Move USB Host Shield and Arduino core to `lib/` (#13973)

1 files changed, 634 insertions, 0 deletions

diff --git a/lib/usbhost/USB_Host_Shield_2.0/PS3BT.cpp b/lib/usbhost/USB_Host_Shield_2.0/PS3BT.cpp
new file mode 100644
index 000000000..235092e0a
--- /dev/null
+++ b/lib/usbhost/USB_Host_Shield_2.0/PS3BT.cpp
@@ -0,0 +1,634 @@
+/* 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
+ */
+
+#include "PS3BT.h"
+// To enable serial debugging see "settings.h"
+//#define EXTRADEBUG // Uncomment to get even more debugging data
+//#define PRINTREPORT // Uncomment to print the report send by the PS3 Controllers
+
+PS3BT::PS3BT(BTD *p, uint8_t btadr5, uint8_t btadr4, uint8_t btadr3, uint8_t btadr2, uint8_t btadr1, uint8_t btadr0) :
+BluetoothService(p) // Pointer to USB class instance - mandatory
+{
+        pBtd->my_bdaddr[5] = btadr5; // Change to your dongle's Bluetooth address instead
+        pBtd->my_bdaddr[4] = btadr4;
+        pBtd->my_bdaddr[3] = btadr3;
+        pBtd->my_bdaddr[2] = btadr2;
+        pBtd->my_bdaddr[1] = btadr1;
+        pBtd->my_bdaddr[0] = btadr0;
+
+        HIDBuffer[0] = 0x52; // HID BT Set_report (0x50) | Report Type (Output 0x02)
+        HIDBuffer[1] = 0x01; // Report ID
+
+        // Needed for PS3 Move Controller commands to work via bluetooth
+        HIDMoveBuffer[0] = 0xA2; // HID BT DATA_request (0xA0) | Report Type (Output 0x02)
+        HIDMoveBuffer[1] = 0x02; // Report ID
+
+        /* Set device cid for the control and intterrupt channelse - LSB */
+        control_dcid[0] = 0x40; // 0x0040
+        control_dcid[1] = 0x00;
+        interrupt_dcid[0] = 0x41; // 0x0041
+        interrupt_dcid[1] = 0x00;
+
+        Reset();
+}
+
+bool PS3BT::getButtonPress(ButtonEnum b) {
+        return (ButtonState & pgm_read_dword(&PS3_BUTTONS[(uint8_t)b]));
+}
+
+bool PS3BT::getButtonClick(ButtonEnum b) {
+        uint32_t button = pgm_read_dword(&PS3_BUTTONS[(uint8_t)b]);
+        bool click = (ButtonClickState & button);
+        ButtonClickState &= ~button; // Clear "click" event
+        return click;
+}
+
+uint8_t PS3BT::getAnalogButton(ButtonEnum a) {
+        return (uint8_t)(l2capinbuf[pgm_read_byte(&PS3_ANALOG_BUTTONS[(uint8_t)a])]);
+}
+
+uint8_t PS3BT::getAnalogHat(AnalogHatEnum a) {
+        return (uint8_t)(l2capinbuf[(uint8_t)a + 15]);
+}
+
+int16_t PS3BT::getSensor(SensorEnum a) {
+        if(PS3Connected) {
+                if(a == aX || a == aY || a == aZ || a == gZ)
+                        return ((l2capinbuf[(uint16_t)a] << 8) | l2capinbuf[(uint16_t)a + 1]);
+                else
+                        return 0;
+        } else if(PS3MoveConnected) {
+                if(a == mXmove || a == mYmove) // These are all 12-bits long
+                        return (((l2capinbuf[(uint16_t)a] & 0x0F) << 8) | (l2capinbuf[(uint16_t)a + 1]));
+                else if(a == mZmove || a == tempMove) // The tempearature is also 12 bits long
+                        return ((l2capinbuf[(uint16_t)a] << 4) | ((l2capinbuf[(uint16_t)a + 1] & 0xF0) >> 4));
+                else // aXmove, aYmove, aZmove, gXmove, gYmove and gZmove
+                        return (l2capinbuf[(uint16_t)a] | (l2capinbuf[(uint16_t)a + 1] << 8));
+        } else
+                return 0;
+}
+
+double PS3BT::getAngle(AngleEnum a) {
+        double accXval, accYval, accZval;
+
+        if(PS3Connected) {
+                // Data for the Kionix KXPC4 used in the DualShock 3
+                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(PS3MoveConnected) {
+                // It's a Kionix KXSC4 inside the Motion controller
+                const uint16_t zeroG = 0x8000;
+                accXval = -(int16_t)(getSensor(aXmove) - zeroG);
+                accYval = (int16_t)(getSensor(aYmove) - zeroG);
+                accZval = (int16_t)(getSensor(aZmove) - zeroG);
+        } else
+                return 0;
+
+        // 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)
