Projects/MissileLauncher/MissileLauncher.c

   1 /*
   2              LUFA Library
   3      Copyright (C) Dean Camera, 2009.
   4
   5   dean [at] fourwalledcubicle [dot] com
   6       www.fourwalledcubicle.com
   7 */
   8
   9 /*
  10          USB Missile Launcher Demo
  11          Copyright (C) Dave Fletcher, 2009.
  12           fletch at fletchtronics dot net
  13
  14          Based on research by Scott Weston at
  15           http://code.google.com/p/pymissile
  16  */
  17
  18 /*
  19   Copyright 2009  Dean Camera (dean [at] fourwalledcubicle [dot] com)
  20   Copyright 2009  Dave Fletcher (fletch [at] fletchtronics [dot] net)
  21
  22   Permission to use, copy, modify, and distribute this software
  23   and its documentation for any purpose and without fee is hereby
  24   granted, provided that the above copyright notice appear in all
  25   copies and that both that the copyright notice and this
  26   permission notice and warranty disclaimer appear in supporting
  27   documentation, and that the name of the author not be used in
  28   advertising or publicity pertaining to distribution of the
  29   software without specific, written prior permission.
  30
  31   The author disclaim all warranties with regard to this
  32   software, including all implied warranties of merchantability
  33   and fitness.  In no event shall the author be liable for any
  34   special, indirect or consequential damages or any damages
  35   whatsoever resulting from loss of use, data or profits, whether
  36   in an action of contract, negligence or other tortious action,
  37   arising out of or in connection with the use or performance of
  38   this software.
  39 */
  40
  41 /*
  42  *  Missile Launcher host. This is a host driver for the popular USB-controller table top toy missile launchers,
  43  *  which can typically aim and fire small foam "missiles" from a spring-loaded turret. This project controls the
  44  *  launcher via a joystick and button to aim and fire missiles at targets without a PC.
  45  */
  46
  47 /** \file
  48  *
  49  *  Main source file for the MissileLauncher application. This file contains the main tasks of
  50  *  the application and is responsible for the initial application hardware configuration as well
  51  *  as the sending of commands to the attached launcher toy.
  52  */
  53
  54 #include "MissileLauncher.h"
  55
  56 /** Launcher first init command report data sequence */
  57 uint8_t CMD_INITA[8]     = {  85, 83, 66, 67,  0,  0,  4,  0  };
  58
  59 /** Launcher second init command report data sequence */
  60 uint8_t CMD_INITB[8]     = {  85, 83, 66, 67,  0, 64,  2,  0  };
  61
  62 /** Launcher command report data sequence to stop all movement */
  63 uint8_t CMD_STOP[8]      = {   0,  0,  0,  0,  0,  0,  8,  8  };
  64
  65 /** Launcher command report data sequence to move left */
  66 uint8_t CMD_LEFT[8]      = {   0,  1,  0,  0,  0,  0,  8,  8  };
  67
  68 /** Launcher command report data sequence to move right */
  69 uint8_t CMD_RIGHT[8]     = {   0,  0,  1,  0,  0,  0,  8,  8  };
  70
  71 /** Launcher command report data sequence to move up */
  72 uint8_t CMD_UP[8]        = {   0,  0,  0,  1,  0,  0,  8,  8  };
  73
  74 /** Launcher command report data sequence to move down */
  75 uint8_t CMD_DOWN[8]      = {   0,  0,  0,  0,  1,  0,  8,  8  };
  76
  77 /** Launcher command report data sequence to move left and up */
  78 uint8_t CMD_LEFTUP[8]    = {   0,  1,  0,  1,  0,  0,  8,  8  };
  79
  80 /** Launcher command report data sequence to move right and up */
  81 uint8_t CMD_RIGHTUP[8]   = {   0,  0,  1,  1,  0,  0,  8,  8  };
  82
  83 /** Launcher command report data sequence to move left and down */
  84 uint8_t CMD_LEFTDOWN[8]  = {   0,  1,  0,  0,  1,  0,  8,  8  };
  85
  86 /** Launcher command report data sequence to move right and down */
  87 uint8_t CMD_RIGHTDOWN[8] = {   0,  0,  1,  0,  1,  0,  8,  8  };
  88
  89 /** Launcher command report data sequence to fire a missile */
  90 uint8_t CMD_FIRE[8]      = {   0,  0,  0,  0,  0,  1,  8,  8  };
  91
  92 /** Last command sent to the launcher, to determine what new command (if any) must be sent */
  93 uint8_t* CmdState;
  94
  95 /** Buffer to hold a command to send to the launcher */
  96 uint8_t  CmdBuffer[LAUNCHER_CMD_BUFFER_SIZE];
  97
  98
  99 /** Main program entry point. This routine configures the hardware required by the application, then
 100  *  starts the scheduler to run the application tasks.
