索尼游戏手柄SP2的开发体会

  • 1.PS手柄介绍
    • 接收器引脚输出：
    • 通信时序：
  • 2、代码解读
  • 3、库文件解读

ps2手柄是索尼的PlayStation2游戏机的遥控手柄。

该款手柄的通讯协议被游戏爱好者破解，使得手柄可以接在其他器件上遥控使用，比如遥控我们熟悉的智能小车。

突出的特点是这款手柄性价比极高，按键丰富，方便扩展到其它应用中。

1.PS手柄介绍

ps2手柄由手柄与接收器两部分组成。

接收器与单片机相连，用于接收手柄发来的信息，将信号传递给单片机。

单片机也可通过接收器，向手柄发送命令，配置手柄的发送模式。

接收器引脚输出：

DI/DAT：信号流向，从手柄到主机，此信号是一个8bit的串行数据，同步传送于时钟的下降沿。信号的读取在时钟由高到低的变化过程中完成。

DO/CMD：信号流向，从主机到手柄，此信号和DI相对，信号是一个8bit的串行数据，同步传送于时钟的下降沿。

NC：空端口；

GND：电源地；

VDD：接收器工作电源，电源范围3~5V；

CS/SEL：用于提供手柄触发信号。在通讯期间，处于低电平；

CLK：时钟信号，由主机发出，用于保持数据同步；

NC：空端口；

ACK：从手柄到主机的应答信号。此信号在每个8bits数据发送的最后一个周期变低并且CS一直保持低电平，如果CS信号不变低，约60微秒PS主机会试另一个外设。在编程时未使用ACK端口。

通信时序：

  1. CS线在通讯期间拉低，通信过程中CS信号线在一串数据（9个字节,每个字节为8位）发送完毕后才会拉高，而不是每个字节发送完拉高。

  2. DO、DI在在CLK时钟的下降沿完成数据的发送和读取。

时钟频率250KHz（4us），如果接收数据不稳定，可以适当的增加频率。

在通讯过程中，一串数据通讯完成后CS才会由低转高，不是1个字节通讯完成后就由低转高，在通讯期间，一直处于低电平。

在时钟下降沿时，完成数据（1bit）的发送与接收，发送和接收是同时完成的。

当单片机想读手柄数据或向手柄发送命令时，将会拉低CS线电平，并发出一个命令“0x01”；手柄会回复它的ID“0x41=绿灯模式（非模拟模式），0x73=红灯模式（模拟模式）”；

