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@76:7f5912b6340e, 2017-02-03 (annotated)

Committer:: mjr
Date:: Fri Feb 03 20:50:02 2017 +0000
Revision:: 76:7f5912b6340e
Parent:: 75:677892300e7a
Child:: 77:0b96f6867312

Rework flash driver to make it truly stable (hopefully to 100% reliability); host-loaded configuration; performance improvements; more performance diagnostics.

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	38:091e511ce8a0	55	// Note VP has built-in support for plunger devices like this one, but some VP
mjr	38:091e511ce8a0	56	// tables can't use it without some additional scripting work. The Build Guide has
mjr	38:091e511ce8a0	57	// advice on adjusting tables to add plunger support when necessary.
mjr	5:a70c0bce770d	58	//
mjr	6:cc35eb643e8f	59	// For best results, the plunger sensor should be calibrated. The calibration
mjr	6:cc35eb643e8f	60	// is stored in non-volatile memory on board the KL25Z, so it's only necessary
mjr	6:cc35eb643e8f	61	// to do the calibration once, when you first install everything. (You might
mjr	6:cc35eb643e8f	62	// also want to re-calibrate if you physically remove and reinstall the CCD
mjr	17:ab3cec0c8bf4	63	// sensor or the mechanical plunger, since their alignment shift change slightly
mjr	17:ab3cec0c8bf4	64	// when you put everything back together.) You can optionally install a
mjr	17:ab3cec0c8bf4	65	// dedicated momentary switch or pushbutton to activate the calibration mode;
mjr	17:ab3cec0c8bf4	66	// this is describe in the project documentation. If you don't want to bother
mjr	17:ab3cec0c8bf4	67	// with the extra button, you can also trigger calibration using the Windows
mjr	17:ab3cec0c8bf4	68	// setup software, which you can find on the Pinscape project page.
mjr	6:cc35eb643e8f	69	//
mjr	17:ab3cec0c8bf4	70	// The calibration procedure is described in the project documentation. Briefly,
mjr	17:ab3cec0c8bf4	71	// when you trigger calibration mode, the software will scan the CCD for about
mjr	17:ab3cec0c8bf4	72	// 15 seconds, during which you should simply pull the physical plunger back
mjr	17:ab3cec0c8bf4	73	// all the way, hold it for a moment, and then slowly return it to the rest
mjr	17:ab3cec0c8bf4	74	// position. (DON'T just release it from the retracted position, since that
mjr	17:ab3cec0c8bf4	75	// let it shoot forward too far. We want to measure the range from the park
mjr	17:ab3cec0c8bf4	76	// position to the fully retracted position only.)
mjr	5:a70c0bce770d	77	//
mjr	13:72dda449c3c0	78	// - Button input wiring. 24 of the KL25Z's GPIO ports are mapped as digital inputs
mjr	38:091e511ce8a0	79	// for buttons and switches. You can wire each input to a physical pinball-style
mjr	38:091e511ce8a0	80	// button or switch, such as flipper buttons, Start buttons, coin chute switches,
mjr	38:091e511ce8a0	81	// tilt bobs, and service buttons. Each button can be configured to be reported
mjr	38:091e511ce8a0	82	// to the PC as a joystick button or as a keyboard key (you can select which key
mjr	38:091e511ce8a0	83	// is used for each button).
mjr	13:72dda449c3c0	84	//
mjr	53:9b2611964afc	85	// - LedWiz emulation. The KL25Z can pretend to be an LedWiz device. This lets
mjr	53:9b2611964afc	86	// you connect feedback devices (lights, solenoids, motors) to GPIO ports on the
mjr	53:9b2611964afc	87	// KL25Z, and lets PC software (such as Visual Pinball) control them during game
mjr	53:9b2611964afc	88	// play to create a more immersive playing experience. The Pinscape software
mjr	53:9b2611964afc	89	// presents itself to the host as an LedWiz device and accepts the full LedWiz
mjr	53:9b2611964afc	90	// command set, so software on the PC designed for real LedWiz'es can control
mjr	53:9b2611964afc	91	// attached devices without any modifications.
mjr	5:a70c0bce770d	92	//
mjr	53:9b2611964afc	93	// Even though the software provides a very thorough LedWiz emulation, the KL25Z
mjr	53:9b2611964afc	94	// GPIO hardware design imposes some serious limitations. The big one is that
mjr	53:9b2611964afc	95	// the KL25Z only has 10 PWM channels, meaning that only 10 ports can have
mjr	53:9b2611964afc	96	// varying-intensity outputs (e.g., for controlling the brightness level of an
mjr	53:9b2611964afc	97	// LED or the speed or a motor). You can control more than 10 output ports, but
mjr	53:9b2611964afc	98	// only 10 can have PWM control; the rest are simple "digital" ports that can only
mjr	53:9b2611964afc	99	// be switched fully on or fully off. The second limitation is that the KL25Z
mjr	53:9b2611964afc	100	// just doesn't have that many GPIO ports overall. There are enough to populate
mjr	53:9b2611964afc	101	// all 32 button inputs OR all 32 LedWiz outputs, but not both. The default is
mjr	53:9b2611964afc	102	// to assign 24 buttons and 22 LedWiz ports; you can change this balance to trade
mjr	53:9b2611964afc	103	// off more outputs for fewer inputs, or vice versa. The third limitation is that
mjr	53:9b2611964afc	104	// the KL25Z GPIO pins have very tiny amperage limits - just 4mA, which isn't
mjr	53:9b2611964afc	105	// even enough to control a small LED. So in order to connect any kind of feedback
mjr	53:9b2611964afc	106	// device to an output, you must build some external circuitry to boost the
mjr	53:9b2611964afc	107	// current handing. The Build Guide has a reference circuit design for this
mjr	53:9b2611964afc	108	// purpose that's simple and inexpensive to build.
mjr	6:cc35eb643e8f	109	//
mjr	26:cb71c4af2912	110	// - Enhanced LedWiz emulation with TLC5940 PWM controller chips. You can attach
mjr	26:cb71c4af2912	111	// external PWM controller chips for controlling device outputs, instead of using
mjr	53:9b2611964afc	112	// the on-board GPIO ports as described above. The software can control a set of
mjr	53:9b2611964afc	113	// daisy-chained TLC5940 chips. Each chip provides 16 PWM outputs, so you just
mjr	53:9b2611964afc	114	// need two of them to get the full complement of 32 output ports of a real LedWiz.
mjr	53:9b2611964afc	115	// You can hook up even more, though. Four chips gives you 64 ports, which should
mjr	53:9b2611964afc	116	// be plenty for nearly any virtual pinball project. To accommodate the larger
mjr	53:9b2611964afc	117	// supply of ports possible with the PWM chips, the controller software provides
mjr	53:9b2611964afc	118	// a custom, extended version of the LedWiz protocol that can handle up to 128
mjr	53:9b2611964afc	119	// ports. PC software designed only for the real LedWiz obviously won't know
mjr	53:9b2611964afc	120	// about the extended protocol and won't be able to take advantage of its extra
mjr	53:9b2611964afc	121	// capabilities, but the latest version of DOF (DirectOutput Framework) does
mjr	53:9b2611964afc	122	// know the new language and can take full advantage. Older software will still
mjr	53:9b2611964afc	123	// work, though - the new extensions are all backward compatible, so old software
mjr	53:9b2611964afc	124	// that only knows about the original LedWiz protocol will still work, with the
mjr	53:9b2611964afc	125	// obvious limitation that it can only access the first 32 ports.
mjr	53:9b2611964afc	126	//
mjr	53:9b2611964afc	127	// The Pinscape Expansion Board project (which appeared in early 2016) provides
mjr	53:9b2611964afc	128	// a reference hardware design, with EAGLE circuit board layouts, that takes full
mjr	53:9b2611964afc	129	// advantage of the TLC5940 capability. It lets you create a customized set of
mjr	53:9b2611964afc	130	// outputs with full PWM control and power handling for high-current devices
mjr	53:9b2611964afc	131	// built in to the boards.
mjr	26:cb71c4af2912	132	//
mjr	38:091e511ce8a0	133	// - Night Mode control for output devices. You can connect a switch or button
mjr	38:091e511ce8a0	134	// to the controller to activate "Night Mode", which disables feedback devices
mjr	38:091e511ce8a0	135	// that you designate as noisy. You can designate outputs individually as being
mjr	38:091e511ce8a0	136	// included in this set or not. This is useful if you want to play a game on
mjr	38:091e511ce8a0	137	// your cabinet late at night without waking the kids and annoying the neighbors.
mjr	38:091e511ce8a0	138	//
mjr	38:091e511ce8a0	139	// - TV ON switch. The controller can pulse a relay to turn on your TVs after
mjr	38:091e511ce8a0	140	// power to the cabinet comes on, with a configurable delay timer. This feature
mjr	38:091e511ce8a0	141	// is for TVs that don't turn themselves on automatically when first plugged in.
mjr	38:091e511ce8a0	142	// To use this feature, you have to build some external circuitry to allow the
mjr	38:091e511ce8a0	143	// software to sense the power supply status, and you have to run wires to your
mjr	38:091e511ce8a0	144	// TV's on/off button, which requires opening the case on your TV. The Build
mjr	38:091e511ce8a0	145	// Guide has details on the necessary circuitry and connections to the TV.
mjr	38:091e511ce8a0	146	//
mjr	35:e959ffba78fd	147	//
mjr	35:e959ffba78fd	148	//
mjr	33:d832bcab089e	149	// STATUS LIGHTS: The on-board LED on the KL25Z flashes to indicate the current
mjr	33:d832bcab089e	150	// device status. The flash patterns are:
mjr	6:cc35eb643e8f	151	//
mjr	48:058ace2aed1d	152	// short yellow flash = waiting to connect
mjr	6:cc35eb643e8f	153	//
mjr	48:058ace2aed1d	154	// short red flash = the connection is suspended (the host is in sleep
mjr	48:058ace2aed1d	155	// or suspend mode, the USB cable is unplugged after a connection
mjr	48:058ace2aed1d	156	// has been established)
mjr	48:058ace2aed1d	157	//
mjr	48:058ace2aed1d	158	// two short red flashes = connection lost (the device should immediately
mjr	48:058ace2aed1d	159	// go back to short-yellow "waiting to reconnect" mode when a connection
mjr	48:058ace2aed1d	160	// is lost, so this display shouldn't normally appear)
mjr	6:cc35eb643e8f	161	//
mjr	38:091e511ce8a0	162	// long red/yellow = USB connection problem. The device still has a USB
mjr	48:058ace2aed1d	163	// connection to the host (or so it appears to the device), but data
mjr	48:058ace2aed1d	164	// transmissions are failing.
mjr	38:091e511ce8a0	165	//
mjr	73:4e8ce0b18915	166	// medium blue flash = TV ON delay timer running. This means that the
mjr	73:4e8ce0b18915	167	// power to the secondary PSU has just been turned on, and the TV ON
mjr	73:4e8ce0b18915	168	// timer is waiting for the configured delay time before pulsing the
mjr	73:4e8ce0b18915	169	// TV power button relay. This is only shown if the TV ON feature is
mjr	73:4e8ce0b18915	170	// enabled.
mjr	73:4e8ce0b18915	171	//
mjr	6:cc35eb643e8f	172	// long yellow/green = everything's working, but the plunger hasn't
mjr	38:091e511ce8a0	173	// been calibrated. Follow the calibration procedure described in
mjr	38:091e511ce8a0	174	// the project documentation. This flash mode won't appear if there's
mjr	38:091e511ce8a0	175	// no plunger sensor configured.
mjr	6:cc35eb643e8f	176	//
mjr	38:091e511ce8a0	177	// alternating blue/green = everything's working normally, and plunger
mjr	38:091e511ce8a0	178	// calibration has been completed (or there's no plunger attached)
mjr	10:976666ffa4ef	179	//
mjr	48:058ace2aed1d	180	// fast red/purple = out of memory. The controller halts and displays
mjr	48:058ace2aed1d	181	// this diagnostic code until you manually reset it. If this happens,
mjr	48:058ace2aed1d	182	// it's probably because the configuration is too complex, in which
mjr	48:058ace2aed1d	183	// case the same error will occur after the reset. If it's stuck
mjr	48:058ace2aed1d	184	// in this cycle, you'll have to restore the default configuration
mjr	48:058ace2aed1d	185	// by re-installing the controller software (the Pinscape .bin file).
mjr	10:976666ffa4ef	186	//
mjr	48:058ace2aed1d	187	//
mjr	48:058ace2aed1d	188	// USB PROTOCOL: Most of our USB messaging is through standard USB HID
mjr	48:058ace2aed1d	189	// classes (joystick, keyboard). We also accept control messages on our
mjr	48:058ace2aed1d	190	// primary HID interface "OUT endpoint" using a custom protocol that's
mjr	48:058ace2aed1d	191	// not defined in any USB standards (we do have to provide a USB HID
mjr	48:058ace2aed1d	192	// Report Descriptor for it, but this just describes the protocol as
mjr	48:058ace2aed1d	193	// opaque vendor-defined bytes). The control protocol incorporates the
mjr	48:058ace2aed1d	194	// LedWiz protocol as a subset, and adds our own private extensions.
mjr	48:058ace2aed1d	195	// For full details, see USBProtocol.h.
mjr	33:d832bcab089e	196
mjr	33:d832bcab089e	197
mjr	0:5acbbe3f4cf4	198	#include "mbed.h"
mjr	6:cc35eb643e8f	199	#include "math.h"
mjr	74:822a92bc11d2	200	#include "diags.h"
mjr	48:058ace2aed1d	201	#include "pinscape.h"
mjr	0:5acbbe3f4cf4	202	#include "USBJoystick.h"
mjr	0:5acbbe3f4cf4	203	#include "MMA8451Q.h"
mjr	1:d913e0afb2ac	204	#include "tsl1410r.h"
mjr	1:d913e0afb2ac	205	#include "FreescaleIAP.h"
mjr	2:c174f9ee414a	206	#include "crc32.h"
mjr	26:cb71c4af2912	207	#include "TLC5940.h"
mjr	34:6b981a2afab7	208	#include "74HC595.h"
mjr	35:e959ffba78fd	209	#include "nvm.h"
mjr	35:e959ffba78fd	210	#include "plunger.h"
mjr	35:e959ffba78fd	211	#include "ccdSensor.h"
mjr	35:e959ffba78fd	212	#include "potSensor.h"
mjr	35:e959ffba78fd	213	#include "nullSensor.h"
mjr	48:058ace2aed1d	214	#include "TinyDigitalIn.h"
mjr	74:822a92bc11d2	215
mjr	2:c174f9ee414a	216
mjr	21:5048e16cc9ef	217	#define DECL_EXTERNS
mjr	17:ab3cec0c8bf4	218	#include "config.h"
mjr	17:ab3cec0c8bf4	219
mjr	76:7f5912b6340e	220	// forward declarations
mjr	76:7f5912b6340e	221	static void waitPlungerIdle(void);
mjr	53:9b2611964afc	222
mjr	53:9b2611964afc	223	// --------------------------------------------------------------------------
mjr	53:9b2611964afc	224	//
mjr	53:9b2611964afc	225	// OpenSDA module identifier. This is for the benefit of the Windows
mjr	53:9b2611964afc	226	// configuration tool. When the config tool installs a .bin file onto
mjr	53:9b2611964afc	227	// the KL25Z, it will first find the sentinel string within the .bin file,
mjr	53:9b2611964afc	228	// and patch the "\0" bytes that follow the sentinel string with the
mjr	53:9b2611964afc	229	// OpenSDA module ID data. This allows us to report the OpenSDA
mjr	53:9b2611964afc	230	// identifiers back to the host system via USB, which in turn allows the
mjr	53:9b2611964afc	231	// config tool to figure out which OpenSDA MSD (mass storage device - a
mjr	53:9b2611964afc	232	// virtual disk drive) correlates to which Pinscape controller USB
mjr	53:9b2611964afc	233	// interface.
mjr	53:9b2611964afc	234	//
mjr	53:9b2611964afc	235	// This is only important if multiple Pinscape devices are attached to
mjr	53:9b2611964afc	236	// the same host. There doesn't seem to be any other way to figure out
mjr	53:9b2611964afc	237	// which OpenSDA MSD corresponds to which KL25Z USB interface; the OpenSDA
mjr	53:9b2611964afc	238	// MSD doesn't report the KL25Z CPU ID anywhere, and the KL25Z doesn't
mjr	53:9b2611964afc	239	// have any way to learn about the OpenSDA module it's connected to. The
mjr	53:9b2611964afc	240	// only way to pass this information to the KL25Z side that I can come up
mjr	53:9b2611964afc	241	// with is to have the Windows host embed it in the .bin file before
mjr	53:9b2611964afc	242	// downloading it to the OpenSDA MSD.
mjr	53:9b2611964afc	243	//
mjr	53:9b2611964afc	244	// We initialize the const data buffer (the part after the sentinel string)
mjr	53:9b2611964afc	245	// with all "\0" bytes, so that's what will be in the executable image that
mjr	53:9b2611964afc	246	// comes out of the mbed compiler. If you manually install the resulting
mjr	53:9b2611964afc	247	// .bin file onto the KL25Z (via the Windows desktop, say), the "\0" bytes
mjr	53:9b2611964afc	248	// will stay this way and read as all 0's at run-time. Since a real TUID
mjr	53:9b2611964afc	249	// would never be all 0's, that tells us that we were never patched and
mjr	53:9b2611964afc	250	// thus don't have any information on the OpenSDA module.
mjr	53:9b2611964afc	251	//
mjr	53:9b2611964afc	252	const char *getOpenSDAID()
mjr	53:9b2611964afc	253	{
mjr	53:9b2611964afc	254	#define OPENSDA_PREFIX "///Pinscape.OpenSDA.TUID///"
mjr	53:9b2611964afc	255	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	256	const size_t OpenSDA_prefix_length = sizeof(OPENSDA_PREFIX) - 1;
mjr	53:9b2611964afc	257
mjr	53:9b2611964afc	258	return OpenSDA + OpenSDA_prefix_length;
mjr	53:9b2611964afc	259	}
mjr	53:9b2611964afc	260
mjr	53:9b2611964afc	261	// --------------------------------------------------------------------------
mjr	53:9b2611964afc	262	//
mjr	53:9b2611964afc	263	// Build ID. We use the date and time of compiling the program as a build
mjr	53:9b2611964afc	264	// identifier. It would be a little nicer to use a simple serial number
mjr	53:9b2611964afc	265	// instead, but the mbed platform doesn't have a way to automate that. The
mjr	53:9b2611964afc	266	// timestamp is a pretty good proxy for a serial number in that it will
mjr	53:9b2611964afc	267	// naturally increase on each new build, which is the primary property we
mjr	53:9b2611964afc	268	// want from this.
