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MicroDexed/third-party/USBHost_t36/examples/Bluetooth/JoystickBT/JoystickBT.ino

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// Simple test of USB Host Mouse/Keyboard
//
// This example is in the public domain
#include "USBHost_t36.h"
//#include "debug_tt.h"
USBHost myusb;
USBHub hub1(myusb);
USBHub hub2(myusb);
USBHIDParser hid1(myusb);
USBHIDParser hid2(myusb);
USBHIDParser hid3(myusb);
USBHIDParser hid4(myusb);
USBHIDParser hid5(myusb);
JoystickController joystick1(myusb);
//BluetoothController bluet(myusb, true, "0000"); // Version does pairing to device
BluetoothController bluet(myusb); // version assumes it already was paired
int user_axis[64];
uint32_t buttons_prev = 0;
int hat_prev = 0;
uint32_t buttons;
RawHIDController rawhid1(myusb);
RawHIDController rawhid2(myusb, 0xffc90004);
USBDriver *drivers[] = {&hub1, &hub2, &joystick1, &bluet, &hid1, &hid2, &hid3, &hid4, &hid5};
#define CNT_DEVICES (sizeof(drivers)/sizeof(drivers[0]))
const char * driver_names[CNT_DEVICES] = {"Hub1", "Hub2", "JOY1D", "Bluet", "HID1" , "HID2", "HID3", "HID4", "HID5"};
bool driver_active[CNT_DEVICES] = {false, false, false, false};
// Lets also look at HID Input devices
USBHIDInput *hiddrivers[] = {&joystick1, &rawhid1, &rawhid2};
#define CNT_HIDDEVICES (sizeof(hiddrivers)/sizeof(hiddrivers[0]))
const char * hid_driver_names[CNT_DEVICES] = {"Joystick1", "RawHid1", "RawHid2"};
bool hid_driver_active[CNT_DEVICES] = {false, false, false};
BTHIDInput *bthiddrivers[] = {&joystick1};
#define CNT_BTHIDDEVICES (sizeof(bthiddrivers)/sizeof(bthiddrivers[0]))
const char * bthid_driver_names[CNT_HIDDEVICES] = {"joystick"};
bool bthid_driver_active[CNT_HIDDEVICES] = {false};
bool show_short_form_data = false;
bool show_raw_data = false;
uint8_t joystick_left_trigger_value = 0;
uint8_t joystick_right_trigger_value = 0;
uint64_t joystick_full_notify_mask = (uint64_t) - 1;
int psAxis[64];
int psAxis_prev[64];
bool first_joystick_message = true;
uint8_t last_bdaddr[6] = {0, 0, 0, 0, 0, 0};
// ps3 motion on USB does not do much, but see if we can pair it and maybe change
// color of bulb...
uint32_t PS3_MOTION_timer = 0;
uint8_t PS3_MOTION_tried_to_pair_state = 0;
#define PS3_MOTION_PERIOD 2500 // not sure yet what would be good period for this..
//=============================================================================
// Setup
//=============================================================================
void setup()
{
Serial1.begin(2000000);
while (!Serial) ; // wait for Arduino Serial Monitor
Serial.println("\n\nUSB Host Testing - Joystick Bluetooth");
if (CrashReport) Serial.print(CrashReport);
myusb.begin();
delay(2000);
rawhid1.attachReceive(OnReceiveHidData);
rawhid2.attachReceive(OnReceiveHidData);
}
//=============================================================================
// Loop
//=============================================================================
void loop()
{
myusb.Task();
if (Serial.available()) {
int ch = Serial.read(); // get the first char.
