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修复ps2手柄误读键值的问题. #43

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修复ps2手柄误读键值的问题. #43

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69 changes: 36 additions & 33 deletions protocol/ps2.c
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Original file line number Diff line number Diff line change
Expand Up @@ -122,7 +122,7 @@ int ps2_scan(ps2_ctrl_data_t pt)
pt->left_stick_x = temp[7];
pt->left_stick_y = temp[8];

if (temp[2] == 0x5A)
if (temp[2] == 0x5A && ((temp[1] == PS2_RED_MODE) || (temp[1] == PS2_GREEN_MODE)))
{
light_mode = temp[1];
return 1;
Expand Down Expand Up @@ -177,50 +177,53 @@ static void ps2_thread_entry(void *param)
while (1)
{
rt_thread_mdelay(THREAD_DELAY_TIME);
ps2_scan(&ctrl_data);
// look-up table and send standard command
for (int i = 0; i < PS2_TABLE_SIZE; i++)
ctrl_data.button = 0xffff;
if(ps2_scan(&ctrl_data))
{
if (!(ctrl_data.button & table[i].ps2_cmd))
// look-up table and send standard command
for (int i = 0; i < PS2_TABLE_SIZE; i++)
{
if (table[i].standard_cmd != COMMAND_NONE)
if (!(ctrl_data.button & table[i].ps2_cmd))
{
command_handle(table[i].standard_cmd, RT_NULL, 0);
if (table[i].standard_cmd != COMMAND_NONE)
{
command_handle(table[i].standard_cmd, RT_NULL, 0);
}
}
}
}

// rocker
if (ps2_read_light() == PS2_RED_MODE)
{
uint8_t value[4] = {
ctrl_data.left_stick_x,
ctrl_data.right_stick_x,
ctrl_data.left_stick_y,
ctrl_data.right_stick_y};

rt_int16_t cmd[4] = {
table[PS2_ROCKER_LX].standard_cmd,
table[PS2_ROCKER_LY].standard_cmd,
table[PS2_ROCKER_RX].standard_cmd,
table[PS2_ROCKER_RY].standard_cmd};

for (int i = 0; i < 4; i++)
// rocker
if (ps2_read_light() == PS2_RED_MODE)
{
if (cmd[i] != COMMAND_NONE)
uint8_t value[4] = {
ctrl_data.left_stick_x,
ctrl_data.right_stick_x,
ctrl_data.left_stick_y,
ctrl_data.right_stick_y};

rt_int16_t cmd[4] = {
table[PS2_ROCKER_LX].standard_cmd,
table[PS2_ROCKER_LY].standard_cmd,
table[PS2_ROCKER_RX].standard_cmd,
table[PS2_ROCKER_RY].standard_cmd};

for (int i = 0; i < 4; i++)
{
float tmp = CHASSIS_VELOCITY_LINEAR_MAXIMUM;
if (cmd[i] == COMMAND_SET_CHASSIS_VELOCITY_ANGULAR_Z)
if (cmd[i] != COMMAND_NONE)
{
tmp = CHASSIS_VELOCITY_ANGULAR_MAXIMUM;
float tmp = CHASSIS_VELOCITY_LINEAR_MAXIMUM;
if (cmd[i] == COMMAND_SET_CHASSIS_VELOCITY_ANGULAR_Z)
{
tmp = CHASSIS_VELOCITY_ANGULAR_MAXIMUM;
}

target_velocity.data.common = tmp * ((0x80 - (int)(i/2)) - value[i]) / 128;
command_handle(cmd[i], &target_velocity, sizeof(struct cmd_velocity));
}

target_velocity.data.common = tmp * ((0x80 - (int)(i/2)) - value[i]) / 128;
command_handle(cmd[i], &target_velocity, sizeof(struct cmd_velocity));
}
}
}
}
}
}
}

void ps2_init(rt_base_t cs_pin, rt_base_t clk_pin, rt_base_t do_pin, rt_base_t di_pin)
Expand Down