Christian Burri / Mbed 2 deprecated autonomous Robot Android

This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf

Dependencies:   mbed

Fork of autonomous Robot Android by Christian Burri

Android/AndroidAccessory/USBHost/USBHost.h@6:48eeb41188dd, 2013-03-23 (annotated)

Committer:
chrigelburri
Date:
Sat Mar 23 13:52:48 2013 +0000
Revision:
6:48eeb41188dd
mit link und rechten Radradius

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chrigelburri 6:48eeb41188dd 1
chrigelburri 6:48eeb41188dd 2 /*
chrigelburri 6:48eeb41188dd 3 Copyright (c) 2010 Peter Barrett
chrigelburri 6:48eeb41188dd 4
chrigelburri 6:48eeb41188dd 5 Permission is hereby granted, free of charge, to any person obtaining a copy
chrigelburri 6:48eeb41188dd 6 of this software and associated documentation files (the "Software"), to deal
chrigelburri 6:48eeb41188dd 7 in the Software without restriction, including without limitation the rights
chrigelburri 6:48eeb41188dd 8 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
chrigelburri 6:48eeb41188dd 9 copies of the Software, and to permit persons to whom the Software is
chrigelburri 6:48eeb41188dd 10 furnished to do so, subject to the following conditions:
chrigelburri 6:48eeb41188dd 11
chrigelburri 6:48eeb41188dd 12 The above copyright notice and this permission notice shall be included in
chrigelburri 6:48eeb41188dd 13 all copies or substantial portions of the Software.
chrigelburri 6:48eeb41188dd 14
chrigelburri 6:48eeb41188dd 15 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
chrigelburri 6:48eeb41188dd 16 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
chrigelburri 6:48eeb41188dd 17 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
chrigelburri 6:48eeb41188dd 18 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
chrigelburri 6:48eeb41188dd 19 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
chrigelburri 6:48eeb41188dd 20 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
chrigelburri 6:48eeb41188dd 21 THE SOFTWARE.
chrigelburri 6:48eeb41188dd 22 */
chrigelburri 6:48eeb41188dd 23
chrigelburri 6:48eeb41188dd 24
chrigelburri 6:48eeb41188dd 25 #ifndef USBHOST_H
chrigelburri 6:48eeb41188dd 26 #define USBHOST_H
chrigelburri 6:48eeb41188dd 27
chrigelburri 6:48eeb41188dd 28 //log mode on off
chrigelburri 6:48eeb41188dd 29 //#define USBHOST_LOG
chrigelburri 6:48eeb41188dd 30
chrigelburri 6:48eeb41188dd 31
chrigelburri 6:48eeb41188dd 32 #ifndef u8
chrigelburri 6:48eeb41188dd 33 typedef unsigned char u8;
chrigelburri 6:48eeb41188dd 34 typedef unsigned short u16;
chrigelburri 6:48eeb41188dd 35 typedef unsigned long u32;
chrigelburri 6:48eeb41188dd 36
chrigelburri 6:48eeb41188dd 37 typedef char s8;
chrigelburri 6:48eeb41188dd 38 typedef short s16;
chrigelburri 6:48eeb41188dd 39 typedef char s32;
chrigelburri 6:48eeb41188dd 40 #endif
chrigelburri 6:48eeb41188dd 41
chrigelburri 6:48eeb41188dd 42 #define ENDPOINT_CONTROL 0
chrigelburri 6:48eeb41188dd 43 #define ENDPOINT_ISOCRONOUS 1
chrigelburri 6:48eeb41188dd 44 #define ENDPOINT_BULK 2
chrigelburri 6:48eeb41188dd 45 #define ENDPOINT_INTERRUPT 3
chrigelburri 6:48eeb41188dd 46
chrigelburri 6:48eeb41188dd 47 #define DESCRIPTOR_TYPE_DEVICE 1
chrigelburri 6:48eeb41188dd 48 #define DESCRIPTOR_TYPE_CONFIGURATION 2
chrigelburri 6:48eeb41188dd 49 #define DESCRIPTOR_TYPE_STRING 3
