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1/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
2
3 This software may be distributed and modified under the terms of the GNU
4 General Public License version 2 (GPL2) as published by the Free Software
5 Foundation and appearing in the file GPL2.TXT included in the packaging of
6 this file. Please note that GPL2 Section 2[b] requires that all works based
7 on this software must also be made publicly available under the terms of
8 the GPL2 ("Copyleft").
9
10 Contact information
11 -------------------
12
13 Kristian Lauszus, TKJ Electronics
14 Web : http://www.tkjelectronics.com
15 e-mail : kristianl@tkjelectronics.com
16 */
17
18#ifndef _ps3bt_h_
19#define _ps3bt_h_
20
21#include "BTD.h"
22#include "PS3Enums.h"
23
24#define HID_BUFFERSIZE 50 // Size of the buffer for the Playstation Motion Controller
25
26/**
27 * This BluetoothService class implements support for all the official PS3 Controllers:
28 * Dualshock 3, Navigation or a Motion controller via Bluetooth.
29 *
30 * Information about the protocol can be found at the wiki: https://github.com/felis/USB_Host_Shield_2.0/wiki/PS3-Information.
31 */
32class PS3BT : public BluetoothService {
33public:
34 /**
35 * Constructor for the PS3BT class.
36 * @param pBtd Pointer to BTD class instance.
37 * @param btadr5,btadr4,btadr3,btadr2,btadr1,btadr0
38 * Pass your dongles Bluetooth address into the constructor,
39 * This will set BTD#my_bdaddr, so you don't have to plug in the dongle before pairing with your controller.
40 */
41 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);
42
43 /** @name BluetoothService implementation */
44 /** Used this to disconnect any of the controllers. */
45 void disconnect();
46 /**@}*/
47
48 /** @name PS3 Controller functions */
49 /**
50 * getButtonPress(ButtonEnum b) will return true as long as the button is held down.
51 *
52 * While getButtonClick(ButtonEnum b) will only return it once.
53 *
54 * So you instance if you need to increase a variable once you would use getButtonClick(ButtonEnum b),
55 * but if you need to drive a robot forward you would use getButtonPress(ButtonEnum b).
56 * @param b ::ButtonEnum to read.
57 * @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.
58 */
59 bool getButtonPress(ButtonEnum b);
60 bool getButtonClick(ButtonEnum b);
61 /**@}*/
62 /** @name PS3 Controller functions */
63 /**
64 * Used to get the analog value from button presses.
65 * @param a The ::ButtonEnum to read.
66 * The supported buttons are:
67 * ::UP, ::RIGHT, ::DOWN, ::LEFT, ::L1, ::L2, ::R1, ::R2,
68 * ::TRIANGLE, ::CIRCLE, ::CROSS, ::SQUARE, and ::T.
69 * @return Analog value in the range of 0-255.
70 */
71 uint8_t getAnalogButton(ButtonEnum a);
72 /**
73 * Used to read the analog joystick.
74 * @param a ::LeftHatX, ::LeftHatY, ::RightHatX, and ::RightHatY.
75 * @return Return the analog value in the range of 0-255.
76 */
77 uint8_t getAnalogHat(AnalogHatEnum a);
78 /**
79 * Used to read the sensors inside the Dualshock 3 and Move controller.
80 * @param a
81 * The Dualshock 3 has a 3-axis accelerometer and a 1-axis gyro inside.
82 * The Move controller has a 3-axis accelerometer, a 3-axis gyro, a 3-axis magnetometer
83 * and a temperature sensor inside.
84 * @return Return the raw sensor value.
85 */
86 int16_t getSensor(SensorEnum a);
87 /**
88 * Use this to get ::Pitch and ::Roll calculated using the accelerometer.
89 * @param a Either ::Pitch or ::Roll.
90 * @return Return the angle in the range of 0-360.
91 */
92 double getAngle(AngleEnum a);
93 /**
94 * Read the sensors inside the Move controller.
95 * @param a ::aXmove, ::aYmove, ::aZmove, ::gXmove, ::gYmove, ::gZmove, ::mXmove, ::mYmove, and ::mXmove.
96 * @return The value in SI units.
97 */
98 double get9DOFValues(SensorEnum a);
99 /**
100 * Get the status from the controller.
101 * @param c The ::StatusEnum you want to read.
102 * @return True if correct and false if not.
103 */
104 bool getStatus(StatusEnum c);
105 /** Read all the available statuses from the controller and prints it as a nice formated string. */
106 void printStatusString();
107 /**
108 * Read the temperature from the Move controller.
109 * @return The temperature in degrees Celsius.
110 */
111 String getTemperature();
112
113 /** Used to set all LEDs and rumble off. */
114 void setAllOff();
115 /** Turn off rumble. */
116 void setRumbleOff();
117 /**
118 * Turn on rumble.
