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
Fork of
autonomous Robot Android
by 
Christian Burri
Revision 6:48eeb41188dd, committed 2013-03-23
- Comitter:
- chrigelburri
- Date:
- Sat Mar 23 13:52:48 2013 +0000
- Parent:
- 5:48a258f6335e
- Child:
- 7:34be8b3a979c
- Commit message:
- mit link und rechten Radradius
Changed in this revision
--- a/Actuators/Hallsensor.h Thu Mar 21 08:56:53 2013 +0000
+++ b/Actuators/Hallsensor.h Sat Mar 23 13:52:48 2013 +0000
@@ -14,11 +14,30 @@
* @section DESCRIPTION
*
* Interface to count the Hallsensor input from a EC-Motor.
- *
+ *
*/
class Hallsensor
{
+private:
+
+ /**
+ * 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:
/**
@@ -52,25 +71,6 @@
*/
int getRevolutions(void);
-private:
-
- /**
- * 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_;
-
};
#endif /* Hallsensor_H */
--- a/Actuators/MaxonESCON.cpp Thu Mar 21 08:56:53 2013 +0000
+++ b/Actuators/MaxonESCON.cpp Sat Mar 23 13:52:48 2013 +0000
@@ -56,7 +56,7 @@
void MaxonESCON::enable(bool enb)
{
- if(enb == false) {
+ if(enb == true) {
_enb = 1;
} else {
_enb = 0;
--- a/Actuators/MaxonESCON.h Thu Mar 21 08:56:53 2013 +0000
+++ b/Actuators/MaxonESCON.h Sat Mar 23 13:52:48 2013 +0000
@@ -42,12 +42,12 @@
public:
/** 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
- */
+ * @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,
@@ -55,42 +55,43 @@
Hallsensor *hall);
/** 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]
- */
+ * 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);
/**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]
- */
+ * 0 rpm is defined in the Analog input as 1.65V
+ * @return speed of the motor, given in [1/s]
+ */
float getActualSpeed(void);
/** Set the period of the pwm duty cycle.
- * Wrapper for PwmOut::period()
- * @param period Pwm duty cycle, given in [s].
- */
+ * Wrapper for PwmOut::period()
+ * @param period Pwm duty cycle, given in [s].
+ */
void period(float period);
/** Set the Motor to a enable sate.
- * @param enb <code>false</code> for disable <code>true</code> for enable.
- */
+ * @param enb <code>false</code> for disable <code>true</code> for enable.
+ */
void enable(bool enb);
/**Tests if the servo drive is enabled.
- * @return <code>true</code> if the drive is enabled, <code>false</code> otherwise.
- */
+ * @return <code>true</code> if the drive is enabled,
+ * <code>false</code> otherwise.
+ */
bool isEnabled(void);
/** Return the number of Pulses.
- * @return Pulses, given in [count]
- */
+ * @return Pulses, given in [count]
+ */
int getPulses(void);
/** Set the Pulses of the Motor, given in [count]
- * @return Pulses, given in [count]
- */
+ * @return Pulses, given in [count]
+ */
int setPulses(int setPos);
};
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Android/AndroidAccessory/AndroidAccessory.cpp Sat Mar 23 13:52:48 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/Android/AndroidAccessory/AndroidAccessory.h Sat Mar 23 13:52:48 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/Android/AndroidAccessory/USBHost/USBHost.cpp Sat Mar 23 13:52:48 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/Android/AndroidAccessory/USBHost/USBHost.h Sat Mar 23 13:52:48 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/Android/AndroidAccessory/USBHost/USBHost_log.cpp Sat Mar 23 13:52:48 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
--- a/RobotControl/MotionState.cpp Thu Mar 21 08:56:53 2013 +0000
+++ b/RobotControl/MotionState.cpp Sat Mar 23 13:52:48 2013 +0000
@@ -16,7 +16,11 @@
}
-MotionState::MotionState(float xposition, float yposition, float theta, float speed, float omega)
+MotionState::MotionState(float xposition,
+ float yposition,
+ float theta,
+ float speed,
+ float omega)
{
this->xposition = xposition;
this->yposition = yposition;
@@ -32,7 +36,11 @@
}
-void MotionState::setState(float xposition, float yposition, float theta, float speed, float omega)
+void MotionState::setState(float xposition,
+ float yposition,
+ float theta,
+ float speed,
+ float omega)
{
this->xposition = xposition;
this->yposition = yposition;
@@ -120,7 +128,9 @@
return thetaAcceleration;
}
-void MotionState::increment(float desiredSpeed, float desiredOmega, float period)
+void MotionState::increment(float desiredSpeed,
+ float desiredOmega,
+ float period)
{
float acceleration = (desiredSpeed-speed)/period;
if (acceleration < -this->acceleration) acceleration = -this->acceleration;
--- a/RobotControl/MotionState.h Thu Mar 21 08:56:53 2013 +0000
+++ b/RobotControl/MotionState.h Sat Mar 23 13:52:48 2013 +0000
@@ -36,7 +36,7 @@
float yposition;
/** The θ of this motion state. */
float theta;
- /** The θ of this motion state from the compass. */
+ /** The θ of this motion state from the compass. */
float thetaCompass;
/** The speed value of this motion state. */
float speed;
@@ -50,127 +50,141 @@
MotionState();
/**
- * Creates a <code>MotionState</code> object with given values for position and speed.
