Pinscape_Controller_V2_arnoz - Mirror with some correction

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Arnaud VALLEY / Mbed 2 deprecated Pinscape_Controller_V2_arnoz

Mirror with some correction

Dependencies: mbed FastIO FastPWM USBDevice

main.cpp@82:4f6209cb5c33, 2017-04-13 (annotated)

Committer:: mjr
Date:: Thu Apr 13 23:20:28 2017 +0000
Revision:: 82:4f6209cb5c33
Parent:: 80:94dc2946871b
Child:: 84:31e926f4f3bc

Plunger refactoring; AEDR-8300 added; TSL1401CL in progress; VL6180X added

Who changed what in which revision?

User	Revision	Line number	New 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	74:822a92bc11d2	42	// - Plunger position sensing, with multiple 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	77:0b96f6867312	55	// Note that VP has built-in support for plunger devices like this one, but
mjr	77:0b96f6867312	56	// some VP tables can't use it without some additional scripting work. The
mjr	77:0b96f6867312	57	// Build Guide has advice on adjusting tables to add plunger support when
mjr	77:0b96f6867312	58	// necessary.
mjr	5:a70c0bce770d	59	//
mjr	6:cc35eb643e8f	60	// For best results, the plunger sensor should be calibrated. The calibration
mjr	6:cc35eb643e8f	61	// is stored in non-volatile memory on board the KL25Z, so it's only necessary
mjr	6:cc35eb643e8f	62	// to do the calibration once, when you first install everything. (You might
mjr	6:cc35eb643e8f	63	// also want to re-calibrate if you physically remove and reinstall the CCD
mjr	17:ab3cec0c8bf4	64	// sensor or the mechanical plunger, since their alignment shift change slightly
mjr	17:ab3cec0c8bf4	65	// when you put everything back together.) You can optionally install a
mjr	17:ab3cec0c8bf4	66	// dedicated momentary switch or pushbutton to activate the calibration mode;
mjr	17:ab3cec0c8bf4	67	// this is describe in the project documentation. If you don't want to bother
mjr	17:ab3cec0c8bf4	68	// with the extra button, you can also trigger calibration using the Windows
mjr	17:ab3cec0c8bf4	69	// setup software, which you can find on the Pinscape project page.
mjr	6:cc35eb643e8f	70	//
mjr	17:ab3cec0c8bf4	71	// The calibration procedure is described in the project documentation. Briefly,
mjr	17:ab3cec0c8bf4	72	// when you trigger calibration mode, the software will scan the CCD for about
mjr	17:ab3cec0c8bf4	73	// 15 seconds, during which you should simply pull the physical plunger back
mjr	17:ab3cec0c8bf4	74	// all the way, hold it for a moment, and then slowly return it to the rest
mjr	17:ab3cec0c8bf4	75	// position. (DON'T just release it from the retracted position, since that
mjr	17:ab3cec0c8bf4	76	// let it shoot forward too far. We want to measure the range from the park
mjr	17:ab3cec0c8bf4	77	// position to the fully retracted position only.)
mjr	5:a70c0bce770d	78	//
mjr	77:0b96f6867312	79	// - Button input wiring. You can assign GPIO ports as inputs for physical
mjr	77:0b96f6867312	80	// pinball-style buttons, such as flipper buttons, a Start button, coin
mjr	77:0b96f6867312	81	// chute switches, tilt bobs, and service panel buttons. You can configure
mjr	77:0b96f6867312	82	// each button input to report a keyboard key or joystick button press to
mjr	77:0b96f6867312	83	// the PC when the physical button is pushed.
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	77:0b96f6867312	143	// software to sense the power supply status. The Build Guide has details
mjr	77:0b96f6867312	144	// on the necessary circuitry. You can use this to switch your TV on via a
mjr	77:0b96f6867312	145	// hardwired connection to the TV's "on" button, which requires taking the
mjr	77:0b96f6867312	146	// TV apart to gain access to its internal wiring, or optionally via the IR
mjr	77:0b96f6867312	147	// remote control transmitter feature below.
mjr	77:0b96f6867312	148	//
mjr	77:0b96f6867312	149	// - Infrared (IR) remote control receiver and transmitter. You can attach an
mjr	77:0b96f6867312	150	// IR LED and/or an IR sensor (we recommend the TSOP384xx series) to make the
mjr	77:0b96f6867312	151	// KL25Z capable of sending and/or receiving IR remote control signals. This
mjr	77:0b96f6867312	152	// can be used with the TV ON feature above to turn your TV(s) on when the
mjr	77:0b96f6867312	153	// system power comes on by sending the "on" command to them via IR, as though
mjr	77:0b96f6867312	154	// you pressed the "on" button on the remote control. The sensor lets the
mjr	77:0b96f6867312	155	// Pinscape software learn the IR codes from your existing remotes, in the
mjr	77:0b96f6867312	156	// same manner as a handheld universal remote control, and the IR LED lets
mjr	77:0b96f6867312	157	// it transmit learned codes. The sensor can also be used to receive codes
mjr	77:0b96f6867312	158	// during normal operation and turn them into PC keystrokes; this lets you
mjr	77:0b96f6867312	159	// access extra commands on the PC without adding more buttons to your
mjr	77:0b96f6867312	160	// cabinet. The IR LED can also be used to transmit other codes when you
mjr	77:0b96f6867312	161	// press selected cabinet buttons, allowing you to assign cabinet buttons
mjr	77:0b96f6867312	162	// to send IR commands to your cabinet TV or other devices.
mjr	38:091e511ce8a0	163	//
mjr	35:e959ffba78fd	164	//
mjr	35:e959ffba78fd	165	//
mjr	33:d832bcab089e	166	// STATUS LIGHTS: The on-board LED on the KL25Z flashes to indicate the current
mjr	33:d832bcab089e	167	// device status. The flash patterns are:
mjr	6:cc35eb643e8f	168	//
mjr	48:058ace2aed1d	169	// short yellow flash = waiting to connect
mjr	6:cc35eb643e8f	170	//
mjr	48:058ace2aed1d	171	// short red flash = the connection is suspended (the host is in sleep
mjr	48:058ace2aed1d	172	// or suspend mode, the USB cable is unplugged after a connection
mjr	48:058ace2aed1d	173	// has been established)
mjr	48:058ace2aed1d	174	//
mjr	48:058ace2aed1d	175	// two short red flashes = connection lost (the device should immediately
mjr	48:058ace2aed1d	176	// go back to short-yellow "waiting to reconnect" mode when a connection
mjr	48:058ace2aed1d	177	// is lost, so this display shouldn't normally appear)
mjr	6:cc35eb643e8f	178	//
mjr	38:091e511ce8a0	179	// long red/yellow = USB connection problem. The device still has a USB
mjr	48:058ace2aed1d	180	// connection to the host (or so it appears to the device), but data
mjr	48:058ace2aed1d	181	// transmissions are failing.
mjr	38:091e511ce8a0	182	//
mjr	73:4e8ce0b18915	183	// medium blue flash = TV ON delay timer running. This means that the
mjr	73:4e8ce0b18915	184	// power to the secondary PSU has just been turned on, and the TV ON
mjr	73:4e8ce0b18915	185	// timer is waiting for the configured delay time before pulsing the
mjr	73:4e8ce0b18915	186	// TV power button relay. This is only shown if the TV ON feature is
mjr	73:4e8ce0b18915	187	// enabled.
mjr	73:4e8ce0b18915	188	//
mjr	6:cc35eb643e8f	189	// long yellow/green = everything's working, but the plunger hasn't
mjr	38:091e511ce8a0	190	// been calibrated. Follow the calibration procedure described in
mjr	38:091e511ce8a0	191	// the project documentation. This flash mode won't appear if there's
mjr	38:091e511ce8a0	192	// no plunger sensor configured.
mjr	6:cc35eb643e8f	193	//
mjr	38:091e511ce8a0	194	// alternating blue/green = everything's working normally, and plunger
mjr	38:091e511ce8a0	195	// calibration has been completed (or there's no plunger attached)
mjr	10:976666ffa4ef	196	//
mjr	48:058ace2aed1d	197	// fast red/purple = out of memory. The controller halts and displays
mjr	48:058ace2aed1d	198	// this diagnostic code until you manually reset it. If this happens,
mjr	48:058ace2aed1d	199	// it's probably because the configuration is too complex, in which
mjr	48:058ace2aed1d	200	// case the same error will occur after the reset. If it's stuck
mjr	48:058ace2aed1d	201	// in this cycle, you'll have to restore the default configuration
mjr	48:058ace2aed1d	202	// by re-installing the controller software (the Pinscape .bin file).
mjr	10:976666ffa4ef	203	//
mjr	48:058ace2aed1d	204	//
mjr	48:058ace2aed1d	205	// USB PROTOCOL: Most of our USB messaging is through standard USB HID
mjr	48:058ace2aed1d	206	// classes (joystick, keyboard). We also accept control messages on our
mjr	48:058ace2aed1d	207	// primary HID interface "OUT endpoint" using a custom protocol that's
mjr	48:058ace2aed1d	208	// not defined in any USB standards (we do have to provide a USB HID
mjr	48:058ace2aed1d	209	// Report Descriptor for it, but this just describes the protocol as
mjr	48:058ace2aed1d	210	// opaque vendor-defined bytes). The control protocol incorporates the
mjr	48:058ace2aed1d	211	// LedWiz protocol as a subset, and adds our own private extensions.
mjr	48:058ace2aed1d	212	// For full details, see USBProtocol.h.
mjr	33:d832bcab089e	213
mjr	33:d832bcab089e	214
mjr	0:5acbbe3f4cf4	215	#include "mbed.h"
mjr	6:cc35eb643e8f	216	#include "math.h"
mjr	74:822a92bc11d2	217	#include "diags.h"
mjr	48:058ace2aed1d	218	#include "pinscape.h"
mjr	79:682ae3171a08	219	#include "NewMalloc.h"
mjr	0:5acbbe3f4cf4	220	#include "USBJoystick.h"
mjr	0:5acbbe3f4cf4	221	#include "MMA8451Q.h"
mjr	1:d913e0afb2ac	222	#include "FreescaleIAP.h"
mjr	2:c174f9ee414a	223	#include "crc32.h"
mjr	26:cb71c4af2912	224	#include "TLC5940.h"
mjr	34:6b981a2afab7	225	#include "74HC595.h"
mjr	35:e959ffba78fd	226	#include "nvm.h"
mjr	48:058ace2aed1d	227	#include "TinyDigitalIn.h"
mjr	77:0b96f6867312	228	#include "IRReceiver.h"
mjr	77:0b96f6867312	229	#include "IRTransmitter.h"
mjr	77:0b96f6867312	230	#include "NewPwm.h"
mjr	74:822a92bc11d2	231
mjr	82:4f6209cb5c33	232	// plunger sensors
mjr	82:4f6209cb5c33	233	#include "plunger.h"
mjr	82:4f6209cb5c33	234	#include "edgeSensor.h"
mjr	82:4f6209cb5c33	235	#include "potSensor.h"
mjr	82:4f6209cb5c33	236	#include "quadSensor.h"
mjr	82:4f6209cb5c33	237	#include "nullSensor.h"
mjr	82:4f6209cb5c33	238	#include "barCodeSensor.h"
mjr	82:4f6209cb5c33	239	#include "distanceSensor.h"
mjr	82:4f6209cb5c33	240
mjr	2:c174f9ee414a	241
mjr	21:5048e16cc9ef	242	#define DECL_EXTERNS
mjr	17:ab3cec0c8bf4	243	#include "config.h"
mjr	17:ab3cec0c8bf4	244
mjr	76:7f5912b6340e	245	// forward declarations
mjr	76:7f5912b6340e	246	static void waitPlungerIdle(void);
mjr	53:9b2611964afc	247
mjr	53:9b2611964afc	248	// --------------------------------------------------------------------------
mjr	53:9b2611964afc	249	//
mjr	53:9b2611964afc	250	// OpenSDA module identifier. This is for the benefit of the Windows
mjr	53:9b2611964afc	251	// configuration tool. When the config tool installs a .bin file onto
mjr	53:9b2611964afc	252	// the KL25Z, it will first find the sentinel string within the .bin file,
mjr	53:9b2611964afc	253	// and patch the "\0" bytes that follow the sentinel string with the
mjr	53:9b2611964afc	254	// OpenSDA module ID data. This allows us to report the OpenSDA
mjr	53:9b2611964afc	255	// identifiers back to the host system via USB, which in turn allows the
mjr	53:9b2611964afc	256	// config tool to figure out which OpenSDA MSD (mass storage device - a
mjr	53:9b2611964afc	257	// virtual disk drive) correlates to which Pinscape controller USB
mjr	53:9b2611964afc	258	// interface.
mjr	53:9b2611964afc	259	//
mjr	53:9b2611964afc	260	// This is only important if multiple Pinscape devices are attached to
mjr	53:9b2611964afc	261	// the same host. There doesn't seem to be any other way to figure out
mjr	53:9b2611964afc	262	// which OpenSDA MSD corresponds to which KL25Z USB interface; the OpenSDA
mjr	53:9b2611964afc	263	// MSD doesn't report the KL25Z CPU ID anywhere, and the KL25Z doesn't
mjr	53:9b2611964afc	264	// have any way to learn about the OpenSDA module it's connected to. The
mjr	53:9b2611964afc	265	// only way to pass this information to the KL25Z side that I can come up
mjr	53:9b2611964afc	266	// with is to have the Windows host embed it in the .bin file before
mjr	53:9b2611964afc	267	// downloading it to the OpenSDA MSD.
mjr	53:9b2611964afc	268	//
mjr	53:9b2611964afc	269	// We initialize the const data buffer (the part after the sentinel string)
mjr	53:9b2611964afc	270	// with all "\0" bytes, so that's what will be in the executable image that
mjr	53:9b2611964afc	271	// comes out of the mbed compiler. If you manually install the resulting
mjr	53:9b2611964afc	272	// .bin file onto the KL25Z (via the Windows desktop, say), the "\0" bytes
mjr	53:9b2611964afc	273	// will stay this way and read as all 0's at run-time. Since a real TUID
mjr	53:9b2611964afc	274	// would never be all 0's, that tells us that we were never patched and
mjr	53:9b2611964afc	275	// thus don't have any information on the OpenSDA module.
mjr	53:9b2611964afc	276	//
mjr	53:9b2611964afc	277	const char *getOpenSDAID()
mjr	53:9b2611964afc	278	{
mjr	53:9b2611964afc	279	#define OPENSDA_PREFIX "///Pinscape.OpenSDA.TUID///"
mjr	53:9b2611964afc	280	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	281	const size_t OpenSDA_prefix_length = sizeof(OPENSDA_PREFIX) - 1;
mjr	53:9b2611964afc	282
mjr	53:9b2611964afc	283	return OpenSDA + OpenSDA_prefix_length;
mjr	53:9b2611964afc	284	}
mjr	53:9b2611964afc	285
mjr	53:9b2611964afc	286	// --------------------------------------------------------------------------
mjr	53:9b2611964afc	287	//
mjr	53:9b2611964afc	288	// Build ID. We use the date and time of compiling the program as a build
mjr	53:9b2611964afc	289	// identifier. It would be a little nicer to use a simple serial number
mjr	53:9b2611964afc	290	// instead, but the mbed platform doesn't have a way to automate that. The
mjr	53:9b2611964afc	291	// timestamp is a pretty good proxy for a serial number in that it will
mjr	53:9b2611964afc	292	// naturally increase on each new build, which is the primary property we
mjr	53:9b2611964afc	293	// want from this.
mjr	53:9b2611964afc	294	//
mjr	53:9b2611964afc	295	// As with the embedded OpenSDA ID, we store the build timestamp with a
mjr	53:9b2611964afc	296	// sentinel string prefix, to allow automated tools to find the static data
mjr	53:9b2611964afc	297	// in the .bin file by searching for the sentinel string. In contrast to
mjr	53:9b2611964afc	298	// the OpenSDA ID, the value we store here is for tools to extract rather
mjr	53:9b2611964afc	299	// than store, since we automatically populate it via the preprocessor
mjr	53:9b2611964afc	300	// macros.
mjr	53:9b2611964afc	301	//
mjr	53:9b2611964afc	302	const char *getBuildID()
mjr	53:9b2611964afc	303	{
mjr	53:9b2611964afc	304	#define BUILDID_PREFIX "///Pinscape.Build.ID///"
mjr	53:9b2611964afc	305	static const char BuildID[] = BUILDID_PREFIX __DATE__ " " __TIME__ "///";
mjr	53:9b2611964afc	306	const size_t BuildID_prefix_length = sizeof(BUILDID_PREFIX) - 1;
mjr	53:9b2611964afc	307
mjr	53:9b2611964afc	308	return BuildID + BuildID_prefix_length;
mjr	53:9b2611964afc	309	}
mjr	53:9b2611964afc	310
mjr	74:822a92bc11d2	311	// --------------------------------------------------------------------------
mjr	74:822a92bc11d2	312	// Main loop iteration timing statistics. Collected only if
mjr	74:822a92bc11d2	313	// ENABLE_DIAGNOSTICS is set in diags.h.
mjr	76:7f5912b6340e	314	#if ENABLE_DIAGNOSTICS
mjr	76:7f5912b6340e	315	uint64_t mainLoopIterTime, mainLoopIterCheckpt[15], mainLoopIterCount;
mjr	76:7f5912b6340e	316	uint64_t mainLoopMsgTime, mainLoopMsgCount;
mjr	76:7f5912b6340e	317	Timer mainLoopTimer;
mjr	76:7f5912b6340e	318	#endif
mjr	76:7f5912b6340e	319
mjr	53:9b2611964afc	320
mjr	5:a70c0bce770d	321	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	322	//
mjr	38:091e511ce8a0	323	// Forward declarations
mjr	38:091e511ce8a0	324	//
mjr	38:091e511ce8a0	325	void setNightMode(bool on);
mjr	38:091e511ce8a0	326	void toggleNightMode();
mjr	38:091e511ce8a0	327
mjr	38:091e511ce8a0	328	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	329	// utilities
mjr	17:ab3cec0c8bf4	330
mjr	77:0b96f6867312	331	// int/float point square of a number
mjr	77:0b96f6867312	332	inline int square(int x) { return x*x; }
mjr	26:cb71c4af2912	333	inline float square(float x) { return x*x; }
mjr	26:cb71c4af2912	334
mjr	26:cb71c4af2912	335	// floating point rounding
mjr	26:cb71c4af2912	336	inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); }
mjr	26:cb71c4af2912	337
mjr	17:ab3cec0c8bf4	338
mjr	33:d832bcab089e	339	// --------------------------------------------------------------------------
mjr	33:d832bcab089e	340	//
mjr	40:cc0d9814522b	341	// Extended verison of Timer class. This adds the ability to interrogate
mjr	40:cc0d9814522b	342	// the running state.
mjr	40:cc0d9814522b	343	//
mjr	77:0b96f6867312	344	class ExtTimer: public Timer
mjr	40:cc0d9814522b	345	{
mjr	40:cc0d9814522b	346	public:
mjr	77:0b96f6867312	347	ExtTimer() : running(false) { }
mjr	40:cc0d9814522b	348
mjr	40:cc0d9814522b	349	void start() { running = true; Timer::start(); }
mjr	40:cc0d9814522b	350	void stop() { running = false; Timer::stop(); }
mjr	40:cc0d9814522b	351
mjr	40:cc0d9814522b	352	bool isRunning() const { return running; }
mjr	40:cc0d9814522b	353
mjr	40:cc0d9814522b	354	private:
mjr	40:cc0d9814522b	355	bool running;
mjr	40:cc0d9814522b	356	};
mjr	40:cc0d9814522b	357
mjr	53:9b2611964afc	358
mjr	53:9b2611964afc	359	// --------------------------------------------------------------------------
mjr	40:cc0d9814522b	360	//
mjr	33:d832bcab089e	361	// USB product version number
mjr	5:a70c0bce770d	362	//
mjr	47:df7a88cd249c	363	const uint16_t USB_VERSION_NO = 0x000A;
mjr	33:d832bcab089e	364
mjr	33:d832bcab089e	365	// --------------------------------------------------------------------------
mjr	33:d832bcab089e	366	//
mjr	6:cc35eb643e8f	367	// Joystick axis report range - we report from -JOYMAX to +JOYMAX
mjr	33:d832bcab089e	368	//
mjr	6:cc35eb643e8f	369	#define JOYMAX 4096
mjr	6:cc35eb643e8f	370
mjr	9:fd65b0a94720	371
mjr	17:ab3cec0c8bf4	372	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	373	//
mjr	40:cc0d9814522b	374	// Wire protocol value translations. These translate byte values to and
mjr	40:cc0d9814522b	375	// from the USB protocol to local native format.
mjr	35:e959ffba78fd	376	//
mjr	35:e959ffba78fd	377
mjr	35:e959ffba78fd	378	// unsigned 16-bit integer
mjr	35:e959ffba78fd	379	inline uint16_t wireUI16(const uint8_t *b)
mjr	35:e959ffba78fd	380	{
mjr	35:e959ffba78fd	381	return b[0] \| ((uint16_t)b[1] << 8);
mjr	35:e959ffba78fd	382	}
mjr	40:cc0d9814522b	383	inline void ui16Wire(uint8_t *b, uint16_t val)
mjr	40:cc0d9814522b	384	{
mjr	40:cc0d9814522b	385	b[0] = (uint8_t)(val & 0xff);
mjr	40:cc0d9814522b	386	b[1] = (uint8_t)((val >> 8) & 0xff);
mjr	40:cc0d9814522b	387	}
mjr	35:e959ffba78fd	388
mjr	35:e959ffba78fd	389	inline int16_t wireI16(const uint8_t *b)
mjr	35:e959ffba78fd	390	{
mjr	35:e959ffba78fd	391	return (int16_t)wireUI16(b);
mjr	35:e959ffba78fd	392	}
mjr	40:cc0d9814522b	393	inline void i16Wire(uint8_t *b, int16_t val)
mjr	40:cc0d9814522b	394	{
mjr	40:cc0d9814522b	395	ui16Wire(b, (uint16_t)val);
mjr	40:cc0d9814522b	396	}
mjr	35:e959ffba78fd	397
mjr	35:e959ffba78fd	398	inline uint32_t wireUI32(const uint8_t *b)
mjr	35:e959ffba78fd	399	{
mjr	35:e959ffba78fd	400	return b[0] \| ((uint32_t)b[1] << 8) \| ((uint32_t)b[2] << 16) \| ((uint32_t)b[3] << 24);
mjr	35:e959ffba78fd	401	}
mjr	40:cc0d9814522b	402	inline void ui32Wire(uint8_t *b, uint32_t val)
mjr	40:cc0d9814522b	403	{
mjr	40:cc0d9814522b	404	b[0] = (uint8_t)(val & 0xff);
mjr	40:cc0d9814522b	405	b[1] = (uint8_t)((val >> 8) & 0xff);
mjr	40:cc0d9814522b	406	b[2] = (uint8_t)((val >> 16) & 0xff);
mjr	40:cc0d9814522b	407	b[3] = (uint8_t)((val >> 24) & 0xff);
mjr	40:cc0d9814522b	408	}
mjr	35:e959ffba78fd	409
mjr	35:e959ffba78fd	410	inline int32_t wireI32(const uint8_t *b)
mjr	35:e959ffba78fd	411	{
mjr	35:e959ffba78fd	412	return (int32_t)wireUI32(b);
mjr	35:e959ffba78fd	413	}
mjr	35:e959ffba78fd	414
mjr	53:9b2611964afc	415	// Convert "wire" (USB) pin codes to/from PinName values.
mjr	53:9b2611964afc	416	//
mjr	53:9b2611964afc	417	// The internal mbed PinName format is
mjr	53:9b2611964afc	418	//
mjr	53:9b2611964afc	419	// ((port) << PORT_SHIFT) \| (pin << 2) // MBED FORMAT
mjr	53:9b2611964afc	420	//
mjr	53:9b2611964afc	421	// where 'port' is 0-4 for Port A to Port E, and 'pin' is
mjr	53:9b2611964afc	422	// 0 to 31. E.g., E31 is (4 << PORT_SHIFT) \| (31<<2).
mjr	53:9b2611964afc	423	//
mjr	53:9b2611964afc	424	// We remap this to our more compact wire format where each
mjr	53:9b2611964afc	425	// pin name fits in 8 bits:
mjr	53:9b2611964afc	426	//
mjr	53:9b2611964afc	427	// ((port) << 5) \| pin) // WIRE FORMAT
mjr	53:9b2611964afc	428	//
mjr	53:9b2611964afc	429	// E.g., E31 is (4 << 5) \| 31.
mjr	53:9b2611964afc	430	//
mjr	53:9b2611964afc	431	// Wire code FF corresponds to PinName NC (not connected).
mjr	53:9b2611964afc	432	//
mjr	53:9b2611964afc	433	inline PinName wirePinName(uint8_t c)
mjr	35:e959ffba78fd	434	{
mjr	53:9b2611964afc	435	if (c == 0xFF)
mjr	53:9b2611964afc	436	return NC; // 0xFF -> NC
mjr	53:9b2611964afc	437	else
mjr	53:9b2611964afc	438	return PinName(
mjr	53:9b2611964afc	439	(int(c & 0xE0) << (PORT_SHIFT - 5)) // top three bits are the port
mjr	53:9b2611964afc	440	\| (int(c & 0x1F) << 2)); // bottom five bits are pin
mjr	40:cc0d9814522b	441	}
mjr	40:cc0d9814522b	442	inline void pinNameWire(uint8_t *b, PinName n)
mjr	40:cc0d9814522b	443	{
mjr	53:9b2611964afc	444	*b = PINNAME_TO_WIRE(n);
mjr	35:e959ffba78fd	445	}
mjr	35:e959ffba78fd	446
mjr	35:e959ffba78fd	447
mjr	35:e959ffba78fd	448	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	449	//
mjr	38:091e511ce8a0	450	// On-board RGB LED elements - we use these for diagnostic displays.
mjr	38:091e511ce8a0	451	//
mjr	38:091e511ce8a0	452	// Note that LED3 (the blue segment) is hard-wired on the KL25Z to PTD1,
mjr	38:091e511ce8a0	453	// so PTD1 shouldn't be used for any other purpose (e.g., as a keyboard
mjr	38:091e511ce8a0	454	// input or a device output). This is kind of unfortunate in that it's
mjr	38:091e511ce8a0	455	// one of only two ports exposed on the jumper pins that can be muxed to
mjr	38:091e511ce8a0	456	// SPI0 SCLK. This effectively limits us to PTC5 if we want to use the
mjr	38:091e511ce8a0	457	// SPI capability.
mjr	38:091e511ce8a0	458	//
mjr	38:091e511ce8a0	459	DigitalOut ledR, ledG, *ledB;
mjr	38:091e511ce8a0	460
mjr	73:4e8ce0b18915	461	// Power on timer state for diagnostics. We flash the blue LED when
mjr	77:0b96f6867312	462	// nothing else is going on. State 0-1 = off, 2-3 = on blue. Also
mjr	77:0b96f6867312	463	// show red when transmitting an LED signal, indicated by state 4.
mjr	73:4e8ce0b18915	464	uint8_t powerTimerDiagState = 0;
mjr	73:4e8ce0b18915	465
mjr	38:091e511ce8a0	466	// Show the indicated pattern on the diagnostic LEDs. 0 is off, 1 is
mjr	38:091e511ce8a0	467	// on, and -1 is no change (leaves the current setting intact).
mjr	73:4e8ce0b18915	468	static uint8_t diagLEDState = 0;
mjr	38:091e511ce8a0	469	void diagLED(int r, int g, int b)
mjr	38:091e511ce8a0	470	{
mjr	73:4e8ce0b18915	471	// remember the new state
mjr	73:4e8ce0b18915	472	diagLEDState = r \| (g << 1) \| (b << 2);
mjr	73:4e8ce0b18915	473
mjr	73:4e8ce0b18915	474	// if turning everything off, use the power timer state instead,
mjr	73:4e8ce0b18915	475	// applying it to the blue LED
mjr	73:4e8ce0b18915	476	if (diagLEDState == 0)
mjr	77:0b96f6867312	477	{
mjr	77:0b96f6867312	478	b = (powerTimerDiagState == 2 \|\| powerTimerDiagState == 3);
mjr	77:0b96f6867312	479	r = (powerTimerDiagState == 4);
mjr	77:0b96f6867312	480	}
mjr	73:4e8ce0b18915	481
mjr	73:4e8ce0b18915	482	// set the new state
mjr	38:091e511ce8a0	483	if (ledR != 0 && r != -1) ledR->write(!r);
mjr	38:091e511ce8a0	484	if (ledG != 0 && g != -1) ledG->write(!g);
mjr	38:091e511ce8a0	485	if (ledB != 0 && b != -1) ledB->write(!b);
mjr	38:091e511ce8a0	486	}
mjr	38:091e511ce8a0	487
mjr	73:4e8ce0b18915	488	// update the LEDs with the current state
mjr	73:4e8ce0b18915	489	void diagLED(void)
mjr	73:4e8ce0b18915	490	{
mjr	73:4e8ce0b18915	491	diagLED(
mjr	73:4e8ce0b18915	492	diagLEDState & 0x01,
mjr	73:4e8ce0b18915	493	(diagLEDState >> 1) & 0x01,
mjr	77:0b96f6867312	494	(diagLEDState >> 2) & 0x01);
mjr	73:4e8ce0b18915	495	}
mjr	73:4e8ce0b18915	496
mjr	38:091e511ce8a0	497	// check an output port assignment to see if it conflicts with
mjr	38:091e511ce8a0	498	// an on-board LED segment
mjr	38:091e511ce8a0	499	struct LedSeg
mjr	38:091e511ce8a0	500	{
mjr	38:091e511ce8a0	501	bool r, g, b;
mjr	38:091e511ce8a0	502	LedSeg() { r = g = b = false; }
mjr	38:091e511ce8a0	503
mjr	38:091e511ce8a0	504	void check(LedWizPortCfg &pc)
mjr	38:091e511ce8a0	505	{
mjr	38:091e511ce8a0	506	// if it's a GPIO, check to see if it's assigned to one of
mjr	38:091e511ce8a0	507	// our on-board LED segments
mjr	38:091e511ce8a0	508	int t = pc.typ;
mjr	38:091e511ce8a0	509	if (t == PortTypeGPIOPWM \|\| t == PortTypeGPIODig)
mjr	38:091e511ce8a0	510	{
mjr	38:091e511ce8a0	511	// it's a GPIO port - check for a matching pin assignment
mjr	38:091e511ce8a0	512	PinName pin = wirePinName(pc.pin);
mjr	38:091e511ce8a0	513	if (pin == LED1)
mjr	38:091e511ce8a0	514	r = true;
mjr	38:091e511ce8a0	515	else if (pin == LED2)
mjr	38:091e511ce8a0	516	g = true;
mjr	38:091e511ce8a0	517	else if (pin == LED3)
mjr	38:091e511ce8a0	518	b = true;
mjr	38:091e511ce8a0	519	}
mjr	38:091e511ce8a0	520	}
mjr	38:091e511ce8a0	521	};
mjr	38:091e511ce8a0	522
mjr	38:091e511ce8a0	523	// Initialize the diagnostic LEDs. By default, we use the on-board
mjr	38:091e511ce8a0	524	// RGB LED to display the microcontroller status. However, we allow
mjr	38:091e511ce8a0	525	// the user to commandeer the on-board LED as an LedWiz output device,
mjr	38:091e511ce8a0	526	// which can be useful for testing a new installation. So we'll check
mjr	38:091e511ce8a0	527	// for LedWiz outputs assigned to the on-board LED segments, and turn
mjr	38:091e511ce8a0	528	// off the diagnostic use for any so assigned.
mjr	38:091e511ce8a0	529	void initDiagLEDs(Config &cfg)
mjr	38:091e511ce8a0	530	{
mjr	38:091e511ce8a0	531	// run through the configuration list and cross off any of the
mjr	38:091e511ce8a0	532	// LED segments assigned to LedWiz ports
mjr	38:091e511ce8a0	533	LedSeg l;
mjr	38:091e511ce8a0	534	for (int i = 0 ; i < MAX_OUT_PORTS && cfg.outPort[i].typ != PortTypeDisabled ; ++i)
mjr	38:091e511ce8a0	535	l.check(cfg.outPort[i]);
mjr	38:091e511ce8a0	536
mjr	38:091e511ce8a0	537	// We now know which segments are taken for LedWiz use and which
mjr	38:091e511ce8a0	538	// are free. Create diagnostic ports for the ones not claimed for
mjr	38:091e511ce8a0	539	// LedWiz use.
mjr	38:091e511ce8a0	540	if (!l.r) ledR = new DigitalOut(LED1, 1);
mjr	38:091e511ce8a0	541	if (!l.g) ledG = new DigitalOut(LED2, 1);
mjr	38:091e511ce8a0	542	if (!l.b) ledB = new DigitalOut(LED3, 1);
mjr	38:091e511ce8a0	543	}
mjr	38:091e511ce8a0	544
mjr	38:091e511ce8a0	545
mjr	38:091e511ce8a0	546	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	547	//
mjr	76:7f5912b6340e	548	// LedWiz emulation
mjr	76:7f5912b6340e	549	//
mjr	76:7f5912b6340e	550
mjr	76:7f5912b6340e	551	// LedWiz output states.
mjr	76:7f5912b6340e	552	//
mjr	76:7f5912b6340e	553	// The LedWiz protocol has two separate control axes for each output.
mjr	76:7f5912b6340e	554	// One axis is its on/off state; the other is its "profile" state, which
mjr	76:7f5912b6340e	555	// is either a fixed brightness or a blinking pattern for the light.
mjr	76:7f5912b6340e	556	// The two axes are independent.
mjr	76:7f5912b6340e	557	//
mjr	76:7f5912b6340e	558	// Even though the original LedWiz protocol can only access 32 ports, we
mjr	76:7f5912b6340e	559	// maintain LedWiz state for every port, even if we have more than 32. Our
mjr	76:7f5912b6340e	560	// extended protocol allows the client to send LedWiz-style messages that
mjr	76:7f5912b6340e	561	// control any set of ports. A replacement LEDWIZ.DLL can make a single
mjr	76:7f5912b6340e	562	// Pinscape unit look like multiple virtual LedWiz units to legacy clients,
mjr	76:7f5912b6340e	563	// allowing them to control all of our ports. The clients will still be
mjr	76:7f5912b6340e	564	// using LedWiz-style states to control the ports, so we need to support
mjr	76:7f5912b6340e	565	// the LedWiz scheme with separate on/off and brightness control per port.
mjr	76:7f5912b6340e	566
mjr	76:7f5912b6340e	567	// On/off state for each LedWiz output
mjr	76:7f5912b6340e	568	static uint8_t *wizOn;
mjr	76:7f5912b6340e	569
mjr	76:7f5912b6340e	570	// LedWiz "Profile State" (the LedWiz brightness level or blink mode)
mjr	76:7f5912b6340e	571	// for each LedWiz output. If the output was last updated through an
mjr	76:7f5912b6340e	572	// LedWiz protocol message, it will have one of these values:
mjr	76:7f5912b6340e	573	//
mjr	76:7f5912b6340e	574	// 0-48 = fixed brightness 0% to 100%
mjr	76:7f5912b6340e	575	// 49 = fixed brightness 100% (equivalent to 48)
mjr	76:7f5912b6340e	576	// 129 = ramp up / ramp down
mjr	76:7f5912b6340e	577	// 130 = flash on / off
mjr	76:7f5912b6340e	578	// 131 = on / ramp down
mjr	76:7f5912b6340e	579	// 132 = ramp up / on
mjr	5:a70c0bce770d	580	//
mjr	76:7f5912b6340e	581	// (Note that value 49 isn't documented in the LedWiz spec, but real
mjr	76:7f5912b6340e	582	// LedWiz units treat it as equivalent to 48, and some PC software uses
mjr	76:7f5912b6340e	583	// it, so we need to accept it for compatibility.)
mjr	76:7f5912b6340e	584	static uint8_t *wizVal;
mjr	76:7f5912b6340e	585
mjr	76:7f5912b6340e	586	// Current actual brightness for each output. This is a simple linear
mjr	76:7f5912b6340e	587	// value on a 0..255 scale. This is EITHER the linear brightness computed
mjr	76:7f5912b6340e	588	// from the LedWiz setting for the port, OR the 0..255 value set explicitly
mjr	76:7f5912b6340e	589	// by the extended protocol:
mjr	76:7f5912b6340e	590	//
mjr	76:7f5912b6340e	591	// - If the last command that updated the port was an extended protocol
mjr	76:7f5912b6340e	592	// SET BRIGHTNESS command, this is the value set by that command. In
mjr	76:7f5912b6340e	593	// addition, wizOn[port] is set to 0 if the brightness is 0, 1 otherwise;
mjr	76:7f5912b6340e	594	// and wizVal[port] is set to the brightness rescaled to the 0..48 range
mjr	76:7f5912b6340e	595	// if the brightness is non-zero.
mjr	76:7f5912b6340e	596	//
mjr	76:7f5912b6340e	597	// - If the last command that updated the port was an LedWiz command
mjr	76:7f5912b6340e	598	// (SBA/PBA/SBX/PBX), this contains the brightness value computed from
mjr	76:7f5912b6340e	599	// the combination of wizOn[port] and wizVal[port]. If wizOn[port] is
mjr	76:7f5912b6340e	600	// zero, this is simply 0, otherwise it's wizVal[port] rescaled to the
mjr	76:7f5912b6340e	601	// 0..255 range.
mjr	26:cb71c4af2912	602	//
mjr	76:7f5912b6340e	603	// - For a port set to wizOn[port]=1 and wizVal[port] in 129..132, this is
mjr	76:7f5912b6340e	604	// also updated continuously to reflect the current flashing brightness
mjr	76:7f5912b6340e	605	// level.
mjr	26:cb71c4af2912	606	//
mjr	76:7f5912b6340e	607	static uint8_t *outLevel;
mjr	76:7f5912b6340e	608
mjr	76:7f5912b6340e	609
mjr	76:7f5912b6340e	610	// LedWiz flash speed. This is a value from 1 to 7 giving the pulse
mjr	76:7f5912b6340e	611	// rate for lights in blinking states. The LedWiz API doesn't document
mjr	76:7f5912b6340e	612	// what the numbers mean in real time units, but by observation, the
mjr	76:7f5912b6340e	613	// "speed" setting represents the period of the flash cycle in 0.25s
mjr	76:7f5912b6340e	614	// units, so speed 1 = 0.25 period = 4Hz, speed 7 = 1.75s period = 0.57Hz.
mjr	76:7f5912b6340e	615	// The period is the full cycle time of the flash waveform.
mjr	76:7f5912b6340e	616	//
mjr	76:7f5912b6340e	617	// Each bank of 32 lights has its independent own pulse rate, so we need
mjr	76:7f5912b6340e	618	// one entry per bank. Each bank has 32 outputs, so we need a total of
mjr	76:7f5912b6340e	619	// ceil(number_of_physical_outputs/32) entries. Note that we could allocate
mjr	76:7f5912b6340e	620	// this dynamically once we know the number of actual outputs, but the
mjr	76:7f5912b6340e	621	// upper limit is low enough that it's more efficient to use a fixed array
mjr	76:7f5912b6340e	622	// at the maximum size.
mjr	76:7f5912b6340e	623	static const int MAX_LW_BANKS = (MAX_OUT_PORTS+31)/32;
mjr	76:7f5912b6340e	624	static uint8_t wizSpeed[MAX_LW_BANKS];
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	76:7f5912b6340e	632
mjr	76:7f5912b6340e	633	// ---------------------------------------------------------------------------
mjr	76:7f5912b6340e	634	//
mjr	76:7f5912b6340e	635	// Output Ports
mjr	76:7f5912b6340e	636	//
mjr	76:7f5912b6340e	637	// There are two way to connect outputs. First, you can use the on-board
mjr	76:7f5912b6340e	638	// GPIO ports to implement device outputs: each LedWiz software port is
mjr	76:7f5912b6340e	639	// connected to a physical GPIO pin on the KL25Z. This has some pretty
mjr	76:7f5912b6340e	640	// strict limits, though. The KL25Z only has 10 PWM channels, so only 10
mjr	76:7f5912b6340e	641	// GPIO LedWiz ports can be made dimmable; the rest are strictly on/off.
mjr	76:7f5912b6340e	642	// The KL25Z also simply doesn't have enough exposed GPIO ports overall to
mjr	76:7f5912b6340e	643	// support all of the features the software supports. The software allows
mjr	76:7f5912b6340e	644	// for up to 128 outputs, 48 button inputs, plunger input (requiring 1-5
mjr	76:7f5912b6340e	645	// GPIO pins), and various other external devices. The KL25Z only exposes
mjr	76:7f5912b6340e	646	// about 50 GPIO pins. So if you want to do everything with GPIO ports,
mjr	76:7f5912b6340e	647	// you have to ration pins among features.
mjr	76:7f5912b6340e	648	//
mjr	76:7f5912b6340e	649	// To overcome some of these limitations, we also provide two types of
mjr	76:7f5912b6340e	650	// peripheral controllers that allow adding many more outputs, using only
mjr	76:7f5912b6340e	651	// a small number of GPIO pins to interface with the peripherals. First,
mjr	76:7f5912b6340e	652	// we support TLC5940 PWM controller chips. Each TLC5940 provides 16 ports
mjr	76:7f5912b6340e	653	// with full PWM, and multiple TLC5940 chips can be daisy-chained. The
mjr	76:7f5912b6340e	654	// chip only requires 5 GPIO pins for the interface, no matter how many
mjr	76:7f5912b6340e	655	// chips are in the chain, so it effectively converts 5 GPIO pins into
mjr	76:7f5912b6340e	656	// almost any number of PWM outputs. Second, we support 74HC595 chips.
mjr	76:7f5912b6340e	657	// These provide only digital outputs, but like the TLC5940 they can be
mjr	76:7f5912b6340e	658	// daisy-chained to provide almost unlimited outputs with a few GPIO pins
mjr	76:7f5912b6340e	659	// to control the whole chain.
mjr	76:7f5912b6340e	660	//
mjr	76:7f5912b6340e	661	// Direct GPIO output ports and peripheral controllers can be mixed and
mjr	76:7f5912b6340e	662	// matched in one system. The assignment of pins to ports and the
mjr	76:7f5912b6340e	663	// configuration of peripheral controllers is all handled in the software
mjr	76:7f5912b6340e	664	// setup, so a physical system can be expanded and updated at any time.
mjr	76:7f5912b6340e	665	//
mjr	76:7f5912b6340e	666	// To handle the diversity of output port types, we start with an abstract
mjr	76:7f5912b6340e	667	// base class for outputs. Each type of physical output interface has a
mjr	76:7f5912b6340e	668	// concrete subclass. During initialization, we create the appropriate
mjr	76:7f5912b6340e	669	// subclass for each software port, mapping it to the assigned GPIO pin
mjr	76:7f5912b6340e	670	// or peripheral port. Most of the rest of the software only cares about
mjr	76:7f5912b6340e	671	// the abstract interface, so once the subclassed port objects are set up,
mjr	76:7f5912b6340e	672	// the rest of the system can control the ports without knowing which types
mjr	76:7f5912b6340e	673	// of physical devices they're connected to.
mjr	76:7f5912b6340e	674
mjr	76:7f5912b6340e	675
mjr	26:cb71c4af2912	676	// Generic LedWiz output port interface. We create a cover class to
mjr	26:cb71c4af2912	677	// virtualize digital vs PWM outputs, and on-board KL25Z GPIO vs external
mjr	26:cb71c4af2912	678	// TLC5940 outputs, and give them all a common interface.
mjr	6:cc35eb643e8f	679	class LwOut
mjr	6:cc35eb643e8f	680	{
mjr	6:cc35eb643e8f	681	public:
mjr	40:cc0d9814522b	682	// Set the output intensity. 'val' is 0 for fully off, 255 for
mjr	40:cc0d9814522b	683	// fully on, with values in between signifying lower intensity.
mjr	40:cc0d9814522b	684	virtual void set(uint8_t val) = 0;
mjr	6:cc35eb643e8f	685	};
mjr	26:cb71c4af2912	686
mjr	35:e959ffba78fd	687	// LwOut class for virtual ports. This type of port is visible to
mjr	35:e959ffba78fd	688	// the host software, but isn't connected to any physical output.
mjr	35:e959ffba78fd	689	// This can be used for special software-only ports like the ZB
mjr	35:e959ffba78fd	690	// Launch Ball output, or simply for placeholders in the LedWiz port
mjr	35:e959ffba78fd	691	// numbering.
mjr	35:e959ffba78fd	692	class LwVirtualOut: public LwOut
mjr	33:d832bcab089e	693	{
mjr	33:d832bcab089e	694	public:
mjr	35:e959ffba78fd	695	LwVirtualOut() { }
mjr	40:cc0d9814522b	696	virtual void set(uint8_t ) { }
mjr	33:d832bcab089e	697	};
mjr	26:cb71c4af2912	698
mjr	34:6b981a2afab7	699	// Active Low out. For any output marked as active low, we layer this
mjr	34:6b981a2afab7	700	// on top of the physical pin interface. This simply inverts the value of
mjr	40:cc0d9814522b	701	// the output value, so that 255 means fully off and 0 means fully on.
mjr	34:6b981a2afab7	702	class LwInvertedOut: public LwOut
mjr	34:6b981a2afab7	703	{
mjr	34:6b981a2afab7	704	public:
mjr	34:6b981a2afab7	705	LwInvertedOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	706	virtual void set(uint8_t val) { out->set(255 - val); }
mjr	34:6b981a2afab7	707
mjr	34:6b981a2afab7	708	private:
mjr	53:9b2611964afc	709	// underlying physical output
mjr	34:6b981a2afab7	710	LwOut *out;
mjr	34:6b981a2afab7	711	};
mjr	34:6b981a2afab7	712
mjr	53:9b2611964afc	713	// Global ZB Launch Ball state
mjr	53:9b2611964afc	714	bool zbLaunchOn = false;
mjr	53:9b2611964afc	715
mjr	53:9b2611964afc	716	// ZB Launch Ball output. This is layered on a port (physical or virtual)
mjr	53:9b2611964afc	717	// to track the ZB Launch Ball signal.
mjr	53:9b2611964afc	718	class LwZbLaunchOut: public LwOut
mjr	53:9b2611964afc	719	{
mjr	53:9b2611964afc	720	public:
mjr	53:9b2611964afc	721	LwZbLaunchOut(LwOut *o) : out(o) { }
mjr	53:9b2611964afc	722	virtual void set(uint8_t val)
mjr	53:9b2611964afc	723	{
mjr	53:9b2611964afc	724	// update the global ZB Launch Ball state
mjr	53:9b2611964afc	725	zbLaunchOn = (val != 0);
mjr	53:9b2611964afc	726
mjr	53:9b2611964afc	727	// pass it along to the underlying port, in case it's a physical output
mjr	53:9b2611964afc	728	out->set(val);
mjr	53:9b2611964afc	729	}
mjr	53:9b2611964afc	730
mjr	53:9b2611964afc	731	private:
mjr	53:9b2611964afc	732	// underlying physical or virtual output
mjr	53:9b2611964afc	733	LwOut *out;
mjr	53:9b2611964afc	734	};
mjr	53:9b2611964afc	735
mjr	53:9b2611964afc	736
mjr	40:cc0d9814522b	737	// Gamma correction table for 8-bit input values
mjr	40:cc0d9814522b	738	static const uint8_t gamma[] = {
mjr	40:cc0d9814522b	739	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
mjr	40:cc0d9814522b	740	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1,
mjr	40:cc0d9814522b	741	1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2,
mjr	40:cc0d9814522b	742	2, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 5, 5, 5,
mjr	40:cc0d9814522b	743	5, 6, 6, 6, 6, 7, 7, 7, 7, 8, 8, 8, 9, 9, 9, 10,
mjr	40:cc0d9814522b	744	10, 10, 11, 11, 11, 12, 12, 13, 13, 13, 14, 14, 15, 15, 16, 16,
mjr	40:cc0d9814522b	745	17, 17, 18, 18, 19, 19, 20, 20, 21, 21, 22, 22, 23, 24, 24, 25,
mjr	40:cc0d9814522b	746	25, 26, 27, 27, 28, 29, 29, 30, 31, 32, 32, 33, 34, 35, 35, 36,
mjr	40:cc0d9814522b	747	37, 38, 39, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 50,
mjr	40:cc0d9814522b	748	51, 52, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 66, 67, 68,
mjr	40:cc0d9814522b	749	69, 70, 72, 73, 74, 75, 77, 78, 79, 81, 82, 83, 85, 86, 87, 89,
mjr	40:cc0d9814522b	750	90, 92, 93, 95, 96, 98, 99, 101, 102, 104, 105, 107, 109, 110, 112, 114,
mjr	40:cc0d9814522b	751	115, 117, 119, 120, 122, 124, 126, 127, 129, 131, 133, 135, 137, 138, 140, 142,
mjr	40:cc0d9814522b	752	144, 146, 148, 150, 152, 154, 156, 158, 160, 162, 164, 167, 169, 171, 173, 175,
mjr	40:cc0d9814522b	753	177, 180, 182, 184, 186, 189, 191, 193, 196, 198, 200, 203, 205, 208, 210, 213,
mjr	40:cc0d9814522b	754	215, 218, 220, 223, 225, 228, 231, 233, 236, 239, 241, 244, 247, 249, 252, 255
mjr	40:cc0d9814522b	755	};
mjr	40:cc0d9814522b	756
mjr	40:cc0d9814522b	757	// Gamma-corrected out. This is a filter object that we layer on top
mjr	40:cc0d9814522b	758	// of a physical pin interface. This applies gamma correction to the
mjr	40:cc0d9814522b	759	// input value and then passes it along to the underlying pin object.
mjr	40:cc0d9814522b	760	class LwGammaOut: public LwOut
mjr	40:cc0d9814522b	761	{
mjr	40:cc0d9814522b	762	public:
mjr	40:cc0d9814522b	763	LwGammaOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	764	virtual void set(uint8_t val) { out->set(gamma[val]); }
mjr	40:cc0d9814522b	765
mjr	40:cc0d9814522b	766	private:
mjr	40:cc0d9814522b	767	LwOut *out;
mjr	40:cc0d9814522b	768	};
mjr	40:cc0d9814522b	769
mjr	77:0b96f6867312	770	// Global night mode flag. To minimize overhead when reporting
mjr	77:0b96f6867312	771	// the status, we set this to the status report flag bit for
mjr	77:0b96f6867312	772	// night mode, 0x02, when engaged.
mjr	77:0b96f6867312	773	static uint8_t nightMode = 0x00;
mjr	53:9b2611964afc	774
mjr	40:cc0d9814522b	775	// Noisy output. This is a filter object that we layer on top of
mjr	40:cc0d9814522b	776	// a physical pin output. This filter disables the port when night
mjr	40:cc0d9814522b	777	// mode is engaged.
mjr	40:cc0d9814522b	778	class LwNoisyOut: public LwOut
mjr	40:cc0d9814522b	779	{
mjr	40:cc0d9814522b	780	public:
mjr	40:cc0d9814522b	781	LwNoisyOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	782	virtual void set(uint8_t val) { out->set(nightMode ? 0 : val); }
mjr	40:cc0d9814522b	783
mjr	53:9b2611964afc	784	private:
mjr	53:9b2611964afc	785	LwOut *out;
mjr	53:9b2611964afc	786	};
mjr	53:9b2611964afc	787
mjr	53:9b2611964afc	788	// Night Mode indicator output. This is a filter object that we
mjr	53:9b2611964afc	789	// layer on top of a physical pin output. This filter ignores the
mjr	53:9b2611964afc	790	// host value and simply shows the night mode status.
mjr	53:9b2611964afc	791	class LwNightModeIndicatorOut: public LwOut
mjr	53:9b2611964afc	792	{
mjr	53:9b2611964afc	793	public:
mjr	53:9b2611964afc	794	LwNightModeIndicatorOut(LwOut *o) : out(o) { }
mjr	53:9b2611964afc	795	virtual void set(uint8_t)
mjr	53:9b2611964afc	796	{
mjr	53:9b2611964afc	797	// ignore the host value and simply show the current
mjr	53:9b2611964afc	798	// night mode setting
mjr	53:9b2611964afc	799	out->set(nightMode ? 255 : 0);
mjr	53:9b2611964afc	800	}
mjr	40:cc0d9814522b	801
mjr	40:cc0d9814522b	802	private:
mjr	40:cc0d9814522b	803	LwOut *out;
mjr	40:cc0d9814522b	804	};
mjr	40:cc0d9814522b	805
mjr	26:cb71c4af2912	806
mjr	35:e959ffba78fd	807	//
mjr	35:e959ffba78fd	808	// The TLC5940 interface object. We'll set this up with the port
mjr	35:e959ffba78fd	809	// assignments set in config.h.
mjr	33:d832bcab089e	810	//
mjr	35:e959ffba78fd	811	TLC5940 *tlc5940 = 0;
mjr	35:e959ffba78fd	812	void init_tlc5940(Config &cfg)
mjr	35:e959ffba78fd	813	{
mjr	35:e959ffba78fd	814	if (cfg.tlc5940.nchips != 0)
mjr	35:e959ffba78fd	815	{
mjr	53:9b2611964afc	816	tlc5940 = new TLC5940(
mjr	53:9b2611964afc	817	wirePinName(cfg.tlc5940.sclk),
mjr	53:9b2611964afc	818	wirePinName(cfg.tlc5940.sin),
mjr	53:9b2611964afc	819	wirePinName(cfg.tlc5940.gsclk),
mjr	53:9b2611964afc	820	wirePinName(cfg.tlc5940.blank),
mjr	53:9b2611964afc	821	wirePinName(cfg.tlc5940.xlat),
mjr	53:9b2611964afc	822	cfg.tlc5940.nchips);
mjr	35:e959ffba78fd	823	}
mjr	35:e959ffba78fd	824	}
mjr	26:cb71c4af2912	825
mjr	40:cc0d9814522b	826	// Conversion table for 8-bit DOF level to 12-bit TLC5940 level
mjr	40:cc0d9814522b	827	static const uint16_t dof_to_tlc[] = {
mjr	40:cc0d9814522b	828	0, 16, 32, 48, 64, 80, 96, 112, 128, 145, 161, 177, 193, 209, 225, 241,
mjr	40:cc0d9814522b	829	257, 273, 289, 305, 321, 337, 353, 369, 385, 401, 418, 434, 450, 466, 482, 498,
mjr	40:cc0d9814522b	830	514, 530, 546, 562, 578, 594, 610, 626, 642, 658, 674, 691, 707, 723, 739, 755,
mjr	40:cc0d9814522b	831	771, 787, 803, 819, 835, 851, 867, 883, 899, 915, 931, 947, 964, 980, 996, 1012,
mjr	40:cc0d9814522b	832	1028, 1044, 1060, 1076, 1092, 1108, 1124, 1140, 1156, 1172, 1188, 1204, 1220, 1237, 1253, 1269,
mjr	40:cc0d9814522b	833	1285, 1301, 1317, 1333, 1349, 1365, 1381, 1397, 1413, 1429, 1445, 1461, 1477, 1493, 1510, 1526,
mjr	40:cc0d9814522b	834	1542, 1558, 1574, 1590, 1606, 1622, 1638, 1654, 1670, 1686, 1702, 1718, 1734, 1750, 1766, 1783,
mjr	40:cc0d9814522b	835	1799, 1815, 1831, 1847, 1863, 1879, 1895, 1911, 1927, 1943, 1959, 1975, 1991, 2007, 2023, 2039,
mjr	40:cc0d9814522b	836	2056, 2072, 2088, 2104, 2120, 2136, 2152, 2168, 2184, 2200, 2216, 2232, 2248, 2264, 2280, 2296,
mjr	40:cc0d9814522b	837	2312, 2329, 2345, 2361, 2377, 2393, 2409, 2425, 2441, 2457, 2473, 2489, 2505, 2521, 2537, 2553,
mjr	40:cc0d9814522b	838	2569, 2585, 2602, 2618, 2634, 2650, 2666, 2682, 2698, 2714, 2730, 2746, 2762, 2778, 2794, 2810,
mjr	40:cc0d9814522b	839	2826, 2842, 2858, 2875, 2891, 2907, 2923, 2939, 2955, 2971, 2987, 3003, 3019, 3035, 3051, 3067,
mjr	40:cc0d9814522b	840	3083, 3099, 3115, 3131, 3148, 3164, 3180, 3196, 3212, 3228, 3244, 3260, 3276, 3292, 3308, 3324,
mjr	40:cc0d9814522b	841	3340, 3356, 3372, 3388, 3404, 3421, 3437, 3453, 3469, 3485, 3501, 3517, 3533, 3549, 3565, 3581,
mjr	40:cc0d9814522b	842	3597, 3613, 3629, 3645, 3661, 3677, 3694, 3710, 3726, 3742, 3758, 3774, 3790, 3806, 3822, 3838,
mjr	40:cc0d9814522b	843	3854, 3870, 3886, 3902, 3918, 3934, 3950, 3967, 3983, 3999, 4015, 4031, 4047, 4063, 4079, 4095
mjr	40:cc0d9814522b	844	};
mjr	40:cc0d9814522b	845
mjr	40:cc0d9814522b	846	// Conversion table for 8-bit DOF level to 12-bit TLC5940 level, with
mjr	40:cc0d9814522b	847	// gamma correction. Note that the output layering scheme can handle
mjr	40:cc0d9814522b	848	// this without a separate table, by first applying gamma to the DOF
mjr	40:cc0d9814522b	849	// level to produce an 8-bit gamma-corrected value, then convert that
mjr	40:cc0d9814522b	850	// to the 12-bit TLC5940 value. But we get better precision by doing
mjr	40:cc0d9814522b	851	// the gamma correction in the 12-bit TLC5940 domain. We can only
mjr	40:cc0d9814522b	852	// get the 12-bit domain by combining both steps into one layering
mjr	40:cc0d9814522b	853	// object, though, since the intermediate values in the layering system
mjr	40:cc0d9814522b	854	// are always 8 bits.
mjr	40:cc0d9814522b	855	static const uint16_t dof_to_gamma_tlc[] = {
mjr	40:cc0d9814522b	856	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1,
mjr	40:cc0d9814522b	857	2, 2, 2, 3, 3, 4, 4, 5, 5, 6, 7, 8, 8, 9, 10, 11,
mjr	40:cc0d9814522b	858	12, 13, 15, 16, 17, 18, 20, 21, 23, 25, 26, 28, 30, 32, 34, 36,
mjr	40:cc0d9814522b	859	38, 40, 43, 45, 48, 50, 53, 56, 59, 62, 65, 68, 71, 75, 78, 82,
mjr	40:cc0d9814522b	860	85, 89, 93, 97, 101, 105, 110, 114, 119, 123, 128, 133, 138, 143, 149, 154,
mjr	40:cc0d9814522b	861	159, 165, 171, 177, 183, 189, 195, 202, 208, 215, 222, 229, 236, 243, 250, 258,
mjr	40:cc0d9814522b	862	266, 273, 281, 290, 298, 306, 315, 324, 332, 341, 351, 360, 369, 379, 389, 399,
mjr	40:cc0d9814522b	863	409, 419, 430, 440, 451, 462, 473, 485, 496, 508, 520, 532, 544, 556, 569, 582,
mjr	40:cc0d9814522b	864	594, 608, 621, 634, 648, 662, 676, 690, 704, 719, 734, 749, 764, 779, 795, 811,
mjr	40:cc0d9814522b	865	827, 843, 859, 876, 893, 910, 927, 944, 962, 980, 998, 1016, 1034, 1053, 1072, 1091,
mjr	40:cc0d9814522b	866	1110, 1130, 1150, 1170, 1190, 1210, 1231, 1252, 1273, 1294, 1316, 1338, 1360, 1382, 1404, 1427,
mjr	40:cc0d9814522b	867	1450, 1473, 1497, 1520, 1544, 1568, 1593, 1617, 1642, 1667, 1693, 1718, 1744, 1770, 1797, 1823,
mjr	40:cc0d9814522b	868	1850, 1877, 1905, 1932, 1960, 1988, 2017, 2045, 2074, 2103, 2133, 2162, 2192, 2223, 2253, 2284,
mjr	40:cc0d9814522b	869	2315, 2346, 2378, 2410, 2442, 2474, 2507, 2540, 2573, 2606, 2640, 2674, 2708, 2743, 2778, 2813,
mjr	40:cc0d9814522b	870	2849, 2884, 2920, 2957, 2993, 3030, 3067, 3105, 3143, 3181, 3219, 3258, 3297, 3336, 3376, 3416,
mjr	40:cc0d9814522b	871	3456, 3496, 3537, 3578, 3619, 3661, 3703, 3745, 3788, 3831, 3874, 3918, 3962, 4006, 4050, 4095
mjr	40:cc0d9814522b	872	};
mjr	40:cc0d9814522b	873
mjr	26:cb71c4af2912	874	// LwOut class for TLC5940 outputs. These are fully PWM capable.
mjr	26:cb71c4af2912	875	// The 'idx' value in the constructor is the output index in the
mjr	26:cb71c4af2912	876	// daisy-chained TLC5940 array. 0 is output #0 on the first chip,
mjr	26:cb71c4af2912	877	// 1 is #1 on the first chip, 15 is #15 on the first chip, 16 is
mjr	26:cb71c4af2912	878	// #0 on the second chip, 32 is #0 on the third chip, etc.
