分享一份关于arduino的ps2的库

1. #include "PS2X_lib.h"
   
2. #include <math.h>
   
3. #include <stdio.h>
   
4. #include <stdint.h>
   
5. #include <avr/io.h>
   
6. #if ARDUINO > 22
   
7.   #include "Arduino.h"
   
8. #else
   
9.   #include "WProgram.h"
   
10.   #include "pins_arduino.h"
    
11. #endif
    
12. 
    
13. static byte enter_config[]={0x01,0x43,0x00,0x01,0x00};
    
14. static byte set_mode[]={0x01,0x44,0x00,0x01,0x03,0x00,0x00,0x00,0x00};
    
15. static byte set_bytes_large[]={0x01,0x4F,0x00,0xFF,0xFF,0x03,0x00,0x00,0x00};
    
16. static byte exit_config[]={0x01,0x43,0x00,0x00,0x5A,0x5A,0x5A,0x5A,0x5A};
    
17. static byte enable_rumble[]={0x01,0x4D,0x00,0x00,0x01};
    
18. static byte type_read[]={0x01,0x45,0x00,0x5A,0x5A,0x5A,0x5A,0x5A,0x5A};
    
19. 
    
20. /****************************************************************************************/
    
21. boolean PS2X::NewButtonState() {
    
22.   return ((last_buttons ^ buttons) > 0);
    
23. }
    
24. 
    
25. /****************************************************************************************/
    
26. boolean PS2X::NewButtonState(unsigned int button) {
    
27.   return (((last_buttons ^ buttons) & button) > 0);
    
28. }
    
29. 
    
30. /****************************************************************************************/
    
31. boolean PS2X::ButtonPressed(unsigned int button) {
    
32.   return(NewButtonState(button) & Button(button));
    
33. }
    
34. 
    
35. /****************************************************************************************/
    
36. boolean PS2X::ButtonReleased(unsigned int button) {
    
37.   return((NewButtonState(button)) & ((~last_buttons & button) > 0));
    
38. }
    
39. 
    
40. /****************************************************************************************/
    
41. boolean PS2X::Button(uint16_t button) {
    
42.   return ((~buttons & button) > 0);
    
43. }
    
44. 
    
45. /****************************************************************************************/
    
46. unsigned int PS2X::ButtonDataByte() {
    
47.    return (~buttons);
    
48. }
    
49. 
    
50. /****************************************************************************************/
    
51. byte PS2X::Analog(byte button) {
    
52.    return PS2data[button];
    
53. }
    
54. 
    
55. /****************************************************************************************/
    
56. unsigned char PS2X::_gamepad_shiftinout (char byte) {
    
57.    unsigned char tmp = 0;
    
58.    for(unsigned char i=0;i<8;i++) {
    
59.       if(CHK(byte,i)) CMD_SET();
    
60.       else CMD_CLR();
    
61.           
    
62.       CLK_CLR();
    
63.       delayMicroseconds(CTRL_CLK);
    
64. 
    
65.       //if(DAT_CHK()) SET(tmp,i);
    
66.       if(DAT_CHK()) bitSet(tmp,i);
    
67. 
    
68.       CLK_SET();
    
69. #if CTRL_CLK_HIGH
    
70.       delayMicroseconds(CTRL_CLK_HIGH);
    
71. #endif
    
72.    }
    
73.    CMD_SET();
    
74.    delayMicroseconds(CTRL_BYTE_DELAY);
    
75.    return tmp;
    
76. }
    
77. 
    
78. /****************************************************************************************/
    
79. void PS2X::read_gamepad() {
    
80.    read_gamepad(false, 0x00);
    
81. }
    
82. 
    
83. /****************************************************************************************/
    
84. boolean PS2X::read_gamepad(boolean motor1, byte motor2) {
    
85.    double temp = millis() - last_read;
    
86. 
    
87.    if (temp > 1500) //waited to long
    
88.       reconfig_gamepad();
    
89. 
    
90.    if(temp < read_delay)  //waited too short
    
91.       delay(read_delay - temp);
    
92. 
    
93.    if(motor2 != 0x00)
    
94.       motor2 = map(motor2,0,255,0x40,0xFF); //noting below 40 will make it spin
    
95. 
    
96.    char dword[9] = {0x01,0x42,0,motor1,motor2,0,0,0,0};
    
97.    byte dword2[12] = {0,0,0,0,0,0,0,0,0,0,0,0};
    
98. 
    
99.    // Try a few times to get valid data...
    
100.    for (byte RetryCnt = 0; RetryCnt < 5; RetryCnt++) {
     
101.       CMD_SET();
     
102.       CLK_SET();
     
103.       ATT_CLR(); // low enable joystick
     
104. 
     
