Projects/MissleLauncher/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 Missle Launcher Demo
  11          Copyright (C) Dave Fletcher, 2009.
  12           fletch at fletchtronics dot net
  13  */
  14
  15 /*
  16   Copyright 2009  Dean Camera (dean [at] fourwalledcubicle [dot] com)
  17   Copyright 2009  Dave Fletcher (fletch [at] fletchtronics [dot] net)
  18
  19   Permission to use, copy, modify, and distribute this software
  20   and its documentation for any purpose and without fee is hereby
  21   granted, provided that the above copyright notice appear in all
  22   copies and that both that the copyright notice and this
  23   permission notice and warranty disclaimer appear in supporting
  24   documentation, and that the name of the author not be used in
  25   advertising or publicity pertaining to distribution of the
  26   software without specific, written prior permission.
  27
  28   The author disclaim all warranties with regard to this
  29   software, including all implied warranties of merchantability
  30   and fitness.  In no event shall the author be liable for any
  31   special, indirect or consequential damages or any damages
  32   whatsoever resulting from loss of use, data or profits, whether
  33   in an action of contract, negligence or other tortious action,
  34   arising out of or in connection with the use or performance of
  35   this software.
  36 */
  37
  38 /*
  39  *  Missle Launcher host. This is a host driver for the popular USB-controller table top toy missle launchers,
  40  *  which can typically aim and fire small foam "missles" from a spring-loaded turret. This project controls the
  41  *  launcher via a joystick and button to aim and fire missles at targets without a PC.
  42  */
  43
  44 /** \file
  45  *
  46  *  Main source file for the MissileLauncher application. This file contains the main tasks of
  47  *  the application and is responsible for the initial application hardware configuration as well
  48  *  as the sending of commands to the attached launcher toy.
  49  */
  50
  51 #include "MissileLauncher.h"
  52
  53 /** Command constants */
  54 uint8_t CMD_INITA[8]     = {  85, 83, 66, 67,  0,  0,  4,  0  };
  55 uint8_t CMD_INITB[8]     = {  85, 83, 66, 67,  0, 64,  2,  0  };
  56 uint8_t CMD_STOP[8]      = {   0,  0,  0,  0,  0,  0,  8,  8  };
  57 uint8_t CMD_LEFT[8]      = {   0,  1,  0,  0,  0,  0,  8,  8  };
  58 uint8_t CMD_RIGHT[8]     = {   0,  0,  1,  0,  0,  0,  8,  8  };
  59 uint8_t CMD_UP[8]        = {   0,  0,  0,  1,  0,  0,  8,  8  };
  60 uint8_t CMD_DOWN[8]      = {   0,  0,  0,  0,  1,  0,  8,  8  };
  61 uint8_t CMD_LEFTUP[8]    = {   0,  1,  0,  1,  0,  0,  8,  8  };
  62 uint8_t CMD_RIGHTUP[8]   = {   0,  0,  1,  1,  0,  0,  8,  8  };
  63 uint8_t CMD_LEFTDOWN[8]  = {   0,  1,  0,  0,  1,  0,  8,  8  };
  64 uint8_t CMD_RIGHTDOWN[8] = {   0,  0,  1,  0,  1,  0,  8,  8  };
  65 uint8_t CMD_FIRE[8]      = {   0,  0,  0,  0,  0,  1,  8,  8  };
  66
  67 uint8_t* CmdState;
  68 uint8_t  CmdBuffer[LAUNCHER_CMD_BUFFER_SIZE];
  69
  70 /** Main program entry point. This routine configures the hardware required by the application, then
  71  *  starts the scheduler to run the application tasks.
