int main(void) {
CPU_PRESCALE(0);
GBA_DDR &= ~(1<<MISO_BIT);
GBA_DDR |= (1<<MOSI_BIT) | (1<<CLK_BIT);
CLK_HIGH();
usb_init();
while (!usb_configured());
_delay_ms(1000);
INIT_TIMER();
while (1) {
if (usb_serial_available() >= 4) {
uint32_t data = 0;
data |= (uint32_t)usb_serial_getchar()<<24;
data |= (uint32_t)usb_serial_getchar()<<16;
data |= (uint32_t)usb_serial_getchar()<<8;
data |= (uint32_t)usb_serial_getchar();
xfer(&data);
usb_serial_putchar((data>>24) & 0xff);
usb_serial_putchar((data>>16) & 0xff);
usb_serial_putchar((data>>8) & 0xff);
usb_serial_putchar(data & 0xff);
usb_serial_flush_output();
}
}
// USB Input buffer available
inline unsigned int Output_availablechar()
{
#if enableVirtualSerialPort_define == 1
return usb_serial_available();
#else
return 0;
#endif
}
void usb_serial_wait_for_key(void)
{
while(usb_serial_available() == 0) {
usb_tasks();
service_button();
_delay_ms(10);
}
}
int kbhit() {
// return usb_serial_available() != 0;
if(USB_SERIAL_ON && (usb_serial_available() != 0))
return 1;
#ifdef USE_UART
return serial_available() != 0;
#endif
return 0;
}
int getkey()
{
while (!kbhit())
;
// return the next character from the console input device
// return usb_serial_getchar();
if(USB_SERIAL_ON && (usb_serial_available() != 0)) {
return usb_serial_getchar();
}
#ifdef USE_UART
return serial_getchar();
#endif
return 0;
}
uint16_t usb_serial_readline(char *buffer, const uint16_t buffer_size, const bool obscure_input)
{
uint16_t end = 0;
char c;
while(true) {
if(usb_serial_available() > 0) {
c = (char)usb_serial_getchar();
switch((char) c) {
case '\r': // enter
buffer[end] = 0;
usb_serial_putchar('\n');
usb_serial_putchar('\r');
return end;
break;
case '\b': // ^H
case 127: // backspace
end--;
usb_serial_write("\b \b"); // remove the last char from the display
//usb_serial_readline_refresh(buffer, end, obscure_input);
break;
default:
if(end < buffer_size-1) {
buffer[end++] = c;
if(obscure_input)
usb_serial_putchar('*');
else
usb_serial_putchar(c);
}
break;
}
}
usb_tasks();
service_button();
_delay_ms(10);
}
return 0; // never reached
}
// Basic command interpreter for controlling port pins
int main(void)
{
char rx_buf[8];// the buffer to store received characters
uint8_t n = 0; // to store the number of bytes read from the serial port
uint8_t counter = 0; //keep count of the number of cycles in the while loop
// coordinates of the middle of the screen
int x=LCD_X/2;
int y=LCD_Y/2;
//set clock speed to 8MhZ
set_clock_speed(CPU_8MHz);
//initialise LCD and ports
Init();
// initialize the USB, and then wait for the host
// to set configuration. If the Teensy is powered
// without a PC connected to the USB port, this
// will wait forever.
usb_init();
while (!usb_configured()) /* wait */ ;
_delay_ms(1000);
//keep looping until the character 'q' is received
while (rx_buf[0]!='q') {
counter++;
// wait for the user to run their terminal emulator program
// which sets DTR to indicate it is ready to receive.
while (!(usb_serial_get_control() & USB_SERIAL_DTR)) /* wait */ ;
// discard anything that was received prior. Sometimes the
// operating system or other software will send a modem
// "AT command", which can still be buffered.
