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+/* 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 _ps3usb_h_
+#define _ps3usb_h_
+
+#include "Usb.h"
+#include "hid.h"
+#include "PS3Enums.h"
+
+/* PS3 data taken from descriptors */
+#define EP_MAXPKTSIZE 64 // max size for data via USB
+
+/* Names we give to the 3 ps3 pipes - this is only used for setting the bluetooth address into the ps3 controllers */
+#define PS3_CONTROL_PIPE 0
+#define PS3_OUTPUT_PIPE 1
+#define PS3_INPUT_PIPE 2
+
+//PID and VID of the different devices
+#define PS3_VID 0x054C // Sony Corporation
+#define PS3_PID 0x0268 // PS3 Controller DualShock 3
+#define PS3NAVIGATION_PID 0x042F // Navigation controller
+#define PS3MOVE_PID 0x03D5 // Motion controller
+
+#define PS3_MAX_ENDPOINTS 3
+
+/**
+ * This class implements support for all the official PS3 Controllers:
+ * Dualshock 3, Navigation or a Motion controller via USB.
+ *
+ * One can only set the color of the bulb, set the rumble, set and get the bluetooth address and calibrate the magnetometer via USB on the Move controller.
+ *
+ * Information about the protocol can be found at the wiki: https://github.com/felis/USB_Host_Shield_2.0/wiki/PS3-Information.
+ */
+class PS3USB : public USBDeviceConfig {
+public:
+ /**
+ * Constructor for the PS3USB class.
+ * @param pUsb Pointer to USB class instance.
+ * @param btadr5,btadr4,btadr3,btadr2,btadr1,btadr0
+ * Pass your dongles Bluetooth address into the constructor,
+ * so you are able to pair the controller with a Bluetooth dongle.
+ */
+ PS3USB(USB *pUsb, 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 USBDeviceConfig implementation */
+ /**
+ * Initialize the PS3 Controller.
+ * @param parent Hub number.
+ * @param port Port number on the hub.
+ * @param lowspeed Speed of the device.
+ * @return 0 on success.
+ */
+ uint8_t Init(uint8_t parent, uint8_t port, bool lowspeed);
+ /**
+ * Release the USB device.
+ * @return 0 on success.
+ */
+ uint8_t Release();
+ /**
+ * Poll the USB Input endpoins and run the state machines.
+ * @return 0 on success.
+ */
+ uint8_t Poll();
+
+ /**
+ * Get the device address.
+ * @return The device address.
+ */
+ virtual uint8_t GetAddress() {
+ return bAddress;
+ };
+
+ /**
+ * Used to check if the controller has been initialized.
+ * @return True if it's ready.
+ */
+ virtual bool isReady() {
+ return bPollEnable;
+ };
+
+ /**
+ * Used by the USB core to check what this driver support.
+ * @param vid The device's VID.
+ * @param pid The device's PID.
+ * @return Returns true if the device's VID and PID matches this driver.
+ */
+ virtual bool VIDPIDOK(uint16_t vid, uint16_t pid) {
+ return (vid == PS3_VID && (pid == PS3_PID || pid == PS3NAVIGATION_PID || pid == PS3MOVE_PID));
+ };
+ /**@}*/
+
+ /**
+ * Used to set the Bluetooth address inside the Dualshock 3 and Navigation controller.
+ * Set using LSB first.
+ * @param bdaddr Your dongles Bluetooth address.
+ */
+ void setBdaddr(uint8_t *bdaddr);
+ /**
+ * Used to get the Bluetooth address inside the Dualshock 3 and Navigation controller.
+ * Will return LSB first.
+ * @param bdaddr Your dongles Bluetooth address.
+ */
+ void getBdaddr(uint8_t *bdaddr);
+
+ /**
+ * Used to set the Bluetooth address inside the Move controller.
+ * Set using LSB first.
+ * @param bdaddr Your dongles Bluetooth address.
+ */
+ void setMoveBdaddr(uint8_t *bdaddr);
+ /**
+ * Used to get the Bluetooth address inside the Move controller.