mjr	26:cb71c4af2912	879	class Lw5940Out: public LwOut
mjr	26:cb71c4af2912	880	{
mjr	26:cb71c4af2912	881	public:
mjr	60:f38da020aa13	882	Lw5940Out(uint8_t idx) : idx(idx) { prv = 0; }
mjr	40:cc0d9814522b	883	virtual void set(uint8_t val)
mjr	26:cb71c4af2912	884	{
mjr	26:cb71c4af2912	885	if (val != prv)
mjr	40:cc0d9814522b	886	tlc5940->set(idx, dof_to_tlc[prv = val]);
mjr	26:cb71c4af2912	887	}
mjr	60:f38da020aa13	888	uint8_t idx;
mjr	40:cc0d9814522b	889	uint8_t prv;
mjr	26:cb71c4af2912	890	};
mjr	26:cb71c4af2912	891
mjr	40:cc0d9814522b	892	// LwOut class for TLC5940 gamma-corrected outputs.
mjr	40:cc0d9814522b	893	class Lw5940GammaOut: public LwOut
mjr	40:cc0d9814522b	894	{
mjr	40:cc0d9814522b	895	public:
mjr	60:f38da020aa13	896	Lw5940GammaOut(uint8_t idx) : idx(idx) { prv = 0; }
mjr	40:cc0d9814522b	897	virtual void set(uint8_t val)
mjr	40:cc0d9814522b	898	{
mjr	40:cc0d9814522b	899	if (val != prv)
mjr	40:cc0d9814522b	900	tlc5940->set(idx, dof_to_gamma_tlc[prv = val]);
mjr	40:cc0d9814522b	901	}
mjr	60:f38da020aa13	902	uint8_t idx;
mjr	40:cc0d9814522b	903	uint8_t prv;
mjr	40:cc0d9814522b	904	};
mjr	40:cc0d9814522b	905
mjr	40:cc0d9814522b	906
mjr	33:d832bcab089e	907
mjr	34:6b981a2afab7	908	// 74HC595 interface object. Set this up with the port assignments in
mjr	34:6b981a2afab7	909	// config.h.
mjr	35:e959ffba78fd	910	HC595 *hc595 = 0;
mjr	35:e959ffba78fd	911
mjr	35:e959ffba78fd	912	// initialize the 74HC595 interface
mjr	35:e959ffba78fd	913	void init_hc595(Config &cfg)
mjr	35:e959ffba78fd	914	{
mjr	35:e959ffba78fd	915	if (cfg.hc595.nchips != 0)
mjr	35:e959ffba78fd	916	{
mjr	53:9b2611964afc	917	hc595 = new HC595(
mjr	53:9b2611964afc	918	wirePinName(cfg.hc595.nchips),
mjr	53:9b2611964afc	919	wirePinName(cfg.hc595.sin),
mjr	53:9b2611964afc	920	wirePinName(cfg.hc595.sclk),
mjr	53:9b2611964afc	921	wirePinName(cfg.hc595.latch),
mjr	53:9b2611964afc	922	wirePinName(cfg.hc595.ena));
mjr	35:e959ffba78fd	923	hc595->init();
mjr	35:e959ffba78fd	924	hc595->update();
mjr	35:e959ffba78fd	925	}
mjr	35:e959ffba78fd	926	}
mjr	34:6b981a2afab7	927
mjr	34:6b981a2afab7	928	// LwOut class for 74HC595 outputs. These are simple digial outs.
mjr	34:6b981a2afab7	929	// The 'idx' value in the constructor is the output index in the
mjr	34:6b981a2afab7	930	// daisy-chained 74HC595 array. 0 is output #0 on the first chip,
mjr	34:6b981a2afab7	931	// 1 is #1 on the first chip, 7 is #7 on the first chip, 8 is
mjr	34:6b981a2afab7	932	// #0 on the second chip, etc.
mjr	34:6b981a2afab7	933	class Lw595Out: public LwOut
mjr	33:d832bcab089e	934	{
mjr	33:d832bcab089e	935	public:
mjr	60:f38da020aa13	936	Lw595Out(uint8_t idx) : idx(idx) { prv = 0; }
mjr	40:cc0d9814522b	937	virtual void set(uint8_t val)
mjr	34:6b981a2afab7	938	{
mjr	34:6b981a2afab7	939	if (val != prv)
mjr	40:cc0d9814522b	940	hc595->set(idx, (prv = val) == 0 ? 0 : 1);
mjr	34:6b981a2afab7	941	}
mjr	60:f38da020aa13	942	uint8_t idx;
mjr	40:cc0d9814522b	943	uint8_t prv;
mjr	33:d832bcab089e	944	};
mjr	33:d832bcab089e	945
mjr	26:cb71c4af2912	946
mjr	40:cc0d9814522b	947
mjr	64:ef7ca92dff36	948	// Conversion table - 8-bit DOF output level to PWM duty cycle,
mjr	64:ef7ca92dff36	949	// normalized to 0.0 to 1.0 scale.
mjr	74:822a92bc11d2	950	static const float dof_to_pwm[] = {
mjr	64:ef7ca92dff36	951	0.000000f, 0.003922f, 0.007843f, 0.011765f, 0.015686f, 0.019608f, 0.023529f, 0.027451f,
mjr	64:ef7ca92dff36	952	0.031373f, 0.035294f, 0.039216f, 0.043137f, 0.047059f, 0.050980f, 0.054902f, 0.058824f,
mjr	64:ef7ca92dff36	953	0.062745f, 0.066667f, 0.070588f, 0.074510f, 0.078431f, 0.082353f, 0.086275f, 0.090196f,
mjr	64:ef7ca92dff36	954	0.094118f, 0.098039f, 0.101961f, 0.105882f, 0.109804f, 0.113725f, 0.117647f, 0.121569f,
mjr	64:ef7ca92dff36	955	0.125490f, 0.129412f, 0.133333f, 0.137255f, 0.141176f, 0.145098f, 0.149020f, 0.152941f,
mjr	64:ef7ca92dff36	956	0.156863f, 0.160784f, 0.164706f, 0.168627f, 0.172549f, 0.176471f, 0.180392f, 0.184314f,
mjr	64:ef7ca92dff36	957	0.188235f, 0.192157f, 0.196078f, 0.200000f, 0.203922f, 0.207843f, 0.211765f, 0.215686f,
mjr	64:ef7ca92dff36	958	0.219608f, 0.223529f, 0.227451f, 0.231373f, 0.235294f, 0.239216f, 0.243137f, 0.247059f,
mjr	64:ef7ca92dff36	959	0.250980f, 0.254902f, 0.258824f, 0.262745f, 0.266667f, 0.270588f, 0.274510f, 0.278431f,
mjr	64:ef7ca92dff36	960	0.282353f, 0.286275f, 0.290196f, 0.294118f, 0.298039f, 0.301961f, 0.305882f, 0.309804f,
mjr	64:ef7ca92dff36	961	0.313725f, 0.317647f, 0.321569f, 0.325490f, 0.329412f, 0.333333f, 0.337255f, 0.341176f,
mjr	64:ef7ca92dff36	962	0.345098f, 0.349020f, 0.352941f, 0.356863f, 0.360784f, 0.364706f, 0.368627f, 0.372549f,
mjr	64:ef7ca92dff36	963	0.376471f, 0.380392f, 0.384314f, 0.388235f, 0.392157f, 0.396078f, 0.400000f, 0.403922f,
mjr	64:ef7ca92dff36	964	0.407843f, 0.411765f, 0.415686f, 0.419608f, 0.423529f, 0.427451f, 0.431373f, 0.435294f,
mjr	64:ef7ca92dff36	965	0.439216f, 0.443137f, 0.447059f, 0.450980f, 0.454902f, 0.458824f, 0.462745f, 0.466667f,
mjr	64:ef7ca92dff36	966	0.470588f, 0.474510f, 0.478431f, 0.482353f, 0.486275f, 0.490196f, 0.494118f, 0.498039f,
mjr	64:ef7ca92dff36	967	0.501961f, 0.505882f, 0.509804f, 0.513725f, 0.517647f, 0.521569f, 0.525490f, 0.529412f,
mjr	64:ef7ca92dff36	968	0.533333f, 0.537255f, 0.541176f, 0.545098f, 0.549020f, 0.552941f, 0.556863f, 0.560784f,
mjr	64:ef7ca92dff36	969	0.564706f, 0.568627f, 0.572549f, 0.576471f, 0.580392f, 0.584314f, 0.588235f, 0.592157f,
mjr	64:ef7ca92dff36	970	0.596078f, 0.600000f, 0.603922f, 0.607843f, 0.611765f, 0.615686f, 0.619608f, 0.623529f,
mjr	64:ef7ca92dff36	971	0.627451f, 0.631373f, 0.635294f, 0.639216f, 0.643137f, 0.647059f, 0.650980f, 0.654902f,
mjr	64:ef7ca92dff36	972	0.658824f, 0.662745f, 0.666667f, 0.670588f, 0.674510f, 0.678431f, 0.682353f, 0.686275f,
mjr	64:ef7ca92dff36	973	0.690196f, 0.694118f, 0.698039f, 0.701961f, 0.705882f, 0.709804f, 0.713725f, 0.717647f,
mjr	64:ef7ca92dff36	974	0.721569f, 0.725490f, 0.729412f, 0.733333f, 0.737255f, 0.741176f, 0.745098f, 0.749020f,
mjr	64:ef7ca92dff36	975	0.752941f, 0.756863f, 0.760784f, 0.764706f, 0.768627f, 0.772549f, 0.776471f, 0.780392f,
mjr	64:ef7ca92dff36	976	0.784314f, 0.788235f, 0.792157f, 0.796078f, 0.800000f, 0.803922f, 0.807843f, 0.811765f,
mjr	64:ef7ca92dff36	977	0.815686f, 0.819608f, 0.823529f, 0.827451f, 0.831373f, 0.835294f, 0.839216f, 0.843137f,
mjr	64:ef7ca92dff36	978	0.847059f, 0.850980f, 0.854902f, 0.858824f, 0.862745f, 0.866667f, 0.870588f, 0.874510f,
mjr	64:ef7ca92dff36	979	0.878431f, 0.882353f, 0.886275f, 0.890196f, 0.894118f, 0.898039f, 0.901961f, 0.905882f,
mjr	64:ef7ca92dff36	980	0.909804f, 0.913725f, 0.917647f, 0.921569f, 0.925490f, 0.929412f, 0.933333f, 0.937255f,
mjr	64:ef7ca92dff36	981	0.941176f, 0.945098f, 0.949020f, 0.952941f, 0.956863f, 0.960784f, 0.964706f, 0.968627f,
mjr	64:ef7ca92dff36	982	0.972549f, 0.976471f, 0.980392f, 0.984314f, 0.988235f, 0.992157f, 0.996078f, 1.000000f
mjr	40:cc0d9814522b	983	};
mjr	26:cb71c4af2912	984
mjr	64:ef7ca92dff36	985
mjr	64:ef7ca92dff36	986	// Conversion table for 8-bit DOF level to pulse width in microseconds,
mjr	64:ef7ca92dff36	987	// with gamma correction. We could use the layered gamma output on top
mjr	64:ef7ca92dff36	988	// of the regular LwPwmOut class for this, but we get better precision
mjr	64:ef7ca92dff36	989	// with a dedicated table, because we apply gamma correction to the
mjr	64:ef7ca92dff36	990	// 32-bit microsecond values rather than the 8-bit DOF levels.
mjr	64:ef7ca92dff36	991	static const float dof_to_gamma_pwm[] = {
mjr	64:ef7ca92dff36	992	0.000000f, 0.000000f, 0.000001f, 0.000004f, 0.000009f, 0.000017f, 0.000028f, 0.000042f,
mjr	64:ef7ca92dff36	993	0.000062f, 0.000086f, 0.000115f, 0.000151f, 0.000192f, 0.000240f, 0.000296f, 0.000359f,
mjr	64:ef7ca92dff36	994	0.000430f, 0.000509f, 0.000598f, 0.000695f, 0.000803f, 0.000920f, 0.001048f, 0.001187f,
mjr	64:ef7ca92dff36	995	0.001337f, 0.001499f, 0.001673f, 0.001860f, 0.002059f, 0.002272f, 0.002498f, 0.002738f,
mjr	64:ef7ca92dff36	996	0.002993f, 0.003262f, 0.003547f, 0.003847f, 0.004162f, 0.004494f, 0.004843f, 0.005208f,
mjr	64:ef7ca92dff36	997	0.005591f, 0.005991f, 0.006409f, 0.006845f, 0.007301f, 0.007775f, 0.008268f, 0.008781f,
mjr	64:ef7ca92dff36	998	0.009315f, 0.009868f, 0.010442f, 0.011038f, 0.011655f, 0.012293f, 0.012954f, 0.013637f,
mjr	64:ef7ca92dff36	999	0.014342f, 0.015071f, 0.015823f, 0.016599f, 0.017398f, 0.018223f, 0.019071f, 0.019945f,
mjr	64:ef7ca92dff36	1000	0.020844f, 0.021769f, 0.022720f, 0.023697f, 0.024701f, 0.025731f, 0.026789f, 0.027875f,
mjr	64:ef7ca92dff36	1001	0.028988f, 0.030129f, 0.031299f, 0.032498f, 0.033726f, 0.034983f, 0.036270f, 0.037587f,
mjr	64:ef7ca92dff36	1002	0.038935f, 0.040313f, 0.041722f, 0.043162f, 0.044634f, 0.046138f, 0.047674f, 0.049243f,
mjr	64:ef7ca92dff36	1003	0.050844f, 0.052478f, 0.054146f, 0.055847f, 0.057583f, 0.059353f, 0.061157f, 0.062996f,
mjr	64:ef7ca92dff36	1004	0.064870f, 0.066780f, 0.068726f, 0.070708f, 0.072726f, 0.074780f, 0.076872f, 0.079001f,
mjr	64:ef7ca92dff36	1005	0.081167f, 0.083371f, 0.085614f, 0.087895f, 0.090214f, 0.092572f, 0.094970f, 0.097407f,
mjr	64:ef7ca92dff36	1006	0.099884f, 0.102402f, 0.104959f, 0.107558f, 0.110197f, 0.112878f, 0.115600f, 0.118364f,
mjr	64:ef7ca92dff36	1007	0.121170f, 0.124019f, 0.126910f, 0.129844f, 0.132821f, 0.135842f, 0.138907f, 0.142016f,
mjr	64:ef7ca92dff36	1008	0.145170f, 0.148367f, 0.151610f, 0.154898f, 0.158232f, 0.161611f, 0.165037f, 0.168509f,
mjr	64:ef7ca92dff36	1009	0.172027f, 0.175592f, 0.179205f, 0.182864f, 0.186572f, 0.190327f, 0.194131f, 0.197983f,
mjr	64:ef7ca92dff36	1010	0.201884f, 0.205834f, 0.209834f, 0.213883f, 0.217982f, 0.222131f, 0.226330f, 0.230581f,
mjr	64:ef7ca92dff36	1011	0.234882f, 0.239234f, 0.243638f, 0.248094f, 0.252602f, 0.257162f, 0.261774f, 0.266440f,
mjr	64:ef7ca92dff36	1012	0.271159f, 0.275931f, 0.280756f, 0.285636f, 0.290570f, 0.295558f, 0.300601f, 0.305699f,
mjr	64:ef7ca92dff36	1013	0.310852f, 0.316061f, 0.321325f, 0.326645f, 0.332022f, 0.337456f, 0.342946f, 0.348493f,
mjr	64:ef7ca92dff36	1014	0.354098f, 0.359760f, 0.365480f, 0.371258f, 0.377095f, 0.382990f, 0.388944f, 0.394958f,
mjr	64:ef7ca92dff36	1015	0.401030f, 0.407163f, 0.413356f, 0.419608f, 0.425921f, 0.432295f, 0.438730f, 0.445226f,
mjr	64:ef7ca92dff36	1016	0.451784f, 0.458404f, 0.465085f, 0.471829f, 0.478635f, 0.485504f, 0.492436f, 0.499432f,
mjr	64:ef7ca92dff36	1017	0.506491f, 0.513614f, 0.520800f, 0.528052f, 0.535367f, 0.542748f, 0.550194f, 0.557705f,
mjr	64:ef7ca92dff36	1018	0.565282f, 0.572924f, 0.580633f, 0.588408f, 0.596249f, 0.604158f, 0.612133f, 0.620176f,
mjr	64:ef7ca92dff36	1019	0.628287f, 0.636465f, 0.644712f, 0.653027f, 0.661410f, 0.669863f, 0.678384f, 0.686975f,
mjr	64:ef7ca92dff36	1020	0.695636f, 0.704366f, 0.713167f, 0.722038f, 0.730979f, 0.739992f, 0.749075f, 0.758230f,
mjr	64:ef7ca92dff36	1021	0.767457f, 0.776755f, 0.786126f, 0.795568f, 0.805084f, 0.814672f, 0.824334f, 0.834068f,
mjr	64:ef7ca92dff36	1022	0.843877f, 0.853759f, 0.863715f, 0.873746f, 0.883851f, 0.894031f, 0.904286f, 0.914616f,
mjr	64:ef7ca92dff36	1023	0.925022f, 0.935504f, 0.946062f, 0.956696f, 0.967407f, 0.978194f, 0.989058f, 1.000000f
mjr	64:ef7ca92dff36	1024	};
mjr	64:ef7ca92dff36	1025
mjr	77:0b96f6867312	1026	// Polled-update PWM output list
mjr	74:822a92bc11d2	1027	//
mjr	77:0b96f6867312	1028	// This is a workaround for a KL25Z hardware bug/limitation. The bug (more
mjr	77:0b96f6867312	1029	// about this below) is that we can't write to a PWM output "value" register
mjr	77:0b96f6867312	1030	// more than once per PWM cycle; if we do, outputs after the first are lost.
mjr	77:0b96f6867312	1031	// The value register controls the duty cycle, so it's what you have to write
mjr	77:0b96f6867312	1032	// if you want to update the brightness of an output.
mjr	74:822a92bc11d2	1033	//
mjr	77:0b96f6867312	1034	// Our solution is to simply repeat all PWM updates periodically. If a write
mjr	77:0b96f6867312	1035	// is lost on one cycle, it'll eventually be applied on a subseuqent periodic
mjr	77:0b96f6867312	1036	// update. For low overhead, we do these repeat updates periodically during
mjr	77:0b96f6867312	1037	// the main loop.
mjr	74:822a92bc11d2	1038	//
mjr	77:0b96f6867312	1039	// The mbed library has its own solution to this bug, but it creates a
mjr	77:0b96f6867312	1040	// separate problem of its own. The mbed solution is to write the value
mjr	77:0b96f6867312	1041	// register immediately, and then also reset the "count" register in the
mjr	77:0b96f6867312	1042	// TPM unit containing the output. The count reset truncates the current
mjr	77:0b96f6867312	1043	// PWM cycle, which avoids the hardware problem with more than one write per
mjr	77:0b96f6867312	1044	// cycle. The problem is that the truncated cycle causes visible flicker if
mjr	77:0b96f6867312	1045	// the output is connected to an LED. This is particularly noticeable during
mjr	77:0b96f6867312	1046	// fades, when we're updating the value register repeatedly and rapidly: an
mjr	77:0b96f6867312	1047	// attempt to fade from fully on to fully off causes rapid fluttering and
mjr	77:0b96f6867312	1048	// flashing rather than a smooth brightness fade.
mjr	74:822a92bc11d2	1049	//
mjr	77:0b96f6867312	1050	// The hardware bug is a case of good intentions gone bad. The hardware is
mjr	77:0b96f6867312	1051	// supposed to make it easy for software to avoid glitching during PWM
mjr	77:0b96f6867312	1052	// updates, by providing a staging register in front of the real value
mjr	77:0b96f6867312	1053	// register. The software actually writes to the staging register, which
mjr	77:0b96f6867312	1054	// holds updates until the end of the cycle, at which point the hardware
mjr	77:0b96f6867312	1055	// automatically moves the value from the staging register into the real
mjr	77:0b96f6867312	1056	// register. This ensures that the real register is always updated exactly
mjr	77:0b96f6867312	1057	// at a cycle boundary, which in turn ensures that there's no flicker when
mjr	77:0b96f6867312	1058	// values are updated. A great design - except that it doesn't quite work.
mjr	77:0b96f6867312	1059	// The problem is that the staging register actually seems to be implemented
mjr	77:0b96f6867312	1060	// as a one-element FIFO in "stop when full" mode. That is, when you write
mjr	77:0b96f6867312	1061	// the FIFO, it becomes full. When the cycle ends and the hardware reads it
mjr	77:0b96f6867312	1062	// to move the staged value into the real register, the FIFO becomes empty.
mjr	77:0b96f6867312	1063	// But if you try to write the FIFO twice before the hardware reads it and
mjr	77:0b96f6867312	1064	// empties it, the second write fails, leaving the first value in the queue.
mjr	77:0b96f6867312	1065	// There doesn't seem to be any way to clear the FIFO from software, so you
mjr	77:0b96f6867312	1066	// just have to wait for the cycle to end before writing another update.
mjr	77:0b96f6867312	1067	// That more or less defeats the purpose of the staging register, whose whole
mjr	77:0b96f6867312	1068	// point is to free software from worrying about timing considerations with
mjr	77:0b96f6867312	1069	// updates. It frees us of the need to align our timing on cycle boundaries,
mjr	77:0b96f6867312	1070	// but it leaves us with the need to limit writes to once per cycle.
mjr	74:822a92bc11d2	1071	//
mjr	77:0b96f6867312	1072	// So here we have our list of PWM outputs that need to be polled for updates.
mjr	77:0b96f6867312	1073	// The KL25Z hardware only has 10 PWM channels, so we only need a fixed set
mjr	77:0b96f6867312	1074	// of polled items.
mjr	74:822a92bc11d2	1075	static int numPolledPwm;
mjr	74:822a92bc11d2	1076	static class LwPwmOut *polledPwm[10];
mjr	74:822a92bc11d2	1077
mjr	74:822a92bc11d2	1078	// LwOut class for a PWM-capable GPIO port.
mjr	6:cc35eb643e8f	1079	class LwPwmOut: public LwOut
mjr	6:cc35eb643e8f	1080	{
mjr	6:cc35eb643e8f	1081	public:
mjr	43:7a6364d82a41	1082	LwPwmOut(PinName pin, uint8_t initVal) : p(pin)
mjr	43:7a6364d82a41	1083	{
mjr	77:0b96f6867312	1084	// add myself to the list of polled outputs for periodic updates
mjr	77:0b96f6867312	1085	if (numPolledPwm < countof(polledPwm))
mjr	74:822a92bc11d2	1086	polledPwm[numPolledPwm++] = this;
mjr	77:0b96f6867312	1087
mjr	77:0b96f6867312	1088	// set the initial value
mjr	77:0b96f6867312	1089	set(initVal);
mjr	43:7a6364d82a41	1090	}
mjr	74:822a92bc11d2	1091
mjr	40:cc0d9814522b	1092	virtual void set(uint8_t val)
mjr	74:822a92bc11d2	1093	{
mjr	77:0b96f6867312	1094	// save the new value
mjr	74:822a92bc11d2	1095	this->val = val;
mjr	77:0b96f6867312	1096
mjr	77:0b96f6867312	1097	// commit it to the hardware
mjr	77:0b96f6867312	1098	commit();
mjr	13:72dda449c3c0	1099	}
mjr	74:822a92bc11d2	1100
mjr	74:822a92bc11d2	1101	// handle periodic update polling
mjr	74:822a92bc11d2	1102	void poll()
mjr	74:822a92bc11d2	1103	{
mjr	77:0b96f6867312	1104	commit();
mjr	74:822a92bc11d2	1105	}
mjr	74:822a92bc11d2	1106
mjr	74:822a92bc11d2	1107	protected:
mjr	77:0b96f6867312	1108	virtual void commit()
mjr	74:822a92bc11d2	1109	{
mjr	74:822a92bc11d2	1110	// write the current value to the PWM controller if it's changed
mjr	77:0b96f6867312	1111	p.glitchFreeWrite(dof_to_pwm[val]);
mjr	74:822a92bc11d2	1112	}
mjr	74:822a92bc11d2	1113
mjr	77:0b96f6867312	1114	NewPwmOut p;
mjr	77:0b96f6867312	1115	uint8_t val;
mjr	6:cc35eb643e8f	1116	};
mjr	26:cb71c4af2912	1117
mjr	74:822a92bc11d2	1118	// Gamma corrected PWM GPIO output. This works exactly like the regular
mjr	74:822a92bc11d2	1119	// PWM output, but translates DOF values through the gamma-corrected
mjr	74:822a92bc11d2	1120	// table instead of the regular linear table.
mjr	64:ef7ca92dff36	1121	class LwPwmGammaOut: public LwPwmOut
mjr	64:ef7ca92dff36	1122	{
mjr	64:ef7ca92dff36	1123	public:
mjr	64:ef7ca92dff36	1124	LwPwmGammaOut(PinName pin, uint8_t initVal)
mjr	64:ef7ca92dff36	1125	: LwPwmOut(pin, initVal)
mjr	64:ef7ca92dff36	1126	{
mjr	64:ef7ca92dff36	1127	}
mjr	74:822a92bc11d2	1128
mjr	74:822a92bc11d2	1129	protected:
mjr	77:0b96f6867312	1130	virtual void commit()
mjr	64:ef7ca92dff36	1131	{
mjr	74:822a92bc11d2	1132	// write the current value to the PWM controller if it's changed
mjr	77:0b96f6867312	1133	p.glitchFreeWrite(dof_to_gamma_pwm[val]);
mjr	64:ef7ca92dff36	1134	}
mjr	64:ef7ca92dff36	1135	};
mjr	64:ef7ca92dff36	1136
mjr	74:822a92bc11d2	1137	// poll the PWM outputs
mjr	74:822a92bc11d2	1138	Timer polledPwmTimer;
mjr	76:7f5912b6340e	1139	uint64_t polledPwmTotalTime, polledPwmRunCount;
mjr	74:822a92bc11d2	1140	void pollPwmUpdates()
mjr	74:822a92bc11d2	1141	{
mjr	74:822a92bc11d2	1142	// if it's been at least 25ms since the last update, do another update
mjr	74:822a92bc11d2	1143	if (polledPwmTimer.read_us() >= 25000)
mjr	74:822a92bc11d2	1144	{
mjr	74:822a92bc11d2	1145	// time the run for statistics collection
mjr	74:822a92bc11d2	1146	IF_DIAG(
mjr	74:822a92bc11d2	1147	Timer t;
mjr	74:822a92bc11d2	1148	t.start();
mjr	74:822a92bc11d2	1149	)
mjr	74:822a92bc11d2	1150
mjr	74:822a92bc11d2	1151	// poll each output
mjr	74:822a92bc11d2	1152	for (int i = numPolledPwm ; i > 0 ; )
mjr	74:822a92bc11d2	1153	polledPwm[--i]->poll();
mjr	74:822a92bc11d2	1154
mjr	74:822a92bc11d2	1155	// reset the timer for the next cycle
mjr	74:822a92bc11d2	1156	polledPwmTimer.reset();
mjr	74:822a92bc11d2	1157
mjr	74:822a92bc11d2	1158	// collect statistics
mjr	74:822a92bc11d2	1159	IF_DIAG(
mjr	76:7f5912b6340e	1160	polledPwmTotalTime += t.read_us();
mjr	74:822a92bc11d2	1161	polledPwmRunCount += 1;
mjr	74:822a92bc11d2	1162	)
mjr	74:822a92bc11d2	1163	}
mjr	74:822a92bc11d2	1164	}
mjr	64:ef7ca92dff36	1165
mjr	26:cb71c4af2912	1166	// LwOut class for a Digital-Only (Non-PWM) GPIO port
mjr	6:cc35eb643e8f	1167	class LwDigOut: public LwOut
mjr	6:cc35eb643e8f	1168	{
mjr	6:cc35eb643e8f	1169	public:
mjr	43:7a6364d82a41	1170	LwDigOut(PinName pin, uint8_t initVal) : p(pin, initVal ? 1 : 0) { prv = initVal; }
mjr	40:cc0d9814522b	1171	virtual void set(uint8_t val)
mjr	13:72dda449c3c0	1172	{
mjr	13:72dda449c3c0	1173	if (val != prv)
mjr	40:cc0d9814522b	1174	p.write((prv = val) == 0 ? 0 : 1);
mjr	13:72dda449c3c0	1175	}
mjr	6:cc35eb643e8f	1176	DigitalOut p;
mjr	40:cc0d9814522b	1177	uint8_t prv;
mjr	6:cc35eb643e8f	1178	};
mjr	26:cb71c4af2912	1179
mjr	29:582472d0bc57	1180	// Array of output physical pin assignments. This array is indexed
mjr	29:582472d0bc57	1181	// by LedWiz logical port number - lwPin[n] is the maping for LedWiz
mjr	35:e959ffba78fd	1182	// port n (0-based).
mjr	35:e959ffba78fd	1183	//
mjr	35:e959ffba78fd	1184	// Each pin is handled by an interface object for the physical output
mjr	35:e959ffba78fd	1185	// type for the port, as set in the configuration. The interface
mjr	35:e959ffba78fd	1186	// objects handle the specifics of addressing the different hardware
mjr	35:e959ffba78fd	1187	// types (GPIO PWM ports, GPIO digital ports, TLC5940 ports, and
mjr	35:e959ffba78fd	1188	// 74HC595 ports).
mjr	33:d832bcab089e	1189	static int numOutputs;
mjr	33:d832bcab089e	1190	static LwOut **lwPin;
mjr	33:d832bcab089e	1191
mjr	38:091e511ce8a0	1192	// create a single output pin
mjr	53:9b2611964afc	1193	LwOut *createLwPin(int portno, LedWizPortCfg &pc, Config &cfg)
mjr	38:091e511ce8a0	1194	{
mjr	38:091e511ce8a0	1195	// get this item's values
mjr	38:091e511ce8a0	1196	int typ = pc.typ;
mjr	38:091e511ce8a0	1197	int pin = pc.pin;
mjr	38:091e511ce8a0	1198	int flags = pc.flags;
mjr	40:cc0d9814522b	1199	int noisy = flags & PortFlagNoisemaker;
mjr	38:091e511ce8a0	1200	int activeLow = flags & PortFlagActiveLow;
mjr	40:cc0d9814522b	1201	int gamma = flags & PortFlagGamma;
mjr	38:091e511ce8a0	1202
mjr	38:091e511ce8a0	1203	// create the pin interface object according to the port type
mjr	38:091e511ce8a0	1204	LwOut *lwp;
mjr	38:091e511ce8a0	1205	switch (typ)
mjr	38:091e511ce8a0	1206	{
mjr	38:091e511ce8a0	1207	case PortTypeGPIOPWM:
mjr	48:058ace2aed1d	1208	// PWM GPIO port - assign if we have a valid pin
mjr	48:058ace2aed1d	1209	if (pin != 0)
mjr	64:ef7ca92dff36	1210	{
mjr	64:ef7ca92dff36	1211	// If gamma correction is to be used, and we're not inverting the output,
mjr	64:ef7ca92dff36	1212	// use the combined Pwmout + Gamma output class; otherwise use the plain
mjr	64:ef7ca92dff36	1213	// PwmOut class. We can't use the combined class for inverted outputs
mjr	64:ef7ca92dff36	1214	// because we have to apply gamma correction before the inversion.
mjr	64:ef7ca92dff36	1215	if (gamma && !activeLow)
mjr	64:ef7ca92dff36	1216	{
mjr	64:ef7ca92dff36	1217	// use the gamma-corrected PwmOut type
mjr	64:ef7ca92dff36	1218	lwp = new LwPwmGammaOut(wirePinName(pin), 0);
mjr	64:ef7ca92dff36	1219
mjr	64:ef7ca92dff36	1220	// don't apply further gamma correction to this output
mjr	64:ef7ca92dff36	1221	gamma = false;
mjr	64:ef7ca92dff36	1222	}
mjr	64:ef7ca92dff36	1223	else
mjr	64:ef7ca92dff36	1224	{
mjr	64:ef7ca92dff36	1225	// no gamma correction - use the standard PwmOut class
mjr	64:ef7ca92dff36	1226	lwp = new LwPwmOut(wirePinName(pin), activeLow ? 255 : 0);
mjr	64:ef7ca92dff36	1227	}
mjr	64:ef7ca92dff36	1228	}
mjr	48:058ace2aed1d	1229	else
mjr	48:058ace2aed1d	1230	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1231	break;
mjr	38:091e511ce8a0	1232
mjr	38:091e511ce8a0	1233	case PortTypeGPIODig:
mjr	38:091e511ce8a0	1234	// Digital GPIO port
mjr	48:058ace2aed1d	1235	if (pin != 0)
mjr	48:058ace2aed1d	1236	lwp = new LwDigOut(wirePinName(pin), activeLow ? 255 : 0);
mjr	48:058ace2aed1d	1237	else
mjr	48:058ace2aed1d	1238	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1239	break;
mjr	38:091e511ce8a0	1240
mjr	38:091e511ce8a0	1241	case PortTypeTLC5940:
mjr	38:091e511ce8a0	1242	// TLC5940 port (if we don't have a TLC controller object, or it's not a valid
mjr	38:091e511ce8a0	1243	// output port number on the chips we have, create a virtual port)
mjr	38:091e511ce8a0	1244	if (tlc5940 != 0 && pin < cfg.tlc5940.nchips*16)
mjr	40:cc0d9814522b	1245	{
mjr	40:cc0d9814522b	1246	// If gamma correction is to be used, and we're not inverting the output,
mjr	40:cc0d9814522b	1247	// use the combined TLC4950 + Gamma output class. Otherwise use the plain
mjr	40:cc0d9814522b	1248	// TLC5940 output. We skip the combined class if the output is inverted
mjr	40:cc0d9814522b	1249	// because we need to apply gamma BEFORE the inversion to get the right
mjr	40:cc0d9814522b	1250	// results, but the combined class would apply it after because of the
mjr	40:cc0d9814522b	1251	// layering scheme - the combined class is a physical device output class,
mjr	40:cc0d9814522b	1252	// and a physical device output class is necessarily at the bottom of
mjr	40:cc0d9814522b	1253	// the stack. We don't have a combined inverted+gamma+TLC class, because
mjr	40:cc0d9814522b	1254	// inversion isn't recommended for TLC5940 chips in the first place, so
mjr	40:cc0d9814522b	1255	// it's not worth the extra memory footprint to have a dedicated table
mjr	40:cc0d9814522b	1256	// for this unlikely case.
mjr	40:cc0d9814522b	1257	if (gamma && !activeLow)
mjr	40:cc0d9814522b	1258	{
mjr	40:cc0d9814522b	1259	// use the gamma-corrected 5940 output mapper
mjr	40:cc0d9814522b	1260	lwp = new Lw5940GammaOut(pin);
mjr	40:cc0d9814522b	1261
mjr	40:cc0d9814522b	1262	// DON'T apply further gamma correction to this output
mjr	40:cc0d9814522b	1263	gamma = false;
mjr	40:cc0d9814522b	1264	}
mjr	40:cc0d9814522b	1265	else
mjr	40:cc0d9814522b	1266	{
mjr	40:cc0d9814522b	1267	// no gamma - use the plain (linear) 5940 output class
mjr	40:cc0d9814522b	1268	lwp = new Lw5940Out(pin);
mjr	40:cc0d9814522b	1269	}
mjr	40:cc0d9814522b	1270	}
mjr	38:091e511ce8a0	1271	else
mjr	40:cc0d9814522b	1272	{
mjr	40:cc0d9814522b	1273	// no TLC5940 chips, or invalid port number - use a virtual out
mjr	38:091e511ce8a0	1274	lwp = new LwVirtualOut();
mjr	40:cc0d9814522b	1275	}
mjr	38:091e511ce8a0	1276	break;
mjr	38:091e511ce8a0	1277
mjr	38:091e511ce8a0	1278	case PortType74HC595:
mjr	38:091e511ce8a0	1279	// 74HC595 port (if we don't have an HC595 controller object, or it's not a valid
mjr	38:091e511ce8a0	1280	// output number, create a virtual port)
mjr	38:091e511ce8a0	1281	if (hc595 != 0 && pin < cfg.hc595.nchips*8)
mjr	38:091e511ce8a0	1282	lwp = new Lw595Out(pin);
mjr	38:091e511ce8a0	1283	else
mjr	38:091e511ce8a0	1284	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1285	break;
mjr	38:091e511ce8a0	1286
mjr	38:091e511ce8a0	1287	case PortTypeVirtual:
mjr	43:7a6364d82a41	1288	case PortTypeDisabled:
mjr	38:091e511ce8a0	1289	default:
mjr	38:091e511ce8a0	1290	// virtual or unknown
mjr	38:091e511ce8a0	1291	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1292	break;
mjr	38:091e511ce8a0	1293	}
mjr	38:091e511ce8a0	1294
mjr	40:cc0d9814522b	1295	// If it's Active Low, layer on an inverter. Note that an inverter
mjr	40:cc0d9814522b	1296	// needs to be the bottom-most layer, since all of the other filters
mjr	40:cc0d9814522b	1297	// assume that they're working with normal (non-inverted) values.
mjr	38:091e511ce8a0	1298	if (activeLow)
mjr	38:091e511ce8a0	1299	lwp = new LwInvertedOut(lwp);
mjr	40:cc0d9814522b	1300
mjr	40:cc0d9814522b	1301	// If it's a noisemaker, layer on a night mode switch. Note that this
mjr	40:cc0d9814522b	1302	// needs to be
mjr	40:cc0d9814522b	1303	if (noisy)
mjr	40:cc0d9814522b	1304	lwp = new LwNoisyOut(lwp);
mjr	40:cc0d9814522b	1305
mjr	40:cc0d9814522b	1306	// If it's gamma-corrected, layer on a gamma corrector
mjr	40:cc0d9814522b	1307	if (gamma)
mjr	40:cc0d9814522b	1308	lwp = new LwGammaOut(lwp);
mjr	53:9b2611964afc	1309
mjr	53:9b2611964afc	1310	// If this is the ZB Launch Ball port, layer a monitor object. Note
mjr	64:ef7ca92dff36	1311	// that the nominal port numbering in the config starts at 1, but we're
mjr	53:9b2611964afc	1312	// using an array index, so test against portno+1.
mjr	53:9b2611964afc	1313	if (portno + 1 == cfg.plunger.zbLaunchBall.port)
mjr	53:9b2611964afc	1314	lwp = new LwZbLaunchOut(lwp);
mjr	53:9b2611964afc	1315
mjr	53:9b2611964afc	1316	// If this is the Night Mode indicator port, layer a night mode object.
mjr	53:9b2611964afc	1317	if (portno + 1 == cfg.nightMode.port)
mjr	53:9b2611964afc	1318	lwp = new LwNightModeIndicatorOut(lwp);
mjr	38:091e511ce8a0	1319
mjr	38:091e511ce8a0	1320	// turn it off initially
mjr	38:091e511ce8a0	1321	lwp->set(0);
mjr	38:091e511ce8a0	1322
mjr	38:091e511ce8a0	1323	// return the pin
mjr	38:091e511ce8a0	1324	return lwp;
mjr	38:091e511ce8a0	1325	}
mjr	38:091e511ce8a0	1326
mjr	6:cc35eb643e8f	1327	// initialize the output pin array
mjr	35:e959ffba78fd	1328	void initLwOut(Config &cfg)
mjr	6:cc35eb643e8f	1329	{
mjr	35:e959ffba78fd	1330	// Count the outputs. The first disabled output determines the
mjr	35:e959ffba78fd	1331	// total number of ports.
mjr	35:e959ffba78fd	1332	numOutputs = MAX_OUT_PORTS;
mjr	33:d832bcab089e	1333	int i;
mjr	35:e959ffba78fd	1334	for (i = 0 ; i < MAX_OUT_PORTS ; ++i)
mjr	6:cc35eb643e8f	1335	{
mjr	35:e959ffba78fd	1336	if (cfg.outPort[i].typ == PortTypeDisabled)
mjr	34:6b981a2afab7	1337	{
mjr	35:e959ffba78fd	1338	numOutputs = i;
mjr	34:6b981a2afab7	1339	break;
mjr	34:6b981a2afab7	1340	}
mjr	33:d832bcab089e	1341	}
mjr	33:d832bcab089e	1342
mjr	73:4e8ce0b18915	1343	// allocate the pin array
mjr	73:4e8ce0b18915	1344	lwPin = new LwOut*[numOutputs];
mjr	35:e959ffba78fd	1345
mjr	73:4e8ce0b18915	1346	// Allocate the current brightness array
mjr	73:4e8ce0b18915	1347	outLevel = new uint8_t[numOutputs];
mjr	33:d832bcab089e	1348
mjr	73:4e8ce0b18915	1349	// allocate the LedWiz output state arrays
mjr	73:4e8ce0b18915	1350	wizOn = new uint8_t[numOutputs];
mjr	73:4e8ce0b18915	1351	wizVal = new uint8_t[numOutputs];
mjr	73:4e8ce0b18915	1352
mjr	73:4e8ce0b18915	1353	// initialize all LedWiz outputs to off and brightness 48
mjr	73:4e8ce0b18915	1354	memset(wizOn, 0, numOutputs);
mjr	73:4e8ce0b18915	1355	memset(wizVal, 48, numOutputs);
mjr	73:4e8ce0b18915	1356
mjr	73:4e8ce0b18915	1357	// set all LedWiz virtual unit flash speeds to 2
mjr	73:4e8ce0b18915	1358	for (i = 0 ; i < countof(wizSpeed) ; ++i)
mjr	73:4e8ce0b18915	1359	wizSpeed[i] = 2;
mjr	33:d832bcab089e	1360
mjr	35:e959ffba78fd	1361	// create the pin interface object for each port
mjr	35:e959ffba78fd	1362	for (i = 0 ; i < numOutputs ; ++i)
mjr	53:9b2611964afc	1363	lwPin[i] = createLwPin(i, cfg.outPort[i], cfg);
mjr	6:cc35eb643e8f	1364	}
mjr	6:cc35eb643e8f	1365
mjr	76:7f5912b6340e	1366	// Translate an LedWiz brightness level (0..49) to a DOF brightness
mjr	76:7f5912b6340e	1367	// level (0..255). Note that brightness level 49 isn't actually valid,
mjr	76:7f5912b6340e	1368	// according to the LedWiz API documentation, but many clients use it
mjr	76:7f5912b6340e	1369	// anyway, and the real LedWiz accepts it and seems to treat it as
mjr	76:7f5912b6340e	1370	// equivalent to 48.
mjr	40:cc0d9814522b	1371	static const uint8_t lw_to_dof[] = {
mjr	40:cc0d9814522b	1372	0, 5, 11, 16, 21, 27, 32, 37,
mjr	40:cc0d9814522b	1373	43, 48, 53, 58, 64, 69, 74, 80,
mjr	40:cc0d9814522b	1374	85, 90, 96, 101, 106, 112, 117, 122,
mjr	40:cc0d9814522b	1375	128, 133, 138, 143, 149, 154, 159, 165,
mjr	40:cc0d9814522b	1376	170, 175, 181, 186, 191, 197, 202, 207,
mjr	40:cc0d9814522b	1377	213, 218, 223, 228, 234, 239, 244, 250,
mjr	40:cc0d9814522b	1378	255, 255
mjr	40:cc0d9814522b	1379	};
mjr	40:cc0d9814522b	1380
mjr	76:7f5912b6340e	1381	// Translate a DOF brightness level (0..255) to an LedWiz brightness
mjr	76:7f5912b6340e	1382	// level (1..48)
mjr	76:7f5912b6340e	1383	static const uint8_t dof_to_lw[] = {
mjr	76:7f5912b6340e	1384	1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 3, 3,
mjr	76:7f5912b6340e	1385	3, 3, 3, 4, 4, 4, 4, 4, 5, 5, 5, 5, 5, 5, 6, 6,
mjr	76:7f5912b6340e	1386	6, 6, 6, 7, 7, 7, 7, 7, 8, 8, 8, 8, 8, 8, 9, 9,
mjr	76:7f5912b6340e	1387	9, 9, 9, 10, 10, 10, 10, 10, 11, 11, 11, 11, 11, 11, 12, 12,
mjr	76:7f5912b6340e	1388	12, 12, 12, 13, 13, 13, 13, 13, 14, 14, 14, 14, 14, 14, 15, 15,
mjr	76:7f5912b6340e	1389	15, 15, 15, 16, 16, 16, 16, 16, 17, 17, 17, 17, 17, 18, 18, 18,
mjr	76:7f5912b6340e	1390	18, 18, 18, 19, 19, 19, 19, 19, 20, 20, 20, 20, 20, 21, 21, 21,
mjr	76:7f5912b6340e	1391	21, 21, 21, 22, 22, 22, 22, 22, 23, 23, 23, 23, 23, 24, 24, 24,
mjr	76:7f5912b6340e	1392	24, 24, 24, 25, 25, 25, 25, 25, 26, 26, 26, 26, 26, 27, 27, 27,
mjr	76:7f5912b6340e	1393	27, 27, 27, 28, 28, 28, 28, 28, 29, 29, 29, 29, 29, 30, 30, 30,
mjr	76:7f5912b6340e	1394	30, 30, 30, 31, 31, 31, 31, 31, 32, 32, 32, 32, 32, 33, 33, 33,
mjr	76:7f5912b6340e	1395	33, 33, 34, 34, 34, 34, 34, 34, 35, 35, 35, 35, 35, 36, 36, 36,
mjr	76:7f5912b6340e	1396	36, 36, 37, 37, 37, 37, 37, 37, 38, 38, 38, 38, 38, 39, 39, 39,
mjr	76:7f5912b6340e	1397	39, 39, 40, 40, 40, 40, 40, 40, 41, 41, 41, 41, 41, 42, 42, 42,
mjr	76:7f5912b6340e	1398	42, 42, 43, 43, 43, 43, 43, 43, 44, 44, 44, 44, 44, 45, 45, 45,
mjr	76:7f5912b6340e	1399	45, 45, 46, 46, 46, 46, 46, 46, 47, 47, 47, 47, 47, 48, 48, 48
mjr	76:7f5912b6340e	1400	};
mjr	76:7f5912b6340e	1401
mjr	74:822a92bc11d2	1402	// LedWiz flash cycle tables. For efficiency, we use a lookup table
mjr	74:822a92bc11d2	1403	// rather than calculating these on the fly. The flash cycles are
mjr	74:822a92bc11d2	1404	// generated by the following formulas, where 'c' is the current
mjr	74:822a92bc11d2	1405	// cycle counter, from 0 to 255:
mjr	74:822a92bc11d2	1406	//
mjr	74:822a92bc11d2	1407	// mode 129 = sawtooth = (c < 128 ? c2 + 1 : (255-c)2)
mjr	74:822a92bc11d2	1408	// mode 130 = flash on/off = (c < 128 ? 255 : 0)
mjr	74:822a92bc11d2	1409	// mode 131 = on/ramp down = (c < 128 ? 255 : (255-c)*2)
mjr	74:822a92bc11d2	1410	// mode 132 = ramp up/on = (c < 128 ? c*2 : 255)
mjr	74:822a92bc11d2	1411	//
mjr	74:822a92bc11d2	1412	// To look up the current output value for a given mode and a given
mjr	74:822a92bc11d2	1413	// cycle counter 'c', index the table with ((mode-129)*256)+c.
mjr	74:822a92bc11d2	1414	static const uint8_t wizFlashLookup[] = {
mjr	74:822a92bc11d2	1415	// mode 129 = sawtooth = (c < 128 ? c2 + 1 : (255-c)2)
mjr	74:822a92bc11d2	1416	0x01, 0x03, 0x05, 0x07, 0x09, 0x0b, 0x0d, 0x0f, 0x11, 0x13, 0x15, 0x17, 0x19, 0x1b, 0x1d, 0x1f,
mjr	74:822a92bc11d2	1417	0x21, 0x23, 0x25, 0x27, 0x29, 0x2b, 0x2d, 0x2f, 0x31, 0x33, 0x35, 0x37, 0x39, 0x3b, 0x3d, 0x3f,
mjr	74:822a92bc11d2	1418	0x41, 0x43, 0x45, 0x47, 0x49, 0x4b, 0x4d, 0x4f, 0x51, 0x53, 0x55, 0x57, 0x59, 0x5b, 0x5d, 0x5f,
mjr	74:822a92bc11d2	1419	0x61, 0x63, 0x65, 0x67, 0x69, 0x6b, 0x6d, 0x6f, 0x71, 0x73, 0x75, 0x77, 0x79, 0x7b, 0x7d, 0x7f,
mjr	74:822a92bc11d2	1420	0x81, 0x83, 0x85, 0x87, 0x89, 0x8b, 0x8d, 0x8f, 0x91, 0x93, 0x95, 0x97, 0x99, 0x9b, 0x9d, 0x9f,
mjr	74:822a92bc11d2	1421	0xa1, 0xa3, 0xa5, 0xa7, 0xa9, 0xab, 0xad, 0xaf, 0xb1, 0xb3, 0xb5, 0xb7, 0xb9, 0xbb, 0xbd, 0xbf,
mjr	74:822a92bc11d2	1422	0xc1, 0xc3, 0xc5, 0xc7, 0xc9, 0xcb, 0xcd, 0xcf, 0xd1, 0xd3, 0xd5, 0xd7, 0xd9, 0xdb, 0xdd, 0xdf,
mjr	74:822a92bc11d2	1423	0xe1, 0xe3, 0xe5, 0xe7, 0xe9, 0xeb, 0xed, 0xef, 0xf1, 0xf3, 0xf5, 0xf7, 0xf9, 0xfb, 0xfd, 0xff,
mjr	74:822a92bc11d2	1424	0xfe, 0xfc, 0xfa, 0xf8, 0xf6, 0xf4, 0xf2, 0xf0, 0xee, 0xec, 0xea, 0xe8, 0xe6, 0xe4, 0xe2, 0xe0,
mjr	74:822a92bc11d2	1425	0xde, 0xdc, 0xda, 0xd8, 0xd6, 0xd4, 0xd2, 0xd0, 0xce, 0xcc, 0xca, 0xc8, 0xc6, 0xc4, 0xc2, 0xc0,
mjr	74:822a92bc11d2	1426	0xbe, 0xbc, 0xba, 0xb8, 0xb6, 0xb4, 0xb2, 0xb0, 0xae, 0xac, 0xaa, 0xa8, 0xa6, 0xa4, 0xa2, 0xa0,
mjr	74:822a92bc11d2	1427	0x9e, 0x9c, 0x9a, 0x98, 0x96, 0x94, 0x92, 0x90, 0x8e, 0x8c, 0x8a, 0x88, 0x86, 0x84, 0x82, 0x80,
mjr	74:822a92bc11d2	1428	0x7e, 0x7c, 0x7a, 0x78, 0x76, 0x74, 0x72, 0x70, 0x6e, 0x6c, 0x6a, 0x68, 0x66, 0x64, 0x62, 0x60,
mjr	74:822a92bc11d2	1429	0x5e, 0x5c, 0x5a, 0x58, 0x56, 0x54, 0x52, 0x50, 0x4e, 0x4c, 0x4a, 0x48, 0x46, 0x44, 0x42, 0x40,
mjr	74:822a92bc11d2	1430	0x3e, 0x3c, 0x3a, 0x38, 0x36, 0x34, 0x32, 0x30, 0x2e, 0x2c, 0x2a, 0x28, 0x26, 0x24, 0x22, 0x20,
mjr	74:822a92bc11d2	1431	0x1e, 0x1c, 0x1a, 0x18, 0x16, 0x14, 0x12, 0x10, 0x0e, 0x0c, 0x0a, 0x08, 0x06, 0x04, 0x02, 0x00,
mjr	74:822a92bc11d2	1432
mjr	74:822a92bc11d2	1433	// mode 130 = flash on/off = (c < 128 ? 255 : 0)
mjr	74:822a92bc11d2	1434	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1435	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1436	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1437	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1438	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1439	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1440	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1441	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1442	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1443	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1444	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1445	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1446	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1447	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1448	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1449	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1450
mjr	74:822a92bc11d2	1451	// mode 131 = on/ramp down = c < 128 ? 255 : (255 - c)*2
mjr	74:822a92bc11d2	1452	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1453	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1454	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1455	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1456	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1457	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1458	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1459	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1460	0xfe, 0xfc, 0xfa, 0xf8, 0xf6, 0xf4, 0xf2, 0xf0, 0xee, 0xec, 0xea, 0xe8, 0xe6, 0xe4, 0xe2, 0xe0,
mjr	74:822a92bc11d2	1461	0xde, 0xdc, 0xda, 0xd8, 0xd6, 0xd4, 0xd2, 0xd0, 0xce, 0xcc, 0xca, 0xc8, 0xc6, 0xc4, 0xc2, 0xc0,
mjr	74:822a92bc11d2	1462	0xbe, 0xbc, 0xba, 0xb8, 0xb6, 0xb4, 0xb2, 0xb0, 0xae, 0xac, 0xaa, 0xa8, 0xa6, 0xa4, 0xa2, 0xa0,
mjr	74:822a92bc11d2	1463	0x9e, 0x9c, 0x9a, 0x98, 0x96, 0x94, 0x92, 0x90, 0x8e, 0x8c, 0x8a, 0x88, 0x86, 0x84, 0x82, 0x80,
mjr	74:822a92bc11d2	1464	0x7e, 0x7c, 0x7a, 0x78, 0x76, 0x74, 0x72, 0x70, 0x6e, 0x6c, 0x6a, 0x68, 0x66, 0x64, 0x62, 0x60,
mjr	74:822a92bc11d2	1465	0x5e, 0x5c, 0x5a, 0x58, 0x56, 0x54, 0x52, 0x50, 0x4e, 0x4c, 0x4a, 0x48, 0x46, 0x44, 0x42, 0x40,
mjr	74:822a92bc11d2	1466	0x3e, 0x3c, 0x3a, 0x38, 0x36, 0x34, 0x32, 0x30, 0x2e, 0x2c, 0x2a, 0x28, 0x26, 0x24, 0x22, 0x20,
mjr	74:822a92bc11d2	1467	0x1e, 0x1c, 0x1a, 0x18, 0x16, 0x14, 0x12, 0x10, 0x0e, 0x0c, 0x0a, 0x08, 0x06, 0x04, 0x02, 0x00,
mjr	74:822a92bc11d2	1468
mjr	74:822a92bc11d2	1469	// mode 132 = ramp up/on = c < 128 ? c*2 : 255
mjr	74:822a92bc11d2	1470	0x00, 0x02, 0x04, 0x06, 0x08, 0x0a, 0x0c, 0x0e, 0x10, 0x12, 0x14, 0x16, 0x18, 0x1a, 0x1c, 0x1e,
mjr	74:822a92bc11d2	1471	0x20, 0x22, 0x24, 0x26, 0x28, 0x2a, 0x2c, 0x2e, 0x30, 0x32, 0x34, 0x36, 0x38, 0x3a, 0x3c, 0x3e,
mjr	74:822a92bc11d2	1472	0x40, 0x42, 0x44, 0x46, 0x48, 0x4a, 0x4c, 0x4e, 0x50, 0x52, 0x54, 0x56, 0x58, 0x5a, 0x5c, 0x5e,
mjr	74:822a92bc11d2	1473	0x60, 0x62, 0x64, 0x66, 0x68, 0x6a, 0x6c, 0x6e, 0x70, 0x72, 0x74, 0x76, 0x78, 0x7a, 0x7c, 0x7e,
mjr	74:822a92bc11d2	1474	0x80, 0x82, 0x84, 0x86, 0x88, 0x8a, 0x8c, 0x8e, 0x90, 0x92, 0x94, 0x96, 0x98, 0x9a, 0x9c, 0x9e,
mjr	74:822a92bc11d2	1475	0xa0, 0xa2, 0xa4, 0xa6, 0xa8, 0xaa, 0xac, 0xae, 0xb0, 0xb2, 0xb4, 0xb6, 0xb8, 0xba, 0xbc, 0xbe,
mjr	74:822a92bc11d2	1476	0xc0, 0xc2, 0xc4, 0xc6, 0xc8, 0xca, 0xcc, 0xce, 0xd0, 0xd2, 0xd4, 0xd6, 0xd8, 0xda, 0xdc, 0xde,
mjr	74:822a92bc11d2	1477	0xe0, 0xe2, 0xe4, 0xe6, 0xe8, 0xea, 0xec, 0xee, 0xf0, 0xf2, 0xf4, 0xf6, 0xf8, 0xfa, 0xfc, 0xfe,
mjr	74:822a92bc11d2	1478	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1479	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1480	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1481	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1482	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1483	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1484	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1485	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff
mjr	74:822a92bc11d2	1486	};
mjr	74:822a92bc11d2	1487
mjr	74:822a92bc11d2	1488	// LedWiz flash cycle timer. This runs continuously. On each update,
mjr	74:822a92bc11d2	1489	// we use this to figure out where we are on the cycle for each bank.
mjr	74:822a92bc11d2	1490	Timer wizCycleTimer;
mjr	74:822a92bc11d2	1491
mjr	76:7f5912b6340e	1492	// timing statistics for wizPulse()
mjr	76:7f5912b6340e	1493	uint64_t wizPulseTotalTime, wizPulseRunCount;
mjr	76:7f5912b6340e	1494
mjr	76:7f5912b6340e	1495	// LedWiz flash timer pulse. The main loop calls this on each cycle
mjr	76:7f5912b6340e	1496	// to update outputs using LedWiz flash modes. We do one bank of 32
mjr	76:7f5912b6340e	1497	// outputs on each cycle.
mjr	29:582472d0bc57	1498	static void wizPulse()
mjr	29:582472d0bc57	1499	{
mjr	76:7f5912b6340e	1500	// current bank
mjr	76:7f5912b6340e	1501	static int wizPulseBank = 0;
mjr	76:7f5912b6340e	1502
mjr	76:7f5912b6340e	1503	// start a timer for statistics collection
mjr	76:7f5912b6340e	1504	IF_DIAG(
mjr	76:7f5912b6340e	1505	Timer t;
mjr	76:7f5912b6340e	1506	t.start();
mjr	76:7f5912b6340e	1507	)
mjr	76:7f5912b6340e	1508
mjr	76:7f5912b6340e	1509	// Update the current bank's cycle counter: figure the current
mjr	76:7f5912b6340e	1510	// phase of the LedWiz pulse cycle for this bank.
mjr	76:7f5912b6340e	1511	//
mjr	76:7f5912b6340e	1512	// The LedWiz speed setting gives the flash period in 0.25s units
mjr	76:7f5912b6340e	1513	// (speed 1 is a flash period of .25s, speed 7 is a period of 1.75s).
mjr	76:7f5912b6340e	1514	//
mjr	76:7f5912b6340e	1515	// What we're after here is the "phase", which is to say the point
mjr	76:7f5912b6340e	1516	// in the current cycle. If we assume that the cycle has been running
mjr	76:7f5912b6340e	1517	// continuously since some arbitrary time zero in the past, we can
mjr	76:7f5912b6340e	1518	// figure where we are in the current cycle by dividing the time since
mjr	76:7f5912b6340e	1519	// that zero by the cycle period and taking the remainder. E.g., if
mjr	76:7f5912b6340e	1520	// the cycle time is 5 seconds, and the time since t-zero is 17 seconds,
mjr	76:7f5912b6340e	1521	// we divide 17 by 5 to get a remainder of 2. That says we're 2 seconds
mjr	76:7f5912b6340e	1522	// into the current 5-second cycle, or 2/5 of the way through the
mjr	76:7f5912b6340e	1523	// current cycle.
mjr	76:7f5912b6340e	1524	//
mjr	76:7f5912b6340e	1525	// We do this calculation on every iteration of the main loop, so we
mjr	76:7f5912b6340e	1526	// want it to be very fast. To streamline it, we'll use some tricky
mjr	76:7f5912b6340e	1527	// integer arithmetic. The result will be the same as the straightforward
mjr	76:7f5912b6340e	1528	// remainder and fraction calculation we just explained, but we'll get
mjr	76:7f5912b6340e	1529	// there by less-than-obvious means.
mjr	76:7f5912b6340e	1530	//
mjr	76:7f5912b6340e	1531	// Rather than finding the phase as a continuous quantity or floating
mjr	76:7f5912b6340e	1532	// point number, we'll quantize it. We'll divide each cycle into 256
mjr	76:7f5912b6340e	1533	// time units, or quanta. Each quantum is 1/256 of the cycle length,
mjr	76:7f5912b6340e	1534	// so for a 1-second cycle (LedWiz speed 4), each quantum is 1/256 of
mjr	76:7f5912b6340e	1535	// a second, or about 3.9ms. If we express the time since t-zero in
mjr	76:7f5912b6340e	1536	// these units, the time period of one cycle is exactly 256 units, so
mjr	76:7f5912b6340e	1537	// we can calculate our point in the cycle by taking the remainder of
mjr	76:7f5912b6340e	1538	// the time (in our funny units) divided by 256. The special thing
mjr	76:7f5912b6340e	1539	// about making the cycle time equal to 256 units is that "x % 256"
mjr	76:7f5912b6340e	1540	// is exactly the same as "x & 255", which is a much faster operation
mjr	76:7f5912b6340e	1541	// than division on ARM M0+: this CPU has no hardware DIVIDE operation,
mjr	76:7f5912b6340e	1542	// so an integer division takes about 5us. The bit mask operation, in
mjr	76:7f5912b6340e	1543	// contrast, takes only about 60ns - about 100x faster. 5us doesn't
mjr	76:7f5912b6340e	1544	// sound like much, but we do this on every main loop, so every little
mjr	76:7f5912b6340e	1545	// bit counts.
mjr	76:7f5912b6340e	1546	//
mjr	76:7f5912b6340e	1547	// The snag is that our system timer gives us the elapsed time in
mjr	76:7f5912b6340e	1548	// microseconds. We still need to convert this to our special quanta
mjr	76:7f5912b6340e	1549	// of 256 units per cycle. The straightforward way to do that is by
mjr	76:7f5912b6340e	1550	// dividing by (microseconds per quantum). E.g., for LedWiz speed 4,
mjr	76:7f5912b6340e	1551	// we decided that our quantum was 1/256 of a second, or 3906us, so
mjr	76:7f5912b6340e	1552	// dividing the current system time in microseconds by 3906 will give
mjr	76:7f5912b6340e	1553	// us the time in our quantum units. But now we've just substituted
mjr	76:7f5912b6340e	1554	// one division for another!
