基于stm32的ps2手柄代码

以下是基于STM32的PS2手柄代码，其中使用了SPI和定时器来读取和解析手柄数据：

#include "stm32f10x.h"

#define SPI_CS_LOW()    GPIO_ResetBits(GPIOA, GPIO_Pin_4)
#define SPI_CS_HIGH()   GPIO_SetBits(GPIOA, GPIO_Pin_4)

#define PS2_CMD_ENTER_CFG   0x01
#define PS2_CMD_EXIT_CFG    0x81
#define PS2_CMD_ENABLE      0x43
#define PS2_CMD_SET_MODE    0x44
#define PS2_CMD_POLL        0x01

#define PS2_MODE_ANALOG     0x01
#define PS2_MODE_DIGITAL    0x00

#define PS2_ACKNOWLEDGE     0x00
#define PS2_COMPLETE        0x01
#define PS2_ERROR           0x02

#define PS2_BUTTON_SELECT   0x0001
#define PS2_BUTTON_L3       0x0002
#define PS2_BUTTON_R3       0x0004
#define PS2_BUTTON_START    0x0008
#define PS2_BUTTON_UP       0x0010
#define PS2_BUTTON_RIGHT    0x0020
#define PS2_BUTTON_DOWN     0x0040
#define PS2_BUTTON_LEFT     0x0080
#define PS2_BUTTON_L2       0x0100
#define PS2_BUTTON_R2       0x0200
#define PS2_BUTTON_L1       0x0400
#define PS2_BUTTON_R1       0x0800
#define PS2_BUTTON_TRIANGLE 0x1000
#define PS2_BUTTON_CIRCLE   0x2000
#define PS2_BUTTON_CROSS    0x4000
#define PS2_BUTTON_SQUARE   0x8000

uint8_t PS2_Cmd(uint8_t cmd);
void PS2_Init(void);
void PS2_ReadData(void);
void PS2_SetMode(uint8_t mode);
void PS2_EnterCfg(void);
void PS2_ExitCfg(void);
void PS2_Enable(void);

uint16_t PS2_Buffer;
uint8_t PS2_Ready = 0;

int main(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    SPI_InitTypeDef SPI_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBase_InitStructure;
    NVIC_InitTypeDef NVIC_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_6 | GPIO_Pin_7;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
    SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
    SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
    SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
    SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;
    SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
    SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256;
    SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
    SPI_Init(SPI1, &SPI_InitStructure);

    TIM_TimeBase_InitStructure.TIM_Period = 9999;
    TIM_TimeBase_InitStructure.TIM_Prescaler = 71;
    TIM_TimeBase_InitStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBase_InitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInit(TIM4, &TIM_TimeBase_InitStructure);
    TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
    TIM_Cmd(TIM4, ENABLE);

    NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);

    PS2_Init();

    while (1)
    {
        if (PS2_Ready)
        {
            // 处理手柄数据
            PS2_Ready = 0;
        }
    }
}

void PS2_Init(void)
{
    PS2_EnterCfg();
    PS2_Cmd(PS2_CMD_SET_MODE);
    PS2_Cmd(PS2_MODE_ANALOG);
    PS2_ExitCfg();
    PS2_Enable();
}

uint8_t PS2_Cmd(uint8_t cmd)
{
    uint8_t i, ack;
    SPI_CS_LOW();
    SPI_I2S_SendData(SPI1, cmd);
    while (SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_TXE) == RESET);
    while (SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_RXNE) == RESET);
    ack = SPI_I2S_ReceiveData(SPI1);
    SPI_CS_HIGH();
    for (i = 0; i < 10; i++);
    return ack;
}

void PS2_EnterCfg(void)
{
    PS2_Cmd(PS2_CMD_ENTER_CFG);
}

void PS2_ExitCfg(void)
{
    PS2_Cmd(PS2_CMD_EXIT_CFG);
}

void PS2_Enable(void)
{
    PS2_Cmd(PS2_CMD_ENABLE);
}

void PS2_SetMode(uint8_t mode)
{
    PS2_Cmd(PS2_CMD_SET_MODE);
    PS2_Cmd(mode);
}

void PS2_ReadData(void)
{
    static uint8_t ps2_data[9];
    static uint8_t byte_count = 0;
    uint8_t byte, i;

    GPIO_ResetBits(GPIOA, GPIO_Pin_4);
    SPI_I2S_SendData(SPI1, PS2_CMD_POLL);
    while (SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_TXE) == RESET);
    while (SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_RXNE) == RESET);
    byte = SPI_I2S_ReceiveData(SPI1);
    ps2_data[byte_count] = byte;
    byte_count++;
    if (byte_count == 9)
    {
        byte_count = 0;
        if (ps2_data[0] == 0x01 && ps2_data[1] == 0x42 && ps2_data[2] == 0x5a)
        {
            PS2_Buffer = 0;
            for (i = 2; i < 8; i++)
            {
                PS2_Buffer <<= 8;
                PS2_Buffer |= ps2_data[i];
            }
            PS2_Ready = 1;
        }
    }
    GPIO_SetBits(GPIOA, GPIO_Pin_4);
}

void TIM4_IRQHandler(void)
{
    if (TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET)
    {
        TIM_ClearITPendingBit(TIM4, TIM_IT_Update);
        PS2_ReadData();
    }
}

其中，PS2_Init()函数用于初始化手柄，PS2_ReadData()函数用于读取手柄数据。在主函数中，通过检测PS2_Ready是否为1来判断是否有新的手柄数据可用。可以根据PS2_Buffer中的值来判断手柄按键状态。