謙一 永井 / Mbed 2 deprecated SRC2018Auto

0910

Dependencies:   mbed QEI2

DualShockMod.cpp@0:2a0c62e53e9c, 2018-09-12 (annotated)

Committer:
Hase_jun
Date:
Wed Sep 12 09:07:30 2018 +0000
Revision:
0:2a0c62e53e9c
0912

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Hase_jun 0:2a0c62e53e9c 1 #include "DualShockMod.h"
Hase_jun 0:2a0c62e53e9c 2
Hase_jun 0:2a0c62e53e9c 3
Hase_jun 0:2a0c62e53e9c 4 tDSParm hDS;
Hase_jun 0:2a0c62e53e9c 5 int posX;
Hase_jun 0:2a0c62e53e9c 6 int posY;
Hase_jun 0:2a0c62e53e9c 7 static uint8_t recv_posdata, check = 0;
Hase_jun 0:2a0c62e53e9c 8 static Serial* ds_serial; //メイン
Hase_jun 0:2a0c62e53e9c 9 //static float DimensionlessAndBacklash(int8_t dat);
Hase_jun 0:2a0c62e53e9c 10 static uint8_t getsum(void *buf, size_t size);
Hase_jun 0:2a0c62e53e9c 11
Hase_jun 0:2a0c62e53e9c 12 void ReStartDS(void) {
Hase_jun 0:2a0c62e53e9c 13 check = 0;
Hase_jun 0:2a0c62e53e9c 14 // printf("DSint1\r\n");
Hase_jun 0:2a0c62e53e9c 15 recv_posdata = (*ds_serial).getc();
Hase_jun 0:2a0c62e53e9c 16 // printf("DSint2\r\n");
Hase_jun 0:2a0c62e53e9c 17 }
Hase_jun 0:2a0c62e53e9c 18
Hase_jun 0:2a0c62e53e9c 19 uint8_t InitDS(Serial* f_serial) {
Hase_jun 0:2a0c62e53e9c 20 //huartDS = huart;
Hase_jun 0:2a0c62e53e9c 21 ds_serial = f_serial;
Hase_jun 0:2a0c62e53e9c 22 posX=0; //externを実体化するための宣言
Hase_jun 0:2a0c62e53e9c 23 posY=0;
Hase_jun 0:2a0c62e53e9c 24
Hase_jun 0:2a0c62e53e9c 25 printf("SUB303 connecting check...\r\n");
Hase_jun 0:2a0c62e53e9c 26 ReStartDS();
Hase_jun 0:2a0c62e53e9c 27 printf("SUB303 connect successful...\r\n");
Hase_jun 0:2a0c62e53e9c 28 return 0;
Hase_jun 0:2a0c62e53e9c 29 }
Hase_jun 0:2a0c62e53e9c 30 //&getPOSdata
Hase_jun 0:2a0c62e53e9c 31 void getPOSdata(void) {
Hase_jun 0:2a0c62e53e9c 32
Hase_jun 0:2a0c62e53e9c 33 static uint8_t dat[6] = {0};
Hase_jun 0:2a0c62e53e9c 34 recv_posdata = (*ds_serial).getc();
Hase_jun 0:2a0c62e53e9c 35 dat[check] = recv_posdata;
Hase_jun 0:2a0c62e53e9c 36
Hase_jun 0:2a0c62e53e9c 37 //posX ++; //debug
Hase_jun 0:2a0c62e53e9c 38
Hase_jun 0:2a0c62e53e9c 39
Hase_jun 0:2a0c62e53e9c 40 switch (check) {
Hase_jun 0:2a0c62e53e9c 41 case 0:
Hase_jun 0:2a0c62e53e9c 42 if (dat[0] & 0x80) { // & は両方1なら1を返す
Hase_jun 0:2a0c62e53e9c 43 check++;
Hase_jun 0:2a0c62e53e9c 44 }
Hase_jun 0:2a0c62e53e9c 45 break;
Hase_jun 0:2a0c62e53e9c 46 case 5:
Hase_jun 0:2a0c62e53e9c 47 if (dat[5] == (getsum(dat, 5) & 0x7f)) { //ここは0~5までの合計の意味
Hase_jun 0:2a0c62e53e9c 48 if(dat[0] & 0b00000010){ //Xが負であるビット
Hase_jun 0:2a0c62e53e9c 49 posX = (int)((dat[1]<<7) + dat[2])*-1;
Hase_jun 0:2a0c62e53e9c 50 }
Hase_jun 0:2a0c62e53e9c 51 else{
Hase_jun 0:2a0c62e53e9c 52 posX = ((dat[1]<<7) + dat[2]);
Hase_jun 0:2a0c62e53e9c 53 }
Hase_jun 0:2a0c62e53e9c 54 if(dat[0] & 0b00000001){ //Yが負であるビット
Hase_jun 0:2a0c62e53e9c 55 posY = (int)((dat[3]<<7) + dat[4])*-1;
Hase_jun 0:2a0c62e53e9c 56 }
Hase_jun 0:2a0c62e53e9c 57 else{
Hase_jun 0:2a0c62e53e9c 58 posY = (dat[3]<<7) + dat[4];
Hase_jun 0:2a0c62e53e9c 59 }
Hase_jun 0:2a0c62e53e9c 60 }
Hase_jun 0:2a0c62e53e9c 61 dat[0] = 0;
Hase_jun 0:2a0c62e53e9c 62 check = 0;
Hase_jun 0:2a0c62e53e9c 63 break;
Hase_jun 0:2a0c62e53e9c 64 default:
Hase_jun 0:2a0c62e53e9c 65 check++;
Hase_jun 0:2a0c62e53e9c 66 break;
Hase_jun 0:2a0c62e53e9c 67 }
Hase_jun 0:2a0c62e53e9c 68 }
Hase_jun 0:2a0c62e53e9c 69 /*
Hase_jun 0:2a0c62e53e9c 70 static float DimensionlessAndBacklash(int8_t dat) {
Hase_jun 0:2a0c62e53e9c 71 float val;
Hase_jun 0:2a0c62e53e9c 72
Hase_jun 0:2a0c62e53e9c 73 if ((dat < BACKLASH) && (dat > -BACKLASH)) {
Hase_jun 0:2a0c62e53e9c 74 dat = 0;
Hase_jun 0:2a0c62e53e9c 75 } else {
Hase_jun 0:2a0c62e53e9c 76 dat += (dat > 0) ? (-BACKLASH) : (BACKLASH);
Hase_jun 0:2a0c62e53e9c 77 }
Hase_jun 0:2a0c62e53e9c 78 val = (float) dat / (float) (128 - BACKLASH);
Hase_jun 0:2a0c62e53e9c 79 return val;
Hase_jun 0:2a0c62e53e9c 80 }
Hase_jun 0:2a0c62e53e9c 81 */
Hase_jun 0:2a0c62e53e9c 82 static uint8_t getsum(void *buf, size_t size) {
Hase_jun 0:2a0c62e53e9c 83 const uint8_t *p = (uint8_t*) buf;
Hase_jun 0:2a0c62e53e9c 84 uint8_t ret = 0;
Hase_jun 0:2a0c62e53e9c 85
Hase_jun 0:2a0c62e53e9c 86 for (; size; size--) {
Hase_jun 0:2a0c62e53e9c 87 ret += *p++;
Hase_jun 0:2a0c62e53e9c 88 }
Hase_jun 0:2a0c62e53e9c 89 return ret;
Hase_jun 0:2a0c62e53e9c 90 }
Hase_jun 0:2a0c62e53e9c 91