mjr	76:7f5912b6340e	1555	//
mjr	76:7f5912b6340e	1556	// This is where our really tricky integer math comes in. Dividing
mjr	76:7f5912b6340e	1557	// by X is the same as multiplying by 1/X. In integer math, 1/3906
mjr	76:7f5912b6340e	1558	// is zero, so that won't work. But we can get around that by doing
mjr	76:7f5912b6340e	1559	// the integer math as "fixed point" arithmetic instead. It's still
mjr	76:7f5912b6340e	1560	// actually carried out as integer operations, but we'll scale our
mjr	76:7f5912b6340e	1561	// integers by a scaling factor, then take out the scaling factor
mjr	76:7f5912b6340e	1562	// later to get the final result. The scaling factor we'll use is
mjr	76:7f5912b6340e	1563	// 2^24. So we're going to calculate (time * 2^24/3906), then divide
mjr	76:7f5912b6340e	1564	// the result by 2^24 to get the final answer. I know it seems like
mjr	76:7f5912b6340e	1565	// we're substituting one division for another yet again, but this
mjr	76:7f5912b6340e	1566	// time's the charm, because dividing by 2^24 is a bit shift operation,
mjr	76:7f5912b6340e	1567	// which is another single-cycle operation on M0+. You might also
mjr	76:7f5912b6340e	1568	// wonder how all these tricks don't cause overflows or underflows
mjr	76:7f5912b6340e	1569	// or what not. Well, the multiply by 2^24/3906 will cause an
mjr	76:7f5912b6340e	1570	// overflow, but we don't care, because the overflow will all be in
mjr	76:7f5912b6340e	1571	// the high-order bits that we're going to discard in the final
mjr	76:7f5912b6340e	1572	// remainder calculation anyway.
mjr	76:7f5912b6340e	1573	//
mjr	76:7f5912b6340e	1574	// Each entry in the array below represents 2^24/N for the corresponding
mjr	76:7f5912b6340e	1575	// LedWiz speed, where N is the number of time quanta per cycle at that
mjr	76:7f5912b6340e	1576	// speed. The time quanta are chosen such that 256 quanta add up to
mjr	76:7f5912b6340e	1577	// approximately (LedWiz speed setting * 0.25s).
mjr	76:7f5912b6340e	1578	//
mjr	76:7f5912b6340e	1579	// Note that the calculation has an implicit bit mask (result & 0xFF)
mjr	76:7f5912b6340e	1580	// to get the final result mod 256. But we don't have to actually
mjr	76:7f5912b6340e	1581	// do that work because we're using 32-bit ints and a 2^24 fixed
mjr	76:7f5912b6340e	1582	// point base (X in the narrative above). The final shift right by
mjr	76:7f5912b6340e	1583	// 24 bits to divide out the base will leave us with only 8 bits in
mjr	76:7f5912b6340e	1584	// the result, since we started with 32.
mjr	76:7f5912b6340e	1585	static const uint32_t inv_us_per_quantum[] = { // indexed by LedWiz speed
mjr	76:7f5912b6340e	1586	0, 17172, 8590, 5726, 4295, 3436, 2863, 2454
mjr	76:7f5912b6340e	1587	};
mjr	76:7f5912b6340e	1588	int counter = ((wizCycleTimer.read_us() * inv_us_per_quantum[wizSpeed[wizPulseBank]]) >> 24);
mjr	76:7f5912b6340e	1589
mjr	76:7f5912b6340e	1590	// get the range of 32 output sin this bank
mjr	76:7f5912b6340e	1591	int fromPort = wizPulseBank*32;
mjr	76:7f5912b6340e	1592	int toPort = fromPort+32;
mjr	76:7f5912b6340e	1593	if (toPort > numOutputs)
mjr	76:7f5912b6340e	1594	toPort = numOutputs;
mjr	76:7f5912b6340e	1595
mjr	76:7f5912b6340e	1596	// update all outputs set to flashing values
mjr	76:7f5912b6340e	1597	for (int i = fromPort ; i < toPort ; ++i)
mjr	73:4e8ce0b18915	1598	{
mjr	76:7f5912b6340e	1599	// Update the port only if the LedWiz SBA switch for the port is on
mjr	76:7f5912b6340e	1600	// (wizOn[i]) AND the port is a PBA flash mode in the range 129..132.
mjr	76:7f5912b6340e	1601	// These modes and only these modes have the high bit (0x80) set, so
mjr	76:7f5912b6340e	1602	// we can test for them simply by testing the high bit.
mjr	76:7f5912b6340e	1603	if (wizOn[i])
mjr	29:582472d0bc57	1604	{
mjr	76:7f5912b6340e	1605	uint8_t val = wizVal[i];
mjr	76:7f5912b6340e	1606	if ((val & 0x80) != 0)
mjr	29:582472d0bc57	1607	{
mjr	76:7f5912b6340e	1608	// ook up the value for the mode at the cycle time
mjr	76:7f5912b6340e	1609	lwPin[i]->set(outLevel[i] = wizFlashLookup[((val-129) << 8) + counter]);
mjr	29:582472d0bc57	1610	}
mjr	29:582472d0bc57	1611	}
mjr	76:7f5912b6340e	1612	}
mjr	76:7f5912b6340e	1613
mjr	34:6b981a2afab7	1614	// flush changes to 74HC595 chips, if attached
mjr	35:e959ffba78fd	1615	if (hc595 != 0)
mjr	35:e959ffba78fd	1616	hc595->update();
mjr	76:7f5912b6340e	1617
mjr	76:7f5912b6340e	1618	// switch to the next bank
mjr	76:7f5912b6340e	1619	if (++wizPulseBank >= MAX_LW_BANKS)
mjr	76:7f5912b6340e	1620	wizPulseBank = 0;
mjr	76:7f5912b6340e	1621
mjr	76:7f5912b6340e	1622	// collect timing statistics
mjr	76:7f5912b6340e	1623	IF_DIAG(
mjr	76:7f5912b6340e	1624	wizPulseTotalTime += t.read_us();
mjr	76:7f5912b6340e	1625	wizPulseRunCount += 1;
mjr	76:7f5912b6340e	1626	)
mjr	1:d913e0afb2ac	1627	}
mjr	38:091e511ce8a0	1628
mjr	76:7f5912b6340e	1629	// Update a port to reflect its new LedWiz SBA+PBA setting.
mjr	76:7f5912b6340e	1630	static void updateLwPort(int port)
mjr	38:091e511ce8a0	1631	{
mjr	76:7f5912b6340e	1632	// check if the SBA switch is on or off
mjr	76:7f5912b6340e	1633	if (wizOn[port])
mjr	76:7f5912b6340e	1634	{
mjr	76:7f5912b6340e	1635	// It's on. If the port is a valid static brightness level,
mjr	76:7f5912b6340e	1636	// set the output port to match. Otherwise leave it as is:
mjr	76:7f5912b6340e	1637	// if it's a flashing mode, the flash mode pulse will update
mjr	76:7f5912b6340e	1638	// it on the next cycle.
mjr	76:7f5912b6340e	1639	int val = wizVal[port];
mjr	76:7f5912b6340e	1640	if (val <= 49)
mjr	76:7f5912b6340e	1641	lwPin[port]->set(outLevel[port] = lw_to_dof[val]);
mjr	76:7f5912b6340e	1642	}
mjr	76:7f5912b6340e	1643	else
mjr	76:7f5912b6340e	1644	{
mjr	76:7f5912b6340e	1645	// the port is off - set absolute brightness zero
mjr	76:7f5912b6340e	1646	lwPin[port]->set(outLevel[port] = 0);
mjr	76:7f5912b6340e	1647	}
mjr	73:4e8ce0b18915	1648	}
mjr	73:4e8ce0b18915	1649
mjr	73:4e8ce0b18915	1650	// Turn off all outputs and restore everything to the default LedWiz
mjr	73:4e8ce0b18915	1651	// state. This sets outputs #1-32 to LedWiz profile value 48 (full
mjr	73:4e8ce0b18915	1652	// brightness) and switch state Off, sets all extended outputs (#33
mjr	73:4e8ce0b18915	1653	// and above) to zero brightness, and sets the LedWiz flash rate to 2.
mjr	73:4e8ce0b18915	1654	// This effectively restores the power-on conditions.
mjr	73:4e8ce0b18915	1655	//
mjr	73:4e8ce0b18915	1656	void allOutputsOff()
mjr	73:4e8ce0b18915	1657	{
mjr	73:4e8ce0b18915	1658	// reset all LedWiz outputs to OFF/48
mjr	73:4e8ce0b18915	1659	for (int i = 0 ; i < numOutputs ; ++i)
mjr	73:4e8ce0b18915	1660	{
mjr	73:4e8ce0b18915	1661	outLevel[i] = 0;
mjr	73:4e8ce0b18915	1662	wizOn[i] = 0;
mjr	73:4e8ce0b18915	1663	wizVal[i] = 48;
mjr	73:4e8ce0b18915	1664	lwPin[i]->set(0);
mjr	73:4e8ce0b18915	1665	}
mjr	73:4e8ce0b18915	1666
mjr	73:4e8ce0b18915	1667	// restore default LedWiz flash rate
mjr	73:4e8ce0b18915	1668	for (int i = 0 ; i < countof(wizSpeed) ; ++i)
mjr	73:4e8ce0b18915	1669	wizSpeed[i] = 2;
mjr	38:091e511ce8a0	1670
mjr	73:4e8ce0b18915	1671	// flush changes to hc595, if applicable
mjr	38:091e511ce8a0	1672	if (hc595 != 0)
mjr	38:091e511ce8a0	1673	hc595->update();
mjr	38:091e511ce8a0	1674	}
mjr	38:091e511ce8a0	1675
mjr	74:822a92bc11d2	1676	// Cary out an SBA or SBX message. portGroup is 0 for ports 1-32,
mjr	74:822a92bc11d2	1677	// 1 for ports 33-64, etc. Original protocol SBA messages always
mjr	74:822a92bc11d2	1678	// address port group 0; our private SBX extension messages can
mjr	74:822a92bc11d2	1679	// address any port group.
mjr	74:822a92bc11d2	1680	void sba_sbx(int portGroup, const uint8_t *data)
mjr	74:822a92bc11d2	1681	{
mjr	76:7f5912b6340e	1682	// update all on/off states in the group
mjr	74:822a92bc11d2	1683	for (int i = 0, bit = 1, imsg = 1, port = portGroup*32 ;
mjr	74:822a92bc11d2	1684	i < 32 && port < numOutputs ;
mjr	74:822a92bc11d2	1685	++i, bit <<= 1, ++port)
mjr	74:822a92bc11d2	1686	{
mjr	74:822a92bc11d2	1687	// figure the on/off state bit for this output
mjr	74:822a92bc11d2	1688	if (bit == 0x100) {
mjr	74:822a92bc11d2	1689	bit = 1;
mjr	74:822a92bc11d2	1690	++imsg;
mjr	74:822a92bc11d2	1691	}
mjr	74:822a92bc11d2	1692
mjr	74:822a92bc11d2	1693	// set the on/off state
mjr	76:7f5912b6340e	1694	bool on = wizOn[port] = ((data[imsg] & bit) != 0);
mjr	76:7f5912b6340e	1695
mjr	76:7f5912b6340e	1696	// set the output port brightness to match the new setting
mjr	76:7f5912b6340e	1697	updateLwPort(port);
mjr	74:822a92bc11d2	1698	}
mjr	74:822a92bc11d2	1699
mjr	74:822a92bc11d2	1700	// set the flash speed for the port group
mjr	74:822a92bc11d2	1701	if (portGroup < countof(wizSpeed))
mjr	74:822a92bc11d2	1702	wizSpeed[portGroup] = (data[5] < 1 ? 1 : data[5] > 7 ? 7 : data[5]);
mjr	74:822a92bc11d2	1703
mjr	76:7f5912b6340e	1704	// update 74HC959 outputs
mjr	76:7f5912b6340e	1705	if (hc595 != 0)
mjr	76:7f5912b6340e	1706	hc595->update();
mjr	74:822a92bc11d2	1707	}
mjr	74:822a92bc11d2	1708
mjr	74:822a92bc11d2	1709	// Carry out a PBA or PBX message.
mjr	74:822a92bc11d2	1710	void pba_pbx(int basePort, const uint8_t *data)
mjr	74:822a92bc11d2	1711	{
mjr	74:822a92bc11d2	1712	// update each wizVal entry from the brightness data
mjr	76:7f5912b6340e	1713	for (int i = 0, port = basePort ; i < 8 && port < numOutputs ; ++i, ++port)
mjr	74:822a92bc11d2	1714	{
mjr	74:822a92bc11d2	1715	// get the value
mjr	74:822a92bc11d2	1716	uint8_t v = data[i];
mjr	74:822a92bc11d2	1717
mjr	74:822a92bc11d2	1718	// Validate it. The legal values are 0..49 for brightness
mjr	74:822a92bc11d2	1719	// levels, and 128..132 for flash modes. Set anything invalid
mjr	74:822a92bc11d2	1720	// to full brightness (48) instead. Note that 49 isn't actually
mjr	74:822a92bc11d2	1721	// a valid documented value, but in practice some clients send
mjr	74:822a92bc11d2	1722	// this to mean 100% brightness, and the real LedWiz treats it
mjr	74:822a92bc11d2	1723	// as such.
mjr	74:822a92bc11d2	1724	if ((v > 49 && v < 129) \|\| v > 132)
mjr	74:822a92bc11d2	1725	v = 48;
mjr	74:822a92bc11d2	1726
mjr	74:822a92bc11d2	1727	// store it
mjr	76:7f5912b6340e	1728	wizVal[port] = v;
mjr	76:7f5912b6340e	1729
mjr	76:7f5912b6340e	1730	// update the port
mjr	76:7f5912b6340e	1731	updateLwPort(port);
mjr	74:822a92bc11d2	1732	}
mjr	74:822a92bc11d2	1733
mjr	76:7f5912b6340e	1734	// update 74HC595 outputs
mjr	76:7f5912b6340e	1735	if (hc595 != 0)
mjr	76:7f5912b6340e	1736	hc595->update();
mjr	74:822a92bc11d2	1737	}
mjr	74:822a92bc11d2	1738
mjr	77:0b96f6867312	1739	// ---------------------------------------------------------------------------
mjr	77:0b96f6867312	1740	//
mjr	77:0b96f6867312	1741	// IR Remote Control transmitter & receiver
mjr	77:0b96f6867312	1742	//
mjr	77:0b96f6867312	1743
mjr	77:0b96f6867312	1744	// receiver
mjr	77:0b96f6867312	1745	IRReceiver *ir_rx;
mjr	77:0b96f6867312	1746
mjr	77:0b96f6867312	1747	// transmitter
mjr	77:0b96f6867312	1748	IRTransmitter *ir_tx;
mjr	77:0b96f6867312	1749
mjr	77:0b96f6867312	1750	// Mapping from IR commands slots in the configuration to "virtual button"
mjr	77:0b96f6867312	1751	// numbers on the IRTransmitter's "virtual remote". To minimize RAM usage,
mjr	77:0b96f6867312	1752	// we only create virtual buttons on the transmitter object for code slots
mjr	77:0b96f6867312	1753	// that are configured for transmission, which includes slots used for TV
mjr	77:0b96f6867312	1754	// ON commands and slots that can be triggered by button presses. This
mjr	77:0b96f6867312	1755	// means that virtual button numbers won't necessarily match the config
mjr	77:0b96f6867312	1756	// slot numbers. This table provides the mapping:
mjr	77:0b96f6867312	1757	// IRConfigSlotToVirtualButton[n] = ir_tx virtual button number for
mjr	77:0b96f6867312	1758	// configuration slot n
mjr	77:0b96f6867312	1759	uint8_t IRConfigSlotToVirtualButton[MAX_IR_CODES];
mjr	78:1e00b3fa11af	1760
mjr	78:1e00b3fa11af	1761	// IR transmitter virtual button number for ad hoc IR command. We allocate
mjr	78:1e00b3fa11af	1762	// one virtual button for sending ad hoc IR codes, such as through the USB
mjr	78:1e00b3fa11af	1763	// protocol.
mjr	78:1e00b3fa11af	1764	uint8_t IRAdHocBtn;
mjr	78:1e00b3fa11af	1765
mjr	78:1e00b3fa11af	1766	// Staging area for ad hoc IR commands. It takes multiple messages
mjr	78:1e00b3fa11af	1767	// to fill out an IR command, so we store the partial command here
mjr	78:1e00b3fa11af	1768	// while waiting for the rest.
mjr	78:1e00b3fa11af	1769	static struct
mjr	78:1e00b3fa11af	1770	{
mjr	78:1e00b3fa11af	1771	uint8_t protocol; // protocol ID
mjr	78:1e00b3fa11af	1772	uint64_t code; // code
mjr	78:1e00b3fa11af	1773	uint8_t dittos : 1; // using dittos?
mjr	78:1e00b3fa11af	1774	uint8_t ready : 1; // do we have a code ready to transmit?
mjr	78:1e00b3fa11af	1775	} IRAdHocCmd;
mjr	78:1e00b3fa11af	1776
mjr	77:0b96f6867312	1777
mjr	77:0b96f6867312	1778	// IR mode timer. In normal mode, this is the time since the last
mjr	77:0b96f6867312	1779	// command received; we use this to handle commands with timed effects,
mjr	77:0b96f6867312	1780	// such as sending a key to the PC. In learning mode, this is the time
mjr	77:0b96f6867312	1781	// since we activated learning mode, which we use to automatically end
mjr	77:0b96f6867312	1782	// learning mode if a decodable command isn't received within a reasonable
mjr	77:0b96f6867312	1783	// amount of time.
mjr	77:0b96f6867312	1784	Timer IRTimer;
mjr	77:0b96f6867312	1785
mjr	77:0b96f6867312	1786	// IR Learning Mode. The PC enters learning mode via special function 65 12.
mjr	77:0b96f6867312	1787	// The states are:
mjr	77:0b96f6867312	1788	//
mjr	77:0b96f6867312	1789	// 0 -> normal operation (not in learning mode)
mjr	77:0b96f6867312	1790	// 1 -> learning mode; reading raw codes, no command read yet
mjr	77:0b96f6867312	1791	// 2 -> learning mode; command received, awaiting auto-repeat
mjr	77:0b96f6867312	1792	// 3 -> learning mode; done, command and repeat mode decoded
mjr	77:0b96f6867312	1793	//
mjr	77:0b96f6867312	1794	// When we enter learning mode, we reset IRTimer to keep track of how long
mjr	77:0b96f6867312	1795	// we've been in the mode. This allows the mode to time out if no code is
mjr	77:0b96f6867312	1796	// received within a reasonable time.
mjr	77:0b96f6867312	1797	uint8_t IRLearningMode = 0;
mjr	77:0b96f6867312	1798
mjr	77:0b96f6867312	1799	// Learning mode command received. This stores the first decoded command
mjr	77:0b96f6867312	1800	// when in learning mode. For some protocols, we can't just report the
mjr	77:0b96f6867312	1801	// first command we receive, because we need to wait for an auto-repeat to
mjr	77:0b96f6867312	1802	// determine what format the remote uses for repeats. This stores the first
mjr	77:0b96f6867312	1803	// command while we await a repeat. This is necessary for protocols that
mjr	77:0b96f6867312	1804	// have "dittos", since some remotes for such protocols use the dittos and
mjr	77:0b96f6867312	1805	// some don't; the only way to find out is to read a repeat code and see if
mjr	77:0b96f6867312	1806	// it's a ditto or just a repeat of the full code.
mjr	77:0b96f6867312	1807	IRCommand learnedIRCode;
mjr	77:0b96f6867312	1808
mjr	78:1e00b3fa11af	1809	// IR command received, as a config slot index, 1..MAX_IR_CODES.
mjr	77:0b96f6867312	1810	// When we receive a command that matches one of our programmed commands,
mjr	77:0b96f6867312	1811	// we note the slot here. We also reset the IR timer so that we know how
mjr	77:0b96f6867312	1812	// long it's been since the command came in. This lets us handle commands
mjr	77:0b96f6867312	1813	// with timed effects, such as PC key input. Note that this is a 1-based
mjr	77:0b96f6867312	1814	// index; 0 represents no command.
mjr	77:0b96f6867312	1815	uint8_t IRCommandIn = 0;
mjr	77:0b96f6867312	1816
mjr	77:0b96f6867312	1817	// "Toggle bit" of last command. Some IR protocols have a toggle bit
mjr	77:0b96f6867312	1818	// that distinguishes an auto-repeating key from a key being pressed
mjr	77:0b96f6867312	1819	// several times in a row. This records the toggle bit of the last
mjr	77:0b96f6867312	1820	// command we received.
mjr	77:0b96f6867312	1821	uint8_t lastIRToggle = 0;
mjr	77:0b96f6867312	1822
mjr	77:0b96f6867312	1823	// Are we in a gap between successive key presses? When we detect that a
mjr	77:0b96f6867312	1824	// key is being pressed multiple times rather than auto-repeated (which we
mjr	77:0b96f6867312	1825	// can detect via a toggle bit in some protocols), we'll briefly stop sending
mjr	77:0b96f6867312	1826	// the associated key to the PC, so that the PC likewise recognizes the
mjr	77:0b96f6867312	1827	// distinct key press.
mjr	77:0b96f6867312	1828	uint8_t IRKeyGap = false;
mjr	77:0b96f6867312	1829
mjr	78:1e00b3fa11af	1830
mjr	77:0b96f6867312	1831	// initialize
mjr	77:0b96f6867312	1832	void init_IR(Config &cfg, bool &kbKeys)
mjr	77:0b96f6867312	1833	{
mjr	77:0b96f6867312	1834	PinName pin;
mjr	77:0b96f6867312	1835
mjr	77:0b96f6867312	1836	// start the IR timer
mjr	77:0b96f6867312	1837	IRTimer.start();
mjr	77:0b96f6867312	1838
mjr	77:0b96f6867312	1839	// if there's a transmitter, set it up
mjr	77:0b96f6867312	1840	if ((pin = wirePinName(cfg.IR.emitter)) != NC)
mjr	77:0b96f6867312	1841	{
mjr	77:0b96f6867312	1842	// no virtual buttons yet
mjr	77:0b96f6867312	1843	int nVirtualButtons = 0;
mjr	77:0b96f6867312	1844	memset(IRConfigSlotToVirtualButton, 0xFF, sizeof(IRConfigSlotToVirtualButton));
mjr	77:0b96f6867312	1845
mjr	77:0b96f6867312	1846	// assign virtual buttons slots for TV ON codes
mjr	77:0b96f6867312	1847	for (int i = 0 ; i < MAX_IR_CODES ; ++i)
mjr	77:0b96f6867312	1848	{
mjr	77:0b96f6867312	1849	if ((cfg.IRCommand[i].flags & IRFlagTVON) != 0)
mjr	77:0b96f6867312	1850	IRConfigSlotToVirtualButton[i] = nVirtualButtons++;
mjr	77:0b96f6867312	1851	}
mjr	77:0b96f6867312	1852
mjr	77:0b96f6867312	1853	// assign virtual buttons for codes that can be triggered by
mjr	77:0b96f6867312	1854	// real button inputs
mjr	77:0b96f6867312	1855	for (int i = 0 ; i < MAX_BUTTONS ; ++i)
mjr	77:0b96f6867312	1856	{
mjr	77:0b96f6867312	1857	// get the button
mjr	77:0b96f6867312	1858	ButtonCfg &b = cfg.button[i];
mjr	77:0b96f6867312	1859
mjr	77:0b96f6867312	1860	// check the unshifted button
mjr	77:0b96f6867312	1861	int c = b.IRCommand - 1;
mjr	77:0b96f6867312	1862	if (c >= 0 && c < MAX_IR_CODES
mjr	77:0b96f6867312	1863	&& IRConfigSlotToVirtualButton[c] == 0xFF)
mjr	77:0b96f6867312	1864	IRConfigSlotToVirtualButton[c] = nVirtualButtons++;
mjr	77:0b96f6867312	1865
mjr	77:0b96f6867312	1866	// check the shifted button
mjr	77:0b96f6867312	1867	c = b.IRCommand2 - 1;
mjr	77:0b96f6867312	1868	if (c >= 0 && c < MAX_IR_CODES
mjr	77:0b96f6867312	1869	&& IRConfigSlotToVirtualButton[c] == 0xFF)
mjr	77:0b96f6867312	1870	IRConfigSlotToVirtualButton[c] = nVirtualButtons++;
mjr	77:0b96f6867312	1871	}
mjr	77:0b96f6867312	1872
mjr	77:0b96f6867312	1873	// allocate an additional virtual button for transmitting ad hoc
mjr	77:0b96f6867312	1874	// codes, such as for the "send code" USB API function
mjr	78:1e00b3fa11af	1875	IRAdHocBtn = nVirtualButtons++;
mjr	77:0b96f6867312	1876
mjr	77:0b96f6867312	1877	// create the transmitter
mjr	77:0b96f6867312	1878	ir_tx = new IRTransmitter(pin, nVirtualButtons);
mjr	77:0b96f6867312	1879
mjr	77:0b96f6867312	1880	// program the commands into the virtual button slots
mjr	77:0b96f6867312	1881	for (int i = 0 ; i < MAX_IR_CODES ; ++i)
mjr	77:0b96f6867312	1882	{
mjr	77:0b96f6867312	1883	// if this slot is assigned to a virtual button, program it
mjr	77:0b96f6867312	1884	int vb = IRConfigSlotToVirtualButton[i];
mjr	77:0b96f6867312	1885	if (vb != 0xFF)
mjr	77:0b96f6867312	1886	{
mjr	77:0b96f6867312	1887	IRCommandCfg &cb = cfg.IRCommand[i];
mjr	77:0b96f6867312	1888	uint64_t code = cb.code.lo \| (uint64_t(cb.code.hi) << 32);
mjr	77:0b96f6867312	1889	bool dittos = (cb.flags & IRFlagDittos) != 0;
mjr	77:0b96f6867312	1890	ir_tx->programButton(vb, cb.protocol, dittos, code);
mjr	77:0b96f6867312	1891	}
mjr	77:0b96f6867312	1892	}
mjr	77:0b96f6867312	1893	}
mjr	77:0b96f6867312	1894
mjr	77:0b96f6867312	1895	// if there's a receiver, set it up
mjr	77:0b96f6867312	1896	if ((pin = wirePinName(cfg.IR.sensor)) != NC)
mjr	77:0b96f6867312	1897	{
mjr	77:0b96f6867312	1898	// create the receiver
mjr	77:0b96f6867312	1899	ir_rx = new IRReceiver(pin, 32);
mjr	77:0b96f6867312	1900
mjr	77:0b96f6867312	1901	// connect the transmitter (if any) to the receiver, so that
mjr	77:0b96f6867312	1902	// the receiver can suppress reception of our own transmissions
mjr	77:0b96f6867312	1903	ir_rx->setTransmitter(ir_tx);
mjr	77:0b96f6867312	1904
mjr	77:0b96f6867312	1905	// enable it
mjr	77:0b96f6867312	1906	ir_rx->enable();
mjr	77:0b96f6867312	1907
mjr	77:0b96f6867312	1908	// Check the IR command slots to see if any slots are configured
mjr	77:0b96f6867312	1909	// to send a keyboard key on receiving an IR command. If any are,
mjr	77:0b96f6867312	1910	// tell the caller that we need a USB keyboard interface.
mjr	77:0b96f6867312	1911	for (int i = 0 ; i < MAX_IR_CODES ; ++i)
mjr	77:0b96f6867312	1912	{
mjr	77:0b96f6867312	1913	IRCommandCfg &cb = cfg.IRCommand[i];
mjr	77:0b96f6867312	1914	if (cb.protocol != 0
mjr	77:0b96f6867312	1915	&& (cb.keytype == BtnTypeKey \|\| cb.keytype == BtnTypeMedia))
mjr	77:0b96f6867312	1916	{
mjr	77:0b96f6867312	1917	kbKeys = true;
mjr	77:0b96f6867312	1918	break;
mjr	77:0b96f6867312	1919	}
mjr	77:0b96f6867312	1920	}
mjr	77:0b96f6867312	1921	}
mjr	77:0b96f6867312	1922	}
mjr	77:0b96f6867312	1923
mjr	77:0b96f6867312	1924	// Press or release a button with an assigned IR function. 'cmd'
mjr	77:0b96f6867312	1925	// is the command slot number (1..MAX_IR_CODES) assigned to the button.
mjr	77:0b96f6867312	1926	void IR_buttonChange(uint8_t cmd, bool pressed)
mjr	77:0b96f6867312	1927	{
mjr	77:0b96f6867312	1928	// only proceed if there's an IR transmitter attached
mjr	77:0b96f6867312	1929	if (ir_tx != 0)
mjr	77:0b96f6867312	1930	{
mjr	77:0b96f6867312	1931	// adjust the command slot to a zero-based index
mjr	77:0b96f6867312	1932	int slot = cmd - 1;
mjr	77:0b96f6867312	1933
mjr	77:0b96f6867312	1934	// press or release the virtual button
mjr	77:0b96f6867312	1935	ir_tx->pushButton(IRConfigSlotToVirtualButton[slot], pressed);
mjr	77:0b96f6867312	1936	}
mjr	77:0b96f6867312	1937	}
mjr	77:0b96f6867312	1938
mjr	78:1e00b3fa11af	1939	// Process IR input and output
mjr	77:0b96f6867312	1940	void process_IR(Config &cfg, USBJoystick &js)
mjr	77:0b96f6867312	1941	{
mjr	78:1e00b3fa11af	1942	// check for transmitter tasks, if there's a transmitter
mjr	78:1e00b3fa11af	1943	if (ir_tx != 0)
mjr	77:0b96f6867312	1944	{
mjr	78:1e00b3fa11af	1945	// If we're not currently sending, and an ad hoc IR command
mjr	78:1e00b3fa11af	1946	// is ready to send, send it.
mjr	78:1e00b3fa11af	1947	if (!ir_tx->isSending() && IRAdHocCmd.ready)
mjr	78:1e00b3fa11af	1948	{
mjr	78:1e00b3fa11af	1949	// program the command into the transmitter virtual button
mjr	78:1e00b3fa11af	1950	// that we reserved for ad hoc commands
mjr	78:1e00b3fa11af	1951	ir_tx->programButton(IRAdHocBtn, IRAdHocCmd.protocol,
mjr	78:1e00b3fa11af	1952	IRAdHocCmd.dittos, IRAdHocCmd.code);
mjr	78:1e00b3fa11af	1953
mjr	78:1e00b3fa11af	1954	// send the command - just pulse the button to send it once
mjr	78:1e00b3fa11af	1955	ir_tx->pushButton(IRAdHocBtn, true);
mjr	78:1e00b3fa11af	1956	ir_tx->pushButton(IRAdHocBtn, false);
mjr	78:1e00b3fa11af	1957
mjr	78:1e00b3fa11af	1958	// we've sent the command, so clear the 'ready' flag
mjr	78:1e00b3fa11af	1959	IRAdHocCmd.ready = false;
mjr	78:1e00b3fa11af	1960	}
mjr	77:0b96f6867312	1961	}
mjr	78:1e00b3fa11af	1962
mjr	78:1e00b3fa11af	1963	// check for receiver tasks, if there's a receiver
mjr	78:1e00b3fa11af	1964	if (ir_rx != 0)
mjr	77:0b96f6867312	1965	{
mjr	78:1e00b3fa11af	1966	// Time out any received command
mjr	78:1e00b3fa11af	1967	if (IRCommandIn != 0)
mjr	78:1e00b3fa11af	1968	{
mjr	80:94dc2946871b	1969	// Time out commands after 200ms without a repeat signal.
mjr	80:94dc2946871b	1970	// Time out the inter-key gap after 50ms.
mjr	78:1e00b3fa11af	1971	uint32_t t = IRTimer.read_us();
mjr	80:94dc2946871b	1972	if (t > 200000)
mjr	78:1e00b3fa11af	1973	IRCommandIn = 0;
mjr	80:94dc2946871b	1974	else if (t > 50000)
mjr	78:1e00b3fa11af	1975	IRKeyGap = false;
mjr	78:1e00b3fa11af	1976	}
mjr	78:1e00b3fa11af	1977
mjr	78:1e00b3fa11af	1978	// Check if we're in learning mode
mjr	78:1e00b3fa11af	1979	if (IRLearningMode != 0)
mjr	78:1e00b3fa11af	1980	{
mjr	78:1e00b3fa11af	1981	// Learning mode. Read raw inputs from the IR sensor and
mjr	78:1e00b3fa11af	1982	// forward them to the PC via USB reports, up to the report
mjr	78:1e00b3fa11af	1983	// limit.
mjr	78:1e00b3fa11af	1984	const int nmax = USBJoystick::maxRawIR;
mjr	78:1e00b3fa11af	1985	uint16_t raw[nmax];
mjr	78:1e00b3fa11af	1986	int n;
mjr	78:1e00b3fa11af	1987	for (n = 0 ; n < nmax && ir_rx->processOne(raw[n]) ; ++n) ;
mjr	77:0b96f6867312	1988
mjr	78:1e00b3fa11af	1989	// if we read any raw samples, report them
mjr	78:1e00b3fa11af	1990	if (n != 0)
mjr	78:1e00b3fa11af	1991	js.reportRawIR(n, raw);
mjr	77:0b96f6867312	1992
mjr	78:1e00b3fa11af	1993	// check for a command
mjr	78:1e00b3fa11af	1994	IRCommand c;
mjr	78:1e00b3fa11af	1995	if (ir_rx->readCommand(c))
mjr	78:1e00b3fa11af	1996	{
mjr	78:1e00b3fa11af	1997	// check the current learning state
mjr	78:1e00b3fa11af	1998	switch (IRLearningMode)
mjr	78:1e00b3fa11af	1999	{
mjr	78:1e00b3fa11af	2000	case 1:
mjr	78:1e00b3fa11af	2001	// Initial state, waiting for the first decoded command.
mjr	78:1e00b3fa11af	2002	// This is it.
mjr	78:1e00b3fa11af	2003	learnedIRCode = c;
mjr	78:1e00b3fa11af	2004
mjr	78:1e00b3fa11af	2005	// Check if we need additional information. If the
mjr	78:1e00b3fa11af	2006	// protocol supports dittos, we have to wait for a repeat
mjr	78:1e00b3fa11af	2007	// to see if the remote actually uses the dittos, since
mjr	78:1e00b3fa11af	2008	// some implementations of such protocols use the dittos
mjr	78:1e00b3fa11af	2009	// while others just send repeated full codes. Otherwise,
mjr	78:1e00b3fa11af	2010	// all we need is the initial code, so we're done.
mjr	78:1e00b3fa11af	2011	IRLearningMode = (c.hasDittos ? 2 : 3);
mjr	78:1e00b3fa11af	2012	break;
mjr	78:1e00b3fa11af	2013
mjr	78:1e00b3fa11af	2014	case 2:
mjr	78:1e00b3fa11af	2015	// Code received, awaiting auto-repeat information. If
mjr	78:1e00b3fa11af	2016	// the protocol has dittos, check to see if we got a ditto:
mjr	78:1e00b3fa11af	2017	//
mjr	78:1e00b3fa11af	2018	// - If we received a ditto in the same protocol as the
mjr	78:1e00b3fa11af	2019	// prior command, the remote uses dittos.
mjr	78:1e00b3fa11af	2020	//
mjr	78:1e00b3fa11af	2021	// - If we received a repeat of the prior command (not a
mjr	78:1e00b3fa11af	2022	// ditto, but a repeat of the full code), the remote
mjr	78:1e00b3fa11af	2023	// doesn't use dittos even though the protocol supports
mjr	78:1e00b3fa11af	2024	// them.
mjr	78:1e00b3fa11af	2025	//
mjr	78:1e00b3fa11af	2026	// - Otherwise, it's not an auto-repeat at all, so we
mjr	78:1e00b3fa11af	2027	// can't decide one way or the other on dittos: start
mjr	78:1e00b3fa11af	2028	// over.
mjr	78:1e00b3fa11af	2029	if (c.proId == learnedIRCode.proId
mjr	78:1e00b3fa11af	2030	&& c.hasDittos
mjr	78:1e00b3fa11af	2031	&& c.ditto)
mjr	78:1e00b3fa11af	2032	{
mjr	78:1e00b3fa11af	2033	// success - the remote uses dittos
mjr	78:1e00b3fa11af	2034	IRLearningMode = 3;
mjr	78:1e00b3fa11af	2035	}
mjr	78:1e00b3fa11af	2036	else if (c.proId == learnedIRCode.proId
mjr	78:1e00b3fa11af	2037	&& c.hasDittos
mjr	78:1e00b3fa11af	2038	&& !c.ditto
mjr	78:1e00b3fa11af	2039	&& c.code == learnedIRCode.code)
mjr	78:1e00b3fa11af	2040	{
mjr	78:1e00b3fa11af	2041	// success - it's a repeat of the last code, so
mjr	78:1e00b3fa11af	2042	// the remote doesn't use dittos even though the
mjr	78:1e00b3fa11af	2043	// protocol supports them
mjr	78:1e00b3fa11af	2044	learnedIRCode.hasDittos = false;
mjr	78:1e00b3fa11af	2045	IRLearningMode = 3;
mjr	78:1e00b3fa11af	2046	}
mjr	78:1e00b3fa11af	2047	else
mjr	78:1e00b3fa11af	2048	{
mjr	78:1e00b3fa11af	2049	// It's not a ditto and not a full repeat of the
mjr	78:1e00b3fa11af	2050	// last code, so it's either a new key, or some kind
mjr	78:1e00b3fa11af	2051	// of multi-code key encoding that we don't recognize.
mjr	78:1e00b3fa11af	2052	// We can't use this code, so start over.
mjr	78:1e00b3fa11af	2053	IRLearningMode = 1;
mjr	78:1e00b3fa11af	2054	}
mjr	78:1e00b3fa11af	2055	break;
mjr	78:1e00b3fa11af	2056	}
mjr	77:0b96f6867312	2057
mjr	78:1e00b3fa11af	2058	// If we ended in state 3, we've successfully decoded
mjr	78:1e00b3fa11af	2059	// the transmission. Report the decoded data and terminate
mjr	78:1e00b3fa11af	2060	// learning mode.
mjr	78:1e00b3fa11af	2061	if (IRLearningMode == 3)
mjr	77:0b96f6867312	2062	{
mjr	78:1e00b3fa11af	2063	// figure the flags:
mjr	78:1e00b3fa11af	2064	// 0x02 -> dittos
mjr	78:1e00b3fa11af	2065	uint8_t flags = 0;
mjr	78:1e00b3fa11af	2066	if (learnedIRCode.hasDittos)
mjr	78:1e00b3fa11af	2067	flags \|= 0x02;
mjr	78:1e00b3fa11af	2068
mjr	78:1e00b3fa11af	2069	// report the code
mjr	78:1e00b3fa11af	2070	js.reportIRCode(learnedIRCode.proId, flags, learnedIRCode.code);
mjr	78:1e00b3fa11af	2071
mjr	78:1e00b3fa11af	2072	// exit learning mode
mjr	78:1e00b3fa11af	2073	IRLearningMode = 0;
mjr	77:0b96f6867312	2074	}
mjr	77:0b96f6867312	2075	}
mjr	77:0b96f6867312	2076
mjr	78:1e00b3fa11af	2077	// time out of IR learning mode if it's been too long
mjr	78:1e00b3fa11af	2078	if (IRLearningMode != 0 && IRTimer.read_us() > 10000000L)
mjr	77:0b96f6867312	2079	{
mjr	78:1e00b3fa11af	2080	// report the termination by sending a raw IR report with
mjr	78:1e00b3fa11af	2081	// zero data elements
mjr	78:1e00b3fa11af	2082	js.reportRawIR(0, 0);
mjr	78:1e00b3fa11af	2083
mjr	78:1e00b3fa11af	2084
mjr	78:1e00b3fa11af	2085	// cancel learning mode
mjr	77:0b96f6867312	2086	IRLearningMode = 0;
mjr	77:0b96f6867312	2087	}
mjr	77:0b96f6867312	2088	}
mjr	78:1e00b3fa11af	2089	else
mjr	77:0b96f6867312	2090	{
mjr	78:1e00b3fa11af	2091	// Not in learning mode. We don't care about the raw signals;
mjr	78:1e00b3fa11af	2092	// just run them through the protocol decoders.
mjr	78:1e00b3fa11af	2093	ir_rx->process();
mjr	78:1e00b3fa11af	2094
mjr	78:1e00b3fa11af	2095	// Check for decoded commands. Keep going until all commands
mjr	78:1e00b3fa11af	2096	// have been read.
mjr	78:1e00b3fa11af	2097	IRCommand c;
mjr	78:1e00b3fa11af	2098	while (ir_rx->readCommand(c))
mjr	77:0b96f6867312	2099	{
mjr	78:1e00b3fa11af	2100	// We received a decoded command. Determine if it's a repeat,
mjr	78:1e00b3fa11af	2101	// and if so, try to determine whether it's an auto-repeat (due
mjr	78:1e00b3fa11af	2102	// to the remote key being held down) or a distinct new press
mjr	78:1e00b3fa11af	2103	// on the same key as last time. The distinction is significant
mjr	78:1e00b3fa11af	2104	// because it affects the auto-repeat behavior of the PC key
mjr	78:1e00b3fa11af	2105	// input. An auto-repeat represents a key being held down on
mjr	78:1e00b3fa11af	2106	// the remote, which we want to translate to a (virtual) key
mjr	78:1e00b3fa11af	2107	// being held down on the PC keyboard; a distinct key press on
mjr	78:1e00b3fa11af	2108	// the remote translates to a distinct key press on the PC.
mjr	78:1e00b3fa11af	2109	//
mjr	78:1e00b3fa11af	2110	// It can only be a repeat if there's a prior command that
mjr	78:1e00b3fa11af	2111	// hasn't timed out yet, so start by checking for a previous
mjr	78:1e00b3fa11af	2112	// command.
mjr	78:1e00b3fa11af	2113	bool repeat = false, autoRepeat = false;
mjr	78:1e00b3fa11af	2114	if (IRCommandIn != 0)
mjr	77:0b96f6867312	2115	{
mjr	78:1e00b3fa11af	2116	// We have a command in progress. Check to see if the
mjr	78:1e00b3fa11af	2117	// new command is a repeat of the previous command. Check
mjr	78:1e00b3fa11af	2118	// first to see if it's a "ditto", which explicitly represents
mjr	78:1e00b3fa11af	2119	// an auto-repeat of the last command.
mjr	78:1e00b3fa11af	2120	IRCommandCfg &cmdcfg = cfg.IRCommand[IRCommandIn - 1];
mjr	78:1e00b3fa11af	2121	if (c.ditto)
mjr	78:1e00b3fa11af	2122	{
mjr	78:1e00b3fa11af	2123	// We received a ditto. Dittos are always auto-
mjr	78:1e00b3fa11af	2124	// repeats, so it's an auto-repeat as long as the
mjr	78:1e00b3fa11af	2125	// ditto is in the same protocol as the last command.
mjr	78:1e00b3fa11af	2126	// If the ditto is in a new protocol, the ditto can't
mjr	78:1e00b3fa11af	2127	// be for the last command we saw, because a ditto
mjr	78:1e00b3fa11af	2128	// never changes protocols from its antecedent. In
mjr	78:1e00b3fa11af	2129	// such a case, we must have missed the antecedent
mjr	78:1e00b3fa11af	2130	// command and thus don't know what's being repeated.
mjr	78:1e00b3fa11af	2131	repeat = autoRepeat = (c.proId == cmdcfg.protocol);
mjr	78:1e00b3fa11af	2132	}
mjr	78:1e00b3fa11af	2133	else
mjr	78:1e00b3fa11af	2134	{
mjr	78:1e00b3fa11af	2135	// It's not a ditto. The new command is a repeat if
mjr	78:1e00b3fa11af	2136	// it matches the protocol and command code of the
mjr	78:1e00b3fa11af	2137	// prior command.
mjr	78:1e00b3fa11af	2138	repeat = (c.proId == cmdcfg.protocol
mjr	78:1e00b3fa11af	2139	&& uint32_t(c.code) == cmdcfg.code.lo
mjr	78:1e00b3fa11af	2140	&& uint32_t(c.code >> 32) == cmdcfg.code.hi);
mjr	78:1e00b3fa11af	2141
mjr	78:1e00b3fa11af	2142	// If the command is a repeat, try to determine whether
mjr	78:1e00b3fa11af	2143	// it's an auto-repeat or a new press on the same key.
mjr	78:1e00b3fa11af	2144	// If the protocol uses dittos, it's definitely a new
mjr	78:1e00b3fa11af	2145	// key press, because an auto-repeat would have used a
mjr	78:1e00b3fa11af	2146	// ditto. For a protocol that doesn't use dittos, both
mjr	78:1e00b3fa11af	2147	// an auto-repeat and a new key press just send the key
mjr	78:1e00b3fa11af	2148	// code again, so we can't tell the difference based on
mjr	78:1e00b3fa11af	2149	// that alone. But if the protocol has a toggle bit, we
mjr	78:1e00b3fa11af	2150	// can tell by the toggle bit value: a new key press has
mjr	78:1e00b3fa11af	2151	// the opposite toggle value as the last key press, while
mjr	78:1e00b3fa11af	2152	// an auto-repeat has the same toggle. Note that if the
mjr	78:1e00b3fa11af	2153	// protocol doesn't use toggle bits, the toggle value
mjr	78:1e00b3fa11af	2154	// will always be the same, so we'll simply always treat
mjr	78:1e00b3fa11af	2155	// any repeat as an auto-repeat. Many protocols simply
mjr	78:1e00b3fa11af	2156	// provide no way to distinguish the two, so in such
mjr	78:1e00b3fa11af	2157	// cases it's consistent with the native implementations
mjr	78:1e00b3fa11af	2158	// to treat any repeat as an auto-repeat.
mjr	78:1e00b3fa11af	2159	autoRepeat =
mjr	78:1e00b3fa11af	2160	repeat
mjr	78:1e00b3fa11af	2161	&& !(cmdcfg.flags & IRFlagDittos)
mjr	78:1e00b3fa11af	2162	&& c.toggle == lastIRToggle;
mjr	78:1e00b3fa11af	2163	}
mjr	78:1e00b3fa11af	2164	}
mjr	78:1e00b3fa11af	2165
mjr	78:1e00b3fa11af	2166	// Check to see if it's a repeat of any kind
mjr	78:1e00b3fa11af	2167	if (repeat)
mjr	78:1e00b3fa11af	2168	{
mjr	78:1e00b3fa11af	2169	// It's a repeat. If it's not an auto-repeat, it's a
mjr	78:1e00b3fa11af	2170	// new distinct key press, so we need to send the PC a
mjr	78:1e00b3fa11af	2171	// momentary gap where we're not sending the same key,
mjr	78:1e00b3fa11af	2172	// so that the PC also recognizes this as a distinct
mjr	78:1e00b3fa11af	2173	// key press event.
mjr	78:1e00b3fa11af	2174	if (!autoRepeat)
mjr	78:1e00b3fa11af	2175	IRKeyGap = true;
mjr	78:1e00b3fa11af	2176
mjr	78:1e00b3fa11af	2177	// restart the key-up timer
mjr	78:1e00b3fa11af	2178	IRTimer.reset();
mjr	78:1e00b3fa11af	2179	}
mjr	78:1e00b3fa11af	2180	else if (c.ditto)
mjr	78:1e00b3fa11af	2181	{
mjr	78:1e00b3fa11af	2182	// It's a ditto, but not a repeat of the last command.
mjr	78:1e00b3fa11af	2183	// But a ditto doesn't contain any information of its own
mjr	78:1e00b3fa11af	2184	// on the command being repeated, so given that it's not
mjr	78:1e00b3fa11af	2185	// our last command, we can't infer what command the ditto
mjr	78:1e00b3fa11af	2186	// is for and thus can't make sense of it. We have to
mjr	78:1e00b3fa11af	2187	// simply ignore it and wait for the sender to start with
mjr	78:1e00b3fa11af	2188	// a full command for a new key press.
mjr	78:1e00b3fa11af	2189	IRCommandIn = 0;
mjr	77:0b96f6867312	2190	}
mjr	77:0b96f6867312	2191	else
mjr	77:0b96f6867312	2192	{
mjr	78:1e00b3fa11af	2193	// It's not a repeat, so the last command is no longer
mjr	78:1e00b3fa11af	2194	// in effect (regardless of whether we find a match for
mjr	78:1e00b3fa11af	2195	// the new command).
mjr	78:1e00b3fa11af	2196	IRCommandIn = 0;
mjr	77:0b96f6867312	2197
mjr	78:1e00b3fa11af	2198	// Check to see if we recognize the new command, by
mjr	78:1e00b3fa11af	2199	// searching for a match in our learned code list.
mjr	78:1e00b3fa11af	2200	for (int i = 0 ; i < MAX_IR_CODES ; ++i)
mjr	77:0b96f6867312	2201	{
mjr	78:1e00b3fa11af	2202	// if the protocol and command code from the code
mjr	78:1e00b3fa11af	2203	// list both match the input, it's a match
mjr	78:1e00b3fa11af	2204	IRCommandCfg &cmdcfg = cfg.IRCommand[i];
mjr	78:1e00b3fa11af	2205	if (cmdcfg.protocol == c.proId
mjr	78:1e00b3fa11af	2206	&& cmdcfg.code.lo == uint32_t(c.code)
mjr	78:1e00b3fa11af	2207	&& cmdcfg.code.hi == uint32_t(c.code >> 32))
mjr	78:1e00b3fa11af	2208	{
mjr	78:1e00b3fa11af	2209	// Found it! Make this the last command, and
mjr	78:1e00b3fa11af	2210	// remember the starting time.
mjr	78:1e00b3fa11af	2211	IRCommandIn = i + 1;
mjr	78:1e00b3fa11af	2212	lastIRToggle = c.toggle;
mjr	78:1e00b3fa11af	2213	IRTimer.reset();
mjr	78:1e00b3fa11af	2214
mjr	78:1e00b3fa11af	2215	// no need to keep searching
mjr	78:1e00b3fa11af	2216	break;
mjr	78:1e00b3fa11af	2217	}
mjr	77:0b96f6867312	2218	}
mjr	77:0b96f6867312	2219	}
mjr	77:0b96f6867312	2220	}
mjr	77:0b96f6867312	2221	}
mjr	77:0b96f6867312	2222	}
mjr	77:0b96f6867312	2223	}
mjr	77:0b96f6867312	2224
mjr	74:822a92bc11d2	2225
mjr	11:bd9da7088e6e	2226	// ---------------------------------------------------------------------------
mjr	11:bd9da7088e6e	2227	//
mjr	11:bd9da7088e6e	2228	// Button input
mjr	11:bd9da7088e6e	2229	//
mjr	11:bd9da7088e6e	2230
mjr	18:5e890ebd0023	2231	// button state
mjr	18:5e890ebd0023	2232	struct ButtonState
mjr	18:5e890ebd0023	2233	{
mjr	38:091e511ce8a0	2234	ButtonState()
mjr	38:091e511ce8a0	2235	{
mjr	53:9b2611964afc	2236	physState = logState = prevLogState = 0;
mjr	53:9b2611964afc	2237	virtState = 0;
mjr	53:9b2611964afc	2238	dbState = 0;
mjr	38:091e511ce8a0	2239	pulseState = 0;
mjr	53:9b2611964afc	2240	pulseTime = 0;
mjr	38:091e511ce8a0	2241	}
mjr	35:e959ffba78fd	2242
mjr	53:9b2611964afc	2243	// "Virtually" press or un-press the button. This can be used to
mjr	53:9b2611964afc	2244	// control the button state via a software (virtual) source, such as
mjr	53:9b2611964afc	2245	// the ZB Launch Ball feature.
mjr	53:9b2611964afc	2246	//
mjr	53:9b2611964afc	2247	// To allow sharing of one button by multiple virtual sources, each
mjr	53:9b2611964afc	2248	// virtual source must keep track of its own state internally, and
mjr	53:9b2611964afc	2249	// only call this routine to CHANGE the state. This is because calls
mjr	53:9b2611964afc	2250	// to this routine are additive: turning the button ON twice will
mjr	53:9b2611964afc	2251	// require turning it OFF twice before it actually turns off.
mjr	53:9b2611964afc	2252	void virtPress(bool on)
mjr	53:9b2611964afc	2253	{
mjr	53:9b2611964afc	2254	// Increment or decrement the current state
mjr	53:9b2611964afc	2255	virtState += on ? 1 : -1;
mjr	53:9b2611964afc	2256	}
mjr	53:9b2611964afc	2257
mjr	53:9b2611964afc	2258	// DigitalIn for the button, if connected to a physical input
mjr	73:4e8ce0b18915	2259	TinyDigitalIn di;
mjr	38:091e511ce8a0	2260
mjr	65:739875521aae	2261	// Time of last pulse state transition.
mjr	65:739875521aae	2262	//
mjr	65:739875521aae	2263	// Each state change sticks for a minimum period; when the timer expires,
mjr	65:739875521aae	2264	// if the underlying physical switch is in a different state, we switch
mjr	65:739875521aae	2265	// to the next state and restart the timer. pulseTime is the time remaining
mjr	65:739875521aae	2266	// remaining before we can make another state transition, in microseconds.
mjr	65:739875521aae	2267	// The state transitions require a complete cycle, 1 -> 2 -> 3 -> 4 -> 1...;
mjr	65:739875521aae	2268	// this guarantees that the parity of the pulse count always matches the
mjr	65:739875521aae	2269	// current physical switch state when the latter is stable, which makes
mjr	65:739875521aae	2270	// it impossible to "trick" the host by rapidly toggling the switch state.
mjr	65:739875521aae	2271	// (On my original Pinscape cabinet, I had a hardware pulse generator
mjr	65:739875521aae	2272	// for coin door, and that was possible to trick by rapid toggling.
mjr	65:739875521aae	2273	// This software system can't be fooled that way.)
mjr	65:739875521aae	2274	uint32_t pulseTime;
mjr	18:5e890ebd0023	2275
mjr	65:739875521aae	2276	// Config key index. This points to the ButtonCfg structure in the
mjr	65:739875521aae	2277	// configuration that contains the PC key mapping for the button.
mjr	65:739875521aae	2278	uint8_t cfgIndex;
mjr	53:9b2611964afc	2279
mjr	53:9b2611964afc	2280	// Virtual press state. This is used to simulate pressing the button via
mjr	53:9b2611964afc	2281	// software inputs rather than physical inputs. To allow one button to be
mjr	53:9b2611964afc	2282	// controlled by mulitple software sources, each source should keep track
mjr	53:9b2611964afc	2283	// of its own virtual state for the button independently, and then INCREMENT
mjr	53:9b2611964afc	2284	// this variable when the source's state transitions from off to on, and
mjr	53:9b2611964afc	2285	// DECREMENT it when the source's state transitions from on to off. That
mjr	53:9b2611964afc	2286	// will make the button's pressed state the logical OR of all of the virtual
mjr	53:9b2611964afc	2287	// and physical source states.
mjr	53:9b2611964afc	2288	uint8_t virtState;
mjr	38:091e511ce8a0	2289
mjr	38:091e511ce8a0	2290	// Debounce history. On each scan, we shift in a 1 bit to the lsb if
mjr	38:091e511ce8a0	2291	// the physical key is reporting ON, and shift in a 0 bit if the physical
mjr	38:091e511ce8a0	2292	// key is reporting OFF. We consider the key to have a new stable state
mjr	38:091e511ce8a0	2293	// if we have N consecutive 0's or 1's in the low N bits (where N is
mjr	38:091e511ce8a0	2294	// a parameter that determines how long we wait for transients to settle).
mjr	53:9b2611964afc	2295	uint8_t dbState;
mjr	38:091e511ce8a0	2296
mjr	65:739875521aae	2297	// current PHYSICAL on/off state, after debouncing
mjr	65:739875521aae	2298	uint8_t physState : 1;
mjr	65:739875521aae	2299
mjr	65:739875521aae	2300	// current LOGICAL on/off state as reported to the host.
mjr	65:739875521aae	2301	uint8_t logState : 1;
mjr	65:739875521aae	2302
mjr	79:682ae3171a08	2303	// Previous logical on/off state, when keys were last processed for USB
mjr	79:682ae3171a08	2304	// reports and local effects. This lets us detect edges (transitions)
mjr	79:682ae3171a08	2305	// in the logical state, for effects that are triggered when the state
mjr	79:682ae3171a08	2306	// changes rather than merely by the button being on or off.
mjr	65:739875521aae	2307	uint8_t prevLogState : 1;
mjr	65:739875521aae	2308
mjr	65:739875521aae	2309	// Pulse state
mjr	65:739875521aae	2310	//
mjr	65:739875521aae	2311	// A button in pulse mode (selected via the config flags for the button)
mjr	65:739875521aae	2312	// transmits a brief logical button press and release each time the attached
mjr	65:739875521aae	2313	// physical switch changes state. This is useful for cases where the host
mjr	65:739875521aae	2314	// expects a key press for each change in the state of the physical switch.
mjr	65:739875521aae	2315	// The canonical example is the Coin Door switch in VPinMAME, which requires
mjr	65:739875521aae	2316	// pressing the END key to toggle the open/closed state. This software design
mjr	65:739875521aae	2317	// isn't easily implemented in a physical coin door, though; the simplest
mjr	65:739875521aae	2318	// physical sensor for the coin door state is a switch that's on when the
mjr	65:739875521aae	2319	// door is open and off when the door is closed (or vice versa, but in either
mjr	65:739875521aae	2320	// case, the switch state corresponds to the current state of the door at any
mjr	65:739875521aae	2321	// given time, rather than pulsing on state changes). The "pulse mode"
mjr	79:682ae3171a08	2322	// option bridges this gap by generating a toggle key event each time
mjr	65:739875521aae	2323	// there's a change to the physical switch's state.
mjr	38:091e511ce8a0	2324	//
mjr	38:091e511ce8a0	2325	// Pulse state:
mjr	38:091e511ce8a0	2326	// 0 -> not a pulse switch - logical key state equals physical switch state
mjr	38:091e511ce8a0	2327	// 1 -> off
mjr	38:091e511ce8a0	2328	// 2 -> transitioning off-on
mjr	38:091e511ce8a0	2329	// 3 -> on
mjr	38:091e511ce8a0	2330	// 4 -> transitioning on-off
mjr	65:739875521aae	2331	uint8_t pulseState : 3; // 5 states -> we need 3 bits
mjr	65:739875521aae	2332
mjr	65:739875521aae	2333	} __attribute__((packed));
mjr	65:739875521aae	2334
mjr	65:739875521aae	2335	ButtonState *buttonState; // live button slots, allocated on startup
mjr	65:739875521aae	2336	int8_t nButtons; // number of live button slots allocated
mjr	65:739875521aae	2337	int8_t zblButtonIndex = -1; // index of ZB Launch button slot; -1 if unused
mjr	18:5e890ebd0023	2338
mjr	66:2e3583fbd2f4	2339	// Shift button state
mjr	66:2e3583fbd2f4	2340	struct
mjr	66:2e3583fbd2f4	2341	{
mjr	66:2e3583fbd2f4	2342	int8_t index; // buttonState[] index of shift button; -1 if none
mjr	78:1e00b3fa11af	2343	uint8_t state; // current state, for "Key OR Shift" mode:
mjr	66:2e3583fbd2f4	2344	// 0 = not shifted
mjr	66:2e3583fbd2f4	2345	// 1 = shift button down, no key pressed yet
mjr	66:2e3583fbd2f4	2346	// 2 = shift button down, key pressed
mjr	78:1e00b3fa11af	2347	// 3 = released, sending pulsed keystroke
mjr	78:1e00b3fa11af	2348	uint32_t pulseTime; // time remaining in pulsed keystroke (state 3)
mjr	66:2e3583fbd2f4	2349	}
mjr	66:2e3583fbd2f4	2350	__attribute__((packed)) shiftButton;
mjr	38:091e511ce8a0	2351
mjr	38:091e511ce8a0	2352	// Button data
mjr	38:091e511ce8a0	2353	uint32_t jsButtons = 0;
mjr	38:091e511ce8a0	2354
mjr	38:091e511ce8a0	2355	// Keyboard report state. This tracks the USB keyboard state. We can
mjr	38:091e511ce8a0	2356	// report at most 6 simultaneous non-modifier keys here, plus the 8
mjr	38:091e511ce8a0	2357	// modifier keys.
mjr	38:091e511ce8a0	2358	struct
mjr	38:091e511ce8a0	2359	{
mjr	38:091e511ce8a0	2360	bool changed; // flag: changed since last report sent
mjr	48:058ace2aed1d	2361	uint8_t nkeys; // number of active keys in the list
mjr	38:091e511ce8a0	2362	uint8_t data[8]; // key state, in USB report format: byte 0 is the modifier key mask,
mjr	38:091e511ce8a0	2363	// byte 1 is reserved, and bytes 2-7 are the currently pressed key codes
mjr	38:091e511ce8a0	2364	} kbState = { false, 0, { 0, 0, 0, 0, 0, 0, 0, 0 } };
mjr	38:091e511ce8a0	2365
mjr	38:091e511ce8a0	2366	// Media key state
mjr	38:091e511ce8a0	2367	struct
mjr	38:091e511ce8a0	2368	{
mjr	38:091e511ce8a0	2369	bool changed; // flag: changed since last report sent
mjr	38:091e511ce8a0	2370	uint8_t data; // key state byte for USB reports
mjr	38:091e511ce8a0	2371	} mediaState = { false, 0 };
mjr	38:091e511ce8a0	2372
mjr	79:682ae3171a08	2373	// button scan interrupt timer
mjr	79:682ae3171a08	2374	Timeout scanButtonsTimeout;
mjr	38:091e511ce8a0	2375
mjr	38:091e511ce8a0	2376	// Button scan interrupt handler. We call this periodically via
mjr	38:091e511ce8a0	2377	// a timer interrupt to scan the physical button states.