- * @param xposition the initial position value of this motion state, given in [m]
- * @param yposition the initial position value of this motion state, given in [m]
- * @param theta the initial θ value of this motion state, given in [rad]
- * @param speed the initial speed value of this motion state, given in [m/s]
- * @param omega the initial ω speed value of this motion state, given in [rad/s]
- */
- MotionState(float xposition, float yposition, float theta, float speed, float omega);
+ * Creates a <code>MotionState</code> object with given values for position and speed.
+ * @param xposition the initial position value of this motion state, given in [m]
+ * @param yposition the initial position value of this motion state, given in [m]
+ * @param theta the initial θ value of this motion state, given in [rad]
+ * @param speed the initial speed value of this motion state, given in [m/s]
+ * @param omega the initial ω speed value of this motion state, given in [rad/s]
+ */
+ MotionState(float xposition,
+ float yposition,
+ float theta,
+ float speed,
+ float omega);
/**
- * Destructor of the Object to destroy the Object.
- **/
+ * Destructor of the Object to destroy the Object.
+ **/
virtual ~MotionState();
/**
- * Sets the values for xPosition, yPostion and θ.
- * @param xposition the initial position value of this motion state, given in [m]
- * @param yposition the initial position value of this motion state, given in [m]
- * @param theta the initial θ value of this motion state, given in [rad]
- * @param speed the initial speed value of this motion state, given in [m/s]
- * @param omega the initial ω speed value of this motion state, given in [rad/s]
- */
- void setState(float xposition, float yposition, float theta, float speed, float omega);
+ * Sets the values for xPosition, yPostion and θ.
+ * @param xposition the initial position value of this motion state, given in [m]
+ * @param yposition the initial position value of this motion state, given in [m]
+ * @param theta the initial θ value of this motion state, given in [rad]
+ * @param speed the initial speed value of this motion state, given in [m/s]
+ * @param omega the initial ω speed value of this motion state, given in [rad/s]
+ */
+ void setState(float xposition,
+ float yposition,
+ float theta,
+ float speed,
+ float omega);
/**
- * Sets the values for X-Position, Y-Postion and θ.
- * @param motionState another <code>MotionState</code> object to copy the state values from
- */
+ * Sets the values for X-Position, Y-Postion and θ.
+ * @param motionState another <code>MotionState</code> object to copy the state values from
+ */
void setState(MotionState* motionState);
/**
- * Sets the X-position value.
- * @param xposition the desired xposition value of this motion state, given in [m]
- */
+ * Sets the X-position value.
+ * @param xposition the desired xposition value of this motion state, given in [m]
+ */
void setxPosition(float xposition);
/**
- * Gets the X-position value.
- * @return the xposition value of this motion state, given in [m]
- */
+ * Gets the X-position value.
+ * @return the xposition value of this motion state, given in [m]
+ */
float getxPosition();
/**
- * Sets the Y-position value.
- * @param yposition the desired yposition value of this motion state, given in [m]
- */
+ * Sets the Y-position value.
+ * @param yposition the desired yposition value of this motion state, given in [m]
+ */
void setyPosition(float yposition);
/**
- * Gets the Y-position value.
- * @return the xposition value of this motion state, given in [m]
- */
+ * Gets the Y-position value.
+ * @return the xposition value of this motion state, given in [m]
+ */
float getyPosition();
/**
- * Sets the θ value.
- * @param theta the desired θ value of this motion state, given in [rad]
- */
+ * Sets the θ value.
+ * @param theta the desired θ value of this motion state, given in [rad]
+ */
void setTheta(float theta);
/**
- * Gets the θ value.
- * @return the θ value of this motion state, given in [rad]
- */
+ * Gets the θ value.
+ * @return the θ value of this motion state, given in [rad]
+ */
float getTheta();
/**
- * Sets the speed value.
