Projects/MissileLauncher/MissileLauncher.c

   1 /*
   2          USB Missile Launcher Demo
   3          Copyright (C) Dave Fletcher, 2010.
   4           fletch at fletchtronics dot net
   5
   6          Based on research by Scott Weston at
   7           http://code.google.com/p/pymissile
   8  */
   9
  10 /*
  11   Copyright 2010  Dean Camera (dean [at] fourwalledcubicle [dot] com)
  12   Copyright 2010  Dave Fletcher (fletch [at] fletchtronics [dot] net)
  13
  14   Permission to use, copy, modify, distribute, and sell this
  15   software and its documentation for any purpose is hereby granted
  16   without fee, provided that the above copyright notice appear in
  17   all copies and that both that the copyright notice and this
  18   permission notice and warranty disclaimer appear in supporting
  19   documentation, and that the name of the author not be used in
  20   advertising or publicity pertaining to distribution of the
  21   software without specific, written prior permission.
  22
  23   The author disclaim all warranties with regard to this
  24   software, including all implied warranties of merchantability
  25   and fitness.  In no event shall the author be liable for any
  26   special, indirect or consequential damages or any damages
  27   whatsoever resulting from loss of use, data or profits, whether
  28   in an action of contract, negligence or other tortious action,
  29   arising out of or in connection with the use or performance of
  30   this software.
  31 */
  32
  33 /*
  34  *  Missile Launcher host. This is a host driver for the popular USB-controller table top toy missile launchers,
  35  *  which can typically aim and fire small foam "missiles" from a spring-loaded turret. This project controls the
  36  *  launcher via a joystick and button to aim and fire missiles at targets without a PC.
  37  */
  38
  39 /** \file
  40  *
  41  *  Main source file for the MissileLauncher application. This file contains the main tasks of
  42  *  the application and is responsible for the initial application hardware configuration as well
  43  *  as the sending of commands to the attached launcher toy.
  44  */
  45
  46 #include "MissileLauncher.h"
  47
  48 /** Launcher first init command report data sequence */
  49 uint8_t CMD_INITA[8]     = {  85, 83, 66, 67,  0,  0,  4,  0  };
  50
  51 /** Launcher second init command report data sequence */
  52 uint8_t CMD_INITB[8]     = {  85, 83, 66, 67,  0, 64,  2,  0  };
  53
  54 /** Launcher command report data sequence to stop all movement */
  55 uint8_t CMD_STOP[8]      = {   0,  0,  0,  0,  0,  0,  8,  8  };
  56
  57 /** Launcher command report data sequence to move left */
  58 uint8_t CMD_LEFT[8]      = {   0,  1,  0,  0,  0,  0,  8,  8  };
  59
  60 /** Launcher command report data sequence to move right */
  61 uint8_t CMD_RIGHT[8]     = {   0,  0,  1,  0,  0,  0,  8,  8  };
  62
  63 /** Launcher command report data sequence to move up */
  64 uint8_t CMD_UP[8]        = {   0,  0,  0,  1,  0,  0,  8,  8  };
  65
  66 /** Launcher command report data sequence to move down */
  67 uint8_t CMD_DOWN[8]      = {   0,  0,  0,  0,  1,  0,  8,  8  };
  68
  69 /** Launcher command report data sequence to move left and up */
  70 uint8_t CMD_LEFTUP[8]    = {   0,  1,  0,  1,  0,  0,  8,  8  };
  71
  72 /** Launcher command report data sequence to move right and up */
  73 uint8_t CMD_RIGHTUP[8]   = {   0,  0,  1,  1,  0,  0,  8,  8  };
  74
  75 /** Launcher command report data sequence to move left and down */
  76 uint8_t CMD_LEFTDOWN[8]  = {   0,  1,  0,  0,  1,  0,  8,  8  };
  77
  78 /** Launcher command report data sequence to move right and down */
  79 uint8_t CMD_RIGHTDOWN[8] = {   0,  0,  1,  0,  1,  0,  8,  8  };
  80
  81 /** Launcher command report data sequence to fire a missile */
  82 uint8_t CMD_FIRE[8]      = {   0,  0,  0,  0,  0,  1,  8,  8  };
  83
  84 /** Last command sent to the launcher, to determine what new command (if any) must be sent */
  85 uint8_t* CmdState;
  86
  87 /** Buffer to hold a command to send to the launcher */
  88 uint8_t  CmdBuffer[LAUNCHER_CMD_BUFFER_SIZE];
  89
  90
  91 /** Main program entry point. This routine configures the hardware required by the application, then
  92  *  enters a loop to run the application tasks in sequence.