+                return (atan2(accYval, accZval) + PI) * RAD_TO_DEG;
+        else
+                return (atan2(accXval, accZval) + PI) * RAD_TO_DEG;
+}
+
+double PS3BT::get9DOFValues(SensorEnum a) { // Thanks to Manfred Piendl
+        if(!PS3MoveConnected)
+                return 0;
+        int16_t value = getSensor(a);
+        if(a == mXmove || a == mYmove || a == mZmove) {
+                if(value > 2047)
+                        value -= 0x1000;
+                return (double)value / 3.2; // unit: muT = 10^(-6) Tesla
+        } else if(a == aXmove || a == aYmove || a == aZmove) {
+                if(value < 0)
+                        value += 0x8000;
+                else
+                        value -= 0x8000;
+                return (double)value / 442.0; // unit: m/(s^2)
+        } else if(a == gXmove || a == gYmove || a == gZmove) {
+                if(value < 0)
+                        value += 0x8000;
+                else
+                        value -= 0x8000;
+                if(a == gXmove)
+                        return (double)value / 11.6; // unit: deg/s
+                else if(a == gYmove)
+                        return (double)value / 11.2; // unit: deg/s
+                else // gZmove
+                        return (double)value / 9.6; // unit: deg/s
+        } else
+                return 0;
+}
+
+String PS3BT::getTemperature() {
+        if(PS3MoveConnected) {
+                int16_t input = getSensor(tempMove);
+
+                String output = String(input / 100);
+                output += ".";
+                if(input % 100 < 10)
+                        output += "0";
+                output += String(input % 100);
+
+                return output;
+        } else
+                return "Error";
+}
+
+bool PS3BT::getStatus(StatusEnum c) {
+        return (l2capinbuf[(uint16_t)c >> 8] == ((uint8_t)c & 0xff));
+}
+
+void PS3BT::printStatusString() {
+        char statusOutput[100]; // Max string length plus null character
+        if(PS3Connected || PS3NavigationConnected) {
+                strcpy_P(statusOutput, PSTR("ConnectionStatus: "));
+
+                if(getStatus(Plugged)) strcat_P(statusOutput, PSTR("Plugged"));
+                else if(getStatus(Unplugged)) strcat_P(statusOutput, PSTR("Unplugged"));
+                else strcat_P(statusOutput, PSTR("Error"));
+
+                strcat_P(statusOutput, PSTR(" - PowerRating: "));
+
+                if(getStatus(Charging)) strcat_P(statusOutput, PSTR("Charging"));
+                else if(getStatus(NotCharging)) strcat_P(statusOutput, PSTR("Not Charging"));
+                else if(getStatus(Shutdown)) strcat_P(statusOutput, PSTR("Shutdown"));
+                else if(getStatus(Dying)) strcat_P(statusOutput, PSTR("Dying"));
+                else if(getStatus(Low)) strcat_P(statusOutput, PSTR("Low"));
+                else if(getStatus(High)) strcat_P(statusOutput, PSTR("High"));
+                else if(getStatus(Full)) strcat_P(statusOutput, PSTR("Full"));
+                else strcat_P(statusOutput, PSTR("Error"));
+
+                strcat_P(statusOutput, PSTR(" - WirelessStatus: "));
+
+                if(getStatus(CableRumble)) strcat_P(statusOutput, PSTR("Cable - Rumble is on"));
+                else if(getStatus(Cable)) strcat_P(statusOutput, PSTR("Cable - Rumble is off"));
+                else if(getStatus(BluetoothRumble)) strcat_P(statusOutput, PSTR("Bluetooth - Rumble is on"));
+                else if(getStatus(Bluetooth)) strcat_P(statusOutput, PSTR("Bluetooth - Rumble is off"));
+                else strcat_P(statusOutput, PSTR("Error"));
+        } else if(PS3MoveConnected) {
+                strcpy_P(statusOutput, PSTR("PowerRating: "));
+
+                if(getStatus(MoveCharging)) strcat_P(statusOutput, PSTR("Charging"));
+                else if(getStatus(MoveNotCharging)) strcat_P(statusOutput, PSTR("Not Charging"));
+                else if(getStatus(MoveShutdown)) strcat_P(statusOutput, PSTR("Shutdown"));