- * @param speed the desired speed value of this motion state, given in [m/s]
- */
+ * Sets the speed value.
+ * @param speed the desired speed value of this motion state, given in [m/s]
+ */
void setSpeed(float speed);
/**
- * Gets the speed value.
- * @return the speed value of this motion state, given in [m/s]
- */
+ * Gets the speed value.
+ * @return the speed value of this motion state, given in [m/s]
+ */
float getSpeed();
/**
- * Sets the ω value.
- * @param omega the desired ω value of this motion state, given in [rad/s]
- */
+ * Sets the ω value.
+ * @param omega the desired ω value of this motion state, given in [rad/s]
+ */
void setOmega(float omega);
/**
- * Gets the ω value.
- * @return the ω value of this motion state, given in [rad/s]
- */
+ * Gets the ω value.
+ * @return the ω value of this motion state, given in [rad/s]
+ */
float getOmega();
/**
- * 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>]
- */
+ * 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);
/**
- * Gets the maximum acceleration value.
- * @return the maximum acceleration value used for the calculation of the motion trajectory, given in [m/s<SUP>2</SUP>]
- */
+ * Gets the maximum acceleration value.
+ * @return the maximum acceleration value used for the calculation
+ * of the motion trajectory, given in [m/s<SUP>2</SUP>]
+ */
float getAcceleration();
/**
- * Sets the maximum acceleration value of rotation.
- * @param thetaAcceleration the maximum acceleration value to use for the calculation of the motion trajectory, given in [rad/<SUP>2</SUP>]
- */
+ * Sets the maximum acceleration value of rotation.
+ * @param thetaAcceleration the maximum acceleration value to use for
+ * the calculation of the motion trajectory, given in [rad/<SUP>2</SUP>]
+ */
void setThetaAcceleration(float thetaAcceleration);
/**
- * Gets the maximum acceleration value of rotation.
- * @return the maximum acceleration value used for the calculation of the motion trajectory, given in [rad/<SUP>2</SUP>]
- */
+ * Gets the maximum acceleration value of rotation.
+ * @return the maximum acceleration value used for the calculation of
+ * the motion trajectory, given in [rad/<SUP>2</SUP>]
+ */
float getThetaAcceleration();
/**
- * Increments the current motion state towards a given desired speed.
- * @param desiredSpeed the desired speed given in [m/s].
- * @param desiredOmega the desired ω given in [rad/s].
- * @param period the time period to increment the motion state for, given in [s]
- */
- void increment(float desiredSpeed, float desiredOmega, float period);
+ * Increments the current motion state towards a given desired speed.
+ * @param desiredSpeed the desired speed given in [m/s].
+ * @param desiredOmega the desired ω given in [rad/s].
+ * @param period the time period to increment the motion state for, given in [s]
+ */
+ void increment(float desiredSpeed,
+ float desiredOmega,
+ float period);
};
#endif
--- a/RobotControl/RobotControl.cpp Thu Mar 21 08:56:53 2013 +0000
+++ b/RobotControl/RobotControl.cpp Sat Mar 23 13:52:48 2013 +0000
@@ -2,7 +2,10 @@
using namespace std;
-RobotControl::RobotControl(MaxonESCON* motorControllerLeft, MaxonESCON* motorControllerRight, /*HMC6352* compass,*/ float period) : Task(period)
+RobotControl::RobotControl(MaxonESCON* motorControllerLeft,
+ MaxonESCON* motorControllerRight,
+ /*HMC6352* compass,*/
+ float period) : Task(period)
{
/* get peripherals */
this->motorControllerLeft = motorControllerLeft;
@@ -91,7 +94,9 @@
return Desired.theta;
}
-void RobotControl::setDesiredPositionAndAngle(float xposition, float yposition, float theta)
+void RobotControl::setDesiredPositionAndAngle(float xposition,
+ float yposition,
+ float theta)
{
setDesiredxPosition(xposition);
setDesiredyPosition(yposition);
@@ -161,35 +166,16 @@
float RobotControl::getThetaErrorToGoal()
{
return PiRange(atan2(getyPositionError(),getxPositionError()) - getActualTheta());
- /*float temp;
- temp = atan2(getyPositionError(),getxPositionError()) - getActualTheta();
-
- if(temp <= -PI) {
- temp += 2* PI;
- } else if (temp > PI) {
- temp -= 2* PI;
- } else {
- //nothing
- }
- return temp;*/
}
float RobotControl::getThetaGoal()
{
return PiRange(atan2(getyPositionError(),getxPositionError()) - getTheta());
-
- /*
- if(temp <= -PI) {
- temp += 2* PI;
- } else if (temp > PI) {
- temp -= 2* PI;
- } else {