mjr	53:9b2611964afc	269	//
mjr	53:9b2611964afc	270	// As with the embedded OpenSDA ID, we store the build timestamp with a
mjr	53:9b2611964afc	271	// sentinel string prefix, to allow automated tools to find the static data
mjr	53:9b2611964afc	272	// in the .bin file by searching for the sentinel string. In contrast to
mjr	53:9b2611964afc	273	// the OpenSDA ID, the value we store here is for tools to extract rather
mjr	53:9b2611964afc	274	// than store, since we automatically populate it via the preprocessor
mjr	53:9b2611964afc	275	// macros.
mjr	53:9b2611964afc	276	//
mjr	53:9b2611964afc	277	const char *getBuildID()
mjr	53:9b2611964afc	278	{
mjr	53:9b2611964afc	279	#define BUILDID_PREFIX "///Pinscape.Build.ID///"
mjr	53:9b2611964afc	280	static const char BuildID[] = BUILDID_PREFIX __DATE__ " " __TIME__ "///";
mjr	53:9b2611964afc	281	const size_t BuildID_prefix_length = sizeof(BUILDID_PREFIX) - 1;
mjr	53:9b2611964afc	282
mjr	53:9b2611964afc	283	return BuildID + BuildID_prefix_length;
mjr	53:9b2611964afc	284	}
mjr	53:9b2611964afc	285
mjr	74:822a92bc11d2	286	// --------------------------------------------------------------------------
mjr	74:822a92bc11d2	287	// Main loop iteration timing statistics. Collected only if
mjr	74:822a92bc11d2	288	// ENABLE_DIAGNOSTICS is set in diags.h.
mjr	76:7f5912b6340e	289	#if ENABLE_DIAGNOSTICS
mjr	76:7f5912b6340e	290	uint64_t mainLoopIterTime, mainLoopIterCheckpt[15], mainLoopIterCount;
mjr	76:7f5912b6340e	291	uint64_t mainLoopMsgTime, mainLoopMsgCount;
mjr	76:7f5912b6340e	292	Timer mainLoopTimer;
mjr	76:7f5912b6340e	293	#endif
mjr	76:7f5912b6340e	294
mjr	53:9b2611964afc	295
mjr	48:058ace2aed1d	296	// --------------------------------------------------------------------------
mjr	48:058ace2aed1d	297	//
mjr	59:94eb9265b6d7	298	// Custom memory allocator. We use our own version of malloc() for more
mjr	59:94eb9265b6d7	299	// efficient memory usage, and to provide diagnostics if we run out of heap.
mjr	48:058ace2aed1d	300	//
mjr	59:94eb9265b6d7	301	// We can implement a more efficient malloc than the library can because we
mjr	59:94eb9265b6d7	302	// can make an assumption that the library can't: allocations are permanent.
mjr	59:94eb9265b6d7	303	// The normal malloc has to assume that allocations can be freed, so it has
mjr	59:94eb9265b6d7	304	// to track blocks individually. For the purposes of this program, though,
mjr	59:94eb9265b6d7	305	// we don't have to do this because virtually all of our allocations are
mjr	59:94eb9265b6d7	306	// de facto permanent. We only allocate dyanmic memory during setup, and
mjr	59:94eb9265b6d7	307	// once we set things up, we never delete anything. This means that we can
mjr	59:94eb9265b6d7	308	// allocate memory in bare blocks without any bookkeeping overhead.
mjr	59:94eb9265b6d7	309	//
mjr	59:94eb9265b6d7	310	// In addition, we can make a much larger overall pool of memory available
mjr	59:94eb9265b6d7	311	// in a custom allocator. The mbed library malloc() seems to have a pool
mjr	59:94eb9265b6d7	312	// of about 3K to work with, even though there's really about 9K of RAM
mjr	59:94eb9265b6d7	313	// left over after counting the static writable data and reserving space
mjr	59:94eb9265b6d7	314	// for a reasonable stack. I haven't looked at the mbed malloc to see why
mjr	59:94eb9265b6d7	315	// they're so stingy, but it appears from empirical testing that we can
mjr	59:94eb9265b6d7	316	// create a static array up to about 9K before things get crashy.
mjr	59:94eb9265b6d7	317
mjr	73:4e8ce0b18915	318	// Dynamic memory pool. We'll reserve space for all dynamic
mjr	73:4e8ce0b18915	319	// allocations by creating a simple C array of bytes. The size
mjr	73:4e8ce0b18915	320	// of this array is the maximum number of bytes we can allocate
mjr	73:4e8ce0b18915	321	// with malloc or operator 'new'.
mjr	73:4e8ce0b18915	322	//
mjr	73:4e8ce0b18915	323	// The maximum safe size for this array is, in essence, the
mjr	73:4e8ce0b18915	324	// amount of physical KL25Z RAM left over after accounting for
mjr	73:4e8ce0b18915	325	// static data throughout the rest of the program, the run-time
mjr	73:4e8ce0b18915	326	// stack, and any other space reserved for compiler or MCU
mjr	73:4e8ce0b18915	327	// overhead. Unfortunately, it's not straightforward to
mjr	73:4e8ce0b18915	328	// determine this analytically. The big complication is that
mjr	73:4e8ce0b18915	329	// the minimum stack size isn't easily predictable, as the stack
mjr	73:4e8ce0b18915	330	// grows according to what the program does. In addition, the
mjr	73:4e8ce0b18915	331	// mbed platform tools don't give us detailed data on the
mjr	73:4e8ce0b18915	332	// compiler/linker memory map. All we get is a generic total
mjr	73:4e8ce0b18915	333	// RAM requirement, which doesn't necessarily account for all
mjr	73:4e8ce0b18915	334	// overhead (e.g., gaps inserted to get proper alignment for
mjr	73:4e8ce0b18915	335	// particular memory blocks).
mjr	73:4e8ce0b18915	336	//
mjr	73:4e8ce0b18915	337	// A very rough estimate: the total RAM size reported by the
mjr	73:4e8ce0b18915	338	// linker is about 3.5K (currently - that can obviously change
mjr	73:4e8ce0b18915	339	// as the project evolves) out of 16K total. Assuming about a
mjr	73:4e8ce0b18915	340	// 3K stack, that leaves in the ballpark of 10K. Empirically,
mjr	73:4e8ce0b18915	341	// that seems pretty close. In testing, we start to see some
mjr	73:4e8ce0b18915	342	// instability at 10K, while 9K seems safe. To be conservative,
mjr	73:4e8ce0b18915	343	// we'll reduce this to 8K.
mjr	73:4e8ce0b18915	344	//
mjr	73:4e8ce0b18915	345	// Our measured total usage in the base configuration (22 GPIO
mjr	73:4e8ce0b18915	346	// output ports, TSL1410R plunger sensor) is about 4000 bytes.
mjr	73:4e8ce0b18915	347	// A pretty fully decked-out configuration (121 output ports,
mjr	73:4e8ce0b18915	348	// with 8 TLC5940 chips and 3 74HC595 chips, plus the TSL1412R
mjr	73:4e8ce0b18915	349	// sensor with the higher pixel count, and all expansion board
mjr	73:4e8ce0b18915	350	// features enabled) comes to about 6700 bytes. That leaves
mjr	73:4e8ce0b18915	351	// us with about 1.5K free out of our 8K, so we still have a
mjr	73:4e8ce0b18915	352	// little more headroom for future expansion.
mjr	73:4e8ce0b18915	353	//
mjr	73:4e8ce0b18915	354	// For comparison, the standard mbed malloc() runs out of
mjr	73:4e8ce0b18915	355	// memory at about 6K. That's what led to this custom malloc:
mjr	73:4e8ce0b18915	356	// we can just fit the base configuration into that 4K, but
mjr	73:4e8ce0b18915	357	// it's not enough space for more complex setups. There's
mjr	73:4e8ce0b18915	358	// still a little room for squeezing out unnecessary space
mjr	73:4e8ce0b18915	359	// from the mbed library code, but at this point I'd prefer
mjr	73:4e8ce0b18915	360	// to treat that as a last resort, since it would mean having
mjr	73:4e8ce0b18915	361	// to fork private copies of the libraries.
mjr	73:4e8ce0b18915	362	static const size_t XMALLOC_POOL_SIZE = 8*1024;
mjr	73:4e8ce0b18915	363	static char xmalloc_pool[XMALLOC_POOL_SIZE];
mjr	73:4e8ce0b18915	364	static char *xmalloc_nxt = xmalloc_pool;
mjr	73:4e8ce0b18915	365	static size_t xmalloc_rem = XMALLOC_POOL_SIZE;
mjr	73:4e8ce0b18915	366
mjr	48:058ace2aed1d	367	void *xmalloc(size_t siz)
mjr	48:058ace2aed1d	368	{
mjr	59:94eb9265b6d7	369	// align to a 4-byte increment
mjr	59:94eb9265b6d7	370	siz = (siz + 3) & ~3;
mjr	59:94eb9265b6d7	371
mjr	59:94eb9265b6d7	372	// If insufficient memory is available, halt and show a fast red/purple
mjr	59:94eb9265b6d7	373	// diagnostic flash. We don't want to return, since we assume throughout
mjr	59:94eb9265b6d7	374	// the program that all memory allocations must succeed. Note that this
mjr	59:94eb9265b6d7	375	// is generally considered bad programming practice in applications on
mjr	59:94eb9265b6d7	376	// "real" computers, but for the purposes of this microcontroller app,
mjr	59:94eb9265b6d7	377	// there's no point in checking for failed allocations individually
mjr	59:94eb9265b6d7	378	// because there's no way to recover from them. It's better in this
mjr	59:94eb9265b6d7	379	// context to handle failed allocations as fatal errors centrally. We
mjr	59:94eb9265b6d7	380	// can't recover from these automatically, so we have to resort to user
mjr	59:94eb9265b6d7	381	// intervention, which we signal with the diagnostic LED flashes.
mjr	73:4e8ce0b18915	382	if (siz > xmalloc_rem)
mjr	59:94eb9265b6d7	383	{
mjr	59:94eb9265b6d7	384	// halt with the diagnostic display (by looping forever)
mjr	59:94eb9265b6d7	385	for (;;)
mjr	59:94eb9265b6d7	386	{
mjr	59:94eb9265b6d7	387	diagLED(1, 0, 0);
mjr	59:94eb9265b6d7	388	wait_us(200000);
mjr	59:94eb9265b6d7	389	diagLED(1, 0, 1);
mjr	59:94eb9265b6d7	390	wait_us(200000);
mjr	59:94eb9265b6d7	391	}
mjr	59:94eb9265b6d7	392	}
mjr	48:058ace2aed1d	393
mjr	59:94eb9265b6d7	394	// get the next free location from the pool to return
mjr	73:4e8ce0b18915	395	char *ret = xmalloc_nxt;
mjr	59:94eb9265b6d7	396
mjr	59:94eb9265b6d7	397	// advance the pool pointer and decrement the remaining size counter
mjr	73:4e8ce0b18915	398	xmalloc_nxt += siz;
mjr	73:4e8ce0b18915	399	xmalloc_rem -= siz;
mjr	59:94eb9265b6d7	400
mjr	59:94eb9265b6d7	401	// return the allocated block
mjr	59:94eb9265b6d7	402	return ret;
mjr	73:4e8ce0b18915	403	};
mjr	73:4e8ce0b18915	404
mjr	73:4e8ce0b18915	405	// our malloc() replacement
mjr	48:058ace2aed1d	406
mjr	59:94eb9265b6d7	407	// Overload operator new to call our custom malloc. This ensures that
mjr	59:94eb9265b6d7	408	// all 'new' allocations throughout the program (including library code)
mjr	59:94eb9265b6d7	409	// go through our private allocator.
mjr	48:058ace2aed1d	410	void *operator new(size_t siz) { return xmalloc(siz); }
mjr	48:058ace2aed1d	411	void *operator new[](size_t siz) { return xmalloc(siz); }
mjr	5:a70c0bce770d	412
mjr	59:94eb9265b6d7	413	// Since we don't do bookkeeping to track released memory, 'delete' does
mjr	59:94eb9265b6d7	414	// nothing. In actual testing, this routine appears to never be called.
mjr	59:94eb9265b6d7	415	// If it is ever called, it will simply leave the block in place, which
mjr	59:94eb9265b6d7	416	// will make it unavailable for re-use but will otherwise be harmless.
mjr	59:94eb9265b6d7	417	void operator delete(void *ptr) { }
mjr	59:94eb9265b6d7	418
mjr	59:94eb9265b6d7	419
mjr	5:a70c0bce770d	420	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	421	//
mjr	38:091e511ce8a0	422	// Forward declarations
mjr	38:091e511ce8a0	423	//
mjr	38:091e511ce8a0	424	void setNightMode(bool on);
mjr	38:091e511ce8a0	425	void toggleNightMode();
mjr	38:091e511ce8a0	426
mjr	38:091e511ce8a0	427	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	428	// utilities
mjr	17:ab3cec0c8bf4	429
mjr	26:cb71c4af2912	430	// floating point square of a number
mjr	26:cb71c4af2912	431	inline float square(float x) { return x*x; }
mjr	26:cb71c4af2912	432
mjr	26:cb71c4af2912	433	// floating point rounding
mjr	26:cb71c4af2912	434	inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); }
mjr	26:cb71c4af2912	435
mjr	17:ab3cec0c8bf4	436
mjr	33:d832bcab089e	437	// --------------------------------------------------------------------------
mjr	33:d832bcab089e	438	//
mjr	40:cc0d9814522b	439	// Extended verison of Timer class. This adds the ability to interrogate
mjr	40:cc0d9814522b	440	// the running state.
mjr	40:cc0d9814522b	441	//
mjr	40:cc0d9814522b	442	class Timer2: public Timer
mjr	40:cc0d9814522b	443	{
mjr	40:cc0d9814522b	444	public:
mjr	40:cc0d9814522b	445	Timer2() : running(false) { }
mjr	40:cc0d9814522b	446
mjr	40:cc0d9814522b	447	void start() { running = true; Timer::start(); }
mjr	40:cc0d9814522b	448	void stop() { running = false; Timer::stop(); }
mjr	40:cc0d9814522b	449
mjr	40:cc0d9814522b	450	bool isRunning() const { return running; }
mjr	40:cc0d9814522b	451
mjr	40:cc0d9814522b	452	private:
mjr	40:cc0d9814522b	453	bool running;
mjr	40:cc0d9814522b	454	};
mjr	40:cc0d9814522b	455
mjr	53:9b2611964afc	456
mjr	53:9b2611964afc	457	// --------------------------------------------------------------------------
mjr	53:9b2611964afc	458	//
mjr	53:9b2611964afc	459	// Reboot timer. When we have a deferred reboot operation pending, we
mjr	53:9b2611964afc	460	// set the target time and start the timer.
mjr	53:9b2611964afc	461	Timer2 rebootTimer;
mjr	53:9b2611964afc	462	long rebootTime_us;
mjr	53:9b2611964afc	463
mjr	40:cc0d9814522b	464	// --------------------------------------------------------------------------
mjr	40:cc0d9814522b	465	//
mjr	33:d832bcab089e	466	// USB product version number
mjr	5:a70c0bce770d	467	//
mjr	47:df7a88cd249c	468	const uint16_t USB_VERSION_NO = 0x000A;
mjr	33:d832bcab089e	469
mjr	33:d832bcab089e	470	// --------------------------------------------------------------------------
mjr	33:d832bcab089e	471	//
mjr	6:cc35eb643e8f	472	// Joystick axis report range - we report from -JOYMAX to +JOYMAX
mjr	33:d832bcab089e	473	//
mjr	6:cc35eb643e8f	474	#define JOYMAX 4096
mjr	6:cc35eb643e8f	475
mjr	9:fd65b0a94720	476
mjr	17:ab3cec0c8bf4	477	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	478	//
mjr	40:cc0d9814522b	479	// Wire protocol value translations. These translate byte values to and
mjr	40:cc0d9814522b	480	// from the USB protocol to local native format.
mjr	35:e959ffba78fd	481	//
mjr	35:e959ffba78fd	482
mjr	35:e959ffba78fd	483	// unsigned 16-bit integer
mjr	35:e959ffba78fd	484	inline uint16_t wireUI16(const uint8_t *b)
mjr	35:e959ffba78fd	485	{
mjr	35:e959ffba78fd	486	return b[0] \| ((uint16_t)b[1] << 8);
mjr	35:e959ffba78fd	487	}
mjr	40:cc0d9814522b	488	inline void ui16Wire(uint8_t *b, uint16_t val)
mjr	40:cc0d9814522b	489	{
mjr	40:cc0d9814522b	490	b[0] = (uint8_t)(val & 0xff);
mjr	40:cc0d9814522b	491	b[1] = (uint8_t)((val >> 8) & 0xff);
mjr	40:cc0d9814522b	492	}
mjr	35:e959ffba78fd	493
mjr	35:e959ffba78fd	494	inline int16_t wireI16(const uint8_t *b)
mjr	35:e959ffba78fd	495	{
mjr	35:e959ffba78fd	496	return (int16_t)wireUI16(b);
mjr	35:e959ffba78fd	497	}
mjr	40:cc0d9814522b	498	inline void i16Wire(uint8_t *b, int16_t val)
mjr	40:cc0d9814522b	499	{
mjr	40:cc0d9814522b	500	ui16Wire(b, (uint16_t)val);
mjr	40:cc0d9814522b	501	}
mjr	35:e959ffba78fd	502
mjr	35:e959ffba78fd	503	inline uint32_t wireUI32(const uint8_t *b)
mjr	35:e959ffba78fd	504	{
mjr	35:e959ffba78fd	505	return b[0] \| ((uint32_t)b[1] << 8) \| ((uint32_t)b[2] << 16) \| ((uint32_t)b[3] << 24);
mjr	35:e959ffba78fd	506	}
mjr	40:cc0d9814522b	507	inline void ui32Wire(uint8_t *b, uint32_t val)
mjr	40:cc0d9814522b	508	{
mjr	40:cc0d9814522b	509	b[0] = (uint8_t)(val & 0xff);
mjr	40:cc0d9814522b	510	b[1] = (uint8_t)((val >> 8) & 0xff);
mjr	40:cc0d9814522b	511	b[2] = (uint8_t)((val >> 16) & 0xff);
mjr	40:cc0d9814522b	512	b[3] = (uint8_t)((val >> 24) & 0xff);
mjr	40:cc0d9814522b	513	}
mjr	35:e959ffba78fd	514
mjr	35:e959ffba78fd	515	inline int32_t wireI32(const uint8_t *b)
mjr	35:e959ffba78fd	516	{
mjr	35:e959ffba78fd	517	return (int32_t)wireUI32(b);
mjr	35:e959ffba78fd	518	}
mjr	35:e959ffba78fd	519
mjr	53:9b2611964afc	520	// Convert "wire" (USB) pin codes to/from PinName values.