119 * @param mode Either ::RumbleHigh or ::RumbleLow.
120 */
121 void setRumbleOn(RumbleEnum mode);
122 /**
123 * Turn on rumble using custom duration and power.
124 * @param rightDuration The duration of the right/low rumble effect.
125 * @param rightPower The intensity of the right/low rumble effect.
126 * @param leftDuration The duration of the left/high rumble effect.
127 * @param leftPower The intensity of the left/high rumble effect.
128 */
129 void setRumbleOn(uint8_t rightDuration, uint8_t rightPower, uint8_t leftDuration, uint8_t leftPower);
130
131 /**
132 * Set LED value without using ::LEDEnum.
133 * @param value See: ::LEDEnum.
134 */
135 void setLedRaw(uint8_t value);
136
137 /** Turn all LEDs off. */
138 void setLedOff() {
139 setLedRaw(0);
140 };
141 /**
142 * Turn the specific LED off.
143 * @param a The ::LEDEnum to turn off.
144 */
145 void setLedOff(LEDEnum a);
146 /**
147 * Turn the specific LED on.
148 * @param a The ::LEDEnum to turn on.
149 */
150 void setLedOn(LEDEnum a);
151 /**
152 * Toggle the specific LED.
153 * @param a The ::LEDEnum to toggle.
154 */
155 void setLedToggle(LEDEnum a);
156
157 /**
158 * Use this to set the Color using RGB values.
159 * @param r,g,b RGB value.
160 */
161 void moveSetBulb(uint8_t r, uint8_t g, uint8_t b);
162 /**
163 * Use this to set the color using the predefined colors in ::ColorsEnum.
164 * @param color The desired color.
165 */
166 void moveSetBulb(ColorsEnum color);
167 /**
168 * Set the rumble value inside the Move controller.
169 * @param rumble The desired value in the range from 64-255.
170 */
171 void moveSetRumble(uint8_t rumble);
172
173 /** Used to get the millis() of the last message */
174 uint32_t getLastMessageTime() {
175 return lastMessageTime;
176 };
177 /**@}*/
178
179 /** Variable used to indicate if the normal Playstation controller is successfully connected. */
180 bool PS3Connected;
181 /** Variable used to indicate if the Move controller is successfully connected. */
182 bool PS3MoveConnected;
183 /** Variable used to indicate if the Navigation controller is successfully connected. */
184 bool PS3NavigationConnected;
185
186protected:
187 /** @name BluetoothService implementation */
188 /**
189 * Used to pass acldata to the services.
190 * @param ACLData Incoming acldata.
191 */
192 void ACLData(uint8_t* ACLData);
193 /** Used to run part of the state machine. */
194 void Run();
195 /** Use this to reset the service. */
196 void Reset();
197 /**
198 * Called when the controller is successfully initialized.
199 * Use attachOnInit(void (*funcOnInit)(void)) to call your own function.
200 * This is useful for instance if you want to set the LEDs in a specific way.
201 */
202 void onInit();
203 /**@}*/
204
205private:
206
207 void L2CAP_task(); // L2CAP state machine
208
209 /* Variables filled from HCI event management */
210 char remote_name_first; // First letter in remote name
211 bool activeConnection; // Used to indicate if it's already has established a connection
212
213 /* Variables used by high level L2CAP task */
214 uint8_t l2cap_state;
215
216 uint32_t lastMessageTime; // Variable used to store the millis value of the last message.
217
218 uint32_t ButtonState;
219 uint32_t OldButtonState;
220 uint32_t ButtonClickState;
221
222 uint32_t timer; // Timer used to limit time between messages and also used to continuously set PS3 Move controller Bulb and rumble values
223 uint32_t timerHID; // Timer used see if there has to be a delay before a new HID command
224
225 uint8_t l2capinbuf[BULK_MAXPKTSIZE]; // General purpose buffer for L2CAP in data
226 uint8_t HIDBuffer[HID_BUFFERSIZE]; // Used to store HID commands
227 uint8_t HIDMoveBuffer[HID_BUFFERSIZE]; // Used to store HID commands for the Move controller
228
229 /* L2CAP Channels */
230 uint8_t control_scid[2]; // L2CAP source CID for HID_Control
231 uint8_t control_dcid[2]; // 0x0040
232 uint8_t interrupt_scid[2]; // L2CAP source CID for HID_Interrupt
233 uint8_t interrupt_dcid[2]; // 0x0041
234
235 /* HID Commands */
236 void HID_Command(uint8_t* data, uint8_t nbytes);
237 void HIDMove_Command(uint8_t* data, uint8_t nbytes);
238 void enable_sixaxis(); // Command used to enable the Dualshock 3 and Navigation controller to send data via Bluetooth
239};
240#endif
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