105.       delayMicroseconds(CTRL_BYTE_DELAY);
     
106.       //Send the command to send button and joystick data;
     
107.       for (int i = 0; i<9; i++) {
     
108.          PS2data[i] = _gamepad_shiftinout(dword[i]);
     
109.       }
     
110. 
     
111.       if(PS2data[1] == 0x79) {  //if controller is in full data return mode, get the rest of data
     
112.          for (int i = 0; i<12; i++) {
     
113.             PS2data[i+9] = _gamepad_shiftinout(dword2[i]);
     
114.          }
     
115.       }
     
116. 
     
117.       ATT_SET(); // HI disable joystick
     
118.       // Check to see if we received valid data or not.  
     
119.           // We should be in analog mode for our data to be valid (analog == 0x7_)
     
120.       if ((PS2data[1] & 0xf0) == 0x70)
     
121.          break;
     
122. 
     
123.       // If we got to here, we are not in analog mode, try to recover...
     
124.       reconfig_gamepad(); // try to get back into Analog mode.
     
125.       delay(read_delay);
     
126.    }
     
127. 
     
128.    // If we get here and still not in analog mode (=0x7_), try increasing the read_delay...
     
129.    if ((PS2data[1] & 0xf0) != 0x70) {
     
130.       if (read_delay < 10)
     
131.          read_delay++;   // see if this helps out...
     
132.    }
     
133. 
     
134. #ifdef PS2X_COM_DEBUG
     
135.    Serial.println("OUT:IN");
     
136.    for(int i=0; i<9; i++){
     
137.       Serial.print(dword[i], HEX);
     
138.       Serial.print(":");
     
139.       Serial.print(PS2data[i], HEX);
     
140.       Serial.print(" ");
     
141.    }
     
142.    for (int i = 0; i<12; i++) {
     
143.       Serial.print(dword2[i], HEX);
     
144.       Serial.print(":");
     
145.       Serial.print(PS2data[i+9], HEX);
     
146.       Serial.print(" ");
     
147.    }
     
148.    Serial.println("");
     
149. #endif
     
150. 
     
151.    last_buttons = buttons; //store the previous buttons states
     
152. 
     
153. #if defined(__AVR__)
     
154.    buttons = *(uint16_t*)(PS2data+3);   //store as one value for multiple functions
     
155. #else
     
156.    buttons =  (uint16_t)(PS2data[4] << 8) + PS2data[3];   //store as one value for multiple functions
     
157. #endif
     
158.    last_read = millis();
     
159.    return ((PS2data[1] & 0xf0) == 0x70);  // 1 = OK = analog mode - 0 = NOK
     
160. }
     
161. 
     
162. /****************************************************************************************/
     
163. byte PS2X::config_gamepad(uint8_t clk, uint8_t cmd, uint8_t att, uint8_t dat) {
     
164.    return config_gamepad(clk, cmd, att, dat, false, false);
     
165. }
     
166. 
     
167. /****************************************************************************************/
     
168. byte PS2X::config_gamepad(uint8_t clk, uint8_t cmd, uint8_t att, uint8_t dat, bool pressures, bool rumble) {
     
169. 
     
170.   byte temp[sizeof(type_read)];
     
171. 
     
172. #ifdef __AVR__
     
173.   _clk_mask = digitalPinToBitMask(clk);
     
174.   _clk_oreg = portOutputRegister(digitalPinToPort(clk));
     
175.   _cmd_mask = digitalPinToBitMask(cmd);
     
176.   _cmd_oreg = portOutputRegister(digitalPinToPort(cmd));
     
177.   _att_mask = digitalPinToBitMask(att);
     
178.   _att_oreg = portOutputRegister(digitalPinToPort(att));
     
179.   _dat_mask = digitalPinToBitMask(dat);
     
180.   _dat_ireg = portInputRegister(digitalPinToPort(dat));
     
181. #else
     
182.   uint32_t            lport;                   // Port number for this pin
     
183.   _clk_mask = digitalPinToBitMask(clk);
     
184.   lport = digitalPinToPort(clk);
     
185.   _clk_lport_set = portOutputRegister(lport) + 2;
     
186.   _clk_lport_clr = portOutputRegister(lport) + 1;
     
187. 
     
188.   _cmd_mask = digitalPinToBitMask(cmd);
     
189.   lport = digitalPinToPort(cmd);
     
190.   _cmd_lport_set = portOutputRegister(lport) + 2;
     
191.   _cmd_lport_clr = portOutputRegister(lport) + 1;
     
192. 
     
