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/USBHost.h@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 #ifndef USBHOST_H
DrewSchaef 0:bcad524c1856 25 #define USBHOST_H
DrewSchaef 0:bcad524c1856 26
DrewSchaef 0:bcad524c1856 27 #ifndef u8
DrewSchaef 0:bcad524c1856 28 typedef unsigned char u8;
DrewSchaef 0:bcad524c1856 29 typedef unsigned short u16;
DrewSchaef 0:bcad524c1856 30 typedef unsigned long u32;
DrewSchaef 0:bcad524c1856 31
DrewSchaef 0:bcad524c1856 32 typedef char s8;
DrewSchaef 0:bcad524c1856 33 typedef short s16;
DrewSchaef 0:bcad524c1856 34 typedef char s32;
DrewSchaef 0:bcad524c1856 35 #endif
DrewSchaef 0:bcad524c1856 36
DrewSchaef 0:bcad524c1856 37 #define ENDPOINT_CONTROL 0
DrewSchaef 0:bcad524c1856 38 #define ENDPOINT_ISOCRONOUS 1
DrewSchaef 0:bcad524c1856 39 #define ENDPOINT_BULK 2
DrewSchaef 0:bcad524c1856 40 #define ENDPOINT_INTERRUPT 3
DrewSchaef 0:bcad524c1856 41
DrewSchaef 0:bcad524c1856 42 #define DESCRIPTOR_TYPE_DEVICE 1
DrewSchaef 0:bcad524c1856 43 #define DESCRIPTOR_TYPE_CONFIGURATION 2
DrewSchaef 0:bcad524c1856 44 #define DESCRIPTOR_TYPE_STRING 3
DrewSchaef 0:bcad524c1856 45 #define DESCRIPTOR_TYPE_INTERFACE 4
DrewSchaef 0:bcad524c1856 46 #define DESCRIPTOR_TYPE_ENDPOINT 5
DrewSchaef 0:bcad524c1856 47
DrewSchaef 0:bcad524c1856 48 #define DESCRIPTOR_TYPE_HID 0x21
DrewSchaef 0:bcad524c1856 49 #define DESCRIPTOR_TYPE_REPORT 0x22
DrewSchaef 0:bcad524c1856 50 #define DESCRIPTOR_TYPE_PHYSICAL 0x23
DrewSchaef 0:bcad524c1856 51 #define DESCRIPTOR_TYPE_HUB 0x29
DrewSchaef 0:bcad524c1856 52
DrewSchaef 0:bcad524c1856 53 enum USB_CLASS_CODE
DrewSchaef 0:bcad524c1856 54 {
DrewSchaef 0:bcad524c1856 55 CLASS_DEVICE,
DrewSchaef 0:bcad524c1856 56 CLASS_AUDIO,
DrewSchaef 0:bcad524c1856 57 CLASS_COMM_AND_CDC_CONTROL,
DrewSchaef 0:bcad524c1856 58 CLASS_HID,
DrewSchaef 0:bcad524c1856 59 CLASS_PHYSICAL = 0x05,
DrewSchaef 0:bcad524c1856 60 CLASS_STILL_IMAGING,
DrewSchaef 0:bcad524c1856 61 CLASS_PRINTER,
DrewSchaef 0:bcad524c1856 62 CLASS_MASS_STORAGE,
DrewSchaef 0:bcad524c1856 63 CLASS_HUB,
DrewSchaef 0:bcad524c1856 64 CLASS_CDC_DATA,
DrewSchaef 0:bcad524c1856 65 CLASS_SMART_CARD,
DrewSchaef 0:bcad524c1856 66 CLASS_CONTENT_SECURITY = 0x0D,
DrewSchaef 0:bcad524c1856 67 CLASS_VIDEO = 0x0E,
DrewSchaef 0:bcad524c1856 68 CLASS_DIAGNOSTIC_DEVICE = 0xDC,
DrewSchaef 0:bcad524c1856 69 CLASS_WIRELESS_CONTROLLER = 0xE0,
DrewSchaef 0:bcad524c1856 70 CLASS_MISCELLANEOUS = 0xEF,
DrewSchaef 0:bcad524c1856 71 CLASS_APP_SPECIFIC = 0xFE,
DrewSchaef 0:bcad524c1856 72 CLASS_VENDOR_SPECIFIC = 0xFF
DrewSchaef 0:bcad524c1856 73 };
DrewSchaef 0:bcad524c1856 74
DrewSchaef 0:bcad524c1856 75 #define DEVICE_TO_HOST 0x80
DrewSchaef 0:bcad524c1856 76 #define HOST_TO_DEVICE 0x00
DrewSchaef 0:bcad524c1856 77 #define REQUEST_TYPE_CLASS 0x20
DrewSchaef 0:bcad524c1856 78 #define RECIPIENT_DEVICE 0x00
DrewSchaef 0:bcad524c1856 79 #define RECIPIENT_INTERFACE 0x01
DrewSchaef 0:bcad524c1856 80 #define RECIPIENT_ENDPOINT 0x02
DrewSchaef 0:bcad524c1856 81 #define RECIPIENT_OTHER 0x03
DrewSchaef 0:bcad524c1856 82
DrewSchaef 0:bcad524c1856 83 #define GET_STATUS 0
DrewSchaef 0:bcad524c1856 84 #define CLEAR_FEATURE 1
DrewSchaef 0:bcad524c1856 85 #define SET_FEATURE 3
DrewSchaef 0:bcad524c1856 86 #define SET_ADDRESS 5
DrewSchaef 0:bcad524c1856 87 #define GET_DESCRIPTOR 6
