Andrew Schaeffer / Mbed 2 deprecated OU_Davis_Old_Robot

This is the project for the Old Model Robots for OU's Dr. Davis's Configurable Robots Research. This is being published so future robots can be set up easily.

Dependencies:   FatFileSystem MCP3008 Motor PinDetect QTR_8A SRF05 SSD1308_128x64_I2C mbed

blueusb/AutoEvents.cpp@0:bcad524c1856, 2017-11-01 (annotated)

Committer:
DrewSchaef
Date:
Wed Nov 01 15:57:59 2017 +0000
Revision:
0:bcad524c1856
Published the project to allow access for future work on the Configurable Robots Research Project(s).

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DrewSchaef 0:bcad524c1856 1
DrewSchaef 0:bcad524c1856 2 /*
DrewSchaef 0:bcad524c1856 3 Copyright (c) 2010 Peter Barrett
DrewSchaef 0:bcad524c1856 4
DrewSchaef 0:bcad524c1856 5 Permission is hereby granted, free of charge, to any person obtaining a copy
DrewSchaef 0:bcad524c1856 6 of this software and associated documentation files (the "Software"), to deal
DrewSchaef 0:bcad524c1856 7 in the Software without restriction, including without limitation the rights
DrewSchaef 0:bcad524c1856 8 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
DrewSchaef 0:bcad524c1856 9 copies of the Software, and to permit persons to whom the Software is
DrewSchaef 0:bcad524c1856 10 furnished to do so, subject to the following conditions:
DrewSchaef 0:bcad524c1856 11
DrewSchaef 0:bcad524c1856 12 The above copyright notice and this permission notice shall be included in
DrewSchaef 0:bcad524c1856 13 all copies or substantial portions of the Software.
DrewSchaef 0:bcad524c1856 14
DrewSchaef 0:bcad524c1856 15 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
DrewSchaef 0:bcad524c1856 16 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
DrewSchaef 0:bcad524c1856 17 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
DrewSchaef 0:bcad524c1856 18 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
DrewSchaef 0:bcad524c1856 19 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
DrewSchaef 0:bcad524c1856 20 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
DrewSchaef 0:bcad524c1856 21 THE SOFTWARE.
DrewSchaef 0:bcad524c1856 22 */
DrewSchaef 0:bcad524c1856 23
DrewSchaef 0:bcad524c1856 24 #include "mbed.h"
DrewSchaef 0:bcad524c1856 25 #include "USBHost.h"
DrewSchaef 0:bcad524c1856 26 #include "Utils.h"
DrewSchaef 0:bcad524c1856 27
DrewSchaef 0:bcad524c1856 28 #define AUTOEVT(_class,_subclass,_protocol) (((_class) << 16) | ((_subclass) << 8) | _protocol)
DrewSchaef 0:bcad524c1856 29 #define AUTO_KEYBOARD AUTOEVT(CLASS_HID,1,1)
DrewSchaef 0:bcad524c1856 30 #define AUTO_MOUSE AUTOEVT(CLASS_HID,1,2)
DrewSchaef 0:bcad524c1856 31
DrewSchaef 0:bcad524c1856 32 u8 auto_mouse[4]; // buttons,dx,dy,scroll
DrewSchaef 0:bcad524c1856 33 u8 auto_keyboard[8]; // modifiers,reserved,keycode1..keycode6
DrewSchaef 0:bcad524c1856 34 u8 auto_joystick[4]; // x,y,buttons,throttle
DrewSchaef 0:bcad524c1856 35
DrewSchaef 0:bcad524c1856 36 void AutoEventCallback(int device, int endpoint, int status, u8* data, int len, void* userData)
DrewSchaef 0:bcad524c1856 37 {
DrewSchaef 0:bcad524c1856 38 int evt = (int)userData;
DrewSchaef 0:bcad524c1856 39 switch (evt)
DrewSchaef 0:bcad524c1856 40 {
DrewSchaef 0:bcad524c1856 41 case AUTO_KEYBOARD:
