void InitializeSystem()
{
SYSTEMConfigWaitStatesAndPB(CLOCK_FREQ);
mOSCSetPBDIV(OSC_PB_DIV_4); // Set to get 20MHz PB clock
//mOSCSetPBDIV(OSC_PB_DIV_2);
CheKseg0CacheOn();
mJTAGPortEnable(0);
// Initialize the pins to all digital output and driven to ground.
// Exception is RE7 and RE6 which are switch inputs
PORTSetPinsDigitalIn(IOPORT_E, BIT_6);
PORTSetPinsDigitalIn(IOPORT_E, BIT_7);
mPORTASetPinsDigitalOut(0xFFFF);
mPORTBSetPinsDigitalOut(0xFFFF);
mPORTCSetPinsDigitalOut(0xFFFF);
mPORTDSetPinsDigitalOut(0xFFFF);
mPORTESetPinsDigitalOut(0xFF3F);
mPORTFSetPinsDigitalOut(0xFFFF);
mPORTGSetPinsDigitalOut(0xFFFF);
mPORTAClearBits(0xFFFF);
mPORTBClearBits(0xFFFF);
mPORTCClearBits(0xFFFF);
mPORTDClearBits(0xFFFF);
mPORTEClearBits(0xFF3F);
mPORTESetBits(0x000F); // LED latches need to be set high for off
mPORTFClearBits(0xFFFF);
mPORTGClearBits(0xFFFF);
INTEnableSystemMultiVectoredInt();
#ifdef SANITY_CHECK
mLED_Green_On();
#endif
//LCD_Initialize();
//WIFI_Initialize();
//SPRINKLER_Initialize();
//RTCC_Initialize();
//SERIALUSB_Initialize();
SDCARD_Initialize();
TCPIP_Initialize();
}
int main(void)
{
//LOCALS
unsigned int temp;
unsigned int channel1, channel2;
M1_stepPeriod = M2_stepPeriod = M3_stepPeriod = M4_stepPeriod = 50; // in tens of u-seconds
unsigned char M1_state = 0, M2_state = 0, M3_state = 0, M4_state = 0;
SYSTEMConfig(GetSystemClock(), SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
/* TIMER1 - now configured to interrupt at 10 khz (every 100us) */
OpenTimer1(T1_ON | T1_SOURCE_INT | T1_PS_1_1, T1_TICK);
ConfigIntTimer1(T1_INT_ON | T1_INT_PRIOR_2);
/* TIMER2 - 100 khz interrupt for distance measure*/
OpenTimer2(T2_ON | T2_SOURCE_INT | T2_PS_1_1, T2_TICK);
ConfigIntTimer2(T2_INT_ON | T2_INT_PRIOR_3); //It is off until trigger
/* PORTA b2 and b3 for servo-PWM */
mPORTAClearBits(BIT_2 | BIT_3);
mPORTASetPinsDigitalOut(BIT_2 | BIT_3);
/* ULTRASONICS: some bits of PORTB for ultrasonic sensors */
PORTResetPins(IOPORT_B, BIT_8 | BIT_9| BIT_10 | BIT_11 );
PORTSetPinsDigitalOut(IOPORT_B, BIT_8 | BIT_9| BIT_10 | BIT_11); //trigger
/* Input Capture pins for echo signals */
//interrupt on every risging/falling edge starting with a rising edge
PORTSetPinsDigitalIn(IOPORT_D, BIT_8| BIT_9| BIT_10| BIT_11); //INC1, INC2, INC3, INC4 Pin
mIC1ClearIntFlag();
OpenCapture1( IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//front
ConfigIntCapture1(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3);
OpenCapture2( IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//back
ConfigIntCapture2(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3);
OpenCapture3( IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//left
ConfigIntCapture3(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3);
OpenCapture4( IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//right
ConfigIntCapture4(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3);
/* PINS used for the START (RD13) BUTTON */
PORTSetPinsDigitalIn(IOPORT_D, BIT_13);
#define CONFIG (CN_ON | CN_IDLE_CON)
#define INTERRUPT (CHANGE_INT_ON | CHANGE_INT_PRI_2)
mCNOpen(CONFIG, CN19_ENABLE, CN19_PULLUP_ENABLE);
temp = mPORTDRead();
/* PORT D and E for motors */
//motor 1
mPORTDSetBits(BIT_4 | BIT_5 | BIT_6 | BIT_7); // Turn on PORTD on startup.
mPORTDSetPinsDigitalOut(BIT_4 | BIT_5 | BIT_6 | BIT_7); // Make PORTD output.
