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Added pressure return values, and fixed comments
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@AbhinavA10
AbhinavA10 committed Jan 15, 2018
1 parent 8b29a6a commit 2afdd54
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Showing 5 changed files with 141 additions and 122 deletions.
193 changes: 105 additions & 88 deletions PS2RCCar.c
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
This is a project that controls an RC Car, from a wireless PS2 controller.
The current step/project purpose is being able to send data back and forth
The current project purpose is being able to send data back and forth
on the PS2 controller
==============================================================================*/

Expand All @@ -21,27 +21,18 @@
// TODO Set Instruction Freq. to 12MHz for simulator debugging

/*TODOLIST:
* comments
* check total time (time between polls should be 5-10ms?)
* make array for databytes instead of separate variables
* write code for pressure values, and motor mapping
* check data nibble for controller type
*/

/*==============================================================================
DECLARATIONS
==============================================================================*/
//-------- VARIABLES ---------------
unsigned char MOTORCMDVal = 0;
unsigned char DATAVal = 0;
unsigned char DATAByte2 = 0;
unsigned char DATAByte4 = 0;
unsigned char DATAByte5 = 0;
unsigned char DATAByte6 = 0;
unsigned char DATAByte7 = 0;
unsigned char DATAByte8 = 0;
unsigned char DATAByte9 = 0;
unsigned char arcDataValsByte[22]; // max is 21 bytes of data. I made 22 so we
//humans can easily read/reference the code, arcDataValsByte[0] is unused
unsigned char servoPos = 90;
bool vibrateMotor = false;
bool analogMode = false;
bool analogPressureMode = false;

Expand All @@ -63,6 +54,19 @@ bool analogPressureMode = false;
#define BUTTON_CIRCLE 0b00100000
#define BUTTON_X 0b01000000
#define BUTTON_SQUARE 0b10000000
//below are byte values for corresponding pressure buttons
#define P_BUTTON_RIGHT 10
#define P_BUTTON_LEFT 11
#define P_BUTTON_UP 12
#define P_BUTTON_DOWN 13
#define P_BUTTON_TRIANGLE 14
#define P_BUTTON_CIRCLE 15
#define P_BUTTON_X 16
#define P_BUTTON_SQUARE 17
#define P_BUTTON_L1 18
#define P_BUTTON_R1 19
#define P_BUTTON_L2 20
#define P_BUTTON_R2 21

/*==============================================================================
TURN SERVO
Expand All @@ -81,9 +85,9 @@ void turnServo(unsigned char value) {
/*==============================================================================
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 low. This is done bit by bit.
The clock runs at ~250kHz.
Input is the command to be sent, and Returns the value of the data received.
and recieve 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.
==============================================================================*/
unsigned char SendCMD_ReceiveDATA(unsigned char cmd) {
unsigned char dat = 0;
Expand Down Expand Up @@ -111,134 +115,141 @@ unsigned char SendCMD_ReceiveDATA(unsigned char cmd) {

/*==============================================================================
DIGITAL POLL
Function to
Function to get digital button values from PS2 controller
Set attnention to low, then send and receive data.
==============================================================================*/
void DigitalPoll() {
ATTNLINE = 0;
__delay_us(16);
DATAVal = SendCMD_ReceiveDATA(0x01);
DATAVal = SendCMD_ReceiveDATA(0x42);
DATAVal = SendCMD_ReceiveDATA(0x00);
DATAVal = SendCMD_ReceiveDATA(0x00);
DATAVal = SendCMD_ReceiveDATA(0x00);
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);
}