mjr	38:091e511ce8a0	2378	void scanButtons()
mjr	38:091e511ce8a0	2379	{
mjr	79:682ae3171a08	2380	// schedule the next interrupt
mjr	79:682ae3171a08	2381	scanButtonsTimeout.attach_us(&scanButtons, 1000);
mjr	79:682ae3171a08	2382
mjr	38:091e511ce8a0	2383	// scan all button input pins
mjr	73:4e8ce0b18915	2384	ButtonState bs = buttonState, last = bs + nButtons;
mjr	73:4e8ce0b18915	2385	for ( ; bs < last ; ++bs)
mjr	38:091e511ce8a0	2386	{
mjr	73:4e8ce0b18915	2387	// Shift the new state into the debounce history
mjr	73:4e8ce0b18915	2388	uint8_t db = (bs->dbState << 1) \| bs->di.read();
mjr	73:4e8ce0b18915	2389	bs->dbState = db;
mjr	73:4e8ce0b18915	2390
mjr	73:4e8ce0b18915	2391	// If we have all 0's or 1's in the history for the required
mjr	73:4e8ce0b18915	2392	// debounce period, the key state is stable, so apply the new
mjr	73:4e8ce0b18915	2393	// physical state. Note that the pins are active low, so the
mjr	73:4e8ce0b18915	2394	// new button on/off state is the inverse of the GPIO state.
mjr	73:4e8ce0b18915	2395	const uint8_t stable = 0x1F; // 00011111b -> low 5 bits = last 5 readings
mjr	73:4e8ce0b18915	2396	db &= stable;
mjr	73:4e8ce0b18915	2397	if (db == 0 \|\| db == stable)
mjr	73:4e8ce0b18915	2398	bs->physState = !db;
mjr	38:091e511ce8a0	2399	}
mjr	38:091e511ce8a0	2400	}
mjr	38:091e511ce8a0	2401
mjr	38:091e511ce8a0	2402	// Button state transition timer. This is used for pulse buttons, to
mjr	38:091e511ce8a0	2403	// control the timing of the logical key presses generated by transitions
mjr	38:091e511ce8a0	2404	// in the physical button state.
mjr	38:091e511ce8a0	2405	Timer buttonTimer;
mjr	12:669df364a565	2406
mjr	65:739875521aae	2407	// Count a button during the initial setup scan
mjr	72:884207c0aab0	2408	void countButton(uint8_t typ, uint8_t shiftTyp, bool &kbKeys)
mjr	65:739875521aae	2409	{
mjr	65:739875521aae	2410	// count it
mjr	65:739875521aae	2411	++nButtons;
mjr	65:739875521aae	2412
mjr	67:c39e66c4e000	2413	// if it's a keyboard key or media key, note that we need a USB
mjr	67:c39e66c4e000	2414	// keyboard interface
mjr	72:884207c0aab0	2415	if (typ == BtnTypeKey \|\| typ == BtnTypeMedia
mjr	72:884207c0aab0	2416	\|\| shiftTyp == BtnTypeKey \|\| shiftTyp == BtnTypeMedia)
mjr	65:739875521aae	2417	kbKeys = true;
mjr	65:739875521aae	2418	}
mjr	65:739875521aae	2419
mjr	11:bd9da7088e6e	2420	// initialize the button inputs
mjr	35:e959ffba78fd	2421	void initButtons(Config &cfg, bool &kbKeys)
mjr	11:bd9da7088e6e	2422	{
mjr	66:2e3583fbd2f4	2423	// presume no shift key
mjr	66:2e3583fbd2f4	2424	shiftButton.index = -1;
mjr	82:4f6209cb5c33	2425	shiftButton.state = 0;
mjr	66:2e3583fbd2f4	2426
mjr	65:739875521aae	2427	// Count up how many button slots we'll need to allocate. Start
mjr	65:739875521aae	2428	// with assigned buttons from the configuration, noting that we
mjr	65:739875521aae	2429	// only need to create slots for buttons that are actually wired.
mjr	65:739875521aae	2430	nButtons = 0;
mjr	65:739875521aae	2431	for (int i = 0 ; i < MAX_BUTTONS ; ++i)
mjr	65:739875521aae	2432	{
mjr	65:739875521aae	2433	// it's valid if it's wired to a real input pin
mjr	65:739875521aae	2434	if (wirePinName(cfg.button[i].pin) != NC)
mjr	72:884207c0aab0	2435	countButton(cfg.button[i].typ, cfg.button[i].typ2, kbKeys);
mjr	65:739875521aae	2436	}
mjr	65:739875521aae	2437
mjr	65:739875521aae	2438	// Count virtual buttons
mjr	65:739875521aae	2439
mjr	65:739875521aae	2440	// ZB Launch
mjr	65:739875521aae	2441	if (cfg.plunger.zbLaunchBall.port != 0)
mjr	65:739875521aae	2442	{
mjr	65:739875521aae	2443	// valid - remember the live button index
mjr	65:739875521aae	2444	zblButtonIndex = nButtons;
mjr	65:739875521aae	2445
mjr	65:739875521aae	2446	// count it
mjr	72:884207c0aab0	2447	countButton(cfg.plunger.zbLaunchBall.keytype, BtnTypeNone, kbKeys);
mjr	65:739875521aae	2448	}
mjr	65:739875521aae	2449
mjr	65:739875521aae	2450	// Allocate the live button slots
mjr	65:739875521aae	2451	ButtonState *bs = buttonState = new ButtonState[nButtons];
mjr	65:739875521aae	2452
mjr	65:739875521aae	2453	// Configure the physical inputs
mjr	65:739875521aae	2454	for (int i = 0 ; i < MAX_BUTTONS ; ++i)
mjr	65:739875521aae	2455	{
mjr	65:739875521aae	2456	PinName pin = wirePinName(cfg.button[i].pin);
mjr	65:739875521aae	2457	if (pin != NC)
mjr	65:739875521aae	2458	{
mjr	65:739875521aae	2459	// point back to the config slot for the keyboard data
mjr	65:739875521aae	2460	bs->cfgIndex = i;
mjr	65:739875521aae	2461
mjr	65:739875521aae	2462	// set up the GPIO input pin for this button
mjr	73:4e8ce0b18915	2463	bs->di.assignPin(pin);
mjr	65:739875521aae	2464
mjr	65:739875521aae	2465	// if it's a pulse mode button, set the initial pulse state to Off
mjr	65:739875521aae	2466	if (cfg.button[i].flags & BtnFlagPulse)
mjr	65:739875521aae	2467	bs->pulseState = 1;
mjr	65:739875521aae	2468
mjr	66:2e3583fbd2f4	2469	// If this is the shift button, note its buttonState[] index.
mjr	66:2e3583fbd2f4	2470	// We have to figure the buttonState[] index separately from
mjr	66:2e3583fbd2f4	2471	// the config index, because the indices can differ if some
mjr	66:2e3583fbd2f4	2472	// config slots are left unused.
mjr	78:1e00b3fa11af	2473	if (cfg.shiftButton.idx == i+1)
mjr	66:2e3583fbd2f4	2474	shiftButton.index = bs - buttonState;
mjr	66:2e3583fbd2f4	2475
mjr	65:739875521aae	2476	// advance to the next button
mjr	65:739875521aae	2477	++bs;
mjr	65:739875521aae	2478	}
mjr	65:739875521aae	2479	}
mjr	65:739875521aae	2480
mjr	53:9b2611964afc	2481	// Configure the virtual buttons. These are buttons controlled via
mjr	53:9b2611964afc	2482	// software triggers rather than physical GPIO inputs. The virtual
mjr	53:9b2611964afc	2483	// buttons have the same control structures as regular buttons, but
mjr	53:9b2611964afc	2484	// they get their configuration data from other config variables.
mjr	53:9b2611964afc	2485
mjr	53:9b2611964afc	2486	// ZB Launch Ball button
mjr	65:739875521aae	2487	if (cfg.plunger.zbLaunchBall.port != 0)
mjr	11:bd9da7088e6e	2488	{
mjr	65:739875521aae	2489	// Point back to the config slot for the keyboard data.
mjr	66:2e3583fbd2f4	2490	// We use a special extra slot for virtual buttons,
mjr	66:2e3583fbd2f4	2491	// so we also need to set up the slot data by copying
mjr	66:2e3583fbd2f4	2492	// the ZBL config data to our virtual button slot.
mjr	65:739875521aae	2493	bs->cfgIndex = ZBL_BUTTON_CFG;
mjr	65:739875521aae	2494	cfg.button[ZBL_BUTTON_CFG].pin = PINNAME_TO_WIRE(NC);
mjr	65:739875521aae	2495	cfg.button[ZBL_BUTTON_CFG].typ = cfg.plunger.zbLaunchBall.keytype;
mjr	65:739875521aae	2496	cfg.button[ZBL_BUTTON_CFG].val = cfg.plunger.zbLaunchBall.keycode;
mjr	65:739875521aae	2497
mjr	66:2e3583fbd2f4	2498	// advance to the next button
mjr	65:739875521aae	2499	++bs;
mjr	11:bd9da7088e6e	2500	}
mjr	12:669df364a565	2501
mjr	38:091e511ce8a0	2502	// start the button scan thread
mjr	79:682ae3171a08	2503	scanButtonsTimeout.attach_us(scanButtons, 1000);
mjr	38:091e511ce8a0	2504
mjr	38:091e511ce8a0	2505	// start the button state transition timer
mjr	12:669df364a565	2506	buttonTimer.start();
mjr	11:bd9da7088e6e	2507	}
mjr	11:bd9da7088e6e	2508
mjr	67:c39e66c4e000	2509	// Media key mapping. This maps from an 8-bit USB media key
mjr	67:c39e66c4e000	2510	// code to the corresponding bit in our USB report descriptor.
mjr	67:c39e66c4e000	2511	// The USB key code is the index, and the value at the index
mjr	67:c39e66c4e000	2512	// is the report descriptor bit. See joystick.cpp for the
mjr	67:c39e66c4e000	2513	// media descriptor details. Our currently mapped keys are:
mjr	67:c39e66c4e000	2514	//
mjr	67:c39e66c4e000	2515	// 0xE2 -> Mute -> 0x01
mjr	67:c39e66c4e000	2516	// 0xE9 -> Volume Up -> 0x02
mjr	67:c39e66c4e000	2517	// 0xEA -> Volume Down -> 0x04
mjr	67:c39e66c4e000	2518	// 0xB5 -> Next Track -> 0x08
mjr	67:c39e66c4e000	2519	// 0xB6 -> Previous Track -> 0x10
mjr	67:c39e66c4e000	2520	// 0xB7 -> Stop -> 0x20
mjr	67:c39e66c4e000	2521	// 0xCD -> Play / Pause -> 0x40
mjr	67:c39e66c4e000	2522	//
mjr	67:c39e66c4e000	2523	static const uint8_t mediaKeyMap[] = {
mjr	67:c39e66c4e000	2524	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 00-0F
mjr	67:c39e66c4e000	2525	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 10-1F
mjr	67:c39e66c4e000	2526	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 20-2F
mjr	67:c39e66c4e000	2527	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 30-3F
mjr	67:c39e66c4e000	2528	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 40-4F
mjr	67:c39e66c4e000	2529	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 50-5F
mjr	67:c39e66c4e000	2530	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 60-6F
mjr	67:c39e66c4e000	2531	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 70-7F
mjr	67:c39e66c4e000	2532	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 80-8F
mjr	67:c39e66c4e000	2533	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 90-9F
mjr	67:c39e66c4e000	2534	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // A0-AF
mjr	67:c39e66c4e000	2535	0, 0, 0, 0, 0, 8, 16, 32, 0, 0, 0, 0, 0, 0, 0, 0, // B0-BF
mjr	67:c39e66c4e000	2536	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 64, 0, 0, // C0-CF
mjr	67:c39e66c4e000	2537	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // D0-DF
mjr	67:c39e66c4e000	2538	0, 0, 1, 0, 0, 0, 0, 0, 0, 2, 4, 0, 0, 0, 0, 0, // E0-EF
mjr	67:c39e66c4e000	2539	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 // F0-FF
mjr	77:0b96f6867312	2540	};
mjr	77:0b96f6867312	2541
mjr	77:0b96f6867312	2542	// Keyboard key/joystick button state. processButtons() uses this to
mjr	77:0b96f6867312	2543	// build the set of key presses to report to the PC based on the logical
mjr	77:0b96f6867312	2544	// states of the button iputs.
mjr	77:0b96f6867312	2545	struct KeyState
mjr	77:0b96f6867312	2546	{
mjr	77:0b96f6867312	2547	KeyState()
mjr	77:0b96f6867312	2548	{
mjr	77:0b96f6867312	2549	// zero all members
mjr	77:0b96f6867312	2550	memset(this, 0, sizeof(*this));
mjr	77:0b96f6867312	2551	}
mjr	77:0b96f6867312	2552
mjr	77:0b96f6867312	2553	// Keyboard media keys currently pressed. This is a bit vector in
mjr	77:0b96f6867312	2554	// the format used in our USB keyboard reports (see USBJoystick.cpp).
mjr	77:0b96f6867312	2555	uint8_t mediakeys;
mjr	77:0b96f6867312	2556
mjr	77:0b96f6867312	2557	// Keyboard modifier (shift) keys currently pressed. This is a bit
mjr	77:0b96f6867312	2558	// vector in the format used in our USB keyboard reports (see
mjr	77:0b96f6867312	2559	// USBJoystick.cpp).
mjr	77:0b96f6867312	2560	uint8_t modkeys;
mjr	77:0b96f6867312	2561
mjr	77:0b96f6867312	2562	// Regular keyboard keys currently pressed. Each element is a USB
mjr	77:0b96f6867312	2563	// key code, or 0 for empty slots. Note that the USB report format
mjr	77:0b96f6867312	2564	// theoretically allows a flexible size limit, but the Windows KB
mjr	77:0b96f6867312	2565	// drivers have a fixed limit of 6 simultaneous keys (and won't
mjr	77:0b96f6867312	2566	// accept reports with more), so there's no point in making this
mjr	77:0b96f6867312	2567	// flexible; we'll just use the fixed size dictated by Windows.
mjr	77:0b96f6867312	2568	uint8_t keys[7];
mjr	77:0b96f6867312	2569
mjr	77:0b96f6867312	2570	// number of valid entries in keys[] array
mjr	77:0b96f6867312	2571	int nkeys;
mjr	77:0b96f6867312	2572
mjr	77:0b96f6867312	2573	// Joystick buttons pressed, as a bit vector. Bit n (1 << n)
mjr	77:0b96f6867312	2574	// represents joystick button n, n in 0..31, with 0 meaning
mjr	77:0b96f6867312	2575	// unpressed and 1 meaning pressed.
mjr	77:0b96f6867312	2576	uint32_t js;
mjr	77:0b96f6867312	2577
mjr	77:0b96f6867312	2578
mjr	77:0b96f6867312	2579	// Add a key press. 'typ' is the button type code (ButtonTypeXxx),
mjr	77:0b96f6867312	2580	// and 'val' is the value (the meaning of which varies by type code).
mjr	77:0b96f6867312	2581	void addKey(uint8_t typ, uint8_t val)
mjr	77:0b96f6867312	2582	{
mjr	77:0b96f6867312	2583	// add the key according to the type
mjr	77:0b96f6867312	2584	switch (typ)
mjr	77:0b96f6867312	2585	{
mjr	77:0b96f6867312	2586	case BtnTypeJoystick:
mjr	77:0b96f6867312	2587	// joystick button
mjr	77:0b96f6867312	2588	js \|= (1 << (val - 1));
mjr	77:0b96f6867312	2589	break;
mjr	77:0b96f6867312	2590
mjr	77:0b96f6867312	2591	case BtnTypeKey:
mjr	77:0b96f6867312	2592	// Keyboard key. The USB keyboard report encodes regular
mjr	77:0b96f6867312	2593	// keys and modifier keys separately, so we need to check
mjr	77:0b96f6867312	2594	// which type we have. Note that past versions mapped the
mjr	77:0b96f6867312	2595	// Keyboard Volume Up, Keyboard Volume Down, and Keyboard
mjr	77:0b96f6867312	2596	// Mute keys to the corresponding Media keys. We no longer
mjr	77:0b96f6867312	2597	// do this; instead, we have the separate BtnTypeMedia for
mjr	77:0b96f6867312	2598	// explicitly using media keys if desired.
mjr	77:0b96f6867312	2599	if (val >= 0xE0 && val <= 0xE7)
mjr	77:0b96f6867312	2600	{
mjr	77:0b96f6867312	2601	// It's a modifier key. These are represented in the USB
mjr	77:0b96f6867312	2602	// reports with a bit mask. We arrange the mask bits in
mjr	77:0b96f6867312	2603	// the same order as the scan codes, so we can figure the
mjr	77:0b96f6867312	2604	// appropriate bit with a simple shift.
mjr	77:0b96f6867312	2605	modkeys \|= (1 << (val - 0xE0));
mjr	77:0b96f6867312	2606	}
mjr	77:0b96f6867312	2607	else
mjr	77:0b96f6867312	2608	{
mjr	77:0b96f6867312	2609	// It's a regular key. Make sure it's not already in the
mjr	77:0b96f6867312	2610	// list, and that the list isn't full. If neither of these
mjr	77:0b96f6867312	2611	// apply, add the key to the key array.
mjr	77:0b96f6867312	2612	if (nkeys < 7)
mjr	77:0b96f6867312	2613	{
mjr	77:0b96f6867312	2614	bool found = false;
mjr	77:0b96f6867312	2615	for (int i = 0 ; i < nkeys ; ++i)
mjr	77:0b96f6867312	2616	{
mjr	77:0b96f6867312	2617	if (keys[i] == val)
mjr	77:0b96f6867312	2618	{
mjr	77:0b96f6867312	2619	found = true;
mjr	77:0b96f6867312	2620	break;
mjr	77:0b96f6867312	2621	}
mjr	77:0b96f6867312	2622	}
mjr	77:0b96f6867312	2623	if (!found)
mjr	77:0b96f6867312	2624	keys[nkeys++] = val;
mjr	77:0b96f6867312	2625	}
mjr	77:0b96f6867312	2626	}
mjr	77:0b96f6867312	2627	break;
mjr	77:0b96f6867312	2628
mjr	77:0b96f6867312	2629	case BtnTypeMedia:
mjr	77:0b96f6867312	2630	// Media control key. The media keys are mapped in the USB
mjr	77:0b96f6867312	2631	// report to bits, whereas the key codes are specified in the
mjr	77:0b96f6867312	2632	// config with their USB usage numbers. E.g., the config val
mjr	77:0b96f6867312	2633	// for Media Next Track is 0xB5, but we encode this in the USB
mjr	77:0b96f6867312	2634	// report as bit 0x08. The mediaKeyMap[] table translates
mjr	77:0b96f6867312	2635	// from the USB usage number to the mask bit. If the key isn't
mjr	77:0b96f6867312	2636	// among the subset we support, the mapped bit will be zero, so
mjr	77:0b96f6867312	2637	// the "\|=" will have no effect and the key will be ignored.
mjr	77:0b96f6867312	2638	mediakeys \|= mediaKeyMap[val];
mjr	77:0b96f6867312	2639	break;
mjr	77:0b96f6867312	2640	}
mjr	77:0b96f6867312	2641	}
mjr	77:0b96f6867312	2642	};
mjr	67:c39e66c4e000	2643
mjr	67:c39e66c4e000	2644
mjr	38:091e511ce8a0	2645	// Process the button state. This sets up the joystick, keyboard, and
mjr	38:091e511ce8a0	2646	// media control descriptors with the current state of keys mapped to
mjr	38:091e511ce8a0	2647	// those HID interfaces, and executes the local effects for any keys
mjr	38:091e511ce8a0	2648	// mapped to special device functions (e.g., Night Mode).
mjr	53:9b2611964afc	2649	void processButtons(Config &cfg)
mjr	35:e959ffba78fd	2650	{
mjr	77:0b96f6867312	2651	// key state
mjr	77:0b96f6867312	2652	KeyState ks;
mjr	38:091e511ce8a0	2653
mjr	38:091e511ce8a0	2654	// calculate the time since the last run
mjr	53:9b2611964afc	2655	uint32_t dt = buttonTimer.read_us();
mjr	18:5e890ebd0023	2656	buttonTimer.reset();
mjr	66:2e3583fbd2f4	2657
mjr	66:2e3583fbd2f4	2658	// check the shift button state
mjr	66:2e3583fbd2f4	2659	if (shiftButton.index != -1)
mjr	66:2e3583fbd2f4	2660	{
mjr	78:1e00b3fa11af	2661	// get the shift button's physical state object
mjr	66:2e3583fbd2f4	2662	ButtonState *sbs = &buttonState[shiftButton.index];
mjr	78:1e00b3fa11af	2663
mjr	78:1e00b3fa11af	2664	// figure what to do based on the shift button mode in the config
mjr	78:1e00b3fa11af	2665	switch (cfg.shiftButton.mode)
mjr	66:2e3583fbd2f4	2666	{
mjr	66:2e3583fbd2f4	2667	case 0:
mjr	78:1e00b3fa11af	2668	default:
mjr	78:1e00b3fa11af	2669	// "Shift OR Key" mode. The shift button doesn't send its key
mjr	78:1e00b3fa11af	2670	// immediately when pressed. Instead, we wait to see what
mjr	78:1e00b3fa11af	2671	// happens while it's down. Check the current cycle state.
mjr	78:1e00b3fa11af	2672	switch (shiftButton.state)
mjr	78:1e00b3fa11af	2673	{
mjr	78:1e00b3fa11af	2674	case 0:
mjr	78:1e00b3fa11af	2675	// Not shifted. Check if the button is now down: if so,
mjr	78:1e00b3fa11af	2676	// switch to state 1 (shift button down, no key pressed yet).
mjr	78:1e00b3fa11af	2677	if (sbs->physState)
mjr	78:1e00b3fa11af	2678	shiftButton.state = 1;
mjr	78:1e00b3fa11af	2679	break;
mjr	78:1e00b3fa11af	2680
mjr	78:1e00b3fa11af	2681	case 1:
mjr	78:1e00b3fa11af	2682	// Shift button down, no key pressed yet. If the button is
mjr	78:1e00b3fa11af	2683	// now up, it counts as an ordinary button press instead of
mjr	78:1e00b3fa11af	2684	// a shift button press, since the shift function was never
mjr	78:1e00b3fa11af	2685	// used. Return to unshifted state and start a timed key
mjr	78:1e00b3fa11af	2686	// pulse event.
mjr	78:1e00b3fa11af	2687	if (!sbs->physState)
mjr	78:1e00b3fa11af	2688	{
mjr	78:1e00b3fa11af	2689	shiftButton.state = 3;
mjr	78:1e00b3fa11af	2690	shiftButton.pulseTime = 50000+dt; // 50 ms left on the key pulse
mjr	78:1e00b3fa11af	2691	}
mjr	78:1e00b3fa11af	2692	break;
mjr	78:1e00b3fa11af	2693
mjr	78:1e00b3fa11af	2694	case 2:
mjr	78:1e00b3fa11af	2695	// Shift button down, other key was pressed. If the button is
mjr	78:1e00b3fa11af	2696	// now up, simply clear the shift state without sending a key
mjr	78:1e00b3fa11af	2697	// press for the shift button itself to the PC. The shift
mjr	78:1e00b3fa11af	2698	// function was used, so its ordinary key press function is
mjr	78:1e00b3fa11af	2699	// suppressed.
mjr	78:1e00b3fa11af	2700	if (!sbs->physState)
mjr	78:1e00b3fa11af	2701	shiftButton.state = 0;
mjr	78:1e00b3fa11af	2702	break;
mjr	78:1e00b3fa11af	2703
mjr	78:1e00b3fa11af	2704	case 3:
mjr	78:1e00b3fa11af	2705	// Sending pulsed keystroke. Deduct the current time interval
mjr	78:1e00b3fa11af	2706	// from the remaining pulse timer. End the pulse if the time
mjr	78:1e00b3fa11af	2707	// has expired.
mjr	78:1e00b3fa11af	2708	if (shiftButton.pulseTime > dt)
mjr	78:1e00b3fa11af	2709	shiftButton.pulseTime -= dt;
mjr	78:1e00b3fa11af	2710	else
mjr	78:1e00b3fa11af	2711	shiftButton.state = 0;
mjr	78:1e00b3fa11af	2712	break;
mjr	78:1e00b3fa11af	2713	}
mjr	66:2e3583fbd2f4	2714	break;
mjr	66:2e3583fbd2f4	2715
mjr	66:2e3583fbd2f4	2716	case 1:
mjr	78:1e00b3fa11af	2717	// "Shift AND Key" mode. In this mode, the shift button acts
mjr	78:1e00b3fa11af	2718	// like any other button and sends its mapped key immediately.
mjr	78:1e00b3fa11af	2719	// The state cycle in this case simply matches the physical
mjr	78:1e00b3fa11af	2720	// state: ON -> cycle state 1, OFF -> cycle state 0.
mjr	78:1e00b3fa11af	2721	shiftButton.state = (sbs->physState ? 1 : 0);
mjr	66:2e3583fbd2f4	2722	break;
mjr	66:2e3583fbd2f4	2723	}
mjr	66:2e3583fbd2f4	2724	}
mjr	38:091e511ce8a0	2725
mjr	11:bd9da7088e6e	2726	// scan the button list
mjr	18:5e890ebd0023	2727	ButtonState *bs = buttonState;
mjr	65:739875521aae	2728	for (int i = 0 ; i < nButtons ; ++i, ++bs)
mjr	11:bd9da7088e6e	2729	{
mjr	77:0b96f6867312	2730	// get the config entry for the button
mjr	77:0b96f6867312	2731	ButtonCfg *bc = &cfg.button[bs->cfgIndex];
mjr	77:0b96f6867312	2732
mjr	66:2e3583fbd2f4	2733	// Check the button type:
mjr	66:2e3583fbd2f4	2734	// - shift button
mjr	66:2e3583fbd2f4	2735	// - pulsed button
mjr	66:2e3583fbd2f4	2736	// - regular button
mjr	66:2e3583fbd2f4	2737	if (shiftButton.index == i)
mjr	66:2e3583fbd2f4	2738	{
mjr	78:1e00b3fa11af	2739	// This is the shift button. The logical state handling
mjr	78:1e00b3fa11af	2740	// depends on the mode.
mjr	78:1e00b3fa11af	2741	switch (cfg.shiftButton.mode)
mjr	66:2e3583fbd2f4	2742	{
mjr	78:1e00b3fa11af	2743	case 0:
mjr	78:1e00b3fa11af	2744	default:
mjr	78:1e00b3fa11af	2745	// "Shift OR Key" mode. The logical state is ON only
mjr	78:1e00b3fa11af	2746	// during the timed pulse when the key is released, which
mjr	78:1e00b3fa11af	2747	// is signified by shift button state 3.
mjr	78:1e00b3fa11af	2748	bs->logState = (shiftButton.state == 3);
mjr	78:1e00b3fa11af	2749	break;
mjr	78:1e00b3fa11af	2750
mjr	78:1e00b3fa11af	2751	case 1:
mjr	78:1e00b3fa11af	2752	// "Shif AND Key" mode. The shift button acts like any
mjr	78:1e00b3fa11af	2753	// other button, so it's logically on when physically on.
mjr	78:1e00b3fa11af	2754	bs->logState = bs->physState;
mjr	78:1e00b3fa11af	2755	break;
mjr	66:2e3583fbd2f4	2756	}
mjr	66:2e3583fbd2f4	2757	}
mjr	66:2e3583fbd2f4	2758	else if (bs->pulseState != 0)
mjr	18:5e890ebd0023	2759	{
mjr	38:091e511ce8a0	2760	// if the timer has expired, check for state changes
mjr	53:9b2611964afc	2761	if (bs->pulseTime > dt)
mjr	18:5e890ebd0023	2762	{
mjr	53:9b2611964afc	2763	// not expired yet - deduct the last interval
mjr	53:9b2611964afc	2764	bs->pulseTime -= dt;
mjr	53:9b2611964afc	2765	}
mjr	53:9b2611964afc	2766	else
mjr	53:9b2611964afc	2767	{
mjr	53:9b2611964afc	2768	// pulse time expired - check for a state change
mjr	53:9b2611964afc	2769	const uint32_t pulseLength = 200000UL; // 200 milliseconds
mjr	38:091e511ce8a0	2770	switch (bs->pulseState)
mjr	18:5e890ebd0023	2771	{
mjr	38:091e511ce8a0	2772	case 1:
mjr	38:091e511ce8a0	2773	// off - if the physical switch is now on, start a button pulse
mjr	53:9b2611964afc	2774	if (bs->physState)
mjr	53:9b2611964afc	2775	{
mjr	38:091e511ce8a0	2776	bs->pulseTime = pulseLength;
mjr	38:091e511ce8a0	2777	bs->pulseState = 2;
mjr	53:9b2611964afc	2778	bs->logState = 1;
mjr	38:091e511ce8a0	2779	}
mjr	38:091e511ce8a0	2780	break;
mjr	18:5e890ebd0023	2781
mjr	38:091e511ce8a0	2782	case 2:
mjr	38:091e511ce8a0	2783	// transitioning off to on - end the pulse, and start a gap
mjr	38:091e511ce8a0	2784	// equal to the pulse time so that the host can observe the
mjr	38:091e511ce8a0	2785	// change in state in the logical button
mjr	38:091e511ce8a0	2786	bs->pulseState = 3;
mjr	38:091e511ce8a0	2787	bs->pulseTime = pulseLength;
mjr	53:9b2611964afc	2788	bs->logState = 0;
mjr	38:091e511ce8a0	2789	break;
mjr	38:091e511ce8a0	2790
mjr	38:091e511ce8a0	2791	case 3:
mjr	38:091e511ce8a0	2792	// on - if the physical switch is now off, start a button pulse
mjr	53:9b2611964afc	2793	if (!bs->physState)
mjr	53:9b2611964afc	2794	{
mjr	38:091e511ce8a0	2795	bs->pulseTime = pulseLength;
mjr	38:091e511ce8a0	2796	bs->pulseState = 4;
mjr	53:9b2611964afc	2797	bs->logState = 1;
mjr	38:091e511ce8a0	2798	}
mjr	38:091e511ce8a0	2799	break;
mjr	38:091e511ce8a0	2800
mjr	38:091e511ce8a0	2801	case 4:
mjr	38:091e511ce8a0	2802	// transitioning on to off - end the pulse, and start a gap
mjr	38:091e511ce8a0	2803	bs->pulseState = 1;
mjr	38:091e511ce8a0	2804	bs->pulseTime = pulseLength;
mjr	53:9b2611964afc	2805	bs->logState = 0;
mjr	38:091e511ce8a0	2806	break;
mjr	18:5e890ebd0023	2807	}
mjr	18:5e890ebd0023	2808	}
mjr	38:091e511ce8a0	2809	}
mjr	38:091e511ce8a0	2810	else
mjr	38:091e511ce8a0	2811	{
mjr	38:091e511ce8a0	2812	// not a pulse switch - the logical state is the same as the physical state
mjr	53:9b2611964afc	2813	bs->logState = bs->physState;
mjr	38:091e511ce8a0	2814	}
mjr	77:0b96f6867312	2815
mjr	77:0b96f6867312	2816	// Determine if we're going to use the shifted version of the
mjr	78:1e00b3fa11af	2817	// button. We're using the shifted version if...
mjr	78:1e00b3fa11af	2818	//
mjr	78:1e00b3fa11af	2819	// - the shift button is down, AND
mjr	78:1e00b3fa11af	2820	// - this button isn't itself the shift button, AND
mjr	78:1e00b3fa11af	2821	// - this button has some kind of shifted meaning
mjr	77:0b96f6867312	2822	//
mjr	78:1e00b3fa11af	2823	// A "shifted meaning" means that we have any of the following
mjr	78:1e00b3fa11af	2824	// assigned to the shifted version of the button: a key assignment,
mjr	78:1e00b3fa11af	2825	// (in typ2,key2), an IR command (in IRCommand2), or Night mode.
mjr	78:1e00b3fa11af	2826	//
mjr	78:1e00b3fa11af	2827	// The test for Night Mode is a bit tricky. The shifted version of
mjr	78:1e00b3fa11af	2828	// the button is the Night Mode toggle if the button matches the
mjr	78:1e00b3fa11af	2829	// Night Mode button index, AND its flags are set with "toggle mode
mjr	78:1e00b3fa11af	2830	// ON" (bit 0x02 is on) and "switch mode OFF" (bit 0x01 is off).
mjr	78:1e00b3fa11af	2831	// So (button flags) & 0x03 must equal 0x02.
mjr	77:0b96f6867312	2832	bool useShift =
mjr	77:0b96f6867312	2833	(shiftButton.state != 0
mjr	78:1e00b3fa11af	2834	&& shiftButton.index != i
mjr	77:0b96f6867312	2835	&& (bc->typ2 != BtnTypeNone
mjr	77:0b96f6867312	2836	\|\| bc->IRCommand2 != 0
mjr	77:0b96f6867312	2837	\|\| (cfg.nightMode.btn == i+1 && (cfg.nightMode.flags & 0x03) == 0x02)));
mjr	77:0b96f6867312	2838
mjr	77:0b96f6867312	2839	// If we're using the shift function, and no other button has used
mjr	77:0b96f6867312	2840	// the shift function yet (shift state 1: "shift button is down but
mjr	77:0b96f6867312	2841	// no one has used the shift function yet"), then we've "consumed"
mjr	77:0b96f6867312	2842	// the shift button press (so go to shift state 2: "shift button has
mjr	77:0b96f6867312	2843	// been used by some other button press that has a shifted meaning").
mjr	78:1e00b3fa11af	2844	if (useShift && shiftButton.state == 1 && bs->logState)
mjr	77:0b96f6867312	2845	shiftButton.state = 2;
mjr	35:e959ffba78fd	2846
mjr	38:091e511ce8a0	2847	// carry out any edge effects from buttons changing states
mjr	53:9b2611964afc	2848	if (bs->logState != bs->prevLogState)
mjr	38:091e511ce8a0	2849	{
mjr	77:0b96f6867312	2850	// check to see if this is the Night Mode button
mjr	53:9b2611964afc	2851	if (cfg.nightMode.btn == i + 1)
mjr	35:e959ffba78fd	2852	{
mjr	77:0b96f6867312	2853	// Check the switch type in the config flags. If flag 0x01 is
mjr	77:0b96f6867312	2854	// set, it's a persistent on/off switch, so the night mode
mjr	77:0b96f6867312	2855	// state simply tracks the current state of the switch.
mjr	77:0b96f6867312	2856	// Otherwise, it's a momentary button, so each button push
mjr	77:0b96f6867312	2857	// (i.e., each transition from logical state OFF to ON) toggles
mjr	77:0b96f6867312	2858	// the night mode state.
mjr	77:0b96f6867312	2859	//
mjr	77:0b96f6867312	2860	// Note that the "shift" flag (0x02) has no effect in switch
mjr	77:0b96f6867312	2861	// mode. Shifting only works for toggle mode.
mjr	82:4f6209cb5c33	2862	if ((cfg.nightMode.flags & 0x01) != 0)
mjr	53:9b2611964afc	2863	{
mjr	77:0b96f6867312	2864	// It's an on/off switch. Night mode simply tracks the
mjr	77:0b96f6867312	2865	// current switch state.
mjr	53:9b2611964afc	2866	setNightMode(bs->logState);
mjr	53:9b2611964afc	2867	}
mjr	82:4f6209cb5c33	2868	else if (bs->logState)
mjr	53:9b2611964afc	2869	{
mjr	77:0b96f6867312	2870	// It's a momentary toggle switch. Toggle the night mode
mjr	77:0b96f6867312	2871	// state on each distinct press of the button: that is,
mjr	77:0b96f6867312	2872	// whenever the button's logical state transitions from
mjr	77:0b96f6867312	2873	// OFF to ON.
mjr	66:2e3583fbd2f4	2874	//
mjr	77:0b96f6867312	2875	// The "shift" flag (0x02) tells us whether night mode is
mjr	77:0b96f6867312	2876	// assigned to the shifted or unshifted version of the
mjr	77:0b96f6867312	2877	// button.
mjr	77:0b96f6867312	2878	bool pressed;
mjr	66:2e3583fbd2f4	2879	if ((cfg.nightMode.flags & 0x02) != 0)
mjr	66:2e3583fbd2f4	2880	{
mjr	77:0b96f6867312	2881	// Shift bit is set - night mode is assigned to the
mjr	77:0b96f6867312	2882	// shifted version of the button. This is a Night
mjr	77:0b96f6867312	2883	// Mode toggle only if the Shift button is pressed.
mjr	77:0b96f6867312	2884	pressed = (shiftButton.state != 0);
mjr	77:0b96f6867312	2885	}
mjr	77:0b96f6867312	2886	else
mjr	77:0b96f6867312	2887	{
mjr	77:0b96f6867312	2888	// No shift bit - night mode is assigned to the
mjr	77:0b96f6867312	2889	// regular unshifted button. The button press only
mjr	77:0b96f6867312	2890	// applies if the Shift button is NOT pressed.
mjr	77:0b96f6867312	2891	pressed = (shiftButton.state == 0);
mjr	66:2e3583fbd2f4	2892	}
mjr	66:2e3583fbd2f4	2893
mjr	66:2e3583fbd2f4	2894	// if it's pressed (even after considering the shift mode),
mjr	66:2e3583fbd2f4	2895	// toggle night mode
mjr	66:2e3583fbd2f4	2896	if (pressed)
mjr	53:9b2611964afc	2897	toggleNightMode();
mjr	53:9b2611964afc	2898	}
mjr	35:e959ffba78fd	2899	}
mjr	38:091e511ce8a0	2900
mjr	77:0b96f6867312	2901	// press or release IR virtual keys on key state changes
mjr	77:0b96f6867312	2902	uint8_t irc = useShift ? bc->IRCommand2 : bc->IRCommand;
mjr	77:0b96f6867312	2903	if (irc != 0)
mjr	77:0b96f6867312	2904	IR_buttonChange(irc, bs->logState);
mjr	77:0b96f6867312	2905
mjr	38:091e511ce8a0	2906	// remember the new state for comparison on the next run
mjr	53:9b2611964afc	2907	bs->prevLogState = bs->logState;
mjr	38:091e511ce8a0	2908	}
mjr	38:091e511ce8a0	2909
mjr	53:9b2611964afc	2910	// if it's pressed, physically or virtually, add it to the appropriate
mjr	53:9b2611964afc	2911	// key state list
mjr	53:9b2611964afc	2912	if (bs->logState \|\| bs->virtState)
mjr	38:091e511ce8a0	2913	{
mjr	70:9f58735a1732	2914	// Get the key type and code. Start by assuming that we're
mjr	70:9f58735a1732	2915	// going to use the normal unshifted meaning.
mjr	77:0b96f6867312	2916	uint8_t typ, val;
mjr	77:0b96f6867312	2917	if (useShift)
mjr	66:2e3583fbd2f4	2918	{
mjr	77:0b96f6867312	2919	typ = bc->typ2;
mjr	77:0b96f6867312	2920	val = bc->val2;
mjr	66:2e3583fbd2f4	2921	}
mjr	77:0b96f6867312	2922	else
mjr	77:0b96f6867312	2923	{
mjr	77:0b96f6867312	2924	typ = bc->typ;
mjr	77:0b96f6867312	2925	val = bc->val;
mjr	77:0b96f6867312	2926	}
mjr	77:0b96f6867312	2927
mjr	70:9f58735a1732	2928	// We've decided on the meaning of the button, so process
mjr	70:9f58735a1732	2929	// the keyboard or joystick event.
mjr	77:0b96f6867312	2930	ks.addKey(typ, val);
mjr	18:5e890ebd0023	2931	}
mjr	11:bd9da7088e6e	2932	}
mjr	77:0b96f6867312	2933
mjr	77:0b96f6867312	2934	// If an IR input command is in effect, add the IR command's
mjr	77:0b96f6867312	2935	// assigned key, if any. If we're in an IR key gap, don't include
mjr	77:0b96f6867312	2936	// the IR key.
mjr	77:0b96f6867312	2937	if (IRCommandIn != 0 && !IRKeyGap)
mjr	77:0b96f6867312	2938	{
mjr	77:0b96f6867312	2939	IRCommandCfg &irc = cfg.IRCommand[IRCommandIn - 1];
mjr	77:0b96f6867312	2940	ks.addKey(irc.keytype, irc.keycode);
mjr	77:0b96f6867312	2941	}
mjr	77:0b96f6867312	2942
mjr	77:0b96f6867312	2943	// We're finished building the new key state. Update the global
mjr	77:0b96f6867312	2944	// key state variables to reflect the new state.
mjr	77:0b96f6867312	2945
mjr	77:0b96f6867312	2946	// set the new joystick buttons (no need to check for changes, as we
mjr	77:0b96f6867312	2947	// report these on every joystick report whether they changed or not)
mjr	77:0b96f6867312	2948	jsButtons = ks.js;
mjr	77:0b96f6867312	2949
mjr	77:0b96f6867312	2950	// check for keyboard key changes (we only send keyboard reports when
mjr	77:0b96f6867312	2951	// something changes)
mjr	77:0b96f6867312	2952	if (kbState.data[0] != ks.modkeys
mjr	77:0b96f6867312	2953	\|\| kbState.nkeys != ks.nkeys
mjr	77:0b96f6867312	2954	\|\| memcmp(ks.keys, &kbState.data[2], 6) != 0)
mjr	35:e959ffba78fd	2955	{
mjr	35:e959ffba78fd	2956	// we have changes - set the change flag and store the new key data
mjr	35:e959ffba78fd	2957	kbState.changed = true;
mjr	77:0b96f6867312	2958	kbState.data[0] = ks.modkeys;
mjr	77:0b96f6867312	2959	if (ks.nkeys <= 6) {
mjr	35:e959ffba78fd	2960	// 6 or fewer simultaneous keys - report the key codes
mjr	77:0b96f6867312	2961	kbState.nkeys = ks.nkeys;
mjr	77:0b96f6867312	2962	memcpy(&kbState.data[2], ks.keys, 6);
mjr	35:e959ffba78fd	2963	}
mjr	35:e959ffba78fd	2964	else {
mjr	35:e959ffba78fd	2965	// more than 6 simultaneous keys - report rollover (all '1' key codes)
mjr	35:e959ffba78fd	2966	kbState.nkeys = 6;
mjr	35:e959ffba78fd	2967	memset(&kbState.data[2], 1, 6);
mjr	35:e959ffba78fd	2968	}
mjr	35:e959ffba78fd	2969	}
mjr	35:e959ffba78fd	2970
mjr	77:0b96f6867312	2971	// check for media key changes (we only send media key reports when
mjr	77:0b96f6867312	2972	// something changes)
mjr	77:0b96f6867312	2973	if (mediaState.data != ks.mediakeys)
mjr	35:e959ffba78fd	2974	{
mjr	77:0b96f6867312	2975	// we have changes - set the change flag and store the new key data
mjr	35:e959ffba78fd	2976	mediaState.changed = true;
mjr	77:0b96f6867312	2977	mediaState.data = ks.mediakeys;
mjr	35:e959ffba78fd	2978	}
mjr	11:bd9da7088e6e	2979	}
mjr	11:bd9da7088e6e	2980
mjr	73:4e8ce0b18915	2981	// Send a button status report
mjr	73:4e8ce0b18915	2982	void reportButtonStatus(USBJoystick &js)
mjr	73:4e8ce0b18915	2983	{
mjr	73:4e8ce0b18915	2984	// start with all buttons off
mjr	73:4e8ce0b18915	2985	uint8_t state[(MAX_BUTTONS+7)/8];
mjr	73:4e8ce0b18915	2986	memset(state, 0, sizeof(state));
mjr	73:4e8ce0b18915	2987
mjr	73:4e8ce0b18915	2988	// pack the button states into bytes, one bit per button
mjr	73:4e8ce0b18915	2989	ButtonState *bs = buttonState;
mjr	73:4e8ce0b18915	2990	for (int i = 0 ; i < nButtons ; ++i, ++bs)
mjr	73:4e8ce0b18915	2991	{
mjr	73:4e8ce0b18915	2992	// get the physical state
mjr	73:4e8ce0b18915	2993	int b = bs->physState;
mjr	73:4e8ce0b18915	2994
mjr	73:4e8ce0b18915	2995	// pack it into the appropriate bit
mjr	73:4e8ce0b18915	2996	int idx = bs->cfgIndex;
mjr	73:4e8ce0b18915	2997	int si = idx / 8;
mjr	73:4e8ce0b18915	2998	int shift = idx & 0x07;
mjr	73:4e8ce0b18915	2999	state[si] \|= b << shift;
mjr	73:4e8ce0b18915	3000	}
mjr	73:4e8ce0b18915	3001
mjr	73:4e8ce0b18915	3002	// send the report
mjr	73:4e8ce0b18915	3003	js.reportButtonStatus(MAX_BUTTONS, state);
mjr	73:4e8ce0b18915	3004	}
mjr	73:4e8ce0b18915	3005
mjr	5:a70c0bce770d	3006	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	3007	//
mjr	5:a70c0bce770d	3008	// Customization joystick subbclass
mjr	5:a70c0bce770d	3009	//
mjr	5:a70c0bce770d	3010
mjr	5:a70c0bce770d	3011	class MyUSBJoystick: public USBJoystick
mjr	5:a70c0bce770d	3012	{
mjr	5:a70c0bce770d	3013	public:
mjr	35:e959ffba78fd	3014	MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release,
mjr	35:e959ffba78fd	3015	bool waitForConnect, bool enableJoystick, bool useKB)
mjr	35:e959ffba78fd	3016	: USBJoystick(vendor_id, product_id, product_release, waitForConnect, enableJoystick, useKB)
mjr	5:a70c0bce770d	3017	{
mjr	54:fd77a6b2f76c	3018	sleeping_ = false;
mjr	54:fd77a6b2f76c	3019	reconnectPending_ = false;
mjr	54:fd77a6b2f76c	3020	timer_.start();
mjr	54:fd77a6b2f76c	3021	}
mjr	54:fd77a6b2f76c	3022
mjr	54:fd77a6b2f76c	3023	// show diagnostic LED feedback for connect state
mjr	54:fd77a6b2f76c	3024	void diagFlash()
mjr	54:fd77a6b2f76c	3025	{
mjr	54:fd77a6b2f76c	3026	if (!configured() \|\| sleeping_)
mjr	54:fd77a6b2f76c	3027	{
mjr	54:fd77a6b2f76c	3028	// flash once if sleeping or twice if disconnected
mjr	54:fd77a6b2f76c	3029	for (int j = isConnected() ? 1 : 2 ; j > 0 ; --j)
mjr	54:fd77a6b2f76c	3030	{
mjr	54:fd77a6b2f76c	3031	// short red flash
mjr	54:fd77a6b2f76c	3032	diagLED(1, 0, 0);
mjr	54:fd77a6b2f76c	3033	wait_us(50000);
mjr	54:fd77a6b2f76c	3034	diagLED(0, 0, 0);
mjr	54:fd77a6b2f76c	3035	wait_us(50000);
mjr	54:fd77a6b2f76c	3036	}
mjr	54:fd77a6b2f76c	3037	}
mjr	5:a70c0bce770d	3038	}
mjr	5:a70c0bce770d	3039
mjr	5:a70c0bce770d	3040	// are we connected?
mjr	5:a70c0bce770d	3041	int isConnected() { return configured(); }
mjr	5:a70c0bce770d	3042
mjr	54:fd77a6b2f76c	3043	// Are we in sleep mode? If true, this means that the hardware has
mjr	54:fd77a6b2f76c	3044	// detected no activity on the bus for 3ms. This happens when the
mjr	54:fd77a6b2f76c	3045	// cable is physically disconnected, the computer is turned off, or
mjr	54:fd77a6b2f76c	3046	// the connection is otherwise disabled.
mjr	54:fd77a6b2f76c	3047	bool isSleeping() const { return sleeping_; }
mjr	54:fd77a6b2f76c	3048
mjr	54:fd77a6b2f76c	3049	// If necessary, attempt to recover from a broken connection.
mjr	54:fd77a6b2f76c	3050	//
mjr	54:fd77a6b2f76c	3051	// This is a hack, to work around an apparent timing bug in the
mjr	54:fd77a6b2f76c	3052	// KL25Z USB implementation that I haven't been able to solve any
mjr	54:fd77a6b2f76c	3053	// other way.
mjr	54:fd77a6b2f76c	3054	//
mjr	54:fd77a6b2f76c	3055	// The issue: when we have an established connection, and the
mjr	54:fd77a6b2f76c	3056	// connection is broken by physically unplugging the cable or by
mjr	54:fd77a6b2f76c	3057	// rebooting the PC, the KL25Z sometimes fails to reconnect when
mjr	54:fd77a6b2f76c	3058	// the physical connection is re-established. The failure is
mjr	54:fd77a6b2f76c	3059	// sporadic; I'd guess it happens about 25% of the time, but I
mjr	54:fd77a6b2f76c	3060	// haven't collected any real statistics on it.
mjr	54:fd77a6b2f76c	3061	//
mjr	54:fd77a6b2f76c	3062	// The proximate cause of the failure is a deadlock in the SETUP
mjr	54:fd77a6b2f76c	3063	// protocol between the host and device that happens around the
mjr	54:fd77a6b2f76c	3064	// point where the PC is requesting the configuration descriptor.
mjr	54:fd77a6b2f76c	3065	// The exact point in the protocol where this occurs varies slightly;
mjr	54:fd77a6b2f76c	3066	// it can occur a message or two before or after the Get Config
mjr	54:fd77a6b2f76c	3067	// Descriptor packet. No matter where it happens, the nature of
mjr	54:fd77a6b2f76c	3068	// the deadlock is the same: the PC thinks it sees a STALL on EP0
mjr	54:fd77a6b2f76c	3069	// from the device, so it terminates the connection attempt, which
mjr	54:fd77a6b2f76c	3070	// stops further traffic on the cable. The KL25Z USB hardware sees
mjr	54:fd77a6b2f76c	3071	// the lack of traffic and triggers a SLEEP interrupt (a misnomer
mjr	54:fd77a6b2f76c	3072	// for what should have been called a BROKEN CONNECTION interrupt).
mjr	54:fd77a6b2f76c	3073	// Both sides simply stop talking at this point, so the connection
mjr	54:fd77a6b2f76c	3074	// is effectively dead.
mjr	54:fd77a6b2f76c	3075	//
mjr	54:fd77a6b2f76c	3076	// The strange thing is that, as far as I can tell, the KL25Z isn't
mjr	54:fd77a6b2f76c	3077	// doing anything to trigger the STALL on its end. Both the PC
mjr	54:fd77a6b2f76c	3078	// and the KL25Z are happy up until the very point of the failure
mjr	54:fd77a6b2f76c	3079	// and show no signs of anything wrong in the protocol exchange.
mjr	54:fd77a6b2f76c	3080	// In fact, every detail of the protocol exchange up to this point
mjr	54:fd77a6b2f76c	3081	// is identical to every successful exchange that does finish the
mjr	54:fd77a6b2f76c	3082	// whole setup process successfully, on both the KL25Z and Windows
mjr	54:fd77a6b2f76c	3083	// sides of the connection. I can't find any point of difference
mjr	54:fd77a6b2f76c	3084	// between successful and unsuccessful sequences that suggests why
mjr	54:fd77a6b2f76c	3085	// the fateful message fails. This makes me suspect that whatever
mjr	54:fd77a6b2f76c	3086	// is going wrong is inside the KL25Z USB hardware module, which
mjr	54:fd77a6b2f76c	3087	// is a pretty substantial black box - it has a lot of internal
mjr	54:fd77a6b2f76c	3088	// state that's inaccessible to the software. Further bolstering
mjr	54:fd77a6b2f76c	3089	// this theory is a little experiment where I found that I could
mjr	54:fd77a6b2f76c	3090	// reproduce the exact sequence of events of a failed reconnect
mjr	54:fd77a6b2f76c	3091	// attempt in an initial connection, which is otherwise 100%
mjr	54:fd77a6b2f76c	3092	// reliable, by inserting a little bit of artifical time padding
mjr	54:fd77a6b2f76c	3093	// (200us per event) into the SETUP interrupt handler. My
mjr	54:fd77a6b2f76c	3094	// hypothesis is that the STALL event happens because the KL25Z
mjr	54:fd77a6b2f76c	3095	// USB hardware is too slow to respond to a message. I'm not
mjr	54:fd77a6b2f76c	3096	// sure why this would only happen after a disconnect and not
mjr	54:fd77a6b2f76c	3097	// during the initial connection; maybe there's some reset work
mjr	54:fd77a6b2f76c	3098	// in the hardware that takes a substantial amount of time after
mjr	54:fd77a6b2f76c	3099	// a disconnect.
mjr	54:fd77a6b2f76c	3100	//
mjr	54:fd77a6b2f76c	3101	// The solution: the problem happens during the SETUP exchange,
mjr	54:fd77a6b2f76c	3102	// after we've been assigned a bus address. It only happens on
mjr	54:fd77a6b2f76c	3103	// some percentage of connection requests, so if we can simply
mjr	54:fd77a6b2f76c	3104	// start over when the failure occurs, we'll eventually succeed
mjr	54:fd77a6b2f76c	3105	// simply because not every attempt fails. The ideal would be
mjr	54:fd77a6b2f76c	3106	// to get the success rate up to 100%, but I can't figure out how
mjr	54:fd77a6b2f76c	3107	// to fix the underlying problem, so this is the next best thing.
mjr	54:fd77a6b2f76c	3108	//
mjr	54:fd77a6b2f76c	3109	// We can detect when the failure occurs by noticing when a SLEEP
mjr	54:fd77a6b2f76c	3110	// interrupt happens while we have an assigned bus address.
mjr	54:fd77a6b2f76c	3111	//
mjr	54:fd77a6b2f76c	3112	// To start a new connection attempt, we have to make the host
mjr	54:fd77a6b2f76c	3113	// try again. The logical connection is initiated solely by the
mjr	54:fd77a6b2f76c	3114	// host. Fortunately, it's easy to get the host to initiate the
mjr	54:fd77a6b2f76c	3115	// process: if we disconnect on the device side, it effectively
mjr	54:fd77a6b2f76c	3116	// makes the device look to the PC like it's electrically unplugged.
mjr	54:fd77a6b2f76c	3117	// When we reconnect on the device side, the PC thinks a new device
mjr	54:fd77a6b2f76c	3118	// has been plugged in and initiates the logical connection setup.
mjr	74:822a92bc11d2	3119	// We have to remain disconnected for some minimum interval before
mjr	74:822a92bc11d2	3120	// the host notices; the exact minimum is unclear, but 5ms seems
mjr	74:822a92bc11d2	3121	// reliable in practice.
mjr	54:fd77a6b2f76c	3122	//
mjr	54:fd77a6b2f76c	3123	// Here's the full algorithm:
mjr	54:fd77a6b2f76c	3124	//
mjr	54:fd77a6b2f76c	3125	// 1. In the SLEEP interrupt handler, if we have a bus address,
mjr	54:fd77a6b2f76c	3126	// we disconnect the device. This happens in ISR context, so we
mjr	54:fd77a6b2f76c	3127	// can't wait around for 5ms. Instead, we simply set a flag noting
mjr	54:fd77a6b2f76c	3128	// that the connection has been broken, and we note the time and
mjr	54:fd77a6b2f76c	3129	// return.
mjr	54:fd77a6b2f76c	3130	//
mjr	54:fd77a6b2f76c	3131	// 2. In our main loop, whenever we find that we're disconnected,
mjr	54:fd77a6b2f76c	3132	// we call recoverConnection(). The main loop's job is basically a
mjr	54:fd77a6b2f76c	3133	// bunch of device polling. We're just one more device to poll, so
mjr	54:fd77a6b2f76c	3134	// recoverConnection() will be called soon after a disconnect, and
mjr	54:fd77a6b2f76c	3135	// then will be called in a loop for as long as we're disconnected.
mjr	54:fd77a6b2f76c	3136	//
mjr	54:fd77a6b2f76c	3137	// 3. In recoverConnection(), we check the flag we set in the SLEEP
mjr	54:fd77a6b2f76c	3138	// handler. If set, we wait until 5ms has elapsed from the SLEEP
mjr	54:fd77a6b2f76c	3139	// event time that we noted, then we'll reconnect and clear the flag.
mjr	54:fd77a6b2f76c	3140	// This gives us the required 5ms (or longer) delay between the
mjr	54:fd77a6b2f76c	3141	// disconnect and reconnect, ensuring that the PC will notice and
mjr	54:fd77a6b2f76c	3142	// will start over with the connection protocol.
mjr	54:fd77a6b2f76c	3143	//
mjr	54:fd77a6b2f76c	3144	// 4. The main loop keeps calling recoverConnection() in a loop for
mjr	54:fd77a6b2f76c	3145	// as long as we're disconnected, so if the new connection attempt
mjr	54:fd77a6b2f76c	3146	// triggered in step 3 fails, the SLEEP interrupt will happen again,
mjr	54:fd77a6b2f76c	3147	// we'll disconnect again, the flag will get set again, and
mjr	54:fd77a6b2f76c	3148	// recoverConnection() will reconnect again after another suitable
mjr	54:fd77a6b2f76c	3149	// delay. This will repeat until the connection succeeds or hell
mjr	54:fd77a6b2f76c	3150	// freezes over.
mjr	54:fd77a6b2f76c	3151	//
mjr	54:fd77a6b2f76c	3152	// Each disconnect happens immediately when a reconnect attempt
mjr	54:fd77a6b2f76c	3153	// fails, and an entire successful connection only takes about 25ms,
mjr	54:fd77a6b2f76c	3154	// so our loop can retry at more than 30 attempts per second.
mjr	54:fd77a6b2f76c	3155	// In my testing, lost connections almost always reconnect in
mjr	54:fd77a6b2f76c	3156	// less than second with this code in place.
mjr	54:fd77a6b2f76c	3157	void recoverConnection()
mjr	54:fd77a6b2f76c	3158	{
mjr	54:fd77a6b2f76c	3159	// if a reconnect is pending, reconnect
mjr	54:fd77a6b2f76c	3160	if (reconnectPending_)
mjr	54:fd77a6b2f76c	3161	{
mjr	54:fd77a6b2f76c	3162	// Loop until we reach 5ms after the last sleep event.
mjr	54:fd77a6b2f76c	3163	for (bool done = false ; !done ; )
mjr	54:fd77a6b2f76c	3164	{
mjr	54:fd77a6b2f76c	3165	// If we've reached the target time, reconnect. Do the
mjr	54:fd77a6b2f76c	3166	// time check and flag reset atomically, so that we can't
mjr	54:fd77a6b2f76c	3167	// have another sleep event sneak in after we've verified
mjr	54:fd77a6b2f76c	3168	// the time. If another event occurs, it has to happen
mjr	54:fd77a6b2f76c	3169	// before we check, in which case it'll update the time
mjr	54:fd77a6b2f76c	3170	// before we check it, or after we clear the flag, in
mjr	54:fd77a6b2f76c	3171	// which case it will reset the flag and we'll do another
mjr	54:fd77a6b2f76c	3172	// round the next time we call this routine.
mjr	54:fd77a6b2f76c	3173	__disable_irq();
mjr	54:fd77a6b2f76c	3174	if (uint32_t(timer_.read_us() - lastSleepTime_) > 5000)
mjr	54:fd77a6b2f76c	3175	{
mjr	54:fd77a6b2f76c	3176	connect(false);
mjr	54:fd77a6b2f76c	3177	reconnectPending_ = false;
mjr	54:fd77a6b2f76c	3178	done = true;
mjr	54:fd77a6b2f76c	3179	}
mjr	54:fd77a6b2f76c	3180	__enable_irq();
mjr	54:fd77a6b2f76c	3181	}
mjr	54:fd77a6b2f76c	3182	}
mjr	54:fd77a6b2f76c	3183	}
mjr	5:a70c0bce770d	3184
mjr	5:a70c0bce770d	3185	protected:
mjr	54:fd77a6b2f76c	3186	// Handle a USB SLEEP interrupt. This interrupt signifies that the
mjr	54:fd77a6b2f76c	3187	// USB hardware module hasn't seen any token traffic for 3ms, which
mjr	54:fd77a6b2f76c	3188	// means that we're either physically or logically disconnected.
mjr	54:fd77a6b2f76c	3189	//
mjr	54:fd77a6b2f76c	3190	// Important: this runs in ISR context.
mjr	54:fd77a6b2f76c	3191	//
mjr	54:fd77a6b2f76c	3192	// Note that this is a specialized sense of "sleep" that's unrelated
mjr	54:fd77a6b2f76c	3193	// to the similarly named power modes on the PC. This has nothing
mjr	54:fd77a6b2f76c	3194	// to do with suspend/sleep mode on the PC, and it's not a low-power
mjr	54:fd77a6b2f76c	3195	// mode on the KL25Z. They really should have called this interrupt
mjr	54:fd77a6b2f76c	3196	// DISCONNECT or BROKEN CONNECTION.)
mjr	54:fd77a6b2f76c	3197	virtual void sleepStateChanged(unsigned int sleeping)
mjr	54:fd77a6b2f76c	3198	{
mjr	54:fd77a6b2f76c	3199	// note the new state
mjr	54:fd77a6b2f76c	3200	sleeping_ = sleeping;
mjr	54:fd77a6b2f76c	3201
mjr	54:fd77a6b2f76c	3202	// If we have a non-zero bus address, we have at least a partial
mjr	54:fd77a6b2f76c	3203	// connection to the host (we've made it at least as far as the
mjr	54:fd77a6b2f76c	3204	// SETUP stage). Explicitly disconnect, and the pending reconnect
mjr	54:fd77a6b2f76c	3205	// flag, and remember the time of the sleep event.