+                else if(getStatus(MoveDying)) strcat_P(statusOutput, PSTR("Dying"));
+                else if(getStatus(MoveLow)) strcat_P(statusOutput, PSTR("Low"));
+                else if(getStatus(MoveHigh)) strcat_P(statusOutput, PSTR("High"));
+                else if(getStatus(MoveFull)) strcat_P(statusOutput, PSTR("Full"));
+                else strcat_P(statusOutput, PSTR("Error"));
+        } else
+                strcpy_P(statusOutput, PSTR("Error"));
+
+        USB_HOST_SERIAL.write(statusOutput);
+}
+
+void PS3BT::Reset() {
+        PS3Connected = false;
+        PS3MoveConnected = false;
+        PS3NavigationConnected = false;
+        activeConnection = false;
+        l2cap_event_flag = 0; // Reset flags
+        l2cap_state = L2CAP_WAIT;
+
+        // Needed for PS3 Dualshock Controller commands to work via Bluetooth
+        for(uint8_t i = 0; i < PS3_REPORT_BUFFER_SIZE; i++)
+                HIDBuffer[i + 2] = pgm_read_byte(&PS3_REPORT_BUFFER[i]); // First two bytes reserved for report type and ID
+}
+
+void PS3BT::disconnect() { // Use this void to disconnect any of the controllers
+        // First the HID interrupt channel has to be disconnected, then the HID control channel and finally the HCI connection
+        pBtd->l2cap_disconnection_request(hci_handle, ++identifier, interrupt_scid, interrupt_dcid);
+        Reset();
+        l2cap_state = L2CAP_INTERRUPT_DISCONNECT;
+}
+
+void PS3BT::ACLData(uint8_t* ACLData) {
+        if(!pBtd->l2capConnectionClaimed && !PS3Connected && !PS3MoveConnected && !PS3NavigationConnected && !activeConnection && !pBtd->connectToWii && !pBtd->incomingWii && !pBtd->pairWithWii) {
+                if(ACLData[8] == L2CAP_CMD_CONNECTION_REQUEST) {
+                        if((ACLData[12] | (ACLData[13] << 8)) == HID_CTRL_PSM) {
+                                pBtd->l2capConnectionClaimed = true; // Claim that the incoming connection belongs to this service
+                                activeConnection = true;
+                                hci_handle = pBtd->hci_handle; // Store the HCI Handle for the connection
+                                l2cap_state = L2CAP_WAIT;
+                                remote_name_first = pBtd->remote_name[0]; // Store the first letter in remote name for the connection
+#ifdef DEBUG_USB_HOST
+                                if(pBtd->hci_version < 3) { // Check the HCI Version of the Bluetooth dongle
+                                        Notify(PSTR("\r\nYour dongle may not support reading the analog buttons, sensors and status\r\nYour HCI Version is: "), 0x80);
+                                        Notify(pBtd->hci_version, 0x80);
+                                        Notify(PSTR("\r\nBut should be at least 3\r\nThis means that it doesn't support Bluetooth Version 2.0+EDR"), 0x80);
+                                }
+#endif
+                        }
+                }
+        }
+
+        if(checkHciHandle(ACLData, hci_handle)) { // acl_handle_ok
+                memcpy(l2capinbuf, ACLData, BULK_MAXPKTSIZE);
+                if((l2capinbuf[6] | (l2capinbuf[7] << 8)) == 0x0001U) { // l2cap_control - Channel ID for ACL-U
+                        if(l2capinbuf[8] == L2CAP_CMD_COMMAND_REJECT) {
+#ifdef DEBUG_USB_HOST
+                                Notify(PSTR("\r\nL2CAP Command Rejected - Reason: "), 0x80);
+                                D_PrintHex<uint8_t > (l2capinbuf[13], 0x80);
+                                Notify(PSTR(" "), 0x80);
+                                D_PrintHex<uint8_t > (l2capinbuf[12], 0x80);
+                                Notify(PSTR(" Data: "), 0x80);
+                                D_PrintHex<uint8_t > (l2capinbuf[17], 0x80);
+                                Notify(PSTR(" "), 0x80);
+                                D_PrintHex<uint8_t > (l2capinbuf[16], 0x80);
+                                Notify(PSTR(" "), 0x80);
+                                D_PrintHex<uint8_t > (l2capinbuf[15], 0x80);
