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cleaned Up comments and functions
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@AbhinavA10
AbhinavA10 committed Jan 25, 2018
1 parent 11d69a3 commit 0b9dc83
Showing 1 changed file with 89 additions and 69 deletions.
158 changes: 89 additions & 69 deletions PS2RCCar.c
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Original file line number Diff line number Diff line change
@@ -1,12 +1,12 @@
/*==============================================================================
Project: PS2-RC-Car By: Abhi Agrahari
Version: 1.2 Date: Jan 5th, 2018
Version: 1.5 Date: Jan 24th, 2018
Target: RCCar 1.0 Processor: PIC16F1459
This is a project that controls an RC Car, from a wireless PS2 controller.
The current project purpose is being able to send data back and forth
on the PS2 controller
on the PS2 controller.
==============================================================================*/

#include "xc.h" // XC general include file
Expand All @@ -21,8 +21,8 @@
// TODO Set Instruction Freq. to 12MHz for simulator debugging

/*TODOLIST:
* configure vibration motor
* check data nibble for controller type
* use vibration motor (already configured)
* use data nibble for controller type (created but unused)
*/

/*==============================================================================
Expand Down Expand Up @@ -82,10 +82,22 @@ void turnServo(unsigned char value) {
SERVO = 0;
}

/*==============================================================================
PWM LED 2
Simple function to simply PWM an LED, based on input value. Used to
demonstrate analog capabilities of PS2 Controller
==============================================================================*/
void pwmLED2(unsigned char brightness) {
LED2 = 0;
for (unsigned char counter = 255; counter != 0; counter--) {
if (counter == brightness) LED2 = 1;
}
}

/*==============================================================================
SEND CMD RECEIVE DATA
Function to simultaneously send a command byte when the clock goes low,
and recieve the data byte, when the clock goes high. This is done bit by bit.
and receive the data byte, when the clock goes high. This is done bit by bit.
The clock runs at ~250kHz. -> about 4us per transfer
Input is the command to be sent, and returns the value of the data received.
==============================================================================*/
Expand All @@ -109,36 +121,53 @@ unsigned char SendCMD_ReceiveDATA(unsigned char cmd) {
__delay_us(1);
if (i != 1) dat = dat >> 1; // shift the contents over for the next bit if it's not the last bit
}
__delay_us(16);
__delay_us(16); // just a delay between bytes
return dat;
}

/*==============================================================================
SET ATTN LOW
Function to set attention line to low. Created this function because it is
used frequently. Signifies beginning of data transfer
==============================================================================*/
void setATTNLow() {
ATTNLINE = 0;
__delay_us(16);
}

/*==============================================================================
SET ATTN HIGH
Function to set attention line to high. Created this function because it is
used frequently. Signifies end of data transfer.
==============================================================================*/
void setATTNHigh() {
ATTNLINE = 1;
__delay_us(16);
}

/*==============================================================================
DIGITAL POLL
Function to get digital button values from PS2 controller
Set attnention to low, then send and receive data.
Set attention to low, then send and receive data.
==============================================================================*/
void DigitalPoll() {
ATTNLINE = 0;
__delay_us(16);
setATTNLow();
arcDataValsByte[1] = SendCMD_ReceiveDATA(0x01);
arcDataValsByte[2] = SendCMD_ReceiveDATA(0x42);
arcDataValsByte[3] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[4] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[5] = SendCMD_ReceiveDATA(0x00);
ATTNLINE = 1;
__delay_us(16);
setATTNHigh();
}

/*==============================================================================
ANALOG POLL
Function to get digital button values, set vibration motor values, and get
anaolg joystick values from PS2 controller
analog joystick values from PS2 controller
Set attention to low, then send and receive data.
==============================================================================*/
void AnalogPoll() {
ATTNLINE = 0;
__delay_us(16);
setATTNLow();
arcDataValsByte[1] = SendCMD_ReceiveDATA(0x01);
arcDataValsByte[2] = SendCMD_ReceiveDATA(0x42);
arcDataValsByte[3] = SendCMD_ReceiveDATA(0x00);
Expand All @@ -148,8 +177,7 @@ void AnalogPoll() {
arcDataValsByte[7] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[8] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[9] = SendCMD_ReceiveDATA(0x00);
ATTNLINE = 1;
__delay_us(16);
setATTNHigh();
}