mjr	54:fd77a6b2f76c	3206	if (USB0->ADDR != 0x00)
mjr	54:fd77a6b2f76c	3207	{
mjr	54:fd77a6b2f76c	3208	disconnect();
mjr	54:fd77a6b2f76c	3209	lastSleepTime_ = timer_.read_us();
mjr	54:fd77a6b2f76c	3210	reconnectPending_ = true;
mjr	54:fd77a6b2f76c	3211	}
mjr	54:fd77a6b2f76c	3212	}
mjr	54:fd77a6b2f76c	3213
mjr	54:fd77a6b2f76c	3214	// is the USB connection asleep?
mjr	54:fd77a6b2f76c	3215	volatile bool sleeping_;
mjr	54:fd77a6b2f76c	3216
mjr	54:fd77a6b2f76c	3217	// flag: reconnect pending after sleep event
mjr	54:fd77a6b2f76c	3218	volatile bool reconnectPending_;
mjr	54:fd77a6b2f76c	3219
mjr	54:fd77a6b2f76c	3220	// time of last sleep event while connected
mjr	54:fd77a6b2f76c	3221	volatile uint32_t lastSleepTime_;
mjr	54:fd77a6b2f76c	3222
mjr	54:fd77a6b2f76c	3223	// timer to keep track of interval since last sleep event
mjr	54:fd77a6b2f76c	3224	Timer timer_;
mjr	5:a70c0bce770d	3225	};
mjr	5:a70c0bce770d	3226
mjr	5:a70c0bce770d	3227	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	3228	//
mjr	5:a70c0bce770d	3229	// Accelerometer (MMA8451Q)
mjr	5:a70c0bce770d	3230	//
mjr	5:a70c0bce770d	3231
mjr	5:a70c0bce770d	3232	// The MMA8451Q is the KL25Z's on-board 3-axis accelerometer.
mjr	5:a70c0bce770d	3233	//
mjr	5:a70c0bce770d	3234	// This is a custom wrapper for the library code to interface to the
mjr	6:cc35eb643e8f	3235	// MMA8451Q. This class encapsulates an interrupt handler and
mjr	6:cc35eb643e8f	3236	// automatic calibration.
mjr	5:a70c0bce770d	3237	//
mjr	77:0b96f6867312	3238	// We collect data at the device's maximum rate of 800kHz (one sample
mjr	77:0b96f6867312	3239	// every 1.25ms). To keep up with the high data rate, we use the
mjr	77:0b96f6867312	3240	// device's internal FIFO, and drain the FIFO by polling on each
mjr	77:0b96f6867312	3241	// iteration of our main application loop. In the past, we used an
mjr	77:0b96f6867312	3242	// interrupt handler to read the device immediately on the arrival of
mjr	77:0b96f6867312	3243	// each sample, but this created too much latency for the IR remote
mjr	77:0b96f6867312	3244	// receiver, due to the relatively long time it takes to transfer the
mjr	77:0b96f6867312	3245	// accelerometer readings via I2C. The device's on-board FIFO can
mjr	77:0b96f6867312	3246	// store up to 32 samples, which gives us up to about 40ms between
mjr	77:0b96f6867312	3247	// polling iterations before the buffer overflows. Our main loop runs
mjr	77:0b96f6867312	3248	// in under 2ms, so we can easily keep the FIFO far from overflowing.
mjr	77:0b96f6867312	3249	//
mjr	77:0b96f6867312	3250	// The MMA8451Q has three range modes, +/- 2G, 4G, and 8G. The ADC
mjr	77:0b96f6867312	3251	// sample is the same bit width (14 bits) in all modes, so the higher
mjr	77:0b96f6867312	3252	// dynamic range modes trade physical precision for range. For our
mjr	77:0b96f6867312	3253	// purposes, precision is more important than range, so we use the
mjr	77:0b96f6867312	3254	// +/-2G mode. Further, our joystick range is calibrated for only
mjr	77:0b96f6867312	3255	// +/-1G. This was unintentional on my part; I didn't look at the
mjr	77:0b96f6867312	3256	// MMA8451Q library closely enough to realize it was normalizing to
mjr	77:0b96f6867312	3257	// actual "G" units, and assumed that it was normalizing to a -1..+1
mjr	77:0b96f6867312	3258	// scale. In practice, a +/-1G scale seems perfectly adequate for
mjr	77:0b96f6867312	3259	// virtual pinball use, so I'm sticking with that range for now. But
mjr	77:0b96f6867312	3260	// there might be some benefit in renormalizing to a +/-2G range, in
mjr	77:0b96f6867312	3261	// that it would allow for higher dynamic range for very hard nudges.
mjr	77:0b96f6867312	3262	// Everyone would have to tweak their nudge sensitivity in VP if I
mjr	77:0b96f6867312	3263	// made that change, though, so I'm keeping it as is for now; it would
mjr	77:0b96f6867312	3264	// be best to make it a config option ("accelerometer high dynamic range")
mjr	77:0b96f6867312	3265	// rather than change it across the board.
mjr	5:a70c0bce770d	3266	//
mjr	6:cc35eb643e8f	3267	// We automatically calibrate the accelerometer so that it's not
mjr	6:cc35eb643e8f	3268	// necessary to get it exactly level when installing it, and so
mjr	6:cc35eb643e8f	3269	// that it's also not necessary to calibrate it manually. There's
mjr	6:cc35eb643e8f	3270	// lots of experience that tells us that manual calibration is a
mjr	6:cc35eb643e8f	3271	// terrible solution, mostly because cabinets tend to shift slightly
mjr	6:cc35eb643e8f	3272	// during use, requiring frequent recalibration. Instead, we
mjr	6:cc35eb643e8f	3273	// calibrate automatically. We continuously monitor the acceleration
mjr	6:cc35eb643e8f	3274	// data, watching for periods of constant (or nearly constant) values.
mjr	6:cc35eb643e8f	3275	// Any time it appears that the machine has been at rest for a while
mjr	6:cc35eb643e8f	3276	// (about 5 seconds), we'll average the readings during that rest
mjr	6:cc35eb643e8f	3277	// period and use the result as the level rest position. This is
mjr	6:cc35eb643e8f	3278	// is ongoing, so we'll quickly find the center point again if the
mjr	6:cc35eb643e8f	3279	// machine is moved during play (by an especially aggressive bout
mjr	6:cc35eb643e8f	3280	// of nudging, say).
mjr	5:a70c0bce770d	3281	//
mjr	5:a70c0bce770d	3282
mjr	17:ab3cec0c8bf4	3283	// I2C address of the accelerometer (this is a constant of the KL25Z)
mjr	17:ab3cec0c8bf4	3284	const int MMA8451_I2C_ADDRESS = (0x1d<<1);
mjr	17:ab3cec0c8bf4	3285
mjr	17:ab3cec0c8bf4	3286	// SCL and SDA pins for the accelerometer (constant for the KL25Z)
mjr	17:ab3cec0c8bf4	3287	#define MMA8451_SCL_PIN PTE25
mjr	17:ab3cec0c8bf4	3288	#define MMA8451_SDA_PIN PTE24
mjr	17:ab3cec0c8bf4	3289
mjr	17:ab3cec0c8bf4	3290	// Digital in pin to use for the accelerometer interrupt. For the KL25Z,
mjr	17:ab3cec0c8bf4	3291	// this can be either PTA14 or PTA15, since those are the pins physically
mjr	17:ab3cec0c8bf4	3292	// wired on this board to the MMA8451 interrupt controller.
mjr	17:ab3cec0c8bf4	3293	#define MMA8451_INT_PIN PTA15
mjr	17:ab3cec0c8bf4	3294
mjr	17:ab3cec0c8bf4	3295
mjr	6:cc35eb643e8f	3296	// accelerometer input history item, for gathering calibration data
mjr	6:cc35eb643e8f	3297	struct AccHist
mjr	5:a70c0bce770d	3298	{
mjr	77:0b96f6867312	3299	AccHist() { x = y = dsq = 0; xtot = ytot = 0; cnt = 0; }
mjr	77:0b96f6867312	3300	void set(int x, int y, AccHist *prv)
mjr	6:cc35eb643e8f	3301	{
mjr	6:cc35eb643e8f	3302	// save the raw position
mjr	6:cc35eb643e8f	3303	this->x = x;
mjr	6:cc35eb643e8f	3304	this->y = y;
mjr	77:0b96f6867312	3305	this->dsq = distanceSquared(prv);
mjr	6:cc35eb643e8f	3306	}
mjr	6:cc35eb643e8f	3307
mjr	6:cc35eb643e8f	3308	// reading for this entry
mjr	77:0b96f6867312	3309	int x, y;
mjr	77:0b96f6867312	3310
mjr	77:0b96f6867312	3311	// (distance from previous entry) squared
mjr	77:0b96f6867312	3312	int dsq;
mjr	5:a70c0bce770d	3313
mjr	6:cc35eb643e8f	3314	// total and count of samples averaged over this period
mjr	77:0b96f6867312	3315	int xtot, ytot;
mjr	6:cc35eb643e8f	3316	int cnt;
mjr	6:cc35eb643e8f	3317
mjr	77:0b96f6867312	3318	void clearAvg() { xtot = ytot = 0; cnt = 0; }
mjr	77:0b96f6867312	3319	void addAvg(int x, int y) { xtot += x; ytot += y; ++cnt; }
mjr	77:0b96f6867312	3320	int xAvg() const { return xtot/cnt; }
mjr	77:0b96f6867312	3321	int yAvg() const { return ytot/cnt; }
mjr	77:0b96f6867312	3322
mjr	77:0b96f6867312	3323	int distanceSquared(AccHist *p)
mjr	77:0b96f6867312	3324	{ return square(p->x - x) + square(p->y - y); }
mjr	5:a70c0bce770d	3325	};
mjr	5:a70c0bce770d	3326
mjr	5:a70c0bce770d	3327	// accelerometer wrapper class
mjr	3:3514575d4f86	3328	class Accel
mjr	3:3514575d4f86	3329	{
mjr	3:3514575d4f86	3330	public:
mjr	78:1e00b3fa11af	3331	Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin,
mjr	78:1e00b3fa11af	3332	int range, int autoCenterMode)
mjr	77:0b96f6867312	3333	: mma_(sda, scl, i2cAddr)
mjr	3:3514575d4f86	3334	{
mjr	5:a70c0bce770d	3335	// remember the interrupt pin assignment
mjr	5:a70c0bce770d	3336	irqPin_ = irqPin;
mjr	77:0b96f6867312	3337
mjr	77:0b96f6867312	3338	// remember the range
mjr	77:0b96f6867312	3339	range_ = range;
mjr	78:1e00b3fa11af	3340
mjr	78:1e00b3fa11af	3341	// set the auto-centering mode
mjr	78:1e00b3fa11af	3342	setAutoCenterMode(autoCenterMode);
mjr	78:1e00b3fa11af	3343
mjr	78:1e00b3fa11af	3344	// no manual centering request has been received
mjr	78:1e00b3fa11af	3345	manualCenterRequest_ = false;
mjr	5:a70c0bce770d	3346
mjr	5:a70c0bce770d	3347	// reset and initialize
mjr	5:a70c0bce770d	3348	reset();
mjr	5:a70c0bce770d	3349	}
mjr	5:a70c0bce770d	3350
mjr	78:1e00b3fa11af	3351	// Request manual centering. This applies the trailing average
mjr	78:1e00b3fa11af	3352	// of recent measurements and applies it as the new center point
mjr	78:1e00b3fa11af	3353	// as soon as we have enough data.
mjr	78:1e00b3fa11af	3354	void manualCenterRequest() { manualCenterRequest_ = true; }
mjr	78:1e00b3fa11af	3355
mjr	78:1e00b3fa11af	3356	// set the auto-centering mode
mjr	78:1e00b3fa11af	3357	void setAutoCenterMode(int mode)
mjr	78:1e00b3fa11af	3358	{
mjr	78:1e00b3fa11af	3359	// remember the mode
mjr	78:1e00b3fa11af	3360	autoCenterMode_ = mode;
mjr	78:1e00b3fa11af	3361
mjr	78:1e00b3fa11af	3362	// Set the time between checks. We check 5 times over the course
mjr	78:1e00b3fa11af	3363	// of the centering time, so the check interval is 1/5 of the total.
mjr	78:1e00b3fa11af	3364	if (mode == 0)
mjr	78:1e00b3fa11af	3365	{
mjr	78:1e00b3fa11af	3366	// mode 0 is the old default of 5 seconds, so check every 1s
mjr	78:1e00b3fa11af	3367	autoCenterCheckTime_ = 1000000;
mjr	78:1e00b3fa11af	3368	}
mjr	78:1e00b3fa11af	3369	else if (mode <= 60)
mjr	78:1e00b3fa11af	3370	{
mjr	78:1e00b3fa11af	3371	// mode 1-60 means reset after 'mode' seconds; the check
mjr	78:1e00b3fa11af	3372	// interval is 1/5 of this
mjr	78:1e00b3fa11af	3373	autoCenterCheckTime_ = mode*200000;
mjr	78:1e00b3fa11af	3374	}
mjr	78:1e00b3fa11af	3375	else
mjr	78:1e00b3fa11af	3376	{
mjr	78:1e00b3fa11af	3377	// Auto-centering is off, but still gather statistics to apply
mjr	78:1e00b3fa11af	3378	// when we get a manual centering request. The check interval
mjr	78:1e00b3fa11af	3379	// in this case is 1/5 of the total time for the trailing average
mjr	78:1e00b3fa11af	3380	// we apply for the manual centering. We want this to be long
mjr	78:1e00b3fa11af	3381	// enough to smooth out the data, but short enough that it only
mjr	78:1e00b3fa11af	3382	// includes recent data.
mjr	78:1e00b3fa11af	3383	autoCenterCheckTime_ = 500000;
mjr	78:1e00b3fa11af	3384	}
mjr	78:1e00b3fa11af	3385	}
mjr	78:1e00b3fa11af	3386
mjr	5:a70c0bce770d	3387	void reset()
mjr	5:a70c0bce770d	3388	{
mjr	6:cc35eb643e8f	3389	// clear the center point
mjr	77:0b96f6867312	3390	cx_ = cy_ = 0;
mjr	6:cc35eb643e8f	3391
mjr	77:0b96f6867312	3392	// start the auto-centering timer
mjr	5:a70c0bce770d	3393	tCenter_.start();
mjr	5:a70c0bce770d	3394	iAccPrv_ = nAccPrv_ = 0;
mjr	6:cc35eb643e8f	3395
mjr	5:a70c0bce770d	3396	// reset and initialize the MMA8451Q
mjr	5:a70c0bce770d	3397	mma_.init();
mjr	77:0b96f6867312	3398
mjr	77:0b96f6867312	3399	// set the range
mjr	77:0b96f6867312	3400	mma_.setRange(
mjr	77:0b96f6867312	3401	range_ == AccelRange4G ? 4 :
mjr	77:0b96f6867312	3402	range_ == AccelRange8G ? 8 :
mjr	77:0b96f6867312	3403	2);
mjr	6:cc35eb643e8f	3404
mjr	77:0b96f6867312	3405	// set the average accumulators to zero
mjr	77:0b96f6867312	3406	xSum_ = ySum_ = 0;
mjr	77:0b96f6867312	3407	nSum_ = 0;
mjr	3:3514575d4f86	3408
mjr	3:3514575d4f86	3409	// read the current registers to clear the data ready flag
mjr	6:cc35eb643e8f	3410	mma_.getAccXYZ(ax_, ay_, az_);
mjr	3:3514575d4f86	3411	}
mjr	3:3514575d4f86	3412
mjr	77:0b96f6867312	3413	void poll()
mjr	76:7f5912b6340e	3414	{
mjr	77:0b96f6867312	3415	// read samples until we clear the FIFO
mjr	77:0b96f6867312	3416	while (mma_.getFIFOCount() != 0)
mjr	77:0b96f6867312	3417	{
mjr	77:0b96f6867312	3418	int x, y, z;
mjr	77:0b96f6867312	3419	mma_.getAccXYZ(x, y, z);
mjr	77:0b96f6867312	3420
mjr	77:0b96f6867312	3421	// add the new reading to the running total for averaging
mjr	77:0b96f6867312	3422	xSum_ += (x - cx_);
mjr	77:0b96f6867312	3423	ySum_ += (y - cy_);
mjr	77:0b96f6867312	3424	++nSum_;
mjr	77:0b96f6867312	3425
mjr	77:0b96f6867312	3426	// store the updates
mjr	77:0b96f6867312	3427	ax_ = x;
mjr	77:0b96f6867312	3428	ay_ = y;
mjr	77:0b96f6867312	3429	az_ = z;
mjr	77:0b96f6867312	3430	}
mjr	76:7f5912b6340e	3431	}
mjr	77:0b96f6867312	3432
mjr	9:fd65b0a94720	3433	void get(int &x, int &y)
mjr	3:3514575d4f86	3434	{
mjr	77:0b96f6867312	3435	// read the shared data and store locally for calculations
mjr	77:0b96f6867312	3436	int ax = ax_, ay = ay_;
mjr	77:0b96f6867312	3437	int xSum = xSum_, ySum = ySum_;
mjr	77:0b96f6867312	3438	int nSum = nSum_;
mjr	6:cc35eb643e8f	3439
mjr	77:0b96f6867312	3440	// reset the average accumulators for the next run
mjr	77:0b96f6867312	3441	xSum_ = ySum_ = 0;
mjr	77:0b96f6867312	3442	nSum_ = 0;
mjr	77:0b96f6867312	3443
mjr	77:0b96f6867312	3444	// add this sample to the current calibration interval's running total
mjr	77:0b96f6867312	3445	AccHist *p = accPrv_ + iAccPrv_;
mjr	77:0b96f6867312	3446	p->addAvg(ax, ay);
mjr	77:0b96f6867312	3447
mjr	78:1e00b3fa11af	3448	// If we're in auto-centering mode, check for auto-centering
mjr	78:1e00b3fa11af	3449	// at intervals of 1/5 of the overall time. If we're not in
mjr	78:1e00b3fa11af	3450	// auto-centering mode, check anyway at one-second intervals
mjr	78:1e00b3fa11af	3451	// so that we gather averages for manual centering requests.
mjr	78:1e00b3fa11af	3452	if (tCenter_.read_us() > autoCenterCheckTime_)
mjr	77:0b96f6867312	3453	{
mjr	77:0b96f6867312	3454	// add the latest raw sample to the history list
mjr	77:0b96f6867312	3455	AccHist *prv = p;
mjr	77:0b96f6867312	3456	iAccPrv_ = (iAccPrv_ + 1);
mjr	77:0b96f6867312	3457	if (iAccPrv_ >= maxAccPrv)
mjr	77:0b96f6867312	3458	iAccPrv_ = 0;
mjr	77:0b96f6867312	3459	p = accPrv_ + iAccPrv_;
mjr	77:0b96f6867312	3460	p->set(ax, ay, prv);
mjr	77:0b96f6867312	3461
mjr	78:1e00b3fa11af	3462	// if we have a full complement, check for auto-centering
mjr	77:0b96f6867312	3463	if (nAccPrv_ >= maxAccPrv)
mjr	77:0b96f6867312	3464	{
mjr	78:1e00b3fa11af	3465	// Center if:
mjr	78:1e00b3fa11af	3466	//
mjr	78:1e00b3fa11af	3467	// - Auto-centering is on, and we've been stable over the
mjr	78:1e00b3fa11af	3468	// whole sample period at our spot-check points
mjr	78:1e00b3fa11af	3469	//
mjr	78:1e00b3fa11af	3470	// - A manual centering request is pending
mjr	78:1e00b3fa11af	3471	//
mjr	77:0b96f6867312	3472	static const int accTol = 164*164; // 1% of range, squared
mjr	77:0b96f6867312	3473	AccHist *p0 = accPrv_;
mjr	78:1e00b3fa11af	3474	if (manualCenterRequest_
mjr	78:1e00b3fa11af	3475	\|\| (autoCenterMode_ <= 60
mjr	78:1e00b3fa11af	3476	&& p0[0].dsq < accTol
mjr	78:1e00b3fa11af	3477	&& p0[1].dsq < accTol
mjr	78:1e00b3fa11af	3478	&& p0[2].dsq < accTol
mjr	78:1e00b3fa11af	3479	&& p0[3].dsq < accTol
mjr	78:1e00b3fa11af	3480	&& p0[4].dsq < accTol))
mjr	77:0b96f6867312	3481	{
mjr	77:0b96f6867312	3482	// Figure the new calibration point as the average of
mjr	77:0b96f6867312	3483	// the samples over the rest period
mjr	77:0b96f6867312	3484	cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5;
mjr	77:0b96f6867312	3485	cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5;
mjr	78:1e00b3fa11af	3486
mjr	78:1e00b3fa11af	3487	// clear any pending manual centering request
mjr	78:1e00b3fa11af	3488	manualCenterRequest_ = false;
mjr	77:0b96f6867312	3489	}
mjr	77:0b96f6867312	3490	}
mjr	77:0b96f6867312	3491	else
mjr	77:0b96f6867312	3492	{
mjr	77:0b96f6867312	3493	// not enough samples yet; just up the count
mjr	77:0b96f6867312	3494	++nAccPrv_;
mjr	77:0b96f6867312	3495	}
mjr	6:cc35eb643e8f	3496
mjr	77:0b96f6867312	3497	// clear the new item's running totals
mjr	77:0b96f6867312	3498	p->clearAvg();
mjr	5:a70c0bce770d	3499
mjr	77:0b96f6867312	3500	// reset the timer
mjr	77:0b96f6867312	3501	tCenter_.reset();
mjr	77:0b96f6867312	3502	}
mjr	5:a70c0bce770d	3503
mjr	77:0b96f6867312	3504	// report our integrated velocity reading in x,y
mjr	77:0b96f6867312	3505	x = rawToReport(xSum/nSum);
mjr	77:0b96f6867312	3506	y = rawToReport(ySum/nSum);
mjr	5:a70c0bce770d	3507
mjr	6:cc35eb643e8f	3508	#ifdef DEBUG_PRINTF
mjr	77:0b96f6867312	3509	if (x != 0 \|\| y != 0)
mjr	77:0b96f6867312	3510	printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt);
mjr	6:cc35eb643e8f	3511	#endif
mjr	77:0b96f6867312	3512	}
mjr	29:582472d0bc57	3513
mjr	3:3514575d4f86	3514	private:
mjr	6:cc35eb643e8f	3515	// adjust a raw acceleration figure to a usb report value
mjr	77:0b96f6867312	3516	int rawToReport(int v)
mjr	5:a70c0bce770d	3517	{
mjr	77:0b96f6867312	3518	// Scale to the joystick report range. The accelerometer
mjr	77:0b96f6867312	3519	// readings use the native 14-bit signed integer representation,
mjr	77:0b96f6867312	3520	// so their scale is 2^13.
mjr	77:0b96f6867312	3521	//
mjr	77:0b96f6867312	3522	// The 1G range is special: it uses the 2G native hardware range,
mjr	77:0b96f6867312	3523	// but rescales the result to a 1G range for the joystick reports.
mjr	77:0b96f6867312	3524	// So for that mode, we divide by 4096 rather than 8192. All of
mjr	77:0b96f6867312	3525	// the other modes map use the hardware scaling directly.
mjr	77:0b96f6867312	3526	int i = v*JOYMAX;
mjr	77:0b96f6867312	3527	i = (range_ == AccelRange1G ? i/4096 : i/8192);
mjr	5:a70c0bce770d	3528
mjr	6:cc35eb643e8f	3529	// if it's near the center, scale it roughly as 20*(i/20)^2,
mjr	6:cc35eb643e8f	3530	// to suppress noise near the rest position
mjr	6:cc35eb643e8f	3531	static const int filter[] = {
mjr	6:cc35eb643e8f	3532	-18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0,
mjr	6:cc35eb643e8f	3533	0,
mjr	6:cc35eb643e8f	3534	0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18
mjr	6:cc35eb643e8f	3535	};
mjr	6:cc35eb643e8f	3536	return (i > 20 \|\| i < -20 ? i : filter[i+20]);
mjr	5:a70c0bce770d	3537	}
mjr	5:a70c0bce770d	3538
mjr	3:3514575d4f86	3539	// underlying accelerometer object
mjr	3:3514575d4f86	3540	MMA8451Q mma_;
mjr	3:3514575d4f86	3541
mjr	77:0b96f6867312	3542	// last raw acceleration readings, on the device's signed 14-bit
mjr	77:0b96f6867312	3543	// scale -8192..+8191
mjr	77:0b96f6867312	3544	int ax_, ay_, az_;
mjr	77:0b96f6867312	3545
mjr	77:0b96f6867312	3546	// running sum of readings since last get()
mjr	77:0b96f6867312	3547	int xSum_, ySum_;
mjr	77:0b96f6867312	3548
mjr	77:0b96f6867312	3549	// number of readings since last get()
mjr	77:0b96f6867312	3550	int nSum_;
mjr	6:cc35eb643e8f	3551
mjr	6:cc35eb643e8f	3552	// Calibration reference point for accelerometer. This is the
mjr	6:cc35eb643e8f	3553	// average reading on the accelerometer when in the neutral position
mjr	6:cc35eb643e8f	3554	// at rest.
mjr	77:0b96f6867312	3555	int cx_, cy_;
mjr	77:0b96f6867312	3556
mjr	77:0b96f6867312	3557	// range (AccelRangeXxx value, from config.h)
mjr	77:0b96f6867312	3558	uint8_t range_;
mjr	78:1e00b3fa11af	3559
mjr	78:1e00b3fa11af	3560	// auto-center mode:
mjr	78:1e00b3fa11af	3561	// 0 = default of 5-second auto-centering
mjr	78:1e00b3fa11af	3562	// 1-60 = auto-center after this many seconds
mjr	78:1e00b3fa11af	3563	// 255 = auto-centering off (manual centering only)
mjr	78:1e00b3fa11af	3564	uint8_t autoCenterMode_;
mjr	78:1e00b3fa11af	3565
mjr	78:1e00b3fa11af	3566	// flag: a manual centering request is pending
mjr	78:1e00b3fa11af	3567	bool manualCenterRequest_;
mjr	78:1e00b3fa11af	3568
mjr	78:1e00b3fa11af	3569	// time in us between auto-centering incremental checks
mjr	78:1e00b3fa11af	3570	uint32_t autoCenterCheckTime_;
mjr	78:1e00b3fa11af	3571
mjr	77:0b96f6867312	3572	// atuo-centering timer
mjr	5:a70c0bce770d	3573	Timer tCenter_;
mjr	6:cc35eb643e8f	3574
mjr	6:cc35eb643e8f	3575	// Auto-centering history. This is a separate history list that
mjr	77:0b96f6867312	3576	// records results spaced out sparsely over time, so that we can
mjr	6:cc35eb643e8f	3577	// watch for long-lasting periods of rest. When we observe nearly
mjr	6:cc35eb643e8f	3578	// no motion for an extended period (on the order of 5 seconds), we
mjr	6:cc35eb643e8f	3579	// take this to mean that the cabinet is at rest in its neutral
mjr	6:cc35eb643e8f	3580	// position, so we take this as the calibration zero point for the
mjr	6:cc35eb643e8f	3581	// accelerometer. We update this history continuously, which allows
mjr	6:cc35eb643e8f	3582	// us to continuously re-calibrate the accelerometer. This ensures
mjr	6:cc35eb643e8f	3583	// that we'll automatically adjust to any actual changes in the
mjr	6:cc35eb643e8f	3584	// cabinet's orientation (e.g., if it gets moved slightly by an
mjr	6:cc35eb643e8f	3585	// especially strong nudge) as well as any systematic drift in the
mjr	6:cc35eb643e8f	3586	// accelerometer measurement bias (e.g., from temperature changes).
mjr	78:1e00b3fa11af	3587	uint8_t iAccPrv_, nAccPrv_;
mjr	78:1e00b3fa11af	3588	static const uint8_t maxAccPrv = 5;
mjr	6:cc35eb643e8f	3589	AccHist accPrv_[maxAccPrv];
mjr	6:cc35eb643e8f	3590
mjr	5:a70c0bce770d	3591	// interurupt pin name
mjr	5:a70c0bce770d	3592	PinName irqPin_;
mjr	3:3514575d4f86	3593	};
mjr	3:3514575d4f86	3594
mjr	5:a70c0bce770d	3595	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	3596	//
mjr	14:df700b22ca08	3597	// Clear the I2C bus for the MMA8451Q. This seems necessary some of the time
mjr	5:a70c0bce770d	3598	// for reasons that aren't clear to me. Doing a hard power cycle has the same
mjr	5:a70c0bce770d	3599	// effect, but when we do a soft reset, the hardware sometimes seems to leave
mjr	5:a70c0bce770d	3600	// the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through
mjr	14:df700b22ca08	3601	// the SCL line is supposed to clear this condition. I'm not convinced this
mjr	14:df700b22ca08	3602	// actually works with the way this component is wired on the KL25Z, but it
mjr	14:df700b22ca08	3603	// seems harmless, so we'll do it on reset in case it does some good. What
mjr	14:df700b22ca08	3604	// we really seem to need is a way to power cycle the MMA8451Q if it ever
mjr	14:df700b22ca08	3605	// gets stuck, but this is simply not possible in software on the KL25Z.
mjr	14:df700b22ca08	3606	//
mjr	14:df700b22ca08	3607	// If the accelerometer does get stuck, and a software reboot doesn't reset
mjr	14:df700b22ca08	3608	// it, the only workaround is to manually power cycle the whole KL25Z by
mjr	14:df700b22ca08	3609	// unplugging both of its USB connections.
mjr	5:a70c0bce770d	3610	//
mjr	5:a70c0bce770d	3611	void clear_i2c()
mjr	5:a70c0bce770d	3612	{
mjr	38:091e511ce8a0	3613	// set up general-purpose output pins to the I2C lines
mjr	5:a70c0bce770d	3614	DigitalOut scl(MMA8451_SCL_PIN);
mjr	5:a70c0bce770d	3615	DigitalIn sda(MMA8451_SDA_PIN);
mjr	5:a70c0bce770d	3616
mjr	5:a70c0bce770d	3617	// clock the SCL 9 times
mjr	5:a70c0bce770d	3618	for (int i = 0 ; i < 9 ; ++i)
mjr	5:a70c0bce770d	3619	{
mjr	5:a70c0bce770d	3620	scl = 1;
mjr	5:a70c0bce770d	3621	wait_us(20);
mjr	5:a70c0bce770d	3622	scl = 0;
mjr	5:a70c0bce770d	3623	wait_us(20);
mjr	5:a70c0bce770d	3624	}
mjr	5:a70c0bce770d	3625	}
mjr	76:7f5912b6340e	3626
mjr	76:7f5912b6340e	3627
mjr	14:df700b22ca08	3628	// ---------------------------------------------------------------------------
mjr	14:df700b22ca08	3629	//
mjr	33:d832bcab089e	3630	// Simple binary (on/off) input debouncer. Requires an input to be stable
mjr	33:d832bcab089e	3631	// for a given interval before allowing an update.
mjr	33:d832bcab089e	3632	//
mjr	33:d832bcab089e	3633	class Debouncer
mjr	33:d832bcab089e	3634	{
mjr	33:d832bcab089e	3635	public:
mjr	33:d832bcab089e	3636	Debouncer(bool initVal, float tmin)
mjr	33:d832bcab089e	3637	{
mjr	33:d832bcab089e	3638	t.start();
mjr	33:d832bcab089e	3639	this->stable = this->prv = initVal;
mjr	33:d832bcab089e	3640	this->tmin = tmin;
mjr	33:d832bcab089e	3641	}
mjr	33:d832bcab089e	3642
mjr	33:d832bcab089e	3643	// Get the current stable value
mjr	33:d832bcab089e	3644	bool val() const { return stable; }
mjr	33:d832bcab089e	3645
mjr	33:d832bcab089e	3646	// Apply a new sample. This tells us the new raw reading from the
mjr	33:d832bcab089e	3647	// input device.
mjr	33:d832bcab089e	3648	void sampleIn(bool val)
mjr	33:d832bcab089e	3649	{
mjr	33:d832bcab089e	3650	// If the new raw reading is different from the previous
mjr	33:d832bcab089e	3651	// raw reading, we've detected an edge - start the clock
mjr	33:d832bcab089e	3652	// on the sample reader.
mjr	33:d832bcab089e	3653	if (val != prv)
mjr	33:d832bcab089e	3654	{
mjr	33:d832bcab089e	3655	// we have an edge - reset the sample clock
mjr	33:d832bcab089e	3656	t.reset();
mjr	33:d832bcab089e	3657
mjr	33:d832bcab089e	3658	// this is now the previous raw sample for nxt time
mjr	33:d832bcab089e	3659	prv = val;
mjr	33:d832bcab089e	3660	}
mjr	33:d832bcab089e	3661	else if (val != stable)
mjr	33:d832bcab089e	3662	{
mjr	33:d832bcab089e	3663	// The new raw sample is the same as the last raw sample,
mjr	33:d832bcab089e	3664	// and different from the stable value. This means that
mjr	33:d832bcab089e	3665	// the sample value has been the same for the time currently
mjr	33:d832bcab089e	3666	// indicated by our timer. If enough time has elapsed to
mjr	33:d832bcab089e	3667	// consider the value stable, apply the new value.
mjr	33:d832bcab089e	3668	if (t.read() > tmin)
mjr	33:d832bcab089e	3669	stable = val;
mjr	33:d832bcab089e	3670	}
mjr	33:d832bcab089e	3671	}
mjr	33:d832bcab089e	3672
mjr	33:d832bcab089e	3673	private:
mjr	33:d832bcab089e	3674	// current stable value
mjr	33:d832bcab089e	3675	bool stable;
mjr	33:d832bcab089e	3676
mjr	33:d832bcab089e	3677	// last raw sample value
mjr	33:d832bcab089e	3678	bool prv;
mjr	33:d832bcab089e	3679
mjr	33:d832bcab089e	3680	// elapsed time since last raw input change
mjr	33:d832bcab089e	3681	Timer t;
mjr	33:d832bcab089e	3682
mjr	33:d832bcab089e	3683	// Minimum time interval for stability, in seconds. Input readings
mjr	33:d832bcab089e	3684	// must be stable for this long before the stable value is updated.
mjr	33:d832bcab089e	3685	float tmin;
mjr	33:d832bcab089e	3686	};
mjr	33:d832bcab089e	3687
mjr	33:d832bcab089e	3688
mjr	33:d832bcab089e	3689	// ---------------------------------------------------------------------------
mjr	33:d832bcab089e	3690	//
mjr	33:d832bcab089e	3691	// TV ON timer. If this feature is enabled, we toggle a TV power switch
mjr	33:d832bcab089e	3692	// relay (connected to a GPIO pin) to turn on the cab's TV monitors shortly
mjr	33:d832bcab089e	3693	// after the system is powered. This is useful for TVs that don't remember
mjr	33:d832bcab089e	3694	// their power state and don't turn back on automatically after being
mjr	33:d832bcab089e	3695	// unplugged and plugged in again. This feature requires external
mjr	33:d832bcab089e	3696	// circuitry, which is built in to the expansion board and can also be
mjr	33:d832bcab089e	3697	// built separately - see the Build Guide for the circuit plan.
mjr	33:d832bcab089e	3698	//
mjr	33:d832bcab089e	3699	// Theory of operation: to use this feature, the cabinet must have a
mjr	33:d832bcab089e	3700	// secondary PC-style power supply (PSU2) for the feedback devices, and
mjr	33:d832bcab089e	3701	// this secondary supply must be plugged in to the same power strip or
mjr	33:d832bcab089e	3702	// switched outlet that controls power to the TVs. This lets us use PSU2
mjr	33:d832bcab089e	3703	// as a proxy for the TV power state - when PSU2 is on, the TV outlet is
mjr	33:d832bcab089e	3704	// powered, and when PSU2 is off, the TV outlet is off. We use a little
mjr	33:d832bcab089e	3705	// latch circuit powered by PSU2 to monitor the status. The latch has a
mjr	33:d832bcab089e	3706	// current state, ON or OFF, that we can read via a GPIO input pin, and
mjr	33:d832bcab089e	3707	// we can set the state to ON by pulsing a separate GPIO output pin. As
mjr	33:d832bcab089e	3708	// long as PSU2 is powered off, the latch stays in the OFF state, even if
mjr	33:d832bcab089e	3709	// we try to set it by pulsing the SET pin. When PSU2 is turned on after
mjr	33:d832bcab089e	3710	// being off, the latch starts receiving power but stays in the OFF state,
mjr	33:d832bcab089e	3711	// since this is the initial condition when the power first comes on. So
mjr	33:d832bcab089e	3712	// if our latch state pin is reading OFF, we know that PSU2 is either off
mjr	33:d832bcab089e	3713	// now or was off some time since we last checked. We use a timer to
mjr	33:d832bcab089e	3714	// check the state periodically. Each time we see the state is OFF, we
mjr	33:d832bcab089e	3715	// try pulsing the SET pin. If the state still reads as OFF, we know
mjr	33:d832bcab089e	3716	// that PSU2 is currently off; if the state changes to ON, though, we
mjr	33:d832bcab089e	3717	// know that PSU2 has gone from OFF to ON some time between now and the
mjr	33:d832bcab089e	3718	// previous check. When we see this condition, we start a countdown
mjr	33:d832bcab089e	3719	// timer, and pulse the TV switch relay when the countdown ends.
mjr	33:d832bcab089e	3720	//
mjr	40:cc0d9814522b	3721	// This scheme might seem a little convoluted, but it handles a number
mjr	40:cc0d9814522b	3722	// of tricky but likely scenarios:
mjr	33:d832bcab089e	3723	//
mjr	33:d832bcab089e	3724	// - Most cabinets systems are set up with "soft" PC power switches,
mjr	40:cc0d9814522b	3725	// so that the PC goes into "Soft Off" mode when the user turns off
mjr	40:cc0d9814522b	3726	// the cabinet by pushing the power button or using the Shut Down
mjr	40:cc0d9814522b	3727	// command from within Windows. In Windows parlance, this "soft off"
mjr	40:cc0d9814522b	3728	// condition is called ACPI State S5. In this state, the main CPU
mjr	40:cc0d9814522b	3729	// power is turned off, but the motherboard still provides power to
mjr	40:cc0d9814522b	3730	// USB devices. This means that the KL25Z keeps running. Without
mjr	40:cc0d9814522b	3731	// the external power sensing circuit, the only hint that we're in
mjr	40:cc0d9814522b	3732	// this state is that the USB connection to the host goes into Suspend
mjr	40:cc0d9814522b	3733	// mode, but that could mean other things as well. The latch circuit
mjr	40:cc0d9814522b	3734	// lets us tell for sure that we're in this state.
mjr	33:d832bcab089e	3735	//
mjr	33:d832bcab089e	3736	// - Some cabinet builders might prefer to use "hard" power switches,
mjr	33:d832bcab089e	3737	// cutting all power to the cabinet, including the PC motherboard (and
mjr	33:d832bcab089e	3738	// thus the KL25Z) every time the machine is turned off. This also
mjr	33:d832bcab089e	3739	// applies to the "soft" switch case above when the cabinet is unplugged,
mjr	33:d832bcab089e	3740	// a power outage occurs, etc. In these cases, the KL25Z will do a cold
mjr	33:d832bcab089e	3741	// boot when the PC is turned on. We don't know whether the KL25Z
mjr	33:d832bcab089e	3742	// will power up before or after PSU2, so it's not good enough to
mjr	40:cc0d9814522b	3743	// observe the current state of PSU2 when we first check. If PSU2
mjr	40:cc0d9814522b	3744	// were to come on first, checking only the current state would fool
mjr	40:cc0d9814522b	3745	// us into thinking that no action is required, because we'd only see
mjr	40:cc0d9814522b	3746	// that PSU2 is turned on any time we check. The latch handles this
mjr	40:cc0d9814522b	3747	// case by letting us see that PSU2 was indeed off some time before our
mjr	40:cc0d9814522b	3748	// first check.
mjr	33:d832bcab089e	3749	//
mjr	33:d832bcab089e	3750	// - If the KL25Z is rebooted while the main system is running, or the
mjr	40:cc0d9814522b	3751	// KL25Z is unplugged and plugged back in, we'll correctly leave the
mjr	33:d832bcab089e	3752	// TVs as they are. The latch state is independent of the KL25Z's
mjr	33:d832bcab089e	3753	// power or software state, so it's won't affect the latch state when
mjr	33:d832bcab089e	3754	// the KL25Z is unplugged or rebooted; when we boot, we'll see that
mjr	33:d832bcab089e	3755	// the latch is already on and that we don't have to turn on the TVs.
mjr	33:d832bcab089e	3756	// This is important because TV ON buttons are usually on/off toggles,
mjr	33:d832bcab089e	3757	// so we don't want to push the button on a TV that's already on.
mjr	33:d832bcab089e	3758	//
mjr	33:d832bcab089e	3759
mjr	77:0b96f6867312	3760	// Current PSU2 power state:
mjr	33:d832bcab089e	3761	// 1 -> default: latch was on at last check, or we haven't checked yet
mjr	33:d832bcab089e	3762	// 2 -> latch was off at last check, SET pulsed high
mjr	33:d832bcab089e	3763	// 3 -> SET pulsed low, ready to check status
mjr	33:d832bcab089e	3764	// 4 -> TV timer countdown in progress
mjr	33:d832bcab089e	3765	// 5 -> TV relay on
mjr	77:0b96f6867312	3766	// 6 -> sending IR signals designed as TV ON signals
mjr	73:4e8ce0b18915	3767	uint8_t psu2_state = 1;
mjr	73:4e8ce0b18915	3768
mjr	73:4e8ce0b18915	3769	// TV relay state. The TV relay can be controlled by the power-on
mjr	73:4e8ce0b18915	3770	// timer and directly from the PC (via USB commands), so keep a
mjr	73:4e8ce0b18915	3771	// separate state for each:
mjr	73:4e8ce0b18915	3772	// 0x01 -> turned on by power-on timer
mjr	73:4e8ce0b18915	3773	// 0x02 -> turned on by USB command
mjr	73:4e8ce0b18915	3774	uint8_t tv_relay_state = 0x00;
mjr	73:4e8ce0b18915	3775	const uint8_t TV_RELAY_POWERON = 0x01;
mjr	73:4e8ce0b18915	3776	const uint8_t TV_RELAY_USB = 0x02;
mjr	73:4e8ce0b18915	3777
mjr	79:682ae3171a08	3778	// pulse timer for manual TV relay pulses
mjr	79:682ae3171a08	3779	Timer tvRelayManualTimer;
mjr	79:682ae3171a08	3780
mjr	77:0b96f6867312	3781	// TV ON IR command state. When the main PSU2 power state reaches
mjr	77:0b96f6867312	3782	// the IR phase, we use this sub-state counter to send the TV ON
mjr	77:0b96f6867312	3783	// IR signals. We initialize to state 0 when the main state counter
mjr	77:0b96f6867312	3784	// reaches the IR step. In state 0, we start transmitting the first
mjr	77:0b96f6867312	3785	// (lowest numbered) IR command slot marked as containing a TV ON
mjr	77:0b96f6867312	3786	// code, and advance to state 1. In state 1, we check to see if
mjr	77:0b96f6867312	3787	// the transmitter is still sending; if so, we do nothing, if so
mjr	77:0b96f6867312	3788	// we start transmitting the second TV ON code and advance to state
mjr	77:0b96f6867312	3789	// 2. Continue until we run out of TV ON IR codes, at which point
mjr	77:0b96f6867312	3790	// we advance to the next main psu2_state step.
mjr	77:0b96f6867312	3791	uint8_t tvon_ir_state = 0;
mjr	77:0b96f6867312	3792
mjr	77:0b96f6867312	3793	// TV ON switch relay control output pin
mjr	73:4e8ce0b18915	3794	DigitalOut *tv_relay;
mjr	35:e959ffba78fd	3795
mjr	35:e959ffba78fd	3796	// PSU2 power sensing circuit connections
mjr	35:e959ffba78fd	3797	DigitalIn *psu2_status_sense;
mjr	35:e959ffba78fd	3798	DigitalOut *psu2_status_set;
mjr	35:e959ffba78fd	3799
mjr	73:4e8ce0b18915	3800	// Apply the current TV relay state
mjr	73:4e8ce0b18915	3801	void tvRelayUpdate(uint8_t bit, bool state)
mjr	73:4e8ce0b18915	3802	{
mjr	73:4e8ce0b18915	3803	// update the state
mjr	73:4e8ce0b18915	3804	if (state)
mjr	73:4e8ce0b18915	3805	tv_relay_state \|= bit;
mjr	73:4e8ce0b18915	3806	else
mjr	73:4e8ce0b18915	3807	tv_relay_state &= ~bit;
mjr	73:4e8ce0b18915	3808
mjr	73:4e8ce0b18915	3809	// set the relay GPIO to the new state
mjr	73:4e8ce0b18915	3810	if (tv_relay != 0)
mjr	73:4e8ce0b18915	3811	tv_relay->write(tv_relay_state != 0);
mjr	73:4e8ce0b18915	3812	}
mjr	35:e959ffba78fd	3813
mjr	77:0b96f6867312	3814	// PSU2 Status update routine. The main loop calls this from time
mjr	77:0b96f6867312	3815	// to time to update the power sensing state and carry out TV ON
mjr	77:0b96f6867312	3816	// functions.
mjr	77:0b96f6867312	3817	Timer powerStatusTimer;
mjr	77:0b96f6867312	3818	uint32_t tv_delay_time_us;
mjr	77:0b96f6867312	3819	void powerStatusUpdate(Config &cfg)
mjr	33:d832bcab089e	3820	{
mjr	79:682ae3171a08	3821	// If the manual relay pulse timer is past the pulse time, end the
mjr	79:682ae3171a08	3822	// manual pulse. The timer only runs when a pulse is active, so
mjr	79:682ae3171a08	3823	// it'll never read as past the time limit if a pulse isn't on.
mjr	79:682ae3171a08	3824	if (tvRelayManualTimer.read_us() > 250000)
mjr	79:682ae3171a08	3825	{
mjr	79:682ae3171a08	3826	// turn off the relay and disable the timer
mjr	79:682ae3171a08	3827	tvRelayUpdate(TV_RELAY_USB, false);
mjr	79:682ae3171a08	3828	tvRelayManualTimer.stop();
mjr	79:682ae3171a08	3829	tvRelayManualTimer.reset();
mjr	79:682ae3171a08	3830	}
mjr	79:682ae3171a08	3831
mjr	77:0b96f6867312	3832	// Only update every 1/4 second or so. Note that if the PSU2
mjr	77:0b96f6867312	3833	// circuit isn't configured, the initialization routine won't
mjr	77:0b96f6867312	3834	// start the timer, so it'll always read zero and we'll always
mjr	77:0b96f6867312	3835	// skip this whole routine.
mjr	77:0b96f6867312	3836	if (powerStatusTimer.read_us() < 250000)
mjr	77:0b96f6867312	3837	return;
mjr	77:0b96f6867312	3838
mjr	77:0b96f6867312	3839	// reset the update timer for next time
mjr	77:0b96f6867312	3840	powerStatusTimer.reset();
mjr	77:0b96f6867312	3841
mjr	77:0b96f6867312	3842	// TV ON timer. We start this timer when we detect a change
mjr	77:0b96f6867312	3843	// in the PSU2 status from OFF to ON. When the timer reaches
mjr	77:0b96f6867312	3844	// the configured TV ON delay time, and the PSU2 power is still
mjr	77:0b96f6867312	3845	// on, we'll trigger the TV ON relay and send the TV ON IR codes.
mjr	35:e959ffba78fd	3846	static Timer tv_timer;
mjr	35:e959ffba78fd	3847
mjr	33:d832bcab089e	3848	// Check our internal state
mjr	33:d832bcab089e	3849	switch (psu2_state)
mjr	33:d832bcab089e	3850	{
mjr	33:d832bcab089e	3851	case 1:
mjr	33:d832bcab089e	3852	// Default state. This means that the latch was on last
mjr	33:d832bcab089e	3853	// time we checked or that this is the first check. In
mjr	33:d832bcab089e	3854	// either case, if the latch is off, switch to state 2 and
mjr	33:d832bcab089e	3855	// try pulsing the latch. Next time we check, if the latch
mjr	33:d832bcab089e	3856	// stuck, it means that PSU2 is now on after being off.
mjr	35:e959ffba78fd	3857	if (!psu2_status_sense->read())
mjr	33:d832bcab089e	3858	{
mjr	33:d832bcab089e	3859	// switch to OFF state
mjr	33:d832bcab089e	3860	psu2_state = 2;
mjr	33:d832bcab089e	3861
mjr	33:d832bcab089e	3862	// try setting the latch
mjr	35:e959ffba78fd	3863	psu2_status_set->write(1);
mjr	33:d832bcab089e	3864	}
mjr	77:0b96f6867312	3865	powerTimerDiagState = 0;
mjr	33:d832bcab089e	3866	break;
mjr	33:d832bcab089e	3867
mjr	33:d832bcab089e	3868	case 2:
mjr	33:d832bcab089e	3869	// PSU2 was off last time we checked, and we tried setting
mjr	33:d832bcab089e	3870	// the latch. Drop the SET signal and go to CHECK state.
mjr	35:e959ffba78fd	3871	psu2_status_set->write(0);
mjr	33:d832bcab089e	3872	psu2_state = 3;
mjr	77:0b96f6867312	3873	powerTimerDiagState = 0;
mjr	33:d832bcab089e	3874	break;
mjr	33:d832bcab089e	3875
mjr	33:d832bcab089e	3876	case 3:
mjr	33:d832bcab089e	3877	// CHECK state: we pulsed SET, and we're now ready to see
mjr	40:cc0d9814522b	3878	// if it stuck. If the latch is now on, PSU2 has transitioned
mjr	33:d832bcab089e	3879	// from OFF to ON, so start the TV countdown. If the latch is
mjr	33:d832bcab089e	3880	// off, our SET command didn't stick, so PSU2 is still off.
mjr	35:e959ffba78fd	3881	if (psu2_status_sense->read())
mjr	33:d832bcab089e	3882	{
mjr	33:d832bcab089e	3883	// The latch stuck, so PSU2 has transitioned from OFF
mjr	33:d832bcab089e	3884	// to ON. Start the TV countdown timer.
mjr	33:d832bcab089e	3885	tv_timer.reset();
mjr	33:d832bcab089e	3886	tv_timer.start();
mjr	33:d832bcab089e	3887	psu2_state = 4;
mjr	73:4e8ce0b18915	3888
mjr	73:4e8ce0b18915	3889	// start the power timer diagnostic flashes
mjr	73:4e8ce0b18915	3890	powerTimerDiagState = 2;
mjr	33:d832bcab089e	3891	}
mjr	33:d832bcab089e	3892	else
mjr	33:d832bcab089e	3893	{
mjr	33:d832bcab089e	3894	// The latch didn't stick, so PSU2 was still off at
mjr	33:d832bcab089e	3895	// our last check. Try pulsing it again in case PSU2
mjr	33:d832bcab089e	3896	// was turned on since the last check.
mjr	35:e959ffba78fd	3897	psu2_status_set->write(1);
mjr	33:d832bcab089e	3898	psu2_state = 2;
mjr	33:d832bcab089e	3899	}
mjr	33:d832bcab089e	3900	break;
mjr	33:d832bcab089e	3901
mjr	33:d832bcab089e	3902	case 4:
mjr	77:0b96f6867312	3903	// TV timer countdown in progress. The latch has to stay on during
mjr	77:0b96f6867312	3904	// the countdown; if the latch turns off, PSU2 power must have gone
mjr	77:0b96f6867312	3905	// off again before the countdown finished.
mjr	77:0b96f6867312	3906	if (!psu2_status_sense->read())
mjr	77:0b96f6867312	3907	{
mjr	77:0b96f6867312	3908	// power is off - start a new check cycle
mjr	77:0b96f6867312	3909	psu2_status_set->write(1);
mjr	77:0b96f6867312	3910	psu2_state = 2;
mjr	77:0b96f6867312	3911	break;
mjr	77:0b96f6867312	3912	}
mjr	77:0b96f6867312	3913
mjr	77:0b96f6867312	3914	// Flash the power time diagnostic every two cycles
mjr	77:0b96f6867312	3915	powerTimerDiagState = (powerTimerDiagState + 1) & 0x03;
mjr	77:0b96f6867312	3916
mjr	77:0b96f6867312	3917	// if we've reached the delay time, pulse the relay
mjr	77:0b96f6867312	3918	if (tv_timer.read_us() >= tv_delay_time_us)
mjr	33:d832bcab089e	3919	{
mjr	33:d832bcab089e	3920	// turn on the relay for one timer interval
mjr	73:4e8ce0b18915	3921	tvRelayUpdate(TV_RELAY_POWERON, true);
mjr	33:d832bcab089e	3922	psu2_state = 5;
mjr	77:0b96f6867312	3923
mjr	77:0b96f6867312	3924	// show solid blue on the diagnostic LED while the relay is on
mjr	77:0b96f6867312	3925	powerTimerDiagState = 2;
mjr	33:d832bcab089e	3926	}
mjr	33:d832bcab089e	3927	break;
mjr	33:d832bcab089e	3928
mjr	33:d832bcab089e	3929	case 5:
mjr	33:d832bcab089e	3930	// TV timer relay on. We pulse this for one interval, so
mjr	77:0b96f6867312	3931	// it's now time to turn it off.
mjr	73:4e8ce0b18915	3932	tvRelayUpdate(TV_RELAY_POWERON, false);
mjr	77:0b96f6867312	3933
mjr	77:0b96f6867312	3934	// Proceed to sending any TV ON IR commands
mjr	77:0b96f6867312	3935	psu2_state = 6;
mjr	77:0b96f6867312	3936	tvon_ir_state = 0;
mjr	77:0b96f6867312	3937
mjr	77:0b96f6867312	3938	// diagnostic LEDs off for now
mjr	77:0b96f6867312	3939	powerTimerDiagState = 0;
mjr	77:0b96f6867312	3940	break;
mjr	77:0b96f6867312	3941
mjr	77:0b96f6867312	3942	case 6:
mjr	77:0b96f6867312	3943	// Sending TV ON IR signals. Start with the assumption that
mjr	77:0b96f6867312	3944	// we have no IR work to do, in which case we're done with the
mjr	77:0b96f6867312	3945	// whole TV ON sequence. So by default return to state 1.
mjr	33:d832bcab089e	3946	psu2_state = 1;
mjr	77:0b96f6867312	3947	powerTimerDiagState = 0;
mjr	73:4e8ce0b18915	3948
mjr	77:0b96f6867312	3949	// If we have an IR emitter, check for TV ON IR commands
mjr	77:0b96f6867312	3950	if (ir_tx != 0)
mjr	77:0b96f6867312	3951	{
mjr	77:0b96f6867312	3952	// check to see if the last transmission is still in progress
mjr	77:0b96f6867312	3953	if (ir_tx->isSending())
mjr	77:0b96f6867312	3954	{
mjr	77:0b96f6867312	3955	// We're still sending the last transmission. Stay in
mjr	77:0b96f6867312	3956	// state 6.
mjr	77:0b96f6867312	3957	psu2_state = 6;
mjr	77:0b96f6867312	3958	powerTimerDiagState = 4;
mjr	77:0b96f6867312	3959	break;
mjr	77:0b96f6867312	3960	}
mjr	77:0b96f6867312	3961
mjr	77:0b96f6867312	3962	// The last transmission is done, so check for a new one.
mjr	77:0b96f6867312	3963	// Look for the Nth TV ON IR slot, where N is our state
mjr	77:0b96f6867312	3964	// number.
mjr	77:0b96f6867312	3965	for (int i = 0, n = 0 ; i < MAX_IR_CODES ; ++i)
mjr	77:0b96f6867312	3966	{
mjr	77:0b96f6867312	3967	// is this a TV ON command?
mjr	77:0b96f6867312	3968	if ((cfg.IRCommand[i].flags & IRFlagTVON) != 0)
mjr	77:0b96f6867312	3969	{
mjr	77:0b96f6867312	3970	// It's a TV ON command - check if it's the one we're
mjr	77:0b96f6867312	3971	// looking for.
mjr	77:0b96f6867312	3972	if (n == tvon_ir_state)
mjr	77:0b96f6867312	3973	{
mjr	77:0b96f6867312	3974	// It's the one. Start transmitting it by
mjr	77:0b96f6867312	3975	// pushing its virtual button.
mjr	77:0b96f6867312	3976	int vb = IRConfigSlotToVirtualButton[i];
mjr	77:0b96f6867312	3977	ir_tx->pushButton(vb, true);
mjr	77:0b96f6867312	3978
mjr	77:0b96f6867312	3979	// Pushing the button starts transmission, and once
mjr	77:0b96f6867312	3980	// started, the transmission will run to completion
mjr	77:0b96f6867312	3981	// even if the button is no longer pushed. So we
mjr	77:0b96f6867312	3982	// can immediately un-push the button, since we only
mjr	77:0b96f6867312	3983	// need to send the code once.
mjr	77:0b96f6867312	3984	ir_tx->pushButton(vb, false);
mjr	77:0b96f6867312	3985
mjr	77:0b96f6867312	3986	// Advance to the next TV ON IR state, where we'll
mjr	77:0b96f6867312	3987	// await the end of this transmission and move on to
mjr	77:0b96f6867312	3988	// the next one.
mjr	77:0b96f6867312	3989	psu2_state = 6;
mjr	77:0b96f6867312	3990	tvon_ir_state++;
mjr	77:0b96f6867312	3991	break;
mjr	77:0b96f6867312	3992	}
mjr	77:0b96f6867312	3993
mjr	77:0b96f6867312	3994	// it's not ours - count it and keep looking
mjr	77:0b96f6867312	3995	++n;
mjr	77:0b96f6867312	3996	}
mjr	77:0b96f6867312	3997	}
mjr	77:0b96f6867312	3998	}
mjr	33:d832bcab089e	3999	break;
mjr	33:d832bcab089e	4000	}
mjr	77:0b96f6867312	4001
mjr	77:0b96f6867312	4002	// update the diagnostic LEDs
mjr	77:0b96f6867312	4003	diagLED();
mjr	33:d832bcab089e	4004	}
mjr	33:d832bcab089e	4005
mjr	77:0b96f6867312	4006	// Start the power status timer. If the status sense circuit is enabled
mjr	77:0b96f6867312	4007	// in the configuration, we'll set up the pin connections and start the
mjr	77:0b96f6867312	4008	// timer for our periodic status checks. Does nothing if any of the pins
mjr	77:0b96f6867312	4009	// are configured as NC.
mjr	77:0b96f6867312	4010	void startPowerStatusTimer(Config &cfg)
mjr	35:e959ffba78fd	4011	{
mjr	55:4db125cd11a0	4012	// only start the timer if the pins are configured and the delay
mjr	55:4db125cd11a0	4013	// time is nonzero
mjr	77:0b96f6867312	4014	powerStatusTimer.reset();
mjr	77:0b96f6867312	4015	if (cfg.TVON.statusPin != 0xFF
mjr	77:0b96f6867312	4016	&& cfg.TVON.latchPin != 0xFF)
mjr	35:e959ffba78fd	4017	{
mjr	77:0b96f6867312	4018	// set up the power sensing circuit connections
mjr	53:9b2611964afc	4019	psu2_status_sense = new DigitalIn(wirePinName(cfg.TVON.statusPin));
mjr	53:9b2611964afc	4020	psu2_status_set = new DigitalOut(wirePinName(cfg.TVON.latchPin));
mjr	77:0b96f6867312	4021
mjr	77:0b96f6867312	4022	// if there's a TV ON relay, set up its control pin
mjr	77:0b96f6867312	4023	if (cfg.TVON.relayPin != 0xFF)
mjr	77:0b96f6867312	4024	tv_relay = new DigitalOut(wirePinName(cfg.TVON.relayPin));
mjr	77:0b96f6867312	4025
mjr	77:0b96f6867312	4026	// Set the TV ON delay time. We store the time internally in
mjr	77:0b96f6867312	4027	// microseconds, but the configuration stores it in units of
mjr	77:0b96f6867312	4028	// 1/100 second = 10ms = 10000us.
mjr	77:0b96f6867312	4029	tv_delay_time_us = cfg.TVON.delayTime * 10000;;
mjr	77:0b96f6867312	4030
mjr	77:0b96f6867312	4031	// Start the TV timer
mjr	77:0b96f6867312	4032	powerStatusTimer.start();
mjr	35:e959ffba78fd	4033	}
mjr	35:e959ffba78fd	4034	}
mjr	35:e959ffba78fd	4035
mjr	73:4e8ce0b18915	4036	// Operate the TV ON relay. This allows manual control of the relay
mjr	73:4e8ce0b18915	4037	// from the PC. See protocol message 65 submessage 11.
