Christian Burri
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
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autonomous Robot Android
by 
Christian Burri
Revision 12:235e318a414f, committed 2013-04-07
- Comitter:
- chrigelburri
- Date:
- Sun Apr 07 08:31:51 2013 +0000
- Parent:
- 11:775ebb69d5e1
- Child:
- 13:a7c30ee09bae
- Commit message:
- Kommentare nochmals verbessert android fehlt noch
Changed in this revision
--- a/Actuators/Hallsensor.cpp Fri Apr 05 10:58:42 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,115 +0,0 @@
-#include "Hallsensor.h"
-
-Hallsensor::Hallsensor(
- PinName hall1,
- PinName hall2,
- PinName hall3
-)
- : hall1_(hall1),
- hall2_(hall2),
- hall3_(hall3)
-{
- pulses_ = 0;
-
- //Workout what the current state is.
- int h1 = hall1_.read();
- int h2 = hall2_.read();
- int h3 = hall3_.read();
-
- // Set the PullUp Resistor
- hall1_.mode(PullUp);
- hall2_.mode(PullUp);
- hall3_.mode(PullUp);
-
- //set interrupts on only hall 1-3 rise and fall.
- hall1_.rise(this, &Hallsensor::encode);
- hall1_.fall(this, &Hallsensor::encode);
- hall2_.rise(this, &Hallsensor::encode);
- hall2_.fall(this, &Hallsensor::encode);
- hall3_.rise(this, &Hallsensor::encode);
- hall3_.fall(this, &Hallsensor::encode);
-}
-
-void Hallsensor::reset(void)
-{
- pulses_ = 0;
-}
-
-int Hallsensor::getPulses(void)
-{
- return pulses_;
-}
-
-
-void Hallsensor::encode(void)
-{
- // read the state
- int h1 = hall1_.read();
- int h2 = hall2_.read();
- int h3 = hall3_.read();
-
- //3-bit state.
- currState_ = (h1 << 2) | (h2 << 1) | h3;
-
- if ((prevState_ == 0x5) && (currState_ == 0x4)) {
- pulses_++;
- prevState_ = currState_;
- return;
- } else if (prevState_ == 0x5 && currState_ == 0x1) {
- pulses_--;
- prevState_ = currState_;
- return;
- }
-
- if ((prevState_ == 0x4) && (currState_ == 0x6)) {
- pulses_++;
- prevState_ = currState_;
- return;
- } else if (prevState_ == 0x4 && currState_ == 0x5) {
- pulses_--;
- prevState_ = currState_;
- return;
- }
-
- if ((prevState_ == 0x6) && (currState_ == 0x2)) {
- pulses_++;
- prevState_ = currState_;
- return;
- } else if (prevState_ == 0x6 && currState_ == 0x4) {
- pulses_--;
- prevState_ = currState_;
- return;
- }
-
- if ((prevState_ == 0x2) && (currState_ == 0x3)) {
- pulses_++;
- prevState_ = currState_;
- return;
- } else if (prevState_ == 0x2 && currState_ == 0x6) {
- pulses_--;
- prevState_ = currState_;
- return;
- }
-
- if ((prevState_ == 0x3) && (currState_ == 0x1)) {
- pulses_++;
- prevState_ = currState_;
- return;
- } else if (prevState_ == 0x3 && currState_ == 0x2) {
- pulses_--;
- prevState_ = currState_;
- return;
- }
-
- if ((prevState_ == 0x1) && (currState_ == 0x5)) {
- pulses_++;
- prevState_ = currState_;
- return;
- } else if (prevState_ == 0x1 && currState_ == 0x3) {
- pulses_--;
- prevState_ = currState_;
- return;
- }
- prevState_ = currState_;
-
-}
--- a/Actuators/Hallsensor.h Fri Apr 05 10:58:42 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,74 +0,0 @@
-#ifndef HALLSENSOR_H
-#define HALLSENSOR_H
-
-#include "mbed.h"
-
-/**
- * @author Christian Burri
- *
- * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
- * All rights reserved.
- *
- * @brief
- *
- * Interface to count the Hallsensor input from a EC-Motor.
- *
- */
-class Hallsensor
-{
-
-private:
-
- /**
- * @brief Update the pulse count.
- * Called on every rising/falling edge of Hall 1-3.
- * Reads the state of the channels and determines whether a pulse forward
- * or backward has occured, updating the count appropriately.
- */
- void encode(void);
-
- InterruptIn hall1_;
- InterruptIn hall2_;
- InterruptIn hall3_;
-
- int prevState_;
- int currState_;
-
- volatile int pulses_;
-
-public:
-
- /**
- * @brief Constructor of the class <code>Hallsensor</code>.
- *
- * Reads the current values on Hall1 , Hall2 and Hall3 to determine the
- * initial state.
- * Attaches the encode function to the rise/fall interrupt edges of
- * Hall1, Hall2 and Hall3.
- * @param hall1 mbed pin for Hall1 input.
- * @param hall2 mbed pin for Hall2 input.
- * @param hall3 mbed pin for Hall3 input.
- */
- Hallsensor(PinName hall1, PinName hall2, PinName hall3);
-
- /**
- * @brief Reset the encoder.
- * Sets the pulses and revolutions count to zero.
- */
- void reset(void);
-
- /**
- * @brief Read the number of pulses recorded by the encoder.
- * @return Number of pulses which have occured, given in [count]
- */
- int getPulses(void);
-
- /**
- * @brief Read the number of revolutions recorded by the encoder.
- * @return Number of revolutions which have occured on the index channel.
- */
- int getRevolutions(void);
-
-};
-
-#endif /* Hallsensor_H */
--- a/Actuators/Hallsensor.lib Fri Apr 05 10:58:42 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -Actuators/Hallsensor#d5573b3c22ae
--- a/Actuators/MaxonESCON.cpp Fri Apr 05 10:58:42 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,86 +0,0 @@
-#include "MaxonESCON.h"
-
-using namespace std;
-
-MaxonESCON::MaxonESCON(
- PinName enb,
- PinName isenb,
- PinName pwm,
- PinName actualSpeed,
- Hallsensor *hall
-)
- :
- _enb(enb),
- _isenb(isenb),
- _pwm(pwm),
- _actualSpeed(actualSpeed),
- _hall(hall)
-{
-
- _pwm = 0;
-
- // Initial condition of output enables
- _enb = 0;
-
- // Set initial condition of PWM 2kHz
- period(0.0005);
-
- // Set the pulses to zero
- _pulses = 0;
-
- // Set the Pull Up Resistor
- _isenb.mode(PullUp);
-}
-
-void MaxonESCON::setVelocity(float speed)
-{
- speed = speed / ESCON_SET_FACTOR * 60.0f;
- if(speed > 1 ) {
- _pwm = 0.89f;
- } else if(speed < -1) {
- _pwm = 0.11f;
- } else {
- _pwm = 0.4f*speed + (0.5f * (SET_SPEED_PATCH));
- }
-}
-
-float MaxonESCON::getActualSpeed(void)
-{
- return (_actualSpeed.read()* 2.0f - 1.0f *(GET_SPEED_PATCH)) * ESCON_GET_FACTOR / 60.0f;
-}
-
-void MaxonESCON::period(float period)
-{
- _pwm.period(period);
-}
-
-void MaxonESCON::enable(bool enb)
-{
- if(enb == true) {
- _enb = 1;
- } else {
- _enb = 0;
- }
-}
-
-bool MaxonESCON::isEnabled()
-{
- if(_isenb.read() == 1) {
- return true;
- } else {
- return false;
- }
-}
-
-int MaxonESCON::getPulses(void)
-{
- _pulses = _hall->getPulses();
- return _pulses;
-}
-
-int MaxonESCON::setPulses(int setPos)
-{
- _hall->reset();
- _pulses = _hall->getPulses();
- return _pulses;
-}
--- a/Actuators/MaxonESCON.h Fri Apr 05 10:58:42 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,101 +0,0 @@
-#ifndef _MAXON_ESCON_H_
-#define _MAXON_ESCON_H_
-
-#include "Hallsensor.h"
-#include "defines.h"
-
-/**
- * @author Christian Burri
- *
- * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
- * All rights reserved.
- *
- * @brief
- *
- * This class implements the driver for the Maxon ESCON servo driver.
- * For more information see the Datasheet:
- * <a href="http://escon.maxonmotor.com">http://escon.maxonmotor.com</a>
- */
-class MaxonESCON
-{
-
-private:
-
- /** @brief To Enable the amplifier */
- DigitalOut _enb;
- /** @brief Duty Cycle to set the speed */
- PwmOut _pwm;
- /** @brief Hallsensor Class */
- Hallsensor* _hall;
- /** @brief Ready output from ESCON */
- DigitalIn _isenb;
- /** @brief Actual speed from ESCON analog Output 1 */
- AnalogIn _actualSpeed;
- /** @brief increment the Hallpattern */
- int _pulses;
-
-public:
-
- /**
- * @brief Create a motor control object.
- * @param enb DigitalOut, set high for enable
- * @param isenb DigitalIn, high for enable
- * @param pwm PwmOut pin, set the velocity
- * @param actualSpeed AnalogIn filtered signal for ActualSpeed from Motor
- * @param hall The object of the hallsensor from Motor
- */
- MaxonESCON(PinName enb,
- PinName isenb,
- PinName pwm,
- PinName actualSpeed,
- Hallsensor *hall);
-
- /**
- * @brief Set the speed of the motor with a pwm for 10%..90%.
- * 50% PWM is 0rpm.
- * Caclulate from [1/s] in [1/min] and the Factor of the ESCON.
- * @param speed The speed of the motor as a normalised value, given in [1/s]
- */
- void setVelocity(float speed);
-
- /**
- * @brief Return the speed from ESCON.
- * 0 rpm is defined in the Analog input as 1.65V
- * @return speed of the motor, given in [1/s]
- */
- float getActualSpeed(void);
-
- /**
- * @brief Set the period of the pwm duty cycle.
- * Wrapper for PwmOut::period()
- * @param period Pwm duty cycle, given in [s].
- */
- void period(float period);
-
- /**
- * @brief Set the Motor to a enable sate.
- * @param enb <code>false</code> for disable <code>true</code> for enable.
- */
- void enable(bool enb);
-
- /**
- * @brief Tests if the servo drive is enabled.
- * @return <code>true</code> if the drive is enabled,
- * <code>false</code> otherwise.
- */
- bool isEnabled(void);
-
- /**
- * @brief Return the number of Pulses.
- * @return Pulses, given in [count]
- */
- int getPulses(void);
-
- /**
- * @brief Set the Pulses of the Motor, given in [count]
- * @return Pulses, given in [count]
- */
- int setPulses(int setPos);
-};
-
-#endif
--- a/Actuators/MaxonESCON.lib Fri Apr 05 10:58:42 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -Actuators/MaxonESCON#343a651a9693
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ActuatorsSensor/Hallsensor.cpp Sun Apr 07 08:31:51 2013 +0000
@@ -0,0 +1,115 @@
+#include "Hallsensor.h"
+
+Hallsensor::Hallsensor(
+ PinName hall1,
+ PinName hall2,
+ PinName hall3
+)
+ : hall1_(hall1),
+ hall2_(hall2),
+ hall3_(hall3)
+{
+ pulses_ = 0;
+
+ //Workout what the current state is.
+ int h1 = hall1_.read();
+ int h2 = hall2_.read();
+ int h3 = hall3_.read();
+
+ // Set the PullUp Resistor
+ hall1_.mode(PullUp);
+ hall2_.mode(PullUp);
+ hall3_.mode(PullUp);
+
+ //set interrupts on only hall 1-3 rise and fall.
+ hall1_.rise(this, &Hallsensor::encode);
+ hall1_.fall(this, &Hallsensor::encode);
+ hall2_.rise(this, &Hallsensor::encode);
+ hall2_.fall(this, &Hallsensor::encode);
+ hall3_.rise(this, &Hallsensor::encode);
+ hall3_.fall(this, &Hallsensor::encode);
+}
+
+void Hallsensor::reset(void)
+{
+ pulses_ = 0;
+}
+
+int Hallsensor::getPulses(void)
+{
+ return pulses_;
+}
+
+
+void Hallsensor::encode(void)
+{
+ // read the state
+ int h1 = hall1_.read();
+ int h2 = hall2_.read();
+ int h3 = hall3_.read();
+
+ //3-bit state.
+ currState_ = (h1 << 2) | (h2 << 1) | h3;
+
+ if ((prevState_ == 0x5) && (currState_ == 0x4)) {
+ pulses_++;
+ prevState_ = currState_;
+ return;
+ } else if (prevState_ == 0x5 && currState_ == 0x1) {
+ pulses_--;
+ prevState_ = currState_;
+ return;
+ }
+
+ if ((prevState_ == 0x4) && (currState_ == 0x6)) {
+ pulses_++;
+ prevState_ = currState_;
+ return;
+ } else if (prevState_ == 0x4 && currState_ == 0x5) {
+ pulses_--;
+ prevState_ = currState_;
+ return;
+ }
+
+ if ((prevState_ == 0x6) && (currState_ == 0x2)) {
+ pulses_++;
+ prevState_ = currState_;
+ return;
+ } else if (prevState_ == 0x6 && currState_ == 0x4) {
+ pulses_--;
+ prevState_ = currState_;
+ return;
+ }
+
+ if ((prevState_ == 0x2) && (currState_ == 0x3)) {
+ pulses_++;
+ prevState_ = currState_;
+ return;
+ } else if (prevState_ == 0x2 && currState_ == 0x6) {
+ pulses_--;
+ prevState_ = currState_;
+ return;
+ }
+
+ if ((prevState_ == 0x3) && (currState_ == 0x1)) {
+ pulses_++;
+ prevState_ = currState_;
+ return;
+ } else if (prevState_ == 0x3 && currState_ == 0x2) {
+ pulses_--;
+ prevState_ = currState_;
+ return;
+ }
+
+ if ((prevState_ == 0x1) && (currState_ == 0x5)) {
+ pulses_++;
+ prevState_ = currState_;
+ return;
+ } else if (prevState_ == 0x1 && currState_ == 0x3) {
+ pulses_--;
+ prevState_ = currState_;
+ return;
+ }
+ prevState_ = currState_;
+
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ActuatorsSensor/Hallsensor.h Sun Apr 07 08:31:51 2013 +0000
@@ -0,0 +1,74 @@
+#ifndef HALLSENSOR_H
+#define HALLSENSOR_H
+
+#include "mbed.h"
+
+/**
+ * @author Christian Burri
+ *
+ * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
+ * All rights reserved.
+ *
+ * @brief
+ *
+ * Interface to count the Hallsensor input from a EC-Motor.
+ *
+ */
+class Hallsensor
+{
+
+private:
+
+ /**
+ * @brief Update the pulse count.
+ * Called on every rising/falling edge of Hall 1-3.
+ * Reads the state of the channels and determines whether a pulse forward
+ * or backward has occured, updating the count appropriately.
+ */
+ void encode(void);
+
+ InterruptIn hall1_;
+ InterruptIn hall2_;
+ InterruptIn hall3_;
+
+ int prevState_;
+ int currState_;
+
+ volatile int pulses_;
+
+public:
+
+ /**
+ * @brief Constructor of the class <code>Hallsensor</code>.
+ *
+ * Reads the current values on Hall1 , Hall2 and Hall3 to determine the
+ * initial state.
+ * Attaches the encode function to the rise/fall interrupt edges of
+ * Hall1, Hall2 and Hall3.
+ * @param hall1 mbed pin for Hall1 input.
+ * @param hall2 mbed pin for Hall2 input.
+ * @param hall3 mbed pin for Hall3 input.
+ */
+ Hallsensor(PinName hall1, PinName hall2, PinName hall3);
+
+ /**
+ * @brief Reset the encoder.
+ * Sets the pulses and revolutions count to zero.
+ */
+ void reset(void);
+
+ /**
+ * @brief Read the number of pulses recorded by the encoder.
+ * @return Number of pulses which have occured, given in [count]
+ */
+ int getPulses(void);
+
+ /**
+ * @brief Read the number of revolutions recorded by the encoder.
+ * @return Number of revolutions which have occured on the index channel.
+ */
+ int getRevolutions(void);
+
+};
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ActuatorsSensor/Hallsensor.lib Sun Apr 07 08:31:51 2013 +0000 @@ -0,0 +1,1 @@ +Actuators/Hallsensor#d5573b3c22ae
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ActuatorsSensor/MaxonESCON.cpp Sun Apr 07 08:31:51 2013 +0000
@@ -0,0 +1,86 @@
+#include "MaxonESCON.h"
+
+using namespace std;
+
+MaxonESCON::MaxonESCON(
+ PinName enb,
+ PinName isenb,
+ PinName pwm,
+ PinName actualSpeed,
+ Hallsensor *hall
+)
+ :
+ _enb(enb),
+ _isenb(isenb),
+ _pwm(pwm),
+ _actualSpeed(actualSpeed),
+ _hall(hall)
+{
+
+ _pwm = 0;
+
+ // Initial condition of output enables
+ _enb = 0;
+
+ // Set initial condition of PWM 2kHz
+ period(0.0005);
+
+ // Set the pulses to zero
+ _pulses = 0;
+
+ // Set the Pull Up Resistor
+ _isenb.mode(PullUp);
+}
+
+void MaxonESCON::setVelocity(float speed)
+{
+ speed = speed / ESCON_SET_FACTOR * 60.0f;
+ if(speed > 1 ) {
+ _pwm = 0.89f;
+ } else if(speed < -1) {
+ _pwm = 0.11f;
+ } else {
+ _pwm = 0.4f*speed + (0.5f * (SET_SPEED_PATCH));
+ }
+}
+
+float MaxonESCON::getActualSpeed(void)
+{
+ return (_actualSpeed.read()* 2.0f - 1.0f *(GET_SPEED_PATCH)) * ESCON_GET_FACTOR / 60.0f;
+}
+
+void MaxonESCON::period(float period)
+{
+ _pwm.period(period);
+}
+
+void MaxonESCON::enable(bool enb)
+{
+ if(enb == true) {
+ _enb = 1;
+ } else {
+ _enb = 0;
+ }
+}
+
+bool MaxonESCON::isEnabled()
+{
+ if(_isenb.read() == 1) {
+ return true;
+ } else {
+ return false;
+ }
+}
+
+int MaxonESCON::getPulses(void)
+{
+ _pulses = _hall->getPulses();
+ return _pulses;
+}
+
+int MaxonESCON::setPulses(int setPos)
+{
+ _hall->reset();
+ _pulses = _hall->getPulses();
+ return _pulses;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ActuatorsSensor/MaxonESCON.h Sun Apr 07 08:31:51 2013 +0000
@@ -0,0 +1,101 @@
+#ifndef _MAXON_ESCON_H_
+#define _MAXON_ESCON_H_
+
+#include "Hallsensor.h"
+#include "defines.h"
+
+/**
+ * @author Christian Burri
+ *
+ * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
+ * All rights reserved.
+ *
+ * @brief
+ *
+ * This class implements the driver for the Maxon ESCON servo driver.
+ * For more information see the Datasheet:
+ * <a href="http://escon.maxonmotor.com">http://escon.maxonmotor.com</a>
+ */
+class MaxonESCON
+{
+
+private:
+
+ /** @brief To Enable the amplifier */
+ DigitalOut _enb;
+ /** @brief Duty Cycle to set the speed */
+ PwmOut _pwm;
+ /** @brief Hallsensor Class */
+ Hallsensor* _hall;
+ /** @brief Ready output from ESCON */
+ DigitalIn _isenb;
+ /** @brief Actual speed from ESCON analog Output 1 */
+ AnalogIn _actualSpeed;
+ /** @brief increment the Hallpattern */
+ int _pulses;
+
+public:
+
+ /**
+ * @brief Create a motor control object.
+ * @param enb DigitalOut, set high for enable
+ * @param isenb DigitalIn, high for enable
+ * @param pwm PwmOut pin, set the velocity
+ * @param actualSpeed AnalogIn filtered signal for ActualSpeed from Motor
+ * @param hall The object of the hallsensor from Motor
+ */
+ MaxonESCON(PinName enb,
+ PinName isenb,
+ PinName pwm,
+ PinName actualSpeed,
+ Hallsensor *hall);
+
+ /**
+ * @brief Set the speed of the motor with a pwm for 10%..90%.
+ * 50% PWM is 0rpm.
+ * Caclulate from [1/s] in [1/min] and the Factor of the ESCON.
+ * @param speed The speed of the motor as a normalised value, given in [1/s]
+ */
+ void setVelocity(float speed);
+
+ /**
+ * @brief Return the speed from ESCON.
+ * 0 rpm is defined in the Analog input as 1.65V
+ * @return speed of the motor, given in [1/s]
+ */
+ float getActualSpeed(void);
+
+ /**
+ * @brief Set the period of the pwm duty cycle.
+ * Wrapper for PwmOut::period()
+ * @param period Pwm duty cycle, given in [s].
+ */
+ void period(float period);
+
+ /**
+ * @brief Set the Motor to a enable sate.
+ * @param enb <code>false</code> for disable <code>true</code> for enable.
+ */
+ void enable(bool enb);
+
+ /**
+ * @brief Tests if the servo drive is enabled.
+ * @return <code>true</code> if the drive is enabled,
+ * <code>false</code> otherwise.
+ */
+ bool isEnabled(void);
+
+ /**
+ * @brief Return the number of Pulses.
+ * @return Pulses, given in [count]
+ */
+ int getPulses(void);
+
+ /**
+ * @brief Set the Pulses of the Motor, given in [count]
+ * @return Pulses, given in [count]
+ */
+ int setPulses(int setPos);
+};
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ActuatorsSensor/MaxonESCON.lib Sun Apr 07 08:31:51 2013 +0000 @@ -0,0 +1,1 @@ +Actuators/MaxonESCON#343a651a9693
--- a/Android/AndroidAccessory/AndroidAccessory.cpp Fri Apr 05 10:58:42 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,323 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "USBHost.h"
-#include "AndroidAccessory.h"
-#include "mbed.h"
-
-AndroidAccessory* _adk;
-
-void AdkreadCallback(int device, int endpoint, int status, u8* buf, int len, void* userData);
-void AdkwriteCallback(int device, int endpoint, int status, u8* buf, int len, void* userData);
-
-
-
-AndroidAccessory::AndroidAccessory(int rbuffsize,int wbuffsize,
- const char* manufacturer,
- const char *model,
- const char *description,
- const char *version,
- const char *uri,
- const char *serial
- ) {
-
- _adk=this;
-
- this->manufacturer=manufacturer;
- this->model=model;
- this->description=description;
- this->version=version;
- this->uri=uri;
- this->serial=serial;
-
- u32 len;
- u8* p=USBGetBuffer(&len);
- if (len<(rbuffsize+wbuffsize+255)) {
- error("buff size too big.please resize max=%d. currentSize=%d\r\n",len,(rbuffsize+wbuffsize+255));
- }
-
- _readbuff=p;
- _readbuffsize=rbuffsize;
- p+=rbuffsize;
- _writebuff=p;
- _writebuffsize=wbuffsize;
- p+=wbuffsize;
- _strbuff=p;
- p+=255;
-
-}
-
-
-
-int AndroidAccessory::write(u8 *buff, int len) {
- log("AndroidAccessory::write ");
- // __disable_irq();
- int ret=USBBulkTransfer(_device,output_ep,buff,len,AdkwriteCallback,this);
- // __enable_irq();
- log("--ret=%d \r\n",ret);
- return ret;
-}
-int AndroidAccessory::writeNC(u8 *buff, int len) {
- log("AndroidAccessory::write ");
- // __disable_irq();
- int ret=USBBulkTransfer(_device,output_ep,buff,len);
- // __enable_irq();
- log("--ret=%d \r\n",ret);
- return ret;
-}
-
-
-
-int AndroidAccessory::read(u8 *buff, int len) {
- // if(_initok==false)return 0;
-
- log("AndroidAccessory::read ");
- // __disable_irq();
- int ret=USBBulkTransfer(_device,input_ep|0x80,buff,len);
- // __enable_irq();
- log("--ret=%d \r\n",ret);
- return ret;
-}
-
-
-void AndroidAccessory::init(int device, int configuration, int interfaceNumber) {
-
- log("AndroidAccessory::init \r\n");
-
-// _initok=false;
- _device = device;
- _configuration = configuration;
- _interfaceNumber = interfaceNumber;
- printf("device = %d configuration = %d interfaceNumber = %d\r\n", device, configuration, interfaceNumber);
- int err;
-
- u8* buffer=_strbuff;
- err = GetDescriptor(_device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,4);
-
- if (err < 0) {
- log("Failed to get descriptor\r\n");
- return;
- }
-
-
- int len = buffer[2] | (buffer[3] << 8);
- if (len > 255) {
- log("config descriptor too large\n");
- /* might want to truncate here */
- return;
- }
- err = GetDescriptor(_device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,len);
- u8* p = buffer;
- input_ep=0;
- output_ep=0;
- EndpointDescriptor *epDesc;
- while (p<(buffer+len)) {
- u8 descLen = p[0];
- u8 descType = p[1];
- log("descLen=%d,descType=%d\r\n",descLen,descType);
- switch (descType) {
- case DESCRIPTOR_TYPE_CONFIGURATION:
- log("config desc\r\n");
- break;
- case DESCRIPTOR_TYPE_INTERFACE:
- log("interface desc\r\n");
- break;
- case DESCRIPTOR_TYPE_ENDPOINT:
- epDesc=(EndpointDescriptor*)p;
- if (!input_ep && (epDesc->bEndpointAddress& 0x80)) {
- input_ep=epDesc->bEndpointAddress& 0x7f;
- //PacketSize drop
- log("input Endpoint address=%d,wMaxPacketSize=%d,bmAttributes=%d\r\n",input_ep,epDesc->wMaxPacketSize,epDesc->bmAttributes);
-
- } else if (!output_ep) {
- output_ep=epDesc->bEndpointAddress& 0x7f;
- //PacketSize drop
- log("output Endpoint address=%d,wMaxPacketSize=%d,bmAttributes=%d\r\n",input_ep,epDesc->wMaxPacketSize,epDesc->bmAttributes);
- } else {
- //other
- log("non input,output Endpoint address=%d,wMaxPacketSize=%d,bmAttributes=%d\r\n",input_ep,epDesc->wMaxPacketSize,epDesc->bmAttributes);
- }
- break;
- default:
- log("unkown desc type(%d) \r\n",descType);
- }
- p+=descLen;
- }
-
- if (!(input_ep && output_ep)) {
- log("can't find accessory endpoints\r\n");
- return;
- }
-
- log("SetConfiguration\r\n");
- err = SetConfiguration(device,configuration);
- if (err < 0) {
- log("SetConfiguration error\r\n");
- return;
- }
-
-
- log("interrupt setup\r\n");
- //interrupt setup
- if (_readbuff==NULL || _readbuffsize<=0) {
- error("_readbuffer error please setup buffer call setReadBuffer function\r\n");
- }
-
- if (IO_PENDING!=USBBulkTransfer(_device,input_ep|0x80,_readbuff,_readbuffsize,AdkreadCallback,this))
- return;
-
-
- log("setupDevice\r\n");
- this->setupDevice();
-// _initok=true;
-}
-
-
-
-bool AndroidAccessory::switchDevice(int device) {
-
- if (1==getProtocol(device)) {
- log("device supports protocol 1\r\n");
-
- } else {
- log("could not read device protocol version\r\n");
- return false;
- }
-
-
- sendString(device,ACCESSORY_STRING_MANUFACTURER,manufacturer);
- sendString(device,ACCESSORY_STRING_MODEL,model);
- sendString(device,ACCESSORY_STRING_DESCRIPTION,description);
- sendString(device,ACCESSORY_STRING_VERSION,version);
- sendString(device,ACCESSORY_STRING_URI,uri);
- sendString(device,ACCESSORY_STRING_SERIAL,serial);
- USBControlTransfer(device,
- HOST_TO_DEVICE |REQUEST_TYPE_VENDOR|RECIPIENT_DEVICE,
- ACCESSORY_START,
- 0,//value
- 0, //index
- 0,
- 0,
- 0,
- 0 );
-
- wait_ms(4);
- //reset usb host
- USBInit();
-
- return true;
-
-}
-
-
-int AndroidAccessory::getProtocol(int device) {
- s16 data=-1;
- USBControlTransfer(device,
- DEVICE_TO_HOST|REQUEST_TYPE_VENDOR|RECIPIENT_DEVICE,
- ACCESSORY_GET_PROTOCOL,
- 0,//value
- 0, //index
- (u8*)&data,
- 2,
- 0,
- 0 );
- return data;
-
-}
-
-void AndroidAccessory::sendString(const char *str) {
- sendString(_device,1,str);
-
-}
-
-void AndroidAccessory::sendString(int device, int index, const char *str) {
-
- LOG("send_string start(%d,%d,%s) %d \r\n",device,index,str,strlen(str)+1);
- strcpy((char*)_strbuff,str);
- //thankyou curryman san
- USBControlTransfer(device,
- HOST_TO_DEVICE|REQUEST_TYPE_VENDOR|RECIPIENT_DEVICE,
- ACCESSORY_SEND_STRING,
- 0,//value
- index,
- _strbuff,
- strlen(str)+1
- );
-
- LOG("send_string end(%d,%d,%s)\r\n",device,index,str);
-
-}
-
-
-/** from USBHost load function. initialize Android device**/
-void OnLoadDevice(int device, DeviceDescriptor* deviceDesc, InterfaceDescriptor* interfaceDesc) {
- printf("LoadDevice %d %02X:%02X:%02X\r\n",device,interfaceDesc->bInterfaceClass,interfaceDesc->bInterfaceSubClass,interfaceDesc->bInterfaceProtocol);
- char s[128];
-
- for (int i = 1; i < 3; i++) {
- if (GetString(device,i,s,sizeof(s)) < 0)
- break;
- printf("%d: %s\r\n",i,s);
- }
-
- //for android ADK
- if ( ( deviceDesc->idVendor != 0x18D1 ||
- ( deviceDesc->idProduct != 0x2D00 && deviceDesc->idProduct != 0x2D01))
- &&_adk->switchDevice(device)) {
-
- printf(" try to change accmode.interfaceDesc->bInterfaceClass=%d\r\n",interfaceDesc->bInterfaceClass);
- //1th root
- //accmode_support=true;
- printf("accessory mode ok.\r\n");
- return;
- }
-
- if (deviceDesc->idVendor == 0x18D1 &&
- (deviceDesc->idProduct == 0x2D00 || deviceDesc->idProduct == 0x2D01)) {
- //2th root
- printf("connecting Android.\r\n");
- printf("idVender=%x idProduct=%x interfaceDesc->bInterfaceClass=%d\r\n",deviceDesc->idVendor,deviceDesc->idProduct,interfaceDesc->bInterfaceClass);
- _adk->init(device,1,0);
- //_AdkUSB.loop();
- return;
- }
-}
-
-void AdkreadCallback(int device, int endpoint, int status, u8* buf, int len, void* userData) {
- log("AdkreadCallback(int device=%d, int endpoint=%x, int status=%d, u8* buf=%p, int len=%d, void* userData=%p)\r\n",
- device,endpoint,status,buf,len,userData);
-// __disable_irq();
- AndroidAccessory* t = (AndroidAccessory*)userData;
- if (status!=0 && status!=8) {
- log("adk end.\r\n");
- t->adkEnd();
-// __enable_irq();
- USBInit();
- return;
- }
-
-
- //virtual method run
- t->callbackRead(buf,len);
-
- USBBulkTransfer(device, endpoint , buf, len, AdkreadCallback, userData);
-
-// wait_ms(4);
-// __enable_irq();
-}
-
-
-
-
-void AdkwriteCallback(int device, int endpoint, int status, u8* buf, int len, void* userData) {
-
- log("AdkwriteCallback(int device=%d, int endpoint=%x, int status=%d, u8* buf=%p, int len=%d, void* userData=%p)\r\n",
- device,endpoint,status,buf,len,userData);
-
- AndroidAccessory* t = (AndroidAccessory*)userData;
- t->callbackWrite();
- //wait_ms(4);
- //USBBulkTransfer(device, endpoint , buf, len, AdkwriteCallback, userData);
-}
-
--- a/Android/AndroidAccessory/AndroidAccessory.h Fri Apr 05 10:58:42 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,195 +0,0 @@
-/* mbed AndroidAccessory Library
- * Created by p07gbar from work by Makoto Abe
- *
- */
-#ifndef ADK_H_INCLUDED
-#define ADK_H_INCLUDED
-
-#include "mbed.h"
-#include "USBHost.h"
-
-
-//#define ADKLOG 1
-#if ADKLOG
-#define LOG(...) printf(__VA_ARGS__)
-#define Log(...) printf(__VA_ARGS__)
-#define log(...) printf(__VA_ARGS__)
-
-#else
-#define LOG(...) do {} while(0)
-#define Log(...) do {} while(0)
-#define log(...) do {} while(0)
-
-#endif
-
-#define ACCESSORY_STRING_MANUFACTURER 0
-#define ACCESSORY_STRING_MODEL 1
-#define ACCESSORY_STRING_DESCRIPTION 2
-#define ACCESSORY_STRING_VERSION 3
-#define ACCESSORY_STRING_URI 4
-#define ACCESSORY_STRING_SERIAL 5
-
-#define ACCESSORY_GET_PROTOCOL 51
-#define ACCESSORY_SEND_STRING 52
-#define ACCESSORY_START 53
-
-
-
-/** An AndroidAccessory control class
- *
- * It allows easy creation of a mbed android ADK accessory, with minimal low level fussing.
- * Base code should have methods resetDevice(), setupDevice(), callbackRead(u8 *buff, int len) and callBackWrite() functions
- *
- */
-
-class AndroidAccessory {
-public:
-
-
-
-/** Create a AndroidAccessory object
- *
- * Create a AndroidAccessoryobject with specified buffer sizes and infomation
- *
- * @param rbuffsize The size of the read buffer
- * @param wbuffsize The size of the write buffer
- * @param manufacturer The manufacturer of the accessory
- * @param model The model of the accessory
- * @param description A short description of the accessory
- * @param version The current version of the accessory
- * @param uri Some data to go with the accessory (URL or more description)
- * @param serial The serial number of the accessory
- */
- AndroidAccessory(int rbuffsize,int wbuffsize,
- const char* manufacturer,
- const char *model,
- const char *description,
- const char *version,
- const char *uri,
- const char *serial
- );
-
- /** Init the device
- * This is meant to be implimented by the user of the class
- *
- * @param device Device number
- * @param configuration Configuration
- * @param interfaceNumber Inteface number
- */
- virtual void init(int device, int configuration, int interfaceNumber);
-
-/** Reset the device
- * This is meant to be implimented by the user of the class
- *
- */
- virtual void resetDevice()=0;
-
-/** Setup the device
- * This is meant to be implimented by the user of the class. Called when the device is first intialised
- *
- */
- virtual void setupDevice()=0;
-
- /** Callback on Read
- * This is meant to be implimented by the user of the class. Called when some data has been read in.
- *
- * @param buff The buffered read in data
- * @param len The length of the packet recived
- *
- */
- virtual int callbackRead(u8 *buff, int len)=0;
-
- /** Callback after Write
- * This is meant to be implimented by the user of the class. Called when the write has been finished.
