一、PS2手柄介绍
因为有转接板,所以仅需要与单片机有四根线连接。分为为:
名称 | 功能 | 对应引脚 | 标签 |
---|---|---|---|
DI/DAT | 手柄到单片机的信号传输 | PA6 | PS2_DI |
DO/CMD | 单片机到手柄的信号传输 | PA7 | PS2_DO |
CS/SEL | 手柄触发信号 | PA4 | PS2_CS |
CLK | 时钟信号 | PA5 | PS2_CLK |
二、CubeIDE配置
三、PS2库
ps2需要一个us级的延时函数,所以需要自建一个delay函数
1.delay.c
#include "delay.h"
void delay_us(uint32_t us) //利用CPU循环实现的非精准应用的微秒延时函数
{
uint32_t delay = (HAL_RCC_GetHCLKFreq() / 8000000 * us); //使用HAL_RCC_GetHCLKFreq()函数获取主频值,经算法得到1微秒的循环次数
while (delay--); //循环delay次,达到1微秒延时
}
2. delay.h
#ifndef DELAY_DELAY_H_
#define DELAY_DELAY_H_
#include "stm32f1xx_hal.h" //HAL库文件声明
void delay_us(uint32_t us); //C文件中的函数声明
#endif /* DELAY_DELAY_H_ */
3. ps2.c
/*
* ps2.c
*
* Created on: Apr 20, 2023
* Author: 张鹏
*/
#include "PS2.h"
uint8_t PS2_RawData[9] = {0}; //存储原始数据的数组
PS2_TypeDef PS2_Data = {0}; //存储解码后数据的结构体
/*
* PS2_CS函数的作用是控制PS2设备的片选信号(chip select)。
* 在嵌入式系统中,片选信号通常用于控制多个设备的数据传输。
* 当需要与某个设备进行通信时,将该设备的片选信号置为低电平,以使该设备接受数据传输。
* 在与该设备的通信结束后,将该设备的片选信号置为高电平,以防止其他设备误接受数据传输。
* 因此,PS2_CS函数是用来控制与PS2设备通信的时序和片选信号的函数。
*/
void PS2_CS(uint8_t Val)
{
if (Val)
HAL_GPIO_WritePin(PS2_CS_GPIOx, PS2_CS_Pin, GPIO_PIN_SET);
else
HAL_GPIO_WritePin(PS2_CS_GPIOx, PS2_CS_Pin, GPIO_PIN_RESET);
}
void PS2_CLK(uint8_t Val)
{
if (Val)
HAL_GPIO_WritePin(PS2_CLK_GPIOx, PS2_CLK_Pin, GPIO_PIN_SET);
else
HAL_GPIO_WritePin(PS2_CLK_GPIOx, PS2_CLK_Pin, GPIO_PIN_RESET);
}
void PS2_DO(uint8_t Val)
{
if (Val)
HAL_GPIO_WritePin(PS2_DO_GPIOx, PS2_DO_Pin, GPIO_PIN_SET);
else
HAL_GPIO_WritePin(PS2_DO_GPIOx, PS2_DO_Pin, GPIO_PIN_RESET);
}
uint8_t PS2_Read_DI()
{
return HAL_GPIO_ReadPin(PS2_DI_GPIOx, PS2_DI_Pin);
}
uint8_t PS2_ReadWrite_Byte(uint8_t TxData)
{
uint8_t TX = TxData;
uint8_t RX = 0;
for (int i = 0; i < 8; i++)
{
if (TX & 0x01)
PS2_DO(1);
else
PS2_DO(0);
TX >>= 1;
PS2_CLK(1);
delay_us(50);
PS2_CLK(0);
RX >>= 1;
RX |= (PS2_Read_DI() << 7);
delay_us(50);
PS2_CLK(1);
delay_us(50);
}
return RX;
}
void PS2_Decode()
{
if (PS2_RawData[2] == 0x5A)
{
PS2_Data.Key_Select = (~PS2_RawData[3] >> 0) & 0x01; //选择键
PS2_Data.Key_Start = (~PS2_RawData[3] >> 3) & 0x01; //开始键
//左侧按键
PS2_Data.Key_L_Up = (~PS2_RawData[3] >> 4) & 0x01;
PS2_Data.Key_L_Right = (~PS2_RawData[3] >> 5) & 0x01;
PS2_Data.Key_L_Down = (~PS2_RawData[3] >> 6) & 0x01;
PS2_Data.Key_L_Left = (~PS2_RawData[3] >> 7) & 0x01;
//后侧按键
PS2_Data.Key_L2 = (~PS2_RawData[4] >> 0) & 0x01;
PS2_Data.Key_R2 = (~PS2_RawData[4] >> 1) & 0x01;
PS2_Data.Key_L1 = (~PS2_RawData[4] >> 2) & 0x01;
PS2_Data.Key_R1 = (~PS2_RawData[4] >> 3) & 0x01;
//右侧按键
PS2_Data.Key_R_Up = (~PS2_RawData[4] >> 4) & 0x01;
PS2_Data.Key_R_Right = (~PS2_RawData[4] >> 5) & 0x01;
PS2_Data.Key_R_Down = (~PS2_RawData[4] >> 6) & 0x01;
PS2_Data.Key_R_Left = (~PS2_RawData[4] >> 7) & 0x01;
if (PS2_RawData[1] == 0x41)
{ //无灯模式(摇杆值八向)
PS2_Data.Rocker_LX = 127 * (PS2_Data.Key_L_Right - PS2_Data.Key_L_Left);
PS2_Data.Rocker_LY = 127 * (PS2_Data.Key_L_Up - PS2_Data.Key_L_Down);
PS2_Data.Rocker_RX = 127 * (PS2_Data.Key_R_Right - PS2_Data.Key_R_Left);
PS2_Data.Rocker_RY = 127 * (PS2_Data.Key_R_Up - PS2_Data.Key_R_Down);