mjr	53:9b2611964afc	521	//
mjr	53:9b2611964afc	522	// The internal mbed PinName format is
mjr	53:9b2611964afc	523	//
mjr	53:9b2611964afc	524	// ((port) << PORT_SHIFT) \| (pin << 2) // MBED FORMAT
mjr	53:9b2611964afc	525	//
mjr	53:9b2611964afc	526	// where 'port' is 0-4 for Port A to Port E, and 'pin' is
mjr	53:9b2611964afc	527	// 0 to 31. E.g., E31 is (4 << PORT_SHIFT) \| (31<<2).
mjr	53:9b2611964afc	528	//
mjr	53:9b2611964afc	529	// We remap this to our more compact wire format where each
mjr	53:9b2611964afc	530	// pin name fits in 8 bits:
mjr	53:9b2611964afc	531	//
mjr	53:9b2611964afc	532	// ((port) << 5) \| pin) // WIRE FORMAT
mjr	53:9b2611964afc	533	//
mjr	53:9b2611964afc	534	// E.g., E31 is (4 << 5) \| 31.
mjr	53:9b2611964afc	535	//
mjr	53:9b2611964afc	536	// Wire code FF corresponds to PinName NC (not connected).
mjr	53:9b2611964afc	537	//
mjr	53:9b2611964afc	538	inline PinName wirePinName(uint8_t c)
mjr	35:e959ffba78fd	539	{
mjr	53:9b2611964afc	540	if (c == 0xFF)
mjr	53:9b2611964afc	541	return NC; // 0xFF -> NC
mjr	53:9b2611964afc	542	else
mjr	53:9b2611964afc	543	return PinName(
mjr	53:9b2611964afc	544	(int(c & 0xE0) << (PORT_SHIFT - 5)) // top three bits are the port
mjr	53:9b2611964afc	545	\| (int(c & 0x1F) << 2)); // bottom five bits are pin
mjr	40:cc0d9814522b	546	}
mjr	40:cc0d9814522b	547	inline void pinNameWire(uint8_t *b, PinName n)
mjr	40:cc0d9814522b	548	{
mjr	53:9b2611964afc	549	*b = PINNAME_TO_WIRE(n);
mjr	35:e959ffba78fd	550	}
mjr	35:e959ffba78fd	551
mjr	35:e959ffba78fd	552
mjr	35:e959ffba78fd	553	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	554	//
mjr	38:091e511ce8a0	555	// On-board RGB LED elements - we use these for diagnostic displays.
mjr	38:091e511ce8a0	556	//
mjr	38:091e511ce8a0	557	// Note that LED3 (the blue segment) is hard-wired on the KL25Z to PTD1,
mjr	38:091e511ce8a0	558	// so PTD1 shouldn't be used for any other purpose (e.g., as a keyboard
mjr	38:091e511ce8a0	559	// input or a device output). This is kind of unfortunate in that it's
mjr	38:091e511ce8a0	560	// one of only two ports exposed on the jumper pins that can be muxed to
mjr	38:091e511ce8a0	561	// SPI0 SCLK. This effectively limits us to PTC5 if we want to use the
mjr	38:091e511ce8a0	562	// SPI capability.
mjr	38:091e511ce8a0	563	//
mjr	38:091e511ce8a0	564	DigitalOut ledR, ledG, *ledB;
mjr	38:091e511ce8a0	565
mjr	73:4e8ce0b18915	566	// Power on timer state for diagnostics. We flash the blue LED when
mjr	73:4e8ce0b18915	567	// nothing else is going on. State 0-1 = off, 2-3 = on
mjr	73:4e8ce0b18915	568	uint8_t powerTimerDiagState = 0;
mjr	73:4e8ce0b18915	569
mjr	38:091e511ce8a0	570	// Show the indicated pattern on the diagnostic LEDs. 0 is off, 1 is
mjr	38:091e511ce8a0	571	// on, and -1 is no change (leaves the current setting intact).
mjr	73:4e8ce0b18915	572	static uint8_t diagLEDState = 0;
mjr	38:091e511ce8a0	573	void diagLED(int r, int g, int b)
mjr	38:091e511ce8a0	574	{
mjr	73:4e8ce0b18915	575	// remember the new state
mjr	73:4e8ce0b18915	576	diagLEDState = r \| (g << 1) \| (b << 2);
mjr	73:4e8ce0b18915	577
mjr	73:4e8ce0b18915	578	// if turning everything off, use the power timer state instead,
mjr	73:4e8ce0b18915	579	// applying it to the blue LED
mjr	73:4e8ce0b18915	580	if (diagLEDState == 0)
mjr	73:4e8ce0b18915	581	b = (powerTimerDiagState >= 2);
mjr	73:4e8ce0b18915	582
mjr	73:4e8ce0b18915	583	// set the new state
mjr	38:091e511ce8a0	584	if (ledR != 0 && r != -1) ledR->write(!r);
mjr	38:091e511ce8a0	585	if (ledG != 0 && g != -1) ledG->write(!g);
mjr	38:091e511ce8a0	586	if (ledB != 0 && b != -1) ledB->write(!b);
mjr	38:091e511ce8a0	587	}
mjr	38:091e511ce8a0	588
mjr	73:4e8ce0b18915	589	// update the LEDs with the current state
mjr	73:4e8ce0b18915	590	void diagLED(void)
mjr	73:4e8ce0b18915	591	{
mjr	73:4e8ce0b18915	592	diagLED(
mjr	73:4e8ce0b18915	593	diagLEDState & 0x01,
mjr	73:4e8ce0b18915	594	(diagLEDState >> 1) & 0x01,
mjr	73:4e8ce0b18915	595	(diagLEDState >> 1) & 0x02);
mjr	73:4e8ce0b18915	596	}
mjr	73:4e8ce0b18915	597
mjr	38:091e511ce8a0	598	// check an output port assignment to see if it conflicts with
mjr	38:091e511ce8a0	599	// an on-board LED segment
mjr	38:091e511ce8a0	600	struct LedSeg
mjr	38:091e511ce8a0	601	{
mjr	38:091e511ce8a0	602	bool r, g, b;
mjr	38:091e511ce8a0	603	LedSeg() { r = g = b = false; }
mjr	38:091e511ce8a0	604
mjr	38:091e511ce8a0	605	void check(LedWizPortCfg &pc)
mjr	38:091e511ce8a0	606	{
mjr	38:091e511ce8a0	607	// if it's a GPIO, check to see if it's assigned to one of
mjr	38:091e511ce8a0	608	// our on-board LED segments
mjr	38:091e511ce8a0	609	int t = pc.typ;
mjr	38:091e511ce8a0	610	if (t == PortTypeGPIOPWM \|\| t == PortTypeGPIODig)
mjr	38:091e511ce8a0	611	{
mjr	38:091e511ce8a0	612	// it's a GPIO port - check for a matching pin assignment
mjr	38:091e511ce8a0	613	PinName pin = wirePinName(pc.pin);
mjr	38:091e511ce8a0	614	if (pin == LED1)
mjr	38:091e511ce8a0	615	r = true;
mjr	38:091e511ce8a0	616	else if (pin == LED2)
mjr	38:091e511ce8a0	617	g = true;
mjr	38:091e511ce8a0	618	else if (pin == LED3)
mjr	38:091e511ce8a0	619	b = true;
mjr	38:091e511ce8a0	620	}
mjr	38:091e511ce8a0	621	}
mjr	38:091e511ce8a0	622	};
mjr	38:091e511ce8a0	623
mjr	38:091e511ce8a0	624	// Initialize the diagnostic LEDs. By default, we use the on-board
mjr	38:091e511ce8a0	625	// RGB LED to display the microcontroller status. However, we allow
mjr	38:091e511ce8a0	626	// the user to commandeer the on-board LED as an LedWiz output device,
mjr	38:091e511ce8a0	627	// which can be useful for testing a new installation. So we'll check
mjr	38:091e511ce8a0	628	// for LedWiz outputs assigned to the on-board LED segments, and turn
mjr	38:091e511ce8a0	629	// off the diagnostic use for any so assigned.
mjr	38:091e511ce8a0	630	void initDiagLEDs(Config &cfg)
mjr	38:091e511ce8a0	631	{
mjr	38:091e511ce8a0	632	// run through the configuration list and cross off any of the
mjr	38:091e511ce8a0	633	// LED segments assigned to LedWiz ports
mjr	38:091e511ce8a0	634	LedSeg l;
mjr	38:091e511ce8a0	635	for (int i = 0 ; i < MAX_OUT_PORTS && cfg.outPort[i].typ != PortTypeDisabled ; ++i)
mjr	38:091e511ce8a0	636	l.check(cfg.outPort[i]);
mjr	38:091e511ce8a0	637
mjr	38:091e511ce8a0	638	// We now know which segments are taken for LedWiz use and which
mjr	38:091e511ce8a0	639	// are free. Create diagnostic ports for the ones not claimed for
mjr	38:091e511ce8a0	640	// LedWiz use.
mjr	38:091e511ce8a0	641	if (!l.r) ledR = new DigitalOut(LED1, 1);
mjr	38:091e511ce8a0	642	if (!l.g) ledG = new DigitalOut(LED2, 1);
mjr	38:091e511ce8a0	643	if (!l.b) ledB = new DigitalOut(LED3, 1);
mjr	38:091e511ce8a0	644	}
mjr	38:091e511ce8a0	645
mjr	38:091e511ce8a0	646
mjr	38:091e511ce8a0	647	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	648	//
mjr	76:7f5912b6340e	649	// LedWiz emulation
mjr	76:7f5912b6340e	650	//
mjr	76:7f5912b6340e	651
mjr	76:7f5912b6340e	652	// LedWiz output states.
mjr	76:7f5912b6340e	653	//
mjr	76:7f5912b6340e	654	// The LedWiz protocol has two separate control axes for each output.
mjr	76:7f5912b6340e	655	// One axis is its on/off state; the other is its "profile" state, which
mjr	76:7f5912b6340e	656	// is either a fixed brightness or a blinking pattern for the light.
mjr	76:7f5912b6340e	657	// The two axes are independent.
mjr	76:7f5912b6340e	658	//
mjr	76:7f5912b6340e	659	// Even though the original LedWiz protocol can only access 32 ports, we
mjr	76:7f5912b6340e	660	// maintain LedWiz state for every port, even if we have more than 32. Our
mjr	76:7f5912b6340e	661	// extended protocol allows the client to send LedWiz-style messages that
mjr	76:7f5912b6340e	662	// control any set of ports. A replacement LEDWIZ.DLL can make a single
mjr	76:7f5912b6340e	663	// Pinscape unit look like multiple virtual LedWiz units to legacy clients,
mjr	76:7f5912b6340e	664	// allowing them to control all of our ports. The clients will still be
mjr	76:7f5912b6340e	665	// using LedWiz-style states to control the ports, so we need to support
mjr	76:7f5912b6340e	666	// the LedWiz scheme with separate on/off and brightness control per port.
mjr	76:7f5912b6340e	667
mjr	76:7f5912b6340e	668	// On/off state for each LedWiz output
mjr	76:7f5912b6340e	669	static uint8_t *wizOn;
mjr	76:7f5912b6340e	670
mjr	76:7f5912b6340e	671	// LedWiz "Profile State" (the LedWiz brightness level or blink mode)
mjr	76:7f5912b6340e	672	// for each LedWiz output. If the output was last updated through an
mjr	76:7f5912b6340e	673	// LedWiz protocol message, it will have one of these values:
mjr	76:7f5912b6340e	674	//
mjr	76:7f5912b6340e	675	// 0-48 = fixed brightness 0% to 100%
mjr	76:7f5912b6340e	676	// 49 = fixed brightness 100% (equivalent to 48)
mjr	76:7f5912b6340e	677	// 129 = ramp up / ramp down
mjr	76:7f5912b6340e	678	// 130 = flash on / off
mjr	76:7f5912b6340e	679	// 131 = on / ramp down
mjr	76:7f5912b6340e	680	// 132 = ramp up / on
mjr	5:a70c0bce770d	681	//
mjr	76:7f5912b6340e	682	// (Note that value 49 isn't documented in the LedWiz spec, but real
mjr	76:7f5912b6340e	683	// LedWiz units treat it as equivalent to 48, and some PC software uses
mjr	76:7f5912b6340e	684	// it, so we need to accept it for compatibility.)
mjr	76:7f5912b6340e	685	static uint8_t *wizVal;
mjr	76:7f5912b6340e	686
mjr	76:7f5912b6340e	687	// Current actual brightness for each output. This is a simple linear
mjr	76:7f5912b6340e	688	// value on a 0..255 scale. This is EITHER the linear brightness computed
mjr	76:7f5912b6340e	689	// from the LedWiz setting for the port, OR the 0..255 value set explicitly
mjr	76:7f5912b6340e	690	// by the extended protocol:
mjr	76:7f5912b6340e	691	//
mjr	76:7f5912b6340e	692	// - If the last command that updated the port was an extended protocol
mjr	76:7f5912b6340e	693	// SET BRIGHTNESS command, this is the value set by that command. In
mjr	76:7f5912b6340e	694	// addition, wizOn[port] is set to 0 if the brightness is 0, 1 otherwise;
mjr	76:7f5912b6340e	695	// and wizVal[port] is set to the brightness rescaled to the 0..48 range
mjr	76:7f5912b6340e	696	// if the brightness is non-zero.
mjr	76:7f5912b6340e	697	//
mjr	76:7f5912b6340e	698	// - If the last command that updated the port was an LedWiz command
mjr	76:7f5912b6340e	699	// (SBA/PBA/SBX/PBX), this contains the brightness value computed from
mjr	76:7f5912b6340e	700	// the combination of wizOn[port] and wizVal[port]. If wizOn[port] is
mjr	76:7f5912b6340e	701	// zero, this is simply 0, otherwise it's wizVal[port] rescaled to the
mjr	76:7f5912b6340e	702	// 0..255 range.
mjr	26:cb71c4af2912	703	//
mjr	76:7f5912b6340e	704	// - For a port set to wizOn[port]=1 and wizVal[port] in 129..132, this is
mjr	76:7f5912b6340e	705	// also updated continuously to reflect the current flashing brightness
mjr	76:7f5912b6340e	706	// level.
mjr	26:cb71c4af2912	707	//
mjr	76:7f5912b6340e	708	static uint8_t *outLevel;
mjr	76:7f5912b6340e	709
mjr	76:7f5912b6340e	710
mjr	76:7f5912b6340e	711	// LedWiz flash speed. This is a value from 1 to 7 giving the pulse
mjr	76:7f5912b6340e	712	// rate for lights in blinking states. The LedWiz API doesn't document
mjr	76:7f5912b6340e	713	// what the numbers mean in real time units, but by observation, the
mjr	76:7f5912b6340e	714	// "speed" setting represents the period of the flash cycle in 0.25s
mjr	76:7f5912b6340e	715	// units, so speed 1 = 0.25 period = 4Hz, speed 7 = 1.75s period = 0.57Hz.
mjr	76:7f5912b6340e	716	// The period is the full cycle time of the flash waveform.
mjr	76:7f5912b6340e	717	//
mjr	76:7f5912b6340e	718	// Each bank of 32 lights has its independent own pulse rate, so we need
mjr	76:7f5912b6340e	719	// one entry per bank. Each bank has 32 outputs, so we need a total of
mjr	76:7f5912b6340e	720	// ceil(number_of_physical_outputs/32) entries. Note that we could allocate
mjr	76:7f5912b6340e	721	// this dynamically once we know the number of actual outputs, but the
mjr	76:7f5912b6340e	722	// upper limit is low enough that it's more efficient to use a fixed array
mjr	76:7f5912b6340e	723	// at the maximum size.
mjr	76:7f5912b6340e	724	static const int MAX_LW_BANKS = (MAX_OUT_PORTS+31)/32;
mjr	76:7f5912b6340e	725	static uint8_t wizSpeed[MAX_LW_BANKS];
mjr	29:582472d0bc57	726
mjr	26:cb71c4af2912	727	// Current starting output index for "PBA" messages from the PC (using
mjr	26:cb71c4af2912	728	// the LedWiz USB protocol). Each PBA message implicitly uses the
mjr	26:cb71c4af2912	729	// current index as the starting point for the ports referenced in
mjr	26:cb71c4af2912	730	// the message, and increases it (by 8) for the next call.
mjr	0:5acbbe3f4cf4	731	static int pbaIdx = 0;
mjr	0:5acbbe3f4cf4	732
mjr	76:7f5912b6340e	733
mjr	76:7f5912b6340e	734	// ---------------------------------------------------------------------------
mjr	76:7f5912b6340e	735	//
mjr	76:7f5912b6340e	736	// Output Ports
mjr	76:7f5912b6340e	737	//
mjr	76:7f5912b6340e	738	// There are two way to connect outputs. First, you can use the on-board
mjr	76:7f5912b6340e	739	// GPIO ports to implement device outputs: each LedWiz software port is
mjr	76:7f5912b6340e	740	// connected to a physical GPIO pin on the KL25Z. This has some pretty
mjr	76:7f5912b6340e	741	// strict limits, though. The KL25Z only has 10 PWM channels, so only 10
mjr	76:7f5912b6340e	742	// GPIO LedWiz ports can be made dimmable; the rest are strictly on/off.
mjr	76:7f5912b6340e	743	// The KL25Z also simply doesn't have enough exposed GPIO ports overall to
mjr	76:7f5912b6340e	744	// support all of the features the software supports. The software allows
mjr	76:7f5912b6340e	745	// for up to 128 outputs, 48 button inputs, plunger input (requiring 1-5
mjr	76:7f5912b6340e	746	// GPIO pins), and various other external devices. The KL25Z only exposes
mjr	76:7f5912b6340e	747	// about 50 GPIO pins. So if you want to do everything with GPIO ports,
mjr	76:7f5912b6340e	748	// you have to ration pins among features.
mjr	76:7f5912b6340e	749	//
mjr	76:7f5912b6340e	750	// To overcome some of these limitations, we also provide two types of
mjr	76:7f5912b6340e	751	// peripheral controllers that allow adding many more outputs, using only
mjr	76:7f5912b6340e	752	// a small number of GPIO pins to interface with the peripherals. First,
mjr	76:7f5912b6340e	753	// we support TLC5940 PWM controller chips. Each TLC5940 provides 16 ports
mjr	76:7f5912b6340e	754	// with full PWM, and multiple TLC5940 chips can be daisy-chained. The
mjr	76:7f5912b6340e	755	// chip only requires 5 GPIO pins for the interface, no matter how many
mjr	76:7f5912b6340e	756	// chips are in the chain, so it effectively converts 5 GPIO pins into
mjr	76:7f5912b6340e	757	// almost any number of PWM outputs. Second, we support 74HC595 chips.
