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Verified PS2 protocol against CuriousInventor’s
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Verified protocol, updated readme, and started pressure value configuration code
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@AbhinavA10
AbhinavA10 committed Jan 9, 2018
1 parent 4003abe commit 8b29a6a
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Showing 11 changed files with 166 additions and 141 deletions.
175 changes: 97 additions & 78 deletions PS2RCCar.c
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Original file line number Diff line number Diff line change
@@ -1,11 +1,12 @@
/*==============================================================================
Project: PS2-RC-Car By: Abhi Agrahari
Version: 1.0 Date: Jan 5th, 2018
Version: 1.2 Date: Jan 5th, 2018
Target: RCCar1.0 Processor: PIC16F1459
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 on the PS2 controller
The current step/project purpose is being able to send data back and forth
on the PS2 controller
==============================================================================*/

#include "xc.h" // XC general include file
Expand All @@ -21,14 +22,16 @@

/*TODOLIST:
* comments
* verify command sequencing with CuriousInventor page
* 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
*/

/*==============================================================================
Declarations.
DECLARATIONS
==============================================================================*/
//-------- VARIABLES ---------------
unsigned char COMMANDVal = 0;
unsigned char MOTORCMDVal = 0;
unsigned char DATAVal = 0;
unsigned char DATAByte2 = 0;
unsigned char DATAByte4 = 0;
Expand All @@ -40,6 +43,7 @@ unsigned char DATAByte9 = 0;
unsigned char servoPos = 90;
bool vibrateMotor = false;
bool analogMode = false;
bool analogPressureMode = false;

//-------- BUTTON BITS ---------------
#define BUTTON_SELECT 0b00000001
Expand All @@ -50,6 +54,7 @@ bool analogMode = false;
#define BUTTON_RIGHT 0b00100000
#define BUTTON_DOWN 0b01000000
#define BUTTON_LEFT 0b10000000
//Above buttons are in data byte4, below are in data byte5
#define BUTTON_L2 0b00000001
#define BUTTON_R2 0b00000010
#define BUTTON_L1 0b00000100
Expand All @@ -59,31 +64,10 @@ bool analogMode = false;
#define BUTTON_X 0b01000000
#define BUTTON_SQUARE 0b10000000

//-------- COMMANDS ---------------
#define CMD_POLL 0x42
#define CMD_CONFIG 0x43
#define CMD_TURNONANALOGMODE 0x44
#define CMD_MOTORMAP 0x4D
#define CMD_TURNONPRESURES 0x4F

/*==============================================================================
ADCONVERT
==============================================================================*/
unsigned char adConvert(unsigned char chan) {
ADON = 1;
ADCON0 = (ADCON0 & 0b10000011);
ADCON0 = (ADCON0 | chan);
__delay_us(2);

GO = 1;
while (GO);

ADON = 0;
return (ADRESH);
}

/*==============================================================================
TURN SERVO
Function that takes a position for the servo as the input. It will send a
pulse such that the timing, matches the servo position, through PWMing.
==============================================================================*/
void turnServo(unsigned char value) {
SERVO = 1;
Expand All @@ -95,7 +79,11 @@ void turnServo(unsigned char value) {
}

/*==============================================================================
SEND CMD RECEIVE DATA
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.
==============================================================================*/
unsigned char SendCMD_ReceiveDATA(unsigned char cmd) {
unsigned char dat = 0;
Expand All @@ -122,13 +110,14 @@ unsigned char SendCMD_ReceiveDATA(unsigned char cmd) {
}

/*==============================================================================
DIGITAL POLL
DIGITAL POLL
Function to
==============================================================================*/
void DigitalPoll() {
ATTNLINE = 0;
__delay_us(16);
DATAVal = SendCMD_ReceiveDATA(0x01);
DATAVal = SendCMD_ReceiveDATA(CMD_POLL);
DATAVal = SendCMD_ReceiveDATA(0x42);
DATAVal = SendCMD_ReceiveDATA(0x00);
DATAVal = SendCMD_ReceiveDATA(0x00);
DATAVal = SendCMD_ReceiveDATA(0x00);
Expand All @@ -137,13 +126,36 @@ void DigitalPoll() {
}

/*==============================================================================
ENTER CONFIG
ANALOG POLL
Function to
==============================================================================*/
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);
ATTNLINE = 1;
__delay_us(16);
}

/*==============================================================================
ENTER CONFIG
Function to
==============================================================================*/
void EnterConfig() {
ATTNLINE = 0;
__delay_us(16);
DATAVal = SendCMD_ReceiveDATA(0x01);
DATAVal = SendCMD_ReceiveDATA(CMD_CONFIG);
DATAVal = SendCMD_ReceiveDATA(0x43);
DATAVal = SendCMD_ReceiveDATA(0x00);
DATAVal = SendCMD_ReceiveDATA(0x01); // shows entering config
DATAVal = SendCMD_ReceiveDATA(0x00);
Expand All @@ -152,13 +164,14 @@ void EnterConfig() {
}