while (Serial.read() != -1) ;
if ((ch == 'b') || (ch == 'B')) {
Serial.println("Only notify on Basic Axis changes");
joystick1.axisChangeNotifyMask(0x3ff);
} else if ((ch == 'f') || (ch == 'F')) {
Serial.println("Only notify on Full Axis changes");
joystick1.axisChangeNotifyMask(joystick_full_notify_mask);
} else {
if (show_short_form_data) {
show_short_form_data = false;
Serial.println("\n*** Show Full Data mode ***");
} else {
show_short_form_data = true;
Serial.println("\n*** Show short form mode ***");
}
}
}
// check to see if the device list has changed:
UpdateActiveDeviceInfo();
processPS3MotionTimer();
if (joystick1.available()) {
if (first_joystick_message) {
Serial.printf("*** First Joystick message %x:%x ***\n",
joystick1.idVendor(), joystick1.idProduct());
first_joystick_message = false;
const uint8_t *psz = joystick1.manufacturer();
if (psz && *psz) Serial.printf(" manufacturer: %s\n", psz);
psz = joystick1.product();
if (psz && *psz) Serial.printf(" product: %s\n", psz);
psz = joystick1.serialNumber();
if (psz && *psz) Serial.printf(" Serial: %s\n", psz);
// lets try to reduce number of fields that update
joystick1.axisChangeNotifyMask(0xFFFFFl);
}
for (uint8_t i = 0; i < 64; i++) {
psAxis_prev[i] = psAxis[i];
psAxis[i] = joystick1.getAxis(i);
}
switch (joystick1.joystickType()) {
case JoystickController::UNKNOWN:
case JoystickController::PS4:
displayPS4Data();
break;
case JoystickController::PS3:
displayPS3Data();
break;
case JoystickController::PS3_MOTION:
displayPS3MotionData();
break;
case JoystickController::XBOXONE:
case JoystickController::XBOX360:
displayXBoxData();
break;
default:
displayRawData();
break;
}
//for (uint8_t i = 0; i < 24; i++) {
// Serial.printf(" %d:%d", i, psAxis[i]);
//}
//Serial.println();
delay(100);
joystick1.joystickDataClear();
}
// See if we have some RAW data
if (rawhid1) {
int ch;
uint8_t buffer[64];
uint8_t count_chars = 0;
memset(buffer, 0, sizeof(buffer));
if (Serial.available()) {
while (((ch = Serial.read()) != -1) && (count_chars < sizeof(buffer))) {
buffer[count_chars++] = ch;
}
rawhid1.sendPacket(buffer);
}
}
}
//=============================================================================
// UpdateActiveDeviceInfo
//=============================================================================
void UpdateActiveDeviceInfo() {
for (uint8_t i = 0; i < CNT_DEVICES; i++) {
if (*drivers[i] != driver_active[i]) {
if (driver_active[i]) {
Serial.printf("*** Device %s - disconnected ***\n", driver_names[i]);
driver_active[i] = false;
} else {
Serial.printf("*** Device %s %x:%x - connected ***\n", driver_names[i], drivers[i]->idVendor(), drivers[i]->idProduct());
driver_active[i] = true;
const uint8_t *psz = drivers[i]->manufacturer();
if (psz && *psz) Serial.printf(" manufacturer: %s\n", psz);
psz = drivers[i]->product();
if (psz && *psz) Serial.printf(" product: %s\n", psz);
psz = drivers[i]->serialNumber();
if (psz && *psz) Serial.printf(" Serial: %s\n", psz);
if (drivers[i] == &bluet) {
const uint8_t *bdaddr = bluet.myBDAddr();
// remember it...
Serial.printf(" BDADDR: %02X:%02X:%02X:%02X:%02X:%02X\n", bdaddr[5], bdaddr[4], bdaddr[3], bdaddr[2], bdaddr[1], bdaddr[0]);
for (uint8_t i = 0; i < 6; i++) last_bdaddr[i] = bdaddr[i];
}
}
}
}
for (uint8_t i = 0; i < CNT_HIDDEVICES; i++) {
if (*hiddrivers[i] != hid_driver_active[i]) {
if (hid_driver_active[i]) {
Serial.printf("*** HID Device %s - disconnected ***\n", hid_driver_names[i]);
hid_driver_active[i] = false;
} else {
Serial.printf("*** HID Device %s %x:%x - connected ***\n", hid_driver_names[i], hiddrivers[i]->idVendor(), hiddrivers[i]->idProduct());
hid_driver_active[i] = true;
const uint8_t *psz = hiddrivers[i]->manufacturer();
if (psz && *psz) Serial.printf(" manufacturer: %s\n", psz);
psz = hiddrivers[i]->product();
if (psz && *psz) Serial.printf(" product: %s\n", psz);
psz = hiddrivers[i]->serialNumber();
if (psz && *psz) Serial.printf(" Serial: %s\n", psz);
// See if this is our joystick object...
