specchioriflesso/USB_Host_Shield_2.0
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Kristian Lauszus 2013-11-12 19:38:18 +01:00
parent 3a93571c87
commit 0bd0078c6d
3 changed files with 15 additions and 19 deletions
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24
BTD.cpp
View file

@ -402,14 +402,10 @@ void BTD::HCI_event_task() {
break; break;
case EV_COMMAND_STATUS: case EV_COMMAND_STATUS:
if (hcibuf[2]) { // show status on serial if not OK if (hcibuf[2]) { // Show status on serial if not OK
#ifdef DEBUG_USB_HOST #ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nHCI Command Failed: "), 0x80); Notify(PSTR("\r\nHCI Command Failed: "), 0x80);
D_PrintHex<uint8_t > (hcibuf[2], 0x80); D_PrintHex<uint8_t > (hcibuf[2], 0x80);
Notify(PSTR(" "), 0x80);
D_PrintHex<uint8_t > (hcibuf[4], 0x80);
Notify(PSTR(" "), 0x80);
D_PrintHex<uint8_t > (hcibuf[5], 0x80);
#endif #endif
} }
break; break;
@ -467,13 +463,13 @@ void BTD::HCI_event_task() {
if (!hcibuf[2]) { // check if connected OK if (!hcibuf[2]) { // check if connected OK
hci_handle = hcibuf[3] | ((hcibuf[4] & 0x0F) << 8); // store the handle for the ACL connection hci_handle = hcibuf[3] | ((hcibuf[4] & 0x0F) << 8); // store the handle for the ACL connection
hci_event_flag |= HCI_FLAG_CONN_COMPLETE; // set connection complete flag hci_event_flag |= HCI_FLAG_CONN_COMPLETE; // set connection complete flag
} } else {
#ifdef DEBUG_USB_HOST
else {
Notify(PSTR("\r\nConnection Failed"), 0x80);
hci_state = HCI_CHECK_WII_SERVICE; hci_state = HCI_CHECK_WII_SERVICE;
} #ifdef DEBUG_USB_HOST
Notify(PSTR("\r\nConnection Failed: "), 0x80);
D_PrintHex<uint8_t > (hcibuf[2], 0x80);
#endif #endif
}
break; break;
case EV_DISCONNECT_COMPLETE: case EV_DISCONNECT_COMPLETE:
@ -1078,7 +1074,7 @@ void BTD::hci_disconnect(uint16_t handle) { // This is called by the different s
} }
void BTD::hci_write_class_of_device() { // See http://bluetooth-pentest.narod.ru/software/bluetooth_class_of_device-service_generator.html void BTD::hci_write_class_of_device() { // See http://bluetooth-pentest.narod.ru/software/bluetooth_class_of_device-service_generator.html
hcibuf[0] = 0x24; // HCI OCF = 3 hcibuf[0] = 0x24; // HCI OCF = 24
hcibuf[1] = 0x03 << 2; // HCI OGF = 3 hcibuf[1] = 0x03 << 2; // HCI OGF = 3
hcibuf[2] = 0x03; // parameter length = 3 hcibuf[2] = 0x03; // parameter length = 3
hcibuf[3] = 0x04; // Robot hcibuf[3] = 0x04; // Robot
@ -1258,9 +1254,9 @@ void BTD::setBdaddr(uint8_t* bdaddr) {
buf[1] = 0x00; buf[1] = 0x00;
for (uint8_t i = 0; i < 6; i++) for (uint8_t i = 0; i < 6; i++)
buf[i + 2] = bdaddr[5 - i]; // Copy into buffer, has to be written reversed buf[i + 2] = bdaddr[5 - i]; // Copy into buffer, has to be written reversed, so it is MSB first
// 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) // 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[BTD_CONTROL_PIPE].epAddr, bmREQ_HID_OUT, HID_REQUEST_SET_REPORT, 0xF5, 0x03, 0x00, 8, 8, buf, NULL); pUsb->ctrlReq(bAddress, epInfo[BTD_CONTROL_PIPE].epAddr, bmREQ_HID_OUT, HID_REQUEST_SET_REPORT, 0xF5, 0x03, 0x00, 8, 8, buf, NULL);
} }
@ -1276,6 +1272,6 @@ void BTD::setMoveBdaddr(uint8_t* bdaddr) {
for (uint8_t i = 0; i < 6; i++) for (uint8_t i = 0; i < 6; i++)
buf[i + 1] = bdaddr[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) // 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[BTD_CONTROL_PIPE].epAddr, bmREQ_HID_OUT, HID_REQUEST_SET_REPORT, 0x05, 0x03, 0x00, 11, 11, buf, NULL); pUsb->ctrlReq(bAddress, epInfo[BTD_CONTROL_PIPE].epAddr, bmREQ_HID_OUT, HID_REQUEST_SET_REPORT, 0x05, 0x03, 0x00, 11, 11, buf, NULL);
} }

2
PS3BT.cpp
View file

@ -611,7 +611,7 @@ void PS3BT::setLedToggle(LED a) {
HID_Command(HIDBuffer, HID_BUFFERSIZE); HID_Command(HIDBuffer, HID_BUFFERSIZE);
} }
void PS3BT::enable_sixaxis() { //Command used to enable the Dualshock 3 and Navigation controller to send data via USB void PS3BT::enable_sixaxis() { // Command used to enable the Dualshock 3 and Navigation controller to send data via Bluetooth
uint8_t cmd_buf[6]; uint8_t cmd_buf[6];
cmd_buf[0] = 0x53; // HID BT Set_report (0x50) | Report Type (Feature 0x03) cmd_buf[0] = 0x53; // HID BT Set_report (0x50) | Report Type (Feature 0x03)
cmd_buf[1] = 0xF4; // Report ID cmd_buf[1] = 0xF4; // Report ID

6
Wii.cpp
View file

@ -473,11 +473,11 @@ void WII::ACLData(uint8_t* l2capinbuf) {
pitchGyroSpeed = (double)gyroPitchRaw / ((double)gyroPitchZero / pitchGyroScale); pitchGyroSpeed = (double)gyroPitchRaw / ((double)gyroPitchZero / pitchGyroScale);
/* The onboard gyro has two ranges for slow and fast mode */ /* The onboard gyro has two ranges for slow and fast mode */
if (!(l2capinbuf[18] & 0x02)) // Check if fast more is used if (!(l2capinbuf[18] & 0x02)) // Check if fast mode is used
yawGyroSpeed *= 4.545; yawGyroSpeed *= 4.545;
if (!(l2capinbuf[18] & 0x01)) // Check if fast more is used if (!(l2capinbuf[18] & 0x01)) // Check if fast mode is used
pitchGyroSpeed *= 4.545; pitchGyroSpeed *= 4.545;
if (!(l2capinbuf[19] & 0x02)) // Check if fast more is used if (!(l2capinbuf[19] & 0x02)) // Check if fast mode is used
rollGyroSpeed *= 4.545; rollGyroSpeed *= 4.545;
compPitch = (0.93 * (compPitch + (pitchGyroSpeed * (double)(micros() - timer) / 1000000)))+(0.07 * getWiimotePitch()); // Use a complimentary filter to calculate the angle compPitch = (0.93 * (compPitch + (pitchGyroSpeed * (double)(micros() - timer) / 1000000)))+(0.07 * getWiimotePitch()); // Use a complimentary filter to calculate the angle