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 2012  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 static const uint8_t CMD_INITA[8]     = {  85, 83, 66, 67,  0,  0,  4,  0  };
  50
  51 /** Launcher second init command report data sequence */
  52 static const 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 static const uint8_t CMD_STOP[8]      = {   0,  0,  0,  0,  0,  0,  8,  8  };
  56
  57 /** Launcher command report data sequence to move left */
  58 static const uint8_t CMD_LEFT[8]      = {   0,  1,  0,  0,  0,  0,  8,  8  };
  59
  60 /** Launcher command report data sequence to move right */
  61 static const uint8_t CMD_RIGHT[8]     = {   0,  0,  1,  0,  0,  0,  8,  8  };
  62
  63 /** Launcher command report data sequence to move up */
  64 static const uint8_t CMD_UP[8]        = {   0,  0,  0,  1,  0,  0,  8,  8  };
  65
  66 /** Launcher command report data sequence to move down */
  67 static const 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 static const 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 static const 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 static const 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 static const 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 static const 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 static const uint8_t* CmdState;
  86
  87 /** Buffer to hold a command to send to the launcher */
  88 static 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                 DiscardNextReport();
 107
 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(const uint8_t* const Report,
 155                          const uint16_t ReportSize)
 156 {
 157         memcpy(CmdBuffer, Report, 8);
 158         WriteNextReport(CmdBuffer, ReportSize);
 159 }
 160
 161 /** Sends one of the \c CMD_* command constants to the attached device.
 162  *
 163  *  \param[in] Command  One of the command constants.
 164  */
 165 void Send_Command(const uint8_t* const Command)
 166 {
 167         if ((CmdState == CMD_STOP && Command != CMD_STOP) ||
 168                 (CmdState != CMD_STOP && Command == CMD_STOP))
 169         {
 170                 LEDs_ToggleLEDs(LEDS_LED4);
 171
 172                 Send_Command_Report(CMD_INITA, 8);
 173                 Send_Command_Report(CMD_INITB, 8);
 174                 Send_Command_Report(Command, LAUNCHER_CMD_BUFFER_SIZE);
 175         }
 176
 177         CmdState = Command;
 178 }
 179
 180 /** Event handler for the USB_DeviceAttached event. This indicates that a device has been attached to the host, and
 181  *  starts the library USB task to begin the enumeration and USB management process.
 182  */
 183 void EVENT_USB_Host_DeviceAttached(void)
 184 {
 185         LEDs_SetAllLEDs(LEDMASK_USB_ENUMERATING);
 186 }
 187
 188 /** Event handler for the USB_DeviceUnattached event. This indicates that a device has been removed from the host, and
 189  *  stops the library USB task management process.
 190  */
 191 void EVENT_USB_Host_DeviceUnattached(void)
 192 {
 193         LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
 194 }
 195
 196 /** Event handler for the USB_DeviceEnumerationComplete event. This indicates that a device has been successfully
 197  *  enumerated by the host and is now ready to be used by the application.
 198  */
 199 void EVENT_USB_Host_DeviceEnumerationComplete(void)
 200 {
 201         LEDs_SetAllLEDs(LEDMASK_USB_ENUMERATING);
 202
 203         /* Get and process the configuration descriptor data */
 204         if (ProcessConfigurationDescriptor() != SuccessfulConfigRead)
 205         {
 206                 LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 207                 return;
 208         }
 209
 210         /* Set the device configuration to the first configuration (rarely do devices use multiple configurations) */
 211         if (USB_Host_SetDeviceConfiguration(1) != HOST_SENDCONTROL_Successful)
 212         {
 213                 LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 214                 return;
 215         }
 216
 217         LEDs_SetAllLEDs(LEDMASK_USB_READY);
 218 }
 219
 220 /** Event handler for the USB_HostError event. This indicates that a hardware error occurred while in host mode. */
 221 void EVENT_USB_Host_HostError(const uint8_t ErrorCode)
 222 {
 223         USB_Disable();
 224
 225         LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 226         for(;;);
 227 }
 228
 229 /** Event handler for the USB_DeviceEnumerationFailed event. This indicates that a problem occurred while
 230  *  enumerating an attached USB device.
 231  */
 232 void EVENT_USB_Host_DeviceEnumerationFailed(const uint8_t ErrorCode,
 233                                             const uint8_t SubErrorCode)
 234 {
 235         LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 236 }
 237
 238 /** Reads in and discards the next report from the attached device. */
 239 void DiscardNextReport(void)
 240 {
 241         if (USB_HostState != HOST_STATE_Configured)
 242           return;
 243
 244         /* Select and unfreeze HID data IN pipe */
 245         Pipe_SelectPipe(HID_DATA_IN_PIPE);
 246         Pipe_Unfreeze();
 247
 248         /* Check to see if a packet has been received */
 249         if (!(Pipe_IsINReceived()))
 250         {
 251                 /* Refreeze HID data IN pipe */
 252                 Pipe_Freeze();
 253
 254                 return;
 255         }
 256
 257         /* Clear the IN endpoint, ready for next data packet */
 258         Pipe_ClearIN();
 259
 260         /* Refreeze HID data IN pipe */
 261         Pipe_Freeze();
 262 }
 263
 264 /** Writes a report to the attached device.
 265  *
 266  *  \param[in] ReportOUTData  Buffer containing the report to send to the device
 267  *  \param[in] ReportLength  Length of the report to send
 268  */
 269 void WriteNextReport(uint8_t* const ReportOUTData,
 270                      const uint16_t ReportLength)
 271 {
 272         if (USB_HostState != HOST_STATE_Configured)
 273           return;
 274
 275         /* Select and unfreeze HID data OUT pipe */
 276         Pipe_SelectPipe(HID_DATA_OUT_PIPE);
 277
 278         /* Not all HID devices have an OUT endpoint (some require OUT reports to be sent over the
 279          * control endpoint instead) - check to see if the OUT endpoint has been initialized */
 280         if (Pipe_IsConfigured())
 281         {
 282                 Pipe_Unfreeze();
 283
 284                 /* Ensure pipe is ready to be written to before continuing */
 285                 if (!(Pipe_IsOUTReady()))
 286                 {
 287                         /* Refreeze the data OUT pipe */
 288                         Pipe_Freeze();
 289
 290                         return;
 291                 }
 292
 293                 /* Write out HID report data */
 294                 Pipe_Write_Stream_LE(ReportOUTData, ReportLength, NULL);
 295
 296                 /* Clear the OUT endpoint, send last data packet */
 297                 Pipe_ClearOUT();
 298
 299                 /* Refreeze the data OUT pipe */
 300                 Pipe_Freeze();
 301         }
 302         else
 303         {
 304                 /* Class specific request to send a HID report to the device */
 305                 USB_ControlRequest = (USB_Request_Header_t)
 306                         {
 307                                 .bmRequestType = (REQDIR_HOSTTODEVICE | REQTYPE_CLASS | REQREC_INTERFACE),
 308                                 .bRequest      = HID_REQ_SetReport,
 309                                 .wValue        = 0x02,
 310                                 .wIndex        = 0x01,
 311                                 .wLength       = ReportLength,
 312                         };
 313
 314                 /* Select the control pipe for the request transfer */
 315                 Pipe_SelectPipe(PIPE_CONTROLPIPE);
 316
 317                 /* Send the request to the device */
 318                 USB_Host_SendControlRequest(ReportOUTData);
 319         }
 320 }
 321