- //nothing
- }
- return temp;*/
}
-void RobotControl::setAllToZero(float xZeroPos, float yZeroPos, float theta)
+void RobotControl::setAllToZero(float xZeroPos,
+ float yZeroPos,
+ float theta)
{
Actual.setState(xZeroPos, yZeroPos, theta, 0.0f, 0.0f);
Desired.setState(0.0f, 0.0f, 0.0f, 0.0f, 0.0f);
@@ -219,8 +205,10 @@
/* position calculation */
/* Set the state of speed from Left und Right Wheel*/
- stateLeft.speed = motorControllerLeft->getActualSpeed() * 2.0f * WHEEL_RADIUS * PI * GEAR;
- stateRight.speed = - motorControllerRight->getActualSpeed() * 2.0f * WHEEL_RADIUS * PI * GEAR;
+ 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) */
Actual.speed = ( stateRight.speed + stateLeft.speed ) / 2.0f;
@@ -231,15 +219,7 @@
/* rotational theta of the Robot integrate the omega with the time*/
Actual.theta += Actual.omega * period;
Actual.theta = PiRange(Actual.theta);
- /*
- if(Actual.theta <= -PI) {
- Actual.theta += 2* PI;
- } else if (Actual.theta > PI) {
- Actual.theta -= 2* PI;
- } else {
- //nothing
- }
- */
+
/* 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));
@@ -256,10 +236,13 @@
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 * PI * GEAR) );
- motorControllerRight->setVelocity(-( ( (2 * speed) + (WHEEL_DISTANCE * omega) ) / 2) / (2 * WHEEL_RADIUS * 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 {
@@ -279,4 +262,3 @@
return theta;
}
}
-
--- a/RobotControl/RobotControl.h Thu Mar 21 08:56:53 2013 +0000
+++ b/RobotControl/RobotControl.h Sat Mar 23 13:52:48 2013 +0000
@@ -45,103 +45,125 @@
float speed;
float omega;
+ /**
+ * Add ±2π when the range of
+ * the radian is over +π or under -π.
+ * @param theta to check the value
+ * @return the value in the range from -π to +π
+ */
+ float PiRange(float theta);
+
public:
/**
- * Creates a <code>Robot Control</code> object and initializes all private
- * state variables.
- * @param motorControllerLeft a reference to the servo drive for the left motor
- * @param motorControllerRight a reference to the servo drive for the right motor
+ * Creates a <code>Robot Control</code> object and
+ * initializes all private state variables.
+ * @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 compass Modul HMC5883L
- * @param period the sampling period of the run loop of this controller, given in [s]
+ * @param period the sampling period of the run loop of
+ * this controller, given in [s]
*/
- RobotControl(MaxonESCON* motorControllerLeft, MaxonESCON* motorControllerRight, /*HMC6352* compass,*/ float period);
+ RobotControl(MaxonESCON* motorControllerLeft,
+ MaxonESCON*
+ motorControllerRight,
+ /*HMC6352* compass,*/
+ float period);
/**
- * Destructor of the Object to destroy the Object.
- **/
+ * Destructor of the Object to destroy the Object.
+ **/
virtual ~RobotControl();
/**
- * Enables or disables the servo drives of the motors.
- * @param enable if <code>true</code> enables the drives, <code>false</code> otherwise
- * the servo drives are shut down.
- */
+ * Enables or disables the servo drives of the motors.
+ * @param enable if <code>true</code> enables the drives,
+ * <code>false</code> otherwise
+ * the servo drives are shut down.
+ */
void setEnable(bool enable);
/**
- * Tests if the servo drives of the motors are enabled.
- * @return <code>true</code> if the drives are enabled, <code>false</code> otherwise
- */
+ * Tests if the servo drives of the motors are enabled.
+ * @return <code>true</code> if the drives are enabled,
+ * <code>false</code> otherwise
+ */
bool isEnabled();
/**
- * 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>]
- */
+ * 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);
/**
- * 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>]
- */
+ * 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);
/**
- * Sets the desired translational speed of the robot.
- * @param speed the desired speed, given in [m/s]
- */
+ * Sets the desired translational speed of the robot.
+ * @param speed the desired speed, given in [m/s]
+ */
void setDesiredSpeed(float speed);
/**
- * Sets the desired rotational speed of the robot.
- * @param omega the desired rotational speed, given in [rad/s]
- */
+ * Sets the desired rotational speed of the robot.
+ * @param omega the desired rotational speed, given in [rad/s]
+ */
void setDesiredOmega(float omega);
/**
- * Sets the desired X-position of the robot.