  72  */
  73 int main(void)
  74 {
  75         SetupHardware();
  76
  77         LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
  78
  79         CmdState = CMD_STOP;
  80
  81         for (;;)
  82         {
  83                 Read_Joystick_Status();
  84
  85                 HID_Host_Task();
  86                 USB_USBTask();
  87         }
  88 }
  89
  90 /** Configures the board hardware and chip peripherals for the demo's functionality. */
  91 void SetupHardware(void)
  92 {
  93         /* Disable watchdog if enabled by bootloader/fuses */
  94         MCUSR &= ~(1 << WDRF);
  95         wdt_disable();
  96
  97         /* Disable clock division */
  98         clock_prescale_set(clock_div_1);
  99
 100         /* Hardware Initialization */
 101         LEDs_Init();
 102         USB_Init();
 103         Joystick_Init();
 104         Buttons_Init();
 105 }
 106
 107 /** Reads the joystick and button status, sending commands to the launcher as needed. */
 108 void Read_Joystick_Status(void)
 109 {
 110         uint8_t JoyStatus_LCL = Joystick_GetStatus();
 111
 112         if (BUTTONS_BUTTON1 && Buttons_GetStatus())
 113           Send_Command(CMD_FIRE);
 114         else if (JoyStatus_LCL & JOY_UP)
 115           Send_Command(CMD_UP);
 116         else if (JoyStatus_LCL & JOY_DOWN)
 117           Send_Command(CMD_DOWN);
 118         else if (JoyStatus_LCL & JOY_LEFT)
 119           Send_Command(CMD_LEFT);
 120         else if (JoyStatus_LCL & JOY_RIGHT)
 121           Send_Command(CMD_RIGHT);
 122         else if (CmdState != CMD_STOP)
 123           Send_Command(CMD_STOP);
 124 }
 125
 126 /** Lower level send routine, copies report into a larger buffer and sends.
 127  *
 128  *  \param Report  Report data to send.
 129  *  \param ReportSize  Report length in bytes.
 130  */
 131 void Send_Command_Report(uint8_t *Report, uint16_t ReportSize)
 132 {
 133         memcpy(CmdBuffer, Report, 8);
 134         WriteNextReport(CmdBuffer, ReportSize);
 135 }
 136
 137 /** Send one of the CMD_* command constants listed above.
 138  *
 139  *  \param Command  One of the command constants.
 140  */
 141 void Send_Command(uint8_t* Command)
 142 {
 143         if ((CmdState == CMD_STOP && Command != CMD_STOP) ||
 144                 (CmdState != CMD_STOP && Command == CMD_STOP))
 145         {
 146                 LEDs_ChangeLEDs(LEDS_LED4, ~LEDs_GetLEDs() & LEDS_LED4);
 147
 148                 Send_Command_Report(CMD_INITA, 8);
 149                 Send_Command_Report(CMD_INITB, 8);
 150                 Send_Command_Report(Command, LAUNCHER_CMD_BUFFER_SIZE);
 151         }
 152
 153         CmdState = Command;
 154 }
 155
 156 /** Event handler for the USB_DeviceAttached event. This indicates that a device has been attached to the host, and
 157  *  starts the library USB task to begin the enumeration and USB management process.
 158  */
 159 void EVENT_USB_DeviceAttached(void)
 160 {
 161         LEDs_SetAllLEDs(LEDMASK_USB_ENUMERATING);
 162 }
 163
 164 /** Event handler for the USB_DeviceUnattached event. This indicates that a device has been removed from the host, and
 165  *  stops the library USB task management process.
 166  */
 167 void EVENT_USB_DeviceUnattached(void)
 168 {
 169         LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
 170 }
 171
 172 /** Event handler for the USB_DeviceEnumerationComplete event. This indicates that a device has been successfully
 173  *  enumerated by the host and is now ready to be used by the application.
 174  */
 175 void EVENT_USB_DeviceEnumerationComplete(void)
 176 {
 177         LEDs_SetAllLEDs(LEDMASK_USB_READY);
 178 }
 179
 180 /** Event handler for the USB_HostError event. This indicates that a hardware error occurred while in host mode. */
 181 void EVENT_USB_HostError(const uint8_t ErrorCode)
 182 {
 183         USB_ShutDown();
 184
 185         LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 186         for(;;);
 187 }
 188
 189 /** Event handler for the USB_DeviceEnumerationFailed event. This indicates that a problem occurred while
 190  *  enumerating an attached USB device.
