Arnaud VALLEY / Mbed 2 deprecated Pinscape_Controller_V2_arnoz

Mirror with some correction

Dependencies:   mbed FastIO FastPWM USBDevice

main.cpp@66:2e3583fbd2f4, 2016-11-27 (annotated)

Committer:
mjr
Date:
Sun Nov 27 06:37:47 2016 +0000
Revision:
66:2e3583fbd2f4
Parent:
65:739875521aae
Child:
67:c39e66c4e000
Add "local shift button", which allows each physical button to have two key mappings (normal and shifted)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mjr 51:57eb311faafa 1 /* Copyright 2014, 2016 M J Roberts, MIT License
mjr 5:a70c0bce770d 2 *
mjr 5:a70c0bce770d 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
mjr 5:a70c0bce770d 4 * and associated documentation files (the "Software"), to deal in the Software without
mjr 5:a70c0bce770d 5 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
mjr 5:a70c0bce770d 6 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
mjr 5:a70c0bce770d 7 * Software is furnished to do so, subject to the following conditions:
mjr 5:a70c0bce770d 8 *
mjr 5:a70c0bce770d 9 * The above copyright notice and this permission notice shall be included in all copies or
mjr 5:a70c0bce770d 10 * substantial portions of the Software.
mjr 5:a70c0bce770d 11 *
mjr 5:a70c0bce770d 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
mjr 48:058ace2aed1d 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILIT Y, FITNESS FOR A PARTICULAR PURPOSE AND
mjr 5:a70c0bce770d 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
mjr 5:a70c0bce770d 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
mjr 5:a70c0bce770d 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
mjr 5:a70c0bce770d 17 */
mjr 5:a70c0bce770d 18
mjr 5:a70c0bce770d 19 //
mjr 35:e959ffba78fd 20 // The Pinscape Controller
mjr 35:e959ffba78fd 21 // A comprehensive input/output controller for virtual pinball machines
mjr 5:a70c0bce770d 22 //
mjr 48:058ace2aed1d 23 // This project implements an I/O controller for virtual pinball cabinets. The
mjr 48:058ace2aed1d 24 // controller's function is to connect Visual Pinball (and other Windows pinball
mjr 48:058ace2aed1d 25 // emulators) with physical devices in the cabinet: buttons, sensors, and
mjr 48:058ace2aed1d 26 // feedback devices that create visual or mechanical effects during play.
mjr 38:091e511ce8a0 27 //
mjr 48:058ace2aed1d 28 // The controller can perform several different functions, which can be used
mjr 38:091e511ce8a0 29 // individually or in any combination:
mjr 5:a70c0bce770d 30 //
mjr 38:091e511ce8a0 31 // - Nudge sensing. This uses the KL25Z's on-board accelerometer to sense the
mjr 38:091e511ce8a0 32 // motion of the cabinet when you nudge it. Visual Pinball and other pinball
mjr 38:091e511ce8a0 33 // emulators on the PC have native handling for this type of input, so that
mjr 38:091e511ce8a0 34 // physical nudges on the cabinet turn into simulated effects on the virtual
mjr 38:091e511ce8a0 35 // ball. The KL25Z measures accelerations as analog readings and is quite
mjr 38:091e511ce8a0 36 // sensitive, so the effect of a nudge on the simulation is proportional
mjr 38:091e511ce8a0 37 // to the strength of the nudge. Accelerations are reported to the PC via a
mjr 38:091e511ce8a0 38 // simulated joystick (using the X and Y axes); you just have to set some
mjr 38:091e511ce8a0 39 // preferences in your pinball software to tell it that an accelerometer
mjr 38:091e511ce8a0 40 // is attached.
mjr 5:a70c0bce770d 41 //
mjr 38:091e511ce8a0 42 // - Plunger position sensing, with mulitple sensor options. To use this feature,
mjr 35:e959ffba78fd 43 // you need to choose a sensor and set it up, connect the sensor electrically to
mjr 35:e959ffba78fd 44 // the KL25Z, and configure the Pinscape software on the KL25Z to let it know how
mjr 35:e959ffba78fd 45 // the sensor is hooked up. The Pinscape software monitors the sensor and sends
mjr 35:e959ffba78fd 46 // readings to Visual Pinball via the joystick Z axis. VP and other PC software
mjr 38:091e511ce8a0 47 // have native support for this type of input; as with the nudge setup, you just
mjr 38:091e511ce8a0 48 // have to set some options in VP to activate the plunger.
mjr 17:ab3cec0c8bf4 49 //
mjr 35:e959ffba78fd 50 // The Pinscape software supports optical sensors (the TAOS TSL1410R and TSL1412R
mjr 35:e959ffba78fd 51 // linear sensor arrays) as well as slide potentiometers. The specific equipment
mjr 35:e959ffba78fd 52 // that's supported, along with physical mounting and wiring details, can be found
mjr 35:e959ffba78fd 53 // in the Build Guide.
mjr 35:e959ffba78fd 54 //
mjr 38:091e511ce8a0 55 // Note VP has built-in support for plunger devices like this one, but some VP
mjr 38:091e511ce8a0 56 // tables can't use it without some additional scripting work. The Build Guide has
mjr 38:091e511ce8a0 57 // advice on adjusting tables to add plunger support when necessary.
mjr 5:a70c0bce770d 58 //
mjr 6:cc35eb643e8f 59 // For best results, the plunger sensor should be calibrated. The calibration
mjr 6:cc35eb643e8f 60 // is stored in non-volatile memory on board the KL25Z, so it's only necessary
mjr 6:cc35eb643e8f 61 // to do the calibration once, when you first install everything. (You might
mjr 6:cc35eb643e8f 62 // also want to re-calibrate if you physically remove and reinstall the CCD
mjr 17:ab3cec0c8bf4 63 // sensor or the mechanical plunger, since their alignment shift change slightly
mjr 17:ab3cec0c8bf4 64 // when you put everything back together.) You can optionally install a
mjr 17:ab3cec0c8bf4 65 // dedicated momentary switch or pushbutton to activate the calibration mode;
mjr 17:ab3cec0c8bf4 66 // this is describe in the project documentation. If you don't want to bother
mjr 17:ab3cec0c8bf4 67 // with the extra button, you can also trigger calibration using the Windows
mjr 17:ab3cec0c8bf4 68 // setup software, which you can find on the Pinscape project page.
mjr 6:cc35eb643e8f 69 //
mjr 17:ab3cec0c8bf4 70 // The calibration procedure is described in the project documentation. Briefly,
mjr 17:ab3cec0c8bf4 71 // when you trigger calibration mode, the software will scan the CCD for about
mjr 17:ab3cec0c8bf4 72 // 15 seconds, during which you should simply pull the physical plunger back
mjr 17:ab3cec0c8bf4 73 // all the way, hold it for a moment, and then slowly return it to the rest
mjr 17:ab3cec0c8bf4 74 // position. (DON'T just release it from the retracted position, since that
mjr 17:ab3cec0c8bf4 75 // let it shoot forward too far. We want to measure the range from the park
mjr 17:ab3cec0c8bf4 76 // position to the fully retracted position only.)
mjr 5:a70c0bce770d 77 //
mjr 13:72dda449c3c0 78 // - Button input wiring. 24 of the KL25Z's GPIO ports are mapped as digital inputs
mjr 38:091e511ce8a0 79 // for buttons and switches. You can wire each input to a physical pinball-style
mjr 38:091e511ce8a0 80 // button or switch, such as flipper buttons, Start buttons, coin chute switches,
mjr 38:091e511ce8a0 81 // tilt bobs, and service buttons. Each button can be configured to be reported
mjr 38:091e511ce8a0 82 // to the PC as a joystick button or as a keyboard key (you can select which key
mjr 38:091e511ce8a0 83 // is used for each button).
mjr 13:72dda449c3c0 84 //
mjr 53:9b2611964afc 85 // - LedWiz emulation. The KL25Z can pretend to be an LedWiz device. This lets
mjr 53:9b2611964afc 86 // you connect feedback devices (lights, solenoids, motors) to GPIO ports on the
mjr 53:9b2611964afc 87 // KL25Z, and lets PC software (such as Visual Pinball) control them during game
mjr 53:9b2611964afc 88 // play to create a more immersive playing experience. The Pinscape software
mjr 53:9b2611964afc 89 // presents itself to the host as an LedWiz device and accepts the full LedWiz
mjr 53:9b2611964afc 90 // command set, so software on the PC designed for real LedWiz'es can control
mjr 53:9b2611964afc 91 // attached devices without any modifications.
mjr 5:a70c0bce770d 92 //
mjr 53:9b2611964afc 93 // Even though the software provides a very thorough LedWiz emulation, the KL25Z
mjr 53:9b2611964afc 94 // GPIO hardware design imposes some serious limitations. The big one is that
mjr 53:9b2611964afc 95 // the KL25Z only has 10 PWM channels, meaning that only 10 ports can have
mjr 53:9b2611964afc 96 // varying-intensity outputs (e.g., for controlling the brightness level of an
mjr 53:9b2611964afc 97 // LED or the speed or a motor). You can control more than 10 output ports, but
mjr 53:9b2611964afc 98 // only 10 can have PWM control; the rest are simple "digital" ports that can only
mjr 53:9b2611964afc 99 // be switched fully on or fully off. The second limitation is that the KL25Z
mjr 53:9b2611964afc 100 // just doesn't have that many GPIO ports overall. There are enough to populate
mjr 53:9b2611964afc 101 // all 32 button inputs OR all 32 LedWiz outputs, but not both. The default is
mjr 53:9b2611964afc 102 // to assign 24 buttons and 22 LedWiz ports; you can change this balance to trade
mjr 53:9b2611964afc 103 // off more outputs for fewer inputs, or vice versa. The third limitation is that
mjr 53:9b2611964afc 104 // the KL25Z GPIO pins have *very* tiny amperage limits - just 4mA, which isn't
mjr 53:9b2611964afc 105 // even enough to control a small LED. So in order to connect any kind of feedback
mjr 53:9b2611964afc 106 // device to an output, you *must* build some external circuitry to boost the
mjr 53:9b2611964afc 107 // current handing. The Build Guide has a reference circuit design for this
mjr 53:9b2611964afc 108 // purpose that's simple and inexpensive to build.
mjr 6:cc35eb643e8f 109 //
mjr 26:cb71c4af2912 110 // - Enhanced LedWiz emulation with TLC5940 PWM controller chips. You can attach
mjr 26:cb71c4af2912 111 // external PWM controller chips for controlling device outputs, instead of using
mjr 53:9b2611964afc 112 // the on-board GPIO ports as described above. The software can control a set of
mjr 53:9b2611964afc 113 // daisy-chained TLC5940 chips. Each chip provides 16 PWM outputs, so you just
mjr 53:9b2611964afc 114 // need two of them to get the full complement of 32 output ports of a real LedWiz.
mjr 53:9b2611964afc 115 // You can hook up even more, though. Four chips gives you 64 ports, which should
mjr 53:9b2611964afc 116 // be plenty for nearly any virtual pinball project. To accommodate the larger
mjr 53:9b2611964afc 117 // supply of ports possible with the PWM chips, the controller software provides
mjr 53:9b2611964afc 118 // a custom, extended version of the LedWiz protocol that can handle up to 128
mjr 53:9b2611964afc 119 // ports. PC software designed only for the real LedWiz obviously won't know
mjr 53:9b2611964afc 120 // about the extended protocol and won't be able to take advantage of its extra
mjr 53:9b2611964afc 121 // capabilities, but the latest version of DOF (DirectOutput Framework) *does*
mjr 53:9b2611964afc 122 // know the new language and can take full advantage. Older software will still
mjr 53:9b2611964afc 123 // work, though - the new extensions are all backward compatible, so old software
mjr 53:9b2611964afc 124 // that only knows about the original LedWiz protocol will still work, with the
mjr 53:9b2611964afc 125 // obvious limitation that it can only access the first 32 ports.
mjr 53:9b2611964afc 126 //
mjr 53:9b2611964afc 127 // The Pinscape Expansion Board project (which appeared in early 2016) provides
mjr 53:9b2611964afc 128 // a reference hardware design, with EAGLE circuit board layouts, that takes full
mjr 53:9b2611964afc 129 // advantage of the TLC5940 capability. It lets you create a customized set of
mjr 53:9b2611964afc 130 // outputs with full PWM control and power handling for high-current devices
mjr 53:9b2611964afc 131 // built in to the boards.
mjr 26:cb71c4af2912 132 //
mjr 38:091e511ce8a0 133 // - Night Mode control for output devices. You can connect a switch or button
mjr 38:091e511ce8a0 134 // to the controller to activate "Night Mode", which disables feedback devices
mjr 38:091e511ce8a0 135 // that you designate as noisy. You can designate outputs individually as being
mjr 38:091e511ce8a0 136 // included in this set or not. This is useful if you want to play a game on
mjr 38:091e511ce8a0 137 // your cabinet late at night without waking the kids and annoying the neighbors.
mjr 38:091e511ce8a0 138 //
mjr 38:091e511ce8a0 139 // - TV ON switch. The controller can pulse a relay to turn on your TVs after
mjr 38:091e511ce8a0 140 // power to the cabinet comes on, with a configurable delay timer. This feature
mjr 38:091e511ce8a0 141 // is for TVs that don't turn themselves on automatically when first plugged in.
mjr 38:091e511ce8a0 142 // To use this feature, you have to build some external circuitry to allow the
mjr 38:091e511ce8a0 143 // software to sense the power supply status, and you have to run wires to your
mjr 38:091e511ce8a0 144 // TV's on/off button, which requires opening the case on your TV. The Build
mjr 38:091e511ce8a0 145 // Guide has details on the necessary circuitry and connections to the TV.
mjr 38:091e511ce8a0 146 //
mjr 35:e959ffba78fd 147 //
mjr 35:e959ffba78fd 148 //
mjr 33:d832bcab089e 149 // STATUS LIGHTS: The on-board LED on the KL25Z flashes to indicate the current
mjr 33:d832bcab089e 150 // device status. The flash patterns are:
mjr 6:cc35eb643e8f 151 //
mjr 48:058ace2aed1d 152 // short yellow flash = waiting to connect
mjr 6:cc35eb643e8f 153 //
mjr 48:058ace2aed1d 154 // short red flash = the connection is suspended (the host is in sleep
mjr 48:058ace2aed1d 155 // or suspend mode, the USB cable is unplugged after a connection
mjr 48:058ace2aed1d 156 // has been established)
mjr 48:058ace2aed1d 157 //
mjr 48:058ace2aed1d 158 // two short red flashes = connection lost (the device should immediately
mjr 48:058ace2aed1d 159 // go back to short-yellow "waiting to reconnect" mode when a connection
mjr 48:058ace2aed1d 160 // is lost, so this display shouldn't normally appear)
mjr 6:cc35eb643e8f 161 //
mjr 38:091e511ce8a0 162 // long red/yellow = USB connection problem. The device still has a USB
mjr 48:058ace2aed1d 163 // connection to the host (or so it appears to the device), but data
mjr 48:058ace2aed1d 164 // transmissions are failing.
mjr 38:091e511ce8a0 165 //
mjr 6:cc35eb643e8f 166 // long yellow/green = everything's working, but the plunger hasn't
mjr 38:091e511ce8a0 167 // been calibrated. Follow the calibration procedure described in
mjr 38:091e511ce8a0 168 // the project documentation. This flash mode won't appear if there's
mjr 38:091e511ce8a0 169 // no plunger sensor configured.
mjr 6:cc35eb643e8f 170 //
mjr 38:091e511ce8a0 171 // alternating blue/green = everything's working normally, and plunger
mjr 38:091e511ce8a0 172 // calibration has been completed (or there's no plunger attached)
mjr 10:976666ffa4ef 173 //
mjr 48:058ace2aed1d 174 // fast red/purple = out of memory. The controller halts and displays
mjr 48:058ace2aed1d 175 // this diagnostic code until you manually reset it. If this happens,
mjr 48:058ace2aed1d 176 // it's probably because the configuration is too complex, in which
mjr 48:058ace2aed1d 177 // case the same error will occur after the reset. If it's stuck
mjr 48:058ace2aed1d 178 // in this cycle, you'll have to restore the default configuration
mjr 48:058ace2aed1d 179 // by re-installing the controller software (the Pinscape .bin file).
mjr 10:976666ffa4ef 180 //
mjr 48:058ace2aed1d 181 //
mjr 48:058ace2aed1d 182 // USB PROTOCOL: Most of our USB messaging is through standard USB HID
mjr 48:058ace2aed1d 183 // classes (joystick, keyboard). We also accept control messages on our
mjr 48:058ace2aed1d 184 // primary HID interface "OUT endpoint" using a custom protocol that's
mjr 48:058ace2aed1d 185 // not defined in any USB standards (we do have to provide a USB HID
mjr 48:058ace2aed1d 186 // Report Descriptor for it, but this just describes the protocol as
mjr 48:058ace2aed1d 187 // opaque vendor-defined bytes). The control protocol incorporates the
mjr 48:058ace2aed1d 188 // LedWiz protocol as a subset, and adds our own private extensions.
mjr 48:058ace2aed1d 189 // For full details, see USBProtocol.h.
mjr 33:d832bcab089e 190
mjr 33:d832bcab089e 191
mjr 0:5acbbe3f4cf4 192 #include "mbed.h"
mjr 6:cc35eb643e8f 193 #include "math.h"
mjr 48:058ace2aed1d 194 #include "pinscape.h"
mjr 0:5acbbe3f4cf4 195 #include "USBJoystick.h"
mjr 0:5acbbe3f4cf4 196 #include "MMA8451Q.h"
mjr 1:d913e0afb2ac 197 #include "tsl1410r.h"
mjr 1:d913e0afb2ac 198 #include "FreescaleIAP.h"
mjr 2:c174f9ee414a 199 #include "crc32.h"
mjr 26:cb71c4af2912 200 #include "TLC5940.h"
mjr 34:6b981a2afab7 201 #include "74HC595.h"
mjr 35:e959ffba78fd 202 #include "nvm.h"
mjr 35:e959ffba78fd 203 #include "plunger.h"
mjr 35:e959ffba78fd 204 #include "ccdSensor.h"
mjr 35:e959ffba78fd 205 #include "potSensor.h"
mjr 35:e959ffba78fd 206 #include "nullSensor.h"
mjr 48:058ace2aed1d 207 #include "TinyDigitalIn.h"
mjr 64:ef7ca92dff36 208 #include "FastPWM.h"
mjr 2:c174f9ee414a 209
mjr 21:5048e16cc9ef 210 #define DECL_EXTERNS
mjr 17:ab3cec0c8bf4 211 #include "config.h"
mjr 17:ab3cec0c8bf4 212
mjr 53:9b2611964afc 213
mjr 53:9b2611964afc 214 // --------------------------------------------------------------------------
mjr 53:9b2611964afc 215 //
mjr 53:9b2611964afc 216 // OpenSDA module identifier. This is for the benefit of the Windows
mjr 53:9b2611964afc 217 // configuration tool. When the config tool installs a .bin file onto
mjr 53:9b2611964afc 218 // the KL25Z, it will first find the sentinel string within the .bin file,
mjr 53:9b2611964afc 219 // and patch the "\0" bytes that follow the sentinel string with the
mjr 53:9b2611964afc 220 // OpenSDA module ID data. This allows us to report the OpenSDA
mjr 53:9b2611964afc 221 // identifiers back to the host system via USB, which in turn allows the
mjr 53:9b2611964afc 222 // config tool to figure out which OpenSDA MSD (mass storage device - a
mjr 53:9b2611964afc 223 // virtual disk drive) correlates to which Pinscape controller USB
mjr 53:9b2611964afc 224 // interface.
mjr 53:9b2611964afc 225 //
mjr 53:9b2611964afc 226 // This is only important if multiple Pinscape devices are attached to
mjr 53:9b2611964afc 227 // the same host. There doesn't seem to be any other way to figure out
mjr 53:9b2611964afc 228 // which OpenSDA MSD corresponds to which KL25Z USB interface; the OpenSDA
mjr 53:9b2611964afc 229 // MSD doesn't report the KL25Z CPU ID anywhere, and the KL25Z doesn't
mjr 53:9b2611964afc 230 // have any way to learn about the OpenSDA module it's connected to. The
mjr 53:9b2611964afc 231 // only way to pass this information to the KL25Z side that I can come up
mjr 53:9b2611964afc 232 // with is to have the Windows host embed it in the .bin file before
mjr 53:9b2611964afc 233 // downloading it to the OpenSDA MSD.
mjr 53:9b2611964afc 234 //
mjr 53:9b2611964afc 235 // We initialize the const data buffer (the part after the sentinel string)
mjr 53:9b2611964afc 236 // with all "\0" bytes, so that's what will be in the executable image that
mjr 53:9b2611964afc 237 // comes out of the mbed compiler. If you manually install the resulting
mjr 53:9b2611964afc 238 // .bin file onto the KL25Z (via the Windows desktop, say), the "\0" bytes
mjr 53:9b2611964afc 239 // will stay this way and read as all 0's at run-time. Since a real TUID
mjr 53:9b2611964afc 240 // would never be all 0's, that tells us that we were never patched and
mjr 53:9b2611964afc 241 // thus don't have any information on the OpenSDA module.
mjr 53:9b2611964afc 242 //
mjr 53:9b2611964afc 243 const char *getOpenSDAID()
mjr 53:9b2611964afc 244 {
mjr 53:9b2611964afc 245 #define OPENSDA_PREFIX "///Pinscape.OpenSDA.TUID///"
mjr 53:9b2611964afc 246 static const char OpenSDA[] = OPENSDA_PREFIX "\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0///";
mjr 53:9b2611964afc 247 const size_t OpenSDA_prefix_length = sizeof(OPENSDA_PREFIX) - 1;
mjr 53:9b2611964afc 248
mjr 53:9b2611964afc 249 return OpenSDA + OpenSDA_prefix_length;
mjr 53:9b2611964afc 250 }
mjr 53:9b2611964afc 251
mjr 53:9b2611964afc 252 // --------------------------------------------------------------------------
mjr 53:9b2611964afc 253 //
mjr 53:9b2611964afc 254 // Build ID. We use the date and time of compiling the program as a build
mjr 53:9b2611964afc 255 // identifier. It would be a little nicer to use a simple serial number
mjr 53:9b2611964afc 256 // instead, but the mbed platform doesn't have a way to automate that. The
mjr 53:9b2611964afc 257 // timestamp is a pretty good proxy for a serial number in that it will
mjr 53:9b2611964afc 258 // naturally increase on each new build, which is the primary property we
mjr 53:9b2611964afc 259 // want from this.
mjr 53:9b2611964afc 260 //
mjr 53:9b2611964afc 261 // As with the embedded OpenSDA ID, we store the build timestamp with a
mjr 53:9b2611964afc 262 // sentinel string prefix, to allow automated tools to find the static data
mjr 53:9b2611964afc 263 // in the .bin file by searching for the sentinel string. In contrast to
mjr 53:9b2611964afc 264 // the OpenSDA ID, the value we store here is for tools to extract rather
mjr 53:9b2611964afc 265 // than store, since we automatically populate it via the preprocessor
mjr 53:9b2611964afc 266 // macros.
mjr 53:9b2611964afc 267 //
mjr 53:9b2611964afc 268 const char *getBuildID()
mjr 53:9b2611964afc 269 {
mjr 53:9b2611964afc 270 #define BUILDID_PREFIX "///Pinscape.Build.ID///"
mjr 53:9b2611964afc 271 static const char BuildID[] = BUILDID_PREFIX __DATE__ " " __TIME__ "///";
mjr 53:9b2611964afc 272 const size_t BuildID_prefix_length = sizeof(BUILDID_PREFIX) - 1;
mjr 53:9b2611964afc 273
mjr 53:9b2611964afc 274 return BuildID + BuildID_prefix_length;
mjr 53:9b2611964afc 275 }
mjr 53:9b2611964afc 276
mjr 53:9b2611964afc 277
mjr 48:058ace2aed1d 278 // --------------------------------------------------------------------------
mjr 48:058ace2aed1d 279 //
mjr 59:94eb9265b6d7 280 // Custom memory allocator. We use our own version of malloc() for more
mjr 59:94eb9265b6d7 281 // efficient memory usage, and to provide diagnostics if we run out of heap.
mjr 48:058ace2aed1d 282 //
mjr 59:94eb9265b6d7 283 // We can implement a more efficient malloc than the library can because we
mjr 59:94eb9265b6d7 284 // can make an assumption that the library can't: allocations are permanent.
mjr 59:94eb9265b6d7 285 // The normal malloc has to assume that allocations can be freed, so it has
mjr 59:94eb9265b6d7 286 // to track blocks individually. For the purposes of this program, though,
mjr 59:94eb9265b6d7 287 // we don't have to do this because virtually all of our allocations are
mjr 59:94eb9265b6d7 288 // de facto permanent. We only allocate dyanmic memory during setup, and
mjr 59:94eb9265b6d7 289 // once we set things up, we never delete anything. This means that we can
mjr 59:94eb9265b6d7 290 // allocate memory in bare blocks without any bookkeeping overhead.
mjr 59:94eb9265b6d7 291 //
mjr 59:94eb9265b6d7 292 // In addition, we can make a much larger overall pool of memory available
mjr 59:94eb9265b6d7 293 // in a custom allocator. The mbed library malloc() seems to have a pool
mjr 59:94eb9265b6d7 294 // of about 3K to work with, even though there's really about 9K of RAM
mjr 59:94eb9265b6d7 295 // left over after counting the static writable data and reserving space
mjr 59:94eb9265b6d7 296 // for a reasonable stack. I haven't looked at the mbed malloc to see why
mjr 59:94eb9265b6d7 297 // they're so stingy, but it appears from empirical testing that we can
mjr 59:94eb9265b6d7 298 // create a static array up to about 9K before things get crashy.
mjr 59:94eb9265b6d7 299
mjr 48:058ace2aed1d 300 void *xmalloc(size_t siz)
mjr 48:058ace2aed1d 301 {
mjr 59:94eb9265b6d7 302 // Dynamic memory pool. We'll reserve space for all dynamic
mjr 59:94eb9265b6d7 303 // allocations by creating a simple C array of bytes. The size
mjr 59:94eb9265b6d7 304 // of this array is the maximum number of bytes we can allocate
mjr 59:94eb9265b6d7 305 // with malloc or operator 'new'.
mjr 59:94eb9265b6d7 306 //
mjr 59:94eb9265b6d7 307 // The maximum safe size for this array is, in essence, the
mjr 59:94eb9265b6d7 308 // amount of physical KL25Z RAM left over after accounting for
mjr 59:94eb9265b6d7 309 // static data throughout the rest of the program, the run-time
mjr 59:94eb9265b6d7 310 // stack, and any other space reserved for compiler or MCU
mjr 59:94eb9265b6d7 311 // overhead. Unfortunately, it's not straightforward to
mjr 59:94eb9265b6d7 312 // determine this analytically. The big complication is that
mjr 59:94eb9265b6d7 313 // the minimum stack size isn't easily predictable, as the stack
mjr 59:94eb9265b6d7 314 // grows according to what the program does. In addition, the
mjr 59:94eb9265b6d7 315 // mbed platform tools don't give us detailed data on the
mjr 59:94eb9265b6d7 316 // compiler/linker memory map. All we get is a generic total
mjr 59:94eb9265b6d7 317 // RAM requirement, which doesn't necessarily account for all
mjr 59:94eb9265b6d7 318 // overhead (e.g., gaps inserted to get proper alignment for
mjr 59:94eb9265b6d7 319 // particular memory blocks).
mjr 59:94eb9265b6d7 320 //
mjr 59:94eb9265b6d7 321 // A very rough estimate: the total RAM size reported by the
mjr 59:94eb9265b6d7 322 // linker is about 3.5K (currently - that can obviously change
mjr 59:94eb9265b6d7 323 // as the project evolves) out of 16K total. Assuming about a
mjr 59:94eb9265b6d7 324 // 3K stack, that leaves in the ballpark of 10K. Empirically,
mjr 59:94eb9265b6d7 325 // that seems pretty close. In testing, we start to see some
mjr 59:94eb9265b6d7 326 // instability at 10K, while 9K seems safe. To be conservative,
mjr 59:94eb9265b6d7 327 // we'll reduce this to 8K.
mjr 59:94eb9265b6d7 328 //
mjr 59:94eb9265b6d7 329 // Our measured total usage in the base configuration (22 GPIO
mjr 59:94eb9265b6d7 330 // output ports, TSL1410R plunger sensor) is about 4000 bytes.
mjr 59:94eb9265b6d7 331 // A pretty fully decked-out configuration (121 output ports,
mjr 59:94eb9265b6d7 332 // with 8 TLC5940 chips and 3 74HC595 chips, plus the TSL1412R
mjr 59:94eb9265b6d7 333 // sensor with the higher pixel count, and all expansion board
mjr 59:94eb9265b6d7 334 // features enabled) comes to about 6700 bytes. That leaves
mjr 59:94eb9265b6d7 335 // us with about 1.5K free out of our 8K, so we still have a
mjr 59:94eb9265b6d7 336 // little more headroom for future expansion.
mjr 59:94eb9265b6d7 337 //
mjr 59:94eb9265b6d7 338 // For comparison, the standard mbed malloc() runs out of
mjr 59:94eb9265b6d7 339 // memory at about 6K. That's what led to this custom malloc:
mjr 59:94eb9265b6d7 340 // we can just fit the base configuration into that 4K, but
mjr 59:94eb9265b6d7 341 // it's not enough space for more complex setups. There's
mjr 59:94eb9265b6d7 342 // still a little room for squeezing out unnecessary space
mjr 59:94eb9265b6d7 343 // from the mbed library code, but at this point I'd prefer
mjr 59:94eb9265b6d7 344 // to treat that as a last resort, since it would mean having
mjr 59:94eb9265b6d7 345 // to fork private copies of the libraries.
mjr 59:94eb9265b6d7 346 static char pool[8*1024];
mjr 59:94eb9265b6d7 347 static char *nxt = pool;
mjr 59:94eb9265b6d7 348 static size_t rem = sizeof(pool);
mjr 59:94eb9265b6d7 349
mjr 59:94eb9265b6d7 350 // align to a 4-byte increment
mjr 59:94eb9265b6d7 351 siz = (siz + 3) & ~3;
mjr 59:94eb9265b6d7 352
mjr 59:94eb9265b6d7 353 // If insufficient memory is available, halt and show a fast red/purple
mjr 59:94eb9265b6d7 354 // diagnostic flash. We don't want to return, since we assume throughout
mjr 59:94eb9265b6d7 355 // the program that all memory allocations must succeed. Note that this
mjr 59:94eb9265b6d7 356 // is generally considered bad programming practice in applications on
mjr 59:94eb9265b6d7 357 // "real" computers, but for the purposes of this microcontroller app,
mjr 59:94eb9265b6d7 358 // there's no point in checking for failed allocations individually
mjr 59:94eb9265b6d7 359 // because there's no way to recover from them. It's better in this
mjr 59:94eb9265b6d7 360 // context to handle failed allocations as fatal errors centrally. We
mjr 59:94eb9265b6d7 361 // can't recover from these automatically, so we have to resort to user
mjr 59:94eb9265b6d7 362 // intervention, which we signal with the diagnostic LED flashes.
mjr 59:94eb9265b6d7 363 if (siz > rem)
mjr 59:94eb9265b6d7 364 {
mjr 59:94eb9265b6d7 365 // halt with the diagnostic display (by looping forever)
mjr 59:94eb9265b6d7 366 for (;;)
mjr 59:94eb9265b6d7 367 {
mjr 59:94eb9265b6d7 368 diagLED(1, 0, 0);
mjr 59:94eb9265b6d7 369 wait_us(200000);
mjr 59:94eb9265b6d7 370 diagLED(1, 0, 1);
mjr 59:94eb9265b6d7 371 wait_us(200000);
mjr 59:94eb9265b6d7 372 }
mjr 59:94eb9265b6d7 373 }
mjr 48:058ace2aed1d 374
mjr 59:94eb9265b6d7 375 // get the next free location from the pool to return
mjr 59:94eb9265b6d7 376 char *ret = nxt;
mjr 59:94eb9265b6d7 377
mjr 59:94eb9265b6d7 378 // advance the pool pointer and decrement the remaining size counter
mjr 59:94eb9265b6d7 379 nxt += siz;
mjr 59:94eb9265b6d7 380 rem -= siz;
mjr 59:94eb9265b6d7 381
mjr 59:94eb9265b6d7 382 // return the allocated block
mjr 59:94eb9265b6d7 383 return ret;
mjr 48:058ace2aed1d 384 }
mjr 48:058ace2aed1d 385
mjr 59:94eb9265b6d7 386 // Overload operator new to call our custom malloc. This ensures that
mjr 59:94eb9265b6d7 387 // all 'new' allocations throughout the program (including library code)
mjr 59:94eb9265b6d7 388 // go through our private allocator.
mjr 48:058ace2aed1d 389 void *operator new(size_t siz) { return xmalloc(siz); }
mjr 48:058ace2aed1d 390 void *operator new[](size_t siz) { return xmalloc(siz); }
mjr 5:a70c0bce770d 391
mjr 59:94eb9265b6d7 392 // Since we don't do bookkeeping to track released memory, 'delete' does
mjr 59:94eb9265b6d7 393 // nothing. In actual testing, this routine appears to never be called.
mjr 59:94eb9265b6d7 394 // If it *is* ever called, it will simply leave the block in place, which
mjr 59:94eb9265b6d7 395 // will make it unavailable for re-use but will otherwise be harmless.
mjr 59:94eb9265b6d7 396 void operator delete(void *ptr) { }
mjr 59:94eb9265b6d7 397
mjr 59:94eb9265b6d7 398
mjr 5:a70c0bce770d 399 // ---------------------------------------------------------------------------
mjr 38:091e511ce8a0 400 //
mjr 38:091e511ce8a0 401 // Forward declarations
mjr 38:091e511ce8a0 402 //
mjr 38:091e511ce8a0 403 void setNightMode(bool on);
mjr 38:091e511ce8a0 404 void toggleNightMode();
mjr 38:091e511ce8a0 405
mjr 38:091e511ce8a0 406 // ---------------------------------------------------------------------------
mjr 17:ab3cec0c8bf4 407 // utilities
mjr 17:ab3cec0c8bf4 408
mjr 26:cb71c4af2912 409 // floating point square of a number
mjr 26:cb71c4af2912 410 inline float square(float x) { return x*x; }
mjr 26:cb71c4af2912 411
mjr 26:cb71c4af2912 412 // floating point rounding
mjr 26:cb71c4af2912 413 inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); }
mjr 26:cb71c4af2912 414
mjr 17:ab3cec0c8bf4 415
mjr 33:d832bcab089e 416 // --------------------------------------------------------------------------
mjr 33:d832bcab089e 417 //
mjr 40:cc0d9814522b 418 // Extended verison of Timer class. This adds the ability to interrogate
mjr 40:cc0d9814522b 419 // the running state.
mjr 40:cc0d9814522b 420 //
mjr 40:cc0d9814522b 421 class Timer2: public Timer
mjr 40:cc0d9814522b 422 {
mjr 40:cc0d9814522b 423 public:
mjr 40:cc0d9814522b 424 Timer2() : running(false) { }
mjr 40:cc0d9814522b 425
mjr 40:cc0d9814522b 426 void start() { running = true; Timer::start(); }
mjr 40:cc0d9814522b 427 void stop() { running = false; Timer::stop(); }
mjr 40:cc0d9814522b 428
mjr 40:cc0d9814522b 429 bool isRunning() const { return running; }
mjr 40:cc0d9814522b 430
mjr 40:cc0d9814522b 431 private:
mjr 40:cc0d9814522b 432 bool running;
mjr 40:cc0d9814522b 433 };
mjr 40:cc0d9814522b 434
mjr 53:9b2611964afc 435
mjr 53:9b2611964afc 436 // --------------------------------------------------------------------------
mjr 53:9b2611964afc 437 //
mjr 53:9b2611964afc 438 // Reboot timer. When we have a deferred reboot operation pending, we
mjr 53:9b2611964afc 439 // set the target time and start the timer.
mjr 53:9b2611964afc 440 Timer2 rebootTimer;
mjr 53:9b2611964afc 441 long rebootTime_us;
mjr 53:9b2611964afc 442
mjr 40:cc0d9814522b 443 // --------------------------------------------------------------------------
mjr 40:cc0d9814522b 444 //
mjr 33:d832bcab089e 445 // USB product version number
mjr 5:a70c0bce770d 446 //
mjr 47:df7a88cd249c 447 const uint16_t USB_VERSION_NO = 0x000A;
mjr 33:d832bcab089e 448
mjr 33:d832bcab089e 449 // --------------------------------------------------------------------------
mjr 33:d832bcab089e 450 //
mjr 6:cc35eb643e8f 451 // Joystick axis report range - we report from -JOYMAX to +JOYMAX
mjr 33:d832bcab089e 452 //
mjr 6:cc35eb643e8f 453 #define JOYMAX 4096
mjr 6:cc35eb643e8f 454
mjr 9:fd65b0a94720 455
mjr 17:ab3cec0c8bf4 456 // ---------------------------------------------------------------------------
mjr 17:ab3cec0c8bf4 457 //
mjr 40:cc0d9814522b 458 // Wire protocol value translations. These translate byte values to and
mjr 40:cc0d9814522b 459 // from the USB protocol to local native format.
mjr 35:e959ffba78fd 460 //
mjr 35:e959ffba78fd 461
mjr 35:e959ffba78fd 462 // unsigned 16-bit integer
mjr 35:e959ffba78fd 463 inline uint16_t wireUI16(const uint8_t *b)
mjr 35:e959ffba78fd 464 {
mjr 35:e959ffba78fd 465 return b[0] | ((uint16_t)b[1] << 8);
mjr 35:e959ffba78fd 466 }
mjr 40:cc0d9814522b 467 inline void ui16Wire(uint8_t *b, uint16_t val)
mjr 40:cc0d9814522b 468 {
mjr 40:cc0d9814522b 469 b[0] = (uint8_t)(val & 0xff);
mjr 40:cc0d9814522b 470 b[1] = (uint8_t)((val >> 8) & 0xff);
mjr 40:cc0d9814522b 471 }
mjr 35:e959ffba78fd 472
mjr 35:e959ffba78fd 473 inline int16_t wireI16(const uint8_t *b)
mjr 35:e959ffba78fd 474 {
mjr 35:e959ffba78fd 475 return (int16_t)wireUI16(b);
mjr 35:e959ffba78fd 476 }
mjr 40:cc0d9814522b 477 inline void i16Wire(uint8_t *b, int16_t val)
mjr 40:cc0d9814522b 478 {
mjr 40:cc0d9814522b 479 ui16Wire(b, (uint16_t)val);
mjr 40:cc0d9814522b 480 }
mjr 35:e959ffba78fd 481
mjr 35:e959ffba78fd 482 inline uint32_t wireUI32(const uint8_t *b)
mjr 35:e959ffba78fd 483 {
mjr 35:e959ffba78fd 484 return b[0] | ((uint32_t)b[1] << 8) | ((uint32_t)b[2] << 16) | ((uint32_t)b[3] << 24);
mjr 35:e959ffba78fd 485 }
mjr 40:cc0d9814522b 486 inline void ui32Wire(uint8_t *b, uint32_t val)
mjr 40:cc0d9814522b 487 {
mjr 40:cc0d9814522b 488 b[0] = (uint8_t)(val & 0xff);
mjr 40:cc0d9814522b 489 b[1] = (uint8_t)((val >> 8) & 0xff);
mjr 40:cc0d9814522b 490 b[2] = (uint8_t)((val >> 16) & 0xff);
mjr 40:cc0d9814522b 491 b[3] = (uint8_t)((val >> 24) & 0xff);
mjr 40:cc0d9814522b 492 }
mjr 35:e959ffba78fd 493
mjr 35:e959ffba78fd 494 inline int32_t wireI32(const uint8_t *b)
mjr 35:e959ffba78fd 495 {
mjr 35:e959ffba78fd 496 return (int32_t)wireUI32(b);
mjr 35:e959ffba78fd 497 }
mjr 35:e959ffba78fd 498
mjr 53:9b2611964afc 499 // Convert "wire" (USB) pin codes to/from PinName values.
mjr 53:9b2611964afc 500 //
mjr 53:9b2611964afc 501 // The internal mbed PinName format is
mjr 53:9b2611964afc 502 //
mjr 53:9b2611964afc 503 // ((port) << PORT_SHIFT) | (pin << 2) // MBED FORMAT
mjr 53:9b2611964afc 504 //
mjr 53:9b2611964afc 505 // where 'port' is 0-4 for Port A to Port E, and 'pin' is
mjr 53:9b2611964afc 506 // 0 to 31. E.g., E31 is (4 << PORT_SHIFT) | (31<<2).
mjr 53:9b2611964afc 507 //
mjr 53:9b2611964afc 508 // We remap this to our more compact wire format where each
mjr 53:9b2611964afc 509 // pin name fits in 8 bits:
mjr 53:9b2611964afc 510 //
mjr 53:9b2611964afc 511 // ((port) << 5) | pin) // WIRE FORMAT
mjr 53:9b2611964afc 512 //
mjr 53:9b2611964afc 513 // E.g., E31 is (4 << 5) | 31.
mjr 53:9b2611964afc 514 //
mjr 53:9b2611964afc 515 // Wire code FF corresponds to PinName NC (not connected).
mjr 53:9b2611964afc 516 //
mjr 53:9b2611964afc 517 inline PinName wirePinName(uint8_t c)
mjr 35:e959ffba78fd 518 {
mjr 53:9b2611964afc 519 if (c == 0xFF)
mjr 53:9b2611964afc 520 return NC; // 0xFF -> NC
mjr 53:9b2611964afc 521 else
mjr 53:9b2611964afc 522 return PinName(
mjr 53:9b2611964afc 523 (int(c & 0xE0) << (PORT_SHIFT - 5)) // top three bits are the port
mjr 53:9b2611964afc 524 | (int(c & 0x1F) << 2)); // bottom five bits are pin
mjr 40:cc0d9814522b 525 }
mjr 40:cc0d9814522b 526 inline void pinNameWire(uint8_t *b, PinName n)
mjr 40:cc0d9814522b 527 {
mjr 53:9b2611964afc 528 *b = PINNAME_TO_WIRE(n);
mjr 35:e959ffba78fd 529 }
mjr 35:e959ffba78fd 530
mjr 35:e959ffba78fd 531
mjr 35:e959ffba78fd 532 // ---------------------------------------------------------------------------
mjr 35:e959ffba78fd 533 //
mjr 38:091e511ce8a0 534 // On-board RGB LED elements - we use these for diagnostic displays.
mjr 38:091e511ce8a0 535 //
mjr 38:091e511ce8a0 536 // Note that LED3 (the blue segment) is hard-wired on the KL25Z to PTD1,
mjr 38:091e511ce8a0 537 // so PTD1 shouldn't be used for any other purpose (e.g., as a keyboard
mjr 38:091e511ce8a0 538 // input or a device output). This is kind of unfortunate in that it's
mjr 38:091e511ce8a0 539 // one of only two ports exposed on the jumper pins that can be muxed to
mjr 38:091e511ce8a0 540 // SPI0 SCLK. This effectively limits us to PTC5 if we want to use the
mjr 38:091e511ce8a0 541 // SPI capability.
mjr 38:091e511ce8a0 542 //
mjr 38:091e511ce8a0 543 DigitalOut *ledR, *ledG, *ledB;
mjr 38:091e511ce8a0 544
mjr 38:091e511ce8a0 545 // Show the indicated pattern on the diagnostic LEDs. 0 is off, 1 is
mjr 38:091e511ce8a0 546 // on, and -1 is no change (leaves the current setting intact).
mjr 38:091e511ce8a0 547 void diagLED(int r, int g, int b)
mjr 38:091e511ce8a0 548 {
mjr 38:091e511ce8a0 549 if (ledR != 0 && r != -1) ledR->write(!r);
mjr 38:091e511ce8a0 550 if (ledG != 0 && g != -1) ledG->write(!g);
mjr 38:091e511ce8a0 551 if (ledB != 0 && b != -1) ledB->write(!b);
mjr 38:091e511ce8a0 552 }
mjr 38:091e511ce8a0 553
mjr 38:091e511ce8a0 554 // check an output port assignment to see if it conflicts with
mjr 38:091e511ce8a0 555 // an on-board LED segment
mjr 38:091e511ce8a0 556 struct LedSeg
mjr 38:091e511ce8a0 557 {
mjr 38:091e511ce8a0 558 bool r, g, b;
mjr 38:091e511ce8a0 559 LedSeg() { r = g = b = false; }
mjr 38:091e511ce8a0 560
mjr 38:091e511ce8a0 561 void check(LedWizPortCfg &pc)
mjr 38:091e511ce8a0 562 {
mjr 38:091e511ce8a0 563 // if it's a GPIO, check to see if it's assigned to one of
mjr 38:091e511ce8a0 564 // our on-board LED segments
mjr 38:091e511ce8a0 565 int t = pc.typ;
mjr 38:091e511ce8a0 566 if (t == PortTypeGPIOPWM || t == PortTypeGPIODig)
mjr 38:091e511ce8a0 567 {
mjr 38:091e511ce8a0 568 // it's a GPIO port - check for a matching pin assignment
mjr 38:091e511ce8a0 569 PinName pin = wirePinName(pc.pin);
mjr 38:091e511ce8a0 570 if (pin == LED1)
mjr 38:091e511ce8a0 571 r = true;
mjr 38:091e511ce8a0 572 else if (pin == LED2)
mjr 38:091e511ce8a0 573 g = true;
mjr 38:091e511ce8a0 574 else if (pin == LED3)
mjr 38:091e511ce8a0 575 b = true;
mjr 38:091e511ce8a0 576 }
mjr 38:091e511ce8a0 577 }
mjr 38:091e511ce8a0 578 };
mjr 38:091e511ce8a0 579
mjr 38:091e511ce8a0 580 // Initialize the diagnostic LEDs. By default, we use the on-board
mjr 38:091e511ce8a0 581 // RGB LED to display the microcontroller status. However, we allow
mjr 38:091e511ce8a0 582 // the user to commandeer the on-board LED as an LedWiz output device,
mjr 38:091e511ce8a0 583 // which can be useful for testing a new installation. So we'll check
mjr 38:091e511ce8a0 584 // for LedWiz outputs assigned to the on-board LED segments, and turn
mjr 38:091e511ce8a0 585 // off the diagnostic use for any so assigned.
