summaryrefslogtreecommitdiff
path: root/lib/usbhost/USB_Host_Shield_2.0/PS4Parser.h
diff options
context:
space:
mode:
Diffstat (limited to 'lib/usbhost/USB_Host_Shield_2.0/PS4Parser.h')
-rw-r--r--lib/usbhost/USB_Host_Shield_2.0/PS4Parser.h407
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