DrewSchaef 0:bcad524c1856 42 printf("AUTO_KEYBOARD ");
DrewSchaef 0:bcad524c1856 43 break;
DrewSchaef 0:bcad524c1856 44 case AUTO_MOUSE:
DrewSchaef 0:bcad524c1856 45 printf("AUTO_MOUSE ");
DrewSchaef 0:bcad524c1856 46 break;
DrewSchaef 0:bcad524c1856 47 default:
DrewSchaef 0:bcad524c1856 48 printf("HUH ");
DrewSchaef 0:bcad524c1856 49 }
DrewSchaef 0:bcad524c1856 50 printfBytes("data",data,len);
DrewSchaef 0:bcad524c1856 51 USBInterruptTransfer(device,endpoint,data,len,AutoEventCallback,userData);
DrewSchaef 0:bcad524c1856 52 }
DrewSchaef 0:bcad524c1856 53
DrewSchaef 0:bcad524c1856 54 // Establish transfers for interrupt events
DrewSchaef 0:bcad524c1856 55 void AddAutoEvent(int device, InterfaceDescriptor* id, EndpointDescriptor* ed)
DrewSchaef 0:bcad524c1856 56 {
DrewSchaef 0:bcad524c1856 57 if ((ed->bmAttributes & 3) != ENDPOINT_INTERRUPT || !(ed->bEndpointAddress & 0x80))
DrewSchaef 0:bcad524c1856 58 return;
DrewSchaef 0:bcad524c1856 59
DrewSchaef 0:bcad524c1856 60 // Make automatic interrupt enpoints for known devices
DrewSchaef 0:bcad524c1856 61 u32 evt = AUTOEVT(id->bInterfaceClass,id->bInterfaceSubClass,id->bInterfaceProtocol);
DrewSchaef 0:bcad524c1856 62 u8* dst = 0;
DrewSchaef 0:bcad524c1856 63 int len;
DrewSchaef 0:bcad524c1856 64 switch (evt)
DrewSchaef 0:bcad524c1856 65 {
DrewSchaef 0:bcad524c1856 66 case AUTO_MOUSE:
DrewSchaef 0:bcad524c1856 67 dst = auto_mouse;
DrewSchaef 0:bcad524c1856 68 len = sizeof(auto_mouse);
DrewSchaef 0:bcad524c1856 69 break;
DrewSchaef 0:bcad524c1856 70 case AUTO_KEYBOARD:
DrewSchaef 0:bcad524c1856 71 dst = auto_keyboard;
DrewSchaef 0:bcad524c1856 72 len = sizeof(auto_keyboard);
DrewSchaef 0:bcad524c1856 73 break;
DrewSchaef 0:bcad524c1856 74 default:
DrewSchaef 0:bcad524c1856 75 printf("Interrupt endpoint %02X %08X\n",ed->bEndpointAddress,evt);
DrewSchaef 0:bcad524c1856 76 break;
DrewSchaef 0:bcad524c1856 77 }
DrewSchaef 0:bcad524c1856 78 if (dst)
DrewSchaef 0:bcad524c1856 79 {
DrewSchaef 0:bcad524c1856 80 printf("Auto Event for %02X %08X\n",ed->bEndpointAddress,evt);
DrewSchaef 0:bcad524c1856 81 USBInterruptTransfer(device,ed->bEndpointAddress,dst,len,AutoEventCallback,(void*)evt);
DrewSchaef 0:bcad524c1856 82 }
DrewSchaef 0:bcad524c1856 83 }
DrewSchaef 0:bcad524c1856 84
DrewSchaef 0:bcad524c1856 85 void PrintString(int device, int i)
DrewSchaef 0:bcad524c1856 86 {
DrewSchaef 0:bcad524c1856 87 u8 buffer[256];
DrewSchaef 0:bcad524c1856 88 int le = GetDescriptor(device,DESCRIPTOR_TYPE_STRING,i,buffer,255);
DrewSchaef 0:bcad524c1856 89 if (le < 0)
DrewSchaef 0:bcad524c1856 90 return;
DrewSchaef 0:bcad524c1856 91 char* dst = (char*)buffer;
DrewSchaef 0:bcad524c1856 92 for (int j = 2; j < le; j += 2)
DrewSchaef 0:bcad524c1856 93 *dst++ = buffer[j];
DrewSchaef 0:bcad524c1856 94 *dst = 0;
DrewSchaef 0:bcad524c1856 95 printf("%d:%s\n",i,(const char*)buffer);
DrewSchaef 0:bcad524c1856 96 }
DrewSchaef 0:bcad524c1856 97
DrewSchaef 0:bcad524c1856 98 // Walk descriptors and create endpoints for a given device
DrewSchaef 0:bcad524c1856 99 int StartAutoEvent(int device, int configuration, int interfaceNumber)
DrewSchaef 0:bcad524c1856 100 {
DrewSchaef 0:bcad524c1856 101 u8 buffer[255];