mjr 38:091e511ce8a0 586 void initDiagLEDs(Config &cfg)
mjr 38:091e511ce8a0 587 {
mjr 38:091e511ce8a0 588 // run through the configuration list and cross off any of the
mjr 38:091e511ce8a0 589 // LED segments assigned to LedWiz ports
mjr 38:091e511ce8a0 590 LedSeg l;
mjr 38:091e511ce8a0 591 for (int i = 0 ; i < MAX_OUT_PORTS && cfg.outPort[i].typ != PortTypeDisabled ; ++i)
mjr 38:091e511ce8a0 592 l.check(cfg.outPort[i]);
mjr 38:091e511ce8a0 593
mjr 38:091e511ce8a0 594 // We now know which segments are taken for LedWiz use and which
mjr 38:091e511ce8a0 595 // are free. Create diagnostic ports for the ones not claimed for
mjr 38:091e511ce8a0 596 // LedWiz use.
mjr 38:091e511ce8a0 597 if (!l.r) ledR = new DigitalOut(LED1, 1);
mjr 38:091e511ce8a0 598 if (!l.g) ledG = new DigitalOut(LED2, 1);
mjr 38:091e511ce8a0 599 if (!l.b) ledB = new DigitalOut(LED3, 1);
mjr 38:091e511ce8a0 600 }
mjr 38:091e511ce8a0 601
mjr 38:091e511ce8a0 602
mjr 38:091e511ce8a0 603 // ---------------------------------------------------------------------------
mjr 38:091e511ce8a0 604 //
mjr 29:582472d0bc57 605 // LedWiz emulation, and enhanced TLC5940 output controller
mjr 5:a70c0bce770d 606 //
mjr 26:cb71c4af2912 607 // There are two modes for this feature. The default mode uses the on-board
mjr 26:cb71c4af2912 608 // GPIO ports to implement device outputs - each LedWiz software port is
mjr 26:cb71c4af2912 609 // connected to a physical GPIO pin on the KL25Z. The KL25Z only has 10
mjr 26:cb71c4af2912 610 // PWM channels, so in this mode only 10 LedWiz ports will be dimmable; the
mjr 26:cb71c4af2912 611 // rest are strictly on/off. The KL25Z also has a limited number of GPIO
mjr 26:cb71c4af2912 612 // ports overall - not enough for the full complement of 32 LedWiz ports
mjr 26:cb71c4af2912 613 // and 24 VP joystick inputs, so it's necessary to trade one against the
mjr 26:cb71c4af2912 614 // other if both features are to be used.
mjr 26:cb71c4af2912 615 //
mjr 26:cb71c4af2912 616 // The alternative, enhanced mode uses external TLC5940 PWM controller
mjr 26:cb71c4af2912 617 // chips to control device outputs. In this mode, each LedWiz software
mjr 26:cb71c4af2912 618 // port is mapped to an output on one of the external TLC5940 chips.
mjr 26:cb71c4af2912 619 // Two 5940s is enough for the full set of 32 LedWiz ports, and we can
mjr 26:cb71c4af2912 620 // support even more chips for even more outputs (although doing so requires
mjr 26:cb71c4af2912 621 // breaking LedWiz compatibility, since the LedWiz USB protocol is hardwired
mjr 26:cb71c4af2912 622 // for 32 outputs). Every port in this mode has full PWM support.
mjr 26:cb71c4af2912 623 //
mjr 5:a70c0bce770d 624
mjr 29:582472d0bc57 625
mjr 26:cb71c4af2912 626 // Current starting output index for "PBA" messages from the PC (using
mjr 26:cb71c4af2912 627 // the LedWiz USB protocol). Each PBA message implicitly uses the
mjr 26:cb71c4af2912 628 // current index as the starting point for the ports referenced in
mjr 26:cb71c4af2912 629 // the message, and increases it (by 8) for the next call.
mjr 0:5acbbe3f4cf4 630 static int pbaIdx = 0;
mjr 0:5acbbe3f4cf4 631
mjr 26:cb71c4af2912 632 // Generic LedWiz output port interface. We create a cover class to
mjr 26:cb71c4af2912 633 // virtualize digital vs PWM outputs, and on-board KL25Z GPIO vs external
mjr 26:cb71c4af2912 634 // TLC5940 outputs, and give them all a common interface.
mjr 6:cc35eb643e8f 635 class LwOut
mjr 6:cc35eb643e8f 636 {
mjr 6:cc35eb643e8f 637 public:
mjr 40:cc0d9814522b 638 // Set the output intensity. 'val' is 0 for fully off, 255 for
mjr 40:cc0d9814522b 639 // fully on, with values in between signifying lower intensity.
mjr 40:cc0d9814522b 640 virtual void set(uint8_t val) = 0;
mjr 6:cc35eb643e8f 641 };
mjr 26:cb71c4af2912 642
mjr 35:e959ffba78fd 643 // LwOut class for virtual ports. This type of port is visible to
mjr 35:e959ffba78fd 644 // the host software, but isn't connected to any physical output.
mjr 35:e959ffba78fd 645 // This can be used for special software-only ports like the ZB
mjr 35:e959ffba78fd 646 // Launch Ball output, or simply for placeholders in the LedWiz port
mjr 35:e959ffba78fd 647 // numbering.
mjr 35:e959ffba78fd 648 class LwVirtualOut: public LwOut
mjr 33:d832bcab089e 649 {
mjr 33:d832bcab089e 650 public:
mjr 35:e959ffba78fd 651 LwVirtualOut() { }
mjr 40:cc0d9814522b 652 virtual void set(uint8_t ) { }
mjr 33:d832bcab089e 653 };
mjr 26:cb71c4af2912 654
mjr 34:6b981a2afab7 655 // Active Low out. For any output marked as active low, we layer this
mjr 34:6b981a2afab7 656 // on top of the physical pin interface. This simply inverts the value of
mjr 40:cc0d9814522b 657 // the output value, so that 255 means fully off and 0 means fully on.
mjr 34:6b981a2afab7 658 class LwInvertedOut: public LwOut
mjr 34:6b981a2afab7 659 {
mjr 34:6b981a2afab7 660 public:
mjr 34:6b981a2afab7 661 LwInvertedOut(LwOut *o) : out(o) { }
mjr 40:cc0d9814522b 662 virtual void set(uint8_t val) { out->set(255 - val); }
mjr 34:6b981a2afab7 663
mjr 34:6b981a2afab7 664 private:
mjr 53:9b2611964afc 665 // underlying physical output
mjr 34:6b981a2afab7 666 LwOut *out;
mjr 34:6b981a2afab7 667 };
mjr 34:6b981a2afab7 668
mjr 53:9b2611964afc 669 // Global ZB Launch Ball state
mjr 53:9b2611964afc 670 bool zbLaunchOn = false;
mjr 53:9b2611964afc 671
mjr 53:9b2611964afc 672 // ZB Launch Ball output. This is layered on a port (physical or virtual)
mjr 53:9b2611964afc 673 // to track the ZB Launch Ball signal.
mjr 53:9b2611964afc 674 class LwZbLaunchOut: public LwOut
mjr 53:9b2611964afc 675 {
mjr 53:9b2611964afc 676 public:
mjr 53:9b2611964afc 677 LwZbLaunchOut(LwOut *o) : out(o) { }
mjr 53:9b2611964afc 678 virtual void set(uint8_t val)
mjr 53:9b2611964afc 679 {
mjr 53:9b2611964afc 680 // update the global ZB Launch Ball state
mjr 53:9b2611964afc 681 zbLaunchOn = (val != 0);
mjr 53:9b2611964afc 682
mjr 53:9b2611964afc 683 // pass it along to the underlying port, in case it's a physical output
mjr 53:9b2611964afc 684 out->set(val);
mjr 53:9b2611964afc 685 }
mjr 53:9b2611964afc 686
mjr 53:9b2611964afc 687 private:
mjr 53:9b2611964afc 688 // underlying physical or virtual output
mjr 53:9b2611964afc 689 LwOut *out;
mjr 53:9b2611964afc 690 };
mjr 53:9b2611964afc 691
mjr 53:9b2611964afc 692
mjr 40:cc0d9814522b 693 // Gamma correction table for 8-bit input values
mjr 40:cc0d9814522b 694 static const uint8_t gamma[] = {
mjr 40:cc0d9814522b 695 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
mjr 40:cc0d9814522b 696 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1,
mjr 40:cc0d9814522b 697 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2,
mjr 40:cc0d9814522b 698 2, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 5, 5, 5,
mjr 40:cc0d9814522b 699 5, 6, 6, 6, 6, 7, 7, 7, 7, 8, 8, 8, 9, 9, 9, 10,
mjr 40:cc0d9814522b 700 10, 10, 11, 11, 11, 12, 12, 13, 13, 13, 14, 14, 15, 15, 16, 16,
mjr 40:cc0d9814522b 701 17, 17, 18, 18, 19, 19, 20, 20, 21, 21, 22, 22, 23, 24, 24, 25,
mjr 40:cc0d9814522b 702 25, 26, 27, 27, 28, 29, 29, 30, 31, 32, 32, 33, 34, 35, 35, 36,
mjr 40:cc0d9814522b 703 37, 38, 39, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 50,
mjr 40:cc0d9814522b 704 51, 52, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 66, 67, 68,
mjr 40:cc0d9814522b 705 69, 70, 72, 73, 74, 75, 77, 78, 79, 81, 82, 83, 85, 86, 87, 89,
mjr 40:cc0d9814522b 706 90, 92, 93, 95, 96, 98, 99, 101, 102, 104, 105, 107, 109, 110, 112, 114,
mjr 40:cc0d9814522b 707 115, 117, 119, 120, 122, 124, 126, 127, 129, 131, 133, 135, 137, 138, 140, 142,
mjr 40:cc0d9814522b 708 144, 146, 148, 150, 152, 154, 156, 158, 160, 162, 164, 167, 169, 171, 173, 175,
mjr 40:cc0d9814522b 709 177, 180, 182, 184, 186, 189, 191, 193, 196, 198, 200, 203, 205, 208, 210, 213,
mjr 40:cc0d9814522b 710 215, 218, 220, 223, 225, 228, 231, 233, 236, 239, 241, 244, 247, 249, 252, 255
mjr 40:cc0d9814522b 711 };
mjr 40:cc0d9814522b 712
mjr 40:cc0d9814522b 713 // Gamma-corrected out. This is a filter object that we layer on top
mjr 40:cc0d9814522b 714 // of a physical pin interface. This applies gamma correction to the
mjr 40:cc0d9814522b 715 // input value and then passes it along to the underlying pin object.
mjr 40:cc0d9814522b 716 class LwGammaOut: public LwOut
mjr 40:cc0d9814522b 717 {
mjr 40:cc0d9814522b 718 public:
mjr 40:cc0d9814522b 719 LwGammaOut(LwOut *o) : out(o) { }
mjr 40:cc0d9814522b 720 virtual void set(uint8_t val) { out->set(gamma[val]); }
mjr 40:cc0d9814522b 721
mjr 40:cc0d9814522b 722 private:
mjr 40:cc0d9814522b 723 LwOut *out;
mjr 40:cc0d9814522b 724 };
mjr 40:cc0d9814522b 725
mjr 53:9b2611964afc 726 // global night mode flag
mjr 53:9b2611964afc 727 static bool nightMode = false;
mjr 53:9b2611964afc 728
mjr 40:cc0d9814522b 729 // Noisy output. This is a filter object that we layer on top of
mjr 40:cc0d9814522b 730 // a physical pin output. This filter disables the port when night
mjr 40:cc0d9814522b 731 // mode is engaged.
mjr 40:cc0d9814522b 732 class LwNoisyOut: public LwOut
mjr 40:cc0d9814522b 733 {
mjr 40:cc0d9814522b 734 public:
mjr 40:cc0d9814522b 735 LwNoisyOut(LwOut *o) : out(o) { }
mjr 40:cc0d9814522b 736 virtual void set(uint8_t val) { out->set(nightMode ? 0 : val); }
mjr 40:cc0d9814522b 737
mjr 53:9b2611964afc 738 private:
mjr 53:9b2611964afc 739 LwOut *out;
mjr 53:9b2611964afc 740 };
mjr 53:9b2611964afc 741
mjr 53:9b2611964afc 742 // Night Mode indicator output. This is a filter object that we
mjr 53:9b2611964afc 743 // layer on top of a physical pin output. This filter ignores the
mjr 53:9b2611964afc 744 // host value and simply shows the night mode status.
mjr 53:9b2611964afc 745 class LwNightModeIndicatorOut: public LwOut
mjr 53:9b2611964afc 746 {
mjr 53:9b2611964afc 747 public:
mjr 53:9b2611964afc 748 LwNightModeIndicatorOut(LwOut *o) : out(o) { }
mjr 53:9b2611964afc 749 virtual void set(uint8_t)
mjr 53:9b2611964afc 750 {
mjr 53:9b2611964afc 751 // ignore the host value and simply show the current
mjr 53:9b2611964afc 752 // night mode setting
mjr 53:9b2611964afc 753 out->set(nightMode ? 255 : 0);
mjr 53:9b2611964afc 754 }
mjr 40:cc0d9814522b 755
mjr 40:cc0d9814522b 756 private:
mjr 40:cc0d9814522b 757 LwOut *out;
mjr 40:cc0d9814522b 758 };
mjr 40:cc0d9814522b 759
mjr 26:cb71c4af2912 760
mjr 35:e959ffba78fd 761 //
mjr 35:e959ffba78fd 762 // The TLC5940 interface object. We'll set this up with the port
mjr 35:e959ffba78fd 763 // assignments set in config.h.
mjr 33:d832bcab089e 764 //
mjr 35:e959ffba78fd 765 TLC5940 *tlc5940 = 0;
mjr 35:e959ffba78fd 766 void init_tlc5940(Config &cfg)
mjr 35:e959ffba78fd 767 {
mjr 35:e959ffba78fd 768 if (cfg.tlc5940.nchips != 0)
mjr 35:e959ffba78fd 769 {
mjr 53:9b2611964afc 770 tlc5940 = new TLC5940(
mjr 53:9b2611964afc 771 wirePinName(cfg.tlc5940.sclk),
mjr 53:9b2611964afc 772 wirePinName(cfg.tlc5940.sin),
mjr 53:9b2611964afc 773 wirePinName(cfg.tlc5940.gsclk),
mjr 53:9b2611964afc 774 wirePinName(cfg.tlc5940.blank),
mjr 53:9b2611964afc 775 wirePinName(cfg.tlc5940.xlat),
mjr 53:9b2611964afc 776 cfg.tlc5940.nchips);
mjr 35:e959ffba78fd 777 }
mjr 35:e959ffba78fd 778 }
mjr 26:cb71c4af2912 779
mjr 40:cc0d9814522b 780 // Conversion table for 8-bit DOF level to 12-bit TLC5940 level
mjr 40:cc0d9814522b 781 static const uint16_t dof_to_tlc[] = {
mjr 40:cc0d9814522b 782 0, 16, 32, 48, 64, 80, 96, 112, 128, 145, 161, 177, 193, 209, 225, 241,
mjr 40:cc0d9814522b 783 257, 273, 289, 305, 321, 337, 353, 369, 385, 401, 418, 434, 450, 466, 482, 498,
mjr 40:cc0d9814522b 784 514, 530, 546, 562, 578, 594, 610, 626, 642, 658, 674, 691, 707, 723, 739, 755,
mjr 40:cc0d9814522b 785 771, 787, 803, 819, 835, 851, 867, 883, 899, 915, 931, 947, 964, 980, 996, 1012,
mjr 40:cc0d9814522b 786 1028, 1044, 1060, 1076, 1092, 1108, 1124, 1140, 1156, 1172, 1188, 1204, 1220, 1237, 1253, 1269,
mjr 40:cc0d9814522b 787 1285, 1301, 1317, 1333, 1349, 1365, 1381, 1397, 1413, 1429, 1445, 1461, 1477, 1493, 1510, 1526,
mjr 40:cc0d9814522b 788 1542, 1558, 1574, 1590, 1606, 1622, 1638, 1654, 1670, 1686, 1702, 1718, 1734, 1750, 1766, 1783,
mjr 40:cc0d9814522b 789 1799, 1815, 1831, 1847, 1863, 1879, 1895, 1911, 1927, 1943, 1959, 1975, 1991, 2007, 2023, 2039,
mjr 40:cc0d9814522b 790 2056, 2072, 2088, 2104, 2120, 2136, 2152, 2168, 2184, 2200, 2216, 2232, 2248, 2264, 2280, 2296,
mjr 40:cc0d9814522b 791 2312, 2329, 2345, 2361, 2377, 2393, 2409, 2425, 2441, 2457, 2473, 2489, 2505, 2521, 2537, 2553,
mjr 40:cc0d9814522b 792 2569, 2585, 2602, 2618, 2634, 2650, 2666, 2682, 2698, 2714, 2730, 2746, 2762, 2778, 2794, 2810,
mjr 40:cc0d9814522b 793 2826, 2842, 2858, 2875, 2891, 2907, 2923, 2939, 2955, 2971, 2987, 3003, 3019, 3035, 3051, 3067,
mjr 40:cc0d9814522b 794 3083, 3099, 3115, 3131, 3148, 3164, 3180, 3196, 3212, 3228, 3244, 3260, 3276, 3292, 3308, 3324,
mjr 40:cc0d9814522b 795 3340, 3356, 3372, 3388, 3404, 3421, 3437, 3453, 3469, 3485, 3501, 3517, 3533, 3549, 3565, 3581,
mjr 40:cc0d9814522b 796 3597, 3613, 3629, 3645, 3661, 3677, 3694, 3710, 3726, 3742, 3758, 3774, 3790, 3806, 3822, 3838,
mjr 40:cc0d9814522b 797 3854, 3870, 3886, 3902, 3918, 3934, 3950, 3967, 3983, 3999, 4015, 4031, 4047, 4063, 4079, 4095
mjr 40:cc0d9814522b 798 };
mjr 40:cc0d9814522b 799
mjr 40:cc0d9814522b 800 // Conversion table for 8-bit DOF level to 12-bit TLC5940 level, with
mjr 40:cc0d9814522b 801 // gamma correction. Note that the output layering scheme can handle
mjr 40:cc0d9814522b 802 // this without a separate table, by first applying gamma to the DOF
mjr 40:cc0d9814522b 803 // level to produce an 8-bit gamma-corrected value, then convert that
mjr 40:cc0d9814522b 804 // to the 12-bit TLC5940 value. But we get better precision by doing
mjr 40:cc0d9814522b 805 // the gamma correction in the 12-bit TLC5940 domain. We can only
mjr 40:cc0d9814522b 806 // get the 12-bit domain by combining both steps into one layering
mjr 40:cc0d9814522b 807 // object, though, since the intermediate values in the layering system
mjr 40:cc0d9814522b 808 // are always 8 bits.
mjr 40:cc0d9814522b 809 static const uint16_t dof_to_gamma_tlc[] = {
mjr 40:cc0d9814522b 810 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1,
mjr 40:cc0d9814522b 811 2, 2, 2, 3, 3, 4, 4, 5, 5, 6, 7, 8, 8, 9, 10, 11,
mjr 40:cc0d9814522b 812 12, 13, 15, 16, 17, 18, 20, 21, 23, 25, 26, 28, 30, 32, 34, 36,
mjr 40:cc0d9814522b 813 38, 40, 43, 45, 48, 50, 53, 56, 59, 62, 65, 68, 71, 75, 78, 82,
mjr 40:cc0d9814522b 814 85, 89, 93, 97, 101, 105, 110, 114, 119, 123, 128, 133, 138, 143, 149, 154,
mjr 40:cc0d9814522b 815 159, 165, 171, 177, 183, 189, 195, 202, 208, 215, 222, 229, 236, 243, 250, 258,
mjr 40:cc0d9814522b 816 266, 273, 281, 290, 298, 306, 315, 324, 332, 341, 351, 360, 369, 379, 389, 399,
mjr 40:cc0d9814522b 817 409, 419, 430, 440, 451, 462, 473, 485, 496, 508, 520, 532, 544, 556, 569, 582,
mjr 40:cc0d9814522b 818 594, 608, 621, 634, 648, 662, 676, 690, 704, 719, 734, 749, 764, 779, 795, 811,
mjr 40:cc0d9814522b 819 827, 843, 859, 876, 893, 910, 927, 944, 962, 980, 998, 1016, 1034, 1053, 1072, 1091,
mjr 40:cc0d9814522b 820 1110, 1130, 1150, 1170, 1190, 1210, 1231, 1252, 1273, 1294, 1316, 1338, 1360, 1382, 1404, 1427,
mjr 40:cc0d9814522b 821 1450, 1473, 1497, 1520, 1544, 1568, 1593, 1617, 1642, 1667, 1693, 1718, 1744, 1770, 1797, 1823,
mjr 40:cc0d9814522b 822 1850, 1877, 1905, 1932, 1960, 1988, 2017, 2045, 2074, 2103, 2133, 2162, 2192, 2223, 2253, 2284,
mjr 40:cc0d9814522b 823 2315, 2346, 2378, 2410, 2442, 2474, 2507, 2540, 2573, 2606, 2640, 2674, 2708, 2743, 2778, 2813,
mjr 40:cc0d9814522b 824 2849, 2884, 2920, 2957, 2993, 3030, 3067, 3105, 3143, 3181, 3219, 3258, 3297, 3336, 3376, 3416,
mjr 40:cc0d9814522b 825 3456, 3496, 3537, 3578, 3619, 3661, 3703, 3745, 3788, 3831, 3874, 3918, 3962, 4006, 4050, 4095
mjr 40:cc0d9814522b 826 };
mjr 40:cc0d9814522b 827
mjr 26:cb71c4af2912 828 // LwOut class for TLC5940 outputs. These are fully PWM capable.
mjr 26:cb71c4af2912 829 // The 'idx' value in the constructor is the output index in the
mjr 26:cb71c4af2912 830 // daisy-chained TLC5940 array. 0 is output #0 on the first chip,
mjr 26:cb71c4af2912 831 // 1 is #1 on the first chip, 15 is #15 on the first chip, 16 is
mjr 26:cb71c4af2912 832 // #0 on the second chip, 32 is #0 on the third chip, etc.
mjr 26:cb71c4af2912 833 class Lw5940Out: public LwOut
mjr 26:cb71c4af2912 834 {
mjr 26:cb71c4af2912 835 public:
mjr 60:f38da020aa13 836 Lw5940Out(uint8_t idx) : idx(idx) { prv = 0; }
mjr 40:cc0d9814522b 837 virtual void set(uint8_t val)
mjr 26:cb71c4af2912 838 {
mjr 26:cb71c4af2912 839 if (val != prv)
mjr 40:cc0d9814522b 840 tlc5940->set(idx, dof_to_tlc[prv = val]);
mjr 26:cb71c4af2912 841 }
mjr 60:f38da020aa13 842 uint8_t idx;
mjr 40:cc0d9814522b 843 uint8_t prv;
mjr 26:cb71c4af2912 844 };
mjr 26:cb71c4af2912 845
mjr 40:cc0d9814522b 846 // LwOut class for TLC5940 gamma-corrected outputs.
mjr 40:cc0d9814522b 847 class Lw5940GammaOut: public LwOut
mjr 40:cc0d9814522b 848 {
mjr 40:cc0d9814522b 849 public:
mjr 60:f38da020aa13 850 Lw5940GammaOut(uint8_t idx) : idx(idx) { prv = 0; }
mjr 40:cc0d9814522b 851 virtual void set(uint8_t val)
mjr 40:cc0d9814522b 852 {
mjr 40:cc0d9814522b 853 if (val != prv)
mjr 40:cc0d9814522b 854 tlc5940->set(idx, dof_to_gamma_tlc[prv = val]);
mjr 40:cc0d9814522b 855 }
mjr 60:f38da020aa13 856 uint8_t idx;
mjr 40:cc0d9814522b 857 uint8_t prv;
mjr 40:cc0d9814522b 858 };
mjr 40:cc0d9814522b 859
mjr 40:cc0d9814522b 860
mjr 33:d832bcab089e 861
mjr 34:6b981a2afab7 862 // 74HC595 interface object. Set this up with the port assignments in
mjr 34:6b981a2afab7 863 // config.h.
mjr 35:e959ffba78fd 864 HC595 *hc595 = 0;
mjr 35:e959ffba78fd 865
mjr 35:e959ffba78fd 866 // initialize the 74HC595 interface
mjr 35:e959ffba78fd 867 void init_hc595(Config &cfg)
mjr 35:e959ffba78fd 868 {
mjr 35:e959ffba78fd 869 if (cfg.hc595.nchips != 0)
mjr 35:e959ffba78fd 870 {
mjr 53:9b2611964afc 871 hc595 = new HC595(
mjr 53:9b2611964afc 872 wirePinName(cfg.hc595.nchips),
mjr 53:9b2611964afc 873 wirePinName(cfg.hc595.sin),
mjr 53:9b2611964afc 874 wirePinName(cfg.hc595.sclk),
mjr 53:9b2611964afc 875 wirePinName(cfg.hc595.latch),
mjr 53:9b2611964afc 876 wirePinName(cfg.hc595.ena));
mjr 35:e959ffba78fd 877 hc595->init();
mjr 35:e959ffba78fd 878 hc595->update();
mjr 35:e959ffba78fd 879 }
mjr 35:e959ffba78fd 880 }
mjr 34:6b981a2afab7 881
mjr 34:6b981a2afab7 882 // LwOut class for 74HC595 outputs. These are simple digial outs.
mjr 34:6b981a2afab7 883 // The 'idx' value in the constructor is the output index in the
mjr 34:6b981a2afab7 884 // daisy-chained 74HC595 array. 0 is output #0 on the first chip,
mjr 34:6b981a2afab7 885 // 1 is #1 on the first chip, 7 is #7 on the first chip, 8 is
mjr 34:6b981a2afab7 886 // #0 on the second chip, etc.
mjr 34:6b981a2afab7 887 class Lw595Out: public LwOut
mjr 33:d832bcab089e 888 {
mjr 33:d832bcab089e 889 public:
mjr 60:f38da020aa13 890 Lw595Out(uint8_t idx) : idx(idx) { prv = 0; }
mjr 40:cc0d9814522b 891 virtual void set(uint8_t val)
mjr 34:6b981a2afab7 892 {
mjr 34:6b981a2afab7 893 if (val != prv)
mjr 40:cc0d9814522b 894 hc595->set(idx, (prv = val) == 0 ? 0 : 1);
mjr 34:6b981a2afab7 895 }
mjr 60:f38da020aa13 896 uint8_t idx;
mjr 40:cc0d9814522b 897 uint8_t prv;
mjr 33:d832bcab089e 898 };
mjr 33:d832bcab089e 899
mjr 26:cb71c4af2912 900
mjr 40:cc0d9814522b 901
mjr 64:ef7ca92dff36 902 // Conversion table - 8-bit DOF output level to PWM duty cycle,
mjr 64:ef7ca92dff36 903 // normalized to 0.0 to 1.0 scale.
mjr 40:cc0d9814522b 904 static const float pwm_level[] = {
mjr 64:ef7ca92dff36 905 0.000000f, 0.003922f, 0.007843f, 0.011765f, 0.015686f, 0.019608f, 0.023529f, 0.027451f,
mjr 64:ef7ca92dff36 906 0.031373f, 0.035294f, 0.039216f, 0.043137f, 0.047059f, 0.050980f, 0.054902f, 0.058824f,
mjr 64:ef7ca92dff36 907 0.062745f, 0.066667f, 0.070588f, 0.074510f, 0.078431f, 0.082353f, 0.086275f, 0.090196f,
mjr 64:ef7ca92dff36 908 0.094118f, 0.098039f, 0.101961f, 0.105882f, 0.109804f, 0.113725f, 0.117647f, 0.121569f,
mjr 64:ef7ca92dff36 909 0.125490f, 0.129412f, 0.133333f, 0.137255f, 0.141176f, 0.145098f, 0.149020f, 0.152941f,
mjr 64:ef7ca92dff36 910 0.156863f, 0.160784f, 0.164706f, 0.168627f, 0.172549f, 0.176471f, 0.180392f, 0.184314f,
mjr 64:ef7ca92dff36 911 0.188235f, 0.192157f, 0.196078f, 0.200000f, 0.203922f, 0.207843f, 0.211765f, 0.215686f,
mjr 64:ef7ca92dff36 912 0.219608f, 0.223529f, 0.227451f, 0.231373f, 0.235294f, 0.239216f, 0.243137f, 0.247059f,
mjr 64:ef7ca92dff36 913 0.250980f, 0.254902f, 0.258824f, 0.262745f, 0.266667f, 0.270588f, 0.274510f, 0.278431f,
mjr 64:ef7ca92dff36 914 0.282353f, 0.286275f, 0.290196f, 0.294118f, 0.298039f, 0.301961f, 0.305882f, 0.309804f,
mjr 64:ef7ca92dff36 915 0.313725f, 0.317647f, 0.321569f, 0.325490f, 0.329412f, 0.333333f, 0.337255f, 0.341176f,
mjr 64:ef7ca92dff36 916 0.345098f, 0.349020f, 0.352941f, 0.356863f, 0.360784f, 0.364706f, 0.368627f, 0.372549f,
mjr 64:ef7ca92dff36 917 0.376471f, 0.380392f, 0.384314f, 0.388235f, 0.392157f, 0.396078f, 0.400000f, 0.403922f,
mjr 64:ef7ca92dff36 918 0.407843f, 0.411765f, 0.415686f, 0.419608f, 0.423529f, 0.427451f, 0.431373f, 0.435294f,
mjr 64:ef7ca92dff36 919 0.439216f, 0.443137f, 0.447059f, 0.450980f, 0.454902f, 0.458824f, 0.462745f, 0.466667f,
mjr 64:ef7ca92dff36 920 0.470588f, 0.474510f, 0.478431f, 0.482353f, 0.486275f, 0.490196f, 0.494118f, 0.498039f,
mjr 64:ef7ca92dff36 921 0.501961f, 0.505882f, 0.509804f, 0.513725f, 0.517647f, 0.521569f, 0.525490f, 0.529412f,
mjr 64:ef7ca92dff36 922 0.533333f, 0.537255f, 0.541176f, 0.545098f, 0.549020f, 0.552941f, 0.556863f, 0.560784f,
mjr 64:ef7ca92dff36 923 0.564706f, 0.568627f, 0.572549f, 0.576471f, 0.580392f, 0.584314f, 0.588235f, 0.592157f,
mjr 64:ef7ca92dff36 924 0.596078f, 0.600000f, 0.603922f, 0.607843f, 0.611765f, 0.615686f, 0.619608f, 0.623529f,
mjr 64:ef7ca92dff36 925 0.627451f, 0.631373f, 0.635294f, 0.639216f, 0.643137f, 0.647059f, 0.650980f, 0.654902f,
mjr 64:ef7ca92dff36 926 0.658824f, 0.662745f, 0.666667f, 0.670588f, 0.674510f, 0.678431f, 0.682353f, 0.686275f,
mjr 64:ef7ca92dff36 927 0.690196f, 0.694118f, 0.698039f, 0.701961f, 0.705882f, 0.709804f, 0.713725f, 0.717647f,
mjr 64:ef7ca92dff36 928 0.721569f, 0.725490f, 0.729412f, 0.733333f, 0.737255f, 0.741176f, 0.745098f, 0.749020f,
mjr 64:ef7ca92dff36 929 0.752941f, 0.756863f, 0.760784f, 0.764706f, 0.768627f, 0.772549f, 0.776471f, 0.780392f,
mjr 64:ef7ca92dff36 930 0.784314f, 0.788235f, 0.792157f, 0.796078f, 0.800000f, 0.803922f, 0.807843f, 0.811765f,
mjr 64:ef7ca92dff36 931 0.815686f, 0.819608f, 0.823529f, 0.827451f, 0.831373f, 0.835294f, 0.839216f, 0.843137f,
mjr 64:ef7ca92dff36 932 0.847059f, 0.850980f, 0.854902f, 0.858824f, 0.862745f, 0.866667f, 0.870588f, 0.874510f,
mjr 64:ef7ca92dff36 933 0.878431f, 0.882353f, 0.886275f, 0.890196f, 0.894118f, 0.898039f, 0.901961f, 0.905882f,
mjr 64:ef7ca92dff36 934 0.909804f, 0.913725f, 0.917647f, 0.921569f, 0.925490f, 0.929412f, 0.933333f, 0.937255f,
mjr 64:ef7ca92dff36 935 0.941176f, 0.945098f, 0.949020f, 0.952941f, 0.956863f, 0.960784f, 0.964706f, 0.968627f,
mjr 64:ef7ca92dff36 936 0.972549f, 0.976471f, 0.980392f, 0.984314f, 0.988235f, 0.992157f, 0.996078f, 1.000000f
mjr 40:cc0d9814522b 937 };
mjr 26:cb71c4af2912 938
mjr 64:ef7ca92dff36 939
mjr 64:ef7ca92dff36 940 // Conversion table for 8-bit DOF level to pulse width in microseconds,
mjr 64:ef7ca92dff36 941 // with gamma correction. We could use the layered gamma output on top
mjr 64:ef7ca92dff36 942 // of the regular LwPwmOut class for this, but we get better precision
mjr 64:ef7ca92dff36 943 // with a dedicated table, because we apply gamma correction to the
mjr 64:ef7ca92dff36 944 // 32-bit microsecond values rather than the 8-bit DOF levels.
mjr 64:ef7ca92dff36 945 static const float dof_to_gamma_pwm[] = {
mjr 64:ef7ca92dff36 946 0.000000f, 0.000000f, 0.000001f, 0.000004f, 0.000009f, 0.000017f, 0.000028f, 0.000042f,
mjr 64:ef7ca92dff36 947 0.000062f, 0.000086f, 0.000115f, 0.000151f, 0.000192f, 0.000240f, 0.000296f, 0.000359f,
mjr 64:ef7ca92dff36 948 0.000430f, 0.000509f, 0.000598f, 0.000695f, 0.000803f, 0.000920f, 0.001048f, 0.001187f,
mjr 64:ef7ca92dff36 949 0.001337f, 0.001499f, 0.001673f, 0.001860f, 0.002059f, 0.002272f, 0.002498f, 0.002738f,
mjr 64:ef7ca92dff36 950 0.002993f, 0.003262f, 0.003547f, 0.003847f, 0.004162f, 0.004494f, 0.004843f, 0.005208f,
mjr 64:ef7ca92dff36 951 0.005591f, 0.005991f, 0.006409f, 0.006845f, 0.007301f, 0.007775f, 0.008268f, 0.008781f,
mjr 64:ef7ca92dff36 952 0.009315f, 0.009868f, 0.010442f, 0.011038f, 0.011655f, 0.012293f, 0.012954f, 0.013637f,
mjr 64:ef7ca92dff36 953 0.014342f, 0.015071f, 0.015823f, 0.016599f, 0.017398f, 0.018223f, 0.019071f, 0.019945f,
mjr 64:ef7ca92dff36 954 0.020844f, 0.021769f, 0.022720f, 0.023697f, 0.024701f, 0.025731f, 0.026789f, 0.027875f,
mjr 64:ef7ca92dff36 955 0.028988f, 0.030129f, 0.031299f, 0.032498f, 0.033726f, 0.034983f, 0.036270f, 0.037587f,
mjr 64:ef7ca92dff36 956 0.038935f, 0.040313f, 0.041722f, 0.043162f, 0.044634f, 0.046138f, 0.047674f, 0.049243f,
mjr 64:ef7ca92dff36 957 0.050844f, 0.052478f, 0.054146f, 0.055847f, 0.057583f, 0.059353f, 0.061157f, 0.062996f,
mjr 64:ef7ca92dff36 958 0.064870f, 0.066780f, 0.068726f, 0.070708f, 0.072726f, 0.074780f, 0.076872f, 0.079001f,
mjr 64:ef7ca92dff36 959 0.081167f, 0.083371f, 0.085614f, 0.087895f, 0.090214f, 0.092572f, 0.094970f, 0.097407f,
mjr 64:ef7ca92dff36 960 0.099884f, 0.102402f, 0.104959f, 0.107558f, 0.110197f, 0.112878f, 0.115600f, 0.118364f,
mjr 64:ef7ca92dff36 961 0.121170f, 0.124019f, 0.126910f, 0.129844f, 0.132821f, 0.135842f, 0.138907f, 0.142016f,
mjr 64:ef7ca92dff36 962 0.145170f, 0.148367f, 0.151610f, 0.154898f, 0.158232f, 0.161611f, 0.165037f, 0.168509f,
mjr 64:ef7ca92dff36 963 0.172027f, 0.175592f, 0.179205f, 0.182864f, 0.186572f, 0.190327f, 0.194131f, 0.197983f,
mjr 64:ef7ca92dff36 964 0.201884f, 0.205834f, 0.209834f, 0.213883f, 0.217982f, 0.222131f, 0.226330f, 0.230581f,
mjr 64:ef7ca92dff36 965 0.234882f, 0.239234f, 0.243638f, 0.248094f, 0.252602f, 0.257162f, 0.261774f, 0.266440f,
mjr 64:ef7ca92dff36 966 0.271159f, 0.275931f, 0.280756f, 0.285636f, 0.290570f, 0.295558f, 0.300601f, 0.305699f,
mjr 64:ef7ca92dff36 967 0.310852f, 0.316061f, 0.321325f, 0.326645f, 0.332022f, 0.337456f, 0.342946f, 0.348493f,
mjr 64:ef7ca92dff36 968 0.354098f, 0.359760f, 0.365480f, 0.371258f, 0.377095f, 0.382990f, 0.388944f, 0.394958f,
mjr 64:ef7ca92dff36 969 0.401030f, 0.407163f, 0.413356f, 0.419608f, 0.425921f, 0.432295f, 0.438730f, 0.445226f,
mjr 64:ef7ca92dff36 970 0.451784f, 0.458404f, 0.465085f, 0.471829f, 0.478635f, 0.485504f, 0.492436f, 0.499432f,
mjr 64:ef7ca92dff36 971 0.506491f, 0.513614f, 0.520800f, 0.528052f, 0.535367f, 0.542748f, 0.550194f, 0.557705f,
mjr 64:ef7ca92dff36 972 0.565282f, 0.572924f, 0.580633f, 0.588408f, 0.596249f, 0.604158f, 0.612133f, 0.620176f,
mjr 64:ef7ca92dff36 973 0.628287f, 0.636465f, 0.644712f, 0.653027f, 0.661410f, 0.669863f, 0.678384f, 0.686975f,
mjr 64:ef7ca92dff36 974 0.695636f, 0.704366f, 0.713167f, 0.722038f, 0.730979f, 0.739992f, 0.749075f, 0.758230f,
mjr 64:ef7ca92dff36 975 0.767457f, 0.776755f, 0.786126f, 0.795568f, 0.805084f, 0.814672f, 0.824334f, 0.834068f,
mjr 64:ef7ca92dff36 976 0.843877f, 0.853759f, 0.863715f, 0.873746f, 0.883851f, 0.894031f, 0.904286f, 0.914616f,
mjr 64:ef7ca92dff36 977 0.925022f, 0.935504f, 0.946062f, 0.956696f, 0.967407f, 0.978194f, 0.989058f, 1.000000f
mjr 64:ef7ca92dff36 978 };
mjr 64:ef7ca92dff36 979
mjr 64:ef7ca92dff36 980 // LwOut class for a PWM-capable GPIO port. Note that we use FastPWM for
mjr 64:ef7ca92dff36 981 // the underlying port interface. This isn't because we need the "fast"
mjr 64:ef7ca92dff36 982 // part; it's because FastPWM fixes a bug in the base mbed PwmOut class
mjr 64:ef7ca92dff36 983 // that makes it look ugly for fades. The base PwmOut class resets
mjr 64:ef7ca92dff36 984 // the cycle counter when changing the duty cycle, which makes the output
mjr 64:ef7ca92dff36 985 // reset immediately on every change. For an output connected to a lamp
mjr 64:ef7ca92dff36 986 // or LED, this causes obvious flickering when performing a rapid series
mjr 64:ef7ca92dff36 987 // of writes, such as during a fade. The KL25Z TPM hardware is specifically
mjr 64:ef7ca92dff36 988 // designed to make it easy for software to avoid this kind of flickering
mjr 64:ef7ca92dff36 989 // when used correctly: it has an internal staging register for the duty
mjr 64:ef7ca92dff36 990 // cycle register that gets latched at the start of the next cycle, ensuring
mjr 64:ef7ca92dff36 991 // that the duty cycle setting never changes mid-cycle. The mbed PwmOut
mjr 64:ef7ca92dff36 992 // defeats this by resetting the cycle counter on every write, which aborts
mjr 64:ef7ca92dff36 993 // the current cycle at the moment of the write, causing an effectively random
mjr 64:ef7ca92dff36 994 // drop in brightness on each write (by artificially shortening a cycle).
mjr 64:ef7ca92dff36 995 // Fortunately, we can fix this by switching to the API-compatible FastPWM
mjr 64:ef7ca92dff36 996 // class, which does the write right (heh).
mjr 6:cc35eb643e8f 997 class LwPwmOut: public LwOut
mjr 6:cc35eb643e8f 998 {
mjr 6:cc35eb643e8f 999 public:
mjr 43:7a6364d82a41 1000 LwPwmOut(PinName pin, uint8_t initVal) : p(pin)
mjr 43:7a6364d82a41 1001 {
mjr 43:7a6364d82a41 1002 prv = initVal ^ 0xFF;
mjr 43:7a6364d82a41 1003 set(initVal);
mjr 43:7a6364d82a41 1004 }
mjr 40:cc0d9814522b 1005 virtual void set(uint8_t val)
mjr 13:72dda449c3c0 1006 {
mjr 13:72dda449c3c0 1007 if (val != prv)
mjr 40:cc0d9814522b 1008 p.write(pwm_level[prv = val]);
mjr 13:72dda449c3c0 1009 }
mjr 64:ef7ca92dff36 1010 FastPWM p;
mjr 40:cc0d9814522b 1011 uint8_t prv;
mjr 6:cc35eb643e8f 1012 };
mjr 26:cb71c4af2912 1013
mjr 64:ef7ca92dff36 1014 // Gamma corrected PWM GPIO output
mjr 64:ef7ca92dff36 1015 class LwPwmGammaOut: public LwPwmOut
mjr 64:ef7ca92dff36 1016 {
mjr 64:ef7ca92dff36 1017 public:
mjr 64:ef7ca92dff36 1018 LwPwmGammaOut(PinName pin, uint8_t initVal)
mjr 64:ef7ca92dff36 1019 : LwPwmOut(pin, initVal)
mjr 64:ef7ca92dff36 1020 {
mjr 64:ef7ca92dff36 1021 }
mjr 64:ef7ca92dff36 1022 virtual void set(uint8_t val)
mjr 64:ef7ca92dff36 1023 {
mjr 64:ef7ca92dff36 1024 if (val != prv)
mjr 64:ef7ca92dff36 1025 p.write(dof_to_gamma_pwm[prv = val]);
mjr 64:ef7ca92dff36 1026 }
mjr 64:ef7ca92dff36 1027 };
mjr 64:ef7ca92dff36 1028
mjr 64:ef7ca92dff36 1029
mjr 26:cb71c4af2912 1030 // LwOut class for a Digital-Only (Non-PWM) GPIO port
mjr 6:cc35eb643e8f 1031 class LwDigOut: public LwOut
mjr 6:cc35eb643e8f 1032 {
mjr 6:cc35eb643e8f 1033 public:
mjr 43:7a6364d82a41 1034 LwDigOut(PinName pin, uint8_t initVal) : p(pin, initVal ? 1 : 0) { prv = initVal; }
mjr 40:cc0d9814522b 1035 virtual void set(uint8_t val)
mjr 13:72dda449c3c0 1036 {
mjr 13:72dda449c3c0 1037 if (val != prv)
mjr 40:cc0d9814522b 1038 p.write((prv = val) == 0 ? 0 : 1);
mjr 13:72dda449c3c0 1039 }
mjr 6:cc35eb643e8f 1040 DigitalOut p;
mjr 40:cc0d9814522b 1041 uint8_t prv;
mjr 6:cc35eb643e8f 1042 };
mjr 26:cb71c4af2912 1043
mjr 29:582472d0bc57 1044 // Array of output physical pin assignments. This array is indexed
mjr 29:582472d0bc57 1045 // by LedWiz logical port number - lwPin[n] is the maping for LedWiz
mjr 35:e959ffba78fd 1046 // port n (0-based).
mjr 35:e959ffba78fd 1047 //
mjr 35:e959ffba78fd 1048 // Each pin is handled by an interface object for the physical output
mjr 35:e959ffba78fd 1049 // type for the port, as set in the configuration. The interface
mjr 35:e959ffba78fd 1050 // objects handle the specifics of addressing the different hardware
mjr 35:e959ffba78fd 1051 // types (GPIO PWM ports, GPIO digital ports, TLC5940 ports, and
mjr 35:e959ffba78fd 1052 // 74HC595 ports).
mjr 33:d832bcab089e 1053 static int numOutputs;
mjr 33:d832bcab089e 1054 static LwOut **lwPin;
mjr 33:d832bcab089e 1055
mjr 38:091e511ce8a0 1056
mjr 35:e959ffba78fd 1057 // Number of LedWiz emulation outputs. This is the number of ports
mjr 35:e959ffba78fd 1058 // accessible through the standard (non-extended) LedWiz protocol
mjr 35:e959ffba78fd 1059 // messages. The protocol has a fixed set of 32 outputs, but we
mjr 35:e959ffba78fd 1060 // might have fewer actual outputs. This is therefore set to the
mjr 35:e959ffba78fd 1061 // lower of 32 or the actual number of outputs.
mjr 35:e959ffba78fd 1062 static int numLwOutputs;
mjr 35:e959ffba78fd 1063
mjr 63:5cd1a5f3a41b 1064 // Current absolute brightness levels for all outputs. These are
mjr 63:5cd1a5f3a41b 1065 // DOF brightness level value, from 0 for fully off to 255 for fully
mjr 63:5cd1a5f3a41b 1066 // on. These are always used for extended ports (33 and above), and
mjr 63:5cd1a5f3a41b 1067 // are used for LedWiz ports (1-32) when we're in extended protocol
mjr 63:5cd1a5f3a41b 1068 // mode (i.e., ledWizMode == false).