/*==============================================================================
Expand All @@ -158,25 +186,22 @@ void AnalogPoll() {
actually configure the controller
==============================================================================*/
void EnterConfig() {
ATTNLINE = 0;
__delay_us(16);
setATTNLow();
arcDataValsByte[1] = SendCMD_ReceiveDATA(0x01);
arcDataValsByte[2] = SendCMD_ReceiveDATA(0x43);
arcDataValsByte[3] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[4] = SendCMD_ReceiveDATA(0x01); // shows entering config
arcDataValsByte[5] = SendCMD_ReceiveDATA(0x00);
ATTNLINE = 1;
__delay_us(16);
setATTNHigh();
}

/*==============================================================================
TURN ON ANALOG MODE
Function to turn on the returning of analog joystick values, after entering
config mdoe
config mode
==============================================================================*/
void TurnOnAnalogMode() {
ATTNLINE = 0;
__delay_us(16);
setATTNLow();
arcDataValsByte[1] = SendCMD_ReceiveDATA(0x01);
arcDataValsByte[2] = SendCMD_ReceiveDATA(0x44);
arcDataValsByte[3] = SendCMD_ReceiveDATA(0x00);
Expand All @@ -186,8 +211,7 @@ void TurnOnAnalogMode() {
arcDataValsByte[7] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[8] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[9] = SendCMD_ReceiveDATA(0x00);
ATTNLINE = 1;
__delay_us(16);
setATTNHigh();
}

/*==============================================================================
Expand All @@ -196,8 +220,7 @@ void TurnOnAnalogMode() {
config mode
==============================================================================*/
void MapVibrationMotors() {
ATTNLINE = 0;
__delay_us(16);
setATTNLow();
arcDataValsByte[1] = SendCMD_ReceiveDATA(0x01);
arcDataValsByte[2] = SendCMD_ReceiveDATA(0x4D);
arcDataValsByte[3] = SendCMD_ReceiveDATA(0x00);
Expand All @@ -207,8 +230,7 @@ void MapVibrationMotors() {
arcDataValsByte[7] = SendCMD_ReceiveDATA(0xFF);
arcDataValsByte[8] = SendCMD_ReceiveDATA(0xFF);
arcDataValsByte[9] = SendCMD_ReceiveDATA(0xFF);
ATTNLINE = 1;
__delay_us(16);
setATTNHigh();
}

/*==============================================================================
Expand All @@ -219,8 +241,7 @@ void MapVibrationMotors() {
Excludes R3,L3, Select, and Start
==============================================================================*/
void TurnonPressureValues() {
ATTNLINE = 0;
__delay_us(16);
setATTNLow();
arcDataValsByte[1] = SendCMD_ReceiveDATA(0x01);
arcDataValsByte[2] = SendCMD_ReceiveDATA(0x4F);
arcDataValsByte[3] = SendCMD_ReceiveDATA(0x00);
Expand All @@ -230,17 +251,16 @@ void TurnonPressureValues() {
arcDataValsByte[7] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[8] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[9] = SendCMD_ReceiveDATA(0x00);
ATTNLINE = 1;
__delay_us(16);
setATTNHigh();
analogPressureMode = true;
}

/*==============================================================================
EXIT CONFIG
Function to exit configuration mode
==============================================================================*/
void Exitconfig() {
ATTNLINE = 0;
__delay_us(16);
setATTNLow();
arcDataValsByte[1] = SendCMD_ReceiveDATA(0x01);
arcDataValsByte[2] = SendCMD_ReceiveDATA(0x43);
arcDataValsByte[3] = SendCMD_ReceiveDATA(0x00);
Expand All @@ -250,8 +270,7 @@ void Exitconfig() {
arcDataValsByte[7] = SendCMD_ReceiveDATA(0x5A);
arcDataValsByte[8] = SendCMD_ReceiveDATA(0x5A);
arcDataValsByte[9] = SendCMD_ReceiveDATA(0x5A);
ATTNLINE = 1;
__delay_us(16);
setATTNHigh();
}