}
else if (PS2_RawData[1] == 0x73)
{ //红灯模式(摇杆值模拟)
//摇杆按键
PS2_Data.Key_Rocker_Left = (~PS2_RawData[3] >> 1) & 0x01;
PS2_Data.Key_Rocker_Right = (~PS2_RawData[3] >> 2) & 0x01;
//摇杆值
PS2_Data.Rocker_LX = PS2_RawData[7] - 0x80;
PS2_Data.Rocker_LY = -1 - (PS2_RawData[8] - 0x80);
PS2_Data.Rocker_RX = PS2_RawData[5] - 0x80;
PS2_Data.Rocker_RY = -1 - (PS2_RawData[6] - 0x80);
}
}
}
void PS2_Read_Data(void)
{
PS2_CS(0);
PS2_RawData[0] = PS2_ReadWrite_Byte(0x01); // 0
PS2_RawData[1] = PS2_ReadWrite_Byte(0x42); // 1
for (int i = 2; i < 9; i++)
PS2_RawData[i] = PS2_ReadWrite_Byte(0xff);
PS2_CS(1);
PS2_Decode();
}
4. ps2.h
#ifndef PS2_PS2_H_
#define PS2_PS2_H_
#include "main.h"
#include "../../icode/delay/delay.h"
/*
需要4个GPIO:
3个推挽输出模式 CLK DO CS
1个上拉输入模式 DI
*/
#define PS2_CS_GPIOx GPIOA
#define PS2_CS_Pin GPIO_PIN_4
#define PS2_CLK_GPIOx GPIOA
#define PS2_CLK_Pin GPIO_PIN_5
#define PS2_DO_GPIOx GPIOA
#define PS2_DO_Pin GPIO_PIN_7
#define PS2_DI_GPIOx GPIOA
#define PS2_DI_Pin GPIO_PIN_6
typedef struct
{
uint8_t A_D; //模拟(红灯)为1 数字(无灯)为0
int8_t Rocker_RX, Rocker_RY, Rocker_LX, Rocker_LY; //摇杆值(模拟状态为实际值0-0xFF)(数字态为等效的值0,0x80,0xFF)
//按键值0为未触发,1为触发态
uint8_t Key_L1, Key_L2, Key_R1, Key_R2; //后侧大按键
uint8_t Key_L_Right, Key_L_Left, Key_L_Up, Key_L_Down; //左侧按键
uint8_t Key_R_Right, Key_R_Left, Key_R_Up, Key_R_Down; //右侧按键
uint8_t Key_Select; //选择键
uint8_t Key_Start; //开始键
uint8_t Key_Rocker_Left, Key_Rocker_Right; //摇杆按键
} PS2_TypeDef;
extern PS2_TypeDef PS2_Data;
void PS2_Read_Data(void);
#endif /* PS2_PS2_H_ */
四、PS2手柄控制电机运动
main.c函数
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "rtc.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "../../icode/motor/motor.h"
#include "../inc/retarget.h"//用于printf函数的串口重映射
#include "../../icode/oled/oled.h"
#include "../../icode/ps2/ps2.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_RTC_Init();
MX_TIM1_Init();
MX_USART1_UART_Init();
MX_I2C1_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
RetargetInit(&huart1);//将printf函数映射到uart1串口上
OLED_Init(); //OLED初始
OLED_Clear(); //清屏
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1) {
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
PS2_Read_Data();
if(PS2_Data.Key_L_Up){
MotorControl(0,600,600);
}
else if(PS2_Data.Key_L_Down){
MotorControl(1,600,600);
}
else if(PS2_Data.Key_L_Left){
MotorControl(0,300,0);
}
else if(PS2_Data.Key_L_Right){
MotorControl(0,0,300);
}
else {
MotorControl(2, 0, 0);
}
HAL_Delay(2);
printf("LX:%d LY:%d RX:%d RY:%d\r\n", PS2_Data.Rocker_LX, PS2_Data.Rocker_LY, PS2_Data.Rocker_RX, PS2_Data.Rocker_RY);
HAL_Delay(10);
// printf("hellow 510\r");
// OLED_ShowNum(0, 1, 3, 1, 16, 1);
// OLED_ShowString(0, 5, "hellow world", 16, 1);
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.LSIState = RCC_LSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_RTC;
PeriphClkInit.RTCClockSelection = RCC_RTCCLKSOURCE_LSI;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1) {
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
总结
以上便是ps2手柄控制电机运动的简单教程。