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前言

本文讲解使用cubemx配置PS2手柄实现对手柄的按键和模拟值的读取。
很简单，库已经封装好了，直接就可以了。

文件

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一、cubemx配置

这个很简单，不需要走协议，只要配置gpio就可以了

二、代码

1.引入库

使用我的两个库

bsp_hal_ps2.c

/* 包含头文件 ----------------------------------------------------------------*/
#include "bsp_hal_ps2.h"/* 私有类型定义 --------------------------------------------------------------*//* 私有宏定义 ----------------------------------------------------------------*/
#define DI()    HAL_GPIO_ReadPin(PS2_DI_GPIO_Port, PS2_DI_Pin)           //PB12  输入#define DO_H()  HAL_GPIO_WritePin(PS2_DO_CMD_GPIO_Port, PS2_DO_CMD_Pin, GPIO_PIN_SET)        //命令位高
#define DO_L()  HAL_GPIO_WritePin(PS2_DO_CMD_GPIO_Port, PS2_DO_CMD_Pin, GPIO_PIN_RESET)        //命令位低#define CS_H()  HAL_GPIO_WritePin(PS2_CS_SEL_GPIO_Port, PS2_CS_SEL_Pin, GPIO_PIN_SET)       //CS拉高
#define CS_L()  HAL_GPIO_WritePin(PS2_CS_SEL_GPIO_Port, PS2_CS_SEL_Pin, GPIO_PIN_RESET)       //CS拉低#define CLK_H() HAL_GPIO_WritePin(PS2_CLK_GPIO_Port, PS2_CLK_Pin, GPIO_PIN_SET)      //时钟拉高
#define CLK_L() HAL_GPIO_WritePin(PS2_CLK_GPIO_Port, PS2_CLK_Pin, GPIO_PIN_RESET)      //时钟拉低
/* 私有变量 ------------------------------------------------------------------*/
const uint8_t Comd[2]={0x01,0x42};	//开始命令。请求数据
const uint16_t MASK[16] = {PSB_SELECT,PSB_L3,PSB_R3 ,PSB_START,PSB_PAD_UP,PSB_PAD_RIGHT,PSB_PAD_DOWN,PSB_PAD_LEFT,PSB_L2,PSB_R2,PSB_L1,PSB_R1 ,PSB_GREEN,PSB_RED,PSB_BLUE,PSB_PINK
};	//按键值与按键明
/* 扩展变量 ------------------------------------------------------------------*/
_u_PS2_Data PS2_Data={0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; //数据存储数组
/* 私有函数原形 --------------------------------------------------------------*//* 函数体 --------------------------------------------------------------------*/
static void delay_us(int16_t us)
{for(int i=0; i<us*10; i++){;}
}
//向手柄发送命令
static uint8_t PS2_Cmd(uint8_t CMD)
{volatile uint16_t ref=0x01;uint8_t Data;Data = 0;for(ref=0x01; ref<0x0100; ref<<=1){if(ref&CMD){DO_H();                   //输出以为控制位}else DO_L();CLK_H();                        //时钟拉高delay_us(10);CLK_L();delay_us(10);CLK_H();if(DI()){Data = ref|Data;}}return Data;
}
//short poll
static void PS2_ShortPoll(void)
{CS_L();delay_us(16);PS2_Cmd(0x01);  PS2_Cmd(0x42);  PS2_Cmd(0X00);PS2_Cmd(0x00);PS2_Cmd(0x00);CS_H();delay_us(16);	
}//进入配置
static void PS2_EnterConfing(void)
{CS_L();delay_us(16);PS2_Cmd(0x01);  PS2_Cmd(0x43);  PS2_Cmd(0X00);PS2_Cmd(0x01);PS2_Cmd(0x00);PS2_Cmd(0X00);PS2_Cmd(0X00);PS2_Cmd(0X00);PS2_Cmd(0X00);CS_H();delay_us(16);
}//发送模式设置
static void PS2_TurnOnAnalogMode(void)
{CS_L();PS2_Cmd(0x01);  PS2_Cmd(0x44);  PS2_Cmd(0X00);PS2_Cmd(0x01); //analog=0x01;digital=0x00  软件设置发送模式PS2_Cmd(0xEE); //Ox03锁存设置，即不可通过按键“MODE”设置模式。//0xEE不锁存软件设置，可通过按键“MODE”设置模式。PS2_Cmd(0X00);PS2_Cmd(0X00);PS2_Cmd(0X00);PS2_Cmd(0X00);CS_H();delay_us(16);