mjr	76:7f5912b6340e	758	// These provide only digital outputs, but like the TLC5940 they can be
mjr	76:7f5912b6340e	759	// daisy-chained to provide almost unlimited outputs with a few GPIO pins
mjr	76:7f5912b6340e	760	// to control the whole chain.
mjr	76:7f5912b6340e	761	//
mjr	76:7f5912b6340e	762	// Direct GPIO output ports and peripheral controllers can be mixed and
mjr	76:7f5912b6340e	763	// matched in one system. The assignment of pins to ports and the
mjr	76:7f5912b6340e	764	// configuration of peripheral controllers is all handled in the software
mjr	76:7f5912b6340e	765	// setup, so a physical system can be expanded and updated at any time.
mjr	76:7f5912b6340e	766	//
mjr	76:7f5912b6340e	767	// To handle the diversity of output port types, we start with an abstract
mjr	76:7f5912b6340e	768	// base class for outputs. Each type of physical output interface has a
mjr	76:7f5912b6340e	769	// concrete subclass. During initialization, we create the appropriate
mjr	76:7f5912b6340e	770	// subclass for each software port, mapping it to the assigned GPIO pin
mjr	76:7f5912b6340e	771	// or peripheral port. Most of the rest of the software only cares about
mjr	76:7f5912b6340e	772	// the abstract interface, so once the subclassed port objects are set up,
mjr	76:7f5912b6340e	773	// the rest of the system can control the ports without knowing which types
mjr	76:7f5912b6340e	774	// of physical devices they're connected to.
mjr	76:7f5912b6340e	775
mjr	76:7f5912b6340e	776
mjr	26:cb71c4af2912	777	// Generic LedWiz output port interface. We create a cover class to
mjr	26:cb71c4af2912	778	// virtualize digital vs PWM outputs, and on-board KL25Z GPIO vs external
mjr	26:cb71c4af2912	779	// TLC5940 outputs, and give them all a common interface.
mjr	6:cc35eb643e8f	780	class LwOut
mjr	6:cc35eb643e8f	781	{
mjr	6:cc35eb643e8f	782	public:
mjr	40:cc0d9814522b	783	// Set the output intensity. 'val' is 0 for fully off, 255 for
mjr	40:cc0d9814522b	784	// fully on, with values in between signifying lower intensity.
mjr	40:cc0d9814522b	785	virtual void set(uint8_t val) = 0;
mjr	6:cc35eb643e8f	786	};
mjr	26:cb71c4af2912	787
mjr	35:e959ffba78fd	788	// LwOut class for virtual ports. This type of port is visible to
mjr	35:e959ffba78fd	789	// the host software, but isn't connected to any physical output.
mjr	35:e959ffba78fd	790	// This can be used for special software-only ports like the ZB
mjr	35:e959ffba78fd	791	// Launch Ball output, or simply for placeholders in the LedWiz port
mjr	35:e959ffba78fd	792	// numbering.
mjr	35:e959ffba78fd	793	class LwVirtualOut: public LwOut
mjr	33:d832bcab089e	794	{
mjr	33:d832bcab089e	795	public:
mjr	35:e959ffba78fd	796	LwVirtualOut() { }
mjr	40:cc0d9814522b	797	virtual void set(uint8_t ) { }
mjr	33:d832bcab089e	798	};
mjr	26:cb71c4af2912	799
mjr	34:6b981a2afab7	800	// Active Low out. For any output marked as active low, we layer this
mjr	34:6b981a2afab7	801	// on top of the physical pin interface. This simply inverts the value of
mjr	40:cc0d9814522b	802	// the output value, so that 255 means fully off and 0 means fully on.
mjr	34:6b981a2afab7	803	class LwInvertedOut: public LwOut
mjr	34:6b981a2afab7	804	{
mjr	34:6b981a2afab7	805	public:
mjr	34:6b981a2afab7	806	LwInvertedOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	807	virtual void set(uint8_t val) { out->set(255 - val); }
mjr	34:6b981a2afab7	808
mjr	34:6b981a2afab7	809	private:
mjr	53:9b2611964afc	810	// underlying physical output
mjr	34:6b981a2afab7	811	LwOut *out;
mjr	34:6b981a2afab7	812	};
mjr	34:6b981a2afab7	813
mjr	53:9b2611964afc	814	// Global ZB Launch Ball state
mjr	53:9b2611964afc	815	bool zbLaunchOn = false;
mjr	53:9b2611964afc	816
mjr	53:9b2611964afc	817	// ZB Launch Ball output. This is layered on a port (physical or virtual)
mjr	53:9b2611964afc	818	// to track the ZB Launch Ball signal.
mjr	53:9b2611964afc	819	class LwZbLaunchOut: public LwOut
mjr	53:9b2611964afc	820	{
mjr	53:9b2611964afc	821	public:
mjr	53:9b2611964afc	822	LwZbLaunchOut(LwOut *o) : out(o) { }
mjr	53:9b2611964afc	823	virtual void set(uint8_t val)
mjr	53:9b2611964afc	824	{
mjr	53:9b2611964afc	825	// update the global ZB Launch Ball state
mjr	53:9b2611964afc	826	zbLaunchOn = (val != 0);
mjr	53:9b2611964afc	827
mjr	53:9b2611964afc	828	// pass it along to the underlying port, in case it's a physical output
mjr	53:9b2611964afc	829	out->set(val);
mjr	53:9b2611964afc	830	}
mjr	53:9b2611964afc	831
mjr	53:9b2611964afc	832	private:
mjr	53:9b2611964afc	833	// underlying physical or virtual output
mjr	53:9b2611964afc	834	LwOut *out;
mjr	53:9b2611964afc	835	};
mjr	53:9b2611964afc	836
mjr	53:9b2611964afc	837
mjr	40:cc0d9814522b	838	// Gamma correction table for 8-bit input values
mjr	40:cc0d9814522b	839	static const uint8_t gamma[] = {
mjr	40:cc0d9814522b	840	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
mjr	40:cc0d9814522b	841	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1,
mjr	40:cc0d9814522b	842	1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2,
mjr	40:cc0d9814522b	843	2, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 5, 5, 5,
mjr	40:cc0d9814522b	844	5, 6, 6, 6, 6, 7, 7, 7, 7, 8, 8, 8, 9, 9, 9, 10,
mjr	40:cc0d9814522b	845	10, 10, 11, 11, 11, 12, 12, 13, 13, 13, 14, 14, 15, 15, 16, 16,
mjr	40:cc0d9814522b	846	17, 17, 18, 18, 19, 19, 20, 20, 21, 21, 22, 22, 23, 24, 24, 25,
mjr	40:cc0d9814522b	847	25, 26, 27, 27, 28, 29, 29, 30, 31, 32, 32, 33, 34, 35, 35, 36,
mjr	40:cc0d9814522b	848	37, 38, 39, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 50,
mjr	40:cc0d9814522b	849	51, 52, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 66, 67, 68,
mjr	40:cc0d9814522b	850	69, 70, 72, 73, 74, 75, 77, 78, 79, 81, 82, 83, 85, 86, 87, 89,
mjr	40:cc0d9814522b	851	90, 92, 93, 95, 96, 98, 99, 101, 102, 104, 105, 107, 109, 110, 112, 114,
mjr	40:cc0d9814522b	852	115, 117, 119, 120, 122, 124, 126, 127, 129, 131, 133, 135, 137, 138, 140, 142,
mjr	40:cc0d9814522b	853	144, 146, 148, 150, 152, 154, 156, 158, 160, 162, 164, 167, 169, 171, 173, 175,
mjr	40:cc0d9814522b	854	177, 180, 182, 184, 186, 189, 191, 193, 196, 198, 200, 203, 205, 208, 210, 213,
mjr	40:cc0d9814522b	855	215, 218, 220, 223, 225, 228, 231, 233, 236, 239, 241, 244, 247, 249, 252, 255
mjr	40:cc0d9814522b	856	};
mjr	40:cc0d9814522b	857
mjr	40:cc0d9814522b	858	// Gamma-corrected out. This is a filter object that we layer on top
mjr	40:cc0d9814522b	859	// of a physical pin interface. This applies gamma correction to the
mjr	40:cc0d9814522b	860	// input value and then passes it along to the underlying pin object.
mjr	40:cc0d9814522b	861	class LwGammaOut: public LwOut
mjr	40:cc0d9814522b	862	{
mjr	40:cc0d9814522b	863	public:
mjr	40:cc0d9814522b	864	LwGammaOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	865	virtual void set(uint8_t val) { out->set(gamma[val]); }
mjr	40:cc0d9814522b	866
mjr	40:cc0d9814522b	867	private:
mjr	40:cc0d9814522b	868	LwOut *out;
mjr	40:cc0d9814522b	869	};
mjr	40:cc0d9814522b	870
mjr	53:9b2611964afc	871	// global night mode flag
mjr	53:9b2611964afc	872	static bool nightMode = false;
mjr	53:9b2611964afc	873
mjr	40:cc0d9814522b	874	// Noisy output. This is a filter object that we layer on top of
mjr	40:cc0d9814522b	875	// a physical pin output. This filter disables the port when night
mjr	40:cc0d9814522b	876	// mode is engaged.
mjr	40:cc0d9814522b	877	class LwNoisyOut: public LwOut
mjr	40:cc0d9814522b	878	{
mjr	40:cc0d9814522b	879	public:
mjr	40:cc0d9814522b	880	LwNoisyOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	881	virtual void set(uint8_t val) { out->set(nightMode ? 0 : val); }
mjr	40:cc0d9814522b	882
mjr	53:9b2611964afc	883	private:
mjr	53:9b2611964afc	884	LwOut *out;
mjr	53:9b2611964afc	885	};
mjr	53:9b2611964afc	886
mjr	53:9b2611964afc	887	// Night Mode indicator output. This is a filter object that we
mjr	53:9b2611964afc	888	// layer on top of a physical pin output. This filter ignores the
mjr	53:9b2611964afc	889	// host value and simply shows the night mode status.
mjr	53:9b2611964afc	890	class LwNightModeIndicatorOut: public LwOut
mjr	53:9b2611964afc	891	{
mjr	53:9b2611964afc	892	public:
mjr	53:9b2611964afc	893	LwNightModeIndicatorOut(LwOut *o) : out(o) { }
mjr	53:9b2611964afc	894	virtual void set(uint8_t)
mjr	53:9b2611964afc	895	{
mjr	53:9b2611964afc	896	// ignore the host value and simply show the current
mjr	53:9b2611964afc	897	// night mode setting
mjr	53:9b2611964afc	898	out->set(nightMode ? 255 : 0);
mjr	53:9b2611964afc	899	}
mjr	40:cc0d9814522b	900
mjr	40:cc0d9814522b	901	private:
mjr	40:cc0d9814522b	902	LwOut *out;
mjr	40:cc0d9814522b	903	};
mjr	40:cc0d9814522b	904
mjr	26:cb71c4af2912	905
mjr	35:e959ffba78fd	906	//
mjr	35:e959ffba78fd	907	// The TLC5940 interface object. We'll set this up with the port
mjr	35:e959ffba78fd	908	// assignments set in config.h.
mjr	33:d832bcab089e	909	//
mjr	35:e959ffba78fd	910	TLC5940 *tlc5940 = 0;
mjr	35:e959ffba78fd	911	void init_tlc5940(Config &cfg)
mjr	35:e959ffba78fd	912	{
mjr	35:e959ffba78fd	913	if (cfg.tlc5940.nchips != 0)
mjr	35:e959ffba78fd	914	{
mjr	53:9b2611964afc	915	tlc5940 = new TLC5940(
mjr	53:9b2611964afc	916	wirePinName(cfg.tlc5940.sclk),
mjr	53:9b2611964afc	917	wirePinName(cfg.tlc5940.sin),
mjr	53:9b2611964afc	918	wirePinName(cfg.tlc5940.gsclk),
mjr	53:9b2611964afc	919	wirePinName(cfg.tlc5940.blank),
mjr	53:9b2611964afc	920	wirePinName(cfg.tlc5940.xlat),
mjr	53:9b2611964afc	921	cfg.tlc5940.nchips);
mjr	35:e959ffba78fd	922	}
mjr	35:e959ffba78fd	923	}
mjr	26:cb71c4af2912	924
mjr	40:cc0d9814522b	925	// Conversion table for 8-bit DOF level to 12-bit TLC5940 level
mjr	40:cc0d9814522b	926	static const uint16_t dof_to_tlc[] = {
mjr	40:cc0d9814522b	927	0, 16, 32, 48, 64, 80, 96, 112, 128, 145, 161, 177, 193, 209, 225, 241,
mjr	40:cc0d9814522b	928	257, 273, 289, 305, 321, 337, 353, 369, 385, 401, 418, 434, 450, 466, 482, 498,
mjr	40:cc0d9814522b	929	514, 530, 546, 562, 578, 594, 610, 626, 642, 658, 674, 691, 707, 723, 739, 755,
mjr	40:cc0d9814522b	930	771, 787, 803, 819, 835, 851, 867, 883, 899, 915, 931, 947, 964, 980, 996, 1012,
mjr	40:cc0d9814522b	931	1028, 1044, 1060, 1076, 1092, 1108, 1124, 1140, 1156, 1172, 1188, 1204, 1220, 1237, 1253, 1269,
mjr	40:cc0d9814522b	932	1285, 1301, 1317, 1333, 1349, 1365, 1381, 1397, 1413, 1429, 1445, 1461, 1477, 1493, 1510, 1526,
mjr	40:cc0d9814522b	933	1542, 1558, 1574, 1590, 1606, 1622, 1638, 1654, 1670, 1686, 1702, 1718, 1734, 1750, 1766, 1783,
mjr	40:cc0d9814522b	934	1799, 1815, 1831, 1847, 1863, 1879, 1895, 1911, 1927, 1943, 1959, 1975, 1991, 2007, 2023, 2039,
mjr	40:cc0d9814522b	935	2056, 2072, 2088, 2104, 2120, 2136, 2152, 2168, 2184, 2200, 2216, 2232, 2248, 2264, 2280, 2296,
mjr	40:cc0d9814522b	936	2312, 2329, 2345, 2361, 2377, 2393, 2409, 2425, 2441, 2457, 2473, 2489, 2505, 2521, 2537, 2553,
mjr	40:cc0d9814522b	937	2569, 2585, 2602, 2618, 2634, 2650, 2666, 2682, 2698, 2714, 2730, 2746, 2762, 2778, 2794, 2810,
mjr	40:cc0d9814522b	938	2826, 2842, 2858, 2875, 2891, 2907, 2923, 2939, 2955, 2971, 2987, 3003, 3019, 3035, 3051, 3067,
mjr	40:cc0d9814522b	939	3083, 3099, 3115, 3131, 3148, 3164, 3180, 3196, 3212, 3228, 3244, 3260, 3276, 3292, 3308, 3324,
mjr	40:cc0d9814522b	940	3340, 3356, 3372, 3388, 3404, 3421, 3437, 3453, 3469, 3485, 3501, 3517, 3533, 3549, 3565, 3581,
mjr	40:cc0d9814522b	941	3597, 3613, 3629, 3645, 3661, 3677, 3694, 3710, 3726, 3742, 3758, 3774, 3790, 3806, 3822, 3838,
mjr	40:cc0d9814522b	942	3854, 3870, 3886, 3902, 3918, 3934, 3950, 3967, 3983, 3999, 4015, 4031, 4047, 4063, 4079, 4095
mjr	40:cc0d9814522b	943	};
mjr	40:cc0d9814522b	944
mjr	40:cc0d9814522b	945	// Conversion table for 8-bit DOF level to 12-bit TLC5940 level, with
mjr	40:cc0d9814522b	946	// gamma correction. Note that the output layering scheme can handle
mjr	40:cc0d9814522b	947	// this without a separate table, by first applying gamma to the DOF
mjr	40:cc0d9814522b	948	// level to produce an 8-bit gamma-corrected value, then convert that
mjr	40:cc0d9814522b	949	// to the 12-bit TLC5940 value. But we get better precision by doing
mjr	40:cc0d9814522b	950	// the gamma correction in the 12-bit TLC5940 domain. We can only
mjr	40:cc0d9814522b	951	// get the 12-bit domain by combining both steps into one layering
mjr	40:cc0d9814522b	952	// object, though, since the intermediate values in the layering system
mjr	40:cc0d9814522b	953	// are always 8 bits.
mjr	40:cc0d9814522b	954	static const uint16_t dof_to_gamma_tlc[] = {
mjr	40:cc0d9814522b	955	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1,
mjr	40:cc0d9814522b	956	2, 2, 2, 3, 3, 4, 4, 5, 5, 6, 7, 8, 8, 9, 10, 11,
mjr	40:cc0d9814522b	957	12, 13, 15, 16, 17, 18, 20, 21, 23, 25, 26, 28, 30, 32, 34, 36,
mjr	40:cc0d9814522b	958	38, 40, 43, 45, 48, 50, 53, 56, 59, 62, 65, 68, 71, 75, 78, 82,
mjr	40:cc0d9814522b	959	85, 89, 93, 97, 101, 105, 110, 114, 119, 123, 128, 133, 138, 143, 149, 154,
mjr	40:cc0d9814522b	960	159, 165, 171, 177, 183, 189, 195, 202, 208, 215, 222, 229, 236, 243, 250, 258,
mjr	40:cc0d9814522b	961	266, 273, 281, 290, 298, 306, 315, 324, 332, 341, 351, 360, 369, 379, 389, 399,
mjr	40:cc0d9814522b	962	409, 419, 430, 440, 451, 462, 473, 485, 496, 508, 520, 532, 544, 556, 569, 582,
mjr	40:cc0d9814522b	963	594, 608, 621, 634, 648, 662, 676, 690, 704, 719, 734, 749, 764, 779, 795, 811,
mjr	40:cc0d9814522b	964	827, 843, 859, 876, 893, 910, 927, 944, 962, 980, 998, 1016, 1034, 1053, 1072, 1091,
mjr	40:cc0d9814522b	965	1110, 1130, 1150, 1170, 1190, 1210, 1231, 1252, 1273, 1294, 1316, 1338, 1360, 1382, 1404, 1427,
mjr	40:cc0d9814522b	966	1450, 1473, 1497, 1520, 1544, 1568, 1593, 1617, 1642, 1667, 1693, 1718, 1744, 1770, 1797, 1823,
mjr	40:cc0d9814522b	967	1850, 1877, 1905, 1932, 1960, 1988, 2017, 2045, 2074, 2103, 2133, 2162, 2192, 2223, 2253, 2284,
mjr	40:cc0d9814522b	968	2315, 2346, 2378, 2410, 2442, 2474, 2507, 2540, 2573, 2606, 2640, 2674, 2708, 2743, 2778, 2813,
mjr	40:cc0d9814522b	969	2849, 2884, 2920, 2957, 2993, 3030, 3067, 3105, 3143, 3181, 3219, 3258, 3297, 3336, 3376, 3416,
mjr	40:cc0d9814522b	970	3456, 3496, 3537, 3578, 3619, 3661, 3703, 3745, 3788, 3831, 3874, 3918, 3962, 4006, 4050, 4095
mjr	40:cc0d9814522b	971	};
mjr	40:cc0d9814522b	972
mjr	26:cb71c4af2912	973	// LwOut class for TLC5940 outputs. These are fully PWM capable.