- *
- */
- virtual int callbackWrite()=0;
-
- /** Write over USB
- * This sends the data in the buffer over USB in a packet
- *
- * @param buff The buffer to write out
- * @param len The length of the packet to send
- *
- */
- int write(u8 *buff, int len);
-
-/** Write over USB
- * This sends the data in the buffer over USB in a packet, sends _writebuff and _writebuffsize
- *
- */
- int write() {
- return write(_writebuff,_writebuffsize);
- }
-
- /** Write over USB with no callback
- * This sends the data in the buffer over USB in a packet, waits until the packet is sent, rather than doing a callback
- *
- * @param buff The buffer to write out
- * @param len The length of the packet to send
- *
- */
- int writeNC(u8 *buff, int len);
-
- /** Write over USB
- * This sends the data in the buffer over USB in a packet, waits until the packet is sent, rather than doing a callback, sends _writebuff and _writebuffsize
- *
- */
- int writeNC() {
- return writeNC(_writebuff,_writebuffsize);
- }
-
- /** Read the buffer USB
- * This sends the data in the buffer over USB in a packet, waits until the packet is sent, rather than doing a callback
- *
- * @param buff The buffer to read into
- * @param len The length of the packet to read in
- *
- * @param returns The number of bytes read
- *
- */
- int read(u8 *buff, int len);
-
-
- void adkEnd() {
- // _initok=false;
- resetDevice();
- }; //if connection close
- bool switchDevice(int device);
-
- //buffer
- u8* _readbuff;
- int _readbuffsize;
- u8* _writebuff;
- int _writebuffsize;
- u8* _strbuff;//255bytes;
- void sendString(const char *str);
-
-private:
-
- void sendString(int device, int index, const char *str);
- int getProtocol(int device);
-
- const char *manufacturer;
- const char *model;
- const char *description;
- const char *version;
- const char *uri;
- const char *serial;
-
- //endpoints
- int input_ep;
- int output_ep;
-
- int _device;
- int _configuration;
- int _interfaceNumber;
-
- //bool _initok;
-
-};
-
-extern AndroidAccessory* _adk; //declared in cpp
-
-
-#endif
\ No newline at end of file
--- a/Android/AndroidAccessory/USBHost/USBHost.cpp Fri Apr 05 10:58:42 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1093 +0,0 @@
-
-/*
-Copyright (c) 2010 Peter Barrett
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-*/
-
-
-
-#include "mbed.h"
-#include "USBHost.h"
-#ifndef USBHOST_LOG
-
-
-// Config (default uses x bytes)
-#define MAX_DEVICES 8 // Max number of devices
-#define MAX_ENDPOINTS_TOTAL 16 // Max number of endpoints total
-#define MAX_ENDPOINTS_PER_DEVICE 8 // Max number of endpoints for any one device
-
-//#define USBLOG 1
-#if USBLOG
-#define LOG(...) printf(__VA_ARGS__)
-#else
-#define LOG(...) do {} while(0)
-#endif
-
-// USB host structures
-
-#define USB_RAM_SIZE 16*1024 // AHB SRAM block 1 TODO MACHINE DEPENDENT
-#define USB_RAM_BASE 0x2007C000
-
-#define TOKEN_SETUP 0
-#define TOKEN_IN 1
-#define TOKEN_OUT 2
-
-// Status flags from hub
-#define PORT_CONNECTION 0
-#define PORT_ENABLE 1
-#define PORT_SUSPEND 2
-#define PORT_OVER_CURRENT 3
-#define PORT_RESET 4
-#define PORT_POWER 8
-#define PORT_LOW_SPEED 9
-
-#define C_PORT_CONNECTION 16
-#define C_PORT_ENABLE 17
-#define C_PORT_SUSPEND 18
-#define C_PORT_OVER_CURRENT 19
-#define C_PORT_RESET 20
-
-typedef struct {
- u8 bm_request_type;
- u8 b_request;
- u16 w_value;
- u16 w_index;
- u16 w_length;
-} Setup;
-
-
-// Hub stuff is kept private just to keep api simple
-int SetPortFeature(int device, int feature, int index);
-int ClearPortFeature(int device, int feature, int index);
-int SetPortPower(int device, int port);
-int SetPortReset(int device, int port);
-int GetPortStatus(int device, int port, u32* status);
-
-//===================================================================
-//===================================================================
-// Hardware defines
-
-// HcControl
-#define PeriodicListEnable 0x00000004
-#define IsochronousEnable 0x00000008
-#define ControlListEnable 0x00000010
-#define BulkListEnable 0x00000020
-#define OperationalMask 0x00000080
-#define HostControllerFunctionalState 0x000000C0
-
-// HcCommandStatus
-#define HostControllerReset 0x00000001
-#define ControlListFilled 0x00000002
-#define BulkListFilled 0x00000004
-
-// HcInterruptStatus Register
-#define WritebackDoneHead 0x00000002
-#define StartofFrame 0x00000004
-#define ResumeDetected 0x00000008
-#define UnrecoverableError 0x00000010
-#define FrameNumberOverflow 0x00000020
-#define RootHubStatusChange 0x00000040
-#define OwnershipChange 0x00000080
-#define MasterInterruptEnable 0x80000000
-
-// HcRhStatus
-#define SetGlobalPower 0x00010000
-#define DeviceRemoteWakeupEnable 0x00008000
-
-// HcRhPortStatus (hub 0, port 1)
-#define CurrentConnectStatus 0x00000001
-#define PortEnableStatus 0x00000002
-#define PortSuspendStatus 0x00000004
-#define PortOverCurrentIndicator 0x00000008
-#define PortResetStatus 0x00000010
-
-#define PortPowerStatus 0x00000100
-#define LowspeedDevice 0x00000200
-#define HighspeedDevice 0x00000400
-
-#define ConnectStatusChange (CurrentConnectStatus << 16)
-#define PortResetStatusChange (PortResetStatus << 16)
-
-
-#define TD_ROUNDING (u32)0x00040000
-#define TD_SETUP (u32)0x00000000
-#define TD_IN (u32)0x00100000
-#define TD_OUT (u32)0x00080000
-#define TD_DELAY_INT(x) (u32)((x) << 21)
-#define TD_TOGGLE_0 (u32)0x02000000
-#define TD_TOGGLE_1 (u32)0x03000000
-#define TD_CC (u32)0xF0000000
-
-// HostController EndPoint Descriptor
-typedef struct {
- volatile u32 Control;
- volatile u32 TailTd;
- volatile u32 HeadTd;
- volatile u32 Next;
-} HCED;
-
-// HostController Transfer Descriptor
-typedef struct {
- volatile u32 Control;
- volatile u32 CurrBufPtr;
- volatile u32 Next;
- volatile u32 BufEnd;
-} HCTD;
-
-// Host Controller Communication Area
-typedef struct {
- volatile u32 InterruptTable[32];
- volatile u16 FrameNumber;
- volatile u16 FrameNumberPad;
- volatile u32 DoneHead;
- volatile u8 Reserved[120];
-} HCCA;
-
-//====================================================================================
-//====================================================================================
-
-class HostController;
-class Endpoint;
-class Device;
-
-// must be 3*16 bytes long
-class Endpoint
-{
-public:
- HCED EndpointDescriptor; // Pointer to EndpointDescriptor == Pointer to Endpoint
- HCTD TDHead;
-
- enum State
- {
- Free,
- NotQueued,
- Idle,
- SetupQueued,
- DataQueued,
- StatusQueued,
- CallbackPending
- };
-
- volatile u8 CurrentState;
- u8 Flags; // 0x80 In, 0x03 mask endpoint type
-
- u16 Length;
- u8* Data;
- USBCallback Callback; // Must be a multiple of 16 bytes long
- void* UserData;
-
- int Address()
- {
- int ep = (EndpointDescriptor.Control >> 7) & 0xF;
- if (ep)
- ep |= Flags & 0x80;
- return ep;
- }
-
- int Device()
- {
- return EndpointDescriptor.Control & 0x7F;
- }
-
- int Status()
- {
- return (TDHead.Control >> 28) & 0xF;
- }
-
- u32 Enqueue(u32 head)
- {
- if (CurrentState == NotQueued)
- {
- EndpointDescriptor.Next = head;
- head = (u32)&EndpointDescriptor;
- CurrentState = Idle;
- }
- return head;
- }
-};
-
-class Device
-{
-public:
- u8 _endpointMap[MAX_ENDPOINTS_PER_DEVICE*2];
- u8 Hub;
- u8 Port;
- u8 Addr;
- u8 Pad;
-
- // Only if this device is a hub
- u8 HubPortCount; // nonzero if this is a hub
- u8 HubInterruptData;
- u8 HubMap;
- u8 HubMask;
-
- int Flags; // 1 = Disconnected
-
- Setup SetupBuffer;
-
- // Allocate endpoint zero
- int Init(DeviceDescriptor* d, int hub, int port, int addr, int lowSpeed)
- {
- Hub = hub;
- Port = port;
- Addr = addr;
- Flags = lowSpeed;
- memset(_endpointMap,0xFF,sizeof(_endpointMap));
- return 0;
- }
-
- int SetEndpointIndex(int ep, int endpointIndex)
- {
- for (int i = 0; i < MAX_ENDPOINTS_PER_DEVICE*2; i += 2)
- {
- if (_endpointMap[i] == 0xFF) // Add endpoint to map
- {
- _endpointMap[i] = ep;
- _endpointMap[i+1] = endpointIndex;
- return 0;
- }
- }
- return ERR_ENDPOINT_NONE_LEFT;
- }
-
- int GetEndpointIndex(int ep)
- {
- for (int i = 0; i < MAX_ENDPOINTS_PER_DEVICE*2; i += 2)
- {
- if (_endpointMap[i] == ep)
- return _endpointMap[i+1];
- if (_endpointMap[i] == 0xFF)
- break;
- }
- return -1;
- }
-};
-
-class HostController
-{
-public:
- HCCA CommunicationArea;
- Endpoint Endpoints[MAX_ENDPOINTS_TOTAL]; // Multiple of 16
-
- Endpoint EndpointZero; // For device enumeration
- HCTD _commonTail;
- Setup _setupZero;
-
- Device Devices[MAX_DEVICES];
- u32 _frameNumber; // 32 bit ms counter
-
- u8 _callbacksPending; // Endpoints with callbacks are pending, set from ISR via ProcessDoneQueue
- u8 _rootHubStatusChange; // Root hub status has changed, set from ISR
- u8 _unused0;
- u8 _unused1;
-
- u8 _connectPending; // Reset has initiated a connect
- u8 _connectCountdown; // Number of ms left after reset before we can connect
- u8 _connectHub; // Will connect on this hub
- u8 _connectPort; // ... and this port
-
- u8 SRAM[0]; // Start of free SRAM
-
- void Loop()
- {
- u16 elapsed = CommunicationArea.FrameNumber - (u16)_frameNumber; // extend to 32 bits
- _frameNumber += elapsed;
-
- // Do callbacks, if any
- while (_callbacksPending)
- {
- for (int i = 0; i < MAX_ENDPOINTS_TOTAL; i++)
- {
- Endpoint* endpoint = Endpoints + i;
- if (endpoint->CurrentState == Endpoint::CallbackPending)
- {
- LOG("Sorting Callbacks %i\n\r",endpoint->CurrentState);
- _callbacksPending--;
- endpoint->CurrentState = Endpoint::Idle;
- LOG("SatusChanged %i\n\r",endpoint->CurrentState);
- endpoint->Callback(endpoint->Device(),endpoint->Address(),endpoint->Status(),endpoint->Data,endpoint->Length,endpoint->UserData);
- }
- }
- }
-
- // Deal with changes on the root hub
- if (_rootHubStatusChange)
- {
- u32 status = LPC_USB->HcRhPortStatus1;
- _rootHubStatusChange = 0;
- if (status >> 16)
- {
- HubStatusChange(0,1,status);
- LPC_USB->HcRhPortStatus1 = status & 0xFFFF0000; // clear status changes
- }
- }
-
- // Connect after reset timeout
- if (_connectCountdown)
- {
- if (elapsed >= _connectCountdown)
- {
- _connectCountdown = 0;
- Connect(_connectHub,_connectPort & 0x7F,_connectPort & 0x80);
- } else
- _connectCountdown -= elapsed;
- }
- }
-
- // HubInterrupt - bitmap in dev->HubInterruptData
- void HubInterrupt(int device)
- {
- Device* dev = &Devices[device-1];
- for (int i = 0; i < dev->HubPortCount; i++)
- {
- int port = i+1;
- if (dev->HubInterruptData & (1 << port))
- {
- u32 status = 0;
- GetPortStatus(device,port,&status);
- if (status >> 16)
- {
- if (_connectPending && (status & ConnectStatusChange))
- continue; // Don't connect again until previous device has been added and addressed
-
- HubStatusChange(device,port,status);
- if (status & ConnectStatusChange)
- ClearPortFeature(device,C_PORT_CONNECTION,port);
- if (status & PortResetStatusChange)
- ClearPortFeature(device,C_PORT_RESET,port);
- }
- }
- }
- }
-
- static void HubInterruptCallback(int device, int endpoint, int status, u8* data, int len, void* userData)
- {
- HostController* controller = (HostController*)userData;
- if (status == 0)
- controller->HubInterrupt(device);
- USBInterruptTransfer(device,endpoint,data,1,HubInterruptCallback,userData);
- }
-
- int InitHub(int device)
- {
- u8 buf[16];
- int r= USBControlTransfer(device,DEVICE_TO_HOST | REQUEST_TYPE_CLASS | RECIPIENT_DEVICE,GET_DESCRIPTOR,(DESCRIPTOR_TYPE_HUB << 8),0,buf,sizeof(buf));
- if (r < 0)
- return ERR_HUB_INIT_FAILED;
-
- // turn on power on the hubs ports
- Device* dev = &Devices[device-1];
- int ports = buf[2];
- dev->HubPortCount = ports;
- for (int i = 0; i < ports; i++)
- SetPortPower(device,i+1);
-
- // Enable hub change interrupts
- return USBInterruptTransfer(device,0x81,&dev->HubInterruptData,1,HubInterruptCallback,this);
- }
-
- int AddEndpoint(int device, int ep, int attributes, int maxPacketSize, int interval)
- {
- LOG("AddEndpoint D:%02X A:%02X T:%02X P:%04X I:%02X\r\n",device,ep,attributes,maxPacketSize,interval);
- Device* dev = &Devices[device-1];
- Endpoint* endpoint = AllocateEndpoint(device,ep,attributes,maxPacketSize);
- if (!endpoint)
- return ERR_ENDPOINT_NONE_LEFT;
- dev->SetEndpointIndex(ep,endpoint - Endpoints);
- endpoint->EndpointDescriptor.Control |= dev->Flags; // Map in slow speed
- return 0; // TODO ed->bInterval
- }
-
- int AddEndpoint(int device, EndpointDescriptor* ed)
- {
- return AddEndpoint(device,ed->bEndpointAddress,ed->bmAttributes,ed->wMaxPacketSize,ed->bInterval);
- }
-
- // allocate a endpoint
- Endpoint* AllocateEndpoint(int device, int endpointAddress, int type, int maxPacketSize)
- {
- for (int i = 0; i < MAX_ENDPOINTS_TOTAL; i++)
- {
- Endpoint* ep = &Endpoints[i];
- if (ep->CurrentState == 0)
- {
- //LOG("Allocated endpoint %d to %02X:%02X\r\n",i,device,endpointAddress);
- ep->Flags = (endpointAddress & 0x80) | (type & 3);
- ep->CurrentState = Endpoint::NotQueued;
- ep->EndpointDescriptor.Control = (maxPacketSize << 16) | ((endpointAddress & 0x7F) << 7) | device;
- return ep;
- }
- }
- return 0;
- }
-
- Endpoint* GetEndpoint(int device, int ep)
- {
- if (device == 0)
- {
- //printf("WARNING: USING DEVICE 0\n");
- return &EndpointZero;
- }
- if (device > MAX_DEVICES)
- return 0;
- int i = Devices[device-1].GetEndpointIndex(ep);
- if (i == -1)
- return 0;
- return Endpoints + i;
- }
-
- int Transfer(Endpoint* endpoint, int token, u8* data, int len, int state)
- {
- //LOG("Transfer %02X T:%d Len:%d S:%d\r\n",endpoint->Address(),token,len,state);
-
- int toggle = 0;
- if (endpoint->Address() == 0)
- toggle = (token == TOKEN_SETUP) ? TD_TOGGLE_0 : TD_TOGGLE_1;
-
- if (token != TOKEN_SETUP)
- token = (token == TOKEN_IN ? TD_IN : TD_OUT);
-
- HCTD* head = &endpoint->TDHead;
- HCTD* tail = &_commonTail;
-
- head->Control = TD_ROUNDING | token | TD_DELAY_INT(0) | toggle | TD_CC;
- head->CurrBufPtr = (u32)data;
- head->BufEnd = (u32)(data + len - 1);
- head->Next = (u32)tail;
-
- HCED* ed = &endpoint->EndpointDescriptor;
- ed->HeadTd = (u32)head | (ed->HeadTd & 0x00000002); // carry toggle
- ed->TailTd = (u32)tail;
-
- //HCTD* td = head;
- //LOG("%04X TD %08X %08X %08X Next:%08X\r\n",CommunicationArea.FrameNumber,td->Control,td->CurrBufPtr,td->BufEnd,td->Next);
- //LOG("%04X ED %08X %08X %08X\r\n",CommunicationArea.FrameNumber,ed->Control,ed->HeadTd,ed->TailTd);
-
- switch (endpoint->Flags & 3)
- {
- case ENDPOINT_CONTROL:
- LPC_USB->HcControlHeadED = endpoint->Enqueue(LPC_USB->HcControlHeadED); // May change state NotQueued->Idle
- endpoint->CurrentState = state; // Get in before an int
- LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | ControlListFilled;
- LPC_USB->HcControl = LPC_USB->HcControl | ControlListEnable;
- break;
-
- case ENDPOINT_BULK:
- LPC_USB->HcBulkHeadED = endpoint->Enqueue(LPC_USB->HcBulkHeadED);
- endpoint->CurrentState = state;
- LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | BulkListFilled;
- LPC_USB->HcControl = LPC_USB->HcControl | BulkListEnable;
- break;
-
- case ENDPOINT_INTERRUPT:
- CommunicationArea.InterruptTable[0] = endpoint->Enqueue(CommunicationArea.InterruptTable[0]);
- endpoint->CurrentState = state;
- LPC_USB->HcControl |= PeriodicListEnable;
- break;
- }
- return 0;
- }
-
- // Remove an endpoint from an active queue
- bool Remove(HCED* ed, volatile HCED** queue)
- {
- if (*queue == 0)
- return false;
- if (*queue == (volatile HCED*)ed)
- {
- *queue = (volatile HCED*)ed->Next; // At head of queue
- return true;
- }
-
- volatile HCED* head = *queue;
- while (head)
- {
- if (head->Next == (u32)ed)
- {
- head->Next = ed->Next;
- return true;
- }
- head = (volatile HCED*)head->Next;
- }
- return false;
- }
-
- void Release(Endpoint* endpoint)
- {
- if (endpoint->CurrentState == Endpoint::NotQueued)
- {
- // Never event used it, nothing to do
- }
- else
- {
- HCED* ed = (HCED*)endpoint;
- ed->Control |= 0x4000; // SKIP
- switch (endpoint->Flags & 0x03)
- {
- case ENDPOINT_CONTROL:
- Remove(ed,(volatile HCED**)&LPC_USB->HcControlHeadED);
- break;
- case ENDPOINT_BULK:
- Remove(ed,(volatile HCED**)&LPC_USB->HcBulkHeadED);
- break;
- case ENDPOINT_INTERRUPT:
- for (int i = 0; i < 32; i++)
- Remove(ed,(volatile HCED**)&CommunicationArea.InterruptTable[i]);
- break;
- }
-
- u16 fn = CommunicationArea.FrameNumber;
- while (fn == CommunicationArea.FrameNumber)
- ; // Wait for next frame
-
- }
-
- // In theory, the endpoint is now dead.
- // TODO: Will Callbacks ever be pending? BUGBUG
- memset(endpoint,0,sizeof(Endpoint));
- }
-
- // Pop the last TD from the list
- HCTD* Reverse(HCTD* current)
- {
- HCTD *result = NULL,*temp;
- while (current)
- {
- temp = (HCTD*)current->Next;
- current->Next = (u32)result;
- result = current;
- current = temp;
- }
- return result;
- }
-
- // Called from interrupt...
- // Control endpoints use a state machine to progress through the transfers
- void ProcessDoneQueue(u32 tdList)
- {
- HCTD* list = Reverse((HCTD*)tdList);
- while (list)
- {
- Endpoint* endpoint = (Endpoint*)(list-1);
- list = (HCTD*)list->Next;
- int ep = endpoint->Address();
- bool in = endpoint->Flags & 0x80;
- int status = (endpoint->TDHead.Control >> 28) & 0xF;
-
- //LOG("ProcessDoneQueue %02X %08X\r\n",ep,endpoint->TDHead.Control);
-
- if (status != 0)
- {
- LOG("ProcessDoneQueue status %02X %d\r\n",ep,status);
- endpoint->CurrentState = Endpoint::Idle;
- } else {
- switch (endpoint->CurrentState)
- {
- case Endpoint::SetupQueued:
- if (endpoint->Length == 0)
- Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Skip Data Phase
- else
- Transfer(endpoint,in ? TOKEN_IN : TOKEN_OUT,endpoint->Data,endpoint->Length, Endpoint::DataQueued); // Setup is done, now Data
- break;
-
- case Endpoint::DataQueued:
- if (endpoint->TDHead.CurrBufPtr)
- endpoint->Length = endpoint->TDHead.CurrBufPtr - (u32)endpoint->Data;
-
- if (ep == 0)
- Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Data is done, now Status, Control only
- else
- endpoint->CurrentState = Endpoint::Idle;
- break;
-
- case Endpoint::StatusQueued: // Transaction is done
- endpoint->CurrentState = Endpoint::Idle;
- break;
- }
- }
-
- // Complete, flag if we need a callback
- if (endpoint->Callback && endpoint->CurrentState == Endpoint::Idle)
- {
- endpoint->CurrentState = Endpoint::CallbackPending;
- _callbacksPending++;
- }
- }
- }
-
- // Hack to reset devices that don't want to connect
- int AddDevice(int hub, int port, bool isLowSpeed)
- {
- int device = AddDeviceCore(hub,port,isLowSpeed);
- if (device < 0)
- {
- LOG("========RETRY ADD DEVICE========\r\n"); // This will go for ever.. TODO power cycle root?
- Disconnect(hub,port); // Could not read descriptor at assigned address, reset this port and try again
- ResetPort(hub,port); // Cheap bluetooth dongles often need this on a hotplug
- return -1;
- }
- return device;
- }
-
- int AddDeviceCore(int hub, int port, bool isLowSpeed)
- {
- int lowSpeed = isLowSpeed ? 0x2000 : 0;
- DeviceDescriptor desc;
- EndpointZero.EndpointDescriptor.Control = (8 << 16) | lowSpeed; // MaxPacketSize == 8
- int r = GetDescriptor(0,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,8);
- if (r < 0)
- {
- LOG("FAILED TO LOAD DESCRIPTOR FOR DEVICE 0\r\n");
- return r;
- }
-
- EndpointZero.EndpointDescriptor.Control = (desc.bMaxPacketSize << 16) | lowSpeed; // Actual MaxPacketSize
- r = GetDescriptor(0,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,sizeof(desc));
- if (r < 0)
- return r;
-
- LOG("\nClass %02X found %04X:%04X\r\n",desc.bDeviceClass,desc.idVendor,desc.idProduct);
-
- // Now assign the device an address, move off EndpointZero
- int device = 0;
- for (int i = 0; i < MAX_DEVICES; i++)
- {
- if (Devices[i].Port == 0)
- {
- device = i+1;
- break;
- }
- }
- if (!device)
- return ERR_DEVICE_NONE_LEFT;
-
- r = SetAddress(0,device);
- if (r)
- return r;
- DelayMS(2);
-
- // Now at a nonzero address, create control endpoint
- Device* dev = &Devices[device-1];
- dev->Init(&desc,hub,port,device,lowSpeed);
- AddEndpoint(device,0,ENDPOINT_CONTROL,desc.bMaxPacketSize,0);
- _connectPending = 0;
-
- // Verify this all works
- r = GetDescriptor(device,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,sizeof(desc));
- if (r < 0)
- return r;
-
- // Set to interface 0 by default
- // Calls LoadDevice if interface is found
- r = SetConfigurationAndInterface(device,1,0,&desc);
-
- if (desc.bDeviceClass == CLASS_HUB)
- InitHub(device); // Handle hubs in this code
-
- return device;
- }
-
- // Walk descriptors and create endpoints for a given device
- // TODO configuration !=1, alternate settings etc.
- int SetConfigurationAndInterface(int device, int configuration, int interfaceNumber, DeviceDescriptor* desc)
- {
- u8 buffer[255];
- int err = GetDescriptor(device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,sizeof(buffer));
- if (err < 0)
- return err;
-
- err = SetConfiguration(device,configuration);
- if (err < 0)
- return err;
-
- // Add the endpoints for this interface
- int len = buffer[2] | (buffer[3] << 8);
- u8* d = buffer;
- u8* end = d + len;
- InterfaceDescriptor* found = 0;
- while (d < end)
- {
- if (d[1] == DESCRIPTOR_TYPE_INTERFACE)
- {
- InterfaceDescriptor* id = (InterfaceDescriptor*)d;
- if (id->bInterfaceNumber == interfaceNumber)
- {
- found = id;
- d += d[0];
- while (d < end && d[1] != DESCRIPTOR_TYPE_INTERFACE)
- {
- switch (d[1])
- {
- case DESCRIPTOR_TYPE_ENDPOINT:
- AddEndpoint(device,(EndpointDescriptor*)d);
- break;
- default:
- LOG("Skipping descriptor %02X (%d bytes)\r\n",d[1],d[0]);
- }
- d += d[0];
- }
- }
- }
- d += d[0];
- }
-
- if (!found)
- return ERR_INTERFACE_NOT_FOUND;
- OnLoadDevice(device,desc,found);
- return 0;
- }
-
- void Init()
- {
- LOG("USB INIT (Controller is %d bytes)\r\n",sizeof(*this));
- memset(this,0,sizeof(HostController));
- EndpointZero.CurrentState = Endpoint::NotQueued;
- HWInit(&CommunicationArea);
- DelayMS(10);
- }
-
- void ResetPort(int hub, int port)
- {
- LOG("ResetPort Hub:%d Port:%d\r\n",hub,port);
- _connectPending++; // Only reset/add 1 device at a time
- if (hub == 0)
- LPC_USB->HcRhPortStatus1 = PortResetStatus; // Reset Root Hub, port 1
- else
- SetPortReset(hub,port); // or reset other hub
- }
-
- void Disconnect(int hub, int port)
- {
- LOG("Disconnect Hub:%d Port:%d\r\n",hub,port); // Mark a device for destruction
- for (int i = 0; i < MAX_DEVICES; i++)
- {
- Device* dev = Devices + i;
- if (dev->Port == port && dev->Hub == hub)
- {
- // Disconnect everything that is attached to this device if it is a hub
- for (int p = 0; p < dev->HubPortCount; p++)
- Disconnect(i+1,p+1);
-
- // Now release endpoints
- for (int j = 1; j < MAX_ENDPOINTS_PER_DEVICE*2; j += 2)
- {
- u8 endpointIndex = dev->_endpointMap[j];
- if (endpointIndex != 0xFF)
- Release(Endpoints + endpointIndex);
- }
- dev->Port = 0; // Device is now free
- dev->Flags = 0;
- return;
- }
- }
- }
-
- // called after reset
- void Connect(int hub, int port, bool lowspeed)
- {
- LOG("Connect Hub:%d Port:%d %s\r\n",hub,port,lowspeed ? "slow" : "full");
- AddDevice(hub,port,lowspeed);
- }
-
- // Called from interrupt
- void HubStatusChange(int hub, int port, u32 status)
- {
- LOG("HubStatusChange Hub:%d Port:%d %08X\r\n",hub,port,status);
- if (status & ConnectStatusChange)
- {
- if (status & CurrentConnectStatus) // Connecting
- ResetPort(hub,port); // Reset to initiate connect (state machine?)
