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 2020  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 disclaims 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         GlobalInterruptEnable();
 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 #if (ARCH == ARCH_AVR8)
 116         /* Disable watchdog if enabled by bootloader/fuses */
 117         MCUSR &= ~(1 << WDRF);
 118         wdt_disable();
 119
 120         /* Disable clock division */
 121         clock_prescale_set(clock_div_1);
 122 #endif
 123
 124         /* Hardware Initialization */
 125         LEDs_Init();
 126         USB_Init();
 127         Joystick_Init();
 128         Buttons_Init();
 129 }
 130
 131 /** Reads the joystick and button status, sending commands to the launcher as needed. */
 132 void Read_Joystick_Status(void)
 133 {
 134         uint8_t JoyStatus_LCL = Joystick_GetStatus();
 135         uint8_t Buttons_LCL   = Buttons_GetStatus();
 136
 137         if (Buttons_LCL & BUTTONS_BUTTON1)
 138           Send_Command(CMD_FIRE);
 139         else if (JoyStatus_LCL & JOY_UP)
 140           Send_Command(CMD_UP);
 141         else if (JoyStatus_LCL & JOY_DOWN)
 142           Send_Command(CMD_DOWN);
 143         else if (JoyStatus_LCL & JOY_LEFT)
 144           Send_Command(CMD_LEFT);
 145         else if (JoyStatus_LCL & JOY_RIGHT)
 146           Send_Command(CMD_RIGHT);
 147         else if (CmdState != CMD_STOP)
 148           Send_Command(CMD_STOP);
 149 }
 150
 151 /** Lower level send routine, copies report into a larger buffer and sends.
 152  *
 153  *  \param[in] Report  Report data to send.
 154  *  \param[in] ReportSize  Report length in bytes.
 155  */
 156 void Send_Command_Report(const uint8_t* const Report,
 157                          const uint16_t ReportSize)
 158 {
 159         memcpy(CmdBuffer, Report, 8);
 160         WriteNextReport(CmdBuffer, ReportSize);
 161 }
 162
 163 /** Sends one of the \c CMD_* command constants to the attached device.
 164  *
 165  *  \param[in] Command  One of the command constants.
 166  */
 167 void Send_Command(const uint8_t* const Command)
 168 {
 169         if ((CmdState == CMD_STOP && Command != CMD_STOP) ||
 170                 (CmdState != CMD_STOP && Command == CMD_STOP))
 171         {
 172                 LEDs_ToggleLEDs(LEDS_LED4);
 173
 174                 Send_Command_Report(CMD_INITA, 8);
 175                 Send_Command_Report(CMD_INITB, 8);
 176                 Send_Command_Report(Command, LAUNCHER_CMD_BUFFER_SIZE);
 177         }
 178
 179         CmdState = Command;
 180 }
 181
 182 /** Event handler for the USB_DeviceAttached event. This indicates that a device has been attached to the host, and
 183  *  starts the library USB task to begin the enumeration and USB management process.
 184  */
 185 void EVENT_USB_Host_DeviceAttached(void)
 186 {
 187         LEDs_SetAllLEDs(LEDMASK_USB_ENUMERATING);
 188 }
 189
 190 /** Event handler for the USB_DeviceUnattached event. This indicates that a device has been removed from the host, and
 191  *  stops the library USB task management process.
 192  */
 193 void EVENT_USB_Host_DeviceUnattached(void)
 194 {
 195         LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
 196 }
 197
 198 /** Event handler for the USB_DeviceEnumerationComplete event. This indicates that a device has been successfully
 199  *  enumerated by the host and is now ready to be used by the application.
