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
#ifndef SHARED_H
#define SHARED_H
#include <unistd.h>
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