mjr	73:4e8ce0b18915	4038	//
mjr	73:4e8ce0b18915	4039	// Mode:
mjr	73:4e8ce0b18915	4040	// 0 = turn relay off
mjr	73:4e8ce0b18915	4041	// 1 = turn relay on
mjr	73:4e8ce0b18915	4042	// 2 = pulse relay
mjr	73:4e8ce0b18915	4043	void TVRelay(int mode)
mjr	73:4e8ce0b18915	4044	{
mjr	73:4e8ce0b18915	4045	// if there's no TV relay control pin, ignore this
mjr	73:4e8ce0b18915	4046	if (tv_relay == 0)
mjr	73:4e8ce0b18915	4047	return;
mjr	73:4e8ce0b18915	4048
mjr	73:4e8ce0b18915	4049	switch (mode)
mjr	73:4e8ce0b18915	4050	{
mjr	73:4e8ce0b18915	4051	case 0:
mjr	73:4e8ce0b18915	4052	// relay off
mjr	73:4e8ce0b18915	4053	tvRelayUpdate(TV_RELAY_USB, false);
mjr	73:4e8ce0b18915	4054	break;
mjr	73:4e8ce0b18915	4055
mjr	73:4e8ce0b18915	4056	case 1:
mjr	73:4e8ce0b18915	4057	// relay on
mjr	73:4e8ce0b18915	4058	tvRelayUpdate(TV_RELAY_USB, true);
mjr	73:4e8ce0b18915	4059	break;
mjr	73:4e8ce0b18915	4060
mjr	73:4e8ce0b18915	4061	case 2:
mjr	79:682ae3171a08	4062	// Turn the relay on and reset the manual TV pulse timer
mjr	73:4e8ce0b18915	4063	tvRelayUpdate(TV_RELAY_USB, true);
mjr	79:682ae3171a08	4064	tvRelayManualTimer.reset();
mjr	79:682ae3171a08	4065	tvRelayManualTimer.start();
mjr	73:4e8ce0b18915	4066	break;
mjr	73:4e8ce0b18915	4067	}
mjr	73:4e8ce0b18915	4068	}
mjr	73:4e8ce0b18915	4069
mjr	73:4e8ce0b18915	4070
mjr	35:e959ffba78fd	4071	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	4072	//
mjr	35:e959ffba78fd	4073	// In-memory configuration data structure. This is the live version in RAM
mjr	35:e959ffba78fd	4074	// that we use to determine how things are set up.
mjr	35:e959ffba78fd	4075	//
mjr	35:e959ffba78fd	4076	// When we save the configuration settings, we copy this structure to
mjr	35:e959ffba78fd	4077	// non-volatile flash memory. At startup, we check the flash location where
mjr	35:e959ffba78fd	4078	// we might have saved settings on a previous run, and it's valid, we copy
mjr	35:e959ffba78fd	4079	// the flash data to this structure. Firmware updates wipe the flash
mjr	35:e959ffba78fd	4080	// memory area, so you have to use the PC config tool to send the settings
mjr	35:e959ffba78fd	4081	// again each time the firmware is updated.
mjr	35:e959ffba78fd	4082	//
mjr	35:e959ffba78fd	4083	NVM nvm;
mjr	35:e959ffba78fd	4084
mjr	77:0b96f6867312	4085	// Flag: configuration save requested. The USB command message handler
mjr	77:0b96f6867312	4086	// sets this flag when a command is sent requesting the save. We don't
mjr	77:0b96f6867312	4087	// do the save inline in the command handler, but handle it on the next
mjr	77:0b96f6867312	4088	// main loop iteration.
mjr	77:0b96f6867312	4089	const uint8_t SAVE_CONFIG_ONLY = 1;
mjr	77:0b96f6867312	4090	const uint8_t SAVE_CONFIG_AND_REBOOT = 2;
mjr	77:0b96f6867312	4091	uint8_t saveConfigPending = 0;
mjr	77:0b96f6867312	4092
mjr	77:0b96f6867312	4093	// If saveConfigPending == SAVE_CONFIG_AND_REBOOT, this specifies the
mjr	77:0b96f6867312	4094	// delay time in seconds before rebooting.
mjr	77:0b96f6867312	4095	uint8_t saveConfigRebootTime;
mjr	77:0b96f6867312	4096
mjr	79:682ae3171a08	4097	// status flag for successful config save - set to 0x40 on success
mjr	79:682ae3171a08	4098	uint8_t saveConfigSucceededFlag;
mjr	79:682ae3171a08	4099
mjr	35:e959ffba78fd	4100	// For convenience, a macro for the Config part of the NVM structure
mjr	35:e959ffba78fd	4101	#define cfg (nvm.d.c)
mjr	35:e959ffba78fd	4102
mjr	35:e959ffba78fd	4103	// flash memory controller interface
mjr	35:e959ffba78fd	4104	FreescaleIAP iap;
mjr	35:e959ffba78fd	4105
mjr	79:682ae3171a08	4106	// figure the flash address for the config data
mjr	79:682ae3171a08	4107	const NVM *configFlashAddr()
mjr	76:7f5912b6340e	4108	{
mjr	79:682ae3171a08	4109	// figure the number of sectors we need, rounding up
mjr	79:682ae3171a08	4110	int nSectors = (sizeof(NVM) + SECTOR_SIZE - 1)/SECTOR_SIZE;
mjr	79:682ae3171a08	4111
mjr	79:682ae3171a08	4112	// figure the total size required from the number of sectors
mjr	79:682ae3171a08	4113	int reservedSize = nSectors * SECTOR_SIZE;
mjr	79:682ae3171a08	4114
mjr	79:682ae3171a08	4115	// locate it at the top of memory
mjr	79:682ae3171a08	4116	uint32_t addr = iap.flashSize() - reservedSize;
mjr	79:682ae3171a08	4117
mjr	79:682ae3171a08	4118	// return it as a read-only NVM pointer
mjr	79:682ae3171a08	4119	return (const NVM *)addr;
mjr	35:e959ffba78fd	4120	}
mjr	35:e959ffba78fd	4121
mjr	76:7f5912b6340e	4122	// Load the config from flash. Returns true if a valid non-default
mjr	76:7f5912b6340e	4123	// configuration was loaded, false if we not. If we return false,
mjr	76:7f5912b6340e	4124	// we load the factory defaults, so the configuration object is valid
mjr	76:7f5912b6340e	4125	// in either case.
mjr	76:7f5912b6340e	4126	bool loadConfigFromFlash()
mjr	35:e959ffba78fd	4127	{
mjr	35:e959ffba78fd	4128	// We want to use the KL25Z's on-board flash to store our configuration
mjr	35:e959ffba78fd	4129	// data persistently, so that we can restore it across power cycles.
mjr	35:e959ffba78fd	4130	// Unfortunatly, the mbed platform doesn't explicitly support this.
mjr	35:e959ffba78fd	4131	// mbed treats the on-board flash as a raw storage device for linker
mjr	35:e959ffba78fd	4132	// output, and assumes that the linker output is the only thing
mjr	35:e959ffba78fd	4133	// stored there. There's no file system and no allowance for shared
mjr	35:e959ffba78fd	4134	// use for other purposes. Fortunately, the linker ues the space in
mjr	35:e959ffba78fd	4135	// the obvious way, storing the entire linked program in a contiguous
mjr	35:e959ffba78fd	4136	// block starting at the lowest flash address. This means that the
mjr	35:e959ffba78fd	4137	// rest of flash - from the end of the linked program to the highest
mjr	35:e959ffba78fd	4138	// flash address - is all unused free space. Writing our data there
mjr	35:e959ffba78fd	4139	// won't conflict with anything else. Since the linker doesn't give
mjr	35:e959ffba78fd	4140	// us any programmatic access to the total linker output size, it's
mjr	35:e959ffba78fd	4141	// safest to just store our config data at the very end of the flash
mjr	35:e959ffba78fd	4142	// region (i.e., the highest address). As long as it's smaller than
mjr	35:e959ffba78fd	4143	// the free space, it won't collide with the linker area.
mjr	35:e959ffba78fd	4144
mjr	35:e959ffba78fd	4145	// Figure how many sectors we need for our structure
mjr	79:682ae3171a08	4146	const NVM *flash = configFlashAddr();
mjr	35:e959ffba78fd	4147
mjr	35:e959ffba78fd	4148	// if the flash is valid, load it; otherwise initialize to defaults
mjr	76:7f5912b6340e	4149	bool nvm_valid = flash->valid();
mjr	76:7f5912b6340e	4150	if (nvm_valid)
mjr	35:e959ffba78fd	4151	{
mjr	35:e959ffba78fd	4152	// flash is valid - load it into the RAM copy of the structure
mjr	35:e959ffba78fd	4153	memcpy(&nvm, flash, sizeof(NVM));
mjr	35:e959ffba78fd	4154	}
mjr	35:e959ffba78fd	4155	else
mjr	35:e959ffba78fd	4156	{
mjr	76:7f5912b6340e	4157	// flash is invalid - load factory settings into RAM structure
mjr	35:e959ffba78fd	4158	cfg.setFactoryDefaults();
mjr	35:e959ffba78fd	4159	}
mjr	76:7f5912b6340e	4160
mjr	76:7f5912b6340e	4161	// tell the caller what happened
mjr	76:7f5912b6340e	4162	return nvm_valid;
mjr	35:e959ffba78fd	4163	}
mjr	35:e959ffba78fd	4164
mjr	79:682ae3171a08	4165	// save the config - returns true on success, false on failure
mjr	79:682ae3171a08	4166	bool saveConfigToFlash()
mjr	33:d832bcab089e	4167	{
mjr	76:7f5912b6340e	4168	// make sure the plunger sensor isn't busy
mjr	76:7f5912b6340e	4169	waitPlungerIdle();
mjr	76:7f5912b6340e	4170
mjr	76:7f5912b6340e	4171	// get the config block location in the flash memory
mjr	77:0b96f6867312	4172	uint32_t addr = uint32_t(configFlashAddr());
mjr	79:682ae3171a08	4173
mjr	79:682ae3171a08	4174	// save the data
mjr	79:682ae3171a08	4175	return nvm.save(iap, addr);
mjr	76:7f5912b6340e	4176	}
mjr	76:7f5912b6340e	4177
mjr	76:7f5912b6340e	4178	// ---------------------------------------------------------------------------
mjr	76:7f5912b6340e	4179	//
mjr	76:7f5912b6340e	4180	// Host-loaded configuration. The Flash NVM block above is designed to be
mjr	76:7f5912b6340e	4181	// stored from within the firmware; in contrast, the host-loaded config is
mjr	76:7f5912b6340e	4182	// stored by the host, by patching the firwmare binary (.bin) file before
mjr	76:7f5912b6340e	4183	// downloading it to the device.
mjr	76:7f5912b6340e	4184	//
mjr	76:7f5912b6340e	4185	// Ideally, we'd use the host-loaded memory for all configuration updates,
mjr	76:7f5912b6340e	4186	// because the KL25Z doesn't seem to be 100% reliable writing flash itself.
mjr	76:7f5912b6340e	4187	// There seems to be a chance of memory bus contention while a write is in
mjr	76:7f5912b6340e	4188	// progress, which can either corrupt the write or cause the CPU to lock up
mjr	76:7f5912b6340e	4189	// before the write is completed. It seems more reliable to program the
mjr	76:7f5912b6340e	4190	// flash externally, via the OpenSDA connection. Unfortunately, none of
mjr	76:7f5912b6340e	4191	// the available OpenSDA versions are capable of programming specific flash
mjr	76:7f5912b6340e	4192	// sectors; they always erase the entire flash memory space. We could
mjr	76:7f5912b6340e	4193	// make the Windows config program simply re-download the entire firmware
mjr	76:7f5912b6340e	4194	// for every configuration update, but I'd rather not because of the extra
mjr	76:7f5912b6340e	4195	// wear this would put on the flash. So, as a compromise, we'll use the
mjr	76:7f5912b6340e	4196	// host-loaded config whenever the user explicitly updates the firmware,
mjr	76:7f5912b6340e	4197	// but we'll use the on-board writer when only making a config change.
mjr	76:7f5912b6340e	4198	//
mjr	76:7f5912b6340e	4199	// The memory here is stored using the same format as the USB "Set Config
mjr	76:7f5912b6340e	4200	// Variable" command. These messages are 8 bytes long and start with a
mjr	76:7f5912b6340e	4201	// byte value 66, followed by the variable ID, followed by the variable
mjr	76:7f5912b6340e	4202	// value data in a format defined separately for each variable. To load
mjr	76:7f5912b6340e	4203	// the data, we'll start at the first byte after the signature, and
mjr	76:7f5912b6340e	4204	// interpret each 8-byte block as a type 66 message. If the first byte
mjr	76:7f5912b6340e	4205	// of a block is not 66, we'll take it as the end of the data.
mjr	76:7f5912b6340e	4206	//
mjr	76:7f5912b6340e	4207	// We provide a block of storage here big enough for 1,024 variables.
mjr	76:7f5912b6340e	4208	// The header consists of a 30-byte signature followed by two bytes giving
mjr	76:7f5912b6340e	4209	// the available space in the area, in this case 8192 == 0x0200. The
mjr	76:7f5912b6340e	4210	// length is little-endian. Note that the linker will implicitly zero
mjr	76:7f5912b6340e	4211	// the rest of the block, so if the host doesn't populate it, we'll see
mjr	76:7f5912b6340e	4212	// that it's empty by virtue of not containing the required '66' byte
mjr	76:7f5912b6340e	4213	// prefix for the first 8-byte variable block.
mjr	76:7f5912b6340e	4214	static const uint8_t hostLoadedConfig[8192+32]
mjr	76:7f5912b6340e	4215	__attribute__ ((aligned(SECTOR_SIZE))) =
mjr	76:7f5912b6340e	4216	"///Pinscape.HostLoadedConfig//\0\040"; // 30 byte signature + 2 byte length
mjr	76:7f5912b6340e	4217
mjr	76:7f5912b6340e	4218	// Get a pointer to the first byte of the configuration data
mjr	76:7f5912b6340e	4219	const uint8_t *getHostLoadedConfigData()
mjr	76:7f5912b6340e	4220	{
mjr	76:7f5912b6340e	4221	// the first configuration variable byte immediately follows the
mjr	76:7f5912b6340e	4222	// 32-byte signature header
mjr	76:7f5912b6340e	4223	return hostLoadedConfig + 32;
mjr	76:7f5912b6340e	4224	};
mjr	76:7f5912b6340e	4225
mjr	76:7f5912b6340e	4226	// forward reference to config var store function
mjr	76:7f5912b6340e	4227	void configVarSet(const uint8_t *);
mjr	76:7f5912b6340e	4228
mjr	76:7f5912b6340e	4229	// Load the host-loaded configuration data into the active (RAM)
mjr	76:7f5912b6340e	4230	// configuration object.
mjr	76:7f5912b6340e	4231	void loadHostLoadedConfig()
mjr	76:7f5912b6340e	4232	{
mjr	76:7f5912b6340e	4233	// Start at the first configuration variable. Each variable
mjr	76:7f5912b6340e	4234	// block is in the format of a Set Config Variable command in
mjr	76:7f5912b6340e	4235	// the USB protocol, so each block starts with a byte value of
mjr	76:7f5912b6340e	4236	// 66 and is 8 bytes long. Continue as long as we find valid
mjr	76:7f5912b6340e	4237	// variable blocks, or reach end end of the block.
mjr	76:7f5912b6340e	4238	const uint8_t *start = getHostLoadedConfigData();
mjr	76:7f5912b6340e	4239	const uint8_t *end = hostLoadedConfig + sizeof(hostLoadedConfig);
mjr	76:7f5912b6340e	4240	for (const uint8_t p = getHostLoadedConfigData() ; start < end && p == 66 ; p += 8)
mjr	76:7f5912b6340e	4241	{
mjr	76:7f5912b6340e	4242	// load this variable
mjr	76:7f5912b6340e	4243	configVarSet(p);
mjr	76:7f5912b6340e	4244	}
mjr	35:e959ffba78fd	4245	}
mjr	35:e959ffba78fd	4246
mjr	35:e959ffba78fd	4247	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	4248	//
mjr	55:4db125cd11a0	4249	// Pixel dump mode - the host requested a dump of image sensor pixels
mjr	55:4db125cd11a0	4250	// (helpful for installing and setting up the sensor and light source)
mjr	55:4db125cd11a0	4251	//
mjr	55:4db125cd11a0	4252	bool reportPlungerStat = false;
mjr	55:4db125cd11a0	4253	uint8_t reportPlungerStatFlags; // plunger pixel report flag bits (see ccdSensor.h)
mjr	55:4db125cd11a0	4254	uint8_t reportPlungerStatTime; // extra exposure time for plunger pixel report
mjr	55:4db125cd11a0	4255
mjr	55:4db125cd11a0	4256
mjr	55:4db125cd11a0	4257
mjr	55:4db125cd11a0	4258	// ---------------------------------------------------------------------------
mjr	55:4db125cd11a0	4259	//
mjr	40:cc0d9814522b	4260	// Night mode setting updates
mjr	40:cc0d9814522b	4261	//
mjr	38:091e511ce8a0	4262
mjr	38:091e511ce8a0	4263	// Turn night mode on or off
mjr	38:091e511ce8a0	4264	static void setNightMode(bool on)
mjr	38:091e511ce8a0	4265	{
mjr	77:0b96f6867312	4266	// Set the new night mode flag in the noisy output class. Note
mjr	77:0b96f6867312	4267	// that we use the status report bit flag value 0x02 when on, so
mjr	77:0b96f6867312	4268	// that we can just '\|' this into the overall status bits.
mjr	77:0b96f6867312	4269	nightMode = on ? 0x02 : 0x00;
mjr	55:4db125cd11a0	4270
mjr	40:cc0d9814522b	4271	// update the special output pin that shows the night mode state
mjr	53:9b2611964afc	4272	int port = int(cfg.nightMode.port) - 1;
mjr	53:9b2611964afc	4273	if (port >= 0 && port < numOutputs)
mjr	53:9b2611964afc	4274	lwPin[port]->set(nightMode ? 255 : 0);
mjr	76:7f5912b6340e	4275
mjr	76:7f5912b6340e	4276	// Reset all outputs at their current value, so that the underlying
mjr	76:7f5912b6340e	4277	// physical outputs get turned on or off as appropriate for the night
mjr	76:7f5912b6340e	4278	// mode change.
mjr	76:7f5912b6340e	4279	for (int i = 0 ; i < numOutputs ; ++i)
mjr	76:7f5912b6340e	4280	lwPin[i]->set(outLevel[i]);
mjr	76:7f5912b6340e	4281
mjr	76:7f5912b6340e	4282	// update 74HC595 outputs
mjr	76:7f5912b6340e	4283	if (hc595 != 0)
mjr	76:7f5912b6340e	4284	hc595->update();
mjr	38:091e511ce8a0	4285	}
mjr	38:091e511ce8a0	4286
mjr	38:091e511ce8a0	4287	// Toggle night mode
mjr	38:091e511ce8a0	4288	static void toggleNightMode()
mjr	38:091e511ce8a0	4289	{
mjr	53:9b2611964afc	4290	setNightMode(!nightMode);
mjr	38:091e511ce8a0	4291	}
mjr	38:091e511ce8a0	4292
mjr	38:091e511ce8a0	4293
mjr	38:091e511ce8a0	4294	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	4295	//
mjr	35:e959ffba78fd	4296	// Plunger Sensor
mjr	35:e959ffba78fd	4297	//
mjr	35:e959ffba78fd	4298
mjr	35:e959ffba78fd	4299	// the plunger sensor interface object
mjr	35:e959ffba78fd	4300	PlungerSensor *plungerSensor = 0;
mjr	35:e959ffba78fd	4301
mjr	76:7f5912b6340e	4302	// wait for the plunger sensor to complete any outstanding read
mjr	76:7f5912b6340e	4303	static void waitPlungerIdle(void)
mjr	76:7f5912b6340e	4304	{
mjr	76:7f5912b6340e	4305	while (!plungerSensor->ready()) { }
mjr	76:7f5912b6340e	4306	}
mjr	76:7f5912b6340e	4307
mjr	35:e959ffba78fd	4308	// Create the plunger sensor based on the current configuration. If
mjr	35:e959ffba78fd	4309	// there's already a sensor object, we'll delete it.
mjr	35:e959ffba78fd	4310	void createPlunger()
mjr	35:e959ffba78fd	4311	{
mjr	35:e959ffba78fd	4312	// create the new sensor object according to the type
mjr	35:e959ffba78fd	4313	switch (cfg.plunger.sensorType)
mjr	35:e959ffba78fd	4314	{
mjr	82:4f6209cb5c33	4315	case PlungerType_TSL1410R:
mjr	82:4f6209cb5c33	4316	// TSL1410R, shadow edge detector
mjr	35:e959ffba78fd	4317	// pins are: SI, CLOCK, AO
mjr	53:9b2611964afc	4318	plungerSensor = new PlungerSensorTSL1410R(
mjr	53:9b2611964afc	4319	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	4320	wirePinName(cfg.plunger.sensorPin[1]),
mjr	82:4f6209cb5c33	4321	wirePinName(cfg.plunger.sensorPin[2]));
mjr	35:e959ffba78fd	4322	break;
mjr	35:e959ffba78fd	4323
mjr	82:4f6209cb5c33	4324	case PlungerType_TSL1412S:
mjr	82:4f6209cb5c33	4325	// TSL1412S, shadow edge detector
mjr	82:4f6209cb5c33	4326	// pins are: SI, CLOCK, AO
mjr	53:9b2611964afc	4327	plungerSensor = new PlungerSensorTSL1412R(
mjr	53:9b2611964afc	4328	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	4329	wirePinName(cfg.plunger.sensorPin[1]),
mjr	82:4f6209cb5c33	4330	wirePinName(cfg.plunger.sensorPin[2]));
mjr	35:e959ffba78fd	4331	break;
mjr	35:e959ffba78fd	4332
mjr	35:e959ffba78fd	4333	case PlungerType_Pot:
mjr	82:4f6209cb5c33	4334	// Potentiometer (or any other sensor with a linear analog voltage
mjr	82:4f6209cb5c33	4335	// reading as the proxy for the position)
mjr	82:4f6209cb5c33	4336	// pins are: AO (analog in)
mjr	53:9b2611964afc	4337	plungerSensor = new PlungerSensorPot(
mjr	53:9b2611964afc	4338	wirePinName(cfg.plunger.sensorPin[0]));
mjr	35:e959ffba78fd	4339	break;
mjr	82:4f6209cb5c33	4340
mjr	82:4f6209cb5c33	4341	case PlungerType_OptQuad:
mjr	82:4f6209cb5c33	4342	// Optical quadrature sensor, AEDR8300-K or similar. The -K is
mjr	82:4f6209cb5c33	4343	// designed for a 75 LPI scale, which translates to 300 pulses/inch.
mjr	82:4f6209cb5c33	4344	// Pins are: CHA, CHB (quadrature pulse inputs).
mjr	82:4f6209cb5c33	4345	plungerSensor = new PlungerSensorQuad(
mjr	82:4f6209cb5c33	4346	300,
mjr	82:4f6209cb5c33	4347	wirePinName(cfg.plunger.sensorPin[0]),
mjr	82:4f6209cb5c33	4348	wirePinName(cfg.plunger.sensorPin[1]));
mjr	82:4f6209cb5c33	4349	break;
mjr	82:4f6209cb5c33	4350
mjr	82:4f6209cb5c33	4351	case PlungerType_TSL1401CL:
mjr	82:4f6209cb5c33	4352	// TSL1401CL, absolute position encoder with bar code scale
mjr	82:4f6209cb5c33	4353	// pins are: SI, CLOCK, AO
mjr	82:4f6209cb5c33	4354	plungerSensor = new PlungerSensorTSL1401CL(
mjr	82:4f6209cb5c33	4355	wirePinName(cfg.plunger.sensorPin[0]),
mjr	82:4f6209cb5c33	4356	wirePinName(cfg.plunger.sensorPin[1]),
mjr	82:4f6209cb5c33	4357	wirePinName(cfg.plunger.sensorPin[2]));
mjr	82:4f6209cb5c33	4358	break;
mjr	82:4f6209cb5c33	4359
mjr	82:4f6209cb5c33	4360	case PlungerType_VL6180X:
mjr	82:4f6209cb5c33	4361	// VL6180X time-of-flight IR distance sensor
mjr	82:4f6209cb5c33	4362	// pins are: SDL, SCL, GPIO0/CE
mjr	82:4f6209cb5c33	4363	plungerSensor = new PlungerSensorVL6180X(
mjr	82:4f6209cb5c33	4364	wirePinName(cfg.plunger.sensorPin[0]),
mjr	82:4f6209cb5c33	4365	wirePinName(cfg.plunger.sensorPin[1]),
mjr	82:4f6209cb5c33	4366	wirePinName(cfg.plunger.sensorPin[2]));
mjr	82:4f6209cb5c33	4367	break;
mjr	82:4f6209cb5c33	4368
mjr	35:e959ffba78fd	4369	case PlungerType_None:
mjr	35:e959ffba78fd	4370	default:
mjr	35:e959ffba78fd	4371	plungerSensor = new PlungerSensorNull();
mjr	35:e959ffba78fd	4372	break;
mjr	35:e959ffba78fd	4373	}
mjr	33:d832bcab089e	4374	}
mjr	33:d832bcab089e	4375
mjr	52:8298b2a73eb2	4376	// Global plunger calibration mode flag
mjr	52:8298b2a73eb2	4377	bool plungerCalMode;
mjr	52:8298b2a73eb2	4378
mjr	48:058ace2aed1d	4379	// Plunger reader
mjr	51:57eb311faafa	4380	//
mjr	51:57eb311faafa	4381	// This class encapsulates our plunger data processing. At the simplest
mjr	51:57eb311faafa	4382	// level, we read the position from the sensor, adjust it for the
mjr	51:57eb311faafa	4383	// calibration settings, and report the calibrated position to the host.
mjr	51:57eb311faafa	4384	//
mjr	51:57eb311faafa	4385	// In addition, we constantly monitor the data for "firing" motions.
mjr	51:57eb311faafa	4386	// A firing motion is when the user pulls back the plunger and releases
mjr	51:57eb311faafa	4387	// it, allowing it to shoot forward under the force of the main spring.
mjr	51:57eb311faafa	4388	// When we detect that this is happening, we briefly stop reporting the
mjr	51:57eb311faafa	4389	// real physical position that we're reading from the sensor, and instead
mjr	51:57eb311faafa	4390	// report a synthetic series of positions that depicts an idealized
mjr	51:57eb311faafa	4391	// firing motion.
mjr	51:57eb311faafa	4392	//
mjr	51:57eb311faafa	4393	// The point of the synthetic reports is to correct for distortions
mjr	51:57eb311faafa	4394	// created by the joystick interface conventions used by VP and other
mjr	51:57eb311faafa	4395	// PC pinball emulators. The convention they use is simply to have the
mjr	51:57eb311faafa	4396	// plunger device report the instantaneous position of the real plunger.
mjr	51:57eb311faafa	4397	// The PC software polls this reported position periodically, and moves
mjr	51:57eb311faafa	4398	// the on-screen virtual plunger in sync with the real plunger. This
mjr	51:57eb311faafa	4399	// works fine for human-scale motion when the user is manually moving
mjr	51:57eb311faafa	4400	// the plunger. But it doesn't work for the high speed motion of a
mjr	51:57eb311faafa	4401	// release. The plunger simply moves too fast. VP polls in about 10ms
mjr	51:57eb311faafa	4402	// intervals; the plunger takes about 50ms to travel from fully
mjr	51:57eb311faafa	4403	// retracted to the park position when released. The low sampling
mjr	51:57eb311faafa	4404	// rate relative to the rate of change of the sampled data creates
mjr	51:57eb311faafa	4405	// a classic digital aliasing effect.
mjr	51:57eb311faafa	4406	//
mjr	51:57eb311faafa	4407	// The synthetic reporting scheme compensates for the interface
mjr	51:57eb311faafa	4408	// distortions by essentially changing to a coarse enough timescale
mjr	51:57eb311faafa	4409	// that VP can reliably interpret the readings. Conceptually, there
mjr	51:57eb311faafa	4410	// are three steps involved in doing this. First, we analyze the
mjr	51:57eb311faafa	4411	// actual sensor data to detect and characterize the release motion.
mjr	51:57eb311faafa	4412	// Second, once we think we have a release in progress, we fit the
mjr	51:57eb311faafa	4413	// data to a mathematical model of the release. The model we use is
mjr	51:57eb311faafa	4414	// dead simple: we consider the release to have one parameter, namely
mjr	51:57eb311faafa	4415	// the retraction distance at the moment the user lets go. This is an
mjr	51:57eb311faafa	4416	// excellent proxy in the real physical system for the final speed
mjr	51:57eb311faafa	4417	// when the plunger hits the ball, and it also happens to match how
mjr	51:57eb311faafa	4418	// VP models it internally. Third, we construct synthetic reports
mjr	51:57eb311faafa	4419	// that will make VP's internal state match our model. This is also
mjr	51:57eb311faafa	4420	// pretty simple: we just need to send VP the maximum retraction
mjr	51:57eb311faafa	4421	// distance for long enough to be sure that it polls it at least
mjr	51:57eb311faafa	4422	// once, and then send it the park position for long enough to
mjr	51:57eb311faafa	4423	// ensure that VP will complete the same firing motion. The
mjr	51:57eb311faafa	4424	// immediate jump from the maximum point to the zero point will
mjr	51:57eb311faafa	4425	// cause VP to move its simulation model plunger forward from the
mjr	51:57eb311faafa	4426	// starting point at its natural spring acceleration rate, which
mjr	51:57eb311faafa	4427	// is exactly what the real plunger just did.
mjr	51:57eb311faafa	4428	//
mjr	48:058ace2aed1d	4429	class PlungerReader
mjr	48:058ace2aed1d	4430	{
mjr	48:058ace2aed1d	4431	public:
mjr	48:058ace2aed1d	4432	PlungerReader()
mjr	48:058ace2aed1d	4433	{
mjr	48:058ace2aed1d	4434	// not in a firing event yet
mjr	48:058ace2aed1d	4435	firing = 0;
mjr	48:058ace2aed1d	4436
mjr	48:058ace2aed1d	4437	// no history yet
mjr	48:058ace2aed1d	4438	histIdx = 0;
mjr	55:4db125cd11a0	4439
mjr	55:4db125cd11a0	4440	// initialize the filter
mjr	55:4db125cd11a0	4441	initFilter();
mjr	48:058ace2aed1d	4442	}
mjr	76:7f5912b6340e	4443
mjr	48:058ace2aed1d	4444	// Collect a reading from the plunger sensor. The main loop calls
mjr	48:058ace2aed1d	4445	// this frequently to read the current raw position data from the
mjr	48:058ace2aed1d	4446	// sensor. We analyze the raw data to produce the calibrated
mjr	48:058ace2aed1d	4447	// position that we report to the PC via the joystick interface.
mjr	48:058ace2aed1d	4448	void read()
mjr	48:058ace2aed1d	4449	{
mjr	76:7f5912b6340e	4450	// if the sensor is busy, skip the reading on this round
mjr	76:7f5912b6340e	4451	if (!plungerSensor->ready())
mjr	76:7f5912b6340e	4452	return;
mjr	76:7f5912b6340e	4453
mjr	48:058ace2aed1d	4454	// Read a sample from the sensor
mjr	48:058ace2aed1d	4455	PlungerReading r;
mjr	48:058ace2aed1d	4456	if (plungerSensor->read(r))
mjr	48:058ace2aed1d	4457	{
mjr	69:cc5039284fac	4458	// filter the raw sensor reading
mjr	69:cc5039284fac	4459	applyPreFilter(r);
mjr	69:cc5039284fac	4460
mjr	51:57eb311faafa	4461	// Pull the previous reading from the history
mjr	50:40015764bbe6	4462	const PlungerReading &prv = nthHist(0);
mjr	48:058ace2aed1d	4463
mjr	69:cc5039284fac	4464	// If the new reading is within 1ms of the previous reading,
mjr	48:058ace2aed1d	4465	// ignore it. We require a minimum time between samples to
mjr	48:058ace2aed1d	4466	// ensure that we have a usable amount of precision in the
mjr	48:058ace2aed1d	4467	// denominator (the time interval) for calculating the plunger
mjr	69:cc5039284fac	4468	// velocity. The CCD sensor hardware takes about 2.5ms to
mjr	69:cc5039284fac	4469	// read, so it will never be affected by this, but other sensor
mjr	69:cc5039284fac	4470	// types don't all have the same hardware cycle time, so we need
mjr	69:cc5039284fac	4471	// to throttle them artificially. E.g., the potentiometer only
mjr	82:4f6209cb5c33	4472	// needs one ADC sample per reading, which only takes about 15us;
mjr	82:4f6209cb5c33	4473	// the quadrature sensor needs no time at all since it keeps
mjr	82:4f6209cb5c33	4474	// track of the position continuously via interrupts. We don't
mjr	82:4f6209cb5c33	4475	// need to check which sensor type we have here; we just ignore
mjr	82:4f6209cb5c33	4476	// readings until the minimum interval has passed.
mjr	69:cc5039284fac	4477	if (uint32_t(r.t - prv.t) < 1000UL)
mjr	48:058ace2aed1d	4478	return;
mjr	53:9b2611964afc	4479
mjr	53:9b2611964afc	4480	// check for calibration mode
mjr	53:9b2611964afc	4481	if (plungerCalMode)
mjr	53:9b2611964afc	4482	{
mjr	53:9b2611964afc	4483	// Calibration mode. Adjust the calibration bounds to fit
mjr	53:9b2611964afc	4484	// the value. If this value is beyond the current min or max,
mjr	53:9b2611964afc	4485	// expand the envelope to include this new value.
mjr	53:9b2611964afc	4486	if (r.pos > cfg.plunger.cal.max)
mjr	53:9b2611964afc	4487	cfg.plunger.cal.max = r.pos;
mjr	53:9b2611964afc	4488	if (r.pos < cfg.plunger.cal.min)
mjr	53:9b2611964afc	4489	cfg.plunger.cal.min = r.pos;
mjr	76:7f5912b6340e	4490
mjr	76:7f5912b6340e	4491	// update our cached calibration data
mjr	76:7f5912b6340e	4492	onUpdateCal();
mjr	50:40015764bbe6	4493
mjr	53:9b2611964afc	4494	// If we're in calibration state 0, we're waiting for the
mjr	53:9b2611964afc	4495	// plunger to come to rest at the park position so that we
mjr	53:9b2611964afc	4496	// can take a sample of the park position. Check to see if
mjr	53:9b2611964afc	4497	// we've been at rest for a minimum interval.
mjr	53:9b2611964afc	4498	if (calState == 0)
mjr	53:9b2611964afc	4499	{
mjr	53:9b2611964afc	4500	if (abs(r.pos - calZeroStart.pos) < 65535/3/50)
mjr	53:9b2611964afc	4501	{
mjr	53:9b2611964afc	4502	// we're close enough - make sure we've been here long enough
mjr	53:9b2611964afc	4503	if (uint32_t(r.t - calZeroStart.t) > 100000UL)
mjr	53:9b2611964afc	4504	{
mjr	53:9b2611964afc	4505	// we've been at rest long enough - count it
mjr	53:9b2611964afc	4506	calZeroPosSum += r.pos;
mjr	53:9b2611964afc	4507	calZeroPosN += 1;
mjr	53:9b2611964afc	4508
mjr	53:9b2611964afc	4509	// update the zero position from the new average
mjr	53:9b2611964afc	4510	cfg.plunger.cal.zero = uint16_t(calZeroPosSum / calZeroPosN);
mjr	76:7f5912b6340e	4511	onUpdateCal();
mjr	53:9b2611964afc	4512
mjr	53:9b2611964afc	4513	// switch to calibration state 1 - at rest
mjr	53:9b2611964afc	4514	calState = 1;
mjr	53:9b2611964afc	4515	}
mjr	53:9b2611964afc	4516	}
mjr	53:9b2611964afc	4517	else
mjr	53:9b2611964afc	4518	{
mjr	53:9b2611964afc	4519	// we're not close to the last position - start again here
mjr	53:9b2611964afc	4520	calZeroStart = r;
mjr	53:9b2611964afc	4521	}
mjr	53:9b2611964afc	4522	}
mjr	53:9b2611964afc	4523
mjr	53:9b2611964afc	4524	// Rescale to the joystick range, and adjust for the current
mjr	53:9b2611964afc	4525	// park position, but don't calibrate. We don't know the maximum
mjr	53:9b2611964afc	4526	// point yet, so we can't calibrate the range.
mjr	53:9b2611964afc	4527	r.pos = int(
mjr	53:9b2611964afc	4528	(long(r.pos - cfg.plunger.cal.zero) * JOYMAX)
mjr	53:9b2611964afc	4529	/ (65535 - cfg.plunger.cal.zero));
mjr	53:9b2611964afc	4530	}
mjr	53:9b2611964afc	4531	else
mjr	53:9b2611964afc	4532	{
mjr	53:9b2611964afc	4533	// Not in calibration mode. Apply the existing calibration and
mjr	53:9b2611964afc	4534	// rescale to the joystick range.
mjr	76:7f5912b6340e	4535	r.pos = applyCal(r.pos);
mjr	53:9b2611964afc	4536
mjr	53:9b2611964afc	4537	// limit the result to the valid joystick range
mjr	53:9b2611964afc	4538	if (r.pos > JOYMAX)
mjr	53:9b2611964afc	4539	r.pos = JOYMAX;
mjr	53:9b2611964afc	4540	else if (r.pos < -JOYMAX)
mjr	53:9b2611964afc	4541	r.pos = -JOYMAX;
mjr	53:9b2611964afc	4542	}
mjr	50:40015764bbe6	4543
mjr	50:40015764bbe6	4544	// Calculate the velocity from the second-to-last reading
mjr	50:40015764bbe6	4545	// to here, in joystick distance units per microsecond.
mjr	50:40015764bbe6	4546	// Note that we use the second-to-last reading rather than
mjr	50:40015764bbe6	4547	// the very last reading to give ourselves a little longer
mjr	50:40015764bbe6	4548	// time base. The time base is so short between consecutive
mjr	50:40015764bbe6	4549	// readings that the error bars in the position would be too
mjr	50:40015764bbe6	4550	// large.
mjr	50:40015764bbe6	4551	//
mjr	50:40015764bbe6	4552	// For reference, the physical plunger velocity ranges up
mjr	50:40015764bbe6	4553	// to about 100,000 joystick distance units/sec. This is
mjr	50:40015764bbe6	4554	// based on empirical measurements. The typical time for
mjr	50:40015764bbe6	4555	// a real plunger to travel the full distance when released
mjr	50:40015764bbe6	4556	// from full retraction is about 85ms, so the average velocity
mjr	50:40015764bbe6	4557	// covering this distance is about 56,000 units/sec. The
mjr	50:40015764bbe6	4558	// peak is probably about twice that. In real-world units,
mjr	50:40015764bbe6	4559	// this translates to an average speed of about .75 m/s and
mjr	50:40015764bbe6	4560	// a peak of about 1.5 m/s.
mjr	50:40015764bbe6	4561	//
mjr	50:40015764bbe6	4562	// Note that we actually calculate the value here in units
mjr	50:40015764bbe6	4563	// per microsecond - the discussion above is in terms of
mjr	50:40015764bbe6	4564	// units/sec because that's more on a human scale. Our
mjr	50:40015764bbe6	4565	// choice of internal units here really isn't important,
mjr	50:40015764bbe6	4566	// since we only use the velocity for comparison purposes,
mjr	50:40015764bbe6	4567	// to detect acceleration trends. We therefore save ourselves
mjr	50:40015764bbe6	4568	// a little CPU time by using the natural units of our inputs.
mjr	76:7f5912b6340e	4569	//
mjr	76:7f5912b6340e	4570	// We don't care about the absolute velocity; this is a purely
mjr	76:7f5912b6340e	4571	// relative calculation. So to speed things up, calculate it
mjr	76:7f5912b6340e	4572	// in the integer domain, using a fixed-point representation
mjr	76:7f5912b6340e	4573	// with a 64K scale. In other words, with the stored values
mjr	76:7f5912b6340e	4574	// shifted left 16 bits from the actual values: the value 1
mjr	76:7f5912b6340e	4575	// is stored as 1<<16. The position readings are in the range
mjr	76:7f5912b6340e	4576	// -JOYMAX..JOYMAX, which fits in 16 bits, and the time
mjr	76:7f5912b6340e	4577	// differences will generally be on the scale of a few
mjr	76:7f5912b6340e	4578	// milliseconds = thousands of microseconds. So the velocity
mjr	76:7f5912b6340e	4579	// figures will fit nicely into a 32-bit fixed point value with
mjr	76:7f5912b6340e	4580	// a 64K scale factor.
mjr	51:57eb311faafa	4581	const PlungerReading &prv2 = nthHist(1);
mjr	82:4f6209cb5c33	4582	int v = ((r.pos - prv2.pos) * 65536L)/int(r.t - prv2.t);
mjr	50:40015764bbe6	4583
mjr	50:40015764bbe6	4584	// presume we'll report the latest instantaneous reading
mjr	50:40015764bbe6	4585	z = r.pos;
mjr	48:058ace2aed1d	4586
mjr	50:40015764bbe6	4587	// Check firing events
mjr	50:40015764bbe6	4588	switch (firing)
mjr	50:40015764bbe6	4589	{
mjr	50:40015764bbe6	4590	case 0:
mjr	50:40015764bbe6	4591	// Default state - not in a firing event.
mjr	50:40015764bbe6	4592
mjr	50:40015764bbe6	4593	// If we have forward motion from a position that's retracted
mjr	50:40015764bbe6	4594	// beyond a threshold, enter phase 1. If we're not pulled back
mjr	50:40015764bbe6	4595	// far enough, don't bother with this, as a release wouldn't
mjr	50:40015764bbe6	4596	// be strong enough to require the synthetic firing treatment.
mjr	50:40015764bbe6	4597	if (v < 0 && r.pos > JOYMAX/6)
mjr	50:40015764bbe6	4598	{
mjr	53:9b2611964afc	4599	// enter firing phase 1
mjr	50:40015764bbe6	4600	firingMode(1);
mjr	50:40015764bbe6	4601
mjr	53:9b2611964afc	4602	// if in calibration state 1 (at rest), switch to state 2 (not
mjr	53:9b2611964afc	4603	// at rest)
mjr	53:9b2611964afc	4604	if (calState == 1)
mjr	53:9b2611964afc	4605	calState = 2;
mjr	53:9b2611964afc	4606
mjr	50:40015764bbe6	4607	// we don't have a freeze position yet, but note the start time
mjr	50:40015764bbe6	4608	f1.pos = 0;
mjr	50:40015764bbe6	4609	f1.t = r.t;
mjr	50:40015764bbe6	4610
mjr	50:40015764bbe6	4611	// Figure the barrel spring "bounce" position in case we complete
mjr	50:40015764bbe6	4612	// the firing event. This is the amount that the forward momentum
mjr	50:40015764bbe6	4613	// of the plunger will compress the barrel spring at the peak of
mjr	50:40015764bbe6	4614	// the forward travel during the release. Assume that this is
mjr	50:40015764bbe6	4615	// linearly proportional to the starting retraction distance.
mjr	50:40015764bbe6	4616	// The barrel spring is about 1/6 the length of the main spring,
mjr	50:40015764bbe6	4617	// so figure it compresses by 1/6 the distance. (This is overly
mjr	53:9b2611964afc	4618	// simplistic and not very accurate, but it seems to give good
mjr	50:40015764bbe6	4619	// visual results, and that's all it's for.)
mjr	50:40015764bbe6	4620	f2.pos = -r.pos/6;
mjr	50:40015764bbe6	4621	}
mjr	50:40015764bbe6	4622	break;
mjr	50:40015764bbe6	4623
mjr	50:40015764bbe6	4624	case 1:
mjr	50:40015764bbe6	4625	// Phase 1 - acceleration. If we cross the zero point, trigger
mjr	50:40015764bbe6	4626	// the firing event. Otherwise, continue monitoring as long as we
mjr	50:40015764bbe6	4627	// see acceleration in the forward direction.
mjr	50:40015764bbe6	4628	if (r.pos <= 0)
mjr	50:40015764bbe6	4629	{
mjr	50:40015764bbe6	4630	// switch to the synthetic firing mode
mjr	50:40015764bbe6	4631	firingMode(2);
mjr	50:40015764bbe6	4632	z = f2.pos;
mjr	50:40015764bbe6	4633
mjr	50:40015764bbe6	4634	// note the start time for the firing phase
mjr	50:40015764bbe6	4635	f2.t = r.t;
mjr	53:9b2611964afc	4636
mjr	53:9b2611964afc	4637	// if in calibration mode, and we're in state 2 (moving),
mjr	53:9b2611964afc	4638	// collect firing statistics for calibration purposes
mjr	53:9b2611964afc	4639	if (plungerCalMode && calState == 2)
mjr	53:9b2611964afc	4640	{
mjr	53:9b2611964afc	4641	// collect a new zero point for the average when we
mjr	53:9b2611964afc	4642	// come to rest
mjr	53:9b2611964afc	4643	calState = 0;
mjr	53:9b2611964afc	4644
mjr	53:9b2611964afc	4645	// collect average firing time statistics in millseconds, if
mjr	53:9b2611964afc	4646	// it's in range (20 to 255 ms)
mjr	53:9b2611964afc	4647	int dt = uint32_t(r.t - f1.t)/1000UL;
mjr	53:9b2611964afc	4648	if (dt >= 20 && dt <= 255)
mjr	53:9b2611964afc	4649	{
mjr	53:9b2611964afc	4650	calRlsTimeSum += dt;
mjr	53:9b2611964afc	4651	calRlsTimeN += 1;
mjr	53:9b2611964afc	4652	cfg.plunger.cal.tRelease = uint8_t(calRlsTimeSum / calRlsTimeN);
mjr	53:9b2611964afc	4653	}
mjr	53:9b2611964afc	4654	}
mjr	50:40015764bbe6	4655	}
mjr	50:40015764bbe6	4656	else if (v < vprv2)
mjr	50:40015764bbe6	4657	{
mjr	50:40015764bbe6	4658	// We're still accelerating, and we haven't crossed the zero
mjr	50:40015764bbe6	4659	// point yet - stay in phase 1. (Note that forward motion is
mjr	50:40015764bbe6	4660	// negative velocity, so accelerating means that the new
mjr	50:40015764bbe6	4661	// velocity is more negative than the previous one, which
mjr	50:40015764bbe6	4662	// is to say numerically less than - that's why the test
mjr	50:40015764bbe6	4663	// for acceleration is the seemingly backwards 'v < vprv'.)
mjr	50:40015764bbe6	4664
mjr	50:40015764bbe6	4665	// If we've been accelerating for at least 20ms, we're probably
mjr	50:40015764bbe6	4666	// really doing a release. Jump back to the recent local
mjr	50:40015764bbe6	4667	// maximum where the release really started. This is always
mjr	50:40015764bbe6	4668	// a bit before we started seeing sustained accleration, because
mjr	50:40015764bbe6	4669	// the plunger motion for the first few milliseconds is too slow
mjr	50:40015764bbe6	4670	// for our sensor precision to reliably detect acceleration.
mjr	50:40015764bbe6	4671	if (f1.pos != 0)
mjr	50:40015764bbe6	4672	{
mjr	50:40015764bbe6	4673	// we have a reset point - freeze there
mjr	50:40015764bbe6	4674	z = f1.pos;
mjr	50:40015764bbe6	4675	}
mjr	50:40015764bbe6	4676	else if (uint32_t(r.t - f1.t) >= 20000UL)
mjr	50:40015764bbe6	4677	{
mjr	50:40015764bbe6	4678	// it's been long enough - set a reset point.
mjr	50:40015764bbe6	4679	f1.pos = z = histLocalMax(r.t, 50000UL);
mjr	50:40015764bbe6	4680	}
mjr	50:40015764bbe6	4681	}
mjr	50:40015764bbe6	4682	else
mjr	50:40015764bbe6	4683	{
mjr	50:40015764bbe6	4684	// We're not accelerating. Cancel the firing event.
mjr	50:40015764bbe6	4685	firingMode(0);
mjr	53:9b2611964afc	4686	calState = 1;
mjr	50:40015764bbe6	4687	}
mjr	50:40015764bbe6	4688	break;
mjr	50:40015764bbe6	4689
mjr	50:40015764bbe6	4690	case 2:
mjr	50:40015764bbe6	4691	// Phase 2 - start of synthetic firing event. Report the fake
mjr	50:40015764bbe6	4692	// bounce for 25ms. VP polls the joystick about every 10ms, so
mjr	50:40015764bbe6	4693	// this should be enough time to guarantee that VP sees this
mjr	50:40015764bbe6	4694	// report at least once.
mjr	50:40015764bbe6	4695	if (uint32_t(r.t - f2.t) < 25000UL)
mjr	50:40015764bbe6	4696	{
mjr	50:40015764bbe6	4697	// report the bounce position
mjr	50:40015764bbe6	4698	z = f2.pos;
mjr	50:40015764bbe6	4699	}
mjr	50:40015764bbe6	4700	else
mjr	50:40015764bbe6	4701	{
mjr	50:40015764bbe6	4702	// it's been long enough - switch to phase 3, where we
mjr	50:40015764bbe6	4703	// report the park position until the real plunger comes
mjr	50:40015764bbe6	4704	// to rest
mjr	50:40015764bbe6	4705	firingMode(3);
mjr	50:40015764bbe6	4706	z = 0;
mjr	50:40015764bbe6	4707
mjr	50:40015764bbe6	4708	// set the start of the "stability window" to the rest position
mjr	50:40015764bbe6	4709	f3s.t = r.t;
mjr	50:40015764bbe6	4710	f3s.pos = 0;
mjr	50:40015764bbe6	4711
mjr	50:40015764bbe6	4712	// set the start of the "retraction window" to the actual position
mjr	50:40015764bbe6	4713	f3r = r;
mjr	50:40015764bbe6	4714	}
mjr	50:40015764bbe6	4715	break;
mjr	50:40015764bbe6	4716
mjr	50:40015764bbe6	4717	case 3:
mjr	50:40015764bbe6	4718	// Phase 3 - in synthetic firing event. Report the park position
mjr	50:40015764bbe6	4719	// until the plunger position stabilizes. Left to its own devices,
mjr	50:40015764bbe6	4720	// the plunger will usualy bounce off the barrel spring several
mjr	50:40015764bbe6	4721	// times before coming to rest, so we'll see oscillating motion
mjr	50:40015764bbe6	4722	// for a second or two. In the simplest case, we can aimply wait
mjr	50:40015764bbe6	4723	// for the plunger to stop moving for a short time. However, the
mjr	50:40015764bbe6	4724	// player might intervene by pulling the plunger back again, so
mjr	50:40015764bbe6	4725	// watch for that motion as well. If we're just bouncing freely,
mjr	50:40015764bbe6	4726	// we'll see the direction change frequently. If the player is
mjr	50:40015764bbe6	4727	// moving the plunger manually, the direction will be constant
mjr	50:40015764bbe6	4728	// for longer.
mjr	50:40015764bbe6	4729	if (v >= 0)
mjr	50:40015764bbe6	4730	{
mjr	50:40015764bbe6	4731	// We're moving back (or standing still). If this has been
mjr	50:40015764bbe6	4732	// going on for a while, the user must have taken control.
mjr	50:40015764bbe6	4733	if (uint32_t(r.t - f3r.t) > 65000UL)
mjr	50:40015764bbe6	4734	{
mjr	50:40015764bbe6	4735	// user has taken control - cancel firing mode
mjr	50:40015764bbe6	4736	firingMode(0);
mjr	50:40015764bbe6	4737	break;
mjr	50:40015764bbe6	4738	}
mjr	50:40015764bbe6	4739	}
mjr	50:40015764bbe6	4740	else
mjr	50:40015764bbe6	4741	{
mjr	50:40015764bbe6	4742	// forward motion - reset retraction window
mjr	50:40015764bbe6	4743	f3r.t = r.t;
mjr	50:40015764bbe6	4744	}
mjr	50:40015764bbe6	4745
mjr	53:9b2611964afc	4746	// Check if we're close to the last starting point. The joystick
mjr	53:9b2611964afc	4747	// positive axis range (0..4096) covers the retraction distance of
mjr	53:9b2611964afc	4748	// about 2.5", so 1" is about 1638 joystick units, hence 1/16" is
mjr	53:9b2611964afc	4749	// about 100 units.
mjr	53:9b2611964afc	4750	if (abs(r.pos - f3s.pos) < 100)
mjr	50:40015764bbe6	4751	{
mjr	53:9b2611964afc	4752	// It's at roughly the same position as the starting point.
mjr	53:9b2611964afc	4753	// Consider it stable if this has been true for 300ms.
mjr	82:4f6209cb5c33	4754	if (uint32_t(r.t - f3s.t) > 300000UL)
mjr	50:40015764bbe6	4755	{
mjr	50:40015764bbe6	4756	// we're done with the firing event
mjr	50:40015764bbe6	4757	firingMode(0);
mjr	50:40015764bbe6	4758	}
mjr	50:40015764bbe6	4759	else
mjr	50:40015764bbe6	4760	{
mjr	50:40015764bbe6	4761	// it's close to the last position but hasn't been
mjr	50:40015764bbe6	4762	// here long enough; stay in firing mode and continue
mjr	50:40015764bbe6	4763	// to report the park position
mjr	50:40015764bbe6	4764	z = 0;
mjr	50:40015764bbe6	4765	}
mjr	50:40015764bbe6	4766	}
mjr	50:40015764bbe6	4767	else
mjr	50:40015764bbe6	4768	{
mjr	50:40015764bbe6	4769	// It's not close enough to the last starting point, so use
mjr	50:40015764bbe6	4770	// this as a new starting point, and stay in firing mode.
mjr	50:40015764bbe6	4771	f3s = r;
mjr	50:40015764bbe6	4772	z = 0;
mjr	50:40015764bbe6	4773	}
mjr	50:40015764bbe6	4774	break;
mjr	50:40015764bbe6	4775	}
mjr	50:40015764bbe6	4776
mjr	50:40015764bbe6	4777	// save the velocity reading for next time
mjr	50:40015764bbe6	4778	vprv2 = vprv;
mjr	50:40015764bbe6	4779	vprv = v;
mjr	50:40015764bbe6	4780
mjr	82:4f6209cb5c33	4781	// Check for auto-zeroing, if enabled
mjr	82:4f6209cb5c33	4782	if ((cfg.plunger.autoZero.flags & PlungerAutoZeroEnabled) != 0)
mjr	82:4f6209cb5c33	4783	{
mjr	82:4f6209cb5c33	4784	// If we moved since the last reading, reset and restart the
mjr	82:4f6209cb5c33	4785	// auto-zero timer. Otherwise, if the timer has reached the
mjr	82:4f6209cb5c33	4786	// auto-zero timeout, it means we've been motionless for that
mjr	82:4f6209cb5c33	4787	// long, so auto-zero now.
mjr	82:4f6209cb5c33	4788	if (r.pos != prv.pos)
mjr	82:4f6209cb5c33	4789	{
mjr	82:4f6209cb5c33	4790	// movement detected - reset the timer
mjr	82:4f6209cb5c33	4791	autoZeroTimer.reset();
mjr	82:4f6209cb5c33	4792	autoZeroTimer.start();
mjr	82:4f6209cb5c33	4793	}
mjr	82:4f6209cb5c33	4794	else if (autoZeroTimer.read_us() > cfg.plunger.autoZero.t * 1000000UL)
mjr	82:4f6209cb5c33	4795	{
mjr	82:4f6209cb5c33	4796	// auto-zero now
mjr	82:4f6209cb5c33	4797	plungerSensor->autoZero();
mjr	82:4f6209cb5c33	4798
mjr	82:4f6209cb5c33	4799	// stop the timer so that we don't keep repeating this
mjr	82:4f6209cb5c33	4800	// if the plunger stays still for a long time
mjr	82:4f6209cb5c33	4801	autoZeroTimer.stop();
mjr	82:4f6209cb5c33	4802	autoZeroTimer.reset();
mjr	82:4f6209cb5c33	4803	}
mjr	82:4f6209cb5c33	4804	}
mjr	82:4f6209cb5c33	4805
mjr	50:40015764bbe6	4806	// add the new reading to the history
mjr	76:7f5912b6340e	4807	hist[histIdx] = r;
mjr	82:4f6209cb5c33	4808	if (++histIdx >= countof(hist))
mjr	76:7f5912b6340e	4809	histIdx = 0;
mjr	82:4f6209cb5c33	4810
mjr	69:cc5039284fac	4811	// apply the post-processing filter
mjr	69:cc5039284fac	4812	zf = applyPostFilter();
mjr	48:058ace2aed1d	4813	}
mjr	48:058ace2aed1d	4814	}
mjr	48:058ace2aed1d	4815
mjr	48:058ace2aed1d	4816	// Get the current value to report through the joystick interface
mjr	58:523fdcffbe6d	4817	int16_t getPosition()
mjr	58:523fdcffbe6d	4818	{
mjr	58:523fdcffbe6d	4819	// return the last filtered reading
mjr	58:523fdcffbe6d	4820	return zf;
mjr	55:4db125cd11a0	4821	}
mjr	58:523fdcffbe6d	4822
mjr	48:058ace2aed1d	4823	// get the timestamp of the current joystick report (microseconds)
mjr	50:40015764bbe6	4824	uint32_t getTimestamp() const { return nthHist(0).t; }
mjr	48:058ace2aed1d	4825
mjr	48:058ace2aed1d	4826	// Set calibration mode on or off
mjr	52:8298b2a73eb2	4827	void setCalMode(bool f)
mjr	48:058ace2aed1d	4828	{
mjr	52:8298b2a73eb2	4829	// check to see if we're entering calibration mode
mjr	52:8298b2a73eb2	4830	if (f && !plungerCalMode)
mjr	52:8298b2a73eb2	4831	{
mjr	52:8298b2a73eb2	4832	// reset the calibration in the configuration
mjr	48:058ace2aed1d	4833	cfg.plunger.cal.begin();
mjr	52:8298b2a73eb2	4834
mjr	52:8298b2a73eb2	4835	// start in state 0 (waiting to settle)
mjr	52:8298b2a73eb2	4836	calState = 0;
mjr	52:8298b2a73eb2	4837	calZeroPosSum = 0;
mjr	52:8298b2a73eb2	4838	calZeroPosN = 0;
mjr	52:8298b2a73eb2	4839	calRlsTimeSum = 0;
mjr	52:8298b2a73eb2	4840	calRlsTimeN = 0;
mjr	52:8298b2a73eb2	4841
mjr	82:4f6209cb5c33	4842	// tell the plunger we're starting calibration
mjr	82:4f6209cb5c33	4843	plungerSensor->beginCalibration();
mjr	82:4f6209cb5c33	4844
mjr	52:8298b2a73eb2	4845	// set the initial zero point to the current position
mjr	52:8298b2a73eb2	4846	PlungerReading r;
mjr	52:8298b2a73eb2	4847	if (plungerSensor->read(r))
mjr	52:8298b2a73eb2	4848	{
mjr	52:8298b2a73eb2	4849	// got a reading - use it as the initial zero point
mjr	69:cc5039284fac	4850	applyPreFilter(r);
mjr	52:8298b2a73eb2	4851	cfg.plunger.cal.zero = r.pos;
mjr	76:7f5912b6340e	4852	onUpdateCal();
mjr	52:8298b2a73eb2	4853
mjr	52:8298b2a73eb2	4854	// use it as the starting point for the settling watch
mjr	53:9b2611964afc	4855	calZeroStart = r;
mjr	52:8298b2a73eb2	4856	}
mjr	52:8298b2a73eb2	4857	else
mjr	52:8298b2a73eb2	4858	{
mjr	52:8298b2a73eb2	4859	// no reading available - use the default 1/6 position
mjr	52:8298b2a73eb2	4860	cfg.plunger.cal.zero = 0xffff/6;
mjr	76:7f5912b6340e	4861	onUpdateCal();
mjr	52:8298b2a73eb2	4862
mjr	52:8298b2a73eb2	4863	// we don't have a starting point for the setting watch
mjr	53:9b2611964afc	4864	calZeroStart.pos = -65535;
mjr	53:9b2611964afc	4865	calZeroStart.t = 0;
mjr	53:9b2611964afc	4866	}
mjr	53:9b2611964afc	4867	}
mjr	53:9b2611964afc	4868	else if (!f && plungerCalMode)
mjr	53:9b2611964afc	4869	{
mjr	53:9b2611964afc	4870	// Leaving calibration mode. Make sure the max is past the
mjr	53:9b2611964afc	4871	// zero point - if it's not, we'd have a zero or negative
mjr	53:9b2611964afc	4872	// denominator for the scaling calculation, which would be
mjr	53:9b2611964afc	4873	// physically meaningless.
mjr	53:9b2611964afc	4874	if (cfg.plunger.cal.max <= cfg.plunger.cal.zero)
mjr	53:9b2611964afc	4875	{
mjr	53:9b2611964afc	4876	// bad settings - reset to defaults
mjr	53:9b2611964afc	4877	cfg.plunger.cal.max = 0xffff;
mjr	53:9b2611964afc	4878	cfg.plunger.cal.zero = 0xffff/6;
mjr	76:7f5912b6340e	4879	onUpdateCal();
mjr	52:8298b2a73eb2	4880	}
mjr	52:8298b2a73eb2	4881	}
mjr	52:8298b2a73eb2	4882
mjr	48:058ace2aed1d	4883	// remember the new mode
mjr	52:8298b2a73eb2	4884	plungerCalMode = f;
mjr	48:058ace2aed1d	4885	}
mjr	48:058ace2aed1d	4886
mjr	76:7f5912b6340e	4887	// Cached inverse of the calibration range. This is for calculating
mjr	76:7f5912b6340e	4888	// the calibrated plunger position given a raw sensor reading. The
mjr	76:7f5912b6340e	4889	// cached inverse is calculated as
mjr	76:7f5912b6340e	4890	//
mjr	76:7f5912b6340e	4891	// 64K * JOYMAX / (cfg.plunger.cal.max - cfg.plunger.cal.zero)
mjr	76:7f5912b6340e	4892	//
mjr	76:7f5912b6340e	4893	// To convert a raw sensor reading to a calibrated position, calculate
mjr	76:7f5912b6340e	4894	//
mjr	76:7f5912b6340e	4895	// ((reading - cfg.plunger.cal.zero)*invCalRange) >> 16
mjr	76:7f5912b6340e	4896	//
mjr	76:7f5912b6340e	4897	// That yields the calibration result without performing a division.