- else
- Disconnect(hub,port);
- }
-
- if (status & PortResetStatusChange)
- {
- if (!(status & PortResetStatus))
- {
- _connectCountdown = 200; // Schedule a connection in 200ms
- if (status & LowspeedDevice)
- port |= 0x80;
- _connectHub = hub;
- _connectPort = port;
- }
- }
- }
-
- #define HOST_CLK_EN (1<<0)
- #define PORTSEL_CLK_EN (1<<3)
- #define AHB_CLK_EN (1<<4)
- #define CLOCK_MASK (HOST_CLK_EN | PORTSEL_CLK_EN | AHB_CLK_EN)
-
- #define FRAMEINTERVAL (12000-1) // 1ms
- #define DEFAULT_FMINTERVAL ((((6 * (FRAMEINTERVAL - 210)) / 7) << 16) | FRAMEINTERVAL)
-
- void DelayMS(int ms)
- {
- u16 f = ms + CommunicationArea.FrameNumber;
- while (f != CommunicationArea.FrameNumber)
- ;
- }
-
- static void HWInit(HCCA* cca)
- {
- NVIC_DisableIRQ(USB_IRQn);
-
- // turn on power for USB
- LPC_SC->PCONP |= (1UL<<31);
- // Enable USB host clock, port selection and AHB clock
- LPC_USB->USBClkCtrl |= CLOCK_MASK;
- // Wait for clocks to become available
- while ((LPC_USB->USBClkSt & CLOCK_MASK) != CLOCK_MASK)
- ;
-
- // We are a Host
- LPC_USB->OTGStCtrl |= 1;
- LPC_USB->USBClkCtrl &= ~PORTSEL_CLK_EN; // we don't need port selection clock until we do OTG
-
- // configure USB pins
- LPC_PINCON->PINSEL1 &= ~((3<<26)|(3<<28));
- LPC_PINCON->PINSEL1 |= ((1<<26)|(1<<28)); // USB D+/D-
-
- LPC_PINCON->PINSEL3 &= ~((3 << 6) | (3 << 22)); // USB_PPWR, USB_OVRCR
- LPC_PINCON->PINSEL3 |= ((2 << 6) | (2 << 22));
-
- LPC_PINCON->PINSEL4 &= ~(3 << 18); // USB_CONNECT
- LPC_PINCON->PINSEL4 |= (1 << 18);
-
- // Reset OHCI block
- LPC_USB->HcControl = 0;
- LPC_USB->HcControlHeadED = 0;
- LPC_USB->HcBulkHeadED = 0;
-
- LPC_USB->HcCommandStatus = HostControllerReset;
- LPC_USB->HcFmInterval = DEFAULT_FMINTERVAL;
- LPC_USB->HcPeriodicStart = FRAMEINTERVAL*90/100;
-
- LPC_USB->HcControl = (LPC_USB->HcControl & (~HostControllerFunctionalState)) | OperationalMask;
- LPC_USB->HcRhStatus = SetGlobalPower;
-
- LPC_USB->HcHCCA = (u32)cca;
- LPC_USB->HcInterruptStatus |= LPC_USB->HcInterruptStatus;
- LPC_USB->HcInterruptEnable = MasterInterruptEnable | WritebackDoneHead | RootHubStatusChange | FrameNumberOverflow;
-
- NVIC_SetPriority(USB_IRQn, 0);
- NVIC_EnableIRQ(USB_IRQn);
- while (cca->FrameNumber < 10)
- ; // 10ms delay before diving in
- }
-};
-
-//====================================================================================
-//====================================================================================
-// Host controller instance and Interrupt handler
-
-static HostController _controller __attribute__((at(USB_RAM_BASE)));
-
-extern "C" void USB_IRQHandler(void) __irq;
-void USB_IRQHandler (void) __irq
-{
- u32 int_status = LPC_USB->HcInterruptStatus;
-
- if(int_status & UnrecoverableError) //Error
- {
- LOG("USB_IRQHandler UnrecoverableError Please reset\r\n");
- }
-
-
- if (int_status & RootHubStatusChange) // Root hub status change
- _controller._rootHubStatusChange++; // Just flag the controller, will be processed in USBLoop
-
- u32 head = 0;
- if (int_status & WritebackDoneHead)
- {
- head = _controller.CommunicationArea.DoneHead; // Writeback Done
- _controller.CommunicationArea.DoneHead = 0;
- }
- LPC_USB->HcInterruptStatus = int_status;
-
- if (head)
- _controller.ProcessDoneQueue(head); // TODO - low bit can be set BUGBUG
-}
-
-//====================================================================================
-//====================================================================================
-// API Methods
-
-void USBInit()
-{
- return _controller.Init();
-}
-
-void USBLoop()
-{
-
- return _controller.Loop();
-
-}
-
-u8* USBGetBuffer(u32* len)
-{
- *len = USB_RAM_SIZE - sizeof(HostController);
- return _controller.SRAM;
-}
-
-static Setup* GetSetup(int device)
-{
- if (device == 0)
- return &_controller._setupZero;
-
- if (device < 1 || device > MAX_DEVICES)
- return 0;
- return &_controller.Devices[device-1].SetupBuffer;
-}
-
-// Loop until IO on endpoint is complete
-static int WaitIODone(Endpoint* endpoint)
-{
- LOG("Waiting\n\r");
- if (endpoint->CurrentState == Endpoint::NotQueued)
- return 0;
- while (endpoint->CurrentState != Endpoint::Idle)
- //LOG("Loopz");
- USBLoop(); // May generate callbacks, mount or unmount devices etc
- int status = endpoint->Status();
- if (status == 0)
- return endpoint->Length;
- LOG("DATA SENT\n\r");
- return -status;
-}
-
-int USBTransfer(int device, int ep, u8 flags, u8* data, int length, USBCallback callback, void* userData)
-{
- Endpoint* endpoint = _controller.GetEndpoint(device,ep);
- if (!endpoint)
- return ERR_ENDPOINT_NOT_FOUND;
-
- WaitIODone(endpoint);
- LOG("before ep=%x,callback=%p\r\n",endpoint,endpoint->Callback);
- endpoint->Flags = flags;
- endpoint->Data = data;
- endpoint->Length = length;
- endpoint->Callback = callback;
- endpoint->UserData = userData;
- LOG("ep=%x,callback=%p\r\n",ep,callback);
- if (ep == 0)
- _controller.Transfer(endpoint,TOKEN_SETUP,(u8*)GetSetup(device),8,Endpoint::SetupQueued);
- else
- _controller.Transfer(endpoint,flags & 0x80 ? TOKEN_IN : TOKEN_OUT,data,length,Endpoint::DataQueued);
- if (callback)
- return IO_PENDING;
- return WaitIODone(endpoint);
-}
-
-int USBControlTransfer(int device, int request_type, int request, int value, int index, u8* data, int length, USBCallback callback, void * userData)
-{
- Setup* setup = GetSetup(device);
- if (!setup)
- return ERR_DEVICE_NOT_FOUND;
-
- // Async control calls may overwrite setup buffer of previous call, so we need to wait before setting up next call
- WaitIODone(_controller.GetEndpoint(device,0));
-
- setup->bm_request_type = request_type;
- setup->b_request = request;
- setup->w_value = value;
- setup->w_index = index;
- setup->w_length = length;
- return USBTransfer(device,0,request_type & DEVICE_TO_HOST,data,length,callback,userData);
-}
-
-int USBInterruptTransfer(int device, int ep, u8* data, int length, USBCallback callback, void* userData)
-{
- return USBTransfer(device,ep,(ep & 0x80) | ENDPOINT_INTERRUPT,data,length,callback,userData);
-}
-
-int USBBulkTransfer(int device, int ep, u8* data, int length, USBCallback callback, void* userData)
-{
- return USBTransfer(device,ep,(ep & 0x80) | ENDPOINT_BULK,data,length,callback,userData);
-}
-
-int GetDescriptor(int device, int descType,int descIndex, u8* data, int length)
-{
- return USBControlTransfer(device,DEVICE_TO_HOST | RECIPIENT_DEVICE, GET_DESCRIPTOR,(descType << 8)|(descIndex), 0, data, length, 0);
-}
-
-int GetString(int device, int index, char* dst, int length)
-{
- u8 buffer[255];
- int le = GetDescriptor(device,DESCRIPTOR_TYPE_STRING,index,buffer,sizeof(buffer));
- if (le < 0)
- return le;
- if (length < 1)
- return -1;
- length <<= 1;
- if (le > length)
- le = length;
- for (int j = 2; j < le; j += 2)
- *dst++ = buffer[j];
- *dst = 0;
- return (le>>1)-1;
-}
-
-int SetAddress(int device, int new_addr)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_DEVICE, SET_ADDRESS, new_addr, 0, 0, 0, 0);
-}
-
-int SetConfiguration(int device, int configNum)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_DEVICE, SET_CONFIGURATION, configNum, 0, 0, 0, 0);
-}
-
-int SetInterface(int device, int ifNum, int altNum)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_INTERFACE, SET_INTERFACE, altNum, ifNum, 0, 0, 0);
-}
-
-// HUB stuff
-int SetPortFeature(int device, int feature, int index)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,SET_FEATURE,feature,index,0,0);
-}
-
-int ClearPortFeature(int device, int feature, int index)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,CLEAR_FEATURE,feature,index,0,0);
-}
-
-int SetPortPower(int device, int port)
-{
- int r = SetPortFeature(device,PORT_POWER,port);
- _controller.DelayMS(20); // 80ms to turn on a hubs power... DESCRIPTOR? todo
- return r;
-}
-
-int SetPortReset(int device, int port)
-{
- return SetPortFeature(device,PORT_RESET,port);
-}
-
-int GetPortStatus(int device, int port, u32* status)
-{
- return USBControlTransfer(device,DEVICE_TO_HOST | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,GET_STATUS,0,port,(u8*)status,4);
-}
-
-#endif
\ No newline at end of file
--- a/Android/AndroidAccessory/USBHost/USBHost.h Fri Apr 05 10:58:42 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,221 +0,0 @@
-
-/*
-Copyright (c) 2010 Peter Barrett
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-*/
-
-
-#ifndef USBHOST_H
-#define USBHOST_H
-
-//log mode on off
-//#define USBHOST_LOG
-
-
-#ifndef u8
-typedef unsigned char u8;
-typedef unsigned short u16;
-typedef unsigned long u32;
-
-typedef char s8;
-typedef short s16;
-typedef char s32;
-#endif
-
-#define ENDPOINT_CONTROL 0
-#define ENDPOINT_ISOCRONOUS 1
-#define ENDPOINT_BULK 2
-#define ENDPOINT_INTERRUPT 3
-
-#define DESCRIPTOR_TYPE_DEVICE 1
-#define DESCRIPTOR_TYPE_CONFIGURATION 2
-#define DESCRIPTOR_TYPE_STRING 3
-#define DESCRIPTOR_TYPE_INTERFACE 4
-#define DESCRIPTOR_TYPE_ENDPOINT 5
-
-#define DESCRIPTOR_TYPE_HID 0x21
-#define DESCRIPTOR_TYPE_REPORT 0x22
-#define DESCRIPTOR_TYPE_PHYSICAL 0x23
-#define DESCRIPTOR_TYPE_HUB 0x29
-
-enum USB_CLASS_CODE
-{
- CLASS_DEVICE,
- CLASS_AUDIO,
- CLASS_COMM_AND_CDC_CONTROL,
- CLASS_HID,
- CLASS_PHYSICAL = 0x05,
- CLASS_STILL_IMAGING,
- CLASS_PRINTER,
- CLASS_MASS_STORAGE,
- CLASS_HUB,
- CLASS_CDC_DATA,
- CLASS_SMART_CARD,
- CLASS_CONTENT_SECURITY = 0x0D,
- CLASS_VIDEO = 0x0E,
- CLASS_DIAGNOSTIC_DEVICE = 0xDC,
- CLASS_WIRELESS_CONTROLLER = 0xE0,
- CLASS_MISCELLANEOUS = 0xEF,
- CLASS_APP_SPECIFIC = 0xFE,
- CLASS_VENDOR_SPECIFIC = 0xFF
-};
-
-#define DEVICE_TO_HOST 0x80
-#define HOST_TO_DEVICE 0x00
-#define REQUEST_TYPE_STANDARD 0x00
-#define REQUEST_TYPE_CLASS 0x20
-#define REQUEST_TYPE_VENDOR 0x40
-#define RECIPIENT_DEVICE 0x00
-#define RECIPIENT_INTERFACE 0x01
-#define RECIPIENT_ENDPOINT 0x02
-#define RECIPIENT_OTHER 0x03
-
-#define GET_STATUS 0
-#define CLEAR_FEATURE 1
-#define SET_FEATURE 3
-#define SET_ADDRESS 5
-#define GET_DESCRIPTOR 6
-#define SET_DESCRIPTOR 7
-#define GET_CONFIGURATION 8
-#define SET_CONFIGURATION 9
-#define GET_INTERFACE 10
-#define SET_INTERFACE 11
-#define SYNCH_FRAME 11
-
-/* HID Request Codes */
-#define HID_REQUEST_GET_REPORT 0x01
-#define HID_REQUEST_GET_IDLE 0x02
-#define HID_REQUEST_GET_PROTOCOL 0x03
-#define HID_REQUEST_SET_REPORT 0x09
-#define HID_REQUEST_SET_IDLE 0x0A
-#define HID_REQUEST_SET_PROTOCOL 0x0B
-
-/* HID Report Types */
-#define HID_REPORT_INPUT 0x01
-#define HID_REPORT_OUTPUT 0x02
-#define HID_REPORT_FEATURE 0x03
-
-
-// -5 is nak
-/*
-0010 ACK Handshake
-1010 NAK Handshake
-1110 STALL Handshake
-0110 NYET (No Response Yet)
-*/
-
-#define IO_PENDING -100
-#define ERR_ENDPOINT_NONE_LEFT -101
-#define ERR_ENDPOINT_NOT_FOUND -102
-#define ERR_DEVICE_NOT_FOUND -103
-#define ERR_DEVICE_NONE_LEFT -104
-#define ERR_HUB_INIT_FAILED -105
-#define ERR_INTERFACE_NOT_FOUND -106
-
-typedef struct
-{
- u8 bLength;
- u8 bDescriptorType;
- u16 bcdUSB;
- u8 bDeviceClass;
- u8 bDeviceSubClass;
- u8 bDeviceProtocol;
- u8 bMaxPacketSize;
- u16 idVendor;
- u16 idProduct;
- u16 bcdDevice; // version
- u8 iManufacturer;
- u8 iProduct;
- u8 iSerialNumber;
- u8 bNumConfigurations;
-} DeviceDescriptor; // 16 bytes
-
-typedef struct
-{
- u8 bLength;
- u8 bDescriptorType;
- u16 wTotalLength;
- u8 bNumInterfaces;
- u8 bConfigurationValue; // Value to use as an argument to select this configuration
- u8 iConfiguration; // Index of String Descriptor describing this configuration
- u8 bmAttributes; // Bitmap D7 Reserved, set to 1. (USB 1.0 Bus Powered),D6 Self Powered,D5 Remote Wakeup,D4..0 = 0
- u8 bMaxPower; // Maximum Power Consumption in 2mA units
-} ConfigurationDescriptor;
-
-typedef struct
-{
- u8 bLength;
- u8 bDescriptorType;
- u8 bInterfaceNumber;
- u8 bAlternateSetting;
- u8 bNumEndpoints;
- u8 bInterfaceClass;
- u8 bInterfaceSubClass;
- u8 bInterfaceProtocol;
- u8 iInterface; // Index of String Descriptor Describing this interface
-} InterfaceDescriptor;
-
-typedef struct
-{
- u8 bLength;
- u8 bDescriptorType;
- u8 bEndpointAddress; // Bits 0:3 endpoint, Bits 7 Direction 0 = Out, 1 = In (Ignored for Control Endpoints)
- u8 bmAttributes; // Bits 0:1 00 = Control, 01 = Isochronous, 10 = Bulk, 11 = Interrupt
- u16 wMaxPacketSize;
- u8 bInterval; // Interval for polling endpoint data transfers.
-} EndpointDescriptor;
-
-typedef struct {
- u8 bLength;
- u8 bDescriptorType;
- u16 bcdHID;
- u8 bCountryCode;
- u8 bNumDescriptors;
- u8 bDescriptorType2;
- u16 wDescriptorLength;
-} HIDDescriptor;
-
-//============================================================================
-//============================================================================
-
-
-void USBInit();
-void USBLoop();
-u8* USBGetBuffer(u32* len);
-
-// Optional callback for transfers, called at interrupt time
-typedef void (*USBCallback)(int device, int endpoint, int status, u8* data, int len, void* userData);
-
-// Transfers
-int USBControlTransfer(int device, int request_type, int request, int value, int index, u8* data, int length, USBCallback callback = 0, void* userData = 0);
-int USBInterruptTransfer(int device, int ep, u8* data, int length, USBCallback callback = 0, void* userData = 0);
-int USBBulkTransfer(int device, int ep, u8* data, int length, USBCallback callback = 0, void* userData = 0);
-
-// Standard Device methods
-int GetDescriptor(int device, int descType, int descIndex, u8* data, int length);
-int GetString(int device, int index, char* dst, int length);
-int SetAddress(int device, int new_addr);
-int SetConfiguration(int device, int configNum);
-int SetInterface(int device, int ifNum, int altNum);
-
-// Implemented to notify app of the arrival of a device
-void OnLoadDevice(int device, DeviceDescriptor* deviceDesc, InterfaceDescriptor* interfaceDesc);
-
-#endif
\ No newline at end of file
--- a/Android/AndroidAccessory/USBHost/USBHost_log.cpp Fri Apr 05 10:58:42 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1175 +0,0 @@
-
-/*
-Copyright (c) 2010 Peter Barrett
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-*/
-
-
-#include "mbed.h"
-#include "USBHost.h"
-//#define USBHOST_LOG
-#ifdef USBHOST_LOG
-
-// Config (default uses x bytes)
-#define MAX_DEVICES 8 // Max number of devices
-#define MAX_ENDPOINTS_TOTAL 16 // Max number of endpoints total
-#define MAX_ENDPOINTS_PER_DEVICE 8 // Max number of endpoints for any one device
-
-//#define USBLOG 1
-#if USBLOG
-#define LOG(...) printf(__VA_ARGS__)
-#else
-#define LOG(...) do {} while(0)
-#endif
-
-// USB host structures
-
-#define USB_RAM_SIZE 16*1024 // AHB SRAM block 1 TODO MACHINE DEPENDENT
-#define USB_RAM_BASE 0x2007C000
-
-#define TOKEN_SETUP 0
-#define TOKEN_IN 1
-#define TOKEN_OUT 2
-
-// Status flags from hub
-#define PORT_CONNECTION 0
-#define PORT_ENABLE 1
-#define PORT_SUSPEND 2
-#define PORT_OVER_CURRENT 3
-#define PORT_RESET 4
-#define PORT_POWER 8
-#define PORT_LOW_SPEED 9
-
-#define C_PORT_CONNECTION 16
-#define C_PORT_ENABLE 17
-#define C_PORT_SUSPEND 18
-#define C_PORT_OVER_CURRENT 19
-#define C_PORT_RESET 20
-
-typedef struct {
- u8 bm_request_type;
- u8 b_request;
- u16 w_value;
- u16 w_index;
- u16 w_length;
-} Setup;
-
-
-// Hub stuff is kept private just to keep api simple
-int SetPortFeature(int device, int feature, int index);
-int ClearPortFeature(int device, int feature, int index);
-int SetPortPower(int device, int port);
-int SetPortReset(int device, int port);
-int GetPortStatus(int device, int port, u32* status);
-
-//===================================================================
-//===================================================================
-// Hardware defines
-
-// HcControl
-#define PeriodicListEnable 0x00000004
-#define IsochronousEnable 0x00000008
-#define ControlListEnable 0x00000010
-#define BulkListEnable 0x00000020
-#define OperationalMask 0x00000080
-#define HostControllerFunctionalState 0x000000C0
-
-// HcCommandStatus
-#define HostControllerReset 0x00000001
-#define ControlListFilled 0x00000002
-#define BulkListFilled 0x00000004
-
-// HcInterruptStatus Register
-#define WritebackDoneHead 0x00000002
-#define StartofFrame 0x00000004
-#define ResumeDetected 0x00000008
-#define UnrecoverableError 0x00000010
-#define FrameNumberOverflow 0x00000020
-#define RootHubStatusChange 0x00000040
-#define OwnershipChange 0x00000080
-#define MasterInterruptEnable 0x80000000
-
-// HcRhStatus
-#define SetGlobalPower 0x00010000
-#define DeviceRemoteWakeupEnable 0x00008000
-
-// HcRhPortStatus (hub 0, port 1)
-#define CurrentConnectStatus 0x00000001
-#define PortEnableStatus 0x00000002
-#define PortSuspendStatus 0x00000004
-#define PortOverCurrentIndicator 0x00000008
-#define PortResetStatus 0x00000010
-
-#define PortPowerStatus 0x00000100
-#define LowspeedDevice 0x00000200
-#define HighspeedDevice 0x00000400
-
-#define ConnectStatusChange (CurrentConnectStatus << 16)
-#define PortResetStatusChange (PortResetStatus << 16)
-
-
-#define TD_ROUNDING (u32)0x00040000
-#define TD_SETUP (u32)0x00000000
-#define TD_IN (u32)0x00100000
-#define TD_OUT (u32)0x00080000
-#define TD_DELAY_INT(x) (u32)((x) << 21)
-#define TD_TOGGLE_0 (u32)0x02000000
-#define TD_TOGGLE_1 (u32)0x03000000
-#define TD_CC (u32)0xF0000000
-
-// HostController EndPoint Descriptor
-typedef struct {
- volatile u32 Control;
- volatile u32 TailTd;
- volatile u32 HeadTd;
- volatile u32 Next;
-} HCED;
-
-// HostController Transfer Descriptor
-typedef struct {
- volatile u32 Control;
- volatile u32 CurrBufPtr;
- volatile u32 Next;
- volatile u32 BufEnd;
-} HCTD;
-
-// Host Controller Communication Area
-typedef struct {
- volatile u32 InterruptTable[32];
- volatile u16 FrameNumber;
- volatile u16 FrameNumberPad;
- volatile u32 DoneHead;
- volatile u8 Reserved[120];
-} HCCA;
-
-//====================================================================================
-//====================================================================================
-
-class HostController;
-class Endpoint;
-class Device;
-
-// must be 3*16 bytes long
-class Endpoint
-{
-public:
- HCED EndpointDescriptor; // Pointer to EndpointDescriptor == Pointer to Endpoint
- HCTD TDHead;
-
- enum State
- {
- Free,
- NotQueued,
- Idle,
- SetupQueued,
- DataQueued,
- StatusQueued,
- CallbackPending
- };
-
- volatile u8 CurrentState;
- u8 Flags; // 0x80 In, 0x03 mask endpoint type
-
- u16 Length;
- u8* Data;
- USBCallback Callback; // Must be a multiple of 16 bytes long
- void* UserData;
-
- int Address()
- {
- int ep = (EndpointDescriptor.Control >> 7) & 0xF;
- if (ep)
- ep |= Flags & 0x80;
- return ep;
- }
-
- int Device()
- {
- return EndpointDescriptor.Control & 0x7F;
- }
-
- int Status()
- {
- return (TDHead.Control >> 28) & 0xF;
- }
-
- u32 Enqueue(u32 head)
- {
- if (CurrentState == NotQueued)
- {
- EndpointDescriptor.Next = head;
- head = (u32)&EndpointDescriptor;
- CurrentState = Idle;
- }
- return head;
- }
-};
-
-class Device
-{
-public:
- u8 _endpointMap[MAX_ENDPOINTS_PER_DEVICE*2];
- u8 Hub;
- u8 Port;
- u8 Addr;
- u8 Pad;
-
- // Only if this device is a hub
- u8 HubPortCount; // nonzero if this is a hub
- u8 HubInterruptData;
- u8 HubMap;
- u8 HubMask;
-
- int Flags; // 1 = Disconnected
-
- Setup SetupBuffer;
-
- // Allocate endpoint zero
- int Init(DeviceDescriptor* d, int hub, int port, int addr, int lowSpeed)
- {
- Hub = hub;
- Port = port;
- Addr = addr;
- Flags = lowSpeed;
- memset(_endpointMap,0xFF,sizeof(_endpointMap));
- return 0;
- }
-
- int SetEndpointIndex(int ep, int endpointIndex)
- {
- for (int i = 0; i < MAX_ENDPOINTS_PER_DEVICE*2; i += 2)
- {
- if (_endpointMap[i] == 0xFF) // Add endpoint to map
- {
- _endpointMap[i] = ep;
- _endpointMap[i+1] = endpointIndex;
- return 0;
- }
- }
- return ERR_ENDPOINT_NONE_LEFT;
- }
-
- int GetEndpointIndex(int ep)
- {
- for (int i = 0; i < MAX_ENDPOINTS_PER_DEVICE*2; i += 2)
- {
- if (_endpointMap[i] == ep)
- return _endpointMap[i+1];
- if (_endpointMap[i] == 0xFF)
- break;
- }
- return -1;
- }
-};
-
-class HostController
-{
-public:
- HCCA CommunicationArea;
- Endpoint Endpoints[MAX_ENDPOINTS_TOTAL]; // Multiple of 16
-
- Endpoint EndpointZero; // For device enumeration
- HCTD _commonTail;
- Setup _setupZero;
-
- Device Devices[MAX_DEVICES];
- u32 _frameNumber; // 32 bit ms counter
-
- u8 _callbacksPending; // Endpoints with callbacks are pending, set from ISR via ProcessDoneQueue
- u8 _rootHubStatusChange; // Root hub status has changed, set from ISR
- u8 _unused0;
- u8 _unused1;
-
- u8 _connectPending; // Reset has initiated a connect
- u8 _connectCountdown; // Number of ms left after reset before we can connect
- u8 _connectHub; // Will connect on this hub
- u8 _connectPort; // ... and this port
-
- u8 SRAM[0]; // Start of free SRAM
-
- void Loop()
- {
- // printf("Enter Loop \r\n");
- u16 elapsed = CommunicationArea.FrameNumber - (u16)_frameNumber; // extend to 32 bits
- _frameNumber += elapsed;
-
- // Do callbacks, if any
- while (_callbacksPending)
- {
- for (int i = 0; i < MAX_ENDPOINTS_TOTAL; i++)
- {
- Endpoint* endpoint = Endpoints + i;
- if (endpoint->CurrentState == Endpoint::CallbackPending)
- {
- _callbacksPending--;
- endpoint->CurrentState = Endpoint::Idle;
- LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\n",endpoint->Address(),endpoint->CurrentState);
- endpoint->Callback(endpoint->Device(),endpoint->Address(),endpoint->Status(),endpoint->Data,endpoint->Length,endpoint->UserData);
- }
- }
- }
-
- // Deal with changes on the root hub
- if (_rootHubStatusChange)
- {
- u32 status = LPC_USB->HcRhPortStatus1;
- _rootHubStatusChange = 0;
- if (status >> 16)
- {
- HubStatusChange(0,1,status);
- LPC_USB->HcRhPortStatus1 = status & 0xFFFF0000; // clear status changes
- }
- }
-
- // Connect after reset timeout
- if (_connectCountdown)
- {
- if (elapsed >= _connectCountdown)
- {
- _connectCountdown = 0;
- Connect(_connectHub,_connectPort & 0x7F,_connectPort & 0x80);
- } else
- _connectCountdown -= elapsed;
- }
-
- // printf("Outer Loop \r\n");
- }
-
- // HubInterrupt - bitmap in dev->HubInterruptData
- void HubInterrupt(int device)
- {
- Device* dev = &Devices[device-1];
- for (int i = 0; i < dev->HubPortCount; i++)
- {
- int port = i+1;
- if (dev->HubInterruptData & (1 << port))
- {
- u32 status = 0;
- GetPortStatus(device,port,&status);
- if (status >> 16)
- {
- if (_connectPending && (status & ConnectStatusChange))
- continue; // Don't connect again until previous device has been added and addressed
-
- HubStatusChange(device,port,status);
- if (status & ConnectStatusChange)
- ClearPortFeature(device,C_PORT_CONNECTION,port);
- if (status & PortResetStatusChange)
- ClearPortFeature(device,C_PORT_RESET,port);
- }
- }
- }
- }
-
- static void HubInterruptCallback(int device, int endpoint, int status, u8* data, int len, void* userData)
- {
- HostController* controller = (HostController*)userData;
- if (status == 0)
- controller->HubInterrupt(device);
- USBInterruptTransfer(device,endpoint,data,1,HubInterruptCallback,userData);
- }
-
- int InitHub(int device)
- {
- u8 buf[16];
- int r= USBControlTransfer(device,DEVICE_TO_HOST | REQUEST_TYPE_CLASS | RECIPIENT_DEVICE,GET_DESCRIPTOR,(DESCRIPTOR_TYPE_HUB << 8),0,buf,sizeof(buf));
- if (r < 0)
- return ERR_HUB_INIT_FAILED;
-
- // turn on power on the hubs ports
- Device* dev = &Devices[device-1];
- int ports = buf[2];
- dev->HubPortCount = ports;
- for (int i = 0; i < ports; i++)
- SetPortPower(device,i+1);
-
- // Enable hub change interrupts
- return USBInterruptTransfer(device,0x81,&dev->HubInterruptData,1,HubInterruptCallback,this);
- }
-
- int AddEndpoint(int device, int ep, int attributes, int maxPacketSize, int interval)
- {
- LOG("AddEndpoint D:%02X A:%02X T:%02X P:%04X I:%02X\r\n",device,ep,attributes,maxPacketSize,interval);
- Device* dev = &Devices[device-1];
- Endpoint* endpoint = AllocateEndpoint(device,ep,attributes,maxPacketSize);
- if (!endpoint)
- return ERR_ENDPOINT_NONE_LEFT;
- dev->SetEndpointIndex(ep,endpoint - Endpoints);
- endpoint->EndpointDescriptor.Control |= dev->Flags; // Map in slow speed
- return 0; // TODO ed->bInterval
- }
-
- int AddEndpoint(int device, EndpointDescriptor* ed)
- {
- return AddEndpoint(device,ed->bEndpointAddress,ed->bmAttributes,ed->wMaxPacketSize,ed->bInterval);
- }
-
- // allocate a endpoint
- Endpoint* AllocateEndpoint(int device, int endpointAddress, int type, int maxPacketSize)
- {
- for (int i = 0; i < MAX_ENDPOINTS_TOTAL; i++)
- {
- Endpoint* ep = &Endpoints[i];
- if (ep->CurrentState == 0)
- {
- //LOG("Allocated endpoint %d to %02X:%02X\r\n",i,device,endpointAddress);
- ep->Flags = (endpointAddress & 0x80) | (type & 3);
- ep->CurrentState = Endpoint::NotQueued;
- ep->EndpointDescriptor.Control = (maxPacketSize << 16) | ((endpointAddress & 0x7F) << 7) | device;
- return ep;
- }
- }
- return 0;
- }
-
- Endpoint* GetEndpoint(int device, int ep)
- {
- if (device == 0)
- {
- //printf("WARNING: USING DEVICE 0\n");
- return &EndpointZero;
- }
- if (device > MAX_DEVICES)
- return 0;
- int i = Devices[device-1].GetEndpointIndex(ep);
- if (i == -1)
- return 0;
- return Endpoints + i;
- }
-
- int Transfer(Endpoint* endpoint, int token, u8* data, int len, int state)
- {
- //Makoto edit comment out
- // LOG("Transfer start\r\n");
- LOG("Transfer ep=%02X Token:%d Len:%d State:%d\r\n",endpoint->Address(),token,len,state);
-
- int toggle = 0;
- if (endpoint->Address() == 0)
- toggle = (token == TOKEN_SETUP) ? TD_TOGGLE_0 : TD_TOGGLE_1;
-
- if (token != TOKEN_SETUP)
- token = (token == TOKEN_IN ? TD_IN : TD_OUT);
-
- HCTD* head = &endpoint->TDHead;
- HCTD* tail = &_commonTail;
-
- head->Control = TD_ROUNDING | token | TD_DELAY_INT(0) | toggle | TD_CC;
- head->CurrBufPtr = (u32)data;
- head->BufEnd = (u32)(data + len - 1);
- head->Next = (u32)tail;
-
- HCED* ed = &endpoint->EndpointDescriptor;
- ed->HeadTd = (u32)head | (ed->HeadTd & 0x00000002); // carry toggle
- ed->TailTd = (u32)tail;
-
- //HCTD* td = head;
- //LOG("%04X TD %08X %08X %08X Next:%08X\r\n",CommunicationArea.FrameNumber,td->Control,td->CurrBufPtr,td->BufEnd,td->Next);
- //LOG("%04X ED %08X %08X %08X\r\n",CommunicationArea.FrameNumber,ed->Control,ed->HeadTd,ed->TailTd);
-
- //LOG("Transfer run01\r\n");
- switch (endpoint->Flags & 3)
- {
- case ENDPOINT_CONTROL:
- LOG("Transfer run ENDPOINT_CONTROL\r\n");
- LPC_USB->HcControlHeadED = endpoint->Enqueue(LPC_USB->HcControlHeadED); // May change state NotQueued->Idle
- //LOG("Transfer run02\r\n");
- LOG("endpoint->CurrentState change %d->%d\r\n",endpoint->CurrentState,state);
- endpoint->CurrentState = state; // Get in before an int
- LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | ControlListFilled;
- LPC_USB->HcControl = LPC_USB->HcControl | ControlListEnable;
-
- break;
-
- case ENDPOINT_BULK:
- LOG("Transfer run ENDPOINT_BULK\r\n");
- LPC_USB->HcBulkHeadED = endpoint->Enqueue(LPC_USB->HcBulkHeadED);
- LOG("endpoint->CurrentState change %d->%d\r\n",endpoint->CurrentState,state);
- endpoint->CurrentState = state;
- LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | BulkListFilled;
- LPC_USB->HcControl = LPC_USB->HcControl | BulkListEnable;
- break;
-
- case ENDPOINT_INTERRUPT:
- LOG("Transfer run ENDPOINT_INTERRUPT\r\n");
- CommunicationArea.InterruptTable[0] = endpoint->Enqueue(CommunicationArea.InterruptTable[0]);
- LOG("endpoint->CurrentState change %d->%d\r\n",endpoint->CurrentState,state);
- endpoint->CurrentState = state;
- LPC_USB->HcControl |= PeriodicListEnable;
- break;
- }
-
- LOG("Transfer end\r\n");
- return 0;
- }
-
- // Remove an endpoint from an active queue
- bool Remove(HCED* ed, volatile HCED** queue)
- {
- if (*queue == 0)
- return false;
- if (*queue == (volatile HCED*)ed)
- {
- *queue = (volatile HCED*)ed->Next; // At head of queue
- return true;
- }
-
- volatile HCED* head = *queue;
- while (head)
- {
- if (head->Next == (u32)ed)
- {
- head->Next = ed->Next;
- return true;
- }
- head = (volatile HCED*)head->Next;
- }
- return false;
- }
-
- void Release(Endpoint* endpoint)
- {
- if (endpoint->CurrentState == Endpoint::NotQueued)
- {
- // Never event used it, nothing to do
- }
- else
- {
- HCED* ed = (HCED*)endpoint;
- ed->Control |= 0x4000; // SKIP
- switch (endpoint->Flags & 0x03)
- {
- case ENDPOINT_CONTROL:
- Remove(ed,(volatile HCED**)&LPC_USB->HcControlHeadED);
- break;
- case ENDPOINT_BULK:
- Remove(ed,(volatile HCED**)&LPC_USB->HcBulkHeadED);
- break;
- case ENDPOINT_INTERRUPT:
- for (int i = 0; i < 32; i++)
- Remove(ed,(volatile HCED**)&CommunicationArea.InterruptTable[i]);
- break;
- }
-
- u16 fn = CommunicationArea.FrameNumber;
- while (fn == CommunicationArea.FrameNumber)
- ; // Wait for next frame
-
- }
-
- // In theory, the endpoint is now dead.
- // TODO: Will Callbacks ever be pending? BUGBUG
- memset(endpoint,0,sizeof(Endpoint));
- }
-
- // Pop the last TD from the list
- HCTD* Reverse(HCTD* current)
- {
- HCTD *result = NULL,*temp;
- while (current)
- {
- temp = (HCTD*)current->Next;
- current->Next = (u32)result;
- result = current;
- current = temp;
- }
- return result;
- }
-
- // Called from interrupt...
- // Control endpoints use a state machine to progress through the transfers
- void ProcessDoneQueue(u32 tdList)
- {
-
- LOG("<<ProcessDoneQueue enter>>\r\n");
- HCTD* list = Reverse((HCTD*)tdList);
- while (list)
- {
- Endpoint* endpoint = (Endpoint*)(list-1);
- list = (HCTD*)list->Next;
- int ep = endpoint->Address();
- bool in = endpoint->Flags & 0x80;
- int status = (endpoint->TDHead.Control >> 28) & 0xF;
-
- //LOG("ProcessDoneQueue %02X %08X\r\n",ep,endpoint->TDHead.Control);
-
- if (status != 0)
- {
- LOG("ProcessDoneQueue status %02X %d\r\n",ep,status);
- LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\n",endpoint->Address(),endpoint->CurrentState);
- endpoint->CurrentState = Endpoint::Idle;
-
-
- } else {
- switch (endpoint->CurrentState)
- {
- case Endpoint::SetupQueued:
- if (endpoint->Length == 0)
- {
- LOG("ProcessDoneQueue endpoint->Length == 0 endpoint->CurrentState=%d\r\n",endpoint->CurrentState);
- Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Skip Data Phase
- }
- else
- {
- LOG("ProcessDoneQueue endpoint->Length != 0 endpoint->CurrentState=%d\r\n",endpoint->CurrentState);
- Transfer(endpoint,in ? TOKEN_IN : TOKEN_OUT,endpoint->Data,endpoint->Length, Endpoint::DataQueued); // Setup is done, now Data
- }
- break;
-
- case Endpoint::DataQueued:
- if (endpoint->TDHead.CurrBufPtr)
- endpoint->Length = endpoint->TDHead.CurrBufPtr - (u32)endpoint->Data;
-
- if (ep == 0)
- {
- LOG("ProcessDoneQueue ep == 0 endpoint->CurrentState=%d\r\n",endpoint->CurrentState);
- Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Data is done, now Status, Control only
- }
- else
- {
-
- LOG("ProcessDoneQueue ep != 0 endpoint->CurrentState=%d\r\n",endpoint->CurrentState);
- endpoint->CurrentState = Endpoint::Idle;
- LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\n",endpoint->Address(),endpoint->CurrentState);
- }
- break;
-
- case Endpoint::StatusQueued: // Transaction is done
- LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\n",endpoint->Address(),endpoint->CurrentState);
- endpoint->CurrentState = Endpoint::Idle;
- break;
- }
- }
-
- // Complete, flag if we need a callback
- if (endpoint->Callback && endpoint->CurrentState == Endpoint::Idle)
- {
- endpoint->CurrentState = Endpoint::CallbackPending;
- _callbacksPending++;
- }
- }
- LOG("<<ProcessDoneQueue out>>\r\n");
- }
-
- // Hack to reset devices that don't want to connect
- int AddDevice(int hub, int port, bool isLowSpeed)
- {
- int device = AddDeviceCore(hub,port,isLowSpeed);
- if (device < 0)
- {
- LOG("========RETRY ADD DEVICE========\r\n"); // This will go for ever.. TODO power cycle root?
- Disconnect(hub,port); // Could not read descriptor at assigned address, reset this port and try again
- ResetPort(hub,port); // Cheap bluetooth dongles often need this on a hotplug
- return -1;
- }
- return device;
- }
-
- int AddDeviceCore(int hub, int port, bool isLowSpeed)
- {
- int lowSpeed = isLowSpeed ? 0x2000 : 0;
- DeviceDescriptor desc;
- EndpointZero.EndpointDescriptor.Control = (8 << 16) | lowSpeed; // MaxPacketSize == 8
- int r = GetDescriptor(0,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,8);
- if (r < 0)
- {
- LOG("FAILED TO LOAD DESCRIPTOR FOR DEVICE 0\r\n");
- return r;
- }
-
- EndpointZero.EndpointDescriptor.Control = (desc.bMaxPacketSize << 16) | lowSpeed; // Actual MaxPacketSize
- r = GetDescriptor(0,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,sizeof(desc));
- if (r < 0)
- return r;
-
- LOG("\nClass %02X found %04X:%04X\r\n",desc.bDeviceClass,desc.idVendor,desc.idProduct);
-
- // Now assign the device an address, move off EndpointZero
- int device = 0;
- for (int i = 0; i < MAX_DEVICES; i++)
- {
- if (Devices[i].Port == 0)
- {
- device = i+1;
- break;
- }
- }
- if (!device)
- return ERR_DEVICE_NONE_LEFT;
-
- r = SetAddress(0,device);
- if (r)
- return r;
- DelayMS(2);
-
- // Now at a nonzero address, create control endpoint
- Device* dev = &Devices[device-1];
- dev->Init(&desc,hub,port,device,lowSpeed);
- AddEndpoint(device,0,ENDPOINT_CONTROL,desc.bMaxPacketSize,0);
- _connectPending = 0;
-
- // Verify this all works
- r = GetDescriptor(device,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,sizeof(desc));
- if (r < 0)
- return r;
-
- // Set to interface 0 by default
- // Calls LoadDevice if interface is found
- r = SetConfigurationAndInterface(device,1,0,&desc);
-
- if (desc.bDeviceClass == CLASS_HUB)
- InitHub(device); // Handle hubs in this code
-
- return device;
- }
-
- // Walk descriptors and create endpoints for a given device
- // TODO configuration !=1, alternate settings etc.
