/* 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 */ #ifndef _ps3bt_h_ #define _ps3bt_h_ #include "BTD.h" #include "PS3Enums.h" #define HID_BUFFERSIZE 50 // Size of the buffer for the Playstation Motion Controller /** * This BluetoothService class implements support for all the official PS3 Controllers: * Dualshock 3, Navigation or a Motion controller via Bluetooth. * * Information about the protocol can be found at the wiki: https://github.com/felis/USB_Host_Shield_2.0/wiki/PS3-Information. */ class PS3BT : public BluetoothService { public: /** * Constructor for the PS3BT class. * @param pBtd Pointer to BTD class instance. * @param btadr5,btadr4,btadr3,btadr2,btadr1,btadr0 * Pass your dongles Bluetooth address into the constructor, * This will set BTD#my_bdaddr, so you don't have to plug in the dongle before pairing with your controller. */ PS3BT(BTD *pBtd, uint8_t btadr5 = 0, uint8_t btadr4 = 0, uint8_t btadr3 = 0, uint8_t btadr2 = 0, uint8_t btadr1 = 0, uint8_t btadr0 = 0); /** @name BluetoothService implementation */ /** * Used to pass acldata to the services. * @param ACLData Incoming acldata. */ virtual void ACLData(uint8_t* ACLData); /** Used to run part of the state machine. */ virtual void Run(); /** Use this to reset the service. */ virtual void Reset(); /** Used this to disconnect any of the controllers. */ virtual void disconnect(); /**@}*/ /** @name PS3 Controller functions */ /** * getButtonPress(Button b) will return true as long as the button is held down. * * While getButtonClick(Button b) will only return it once. * * So you instance if you need to increase a variable once you would use getButtonClick(Button b), * but if you need to drive a robot forward you would use getButtonPress(Button b). */ bool getButtonPress(Button b); bool getButtonClick(Button b); /**@}*/ /** @name PS3 Controller functions */ /** * Used to get the analog value from button presses. * @param a The ::Button to read. * The supported buttons are: * ::UP, ::RIGHT, ::DOWN, ::LEFT, ::L1, ::L2, ::R1, ::R2, * ::TRIANGLE, ::CIRCLE, ::CROSS, ::SQUARE, and ::T. * @return Analog value in the range of 0-255. */ uint8_t getAnalogButton(Button a); /** * Used to read the analog joystick. * @param a ::LeftHatX, ::LeftHatY, ::RightHatX, and ::RightHatY. * @return Return the analog value in the range of 0-255. */ uint8_t getAnalogHat(AnalogHat a); /** * Used to read the sensors inside the Dualshock 3 and Move controller. * @param a * The Dualshock 3 has a 3-axis accelerometer and a 1-axis gyro inside. * The Move controller has a 3-axis accelerometer, a 3-axis gyro, a 3-axis magnetometer * and a temperature sensor inside. * @return Return the raw sensor value. */ int16_t getSensor(Sensor a); /** * Use this to get ::Pitch and ::Roll calculated using the accelerometer. * @param a Either ::Pitch or ::Roll. * @return Return the angle in the range of 0-360. */ double getAngle(Angle a); /** * Read the sensors inside the Move controller. * @param a ::aXmove, ::aYmove, ::aZmove, ::gXmove, ::gYmove, ::gZmove, ::mXmove, ::mYmove, and ::mXmove. * @return The value in SI units. */ double get9DOFValues(Sensor a); /** * Get the ::Status from the controller. * @param c The ::Status you want to read. * @return True if correct and false if not. */ bool getStatus(Status c); /** * Read all the available ::Status from the controller. * @return One large string with all the information. */ String getStatusString(); /** * Read the temperature from the Move controller. * @return The temperature in degrees celsius. */ String getTemperature(); /** Used to set all LEDs and ::Rumble off. */ void setAllOff(); /** Turn off ::Rumble. */ void setRumbleOff(); /** * Turn on ::Rumble. * @param