mjr 40:cc0d9814522b 1069 static uint8_t *outLevel;
mjr 38:091e511ce8a0 1070
mjr 38:091e511ce8a0 1071 // create a single output pin
mjr 53:9b2611964afc 1072 LwOut *createLwPin(int portno, LedWizPortCfg &pc, Config &cfg)
mjr 38:091e511ce8a0 1073 {
mjr 38:091e511ce8a0 1074 // get this item's values
mjr 38:091e511ce8a0 1075 int typ = pc.typ;
mjr 38:091e511ce8a0 1076 int pin = pc.pin;
mjr 38:091e511ce8a0 1077 int flags = pc.flags;
mjr 40:cc0d9814522b 1078 int noisy = flags & PortFlagNoisemaker;
mjr 38:091e511ce8a0 1079 int activeLow = flags & PortFlagActiveLow;
mjr 40:cc0d9814522b 1080 int gamma = flags & PortFlagGamma;
mjr 38:091e511ce8a0 1081
mjr 38:091e511ce8a0 1082 // create the pin interface object according to the port type
mjr 38:091e511ce8a0 1083 LwOut *lwp;
mjr 38:091e511ce8a0 1084 switch (typ)
mjr 38:091e511ce8a0 1085 {
mjr 38:091e511ce8a0 1086 case PortTypeGPIOPWM:
mjr 48:058ace2aed1d 1087 // PWM GPIO port - assign if we have a valid pin
mjr 48:058ace2aed1d 1088 if (pin != 0)
mjr 64:ef7ca92dff36 1089 {
mjr 64:ef7ca92dff36 1090 // If gamma correction is to be used, and we're not inverting the output,
mjr 64:ef7ca92dff36 1091 // use the combined Pwmout + Gamma output class; otherwise use the plain
mjr 64:ef7ca92dff36 1092 // PwmOut class. We can't use the combined class for inverted outputs
mjr 64:ef7ca92dff36 1093 // because we have to apply gamma correction before the inversion.
mjr 64:ef7ca92dff36 1094 if (gamma && !activeLow)
mjr 64:ef7ca92dff36 1095 {
mjr 64:ef7ca92dff36 1096 // use the gamma-corrected PwmOut type
mjr 64:ef7ca92dff36 1097 lwp = new LwPwmGammaOut(wirePinName(pin), 0);
mjr 64:ef7ca92dff36 1098
mjr 64:ef7ca92dff36 1099 // don't apply further gamma correction to this output
mjr 64:ef7ca92dff36 1100 gamma = false;
mjr 64:ef7ca92dff36 1101 }
mjr 64:ef7ca92dff36 1102 else
mjr 64:ef7ca92dff36 1103 {
mjr 64:ef7ca92dff36 1104 // no gamma correction - use the standard PwmOut class
mjr 64:ef7ca92dff36 1105 lwp = new LwPwmOut(wirePinName(pin), activeLow ? 255 : 0);
mjr 64:ef7ca92dff36 1106 }
mjr 64:ef7ca92dff36 1107 }
mjr 48:058ace2aed1d 1108 else
mjr 48:058ace2aed1d 1109 lwp = new LwVirtualOut();
mjr 38:091e511ce8a0 1110 break;
mjr 38:091e511ce8a0 1111
mjr 38:091e511ce8a0 1112 case PortTypeGPIODig:
mjr 38:091e511ce8a0 1113 // Digital GPIO port
mjr 48:058ace2aed1d 1114 if (pin != 0)
mjr 48:058ace2aed1d 1115 lwp = new LwDigOut(wirePinName(pin), activeLow ? 255 : 0);
mjr 48:058ace2aed1d 1116 else
mjr 48:058ace2aed1d 1117 lwp = new LwVirtualOut();
mjr 38:091e511ce8a0 1118 break;
mjr 38:091e511ce8a0 1119
mjr 38:091e511ce8a0 1120 case PortTypeTLC5940:
mjr 38:091e511ce8a0 1121 // TLC5940 port (if we don't have a TLC controller object, or it's not a valid
mjr 38:091e511ce8a0 1122 // output port number on the chips we have, create a virtual port)
mjr 38:091e511ce8a0 1123 if (tlc5940 != 0 && pin < cfg.tlc5940.nchips*16)
mjr 40:cc0d9814522b 1124 {
mjr 40:cc0d9814522b 1125 // If gamma correction is to be used, and we're not inverting the output,
mjr 40:cc0d9814522b 1126 // use the combined TLC4950 + Gamma output class. Otherwise use the plain
mjr 40:cc0d9814522b 1127 // TLC5940 output. We skip the combined class if the output is inverted
mjr 40:cc0d9814522b 1128 // because we need to apply gamma BEFORE the inversion to get the right
mjr 40:cc0d9814522b 1129 // results, but the combined class would apply it after because of the
mjr 40:cc0d9814522b 1130 // layering scheme - the combined class is a physical device output class,
mjr 40:cc0d9814522b 1131 // and a physical device output class is necessarily at the bottom of
mjr 40:cc0d9814522b 1132 // the stack. We don't have a combined inverted+gamma+TLC class, because
mjr 40:cc0d9814522b 1133 // inversion isn't recommended for TLC5940 chips in the first place, so
mjr 40:cc0d9814522b 1134 // it's not worth the extra memory footprint to have a dedicated table
mjr 40:cc0d9814522b 1135 // for this unlikely case.
mjr 40:cc0d9814522b 1136 if (gamma && !activeLow)
mjr 40:cc0d9814522b 1137 {
mjr 40:cc0d9814522b 1138 // use the gamma-corrected 5940 output mapper
mjr 40:cc0d9814522b 1139 lwp = new Lw5940GammaOut(pin);
mjr 40:cc0d9814522b 1140
mjr 40:cc0d9814522b 1141 // DON'T apply further gamma correction to this output
mjr 40:cc0d9814522b 1142 gamma = false;
mjr 40:cc0d9814522b 1143 }
mjr 40:cc0d9814522b 1144 else
mjr 40:cc0d9814522b 1145 {
mjr 40:cc0d9814522b 1146 // no gamma - use the plain (linear) 5940 output class
mjr 40:cc0d9814522b 1147 lwp = new Lw5940Out(pin);
mjr 40:cc0d9814522b 1148 }
mjr 40:cc0d9814522b 1149 }
mjr 38:091e511ce8a0 1150 else
mjr 40:cc0d9814522b 1151 {
mjr 40:cc0d9814522b 1152 // no TLC5940 chips, or invalid port number - use a virtual out
mjr 38:091e511ce8a0 1153 lwp = new LwVirtualOut();
mjr 40:cc0d9814522b 1154 }
mjr 38:091e511ce8a0 1155 break;
mjr 38:091e511ce8a0 1156
mjr 38:091e511ce8a0 1157 case PortType74HC595:
mjr 38:091e511ce8a0 1158 // 74HC595 port (if we don't have an HC595 controller object, or it's not a valid
mjr 38:091e511ce8a0 1159 // output number, create a virtual port)
mjr 38:091e511ce8a0 1160 if (hc595 != 0 && pin < cfg.hc595.nchips*8)
mjr 38:091e511ce8a0 1161 lwp = new Lw595Out(pin);
mjr 38:091e511ce8a0 1162 else
mjr 38:091e511ce8a0 1163 lwp = new LwVirtualOut();
mjr 38:091e511ce8a0 1164 break;
mjr 38:091e511ce8a0 1165
mjr 38:091e511ce8a0 1166 case PortTypeVirtual:
mjr 43:7a6364d82a41 1167 case PortTypeDisabled:
mjr 38:091e511ce8a0 1168 default:
mjr 38:091e511ce8a0 1169 // virtual or unknown
mjr 38:091e511ce8a0 1170 lwp = new LwVirtualOut();
mjr 38:091e511ce8a0 1171 break;
mjr 38:091e511ce8a0 1172 }
mjr 38:091e511ce8a0 1173
mjr 40:cc0d9814522b 1174 // If it's Active Low, layer on an inverter. Note that an inverter
mjr 40:cc0d9814522b 1175 // needs to be the bottom-most layer, since all of the other filters
mjr 40:cc0d9814522b 1176 // assume that they're working with normal (non-inverted) values.
mjr 38:091e511ce8a0 1177 if (activeLow)
mjr 38:091e511ce8a0 1178 lwp = new LwInvertedOut(lwp);
mjr 40:cc0d9814522b 1179
mjr 40:cc0d9814522b 1180 // If it's a noisemaker, layer on a night mode switch. Note that this
mjr 40:cc0d9814522b 1181 // needs to be
mjr 40:cc0d9814522b 1182 if (noisy)
mjr 40:cc0d9814522b 1183 lwp = new LwNoisyOut(lwp);
mjr 40:cc0d9814522b 1184
mjr 40:cc0d9814522b 1185 // If it's gamma-corrected, layer on a gamma corrector
mjr 40:cc0d9814522b 1186 if (gamma)
mjr 40:cc0d9814522b 1187 lwp = new LwGammaOut(lwp);
mjr 53:9b2611964afc 1188
mjr 53:9b2611964afc 1189 // If this is the ZB Launch Ball port, layer a monitor object. Note
mjr 64:ef7ca92dff36 1190 // that the nominal port numbering in the config starts at 1, but we're
mjr 53:9b2611964afc 1191 // using an array index, so test against portno+1.
mjr 53:9b2611964afc 1192 if (portno + 1 == cfg.plunger.zbLaunchBall.port)
mjr 53:9b2611964afc 1193 lwp = new LwZbLaunchOut(lwp);
mjr 53:9b2611964afc 1194
mjr 53:9b2611964afc 1195 // If this is the Night Mode indicator port, layer a night mode object.
mjr 53:9b2611964afc 1196 if (portno + 1 == cfg.nightMode.port)
mjr 53:9b2611964afc 1197 lwp = new LwNightModeIndicatorOut(lwp);
mjr 38:091e511ce8a0 1198
mjr 38:091e511ce8a0 1199 // turn it off initially
mjr 38:091e511ce8a0 1200 lwp->set(0);
mjr 38:091e511ce8a0 1201
mjr 38:091e511ce8a0 1202 // return the pin
mjr 38:091e511ce8a0 1203 return lwp;
mjr 38:091e511ce8a0 1204 }
mjr 38:091e511ce8a0 1205
mjr 6:cc35eb643e8f 1206 // initialize the output pin array
mjr 35:e959ffba78fd 1207 void initLwOut(Config &cfg)
mjr 6:cc35eb643e8f 1208 {
mjr 35:e959ffba78fd 1209 // Count the outputs. The first disabled output determines the
mjr 35:e959ffba78fd 1210 // total number of ports.
mjr 35:e959ffba78fd 1211 numOutputs = MAX_OUT_PORTS;
mjr 33:d832bcab089e 1212 int i;
mjr 35:e959ffba78fd 1213 for (i = 0 ; i < MAX_OUT_PORTS ; ++i)
mjr 6:cc35eb643e8f 1214 {
mjr 35:e959ffba78fd 1215 if (cfg.outPort[i].typ == PortTypeDisabled)
mjr 34:6b981a2afab7 1216 {
mjr 35:e959ffba78fd 1217 numOutputs = i;
mjr 34:6b981a2afab7 1218 break;
mjr 34:6b981a2afab7 1219 }
mjr 33:d832bcab089e 1220 }
mjr 33:d832bcab089e 1221
mjr 35:e959ffba78fd 1222 // the real LedWiz protocol can access at most 32 ports, or the
mjr 35:e959ffba78fd 1223 // actual number of outputs, whichever is lower
mjr 35:e959ffba78fd 1224 numLwOutputs = (numOutputs < 32 ? numOutputs : 32);
mjr 35:e959ffba78fd 1225
mjr 33:d832bcab089e 1226 // allocate the pin array
mjr 33:d832bcab089e 1227 lwPin = new LwOut*[numOutputs];
mjr 33:d832bcab089e 1228
mjr 38:091e511ce8a0 1229 // Allocate the current brightness array. For these, allocate at
mjr 38:091e511ce8a0 1230 // least 32, so that we have enough for all LedWiz messages, but
mjr 38:091e511ce8a0 1231 // allocate the full set of actual ports if we have more than the
mjr 38:091e511ce8a0 1232 // LedWiz complement.
mjr 38:091e511ce8a0 1233 int minOuts = numOutputs < 32 ? 32 : numOutputs;
mjr 40:cc0d9814522b 1234 outLevel = new uint8_t[minOuts];
mjr 33:d832bcab089e 1235
mjr 35:e959ffba78fd 1236 // create the pin interface object for each port
mjr 35:e959ffba78fd 1237 for (i = 0 ; i < numOutputs ; ++i)
mjr 53:9b2611964afc 1238 lwPin[i] = createLwPin(i, cfg.outPort[i], cfg);
mjr 6:cc35eb643e8f 1239 }
mjr 6:cc35eb643e8f 1240
mjr 63:5cd1a5f3a41b 1241 // LedWiz/Extended protocol mode.
mjr 63:5cd1a5f3a41b 1242 //
mjr 63:5cd1a5f3a41b 1243 // We implement output port control using both the legacy LedWiz
mjr 63:5cd1a5f3a41b 1244 // protocol and a private extended protocol (which is 100% backwards
mjr 63:5cd1a5f3a41b 1245 // compatible with the LedWiz protocol: we recognize all valid legacy
mjr 63:5cd1a5f3a41b 1246 // protocol commands and handle them the same way a real LedWiz does).
mjr 63:5cd1a5f3a41b 1247 // The legacy protocol can access the first 32 ports; the extended
mjr 63:5cd1a5f3a41b 1248 // protocol can access all ports, including the first 32 as well as
mjr 63:5cd1a5f3a41b 1249 // the higher numbered ports. This means that the first 32 ports
mjr 63:5cd1a5f3a41b 1250 // can be addressed with either protocol, which muddies the waters
mjr 63:5cd1a5f3a41b 1251 // a bit because of the different approaches the two protocols take.
mjr 63:5cd1a5f3a41b 1252 // The legacy protocol separates the brightness/flash state of an
mjr 63:5cd1a5f3a41b 1253 // output (which it calls the "profile" state) from the on/off state.
mjr 63:5cd1a5f3a41b 1254 // The extended protocol doesn't; "off" is simply represented as
mjr 63:5cd1a5f3a41b 1255 // brightness 0.
mjr 63:5cd1a5f3a41b 1256 //
mjr 63:5cd1a5f3a41b 1257 // To deal with the different approaches, we use this flag to keep
mjr 63:5cd1a5f3a41b 1258 // track of the global protocol state. Each time we get an output
mjr 63:5cd1a5f3a41b 1259 // port command, we switch the protocol state to the protocol that
mjr 63:5cd1a5f3a41b 1260 // was used in the command. On a legacy SBA or PBA, we switch to
mjr 63:5cd1a5f3a41b 1261 // LedWiz mode; on an extended output set message, we switch to
mjr 63:5cd1a5f3a41b 1262 // extended mode. We remember the LedWiz and extended output state
mjr 63:5cd1a5f3a41b 1263 // for each LW ports (1-32) separately. Any time the mode changes,
mjr 63:5cd1a5f3a41b 1264 // we set ports 1-32 back to the state for the new mode.
mjr 63:5cd1a5f3a41b 1265 //
mjr 63:5cd1a5f3a41b 1266 // The reasoning here is that any given client (on the PC) will use
mjr 63:5cd1a5f3a41b 1267 // one mode or the other, and won't mix the two. An older program
mjr 63:5cd1a5f3a41b 1268 // that only knows about the LedWiz protocol will use the legacy
mjr 63:5cd1a5f3a41b 1269 // protocol only, and never send us an extended command. A DOF-based
mjr 63:5cd1a5f3a41b 1270 // program might use one or the other, according to how the user has
mjr 63:5cd1a5f3a41b 1271 // configured DOF. We have to be able to switch seamlessly between
mjr 63:5cd1a5f3a41b 1272 // the protocols to accommodate switching from one type of program
mjr 63:5cd1a5f3a41b 1273 // on the PC to the other, but we shouldn't have to worry about one
mjr 63:5cd1a5f3a41b 1274 // program switching back and forth.
mjr 63:5cd1a5f3a41b 1275 static uint8_t ledWizMode = true;
mjr 63:5cd1a5f3a41b 1276
mjr 29:582472d0bc57 1277 // LedWiz output states.
mjr 29:582472d0bc57 1278 //
mjr 29:582472d0bc57 1279 // The LedWiz protocol has two separate control axes for each output.
mjr 29:582472d0bc57 1280 // One axis is its on/off state; the other is its "profile" state, which
mjr 29:582472d0bc57 1281 // is either a fixed brightness or a blinking pattern for the light.
mjr 29:582472d0bc57 1282 // The two axes are independent.
mjr 29:582472d0bc57 1283 //
mjr 29:582472d0bc57 1284 // Note that the LedWiz protocol can only address 32 outputs, so the
mjr 29:582472d0bc57 1285 // wizOn and wizVal arrays have fixed sizes of 32 elements no matter
mjr 29:582472d0bc57 1286 // how many physical outputs we're using.
mjr 29:582472d0bc57 1287
mjr 0:5acbbe3f4cf4 1288 // on/off state for each LedWiz output
mjr 1:d913e0afb2ac 1289 static uint8_t wizOn[32];
mjr 0:5acbbe3f4cf4 1290
mjr 40:cc0d9814522b 1291 // LedWiz "Profile State" (the LedWiz brightness level or blink mode)
mjr 40:cc0d9814522b 1292 // for each LedWiz output. If the output was last updated through an
mjr 40:cc0d9814522b 1293 // LedWiz protocol message, it will have one of these values:
mjr 29:582472d0bc57 1294 //
mjr 29:582472d0bc57 1295 // 0-48 = fixed brightness 0% to 100%
mjr 40:cc0d9814522b 1296 // 49 = fixed brightness 100% (equivalent to 48)
mjr 29:582472d0bc57 1297 // 129 = ramp up / ramp down
mjr 29:582472d0bc57 1298 // 130 = flash on / off
mjr 29:582472d0bc57 1299 // 131 = on / ramp down
mjr 29:582472d0bc57 1300 // 132 = ramp up / on
mjr 29:582472d0bc57 1301 //
mjr 40:cc0d9814522b 1302 // (Note that value 49 isn't documented in the LedWiz spec, but real
mjr 40:cc0d9814522b 1303 // LedWiz units treat it as equivalent to 48, and some PC software uses
mjr 40:cc0d9814522b 1304 // it, so we need to accept it for compatibility.)
mjr 1:d913e0afb2ac 1305 static uint8_t wizVal[32] = {
mjr 13:72dda449c3c0 1306 48, 48, 48, 48, 48, 48, 48, 48,
mjr 13:72dda449c3c0 1307 48, 48, 48, 48, 48, 48, 48, 48,
mjr 13:72dda449c3c0 1308 48, 48, 48, 48, 48, 48, 48, 48,
mjr 13:72dda449c3c0 1309 48, 48, 48, 48, 48, 48, 48, 48
mjr 0:5acbbe3f4cf4 1310 };
mjr 0:5acbbe3f4cf4 1311
mjr 29:582472d0bc57 1312 // LedWiz flash speed. This is a value from 1 to 7 giving the pulse
mjr 29:582472d0bc57 1313 // rate for lights in blinking states.
mjr 29:582472d0bc57 1314 static uint8_t wizSpeed = 2;
mjr 29:582472d0bc57 1315
mjr 40:cc0d9814522b 1316 // Current LedWiz flash cycle counter. This runs from 0 to 255
mjr 40:cc0d9814522b 1317 // during each cycle.
mjr 29:582472d0bc57 1318 static uint8_t wizFlashCounter = 0;
mjr 29:582472d0bc57 1319
mjr 40:cc0d9814522b 1320 // translate an LedWiz brightness level (0-49) to a DOF brightness
mjr 40:cc0d9814522b 1321 // level (0-255)
mjr 40:cc0d9814522b 1322 static const uint8_t lw_to_dof[] = {
mjr 40:cc0d9814522b 1323 0, 5, 11, 16, 21, 27, 32, 37,
mjr 40:cc0d9814522b 1324 43, 48, 53, 58, 64, 69, 74, 80,
mjr 40:cc0d9814522b 1325 85, 90, 96, 101, 106, 112, 117, 122,
mjr 40:cc0d9814522b 1326 128, 133, 138, 143, 149, 154, 159, 165,
mjr 40:cc0d9814522b 1327 170, 175, 181, 186, 191, 197, 202, 207,
mjr 40:cc0d9814522b 1328 213, 218, 223, 228, 234, 239, 244, 250,
mjr 40:cc0d9814522b 1329 255, 255
mjr 40:cc0d9814522b 1330 };
mjr 40:cc0d9814522b 1331
mjr 40:cc0d9814522b 1332 // Translate an LedWiz output (ports 1-32) to a DOF brightness level.
mjr 40:cc0d9814522b 1333 static uint8_t wizState(int idx)
mjr 0:5acbbe3f4cf4 1334 {
mjr 63:5cd1a5f3a41b 1335 // If we're in extended protocol mode, ignore the LedWiz setting
mjr 63:5cd1a5f3a41b 1336 // for the port and use the new protocol setting instead.
mjr 63:5cd1a5f3a41b 1337 if (!ledWizMode)
mjr 29:582472d0bc57 1338 return outLevel[idx];
mjr 29:582472d0bc57 1339
mjr 29:582472d0bc57 1340 // if it's off, show at zero intensity
mjr 29:582472d0bc57 1341 if (!wizOn[idx])
mjr 29:582472d0bc57 1342 return 0;
mjr 29:582472d0bc57 1343
mjr 29:582472d0bc57 1344 // check the state
mjr 29:582472d0bc57 1345 uint8_t val = wizVal[idx];
mjr 40:cc0d9814522b 1346 if (val <= 49)
mjr 29:582472d0bc57 1347 {
mjr 29:582472d0bc57 1348 // PWM brightness/intensity level. Rescale from the LedWiz
mjr 29:582472d0bc57 1349 // 0..48 integer range to our internal PwmOut 0..1 float range.
mjr 29:582472d0bc57 1350 // Note that on the actual LedWiz, level 48 is actually about
mjr 29:582472d0bc57 1351 // 98% on - contrary to the LedWiz documentation, level 49 is
mjr 29:582472d0bc57 1352 // the true 100% level. (In the documentation, level 49 is
mjr 29:582472d0bc57 1353 // simply not a valid setting.) Even so, we treat level 48 as
mjr 29:582472d0bc57 1354 // 100% on to match the documentation. This won't be perfectly
mjr 29:582472d0bc57 1355 // ocmpatible with the actual LedWiz, but it makes for such a
mjr 29:582472d0bc57 1356 // small difference in brightness (if the output device is an
mjr 29:582472d0bc57 1357 // LED, say) that no one should notice. It seems better to
mjr 29:582472d0bc57 1358 // err in this direction, because while the difference in
mjr 29:582472d0bc57 1359 // brightness when attached to an LED won't be noticeable, the
mjr 29:582472d0bc57 1360 // difference in duty cycle when attached to something like a
mjr 29:582472d0bc57 1361 // contactor *can* be noticeable - anything less than 100%
mjr 29:582472d0bc57 1362 // can cause a contactor or relay to chatter. There's almost
mjr 29:582472d0bc57 1363 // never a situation where you'd want values other than 0% and
mjr 29:582472d0bc57 1364 // 100% for a contactor or relay, so treating level 48 as 100%
mjr 29:582472d0bc57 1365 // makes us work properly with software that's expecting the
mjr 29:582472d0bc57 1366 // documented LedWiz behavior and therefore uses level 48 to
mjr 29:582472d0bc57 1367 // turn a contactor or relay fully on.
mjr 40:cc0d9814522b 1368 //
mjr 40:cc0d9814522b 1369 // Note that value 49 is undefined in the LedWiz documentation,
mjr 40:cc0d9814522b 1370 // but real LedWiz units treat it as 100%, equivalent to 48.
mjr 40:cc0d9814522b 1371 // Some software on the PC side uses this, so we need to treat
mjr 40:cc0d9814522b 1372 // it the same way for compatibility.
mjr 40:cc0d9814522b 1373 return lw_to_dof[val];
mjr 29:582472d0bc57 1374 }
mjr 29:582472d0bc57 1375 else if (val == 129)
mjr 29:582472d0bc57 1376 {
mjr 40:cc0d9814522b 1377 // 129 = ramp up / ramp down
mjr 30:6e9902f06f48 1378 return wizFlashCounter < 128
mjr 40:cc0d9814522b 1379 ? wizFlashCounter*2 + 1
mjr 40:cc0d9814522b 1380 : (255 - wizFlashCounter)*2;
mjr 29:582472d0bc57 1381 }
mjr 29:582472d0bc57 1382 else if (val == 130)
mjr 29:582472d0bc57 1383 {
mjr 40:cc0d9814522b 1384 // 130 = flash on / off
mjr 40:cc0d9814522b 1385 return wizFlashCounter < 128 ? 255 : 0;
mjr 29:582472d0bc57 1386 }
mjr 29:582472d0bc57 1387 else if (val == 131)
mjr 29:582472d0bc57 1388 {
mjr 40:cc0d9814522b 1389 // 131 = on / ramp down
mjr 40:cc0d9814522b 1390 return wizFlashCounter < 128 ? 255 : (255 - wizFlashCounter)*2;
mjr 0:5acbbe3f4cf4 1391 }
mjr 29:582472d0bc57 1392 else if (val == 132)
mjr 29:582472d0bc57 1393 {
mjr 40:cc0d9814522b 1394 // 132 = ramp up / on
mjr 40:cc0d9814522b 1395 return wizFlashCounter < 128 ? wizFlashCounter*2 : 255;
mjr 29:582472d0bc57 1396 }
mjr 29:582472d0bc57 1397 else
mjr 13:72dda449c3c0 1398 {
mjr 29:582472d0bc57 1399 // Other values are undefined in the LedWiz documentation. Hosts
mjr 29:582472d0bc57 1400 // *should* never send undefined values, since whatever behavior an
mjr 29:582472d0bc57 1401 // LedWiz unit exhibits in response is accidental and could change
mjr 29:582472d0bc57 1402 // in a future version. We'll treat all undefined values as equivalent
mjr 29:582472d0bc57 1403 // to 48 (fully on).
mjr 40:cc0d9814522b 1404 return 255;
mjr 0:5acbbe3f4cf4 1405 }
mjr 0:5acbbe3f4cf4 1406 }
mjr 0:5acbbe3f4cf4 1407
mjr 29:582472d0bc57 1408 // LedWiz flash timer pulse. This fires periodically to update
mjr 29:582472d0bc57 1409 // LedWiz flashing outputs. At the slowest pulse speed set via
mjr 29:582472d0bc57 1410 // the SBA command, each waveform cycle has 256 steps, so we
mjr 29:582472d0bc57 1411 // choose the pulse time base so that the slowest cycle completes
mjr 29:582472d0bc57 1412 // in 2 seconds. This seems to roughly match the real LedWiz
mjr 29:582472d0bc57 1413 // behavior. We run the pulse timer at the same rate regardless
mjr 29:582472d0bc57 1414 // of the pulse speed; at higher pulse speeds, we simply use
mjr 29:582472d0bc57 1415 // larger steps through the cycle on each interrupt. Running
mjr 29:582472d0bc57 1416 // every 1/127 of a second = 8ms seems to be a pretty light load.
mjr 29:582472d0bc57 1417 Timeout wizPulseTimer;
mjr 38:091e511ce8a0 1418 #define WIZ_PULSE_TIME_BASE (1.0f/127.0f)
mjr 29:582472d0bc57 1419 static void wizPulse()
mjr 29:582472d0bc57 1420 {
mjr 29:582472d0bc57 1421 // increase the counter by the speed increment, and wrap at 256
mjr 29:582472d0bc57 1422 wizFlashCounter += wizSpeed;
mjr 29:582472d0bc57 1423 wizFlashCounter &= 0xff;
mjr 29:582472d0bc57 1424
mjr 29:582472d0bc57 1425 // if we have any flashing lights, update them
mjr 29:582472d0bc57 1426 int ena = false;
mjr 35:e959ffba78fd 1427 for (int i = 0 ; i < numLwOutputs ; ++i)
mjr 29:582472d0bc57 1428 {
mjr 29:582472d0bc57 1429 if (wizOn[i])
mjr 29:582472d0bc57 1430 {
mjr 29:582472d0bc57 1431 uint8_t s = wizVal[i];
mjr 29:582472d0bc57 1432 if (s >= 129 && s <= 132)
mjr 29:582472d0bc57 1433 {
mjr 40:cc0d9814522b 1434 lwPin[i]->set(wizState(i));
mjr 29:582472d0bc57 1435 ena = true;
mjr 29:582472d0bc57 1436 }
mjr 29:582472d0bc57 1437 }
mjr 29:582472d0bc57 1438 }
mjr 29:582472d0bc57 1439
mjr 29:582472d0bc57 1440 // Set up the next timer pulse only if we found anything flashing.
mjr 29:582472d0bc57 1441 // To minimize overhead from this feature, we only enable the interrupt
mjr 29:582472d0bc57 1442 // when we need it. This eliminates any performance penalty to other
mjr 29:582472d0bc57 1443 // features when the host software doesn't care about the flashing
mjr 29:582472d0bc57 1444 // modes. For example, DOF never uses these modes, so there's no
mjr 29:582472d0bc57 1445 // need for them when running Visual Pinball.
mjr 29:582472d0bc57 1446 if (ena)
mjr 29:582472d0bc57 1447 wizPulseTimer.attach(wizPulse, WIZ_PULSE_TIME_BASE);
mjr 29:582472d0bc57 1448 }
mjr 29:582472d0bc57 1449
mjr 29:582472d0bc57 1450 // Update the physical outputs connected to the LedWiz ports. This is
mjr 29:582472d0bc57 1451 // called after any update from an LedWiz protocol message.
mjr 1:d913e0afb2ac 1452 static void updateWizOuts()
mjr 1:d913e0afb2ac 1453 {
mjr 29:582472d0bc57 1454 // update each output
mjr 29:582472d0bc57 1455 int pulse = false;
mjr 35:e959ffba78fd 1456 for (int i = 0 ; i < numLwOutputs ; ++i)
mjr 29:582472d0bc57 1457 {
mjr 29:582472d0bc57 1458 pulse |= (wizVal[i] >= 129 && wizVal[i] <= 132);
mjr 40:cc0d9814522b 1459 lwPin[i]->set(wizState(i));
mjr 29:582472d0bc57 1460 }
mjr 29:582472d0bc57 1461
mjr 29:582472d0bc57 1462 // if any outputs are set to flashing mode, and the pulse timer
mjr 29:582472d0bc57 1463 // isn't running, turn it on
mjr 29:582472d0bc57 1464 if (pulse)
mjr 29:582472d0bc57 1465 wizPulseTimer.attach(wizPulse, WIZ_PULSE_TIME_BASE);
mjr 34:6b981a2afab7 1466
mjr 34:6b981a2afab7 1467 // flush changes to 74HC595 chips, if attached
mjr 35:e959ffba78fd 1468 if (hc595 != 0)
mjr 35:e959ffba78fd 1469 hc595->update();
mjr 1:d913e0afb2ac 1470 }
mjr 38:091e511ce8a0 1471
mjr 38:091e511ce8a0 1472 // Update all physical outputs. This is called after a change to a global
mjr 38:091e511ce8a0 1473 // setting that affects all outputs, such as engaging or canceling Night Mode.
mjr 38:091e511ce8a0 1474 static void updateAllOuts()
mjr 38:091e511ce8a0 1475 {
mjr 38:091e511ce8a0 1476 // uddate each LedWiz output
mjr 38:091e511ce8a0 1477 for (int i = 0 ; i < numLwOutputs ; ++i)
mjr 40:cc0d9814522b 1478 lwPin[i]->set(wizState(i));
mjr 34:6b981a2afab7 1479
mjr 38:091e511ce8a0 1480 // update each extended output
mjr 63:5cd1a5f3a41b 1481 for (int i = numLwOutputs ; i < numOutputs ; ++i)
mjr 40:cc0d9814522b 1482 lwPin[i]->set(outLevel[i]);
mjr 38:091e511ce8a0 1483
mjr 38:091e511ce8a0 1484 // flush 74HC595 changes, if necessary
mjr 38:091e511ce8a0 1485 if (hc595 != 0)
mjr 38:091e511ce8a0 1486 hc595->update();
mjr 38:091e511ce8a0 1487 }
mjr 38:091e511ce8a0 1488
mjr 11:bd9da7088e6e 1489 // ---------------------------------------------------------------------------
mjr 11:bd9da7088e6e 1490 //
mjr 11:bd9da7088e6e 1491 // Button input
mjr 11:bd9da7088e6e 1492 //
mjr 11:bd9da7088e6e 1493
mjr 18:5e890ebd0023 1494 // button state
mjr 18:5e890ebd0023 1495 struct ButtonState
mjr 18:5e890ebd0023 1496 {
mjr 38:091e511ce8a0 1497 ButtonState()
mjr 38:091e511ce8a0 1498 {
mjr 38:091e511ce8a0 1499 di = NULL;
mjr 53:9b2611964afc 1500 physState = logState = prevLogState = 0;
mjr 53:9b2611964afc 1501 virtState = 0;
mjr 53:9b2611964afc 1502 dbState = 0;
mjr 38:091e511ce8a0 1503 pulseState = 0;
mjr 53:9b2611964afc 1504 pulseTime = 0;
mjr 38:091e511ce8a0 1505 }
mjr 35:e959ffba78fd 1506
mjr 53:9b2611964afc 1507 // "Virtually" press or un-press the button. This can be used to
mjr 53:9b2611964afc 1508 // control the button state via a software (virtual) source, such as
mjr 53:9b2611964afc 1509 // the ZB Launch Ball feature.
mjr 53:9b2611964afc 1510 //
mjr 53:9b2611964afc 1511 // To allow sharing of one button by multiple virtual sources, each
mjr 53:9b2611964afc 1512 // virtual source must keep track of its own state internally, and
mjr 53:9b2611964afc 1513 // only call this routine to CHANGE the state. This is because calls
mjr 53:9b2611964afc 1514 // to this routine are additive: turning the button ON twice will
mjr 53:9b2611964afc 1515 // require turning it OFF twice before it actually turns off.
mjr 53:9b2611964afc 1516 void virtPress(bool on)
mjr 53:9b2611964afc 1517 {
mjr 53:9b2611964afc 1518 // Increment or decrement the current state
mjr 53:9b2611964afc 1519 virtState += on ? 1 : -1;
mjr 53:9b2611964afc 1520 }
mjr 53:9b2611964afc 1521
mjr 53:9b2611964afc 1522 // DigitalIn for the button, if connected to a physical input
mjr 48:058ace2aed1d 1523 TinyDigitalIn *di;
mjr 38:091e511ce8a0 1524
mjr 65:739875521aae 1525 // Time of last pulse state transition.
mjr 65:739875521aae 1526 //
mjr 65:739875521aae 1527 // Each state change sticks for a minimum period; when the timer expires,
mjr 65:739875521aae 1528 // if the underlying physical switch is in a different state, we switch
mjr 65:739875521aae 1529 // to the next state and restart the timer. pulseTime is the time remaining
mjr 65:739875521aae 1530 // remaining before we can make another state transition, in microseconds.
mjr 65:739875521aae 1531 // The state transitions require a complete cycle, 1 -> 2 -> 3 -> 4 -> 1...;
mjr 65:739875521aae 1532 // this guarantees that the parity of the pulse count always matches the
mjr 65:739875521aae 1533 // current physical switch state when the latter is stable, which makes
mjr 65:739875521aae 1534 // it impossible to "trick" the host by rapidly toggling the switch state.
mjr 65:739875521aae 1535 // (On my original Pinscape cabinet, I had a hardware pulse generator
mjr 65:739875521aae 1536 // for coin door, and that *was* possible to trick by rapid toggling.
mjr 65:739875521aae 1537 // This software system can't be fooled that way.)
mjr 65:739875521aae 1538 uint32_t pulseTime;
mjr 18:5e890ebd0023 1539
mjr 65:739875521aae 1540 // Config key index. This points to the ButtonCfg structure in the
mjr 65:739875521aae 1541 // configuration that contains the PC key mapping for the button.
mjr 65:739875521aae 1542 uint8_t cfgIndex;
mjr 53:9b2611964afc 1543
mjr 53:9b2611964afc 1544 // Virtual press state. This is used to simulate pressing the button via
mjr 53:9b2611964afc 1545 // software inputs rather than physical inputs. To allow one button to be
mjr 53:9b2611964afc 1546 // controlled by mulitple software sources, each source should keep track
mjr 53:9b2611964afc 1547 // of its own virtual state for the button independently, and then INCREMENT
mjr 53:9b2611964afc 1548 // this variable when the source's state transitions from off to on, and
mjr 53:9b2611964afc 1549 // DECREMENT it when the source's state transitions from on to off. That
mjr 53:9b2611964afc 1550 // will make the button's pressed state the logical OR of all of the virtual
mjr 53:9b2611964afc 1551 // and physical source states.
mjr 53:9b2611964afc 1552 uint8_t virtState;
mjr 38:091e511ce8a0 1553
mjr 38:091e511ce8a0 1554 // Debounce history. On each scan, we shift in a 1 bit to the lsb if
mjr 38:091e511ce8a0 1555 // the physical key is reporting ON, and shift in a 0 bit if the physical
mjr 38:091e511ce8a0 1556 // key is reporting OFF. We consider the key to have a new stable state
mjr 38:091e511ce8a0 1557 // if we have N consecutive 0's or 1's in the low N bits (where N is
mjr 38:091e511ce8a0 1558 // a parameter that determines how long we wait for transients to settle).
mjr 53:9b2611964afc 1559 uint8_t dbState;
mjr 38:091e511ce8a0 1560
mjr 65:739875521aae 1561 // current PHYSICAL on/off state, after debouncing
mjr 65:739875521aae 1562 uint8_t physState : 1;
mjr 65:739875521aae 1563
mjr 65:739875521aae 1564 // current LOGICAL on/off state as reported to the host.
mjr 65:739875521aae 1565 uint8_t logState : 1;
mjr 65:739875521aae 1566
mjr 65:739875521aae 1567 // previous logical on/off state, when keys were last processed for USB
mjr 65:739875521aae 1568 // reports and local effects
mjr 65:739875521aae 1569 uint8_t prevLogState : 1;
mjr 65:739875521aae 1570
mjr 65:739875521aae 1571 // Pulse state
mjr 65:739875521aae 1572 //
mjr 65:739875521aae 1573 // A button in pulse mode (selected via the config flags for the button)
mjr 65:739875521aae 1574 // transmits a brief logical button press and release each time the attached
mjr 65:739875521aae 1575 // physical switch changes state. This is useful for cases where the host
mjr 65:739875521aae 1576 // expects a key press for each change in the state of the physical switch.
mjr 65:739875521aae 1577 // The canonical example is the Coin Door switch in VPinMAME, which requires
mjr 65:739875521aae 1578 // pressing the END key to toggle the open/closed state. This software design
mjr 65:739875521aae 1579 // isn't easily implemented in a physical coin door, though; the simplest
mjr 65:739875521aae 1580 // physical sensor for the coin door state is a switch that's on when the
mjr 65:739875521aae 1581 // door is open and off when the door is closed (or vice versa, but in either
mjr 65:739875521aae 1582 // case, the switch state corresponds to the current state of the door at any
mjr 65:739875521aae 1583 // given time, rather than pulsing on state changes). The "pulse mode"
mjr 65:739875521aae 1584 // option brdiges this gap by generating a toggle key event each time
mjr 65:739875521aae 1585 // there's a change to the physical switch's state.
mjr 38:091e511ce8a0 1586 //
mjr 38:091e511ce8a0 1587 // Pulse state:
mjr 38:091e511ce8a0 1588 // 0 -> not a pulse switch - logical key state equals physical switch state
mjr 38:091e511ce8a0 1589 // 1 -> off
mjr 38:091e511ce8a0 1590 // 2 -> transitioning off-on
mjr 38:091e511ce8a0 1591 // 3 -> on
mjr 38:091e511ce8a0 1592 // 4 -> transitioning on-off
mjr 65:739875521aae 1593 uint8_t pulseState : 3; // 5 states -> we need 3 bits
mjr 65:739875521aae 1594
mjr 65:739875521aae 1595 } __attribute__((packed));
mjr 65:739875521aae 1596
mjr 65:739875521aae 1597 ButtonState *buttonState; // live button slots, allocated on startup
mjr 65:739875521aae 1598 int8_t nButtons; // number of live button slots allocated
mjr 65:739875521aae 1599 int8_t zblButtonIndex = -1; // index of ZB Launch button slot; -1 if unused
mjr 18:5e890ebd0023 1600
mjr 66:2e3583fbd2f4 1601 // Shift button state
mjr 66:2e3583fbd2f4 1602 struct
mjr 66:2e3583fbd2f4 1603 {
mjr 66:2e3583fbd2f4 1604 int8_t index; // buttonState[] index of shift button; -1 if none
mjr 66:2e3583fbd2f4 1605 uint8_t state : 2; // current shift state:
mjr 66:2e3583fbd2f4 1606 // 0 = not shifted
mjr 66:2e3583fbd2f4 1607 // 1 = shift button down, no key pressed yet
mjr 66:2e3583fbd2f4 1608 // 2 = shift button down, key pressed
mjr 66:2e3583fbd2f4 1609 uint8_t pulse : 1; // sending pulsed keystroke on release
mjr 66:2e3583fbd2f4 1610 uint32_t pulseTime; // time of start of pulsed keystroke
mjr 66:2e3583fbd2f4 1611 }
mjr 66:2e3583fbd2f4 1612 __attribute__((packed)) shiftButton;
mjr 38:091e511ce8a0 1613
mjr 38:091e511ce8a0 1614 // Button data
mjr 38:091e511ce8a0 1615 uint32_t jsButtons = 0;
mjr 38:091e511ce8a0 1616
mjr 38:091e511ce8a0 1617 // Keyboard report state. This tracks the USB keyboard state. We can
mjr 38:091e511ce8a0 1618 // report at most 6 simultaneous non-modifier keys here, plus the 8
mjr 38:091e511ce8a0 1619 // modifier keys.
mjr 38:091e511ce8a0 1620 struct
mjr 38:091e511ce8a0 1621 {
mjr 38:091e511ce8a0 1622 bool changed; // flag: changed since last report sent
mjr 48:058ace2aed1d 1623 uint8_t nkeys; // number of active keys in the list
mjr 38:091e511ce8a0 1624 uint8_t data[8]; // key state, in USB report format: byte 0 is the modifier key mask,
mjr 38:091e511ce8a0 1625 // byte 1 is reserved, and bytes 2-7 are the currently pressed key codes
mjr 38:091e511ce8a0 1626 } kbState = { false, 0, { 0, 0, 0, 0, 0, 0, 0, 0 } };
mjr 38:091e511ce8a0 1627
mjr 38:091e511ce8a0 1628 // Media key state
mjr 38:091e511ce8a0 1629 struct
mjr 38:091e511ce8a0 1630 {
mjr 38:091e511ce8a0 1631 bool changed; // flag: changed since last report sent
mjr 38:091e511ce8a0 1632 uint8_t data; // key state byte for USB reports
mjr 38:091e511ce8a0 1633 } mediaState = { false, 0 };
mjr 38:091e511ce8a0 1634
mjr 38:091e511ce8a0 1635 // button scan interrupt ticker
mjr 38:091e511ce8a0 1636 Ticker buttonTicker;
mjr 38:091e511ce8a0 1637
mjr 38:091e511ce8a0 1638 // Button scan interrupt handler. We call this periodically via
mjr 38:091e511ce8a0 1639 // a timer interrupt to scan the physical button states.
mjr 38:091e511ce8a0 1640 void scanButtons()
mjr 38:091e511ce8a0 1641 {
mjr 38:091e511ce8a0 1642 // scan all button input pins
mjr 38:091e511ce8a0 1643 ButtonState *bs = buttonState;
mjr 65:739875521aae 1644 for (int i = 0 ; i < nButtons ; ++i, ++bs)
mjr 38:091e511ce8a0 1645 {
mjr 53:9b2611964afc 1646 // if this logical button is connected to a physical input, check
mjr 53:9b2611964afc 1647 // the GPIO pin state
mjr 38:091e511ce8a0 1648 if (bs->di != NULL)
mjr 38:091e511ce8a0 1649 {
mjr 38:091e511ce8a0 1650 // Shift the new state into the debounce history. Note that
mjr 38:091e511ce8a0 1651 // the physical pin inputs are active low (0V/GND = ON), so invert
mjr 38:091e511ce8a0 1652 // the reading by XOR'ing the low bit with 1. And of course we
mjr 38:091e511ce8a0 1653 // only want the low bit (since the history is effectively a bit
mjr 38:091e511ce8a0 1654 // vector), so mask the whole thing with 0x01 as well.
mjr 53:9b2611964afc 1655 uint8_t db = bs->dbState;
mjr 38:091e511ce8a0 1656 db <<= 1;
mjr 38:091e511ce8a0 1657 db |= (bs->di->read() & 0x01) ^ 0x01;
mjr 53:9b2611964afc 1658 bs->dbState = db;
mjr 38:091e511ce8a0 1659
mjr 38:091e511ce8a0 1660 // if we have all 0's or 1's in the history for the required
mjr 38:091e511ce8a0 1661 // debounce period, the key state is stable - check for a change
mjr 38:091e511ce8a0 1662 // to the last stable state
mjr 38:091e511ce8a0 1663 const uint8_t stable = 0x1F; // 00011111b -> 5 stable readings
mjr 38:091e511ce8a0 1664 db &= stable;
mjr 38:091e511ce8a0 1665 if (db == 0 || db == stable)
mjr 53:9b2611964afc 1666 bs->physState = db & 1;
mjr 38:091e511ce8a0 1667 }
mjr 38:091e511ce8a0 1668 }
mjr 38:091e511ce8a0 1669 }
mjr 38:091e511ce8a0 1670
mjr 38:091e511ce8a0 1671 // Button state transition timer. This is used for pulse buttons, to
mjr 38:091e511ce8a0 1672 // control the timing of the logical key presses generated by transitions
mjr 38:091e511ce8a0 1673 // in the physical button state.