- int SetConfigurationAndInterface(int device, int configuration, int interfaceNumber, DeviceDescriptor* desc)
- {
- u8 buffer[255];
- int err = GetDescriptor(device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,sizeof(buffer));
- if (err < 0)
- return err;
-
- err = SetConfiguration(device,configuration);
- if (err < 0)
- return err;
-
- // Add the endpoints for this interface
- int len = buffer[2] | (buffer[3] << 8);
- u8* d = buffer;
- u8* end = d + len;
- InterfaceDescriptor* found = 0;
- while (d < end)
- {
- if (d[1] == DESCRIPTOR_TYPE_INTERFACE)
- {
- InterfaceDescriptor* id = (InterfaceDescriptor*)d;
- if (id->bInterfaceNumber == interfaceNumber)
- {
- found = id;
- d += d[0];
- while (d < end && d[1] != DESCRIPTOR_TYPE_INTERFACE)
- {
- switch (d[1])
- {
- case DESCRIPTOR_TYPE_ENDPOINT:
- AddEndpoint(device,(EndpointDescriptor*)d);
- break;
- default:
- LOG("Skipping descriptor %02X (%d bytes)\r\n",d[1],d[0]);
- }
- d += d[0];
- }
- }
- }
- d += d[0];
- }
-
- if (!found)
- return ERR_INTERFACE_NOT_FOUND;
- OnLoadDevice(device,desc,found);
- return 0;
- }
-
- void Init()
- {
- LOG("USB INIT (Controller is %d bytes)\r\n",sizeof(*this));
- memset(this,0,sizeof(HostController));
- EndpointZero.CurrentState = Endpoint::NotQueued;
- HWInit(&CommunicationArea);
- DelayMS(10);
- }
-
- void ResetPort(int hub, int port)
- {
- LOG("ResetPort Hub:%d Port:%d\r\n",hub,port);
- _connectPending++; // Only reset/add 1 device at a time
- if (hub == 0)
- LPC_USB->HcRhPortStatus1 = PortResetStatus; // Reset Root Hub, port 1
- else
- SetPortReset(hub,port); // or reset other hub
- }
-
- void Disconnect(int hub, int port)
- {
- LOG("Disconnect Hub:%d Port:%d\r\n",hub,port); // Mark a device for destruction
- for (int i = 0; i < MAX_DEVICES; i++)
- {
- Device* dev = Devices + i;
- if (dev->Port == port && dev->Hub == hub)
- {
- // Disconnect everything that is attached to this device if it is a hub
- for (int p = 0; p < dev->HubPortCount; p++)
- Disconnect(i+1,p+1);
-
- // Now release endpoints
- for (int j = 1; j < MAX_ENDPOINTS_PER_DEVICE*2; j += 2)
- {
- u8 endpointIndex = dev->_endpointMap[j];
- if (endpointIndex != 0xFF)
- Release(Endpoints + endpointIndex);
- }
- dev->Port = 0; // Device is now free
- dev->Flags = 0;
- return;
- }
- }
- }
-
- // called after reset
- void Connect(int hub, int port, bool lowspeed)
- {
- LOG("Connect Hub:%d Port:%d %s\r\n",hub,port,lowspeed ? "slow" : "full");
- AddDevice(hub,port,lowspeed);
- }
-
- // Called from interrupt
- void HubStatusChange(int hub, int port, u32 status)
- {
- LOG("HubStatusChange Hub:%d Port:%d %08X\r\n",hub,port,status);
- if (status & ConnectStatusChange)
- {
- if (status & CurrentConnectStatus) // Connecting
- ResetPort(hub,port); // Reset to initiate connect (state machine?)
- else
- Disconnect(hub,port);
- }
-
- if (status & PortResetStatusChange)
- {
- if (!(status & PortResetStatus))
- {
- _connectCountdown = 200; // Schedule a connection in 200ms
- if (status & LowspeedDevice)
- port |= 0x80;
- _connectHub = hub;
- _connectPort = port;
- }
- }
- }
-
- #define HOST_CLK_EN (1<<0)
- #define PORTSEL_CLK_EN (1<<3)
- #define AHB_CLK_EN (1<<4)
- #define CLOCK_MASK (HOST_CLK_EN | PORTSEL_CLK_EN | AHB_CLK_EN)
-
- #define FRAMEINTERVAL (12000-1) // 1ms
- #define DEFAULT_FMINTERVAL ((((6 * (FRAMEINTERVAL - 210)) / 7) << 16) | FRAMEINTERVAL)
-
- void DelayMS(int ms)
- {
- u16 f = ms + CommunicationArea.FrameNumber;
- while (f != CommunicationArea.FrameNumber)
- ;
- }
-
- static void HWInit(HCCA* cca)
- {
- NVIC_DisableIRQ(USB_IRQn);
-
- // turn on power for USB
- LPC_SC->PCONP |= (1UL<<31);
- // Enable USB host clock, port selection and AHB clock
- LPC_USB->USBClkCtrl |= CLOCK_MASK;
- // Wait for clocks to become available
- while ((LPC_USB->USBClkSt & CLOCK_MASK) != CLOCK_MASK)
- ;
-
- // We are a Host
- LPC_USB->OTGStCtrl |= 1;
- LPC_USB->USBClkCtrl &= ~PORTSEL_CLK_EN; // we don't need port selection clock until we do OTG
-
- // configure USB pins
- LPC_PINCON->PINSEL1 &= ~((3<<26)|(3<<28));
- LPC_PINCON->PINSEL1 |= ((1<<26)|(1<<28)); // USB D+/D-
-
- LPC_PINCON->PINSEL3 &= ~((3 << 6) | (3 << 22)); // USB_PPWR, USB_OVRCR
- LPC_PINCON->PINSEL3 |= ((2 << 6) | (2 << 22));
-
- LPC_PINCON->PINSEL4 &= ~(3 << 18); // USB_CONNECT
- LPC_PINCON->PINSEL4 |= (1 << 18);
-
- // Reset OHCI block
- LPC_USB->HcControl = 0;
- LPC_USB->HcControlHeadED = 0;
- LPC_USB->HcBulkHeadED = 0;
-
- LPC_USB->HcCommandStatus = HostControllerReset;
- LPC_USB->HcFmInterval = DEFAULT_FMINTERVAL;
- LPC_USB->HcPeriodicStart = FRAMEINTERVAL*90/100;
-
- LPC_USB->HcControl = (LPC_USB->HcControl & (~HostControllerFunctionalState)) | OperationalMask;
- LPC_USB->HcRhStatus = SetGlobalPower;
-
- LPC_USB->HcHCCA = (u32)cca;
- LPC_USB->HcInterruptStatus |= LPC_USB->HcInterruptStatus;
- LPC_USB->HcInterruptEnable = MasterInterruptEnable | WritebackDoneHead | RootHubStatusChange | FrameNumberOverflow;
-
- NVIC_SetPriority(USB_IRQn, 0);
- NVIC_EnableIRQ(USB_IRQn);
- while (cca->FrameNumber < 10)
- ; // 10ms delay before diving in
- }
-};
-
-//====================================================================================
-//====================================================================================
-// Host controller instance and Interrupt handler
-
-static HostController _controller __attribute__((at(USB_RAM_BASE)));
-
-extern "C" void USB_IRQHandler(void) __irq;
-void USB_IRQHandler (void) __irq
-{
-LOG("USB_IRQHandler start \r\n");
- u32 int_status = LPC_USB->HcInterruptStatus;
- LOG("USB_IRQHandler int_status=%0x\r\n",int_status);
-
- if(int_status & UnrecoverableError) //Error
- {
- LOG("USB_IRQHandler UnrecoverableError Please reset\r\n");
- }
-
- if(int_status & MasterInterruptEnable)
- {
- LOG("USB_IRQHandler MasterInterruptEnable\r\n");
- }
-
- if(int_status &OwnershipChange)
- {
- LOG("USB_IRQHandler OwnershipChange\r\n");
- }
-
- if(int_status &FrameNumberOverflow)
- {
- LOG("USB_IRQHandler FrameNumberOverflow\r\n");
- }
- if(int_status&ResumeDetected)
- {
- LOG("USB_IRQHandler ResumeDetected\r\n");
- }
- if(int_status&StartofFrame)
- {
- LOG("USB_IRQHandler StartofFrame\r\n");
- }
-
-
- if (int_status & RootHubStatusChange) // Root hub status change
- {
- LOG("USB_IRQHandler _rootHubStatusChange %0x->%0x \r\n", _controller._rootHubStatusChange, _controller._rootHubStatusChange+1);
- _controller._rootHubStatusChange++; // Just flag the controller, will be processed in USBLoop
- }
-
- u32 head = 0;
- if (int_status & WritebackDoneHead)
- {
- head = _controller.CommunicationArea.DoneHead; // Writeback Done
- _controller.CommunicationArea.DoneHead = 0;
- LOG("USB_IRQHandler head=%0x\r\n",head);
- }
- LPC_USB->HcInterruptStatus = int_status;
-
- if (head)
- _controller.ProcessDoneQueue(head); // TODO - low bit can be set BUGBUG
-LOG("USB_IRQHandler end \r\n");
-}
-
-//====================================================================================
-//====================================================================================
-// API Methods
-
-void USBInit()
-{
- return _controller.Init();
-}
-
-void USBLoop()
-{
- return _controller.Loop();
-}
-
-u8* USBGetBuffer(u32* len)
-{
- *len = USB_RAM_SIZE - sizeof(HostController);
- return _controller.SRAM;
-}
-
-static Setup* GetSetup(int device)
-{
- if (device == 0)
- return &_controller._setupZero;
-
- if (device < 1 || device > MAX_DEVICES)
- return 0;
- return &_controller.Devices[device-1].SetupBuffer;
-}
-
-// Loop until IO on endpoint is complete
-static int WaitIODone(Endpoint* endpoint)
-{
- LOG("WaitIODone start\r\n");
- if (endpoint->CurrentState == Endpoint::NotQueued)
- return 0;
- while (endpoint->CurrentState != Endpoint::Idle)
- {
- LOG("WaitIODone goto USBloop endpoint->CurrentState =%d \r\n",endpoint->CurrentState);
- USBLoop(); // May generate callbacks, mount or unmount devices etc
- }
- int status = endpoint->Status();
-
- LOG("WaitIODone end\r\n");
- if (status == 0)
- return endpoint->Length;
- return -status;
-}
-
-int USBTransfer(int device, int ep, u8 flags, u8* data, int length, USBCallback callback, void* userData)
-{
- //LOG("USBTRANSFER start\r\n");
- Endpoint* endpoint = _controller.GetEndpoint(device,ep);
- if (!endpoint)
- {
- LOG("USBTRANSFER error Endpoint not found!!\r\n");
- return ERR_ENDPOINT_NOT_FOUND;
- }
-
- //LOG("USBTRANSFER run01\r\n");
- WaitIODone(endpoint);
- endpoint->Flags = flags;
- endpoint->Data = data;
- endpoint->Length = length;
- endpoint->Callback = callback;
- endpoint->UserData = userData;
- //LOG("USBTRANSFER run02\r\n");
- if (ep == 0)
- {
- LOG("USBTRANSFER ep == 0(Setup) ------------------------------\r\n");
- _controller.Transfer(endpoint,TOKEN_SETUP,(u8*)GetSetup(device),8,Endpoint::SetupQueued);
- }
- else
- {
- LOG("USBTRANSFER ep != 0\r\n");
- _controller.Transfer(endpoint,flags & 0x80 ? TOKEN_IN : TOKEN_OUT,data,length,Endpoint::DataQueued);
- }
- if (callback)
- {
- LOG("USBTRANSFER end io_pending\r\n");
- return IO_PENDING;
- }
- LOG("USBTRANSFER end wait io done \r\n");
- return WaitIODone(endpoint);
-}
-
-int USBControlTransfer(int device, int request_type, int request, int value, int index, u8* data, int length, USBCallback callback, void * userData)
-{
- Setup* setup = GetSetup(device);
- if (!setup)
- return ERR_DEVICE_NOT_FOUND;
-
- // Async control calls may overwrite setup buffer of previous call, so we need to wait before setting up next call
- WaitIODone(_controller.GetEndpoint(device,0));
-
- setup->bm_request_type = request_type;
- setup->b_request = request;
- setup->w_value = value;
- setup->w_index = index;
- setup->w_length = length;
- LOG("USBControlTransfer(device=%d,reqtype=%d,req=%d,value=%d,index=%d,data=%p,len=%d,callbak=%p,udata=%p)\r\n",
- device,request_type,request,value,index,data,length,callback,userData);
- return USBTransfer(device,0,request_type & DEVICE_TO_HOST,data,length,callback,userData);
-}
-
-int USBInterruptTransfer(int device, int ep, u8* data, int length, USBCallback callback, void* userData)
-{
- return USBTransfer(device,ep,(ep & 0x80) | ENDPOINT_INTERRUPT,data,length,callback,userData);
-}
-
-int USBBulkTransfer(int device, int ep, u8* data, int length, USBCallback callback, void* userData)
-{
- return USBTransfer(device,ep,(ep & 0x80) | ENDPOINT_BULK,data,length,callback,userData);
-}
-
-int GetDescriptor(int device, int descType,int descIndex, u8* data, int length)
-{
- return USBControlTransfer(device,DEVICE_TO_HOST | RECIPIENT_DEVICE, GET_DESCRIPTOR,(descType << 8)|(descIndex), 0, data, length, 0);
-}
-
-int GetString(int device, int index, char* dst, int length)
-{
- u8 buffer[255];
- int le = GetDescriptor(device,DESCRIPTOR_TYPE_STRING,index,buffer,sizeof(buffer));
- if (le < 0)
- return le;
- if (length < 1)
- return -1;
- length <<= 1;
- if (le > length)
- le = length;
- for (int j = 2; j < le; j += 2)
- *dst++ = buffer[j];
- *dst = 0;
- return (le>>1)-1;
-}
-
-int SetAddress(int device, int new_addr)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_DEVICE, SET_ADDRESS, new_addr, 0, 0, 0, 0);
-}
-
-int SetConfiguration(int device, int configNum)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_DEVICE, SET_CONFIGURATION, configNum, 0, 0, 0, 0);
-}
-
-int SetInterface(int device, int ifNum, int altNum)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_INTERFACE, SET_INTERFACE, altNum, ifNum, 0, 0, 0);
-}
-
-// HUB stuff
-int SetPortFeature(int device, int feature, int index)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,SET_FEATURE,feature,index,0,0);
-}
-
-int ClearPortFeature(int device, int feature, int index)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,CLEAR_FEATURE,feature,index,0,0);
-}
-
-int SetPortPower(int device, int port)
-{
- int r = SetPortFeature(device,PORT_POWER,port);
- _controller.DelayMS(20); // 80ms to turn on a hubs power... DESCRIPTOR? todo
- return r;
-}
-
-int SetPortReset(int device, int port)
-{
- return SetPortFeature(device,PORT_RESET,port);
-}
-
-int GetPortStatus(int device, int port, u32* status)
-{
- return USBControlTransfer(device,DEVICE_TO_HOST | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,GET_STATUS,0,port,(u8*)status,4);
-}
-
-#endif
\ No newline at end of file
--- a/Android/android.cpp Fri Apr 05 10:58:42 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,190 +0,0 @@
-#include "android.h"
-
-using namespace std;
-
-AdkTerm::AdkTerm() : AndroidAccessory(INBL,OUTL, "ARM", "mbed", "mbed Terminal", "0.1", "http://www.mbed.org", "0000000012345678")
-{
-
-};
-
-
-void AdkTerm::setupDevice()
-{
- settick = false;
- for (int i = 0; i<OUTL; i++) {
- buffer[i] = 0;
- }
- bcount = 0;
- //n.attach(this,&AdkTerm::AttachTick,5);
- //tick.attach(this,&AdkTerm::onTick,0.1);
-}
-
-float AdkTerm::getx()
-{
- return x/1000;
-}
-
-float AdkTerm::gety()
-{
- return y/1000;
-}
-
-float AdkTerm::gett()
-{
- return t * PI / 180;
-}
-
-/*void AdkTerm::AttachTick()
-{
- if(!settick)tick.attach(this,&AdkTerm::onTick,0.04);
- settick = true;
-}
-
-void AdkTerm::onTick()
-{
- right = 1-Right;
- left = 1-Left;
- bool update = false;
- int templ, tempr;
-
-
-
- templ = int(left * 10000);
- tempr = int(right * 10000);
-
-
-
- if (abs(templ-tl)>170) {
- update = true;
- }
- if (abs(tempr-tr)>170) {
- update = true;
- }
- if (update) {
- u8* wbuf = _writebuff;
-
- wbuf[0] = 'P';
- wbuf[1] = templ&0xFF;
- wbuf[2] = (templ>>8) & 0xFF;
- wbuf[3] = tempr&0xFF;
- wbuf[4] = (tempr>>8) & 0xFF;
- wbuf[5] = 0;
-
- this->write(wbuf,5);
- }
-}*/
-
-void AdkTerm::resetDevice()
-{
- for (int i = 0; i<OUTL; i++) {
- buffer[i] = 0;
- }
- bcount = 0;
-}
-
-void AdkTerm::Tokenize(const string& str,
- vector<string>& tokens,
- const string& delimiters /*= " "*/)
-{
- // Skip delimiters at beginning.
- string::size_type lastPos = str.find_first_not_of(delimiters, 0);
- // Find first "non-delimiter".
- string::size_type pos = str.find_first_of(delimiters, lastPos);
-
- while (string::npos != pos || string::npos != lastPos) {
- // Found a token, add it to the vector.
- tokens.push_back(str.substr(lastPos, pos - lastPos));
- // Skip delimiters. Note the "not_of"
- lastPos = str.find_first_not_of(delimiters, pos);
- // Find next "non-delimiter"
- pos = str.find_first_of(delimiters, lastPos);
- }
-}
-
-int AdkTerm::callbackRead(u8 *buf, int len)
-{
- // convert buffer (unsigned char) to string
- std::string str(reinterpret_cast<char*>(buf), len);
-
- // new vector of strings
- vector<string> tokens;
-
- // tokenize the string with the semicolon separator
- Tokenize(str, tokens, ";");
- copy(tokens.begin(), tokens.end(), ostream_iterator<string>(cout, ", "));
-
-
- if(tokens.size() > 2) {
-
- //string to float
- x = ::atof(tokens.at(0).c_str());
- y = ::atof(tokens.at(1).c_str());
- t = ::atof(tokens.at(2).c_str());
-
- //pc.printf("Android x(%d): %f\n\r\n",len,x);
- // pc.printf("Android y(%d): %f\n\r\n",len,y);
- //pc.printf("Android t(%d): %f\n\r\n",len,t);
- } else {
- //pc.printf("Android sayys(%d): %s\n\r\n",len,str);
- }
-
-// switch ( buf[0] ) {
-// case 'x':
-// if (buf[1] == ":"){pc.printf("X-Coordinate(%d): %s\n\r\n",len,buf)};
-// break;
-// case 'y':
-// if (buf[1] == ":"){pc.printf("Y-Coordinate(%d): %s\n\r\n",len,buf)};
-// break;
-// case 't':
-// if (buf[1] == ":"){pc.printf("Z-Coordinate(%d): %s\n\r\n",len,buf)};
-// break;
-// default:
-// pc.printf("Command not recognized (%d): %s\n\r\n\n\n",len,buf);
-// }
-
-
- //AttachTick();
-
- return 0;
-}
-
-// split: receives a char delimiter; returns a vector of strings
-// By default ignores repeated delimiters, unless argument rep == 1.
-
-int AdkTerm::callbackWrite()
-{
- ind = false;
- return 0;
-}
-
-void AdkTerm::serialIRQ()
-{
- //buffer[bcount] = pc.getc();
-
-
- if (buffer[bcount] == '\n' || buffer[bcount] == '\r') {
- u8* wbuf = _writebuff;
- for (int i = 0; i<OUTL; i++) {
- wbuf[i] = buffer[i];
- buffer[i] = 0;
- }
- //pc.printf("Sending: %s\n\r",wbuf);
- ind = true;
- this->write(wbuf,bcount);
- bcount = 0;
- } else {
- if (buffer[bcount] != 0x08 && buffer[bcount] != 0x7F ) {
- bcount++;
- if (bcount == OUTL) {
- bcount = 0;
- }
- } else {
- bcount--;
- }
- }
-
-}
-
-
-// gehört nicht mehr zur klasse für zum testen.......!!!!!!!!
-
--- a/Android/android.h Fri Apr 05 10:58:42 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,154 +0,0 @@
-#ifndef _ANDROID_H_
-#define _ANDROID_H_
-
-#include "mbed.h"
-#include "AndroidAccessory.h"
-#include "defines.h"
-#include <string>
-#include <sstream>
-#include <vector>
-#include <iostream>
-#include <stdlib.h>
-
-/**
- * @author Arno Galliker
- *
- * @subsection LICENSE
- *
- * Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
- * All rights reserved.
- *
- * @subsection DESCRIPTION
- *
- * This class implements communication with the android smartphone
- * For more information see the Android ADK Cookbook:
- * <a href="http://mbed.org/cookbook/mbed-with-Android-ADK">http://mbed.org/cookbook/mbed-with-Android-ADK</a>
- *
- * Originally created by p07gbar from work by Makoto Abe
- */
-
-#define OUTL 100
-#define INBL 100
-
-class AdkTerm : public AndroidAccessory
-{
-
-private:
-
- /** Attaches a tick to send messages over the USB buffer in a certain interval */
- void AttachTick();
-
- /** Method to call when a tick period is over */
- void onTick();
-
- /** Char buffer with a size of OUTL */
- char buffer[OUTL];
-
- /** Buffer count ??? */
- int bcount;
-
- /** Instance of ticker */
- Ticker tick;
-
- //float right,left,rl,ll;
- //int tl,tr;
-
- //Timeout n;
-
- /** States if tick is on */
- bool settick;
-
- /** States if something is written to the buffer?? */
- bool ind;
-
- /** Desired position in meters for x-coordinate, given by android */
- float x;
-
- /** Desired position in meters for y-coordinate, given by android */
- float y;
-
- /** Desired position in degrees for theta, given by android */
- float t;
-
-public:
-
- /**
- * Creates a <code>AdkTerm</code> object and initializes all private
- * state variables. Constructor
- */
- AdkTerm();
-
- /**
- * Sets initial configurations and clears the buffer
- *
- */
- void setupDevice();
-
- /**
- * Returns the desired position in meters for x-coordinate, given by android
- * @return x-coordinate,given in [m]
- */
- float getx();
-
- /**
- * Returns the desired position in meters for y-coordinate, given by android
- * @return y-coordinate,given in [m]
- */
- float gety();
-
- /**
- * Returns the esired position in degrees for theta, given by android
- * @return y-coordinate,given in degrees [°]
- */
- float gett();
-
-private:
-
- /**
- *
- *
- */
- //void AttachTick();
-
- /**
- *
- *
- */
- // void onTick();
-
- /**
- * Clears the buffer and bcount
- *
- */
- void resetDevice();
-
- /**
- * Takes an string, a vector of strings for the delimited tokens, and a with the
- * @param str
- * @param tokens
- * @param delimiters
- */
- void Tokenize(const string& str, vector<string>& tokens, const string& delimiters = " ");
-
- /**
- *
- * @param buf
- * @param len
- */
- int callbackRead(u8 *buf, int len);
-
- /**
- *
- *
- */
- int callbackWrite();
-
- /**
- *
- *
- */
- void serialIRQ();
-
-};
-
-#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/AndroidADKTerm/AndroidAccessory/AndroidAccessory.cpp Sun Apr 07 08:31:51 2013 +0000
@@ -0,0 +1,323 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "USBHost.h"
+#include "AndroidAccessory.h"
+#include "mbed.h"
+
+AndroidAccessory* _adk;
+
+void AdkreadCallback(int device, int endpoint, int status, u8* buf, int len, void* userData);
+void AdkwriteCallback(int device, int endpoint, int status, u8* buf, int len, void* userData);
+
+
+
+AndroidAccessory::AndroidAccessory(int rbuffsize,int wbuffsize,
+ const char* manufacturer,
+ const char *model,
+ const char *description,
+ const char *version,
+ const char *uri,
+ const char *serial
+ ) {
+
+ _adk=this;
+
+ this->manufacturer=manufacturer;
+ this->model=model;
+ this->description=description;
+ this->version=version;
+ this->uri=uri;
+ this->serial=serial;
+
+ u32 len;
+ u8* p=USBGetBuffer(&len);
+ if (len<(rbuffsize+wbuffsize+255)) {
+ error("buff size too big.please resize max=%d. currentSize=%d\r\n",len,(rbuffsize+wbuffsize+255));
+ }
+
+ _readbuff=p;
+ _readbuffsize=rbuffsize;
+ p+=rbuffsize;
+ _writebuff=p;
+ _writebuffsize=wbuffsize;
+ p+=wbuffsize;
+ _strbuff=p;
+ p+=255;
+
+}
+
+
+
+int AndroidAccessory::write(u8 *buff, int len) {
+ log("AndroidAccessory::write ");
+ // __disable_irq();
+ int ret=USBBulkTransfer(_device,output_ep,buff,len,AdkwriteCallback,this);
+ // __enable_irq();
+ log("--ret=%d \r\n",ret);
+ return ret;
+}
+int AndroidAccessory::writeNC(u8 *buff, int len) {
+ log("AndroidAccessory::write ");
+ // __disable_irq();
+ int ret=USBBulkTransfer(_device,output_ep,buff,len);
+ // __enable_irq();
+ log("--ret=%d \r\n",ret);
+ return ret;
+}
+
+
+
+int AndroidAccessory::read(u8 *buff, int len) {
+ // if(_initok==false)return 0;
+
+ log("AndroidAccessory::read ");
+ // __disable_irq();
+ int ret=USBBulkTransfer(_device,input_ep|0x80,buff,len);
+ // __enable_irq();
+ log("--ret=%d \r\n",ret);
+ return ret;
+}
+
+
+void AndroidAccessory::init(int device, int configuration, int interfaceNumber) {
+
+ log("AndroidAccessory::init \r\n");
+
+// _initok=false;
+ _device = device;
+ _configuration = configuration;
+ _interfaceNumber = interfaceNumber;
+ printf("device = %d configuration = %d interfaceNumber = %d\r\n", device, configuration, interfaceNumber);
+ int err;
+
+ u8* buffer=_strbuff;
+ err = GetDescriptor(_device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,4);
+
+ if (err < 0) {
+ log("Failed to get descriptor\r\n");
+ return;
+ }
+
+
+ int len = buffer[2] | (buffer[3] << 8);
+ if (len > 255) {
+ log("config descriptor too large\n");
+ /* might want to truncate here */
+ return;
+ }
+ err = GetDescriptor(_device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,len);
+ u8* p = buffer;
+ input_ep=0;
+ output_ep=0;
+ EndpointDescriptor *epDesc;
+ while (p<(buffer+len)) {
+ u8 descLen = p[0];
+ u8 descType = p[1];
+ log("descLen=%d,descType=%d\r\n",descLen,descType);
+ switch (descType) {
+ case DESCRIPTOR_TYPE_CONFIGURATION:
+ log("config desc\r\n");
+ break;
+ case DESCRIPTOR_TYPE_INTERFACE:
+ log("interface desc\r\n");
+ break;
+ case DESCRIPTOR_TYPE_ENDPOINT:
+ epDesc=(EndpointDescriptor*)p;
+ if (!input_ep && (epDesc->bEndpointAddress& 0x80)) {
+ input_ep=epDesc->bEndpointAddress& 0x7f;
+ //PacketSize drop
+ log("input Endpoint address=%d,wMaxPacketSize=%d,bmAttributes=%d\r\n",input_ep,epDesc->wMaxPacketSize,epDesc->bmAttributes);
+
+ } else if (!output_ep) {
+ output_ep=epDesc->bEndpointAddress& 0x7f;
+ //PacketSize drop
+ log("output Endpoint address=%d,wMaxPacketSize=%d,bmAttributes=%d\r\n",input_ep,epDesc->wMaxPacketSize,epDesc->bmAttributes);
+ } else {
+ //other
+ log("non input,output Endpoint address=%d,wMaxPacketSize=%d,bmAttributes=%d\r\n",input_ep,epDesc->wMaxPacketSize,epDesc->bmAttributes);
+ }
+ break;
+ default:
+ log("unkown desc type(%d) \r\n",descType);
+ }
+ p+=descLen;
+ }
+
+ if (!(input_ep && output_ep)) {
+ log("can't find accessory endpoints\r\n");
+ return;
+ }
+
+ log("SetConfiguration\r\n");
+ err = SetConfiguration(device,configuration);
+ if (err < 0) {
+ log("SetConfiguration error\r\n");
+ return;
+ }
+
+
+ log("interrupt setup\r\n");
+ //interrupt setup
+ if (_readbuff==NULL || _readbuffsize<=0) {
+ error("_readbuffer error please setup buffer call setReadBuffer function\r\n");
+ }
+
+ if (IO_PENDING!=USBBulkTransfer(_device,input_ep|0x80,_readbuff,_readbuffsize,AdkreadCallback,this))
+ return;
+
+
+ log("setupDevice\r\n");
+ this->setupDevice();
+// _initok=true;
+}
+
+
+
+bool AndroidAccessory::switchDevice(int device) {
+
+ if (1==getProtocol(device)) {
+ log("device supports protocol 1\r\n");
+
+ } else {
+ log("could not read device protocol version\r\n");
+ return false;
+ }
+
+
+ sendString(device,ACCESSORY_STRING_MANUFACTURER,manufacturer);
+ sendString(device,ACCESSORY_STRING_MODEL,model);
+ sendString(device,ACCESSORY_STRING_DESCRIPTION,description);
+ sendString(device,ACCESSORY_STRING_VERSION,version);
+ sendString(device,ACCESSORY_STRING_URI,uri);
+ sendString(device,ACCESSORY_STRING_SERIAL,serial);
+ USBControlTransfer(device,
+ HOST_TO_DEVICE |REQUEST_TYPE_VENDOR|RECIPIENT_DEVICE,
+ ACCESSORY_START,
+ 0,//value
+ 0, //index
+ 0,
+ 0,
+ 0,
+ 0 );
+
+ wait_ms(4);
+ //reset usb host
+ USBInit();
+
+ return true;
+
+}
+
+
+int AndroidAccessory::getProtocol(int device) {
+ s16 data=-1;
+ USBControlTransfer(device,
+ DEVICE_TO_HOST|REQUEST_TYPE_VENDOR|RECIPIENT_DEVICE,
+ ACCESSORY_GET_PROTOCOL,
+ 0,//value
+ 0, //index
+ (u8*)&data,
+ 2,
+ 0,
+ 0 );
+ return data;
+
+}
+
+void AndroidAccessory::sendString(const char *str) {
+ sendString(_device,1,str);
+
+}
+
+void AndroidAccessory::sendString(int device, int index, const char *str) {
+
+ LOG("send_string start(%d,%d,%s) %d \r\n",device,index,str,strlen(str)+1);
+ strcpy((char*)_strbuff,str);
+ //thankyou curryman san
+ USBControlTransfer(device,
+ HOST_TO_DEVICE|REQUEST_TYPE_VENDOR|RECIPIENT_DEVICE,
+ ACCESSORY_SEND_STRING,
+ 0,//value
+ index,
+ _strbuff,
+ strlen(str)+1
+ );
+
+ LOG("send_string end(%d,%d,%s)\r\n",device,index,str);
+
+}
+
+
+/** from USBHost load function. initialize Android device**/
+void OnLoadDevice(int device, DeviceDescriptor* deviceDesc, InterfaceDescriptor* interfaceDesc) {
+ printf("LoadDevice %d %02X:%02X:%02X\r\n",device,interfaceDesc->bInterfaceClass,interfaceDesc->bInterfaceSubClass,interfaceDesc->bInterfaceProtocol);
+ char s[128];
+
+ for (int i = 1; i < 3; i++) {
+ if (GetString(device,i,s,sizeof(s)) < 0)
+ break;
+ printf("%d: %s\r\n",i,s);
+ }
+
+ //for android ADK
+ if ( ( deviceDesc->idVendor != 0x18D1 ||
+ ( deviceDesc->idProduct != 0x2D00 && deviceDesc->idProduct != 0x2D01))
+ &&_adk->switchDevice(device)) {
+
+ printf(" try to change accmode.interfaceDesc->bInterfaceClass=%d\r\n",interfaceDesc->bInterfaceClass);
+ //1th root
+ //accmode_support=true;
+ printf("accessory mode ok.\r\n");
+ return;
+ }
+
+ if (deviceDesc->idVendor == 0x18D1 &&
+ (deviceDesc->idProduct == 0x2D00 || deviceDesc->idProduct == 0x2D01)) {
+ //2th root
+ printf("connecting Android.\r\n");
+ printf("idVender=%x idProduct=%x interfaceDesc->bInterfaceClass=%d\r\n",deviceDesc->idVendor,deviceDesc->idProduct,interfaceDesc->bInterfaceClass);
+ _adk->init(device,1,0);
+ //_AdkUSB.loop();
+ return;
+ }
+}
+
+void AdkreadCallback(int device, int endpoint, int status, u8* buf, int len, void* userData) {
+ log("AdkreadCallback(int device=%d, int endpoint=%x, int status=%d, u8* buf=%p, int len=%d, void* userData=%p)\r\n",
+ device,endpoint,status,buf,len,userData);
+// __disable_irq();
+ AndroidAccessory* t = (AndroidAccessory*)userData;
+ if (status!=0 && status!=8) {
+ log("adk end.\r\n");
+ t->adkEnd();
+// __enable_irq();
+ USBInit();
+ return;
+ }
+
+
+ //virtual method run
+ t->callbackRead(buf,len);
+
+ USBBulkTransfer(device, endpoint , buf, len, AdkreadCallback, userData);
+
+// wait_ms(4);
+// __enable_irq();
+}
+
+
+
+
+void AdkwriteCallback(int device, int endpoint, int status, u8* buf, int len, void* userData) {
+
+ log("AdkwriteCallback(int device=%d, int endpoint=%x, int status=%d, u8* buf=%p, int len=%d, void* userData=%p)\r\n",
+ device,endpoint,status,buf,len,userData);
+
+ AndroidAccessory* t = (AndroidAccessory*)userData;
+ t->callbackWrite();
+ //wait_ms(4);
+ //USBBulkTransfer(device, endpoint , buf, len, AdkwriteCallback, userData);
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/AndroidADKTerm/AndroidAccessory/AndroidAccessory.h Sun Apr 07 08:31:51 2013 +0000
@@ -0,0 +1,195 @@
+/* mbed AndroidAccessory Library
+ * Created by p07gbar from work by Makoto Abe
+ *
+ */
+#ifndef ADK_H_INCLUDED
+#define ADK_H_INCLUDED
+
+#include "mbed.h"
+#include "USBHost.h"
+
+
+//#define ADKLOG 1
+#if ADKLOG
+#define LOG(...) printf(__VA_ARGS__)
+#define Log(...) printf(__VA_ARGS__)
+#define log(...) printf(__VA_ARGS__)
+
+#else
+#define LOG(...) do {} while(0)
+#define Log(...) do {} while(0)
+#define log(...) do {} while(0)
+
+#endif
+
+#define ACCESSORY_STRING_MANUFACTURER 0
+#define ACCESSORY_STRING_MODEL 1
+#define ACCESSORY_STRING_DESCRIPTION 2
+#define ACCESSORY_STRING_VERSION 3
+#define ACCESSORY_STRING_URI 4
+#define ACCESSORY_STRING_SERIAL 5
+
+#define ACCESSORY_GET_PROTOCOL 51
+#define ACCESSORY_SEND_STRING 52
+#define ACCESSORY_START 53
+
+
+
+/** An AndroidAccessory control class
+ *
+ * It allows easy creation of a mbed android ADK accessory, with minimal low level fussing.
