File content as of revision 2:9dae549ae1b4:

#include "DualShockMod.h"


tDSParm hDS;
int posX;
int posY;
static uint8_t recv_posdata, check = 0;
static Serial* ds_serial;   //メイン
//static float DimensionlessAndBacklash(int8_t dat);
static uint8_t getsum(void *buf, size_t size);

void ReStartDS(void) {
    check = 0;
    printf("DSint1\r\n");
//    recv_posdata = (*ds_serial).getc();
    printf("DSint2\r\n");
}

uint8_t InitDS(Serial* f_serial) {
    //huartDS = huart;
    ds_serial = f_serial;
    posX=0;     //externを実体化するための宣言
    posY=0;

    printf("SUB303 connecting check...\r\n");
    ReStartDS();
    printf("SUB303 connect successful...\r\n");
    return 0;
}
//&getPOSdata
void getPOSdata(void) {

    static uint8_t dat[6] = {0};
    recv_posdata = (*ds_serial).getc();
    dat[check] = recv_posdata;
    
    //posX ++;  //debug
    
    
    switch (check) {
    case 0:
        if (dat[0] & 0x80) {    // & は両方1なら1を返す
            check++;
        }
        break;
    case 5:
        if (dat[5] == (getsum(dat, 5) & 0x7f)) {      //ここは0~5までの合計の意味
            if(dat[0] & 0b00000010){ //Xが負であるビット            
                posX = (int)((dat[1]<<7) + dat[2])*-1;
            }
            else{
                posX = ((dat[1]<<7) + dat[2]);
            }
            if(dat[0] & 0b00000001){ //Yが負であるビット            
                posY = (int)((dat[3]<<7) + dat[4]);
            }
            else{
                posY = (dat[3]<<7) + dat[4]*-1;
            }
        }
        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;
}