408 lines
15 KiB
C
408 lines
15 KiB
C
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/* Copyright (C) 2014 Kristian Lauszus, TKJ Electronics. All rights reserved.
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This software may be distributed and modified under the terms of the GNU
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General Public License version 2 (GPL2) as published by the Free Software
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Foundation and appearing in the file GPL2.TXT included in the packaging of
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this file. Please note that GPL2 Section 2[b] requires that all works based
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on this software must also be made publicly available under the terms of
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the GPL2 ("Copyleft").
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Contact information
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-------------------
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Kristian Lauszus, TKJ Electronics
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Web : http://www.tkjelectronics.com
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e-mail : kristianl@tkjelectronics.com
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*/
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#ifndef _ps4parser_h_
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#define _ps4parser_h_
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#include "Usb.h"
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#include "controllerEnums.h"
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/** Buttons on the controller */
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const uint8_t PS4_BUTTONS[] PROGMEM = {
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UP, // UP
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RIGHT, // RIGHT
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DOWN, // DOWN
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LEFT, // LEFT
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0x0C, // SHARE
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0x0D, // OPTIONS
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0x0E, // L3
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0x0F, // R3
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0x0A, // L2
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0x0B, // R2
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0x08, // L1
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0x09, // R1
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0x07, // TRIANGLE
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0x06, // CIRCLE
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0x05, // CROSS
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0x04, // SQUARE
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0x10, // PS
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0x11, // TOUCHPAD
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};
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union PS4Buttons {
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struct {
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uint8_t dpad : 4;
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uint8_t square : 1;
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uint8_t cross : 1;
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uint8_t circle : 1;
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uint8_t triangle : 1;
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uint8_t l1 : 1;
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uint8_t r1 : 1;
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uint8_t l2 : 1;
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uint8_t r2 : 1;
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uint8_t share : 1;
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uint8_t options : 1;
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uint8_t l3 : 1;
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uint8_t r3 : 1;
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uint8_t ps : 1;
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uint8_t touchpad : 1;
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uint8_t reportCounter : 6;
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} __attribute__((packed));
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uint32_t val : 24;
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} __attribute__((packed));
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struct touchpadXY {
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uint8_t dummy; // I can not figure out what this data is for, it seems to change randomly, maybe a timestamp?
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struct {
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uint8_t counter : 7; // Increments every time a finger is touching the touchpad
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uint8_t touching : 1; // The top bit is cleared if the finger is touching the touchpad
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uint16_t x : 12;
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uint16_t y : 12;
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} __attribute__((packed)) finger[2]; // 0 = first finger, 1 = second finger
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} __attribute__((packed));
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struct PS4Status {
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uint8_t battery : 4;
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uint8_t usb : 1;
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uint8_t audio : 1;
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uint8_t mic : 1;
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uint8_t unknown : 1; // Extension port?
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} __attribute__((packed));
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struct PS4Data {
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/* Button and joystick values */
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uint8_t hatValue[4];
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PS4Buttons btn;
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uint8_t trigger[2];
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/* Gyro and accelerometer values */
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uint8_t dummy[3]; // First two looks random, while the third one might be some kind of status - it increments once in a while
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int16_t gyroY, gyroZ, gyroX;
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int16_t accX, accZ, accY;
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uint8_t dummy2[5];
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PS4Status status;
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uint8_t dummy3[3];
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/* The rest is data for the touchpad */
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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.
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// The last data is read from the last position in the array while the oldest measurement is from the first position.
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// The first position will also keep it's value after the finger is released, while the other two will set them to zero.
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// Note that if you read fast enough from the device, then only the first one will contain any data.