+ * Base code should have methods resetDevice(), setupDevice(), callbackRead(u8 *buff, int len) and callBackWrite() functions
+ *
+ */
+
+class AndroidAccessory {
+public:
+
+
+
+/** Create a AndroidAccessory object
+ *
+ * Create a AndroidAccessoryobject with specified buffer sizes and infomation
+ *
+ * @param rbuffsize The size of the read buffer
+ * @param wbuffsize The size of the write buffer
+ * @param manufacturer The manufacturer of the accessory
+ * @param model The model of the accessory
+ * @param description A short description of the accessory
+ * @param version The current version of the accessory
+ * @param uri Some data to go with the accessory (URL or more description)
+ * @param serial The serial number of the accessory
+ */
+ AndroidAccessory(int rbuffsize,int wbuffsize,
+ const char* manufacturer,
+ const char *model,
+ const char *description,
+ const char *version,
+ const char *uri,
+ const char *serial
+ );
+
+ /** Init the device
+ * This is meant to be implimented by the user of the class
+ *
+ * @param device Device number
+ * @param configuration Configuration
+ * @param interfaceNumber Inteface number
+ */
+ virtual void init(int device, int configuration, int interfaceNumber);
+
+/** Reset the device
+ * This is meant to be implimented by the user of the class
+ *
+ */
+ virtual void resetDevice()=0;
+
+/** Setup the device
+ * This is meant to be implimented by the user of the class. Called when the device is first intialised
+ *
+ */
+ virtual void setupDevice()=0;
+
+ /** Callback on Read
+ * This is meant to be implimented by the user of the class. Called when some data has been read in.
+ *
+ * @param buff The buffered read in data
+ * @param len The length of the packet recived
+ *
+ */
+ virtual int callbackRead(u8 *buff, int len)=0;
+
+ /** Callback after Write
+ * This is meant to be implimented by the user of the class. Called when the write has been finished.
+ *
+ */
+ virtual int callbackWrite()=0;
+
+ /** Write over USB
+ * This sends the data in the buffer over USB in a packet
+ *
+ * @param buff The buffer to write out
+ * @param len The length of the packet to send
+ *
+ */
+ int write(u8 *buff, int len);
+
+/** Write over USB
+ * This sends the data in the buffer over USB in a packet, sends _writebuff and _writebuffsize
+ *
+ */
+ int write() {
+ return write(_writebuff,_writebuffsize);
+ }
+
+ /** Write over USB with no callback
+ * This sends the data in the buffer over USB in a packet, waits until the packet is sent, rather than doing a callback
+ *
+ * @param buff The buffer to write out
+ * @param len The length of the packet to send
+ *
+ */
+ int writeNC(u8 *buff, int len);
+
+ /** Write over USB
+ * This sends the data in the buffer over USB in a packet, waits until the packet is sent, rather than doing a callback, sends _writebuff and _writebuffsize
+ *
+ */
+ int writeNC() {
+ return writeNC(_writebuff,_writebuffsize);
+ }
+
+ /** Read the buffer USB
+ * This sends the data in the buffer over USB in a packet, waits until the packet is sent, rather than doing a callback
+ *
+ * @param buff The buffer to read into
+ * @param len The length of the packet to read in
+ *
+ * @param returns The number of bytes read
+ *
+ */
+ int read(u8 *buff, int len);
+
+
+ void adkEnd() {
+ // _initok=false;
+ resetDevice();
+ }; //if connection close
+ bool switchDevice(int device);
+
+ //buffer
+ u8* _readbuff;
+ int _readbuffsize;
+ u8* _writebuff;
+ int _writebuffsize;
+ u8* _strbuff;//255bytes;
+ void sendString(const char *str);
+
+private:
+
+ void sendString(int device, int index, const char *str);
+ int getProtocol(int device);
+
+ const char *manufacturer;
+ const char *model;
+ const char *description;
+ const char *version;
+ const char *uri;
+ const char *serial;
+
+ //endpoints
+ int input_ep;
+ int output_ep;
+
+ int _device;
+ int _configuration;
+ int _interfaceNumber;
+
+ //bool _initok;
+
+};
+
+extern AndroidAccessory* _adk; //declared in cpp
+
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/AndroidADKTerm/AndroidAccessory/USBHost/USBHost.cpp Sun Apr 07 08:31:51 2013 +0000
@@ -0,0 +1,1093 @@
+
+/*
+Copyright (c) 2010 Peter Barrett
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+
+
+#include "mbed.h"
+#include "USBHost.h"
+#ifndef USBHOST_LOG
+
+
+// Config (default uses x bytes)
+#define MAX_DEVICES 8 // Max number of devices
+#define MAX_ENDPOINTS_TOTAL 16 // Max number of endpoints total
+#define MAX_ENDPOINTS_PER_DEVICE 8 // Max number of endpoints for any one device
+
+//#define USBLOG 1
+#if USBLOG
+#define LOG(...) printf(__VA_ARGS__)
+#else
+#define LOG(...) do {} while(0)
+#endif
+
+// USB host structures
+
+#define USB_RAM_SIZE 16*1024 // AHB SRAM block 1 TODO MACHINE DEPENDENT
+#define USB_RAM_BASE 0x2007C000
+
+#define TOKEN_SETUP 0
+#define TOKEN_IN 1
+#define TOKEN_OUT 2
+
+// Status flags from hub
+#define PORT_CONNECTION 0
+#define PORT_ENABLE 1
+#define PORT_SUSPEND 2
+#define PORT_OVER_CURRENT 3
+#define PORT_RESET 4
+#define PORT_POWER 8
+#define PORT_LOW_SPEED 9
+
+#define C_PORT_CONNECTION 16
+#define C_PORT_ENABLE 17
+#define C_PORT_SUSPEND 18
+#define C_PORT_OVER_CURRENT 19
+#define C_PORT_RESET 20
+
+typedef struct {
+ u8 bm_request_type;
+ u8 b_request;
+ u16 w_value;
+ u16 w_index;
+ u16 w_length;
+} Setup;
+
+
+// Hub stuff is kept private just to keep api simple
+int SetPortFeature(int device, int feature, int index);
+int ClearPortFeature(int device, int feature, int index);
+int SetPortPower(int device, int port);
+int SetPortReset(int device, int port);
+int GetPortStatus(int device, int port, u32* status);
+
+//===================================================================
+//===================================================================
+// Hardware defines
+
+// HcControl
+#define PeriodicListEnable 0x00000004
+#define IsochronousEnable 0x00000008
+#define ControlListEnable 0x00000010
+#define BulkListEnable 0x00000020
+#define OperationalMask 0x00000080
+#define HostControllerFunctionalState 0x000000C0
+
+// HcCommandStatus
+#define HostControllerReset 0x00000001
+#define ControlListFilled 0x00000002
+#define BulkListFilled 0x00000004
+
+// HcInterruptStatus Register
+#define WritebackDoneHead 0x00000002
+#define StartofFrame 0x00000004
+#define ResumeDetected 0x00000008
+#define UnrecoverableError 0x00000010
+#define FrameNumberOverflow 0x00000020
+#define RootHubStatusChange 0x00000040
+#define OwnershipChange 0x00000080
+#define MasterInterruptEnable 0x80000000
+
+// HcRhStatus
+#define SetGlobalPower 0x00010000
+#define DeviceRemoteWakeupEnable 0x00008000
+
+// HcRhPortStatus (hub 0, port 1)
+#define CurrentConnectStatus 0x00000001
+#define PortEnableStatus 0x00000002
+#define PortSuspendStatus 0x00000004
+#define PortOverCurrentIndicator 0x00000008
+#define PortResetStatus 0x00000010
+
+#define PortPowerStatus 0x00000100
+#define LowspeedDevice 0x00000200
+#define HighspeedDevice 0x00000400
+
+#define ConnectStatusChange (CurrentConnectStatus << 16)
+#define PortResetStatusChange (PortResetStatus << 16)
+
+
+#define TD_ROUNDING (u32)0x00040000
+#define TD_SETUP (u32)0x00000000
+#define TD_IN (u32)0x00100000
+#define TD_OUT (u32)0x00080000
+#define TD_DELAY_INT(x) (u32)((x) << 21)
+#define TD_TOGGLE_0 (u32)0x02000000
+#define TD_TOGGLE_1 (u32)0x03000000
+#define TD_CC (u32)0xF0000000
+
+// HostController EndPoint Descriptor
+typedef struct {
+ volatile u32 Control;
+ volatile u32 TailTd;
+ volatile u32 HeadTd;
+ volatile u32 Next;
+} HCED;
+
+// HostController Transfer Descriptor
+typedef struct {
+ volatile u32 Control;
+ volatile u32 CurrBufPtr;
+ volatile u32 Next;
+ volatile u32 BufEnd;
+} HCTD;
+
+// Host Controller Communication Area
+typedef struct {
+ volatile u32 InterruptTable[32];
+ volatile u16 FrameNumber;
+ volatile u16 FrameNumberPad;
+ volatile u32 DoneHead;
+ volatile u8 Reserved[120];
+} HCCA;
+
+//====================================================================================
+//====================================================================================
+
+class HostController;
+class Endpoint;
+class Device;
+
+// must be 3*16 bytes long
+class Endpoint
+{
+public:
+ HCED EndpointDescriptor; // Pointer to EndpointDescriptor == Pointer to Endpoint
+ HCTD TDHead;
+
+ enum State
+ {
+ Free,
+ NotQueued,
+ Idle,
+ SetupQueued,
+ DataQueued,
+ StatusQueued,
+ CallbackPending
+ };
+
+ volatile u8 CurrentState;
+ u8 Flags; // 0x80 In, 0x03 mask endpoint type
+
+ u16 Length;
+ u8* Data;
+ USBCallback Callback; // Must be a multiple of 16 bytes long
+ void* UserData;
+
+ int Address()
+ {
+ int ep = (EndpointDescriptor.Control >> 7) & 0xF;
+ if (ep)
+ ep |= Flags & 0x80;
+ return ep;
+ }
+
+ int Device()
+ {
+ return EndpointDescriptor.Control & 0x7F;
+ }
+
+ int Status()
+ {
+ return (TDHead.Control >> 28) & 0xF;
+ }
+
+ u32 Enqueue(u32 head)
+ {
+ if (CurrentState == NotQueued)
+ {
+ EndpointDescriptor.Next = head;
+ head = (u32)&EndpointDescriptor;
+ CurrentState = Idle;
+ }
+ return head;
+ }
+};
+
+class Device
+{
+public:
+ u8 _endpointMap[MAX_ENDPOINTS_PER_DEVICE*2];
+ u8 Hub;
+ u8 Port;
+ u8 Addr;
+ u8 Pad;
+
+ // Only if this device is a hub
+ u8 HubPortCount; // nonzero if this is a hub
+ u8 HubInterruptData;
+ u8 HubMap;
+ u8 HubMask;
+
+ int Flags; // 1 = Disconnected
+
+ Setup SetupBuffer;
+
+ // Allocate endpoint zero
+ int Init(DeviceDescriptor* d, int hub, int port, int addr, int lowSpeed)
+ {
+ Hub = hub;
+ Port = port;
+ Addr = addr;
+ Flags = lowSpeed;
+ memset(_endpointMap,0xFF,sizeof(_endpointMap));
+ return 0;
+ }
+
+ int SetEndpointIndex(int ep, int endpointIndex)
+ {
+ for (int i = 0; i < MAX_ENDPOINTS_PER_DEVICE*2; i += 2)
+ {
+ if (_endpointMap[i] == 0xFF) // Add endpoint to map
+ {
+ _endpointMap[i] = ep;
+ _endpointMap[i+1] = endpointIndex;
+ return 0;
+ }
+ }
+ return ERR_ENDPOINT_NONE_LEFT;
+ }
+
+ int GetEndpointIndex(int ep)
+ {
+ for (int i = 0; i < MAX_ENDPOINTS_PER_DEVICE*2; i += 2)
+ {
+ if (_endpointMap[i] == ep)
+ return _endpointMap[i+1];
+ if (_endpointMap[i] == 0xFF)
+ break;
+ }
+ return -1;
+ }
+};
+
+class HostController
+{
+public:
+ HCCA CommunicationArea;
+ Endpoint Endpoints[MAX_ENDPOINTS_TOTAL]; // Multiple of 16
+
+ Endpoint EndpointZero; // For device enumeration
+ HCTD _commonTail;
+ Setup _setupZero;
+
+ Device Devices[MAX_DEVICES];
+ u32 _frameNumber; // 32 bit ms counter
+
+ u8 _callbacksPending; // Endpoints with callbacks are pending, set from ISR via ProcessDoneQueue
+ u8 _rootHubStatusChange; // Root hub status has changed, set from ISR
+ u8 _unused0;
+ u8 _unused1;
+
+ u8 _connectPending; // Reset has initiated a connect
+ u8 _connectCountdown; // Number of ms left after reset before we can connect
+ u8 _connectHub; // Will connect on this hub
+ u8 _connectPort; // ... and this port
+
+ u8 SRAM[0]; // Start of free SRAM
+
+ void Loop()
+ {
+ u16 elapsed = CommunicationArea.FrameNumber - (u16)_frameNumber; // extend to 32 bits
+ _frameNumber += elapsed;
+
+ // Do callbacks, if any
+ while (_callbacksPending)
+ {
+ for (int i = 0; i < MAX_ENDPOINTS_TOTAL; i++)
+ {
+ Endpoint* endpoint = Endpoints + i;
+ if (endpoint->CurrentState == Endpoint::CallbackPending)
+ {
+ LOG("Sorting Callbacks %i\n\r",endpoint->CurrentState);
+ _callbacksPending--;
+ endpoint->CurrentState = Endpoint::Idle;
+ LOG("SatusChanged %i\n\r",endpoint->CurrentState);
+ endpoint->Callback(endpoint->Device(),endpoint->Address(),endpoint->Status(),endpoint->Data,endpoint->Length,endpoint->UserData);
+ }
+ }
+ }
+
+ // Deal with changes on the root hub
+ if (_rootHubStatusChange)
+ {
+ u32 status = LPC_USB->HcRhPortStatus1;
+ _rootHubStatusChange = 0;
+ if (status >> 16)
+ {
+ HubStatusChange(0,1,status);
+ LPC_USB->HcRhPortStatus1 = status & 0xFFFF0000; // clear status changes
+ }
+ }
+
+ // Connect after reset timeout
+ if (_connectCountdown)
+ {
+ if (elapsed >= _connectCountdown)
+ {
+ _connectCountdown = 0;
+ Connect(_connectHub,_connectPort & 0x7F,_connectPort & 0x80);
+ } else
+ _connectCountdown -= elapsed;
+ }
+ }
+
+ // HubInterrupt - bitmap in dev->HubInterruptData
+ void HubInterrupt(int device)
+ {
+ Device* dev = &Devices[device-1];
+ for (int i = 0; i < dev->HubPortCount; i++)
+ {
+ int port = i+1;
+ if (dev->HubInterruptData & (1 << port))
+ {
+ u32 status = 0;
+ GetPortStatus(device,port,&status);
+ if (status >> 16)
+ {
+ if (_connectPending && (status & ConnectStatusChange))
+ continue; // Don't connect again until previous device has been added and addressed
+
+ HubStatusChange(device,port,status);
+ if (status & ConnectStatusChange)
+ ClearPortFeature(device,C_PORT_CONNECTION,port);
+ if (status & PortResetStatusChange)
+ ClearPortFeature(device,C_PORT_RESET,port);
+ }
+ }
+ }
+ }
+
+ static void HubInterruptCallback(int device, int endpoint, int status, u8* data, int len, void* userData)
+ {
+ HostController* controller = (HostController*)userData;
+ if (status == 0)
+ controller->HubInterrupt(device);
+ USBInterruptTransfer(device,endpoint,data,1,HubInterruptCallback,userData);
+ }
+
+ int InitHub(int device)
+ {
+ u8 buf[16];
+ int r= USBControlTransfer(device,DEVICE_TO_HOST | REQUEST_TYPE_CLASS | RECIPIENT_DEVICE,GET_DESCRIPTOR,(DESCRIPTOR_TYPE_HUB << 8),0,buf,sizeof(buf));
+ if (r < 0)
+ return ERR_HUB_INIT_FAILED;
+
+ // turn on power on the hubs ports
+ Device* dev = &Devices[device-1];
+ int ports = buf[2];
+ dev->HubPortCount = ports;
+ for (int i = 0; i < ports; i++)
+ SetPortPower(device,i+1);
+
+ // Enable hub change interrupts
+ return USBInterruptTransfer(device,0x81,&dev->HubInterruptData,1,HubInterruptCallback,this);
+ }
+
+ int AddEndpoint(int device, int ep, int attributes, int maxPacketSize, int interval)
+ {
+ LOG("AddEndpoint D:%02X A:%02X T:%02X P:%04X I:%02X\r\n",device,ep,attributes,maxPacketSize,interval);
+ Device* dev = &Devices[device-1];
+ Endpoint* endpoint = AllocateEndpoint(device,ep,attributes,maxPacketSize);
+ if (!endpoint)
+ return ERR_ENDPOINT_NONE_LEFT;
+ dev->SetEndpointIndex(ep,endpoint - Endpoints);
+ endpoint->EndpointDescriptor.Control |= dev->Flags; // Map in slow speed
+ return 0; // TODO ed->bInterval
+ }
+
+ int AddEndpoint(int device, EndpointDescriptor* ed)
+ {
+ return AddEndpoint(device,ed->bEndpointAddress,ed->bmAttributes,ed->wMaxPacketSize,ed->bInterval);
+ }
+
+ // allocate a endpoint
+ Endpoint* AllocateEndpoint(int device, int endpointAddress, int type, int maxPacketSize)
+ {
+ for (int i = 0; i < MAX_ENDPOINTS_TOTAL; i++)
+ {
+ Endpoint* ep = &Endpoints[i];
+ if (ep->CurrentState == 0)
+ {
+ //LOG("Allocated endpoint %d to %02X:%02X\r\n",i,device,endpointAddress);
+ ep->Flags = (endpointAddress & 0x80) | (type & 3);
+ ep->CurrentState = Endpoint::NotQueued;
+ ep->EndpointDescriptor.Control = (maxPacketSize << 16) | ((endpointAddress & 0x7F) << 7) | device;
+ return ep;
+ }
+ }
+ return 0;
+ }
+
+ Endpoint* GetEndpoint(int device, int ep)
+ {
+ if (device == 0)
+ {
+ //printf("WARNING: USING DEVICE 0\n");
+ return &EndpointZero;
+ }
+ if (device > MAX_DEVICES)
+ return 0;
+ int i = Devices[device-1].GetEndpointIndex(ep);
+ if (i == -1)
+ return 0;
+ return Endpoints + i;
+ }
+
+ int Transfer(Endpoint* endpoint, int token, u8* data, int len, int state)
+ {
+ //LOG("Transfer %02X T:%d Len:%d S:%d\r\n",endpoint->Address(),token,len,state);
+
+ int toggle = 0;
+ if (endpoint->Address() == 0)
+ toggle = (token == TOKEN_SETUP) ? TD_TOGGLE_0 : TD_TOGGLE_1;
+
+ if (token != TOKEN_SETUP)
+ token = (token == TOKEN_IN ? TD_IN : TD_OUT);
+
+ HCTD* head = &endpoint->TDHead;
+ HCTD* tail = &_commonTail;
+
+ head->Control = TD_ROUNDING | token | TD_DELAY_INT(0) | toggle | TD_CC;
+ head->CurrBufPtr = (u32)data;
+ head->BufEnd = (u32)(data + len - 1);
+ head->Next = (u32)tail;
+
+ HCED* ed = &endpoint->EndpointDescriptor;
+ ed->HeadTd = (u32)head | (ed->HeadTd & 0x00000002); // carry toggle
+ ed->TailTd = (u32)tail;
+
+ //HCTD* td = head;
+ //LOG("%04X TD %08X %08X %08X Next:%08X\r\n",CommunicationArea.FrameNumber,td->Control,td->CurrBufPtr,td->BufEnd,td->Next);
+ //LOG("%04X ED %08X %08X %08X\r\n",CommunicationArea.FrameNumber,ed->Control,ed->HeadTd,ed->TailTd);
+
+ switch (endpoint->Flags & 3)
+ {
+ case ENDPOINT_CONTROL:
+ LPC_USB->HcControlHeadED = endpoint->Enqueue(LPC_USB->HcControlHeadED); // May change state NotQueued->Idle
+ endpoint->CurrentState = state; // Get in before an int
+ LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | ControlListFilled;
+ LPC_USB->HcControl = LPC_USB->HcControl | ControlListEnable;
+ break;
+
+ case ENDPOINT_BULK:
+ LPC_USB->HcBulkHeadED = endpoint->Enqueue(LPC_USB->HcBulkHeadED);
+ endpoint->CurrentState = state;
+ LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | BulkListFilled;
+ LPC_USB->HcControl = LPC_USB->HcControl | BulkListEnable;
+ break;
+
+ case ENDPOINT_INTERRUPT:
+ CommunicationArea.InterruptTable[0] = endpoint->Enqueue(CommunicationArea.InterruptTable[0]);
+ endpoint->CurrentState = state;
+ LPC_USB->HcControl |= PeriodicListEnable;
+ break;
+ }
+ return 0;
+ }
+
+ // Remove an endpoint from an active queue
+ bool Remove(HCED* ed, volatile HCED** queue)
+ {
+ if (*queue == 0)
+ return false;
+ if (*queue == (volatile HCED*)ed)
+ {
+ *queue = (volatile HCED*)ed->Next; // At head of queue
+ return true;
+ }
+
+ volatile HCED* head = *queue;
+ while (head)
+ {
+ if (head->Next == (u32)ed)
+ {
+ head->Next = ed->Next;
+ return true;
+ }
+ head = (volatile HCED*)head->Next;
+ }
+ return false;
+ }
+
+ void Release(Endpoint* endpoint)
+ {
+ if (endpoint->CurrentState == Endpoint::NotQueued)
+ {
+ // Never event used it, nothing to do
+ }
+ else
+ {
+ HCED* ed = (HCED*)endpoint;
+ ed->Control |= 0x4000; // SKIP
+ switch (endpoint->Flags & 0x03)
+ {
+ case ENDPOINT_CONTROL:
+ Remove(ed,(volatile HCED**)&LPC_USB->HcControlHeadED);
+ break;
+ case ENDPOINT_BULK:
+ Remove(ed,(volatile HCED**)&LPC_USB->HcBulkHeadED);
+ break;
+ case ENDPOINT_INTERRUPT:
+ for (int i = 0; i < 32; i++)
+ Remove(ed,(volatile HCED**)&CommunicationArea.InterruptTable[i]);
+ break;
+ }
+
+ u16 fn = CommunicationArea.FrameNumber;
+ while (fn == CommunicationArea.FrameNumber)
+ ; // Wait for next frame
+
+ }
+
+ // In theory, the endpoint is now dead.
+ // TODO: Will Callbacks ever be pending? BUGBUG
+ memset(endpoint,0,sizeof(Endpoint));
+ }
+
+ // Pop the last TD from the list
+ HCTD* Reverse(HCTD* current)
+ {
+ HCTD *result = NULL,*temp;
+ while (current)
+ {
+ temp = (HCTD*)current->Next;
+ current->Next = (u32)result;
+ result = current;
+ current = temp;
+ }
+ return result;
+ }
+
+ // Called from interrupt...
+ // Control endpoints use a state machine to progress through the transfers
+ void ProcessDoneQueue(u32 tdList)
+ {
+ HCTD* list = Reverse((HCTD*)tdList);
+ while (list)
+ {
+ Endpoint* endpoint = (Endpoint*)(list-1);
+ list = (HCTD*)list->Next;
+ int ep = endpoint->Address();
+ bool in = endpoint->Flags & 0x80;
+ int status = (endpoint->TDHead.Control >> 28) & 0xF;
+
+ //LOG("ProcessDoneQueue %02X %08X\r\n",ep,endpoint->TDHead.Control);
+
+ if (status != 0)
+ {
+ LOG("ProcessDoneQueue status %02X %d\r\n",ep,status);
+ endpoint->CurrentState = Endpoint::Idle;
+ } else {
+ switch (endpoint->CurrentState)
+ {
+ case Endpoint::SetupQueued:
+ if (endpoint->Length == 0)
+ Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Skip Data Phase
+ else
+ Transfer(endpoint,in ? TOKEN_IN : TOKEN_OUT,endpoint->Data,endpoint->Length, Endpoint::DataQueued); // Setup is done, now Data
+ break;
+
+ case Endpoint::DataQueued:
+ if (endpoint->TDHead.CurrBufPtr)
+ endpoint->Length = endpoint->TDHead.CurrBufPtr - (u32)endpoint->Data;
+
+ if (ep == 0)
+ Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Data is done, now Status, Control only
+ else
+ endpoint->CurrentState = Endpoint::Idle;
+ break;
+
+ case Endpoint::StatusQueued: // Transaction is done
+ endpoint->CurrentState = Endpoint::Idle;
+ break;
+ }
+ }
+
+ // Complete, flag if we need a callback
+ if (endpoint->Callback && endpoint->CurrentState == Endpoint::Idle)
+ {
+ endpoint->CurrentState = Endpoint::CallbackPending;
+ _callbacksPending++;
+ }
+ }
+ }
+
+ // Hack to reset devices that don't want to connect
+ int AddDevice(int hub, int port, bool isLowSpeed)
+ {
+ int device = AddDeviceCore(hub,port,isLowSpeed);
+ if (device < 0)
+ {
+ LOG("========RETRY ADD DEVICE========\r\n"); // This will go for ever.. TODO power cycle root?
+ Disconnect(hub,port); // Could not read descriptor at assigned address, reset this port and try again
+ ResetPort(hub,port); // Cheap bluetooth dongles often need this on a hotplug
+ return -1;
+ }
+ return device;
+ }
+
+ int AddDeviceCore(int hub, int port, bool isLowSpeed)
+ {
+ int lowSpeed = isLowSpeed ? 0x2000 : 0;
+ DeviceDescriptor desc;
+ EndpointZero.EndpointDescriptor.Control = (8 << 16) | lowSpeed; // MaxPacketSize == 8
+ int r = GetDescriptor(0,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,8);
+ if (r < 0)
+ {
+ LOG("FAILED TO LOAD DESCRIPTOR FOR DEVICE 0\r\n");
+ return r;
+ }
+
+ EndpointZero.EndpointDescriptor.Control = (desc.bMaxPacketSize << 16) | lowSpeed; // Actual MaxPacketSize
+ r = GetDescriptor(0,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,sizeof(desc));
+ if (r < 0)
+ return r;
+
+ LOG("\nClass %02X found %04X:%04X\r\n",desc.bDeviceClass,desc.idVendor,desc.idProduct);
+
+ // Now assign the device an address, move off EndpointZero
+ int device = 0;
+ for (int i = 0; i < MAX_DEVICES; i++)
+ {
+ if (Devices[i].Port == 0)
+ {
+ device = i+1;
+ break;
+ }
+ }
+ if (!device)
+ return ERR_DEVICE_NONE_LEFT;
+
+ r = SetAddress(0,device);
+ if (r)
+ return r;
+ DelayMS(2);
+
+ // Now at a nonzero address, create control endpoint
+ Device* dev = &Devices[device-1];
+ dev->Init(&desc,hub,port,device,lowSpeed);
+ AddEndpoint(device,0,ENDPOINT_CONTROL,desc.bMaxPacketSize,0);
+ _connectPending = 0;
+
+ // Verify this all works
+ r = GetDescriptor(device,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,sizeof(desc));
+ if (r < 0)
+ return r;
+
+ // Set to interface 0 by default
+ // Calls LoadDevice if interface is found
+ r = SetConfigurationAndInterface(device,1,0,&desc);
+
+ if (desc.bDeviceClass == CLASS_HUB)
+ InitHub(device); // Handle hubs in this code
+
+ return device;
+ }
+
+ // Walk descriptors and create endpoints for a given device
+ // TODO configuration !=1, alternate settings etc.
+ int SetConfigurationAndInterface(int device, int configuration, int interfaceNumber, DeviceDescriptor* desc)
+ {
+ u8 buffer[255];
+ int err = GetDescriptor(device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,sizeof(buffer));
+ if (err < 0)
+ return err;
+
+ err = SetConfiguration(device,configuration);
+ if (err < 0)
+ return err;
+
+ // Add the endpoints for this interface
+ int len = buffer[2] | (buffer[3] << 8);
+ u8* d = buffer;
+ u8* end = d + len;
+ InterfaceDescriptor* found = 0;
+ while (d < end)
+ {
+ if (d[1] == DESCRIPTOR_TYPE_INTERFACE)
+ {
+ InterfaceDescriptor* id = (InterfaceDescriptor*)d;
+ if (id->bInterfaceNumber == interfaceNumber)
+ {
+ found = id;
+ d += d[0];
+ while (d < end && d[1] != DESCRIPTOR_TYPE_INTERFACE)
+ {
+ switch (d[1])
+ {
+ case DESCRIPTOR_TYPE_ENDPOINT:
+ AddEndpoint(device,(EndpointDescriptor*)d);
+ break;
+ default:
+ LOG("Skipping descriptor %02X (%d bytes)\r\n",d[1],d[0]);
+ }
+ d += d[0];
+ }
+ }
+ }
+ d += d[0];
+ }
+
+ if (!found)
+ return ERR_INTERFACE_NOT_FOUND;
+ OnLoadDevice(device,desc,found);
+ return 0;
+ }
+
+ void Init()
+ {
+ LOG("USB INIT (Controller is %d bytes)\r\n",sizeof(*this));
+ memset(this,0,sizeof(HostController));
+ EndpointZero.CurrentState = Endpoint::NotQueued;
+ HWInit(&CommunicationArea);
+ DelayMS(10);
+ }
+
+ void ResetPort(int hub, int port)
+ {
+ LOG("ResetPort Hub:%d Port:%d\r\n",hub,port);
+ _connectPending++; // Only reset/add 1 device at a time
+ if (hub == 0)
+ LPC_USB->HcRhPortStatus1 = PortResetStatus; // Reset Root Hub, port 1
+ else
+ SetPortReset(hub,port); // or reset other hub
+ }
+
+ void Disconnect(int hub, int port)
+ {
+ LOG("Disconnect Hub:%d Port:%d\r\n",hub,port); // Mark a device for destruction
+ for (int i = 0; i < MAX_DEVICES; i++)
+ {
+ Device* dev = Devices + i;
+ if (dev->Port == port && dev->Hub == hub)
+ {
+ // Disconnect everything that is attached to this device if it is a hub
+ for (int p = 0; p < dev->HubPortCount; p++)
+ Disconnect(i+1,p+1);
+
+ // Now release endpoints
+ for (int j = 1; j < MAX_ENDPOINTS_PER_DEVICE*2; j += 2)
+ {
+ u8 endpointIndex = dev->_endpointMap[j];
+ if (endpointIndex != 0xFF)
+ Release(Endpoints + endpointIndex);
+ }
+ dev->Port = 0; // Device is now free
+ dev->Flags = 0;
+ return;
+ }
+ }
+ }
+
+ // called after reset
+ void Connect(int hub, int port, bool lowspeed)
+ {
+ LOG("Connect Hub:%d Port:%d %s\r\n",hub,port,lowspeed ? "slow" : "full");
+ AddDevice(hub,port,lowspeed);
+ }
+
+ // Called from interrupt
+ void HubStatusChange(int hub, int port, u32 status)
+ {
+ LOG("HubStatusChange Hub:%d Port:%d %08X\r\n",hub,port,status);
+ if (status & ConnectStatusChange)
+ {
+ if (status & CurrentConnectStatus) // Connecting
+ ResetPort(hub,port); // Reset to initiate connect (state machine?)