/*==============================================================================
TURN ON ANALOG MODE
TURN ON ANALOG MODE
Function to
==============================================================================*/
void TurnOnAnalogMode() {
ATTNLINE = 0;
__delay_us(16);
DATAVal = SendCMD_ReceiveDATA(0x01);
DATAVal = SendCMD_ReceiveDATA(CMD_TURNONANALOGMODE);
DATAVal = SendCMD_ReceiveDATA(0x44);
DATAVal = SendCMD_ReceiveDATA(0x00);
DATAVal = SendCMD_ReceiveDATA(0x01);
DATAVal = SendCMD_ReceiveDATA(0x03);
Expand All @@ -171,69 +184,67 @@ void TurnOnAnalogMode() {
}

/*==============================================================================
EXIT CONFIG
MAP VIBRATION MOTORS
Function to
==============================================================================*/
void Exitconfig() {
void MapVibrationMotors() {
ATTNLINE = 0;
__delay_us(16);
DATAVal = SendCMD_ReceiveDATA(0x01);
DATAVal = SendCMD_ReceiveDATA(CMD_CONFIG);
DATAVal = SendCMD_ReceiveDATA(0x4D);
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);
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);
ATTNLINE = 1;
__delay_us(16);
}

/*==============================================================================
ANALOG POLL
TURN ON PRESSURE VALUE RETURN
Function to
==============================================================================*/
void AnalogPoll() {
void TurnonPressureValues() {
ATTNLINE = 0;
__delay_us(16);
DATAVal = SendCMD_ReceiveDATA(0x01);
DATAVal = SendCMD_ReceiveDATA(CMD_POLL);
DATAVal = SendCMD_ReceiveDATA(0x43);
DATAVal = SendCMD_ReceiveDATA(0x00);
COMMANDVal = (vibrateMotor) ? 0xFF : 0x00;
// above: if vibrate motor is set, command is set to switch on (0xFF)
DATAByte4 = SendCMD_ReceiveDATA(COMMANDVal);
DATAByte5 = SendCMD_ReceiveDATA(COMMANDVal);
DATAByte6 = SendCMD_ReceiveDATA(0x00);
DATAByte7 = SendCMD_ReceiveDATA(0x00);
DATAByte8 = SendCMD_ReceiveDATA(0x00);
DATAByte9 = 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);
ATTNLINE = 1;
__delay_us(16);
}

/*==============================================================================
MAP VIBRATION MOTORS
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
EXIT CONFIG
Function to
==============================================================================*/
void MapVibrationMotors() {
void Exitconfig() {
ATTNLINE = 0;
__delay_us(16);
DATAVal = SendCMD_ReceiveDATA(0x01);
DATAVal = SendCMD_ReceiveDATA(CMD_MOTORMAP);
DATAVal = SendCMD_ReceiveDATA(0x43);
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);
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);
ATTNLINE = 1;
__delay_us(16);
}

/*==============================================================================
PS2 INIT
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
Expand All @@ -245,25 +256,30 @@ void PS2_configToAnalog() {
EnterConfig();
TurnOnAnalogMode();
MapVibrationMotors();
if (analogPressureMode) {
TurnonPressureValues();
}
Exitconfig();
analogMode = true;
}

/*==============================================================================
IS PRESSED
Using masking, and bitwise operations, we can see if a button is pressed
Since data line is normally high, and goes low when a button is pressed, we
AND it and then check against 0.
IS PRESSED
Using masking, and bitwise operations, we can see if a button is pressed
Since data line is normally high, and goes low when a button is pressed, we
AND it and then check against 0.
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
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
==============================================================================*/
bool isPressed(unsigned char dat, unsigned char key) {
return ((dat & key) == 0);
}

/*==============================================================================
MAIN program loop. The main() function is called first by the compiler.
MAIN
The main() function is called first by the compiler.
==============================================================================*/
int main(void) {
initOsc(); // Initialize oscillator
Expand All @@ -278,15 +294,18 @@ int main(void) {
} else {
vibrateMotor = false;
}
if (analogPressureMode) {
// set motor command value to pressure value of button
}
} else {
DigitalPoll();
}
if (isPressed(DATAByte5, BUTTON_TRIANGLE)) {
LED2 = 1;
LED3 = 0;
LED2 = 1; // switch on headlights
LED3 = 1;
} else {
LED2 = 0;
LED3 = 1;
LED3 = 0;
}
if (S1 == 0) // Enter the bootloader if S1 is pressed.
{
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