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         CmdState = CMD_STOP;
  99
 100         LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
 101         sei();
 102
 103         for (;;)
 104         {
 105                 Read_Joystick_Status();
 106
 107                 HID_Host_Task();
 108                 USB_USBTask();
 109         }
 110 }
 111
 112 /** Configures the board hardware and chip peripherals for the demo's functionality. */
 113 void SetupHardware(void)
 114 {
 115         /* Disable watchdog if enabled by bootloader/fuses */
 116         MCUSR &= ~(1 << WDRF);
 117         wdt_disable();
 118
 119         /* Disable clock division */
 120         clock_prescale_set(clock_div_1);
 121
 122         /* Hardware Initialization */
 123         LEDs_Init();
 124         USB_Init();
 125         Joystick_Init();
 126         Buttons_Init();
 127 }
 128
 129 /** Reads the joystick and button status, sending commands to the launcher as needed. */
 130 void Read_Joystick_Status(void)
 131 {
 132         uint8_t JoyStatus_LCL = Joystick_GetStatus();
 133         uint8_t Buttons_LCL   = Buttons_GetStatus();
 134
 135         if (Buttons_LCL & BUTTONS_BUTTON1)
 136           Send_Command(CMD_FIRE);
 137         else if (JoyStatus_LCL & JOY_UP)
 138           Send_Command(CMD_UP);
 139         else if (JoyStatus_LCL & JOY_DOWN)
 140           Send_Command(CMD_DOWN);
 141         else if (JoyStatus_LCL & JOY_LEFT)
 142           Send_Command(CMD_LEFT);
 143         else if (JoyStatus_LCL & JOY_RIGHT)
 144           Send_Command(CMD_RIGHT);
 145         else if (CmdState != CMD_STOP)
 146           Send_Command(CMD_STOP);
 147 }
 148
 149 /** Lower level send routine, copies report into a larger buffer and sends.
 150  *
 151  *  \param[in] Report  Report data to send.
 152  *  \param[in] ReportSize  Report length in bytes.
 153  */
 154 void Send_Command_Report(uint8_t* const Report, const uint16_t ReportSize)
 155 {
 156         memcpy(CmdBuffer, Report, 8);
 157         WriteNextReport(CmdBuffer, ReportSize);
 158 }
 159
 160 /** Sends one of the CMD_* command constants to the attached device.
 161  *
 162  *  \param[in] Command  One of the command constants.
 163  */
 164 void Send_Command(uint8_t* const Command)
 165 {
 166         if ((CmdState == CMD_STOP && Command != CMD_STOP) ||
 167                 (CmdState != CMD_STOP && Command == CMD_STOP))
 168         {
 169                 LEDs_ToggleLEDs(LEDS_LED4);
 170
 171                 Send_Command_Report(CMD_INITA, 8);
 172                 Send_Command_Report(CMD_INITB, 8);
 173                 Send_Command_Report(Command, LAUNCHER_CMD_BUFFER_SIZE);
 174         }
 175
 176         CmdState = Command;
 177 }
 178
 179 /** Event handler for the USB_DeviceAttached event. This indicates that a device has been attached to the host, and
 180  *  starts the library USB task to begin the enumeration and USB management process.
 181  */
 182 void EVENT_USB_Host_DeviceAttached(void)
 183 {
 184         LEDs_SetAllLEDs(LEDMASK_USB_ENUMERATING);
 185 }
 186
 187 /** Event handler for the USB_DeviceUnattached event. This indicates that a device has been removed from the host, and
 188  *  stops the library USB task management process.
 189  */
 190 void EVENT_USB_Host_DeviceUnattached(void)
 191 {
 192         LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
 193 }
 194
 195 /** Event handler for the USB_DeviceEnumerationComplete event. This indicates that a device has been successfully
 196  *  enumerated by the host and is now ready to be used by the application.
 197  */
 198 void EVENT_USB_Host_DeviceEnumerationComplete(void)
 199 {
 200         LEDs_SetAllLEDs(LEDMASK_USB_READY);
 201 }
 202
 203 /** Event handler for the USB_HostError event. This indicates that a hardware error occurred while in host mode. */
 204 void EVENT_USB_Host_HostError(const uint8_t ErrorCode)
 205 {
 206         USB_ShutDown();
 207
 208         LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 209         for(;;);
 210 }
 211
 212 /** Event handler for the USB_DeviceEnumerationFailed event. This indicates that a problem occurred while
 213  *  enumerating an attached USB device.
