSTR("\r\n"));
    timer = millis();
    return 0; // successful configuration
    
    /* diagnostic messages */  
FailGetDevDescr:
#ifdef DEBUG
    Notify(PSTR("\r\ngetDevDescr:"));
#endif
    goto Fail;    
FailSetDevTblEntry:
#ifdef DEBUG
    Notify(PSTR("\r\nsetDevTblEn:"));
#endif
    goto Fail;
FailSetConf:
#ifdef DEBUG
    Notify(PSTR("\r\nsetConf:"));
#endif
    goto Fail; 
FailUnknownDevice:
#ifdef DEBUG
    Notify(PSTR("\r\nUnknown Device Connected - VID: "));
    PrintHex<uint16_t>(VID);
    Notify(PSTR(" PID: "));
    PrintHex<uint16_t>(PID);
#endif
    goto Fail;
Fail:
#ifdef DEBUG
    Notify(PSTR("\r\nPS3 Init Failed, error code: "));
    Serial.print(rcode);                     
#endif    
    Release();
    return rcode;
}

/* Performs a cleanup after failed Init() attempt */
uint8_t PS3USB::Release()
{
    PS3Connected = false;
    PS3MoveConnected = false;
    PS3NavigationConnected = false;
	pUsb->GetAddressPool().FreeAddress(bAddress);    
	bAddress = 0;
    bPollEnable = false;
	return 0;
}
uint8_t PS3USB::Poll()
{    
	if (!bPollEnable)
		return 0;
    
    if(PS3Connected || PS3NavigationConnected) {
        uint16_t BUFFER_SIZE = EP_MAXPKTSIZE;
        pUsb->inTransfer(bAddress, epInfo[ PS3_INPUT_PIPE ].epAddr, &BUFFER_SIZE, readBuf); // input on endpoint 1
        if(millis() - timer > 100) { // Loop 100ms before processing data
            readReport();
#ifdef PRINTREPORT
            printReport(); // Uncomment "#define PRINTREPORT" to print the report send by the PS3 Controllers
#endif
        }
    }
    else if(PS3MoveConnected) { // One can only set the color of the bulb, set the rumble, set and get the bluetooth address and calibrate the magnetometer via USB 
        if (millis() - timer > 4000) // Send at least every 4th second
        {
            Move_Command(writeBuf, MOVE_REPORT_BUFFER_SIZE); // The Bulb and rumble values, has to be written again and again, for it to stay turned on
            timer = millis();
        }        
    }          
	return 0;
}

void PS3USB::readReport()
{              
    if (readBuf == NULL)
        return;   
    if(PS3Connected || PS3NavigationConnected)
        ButtonState = (uint32_t)(readBuf[2] | ((uint16_t)readBuf[3] << 8) | ((uint32_t)readBuf[4] << 16));
    
    //Notify(PSTR("\r\nButtonState");
    //PrintHex<uint32_t>(ButtonState);
    
    if(ButtonState != OldButtonState)
    {
        buttonChanged = true;            
        if(ButtonState != 0x00) {
            buttonPressed = true; 
            buttonReleased = false;
        } else {
            buttonPressed = false;
            buttonReleased = true;
        }
    }     
    else
    {
        buttonChanged = false;
        buttonPressed = false;
        buttonReleased = false;
    }
    
    OldButtonState = ButtonState; 
}  

void PS3USB::printReport() //Uncomment "#define PRINTREPORT" to print the report send by the PS3 Controllers
{         
    if (readBuf == NULL)
        return;
    for(uint8_t i = 0; i < PS3_REPORT_BUFFER_SIZE;i++)    
    {
        PrintHex<uint8_t>(readBuf[i]);
        Serial.print(" ");
    }             
    Serial.println("");
}

bool PS3USB::getButton(Button b)
{
    if (readBuf == NULL)
        return false;
    if ((readBuf[(uint16_t)b >> 8] & ((uint8_t)b & 0xff)) > 0)
        return true;
    else
        return false;
}
uint8_t PS3USB::getAnalogButton(AnalogButton a)
{
    if (readBuf == NULL)
        return 0;
    return (uint8_t)(readBuf[(uint16_t)a]);
}
uint8_t PS3USB::getAnalogHat(AnalogHat a)
{
    if (readBuf == NULL)
        return 0;                        
    return (uint8_t)(readBuf[(uint16_t)a]);            
}
uint16_t PS3USB::getSensor(Sensor a)
{
    if (readBuf == NULL)
        return 0;
    return ((readBuf[(uint16_t)a] << 8) | readBuf[(uint16_t)a + 1]);    
}
double PS3USB::getAngle(Angle a) {                
    if(PS3Connected) {
        double accXval;
        double accYval;
        double accZval;
        
        // Data for the Kionix KXPC4 used in the DualShock 3
        const double zeroG = 511.5; // 1.65/3.3*1023 (1,65V)
        accXval = -((double)getSensor(aX)-zeroG);
        accYval = -((double)getSensor(aY)-zeroG);
        accZval = -((double)getSensor(aZ)-zeroG);
        