chrigelburri 6:48eeb41188dd 50 #define DESCRIPTOR_TYPE_INTERFACE 4
chrigelburri 6:48eeb41188dd 51 #define DESCRIPTOR_TYPE_ENDPOINT 5
chrigelburri 6:48eeb41188dd 52
chrigelburri 6:48eeb41188dd 53 #define DESCRIPTOR_TYPE_HID 0x21
chrigelburri 6:48eeb41188dd 54 #define DESCRIPTOR_TYPE_REPORT 0x22
chrigelburri 6:48eeb41188dd 55 #define DESCRIPTOR_TYPE_PHYSICAL 0x23
chrigelburri 6:48eeb41188dd 56 #define DESCRIPTOR_TYPE_HUB 0x29
chrigelburri 6:48eeb41188dd 57
chrigelburri 6:48eeb41188dd 58 enum USB_CLASS_CODE
chrigelburri 6:48eeb41188dd 59 {
chrigelburri 6:48eeb41188dd 60 CLASS_DEVICE,
chrigelburri 6:48eeb41188dd 61 CLASS_AUDIO,
chrigelburri 6:48eeb41188dd 62 CLASS_COMM_AND_CDC_CONTROL,
chrigelburri 6:48eeb41188dd 63 CLASS_HID,
chrigelburri 6:48eeb41188dd 64 CLASS_PHYSICAL = 0x05,
chrigelburri 6:48eeb41188dd 65 CLASS_STILL_IMAGING,
chrigelburri 6:48eeb41188dd 66 CLASS_PRINTER,
chrigelburri 6:48eeb41188dd 67 CLASS_MASS_STORAGE,
chrigelburri 6:48eeb41188dd 68 CLASS_HUB,
chrigelburri 6:48eeb41188dd 69 CLASS_CDC_DATA,
chrigelburri 6:48eeb41188dd 70 CLASS_SMART_CARD,
chrigelburri 6:48eeb41188dd 71 CLASS_CONTENT_SECURITY = 0x0D,
chrigelburri 6:48eeb41188dd 72 CLASS_VIDEO = 0x0E,
chrigelburri 6:48eeb41188dd 73 CLASS_DIAGNOSTIC_DEVICE = 0xDC,
chrigelburri 6:48eeb41188dd 74 CLASS_WIRELESS_CONTROLLER = 0xE0,
chrigelburri 6:48eeb41188dd 75 CLASS_MISCELLANEOUS = 0xEF,
chrigelburri 6:48eeb41188dd 76 CLASS_APP_SPECIFIC = 0xFE,
chrigelburri 6:48eeb41188dd 77 CLASS_VENDOR_SPECIFIC = 0xFF
chrigelburri 6:48eeb41188dd 78 };
chrigelburri 6:48eeb41188dd 79
chrigelburri 6:48eeb41188dd 80 #define DEVICE_TO_HOST 0x80
chrigelburri 6:48eeb41188dd 81 #define HOST_TO_DEVICE 0x00
chrigelburri 6:48eeb41188dd 82 #define REQUEST_TYPE_STANDARD 0x00
chrigelburri 6:48eeb41188dd 83 #define REQUEST_TYPE_CLASS 0x20
chrigelburri 6:48eeb41188dd 84 #define REQUEST_TYPE_VENDOR 0x40
chrigelburri 6:48eeb41188dd 85 #define RECIPIENT_DEVICE 0x00
chrigelburri 6:48eeb41188dd 86 #define RECIPIENT_INTERFACE 0x01
chrigelburri 6:48eeb41188dd 87 #define RECIPIENT_ENDPOINT 0x02
chrigelburri 6:48eeb41188dd 88 #define RECIPIENT_OTHER 0x03
chrigelburri 6:48eeb41188dd 89
chrigelburri 6:48eeb41188dd 90 #define GET_STATUS 0
chrigelburri 6:48eeb41188dd 91 #define CLEAR_FEATURE 1
chrigelburri 6:48eeb41188dd 92 #define SET_FEATURE 3
chrigelburri 6:48eeb41188dd 93 #define SET_ADDRESS 5
chrigelburri 6:48eeb41188dd 94 #define GET_DESCRIPTOR 6
chrigelburri 6:48eeb41188dd 95 #define SET_DESCRIPTOR 7
chrigelburri 6:48eeb41188dd 96 #define GET_CONFIGURATION 8
chrigelburri 6:48eeb41188dd 97 #define SET_CONFIGURATION 9
chrigelburri 6:48eeb41188dd 98 #define GET_INTERFACE 10
chrigelburri 6:48eeb41188dd 99 #define SET_INTERFACE 11
chrigelburri 6:48eeb41188dd 100 #define SYNCH_FRAME 11
chrigelburri 6:48eeb41188dd 101
chrigelburri 6:48eeb41188dd 102 /* HID Request Codes */
chrigelburri 6:48eeb41188dd 103 #define HID_REQUEST_GET_REPORT 0x01
chrigelburri 6:48eeb41188dd 104 #define HID_REQUEST_GET_IDLE 0x02
chrigelburri 6:48eeb41188dd 105 #define HID_REQUEST_GET_PROTOCOL 0x03
chrigelburri 6:48eeb41188dd 106 #define HID_REQUEST_SET_REPORT 0x09
chrigelburri 6:48eeb41188dd 107 #define HID_REQUEST_SET_IDLE 0x0A
chrigelburri 6:48eeb41188dd 108 #define HID_REQUEST_SET_PROTOCOL 0x0B
chrigelburri 6:48eeb41188dd 109
chrigelburri 6:48eeb41188dd 110 /* HID Report Types */
chrigelburri 6:48eeb41188dd 111 #define HID_REPORT_INPUT 0x01