- * @param xposition the desired position, given in [m]
- */
+ * Sets the desired X-position of the robot.
+ * @param xposition the desired position, given in [m]
+ */
void setDesiredxPosition(float xposition);
/**
- * Sets the desired Y-position of the robot.
- * @param yposition the desired position, given in [m]
- */
+ * Sets the desired Y-position of the robot.
+ * @param yposition the desired position, given in [m]
+ */
void setDesiredyPosition(float yposition);
/**
- * Sets the desired θ of the robot.
- * @param theta the desired θ, given in [rad]
- */
+ * Sets the desired θ of the robot.
+ * @param theta the desired θ, given in [rad]
+ */
void setDesiredTheta(float theta);
-
- /**
- * Get the desired X-position of the robot.
- * @return xposition the desired position, given in [m]
- */
+
+ /**
+ * Get the desired X-position of the robot.
+ * @return xposition the desired position, given in [m]
+ */
float getDesiredxPosition();
/**
- * Get the desired Y-position of the robot.
- * @return yposition the desired position, given in [m]
- */
+ * Get the desired Y-position of the robot.
+ * @return yposition the desired position, given in [m]
+ */
float getDesiredyPosition();
/**
- * Get the desired θ of the robot.
- * @return theta the desired θ, given in [rad]
- */
+ * Get the desired θ of the robot.
+ * @return theta the desired θ, given in [rad]
+ */
float getDesiredTheta();
/**
- * Sets the desired Position and θ.
- * @param xposition the desired position, given in [m]
- * @param yposition the desired position, given in [m]
- * @param theta the desired θ, given in [rad]
- */
- void setDesiredPositionAndAngle(float xposition, float yposition, float theta);
+ * Sets the desired Position and θ.
+ * @param xposition the desired position, given in [m]
+ * @param yposition the desired position, given in [m]
+ * @param theta the desired θ, given in [rad]
+ */
+ void setDesiredPositionAndAngle(float xposition,
+ float yposition,
+ float theta);
/**
* Gets the desired θ of the goal point.
@@ -162,85 +184,82 @@
float getActualSpeed();
/**
- * Gets the desired rotational speed of the robot.
- * @return the desired speed, given in [rad/s]
- */
+ * Gets the desired rotational speed of the robot.
+ * @return the desired speed, given in [rad/s]
+ */
float getDesiredOmega();
/**
- * Gets the actual rotational speed of the robot.
- * @return the desired speed, given in [rad/s]
- */
+ * Gets the actual rotational speed of the robot.
+ * @return the desired speed, given in [rad/s]
+ */
float getActualOmega();
/**
- * Gets the actual translational X-position of the robot.
- * @return the actual position, given in [m]
- */
+ * Gets the actual translational X-position of the robot.
+ * @return the actual position, given in [m]
+ */
float getxActualPosition();
/**
- * Gets the X-position following error of the robot.
- * @return the position following error, given in [m]
- */
+ * Gets the X-position following error of the robot.
+ * @return the position following error, given in [m]
+ */
float getxPositionError();
/**
- * Gets the actual translational Y-position of the robot.
- * @return the actual position, given in [m]
- */
+ * Gets the actual translational Y-position of the robot.
+ * @return the actual position, given in [m]
+ */
float getyActualPosition();
/**
- * Gets the Y-position following error of the robot.
- * @return the position following error, given in [m]
- */
+ * Gets the Y-position following error of the robot.
+ * @return the position following error, given in [m]
+ */
float getyPositionError();
/**
- * Gets the actual orientation of the robot.
- * @return the orientation, given in [rad]
- */
+ * Gets the actual orientation of the robot.
+ * @return the orientation, given in [rad]
+ */
float getActualTheta();
/**
- * Gets the orientation following error of the robot.
- * @return the orientation following error, given in [rad]
- */
+ * Gets the orientation following error of the robot.
+ * @return the orientation following error, given in [rad]
+ */
float getThetaError();
/**
- * Gets the distance to disired point. Calculate with pythagoras.
- * @return distance to goal, given in [m]
- */
+ * Gets the distance to disired point. Calculate with pythagoras.
+ * @return distance to goal, given in [m]
+ */
float getDistanceError();
/**
- * Gets the θ ot the pointing vector to the goal right the unicycle axis from actual point.
- * @return theta to goal, given in [rad]
- */
+ * Gets the θ ot the pointing vector to the goal right
+ * the unicycle axis from actual point.
+ * @return theta to goal, given in [rad]
+ */
float getThetaErrorToGoal();
/**
- * Gets the θ ot the pointing vector to the goal right the unicycle main axis.