+ else
+ Disconnect(hub,port);
+ }
+
+ if (status & PortResetStatusChange)
+ {
+ if (!(status & PortResetStatus))
+ {
+ _connectCountdown = 200; // Schedule a connection in 200ms
+ if (status & LowspeedDevice)
+ port |= 0x80;
+ _connectHub = hub;
+ _connectPort = port;
+ }
+ }
+ }
+
+ #define HOST_CLK_EN (1<<0)
+ #define PORTSEL_CLK_EN (1<<3)
+ #define AHB_CLK_EN (1<<4)
+ #define CLOCK_MASK (HOST_CLK_EN | PORTSEL_CLK_EN | AHB_CLK_EN)
+
+ #define FRAMEINTERVAL (12000-1) // 1ms
+ #define DEFAULT_FMINTERVAL ((((6 * (FRAMEINTERVAL - 210)) / 7) << 16) | FRAMEINTERVAL)
+
+ void DelayMS(int ms)
+ {
+ u16 f = ms + CommunicationArea.FrameNumber;
+ while (f != CommunicationArea.FrameNumber)
+ ;
+ }
+
+ static void HWInit(HCCA* cca)
+ {
+ NVIC_DisableIRQ(USB_IRQn);
+
+ // turn on power for USB
+ LPC_SC->PCONP |= (1UL<<31);
+ // Enable USB host clock, port selection and AHB clock
+ LPC_USB->USBClkCtrl |= CLOCK_MASK;
+ // Wait for clocks to become available
+ while ((LPC_USB->USBClkSt & CLOCK_MASK) != CLOCK_MASK)
+ ;
+
+ // We are a Host
+ LPC_USB->OTGStCtrl |= 1;
+ LPC_USB->USBClkCtrl &= ~PORTSEL_CLK_EN; // we don't need port selection clock until we do OTG
+
+ // configure USB pins
+ LPC_PINCON->PINSEL1 &= ~((3<<26)|(3<<28));
+ LPC_PINCON->PINSEL1 |= ((1<<26)|(1<<28)); // USB D+/D-
+
+ LPC_PINCON->PINSEL3 &= ~((3 << 6) | (3 << 22)); // USB_PPWR, USB_OVRCR
+ LPC_PINCON->PINSEL3 |= ((2 << 6) | (2 << 22));
+
+ LPC_PINCON->PINSEL4 &= ~(3 << 18); // USB_CONNECT
+ LPC_PINCON->PINSEL4 |= (1 << 18);
+
+ // Reset OHCI block
+ LPC_USB->HcControl = 0;
+ LPC_USB->HcControlHeadED = 0;
+ LPC_USB->HcBulkHeadED = 0;
+
+ LPC_USB->HcCommandStatus = HostControllerReset;
+ LPC_USB->HcFmInterval = DEFAULT_FMINTERVAL;
+ LPC_USB->HcPeriodicStart = FRAMEINTERVAL*90/100;
+
+ LPC_USB->HcControl = (LPC_USB->HcControl & (~HostControllerFunctionalState)) | OperationalMask;
+ LPC_USB->HcRhStatus = SetGlobalPower;
+
+ LPC_USB->HcHCCA = (u32)cca;
+ LPC_USB->HcInterruptStatus |= LPC_USB->HcInterruptStatus;
+ LPC_USB->HcInterruptEnable = MasterInterruptEnable | WritebackDoneHead | RootHubStatusChange | FrameNumberOverflow;
+
+ NVIC_SetPriority(USB_IRQn, 0);
+ NVIC_EnableIRQ(USB_IRQn);
+ while (cca->FrameNumber < 10)
+ ; // 10ms delay before diving in
+ }
+};
+
+//====================================================================================
+//====================================================================================
+// Host controller instance and Interrupt handler
+
+static HostController _controller __attribute__((at(USB_RAM_BASE)));
+
+extern "C" void USB_IRQHandler(void) __irq;
+void USB_IRQHandler (void) __irq
+{
+ u32 int_status = LPC_USB->HcInterruptStatus;
+
+ if(int_status & UnrecoverableError) //Error
+ {
+ LOG("USB_IRQHandler UnrecoverableError Please reset\r\n");
+ }
+
+
+ if (int_status & RootHubStatusChange) // Root hub status change
+ _controller._rootHubStatusChange++; // Just flag the controller, will be processed in USBLoop
+
+ u32 head = 0;
+ if (int_status & WritebackDoneHead)
+ {
+ head = _controller.CommunicationArea.DoneHead; // Writeback Done
+ _controller.CommunicationArea.DoneHead = 0;
+ }
+ LPC_USB->HcInterruptStatus = int_status;
+
+ if (head)
+ _controller.ProcessDoneQueue(head); // TODO - low bit can be set BUGBUG
+}
+
+//====================================================================================
+//====================================================================================
+// API Methods
+
+void USBInit()
+{
+ return _controller.Init();
+}
+
+void USBLoop()
+{
+
+ return _controller.Loop();
+
+}
+
+u8* USBGetBuffer(u32* len)
+{
+ *len = USB_RAM_SIZE - sizeof(HostController);
+ return _controller.SRAM;
+}
+
+static Setup* GetSetup(int device)
+{
+ if (device == 0)
+ return &_controller._setupZero;
+
+ if (device < 1 || device > MAX_DEVICES)
+ return 0;
+ return &_controller.Devices[device-1].SetupBuffer;
+}
+
+// Loop until IO on endpoint is complete
+static int WaitIODone(Endpoint* endpoint)
+{
+ LOG("Waiting\n\r");
+ if (endpoint->CurrentState == Endpoint::NotQueued)
+ return 0;
+ while (endpoint->CurrentState != Endpoint::Idle)
+ //LOG("Loopz");
+ USBLoop(); // May generate callbacks, mount or unmount devices etc
+ int status = endpoint->Status();
+ if (status == 0)
+ return endpoint->Length;
+ LOG("DATA SENT\n\r");
+ return -status;
+}
+
+int USBTransfer(int device, int ep, u8 flags, u8* data, int length, USBCallback callback, void* userData)
+{
+ Endpoint* endpoint = _controller.GetEndpoint(device,ep);
+ if (!endpoint)
+ return ERR_ENDPOINT_NOT_FOUND;
+
+ WaitIODone(endpoint);
+ LOG("before ep=%x,callback=%p\r\n",endpoint,endpoint->Callback);
+ endpoint->Flags = flags;
+ endpoint->Data = data;
+ endpoint->Length = length;
+ endpoint->Callback = callback;
+ endpoint->UserData = userData;
+ LOG("ep=%x,callback=%p\r\n",ep,callback);
+ if (ep == 0)
+ _controller.Transfer(endpoint,TOKEN_SETUP,(u8*)GetSetup(device),8,Endpoint::SetupQueued);
+ else
+ _controller.Transfer(endpoint,flags & 0x80 ? TOKEN_IN : TOKEN_OUT,data,length,Endpoint::DataQueued);
+ if (callback)
+ return IO_PENDING;
+ return WaitIODone(endpoint);
+}
+
+int USBControlTransfer(int device, int request_type, int request, int value, int index, u8* data, int length, USBCallback callback, void * userData)
+{
+ Setup* setup = GetSetup(device);
+ if (!setup)
+ return ERR_DEVICE_NOT_FOUND;
+
+ // Async control calls may overwrite setup buffer of previous call, so we need to wait before setting up next call
+ WaitIODone(_controller.GetEndpoint(device,0));
+
+ setup->bm_request_type = request_type;
+ setup->b_request = request;
+ setup->w_value = value;
+ setup->w_index = index;
+ setup->w_length = length;
+ return USBTransfer(device,0,request_type & DEVICE_TO_HOST,data,length,callback,userData);
+}
+
+int USBInterruptTransfer(int device, int ep, u8* data, int length, USBCallback callback, void* userData)
+{
+ return USBTransfer(device,ep,(ep & 0x80) | ENDPOINT_INTERRUPT,data,length,callback,userData);
+}
+
+int USBBulkTransfer(int device, int ep, u8* data, int length, USBCallback callback, void* userData)
+{
+ return USBTransfer(device,ep,(ep & 0x80) | ENDPOINT_BULK,data,length,callback,userData);
+}
+
+int GetDescriptor(int device, int descType,int descIndex, u8* data, int length)
+{
+ return USBControlTransfer(device,DEVICE_TO_HOST | RECIPIENT_DEVICE, GET_DESCRIPTOR,(descType << 8)|(descIndex), 0, data, length, 0);
+}
+
+int GetString(int device, int index, char* dst, int length)
+{
+ u8 buffer[255];
+ int le = GetDescriptor(device,DESCRIPTOR_TYPE_STRING,index,buffer,sizeof(buffer));
+ if (le < 0)
+ return le;
+ if (length < 1)
+ return -1;
+ length <<= 1;
+ if (le > length)
+ le = length;
+ for (int j = 2; j < le; j += 2)
+ *dst++ = buffer[j];
+ *dst = 0;
+ return (le>>1)-1;
+}
+
+int SetAddress(int device, int new_addr)
+{
+ return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_DEVICE, SET_ADDRESS, new_addr, 0, 0, 0, 0);
+}
+
+int SetConfiguration(int device, int configNum)
+{
+ return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_DEVICE, SET_CONFIGURATION, configNum, 0, 0, 0, 0);
+}
+
+int SetInterface(int device, int ifNum, int altNum)
+{
+ return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_INTERFACE, SET_INTERFACE, altNum, ifNum, 0, 0, 0);
+}
+
+// HUB stuff
+int SetPortFeature(int device, int feature, int index)
+{
+ return USBControlTransfer(device,HOST_TO_DEVICE | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,SET_FEATURE,feature,index,0,0);
+}
+
+int ClearPortFeature(int device, int feature, int index)
+{
+ return USBControlTransfer(device,HOST_TO_DEVICE | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,CLEAR_FEATURE,feature,index,0,0);
+}
+
+int SetPortPower(int device, int port)
+{
+ int r = SetPortFeature(device,PORT_POWER,port);
+ _controller.DelayMS(20); // 80ms to turn on a hubs power... DESCRIPTOR? todo
+ return r;
+}
+
+int SetPortReset(int device, int port)
+{
+ return SetPortFeature(device,PORT_RESET,port);
+}
+
+int GetPortStatus(int device, int port, u32* status)
+{
+ return USBControlTransfer(device,DEVICE_TO_HOST | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,GET_STATUS,0,port,(u8*)status,4);
+}
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/AndroidADKTerm/AndroidAccessory/USBHost/USBHost.h Sun Apr 07 08:31:51 2013 +0000
@@ -0,0 +1,221 @@
+
+/*
+Copyright (c) 2010 Peter Barrett
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+
+#ifndef USBHOST_H
+#define USBHOST_H
+
+//log mode on off
+//#define USBHOST_LOG
+
+
+#ifndef u8
+typedef unsigned char u8;
+typedef unsigned short u16;
+typedef unsigned long u32;
+
+typedef char s8;
+typedef short s16;
+typedef char s32;
+#endif
+
+#define ENDPOINT_CONTROL 0
+#define ENDPOINT_ISOCRONOUS 1
+#define ENDPOINT_BULK 2
+#define ENDPOINT_INTERRUPT 3
+
+#define DESCRIPTOR_TYPE_DEVICE 1
+#define DESCRIPTOR_TYPE_CONFIGURATION 2
+#define DESCRIPTOR_TYPE_STRING 3
+#define DESCRIPTOR_TYPE_INTERFACE 4
+#define DESCRIPTOR_TYPE_ENDPOINT 5
+
+#define DESCRIPTOR_TYPE_HID 0x21
+#define DESCRIPTOR_TYPE_REPORT 0x22
+#define DESCRIPTOR_TYPE_PHYSICAL 0x23
+#define DESCRIPTOR_TYPE_HUB 0x29
+
+enum USB_CLASS_CODE
+{
+ CLASS_DEVICE,
+ CLASS_AUDIO,
+ CLASS_COMM_AND_CDC_CONTROL,
+ CLASS_HID,
+ CLASS_PHYSICAL = 0x05,
+ CLASS_STILL_IMAGING,
+ CLASS_PRINTER,
+ CLASS_MASS_STORAGE,
+ CLASS_HUB,
+ CLASS_CDC_DATA,
+ CLASS_SMART_CARD,
+ CLASS_CONTENT_SECURITY = 0x0D,
+ CLASS_VIDEO = 0x0E,
+ CLASS_DIAGNOSTIC_DEVICE = 0xDC,
+ CLASS_WIRELESS_CONTROLLER = 0xE0,
+ CLASS_MISCELLANEOUS = 0xEF,
+ CLASS_APP_SPECIFIC = 0xFE,
+ CLASS_VENDOR_SPECIFIC = 0xFF
+};
+
+#define DEVICE_TO_HOST 0x80
+#define HOST_TO_DEVICE 0x00
+#define REQUEST_TYPE_STANDARD 0x00
+#define REQUEST_TYPE_CLASS 0x20
+#define REQUEST_TYPE_VENDOR 0x40
+#define RECIPIENT_DEVICE 0x00
+#define RECIPIENT_INTERFACE 0x01
+#define RECIPIENT_ENDPOINT 0x02
+#define RECIPIENT_OTHER 0x03
+
+#define GET_STATUS 0
+#define CLEAR_FEATURE 1
+#define SET_FEATURE 3
+#define SET_ADDRESS 5
+#define GET_DESCRIPTOR 6
+#define SET_DESCRIPTOR 7
+#define GET_CONFIGURATION 8
+#define SET_CONFIGURATION 9
+#define GET_INTERFACE 10
+#define SET_INTERFACE 11
+#define SYNCH_FRAME 11
+
+/* HID Request Codes */
+#define HID_REQUEST_GET_REPORT 0x01
+#define HID_REQUEST_GET_IDLE 0x02
+#define HID_REQUEST_GET_PROTOCOL 0x03
+#define HID_REQUEST_SET_REPORT 0x09
+#define HID_REQUEST_SET_IDLE 0x0A
+#define HID_REQUEST_SET_PROTOCOL 0x0B
+
+/* HID Report Types */
+#define HID_REPORT_INPUT 0x01
+#define HID_REPORT_OUTPUT 0x02
+#define HID_REPORT_FEATURE 0x03
+
+
+// -5 is nak
+/*
+0010 ACK Handshake
+1010 NAK Handshake
+1110 STALL Handshake
+0110 NYET (No Response Yet)
+*/
+
+#define IO_PENDING -100
+#define ERR_ENDPOINT_NONE_LEFT -101
+#define ERR_ENDPOINT_NOT_FOUND -102
+#define ERR_DEVICE_NOT_FOUND -103
+#define ERR_DEVICE_NONE_LEFT -104
+#define ERR_HUB_INIT_FAILED -105
+#define ERR_INTERFACE_NOT_FOUND -106
+
+typedef struct
+{
+ u8 bLength;
+ u8 bDescriptorType;
+ u16 bcdUSB;
+ u8 bDeviceClass;
+ u8 bDeviceSubClass;
+ u8 bDeviceProtocol;
+ u8 bMaxPacketSize;
+ u16 idVendor;
+ u16 idProduct;
+ u16 bcdDevice; // version
+ u8 iManufacturer;
+ u8 iProduct;
+ u8 iSerialNumber;
+ u8 bNumConfigurations;
+} DeviceDescriptor; // 16 bytes
+
+typedef struct
+{
+ u8 bLength;
+ u8 bDescriptorType;
+ u16 wTotalLength;
+ u8 bNumInterfaces;
+ u8 bConfigurationValue; // Value to use as an argument to select this configuration
+ u8 iConfiguration; // Index of String Descriptor describing this configuration
+ u8 bmAttributes; // Bitmap D7 Reserved, set to 1. (USB 1.0 Bus Powered),D6 Self Powered,D5 Remote Wakeup,D4..0 = 0
+ u8 bMaxPower; // Maximum Power Consumption in 2mA units
+} ConfigurationDescriptor;
+
+typedef struct
+{
+ u8 bLength;
+ u8 bDescriptorType;
+ u8 bInterfaceNumber;
+ u8 bAlternateSetting;
+ u8 bNumEndpoints;
+ u8 bInterfaceClass;
+ u8 bInterfaceSubClass;
+ u8 bInterfaceProtocol;
+ u8 iInterface; // Index of String Descriptor Describing this interface
+} InterfaceDescriptor;
+
+typedef struct
+{
+ u8 bLength;
+ u8 bDescriptorType;
+ u8 bEndpointAddress; // Bits 0:3 endpoint, Bits 7 Direction 0 = Out, 1 = In (Ignored for Control Endpoints)
+ u8 bmAttributes; // Bits 0:1 00 = Control, 01 = Isochronous, 10 = Bulk, 11 = Interrupt
+ u16 wMaxPacketSize;
+ u8 bInterval; // Interval for polling endpoint data transfers.
+} EndpointDescriptor;
+
+typedef struct {
+ u8 bLength;
+ u8 bDescriptorType;
+ u16 bcdHID;
+ u8 bCountryCode;
+ u8 bNumDescriptors;
+ u8 bDescriptorType2;
+ u16 wDescriptorLength;
+} HIDDescriptor;
+
+//============================================================================
+//============================================================================
+
+
+void USBInit();
+void USBLoop();
+u8* USBGetBuffer(u32* len);
+
+// Optional callback for transfers, called at interrupt time
+typedef void (*USBCallback)(int device, int endpoint, int status, u8* data, int len, void* userData);
+
+// Transfers
+int USBControlTransfer(int device, int request_type, int request, int value, int index, u8* data, int length, USBCallback callback = 0, void* userData = 0);
+int USBInterruptTransfer(int device, int ep, u8* data, int length, USBCallback callback = 0, void* userData = 0);
+int USBBulkTransfer(int device, int ep, u8* data, int length, USBCallback callback = 0, void* userData = 0);
+
+// Standard Device methods
+int GetDescriptor(int device, int descType, int descIndex, u8* data, int length);
+int GetString(int device, int index, char* dst, int length);
+int SetAddress(int device, int new_addr);
+int SetConfiguration(int device, int configNum);
+int SetInterface(int device, int ifNum, int altNum);
+
+// Implemented to notify app of the arrival of a device
+void OnLoadDevice(int device, DeviceDescriptor* deviceDesc, InterfaceDescriptor* interfaceDesc);
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/AndroidADKTerm/AndroidAccessory/USBHost/USBHost_log.cpp Sun Apr 07 08:31:51 2013 +0000
@@ -0,0 +1,1175 @@
+
+/*
+Copyright (c) 2010 Peter Barrett
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+
+#include "mbed.h"
+#include "USBHost.h"
+//#define USBHOST_LOG
+#ifdef USBHOST_LOG
+
+// Config (default uses x bytes)
+#define MAX_DEVICES 8 // Max number of devices
+#define MAX_ENDPOINTS_TOTAL 16 // Max number of endpoints total
+#define MAX_ENDPOINTS_PER_DEVICE 8 // Max number of endpoints for any one device
+
+//#define USBLOG 1
+#if USBLOG
+#define LOG(...) printf(__VA_ARGS__)
+#else
+#define LOG(...) do {} while(0)
+#endif
+
+// USB host structures
+
+#define USB_RAM_SIZE 16*1024 // AHB SRAM block 1 TODO MACHINE DEPENDENT
+#define USB_RAM_BASE 0x2007C000
+
+#define TOKEN_SETUP 0
+#define TOKEN_IN 1
+#define TOKEN_OUT 2
+
+// Status flags from hub
+#define PORT_CONNECTION 0
+#define PORT_ENABLE 1
+#define PORT_SUSPEND 2
+#define PORT_OVER_CURRENT 3
+#define PORT_RESET 4
+#define PORT_POWER 8
+#define PORT_LOW_SPEED 9
+
+#define C_PORT_CONNECTION 16
+#define C_PORT_ENABLE 17
+#define C_PORT_SUSPEND 18
+#define C_PORT_OVER_CURRENT 19
+#define C_PORT_RESET 20
+
+typedef struct {
+ u8 bm_request_type;
+ u8 b_request;
+ u16 w_value;
+ u16 w_index;
+ u16 w_length;
+} Setup;
+
+
+// Hub stuff is kept private just to keep api simple
+int SetPortFeature(int device, int feature, int index);
+int ClearPortFeature(int device, int feature, int index);
+int SetPortPower(int device, int port);
+int SetPortReset(int device, int port);
+int GetPortStatus(int device, int port, u32* status);
+
+//===================================================================
+//===================================================================
+// Hardware defines
+
+// HcControl
+#define PeriodicListEnable 0x00000004
+#define IsochronousEnable 0x00000008
+#define ControlListEnable 0x00000010
+#define BulkListEnable 0x00000020
+#define OperationalMask 0x00000080
+#define HostControllerFunctionalState 0x000000C0
+
+// HcCommandStatus
+#define HostControllerReset 0x00000001
+#define ControlListFilled 0x00000002
+#define BulkListFilled 0x00000004
+
+// HcInterruptStatus Register
+#define WritebackDoneHead 0x00000002
+#define StartofFrame 0x00000004
+#define ResumeDetected 0x00000008
+#define UnrecoverableError 0x00000010
+#define FrameNumberOverflow 0x00000020
+#define RootHubStatusChange 0x00000040
+#define OwnershipChange 0x00000080
+#define MasterInterruptEnable 0x80000000
+
+// HcRhStatus
+#define SetGlobalPower 0x00010000
+#define DeviceRemoteWakeupEnable 0x00008000
+
+// HcRhPortStatus (hub 0, port 1)
+#define CurrentConnectStatus 0x00000001
+#define PortEnableStatus 0x00000002
+#define PortSuspendStatus 0x00000004
+#define PortOverCurrentIndicator 0x00000008
+#define PortResetStatus 0x00000010
+
+#define PortPowerStatus 0x00000100
+#define LowspeedDevice 0x00000200
+#define HighspeedDevice 0x00000400
+
+#define ConnectStatusChange (CurrentConnectStatus << 16)
+#define PortResetStatusChange (PortResetStatus << 16)
+
+
+#define TD_ROUNDING (u32)0x00040000
+#define TD_SETUP (u32)0x00000000
+#define TD_IN (u32)0x00100000
+#define TD_OUT (u32)0x00080000
+#define TD_DELAY_INT(x) (u32)((x) << 21)
+#define TD_TOGGLE_0 (u32)0x02000000
+#define TD_TOGGLE_1 (u32)0x03000000
+#define TD_CC (u32)0xF0000000
+
+// HostController EndPoint Descriptor
+typedef struct {
+ volatile u32 Control;
+ volatile u32 TailTd;
+ volatile u32 HeadTd;
+ volatile u32 Next;
+} HCED;
+
+// HostController Transfer Descriptor
+typedef struct {
+ volatile u32 Control;
+ volatile u32 CurrBufPtr;
+ volatile u32 Next;
+ volatile u32 BufEnd;
+} HCTD;
+
+// Host Controller Communication Area
+typedef struct {
+ volatile u32 InterruptTable[32];
+ volatile u16 FrameNumber;
+ volatile u16 FrameNumberPad;
+ volatile u32 DoneHead;
+ volatile u8 Reserved[120];
+} HCCA;
+
+//====================================================================================
+//====================================================================================
+
+class HostController;
+class Endpoint;
+class Device;
+
+// must be 3*16 bytes long
+class Endpoint
+{
+public:
+ HCED EndpointDescriptor; // Pointer to EndpointDescriptor == Pointer to Endpoint
+ HCTD TDHead;
+
+ enum State
+ {
+ Free,
+ NotQueued,
+ Idle,
+ SetupQueued,
+ DataQueued,
+ StatusQueued,
+ CallbackPending
+ };
+
+ volatile u8 CurrentState;
+ u8 Flags; // 0x80 In, 0x03 mask endpoint type
+
+ u16 Length;
+ u8* Data;
+ USBCallback Callback; // Must be a multiple of 16 bytes long
+ void* UserData;
+
+ int Address()
+ {
+ int ep = (EndpointDescriptor.Control >> 7) & 0xF;
+ if (ep)
+ ep |= Flags & 0x80;
+ return ep;
+ }
+
+ int Device()
+ {
+ return EndpointDescriptor.Control & 0x7F;
+ }
+
+ int Status()
+ {
+ return (TDHead.Control >> 28) & 0xF;
+ }
+
+ u32 Enqueue(u32 head)
+ {
+ if (CurrentState == NotQueued)
+ {
+ EndpointDescriptor.Next = head;
+ head = (u32)&EndpointDescriptor;
+ CurrentState = Idle;
+ }
+ return head;
+ }
+};
+
+class Device
+{
+public:
+ u8 _endpointMap[MAX_ENDPOINTS_PER_DEVICE*2];
+ u8 Hub;
+ u8 Port;
+ u8 Addr;
+ u8 Pad;
+
+ // Only if this device is a hub
+ u8 HubPortCount; // nonzero if this is a hub
+ u8 HubInterruptData;
+ u8 HubMap;
+ u8 HubMask;
+
+ int Flags; // 1 = Disconnected
+
+ Setup SetupBuffer;
+
+ // Allocate endpoint zero
+ int Init(DeviceDescriptor* d, int hub, int port, int addr, int lowSpeed)
+ {
+ Hub = hub;
+ Port = port;
+ Addr = addr;
+ Flags = lowSpeed;
+ memset(_endpointMap,0xFF,sizeof(_endpointMap));
+ return 0;
+ }
+
+ int SetEndpointIndex(int ep, int endpointIndex)
+ {
+ for (int i = 0; i < MAX_ENDPOINTS_PER_DEVICE*2; i += 2)
+ {
+ if (_endpointMap[i] == 0xFF) // Add endpoint to map
+ {
+ _endpointMap[i] = ep;
+ _endpointMap[i+1] = endpointIndex;
+ return 0;
+ }
+ }
+ return ERR_ENDPOINT_NONE_LEFT;
+ }
+
+ int GetEndpointIndex(int ep)
+ {
+ for (int i = 0; i < MAX_ENDPOINTS_PER_DEVICE*2; i += 2)
+ {
+ if (_endpointMap[i] == ep)
+ return _endpointMap[i+1];
+ if (_endpointMap[i] == 0xFF)
+ break;
+ }
+ return -1;
+ }
+};
+
+class HostController
+{
+public:
+ HCCA CommunicationArea;
+ Endpoint Endpoints[MAX_ENDPOINTS_TOTAL]; // Multiple of 16
+
+ Endpoint EndpointZero; // For device enumeration
+ HCTD _commonTail;
+ Setup _setupZero;
+
+ Device Devices[MAX_DEVICES];
+ u32 _frameNumber; // 32 bit ms counter
+
+ u8 _callbacksPending; // Endpoints with callbacks are pending, set from ISR via ProcessDoneQueue
+ u8 _rootHubStatusChange; // Root hub status has changed, set from ISR
+ u8 _unused0;
+ u8 _unused1;
+
+ u8 _connectPending; // Reset has initiated a connect
+ u8 _connectCountdown; // Number of ms left after reset before we can connect
+ u8 _connectHub; // Will connect on this hub
+ u8 _connectPort; // ... and this port
+
+ u8 SRAM[0]; // Start of free SRAM
+
+ void Loop()
+ {
+ // printf("Enter Loop \r\n");
+ u16 elapsed = CommunicationArea.FrameNumber - (u16)_frameNumber; // extend to 32 bits
+ _frameNumber += elapsed;
+
+ // Do callbacks, if any
+ while (_callbacksPending)
+ {
+ for (int i = 0; i < MAX_ENDPOINTS_TOTAL; i++)
+ {
+ Endpoint* endpoint = Endpoints + i;
+ if (endpoint->CurrentState == Endpoint::CallbackPending)
+ {
+ _callbacksPending--;
+ endpoint->CurrentState = Endpoint::Idle;
+ LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\n",endpoint->Address(),endpoint->CurrentState);
+ endpoint->Callback(endpoint->Device(),endpoint->Address(),endpoint->Status(),endpoint->Data,endpoint->Length,endpoint->UserData);
+ }
+ }
+ }
+
+ // Deal with changes on the root hub
+ if (_rootHubStatusChange)
+ {
+ u32 status = LPC_USB->HcRhPortStatus1;
+ _rootHubStatusChange = 0;
+ if (status >> 16)
+ {
+ HubStatusChange(0,1,status);
+ LPC_USB->HcRhPortStatus1 = status & 0xFFFF0000; // clear status changes
+ }
+ }
+
+ // Connect after reset timeout
+ if (_connectCountdown)
+ {
+ if (elapsed >= _connectCountdown)
+ {
+ _connectCountdown = 0;
+ Connect(_connectHub,_connectPort & 0x7F,_connectPort & 0x80);
+ } else
+ _connectCountdown -= elapsed;
+ }
+
+ // printf("Outer Loop \r\n");
+ }
+
+ // HubInterrupt - bitmap in dev->HubInterruptData
+ void HubInterrupt(int device)
+ {
+ Device* dev = &Devices[device-1];
+ for (int i = 0; i < dev->HubPortCount; i++)
+ {
+ int port = i+1;
+ if (dev->HubInterruptData & (1 << port))
+ {
+ u32 status = 0;
+ GetPortStatus(device,port,&status);
+ if (status >> 16)
+ {
+ if (_connectPending && (status & ConnectStatusChange))
+ continue; // Don't connect again until previous device has been added and addressed
+
+ HubStatusChange(device,port,status);
+ if (status & ConnectStatusChange)
+ ClearPortFeature(device,C_PORT_CONNECTION,port);
+ if (status & PortResetStatusChange)
+ ClearPortFeature(device,C_PORT_RESET,port);
+ }
+ }
+ }
+ }
+
+ static void HubInterruptCallback(int device, int endpoint, int status, u8* data, int len, void* userData)
+ {
+ HostController* controller = (HostController*)userData;
+ if (status == 0)
+ controller->HubInterrupt(device);
+ USBInterruptTransfer(device,endpoint,data,1,HubInterruptCallback,userData);
+ }
+
+ int InitHub(int device)
+ {
+ u8 buf[16];
+ int r= USBControlTransfer(device,DEVICE_TO_HOST | REQUEST_TYPE_CLASS | RECIPIENT_DEVICE,GET_DESCRIPTOR,(DESCRIPTOR_TYPE_HUB << 8),0,buf,sizeof(buf));
+ if (r < 0)
+ return ERR_HUB_INIT_FAILED;
+
+ // turn on power on the hubs ports
+ Device* dev = &Devices[device-1];
+ int ports = buf[2];
+ dev->HubPortCount = ports;
+ for (int i = 0; i < ports; i++)
+ SetPortPower(device,i+1);
+
+ // Enable hub change interrupts
+ return USBInterruptTransfer(device,0x81,&dev->HubInterruptData,1,HubInterruptCallback,this);
+ }
+
+ int AddEndpoint(int device, int ep, int attributes, int maxPacketSize, int interval)
+ {
+ LOG("AddEndpoint D:%02X A:%02X T:%02X P:%04X I:%02X\r\n",device,ep,attributes,maxPacketSize,interval);
+ Device* dev = &Devices[device-1];
+ Endpoint* endpoint = AllocateEndpoint(device,ep,attributes,maxPacketSize);
+ if (!endpoint)
+ return ERR_ENDPOINT_NONE_LEFT;
+ dev->SetEndpointIndex(ep,endpoint - Endpoints);
+ endpoint->EndpointDescriptor.Control |= dev->Flags; // Map in slow speed
+ return 0; // TODO ed->bInterval
+ }
+
+ int AddEndpoint(int device, EndpointDescriptor* ed)
+ {
+ return AddEndpoint(device,ed->bEndpointAddress,ed->bmAttributes,ed->wMaxPacketSize,ed->bInterval);
+ }
+
+ // allocate a endpoint
+ Endpoint* AllocateEndpoint(int device, int endpointAddress, int type, int maxPacketSize)
+ {
+ for (int i = 0; i < MAX_ENDPOINTS_TOTAL; i++)
+ {
+ Endpoint* ep = &Endpoints[i];
+ if (ep->CurrentState == 0)
+ {
+ //LOG("Allocated endpoint %d to %02X:%02X\r\n",i,device,endpointAddress);
+ ep->Flags = (endpointAddress & 0x80) | (type & 3);
+ ep->CurrentState = Endpoint::NotQueued;
+ ep->EndpointDescriptor.Control = (maxPacketSize << 16) | ((endpointAddress & 0x7F) << 7) | device;
+ return ep;
+ }
+ }
+ return 0;
+ }
+
+ Endpoint* GetEndpoint(int device, int ep)
+ {
+ if (device == 0)
+ {
+ //printf("WARNING: USING DEVICE 0\n");
+ return &EndpointZero;
+ }
+ if (device > MAX_DEVICES)
+ return 0;
+ int i = Devices[device-1].GetEndpointIndex(ep);
+ if (i == -1)
+ return 0;
+ return Endpoints + i;
+ }
+
+ int Transfer(Endpoint* endpoint, int token, u8* data, int len, int state)
+ {
+ //Makoto edit comment out
+ // LOG("Transfer start\r\n");
+ LOG("Transfer ep=%02X Token:%d Len:%d State:%d\r\n",endpoint->Address(),token,len,state);
+
+ int toggle = 0;
+ if (endpoint->Address() == 0)
+ toggle = (token == TOKEN_SETUP) ? TD_TOGGLE_0 : TD_TOGGLE_1;
+
+ if (token != TOKEN_SETUP)
+ token = (token == TOKEN_IN ? TD_IN : TD_OUT);
+
+ HCTD* head = &endpoint->TDHead;
+ HCTD* tail = &_commonTail;
+
+ head->Control = TD_ROUNDING | token | TD_DELAY_INT(0) | toggle | TD_CC;
+ head->CurrBufPtr = (u32)data;
+ head->BufEnd = (u32)(data + len - 1);
+ head->Next = (u32)tail;
+
+ HCED* ed = &endpoint->EndpointDescriptor;
+ ed->HeadTd = (u32)head | (ed->HeadTd & 0x00000002); // carry toggle
+ ed->TailTd = (u32)tail;
+
+ //HCTD* td = head;
+ //LOG("%04X TD %08X %08X %08X Next:%08X\r\n",CommunicationArea.FrameNumber,td->Control,td->CurrBufPtr,td->BufEnd,td->Next);
+ //LOG("%04X ED %08X %08X %08X\r\n",CommunicationArea.FrameNumber,ed->Control,ed->HeadTd,ed->TailTd);
+
+ //LOG("Transfer run01\r\n");
+ switch (endpoint->Flags & 3)
+ {
+ case ENDPOINT_CONTROL:
+ LOG("Transfer run ENDPOINT_CONTROL\r\n");
+ LPC_USB->HcControlHeadED = endpoint->Enqueue(LPC_USB->HcControlHeadED); // May change state NotQueued->Idle
+ //LOG("Transfer run02\r\n");
+ LOG("endpoint->CurrentState change %d->%d\r\n",endpoint->CurrentState,state);
+ endpoint->CurrentState = state; // Get in before an int
+ LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | ControlListFilled;
+ LPC_USB->HcControl = LPC_USB->HcControl | ControlListEnable;
+
+ break;
+
+ case ENDPOINT_BULK:
+ LOG("Transfer run ENDPOINT_BULK\r\n");
+ LPC_USB->HcBulkHeadED = endpoint->Enqueue(LPC_USB->HcBulkHeadED);
+ LOG("endpoint->CurrentState change %d->%d\r\n",endpoint->CurrentState,state);
+ endpoint->CurrentState = state;
+ LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | BulkListFilled;
+ LPC_USB->HcControl = LPC_USB->HcControl | BulkListEnable;
+ break;
+
+ case ENDPOINT_INTERRUPT:
+ LOG("Transfer run ENDPOINT_INTERRUPT\r\n");
+ CommunicationArea.InterruptTable[0] = endpoint->Enqueue(CommunicationArea.InterruptTable[0]);
+ LOG("endpoint->CurrentState change %d->%d\r\n",endpoint->CurrentState,state);
+ endpoint->CurrentState = state;
+ LPC_USB->HcControl |= PeriodicListEnable;
+ break;
+ }
+
+ LOG("Transfer end\r\n");
+ return 0;
+ }
+
+ // Remove an endpoint from an active queue
+ bool Remove(HCED* ed, volatile HCED** queue)
+ {
+ if (*queue == 0)
+ return false;
+ if (*queue == (volatile HCED*)ed)
+ {
+ *queue = (volatile HCED*)ed->Next; // At head of queue
+ return true;
+ }
+
+ volatile HCED* head = *queue;
+ while (head)
+ {
+ if (head->Next == (u32)ed)
+ {
+ head->Next = ed->Next;
+ return true;
+ }
+ head = (volatile HCED*)head->Next;
+ }
+ return false;
+ }
+
+ void Release(Endpoint* endpoint)
+ {
+ if (endpoint->CurrentState == Endpoint::NotQueued)
+ {
+ // Never event used it, nothing to do
+ }
+ else
+ {
+ HCED* ed = (HCED*)endpoint;
+ ed->Control |= 0x4000; // SKIP
+ switch (endpoint->Flags & 0x03)
+ {
+ case ENDPOINT_CONTROL:
+ Remove(ed,(volatile HCED**)&LPC_USB->HcControlHeadED);
+ break;
+ case ENDPOINT_BULK:
+ Remove(ed,(volatile HCED**)&LPC_USB->HcBulkHeadED);
+ break;
+ case ENDPOINT_INTERRUPT:
+ for (int i = 0; i < 32; i++)
+ Remove(ed,(volatile HCED**)&CommunicationArea.InterruptTable[i]);
+ break;
+ }
+
+ u16 fn = CommunicationArea.FrameNumber;
+ while (fn == CommunicationArea.FrameNumber)
+ ; // Wait for next frame
+
+ }
+
+ // In theory, the endpoint is now dead.
+ // TODO: Will Callbacks ever be pending? BUGBUG
+ memset(endpoint,0,sizeof(Endpoint));
+ }
+
+ // Pop the last TD from the list
+ HCTD* Reverse(HCTD* current)
+ {
+ HCTD *result = NULL,*temp;
+ while (current)
+ {
+ temp = (HCTD*)current->Next;
+ current->Next = (u32)result;
+ result = current;
+ current = temp;
+ }
+ return result;
+ }
+
+ // Called from interrupt...