usb_serial_flush_input();
// and then listen for commands and process them
while (1) {
//send some characters to the other side
//send_str(PSTR("> \n"));
if (usb_serial_available())
n = recv_str(rx_buf, sizeof(rx_buf)); //read serial port
else
break;
parse_and_execute_command(rx_buf, n);
clear_screen();
draw_string(x-40,y,"receiving: ");
show_screen();
draw_char(x+20,y,rx_buf[0]);
show_screen();
}
}
return 0;
}
//void parse_CIM_protocol(unsigned char actbyte)
void parse_CIM_protocol(void)
{
uint32_t checksum=0;
static uint8_t transmission_mode;
static uint8_t reply_status_code;
static uint8_t last_serial;
uint8_t actbyte;
while (usb_serial_available())
{ //PORTD |= (1<<6);
actbyte=usb_serial_getchar();
switch (readstate)
{
case 0: // first sync byte
reply_status_code=0;
if (actbyte=='@') readstate++;
break;
case 1: // second sync byte
if (actbyte=='T') readstate++;
else readstate=0;
break;
// packet in sync !
case 2: // ARE-ID: SW-version low byte
ARE_frame.are_id=actbyte;
readstate++;
break;
case 3: // ARE-ID: SW-version high byte
ARE_frame.are_id+=((uint16_t)actbyte)<<8;
if (ARE_frame.are_id < ARE_MINIMAL_VERSION) // outdated ARE ?
reply_status_code |= CIM_ERROR_INVALID_ARE_VERSION;
readstate++;
break;
case 4: // data length low byte
ARE_frame.data_size=actbyte;
readstate++;
break;
case 5: // data length high byte
ARE_frame.data_size+=((uint16_t)actbyte)<<8;
if (ARE_frame.data_size > DATABUF_SIZE) { // dismiss packets of excessive length
readstate=0;
//ARE_frame.data_size=0;
//reply_status_code |= CIM_ERROR_INVALID_FEATURE;
}
else readstate++;
break;
case 6: // serial_number
ARE_frame.serial_number = actbyte;
if (first_packet) // don't check first serial
first_packet=0;
else if (actbyte != (last_serial+1)%0x80) // check current serial number
reply_status_code |= CIM_ERROR_LOST_PACKETS;
last_serial=actbyte;
readstate++;
break;
case 7: // CIM-feature low byte
ARE_frame.cim_feature= actbyte;
readstate++;
break;
case 8: // CIM-feature high byte
ARE_frame.cim_feature+=((int)actbyte)<<8;
readstate++;
break;
case 9: // Request code low byte ( command )
ARE_frame.request_code=actbyte;
readstate++;
break;
case 10:// Request code high byte (transmission mode)
transmission_mode=actbyte; // bit 0: CRC enable
// reply_status_code|=(actbyte & CIM_STATUS_CRC);
// remember CRC state for reply
if (ARE_frame.data_size>0) {
readstate++;
datapos=0;
}
else { // no data in packet
if (transmission_mode & CIM_STATUS_CRC)
readstate+=2; // proceed with CRC
else readstate=FRAME_DONE; // frame is finished here !
}
break;
case 11: // read out data
ARE_frame.data[datapos]=actbyte;
datapos++;
if (datapos==ARE_frame.data_size)
{
if (transmission_mode & CIM_STATUS_CRC) // with CRC: get checksum
readstate++;
else readstate=FRAME_DONE; // no CRC: frame is finished here !
}
break;
case 12: // checksum byte 1
checksum=actbyte;
readstate++;
break;
case 13: // checksum byte 2
checksum+=((long)actbyte)<<8;
readstate++;
break;
case 14: // checksum byte 3
checksum+=((long)actbyte)<<16;
readstate++;
break;
case 15: // checksum byte 4
checksum+=((long)actbyte)<<24;
// check CRC now (currently not used):
// if (checksum != crc32(ARE_frame.data, ARE_frame.data_size))
reply_status_code |= CIM_ERROR_CRC_MISMATCH;
// frame finished here !
readstate=FRAME_DONE;
break;
default: readstate=0; break;
}
if (readstate==FRAME_DONE) { // frame finished: store command in ringbuffer
process_ARE_frame(reply_status_code);
readstate=0;
}
}
}
/** The MAIN loop. */
int main(void) {
// Turn off the CPU prescale.