DrewSchaef 0:bcad524c1856 102 int err = GetDescriptor(device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,255);
DrewSchaef 0:bcad524c1856 103 if (err < 0)
DrewSchaef 0:bcad524c1856 104 return err;
DrewSchaef 0:bcad524c1856 105
DrewSchaef 0:bcad524c1856 106 int len = buffer[2] | (buffer[3] << 8);
DrewSchaef 0:bcad524c1856 107 u8* d = buffer;
DrewSchaef 0:bcad524c1856 108 u8* end = d + len;
DrewSchaef 0:bcad524c1856 109 while (d < end)
DrewSchaef 0:bcad524c1856 110 {
DrewSchaef 0:bcad524c1856 111 if (d[1] == DESCRIPTOR_TYPE_INTERFACE)
DrewSchaef 0:bcad524c1856 112 {
DrewSchaef 0:bcad524c1856 113 InterfaceDescriptor* id = (InterfaceDescriptor*)d;
DrewSchaef 0:bcad524c1856 114 if (id->bInterfaceNumber == interfaceNumber)
DrewSchaef 0:bcad524c1856 115 {
DrewSchaef 0:bcad524c1856 116 d += d[0];
DrewSchaef 0:bcad524c1856 117 while (d < end && d[1] != DESCRIPTOR_TYPE_INTERFACE)
DrewSchaef 0:bcad524c1856 118 {
DrewSchaef 0:bcad524c1856 119 if (d[1] == DESCRIPTOR_TYPE_ENDPOINT)
DrewSchaef 0:bcad524c1856 120 AddAutoEvent(device,id,(EndpointDescriptor*)d);
DrewSchaef 0:bcad524c1856 121 d += d[0];
DrewSchaef 0:bcad524c1856 122 }
DrewSchaef 0:bcad524c1856 123 }
DrewSchaef 0:bcad524c1856 124 }
DrewSchaef 0:bcad524c1856 125 d += d[0];
DrewSchaef 0:bcad524c1856 126 }
DrewSchaef 0:bcad524c1856 127 return 0;
DrewSchaef 0:bcad524c1856 128 }
DrewSchaef 0:bcad524c1856 129
DrewSchaef 0:bcad524c1856 130 // Implemented in main.cpp
DrewSchaef 0:bcad524c1856 131 /*
DrewSchaef 0:bcad524c1856 132 int OnDiskInsert(int device);
DrewSchaef 0:bcad524c1856 133 */
DrewSchaef 0:bcad524c1856 134 // Implemented in TestShell.cpp
DrewSchaef 0:bcad524c1856 135 int OnBluetoothInsert(int device);
DrewSchaef 0:bcad524c1856 136
DrewSchaef 0:bcad524c1856 137 void OnLoadDevice(int device, DeviceDescriptor* deviceDesc, InterfaceDescriptor* interfaceDesc)
DrewSchaef 0:bcad524c1856 138 {
DrewSchaef 0:bcad524c1856 139 printf("LoadDevice %d %02X:%02X:%02X\n",device,interfaceDesc->bInterfaceClass,interfaceDesc->bInterfaceSubClass,interfaceDesc->bInterfaceProtocol);
DrewSchaef 0:bcad524c1856 140 char s[128];
DrewSchaef 0:bcad524c1856 141 for (int i = 1; i < 3; i++)
DrewSchaef 0:bcad524c1856 142 {
DrewSchaef 0:bcad524c1856 143 if (GetString(device,i,s,sizeof(s)) < 0)
DrewSchaef 0:bcad524c1856 144 break;
DrewSchaef 0:bcad524c1856 145 printf("%d: %s\n",i,s);
DrewSchaef 0:bcad524c1856 146 }
DrewSchaef 0:bcad524c1856 147
DrewSchaef 0:bcad524c1856 148 switch (interfaceDesc->bInterfaceClass)
DrewSchaef 0:bcad524c1856 149 {
DrewSchaef 0:bcad524c1856 150 // case CLASS_MASS_STORAGE:
DrewSchaef 0:bcad524c1856 151 // if (interfaceDesc->bInterfaceSubClass == 0x06 && interfaceDesc->bInterfaceProtocol == 0x50)
DrewSchaef 0:bcad524c1856 152 // OnDiskInsert(device); // it's SCSI!
DrewSchaef 0:bcad524c1856 153 // break;
DrewSchaef 0:bcad524c1856 154 case CLASS_WIRELESS_CONTROLLER:
DrewSchaef 0:bcad524c1856 155 if (interfaceDesc->bInterfaceSubClass == 0x01 && interfaceDesc->bInterfaceProtocol == 0x01)
DrewSchaef 0:bcad524c1856 156 OnBluetoothInsert(device); // it's bluetooth!
DrewSchaef 0:bcad524c1856 157 break;
DrewSchaef 0:bcad524c1856 158 default:
DrewSchaef 0:bcad524c1856 159 StartAutoEvent(device,1,0);
DrewSchaef 0:bcad524c1856 160 break;
DrewSchaef 0:bcad524c1856 161 }
DrewSchaef 0:bcad524c1856 162 }