mjr	26:cb71c4af2912	974	// The 'idx' value in the constructor is the output index in the
mjr	26:cb71c4af2912	975	// daisy-chained TLC5940 array. 0 is output #0 on the first chip,
mjr	26:cb71c4af2912	976	// 1 is #1 on the first chip, 15 is #15 on the first chip, 16 is
mjr	26:cb71c4af2912	977	// #0 on the second chip, 32 is #0 on the third chip, etc.
mjr	26:cb71c4af2912	978	class Lw5940Out: public LwOut
mjr	26:cb71c4af2912	979	{
mjr	26:cb71c4af2912	980	public:
mjr	60:f38da020aa13	981	Lw5940Out(uint8_t idx) : idx(idx) { prv = 0; }
mjr	40:cc0d9814522b	982	virtual void set(uint8_t val)
mjr	26:cb71c4af2912	983	{
mjr	26:cb71c4af2912	984	if (val != prv)
mjr	40:cc0d9814522b	985	tlc5940->set(idx, dof_to_tlc[prv = val]);
mjr	26:cb71c4af2912	986	}
mjr	60:f38da020aa13	987	uint8_t idx;
mjr	40:cc0d9814522b	988	uint8_t prv;
mjr	26:cb71c4af2912	989	};
mjr	26:cb71c4af2912	990
mjr	40:cc0d9814522b	991	// LwOut class for TLC5940 gamma-corrected outputs.
mjr	40:cc0d9814522b	992	class Lw5940GammaOut: public LwOut
mjr	40:cc0d9814522b	993	{
mjr	40:cc0d9814522b	994	public:
mjr	60:f38da020aa13	995	Lw5940GammaOut(uint8_t idx) : idx(idx) { prv = 0; }
mjr	40:cc0d9814522b	996	virtual void set(uint8_t val)
mjr	40:cc0d9814522b	997	{
mjr	40:cc0d9814522b	998	if (val != prv)
mjr	40:cc0d9814522b	999	tlc5940->set(idx, dof_to_gamma_tlc[prv = val]);
mjr	40:cc0d9814522b	1000	}
mjr	60:f38da020aa13	1001	uint8_t idx;
mjr	40:cc0d9814522b	1002	uint8_t prv;
mjr	40:cc0d9814522b	1003	};
mjr	40:cc0d9814522b	1004
mjr	40:cc0d9814522b	1005
mjr	33:d832bcab089e	1006
mjr	34:6b981a2afab7	1007	// 74HC595 interface object. Set this up with the port assignments in
mjr	34:6b981a2afab7	1008	// config.h.
mjr	35:e959ffba78fd	1009	HC595 *hc595 = 0;
mjr	35:e959ffba78fd	1010
mjr	35:e959ffba78fd	1011	// initialize the 74HC595 interface
mjr	35:e959ffba78fd	1012	void init_hc595(Config &cfg)
mjr	35:e959ffba78fd	1013	{
mjr	35:e959ffba78fd	1014	if (cfg.hc595.nchips != 0)
mjr	35:e959ffba78fd	1015	{
mjr	53:9b2611964afc	1016	hc595 = new HC595(
mjr	53:9b2611964afc	1017	wirePinName(cfg.hc595.nchips),
mjr	53:9b2611964afc	1018	wirePinName(cfg.hc595.sin),
mjr	53:9b2611964afc	1019	wirePinName(cfg.hc595.sclk),
mjr	53:9b2611964afc	1020	wirePinName(cfg.hc595.latch),
mjr	53:9b2611964afc	1021	wirePinName(cfg.hc595.ena));
mjr	35:e959ffba78fd	1022	hc595->init();
mjr	35:e959ffba78fd	1023	hc595->update();
mjr	35:e959ffba78fd	1024	}
mjr	35:e959ffba78fd	1025	}
mjr	34:6b981a2afab7	1026
mjr	34:6b981a2afab7	1027	// LwOut class for 74HC595 outputs. These are simple digial outs.
mjr	34:6b981a2afab7	1028	// The 'idx' value in the constructor is the output index in the
mjr	34:6b981a2afab7	1029	// daisy-chained 74HC595 array. 0 is output #0 on the first chip,
mjr	34:6b981a2afab7	1030	// 1 is #1 on the first chip, 7 is #7 on the first chip, 8 is
mjr	34:6b981a2afab7	1031	// #0 on the second chip, etc.
mjr	34:6b981a2afab7	1032	class Lw595Out: public LwOut
mjr	33:d832bcab089e	1033	{
mjr	33:d832bcab089e	1034	public:
mjr	60:f38da020aa13	1035	Lw595Out(uint8_t idx) : idx(idx) { prv = 0; }
mjr	40:cc0d9814522b	1036	virtual void set(uint8_t val)
mjr	34:6b981a2afab7	1037	{
mjr	34:6b981a2afab7	1038	if (val != prv)
mjr	40:cc0d9814522b	1039	hc595->set(idx, (prv = val) == 0 ? 0 : 1);
mjr	34:6b981a2afab7	1040	}
mjr	60:f38da020aa13	1041	uint8_t idx;
mjr	40:cc0d9814522b	1042	uint8_t prv;
mjr	33:d832bcab089e	1043	};
mjr	33:d832bcab089e	1044
mjr	26:cb71c4af2912	1045
mjr	40:cc0d9814522b	1046
mjr	64:ef7ca92dff36	1047	// Conversion table - 8-bit DOF output level to PWM duty cycle,
mjr	64:ef7ca92dff36	1048	// normalized to 0.0 to 1.0 scale.
mjr	74:822a92bc11d2	1049	static const float dof_to_pwm[] = {
mjr	64:ef7ca92dff36	1050	0.000000f, 0.003922f, 0.007843f, 0.011765f, 0.015686f, 0.019608f, 0.023529f, 0.027451f,
mjr	64:ef7ca92dff36	1051	0.031373f, 0.035294f, 0.039216f, 0.043137f, 0.047059f, 0.050980f, 0.054902f, 0.058824f,
mjr	64:ef7ca92dff36	1052	0.062745f, 0.066667f, 0.070588f, 0.074510f, 0.078431f, 0.082353f, 0.086275f, 0.090196f,
mjr	64:ef7ca92dff36	1053	0.094118f, 0.098039f, 0.101961f, 0.105882f, 0.109804f, 0.113725f, 0.117647f, 0.121569f,
mjr	64:ef7ca92dff36	1054	0.125490f, 0.129412f, 0.133333f, 0.137255f, 0.141176f, 0.145098f, 0.149020f, 0.152941f,
mjr	64:ef7ca92dff36	1055	0.156863f, 0.160784f, 0.164706f, 0.168627f, 0.172549f, 0.176471f, 0.180392f, 0.184314f,
mjr	64:ef7ca92dff36	1056	0.188235f, 0.192157f, 0.196078f, 0.200000f, 0.203922f, 0.207843f, 0.211765f, 0.215686f,
mjr	64:ef7ca92dff36	1057	0.219608f, 0.223529f, 0.227451f, 0.231373f, 0.235294f, 0.239216f, 0.243137f, 0.247059f,
mjr	64:ef7ca92dff36	1058	0.250980f, 0.254902f, 0.258824f, 0.262745f, 0.266667f, 0.270588f, 0.274510f, 0.278431f,
mjr	64:ef7ca92dff36	1059	0.282353f, 0.286275f, 0.290196f, 0.294118f, 0.298039f, 0.301961f, 0.305882f, 0.309804f,
mjr	64:ef7ca92dff36	1060	0.313725f, 0.317647f, 0.321569f, 0.325490f, 0.329412f, 0.333333f, 0.337255f, 0.341176f,
mjr	64:ef7ca92dff36	1061	0.345098f, 0.349020f, 0.352941f, 0.356863f, 0.360784f, 0.364706f, 0.368627f, 0.372549f,
mjr	64:ef7ca92dff36	1062	0.376471f, 0.380392f, 0.384314f, 0.388235f, 0.392157f, 0.396078f, 0.400000f, 0.403922f,
mjr	64:ef7ca92dff36	1063	0.407843f, 0.411765f, 0.415686f, 0.419608f, 0.423529f, 0.427451f, 0.431373f, 0.435294f,
mjr	64:ef7ca92dff36	1064	0.439216f, 0.443137f, 0.447059f, 0.450980f, 0.454902f, 0.458824f, 0.462745f, 0.466667f,
mjr	64:ef7ca92dff36	1065	0.470588f, 0.474510f, 0.478431f, 0.482353f, 0.486275f, 0.490196f, 0.494118f, 0.498039f,
mjr	64:ef7ca92dff36	1066	0.501961f, 0.505882f, 0.509804f, 0.513725f, 0.517647f, 0.521569f, 0.525490f, 0.529412f,
mjr	64:ef7ca92dff36	1067	0.533333f, 0.537255f, 0.541176f, 0.545098f, 0.549020f, 0.552941f, 0.556863f, 0.560784f,
mjr	64:ef7ca92dff36	1068	0.564706f, 0.568627f, 0.572549f, 0.576471f, 0.580392f, 0.584314f, 0.588235f, 0.592157f,
mjr	64:ef7ca92dff36	1069	0.596078f, 0.600000f, 0.603922f, 0.607843f, 0.611765f, 0.615686f, 0.619608f, 0.623529f,
mjr	64:ef7ca92dff36	1070	0.627451f, 0.631373f, 0.635294f, 0.639216f, 0.643137f, 0.647059f, 0.650980f, 0.654902f,
mjr	64:ef7ca92dff36	1071	0.658824f, 0.662745f, 0.666667f, 0.670588f, 0.674510f, 0.678431f, 0.682353f, 0.686275f,
mjr	64:ef7ca92dff36	1072	0.690196f, 0.694118f, 0.698039f, 0.701961f, 0.705882f, 0.709804f, 0.713725f, 0.717647f,
mjr	64:ef7ca92dff36	1073	0.721569f, 0.725490f, 0.729412f, 0.733333f, 0.737255f, 0.741176f, 0.745098f, 0.749020f,
mjr	64:ef7ca92dff36	1074	0.752941f, 0.756863f, 0.760784f, 0.764706f, 0.768627f, 0.772549f, 0.776471f, 0.780392f,
mjr	64:ef7ca92dff36	1075	0.784314f, 0.788235f, 0.792157f, 0.796078f, 0.800000f, 0.803922f, 0.807843f, 0.811765f,
mjr	64:ef7ca92dff36	1076	0.815686f, 0.819608f, 0.823529f, 0.827451f, 0.831373f, 0.835294f, 0.839216f, 0.843137f,
mjr	64:ef7ca92dff36	1077	0.847059f, 0.850980f, 0.854902f, 0.858824f, 0.862745f, 0.866667f, 0.870588f, 0.874510f,
mjr	64:ef7ca92dff36	1078	0.878431f, 0.882353f, 0.886275f, 0.890196f, 0.894118f, 0.898039f, 0.901961f, 0.905882f,
mjr	64:ef7ca92dff36	1079	0.909804f, 0.913725f, 0.917647f, 0.921569f, 0.925490f, 0.929412f, 0.933333f, 0.937255f,
mjr	64:ef7ca92dff36	1080	0.941176f, 0.945098f, 0.949020f, 0.952941f, 0.956863f, 0.960784f, 0.964706f, 0.968627f,
mjr	64:ef7ca92dff36	1081	0.972549f, 0.976471f, 0.980392f, 0.984314f, 0.988235f, 0.992157f, 0.996078f, 1.000000f
mjr	40:cc0d9814522b	1082	};
mjr	26:cb71c4af2912	1083
mjr	64:ef7ca92dff36	1084
mjr	64:ef7ca92dff36	1085	// Conversion table for 8-bit DOF level to pulse width in microseconds,
mjr	64:ef7ca92dff36	1086	// with gamma correction. We could use the layered gamma output on top
mjr	64:ef7ca92dff36	1087	// of the regular LwPwmOut class for this, but we get better precision
mjr	64:ef7ca92dff36	1088	// with a dedicated table, because we apply gamma correction to the
mjr	64:ef7ca92dff36	1089	// 32-bit microsecond values rather than the 8-bit DOF levels.
mjr	64:ef7ca92dff36	1090	static const float dof_to_gamma_pwm[] = {
mjr	64:ef7ca92dff36	1091	0.000000f, 0.000000f, 0.000001f, 0.000004f, 0.000009f, 0.000017f, 0.000028f, 0.000042f,
mjr	64:ef7ca92dff36	1092	0.000062f, 0.000086f, 0.000115f, 0.000151f, 0.000192f, 0.000240f, 0.000296f, 0.000359f,
mjr	64:ef7ca92dff36	1093	0.000430f, 0.000509f, 0.000598f, 0.000695f, 0.000803f, 0.000920f, 0.001048f, 0.001187f,
mjr	64:ef7ca92dff36	1094	0.001337f, 0.001499f, 0.001673f, 0.001860f, 0.002059f, 0.002272f, 0.002498f, 0.002738f,
mjr	64:ef7ca92dff36	1095	0.002993f, 0.003262f, 0.003547f, 0.003847f, 0.004162f, 0.004494f, 0.004843f, 0.005208f,
mjr	64:ef7ca92dff36	1096	0.005591f, 0.005991f, 0.006409f, 0.006845f, 0.007301f, 0.007775f, 0.008268f, 0.008781f,
mjr	64:ef7ca92dff36	1097	0.009315f, 0.009868f, 0.010442f, 0.011038f, 0.011655f, 0.012293f, 0.012954f, 0.013637f,
mjr	64:ef7ca92dff36	1098	0.014342f, 0.015071f, 0.015823f, 0.016599f, 0.017398f, 0.018223f, 0.019071f, 0.019945f,
mjr	64:ef7ca92dff36	1099	0.020844f, 0.021769f, 0.022720f, 0.023697f, 0.024701f, 0.025731f, 0.026789f, 0.027875f,
mjr	64:ef7ca92dff36	1100	0.028988f, 0.030129f, 0.031299f, 0.032498f, 0.033726f, 0.034983f, 0.036270f, 0.037587f,
mjr	64:ef7ca92dff36	1101	0.038935f, 0.040313f, 0.041722f, 0.043162f, 0.044634f, 0.046138f, 0.047674f, 0.049243f,
mjr	64:ef7ca92dff36	1102	0.050844f, 0.052478f, 0.054146f, 0.055847f, 0.057583f, 0.059353f, 0.061157f, 0.062996f,
mjr	64:ef7ca92dff36	1103	0.064870f, 0.066780f, 0.068726f, 0.070708f, 0.072726f, 0.074780f, 0.076872f, 0.079001f,
mjr	64:ef7ca92dff36	1104	0.081167f, 0.083371f, 0.085614f, 0.087895f, 0.090214f, 0.092572f, 0.094970f, 0.097407f,
mjr	64:ef7ca92dff36	1105	0.099884f, 0.102402f, 0.104959f, 0.107558f, 0.110197f, 0.112878f, 0.115600f, 0.118364f,
mjr	64:ef7ca92dff36	1106	0.121170f, 0.124019f, 0.126910f, 0.129844f, 0.132821f, 0.135842f, 0.138907f, 0.142016f,
mjr	64:ef7ca92dff36	1107	0.145170f, 0.148367f, 0.151610f, 0.154898f, 0.158232f, 0.161611f, 0.165037f, 0.168509f,
mjr	64:ef7ca92dff36	1108	0.172027f, 0.175592f, 0.179205f, 0.182864f, 0.186572f, 0.190327f, 0.194131f, 0.197983f,
mjr	64:ef7ca92dff36	1109	0.201884f, 0.205834f, 0.209834f, 0.213883f, 0.217982f, 0.222131f, 0.226330f, 0.230581f,
mjr	64:ef7ca92dff36	1110	0.234882f, 0.239234f, 0.243638f, 0.248094f, 0.252602f, 0.257162f, 0.261774f, 0.266440f,
mjr	64:ef7ca92dff36	1111	0.271159f, 0.275931f, 0.280756f, 0.285636f, 0.290570f, 0.295558f, 0.300601f, 0.305699f,
mjr	64:ef7ca92dff36	1112	0.310852f, 0.316061f, 0.321325f, 0.326645f, 0.332022f, 0.337456f, 0.342946f, 0.348493f,
mjr	64:ef7ca92dff36	1113	0.354098f, 0.359760f, 0.365480f, 0.371258f, 0.377095f, 0.382990f, 0.388944f, 0.394958f,
mjr	64:ef7ca92dff36	1114	0.401030f, 0.407163f, 0.413356f, 0.419608f, 0.425921f, 0.432295f, 0.438730f, 0.445226f,
mjr	64:ef7ca92dff36	1115	0.451784f, 0.458404f, 0.465085f, 0.471829f, 0.478635f, 0.485504f, 0.492436f, 0.499432f,
mjr	64:ef7ca92dff36	1116	0.506491f, 0.513614f, 0.520800f, 0.528052f, 0.535367f, 0.542748f, 0.550194f, 0.557705f,
mjr	64:ef7ca92dff36	1117	0.565282f, 0.572924f, 0.580633f, 0.588408f, 0.596249f, 0.604158f, 0.612133f, 0.620176f,
mjr	64:ef7ca92dff36	1118	0.628287f, 0.636465f, 0.644712f, 0.653027f, 0.661410f, 0.669863f, 0.678384f, 0.686975f,
mjr	64:ef7ca92dff36	1119	0.695636f, 0.704366f, 0.713167f, 0.722038f, 0.730979f, 0.739992f, 0.749075f, 0.758230f,
mjr	64:ef7ca92dff36	1120	0.767457f, 0.776755f, 0.786126f, 0.795568f, 0.805084f, 0.814672f, 0.824334f, 0.834068f,
mjr	64:ef7ca92dff36	1121	0.843877f, 0.853759f, 0.863715f, 0.873746f, 0.883851f, 0.894031f, 0.904286f, 0.914616f,
mjr	64:ef7ca92dff36	1122	0.925022f, 0.935504f, 0.946062f, 0.956696f, 0.967407f, 0.978194f, 0.989058f, 1.000000f
mjr	64:ef7ca92dff36	1123	};
mjr	64:ef7ca92dff36	1124
mjr	74:822a92bc11d2	1125	// MyPwmOut - a slight customization of the base mbed PwmOut class. The
mjr	74:822a92bc11d2	1126	// mbed version of PwmOut.write() resets the PWM cycle counter on every
mjr	74:822a92bc11d2	1127	// update. That's problematic, because the counter reset interrupts the
mjr	74:822a92bc11d2	1128	// cycle in progress, causing a momentary drop in brightness that's visible
mjr	74:822a92bc11d2	1129	// to the eye if the output is connected to an LED or other light source.
