forked from logzhan/RobotHardware-UESTC
110 lines
3.6 KiB
C
110 lines
3.6 KiB
C
#ifndef __PSTWO_H
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#define __PSTWO_H
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#include "board.h"
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/*********************************************************
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Copyright (C), 2015-2025, YFRobot.
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www.yfrobot.com
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File：PS2驱动程序
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Author：pinggai Version:1.1 Data:2015/10/20
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Description: PS2驱动程序
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增加功能：
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1、软件设置“红灯模式”、“绿灯模式”，并可以设置“保存”，通过手柄“模式按键”无法改变
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2、设置手柄震动：通过数值的设置，改变左侧大震动电机震动频率。
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通过数值的设置，开关右侧小震动电机。
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History:
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V1.0: 2015/05/16
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1、手柄解码，识别按键值，读取模拟值。
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**********************************************************/
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#if 0
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#define DI (Board::get()->getDIState(_JS_DAT)) //PB12 输入
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#define DO_H (Board::get()->setDOState(_JS_CMD, 0)) //命令位高
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#define DO_L (Board::get()->setDOState(_JS_CMD, 1)) //命令位低
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#define CS_H (Board::get()->setDOState(_JS_CS, 0)) //CS拉高
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#define CS_L (Board::get()->setDOState(_JS_CS, 1)) //CS拉低
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#define CLK_H (Board::get()->setDOState(_JS_CLK, 0)) //时钟拉高
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#define CLK_L (Board::get()->setDOState(_JS_CLK, 1)) //时钟拉低
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#else
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#include <stm32f10x.h>
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#define BITBAND(addr, bitnum) ((addr & 0xF0000000)+0x2000000+((addr &0xFFFFF)<<5)+(bitnum<<2))
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#define MEM_ADDR(addr) *((volatile unsigned long *)(addr))
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#define BIT_ADDR(addr, bitnum) MEM_ADDR(BITBAND(addr, bitnum))
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#define GPIOA_ODR_Addr (GPIOA_BASE+12) //0x4001080C
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#define GPIOA_IDR_Addr (GPIOA_BASE+8) //0x40010808
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#define PAout(n) BIT_ADDR(GPIOA_ODR_Addr,n) //输出
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#define PAin(n) BIT_ADDR(GPIOA_IDR_Addr,n) //输入
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#define DI PAin(4) //PB12 输入
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#define DO_H PAout(5)=1 //命令位高
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#define DO_L PAout(5)=0 //命令位低
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#define CS_H PAout(0)=1 //CS拉高
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#define CS_L PAout(0)=0 //CS拉低
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#define CLK_H PAout(1)=1 //时钟拉高
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#define CLK_L PAout(1)=0 //时钟拉低
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#endif
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//These are our button constants
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#define PSB_SELECT 1
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#define PSB_L3 2
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#define PSB_R3 3
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#define PSB_START 4
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#define PSB_PAD_UP 5
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#define PSB_PAD_RIGHT 6
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#define PSB_PAD_DOWN 7
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#define PSB_PAD_LEFT 8
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#define PSB_L2 9
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#define PSB_R2 10
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#define PSB_L1 11
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#define PSB_R1 12
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#define PSB_GREEN 13
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#define PSB_RED 14
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#define PSB_BLUE 15
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#define PSB_PINK 16
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#define PSB_TRIANGLE 13
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#define PSB_CIRCLE 14
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#define PSB_CROSS 15
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#define PSB_SQUARE 16
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//#define WHAMMY_BAR 8
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//These are stick values
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#define PSS_RX 5 //右摇杆X轴数据
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#define PSS_RY 6
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#define PSS_LX 7
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#define PSS_LY 8
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extern unsigned char Data[9];
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extern unsigned short MASK[16];
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extern unsigned short Handkey;
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void PS2_Init(void);
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unsigned char PS2_RedLight(void); //判断是否为红灯模式
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void PS2_ReadData(void); //读手柄数据
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void PS2_Cmd(unsigned char CMD); //向手柄发送命令
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unsigned char PS2_DataKey(void); //按键值读取
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unsigned char PS2_AnologData(unsigned char button); //得到一个摇杆的模拟量
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void PS2_ClearData(void); //清除数据缓冲区
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void PS2_Vibration(unsigned char motor1, unsigned char motor2);//振动设置motor1 0xFF开，其他关，motor2 0x40~0xFF
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void PS2_EnterConfing(void); //进入配置
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void PS2_TurnOnAnalogMode(void); //发送模拟量
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void PS2_VibrationMode(void); //振动设置
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void PS2_ExitConfing(void); //完成配置
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void PS2_SetInit(void); //配置初始化
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#endif
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