+                                Notify(PSTR(" "), 0x80);
+                                D_PrintHex<uint8_t > (l2capinbuf[14], 0x80);
+#endif
+                        } else if(l2capinbuf[8] == L2CAP_CMD_CONNECTION_REQUEST) {
+#ifdef EXTRADEBUG
+                                Notify(PSTR("\r\nL2CAP Connection Request - PSM: "), 0x80);
+                                D_PrintHex<uint8_t > (l2capinbuf[13], 0x80);
+                                Notify(PSTR(" "), 0x80);
+                                D_PrintHex<uint8_t > (l2capinbuf[12], 0x80);
+                                Notify(PSTR(" SCID: "), 0x80);
+                                D_PrintHex<uint8_t > (l2capinbuf[15], 0x80);
+                                Notify(PSTR(" "), 0x80);
+                                D_PrintHex<uint8_t > (l2capinbuf[14], 0x80);
+                                Notify(PSTR(" Identifier: "), 0x80);
+                                D_PrintHex<uint8_t > (l2capinbuf[9], 0x80);
+#endif
+                                if((l2capinbuf[12] | (l2capinbuf[13] << 8)) == HID_CTRL_PSM) {
+                                        identifier = l2capinbuf[9];
+                                        control_scid[0] = l2capinbuf[14];
+                                        control_scid[1] = l2capinbuf[15];
+                                        l2cap_set_flag(L2CAP_FLAG_CONNECTION_CONTROL_REQUEST);
+                                } else if((l2capinbuf[12] | (l2capinbuf[13] << 8)) == HID_INTR_PSM) {
+                                        identifier = l2capinbuf[9];
+                                        interrupt_scid[0] = l2capinbuf[14];
+                                        interrupt_scid[1] = l2capinbuf[15];
+                                        l2cap_set_flag(L2CAP_FLAG_CONNECTION_INTERRUPT_REQUEST);
+                                }
+                        } else if(l2capinbuf[8] == L2CAP_CMD_CONFIG_RESPONSE) {
+                                if((l2capinbuf[16] | (l2capinbuf[17] << 8)) == 0x0000) { // Success
+                                        if(l2capinbuf[12] == control_dcid[0] && l2capinbuf[13] == control_dcid[1]) {
+                                                //Notify(PSTR("\r\nHID Control Configuration Complete"), 0x80);
+                                                l2cap_set_flag(L2CAP_FLAG_CONFIG_CONTROL_SUCCESS);
+                                        } else if(l2capinbuf[12] == interrupt_dcid[0] && l2capinbuf[13] == interrupt_dcid[1]) {
+                                                //Notify(PSTR("\r\nHID Interrupt Configuration Complete"), 0x80);
+                                                l2cap_set_flag(L2CAP_FLAG_CONFIG_INTERRUPT_SUCCESS);
+                                        }
+                                }
+                        } else if(l2capinbuf[8] == L2CAP_CMD_CONFIG_REQUEST) {
+                                if(l2capinbuf[12] == control_dcid[0] && l2capinbuf[13] == control_dcid[1]) {
+                                        //Notify(PSTR("\r\nHID Control Configuration Request"), 0x80);
+                                        pBtd->l2cap_config_response(hci_handle, l2capinbuf[9], control_scid);
+                                } else if(l2capinbuf[12] == interrupt_dcid[0] && l2capinbuf[13] == interrupt_dcid[1]) {
+                                        //Notify(PSTR("\r\nHID Interrupt Configuration Request"), 0x80);
+                                        pBtd->l2cap_config_response(hci_handle, l2capinbuf[9], interrupt_scid);
+                                }
+                        } else if(l2capinbuf[8] == L2CAP_CMD_DISCONNECT_REQUEST) {
+                                if(l2capinbuf[12] == control_dcid[0] && l2capinbuf[13] == control_dcid[1]) {
+#ifdef DEBUG_USB_HOST
+                                        Notify(PSTR("\r\nDisconnect Request: Control Channel"), 0x80);
+#endif
+                                        identifier = l2capinbuf[9];