193.   _att_mask = digitalPinToBitMask(att);
     
194.   lport = digitalPinToPort(att);
     
195.   _att_lport_set = portOutputRegister(lport) + 2;
     
196.   _att_lport_clr = portOutputRegister(lport) + 1;
     
197. 
     
198.   _dat_mask = digitalPinToBitMask(dat);
     
199.   _dat_lport = portInputRegister(digitalPinToPort(dat));
     
200. #endif
     
201. 
     
202.   pinMode(clk, OUTPUT); //configure ports
     
203.   pinMode(att, OUTPUT);
     
204.   pinMode(cmd, OUTPUT);
     
205.   pinMode(dat, INPUT);
     
206. 
     
207. #if defined(__AVR__)
     
208.   digitalWrite(dat, HIGH); //enable pull-up
     
209. #endif
     
210. 
     
211.   CMD_SET(); // SET(*_cmd_oreg,_cmd_mask);
     
212.   CLK_SET();
     
213. 
     
214.   //new error checking. First, read gamepad a few times to see if it's talking
     
215.   read_gamepad();
     
216.   read_gamepad();
     
217. 
     
218.   //see if it talked - see if mode came back.
     
219.   //If still anything but 41, 73 or 79, then it's not talking
     
220.   if(PS2data[1] != 0x41 && PS2data[1] != 0x73 && PS2data[1] != 0x79){
     
221. #ifdef PS2X_DEBUG
     
222.     Serial.println("Controller mode not matched or no controller found");
     
223.     Serial.print("Expected 0x41, 0x73 or 0x79, but got ");
     
224.     Serial.println(PS2data[1], HEX);
     
225. #endif
     
226.     return 1; //return error code 1
     
227.   }
     
228. 
     
229.   //try setting mode, increasing delays if need be.
     
230.   read_delay = 1;
     
231. 
     
232.   for(int y = 0; y <= 10; y++) {
     
233.     sendCommandString(enter_config, sizeof(enter_config)); //start config run
     
234. 
     
235.     //read type
     
236.     delayMicroseconds(CTRL_BYTE_DELAY);
     
237. 
     
238.     CMD_SET();
     
239.     CLK_SET();
     
240.     ATT_CLR(); // low enable joystick
     
241. 
     
242.     delayMicroseconds(CTRL_BYTE_DELAY);
     
243. 
     
244.     for (int i = 0; i<9; i++) {
     
245.       temp[i] = _gamepad_shiftinout(type_read[i]);
     
246.     }
     
247. 
     
248.     ATT_SET(); // HI disable joystick
     
249. 
     
250.     controller_type = temp[3];
     
251. 
     
252.     sendCommandString(set_mode, sizeof(set_mode));
     
253.     if(rumble){ sendCommandString(enable_rumble, sizeof(enable_rumble)); en_Rumble = true; }
     
254.     if(pressures){ sendCommandString(set_bytes_large, sizeof(set_bytes_large)); en_Pressures = true; }
     
255.     sendCommandString(exit_config, sizeof(exit_config));
     
256. 
     
257.     read_gamepad();
     
258. 
     
259.     if(pressures){
     
260.       if(PS2data[1] == 0x79)
     
261.         break;
     
262.       if(PS2data[1] == 0x73)
     
263.         return 3;
     
264.     }
     
265. 
     
266.     if(PS2data[1] == 0x73)
     
267.       break;
     
268. 
     
269.     if(y == 10){
     
270. #ifdef PS2X_DEBUG
     
271.       Serial.println("Controller not accepting commands");
     
272.       Serial.print("mode stil set at");
     
273.       Serial.println(PS2data[1], HEX);
     
274. #endif
     
275.       return 2; //exit function with error
     
276.     }
     
277.     read_delay += 1; //add 1ms to read_delay
     
278.   }
     
279.   return 0; //no error if here
     
280. }
     
281. 
     
282. /****************************************************************************************/
     
283. void PS2X::sendCommandString(byte string[], byte len) {
     
284. #ifdef PS2X_COM_DEBUG
     
285.   byte temp[len];
     
286.   ATT_CLR(); // low enable joystick
     
287.   delayMicroseconds(CTRL_BYTE_DELAY);
     
288. 
     
289.   for (int y=0; y < len; y++)
     
290.     temp[y] = _gamepad_shiftinout(string[y]);
     
291. 
     
292.   ATT_SET(); //high disable joystick
     
293.   delay(read_delay); //wait a few
     
294. 
     