  93  */
  94 int main(void)
  95 {
  96         SetupHardware();
  97
  98         LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
  99
 100         CmdState = CMD_STOP;
 101
 102         for (;;)
 103         {
 104                 Read_Joystick_Status();
 105
 106                 HID_Host_Task();
 107                 USB_USBTask();
 108         }
 109 }
 110
 111 /** Configures the board hardware and chip peripherals for the demo's functionality. */
 112 void SetupHardware(void)
 113 {
 114         /* Disable watchdog if enabled by bootloader/fuses */
 115         MCUSR &= ~(1 << WDRF);
 116         wdt_disable();
 117
 118         /* Disable clock division */
 119         clock_prescale_set(clock_div_1);
 120
 121         /* Hardware Initialization */
 122         LEDs_Init();
 123         USB_Init();
 124         Joystick_Init();
 125         Buttons_Init();
 126 }
 127
 128 /** Reads the joystick and button status, sending commands to the launcher as needed. */
 129 void Read_Joystick_Status(void)
 130 {
 131         uint8_t JoyStatus_LCL = Joystick_GetStatus();
 132         uint8_t Buttons_LCL   = Buttons_GetStatus();
 133
 134         if (Buttons_LCL & BUTTONS_BUTTON1)
 135           Send_Command(CMD_FIRE);
 136         else if (JoyStatus_LCL & JOY_UP)
 137           Send_Command(CMD_UP);
 138         else if (JoyStatus_LCL & JOY_DOWN)
 139           Send_Command(CMD_DOWN);
 140         else if (JoyStatus_LCL & JOY_LEFT)
 141           Send_Command(CMD_LEFT);
 142         else if (JoyStatus_LCL & JOY_RIGHT)
 143           Send_Command(CMD_RIGHT);
 144         else if (CmdState != CMD_STOP)
 145           Send_Command(CMD_STOP);
 146 }
 147
 148 /** Lower level send routine, copies report into a larger buffer and sends.
 149  *
 150  *  \param[in] Report  Report data to send.
 151  *  \param[in] ReportSize  Report length in bytes.
 152  */
 153 void Send_Command_Report(uint8_t* const Report, const uint16_t ReportSize)
 154 {
 155         memcpy(CmdBuffer, Report, 8);
 156         WriteNextReport(CmdBuffer, ReportSize);
 157 }
 158
 159 /** Sends one of the CMD_* command constants to the attached device.
 160  *
 161  *  \param[in] Command  One of the command constants.
 162  */
 163 void Send_Command(uint8_t* const Command)
 164 {
 165         if ((CmdState == CMD_STOP && Command != CMD_STOP) ||
 166                 (CmdState != CMD_STOP && Command == CMD_STOP))
 167         {
 168                 LEDs_ToggleLEDs(LEDS_LED4);
 169
 170                 Send_Command_Report(CMD_INITA, 8);
 171                 Send_Command_Report(CMD_INITB, 8);
 172                 Send_Command_Report(Command, LAUNCHER_CMD_BUFFER_SIZE);
 173         }
 174
 175         CmdState = Command;
 176 }
 177
 178 /** Event handler for the USB_DeviceAttached event. This indicates that a device has been attached to the host, and
 179  *  starts the library USB task to begin the enumeration and USB management process.
 180  */
 181 void EVENT_USB_Host_DeviceAttached(void)
 182 {
 183         LEDs_SetAllLEDs(LEDMASK_USB_ENUMERATING);
 184 }
 185
 186 /** Event handler for the USB_DeviceUnattached event. This indicates that a device has been removed from the host, and
 187  *  stops the library USB task management process.
 188  */
 189 void EVENT_USB_Host_DeviceUnattached(void)
 190 {
 191         LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
 192 }
 193
 194 /** Event handler for the USB_DeviceEnumerationComplete event. This indicates that a device has been successfully
 195  *  enumerated by the host and is now ready to be used by the application.
 196  */
 197 void EVENT_USB_Host_DeviceEnumerationComplete(void)
 198 {
 199         LEDs_SetAllLEDs(LEDMASK_USB_READY);
 200 }
 201
 202 /** Event handler for the USB_HostError event. This indicates that a hardware error occurred while in host mode. */
 203 void EVENT_USB_Host_HostError(const uint8_t ErrorCode)
 204 {
 205         USB_ShutDown();
 206
 207         LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 208         for(;;);
 209 }
 210
 211 /** Event handler for the USB_DeviceEnumerationFailed event. This indicates that a problem occurred while
 212  *  enumerating an attached USB device.
