wellton/Arduino-PS2X
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Add Pic32xxx support plus fixes to Atomic operations for servo

Ver Código-Fonte 
shuttering with servo library


Esse commit está contido em:
Kurt Eckhardt
2012-04-09 13:45:53 -07:00
pai 5d2be701af
commit b3213f2d9c
2 arquivos alterados com 214 adições e 79 exclusões
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PS2X_lib/PS2X_lib.cpp
+164 -64
Ver Arquivo
@@ -48,26 +48,24 @@ byte PS2X::Analog(byte button) {
return PS2data[button];
}
unsigned char PS2X::_gamepad_shiftinout (char byte) {
uint8_t old_sreg = SREG; // *** KJE *** save away the current state of interrupts
unsigned char tmp = 0;
cli(); // *** KJE *** disable for now
for(i=0;i<8;i++) {
if(CHK(byte,i)) SET(*_cmd_oreg,_cmd_mask);
else CLR(*_cmd_oreg,_cmd_mask);
CLR(*_clk_oreg,_clk_mask);
if(CHK(byte,i)) CMD_SET();
else CMD_CLR();
CLK_CLR();
SREG = old_sreg; // *** *** KJE *** *** Interrupts may be enabled again
delayMicroseconds(CTRL_CLK);
cli(); // *** KJE ***
if(CHK(*_dat_ireg,_dat_mask)) SET(tmp,i);
SET(*_clk_oreg,_clk_mask);
if(DAT_CHK()) SET(tmp,i);
CLK_SET();
#if CTRL_CLK_HIGH
delayMicroseconds(CTRL_CLK_HIGH);
#endif
}
SET(*_cmd_oreg,_cmd_mask);
SREG = old_sreg; // *** *** KJE *** *** Interrupts may be enabled again
CMD_SET();
delayMicroseconds(CTRL_BYTE_DELAY);
return tmp;
}
@@ -77,9 +75,8 @@ void PS2X::read_gamepad() {
}
void PS2X::read_gamepad(boolean motor1, byte motor2) {
boolean PS2X::read_gamepad(boolean motor1, byte motor2) {
double temp = millis() - last_read;
uint8_t old_sreg = SREG; // *** KJE **** save away the current state of interrupts - *** *** KJE *** ***
if (temp > 1500) //waited to long
reconfig_gamepad();
@@ -88,16 +85,15 @@ void PS2X::read_gamepad(boolean motor1, byte motor2) {
delay(read_delay - temp);
last_buttons = buttons; //store the previous buttons states
if(motor2 != 0x00)
motor2 = map(motor2,0,255,0x40,0xFF); //noting below 40 will make it spin
cli(); //*** KJE ***
SET(*_cmd_oreg,_cmd_mask);
SET(*_clk_oreg,_clk_mask);
CLR(*_att_oreg,_att_mask); // low enable joystick
SREG = old_sreg; // *** KJE *** - Interrupts may be enabled again
// Try a few times to get valid data...
for (byte RetryCnt = 0; RetryCnt < 5; RetryCnt++) {
CMD_SET();
CLK_SET();
ATT_CLR(); // low enable joystick
delayMicroseconds(CTRL_BYTE_DELAY);
//Send the command to send button and joystick data;
@@ -107,15 +103,31 @@ void PS2X::read_gamepad(boolean motor1, byte motor2) {
for (int i = 0; i<9; i++) {
PS2data[i] = _gamepad_shiftinout(dword[i]);
}
if(PS2data[1] == 0x79) { //if controller is in full data return mode, get the rest of data
for (int i = 0; i<12; i++) {
PS2data[i+9] = _gamepad_shiftinout(dword2[i]);
}
}
cli();
SET(*_att_oreg,_att_mask); // HI disable joystick
SREG = old_sreg; // Interrupts may be enabled again
ATT_SET(); // HI disable joystick
// Check to see if we received valid data or not. We should be in analog mode for our data
// to be valie
if ((PS2data[1] & 0xf0) == 0x70)
break;
// If we got to here, we are not in analog mode, try to recover...
reconfig_gamepad(); // try to get back into Analog mode.
delay(read_delay);
}
// If we get here and still not in analog mode, try increasing the read_delay...
if ((PS2data[1] & 0xf0) != 0x70) {
if (read_delay < 10)
read_delay++; // see if this helps out...
