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-devlibjack-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**ThisfileispartoftheQtSixA,theSixaxisJoystickManager*Copyright2008-2011FilipeCoelho<falktx@gmail.com>**QtSixAcanberedistributedand/ormodifiedunderthetermsoftheGNUGeneral*PublicLicense(Version2),aspublishedbytheFreeSoftwareFoundation.*AcopyofthelicenseisincludedintheQtSixAsourcecode,orcanbefound*onlineatwww.gnu.org/licenses.**QtSixAisdistributedinthehopethatitwillbeuseful,butWITHOUTANY*WARRANTY;withouteventheimpliedwarrantyofMERCHANTABILITYorFITNESSFOR*APARTICULARPURPOSE.SeetheGNUGeneralPublicLicenseformoredetails.**/#ifndefSHARED_H#defineSHARED_H#include<unistd.h>structdev_led{boolenabled;boolanim;boolauto_sel;intnumber;};structdev_joystick{boolenabled;boolbuttons;boolaxis;boolsbuttons;boolaccel;boolaccon;boolspeed;boolpos;};structdev_remote{boolenabled;boolnumeric;booldvd;booldirectional;boolmultimedia;};structdev_input{boolenabled;intkey_select,key_l3,key_r3,key_start,key_up,key_right,key_down,key_left;intkey_l2,key_r2,key_l1,key_r1,key_tri,key_cir,key_squ,key_cro,key_ps;intaxis_l_type,axis_r_type,axis_speed;intaxis_l_up,axis_l_right,axis_l_down,axis_l_left;intaxis_r_up,axis_r_right,axis_r_down,axis_r_left;booluse_lr3;};structdev_rumble{boolenabled;boolold_mode;};structdev_timeout{boolenabled;inttimeout;};structdevice_settings{boolauto_disconnect;structdev_ledled;structdev_joystickjoystick;structdev_remoteremote;structdev_inputinput;structdev_rumblerumble;structdev_timeouttimeout;};boolwas_active();voidset_active(intactive);boolio_canceled();voidsig_term(intsig);voidopen_log(constchar*app_name);structdevice_settingsinit_values(constchar*mac);intget_joystick_number();voidenable_sixaxis(intcsk);#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