mjr	76:7f5912b6340e	4898	int invCalRange;
mjr	76:7f5912b6340e	4899
mjr	76:7f5912b6340e	4900	// apply the calibration range to a reading
mjr	76:7f5912b6340e	4901	inline int applyCal(int reading)
mjr	76:7f5912b6340e	4902	{
mjr	76:7f5912b6340e	4903	return ((reading - cfg.plunger.cal.zero)*invCalRange) >> 16;
mjr	76:7f5912b6340e	4904	}
mjr	76:7f5912b6340e	4905
mjr	76:7f5912b6340e	4906	void onUpdateCal()
mjr	76:7f5912b6340e	4907	{
mjr	76:7f5912b6340e	4908	invCalRange = (JOYMAX << 16)/(cfg.plunger.cal.max - cfg.plunger.cal.zero);
mjr	76:7f5912b6340e	4909	}
mjr	76:7f5912b6340e	4910
mjr	48:058ace2aed1d	4911	// is a firing event in progress?
mjr	53:9b2611964afc	4912	bool isFiring() { return firing == 3; }
mjr	76:7f5912b6340e	4913
mjr	48:058ace2aed1d	4914	private:
mjr	82:4f6209cb5c33	4915	// Auto-zeroing timer
mjr	82:4f6209cb5c33	4916	Timer autoZeroTimer;
mjr	52:8298b2a73eb2	4917
mjr	74:822a92bc11d2	4918	// Plunger data filtering mode: optionally apply filtering to the raw
mjr	74:822a92bc11d2	4919	// plunger sensor readings to try to reduce noise in the signal. This
mjr	74:822a92bc11d2	4920	// is designed for the TSL1410/12 optical sensors, where essentially all
mjr	74:822a92bc11d2	4921	// of the noise in the signal comes from lack of sharpness in the shadow
mjr	74:822a92bc11d2	4922	// edge. When the shadow is blurry, the edge detector has to pick a pixel,
mjr	74:822a92bc11d2	4923	// even though the edge is actually a gradient spanning several pixels.
mjr	74:822a92bc11d2	4924	// The edge detection algorithm decides on the exact pixel, but whatever
mjr	74:822a92bc11d2	4925	// the algorithm, the choice is going to be somewhat arbitrary given that
mjr	74:822a92bc11d2	4926	// there's really no one pixel that's "the edge" when the edge actually
mjr	74:822a92bc11d2	4927	// covers multiple pixels. This can make the choice of pixel sensitive to
mjr	74:822a92bc11d2	4928	// small changes in exposure and pixel respose from frame to frame, which
mjr	74:822a92bc11d2	4929	// means that the reported edge position can move by a pixel or two from
mjr	74:822a92bc11d2	4930	// one frame to the next even when the physical plunger is perfectly still.
mjr	74:822a92bc11d2	4931	// That's the noise we're talking about.
mjr	74:822a92bc11d2	4932	//
mjr	74:822a92bc11d2	4933	// We previously applied a mild hysteresis filter to the signal to try to
mjr	74:822a92bc11d2	4934	// eliminate this noise. The filter tracked the average over the last
mjr	74:822a92bc11d2	4935	// several samples, and rejected readings that wandered within a few
mjr	74:822a92bc11d2	4936	// pixels of the average. If a certain number of readings moved away from
mjr	74:822a92bc11d2	4937	// the average in the same direction, even by small amounts, the filter
mjr	74:822a92bc11d2	4938	// accepted the changes, on the assumption that they represented actual
mjr	74:822a92bc11d2	4939	// slow movement of the plunger. This filter was applied after the firing
mjr	74:822a92bc11d2	4940	// detection.
mjr	74:822a92bc11d2	4941	//
mjr	74:822a92bc11d2	4942	// I also tried a simpler filter that rejected changes that were too fast
mjr	74:822a92bc11d2	4943	// to be physically possible, as well as changes that were very close to
mjr	74:822a92bc11d2	4944	// the last reported position (i.e., simple hysteresis). The "too fast"
mjr	74:822a92bc11d2	4945	// filter was there to reject spurious readings where the edge detector
mjr	74:822a92bc11d2	4946	// mistook a bad pixel value as an edge.
mjr	74:822a92bc11d2	4947	//
mjr	74:822a92bc11d2	4948	// The new "mode 2" edge detector (see ccdSensor.h) seems to do a better
mjr	74:822a92bc11d2	4949	// job of rejecting pixel-level noise by itself than the older "mode 0"
mjr	74:822a92bc11d2	4950	// algorithm did, so I removed the filtering entirely. Any filtering has
mjr	74:822a92bc11d2	4951	// some downsides, so it's better to reduce noise in the underlying signal
mjr	74:822a92bc11d2	4952	// as much as possible first. It seems possible to get a very stable signal
mjr	74:822a92bc11d2	4953	// now with a combination of the mode 2 edge detector and optimizing the
mjr	74:822a92bc11d2	4954	// physical sensor arrangement, especially optimizing the light source to
mjr	74:822a92bc11d2	4955	// cast as sharp as shadow as possible and adjusting the brightness to
mjr	74:822a92bc11d2	4956	// maximize bright/dark contrast in the image.
mjr	74:822a92bc11d2	4957	//
mjr	74:822a92bc11d2	4958	// 0 = No filtering (current default)
mjr	74:822a92bc11d2	4959	// 1 = Filter the data after firing detection using moving average
mjr	74:822a92bc11d2	4960	// hysteresis filter (old version, used in most 2016 releases)
mjr	74:822a92bc11d2	4961	// 2 = Filter the data before firing detection using simple hysteresis
mjr	74:822a92bc11d2	4962	// plus spurious "too fast" motion rejection
mjr	74:822a92bc11d2	4963	//
mjr	73:4e8ce0b18915	4964	#define PLUNGER_FILTERING_MODE 0
mjr	73:4e8ce0b18915	4965
mjr	73:4e8ce0b18915	4966	#if PLUNGER_FILTERING_MODE == 0
mjr	69:cc5039284fac	4967	// Disable all filtering
mjr	74:822a92bc11d2	4968	inline void applyPreFilter(PlungerReading &r) { }
mjr	74:822a92bc11d2	4969	inline int applyPostFilter() { return z; }
mjr	73:4e8ce0b18915	4970	#elif PLUNGER_FILTERING_MODE == 1
mjr	73:4e8ce0b18915	4971	// Apply pre-processing filter. This filter is applied to the raw
mjr	73:4e8ce0b18915	4972	// value coming off the sensor, before calibration or fire-event
mjr	73:4e8ce0b18915	4973	// processing.
mjr	73:4e8ce0b18915	4974	void applyPreFilter(PlungerReading &r)
mjr	73:4e8ce0b18915	4975	{
mjr	73:4e8ce0b18915	4976	}
mjr	73:4e8ce0b18915	4977
mjr	73:4e8ce0b18915	4978	// Figure the next post-processing filtered value. This applies a
mjr	73:4e8ce0b18915	4979	// hysteresis filter to the last raw z value and returns the
mjr	73:4e8ce0b18915	4980	// filtered result.
mjr	73:4e8ce0b18915	4981	int applyPostFilter()
mjr	73:4e8ce0b18915	4982	{
mjr	73:4e8ce0b18915	4983	if (firing <= 1)
mjr	73:4e8ce0b18915	4984	{
mjr	73:4e8ce0b18915	4985	// Filter limit - 5 samples. Once we've been moving
mjr	73:4e8ce0b18915	4986	// in the same direction for this many samples, we'll
mjr	73:4e8ce0b18915	4987	// clear the history and start over.
mjr	73:4e8ce0b18915	4988	const int filterMask = 0x1f;
mjr	73:4e8ce0b18915	4989
mjr	73:4e8ce0b18915	4990	// figure the last average
mjr	73:4e8ce0b18915	4991	int lastAvg = int(filterSum / filterN);
mjr	73:4e8ce0b18915	4992
mjr	73:4e8ce0b18915	4993	// figure the direction of this sample relative to the average,
mjr	73:4e8ce0b18915	4994	// and shift it in to our bit mask of recent direction data
mjr	73:4e8ce0b18915	4995	if (z != lastAvg)
mjr	73:4e8ce0b18915	4996	{
mjr	73:4e8ce0b18915	4997	// shift the new direction bit into the vector
mjr	73:4e8ce0b18915	4998	filterDir <<= 1;
mjr	73:4e8ce0b18915	4999	if (z > lastAvg) filterDir \|= 1;
mjr	73:4e8ce0b18915	5000	}
mjr	73:4e8ce0b18915	5001
mjr	73:4e8ce0b18915	5002	// keep only the last N readings, up to the filter limit
mjr	73:4e8ce0b18915	5003	filterDir &= filterMask;
mjr	73:4e8ce0b18915	5004
mjr	73:4e8ce0b18915	5005	// if we've been moving consistently in one direction (all 1's
mjr	73:4e8ce0b18915	5006	// or all 0's in the direction history vector), reset the average
mjr	73:4e8ce0b18915	5007	if (filterDir == 0x00 \|\| filterDir == filterMask)
mjr	73:4e8ce0b18915	5008	{
mjr	73:4e8ce0b18915	5009	// motion away from the average - reset the average
mjr	73:4e8ce0b18915	5010	filterDir = 0x5555;
mjr	73:4e8ce0b18915	5011	filterN = 1;
mjr	73:4e8ce0b18915	5012	filterSum = (lastAvg + z)/2;
mjr	73:4e8ce0b18915	5013	return int16_t(filterSum);
mjr	73:4e8ce0b18915	5014	}
mjr	73:4e8ce0b18915	5015	else
mjr	73:4e8ce0b18915	5016	{
mjr	73:4e8ce0b18915	5017	// we're directionless - return the new average, with the
mjr	73:4e8ce0b18915	5018	// new sample included
mjr	73:4e8ce0b18915	5019	filterSum += z;
mjr	73:4e8ce0b18915	5020	++filterN;
mjr	73:4e8ce0b18915	5021	return int16_t(filterSum / filterN);
mjr	73:4e8ce0b18915	5022	}
mjr	73:4e8ce0b18915	5023	}
mjr	73:4e8ce0b18915	5024	else
mjr	73:4e8ce0b18915	5025	{
mjr	73:4e8ce0b18915	5026	// firing mode - skip the filter
mjr	73:4e8ce0b18915	5027	filterN = 1;
mjr	73:4e8ce0b18915	5028	filterSum = z;
mjr	73:4e8ce0b18915	5029	filterDir = 0x5555;
mjr	73:4e8ce0b18915	5030	return z;
mjr	73:4e8ce0b18915	5031	}
mjr	73:4e8ce0b18915	5032	}
mjr	73:4e8ce0b18915	5033	#elif PLUNGER_FILTERING_MODE == 2
mjr	69:cc5039284fac	5034	// Apply pre-processing filter. This filter is applied to the raw
mjr	69:cc5039284fac	5035	// value coming off the sensor, before calibration or fire-event
mjr	69:cc5039284fac	5036	// processing.
mjr	69:cc5039284fac	5037	void applyPreFilter(PlungerReading &r)
mjr	69:cc5039284fac	5038	{
mjr	69:cc5039284fac	5039	// get the previous raw reading
mjr	69:cc5039284fac	5040	PlungerReading prv = pre.raw;
mjr	69:cc5039284fac	5041
mjr	69:cc5039284fac	5042	// the new reading is the previous raw reading next time, no
mjr	69:cc5039284fac	5043	// matter how we end up filtering it
mjr	69:cc5039284fac	5044	pre.raw = r;
mjr	69:cc5039284fac	5045
mjr	69:cc5039284fac	5046	// If it's too big an excursion from the previous raw reading,
mjr	69:cc5039284fac	5047	// ignore it and repeat the previous reported reading. This
mjr	69:cc5039284fac	5048	// filters out anomalous spikes where we suddenly jump to a
mjr	69:cc5039284fac	5049	// level that's too far away to be possible. Real plungers
mjr	69:cc5039284fac	5050	// take about 60ms to travel the full distance when released,
mjr	69:cc5039284fac	5051	// so assuming constant acceleration, the maximum realistic
mjr	69:cc5039284fac	5052	// speed is about 2.200 distance units (on our 0..0xffff scale)
mjr	69:cc5039284fac	5053	// per microsecond.
mjr	69:cc5039284fac	5054	//
mjr	69:cc5039284fac	5055	// On the other hand, if the new reading is too close to the
mjr	69:cc5039284fac	5056	// previous reading, use the previous reported reading. This
mjr	69:cc5039284fac	5057	// filters out jitter around a stationary position.
mjr	69:cc5039284fac	5058	const float maxDist = 2.184f*uint32_t(r.t - prv.t);
mjr	69:cc5039284fac	5059	const int minDist = 256;
mjr	69:cc5039284fac	5060	const int delta = abs(r.pos - prv.pos);
mjr	69:cc5039284fac	5061	if (maxDist > minDist && delta > maxDist)
mjr	69:cc5039284fac	5062	{
mjr	69:cc5039284fac	5063	// too big an excursion - discard this reading by reporting
mjr	69:cc5039284fac	5064	// the last reported reading instead
mjr	69:cc5039284fac	5065	r.pos = pre.reported;
mjr	69:cc5039284fac	5066	}
mjr	69:cc5039284fac	5067	else if (delta < minDist)
mjr	69:cc5039284fac	5068	{
mjr	69:cc5039284fac	5069	// too close to the prior reading - apply hysteresis
mjr	69:cc5039284fac	5070	r.pos = pre.reported;
mjr	69:cc5039284fac	5071	}
mjr	69:cc5039284fac	5072	else
mjr	69:cc5039284fac	5073	{
mjr	69:cc5039284fac	5074	// the reading is in range - keep it, and remember it as
mjr	69:cc5039284fac	5075	// the last reported reading
mjr	69:cc5039284fac	5076	pre.reported = r.pos;
mjr	69:cc5039284fac	5077	}
mjr	69:cc5039284fac	5078	}
mjr	69:cc5039284fac	5079
mjr	69:cc5039284fac	5080	// pre-filter data
mjr	69:cc5039284fac	5081	struct PreFilterData {
mjr	69:cc5039284fac	5082	PreFilterData()
mjr	69:cc5039284fac	5083	: reported(0)
mjr	69:cc5039284fac	5084	{
mjr	69:cc5039284fac	5085	raw.t = 0;
mjr	69:cc5039284fac	5086	raw.pos = 0;
mjr	69:cc5039284fac	5087	}
mjr	69:cc5039284fac	5088	PlungerReading raw; // previous raw sensor reading
mjr	69:cc5039284fac	5089	int reported; // previous reported reading
mjr	69:cc5039284fac	5090	} pre;
mjr	69:cc5039284fac	5091
mjr	69:cc5039284fac	5092
mjr	69:cc5039284fac	5093	// Apply the post-processing filter. This filter is applied after
mjr	69:cc5039284fac	5094	// the fire-event processing. In the past, this used hysteresis to
mjr	69:cc5039284fac	5095	// try to smooth out jittering readings for a stationary plunger.
mjr	69:cc5039284fac	5096	// We've switched to a different approach that massages the readings
mjr	69:cc5039284fac	5097	// coming off the sensor before
mjr	69:cc5039284fac	5098	int applyPostFilter()
mjr	69:cc5039284fac	5099	{
mjr	69:cc5039284fac	5100	return z;
mjr	69:cc5039284fac	5101	}
mjr	69:cc5039284fac	5102	#endif
mjr	58:523fdcffbe6d	5103
mjr	58:523fdcffbe6d	5104	void initFilter()
mjr	58:523fdcffbe6d	5105	{
mjr	58:523fdcffbe6d	5106	filterSum = 0;
mjr	58:523fdcffbe6d	5107	filterN = 1;
mjr	58:523fdcffbe6d	5108	filterDir = 0x5555;
mjr	58:523fdcffbe6d	5109	}
mjr	58:523fdcffbe6d	5110	int64_t filterSum;
mjr	58:523fdcffbe6d	5111	int64_t filterN;
mjr	58:523fdcffbe6d	5112	uint16_t filterDir;
mjr	58:523fdcffbe6d	5113
mjr	58:523fdcffbe6d	5114
mjr	52:8298b2a73eb2	5115	// Calibration state. During calibration mode, we watch for release
mjr	52:8298b2a73eb2	5116	// events, to measure the time it takes to complete the release
mjr	52:8298b2a73eb2	5117	// motion; and we watch for the plunger to come to reset after a
mjr	52:8298b2a73eb2	5118	// release, to gather statistics on the rest position.
mjr	52:8298b2a73eb2	5119	// 0 = waiting to settle
mjr	52:8298b2a73eb2	5120	// 1 = at rest
mjr	52:8298b2a73eb2	5121	// 2 = retracting
mjr	52:8298b2a73eb2	5122	// 3 = possibly releasing
mjr	52:8298b2a73eb2	5123	uint8_t calState;
mjr	52:8298b2a73eb2	5124
mjr	52:8298b2a73eb2	5125	// Calibration zero point statistics.
mjr	52:8298b2a73eb2	5126	// During calibration mode, we collect data on the rest position (the
mjr	52:8298b2a73eb2	5127	// zero point) by watching for the plunger to come to rest after each
mjr	52:8298b2a73eb2	5128	// release. We average these rest positions to get the calibrated
mjr	52:8298b2a73eb2	5129	// zero point. We use the average because the real physical plunger
mjr	52:8298b2a73eb2	5130	// itself doesn't come to rest at exactly the same spot every time,
mjr	52:8298b2a73eb2	5131	// largely due to friction in the mechanism. To calculate the average,
mjr	52:8298b2a73eb2	5132	// we keep a sum of the readings and a count of samples.
mjr	53:9b2611964afc	5133	PlungerReading calZeroStart;
mjr	52:8298b2a73eb2	5134	long calZeroPosSum;
mjr	52:8298b2a73eb2	5135	int calZeroPosN;
mjr	52:8298b2a73eb2	5136
mjr	52:8298b2a73eb2	5137	// Calibration release time statistics.
mjr	52:8298b2a73eb2	5138	// During calibration, we collect an average for the release time.
mjr	52:8298b2a73eb2	5139	long calRlsTimeSum;
mjr	52:8298b2a73eb2	5140	int calRlsTimeN;
mjr	52:8298b2a73eb2	5141
mjr	48:058ace2aed1d	5142	// set a firing mode
mjr	48:058ace2aed1d	5143	inline void firingMode(int m)
mjr	48:058ace2aed1d	5144	{
mjr	48:058ace2aed1d	5145	firing = m;
mjr	48:058ace2aed1d	5146	}
mjr	48:058ace2aed1d	5147
mjr	48:058ace2aed1d	5148	// Find the most recent local maximum in the history data, up to
mjr	48:058ace2aed1d	5149	// the given time limit.
mjr	48:058ace2aed1d	5150	int histLocalMax(uint32_t tcur, uint32_t dt)
mjr	48:058ace2aed1d	5151	{
mjr	48:058ace2aed1d	5152	// start with the prior entry
mjr	48:058ace2aed1d	5153	int idx = (histIdx == 0 ? countof(hist) : histIdx) - 1;
mjr	48:058ace2aed1d	5154	int hi = hist[idx].pos;
mjr	48:058ace2aed1d	5155
mjr	48:058ace2aed1d	5156	// scan backwards for a local maximum
mjr	48:058ace2aed1d	5157	for (int n = countof(hist) - 1 ; n > 0 ; idx = (idx == 0 ? countof(hist) : idx) - 1)
mjr	48:058ace2aed1d	5158	{
mjr	48:058ace2aed1d	5159	// if this isn't within the time window, stop
mjr	48:058ace2aed1d	5160	if (uint32_t(tcur - hist[idx].t) > dt)
mjr	48:058ace2aed1d	5161	break;
mjr	48:058ace2aed1d	5162
mjr	48:058ace2aed1d	5163	// if this isn't above the current hith, stop
mjr	48:058ace2aed1d	5164	if (hist[idx].pos < hi)
mjr	48:058ace2aed1d	5165	break;
mjr	48:058ace2aed1d	5166
mjr	48:058ace2aed1d	5167	// this is the new high
mjr	48:058ace2aed1d	5168	hi = hist[idx].pos;
mjr	48:058ace2aed1d	5169	}
mjr	48:058ace2aed1d	5170
mjr	48:058ace2aed1d	5171	// return the local maximum
mjr	48:058ace2aed1d	5172	return hi;
mjr	48:058ace2aed1d	5173	}
mjr	48:058ace2aed1d	5174
mjr	50:40015764bbe6	5175	// velocity at previous reading, and the one before that
mjr	76:7f5912b6340e	5176	int vprv, vprv2;
mjr	48:058ace2aed1d	5177
mjr	48:058ace2aed1d	5178	// Circular buffer of recent readings. We keep a short history
mjr	48:058ace2aed1d	5179	// of readings to analyze during firing events. We can only identify
mjr	48:058ace2aed1d	5180	// a firing event once it's somewhat under way, so we need a little
mjr	48:058ace2aed1d	5181	// retrospective information to accurately determine after the fact
mjr	48:058ace2aed1d	5182	// exactly when it started. We throttle our readings to no more
mjr	74:822a92bc11d2	5183	// than one every 1ms, so we have at least N*1ms of history in this
mjr	48:058ace2aed1d	5184	// array.
mjr	74:822a92bc11d2	5185	PlungerReading hist[32];
mjr	48:058ace2aed1d	5186	int histIdx;
mjr	49:37bd97eb7688	5187
mjr	50:40015764bbe6	5188	// get the nth history item (0=last, 1=2nd to last, etc)
mjr	74:822a92bc11d2	5189	inline const PlungerReading &nthHist(int n) const
mjr	50:40015764bbe6	5190	{
mjr	50:40015764bbe6	5191	// histIdx-1 is the last written; go from there
mjr	50:40015764bbe6	5192	n = histIdx - 1 - n;
mjr	50:40015764bbe6	5193
mjr	50:40015764bbe6	5194	// adjust for wrapping
mjr	50:40015764bbe6	5195	if (n < 0)
mjr	50:40015764bbe6	5196	n += countof(hist);
mjr	50:40015764bbe6	5197
mjr	50:40015764bbe6	5198	// return the item
mjr	50:40015764bbe6	5199	return hist[n];
mjr	50:40015764bbe6	5200	}
mjr	48:058ace2aed1d	5201
mjr	48:058ace2aed1d	5202	// Firing event state.
mjr	48:058ace2aed1d	5203	//
mjr	48:058ace2aed1d	5204	// 0 - Default state. We report the real instantaneous plunger
mjr	48:058ace2aed1d	5205	// position to the joystick interface.
mjr	48:058ace2aed1d	5206	//
mjr	53:9b2611964afc	5207	// 1 - Moving forward
mjr	48:058ace2aed1d	5208	//
mjr	53:9b2611964afc	5209	// 2 - Accelerating
mjr	48:058ace2aed1d	5210	//
mjr	53:9b2611964afc	5211	// 3 - Firing. We report the rest position for a minimum interval,
mjr	53:9b2611964afc	5212	// or until the real plunger comes to rest somewhere.
mjr	48:058ace2aed1d	5213	//
mjr	48:058ace2aed1d	5214	int firing;
mjr	48:058ace2aed1d	5215
mjr	51:57eb311faafa	5216	// Position/timestamp at start of firing phase 1. When we see a
mjr	51:57eb311faafa	5217	// sustained forward acceleration, we freeze joystick reports at
mjr	51:57eb311faafa	5218	// the recent local maximum, on the assumption that this was the
mjr	51:57eb311faafa	5219	// start of the release. If this is zero, it means that we're
mjr	51:57eb311faafa	5220	// monitoring accelerating motion but haven't seen it for long
mjr	51:57eb311faafa	5221	// enough yet to be confident that a release is in progress.
mjr	48:058ace2aed1d	5222	PlungerReading f1;
mjr	48:058ace2aed1d	5223
mjr	48:058ace2aed1d	5224	// Position/timestamp at start of firing phase 2. The position is
mjr	48:058ace2aed1d	5225	// the fake "bounce" position we report during this phase, and the
mjr	48:058ace2aed1d	5226	// timestamp tells us when the phase began so that we can end it
mjr	48:058ace2aed1d	5227	// after enough time elapses.
mjr	48:058ace2aed1d	5228	PlungerReading f2;
mjr	48:058ace2aed1d	5229
mjr	48:058ace2aed1d	5230	// Position/timestamp of start of stability window during phase 3.
mjr	48:058ace2aed1d	5231	// We use this to determine when the plunger comes to rest. We set
mjr	51:57eb311faafa	5232	// this at the beginning of phase 3, and then reset it when the
mjr	48:058ace2aed1d	5233	// plunger moves too far from the last position.
mjr	48:058ace2aed1d	5234	PlungerReading f3s;
mjr	48:058ace2aed1d	5235
mjr	48:058ace2aed1d	5236	// Position/timestamp of start of retraction window during phase 3.
mjr	48:058ace2aed1d	5237	// We use this to determine if the user is drawing the plunger back.
mjr	48:058ace2aed1d	5238	// If we see retraction motion for more than about 65ms, we assume
mjr	48:058ace2aed1d	5239	// that the user has taken over, because we should see forward
mjr	48:058ace2aed1d	5240	// motion within this timeframe if the plunger is just bouncing
mjr	48:058ace2aed1d	5241	// freely.
mjr	48:058ace2aed1d	5242	PlungerReading f3r;
mjr	48:058ace2aed1d	5243
mjr	58:523fdcffbe6d	5244	// next raw (unfiltered) Z value to report to the joystick interface
mjr	58:523fdcffbe6d	5245	// (in joystick distance units)
mjr	48:058ace2aed1d	5246	int z;
mjr	48:058ace2aed1d	5247
mjr	58:523fdcffbe6d	5248	// next filtered Z value to report to the joystick interface
mjr	58:523fdcffbe6d	5249	int zf;
mjr	48:058ace2aed1d	5250	};
mjr	48:058ace2aed1d	5251
mjr	48:058ace2aed1d	5252	// plunger reader singleton
mjr	48:058ace2aed1d	5253	PlungerReader plungerReader;
mjr	48:058ace2aed1d	5254
mjr	48:058ace2aed1d	5255	// ---------------------------------------------------------------------------
mjr	48:058ace2aed1d	5256	//
mjr	48:058ace2aed1d	5257	// Handle the ZB Launch Ball feature.
mjr	48:058ace2aed1d	5258	//
mjr	48:058ace2aed1d	5259	// The ZB Launch Ball feature, if enabled, lets the mechanical plunger
mjr	48:058ace2aed1d	5260	// serve as a substitute for a physical Launch Ball button. When a table
mjr	48:058ace2aed1d	5261	// is loaded in VP, and the table has the ZB Launch Ball LedWiz port
mjr	48:058ace2aed1d	5262	// turned on, we'll disable mechanical plunger reports through the
mjr	48:058ace2aed1d	5263	// joystick interface and instead use the plunger only to simulate the
mjr	48:058ace2aed1d	5264	// Launch Ball button. When the mode is active, pulling back and
mjr	48:058ace2aed1d	5265	// releasing the plunger causes a brief simulated press of the Launch
mjr	48:058ace2aed1d	5266	// button, and pushing the plunger forward of the rest position presses
mjr	48:058ace2aed1d	5267	// the Launch button as long as the plunger is pressed forward.
mjr	48:058ace2aed1d	5268	//
mjr	48:058ace2aed1d	5269	// This feature has two configuration components:
mjr	48:058ace2aed1d	5270	//
mjr	48:058ace2aed1d	5271	// - An LedWiz port number. This port is a "virtual" port that doesn't
mjr	48:058ace2aed1d	5272	// have to be attached to any actual output. DOF uses it to signal
mjr	48:058ace2aed1d	5273	// that the current table uses a Launch button instead of a plunger.
mjr	48:058ace2aed1d	5274	// DOF simply turns the port on when such a table is loaded and turns
mjr	48:058ace2aed1d	5275	// it off at all other times. We use it to enable and disable the
mjr	48:058ace2aed1d	5276	// plunger/launch button connection.
mjr	48:058ace2aed1d	5277	//
mjr	48:058ace2aed1d	5278	// - A joystick button ID. We simulate pressing this button when the
mjr	48:058ace2aed1d	5279	// launch feature is activated via the LedWiz port and the plunger is
mjr	48:058ace2aed1d	5280	// either pulled back and releasd, or pushed forward past the rest
mjr	48:058ace2aed1d	5281	// position.
mjr	48:058ace2aed1d	5282	//
mjr	48:058ace2aed1d	5283	class ZBLaunchBall
mjr	48:058ace2aed1d	5284	{
mjr	48:058ace2aed1d	5285	public:
mjr	48:058ace2aed1d	5286	ZBLaunchBall()
mjr	48:058ace2aed1d	5287	{
mjr	48:058ace2aed1d	5288	// start in the default state
mjr	48:058ace2aed1d	5289	lbState = 0;
mjr	53:9b2611964afc	5290	btnState = false;
mjr	48:058ace2aed1d	5291	}
mjr	48:058ace2aed1d	5292
mjr	48:058ace2aed1d	5293	// Update state. This checks the current plunger position and
mjr	48:058ace2aed1d	5294	// the timers to see if the plunger is in a position that simulates
mjr	48:058ace2aed1d	5295	// a Launch Ball button press via the ZB Launch Ball feature.
mjr	48:058ace2aed1d	5296	// Updates the simulated button vector according to the current
mjr	48:058ace2aed1d	5297	// launch ball state. The main loop calls this before each
mjr	48:058ace2aed1d	5298	// joystick update to figure the new simulated button state.
mjr	53:9b2611964afc	5299	void update()
mjr	48:058ace2aed1d	5300	{
mjr	53:9b2611964afc	5301	// If the ZB Launch Ball led wiz output is ON, check for a
mjr	53:9b2611964afc	5302	// plunger firing event
mjr	53:9b2611964afc	5303	if (zbLaunchOn)
mjr	48:058ace2aed1d	5304	{
mjr	53:9b2611964afc	5305	// note the new position
mjr	48:058ace2aed1d	5306	int znew = plungerReader.getPosition();
mjr	53:9b2611964afc	5307
mjr	53:9b2611964afc	5308	// figure the push threshold from the configuration data
mjr	51:57eb311faafa	5309	const int pushThreshold = int(-JOYMAX/3.0 * cfg.plunger.zbLaunchBall.pushDistance/1000.0);
mjr	53:9b2611964afc	5310
mjr	53:9b2611964afc	5311	// check the state
mjr	48:058ace2aed1d	5312	switch (lbState)
mjr	48:058ace2aed1d	5313	{
mjr	48:058ace2aed1d	5314	case 0:
mjr	53:9b2611964afc	5315	// Default state. If a launch event has been detected on
mjr	53:9b2611964afc	5316	// the plunger, activate a timed pulse and switch to state 1.
mjr	53:9b2611964afc	5317	// If the plunger is pushed forward of the threshold, push
mjr	53:9b2611964afc	5318	// the button.
mjr	53:9b2611964afc	5319	if (plungerReader.isFiring())
mjr	53:9b2611964afc	5320	{
mjr	53:9b2611964afc	5321	// firing event - start a timed Launch button pulse
mjr	53:9b2611964afc	5322	lbTimer.reset();
mjr	53:9b2611964afc	5323	lbTimer.start();
mjr	53:9b2611964afc	5324	setButton(true);
mjr	53:9b2611964afc	5325
mjr	53:9b2611964afc	5326	// switch to state 1
mjr	53:9b2611964afc	5327	lbState = 1;
mjr	53:9b2611964afc	5328	}
mjr	48:058ace2aed1d	5329	else if (znew <= pushThreshold)
mjr	53:9b2611964afc	5330	{
mjr	53:9b2611964afc	5331	// pushed forward without a firing event - hold the
mjr	53:9b2611964afc	5332	// button as long as we're pushed forward
mjr	53:9b2611964afc	5333	setButton(true);
mjr	53:9b2611964afc	5334	}
mjr	53:9b2611964afc	5335	else
mjr	53:9b2611964afc	5336	{
mjr	53:9b2611964afc	5337	// not pushed forward - turn off the Launch button
mjr	53:9b2611964afc	5338	setButton(false);
mjr	53:9b2611964afc	5339	}
mjr	48:058ace2aed1d	5340	break;
mjr	48:058ace2aed1d	5341
mjr	48:058ace2aed1d	5342	case 1:
mjr	53:9b2611964afc	5343	// State 1: Timed Launch button pulse in progress after a
mjr	53:9b2611964afc	5344	// firing event. Wait for the timer to expire.
mjr	53:9b2611964afc	5345	if (lbTimer.read_us() > 200000UL)
mjr	53:9b2611964afc	5346	{
mjr	53:9b2611964afc	5347	// timer expired - turn off the button
mjr	53:9b2611964afc	5348	setButton(false);
mjr	53:9b2611964afc	5349
mjr	53:9b2611964afc	5350	// switch to state 2
mjr	53:9b2611964afc	5351	lbState = 2;
mjr	53:9b2611964afc	5352	}
mjr	48:058ace2aed1d	5353	break;
mjr	48:058ace2aed1d	5354
mjr	48:058ace2aed1d	5355	case 2:
mjr	53:9b2611964afc	5356	// State 2: Timed Launch button pulse done. Wait for the
mjr	53:9b2611964afc	5357	// plunger launch event to end.
mjr	53:9b2611964afc	5358	if (!plungerReader.isFiring())
mjr	53:9b2611964afc	5359	{
mjr	53:9b2611964afc	5360	// firing event done - return to default state
mjr	53:9b2611964afc	5361	lbState = 0;
mjr	53:9b2611964afc	5362	}
mjr	48:058ace2aed1d	5363	break;
mjr	48:058ace2aed1d	5364	}
mjr	53:9b2611964afc	5365	}
mjr	53:9b2611964afc	5366	else
mjr	53:9b2611964afc	5367	{
mjr	53:9b2611964afc	5368	// ZB Launch Ball disabled - turn off the button if it was on
mjr	53:9b2611964afc	5369	setButton(false);
mjr	48:058ace2aed1d	5370
mjr	53:9b2611964afc	5371	// return to the default state
mjr	53:9b2611964afc	5372	lbState = 0;
mjr	48:058ace2aed1d	5373	}
mjr	48:058ace2aed1d	5374	}
mjr	53:9b2611964afc	5375
mjr	53:9b2611964afc	5376	// Set the button state
mjr	53:9b2611964afc	5377	void setButton(bool on)
mjr	53:9b2611964afc	5378	{
mjr	53:9b2611964afc	5379	if (btnState != on)
mjr	53:9b2611964afc	5380	{
mjr	53:9b2611964afc	5381	// remember the new state
mjr	53:9b2611964afc	5382	btnState = on;
mjr	53:9b2611964afc	5383
mjr	53:9b2611964afc	5384	// update the virtual button state
mjr	65:739875521aae	5385	buttonState[zblButtonIndex].virtPress(on);
mjr	53:9b2611964afc	5386	}
mjr	53:9b2611964afc	5387	}
mjr	53:9b2611964afc	5388
mjr	48:058ace2aed1d	5389	private:
mjr	48:058ace2aed1d	5390	// Simulated Launch Ball button state. If a "ZB Launch Ball" port is
mjr	48:058ace2aed1d	5391	// defined for our LedWiz port mapping, any time that port is turned ON,
mjr	48:058ace2aed1d	5392	// we'll simulate pushing the Launch Ball button if the player pulls
mjr	48:058ace2aed1d	5393	// back and releases the plunger, or simply pushes on the plunger from
mjr	48:058ace2aed1d	5394	// the rest position. This allows the plunger to be used in lieu of a
mjr	48:058ace2aed1d	5395	// physical Launch Ball button for tables that don't have plungers.
mjr	48:058ace2aed1d	5396	//
mjr	48:058ace2aed1d	5397	// States:
mjr	48:058ace2aed1d	5398	// 0 = default
mjr	53:9b2611964afc	5399	// 1 = firing (firing event has activated a Launch button pulse)
mjr	53:9b2611964afc	5400	// 2 = firing done (Launch button pulse ended, waiting for plunger
mjr	53:9b2611964afc	5401	// firing event to end)
mjr	53:9b2611964afc	5402	uint8_t lbState;
mjr	48:058ace2aed1d	5403
mjr	53:9b2611964afc	5404	// button state
mjr	53:9b2611964afc	5405	bool btnState;
mjr	48:058ace2aed1d	5406
mjr	48:058ace2aed1d	5407	// Time since last lbState transition. Some of the states are time-
mjr	48:058ace2aed1d	5408	// sensitive. In the "uncocked" state, we'll return to state 0 if
mjr	48:058ace2aed1d	5409	// we remain in this state for more than a few milliseconds, since
mjr	48:058ace2aed1d	5410	// it indicates that the plunger is being slowly returned to rest
mjr	48:058ace2aed1d	5411	// rather than released. In the "launching" state, we need to release
mjr	48:058ace2aed1d	5412	// the Launch Ball button after a moment, and we need to wait for
mjr	48:058ace2aed1d	5413	// the plunger to come to rest before returning to state 0.
mjr	48:058ace2aed1d	5414	Timer lbTimer;
mjr	48:058ace2aed1d	5415	};
mjr	48:058ace2aed1d	5416
mjr	35:e959ffba78fd	5417	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	5418	//
mjr	35:e959ffba78fd	5419	// Reboot - resets the microcontroller
mjr	35:e959ffba78fd	5420	//
mjr	54:fd77a6b2f76c	5421	void reboot(USBJoystick &js, bool disconnect = true, long pause_us = 2000000L)
mjr	35:e959ffba78fd	5422	{
mjr	35:e959ffba78fd	5423	// disconnect from USB
mjr	54:fd77a6b2f76c	5424	if (disconnect)
mjr	54:fd77a6b2f76c	5425	js.disconnect();
mjr	35:e959ffba78fd	5426
mjr	35:e959ffba78fd	5427	// wait a few seconds to make sure the host notices the disconnect
mjr	54:fd77a6b2f76c	5428	wait_us(pause_us);
mjr	35:e959ffba78fd	5429
mjr	35:e959ffba78fd	5430	// reset the device
mjr	35:e959ffba78fd	5431	NVIC_SystemReset();
mjr	35:e959ffba78fd	5432	while (true) { }
mjr	35:e959ffba78fd	5433	}
mjr	35:e959ffba78fd	5434
mjr	35:e959ffba78fd	5435	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	5436	//
mjr	35:e959ffba78fd	5437	// Translate joystick readings from raw values to reported values, based
mjr	35:e959ffba78fd	5438	// on the orientation of the controller card in the cabinet.
mjr	35:e959ffba78fd	5439	//
mjr	35:e959ffba78fd	5440	void accelRotate(int &x, int &y)
mjr	35:e959ffba78fd	5441	{
mjr	35:e959ffba78fd	5442	int tmp;
mjr	78:1e00b3fa11af	5443	switch (cfg.accel.orientation)
mjr	35:e959ffba78fd	5444	{
mjr	35:e959ffba78fd	5445	case OrientationFront:
mjr	35:e959ffba78fd	5446	tmp = x;
mjr	35:e959ffba78fd	5447	x = y;
mjr	35:e959ffba78fd	5448	y = tmp;
mjr	35:e959ffba78fd	5449	break;
mjr	35:e959ffba78fd	5450
mjr	35:e959ffba78fd	5451	case OrientationLeft:
mjr	35:e959ffba78fd	5452	x = -x;
mjr	35:e959ffba78fd	5453	break;
mjr	35:e959ffba78fd	5454
mjr	35:e959ffba78fd	5455	case OrientationRight:
mjr	35:e959ffba78fd	5456	y = -y;
mjr	35:e959ffba78fd	5457	break;
mjr	35:e959ffba78fd	5458
mjr	35:e959ffba78fd	5459	case OrientationRear:
mjr	35:e959ffba78fd	5460	tmp = -x;
mjr	35:e959ffba78fd	5461	x = -y;
mjr	35:e959ffba78fd	5462	y = tmp;
mjr	35:e959ffba78fd	5463	break;
mjr	35:e959ffba78fd	5464	}
mjr	35:e959ffba78fd	5465	}
mjr	35:e959ffba78fd	5466
mjr	35:e959ffba78fd	5467	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	5468	//
mjr	35:e959ffba78fd	5469	// Calibration button state:
mjr	35:e959ffba78fd	5470	// 0 = not pushed
mjr	35:e959ffba78fd	5471	// 1 = pushed, not yet debounced
mjr	35:e959ffba78fd	5472	// 2 = pushed, debounced, waiting for hold time
mjr	35:e959ffba78fd	5473	// 3 = pushed, hold time completed - in calibration mode
mjr	35:e959ffba78fd	5474	int calBtnState = 0;
mjr	35:e959ffba78fd	5475
mjr	35:e959ffba78fd	5476	// calibration button debounce timer
mjr	35:e959ffba78fd	5477	Timer calBtnTimer;
mjr	35:e959ffba78fd	5478
mjr	35:e959ffba78fd	5479	// calibration button light state
mjr	35:e959ffba78fd	5480	int calBtnLit = false;
mjr	35:e959ffba78fd	5481
mjr	35:e959ffba78fd	5482
mjr	35:e959ffba78fd	5483	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	5484	//
mjr	40:cc0d9814522b	5485	// Configuration variable get/set message handling
mjr	35:e959ffba78fd	5486	//
mjr	40:cc0d9814522b	5487
mjr	40:cc0d9814522b	5488	// Handle SET messages - write configuration variables from USB message data
mjr	40:cc0d9814522b	5489	#define if_msg_valid(test) if (test)
mjr	53:9b2611964afc	5490	#define v_byte(var, ofs) cfg.var = data[ofs]
mjr	53:9b2611964afc	5491	#define v_ui16(var, ofs) cfg.var = wireUI16(data+(ofs))
mjr	77:0b96f6867312	5492	#define v_ui32(var, ofs) cfg.var = wireUI32(data+(ofs))
mjr	53:9b2611964afc	5493	#define v_pin(var, ofs) cfg.var = wirePinName(data[ofs])
mjr	53:9b2611964afc	5494	#define v_byte_ro(val, ofs) // ignore read-only variables on SET
mjr	74:822a92bc11d2	5495	#define v_ui32_ro(val, ofs) // ignore read-only variables on SET
mjr	74:822a92bc11d2	5496	#define VAR_MODE_SET 1 // we're in SET mode
mjr	76:7f5912b6340e	5497	#define v_func configVarSet(const uint8_t *data)
mjr	40:cc0d9814522b	5498	#include "cfgVarMsgMap.h"
mjr	35:e959ffba78fd	5499
mjr	40:cc0d9814522b	5500	// redefine everything for the SET messages
mjr	40:cc0d9814522b	5501	#undef if_msg_valid
mjr	40:cc0d9814522b	5502	#undef v_byte
mjr	40:cc0d9814522b	5503	#undef v_ui16
mjr	77:0b96f6867312	5504	#undef v_ui32
mjr	40:cc0d9814522b	5505	#undef v_pin
mjr	53:9b2611964afc	5506	#undef v_byte_ro
mjr	74:822a92bc11d2	5507	#undef v_ui32_ro
mjr	74:822a92bc11d2	5508	#undef VAR_MODE_SET
mjr	40:cc0d9814522b	5509	#undef v_func
mjr	38:091e511ce8a0	5510
mjr	40:cc0d9814522b	5511	// Handle GET messages - read variable values and return in USB message daa
mjr	40:cc0d9814522b	5512	#define if_msg_valid(test)
mjr	53:9b2611964afc	5513	#define v_byte(var, ofs) data[ofs] = cfg.var
mjr	53:9b2611964afc	5514	#define v_ui16(var, ofs) ui16Wire(data+(ofs), cfg.var)
mjr	77:0b96f6867312	5515	#define v_ui32(var, ofs) ui32Wire(data+(ofs), cfg.var)
mjr	53:9b2611964afc	5516	#define v_pin(var, ofs) pinNameWire(data+(ofs), cfg.var)
mjr	73:4e8ce0b18915	5517	#define v_byte_ro(val, ofs) data[ofs] = (val)
mjr	74:822a92bc11d2	5518	#define v_ui32_ro(val, ofs) ui32Wire(data+(ofs), val);
mjr	74:822a92bc11d2	5519	#define VAR_MODE_SET 0 // we're in GET mode
mjr	76:7f5912b6340e	5520	#define v_func configVarGet(uint8_t *data)
mjr	40:cc0d9814522b	5521	#include "cfgVarMsgMap.h"
mjr	40:cc0d9814522b	5522
mjr	35:e959ffba78fd	5523
mjr	35:e959ffba78fd	5524	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	5525	//
mjr	35:e959ffba78fd	5526	// Handle an input report from the USB host. Input reports use our extended
mjr	35:e959ffba78fd	5527	// LedWiz protocol.
mjr	33:d832bcab089e	5528	//
mjr	78:1e00b3fa11af	5529	void handleInputMsg(LedWizMsg &lwm, USBJoystick &js, Accel &accel)
mjr	35:e959ffba78fd	5530	{
mjr	38:091e511ce8a0	5531	// LedWiz commands come in two varieties: SBA and PBA. An
mjr	38:091e511ce8a0	5532	// SBA is marked by the first byte having value 64 (0x40). In
mjr	38:091e511ce8a0	5533	// the real LedWiz protocol, any other value in the first byte
mjr	38:091e511ce8a0	5534	// means it's a PBA message. However, valid PBA messages
mjr	38:091e511ce8a0	5535	// always have a first byte (and in fact all 8 bytes) in the
mjr	38:091e511ce8a0	5536	// range 0-49 or 129-132. Anything else is invalid. We take
mjr	38:091e511ce8a0	5537	// advantage of this to implement private protocol extensions.
mjr	38:091e511ce8a0	5538	// So our full protocol is as follows:
mjr	38:091e511ce8a0	5539	//
mjr	38:091e511ce8a0	5540	// first byte =
mjr	74:822a92bc11d2	5541	// 0-48 -> PBA
mjr	74:822a92bc11d2	5542	// 64 -> SBA
mjr	38:091e511ce8a0	5543	// 65 -> private control message; second byte specifies subtype
mjr	74:822a92bc11d2	5544	// 129-132 -> PBA
mjr	38:091e511ce8a0	5545	// 200-228 -> extended bank brightness set for outputs N to N+6, where
mjr	38:091e511ce8a0	5546	// N is (first byte - 200)*7
mjr	38:091e511ce8a0	5547	// other -> reserved for future use
mjr	38:091e511ce8a0	5548	//
mjr	39:b3815a1c3802	5549	uint8_t *data = lwm.data;
mjr	74:822a92bc11d2	5550	if (data[0] == 64)
mjr	35:e959ffba78fd	5551	{
mjr	74:822a92bc11d2	5552	// 64 = SBA (original LedWiz command to set on/off switches for ports 1-32)
mjr	74:822a92bc11d2	5553	//printf("SBA %02x %02x %02x %02x, speed %02x\r\n",
mjr	38:091e511ce8a0	5554	// data[1], data[2], data[3], data[4], data[5]);
mjr	74:822a92bc11d2	5555	sba_sbx(0, data);
mjr	74:822a92bc11d2	5556
mjr	74:822a92bc11d2	5557	// SBA resets the PBA port group counter
mjr	38:091e511ce8a0	5558	pbaIdx = 0;
mjr	38:091e511ce8a0	5559	}
mjr	38:091e511ce8a0	5560	else if (data[0] == 65)
mjr	38:091e511ce8a0	5561	{
mjr	38:091e511ce8a0	5562	// Private control message. This isn't an LedWiz message - it's
mjr	38:091e511ce8a0	5563	// an extension for this device. 65 is an invalid PBA setting,
mjr	38:091e511ce8a0	5564	// and isn't used for any other LedWiz message, so we appropriate
mjr	38:091e511ce8a0	5565	// it for our own private use. The first byte specifies the
mjr	38:091e511ce8a0	5566	// message type.
mjr	39:b3815a1c3802	5567	switch (data[1])
mjr	38:091e511ce8a0	5568	{
mjr	39:b3815a1c3802	5569	case 0:
mjr	39:b3815a1c3802	5570	// No Op
mjr	39:b3815a1c3802	5571	break;
mjr	39:b3815a1c3802	5572
mjr	39:b3815a1c3802	5573	case 1:
mjr	38:091e511ce8a0	5574	// 1 = Old Set Configuration:
mjr	38:091e511ce8a0	5575	// data[2] = LedWiz unit number (0x00 to 0x0f)
mjr	38:091e511ce8a0	5576	// data[3] = feature enable bit mask:
mjr	38:091e511ce8a0	5577	// 0x01 = enable plunger sensor
mjr	39:b3815a1c3802	5578	{
mjr	39:b3815a1c3802	5579
mjr	39:b3815a1c3802	5580	// get the new LedWiz unit number - this is 0-15, whereas we
mjr	39:b3815a1c3802	5581	// we save the nominal unit number 1-16 in the config
mjr	39:b3815a1c3802	5582	uint8_t newUnitNo = (data[2] & 0x0f) + 1;
mjr	39:b3815a1c3802	5583
mjr	39:b3815a1c3802	5584	// we'll need a reset if the LedWiz unit number is changing
mjr	39:b3815a1c3802	5585	bool needReset = (newUnitNo != cfg.psUnitNo);
mjr	39:b3815a1c3802	5586
mjr	39:b3815a1c3802	5587	// set the configuration parameters from the message
mjr	39:b3815a1c3802	5588	cfg.psUnitNo = newUnitNo;
mjr	39:b3815a1c3802	5589	cfg.plunger.enabled = data[3] & 0x01;
mjr	39:b3815a1c3802	5590
mjr	77:0b96f6867312	5591	// set the flag to do the save
mjr	77:0b96f6867312	5592	saveConfigPending = needReset ? SAVE_CONFIG_AND_REBOOT : SAVE_CONFIG_ONLY;
mjr	77:0b96f6867312	5593	saveConfigRebootTime = 0;
mjr	39:b3815a1c3802	5594	}
mjr	39:b3815a1c3802	5595	break;
mjr	38:091e511ce8a0	5596
mjr	39:b3815a1c3802	5597	case 2:
mjr	38:091e511ce8a0	5598	// 2 = Calibrate plunger
mjr	38:091e511ce8a0	5599	// (No parameters)
mjr	38:091e511ce8a0	5600
mjr	38:091e511ce8a0	5601	// enter calibration mode
mjr	38:091e511ce8a0	5602	calBtnState = 3;
mjr	52:8298b2a73eb2	5603	plungerReader.setCalMode(true);
mjr	38:091e511ce8a0	5604	calBtnTimer.reset();
mjr	39:b3815a1c3802	5605	break;
mjr	39:b3815a1c3802	5606
mjr	39:b3815a1c3802	5607	case 3:
mjr	52:8298b2a73eb2	5608	// 3 = plunger sensor status report
mjr	48:058ace2aed1d	5609	// data[2] = flag bits
mjr	53:9b2611964afc	5610	// data[3] = extra exposure time, 100us (.1ms) increments
mjr	52:8298b2a73eb2	5611	reportPlungerStat = true;
mjr	53:9b2611964afc	5612	reportPlungerStatFlags = data[2];
mjr	53:9b2611964afc	5613	reportPlungerStatTime = data[3];
mjr	38:091e511ce8a0	5614
mjr	38:091e511ce8a0	5615	// show purple until we finish sending the report
mjr	38:091e511ce8a0	5616	diagLED(1, 0, 1);
mjr	39:b3815a1c3802	5617	break;
mjr	39:b3815a1c3802	5618
mjr	39:b3815a1c3802	5619	case 4:
mjr	38:091e511ce8a0	5620	// 4 = hardware configuration query
mjr	38:091e511ce8a0	5621	// (No parameters)
mjr	38:091e511ce8a0	5622	js.reportConfig(
mjr	38:091e511ce8a0	5623	numOutputs,
mjr	38:091e511ce8a0	5624	cfg.psUnitNo - 1, // report 0-15 range for unit number (we store 1-16 internally)
mjr	52:8298b2a73eb2	5625	cfg.plunger.cal.zero, cfg.plunger.cal.max, cfg.plunger.cal.tRelease,
mjr	75:677892300e7a	5626	nvm.valid(), // a config is loaded if the config memory block is valid
mjr	75:677892300e7a	5627	true, // we support sbx/pbx extensions
mjr	78:1e00b3fa11af	5628	true, // we support the new accelerometer settings
mjr	82:4f6209cb5c33	5629	true, // we support the "flash write ok" status bit in joystick reports
mjr	79:682ae3171a08	5630	mallocBytesFree()); // remaining memory size
mjr	39:b3815a1c3802	5631	break;
mjr	39:b3815a1c3802	5632
mjr	39:b3815a1c3802	5633	case 5:
mjr	38:091e511ce8a0	5634	// 5 = all outputs off, reset to LedWiz defaults
mjr	38:091e511ce8a0	5635	allOutputsOff();
mjr	39:b3815a1c3802	5636	break;
mjr	39:b3815a1c3802	5637
mjr	39:b3815a1c3802	5638	case 6:
mjr	77:0b96f6867312	5639	// 6 = Save configuration to flash. Reboot after the delay
mjr	77:0b96f6867312	5640	// time in seconds given in data[2].
mjr	77:0b96f6867312	5641	saveConfigPending = SAVE_CONFIG_AND_REBOOT;
mjr	77:0b96f6867312	5642	saveConfigRebootTime = data[2];
mjr	39:b3815a1c3802	5643	break;
mjr	40:cc0d9814522b	5644
mjr	40:cc0d9814522b	5645	case 7:
mjr	40:cc0d9814522b	5646	// 7 = Device ID report
mjr	53:9b2611964afc	5647	// data[2] = ID index: 1=CPU ID, 2=OpenSDA TUID
mjr	53:9b2611964afc	5648	js.reportID(data[2]);
mjr	40:cc0d9814522b	5649	break;
mjr	40:cc0d9814522b	5650
mjr	40:cc0d9814522b	5651	case 8:
mjr	40:cc0d9814522b	5652	// 8 = Engage/disengage night mode.
mjr	40:cc0d9814522b	5653	// data[2] = 1 to engage, 0 to disengage
mjr	40:cc0d9814522b	5654	setNightMode(data[2]);
mjr	40:cc0d9814522b	5655	break;
mjr	52:8298b2a73eb2	5656
mjr	52:8298b2a73eb2	5657	case 9:
mjr	52:8298b2a73eb2	5658	// 9 = Config variable query.
mjr	52:8298b2a73eb2	5659	// data[2] = config var ID
mjr	52:8298b2a73eb2	5660	// data[3] = array index (for array vars: button assignments, output ports)
mjr	52:8298b2a73eb2	5661	{
mjr	53:9b2611964afc	5662	// set up the reply buffer with the variable ID data, and zero out
mjr	53:9b2611964afc	5663	// the rest of the buffer
mjr	52:8298b2a73eb2	5664	uint8_t reply[8];
mjr	52:8298b2a73eb2	5665	reply[1] = data[2];
mjr	52:8298b2a73eb2	5666	reply[2] = data[3];
mjr	53:9b2611964afc	5667	memset(reply+3, 0, sizeof(reply)-3);
mjr	52:8298b2a73eb2	5668
mjr	52:8298b2a73eb2	5669	// query the value
mjr	52:8298b2a73eb2	5670	configVarGet(reply);
mjr	52:8298b2a73eb2	5671
mjr	52:8298b2a73eb2	5672	// send the reply
mjr	52:8298b2a73eb2	5673	js.reportConfigVar(reply + 1);
mjr	52:8298b2a73eb2	5674	}
mjr	52:8298b2a73eb2	5675	break;
mjr	53:9b2611964afc	5676
mjr	53:9b2611964afc	5677	case 10:
mjr	53:9b2611964afc	5678	// 10 = Build ID query.
mjr	53:9b2611964afc	5679	js.reportBuildInfo(getBuildID());
mjr	53:9b2611964afc	5680	break;
mjr	73:4e8ce0b18915	5681
mjr	73:4e8ce0b18915	5682	case 11:
mjr	73:4e8ce0b18915	5683	// 11 = TV ON relay control.
mjr	73:4e8ce0b18915	5684	// data[2] = operation:
mjr	73:4e8ce0b18915	5685	// 0 = turn relay off
mjr	73:4e8ce0b18915	5686	// 1 = turn relay on
mjr	73:4e8ce0b18915	5687	// 2 = pulse relay (as though the power-on timer fired)
mjr	73:4e8ce0b18915	5688	TVRelay(data[2]);
mjr	73:4e8ce0b18915	5689	break;
mjr	73:4e8ce0b18915	5690
mjr	73:4e8ce0b18915	5691	case 12:
mjr	77:0b96f6867312	5692	// 12 = Learn IR code. This enters IR learning mode. While
mjr	77:0b96f6867312	5693	// in learning mode, we report raw IR signals and the first IR
mjr	77:0b96f6867312	5694	// command decoded through the special IR report format. IR
mjr	77:0b96f6867312	5695	// learning mode automatically ends after a timeout expires if
mjr	77:0b96f6867312	5696	// no command can be decoded within the time limit.
mjr	77:0b96f6867312	5697
mjr	77:0b96f6867312	5698	// enter IR learning mode
mjr	77:0b96f6867312	5699	IRLearningMode = 1;
mjr	77:0b96f6867312	5700
mjr	77:0b96f6867312	5701	// cancel any regular IR input in progress
mjr	77:0b96f6867312	5702	IRCommandIn = 0;
mjr	77:0b96f6867312	5703
mjr	77:0b96f6867312	5704	// reset and start the learning mode timeout timer
mjr	77:0b96f6867312	5705	IRTimer.reset();
mjr	73:4e8ce0b18915	5706	break;
mjr	73:4e8ce0b18915	5707
mjr	73:4e8ce0b18915	5708	case 13:
mjr	73:4e8ce0b18915	5709	// 13 = Send button status report
mjr	73:4e8ce0b18915	5710	reportButtonStatus(js);
mjr	73:4e8ce0b18915	5711	break;
mjr	78:1e00b3fa11af	5712
mjr	78:1e00b3fa11af	5713	case 14:
mjr	78:1e00b3fa11af	5714	// 14 = manually center the accelerometer
mjr	78:1e00b3fa11af	5715	accel.manualCenterRequest();
mjr	78:1e00b3fa11af	5716	break;
mjr	78:1e00b3fa11af	5717
mjr	78:1e00b3fa11af	5718	case 15:
mjr	78:1e00b3fa11af	5719	// 15 = set up ad hoc IR command, part 1. Mark the command
mjr	78:1e00b3fa11af	5720	// as not ready, and save the partial data from the message.
mjr	78:1e00b3fa11af	5721	IRAdHocCmd.ready = 0;
mjr	78:1e00b3fa11af	5722	IRAdHocCmd.protocol = data[2];
mjr	78:1e00b3fa11af	5723	IRAdHocCmd.dittos = (data[3] & IRFlagDittos) != 0;
mjr	78:1e00b3fa11af	5724	IRAdHocCmd.code = wireUI32(&data[4]);
mjr	78:1e00b3fa11af	5725	break;
mjr	78:1e00b3fa11af	5726
mjr	78:1e00b3fa11af	5727	case 16:
mjr	78:1e00b3fa11af	5728	// 16 = send ad hoc IR command, part 2. Fill in the rest
mjr	78:1e00b3fa11af	5729	// of the data from the message and mark the command as
mjr	78:1e00b3fa11af	5730	// ready. The IR polling routine will send this as soon
mjr	78:1e00b3fa11af	5731	// as the IR transmitter is free.
mjr	78:1e00b3fa11af	5732	IRAdHocCmd.code \|= (uint64_t(wireUI32(&data[2])) << 32);
mjr	78:1e00b3fa11af	5733	IRAdHocCmd.ready = 1;
mjr	78:1e00b3fa11af	5734	break;
mjr	38:091e511ce8a0	5735	}
mjr	38:091e511ce8a0	5736	}
mjr	38:091e511ce8a0	5737	else if (data[0] == 66)
mjr	38:091e511ce8a0	5738	{
mjr	38:091e511ce8a0	5739	// Extended protocol - Set configuration variable.
mjr	38:091e511ce8a0	5740	// The second byte of the message is the ID of the variable
mjr	38:091e511ce8a0	5741	// to update, and the remaining bytes give the new value,
mjr	38:091e511ce8a0	5742	// in a variable-dependent format.
mjr	40:cc0d9814522b	5743	configVarSet(data);
mjr	38:091e511ce8a0	5744	}
mjr	74:822a92bc11d2	5745	else if (data[0] == 67)
mjr	74:822a92bc11d2	5746	{
mjr	74:822a92bc11d2	5747	// SBX - extended SBA message. This is the same as SBA, except
mjr	74:822a92bc11d2	5748	// that the 7th byte selects a group of 32 ports, to allow access
mjr	74:822a92bc11d2	5749	// to ports beyond the first 32.
mjr	74:822a92bc11d2	5750	sba_sbx(data[6], data);
mjr	74:822a92bc11d2	5751	}
mjr	74:822a92bc11d2	5752	else if (data[0] == 68)
mjr	74:822a92bc11d2	5753	{
mjr	74:822a92bc11d2	5754	// PBX - extended PBA message. This is similar to PBA, but
mjr	74:822a92bc11d2	5755	// allows access to more than the first 32 ports by encoding
mjr	74:822a92bc11d2	5756	// a port group byte that selects a block of 8 ports.