 191  */
 192 void EVENT_USB_DeviceEnumerationFailed(const uint8_t ErrorCode, const uint8_t SubErrorCode)
 193 {
 194         LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 195 }
 196
 197 /** Reads in and discards the next report from the attached device. */
 198 void DiscardNextReport(void)
 199 {
 200         /* Select and unfreeze HID data IN pipe */
 201         Pipe_SelectPipe(HID_DATA_IN_PIPE);
 202         Pipe_Unfreeze();
 203
 204         /* Check to see if a packet has been received */
 205         if (!(Pipe_IsINReceived()))
 206         {
 207                 /* Refreeze HID data IN pipe */
 208                 Pipe_Freeze();
 209
 210                 return;
 211         }
 212
 213         /* Clear the IN endpoint, ready for next data packet */
 214         Pipe_ClearIN();
 215
 216         /* Refreeze HID data IN pipe */
 217         Pipe_Freeze();
 218 }
 219
 220 /** Writes a report to the attached device.
 221  *
 222  *  \param ReportOUTData  Buffer containing the report to send to the device
 223  *  \param ReportLength  Length of the report to send
 224  */
 225 void WriteNextReport(uint8_t* ReportOUTData, uint16_t ReportLength)
 226 {
 227         /* Select and unfreeze HID data OUT pipe */
 228         Pipe_SelectPipe(HID_DATA_OUT_PIPE);
 229
 230         /* Not all HID devices have an OUT endpoint (some require OUT reports to be sent over the
 231          * control endpoint instead) - check to see if the OUT endpoint has been initialized */
 232         if (Pipe_IsConfigured())
 233         {
 234                 Pipe_Unfreeze();
 235
 236                 /* Ensure pipe is ready to be written to before continuing */
 237                 if (!(Pipe_IsOUTReady()))
 238                 {
 239                         /* Refreeze the data OUT pipe */
 240                         Pipe_Freeze();
 241
 242                         return;
 243                 }
 244
 245                 /* Write out HID report data */
 246                 Pipe_Write_Stream_LE(ReportOUTData, ReportLength);
 247
 248                 /* Clear the OUT endpoint, send last data packet */
 249                 Pipe_ClearOUT();
 250
 251                 /* Refreeze the data OUT pipe */
 252                 Pipe_Freeze();
 253         }
 254         else
 255         {
 256                 /* Class specific request to send a HID report to the device */
 257                 USB_ControlRequest = (USB_Request_Header_t)
 258                         {
 259                                 .bmRequestType = 0x21,
 260                                 .bRequest      = 0x09,
 261                                 .wValue        = 0x02,
 262                                 .wIndex        = 0x01,
 263                                 .wLength       = ReportLength,
 264                         };
 265
 266                 /* Select the control pipe for the request transfer */
 267                 Pipe_SelectPipe(PIPE_CONTROLPIPE);
 268
 269                 /* Send the request to the device */
 270                 USB_Host_SendControlRequest(ReportOUTData);
 271         }
 272 }
 273
 274 /** Task to set the configuration of the attached device after it has been enumerated, and to read and process
 275  *  HID reports from the device and to send reports if desired.
 276  */
 277 void HID_Host_Task(void)
 278 {
 279         uint8_t ErrorCode;
 280
 281         /* Switch to determine what user-application handled host state the host state machine is in */
 282         switch (USB_HostState)
 283         {
 284                 case HOST_STATE_Addressed:
 285                         /* Get and process the configuration descriptor data */
 286                         if ((ErrorCode = ProcessConfigurationDescriptor()) != SuccessfulConfigRead)
 287                         {
 288                                 /* Indicate error status */
 289                                 LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 290
 291                                 /* Wait until USB device disconnected */
 292                                 while (USB_IsConnected);
 293                                 break;
 294                         }
 295
 296                         /* Set the device configuration to the first configuration (rarely do devices use multiple configurations) */
 297                         if ((ErrorCode = USB_Host_SetDeviceConfiguration(1)) != HOST_SENDCONTROL_Successful)
 298                         {
 299                                 /* Indicate error status */
 300                                 LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 301
 302                                 /* Wait until USB device disconnected */
 303                                 while (USB_IsConnected);
 304                                 break;
 305                         }
 306
 307                         USB_HostState = HOST_STATE_Configured;
 308                         break;
 309                 case HOST_STATE_Configured:
 310                         USB_HostState = HOST_STATE_Ready;
 311                         break;
 312                 case HOST_STATE_Ready:
 313                         DiscardNextReport();
 314
 315                         break;
 316         }
 317 }