241 lines
9.5 KiB
C
241 lines
9.5 KiB
C
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/* Copyright (C) 2012 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 _ps3bt_h_
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#define _ps3bt_h_
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#include "BTD.h"
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#include "PS3Enums.h"
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#define HID_BUFFERSIZE 50 // Size of the buffer for the Playstation Motion Controller
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/**
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* This BluetoothService class implements support for all the official PS3 Controllers:
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* Dualshock 3, Navigation or a Motion controller via Bluetooth.
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*
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* Information about the protocol can be found at the wiki: https://github.com/felis/USB_Host_Shield_2.0/wiki/PS3-Information.
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*/
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class PS3BT : public BluetoothService {
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public:
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/**
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* Constructor for the PS3BT class.
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* @param pBtd Pointer to BTD class instance.
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* @param btadr5,btadr4,btadr3,btadr2,btadr1,btadr0
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* Pass your dongles Bluetooth address into the constructor,
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* This will set BTD#my_bdaddr, so you don't have to plug in the dongle before pairing with your controller.
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*/
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PS3BT(BTD *pBtd, uint8_t btadr5 = 0, uint8_t btadr4 = 0, uint8_t btadr3 = 0, uint8_t btadr2 = 0, uint8_t btadr1 = 0, uint8_t btadr0 = 0);
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/** @name BluetoothService implementation */
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/** Used this to disconnect any of the controllers. */
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void disconnect();
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/**@}*/
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/** @name PS3 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 PS3 Controller functions */
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/**
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* Used to get the analog value from button presses.
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* @param a 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 a);
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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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* Used to read the sensors inside the Dualshock 3 and Move controller.
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* @param a
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* The Dualshock 3 has a 3-axis accelerometer and a 1-axis gyro inside.
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* The Move controller has a 3-axis accelerometer, a 3-axis gyro, a 3-axis magnetometer
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* and a temperature sensor inside.
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* @return Return the raw sensor value.
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*/
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int16_t getSensor(SensorEnum a);
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/**
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* Use this to get ::Pitch and ::Roll 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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/**
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* Read the sensors inside the Move controller.
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* @param a ::aXmove, ::aYmove, ::aZmove, ::gXmove, ::gYmove, ::gZmove, ::mXmove, ::mYmove, and ::mXmove.
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* @return The value in SI units.
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*/
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double get9DOFValues(SensorEnum a);
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/**
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* Get the status from the controller.
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* @param c The ::StatusEnum you want to read.
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* @return True if correct and false if not.
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*/
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bool getStatus(StatusEnum c);
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/** Read all the available statuses from the controller and prints it as a nice formated string. */
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void printStatusString();
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/**
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* Read the temperature from the Move controller.
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* @return The temperature in degrees Celsius.
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*/
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String getTemperature();
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/** Used to set all LEDs and rumble off. */
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void setAllOff();
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/** Turn off rumble. */
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void setRumbleOff();
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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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/**
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* Turn on rumble using custom duration and power.
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* @param rightDuration The duration of the right/low rumble effect.
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* @param rightPower The intensity of the right/low rumble effect.
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* @param leftDuration The duration of the left/high rumble effect.
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* @param leftPower The intensity of the left/high rumble effect.
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*/
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void setRumbleOn(uint8_t rightDuration, uint8_t rightPower, uint8_t leftDuration, uint8_t leftPower);
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/**
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* Set LED value without using ::LEDEnum.
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* @param value See: ::LEDEnum.
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*/
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void setLedRaw(uint8_t value);
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/** Turn all LEDs off. */
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void setLedOff() {
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setLedRaw(0);
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};
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/**
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* Turn the specific LED off.
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* @param a The ::LEDEnum to turn off.
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*/
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void setLedOff(LEDEnum a);
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/**
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* Turn the specific LED on.
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* @param a The ::LEDEnum to turn on.
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*/
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void setLedOn(LEDEnum a);
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/**
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* Toggle the specific LED.
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* @param a The ::LEDEnum to toggle.
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*/
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void setLedToggle(LEDEnum a);
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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 moveSetBulb(uint8_t r, uint8_t g, uint8_t b);
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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 moveSetBulb(ColorsEnum color);
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/**
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* Set the rumble value inside the Move controller.
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* @param rumble The desired value in the range from 64-255.
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*/
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void moveSetRumble(uint8_t rumble);
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/** Used to get the millis() of the last message */
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uint32_t getLastMessageTime() {
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return lastMessageTime;
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};
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/**@}*/
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/** Variable used to indicate if the normal Playstation controller is successfully connected. */
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bool PS3Connected;
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/** Variable used to indicate if the Move controller is successfully connected. */
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bool PS3MoveConnected;
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/** Variable used to indicate if the Navigation controller is successfully connected. */
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bool PS3NavigationConnected;
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protected:
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/** @name BluetoothService implementation */
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/**
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* Used to pass acldata to the services.
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* @param ACLData Incoming acldata.
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*/
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void ACLData(uint8_t* ACLData);
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/** Used to run part of the state machine. */
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void Run();
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/** Use this to reset the service. */
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void Reset();
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/**
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* Called when the controller is successfully initialized.
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* Use attachOnInit(void (*funcOnInit)(void)) to call your own function.
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* This is useful for instance if you want to set the LEDs in a specific way.
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*/
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void onInit();
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/**@}*/
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private:
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void L2CAP_task(); // L2CAP state machine
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/* Variables filled from HCI event management */
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char remote_name_first; // First letter in remote name
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bool activeConnection; // Used to indicate if it's already has established a connection
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/* Variables used by high level L2CAP task */
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uint8_t l2cap_state;
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uint32_t lastMessageTime; // Variable used to store the millis value of the last message.
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uint32_t ButtonState;
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uint32_t OldButtonState;
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uint32_t ButtonClickState;
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uint32_t timer; // Timer used to limit time between messages and also used to continuously set PS3 Move controller Bulb and rumble values
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uint32_t timerHID; // Timer used see if there has to be a delay before a new HID command
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uint8_t l2capinbuf[BULK_MAXPKTSIZE]; // General purpose buffer for L2CAP in data
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uint8_t HIDBuffer[HID_BUFFERSIZE]; // Used to store HID commands
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uint8_t HIDMoveBuffer[HID_BUFFERSIZE]; // Used to store HID commands for the Move controller
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/* L2CAP Channels */
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uint8_t control_scid[2]; // L2CAP source CID for HID_Control
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uint8_t control_dcid[2]; // 0x0040
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uint8_t interrupt_scid[2]; // L2CAP source CID for HID_Interrupt
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uint8_t interrupt_dcid[2]; // 0x0041
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/* HID Commands */
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void HID_Command(uint8_t* data, uint8_t nbytes);
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void HIDMove_Command(uint8_t* data, uint8_t nbytes);
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void enable_sixaxis(); // Command used to enable the Dualshock 3 and Navigation controller to send data via Bluetooth
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};
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#endif
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