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
 141         if (BUTTONS_BUTTON1 && Buttons_GetStatus())
 142           Send_Command(CMD_FIRE);
 143         else if (JoyStatus_LCL & JOY_UP)
 144           Send_Command(CMD_UP);
 145         else if (JoyStatus_LCL & JOY_DOWN)
 146           Send_Command(CMD_DOWN);
 147         else if (JoyStatus_LCL & JOY_LEFT)
 148           Send_Command(CMD_LEFT);
 149         else if (JoyStatus_LCL & JOY_RIGHT)
 150           Send_Command(CMD_RIGHT);
 151         else if (CmdState != CMD_STOP)
 152           Send_Command(CMD_STOP);
 153 }
 154
 155 /** Lower level send routine, copies report into a larger buffer and sends.
 156  *
 157  *  \param Report  Report data to send.
 158  *  \param ReportSize  Report length in bytes.
 159  */
 160 void Send_Command_Report(uint8_t *Report, uint16_t ReportSize)
 161 {
 162         memcpy(CmdBuffer, Report, 8);
 163         WriteNextReport(CmdBuffer, ReportSize);
 164 }
 165
 166 /** Send one of the CMD_* command constants listed above.
 167  *
 168  *  \param Command  One of the command constants.
 169  */
 170 void Send_Command(uint8_t* Command)
 171 {
 172         if ((CmdState == CMD_STOP && Command != CMD_STOP) ||
 173                 (CmdState != CMD_STOP && Command == CMD_STOP))
 174         {
 175                 LEDs_ChangeLEDs(LEDS_LED4, ~LEDs_GetLEDs() & LEDS_LED4);
 176
 177                 Send_Command_Report(CMD_INITA, 8);
 178                 Send_Command_Report(CMD_INITB, 8);
 179                 Send_Command_Report(Command, LAUNCHER_CMD_BUFFER_SIZE);
 180         }
 181
 182         CmdState = Command;
 183 }
 184
 185 /** Event handler for the USB_DeviceAttached event. This indicates that a device has been attached to the host, and
 186  *  starts the library USB task to begin the enumeration and USB management process.
 187  */
 188 void EVENT_USB_DeviceAttached(void)
 189 {
 190         LEDs_SetAllLEDs(LEDMASK_USB_ENUMERATING);
 191 }
 192
 193 /** Event handler for the USB_DeviceUnattached event. This indicates that a device has been removed from the host, and
 194  *  stops the library USB task management process.
 195  */
 196 void EVENT_USB_DeviceUnattached(void)
 197 {
 198         LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
 199 }
 200
 201 /** Event handler for the USB_DeviceEnumerationComplete event. This indicates that a device has been successfully
 202  *  enumerated by the host and is now ready to be used by the application.
 203  */
 204 void EVENT_USB_DeviceEnumerationComplete(void)
 205 {
 206         LEDs_SetAllLEDs(LEDMASK_USB_READY);
 207 }
 208
 209 /** Event handler for the USB_HostError event. This indicates that a hardware error occurred while in host mode. */
 210 void EVENT_USB_HostError(const uint8_t ErrorCode)
 211 {
 212         USB_ShutDown();
 213
 214         LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 215         for(;;);
 216 }
 217
 218 /** Event handler for the USB_DeviceEnumerationFailed event. This indicates that a problem occurred while
 219  *  enumerating an attached USB device.
 220  */
 221 void EVENT_USB_DeviceEnumerationFailed(const uint8_t ErrorCode, const uint8_t SubErrorCode)
 222 {
 223         LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 224 }
 225
 226 /** Reads in and discards the next report from the attached device. */
 227 void DiscardNextReport(void)
 228 {
 229         /* Select and unfreeze HID data IN pipe */
 230         Pipe_SelectPipe(HID_DATA_IN_PIPE);
 231         Pipe_Unfreeze();
 232
 233         /* Check to see if a packet has been received */
 234         if (!(Pipe_IsINReceived()))
 235         {
 236                 /* Refreeze HID data IN pipe */
 237                 Pipe_Freeze();
 238
 239                 return;
 240         }
 241
 242         /* Clear the IN endpoint, ready for next data packet */
 243         Pipe_ClearIN();
 244
 245         /* Refreeze HID data IN pipe */
 246         Pipe_Freeze();
 247 }
 248
 249 /** Writes a report to the attached device.
