void WiiRemote::task(void (*pFunc)(void)) {
Max.Task();
Usb.Task();
delay(1);
// re-initialize
if (Usb.getUsbTaskState() == USB_DETACHED_SUBSTATE_INITIALIZE) {
/* TODO */
wiiremote_status_ = 0;
}
// wait for addressing state
if (Usb.getUsbTaskState() == USB_STATE_CONFIGURING) {
initBTController();
if (wiiremote_status_ & WIIREMOTE_STATE_USB_CONFIGURED) {
hci_state_ = HCI_INIT_STATE;
hci_counter_ = 10;
l2cap_state_ = L2CAP_DOWN_STATE;
Usb.setUsbTaskState(USB_STATE_RUNNING);
}
}
if (Usb.getUsbTaskState() == USB_STATE_RUNNING) {
HCI_task(); // poll the HCI event pipe
L2CAP_task(); // start polling the ACL input pipe too, though discard
// data until connected
}
//if (l2cap_state_ == L2CAP_READY_STATE) {
if (wiiremote_status_ & WIIREMOTE_STATE_RUNNING) {
if (pFunc) { pFunc(); }
}
} // task
GamepadState Gamepad::readGamepad() {
GamepadState state;
#if defined(__AVR_ATmega328P__)
USB usb;
state = usb.readJoystick();
#elif defined(__AVR_ATmega32U4__)
// Read the button values.
state.buttons = 0;
state.buttons |= (!Esplora.readButton(SWITCH_1)) << GAMEPAD_BUTTON_1;
state.buttons |= (!Esplora.readButton(SWITCH_2)) << GAMEPAD_BUTTON_2;
state.buttons |= (!Esplora.readButton(SWITCH_3)) << GAMEPAD_BUTTON_3;
state.buttons |= (!Esplora.readButton(SWITCH_4)) << GAMEPAD_BUTTON_4;
// TODO: Create an enum for the Esplora joystick button.
state.buttons |= (!Esplora.readJoystickButton()) << GAMEPAD_BUTTON_L1;
// For some reason, the Esplora joystick is negative on the right and positive
// on the left. It needs to be inverted.
state.x = GetAdjustedEsploraJoystickValue(-Esplora.readJoystickX());
state.y = GetAdjustedEsploraJoystickValue(Esplora.readJoystickY());
return state;
#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
#error "Arduinos with Atmega1280 and Atmega2560 not yet supported."
#endif
return state;
}
int App::run()
{
while (true)
busby.puts("pharmacist\r\n");
return 0;
}
void setup() {
pinMode(LED_PIN, OUTPUT);
if (Usb.Init() == -1) {
while(1) {
errorBlink();
}
}
}
int main(void) {
dbgled(0);
iprintf("start\n");
uc.attach(&u);
// msc.attach(&u);
ecm.setMAC(mac);
ecm.attach(&u);
iprintf("u.dump\n");
u.dumpDescriptors();
iprintf("u.init\n");
u.init();
sysclock.setTimeout(5 S);
// because leds[0] is connected to USB_UP_LED signal and usb hardware takes it over
leds[0].setup();
// dbgled(15);
// int l = 0;
while (1) {
// u.USBHW::HwISR();
if (sysclock.poll()) {
// iprintf("-------------------\n");
// iprintf("USBClkCtrl: 0x%8lX\n", LPC_USB->USBClkCtrl);
// iprintf("USBClkSt: 0x%8lX\n", LPC_USB->USBClkSt);
// iprintf("USBIntSt: 0x%8lX\n", LPC_SC->USBIntSt);
// iprintf("USBDevIntSt: 0x%8lX\n", LPC_USB->USBDevIntSt);
// iprintf("USBDevIntEn: 0x%8lX\n", LPC_USB->USBDevIntEn);
// iprintf("USBDevIntPri: 0x%8lX\n", LPC_USB->USBDevIntPri);
iprintf("Fr: %d\n", u.USBCTRL::lastFrame());
}
w.feed();
// l++;
// if ((l & ((1UL << 19) - 1UL)) == 0)
// dbgled(l >> 19);
}
}
void loop() {
Usb.Task();
if (!adk.isReady()) {