mjr 38:091e511ce8a0 1674 Timer buttonTimer;
mjr 12:669df364a565 1675
mjr 65:739875521aae 1676 // Count a button during the initial setup scan
mjr 65:739875521aae 1677 void countButton(uint8_t typ, bool &kbKeys)
mjr 65:739875521aae 1678 {
mjr 65:739875521aae 1679 // count it
mjr 65:739875521aae 1680 ++nButtons;
mjr 65:739875521aae 1681
mjr 65:739875521aae 1682 // if it's a keyboard key, note that we need a USB keyboard interface
mjr 65:739875521aae 1683 if (typ == BtnTypeKey)
mjr 65:739875521aae 1684 kbKeys = true;
mjr 65:739875521aae 1685 }
mjr 65:739875521aae 1686
mjr 11:bd9da7088e6e 1687 // initialize the button inputs
mjr 35:e959ffba78fd 1688 void initButtons(Config &cfg, bool &kbKeys)
mjr 11:bd9da7088e6e 1689 {
mjr 35:e959ffba78fd 1690 // presume we'll find no keyboard keys
mjr 35:e959ffba78fd 1691 kbKeys = false;
mjr 35:e959ffba78fd 1692
mjr 66:2e3583fbd2f4 1693 // presume no shift key
mjr 66:2e3583fbd2f4 1694 shiftButton.index = -1;
mjr 66:2e3583fbd2f4 1695
mjr 65:739875521aae 1696 // Count up how many button slots we'll need to allocate. Start
mjr 65:739875521aae 1697 // with assigned buttons from the configuration, noting that we
mjr 65:739875521aae 1698 // only need to create slots for buttons that are actually wired.
mjr 65:739875521aae 1699 nButtons = 0;
mjr 65:739875521aae 1700 for (int i = 0 ; i < MAX_BUTTONS ; ++i)
mjr 65:739875521aae 1701 {
mjr 65:739875521aae 1702 // it's valid if it's wired to a real input pin
mjr 65:739875521aae 1703 if (wirePinName(cfg.button[i].pin) != NC)
mjr 65:739875521aae 1704 countButton(cfg.button[i].typ, kbKeys);
mjr 65:739875521aae 1705 }
mjr 65:739875521aae 1706
mjr 65:739875521aae 1707 // Count virtual buttons
mjr 65:739875521aae 1708
mjr 65:739875521aae 1709 // ZB Launch
mjr 65:739875521aae 1710 if (cfg.plunger.zbLaunchBall.port != 0)
mjr 65:739875521aae 1711 {
mjr 65:739875521aae 1712 // valid - remember the live button index
mjr 65:739875521aae 1713 zblButtonIndex = nButtons;
mjr 65:739875521aae 1714
mjr 65:739875521aae 1715 // count it
mjr 65:739875521aae 1716 countButton(cfg.plunger.zbLaunchBall.keytype, kbKeys);
mjr 65:739875521aae 1717 }
mjr 65:739875521aae 1718
mjr 65:739875521aae 1719 // Allocate the live button slots
mjr 65:739875521aae 1720 ButtonState *bs = buttonState = new ButtonState[nButtons];
mjr 65:739875521aae 1721
mjr 65:739875521aae 1722 // Configure the physical inputs
mjr 65:739875521aae 1723 for (int i = 0 ; i < MAX_BUTTONS ; ++i)
mjr 65:739875521aae 1724 {
mjr 65:739875521aae 1725 PinName pin = wirePinName(cfg.button[i].pin);
mjr 65:739875521aae 1726 if (pin != NC)
mjr 65:739875521aae 1727 {
mjr 65:739875521aae 1728 // point back to the config slot for the keyboard data
mjr 65:739875521aae 1729 bs->cfgIndex = i;
mjr 65:739875521aae 1730
mjr 65:739875521aae 1731 // set up the GPIO input pin for this button
mjr 65:739875521aae 1732 bs->di = new TinyDigitalIn(pin);
mjr 65:739875521aae 1733
mjr 65:739875521aae 1734 // if it's a pulse mode button, set the initial pulse state to Off
mjr 65:739875521aae 1735 if (cfg.button[i].flags & BtnFlagPulse)
mjr 65:739875521aae 1736 bs->pulseState = 1;
mjr 65:739875521aae 1737
mjr 66:2e3583fbd2f4 1738 // If this is the shift button, note its buttonState[] index.
mjr 66:2e3583fbd2f4 1739 // We have to figure the buttonState[] index separately from
mjr 66:2e3583fbd2f4 1740 // the config index, because the indices can differ if some
mjr 66:2e3583fbd2f4 1741 // config slots are left unused.
mjr 66:2e3583fbd2f4 1742 if (cfg.shiftButton == i+1)
mjr 66:2e3583fbd2f4 1743 shiftButton.index = bs - buttonState;
mjr 66:2e3583fbd2f4 1744
mjr 65:739875521aae 1745 // advance to the next button
mjr 65:739875521aae 1746 ++bs;
mjr 65:739875521aae 1747 }
mjr 65:739875521aae 1748 }
mjr 65:739875521aae 1749
mjr 53:9b2611964afc 1750 // Configure the virtual buttons. These are buttons controlled via
mjr 53:9b2611964afc 1751 // software triggers rather than physical GPIO inputs. The virtual
mjr 53:9b2611964afc 1752 // buttons have the same control structures as regular buttons, but
mjr 53:9b2611964afc 1753 // they get their configuration data from other config variables.
mjr 53:9b2611964afc 1754
mjr 53:9b2611964afc 1755 // ZB Launch Ball button
mjr 65:739875521aae 1756 if (cfg.plunger.zbLaunchBall.port != 0)
mjr 11:bd9da7088e6e 1757 {
mjr 65:739875521aae 1758 // Point back to the config slot for the keyboard data.
mjr 66:2e3583fbd2f4 1759 // We use a special extra slot for virtual buttons,
mjr 66:2e3583fbd2f4 1760 // so we also need to set up the slot data by copying
mjr 66:2e3583fbd2f4 1761 // the ZBL config data to our virtual button slot.
mjr 65:739875521aae 1762 bs->cfgIndex = ZBL_BUTTON_CFG;
mjr 65:739875521aae 1763 cfg.button[ZBL_BUTTON_CFG].pin = PINNAME_TO_WIRE(NC);
mjr 65:739875521aae 1764 cfg.button[ZBL_BUTTON_CFG].typ = cfg.plunger.zbLaunchBall.keytype;
mjr 65:739875521aae 1765 cfg.button[ZBL_BUTTON_CFG].val = cfg.plunger.zbLaunchBall.keycode;
mjr 65:739875521aae 1766
mjr 66:2e3583fbd2f4 1767 // advance to the next button
mjr 65:739875521aae 1768 ++bs;
mjr 11:bd9da7088e6e 1769 }
mjr 12:669df364a565 1770
mjr 38:091e511ce8a0 1771 // start the button scan thread
mjr 38:091e511ce8a0 1772 buttonTicker.attach_us(scanButtons, 1000);
mjr 38:091e511ce8a0 1773
mjr 38:091e511ce8a0 1774 // start the button state transition timer
mjr 12:669df364a565 1775 buttonTimer.start();
mjr 11:bd9da7088e6e 1776 }
mjr 11:bd9da7088e6e 1777
mjr 38:091e511ce8a0 1778 // Process the button state. This sets up the joystick, keyboard, and
mjr 38:091e511ce8a0 1779 // media control descriptors with the current state of keys mapped to
mjr 38:091e511ce8a0 1780 // those HID interfaces, and executes the local effects for any keys
mjr 38:091e511ce8a0 1781 // mapped to special device functions (e.g., Night Mode).
mjr 53:9b2611964afc 1782 void processButtons(Config &cfg)
mjr 35:e959ffba78fd 1783 {
mjr 35:e959ffba78fd 1784 // start with an empty list of USB key codes
mjr 35:e959ffba78fd 1785 uint8_t modkeys = 0;
mjr 35:e959ffba78fd 1786 uint8_t keys[7] = { 0, 0, 0, 0, 0, 0, 0 };
mjr 35:e959ffba78fd 1787 int nkeys = 0;
mjr 11:bd9da7088e6e 1788
mjr 35:e959ffba78fd 1789 // clear the joystick buttons
mjr 36:b9747461331e 1790 uint32_t newjs = 0;
mjr 35:e959ffba78fd 1791
mjr 35:e959ffba78fd 1792 // start with no media keys pressed
mjr 35:e959ffba78fd 1793 uint8_t mediakeys = 0;
mjr 38:091e511ce8a0 1794
mjr 38:091e511ce8a0 1795 // calculate the time since the last run
mjr 53:9b2611964afc 1796 uint32_t dt = buttonTimer.read_us();
mjr 18:5e890ebd0023 1797 buttonTimer.reset();
mjr 66:2e3583fbd2f4 1798
mjr 66:2e3583fbd2f4 1799 // check the shift button state
mjr 66:2e3583fbd2f4 1800 if (shiftButton.index != -1)
mjr 66:2e3583fbd2f4 1801 {
mjr 66:2e3583fbd2f4 1802 ButtonState *sbs = &buttonState[shiftButton.index];
mjr 66:2e3583fbd2f4 1803 switch (shiftButton.state)
mjr 66:2e3583fbd2f4 1804 {
mjr 66:2e3583fbd2f4 1805 case 0:
mjr 66:2e3583fbd2f4 1806 // Not shifted. Check if the button is now down: if so,
mjr 66:2e3583fbd2f4 1807 // switch to state 1 (shift button down, no key pressed yet).
mjr 66:2e3583fbd2f4 1808 if (sbs->physState)
mjr 66:2e3583fbd2f4 1809 shiftButton.state = 1;
mjr 66:2e3583fbd2f4 1810 break;
mjr 66:2e3583fbd2f4 1811
mjr 66:2e3583fbd2f4 1812 case 1:
mjr 66:2e3583fbd2f4 1813 // Shift button down, no key pressed yet. If the button is
mjr 66:2e3583fbd2f4 1814 // now up, it counts as an ordinary button press instead of
mjr 66:2e3583fbd2f4 1815 // a shift button press, since the shift function was never
mjr 66:2e3583fbd2f4 1816 // used. Return to unshifted state and start a timed key
mjr 66:2e3583fbd2f4 1817 // pulse event.
mjr 66:2e3583fbd2f4 1818 if (!sbs->physState)
mjr 66:2e3583fbd2f4 1819 {
mjr 66:2e3583fbd2f4 1820 shiftButton.state = 0;
mjr 66:2e3583fbd2f4 1821 shiftButton.pulse = 1;
mjr 66:2e3583fbd2f4 1822 shiftButton.pulseTime = 50000+dt; // 50 ms left on the key pulse
mjr 66:2e3583fbd2f4 1823 }
mjr 66:2e3583fbd2f4 1824 break;
mjr 66:2e3583fbd2f4 1825
mjr 66:2e3583fbd2f4 1826 case 2:
mjr 66:2e3583fbd2f4 1827 // Shift button down, other key was pressed. If the button is
mjr 66:2e3583fbd2f4 1828 // now up, simply clear the shift state without sending a key
mjr 66:2e3583fbd2f4 1829 // press for the shift button itself to the PC. The shift
mjr 66:2e3583fbd2f4 1830 // function was used, so its ordinary key press function is
mjr 66:2e3583fbd2f4 1831 // suppressed.
mjr 66:2e3583fbd2f4 1832 if (!sbs->physState)
mjr 66:2e3583fbd2f4 1833 shiftButton.state = 0;
mjr 66:2e3583fbd2f4 1834 break;
mjr 66:2e3583fbd2f4 1835 }
mjr 66:2e3583fbd2f4 1836 }
mjr 38:091e511ce8a0 1837
mjr 11:bd9da7088e6e 1838 // scan the button list
mjr 18:5e890ebd0023 1839 ButtonState *bs = buttonState;
mjr 65:739875521aae 1840 for (int i = 0 ; i < nButtons ; ++i, ++bs)
mjr 11:bd9da7088e6e 1841 {
mjr 66:2e3583fbd2f4 1842 // Check the button type:
mjr 66:2e3583fbd2f4 1843 // - shift button
mjr 66:2e3583fbd2f4 1844 // - pulsed button
mjr 66:2e3583fbd2f4 1845 // - regular button
mjr 66:2e3583fbd2f4 1846 if (shiftButton.index == i)
mjr 66:2e3583fbd2f4 1847 {
mjr 66:2e3583fbd2f4 1848 // This is the shift button. Its logical state for key
mjr 66:2e3583fbd2f4 1849 // reporting purposes is controlled by the shift buttton
mjr 66:2e3583fbd2f4 1850 // pulse timer. If we're in a pulse, its logical state
mjr 66:2e3583fbd2f4 1851 // is pressed.
mjr 66:2e3583fbd2f4 1852 if (shiftButton.pulse)
mjr 66:2e3583fbd2f4 1853 {
mjr 66:2e3583fbd2f4 1854 // deduct the current interval from the pulse time, ending
mjr 66:2e3583fbd2f4 1855 // the pulse if the time has expired
mjr 66:2e3583fbd2f4 1856 if (shiftButton.pulseTime > dt)
mjr 66:2e3583fbd2f4 1857 shiftButton.pulseTime -= dt;
mjr 66:2e3583fbd2f4 1858 else
mjr 66:2e3583fbd2f4 1859 shiftButton.pulse = 0;
mjr 66:2e3583fbd2f4 1860 }
mjr 66:2e3583fbd2f4 1861
mjr 66:2e3583fbd2f4 1862 // the button is logically pressed if we're in a pulse
mjr 66:2e3583fbd2f4 1863 bs->logState = shiftButton.pulse;
mjr 66:2e3583fbd2f4 1864 }
mjr 66:2e3583fbd2f4 1865 else if (bs->pulseState != 0)
mjr 18:5e890ebd0023 1866 {
mjr 38:091e511ce8a0 1867 // if the timer has expired, check for state changes
mjr 53:9b2611964afc 1868 if (bs->pulseTime > dt)
mjr 18:5e890ebd0023 1869 {
mjr 53:9b2611964afc 1870 // not expired yet - deduct the last interval
mjr 53:9b2611964afc 1871 bs->pulseTime -= dt;
mjr 53:9b2611964afc 1872 }
mjr 53:9b2611964afc 1873 else
mjr 53:9b2611964afc 1874 {
mjr 53:9b2611964afc 1875 // pulse time expired - check for a state change
mjr 53:9b2611964afc 1876 const uint32_t pulseLength = 200000UL; // 200 milliseconds
mjr 38:091e511ce8a0 1877 switch (bs->pulseState)
mjr 18:5e890ebd0023 1878 {
mjr 38:091e511ce8a0 1879 case 1:
mjr 38:091e511ce8a0 1880 // off - if the physical switch is now on, start a button pulse
mjr 53:9b2611964afc 1881 if (bs->physState)
mjr 53:9b2611964afc 1882 {
mjr 38:091e511ce8a0 1883 bs->pulseTime = pulseLength;
mjr 38:091e511ce8a0 1884 bs->pulseState = 2;
mjr 53:9b2611964afc 1885 bs->logState = 1;
mjr 38:091e511ce8a0 1886 }
mjr 38:091e511ce8a0 1887 break;
mjr 18:5e890ebd0023 1888
mjr 38:091e511ce8a0 1889 case 2:
mjr 38:091e511ce8a0 1890 // transitioning off to on - end the pulse, and start a gap
mjr 38:091e511ce8a0 1891 // equal to the pulse time so that the host can observe the
mjr 38:091e511ce8a0 1892 // change in state in the logical button
mjr 38:091e511ce8a0 1893 bs->pulseState = 3;
mjr 38:091e511ce8a0 1894 bs->pulseTime = pulseLength;
mjr 53:9b2611964afc 1895 bs->logState = 0;
mjr 38:091e511ce8a0 1896 break;
mjr 38:091e511ce8a0 1897
mjr 38:091e511ce8a0 1898 case 3:
mjr 38:091e511ce8a0 1899 // on - if the physical switch is now off, start a button pulse
mjr 53:9b2611964afc 1900 if (!bs->physState)
mjr 53:9b2611964afc 1901 {
mjr 38:091e511ce8a0 1902 bs->pulseTime = pulseLength;
mjr 38:091e511ce8a0 1903 bs->pulseState = 4;
mjr 53:9b2611964afc 1904 bs->logState = 1;
mjr 38:091e511ce8a0 1905 }
mjr 38:091e511ce8a0 1906 break;
mjr 38:091e511ce8a0 1907
mjr 38:091e511ce8a0 1908 case 4:
mjr 38:091e511ce8a0 1909 // transitioning on to off - end the pulse, and start a gap
mjr 38:091e511ce8a0 1910 bs->pulseState = 1;
mjr 38:091e511ce8a0 1911 bs->pulseTime = pulseLength;
mjr 53:9b2611964afc 1912 bs->logState = 0;
mjr 38:091e511ce8a0 1913 break;
mjr 18:5e890ebd0023 1914 }
mjr 18:5e890ebd0023 1915 }
mjr 38:091e511ce8a0 1916 }
mjr 38:091e511ce8a0 1917 else
mjr 38:091e511ce8a0 1918 {
mjr 38:091e511ce8a0 1919 // not a pulse switch - the logical state is the same as the physical state
mjr 53:9b2611964afc 1920 bs->logState = bs->physState;
mjr 38:091e511ce8a0 1921 }
mjr 35:e959ffba78fd 1922
mjr 38:091e511ce8a0 1923 // carry out any edge effects from buttons changing states
mjr 53:9b2611964afc 1924 if (bs->logState != bs->prevLogState)
mjr 38:091e511ce8a0 1925 {
mjr 38:091e511ce8a0 1926 // check for special key transitions
mjr 53:9b2611964afc 1927 if (cfg.nightMode.btn == i + 1)
mjr 35:e959ffba78fd 1928 {
mjr 53:9b2611964afc 1929 // Check the switch type in the config flags. If flag 0x01 is set,
mjr 53:9b2611964afc 1930 // it's a persistent on/off switch, so the night mode state simply
mjr 53:9b2611964afc 1931 // follows the current state of the switch. Otherwise, it's a
mjr 53:9b2611964afc 1932 // momentary button, so each button push (i.e., each transition from
mjr 53:9b2611964afc 1933 // logical state OFF to ON) toggles the current night mode state.
mjr 53:9b2611964afc 1934 if (cfg.nightMode.flags & 0x01)
mjr 53:9b2611964afc 1935 {
mjr 53:9b2611964afc 1936 // toggle switch - when the button changes state, change
mjr 53:9b2611964afc 1937 // night mode to match the new state
mjr 53:9b2611964afc 1938 setNightMode(bs->logState);
mjr 53:9b2611964afc 1939 }
mjr 53:9b2611964afc 1940 else
mjr 53:9b2611964afc 1941 {
mjr 66:2e3583fbd2f4 1942 // Momentary switch - toggle the night mode state when the
mjr 53:9b2611964afc 1943 // physical button is pushed (i.e., when its logical state
mjr 66:2e3583fbd2f4 1944 // transitions from OFF to ON).
mjr 66:2e3583fbd2f4 1945 //
mjr 66:2e3583fbd2f4 1946 // In momentary mode, night mode flag 0x02 makes it the
mjr 66:2e3583fbd2f4 1947 // shifted version of the button. In this case, only
mjr 66:2e3583fbd2f4 1948 // proceed if the shift button is pressed.
mjr 66:2e3583fbd2f4 1949 bool pressed = bs->logState;
mjr 66:2e3583fbd2f4 1950 if ((cfg.nightMode.flags & 0x02) != 0)
mjr 66:2e3583fbd2f4 1951 {
mjr 66:2e3583fbd2f4 1952 // if the shift button is pressed but hasn't been used
mjr 66:2e3583fbd2f4 1953 // as a shift yet, mark it as used, so that it doesn't
mjr 66:2e3583fbd2f4 1954 // also generate its own key code on release
mjr 66:2e3583fbd2f4 1955 if (shiftButton.state == 1)
mjr 66:2e3583fbd2f4 1956 shiftButton.state = 2;
mjr 66:2e3583fbd2f4 1957
mjr 66:2e3583fbd2f4 1958 // if the shift button isn't even pressed
mjr 66:2e3583fbd2f4 1959 if (shiftButton.state == 0)
mjr 66:2e3583fbd2f4 1960 pressed = false;
mjr 66:2e3583fbd2f4 1961 }
mjr 66:2e3583fbd2f4 1962
mjr 66:2e3583fbd2f4 1963 // if it's pressed (even after considering the shift mode),
mjr 66:2e3583fbd2f4 1964 // toggle night mode
mjr 66:2e3583fbd2f4 1965 if (pressed)
mjr 53:9b2611964afc 1966 toggleNightMode();
mjr 53:9b2611964afc 1967 }
mjr 35:e959ffba78fd 1968 }
mjr 38:091e511ce8a0 1969
mjr 38:091e511ce8a0 1970 // remember the new state for comparison on the next run
mjr 53:9b2611964afc 1971 bs->prevLogState = bs->logState;
mjr 38:091e511ce8a0 1972 }
mjr 38:091e511ce8a0 1973
mjr 53:9b2611964afc 1974 // if it's pressed, physically or virtually, add it to the appropriate
mjr 53:9b2611964afc 1975 // key state list
mjr 53:9b2611964afc 1976 if (bs->logState || bs->virtState)
mjr 38:091e511ce8a0 1977 {
mjr 66:2e3583fbd2f4 1978 // Get the key type and code. If the shift button is down AND
mjr 66:2e3583fbd2f4 1979 // this button has a shifted key meaning, use the shifted key
mjr 66:2e3583fbd2f4 1980 // meaning. Otherwise use the primary key meaning.
mjr 65:739875521aae 1981 ButtonCfg *bc = &cfg.button[bs->cfgIndex];
mjr 66:2e3583fbd2f4 1982 uint8_t typ, val;
mjr 66:2e3583fbd2f4 1983 if (shiftButton.state && bc->typ2 != BtnTypeNone)
mjr 66:2e3583fbd2f4 1984 {
mjr 66:2e3583fbd2f4 1985 // shifted - use the secondary key code
mjr 66:2e3583fbd2f4 1986 typ = bc->typ2, val = bc->val2;
mjr 66:2e3583fbd2f4 1987
mjr 66:2e3583fbd2f4 1988 // If the shift button hasn't been used a a shift yet
mjr 66:2e3583fbd2f4 1989 // (state 1), mark it as used (state 2). This prevents
mjr 66:2e3583fbd2f4 1990 // it from generating its own keystroke when released,
mjr 66:2e3583fbd2f4 1991 // which it does if no other keys are pressed while it's
mjr 66:2e3583fbd2f4 1992 // being held.
mjr 66:2e3583fbd2f4 1993 if (shiftButton.state == 1)
mjr 66:2e3583fbd2f4 1994 shiftButton.state = 2;
mjr 66:2e3583fbd2f4 1995 }
mjr 66:2e3583fbd2f4 1996 else
mjr 66:2e3583fbd2f4 1997 {
mjr 66:2e3583fbd2f4 1998 // not shifted - use the primary key code
mjr 66:2e3583fbd2f4 1999 typ = bc->typ, val = bc->val;
mjr 66:2e3583fbd2f4 2000 }
mjr 66:2e3583fbd2f4 2001
mjr 66:2e3583fbd2f4 2002 switch (typ)
mjr 53:9b2611964afc 2003 {
mjr 53:9b2611964afc 2004 case BtnTypeJoystick:
mjr 53:9b2611964afc 2005 // joystick button
mjr 53:9b2611964afc 2006 newjs |= (1 << (val - 1));
mjr 53:9b2611964afc 2007 break;
mjr 53:9b2611964afc 2008
mjr 53:9b2611964afc 2009 case BtnTypeKey:
mjr 53:9b2611964afc 2010 // Keyboard key. This could be a modifier key (shift, control,
mjr 53:9b2611964afc 2011 // alt, GUI), a media key (mute, volume up, volume down), or a
mjr 53:9b2611964afc 2012 // regular key. Check which one.
mjr 53:9b2611964afc 2013 if (val >= 0x7F && val <= 0x81)
mjr 53:9b2611964afc 2014 {
mjr 53:9b2611964afc 2015 // It's a media key. OR the key into the media key mask.
mjr 53:9b2611964afc 2016 // The media mask bits are mapped in the HID report descriptor
mjr 53:9b2611964afc 2017 // in USBJoystick.cpp. For simplicity, we arrange the mask so
mjr 53:9b2611964afc 2018 // that the ones with regular keyboard equivalents that we catch
mjr 53:9b2611964afc 2019 // here are in the same order as the key scan codes:
mjr 53:9b2611964afc 2020 //
mjr 53:9b2611964afc 2021 // Mute = scan 0x7F = mask bit 0x01
mjr 53:9b2611964afc 2022 // Vol Up = scan 0x80 = mask bit 0x02
mjr 53:9b2611964afc 2023 // Vol Down = scan 0x81 = mask bit 0x04
mjr 53:9b2611964afc 2024 //
mjr 53:9b2611964afc 2025 // So we can translate from scan code to bit mask with some
mjr 53:9b2611964afc 2026 // simple bit shifting:
mjr 53:9b2611964afc 2027 mediakeys |= (1 << (val - 0x7f));
mjr 53:9b2611964afc 2028 }
mjr 53:9b2611964afc 2029 else if (val >= 0xE0 && val <= 0xE7)
mjr 53:9b2611964afc 2030 {
mjr 53:9b2611964afc 2031 // It's a modifier key. Like the media keys, these are represented
mjr 53:9b2611964afc 2032 // in the USB reports with a bit mask, and like the media keys, we
mjr 53:9b2611964afc 2033 // arrange the mask bits in the same order as the scan codes. This
mjr 53:9b2611964afc 2034 // makes figuring the mask a simple bit shift:
mjr 53:9b2611964afc 2035 modkeys |= (1 << (val - 0xE0));
mjr 53:9b2611964afc 2036 }
mjr 53:9b2611964afc 2037 else
mjr 53:9b2611964afc 2038 {
mjr 53:9b2611964afc 2039 // It's a regular key. Make sure it's not already in the list, and
mjr 53:9b2611964afc 2040 // that the list isn't full. If neither of these apply, add the key.
mjr 53:9b2611964afc 2041 if (nkeys < 7)
mjr 53:9b2611964afc 2042 {
mjr 57:cc03231f676b 2043 bool found = false;
mjr 53:9b2611964afc 2044 for (int j = 0 ; j < nkeys ; ++j)
mjr 53:9b2611964afc 2045 {
mjr 53:9b2611964afc 2046 if (keys[j] == val)
mjr 53:9b2611964afc 2047 {
mjr 53:9b2611964afc 2048 found = true;
mjr 53:9b2611964afc 2049 break;
mjr 53:9b2611964afc 2050 }
mjr 53:9b2611964afc 2051 }
mjr 53:9b2611964afc 2052 if (!found)
mjr 53:9b2611964afc 2053 keys[nkeys++] = val;
mjr 53:9b2611964afc 2054 }
mjr 53:9b2611964afc 2055 }
mjr 53:9b2611964afc 2056 break;
mjr 53:9b2611964afc 2057 }
mjr 18:5e890ebd0023 2058 }
mjr 11:bd9da7088e6e 2059 }
mjr 36:b9747461331e 2060
mjr 36:b9747461331e 2061 // check for joystick button changes
mjr 36:b9747461331e 2062 if (jsButtons != newjs)
mjr 36:b9747461331e 2063 jsButtons = newjs;
mjr 11:bd9da7088e6e 2064
mjr 35:e959ffba78fd 2065 // Check for changes to the keyboard keys
mjr 35:e959ffba78fd 2066 if (kbState.data[0] != modkeys
mjr 35:e959ffba78fd 2067 || kbState.nkeys != nkeys
mjr 35:e959ffba78fd 2068 || memcmp(keys, &kbState.data[2], 6) != 0)
mjr 35:e959ffba78fd 2069 {
mjr 35:e959ffba78fd 2070 // we have changes - set the change flag and store the new key data
mjr 35:e959ffba78fd 2071 kbState.changed = true;
mjr 35:e959ffba78fd 2072 kbState.data[0] = modkeys;
mjr 35:e959ffba78fd 2073 if (nkeys <= 6) {
mjr 35:e959ffba78fd 2074 // 6 or fewer simultaneous keys - report the key codes
mjr 35:e959ffba78fd 2075 kbState.nkeys = nkeys;
mjr 35:e959ffba78fd 2076 memcpy(&kbState.data[2], keys, 6);
mjr 35:e959ffba78fd 2077 }
mjr 35:e959ffba78fd 2078 else {
mjr 35:e959ffba78fd 2079 // more than 6 simultaneous keys - report rollover (all '1' key codes)
mjr 35:e959ffba78fd 2080 kbState.nkeys = 6;
mjr 35:e959ffba78fd 2081 memset(&kbState.data[2], 1, 6);
mjr 35:e959ffba78fd 2082 }
mjr 35:e959ffba78fd 2083 }
mjr 35:e959ffba78fd 2084
mjr 35:e959ffba78fd 2085 // Check for changes to media keys
mjr 35:e959ffba78fd 2086 if (mediaState.data != mediakeys)
mjr 35:e959ffba78fd 2087 {
mjr 35:e959ffba78fd 2088 mediaState.changed = true;
mjr 35:e959ffba78fd 2089 mediaState.data = mediakeys;
mjr 35:e959ffba78fd 2090 }
mjr 11:bd9da7088e6e 2091 }
mjr 11:bd9da7088e6e 2092
mjr 5:a70c0bce770d 2093 // ---------------------------------------------------------------------------
mjr 5:a70c0bce770d 2094 //
mjr 5:a70c0bce770d 2095 // Customization joystick subbclass
mjr 5:a70c0bce770d 2096 //
mjr 5:a70c0bce770d 2097
mjr 5:a70c0bce770d 2098 class MyUSBJoystick: public USBJoystick
mjr 5:a70c0bce770d 2099 {
mjr 5:a70c0bce770d 2100 public:
mjr 35:e959ffba78fd 2101 MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release,
mjr 35:e959ffba78fd 2102 bool waitForConnect, bool enableJoystick, bool useKB)
mjr 35:e959ffba78fd 2103 : USBJoystick(vendor_id, product_id, product_release, waitForConnect, enableJoystick, useKB)
mjr 5:a70c0bce770d 2104 {
mjr 54:fd77a6b2f76c 2105 sleeping_ = false;
mjr 54:fd77a6b2f76c 2106 reconnectPending_ = false;
mjr 54:fd77a6b2f76c 2107 timer_.start();
mjr 54:fd77a6b2f76c 2108 }
mjr 54:fd77a6b2f76c 2109
mjr 54:fd77a6b2f76c 2110 // show diagnostic LED feedback for connect state
mjr 54:fd77a6b2f76c 2111 void diagFlash()
mjr 54:fd77a6b2f76c 2112 {
mjr 54:fd77a6b2f76c 2113 if (!configured() || sleeping_)
mjr 54:fd77a6b2f76c 2114 {
mjr 54:fd77a6b2f76c 2115 // flash once if sleeping or twice if disconnected
mjr 54:fd77a6b2f76c 2116 for (int j = isConnected() ? 1 : 2 ; j > 0 ; --j)
mjr 54:fd77a6b2f76c 2117 {
mjr 54:fd77a6b2f76c 2118 // short red flash
mjr 54:fd77a6b2f76c 2119 diagLED(1, 0, 0);
mjr 54:fd77a6b2f76c 2120 wait_us(50000);
mjr 54:fd77a6b2f76c 2121 diagLED(0, 0, 0);
mjr 54:fd77a6b2f76c 2122 wait_us(50000);
mjr 54:fd77a6b2f76c 2123 }
mjr 54:fd77a6b2f76c 2124 }
mjr 5:a70c0bce770d 2125 }
mjr 5:a70c0bce770d 2126
mjr 5:a70c0bce770d 2127 // are we connected?
mjr 5:a70c0bce770d 2128 int isConnected() { return configured(); }
mjr 5:a70c0bce770d 2129
mjr 54:fd77a6b2f76c 2130 // Are we in sleep mode? If true, this means that the hardware has
mjr 54:fd77a6b2f76c 2131 // detected no activity on the bus for 3ms. This happens when the
mjr 54:fd77a6b2f76c 2132 // cable is physically disconnected, the computer is turned off, or
mjr 54:fd77a6b2f76c 2133 // the connection is otherwise disabled.
mjr 54:fd77a6b2f76c 2134 bool isSleeping() const { return sleeping_; }
mjr 54:fd77a6b2f76c 2135
mjr 54:fd77a6b2f76c 2136 // If necessary, attempt to recover from a broken connection.
mjr 54:fd77a6b2f76c 2137 //
mjr 54:fd77a6b2f76c 2138 // This is a hack, to work around an apparent timing bug in the
mjr 54:fd77a6b2f76c 2139 // KL25Z USB implementation that I haven't been able to solve any
mjr 54:fd77a6b2f76c 2140 // other way.
mjr 54:fd77a6b2f76c 2141 //
mjr 54:fd77a6b2f76c 2142 // The issue: when we have an established connection, and the
mjr 54:fd77a6b2f76c 2143 // connection is broken by physically unplugging the cable or by
mjr 54:fd77a6b2f76c 2144 // rebooting the PC, the KL25Z sometimes fails to reconnect when
mjr 54:fd77a6b2f76c 2145 // the physical connection is re-established. The failure is
mjr 54:fd77a6b2f76c 2146 // sporadic; I'd guess it happens about 25% of the time, but I
mjr 54:fd77a6b2f76c 2147 // haven't collected any real statistics on it.
mjr 54:fd77a6b2f76c 2148 //
mjr 54:fd77a6b2f76c 2149 // The proximate cause of the failure is a deadlock in the SETUP
mjr 54:fd77a6b2f76c 2150 // protocol between the host and device that happens around the
mjr 54:fd77a6b2f76c 2151 // point where the PC is requesting the configuration descriptor.
mjr 54:fd77a6b2f76c 2152 // The exact point in the protocol where this occurs varies slightly;
mjr 54:fd77a6b2f76c 2153 // it can occur a message or two before or after the Get Config
mjr 54:fd77a6b2f76c 2154 // Descriptor packet. No matter where it happens, the nature of
mjr 54:fd77a6b2f76c 2155 // the deadlock is the same: the PC thinks it sees a STALL on EP0
mjr 54:fd77a6b2f76c 2156 // from the device, so it terminates the connection attempt, which
mjr 54:fd77a6b2f76c 2157 // stops further traffic on the cable. The KL25Z USB hardware sees
mjr 54:fd77a6b2f76c 2158 // the lack of traffic and triggers a SLEEP interrupt (a misnomer
mjr 54:fd77a6b2f76c 2159 // for what should have been called a BROKEN CONNECTION interrupt).
mjr 54:fd77a6b2f76c 2160 // Both sides simply stop talking at this point, so the connection
mjr 54:fd77a6b2f76c 2161 // is effectively dead.
mjr 54:fd77a6b2f76c 2162 //
mjr 54:fd77a6b2f76c 2163 // The strange thing is that, as far as I can tell, the KL25Z isn't
mjr 54:fd77a6b2f76c 2164 // doing anything to trigger the STALL on its end. Both the PC
mjr 54:fd77a6b2f76c 2165 // and the KL25Z are happy up until the very point of the failure
mjr 54:fd77a6b2f76c 2166 // and show no signs of anything wrong in the protocol exchange.
mjr 54:fd77a6b2f76c 2167 // In fact, every detail of the protocol exchange up to this point
mjr 54:fd77a6b2f76c 2168 // is identical to every successful exchange that does finish the
mjr 54:fd77a6b2f76c 2169 // whole setup process successfully, on both the KL25Z and Windows
mjr 54:fd77a6b2f76c 2170 // sides of the connection. I can't find any point of difference
mjr 54:fd77a6b2f76c 2171 // between successful and unsuccessful sequences that suggests why
mjr 54:fd77a6b2f76c 2172 // the fateful message fails. This makes me suspect that whatever
mjr 54:fd77a6b2f76c 2173 // is going wrong is inside the KL25Z USB hardware module, which
mjr 54:fd77a6b2f76c 2174 // is a pretty substantial black box - it has a lot of internal
mjr 54:fd77a6b2f76c 2175 // state that's inaccessible to the software. Further bolstering
mjr 54:fd77a6b2f76c 2176 // this theory is a little experiment where I found that I could
mjr 54:fd77a6b2f76c 2177 // reproduce the exact sequence of events of a failed reconnect
mjr 54:fd77a6b2f76c 2178 // attempt in an *initial* connection, which is otherwise 100%
mjr 54:fd77a6b2f76c 2179 // reliable, by inserting a little bit of artifical time padding
mjr 54:fd77a6b2f76c 2180 // (200us per event) into the SETUP interrupt handler. My
mjr 54:fd77a6b2f76c 2181 // hypothesis is that the STALL event happens because the KL25Z
mjr 54:fd77a6b2f76c 2182 // USB hardware is too slow to respond to a message. I'm not
mjr 54:fd77a6b2f76c 2183 // sure why this would only happen after a disconnect and not
mjr 54:fd77a6b2f76c 2184 // during the initial connection; maybe there's some reset work
mjr 54:fd77a6b2f76c 2185 // in the hardware that takes a substantial amount of time after
mjr 54:fd77a6b2f76c 2186 // a disconnect.
mjr 54:fd77a6b2f76c 2187 //
mjr 54:fd77a6b2f76c 2188 // The solution: the problem happens during the SETUP exchange,
mjr 54:fd77a6b2f76c 2189 // after we've been assigned a bus address. It only happens on
mjr 54:fd77a6b2f76c 2190 // some percentage of connection requests, so if we can simply
mjr 54:fd77a6b2f76c 2191 // start over when the failure occurs, we'll eventually succeed
mjr 54:fd77a6b2f76c 2192 // simply because not every attempt fails. The ideal would be
mjr 54:fd77a6b2f76c 2193 // to get the success rate up to 100%, but I can't figure out how
mjr 54:fd77a6b2f76c 2194 // to fix the underlying problem, so this is the next best thing.
mjr 54:fd77a6b2f76c 2195 //
mjr 54:fd77a6b2f76c 2196 // We can detect when the failure occurs by noticing when a SLEEP
mjr 54:fd77a6b2f76c 2197 // interrupt happens while we have an assigned bus address.
mjr 54:fd77a6b2f76c 2198 //
mjr 54:fd77a6b2f76c 2199 // To start a new connection attempt, we have to make the *host*
mjr 54:fd77a6b2f76c 2200 // try again. The logical connection is initiated solely by the
mjr 54:fd77a6b2f76c 2201 // host. Fortunately, it's easy to get the host to initiate the
mjr 54:fd77a6b2f76c 2202 // process: if we disconnect on the device side, it effectively
mjr 54:fd77a6b2f76c 2203 // makes the device look to the PC like it's electrically unplugged.
mjr 54:fd77a6b2f76c 2204 // When we reconnect on the device side, the PC thinks a new device
mjr 54:fd77a6b2f76c 2205 // has been plugged in and initiates the logical connection setup.
mjr 54:fd77a6b2f76c 2206 // We have to remain disconnected for a macroscopic interval for
mjr 54:fd77a6b2f76c 2207 // this to happen - 5ms seems to do the trick.
mjr 54:fd77a6b2f76c 2208 //
mjr 54:fd77a6b2f76c 2209 // Here's the full algorithm:
mjr 54:fd77a6b2f76c 2210 //
mjr 54:fd77a6b2f76c 2211 // 1. In the SLEEP interrupt handler, if we have a bus address,
mjr 54:fd77a6b2f76c 2212 // we disconnect the device. This happens in ISR context, so we
mjr 54:fd77a6b2f76c 2213 // can't wait around for 5ms. Instead, we simply set a flag noting
mjr 54:fd77a6b2f76c 2214 // that the connection has been broken, and we note the time and
mjr 54:fd77a6b2f76c 2215 // return.
mjr 54:fd77a6b2f76c 2216 //
mjr 54:fd77a6b2f76c 2217 // 2. In our main loop, whenever we find that we're disconnected,
mjr 54:fd77a6b2f76c 2218 // we call recoverConnection(). The main loop's job is basically a
mjr 54:fd77a6b2f76c 2219 // bunch of device polling. We're just one more device to poll, so
mjr 54:fd77a6b2f76c 2220 // recoverConnection() will be called soon after a disconnect, and
mjr 54:fd77a6b2f76c 2221 // then will be called in a loop for as long as we're disconnected.
mjr 54:fd77a6b2f76c 2222 //
mjr 54:fd77a6b2f76c 2223 // 3. In recoverConnection(), we check the flag we set in the SLEEP
mjr 54:fd77a6b2f76c 2224 // handler. If set, we wait until 5ms has elapsed from the SLEEP
mjr 54:fd77a6b2f76c 2225 // event time that we noted, then we'll reconnect and clear the flag.
mjr 54:fd77a6b2f76c 2226 // This gives us the required 5ms (or longer) delay between the
mjr 54:fd77a6b2f76c 2227 // disconnect and reconnect, ensuring that the PC will notice and
mjr 54:fd77a6b2f76c 2228 // will start over with the connection protocol.
mjr 54:fd77a6b2f76c 2229 //
mjr 54:fd77a6b2f76c 2230 // 4. The main loop keeps calling recoverConnection() in a loop for
mjr 54:fd77a6b2f76c 2231 // as long as we're disconnected, so if the new connection attempt
mjr 54:fd77a6b2f76c 2232 // triggered in step 3 fails, the SLEEP interrupt will happen again,
mjr 54:fd77a6b2f76c 2233 // we'll disconnect again, the flag will get set again, and
mjr 54:fd77a6b2f76c 2234 // recoverConnection() will reconnect again after another suitable
mjr 54:fd77a6b2f76c 2235 // delay. This will repeat until the connection succeeds or hell
mjr 54:fd77a6b2f76c 2236 // freezes over.
mjr 54:fd77a6b2f76c 2237 //
mjr 54:fd77a6b2f76c 2238 // Each disconnect happens immediately when a reconnect attempt
mjr 54:fd77a6b2f76c 2239 // fails, and an entire successful connection only takes about 25ms,
mjr 54:fd77a6b2f76c 2240 // so our loop can retry at more than 30 attempts per second.
mjr 54:fd77a6b2f76c 2241 // In my testing, lost connections almost always reconnect in
mjr 54:fd77a6b2f76c 2242 // less than second with this code in place.
mjr 54:fd77a6b2f76c 2243 void recoverConnection()
mjr 54:fd77a6b2f76c 2244 {
mjr 54:fd77a6b2f76c 2245 // if a reconnect is pending, reconnect
mjr 54:fd77a6b2f76c 2246 if (reconnectPending_)
mjr 54:fd77a6b2f76c 2247 {
mjr 54:fd77a6b2f76c 2248 // Loop until we reach 5ms after the last sleep event.
mjr 54:fd77a6b2f76c 2249 for (bool done = false ; !done ; )
mjr 54:fd77a6b2f76c 2250 {
mjr 54:fd77a6b2f76c 2251 // If we've reached the target time, reconnect. Do the
mjr 54:fd77a6b2f76c 2252 // time check and flag reset atomically, so that we can't
mjr 54:fd77a6b2f76c 2253 // have another sleep event sneak in after we've verified
mjr 54:fd77a6b2f76c 2254 // the time. If another event occurs, it has to happen
mjr 54:fd77a6b2f76c 2255 // before we check, in which case it'll update the time
mjr 54:fd77a6b2f76c 2256 // before we check it, or after we clear the flag, in
mjr 54:fd77a6b2f76c 2257 // which case it will reset the flag and we'll do another
mjr 54:fd77a6b2f76c 2258 // round the next time we call this routine.
mjr 54:fd77a6b2f76c 2259 __disable_irq();
mjr 54:fd77a6b2f76c 2260 if (uint32_t(timer_.read_us() - lastSleepTime_) > 5000)
mjr 54:fd77a6b2f76c 2261 {
mjr 54:fd77a6b2f76c 2262 connect(false);
mjr 54:fd77a6b2f76c 2263 reconnectPending_ = false;
mjr 54:fd77a6b2f76c 2264 done = true;
mjr 54:fd77a6b2f76c 2265 }
mjr 54:fd77a6b2f76c 2266 __enable_irq();
mjr 54:fd77a6b2f76c 2267 }
mjr 54:fd77a6b2f76c 2268 }
mjr 54:fd77a6b2f76c 2269 }
mjr 5:a70c0bce770d 2270
mjr 5:a70c0bce770d 2271 protected:
mjr 54:fd77a6b2f76c 2272 // Handle a USB SLEEP interrupt. This interrupt signifies that the
mjr 54:fd77a6b2f76c 2273 // USB hardware module hasn't seen any token traffic for 3ms, which
mjr 54:fd77a6b2f76c 2274 // means that we're either physically or logically disconnected.
mjr 54:fd77a6b2f76c 2275 //
mjr 54:fd77a6b2f76c 2276 // Important: this runs in ISR context.
mjr 54:fd77a6b2f76c 2277 //
mjr 54:fd77a6b2f76c 2278 // Note that this is a specialized sense of "sleep" that's unrelated
mjr 54:fd77a6b2f76c 2279 // to the similarly named power modes on the PC. This has nothing
mjr 54:fd77a6b2f76c 2280 // to do with suspend/sleep mode on the PC, and it's not a low-power
mjr 54:fd77a6b2f76c 2281 // mode on the KL25Z. They really should have called this interrupt
mjr 54:fd77a6b2f76c 2282 // DISCONNECT or BROKEN CONNECTION.)
mjr 54:fd77a6b2f76c 2283 virtual void sleepStateChanged(unsigned int sleeping)
mjr 54:fd77a6b2f76c 2284 {
mjr 54:fd77a6b2f76c 2285 // note the new state
mjr 54:fd77a6b2f76c 2286 sleeping_ = sleeping;
mjr 54:fd77a6b2f76c 2287
mjr 54:fd77a6b2f76c 2288 // If we have a non-zero bus address, we have at least a partial
mjr 54:fd77a6b2f76c 2289 // connection to the host (we've made it at least as far as the
mjr 54:fd77a6b2f76c 2290 // SETUP stage). Explicitly disconnect, and the pending reconnect
mjr 54:fd77a6b2f76c 2291 // flag, and remember the time of the sleep event.
mjr 54:fd77a6b2f76c 2292 if (USB0->ADDR != 0x00)
mjr 54:fd77a6b2f76c 2293 {
mjr 54:fd77a6b2f76c 2294 disconnect();
mjr 54:fd77a6b2f76c 2295 lastSleepTime_ = timer_.read_us();
mjr 54:fd77a6b2f76c 2296 reconnectPending_ = true;
mjr 54:fd77a6b2f76c 2297 }
mjr 54:fd77a6b2f76c 2298 }
mjr 54:fd77a6b2f76c 2299
mjr 54:fd77a6b2f76c 2300 // is the USB connection asleep?