DrewSchaef 0:bcad524c1856 88 #define SET_DESCRIPTOR 7
DrewSchaef 0:bcad524c1856 89 #define GET_CONFIGURATION 8
DrewSchaef 0:bcad524c1856 90 #define SET_CONFIGURATION 9
DrewSchaef 0:bcad524c1856 91 #define GET_INTERFACE 10
DrewSchaef 0:bcad524c1856 92 #define SET_INTERFACE 11
DrewSchaef 0:bcad524c1856 93 #define SYNCH_FRAME 11
DrewSchaef 0:bcad524c1856 94
DrewSchaef 0:bcad524c1856 95 // -5 is nak
DrewSchaef 0:bcad524c1856 96 /*
DrewSchaef 0:bcad524c1856 97 0010 ACK Handshake
DrewSchaef 0:bcad524c1856 98 1010 NAK Handshake
DrewSchaef 0:bcad524c1856 99 1110 STALL Handshake
DrewSchaef 0:bcad524c1856 100 0110 NYET (No Response Yet)
DrewSchaef 0:bcad524c1856 101 */
DrewSchaef 0:bcad524c1856 102
DrewSchaef 0:bcad524c1856 103 #define IO_PENDING -100
DrewSchaef 0:bcad524c1856 104 #define ERR_ENDPOINT_NONE_LEFT -101
DrewSchaef 0:bcad524c1856 105 #define ERR_ENDPOINT_NOT_FOUND -102
DrewSchaef 0:bcad524c1856 106 #define ERR_DEVICE_NOT_FOUND -103
DrewSchaef 0:bcad524c1856 107 #define ERR_DEVICE_NONE_LEFT -104
DrewSchaef 0:bcad524c1856 108 #define ERR_HUB_INIT_FAILED -105
DrewSchaef 0:bcad524c1856 109 #define ERR_INTERFACE_NOT_FOUND -106
DrewSchaef 0:bcad524c1856 110
DrewSchaef 0:bcad524c1856 111 typedef struct
DrewSchaef 0:bcad524c1856 112 {
DrewSchaef 0:bcad524c1856 113 u8 bLength;
DrewSchaef 0:bcad524c1856 114 u8 bDescriptorType;
DrewSchaef 0:bcad524c1856 115 u16 bcdUSB;
DrewSchaef 0:bcad524c1856 116 u8 bDeviceClass;
DrewSchaef 0:bcad524c1856 117 u8 bDeviceSubClass;
DrewSchaef 0:bcad524c1856 118 u8 bDeviceProtocol;
DrewSchaef 0:bcad524c1856 119 u8 bMaxPacketSize;
DrewSchaef 0:bcad524c1856 120 u16 idVendor;
DrewSchaef 0:bcad524c1856 121 u16 idProduct;
DrewSchaef 0:bcad524c1856 122 u16 bcdDevice; // version
DrewSchaef 0:bcad524c1856 123 u8 iManufacturer;
DrewSchaef 0:bcad524c1856 124 u8 iProduct;
DrewSchaef 0:bcad524c1856 125 u8 iSerialNumber;
DrewSchaef 0:bcad524c1856 126 u8 bNumConfigurations;
DrewSchaef 0:bcad524c1856 127 } DeviceDescriptor; // 16 bytes
DrewSchaef 0:bcad524c1856 128
DrewSchaef 0:bcad524c1856 129 typedef struct
DrewSchaef 0:bcad524c1856 130 {
DrewSchaef 0:bcad524c1856 131 u8 bLength;
DrewSchaef 0:bcad524c1856 132 u8 bDescriptorType;
DrewSchaef 0:bcad524c1856 133 u16 wTotalLength;
DrewSchaef 0:bcad524c1856 134 u8 bNumInterfaces;
DrewSchaef 0:bcad524c1856 135 u8 bConfigurationValue; // Value to use as an argument to select this configuration
DrewSchaef 0:bcad524c1856 136 u8 iConfiguration; // Index of String Descriptor describing this configuration
DrewSchaef 0:bcad524c1856 137 u8 bmAttributes; // Bitmap D7 Reserved, set to 1. (USB 1.0 Bus Powered),D6 Self Powered,D5 Remote Wakeup,D4..0 = 0
DrewSchaef 0:bcad524c1856 138 u8 bMaxPower; // Maximum Power Consumption in 2mA units
DrewSchaef 0:bcad524c1856 139 } ConfigurationDescriptor;
DrewSchaef 0:bcad524c1856 140
DrewSchaef 0:bcad524c1856 141 typedef struct
DrewSchaef 0:bcad524c1856 142 {
DrewSchaef 0:bcad524c1856 143 u8 bLength;
DrewSchaef 0:bcad524c1856 144 u8 bDescriptorType;
DrewSchaef 0:bcad524c1856 145 u8 bInterfaceNumber;
DrewSchaef 0:bcad524c1856 146 u8 bAlternateSetting;
DrewSchaef 0:bcad524c1856 147 u8 bNumEndpoints;
DrewSchaef 0:bcad524c1856 148 u8 bInterfaceClass;
DrewSchaef 0:bcad524c1856 149 u8 bInterfaceSubClass;
DrewSchaef 0:bcad524c1856 150 u8 bInterfaceProtocol;
