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347 lines
11 KiB
347 lines
11 KiB
/*
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LUFA Library
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Copyright (C) Dean Camera, 2009.
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dean [at] fourwalledcubicle [dot] com
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www.fourwalledcubicle.com
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*/
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/*
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USB Missile Launcher Demo
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Copyright (C) Dave Fletcher, 2009.
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fletch at fletchtronics dot net
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Based on research by Scott Weston at
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http://code.google.com/p/pymissile
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*/
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/*
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Copyright 2009 Dean Camera (dean [at] fourwalledcubicle [dot] com)
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Copyright 2009 Dave Fletcher (fletch [at] fletchtronics [dot] net)
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Permission to use, copy, modify, and distribute this software
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and its documentation for any purpose and without fee is hereby
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granted, provided that the above copyright notice appear in all
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copies and that both that the copyright notice and this
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permission notice and warranty disclaimer appear in supporting
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documentation, and that the name of the author not be used in
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advertising or publicity pertaining to distribution of the
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software without specific, written prior permission.
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The author disclaim all warranties with regard to this
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software, including all implied warranties of merchantability
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and fitness. In no event shall the author be liable for any
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special, indirect or consequential damages or any damages
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whatsoever resulting from loss of use, data or profits, whether
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in an action of contract, negligence or other tortious action,
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arising out of or in connection with the use or performance of
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this software.
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*/
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/*
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* Missile Launcher host. This is a host driver for the popular USB-controller table top toy missile launchers,
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* which can typically aim and fire small foam "missiles" from a spring-loaded turret. This project controls the
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* launcher via a joystick and button to aim and fire missiles at targets without a PC.
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*/
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/** \file
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*
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* Main source file for the MissileLauncher application. This file contains the main tasks of
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* the application and is responsible for the initial application hardware configuration as well
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* as the sending of commands to the attached launcher toy.
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*/
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#include "MissileLauncher.h"
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/** Launcher first init command report data sequence */
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static const uint8_t CMD_INITA[8] = { 85, 83, 66, 67, 0, 0, 4, 0 };
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/** Launcher second init command report data sequence */
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static const uint8_t CMD_INITB[8] = { 85, 83, 66, 67, 0, 64, 2, 0 };
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/** Launcher command report data sequence to stop all movement */
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static const uint8_t CMD_STOP[8] = { 0, 0, 0, 0, 0, 0, 8, 8 };
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/** Launcher command report data sequence to move left */
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static const uint8_t CMD_LEFT[8] = { 0, 1, 0, 0, 0, 0, 8, 8 };
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/** Launcher command report data sequence to move right */
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static const uint8_t CMD_RIGHT[8] = { 0, 0, 1, 0, 0, 0, 8, 8 };
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/** Launcher command report data sequence to move up */
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static const uint8_t CMD_UP[8] = { 0, 0, 0, 1, 0, 0, 8, 8 };
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/** Launcher command report data sequence to move down */
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static const uint8_t CMD_DOWN[8] = { 0, 0, 0, 0, 1, 0, 8, 8 };
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/** Launcher command report data sequence to move left and up */
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static const uint8_t CMD_LEFTUP[8] = { 0, 1, 0, 1, 0, 0, 8, 8 };
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/** Launcher command report data sequence to move right and up */
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static const uint8_t CMD_RIGHTUP[8] = { 0, 0, 1, 1, 0, 0, 8, 8 };
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/** Launcher command report data sequence to move left and down */
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static const uint8_t CMD_LEFTDOWN[8] = { 0, 1, 0, 0, 1, 0, 8, 8 };
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/** Launcher command report data sequence to move right and down */
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static const uint8_t CMD_RIGHTDOWN[8] = { 0, 0, 1, 0, 1, 0, 8, 8 };
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/** Launcher command report data sequence to fire a missile */
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static const uint8_t CMD_FIRE[8] = { 0, 0, 0, 0, 0, 1, 8, 8 };
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/** Last command sent to the launcher, to determine what new command (if any) must be sent */
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uint8_t* CmdState;
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/** Buffer to hold a command to send to the launcher */
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uint8_t CmdBuffer[LAUNCHER_CMD_BUFFER_SIZE];
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/** Main program entry point. This routine configures the hardware required by the application, then
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* starts the scheduler to run the application tasks.