if (hiddrivers[i] == &joystick1) {
Serial.printf(" Joystick type: %d\n", joystick1.joystickType());
if (joystick1.joystickType() == JoystickController::PS3_MOTION) {
Serial.println(" PS3 Motion detected");
PS3_MOTION_timer = millis(); // set time for last event
PS3_MOTION_tried_to_pair_state = 0;
}
}
}
}
}
// Then Bluetooth devices
for (uint8_t i = 0; i < CNT_BTHIDDEVICES; i++) {
if (*bthiddrivers[i] != bthid_driver_active[i]) {
if (bthid_driver_active[i]) {
Serial.printf("*** BTHID Device %s - disconnected ***\n", hid_driver_names[i]);
bthid_driver_active[i] = false;
} else {
Serial.printf("*** BTHID Device %s %x:%x - connected ***\n", hid_driver_names[i], hiddrivers[i]->idVendor(), hiddrivers[i]->idProduct());
bthid_driver_active[i] = true;
const uint8_t *psz = bthiddrivers[i]->manufacturer();
if (psz && *psz) Serial.printf(" manufacturer: %s\n", psz);
psz = bthiddrivers[i]->product();
if (psz && *psz) Serial.printf(" product: %s\n", psz);
psz = bthiddrivers[i]->serialNumber();
if (psz && *psz) Serial.printf(" Serial: %s\n", psz);
}
}
}
}
//=============================================================================
// displayPS4Data
//=============================================================================
void displayPS4Data()
{
buttons = joystick1.getButtons();
// Hack to guess if connected direct or BT...
int hat = bluet? psAxis[10] : psAxis[9]; // get hat - up/dwn buttons
if (show_short_form_data) {
// only if something changes we are interested in
bool something_changed = (buttons != buttons_prev) || (hat != hat_prev) ||(psAxis[30] != psAxis_prev[30]);
for (uint8_t i = 0; i<6; i++) {
if (psAxis[i] != psAxis_prev[i]) {something_changed = true; break; }
}
if (something_changed) {
Serial.printf("LX: %d, LY: %d, RX: %d, RY: %d", psAxis[0], psAxis[1], psAxis[2], psAxis[5]);
Serial.printf(" L-Trig: %d, R-Trig: %d", psAxis[3], psAxis[4]);
Serial.printf(" Buttons: %x, Hat: %x", buttons, hat);
Serial.printf(" Battery Status: %d\n", ((psAxis[30] & ((1 << 4) - 1))*10));
}
} else {
// Long form...
Serial.printf("LX: %d, LY: %d, RX: %d, RY: %d \r\n", psAxis[0], psAxis[1], psAxis[2], psAxis[5]);
Serial.printf("L-Trig: %d, R-Trig: %d\r\n", psAxis[3], psAxis[4]);
Serial.printf("Buttons: %x Hat: %x\r\n", buttons, hat);
Serial.printf("Battery Status: %d\n", ((psAxis[30] & ((1 << 4) - 1))*10));
printAngles();
Serial.println();
}
hat_prev = hat;
uint8_t ltv;
uint8_t rtv;
ltv = psAxis[3];
rtv = psAxis[4];
if ((ltv != joystick_left_trigger_value) || (rtv != joystick_right_trigger_value)) {
joystick_left_trigger_value = ltv;
joystick_right_trigger_value = rtv;
Serial.printf("Rumbling: %d, %d\r\n", ltv, rtv);
joystick1.setRumble(ltv, rtv);
}
// See about maybe pair...
if ((buttons & 0x100) && !(buttons_prev & 0x100) && (buttons & 0x30)) {
// so far just try call temporary pair info call...
