425 lines
11 KiB
C
425 lines
11 KiB
C
#include "pstwo.h"
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#define DELAY_TIME delay_us(5);
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//Button value reading, zero time storage
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//按键值读取，零时存储
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u16 Handkey;
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//Start the order. Request data
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//开始命令。请求数据
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u8 Comd[2]={0x01,0x42};
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//Data store array
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//数据存储数组
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u8 Data[9]={0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
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u16 MASK[]={
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PSB_SELECT,
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PSB_L3,
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PSB_R3 ,
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PSB_START,
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PSB_PAD_UP,
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PSB_PAD_RIGHT,
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PSB_PAD_DOWN,
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PSB_PAD_LEFT,
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PSB_L2,
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PSB_R2,
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PSB_L1,
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PSB_R1 ,
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PSB_GREEN,
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PSB_RED,
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PSB_BLUE,
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PSB_PINK
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}; //Key value and key name //按键值与按键名
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/**************************************************************************
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Function: Ps2 handle task
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Input : none
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Output : none
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函数功能：PS2手柄任务
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入口参数：无
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返回 值：无
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**************************************************************************/
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void pstwo_task(void *pvParameters)
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{
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u32 lastWakeTime = getSysTickCnt();
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while(1)
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{
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//The task is run at 100hz
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//此任务以100Hz的频率运行
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vTaskDelayUntil(&lastWakeTime, F2T(RATE_100_HZ));
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//Read the ps2 data
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//读取PS2的数据
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PS2_Read();
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}
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}
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/**************************************************************************
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Function: Ps2 handle initializer
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Input : none
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Output : none
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函数功能：PS2手柄初始化
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入口参数：无
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返回 值：无
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**************************************************************************/
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void PS2_Init(void)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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//Enable the ability port clock
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//使能端口时钟
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15; //端口配置
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN; //普通输入模式
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //100M
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN; //下拉
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GPIO_Init(GPIOE, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_10|GPIO_Pin_12;
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GPIO_InitStructure.GPIO_Mode=GPIO_Mode_OUT;
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GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;
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GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
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GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;
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GPIO_Init(GPIOE, &GPIO_InitStructure);
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}
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/**************************************************************************
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Function: Read the control of the ps2 handle
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Input : none
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Output : none
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函数功能：读取PS2手柄的控制量
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入口参数：无
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返回 值：无
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**************************************************************************/
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void PS2_Read(void)
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{
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static int Strat;
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//Reading key
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//读取按键键值
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PS2_KEY=PS2_DataKey();
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//Read the analog of the remote sensing x axis on the left
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//读取左边遥感X轴方向的模拟量
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PS2_LX=PS2_AnologData(PSS_LX);
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//Read the analog of the directional direction of remote sensing on the left
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//读取左边遥感Y轴方向的模拟量
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PS2_LY=PS2_AnologData(PSS_LY);
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//Read the analog of the remote sensing x axis
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//读取右边遥感X轴方向的模拟量
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PS2_RX=PS2_AnologData(PSS_RX);
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//Read the analog of the directional direction of the remote sensing y axis
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//读取右边遥感Y轴方向的模拟量
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PS2_RY=PS2_AnologData(PSS_RY);
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if(PS2_KEY==4&&PS2_ON_Flag==0)
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//The start button on the // handle is pressed
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//手柄上的Start按键被按下
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Strat=1;
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if(Strat&&(PS2_LY<118)&&PS2_ON_Flag==0&&Deviation_Count>=CONTROL_DELAY)
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//When the button is pressed, you need to push the right side forward to the formal ps2 control car
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//Start按键被按下后，需要推下右边前进杆，才可以正式PS2控制小车
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PS2_ON_Flag=1,Remote_ON_Flag=0,APP_ON_Flag=0,CAN_ON_Flag=0,Usart1_ON_Flag=0,Usart5_ON_Flag=0;
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}
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/**************************************************************************
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Function: Send commands to the handle
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Input : none
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Output : none
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函数功能：向手柄发送命令
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入口参数：无
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返回 值：无
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**************************************************************************/
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void PS2_Cmd(u8 CMD)
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{
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volatile u16 ref=0x01;
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Data[1] = 0;
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for(ref=0x01;ref<0x0100;ref<<=1)
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{
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if(ref&CMD)
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{
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DO_H; //Output a control bit //输出一位控制位
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}
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else DO_L;
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CLK_H; //Clock lift //时钟拉高
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DELAY_TIME;
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CLK_L;
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DELAY_TIME;
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CLK_H;
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if(DI)
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Data[1] = ref|Data[1];
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}