mjr	74:822a92bc11d2	5757
mjr	74:822a92bc11d2	5758	// get the port group - the first port is 8*group
mjr	74:822a92bc11d2	5759	int portGroup = data[1];
mjr	74:822a92bc11d2	5760
mjr	74:822a92bc11d2	5761	// unpack the brightness values
mjr	74:822a92bc11d2	5762	uint32_t tmp1 = data[2] \| (data[3]<<8) \| (data[4]<<16);
mjr	74:822a92bc11d2	5763	uint32_t tmp2 = data[5] \| (data[6]<<8) \| (data[7]<<16);
mjr	74:822a92bc11d2	5764	uint8_t bri[8] = {
mjr	74:822a92bc11d2	5765	tmp1 & 0x3F, (tmp1>>6) & 0x3F, (tmp1>>12) & 0x3F, (tmp1>>18) & 0x3F,
mjr	74:822a92bc11d2	5766	tmp2 & 0x3F, (tmp2>>6) & 0x3F, (tmp2>>12) & 0x3F, (tmp2>>18) & 0x3F
mjr	74:822a92bc11d2	5767	};
mjr	74:822a92bc11d2	5768
mjr	74:822a92bc11d2	5769	// map the flash levels: 60->129, 61->130, 62->131, 63->132
mjr	74:822a92bc11d2	5770	for (int i = 0 ; i < 8 ; ++i)
mjr	74:822a92bc11d2	5771	{
mjr	74:822a92bc11d2	5772	if (bri[i] >= 60)
mjr	74:822a92bc11d2	5773	bri[i] += 129-60;
mjr	74:822a92bc11d2	5774	}
mjr	74:822a92bc11d2	5775
mjr	74:822a92bc11d2	5776	// Carry out the PBA
mjr	74:822a92bc11d2	5777	pba_pbx(portGroup*8, bri);
mjr	74:822a92bc11d2	5778	}
mjr	38:091e511ce8a0	5779	else if (data[0] >= 200 && data[0] <= 228)
mjr	38:091e511ce8a0	5780	{
mjr	38:091e511ce8a0	5781	// Extended protocol - Extended output port brightness update.
mjr	38:091e511ce8a0	5782	// data[0]-200 gives us the bank of 7 outputs we're setting:
mjr	38:091e511ce8a0	5783	// 200 is outputs 0-6, 201 is outputs 7-13, 202 is 14-20, etc.
mjr	38:091e511ce8a0	5784	// The remaining bytes are brightness levels, 0-255, for the
mjr	38:091e511ce8a0	5785	// seven outputs in the selected bank. The LedWiz flashing
mjr	38:091e511ce8a0	5786	// modes aren't accessible in this message type; we can only
mjr	38:091e511ce8a0	5787	// set a fixed brightness, but in exchange we get 8-bit
mjr	38:091e511ce8a0	5788	// resolution rather than the paltry 0-48 scale that the real
mjr	38:091e511ce8a0	5789	// LedWiz uses. There's no separate on/off status for outputs
mjr	38:091e511ce8a0	5790	// adjusted with this message type, either, as there would be
mjr	38:091e511ce8a0	5791	// for a PBA message - setting a non-zero value immediately
mjr	38:091e511ce8a0	5792	// turns the output, overriding the last SBA setting.
mjr	38:091e511ce8a0	5793	//
mjr	38:091e511ce8a0	5794	// For outputs 0-31, this overrides any previous PBA/SBA
mjr	38:091e511ce8a0	5795	// settings for the port. Any subsequent PBA/SBA message will
mjr	38:091e511ce8a0	5796	// in turn override the setting made here. It's simple - the
mjr	38:091e511ce8a0	5797	// most recent message of either type takes precedence. For
mjr	38:091e511ce8a0	5798	// outputs above the LedWiz range, PBA/SBA messages can't
mjr	38:091e511ce8a0	5799	// address those ports anyway.
mjr	63:5cd1a5f3a41b	5800
mjr	63:5cd1a5f3a41b	5801	// figure the block of 7 ports covered in the message
mjr	38:091e511ce8a0	5802	int i0 = (data[0] - 200)*7;
mjr	38:091e511ce8a0	5803	int i1 = i0 + 7 < numOutputs ? i0 + 7 : numOutputs;
mjr	63:5cd1a5f3a41b	5804
mjr	63:5cd1a5f3a41b	5805	// update each port
mjr	38:091e511ce8a0	5806	for (int i = i0 ; i < i1 ; ++i)
mjr	38:091e511ce8a0	5807	{
mjr	38:091e511ce8a0	5808	// set the brightness level for the output
mjr	40:cc0d9814522b	5809	uint8_t b = data[i-i0+1];
mjr	38:091e511ce8a0	5810	outLevel[i] = b;
mjr	38:091e511ce8a0	5811
mjr	74:822a92bc11d2	5812	// set the port's LedWiz state to the nearest equivalent, so
mjr	74:822a92bc11d2	5813	// that it maintains its current setting if we switch back to
mjr	74:822a92bc11d2	5814	// LedWiz mode on a future update
mjr	76:7f5912b6340e	5815	if (b != 0)
mjr	76:7f5912b6340e	5816	{
mjr	76:7f5912b6340e	5817	// Non-zero brightness - set the SBA switch on, and set the
mjr	76:7f5912b6340e	5818	// PBA brightness to the DOF brightness rescaled to the 1..48
mjr	76:7f5912b6340e	5819	// LedWiz range. If the port is subsequently addressed by an
mjr	76:7f5912b6340e	5820	// LedWiz command, this will carry the current DOF setting
mjr	76:7f5912b6340e	5821	// forward unchanged.
mjr	76:7f5912b6340e	5822	wizOn[i] = 1;
mjr	76:7f5912b6340e	5823	wizVal[i] = dof_to_lw[b];
mjr	76:7f5912b6340e	5824	}
mjr	76:7f5912b6340e	5825	else
mjr	76:7f5912b6340e	5826	{
mjr	76:7f5912b6340e	5827	// Zero brightness. Set the SBA switch off, and leave the
mjr	76:7f5912b6340e	5828	// PBA brightness the same as it was.
mjr	76:7f5912b6340e	5829	wizOn[i] = 0;
mjr	76:7f5912b6340e	5830	}
mjr	74:822a92bc11d2	5831
mjr	38:091e511ce8a0	5832	// set the output
mjr	40:cc0d9814522b	5833	lwPin[i]->set(b);
mjr	38:091e511ce8a0	5834	}
mjr	38:091e511ce8a0	5835
mjr	38:091e511ce8a0	5836	// update 74HC595 outputs, if attached
mjr	38:091e511ce8a0	5837	if (hc595 != 0)
mjr	38:091e511ce8a0	5838	hc595->update();
mjr	38:091e511ce8a0	5839	}
mjr	38:091e511ce8a0	5840	else
mjr	38:091e511ce8a0	5841	{
mjr	74:822a92bc11d2	5842	// Everything else is an LedWiz PBA message. This is a full
mjr	74:822a92bc11d2	5843	// "profile" dump from the host for one bank of 8 outputs. Each
mjr	74:822a92bc11d2	5844	// byte sets one output in the current bank. The current bank
mjr	74:822a92bc11d2	5845	// is implied; the bank starts at 0 and is reset to 0 by any SBA
mjr	74:822a92bc11d2	5846	// message, and is incremented to the next bank by each PBA. Our
mjr	74:822a92bc11d2	5847	// variable pbaIdx keeps track of the current bank. There's no
mjr	74:822a92bc11d2	5848	// direct way for the host to select the bank; it just has to count
mjr	74:822a92bc11d2	5849	// on us staying in sync. In practice, clients always send the
mjr	74:822a92bc11d2	5850	// full set of 4 PBA messages in a row to set all 32 outputs.
mjr	38:091e511ce8a0	5851	//
mjr	38:091e511ce8a0	5852	// Note that a PBA implicitly overrides our extended profile
mjr	38:091e511ce8a0	5853	// messages (message prefix 200-219), because this sets the
mjr	38:091e511ce8a0	5854	// wizVal[] entry for each output, and that takes precedence
mjr	63:5cd1a5f3a41b	5855	// over the extended protocol settings when we're in LedWiz
mjr	63:5cd1a5f3a41b	5856	// protocol mode.
mjr	38:091e511ce8a0	5857	//
mjr	38:091e511ce8a0	5858	//printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n",
mjr	38:091e511ce8a0	5859	// pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
mjr	38:091e511ce8a0	5860
mjr	74:822a92bc11d2	5861	// carry out the PBA
mjr	74:822a92bc11d2	5862	pba_pbx(pbaIdx, data);
mjr	74:822a92bc11d2	5863
mjr	74:822a92bc11d2	5864	// update the PBX index state for the next message
mjr	74:822a92bc11d2	5865	pbaIdx = (pbaIdx + 8) % 32;
mjr	38:091e511ce8a0	5866	}
mjr	38:091e511ce8a0	5867	}
mjr	35:e959ffba78fd	5868
mjr	38:091e511ce8a0	5869	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	5870	//
mjr	5:a70c0bce770d	5871	// Main program loop. This is invoked on startup and runs forever. Our
mjr	5:a70c0bce770d	5872	// main work is to read our devices (the accelerometer and the CCD), process
mjr	5:a70c0bce770d	5873	// the readings into nudge and plunger position data, and send the results
mjr	5:a70c0bce770d	5874	// to the host computer via the USB joystick interface. We also monitor
mjr	5:a70c0bce770d	5875	// the USB connection for incoming LedWiz commands and process those into
mjr	5:a70c0bce770d	5876	// port outputs.
mjr	5:a70c0bce770d	5877	//
mjr	0:5acbbe3f4cf4	5878	int main(void)
mjr	0:5acbbe3f4cf4	5879	{
mjr	60:f38da020aa13	5880	// say hello to the debug console, in case it's connected
mjr	39:b3815a1c3802	5881	printf("\r\nPinscape Controller starting\r\n");
mjr	82:4f6209cb5c33	5882
mjr	76:7f5912b6340e	5883	// clear the I2C connection
mjr	35:e959ffba78fd	5884	clear_i2c();
mjr	82:4f6209cb5c33	5885
mjr	82:4f6209cb5c33	5886	// Elevate GPIO pin interrupt priorities, so that they can preempt
mjr	82:4f6209cb5c33	5887	// other interrupts. This is important for some external peripherals,
mjr	82:4f6209cb5c33	5888	// particularly the quadrature plunger sensors, which can generate
mjr	82:4f6209cb5c33	5889	// high-speed interrupts that need to be serviced quickly to keep
mjr	82:4f6209cb5c33	5890	// proper count of the quadrature position.
mjr	82:4f6209cb5c33	5891	FastInterruptIn::elevatePriority();
mjr	38:091e511ce8a0	5892
mjr	76:7f5912b6340e	5893	// Load the saved configuration. There are two sources of the
mjr	76:7f5912b6340e	5894	// configuration data:
mjr	76:7f5912b6340e	5895	//
mjr	76:7f5912b6340e	5896	// - Look for an NVM (flash non-volatile memory) configuration.
mjr	76:7f5912b6340e	5897	// If this is valid, we'll load it. The NVM is config data that can
mjr	76:7f5912b6340e	5898	// be updated dynamically by the host via USB commands and then stored
mjr	76:7f5912b6340e	5899	// in the flash by the firmware itself. If this exists, it supersedes
mjr	76:7f5912b6340e	5900	// any of the other settings stores. The Windows config tool uses this
mjr	76:7f5912b6340e	5901	// to store user settings updates.
mjr	76:7f5912b6340e	5902	//
mjr	76:7f5912b6340e	5903	// - If there's no NVM, we'll load the factory defaults, then we'll
mjr	76:7f5912b6340e	5904	// load any settings stored in the host-loaded configuration. The
mjr	76:7f5912b6340e	5905	// host can patch a set of configuration variable settings into the
mjr	76:7f5912b6340e	5906	// .bin file when loading new firmware, in the host-loaded config
mjr	76:7f5912b6340e	5907	// area that we reserve for this purpose. This allows the host to
mjr	76:7f5912b6340e	5908	// restore a configuration at the same time it installs firmware,
mjr	76:7f5912b6340e	5909	// without a separate download of the config data.
mjr	76:7f5912b6340e	5910	//
mjr	76:7f5912b6340e	5911	// The NVM supersedes the host-loaded config, since it can be updated
mjr	76:7f5912b6340e	5912	// between firmware updated and is thus presumably more recent if it's
mjr	76:7f5912b6340e	5913	// present. (Note that the NVM and host-loaded config are both in
mjr	76:7f5912b6340e	5914	// flash, so in principle we could just have a single NVM store that
mjr	76:7f5912b6340e	5915	// the host patches. The only reason we don't is that the NVM store
mjr	76:7f5912b6340e	5916	// is an image of our in-memory config structure, which is a native C
mjr	76:7f5912b6340e	5917	// struct, and we don't want the host to have to know the details of
mjr	76:7f5912b6340e	5918	// its byte layout, for obvious reasons. The host-loaded config, in
mjr	76:7f5912b6340e	5919	// contrast, uses the wire protocol format, which has a well-defined
mjr	76:7f5912b6340e	5920	// byte layout that's independent of the firmware version or the
mjr	76:7f5912b6340e	5921	// details of how the C compiler arranges the struct memory.)
mjr	76:7f5912b6340e	5922	if (!loadConfigFromFlash())
mjr	76:7f5912b6340e	5923	loadHostLoadedConfig();
mjr	35:e959ffba78fd	5924
mjr	38:091e511ce8a0	5925	// initialize the diagnostic LEDs
mjr	38:091e511ce8a0	5926	initDiagLEDs(cfg);
mjr	38:091e511ce8a0	5927
mjr	33:d832bcab089e	5928	// we're not connected/awake yet
mjr	33:d832bcab089e	5929	bool connected = false;
mjr	40:cc0d9814522b	5930	Timer connectChangeTimer;
mjr	33:d832bcab089e	5931
mjr	35:e959ffba78fd	5932	// create the plunger sensor interface
mjr	35:e959ffba78fd	5933	createPlunger();
mjr	76:7f5912b6340e	5934
mjr	76:7f5912b6340e	5935	// update the plunger reader's cached calibration data
mjr	76:7f5912b6340e	5936	plungerReader.onUpdateCal();
mjr	33:d832bcab089e	5937
mjr	60:f38da020aa13	5938	// set up the TLC5940 interface, if these chips are present
mjr	35:e959ffba78fd	5939	init_tlc5940(cfg);
mjr	34:6b981a2afab7	5940
mjr	60:f38da020aa13	5941	// set up 74HC595 interface, if these chips are present
mjr	35:e959ffba78fd	5942	init_hc595(cfg);
mjr	6:cc35eb643e8f	5943
mjr	54:fd77a6b2f76c	5944	// Initialize the LedWiz ports. Note that the ordering here is important:
mjr	54:fd77a6b2f76c	5945	// this has to come after we create the TLC5940 and 74HC595 object instances
mjr	54:fd77a6b2f76c	5946	// (which we just did above), since we need to access those objects to set
mjr	54:fd77a6b2f76c	5947	// up ports assigned to the respective chips.
mjr	35:e959ffba78fd	5948	initLwOut(cfg);
mjr	48:058ace2aed1d	5949
mjr	60:f38da020aa13	5950	// start the TLC5940 refresh cycle clock
mjr	35:e959ffba78fd	5951	if (tlc5940 != 0)
mjr	35:e959ffba78fd	5952	tlc5940->start();
mjr	77:0b96f6867312	5953
mjr	77:0b96f6867312	5954	// Assume that nothing uses keyboard keys. We'll check for keyboard
mjr	77:0b96f6867312	5955	// usage when initializing the various subsystems that can send keys
mjr	77:0b96f6867312	5956	// (buttons, IR). If we find anything that does, we'll create the
mjr	77:0b96f6867312	5957	// USB keyboard interface.
mjr	77:0b96f6867312	5958	bool kbKeys = false;
mjr	77:0b96f6867312	5959
mjr	77:0b96f6867312	5960	// set up the IR remote control emitter & receiver, if present
mjr	77:0b96f6867312	5961	init_IR(cfg, kbKeys);
mjr	77:0b96f6867312	5962
mjr	77:0b96f6867312	5963	// start the power status time, if applicable
mjr	77:0b96f6867312	5964	startPowerStatusTimer(cfg);
mjr	48:058ace2aed1d	5965
mjr	35:e959ffba78fd	5966	// initialize the button input ports
mjr	35:e959ffba78fd	5967	initButtons(cfg, kbKeys);
mjr	38:091e511ce8a0	5968
mjr	60:f38da020aa13	5969	// Create the joystick USB client. Note that the USB vendor/product ID
mjr	60:f38da020aa13	5970	// information comes from the saved configuration. Also note that we have
mjr	60:f38da020aa13	5971	// to wait until after initializing the input buttons (which we just did
mjr	60:f38da020aa13	5972	// above) to set up the interface, since the button setup will determine
mjr	60:f38da020aa13	5973	// whether or not we need to present a USB keyboard interface in addition
mjr	60:f38da020aa13	5974	// to the joystick interface.
mjr	51:57eb311faafa	5975	MyUSBJoystick js(cfg.usbVendorID, cfg.usbProductID, USB_VERSION_NO, false,
mjr	51:57eb311faafa	5976	cfg.joystickEnabled, kbKeys);
mjr	51:57eb311faafa	5977
mjr	60:f38da020aa13	5978	// Wait for the USB connection to start up. Show a distinctive diagnostic
mjr	60:f38da020aa13	5979	// flash pattern while waiting.
mjr	70:9f58735a1732	5980	Timer connTimeoutTimer, connFlashTimer;
mjr	70:9f58735a1732	5981	connTimeoutTimer.start();
mjr	70:9f58735a1732	5982	connFlashTimer.start();
mjr	51:57eb311faafa	5983	while (!js.configured())
mjr	51:57eb311faafa	5984	{
mjr	51:57eb311faafa	5985	// show one short yellow flash at 2-second intervals
mjr	70:9f58735a1732	5986	if (connFlashTimer.read_us() > 2000000)
mjr	51:57eb311faafa	5987	{
mjr	51:57eb311faafa	5988	// short yellow flash
mjr	51:57eb311faafa	5989	diagLED(1, 1, 0);
mjr	54:fd77a6b2f76c	5990	wait_us(50000);
mjr	51:57eb311faafa	5991	diagLED(0, 0, 0);
mjr	51:57eb311faafa	5992
mjr	51:57eb311faafa	5993	// reset the flash timer
mjr	70:9f58735a1732	5994	connFlashTimer.reset();
mjr	51:57eb311faafa	5995	}
mjr	70:9f58735a1732	5996
mjr	77:0b96f6867312	5997	// If we've been disconnected for more than the reboot timeout,
mjr	77:0b96f6867312	5998	// reboot. Some PCs won't reconnect if we were left plugged in
mjr	77:0b96f6867312	5999	// during a power cycle on the PC, but fortunately a reboot on
mjr	77:0b96f6867312	6000	// the KL25Z will make the host notice us and trigger a reconnect.
mjr	70:9f58735a1732	6001	if (cfg.disconnectRebootTimeout != 0
mjr	70:9f58735a1732	6002	&& connTimeoutTimer.read() > cfg.disconnectRebootTimeout)
mjr	70:9f58735a1732	6003	reboot(js, false, 0);
mjr	77:0b96f6867312	6004
mjr	77:0b96f6867312	6005	// update the PSU2 power sensing status
mjr	77:0b96f6867312	6006	powerStatusUpdate(cfg);
mjr	51:57eb311faafa	6007	}
mjr	60:f38da020aa13	6008
mjr	60:f38da020aa13	6009	// we're now connected to the host
mjr	54:fd77a6b2f76c	6010	connected = true;
mjr	40:cc0d9814522b	6011
mjr	60:f38da020aa13	6012	// Last report timer for the joytick interface. We use this timer to
mjr	60:f38da020aa13	6013	// throttle the report rate to a pace that's suitable for VP. Without
mjr	60:f38da020aa13	6014	// any artificial delays, we could generate data to send on the joystick
mjr	60:f38da020aa13	6015	// interface on every loop iteration. The loop iteration time depends
mjr	60:f38da020aa13	6016	// on which devices are attached, since most of the work in our main
mjr	60:f38da020aa13	6017	// loop is simply polling our devices. For typical setups, the loop
mjr	60:f38da020aa13	6018	// time ranges from about 0.25ms to 2.5ms; the biggest factor is the
mjr	60:f38da020aa13	6019	// plunger sensor. But VP polls for input about every 10ms, so there's
mjr	60:f38da020aa13	6020	// no benefit in sending data faster than that, and there's some harm,
mjr	60:f38da020aa13	6021	// in that it creates USB overhead (both on the wire and on the host
mjr	60:f38da020aa13	6022	// CPU). We therefore use this timer to pace our reports to roughly
mjr	60:f38da020aa13	6023	// the VP input polling rate. Note that there's no way to actually
mjr	60:f38da020aa13	6024	// synchronize with VP's polling, but there's also no need to, as the
mjr	60:f38da020aa13	6025	// input model is designed to reflect the overall current state at any
mjr	60:f38da020aa13	6026	// given time rather than events or deltas. If VP polls twice between
mjr	60:f38da020aa13	6027	// two updates, it simply sees no state change; if we send two updates
mjr	60:f38da020aa13	6028	// between VP polls, VP simply sees the latest state when it does get
mjr	60:f38da020aa13	6029	// around to polling.
mjr	38:091e511ce8a0	6030	Timer jsReportTimer;
mjr	38:091e511ce8a0	6031	jsReportTimer.start();
mjr	38:091e511ce8a0	6032
mjr	60:f38da020aa13	6033	// Time since we successfully sent a USB report. This is a hacky
mjr	60:f38da020aa13	6034	// workaround to deal with any remaining sporadic problems in the USB
mjr	60:f38da020aa13	6035	// stack. I've been trying to bulletproof the USB code over time to
mjr	60:f38da020aa13	6036	// remove all such problems at their source, but it seems unlikely that
mjr	60:f38da020aa13	6037	// we'll ever get them all. Thus this hack. The idea here is that if
mjr	60:f38da020aa13	6038	// we go too long without successfully sending a USB report, we'll
mjr	60:f38da020aa13	6039	// assume that the connection is broken (and the KL25Z USB hardware
mjr	60:f38da020aa13	6040	// hasn't noticed this), and we'll try taking measures to recover.
mjr	38:091e511ce8a0	6041	Timer jsOKTimer;
mjr	38:091e511ce8a0	6042	jsOKTimer.start();
mjr	35:e959ffba78fd	6043
mjr	55:4db125cd11a0	6044	// Initialize the calibration button and lamp, if enabled. To be enabled,
mjr	55:4db125cd11a0	6045	// the pin has to be assigned to something other than NC (0xFF), AND the
mjr	55:4db125cd11a0	6046	// corresponding feature enable flag has to be set.
mjr	55:4db125cd11a0	6047	DigitalIn *calBtn = 0;
mjr	55:4db125cd11a0	6048	DigitalOut *calBtnLed = 0;
mjr	55:4db125cd11a0	6049
mjr	55:4db125cd11a0	6050	// calibration button input - feature flag 0x01
mjr	55:4db125cd11a0	6051	if ((cfg.plunger.cal.features & 0x01) && cfg.plunger.cal.btn != 0xFF)
mjr	55:4db125cd11a0	6052	calBtn = new DigitalIn(wirePinName(cfg.plunger.cal.btn));
mjr	55:4db125cd11a0	6053
mjr	55:4db125cd11a0	6054	// calibration button indicator lamp output - feature flag 0x02
mjr	55:4db125cd11a0	6055	if ((cfg.plunger.cal.features & 0x02) && cfg.plunger.cal.led != 0xFF)
mjr	55:4db125cd11a0	6056	calBtnLed = new DigitalOut(wirePinName(cfg.plunger.cal.led));
mjr	6:cc35eb643e8f	6057
mjr	35:e959ffba78fd	6058	// initialize the calibration button
mjr	1:d913e0afb2ac	6059	calBtnTimer.start();
mjr	35:e959ffba78fd	6060	calBtnState = 0;
mjr	1:d913e0afb2ac	6061
mjr	1:d913e0afb2ac	6062	// set up a timer for our heartbeat indicator
mjr	1:d913e0afb2ac	6063	Timer hbTimer;
mjr	1:d913e0afb2ac	6064	hbTimer.start();
mjr	1:d913e0afb2ac	6065	int hb = 0;
mjr	5:a70c0bce770d	6066	uint16_t hbcnt = 0;
mjr	1:d913e0afb2ac	6067
mjr	1:d913e0afb2ac	6068	// set a timer for accelerometer auto-centering
mjr	1:d913e0afb2ac	6069	Timer acTimer;
mjr	1:d913e0afb2ac	6070	acTimer.start();
mjr	1:d913e0afb2ac	6071
mjr	0:5acbbe3f4cf4	6072	// create the accelerometer object
mjr	77:0b96f6867312	6073	Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS,
mjr	78:1e00b3fa11af	6074	MMA8451_INT_PIN, cfg.accel.range, cfg.accel.autoCenterTime);
mjr	76:7f5912b6340e	6075
mjr	17:ab3cec0c8bf4	6076	// last accelerometer report, in joystick units (we report the nudge
mjr	17:ab3cec0c8bf4	6077	// acceleration via the joystick x & y axes, per the VP convention)
mjr	17:ab3cec0c8bf4	6078	int x = 0, y = 0;
mjr	17:ab3cec0c8bf4	6079
mjr	48:058ace2aed1d	6080	// initialize the plunger sensor
mjr	35:e959ffba78fd	6081	plungerSensor->init();
mjr	10:976666ffa4ef	6082
mjr	48:058ace2aed1d	6083	// set up the ZB Launch Ball monitor
mjr	48:058ace2aed1d	6084	ZBLaunchBall zbLaunchBall;
mjr	48:058ace2aed1d	6085
mjr	54:fd77a6b2f76c	6086	// enable the peripheral chips
mjr	54:fd77a6b2f76c	6087	if (tlc5940 != 0)
mjr	54:fd77a6b2f76c	6088	tlc5940->enable(true);
mjr	54:fd77a6b2f76c	6089	if (hc595 != 0)
mjr	54:fd77a6b2f76c	6090	hc595->enable(true);
mjr	74:822a92bc11d2	6091
mjr	76:7f5912b6340e	6092	// start the LedWiz flash cycle timer
mjr	74:822a92bc11d2	6093	wizCycleTimer.start();
mjr	74:822a92bc11d2	6094
mjr	74:822a92bc11d2	6095	// start the PWM update polling timer
mjr	74:822a92bc11d2	6096	polledPwmTimer.start();
mjr	43:7a6364d82a41	6097
mjr	77:0b96f6867312	6098	// Timer for configuration change reboots
mjr	77:0b96f6867312	6099	ExtTimer saveConfigRebootTimer;
mjr	77:0b96f6867312	6100
mjr	1:d913e0afb2ac	6101	// we're all set up - now just loop, processing sensor reports and
mjr	1:d913e0afb2ac	6102	// host requests
mjr	0:5acbbe3f4cf4	6103	for (;;)
mjr	0:5acbbe3f4cf4	6104	{
mjr	74:822a92bc11d2	6105	// start the main loop timer for diagnostic data collection
mjr	76:7f5912b6340e	6106	IF_DIAG(mainLoopTimer.reset(); mainLoopTimer.start();)
mjr	74:822a92bc11d2	6107
mjr	48:058ace2aed1d	6108	// Process incoming reports on the joystick interface. The joystick
mjr	48:058ace2aed1d	6109	// "out" (receive) endpoint is used for LedWiz commands and our
mjr	48:058ace2aed1d	6110	// extended protocol commands. Limit processing time to 5ms to
mjr	48:058ace2aed1d	6111	// ensure we don't starve the input side.
mjr	39:b3815a1c3802	6112	LedWizMsg lwm;
mjr	48:058ace2aed1d	6113	Timer lwt;
mjr	48:058ace2aed1d	6114	lwt.start();
mjr	77:0b96f6867312	6115	IF_DIAG(int msgCount = 0;)
mjr	48:058ace2aed1d	6116	while (js.readLedWizMsg(lwm) && lwt.read_us() < 5000)
mjr	74:822a92bc11d2	6117	{
mjr	78:1e00b3fa11af	6118	handleInputMsg(lwm, js, accel);
mjr	74:822a92bc11d2	6119	IF_DIAG(++msgCount;)
mjr	74:822a92bc11d2	6120	}
mjr	74:822a92bc11d2	6121
mjr	74:822a92bc11d2	6122	// collect performance statistics on the message reader, if desired
mjr	74:822a92bc11d2	6123	IF_DIAG(
mjr	74:822a92bc11d2	6124	if (msgCount != 0)
mjr	74:822a92bc11d2	6125	{
mjr	76:7f5912b6340e	6126	mainLoopMsgTime += lwt.read_us();
mjr	74:822a92bc11d2	6127	mainLoopMsgCount++;
mjr	74:822a92bc11d2	6128	}
mjr	74:822a92bc11d2	6129	)
mjr	74:822a92bc11d2	6130
mjr	77:0b96f6867312	6131	// process IR input
mjr	77:0b96f6867312	6132	process_IR(cfg, js);
mjr	77:0b96f6867312	6133
mjr	77:0b96f6867312	6134	// update the PSU2 power sensing status
mjr	77:0b96f6867312	6135	powerStatusUpdate(cfg);
mjr	77:0b96f6867312	6136
mjr	74:822a92bc11d2	6137	// update flashing LedWiz outputs periodically
mjr	74:822a92bc11d2	6138	wizPulse();
mjr	74:822a92bc11d2	6139
mjr	74:822a92bc11d2	6140	// update PWM outputs
mjr	74:822a92bc11d2	6141	pollPwmUpdates();
mjr	77:0b96f6867312	6142
mjr	77:0b96f6867312	6143	// poll the accelerometer
mjr	77:0b96f6867312	6144	accel.poll();
mjr	55:4db125cd11a0	6145
mjr	76:7f5912b6340e	6146	// collect diagnostic statistics, checkpoint 0
mjr	76:7f5912b6340e	6147	IF_DIAG(mainLoopIterCheckpt[0] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6148
mjr	55:4db125cd11a0	6149	// send TLC5940 data updates if applicable
mjr	55:4db125cd11a0	6150	if (tlc5940 != 0)
mjr	55:4db125cd11a0	6151	tlc5940->send();
mjr	1:d913e0afb2ac	6152
mjr	76:7f5912b6340e	6153	// collect diagnostic statistics, checkpoint 1
mjr	76:7f5912b6340e	6154	IF_DIAG(mainLoopIterCheckpt[1] += mainLoopTimer.read_us();)
mjr	77:0b96f6867312	6155
mjr	1:d913e0afb2ac	6156	// check for plunger calibration
mjr	17:ab3cec0c8bf4	6157	if (calBtn != 0 && !calBtn->read())
mjr	0:5acbbe3f4cf4	6158	{
mjr	1:d913e0afb2ac	6159	// check the state
mjr	1:d913e0afb2ac	6160	switch (calBtnState)
mjr	0:5acbbe3f4cf4	6161	{
mjr	1:d913e0afb2ac	6162	case 0:
mjr	1:d913e0afb2ac	6163	// button not yet pushed - start debouncing
mjr	1:d913e0afb2ac	6164	calBtnTimer.reset();
mjr	1:d913e0afb2ac	6165	calBtnState = 1;
mjr	1:d913e0afb2ac	6166	break;
mjr	1:d913e0afb2ac	6167
mjr	1:d913e0afb2ac	6168	case 1:
mjr	1:d913e0afb2ac	6169	// pushed, not yet debounced - if the debounce time has
mjr	1:d913e0afb2ac	6170	// passed, start the hold period
mjr	48:058ace2aed1d	6171	if (calBtnTimer.read_us() > 50000)
mjr	1:d913e0afb2ac	6172	calBtnState = 2;
mjr	1:d913e0afb2ac	6173	break;
mjr	1:d913e0afb2ac	6174
mjr	1:d913e0afb2ac	6175	case 2:
mjr	1:d913e0afb2ac	6176	// in the hold period - if the button has been held down
mjr	1:d913e0afb2ac	6177	// for the entire hold period, move to calibration mode
mjr	48:058ace2aed1d	6178	if (calBtnTimer.read_us() > 2050000)
mjr	1:d913e0afb2ac	6179	{
mjr	1:d913e0afb2ac	6180	// enter calibration mode
mjr	1:d913e0afb2ac	6181	calBtnState = 3;
mjr	9:fd65b0a94720	6182	calBtnTimer.reset();
mjr	35:e959ffba78fd	6183
mjr	44:b5ac89b9cd5d	6184	// begin the plunger calibration limits
mjr	52:8298b2a73eb2	6185	plungerReader.setCalMode(true);
mjr	1:d913e0afb2ac	6186	}
mjr	1:d913e0afb2ac	6187	break;
mjr	2:c174f9ee414a	6188
mjr	2:c174f9ee414a	6189	case 3:
mjr	9:fd65b0a94720	6190	// Already in calibration mode - pushing the button here
mjr	9:fd65b0a94720	6191	// doesn't change the current state, but we won't leave this
mjr	9:fd65b0a94720	6192	// state as long as it's held down. So nothing changes here.
mjr	2:c174f9ee414a	6193	break;
mjr	0:5acbbe3f4cf4	6194	}
mjr	0:5acbbe3f4cf4	6195	}
mjr	1:d913e0afb2ac	6196	else
mjr	1:d913e0afb2ac	6197	{
mjr	2:c174f9ee414a	6198	// Button released. If we're in calibration mode, and
mjr	2:c174f9ee414a	6199	// the calibration time has elapsed, end the calibration
mjr	2:c174f9ee414a	6200	// and save the results to flash.
mjr	2:c174f9ee414a	6201	//
mjr	2:c174f9ee414a	6202	// Otherwise, return to the base state without saving anything.
mjr	2:c174f9ee414a	6203	// If the button is released before we make it to calibration
mjr	2:c174f9ee414a	6204	// mode, it simply cancels the attempt.
mjr	48:058ace2aed1d	6205	if (calBtnState == 3 && calBtnTimer.read_us() > 15000000)
mjr	2:c174f9ee414a	6206	{
mjr	2:c174f9ee414a	6207	// exit calibration mode
mjr	1:d913e0afb2ac	6208	calBtnState = 0;
mjr	52:8298b2a73eb2	6209	plungerReader.setCalMode(false);
mjr	2:c174f9ee414a	6210
mjr	6:cc35eb643e8f	6211	// save the updated configuration
mjr	35:e959ffba78fd	6212	cfg.plunger.cal.calibrated = 1;
mjr	35:e959ffba78fd	6213	saveConfigToFlash();
mjr	2:c174f9ee414a	6214	}
mjr	2:c174f9ee414a	6215	else if (calBtnState != 3)
mjr	2:c174f9ee414a	6216	{
mjr	2:c174f9ee414a	6217	// didn't make it to calibration mode - cancel the operation
mjr	1:d913e0afb2ac	6218	calBtnState = 0;
mjr	2:c174f9ee414a	6219	}
mjr	1:d913e0afb2ac	6220	}
mjr	1:d913e0afb2ac	6221
mjr	1:d913e0afb2ac	6222	// light/flash the calibration button light, if applicable
mjr	1:d913e0afb2ac	6223	int newCalBtnLit = calBtnLit;
mjr	1:d913e0afb2ac	6224	switch (calBtnState)
mjr	0:5acbbe3f4cf4	6225	{
mjr	1:d913e0afb2ac	6226	case 2:
mjr	1:d913e0afb2ac	6227	// in the hold period - flash the light
mjr	48:058ace2aed1d	6228	newCalBtnLit = ((calBtnTimer.read_us()/250000) & 1);
mjr	1:d913e0afb2ac	6229	break;
mjr	1:d913e0afb2ac	6230
mjr	1:d913e0afb2ac	6231	case 3:
mjr	1:d913e0afb2ac	6232	// calibration mode - show steady on
mjr	1:d913e0afb2ac	6233	newCalBtnLit = true;
mjr	1:d913e0afb2ac	6234	break;
mjr	1:d913e0afb2ac	6235
mjr	1:d913e0afb2ac	6236	default:
mjr	1:d913e0afb2ac	6237	// not calibrating/holding - show steady off
mjr	1:d913e0afb2ac	6238	newCalBtnLit = false;
mjr	1:d913e0afb2ac	6239	break;
mjr	1:d913e0afb2ac	6240	}
mjr	3:3514575d4f86	6241
mjr	3:3514575d4f86	6242	// light or flash the external calibration button LED, and
mjr	3:3514575d4f86	6243	// do the same with the on-board blue LED
mjr	1:d913e0afb2ac	6244	if (calBtnLit != newCalBtnLit)
mjr	1:d913e0afb2ac	6245	{
mjr	1:d913e0afb2ac	6246	calBtnLit = newCalBtnLit;
mjr	2:c174f9ee414a	6247	if (calBtnLit) {
mjr	17:ab3cec0c8bf4	6248	if (calBtnLed != 0)
mjr	17:ab3cec0c8bf4	6249	calBtnLed->write(1);
mjr	38:091e511ce8a0	6250	diagLED(0, 0, 1); // blue
mjr	2:c174f9ee414a	6251	}
mjr	2:c174f9ee414a	6252	else {
mjr	17:ab3cec0c8bf4	6253	if (calBtnLed != 0)
mjr	17:ab3cec0c8bf4	6254	calBtnLed->write(0);
mjr	38:091e511ce8a0	6255	diagLED(0, 0, 0); // off
mjr	2:c174f9ee414a	6256	}
mjr	1:d913e0afb2ac	6257	}
mjr	35:e959ffba78fd	6258
mjr	76:7f5912b6340e	6259	// collect diagnostic statistics, checkpoint 2
mjr	76:7f5912b6340e	6260	IF_DIAG(mainLoopIterCheckpt[2] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6261
mjr	48:058ace2aed1d	6262	// read the plunger sensor
mjr	48:058ace2aed1d	6263	plungerReader.read();
mjr	48:058ace2aed1d	6264
mjr	76:7f5912b6340e	6265	// collect diagnostic statistics, checkpoint 3
mjr	76:7f5912b6340e	6266	IF_DIAG(mainLoopIterCheckpt[3] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6267
mjr	53:9b2611964afc	6268	// update the ZB Launch Ball status
mjr	53:9b2611964afc	6269	zbLaunchBall.update();
mjr	37:ed52738445fc	6270
mjr	76:7f5912b6340e	6271	// collect diagnostic statistics, checkpoint 4
mjr	76:7f5912b6340e	6272	IF_DIAG(mainLoopIterCheckpt[4] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6273
mjr	53:9b2611964afc	6274	// process button updates
mjr	53:9b2611964afc	6275	processButtons(cfg);
mjr	53:9b2611964afc	6276
mjr	76:7f5912b6340e	6277	// collect diagnostic statistics, checkpoint 5
mjr	76:7f5912b6340e	6278	IF_DIAG(mainLoopIterCheckpt[5] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6279
mjr	38:091e511ce8a0	6280	// send a keyboard report if we have new data
mjr	37:ed52738445fc	6281	if (kbState.changed)
mjr	37:ed52738445fc	6282	{
mjr	38:091e511ce8a0	6283	// send a keyboard report
mjr	37:ed52738445fc	6284	js.kbUpdate(kbState.data);
mjr	37:ed52738445fc	6285	kbState.changed = false;
mjr	37:ed52738445fc	6286	}
mjr	38:091e511ce8a0	6287
mjr	38:091e511ce8a0	6288	// likewise for the media controller
mjr	37:ed52738445fc	6289	if (mediaState.changed)
mjr	37:ed52738445fc	6290	{
mjr	38:091e511ce8a0	6291	// send a media report
mjr	37:ed52738445fc	6292	js.mediaUpdate(mediaState.data);
mjr	37:ed52738445fc	6293	mediaState.changed = false;
mjr	37:ed52738445fc	6294	}
mjr	38:091e511ce8a0	6295
mjr	76:7f5912b6340e	6296	// collect diagnostic statistics, checkpoint 6
mjr	76:7f5912b6340e	6297	IF_DIAG(mainLoopIterCheckpt[6] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6298
mjr	38:091e511ce8a0	6299	// flag: did we successfully send a joystick report on this round?
mjr	38:091e511ce8a0	6300	bool jsOK = false;
mjr	55:4db125cd11a0	6301
mjr	55:4db125cd11a0	6302	// figure the current status flags for joystick reports
mjr	77:0b96f6867312	6303	uint16_t statusFlags =
mjr	77:0b96f6867312	6304	cfg.plunger.enabled // 0x01
mjr	77:0b96f6867312	6305	\| nightMode // 0x02
mjr	79:682ae3171a08	6306	\| ((psu2_state & 0x07) << 2) // 0x04 0x08 0x10
mjr	79:682ae3171a08	6307	\| saveConfigSucceededFlag; // 0x40
mjr	77:0b96f6867312	6308	if (IRLearningMode != 0)
mjr	77:0b96f6867312	6309	statusFlags \|= 0x20;
mjr	17:ab3cec0c8bf4	6310
mjr	50:40015764bbe6	6311	// If it's been long enough since our last USB status report, send
mjr	50:40015764bbe6	6312	// the new report. VP only polls for input in 10ms intervals, so
mjr	50:40015764bbe6	6313	// there's no benefit in sending reports more frequently than this.
mjr	50:40015764bbe6	6314	// More frequent reporting would only add USB I/O overhead.
mjr	50:40015764bbe6	6315	if (cfg.joystickEnabled && jsReportTimer.read_us() > 10000UL)
mjr	17:ab3cec0c8bf4	6316	{
mjr	17:ab3cec0c8bf4	6317	// read the accelerometer
mjr	17:ab3cec0c8bf4	6318	int xa, ya;
mjr	17:ab3cec0c8bf4	6319	accel.get(xa, ya);
mjr	17:ab3cec0c8bf4	6320
mjr	17:ab3cec0c8bf4	6321	// confine the results to our joystick axis range
mjr	17:ab3cec0c8bf4	6322	if (xa < -JOYMAX) xa = -JOYMAX;
mjr	17:ab3cec0c8bf4	6323	if (xa > JOYMAX) xa = JOYMAX;
mjr	17:ab3cec0c8bf4	6324	if (ya < -JOYMAX) ya = -JOYMAX;
mjr	17:ab3cec0c8bf4	6325	if (ya > JOYMAX) ya = JOYMAX;
mjr	17:ab3cec0c8bf4	6326
mjr	17:ab3cec0c8bf4	6327	// store the updated accelerometer coordinates
mjr	17:ab3cec0c8bf4	6328	x = xa;
mjr	17:ab3cec0c8bf4	6329	y = ya;
mjr	17:ab3cec0c8bf4	6330
mjr	48:058ace2aed1d	6331	// Report the current plunger position unless the plunger is
mjr	48:058ace2aed1d	6332	// disabled, or the ZB Launch Ball signal is on. In either of
mjr	48:058ace2aed1d	6333	// those cases, just report a constant 0 value. ZB Launch Ball
mjr	48:058ace2aed1d	6334	// temporarily disables mechanical plunger reporting because it
mjr	21:5048e16cc9ef	6335	// tells us that the table has a Launch Ball button instead of
mjr	48:058ace2aed1d	6336	// a traditional plunger, so we don't want to confuse VP with
mjr	48:058ace2aed1d	6337	// regular plunger inputs.
mjr	48:058ace2aed1d	6338	int z = plungerReader.getPosition();
mjr	53:9b2611964afc	6339	int zrep = (!cfg.plunger.enabled \|\| zbLaunchOn ? 0 : z);
mjr	35:e959ffba78fd	6340
mjr	35:e959ffba78fd	6341	// rotate X and Y according to the device orientation in the cabinet
mjr	35:e959ffba78fd	6342	accelRotate(x, y);
mjr	35:e959ffba78fd	6343
mjr	35:e959ffba78fd	6344	// send the joystick report
mjr	53:9b2611964afc	6345	jsOK = js.update(x, y, zrep, jsButtons, statusFlags);
mjr	21:5048e16cc9ef	6346
mjr	17:ab3cec0c8bf4	6347	// we've just started a new report interval, so reset the timer
mjr	38:091e511ce8a0	6348	jsReportTimer.reset();
mjr	17:ab3cec0c8bf4	6349	}
mjr	21:5048e16cc9ef	6350
mjr	52:8298b2a73eb2	6351	// If we're in sensor status mode, report all pixel exposure values
mjr	52:8298b2a73eb2	6352	if (reportPlungerStat)
mjr	10:976666ffa4ef	6353	{
mjr	17:ab3cec0c8bf4	6354	// send the report
mjr	53:9b2611964afc	6355	plungerSensor->sendStatusReport(js, reportPlungerStatFlags, reportPlungerStatTime);
mjr	17:ab3cec0c8bf4	6356
mjr	10:976666ffa4ef	6357	// we have satisfied this request
mjr	52:8298b2a73eb2	6358	reportPlungerStat = false;
mjr	10:976666ffa4ef	6359	}
mjr	10:976666ffa4ef	6360
mjr	35:e959ffba78fd	6361	// If joystick reports are turned off, send a generic status report
mjr	35:e959ffba78fd	6362	// periodically for the sake of the Windows config tool.
mjr	77:0b96f6867312	6363	if (!cfg.joystickEnabled && jsReportTimer.read_us() > 10000UL)
mjr	21:5048e16cc9ef	6364	{
mjr	55:4db125cd11a0	6365	jsOK = js.updateStatus(statusFlags);
mjr	38:091e511ce8a0	6366	jsReportTimer.reset();
mjr	38:091e511ce8a0	6367	}
mjr	38:091e511ce8a0	6368
mjr	38:091e511ce8a0	6369	// if we successfully sent a joystick report, reset the watchdog timer
mjr	38:091e511ce8a0	6370	if (jsOK)
mjr	38:091e511ce8a0	6371	{
mjr	38:091e511ce8a0	6372	jsOKTimer.reset();
mjr	38:091e511ce8a0	6373	jsOKTimer.start();
mjr	21:5048e16cc9ef	6374	}
mjr	21:5048e16cc9ef	6375
mjr	76:7f5912b6340e	6376	// collect diagnostic statistics, checkpoint 7
mjr	76:7f5912b6340e	6377	IF_DIAG(mainLoopIterCheckpt[7] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6378
mjr	6:cc35eb643e8f	6379	#ifdef DEBUG_PRINTF
mjr	6:cc35eb643e8f	6380	if (x != 0 \|\| y != 0)
mjr	6:cc35eb643e8f	6381	printf("%d,%d\r\n", x, y);
mjr	6:cc35eb643e8f	6382	#endif
mjr	6:cc35eb643e8f	6383
mjr	33:d832bcab089e	6384	// check for connection status changes
mjr	54:fd77a6b2f76c	6385	bool newConnected = js.isConnected() && !js.isSleeping();
mjr	33:d832bcab089e	6386	if (newConnected != connected)
mjr	33:d832bcab089e	6387	{
mjr	54:fd77a6b2f76c	6388	// give it a moment to stabilize
mjr	40:cc0d9814522b	6389	connectChangeTimer.start();
mjr	55:4db125cd11a0	6390	if (connectChangeTimer.read_us() > 1000000)
mjr	33:d832bcab089e	6391	{
mjr	33:d832bcab089e	6392	// note the new status
mjr	33:d832bcab089e	6393	connected = newConnected;
mjr	40:cc0d9814522b	6394
mjr	40:cc0d9814522b	6395	// done with the change timer for this round - reset it for next time
mjr	40:cc0d9814522b	6396	connectChangeTimer.stop();
mjr	40:cc0d9814522b	6397	connectChangeTimer.reset();
mjr	33:d832bcab089e	6398
mjr	54:fd77a6b2f76c	6399	// if we're newly disconnected, clean up for PC suspend mode or power off
mjr	54:fd77a6b2f76c	6400	if (!connected)
mjr	40:cc0d9814522b	6401	{
mjr	54:fd77a6b2f76c	6402	// turn off all outputs
mjr	33:d832bcab089e	6403	allOutputsOff();
mjr	40:cc0d9814522b	6404
mjr	40:cc0d9814522b	6405	// The KL25Z runs off of USB power, so we might (depending on the PC
mjr	40:cc0d9814522b	6406	// and OS configuration) continue to receive power even when the main
mjr	40:cc0d9814522b	6407	// PC power supply is turned off, such as in soft-off or suspend/sleep
mjr	40:cc0d9814522b	6408	// mode. Any external output controller chips (TLC5940, 74HC595) might
mjr	40:cc0d9814522b	6409	// be powered from the PC power supply directly rather than from our
mjr	40:cc0d9814522b	6410	// USB power, so they might be powered off even when we're still running.
mjr	40:cc0d9814522b	6411	// To ensure cleaner startup when the power comes back on, globally
mjr	40:cc0d9814522b	6412	// disable the outputs. The global disable signals come from GPIO lines
mjr	40:cc0d9814522b	6413	// that remain powered as long as the KL25Z is powered, so these modes
mjr	40:cc0d9814522b	6414	// will apply smoothly across power state transitions in the external
mjr	40:cc0d9814522b	6415	// hardware. That is, when the external chips are powered up, they'll
mjr	40:cc0d9814522b	6416	// see the global disable signals as stable voltage inputs immediately,
mjr	40:cc0d9814522b	6417	// which will cause them to suppress any output triggering. This ensures
mjr	40:cc0d9814522b	6418	// that we don't fire any solenoids or flash any lights spuriously when
mjr	40:cc0d9814522b	6419	// the power first comes on.
mjr	40:cc0d9814522b	6420	if (tlc5940 != 0)
mjr	40:cc0d9814522b	6421	tlc5940->enable(false);
mjr	40:cc0d9814522b	6422	if (hc595 != 0)
mjr	40:cc0d9814522b	6423	hc595->enable(false);
mjr	40:cc0d9814522b	6424	}
mjr	33:d832bcab089e	6425	}
mjr	33:d832bcab089e	6426	}
mjr	48:058ace2aed1d	6427
mjr	53:9b2611964afc	6428	// if we have a reboot timer pending, check for completion
mjr	77:0b96f6867312	6429	if (saveConfigRebootTimer.isRunning()
mjr	77:0b96f6867312	6430	&& saveConfigRebootTimer.read() > saveConfigRebootTime)
mjr	53:9b2611964afc	6431	reboot(js);
mjr	77:0b96f6867312	6432
mjr	77:0b96f6867312	6433	// if a config save is pending, do it now
mjr	77:0b96f6867312	6434	if (saveConfigPending != 0)
mjr	77:0b96f6867312	6435	{
mjr	77:0b96f6867312	6436	// save the configuration
mjr	79:682ae3171a08	6437	if (saveConfigToFlash())
mjr	82:4f6209cb5c33	6438	{
mjr	82:4f6209cb5c33	6439	// report success in the status flags
mjr	79:682ae3171a08	6440	saveConfigSucceededFlag = 0x40;
mjr	77:0b96f6867312	6441
mjr	82:4f6209cb5c33	6442	// if desired, reboot after the specified delay
mjr	82:4f6209cb5c33	6443	if (saveConfigPending == SAVE_CONFIG_AND_REBOOT)
mjr	82:4f6209cb5c33	6444	saveConfigRebootTimer.start();
mjr	82:4f6209cb5c33	6445	}
mjr	77:0b96f6867312	6446
mjr	77:0b96f6867312	6447	// the save is no longer pending
mjr	77:0b96f6867312	6448	saveConfigPending = 0;
mjr	77:0b96f6867312	6449	}
mjr	53:9b2611964afc	6450
mjr	48:058ace2aed1d	6451	// if we're disconnected, initiate a new connection
mjr	51:57eb311faafa	6452	if (!connected)
mjr	48:058ace2aed1d	6453	{
mjr	54:fd77a6b2f76c	6454	// show USB HAL debug events
mjr	54:fd77a6b2f76c	6455	extern void HAL_DEBUG_PRINTEVENTS(const char *prefix);
mjr	54:fd77a6b2f76c	6456	HAL_DEBUG_PRINTEVENTS(">DISC");
mjr	54:fd77a6b2f76c	6457
mjr	54:fd77a6b2f76c	6458	// show immediate diagnostic feedback
mjr	54:fd77a6b2f76c	6459	js.diagFlash();
mjr	54:fd77a6b2f76c	6460
mjr	54:fd77a6b2f76c	6461	// clear any previous diagnostic LED display
mjr	54:fd77a6b2f76c	6462	diagLED(0, 0, 0);
mjr	51:57eb311faafa	6463
mjr	51:57eb311faafa	6464	// set up a timer to monitor the reboot timeout
mjr	70:9f58735a1732	6465	Timer reconnTimeoutTimer;
mjr	70:9f58735a1732	6466	reconnTimeoutTimer.start();
mjr	48:058ace2aed1d	6467
mjr	54:fd77a6b2f76c	6468	// set up a timer for diagnostic displays
mjr	54:fd77a6b2f76c	6469	Timer diagTimer;
mjr	54:fd77a6b2f76c	6470	diagTimer.reset();
mjr	54:fd77a6b2f76c	6471	diagTimer.start();
mjr	74:822a92bc11d2	6472
mjr	74:822a92bc11d2	6473	// turn off the main loop timer while spinning
mjr	74:822a92bc11d2	6474	IF_DIAG(mainLoopTimer.stop();)
mjr	54:fd77a6b2f76c	6475
mjr	54:fd77a6b2f76c	6476	// loop until we get our connection back
mjr	54:fd77a6b2f76c	6477	while (!js.isConnected() \|\| js.isSleeping())
mjr	51:57eb311faafa	6478	{
mjr	54:fd77a6b2f76c	6479	// try to recover the connection
mjr	54:fd77a6b2f76c	6480	js.recoverConnection();
mjr	54:fd77a6b2f76c	6481
mjr	55:4db125cd11a0	6482	// send TLC5940 data if necessary
mjr	55:4db125cd11a0	6483	if (tlc5940 != 0)
mjr	55:4db125cd11a0	6484	tlc5940->send();
mjr	55:4db125cd11a0	6485
mjr	54:fd77a6b2f76c	6486	// show a diagnostic flash every couple of seconds
mjr	54:fd77a6b2f76c	6487	if (diagTimer.read_us() > 2000000)
mjr	51:57eb311faafa	6488	{
mjr	54:fd77a6b2f76c	6489	// flush the USB HAL debug events, if in debug mode
mjr	54:fd77a6b2f76c	6490	HAL_DEBUG_PRINTEVENTS(">NC");
mjr	54:fd77a6b2f76c	6491
mjr	54:fd77a6b2f76c	6492	// show diagnostic feedback
mjr	54:fd77a6b2f76c	6493	js.diagFlash();
mjr	51:57eb311faafa	6494
mjr	51:57eb311faafa	6495	// reset the flash timer
mjr	54:fd77a6b2f76c	6496	diagTimer.reset();
mjr	51:57eb311faafa	6497	}
mjr	51:57eb311faafa	6498
mjr	77:0b96f6867312	6499	// If the disconnect reboot timeout has expired, reboot.
mjr	77:0b96f6867312	6500	// Some PC hosts won't reconnect to a device that's left
mjr	77:0b96f6867312	6501	// plugged in through various events on the PC side, such as
mjr	77:0b96f6867312	6502	// rebooting Windows, cycling power on the PC, or just a lost
mjr	77:0b96f6867312	6503	// USB connection. Rebooting the KL25Z seems to be the most
mjr	77:0b96f6867312	6504	// reliable way to get Windows to notice us again after one
mjr	77:0b96f6867312	6505	// of these events and make it reconnect.
mjr	51:57eb311faafa	6506	if (cfg.disconnectRebootTimeout != 0
mjr	70:9f58735a1732	6507	&& reconnTimeoutTimer.read() > cfg.disconnectRebootTimeout)
mjr	54:fd77a6b2f76c	6508	reboot(js, false, 0);
mjr	77:0b96f6867312	6509
mjr	77:0b96f6867312	6510	// update the PSU2 power sensing status
mjr	77:0b96f6867312	6511	powerStatusUpdate(cfg);
mjr	54:fd77a6b2f76c	6512	}
mjr	54:fd77a6b2f76c	6513
mjr	74:822a92bc11d2	6514	// resume the main loop timer
mjr	74:822a92bc11d2	6515	IF_DIAG(mainLoopTimer.start();)
mjr	74:822a92bc11d2	6516
mjr	54:fd77a6b2f76c	6517	// if we made it out of that loop alive, we're connected again!
mjr	54:fd77a6b2f76c	6518	connected = true;
mjr	54:fd77a6b2f76c	6519	HAL_DEBUG_PRINTEVENTS(">C");
mjr	54:fd77a6b2f76c	6520
mjr	54:fd77a6b2f76c	6521	// Enable peripheral chips and update them with current output data
mjr	54:fd77a6b2f76c	6522	if (tlc5940 != 0)
mjr	54:fd77a6b2f76c	6523	{
mjr	55:4db125cd11a0	6524	tlc5940->enable(true);
mjr	54:fd77a6b2f76c	6525	tlc5940->update(true);
mjr	54:fd77a6b2f76c	6526	}
mjr	54:fd77a6b2f76c	6527	if (hc595 != 0)
mjr	54:fd77a6b2f76c	6528	{
mjr	55:4db125cd11a0	6529	hc595->enable(true);
mjr	54:fd77a6b2f76c	6530	hc595->update(true);
mjr	51:57eb311faafa	6531	}
mjr	48:058ace2aed1d	6532	}
mjr	43:7a6364d82a41	6533
mjr	6:cc35eb643e8f	6534	// provide a visual status indication on the on-board LED
mjr	48:058ace2aed1d	6535	if (calBtnState < 2 && hbTimer.read_us() > 1000000)
mjr	1:d913e0afb2ac	6536	{
mjr	54:fd77a6b2f76c	6537	if (jsOKTimer.read_us() > 1000000)
mjr	38:091e511ce8a0	6538	{
mjr	39:b3815a1c3802	6539	// USB freeze - show red/yellow.
mjr	40:cc0d9814522b	6540	//
mjr	54:fd77a6b2f76c	6541	// It's been more than a second since we successfully sent a joystick
mjr	54:fd77a6b2f76c	6542	// update message. This must mean that something's wrong on the USB
mjr	54:fd77a6b2f76c	6543	// connection, even though we haven't detected an outright disconnect.
mjr	54:fd77a6b2f76c	6544	// Show a distinctive diagnostic LED pattern when this occurs.
mjr	38:091e511ce8a0	6545	hb = !hb;
mjr	38:091e511ce8a0	6546	diagLED(1, hb, 0);
mjr	54:fd77a6b2f76c	6547
mjr	54:fd77a6b2f76c	6548	// If the reboot-on-disconnect option is in effect, treat this condition
mjr	54:fd77a6b2f76c	6549	// as equivalent to a disconnect, since something is obviously wrong
mjr	54:fd77a6b2f76c	6550	// with the USB connection.
mjr	54:fd77a6b2f76c	6551	if (cfg.disconnectRebootTimeout != 0)
mjr	54:fd77a6b2f76c	6552	{
mjr	54:fd77a6b2f76c	6553	// The reboot timeout is in effect. If we've been incommunicado for
mjr	54:fd77a6b2f76c	6554	// longer than the timeout, reboot. If we haven't reached the time
mjr	54:fd77a6b2f76c	6555	// limit, keep running for now, and leave the OK timer running so
mjr	54:fd77a6b2f76c	6556	// that we can continue to monitor this.
mjr	54:fd77a6b2f76c	6557	if (jsOKTimer.read() > cfg.disconnectRebootTimeout)
mjr	54:fd77a6b2f76c	6558	reboot(js, false, 0);
mjr	54:fd77a6b2f76c	6559	}
mjr	54:fd77a6b2f76c	6560	else
mjr	54:fd77a6b2f76c	6561	{
mjr	54:fd77a6b2f76c	6562	// There's no reboot timer, so just keep running with the diagnostic
mjr	54:fd77a6b2f76c	6563	// pattern displayed. Since we're not waiting for any other timed
mjr	54:fd77a6b2f76c	6564	// conditions in this state, stop the timer so that it doesn't
mjr	54:fd77a6b2f76c	6565	// overflow if this condition persists for a long time.
mjr	54:fd77a6b2f76c	6566	jsOKTimer.stop();
mjr	54:fd77a6b2f76c	6567	}
mjr	38:091e511ce8a0	6568	}
mjr	73:4e8ce0b18915	6569	else if (psu2_state >= 4)
mjr	73:4e8ce0b18915	6570	{
mjr	73:4e8ce0b18915	6571	// We're in the TV timer countdown. Skip the normal heartbeat
mjr	73:4e8ce0b18915	6572	// flashes and show the TV timer flashes instead.
mjr	73:4e8ce0b18915	6573	diagLED(0, 0, 0);
mjr	73:4e8ce0b18915	6574	}
mjr	35:e959ffba78fd	6575	else if (cfg.plunger.enabled && !cfg.plunger.cal.calibrated)
mjr	6:cc35eb643e8f	6576	{
mjr	6:cc35eb643e8f	6577	// connected, plunger calibration needed - flash yellow/green
mjr	6:cc35eb643e8f	6578	hb = !hb;
mjr	38:091e511ce8a0	6579	diagLED(hb, 1, 0);
mjr	6:cc35eb643e8f	6580	}
mjr	6:cc35eb643e8f	6581	else
mjr	6:cc35eb643e8f	6582	{
mjr	6:cc35eb643e8f	6583	// connected - flash blue/green
mjr	2:c174f9ee414a	6584	hb = !hb;
mjr	38:091e511ce8a0	6585	diagLED(0, hb, !hb);
mjr	2:c174f9ee414a	6586	}
mjr	1:d913e0afb2ac	6587
mjr	1:d913e0afb2ac	6588	// reset the heartbeat timer
mjr	1:d913e0afb2ac	6589	hbTimer.reset();
mjr	5:a70c0bce770d	6590	++hbcnt;
mjr	1:d913e0afb2ac	6591	}
mjr	74:822a92bc11d2	6592
mjr	74:822a92bc11d2	6593	// collect statistics on the main loop time, if desired
mjr	74:822a92bc11d2	6594	IF_DIAG(
mjr	76:7f5912b6340e	6595	mainLoopIterTime += mainLoopTimer.read_us();
mjr	74:822a92bc11d2	6596	mainLoopIterCount++;
mjr	74:822a92bc11d2	6597	)
mjr	1:d913e0afb2ac	6598	}
mjr	0:5acbbe3f4cf4	6599	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	01 Oct 2021
Imports:	0
Forks:	0
Commits:	117
Dependents:	0
Dependencies:	4
Followers:	1

main.cpp@82:4f6209cb5c33, 2017-04-13 (annotated)

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