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// The last three bytes are always: 0x00, 0x80, 0x00
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} __attribute__((packed));
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struct PS4Output {
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uint8_t bigRumble, smallRumble; // Rumble
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uint8_t r, g, b; // RGB
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uint8_t flashOn, flashOff; // Time to flash bright/dark (255 = 2.5 seconds)
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bool reportChanged; // The data is send when data is received from the controller
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} __attribute__((packed));
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enum DPADEnum {
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DPAD_UP = 0x0,
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DPAD_UP_RIGHT = 0x1,
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DPAD_RIGHT = 0x2,
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DPAD_RIGHT_DOWN = 0x3,
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DPAD_DOWN = 0x4,
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DPAD_DOWN_LEFT = 0x5,
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DPAD_LEFT = 0x6,
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DPAD_LEFT_UP = 0x7,
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DPAD_OFF = 0x8,
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};
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/** This class parses all the data sent by the PS4 controller */
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class PS4Parser {
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public:
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/** Constructor for the PS4Parser class. */
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PS4Parser() {
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Reset();
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};
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/** @name PS4 Controller functions */
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/**
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* getButtonPress(ButtonEnum b) will return true as long as the button is held down.
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*
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* While getButtonClick(ButtonEnum b) will only return it once.
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*
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* So you instance if you need to increase a variable once you would use getButtonClick(ButtonEnum b),
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* but if you need to drive a robot forward you would use getButtonPress(ButtonEnum b).
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* @param b ::ButtonEnum to read.
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* @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.
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*/
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bool getButtonPress(ButtonEnum b);
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bool getButtonClick(ButtonEnum b);
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/**@}*/
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/** @name PS4 Controller functions */
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/**
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* Used to get the analog value from button presses.
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* @param b The ::ButtonEnum to read.
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* The supported buttons are:
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* ::UP, ::RIGHT, ::DOWN, ::LEFT, ::L1, ::L2, ::R1, ::R2,
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* ::TRIANGLE, ::CIRCLE, ::CROSS, ::SQUARE, and ::T.
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* @return Analog value in the range of 0-255.
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*/
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uint8_t getAnalogButton(ButtonEnum b);
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/**
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* Used to read the analog joystick.
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* @param a ::LeftHatX, ::LeftHatY, ::RightHatX, and ::RightHatY.
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* @return Return the analog value in the range of 0-255.
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*/
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uint8_t getAnalogHat(AnalogHatEnum a);
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/**
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* Get the x-coordinate of the touchpad. Position 0 is in the top left.
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* @param finger 0 = first finger, 1 = second finger. If omitted, then 0 will be used.
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* @param xyId The controller sends out three packets with the same structure.
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* 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.
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* For that reason it will be set to 0 if the argument is omitted.
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* @return Returns the x-coordinate of the finger.
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*/
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uint16_t getX(uint8_t finger = 0, uint8_t xyId = 0) {
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return ps4Data.xy[xyId].finger[finger].x;
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};
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/**
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* Get the y-coordinate of the touchpad. Position 0 is in the top left.
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* @param finger 0 = first finger, 1 = second finger. If omitted, then 0 will be used.
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* @param xyId The controller sends out three packets with the same structure.
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* 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.
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* For that reason it will be set to 0 if the argument is omitted.
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* @return Returns the y-coordinate of the finger.
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*/
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uint16_t getY(uint8_t finger = 0, uint8_t xyId = 0) {
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return ps4Data.xy[xyId].finger[finger].y;
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};
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/**
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* Returns whenever the user is toucing the touchpad.
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* @param finger 0 = first finger, 1 = second finger. If omitted, then 0 will be used.
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* @param xyId The controller sends out three packets with the same structure.
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* 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.
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* For that reason it will be set to 0 if the argument is omitted.
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* @return Returns true if the specific finger is touching the touchpad.
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*/
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bool isTouching(uint8_t finger = 0, uint8_t xyId = 0) {
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return !(ps4Data.xy[xyId].finger[finger].touching); // The bit is cleared when a finger is touching the touchpad
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};
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/**
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* This counter increments every time a finger touches the touchpad.
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* @param finger 0 = first finger, 1 = second finger. If omitted, then 0 will be used.
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* @param xyId The controller sends out three packets with the same structure.
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* 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.
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* For that reason it will be set to 0 if the argument is omitted.
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* @return Return the value of the counter, note that it is only a 7-bit value.
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*/
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uint8_t getTouchCounter(uint8_t finger = 0, uint8_t xyId = 0) {
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return ps4Data.xy[xyId].finger[finger].counter;
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};
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/**
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* Get the angle of the controller calculated using the accelerometer.