DrewSchaef 0:bcad524c1856 151 u8 iInterface; // Index of String Descriptor Describing this interface
DrewSchaef 0:bcad524c1856 152 } InterfaceDescriptor;
DrewSchaef 0:bcad524c1856 153
DrewSchaef 0:bcad524c1856 154 typedef struct
DrewSchaef 0:bcad524c1856 155 {
DrewSchaef 0:bcad524c1856 156 u8 bLength;
DrewSchaef 0:bcad524c1856 157 u8 bDescriptorType;
DrewSchaef 0:bcad524c1856 158 u8 bEndpointAddress; // Bits 0:3 endpoint, Bits 7 Direction 0 = Out, 1 = In (Ignored for Control Endpoints)
DrewSchaef 0:bcad524c1856 159 u8 bmAttributes; // Bits 0:1 00 = Control, 01 = Isochronous, 10 = Bulk, 11 = Interrupt
DrewSchaef 0:bcad524c1856 160 u16 wMaxPacketSize;
DrewSchaef 0:bcad524c1856 161 u8 bInterval; // Interval for polling endpoint data transfers.
DrewSchaef 0:bcad524c1856 162 } EndpointDescriptor;
DrewSchaef 0:bcad524c1856 163
DrewSchaef 0:bcad524c1856 164 typedef struct {
DrewSchaef 0:bcad524c1856 165 u8 bLength;
DrewSchaef 0:bcad524c1856 166 u8 bDescriptorType;
DrewSchaef 0:bcad524c1856 167 u16 bcdHID;
DrewSchaef 0:bcad524c1856 168 u8 bCountryCode;
DrewSchaef 0:bcad524c1856 169 u8 bNumDescriptors;
DrewSchaef 0:bcad524c1856 170 u8 bDescriptorType2;
DrewSchaef 0:bcad524c1856 171 u16 wDescriptorLength;
DrewSchaef 0:bcad524c1856 172 } HIDDescriptor;
DrewSchaef 0:bcad524c1856 173
DrewSchaef 0:bcad524c1856 174 //============================================================================
DrewSchaef 0:bcad524c1856 175 //============================================================================
DrewSchaef 0:bcad524c1856 176
DrewSchaef 0:bcad524c1856 177
DrewSchaef 0:bcad524c1856 178 void USBInit();
DrewSchaef 0:bcad524c1856 179 void USBLoop();
DrewSchaef 0:bcad524c1856 180 u8* USBGetBuffer(u32* len);
DrewSchaef 0:bcad524c1856 181
DrewSchaef 0:bcad524c1856 182 // Optional callback for transfers, called at interrupt time
DrewSchaef 0:bcad524c1856 183 typedef void (*USBCallback)(int device, int endpoint, int status, u8* data, int len, void* userData);
DrewSchaef 0:bcad524c1856 184
DrewSchaef 0:bcad524c1856 185 // Transfers
DrewSchaef 0:bcad524c1856 186 int USBControlTransfer(int device, int request_type, int request, int value, int index, u8* data, int length, USBCallback callback = 0, void* userData = 0);
DrewSchaef 0:bcad524c1856 187 int USBInterruptTransfer(int device, int ep, u8* data, int length, USBCallback callback = 0, void* userData = 0);
DrewSchaef 0:bcad524c1856 188 int USBBulkTransfer(int device, int ep, u8* data, int length, USBCallback callback = 0, void* userData = 0);
DrewSchaef 0:bcad524c1856 189
DrewSchaef 0:bcad524c1856 190 // Standard Device methods
DrewSchaef 0:bcad524c1856 191 int GetDescriptor(int device, int descType, int descIndex, u8* data, int length);
DrewSchaef 0:bcad524c1856 192 int GetString(int device, int index, char* dst, int length);
DrewSchaef 0:bcad524c1856 193 int SetAddress(int device, int new_addr);
DrewSchaef 0:bcad524c1856 194 int SetConfiguration(int device, int configNum);
DrewSchaef 0:bcad524c1856 195 int SetInterface(int device, int ifNum, int altNum);
DrewSchaef 0:bcad524c1856 196
DrewSchaef 0:bcad524c1856 197 // Implemented to notify app of the arrival of a device
DrewSchaef 0:bcad524c1856 198 void OnLoadDevice(int device, DeviceDescriptor* deviceDesc, InterfaceDescriptor* interfaceDesc);
DrewSchaef 0:bcad524c1856 199
DrewSchaef 0:bcad524c1856 200 #endif