Junichi Katsu / Mbed 2 deprecated WallbotMouse

ロボコンマガジン 2013年1月号に掲載されている 「第３回お手軽mbedではじめるロボットプロトタイピング」 で紹介しているうおーるぼっとをマウスで動かすプログラムです。

Dependencies:   FatFileSystem TB6612FNG2 mbed

Fork of BlueUSB by Peter Barrett

AutoEvents.cpp@1:2526b2c89256, 2012-12-14 (annotated)

Committer:
jksoft
Date:
Fri Dec 14 03:34:00 2012 +0000
Revision:
1:2526b2c89256
Parent:
0:606b230e5b4a 
Rev1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
peterbarrett1967 0:606b230e5b4a 1
peterbarrett1967 0:606b230e5b4a 2 /*
peterbarrett1967 0:606b230e5b4a 3 Copyright (c) 2010 Peter Barrett
peterbarrett1967 0:606b230e5b4a 4
peterbarrett1967 0:606b230e5b4a 5 Permission is hereby granted, free of charge, to any person obtaining a copy
peterbarrett1967 0:606b230e5b4a 6 of this software and associated documentation files (the "Software"), to deal
peterbarrett1967 0:606b230e5b4a 7 in the Software without restriction, including without limitation the rights
peterbarrett1967 0:606b230e5b4a 8 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
peterbarrett1967 0:606b230e5b4a 9 copies of the Software, and to permit persons to whom the Software is
peterbarrett1967 0:606b230e5b4a 10 furnished to do so, subject to the following conditions:
peterbarrett1967 0:606b230e5b4a 11
peterbarrett1967 0:606b230e5b4a 12 The above copyright notice and this permission notice shall be included in
peterbarrett1967 0:606b230e5b4a 13 all copies or substantial portions of the Software.
peterbarrett1967 0:606b230e5b4a 14
peterbarrett1967 0:606b230e5b4a 15 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
peterbarrett1967 0:606b230e5b4a 16 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
peterbarrett1967 0:606b230e5b4a 17 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
peterbarrett1967 0:606b230e5b4a 18 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
peterbarrett1967 0:606b230e5b4a 19 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
peterbarrett1967 0:606b230e5b4a 20 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
peterbarrett1967 0:606b230e5b4a 21 THE SOFTWARE.
peterbarrett1967 0:606b230e5b4a 22 */
peterbarrett1967 0:606b230e5b4a 23
peterbarrett1967 0:606b230e5b4a 24 #include "mbed.h"
peterbarrett1967 0:606b230e5b4a 25 #include "USBHost.h"
peterbarrett1967 0:606b230e5b4a 26 #include "Utils.h"
jksoft 1:2526b2c89256 27 #include "TB6612.h"
peterbarrett1967 0:606b230e5b4a 28
peterbarrett1967 0:606b230e5b4a 29 #define AUTOEVT(_class,_subclass,_protocol) (((_class) << 16) | ((_subclass) << 8) | _protocol)
peterbarrett1967 0:606b230e5b4a 30 #define AUTO_KEYBOARD AUTOEVT(CLASS_HID,1,1)
peterbarrett1967 0:606b230e5b4a 31 #define AUTO_MOUSE AUTOEVT(CLASS_HID,1,2)
peterbarrett1967 0:606b230e5b4a 32
peterbarrett1967 0:606b230e5b4a 33 u8 auto_mouse[4]; // buttons,dx,dy,scroll
peterbarrett1967 0:606b230e5b4a 34 u8 auto_keyboard[8]; // modifiers,reserved,keycode1..keycode6
