分享一份關于arduino的ps2的庫

ID:620239 · 發表于 2020-7-16 09:09

#include "PS2X_lib.h"
#include <math.h>
#include <stdio.h>
#include <stdint.h>
#include <avr/io.h>
#if ARDUINO > 22
#include "Arduino.h"
#else
#include "WProgram.h"
#include "pins_arduino.h"
#endif
static byte enter_config[]={0x01,0x43,0x00,0x01,0x00};
static byte set_mode[]={0x01,0x44,0x00,0x01,0x03,0x00,0x00,0x00,0x00};
static byte set_bytes_large[]={0x01,0x4F,0x00,0xFF,0xFF,0x03,0x00,0x00,0x00};
static byte exit_config[]={0x01,0x43,0x00,0x00,0x5A,0x5A,0x5A,0x5A,0x5A};
static byte enable_rumble[]={0x01,0x4D,0x00,0x00,0x01};
static byte type_read[]={0x01,0x45,0x00,0x5A,0x5A,0x5A,0x5A,0x5A,0x5A};
/****************************************************************************************/
boolean PS2X::NewButtonState() {
return ((last_buttons ^ buttons) > 0);
}
/****************************************************************************************/
boolean PS2X::NewButtonState(unsigned int button) {
return (((last_buttons ^ buttons) & button) > 0);
}
/****************************************************************************************/
boolean PS2X::ButtonPressed(unsigned int button) {
return(NewButtonState(button) & Button(button));
}
/****************************************************************************************/
boolean PS2X::ButtonReleased(unsigned int button) {
return((NewButtonState(button)) & ((~last_buttons & button) > 0));
}
/****************************************************************************************/
boolean PS2X::Button(uint16_t button) {
return ((~buttons & button) > 0);
}
/****************************************************************************************/
unsigned int PS2X::ButtonDataByte() {
return (~buttons);
}
/****************************************************************************************/
byte PS2X::Analog(byte button) {
return PS2data[button];
}
/****************************************************************************************/
unsigned char PS2X::_gamepad_shiftinout (char byte) {
unsigned char tmp = 0;
for(unsigned char i=0;i<8;i++) {
if(CHK(byte,i)) CMD_SET();
else CMD_CLR();
CLK_CLR();
delayMicroseconds(CTRL_CLK);
//if(DAT_CHK()) SET(tmp,i);
if(DAT_CHK()) bitSet(tmp,i);
CLK_SET();
#if CTRL_CLK_HIGH
delayMicroseconds(CTRL_CLK_HIGH);
#endif
}
CMD_SET();
delayMicroseconds(CTRL_BYTE_DELAY);
return tmp;
}
/****************************************************************************************/
void PS2X::read_gamepad() {
read_gamepad(false, 0x00);
}
/****************************************************************************************/
boolean PS2X::read_gamepad(boolean motor1, byte motor2) {
double temp = millis() - last_read;
if (temp > 1500) //waited to long
reconfig_gamepad();
if(temp < read_delay) //waited too short
delay(read_delay - temp);
if(motor2 != 0x00)
motor2 = map(motor2,0,255,0x40,0xFF); //noting below 40 will make it spin
char dword[9] = {0x01,0x42,0,motor1,motor2,0,0,0,0};
byte dword2[12] = {0,0,0,0,0,0,0,0,0,0,0,0};
// Try a few times to get valid data...
for (byte RetryCnt = 0; RetryCnt < 5; RetryCnt++) {
CMD_SET();
CLK_SET();
ATT_CLR(); // low enable joystick
delayMicroseconds(CTRL_BYTE_DELAY);
//Send the command to send button and joystick data;
for (int i = 0; i<9; i++) {
PS2data[i] = _gamepad_shiftinout(dword[i]);
}
if(PS2data[1] == 0x79) { //if controller is in full data return mode, get the rest of data
for (int i = 0; i<12; i++) {
PS2data[i+9] = _gamepad_shiftinout(dword2[i]);
}
}
ATT_SET(); // HI disable joystick
// Check to see if we received valid data or not.
// We should be in analog mode for our data to be valid (analog == 0x7_)
if ((PS2data[1] & 0xf0) == 0x70)
break;
// If we got to here, we are not in analog mode, try to recover...
reconfig_gamepad(); // try to get back into Analog mode.
delay(read_delay);
}
// If we get here and still not in analog mode (=0x7_), try increasing the read_delay...
if ((PS2data[1] & 0xf0) != 0x70) {
if (read_delay < 10)
read_delay++; // see if this helps out...