+ * Will return LSB first.
+ * @param bdaddr Your dongles Bluetooth address.
+ */
+ void getMoveBdaddr(uint8_t *bdaddr);
+ /**
+ * Used to get the calibration data inside the Move controller.
+ * @param data Buffer to store data in. Must be at least 147 bytes
+ */
+ void getMoveCalibration(uint8_t *data);
+
+ /** @name PS3 Controller functions */
+ /**
+ * getButtonPress(ButtonEnum b) will return true as long as the button is held down.
+ *
+ * While getButtonClick(ButtonEnum b) will only return it once.
+ *
+ * So you instance if you need to increase a variable once you would use getButtonClick(ButtonEnum b),
+ * but if you need to drive a robot forward you would use getButtonPress(ButtonEnum b).
+ * @param b ::ButtonEnum to read.
+ * @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.
+ */
+ bool getButtonPress(ButtonEnum b);
+ bool getButtonClick(ButtonEnum b);
+ /**@}*/
+ /** @name PS3 Controller functions */
+ /**
+ * Used to get the analog value from button presses.
+ * @param a The ::ButtonEnum 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(ButtonEnum 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(AnalogHatEnum a);
+ /**
+ * Used to read the sensors inside the Dualshock 3 controller.
+ * @param a
+ * The Dualshock 3 has a 3-axis accelerometer and a 1-axis gyro inside.
+ * @return Return the raw sensor value.
+ */
+ uint16_t getSensor(SensorEnum 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(AngleEnum a);
+ /**
+ * Get the ::StatusEnum from the controller.
+ * @param c The ::StatusEnum you want to read.
+ * @return True if correct and false if not.
+ */
+ bool getStatus(StatusEnum c);
+ /** Read all the available statuses from the controller and prints it as a nice formated string. */
+ void printStatusString();
+
+ /** 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(RumbleEnum 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 ::LEDEnum.
+ * @param value See: ::LEDEnum.
+ */
+ void setLedRaw(uint8_t value);
+
+ /** Turn all LEDs off. */
+ void setLedOff() {
+ setLedRaw(0);
+ }
+ /**
+ * Turn the specific ::LEDEnum off.
+ * @param a The ::LEDEnum to turn off.
+ */
+ void setLedOff(LEDEnum a);
+ /**
+ * Turn the specific ::LEDEnum on.
+ * @param a The ::LEDEnum to turn on.
+ */
+ void setLedOn(LEDEnum a);
+ /**
+ * Toggle the specific ::LEDEnum.
+ * @param a The ::LEDEnum to toggle.
+ */
+ void setLedToggle(LEDEnum 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 ::ColorsEnum.
+ * @param color The desired color.
+ */
+ void moveSetBulb(ColorsEnum 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;
+
+protected:
+ /** Pointer to USB class instance. */
+ USB *pUsb;
+ /** Device address. */
+ uint8_t bAddress;
+ /** Endpoint info structure. */
+ EpInfo epInfo[PS3_MAX_ENDPOINTS];
+
+private:
+ /**
+ * 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()
+
+ bool bPollEnable;
+
+ uint32_t timer; // used to continuously set PS3 Move controller Bulb and rumble values
+
+ uint32_t ButtonState;
+ uint32_t OldButtonState;
+ uint32_t ButtonClickState;
+
+ uint8_t my_bdaddr[6]; // Change to your dongles Bluetooth address in the constructor
+ uint8_t readBuf[EP_MAXPKTSIZE]; // General purpose buffer for input data
+ uint8_t writeBuf[EP_MAXPKTSIZE]; // General purpose buffer for output data
+
+ void readReport(); // read incoming data
+ void printReport(); // print incoming date - Uncomment for debugging
+
+ /* Private commands */
+ void PS3_Command(uint8_t *data, uint16_t nbytes);
+ void enable_sixaxis(); // Command used to enable the Dualshock 3 and Navigation controller to send data via USB
+ void Move_Command(uint8_t *data, uint16_t nbytes);
+};
+#endif