- * @return theta from the goal, given in [rad]
- */
+ * Gets the θ ot the pointing vector to the goal right the unicycle main axis.
+ * @return theta from the goal, given in [rad]
+ */
float getThetaGoal();
/**
- * Set all state to zero, except the X-position, y-position and θ.
- * @param xZeroPos Sets the start X-position, given in [m]
- * @param yZeroPos Sets the start y-position, given in [m]
- * @param theta Sets the start θ, given in [rad]
- */
- void setAllToZero(float xZeroPos, float yZeroPos, float theta);
+ * Set all state to zero, except the X-position, y-position and θ.
+ * @param xZeroPos Sets the start X-position, given in [m]
+ * @param yZeroPos Sets the start y-position, given in [m]
+ * @param theta Sets the start θ, given in [rad]
+ */
+ void setAllToZero(float xZeroPos,
+ float yZeroPos,
+ float theta);
- /**
- * Add ±2π when the range of the radian is over +π or under -π.
- * @param theta to check the value
- * @return the value in the range from -π to +π
- */
- float PiRange(float theta);
void run();
};
--- a/StateDefines/State.cpp Thu Mar 21 08:56:53 2013 +0000
+++ b/StateDefines/State.cpp Sat Mar 23 13:52:48 2013 +0000
@@ -62,7 +62,8 @@
{
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%f\t%f\t%d\t%f\t%f\t%f",
+ 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%f\t%f\t%d\t%f\t%f\t%f",
s.millis,
s.voltageBattery,
s.leftPulses,
@@ -149,8 +150,10 @@
s->voltageBattery = readBattery();
s->leftPulses = - motorControllerLeft->getPulses();
s->rightPulses = motorControllerRight->getPulses();
- s->leftVelocity = motorControllerLeft->getActualSpeed() * 2.0f * WHEEL_RADIUS * PI;
- s->rightVelocity = - motorControllerRight->getActualSpeed()* 2.0f * WHEEL_RADIUS * PI;
+ s->leftVelocity = motorControllerLeft->getActualSpeed() *
+ 2.0f * WHEEL_RADIUS_LEFT * PI;
+ s->rightVelocity = - motorControllerRight->getActualSpeed()*
+ 2.0f * WHEEL_RADIUS_RIGHT * PI;
s->velocity = robotControl->getActualSpeed();
s->omega = robotControl->getActualOmega();
s->xAxis = robotControl->getxActualPosition();
@@ -171,5 +174,4 @@
setBatteryBit();
setEnableLeftBit();
setEnableRightBit();
-
}
--- a/StateDefines/State.h Thu Mar 21 08:56:53 2013 +0000
+++ b/StateDefines/State.h Sat Mar 23 13:52:48 2013 +0000
@@ -22,7 +22,7 @@
*
* State is the main mechanism for communicating current realtime system state to
* the rest of the system for logging etc.
- *
+ *
*/
class State : public Task
@@ -34,12 +34,11 @@
RobotControl* robotControl;
MaxonESCON* motorControllerLeft;
MaxonESCON* motorControllerRight;
- // HMC6352* compass;
+ // HMC6352* compass;
AnalogIn* battery;
Timer timer;
float period;
-
- float magout[3];
+ //float magout[3];
public:
@@ -53,28 +52,34 @@
* @param battery Analog Input Battery Voltage input
* @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, /*HMC6352* compass,*/ AnalogIn* battery, float period);
+ State(state_t* s,
+ RobotControl* robotControl,
+ MaxonESCON* motorControllerLeft,
+ MaxonESCON* motorControllerRight,
+ /*HMC6352* compass,*/
+ AnalogIn* battery,
+ float period);
/**
- * Destructor of the Object to destroy the Object.
- **/
+ * Destructor of the Object to destroy the Object.
+ **/
virtual ~State();
-
+
/**
* Initzialize the File. Open the File plots.txt and set the title at first line.
*/
void initPlotFile(void);
/**
- * Save the char to the file.
- * For example at the end.
- * Don't forget the \n at first.
- */
+ * Save the char to the file.
+ * For example at the end.
+ * Don't forget the \n at first.
+ */
void savePlotText(char text[]);
/**
- * Close the File.
- */
+ * Close the File.
+ */
void closePlotFile(void);
/**
@@ -84,15 +89,15 @@
*/
float readBattery();
- /**
+ /**
* Starts the timer from zero.
* The timer is for the logging Time.
*/
void startTimerFromZero();
/**
- * Save the new state to a new line.
- */
+ * Save the new state to a new line.