 213  */
 214 void EVENT_USB_Host_DeviceEnumerationFailed(const uint8_t ErrorCode, const uint8_t SubErrorCode)
 215 {
 216         LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 217 }
 218
 219 /** Reads in and discards the next report from the attached device. */
 220 void DiscardNextReport(void)
 221 {
 222         /* Select and unfreeze HID data IN pipe */
 223         Pipe_SelectPipe(HID_DATA_IN_PIPE);
 224         Pipe_Unfreeze();
 225
 226         /* Check to see if a packet has been received */
 227         if (!(Pipe_IsINReceived()))
 228         {
 229                 /* Refreeze HID data IN pipe */
 230                 Pipe_Freeze();
 231
 232                 return;
 233         }
 234
 235         /* Clear the IN endpoint, ready for next data packet */
 236         Pipe_ClearIN();
 237
 238         /* Refreeze HID data IN pipe */
 239         Pipe_Freeze();
 240 }
 241
 242 /** Writes a report to the attached device.
 243  *
 244  *  \param[in] ReportOUTData  Buffer containing the report to send to the device
 245  *  \param[in] ReportLength  Length of the report to send
 246  */
 247 void WriteNextReport(uint8_t* const ReportOUTData, const uint16_t ReportLength)
 248 {
 249         /* Select and unfreeze HID data OUT pipe */
 250         Pipe_SelectPipe(HID_DATA_OUT_PIPE);
 251
 252         /* Not all HID devices have an OUT endpoint (some require OUT reports to be sent over the
 253          * control endpoint instead) - check to see if the OUT endpoint has been initialized */
 254         if (Pipe_IsConfigured())
 255         {
 256                 Pipe_Unfreeze();
 257
 258                 /* Ensure pipe is ready to be written to before continuing */
 259                 if (!(Pipe_IsOUTReady()))
 260                 {
 261                         /* Refreeze the data OUT pipe */
 262                         Pipe_Freeze();
 263
 264                         return;
 265                 }
 266
 267                 /* Write out HID report data */
 268                 Pipe_Write_Stream_LE(ReportOUTData, ReportLength);
 269
 270                 /* Clear the OUT endpoint, send last data packet */
 271                 Pipe_ClearOUT();
 272
 273                 /* Refreeze the data OUT pipe */
 274                 Pipe_Freeze();
 275         }
 276         else
 277         {
 278                 /* Class specific request to send a HID report to the device */
 279                 USB_ControlRequest = (USB_Request_Header_t)
 280                         {
 281                                 .bmRequestType = (REQDIR_HOSTTODEVICE | REQTYPE_CLASS | REQREC_INTERFACE),
 282                                 .bRequest      = REQ_SetReport,
 283                                 .wValue        = 0x02,
 284                                 .wIndex        = 0x01,
 285                                 .wLength       = ReportLength,
 286                         };
 287
 288                 /* Select the control pipe for the request transfer */
 289                 Pipe_SelectPipe(PIPE_CONTROLPIPE);
 290
 291                 /* Send the request to the device */
 292                 USB_Host_SendControlRequest(ReportOUTData);
 293         }
 294 }
 295
 296 /** Task to set the configuration of the attached device after it has been enumerated, and to read and process
 297  *  HID reports from the device and to send reports if desired.
 298  */
 299 void HID_Host_Task(void)
 300 {
 301         uint8_t ErrorCode;
 302
 303         /* Switch to determine what user-application handled host state the host state machine is in */
 304         switch (USB_HostState)
 305         {
 306                 case HOST_STATE_Addressed:
 307                         /* Get and process the configuration descriptor data */
 308                         if ((ErrorCode = ProcessConfigurationDescriptor()) != SuccessfulConfigRead)
 309                         {
 310                                 /* Indicate error status */
 311                                 LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 312
 313                                 /* Wait until USB device disconnected */
 314                                 USB_HostState = HOST_STATE_WaitForDeviceRemoval;
 315                                 break;
 316                         }
 317
 318                         /* Set the device configuration to the first configuration (rarely do devices use multiple configurations) */
 319                         if ((ErrorCode = USB_Host_SetDeviceConfiguration(1)) != HOST_SENDCONTROL_Successful)
 320                         {
 321                                 /* Indicate error status */
 322                                 LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 323
 324                                 /* Wait until USB device disconnected */
 325                                 USB_HostState = HOST_STATE_WaitForDeviceRemoval;
 326                                 break;
 327                         }
 328
 329                         USB_HostState = HOST_STATE_Configured;
 330                         break;
 331                 case HOST_STATE_Configured:
 332                         DiscardNextReport();
 333
 334                         break;
 335         }
 336 }