return;
}
readMessage();
}
int main() {
// Default pins to low status
for (int i = 0; i < 5; i++){
leds[i].output();
leds[i] = (i & 1) ^ 1;
}
//bool sdok= (sd.disk_initialize() == 0);
sd.disk_initialize();
Kernel* kernel = new Kernel();
kernel->streams->printf("Smoothie ( grbl port ) version 0.8.0-rc1 with new accel @%ldMHz\r\n", SystemCoreClock / 1000000);
Version version;
kernel->streams->printf(" Build version %s, Build date %s\r\n", version.get_build(), version.get_build_date());
// Create and add main modules
kernel->add_module( new Laser() );
kernel->add_module( new Extruder() );
kernel->add_module( new SimpleShell() );
kernel->add_module( new Configurator() );
kernel->add_module( new CurrentControl() );
kernel->add_module( new TemperatureControlPool() );
kernel->add_module( new SwitchPool() );
kernel->add_module( new PauseButton() );
kernel->add_module( new PlayLed() );
kernel->add_module( new Endstops() );
kernel->add_module( new Player() );
kernel->add_module( new Panel() );
kernel->add_module( new Touchprobe() );
// Create and initialize USB stuff
u.init();
//if(sdok) { // only do this if there is an sd disk
// msc= new USBMSD(&u, &sd);
// kernel->add_module( msc );
//}
kernel->add_module( &msc );
kernel->add_module( &usbserial );
if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){
kernel->add_module( new USBSerial(&u) );
}
kernel->add_module( &dfu );
kernel->add_module( &u );
// clear up the config cache to save some memory
kernel->config->config_cache_clear();
// Main loop
while(1){
kernel->call_event(ON_MAIN_LOOP);
kernel->call_event(ON_IDLE);
}
}
void setup()
{
Serial.begin(115200);
Serial.println("Welcome to Scopduino");
pinMode(LED_PIN, OUTPUT);
DDRF = 0x00;
memset(g_storage_space, 0, sizeof(g_storage_space));
if (g_usb.Init() == -1)
{
Serial.println("OSCOKIRQ failed to assert");
}
}
void processUsb()
{
uint8_t rcode;
g_usb.Task();
if (g_adk.isReady() == false)
{
digitalWrite(LED_PIN, 0);
return;
}
digitalWrite(LED_PIN, g_storage_buffer_index);
rcode = g_adk.SndData(STORAGE_SIZE, g_storage_space[g_storage_index]);
if (rcode)
{
Serial.print("USB send: ");
Serial.println(rcode);
}
}
int main() {
// Default pins to low status
for (int i = 0; i < 5; i++){
leds[i].output();
leds[i] = (i & 1) ^ 1;
}
sd.disk_initialize();
Kernel* kernel = new Kernel();
kernel->streams->printf("Smoothie ( grbl port ) version 0.7.2 @%dMHz\r\n", SystemCoreClock / 1000000);
// Create and add main modules
kernel->add_module( new Laser() );
kernel->add_module( new Extruder() );
kernel->add_module( new SimpleShell() );
kernel->add_module( new Configurator() );
kernel->add_module( new CurrentControl() );
kernel->add_module( new TemperatureControlPool() );
kernel->add_module( new SwitchPool() );
kernel->add_module( new ButtonPool() );
kernel->add_module( new PauseButton() );
kernel->add_module( new PlayLed() );
kernel->add_module( new Endstops() );
kernel->add_module( new Player() );
