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https://github.com/felis/USB_Host_Shield_2.0.git
synced 2024-03-22 11:31:26 +01:00
Merge pull request #15 from TKJElectronics/master
Several minor commits
This commit is contained in:
Oleg Mazurov
commit
71dcc7e534
3 changed files with 87 additions and 74 deletions
124
PS3BT.cpp
124
PS3BT.cpp
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@ -407,16 +407,12 @@ uint8_t PS3BT::Poll()
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}
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void PS3BT::setBdaddr(uint8_t* BDADDR)
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{
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/* Store the bluetooth address */
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for(uint8_t i = 0; i <6;i++)
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my_bdaddr[i] = BDADDR[i];
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/* Set the internal bluetooth address */
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uint8_t buf[8];
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buf[0] = 0x01;
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buf[1] = 0x00;
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for (uint8_t i = 0; i < 6; i++)
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buf[i+2] = my_bdaddr[5 - i];//Copy into buffer, has to be written reversed
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buf[i+2] = BDADDR[5 - i];//Copy into buffer, has to be written reversed
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//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)
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pUsb->ctrlReq(bAddress,epInfo[PS3_CONTROL_PIPE].epAddr, bmREQ_HID_OUT, HID_REQUEST_SET_REPORT, 0xF5, 0x03, 0x00, 8, 8, buf, NULL);
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@ -433,10 +429,6 @@ void PS3BT::setBdaddr(uint8_t* BDADDR)
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}
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void PS3BT::setMoveBdaddr(uint8_t* BDADDR)
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{
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/* Store the bluetooth address */
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for(uint8_t i = 0; i <6;i++)
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my_bdaddr[i] = BDADDR[i];
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/* Set the internal bluetooth address */
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uint8_t buf[11];
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buf[0] = 0x05;
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@ -446,7 +438,7 @@ void PS3BT::setMoveBdaddr(uint8_t* BDADDR)
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buf[10] = 0x12;
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for (uint8_t i = 0; i < 6; i++)
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buf[i + 1] = my_bdaddr[i];
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buf[i + 1] = BDADDR[i];
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//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)
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pUsb->ctrlReq(bAddress,epInfo[PS3_CONTROL_PIPE].epAddr, bmREQ_HID_OUT, HID_REQUEST_SET_REPORT, 0x05, 0x03, 0x00,11,11, buf, NULL);
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@ -515,51 +507,39 @@ double PS3BT::getAngle(Angle a) {
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if(PS3BTConnected) {
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// Data for the Kionix KXPC4 used in the DualShock 3
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double sensivity = 204.6; // 0.66/3.3*1023 (660mV/g)
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double zeroG = 511.5; // 1.65/3.3*1023 (1,65V)
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accXval = ((double)getSensor(aX)-zeroG) / sensivity; // Convert to g's
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accXval *= 2;
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accYval = ((double)getSensor(aY)-zeroG) / sensivity; // Convert to g's
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accYval *= 2;
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accZval = ((double)getSensor(aZ)-zeroG) / sensivity; // Convert to g's
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accZval *= 2;
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const double zeroG = 511.5; // 1.65/3.3*1023 (1,65V)
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accXval = -((double)getSensor(aX)-zeroG);
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accYval = -((double)getSensor(aY)-zeroG);
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accZval = -((double)getSensor(aZ)-zeroG);
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} else if(PS3MoveBTConnected) {
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// It's a Kionix KXSC4 inside the Motion controller
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const uint16_t sensivity = 28285; // Find by experimenting
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accXval = (double)getSensor(aXmove)/sensivity;
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accYval = (double)getSensor(aYmove)/sensivity;
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accZval = (double)getSensor(aZmove)/sensivity;
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const uint16_t zeroG = 0x8000;
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accXval = getSensor(aXmove);
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accYval = getSensor(aYmove);
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accZval = getSensor(aZmove);
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if(accXval < -1) // Convert to g's
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accXval = ((1+accXval)-(1-1.15))*(-1/0.15);
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else if(accXval > 1)
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accXval = ((1+accXval)-(1+1.15))*(-1/0.15);
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if(accYval < -1) // Convert to g's
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accYval = ((1+accYval)-(1-1.15))*(-1/0.15);
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else if(accYval > 1)
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accYval = ((1+accYval)-(1+1.15))*(-1/0.15);
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if(accZval < -1) // Convert to g's
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accZval = ((1+accZval)-(1-1.15))*(-1/0.15);
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else if(accZval > 1)
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accZval = ((1+accZval)-(1+1.15))*(-1/0.15);
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if(accXval < 0)
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accXval += zeroG;
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else
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accXval -= zeroG;
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if(accYval < 0)
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accYval += zeroG;
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else
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accYval -= zeroG;
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if(accZval < 0)
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accZval += zeroG;