在手柄发送ID的同时，单片机将传送0x42，请求数据；随后手柄发送出0x5A，告诉单片机“数据来了”。

idle：数据线空闲，该数据线无数据传送。一个通讯周期有9个字节（8位），这些数据是依次按位传送。

主要的通信协议如下：

2、代码解读

这里我们来学习下ardunio的库文件

首先在https://github.com/madsci1016/Arduino-PS2X 这里下载ps2x的库文件。

将PS2X_lib放到库文件目录下。

接线方法如下：

PS2X_Example.ino 文件解读：

#include <PS2X_lib.h>  //for v1.6 关联库文件/******************************************************************
//接线管脚定义******************************************************************/
#define PS2_DAT        13
#define PS2_CMD        11
#define PS2_SEL        10
#define PS2_CLK        12  /******************************************************************* select modes of PS2 controller:*  选择PS2的控制模式*   - pressures = 按键模拟量方式读取*   - rumble    = motor rumbling (尚未了解)******************************************************************/
//#define pressures   true
#define pressures   false
//#define rumble      true
#define rumble      falsePS2X ps2x; // create PS2 Controller Class  创建对象//right now, the library does NOT support hot pluggable controllers, meaning
//you must always either restart your Arduino after you connect the controller,
//or call config_gamepad(pins) again after connecting the controller.int error = 0;
byte type = 0;
byte vibrate = 0;// Reset func
void (* resetFunc) (void) = 0;//初始化
void setup(){Serial.begin(115200);   //设置串口波特率delay(500);  //added delay to give wireless ps2 module some time to startup, before configuring it//CHANGES for v1.6 HERE!!! **************PAY ATTENTION*************//setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?) check for errorerror = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);if(error == 0){Serial.print("Found Controller, configured successful ");Serial.print("pressures = ");if (pressures)Serial.println("true ");elseSerial.println("false");Serial.print("rumble = ");if (rumble)Serial.println("true)");elseSerial.println("false");Serial.println("Try out all the buttons, X will vibrate the controller, faster as you press harder;");Serial.println("holding L1 or R1 will print out the analog stick values.");Serial.println("Note: Go to www.billporter.info for updates and to report bugs.");}  else if(error == 1)Serial.println("No controller found, check wiring, see readme.txt to enable debug. visit www.billporter.info for troubleshooting tips");else if(error == 2)Serial.println("Controller found but not accepting commands. see readme.txt to enable debug. Visit www.billporter.info for troubleshooting tips");else if(error == 3)Serial.println("Controller refusing to enter Pressures mode, may not support it. ");type = ps2x.readType(); switch(type) {case 0:Serial.println("Unknown Controller type found ");break;case 1:Serial.println("DualShock Controller found ");break;case 2:Serial.println("GuitarHero Controller found ");break;case 3:Serial.println("Wireless Sony DualShock Controller found ");break;}
}void loop() {/* You must Read Gamepad to get new values and set vibration valuesps2x.read_gamepad(small motor on/off, larger motor strenght from 0-255)if you don't enable the rumble, use ps2x.read_gamepad(); with no valuesYou should call this at least once a second*/  if(error == 1){ //skip loop if no controller foundresetFunc();}if(type == 2){ //Guitar Hero Controllerps2x.read_gamepad();          //read controller if(ps2x.ButtonPressed(GREEN_FRET))Serial.println("Green Fret Pressed");if(ps2x.ButtonPressed(RED_FRET))Serial.println("Red Fret Pressed");if(ps2x.ButtonPressed(YELLOW_FRET))Serial.println("Yellow Fret Pressed");if(ps2x.ButtonPressed(BLUE_FRET))Serial.println("Blue Fret Pressed");if(ps2x.ButtonPressed(ORANGE_FRET))Serial.println("Orange Fret Pressed"); if(ps2x.ButtonPressed(STAR_POWER))Serial.println("Star Power Command");if(ps2x.Button(UP_STRUM))          //will be TRUE as long as button is pressedSerial.println("Up Strum");if(ps2x.Button(DOWN_STRUM))Serial.println("DOWN Strum");if(ps2x.Button(PSB_START))         //will be TRUE as long as button is pressedSerial.println("Start is being held");if(ps2x.Button(PSB_SELECT))Serial.println("Select is being held");if(ps2x.Button(ORANGE_FRET)) {     // print stick value IF TRUESerial.print("Wammy Bar Position:");Serial.println(ps2x.Analog(WHAMMY_BAR), DEC); } }else { //DualShock Controllerps2x.read_gamepad(false, vibrate); //read controller and set large motor to spin at 'vibrate' speedif(ps2x.Button(PSB_START))         //will be TRUE as long as button is pressedSerial.println("Start is being held");if(ps2x.Button(PSB_SELECT))Serial.println("Select is being held");      if(ps2x.Button(PSB_PAD_UP)) {      //will be TRUE as long as button is pressedSerial.print("Up held this hard: ");Serial.println(ps2x.Analog(PSAB_PAD_UP), DEC);}if(ps2x.Button(PSB_PAD_RIGHT)){Serial.print("Right held this hard: ");Serial.println(ps2x.Analog(PSAB_PAD_RIGHT), DEC);}if(ps2x.Button(PSB_PAD_LEFT)){Serial.print("LEFT held this hard: ");Serial.println(ps2x.Analog(PSAB_PAD_LEFT), DEC);}if(ps2x.Button(PSB_PAD_DOWN)){Serial.print("DOWN held this hard: ");Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);}   vibrate = ps2x.Analog(PSAB_CROSS);  //this will set the large motor vibrate speed based on how hard you press the blue (X) buttonif (ps2x.NewButtonState()) {        //will be TRUE if any button changes state (on to off, or off to on)if(ps2x.Button(PSB_L3))Serial.println("L3 pressed");if(ps2x.Button(PSB_R3))Serial.println("R3 pressed");if(ps2x.Button(PSB_L2))Serial.println("L2 pressed");if(ps2x.Button(PSB_R2))Serial.println("R2 pressed");if(ps2x.Button(PSB_TRIANGLE))Serial.println("Triangle pressed");        }if(ps2x.ButtonPressed(PSB_CIRCLE))               //will be TRUE if button was JUST pressedSerial.println("Circle just pressed");if(ps2x.NewButtonState(PSB_CROSS))               //will be TRUE if button was JUST pressed OR releasedSerial.println("X just changed");if(ps2x.ButtonReleased(PSB_SQUARE))              //will be TRUE if button was JUST releasedSerial.println("Square just released");     if(ps2x.Button(PSB_L1) || ps2x.Button(PSB_R1)) { //print stick values if either is TRUESerial.print("Stick Values:");Serial.print(ps2x.Analog(PSS_LY), DEC); //Left stick, Y axis. Other options: LX, RY, RX  Serial.print(",");Serial.print(ps2x.Analog(PSS_LX), DEC); Serial.print(",");Serial.print(ps2x.Analog(PSS_RY), DEC); Serial.print(",");Serial.println(ps2x.Analog(PSS_RX), DEC); }     }delay(50);
}