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*/
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int main(void)
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{
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SetupHardware();
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LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
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CmdState = CMD_STOP;
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for (;;)
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{
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Read_Joystick_Status();
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HID_Host_Task();
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USB_USBTask();
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}
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}
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/** Configures the board hardware and chip peripherals for the demo's functionality. */
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void SetupHardware(void)
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{
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/* Disable watchdog if enabled by bootloader/fuses */
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MCUSR &= ~(1 << WDRF);
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wdt_disable();
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/* Disable clock division */
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clock_prescale_set(clock_div_1);
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/* Hardware Initialization */
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LEDs_Init();
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USB_Init();
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Joystick_Init();
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Buttons_Init();
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}
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/** Reads the joystick and button status, sending commands to the launcher as needed. */
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void Read_Joystick_Status(void)
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{
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uint8_t JoyStatus_LCL = Joystick_GetStatus();
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if (BUTTONS_BUTTON1 && Buttons_GetStatus())
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Send_Command(CMD_FIRE);
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else if (JoyStatus_LCL & JOY_UP)
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Send_Command(CMD_UP);
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else if (JoyStatus_LCL & JOY_DOWN)
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Send_Command(CMD_DOWN);
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else if (JoyStatus_LCL & JOY_LEFT)
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Send_Command(CMD_LEFT);
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else if (JoyStatus_LCL & JOY_RIGHT)
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Send_Command(CMD_RIGHT);
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else if (CmdState != CMD_STOP)
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Send_Command(CMD_STOP);
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}
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/** Lower level send routine, copies report into a larger buffer and sends.
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*
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* \param Report Report data to send.
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* \param ReportSize Report length in bytes.
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*/
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void Send_Command_Report(uint8_t *Report, uint16_t ReportSize)
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{
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memcpy(CmdBuffer, Report, 8);
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WriteNextReport(CmdBuffer, ReportSize);
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}
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/** Send one of the CMD_* command constants listed above.
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*
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* \param Command One of the command constants.
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*/
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void Send_Command(uint8_t* Command)
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{
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if ((CmdState == CMD_STOP && Command != CMD_STOP) ||
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(CmdState != CMD_STOP && Command == CMD_STOP))
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{
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LEDs_ChangeLEDs(LEDS_LED4, ~LEDs_GetLEDs() & LEDS_LED4);
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Send_Command_Report(CMD_INITA, 8);
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Send_Command_Report(CMD_INITB, 8);
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Send_Command_Report(Command, LAUNCHER_CMD_BUFFER_SIZE);
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}
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CmdState = Command;
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}
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/** Event handler for the USB_DeviceAttached event. This indicates that a device has been attached to the host, and
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* starts the library USB task to begin the enumeration and USB management process.
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*/
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void EVENT_USB_DeviceAttached(void)
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{
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LEDs_SetAllLEDs(LEDMASK_USB_ENUMERATING);
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}
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/** Event handler for the USB_DeviceUnattached event. This indicates that a device has been removed from the host, and
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* stops the library USB task management process.
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*/
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void EVENT_USB_DeviceUnattached(void)
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{
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LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
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}
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/** Event handler for the USB_DeviceEnumerationComplete event. This indicates that a device has been successfully
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* enumerated by the host and is now ready to be used by the application.
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*/
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void EVENT_USB_DeviceEnumerationComplete(void)
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{
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LEDs_SetAllLEDs(LEDMASK_USB_READY);
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}
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/** Event handler for the USB_HostError event. This indicates that a hardware error occurred while in host mode. */
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void EVENT_USB_HostError(const uint8_t ErrorCode)
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{
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USB_ShutDown();
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LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
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for(;;);
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}
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/** Event handler for the USB_DeviceEnumerationFailed event. This indicates that a problem occurred while
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* enumerating an attached USB device.