mjr 54:fd77a6b2f76c 2301 volatile bool sleeping_;
mjr 54:fd77a6b2f76c 2302
mjr 54:fd77a6b2f76c 2303 // flag: reconnect pending after sleep event
mjr 54:fd77a6b2f76c 2304 volatile bool reconnectPending_;
mjr 54:fd77a6b2f76c 2305
mjr 54:fd77a6b2f76c 2306 // time of last sleep event while connected
mjr 54:fd77a6b2f76c 2307 volatile uint32_t lastSleepTime_;
mjr 54:fd77a6b2f76c 2308
mjr 54:fd77a6b2f76c 2309 // timer to keep track of interval since last sleep event
mjr 54:fd77a6b2f76c 2310 Timer timer_;
mjr 5:a70c0bce770d 2311 };
mjr 5:a70c0bce770d 2312
mjr 5:a70c0bce770d 2313 // ---------------------------------------------------------------------------
mjr 5:a70c0bce770d 2314 //
mjr 5:a70c0bce770d 2315 // Accelerometer (MMA8451Q)
mjr 5:a70c0bce770d 2316 //
mjr 5:a70c0bce770d 2317
mjr 5:a70c0bce770d 2318 // The MMA8451Q is the KL25Z's on-board 3-axis accelerometer.
mjr 5:a70c0bce770d 2319 //
mjr 5:a70c0bce770d 2320 // This is a custom wrapper for the library code to interface to the
mjr 6:cc35eb643e8f 2321 // MMA8451Q. This class encapsulates an interrupt handler and
mjr 6:cc35eb643e8f 2322 // automatic calibration.
mjr 5:a70c0bce770d 2323 //
mjr 5:a70c0bce770d 2324 // We install an interrupt handler on the accelerometer "data ready"
mjr 6:cc35eb643e8f 2325 // interrupt to ensure that we fetch each sample immediately when it
mjr 6:cc35eb643e8f 2326 // becomes available. The accelerometer data rate is fiarly high
mjr 6:cc35eb643e8f 2327 // (800 Hz), so it's not practical to keep up with it by polling.
mjr 6:cc35eb643e8f 2328 // Using an interrupt handler lets us respond quickly and read
mjr 6:cc35eb643e8f 2329 // every sample.
mjr 5:a70c0bce770d 2330 //
mjr 6:cc35eb643e8f 2331 // We automatically calibrate the accelerometer so that it's not
mjr 6:cc35eb643e8f 2332 // necessary to get it exactly level when installing it, and so
mjr 6:cc35eb643e8f 2333 // that it's also not necessary to calibrate it manually. There's
mjr 6:cc35eb643e8f 2334 // lots of experience that tells us that manual calibration is a
mjr 6:cc35eb643e8f 2335 // terrible solution, mostly because cabinets tend to shift slightly
mjr 6:cc35eb643e8f 2336 // during use, requiring frequent recalibration. Instead, we
mjr 6:cc35eb643e8f 2337 // calibrate automatically. We continuously monitor the acceleration
mjr 6:cc35eb643e8f 2338 // data, watching for periods of constant (or nearly constant) values.
mjr 6:cc35eb643e8f 2339 // Any time it appears that the machine has been at rest for a while
mjr 6:cc35eb643e8f 2340 // (about 5 seconds), we'll average the readings during that rest
mjr 6:cc35eb643e8f 2341 // period and use the result as the level rest position. This is
mjr 6:cc35eb643e8f 2342 // is ongoing, so we'll quickly find the center point again if the
mjr 6:cc35eb643e8f 2343 // machine is moved during play (by an especially aggressive bout
mjr 6:cc35eb643e8f 2344 // of nudging, say).
mjr 5:a70c0bce770d 2345 //
mjr 5:a70c0bce770d 2346
mjr 17:ab3cec0c8bf4 2347 // I2C address of the accelerometer (this is a constant of the KL25Z)
mjr 17:ab3cec0c8bf4 2348 const int MMA8451_I2C_ADDRESS = (0x1d<<1);
mjr 17:ab3cec0c8bf4 2349
mjr 17:ab3cec0c8bf4 2350 // SCL and SDA pins for the accelerometer (constant for the KL25Z)
mjr 17:ab3cec0c8bf4 2351 #define MMA8451_SCL_PIN PTE25
mjr 17:ab3cec0c8bf4 2352 #define MMA8451_SDA_PIN PTE24
mjr 17:ab3cec0c8bf4 2353
mjr 17:ab3cec0c8bf4 2354 // Digital in pin to use for the accelerometer interrupt. For the KL25Z,
mjr 17:ab3cec0c8bf4 2355 // this can be either PTA14 or PTA15, since those are the pins physically
mjr 17:ab3cec0c8bf4 2356 // wired on this board to the MMA8451 interrupt controller.
mjr 17:ab3cec0c8bf4 2357 #define MMA8451_INT_PIN PTA15
mjr 17:ab3cec0c8bf4 2358
mjr 17:ab3cec0c8bf4 2359
mjr 6:cc35eb643e8f 2360 // accelerometer input history item, for gathering calibration data
mjr 6:cc35eb643e8f 2361 struct AccHist
mjr 5:a70c0bce770d 2362 {
mjr 6:cc35eb643e8f 2363 AccHist() { x = y = d = 0.0; xtot = ytot = 0.0; cnt = 0; }
mjr 6:cc35eb643e8f 2364 void set(float x, float y, AccHist *prv)
mjr 6:cc35eb643e8f 2365 {
mjr 6:cc35eb643e8f 2366 // save the raw position
mjr 6:cc35eb643e8f 2367 this->x = x;
mjr 6:cc35eb643e8f 2368 this->y = y;
mjr 6:cc35eb643e8f 2369 this->d = distance(prv);
mjr 6:cc35eb643e8f 2370 }
mjr 6:cc35eb643e8f 2371
mjr 6:cc35eb643e8f 2372 // reading for this entry
mjr 5:a70c0bce770d 2373 float x, y;
mjr 5:a70c0bce770d 2374
mjr 6:cc35eb643e8f 2375 // distance from previous entry
mjr 6:cc35eb643e8f 2376 float d;
mjr 5:a70c0bce770d 2377
mjr 6:cc35eb643e8f 2378 // total and count of samples averaged over this period
mjr 6:cc35eb643e8f 2379 float xtot, ytot;
mjr 6:cc35eb643e8f 2380 int cnt;
mjr 6:cc35eb643e8f 2381
mjr 6:cc35eb643e8f 2382 void clearAvg() { xtot = ytot = 0.0; cnt = 0; }
mjr 6:cc35eb643e8f 2383 void addAvg(float x, float y) { xtot += x; ytot += y; ++cnt; }
mjr 6:cc35eb643e8f 2384 float xAvg() const { return xtot/cnt; }
mjr 6:cc35eb643e8f 2385 float yAvg() const { return ytot/cnt; }
mjr 5:a70c0bce770d 2386
mjr 6:cc35eb643e8f 2387 float distance(AccHist *p)
mjr 6:cc35eb643e8f 2388 { return sqrt(square(p->x - x) + square(p->y - y)); }
mjr 5:a70c0bce770d 2389 };
mjr 5:a70c0bce770d 2390
mjr 5:a70c0bce770d 2391 // accelerometer wrapper class
mjr 3:3514575d4f86 2392 class Accel
mjr 3:3514575d4f86 2393 {
mjr 3:3514575d4f86 2394 public:
mjr 3:3514575d4f86 2395 Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin)
mjr 3:3514575d4f86 2396 : mma_(sda, scl, i2cAddr), intIn_(irqPin)
mjr 3:3514575d4f86 2397 {
mjr 5:a70c0bce770d 2398 // remember the interrupt pin assignment
mjr 5:a70c0bce770d 2399 irqPin_ = irqPin;
mjr 5:a70c0bce770d 2400
mjr 5:a70c0bce770d 2401 // reset and initialize
mjr 5:a70c0bce770d 2402 reset();
mjr 5:a70c0bce770d 2403 }
mjr 5:a70c0bce770d 2404
mjr 5:a70c0bce770d 2405 void reset()
mjr 5:a70c0bce770d 2406 {
mjr 6:cc35eb643e8f 2407 // clear the center point
mjr 6:cc35eb643e8f 2408 cx_ = cy_ = 0.0;
mjr 6:cc35eb643e8f 2409
mjr 6:cc35eb643e8f 2410 // start the calibration timer
mjr 5:a70c0bce770d 2411 tCenter_.start();
mjr 5:a70c0bce770d 2412 iAccPrv_ = nAccPrv_ = 0;
mjr 6:cc35eb643e8f 2413
mjr 5:a70c0bce770d 2414 // reset and initialize the MMA8451Q
mjr 5:a70c0bce770d 2415 mma_.init();
mjr 6:cc35eb643e8f 2416
mjr 6:cc35eb643e8f 2417 // set the initial integrated velocity reading to zero
mjr 6:cc35eb643e8f 2418 vx_ = vy_ = 0;
mjr 3:3514575d4f86 2419
mjr 6:cc35eb643e8f 2420 // set up our accelerometer interrupt handling
mjr 6:cc35eb643e8f 2421 intIn_.rise(this, &Accel::isr);
mjr 5:a70c0bce770d 2422 mma_.setInterruptMode(irqPin_ == PTA14 ? 1 : 2);
mjr 3:3514575d4f86 2423
mjr 3:3514575d4f86 2424 // read the current registers to clear the data ready flag
mjr 6:cc35eb643e8f 2425 mma_.getAccXYZ(ax_, ay_, az_);
mjr 3:3514575d4f86 2426
mjr 3:3514575d4f86 2427 // start our timers
mjr 3:3514575d4f86 2428 tGet_.start();
mjr 3:3514575d4f86 2429 tInt_.start();
mjr 3:3514575d4f86 2430 }
mjr 3:3514575d4f86 2431
mjr 9:fd65b0a94720 2432 void get(int &x, int &y)
mjr 3:3514575d4f86 2433 {
mjr 3:3514575d4f86 2434 // disable interrupts while manipulating the shared data
mjr 3:3514575d4f86 2435 __disable_irq();
mjr 3:3514575d4f86 2436
mjr 3:3514575d4f86 2437 // read the shared data and store locally for calculations
mjr 6:cc35eb643e8f 2438 float ax = ax_, ay = ay_;
mjr 6:cc35eb643e8f 2439 float vx = vx_, vy = vy_;
mjr 5:a70c0bce770d 2440
mjr 6:cc35eb643e8f 2441 // reset the velocity sum for the next run
mjr 6:cc35eb643e8f 2442 vx_ = vy_ = 0;
mjr 3:3514575d4f86 2443
mjr 3:3514575d4f86 2444 // get the time since the last get() sample
mjr 38:091e511ce8a0 2445 float dt = tGet_.read_us()/1.0e6f;
mjr 3:3514575d4f86 2446 tGet_.reset();
mjr 3:3514575d4f86 2447
mjr 3:3514575d4f86 2448 // done manipulating the shared data
mjr 3:3514575d4f86 2449 __enable_irq();
mjr 3:3514575d4f86 2450
mjr 6:cc35eb643e8f 2451 // adjust the readings for the integration time
mjr 6:cc35eb643e8f 2452 vx /= dt;
mjr 6:cc35eb643e8f 2453 vy /= dt;
mjr 6:cc35eb643e8f 2454
mjr 6:cc35eb643e8f 2455 // add this sample to the current calibration interval's running total
mjr 6:cc35eb643e8f 2456 AccHist *p = accPrv_ + iAccPrv_;
mjr 6:cc35eb643e8f 2457 p->addAvg(ax, ay);
mjr 6:cc35eb643e8f 2458
mjr 5:a70c0bce770d 2459 // check for auto-centering every so often
mjr 48:058ace2aed1d 2460 if (tCenter_.read_us() > 1000000)
mjr 5:a70c0bce770d 2461 {
mjr 5:a70c0bce770d 2462 // add the latest raw sample to the history list
mjr 6:cc35eb643e8f 2463 AccHist *prv = p;
mjr 5:a70c0bce770d 2464 iAccPrv_ = (iAccPrv_ + 1) % maxAccPrv;
mjr 6:cc35eb643e8f 2465 p = accPrv_ + iAccPrv_;
mjr 6:cc35eb643e8f 2466 p->set(ax, ay, prv);
mjr 5:a70c0bce770d 2467
mjr 5:a70c0bce770d 2468 // if we have a full complement, check for stability
mjr 5:a70c0bce770d 2469 if (nAccPrv_ >= maxAccPrv)
mjr 5:a70c0bce770d 2470 {
mjr 5:a70c0bce770d 2471 // check if we've been stable for all recent samples
mjr 6:cc35eb643e8f 2472 static const float accTol = .01;
mjr 6:cc35eb643e8f 2473 AccHist *p0 = accPrv_;
mjr 6:cc35eb643e8f 2474 if (p0[0].d < accTol
mjr 6:cc35eb643e8f 2475 && p0[1].d < accTol
mjr 6:cc35eb643e8f 2476 && p0[2].d < accTol
mjr 6:cc35eb643e8f 2477 && p0[3].d < accTol
mjr 6:cc35eb643e8f 2478 && p0[4].d < accTol)
mjr 5:a70c0bce770d 2479 {
mjr 6:cc35eb643e8f 2480 // Figure the new calibration point as the average of
mjr 6:cc35eb643e8f 2481 // the samples over the rest period
mjr 6:cc35eb643e8f 2482 cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5.0;
mjr 6:cc35eb643e8f 2483 cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5.0;
mjr 5:a70c0bce770d 2484 }
mjr 5:a70c0bce770d 2485 }
mjr 5:a70c0bce770d 2486 else
mjr 5:a70c0bce770d 2487 {
mjr 5:a70c0bce770d 2488 // not enough samples yet; just up the count
mjr 5:a70c0bce770d 2489 ++nAccPrv_;
mjr 5:a70c0bce770d 2490 }
mjr 6:cc35eb643e8f 2491
mjr 6:cc35eb643e8f 2492 // clear the new item's running totals
mjr 6:cc35eb643e8f 2493 p->clearAvg();
mjr 5:a70c0bce770d 2494
mjr 5:a70c0bce770d 2495 // reset the timer
mjr 5:a70c0bce770d 2496 tCenter_.reset();
mjr 39:b3815a1c3802 2497
mjr 39:b3815a1c3802 2498 // If we haven't seen an interrupt in a while, do an explicit read to
mjr 39:b3815a1c3802 2499 // "unstick" the device. The device can become stuck - which is to say,
mjr 39:b3815a1c3802 2500 // it will stop delivering data-ready interrupts - if we fail to service
mjr 39:b3815a1c3802 2501 // one data-ready interrupt before the next one occurs. Reading a sample
mjr 39:b3815a1c3802 2502 // will clear up this overrun condition and allow normal interrupt
mjr 39:b3815a1c3802 2503 // generation to continue.
mjr 39:b3815a1c3802 2504 //
mjr 39:b3815a1c3802 2505 // Note that this stuck condition *shouldn't* ever occur - if it does,
mjr 39:b3815a1c3802 2506 // it means that we're spending a long period with interrupts disabled
mjr 39:b3815a1c3802 2507 // (either in a critical section or in another interrupt handler), which
mjr 39:b3815a1c3802 2508 // will likely cause other worse problems beyond the sticky accelerometer.
mjr 39:b3815a1c3802 2509 // Even so, it's easy to detect and correct, so we'll do so for the sake
mjr 39:b3815a1c3802 2510 // of making the system more fault-tolerant.
mjr 39:b3815a1c3802 2511 if (tInt_.read() > 1.0f)
mjr 39:b3815a1c3802 2512 {
mjr 39:b3815a1c3802 2513 float x, y, z;
mjr 39:b3815a1c3802 2514 mma_.getAccXYZ(x, y, z);
mjr 39:b3815a1c3802 2515 }
mjr 5:a70c0bce770d 2516 }
mjr 5:a70c0bce770d 2517
mjr 6:cc35eb643e8f 2518 // report our integrated velocity reading in x,y
mjr 6:cc35eb643e8f 2519 x = rawToReport(vx);
mjr 6:cc35eb643e8f 2520 y = rawToReport(vy);
mjr 5:a70c0bce770d 2521
mjr 6:cc35eb643e8f 2522 #ifdef DEBUG_PRINTF
mjr 6:cc35eb643e8f 2523 if (x != 0 || y != 0)
mjr 6:cc35eb643e8f 2524 printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt);
mjr 6:cc35eb643e8f 2525 #endif
mjr 3:3514575d4f86 2526 }
mjr 29:582472d0bc57 2527
mjr 3:3514575d4f86 2528 private:
mjr 6:cc35eb643e8f 2529 // adjust a raw acceleration figure to a usb report value
mjr 6:cc35eb643e8f 2530 int rawToReport(float v)
mjr 5:a70c0bce770d 2531 {
mjr 6:cc35eb643e8f 2532 // scale to the joystick report range and round to integer
mjr 6:cc35eb643e8f 2533 int i = int(round(v*JOYMAX));
mjr 5:a70c0bce770d 2534
mjr 6:cc35eb643e8f 2535 // if it's near the center, scale it roughly as 20*(i/20)^2,
mjr 6:cc35eb643e8f 2536 // to suppress noise near the rest position
mjr 6:cc35eb643e8f 2537 static const int filter[] = {
mjr 6:cc35eb643e8f 2538 -18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0,
mjr 6:cc35eb643e8f 2539 0,
mjr 6:cc35eb643e8f 2540 0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18
mjr 6:cc35eb643e8f 2541 };
mjr 6:cc35eb643e8f 2542 return (i > 20 || i < -20 ? i : filter[i+20]);
mjr 5:a70c0bce770d 2543 }
mjr 5:a70c0bce770d 2544
mjr 3:3514575d4f86 2545 // interrupt handler
mjr 3:3514575d4f86 2546 void isr()
mjr 3:3514575d4f86 2547 {
mjr 3:3514575d4f86 2548 // Read the axes. Note that we have to read all three axes
mjr 3:3514575d4f86 2549 // (even though we only really use x and y) in order to clear
mjr 3:3514575d4f86 2550 // the "data ready" status bit in the accelerometer. The
mjr 3:3514575d4f86 2551 // interrupt only occurs when the "ready" bit transitions from
mjr 3:3514575d4f86 2552 // off to on, so we have to make sure it's off.
mjr 5:a70c0bce770d 2553 float x, y, z;
mjr 5:a70c0bce770d 2554 mma_.getAccXYZ(x, y, z);
mjr 3:3514575d4f86 2555
mjr 3:3514575d4f86 2556 // calculate the time since the last interrupt
mjr 39:b3815a1c3802 2557 float dt = tInt_.read();
mjr 3:3514575d4f86 2558 tInt_.reset();
mjr 6:cc35eb643e8f 2559
mjr 6:cc35eb643e8f 2560 // integrate the time slice from the previous reading to this reading
mjr 6:cc35eb643e8f 2561 vx_ += (x + ax_ - 2*cx_)*dt/2;
mjr 6:cc35eb643e8f 2562 vy_ += (y + ay_ - 2*cy_)*dt/2;
mjr 3:3514575d4f86 2563
mjr 6:cc35eb643e8f 2564 // store the updates
mjr 6:cc35eb643e8f 2565 ax_ = x;
mjr 6:cc35eb643e8f 2566 ay_ = y;
mjr 6:cc35eb643e8f 2567 az_ = z;
mjr 3:3514575d4f86 2568 }
mjr 3:3514575d4f86 2569
mjr 3:3514575d4f86 2570 // underlying accelerometer object
mjr 3:3514575d4f86 2571 MMA8451Q mma_;
mjr 3:3514575d4f86 2572
mjr 5:a70c0bce770d 2573 // last raw acceleration readings
mjr 6:cc35eb643e8f 2574 float ax_, ay_, az_;
mjr 5:a70c0bce770d 2575
mjr 6:cc35eb643e8f 2576 // integrated velocity reading since last get()
mjr 6:cc35eb643e8f 2577 float vx_, vy_;
mjr 6:cc35eb643e8f 2578
mjr 3:3514575d4f86 2579 // timer for measuring time between get() samples
mjr 3:3514575d4f86 2580 Timer tGet_;
mjr 3:3514575d4f86 2581
mjr 3:3514575d4f86 2582 // timer for measuring time between interrupts
mjr 3:3514575d4f86 2583 Timer tInt_;
mjr 5:a70c0bce770d 2584
mjr 6:cc35eb643e8f 2585 // Calibration reference point for accelerometer. This is the
mjr 6:cc35eb643e8f 2586 // average reading on the accelerometer when in the neutral position
mjr 6:cc35eb643e8f 2587 // at rest.
mjr 6:cc35eb643e8f 2588 float cx_, cy_;
mjr 5:a70c0bce770d 2589
mjr 5:a70c0bce770d 2590 // timer for atuo-centering
mjr 5:a70c0bce770d 2591 Timer tCenter_;
mjr 6:cc35eb643e8f 2592
mjr 6:cc35eb643e8f 2593 // Auto-centering history. This is a separate history list that
mjr 6:cc35eb643e8f 2594 // records results spaced out sparesely over time, so that we can
mjr 6:cc35eb643e8f 2595 // watch for long-lasting periods of rest. When we observe nearly
mjr 6:cc35eb643e8f 2596 // no motion for an extended period (on the order of 5 seconds), we
mjr 6:cc35eb643e8f 2597 // take this to mean that the cabinet is at rest in its neutral
mjr 6:cc35eb643e8f 2598 // position, so we take this as the calibration zero point for the
mjr 6:cc35eb643e8f 2599 // accelerometer. We update this history continuously, which allows
mjr 6:cc35eb643e8f 2600 // us to continuously re-calibrate the accelerometer. This ensures
mjr 6:cc35eb643e8f 2601 // that we'll automatically adjust to any actual changes in the
mjr 6:cc35eb643e8f 2602 // cabinet's orientation (e.g., if it gets moved slightly by an
mjr 6:cc35eb643e8f 2603 // especially strong nudge) as well as any systematic drift in the
mjr 6:cc35eb643e8f 2604 // accelerometer measurement bias (e.g., from temperature changes).
mjr 5:a70c0bce770d 2605 int iAccPrv_, nAccPrv_;
mjr 5:a70c0bce770d 2606 static const int maxAccPrv = 5;
mjr 6:cc35eb643e8f 2607 AccHist accPrv_[maxAccPrv];
mjr 6:cc35eb643e8f 2608
mjr 5:a70c0bce770d 2609 // interurupt pin name
mjr 5:a70c0bce770d 2610 PinName irqPin_;
mjr 5:a70c0bce770d 2611
mjr 5:a70c0bce770d 2612 // interrupt router
mjr 5:a70c0bce770d 2613 InterruptIn intIn_;
mjr 3:3514575d4f86 2614 };
mjr 3:3514575d4f86 2615
mjr 5:a70c0bce770d 2616
mjr 5:a70c0bce770d 2617 // ---------------------------------------------------------------------------
mjr 5:a70c0bce770d 2618 //
mjr 14:df700b22ca08 2619 // Clear the I2C bus for the MMA8451Q. This seems necessary some of the time
mjr 5:a70c0bce770d 2620 // for reasons that aren't clear to me. Doing a hard power cycle has the same
mjr 5:a70c0bce770d 2621 // effect, but when we do a soft reset, the hardware sometimes seems to leave
mjr 5:a70c0bce770d 2622 // the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through
mjr 14:df700b22ca08 2623 // the SCL line is supposed to clear this condition. I'm not convinced this
mjr 14:df700b22ca08 2624 // actually works with the way this component is wired on the KL25Z, but it
mjr 14:df700b22ca08 2625 // seems harmless, so we'll do it on reset in case it does some good. What
mjr 14:df700b22ca08 2626 // we really seem to need is a way to power cycle the MMA8451Q if it ever
mjr 14:df700b22ca08 2627 // gets stuck, but this is simply not possible in software on the KL25Z.
mjr 14:df700b22ca08 2628 //
mjr 14:df700b22ca08 2629 // If the accelerometer does get stuck, and a software reboot doesn't reset
mjr 14:df700b22ca08 2630 // it, the only workaround is to manually power cycle the whole KL25Z by
mjr 14:df700b22ca08 2631 // unplugging both of its USB connections.
mjr 5:a70c0bce770d 2632 //
mjr 5:a70c0bce770d 2633 void clear_i2c()
mjr 5:a70c0bce770d 2634 {
mjr 38:091e511ce8a0 2635 // set up general-purpose output pins to the I2C lines
mjr 5:a70c0bce770d 2636 DigitalOut scl(MMA8451_SCL_PIN);
mjr 5:a70c0bce770d 2637 DigitalIn sda(MMA8451_SDA_PIN);
mjr 5:a70c0bce770d 2638
mjr 5:a70c0bce770d 2639 // clock the SCL 9 times
mjr 5:a70c0bce770d 2640 for (int i = 0 ; i < 9 ; ++i)
mjr 5:a70c0bce770d 2641 {
mjr 5:a70c0bce770d 2642 scl = 1;
mjr 5:a70c0bce770d 2643 wait_us(20);
mjr 5:a70c0bce770d 2644 scl = 0;
mjr 5:a70c0bce770d 2645 wait_us(20);
mjr 5:a70c0bce770d 2646 }
mjr 5:a70c0bce770d 2647 }
mjr 14:df700b22ca08 2648
mjr 14:df700b22ca08 2649 // ---------------------------------------------------------------------------
mjr 14:df700b22ca08 2650 //
mjr 33:d832bcab089e 2651 // Simple binary (on/off) input debouncer. Requires an input to be stable
mjr 33:d832bcab089e 2652 // for a given interval before allowing an update.
mjr 33:d832bcab089e 2653 //
mjr 33:d832bcab089e 2654 class Debouncer
mjr 33:d832bcab089e 2655 {
mjr 33:d832bcab089e 2656 public:
mjr 33:d832bcab089e 2657 Debouncer(bool initVal, float tmin)
mjr 33:d832bcab089e 2658 {
mjr 33:d832bcab089e 2659 t.start();
mjr 33:d832bcab089e 2660 this->stable = this->prv = initVal;
mjr 33:d832bcab089e 2661 this->tmin = tmin;
mjr 33:d832bcab089e 2662 }
mjr 33:d832bcab089e 2663
mjr 33:d832bcab089e 2664 // Get the current stable value
mjr 33:d832bcab089e 2665 bool val() const { return stable; }
mjr 33:d832bcab089e 2666
mjr 33:d832bcab089e 2667 // Apply a new sample. This tells us the new raw reading from the
mjr 33:d832bcab089e 2668 // input device.
mjr 33:d832bcab089e 2669 void sampleIn(bool val)
mjr 33:d832bcab089e 2670 {
mjr 33:d832bcab089e 2671 // If the new raw reading is different from the previous
mjr 33:d832bcab089e 2672 // raw reading, we've detected an edge - start the clock
mjr 33:d832bcab089e 2673 // on the sample reader.
mjr 33:d832bcab089e 2674 if (val != prv)
mjr 33:d832bcab089e 2675 {
mjr 33:d832bcab089e 2676 // we have an edge - reset the sample clock
mjr 33:d832bcab089e 2677 t.reset();
mjr 33:d832bcab089e 2678
mjr 33:d832bcab089e 2679 // this is now the previous raw sample for nxt time
mjr 33:d832bcab089e 2680 prv = val;
mjr 33:d832bcab089e 2681 }
mjr 33:d832bcab089e 2682 else if (val != stable)
mjr 33:d832bcab089e 2683 {
mjr 33:d832bcab089e 2684 // The new raw sample is the same as the last raw sample,
mjr 33:d832bcab089e 2685 // and different from the stable value. This means that
mjr 33:d832bcab089e 2686 // the sample value has been the same for the time currently
mjr 33:d832bcab089e 2687 // indicated by our timer. If enough time has elapsed to
mjr 33:d832bcab089e 2688 // consider the value stable, apply the new value.
mjr 33:d832bcab089e 2689 if (t.read() > tmin)
mjr 33:d832bcab089e 2690 stable = val;
mjr 33:d832bcab089e 2691 }
mjr 33:d832bcab089e 2692 }
mjr 33:d832bcab089e 2693
mjr 33:d832bcab089e 2694 private:
mjr 33:d832bcab089e 2695 // current stable value
mjr 33:d832bcab089e 2696 bool stable;
mjr 33:d832bcab089e 2697
mjr 33:d832bcab089e 2698 // last raw sample value
mjr 33:d832bcab089e 2699 bool prv;
mjr 33:d832bcab089e 2700
mjr 33:d832bcab089e 2701 // elapsed time since last raw input change
mjr 33:d832bcab089e 2702 Timer t;
mjr 33:d832bcab089e 2703
mjr 33:d832bcab089e 2704 // Minimum time interval for stability, in seconds. Input readings
mjr 33:d832bcab089e 2705 // must be stable for this long before the stable value is updated.
mjr 33:d832bcab089e 2706 float tmin;
mjr 33:d832bcab089e 2707 };
mjr 33:d832bcab089e 2708
mjr 33:d832bcab089e 2709
mjr 33:d832bcab089e 2710 // ---------------------------------------------------------------------------
mjr 33:d832bcab089e 2711 //
mjr 33:d832bcab089e 2712 // Turn off all outputs and restore everything to the default LedWiz
mjr 33:d832bcab089e 2713 // state. This sets outputs #1-32 to LedWiz profile value 48 (full
mjr 33:d832bcab089e 2714 // brightness) and switch state Off, sets all extended outputs (#33
mjr 33:d832bcab089e 2715 // and above) to zero brightness, and sets the LedWiz flash rate to 2.
mjr 33:d832bcab089e 2716 // This effectively restores the power-on conditions.
mjr 33:d832bcab089e 2717 //
mjr 33:d832bcab089e 2718 void allOutputsOff()
mjr 33:d832bcab089e 2719 {
mjr 33:d832bcab089e 2720 // reset all LedWiz outputs to OFF/48
mjr 35:e959ffba78fd 2721 for (int i = 0 ; i < numLwOutputs ; ++i)
mjr 33:d832bcab089e 2722 {
mjr 33:d832bcab089e 2723 outLevel[i] = 0;
mjr 33:d832bcab089e 2724 wizOn[i] = 0;
mjr 33:d832bcab089e 2725 wizVal[i] = 48;
mjr 33:d832bcab089e 2726 lwPin[i]->set(0);
mjr 33:d832bcab089e 2727 }
mjr 33:d832bcab089e 2728
mjr 33:d832bcab089e 2729 // reset all extended outputs (ports >32) to full off (brightness 0)
mjr 40:cc0d9814522b 2730 for (int i = numLwOutputs ; i < numOutputs ; ++i)
mjr 33:d832bcab089e 2731 {
mjr 33:d832bcab089e 2732 outLevel[i] = 0;
mjr 33:d832bcab089e 2733 lwPin[i]->set(0);
mjr 33:d832bcab089e 2734 }
mjr 33:d832bcab089e 2735
mjr 33:d832bcab089e 2736 // restore default LedWiz flash rate
mjr 33:d832bcab089e 2737 wizSpeed = 2;
mjr 34:6b981a2afab7 2738
mjr 34:6b981a2afab7 2739 // flush changes to hc595, if applicable
mjr 35:e959ffba78fd 2740 if (hc595 != 0)
mjr 35:e959ffba78fd 2741 hc595->update();
mjr 33:d832bcab089e 2742 }
mjr 33:d832bcab089e 2743
mjr 33:d832bcab089e 2744 // ---------------------------------------------------------------------------
mjr 33:d832bcab089e 2745 //
mjr 33:d832bcab089e 2746 // TV ON timer. If this feature is enabled, we toggle a TV power switch
mjr 33:d832bcab089e 2747 // relay (connected to a GPIO pin) to turn on the cab's TV monitors shortly
mjr 33:d832bcab089e 2748 // after the system is powered. This is useful for TVs that don't remember
mjr 33:d832bcab089e 2749 // their power state and don't turn back on automatically after being
mjr 33:d832bcab089e 2750 // unplugged and plugged in again. This feature requires external
mjr 33:d832bcab089e 2751 // circuitry, which is built in to the expansion board and can also be
mjr 33:d832bcab089e 2752 // built separately - see the Build Guide for the circuit plan.
mjr 33:d832bcab089e 2753 //
mjr 33:d832bcab089e 2754 // Theory of operation: to use this feature, the cabinet must have a
mjr 33:d832bcab089e 2755 // secondary PC-style power supply (PSU2) for the feedback devices, and
mjr 33:d832bcab089e 2756 // this secondary supply must be plugged in to the same power strip or
mjr 33:d832bcab089e 2757 // switched outlet that controls power to the TVs. This lets us use PSU2
mjr 33:d832bcab089e 2758 // as a proxy for the TV power state - when PSU2 is on, the TV outlet is
mjr 33:d832bcab089e 2759 // powered, and when PSU2 is off, the TV outlet is off. We use a little
mjr 33:d832bcab089e 2760 // latch circuit powered by PSU2 to monitor the status. The latch has a
mjr 33:d832bcab089e 2761 // current state, ON or OFF, that we can read via a GPIO input pin, and
mjr 33:d832bcab089e 2762 // we can set the state to ON by pulsing a separate GPIO output pin. As
mjr 33:d832bcab089e 2763 // long as PSU2 is powered off, the latch stays in the OFF state, even if
mjr 33:d832bcab089e 2764 // we try to set it by pulsing the SET pin. When PSU2 is turned on after
mjr 33:d832bcab089e 2765 // being off, the latch starts receiving power but stays in the OFF state,
mjr 33:d832bcab089e 2766 // since this is the initial condition when the power first comes on. So
mjr 33:d832bcab089e 2767 // if our latch state pin is reading OFF, we know that PSU2 is either off
mjr 33:d832bcab089e 2768 // now or *was* off some time since we last checked. We use a timer to
mjr 33:d832bcab089e 2769 // check the state periodically. Each time we see the state is OFF, we
mjr 33:d832bcab089e 2770 // try pulsing the SET pin. If the state still reads as OFF, we know
mjr 33:d832bcab089e 2771 // that PSU2 is currently off; if the state changes to ON, though, we
mjr 33:d832bcab089e 2772 // know that PSU2 has gone from OFF to ON some time between now and the
mjr 33:d832bcab089e 2773 // previous check. When we see this condition, we start a countdown
mjr 33:d832bcab089e 2774 // timer, and pulse the TV switch relay when the countdown ends.
mjr 33:d832bcab089e 2775 //
mjr 40:cc0d9814522b 2776 // This scheme might seem a little convoluted, but it handles a number
mjr 40:cc0d9814522b 2777 // of tricky but likely scenarios:
mjr 33:d832bcab089e 2778 //
mjr 33:d832bcab089e 2779 // - Most cabinets systems are set up with "soft" PC power switches,
mjr 40:cc0d9814522b 2780 // so that the PC goes into "Soft Off" mode when the user turns off
mjr 40:cc0d9814522b 2781 // the cabinet by pushing the power button or using the Shut Down
mjr 40:cc0d9814522b 2782 // command from within Windows. In Windows parlance, this "soft off"
mjr 40:cc0d9814522b 2783 // condition is called ACPI State S5. In this state, the main CPU
mjr 40:cc0d9814522b 2784 // power is turned off, but the motherboard still provides power to
mjr 40:cc0d9814522b 2785 // USB devices. This means that the KL25Z keeps running. Without
mjr 40:cc0d9814522b 2786 // the external power sensing circuit, the only hint that we're in
mjr 40:cc0d9814522b 2787 // this state is that the USB connection to the host goes into Suspend
mjr 40:cc0d9814522b 2788 // mode, but that could mean other things as well. The latch circuit
mjr 40:cc0d9814522b 2789 // lets us tell for sure that we're in this state.
mjr 33:d832bcab089e 2790 //
mjr 33:d832bcab089e 2791 // - Some cabinet builders might prefer to use "hard" power switches,
mjr 33:d832bcab089e 2792 // cutting all power to the cabinet, including the PC motherboard (and
mjr 33:d832bcab089e 2793 // thus the KL25Z) every time the machine is turned off. This also
mjr 33:d832bcab089e 2794 // applies to the "soft" switch case above when the cabinet is unplugged,
mjr 33:d832bcab089e 2795 // a power outage occurs, etc. In these cases, the KL25Z will do a cold
mjr 33:d832bcab089e 2796 // boot when the PC is turned on. We don't know whether the KL25Z
mjr 33:d832bcab089e 2797 // will power up before or after PSU2, so it's not good enough to
mjr 40:cc0d9814522b 2798 // observe the current state of PSU2 when we first check. If PSU2
mjr 40:cc0d9814522b 2799 // were to come on first, checking only the current state would fool
mjr 40:cc0d9814522b 2800 // us into thinking that no action is required, because we'd only see
mjr 40:cc0d9814522b 2801 // that PSU2 is turned on any time we check. The latch handles this
mjr 40:cc0d9814522b 2802 // case by letting us see that PSU2 was indeed off some time before our
mjr 40:cc0d9814522b 2803 // first check.
mjr 33:d832bcab089e 2804 //
mjr 33:d832bcab089e 2805 // - If the KL25Z is rebooted while the main system is running, or the
mjr 40:cc0d9814522b 2806 // KL25Z is unplugged and plugged back in, we'll correctly leave the
mjr 33:d832bcab089e 2807 // TVs as they are. The latch state is independent of the KL25Z's
mjr 33:d832bcab089e 2808 // power or software state, so it's won't affect the latch state when
mjr 33:d832bcab089e 2809 // the KL25Z is unplugged or rebooted; when we boot, we'll see that
mjr 33:d832bcab089e 2810 // the latch is already on and that we don't have to turn on the TVs.
mjr 33:d832bcab089e 2811 // This is important because TV ON buttons are usually on/off toggles,
mjr 33:d832bcab089e 2812 // so we don't want to push the button on a TV that's already on.
mjr 33:d832bcab089e 2813 //
mjr 33:d832bcab089e 2814
mjr 33:d832bcab089e 2815 // Current PSU2 state:
mjr 33:d832bcab089e 2816 // 1 -> default: latch was on at last check, or we haven't checked yet
mjr 33:d832bcab089e 2817 // 2 -> latch was off at last check, SET pulsed high
mjr 33:d832bcab089e 2818 // 3 -> SET pulsed low, ready to check status
mjr 33:d832bcab089e 2819 // 4 -> TV timer countdown in progress
mjr 33:d832bcab089e 2820 // 5 -> TV relay on
mjr 33:d832bcab089e 2821 int psu2_state = 1;
mjr 35:e959ffba78fd 2822
mjr 35:e959ffba78fd 2823 // PSU2 power sensing circuit connections
mjr 35:e959ffba78fd 2824 DigitalIn *psu2_status_sense;
mjr 35:e959ffba78fd 2825 DigitalOut *psu2_status_set;
mjr 35:e959ffba78fd 2826
mjr 35:e959ffba78fd 2827 // TV ON switch relay control
mjr 35:e959ffba78fd 2828 DigitalOut *tv_relay;
mjr 35:e959ffba78fd 2829
mjr 35:e959ffba78fd 2830 // Timer interrupt
mjr 35:e959ffba78fd 2831 Ticker tv_ticker;
mjr 35:e959ffba78fd 2832 float tv_delay_time;
mjr 33:d832bcab089e 2833 void TVTimerInt()
mjr 33:d832bcab089e 2834 {
mjr 35:e959ffba78fd 2835 // time since last state change
mjr 35:e959ffba78fd 2836 static Timer tv_timer;
mjr 35:e959ffba78fd 2837
mjr 33:d832bcab089e 2838 // Check our internal state
mjr 33:d832bcab089e 2839 switch (psu2_state)
mjr 33:d832bcab089e 2840 {
mjr 33:d832bcab089e 2841 case 1:
mjr 33:d832bcab089e 2842 // Default state. This means that the latch was on last
mjr 33:d832bcab089e 2843 // time we checked or that this is the first check. In
mjr 33:d832bcab089e 2844 // either case, if the latch is off, switch to state 2 and
mjr 33:d832bcab089e 2845 // try pulsing the latch. Next time we check, if the latch
mjr 33:d832bcab089e 2846 // stuck, it means that PSU2 is now on after being off.
mjr 35:e959ffba78fd 2847 if (!psu2_status_sense->read())
mjr 33:d832bcab089e 2848 {
mjr 33:d832bcab089e 2849 // switch to OFF state
mjr 33:d832bcab089e 2850 psu2_state = 2;
mjr 33:d832bcab089e 2851
mjr 33:d832bcab089e 2852 // try setting the latch
mjr 35:e959ffba78fd 2853 psu2_status_set->write(1);
mjr 33:d832bcab089e 2854 }
mjr 33:d832bcab089e 2855 break;
mjr 33:d832bcab089e 2856
mjr 33:d832bcab089e 2857 case 2:
mjr 33:d832bcab089e 2858 // PSU2 was off last time we checked, and we tried setting
mjr 33:d832bcab089e 2859 // the latch. Drop the SET signal and go to CHECK state.
mjr 35:e959ffba78fd 2860 psu2_status_set->write(0);
mjr 33:d832bcab089e 2861 psu2_state = 3;
mjr 33:d832bcab089e 2862 break;
mjr 33:d832bcab089e 2863
mjr 33:d832bcab089e 2864 case 3:
mjr 33:d832bcab089e 2865 // CHECK state: we pulsed SET, and we're now ready to see
mjr 40:cc0d9814522b 2866 // if it stuck. If the latch is now on, PSU2 has transitioned
mjr 33:d832bcab089e 2867 // from OFF to ON, so start the TV countdown. If the latch is
mjr 33:d832bcab089e 2868 // off, our SET command didn't stick, so PSU2 is still off.
mjr 35:e959ffba78fd 2869 if (psu2_status_sense->read())
mjr 33:d832bcab089e 2870 {
mjr 33:d832bcab089e 2871 // The latch stuck, so PSU2 has transitioned from OFF
mjr 33:d832bcab089e 2872 // to ON. Start the TV countdown timer.
mjr 33:d832bcab089e 2873 tv_timer.reset();
mjr 33:d832bcab089e 2874 tv_timer.start();
mjr 33:d832bcab089e 2875 psu2_state = 4;
mjr 33:d832bcab089e 2876 }
mjr 33:d832bcab089e 2877 else
mjr 33:d832bcab089e 2878 {
mjr 33:d832bcab089e 2879 // The latch didn't stick, so PSU2 was still off at
mjr 33:d832bcab089e 2880 // our last check. Try pulsing it again in case PSU2
mjr 33:d832bcab089e 2881 // was turned on since the last check.
mjr 35:e959ffba78fd 2882 psu2_status_set->write(1);
mjr 33:d832bcab089e 2883 psu2_state = 2;
mjr 33:d832bcab089e 2884 }
mjr 33:d832bcab089e 2885 break;
mjr 33:d832bcab089e 2886
mjr 33:d832bcab089e 2887 case 4:
mjr 33:d832bcab089e 2888 // TV timer countdown in progress. If we've reached the
mjr 33:d832bcab089e 2889 // delay time, pulse the relay.
mjr 35:e959ffba78fd 2890 if (tv_timer.read() >= tv_delay_time)
mjr 33:d832bcab089e 2891 {
mjr 33:d832bcab089e 2892 // turn on the relay for one timer interval
mjr 35:e959ffba78fd 2893 tv_relay->write(1);
mjr 33:d832bcab089e 2894 psu2_state = 5;
mjr 33:d832bcab089e 2895 }
mjr 33:d832bcab089e 2896 break;
mjr 33:d832bcab089e 2897
mjr 33:d832bcab089e 2898 case 5:
mjr 33:d832bcab089e 2899 // TV timer relay on. We pulse this for one interval, so
mjr 33:d832bcab089e 2900 // it's now time to turn it off and return to the default state.
mjr 35:e959ffba78fd 2901 tv_relay->write(0);
mjr 33:d832bcab089e 2902 psu2_state = 1;
mjr 33:d832bcab089e 2903 break;
mjr 33:d832bcab089e 2904 }
mjr 33:d832bcab089e 2905 }
mjr 33:d832bcab089e 2906
mjr 35:e959ffba78fd 2907 // Start the TV ON checker. If the status sense circuit is enabled in
mjr 35:e959ffba78fd 2908 // the configuration, we'll set up the pin connections and start the
mjr 35:e959ffba78fd 2909 // interrupt handler that periodically checks the status. Does nothing
mjr 35:e959ffba78fd 2910 // if any of the pins are configured as NC.
mjr 35:e959ffba78fd 2911 void startTVTimer(Config &cfg)
mjr 35:e959ffba78fd 2912 {
mjr 55:4db125cd11a0 2913 // only start the timer if the pins are configured and the delay
mjr 55:4db125cd11a0 2914 // time is nonzero
mjr 55:4db125cd11a0 2915 if (cfg.TVON.delayTime != 0
mjr 55:4db125cd11a0 2916 && cfg.TVON.statusPin != 0xFF
mjr 53:9b2611964afc 2917 && cfg.TVON.latchPin != 0xFF
mjr 53:9b2611964afc 2918 && cfg.TVON.relayPin != 0xFF)
mjr 35:e959ffba78fd 2919 {
mjr 53:9b2611964afc 2920 psu2_status_sense = new DigitalIn(wirePinName(cfg.TVON.statusPin));
mjr 53:9b2611964afc 2921 psu2_status_set = new DigitalOut(wirePinName(cfg.TVON.latchPin));
mjr 53:9b2611964afc 2922 tv_relay = new DigitalOut(wirePinName(cfg.TVON.relayPin));
mjr 40:cc0d9814522b 2923 tv_delay_time = cfg.TVON.delayTime/100.0;
mjr 35:e959ffba78fd 2924
mjr 35:e959ffba78fd 2925 // Set up our time routine to run every 1/4 second.
mjr 35:e959ffba78fd 2926 tv_ticker.attach(&TVTimerInt, 0.25);
mjr 35:e959ffba78fd 2927 }
mjr 35:e959ffba78fd 2928 }
mjr 35:e959ffba78fd 2929
mjr 35:e959ffba78fd 2930 // ---------------------------------------------------------------------------
mjr 35:e959ffba78fd 2931 //
mjr 35:e959ffba78fd 2932 // In-memory configuration data structure. This is the live version in RAM
mjr 35:e959ffba78fd 2933 // that we use to determine how things are set up.
mjr 35:e959ffba78fd 2934 //
mjr 35:e959ffba78fd 2935 // When we save the configuration settings, we copy this structure to
mjr 35:e959ffba78fd 2936 // non-volatile flash memory. At startup, we check the flash location where
mjr 35:e959ffba78fd 2937 // we might have saved settings on a previous run, and it's valid, we copy
mjr 35:e959ffba78fd 2938 // the flash data to this structure. Firmware updates wipe the flash
mjr 35:e959ffba78fd 2939 // memory area, so you have to use the PC config tool to send the settings
mjr 35:e959ffba78fd 2940 // again each time the firmware is updated.