// Create and initialize USB stuff
u.init();
kernel->add_module( &msc );
kernel->add_module( &usbserial );
if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){
kernel->add_module( new USBSerial(&u) );
}
kernel->add_module( &dfu );
kernel->add_module( &u );
// Main loop
while(1){
kernel->call_event(ON_MAIN_LOOP);
kernel->call_event(ON_IDLE);
}
}
void WiiRemote::HCI_event_task(void) {
uint8_t rcode = 0; // return code
uint8_t buf[MAX_BUFFER_SIZE] = {0};
// check input on the event pipe (endpoint 1)
rcode = Usb.inTransfer(BT_ADDR, ep_record_[ EVENT_PIPE ].epAddr,
MAX_BUFFER_SIZE, (char *) buf, USB_NAK_NOWAIT);
/*
DEBUG_PRINT_P( PSTR("\r\nHCI_event_task: rcode = 0x") );
DEBUG_PRINT(rcode, HEX);
*/
if (!rcode) {
/* buf[0] = Event Code */
/* buf[1] = Parameter Total Length */
/* buf[n] = Event Parameters based on each event */
DEBUG_PRINT_P( PSTR("\r\nHCI event = 0x") );
DEBUG_PRINT(buf[0], HEX);
switch (buf[0]) { // switch on event type
case HCI_EVENT_COMMAND_COMPLETE:
hci_event_flag_ |= HCI_FLAG_COMMAND_COMPLETE;
break;
case HCI_EVENT_INQUIRY_RESULT:
hci_event_flag_ |= HCI_FLAG_INQUIRY_RESULT;
/* assume that Num_Responses is 1 */
DEBUG_PRINT_P( PSTR("\r\nFound WiiRemote BD_ADDR:\t") );
for (uint8_t i = 0; i < 6; i++) {
wiiremote_bdaddr_[5-i] = (uint8_t) buf[3+i];
DEBUG_PRINT(wiiremote_bdaddr_[5-i], HEX);
}
break;
case HCI_EVENT_INQUIRY_COMPLETE:
hci_event_flag_ |= HCI_FLAG_INQUIRY_COMPLETE;
break;
case HCI_EVENT_COMMAND_STATUS:
hci_event_flag_ |= HCI_FLAG_COMMAND_STATUS;
#if WIIREMOTE_DEBUG
if (buf[2]) { // show status on serial if not OK
DEBUG_PRINT_P( PSTR("\r\nHCI Command Failed: ") );
DEBUG_PRINT_P( PSTR("\r\n\t Status = ") );
DEBUG_PRINT(buf[2], HEX);
DEBUG_PRINT_P( PSTR("\r\n\tCommand_OpCode(OGF) = ") );
DEBUG_PRINT( ((buf[5] & 0xFC) >> 2), HEX);
DEBUG_PRINT_P( PSTR("\r\n\tCommand_OpCode(OCF) = ") );
DEBUG_PRINT( (buf[5] & 0x03), HEX);
DEBUG_PRINT(buf[4], HEX);
}
#endif
break;
case HCI_EVENT_CONNECT_COMPLETE:
hci_event_flag_ |= HCI_FLAG_CONNECT_COMPLETE;
if (!buf[2]) { // check if connected OK
// store the handle for the ACL connection
hci_handle_ = buf[3] | ((buf[4] & 0x0F) << 8);
hci_event_flag_ |= HCI_FLAG_CONNECT_OK;
}
break;
case HCI_EVENT_NUM_COMPLETED_PKT:
#if WIIREMOTE_DEBUG
DEBUG_PRINT_P( PSTR("\r\nHCI Number Of Completed Packets Event: ") );
DEBUG_PRINT_P( PSTR("\r\n\tNumber_of_Handles = 0x") );
DEBUG_PRINT(buf[2], HEX);
for (uint8_t i = 0; i < buf[2]; i++) {
DEBUG_PRINT_P( PSTR("\r\n\tConnection_Handle = 0x") );
DEBUG_PRINT((buf[3+i] | ((buf[4+i] & 0x0F) << 8)), HEX);
}
#endif
break;
case HCI_EVENT_QOS_SETUP_COMPLETE:
break;
case HCI_EVENT_DISCONN_COMPLETE:
hci_event_flag_ |= HCI_FLAG_DISCONN_COMPLETE;
DEBUG_PRINT_P( PSTR("\r\nHCI Disconnection Complete Event: ") );
DEBUG_PRINT_P( PSTR("\r\n\t Status = 0x") );
DEBUG_PRINT(buf[2], HEX);
DEBUG_PRINT_P( PSTR("\r\n\tConnection_Handle = 0x") );
DEBUG_PRINT((buf[3] | ((buf[4] & 0x0F) << 8)), HEX);
DEBUG_PRINT_P( PSTR("\r\n\t Reason = 0x") );