}
#ifdef PS2X_COM_DEBUG
Serial.println("OUT:IN");
@@ -134,8 +146,15 @@ void PS2X::read_gamepad(boolean motor1, byte motor2) {
Serial.println("");
#endif
last_buttons = buttons; //store the previous buttons states
#if defined(__AVR__)
buttons = *(uint16_t*)(PS2data+3); //store as one value for multiple functions
#else
buttons = (uint16_t)(PS2data[4] << 8) + PS2data[3]; //store as one value for multiple functions
#endif
last_read = millis();
return ((PS2data[1] & 0xf0) == 0x70);
}
byte PS2X::config_gamepad(uint8_t clk, uint8_t cmd, uint8_t att, uint8_t dat) {
@@ -145,30 +164,51 @@ byte PS2X::config_gamepad(uint8_t clk, uint8_t cmd, uint8_t att, uint8_t dat) {
byte PS2X::config_gamepad(uint8_t clk, uint8_t cmd, uint8_t att, uint8_t dat, bool pressures, bool rumble) {
uint8_t old_sreg = SREG; // *** KJE *** save away the current state of interrupts
byte temp[sizeof(type_read)];
_clk_mask = maskToBitNum(digitalPinToBitMask(clk));
#ifdef __AVR__
_clk_mask = digitalPinToBitMask(clk);
_clk_oreg = portOutputRegister(digitalPinToPort(clk));
_cmd_mask = maskToBitNum(digitalPinToBitMask(cmd));
_cmd_mask = digitalPinToBitMask(cmd);
_cmd_oreg = portOutputRegister(digitalPinToPort(cmd));
_att_mask = maskToBitNum(digitalPinToBitMask(att));
_att_mask = digitalPinToBitMask(att);
_att_oreg = portOutputRegister(digitalPinToPort(att));
_dat_mask = maskToBitNum(digitalPinToBitMask(dat));
_dat_mask = digitalPinToBitMask(dat);
_dat_ireg = portInputRegister(digitalPinToPort(dat));
#else
uint32_t lport; // Port number for this pin
_clk_mask = digitalPinToBitMask(clk);
lport = digitalPinToPort(clk);
_clk_lport_set = portOutputRegister(lport) + 2;
_clk_lport_clr = portOutputRegister(lport) + 1;
_cmd_mask = digitalPinToBitMask(cmd);
lport = digitalPinToPort(cmd);
_cmd_lport_set = portOutputRegister(lport) + 2;
_cmd_lport_clr = portOutputRegister(lport) + 1;
_att_mask = digitalPinToBitMask(att);
lport = digitalPinToPort(att);
_att_lport_set = portOutputRegister(lport) + 2;
_att_lport_clr = portOutputRegister(lport) + 1;
_dat_mask = digitalPinToBitMask(dat);
_dat_lport = portInputRegister(digitalPinToPort(dat));
#endif
pinMode(clk, OUTPUT); //configure ports
pinMode(att, OUTPUT);
pinMode(cmd, OUTPUT);
pinMode(dat, INPUT);
#if defined(__AVR__)
digitalWrite(dat, HIGH); //enable pull-up
#endif
cli(); // *** KJE *** disable for now
SET(*_cmd_oreg,_cmd_mask); // SET(*_cmd_oreg,_cmd_mask);
SET(*_clk_oreg,_clk_mask);
SREG = old_sreg; // *** *** KJE *** *** Interrupts may be enabled again
CMD_SET(); // SET(*_cmd_oreg,_cmd_mask);
CLK_SET();
//new error checking. First, read gamepad a few times to see if it's talking
read_gamepad();
@@ -195,11 +235,9 @@ byte PS2X::config_gamepad(uint8_t clk, uint8_t cmd, uint8_t att, uint8_t dat, bo
//read type
delayMicroseconds(CTRL_BYTE_DELAY);
cli(); // *** KJE *** disable for now
SET(*_cmd_oreg,_cmd_mask);
SET(*_clk_oreg,_clk_mask);
CLR(*_att_oreg,_att_mask); // low enable joystick
SREG = old_sreg; // *** *** KJE *** *** Interrupts may be enabled again
CMD_SET();
