specchioriflesso/USB_Host_Shield_2.0
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Merge pull request #15 from TKJElectronics/master

Browse source 
Several minor commits
This commit is contained in:
Oleg Mazurov 2012-05-09 10:51:21 -07:00
commit 71dcc7e534
3 changed files with 87 additions and 74 deletions
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134
PS3BT.cpp
View file

@ -407,16 +407,12 @@ uint8_t PS3BT::Poll()
}
void PS3BT::setBdaddr(uint8_t* BDADDR)
{
/* Store the bluetooth address */
for(uint8_t i = 0; i <6;i++)
my_bdaddr[i] = BDADDR[i];
/* 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] = my_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
//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);
@ -433,10 +429,6 @@ void PS3BT::setBdaddr(uint8_t* BDADDR)
}
void PS3BT::setMoveBdaddr(uint8_t* BDADDR)
{
/* Store the bluetooth address */
for(uint8_t i = 0; i <6;i++)
my_bdaddr[i] = BDADDR[i];
/* Set the internal bluetooth address */
uint8_t buf[11];
buf[0] = 0x05;
@ -446,7 +438,7 @@ void PS3BT::setMoveBdaddr(uint8_t* BDADDR)
buf[10] = 0x12;
for (uint8_t i = 0; i < 6; i++)
buf[i + 1] = my_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)
pUsb->ctrlReq(bAddress,epInfo[PS3_CONTROL_PIPE].epAddr, bmREQ_HID_OUT, HID_REQUEST_SET_REPORT, 0x05, 0x03, 0x00,11,11, buf, NULL);
@ -515,51 +507,39 @@ double PS3BT::getAngle(Angle a) {
if(PS3BTConnected) {
// Data for the Kionix KXPC4 used in the DualShock 3
double sensivity = 204.6; // 0.66/3.3*1023 (660mV/g)
double zeroG = 511.5; // 1.65/3.3*1023 (1,65V)
accXval = ((double)getSensor(aX)-zeroG) / sensivity; // Convert to g's
accXval *= 2;
accYval = ((double)getSensor(aY)-zeroG) / sensivity; // Convert to g's
accYval *= 2;
accZval = ((double)getSensor(aZ)-zeroG) / sensivity; // Convert to g's
accZval *= 2;
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);
} else if(PS3MoveBTConnected) {
// It's a Kionix KXSC4 inside the Motion controller
const uint16_t sensivity = 28285; // Find by experimenting
accXval = (double)getSensor(aXmove)/sensivity;
accYval = (double)getSensor(aYmove)/sensivity;
accZval = (double)getSensor(aZmove)/sensivity;
const uint16_t zeroG = 0x8000;
accXval = getSensor(aXmove);
accYval = getSensor(aYmove);
accZval = getSensor(aZmove);
if(accXval < -1) // Convert to g's
accXval = ((1+accXval)-(1-1.15))*(-1/0.15);
else if(accXval > 1)
accXval = ((1+accXval)-(1+1.15))*(-1/0.15);
if(accYval < -1) // Convert to g's
accYval = ((1+accYval)-(1-1.15))*(-1/0.15);
else if(accYval > 1)
accYval = ((1+accYval)-(1+1.15))*(-1/0.15);
if(accZval < -1) // Convert to g's
accZval = ((1+accZval)-(1-1.15))*(-1/0.15);
else if(accZval > 1)
accZval = ((1+accZval)-(1+1.15))*(-1/0.15);
if(accXval < 0)
accXval += zeroG;
else
accXval -= zeroG;
if(accYval < 0)
accYval += zeroG;
else
accYval -= zeroG;
if(accZval < 0)
accZval += zeroG;
else
accZval -= zeroG;
}
double R = sqrt(accXval*accXval + accYval*accYval + accZval*accZval); // Calculate the length of the force vector
// Normalize vectors
accXval = accXval/R;
accYval = accYval/R;
accZval = accZval/R;
// 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;
double angle = (atan2(accYval,accZval)+PI)*RAD_TO_DEG;
return angle;
} else {
double angle = (atan2(-accXval,-accZval)+PI)*RAD_TO_DEG;
double angle = (atan2(accXval,accZval)+PI)*RAD_TO_DEG;
return angle;
}
}
@ -647,11 +627,15 @@ void PS3BT::HCI_event_task()
switch (hcibuf[0]) //switch on event type
{
case EV_COMMAND_COMPLETE:
hci_event_flag |= HCI_FLAG_CMD_COMPLETE; // set command complete flag
if((hcibuf[3] == 0x09) && (hcibuf[4] == 0x10))// parameters from read local bluetooth address
{
for (uint8_t i = 0; i < 6; i++)
my_bdaddr[i] = hcibuf[6 + i];
if (!hcibuf[5]) { // check if command succeeded
hci_event_flag |= HCI_FLAG_CMD_COMPLETE; // set command complete flag
if((hcibuf[3] == 0x01) && (hcibuf[4] == 0x10)) // parameters from read local version information
hci_version = hcibuf[6]; // Check if it supports 2.0+EDR - see http://www.bluetooth.org/Technical/AssignedNumbers/hci.htm
else if((hcibuf[3] == 0x09) && (hcibuf[4] == 0x10)) { // parameters from read local bluetooth address
for (uint8_t i = 0; i < 6; i++)
my_bdaddr[i] = hcibuf[6 + i];
}
}
break;
@ -685,9 +669,6 @@ void PS3BT::HCI_event_task()
}
break;
case EV_NUM_COMPLETE_PKT:
break;
case EV_REMOTE_NAME_COMPLETE:
if (!hcibuf[2]) // check if reading is OK
{
@ -707,7 +688,11 @@ void PS3BT::HCI_event_task()
hci_event_flag |= HCI_FLAG_INCOMING_REQUEST;
break;
/* We will just ignore the following events */
/* We will just ignore the following events */
case EV_NUM_COMPLETE_PKT:
break;
case EV_ROLE_CHANGED:
break;
@ -782,6 +767,7 @@ void PS3BT::HCI_task()
hci_counter = 0;
}
break;
case HCI_BDADDR_STATE:
if (hci_cmd_complete)
{
@ -793,10 +779,27 @@ void PS3BT::HCI_task()
Serial.print(":");
}
PrintHex<uint8_t>(my_bdaddr[0]);
#endif
hci_read_local_version_information();
hci_state = HCI_LOCAL_VERSION_STATE;
}
break;
case HCI_LOCAL_VERSION_STATE:
if (hci_cmd_complete)
{
#ifdef DEBUG
if(hci_version < 3) {
Notify(PSTR("\r\nYour dongle may not support reading the analog buttons, sensors and status\r\nYour HCI Version is: "));
Serial.print(hci_version);
Notify(PSTR("\r\nBut should be at least 3\r\nThis means that it doesn't support Bluetooth Version 2.0+EDR"));
}
#endif
hci_state = HCI_SCANNING_STATE;
}
break;
break;
case HCI_SCANNING_STATE:
#ifdef DEBUG
Notify(PSTR("\r\nWait For Incoming Connection Request"));
@ -1320,6 +1323,13 @@ void PS3BT::hci_read_bdaddr()
hcibuf[2] = 0x00;
HCI_Command(hcibuf, 3);
}
void PS3BT::hci_read_local_version_information()
{
hcibuf[0] = 0x01; // HCI OCF = 1
hcibuf[1] = 0x04 << 2; // HCI OGF = 4
hcibuf[2] = 0x00;
HCI_Command(hcibuf, 3);
}
void PS3BT::hci_accept_connection()
{
hcibuf[0] = 0x09; // HCI OCF = 9
@ -1567,19 +1577,17 @@ void PS3BT::setRumbleOn(Rumble mode)
}
void PS3BT::setLedOff(LED a)
{
//check if LED is already off
if ((uint8_t)((uint8_t)(((uint16_t)a << 1) & HIDBuffer[11])) != 0)
{
//set the LED into the write buffer
HIDBuffer[11] = (uint8_t)((uint8_t)(((uint16_t)a & 0x0f) << 1) ^ HIDBuffer[11]);
HID_Command(HIDBuffer, HID_BUFFERSIZE);
}
HIDBuffer[11] &= ~((uint8_t)(((uint16_t)a & 0x0f) << 1));
HID_Command(HIDBuffer, HID_BUFFERSIZE);
}
void PS3BT::setLedOn(LED a)
{
HIDBuffer[11] = (uint8_t)((uint8_t)(((uint16_t)a & 0x0f) << 1) | HIDBuffer[11]);
HIDBuffer[11] |= (uint8_t)(((uint16_t)a & 0x0f) << 1);
HID_Command(HIDBuffer, HID_BUFFERSIZE);
}
void PS3BT::setLedToggle(LED a)
{
HIDBuffer[11] ^= (uint8_t)(((uint16_t)a & 0x0f) << 1);
HID_Command(HIDBuffer, HID_BUFFERSIZE);
}
void PS3BT::enable_sixaxis()//Command used to enable the Dualshock 3 and Navigation controller to send data via USB