 101  */
 102 int main(void)
 103 {
 104         SetupHardware();
 105
 106         LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
 107
 108         CmdState = CMD_STOP;
 109
 110         for (;;)
 111         {
 112                 Read_Joystick_Status();
 113
 114                 HID_Host_Task();
 115                 USB_USBTask();
 116         }
 117 }
 118
 119 /** Configures the board hardware and chip peripherals for the demo's functionality. */
 120 void SetupHardware(void)
 121 {
 122         /* Disable watchdog if enabled by bootloader/fuses */
 123         MCUSR &= ~(1 << WDRF);
 124         wdt_disable();
 125
 126         /* Disable clock division */
 127         clock_prescale_set(clock_div_1);
 128
 129         /* Hardware Initialization */
 130         LEDs_Init();
 131         USB_Init();
 132         Joystick_Init();
 133         Buttons_Init();
 134 }
 135
 136 /** Reads the joystick and button status, sending commands to the launcher as needed. */
 137 void Read_Joystick_Status(void)
 138 {
 139         uint8_t JoyStatus_LCL = Joystick_GetStatus();
 140         uint8_t Buttons_LCL   = Buttons_GetStatus();
 141
 142         if (Buttons_LCL & BUTTONS_BUTTON1)
 143           Send_Command(CMD_FIRE);
 144         else if (JoyStatus_LCL & JOY_UP)
 145           Send_Command(CMD_UP);
 146         else if (JoyStatus_LCL & JOY_DOWN)
 147           Send_Command(CMD_DOWN);
 148         else if (JoyStatus_LCL & JOY_LEFT)
 149           Send_Command(CMD_LEFT);
 150         else if (JoyStatus_LCL & JOY_RIGHT)
 151           Send_Command(CMD_RIGHT);
 152         else if (CmdState != CMD_STOP)
 153           Send_Command(CMD_STOP);
 154 }
 155
 156 /** Lower level send routine, copies report into a larger buffer and sends.
 157  *
 158  *  \param[in] Report  Report data to send.
 159  *  \param[in] ReportSize  Report length in bytes.
 160  */
 161 void Send_Command_Report(uint8_t *Report, uint16_t ReportSize)
 162 {
 163         memcpy(CmdBuffer, Report, 8);
 164         WriteNextReport(CmdBuffer, ReportSize);
 165 }
 166
 167 /** Sends one of the CMD_* command constants to the attached device.
 168  *
 169  *  \param[in] Command  One of the command constants.
 170  */
 171 void Send_Command(uint8_t* Command)
 172 {
 173         if ((CmdState == CMD_STOP && Command != CMD_STOP) ||
 174                 (CmdState != CMD_STOP && Command == CMD_STOP))
 175         {
 176                 LEDs_ChangeLEDs(LEDS_LED4, ~LEDs_GetLEDs() & LEDS_LED4);
 177
 178                 Send_Command_Report(CMD_INITA, 8);
 179                 Send_Command_Report(CMD_INITB, 8);
 180                 Send_Command_Report(Command, LAUNCHER_CMD_BUFFER_SIZE);
 181         }
 182
 183         CmdState = Command;
 184 }
 185
 186 /** Event handler for the USB_DeviceAttached event. This indicates that a device has been attached to the host, and
 187  *  starts the library USB task to begin the enumeration and USB management process.
 188  */
 189 void EVENT_USB_DeviceAttached(void)
 190 {
 191         LEDs_SetAllLEDs(LEDMASK_USB_ENUMERATING);
 192 }
 193
 194 /** Event handler for the USB_DeviceUnattached event. This indicates that a device has been removed from the host, and
 195  *  stops the library USB task management process.
 196  */
 197 void EVENT_USB_DeviceUnattached(void)
 198 {
 199         LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
 200 }
 201
 202 /** Event handler for the USB_DeviceEnumerationComplete event. This indicates that a device has been successfully
 203  *  enumerated by the host and is now ready to be used by the application.
 204  */
 205 void EVENT_USB_DeviceEnumerationComplete(void)
 206 {
 207         LEDs_SetAllLEDs(LEDMASK_USB_READY);
 208 }
 209
 210 /** Event handler for the USB_HostError event. This indicates that a hardware error occurred while in host mode. */
 211 void EVENT_USB_HostError(const uint8_t ErrorCode)
 212 {
 213         USB_ShutDown();
 214
 215         LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 216         for(;;);
 217 }
 218
 219 /** Event handler for the USB_DeviceEnumerationFailed event. This indicates that a problem occurred while
 220  *  enumerating an attached USB device.