+ // Control endpoints use a state machine to progress through the transfers
+ void ProcessDoneQueue(u32 tdList)
+ {
+
+ LOG("<<ProcessDoneQueue enter>>\r\n");
+ HCTD* list = Reverse((HCTD*)tdList);
+ while (list)
+ {
+ Endpoint* endpoint = (Endpoint*)(list-1);
+ list = (HCTD*)list->Next;
+ int ep = endpoint->Address();
+ bool in = endpoint->Flags & 0x80;
+ int status = (endpoint->TDHead.Control >> 28) & 0xF;
+
+ //LOG("ProcessDoneQueue %02X %08X\r\n",ep,endpoint->TDHead.Control);
+
+ if (status != 0)
+ {
+ LOG("ProcessDoneQueue status %02X %d\r\n",ep,status);
+ LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\n",endpoint->Address(),endpoint->CurrentState);
+ endpoint->CurrentState = Endpoint::Idle;
+
+
+ } else {
+ switch (endpoint->CurrentState)
+ {
+ case Endpoint::SetupQueued:
+ if (endpoint->Length == 0)
+ {
+ LOG("ProcessDoneQueue endpoint->Length == 0 endpoint->CurrentState=%d\r\n",endpoint->CurrentState);
+ Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Skip Data Phase
+ }
+ else
+ {
+ LOG("ProcessDoneQueue endpoint->Length != 0 endpoint->CurrentState=%d\r\n",endpoint->CurrentState);
+ Transfer(endpoint,in ? TOKEN_IN : TOKEN_OUT,endpoint->Data,endpoint->Length, Endpoint::DataQueued); // Setup is done, now Data
+ }
+ break;
+
+ case Endpoint::DataQueued:
+ if (endpoint->TDHead.CurrBufPtr)
+ endpoint->Length = endpoint->TDHead.CurrBufPtr - (u32)endpoint->Data;
+
+ if (ep == 0)
+ {
+ LOG("ProcessDoneQueue ep == 0 endpoint->CurrentState=%d\r\n",endpoint->CurrentState);
+ Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Data is done, now Status, Control only
+ }
+ else
+ {
+
+ LOG("ProcessDoneQueue ep != 0 endpoint->CurrentState=%d\r\n",endpoint->CurrentState);
+ endpoint->CurrentState = Endpoint::Idle;
+ LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\n",endpoint->Address(),endpoint->CurrentState);
+ }
+ break;
+
+ case Endpoint::StatusQueued: // Transaction is done
+ LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\n",endpoint->Address(),endpoint->CurrentState);
+ endpoint->CurrentState = Endpoint::Idle;
+ break;
+ }
+ }
+
+ // Complete, flag if we need a callback
+ if (endpoint->Callback && endpoint->CurrentState == Endpoint::Idle)
+ {
+ endpoint->CurrentState = Endpoint::CallbackPending;
+ _callbacksPending++;
+ }
+ }
+ LOG("<<ProcessDoneQueue out>>\r\n");
+ }
+
+ // Hack to reset devices that don't want to connect
+ int AddDevice(int hub, int port, bool isLowSpeed)
+ {
+ int device = AddDeviceCore(hub,port,isLowSpeed);
+ if (device < 0)
+ {
+ LOG("========RETRY ADD DEVICE========\r\n"); // This will go for ever.. TODO power cycle root?
+ Disconnect(hub,port); // Could not read descriptor at assigned address, reset this port and try again
+ ResetPort(hub,port); // Cheap bluetooth dongles often need this on a hotplug
+ return -1;
+ }
+ return device;
+ }
+
+ int AddDeviceCore(int hub, int port, bool isLowSpeed)
+ {
+ int lowSpeed = isLowSpeed ? 0x2000 : 0;
+ DeviceDescriptor desc;
+ EndpointZero.EndpointDescriptor.Control = (8 << 16) | lowSpeed; // MaxPacketSize == 8
+ int r = GetDescriptor(0,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,8);
+ if (r < 0)
+ {
+ LOG("FAILED TO LOAD DESCRIPTOR FOR DEVICE 0\r\n");
+ return r;
+ }
+
+ EndpointZero.EndpointDescriptor.Control = (desc.bMaxPacketSize << 16) | lowSpeed; // Actual MaxPacketSize
+ r = GetDescriptor(0,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,sizeof(desc));
+ if (r < 0)
+ return r;
+
+ LOG("\nClass %02X found %04X:%04X\r\n",desc.bDeviceClass,desc.idVendor,desc.idProduct);
+
+ // Now assign the device an address, move off EndpointZero
+ int device = 0;
+ for (int i = 0; i < MAX_DEVICES; i++)
+ {
+ if (Devices[i].Port == 0)
+ {
+ device = i+1;
+ break;
+ }
+ }
+ if (!device)
+ return ERR_DEVICE_NONE_LEFT;
+
+ r = SetAddress(0,device);
+ if (r)
+ return r;
+ DelayMS(2);
+
+ // Now at a nonzero address, create control endpoint
+ Device* dev = &Devices[device-1];
+ dev->Init(&desc,hub,port,device,lowSpeed);
+ AddEndpoint(device,0,ENDPOINT_CONTROL,desc.bMaxPacketSize,0);
+ _connectPending = 0;
+
+ // Verify this all works
+ r = GetDescriptor(device,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,sizeof(desc));
+ if (r < 0)
+ return r;
+
+ // Set to interface 0 by default
+ // Calls LoadDevice if interface is found
+ r = SetConfigurationAndInterface(device,1,0,&desc);
+
+ if (desc.bDeviceClass == CLASS_HUB)
+ InitHub(device); // Handle hubs in this code
+
+ return device;
+ }
+
+ // Walk descriptors and create endpoints for a given device
+ // TODO configuration !=1, alternate settings etc.
+ int SetConfigurationAndInterface(int device, int configuration, int interfaceNumber, DeviceDescriptor* desc)
+ {
+ u8 buffer[255];
+ int err = GetDescriptor(device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,sizeof(buffer));
+ if (err < 0)
+ return err;
+
+ err = SetConfiguration(device,configuration);
+ if (err < 0)
+ return err;
+
+ // Add the endpoints for this interface
+ int len = buffer[2] | (buffer[3] << 8);
+ u8* d = buffer;
+ u8* end = d + len;
+ InterfaceDescriptor* found = 0;
+ while (d < end)
+ {
+ if (d[1] == DESCRIPTOR_TYPE_INTERFACE)
+ {
+ InterfaceDescriptor* id = (InterfaceDescriptor*)d;
+ if (id->bInterfaceNumber == interfaceNumber)
+ {
+ found = id;
+ d += d[0];
+ while (d < end && d[1] != DESCRIPTOR_TYPE_INTERFACE)
+ {
+ switch (d[1])
+ {
+ case DESCRIPTOR_TYPE_ENDPOINT:
+ AddEndpoint(device,(EndpointDescriptor*)d);
+ break;
+ default:
+ LOG("Skipping descriptor %02X (%d bytes)\r\n",d[1],d[0]);
+ }
+ d += d[0];
+ }
+ }
+ }
+ d += d[0];
+ }
+
+ if (!found)
+ return ERR_INTERFACE_NOT_FOUND;
+ OnLoadDevice(device,desc,found);
+ return 0;
+ }
+
+ void Init()
+ {
+ LOG("USB INIT (Controller is %d bytes)\r\n",sizeof(*this));
+ memset(this,0,sizeof(HostController));
+ EndpointZero.CurrentState = Endpoint::NotQueued;
+ HWInit(&CommunicationArea);
+ DelayMS(10);
+ }
+
+ void ResetPort(int hub, int port)
+ {
+ LOG("ResetPort Hub:%d Port:%d\r\n",hub,port);
+ _connectPending++; // Only reset/add 1 device at a time
+ if (hub == 0)
+ LPC_USB->HcRhPortStatus1 = PortResetStatus; // Reset Root Hub, port 1
+ else
+ SetPortReset(hub,port); // or reset other hub
+ }
+
+ void Disconnect(int hub, int port)
+ {
+ LOG("Disconnect Hub:%d Port:%d\r\n",hub,port); // Mark a device for destruction
+ for (int i = 0; i < MAX_DEVICES; i++)
+ {
+ Device* dev = Devices + i;
+ if (dev->Port == port && dev->Hub == hub)
+ {
+ // Disconnect everything that is attached to this device if it is a hub
+ for (int p = 0; p < dev->HubPortCount; p++)
+ Disconnect(i+1,p+1);
+
+ // Now release endpoints
+ for (int j = 1; j < MAX_ENDPOINTS_PER_DEVICE*2; j += 2)
+ {
+ u8 endpointIndex = dev->_endpointMap[j];
+ if (endpointIndex != 0xFF)
+ Release(Endpoints + endpointIndex);
+ }
+ dev->Port = 0; // Device is now free
+ dev->Flags = 0;
+ return;
+ }
+ }
+ }
+
+ // called after reset
+ void Connect(int hub, int port, bool lowspeed)
+ {
+ LOG("Connect Hub:%d Port:%d %s\r\n",hub,port,lowspeed ? "slow" : "full");
+ AddDevice(hub,port,lowspeed);
+ }
+
+ // Called from interrupt
+ void HubStatusChange(int hub, int port, u32 status)
+ {
+ LOG("HubStatusChange Hub:%d Port:%d %08X\r\n",hub,port,status);
+ if (status & ConnectStatusChange)
+ {
+ if (status & CurrentConnectStatus) // Connecting
+ ResetPort(hub,port); // Reset to initiate connect (state machine?)
+ else
+ Disconnect(hub,port);
+ }
+
+ if (status & PortResetStatusChange)
+ {
+ if (!(status & PortResetStatus))
+ {
+ _connectCountdown = 200; // Schedule a connection in 200ms
+ if (status & LowspeedDevice)
+ port |= 0x80;
+ _connectHub = hub;
+ _connectPort = port;
+ }
+ }
+ }
+
+ #define HOST_CLK_EN (1<<0)
+ #define PORTSEL_CLK_EN (1<<3)
+ #define AHB_CLK_EN (1<<4)
+ #define CLOCK_MASK (HOST_CLK_EN | PORTSEL_CLK_EN | AHB_CLK_EN)
+
+ #define FRAMEINTERVAL (12000-1) // 1ms
+ #define DEFAULT_FMINTERVAL ((((6 * (FRAMEINTERVAL - 210)) / 7) << 16) | FRAMEINTERVAL)
+
+ void DelayMS(int ms)
+ {
+ u16 f = ms + CommunicationArea.FrameNumber;
+ while (f != CommunicationArea.FrameNumber)
+ ;
+ }
+
+ static void HWInit(HCCA* cca)
+ {
+ NVIC_DisableIRQ(USB_IRQn);
+
+ // turn on power for USB
+ LPC_SC->PCONP |= (1UL<<31);
+ // Enable USB host clock, port selection and AHB clock
+ LPC_USB->USBClkCtrl |= CLOCK_MASK;
+ // Wait for clocks to become available
+ while ((LPC_USB->USBClkSt & CLOCK_MASK) != CLOCK_MASK)
+ ;
+
+ // We are a Host
+ LPC_USB->OTGStCtrl |= 1;
+ LPC_USB->USBClkCtrl &= ~PORTSEL_CLK_EN; // we don't need port selection clock until we do OTG
+
+ // configure USB pins
+ LPC_PINCON->PINSEL1 &= ~((3<<26)|(3<<28));
+ LPC_PINCON->PINSEL1 |= ((1<<26)|(1<<28)); // USB D+/D-
+
+ LPC_PINCON->PINSEL3 &= ~((3 << 6) | (3 << 22)); // USB_PPWR, USB_OVRCR
+ LPC_PINCON->PINSEL3 |= ((2 << 6) | (2 << 22));
+
+ LPC_PINCON->PINSEL4 &= ~(3 << 18); // USB_CONNECT
+ LPC_PINCON->PINSEL4 |= (1 << 18);
+
+ // Reset OHCI block
+ LPC_USB->HcControl = 0;
+ LPC_USB->HcControlHeadED = 0;
+ LPC_USB->HcBulkHeadED = 0;
+
+ LPC_USB->HcCommandStatus = HostControllerReset;
+ LPC_USB->HcFmInterval = DEFAULT_FMINTERVAL;
+ LPC_USB->HcPeriodicStart = FRAMEINTERVAL*90/100;
+
+ LPC_USB->HcControl = (LPC_USB->HcControl & (~HostControllerFunctionalState)) | OperationalMask;
+ LPC_USB->HcRhStatus = SetGlobalPower;
+
+ LPC_USB->HcHCCA = (u32)cca;
+ LPC_USB->HcInterruptStatus |= LPC_USB->HcInterruptStatus;
+ LPC_USB->HcInterruptEnable = MasterInterruptEnable | WritebackDoneHead | RootHubStatusChange | FrameNumberOverflow;
+
+ NVIC_SetPriority(USB_IRQn, 0);
+ NVIC_EnableIRQ(USB_IRQn);
+ while (cca->FrameNumber < 10)
+ ; // 10ms delay before diving in
+ }
+};
+
+//====================================================================================
+//====================================================================================
+// Host controller instance and Interrupt handler
+
+static HostController _controller __attribute__((at(USB_RAM_BASE)));
+
+extern "C" void USB_IRQHandler(void) __irq;
+void USB_IRQHandler (void) __irq
+{
+LOG("USB_IRQHandler start \r\n");
+ u32 int_status = LPC_USB->HcInterruptStatus;
+ LOG("USB_IRQHandler int_status=%0x\r\n",int_status);
+
+ if(int_status & UnrecoverableError) //Error
+ {
+ LOG("USB_IRQHandler UnrecoverableError Please reset\r\n");
+ }
+
+ if(int_status & MasterInterruptEnable)
+ {
+ LOG("USB_IRQHandler MasterInterruptEnable\r\n");
+ }
+
+ if(int_status &OwnershipChange)
+ {
+ LOG("USB_IRQHandler OwnershipChange\r\n");
+ }
+
+ if(int_status &FrameNumberOverflow)
+ {
+ LOG("USB_IRQHandler FrameNumberOverflow\r\n");
+ }
+ if(int_status&ResumeDetected)
+ {
+ LOG("USB_IRQHandler ResumeDetected\r\n");
+ }
+ if(int_status&StartofFrame)
+ {
+ LOG("USB_IRQHandler StartofFrame\r\n");
+ }
+
+
+ if (int_status & RootHubStatusChange) // Root hub status change
+ {
+ LOG("USB_IRQHandler _rootHubStatusChange %0x->%0x \r\n", _controller._rootHubStatusChange, _controller._rootHubStatusChange+1);
+ _controller._rootHubStatusChange++; // Just flag the controller, will be processed in USBLoop
+ }
+
+ u32 head = 0;
+ if (int_status & WritebackDoneHead)
+ {
+ head = _controller.CommunicationArea.DoneHead; // Writeback Done
+ _controller.CommunicationArea.DoneHead = 0;
+ LOG("USB_IRQHandler head=%0x\r\n",head);
+ }
+ LPC_USB->HcInterruptStatus = int_status;
+
+ if (head)
+ _controller.ProcessDoneQueue(head); // TODO - low bit can be set BUGBUG
+LOG("USB_IRQHandler end \r\n");
+}
+
+//====================================================================================
+//====================================================================================
+// API Methods
+
+void USBInit()
+{
+ return _controller.Init();
+}
+
+void USBLoop()
+{
+ return _controller.Loop();
+}
+
+u8* USBGetBuffer(u32* len)
+{
+ *len = USB_RAM_SIZE - sizeof(HostController);
+ return _controller.SRAM;
+}
+
+static Setup* GetSetup(int device)
+{
+ if (device == 0)
+ return &_controller._setupZero;
+
+ if (device < 1 || device > MAX_DEVICES)
+ return 0;
+ return &_controller.Devices[device-1].SetupBuffer;
+}
+
+// Loop until IO on endpoint is complete
+static int WaitIODone(Endpoint* endpoint)
+{
+ LOG("WaitIODone start\r\n");
+ if (endpoint->CurrentState == Endpoint::NotQueued)
+ return 0;
+ while (endpoint->CurrentState != Endpoint::Idle)
+ {
+ LOG("WaitIODone goto USBloop endpoint->CurrentState =%d \r\n",endpoint->CurrentState);
+ USBLoop(); // May generate callbacks, mount or unmount devices etc
+ }
+ int status = endpoint->Status();
+
+ LOG("WaitIODone end\r\n");
+ if (status == 0)
+ return endpoint->Length;
+ return -status;
+}
+
+int USBTransfer(int device, int ep, u8 flags, u8* data, int length, USBCallback callback, void* userData)
+{
+ //LOG("USBTRANSFER start\r\n");
+ Endpoint* endpoint = _controller.GetEndpoint(device,ep);
+ if (!endpoint)
+ {
+ LOG("USBTRANSFER error Endpoint not found!!\r\n");
+ return ERR_ENDPOINT_NOT_FOUND;
+ }
+
+ //LOG("USBTRANSFER run01\r\n");
+ WaitIODone(endpoint);
+ endpoint->Flags = flags;
+ endpoint->Data = data;
+ endpoint->Length = length;
+ endpoint->Callback = callback;
+ endpoint->UserData = userData;
+ //LOG("USBTRANSFER run02\r\n");
+ if (ep == 0)
+ {
+ LOG("USBTRANSFER ep == 0(Setup) ------------------------------\r\n");
+ _controller.Transfer(endpoint,TOKEN_SETUP,(u8*)GetSetup(device),8,Endpoint::SetupQueued);
+ }
+ else
+ {
+ LOG("USBTRANSFER ep != 0\r\n");
+ _controller.Transfer(endpoint,flags & 0x80 ? TOKEN_IN : TOKEN_OUT,data,length,Endpoint::DataQueued);
+ }
+ if (callback)
+ {
+ LOG("USBTRANSFER end io_pending\r\n");
+ return IO_PENDING;
+ }
+ LOG("USBTRANSFER end wait io done \r\n");
+ return WaitIODone(endpoint);
+}
+
+int USBControlTransfer(int device, int request_type, int request, int value, int index, u8* data, int length, USBCallback callback, void * userData)
+{
+ Setup* setup = GetSetup(device);
+ if (!setup)
+ return ERR_DEVICE_NOT_FOUND;
+
+ // Async control calls may overwrite setup buffer of previous call, so we need to wait before setting up next call
+ WaitIODone(_controller.GetEndpoint(device,0));
+
+ setup->bm_request_type = request_type;
+ setup->b_request = request;
+ setup->w_value = value;
+ setup->w_index = index;
+ setup->w_length = length;
+ LOG("USBControlTransfer(device=%d,reqtype=%d,req=%d,value=%d,index=%d,data=%p,len=%d,callbak=%p,udata=%p)\r\n",
+ device,request_type,request,value,index,data,length,callback,userData);
+ return USBTransfer(device,0,request_type & DEVICE_TO_HOST,data,length,callback,userData);
+}
+
+int USBInterruptTransfer(int device, int ep, u8* data, int length, USBCallback callback, void* userData)
+{
+ return USBTransfer(device,ep,(ep & 0x80) | ENDPOINT_INTERRUPT,data,length,callback,userData);
+}
+
+int USBBulkTransfer(int device, int ep, u8* data, int length, USBCallback callback, void* userData)
+{
+ return USBTransfer(device,ep,(ep & 0x80) | ENDPOINT_BULK,data,length,callback,userData);
+}
+
+int GetDescriptor(int device, int descType,int descIndex, u8* data, int length)
+{
+ return USBControlTransfer(device,DEVICE_TO_HOST | RECIPIENT_DEVICE, GET_DESCRIPTOR,(descType << 8)|(descIndex), 0, data, length, 0);
+}
+
+int GetString(int device, int index, char* dst, int length)
+{
+ u8 buffer[255];
+ int le = GetDescriptor(device,DESCRIPTOR_TYPE_STRING,index,buffer,sizeof(buffer));
+ if (le < 0)
+ return le;
+ if (length < 1)
+ return -1;
+ length <<= 1;
+ if (le > length)
+ le = length;
+ for (int j = 2; j < le; j += 2)
+ *dst++ = buffer[j];
+ *dst = 0;
+ return (le>>1)-1;
+}
+
+int SetAddress(int device, int new_addr)
+{
+ return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_DEVICE, SET_ADDRESS, new_addr, 0, 0, 0, 0);
+}
+
+int SetConfiguration(int device, int configNum)
+{
+ return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_DEVICE, SET_CONFIGURATION, configNum, 0, 0, 0, 0);
+}
+
+int SetInterface(int device, int ifNum, int altNum)
+{
+ return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_INTERFACE, SET_INTERFACE, altNum, ifNum, 0, 0, 0);
+}
+
+// HUB stuff
+int SetPortFeature(int device, int feature, int index)
+{
+ return USBControlTransfer(device,HOST_TO_DEVICE | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,SET_FEATURE,feature,index,0,0);
+}
+
+int ClearPortFeature(int device, int feature, int index)
+{
+ return USBControlTransfer(device,HOST_TO_DEVICE | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,CLEAR_FEATURE,feature,index,0,0);
+}
+
+int SetPortPower(int device, int port)
+{
+ int r = SetPortFeature(device,PORT_POWER,port);
+ _controller.DelayMS(20); // 80ms to turn on a hubs power... DESCRIPTOR? todo
+ return r;
+}
+
+int SetPortReset(int device, int port)
+{
+ return SetPortFeature(device,PORT_RESET,port);
+}
+
+int GetPortStatus(int device, int port, u32* status)
+{
+ return USBControlTransfer(device,DEVICE_TO_HOST | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,GET_STATUS,0,port,(u8*)status,4);
+}
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/AndroidADKTerm/android.cpp Sun Apr 07 08:31:51 2013 +0000
@@ -0,0 +1,190 @@
+#include "android.h"
+
+using namespace std;
+
+AdkTerm::AdkTerm() : AndroidAccessory(INBL,OUTL, "ARM", "mbed", "mbed Terminal", "0.1", "http://www.mbed.org", "0000000012345678")
+{
+
+};
+
+
+void AdkTerm::setupDevice()
+{
+ settick = false;
+ for (int i = 0; i<OUTL; i++) {
+ buffer[i] = 0;
+ }
+ bcount = 0;
+ //n.attach(this,&AdkTerm::AttachTick,5);
+ //tick.attach(this,&AdkTerm::onTick,0.1);
+}
+
+float AdkTerm::getx()
+{
+ return x/1000;
+}
+
+float AdkTerm::gety()
+{
+ return y/1000;
+}
+
+float AdkTerm::gett()
+{
+ return t * PI / 180;
+}
+
+/*void AdkTerm::AttachTick()
+{
+ if(!settick)tick.attach(this,&AdkTerm::onTick,0.04);
+ settick = true;
+}
+
+void AdkTerm::onTick()
+{
+ right = 1-Right;
+ left = 1-Left;
+ bool update = false;
+ int templ, tempr;
+
+
+
+ templ = int(left * 10000);
+ tempr = int(right * 10000);
+
+
+
+ if (abs(templ-tl)>170) {
+ update = true;
+ }
+ if (abs(tempr-tr)>170) {
+ update = true;
+ }
+ if (update) {
+ u8* wbuf = _writebuff;
+
+ wbuf[0] = 'P';
+ wbuf[1] = templ&0xFF;
+ wbuf[2] = (templ>>8) & 0xFF;
+ wbuf[3] = tempr&0xFF;
+ wbuf[4] = (tempr>>8) & 0xFF;
+ wbuf[5] = 0;
+
+ this->write(wbuf,5);
+ }
+}*/
+
+void AdkTerm::resetDevice()
+{
+ for (int i = 0; i<OUTL; i++) {
+ buffer[i] = 0;
+ }
+ bcount = 0;
+}
+
+void AdkTerm::Tokenize(const string& str,
+ vector<string>& tokens,
+ const string& delimiters /*= " "*/)
+{
+ // Skip delimiters at beginning.
+ string::size_type lastPos = str.find_first_not_of(delimiters, 0);
+ // Find first "non-delimiter".
+ string::size_type pos = str.find_first_of(delimiters, lastPos);
+
+ while (string::npos != pos || string::npos != lastPos) {
+ // Found a token, add it to the vector.
+ tokens.push_back(str.substr(lastPos, pos - lastPos));
+ // Skip delimiters. Note the "not_of"
+ lastPos = str.find_first_not_of(delimiters, pos);
+ // Find next "non-delimiter"
+ pos = str.find_first_of(delimiters, lastPos);
+ }
+}
+
+int AdkTerm::callbackRead(u8 *buf, int len)
+{
+ // convert buffer (unsigned char) to string
+ std::string str(reinterpret_cast<char*>(buf), len);
+
+ // new vector of strings
+ vector<string> tokens;
+
+ // tokenize the string with the semicolon separator
+ Tokenize(str, tokens, ";");
+ copy(tokens.begin(), tokens.end(), ostream_iterator<string>(cout, ", "));
+
+
+ if(tokens.size() > 2) {
+
+ //string to float
+ x = ::atof(tokens.at(0).c_str());
+ y = ::atof(tokens.at(1).c_str());
+ t = ::atof(tokens.at(2).c_str());
+
+ //pc.printf("Android x(%d): %f\n\r\n",len,x);
+ // pc.printf("Android y(%d): %f\n\r\n",len,y);
+ //pc.printf("Android t(%d): %f\n\r\n",len,t);
+ } else {
+ //pc.printf("Android sayys(%d): %s\n\r\n",len,str);
+ }
+
+// switch ( buf[0] ) {
+// case 'x':
+// if (buf[1] == ":"){pc.printf("X-Coordinate(%d): %s\n\r\n",len,buf)};
+// break;
+// case 'y':
+// if (buf[1] == ":"){pc.printf("Y-Coordinate(%d): %s\n\r\n",len,buf)};
+// break;
+// case 't':
+// if (buf[1] == ":"){pc.printf("Z-Coordinate(%d): %s\n\r\n",len,buf)};
+// break;
+// default:
+// pc.printf("Command not recognized (%d): %s\n\r\n\n\n",len,buf);
+// }
+
+
+ //AttachTick();
+
+ return 0;
+}
+
+// split: receives a char delimiter; returns a vector of strings
+// By default ignores repeated delimiters, unless argument rep == 1.
+
+int AdkTerm::callbackWrite()
+{
+ ind = false;
+ return 0;
+}
+
+void AdkTerm::serialIRQ()
+{
+ //buffer[bcount] = pc.getc();
+
+
+ if (buffer[bcount] == '\n' || buffer[bcount] == '\r') {
+ u8* wbuf = _writebuff;
+ for (int i = 0; i<OUTL; i++) {
+ wbuf[i] = buffer[i];
+ buffer[i] = 0;
+ }
+ //pc.printf("Sending: %s\n\r",wbuf);
+ ind = true;
+ this->write(wbuf,bcount);
+ bcount = 0;
+ } else {
+ if (buffer[bcount] != 0x08 && buffer[bcount] != 0x7F ) {
+ bcount++;
+ if (bcount == OUTL) {
+ bcount = 0;
+ }
+ } else {
+ bcount--;
+ }
+ }
+
+}
+
+
+// gehört nicht mehr zur klasse für zum testen.......!!!!!!!!
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/AndroidADKTerm/android.h Sun Apr 07 08:31:51 2013 +0000
@@ -0,0 +1,154 @@
+#ifndef _ANDROID_H_
+#define _ANDROID_H_
+
+#include "mbed.h"
+#include "AndroidAccessory.h"
+#include "defines.h"
+#include <string>
+#include <sstream>
+#include <vector>
+#include <iostream>
+#include <stdlib.h>
+
+/**
+ * @author Arno Galliker
+ *
+ * @subsection LICENSE
+ *
+ * Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
+ * All rights reserved.
+ *
+ * @subsection DESCRIPTION
+ *
+ * This class implements communication with the android smartphone
+ * For more information see the Android ADK Cookbook:
+ * <a href="http://mbed.org/cookbook/mbed-with-Android-ADK">http://mbed.org/cookbook/mbed-with-Android-ADK</a>
+ *
+ * Originally created by p07gbar from work by Makoto Abe
+ */
+
+#define OUTL 100
+#define INBL 100
+
+class AdkTerm : public AndroidAccessory
+{
+
+private:
+
+ /** Attaches a tick to send messages over the USB buffer in a certain interval */
+ void AttachTick();
+
+ /** Method to call when a tick period is over */
+ void onTick();
+
+ /** Char buffer with a size of OUTL */
+ char buffer[OUTL];
+
+ /** Buffer count ??? */
+ int bcount;
+
+ /** Instance of ticker */
+ Ticker tick;
+
+ //float right,left,rl,ll;
+ //int tl,tr;
+
+ //Timeout n;
+
+ /** States if tick is on */
+ bool settick;
+
+ /** States if something is written to the buffer?? */
+ bool ind;
+
+ /** Desired position in meters for x-coordinate, given by android */
+ float x;
+
+ /** Desired position in meters for y-coordinate, given by android */
+ float y;
+
+ /** Desired position in degrees for theta, given by android */
+ float t;
+
+public:
+
+ /**
+ * Creates a <code>AdkTerm</code> object and initializes all private
+ * state variables. Constructor
+ */
+ AdkTerm();
+
+ /**
+ * Sets initial configurations and clears the buffer
+ *
+ */
+ void setupDevice();
+
+ /**
+ * Returns the desired position in meters for x-coordinate, given by android
+ * @return x-coordinate,given in [m]
+ */
+ float getx();
+
+ /**
+ * Returns the desired position in meters for y-coordinate, given by android
+ * @return y-coordinate,given in [m]
+ */
+ float gety();
+
+ /**
+ * Returns the esired position in degrees for theta, given by android
+ * @return y-coordinate,given in degrees [°]
+ */
+ float gett();
+
+private:
+
+ /**
+ *
+ *
+ */
+ //void AttachTick();
+
+ /**
+ *
+ *
+ */
+ // void onTick();
+
+ /**
+ * Clears the buffer and bcount
+ *
+ */
+ void resetDevice();
+
+ /**
+ * Takes an string, a vector of strings for the delimited tokens, and a with the
+ * @param str
+ * @param tokens
+ * @param delimiters
+ */
+ void Tokenize(const string& str, vector<string>& tokens, const string& delimiters = " ");
+
+ /**
+ *
+ * @param buf
+ * @param len
+ */
+ int callbackRead(u8 *buf, int len);
+
+ /**
+ *
+ *
+ */
+ int callbackWrite();
+
+ /**
+ *
+ *
+ */
+ void serialIRQ();
+
+};
+
+#endif
--- a/RobotControl/MotionState.h Fri Apr 05 10:58:42 2013 +0000
+++ b/RobotControl/MotionState.h Sun Apr 07 08:31:51 2013 +0000
@@ -53,7 +53,7 @@
/**
* @brief Destructor of the Object to destroy the Object.
- **/
+ */
virtual ~MotionState();
/**
--- a/RobotControl/RobotControl.cpp Fri Apr 05 10:58:42 2013 +0000
+++ b/RobotControl/RobotControl.cpp Sun Apr 07 08:31:51 2013 +0000
@@ -31,6 +31,17 @@
}
+float RobotControl::PiRange(float theta)
+{
+ if(theta <= -PI) {
+ return theta += 2*PI;
+ } else if (theta > PI) {
+ return theta -= 2*PI;
+ } else {
+ return theta;
+ }
+}
+
void RobotControl::setEnable(bool enable)
{
motorControllerLeft->enable(enable);
@@ -175,67 +186,61 @@
void RobotControl::run()
{
-// kann glaub wegggggg
- if (isEnabled()) {
- } else {
+ // When the Motor is note enable set the desired speed to the acutal speed.
+ // only used by setting the speed and omega via the WII control.
+ if (!isEnabled()) {
speed = 0.0f;
omega = 0.0f;
Desired.setState(&Actual);
}
- ////bis hieerrrrr
- /* position calculation */
-
- /* Set the state of speed from Left und Right Wheel*/
+ // position calculation
+ // Set the state of speed from Left und Right Wheel
stateLeft.speed = motorControllerLeft->getActualSpeed() *
2.0f * WHEEL_RADIUS_LEFT * PI * GEAR;
stateRight.speed = - motorControllerRight->getActualSpeed() *
2.0f * WHEEL_RADIUS_RIGHT * PI * GEAR ;
- /* translational speed of the Robot (average) */
+ //translational speed of the Robot (average)
Actual.speed = (stateRight.speed + stateLeft.speed) / 2.0f;
- /* rotational speed of the Robot */
+ //rotational speed of the Robot
Actual.omega = (stateRight.speed - stateLeft.speed) / WHEEL_DISTANCE;
- /* rotational theta of the Robot integrate the omega with the time*/
+ //rotational theta of the Robot integrate the omega with the time
Actual.theta += Actual.omega * period;
Actual.theta = PiRange(Actual.theta);
- /* translational X and Y Position. integrate the speed with the time */
+ //translational X and Y Position. integrate the speed with the time
Actual.xposition += (Actual.speed * period * cos(Actual.theta));
Actual.yposition += (Actual.speed * period * sin(Actual.theta));
- /* motor control */
+ //motor control
if ( isEnabled() && ( getDistanceError() >= MIN_DISTANCE_ERROR ) ) {
- /* postition control */
-
+ //postition control
speed = K1 * getDistanceError() * cos( getThetaErrorToGoal() );
omega = K2 * getThetaErrorToGoal() +
- K1 * ( ( sin(getThetaErrorToGoal()) * cos(getThetaErrorToGoal()) ) /
- (getThetaErrorToGoal()) ) * ( getThetaErrorToGoal() + K3 * getThetaGoal() );
+ K1 *
+ (
+ (
+ sin(getThetaErrorToGoal() ) * cos(getThetaErrorToGoal() )
+ ) / getThetaErrorToGoal()
+ ) *
+ ( getThetaErrorToGoal()
+ + K3 * getThetaGoal() );
- motorControllerLeft->setVelocity( ( ( (2 * speed) - (WHEEL_DISTANCE * omega) ) / 2 ) /
- (2 * WHEEL_RADIUS_LEFT * PI * GEAR) );
- motorControllerRight->setVelocity(-( ( (2 * speed) + (WHEEL_DISTANCE * omega) ) / 2) /
- (2 * WHEEL_RADIUS_RIGHT * PI * GEAR) );
+ motorControllerLeft->setVelocity(
+ ( ( (2 * speed) - (WHEEL_DISTANCE * omega) ) / 2 ) /
+ (2 * WHEEL_RADIUS_LEFT * PI * GEAR)
+ );
+ motorControllerRight->setVelocity(
+ -( ( (2 * speed) + (WHEEL_DISTANCE * omega) ) / 2) /
+ (2 * WHEEL_RADIUS_RIGHT * PI * GEAR)
+ );
} else {
-
motorControllerLeft->setVelocity(0.0f);
motorControllerRight->setVelocity(0.0f);
-
}
}
-
-float RobotControl::PiRange(float theta)
-{
- if(theta <= -PI) {
- return theta += 2*PI;
- } else if (theta > PI) {
- return theta -= 2*PI;
- } else {
- return theta;
- }
-}
--- a/RobotControl/RobotControl.h Fri Apr 05 10:58:42 2013 +0000
+++ b/RobotControl/RobotControl.h Sun Apr 07 08:31:51 2013 +0000
@@ -21,6 +21,7 @@
* and writes these velocity values to the motor servo drives.
* This class offers methods to enable or disable the controller, and to set
* the desired x- and y-postion and the θ values of the robot.
+ *
*/
class RobotControl : public Task
@@ -83,21 +84,6 @@
bool isEnabled();
/**
- * @brief Sets the maximum acceleration value.
- * @param acceleration the maximum acceleration value to use
- * for the calculation of the motion trajectory, given in [m/s<SUP>2</SUP>]
- */
- void setAcceleration(float acceleration);
-
- /**
- * @brief Sets the maximum acceleration value of rotation.
- * @param acceleration the maximum acceleration value
- * to use for the calculation of the motion trajectory,
- * given in [rad/s<SUP>2</SUP>]
- */
- void setThetaAcceleration(float acceleration);
-
- /**
* @brief Sets the desired translational speed of the robot.