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else
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accZval -= zeroG;
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}
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double R = sqrt(accXval*accXval + accYval*accYval + accZval*accZval); // Calculate the length of the force vector
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// Normalize vectors
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accXval = accXval/R;
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accYval = accYval/R;
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accZval = accZval/R;
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// Convert to 360 degrees resolution
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// atan2 outputs the value of -π to π (radians)
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// We are then converting it to 0 to 2π and then to degrees
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if (a == Pitch) {
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double angle = (atan2(-accYval,-accZval)+PI)*RAD_TO_DEG;
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double angle = (atan2(accYval,accZval)+PI)*RAD_TO_DEG;
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return angle;
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} else {
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double angle = (atan2(-accXval,-accZval)+PI)*RAD_TO_DEG;
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double angle = (atan2(accXval,accZval)+PI)*RAD_TO_DEG;
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return angle;
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}
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}
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@ -647,12 +627,16 @@ void PS3BT::HCI_event_task()
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switch (hcibuf[0]) //switch on event type
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{
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case EV_COMMAND_COMPLETE:
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if (!hcibuf[5]) { // check if command succeeded
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hci_event_flag |= HCI_FLAG_CMD_COMPLETE; // set command complete flag
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if((hcibuf[3] == 0x09) && (hcibuf[4] == 0x10))// parameters from read local bluetooth address
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{
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if((hcibuf[3] == 0x01) && (hcibuf[4] == 0x10)) // parameters from read local version information
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hci_version = hcibuf[6]; // Check if it supports 2.0+EDR - see http://www.bluetooth.org/Technical/AssignedNumbers/hci.htm
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else if((hcibuf[3] == 0x09) && (hcibuf[4] == 0x10)) { // parameters from read local bluetooth address
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for (uint8_t i = 0; i < 6; i++)
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my_bdaddr[i] = hcibuf[6 + i];
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}
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}
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break;
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case EV_COMMAND_STATUS:
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@ -685,9 +669,6 @@ void PS3BT::HCI_event_task()
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}
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break;
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case EV_NUM_COMPLETE_PKT:
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break;
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case EV_REMOTE_NAME_COMPLETE:
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if (!hcibuf[2]) // check if reading is OK
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{
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@ -708,6 +689,10 @@ void PS3BT::HCI_event_task()
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break;
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/* We will just ignore the following events */
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case EV_NUM_COMPLETE_PKT:
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break;
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case EV_ROLE_CHANGED:
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break;
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@ -782,6 +767,7 @@ void PS3BT::HCI_task()
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hci_counter = 0;
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}
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break;
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case HCI_BDADDR_STATE:
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if (hci_cmd_complete)
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{
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@ -793,10 +779,27 @@ void PS3BT::HCI_task()
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Serial.print(":");
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}
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PrintHex<uint8_t>(my_bdaddr[0]);
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#endif
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hci_read_local_version_information();
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hci_state = HCI_LOCAL_VERSION_STATE;
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}
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break;
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case HCI_LOCAL_VERSION_STATE:
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if (hci_cmd_complete)
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{
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#ifdef DEBUG
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if(hci_version < 3) {
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Notify(PSTR("\r\nYour dongle may not support reading the analog buttons, sensors and status\r\nYour HCI Version is: "));
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Serial.print(hci_version);
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Notify(PSTR("\r\nBut should be at least 3\r\nThis means that it doesn't support Bluetooth Version 2.0+EDR"));
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}
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#endif
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hci_state = HCI_SCANNING_STATE;
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}
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break;
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break;
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case HCI_SCANNING_STATE:
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#ifdef DEBUG
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Notify(PSTR("\r\nWait For Incoming Connection Request"));
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@ -1320,6 +1323,13 @@ void PS3BT::hci_read_bdaddr()
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hcibuf[2] = 0x00;
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HCI_Command(hcibuf, 3);
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}