/*==============================================================================
ANALOG POLL
Function to
Function to get digital button values, set vibration motor values, and get
anaolg joystick values from PS2 controller
Set attention to low, then send and receive data.
==============================================================================*/
void AnalogPoll() {
ATTNLINE = 0;
__delay_us(16);
DATAVal = SendCMD_ReceiveDATA(0x01);
DATAVal = SendCMD_ReceiveDATA(0x42);
DATAVal = SendCMD_ReceiveDATA(0x00);
MOTORCMDVal = (vibrateMotor) ? 0xFF : 0x00;
// above: if vibrate motor is set, command is set to switch on (0xFF)
DATAByte4 = SendCMD_ReceiveDATA(MOTORCMDVal);
DATAByte5 = SendCMD_ReceiveDATA(MOTORCMDVal);
DATAByte6 = SendCMD_ReceiveDATA(0x00);
DATAByte7 = SendCMD_ReceiveDATA(0x00);
DATAByte8 = SendCMD_ReceiveDATA(0x00);
DATAByte9 = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[1] = SendCMD_ReceiveDATA(0x01);
arcDataValsByte[2] = SendCMD_ReceiveDATA(0x42);
arcDataValsByte[3] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[4] = SendCMD_ReceiveDATA(MOTORCMDVal);
arcDataValsByte[5] = SendCMD_ReceiveDATA(MOTORCMDVal);
arcDataValsByte[6] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[7] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[8] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[9] = SendCMD_ReceiveDATA(0x00);
ATTNLINE = 1;
__delay_us(16);
}

/*==============================================================================
ENTER CONFIG
Function to
Function to enter config mode in the PS2 Controller. Subsequent commands will
actually configure the controller
==============================================================================*/
void EnterConfig() {
ATTNLINE = 0;
__delay_us(16);
DATAVal = SendCMD_ReceiveDATA(0x01);
DATAVal = SendCMD_ReceiveDATA(0x43);
DATAVal = SendCMD_ReceiveDATA(0x00);
DATAVal = SendCMD_ReceiveDATA(0x01); // shows entering config
DATAVal = SendCMD_ReceiveDATA(0x00);
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);
}

/*==============================================================================
TURN ON ANALOG MODE
Function to
Function to turn on the returning of analog joystick values, after entering
config mdoe
==============================================================================*/
void TurnOnAnalogMode() {
ATTNLINE = 0;
__delay_us(16);
DATAVal = SendCMD_ReceiveDATA(0x01);
DATAVal = SendCMD_ReceiveDATA(0x44);
DATAVal = SendCMD_ReceiveDATA(0x00);
DATAVal = SendCMD_ReceiveDATA(0x01);
DATAVal = SendCMD_ReceiveDATA(0x03);
DATAVal = SendCMD_ReceiveDATA(0x00);
DATAVal = SendCMD_ReceiveDATA(0x00);
DATAVal = SendCMD_ReceiveDATA(0x00);
DATAVal = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[1] = SendCMD_ReceiveDATA(0x01);
arcDataValsByte[2] = SendCMD_ReceiveDATA(0x44);
arcDataValsByte[3] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[4] = SendCMD_ReceiveDATA(0x01);
arcDataValsByte[5] = SendCMD_ReceiveDATA(0x03);
arcDataValsByte[6] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[7] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[8] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[9] = SendCMD_ReceiveDATA(0x00);
ATTNLINE = 1;
__delay_us(16);
}

/*==============================================================================
MAP VIBRATION MOTORS
Function to
Function to map the vibration motors to corresponding bytes4:5, after in
config mode
==============================================================================*/
void MapVibrationMotors() {
ATTNLINE = 0;
__delay_us(16);
DATAVal = SendCMD_ReceiveDATA(0x01);
DATAVal = SendCMD_ReceiveDATA(0x4D);
DATAVal = SendCMD_ReceiveDATA(0x00);
DATAVal = SendCMD_ReceiveDATA(0x00); // maps this byte to control the small motor.
DATAVal = SendCMD_ReceiveDATA(0x01); // maps this byte to control the large motor.
DATAVal = SendCMD_ReceiveDATA(0xFF);
DATAVal = SendCMD_ReceiveDATA(0xFF);
DATAVal = SendCMD_ReceiveDATA(0xFF);
DATAVal = SendCMD_ReceiveDATA(0xFF);
arcDataValsByte[1] = SendCMD_ReceiveDATA(0x01);
arcDataValsByte[2] = SendCMD_ReceiveDATA(0x4D);
arcDataValsByte[3] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[4] = SendCMD_ReceiveDATA(0x00); // maps this byte to control the small motor.
arcDataValsByte[5] = SendCMD_ReceiveDATA(0x01); // maps this byte to control the large motor.
arcDataValsByte[6] = SendCMD_ReceiveDATA(0xFF);
arcDataValsByte[7] = SendCMD_ReceiveDATA(0xFF);
arcDataValsByte[8] = SendCMD_ReceiveDATA(0xFF);
arcDataValsByte[9] = SendCMD_ReceiveDATA(0xFF);
ATTNLINE = 1;
__delay_us(16);
}