chrigelburri 6:48eeb41188dd 112 #define HID_REPORT_OUTPUT 0x02
chrigelburri 6:48eeb41188dd 113 #define HID_REPORT_FEATURE 0x03
chrigelburri 6:48eeb41188dd 114
chrigelburri 6:48eeb41188dd 115
chrigelburri 6:48eeb41188dd 116 // -5 is nak
chrigelburri 6:48eeb41188dd 117 /*
chrigelburri 6:48eeb41188dd 118 0010 ACK Handshake
chrigelburri 6:48eeb41188dd 119 1010 NAK Handshake
chrigelburri 6:48eeb41188dd 120 1110 STALL Handshake
chrigelburri 6:48eeb41188dd 121 0110 NYET (No Response Yet)
chrigelburri 6:48eeb41188dd 122 */
chrigelburri 6:48eeb41188dd 123
chrigelburri 6:48eeb41188dd 124 #define IO_PENDING -100
chrigelburri 6:48eeb41188dd 125 #define ERR_ENDPOINT_NONE_LEFT -101
chrigelburri 6:48eeb41188dd 126 #define ERR_ENDPOINT_NOT_FOUND -102
chrigelburri 6:48eeb41188dd 127 #define ERR_DEVICE_NOT_FOUND -103
chrigelburri 6:48eeb41188dd 128 #define ERR_DEVICE_NONE_LEFT -104
chrigelburri 6:48eeb41188dd 129 #define ERR_HUB_INIT_FAILED -105
chrigelburri 6:48eeb41188dd 130 #define ERR_INTERFACE_NOT_FOUND -106
chrigelburri 6:48eeb41188dd 131
chrigelburri 6:48eeb41188dd 132 typedef struct
chrigelburri 6:48eeb41188dd 133 {
chrigelburri 6:48eeb41188dd 134 u8 bLength;
chrigelburri 6:48eeb41188dd 135 u8 bDescriptorType;
chrigelburri 6:48eeb41188dd 136 u16 bcdUSB;
chrigelburri 6:48eeb41188dd 137 u8 bDeviceClass;
chrigelburri 6:48eeb41188dd 138 u8 bDeviceSubClass;
chrigelburri 6:48eeb41188dd 139 u8 bDeviceProtocol;
chrigelburri 6:48eeb41188dd 140 u8 bMaxPacketSize;
chrigelburri 6:48eeb41188dd 141 u16 idVendor;
chrigelburri 6:48eeb41188dd 142 u16 idProduct;
chrigelburri 6:48eeb41188dd 143 u16 bcdDevice; // version
chrigelburri 6:48eeb41188dd 144 u8 iManufacturer;
chrigelburri 6:48eeb41188dd 145 u8 iProduct;
chrigelburri 6:48eeb41188dd 146 u8 iSerialNumber;
chrigelburri 6:48eeb41188dd 147 u8 bNumConfigurations;
chrigelburri 6:48eeb41188dd 148 } DeviceDescriptor; // 16 bytes
chrigelburri 6:48eeb41188dd 149
chrigelburri 6:48eeb41188dd 150 typedef struct
chrigelburri 6:48eeb41188dd 151 {
chrigelburri 6:48eeb41188dd 152 u8 bLength;
chrigelburri 6:48eeb41188dd 153 u8 bDescriptorType;
chrigelburri 6:48eeb41188dd 154 u16 wTotalLength;
chrigelburri 6:48eeb41188dd 155 u8 bNumInterfaces;
chrigelburri 6:48eeb41188dd 156 u8 bConfigurationValue; // Value to use as an argument to select this configuration
chrigelburri 6:48eeb41188dd 157 u8 iConfiguration; // Index of String Descriptor describing this configuration
chrigelburri 6:48eeb41188dd 158 u8 bmAttributes; // Bitmap D7 Reserved, set to 1. (USB 1.0 Bus Powered),D6 Self Powered,D5 Remote Wakeup,D4..0 = 0
chrigelburri 6:48eeb41188dd 159 u8 bMaxPower; // Maximum Power Consumption in 2mA units
chrigelburri 6:48eeb41188dd 160 } ConfigurationDescriptor;
chrigelburri 6:48eeb41188dd 161
chrigelburri 6:48eeb41188dd 162 typedef struct
chrigelburri 6:48eeb41188dd 163 {
chrigelburri 6:48eeb41188dd 164 u8 bLength;
chrigelburri 6:48eeb41188dd 165 u8 bDescriptorType;
chrigelburri 6:48eeb41188dd 166 u8 bInterfaceNumber;
chrigelburri 6:48eeb41188dd 167 u8 bAlternateSetting;
chrigelburri 6:48eeb41188dd 168 u8 bNumEndpoints;
chrigelburri 6:48eeb41188dd 169 u8 bInterfaceClass;
chrigelburri 6:48eeb41188dd 170 u8 bInterfaceSubClass;
chrigelburri 6:48eeb41188dd 171 u8 bInterfaceProtocol;
chrigelburri 6:48eeb41188dd 172 u8 iInterface; // Index of String Descriptor Describing this interface