uint8_t bdaddr_cur[10];
Serial.print("\nPS4 Pairing Request");
if (!last_bdaddr[0] && !last_bdaddr[1] && !last_bdaddr[2] && !last_bdaddr[3] && !last_bdaddr[4] && !last_bdaddr[5]) {
Serial.println(" - failed - no Bluetooth adapter has been plugged in");
} else {
Serial.println("\n*** Try getting BT Pairing information ***");
if (!joystick1.PS4GetCurrentPairing(bdaddr_cur)) {
Serial.println(" - failed - Could not read pairing information");
} else {
Serial.printf("Current BTADDR: %02X:%02X:%02X:%02X:%02X:%02X\n", bdaddr_cur[5],bdaddr_cur[4],bdaddr_cur[3],bdaddr_cur[2],bdaddr_cur[1],bdaddr_cur[0]);
if (! joystick1.PS4Pair(last_bdaddr)) {
Serial.println(" Pairing call Failed");
} else {
Serial.println(" Pairing complete (I hope), make sure Bluetooth adapter is plugged in and try PS4 without USB");
}
}
}
} else if (buttons != buttons_prev) {
uint8_t lr = 0;
uint8_t lg = 0;
uint8_t lb = 0;
if(buttons == 1){//Srq
lr = 0xff;
}
if(buttons == 4){//Circ
lg = 0xff;
}
if(buttons == 8){//Tri
lb = 0xff;
}
Serial.print(buttons,HEX); Serial.print(", ");
Serial.print(lr); Serial.print(", ");
Serial.print(lg); Serial.print(", ");
Serial.println(lb);
joystick1.setLEDs(lr, lg, lb);
}
buttons_prev = buttons;
}
//=============================================================================
// displayPS3Data
//=============================================================================
void displayPS3Data()
{
buttons = joystick1.getButtons();
//buttons = psAxis[2] | ((uint16_t)psAxis[3] << 8);
// Use L3 (Left joystick button) to toggle Show Raw or not...
if ((buttons & 0x02) && !(buttons_prev & 0x02)) show_raw_data = !show_raw_data;
if ((buttons & 0x04) && !(buttons_prev & 0x04)) show_short_form_data = !show_short_form_data;
// See about maybe pair...
if ((buttons & 0x10000) && !(buttons_prev & 0x10000) && (buttons & 0x0C01)) {
// PS button just pressed and select button pressed act like PS4 share like...
// Note: you can use either R1 or L1 with the PS button, to work with Sony Move Navigation...
Serial.print("\nPS3 Pairing Request");
if (!last_bdaddr[0] && !last_bdaddr[1] && !last_bdaddr[2] && !last_bdaddr[3] && !last_bdaddr[4] && !last_bdaddr[5]) {
Serial.println(" - failed - no Bluetooth adapter has been plugged in");
} else if (!hiddrivers[0]) { // Kludge see if we are connected as HID?
Serial.println(" - failed - PS3 device not plugged into USB");
} else {
Serial.printf(" - Attempt pair to: %02X:%02X:%02X:%02X:%02X:%02X\n", last_bdaddr[5], last_bdaddr[4], last_bdaddr[3], last_bdaddr[2], last_bdaddr[1], last_bdaddr[0]);
if (! joystick1.PS3Pair(last_bdaddr)) {
Serial.println(" Pairing call Failed");
} else {
Serial.println(" Pairing complete (I hope), make sure Bluetooth adapter is plugged in and try PS3 without USB");
}
}
}
if (show_raw_data) {
displayRawData();
} else {
Serial.printf("LX: %d, LY: %d, RX: %d, RY: %d \r\n", psAxis[0], psAxis[1], psAxis[2], psAxis[5]);
Serial.printf("L-Trig: %d, R-Trig: %d\r\n", psAxis[3], psAxis[4]);
Serial.printf("Buttons: %x\r\n", buttons);
}
uint8_t ltv;
uint8_t rtv;
ltv = psAxis[3];
rtv = psAxis[4];
if ((ltv != joystick_left_trigger_value) || (rtv != joystick_right_trigger_value)) {
joystick_left_trigger_value = ltv;
joystick_right_trigger_value = rtv;
Serial.printf("Rumbling: %d, %d\r\n", ltv, rtv);
joystick1.setRumble(ltv, rtv);
}
if (buttons != buttons_prev) {
uint8_t leds = 0;
if (buttons & 0x8000) leds = 1; //Srq
if (buttons & 0x2000) leds = 2; //Cir
if (buttons & 0x1000) leds = 3; //Tri
//Cross = 2
joystick1.setLEDs(leds);
buttons_prev = buttons;
}
}
//=============================================================================
// displayPS3MotionData
//=============================================================================
void displayPS3MotionData()
{
buttons = joystick1.getButtons();
// Hard to know what is best here. for now just copy raw data over...
