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Add gyroscope, accelerometer and fix left thumbstick in config
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@lemmingDev
lemmingDev authored Feb 1, 2025
1 parent 78497d9 commit 0065833
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Showing 7 changed files with 599 additions and 157 deletions.
279 changes: 266 additions & 13 deletions BleGamepad.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,13 +33,16 @@ uint8_t tempHidReportDescriptor[150];
int hidReportDescriptorSize = 0;
uint8_t reportSize = 0;
uint8_t numOfButtonBytes = 0;
uint16_t vid;
uint16_t pid;
uint16_t guidVersion;
uint16_t axesMin;
uint16_t axesMax;
uint16_t simulationMin;
uint16_t simulationMax;
static uint16_t vid;
static uint16_t pid;
static uint16_t guidVersion;
static int16_t axesMin;
static int16_t axesMax;
static int16_t simulationMin;
static int16_t simulationMax;
static int16_t motionMin;
static int16_t motionMax;

std::string modelNumber;
std::string softwareRevision;
std::string serialNumber;
Expand Down Expand Up @@ -68,6 +71,12 @@ BleGamepad::BleGamepad(std::string deviceName, std::string deviceManufacturer, u
_hat2(0),
_hat3(0),
_hat4(0),
_gX(0),
_gY(0),
_gZ(0),
_aX(0),
_aY(0),
_aZ(0),
hid(0)
{
this->resetButtons();
Expand Down Expand Up @@ -139,8 +148,19 @@ void BleGamepad::begin(BleGamepadConfiguration *config)
{
numOfSpecialButtonBytes++;
}

uint8_t numOfMotionBytes = 0;
if (configuration.getIncludeAccelerometer())
{
numOfMotionBytes += 6;
}

if (configuration.getIncludeGyroscope())
{
numOfMotionBytes += 6;
}

reportSize = numOfButtonBytes + numOfSpecialButtonBytes + numOfAxisBytes + numOfSimulationBytes + configuration.getHatSwitchCount();
reportSize = numOfButtonBytes + numOfSpecialButtonBytes + numOfAxisBytes + numOfSimulationBytes + numOfMotionBytes + configuration.getHatSwitchCount();

// USAGE_PAGE (Generic Desktop)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x05;
Expand Down Expand Up @@ -341,8 +361,8 @@ void BleGamepad::begin(BleGamepadConfiguration *config)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x01;

// USAGE (Pointer)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x09;
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x01;
//tempHidReportDescriptor[hidReportDescriptorSize++] = 0x09;
//tempHidReportDescriptor[hidReportDescriptorSize++] = 0x01;

// LOGICAL_MINIMUM (-32767)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x16;
Expand Down Expand Up @@ -519,6 +539,123 @@ void BleGamepad::begin(BleGamepadConfiguration *config)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0xc0;

} // Simulation Controls


// Gyroscope
if (configuration.getIncludeGyroscope())
{
// COLLECTION (Physical)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0xA1;
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x00;

// USAGE_PAGE (Generic Desktop)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x05;
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x01;

// USAGE (Gyroscope - Rotational X - Rx)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x09;
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x33;

// USAGE (Rotational - Rotational Y - Ry)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x09;
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x34;

// USAGE (Rotational - Rotational Z - Rz)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x09;
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x35;

// LOGICAL_MINIMUM (-32767)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x16;
tempHidReportDescriptor[hidReportDescriptorSize++] = lowByte(configuration.getMotionMin());
tempHidReportDescriptor[hidReportDescriptorSize++] = highByte(configuration.getMotionMin());
//tempHidReportDescriptor[hidReportDescriptorSize++] = 0x00; // Use these two lines for 0 min
//tempHidReportDescriptor[hidReportDescriptorSize++] = 0x00;
//tempHidReportDescriptor[hidReportDescriptorSize++] = 0x01; // Use these two lines for -32767 min
//tempHidReportDescriptor[hidReportDescriptorSize++] = 0x80;