CLK_SET();
ATT_CLR(); // low enable joystick
delayMicroseconds(CTRL_BYTE_DELAY);
@@ -207,9 +245,7 @@ byte PS2X::config_gamepad(uint8_t clk, uint8_t cmd, uint8_t att, uint8_t dat, bo
temp[i] = _gamepad_shiftinout(type_read[i]);
}
cli(); // *** KJE *** disable for now
SET(*_att_oreg,_att_mask); // HI disable joystick
SREG = old_sreg; // *** *** KJE *** *** Interrupts may be enabled again
ATT_SET(); // HI disable joystick
controller_type = temp[3];
@@ -249,20 +285,16 @@ byte PS2X::config_gamepad(uint8_t clk, uint8_t cmd, uint8_t att, uint8_t dat, bo
void PS2X::sendCommandString(byte string[], byte len) {
uint8_t old_sreg = SREG; // *** KJE *** save away the current state of interrupts
#ifdef PS2X_COM_DEBUG
byte temp[len];
cli(); // *** KJE *** disable for now
CLR(*_att_oreg,_att_mask); // low enable joystick
SREG = old_sreg; // *** *** KJE *** *** Interrupts may be enabled again
ATT_CLR(); // low enable joystick
delayMicroseconds(CTRL_BYTE_DELAY);
for (int y=0; y < len; y++)
temp[y] = _gamepad_shiftinout(string[y]);
cli(); // *** KJE *** disable for now
SET(*_att_oreg,_att_mask); //high disable joystick
SREG = old_sreg; // *** *** KJE *** *** Interrupts may be enabled again
ATT_SET(); //high disable joystick
delay(read_delay); //wait a few
Serial.println("OUT:IN Configure");
@@ -275,29 +307,16 @@ void PS2X::sendCommandString(byte string[], byte len) {
Serial.println("");
#else
cli(); // *** KJE *** disable for now
CLR(*_att_oreg,_att_mask); // low enable joystick
SREG = old_sreg; // *** *** KJE *** *** Interrupts may be enabled again
ATT_CLR(); // low enable joystick
for (int y=0; y < len; y++)
_gamepad_shiftinout(string[y]);
cli(); // *** KJE *** disable for now
SET(*_att_oreg,_att_mask); //high disable joystick
SREG = old_sreg; // *** *** KJE *** *** Interrupts may be enabled again
ATT_SET(); //high disable joystick
delay(read_delay); //wait a few
#endif
}
uint8_t PS2X::maskToBitNum(uint8_t mask) {
for (int y = 0; y < 8; y++)
{
if(CHK(mask,y))
return y;
}
return 0;
}
byte PS2X::readType() {
/*
@@ -307,9 +326,9 @@ byte PS2X::readType() {
delayMicroseconds(CTRL_BYTE_DELAY);
SET(*_cmd_oreg,_cmd_mask);
SET(*_clk_oreg,_clk_mask);
CLR(*_att_oreg,_att_mask); // low enable joystick
CMD_SET();
CLK_SET();
ATT_CLR(); // low enable joystick
delayMicroseconds(CTRL_BYTE_DELAY);
@@ -372,3 +391,84 @@ void PS2X::reconfig_gamepad(){
sendCommandString(exit_config, sizeof(exit_config));
}
#ifdef __AVR__
inline void PS2X::CLK_SET(void) {
register uint8_t old_sreg = SREG;
cli();
*_clk_oreg |= _clk_mask;
SREG = old_sreg;
}
inline void PS2X::CLK_CLR(void) {
register uint8_t old_sreg = SREG;
cli();
*_clk_oreg &= ~_clk_mask;
SREG = old_sreg;
}
inline void PS2X::CMD_SET(void) {
register uint8_t old_sreg = SREG;
cli();
*_cmd_oreg |= _cmd_mask; // SET(*_cmd_oreg,_cmd_mask);
SREG = old_sreg;
}
inline void PS2X::CMD_CLR(void) {
register uint8_t old_sreg = SREG;
cli();
*_cmd_oreg &= ~_cmd_mask; // SET(*_cmd_oreg,_cmd_mask);
SREG = old_sreg;
}
inline void PS2X::ATT_SET(void) {