 221  */
 222 void EVENT_USB_DeviceEnumerationFailed(const uint8_t ErrorCode, const uint8_t SubErrorCode)
 223 {
 224         LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 225 }
 226
 227 /** Reads in and discards the next report from the attached device. */
 228 void DiscardNextReport(void)
 229 {
 230         /* Select and unfreeze HID data IN pipe */
 231         Pipe_SelectPipe(HID_DATA_IN_PIPE);
 232         Pipe_Unfreeze();
 233
 234         /* Check to see if a packet has been received */
 235         if (!(Pipe_IsINReceived()))
 236         {
 237                 /* Refreeze HID data IN pipe */
 238                 Pipe_Freeze();
 239
 240                 return;
 241         }
 242
 243         /* Clear the IN endpoint, ready for next data packet */
 244         Pipe_ClearIN();
 245
 246         /* Refreeze HID data IN pipe */
 247         Pipe_Freeze();
 248 }
 249
 250 /** Writes a report to the attached device.
 251  *
 252  *  \param[in] ReportOUTData  Buffer containing the report to send to the device
 253  *  \param[in] ReportLength  Length of the report to send
 254  */
 255 void WriteNextReport(uint8_t* ReportOUTData, uint16_t ReportLength)
 256 {
 257         /* Select and unfreeze HID data OUT pipe */
 258         Pipe_SelectPipe(HID_DATA_OUT_PIPE);
 259
 260         /* Not all HID devices have an OUT endpoint (some require OUT reports to be sent over the
 261          * control endpoint instead) - check to see if the OUT endpoint has been initialized */
 262         if (Pipe_IsConfigured())
 263         {
 264                 Pipe_Unfreeze();
 265
 266                 /* Ensure pipe is ready to be written to before continuing */
 267                 if (!(Pipe_IsOUTReady()))
 268                 {
 269                         /* Refreeze the data OUT pipe */
 270                         Pipe_Freeze();
 271
 272                         return;
 273                 }
 274
 275                 /* Write out HID report data */
 276                 Pipe_Write_Stream_LE(ReportOUTData, ReportLength);
 277
 278                 /* Clear the OUT endpoint, send last data packet */
 279                 Pipe_ClearOUT();
 280
 281                 /* Refreeze the data OUT pipe */
 282                 Pipe_Freeze();
 283         }
 284         else
 285         {
 286                 /* Class specific request to send a HID report to the device */
 287                 USB_ControlRequest = (USB_Request_Header_t)
 288                         {
 289                                 .bmRequestType = (REQDIR_HOSTTODEVICE | REQTYPE_CLASS | REQREC_INTERFACE),
 290                                 .bRequest      = 0x09,
 291                                 .wValue        = 0x02,
 292                                 .wIndex        = 0x01,
 293                                 .wLength       = ReportLength,
 294                         };
 295
 296                 /* Select the control pipe for the request transfer */
 297                 Pipe_SelectPipe(PIPE_CONTROLPIPE);
 298
 299                 /* Send the request to the device */
 300                 USB_Host_SendControlRequest(ReportOUTData);
 301         }
 302 }
 303
 304 /** Task to set the configuration of the attached device after it has been enumerated, and to read and process
 305  *  HID reports from the device and to send reports if desired.
 306  */
 307 void HID_Host_Task(void)
 308 {
 309         uint8_t ErrorCode;
 310
 311         /* Switch to determine what user-application handled host state the host state machine is in */
 312         switch (USB_HostState)
 313         {
 314                 case HOST_STATE_Addressed:
 315                         /* Get and process the configuration descriptor data */
 316                         if ((ErrorCode = ProcessConfigurationDescriptor()) != SuccessfulConfigRead)
 317                         {
 318                                 /* Indicate error status */
 319                                 LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 320
 321                                 /* Wait until USB device disconnected */
 322                                 USB_HostState = HOST_STATE_WaitForDeviceRemoval;
 323                                 break;
 324                         }
 325
 326                         /* Set the device configuration to the first configuration (rarely do devices use multiple configurations) */
 327                         if ((ErrorCode = USB_Host_SetDeviceConfiguration(1)) != HOST_SENDCONTROL_Successful)
 328                         {
 329                                 /* Indicate error status */
 330                                 LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 331
 332                                 /* Wait until USB device disconnected */
 333                                 USB_HostState = HOST_STATE_WaitForDeviceRemoval;
 334                                 break;
 335                         }
 336
 337                         USB_HostState = HOST_STATE_Configured;
 338                         break;
 339                 case HOST_STATE_Configured:
 340                         USB_HostState = HOST_STATE_Ready;
 341                         break;
 342                 case HOST_STATE_Ready:
 343                         DiscardNextReport();
 344
 345                         break;
 346         }
 347 }