peterbarrett1967 0:606b230e5b4a 35 u8 auto_joystick[4]; // x,y,buttons,throttle
peterbarrett1967 0:606b230e5b4a 36
jksoft 1:2526b2c89256 37 TB6612 left(p21,p12,p11);
jksoft 1:2526b2c89256 38 TB6612 right(p22,p14,p13);
jksoft 1:2526b2c89256 39
peterbarrett1967 0:606b230e5b4a 40 void AutoEventCallback(int device, int endpoint, int status, u8* data, int len, void* userData)
peterbarrett1967 0:606b230e5b4a 41 {
jksoft 1:2526b2c89256 42 static int speed = 100;
peterbarrett1967 0:606b230e5b4a 43 int evt = (int)userData;
peterbarrett1967 0:606b230e5b4a 44 switch (evt)
peterbarrett1967 0:606b230e5b4a 45 {
peterbarrett1967 0:606b230e5b4a 46 case AUTO_KEYBOARD:
peterbarrett1967 0:606b230e5b4a 47 printf("AUTO_KEYBOARD ");
peterbarrett1967 0:606b230e5b4a 48 break;
peterbarrett1967 0:606b230e5b4a 49 case AUTO_MOUSE:
peterbarrett1967 0:606b230e5b4a 50 printf("AUTO_MOUSE ");
peterbarrett1967 0:606b230e5b4a 51 break;
peterbarrett1967 0:606b230e5b4a 52 default:
peterbarrett1967 0:606b230e5b4a 53 printf("HUH ");
peterbarrett1967 0:606b230e5b4a 54 }
jksoft 1:2526b2c89256 55
jksoft 1:2526b2c89256 56 if( (data[0] & 0x01) != 0 )
jksoft 1:2526b2c89256 57 {
jksoft 1:2526b2c89256 58 left = speed;
jksoft 1:2526b2c89256 59 }
jksoft 1:2526b2c89256 60 else
jksoft 1:2526b2c89256 61 {
jksoft 1:2526b2c89256 62 left = 0;
jksoft 1:2526b2c89256 63 }
jksoft 1:2526b2c89256 64 if( (data[0] & 0x02) != 0 )
jksoft 1:2526b2c89256 65 {
jksoft 1:2526b2c89256 66 right = speed;
jksoft 1:2526b2c89256 67 }
jksoft 1:2526b2c89256 68 else
jksoft 1:2526b2c89256 69 {
jksoft 1:2526b2c89256 70 right = 0;
jksoft 1:2526b2c89256 71 }
jksoft 1:2526b2c89256 72
jksoft 1:2526b2c89256 73 speed = speed + (signed char)data[3];
jksoft 1:2526b2c89256 74
jksoft 1:2526b2c89256 75 if( speed > 100 ) speed = 100;
jksoft 1:2526b2c89256 76 if( speed < -100 ) speed = -100;
jksoft 1:2526b2c89256 77
jksoft 1:2526b2c89256 78 printf("speed = %d ",speed);
jksoft 1:2526b2c89256 79
peterbarrett1967 0:606b230e5b4a 80 printfBytes("data",data,len);
peterbarrett1967 0:606b230e5b4a 81 USBInterruptTransfer(device,endpoint,data,len,AutoEventCallback,userData);
peterbarrett1967 0:606b230e5b4a 82 }
peterbarrett1967 0:606b230e5b4a 83
peterbarrett1967 0:606b230e5b4a 84 // Establish transfers for interrupt events
peterbarrett1967 0:606b230e5b4a 85 void AddAutoEvent(int device, InterfaceDescriptor* id, EndpointDescriptor* ed)
peterbarrett1967 0:606b230e5b4a 86 {
peterbarrett1967 0:606b230e5b4a 87 if ((ed->bmAttributes & 3) != ENDPOINT_INTERRUPT || !(ed->bEndpointAddress & 0x80))
peterbarrett1967 0:606b230e5b4a 88 return;
peterbarrett1967 0:606b230e5b4a 89
peterbarrett1967 0:606b230e5b4a 90 // Make automatic interrupt enpoints for known devices
peterbarrett1967 0:606b230e5b4a 91 u32 evt = AUTOEVT(id->bInterfaceClass,id->bInterfaceSubClass,id->bInterfaceProtocol);
peterbarrett1967 0:606b230e5b4a 92 u8* dst = 0;
peterbarrett1967 0:606b230e5b4a 93 int len;