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void PS3BT::hci_read_local_version_information()
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{
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hcibuf[0] = 0x01; // HCI OCF = 1
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hcibuf[1] = 0x04 << 2; // HCI OGF = 4
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hcibuf[2] = 0x00;
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HCI_Command(hcibuf, 3);
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}
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void PS3BT::hci_accept_connection()
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{
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hcibuf[0] = 0x09; // HCI OCF = 9
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@ -1567,19 +1577,17 @@ void PS3BT::setRumbleOn(Rumble mode)
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}
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void PS3BT::setLedOff(LED a)
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{
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//check if LED is already off
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if ((uint8_t)((uint8_t)(((uint16_t)a << 1) & HIDBuffer[11])) != 0)
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{
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//set the LED into the write buffer
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HIDBuffer[11] = (uint8_t)((uint8_t)(((uint16_t)a & 0x0f) << 1) ^ HIDBuffer[11]);
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HIDBuffer[11] &= ~((uint8_t)(((uint16_t)a & 0x0f) << 1));
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HID_Command(HIDBuffer, HID_BUFFERSIZE);
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}
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}
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void PS3BT::setLedOn(LED a)
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{
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HIDBuffer[11] = (uint8_t)((uint8_t)(((uint16_t)a & 0x0f) << 1) | HIDBuffer[11]);
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HIDBuffer[11] |= (uint8_t)(((uint16_t)a & 0x0f) << 1);
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HID_Command(HIDBuffer, HID_BUFFERSIZE);
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}
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void PS3BT::setLedToggle(LED a)
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{
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HIDBuffer[11] ^= (uint8_t)(((uint16_t)a & 0x0f) << 1);
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HID_Command(HIDBuffer, HID_BUFFERSIZE);
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}
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void PS3BT::enable_sixaxis()//Command used to enable the Dualshock 3 and Navigation controller to send data via USB
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18
PS3BT.h
18
PS3BT.h
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@ -62,13 +62,14 @@
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#define HCI_INIT_STATE 0
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#define HCI_RESET_STATE 1
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#define HCI_BDADDR_STATE 2
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#define HCI_SCANNING_STATE 3
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#define HCI_CONNECT_IN_STATE 4
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#define HCI_REMOTE_NAME_STATE 5
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#define HCI_CONNECTED_STATE 6
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#define HCI_DISABLE_SCAN 7
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#define HCI_DONE_STATE 8
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#define HCI_DISCONNECT_STATE 9
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#define HCI_LOCAL_VERSION_STATE 3
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#define HCI_SCANNING_STATE 4
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#define HCI_CONNECT_IN_STATE 5
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#define HCI_REMOTE_NAME_STATE 6
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#define HCI_CONNECTED_STATE 7
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#define HCI_DISABLE_SCAN 8
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#define HCI_DONE_STATE 9
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#define HCI_DISCONNECT_STATE 10
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/* HCI event flags*/
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#define HCI_FLAG_CMD_COMPLETE 0x01
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@ -351,6 +352,7 @@ public:
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void setRumbleOn(Rumble mode);
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void setLedOff(LED a);
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void setLedOn(LED a);
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void setLedToggle(LED a);
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/* Commands for Motion controller only */
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void moveSetBulb(uint8_t r, uint8_t g, uint8_t b);//Use this to set the Color using RGB values
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void moveSetBulb(Colors color);//Use this to set the Color using the predefined colors in "enum Colors"
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@ -389,6 +391,7 @@ private:
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int16_t hci_handle;
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uint8_t disc_bdaddr[6]; // the bluetooth address is always 6 bytes
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uint8_t remote_name[30]; // first 30 chars of remote name
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uint8_t hci_version;
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/* variables used by high level HCI task */
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uint8_t hci_state; //current state of bluetooth hci connection
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@ -437,6 +440,7 @@ private:
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void hci_write_scan_enable();
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void hci_write_scan_disable();
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void hci_read_bdaddr();
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void hci_read_local_version_information();
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void hci_accept_connection();
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void hci_remote_name();
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void hci_disconnect();
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@ -28,6 +28,7 @@ setRumbleOff KEYWORD2
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setRumbleOn KEYWORD2
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setLedOff KEYWORD2
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setLedOn KEYWORD2
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setLedToggle KEYWORD2
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moveSetBulb KEYWORD2
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moveSetRumble KEYWORD2
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