//motor 2
mPORTCSetBits(BIT_1 | BIT_2 | BIT_3 | BIT_4); // Turn on PORTC on startup.
mPORTCSetPinsDigitalOut(BIT_1 | BIT_2 | BIT_3 | BIT_4); // Make PORTC output.
//motor 3 and 4
mPORTESetBits(BIT_0 | BIT_1 | BIT_2 | BIT_3 |
BIT_4 | BIT_5 | BIT_6 | BIT_7); // Turn on PORTE on startup.
mPORTESetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2 | BIT_3 |
BIT_4 | BIT_5 | BIT_6 | BIT_7); // Make PORTE output.
// UART2 to connect to the PC.
// This initialization assumes 36MHz Fpb clock. If it changes,
// you will have to modify baud rate initializer.
UARTConfigure(UART2, UART_ENABLE_PINS_TX_RX_ONLY);
UARTSetFifoMode(UART2, UART_INTERRUPT_ON_TX_NOT_FULL | UART_INTERRUPT_ON_RX_NOT_EMPTY);
UARTSetLineControl(UART2, UART_DATA_SIZE_8_BITS | UART_PARITY_NONE | UART_STOP_BITS_1);
UARTSetDataRate(UART2, GetPeripheralClock(), BAUD);
UARTEnable(UART2, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_RX | UART_TX));
// Configure UART2 RX Interrupt
INTEnable(INT_SOURCE_UART_RX(UART2), INT_ENABLED);
INTSetVectorPriority(INT_VECTOR_UART(UART2), INT_PRIORITY_LEVEL_2);
INTSetVectorSubPriority(INT_VECTOR_UART(UART2), INT_SUB_PRIORITY_LEVEL_0);
/* PORTD for LEDs - DEBUGGING */
mPORTDClearBits(BIT_0 | BIT_1 | BIT_2);
mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2);
// Congifure Change/Notice Interrupt Flag
ConfigIntCN(INTERRUPT);
// configure for multi-vectored mode
INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
// enable interrupts
INTEnableInterrupts();
counterDistanceMeasure=600; //measure ULTRASONICS distance each 60 ms
while (1) {
/***************** Robot MAIN state machine *****************/
unsigned char ret = 0;
switch (Robo_State) {
case 0:
MotorsON = 0;
Robo_State = 0;
InvInitialOrientation(RESET);
TestDog(RESET);
GoToRoom4short(RESET);
BackToStart(RESET);
InitialOrientation(RESET);
GoToCenter(RESET);
GoToRoom4long(RESET);
break;
case 1:
ret = InvInitialOrientation(GO);
if (ret == 1) {
Robo_State = 2;
}
break;
case 2:
ret = TestDog(GO);
if (ret == 1) {
Robo_State = 3; //DOG not found
} else if (ret == 2) {
Robo_State = 4; //DOG found
}
break;
case 3:
ret = GoToRoom4short(GO);
if (ret == 1) {
Robo_State = 0;
}
break;
case 4:
ret = BackToStart(GO);
if (ret == 1) {
Robo_State = 5;
}
break;
case 5:
ret = GoToCenter(GO);
if (ret == 1) {
Robo_State = 6;
}
break;
case 6:
ret = GoToRoom4long(GO);
if (ret == 1) {
Robo_State = 0;
}
break;
}
if (frontDistance < 30 || backDistance < 30 || leftDistance < 30 || rightDistance < 30)
mPORTDSetBits(BIT_0);
else
mPORTDClearBits(BIT_0);
/***************************************************************/
/***************** Motors State Machine ************************/