+                                        pBtd->l2cap_disconnection_response(hci_handle, identifier, control_dcid, control_scid);
+                                        Reset();
+                                } else if(l2capinbuf[12] == interrupt_dcid[0] && l2capinbuf[13] == interrupt_dcid[1]) {
+#ifdef DEBUG_USB_HOST
+                                        Notify(PSTR("\r\nDisconnect Request: Interrupt Channel"), 0x80);
+#endif
+                                        identifier = l2capinbuf[9];
+                                        pBtd->l2cap_disconnection_response(hci_handle, identifier, interrupt_dcid, interrupt_scid);
+                                        Reset();
+                                }
+                        } else if(l2capinbuf[8] == L2CAP_CMD_DISCONNECT_RESPONSE) {
+                                if(l2capinbuf[12] == control_scid[0] && l2capinbuf[13] == control_scid[1]) {
+                                        //Notify(PSTR("\r\nDisconnect Response: Control Channel"), 0x80);
+                                        identifier = l2capinbuf[9];
+                                        l2cap_set_flag(L2CAP_FLAG_DISCONNECT_CONTROL_RESPONSE);
+                                } else if(l2capinbuf[12] == interrupt_scid[0] && l2capinbuf[13] == interrupt_scid[1]) {
+                                        //Notify(PSTR("\r\nDisconnect Response: Interrupt Channel"), 0x80);
+                                        identifier = l2capinbuf[9];
+                                        l2cap_set_flag(L2CAP_FLAG_DISCONNECT_INTERRUPT_RESPONSE);
+                                }
+                        }
+#ifdef EXTRADEBUG
+                        else {
+                                Notify(PSTR("\r\nL2CAP Unknown Signaling Command: "), 0x80);
+                                D_PrintHex<uint8_t > (l2capinbuf[8], 0x80);
+                        }
+#endif
+                } else if(l2capinbuf[6] == interrupt_dcid[0] && l2capinbuf[7] == interrupt_dcid[1]) { // l2cap_interrupt
+                        //Notify(PSTR("\r\nL2CAP Interrupt"), 0x80);
+                        if(PS3Connected || PS3MoveConnected || PS3NavigationConnected) {
+                                /* Read Report */
+                                if(l2capinbuf[8] == 0xA1) { // HID_THDR_DATA_INPUT
+                                        lastMessageTime = millis(); // Store the last message time
+
+                                        if(PS3Connected || PS3NavigationConnected)
+                                                ButtonState = (uint32_t)(l2capinbuf[11] | ((uint16_t)l2capinbuf[12] << 8) | ((uint32_t)l2capinbuf[13] << 16));
+                                        else if(PS3MoveConnected)
+                                                ButtonState = (uint32_t)(l2capinbuf[10] | ((uint16_t)l2capinbuf[11] << 8) | ((uint32_t)l2capinbuf[12] << 16));
+
+                                        //Notify(PSTR("\r\nButtonState", 0x80);
+                                        //PrintHex<uint32_t>(ButtonState, 0x80);
+
+                                        if(ButtonState != OldButtonState) {
+                                                ButtonClickState = ButtonState & ~OldButtonState; // Update click state variable
+                                                OldButtonState = ButtonState;
+                                        }
+
+#ifdef PRINTREPORT // Uncomment "#define PRINTREPORT" to print the report send by the PS3 Controllers
+                                        for(uint8_t i = 10; i < 58; i++) {
+                                                D_PrintHex<uint8_t > (l2capinbuf[i], 0x80);
+                                                Notify(PSTR(" "), 0x80);
+                                        }
+                                        Notify(PSTR("\r\n"), 0x80);
+#endif
+                                }
+                        }
+                }
+                L2CAP_task();
+        }
+}
+
