mirror of
https://github.com/felis/USB_Host_Shield_2.0.git
synced 2024-03-22 11:31:26 +01:00
386 lines
13 KiB
C++
386 lines
13 KiB
C++
/* Copyright (C) 2021 Kristian Sloth Lauszus. All rights reserved.
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This software may be distributed and modified under the terms of the GNU
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General Public License version 2 (GPL2) as published by the Free Software
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Foundation and appearing in the file GPL2.TXT included in the packaging of
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this file. Please note that GPL2 Section 2[b] requires that all works based
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on this software must also be made publicly available under the terms of
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the GPL2 ("Copyleft").
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Contact information
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-------------------
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Kristian Sloth Lauszus
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Web : https://lauszus.com
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e-mail : lauszus@gmail.com
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*/
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#ifndef _switch_pro_parser_h_
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#define _switch_pro_parser_h_
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#include "Usb.h"
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#include "controllerEnums.h"
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/** Used to set the LEDs on the controller */
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const uint8_t SWITCH_PRO_LEDS[] PROGMEM = {
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0x00, // OFF
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0x01, // LED1
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0x02, // LED2
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0x04, // LED3
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0x08, // LED4
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0x09, // LED5
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0x0A, // LED6
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0x0C, // LED7
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0x0D, // LED8
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0x0E, // LED9
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0x0F, // LED10
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};
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/** Buttons on the controller */
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const uint8_t SWITCH_PRO_BUTTONS[] PROGMEM = {
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0x11, // UP
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0x12, // RIGHT
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0x10, // DOWN
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0x13, // LEFT
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0x0D, // Capture
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0x09, // PLUS
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0x0B, // L3
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0x0A, // R3
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0x08, // MINUS
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0x0C, // HOME
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0, 0, // Skip
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0x02, // B
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0x03, // A
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0x01, // X
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0x00, // Y
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0x16, // L
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0x06, // R
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0x17, // ZL
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0x07, // ZR
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};
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// https://github.com/dekuNukem/Nintendo_Switch_Reverse_Engineering/blob/master/bluetooth_hid_notes.md#standard-input-report-format
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union SwitchProButtons {
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struct {
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uint8_t y : 1;
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uint8_t x : 1;
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uint8_t b : 1;
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uint8_t a : 1;
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uint8_t dummy1 : 2;
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uint8_t r : 1;
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uint8_t zr : 1;
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uint8_t minus : 1;
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uint8_t plus : 1;
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uint8_t r3 : 1;
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uint8_t l3 : 1;
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uint8_t home : 1;
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uint8_t capture : 1;
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uint8_t dummy2 : 2;
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uint8_t dpad : 4;
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uint8_t dummy3 : 2;
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uint8_t l : 1;
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uint8_t zl : 1;
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} __attribute__((packed));
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uint32_t val : 24;
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} __attribute__((packed));
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struct ImuData {
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int16_t accX, accY, accZ;
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int16_t gyroX, gyroY, gyroZ;
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} __attribute__((packed));
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struct SwitchProData {
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struct {
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uint8_t connection_info : 4;
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uint8_t battery_level : 4;
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} __attribute__((packed));
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/* Button and joystick values */
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SwitchProButtons btn; // Bytes 3-5
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// Bytes 6-11
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uint16_t leftHatX : 12;
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uint16_t leftHatY : 12;
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uint16_t rightHatX : 12;
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uint16_t rightHatY : 12;
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uint8_t vibratorInput; // What is this used for?
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// Bytes 13-48
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// Three samples of the IMU is sent in one message
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// See: https://github.com/dekuNukem/Nintendo_Switch_Reverse_Engineering/blob/master/imu_sensor_notes.md
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ImuData imu[3];
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} __attribute__((packed));
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struct SwitchProOutput {
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bool leftRumbleOn;
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bool rightRumbleOn;
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uint8_t ledMask; // Higher nibble flashes the LEDs, lower nibble sets them on/off
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bool ledHome;
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// Used to send the reports at the same rate as the controller is sending messages
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bool ledReportChanged;
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bool ledHomeReportChanged;
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bool enableFullReportMode;
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int8_t enableImu; // -1 == Do nothing, 0 == disable IMU, 1 == enable IMU
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bool sendHandshake;
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bool disableTimeout;
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} __attribute__((packed));
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/** This class parses all the data sent by the Switch Pro controller */
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class SwitchProParser {
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public:
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/** Constructor for the SwitchProParser class. */
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SwitchProParser() : output_sequence_counter(0) {
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Reset();
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};
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/** @name Switch Pro Controller functions */
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/**
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* getButtonPress(ButtonEnum b) will return true as long as the button is held down.
