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#!/usr/bin/python
import time
import sys
import struct
import math
import binascii
from bluetooth import set_l2cap_mtu
from keymaps import keymap_sixaxis
from keymaps import axismap_sixaxis
xval = 0
yval = 0
num_samples = 16
sumx = [0] * num_samples
sumy = [0] * num_samples
sumr = [0] * num_samples
axis_amount = [0, 0, 0, 0]
def normalize(val):
upperlimit = 65281
lowerlimit = 2
val_range = upperlimit - lowerlimit
offset = 10000
val = (val + val_range / 2) % val_range
upperlimit -= offset
lowerlimit += offset
if val < lowerlimit:
val = lowerlimit
if val > upperlimit:
val = upperlimit
val = ((float(val) - offset) / (float(upperlimit) -
lowerlimit)) * 65535.0
if val <= 0:
val = 1
return val
def normalize_axis(val, deadzone):
val = float(val) - 127.5
val = val / 127.5
if abs(val) < deadzone:
return 0.0
if val > 0.0:
val = (val - deadzone) / (1.0 - deadzone)
else:
val = (val + deadzone) / (1.0 - deadzone)
return 65536.0 * val
def normalize_angle(val, valrange):
valrange *= 2
val = val / valrange
if val > 1.0:
val = 1.0
if val < -1.0:
val = -1.0
return (val + 0.5) * 65535.0
def initialize(control_sock, interrupt_sock):
# sixaxis needs this to enable it
# 0x53 => HIDP_TRANS_SET_REPORT | HIDP_DATA_RTYPE_FEATURE
control_sock.send("\x53\xf4\x42\x03\x00\x00")
time.sleep(0.25)
data = control_sock.recv(1)
set_l2cap_mtu(control_sock, 64)
set_l2cap_mtu(interrupt_sock, 64)
# This command will turn on the gyro and set the leds
# I wonder if turning on the gyro makes it draw more current??
# it's probably a flag somewhere in the following command
# HID Command: HIDP_TRANS_SET_REPORT | HIDP_DATA_RTYPE_OUTPUT
# HID Report:1
bytes = [0x52, 0x1]
bytes.extend([0x00, 0x00, 0x00])
bytes.extend([0xFF, 0x72])
bytes.extend([0x00, 0x00, 0x00, 0x00])
bytes.extend([0x02]) # 0x02 LED1, 0x04 LED2 ... 0x10 LED4
# The following sections should set the blink frequncy of
# the leds on the controller, but i've not figured out how.
# These values where suggusted in a mailing list, but no explination
# for how they should be combined to the 5 bytes per led
#0xFF = 0.5Hz
#0x80 = 1Hz
#0x40 = 2Hz
bytes.extend([0xFF, 0x00, 0x01, 0x00, 0x01]) #LED4 [0xff, 0xff, 0x10, 0x10, 0x10]
bytes.extend([0xFF, 0x00, 0x01, 0x00, 0x01]) #LED3 [0xff, 0x40, 0x08, 0x10, 0x10]
bytes.extend([0xFF, 0x00, 0x01, 0x00, 0x01]) #LED2 [0xff, 0x00, 0x10, 0x30, 0x30]
bytes.extend([0xFF, 0x00, 0x01, 0x00, 0x01]) #LED1 [0xff, 0x00, 0x10, 0x40, 0x10]
bytes.extend([0x00, 0x00, 0x00, 0x00, 0x00])
bytes.extend([0x00, 0x00, 0x00, 0x00, 0x00])
control_sock.send(struct.pack("42B", *bytes))
time.sleep(0.25)
data = control_sock.recv(1)
return data
def read_input(isock):
return isock.recv(50)
def process_input(data, xbmc=None, mouse_enabled=0):
if len(data) < 3:
return (0, 0, 0)
# make sure this is the correct report
if struct.unpack("BBB", data[0:3]) != (0xa1, 0x01, 0x00):
return (0, 0, 0)
if len(data) >= 48:
v1 = struct.unpack("h", data[42:44])
v2 = struct.unpack("h", data[44:46])
v3 = struct.unpack("h", data[46:48])
else:
v1 = [0,0]
v2 = [0,0]
v3 = [0,0]
if len(data) >= 50:
v4 = struct.unpack("h", data[48:50])
else:
v4 = [0,0]
ax = float(v1[0])
ay = float(v2[0])
az = float(v3[0])
rz = float(v4[0])
at = math.sqrt(ax*ax + ay*ay + az*az)
bflags = struct.unpack("H", data[3:5])[0]
psflags = struct.unpack("B", data[5:6])[0]
if len(data) > 27:
pressure = struct.unpack("BBBBBBBBBBBB", data[15:27])
else:
pressure = [0,0,0,0,0,0,0,0,0,0,0,0,0]
roll = -math.atan2(ax, math.sqrt(ay*ay + az*az))
pitch = math.atan2(ay, math.sqrt(ax*ax + az*az))
pitch -= math.radians(20);
xpos = normalize_angle(roll, math.radians(30))
ypos = normalize_angle(pitch, math.radians(30))
# update our sliding window array
sumx.insert(0, xpos)
sumy.insert(0, ypos)
sumx.pop(num_samples)
sumy.pop(num_samples)
# reset average
xval = 0
yval = 0
# do a sliding window average to remove high frequency
# noise in accelerometer sampling
for i in range(0, num_samples):
xval += sumx[i]
yval += sumy[i]
axis = struct.unpack("BBBB", data[7:11])
if xbmc:
for i in range(4):
config = axismap_sixaxis[i]
axis_amount[i] = send_singleaxis(xbmc, axis[i], axis_amount[i], config[0], config[1], config[2])
# send the mouse position to xbmc
if mouse_enabled == 1:
xbmc.send_mouse_position(xval/num_samples, yval/num_samples)
return (bflags, psflags, pressure)
def send_singleaxis(xbmc, axis, last_amount, mapname, action_min, action_pos):
amount = normalize_axis(axis, 0.30)
if last_amount < 0:
last_action = action_min
elif last_amount > 0:
last_action = action_pos
else:
last_action = None
if amount < 0:
new_action = action_min
elif amount > 0:
new_action = action_pos
else:
new_action = None
if last_action and new_action != last_action:
xbmc.send_button_state(map=mapname, button=last_action, amount=0, axis=1)
if new_action and amount != last_amount:
xbmc.send_button_state(map=mapname, button=new_action, amount=abs(amount), axis=1)
return amount
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