int main(void)
{
CPU_PRESCALE(CPU_16MHz);
SPI_SlaveInit();
InitWEnc();
u08 main_msg;
// Start keeping track of position at 0
WE_wheel_0 = 0;
while(!WE_wheel_0);
WE_position = 0;
// Loop indefinitely
while(1)
{
// obtain command from main uC
main_msg = SPI_SlaveReceive();
switch(main_msg)
{
case SPI_WHEEL_POS:
SPI_SlaveReceiveX(WE_position);
break;
case SPI_WHEEL_RPM:
SPI_SlaveReceiveX(WE_RPM);
break;
default:
break;
}
}
}
int main(void)
{
char cmd;
char param1;
char param2;
char param3;
cmd = 0;
param1 = 0;
param2 = 0;
param3 = 0;
DDRB = 0x00;
PORTB |= 0x01;
// set for 16 MHz clock, and make sure the LED is off
CPU_PRESCALE(0);
LED_CONFIG;
LED_ON;
SPI_SlaveInit();
ACK_CONFIG;
ACK_HIGH;
TEST_CONFIG;
usb_init();
_delay_ms(1000);
usb_serial_flush_input();
int flashCounter = 0;
char LEDstate = 1;
while (1) {
idle:
TEST_HIGH;
ACK_HIGH;
SPDR = 0xff;
if(ATT_PIN)
{
timeoutCounter++;
if(timeoutCounter >= 30000)//we've been disconnected
{
mode = 0x41;
motorSetting1 = 0xff;
motorSetting2 = 0xff;
analogEnabled = 0;
configMode = 0;
timeoutCounter = 0;
flashCounter++;
if(flashCounter > 5)
{
if(LEDstate == 1)
{
LED_OFF;
LEDstate = 0;
}
else
{
LED_ON;
LEDstate = 1;
}
flashCounter = 0;
}
}
if(usb_serial_available())
{
LED_ON;
int c = usb_serial_getchar();
if (c >= 0)
{
switch(parseIndex)
{
case 0:
if(c == 0x5A)
parseIndex++;
else
usb_serial_putchar('x');
break;
case 1:
buttons1 &= c;//combine this with any pending presses
buttons1postReportState = c;
parseIndex++;
break;
case 2:
buttons2 &= c;//combine this with any pending presses
buttons2postReportState = c;
parseIndex++;
break;
case 3:
joyRX = c;
parseIndex++;
break;
case 4:
joyRY = c;
parseIndex++;
break;
case 5:
joyLX = c;
parseIndex++;
break;
case 6:
joyLY = c;
parseIndex = 0;
recievedUpdate = 1;
break;
}
}
else
{
parseIndex = 0;
usb_serial_putchar('x');
}
}
_delay_us(1);
goto idle;
}
timeoutCounter = 0;
if((buttons1 & 0x10) == 0) upPressure = 0xFF; else upPressure = 0x00;
if((buttons1 & 0x20) == 0) rightPressure = 0xFF; else rightPressure = 0x00;
if((buttons1 & 0x40) == 0) downPressure = 0xFF; else downPressure = 0x00;
if((buttons1 & 0x80) == 0) leftPressure = 0xFF; else leftPressure = 0x00;
if((buttons2 & 0x01) == 0) L2Pressure = 0xFF; else L2Pressure = 0x00;
if((buttons2 & 0x02) == 0) R2Pressure = 0xFF; else R2Pressure = 0x00;
if((buttons2 & 0x04) == 0) L1Pressure = 0xFF; else L1Pressure = 0x00;
if((buttons2 & 0x08) == 0) R1Pressure = 0xFF; else R1Pressure = 0x00;
if((buttons2 & 0x10) == 0) trianglePressure = 0xFF; else trianglePressure = 0x00;
if((buttons2 & 0x20) == 0) circlePressure = 0xFF; else circlePressure = 0x00;
if((buttons2 & 0x40) == 0) crossPressure = 0xFF; else crossPressure = 0x00;
if((buttons2 & 0x80) == 0) squarePressure = 0xFF; else squarePressure = 0x00;
cli();//disable usb interrupts
LED_ON;
TEST_LOW;
cmd = SPI_SlaveReceive(0xff,1);
TEST_HIGH;
if(cmd != 0x01)
goto finish;
if(configMode)
{
cmd = SPI_SlaveReceive(0xF3,1);
SPI_SlaveReceive(0x5A,1);
switch(cmd)
{
case 0x40:
param1 = SPI_SlaveReceive(0x00,1);
// if(param1 == 0) //lots on param1 but the reponses are all the same?
