Code to control a Traxster robot using a Wimote and Android app

Dependencies:   mbed

Fork of BlueUSB by Peter Barrett

Revision:
0:606b230e5b4a
diff -r 000000000000 -r 606b230e5b4a AutoEvents.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AutoEvents.cpp	Sat Apr 10 00:30:24 2010 +0000
@@ -0,0 +1,161 @@
+
+/*
+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"
+#include "Utils.h"
+
+#define AUTOEVT(_class,_subclass,_protocol) (((_class) << 16) | ((_subclass) << 8) | _protocol)
+#define AUTO_KEYBOARD AUTOEVT(CLASS_HID,1,1)
+#define AUTO_MOUSE AUTOEVT(CLASS_HID,1,2)
+
+u8 auto_mouse[4];       // buttons,dx,dy,scroll
+u8 auto_keyboard[8];    // modifiers,reserved,keycode1..keycode6
+u8 auto_joystick[4];    // x,y,buttons,throttle
+
+void AutoEventCallback(int device, int endpoint, int status, u8* data, int len, void* userData)
+{
+    int evt = (int)userData;
+    switch (evt)
+    {
+        case AUTO_KEYBOARD:
+            printf("AUTO_KEYBOARD ");
+            break;
+        case AUTO_MOUSE:
+            printf("AUTO_MOUSE ");
+            break;
+        default:
+            printf("HUH ");
+    }
+    printfBytes("data",data,len);
+    USBInterruptTransfer(device,endpoint,data,len,AutoEventCallback,userData);
+}
+
+//  Establish transfers for interrupt events
+void AddAutoEvent(int device, InterfaceDescriptor* id, EndpointDescriptor* ed)
+{
+    if ((ed->bmAttributes & 3) != ENDPOINT_INTERRUPT || !(ed->bEndpointAddress & 0x80))
+        return;
+    
+    // Make automatic interrupt enpoints for known devices
+    u32 evt = AUTOEVT(id->bInterfaceClass,id->bInterfaceSubClass,id->bInterfaceProtocol);
+    u8* dst = 0;
+    int len;
+    switch (evt)
+    {
+        case AUTO_MOUSE:
+            dst = auto_mouse;
+            len = sizeof(auto_mouse);
+            break;
+        case AUTO_KEYBOARD:
+            dst = auto_keyboard;
+            len = sizeof(auto_keyboard);
+            break;
+        default:
+            printf("Interrupt endpoint %02X %08X\n",ed->bEndpointAddress,evt);
+            break;
+    }
+    if (dst)
+    {
+        printf("Auto Event for %02X %08X\n",ed->bEndpointAddress,evt);
+        USBInterruptTransfer(device,ed->bEndpointAddress,dst,len,AutoEventCallback,(void*)evt);
+    }
+}
+
+void PrintString(int device, int i)
+{
+    u8 buffer[256];
+    int le = GetDescriptor(device,DESCRIPTOR_TYPE_STRING,i,buffer,255);
+    if (le < 0)
+         return;
+    char* dst = (char*)buffer;
+    for (int j = 2; j < le; j += 2)
+        *dst++ = buffer[j];
+    *dst = 0;
+    printf("%d:%s\n",i,(const char*)buffer);
+ }
+ 
+//  Walk descriptors and create endpoints for a given device
+int StartAutoEvent(int device, int configuration, int interfaceNumber)
+{
+    u8 buffer[255];
+    int err = GetDescriptor(device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,255);
+    if (err < 0)
+        return err;
+
+    int len = buffer[2] | (buffer[3] << 8);
+    u8* d = buffer;
+    u8* end = d + len;
+    while (d < end)
+    {
+        if (d[1] == DESCRIPTOR_TYPE_INTERFACE)
+        {
+            InterfaceDescriptor* id = (InterfaceDescriptor*)d;
+            if (id->bInterfaceNumber == interfaceNumber)
+            {
+                 d += d[0];
+                while (d < end && d[1] != DESCRIPTOR_TYPE_INTERFACE)
+                {
+                    if (d[1] == DESCRIPTOR_TYPE_ENDPOINT)
+                        AddAutoEvent(device,id,(EndpointDescriptor*)d);
+                    d += d[0];
+                }
+            }
+        }
+        d += d[0];
+    }
+    return 0;
+}
+
+//  Implemented in main.cpp
+int OnDiskInsert(int device);
+
+//  Implemented in TestShell.cpp
+int OnBluetoothInsert(int device);
+
+void OnLoadDevice(int device, DeviceDescriptor* deviceDesc, InterfaceDescriptor* interfaceDesc)
+{
+    printf("LoadDevice %d %02X:%02X:%02X\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\n",i,s);
+    }
+    
+    switch (interfaceDesc->bInterfaceClass)
+    {
+        case CLASS_MASS_STORAGE:
+            if (interfaceDesc->bInterfaceSubClass == 0x06 && interfaceDesc->bInterfaceProtocol == 0x50)
+                OnDiskInsert(device);    // it's SCSI!
+            break;
+        case CLASS_WIRELESS_CONTROLLER:
+            if (interfaceDesc->bInterfaceSubClass == 0x01 && interfaceDesc->bInterfaceProtocol == 0x01)
+                OnBluetoothInsert(device);    // it's bluetooth!
+            break;
+        default:
+            StartAutoEvent(device,1,0);
+            break;
+    }
+}
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