if (MotorsON) {
/****************************
MOTOR MAP
M1 O-------------O M2 ON EVEN MOTORS, STEPS MUST BE INVERTED
| /\ | i.e. FORWARD IS BACKWARD
| / \ |
| || |
| || |
M3 O-------------O M4
*****************************/
if (M1_counter == 0) {
switch (M1_state) {
case 0: // set 0011
step (0x3 , 1);
if (M1forward)
M1_state = 1;
else
M1_state = 3;
break;
case 1: // set 1001
step (0x9 , 1);
if (M1forward)
M1_state = 2;
else
M1_state = 0;
break;
case 2: // set 1100
step (0xC , 1);
if (M1forward)
M1_state = 3;
else
M1_state = 1;
break;
case 3: // set 0110
default:
step (0x6 , 1);
if (M1forward)
M1_state = 0;
else
M1_state = 2;
break;
}
M1_counter = M1_stepPeriod;
step_counter[0]--;
if (directionNow == countingDirection)
step_counter[1]--;
}
if (M2_counter == 0) {
switch (M2_state) {
case 0: // set 0011
step (0x3 , 2);
if (M2forward)
M2_state = 1;
else
M2_state = 3;
break;
case 1: // set 0110
step (0x6 , 2);
if (M2forward)
M2_state = 2;
else
M2_state = 0;
break;
case 2: // set 1100
step (0xC , 2);
if (M2forward)
M2_state = 3;
else
M2_state = 1;
break;
case 3: // set 1001
default:
step (0x9 , 2);
if (M2forward)
M2_state = 0;
else
M2_state = 2;
break;
}
M2_counter = M2_stepPeriod;
}
if (M3_counter == 0) {
switch (M3_state) {
case 0: // set 0011
step (0x3 , 3);
if (M3forward)
M3_state = 1;
else
M3_state = 3;
break;
case 1: // set 1001
step (0x9 , 3);
if (M3forward)
M3_state = 2;
else
M3_state = 0;
break;
case 2: // set 1100
step (0xC , 3);
if (M3forward)
M3_state = 3;
else
M3_state = 1;
break;
case 3: // set 0110
default:
step (0x6 , 3);
if (M3forward)
M3_state = 0;
else
M3_state = 2;
break;
}
M3_counter = M3_stepPeriod;
}
if (M4_counter == 0) {
switch (M4_state) {
case 0: // set 0011
step (0x3 , 4);
if (M4forward)
M4_state = 1;
else
M4_state = 3;
break;
case 1: // set 0110
step (0x6 , 4);
if (M4forward)
M4_state = 2;
else
M4_state = 0;
break;
case 2: // set 1100
step (0xC , 4);
if (M4forward)
M4_state = 3;
else
M4_state = 1;
break;
case 3: // set 1001
default:
step (0x9 , 4);
if (M4forward)
M4_state = 0;
else
M4_state = 2;
break;
}
M4_counter = M4_stepPeriod;
}
} else {
//motors off
mPORTDSetBits(BIT_4 | BIT_5 | BIT_6 | BIT_7);
mPORTCSetBits(BIT_1 | BIT_2 | BIT_3 | BIT_4);
mPORTESetBits(BIT_0 | BIT_1 | BIT_2 | BIT_3 |
BIT_4 | BIT_5 | BIT_6 | BIT_7);
}
/************************************************************/
/******* TEST CODE, toggles the servos (from 90 deg. to -90 deg.) every 1 s. ********/
/* if (auxcounter == 0) {
servo1_angle = 0;
if (servo2_angle == 90)
servo2_angle = -90;
else
servo2_angle = 90;
auxcounter = 20000; // toggle angle every 2 s.
