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

Revision:
0:bcad524c1856
diff -r 000000000000 -r bcad524c1856 blueusb/USBHost.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/blueusb/USBHost.h	Wed Nov 01 15:57:59 2017 +0000
@@ -0,0 +1,200 @@
+
+/*
+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
+
+#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_CLASS     0x20
+#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
+
+//        -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
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