}
#ifdef PS2X_COM_DEBUG
Serial.println("OUT:IN");
for(int i=0; i<9; i++){
Serial.print(dword[i], HEX);
Serial.print(":");
Serial.print(PS2data[i], HEX);
Serial.print(" ");
}
for (int i = 0; i<12; i++) {
Serial.print(dword2[i], HEX);
Serial.print(":");
Serial.print(PS2data[i+9], HEX);
Serial.print(" ");
}
Serial.println("");
#endif
last_buttons = buttons; //store the previous buttons states
#if defined(__AVR__)
buttons = *(uint16_t*)(PS2data+3); //store as one value for multiple functions
#else
buttons = (uint16_t)(PS2data[4] << 8) + PS2data[3]; //store as one value for multiple functions
#endif
last_read = millis();
return ((PS2data[1] & 0xf0) == 0x70); // 1 = OK = analog mode - 0 = NOK
}
/****************************************************************************************/
byte PS2X::config_gamepad(uint8_t clk, uint8_t cmd, uint8_t att, uint8_t dat) {
return config_gamepad(clk, cmd, att, dat, false, false);
}
/****************************************************************************************/
byte PS2X::config_gamepad(uint8_t clk, uint8_t cmd, uint8_t att, uint8_t dat, bool pressures, bool rumble) {
byte temp[sizeof(type_read)];
#ifdef __AVR__
_clk_mask = digitalPinToBitMask(clk);
_clk_oreg = portOutputRegister(digitalPinToPort(clk));
_cmd_mask = digitalPinToBitMask(cmd);
_cmd_oreg = portOutputRegister(digitalPinToPort(cmd));
_att_mask = digitalPinToBitMask(att);
_att_oreg = portOutputRegister(digitalPinToPort(att));
_dat_mask = digitalPinToBitMask(dat);
_dat_ireg = portInputRegister(digitalPinToPort(dat));
#else
uint32_t lport; // Port number for this pin
_clk_mask = digitalPinToBitMask(clk);
lport = digitalPinToPort(clk);
_clk_lport_set = portOutputRegister(lport) + 2;
_clk_lport_clr = portOutputRegister(lport) + 1;
_cmd_mask = digitalPinToBitMask(cmd);
lport = digitalPinToPort(cmd);
_cmd_lport_set = portOutputRegister(lport) + 2;
_cmd_lport_clr = portOutputRegister(lport) + 1;
_att_mask = digitalPinToBitMask(att);
lport = digitalPinToPort(att);
_att_lport_set = portOutputRegister(lport) + 2;
_att_lport_clr = portOutputRegister(lport) + 1;
_dat_mask = digitalPinToBitMask(dat);
_dat_lport = portInputRegister(digitalPinToPort(dat));
#endif
pinMode(clk, OUTPUT); //configure ports
pinMode(att, OUTPUT);
pinMode(cmd, OUTPUT);
pinMode(dat, INPUT);
#if defined(__AVR__)
digitalWrite(dat, HIGH); //enable pull-up
#endif
CMD_SET(); // SET(*_cmd_oreg,_cmd_mask);
CLK_SET();
//new error checking. First, read gamepad a few times to see if it's talking
read_gamepad();
read_gamepad();
//see if it talked - see if mode came back.
//If still anything but 41, 73 or 79, then it's not talking
if(PS2data[1] != 0x41 && PS2data[1] != 0x73 && PS2data[1] != 0x79){
#ifdef PS2X_DEBUG
Serial.println("Controller mode not matched or no controller found");
Serial.print("Expected 0x41, 0x73 or 0x79, but got ");
Serial.println(PS2data[1], HEX);
#endif
return 1; //return error code 1
}
//try setting mode, increasing delays if need be.
