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Diffstat (limited to 'lib/usbhost/USB_Host_Shield_2.0/PS4Parser.h')
| -rw-r--r-- | lib/usbhost/USB_Host_Shield_2.0/PS4Parser.h | 407 |
1 files changed, 407 insertions, 0 deletions
diff --git a/lib/usbhost/USB_Host_Shield_2.0/PS4Parser.h b/lib/usbhost/USB_Host_Shield_2.0/PS4Parser.h new file mode 100644 index 0000000000..51f0806361 --- /dev/null +++ b/lib/usbhost/USB_Host_Shield_2.0/PS4Parser.h @@ -0,0 +1,407 @@ +/* Copyright (C) 2014 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 _ps4parser_h_ +#define _ps4parser_h_ + +#include "Usb.h" +#include "controllerEnums.h" + +/** Buttons on the controller */ +const uint8_t PS4_BUTTONS[] PROGMEM = { + UP, // UP + RIGHT, // RIGHT + DOWN, // DOWN + LEFT, // LEFT + + 0x0C, // SHARE + 0x0D, // OPTIONS + 0x0E, // L3 + 0x0F, // R3 + + 0x0A, // L2 + 0x0B, // R2 + 0x08, // L1 + 0x09, // R1 + + 0x07, // TRIANGLE + 0x06, // CIRCLE + 0x05, // CROSS + 0x04, // SQUARE + + 0x10, // PS + 0x11, // TOUCHPAD +}; + +union PS4Buttons { + struct { + uint8_t dpad : 4; + uint8_t square : 1; + uint8_t cross : 1; + uint8_t circle : 1; + uint8_t triangle : 1; + + uint8_t l1 : 1; + uint8_t r1 : 1; + uint8_t l2 : 1; + uint8_t r2 : 1; + uint8_t share : 1; + uint8_t options : 1; + uint8_t l3 : 1; + uint8_t r3 : 1; + + uint8_t ps : 1; + uint8_t touchpad : 1; + uint8_t reportCounter : 6; + } __attribute__((packed)); + uint32_t val : 24; +} __attribute__((packed)); + +struct touchpadXY { + uint8_t dummy; // I can not figure out what this data is for, it seems to change randomly, maybe a timestamp? + struct { + uint8_t counter : 7; // Increments every time a finger is touching the touchpad + uint8_t touching : 1; // The top bit is cleared if the finger is touching the touchpad + uint16_t x : 12; + uint16_t y : 12; + } __attribute__((packed)) finger[2]; // 0 = first finger, 1 = second finger +} __attribute__((packed)); + +struct PS4Status { + uint8_t battery : 4; + uint8_t usb : 1; + uint8_t audio : 1; + uint8_t mic : 1; + uint8_t unknown : 1; // Extension port? +} __attribute__((packed)); + +struct PS4Data { + /* Button and joystick values */ + uint8_t hatValue[4]; + PS4Buttons btn; + uint8_t trigger[2]; + + /* Gyro and accelerometer values */ + uint8_t dummy[3]; // First two looks random, while the third one might be some kind of status - it increments once in a while + int16_t gyroY, gyroZ, gyroX; + int16_t accX, accZ, accY; + + uint8_t dummy2[5]; + PS4Status status; + uint8_t dummy3[3]; + + /* The rest is data for the touchpad */ + touchpadXY xy[3]; // It looks like it sends out three coordinates each time, this might be because the microcontroller inside the PS4 controller is much faster than the Bluetooth connection. + // The last data is read from the last position in the array while the oldest measurement is from the first position. + // The first position will also keep it's value after the finger is released, while the other two will set them to zero. + // Note that if you read fast enough from the device, then only the first one will contain any data. + + // The last three bytes are always: 0x00, 0x80, 0x00 +} __attribute__((packed)); + +struct PS4Output { + uint8_t bigRumble, smallRumble; // Rumble + uint8_t r, g, b; // RGB + uint8_t flashOn, flashOff; // Time to flash bright/dark (255 = 2.5 seconds) + bool reportChanged; // The data is send when data is received from the controller +} __attribute__((packed)); + +enum DPADEnum { + DPAD_UP = 0x0, + DPAD_UP_RIGHT = 0x1, + DPAD_RIGHT = 0x2, + DPAD_RIGHT_DOWN = 0x3, + DPAD_DOWN = 0x4, + DPAD_DOWN_LEFT = 0x5, + DPAD_LEFT = 0x6, + DPAD_LEFT_UP = 0x7, + DPAD_OFF = 0x8, +}; + +/** This class parses all the data sent by the PS4 controller */ +class PS4Parser { +public: + /** Constructor for the PS4Parser class. */ + PS4Parser() { + Reset(); + }; + + /** @name PS4 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 PS4 Controller functions */ + /** + * Used to get the analog value from button presses. + * @param b 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 b); + + /** + * 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); + + /** + * Get the x-coordinate of the touchpad. Position 0 is in the top left. + * @param finger 0 = first finger, 1 = second finger. If omitted, then 0 will be used. + * @param xyId The controller sends out three packets with the same structure. + * The third one will contain the last measure, but if you read from the controller then there is only be data in the first one. + * For that reason it will be set to 0 if the argument is omitted. + * @return Returns the x-coordinate of the finger. + */ + uint16_t getX(uint8_t finger = 0, uint8_t xyId = 0) { + return ps4Data.xy[xyId].finger[finger].x; + }; + + /** + * Get the y-coordinate of the touchpad. Position 0 is in the top left. + * @param finger 0 = first finger, 1 = second finger. If omitted, then 0 will be used. + * @param xyId The controller sends out three packets with the same structure. + * The third one will contain the last measure, but if you read from the controller then there is only be data in the first one. + * For that reason it will be set to 0 if the argument is omitted. + * @return Returns the y-coordinate of the finger. + */ + uint16_t getY(uint8_t finger = 0, uint8_t xyId = 0) { + return ps4Data.xy[xyId].finger[finger].y; + }; + + /** + * Returns whenever the user is toucing the touchpad. + * @param finger 0 = first finger, 1 = second finger. If omitted, then 0 will be used. + * @param xyId The controller sends out three packets with the same structure. + * The third one will contain the last measure, but if you read from the controller then there is only be data in the first one. + * For that reason it will be set to 0 if the argument is omitted. + * @return Returns true if the specific finger is touching the touchpad. + */ + bool isTouching(uint8_t finger = 0, uint8_t xyId = 0) { + return !(ps4Data.xy[xyId].finger[finger].touching); // The bit is cleared when a finger is touching the touchpad + }; + + /** + * This counter increments every time a finger touches the touchpad. + * @param finger 0 = first finger, 1 = second finger. If omitted, then 0 will be used. + * @param xyId The controller sends out three packets with the same structure. + * The third one will contain the last measure, but if you read from the controller then there is only be data in the first one. + * For that reason it will be set to 0 if the argument is omitted. + * @return Return the value of the counter, note that it is only a 7-bit value. + */ + uint8_t getTouchCounter(uint8_t finger = 0, uint8_t xyId = 0) { + return ps4Data.xy[xyId].finger[finger].counter; + }; + + /** + * Get the angle of the controller calculated using the accelerometer. + * @param a Either ::Pitch or ::Roll. + * @return Return the angle in the range of 0-360. + */ + double getAngle(AngleEnum a) { + if (a == Pitch) + return (atan2(ps4Data.accY, ps4Data.accZ) + PI) * RAD_TO_DEG; + else + return (atan2(ps4Data.accX, ps4Data.accZ) + PI) * RAD_TO_DEG; + }; + + /** + * Used to get the raw values from the 3-axis gyroscope and 3-axis accelerometer inside the PS4 controller. + * @param s The sensor to read. + * @return Returns the raw sensor reading. + */ + int16_t getSensor(SensorEnum s) { + switch(s) { + case gX: + return ps4Data.gyroX; + case gY: + return ps4Data.gyroY; + case gZ: + return ps4Data.gyroZ; + case aX: + return ps4Data.accX; + case aY: + return ps4Data.accY; + case aZ: + return ps4Data.accZ; + default: + return 0; + } + }; + + /** + * Return the battery level of the PS4 