// will do this for now... Format of thought to be data.
// data[1-3] Buttons (mentioned 4 as well but appears to be counter
// axis[0-1] data[5] Trigger, Previous trigger value
// 2-5 Unknown probably place holders for Axis like data for other PS3
// 6 - Time stamp
// 7 - Battery
// 8-19 - Accel: XL, XH, YL, YH, ZL, ZH, XL2, XH2, YL2, YH2, ZL2, ZH2
// 20-31 - Gyro: Xl,Xh,Yl,Yh,Zl,Zh,Xl2,Xh2,Yl2,Yh2,Zl2,Zh2
// 32 - Temp High
// 33 - Temp Low (4 bits) Maybe Magneto x High on other??
// Use Select button to choose raw or not
if ((buttons & 0x01) && !(buttons_prev & 0x01)) show_raw_data = !show_raw_data;
if ((buttons & 0x04) && !(buttons_prev & 0x04)) show_short_form_data = !show_short_form_data;
if (show_raw_data) {
displayRawData();
} else {
uint64_t changed_mask = joystick1.axisChangedMask();
Serial.printf("Changed: %08x Buttons: %x: Trig: %d\r\n", (uint32_t)changed_mask, buttons, psAxis[0]);
Serial.printf("Battery Status: %d\n", psAxis[7]);
printPS3MotionAngles();
Serial.println();
}
uint8_t ltv = psAxis[0];
if ((ltv != joystick_left_trigger_value) ) {
joystick_left_trigger_value = ltv;
Serial.printf("Rumbling: %d\r\n", ltv);
joystick1.setRumble(ltv, 0);
}
if (buttons != buttons_prev) {
uint8_t ledsR = (buttons & 0x8000)? 0xff : 0; //Srq
uint8_t ledsG = (buttons & 0x2000)? 0xff : 0; //Cir
uint8_t ledsB = (buttons & 0x1000)? 0xff : 0; //Tri
Serial.printf("Set Leds %x %x %x\r\n", ledsR, ledsG, ledsB );
joystick1.setLEDs(ledsR, ledsG, ledsB);
buttons_prev = buttons;
}
}
//=============================================================================
// displayXBoxData
//=============================================================================
void displayXBoxData()
{
buttons = joystick1.getButtons();
// Use L3 (Left joystick button) to toggle Show Raw or not...
if ((buttons & 0x4000) && !(buttons_prev & 0x4000)) show_raw_data = !show_raw_data;
if ((buttons & 0x8000) && !(buttons_prev & 0x8000)) show_short_form_data = !show_short_form_data;
if (show_raw_data) {
displayRawData();
} else {
Serial.printf("LX: %d, LY: %d, RX: %d, RY: %d \r\n", psAxis[0], psAxis[1], psAxis[2], psAxis[5]);
Serial.printf("L-Trig: %d, R-Trig: %d\r\n", psAxis[3], psAxis[4]);
Serial.printf("Buttons: %x\r\n", buttons);
}
uint8_t ltv;
uint8_t rtv;
ltv = psAxis[3];
rtv = psAxis[4];
if ((ltv != joystick_left_trigger_value) || (rtv != joystick_right_trigger_value)) {
joystick_left_trigger_value = ltv;
joystick_right_trigger_value = rtv;
Serial.printf("Rumbling: %d, %d\r\n", ltv, rtv);
joystick1.setRumble(ltv, rtv);
}
if (buttons != buttons_prev) {
uint8_t leds = 0;
if (buttons & 0x8000) leds = 1; //Srq
if (buttons & 0x2000) leds = 2; //Cir
if (buttons & 0x1000) leds = 3; //Tri
//Cross = 2
joystick1.setLEDs(leds);
buttons_prev = buttons;
}
}
//=============================================================================
// displayRawData
//=============================================================================
void displayRawData() {
uint64_t axis_mask = joystick1.axisMask();
uint64_t changed_mask = joystick1.axisChangedMask();
buttons = joystick1.getButtons();
if (!changed_mask && (buttons == buttons_prev)) return;
if (show_short_form_data) {
if (!changed_mask) return;
changed_mask &= 0xfffffffffL; // try reducing which ones show...