}
*/
servo1_angle = 0;
servo2_angle = -90;
/*
if (frontDistance > 13 && frontDistance < 17) {
servo2_angle = 90;
}
else
servo2_angle = -90;
*/
/*******************************************************************/
/****************** SERVO CONTROL ******************/
/*
Changing the global servoX_angle at any point in the code will
move the servo to the desired angle.
*/
servo1_counter = (servo1_angle + 90)*(18)/180 + 6; // between 600 and 2400 us
if (servo1_period == 0) {
mPORTASetBits(BIT_2);
servo1_period = SERVOMAXPERIOD; /* 200 * 100us = 20000us period */
}
servo2_counter = (servo2_angle + 90)*(18)/180 + 6; // between 600 and 2400 us
if (servo2_period == 0) {
mPORTASetBits(BIT_3);
servo2_period = SERVOMAXPERIOD; /* 200 * 100us = 20000us period */
}
/*****************************************************/
} /* end of while(1) */
return 0;
}
//********************************
//********************************
//********** INITIALISE **********
//********************************
//********************************
void initialise (void)
{
BYTE data;
//##### GENERAL NOTE ABOUT PIC32'S #####
//Try and use the peripheral libraries instead of special function registers for everything (literally everything!) to avoid
//bugs that can be caused by the pipeline and interrupts.
//---------------------------------
//----- CONFIGURE PERFORMANCE -----
//---------------------------------
//----- SETUP EVERYTHING FOR OPTIMUM PERFORMANCE -----
SYSTEMConfigPerformance(80000000ul); //Note this sets peripheral bus to '1' max speed (regardless of configuration bit setting)
//Use PBCLK divider of 1:1 to calculate UART baud, timer tick etc
//----- SET PERIPHERAL BUS DIVISOR -----
//To minimize dynamic power the PB divisor should be chosen to run the peripherals at the lowest frequency that provides acceptable system performance
mOSCSetPBDIV(OSC_PB_DIV_2); //OSC_PB_DIV_1, OSC_PB_DIV_2, OSC_PB_DIV_4, OSC_PB_DIV_8,
//----- SETUP INTERRUPTS -----
INTEnableSystemMultiVectoredInt();
//-------------------------
//----- SETUP IO PINS -----
//-------------------------
//(Device will powerup with all IO pins as inputs)
//----- TURN OFF THE JTAG PORT -----
//(JTAG is on by default)
//mJTAGPortEnable(0); //Must be on for Microchip Multimedia Development board
#define PORTA_IO 0xc2ff //Setup the IO pin type (0 = output, 1 = input)
mPORTAWrite(0xc033); //Set initial ouput pin states
mPORTASetPinsDigitalIn(PORTA_IO); //(Sets high bits as input)
mPORTASetPinsDigitalOut(~PORTA_IO); //(Sets high bits as output)
#define PORTB_IO 0xfbff //Setup the IO pin type (0 = output, 1 = input)
mPORTBWrite(0x6d13); //Set initial ouput pin states
mPORTBSetPinsDigitalIn(PORTB_IO); //(Sets high bits as input)
mPORTBSetPinsDigitalOut(~PORTB_IO); //(Sets high bits as output)
mPORTBSetPinsDigitalIn(BIT_0 | BIT_1 | BIT_3 | BIT_4 | BIT_15); //Joystick inputs
#define PORTC_IO 0xf01e //Setup the IO pin type (0 = output, 1 = input)
mPORTCWrite(0x3018); //Set initial ouput pin states
mPORTCSetPinsDigitalIn(PORTC_IO); //(Sets high bits as input)
mPORTCSetPinsDigitalOut(~PORTC_IO); //(Sets high bits as output)
#define PORTD_IO 0x7bfe //Setup the IO pin type (0 = output, 1 = input)
mPORTDWrite(0xbdaf); //Set initial ouput pin states
mPORTDSetPinsDigitalIn(PORTD_IO); //(Sets high bits as input)
mPORTDSetPinsDigitalOut(~PORTD_IO); //(Sets high bits as output)
mPORTDSetPinsDigitalOut(BIT_2 | BIT_1); //LED's 2 and 3
mPORTDSetPinsDigitalIn(BIT_9);
#define PORTE_IO 0x03ff //Setup the IO pin type (0 = output, 1 = input)
mPORTEWrite(0x02a2); //Set initial ouput pin states