+ */
void savePlotFile(state_t s);
void run();
--- a/StateDefines/defines.h Thu Mar 21 08:56:53 2013 +0000
+++ b/StateDefines/defines.h Sat Mar 23 13:52:48 2013 +0000
@@ -9,11 +9,12 @@
// maxon motor #339282 EC 45 flat 30W and GEAR
#define POLE_PAIRS 8u // Number of of pole pairs
#define GEAR 1/11.6f // Gear on the motor 1/11.6f
-#define PULSES_PER_STEP 6u // Pulses per step Hallsensor have 6 steps
+#define PULSES_PER_STEP 6u // Pulses per electrical step Hallsensor, have 6 steps
// Physical Dimension of the car
-#define WHEEL_RADIUS 0.043f // radius of the wheel, given in [m]
-#define WHEEL_DISTANCE 0.18f // Distance of the wheel, given in [m]
+#define WHEEL_RADIUS_LEFT 0.043f // radius of the left wheel, given in [m]
+#define WHEEL_RADIUS_RIGHT 0.043f // radius of the left wheel, given in [m]
+#define WHEEL_DISTANCE 0.1865f // Distance of the wheel, given in [m]
// State Bits of the car
#define STATE_STOP 1u // Bit0 = stop pressed
@@ -37,8 +38,8 @@
#define GAIN 0.30f // Main Gain
#define K1 1.0f * GAIN
#define K2 3.0f * GAIN
-#define K3 2.0f * GAIN
-#define MIN_DISTANCE_ERROR 0.03 // min. Distance to switch the position controller off. Because when Distance Error goes to zero the ATAN2 is not define, given in [m]
+#define K3 5.0f * GAIN // deafult 2.0f
+#define MIN_DISTANCE_ERROR -0.02f // min. Distance to switch the position controller off. Because when Distance Error goes to zero the ATAN2 is not define, given in [m]
// LiPo Batterie
#define BAT_MULTIPLICATOR 21.633333333f // R2 / (R1 + R2) = 0.153 R2= 10k , R1 = 1.8k 1/0.153 = 6.555 ---> 3.3 * 6.555 = 21.6333333f
@@ -64,7 +65,11 @@
#define COMP_Z_MAX -237.855042f // Maximum Z-Range not used in this side
#define COMP_X_MIN -169.952530f // Minimum X-Range
#define COMP_Y_MIN -247.647675f // Minimum Y-Range
-#define COMP_Z_MIN -385.915009f // Minimun Z-Range not used in this side
+#define COMP_Z_MIN -385.915009f // Minimun Z-Range not used in this side
+
+// Android Buffer Size for communication
+#define OUTL 100
+#define INBL 100
/**
* struct state
--- a/Task/Task.h Thu Mar 21 08:56:53 2013 +0000
+++ b/Task/Task.h Sat Mar 23 13:52:48 2013 +0000
@@ -10,7 +10,7 @@
*
* Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
* All rights reserved.
- *
+ *
* @section DESCRIPTION
* The <code>Task</code> class allows to install periodic, time-triggered
* tasks. An example of a simple user-defined task is given below:
@@ -40,17 +40,19 @@
/** specifiying the interval in seconds */
float period;
- /** The Ticker interface is used to setup a recurring interrupt to repeatedly call a function at a specified rate. */
+ /** The Ticker interface is used to setup a recurring interrupt to
+ * repeatedly call a function at a specified rate.
+ */
Ticker ticker;
public:
- /**
+ /**
* Creates a task object with a given period.
* @param period the period of this task in seconds.