295.   Serial.println("OUT:IN Configure");
     
296.   for(int i=0; i<len; i++) {
     
297.     Serial.print(string[i], HEX);
     
298.     Serial.print(":");
     
299.     Serial.print(temp[i], HEX);
     
300.     Serial.print(" ");
     
301.   }
     
302.   Serial.println("");
     
303. #else
     
304.   ATT_CLR(); // low enable joystick
     
305.   for (int y=0; y < len; y++)
     
306.     _gamepad_shiftinout(string[y]);
     
307.   ATT_SET(); //high disable joystick
     
308.   delay(read_delay);                  //wait a few
     
309. #endif
     
310. }
     
311. 
     
312. /****************************************************************************************/
     
313. byte PS2X::readType() {
     
314. /*
     
315.   byte temp[sizeof(type_read)];
     
316. 
     
317.   sendCommandString(enter_config, sizeof(enter_config));
     
318. 
     
319.   delayMicroseconds(CTRL_BYTE_DELAY);
     
320. 
     
321.   CMD_SET();
     
322.   CLK_SET();
     
323.   ATT_CLR(); // low enable joystick
     
324. 
     
325.   delayMicroseconds(CTRL_BYTE_DELAY);
     
326. 
     
327.   for (int i = 0; i<9; i++) {
     
328.     temp[i] = _gamepad_shiftinout(type_read[i]);
     
329.   }
     
330. 
     
331.   sendCommandString(exit_config, sizeof(exit_config));
     
332. 
     
333.   if(temp[3] == 0x03)
     
334.     return 1;
     
335.   else if(temp[3] == 0x01)
     
336.     return 2;
     
337. 
     
338.   return 0;
     
339. */
     
340. 
     
341.   if(controller_type == 0x03)
     
342.     return 1;
     
343.   else if(controller_type == 0x01)
     
344.     return 2;
     
345.   else if(controller_type == 0x0C)  
     
346.     return 3;  //2.4G Wireless Dual Shock PS2 Game Controller
     
347.        
     
348.   return 0;
     
349. }
     
350. 
     
351. /****************************************************************************************/
     
352. void PS2X::enableRumble() {
     
353.   sendCommandString(enter_config, sizeof(enter_config));
     
354.   sendCommandString(enable_rumble, sizeof(enable_rumble));
     
355.   sendCommandString(exit_config, sizeof(exit_config));
     
356.   en_Rumble = true;
     
357. }
     
358. 
     
359. /****************************************************************************************/
     
360. bool PS2X::enablePressures() {
     
361.   sendCommandString(enter_config, sizeof(enter_config));
     
362.   sendCommandString(set_bytes_large, sizeof(set_bytes_large));
     
363.   sendCommandString(exit_config, sizeof(exit_config));
     
364. 
     
365.   read_gamepad();
     
366.   read_gamepad();
     
367. 
     
368.   if(PS2data[1] != 0x79)
     
369.     return false;
     
370. 
     
371.   en_Pressures = true;
     
372.     return true;
     
373. }
     
374. 
     
375. /****************************************************************************************/
     
376. void PS2X::reconfig_gamepad(){
     
377.   sendCommandString(enter_config, sizeof(enter_config));
     
378.   sendCommandString(set_mode, sizeof(set_mode));
     
379.   if (en_Rumble)
     
380.     sendCommandString(enable_rumble, sizeof(enable_rumble));
     
381.   if (en_Pressures)
     
382.     sendCommandString(set_bytes_large, sizeof(set_bytes_large));
     
383.   sendCommandString(exit_config, sizeof(exit_config));
     
384. }
     
385. 
     
386. /****************************************************************************************/
     
387. #ifdef __AVR__
     
388. inline void  PS2X::CLK_SET(void) {
     
389.   register uint8_t old_sreg = SREG;
     
390.   cli();
     
391.   *_clk_oreg |= _clk_mask;
     
392.   SREG = old_sreg;
     
393. }
     
394. 
     
395. inline void  PS2X::CLK_CLR(void) {
     
396.   register uint8_t old_sreg = SREG;
     
397.   cli();
     
398.   *_clk_oreg &= ~_clk_mask;
     
399.   SREG = old_sreg;
     
400. }
     
401. 
     
402. inline void  PS2X::CMD_SET(void) {
     
403.   register uint8_t old_sreg = SREG;
     
404.   cli();
     
405.   *_cmd_oreg |= _cmd_mask; // SET(*_cmd_oreg,_cmd_mask);
     
406.   SREG = old_sreg;
     
407. }
     
408. 
     
409. inline void  PS2X::CMD_CLR(void) {
     
410.   register uint8_t old_sreg = SREG;
     
411.   cli();
     
412.   *_cmd_oreg &= ~_cmd_mask; // SET(*_cmd_oreg,_cmd_mask);
     
413.   SREG = old_sreg;
     
414. }
     
415. 
     
416. ……………………
     
417. 
     
418. …………限于本文篇幅 余下代码请从51黑下载附件…………
     

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