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* @param a Either ::Pitch or ::Roll.
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* @return Return the angle in the range of 0-360.
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*/
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double getAngle(AngleEnum a) {
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if (a == Pitch)
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return (atan2(ps4Data.accY, ps4Data.accZ) + PI) * RAD_TO_DEG;
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else
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return (atan2(ps4Data.accX, ps4Data.accZ) + PI) * RAD_TO_DEG;
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};
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/**
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* Used to get the raw values from the 3-axis gyroscope and 3-axis accelerometer inside the PS4 controller.
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* @param s The sensor to read.
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* @return Returns the raw sensor reading.
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*/
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int16_t getSensor(SensorEnum s) {
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switch(s) {
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case gX:
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return ps4Data.gyroX;
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case gY:
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return ps4Data.gyroY;
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case gZ:
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return ps4Data.gyroZ;
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case aX:
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return ps4Data.accX;
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case aY:
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return ps4Data.accY;
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case aZ:
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return ps4Data.accZ;
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default:
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return 0;
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}
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};
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/**
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* Return the battery level of the PS4 controller.
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* @return The battery level in the range 0-15.
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*/
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uint8_t getBatteryLevel() {
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return ps4Data.status.battery;
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};
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/**
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* Use this to check if an USB cable is connected to the PS4 controller.
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* @return Returns true if an USB cable is connected.
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*/
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bool getUsbStatus() {
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return ps4Data.status.usb;
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};
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/**
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* Use this to check if an audio jack cable is connected to the PS4 controller.
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* @return Returns true if an audio jack cable is connected.
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*/
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bool getAudioStatus() {
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return ps4Data.status.audio;
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};
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/**
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* Use this to check if a microphone is connected to the PS4 controller.
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* @return Returns true if a microphone is connected.
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*/
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bool getMicStatus() {
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return ps4Data.status.mic;
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};
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/** Turn both rumble and the LEDs off. */
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void setAllOff() {
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setRumbleOff();
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setLedOff();
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};
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/** Set rumble off. */
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void setRumbleOff() {
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setRumbleOn(0, 0);
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};
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/**
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* Turn on rumble.
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* @param mode Either ::RumbleHigh or ::RumbleLow.
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*/
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void setRumbleOn(RumbleEnum mode) {
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if (mode == RumbleLow)
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setRumbleOn(0x00, 0xFF);
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else
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setRumbleOn(0xFF, 0x00);
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};
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/**
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* Turn on rumble.
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* @param bigRumble Value for big motor.
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* @param smallRumble Value for small motor.
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*/
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void setRumbleOn(uint8_t bigRumble, uint8_t smallRumble) {
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ps4Output.bigRumble = bigRumble;
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ps4Output.smallRumble = smallRumble;
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ps4Output.reportChanged = true;
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};
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/** Turn all LEDs off. */
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void setLedOff() {
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setLed(0, 0, 0);
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};
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/**
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* Use this to set the color using RGB values.
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* @param r,g,b RGB value.
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*/
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void setLed(uint8_t r, uint8_t g, uint8_t b) {
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ps4Output.r = r;
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ps4Output.g = g;
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ps4Output.b = b;
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ps4Output.reportChanged = true;
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};
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/**
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* Use this to set the color using the predefined colors in ::ColorsEnum.
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* @param color The desired color.
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*/
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void setLed(ColorsEnum color) {
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setLed((uint8_t)(color >> 16), (uint8_t)(color >> 8), (uint8_t)(color));
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};
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/**
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* Set the LEDs flash time.
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* @param flashOn Time to flash bright (255 = 2.5 seconds).
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* @param flashOff Time to flash dark (255 = 2.5 seconds).
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*/
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void setLedFlash(uint8_t flashOn, uint8_t flashOff) {
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ps4Output.flashOn = flashOn;
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ps4Output.flashOff = flashOff;
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ps4Output.reportChanged = true;
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};
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/**@}*/
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protected:
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/**
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* Used to parse data sent from the PS4 controller.
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* @param len Length of the data.
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* @param buf Pointer to the data buffer.
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*/
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||
|
|
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
|