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delay_us(16);
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}
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/**************************************************************************
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Function: Whether it is a red light mode, 0x41= analog green light, 0x73= analog red light
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Input : none
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Output : 0: red light mode, other: other modes
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函数功能：判断是否为红灯模式,0x41=模拟绿灯，0x73=模拟红灯
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入口参数：无
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返回 值：0：红灯模式，其他：其他模式
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**************************************************************************/
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u8 PS2_RedLight(void)
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{
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CS_L;
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PS2_Cmd(Comd[0]); //Start orders //开始命令
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PS2_Cmd(Comd[1]); //Request data //请求数据
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CS_H;
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if( Data[1] == 0X73) return 0 ;
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else return 1;
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}
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/**************************************************************************
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Function: Read the handle data
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Input : none
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Output : none
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函数功能：读取手柄数据
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入口参数：无
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返回 值：无
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**************************************************************************/
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void PS2_ReadData(void)
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{
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volatile u8 byte=0;
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volatile u16 ref=0x01;
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CS_L;
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PS2_Cmd(Comd[0]); //Start orders //开始命令
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PS2_Cmd(Comd[1]); //Request data //请求数据
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for(byte=2;byte<9;byte++) //Start receiving data //开始接受数据
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{
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for(ref=0x01;ref<0x100;ref<<=1)
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{
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CLK_H;
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DELAY_TIME;
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CLK_L;
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DELAY_TIME;
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CLK_H;
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if(DI)
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Data[byte] = ref|Data[byte];
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}
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delay_us(16);
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}
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CS_H;
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}
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/**************************************************************************
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Function: Handle the data of the read 2 and handle only the key parts
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Input : none
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Output : 0: only one button presses the next time; No press
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函数功能：对读出来的PS2的数据进行处理,只处理按键部分
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入口参数：无
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返回 值：0: 只有一个按键按下时按下; 1: 未按下
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**************************************************************************/
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u8 PS2_DataKey()
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{
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u8 index;
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PS2_ClearData();
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PS2_ReadData();
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Handkey=(Data[4]<<8)|Data[3]; //This is 16 buttons, pressed down to 0, and not pressed for 1 //这是16个按键，按下为0，未按下为1
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for(index=0;index<16;index++)
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{
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if((Handkey&(1<<(MASK[index]-1)))==0)
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return index+1;
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}
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return 0; //No buttons //没有任何按键按下
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}
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/**************************************************************************
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Function: Get a simulation of a rocker
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Input : Rocker
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Output : Simulation of rocker, range 0~ 256
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函数功能：得到一个摇杆的模拟量
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入口参数：摇杆
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返回 值：摇杆的模拟量, 范围0~256
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**************************************************************************/
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u8 PS2_AnologData(u8 button)
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{
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return Data[button];
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}
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/**************************************************************************
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Function: Clear data buffer
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Input : none
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Output : none
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函数功能：清除数据缓冲区
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入口参数：无
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返回 值：无
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**************************************************************************/
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void PS2_ClearData()
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{
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u8 a;
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for(a=0;a<9;a++)
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Data[a]=0x00;
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}
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/******************************************************
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Function: Handle vibration function
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Input : motor1: the right small vibrator, 0x00, other
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motor2: the left big shock motor 0x40~ 0xff motor is open, and the value is greater
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Output : none
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函数功能：手柄震动函数
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入口参数：motor1:右侧小震动电机 0x00关，其他开
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motor2:左侧大震动电机 0x40~0xFF 电机开，值越大 震动越大
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返回 值：无
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******************************************************/
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void PS2_Vibration(u8 motor1, u8 motor2)
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{
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CS_L;
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delay_us(16);
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PS2_Cmd(0x01); //Start order //开始命令
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PS2_Cmd(0x42); //Request data //请求数据
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PS2_Cmd(0X00);
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PS2_Cmd(motor1);
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PS2_Cmd(motor2);
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PS2_Cmd(0X00);
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PS2_Cmd(0X00);
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PS2_Cmd(0X00);
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PS2_Cmd(0X00);
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CS_H;
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delay_us(16);
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}
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/**************************************************************************
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Function: Short press
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Input : none
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Output : none
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函数功能：短按
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入口参数：无
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返回 值：无
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**************************************************************************/
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void PS2_ShortPoll(void)
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{
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CS_L;
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delay_us(16);