        // Convert to 360 degrees resolution
        // atan2 outputs the value of -π to π (radians)
        // We are then converting it to 0 to 2π and then to degrees  
        if (a == Pitch) {        
            double angle = (atan2(accYval,accZval)+PI)*RAD_TO_DEG;
            return angle;
        } else {
            double angle = (atan2(accXval,accZval)+PI)*RAD_TO_DEG;
            return angle;
        }
    } else
        return 0;
        
}
bool PS3USB::getStatus(Status c)
{
    if (readBuf == NULL)
        return false;
    if (readBuf[(uint16_t)c >> 8] == ((uint8_t)c & 0xff))
        return true;
    return false;
}
String PS3USB::getStatusString()
{
    if (PS3Connected || PS3NavigationConnected)
    {
        char statusOutput[100];
        
        strcpy(statusOutput,"ConnectionStatus: ");
        
        if (getStatus(Plugged)) strcat(statusOutput,"Plugged");
        else if (getStatus(Unplugged)) strcat(statusOutput,"Unplugged");
        else strcat(statusOutput,"Error");
        
        
        strcat(statusOutput," - PowerRating: ");
        
        if (getStatus(Charging)) strcat(statusOutput,"Charging");
        else if (getStatus(NotCharging)) strcat(statusOutput,"Not Charging");
        else if (getStatus(Shutdown)) strcat(statusOutput,"Shutdown");
        else if (getStatus(Dying)) strcat(statusOutput,"Dying");
        else if (getStatus(Low)) strcat(statusOutput,"Low");
        else if (getStatus(High)) strcat(statusOutput,"High");
        else if (getStatus(Full)) strcat(statusOutput,"Full");
        else strcat(statusOutput,"Error");
        
        strcat(statusOutput," - WirelessStatus: ");
        
        if (getStatus(CableRumble)) strcat(statusOutput,"Cable - Rumble is on");
        else if (getStatus(Cable)) strcat(statusOutput,"Cable - Rumble is off");
        else if (getStatus(BluetoothRumble)) strcat(statusOutput,"Bluetooth - Rumble is on");
        else if (getStatus(Bluetooth)) strcat(statusOutput,"Bluetooth - Rumble is off");
        else strcat(statusOutput,"Error");
        
        return statusOutput;        
    }
}

/* Playstation Sixaxis Dualshock and Navigation Controller commands */
void PS3USB::PS3_Command(uint8_t* data, uint16_t nbytes)
{
    //bmRequest = Host to device (0x00) | Class (0x20) | Interface (0x01) = 0x21, bRequest = Set Report (0x09), Report ID (0x01), Report Type (Output 0x02), interface (0x00), datalength, datalength, data)
    pUsb->ctrlReq(bAddress,epInfo[PS3_CONTROL_PIPE].epAddr, bmREQ_HID_OUT, HID_REQUEST_SET_REPORT, 0x01, 0x02, 0x00, nbytes, nbytes, data, NULL);
}
void PS3USB::setAllOff()
{
    for (uint8_t i = 0; i < PS3_REPORT_BUFFER_SIZE; i++)
        writeBuf[i] = pgm_read_byte(&PS3_REPORT_BUFFER[i]); // Reset buffer
    
    PS3_Command(writeBuf, PS3_REPORT_BUFFER_SIZE);
}
void PS3USB::setRumbleOff()
{
    writeBuf[1] = 0x00;
    writeBuf[2] = 0x00;//low mode off
    writeBuf[3] = 0x00;
    writeBuf[4] = 0x00;//high mode off
    
    PS3_Command(writeBuf, PS3_REPORT_BUFFER_SIZE);
}
void PS3USB::setRumbleOn(Rumble mode)
{
    /* Still not totally sure how it works, maybe something like this instead?
     * 3 - duration_right
     * 4 - power_right
     * 5 - duration_left
     * 6 - power_left
     */
    if ((mode & 0x30) > 0)
    {
        writeBuf[1] = 0xfe;
        writeBuf[3] = 0xfe;
        
        if (mode == RumbleHigh)
        {
            writeBuf[2] = 0;//low mode off
            writeBuf[4] = 0xff;//high mode on
        }
        else
        {
            writeBuf[2] = 0xff;//low mode on
            writeBuf[4] = 0;//high mode off
        }
        
        PS3_Command(writeBuf, PS3_REPORT_BUFFER_SIZE);
    }
}
void PS3USB::setLedOff(LED a)
{
    writeBuf[9] &= ~((uint8_t)(((uint16_t)a & 0x0f) << 1));    
    PS3_Command(writeBuf, PS3_REPORT_BUFFER_SIZE);               
}
void PS3USB::setLedOn(LED a)
{
    writeBuf[9] |= (uint8_t)(((uint16_t)a & 0x0f) << 1);    
    PS3_Command(writeBuf, PS3_REPORT_BUFFER_SIZE);            
}
void PS3USB::setLedToggle(LED a)
{
    writeBuf[9] ^= (uint8_t)(((uint16_t)a & 0x0f) << 1);    
    PS3_Command(writeBuf, PS3_REPORT_BUFFER_SIZE);            
}
void PS3USB::setBdaddr(uint8_t* BDADDR)
{    
    /* Set the internal bluetooth address */             
    uint8_t buf[8];            
    buf[0] = 0x01;
    buf[1] = 0x00;
    for (uint8_t i = 0; i < 6; i++)
        buf[i+2] = BDADDR[5 - i];//Copy into buffer, has to be written reversed
    