从上面的示例代码中，我们了解到ardunio的开发文档里首先关联了库函数

#include <PS2X_lib.h> //for v1.6 关联库文件

然后对接收器的管脚定义：

#define PS2_DAT 13
#define PS2_CMD 11
#define PS2_SEL 10
#define PS2_CLK 12

创建手柄对象：

PS2X ps2x; // create PS2 Controller Class  创建对象

运用串口工具进行调试，在setup() 初始化函数里首先配置了串口，
接着调用手柄配置函数进行配置

error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);

通过返回值确认手柄配置是否成功，进而识别手柄的类型。

type = ps2x.readType();

在循环体loop()函数中：

针对不同的手柄类型，进行按键的读取。

总结：通过这段代码很容易开展游戏手柄的开发。

接着我们进一步分析库文件对手柄的数据结构的定义以及驱动部分，进而学习手柄的通信协议。

不过今天的重点我们放在如何开展通信层的驱动上。

3、库文件解读

/******************************************************************
*  Super amazing PS2 controller Arduino Library v1.8
*       details and example sketch:
*           http://www.billporter.info/?p=240
*
*    Original code by Shutter on Arduino Forums
*
*    Revamped, made into lib by and supporting continued development:
*              Bill Porter
*              www.billporter.info
*
*    Contributers:
*       Eric Wetzel (thewetzel@gmail.com)
*       Kurt Eckhardt
*
*  Lib version history
*    0.1 made into library, added analog stick support.
*    0.2 fixed config_gamepad miss-spelling
*        added new functions:
*          NewButtonState();
*          NewButtonState(unsigned int);
*          ButtonPressed(unsigned int);
*          ButtonReleased(unsigned int);
*        removed 'PS' from begining of ever function
*    1.0 found and fixed bug that wasn't configuring controller
*        added ability to define pins
*        added time checking to reconfigure controller if not polled enough
*        Analog sticks and pressures all through 'ps2x.Analog()' function
*        added:
*          enableRumble();
*          enablePressures();
*    1.1
*        added some debug stuff for end user. Reports if no controller found
*        added auto-increasing sentence delay to see if it helps compatibility.
*    1.2
*        found bad math by Shutter for original clock. Was running at 50kHz, not the required 500kHz.
*        fixed some of the debug reporting.
*   1.3
*       Changed clock back to 50kHz. CuriousInventor says it's suppose to be 500kHz, but doesn't seem to work for everybody.
*   1.4
*       Removed redundant functions.
*       Fixed mode check to include two other possible modes the controller could be in.
*       Added debug code enabled by compiler directives. See below to enable debug mode.
*       Added button definitions for shapes as well as colors.
*   1.41
*       Some simple bug fixes
*       Added Keywords.txt file
*   1.5
*       Added proper Guitar Hero compatibility
*       Fixed issue with DEBUG mode, had to send serial at once instead of in bits
*   1.6
*       Changed config_gamepad() call to include rumble and pressures options
*           This was to fix controllers that will only go into config mode once
*           Old methods should still work for backwards compatibility
*    1.7
*       Integrated Kurt's fixes for the interrupts messing with servo signals
*       Reorganized directory so examples show up in Arduino IDE menu
*    1.8
*       Added Arduino 1.0 compatibility.
*    1.9
*       Kurt - Added detection and recovery from dropping from analog mode, plus
*       integreated Chipkit (pic32mx...) support
*
*
*
*This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.
<http://www.gnu.org/licenses/>
*
******************************************************************/// $$$$$$$$$$$$ DEBUG ENABLE SECTION $$$$$$$$$$$$$$$$
// to debug ps2 controller, uncomment these two lines to print out debug to uart
#define PS2X_DEBUG
//#define PS2X_COM_DEBUG#ifndef PS2X_lib_h#define PS2X_lib_h#if ARDUINO > 22#include "Arduino.h"
#else#include "WProgram.h"