Serial.printf("%0x - ", joystick1.getButtons());
for (uint16_t index = 0; changed_mask; index++) {
if (changed_mask & 1) {
Serial.printf("%d:%02x ", index, psAxis[index]);
}
changed_mask >>= 1;
}
} else {
axis_mask &= 0xffffff;
Serial.printf("%06x%06x: %06x - ", (uint32_t)(changed_mask >> 32), (uint32_t)(changed_mask & 0xffffffff), joystick1.getButtons());
for (uint16_t index = 0; axis_mask; index++) {
Serial.printf("%02x ", psAxis[index]);
axis_mask >>= 1;
}
}
Serial.println();
buttons_prev = buttons;
}
//=============================================================================
// OnReceiveHidData
//=============================================================================
bool OnReceiveHidData(uint32_t usage, const uint8_t *data, uint32_t len) {
// Called for maybe both HIDS for rawhid basic test. One is for the Teensy
// to output to Serial. while still having Raw Hid...
if (usage == 0xffc90004) {
// Lets trim off trailing null characters.
while ((len > 0) && (data[len - 1] == 0)) {
len--;
}
if (len) {
Serial.print("RawHid Serial: ");
Serial.write(data, len);
}
} else {
Serial.print("RawHID data: ");
Serial.println(usage, HEX);
while (len) {
uint8_t cb = (len > 16) ? 16 : len;
const uint8_t *p = data;
uint8_t i;
for (i = 0; i < cb; i++) {
Serial.printf("%02x ", *p++);
}
Serial.print(": ");
for (i = 0; i < cb; i++) {
Serial.write(((*data >= ' ') && (*data <= '~')) ? *data : '.');
data++;
}
len -= cb;
Serial.println();
}
}
return true;
}
//=============================================================================
// processPS3MotionTimer
//=============================================================================
static const uint32_t PS3_MOTION_colors[] = {0, 0xff, 0xff00, 0xff0000, 0xffff, 0xff00ff, 0xffff00, 0xffffff};
uint8_t PS3_MOTION_colors_index = 0;
void processPS3MotionTimer() {
// See if we have a PS3_MOTION connected and we have run for a certain amount of time
if (PS3_MOTION_timer && ((millis()-PS3_MOTION_timer) >= PS3_MOTION_PERIOD)) {
Serial.println("PS3 Motion Timer"); Serial.flush();
if (joystick1) {
PS3_MOTION_timer = millis(); // joystick not there any more...
// We will first try to set feedback color for the PS3, maybe alternate colors
if (++PS3_MOTION_colors_index >= sizeof(PS3_MOTION_colors)/sizeof(PS3_MOTION_colors[0])) PS3_MOTION_colors_index = 0;
joystick1.setLEDs(PS3_MOTION_colors[PS3_MOTION_colors_index]);
// Next see if we can try to pair.
if (PS3_MOTION_tried_to_pair_state == 0) {
Serial.println("PS3_MOTION Connected");
if (!last_bdaddr[0] && !last_bdaddr[1] && !last_bdaddr[2] && !last_bdaddr[3] && !last_bdaddr[4] && !last_bdaddr[5]) {
Serial.println(" - No Bluetooth adapter has been plugged in - so will not try to pair");
PS3_MOTION_tried_to_pair_state = 1;
}
}
if ((PS3_MOTION_tried_to_pair_state < 2) &&
(last_bdaddr[0] || last_bdaddr[1] || last_bdaddr[2] || last_bdaddr[3] || last_bdaddr[4] || last_bdaddr[5])) {
Serial.println(" - Bluetooth device detected, will try to pair");
// Lets try to pair
if (! joystick1.PS3Pair(last_bdaddr)) {
Serial.println(" - Pairing call Failed");
} else {
Serial.println(" - Pairing complete (I hope), make sure Bluetooth adapter is plugged in and try PS3 without USB");
}
PS3_MOTION_tried_to_pair_state = 2; // don't try again...
}
} else {
Serial.println("PS3 Motion Joystick no longer detected");
PS3_MOTION_timer = 0; // joystick not there any more...
}
}
}