// LOGICAL_MAXIMUM (+32767)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x26;
tempHidReportDescriptor[hidReportDescriptorSize++] = lowByte(configuration.getMotionMax());
tempHidReportDescriptor[hidReportDescriptorSize++] = highByte(configuration.getMotionMax());
//tempHidReportDescriptor[hidReportDescriptorSize++] = 0xFF; // Use these two lines for 255 max
//tempHidReportDescriptor[hidReportDescriptorSize++] = 0x00;
//tempHidReportDescriptor[hidReportDescriptorSize++] = 0xFF; // Use these two lines for +32767 max
//tempHidReportDescriptor[hidReportDescriptorSize++] = 0x7F;

// REPORT_SIZE (16)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x75;
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x10;

// REPORT_COUNT (3)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x95;
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x03;

// INPUT (Data,Var,Abs)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x81;
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x02;

// END_COLLECTION (Physical)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0xc0;

} //Gyroscope

// Accelerometer
if (configuration.getIncludeAccelerometer())
{
// COLLECTION (Physical)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0xA1;
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x00;

// USAGE_PAGE (Generic Desktop)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x05;
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x01;

// USAGE (Accelerometer - Vector X - Vx)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x09;
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x40;

// USAGE (Accelerometer - Vector Y - Vy)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x09;
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x41;

// USAGE (Accelerometer - Vector Z - Vz)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x09;
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x42;

// LOGICAL_MINIMUM (-32767)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x16;
tempHidReportDescriptor[hidReportDescriptorSize++] = lowByte(configuration.getMotionMin());
tempHidReportDescriptor[hidReportDescriptorSize++] = highByte(configuration.getMotionMin());
//tempHidReportDescriptor[hidReportDescriptorSize++] = 0x00; // Use these two lines for 0 min
//tempHidReportDescriptor[hidReportDescriptorSize++] = 0x00;
//tempHidReportDescriptor[hidReportDescriptorSize++] = 0x01; // Use these two lines for -32767 min
//tempHidReportDescriptor[hidReportDescriptorSize++] = 0x80;

// LOGICAL_MAXIMUM (+32767)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x26;
tempHidReportDescriptor[hidReportDescriptorSize++] = lowByte(configuration.getMotionMax());
tempHidReportDescriptor[hidReportDescriptorSize++] = highByte(configuration.getMotionMax());
//tempHidReportDescriptor[hidReportDescriptorSize++] = 0xFF; // Use these two lines for 255 max
//tempHidReportDescriptor[hidReportDescriptorSize++] = 0x00;
//tempHidReportDescriptor[hidReportDescriptorSize++] = 0xFF; // Use these two lines for +32767 max
//tempHidReportDescriptor[hidReportDescriptorSize++] = 0x7F;

// REPORT_SIZE (16)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x75;
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x10;

// REPORT_COUNT (3)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x95;
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x03;

// INPUT (Data,Var,Abs)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x81;
tempHidReportDescriptor[hidReportDescriptorSize++] = 0x02;

// END_COLLECTION (Physical)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0xc0;

} //Accelerometer

if (configuration.getHatSwitchCount() > 0)
{
Expand Down Expand Up @@ -573,7 +710,8 @@ void BleGamepad::begin(BleGamepadConfiguration *config)

// END_COLLECTION (Physical)
tempHidReportDescriptor[hidReportDescriptorSize++] = 0xc0;
}
} // Hat Switches


if (configuration.getEnableOutputReport())
{
Expand Down Expand Up @@ -837,6 +975,26 @@ void BleGamepad::sendReport(void)
m[currentReportIndex++] = (_steering >> 8);
}

if (configuration.getIncludeGyroscope())
{
m[currentReportIndex++] = _gX;
m[currentReportIndex++] = (_gX >> 8);
m[currentReportIndex++] = _gY;
m[currentReportIndex++] = (_gY >> 8);
m[currentReportIndex++] = _gZ;
m[currentReportIndex++] = (_gZ >> 8);
}

if (configuration.getIncludeAccelerometer())
{
m[currentReportIndex++] = _aX;
m[currentReportIndex++] = (_aX >> 8);
m[currentReportIndex++] = _aY;
m[currentReportIndex++] = (_aY >> 8);
m[currentReportIndex++] = _aZ;
m[currentReportIndex++] = (_aZ >> 8);
}

if (configuration.getHatSwitchCount() > 0)
{
signed char hats[4];
Expand All @@ -851,9 +1009,17 @@ void BleGamepad::sendReport(void)
m[currentReportIndex++] = hats[currentHatIndex];
}
}

this->inputGamepad->setValue(m, sizeof(m));
this->inputGamepad->notify();