+void PS3BT::L2CAP_task() {
+        switch(l2cap_state) {
+                case L2CAP_WAIT:
+                        if(l2cap_check_flag(L2CAP_FLAG_CONNECTION_CONTROL_REQUEST)) {
+#ifdef DEBUG_USB_HOST
+                                Notify(PSTR("\r\nHID Control Incoming Connection Request"), 0x80);
+#endif
+                                pBtd->l2cap_connection_response(hci_handle, identifier, control_dcid, control_scid, PENDING);
+                                delay(1);
+                                pBtd->l2cap_connection_response(hci_handle, identifier, control_dcid, control_scid, SUCCESSFUL);
+                                identifier++;
+                                delay(1);
+                                pBtd->l2cap_config_request(hci_handle, identifier, control_scid);
+                                l2cap_state = L2CAP_CONTROL_SUCCESS;
+                        }
+                        break;
+
+                case L2CAP_CONTROL_SUCCESS:
+                        if(l2cap_check_flag(L2CAP_FLAG_CONFIG_CONTROL_SUCCESS)) {
+#ifdef DEBUG_USB_HOST
+                                Notify(PSTR("\r\nHID Control Successfully Configured"), 0x80);
+#endif
+                                l2cap_state = L2CAP_INTERRUPT_SETUP;
+                        }
+                        break;
+
+                case L2CAP_INTERRUPT_SETUP:
+                        if(l2cap_check_flag(L2CAP_FLAG_CONNECTION_INTERRUPT_REQUEST)) {
+#ifdef DEBUG_USB_HOST
+                                Notify(PSTR("\r\nHID Interrupt Incoming Connection Request"), 0x80);
+#endif
+                                pBtd->l2cap_connection_response(hci_handle, identifier, interrupt_dcid, interrupt_scid, PENDING);
+                                delay(1);
+                                pBtd->l2cap_connection_response(hci_handle, identifier, interrupt_dcid, interrupt_scid, SUCCESSFUL);
+                                identifier++;
+                                delay(1);
+                                pBtd->l2cap_config_request(hci_handle, identifier, interrupt_scid);
+
+                                l2cap_state = L2CAP_INTERRUPT_CONFIG_REQUEST;
+                        }
+                        break;
+
+                case L2CAP_INTERRUPT_CONFIG_REQUEST:
+                        if(l2cap_check_flag(L2CAP_FLAG_CONFIG_INTERRUPT_SUCCESS)) { // Now the HID channels is established
+#ifdef DEBUG_USB_HOST
+                                Notify(PSTR("\r\nHID Interrupt Successfully Configured"), 0x80);
+#endif
+                                if(remote_name_first == 'M') { // First letter in Motion Controller ('M')
+                                        memset(l2capinbuf, 0, BULK_MAXPKTSIZE); // Reset l2cap in buffer as it sometimes read it as a button has been pressed
+                                        l2cap_state = TURN_ON_LED;
+                                } else
+                                        l2cap_state = PS3_ENABLE_SIXAXIS;
+                                timer = millis();
+                        }
+                        break;
+
+                        /* These states are handled in Run() */
+
+                case L2CAP_INTERRUPT_DISCONNECT:
+                        if(l2cap_check_flag(L2CAP_FLAG_DISCONNECT_INTERRUPT_RESPONSE)) {
+#ifdef DEBUG_USB_HOST
+                                Notify(PSTR("\r\nDisconnected Interrupt Channel"), 0x80);
+#endif
+                                identifier++;
+                                pBtd->l2cap_disconnection_request(hci_handle, identifier, control_scid, control_dcid);
+                                l2cap_state = L2CAP_CONTROL_DISCONNECT;
+                        }
+                        break;
+
+                case L2CAP_CONTROL_DISCONNECT:
+                        if(l2cap_check_flag(L2CAP_FLAG_DISCONNECT_CONTROL_RESPONSE)) {
+#ifdef DEBUG_USB_HOST
+                                Notify(PSTR("\r\nDisconnected Control Channel"), 0x80);
+#endif