mjr	74:822a92bc11d2	1130	// This is especially noticeable when making gradual changes consisting of
mjr	74:822a92bc11d2	1131	// many updates in a short time, such as a slow fade, because the light
mjr	74:822a92bc11d2	1132	// visibly flickers on every step of the transition. This customized
mjr	74:822a92bc11d2	1133	// version removes the cycle reset, which makes for glitch-free updates
mjr	74:822a92bc11d2	1134	// and nice smooth fades.
mjr	74:822a92bc11d2	1135	//
mjr	74:822a92bc11d2	1136	// Initially, I thought the counter reset in the mbed code was simply a
mjr	74:822a92bc11d2	1137	// bug. According to the KL25Z hardware reference, you update the duty
mjr	74:822a92bc11d2	1138	// cycle by writing to the "compare values" (CvN) register. There's no
mjr	74:822a92bc11d2	1139	// hint that you should reset the cycle counter, and indeed, the hardware
mjr	74:822a92bc11d2	1140	// goes out of its way to allow updates mid-cycle (as we'll see shortly).
mjr	74:822a92bc11d2	1141	// They went to lengths specifically so that you don't have to reset
mjr	74:822a92bc11d2	1142	// that counter. And there's no comment in the mbed code explaining the
mjr	74:822a92bc11d2	1143	// cycle reset, so it looked to me like something that must have been
mjr	74:822a92bc11d2	1144	// added by someone who didn't read the manual carefully enough and didn't
mjr	74:822a92bc11d2	1145	// test the result thoroughly enough to find the glitch it causes.
mjr	74:822a92bc11d2	1146	//
mjr	74:822a92bc11d2	1147	// After some experimentation, though, I've come to think the code was
mjr	74:822a92bc11d2	1148	// added intentionally, as a workaround for a rather nasty KL25Z hardware
mjr	74:822a92bc11d2	1149	// bug. Whoever wrote the code didn't add any comments explaning why it's
mjr	74:822a92bc11d2	1150	// there, so we can't know for sure, but it does happen to work around the
mjr	74:822a92bc11d2	1151	// bug, so it's a good bet the original programmer found the same hardware
mjr	74:822a92bc11d2	1152	// problem and came up with the counter reset as an imperfect solution.
mjr	74:822a92bc11d2	1153	//
mjr	74:822a92bc11d2	1154	// We'll get to the KL25Z hardware bug shortly, but first we need to look at
mjr	74:822a92bc11d2	1155	// how the hardware is supposed to work. The KL25Z is supposed to make
mjr	74:822a92bc11d2	1156	// it super easy for software to do glitch-free updates of the duty cycle of
mjr	74:822a92bc11d2	1157	// a PWM channel. With PWM hardware in general, you have to be careful to
mjr	74:822a92bc11d2	1158	// update the duty cycle counter between grayscale cycles, beacuse otherwise
mjr	74:822a92bc11d2	1159	// you might interrupt the cycle in progress and cause a brightness glitch.
mjr	74:822a92bc11d2	1160	// The KL25Z TPM simplifies this with a "staging" register for the duty
mjr	74:822a92bc11d2	1161	// cycle counter. At the end of each cycle, the TPM moves the value from
mjr	74:822a92bc11d2	1162	// the staging register into its internal register that actually controls
mjr	74:822a92bc11d2	1163	// the duty cycle. The idea is that the software can write a new value to
mjr	74:822a92bc11d2	1164	// the staging register at any time, and the hardware will take care of
mjr	74:822a92bc11d2	1165	// synchronizing the actual internal update with the grayscale cycle. In
mjr	74:822a92bc11d2	1166	// principle, this frees the software of any special timing considerations
mjr	74:822a92bc11d2	1167	// for PWM updates.
mjr	74:822a92bc11d2	1168	//
mjr	74:822a92bc11d2	1169	// Now for the bug. The staging register works as advertised, except for
mjr	74:822a92bc11d2	1170	// one little detail: it seems to be implemented as a one-element queue
mjr	74:822a92bc11d2	1171	// that won't accept a new write until the existing value has been read.
mjr	74:822a92bc11d2	1172	// The read only happens at the start of the new cycle. So the effect is
mjr	74:822a92bc11d2	1173	// that we can only write one update per cycle. Any writes after the first
mjr	74:822a92bc11d2	1174	// are simply dropped, lost forever. That causes even worse problems than
mjr	74:822a92bc11d2	1175	// the original glitch. For example, if we're doing a fade-out, the last
mjr	74:822a92bc11d2	1176	// couple of updates in the fade might get lost, leaving the output slightly
mjr	74:822a92bc11d2	1177	// on at the end, when it's supposed to be completely off.
mjr	74:822a92bc11d2	1178	//
mjr	74:822a92bc11d2	1179	// The mbed workaround of resetting the cycle counter fixes the lost-update
mjr	74:822a92bc11d2	1180	// problem, but it causes the constant glitching during fades. So we need
mjr	74:822a92bc11d2	1181	// a third way that works around the hardware problem without causing
mjr	74:822a92bc11d2	1182	// update glitches.
mjr	74:822a92bc11d2	1183	//
mjr	74:822a92bc11d2	1184	// Here's my solution: we basically implement our own staging register,
mjr	74:822a92bc11d2	1185	// using the same principle as the hardware staging register, but hopefully
mjr	74:822a92bc11d2	1186	// with an implementation that actually works! First, when we update a PWM
mjr	74:822a92bc11d2	1187	// output, we won't actually write the value to the hardware register.
mjr	74:822a92bc11d2	1188	// Instead, we'll just stash it internally, effectively in our own staging
mjr	74:822a92bc11d2	1189	// register (but actually just a member variable of this object). Then
mjr	74:822a92bc11d2	1190	// we'll periodically transfer these staged updates to the actual hardware
mjr	74:822a92bc11d2	1191	// registers, being careful to do this no more than once per PWM cycle.
mjr	74:822a92bc11d2	1192	// One way to do this would be to use an interrupt handler that fires at
mjr	74:822a92bc11d2	1193	// the end of the PWM cycle, but that would be fairly complex because we
mjr	74:822a92bc11d2	1194	// have many (up to 10) PWM channels. Instead, we'll just use polling:
mjr	74:822a92bc11d2	1195	// we'll call a routine periodically in our main loop, and we'll transfer
mjr	74:822a92bc11d2	1196	// updates for all of the channels that have been updated since the last
mjr	74:822a92bc11d2	1197	// pass. We can get away with this simple polling approach because the
mjr	74:822a92bc11d2	1198	// hardware design partially works: it does manage to free us from the
mjr	74:822a92bc11d2	1199	// need to synchronize updates with the exact end of a PWM cycle. As long
mjr	74:822a92bc11d2	1200	// as we do no more than one write per cycle, we're golden. That's easy
mjr	74:822a92bc11d2	1201	// to accomplish, too: all we need to do is make sure that our polling
mjr	74:822a92bc11d2	1202	// interval is slightly longer than the PWM period. That ensures that
mjr	74:822a92bc11d2	1203	// we can never have two updates during one PWM cycle. It does mean that
mjr	74:822a92bc11d2	1204	// we might have zero updates on some cycles, causing a one-cycle delay
mjr	74:822a92bc11d2	1205	// before an update is actually put into effect, but that shouldn't ever
mjr	74:822a92bc11d2	1206	// be noticeable since the cycles are so short. Specifically, we'll use
mjr	74:822a92bc11d2	1207	// the mbed default 20ms PWM period, and we'll do our update polling
mjr	74:822a92bc11d2	1208	// every 25ms.
mjr	74:822a92bc11d2	1209	class LessGlitchyPwmOut: public PwmOut
mjr	74:822a92bc11d2	1210	{
mjr	74:822a92bc11d2	1211	public:
mjr	74:822a92bc11d2	1212	LessGlitchyPwmOut(PinName pin) : PwmOut(pin) { }
mjr	74:822a92bc11d2	1213
mjr	74:822a92bc11d2	1214	void write(float value)
mjr	74:822a92bc11d2	1215	{
mjr	74:822a92bc11d2	1216	// Update the counter without resetting the counter.
mjr	74:822a92bc11d2	1217	//
mjr	74:822a92bc11d2	1218	// NB: this causes problems if there are multiple writes in one
mjr	74:822a92bc11d2	1219	// PWM cycle: the first write will be applied and later writes
mjr	74:822a92bc11d2	1220	// during the same cycle will be lost. Callers must take care
mjr	74:822a92bc11d2	1221	// to limit writes to one per cycle.
mjr	74:822a92bc11d2	1222	_pwm.CnV = uint32_t((_pwm.MOD + 1) * value);
mjr	74:822a92bc11d2	1223	}
mjr	74:822a92bc11d2	1224	};
mjr	74:822a92bc11d2	1225
mjr	74:822a92bc11d2	1226
mjr	74:822a92bc11d2	1227	// Collection of PwmOut objects to update on each polling cycle. The
mjr	74:822a92bc11d2	1228	// KL25Z has 10 physical PWM channels, so we need at most 10 polled outputs.
mjr	74:822a92bc11d2	1229	static int numPolledPwm;
mjr	74:822a92bc11d2	1230	static class LwPwmOut *polledPwm[10];
mjr	74:822a92bc11d2	1231
mjr	74:822a92bc11d2	1232	// LwOut class for a PWM-capable GPIO port.
mjr	6:cc35eb643e8f	1233	class LwPwmOut: public LwOut
mjr	6:cc35eb643e8f	1234	{
mjr	6:cc35eb643e8f	1235	public:
mjr	43:7a6364d82a41	1236	LwPwmOut(PinName pin, uint8_t initVal) : p(pin)
mjr	43:7a6364d82a41	1237	{
mjr	74:822a92bc11d2	1238	// set the cycle time to 20ms
mjr	74:822a92bc11d2	1239	p.period_ms(20);
mjr	74:822a92bc11d2	1240
mjr	74:822a92bc11d2	1241	// add myself to the list of polled outputs for periodic updates
mjr	74:822a92bc11d2	1242	if (numPolledPwm < countof(polledPwm))
mjr	74:822a92bc11d2	1243	polledPwm[numPolledPwm++] = this;
mjr	74:822a92bc11d2	1244
mjr	74:822a92bc11d2	1245	// set the initial value, and an explicitly different previous value
mjr	74:822a92bc11d2	1246	prv = ~initVal;
mjr	43:7a6364d82a41	1247	set(initVal);
mjr	43:7a6364d82a41	1248	}
mjr	74:822a92bc11d2	1249
mjr	40:cc0d9814522b	1250	virtual void set(uint8_t val)
mjr	74:822a92bc11d2	1251	{
mjr	74:822a92bc11d2	1252	// on set, just save the value for a later 'commit'
mjr	74:822a92bc11d2	1253	this->val = val;
mjr	13:72dda449c3c0	1254	}
mjr	74:822a92bc11d2	1255
mjr	74:822a92bc11d2	1256	// handle periodic update polling
mjr	74:822a92bc11d2	1257	void poll()
mjr	74:822a92bc11d2	1258	{
mjr	74:822a92bc11d2	1259	// if the value has changed, commit it
mjr	74:822a92bc11d2	1260	if (val != prv)
mjr	74:822a92bc11d2	1261	{
mjr	74:822a92bc11d2	1262	prv = val;
mjr	74:822a92bc11d2	1263	commit(val);
mjr	74:822a92bc11d2	1264	}
mjr	74:822a92bc11d2	1265	}
mjr	74:822a92bc11d2	1266
mjr	74:822a92bc11d2	1267	protected:
mjr	74:822a92bc11d2	1268	virtual void commit(uint8_t v)
mjr	74:822a92bc11d2	1269	{
mjr	74:822a92bc11d2	1270	// write the current value to the PWM controller if it's changed
mjr	74:822a92bc11d2	1271	p.write(dof_to_pwm[v]);
mjr	74:822a92bc11d2	1272	}
mjr	74:822a92bc11d2	1273
mjr	74:822a92bc11d2	1274	LessGlitchyPwmOut p;
mjr	74:822a92bc11d2	1275	uint8_t val, prv;
mjr	6:cc35eb643e8f	1276	};
mjr	26:cb71c4af2912	1277
mjr	74:822a92bc11d2	1278	// Gamma corrected PWM GPIO output. This works exactly like the regular
mjr	74:822a92bc11d2	1279	// PWM output, but translates DOF values through the gamma-corrected
mjr	74:822a92bc11d2	1280	// table instead of the regular linear table.
mjr	64:ef7ca92dff36	1281	class LwPwmGammaOut: public LwPwmOut
mjr	64:ef7ca92dff36	1282	{
mjr	64:ef7ca92dff36	1283	public:
mjr	64:ef7ca92dff36	1284	LwPwmGammaOut(PinName pin, uint8_t initVal)
mjr	64:ef7ca92dff36	1285	: LwPwmOut(pin, initVal)
mjr	64:ef7ca92dff36	1286	{
mjr	64:ef7ca92dff36	1287	}
mjr	74:822a92bc11d2	1288
mjr	74:822a92bc11d2	1289	protected:
mjr	74:822a92bc11d2	1290	virtual void commit(uint8_t v)
mjr	64:ef7ca92dff36	1291	{
mjr	74:822a92bc11d2	1292	// write the current value to the PWM controller if it's changed
mjr	74:822a92bc11d2	1293	p.write(dof_to_gamma_pwm[v]);
mjr	64:ef7ca92dff36	1294	}
mjr	64:ef7ca92dff36	1295	};
mjr	64:ef7ca92dff36	1296
mjr	74:822a92bc11d2	1297	// poll the PWM outputs
mjr	74:822a92bc11d2	1298	Timer polledPwmTimer;
mjr	76:7f5912b6340e	1299	uint64_t polledPwmTotalTime, polledPwmRunCount;
mjr	74:822a92bc11d2	1300	void pollPwmUpdates()
mjr	74:822a92bc11d2	1301	{
mjr	74:822a92bc11d2	1302	// if it's been at least 25ms since the last update, do another update
mjr	74:822a92bc11d2	1303	if (polledPwmTimer.read_us() >= 25000)
mjr	74:822a92bc11d2	1304	{
mjr	74:822a92bc11d2	1305	// time the run for statistics collection
mjr	74:822a92bc11d2	1306	IF_DIAG(
mjr	74:822a92bc11d2	1307	Timer t;
mjr	74:822a92bc11d2	1308	t.start();
mjr	74:822a92bc11d2	1309	)
mjr	74:822a92bc11d2	1310
mjr	74:822a92bc11d2	1311	// poll each output
mjr	74:822a92bc11d2	1312	for (int i = numPolledPwm ; i > 0 ; )
mjr	74:822a92bc11d2	1313	polledPwm[--i]->poll();
mjr	74:822a92bc11d2	1314
mjr	74:822a92bc11d2	1315	// reset the timer for the next cycle
mjr	74:822a92bc11d2	1316	polledPwmTimer.reset();
mjr	74:822a92bc11d2	1317
mjr	74:822a92bc11d2	1318	// collect statistics
mjr	74:822a92bc11d2	1319	IF_DIAG(
mjr	76:7f5912b6340e	1320	polledPwmTotalTime += t.read_us();
mjr	74:822a92bc11d2	1321	polledPwmRunCount += 1;
mjr	74:822a92bc11d2	1322	)
mjr	74:822a92bc11d2	1323	}
mjr	74:822a92bc11d2	1324	}
mjr	64:ef7ca92dff36	1325
mjr	26:cb71c4af2912	1326	// LwOut class for a Digital-Only (Non-PWM) GPIO port
mjr	6:cc35eb643e8f	1327	class LwDigOut: public LwOut
mjr	6:cc35eb643e8f	1328	{
mjr	6:cc35eb643e8f	1329	public:
mjr	43:7a6364d82a41	1330	LwDigOut(PinName pin, uint8_t initVal) : p(pin, initVal ? 1 : 0) { prv = initVal; }
mjr	40:cc0d9814522b	1331	virtual void set(uint8_t val)
mjr	13:72dda449c3c0	1332	{
mjr	13:72dda449c3c0	1333	if (val != prv)
mjr	40:cc0d9814522b	1334	p.write((prv = val) == 0 ? 0 : 1);
mjr	13:72dda449c3c0	1335	}
mjr	6:cc35eb643e8f	1336	DigitalOut p;
mjr	40:cc0d9814522b	1337	uint8_t prv;
mjr	6:cc35eb643e8f	1338	};
mjr	26:cb71c4af2912	1339
mjr	29:582472d0bc57	1340	// Array of output physical pin assignments. This array is indexed
mjr	29:582472d0bc57	1341	// by LedWiz logical port number - lwPin[n] is the maping for LedWiz
mjr	35:e959ffba78fd	1342	// port n (0-based).
mjr	35:e959ffba78fd	1343	//
mjr	35:e959ffba78fd	1344	// Each pin is handled by an interface object for the physical output
mjr	35:e959ffba78fd	1345	// type for the port, as set in the configuration. The interface
mjr	35:e959ffba78fd	1346	// objects handle the specifics of addressing the different hardware
mjr	35:e959ffba78fd	1347	// types (GPIO PWM ports, GPIO digital ports, TLC5940 ports, and
mjr	35:e959ffba78fd	1348	// 74HC595 ports).