mjr 35:e959ffba78fd 2941 //
mjr 35:e959ffba78fd 2942 NVM nvm;
mjr 35:e959ffba78fd 2943
mjr 35:e959ffba78fd 2944 // For convenience, a macro for the Config part of the NVM structure
mjr 35:e959ffba78fd 2945 #define cfg (nvm.d.c)
mjr 35:e959ffba78fd 2946
mjr 35:e959ffba78fd 2947 // flash memory controller interface
mjr 35:e959ffba78fd 2948 FreescaleIAP iap;
mjr 35:e959ffba78fd 2949
mjr 35:e959ffba78fd 2950 // figure the flash address as a pointer along with the number of sectors
mjr 35:e959ffba78fd 2951 // required to store the structure
mjr 35:e959ffba78fd 2952 NVM *configFlashAddr(int &addr, int &numSectors)
mjr 35:e959ffba78fd 2953 {
mjr 35:e959ffba78fd 2954 // figure how many flash sectors we span, rounding up to whole sectors
mjr 35:e959ffba78fd 2955 numSectors = (sizeof(NVM) + SECTOR_SIZE - 1)/SECTOR_SIZE;
mjr 35:e959ffba78fd 2956
mjr 35:e959ffba78fd 2957 // figure the address - this is the highest flash address where the
mjr 35:e959ffba78fd 2958 // structure will fit with the start aligned on a sector boundary
mjr 35:e959ffba78fd 2959 addr = iap.flash_size() - (numSectors * SECTOR_SIZE);
mjr 35:e959ffba78fd 2960
mjr 35:e959ffba78fd 2961 // return the address as a pointer
mjr 35:e959ffba78fd 2962 return (NVM *)addr;
mjr 35:e959ffba78fd 2963 }
mjr 35:e959ffba78fd 2964
mjr 35:e959ffba78fd 2965 // figure the flash address as a pointer
mjr 35:e959ffba78fd 2966 NVM *configFlashAddr()
mjr 35:e959ffba78fd 2967 {
mjr 35:e959ffba78fd 2968 int addr, numSectors;
mjr 35:e959ffba78fd 2969 return configFlashAddr(addr, numSectors);
mjr 35:e959ffba78fd 2970 }
mjr 35:e959ffba78fd 2971
mjr 35:e959ffba78fd 2972 // Load the config from flash
mjr 35:e959ffba78fd 2973 void loadConfigFromFlash()
mjr 35:e959ffba78fd 2974 {
mjr 35:e959ffba78fd 2975 // We want to use the KL25Z's on-board flash to store our configuration
mjr 35:e959ffba78fd 2976 // data persistently, so that we can restore it across power cycles.
mjr 35:e959ffba78fd 2977 // Unfortunatly, the mbed platform doesn't explicitly support this.
mjr 35:e959ffba78fd 2978 // mbed treats the on-board flash as a raw storage device for linker
mjr 35:e959ffba78fd 2979 // output, and assumes that the linker output is the only thing
mjr 35:e959ffba78fd 2980 // stored there. There's no file system and no allowance for shared
mjr 35:e959ffba78fd 2981 // use for other purposes. Fortunately, the linker ues the space in
mjr 35:e959ffba78fd 2982 // the obvious way, storing the entire linked program in a contiguous
mjr 35:e959ffba78fd 2983 // block starting at the lowest flash address. This means that the
mjr 35:e959ffba78fd 2984 // rest of flash - from the end of the linked program to the highest
mjr 35:e959ffba78fd 2985 // flash address - is all unused free space. Writing our data there
mjr 35:e959ffba78fd 2986 // won't conflict with anything else. Since the linker doesn't give
mjr 35:e959ffba78fd 2987 // us any programmatic access to the total linker output size, it's
mjr 35:e959ffba78fd 2988 // safest to just store our config data at the very end of the flash
mjr 35:e959ffba78fd 2989 // region (i.e., the highest address). As long as it's smaller than
mjr 35:e959ffba78fd 2990 // the free space, it won't collide with the linker area.
mjr 35:e959ffba78fd 2991
mjr 35:e959ffba78fd 2992 // Figure how many sectors we need for our structure
mjr 35:e959ffba78fd 2993 NVM *flash = configFlashAddr();
mjr 35:e959ffba78fd 2994
mjr 35:e959ffba78fd 2995 // if the flash is valid, load it; otherwise initialize to defaults
mjr 35:e959ffba78fd 2996 if (flash->valid())
mjr 35:e959ffba78fd 2997 {
mjr 35:e959ffba78fd 2998 // flash is valid - load it into the RAM copy of the structure
mjr 35:e959ffba78fd 2999 memcpy(&nvm, flash, sizeof(NVM));
mjr 35:e959ffba78fd 3000 }
mjr 35:e959ffba78fd 3001 else
mjr 35:e959ffba78fd 3002 {
mjr 35:e959ffba78fd 3003 // flash is invalid - load factory settings nito RAM structure
mjr 35:e959ffba78fd 3004 cfg.setFactoryDefaults();
mjr 35:e959ffba78fd 3005 }
mjr 35:e959ffba78fd 3006 }
mjr 35:e959ffba78fd 3007
mjr 35:e959ffba78fd 3008 void saveConfigToFlash()
mjr 33:d832bcab089e 3009 {
mjr 35:e959ffba78fd 3010 int addr, sectors;
mjr 35:e959ffba78fd 3011 configFlashAddr(addr, sectors);
mjr 35:e959ffba78fd 3012 nvm.save(iap, addr);
mjr 35:e959ffba78fd 3013 }
mjr 35:e959ffba78fd 3014
mjr 35:e959ffba78fd 3015 // ---------------------------------------------------------------------------
mjr 35:e959ffba78fd 3016 //
mjr 55:4db125cd11a0 3017 // Pixel dump mode - the host requested a dump of image sensor pixels
mjr 55:4db125cd11a0 3018 // (helpful for installing and setting up the sensor and light source)
mjr 55:4db125cd11a0 3019 //
mjr 55:4db125cd11a0 3020 bool reportPlungerStat = false;
mjr 55:4db125cd11a0 3021 uint8_t reportPlungerStatFlags; // plunger pixel report flag bits (see ccdSensor.h)
mjr 55:4db125cd11a0 3022 uint8_t reportPlungerStatTime; // extra exposure time for plunger pixel report
mjr 55:4db125cd11a0 3023
mjr 55:4db125cd11a0 3024
mjr 55:4db125cd11a0 3025
mjr 55:4db125cd11a0 3026 // ---------------------------------------------------------------------------
mjr 55:4db125cd11a0 3027 //
mjr 40:cc0d9814522b 3028 // Night mode setting updates
mjr 40:cc0d9814522b 3029 //
mjr 38:091e511ce8a0 3030
mjr 38:091e511ce8a0 3031 // Turn night mode on or off
mjr 38:091e511ce8a0 3032 static void setNightMode(bool on)
mjr 38:091e511ce8a0 3033 {
mjr 40:cc0d9814522b 3034 // set the new night mode flag in the noisy output class
mjr 53:9b2611964afc 3035 nightMode = on;
mjr 55:4db125cd11a0 3036
mjr 40:cc0d9814522b 3037 // update the special output pin that shows the night mode state
mjr 53:9b2611964afc 3038 int port = int(cfg.nightMode.port) - 1;
mjr 53:9b2611964afc 3039 if (port >= 0 && port < numOutputs)
mjr 53:9b2611964afc 3040 lwPin[port]->set(nightMode ? 255 : 0);
mjr 40:cc0d9814522b 3041
mjr 40:cc0d9814522b 3042 // update all outputs for the mode change
mjr 40:cc0d9814522b 3043 updateAllOuts();
mjr 38:091e511ce8a0 3044 }
mjr 38:091e511ce8a0 3045
mjr 38:091e511ce8a0 3046 // Toggle night mode
mjr 38:091e511ce8a0 3047 static void toggleNightMode()
mjr 38:091e511ce8a0 3048 {
mjr 53:9b2611964afc 3049 setNightMode(!nightMode);
mjr 38:091e511ce8a0 3050 }
mjr 38:091e511ce8a0 3051
mjr 38:091e511ce8a0 3052
mjr 38:091e511ce8a0 3053 // ---------------------------------------------------------------------------
mjr 38:091e511ce8a0 3054 //
mjr 35:e959ffba78fd 3055 // Plunger Sensor
mjr 35:e959ffba78fd 3056 //
mjr 35:e959ffba78fd 3057
mjr 35:e959ffba78fd 3058 // the plunger sensor interface object
mjr 35:e959ffba78fd 3059 PlungerSensor *plungerSensor = 0;
mjr 35:e959ffba78fd 3060
mjr 35:e959ffba78fd 3061 // Create the plunger sensor based on the current configuration. If
mjr 35:e959ffba78fd 3062 // there's already a sensor object, we'll delete it.
mjr 35:e959ffba78fd 3063 void createPlunger()
mjr 35:e959ffba78fd 3064 {
mjr 35:e959ffba78fd 3065 // create the new sensor object according to the type
mjr 35:e959ffba78fd 3066 switch (cfg.plunger.sensorType)
mjr 35:e959ffba78fd 3067 {
mjr 35:e959ffba78fd 3068 case PlungerType_TSL1410RS:
mjr 35:e959ffba78fd 3069 // pins are: SI, CLOCK, AO
mjr 53:9b2611964afc 3070 plungerSensor = new PlungerSensorTSL1410R(
mjr 53:9b2611964afc 3071 wirePinName(cfg.plunger.sensorPin[0]),
mjr 53:9b2611964afc 3072 wirePinName(cfg.plunger.sensorPin[1]),
mjr 53:9b2611964afc 3073 wirePinName(cfg.plunger.sensorPin[2]),
mjr 53:9b2611964afc 3074 NC);
mjr 35:e959ffba78fd 3075 break;
mjr 35:e959ffba78fd 3076
mjr 35:e959ffba78fd 3077 case PlungerType_TSL1410RP:
mjr 35:e959ffba78fd 3078 // pins are: SI, CLOCK, AO1, AO2
mjr 53:9b2611964afc 3079 plungerSensor = new PlungerSensorTSL1410R(
mjr 53:9b2611964afc 3080 wirePinName(cfg.plunger.sensorPin[0]),
mjr 53:9b2611964afc 3081 wirePinName(cfg.plunger.sensorPin[1]),
mjr 53:9b2611964afc 3082 wirePinName(cfg.plunger.sensorPin[2]),
mjr 53:9b2611964afc 3083 wirePinName(cfg.plunger.sensorPin[3]));
mjr 35:e959ffba78fd 3084 break;
mjr 35:e959ffba78fd 3085
mjr 35:e959ffba78fd 3086 case PlungerType_TSL1412RS:
mjr 35:e959ffba78fd 3087 // pins are: SI, CLOCK, AO1, AO2
mjr 53:9b2611964afc 3088 plungerSensor = new PlungerSensorTSL1412R(
mjr 53:9b2611964afc 3089 wirePinName(cfg.plunger.sensorPin[0]),
mjr 53:9b2611964afc 3090 wirePinName(cfg.plunger.sensorPin[1]),
mjr 53:9b2611964afc 3091 wirePinName(cfg.plunger.sensorPin[2]),
mjr 53:9b2611964afc 3092 NC);
mjr 35:e959ffba78fd 3093 break;
mjr 35:e959ffba78fd 3094
mjr 35:e959ffba78fd 3095 case PlungerType_TSL1412RP:
mjr 35:e959ffba78fd 3096 // pins are: SI, CLOCK, AO1, AO2
mjr 53:9b2611964afc 3097 plungerSensor = new PlungerSensorTSL1412R(
mjr 53:9b2611964afc 3098 wirePinName(cfg.plunger.sensorPin[0]),
mjr 53:9b2611964afc 3099 wirePinName(cfg.plunger.sensorPin[1]),
mjr 53:9b2611964afc 3100 wirePinName(cfg.plunger.sensorPin[2]),
mjr 53:9b2611964afc 3101 wirePinName(cfg.plunger.sensorPin[3]));
mjr 35:e959ffba78fd 3102 break;
mjr 35:e959ffba78fd 3103
mjr 35:e959ffba78fd 3104 case PlungerType_Pot:
mjr 35:e959ffba78fd 3105 // pins are: AO
mjr 53:9b2611964afc 3106 plungerSensor = new PlungerSensorPot(
mjr 53:9b2611964afc 3107 wirePinName(cfg.plunger.sensorPin[0]));
mjr 35:e959ffba78fd 3108 break;
mjr 35:e959ffba78fd 3109
mjr 35:e959ffba78fd 3110 case PlungerType_None:
mjr 35:e959ffba78fd 3111 default:
mjr 35:e959ffba78fd 3112 plungerSensor = new PlungerSensorNull();
mjr 35:e959ffba78fd 3113 break;
mjr 35:e959ffba78fd 3114 }
mjr 33:d832bcab089e 3115 }
mjr 33:d832bcab089e 3116
mjr 52:8298b2a73eb2 3117 // Global plunger calibration mode flag
mjr 52:8298b2a73eb2 3118 bool plungerCalMode;
mjr 52:8298b2a73eb2 3119
mjr 48:058ace2aed1d 3120 // Plunger reader
mjr 51:57eb311faafa 3121 //
mjr 51:57eb311faafa 3122 // This class encapsulates our plunger data processing. At the simplest
mjr 51:57eb311faafa 3123 // level, we read the position from the sensor, adjust it for the
mjr 51:57eb311faafa 3124 // calibration settings, and report the calibrated position to the host.
mjr 51:57eb311faafa 3125 //
mjr 51:57eb311faafa 3126 // In addition, we constantly monitor the data for "firing" motions.
mjr 51:57eb311faafa 3127 // A firing motion is when the user pulls back the plunger and releases
mjr 51:57eb311faafa 3128 // it, allowing it to shoot forward under the force of the main spring.
mjr 51:57eb311faafa 3129 // When we detect that this is happening, we briefly stop reporting the
mjr 51:57eb311faafa 3130 // real physical position that we're reading from the sensor, and instead
mjr 51:57eb311faafa 3131 // report a synthetic series of positions that depicts an idealized
mjr 51:57eb311faafa 3132 // firing motion.
mjr 51:57eb311faafa 3133 //
mjr 51:57eb311faafa 3134 // The point of the synthetic reports is to correct for distortions
mjr 51:57eb311faafa 3135 // created by the joystick interface conventions used by VP and other
mjr 51:57eb311faafa 3136 // PC pinball emulators. The convention they use is simply to have the
mjr 51:57eb311faafa 3137 // plunger device report the instantaneous position of the real plunger.
mjr 51:57eb311faafa 3138 // The PC software polls this reported position periodically, and moves
mjr 51:57eb311faafa 3139 // the on-screen virtual plunger in sync with the real plunger. This
mjr 51:57eb311faafa 3140 // works fine for human-scale motion when the user is manually moving
mjr 51:57eb311faafa 3141 // the plunger. But it doesn't work for the high speed motion of a
mjr 51:57eb311faafa 3142 // release. The plunger simply moves too fast. VP polls in about 10ms
mjr 51:57eb311faafa 3143 // intervals; the plunger takes about 50ms to travel from fully
mjr 51:57eb311faafa 3144 // retracted to the park position when released. The low sampling
mjr 51:57eb311faafa 3145 // rate relative to the rate of change of the sampled data creates
mjr 51:57eb311faafa 3146 // a classic digital aliasing effect.
mjr 51:57eb311faafa 3147 //
mjr 51:57eb311faafa 3148 // The synthetic reporting scheme compensates for the interface
mjr 51:57eb311faafa 3149 // distortions by essentially changing to a coarse enough timescale
mjr 51:57eb311faafa 3150 // that VP can reliably interpret the readings. Conceptually, there
mjr 51:57eb311faafa 3151 // are three steps involved in doing this. First, we analyze the
mjr 51:57eb311faafa 3152 // actual sensor data to detect and characterize the release motion.
mjr 51:57eb311faafa 3153 // Second, once we think we have a release in progress, we fit the
mjr 51:57eb311faafa 3154 // data to a mathematical model of the release. The model we use is
mjr 51:57eb311faafa 3155 // dead simple: we consider the release to have one parameter, namely
mjr 51:57eb311faafa 3156 // the retraction distance at the moment the user lets go. This is an
mjr 51:57eb311faafa 3157 // excellent proxy in the real physical system for the final speed
mjr 51:57eb311faafa 3158 // when the plunger hits the ball, and it also happens to match how
mjr 51:57eb311faafa 3159 // VP models it internally. Third, we construct synthetic reports
mjr 51:57eb311faafa 3160 // that will make VP's internal state match our model. This is also
mjr 51:57eb311faafa 3161 // pretty simple: we just need to send VP the maximum retraction
mjr 51:57eb311faafa 3162 // distance for long enough to be sure that it polls it at least
mjr 51:57eb311faafa 3163 // once, and then send it the park position for long enough to
mjr 51:57eb311faafa 3164 // ensure that VP will complete the same firing motion. The
mjr 51:57eb311faafa 3165 // immediate jump from the maximum point to the zero point will
mjr 51:57eb311faafa 3166 // cause VP to move its simulation model plunger forward from the
mjr 51:57eb311faafa 3167 // starting point at its natural spring acceleration rate, which
mjr 51:57eb311faafa 3168 // is exactly what the real plunger just did.
mjr 51:57eb311faafa 3169 //
mjr 48:058ace2aed1d 3170 class PlungerReader
mjr 48:058ace2aed1d 3171 {
mjr 48:058ace2aed1d 3172 public:
mjr 48:058ace2aed1d 3173 PlungerReader()
mjr 48:058ace2aed1d 3174 {
mjr 48:058ace2aed1d 3175 // not in a firing event yet
mjr 48:058ace2aed1d 3176 firing = 0;
mjr 48:058ace2aed1d 3177
mjr 48:058ace2aed1d 3178 // no history yet
mjr 48:058ace2aed1d 3179 histIdx = 0;
mjr 55:4db125cd11a0 3180
mjr 55:4db125cd11a0 3181 // initialize the filter
mjr 55:4db125cd11a0 3182 initFilter();
mjr 48:058ace2aed1d 3183 }
mjr 48:058ace2aed1d 3184
mjr 48:058ace2aed1d 3185 // Collect a reading from the plunger sensor. The main loop calls
mjr 48:058ace2aed1d 3186 // this frequently to read the current raw position data from the
mjr 48:058ace2aed1d 3187 // sensor. We analyze the raw data to produce the calibrated
mjr 48:058ace2aed1d 3188 // position that we report to the PC via the joystick interface.
mjr 48:058ace2aed1d 3189 void read()
mjr 48:058ace2aed1d 3190 {
mjr 48:058ace2aed1d 3191 // Read a sample from the sensor
mjr 48:058ace2aed1d 3192 PlungerReading r;
mjr 48:058ace2aed1d 3193 if (plungerSensor->read(r))
mjr 48:058ace2aed1d 3194 {
mjr 51:57eb311faafa 3195 // Pull the previous reading from the history
mjr 50:40015764bbe6 3196 const PlungerReading &prv = nthHist(0);
mjr 48:058ace2aed1d 3197
mjr 48:058ace2aed1d 3198 // If the new reading is within 2ms of the previous reading,
mjr 48:058ace2aed1d 3199 // ignore it. We require a minimum time between samples to
mjr 48:058ace2aed1d 3200 // ensure that we have a usable amount of precision in the
mjr 48:058ace2aed1d 3201 // denominator (the time interval) for calculating the plunger
mjr 48:058ace2aed1d 3202 // velocity. (The CCD sensor can't take readings faster than
mjr 48:058ace2aed1d 3203 // this anyway, but other sensor types, such as potentiometers,
mjr 48:058ace2aed1d 3204 // can, so we have to throttle the rate artifically in case
mjr 48:058ace2aed1d 3205 // we're using a fast sensor like that.)
mjr 48:058ace2aed1d 3206 if (uint32_t(r.t - prv.t) < 2000UL)
mjr 48:058ace2aed1d 3207 return;
mjr 53:9b2611964afc 3208
mjr 53:9b2611964afc 3209 // check for calibration mode
mjr 53:9b2611964afc 3210 if (plungerCalMode)
mjr 53:9b2611964afc 3211 {
mjr 53:9b2611964afc 3212 // Calibration mode. Adjust the calibration bounds to fit
mjr 53:9b2611964afc 3213 // the value. If this value is beyond the current min or max,
mjr 53:9b2611964afc 3214 // expand the envelope to include this new value.
mjr 53:9b2611964afc 3215 if (r.pos > cfg.plunger.cal.max)
mjr 53:9b2611964afc 3216 cfg.plunger.cal.max = r.pos;
mjr 53:9b2611964afc 3217 if (r.pos < cfg.plunger.cal.min)
mjr 53:9b2611964afc 3218 cfg.plunger.cal.min = r.pos;
mjr 50:40015764bbe6 3219
mjr 53:9b2611964afc 3220 // If we're in calibration state 0, we're waiting for the
mjr 53:9b2611964afc 3221 // plunger to come to rest at the park position so that we
mjr 53:9b2611964afc 3222 // can take a sample of the park position. Check to see if
mjr 53:9b2611964afc 3223 // we've been at rest for a minimum interval.
mjr 53:9b2611964afc 3224 if (calState == 0)
mjr 53:9b2611964afc 3225 {
mjr 53:9b2611964afc 3226 if (abs(r.pos - calZeroStart.pos) < 65535/3/50)
mjr 53:9b2611964afc 3227 {
mjr 53:9b2611964afc 3228 // we're close enough - make sure we've been here long enough
mjr 53:9b2611964afc 3229 if (uint32_t(r.t - calZeroStart.t) > 100000UL)
mjr 53:9b2611964afc 3230 {
mjr 53:9b2611964afc 3231 // we've been at rest long enough - count it
mjr 53:9b2611964afc 3232 calZeroPosSum += r.pos;
mjr 53:9b2611964afc 3233 calZeroPosN += 1;
mjr 53:9b2611964afc 3234
mjr 53:9b2611964afc 3235 // update the zero position from the new average
mjr 53:9b2611964afc 3236 cfg.plunger.cal.zero = uint16_t(calZeroPosSum / calZeroPosN);
mjr 53:9b2611964afc 3237
mjr 53:9b2611964afc 3238 // switch to calibration state 1 - at rest
mjr 53:9b2611964afc 3239 calState = 1;
mjr 53:9b2611964afc 3240 }
mjr 53:9b2611964afc 3241 }
mjr 53:9b2611964afc 3242 else
mjr 53:9b2611964afc 3243 {
mjr 53:9b2611964afc 3244 // we're not close to the last position - start again here
mjr 53:9b2611964afc 3245 calZeroStart = r;
mjr 53:9b2611964afc 3246 }
mjr 53:9b2611964afc 3247 }
mjr 53:9b2611964afc 3248
mjr 53:9b2611964afc 3249 // Rescale to the joystick range, and adjust for the current
mjr 53:9b2611964afc 3250 // park position, but don't calibrate. We don't know the maximum
mjr 53:9b2611964afc 3251 // point yet, so we can't calibrate the range.
mjr 53:9b2611964afc 3252 r.pos = int(
mjr 53:9b2611964afc 3253 (long(r.pos - cfg.plunger.cal.zero) * JOYMAX)
mjr 53:9b2611964afc 3254 / (65535 - cfg.plunger.cal.zero));
mjr 53:9b2611964afc 3255 }
mjr 53:9b2611964afc 3256 else
mjr 53:9b2611964afc 3257 {
mjr 53:9b2611964afc 3258 // Not in calibration mode. Apply the existing calibration and
mjr 53:9b2611964afc 3259 // rescale to the joystick range.
mjr 53:9b2611964afc 3260 r.pos = int(
mjr 53:9b2611964afc 3261 (long(r.pos - cfg.plunger.cal.zero) * JOYMAX)
mjr 53:9b2611964afc 3262 / (cfg.plunger.cal.max - cfg.plunger.cal.zero));
mjr 53:9b2611964afc 3263
mjr 53:9b2611964afc 3264 // limit the result to the valid joystick range
mjr 53:9b2611964afc 3265 if (r.pos > JOYMAX)
mjr 53:9b2611964afc 3266 r.pos = JOYMAX;
mjr 53:9b2611964afc 3267 else if (r.pos < -JOYMAX)
mjr 53:9b2611964afc 3268 r.pos = -JOYMAX;
mjr 53:9b2611964afc 3269 }
mjr 50:40015764bbe6 3270
mjr 50:40015764bbe6 3271 // Calculate the velocity from the second-to-last reading
mjr 50:40015764bbe6 3272 // to here, in joystick distance units per microsecond.
mjr 50:40015764bbe6 3273 // Note that we use the second-to-last reading rather than
mjr 50:40015764bbe6 3274 // the very last reading to give ourselves a little longer
mjr 50:40015764bbe6 3275 // time base. The time base is so short between consecutive
mjr 50:40015764bbe6 3276 // readings that the error bars in the position would be too
mjr 50:40015764bbe6 3277 // large.
mjr 50:40015764bbe6 3278 //
mjr 50:40015764bbe6 3279 // For reference, the physical plunger velocity ranges up
mjr 50:40015764bbe6 3280 // to about 100,000 joystick distance units/sec. This is
mjr 50:40015764bbe6 3281 // based on empirical measurements. The typical time for
mjr 50:40015764bbe6 3282 // a real plunger to travel the full distance when released
mjr 50:40015764bbe6 3283 // from full retraction is about 85ms, so the average velocity
mjr 50:40015764bbe6 3284 // covering this distance is about 56,000 units/sec. The
mjr 50:40015764bbe6 3285 // peak is probably about twice that. In real-world units,
mjr 50:40015764bbe6 3286 // this translates to an average speed of about .75 m/s and
mjr 50:40015764bbe6 3287 // a peak of about 1.5 m/s.
mjr 50:40015764bbe6 3288 //
mjr 50:40015764bbe6 3289 // Note that we actually calculate the value here in units
mjr 50:40015764bbe6 3290 // per *microsecond* - the discussion above is in terms of
mjr 50:40015764bbe6 3291 // units/sec because that's more on a human scale. Our
mjr 50:40015764bbe6 3292 // choice of internal units here really isn't important,
mjr 50:40015764bbe6 3293 // since we only use the velocity for comparison purposes,
mjr 50:40015764bbe6 3294 // to detect acceleration trends. We therefore save ourselves
mjr 50:40015764bbe6 3295 // a little CPU time by using the natural units of our inputs.
mjr 51:57eb311faafa 3296 const PlungerReading &prv2 = nthHist(1);
mjr 50:40015764bbe6 3297 float v = float(r.pos - prv2.pos)/float(r.t - prv2.t);
mjr 50:40015764bbe6 3298
mjr 50:40015764bbe6 3299 // presume we'll report the latest instantaneous reading
mjr 50:40015764bbe6 3300 z = r.pos;
mjr 50:40015764bbe6 3301 vz = v;
mjr 48:058ace2aed1d 3302
mjr 50:40015764bbe6 3303 // Check firing events
mjr 50:40015764bbe6 3304 switch (firing)
mjr 50:40015764bbe6 3305 {
mjr 50:40015764bbe6 3306 case 0:
mjr 50:40015764bbe6 3307 // Default state - not in a firing event.
mjr 50:40015764bbe6 3308
mjr 50:40015764bbe6 3309 // If we have forward motion from a position that's retracted
mjr 50:40015764bbe6 3310 // beyond a threshold, enter phase 1. If we're not pulled back
mjr 50:40015764bbe6 3311 // far enough, don't bother with this, as a release wouldn't
mjr 50:40015764bbe6 3312 // be strong enough to require the synthetic firing treatment.
mjr 50:40015764bbe6 3313 if (v < 0 && r.pos > JOYMAX/6)
mjr 50:40015764bbe6 3314 {
mjr 53:9b2611964afc 3315 // enter firing phase 1
mjr 50:40015764bbe6 3316 firingMode(1);
mjr 50:40015764bbe6 3317
mjr 53:9b2611964afc 3318 // if in calibration state 1 (at rest), switch to state 2 (not
mjr 53:9b2611964afc 3319 // at rest)
mjr 53:9b2611964afc 3320 if (calState == 1)
mjr 53:9b2611964afc 3321 calState = 2;
mjr 53:9b2611964afc 3322
mjr 50:40015764bbe6 3323 // we don't have a freeze position yet, but note the start time
mjr 50:40015764bbe6 3324 f1.pos = 0;
mjr 50:40015764bbe6 3325 f1.t = r.t;
mjr 50:40015764bbe6 3326
mjr 50:40015764bbe6 3327 // Figure the barrel spring "bounce" position in case we complete
mjr 50:40015764bbe6 3328 // the firing event. This is the amount that the forward momentum
mjr 50:40015764bbe6 3329 // of the plunger will compress the barrel spring at the peak of
mjr 50:40015764bbe6 3330 // the forward travel during the release. Assume that this is
mjr 50:40015764bbe6 3331 // linearly proportional to the starting retraction distance.
mjr 50:40015764bbe6 3332 // The barrel spring is about 1/6 the length of the main spring,
mjr 50:40015764bbe6 3333 // so figure it compresses by 1/6 the distance. (This is overly
mjr 53:9b2611964afc 3334 // simplistic and not very accurate, but it seems to give good
mjr 50:40015764bbe6 3335 // visual results, and that's all it's for.)
mjr 50:40015764bbe6 3336 f2.pos = -r.pos/6;
mjr 50:40015764bbe6 3337 }
mjr 50:40015764bbe6 3338 break;
mjr 50:40015764bbe6 3339
mjr 50:40015764bbe6 3340 case 1:
mjr 50:40015764bbe6 3341 // Phase 1 - acceleration. If we cross the zero point, trigger
mjr 50:40015764bbe6 3342 // the firing event. Otherwise, continue monitoring as long as we
mjr 50:40015764bbe6 3343 // see acceleration in the forward direction.
mjr 50:40015764bbe6 3344 if (r.pos <= 0)
mjr 50:40015764bbe6 3345 {
mjr 50:40015764bbe6 3346 // switch to the synthetic firing mode
mjr 50:40015764bbe6 3347 firingMode(2);
mjr 50:40015764bbe6 3348 z = f2.pos;
mjr 50:40015764bbe6 3349
mjr 50:40015764bbe6 3350 // note the start time for the firing phase
mjr 50:40015764bbe6 3351 f2.t = r.t;
mjr 53:9b2611964afc 3352
mjr 53:9b2611964afc 3353 // if in calibration mode, and we're in state 2 (moving),
mjr 53:9b2611964afc 3354 // collect firing statistics for calibration purposes
mjr 53:9b2611964afc 3355 if (plungerCalMode && calState == 2)
mjr 53:9b2611964afc 3356 {
mjr 53:9b2611964afc 3357 // collect a new zero point for the average when we
mjr 53:9b2611964afc 3358 // come to rest
mjr 53:9b2611964afc 3359 calState = 0;
mjr 53:9b2611964afc 3360
mjr 53:9b2611964afc 3361 // collect average firing time statistics in millseconds, if
mjr 53:9b2611964afc 3362 // it's in range (20 to 255 ms)
mjr 53:9b2611964afc 3363 int dt = uint32_t(r.t - f1.t)/1000UL;
mjr 53:9b2611964afc 3364 if (dt >= 20 && dt <= 255)
mjr 53:9b2611964afc 3365 {
mjr 53:9b2611964afc 3366 calRlsTimeSum += dt;
mjr 53:9b2611964afc 3367 calRlsTimeN += 1;
mjr 53:9b2611964afc 3368 cfg.plunger.cal.tRelease = uint8_t(calRlsTimeSum / calRlsTimeN);
mjr 53:9b2611964afc 3369 }
mjr 53:9b2611964afc 3370 }
mjr 50:40015764bbe6 3371 }
mjr 50:40015764bbe6 3372 else if (v < vprv2)
mjr 50:40015764bbe6 3373 {
mjr 50:40015764bbe6 3374 // We're still accelerating, and we haven't crossed the zero
mjr 50:40015764bbe6 3375 // point yet - stay in phase 1. (Note that forward motion is
mjr 50:40015764bbe6 3376 // negative velocity, so accelerating means that the new
mjr 50:40015764bbe6 3377 // velocity is more negative than the previous one, which
mjr 50:40015764bbe6 3378 // is to say numerically less than - that's why the test
mjr 50:40015764bbe6 3379 // for acceleration is the seemingly backwards 'v < vprv'.)
mjr 50:40015764bbe6 3380
mjr 50:40015764bbe6 3381 // If we've been accelerating for at least 20ms, we're probably
mjr 50:40015764bbe6 3382 // really doing a release. Jump back to the recent local
mjr 50:40015764bbe6 3383 // maximum where the release *really* started. This is always
mjr 50:40015764bbe6 3384 // a bit before we started seeing sustained accleration, because
mjr 50:40015764bbe6 3385 // the plunger motion for the first few milliseconds is too slow
mjr 50:40015764bbe6 3386 // for our sensor precision to reliably detect acceleration.
mjr 50:40015764bbe6 3387 if (f1.pos != 0)
mjr 50:40015764bbe6 3388 {
mjr 50:40015764bbe6 3389 // we have a reset point - freeze there
mjr 50:40015764bbe6 3390 z = f1.pos;
mjr 50:40015764bbe6 3391 }
mjr 50:40015764bbe6 3392 else if (uint32_t(r.t - f1.t) >= 20000UL)
mjr 50:40015764bbe6 3393 {
mjr 50:40015764bbe6 3394 // it's been long enough - set a reset point.
mjr 50:40015764bbe6 3395 f1.pos = z = histLocalMax(r.t, 50000UL);
mjr 50:40015764bbe6 3396 }
mjr 50:40015764bbe6 3397 }
mjr 50:40015764bbe6 3398 else
mjr 50:40015764bbe6 3399 {
mjr 50:40015764bbe6 3400 // We're not accelerating. Cancel the firing event.
mjr 50:40015764bbe6 3401 firingMode(0);
mjr 53:9b2611964afc 3402 calState = 1;
mjr 50:40015764bbe6 3403 }
mjr 50:40015764bbe6 3404 break;
mjr 50:40015764bbe6 3405
mjr 50:40015764bbe6 3406 case 2:
mjr 50:40015764bbe6 3407 // Phase 2 - start of synthetic firing event. Report the fake
mjr 50:40015764bbe6 3408 // bounce for 25ms. VP polls the joystick about every 10ms, so
mjr 50:40015764bbe6 3409 // this should be enough time to guarantee that VP sees this
mjr 50:40015764bbe6 3410 // report at least once.
mjr 50:40015764bbe6 3411 if (uint32_t(r.t - f2.t) < 25000UL)
mjr 50:40015764bbe6 3412 {
mjr 50:40015764bbe6 3413 // report the bounce position
mjr 50:40015764bbe6 3414 z = f2.pos;
mjr 50:40015764bbe6 3415 }
mjr 50:40015764bbe6 3416 else
mjr 50:40015764bbe6 3417 {
mjr 50:40015764bbe6 3418 // it's been long enough - switch to phase 3, where we
mjr 50:40015764bbe6 3419 // report the park position until the real plunger comes
mjr 50:40015764bbe6 3420 // to rest
mjr 50:40015764bbe6 3421 firingMode(3);
mjr 50:40015764bbe6 3422 z = 0;
mjr 50:40015764bbe6 3423
mjr 50:40015764bbe6 3424 // set the start of the "stability window" to the rest position
mjr 50:40015764bbe6 3425 f3s.t = r.t;
mjr 50:40015764bbe6 3426 f3s.pos = 0;
mjr 50:40015764bbe6 3427
mjr 50:40015764bbe6 3428 // set the start of the "retraction window" to the actual position
mjr 50:40015764bbe6 3429 f3r = r;
mjr 50:40015764bbe6 3430 }
mjr 50:40015764bbe6 3431 break;
mjr 50:40015764bbe6 3432
mjr 50:40015764bbe6 3433 case 3:
mjr 50:40015764bbe6 3434 // Phase 3 - in synthetic firing event. Report the park position
mjr 50:40015764bbe6 3435 // until the plunger position stabilizes. Left to its own devices,
mjr 50:40015764bbe6 3436 // the plunger will usualy bounce off the barrel spring several
mjr 50:40015764bbe6 3437 // times before coming to rest, so we'll see oscillating motion
mjr 50:40015764bbe6 3438 // for a second or two. In the simplest case, we can aimply wait
mjr 50:40015764bbe6 3439 // for the plunger to stop moving for a short time. However, the
mjr 50:40015764bbe6 3440 // player might intervene by pulling the plunger back again, so
mjr 50:40015764bbe6 3441 // watch for that motion as well. If we're just bouncing freely,
mjr 50:40015764bbe6 3442 // we'll see the direction change frequently. If the player is
mjr 50:40015764bbe6 3443 // moving the plunger manually, the direction will be constant
mjr 50:40015764bbe6 3444 // for longer.
mjr 50:40015764bbe6 3445 if (v >= 0)
mjr 50:40015764bbe6 3446 {
mjr 50:40015764bbe6 3447 // We're moving back (or standing still). If this has been
mjr 50:40015764bbe6 3448 // going on for a while, the user must have taken control.
mjr 50:40015764bbe6 3449 if (uint32_t(r.t - f3r.t) > 65000UL)
mjr 50:40015764bbe6 3450 {
mjr 50:40015764bbe6 3451 // user has taken control - cancel firing mode
mjr 50:40015764bbe6 3452 firingMode(0);
mjr 50:40015764bbe6 3453 break;
mjr 50:40015764bbe6 3454 }
mjr 50:40015764bbe6 3455 }
mjr 50:40015764bbe6 3456 else
mjr 50:40015764bbe6 3457 {
mjr 50:40015764bbe6 3458 // forward motion - reset retraction window
mjr 50:40015764bbe6 3459 f3r.t = r.t;
mjr 50:40015764bbe6 3460 }
mjr 50:40015764bbe6 3461
mjr 53:9b2611964afc 3462 // Check if we're close to the last starting point. The joystick
mjr 53:9b2611964afc 3463 // positive axis range (0..4096) covers the retraction distance of
mjr 53:9b2611964afc 3464 // about 2.5", so 1" is about 1638 joystick units, hence 1/16" is
mjr 53:9b2611964afc 3465 // about 100 units.
mjr 53:9b2611964afc 3466 if (abs(r.pos - f3s.pos) < 100)
mjr 50:40015764bbe6 3467 {
mjr 53:9b2611964afc 3468 // It's at roughly the same position as the starting point.
mjr 53:9b2611964afc 3469 // Consider it stable if this has been true for 300ms.
mjr 50:40015764bbe6 3470 if (uint32_t(r.t - f3s.t) > 30000UL)
mjr 50:40015764bbe6 3471 {
mjr 50:40015764bbe6 3472 // we're done with the firing event
mjr 50:40015764bbe6 3473 firingMode(0);
mjr 50:40015764bbe6 3474 }
mjr 50:40015764bbe6 3475 else
mjr 50:40015764bbe6 3476 {
mjr 50:40015764bbe6 3477 // it's close to the last position but hasn't been
mjr 50:40015764bbe6 3478 // here long enough; stay in firing mode and continue
mjr 50:40015764bbe6 3479 // to report the park position
mjr 50:40015764bbe6 3480 z = 0;
mjr 50:40015764bbe6 3481 }
mjr 50:40015764bbe6 3482 }
mjr 50:40015764bbe6 3483 else
mjr 50:40015764bbe6 3484 {
mjr 50:40015764bbe6 3485 // It's not close enough to the last starting point, so use
mjr 50:40015764bbe6 3486 // this as a new starting point, and stay in firing mode.
mjr 50:40015764bbe6 3487 f3s = r;
mjr 50:40015764bbe6 3488 z = 0;
mjr 50:40015764bbe6 3489 }
mjr 50:40015764bbe6 3490 break;
mjr 50:40015764bbe6 3491 }
mjr 50:40015764bbe6 3492
mjr 50:40015764bbe6 3493 // save the velocity reading for next time
mjr 50:40015764bbe6 3494 vprv2 = vprv;
mjr 50:40015764bbe6 3495 vprv = v;
mjr 50:40015764bbe6 3496
mjr 50:40015764bbe6 3497 // add the new reading to the history
mjr 50:40015764bbe6 3498 hist[histIdx++] = r;
mjr 50:40015764bbe6 3499 histIdx %= countof(hist);
mjr 58:523fdcffbe6d 3500
mjr 58:523fdcffbe6d 3501 // figure the filtered value
mjr 58:523fdcffbe6d 3502 zf = applyFilter();
mjr 48:058ace2aed1d 3503 }
mjr 48:058ace2aed1d 3504 }
mjr 48:058ace2aed1d 3505
mjr 48:058ace2aed1d 3506 // Get the current value to report through the joystick interface
mjr 58:523fdcffbe6d 3507 int16_t getPosition()
mjr 58:523fdcffbe6d 3508 {
mjr 58:523fdcffbe6d 3509 // return the last filtered reading
mjr 58:523fdcffbe6d 3510 return zf;
mjr 55:4db125cd11a0 3511 }
mjr 58:523fdcffbe6d 3512
mjr 48:058ace2aed1d 3513 // Get the current velocity (joystick distance units per microsecond)
mjr 48:058ace2aed1d 3514 float getVelocity() const { return vz; }
mjr 48:058ace2aed1d 3515
mjr 48:058ace2aed1d 3516 // get the timestamp of the current joystick report (microseconds)
mjr 50:40015764bbe6 3517 uint32_t getTimestamp() const { return nthHist(0).t; }
mjr 48:058ace2aed1d 3518
mjr 48:058ace2aed1d 3519 // Set calibration mode on or off
mjr 52:8298b2a73eb2 3520 void setCalMode(bool f)
mjr 48:058ace2aed1d 3521 {
mjr 52:8298b2a73eb2 3522 // check to see if we're entering calibration mode
mjr 52:8298b2a73eb2 3523 if (f && !plungerCalMode)
mjr 52:8298b2a73eb2 3524 {
mjr 52:8298b2a73eb2 3525 // reset the calibration in the configuration
mjr 48:058ace2aed1d 3526 cfg.plunger.cal.begin();
mjr 52:8298b2a73eb2 3527
mjr 52:8298b2a73eb2 3528 // start in state 0 (waiting to settle)
mjr 52:8298b2a73eb2 3529 calState = 0;
mjr 52:8298b2a73eb2 3530 calZeroPosSum = 0;
mjr 52:8298b2a73eb2 3531 calZeroPosN = 0;
mjr 52:8298b2a73eb2 3532 calRlsTimeSum = 0;
mjr 52:8298b2a73eb2 3533 calRlsTimeN = 0;
mjr 52:8298b2a73eb2 3534
mjr 52:8298b2a73eb2 3535 // set the initial zero point to the current position
mjr 52:8298b2a73eb2 3536 PlungerReading r;
mjr 52:8298b2a73eb2 3537 if (plungerSensor->read(r))
mjr 52:8298b2a73eb2 3538 {
mjr 52:8298b2a73eb2 3539 // got a reading - use it as the initial zero point
mjr 52:8298b2a73eb2 3540 cfg.plunger.cal.zero = r.pos;
mjr 52:8298b2a73eb2 3541
mjr 52:8298b2a73eb2 3542 // use it as the starting point for the settling watch
mjr 53:9b2611964afc 3543 calZeroStart = r;
mjr 52:8298b2a73eb2 3544 }
mjr 52:8298b2a73eb2 3545 else
mjr 52:8298b2a73eb2 3546 {
mjr 52:8298b2a73eb2 3547 // no reading available - use the default 1/6 position
mjr 52:8298b2a73eb2 3548 cfg.plunger.cal.zero = 0xffff/6;
mjr 52:8298b2a73eb2 3549
mjr 52:8298b2a73eb2 3550 // we don't have a starting point for the setting watch
mjr 53:9b2611964afc 3551 calZeroStart.pos = -65535;
mjr 53:9b2611964afc 3552 calZeroStart.t = 0;
mjr 53:9b2611964afc 3553 }
mjr 53:9b2611964afc 3554 }
mjr 53:9b2611964afc 3555 else if (!f && plungerCalMode)
mjr 53:9b2611964afc 3556 {
mjr 53:9b2611964afc 3557 // Leaving calibration mode. Make sure the max is past the
mjr 53:9b2611964afc 3558 // zero point - if it's not, we'd have a zero or negative
mjr 53:9b2611964afc 3559 // denominator for the scaling calculation, which would be
mjr 53:9b2611964afc 3560 // physically meaningless.
mjr 53:9b2611964afc 3561 if (cfg.plunger.cal.max <= cfg.plunger.cal.zero)
mjr 53:9b2611964afc 3562 {
mjr 53:9b2611964afc 3563 // bad settings - reset to defaults
mjr 53:9b2611964afc 3564 cfg.plunger.cal.max = 0xffff;
mjr 53:9b2611964afc 3565 cfg.plunger.cal.zero = 0xffff/6;
mjr 52:8298b2a73eb2 3566 }
mjr 52:8298b2a73eb2 3567 }
mjr 52:8298b2a73eb2 3568
mjr 48:058ace2aed1d 3569 // remember the new mode
mjr 52:8298b2a73eb2 3570 plungerCalMode = f;
mjr 48:058ace2aed1d 3571 }
mjr 48:058ace2aed1d 3572
mjr 48:058ace2aed1d 3573 // is a firing event in progress?
mjr 53:9b2611964afc 3574 bool isFiring() { return firing == 3; }
mjr 48:058ace2aed1d 3575
mjr 48:058ace2aed1d 3576 private:
mjr 52:8298b2a73eb2 3577
mjr 58:523fdcffbe6d 3578 // Figure the next filtered value. This applies the hysteresis
mjr 58:523fdcffbe6d 3579 // filter to the last raw z value and returns the filtered result.
mjr 58:523fdcffbe6d 3580 int applyFilter()
mjr 58:523fdcffbe6d 3581 {
mjr 58:523fdcffbe6d 3582 if (firing <= 1)
mjr 58:523fdcffbe6d 3583 {
mjr 58:523fdcffbe6d 3584 // Filter limit - 5 samples. Once we've been moving
mjr 58:523fdcffbe6d 3585 // in the same direction for this many samples, we'll
mjr 58:523fdcffbe6d 3586 // clear the history and start over.