/*==============================================================================
TURN ON PRESSURE VALUE RETURN
Function to
Function to turn on the returning of pressure values from buttons. These
values show how hard a digital buttton is being pressed. These information
is returned in bytes 10:21 when switched on
Excludes R3,L3, Select, and Start
==============================================================================*/
void TurnonPressureValues() {
ATTNLINE = 0;
__delay_us(16);
DATAVal = SendCMD_ReceiveDATA(0x01);
DATAVal = SendCMD_ReceiveDATA(0x43);
DATAVal = SendCMD_ReceiveDATA(0x00);
DATAVal = SendCMD_ReceiveDATA(0x00); // shows exiting config
DATAVal = SendCMD_ReceiveDATA(0x5A);
DATAVal = SendCMD_ReceiveDATA(0x5A);
DATAVal = SendCMD_ReceiveDATA(0x5A);
DATAVal = SendCMD_ReceiveDATA(0x5A);
DATAVal = SendCMD_ReceiveDATA(0x5A);
arcDataValsByte[1] = SendCMD_ReceiveDATA(0x01);
arcDataValsByte[2] = SendCMD_ReceiveDATA(0x4F);
arcDataValsByte[3] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[4] = SendCMD_ReceiveDATA(0xFF);
arcDataValsByte[5] = SendCMD_ReceiveDATA(0xFF);
arcDataValsByte[6] = SendCMD_ReceiveDATA(0x03);
arcDataValsByte[7] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[8] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[9] = SendCMD_ReceiveDATA(0x00);
ATTNLINE = 1;
__delay_us(16);
}

/*==============================================================================
EXIT CONFIG
Function to
Function to exit configuration mode
==============================================================================*/
void Exitconfig() {
ATTNLINE = 0;
__delay_us(16);
DATAVal = SendCMD_ReceiveDATA(0x01);
DATAVal = SendCMD_ReceiveDATA(0x43);
DATAVal = SendCMD_ReceiveDATA(0x00);
DATAVal = SendCMD_ReceiveDATA(0x00); // shows exiting config
DATAVal = SendCMD_ReceiveDATA(0x5A);
DATAVal = SendCMD_ReceiveDATA(0x5A);
DATAVal = SendCMD_ReceiveDATA(0x5A);
DATAVal = SendCMD_ReceiveDATA(0x5A);
DATAVal = SendCMD_ReceiveDATA(0x5A);
arcDataValsByte[1] = SendCMD_ReceiveDATA(0x01);
arcDataValsByte[2] = SendCMD_ReceiveDATA(0x43);
arcDataValsByte[3] = SendCMD_ReceiveDATA(0x00);
arcDataValsByte[4] = SendCMD_ReceiveDATA(0x00); // shows exiting config, as oppose to entering
arcDataValsByte[5] = SendCMD_ReceiveDATA(0x5A);
arcDataValsByte[6] = SendCMD_ReceiveDATA(0x5A);
arcDataValsByte[7] = SendCMD_ReceiveDATA(0x5A);
arcDataValsByte[8] = SendCMD_ReceiveDATA(0x5A);
arcDataValsByte[9] = SendCMD_ReceiveDATA(0x5A);
ATTNLINE = 1;
__delay_us(16);
}
Expand All @@ -247,7 +258,8 @@ void Exitconfig() {
PS2 INIT
Function to switch from digital to analog model
Poll 3 times for initiation and refresh, enter config mode, switch and lock to
analog, setup vibration motor to be toggled, and exit config mode
analog, setup vibration motor to be controlled, and possibly switch on the
returning of pressure values if desired. Then, exit config mode
==============================================================================*/
void PS2_configToAnalog() {
DigitalPoll();
Expand All @@ -260,7 +272,7 @@ void PS2_configToAnalog() {
TurnonPressureValues();
}
Exitconfig();
analogMode = true;
analogMode = true; // set this boolean to true, so that different functions are called in main()
}