 214  */
 215 void EVENT_USB_Host_DeviceEnumerationFailed(const uint8_t ErrorCode, const uint8_t SubErrorCode)
 216 {
 217         LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 218 }
 219
 220 /** Reads in and discards the next report from the attached device. */
 221 void DiscardNextReport(void)
 222 {
 223         /* Select and unfreeze HID data IN pipe */
 224         Pipe_SelectPipe(HID_DATA_IN_PIPE);
 225         Pipe_Unfreeze();
 226
 227         /* Check to see if a packet has been received */
 228         if (!(Pipe_IsINReceived()))
 229         {
 230                 /* Refreeze HID data IN pipe */
 231                 Pipe_Freeze();
 232
 233                 return;
 234         }
 235
 236         /* Clear the IN endpoint, ready for next data packet */
 237         Pipe_ClearIN();
 238
 239         /* Refreeze HID data IN pipe */
 240         Pipe_Freeze();
 241 }
 242
 243 /** Writes a report to the attached device.
 244  *
 245  *  \param[in] ReportOUTData  Buffer containing the report to send to the device
 246  *  \param[in] ReportLength  Length of the report to send
 247  */
 248 void WriteNextReport(uint8_t* const ReportOUTData, const uint16_t ReportLength)
 249 {
 250         /* Select and unfreeze HID data OUT pipe */
 251         Pipe_SelectPipe(HID_DATA_OUT_PIPE);
 252
 253         /* Not all HID devices have an OUT endpoint (some require OUT reports to be sent over the
 254          * control endpoint instead) - check to see if the OUT endpoint has been initialized */
 255         if (Pipe_IsConfigured())
 256         {
 257                 Pipe_Unfreeze();
 258
 259                 /* Ensure pipe is ready to be written to before continuing */
 260                 if (!(Pipe_IsOUTReady()))
 261                 {
 262                         /* Refreeze the data OUT pipe */
 263                         Pipe_Freeze();
 264
 265                         return;
 266                 }
 267
 268                 /* Write out HID report data */
 269                 Pipe_Write_Stream_LE(ReportOUTData, ReportLength);
 270
 271                 /* Clear the OUT endpoint, send last data packet */
 272                 Pipe_ClearOUT();
 273
 274                 /* Refreeze the data OUT pipe */
 275                 Pipe_Freeze();
 276         }
 277         else
 278         {
 279                 /* Class specific request to send a HID report to the device */
 280                 USB_ControlRequest = (USB_Request_Header_t)
 281                         {
 282                                 .bmRequestType = (REQDIR_HOSTTODEVICE | REQTYPE_CLASS | REQREC_INTERFACE),
 283                                 .bRequest      = REQ_SetReport,
 284                                 .wValue        = 0x02,
 285                                 .wIndex        = 0x01,
 286                                 .wLength       = ReportLength,
 287                         };
 288
 289                 /* Select the control pipe for the request transfer */
 290                 Pipe_SelectPipe(PIPE_CONTROLPIPE);
 291
 292                 /* Send the request to the device */
 293                 USB_Host_SendControlRequest(ReportOUTData);
 294         }
 295 }
 296
 297 /** Task to set the configuration of the attached device after it has been enumerated, and to read and process
 298  *  HID reports from the device and to send reports if desired.
 299  */
 300 void HID_Host_Task(void)
 301 {
 302         uint8_t ErrorCode;
 303
 304         /* Switch to determine what user-application handled host state the host state machine is in */
 305         switch (USB_HostState)
 306         {
 307                 case HOST_STATE_Addressed:
 308                         /* Get and process the configuration descriptor data */
 309                         if ((ErrorCode = ProcessConfigurationDescriptor()) != SuccessfulConfigRead)
 310                         {
 311                                 /* Indicate error status */
 312                                 LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 313
 314                                 /* Wait until USB device disconnected */
 315                                 USB_HostState = HOST_STATE_WaitForDeviceRemoval;
 316                                 break;
 317                         }
 318
 319                         /* Set the device configuration to the first configuration (rarely do devices use multiple configurations) */
 320                         if ((ErrorCode = USB_Host_SetDeviceConfiguration(1)) != HOST_SENDCONTROL_Successful)
 321                         {
 322                                 /* Indicate error status */
 323                                 LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 324
 325                                 /* Wait until USB device disconnected */
 326                                 USB_HostState = HOST_STATE_WaitForDeviceRemoval;
 327                                 break;
 328                         }
 329
 330                         USB_HostState = HOST_STATE_Configured;
 331                         break;
 332                 case HOST_STATE_Configured:
 333                         DiscardNextReport();
 334
 335                         break;
 336         }
 337 }