 200  */
 201 void EVENT_USB_Host_DeviceEnumerationComplete(void)
 202 {
 203         LEDs_SetAllLEDs(LEDMASK_USB_ENUMERATING);
 204
 205         /* Get and process the configuration descriptor data */
 206         if (ProcessConfigurationDescriptor() != SuccessfulConfigRead)
 207         {
 208                 LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 209                 return;
 210         }
 211
 212         /* Set the device configuration to the first configuration (rarely do devices use multiple configurations) */
 213         if (USB_Host_SetDeviceConfiguration(1) != HOST_SENDCONTROL_Successful)
 214         {
 215                 LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 216                 return;
 217         }
 218
 219         LEDs_SetAllLEDs(LEDMASK_USB_READY);
 220 }
 221
 222 /** Event handler for the USB_HostError event. This indicates that a hardware error occurred while in host mode. */
 223 void EVENT_USB_Host_HostError(const uint8_t ErrorCode)
 224 {
 225         USB_Disable();
 226
 227         LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 228         for(;;);
 229 }
 230
 231 /** Event handler for the USB_DeviceEnumerationFailed event. This indicates that a problem occurred while
 232  *  enumerating an attached USB device.
 233  */
 234 void EVENT_USB_Host_DeviceEnumerationFailed(const uint8_t ErrorCode,
 235                                             const uint8_t SubErrorCode)
 236 {
 237         LEDs_SetAllLEDs(LEDMASK_USB_ERROR);
 238 }
 239
 240 /** Reads in and discards the next report from the attached device. */
 241 void DiscardNextReport(void)
 242 {
 243         if (USB_HostState != HOST_STATE_Configured)
 244           return;
 245
 246         /* Select and unfreeze HID data IN pipe */
 247         Pipe_SelectPipe(HID_DATA_IN_PIPE);
 248         Pipe_Unfreeze();
 249
 250         /* Check to see if a packet has been received */
 251         if (!(Pipe_IsINReceived()))
 252         {
 253                 /* Refreeze HID data IN pipe */
 254                 Pipe_Freeze();
 255
 256                 return;
 257         }
 258
 259         /* Clear the IN endpoint, ready for next data packet */
 260         Pipe_ClearIN();
 261
 262         /* Refreeze HID data IN pipe */
 263         Pipe_Freeze();
 264 }
 265
 266 /** Writes a report to the attached device.
 267  *
 268  *  \param[in] ReportOUTData  Buffer containing the report to send to the device
 269  *  \param[in] ReportLength  Length of the report to send
 270  */
 271 void WriteNextReport(uint8_t* const ReportOUTData,
 272                      const uint16_t ReportLength)
 273 {
 274         if (USB_HostState != HOST_STATE_Configured)
 275           return;
 276
 277         /* Select and unfreeze HID data OUT pipe */
 278         Pipe_SelectPipe(HID_DATA_OUT_PIPE);
 279
 280         /* Not all HID devices have an OUT endpoint (some require OUT reports to be sent over the
 281          * control endpoint instead) - check to see if the OUT endpoint has been initialized */
 282         if (Pipe_IsConfigured())
 283         {
 284                 Pipe_Unfreeze();
 285
 286                 /* Ensure pipe is ready to be written to before continuing */
 287                 if (!(Pipe_IsOUTReady()))
 288                 {
 289                         /* Refreeze the data OUT pipe */
 290                         Pipe_Freeze();
 291
 292                         return;
 293                 }
 294
 295                 /* Write out HID report data */
 296                 Pipe_Write_Stream_LE(ReportOUTData, ReportLength, NULL);
 297
 298                 /* Clear the OUT endpoint, send last data packet */
 299                 Pipe_ClearOUT();
 300
 301                 /* Refreeze the data OUT pipe */
 302                 Pipe_Freeze();
 303         }
 304         else
 305         {
 306                 /* Class specific request to send a HID report to the device */
 307                 USB_ControlRequest = (USB_Request_Header_t)
 308                         {
 309                                 .bmRequestType = (REQDIR_HOSTTODEVICE | REQTYPE_CLASS | REQREC_INTERFACE),
 310                                 .bRequest      = HID_REQ_SetReport,
 311                                 .wValue        = 0x02,
 312                                 .wIndex        = 0x01,
 313                                 .wLength       = ReportLength,
 314                         };
 315
 316                 /* Select the control pipe for the request transfer */
 317                 Pipe_SelectPipe(PIPE_CONTROLPIPE);
 318
 319                 /* Send the request to the device */
 320                 USB_Host_SendControlRequest(ReportOUTData);
 321         }
 322 }
 323