chrigelburri 6:48eeb41188dd 173 } InterfaceDescriptor;
chrigelburri 6:48eeb41188dd 174
chrigelburri 6:48eeb41188dd 175 typedef struct
chrigelburri 6:48eeb41188dd 176 {
chrigelburri 6:48eeb41188dd 177 u8 bLength;
chrigelburri 6:48eeb41188dd 178 u8 bDescriptorType;
chrigelburri 6:48eeb41188dd 179 u8 bEndpointAddress; // Bits 0:3 endpoint, Bits 7 Direction 0 = Out, 1 = In (Ignored for Control Endpoints)
chrigelburri 6:48eeb41188dd 180 u8 bmAttributes; // Bits 0:1 00 = Control, 01 = Isochronous, 10 = Bulk, 11 = Interrupt
chrigelburri 6:48eeb41188dd 181 u16 wMaxPacketSize;
chrigelburri 6:48eeb41188dd 182 u8 bInterval; // Interval for polling endpoint data transfers.
chrigelburri 6:48eeb41188dd 183 } EndpointDescriptor;
chrigelburri 6:48eeb41188dd 184
chrigelburri 6:48eeb41188dd 185 typedef struct {
chrigelburri 6:48eeb41188dd 186 u8 bLength;
chrigelburri 6:48eeb41188dd 187 u8 bDescriptorType;
chrigelburri 6:48eeb41188dd 188 u16 bcdHID;
chrigelburri 6:48eeb41188dd 189 u8 bCountryCode;
chrigelburri 6:48eeb41188dd 190 u8 bNumDescriptors;
chrigelburri 6:48eeb41188dd 191 u8 bDescriptorType2;
chrigelburri 6:48eeb41188dd 192 u16 wDescriptorLength;
chrigelburri 6:48eeb41188dd 193 } HIDDescriptor;
chrigelburri 6:48eeb41188dd 194
chrigelburri 6:48eeb41188dd 195 //============================================================================
chrigelburri 6:48eeb41188dd 196 //============================================================================
chrigelburri 6:48eeb41188dd 197
chrigelburri 6:48eeb41188dd 198
chrigelburri 6:48eeb41188dd 199 void USBInit();
chrigelburri 6:48eeb41188dd 200 void USBLoop();
chrigelburri 6:48eeb41188dd 201 u8* USBGetBuffer(u32* len);
chrigelburri 6:48eeb41188dd 202
chrigelburri 6:48eeb41188dd 203 // Optional callback for transfers, called at interrupt time
chrigelburri 6:48eeb41188dd 204 typedef void (*USBCallback)(int device, int endpoint, int status, u8* data, int len, void* userData);
chrigelburri 6:48eeb41188dd 205
chrigelburri 6:48eeb41188dd 206 // Transfers
chrigelburri 6:48eeb41188dd 207 int USBControlTransfer(int device, int request_type, int request, int value, int index, u8* data, int length, USBCallback callback = 0, void* userData = 0);
chrigelburri 6:48eeb41188dd 208 int USBInterruptTransfer(int device, int ep, u8* data, int length, USBCallback callback = 0, void* userData = 0);
chrigelburri 6:48eeb41188dd 209 int USBBulkTransfer(int device, int ep, u8* data, int length, USBCallback callback = 0, void* userData = 0);
chrigelburri 6:48eeb41188dd 210
chrigelburri 6:48eeb41188dd 211 // Standard Device methods
chrigelburri 6:48eeb41188dd 212 int GetDescriptor(int device, int descType, int descIndex, u8* data, int length);
chrigelburri 6:48eeb41188dd 213 int GetString(int device, int index, char* dst, int length);
chrigelburri 6:48eeb41188dd 214 int SetAddress(int device, int new_addr);
chrigelburri 6:48eeb41188dd 215 int SetConfiguration(int device, int configNum);
chrigelburri 6:48eeb41188dd 216 int SetInterface(int device, int ifNum, int altNum);
chrigelburri 6:48eeb41188dd 217
chrigelburri 6:48eeb41188dd 218 // Implemented to notify app of the arrival of a device
chrigelburri 6:48eeb41188dd 219 void OnLoadDevice(int device, DeviceDescriptor* deviceDesc, InterfaceDescriptor* interfaceDesc);
chrigelburri 6:48eeb41188dd 220
chrigelburri 6:48eeb41188dd 221 #endif