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*
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* While getButtonClick(ButtonEnum b) will only return it once.
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*
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* So you instance if you need to increase a variable once you would use getButtonClick(ButtonEnum b),
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* but if you need to drive a robot forward you would use getButtonPress(ButtonEnum b).
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* @param b ::ButtonEnum to read.
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* @return getButtonPress(ButtonEnum b) will return a true as long as a button is held down, while getButtonClick(ButtonEnum b) will return true once for each button press.
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*/
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bool getButtonPress(ButtonEnum b);
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bool getButtonClick(ButtonEnum b);
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/**@}*/
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/** @name Switch Pro Controller functions */
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/**
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* Used to read the analog joystick.
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* @param a ::LeftHatX, ::LeftHatY, ::RightHatX, and ::RightHatY.
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* @return Return the analog value as a signed 16-bit value.
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*/
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int16_t getAnalogHat(AnalogHatEnum a);
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/**
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* Used to enable/disable the IMU. By default it is disabled.
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* @param enable Enable/disable the IMU.
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*/
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void enableImu(bool enable) {
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// TODO: Should we just always enable it?
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switchProOutput.enableImu = enable ? 1 : 0;
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}
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/**
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* Get the angle of the controller calculated using the accelerometer.
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* @param a Either ::Pitch or ::Roll.
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* @return Return the angle in the range of 0-360.
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*/
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float getAngle(AngleEnum a) {
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if (a == Pitch)
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return (atan2f(-switchProData.imu[0].accY, -switchProData.imu[0].accZ) + PI) * RAD_TO_DEG;
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else
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return (atan2f(switchProData.imu[0].accX, -switchProData.imu[0].accZ) + PI) * RAD_TO_DEG;
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};
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/**
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* Used to get the raw values from the 3-axis gyroscope and 3-axis accelerometer inside the PS5 controller.
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* @param s The sensor to read.
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* @return Returns the raw sensor reading.
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*/
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int16_t getSensor(SensorEnum s) {
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switch(s) {
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case gX:
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return switchProData.imu[0].gyroX;
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case gY:
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return switchProData.imu[0].gyroY;
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case gZ:
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return switchProData.imu[0].gyroZ;
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case aX:
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return switchProData.imu[0].accX;
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case aY:
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return switchProData.imu[0].accY;
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case aZ:
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return switchProData.imu[0].accZ;
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default:
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return 0;
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}
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};
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/** Turn both rumble and the LEDs off. */
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void setAllOff() {
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setRumbleOff();
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setLedOff();
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setLedHomeOff();
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};
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/** Set rumble off. */
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void setRumbleOff() {
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setRumble(false, false);
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}
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/** Toggle rumble. */
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void setRumbleToggle() {
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setRumble(!switchProOutput.leftRumbleOn, !switchProOutput.rightRumbleOn);
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}
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/**
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* Turn on/off rumble.
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* @param leftRumbleOn Turn on/off left rumble motor.
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* @param rightRumbleOn Turn on/off right rumble motor.
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*/
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void setRumble(bool leftRumbleOn, bool rightRumbleOn) {
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switchProOutput.leftRumbleOn = leftRumbleOn;
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switchProOutput.rightRumbleOn = rightRumbleOn;
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switchProOutput.ledReportChanged = true; // Set this, so the rumble effect gets changed immediately
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}
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/**
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* Turn on/off the left rumble.
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* @param on Turn on/off left rumble motor.
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*/
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void setRumbleLeft(bool on) {
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switchProOutput.leftRumbleOn = on;
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switchProOutput.ledReportChanged = true; // Set this, so the rumble effect gets changed immediately
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}
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/**
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* Turn on/off the right rumble.
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* @param on Turn on/off right rumble motor.