+                                pBtd->hci_disconnect(hci_handle);
+                                hci_handle = -1; // Reset handle
+                                l2cap_event_flag = 0; // Reset flags
+                                l2cap_state = L2CAP_WAIT;
+                        }
+                        break;
+        }
+}
+
+void PS3BT::Run() {
+        switch(l2cap_state) {
+                case PS3_ENABLE_SIXAXIS:
+                        if(millis() - timer > 1000) { // loop 1 second before sending the command
+                                memset(l2capinbuf, 0, BULK_MAXPKTSIZE); // Reset l2cap in buffer as it sometimes read it as a button has been pressed
+                                for(uint8_t i = 15; i < 19; i++)
+                                        l2capinbuf[i] = 0x7F; // Set the analog joystick values to center position
+                                enable_sixaxis();
+                                l2cap_state = TURN_ON_LED;
+                                timer = millis();
+                        }
+                        break;
+
+                case TURN_ON_LED:
+                        if(millis() - timer > 1000) { // loop 1 second before sending the command
+                                if(remote_name_first == 'P') { // First letter in PLAYSTATION(R)3 Controller ('P')
+#ifdef DEBUG_USB_HOST
+                                        Notify(PSTR("\r\nDualshock 3 Controller Enabled\r\n"), 0x80);
+#endif
+                                        PS3Connected = true;
+                                } else if(remote_name_first == 'N') { // First letter in Navigation Controller ('N')
+#ifdef DEBUG_USB_HOST
+                                        Notify(PSTR("\r\nNavigation Controller Enabled\r\n"), 0x80);
+#endif
+                                        PS3NavigationConnected = true;
+                                } else if(remote_name_first == 'M') { // First letter in Motion Controller ('M')
+                                        timer = millis();
+#ifdef DEBUG_USB_HOST
+                                        Notify(PSTR("\r\nMotion Controller Enabled\r\n"), 0x80);
+#endif
+                                        PS3MoveConnected = true;
+                                }
+                                ButtonState = 0; // Clear all values
+                                OldButtonState = 0;
+                                ButtonClickState = 0;
+
+                                onInit(); // Turn on the LED on the controller
+                                l2cap_state = L2CAP_DONE;
+                        }
+                        break;
+
+                case L2CAP_DONE:
+                        if(PS3MoveConnected) { // The Bulb and rumble values, has to be send at approximately every 5th second for it to stay on
+                                if(millis() - timer > 4000) { // Send at least every 4th second
+                                        HIDMove_Command(HIDMoveBuffer, HID_BUFFERSIZE); // The Bulb and rumble values, has to be written again and again, for it to stay turned on
+                                        timer = millis();
+                                }
+                        }
+                        break;
+        }
+}
+
+/************************************************************/
+/*                    HID Commands                          */
+/************************************************************/
+
+// Playstation Sixaxis Dualshock and Navigation Controller commands
+
+void PS3BT::HID_Command(uint8_t* data, uint8_t nbytes) {
+        if(millis() - timerHID <= 150) // Check if is has been more than 150ms since last command
+                delay((uint32_t)(150 - (millis() - timerHID))); // There have to be a delay between commands
+        pBtd->L2CAP_Command(hci_handle, data, nbytes, control_scid[0], control_scid[1]); // Both the Navigation and Dualshock controller sends data via the control channel
+        timerHID = millis();