    //bmRequest = Host to device (0x00) | Class (0x20) | Interface (0x01) = 0x21, bRequest = Set Report (0x09), Report ID (0xF5), Report Type (Feature 0x03), interface (0x00), datalength, datalength, data)
    pUsb->ctrlReq(bAddress,epInfo[PS3_CONTROL_PIPE].epAddr, bmREQ_HID_OUT, HID_REQUEST_SET_REPORT, 0xF5, 0x03, 0x00, 8, 8, buf, NULL);      
#ifdef DEBUG
    Notify(PSTR("\r\nBluetooth Address was set to: "));
    for(int8_t i = 5; i > 0; i--)
    {
        PrintHex<uint8_t>(my_bdaddr[i]);
        Serial.print(":");
    }
    PrintHex<uint8_t>(my_bdaddr[0]);
#endif
    return;
}
void PS3USB::enable_sixaxis()//Command used to enable the Dualshock 3 and Navigation controller to send data via USB
{
    uint8_t cmd_buf[4];
    cmd_buf[0] = 0x42;// Special PS3 Controller enable commands
    cmd_buf[1] = 0x0c;
    cmd_buf[2] = 0x00;
    cmd_buf[3] = 0x00;
    
    //bmRequest = Host to device (0x00) | Class (0x20) | Interface (0x01) = 0x21, bRequest = Set Report (0x09), Report ID (0xF4), Report Type (Feature 0x03), interface (0x00), datalength, datalength, data)
    pUsb->ctrlReq(bAddress,epInfo[PS3_CONTROL_PIPE].epAddr, bmREQ_HID_OUT, HID_REQUEST_SET_REPORT, 0xF4, 0x03, 0x00, 4, 4, cmd_buf, NULL);
}

/* Playstation Move Controller commands */
void PS3USB::Move_Command(uint8_t* data, uint16_t nbytes) 
{
    pUsb->outTransfer(bAddress, epInfo[ PS3_OUTPUT_PIPE ].epAddr, nbytes, data);
} 

void PS3USB::moveSetBulb(uint8_t r, uint8_t g, uint8_t b)//Use this to set the Color using RGB values
{            
    // set the Bulb's values into the write buffer            
    writeBuf[2] = r;
    writeBuf[3] = g;
    writeBuf[4] = b;
    
    Move_Command(writeBuf, MOVE_REPORT_BUFFER_SIZE);   
}
void PS3USB::moveSetBulb(Colors color)//Use this to set the Color using the predefined colors in "enums.h"
{
    moveSetBulb((uint8_t)(color >> 16),(uint8_t)(color >> 8),(uint8_t)(color));
}
void PS3USB::moveSetRumble(uint8_t rumble)
{
#ifdef DEBUG
    if(rumble < 64 && rumble != 0) // The rumble value has to at least 64, or approximately 25% (64/255*100)
        Notify(PSTR("\r\nThe rumble value has to at least 64, or approximately 25%"));
#endif
    //set the rumble value into the write buffer
    writeBuf[6] = rumble;
    
    Move_Command(writeBuf, MOVE_REPORT_BUFFER_SIZE);            
}
void PS3USB::setMoveBdaddr(uint8_t* BDADDR)
{
	/* Set the internal bluetooth address */             
    uint8_t buf[11];
    buf[0] = 0x05;
    buf[7] = 0x10;
    buf[8] = 0x01;
    buf[9] = 0x02;
    buf[10] = 0x12;    
    
    for (uint8_t i = 0; i < 6; i++)
        buf[i + 1] = BDADDR[i];
    
    //bmRequest = Host to device (0x00) | Class (0x20) | Interface (0x01) = 0x21, bRequest = Set Report (0x09), Report ID (0x05), Report Type (Feature 0x03), interface (0x00), datalength, datalength, data)
    pUsb->ctrlReq(bAddress,epInfo[PS3_CONTROL_PIPE].epAddr, bmREQ_HID_OUT, HID_REQUEST_SET_REPORT, 0x05, 0x03, 0x00,11,11, buf, NULL);   
#ifdef DEBUG
    Notify(PSTR("\r\nBluetooth Address was set to: "));
    for(int8_t i = 5; i > 0; i--)
    {
        PrintHex<uint8_t>(my_bdaddr[i]);
        Serial.print(":");
    }
    PrintHex<uint8_t>(my_bdaddr[0]); 
#endif
	return;
}