DEBUG_PRINT(buf[5], HEX);
break;
default:
DEBUG_PRINT_P( PSTR("\r\nUnmanaged Event: 0x") );
DEBUG_PRINT(buf[0], HEX);
break;
} // switch (buf[0])
}
void WiiRemote::initBTController(void) {
uint8_t rcode = 0; // return code
uint8_t buf[MAX_BUFFER_SIZE] = {0};
USB_DEVICE_DESCRIPTOR *device_descriptor;
/* initialize data structures for endpoints of device 1 */
// copy endpoint 0 parameters
ep_record_[ CONTROL_PIPE ] = *( Usb.getDevTableEntry(0,0) );
// Bluetooth event endpoint
ep_record_[ EVENT_PIPE ].epAddr = 0x01;
ep_record_[ EVENT_PIPE ].Attr = EP_INTERRUPT;
ep_record_[ EVENT_PIPE ].MaxPktSize = INT_MAXPKTSIZE;
ep_record_[ EVENT_PIPE ].Interval = EP_POLL;
ep_record_[ EVENT_PIPE ].sndToggle = bmSNDTOG0;
ep_record_[ EVENT_PIPE ].rcvToggle = bmRCVTOG0;
// Bluetoth data endpoint
ep_record_[ DATAIN_PIPE ].epAddr = 0x02;
ep_record_[ DATAIN_PIPE ].Attr = EP_BULK;
ep_record_[ DATAIN_PIPE ].MaxPktSize = BULK_MAXPKTSIZE;
ep_record_[ DATAIN_PIPE ].Interval = 0;
ep_record_[ DATAIN_PIPE ].sndToggle = bmSNDTOG0;
ep_record_[ DATAIN_PIPE ].rcvToggle = bmRCVTOG0;
// Bluetooth data endpoint
ep_record_[ DATAOUT_PIPE ].epAddr = 0x02;
ep_record_[ DATAOUT_PIPE ].Attr = EP_BULK;
ep_record_[ DATAOUT_PIPE ].MaxPktSize = BULK_MAXPKTSIZE;
ep_record_[ DATAOUT_PIPE ].Interval = 0;
ep_record_[ DATAOUT_PIPE ].sndToggle = bmSNDTOG0;
ep_record_[ DATAOUT_PIPE ].rcvToggle = bmRCVTOG0;
// plug kbd.endpoint parameters to devtable
Usb.setDevTableEntry(BT_ADDR, ep_record_);
// read the device descriptor and check VID and PID
rcode = Usb.getDevDescr(BT_ADDR,
ep_record_[ CONTROL_PIPE ].epAddr,
DEV_DESCR_LEN,
(char *) buf);
if (rcode) {
DEBUG_PRINT_P( PSTR("\r\nDevice Descriptor Error: ") );
DEBUG_PRINT(rcode, HEX);
return;
}
device_descriptor = (USB_DEVICE_DESCRIPTOR *) &buf;
if ((device_descriptor->idVendor != CSR_VID) ||
(device_descriptor->idProduct != CSR_PID)) {
DEBUG_PRINT_P( PSTR("\r\nWrong USB Device ID: ") );
DEBUG_PRINT_P( PSTR("\r\n\t Vendor ID = ") );
DEBUG_PRINT(device_descriptor->idVendor, HEX);
DEBUG_PRINT_P( PSTR("\r\n\tProduct ID = ") );
DEBUG_PRINT(device_descriptor->idProduct, HEX);
return;
}
wiiremote_status_ |= WIIREMOTE_STATE_USB_AUTHORIZED;
// configure device
rcode = Usb.setConf(BT_ADDR,
ep_record_[ CONTROL_PIPE ].epAddr,
BT_CONFIGURATION);
if (rcode) {
DEBUG_PRINT_P( PSTR("\r\nDevice Configuration Error: ") );
DEBUG_PRINT(rcode, HEX);
return;
}
wiiremote_status_ |= WIIREMOTE_STATE_USB_CONFIGURED;
//LCD.clear();
DEBUG_PRINT_P( PSTR("\r\nCSR Initialized") );
//delay(200);
} // initBTController
int main() {
// Default pins to low status
for (int i = 0; i < 5; i++){
leds[i].output();
leds[i]= 0;
}
Kernel* kernel = new Kernel();
kernel->streams->printf("Smoothie ( grbl port ) version 0.7.2 with new accel @%ldMHz\r\n", SystemCoreClock / 1000000);
Version version;
kernel->streams->printf(" Build version %s, Build date %s\r\n", version.get_build(), version.get_build_date());
//some boards don't have leds.. TOO BAD!