/*==============================================================================
Expand All @@ -268,9 +287,7 @@ void PS2_configToAnalog() {
EnterConfig();
TurnOnAnalogMode();
MapVibrationMotors();
if (analogPressureMode) {
TurnonPressureValues();
}
//TurnonPressureValues();
Exitconfig();
analogMode = true; // set this boolean to true, so that different functions are called in main()
}
Expand All @@ -293,8 +310,33 @@ bool isPressed(unsigned char dat, unsigned char key) {
return ((dat & key) == 0);
}

/*==============================================================================
GET LOWER NIBBLE
Using bitwise operations, we can get the lower 4 bits of the data byte.
The data's value is something like `0b01000001`. The lower nibble indicates
how many 16 bit words follow the header. ANDing the data with 0b00001111, we
can get the lower 4 bits
==============================================================================*/
unsigned char getLowerNibble(unsigned char dat) {
return ((dat & 0b00001111) == 0);
}

/*==============================================================================
GET HIGHER NIBBLE
Using bitwise operations, we can get the upper 4 bits of the data byte.
The data's value is something like `0b01000001`. The upper nibble indicates
indicates the mode of operation of the controller. Shifting data values to
the right 4 times, will give us the upper nibble
==============================================================================*/
unsigned char getUpperNibble(unsigned char dat) {
return (dat >> 4);
}

/*==============================================================================
BEEP
Below functions are to create beeping noises. A separate function was needed
for each note as __delay_us() cannot accept a variable as a parameter.
The functions are used to display functioning of digital PS2 buttons.
==============================================================================*/
void beep(unsigned char period, unsigned char cycles) {
for (cycles; cycles != 0; cycles--) {
Expand All @@ -304,8 +346,7 @@ void beep(unsigned char period, unsigned char cycles) {
}

void Eb4() {
for (duration = 0; duration != 39; duration++) //Bb4 sixteenth note,or for .125s
{
for (duration = 0; duration != 39; duration++) {
BEEPER = 1;
__delay_us(1607);
BEEPER = 0;
Expand All @@ -314,8 +355,7 @@ void Eb4() {
}

void E4() {
for (duration = 0; duration != 41; duration++) //Bb4 sixteenth note,or for .125s
{
for (duration = 0; duration != 41; duration++) {
BEEPER = 1;
__delay_us(1517);
BEEPER = 0;
Expand All @@ -324,8 +364,7 @@ void E4() {
}

void F4() {
for (duration = 0; duration != 43; duration++) //Bb4 sixteenth note,or for .125s
{
for (duration = 0; duration != 43; duration++) {
BEEPER = 1;
__delay_us(1432);
BEEPER = 0;
Expand All @@ -334,32 +373,14 @@ void F4() {
}

void Fsharp() {
for (duration = 0; duration != 46; duration++) //Bb4 sixteenth note,or for .125s
{
for (duration = 0; duration != 46; duration++) {
BEEPER = 1;
__delay_us(1351);
BEEPER = 0;
__delay_us(1351);
}
}

void G5() {
for (duration = 0; duration != 98; duration++) //Bb4 sixteenth note,or for .125s
{
BEEPER = 1;
__delay_us(638);
BEEPER = 0;
__delay_us(638);
}
}

void pwmLED2(unsigned char brightness) {
LED2 = 0;
for (unsigned char counter = 255; counter != 0; counter--) {
if (counter == brightness) LED2 = 1;
}
}

/*==============================================================================
MAIN
The main() function is called first by the compiler.
Expand All @@ -369,6 +390,7 @@ int main(void) {
initPorts(); // Initialize I/O pins and peripherals
__delay_us(200);
PS2_configToAnalog(); //switch PS2 controller to analog mode
//comment line out above to switch to digital only mode
while (1) {
if (analogMode) {
AnalogPoll();
Expand All @@ -381,8 +403,8 @@ int main(void) {
MOTORCMDVal = arcDataValsByte[P_BUTTON_R2];
// Above line sets motor value to the returned button pressure
}
pwmLED2(arcDataValsByte[9]);
turnServo(arcDataValsByte[6]);
pwmLED2(arcDataValsByte[9]); // Y-axis on left joystick
turnServo(arcDataValsByte[6]); //X-axis on right joystick
} else {
DigitalPoll();
}
Expand All @@ -402,8 +424,6 @@ int main(void) {
{
asm("movlp 0x00");
asm("goto 0x001C");
} else {
LED3 = 0;
}
}
}

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