+}
+
+void PS3BT::setAllOff() {
+        HIDBuffer[3] = 0x00; // Rumble bytes
+        HIDBuffer[4] = 0x00;
+        HIDBuffer[5] = 0x00;
+        HIDBuffer[6] = 0x00;
+
+        HIDBuffer[11] = 0x00; // LED byte
+
+        HID_Command(HIDBuffer, HID_BUFFERSIZE);
+}
+
+void PS3BT::setRumbleOff() {
+        HIDBuffer[3] = 0x00;
+        HIDBuffer[4] = 0x00;
+        HIDBuffer[5] = 0x00;
+        HIDBuffer[6] = 0x00;
+
+        HID_Command(HIDBuffer, HID_BUFFERSIZE);
+}
+
+void PS3BT::setRumbleOn(RumbleEnum mode) {
+        uint8_t power[2] = {0xff, 0x00}; // Defaults to RumbleLow
+        if(mode == RumbleHigh) {
+                power[0] = 0x00;
+                power[1] = 0xff;
+        }
+        setRumbleOn(0xfe, power[0], 0xfe, power[1]);
+}
+
+void PS3BT::setRumbleOn(uint8_t rightDuration, uint8_t rightPower, uint8_t leftDuration, uint8_t leftPower) {
+        HIDBuffer[3] = rightDuration;
+        HIDBuffer[4] = rightPower;
+        HIDBuffer[5] = leftDuration;
+        HIDBuffer[6] = leftPower;
+        HID_Command(HIDBuffer, HID_BUFFERSIZE);
+}
+
+void PS3BT::setLedRaw(uint8_t value) {
+        HIDBuffer[11] = value << 1;
+        HID_Command(HIDBuffer, HID_BUFFERSIZE);
+}
+
+void PS3BT::setLedOff(LEDEnum a) {
+        HIDBuffer[11] &= ~((uint8_t)((pgm_read_byte(&PS3_LEDS[(uint8_t)a]) & 0x0f) << 1));
+        HID_Command(HIDBuffer, HID_BUFFERSIZE);
+}
+
+void PS3BT::setLedOn(LEDEnum a) {
+        if(a == OFF)
+                setLedRaw(0);
+        else {
+                HIDBuffer[11] |= (uint8_t)((pgm_read_byte(&PS3_LEDS[(uint8_t)a]) & 0x0f) << 1);
+                HID_Command(HIDBuffer, HID_BUFFERSIZE);
+        }
+}
+
+void PS3BT::setLedToggle(LEDEnum a) {
+        HIDBuffer[11] ^= (uint8_t)((pgm_read_byte(&PS3_LEDS[(uint8_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 Bluetooth
+        uint8_t cmd_buf[6];
+        cmd_buf[0] = 0x53; // HID BT Set_report (0x50) | Report Type (Feature 0x03)
+        cmd_buf[1] = 0xF4; // Report ID
+        cmd_buf[2] = 0x42; // Special PS3 Controller enable commands
+        cmd_buf[3] = 0x03;
+        cmd_buf[4] = 0x00;
+        cmd_buf[5] = 0x00;
+
+        HID_Command(cmd_buf, 6);
+}
+
+// Playstation Move Controller commands
+
+void PS3BT::HIDMove_Command(uint8_t* data, uint8_t nbytes) {
+        if(millis() - timerHID <= 150)// Check if is has been less than 150ms since last command
+                delay((uint32_t)(150 - (millis() - timerHID))); // There have to be a delay between commands
+        pBtd->L2CAP_Command(hci_handle, data, nbytes, interrupt_scid[0], interrupt_scid[1]); // The Move controller sends it's data via the intterrupt channel
+        timerHID = millis();
+}
+
+void PS3BT::moveSetBulb(uint8_t r, uint8_t g, uint8_t b) { // Use this to set the Color using RGB values
+        // Set the Bulb's values into the write buffer
+        HIDMoveBuffer[3] = r;
+        HIDMoveBuffer[4] = g;
+        HIDMoveBuffer[5] = b;
+
+        HIDMove_Command(HIDMoveBuffer, HID_BUFFERSIZE);
+}
+
+void PS3BT::moveSetBulb(ColorsEnum color) { // Use this to set the Color using the predefined colors in enum
+        moveSetBulb((uint8_t)(color >> 16), (uint8_t)(color >> 8), (uint8_t)(color));
+}
+
+void PS3BT::moveSetRumble(uint8_t rumble) {
+#ifdef DEBUG_USB_HOST
+        if(rumble < 64 && rumble != 0) // The rumble value has to at least 64, or approximately 25% (64/255*100)
+                Notify(PSTR("\r\nThe rumble value has to at least 64, or approximately 25%"), 0x80);
+#endif
+        // Set the rumble value into the write buffer
+        HIDMoveBuffer[7] = rumble;
+
+        HIDMove_Command(HIDMoveBuffer, HID_BUFFERSIZE);
+}
+
+void PS3BT::onInit() {
+        if(pFuncOnInit)
+                pFuncOnInit(); // Call the user function
+        else {
+                if(PS3MoveConnected)
+                        moveSetBulb(Red);
+                else // Dualshock 3 or Navigation controller
+                        setLedOn(LED1);
+        }
+}