32 lines
1010 B
C
32 lines
1010 B
C
#ifndef PS2_PS2_H_
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#define PS2_PS2_H_
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#include "main.h"
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/*
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需要4个GPIO：
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3个推挽输出模式 CLK DO CS
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1个上拉输入模式 DI
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*/
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typedef struct
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{
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uint8_t A_D; //模拟(红灯)为1 数字(无灯)为0
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float Rocker_RX, Rocker_RY, Rocker_LX, Rocker_LY; //摇杆值(模拟状态为实际值0-0xFF)(数字态为等效的值0,0x80,0xFF)
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//按键值0为未触发,1为触发态
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_Bool Key_L1, Key_L2, Key_R1, Key_R2; //后侧大按键
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_Bool Key_L_Right, Key_L_Left, Key_L_Up, Key_L_Down; //左侧按键
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_Bool Key_R_Right, Key_R_Left, Key_R_Up, Key_R_Down; //右侧按键
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_Bool Key_Select; //选择键
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_Bool Key_Start; //开始键
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_Bool Key_Rocker_Left, Key_Rocker_Right; //摇杆按键
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} PS2_TypeDef;
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extern PS2_TypeDef PS2_Data;
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void PS2_Read_Data(void);
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float StickToThrottle_Optimized(float stick_value);
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void UpdateMotorSpeeds(int8_t Rocker_LX, int8_t Rocker_LY, float *motor_speeds);
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#endif /* PS2_PS2_H_ */
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