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Dependencies:   mbed

DualShockMod.cpp@0:d14e21c64226, 2019-09-13 (annotated)

Committer:
megu29
Date:
Fri Sep 13 11:18:21 2019 +0000
Revision:
0:d14e21c64226
Child:
1:8a67adccebd9
0913;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
megu29 0:d14e21c64226 1 #include "DualShockMod.h"
megu29 0:d14e21c64226 2
megu29 0:d14e21c64226 3
megu29 0:d14e21c64226 4 tDSParm hDS;
megu29 0:d14e21c64226 5 int posX;
megu29 0:d14e21c64226 6 int posY;
megu29 0:d14e21c64226 7 static uint8_t recv_posdata, check = 0;
megu29 0:d14e21c64226 8 static Serial* ds_serial; //メイン
megu29 0:d14e21c64226 9 //static float DimensionlessAndBacklash(int8_t dat);
megu29 0:d14e21c64226 10 static uint8_t getsum(void *buf, size_t size);
megu29 0:d14e21c64226 11
megu29 0:d14e21c64226 12 void ReStartDS(void) {
megu29 0:d14e21c64226 13 check = 0;
megu29 0:d14e21c64226 14 // printf("DSint1\r\n");
megu29 0:d14e21c64226 15 recv_posdata = (*ds_serial).getc();
megu29 0:d14e21c64226 16 // printf("DSint2\r\n");
megu29 0:d14e21c64226 17 }
megu29 0:d14e21c64226 18
megu29 0:d14e21c64226 19 uint8_t InitDS(Serial* f_serial) {
megu29 0:d14e21c64226 20 //huartDS = huart;
megu29 0:d14e21c64226 21 ds_serial = f_serial;
megu29 0:d14e21c64226 22 posX=0; //externを実体化するための宣言
megu29 0:d14e21c64226 23 posY=0;
megu29 0:d14e21c64226 24
megu29 0:d14e21c64226 25 printf("SUB303 connecting check...\r\n");
megu29 0:d14e21c64226 26 ReStartDS();
megu29 0:d14e21c64226 27 printf("SUB303 connect successful...\r\n");
megu29 0:d14e21c64226 28 return 0;
megu29 0:d14e21c64226 29 }
megu29 0:d14e21c64226 30 //&getPOSdata
megu29 0:d14e21c64226 31 void getPOSdata(void) {
megu29 0:d14e21c64226 32
megu29 0:d14e21c64226 33 static uint8_t dat[6] = {0};
megu29 0:d14e21c64226 34 recv_posdata = (*ds_serial).getc();
megu29 0:d14e21c64226 35 dat[check] = recv_posdata;
megu29 0:d14e21c64226 36
megu29 0:d14e21c64226 37 //posX ++; //debug
megu29 0:d14e21c64226 38
megu29 0:d14e21c64226 39
megu29 0:d14e21c64226 40 switch (check) {
megu29 0:d14e21c64226 41 case 0:
megu29 0:d14e21c64226 42 if (dat[0] & 0x80) { // & は両方1なら1を返す
megu29 0:d14e21c64226 43 check++;
megu29 0:d14e21c64226 44 }
megu29 0:d14e21c64226 45 break;
megu29 0:d14e21c64226 46 case 5:
megu29 0:d14e21c64226 47 if (dat[5] == (getsum(dat, 5) & 0x7f)) { //ここは0~5までの合計の意味
megu29 0:d14e21c64226 48 if(dat[0] & 0b00000010){ //Xが負であるビット
megu29 0:d14e21c64226 49 posX = (int)((dat[1]<<7) + dat[2])*-1;
megu29 0:d14e21c64226 50 }
megu29 0:d14e21c64226 51 else{
megu29 0:d14e21c64226 52 posX = ((dat[1]<<7) + dat[2]);
megu29 0:d14e21c64226 53 }
megu29 0:d14e21c64226 54 if(dat[0] & 0b00000001){ //Yが負であるビット
megu29 0:d14e21c64226 55 posY = (int)((dat[3]<<7) + dat[4])*-1;
megu29 0:d14e21c64226 56 }
megu29 0:d14e21c64226 57 else{
megu29 0:d14e21c64226 58 posY = (dat[3]<<7) + dat[4];
megu29 0:d14e21c64226 59 }
megu29 0:d14e21c64226 60 }
megu29 0:d14e21c64226 61 dat[0] = 0;
megu29 0:d14e21c64226 62 check = 0;
megu29 0:d14e21c64226 63 break;
megu29 0:d14e21c64226 64 default:
megu29 0:d14e21c64226 65 check++;
megu29 0:d14e21c64226 66 break;
megu29 0:d14e21c64226 67 }
megu29 0:d14e21c64226 68 }
megu29 0:d14e21c64226 69 /*
megu29 0:d14e21c64226 70 static float DimensionlessAndBacklash(int8_t dat) {
megu29 0:d14e21c64226 71 float val;
megu29 0:d14e21c64226 72
megu29 0:d14e21c64226 73 if ((dat < BACKLASH) && (dat > -BACKLASH)) {
megu29 0:d14e21c64226 74 dat = 0;
megu29 0:d14e21c64226 75 } else {
megu29 0:d14e21c64226 76 dat += (dat > 0) ? (-BACKLASH) : (BACKLASH);
megu29 0:d14e21c64226 77 }
megu29 0:d14e21c64226 78 val = (float) dat / (float) (128 - BACKLASH);
megu29 0:d14e21c64226 79 return val;
megu29 0:d14e21c64226 80 }
megu29 0:d14e21c64226 81 */
megu29 0:d14e21c64226 82 static uint8_t getsum(void *buf, size_t size) {
megu29 0:d14e21c64226 83 const uint8_t *p = (uint8_t*) buf;
megu29 0:d14e21c64226 84 uint8_t ret = 0;
megu29 0:d14e21c64226 85
megu29 0:d14e21c64226 86 for (; size; size--) {
megu29 0:d14e21c64226 87 ret += *p++;
megu29 0:d14e21c64226 88 }
megu29 0:d14e21c64226 89 return ret;
megu29 0:d14e21c64226 90 }
megu29 0:d14e21c64226 91