CLKPR = 0x80;
CLKPR = 0x00;
// PORTA are general purpose inputs.
DDRA = 0x00;
PORTA = 0xff; // pull-ups all enabled
PORTD = 0xff;
DDRD = 0x00; // pull-ups all enabled
DDRF = 0x00; // These are ADC lines.
PORTF = 0x00;
usb_init();
// Set up Timer 0 to match compare every 1ms.
OCR0A = 250;
TCCR0A = 0x02; // CTC
TCCR0B = 0x03; // CK/64 (64 * 250 == 16000)
sei();
char line_buf[128] = {};
uint8_t line_len = 0;
uint8_t usb_ready = 0;
while (1) {
wdt_reset();
g_main_loop_count++;
if (usb_configured() && (usb_serial_get_control() & USB_SERIAL_DTR)) {
if (!usb_ready) {
usb_ready = 1;
strcpy_P(line_buf, PSTR("!GNR WELCOME " DEV_VERSION EOL));
usb_serial_write((uint8_t*)line_buf, strlen(line_buf));
line_len = 0;
}
} else {
stream_stop_all();
usb_serial_flush_input();
usb_ready = 0;
line_len = 0;
g_arm_code = 0;
}
if (usb_serial_available()) {
int16_t c = usb_serial_getchar();
if (c == '\r' || c == '\n') {
line_buf[line_len] = 0;
handle_line(line_buf);
if (g_arm_code) { g_arm_timer = ARM_TIMEOUT_MS; }
line_len = 0;
} else {
line_buf[line_len++] = c & 0xff;
if ((line_len + 1) >= sizeof(line_buf)) {
/* Clobber the first byte so that this line will be reported
as an error. */
line_buf[0] = MAGIC_OVERRUN_CODE;
line_len--;
}
}
}
if (TIFR0 & (1 << OCF0A)) {
TIFR0 |= (1 << OCF0A);
g_timer++;
stream_timer_update();
hit_timer_update();
g_main_loop_count = (uint16_t) (((uint32_t) g_main_loop_count) * 7 / 8);
}
stream_poll();
usb_poll();
hit_poll();
}
}
// USB Input buffer available
inline unsigned int Output_availablechar()
{
return usb_serial_available();
}
// Basic command interpreter for controlling port pins
int main(void)
{
char rx_buf[8];// the buffer to store received characters
uint8_t n=0; //number of bytes read
//set clock speed to 8MhZ
set_clock_speed(CPU_8MHz);
//initialise LCD and ports
Init();
// initialize the USB, and then wait for the host
// to set configuration. If the Teensy is powered
// without a PC connected to the USB port, this
// will wait forever.
usb_init();
while (!usb_configured()) /* wait */ ;
_delay_ms(1000);
//keep looping until the character 'q' is received
while (rx_buf[0]!='q') {
// wait for the user to run their terminal emulator program
// which sets DTR to indicate it is ready to receive.
while (!(usb_serial_get_control() & USB_SERIAL_DTR)) /* wait */ ;
// discard anything that was received prior. Sometimes the
// operating system or other software will send a modem
// "AT command", which can still be buffered.
usb_serial_flush_input();
// and then listen for commands and process them
while (1) {
if (usb_serial_available())
{
n = recv_str(rx_buf, sizeof(rx_buf)); //read serial port
//send a characters to the other side
send_str(PSTR("> \n"));
}
else
{
break;
}
//check first character of the buffer and perform an action
if(rx_buf[0]=='a') //turn LED0 ON
PORTB = 1<<2;
if(rx_buf[0]=='d') //turn LED1 ON
PORTB = 1<<3;
if(rx_buf[0]=='s') //turn LED0 OFF
PORTB = 0x00;
}
}
return 0;
}
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++;
}
}