mjr 58:523fdcffbe6d 3587 const int filterMask = 0x1f;
mjr 58:523fdcffbe6d 3588
mjr 58:523fdcffbe6d 3589 // figure the last average
mjr 58:523fdcffbe6d 3590 int lastAvg = int(filterSum / filterN);
mjr 58:523fdcffbe6d 3591
mjr 58:523fdcffbe6d 3592 // figure the direction of this sample relative to the average,
mjr 58:523fdcffbe6d 3593 // and shift it in to our bit mask of recent direction data
mjr 58:523fdcffbe6d 3594 if (z != lastAvg)
mjr 58:523fdcffbe6d 3595 {
mjr 58:523fdcffbe6d 3596 // shift the new direction bit into the vector
mjr 58:523fdcffbe6d 3597 filterDir <<= 1;
mjr 58:523fdcffbe6d 3598 if (z > lastAvg) filterDir |= 1;
mjr 58:523fdcffbe6d 3599 }
mjr 58:523fdcffbe6d 3600
mjr 58:523fdcffbe6d 3601 // keep only the last N readings, up to the filter limit
mjr 58:523fdcffbe6d 3602 filterDir &= filterMask;
mjr 58:523fdcffbe6d 3603
mjr 58:523fdcffbe6d 3604 // if we've been moving consistently in one direction (all 1's
mjr 58:523fdcffbe6d 3605 // or all 0's in the direction history vector), reset the average
mjr 58:523fdcffbe6d 3606 if (filterDir == 0x00 || filterDir == filterMask)
mjr 58:523fdcffbe6d 3607 {
mjr 58:523fdcffbe6d 3608 // motion away from the average - reset the average
mjr 58:523fdcffbe6d 3609 filterDir = 0x5555;
mjr 58:523fdcffbe6d 3610 filterN = 1;
mjr 58:523fdcffbe6d 3611 filterSum = (lastAvg + z)/2;
mjr 58:523fdcffbe6d 3612 return int16_t(filterSum);
mjr 58:523fdcffbe6d 3613 }
mjr 58:523fdcffbe6d 3614 else
mjr 58:523fdcffbe6d 3615 {
mjr 58:523fdcffbe6d 3616 // we're diretionless - return the new average, with the
mjr 58:523fdcffbe6d 3617 // new sample included
mjr 58:523fdcffbe6d 3618 filterSum += z;
mjr 58:523fdcffbe6d 3619 ++filterN;
mjr 58:523fdcffbe6d 3620 return int16_t(filterSum / filterN);
mjr 58:523fdcffbe6d 3621 }
mjr 58:523fdcffbe6d 3622 }
mjr 58:523fdcffbe6d 3623 else
mjr 58:523fdcffbe6d 3624 {
mjr 58:523fdcffbe6d 3625 // firing mode - skip the filter
mjr 58:523fdcffbe6d 3626 filterN = 1;
mjr 58:523fdcffbe6d 3627 filterSum = z;
mjr 58:523fdcffbe6d 3628 filterDir = 0x5555;
mjr 58:523fdcffbe6d 3629 return z;
mjr 58:523fdcffbe6d 3630 }
mjr 58:523fdcffbe6d 3631 }
mjr 58:523fdcffbe6d 3632
mjr 58:523fdcffbe6d 3633 void initFilter()
mjr 58:523fdcffbe6d 3634 {
mjr 58:523fdcffbe6d 3635 filterSum = 0;
mjr 58:523fdcffbe6d 3636 filterN = 1;
mjr 58:523fdcffbe6d 3637 filterDir = 0x5555;
mjr 58:523fdcffbe6d 3638 }
mjr 58:523fdcffbe6d 3639 int64_t filterSum;
mjr 58:523fdcffbe6d 3640 int64_t filterN;
mjr 58:523fdcffbe6d 3641 uint16_t filterDir;
mjr 58:523fdcffbe6d 3642
mjr 58:523fdcffbe6d 3643
mjr 52:8298b2a73eb2 3644 // Calibration state. During calibration mode, we watch for release
mjr 52:8298b2a73eb2 3645 // events, to measure the time it takes to complete the release
mjr 52:8298b2a73eb2 3646 // motion; and we watch for the plunger to come to reset after a
mjr 52:8298b2a73eb2 3647 // release, to gather statistics on the rest position.
mjr 52:8298b2a73eb2 3648 // 0 = waiting to settle
mjr 52:8298b2a73eb2 3649 // 1 = at rest
mjr 52:8298b2a73eb2 3650 // 2 = retracting
mjr 52:8298b2a73eb2 3651 // 3 = possibly releasing
mjr 52:8298b2a73eb2 3652 uint8_t calState;
mjr 52:8298b2a73eb2 3653
mjr 52:8298b2a73eb2 3654 // Calibration zero point statistics.
mjr 52:8298b2a73eb2 3655 // During calibration mode, we collect data on the rest position (the
mjr 52:8298b2a73eb2 3656 // zero point) by watching for the plunger to come to rest after each
mjr 52:8298b2a73eb2 3657 // release. We average these rest positions to get the calibrated
mjr 52:8298b2a73eb2 3658 // zero point. We use the average because the real physical plunger
mjr 52:8298b2a73eb2 3659 // itself doesn't come to rest at exactly the same spot every time,
mjr 52:8298b2a73eb2 3660 // largely due to friction in the mechanism. To calculate the average,
mjr 52:8298b2a73eb2 3661 // we keep a sum of the readings and a count of samples.
mjr 53:9b2611964afc 3662 PlungerReading calZeroStart;
mjr 52:8298b2a73eb2 3663 long calZeroPosSum;
mjr 52:8298b2a73eb2 3664 int calZeroPosN;
mjr 52:8298b2a73eb2 3665
mjr 52:8298b2a73eb2 3666 // Calibration release time statistics.
mjr 52:8298b2a73eb2 3667 // During calibration, we collect an average for the release time.
mjr 52:8298b2a73eb2 3668 long calRlsTimeSum;
mjr 52:8298b2a73eb2 3669 int calRlsTimeN;
mjr 52:8298b2a73eb2 3670
mjr 48:058ace2aed1d 3671 // set a firing mode
mjr 48:058ace2aed1d 3672 inline void firingMode(int m)
mjr 48:058ace2aed1d 3673 {
mjr 48:058ace2aed1d 3674 firing = m;
mjr 48:058ace2aed1d 3675 }
mjr 48:058ace2aed1d 3676
mjr 48:058ace2aed1d 3677 // Find the most recent local maximum in the history data, up to
mjr 48:058ace2aed1d 3678 // the given time limit.
mjr 48:058ace2aed1d 3679 int histLocalMax(uint32_t tcur, uint32_t dt)
mjr 48:058ace2aed1d 3680 {
mjr 48:058ace2aed1d 3681 // start with the prior entry
mjr 48:058ace2aed1d 3682 int idx = (histIdx == 0 ? countof(hist) : histIdx) - 1;
mjr 48:058ace2aed1d 3683 int hi = hist[idx].pos;
mjr 48:058ace2aed1d 3684
mjr 48:058ace2aed1d 3685 // scan backwards for a local maximum
mjr 48:058ace2aed1d 3686 for (int n = countof(hist) - 1 ; n > 0 ; idx = (idx == 0 ? countof(hist) : idx) - 1)
mjr 48:058ace2aed1d 3687 {
mjr 48:058ace2aed1d 3688 // if this isn't within the time window, stop
mjr 48:058ace2aed1d 3689 if (uint32_t(tcur - hist[idx].t) > dt)
mjr 48:058ace2aed1d 3690 break;
mjr 48:058ace2aed1d 3691
mjr 48:058ace2aed1d 3692 // if this isn't above the current hith, stop
mjr 48:058ace2aed1d 3693 if (hist[idx].pos < hi)
mjr 48:058ace2aed1d 3694 break;
mjr 48:058ace2aed1d 3695
mjr 48:058ace2aed1d 3696 // this is the new high
mjr 48:058ace2aed1d 3697 hi = hist[idx].pos;
mjr 48:058ace2aed1d 3698 }
mjr 48:058ace2aed1d 3699
mjr 48:058ace2aed1d 3700 // return the local maximum
mjr 48:058ace2aed1d 3701 return hi;
mjr 48:058ace2aed1d 3702 }
mjr 48:058ace2aed1d 3703
mjr 50:40015764bbe6 3704 // velocity at previous reading, and the one before that
mjr 50:40015764bbe6 3705 float vprv, vprv2;
mjr 48:058ace2aed1d 3706
mjr 48:058ace2aed1d 3707 // Circular buffer of recent readings. We keep a short history
mjr 48:058ace2aed1d 3708 // of readings to analyze during firing events. We can only identify
mjr 48:058ace2aed1d 3709 // a firing event once it's somewhat under way, so we need a little
mjr 48:058ace2aed1d 3710 // retrospective information to accurately determine after the fact
mjr 48:058ace2aed1d 3711 // exactly when it started. We throttle our readings to no more
mjr 48:058ace2aed1d 3712 // than one every 2ms, so we have at least N*2ms of history in this
mjr 48:058ace2aed1d 3713 // array.
mjr 50:40015764bbe6 3714 PlungerReading hist[25];
mjr 48:058ace2aed1d 3715 int histIdx;
mjr 49:37bd97eb7688 3716
mjr 50:40015764bbe6 3717 // get the nth history item (0=last, 1=2nd to last, etc)
mjr 50:40015764bbe6 3718 const PlungerReading &nthHist(int n) const
mjr 50:40015764bbe6 3719 {
mjr 50:40015764bbe6 3720 // histIdx-1 is the last written; go from there
mjr 50:40015764bbe6 3721 n = histIdx - 1 - n;
mjr 50:40015764bbe6 3722
mjr 50:40015764bbe6 3723 // adjust for wrapping
mjr 50:40015764bbe6 3724 if (n < 0)
mjr 50:40015764bbe6 3725 n += countof(hist);
mjr 50:40015764bbe6 3726
mjr 50:40015764bbe6 3727 // return the item
mjr 50:40015764bbe6 3728 return hist[n];
mjr 50:40015764bbe6 3729 }
mjr 48:058ace2aed1d 3730
mjr 48:058ace2aed1d 3731 // Firing event state.
mjr 48:058ace2aed1d 3732 //
mjr 48:058ace2aed1d 3733 // 0 - Default state. We report the real instantaneous plunger
mjr 48:058ace2aed1d 3734 // position to the joystick interface.
mjr 48:058ace2aed1d 3735 //
mjr 53:9b2611964afc 3736 // 1 - Moving forward
mjr 48:058ace2aed1d 3737 //
mjr 53:9b2611964afc 3738 // 2 - Accelerating
mjr 48:058ace2aed1d 3739 //
mjr 53:9b2611964afc 3740 // 3 - Firing. We report the rest position for a minimum interval,
mjr 53:9b2611964afc 3741 // or until the real plunger comes to rest somewhere.
mjr 48:058ace2aed1d 3742 //
mjr 48:058ace2aed1d 3743 int firing;
mjr 48:058ace2aed1d 3744
mjr 51:57eb311faafa 3745 // Position/timestamp at start of firing phase 1. When we see a
mjr 51:57eb311faafa 3746 // sustained forward acceleration, we freeze joystick reports at
mjr 51:57eb311faafa 3747 // the recent local maximum, on the assumption that this was the
mjr 51:57eb311faafa 3748 // start of the release. If this is zero, it means that we're
mjr 51:57eb311faafa 3749 // monitoring accelerating motion but haven't seen it for long
mjr 51:57eb311faafa 3750 // enough yet to be confident that a release is in progress.
mjr 48:058ace2aed1d 3751 PlungerReading f1;
mjr 48:058ace2aed1d 3752
mjr 48:058ace2aed1d 3753 // Position/timestamp at start of firing phase 2. The position is
mjr 48:058ace2aed1d 3754 // the fake "bounce" position we report during this phase, and the
mjr 48:058ace2aed1d 3755 // timestamp tells us when the phase began so that we can end it
mjr 48:058ace2aed1d 3756 // after enough time elapses.
mjr 48:058ace2aed1d 3757 PlungerReading f2;
mjr 48:058ace2aed1d 3758
mjr 48:058ace2aed1d 3759 // Position/timestamp of start of stability window during phase 3.
mjr 48:058ace2aed1d 3760 // We use this to determine when the plunger comes to rest. We set
mjr 51:57eb311faafa 3761 // this at the beginning of phase 3, and then reset it when the
mjr 48:058ace2aed1d 3762 // plunger moves too far from the last position.
mjr 48:058ace2aed1d 3763 PlungerReading f3s;
mjr 48:058ace2aed1d 3764
mjr 48:058ace2aed1d 3765 // Position/timestamp of start of retraction window during phase 3.
mjr 48:058ace2aed1d 3766 // We use this to determine if the user is drawing the plunger back.
mjr 48:058ace2aed1d 3767 // If we see retraction motion for more than about 65ms, we assume
mjr 48:058ace2aed1d 3768 // that the user has taken over, because we should see forward
mjr 48:058ace2aed1d 3769 // motion within this timeframe if the plunger is just bouncing
mjr 48:058ace2aed1d 3770 // freely.
mjr 48:058ace2aed1d 3771 PlungerReading f3r;
mjr 48:058ace2aed1d 3772
mjr 58:523fdcffbe6d 3773 // next raw (unfiltered) Z value to report to the joystick interface
mjr 58:523fdcffbe6d 3774 // (in joystick distance units)
mjr 48:058ace2aed1d 3775 int z;
mjr 48:058ace2aed1d 3776
mjr 48:058ace2aed1d 3777 // velocity of this reading (joystick distance units per microsecond)
mjr 48:058ace2aed1d 3778 float vz;
mjr 58:523fdcffbe6d 3779
mjr 58:523fdcffbe6d 3780 // next filtered Z value to report to the joystick interface
mjr 58:523fdcffbe6d 3781 int zf;
mjr 48:058ace2aed1d 3782 };
mjr 48:058ace2aed1d 3783
mjr 48:058ace2aed1d 3784 // plunger reader singleton
mjr 48:058ace2aed1d 3785 PlungerReader plungerReader;
mjr 48:058ace2aed1d 3786
mjr 48:058ace2aed1d 3787 // ---------------------------------------------------------------------------
mjr 48:058ace2aed1d 3788 //
mjr 48:058ace2aed1d 3789 // Handle the ZB Launch Ball feature.
mjr 48:058ace2aed1d 3790 //
mjr 48:058ace2aed1d 3791 // The ZB Launch Ball feature, if enabled, lets the mechanical plunger
mjr 48:058ace2aed1d 3792 // serve as a substitute for a physical Launch Ball button. When a table
mjr 48:058ace2aed1d 3793 // is loaded in VP, and the table has the ZB Launch Ball LedWiz port
mjr 48:058ace2aed1d 3794 // turned on, we'll disable mechanical plunger reports through the
mjr 48:058ace2aed1d 3795 // joystick interface and instead use the plunger only to simulate the
mjr 48:058ace2aed1d 3796 // Launch Ball button. When the mode is active, pulling back and
mjr 48:058ace2aed1d 3797 // releasing the plunger causes a brief simulated press of the Launch
mjr 48:058ace2aed1d 3798 // button, and pushing the plunger forward of the rest position presses
mjr 48:058ace2aed1d 3799 // the Launch button as long as the plunger is pressed forward.
mjr 48:058ace2aed1d 3800 //
mjr 48:058ace2aed1d 3801 // This feature has two configuration components:
mjr 48:058ace2aed1d 3802 //
mjr 48:058ace2aed1d 3803 // - An LedWiz port number. This port is a "virtual" port that doesn't
mjr 48:058ace2aed1d 3804 // have to be attached to any actual output. DOF uses it to signal
mjr 48:058ace2aed1d 3805 // that the current table uses a Launch button instead of a plunger.
mjr 48:058ace2aed1d 3806 // DOF simply turns the port on when such a table is loaded and turns
mjr 48:058ace2aed1d 3807 // it off at all other times. We use it to enable and disable the
mjr 48:058ace2aed1d 3808 // plunger/launch button connection.
mjr 48:058ace2aed1d 3809 //
mjr 48:058ace2aed1d 3810 // - A joystick button ID. We simulate pressing this button when the
mjr 48:058ace2aed1d 3811 // launch feature is activated via the LedWiz port and the plunger is
mjr 48:058ace2aed1d 3812 // either pulled back and releasd, or pushed forward past the rest
mjr 48:058ace2aed1d 3813 // position.
mjr 48:058ace2aed1d 3814 //
mjr 48:058ace2aed1d 3815 class ZBLaunchBall
mjr 48:058ace2aed1d 3816 {
mjr 48:058ace2aed1d 3817 public:
mjr 48:058ace2aed1d 3818 ZBLaunchBall()
mjr 48:058ace2aed1d 3819 {
mjr 48:058ace2aed1d 3820 // start in the default state
mjr 48:058ace2aed1d 3821 lbState = 0;
mjr 53:9b2611964afc 3822 btnState = false;
mjr 48:058ace2aed1d 3823 }
mjr 48:058ace2aed1d 3824
mjr 48:058ace2aed1d 3825 // Update state. This checks the current plunger position and
mjr 48:058ace2aed1d 3826 // the timers to see if the plunger is in a position that simulates
mjr 48:058ace2aed1d 3827 // a Launch Ball button press via the ZB Launch Ball feature.
mjr 48:058ace2aed1d 3828 // Updates the simulated button vector according to the current
mjr 48:058ace2aed1d 3829 // launch ball state. The main loop calls this before each
mjr 48:058ace2aed1d 3830 // joystick update to figure the new simulated button state.
mjr 53:9b2611964afc 3831 void update()
mjr 48:058ace2aed1d 3832 {
mjr 53:9b2611964afc 3833 // If the ZB Launch Ball led wiz output is ON, check for a
mjr 53:9b2611964afc 3834 // plunger firing event
mjr 53:9b2611964afc 3835 if (zbLaunchOn)
mjr 48:058ace2aed1d 3836 {
mjr 53:9b2611964afc 3837 // note the new position
mjr 48:058ace2aed1d 3838 int znew = plungerReader.getPosition();
mjr 53:9b2611964afc 3839
mjr 53:9b2611964afc 3840 // figure the push threshold from the configuration data
mjr 51:57eb311faafa 3841 const int pushThreshold = int(-JOYMAX/3.0 * cfg.plunger.zbLaunchBall.pushDistance/1000.0);
mjr 53:9b2611964afc 3842
mjr 53:9b2611964afc 3843 // check the state
mjr 48:058ace2aed1d 3844 switch (lbState)
mjr 48:058ace2aed1d 3845 {
mjr 48:058ace2aed1d 3846 case 0:
mjr 53:9b2611964afc 3847 // Default state. If a launch event has been detected on
mjr 53:9b2611964afc 3848 // the plunger, activate a timed pulse and switch to state 1.
mjr 53:9b2611964afc 3849 // If the plunger is pushed forward of the threshold, push
mjr 53:9b2611964afc 3850 // the button.
mjr 53:9b2611964afc 3851 if (plungerReader.isFiring())
mjr 53:9b2611964afc 3852 {
mjr 53:9b2611964afc 3853 // firing event - start a timed Launch button pulse
mjr 53:9b2611964afc 3854 lbTimer.reset();
mjr 53:9b2611964afc 3855 lbTimer.start();
mjr 53:9b2611964afc 3856 setButton(true);
mjr 53:9b2611964afc 3857
mjr 53:9b2611964afc 3858 // switch to state 1
mjr 53:9b2611964afc 3859 lbState = 1;
mjr 53:9b2611964afc 3860 }
mjr 48:058ace2aed1d 3861 else if (znew <= pushThreshold)
mjr 53:9b2611964afc 3862 {
mjr 53:9b2611964afc 3863 // pushed forward without a firing event - hold the
mjr 53:9b2611964afc 3864 // button as long as we're pushed forward
mjr 53:9b2611964afc 3865 setButton(true);
mjr 53:9b2611964afc 3866 }
mjr 53:9b2611964afc 3867 else
mjr 53:9b2611964afc 3868 {
mjr 53:9b2611964afc 3869 // not pushed forward - turn off the Launch button
mjr 53:9b2611964afc 3870 setButton(false);
mjr 53:9b2611964afc 3871 }
mjr 48:058ace2aed1d 3872 break;
mjr 48:058ace2aed1d 3873
mjr 48:058ace2aed1d 3874 case 1:
mjr 53:9b2611964afc 3875 // State 1: Timed Launch button pulse in progress after a
mjr 53:9b2611964afc 3876 // firing event. Wait for the timer to expire.
mjr 53:9b2611964afc 3877 if (lbTimer.read_us() > 200000UL)
mjr 53:9b2611964afc 3878 {
mjr 53:9b2611964afc 3879 // timer expired - turn off the button
mjr 53:9b2611964afc 3880 setButton(false);
mjr 53:9b2611964afc 3881
mjr 53:9b2611964afc 3882 // switch to state 2
mjr 53:9b2611964afc 3883 lbState = 2;
mjr 53:9b2611964afc 3884 }
mjr 48:058ace2aed1d 3885 break;
mjr 48:058ace2aed1d 3886
mjr 48:058ace2aed1d 3887 case 2:
mjr 53:9b2611964afc 3888 // State 2: Timed Launch button pulse done. Wait for the
mjr 53:9b2611964afc 3889 // plunger launch event to end.
mjr 53:9b2611964afc 3890 if (!plungerReader.isFiring())
mjr 53:9b2611964afc 3891 {
mjr 53:9b2611964afc 3892 // firing event done - return to default state
mjr 53:9b2611964afc 3893 lbState = 0;
mjr 53:9b2611964afc 3894 }
mjr 48:058ace2aed1d 3895 break;
mjr 48:058ace2aed1d 3896 }
mjr 53:9b2611964afc 3897 }
mjr 53:9b2611964afc 3898 else
mjr 53:9b2611964afc 3899 {
mjr 53:9b2611964afc 3900 // ZB Launch Ball disabled - turn off the button if it was on
mjr 53:9b2611964afc 3901 setButton(false);
mjr 48:058ace2aed1d 3902
mjr 53:9b2611964afc 3903 // return to the default state
mjr 53:9b2611964afc 3904 lbState = 0;
mjr 48:058ace2aed1d 3905 }
mjr 48:058ace2aed1d 3906 }
mjr 53:9b2611964afc 3907
mjr 53:9b2611964afc 3908 // Set the button state
mjr 53:9b2611964afc 3909 void setButton(bool on)
mjr 53:9b2611964afc 3910 {
mjr 53:9b2611964afc 3911 if (btnState != on)
mjr 53:9b2611964afc 3912 {
mjr 53:9b2611964afc 3913 // remember the new state
mjr 53:9b2611964afc 3914 btnState = on;
mjr 53:9b2611964afc 3915
mjr 53:9b2611964afc 3916 // update the virtual button state
mjr 65:739875521aae 3917 buttonState[zblButtonIndex].virtPress(on);
mjr 53:9b2611964afc 3918 }
mjr 53:9b2611964afc 3919 }
mjr 53:9b2611964afc 3920
mjr 48:058ace2aed1d 3921 private:
mjr 48:058ace2aed1d 3922 // Simulated Launch Ball button state. If a "ZB Launch Ball" port is
mjr 48:058ace2aed1d 3923 // defined for our LedWiz port mapping, any time that port is turned ON,
mjr 48:058ace2aed1d 3924 // we'll simulate pushing the Launch Ball button if the player pulls
mjr 48:058ace2aed1d 3925 // back and releases the plunger, or simply pushes on the plunger from
mjr 48:058ace2aed1d 3926 // the rest position. This allows the plunger to be used in lieu of a
mjr 48:058ace2aed1d 3927 // physical Launch Ball button for tables that don't have plungers.
mjr 48:058ace2aed1d 3928 //
mjr 48:058ace2aed1d 3929 // States:
mjr 48:058ace2aed1d 3930 // 0 = default
mjr 53:9b2611964afc 3931 // 1 = firing (firing event has activated a Launch button pulse)
mjr 53:9b2611964afc 3932 // 2 = firing done (Launch button pulse ended, waiting for plunger
mjr 53:9b2611964afc 3933 // firing event to end)
mjr 53:9b2611964afc 3934 uint8_t lbState;
mjr 48:058ace2aed1d 3935
mjr 53:9b2611964afc 3936 // button state
mjr 53:9b2611964afc 3937 bool btnState;
mjr 48:058ace2aed1d 3938
mjr 48:058ace2aed1d 3939 // Time since last lbState transition. Some of the states are time-
mjr 48:058ace2aed1d 3940 // sensitive. In the "uncocked" state, we'll return to state 0 if
mjr 48:058ace2aed1d 3941 // we remain in this state for more than a few milliseconds, since
mjr 48:058ace2aed1d 3942 // it indicates that the plunger is being slowly returned to rest
mjr 48:058ace2aed1d 3943 // rather than released. In the "launching" state, we need to release
mjr 48:058ace2aed1d 3944 // the Launch Ball button after a moment, and we need to wait for
mjr 48:058ace2aed1d 3945 // the plunger to come to rest before returning to state 0.
mjr 48:058ace2aed1d 3946 Timer lbTimer;
mjr 48:058ace2aed1d 3947 };
mjr 48:058ace2aed1d 3948
mjr 35:e959ffba78fd 3949 // ---------------------------------------------------------------------------
mjr 35:e959ffba78fd 3950 //
mjr 35:e959ffba78fd 3951 // Reboot - resets the microcontroller
mjr 35:e959ffba78fd 3952 //
mjr 54:fd77a6b2f76c 3953 void reboot(USBJoystick &js, bool disconnect = true, long pause_us = 2000000L)
mjr 35:e959ffba78fd 3954 {
mjr 35:e959ffba78fd 3955 // disconnect from USB
mjr 54:fd77a6b2f76c 3956 if (disconnect)
mjr 54:fd77a6b2f76c 3957 js.disconnect();
mjr 35:e959ffba78fd 3958
mjr 35:e959ffba78fd 3959 // wait a few seconds to make sure the host notices the disconnect
mjr 54:fd77a6b2f76c 3960 wait_us(pause_us);
mjr 35:e959ffba78fd 3961
mjr 35:e959ffba78fd 3962 // reset the device
mjr 35:e959ffba78fd 3963 NVIC_SystemReset();
mjr 35:e959ffba78fd 3964 while (true) { }
mjr 35:e959ffba78fd 3965 }
mjr 35:e959ffba78fd 3966
mjr 35:e959ffba78fd 3967 // ---------------------------------------------------------------------------
mjr 35:e959ffba78fd 3968 //
mjr 35:e959ffba78fd 3969 // Translate joystick readings from raw values to reported values, based
mjr 35:e959ffba78fd 3970 // on the orientation of the controller card in the cabinet.
mjr 35:e959ffba78fd 3971 //
mjr 35:e959ffba78fd 3972 void accelRotate(int &x, int &y)
mjr 35:e959ffba78fd 3973 {
mjr 35:e959ffba78fd 3974 int tmp;
mjr 35:e959ffba78fd 3975 switch (cfg.orientation)
mjr 35:e959ffba78fd 3976 {
mjr 35:e959ffba78fd 3977 case OrientationFront:
mjr 35:e959ffba78fd 3978 tmp = x;
mjr 35:e959ffba78fd 3979 x = y;
mjr 35:e959ffba78fd 3980 y = tmp;
mjr 35:e959ffba78fd 3981 break;
mjr 35:e959ffba78fd 3982
mjr 35:e959ffba78fd 3983 case OrientationLeft:
mjr 35:e959ffba78fd 3984 x = -x;
mjr 35:e959ffba78fd 3985 break;
mjr 35:e959ffba78fd 3986
mjr 35:e959ffba78fd 3987 case OrientationRight:
mjr 35:e959ffba78fd 3988 y = -y;
mjr 35:e959ffba78fd 3989 break;
mjr 35:e959ffba78fd 3990
mjr 35:e959ffba78fd 3991 case OrientationRear:
mjr 35:e959ffba78fd 3992 tmp = -x;
mjr 35:e959ffba78fd 3993 x = -y;
mjr 35:e959ffba78fd 3994 y = tmp;
mjr 35:e959ffba78fd 3995 break;
mjr 35:e959ffba78fd 3996 }
mjr 35:e959ffba78fd 3997 }
mjr 35:e959ffba78fd 3998
mjr 35:e959ffba78fd 3999 // ---------------------------------------------------------------------------
mjr 35:e959ffba78fd 4000 //
mjr 35:e959ffba78fd 4001 // Calibration button state:
mjr 35:e959ffba78fd 4002 // 0 = not pushed
mjr 35:e959ffba78fd 4003 // 1 = pushed, not yet debounced
mjr 35:e959ffba78fd 4004 // 2 = pushed, debounced, waiting for hold time
mjr 35:e959ffba78fd 4005 // 3 = pushed, hold time completed - in calibration mode
mjr 35:e959ffba78fd 4006 int calBtnState = 0;
mjr 35:e959ffba78fd 4007
mjr 35:e959ffba78fd 4008 // calibration button debounce timer
mjr 35:e959ffba78fd 4009 Timer calBtnTimer;
mjr 35:e959ffba78fd 4010
mjr 35:e959ffba78fd 4011 // calibration button light state
mjr 35:e959ffba78fd 4012 int calBtnLit = false;
mjr 35:e959ffba78fd 4013
mjr 35:e959ffba78fd 4014
mjr 35:e959ffba78fd 4015 // ---------------------------------------------------------------------------
mjr 35:e959ffba78fd 4016 //
mjr 40:cc0d9814522b 4017 // Configuration variable get/set message handling
mjr 35:e959ffba78fd 4018 //
mjr 40:cc0d9814522b 4019
mjr 40:cc0d9814522b 4020 // Handle SET messages - write configuration variables from USB message data
mjr 40:cc0d9814522b 4021 #define if_msg_valid(test) if (test)
mjr 53:9b2611964afc 4022 #define v_byte(var, ofs) cfg.var = data[ofs]
mjr 53:9b2611964afc 4023 #define v_ui16(var, ofs) cfg.var = wireUI16(data+(ofs))
mjr 53:9b2611964afc 4024 #define v_pin(var, ofs) cfg.var = wirePinName(data[ofs])
mjr 53:9b2611964afc 4025 #define v_byte_ro(val, ofs) // ignore read-only variables on SET
mjr 40:cc0d9814522b 4026 #define v_func configVarSet
mjr 40:cc0d9814522b 4027 #include "cfgVarMsgMap.h"
mjr 35:e959ffba78fd 4028
mjr 40:cc0d9814522b 4029 // redefine everything for the SET messages
mjr 40:cc0d9814522b 4030 #undef if_msg_valid
mjr 40:cc0d9814522b 4031 #undef v_byte
mjr 40:cc0d9814522b 4032 #undef v_ui16
mjr 40:cc0d9814522b 4033 #undef v_pin
mjr 53:9b2611964afc 4034 #undef v_byte_ro
mjr 40:cc0d9814522b 4035 #undef v_func
mjr 38:091e511ce8a0 4036
mjr 40:cc0d9814522b 4037 // Handle GET messages - read variable values and return in USB message daa
mjr 40:cc0d9814522b 4038 #define if_msg_valid(test)
mjr 53:9b2611964afc 4039 #define v_byte(var, ofs) data[ofs] = cfg.var
mjr 53:9b2611964afc 4040 #define v_ui16(var, ofs) ui16Wire(data+(ofs), cfg.var)
mjr 53:9b2611964afc 4041 #define v_pin(var, ofs) pinNameWire(data+(ofs), cfg.var)
mjr 53:9b2611964afc 4042 #define v_byte_ro(val, ofs) data[ofs] = val
mjr 40:cc0d9814522b 4043 #define v_func configVarGet
mjr 40:cc0d9814522b 4044 #include "cfgVarMsgMap.h"
mjr 40:cc0d9814522b 4045
mjr 35:e959ffba78fd 4046
mjr 35:e959ffba78fd 4047 // ---------------------------------------------------------------------------
mjr 35:e959ffba78fd 4048 //
mjr 35:e959ffba78fd 4049 // Handle an input report from the USB host. Input reports use our extended
mjr 35:e959ffba78fd 4050 // LedWiz protocol.
mjr 33:d832bcab089e 4051 //
mjr 48:058ace2aed1d 4052 void handleInputMsg(LedWizMsg &lwm, USBJoystick &js)
mjr 35:e959ffba78fd 4053 {
mjr 38:091e511ce8a0 4054 // LedWiz commands come in two varieties: SBA and PBA. An
mjr 38:091e511ce8a0 4055 // SBA is marked by the first byte having value 64 (0x40). In
mjr 38:091e511ce8a0 4056 // the real LedWiz protocol, any other value in the first byte
mjr 38:091e511ce8a0 4057 // means it's a PBA message. However, *valid* PBA messages
mjr 38:091e511ce8a0 4058 // always have a first byte (and in fact all 8 bytes) in the
mjr 38:091e511ce8a0 4059 // range 0-49 or 129-132. Anything else is invalid. We take
mjr 38:091e511ce8a0 4060 // advantage of this to implement private protocol extensions.
mjr 38:091e511ce8a0 4061 // So our full protocol is as follows:
mjr 38:091e511ce8a0 4062 //
mjr 38:091e511ce8a0 4063 // first byte =
mjr 38:091e511ce8a0 4064 // 0-48 -> LWZ-PBA
mjr 38:091e511ce8a0 4065 // 64 -> LWZ SBA
mjr 38:091e511ce8a0 4066 // 65 -> private control message; second byte specifies subtype
mjr 38:091e511ce8a0 4067 // 129-132 -> LWZ-PBA
mjr 38:091e511ce8a0 4068 // 200-228 -> extended bank brightness set for outputs N to N+6, where
mjr 38:091e511ce8a0 4069 // N is (first byte - 200)*7
mjr 38:091e511ce8a0 4070 // other -> reserved for future use
mjr 38:091e511ce8a0 4071 //
mjr 39:b3815a1c3802 4072 uint8_t *data = lwm.data;
mjr 38:091e511ce8a0 4073 if (data[0] == 64)
mjr 35:e959ffba78fd 4074 {
mjr 38:091e511ce8a0 4075 // LWZ-SBA - first four bytes are bit-packed on/off flags
mjr 38:091e511ce8a0 4076 // for the outputs; 5th byte is the pulse speed (1-7)
mjr 38:091e511ce8a0 4077 //printf("LWZ-SBA %02x %02x %02x %02x ; %02x\r\n",
mjr 38:091e511ce8a0 4078 // data[1], data[2], data[3], data[4], data[5]);
mjr 38:091e511ce8a0 4079
mjr 63:5cd1a5f3a41b 4080 // switch to LedWiz protocol mode
mjr 63:5cd1a5f3a41b 4081 ledWizMode = true;
mjr 63:5cd1a5f3a41b 4082
mjr 38:091e511ce8a0 4083 // update all on/off states
mjr 38:091e511ce8a0 4084 for (int i = 0, bit = 1, ri = 1 ; i < numLwOutputs ; ++i, bit <<= 1)
mjr 35:e959ffba78fd 4085 {
mjr 38:091e511ce8a0 4086 // figure the on/off state bit for this output
mjr 38:091e511ce8a0 4087 if (bit == 0x100) {
mjr 38:091e511ce8a0 4088 bit = 1;
mjr 38:091e511ce8a0 4089 ++ri;
mjr 35:e959ffba78fd 4090 }
mjr 35:e959ffba78fd 4091
mjr 38:091e511ce8a0 4092 // set the on/off state
mjr 38:091e511ce8a0 4093 wizOn[i] = ((data[ri] & bit) != 0);
mjr 38:091e511ce8a0 4094 }
mjr 38:091e511ce8a0 4095
mjr 38:091e511ce8a0 4096 // set the flash speed - enforce the value range 1-7
mjr 38:091e511ce8a0 4097 wizSpeed = data[5];
mjr 38:091e511ce8a0 4098 if (wizSpeed < 1)
mjr 38:091e511ce8a0 4099 wizSpeed = 1;
mjr 38:091e511ce8a0 4100 else if (wizSpeed > 7)
mjr 38:091e511ce8a0 4101 wizSpeed = 7;
mjr 38:091e511ce8a0 4102
mjr 38:091e511ce8a0 4103 // update the physical outputs
mjr 38:091e511ce8a0 4104 updateWizOuts();
mjr 38:091e511ce8a0 4105 if (hc595 != 0)
mjr 38:091e511ce8a0 4106 hc595->update();
mjr 38:091e511ce8a0 4107
mjr 38:091e511ce8a0 4108 // reset the PBA counter
mjr 38:091e511ce8a0 4109 pbaIdx = 0;
mjr 38:091e511ce8a0 4110 }
mjr 38:091e511ce8a0 4111 else if (data[0] == 65)
mjr 38:091e511ce8a0 4112 {
mjr 38:091e511ce8a0 4113 // Private control message. This isn't an LedWiz message - it's
mjr 38:091e511ce8a0 4114 // an extension for this device. 65 is an invalid PBA setting,
mjr 38:091e511ce8a0 4115 // and isn't used for any other LedWiz message, so we appropriate
mjr 38:091e511ce8a0 4116 // it for our own private use. The first byte specifies the
mjr 38:091e511ce8a0 4117 // message type.
mjr 39:b3815a1c3802 4118 switch (data[1])
mjr 38:091e511ce8a0 4119 {
mjr 39:b3815a1c3802 4120 case 0:
mjr 39:b3815a1c3802 4121 // No Op
mjr 39:b3815a1c3802 4122 break;
mjr 39:b3815a1c3802 4123
mjr 39:b3815a1c3802 4124 case 1:
mjr 38:091e511ce8a0 4125 // 1 = Old Set Configuration:
mjr 38:091e511ce8a0 4126 // data[2] = LedWiz unit number (0x00 to 0x0f)
mjr 38:091e511ce8a0 4127 // data[3] = feature enable bit mask:
mjr 38:091e511ce8a0 4128 // 0x01 = enable plunger sensor
mjr 39:b3815a1c3802 4129 {
mjr 39:b3815a1c3802 4130
mjr 39:b3815a1c3802 4131 // get the new LedWiz unit number - this is 0-15, whereas we
mjr 39:b3815a1c3802 4132 // we save the *nominal* unit number 1-16 in the config
mjr 39:b3815a1c3802 4133 uint8_t newUnitNo = (data[2] & 0x0f) + 1;
mjr 39:b3815a1c3802 4134
mjr 39:b3815a1c3802 4135 // we'll need a reset if the LedWiz unit number is changing
mjr 39:b3815a1c3802 4136 bool needReset = (newUnitNo != cfg.psUnitNo);
mjr 39:b3815a1c3802 4137
mjr 39:b3815a1c3802 4138 // set the configuration parameters from the message
mjr 39:b3815a1c3802 4139 cfg.psUnitNo = newUnitNo;
mjr 39:b3815a1c3802 4140 cfg.plunger.enabled = data[3] & 0x01;
mjr 39:b3815a1c3802 4141
mjr 39:b3815a1c3802 4142 // save the configuration
mjr 39:b3815a1c3802 4143 saveConfigToFlash();
mjr 39:b3815a1c3802 4144
mjr 39:b3815a1c3802 4145 // reboot if necessary
mjr 39:b3815a1c3802 4146 if (needReset)
mjr 39:b3815a1c3802 4147 reboot(js);
mjr 39:b3815a1c3802 4148 }
mjr 39:b3815a1c3802 4149 break;
mjr 38:091e511ce8a0 4150
mjr 39:b3815a1c3802 4151 case 2:
mjr 38:091e511ce8a0 4152 // 2 = Calibrate plunger
mjr 38:091e511ce8a0 4153 // (No parameters)
mjr 38:091e511ce8a0 4154
mjr 38:091e511ce8a0 4155 // enter calibration mode
mjr 38:091e511ce8a0 4156 calBtnState = 3;
mjr 52:8298b2a73eb2 4157 plungerReader.setCalMode(true);
mjr 38:091e511ce8a0 4158 calBtnTimer.reset();
mjr 39:b3815a1c3802 4159 break;
mjr 39:b3815a1c3802 4160
mjr 39:b3815a1c3802 4161 case 3:
mjr 52:8298b2a73eb2 4162 // 3 = plunger sensor status report
mjr 48:058ace2aed1d 4163 // data[2] = flag bits
mjr 53:9b2611964afc 4164 // data[3] = extra exposure time, 100us (.1ms) increments
mjr 52:8298b2a73eb2 4165 reportPlungerStat = true;
mjr 53:9b2611964afc 4166 reportPlungerStatFlags = data[2];
mjr 53:9b2611964afc 4167 reportPlungerStatTime = data[3];
mjr 38:091e511ce8a0 4168
mjr 38:091e511ce8a0 4169 // show purple until we finish sending the report
mjr 38:091e511ce8a0 4170 diagLED(1, 0, 1);
mjr 39:b3815a1c3802 4171 break;
mjr 39:b3815a1c3802 4172
mjr 39:b3815a1c3802 4173 case 4:
mjr 38:091e511ce8a0 4174 // 4 = hardware configuration query
mjr 38:091e511ce8a0 4175 // (No parameters)
mjr 38:091e511ce8a0 4176 js.reportConfig(
mjr 38:091e511ce8a0 4177 numOutputs,
mjr 38:091e511ce8a0 4178 cfg.psUnitNo - 1, // report 0-15 range for unit number (we store 1-16 internally)
mjr 52:8298b2a73eb2 4179 cfg.plunger.cal.zero, cfg.plunger.cal.max, cfg.plunger.cal.tRelease,
mjr 40:cc0d9814522b 4180 nvm.valid());
mjr 39:b3815a1c3802 4181 break;
mjr 39:b3815a1c3802 4182
mjr 39:b3815a1c3802 4183 case 5:
mjr 38:091e511ce8a0 4184 // 5 = all outputs off, reset to LedWiz defaults
mjr 38:091e511ce8a0 4185 allOutputsOff();
mjr 39:b3815a1c3802 4186 break;
mjr 39:b3815a1c3802 4187
mjr 39:b3815a1c3802 4188 case 6:
mjr 38:091e511ce8a0 4189 // 6 = Save configuration to flash.
mjr 38:091e511ce8a0 4190 saveConfigToFlash();
mjr 38:091e511ce8a0 4191
mjr 53:9b2611964afc 4192 // before disconnecting, pause for the delay time specified in
mjr 53:9b2611964afc 4193 // the parameter byte (in seconds)
mjr 53:9b2611964afc 4194 rebootTime_us = data[2] * 1000000L;
mjr 53:9b2611964afc 4195 rebootTimer.start();
mjr 39:b3815a1c3802 4196 break;
mjr 40:cc0d9814522b 4197
mjr 40:cc0d9814522b 4198 case 7:
mjr 40:cc0d9814522b 4199 // 7 = Device ID report
mjr 53:9b2611964afc 4200 // data[2] = ID index: 1=CPU ID, 2=OpenSDA TUID
mjr 53:9b2611964afc 4201 js.reportID(data[2]);
mjr 40:cc0d9814522b 4202 break;
mjr 40:cc0d9814522b 4203
mjr 40:cc0d9814522b 4204 case 8:
mjr 40:cc0d9814522b 4205 // 8 = Engage/disengage night mode.
mjr 40:cc0d9814522b 4206 // data[2] = 1 to engage, 0 to disengage
mjr 40:cc0d9814522b 4207 setNightMode(data[2]);
mjr 40:cc0d9814522b 4208 break;
mjr 52:8298b2a73eb2 4209
mjr 52:8298b2a73eb2 4210 case 9:
mjr 52:8298b2a73eb2 4211 // 9 = Config variable query.
mjr 52:8298b2a73eb2 4212 // data[2] = config var ID
mjr 52:8298b2a73eb2 4213 // data[3] = array index (for array vars: button assignments, output ports)
mjr 52:8298b2a73eb2 4214 {
mjr 53:9b2611964afc 4215 // set up the reply buffer with the variable ID data, and zero out
mjr 53:9b2611964afc 4216 // the rest of the buffer
mjr 52:8298b2a73eb2 4217 uint8_t reply[8];
mjr 52:8298b2a73eb2 4218 reply[1] = data[2];
mjr 52:8298b2a73eb2 4219 reply[2] = data[3];
mjr 53:9b2611964afc 4220 memset(reply+3, 0, sizeof(reply)-3);
mjr 52:8298b2a73eb2 4221
mjr 52:8298b2a73eb2 4222 // query the value
mjr 52:8298b2a73eb2 4223 configVarGet(reply);
mjr 52:8298b2a73eb2 4224
mjr 52:8298b2a73eb2 4225 // send the reply
mjr 52:8298b2a73eb2 4226 js.reportConfigVar(reply + 1);
mjr 52:8298b2a73eb2 4227 }
mjr 52:8298b2a73eb2 4228 break;
mjr 53:9b2611964afc 4229
mjr 53:9b2611964afc 4230 case 10:
mjr 53:9b2611964afc 4231 // 10 = Build ID query.
mjr 53:9b2611964afc 4232 js.reportBuildInfo(getBuildID());
mjr 53:9b2611964afc 4233 break;
mjr 38:091e511ce8a0 4234 }
mjr 38:091e511ce8a0 4235 }
mjr 38:091e511ce8a0 4236 else if (data[0] == 66)
mjr 38:091e511ce8a0 4237 {
mjr 38:091e511ce8a0 4238 // Extended protocol - Set configuration variable.
mjr 38:091e511ce8a0 4239 // The second byte of the message is the ID of the variable
mjr 38:091e511ce8a0 4240 // to update, and the remaining bytes give the new value,
mjr 38:091e511ce8a0 4241 // in a variable-dependent format.
mjr 40:cc0d9814522b 4242 configVarSet(data);
mjr 38:091e511ce8a0 4243 }
mjr 38:091e511ce8a0 4244 else if (data[0] >= 200 && data[0] <= 228)
mjr 38:091e511ce8a0 4245 {
mjr 38:091e511ce8a0 4246 // Extended protocol - Extended output port brightness update.
mjr 38:091e511ce8a0 4247 // data[0]-200 gives us the bank of 7 outputs we're setting:
mjr 38:091e511ce8a0 4248 // 200 is outputs 0-6, 201 is outputs 7-13, 202 is 14-20, etc.
mjr 38:091e511ce8a0 4249 // The remaining bytes are brightness levels, 0-255, for the
mjr 38:091e511ce8a0 4250 // seven outputs in the selected bank. The LedWiz flashing
mjr 38:091e511ce8a0 4251 // modes aren't accessible in this message type; we can only
mjr 38:091e511ce8a0 4252 // set a fixed brightness, but in exchange we get 8-bit
mjr 38:091e511ce8a0 4253 // resolution rather than the paltry 0-48 scale that the real
mjr 38:091e511ce8a0 4254 // LedWiz uses. There's no separate on/off status for outputs
mjr 38:091e511ce8a0 4255 // adjusted with this message type, either, as there would be
mjr 38:091e511ce8a0 4256 // for a PBA message - setting a non-zero value immediately
mjr 38:091e511ce8a0 4257 // turns the output, overriding the last SBA setting.