}
//振动设置
static void PS2_VibrationMode(void)
{CS_L();delay_us(16);PS2_Cmd(0x01);  PS2_Cmd(0x4D);  PS2_Cmd(0X00);PS2_Cmd(0x00);PS2_Cmd(0X01);CS_H();delay_us(16);	
}
//完成并保存配置
static void PS2_ExitConfing(void)
{CS_L();delay_us(16);PS2_Cmd(0x01);  PS2_Cmd(0x43);  PS2_Cmd(0X00);PS2_Cmd(0x00);PS2_Cmd(0x5A);PS2_Cmd(0x5A);PS2_Cmd(0x5A);PS2_Cmd(0x5A);PS2_Cmd(0x5A);CS_H();delay_us(16);
}
//清除数据缓冲区
void PS2_ClearData(void)
{PS2_Data.DATE.ID = 0;PS2_Data.DATE.verify = 0;PS2_Data.DATE.key1_U.byte = 0xff;PS2_Data.DATE.key2_U.byte = 0xff;PS2_Data.DATE.PSS_RX = 0;PS2_Data.DATE.PSS_RY = 0;PS2_Data.DATE.PSS_LX = 0;PS2_Data.DATE.PSS_LY = 0;
}
//判断是否为红灯模式
//返回值；0，红灯模式
//		  其他，其他模式
uint8_t PS2_RedLight(void)
{uint8_t Data;CS_L();PS2_Cmd(Comd[0]);  //开始命令Data = PS2_Cmd(Comd[1]);  //请求数据CS_H();PS2_Data.DATE.ID = Data;if( Data == 0X73) return 0 ;else return 1;
}//读取手柄数据
void PS2_ReadData(void)
{volatile uint8_t byte=0;volatile uint16_t ref=0x01;uint8_t data;CS_L();PS2_Cmd(Comd[0]);  //开始命令PS2_Data.DATE.ID = PS2_Cmd(Comd[1]);  //请求数据for(byte=1;byte<8;byte++)          //开始接受数据{data = 0;for(ref=0x01;ref<0x100;ref<<=1){CLK_H();delay_us(10);CLK_L();delay_us(10);CLK_H();if(DI()){data = ref|data;}} PS2_Data.byte[byte] = data;delay_us(16);}CS_H();	
}//对读出来的PS2的数据进行处理      
//只处理了按键部分         
//默认数据是红灯模式  只有一个按键按下时
//按下为0， 未按下为1
uint8_t PS2_DataKey(void)
{uint8_t index;uint16_t Handkey;PS2_ClearData();PS2_ReadData();if(PS2_Data.DATE.verify == 0x5a){Handkey=(PS2_Data.byte[3]<<8)|PS2_Data.byte[2];     //这是16个按键  按下为0， 未按下为1for(index=0;index<16;index++){	    if((Handkey&(1<<(MASK[index]-1)))==0){return index+1;}}}return 0;          //没有任何按键按下
}//得到一个摇杆的模拟量	 范围0~256
//返回1得取成功，0得取失败
uint8_t PS2_AnologData(_e_RockerSelect button,uint8_t *qdata)
{PS2_ClearData();PS2_ReadData();if(PS2_Data.DATE.verify == 0x5a){if(button == PSS_RX) *qdata = PS2_Data.DATE.PSS_RX;else if(button == PSS_RY) *qdata = PS2_Data.DATE.PSS_RY;else if(button == PSS_LX) *qdata = PS2_Data.DATE.PSS_LX;else *qdata = PS2_Data.DATE.PSS_LY;return 1;}else{return 0;}
}
/******************************************************
Function:    void PS2_Vibration(uint8_t motor1, uint8_t motor2)
Description: 手柄震动函数，
Calls:		 void PS2_Cmd(uint8_t CMD);
Input: motor1:右侧小震动电机 0x00关，其他开motor2:左侧大震动电机 0x40~0xFF 电机开，值越大 震动越大
******************************************************/
void PS2_Vibration(uint8_t motor1, uint8_t motor2)
{CS_L();delay_us(16);PS2_Cmd(0x01);  //开始命令PS2_Cmd(0x42);  //请求数据PS2_Cmd(0X00);PS2_Cmd(motor1);PS2_Cmd(motor2);PS2_Cmd(0X00);PS2_Cmd(0X00);PS2_Cmd(0X00);PS2_Cmd(0X00);CS_H();delay_us(16);  
}
//手柄配置初始化
void PS2_SetInit(void)
{CS_H();CLK_H();DO_H();PS2_ShortPoll();PS2_ShortPoll();PS2_ShortPoll();PS2_EnterConfing();		//进入配置模式PS2_TurnOnAnalogMode();	//“红绿灯”配置模式，并选择是否保存PS2_VibrationMode();	//开启震动模式PS2_ExitConfing();		//完成并保存配置CS_H();CLK_H();DO_H();
}

