summaryrefslogtreecommitdiff
path: root/lib/usbhost/USB_Host_Shield_2.0/PS3BT.cpp
blob: 235092e0acbda59336eb4accbc35626f7383f419 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
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);
        }
}