*/
Task(float period);
-
+
virtual ~Task();
/**
--- a/main.cpp Thu Mar 21 08:56:53 2013 +0000
+++ b/main.cpp Sat Mar 23 13:52:48 2013 +0000
@@ -1,4 +1,6 @@
/**
+ * \mainpage Index Page
+ *
* @file main.cpp
* @author Christian Burri
*
@@ -34,6 +36,10 @@
#include "RobotControl.h"
#include "Ping.h"
#include "PowerControl/EthernetPowerControl.h"
+//#include "android.h"
+
+//Android
+//AdkTerm AdkTerm;
// LiPo Batterie
AnalogIn battery(p15); // Battery check
@@ -66,7 +72,6 @@
DigitalOut myled(LED1);
-//float magout[3] = {0};
// LiPo Batterie
float batterie_voltage;
@@ -89,10 +94,11 @@
robotControl.start();
robotControl.setEnable(false);
- wait(0.01);
+ wait(0.1);
robotControl.setEnable(true);
- wait(0.01);
- robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
+ wait(0.1);
+ robotControl.setAllToZero(0, 0, PI/2 );
+ // robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
leftMotor.setPulses(0);
rightMotor.setPulses(0);
@@ -100,44 +106,163 @@
state.startTimerFromZero();
state.start();
- robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
+ // robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
+ // robotControl.setDesiredPositionAndAngle(0, 0, PI/2);
wait(0.1);
+
+ //////////////////////////////////////////
+
+ robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI);
+ while(!(robotControl.getDistanceError() <= 0.1)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-1.20f, 1.50f, 3*PI/4);
- while(!(robotControl.getDistanceError() <= 0.4)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-1.00f, 1.0f, -PI/2);
+ while(!(robotControl.getDistanceError() <= 0.1)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(-1.0f, 0.0f, 0);
+ while(!(robotControl.getDistanceError() <= 0.1)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-1.20f, 2.5f, PI/4);
- while(!(robotControl.getDistanceError() <= 0.4)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(0.0, 0.0f, PI/2);
+ while(!(s.millis >= 55000)) {
+ state.savePlotFile(s);
+ };
+
+
+
+
+
+
+
+
+
+
+
+
+ ////////////////////////////////////////////////////////////////////////
+
+
- robotControl.setDesiredPositionAndAngle(-0.45f, 3.2f, 3*PI/4);
- while(!(robotControl.getDistanceError() <= 0.4)) {
+ //Zum Umfang einstellen
+ /*
+ robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI/2);
+ while(!(s.millis >= 20000)) {
state.savePlotFile(s);
};
+
- robotControl.setDesiredPositionAndAngle(-1.0f, 3.6f, PI);
- while(!(robotControl.getDistanceError() <= 0.2)) {
- state.savePlotFile(s);
- };
+*/
+
+ ///////////////oder//////////////////
+
+
+ // Zum radabstand einstellen
+
+ /*
+ int sek = 1000;
+ int step = 1000;
+ int i = 0;
+ int totalTurns = 5;
+
+ while(i >= totalTurns) {
+ robotControl.setDesiredPositionAndAngle(0.0f, 0.0f, PI);
+ while(!(s.millis >= sek)) {
+ state.savePlotFile(s);
+ };
+ sek += step;
+
+ robotControl.setDesiredPositionAndAngle(0.0f, 0.0f, -PI/2);
+ while(!(s.millis >= sek)) {
+ state.savePlotFile(s);
+ };
+ sek += step;
- robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI);
- while(!(robotControl.getDistanceError() <= 0.03)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(0.0f, 0.0f, 0);
+ while(!(s.millis >= sek)) {
+ state.savePlotFile(s);
+ };
+ sek += step;
+
+ robotControl.setDesiredPositionAndAngle(0.0f, 0.0f, PI/2);
+ while(!(s.millis >= sek)) {
+ state.savePlotFile(s);
+ };
+ sek += step;
+
+ i++;
+ }
+*/
+
+
+////////////////////////////////////////////////////////
+
+
+
+ // Epä Parkour fahrä
+/*
+ robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
+ wait(0.1);
- robotControl.setDesiredPositionAndAngle(-2.5f, 3.0f, -PI/2);
- while(!(robotControl.getDistanceError() <= 0.4)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-1.20f, 1.50f, 3*PI/4);
+ while(!(robotControl.getDistanceError() <= 0.4)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(-1.20f, 2.5f, PI/4);
+ while(!(robotControl.getDistanceError() <= 0.4)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(-0.45f, 3.2f, 3*PI/4);
+ while(!(robotControl.getDistanceError() <= 0.4)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(-1.0f, 3.6f, PI);
+ while(!(robotControl.getDistanceError() <= 0.2)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI);
+ while(!(robotControl.getDistanceError() <= 0.1)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-1.75f, 1.30f, -PI/2);
- while(!(robotControl.getDistanceError() <= 0.04)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-2.5f, 3.0f, -PI/2);
+ while(!(robotControl.getDistanceError() <= 0.4)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(-1.75f, 1.30f, -PI/2);
+ while(!(robotControl.getDistanceError() <= 0.06)) {
+ state.savePlotFile(s);
+ };
+
+ */
+
+
+
+
+ /*
+ printf("here we go... \n");
+ AdkTerm.setupDevice();
+ printf("Android Development Kit: start\r\n");
+ USBInit();
+ while (!(s.millis >= 60000)) {
+ USBLoop();
+
+ printf("x: %f y: %f theta: %f", AdkTerm.getx(), AdkTerm.getx(), AdkTerm.getx() )
+
+ if( AdkTerm.getx() == 99) {
+ break;
+ }
+ }
+ */
state.savePlotFile(s);
state.closePlotFile();