peterbarrett1967 0:606b230e5b4a 94 switch (evt)
peterbarrett1967 0:606b230e5b4a 95 {
peterbarrett1967 0:606b230e5b4a 96 case AUTO_MOUSE:
peterbarrett1967 0:606b230e5b4a 97 dst = auto_mouse;
peterbarrett1967 0:606b230e5b4a 98 len = sizeof(auto_mouse);
peterbarrett1967 0:606b230e5b4a 99 break;
peterbarrett1967 0:606b230e5b4a 100 case AUTO_KEYBOARD:
peterbarrett1967 0:606b230e5b4a 101 dst = auto_keyboard;
peterbarrett1967 0:606b230e5b4a 102 len = sizeof(auto_keyboard);
peterbarrett1967 0:606b230e5b4a 103 break;
peterbarrett1967 0:606b230e5b4a 104 default:
peterbarrett1967 0:606b230e5b4a 105 printf("Interrupt endpoint %02X %08X\n",ed->bEndpointAddress,evt);
peterbarrett1967 0:606b230e5b4a 106 break;
peterbarrett1967 0:606b230e5b4a 107 }
peterbarrett1967 0:606b230e5b4a 108 if (dst)
peterbarrett1967 0:606b230e5b4a 109 {
peterbarrett1967 0:606b230e5b4a 110 printf("Auto Event for %02X %08X\n",ed->bEndpointAddress,evt);
peterbarrett1967 0:606b230e5b4a 111 USBInterruptTransfer(device,ed->bEndpointAddress,dst,len,AutoEventCallback,(void*)evt);
peterbarrett1967 0:606b230e5b4a 112 }
peterbarrett1967 0:606b230e5b4a 113 }
peterbarrett1967 0:606b230e5b4a 114
peterbarrett1967 0:606b230e5b4a 115 void PrintString(int device, int i)
peterbarrett1967 0:606b230e5b4a 116 {
peterbarrett1967 0:606b230e5b4a 117 u8 buffer[256];
peterbarrett1967 0:606b230e5b4a 118 int le = GetDescriptor(device,DESCRIPTOR_TYPE_STRING,i,buffer,255);
peterbarrett1967 0:606b230e5b4a 119 if (le < 0)
peterbarrett1967 0:606b230e5b4a 120 return;
peterbarrett1967 0:606b230e5b4a 121 char* dst = (char*)buffer;
peterbarrett1967 0:606b230e5b4a 122 for (int j = 2; j < le; j += 2)
peterbarrett1967 0:606b230e5b4a 123 *dst++ = buffer[j];
peterbarrett1967 0:606b230e5b4a 124 *dst = 0;
peterbarrett1967 0:606b230e5b4a 125 printf("%d:%s\n",i,(const char*)buffer);
peterbarrett1967 0:606b230e5b4a 126 }
peterbarrett1967 0:606b230e5b4a 127
peterbarrett1967 0:606b230e5b4a 128 // Walk descriptors and create endpoints for a given device
peterbarrett1967 0:606b230e5b4a 129 int StartAutoEvent(int device, int configuration, int interfaceNumber)
peterbarrett1967 0:606b230e5b4a 130 {
peterbarrett1967 0:606b230e5b4a 131 u8 buffer[255];
peterbarrett1967 0:606b230e5b4a 132 int err = GetDescriptor(device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,255);
peterbarrett1967 0:606b230e5b4a 133 if (err < 0)
peterbarrett1967 0:606b230e5b4a 134 return err;
peterbarrett1967 0:606b230e5b4a 135
peterbarrett1967 0:606b230e5b4a 136 int len = buffer[2] | (buffer[3] << 8);
peterbarrett1967 0:606b230e5b4a 137 u8* d = buffer;
peterbarrett1967 0:606b230e5b4a 138 u8* end = d + len;
peterbarrett1967 0:606b230e5b4a 139 while (d < end)
peterbarrett1967 0:606b230e5b4a 140 {
peterbarrett1967 0:606b230e5b4a 141 if (d[1] == DESCRIPTOR_TYPE_INTERFACE)
peterbarrett1967 0:606b230e5b4a 142 {
peterbarrett1967 0:606b230e5b4a 143 InterfaceDescriptor* id = (InterfaceDescriptor*)d;
