tinyUSB/examples/host/hid_controller/src/hid_app.c

/*
 * The MIT License (MIT)
 *
 * Copyright (c) 2021, Ha Thach (tinyusb.org)
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 *
 */

#include "bsp/board_api.h"
#include "tusb.h"

/* From https://www.kernel.org/doc/html/latest/input/gamepad.html
          ____________________________              __
         / [__ZL__]          [__ZR__] \               |
        / [__ TL __]        [__ TR __] \              | Front Triggers
     __/________________________________\__         __|
    /                                  _   \          |
   /      /\           __             (N)   \         |
  /       ||      __  |MO|  __     _       _ \        | Main Pad
 |    <===DP===> |SE|      |ST|   (W) -|- (E) |       |
  \       ||    ___          ___       _     /        |
  /\      \/   /   \        /   \     (S)   /\      __|
 /  \________ | LS  | ____ |  RS | ________/  \       |
|         /  \ \___/ /    \ \___/ /  \         |      | Control Sticks
|        /    \_____/      \_____/    \        |    __|
|       /                              \       |
 \_____/                                \_____/

     |________|______|    |______|___________|
       D-Pad    Left       Right   Action Pad
               Stick       Stick

                 |_____________|
                    Menu Pad

  Most gamepads have the following features:
  - Action-Pad 4 buttons in diamonds-shape (on the right side) NORTH, SOUTH, WEST and EAST.
  - D-Pad (Direction-pad) 4 buttons (on the left side) that point up, down, left and right.
  - Menu-Pad Different constellations, but most-times 2 buttons: SELECT - START.
  - Analog-Sticks provide freely moveable sticks to control directions, Analog-sticks may also
  provide a digital button if you press them.
  - Triggers are located on the upper-side of the pad in vertical direction. The upper buttons
  are normally named Left- and Right-Triggers, the lower buttons Z-Left and Z-Right.
  - Rumble Many devices provide force-feedback features. But are mostly just simple rumble motors.
 */

// Sony DS4 report layout detail https://www.psdevwiki.com/ps4/DS4-USB
typedef struct TU_ATTR_PACKED
{
  uint8_t x, y, z, rz; // joystick

  struct {
    uint8_t dpad     : 4; // (hat format, 0x08 is released, 0=N, 1=NE, 2=E, 3=SE, 4=S, 5=SW, 6=W, 7=NW)
    uint8_t square   : 1; // west
    uint8_t cross    : 1; // south
    uint8_t circle   : 1; // east
    uint8_t triangle : 1; // north
  };

  struct {
    uint8_t l1     : 1;
    uint8_t r1     : 1;
    uint8_t l2     : 1;
    uint8_t r2     : 1;
    uint8_t share  : 1;
    uint8_t option : 1;
    uint8_t l3     : 1;
    uint8_t r3     : 1;
  };

  struct {
    uint8_t ps      : 1; // playstation button
    uint8_t tpad    : 1; // track pad click
    uint8_t counter : 6; // +1 each report
  };

  uint8_t l2_trigger; // 0 released, 0xff fully pressed
  uint8_t r2_trigger; // as above

  //  uint16_t timestamp;
  //  uint8_t  battery;
  //
  //  int16_t gyro[3];  // x, y, z;
  //  int16_t accel[3]; // x, y, z

  // there is still lots more info

} sony_ds4_report_t;

typedef struct TU_ATTR_PACKED {
  // First 16 bits set what data is pertinent in this structure (1 = set; 0 = not set)
  uint8_t set_rumble : 1;
  uint8_t set_led : 1;
  uint8_t set_led_blink : 1;
  uint8_t set_ext_write : 1;
  uint8_t set_left_volume : 1;
  uint8_t set_right_volume : 1;
  uint8_t set_mic_volume : 1;
  uint8_t set_speaker_volume : 1;
  uint8_t set_flags2;

  uint8_t reserved;

  uint8_t motor_right;
  uint8_t motor_left;

  uint8_t lightbar_red;
  uint8_t lightbar_green;
  uint8_t lightbar_blue;
  uint8_t lightbar_blink_on;
  uint8_t lightbar_blink_off;

  uint8_t ext_data[8];

  uint8_t volume_left;
  uint8_t volume_right;
  uint8_t volume_mic;
  uint8_t volume_speaker;

  uint8_t other[9];
} sony_ds4_output_report_t;

static bool ds4_mounted = false;
static uint8_t ds4_dev_addr = 0;
static uint8_t ds4_instance = 0;
static uint8_t motor_left = 0;
static uint8_t motor_right = 0;

// check if device is Sony DualShock 4
static inline bool is_sony_ds4(uint8_t dev_addr)
{
  uint16_t vid, pid;
  tuh_vid_pid_get(dev_addr, &vid, &pid);

  return ( (vid == 0x054c && (pid == 0x09cc || pid == 0x05c4)) // Sony DualShock4
           || (vid == 0x0f0d && pid == 0x005e)                 // Hori FC4
           || (vid == 0x0f0d && pid == 0x00ee)                 // Hori PS4 Mini (PS4-099U)
           || (vid == 0x1f4f && pid == 0x1002)                 // ASW GG xrd controller
         );
}

//--------------------------------------------------------------------+
// MACRO TYPEDEF CONSTANT ENUM DECLARATION
//--------------------------------------------------------------------+

void hid_app_task(void)
{
  if (ds4_mounted)
  {
    const uint32_t interval_ms = 200;
    static uint32_t start_ms = 0;

    uint32_t current_time_ms = board_millis();
    if ( current_time_ms - start_ms >= interval_ms)
    {
      start_ms = current_time_ms;

      sony_ds4_output_report_t output_report = {0};
      output_report.set_rumble = 1;
      output_report.motor_left = motor_left;
      output_report.motor_right = motor_right;
      tuh_hid_send_report(ds4_dev_addr, ds4_instance, 5, &output_report, sizeof(output_report));
    }
  }
}