bsp_hal_ps2.h

#ifndef __BSP_HAL_PS2_H__
#define __BSP_HAL_PS2_H__/* 包含头文件 ----------------------------------------------------------------*/
#include "main.h"
/* 宏定义 --------------------------------------------------------------------*/
//These are our button constants
#define PSB_SELECT      1
#define PSB_L3          2
#define PSB_R3          3
#define PSB_START       4
#define PSB_PAD_UP      5
#define PSB_PAD_RIGHT   6
#define PSB_PAD_DOWN    7
#define PSB_PAD_LEFT    8
#define PSB_L2          9
#define PSB_R2          10
#define PSB_L1          11
#define PSB_R1          12
#define PSB_GREEN       13
#define PSB_RED         14
#define PSB_BLUE        15
#define PSB_PINK        16
/* 类型定义 ------------------------------------------------------------------*/
typedef enum
{PSS_RX = 0,PSS_RY,PSS_LX,PSS_LY,
}_e_RockerSelect;
typedef union
{uint8_t byte;struct{uint8_t SELECT  :1;uint8_t L3      :1;uint8_t R3      :1;uint8_t START   :1;uint8_t UP      :1;uint8_t RIGHT   :1;uint8_t DOWN    :1;uint8_t LEFT    :1;}bit;
}_u_key1;
typedef union
{uint8_t byte;struct{uint8_t L2        :1;uint8_t R2        :1;uint8_t L1        :1;uint8_t R1        :1;uint8_t TRI       :1;uint8_t CIRCLE    :1;uint8_t FORK      :1;uint8_t REC       :1;}bit;
}_u_key2;
typedef union
{uint8_t byte[8];struct{uint8_t ID;uint8_t verify;_u_key1 key1_U;_u_key2 key2_U;uint8_t PSS_RX;uint8_t PSS_RY;uint8_t PSS_LX;uint8_t PSS_LY;}DATE;
}_u_PS2_Data;/* 扩展变量 ------------------------------------------------------------------*/
extern _u_PS2_Data PS2_Data;
/* 函数声明 ------------------------------------------------------------------*/
void PS2_SetInit(void);
void PS2_ClearData(void);
void PS2_ReadData(void);
void PS2_Vibration(uint8_t motor1, uint8_t motor2);
uint8_t PS2_AnologData(_e_RockerSelect button,uint8_t *qdata);
uint8_t PS2_DataKey(void);
uint8_t PS2_RedLight(void);#endif  // __BSP_HAL_PS2_H__

2.主函数

初始化

	PS2_SetInit();uint8_t a;

主循环

		if( !PS2_RedLight()) {//判断手柄是否为红灯模式，是，指示灯LED点亮HAL_Delay(50);	 //延时很重要不可去for(a=0; a<8; a++)//清除数据缓冲区PS2_Data.byte[a] = 0x00;PS2_ReadData();//			y_axisbuff = (128 - PS2_Data.DATE.PSS_LY)*2;//最高速度256
//			x_axisbuff = (PS2_Data.DATE.PSS_LX - 128)*2;
//			yawbuff = ( -128+PS2_Data.DATE.PSS_RX)*2;//			if(ABS(y_axisbuff) < 50) y_axisbuff = 0; //限制遥控中间位置的误差
//		    if(ABS(yawbuff) < 50) yawbuff = 0;
//		    if(ABS(x_axisbuff) < 50) x_axisbuff = 0;}else{//判断手柄不是红灯模式，指示灯LED熄灭PS2_ClearData();}HAL_Delay(50);

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