#endif#include <math.h>
#include <stdio.h>
#include <stdint.h>
#ifdef __AVR__// AVR#include <avr/io.h>#define CTRL_CLK        4#define CTRL_BYTE_DELAY 3
#else// Pic32...#include <pins_arduino.h>#define CTRL_CLK        5#define CTRL_CLK_HIGH   5#define CTRL_BYTE_DELAY 4
#endif //These are our button constants
#define PSB_SELECT      0x0001
#define PSB_L3          0x0002
#define PSB_R3          0x0004
#define PSB_START       0x0008
#define PSB_PAD_UP      0x0010
#define PSB_PAD_RIGHT   0x0020
#define PSB_PAD_DOWN    0x0040
#define PSB_PAD_LEFT    0x0080
#define PSB_L2          0x0100
#define PSB_R2          0x0200
#define PSB_L1          0x0400
#define PSB_R1          0x0800
#define PSB_GREEN       0x1000
#define PSB_RED         0x2000
#define PSB_BLUE        0x4000
#define PSB_PINK        0x8000
#define PSB_TRIANGLE    0x1000
#define PSB_CIRCLE      0x2000
#define PSB_CROSS       0x4000
#define PSB_SQUARE      0x8000//Guitar  button constants
#define UP_STRUM        0x0010
#define DOWN_STRUM      0x0040
#define STAR_POWER      0x0100
#define GREEN_FRET      0x0200
#define YELLOW_FRET     0x1000
#define RED_FRET        0x2000
#define BLUE_FRET       0x4000
#define ORANGE_FRET     0x8000
#define WHAMMY_BAR      8//These are stick values
#define PSS_RX 5
#define PSS_RY 6
#define PSS_LX 7
#define PSS_LY 8//These are analog buttons
#define PSAB_PAD_RIGHT    9
#define PSAB_PAD_UP      11
#define PSAB_PAD_DOWN    12
#define PSAB_PAD_LEFT    10
#define PSAB_L2          19
#define PSAB_R2          20
#define PSAB_L1          17
#define PSAB_R1          18
#define PSAB_GREEN       13
#define PSAB_RED         14
#define PSAB_BLUE        15
#define PSAB_PINK        16
#define PSAB_TRIANGLE    13
#define PSAB_CIRCLE      14
#define PSAB_CROSS       15
#define PSAB_SQUARE      16#define SET(x,y) (x|=(1<<y))
#define CLR(x,y) (x&=(~(1<<y)))
#define CHK(x,y) (x & (1<<y))
#define TOG(x,y) (x^=(1<<y))class PS2X {public:boolean Button(uint16_t);                //will be TRUE if button is being pressedunsigned int ButtonDataByte();boolean NewButtonState();boolean NewButtonState(unsigned int);    //will be TRUE if button was JUST pressed OR releasedboolean ButtonPressed(unsigned int);     //will be TRUE if button was JUST pressedboolean ButtonReleased(unsigned int);    //will be TRUE if button was JUST releasedvoid read_gamepad();boolean  read_gamepad(boolean, byte);byte readType();byte config_gamepad(uint8_t, uint8_t, uint8_t, uint8_t);byte config_gamepad(uint8_t, uint8_t, uint8_t, uint8_t, bool, bool);void enableRumble();bool enablePressures();byte Analog(byte);void reconfig_gamepad();private:inline void CLK_SET(void);inline void CLK_CLR(void);inline void CMD_SET(void);inline void CMD_CLR(void);inline void ATT_SET(void);inline void ATT_CLR(void);inline bool DAT_CHK(void);unsigned char _gamepad_shiftinout (char);unsigned char PS2data[21];void sendCommandString(byte*, byte);unsigned char i;unsigned int last_buttons;unsigned int buttons;#ifdef __AVR__uint8_t maskToBitNum(uint8_t);uint8_t _clk_mask; volatile uint8_t *_clk_oreg;uint8_t _cmd_mask; volatile uint8_t *_cmd_oreg;uint8_t _att_mask; volatile uint8_t *_att_oreg;uint8_t _dat_mask; volatile uint8_t *_dat_ireg;#elseuint8_t maskToBitNum(uint8_t);uint16_t _clk_mask; volatile uint32_t *_clk_lport_set;volatile uint32_t *_clk_lport_clr;uint16_t _cmd_mask; volatile uint32_t *_cmd_lport_set;volatile uint32_t *_cmd_lport_clr;uint16_t _att_mask; volatile uint32_t *_att_lport_set;volatile uint32_t *_att_lport_clr;uint16_t _dat_mask; volatile uint32_t *_dat_lport;#endifunsigned long last_read;byte read_delay;byte controller_type;boolean en_Rumble;boolean en_Pressures;
};#endif