//--------------------------------------------------------------------+
// TinyUSB Callbacks
//--------------------------------------------------------------------+

// Invoked when device with hid interface is mounted
// Report descriptor is also available for use. tuh_hid_parse_report_descriptor()
// can be used to parse common/simple enough descriptor.
// Note: if report descriptor length > CFG_TUH_ENUMERATION_BUFSIZE, it will be skipped
// therefore report_desc = NULL, desc_len = 0
void tuh_hid_mount_cb(uint8_t dev_addr, uint8_t instance, uint8_t const* desc_report, uint16_t desc_len)
{
  (void)desc_report;
  (void)desc_len;
  uint16_t vid, pid;
  tuh_vid_pid_get(dev_addr, &vid, &pid);

  printf("HID device address = %d, instance = %d is mounted\r\n", dev_addr, instance);
  printf("VID = %04x, PID = %04x\r\n", vid, pid);

  // Sony DualShock 4 [CUH-ZCT2x]
  if ( is_sony_ds4(dev_addr) )
  {
    if (!ds4_mounted)
    {
      ds4_dev_addr = dev_addr;
      ds4_instance = instance;
      motor_left = 0;
      motor_right = 0;
      ds4_mounted = true;
    }
    // request to receive report
    // tuh_hid_report_received_cb() will be invoked when report is available
    if ( !tuh_hid_receive_report(dev_addr, instance) )
    {
      printf("Error: cannot request to receive report\r\n");
    }
  }
}

// Invoked when device with hid interface is un-mounted
void tuh_hid_umount_cb(uint8_t dev_addr, uint8_t instance)
{
  printf("HID device address = %d, instance = %d is unmounted\r\n", dev_addr, instance);
  if (ds4_mounted && ds4_dev_addr == dev_addr && ds4_instance == instance)
  {
    ds4_mounted = false;
  }
}

// check if different than 2
static inline bool diff_than_2(uint8_t x, uint8_t y) {
  return (x - y > 2) || (y - x > 2);
}

// check if 2 reports are different enough
static bool diff_report(sony_ds4_report_t const* rpt1, sony_ds4_report_t const* rpt2) {
  bool result;

  // x, y, z, rz must different than 2 to be counted
  result = diff_than_2(rpt1->x, rpt2->x) || diff_than_2(rpt1->y , rpt2->y ) ||
           diff_than_2(rpt1->z, rpt2->z) || diff_than_2(rpt1->rz, rpt2->rz);

  // check the rest with mem compare
  result |= memcmp(&rpt1->rz + 1, &rpt2->rz + 1, sizeof(sony_ds4_report_t)-6);

  return result;
}

static void process_sony_ds4(uint8_t const* report, uint16_t len)
{
  (void)len;
  const char* dpad_str[] = { "N", "NE", "E", "SE", "S", "SW", "W", "NW", "none" };

  // previous report used to compare for changes
  static sony_ds4_report_t prev_report = { 0 };

  uint8_t const report_id = report[0];
  report++;
  len--;

  // all buttons state is stored in ID 1
  if (report_id == 1)
  {
    sony_ds4_report_t ds4_report;
    memcpy(&ds4_report, report, sizeof(ds4_report));

    // counter is +1, assign to make it easier to compare 2 report
    prev_report.counter = ds4_report.counter;

    // only print if changes since it is polled ~ 5ms
    // Since count+1 after each report and  x, y, z, rz fluctuate within 1 or 2
    // We need more than memcmp to check if report is different enough
    if ( diff_report(&prev_report, &ds4_report) )
    {
      printf("(x, y, z, rz) = (%u, %u, %u, %u)\r\n", ds4_report.x, ds4_report.y, ds4_report.z, ds4_report.rz);
      printf("DPad = %s ", dpad_str[ds4_report.dpad]);

      if (ds4_report.square   ) printf("Square ");
      if (ds4_report.cross    ) printf("Cross ");
      if (ds4_report.circle   ) printf("Circle ");
      if (ds4_report.triangle ) printf("Triangle ");

      if (ds4_report.l1       ) printf("L1 ");
      if (ds4_report.r1       ) printf("R1 ");
      if (ds4_report.l2       ) printf("L2 ");
      if (ds4_report.r2       ) printf("R2 ");

      if (ds4_report.share    ) printf("Share ");
      if (ds4_report.option   ) printf("Option ");
      if (ds4_report.l3       ) printf("L3 ");
      if (ds4_report.r3       ) printf("R3 ");

      if (ds4_report.ps       ) printf("PS ");
      if (ds4_report.tpad     ) printf("TPad ");

      printf("\r\n");
    }

    // The left and right triggers control the intensity of the left and right rumble motors
    motor_left = ds4_report.l2_trigger;
    motor_right = ds4_report.r2_trigger;

    prev_report = ds4_report;
  }
}

// Invoked when received report from device via interrupt endpoint
void tuh_hid_report_received_cb(uint8_t dev_addr, uint8_t instance, uint8_t const *report, uint16_t len) {
  if (is_sony_ds4(dev_addr)) {
    process_sony_ds4(report, len);
  }

  // continue to request to receive report
  if (!tuh_hid_receive_report(dev_addr, instance)) {
    printf("Error: cannot request to receive report\r\n");
  }
}