mjr	33:d832bcab089e	1349	static int numOutputs;
mjr	33:d832bcab089e	1350	static LwOut **lwPin;
mjr	33:d832bcab089e	1351
mjr	38:091e511ce8a0	1352	// create a single output pin
mjr	53:9b2611964afc	1353	LwOut *createLwPin(int portno, LedWizPortCfg &pc, Config &cfg)
mjr	38:091e511ce8a0	1354	{
mjr	38:091e511ce8a0	1355	// get this item's values
mjr	38:091e511ce8a0	1356	int typ = pc.typ;
mjr	38:091e511ce8a0	1357	int pin = pc.pin;
mjr	38:091e511ce8a0	1358	int flags = pc.flags;
mjr	40:cc0d9814522b	1359	int noisy = flags & PortFlagNoisemaker;
mjr	38:091e511ce8a0	1360	int activeLow = flags & PortFlagActiveLow;
mjr	40:cc0d9814522b	1361	int gamma = flags & PortFlagGamma;
mjr	38:091e511ce8a0	1362
mjr	38:091e511ce8a0	1363	// create the pin interface object according to the port type
mjr	38:091e511ce8a0	1364	LwOut *lwp;
mjr	38:091e511ce8a0	1365	switch (typ)
mjr	38:091e511ce8a0	1366	{
mjr	38:091e511ce8a0	1367	case PortTypeGPIOPWM:
mjr	48:058ace2aed1d	1368	// PWM GPIO port - assign if we have a valid pin
mjr	48:058ace2aed1d	1369	if (pin != 0)
mjr	64:ef7ca92dff36	1370	{
mjr	64:ef7ca92dff36	1371	// If gamma correction is to be used, and we're not inverting the output,
mjr	64:ef7ca92dff36	1372	// use the combined Pwmout + Gamma output class; otherwise use the plain
mjr	64:ef7ca92dff36	1373	// PwmOut class. We can't use the combined class for inverted outputs
mjr	64:ef7ca92dff36	1374	// because we have to apply gamma correction before the inversion.
mjr	64:ef7ca92dff36	1375	if (gamma && !activeLow)
mjr	64:ef7ca92dff36	1376	{
mjr	64:ef7ca92dff36	1377	// use the gamma-corrected PwmOut type
mjr	64:ef7ca92dff36	1378	lwp = new LwPwmGammaOut(wirePinName(pin), 0);
mjr	64:ef7ca92dff36	1379
mjr	64:ef7ca92dff36	1380	// don't apply further gamma correction to this output
mjr	64:ef7ca92dff36	1381	gamma = false;
mjr	64:ef7ca92dff36	1382	}
mjr	64:ef7ca92dff36	1383	else
mjr	64:ef7ca92dff36	1384	{
mjr	64:ef7ca92dff36	1385	// no gamma correction - use the standard PwmOut class
mjr	64:ef7ca92dff36	1386	lwp = new LwPwmOut(wirePinName(pin), activeLow ? 255 : 0);
mjr	64:ef7ca92dff36	1387	}
mjr	64:ef7ca92dff36	1388	}
mjr	48:058ace2aed1d	1389	else
mjr	48:058ace2aed1d	1390	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1391	break;
mjr	38:091e511ce8a0	1392
mjr	38:091e511ce8a0	1393	case PortTypeGPIODig:
mjr	38:091e511ce8a0	1394	// Digital GPIO port
mjr	48:058ace2aed1d	1395	if (pin != 0)
mjr	48:058ace2aed1d	1396	lwp = new LwDigOut(wirePinName(pin), activeLow ? 255 : 0);
mjr	48:058ace2aed1d	1397	else
mjr	48:058ace2aed1d	1398	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1399	break;
mjr	38:091e511ce8a0	1400
mjr	38:091e511ce8a0	1401	case PortTypeTLC5940:
mjr	38:091e511ce8a0	1402	// TLC5940 port (if we don't have a TLC controller object, or it's not a valid
mjr	38:091e511ce8a0	1403	// output port number on the chips we have, create a virtual port)
mjr	38:091e511ce8a0	1404	if (tlc5940 != 0 && pin < cfg.tlc5940.nchips*16)
mjr	40:cc0d9814522b	1405	{
mjr	40:cc0d9814522b	1406	// If gamma correction is to be used, and we're not inverting the output,
mjr	40:cc0d9814522b	1407	// use the combined TLC4950 + Gamma output class. Otherwise use the plain
mjr	40:cc0d9814522b	1408	// TLC5940 output. We skip the combined class if the output is inverted
mjr	40:cc0d9814522b	1409	// because we need to apply gamma BEFORE the inversion to get the right
mjr	40:cc0d9814522b	1410	// results, but the combined class would apply it after because of the
mjr	40:cc0d9814522b	1411	// layering scheme - the combined class is a physical device output class,
mjr	40:cc0d9814522b	1412	// and a physical device output class is necessarily at the bottom of
mjr	40:cc0d9814522b	1413	// the stack. We don't have a combined inverted+gamma+TLC class, because
mjr	40:cc0d9814522b	1414	// inversion isn't recommended for TLC5940 chips in the first place, so
mjr	40:cc0d9814522b	1415	// it's not worth the extra memory footprint to have a dedicated table
mjr	40:cc0d9814522b	1416	// for this unlikely case.
mjr	40:cc0d9814522b	1417	if (gamma && !activeLow)
mjr	40:cc0d9814522b	1418	{
mjr	40:cc0d9814522b	1419	// use the gamma-corrected 5940 output mapper
mjr	40:cc0d9814522b	1420	lwp = new Lw5940GammaOut(pin);
mjr	40:cc0d9814522b	1421
mjr	40:cc0d9814522b	1422	// DON'T apply further gamma correction to this output
mjr	40:cc0d9814522b	1423	gamma = false;
mjr	40:cc0d9814522b	1424	}
mjr	40:cc0d9814522b	1425	else
mjr	40:cc0d9814522b	1426	{
mjr	40:cc0d9814522b	1427	// no gamma - use the plain (linear) 5940 output class
mjr	40:cc0d9814522b	1428	lwp = new Lw5940Out(pin);
mjr	40:cc0d9814522b	1429	}
mjr	40:cc0d9814522b	1430	}
mjr	38:091e511ce8a0	1431	else
mjr	40:cc0d9814522b	1432	{
mjr	40:cc0d9814522b	1433	// no TLC5940 chips, or invalid port number - use a virtual out
mjr	38:091e511ce8a0	1434	lwp = new LwVirtualOut();
mjr	40:cc0d9814522b	1435	}
mjr	38:091e511ce8a0	1436	break;
mjr	38:091e511ce8a0	1437
mjr	38:091e511ce8a0	1438	case PortType74HC595:
mjr	38:091e511ce8a0	1439	// 74HC595 port (if we don't have an HC595 controller object, or it's not a valid
mjr	38:091e511ce8a0	1440	// output number, create a virtual port)
mjr	38:091e511ce8a0	1441	if (hc595 != 0 && pin < cfg.hc595.nchips*8)
mjr	38:091e511ce8a0	1442	lwp = new Lw595Out(pin);
mjr	38:091e511ce8a0	1443	else
mjr	38:091e511ce8a0	1444	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1445	break;
mjr	38:091e511ce8a0	1446
mjr	38:091e511ce8a0	1447	case PortTypeVirtual:
mjr	43:7a6364d82a41	1448	case PortTypeDisabled:
mjr	38:091e511ce8a0	1449	default:
mjr	38:091e511ce8a0	1450	// virtual or unknown
mjr	38:091e511ce8a0	1451	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1452	break;
mjr	38:091e511ce8a0	1453	}
mjr	38:091e511ce8a0	1454
mjr	40:cc0d9814522b	1455	// If it's Active Low, layer on an inverter. Note that an inverter
mjr	40:cc0d9814522b	1456	// needs to be the bottom-most layer, since all of the other filters
mjr	40:cc0d9814522b	1457	// assume that they're working with normal (non-inverted) values.
mjr	38:091e511ce8a0	1458	if (activeLow)
mjr	38:091e511ce8a0	1459	lwp = new LwInvertedOut(lwp);
mjr	40:cc0d9814522b	1460
mjr	40:cc0d9814522b	1461	// If it's a noisemaker, layer on a night mode switch. Note that this
mjr	40:cc0d9814522b	1462	// needs to be
mjr	40:cc0d9814522b	1463	if (noisy)
mjr	40:cc0d9814522b	1464	lwp = new LwNoisyOut(lwp);
mjr	40:cc0d9814522b	1465
mjr	40:cc0d9814522b	1466	// If it's gamma-corrected, layer on a gamma corrector
mjr	40:cc0d9814522b	1467	if (gamma)
mjr	40:cc0d9814522b	1468	lwp = new LwGammaOut(lwp);
mjr	53:9b2611964afc	1469
mjr	53:9b2611964afc	1470	// If this is the ZB Launch Ball port, layer a monitor object. Note
mjr	64:ef7ca92dff36	1471	// that the nominal port numbering in the config starts at 1, but we're
mjr	53:9b2611964afc	1472	// using an array index, so test against portno+1.
mjr	53:9b2611964afc	1473	if (portno + 1 == cfg.plunger.zbLaunchBall.port)
mjr	53:9b2611964afc	1474	lwp = new LwZbLaunchOut(lwp);
mjr	53:9b2611964afc	1475
mjr	53:9b2611964afc	1476	// If this is the Night Mode indicator port, layer a night mode object.
mjr	53:9b2611964afc	1477	if (portno + 1 == cfg.nightMode.port)
mjr	53:9b2611964afc	1478	lwp = new LwNightModeIndicatorOut(lwp);
mjr	38:091e511ce8a0	1479
mjr	38:091e511ce8a0	1480	// turn it off initially
mjr	38:091e511ce8a0	1481	lwp->set(0);
mjr	38:091e511ce8a0	1482
mjr	38:091e511ce8a0	1483	// return the pin
mjr	38:091e511ce8a0	1484	return lwp;
mjr	38:091e511ce8a0	1485	}
mjr	38:091e511ce8a0	1486
mjr	6:cc35eb643e8f	1487	// initialize the output pin array
mjr	35:e959ffba78fd	1488	void initLwOut(Config &cfg)
mjr	6:cc35eb643e8f	1489	{
mjr	35:e959ffba78fd	1490	// Count the outputs. The first disabled output determines the
mjr	35:e959ffba78fd	1491	// total number of ports.
mjr	35:e959ffba78fd	1492	numOutputs = MAX_OUT_PORTS;
mjr	33:d832bcab089e	1493	int i;
mjr	35:e959ffba78fd	1494	for (i = 0 ; i < MAX_OUT_PORTS ; ++i)
mjr	6:cc35eb643e8f	1495	{
mjr	35:e959ffba78fd	1496	if (cfg.outPort[i].typ == PortTypeDisabled)
mjr	34:6b981a2afab7	1497	{
mjr	35:e959ffba78fd	1498	numOutputs = i;
mjr	34:6b981a2afab7	1499	break;
mjr	34:6b981a2afab7	1500	}
mjr	33:d832bcab089e	1501	}
mjr	33:d832bcab089e	1502
mjr	73:4e8ce0b18915	1503	// allocate the pin array
mjr	73:4e8ce0b18915	1504	lwPin = new LwOut*[numOutputs];
mjr	35:e959ffba78fd	1505
mjr	73:4e8ce0b18915	1506	// Allocate the current brightness array
mjr	73:4e8ce0b18915	1507	outLevel = new uint8_t[numOutputs];
mjr	33:d832bcab089e	1508
mjr	73:4e8ce0b18915	1509	// allocate the LedWiz output state arrays
mjr	73:4e8ce0b18915	1510	wizOn = new uint8_t[numOutputs];
mjr	73:4e8ce0b18915	1511	wizVal = new uint8_t[numOutputs];
mjr	73:4e8ce0b18915	1512
mjr	73:4e8ce0b18915	1513	// initialize all LedWiz outputs to off and brightness 48
mjr	73:4e8ce0b18915	1514	memset(wizOn, 0, numOutputs);
mjr	73:4e8ce0b18915	1515	memset(wizVal, 48, numOutputs);
mjr	73:4e8ce0b18915	1516
mjr	73:4e8ce0b18915	1517	// set all LedWiz virtual unit flash speeds to 2
mjr	73:4e8ce0b18915	1518	for (i = 0 ; i < countof(wizSpeed) ; ++i)
mjr	73:4e8ce0b18915	1519	wizSpeed[i] = 2;
mjr	33:d832bcab089e	1520
mjr	35:e959ffba78fd	1521	// create the pin interface object for each port
mjr	35:e959ffba78fd	1522	for (i = 0 ; i < numOutputs ; ++i)
mjr	53:9b2611964afc	1523	lwPin[i] = createLwPin(i, cfg.outPort[i], cfg);
mjr	6:cc35eb643e8f	1524	}
mjr	6:cc35eb643e8f	1525
mjr	76:7f5912b6340e	1526	// Translate an LedWiz brightness level (0..49) to a DOF brightness
mjr	76:7f5912b6340e	1527	// level (0..255). Note that brightness level 49 isn't actually valid,
mjr	76:7f5912b6340e	1528	// according to the LedWiz API documentation, but many clients use it
mjr	76:7f5912b6340e	1529	// anyway, and the real LedWiz accepts it and seems to treat it as
mjr	76:7f5912b6340e	1530	// equivalent to 48.
mjr	40:cc0d9814522b	1531	static const uint8_t lw_to_dof[] = {
mjr	40:cc0d9814522b	1532	0, 5, 11, 16, 21, 27, 32, 37,
mjr	40:cc0d9814522b	1533	43, 48, 53, 58, 64, 69, 74, 80,
mjr	40:cc0d9814522b	1534	85, 90, 96, 101, 106, 112, 117, 122,
mjr	40:cc0d9814522b	1535	128, 133, 138, 143, 149, 154, 159, 165,
mjr	40:cc0d9814522b	1536	170, 175, 181, 186, 191, 197, 202, 207,
mjr	40:cc0d9814522b	1537	213, 218, 223, 228, 234, 239, 244, 250,
mjr	40:cc0d9814522b	1538	255, 255
mjr	40:cc0d9814522b	1539	};
mjr	40:cc0d9814522b	1540
mjr	76:7f5912b6340e	1541	// Translate a DOF brightness level (0..255) to an LedWiz brightness
mjr	76:7f5912b6340e	1542	// level (1..48)
mjr	76:7f5912b6340e	1543	static const uint8_t dof_to_lw[] = {
mjr	76:7f5912b6340e	1544	1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 3, 3,
mjr	76:7f5912b6340e	1545	3, 3, 3, 4, 4, 4, 4, 4, 5, 5, 5, 5, 5, 5, 6, 6,
mjr	76:7f5912b6340e	1546	6, 6, 6, 7, 7, 7, 7, 7, 8, 8, 8, 8, 8, 8, 9, 9,
mjr	76:7f5912b6340e	1547	9, 9, 9, 10, 10, 10, 10, 10, 11, 11, 11, 11, 11, 11, 12, 12,
mjr	76:7f5912b6340e	1548	12, 12, 12, 13, 13, 13, 13, 13, 14, 14, 14, 14, 14, 14, 15, 15,
mjr	76:7f5912b6340e	1549	15, 15, 15, 16, 16, 16, 16, 16, 17, 17, 17, 17, 17, 18, 18, 18,
mjr	76:7f5912b6340e	1550	18, 18, 18, 19, 19, 19, 19, 19, 20, 20, 20, 20, 20, 21, 21, 21,
mjr	76:7f5912b6340e	1551	21, 21, 21, 22, 22, 22, 22, 22, 23, 23, 23, 23, 23, 24, 24, 24,
mjr	76:7f5912b6340e	1552	24, 24, 24, 25, 25, 25, 25, 25, 26, 26, 26, 26, 26, 27, 27, 27,
mjr	76:7f5912b6340e	1553	27, 27, 27, 28, 28, 28, 28, 28, 29, 29, 29, 29, 29, 30, 30, 30,
mjr	76:7f5912b6340e	1554	30, 30, 30, 31, 31, 31, 31, 31, 32, 32, 32, 32, 32, 33, 33, 33,
mjr	76:7f5912b6340e	1555	33, 33, 34, 34, 34, 34, 34, 34, 35, 35, 35, 35, 35, 36, 36, 36,
mjr	76:7f5912b6340e	1556	36, 36, 37, 37, 37, 37, 37, 37, 38, 38, 38, 38, 38, 39, 39, 39,
mjr	76:7f5912b6340e	1557	39, 39, 40, 40, 40, 40, 40, 40, 41, 41, 41, 41, 41, 42, 42, 42,
mjr	76:7f5912b6340e	1558	42, 42, 43, 43, 43, 43, 43, 43, 44, 44, 44, 44, 44, 45, 45, 45,
mjr	76:7f5912b6340e	1559	45, 45, 46, 46, 46, 46, 46, 46, 47, 47, 47, 47, 47, 48, 48, 48
mjr	76:7f5912b6340e	1560	};
mjr	76:7f5912b6340e	1561
mjr	74:822a92bc11d2	1562	// LedWiz flash cycle tables. For efficiency, we use a lookup table
mjr	74:822a92bc11d2	1563	// rather than calculating these on the fly. The flash cycles are
mjr	74:822a92bc11d2	1564	// generated by the following formulas, where 'c' is the current
mjr	74:822a92bc11d2	1565	// cycle counter, from 0 to 255:
mjr	74:822a92bc11d2	1566	//
mjr	74:822a92bc11d2	1567	// mode 129 = sawtooth = (c < 128 ? c2 + 1 : (255-c)2)
mjr	74:822a92bc11d2	1568	// mode 130 = flash on/off = (c < 128 ? 255 : 0)
mjr	74:822a92bc11d2	1569	// mode 131 = on/ramp down = (c < 128 ? 255 : (255-c)*2)
mjr	74:822a92bc11d2	1570	// mode 132 = ramp up/on = (c < 128 ? c*2 : 255)
mjr	74:822a92bc11d2	1571	//
mjr	74:822a92bc11d2	1572	// To look up the current output value for a given mode and a given
mjr	74:822a92bc11d2	1573	// cycle counter 'c', index the table with ((mode-129)*256)+c.