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PS2_Cmd(0x01);
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PS2_Cmd(0x42);
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PS2_Cmd(0X00);
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PS2_Cmd(0x00);
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PS2_Cmd(0x00);
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CS_H;
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delay_us(16);
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}
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/**************************************************************************
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Function: Enter configuration
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Input : none
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Output : none
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函数功能：进入配置
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入口参数：无
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返回 值：无
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**************************************************************************/
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void PS2_EnterConfing(void)
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{
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CS_L;
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delay_us(16);
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PS2_Cmd(0x01);
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PS2_Cmd(0x43);
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PS2_Cmd(0X00);
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PS2_Cmd(0x01);
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PS2_Cmd(0x00);
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PS2_Cmd(0X00);
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PS2_Cmd(0X00);
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PS2_Cmd(0X00);
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PS2_Cmd(0X00);
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CS_H;
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delay_us(16);
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}
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/**************************************************************************
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Function: Send mode Settings
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Input : none
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Output : none
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函数功能：发送模式设置
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入口参数：无
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返回 值：无
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**************************************************************************/
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void PS2_TurnOnAnalogMode(void)
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{
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CS_L;
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PS2_Cmd(0x01);
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PS2_Cmd(0x44);
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PS2_Cmd(0X00);
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PS2_Cmd(0x01); //analog=0x01;digital=0x00 Software Settings send mode 软件设置发送模式
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PS2_Cmd(0x03); //0x03 lock storage setup, which cannot be set by the key "mode" set mode. //0x03锁存设置，即不可通过按键“MODE”设置模式。
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//0xee non-locking software Settings can be set by the key "mode" set mode.//0xEE不锁存软件设置，可通过按键“MODE”设置模式。
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PS2_Cmd(0X00);
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PS2_Cmd(0X00);
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PS2_Cmd(0X00);
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PS2_Cmd(0X00);
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CS_H;
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delay_us(16);
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}
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/**************************************************************************
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Function: Vibration setting
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Input : none
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Output : none
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函数功能：振动设置
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入口参数：无
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返回 值：无
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**************************************************************************/
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void PS2_VibrationMode(void)
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{
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CS_L;
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delay_us(16);
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PS2_Cmd(0x01);
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PS2_Cmd(0x4D);
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PS2_Cmd(0X00);
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PS2_Cmd(0x00);
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PS2_Cmd(0X01);
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CS_H;
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delay_us(16);
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}
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/**************************************************************************
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Function: Complete and save the configuration
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Input : none
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Output : none
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函数功能：完成并保存配置
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入口参数：无
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返回 值：无
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**************************************************************************/
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void PS2_ExitConfing(void)
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{
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CS_L;
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delay_us(16);
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PS2_Cmd(0x01);
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PS2_Cmd(0x43);
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PS2_Cmd(0X00);
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PS2_Cmd(0x00);
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PS2_Cmd(0x5A);
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PS2_Cmd(0x5A);
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PS2_Cmd(0x5A);
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PS2_Cmd(0x5A);
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PS2_Cmd(0x5A);
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CS_H;
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delay_us(16);
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}
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/**************************************************************************
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Function: Handle configuration initialization
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Input : none
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Output : none
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函数功能：手柄配置初始化
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入口参数：无
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返回 值：无
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**************************************************************************/
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void PS2_SetInit(void)
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{
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PS2_ShortPoll();
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PS2_ShortPoll();
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PS2_ShortPoll();
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PS2_EnterConfing(); //Enter configuration mode //进入配置模式
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PS2_TurnOnAnalogMode(); //The "traffic light" configuration mode and select whether to save //“红绿灯”配置模式，并选择是否保存
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//PS2_VibrationMode(); //Open vibration mode //开启震动模式
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PS2_ExitConfing(); //Complete and save the configuration //完成并保存配置
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}
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/**************************************************************************
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Function: Read the handle information
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Input : none
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Output : none
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函数功能：读取手柄信息
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入口参数：无
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返回 值：无
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**************************************************************************/
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void PS2_Receive (void)
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{
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if(PS2_ON_Flag)
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{
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PS2_LX=PS2_AnologData(PSS_LX);
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PS2_LY=PS2_AnologData(PSS_LY);
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PS2_RX=PS2_AnologData(PSS_RX);
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PS2_RY=PS2_AnologData(PSS_RY);
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}
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PS2_KEY=PS2_DataKey();
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}
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