mjr 38:091e511ce8a0 4258 //
mjr 38:091e511ce8a0 4259 // For outputs 0-31, this overrides any previous PBA/SBA
mjr 38:091e511ce8a0 4260 // settings for the port. Any subsequent PBA/SBA message will
mjr 38:091e511ce8a0 4261 // in turn override the setting made here. It's simple - the
mjr 38:091e511ce8a0 4262 // most recent message of either type takes precedence. For
mjr 38:091e511ce8a0 4263 // outputs above the LedWiz range, PBA/SBA messages can't
mjr 38:091e511ce8a0 4264 // address those ports anyway.
mjr 63:5cd1a5f3a41b 4265
mjr 63:5cd1a5f3a41b 4266 // flag that we're in extended protocol mode
mjr 63:5cd1a5f3a41b 4267 ledWizMode = false;
mjr 63:5cd1a5f3a41b 4268
mjr 63:5cd1a5f3a41b 4269 // figure the block of 7 ports covered in the message
mjr 38:091e511ce8a0 4270 int i0 = (data[0] - 200)*7;
mjr 38:091e511ce8a0 4271 int i1 = i0 + 7 < numOutputs ? i0 + 7 : numOutputs;
mjr 63:5cd1a5f3a41b 4272
mjr 63:5cd1a5f3a41b 4273 // update each port
mjr 38:091e511ce8a0 4274 for (int i = i0 ; i < i1 ; ++i)
mjr 38:091e511ce8a0 4275 {
mjr 38:091e511ce8a0 4276 // set the brightness level for the output
mjr 40:cc0d9814522b 4277 uint8_t b = data[i-i0+1];
mjr 38:091e511ce8a0 4278 outLevel[i] = b;
mjr 38:091e511ce8a0 4279
mjr 38:091e511ce8a0 4280 // set the output
mjr 40:cc0d9814522b 4281 lwPin[i]->set(b);
mjr 38:091e511ce8a0 4282 }
mjr 38:091e511ce8a0 4283
mjr 38:091e511ce8a0 4284 // update 74HC595 outputs, if attached
mjr 38:091e511ce8a0 4285 if (hc595 != 0)
mjr 38:091e511ce8a0 4286 hc595->update();
mjr 38:091e511ce8a0 4287 }
mjr 38:091e511ce8a0 4288 else
mjr 38:091e511ce8a0 4289 {
mjr 38:091e511ce8a0 4290 // Everything else is LWZ-PBA. This is a full "profile"
mjr 38:091e511ce8a0 4291 // dump from the host for one bank of 8 outputs. Each
mjr 38:091e511ce8a0 4292 // byte sets one output in the current bank. The current
mjr 38:091e511ce8a0 4293 // bank is implied; the bank starts at 0 and is reset to 0
mjr 38:091e511ce8a0 4294 // by any LWZ-SBA message, and is incremented to the next
mjr 38:091e511ce8a0 4295 // bank by each LWZ-PBA message. Our variable pbaIdx keeps
mjr 38:091e511ce8a0 4296 // track of our notion of the current bank. There's no direct
mjr 38:091e511ce8a0 4297 // way for the host to select the bank; it just has to count
mjr 38:091e511ce8a0 4298 // on us staying in sync. In practice, the host will always
mjr 38:091e511ce8a0 4299 // send a full set of 4 PBA messages in a row to set all 32
mjr 38:091e511ce8a0 4300 // outputs.
mjr 38:091e511ce8a0 4301 //
mjr 38:091e511ce8a0 4302 // Note that a PBA implicitly overrides our extended profile
mjr 38:091e511ce8a0 4303 // messages (message prefix 200-219), because this sets the
mjr 38:091e511ce8a0 4304 // wizVal[] entry for each output, and that takes precedence
mjr 63:5cd1a5f3a41b 4305 // over the extended protocol settings when we're in LedWiz
mjr 63:5cd1a5f3a41b 4306 // protocol mode.
mjr 38:091e511ce8a0 4307 //
mjr 38:091e511ce8a0 4308 //printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n",
mjr 38:091e511ce8a0 4309 // pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
mjr 38:091e511ce8a0 4310
mjr 63:5cd1a5f3a41b 4311 // flag that we received an LedWiz message
mjr 63:5cd1a5f3a41b 4312 ledWizMode = true;
mjr 63:5cd1a5f3a41b 4313
mjr 38:091e511ce8a0 4314 // Update all output profile settings
mjr 38:091e511ce8a0 4315 for (int i = 0 ; i < 8 ; ++i)
mjr 38:091e511ce8a0 4316 wizVal[pbaIdx + i] = data[i];
mjr 38:091e511ce8a0 4317
mjr 38:091e511ce8a0 4318 // Update the physical LED state if this is the last bank.
mjr 38:091e511ce8a0 4319 // Note that hosts always send a full set of four PBA
mjr 38:091e511ce8a0 4320 // messages, so there's no need to do a physical update
mjr 38:091e511ce8a0 4321 // until we've received the last bank's PBA message.
mjr 38:091e511ce8a0 4322 if (pbaIdx == 24)
mjr 38:091e511ce8a0 4323 {
mjr 35:e959ffba78fd 4324 updateWizOuts();
mjr 35:e959ffba78fd 4325 if (hc595 != 0)
mjr 35:e959ffba78fd 4326 hc595->update();
mjr 35:e959ffba78fd 4327 pbaIdx = 0;
mjr 35:e959ffba78fd 4328 }
mjr 38:091e511ce8a0 4329 else
mjr 38:091e511ce8a0 4330 pbaIdx += 8;
mjr 38:091e511ce8a0 4331 }
mjr 38:091e511ce8a0 4332 }
mjr 35:e959ffba78fd 4333
mjr 33:d832bcab089e 4334
mjr 38:091e511ce8a0 4335 // ---------------------------------------------------------------------------
mjr 38:091e511ce8a0 4336 //
mjr 5:a70c0bce770d 4337 // Main program loop. This is invoked on startup and runs forever. Our
mjr 5:a70c0bce770d 4338 // main work is to read our devices (the accelerometer and the CCD), process
mjr 5:a70c0bce770d 4339 // the readings into nudge and plunger position data, and send the results
mjr 5:a70c0bce770d 4340 // to the host computer via the USB joystick interface. We also monitor
mjr 5:a70c0bce770d 4341 // the USB connection for incoming LedWiz commands and process those into
mjr 5:a70c0bce770d 4342 // port outputs.
mjr 5:a70c0bce770d 4343 //
mjr 0:5acbbe3f4cf4 4344 int main(void)
mjr 0:5acbbe3f4cf4 4345 {
mjr 60:f38da020aa13 4346 // say hello to the debug console, in case it's connected
mjr 39:b3815a1c3802 4347 printf("\r\nPinscape Controller starting\r\n");
mjr 60:f38da020aa13 4348
mjr 60:f38da020aa13 4349 // debugging: print memory config info
mjr 59:94eb9265b6d7 4350 // -> no longer very useful, since we use our own custom malloc/new allocator (see xmalloc() above)
mjr 60:f38da020aa13 4351 // {int *a = new int; printf("Stack=%lx, heap=%lx, free=%ld\r\n", (long)&a, (long)a, (long)&a - (long)a);}
mjr 1:d913e0afb2ac 4352
mjr 39:b3815a1c3802 4353 // clear the I2C bus (for the accelerometer)
mjr 35:e959ffba78fd 4354 clear_i2c();
mjr 38:091e511ce8a0 4355
mjr 43:7a6364d82a41 4356 // load the saved configuration (or set factory defaults if no flash
mjr 43:7a6364d82a41 4357 // configuration has ever been saved)
mjr 35:e959ffba78fd 4358 loadConfigFromFlash();
mjr 35:e959ffba78fd 4359
mjr 38:091e511ce8a0 4360 // initialize the diagnostic LEDs
mjr 38:091e511ce8a0 4361 initDiagLEDs(cfg);
mjr 38:091e511ce8a0 4362
mjr 33:d832bcab089e 4363 // we're not connected/awake yet
mjr 33:d832bcab089e 4364 bool connected = false;
mjr 40:cc0d9814522b 4365 Timer connectChangeTimer;
mjr 33:d832bcab089e 4366
mjr 35:e959ffba78fd 4367 // create the plunger sensor interface
mjr 35:e959ffba78fd 4368 createPlunger();
mjr 33:d832bcab089e 4369
mjr 60:f38da020aa13 4370 // set up the TLC5940 interface, if these chips are present
mjr 35:e959ffba78fd 4371 init_tlc5940(cfg);
mjr 34:6b981a2afab7 4372
mjr 60:f38da020aa13 4373 // set up 74HC595 interface, if these chips are present
mjr 35:e959ffba78fd 4374 init_hc595(cfg);
mjr 6:cc35eb643e8f 4375
mjr 54:fd77a6b2f76c 4376 // Initialize the LedWiz ports. Note that the ordering here is important:
mjr 54:fd77a6b2f76c 4377 // this has to come after we create the TLC5940 and 74HC595 object instances
mjr 54:fd77a6b2f76c 4378 // (which we just did above), since we need to access those objects to set
mjr 54:fd77a6b2f76c 4379 // up ports assigned to the respective chips.
mjr 35:e959ffba78fd 4380 initLwOut(cfg);
mjr 48:058ace2aed1d 4381
mjr 60:f38da020aa13 4382 // start the TLC5940 refresh cycle clock
mjr 35:e959ffba78fd 4383 if (tlc5940 != 0)
mjr 35:e959ffba78fd 4384 tlc5940->start();
mjr 35:e959ffba78fd 4385
mjr 40:cc0d9814522b 4386 // start the TV timer, if applicable
mjr 40:cc0d9814522b 4387 startTVTimer(cfg);
mjr 48:058ace2aed1d 4388
mjr 35:e959ffba78fd 4389 // initialize the button input ports
mjr 35:e959ffba78fd 4390 bool kbKeys = false;
mjr 35:e959ffba78fd 4391 initButtons(cfg, kbKeys);
mjr 38:091e511ce8a0 4392
mjr 60:f38da020aa13 4393 // Create the joystick USB client. Note that the USB vendor/product ID
mjr 60:f38da020aa13 4394 // information comes from the saved configuration. Also note that we have
mjr 60:f38da020aa13 4395 // to wait until after initializing the input buttons (which we just did
mjr 60:f38da020aa13 4396 // above) to set up the interface, since the button setup will determine
mjr 60:f38da020aa13 4397 // whether or not we need to present a USB keyboard interface in addition
mjr 60:f38da020aa13 4398 // to the joystick interface.
mjr 51:57eb311faafa 4399 MyUSBJoystick js(cfg.usbVendorID, cfg.usbProductID, USB_VERSION_NO, false,
mjr 51:57eb311faafa 4400 cfg.joystickEnabled, kbKeys);
mjr 51:57eb311faafa 4401
mjr 60:f38da020aa13 4402 // Wait for the USB connection to start up. Show a distinctive diagnostic
mjr 60:f38da020aa13 4403 // flash pattern while waiting.
mjr 51:57eb311faafa 4404 Timer connectTimer;
mjr 51:57eb311faafa 4405 connectTimer.start();
mjr 51:57eb311faafa 4406 while (!js.configured())
mjr 51:57eb311faafa 4407 {
mjr 51:57eb311faafa 4408 // show one short yellow flash at 2-second intervals
mjr 51:57eb311faafa 4409 if (connectTimer.read_us() > 2000000)
mjr 51:57eb311faafa 4410 {
mjr 51:57eb311faafa 4411 // short yellow flash
mjr 51:57eb311faafa 4412 diagLED(1, 1, 0);
mjr 54:fd77a6b2f76c 4413 wait_us(50000);
mjr 51:57eb311faafa 4414 diagLED(0, 0, 0);
mjr 51:57eb311faafa 4415
mjr 51:57eb311faafa 4416 // reset the flash timer
mjr 51:57eb311faafa 4417 connectTimer.reset();
mjr 51:57eb311faafa 4418 }
mjr 51:57eb311faafa 4419 }
mjr 60:f38da020aa13 4420
mjr 60:f38da020aa13 4421 // we're now connected to the host
mjr 54:fd77a6b2f76c 4422 connected = true;
mjr 40:cc0d9814522b 4423
mjr 60:f38da020aa13 4424 // Last report timer for the joytick interface. We use this timer to
mjr 60:f38da020aa13 4425 // throttle the report rate to a pace that's suitable for VP. Without
mjr 60:f38da020aa13 4426 // any artificial delays, we could generate data to send on the joystick
mjr 60:f38da020aa13 4427 // interface on every loop iteration. The loop iteration time depends
mjr 60:f38da020aa13 4428 // on which devices are attached, since most of the work in our main
mjr 60:f38da020aa13 4429 // loop is simply polling our devices. For typical setups, the loop
mjr 60:f38da020aa13 4430 // time ranges from about 0.25ms to 2.5ms; the biggest factor is the
mjr 60:f38da020aa13 4431 // plunger sensor. But VP polls for input about every 10ms, so there's
mjr 60:f38da020aa13 4432 // no benefit in sending data faster than that, and there's some harm,
mjr 60:f38da020aa13 4433 // in that it creates USB overhead (both on the wire and on the host
mjr 60:f38da020aa13 4434 // CPU). We therefore use this timer to pace our reports to roughly
mjr 60:f38da020aa13 4435 // the VP input polling rate. Note that there's no way to actually
mjr 60:f38da020aa13 4436 // synchronize with VP's polling, but there's also no need to, as the
mjr 60:f38da020aa13 4437 // input model is designed to reflect the overall current state at any
mjr 60:f38da020aa13 4438 // given time rather than events or deltas. If VP polls twice between
mjr 60:f38da020aa13 4439 // two updates, it simply sees no state change; if we send two updates
mjr 60:f38da020aa13 4440 // between VP polls, VP simply sees the latest state when it does get
mjr 60:f38da020aa13 4441 // around to polling.
mjr 38:091e511ce8a0 4442 Timer jsReportTimer;
mjr 38:091e511ce8a0 4443 jsReportTimer.start();
mjr 38:091e511ce8a0 4444
mjr 60:f38da020aa13 4445 // Time since we successfully sent a USB report. This is a hacky
mjr 60:f38da020aa13 4446 // workaround to deal with any remaining sporadic problems in the USB
mjr 60:f38da020aa13 4447 // stack. I've been trying to bulletproof the USB code over time to
mjr 60:f38da020aa13 4448 // remove all such problems at their source, but it seems unlikely that
mjr 60:f38da020aa13 4449 // we'll ever get them all. Thus this hack. The idea here is that if
mjr 60:f38da020aa13 4450 // we go too long without successfully sending a USB report, we'll
mjr 60:f38da020aa13 4451 // assume that the connection is broken (and the KL25Z USB hardware
mjr 60:f38da020aa13 4452 // hasn't noticed this), and we'll try taking measures to recover.
mjr 38:091e511ce8a0 4453 Timer jsOKTimer;
mjr 38:091e511ce8a0 4454 jsOKTimer.start();
mjr 35:e959ffba78fd 4455
mjr 55:4db125cd11a0 4456 // Initialize the calibration button and lamp, if enabled. To be enabled,
mjr 55:4db125cd11a0 4457 // the pin has to be assigned to something other than NC (0xFF), AND the
mjr 55:4db125cd11a0 4458 // corresponding feature enable flag has to be set.
mjr 55:4db125cd11a0 4459 DigitalIn *calBtn = 0;
mjr 55:4db125cd11a0 4460 DigitalOut *calBtnLed = 0;
mjr 55:4db125cd11a0 4461
mjr 55:4db125cd11a0 4462 // calibration button input - feature flag 0x01
mjr 55:4db125cd11a0 4463 if ((cfg.plunger.cal.features & 0x01) && cfg.plunger.cal.btn != 0xFF)
mjr 55:4db125cd11a0 4464 calBtn = new DigitalIn(wirePinName(cfg.plunger.cal.btn));
mjr 55:4db125cd11a0 4465
mjr 55:4db125cd11a0 4466 // calibration button indicator lamp output - feature flag 0x02
mjr 55:4db125cd11a0 4467 if ((cfg.plunger.cal.features & 0x02) && cfg.plunger.cal.led != 0xFF)
mjr 55:4db125cd11a0 4468 calBtnLed = new DigitalOut(wirePinName(cfg.plunger.cal.led));
mjr 6:cc35eb643e8f 4469
mjr 35:e959ffba78fd 4470 // initialize the calibration button
mjr 1:d913e0afb2ac 4471 calBtnTimer.start();
mjr 35:e959ffba78fd 4472 calBtnState = 0;
mjr 1:d913e0afb2ac 4473
mjr 1:d913e0afb2ac 4474 // set up a timer for our heartbeat indicator
mjr 1:d913e0afb2ac 4475 Timer hbTimer;
mjr 1:d913e0afb2ac 4476 hbTimer.start();
mjr 1:d913e0afb2ac 4477 int hb = 0;
mjr 5:a70c0bce770d 4478 uint16_t hbcnt = 0;
mjr 1:d913e0afb2ac 4479
mjr 1:d913e0afb2ac 4480 // set a timer for accelerometer auto-centering
mjr 1:d913e0afb2ac 4481 Timer acTimer;
mjr 1:d913e0afb2ac 4482 acTimer.start();
mjr 1:d913e0afb2ac 4483
mjr 0:5acbbe3f4cf4 4484 // create the accelerometer object
mjr 5:a70c0bce770d 4485 Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS, MMA8451_INT_PIN);
mjr 48:058ace2aed1d 4486
mjr 17:ab3cec0c8bf4 4487 // last accelerometer report, in joystick units (we report the nudge
mjr 17:ab3cec0c8bf4 4488 // acceleration via the joystick x & y axes, per the VP convention)
mjr 17:ab3cec0c8bf4 4489 int x = 0, y = 0;
mjr 17:ab3cec0c8bf4 4490
mjr 48:058ace2aed1d 4491 // initialize the plunger sensor
mjr 35:e959ffba78fd 4492 plungerSensor->init();
mjr 10:976666ffa4ef 4493
mjr 48:058ace2aed1d 4494 // set up the ZB Launch Ball monitor
mjr 48:058ace2aed1d 4495 ZBLaunchBall zbLaunchBall;
mjr 48:058ace2aed1d 4496
mjr 54:fd77a6b2f76c 4497 // enable the peripheral chips
mjr 54:fd77a6b2f76c 4498 if (tlc5940 != 0)
mjr 54:fd77a6b2f76c 4499 tlc5940->enable(true);
mjr 54:fd77a6b2f76c 4500 if (hc595 != 0)
mjr 54:fd77a6b2f76c 4501 hc595->enable(true);
mjr 43:7a6364d82a41 4502
mjr 1:d913e0afb2ac 4503 // we're all set up - now just loop, processing sensor reports and
mjr 1:d913e0afb2ac 4504 // host requests
mjr 0:5acbbe3f4cf4 4505 for (;;)
mjr 0:5acbbe3f4cf4 4506 {
mjr 48:058ace2aed1d 4507 // Process incoming reports on the joystick interface. The joystick
mjr 48:058ace2aed1d 4508 // "out" (receive) endpoint is used for LedWiz commands and our
mjr 48:058ace2aed1d 4509 // extended protocol commands. Limit processing time to 5ms to
mjr 48:058ace2aed1d 4510 // ensure we don't starve the input side.
mjr 39:b3815a1c3802 4511 LedWizMsg lwm;
mjr 48:058ace2aed1d 4512 Timer lwt;
mjr 48:058ace2aed1d 4513 lwt.start();
mjr 48:058ace2aed1d 4514 while (js.readLedWizMsg(lwm) && lwt.read_us() < 5000)
mjr 48:058ace2aed1d 4515 handleInputMsg(lwm, js);
mjr 55:4db125cd11a0 4516
mjr 55:4db125cd11a0 4517 // send TLC5940 data updates if applicable
mjr 55:4db125cd11a0 4518 if (tlc5940 != 0)
mjr 55:4db125cd11a0 4519 tlc5940->send();
mjr 1:d913e0afb2ac 4520
mjr 1:d913e0afb2ac 4521 // check for plunger calibration
mjr 17:ab3cec0c8bf4 4522 if (calBtn != 0 && !calBtn->read())
mjr 0:5acbbe3f4cf4 4523 {
mjr 1:d913e0afb2ac 4524 // check the state
mjr 1:d913e0afb2ac 4525 switch (calBtnState)
mjr 0:5acbbe3f4cf4 4526 {
mjr 1:d913e0afb2ac 4527 case 0:
mjr 1:d913e0afb2ac 4528 // button not yet pushed - start debouncing
mjr 1:d913e0afb2ac 4529 calBtnTimer.reset();
mjr 1:d913e0afb2ac 4530 calBtnState = 1;
mjr 1:d913e0afb2ac 4531 break;
mjr 1:d913e0afb2ac 4532
mjr 1:d913e0afb2ac 4533 case 1:
mjr 1:d913e0afb2ac 4534 // pushed, not yet debounced - if the debounce time has
mjr 1:d913e0afb2ac 4535 // passed, start the hold period
mjr 48:058ace2aed1d 4536 if (calBtnTimer.read_us() > 50000)
mjr 1:d913e0afb2ac 4537 calBtnState = 2;
mjr 1:d913e0afb2ac 4538 break;
mjr 1:d913e0afb2ac 4539
mjr 1:d913e0afb2ac 4540 case 2:
mjr 1:d913e0afb2ac 4541 // in the hold period - if the button has been held down
mjr 1:d913e0afb2ac 4542 // for the entire hold period, move to calibration mode
mjr 48:058ace2aed1d 4543 if (calBtnTimer.read_us() > 2050000)
mjr 1:d913e0afb2ac 4544 {
mjr 1:d913e0afb2ac 4545 // enter calibration mode
mjr 1:d913e0afb2ac 4546 calBtnState = 3;
mjr 9:fd65b0a94720 4547 calBtnTimer.reset();
mjr 35:e959ffba78fd 4548
mjr 44:b5ac89b9cd5d 4549 // begin the plunger calibration limits
mjr 52:8298b2a73eb2 4550 plungerReader.setCalMode(true);
mjr 1:d913e0afb2ac 4551 }
mjr 1:d913e0afb2ac 4552 break;
mjr 2:c174f9ee414a 4553
mjr 2:c174f9ee414a 4554 case 3:
mjr 9:fd65b0a94720 4555 // Already in calibration mode - pushing the button here
mjr 9:fd65b0a94720 4556 // doesn't change the current state, but we won't leave this
mjr 9:fd65b0a94720 4557 // state as long as it's held down. So nothing changes here.
mjr 2:c174f9ee414a 4558 break;
mjr 0:5acbbe3f4cf4 4559 }
mjr 0:5acbbe3f4cf4 4560 }
mjr 1:d913e0afb2ac 4561 else
mjr 1:d913e0afb2ac 4562 {
mjr 2:c174f9ee414a 4563 // Button released. If we're in calibration mode, and
mjr 2:c174f9ee414a 4564 // the calibration time has elapsed, end the calibration
mjr 2:c174f9ee414a 4565 // and save the results to flash.
mjr 2:c174f9ee414a 4566 //
mjr 2:c174f9ee414a 4567 // Otherwise, return to the base state without saving anything.
mjr 2:c174f9ee414a 4568 // If the button is released before we make it to calibration
mjr 2:c174f9ee414a 4569 // mode, it simply cancels the attempt.
mjr 48:058ace2aed1d 4570 if (calBtnState == 3 && calBtnTimer.read_us() > 15000000)
mjr 2:c174f9ee414a 4571 {
mjr 2:c174f9ee414a 4572 // exit calibration mode
mjr 1:d913e0afb2ac 4573 calBtnState = 0;
mjr 52:8298b2a73eb2 4574 plungerReader.setCalMode(false);
mjr 2:c174f9ee414a 4575
mjr 6:cc35eb643e8f 4576 // save the updated configuration
mjr 35:e959ffba78fd 4577 cfg.plunger.cal.calibrated = 1;
mjr 35:e959ffba78fd 4578 saveConfigToFlash();
mjr 2:c174f9ee414a 4579 }
mjr 2:c174f9ee414a 4580 else if (calBtnState != 3)
mjr 2:c174f9ee414a 4581 {
mjr 2:c174f9ee414a 4582 // didn't make it to calibration mode - cancel the operation
mjr 1:d913e0afb2ac 4583 calBtnState = 0;
mjr 2:c174f9ee414a 4584 }
mjr 1:d913e0afb2ac 4585 }
mjr 1:d913e0afb2ac 4586
mjr 1:d913e0afb2ac 4587 // light/flash the calibration button light, if applicable
mjr 1:d913e0afb2ac 4588 int newCalBtnLit = calBtnLit;
mjr 1:d913e0afb2ac 4589 switch (calBtnState)
mjr 0:5acbbe3f4cf4 4590 {
mjr 1:d913e0afb2ac 4591 case 2:
mjr 1:d913e0afb2ac 4592 // in the hold period - flash the light
mjr 48:058ace2aed1d 4593 newCalBtnLit = ((calBtnTimer.read_us()/250000) & 1);
mjr 1:d913e0afb2ac 4594 break;
mjr 1:d913e0afb2ac 4595
mjr 1:d913e0afb2ac 4596 case 3:
mjr 1:d913e0afb2ac 4597 // calibration mode - show steady on
mjr 1:d913e0afb2ac 4598 newCalBtnLit = true;
mjr 1:d913e0afb2ac 4599 break;
mjr 1:d913e0afb2ac 4600
mjr 1:d913e0afb2ac 4601 default:
mjr 1:d913e0afb2ac 4602 // not calibrating/holding - show steady off
mjr 1:d913e0afb2ac 4603 newCalBtnLit = false;
mjr 1:d913e0afb2ac 4604 break;
mjr 1:d913e0afb2ac 4605 }
mjr 3:3514575d4f86 4606
mjr 3:3514575d4f86 4607 // light or flash the external calibration button LED, and
mjr 3:3514575d4f86 4608 // do the same with the on-board blue LED
mjr 1:d913e0afb2ac 4609 if (calBtnLit != newCalBtnLit)
mjr 1:d913e0afb2ac 4610 {
mjr 1:d913e0afb2ac 4611 calBtnLit = newCalBtnLit;
mjr 2:c174f9ee414a 4612 if (calBtnLit) {
mjr 17:ab3cec0c8bf4 4613 if (calBtnLed != 0)
mjr 17:ab3cec0c8bf4 4614 calBtnLed->write(1);
mjr 38:091e511ce8a0 4615 diagLED(0, 0, 1); // blue
mjr 2:c174f9ee414a 4616 }
mjr 2:c174f9ee414a 4617 else {
mjr 17:ab3cec0c8bf4 4618 if (calBtnLed != 0)
mjr 17:ab3cec0c8bf4 4619 calBtnLed->write(0);
mjr 38:091e511ce8a0 4620 diagLED(0, 0, 0); // off
mjr 2:c174f9ee414a 4621 }
mjr 1:d913e0afb2ac 4622 }
mjr 35:e959ffba78fd 4623
mjr 48:058ace2aed1d 4624 // read the plunger sensor
mjr 48:058ace2aed1d 4625 plungerReader.read();
mjr 48:058ace2aed1d 4626
mjr 53:9b2611964afc 4627 // update the ZB Launch Ball status
mjr 53:9b2611964afc 4628 zbLaunchBall.update();
mjr 37:ed52738445fc 4629
mjr 53:9b2611964afc 4630 // process button updates
mjr 53:9b2611964afc 4631 processButtons(cfg);
mjr 53:9b2611964afc 4632
mjr 38:091e511ce8a0 4633 // send a keyboard report if we have new data
mjr 37:ed52738445fc 4634 if (kbState.changed)
mjr 37:ed52738445fc 4635 {
mjr 38:091e511ce8a0 4636 // send a keyboard report
mjr 37:ed52738445fc 4637 js.kbUpdate(kbState.data);
mjr 37:ed52738445fc 4638 kbState.changed = false;
mjr 37:ed52738445fc 4639 }
mjr 38:091e511ce8a0 4640
mjr 38:091e511ce8a0 4641 // likewise for the media controller
mjr 37:ed52738445fc 4642 if (mediaState.changed)
mjr 37:ed52738445fc 4643 {
mjr 38:091e511ce8a0 4644 // send a media report
mjr 37:ed52738445fc 4645 js.mediaUpdate(mediaState.data);
mjr 37:ed52738445fc 4646 mediaState.changed = false;
mjr 37:ed52738445fc 4647 }
mjr 38:091e511ce8a0 4648
mjr 38:091e511ce8a0 4649 // flag: did we successfully send a joystick report on this round?
mjr 38:091e511ce8a0 4650 bool jsOK = false;
mjr 55:4db125cd11a0 4651
mjr 55:4db125cd11a0 4652 // figure the current status flags for joystick reports
mjr 55:4db125cd11a0 4653 uint16_t statusFlags =
mjr 55:4db125cd11a0 4654 (cfg.plunger.enabled ? 0x01 : 0x00)
mjr 55:4db125cd11a0 4655 | (nightMode ? 0x02 : 0x00);
mjr 17:ab3cec0c8bf4 4656
mjr 50:40015764bbe6 4657 // If it's been long enough since our last USB status report, send
mjr 50:40015764bbe6 4658 // the new report. VP only polls for input in 10ms intervals, so
mjr 50:40015764bbe6 4659 // there's no benefit in sending reports more frequently than this.
mjr 50:40015764bbe6 4660 // More frequent reporting would only add USB I/O overhead.
mjr 50:40015764bbe6 4661 if (cfg.joystickEnabled && jsReportTimer.read_us() > 10000UL)
mjr 17:ab3cec0c8bf4 4662 {
mjr 17:ab3cec0c8bf4 4663 // read the accelerometer
mjr 17:ab3cec0c8bf4 4664 int xa, ya;
mjr 17:ab3cec0c8bf4 4665 accel.get(xa, ya);
mjr 17:ab3cec0c8bf4 4666
mjr 17:ab3cec0c8bf4 4667 // confine the results to our joystick axis range
mjr 17:ab3cec0c8bf4 4668 if (xa < -JOYMAX) xa = -JOYMAX;
mjr 17:ab3cec0c8bf4 4669 if (xa > JOYMAX) xa = JOYMAX;
mjr 17:ab3cec0c8bf4 4670 if (ya < -JOYMAX) ya = -JOYMAX;
mjr 17:ab3cec0c8bf4 4671 if (ya > JOYMAX) ya = JOYMAX;
mjr 17:ab3cec0c8bf4 4672
mjr 17:ab3cec0c8bf4 4673 // store the updated accelerometer coordinates
mjr 17:ab3cec0c8bf4 4674 x = xa;
mjr 17:ab3cec0c8bf4 4675 y = ya;
mjr 17:ab3cec0c8bf4 4676
mjr 48:058ace2aed1d 4677 // Report the current plunger position unless the plunger is
mjr 48:058ace2aed1d 4678 // disabled, or the ZB Launch Ball signal is on. In either of
mjr 48:058ace2aed1d 4679 // those cases, just report a constant 0 value. ZB Launch Ball
mjr 48:058ace2aed1d 4680 // temporarily disables mechanical plunger reporting because it
mjr 21:5048e16cc9ef 4681 // tells us that the table has a Launch Ball button instead of
mjr 48:058ace2aed1d 4682 // a traditional plunger, so we don't want to confuse VP with
mjr 48:058ace2aed1d 4683 // regular plunger inputs.
mjr 48:058ace2aed1d 4684 int z = plungerReader.getPosition();
mjr 53:9b2611964afc 4685 int zrep = (!cfg.plunger.enabled || zbLaunchOn ? 0 : z);
mjr 35:e959ffba78fd 4686
mjr 35:e959ffba78fd 4687 // rotate X and Y according to the device orientation in the cabinet
mjr 35:e959ffba78fd 4688 accelRotate(x, y);
mjr 35:e959ffba78fd 4689
mjr 35:e959ffba78fd 4690 // send the joystick report
mjr 53:9b2611964afc 4691 jsOK = js.update(x, y, zrep, jsButtons, statusFlags);
mjr 21:5048e16cc9ef 4692
mjr 17:ab3cec0c8bf4 4693 // we've just started a new report interval, so reset the timer
mjr 38:091e511ce8a0 4694 jsReportTimer.reset();
mjr 17:ab3cec0c8bf4 4695 }
mjr 21:5048e16cc9ef 4696
mjr 52:8298b2a73eb2 4697 // If we're in sensor status mode, report all pixel exposure values
mjr 52:8298b2a73eb2 4698 if (reportPlungerStat)
mjr 10:976666ffa4ef 4699 {
mjr 17:ab3cec0c8bf4 4700 // send the report
mjr 53:9b2611964afc 4701 plungerSensor->sendStatusReport(js, reportPlungerStatFlags, reportPlungerStatTime);
mjr 17:ab3cec0c8bf4 4702
mjr 10:976666ffa4ef 4703 // we have satisfied this request
mjr 52:8298b2a73eb2 4704 reportPlungerStat = false;
mjr 10:976666ffa4ef 4705 }
mjr 10:976666ffa4ef 4706
mjr 35:e959ffba78fd 4707 // If joystick reports are turned off, send a generic status report
mjr 35:e959ffba78fd 4708 // periodically for the sake of the Windows config tool.
mjr 55:4db125cd11a0 4709 if (!cfg.joystickEnabled && jsReportTimer.read_us() > 5000)
mjr 21:5048e16cc9ef 4710 {
mjr 55:4db125cd11a0 4711 jsOK = js.updateStatus(statusFlags);
mjr 38:091e511ce8a0 4712 jsReportTimer.reset();
mjr 38:091e511ce8a0 4713 }
mjr 38:091e511ce8a0 4714
mjr 38:091e511ce8a0 4715 // if we successfully sent a joystick report, reset the watchdog timer
mjr 38:091e511ce8a0 4716 if (jsOK)
mjr 38:091e511ce8a0 4717 {
mjr 38:091e511ce8a0 4718 jsOKTimer.reset();
mjr 38:091e511ce8a0 4719 jsOKTimer.start();
mjr 21:5048e16cc9ef 4720 }
mjr 21:5048e16cc9ef 4721
mjr 6:cc35eb643e8f 4722 #ifdef DEBUG_PRINTF
mjr 6:cc35eb643e8f 4723 if (x != 0 || y != 0)
mjr 6:cc35eb643e8f 4724 printf("%d,%d\r\n", x, y);
mjr 6:cc35eb643e8f 4725 #endif
mjr 6:cc35eb643e8f 4726
mjr 33:d832bcab089e 4727 // check for connection status changes
mjr 54:fd77a6b2f76c 4728 bool newConnected = js.isConnected() && !js.isSleeping();
mjr 33:d832bcab089e 4729 if (newConnected != connected)
mjr 33:d832bcab089e 4730 {
mjr 54:fd77a6b2f76c 4731 // give it a moment to stabilize
mjr 40:cc0d9814522b 4732 connectChangeTimer.start();
mjr 55:4db125cd11a0 4733 if (connectChangeTimer.read_us() > 1000000)
mjr 33:d832bcab089e 4734 {
mjr 33:d832bcab089e 4735 // note the new status
mjr 33:d832bcab089e 4736 connected = newConnected;
mjr 40:cc0d9814522b 4737
mjr 40:cc0d9814522b 4738 // done with the change timer for this round - reset it for next time
mjr 40:cc0d9814522b 4739 connectChangeTimer.stop();
mjr 40:cc0d9814522b 4740 connectChangeTimer.reset();
mjr 33:d832bcab089e 4741
mjr 54:fd77a6b2f76c 4742 // if we're newly disconnected, clean up for PC suspend mode or power off
mjr 54:fd77a6b2f76c 4743 if (!connected)
mjr 40:cc0d9814522b 4744 {
mjr 54:fd77a6b2f76c 4745 // turn off all outputs
mjr 33:d832bcab089e 4746 allOutputsOff();
mjr 40:cc0d9814522b 4747
mjr 40:cc0d9814522b 4748 // The KL25Z runs off of USB power, so we might (depending on the PC
mjr 40:cc0d9814522b 4749 // and OS configuration) continue to receive power even when the main
mjr 40:cc0d9814522b 4750 // PC power supply is turned off, such as in soft-off or suspend/sleep
mjr 40:cc0d9814522b 4751 // mode. Any external output controller chips (TLC5940, 74HC595) might
mjr 40:cc0d9814522b 4752 // be powered from the PC power supply directly rather than from our
mjr 40:cc0d9814522b 4753 // USB power, so they might be powered off even when we're still running.
mjr 40:cc0d9814522b 4754 // To ensure cleaner startup when the power comes back on, globally
mjr 40:cc0d9814522b 4755 // disable the outputs. The global disable signals come from GPIO lines
mjr 40:cc0d9814522b 4756 // that remain powered as long as the KL25Z is powered, so these modes
mjr 40:cc0d9814522b 4757 // will apply smoothly across power state transitions in the external
mjr 40:cc0d9814522b 4758 // hardware. That is, when the external chips are powered up, they'll
mjr 40:cc0d9814522b 4759 // see the global disable signals as stable voltage inputs immediately,
mjr 40:cc0d9814522b 4760 // which will cause them to suppress any output triggering. This ensures
mjr 40:cc0d9814522b 4761 // that we don't fire any solenoids or flash any lights spuriously when
mjr 40:cc0d9814522b 4762 // the power first comes on.
mjr 40:cc0d9814522b 4763 if (tlc5940 != 0)
mjr 40:cc0d9814522b 4764 tlc5940->enable(false);
mjr 40:cc0d9814522b 4765 if (hc595 != 0)
mjr 40:cc0d9814522b 4766 hc595->enable(false);
mjr 40:cc0d9814522b 4767 }
mjr 33:d832bcab089e 4768 }
mjr 33:d832bcab089e 4769 }
mjr 48:058ace2aed1d 4770
mjr 53:9b2611964afc 4771 // if we have a reboot timer pending, check for completion
mjr 53:9b2611964afc 4772 if (rebootTimer.isRunning() && rebootTimer.read_us() > rebootTime_us)
mjr 53:9b2611964afc 4773 reboot(js);
mjr 53:9b2611964afc 4774
mjr 48:058ace2aed1d 4775 // if we're disconnected, initiate a new connection
mjr 51:57eb311faafa 4776 if (!connected)
mjr 48:058ace2aed1d 4777 {
mjr 54:fd77a6b2f76c 4778 // show USB HAL debug events
mjr 54:fd77a6b2f76c 4779 extern void HAL_DEBUG_PRINTEVENTS(const char *prefix);
mjr 54:fd77a6b2f76c 4780 HAL_DEBUG_PRINTEVENTS(">DISC");
mjr 54:fd77a6b2f76c 4781
mjr 54:fd77a6b2f76c 4782 // show immediate diagnostic feedback
mjr 54:fd77a6b2f76c 4783 js.diagFlash();
mjr 54:fd77a6b2f76c 4784
mjr 54:fd77a6b2f76c 4785 // clear any previous diagnostic LED display
mjr 54:fd77a6b2f76c 4786 diagLED(0, 0, 0);
mjr 51:57eb311faafa 4787
mjr 51:57eb311faafa 4788 // set up a timer to monitor the reboot timeout
mjr 51:57eb311faafa 4789 Timer rebootTimer;
mjr 51:57eb311faafa 4790 rebootTimer.start();
mjr 48:058ace2aed1d 4791
mjr 54:fd77a6b2f76c 4792 // set up a timer for diagnostic displays
mjr 54:fd77a6b2f76c 4793 Timer diagTimer;
mjr 54:fd77a6b2f76c 4794 diagTimer.reset();
mjr 54:fd77a6b2f76c 4795 diagTimer.start();
mjr 54:fd77a6b2f76c 4796
mjr 54:fd77a6b2f76c 4797 // loop until we get our connection back
mjr 54:fd77a6b2f76c 4798 while (!js.isConnected() || js.isSleeping())
mjr 51:57eb311faafa 4799 {
mjr 54:fd77a6b2f76c 4800 // try to recover the connection
mjr 54:fd77a6b2f76c 4801 js.recoverConnection();
mjr 54:fd77a6b2f76c 4802
mjr 55:4db125cd11a0 4803 // send TLC5940 data if necessary
mjr 55:4db125cd11a0 4804 if (tlc5940 != 0)
mjr 55:4db125cd11a0 4805 tlc5940->send();
mjr 55:4db125cd11a0 4806
mjr 54:fd77a6b2f76c 4807 // show a diagnostic flash every couple of seconds
mjr 54:fd77a6b2f76c 4808 if (diagTimer.read_us() > 2000000)
mjr 51:57eb311faafa 4809 {
mjr 54:fd77a6b2f76c 4810 // flush the USB HAL debug events, if in debug mode
mjr 54:fd77a6b2f76c 4811 HAL_DEBUG_PRINTEVENTS(">NC");
mjr 54:fd77a6b2f76c 4812
mjr 54:fd77a6b2f76c 4813 // show diagnostic feedback
mjr 54:fd77a6b2f76c 4814 js.diagFlash();
mjr 51:57eb311faafa 4815
mjr 51:57eb311faafa 4816 // reset the flash timer
mjr 54:fd77a6b2f76c 4817 diagTimer.reset();
mjr 51:57eb311faafa 4818 }
mjr 51:57eb311faafa 4819
mjr 51:57eb311faafa 4820 // if the disconnect reboot timeout has expired, reboot
mjr 51:57eb311faafa 4821 if (cfg.disconnectRebootTimeout != 0
mjr 51:57eb311faafa 4822 && rebootTimer.read() > cfg.disconnectRebootTimeout)
mjr 54:fd77a6b2f76c 4823 reboot(js, false, 0);
mjr 54:fd77a6b2f76c 4824 }
mjr 54:fd77a6b2f76c 4825
mjr 54:fd77a6b2f76c 4826 // if we made it out of that loop alive, we're connected again!
mjr 54:fd77a6b2f76c 4827 connected = true;
mjr 54:fd77a6b2f76c 4828 HAL_DEBUG_PRINTEVENTS(">C");
mjr 54:fd77a6b2f76c 4829
mjr 54:fd77a6b2f76c 4830 // Enable peripheral chips and update them with current output data
mjr 54:fd77a6b2f76c 4831 if (tlc5940 != 0)
mjr 54:fd77a6b2f76c 4832 {
mjr 55:4db125cd11a0 4833 tlc5940->enable(true);
mjr 54:fd77a6b2f76c 4834 tlc5940->update(true);
mjr 54:fd77a6b2f76c 4835 }
mjr 54:fd77a6b2f76c 4836 if (hc595 != 0)
mjr 54:fd77a6b2f76c 4837 {
mjr 55:4db125cd11a0 4838 hc595->enable(true);
mjr 54:fd77a6b2f76c 4839 hc595->update(true);
mjr 51:57eb311faafa 4840 }
mjr 48:058ace2aed1d 4841 }
mjr 43:7a6364d82a41 4842
mjr 6:cc35eb643e8f 4843 // provide a visual status indication on the on-board LED
mjr 48:058ace2aed1d 4844 if (calBtnState < 2 && hbTimer.read_us() > 1000000)
mjr 1:d913e0afb2ac 4845 {
mjr 54:fd77a6b2f76c 4846 if (jsOKTimer.read_us() > 1000000)
mjr 38:091e511ce8a0 4847 {
mjr 39:b3815a1c3802 4848 // USB freeze - show red/yellow.
mjr 40:cc0d9814522b 4849 //
mjr 54:fd77a6b2f76c 4850 // It's been more than a second since we successfully sent a joystick
mjr 54:fd77a6b2f76c 4851 // update message. This must mean that something's wrong on the USB
mjr 54:fd77a6b2f76c 4852 // connection, even though we haven't detected an outright disconnect.
mjr 54:fd77a6b2f76c 4853 // Show a distinctive diagnostic LED pattern when this occurs.
mjr 38:091e511ce8a0 4854 hb = !hb;
mjr 38:091e511ce8a0 4855 diagLED(1, hb, 0);
mjr 54:fd77a6b2f76c 4856
mjr 54:fd77a6b2f76c 4857 // If the reboot-on-disconnect option is in effect, treat this condition
mjr 54:fd77a6b2f76c 4858 // as equivalent to a disconnect, since something is obviously wrong
mjr 54:fd77a6b2f76c 4859 // with the USB connection.
mjr 54:fd77a6b2f76c 4860 if (cfg.disconnectRebootTimeout != 0)
mjr 54:fd77a6b2f76c 4861 {
mjr 54:fd77a6b2f76c 4862 // The reboot timeout is in effect. If we've been incommunicado for
mjr 54:fd77a6b2f76c 4863 // longer than the timeout, reboot. If we haven't reached the time
mjr 54:fd77a6b2f76c 4864 // limit, keep running for now, and leave the OK timer running so
mjr 54:fd77a6b2f76c 4865 // that we can continue to monitor this.
mjr 54:fd77a6b2f76c 4866 if (jsOKTimer.read() > cfg.disconnectRebootTimeout)
mjr 54:fd77a6b2f76c 4867 reboot(js, false, 0);
mjr 54:fd77a6b2f76c 4868 }
mjr 54:fd77a6b2f76c 4869 else
mjr 54:fd77a6b2f76c 4870 {
mjr 54:fd77a6b2f76c 4871 // There's no reboot timer, so just keep running with the diagnostic
mjr 54:fd77a6b2f76c 4872 // pattern displayed. Since we're not waiting for any other timed
mjr 54:fd77a6b2f76c 4873 // conditions in this state, stop the timer so that it doesn't
mjr 54:fd77a6b2f76c 4874 // overflow if this condition persists for a long time.
mjr 54:fd77a6b2f76c 4875 jsOKTimer.stop();
mjr 54:fd77a6b2f76c 4876 }
mjr 38:091e511ce8a0 4877 }
mjr 35:e959ffba78fd 4878 else if (cfg.plunger.enabled && !cfg.plunger.cal.calibrated)
mjr 6:cc35eb643e8f 4879 {
mjr 6:cc35eb643e8f 4880 // connected, plunger calibration needed - flash yellow/green
mjr 6:cc35eb643e8f 4881 hb = !hb;
mjr 38:091e511ce8a0 4882 diagLED(hb, 1, 0);
mjr 6:cc35eb643e8f 4883 }
mjr 6:cc35eb643e8f 4884 else
mjr 6:cc35eb643e8f 4885 {
mjr 6:cc35eb643e8f 4886 // connected - flash blue/green
mjr 2:c174f9ee414a 4887 hb = !hb;
mjr 38:091e511ce8a0 4888 diagLED(0, hb, !hb);
mjr 2:c174f9ee414a 4889 }
mjr 1:d913e0afb2ac 4890
mjr 1:d913e0afb2ac 4891 // reset the heartbeat timer
mjr 1:d913e0afb2ac 4892 hbTimer.reset();
mjr 5:a70c0bce770d 4893 ++hbcnt;
mjr 1:d913e0afb2ac 4894 }
mjr 1:d913e0afb2ac 4895 }
mjr 0:5acbbe3f4cf4 4896 }