 250  *
 251  *  \param ReportOUTData  Buffer containing the report to send to the device
 252  *  \param ReportLength  Length of the report to send
 253  */
 254 void WriteNextReport(uint8_t* ReportOUTData, uint16_t ReportLength)
 255 {
 256         /* Select and unfreeze HID data OUT pipe */
 257         Pipe_SelectPipe(HID_DATA_OUT_PIPE);
 258
 259         /* Not all HID devices have an OUT endpoint (some require OUT reports to be sent over the
 260          * control endpoint instead) - check to see if the OUT endpoint has been initialized */
 261         if (Pipe_IsConfigured())
 262         {
 263                 Pipe_Unfreeze();
 264
 265                 /* Ensure pipe is ready to be written to before continuing */
 266                 if (!(Pipe_IsOUTReady()))
 267                 {
 268                         /* Refreeze the data OUT pipe */
 269                         Pipe_Freeze();
 270
 271                         return;
 272                 }
 273
 274                 /* Write out HID report data */
 275                 Pipe_Write_Stream_LE(ReportOUTData, ReportLength);
 276
 277                 /* Clear the OUT endpoint, send last data packet */
 278                 Pipe_ClearOUT();
 279
 280                 /* Refreeze the data OUT pipe */
 281                 Pipe_Freeze();
 282         }
 283         else
 284         {
 285                 /* Class specific request to send a HID report to the device */
 286                 USB_ControlRequest = (USB_Request_Header_t)
 287                         {
 288                                 .bmRequestType = 0x21,
 289                                 .bRequest      = 0x09,
 290                                 .wValue        = 0x02,
 291                                 .wIndex        = 0x01,
 292                                 .wLength       = ReportLength,
 293                         };
 294
 295                 /* Select the control pipe for the request transfer */
 296                 Pipe_SelectPipe(PIPE_CONTROLPIPE);
 297
 298                 /* Send the request to the device */
 299                 USB_Host_SendControlRequest(ReportOUTData);
 300         }
 301 }
 302
 303 /** Task to set the configuration of the attached device after it has been enumerated, and to read and process
 304  *  HID reports from the device and to send reports if desired.
 305  */
 306 void HID_Host_Task(void)
 307 {
 308         uint8_t ErrorCode;
 309
 310         /* Switch to determine what user-application handled host state the host state machine is in */
 311         switch (USB_HostState)
 312         {
 313                 case HOST_STATE_Addressed:
 314                         /* Get and process the configuration descriptor data */
 315                         if ((ErrorCode = ProcessConfigurationDescriptor()) != SuccessfulConfigRead)
 316                         {
 317                                 /* Indicate error status */
 318                                 LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 319
 320                                 /* Wait until USB device disconnected */
 321                                 while (USB_IsConnected);
 322                                 break;
 323                         }
 324
 325                         /* Set the device configuration to the first configuration (rarely do devices use multiple configurations) */
 326                         if ((ErrorCode = USB_Host_SetDeviceConfiguration(1)) != HOST_SENDCONTROL_Successful)
 327                         {
 328                                 /* Indicate error status */
 329                                 LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 330
 331                                 /* Wait until USB device disconnected */
 332                                 while (USB_IsConnected);
 333                                 break;
 334                         }
 335
 336                         USB_HostState = HOST_STATE_Configured;
 337                         break;
 338                 case HOST_STATE_Configured:
 339                         USB_HostState = HOST_STATE_Ready;
 340                         break;
 341                 case HOST_STATE_Ready:
 342                         DiscardNextReport();
 343
 344                         break;
 345         }
 346 }