/*==============================================================================
Expand All @@ -269,6 +281,10 @@ void PS2_configToAnalog() {
Since data line is normally high, and goes low when a button is pressed, we
AND it and then check against 0.
The button's value is something like `0b00001000`, with the `1` signifying
which bit in the byte is its value.
The Data byte will look like `0b11110111` if only the above button is pressed
If the AND's result is zero, that means the button was pressed
(since data line goes low when pressed). If the AND's result is not zero
(bit was set), that means the button is not pressed
Expand All @@ -289,25 +305,26 @@ int main(void) {
while (1) {
if (analogMode) {
AnalogPoll();
if (isPressed(DATAByte5, BUTTON_TRIANGLE)) {
vibrateMotor = true;
if (isPressed(arcDataValsByte[5], BUTTON_TRIANGLE)) {
MOTORCMDVal = 0xFF; // switch on in next poll
} else {
vibrateMotor = false;
MOTORCMDVal = 0x00; // switch off
}
if (analogPressureMode) {
// set motor command value to pressure value of button
MOTORCMDVal = arcDataValsByte[P_BUTTON_TRIANGLE];
// Above line sets motor value to the returned button pressure
}
} else {
DigitalPoll();
}
if (isPressed(DATAByte5, BUTTON_TRIANGLE)) {
if (isPressed(arcDataValsByte[5], BUTTON_TRIANGLE)) {
LED2 = 1; // switch on headlights
LED3 = 1;
} else {
LED2 = 0;
LED3 = 0;
}
if (S1 == 0) // Enter the bootloader if S1 is pressed.
if (S1 == 0) // Enter the bootloader
{
asm("movlp 0x00");
asm("goto 0x001C");
Expand Down
6 changes: 3 additions & 3 deletions RCCar.c
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Original file line number Diff line number Diff line change
Expand Up @@ -30,13 +30,13 @@ void initPorts(void) {
OPTION_REG = 0b01010111; // Enable port pull-ups, TMR0 internal, div-256

LATA = 0b00000000; // Clear Port A latches before configuring PORTA
ANSELA = 0b00000000; // Make all Port A pins digital, only RA4 can be changed
TRISA = 0b00001011; //RA0, RA1 are used for USB, set Servo,ESC as output (bits4:5), S1 as input (bit3)
ANSELA = 0b00000000; // Make all Port A pins digital, only RA4 can be changed to analog if needed
TRISA = 0b00001011; //RA0, RA1 are pre-determined for USB, set Servo,ESC as output (bits4:5), S1 as input (bit3)
//bits 0:3, 6:7 cant be changed

LATB = 0b00000000; // Clear Port B latches before configuring PORTB
ANSELB = 0b00000000; // Make all Port B pins digital, only RB4:5 can be set
TRISB = 0b10110000; // bits 0:3 are default cleared, set clockline as out. dataline tiltswitches as inputs
TRISB = 0b10110000; // bits 0:3 are default cleared, set clockline as out. dataline, tiltswitches as inputs
WPUB = 0b10110000; //enable pins defined as inputs above, to all have internal pull-ups

LATC = 0b00000000; // Clear Port C latches before configuring PORTC
Expand Down
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