* @param speed the desired speed, given in [m/s]
*/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/State/State.cpp Sun Apr 07 08:31:51 2013 +0000
@@ -0,0 +1,175 @@
+#include "State.h"
+
+using namespace std;
+
+// File
+FILE *logp;
+
+// LocalFileSystem
+LocalFileSystem local("local");
+
+State::State(state_t* s,
+ RobotControl* robotControl,
+ MaxonESCON* motorControllerLeft,
+ MaxonESCON* motorControllerRight,
+ PinName batteryPin,
+ float period)
+ : Task(period) ,
+ battery(batteryPin)
+{
+ /* get peripherals */
+ this->s = s;
+ this->robotControl = robotControl;
+ this->motorControllerLeft = motorControllerLeft;
+ this->motorControllerRight = motorControllerRight;
+ this->battery =battery;
+ this->period = period;
+}
+
+State::~State() {}
+
+void State::initPlotFile(void)
+{
+ logp = fopen("/local/plots.txt", "w"); // only write
+ if(logp == NULL) {
+ exit(1);
+ } else {
+ fprintf(logp,
+ "Time[ms]\t"
+ "BatteryVoltage[V]\t"
+ "NumberOfPulsesLeft\t"
+ "NumberOfPulsesRight\t"
+ "VelocityLeft[m/s]\t"
+ "VelocityRight[m/s]\t"
+ "VelocityCar[m/s]\t" //7
+ "VelocityRotation[grad/s]\t"
+ "X-AxisCo-ordinate[m]\t"
+ "Y-AxisCo-ordinate[m]\t"
+ "X-AxisError[m]\t"
+ "X-AxisError[m]\t"
+ "AngleError[grad]\t"
+ "AngleCar[grad]\t"
+ "SetpointX-Axis[m]\t" //15
+ "SetpointY-Axis[m]\t"
+ "SetpointAngel[grad]\t" //17
+ "SetpointVelocitiy[m/s]\t"
+ "SetpointVelocitiyRotations[rad/s]\t"
+ "State\t" //20
+ "distanceToGoal[m]\t" //21
+ "angleToGoal[grad]\t"
+ "thetaFromTheGoal[grad]\n");
+ }
+}
+
+
+void State::savePlotFile(state_t s)
+{
+ char buf[256];
+
+ sprintf(buf,"%d\t%f\t%d\t%d\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t"
+ "%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%d\t%f\t%f\t%f",
+ s.millis,
+ s.voltageBattery,
+ s.leftPulses,
+ s.rightPulses,
+ s.leftVelocity,
+ s.rightVelocity,
+ s.velocity,
+ s.omega,
+ s.xAxis,
+ s.yAxis,
+ s.xAxisError,
+ s.yAxisError,
+ s.angleError,
+ s.angle,
+ s.setxAxis,
+ s.setyAxis,
+ s.setAngle,
+ s.setVelocity,
+ s.setOmega,
+ s.state,
+ s.rho,
+ s.lamda,
+ s.delta
+ );
+
+ if (logp)
+ fprintf(logp, buf);
+ fprintf(logp, "\n"); // new line
+}
+
+void State::closePlotFile(void)
+{
+ fclose(logp);
+}
+
+float State::readBattery()
+{
+ return battery.read()*BAT_MULTIPLICATOR;
+}
+
+void State::setBatteryBit()
+{
+ if(s->voltageBattery < BAT_MIN) {
+ s->state |= STATE_UNDER;
+ } else {
+ s->state &= (~STATE_UNDER);
+ }
+}
+
+void State::setEnableLeftBit()
+{
+ if(motorControllerLeft->isEnabled()) {
+ s->state &= (~STATE_LEFT);
+ } else {
+ s->state |= STATE_LEFT;
+ }
+}
+
+void State::setEnableRightBit()
+{
+ if(motorControllerRight->isEnabled()) {
+ s->state &= (~STATE_RIGHT);
+ } else {
+ s->state |= STATE_RIGHT;
+ }
+}
+
+void State::startTimerFromZero()
+{
+ timer.reset();
+ timer.start();
+}
+
+void State::run()
+{
+ s->millis = timer.read_ms();
+ s->voltageBattery = readBattery();
+ s->leftPulses = - motorControllerLeft->getPulses();
+ s->rightPulses = motorControllerRight->getPulses();
+ s->leftVelocity = motorControllerLeft->getActualSpeed() *
+ 2.0f * WHEEL_RADIUS_LEFT * PI * GEAR;
+ s->rightVelocity = - motorControllerRight->getActualSpeed()*
+ 2.0f * WHEEL_RADIUS_RIGHT * PI * GEAR;
+ s->velocity = robotControl->getActualSpeed();
+ s->omega = robotControl->getActualOmega();
+ s->xAxis = robotControl->getxActualPosition();
+ s->yAxis = robotControl->getyActualPosition();
+ s->angle = robotControl->getActualTheta() * 180 / PI;
+ s->xAxisError = robotControl->getxPositionError();
+ s->yAxisError = robotControl->getyPositionError();
+ s->angleError = robotControl->getThetaError() * 180 / PI;
+ s->setxAxis = robotControl->getDesiredxPosition();
+ s->setyAxis = robotControl->getDesiredyPosition();
+ s->setAngle = robotControl->getDesiredTheta() * 180 / PI;
+ s->setVelocity = robotControl->getDesiredSpeed();
+ s->setOmega = robotControl->getDesiredOmega();
+
+ s->rho = robotControl->getDistanceError();
+ s->lamda = robotControl->getThetaErrorToGoal() * 180 / PI;
+ s->delta = robotControl->getThetaGoal() * 180 / PI;
+
+ setBatteryBit();
+ setEnableLeftBit();
+ setEnableRightBit();
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/State/State.h Sun Apr 07 08:31:51 2013 +0000
@@ -0,0 +1,100 @@
+#ifndef _STATE_H_
+#define _STATE_H_
+
+#include "MaxonESCON.h"
+#include "RobotControl.h"
+#include "Task.h"
+#include "defines.h"
+
+/**
+ * @author Christian Burri
+ *
+ * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
+ * All rights reserved.
+ *
+ * @brief
+ *
+ * State is the main mechanism for communicating current realtime system state to
+ * the rest of the system for logging etc.
+ *
+ */
+
+class State : public Task
+{
+
+private:
+
+ state_t* s;
+ RobotControl* robotControl;
+ MaxonESCON* motorControllerLeft;
+ MaxonESCON* motorControllerRight;
+ AnalogIn battery;
+ Timer timer;
+ float period;
+
+public:
+
+ /**
+ * @brief Creates a robot control object and initializes all private state variables.
+ * @param s struct to read and write the state
+ * @param robotControl Object to read the state
+ * @param motorControllerLeft a reference to the servo drive for the left motor
+ * @param motorControllerRight a reference to the servo drive for the right motor
+ * @param batteryPin mbed pin for analog Input Battery Voltage
+ * @param period the sampling period of the run loop of this controller, given in [s]
+ */
+ State(state_t* s,
+ RobotControl* robotControl,
+ MaxonESCON* motorControllerLeft,
+ MaxonESCON* motorControllerRight,
+ PinName batteryPin,
+ float period);
+
+ /**
+ * @brief Destructor of the Object to destroy the Object.
+ */
+ virtual ~State();
+
+ /**
+ * @brief Initzialize the File. Open the File plots.txt and set the title at first line.
+ */
+ void initPlotFile(void);
+
+ /**
+ * @brief Close the File.
+ */
+ void closePlotFile(void);
+
+ /**
+ * @brief Return the Battery voltage
+ * state variables.
+ * @return Batterie Voltage [V]
+ */
+ float readBattery();
+
+ /**
+ * @brief Starts the timer from zero.
+ * The timer is for the logging Time.
+ */
+ void startTimerFromZero();
+
+ /**
+ * @brief Save the new state to a new line.
+ */
+ void savePlotFile(state_t s);
+
+ /**
+ * @brief Run method actualize every period.
+ */
+ void run();
+
+private:
+
+ void setBatteryBit();
+
+ void setEnableLeftBit();
+
+ void setEnableRightBit();
+};
+
+#endif
--- a/StateDefines/State.cpp Fri Apr 05 10:58:42 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,175 +0,0 @@
-#include "State.h"
-
-using namespace std;
-
-// File
-FILE *logp;
-
-// LocalFileSystem
-LocalFileSystem local("local");
-
-State::State(state_t* s,
- RobotControl* robotControl,
- MaxonESCON* motorControllerLeft,
- MaxonESCON* motorControllerRight,
- PinName batteryPin,
- float period)
- : Task(period) ,
- battery(batteryPin)
-{
- /* get peripherals */
- this->s = s;
- this->robotControl = robotControl;
- this->motorControllerLeft = motorControllerLeft;
- this->motorControllerRight = motorControllerRight;
- this->battery =battery;
- this->period = period;
-}
-
-State::~State() {}
-
-void State::initPlotFile(void)
-{
- logp = fopen("/local/plots.txt", "w"); // only write
- if(logp == NULL) {
- exit(1);
- } else {
- fprintf(logp,
- "Time[ms]\t"
- "BatteryVoltage[V]\t"
- "NumberOfPulsesLeft\t"
- "NumberOfPulsesRight\t"
- "VelocityLeft[m/s]\t"
- "VelocityRight[m/s]\t"
- "VelocityCar[m/s]\t" //7
- "VelocityRotation[grad/s]\t"
- "X-AxisCo-ordinate[m]\t"
- "Y-AxisCo-ordinate[m]\t"
- "X-AxisError[m]\t"
- "X-AxisError[m]\t"
- "AngleError[grad]\t"
- "AngleCar[grad]\t"
- "SetpointX-Axis[m]\t" //15
- "SetpointY-Axis[m]\t"
- "SetpointAngel[grad]\t" //17
- "SetpointVelocitiy[m/s]\t"
- "SetpointVelocitiyRotations[rad/s]\t"
- "State\t" //20
- "distanceToGoal[m]\t" //21
- "angleToGoal[grad]\t"
- "thetaFromTheGoal[grad]\n");
- }
-}
-
-
-void State::savePlotFile(state_t s)
-{
- char buf[256];
-
- sprintf(buf,"%d\t%f\t%d\t%d\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t"
- "%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%d\t%f\t%f\t%f",
- s.millis,
- s.voltageBattery,
- s.leftPulses,
- s.rightPulses,
- s.leftVelocity,
- s.rightVelocity,
- s.velocity,
- s.omega,
- s.xAxis,
- s.yAxis,
- s.xAxisError,
- s.yAxisError,
- s.angleError,
- s.angle,
- s.setxAxis,
- s.setyAxis,
- s.setAngle,
- s.setVelocity,
- s.setOmega,
- s.state,
- s.rho,
- s.lamda,
- s.delta
- );
-
- if (logp)
- fprintf(logp, buf);
- fprintf(logp, "\n"); // new line
-}
-
-void State::closePlotFile(void)
-{
- fclose(logp);
-}
-
-float State::readBattery()
-{
- return battery.read()*BAT_MULTIPLICATOR;
-}
-
-void State::setBatteryBit()
-{
- if(s->voltageBattery < BAT_MIN) {
- s->state |= STATE_UNDER;
- } else {
- s->state &= (~STATE_UNDER);
- }
-}
-
-void State::setEnableLeftBit()
-{
- if(motorControllerLeft->isEnabled()) {
- s->state &= (~STATE_LEFT);
- } else {
- s->state |= STATE_LEFT;
- }
-}
-
-void State::setEnableRightBit()
-{
- if(motorControllerRight->isEnabled()) {
- s->state &= (~STATE_RIGHT);
- } else {
- s->state |= STATE_RIGHT;
- }
-}
-
-void State::startTimerFromZero()
-{
- timer.reset();
- timer.start();
-}
-
-void State::run()
-{
- s->millis = timer.read_ms();
- s->voltageBattery = readBattery();
- s->leftPulses = - motorControllerLeft->getPulses();
- s->rightPulses = motorControllerRight->getPulses();
- s->leftVelocity = motorControllerLeft->getActualSpeed() *
- 2.0f * WHEEL_RADIUS_LEFT * PI * GEAR;
- s->rightVelocity = - motorControllerRight->getActualSpeed()*
- 2.0f * WHEEL_RADIUS_RIGHT * PI * GEAR;
- s->velocity = robotControl->getActualSpeed();
- s->omega = robotControl->getActualOmega();
- s->xAxis = robotControl->getxActualPosition();
- s->yAxis = robotControl->getyActualPosition();
- s->angle = robotControl->getActualTheta() * 180 / PI;
- s->xAxisError = robotControl->getxPositionError();
- s->yAxisError = robotControl->getyPositionError();
- s->angleError = robotControl->getThetaError() * 180 / PI;
- s->setxAxis = robotControl->getDesiredxPosition();
- s->setyAxis = robotControl->getDesiredyPosition();
- s->setAngle = robotControl->getDesiredTheta() * 180 / PI;
- s->setVelocity = robotControl->getDesiredSpeed();
- s->setOmega = robotControl->getDesiredOmega();
-
- s->rho = robotControl->getDistanceError();
- s->lamda = robotControl->getThetaErrorToGoal() * 180 / PI;
- s->delta = robotControl->getThetaGoal() * 180 / PI;
-
- setBatteryBit();
- setEnableLeftBit();
- setEnableRightBit();
-}
--- a/StateDefines/State.h Fri Apr 05 10:58:42 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,100 +0,0 @@
-#ifndef _STATE_H_
-#define _STATE_H_
-
-#include "MaxonESCON.h"
-#include "RobotControl.h"
-#include "Task.h"
-#include "defines.h"
-
-/**
- * @author Christian Burri
- *
- * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
- * All rights reserved.
- *
- * @brief
- *
- * State is the main mechanism for communicating current realtime system state to
- * the rest of the system for logging etc.
- *
- */
-
-class State : public Task
-{
-
-private:
-
- state_t* s;
- RobotControl* robotControl;
- MaxonESCON* motorControllerLeft;
- MaxonESCON* motorControllerRight;
- AnalogIn battery;
- Timer timer;
- float period;
-
-public:
-
- /**
- * @brief Creates a robot control object and initializes all private state variables.
- * @param s struct to read and write the state
- * @param robotControl Object to read the state
- * @param motorControllerLeft a reference to the servo drive for the left motor
- * @param motorControllerRight a reference to the servo drive for the right motor
- * @param batteryPin mbed pin for analog Input Battery Voltage
- * @param period the sampling period of the run loop of this controller, given in [s]
- */
- State(state_t* s,
- RobotControl* robotControl,
- MaxonESCON* motorControllerLeft,
- MaxonESCON* motorControllerRight,
- PinName batteryPin,
- float period);
-
- /**
- * @brief Destructor of the Object to destroy the Object.
- **/
- virtual ~State();
-
- /**
- * @brief Initzialize the File. Open the File plots.txt and set the title at first line.
- */
- void initPlotFile(void);
-
- /**
- * @brief Close the File.
- */
- void closePlotFile(void);
-
- /**
- * @brief Return the Battery voltage
- * state variables.
- * @return Batterie Voltage [V]
- */
- float readBattery();
-
- /**
- * @brief Starts the timer from zero.
- * The timer is for the logging Time.
- */
- void startTimerFromZero();
-
- /**
- * @brief Save the new state to a new line.
- */
- void savePlotFile(state_t s);
-
- /**
- * @brief Run method actualize every period.
- */
- void run();
-
-private:
-
- void setBatteryBit();
-
- void setEnableLeftBit();
-
- void setEnableRightBit();
-};
-
-#endif
--- a/StateDefines/defines.h Fri Apr 05 10:58:42 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,266 +0,0 @@
-#ifndef _DEFINES_H_
-#define _DEFINES_H_
-
-/*! \file defines.h
-\brief All defines for the roboter you can see here.
-*/
-
-#include "mbed.h"
-
-/**
- * @name Physical dimensions π;
- */
-#define PI 3.141592654f
-/*! @} */
-
-/**
- * @name maxon motor #339282 EC 45 flat 30W
- * @{
- */
-
-/**
-* @brief Number of of pole pairs
-*/
-#define POLE_PAIRS 8u
-
-/**
-* @brief Gear on the motor 1/11.6f
-*/
-#define GEAR 1/11.6f
-
-/**
-* @brief Pulses per electrical step form the Hallsensor, have 6 steps
-*/
-#define PULSES_PER_STEP 6u
-/*! @} */
-
-/**
- * @name Physical Dimension of the car
- * @{
- */
-
-/**
- * @brief Value for the diffrerenz between left an right, given in [m]
- */
-#define WHEEL_RADIUS_DIFF 0.0000f
-
-/**
- * @brief Radius of the left wheel, given in [m]
- */
-#define WHEEL_RADIUS_LEFT 0.040280f
-
-/**
- * @brief Radius of the left wheel, given in [m]
- */
-#define WHEEL_RADIUS_RIGHT (WHEEL_RADIUS_LEFT - WHEEL_RADIUS_DIFF)
-
-/**
- * @brief Distance of the wheel, given in [m] Greater --> turn more
- */
-#define WHEEL_DISTANCE 0.2000f
-
-/**
- * @brief Sets the start X-point, given in [m]
- */
-#define START_X_OFFSET -0.8f
-
-/**
- * @brief Sets the start Y-point, given in [m]
- */
-#define START_Y_OFFSET 0.8f
-/*! @} */
-
-/**
- * @name State Bits of the car
- * @{
- */
-
-/**
- * @brief Bit0 = stop pressed
- */
-#define STATE_STOP 1u
-
-/**
- * @brief Bit1 = Undervoltage battery
- */
-#define STATE_UNDER 2u
-
-/**
- * @brief Bit2 = left ESCON in error state
- */
-#define STATE_LEFT 4u
-
-/**
- * @brief Bit3 = right ESCON in error state
- */
-#define STATE_RIGHT 8u
-/*! @} */
-
-/**
- * @name ESCON Constands
- * @{
- */
-
-/**
- * @brief Speed Factor how set in the ESCON Studio
- */
-#define ESCON_SET_FACTOR 1500.0f
-
-/**
- * @brief Speed Factor how get in the ESCON Studio
- */
-#define ESCON_GET_FACTOR 1600.4f
-
-/**
- * @brief Error patch of the drift of Analog input and pwn output for set speed
- */
-#define SET_SPEED_PATCH (1+0.00262f)
-
-/**
- * @brief Error patch of the drift of Analog input and pwn output for get speed
- */
-#define GET_SPEED_PATCH (1+0.0019f)
-/*! @} */
-
-/**
- * @name position controller
- * @{
- */
-
-/**
- * @brief Main Gain for k1, k2 and k3
- */
-#define GAIN 0.8f
-
-/**
- * @brief Gain k1 default 1.0f
- */
-#define K1 0.8f * GAIN
-
-/**
- * @brief Gain k2 default 3.0f
- */
-#define K2 3.0f * GAIN
-
-/**
- * @brief Gain k3 default 2.0f
- */
-#define K3 2.0f * GAIN
-
-/**
- * @brief Min. Distance to switch the position controller off.
- * Because when Distance Error goes to zero the ATAN2 is not define, given in [m]
- */
-#define MIN_DISTANCE_ERROR 0.01f
-/*! @} */
-
-/**
- * @name Batterie control Battery Type: 1SP1P LG-18650
- * * nominal voltage 3.6V
- * * 5 batterys ==> 5 * 3.5V = 17.5V
- * @{
- */
-
-/**
- * @brief Battery Multiplicator for the potential divider.
- *
- * R2 / (R1 + R2) = 0.153 R2= 10k , R1 = 1.8k 1/0.153 = 6.555 --> 3.3 * 6.555 = 21.6333333f
- */
-#define BAT_MULTIPLICATOR 21.633333333f
-
-/**
- * @brief minium operate voltage, given in [V]
- */
-#define BAT_MIN 17.5f
-/*! @} */
-
-/**
- * @name sampling rate for a Task Object
- * @{
- */
-
-/**
- * @brief 1kHz Rate for Robot Control, given in [s]
- */
-#define PERIOD_ROBOTCONTROL 0.001f
-
-/**
- * @brief 1kHz Rate for State Objekt , given in [s]
- */
-#define PERIOD_STATE 0.001f
-
-/**
- * @brief 10Hz Rate for the Android communication , given in [s]
- */
-#define PERIOD_ANDROID 0.1f
-/*! @} */
-
-/**
- * @name Android Buffer Size for communication
- * @{
- */
-
-/**
- * @brief Buffer Output
- */
-#define OUTL 100
-
-/**
- * @brief Buffer Input
- */
-#define INBL 100
-/*! @} */
-
-/**
- * @brief struct state
- * structure containing system sensor data
- */
-typedef struct state {
- /** @brief millis Time [ms]*/
- int millis;
- /** @brief Battery voltage [V] */
- float voltageBattery;
- /** @brief Number of pulses left */
- int leftPulses;
- /** @brief Number of pulses right */
- int rightPulses;
- /** @brief Velocity left [m/s] */
- float leftVelocity;
- /** @brief Velocity right [m/s] */
- float rightVelocity;
- /** @brief Velocity of the car [m/s] */
- float velocity;
- /** @brief Velocity rotation [°/s] */
- float omega;
- /** @brief X-Axis from co-ordinate [m] */
- float xAxis;
- /** @brief Y-Axis from co-ordinate [m] */
- float yAxis;
- /** @brief X-Axis Error [m] */
- float xAxisError;
- /** @brief X-Axis Error [m] */
- float yAxisError;
- /** @brief Angle Error [°] */
- float angleError;
- /** @brief Angle from Car [°] */
- float angle;
- /** @brief Setpoint X-Axis [m] */
- float setxAxis;
- /** @brief Setpoint Y-Axis [m] */
- float setyAxis;
- /** @brief Setpoint Angel [°] */
- float setAngle;
- /** @brief Setpoint velocitiy [m/s] */
- float setVelocity;
- /** @brief Setpoint rotation velocitiy [rad/s] */
- float setOmega;
- int state;
- /** @brief distance to Goal */
- float rho;
- /** @brief theta to goal */
- float lamda;
- /** @brief theta from the goal */
- float delta;
-} state_t;
-
-#endif
--- a/Task/Task.h Fri Apr 05 10:58:42 2013 +0000
+++ b/Task/Task.h Sun Apr 07 08:31:51 2013 +0000
@@ -54,24 +54,24 @@
virtual ~Task();
/**
- * Gets the period of this task.
- * @return the period in seconds.
- */
+ * Gets the period of this task.
+ * @return the period in seconds.
+ */
float getPeriod();
/**
- * Starts this task.
- */
+ * Starts this task.
+ */
void start();
/**
- * Stops this task.
- */
+ * Stops this task.
+ */
void stop();
/**
- * This method needs to be implemented by a user task.
- */
+ * This method needs to be implemented by a user task.
+ */
virtual void run();
};
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/defines.h Sun Apr 07 08:31:51 2013 +0000
@@ -0,0 +1,266 @@
+#ifndef _DEFINES_H_
+#define _DEFINES_H_
+
+/*! \file defines.h
+\brief All defines for the roboter you can see here.
+*/
+
+#include "mbed.h"
+
+/**
+ * @name Physical dimensions π;
+ */
+#define PI 3.141592654f
+/*! @} */
+
+/**
+ * @name maxon motor #339282 EC 45 flat 30W
+ * @{
+ */
+
+/**
+* @brief Number of of pole pairs
+*/
+#define POLE_PAIRS 8u
+
+/**
+* @brief Gear on the motor 1/11.6f
+*/
+#define GEAR 1/11.6f
+
+/**
+* @brief Pulses per electrical step form the Hallsensor, have 6 steps
+*/
+#define PULSES_PER_STEP 6u
+/*! @} */
+
+/**
+ * @name Physical Dimension of the car
+ * @{
+ */
+
+/**
+ * @brief Value for the diffrerenz between left an right, given in [m]
+ */
+#define WHEEL_RADIUS_DIFF 0.0000f
+
+/**
+ * @brief Radius of the left wheel, given in [m]
+ */
+#define WHEEL_RADIUS_LEFT 0.040280f
+
+/**
+ * @brief Radius of the left wheel, given in [m]
+ */
+#define WHEEL_RADIUS_RIGHT (WHEEL_RADIUS_LEFT - WHEEL_RADIUS_DIFF)
+
+/**
+ * @brief Distance of the wheel, given in [m] Greater --> turn more
+ */
+#define WHEEL_DISTANCE 0.2000f
+
+/**
+ * @brief Sets the start X-point, given in [m]
+ */
+#define START_X_OFFSET -0.8f
+
+/**
+ * @brief Sets the start Y-point, given in [m]
+ */
+#define START_Y_OFFSET 0.8f
+/*! @} */
+
+/**
+ * @name State Bits of the car
+ * @{
+ */
+
+/**
+ * @brief Bit0 = stop pressed
+ */
+#define STATE_STOP 1u
+
+/**
+ * @brief Bit1 = Undervoltage battery
+ */
+#define STATE_UNDER 2u
+
+/**
+ * @brief Bit2 = left ESCON in error state
+ */
+#define STATE_LEFT 4u
+
+/**
+ * @brief Bit3 = right ESCON in error state
+ */
+#define STATE_RIGHT 8u
+/*! @} */
+
+/**
+ * @name ESCON Constands
+ * @{
+ */
+
+/**
+ * @brief Speed Factor how set in the ESCON Studio
+ */
+#define ESCON_SET_FACTOR 1500.0f
+
+/**
+ * @brief Speed Factor how get in the ESCON Studio
+ */
+#define ESCON_GET_FACTOR 1600.4f
+
+/**
+ * @brief Error patch of the drift of Analog input and pwn output for set speed
+ */
+#define SET_SPEED_PATCH (1+0.00262f)
+
+/**
+ * @brief Error patch of the drift of Analog input and pwn output for get speed
+ */
+#define GET_SPEED_PATCH (1+0.0019f)
+/*! @} */
+
+/**
+ * @name position controller
+ * @{
+ */
+
+/**
+ * @brief Main Gain for k1, k2 and k3
+ */
+#define GAIN 0.8f
+
+/**
+ * @brief Gain k1 default 1.0f
+ */
+#define K1 0.8f * GAIN
+
+/**
+ * @brief Gain k2 default 3.0f
+ */
+#define K2 3.0f * GAIN
+
+/**
+ * @brief Gain k3 default 2.0f
+ */
+#define K3 2.0f * GAIN
+
+/**
+ * @brief Min. Distance to switch the position controller off.
+ * Because when Distance Error goes to zero the ATAN2 is not define, given in [m]
+ */
+#define MIN_DISTANCE_ERROR 0.01f
+/*! @} */
+
+/**
+ * @name Batterie control Battery Type: 1SP1P LG-18650
+ * * nominal voltage 3.6V
+ * * 5 batterys ==> 5 * 3.5V = 17.5V
+ * @{
+ */
+
+/**
+ * @brief Battery Multiplicator for the potential divider.
+ *
+ * R2 / (R1 + R2) = 0.153 R2= 10k , R1 = 1.8k 1/0.153 = 6.555 --> 3.3 * 6.555 = 21.6333333f
+ */
+#define BAT_MULTIPLICATOR 21.633333333f
+
+/**
+ * @brief minium operate voltage, given in [V]
+ */
+#define BAT_MIN 17.5f
+/*! @} */
+
+/**
+ * @name sampling rate for a Task Object
+ * @{
+ */
+
+/**
+ * @brief 1kHz Rate for Robot Control, given in [s]
+ */
+#define PERIOD_ROBOTCONTROL 0.001f
+
+/**
+ * @brief 1kHz Rate for State Objekt , given in [s]
+ */
+#define PERIOD_STATE 0.001f
+
+/**
+ * @brief 10Hz Rate for the Android communication , given in [s]
+ */
+#define PERIOD_ANDROID 0.1f
+/*! @} */
+
+/**
+ * @name Android Buffer Size for communication
+ * @{
+ */
+
+/**
+ * @brief Buffer Output
+ */
+#define OUTL 100
+
+/**
+ * @brief Buffer Input
+ */
+#define INBL 100
+/*! @} */
+
+/**
+ * @brief struct state
+ * structure containing system sensor data
+ */
+typedef struct state {
+ /** @brief millis Time [ms]*/
+ int millis;
+ /** @brief Battery voltage [V] */
+ float voltageBattery;
+ /** @brief Number of pulses left */
+ int leftPulses;
+ /** @brief Number of pulses right */
+ int rightPulses;
+ /** @brief Velocity left [m/s] */
+ float leftVelocity;
+ /** @brief Velocity right [m/s] */
+ float rightVelocity;
+ /** @brief Velocity of the car [m/s] */
+ float velocity;
+ /** @brief Velocity rotation [°/s] */
+ float omega;
+ /** @brief X-Axis from co-ordinate [m] */
+ float xAxis;
+ /** @brief Y-Axis from co-ordinate [m] */
+ float yAxis;
+ /** @brief X-Axis Error [m] */
+ float xAxisError;
+ /** @brief X-Axis Error [m] */
+ float yAxisError;
+ /** @brief Angle Error [°] */
+ float angleError;
+ /** @brief Angle from Car [°] */
+ float angle;
+ /** @brief Setpoint X-Axis [m] */
+ float setxAxis;
+ /** @brief Setpoint Y-Axis [m] */
+ float setyAxis;
+ /** @brief Setpoint Angel [°] */
+ float setAngle;
+ /** @brief Setpoint velocitiy [m/s] */
+ float setVelocity;
+ /** @brief Setpoint rotation velocitiy [rad/s] */
+ float setOmega;
+ int state;
+ /** @brief distance to Goal */
+ float rho;
+ /** @brief theta to goal */
+ float lamda;
+ /** @brief theta from the goal */
+ float delta;
+} state_t;
+
+#endif
--- a/main.cpp Fri Apr 05 10:58:42 2013 +0000
+++ b/main.cpp Sun Apr 07 08:31:51 2013 +0000
@@ -33,18 +33,28 @@
#include "RobotControl.h"
//#include "android.h"
-//Android
+/**
+ * @name Communication
+ * @{
+ */
+
+/**
+ * @brief <code>adkTerm</code> object is for the communication with a smartphone.
+ * The operation system must be a android.
+ */
//AdkTerm adkTerm;
+/*! @} */
/**
* @name Hallsensor
* @{
*/
-
- /**
- * @brief <code>hallsensorLeft</code> object with pin15, pin17 and pin16
- */
+
+/**
+* @brief <code>hallsensorLeft</code> object with pin15, pin17 and pin16
+*/
Hallsensor hallLeft(p18, p17, p16);
+
/**
* @brief <code>hallsensorLeft</code> object with pin17, pin28 and pin29
*/
@@ -53,20 +63,24 @@
/**
* @name Motors and Robot Control
- * @{
+ * @{
*/
-
- /**
- * @brief <code>leftMotor</code> object with pin26, pin25, pin24, pin19 and <code>hallsensorLeft</code> object
- */
+
+/**
+* @brief <code>leftMotor</code> object with pin26, pin25, pin24,
+* pin19 and <code>hallsensorLeft</code> object
+*/
MaxonESCON leftMotor(p26, p25, p24, p19, &hallLeft);
+
/**
- * @brief <code>rightMotor</code> object with pin23, pin22, pin21, pin20 and <code>hallsensorRight</code> object
+ * @brief <code>rightMotor</code> object with pin23, pin22, pin21,
+ * pin20 and <code>hallsensorRight</code> object
*/
MaxonESCON rightMotor(p23, p22, p21, p20, &hallRight);
/**
- * @brief <code>robotControl</code> object with <code>leftMotor</code>, <code>rightMotor</code> and the sampling rate for the run method
+ * @brief <code>robotControl</code> object with <code>leftMotor</code>,
+ * <code>rightMotor</code> and the sampling rate for the run method
*/
RobotControl robotControl(&leftMotor, &rightMotor, PERIOD_ROBOTCONTROL);
/*! @} */
@@ -75,31 +89,49 @@
* @name Logging & State
* @{
*/
-
- /**
- * @brief Define the struct for the State and the Logging
- */
+
+/**
+ * @brief Define the struct for the State and the Logging
+ */
state_t s;
+
/**
- * @brief <code>state</code> object with <code>robotControl</code>, <code>rightMotor</code>, <code>leftMotor</code>, <code>battery</code>, and the sampling rate for the run method
+ * @brief <code>state</code> object with <code>robotControl</code>,
+ * <code>rightMotor</code>, <code>leftMotor</code>, <code>battery</code>
+ * and the sampling rate for the run method
*/
State state(&s, &robotControl, &leftMotor, &rightMotor, p15, PERIOD_STATE);
/*! @} */
-// PC USB communications DAs wird danach gelöscht
+// @todo PC USB communications DAs wird danach gelöscht
//Serial pc(USBTX, USBRX);
+/**
+* @brief Main function. Start the Programm here.
+*/
int main()
{
-
- state.initPlotFile();
- state.startTimerFromZero();
- state.start();
-
+
+ /**
+ * Initialze the filt PLOTS.txt,
+ * start the timer for the Logging to the file
+ * and start the Task for logging
+ **/
+ state.initPlotFile();
+ state.startTimerFromZero();
+ state.start();
+
+ /**
+ * Clear all Errors of the ESCON Module, with a disabled to enable event
+ */
robotControl.setEnable(false);
wait(0.1);
robotControl.setEnable(true);
wait(0.1);
+
+ /**
+ * Set the startposition and start the Task for controlling the roboter.
+ */
robotControl.setAllToZero(0, 0, PI/2 );
// robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
robotControl.start();
@@ -110,32 +142,32 @@
// wait(0.1);
//////////////////////////////////////////
-
- robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI);
- while(!(robotControl.getDistanceError() <= 0.1)) {
- state.savePlotFile(s);
- };
- robotControl.setDesiredPositionAndAngle(-1.00f, 1.0f, -PI/2);
- while(!(robotControl.getDistanceError() <= 0.1)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI);
+ while(!(robotControl.getDistanceError() <= 0.1)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(-1.00f, 1.0f, -PI/2);
+ while(!(robotControl.getDistanceError() <= 0.1)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(0.0f, -0.8f, PI/2);
- while(!(robotControl.getDistanceError() <= 0.05)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(0.0f, -0.8f, PI/2);
+ while(!(robotControl.getDistanceError() <= 0.05)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(0.0f, -0.2f, PI/2);
- while(!(robotControl.getDistanceError() <= 0.05)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(0.0f, -0.2f, PI/2);
+ while(!(robotControl.getDistanceError() <= 0.05)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(0.0, 0.0f, PI/2);
- while(!(s.millis >= 32000)) {
- state.savePlotFile(s);
- };
-
+ robotControl.setDesiredPositionAndAngle(0.0, 0.0f, PI/2);
+ while(!(s.millis >= 32000)) {
+ state.savePlotFile(s);
+ };
+
@@ -261,26 +293,29 @@
-/*
+ /*
- pc.baud(460800);
- pc.printf("Welcome to adkTerm\n\n\n\n\n\n\r");
- pc.printf("here we go... \n");
- adkTerm.setupDevice();
- pc.printf("Android Development Kit: start\r\n");
- USBInit();
- while (1) {
- USBLoop();
-
- pc.printf("Android x: %f ",adkTerm.getx());
- pc.printf("Android y: %f ",adkTerm.gety());
- pc.printf("Android t: %f\n",adkTerm.gett());
- robotControl.setDesiredPositionAndAngle(adkTerm.getx(), adkTerm.gety(), adkTerm.gett());
- }
+ pc.baud(460800);
+ pc.printf("Welcome to adkTerm\n\n\n\n\n\n\r");
+ pc.printf("here we go... \n");
+ adkTerm.setupDevice();
+ pc.printf("Android Development Kit: start\r\n");
+ USBInit();
+ while (1) {
+ USBLoop();
+
+ pc.printf("Android x: %f ",adkTerm.getx());
+ pc.printf("Android y: %f ",adkTerm.gety());
+ pc.printf("Android t: %f\n",adkTerm.gett());
+ robotControl.setDesiredPositionAndAngle(adkTerm.getx(), adkTerm.gety(), adkTerm.gett());
+ }
-
+ /**
+ * Close the File PLOTS.txt to read the file after with the computer and draw a diagramm
+ */
+ /*
state.savePlotFile(s);
state.closePlotFile();
state.stop();