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*/
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void setRumbleRight(bool on) {
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switchProOutput.rightRumbleOn = on;
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switchProOutput.ledReportChanged = true; // Set this, so the rumble effect gets changed immediately
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}
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/**
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* Set LED value without using the ::LEDEnum.
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* This can also be used to flash the LEDs by setting the high 4-bits of the mask.
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* @param value See: ::LEDEnum.
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*/
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void setLedRaw(uint8_t mask) {
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switchProOutput.ledMask = mask;
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switchProOutput.ledReportChanged = true;
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}
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/** Turn all LEDs off. */
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void setLedOff() {
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setLedRaw(0);
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}
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/**
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* Turn the specific ::LEDEnum off.
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* @param a The ::LEDEnum to turn off.
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*/
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void setLedOff(LEDEnum a) {
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switchProOutput.ledMask &= ~((uint8_t)(pgm_read_byte(&SWITCH_PRO_LEDS[(uint8_t)a]) & 0x0f));
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switchProOutput.ledReportChanged = true;
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}
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/**
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* Turn the specific ::LEDEnum on.
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* @param a The ::LEDEnum to turn on.
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*/
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void setLedOn(LEDEnum a) {
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switchProOutput.ledMask |= (uint8_t)(pgm_read_byte(&SWITCH_PRO_LEDS[(uint8_t)a]) & 0x0f);
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switchProOutput.ledReportChanged = true;
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}
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/**
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* Toggle the specific ::LEDEnum.
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* @param a The ::LEDEnum to toggle.
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*/
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void setLedToggle(LEDEnum a) {
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switchProOutput.ledMask ^= (uint8_t)(pgm_read_byte(&SWITCH_PRO_LEDS[(uint8_t)a]) & 0x0f);
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switchProOutput.ledReportChanged = true;
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}
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/** Turn home LED off. */
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void setLedHomeOff() {
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switchProOutput.ledHome = false;
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switchProOutput.ledHomeReportChanged = true;
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}
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/** Turn home LED on. */
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void setLedHomeOn() {
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switchProOutput.ledHome = true;
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switchProOutput.ledHomeReportChanged = true;
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}
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/** Toggle home LED. */
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void setLedHomeToggle() {
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switchProOutput.ledHome = !switchProOutput.ledHome;
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switchProOutput.ledHomeReportChanged = true;
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}
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/** Get the incoming message count. */
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uint16_t getMessageCounter() {
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return message_counter;
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}
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/**
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* Return the battery level of the Switch Pro Controller.
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* @return The battery level as a bit mask according to ::SwitchProBatteryLevel:
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* 4=full, 3=medium, 2=low, 1=critical, 0=empty.
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*/
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uint8_t getBatteryLevel() {
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return switchProData.battery_level >> 1;
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}
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/**
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* Returns whenever the controller is plugged in and charging.
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* @return Returns True if the controller is charging.
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*/
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bool isCharging() {
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return switchProData.battery_level & 0x01;
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}
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protected:
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/**
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* Used to parse data sent from the Switch Pro controller.
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* @param len Length of the data.
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* @param buf Pointer to the data buffer.
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*/
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void Parse(uint8_t len, uint8_t *buf);
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/** Used to reset the different buffers to their default values */
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void Reset();
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/**
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* Send the output to the Switch Pro controller. This is implemented in SwitchProBT.h and SwitchProUSB.h.
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* @param data Pointer to buffer to send by the derived class.
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* @param len Length of buffer.
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*/
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virtual void sendOutputReport(uint8_t *data, uint8_t len) = 0;
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/** Used to send a handshake command via USB before disabling the timeout. */
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virtual void sendHandshake() {}
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/**
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* Needed to disable USB timeout for the controller,
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* so it sends out data without the host having to send data continuously.
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*/
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virtual void disableTimeout() {}
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/** Allow derived classes to access the output variables. */
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SwitchProOutput switchProOutput;
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private:
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static int8_t getButtonIndexSwitchPro(ButtonEnum b);
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void sendOutputCmd();
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void sendRumbleOutputReport();
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SwitchProData switchProData;
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SwitchProButtons oldButtonState, buttonClickState;
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uint16_t message_counter = 0;
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uint8_t output_sequence_counter : 4;
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uint32_t rumble_on_timer = 0;
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};
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#endif
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