PS2手柄PS2手柄PS2手柄

#include "PS2X_lib.h" #include <math.h> #include <stdio.h> #include <stdint.h> #ifdef __AVR__ #include <avr/io.h> #endif #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 byte 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.print("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 #if defined(ESP8266) || defined(ESP32) || defined(__arm__) _clk_pin = clk; _cmd_pin = cmd; _att_pin = att; _dat_pin = 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 #endif pinMode(clk, OUTPUT); //configure ports pinMode(att, OUTPUT); pinMode(cmd, OUTPUT); #if defined(ESP8266) || defined(ESP32) || defined(__arm__) pinMode(dat, INPUT_PULLUP); // enable pull-up #else pinMode(dat, INPUT); #endif #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] != 0x42 && PS2data[1] != 0x73 && PS2data[1] != 0x79){ #ifdef PS2X_DEBUG Serial.println("Controller mode not matched or no controller found"); Serial.print("Expected 0x41, 0x42, 0x73 or 0x79, but got "); Serial.println(PS2data[1], HEX); #endif return 1; //return error code 1 } /