kernel->use_leds= !kernel->config->value( disable_leds_checksum )->by_default(false)->as_bool();
// attempt to be able to disable msd in config
// if(!kernel->config->value( disable_msd_checksum )->by_default(false)->as_bool()){
// msc= new USBMSD(&u, &sd);
// }else{
// msc= NULL;
// kernel->streams->printf("MSD is disabled\r\n");
// }
bool sdok= (sd.disk_initialize() == 0);
// Create and add main modules
kernel->add_module( new Laser() );
kernel->add_module( new ExtruderMaker() );
kernel->add_module( new SimpleShell() );
kernel->add_module( new Configurator() );
kernel->add_module( new CurrentControl() );
kernel->add_module( new TemperatureControlPool() );
kernel->add_module( new SwitchPool() );
kernel->add_module( new PauseButton() );
kernel->add_module( new PlayLed() );
kernel->add_module( new Endstops() );
kernel->add_module( new Player() );
kernel->add_module( new Panel() );
kernel->add_module( new Touchprobe() );
// Create and initialize USB stuff
u.init();
//if(sdok) { // only do this if there is an sd disk
// msc= new USBMSD(&u, &sd);
// kernel->add_module( msc );
//}
// if(msc != NULL){
// kernel->add_module( msc );
// }
kernel->add_module( &msc );
kernel->add_module( &usbserial );
if( kernel->config->value( second_usb_serial_enable_checksum )->by_default(false)->as_bool() ){
kernel->add_module( new USBSerial(&u) );
}
kernel->add_module( &dfu );
kernel->add_module( &u );
// clear up the config cache to save some memory
kernel->config->config_cache_clear();
if(kernel->use_leds) {
// set some leds to indicate status... led0 init doe, led1 mainloop running, led2 idle loop running, led3 sdcard ok
leds[0]= 1; // indicate we are done with init
leds[3]= sdok?1:0; // 4th led inidicates sdcard is available (TODO maye should indicate config was found)
}
if(sdok) {
// load config override file if present
// NOTE only Mxxx commands that set values should be put in this file. The file is generated by M500
FILE *fp= fopen(kernel->config_override_filename(), "r");
if(fp != NULL) {
char buf[132];
kernel->streams->printf("Loading config override file: %s...\n", kernel->config_override_filename());
while(fgets(buf, sizeof buf, fp) != NULL) {
kernel->streams->printf(" %s", buf);
if(buf[0] == ';') continue; // skip the comments
struct SerialMessage message= {&(StreamOutput::NullStream), buf};
kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
}
kernel->streams->printf("config override file executed\n");
fclose(fp);
}
}
uint16_t cnt= 0;
// Main loop
while(1){
if(kernel->use_leds) {
// flash led 2 to show we are alive
leds[1]= (cnt++ & 0x1000) ? 1 : 0;
}
kernel->call_event(ON_MAIN_LOOP);
kernel->call_event(ON_IDLE);
}
}