库文件.h中，定义了按键 、手柄类、以及操作函数。

接着我们再来学习下.cpp文件

1、通信管脚的操作：

//管脚寄存器映射_clk_mask = digitalPinToBitMask(clk);_clk_oreg = portOutputRegister(digitalPinToPort(clk));_cmd_mask = digitalPinToBitMask(cmd);_cmd_oreg = portOutputRegister(digitalPinToPort(cmd));_att_mask = digitalPinToBitMask(att);_att_oreg = portOutputRegister(digitalPinToPort(att));_dat_mask = digitalPinToBitMask(dat);_dat_ireg = portInputRegister(digitalPinToPort(dat));


//时钟线拉高
inline void  PS2X::CLK_SET(void) {register uint8_t old_sreg = SREG;cli();*_clk_oreg |= _clk_mask;SREG = old_sreg;
}//时钟线拉低
inline void  PS2X::CLK_CLR(void) {register uint8_t old_sreg = SREG;cli();*_clk_oreg &= ~_clk_mask;SREG = old_sreg;
}//DO 控制线拉高
inline void  PS2X::CMD_SET(void) {register uint8_t old_sreg = SREG;cli();*_cmd_oreg |= _cmd_mask; // SET(*_cmd_oreg,_cmd_mask);SREG = old_sreg;
}//DO 控制线拉低
inline void  PS2X::CMD_CLR(void) {register uint8_t old_sreg = SREG;cli();*_cmd_oreg &= ~_cmd_mask; // SET(*_cmd_oreg,_cmd_mask);SREG = old_sreg;
}//DI 拉高
inline void  PS2X::ATT_SET(void) {register uint8_t old_sreg = SREG;cli();*_att_oreg |= _att_mask ;SREG = old_sreg;
}//DI 拉低
inline void PS2X::ATT_CLR(void) {register uint8_t old_sreg = SREG;cli();*_att_oreg &= ~_att_mask;SREG = old_sreg;
}inline bool PS2X::DAT_CHK(void) {return (*_dat_ireg & _dat_mask) ? true : false;
}

