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,
 155                          const uint16_t ReportSize)
 156 {
 157         memcpy(CmdBuffer, Report, 8);
 158         WriteNextReport(CmdBuffer, ReportSize);
 159 }
 160
 161 /** Sends one of the CMD_* command constants to the attached device.
 162  *
 163  *  \param[in] Command  One of the command constants.
 164  */
 165 void Send_Command(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_READY);
 202 }
 203
 204 /** Event handler for the USB_HostError event. This indicates that a hardware error occurred while in host mode. */
 205 void EVENT_USB_Host_HostError(const uint8_t ErrorCode)
 206 {
 207         USB_ShutDown();
 208
 209         LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 210         for(;;);
 211 }
 212
 213 /** Event handler for the USB_DeviceEnumerationFailed event. This indicates that a problem occurred while
 214  *  enumerating an attached USB device.
 215  */
 216 void EVENT_USB_Host_DeviceEnumerationFailed(const uint8_t ErrorCode,
 217                                             const uint8_t SubErrorCode)
 218 {
 219         LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 220 }
 221
 222 /** Reads in and discards the next report from the attached device. */
 223 void DiscardNextReport(void)
 224 {
 225         /* Select and unfreeze HID data IN pipe */
 226         Pipe_SelectPipe(HID_DATA_IN_PIPE);
 227         Pipe_Unfreeze();
 228
 229         /* Check to see if a packet has been received */
 230         if (!(Pipe_IsINReceived()))
 231         {
 232                 /* Refreeze HID data IN pipe */
 233                 Pipe_Freeze();
 234
 235                 return;
 236         }
 237
 238         /* Clear the IN endpoint, ready for next data packet */
 239         Pipe_ClearIN();
 240
 241         /* Refreeze HID data IN pipe */
 242         Pipe_Freeze();
 243 }
 244
 245 /** Writes a report to the attached device.
 246  *
 247  *  \param[in] ReportOUTData  Buffer containing the report to send to the device
 248  *  \param[in] ReportLength  Length of the report to send
 249  */
 250 void WriteNextReport(uint8_t* const ReportOUTData,
 251                      const uint16_t ReportLength)
 252 {
 253         /* Select and unfreeze HID data OUT pipe */
 254         Pipe_SelectPipe(HID_DATA_OUT_PIPE);
 255
 256         /* Not all HID devices have an OUT endpoint (some require OUT reports to be sent over the
 257          * control endpoint instead) - check to see if the OUT endpoint has been initialized */
 258         if (Pipe_IsConfigured())
 259         {
 260                 Pipe_Unfreeze();
 261
 262                 /* Ensure pipe is ready to be written to before continuing */
 263                 if (!(Pipe_IsOUTReady()))
 264                 {
 265                         /* Refreeze the data OUT pipe */
 266                         Pipe_Freeze();
 267
 268                         return;
 269                 }
 270
 271                 /* Write out HID report data */
 272                 Pipe_Write_Stream_LE(ReportOUTData, ReportLength);
 273
 274                 /* Clear the OUT endpoint, send last data packet */
 275                 Pipe_ClearOUT();
 276
 277                 /* Refreeze the data OUT pipe */
 278                 Pipe_Freeze();
 279         }
 280         else
 281         {
 282                 /* Class specific request to send a HID report to the device */
 283                 USB_ControlRequest = (USB_Request_Header_t)
 284                         {
 285                                 .bmRequestType = (REQDIR_HOSTTODEVICE | REQTYPE_CLASS | REQREC_INTERFACE),
 286                                 .bRequest      = REQ_SetReport,
 287                                 .wValue        = 0x02,
 288                                 .wIndex        = 0x01,
 289                                 .wLength       = ReportLength,
 290                         };
 291
 292                 /* Select the control pipe for the request transfer */
 293                 Pipe_SelectPipe(PIPE_CONTROLPIPE);
 294
 295                 /* Send the request to the device */
 296                 USB_Host_SendControlRequest(ReportOUTData);
 297         }
 298 }
 299
 300 /** Task to set the configuration of the attached device after it has been enumerated, and to read and process
 301  *  HID reports from the device and to send reports if desired.
 302  */
 303 void HID_Host_Task(void)
 304 {
 305         uint8_t ErrorCode;
 306
 307         /* Switch to determine what user-application handled host state the host state machine is in */
 308         switch (USB_HostState)
 309         {
 310                 case HOST_STATE_Addressed:
 311                         /* Get and process the configuration descriptor data */
 312                         if ((ErrorCode = ProcessConfigurationDescriptor()) != SuccessfulConfigRead)
 313                         {
 314                                 /* Indicate error status */
 315                                 LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 316
 317                                 /* Wait until USB device disconnected */
 318                                 USB_HostState = HOST_STATE_WaitForDeviceRemoval;
 319                                 break;
 320                         }
 321
 322                         /* Set the device configuration to the first configuration (rarely do devices use multiple configurations) */
 323                         if ((ErrorCode = USB_Host_SetDeviceConfiguration(1)) != HOST_SENDCONTROL_Successful)
 324                         {
 325                                 /* Indicate error status */
 326                                 LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 327
 328                                 /* Wait until USB device disconnected */
 329                                 USB_HostState = HOST_STATE_WaitForDeviceRemoval;
 330                                 break;
 331                         }
 332
 333                         USB_HostState = HOST_STATE_Configured;
 334                         break;
 335                 case HOST_STATE_Configured:
 336                         DiscardNextReport();
 337
 338                         break;
 339         }
 340 }