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*/
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void EVENT_USB_DeviceEnumerationFailed(const uint8_t ErrorCode, const uint8_t SubErrorCode)
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{
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LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
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}
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/** Reads in and discards the next report from the attached device. */
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void DiscardNextReport(void)
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{
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/* Select and unfreeze HID data IN pipe */
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Pipe_SelectPipe(HID_DATA_IN_PIPE);
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Pipe_Unfreeze();
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/* Check to see if a packet has been received */
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if (!(Pipe_IsINReceived()))
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{
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/* Refreeze HID data IN pipe */
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Pipe_Freeze();
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return;
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}
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/* Clear the IN endpoint, ready for next data packet */
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Pipe_ClearIN();
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/* Refreeze HID data IN pipe */
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Pipe_Freeze();
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}
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/** Writes a report to the attached device.
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*
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* \param ReportOUTData Buffer containing the report to send to the device
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* \param ReportLength Length of the report to send
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*/
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void WriteNextReport(uint8_t* ReportOUTData, uint16_t ReportLength)
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{
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/* Select and unfreeze HID data OUT pipe */
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Pipe_SelectPipe(HID_DATA_OUT_PIPE);
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/* Not all HID devices have an OUT endpoint (some require OUT reports to be sent over the
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* control endpoint instead) - check to see if the OUT endpoint has been initialized */
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if (Pipe_IsConfigured())
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{
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Pipe_Unfreeze();
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/* Ensure pipe is ready to be written to before continuing */
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if (!(Pipe_IsOUTReady()))
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{
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/* Refreeze the data OUT pipe */
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Pipe_Freeze();
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return;
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}
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/* Write out HID report data */
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Pipe_Write_Stream_LE(ReportOUTData, ReportLength);
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/* Clear the OUT endpoint, send last data packet */
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Pipe_ClearOUT();
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/* Refreeze the data OUT pipe */
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Pipe_Freeze();
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}
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else
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{
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/* Class specific request to send a HID report to the device */
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USB_ControlRequest = (USB_Request_Header_t)
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{
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.bmRequestType = 0x21,
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.bRequest = 0x09,
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.wValue = 0x02,
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.wIndex = 0x01,
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.wLength = ReportLength,
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};
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/* Select the control pipe for the request transfer */
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Pipe_SelectPipe(PIPE_CONTROLPIPE);
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/* Send the request to the device */
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USB_Host_SendControlRequest(ReportOUTData);
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}
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}
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/** Task to set the configuration of the attached device after it has been enumerated, and to read and process
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* HID reports from the device and to send reports if desired.
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*/
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void HID_Host_Task(void)
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{
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uint8_t ErrorCode;
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/* Switch to determine what user-application handled host state the host state machine is in */
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switch (USB_HostState)
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{
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case HOST_STATE_Addressed:
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/* Get and process the configuration descriptor data */
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if ((ErrorCode = ProcessConfigurationDescriptor()) != SuccessfulConfigRead)
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{
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/* Indicate error status */
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LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
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/* Wait until USB device disconnected */
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while (USB_IsConnected);
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break;
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}
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/* Set the device configuration to the first configuration (rarely do devices use multiple configurations) */
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if ((ErrorCode = USB_Host_SetDeviceConfiguration(1)) != HOST_SENDCONTROL_Successful)
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{
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/* Indicate error status */
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LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
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/* Wait until USB device disconnected */
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while (USB_IsConnected);
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break;
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}
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USB_HostState = HOST_STATE_Configured;
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break;
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case HOST_STATE_Configured:
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USB_HostState = HOST_STATE_Ready;
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break;
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case HOST_STATE_Ready:
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DiscardNextReport();
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break;
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}
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}
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