register uint8_t old_sreg = SREG;
cli();
*_att_oreg |= _att_mask ;
SREG = old_sreg;
}
inline void PS2X::ATT_CLR(void) {
register uint8_t old_sreg = SREG;
cli();
*_att_oreg &= ~_att_mask;
SREG = old_sreg;
}
inline bool PS2X::DAT_CHK(void) {
return (*_dat_ireg & _dat_mask)? true : false;
}
#else
// On pic32, use the set/clr registers to make them atomic...inline void PS2X::CLK_SET(void) {
*_clk_lport_set |= _clk_mask;
}
inline void PS2X::CLK_CLR(void) {
*_clk_lport_clr |= _clk_mask;
}
inline void PS2X::CMD_SET(void) {
*_cmd_lport_set |= _cmd_mask;
}
inline void PS2X::CMD_CLR(void) {
*_cmd_lport_clr |= _cmd_mask;
}
inline void PS2X::ATT_SET(void) {
*_att_lport_set |= _att_mask;
}
inline void PS2X::ATT_CLR(void) {
*_att_lport_clr |= _att_mask;
}
inline bool PS2X::DAT_CHK(void) {
return (*_dat_lport & _dat_mask)? true : false;
}
#endif
PS2X_lib/PS2X_lib.h
+37 -2
Ver Arquivo
@@ -57,6 +57,9 @@
* Reorganized directory so examples show up in Arduino IDE menu
* 1.8
* Added Arduino 1.0 compatibility.
* 1.9
* Kurt - Added detection and recovery from dropping from analog mode, plus
* integreated Chipkit (pic32mx...) support
*
*
*
@@ -88,10 +91,18 @@ GNU General Public License for more details.
#include <math.h>
#include <stdio.h>
#include <stdint.h>
#ifdef __AVR__
#include <avr/io.h>
#define CTRL_CLK 4
#define CTRL_BYTE_DELAY 3
#else
// Pic32...
#include <pins_arduino.h>
#define CTRL_CLK 5
#define CTRL_CLK_HIGH 5
#define CTRL_BYTE_DELAY 4
#endif
//These are our button constants
#define PSB_SELECT 0x0001
@@ -167,21 +178,31 @@ boolean NewButtonState(unsigned int);
boolean ButtonPressed(unsigned int);
boolean ButtonReleased(unsigned int);
void read_gamepad();
void read_gamepad(boolean, byte);
boolean read_gamepad(boolean, byte);
byte readType();
byte config_gamepad(uint8_t, uint8_t, uint8_t, uint8_t);
byte config_gamepad(uint8_t, uint8_t, uint8_t, uint8_t, bool, bool);
void enableRumble();
bool enablePressures();
byte Analog(byte);
void reconfig_gamepad();
private:
inline void CLK_SET(void);
inline void CLK_CLR(void);
inline void CMD_SET(void);
inline void CMD_CLR(void);
inline void ATT_SET(void);
inline void ATT_CLR(void);
inline bool DAT_CHK(void);
unsigned char _gamepad_shiftinout (char);
unsigned char PS2data[21];
void sendCommandString(byte*, byte);
void reconfig_gamepad();
unsigned char i;
unsigned int last_buttons;
unsigned int buttons;
#ifdef __AVR__
uint8_t maskToBitNum(uint8_t);
uint8_t _clk_mask;
volatile uint8_t *_clk_oreg;
@@ -191,6 +212,20 @@ uint8_t _att_mask;
volatile uint8_t *_att_oreg;
uint8_t _dat_mask;
volatile uint8_t *_dat_ireg;
#else
uint8_t maskToBitNum(uint8_t);
uint16_t _clk_mask;
volatile uint32_t * _clk_lport_set;
volatile uint32_t * _clk_lport_clr;
uint16_t _cmd_mask;
volatile uint32_t * _cmd_lport_set;
volatile uint32_t * _cmd_lport_clr;
uint16_t _att_mask;
volatile uint32_t * _att_lport_set;
volatile uint32_t * _att_lport_clr;
uint16_t _dat_mask;
volatile uint32_t * _dat_lport;
#endif
unsigned long last_read;
byte read_delay;
byte controller_type;