Revision 0:39a70e079270, committed 2019-09-11

Comitter:

kenboh

Date:

Wed Sep 11 07:12:08 2019 +0000

Commit message:

0911

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DualShock.cpp	Wed Sep 11 07:12:08 2019 +0000
@@ -0,0 +1,79 @@
+#include "DualShock.h"
+
+tDSParm hDS;
+static uint8_t recv_data, check = 0;
+static Serial* ds_serial;
+static float DimensionlessAndBacklash(int8_t dat);
+static uint8_t getsum(void *buf, size_t size);
+
+void ReStartDS(void) {
+    check = 0;
+    recv_data = (*ds_serial).getc();
+}
+
+uint8_t InitDS(Serial* f_serial) {
+
+    hDS.BUTTON.ButtonData = 0;
+    hDS.ANALOG.LX = 0;
+    hDS.ANALOG.LY = 0;
+    hDS.ANALOG.RX = 0;
+    hDS.ANALOG.RY = 0;
+    //huartDS = huart;
+    ds_serial = f_serial;
+
+    printf("DualShock connecting check...\r\n");
+    ReStartDS();
+    printf("DualShock connect successful...\r\n");
+    return 0;
+}
+//&getDSdata
+void getDSdata(void) {
+    static uint8_t dat[8] = {0};
+
+    recv_data = (*ds_serial).getc();
+    dat[check] = recv_data;
+    switch (check) {
+    case 0:
+        if (dat[0] == 0x80) {
+            check++;
+        }
+        break;
+    case 7:
+        if (dat[7] == (getsum(dat, 7) & 0x7f)) {
+            hDS.BUTTON.ButtonHighData = dat[1];
+            hDS.BUTTON.ButtonLowData = dat[2];
+            hDS.ANALOG.LX = DimensionlessAndBacklash(dat[3]);
+            hDS.ANALOG.LY = DimensionlessAndBacklash(dat[4]);
+            hDS.ANALOG.RX = DimensionlessAndBacklash(dat[5]);
+            hDS.ANALOG.RY = DimensionlessAndBacklash(dat[6]);
+        }
+        dat[0] = 0;
+        check = 0;
+        break;
+    default:
+        check++;
+        break;
+    }
+}
+
+static float DimensionlessAndBacklash(int8_t dat) {
+    float val;
+
+    if ((dat < BACKLASH) && (dat > -BACKLASH)) {
+        dat = 0;
+    } else {
+        dat += (dat > 0) ? (-BACKLASH) : (BACKLASH);
+    }
+    val = (float) dat / (float) (128 - BACKLASH);
+    return val;
+}
+
+static uint8_t getsum(void *buf, size_t size) {
+    const uint8_t *p = (uint8_t*) buf;
+    uint8_t ret = 0;
+
+    for (; size; size--) {
+        ret += *p++;
+    }
+    return ret;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DualShock.h	Wed Sep 11 07:12:08 2019 +0000
@@ -0,0 +1,64 @@
+#ifndef DUALSHOCK_H_
+#define DUALSHOCK_H_
+
+#include "mbed.h"
+
+#define BACKLASH 28
+
+typedef struct st_ds {
+    union {
+        uint16_t ButtonData;
+        struct {
+            union {
+                uint8_t ButtonLowData   :8;
+                struct {
+                    uint8_t L2          :1;
+                    uint8_t R2          :1;
+                    uint8_t L1          :1;
+                    uint8_t R1          :1;
+                    uint8_t TRIANGLE    :1;
+                    uint8_t CIRCLE      :1;
+                    uint8_t CROSS       :1;
+                    uint8_t SQUARE      :1;
+                };
+            };
+            union {
+                uint8_t ButtonHighData  :8;
+                struct {
+                    uint8_t SELECT      :1;
+                    uint8_t L3          :1;
+                    uint8_t R3          :1;
+                    uint8_t START       :1;
+                    uint8_t UP          :1;
+                    uint8_t RIGHT       :1;
+                    uint8_t DOWN        :1;
+                    uint8_t LEFT        :1;
+                };
+            };
+        };
+    }BUTTON;
+    struct {
+        float LY;
+        float LX;
+        float RY;
+        float RX;
+    }ANALOG;
+} tDSParm;
+
+extern tDSParm hDS;
+/*
+if(hDS.BUTTON.L1)
+if(-1<=hDS.ANALOG.LY<=1)*/
+
+/**
+ * @brief Function to initialize the encoder
+ * @param mode      see definition above
+ */
+extern uint8_t InitDS(Serial* f_serial);
+extern void ReStartDS(void);
+/**
+ * @brief Function to initialize the encoder
+ * @retval *pParm   see definition above
+ */
+extern void getDSdata(void);
+#endif /* DUALSHOCK_H_ */

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Sep 11 07:12:08 2019 +0000
@@ -0,0 +1,21 @@
+#include "mbed.h"
+#include "DualShock.h"
+
+Serial DS_serial(PA_9, PA_10);
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+int main() {
+    DS_serial.baud(115200);     //通信速度設定
+    InitDS(&DS_serial);         //受信データ用変数を初期化する
+    DS_serial.attach(&getDSdata, Serial::RxIrq);    //「受信したら割り込みして」の宣言
+
+    while (1) {
+        pc.printf("%d\t %d\t\t %d\t%d\r\n",hDS.BUTTON.L2, hDS.BUTTON.UP, hDS.BUTTON.TRIANGLE, hDS.BUTTON.R2);
+        pc.printf("%d\t%d %d\t\t%d %d\t%d\r\n",hDS.BUTTON.L1, hDS.BUTTON.LEFT, hDS.BUTTON.RIGHT, hDS.BUTTON.SQUARE, hDS.BUTTON.CIRCLE, hDS.BUTTON.R1);
+        pc.printf("\t %d\t  %d/%d\t %d\r\n",hDS.BUTTON.DOWN, hDS.BUTTON.SELECT, hDS.BUTTON.START, hDS.BUTTON.CROSS);
+        pc.printf("LX:%.3f,LY:%.3f\tRX:%.3f,RY:%.3f\r\n",hDS.ANALOG.LX, hDS.ANALOG.LY, hDS.ANALOG.RX, hDS.ANALOG.RY);
+        pc.printf("\r\n");
+        wait_ms(400);
+    }
+    return 0;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Sep 11 07:12:08 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file