{
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x02,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x5A,0);
}
break;
case 0x41://check response data
if(analogEnabled==1)
{
//button pressures byte mask, appears after 0x44 is called
SPI_SlaveReceive(0xFF,1);//use mask instead?
SPI_SlaveReceive(0xFF,1);
SPI_SlaveReceive(0x03,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x5A,0);
}
else
{
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,0);
}
break;
case 0x43://exit config mode
param1 = SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,0);
if(param1 == 0)
{
configMode = 0;
}
break;
case 0x44://turn on analog mode
param1 = SPI_SlaveReceive(0x00,1);
param2 = SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,0);
if(param1 == 1)
{
mode = 0x73;//no analog button pressures
analogEnabled = 1;
}
else
{
mode = 0x41;
analogEnabled = 0;
}
break;
case 0x45://query model
param1 = SPI_SlaveReceive(0x03,1);
param2 = SPI_SlaveReceive(0x02,1);
if(analogEnabled==1)
SPI_SlaveReceive(0x01,1);
else
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x02,1);
SPI_SlaveReceive(0x01,1);
SPI_SlaveReceive(0x00,0);
break;
case 0x46:
param1 = SPI_SlaveReceive(0x00,1);
if(param1 == 0)
{
param2 = SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x01,1);
SPI_SlaveReceive(0x02,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x0F,0);
}
if(param1 == 1)
{
param2 = SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x01,1);
SPI_SlaveReceive(0x01,1);
SPI_SlaveReceive(0x01,1);
SPI_SlaveReceive(0x0F,0);
}
break;
case 0x47:
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x02,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x01,1);
SPI_SlaveReceive(0x00,0);
break;
case 0x4C:
param1 = SPI_SlaveReceive(0x00,1);
if(param1 == 0)
{
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x04,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,0);
}
if(param1 == 1)
{
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x07,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,0);
}
break;
case 0x4D://setup motors
motorSetting1 = SPI_SlaveReceive(motorSetting1,1);
motorSetting2 = SPI_SlaveReceive(motorSetting2,1);
SPI_SlaveReceive(0xFF,1);
SPI_SlaveReceive(0xFF,1);
SPI_SlaveReceive(0xFF,1);
SPI_SlaveReceive(0xFF,0);
break;
case 0x4F://set pressure byte mask, extended pressures
mode = 0x79;//analog button pressures
param1 = SPI_SlaveReceive(0x00,1);
param2 = SPI_SlaveReceive(0x00,1);
param3 = SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x5A,0);
break;
}
}
else
{
TEST_LOW;
cmd = SPI_SlaveReceive(mode,1);
SPI_SlaveReceive(0x5A,1);
if(mode == 0x41)//digital only
{
param1 = SPI_SlaveReceive(buttons1,1);
param2 = SPI_SlaveReceive(buttons2,0);
}
if(mode == 0x73)//digital buttons, analog joysticks
{
param1 = SPI_SlaveReceive(buttons1,1);
if(param1 ==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(buttons2,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(joyRX,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(joyRY,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(joyLX,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(joyLY,0)==TIME_OUT_ERROR_CODE) goto finish;
}
if(mode == 0x79)//analog joysticks, analog buttons
{
param1 = SPI_SlaveReceive(buttons1,1);
if(param1 ==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(buttons2,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(joyRX,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(joyRY,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(joyLX,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(joyLY,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(rightPressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(leftPressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(upPressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(downPressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(trianglePressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(circlePressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(crossPressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(squarePressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(L1Pressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(R1Pressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(L2Pressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(R2Pressure,0)==TIME_OUT_ERROR_CODE) goto finish;
}
//cmd should usually be 0x42 for polling
if(cmd == 0x43)
{
if(param1 == 0x01)
configMode = 1;
}
}
finish:
TEST_HIGH;
ACK_HIGH;
if((buttons1 == 0xff)&&(buttons2 == 0xff))
{
LED_OFF;
}
//copy queued releases into button state
buttons1 = buttons1postReportState;
buttons2 = buttons2postReportState;
sei();//renable usb interrupts
if(recievedUpdate == 1)
{
//ack the update was sent to the console
usb_serial_putchar('k');
recievedUpdate = 0;
}
while(!ATT_PIN)
{
_delay_us(20); //conservative so we aren't still in ATT low at the top of the loop
}
counter++;
}
}