// Testing
//Serial.println("HID Report");
//for (int i = 0; i < sizeof(m); i++)
//{
// Serial.printf("%02x", m[i]);
// Serial.println();
//}
}
}

Expand Down Expand Up @@ -1587,6 +1753,90 @@ void BleGamepad::setTXPowerLevel(int8_t level)
NimBLEDevice::setPower(powerLevel); // The only valid values are: -12, -9, -6, -3, 0, 3, 6 and 9
}

void BleGamepad::setGyroscope(int16_t gX, int16_t gY, int16_t gZ)
{
if (gX == -32768)
{
gX = -32767;
}

if (gY == -32768)
{
gY = -32767;
}

if (gY == -32768)
{
gY = -32767;
}

_gX = gX;
_gY = gY;
_gZ = gZ;

if (configuration.getAutoReport())
{
sendReport();
}
}

void BleGamepad::setAccelerometer(int16_t aX, int16_t aY, int16_t aZ)
{
_aX = aX;
_aY = aY;
_aZ = aZ;

if (configuration.getAutoReport())
{
sendReport();
}
}

void BleGamepad::setMotionControls(int16_t gX, int16_t gY, int16_t gZ, int16_t aX, int16_t aY, int16_t aZ)
{
if (gX == -32768)
{
gX = -32767;
}

if (gY == -32768)
{
gY = -32767;
}

if (gZ == -32768)
{
gZ = -32767;
}

if (aX == -32768)
{
aX = -32767;
}

if (aY == -32768)
{
aY = -32767;
}

if (aZ == -32768)
{
aZ = -32767;
}

_gX = gX;
_gY = gY;
_gZ = gZ;
_aX = aX;
_aY = aY;
_aZ = aZ;

if (configuration.getAutoReport())
{
sendReport();
}
}


void BleGamepad::taskServer(void *pvParameter)
{
Expand Down Expand Up @@ -1657,8 +1907,11 @@ void BleGamepad::taskServer(void *pvParameter)

// Testing
//for (int i = 0; i < hidReportDescriptorSize; i++)
//{
// Serial.printf("%02x", customHidReportDescriptor[i]);

// Serial.println();
//}

BleGamepadInstance->hid->setReportMap((uint8_t *)customHidReportDescriptor, hidReportDescriptorSize);
BleGamepadInstance->hid->startServices();

Expand Down
13 changes: 11 additions & 2 deletions BleGamepad.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,12 @@ class BleGamepad
int16_t _hat2;
int16_t _hat3;
int16_t _hat4;
int16_t _gX;
int16_t _gY;
int16_t _gZ;
int16_t _aX;
int16_t _aY;
int16_t _aZ;

//BleGamepadConfiguration configuration;

Expand Down Expand Up @@ -109,8 +115,8 @@ class BleGamepad
bool isConnected(void);
void resetButtons();
void setBatteryLevel(uint8_t level);
void setTXPowerLevel(int8_t level = 9);
int8_t getTXPowerLevel();
void setTXPowerLevel(int8_t level = 9);
int8_t getTXPowerLevel();
uint8_t batteryLevel;
std::string deviceManufacturer;
std::string deviceName;
Expand All @@ -124,6 +130,9 @@ class BleGamepad
NimBLEConnInfo getPeerInfo();
String getDeviceName();
String getDeviceManufacturer();
void setGyroscope(int16_t gX = 0, int16_t gY = 0, int16_t gZ = 0);
void setAccelerometer(int16_t aX = 0, int16_t aY = 0, int16_t aZ = 0);
void setMotionControls(int16_t gX = 0, int16_t gY = 0, int16_t gZ = 0, int16_t aX = 0, int16_t aY = 0, int16_t aZ = 0);


protected:
Expand Down
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