peterbarrett1967 0:606b230e5b4a 144 if (id->bInterfaceNumber == interfaceNumber)
peterbarrett1967 0:606b230e5b4a 145 {
peterbarrett1967 0:606b230e5b4a 146 d += d[0];
peterbarrett1967 0:606b230e5b4a 147 while (d < end && d[1] != DESCRIPTOR_TYPE_INTERFACE)
peterbarrett1967 0:606b230e5b4a 148 {
peterbarrett1967 0:606b230e5b4a 149 if (d[1] == DESCRIPTOR_TYPE_ENDPOINT)
peterbarrett1967 0:606b230e5b4a 150 AddAutoEvent(device,id,(EndpointDescriptor*)d);
peterbarrett1967 0:606b230e5b4a 151 d += d[0];
peterbarrett1967 0:606b230e5b4a 152 }
peterbarrett1967 0:606b230e5b4a 153 }
peterbarrett1967 0:606b230e5b4a 154 }
peterbarrett1967 0:606b230e5b4a 155 d += d[0];
peterbarrett1967 0:606b230e5b4a 156 }
peterbarrett1967 0:606b230e5b4a 157 return 0;
peterbarrett1967 0:606b230e5b4a 158 }
peterbarrett1967 0:606b230e5b4a 159
peterbarrett1967 0:606b230e5b4a 160 // Implemented in main.cpp
peterbarrett1967 0:606b230e5b4a 161 int OnDiskInsert(int device);
peterbarrett1967 0:606b230e5b4a 162
peterbarrett1967 0:606b230e5b4a 163 // Implemented in TestShell.cpp
peterbarrett1967 0:606b230e5b4a 164 int OnBluetoothInsert(int device);
peterbarrett1967 0:606b230e5b4a 165
peterbarrett1967 0:606b230e5b4a 166 void OnLoadDevice(int device, DeviceDescriptor* deviceDesc, InterfaceDescriptor* interfaceDesc)
peterbarrett1967 0:606b230e5b4a 167 {
peterbarrett1967 0:606b230e5b4a 168 printf("LoadDevice %d %02X:%02X:%02X\n",device,interfaceDesc->bInterfaceClass,interfaceDesc->bInterfaceSubClass,interfaceDesc->bInterfaceProtocol);
peterbarrett1967 0:606b230e5b4a 169 char s[128];
peterbarrett1967 0:606b230e5b4a 170 for (int i = 1; i < 3; i++)
peterbarrett1967 0:606b230e5b4a 171 {
peterbarrett1967 0:606b230e5b4a 172 if (GetString(device,i,s,sizeof(s)) < 0)
peterbarrett1967 0:606b230e5b4a 173 break;
peterbarrett1967 0:606b230e5b4a 174 printf("%d: %s\n",i,s);
peterbarrett1967 0:606b230e5b4a 175 }
peterbarrett1967 0:606b230e5b4a 176
peterbarrett1967 0:606b230e5b4a 177 switch (interfaceDesc->bInterfaceClass)
peterbarrett1967 0:606b230e5b4a 178 {
peterbarrett1967 0:606b230e5b4a 179 case CLASS_MASS_STORAGE:
peterbarrett1967 0:606b230e5b4a 180 if (interfaceDesc->bInterfaceSubClass == 0x06 && interfaceDesc->bInterfaceProtocol == 0x50)
peterbarrett1967 0:606b230e5b4a 181 OnDiskInsert(device); // it's SCSI!
peterbarrett1967 0:606b230e5b4a 182 break;
peterbarrett1967 0:606b230e5b4a 183 case CLASS_WIRELESS_CONTROLLER:
peterbarrett1967 0:606b230e5b4a 184 if (interfaceDesc->bInterfaceSubClass == 0x01 && interfaceDesc->bInterfaceProtocol == 0x01)
peterbarrett1967 0:606b230e5b4a 185 OnBluetoothInsert(device); // it's bluetooth!
peterbarrett1967 0:606b230e5b4a 186 break;
peterbarrett1967 0:606b230e5b4a 187 default:
peterbarrett1967 0:606b230e5b4a 188 StartAutoEvent(device,1,0);
peterbarrett1967 0:606b230e5b4a 189 break;
peterbarrett1967 0:606b230e5b4a 190 }
peterbarrett1967 0:606b230e5b4a 191 }