mPORTESetPinsDigitalIn(PORTE_IO); //(Sets high bits as input)
mPORTESetPinsDigitalOut(~PORTE_IO); //(Sets high bits as output)
#define PORTF_IO 0x111f //Setup the IO pin type (0 = output, 1 = input)
mPORTFWrite(0x0039); //Set initial ouput pin states
mPORTFSetPinsDigitalIn(PORTF_IO); //(Sets high bits as input)
mPORTFSetPinsDigitalOut(~PORTF_IO); //(Sets high bits as output)
#define PORTG_IO 0xd3cf //Setup the IO pin type (0 = output, 1 = input)
mPORTGWrite(0xf203); //Set initial ouput pin states
mPORTGSetPinsDigitalIn(PORTG_IO); //(Sets high bits as input)
mPORTGSetPinsDigitalOut(~PORTG_IO); //(Sets high bits as output)
//Read pins using:
// mPORTAReadBits(BIT_0);
//Write pins using:
// mPORTAClearBits(BIT_0);
// mPORTASetBits(BIT_0);
// mPORTAToggleBits(BIT_0);
//----- INPUT CHANGE NOTIFICATION CONFIGURATION -----
//EnableCN0();
ConfigCNPullups(CN2_PULLUP_ENABLE | CN3_PULLUP_ENABLE | CN5_PULLUP_ENABLE | CN6_PULLUP_ENABLE | CN12_PULLUP_ENABLE); //Joystick pins
//----- SETUP THE A TO D PINS -----
ENABLE_ALL_DIG;
//---------------------
//----- SETUP USB -----
//---------------------
//The USB specifications require that USB peripheral devices must never source current onto the Vbus pin. Additionally, USB peripherals should not source
//current on D+ or D- when the host/hub is not actively powering the Vbus line. When designing a self powered (as opposed to bus powered) USB peripheral
//device, the firmware should make sure not to turn on the USB module and D+ or D- pull up resistor unless Vbus is actively powered. Therefore, the
//firmware needs some means to detect when Vbus is being powered by the host. A 5V tolerant I/O pin can be connected to Vbus (through a resistor), and
//can be used to detect when Vbus is high (host actively powering), or low (host is shut down or otherwise not supplying power). The USB firmware
//can then periodically poll this I/O pin to know when it is okay to turn on the USB module/D+/D- pull up resistor. When designing a purely bus powered
//peripheral device, it is not possible to source current on D+ or D- when the host is not actively providing power on Vbus. Therefore, implementing this
//bus sense feature is optional. This firmware can be made to use this bus sense feature by making sure "USE_USB_BUS_SENSE_IO" has been defined in the
//HardwareProfile.h file.
// #if defined(USE_USB_BUS_SENSE_IO)
// tris_usb_bus_sense = INPUT_PIN; // See HardwareProfile.h
// #endif
//If the host PC sends a GetStatus (device) request, the firmware must respond and let the host know if the USB peripheral device is currently bus powered
//or self powered. See chapter 9 in the official USB specifications for details regarding this request. If the peripheral device is capable of being both
//self and bus powered, it should not return a hard coded value for this request. Instead, firmware should check if it is currently self or bus powered, and
//respond accordingly. If the hardware has been configured like demonstrated on the PICDEM FS USB Demo Board, an I/O pin can be polled to determine the
//currently selected power source. On the PICDEM FS USB Demo Board, "RA2" is used for this purpose. If using this feature, make sure "USE_SELF_POWER_SENSE_IO"
//has been defined in HardwareProfile.h, and that an appropriate I/O pin has been mapped to it in HardwareProfile.h.
// #if defined(USE_SELF_POWER_SENSE_IO)
// tris_self_power = INPUT_PIN; // See HardwareProfile.h
// #endif
//Enable the USB port now - we will check to see if Vbus is powered at the end of init and disable it if not.