18
PS3BT.h
View file

@ -62,13 +62,14 @@
#define HCI_INIT_STATE 0
#define HCI_RESET_STATE 1
#define HCI_BDADDR_STATE 2
#define HCI_SCANNING_STATE 3
#define HCI_CONNECT_IN_STATE 4
#define HCI_REMOTE_NAME_STATE 5
#define HCI_CONNECTED_STATE 6
#define HCI_DISABLE_SCAN 7
#define HCI_DONE_STATE 8
#define HCI_DISCONNECT_STATE 9
#define HCI_LOCAL_VERSION_STATE 3
#define HCI_SCANNING_STATE 4
#define HCI_CONNECT_IN_STATE 5
#define HCI_REMOTE_NAME_STATE 6
#define HCI_CONNECTED_STATE 7
#define HCI_DISABLE_SCAN 8
#define HCI_DONE_STATE 9
#define HCI_DISCONNECT_STATE 10
/* HCI event flags*/
#define HCI_FLAG_CMD_COMPLETE 0x01
@ -351,6 +352,7 @@ public:
void setRumbleOn(Rumble mode);
void setLedOff(LED a);
void setLedOn(LED a);
void setLedToggle(LED a);
/* Commands for Motion controller only */
void moveSetBulb(uint8_t r, uint8_t g, uint8_t b);//Use this to set the Color using RGB values
void moveSetBulb(Colors color);//Use this to set the Color using the predefined colors in "enum Colors"
@ -389,6 +391,7 @@ private:
int16_t hci_handle;
uint8_t disc_bdaddr[6]; // the bluetooth address is always 6 bytes
uint8_t remote_name[30]; // first 30 chars of remote name
uint8_t hci_version;
/* variables used by high level HCI task */
uint8_t hci_state; //current state of bluetooth hci connection
@ -437,6 +440,7 @@ private:
void hci_write_scan_enable();
void hci_write_scan_disable();
void hci_read_bdaddr();
void hci_read_local_version_information();
void hci_accept_connection();
void hci_remote_name();
void hci_disconnect();

1
keywords.txt
View file

@ -28,6 +28,7 @@ setRumbleOff KEYWORD2
setRumbleOn KEYWORD2
setLedOff KEYWORD2
setLedOn KEYWORD2
setLedToggle KEYWORD2
moveSetBulb KEYWORD2
moveSetRumble KEYWORD2