树莓派3 蓝牙连接 PS3手柄

网上没有直接用3蓝牙连接树莓派的教程，看到一篇用2b 和 蓝牙适配器一起用 连接PS3 手柄的，所以先安装一下试试。

http://tieba.baidu.com/p/3237051512

下面就是安装必要的软件了:
pi@raspberrypi ~ $ sudo apt-get install libusb-dev libbluetooth-dev libjack-dev

注：上面lib这个三个是必须装的，是为了后面编译要用到的 否则各种报错

可以在qtsixa官网下载

下载完毕后解压：
pi@raspberrypi ~/tools/sixa $ tar -xvf QtSixA-src.tar.gz


进入解压文件夹：
pi@raspberrypi ~/tools/sixa $ cd QtSixA-1.5.1/


我们先编译配对工具：
pi@raspberrypi ~/tools/sixa/QtSixA-1.5.1 $ cd utils/


打开"Makefile"， 把"WANT_JACK = false" 改为 "WANT_JACK = true"。


输入"make"编译工具：
pi@raspberrypi ~/tools/sixa/QtSixA-1.5.1/utils $ make
mkdir -p bins
cc -O2 -Wall -Wl,-Bsymbolic-functions hidraw-dump.c -o bins/hidraw-dump
cc -O2 -Wall -Wl,-Bsymbolic-functions sixpair.c -o bins/sixpair `pkg-config --cflags --libs libusb`
cc -O2 -Wall -Wl,-Bsymbolic-functions sixpair_kbd.c -o bins/sixpair-kbd `pkg-config --cflags --libs libusb`


编译完后， 你可以在"./bins" 文件家里看到这些文件：
pi@raspberrypi ~/tools/sixa/QtSixA-1.5.1/utils $ ls bins
hidraw-dump sixad-jack sixpair sixpair-kbd


下面进行配对，将手柄用数据线接入树莓派。 按下"ps"按键。


运行"./bins/sixpair"。成功你会看到以下类似信息， 然后可以拔出你的手柄了：
pi@raspberrypi ~/tools/sixa/QtSixA-1.5.1/utils $ sudo ./bins/sixpair
Current Bluetooth master: xx:xx:xx:xx:xx:xx
Setting master bd_addr to: xx:xx:xx:xx:xx:xx


然后我们进入"../sixad/"， 编译"sixad"：
pi@raspberrypi ~/tools/sixa/QtSixA-1.5.1/utils $ cd ../sixad/


编译并安装"sixad"：
pi@raspberrypi ~/tools/sixa/QtSixA-1.5.1/sixad $ make

如果你的树莓派版本比较新，gcc版本大于等于4.7以上的，make会报错

mkdir -p bins
g++ -O2 -Wall -Wl,-Bsymbolic-functions sixad-bin.cpp bluetooth.cpp shared.cpp textfile.cpp -o bins/sixad-bin `pkg-config --cflags --libs bluez` -lpthread -fpermissive
sixad-bin.cpp: In function 'int main(int, char**)':
sixad-bin.cpp:84:20: warning: taking address of temporary [-fpermissive]
sixad-bin.cpp:89:18: error: 'close' was not declared in this scope
sixad-bin.cpp:100:20: error: 'sleep' was not declared in this scope
sixad-bin.cpp:109:22: error: 'close' was not declared in this scopepi

其实有很多错误 我截取了一段，都是类似这样的错误，需要改以下share.h的文件内容就可以了

/*     * shared.h     *     * This file is part of the QtSixA, the Sixaxis Joystick Manager     * Copyright 2008-2011 Filipe Coelho      *     * QtSixA can be redistributed and/or modified under the terms of the GNU General     * Public License (Version 2), as published by the Free Software Foundation.     * A copy of the license is included in the QtSixA source code, or can be found     * online at www.gnu.org/licenses.     *     * QtSixA is distributed in the hope that it will be useful, but WITHOUT ANY     * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR     * A PARTICULAR PURPOSE. See the GNU General Public License for more details.     *     */    #ifndef SHARED_H    #define SHARED_H    #include     struct dev_led {    bool enabled;    bool anim;    bool auto_sel;    int number;    };    struct dev_joystick {    bool enabled;    bool buttons;    bool axis;    bool sbuttons;    bool accel;    bool accon;    bool speed;    bool pos;    };    struct dev_remote {    bool enabled;    bool numeric;    bool dvd;    bool directional;    bool multimedia;    };    struct dev_input {    bool enabled;    int key_select, key_l3, key_r3, key_start, key_up, key_right, key_down, key_left;    int key_l2, key_r2, key_l1, key_r1, key_tri, key_cir, key_squ, key_cro, key_ps;    int axis_l_type, axis_r_type, axis_speed;    int axis_l_up, axis_l_right, axis_l_down, axis_l_left;    int axis_r_up, axis_r_right, axis_r_down, axis_r_left;    bool use_lr3;    };    struct dev_rumble {    bool enabled;    bool old_mode;    };    struct dev_timeout {    bool enabled;    int timeout;    };    struct device_settings {    bool auto_disconnect;    struct dev_led led;    struct dev_joystick joystick;    struct dev_remote remote;    struct dev_input input;    struct dev_rumble rumble;    struct dev_timeout timeout;    };    bool was_active();    void set_active(int active);    bool io_canceled();    void sig_term(int sig);    void open_log(const char *app_name);    struct device_settings init_values(const char *mac);    int get_joystick_number();    void enable_sixaxis(int csk);    #endif // SHARED_H

这是完整文件内容，完全覆盖就可以使用

@raspberrypi ~/tools/sixa/QtSixA-1.5.1/sixad $ sudo make install


启动"sixad"， 按下手柄"ps"键， 等待出现以下信息就成功了：
pi@raspberrypi ~/tools/sixa/QtSixA-1.5.1/sixad $ sudo sixad --start
sixad-bin[6117]: started
sixad-bin[6117]: sixad started, press the PS button now
sixad-bin[6117]: unable to connect to sdp session
sixad-bin[6117]: Connected Sony Computer Entertainment Wireless Controller (xx:xx:xx:xx:xx:xx)

之后就没有错误了 按照步骤 就可以连上ps3手柄