read_delay = 1;
for(int y = 0; y <= 10; y++) {
sendCommandString(enter_config, sizeof(enter_config)); //start config run
//read type
delayMicroseconds(CTRL_BYTE_DELAY);
CMD_SET();
CLK_SET();
ATT_CLR(); // low enable joystick
delayMicroseconds(CTRL_BYTE_DELAY);
for (int i = 0; i<9; i++) {
temp[i] = _gamepad_shiftinout(type_read[i]);
}
ATT_SET(); // HI disable joystick
controller_type = temp[3];
sendCommandString(set_mode, sizeof(set_mode));
if(rumble){ sendCommandString(enable_rumble, sizeof(enable_rumble)); en_Rumble = true; }
if(pressures){ sendCommandString(set_bytes_large, sizeof(set_bytes_large)); en_Pressures = true; }
sendCommandString(exit_config, sizeof(exit_config));
read_gamepad();
if(pressures){
if(PS2data[1] == 0x79)
break;
if(PS2data[1] == 0x73)
return 3;
}
if(PS2data[1] == 0x73)
break;
if(y == 10){
#ifdef PS2X_DEBUG
Serial.println("Controller not accepting commands");
Serial.print("mode stil set at");
Serial.println(PS2data[1], HEX);
#endif
return 2; //exit function with error
}
read_delay += 1; //add 1ms to read_delay
}
return 0; //no error if here
}
/****************************************************************************************/
void PS2X::sendCommandString(byte string[], byte len) {
#ifdef PS2X_COM_DEBUG
byte temp[len];
ATT_CLR(); // low enable joystick
delayMicroseconds(CTRL_BYTE_DELAY);
for (int y=0; y < len; y++)
temp[y] = _gamepad_shiftinout(string[y]);
ATT_SET(); //high disable joystick
delay(read_delay); //wait a few
Serial.println("OUT:IN Configure");
for(int i=0; i<len; i++) {
Serial.print(string[i], HEX);
Serial.print(":");
Serial.print(temp[i], HEX);
Serial.print(" ");
}
Serial.println("");
#else
ATT_CLR(); // low enable joystick
for (int y=0; y < len; y++)
_gamepad_shiftinout(string[y]);
ATT_SET(); //high disable joystick
delay(read_delay); //wait a few
#endif
}
/****************************************************************************************/
byte PS2X::readType() {
/*
byte temp[sizeof(type_read)];
sendCommandString(enter_config, sizeof(enter_config));
delayMicroseconds(CTRL_BYTE_DELAY);
CMD_SET();
CLK_SET();
ATT_CLR(); // low enable joystick
delayMicroseconds(CTRL_BYTE_DELAY);
for (int i = 0; i<9; i++) {
temp[i] = _gamepad_shiftinout(type_read[i]);
}
sendCommandString(exit_config, sizeof(exit_config));
if(temp[3] == 0x03)
return 1;
else if(temp[3] == 0x01)
return 2;
return 0;
*/
if(controller_type == 0x03)
return 1;
else if(controller_type == 0x01)
return 2;
else if(controller_type == 0x0C)
return 3; //2.4G Wireless Dual Shock PS2 Game Controller
return 0;
}
/****************************************************************************************/
void PS2X::enableRumble() {
sendCommandString(enter_config, sizeof(enter_config));
sendCommandString(enable_rumble, sizeof(enable_rumble));
sendCommandString(exit_config, sizeof(exit_config));
en_Rumble = true;
}
/****************************************************************************************/
bool PS2X::enablePressures() {
sendCommandString(enter_config, sizeof(enter_config));
sendCommandString(set_bytes_large, sizeof(set_bytes_large));
sendCommandString(exit_config, sizeof(exit_config));
read_gamepad();
read_gamepad();
if(PS2data[1] != 0x79)
return false;
en_Pressures = true;
return true;
}
/****************************************************************************************/
void PS2X::reconfig_gamepad(){
sendCommandString(enter_config, sizeof(enter_config));
sendCommandString(set_mode, sizeof(set_mode));
if (en_Rumble)
sendCommandString(enable_rumble, sizeof(enable_rumble));
if (en_Pressures)
sendCommandString(set_bytes_large, sizeof(set_bytes_large));
sendCommandString(exit_config, sizeof(exit_config));
}
/****************************************************************************************/
#ifdef __AVR__
inline void PS2X::CLK_SET(void) {
register uint8_t old_sreg = SREG;
cli();
*_clk_oreg |= _clk_mask;
SREG = old_sreg;
}
inline void PS2X::CLK_CLR(void) {
register uint8_t old_sreg = SREG;
cli();
*_clk_oreg &= ~_clk_mask;
SREG = old_sreg;
}
inline void PS2X::CMD_SET(void) {
register uint8_t old_sreg = SREG;
cli();
*_cmd_oreg |= _cmd_mask; // SET(*_cmd_oreg,_cmd_mask);
SREG = old_sreg;
}
inline void PS2X::CMD_CLR(void) {
register uint8_t old_sreg = SREG;
cli();
*_cmd_oreg &= ~_cmd_mask; // SET(*_cmd_oreg,_cmd_mask);
SREG = old_sreg;
}
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分享一份關于arduino的ps2的庫