controller. + * @return The battery level in the range 0-15. + */ + uint8_t getBatteryLevel() { + return ps4Data.status.battery; + }; + + /** + * Use this to check if an USB cable is connected to the PS4 controller. + * @return Returns true if an USB cable is connected. + */ + bool getUsbStatus() { + return ps4Data.status.usb; + }; + + /** + * Use this to check if an audio jack cable is connected to the PS4 controller. + * @return Returns true if an audio jack cable is connected. + */ + bool getAudioStatus() { + return ps4Data.status.audio; + }; + + /** + * Use this to check if a microphone is connected to the PS4 controller. + * @return Returns true if a microphone is connected. + */ + bool getMicStatus() { + return ps4Data.status.mic; + }; + + /** Turn both rumble and the LEDs off. */ + void setAllOff() { + setRumbleOff(); + setLedOff(); + }; + + /** Set rumble off. */ + void setRumbleOff() { + setRumbleOn(0, 0); + }; + + /** + * Turn on rumble. + * @param mode Either ::RumbleHigh or ::RumbleLow. + */ + void setRumbleOn(RumbleEnum mode) { + if (mode == RumbleLow) + setRumbleOn(0x00, 0xFF); + else + setRumbleOn(0xFF, 0x00); + }; + + /** + * Turn on rumble. + * @param bigRumble Value for big motor. + * @param smallRumble Value for small motor. + */ + void setRumbleOn(uint8_t bigRumble, uint8_t smallRumble) { + ps4Output.bigRumble = bigRumble; + ps4Output.smallRumble = smallRumble; + ps4Output.reportChanged = true; + }; + + /** Turn all LEDs off. */ + void setLedOff() { + setLed(0, 0, 0); + }; + + /** + * Use this to set the color using RGB values. + * @param r,g,b RGB value. + */ + void setLed(uint8_t r, uint8_t g, uint8_t b) { + ps4Output.r = r; + ps4Output.g = g; + ps4Output.b = b; + ps4Output.reportChanged = true; + }; + + /** + * Use this to set the color using the predefined colors in ::ColorsEnum. + * @param color The desired color. + */ + void setLed(ColorsEnum color) { + setLed((uint8_t)(color >> 16), (uint8_t)(color >> 8), (uint8_t)(color)); + }; + + /** + * Set the LEDs flash time. + * @param flashOn Time to flash bright (255 = 2.5 seconds). + * @param flashOff Time to flash dark (255 = 2.5 seconds). + */ + void setLedFlash(uint8_t flashOn, uint8_t flashOff) { + ps4Output.flashOn = flashOn; + ps4Output.flashOff = flashOff; + ps4Output.reportChanged = true; + }; + /**@}*/ + +protected: + /** + * Used to parse data sent from the PS4 controller. + * @param len Length of the data. + * @param buf Pointer to the data buffer. + */ + void Parse(uint8_t len, uint8_t *buf); + + /** Used to reset the different buffers to their default values */ + void Reset() { + uint8_t i; + for (i = 0; i < sizeof(ps4Data.hatValue); i++) + ps4Data.hatValue[i] = 127; // Center value + ps4Data.btn.val = 0; + oldButtonState.val = 0; + for (i = 0; i < sizeof(ps4Data.trigger); i++) + ps4Data.trigger[i] = 0; + for (i = 0; i < sizeof(ps4Data.xy)/sizeof(ps4Data.xy[0]); i++) { + for (uint8_t j = 0; j < sizeof(ps4Data.xy[0].finger)/sizeof(ps4Data.xy[0].finger[0]); j++) + ps4Data.xy[i].finger[j].touching = 1; // The bit is cleared if the finger is touching the touchpad + } + + ps4Data.btn.dpad = DPAD_OFF; + oldButtonState.dpad = DPAD_OFF; + buttonClickState.dpad = 0; + oldDpad = 0; + + ps4Output.bigRumble = ps4Output.smallRumble = 0; + ps4Output.r = ps4Output.g = ps4Output.b = 0; + ps4Output.flashOn = ps4Output.flashOff = 0; + ps4Output.reportChanged = false; + }; + + /** + * Send the output to the PS4 controller. This is implemented in PS4BT.h and PS4USB.h. + * @param output Pointer to PS4Output buffer; + */ + virtual void sendOutputReport(PS4Output *output) = 0; + +private: + bool checkDpad(ButtonEnum b); // Used to check PS4 DPAD buttons + + PS4Data ps4Data; + PS4Buttons oldButtonState, buttonClickState; + PS4Output ps4Output; + uint8_t oldDpad; +}; +#endif |