mode Either ::RumbleHigh or ::RumbleLow. */ void setRumbleOn(Rumble mode); /** * Turn on ::Rumble using custom duration and power. * @param rightDuration The duration of the right/low rumble effect. * @param rightPower The intensity of the right/low rumble effect. * @param leftDuration The duration of the left/high rumble effect. * @param leftPower The intensity of the left/high rumble effect. */ void setRumbleOn(uint8_t rightDuration, uint8_t rightPower, uint8_t leftDuration, uint8_t leftPower); /** * Set LED value without using the ::LED enum. * @param value See: ::LED enum. */ void setLedRaw(uint8_t value); /** Turn all LEDs off. */ void setLedOff() { setLedRaw(0); }; /** * Turn the specific ::LED off. * @param a The ::LED to turn off. */ void setLedOff(LED a); /** * Turn the specific ::LED on. * @param a The ::LED to turn on. */ void setLedOn(LED a); /** * Toggle the specific ::LED. * @param a The ::LED to toggle. */ void setLedToggle(LED a); /** * Use this to set the Color using RGB values. * @param r,g,b RGB value. */ void moveSetBulb(uint8_t r, uint8_t g, uint8_t b); /** * Use this to set the color using the predefined colors in ::Colors. * @param color The desired color. */ void moveSetBulb(Colors color); /** * Set the rumble value inside the Move controller. * @param rumble The desired value in the range from 64-255. */ void moveSetRumble(uint8_t rumble); /** * Used to call your own function when the controller is successfully initialized. * @param funcOnInit Function to call. */ void attachOnInit(void (*funcOnInit)(void)) { pFuncOnInit = funcOnInit; }; /**@}*/ /** Variable used to indicate if the normal Playstation controller is successfully connected. */ bool PS3Connected; /** Variable used to indicate if the Move controller is successfully connected. */ bool PS3MoveConnected; /** Variable used to indicate if the Navigation controller is successfully connected. */ bool PS3NavigationConnected; private: /* Mandatory members */ BTD *pBtd; /** * Called when the controller is successfully initialized. * Use attachOnInit(void (*funcOnInit)(void)) to call your own function. * This is useful for instance if you want to set the LEDs in a specific way. */ void onInit(); void (*pFuncOnInit)(void); // Pointer to function called in onInit() void L2CAP_task(); // L2CAP state machine /* Variables filled from HCI event management */ int16_t hci_handle; uint8_t remote_name[30]; // First 30 chars of remote name bool activeConnection; // Used to indicate if it's already has established a connection /* variables used by high level L2CAP task */ uint8_t l2cap_state; uint32_t l2cap_event_flag; // L2CAP flags of received Bluetooth events unsigned long timer; uint32_t ButtonState; uint32_t OldButtonState; uint32_t ButtonClickState; uint32_t timerHID; // Timer used see if there has to be a delay before a new HID command uint32_t timerBulbRumble; // used to continuously set PS3 Move controller Bulb and rumble values uint8_t l2capinbuf[BULK_MAXPKTSIZE]; // General purpose buffer for L2CAP in data uint8_t HIDBuffer[HID_BUFFERSIZE]; // Used to store HID commands uint8_t HIDMoveBuffer[HID_BUFFERSIZE]; // Used to store HID commands for the Move controller /* L2CAP Channels */ uint8_t control_scid[2]; // L2CAP source CID for HID_Control uint8_t control_dcid[2]; // 0x0040 uint8_t interrupt_scid[2]; // L2CAP source CID for HID_Interrupt uint8_t interrupt_dcid[2]; // 0x0041 uint8_t identifier; // Identifier for connection /* HID Commands */ void HID_Command(uint8_t* data, uint8_t nbytes); void HIDMove_Command(uint8_t* data, uint8_t nbytes); void enable_sixaxis(); // Command used to enable the Dualshock 3 and Navigation controller to send data via Bluetooth }; #endif