Can now read the IMU and touchpad values of the PS4 controller via Bluetooth as well

Thanks to Frank Zhao - see: http://eleccelerator.com/wiki/index.php?title=DualShock_4#0x11

BTHID.cpp

@@ -202,7 +202,7 @@ void BTHID::ACLData(uint8_t* l2capinbuf) {
                                                 if(pRptParser[MOUSE_PARSER_ID])
                                                         pRptParser[MOUSE_PARSER_ID]->Parse(reinterpret_cast<HID *>(this), 0, (uint8_t)(length - 2), &l2capinbuf[10]); // Use reinterpret_cast again to extract the instance
                                                 break;
-#ifdef DEBUG_USB_HOST
+#ifdef EXTRADEBUG
                                         default:
                                                 Notify(PSTR("\r\nUnknown Report type: "), 0x80);
                                                 D_PrintHex<uint8_t > (l2capinbuf[9], 0x80);

BTHID.h

@@ -126,8 +126,20 @@ protected:
         }
         /**@}*/
 
+        /** Pointer to BTD instance */
+        BTD *pBtd;
+
+        /** HCI Handle for connection */
+        uint16_t hci_handle;
+
+        /** L2CAP source CID for HID_Control */
+
+        uint8_t control_scid[2];
+
+        /** L2CAP source CID for HID_Interrupt */
+        uint8_t interrupt_scid[2];
+
 private:
-        BTD *pBtd; // Pointer to BTD instance
         HIDReportParser *pRptParser[NUM_PARSERS]; // Pointer to HIDReportParsers.
 
         /** Set report protocol. */
@@ -148,19 +160,13 @@ private:
 
         void L2CAP_task(); // L2CAP state machine
 
-        /* Variables filled from HCI event management */
-        uint16_t hci_handle;
         bool activeConnection; // Used to indicate if it already has established a connection
 
-        /* Variables used by high level L2CAP task */
+        /* Variables used for L2CAP communication */
+        uint8_t control_dcid[2]; // L2CAP device CID for HID_Control - Always 0x0070
+        uint8_t interrupt_dcid[2]; // L2CAP device CID for HID_Interrupt - Always 0x0071
+        uint8_t identifier; // Identifier for connection
         uint8_t l2cap_state;
         uint32_t l2cap_event_flag; // l2cap flags of received Bluetooth events
-
-        /* L2CAP Channels */
-        uint8_t control_scid[2]; // L2CAP source CID for HID_Control
-        uint8_t control_dcid[2]; // 0x0070
-        uint8_t interrupt_scid[2]; // L2CAP source CID for HID_Interrupt
-        uint8_t interrupt_dcid[2]; // 0x0071
-        uint8_t identifier; // Identifier for connection
 };
 #endif

PS4BT.h

@@ -72,6 +72,7 @@ protected:
          * This is useful for instance if you want to set the LEDs in a specific way.
          */
         virtual void OnInitBTHID() {
+                enable_sixaxis(); // Make the controller to send out the entire output report
                 if (pFuncOnInit)
                         pFuncOnInit(); // Call the user function
         };
@@ -84,5 +85,17 @@ protected:
 
 private:
         void (*pFuncOnInit)(void); // Pointer to function called in onInit()
+
+        void HID_Command(uint8_t *data, uint8_t nbytes) {
+                pBtd->L2CAP_Command(hci_handle, data, nbytes, control_scid[0], control_scid[1]);
+        };
+
+        void enable_sixaxis() { // Command used to make the PS4 controller send out the entire output report
+                uint8_t buf[2];
+                buf[0] = 0x43; // HID BT Get_report (0x40) | Report Type (Feature 0x03)
+                buf[1] = 0x02; // Report ID
+
+                HID_Command(buf, 2);
+        };
 };
 #endif

PS4Parser.cpp

@@ -76,17 +76,22 @@ uint8_t PS4Parser::getAnalogHat(AnalogHatEnum a) {
 void PS4Parser::Parse(uint8_t len, uint8_t *buf) {
 	if (len > 0 && buf)  {
 #ifdef PRINTREPORT
+		Notify(PSTR("\r\n"), 0x80);
 		for (uint8_t i = 0; i < len; i++) {
 			D_PrintHex<uint8_t > (buf[i], 0x80);
 			Notify(PSTR(" "), 0x80);
 		}
-		Notify(PSTR("\r\n"), 0x80);
 #endif
 