//USBDeviceInit(); //usb_device.c. Initializes USB module SFRs and firmware variables to known states.
//------------------------
//----- SETUP TIMERS -----
//------------------------
//(INCLUDE THE USAGE OF ALL TIMERS HERE EVEN IF NOT SETUP HERE SO THIS IS THE ONE POINT OF
//REFERENCE TO KNOW WHICH TIMERS ARE IN USE AND FOR WHAT).
//----- SETUP TIMER 1 -----
//Used for: Available
//OpenTimer1((T1_ON | T1_IDLE_CON | T1_GATE_OFF | T1_PS_1_4 | T1_SOURCE_INT), 20000);
//----- SETUP TIMER 2 -----
//Used for:
//OpenTimer2((T2_ON | T2_IDLE_CON | T2_GATE_OFF | T2_PS_1_1 | T2_SOURCE_INT), 0xffff); //0xffff = 305Hz
//----- SETUP TIMER 3 -----
//Used for:
//OpenTimer3((T3_ON | T3_IDLE_CON | T3_GATE_OFF | T3_PS_1_1 | T3_SOURCE_INT), PIEZO_TIMER_PERIOD);
//----- SETUP TIMER 4 -----
//Used for:
//OpenTimer4((T4_ON | T4_IDLE_CON | T4_GATE_OFF | T4_PS_1_1 | T4_SOURCE_INT), 20000);
//----- SETUP TIMER 5 -----
//Used for: Heartbeat
OpenTimer5((T5_ON | T5_IDLE_CON | T5_GATE_OFF | T5_PS_1_1 | T5_SOURCE_INT), 40000); //1mS with 80MHz osc and PB_DIV_2
ConfigIntTimer5(T5_INT_ON | T5_INT_PRIOR_7); //1=lowest priority to 7=highest priority. ISR function must specify same value
//---------------------------------
//----- SETUP EVAL BOARD CPLD -----
//---------------------------------
//Graphics bus width = 16
mPORTGSetPinsDigitalOut(BIT_14);
mPORTGSetBits(BIT_14);
//SPI source select = SPI3 (not used)
mPORTGSetPinsDigitalOut(BIT_12);
mPORTGClearBits(BIT_12);
//SPI peripheral destination select = Expansion Slot (not used)
mPORTASetPinsDigitalOut(BIT_7 | BIT_6);
mPORTASetBits(BIT_7);
mPORTAClearBits(BIT_6);
//--------------------------------------
//----- PARALLEL MASTER PORT SETUP -----
//--------------------------------------
PMMODE = 0;
PMAEN = 0;
PMCON = 0;
PMMODE = 0x0610;
PMCONbits.PTRDEN = 1; //Enable RD line
PMCONbits.PTWREN = 1; //Enable WR line
PMCONbits.PMPEN = 1; //Enable PMP
//------------------------------
//----- INITIALISE DISPLAY -----
//------------------------------
display_initialise();
display_test();
//LOAD OUR GLOBAL HTML STYLES FILE READY FOR DISPLAY HTML PAGES
BYTE dummy_styles_count;
DWORD file_size;
if (display_html_setup_read_file(global_css, 0, &file_size))
{
dummy_styles_count = 0;
display_html_read_styles(&file_size, &dummy_styles_count, 1); //1 = this is global styles file
}
}
//******************************************************************************
//******************************************************************************
// Main
//******************************************************************************
//******************************************************************************
int main (void)
{
BYTE i;
DWORD temp;
int value;
value = SYSTEMConfigWaitStatesAndPB( GetSystemClock() );
mJTAGPortEnable(DEBUG_JTAGPORT_OFF);
// Enable the cache for the best performance
CheKseg0CacheOn();