2、 通信数据传送
通讯时序上可以看出，发送和接收是同时进行的。

unsigned char PS2X::_gamepad_shiftinout (char byte) {unsigned char tmp = 0;for(unsigned char i=0;i<8;i++) {if(CHK(byte,i)) CMD_SET();else CMD_CLR();CLK_CLR(); //时钟线下降沿delayMicroseconds(CTRL_CLK);//if(DAT_CHK()) SET(tmp,i);if(DAT_CHK()) bitSet(tmp,i); //读取DI CLK_SET();  // 始终线上升
#if CTRL_CLK_HIGHdelayMicroseconds(CTRL_CLK_HIGH);
#endif}CMD_SET(); //DO 控制线拉高delayMicroseconds(CTRL_BYTE_DELAY);return tmp;
}

3、读取按键

boolean PS2X::read_gamepad(boolean motor1, byte motor2) {double temp = millis() - last_read;if (temp > 1500) //waited to longreconfig_gamepad();if(temp < read_delay)  //waited too shortdelay(read_delay - temp);if(motor2 != 0x00)motor2 = map(motor2,0,255,0x40,0xFF); //noting below 40 will make it spinchar dword[9] = {0x01,0x42,0,motor1,motor2,0,0,0,0};byte dword2[12] = {0,0,0,0,0,0,0,0,0,0,0,0};// Try a few times to get valid data...for (byte RetryCnt = 0; RetryCnt < 5; RetryCnt++) {CMD_SET();  //先保证高电平CLK_SET();   //先保证高电平ATT_CLR(); // 拉低CS 类似SPI中片选，表示接下来开始传送数据。delayMicroseconds(CTRL_BYTE_DELAY);//Send the command to send button and joystick data;for (int i = 0; i<9; i++) {PS2data[i] = _gamepad_shiftinout(dword[i]);}if(PS2data[1] == 0x79) {  //if controller is in full data return mode, get the rest of datafor (int i = 0; i<12; i++) {PS2data[i+9] = _gamepad_shiftinout(dword2[i]);}}ATT_SET(); // HI disable joystick// Check to see if we received valid data or not.  // We should be in analog mode for our data to be valid (analog == 0x7_)if ((PS2data[1] & 0xf0) == 0x70)break;// If we got to here, we are not in analog mode, try to recover...reconfig_gamepad(); // try to get back into Analog mode.delay(read_delay);}// If we get here and still not in analog mode (=0x7_), try increasing the read_delay...if ((PS2data[1] & 0xf0) != 0x70) {if (read_delay < 10)read_delay++;   // see if this helps out...}#ifdef PS2X_COM_DEBUG//Serial.println("OUT:IN");for(int i=0; i<9; i++){//Serial.print(dword[i], HEX);//Serial.print(":");//Serial.print(PS2data[i], HEX);//Serial.print(" ");}for (int i = 0; i<12; i++) {//Serial.print(dword2[i], HEX);//Serial.print(":");//Serial.print(PS2data[i+9], HEX);//Serial.print(" ");}//Serial.println("");
#endiflast_buttons = buttons; //store the previous buttons states#if defined(__AVR__)buttons = *(uint16_t*)(PS2data+3);   //store as one value for multiple functions
#elsebuttons =  (uint16_t)(PS2data[4] << 8) + PS2data[3];   //store as one value for multiple functions
#endiflast_read = millis();return ((PS2data[1] & 0xf0) == 0x70);  // 1 = OK = analog mode - 0 = NOK
}

反复阅读代码，基本上可以搞清楚协议表了。之所以解读库函数，是为了更加清除了解协议的底层开发。

附上 论坛里的几篇文章：

PS2索尼游戏手柄解析和代码开发

PS2手柄通讯协议解析—附资料和源码
https://blog.csdn.net/weixin_44793491/article/details/105781595

arduino连接ps2手柄控制智能小车实践记录
https://blog.csdn.net/qq_30019617/article/details/109245402

arduino连接ps2手柄控制智能小车实践记录-续
https://blog.csdn.net/qq_30019617/article/details/109444260

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