-		memcpy(&ps4Data, buf, min(len, sizeof(ps4Data)));
+
-		if (ps4Data.reportId != 0x01) {
+		if (buf[0] == 0x01) // Check report ID
+			memcpy(&ps4Data, buf + 1, min(len - 1, sizeof(ps4Data)));
+		else if (buf[0] == 0x11) // This report is send via Bluetooth, it has an offset of 2 compared to the USB data
+			memcpy(&ps4Data, buf + 3, min(len - 3, sizeof(ps4Data)));
+		else {
 #ifdef DEBUG_USB_HOST
-                	Notify(PSTR("\r\nUnknown report id"), 0x80);
+                	Notify(PSTR("\r\nUnknown report id: "), 0x80);
+                	D_PrintHex<uint8_t > (buf[0], 0x80);
 #endif
                 	return;
 		}

PS4Parser.h

@@ -87,7 +87,6 @@ struct touchpadXY {
 
 struct PS4Data {
         /* Button and joystick values */
-        uint8_t reportId; // Always 0x01
         uint8_t hatValue[4];
         PS4Buttons btn;
         uint8_t trigger[2];

README.md

@@ -124,8 +124,6 @@ The [PS4BT.ino](examples/Bluetooth/PS4BT/PS4BT.ino) and [PS4USB.ino](examples/PS
 
 I still have not figured out how to turn rumble on and off and set the color of the light, but hopefully I will figure that out soon.
 
-Also the gyro, accelerometer and touchpad values are still only available via USB at the moment.
-
 Before you can use the PS4 controller via Bluetooth you will need to pair with it.
 
 Simply create the PS4BT instance like so: ```PS4BT PS4(&Btd, PAIR);``` and then hold down the PS and Share button at the same time, the PS4 controller will then start to blink rapidly indicating that it is in paring mode.
@@ -134,6 +132,8 @@ It should then automatically pair the dongle with your controller. This only hav
 
 For information see the following blog post: <http://blog.tkjelectronics.dk/2014/01/ps4-controller-now-supported-by-the-usb-host-library/>.
 
+Also check out this excellent Wiki by Frank Zhao about the PS4 controller: <http://eleccelerator.com/wiki/index.php?title=DualShock_4>.
+
 ### PS3 Library
 
 These libraries consist of the [PS3BT](PS3BT.cpp) and [PS3USB](PS3USB.cpp). These libraries allows you to use a Dualshock 3, Navigation or a Motion controller with the USB Host Shield both via Bluetooth and USB.

examples/Bluetooth/PS4BT/PS4BT.ino

@@ -24,6 +24,8 @@ PS4BT PS4(&Btd, PAIR);
 // After that you can simply create the instance like so and then press the PS button on the device
 //PS4BT PS4(&Btd);
 
+boolean printAngle, printTouch;
+
 void setup() {
   Serial.begin(115200);
   while (!Serial); // Wait for serial port to connect - used on Leonardo, Teensy and other boards with built-in USB CDC serial connection
@@ -88,10 +90,35 @@ void loop() {
 
       if (PS4.getButtonClick(SHARE))
         Serial.print(F("\r\nShare"));
-      if (PS4.getButtonClick(OPTIONS))
+      if (PS4.getButtonClick(OPTIONS)) {
         Serial.print(F("\r\nOptions"));
-      if (PS4.getButtonClick(TOUCHPAD))
+        printAngle = !printAngle;
+      }
+      if (PS4.getButtonClick(TOUCHPAD)) {
         Serial.print(F("\r\nTouchpad"));
+        printTouch = !printTouch;
+      }
+
+      if (printAngle) { // Print angle calculated using the accelerometer only
+        Serial.print(F("\r\nPitch: "));
+        Serial.print(PS4.getAngle(Pitch));
+        Serial.print(F("\tRoll: "));
+        Serial.print(PS4.getAngle(Roll));
+      }
+
+      if (printTouch) { // Print the x, y coordinates of the touchpad
+        if (PS4.isTouching(0) || PS4.isTouching(1)) // Print newline and carriage return if any of the fingers are touching the touchpad
+          Serial.print(F("\r\n"));
+        for (uint8_t i = 0; i < 2; i++) { // The touchpad track two fingers
+          if (PS4.isTouching(i)) { // Print the position of the finger if it is touching the touchpad
+            Serial.print(F("X")); Serial.print(i + 1); Serial.print(F(": "));
+            Serial.print(PS4.getX(i));
+            Serial.print(F("\tY")); Serial.print(i + 1); Serial.print(F(": "));
+            Serial.print(PS4.getY(i));
+            Serial.print(F("\t"));
+          }
+        }
+      }
     }
   }
 }