value = OSCCON;
while (!(value & 0x00000020))
{
value = OSCCON; // Wait for PLL lock to stabilize
}
InitKeyboardDriver();
INTEnableSystemMultiVectoredInt();
// Init status LED
mPORTCSetBits(BIT_0);
mPORTCSetPinsDigitalOut(BIT_0);
//DBINIT();
// Initialize USB layers
USBInitialize(0);
while (1)
{
USBTasks();
App_Detect_Device();
switch (App_State_Keyboard)
{
case DEVICE_NOT_CONNECTED:
mPORTCSetBits(BIT_0);
USBTasks();
if (DisplayDeatachOnce == FALSE)
{
DBPRINTF("Device Detached\n");
DisplayDeatachOnce = TRUE;
}
if (USBHostHID_ApiDeviceDetect()) /* True if report descriptor is parsed with no error */
{
DBPRINTF("Device Attached\n");
App_State_Keyboard = DEVICE_CONNECTED;
DisplayConnectOnce = FALSE;
}
break;
case DEVICE_CONNECTED:
mPORTCClearBits(BIT_0);
App_State_Keyboard = READY_TO_TX_RX_REPORT;
if (DisplayConnectOnce == FALSE)
{
DisplayConnectOnce = TRUE;
DisplayDeatachOnce = FALSE;
}
InitializeTimer(); // start 10ms timer to schedule input reports
break;
case READY_TO_TX_RX_REPORT:
if (!USBHostHID_ApiDeviceDetect())
{
App_State_Keyboard = DEVICE_NOT_CONNECTED;
// DisplayOnce = FALSE;
}
break;
case GET_INPUT_REPORT:
if (USBHostHID_ApiGetReport(Appl_raw_report_buffer.Report_ID, Appl_ModifierKeysDetails.interfaceNum,
Appl_raw_report_buffer.ReportSize, Appl_raw_report_buffer.ReportData))
{
/* Host may be busy/error -- keep trying */
}
else
{
App_State_Keyboard = INPUT_REPORT_PENDING;
}
USBTasks();
break;
case INPUT_REPORT_PENDING:
if (USBHostHID_ApiTransferIsComplete(&ErrorDriver, &NumOfBytesRcvd))
{
if (ErrorDriver || (NumOfBytesRcvd != Appl_raw_report_buffer.ReportSize ))
{
ErrorCounter++ ;
if (MAX_ERROR_COUNTER <= ErrorDriver)
App_State_Keyboard = ERROR_REPORTED;
else
App_State_Keyboard = READY_TO_TX_RX_REPORT;
}
else
{
ErrorCounter = 0;
ReportBufferUpdated = TRUE;
App_State_Keyboard = READY_TO_TX_RX_REPORT;
if (DisplayConnectOnce == TRUE)
{
for (i = 0; i < Appl_raw_report_buffer.ReportSize; i++)
{
if (Appl_raw_report_buffer.ReportData[i] != 0)
{
//LCDClear();
//LCDL1Home();
DisplayConnectOnce = FALSE;
}
}
}
App_ProcessInputReport();
App_PrepareOutputReport();
}
}
break;
case SEND_OUTPUT_REPORT: /* Will be done while implementing Keyboard */
if (USBHostHID_ApiSendReport(Appl_LED_Indicator.reportID, Appl_LED_Indicator.interfaceNum, Appl_LED_Indicator.reportLength,
(BYTE*) & Appl_led_report_buffer))
{
/* Host may be busy/error -- keep trying */
}
else
{
App_State_Keyboard = OUTPUT_REPORT_PENDING;
}
USBTasks();
break;
case OUTPUT_REPORT_PENDING:
if (USBHostHID_ApiTransferIsComplete(&ErrorDriver, &NumOfBytesRcvd))
{
if (ErrorDriver)
{
ErrorCounter++ ;
if (MAX_ERROR_COUNTER <= ErrorDriver)
App_State_Keyboard = ERROR_REPORTED;
// App_State_Keyboard = READY_TO_TX_RX_REPORT;
}
else
{
ErrorCounter = 0;
App_State_Keyboard = READY_TO_TX_RX_REPORT;
}
}
break;
case ERROR_REPORTED:
break;
default:
break;
}
}
}