mjr	74:822a92bc11d2	1574	static const uint8_t wizFlashLookup[] = {
mjr	74:822a92bc11d2	1575	// mode 129 = sawtooth = (c < 128 ? c2 + 1 : (255-c)2)
mjr	74:822a92bc11d2	1576	0x01, 0x03, 0x05, 0x07, 0x09, 0x0b, 0x0d, 0x0f, 0x11, 0x13, 0x15, 0x17, 0x19, 0x1b, 0x1d, 0x1f,
mjr	74:822a92bc11d2	1577	0x21, 0x23, 0x25, 0x27, 0x29, 0x2b, 0x2d, 0x2f, 0x31, 0x33, 0x35, 0x37, 0x39, 0x3b, 0x3d, 0x3f,
mjr	74:822a92bc11d2	1578	0x41, 0x43, 0x45, 0x47, 0x49, 0x4b, 0x4d, 0x4f, 0x51, 0x53, 0x55, 0x57, 0x59, 0x5b, 0x5d, 0x5f,
mjr	74:822a92bc11d2	1579	0x61, 0x63, 0x65, 0x67, 0x69, 0x6b, 0x6d, 0x6f, 0x71, 0x73, 0x75, 0x77, 0x79, 0x7b, 0x7d, 0x7f,
mjr	74:822a92bc11d2	1580	0x81, 0x83, 0x85, 0x87, 0x89, 0x8b, 0x8d, 0x8f, 0x91, 0x93, 0x95, 0x97, 0x99, 0x9b, 0x9d, 0x9f,
mjr	74:822a92bc11d2	1581	0xa1, 0xa3, 0xa5, 0xa7, 0xa9, 0xab, 0xad, 0xaf, 0xb1, 0xb3, 0xb5, 0xb7, 0xb9, 0xbb, 0xbd, 0xbf,
mjr	74:822a92bc11d2	1582	0xc1, 0xc3, 0xc5, 0xc7, 0xc9, 0xcb, 0xcd, 0xcf, 0xd1, 0xd3, 0xd5, 0xd7, 0xd9, 0xdb, 0xdd, 0xdf,
mjr	74:822a92bc11d2	1583	0xe1, 0xe3, 0xe5, 0xe7, 0xe9, 0xeb, 0xed, 0xef, 0xf1, 0xf3, 0xf5, 0xf7, 0xf9, 0xfb, 0xfd, 0xff,
mjr	74:822a92bc11d2	1584	0xfe, 0xfc, 0xfa, 0xf8, 0xf6, 0xf4, 0xf2, 0xf0, 0xee, 0xec, 0xea, 0xe8, 0xe6, 0xe4, 0xe2, 0xe0,
mjr	74:822a92bc11d2	1585	0xde, 0xdc, 0xda, 0xd8, 0xd6, 0xd4, 0xd2, 0xd0, 0xce, 0xcc, 0xca, 0xc8, 0xc6, 0xc4, 0xc2, 0xc0,
mjr	74:822a92bc11d2	1586	0xbe, 0xbc, 0xba, 0xb8, 0xb6, 0xb4, 0xb2, 0xb0, 0xae, 0xac, 0xaa, 0xa8, 0xa6, 0xa4, 0xa2, 0xa0,
mjr	74:822a92bc11d2	1587	0x9e, 0x9c, 0x9a, 0x98, 0x96, 0x94, 0x92, 0x90, 0x8e, 0x8c, 0x8a, 0x88, 0x86, 0x84, 0x82, 0x80,
mjr	74:822a92bc11d2	1588	0x7e, 0x7c, 0x7a, 0x78, 0x76, 0x74, 0x72, 0x70, 0x6e, 0x6c, 0x6a, 0x68, 0x66, 0x64, 0x62, 0x60,
mjr	74:822a92bc11d2	1589	0x5e, 0x5c, 0x5a, 0x58, 0x56, 0x54, 0x52, 0x50, 0x4e, 0x4c, 0x4a, 0x48, 0x46, 0x44, 0x42, 0x40,
mjr	74:822a92bc11d2	1590	0x3e, 0x3c, 0x3a, 0x38, 0x36, 0x34, 0x32, 0x30, 0x2e, 0x2c, 0x2a, 0x28, 0x26, 0x24, 0x22, 0x20,
mjr	74:822a92bc11d2	1591	0x1e, 0x1c, 0x1a, 0x18, 0x16, 0x14, 0x12, 0x10, 0x0e, 0x0c, 0x0a, 0x08, 0x06, 0x04, 0x02, 0x00,
mjr	74:822a92bc11d2	1592
mjr	74:822a92bc11d2	1593	// mode 130 = flash on/off = (c < 128 ? 255 : 0)
mjr	74:822a92bc11d2	1594	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1595	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1596	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1597	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1598	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1599	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1600	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1601	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1602	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1603	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1604	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1605	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1606	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1607	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1608	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1609	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1610
mjr	74:822a92bc11d2	1611	// mode 131 = on/ramp down = c < 128 ? 255 : (255 - c)*2
mjr	74:822a92bc11d2	1612	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1613	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1614	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1615	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1616	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1617	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1618	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1619	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1620	0xfe, 0xfc, 0xfa, 0xf8, 0xf6, 0xf4, 0xf2, 0xf0, 0xee, 0xec, 0xea, 0xe8, 0xe6, 0xe4, 0xe2, 0xe0,
mjr	74:822a92bc11d2	1621	0xde, 0xdc, 0xda, 0xd8, 0xd6, 0xd4, 0xd2, 0xd0, 0xce, 0xcc, 0xca, 0xc8, 0xc6, 0xc4, 0xc2, 0xc0,
mjr	74:822a92bc11d2	1622	0xbe, 0xbc, 0xba, 0xb8, 0xb6, 0xb4, 0xb2, 0xb0, 0xae, 0xac, 0xaa, 0xa8, 0xa6, 0xa4, 0xa2, 0xa0,
mjr	74:822a92bc11d2	1623	0x9e, 0x9c, 0x9a, 0x98, 0x96, 0x94, 0x92, 0x90, 0x8e, 0x8c, 0x8a, 0x88, 0x86, 0x84, 0x82, 0x80,
mjr	74:822a92bc11d2	1624	0x7e, 0x7c, 0x7a, 0x78, 0x76, 0x74, 0x72, 0x70, 0x6e, 0x6c, 0x6a, 0x68, 0x66, 0x64, 0x62, 0x60,
mjr	74:822a92bc11d2	1625	0x5e, 0x5c, 0x5a, 0x58, 0x56, 0x54, 0x52, 0x50, 0x4e, 0x4c, 0x4a, 0x48, 0x46, 0x44, 0x42, 0x40,
mjr	74:822a92bc11d2	1626	0x3e, 0x3c, 0x3a, 0x38, 0x36, 0x34, 0x32, 0x30, 0x2e, 0x2c, 0x2a, 0x28, 0x26, 0x24, 0x22, 0x20,
mjr	74:822a92bc11d2	1627	0x1e, 0x1c, 0x1a, 0x18, 0x16, 0x14, 0x12, 0x10, 0x0e, 0x0c, 0x0a, 0x08, 0x06, 0x04, 0x02, 0x00,
mjr	74:822a92bc11d2	1628
mjr	74:822a92bc11d2	1629	// mode 132 = ramp up/on = c < 128 ? c*2 : 255
mjr	74:822a92bc11d2	1630	0x00, 0x02, 0x04, 0x06, 0x08, 0x0a, 0x0c, 0x0e, 0x10, 0x12, 0x14, 0x16, 0x18, 0x1a, 0x1c, 0x1e,
mjr	74:822a92bc11d2	1631	0x20, 0x22, 0x24, 0x26, 0x28, 0x2a, 0x2c, 0x2e, 0x30, 0x32, 0x34, 0x36, 0x38, 0x3a, 0x3c, 0x3e,
mjr	74:822a92bc11d2	1632	0x40, 0x42, 0x44, 0x46, 0x48, 0x4a, 0x4c, 0x4e, 0x50, 0x52, 0x54, 0x56, 0x58, 0x5a, 0x5c, 0x5e,
mjr	74:822a92bc11d2	1633	0x60, 0x62, 0x64, 0x66, 0x68, 0x6a, 0x6c, 0x6e, 0x70, 0x72, 0x74, 0x76, 0x78, 0x7a, 0x7c, 0x7e,
mjr	74:822a92bc11d2	1634	0x80, 0x82, 0x84, 0x86, 0x88, 0x8a, 0x8c, 0x8e, 0x90, 0x92, 0x94, 0x96, 0x98, 0x9a, 0x9c, 0x9e,
mjr	74:822a92bc11d2	1635	0xa0, 0xa2, 0xa4, 0xa6, 0xa8, 0xaa, 0xac, 0xae, 0xb0, 0xb2, 0xb4, 0xb6, 0xb8, 0xba, 0xbc, 0xbe,
mjr	74:822a92bc11d2	1636	0xc0, 0xc2, 0xc4, 0xc6, 0xc8, 0xca, 0xcc, 0xce, 0xd0, 0xd2, 0xd4, 0xd6, 0xd8, 0xda, 0xdc, 0xde,
mjr	74:822a92bc11d2	1637	0xe0, 0xe2, 0xe4, 0xe6, 0xe8, 0xea, 0xec, 0xee, 0xf0, 0xf2, 0xf4, 0xf6, 0xf8, 0xfa, 0xfc, 0xfe,
mjr	74:822a92bc11d2	1638	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1639	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1640	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1641	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1642	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1643	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1644	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1645	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff
mjr	74:822a92bc11d2	1646	};
mjr	74:822a92bc11d2	1647
mjr	74:822a92bc11d2	1648	// LedWiz flash cycle timer. This runs continuously. On each update,
mjr	74:822a92bc11d2	1649	// we use this to figure out where we are on the cycle for each bank.
mjr	74:822a92bc11d2	1650	Timer wizCycleTimer;
mjr	74:822a92bc11d2	1651
mjr	76:7f5912b6340e	1652	// timing statistics for wizPulse()
mjr	76:7f5912b6340e	1653	uint64_t wizPulseTotalTime, wizPulseRunCount;
mjr	76:7f5912b6340e	1654
mjr	76:7f5912b6340e	1655	// LedWiz flash timer pulse. The main loop calls this on each cycle
mjr	76:7f5912b6340e	1656	// to update outputs using LedWiz flash modes. We do one bank of 32
mjr	76:7f5912b6340e	1657	// outputs on each cycle.
mjr	29:582472d0bc57	1658	static void wizPulse()
mjr	29:582472d0bc57	1659	{
mjr	76:7f5912b6340e	1660	// current bank
mjr	76:7f5912b6340e	1661	static int wizPulseBank = 0;
mjr	76:7f5912b6340e	1662
mjr	76:7f5912b6340e	1663	// start a timer for statistics collection
mjr	76:7f5912b6340e	1664	IF_DIAG(
mjr	76:7f5912b6340e	1665	Timer t;
mjr	76:7f5912b6340e	1666	t.start();
mjr	76:7f5912b6340e	1667	)
mjr	76:7f5912b6340e	1668
mjr	76:7f5912b6340e	1669	// Update the current bank's cycle counter: figure the current
mjr	76:7f5912b6340e	1670	// phase of the LedWiz pulse cycle for this bank.
mjr	76:7f5912b6340e	1671	//
mjr	76:7f5912b6340e	1672	// The LedWiz speed setting gives the flash period in 0.25s units
mjr	76:7f5912b6340e	1673	// (speed 1 is a flash period of .25s, speed 7 is a period of 1.75s).
mjr	76:7f5912b6340e	1674	//
mjr	76:7f5912b6340e	1675	// What we're after here is the "phase", which is to say the point
mjr	76:7f5912b6340e	1676	// in the current cycle. If we assume that the cycle has been running
mjr	76:7f5912b6340e	1677	// continuously since some arbitrary time zero in the past, we can
mjr	76:7f5912b6340e	1678	// figure where we are in the current cycle by dividing the time since
mjr	76:7f5912b6340e	1679	// that zero by the cycle period and taking the remainder. E.g., if
mjr	76:7f5912b6340e	1680	// the cycle time is 5 seconds, and the time since t-zero is 17 seconds,
mjr	76:7f5912b6340e	1681	// we divide 17 by 5 to get a remainder of 2. That says we're 2 seconds
mjr	76:7f5912b6340e	1682	// into the current 5-second cycle, or 2/5 of the way through the
mjr	76:7f5912b6340e	1683	// current cycle.
mjr	76:7f5912b6340e	1684	//
mjr	76:7f5912b6340e	1685	// We do this calculation on every iteration of the main loop, so we
mjr	76:7f5912b6340e	1686	// want it to be very fast. To streamline it, we'll use some tricky
mjr	76:7f5912b6340e	1687	// integer arithmetic. The result will be the same as the straightforward
mjr	76:7f5912b6340e	1688	// remainder and fraction calculation we just explained, but we'll get
mjr	76:7f5912b6340e	1689	// there by less-than-obvious means.
mjr	76:7f5912b6340e	1690	//
mjr	76:7f5912b6340e	1691	// Rather than finding the phase as a continuous quantity or floating
mjr	76:7f5912b6340e	1692	// point number, we'll quantize it. We'll divide each cycle into 256
mjr	76:7f5912b6340e	1693	// time units, or quanta. Each quantum is 1/256 of the cycle length,
mjr	76:7f5912b6340e	1694	// so for a 1-second cycle (LedWiz speed 4), each quantum is 1/256 of
mjr	76:7f5912b6340e	1695	// a second, or about 3.9ms. If we express the time since t-zero in
mjr	76:7f5912b6340e	1696	// these units, the time period of one cycle is exactly 256 units, so
mjr	76:7f5912b6340e	1697	// we can calculate our point in the cycle by taking the remainder of
mjr	76:7f5912b6340e	1698	// the time (in our funny units) divided by 256. The special thing
mjr	76:7f5912b6340e	1699	// about making the cycle time equal to 256 units is that "x % 256"
mjr	76:7f5912b6340e	1700	// is exactly the same as "x & 255", which is a much faster operation
mjr	76:7f5912b6340e	1701	// than division on ARM M0+: this CPU has no hardware DIVIDE operation,
mjr	76:7f5912b6340e	1702	// so an integer division takes about 5us. The bit mask operation, in
mjr	76:7f5912b6340e	1703	// contrast, takes only about 60ns - about 100x faster. 5us doesn't
mjr	76:7f5912b6340e	1704	// sound like much, but we do this on every main loop, so every little
mjr	76:7f5912b6340e	1705	// bit counts.
mjr	76:7f5912b6340e	1706	//
mjr	76:7f5912b6340e	1707	// The snag is that our system timer gives us the elapsed time in
mjr	76:7f5912b6340e	1708	// microseconds. We still need to convert this to our special quanta
mjr	76:7f5912b6340e	1709	// of 256 units per cycle. The straightforward way to do that is by
mjr	76:7f5912b6340e	1710	// dividing by (microseconds per quantum). E.g., for LedWiz speed 4,
mjr	76:7f5912b6340e	1711	// we decided that our quantum was 1/256 of a second, or 3906us, so
mjr	76:7f5912b6340e	1712	// dividing the current system time in microseconds by 3906 will give
mjr	76:7f5912b6340e	1713	// us the time in our quantum units. But now we've just substituted
mjr	76:7f5912b6340e	1714	// one division for another!
mjr	76:7f5912b6340e	1715	//
mjr	76:7f5912b6340e	1716	// This is where our really tricky integer math comes in. Dividing
mjr	76:7f5912b6340e	1717	// by X is the same as multiplying by 1/X. In integer math, 1/3906
mjr	76:7f5912b6340e	1718	// is zero, so that won't work. But we can get around that by doing
mjr	76:7f5912b6340e	1719	// the integer math as "fixed point" arithmetic instead. It's still
mjr	76:7f5912b6340e	1720	// actually carried out as integer operations, but we'll scale our
mjr	76:7f5912b6340e	1721	// integers by a scaling factor, then take out the scaling factor
mjr	76:7f5912b6340e	1722	// later to get the final result. The scaling factor we'll use is
mjr	76:7f5912b6340e	1723	// 2^24. So we're going to calculate (time * 2^24/3906), then divide
mjr	76:7f5912b6340e	1724	// the result by 2^24 to get the final answer. I know it seems like
mjr	76:7f5912b6340e	1725	// we're substituting one division for another yet again, but this
mjr	76:7f5912b6340e	1726	// time's the charm, because dividing by 2^24 is a bit shift operation,
mjr	76:7f5912b6340e	1727	// which is another single-cycle operation on M0+. You might also
mjr	76:7f5912b6340e	1728	// wonder how all these tricks don't cause overflows or underflows
mjr	76:7f5912b6340e	1729	// or what not. Well, the multiply by 2^24/3906 will cause an
mjr	76:7f5912b6340e	1730	// overflow, but we don't care, because the overflow will all be in
mjr	76:7f5912b6340e	1731	// the high-order bits that we're going to discard in the final
mjr	76:7f5912b6340e	1732	// remainder calculation anyway.
mjr	76:7f5912b6340e	1733	//
mjr	76:7f5912b6340e	1734	// Each entry in the array below represents 2^24/N for the corresponding
mjr	76:7f5912b6340e	1735	// LedWiz speed, where N is the number of time quanta per cycle at that
mjr	76:7f5912b6340e	1736	// speed. The time quanta are chosen such that 256 quanta add up to
mjr	76:7f5912b6340e	1737	// approximately (LedWiz speed setting * 0.25s).
mjr	76:7f5912b6340e	1738	//
mjr	76:7f5912b6340e	1739	// Note that the calculation has an implicit bit mask (result & 0xFF)
mjr	76:7f5912b6340e	1740	// to get the final result mod 256. But we don't have to actually
mjr	76:7f5912b6340e	1741	// do that work because we're using 32-bit ints and a 2^24 fixed
mjr	76:7f5912b6340e	1742	// point base (X in the narrative above). The final shift right by
mjr	76:7f5912b6340e	1743	// 24 bits to divide out the base will leave us with only 8 bits in
mjr	76:7f5912b6340e	1744	// the result, since we started with 32.
mjr	76:7f5912b6340e	1745	static const uint32_t inv_us_per_quantum[] = { // indexed by LedWiz speed
mjr	76:7f5912b6340e	1746	0, 17172, 8590, 5726, 4295, 3436, 2863, 2454
mjr	76:7f5912b6340e	1747	};
mjr	76:7f5912b6340e	1748	int counter = ((wizCycleTimer.read_us() * inv_us_per_quantum[wizSpeed[wizPulseBank]]) >> 24);
mjr	76:7f5912b6340e	1749
mjr	76:7f5912b6340e	1750	// get the range of 32 output sin this bank
mjr	76:7f5912b6340e	1751	int fromPort = wizPulseBank*32;
mjr	76:7f5912b6340e	1752	int toPort = fromPort+32;
mjr	76:7f5912b6340e	1753	if (toPort > numOutputs)
mjr	76:7f5912b6340e	1754	toPort = numOutputs;
mjr	76:7f5912b6340e	1755
mjr	76:7f5912b6340e	1756	// update all outputs set to flashing values
mjr	76:7f5912b6340e	1757	for (int i = fromPort ; i < toPort ; ++i)
mjr	73:4e8ce0b18915	1758	{
mjr	76:7f5912b6340e	1759	// Update the port only if the LedWiz SBA switch for the port is on
mjr	76:7f5912b6340e	1760	// (wizOn[i]) AND the port is a PBA flash mode in the range 129..132.
mjr	76:7f5912b6340e	1761	// These modes and only these modes have the high bit (0x80) set, so
mjr	76:7f5912b6340e	1762	// we can test for them simply by testing the high bit.
mjr	76:7f5912b6340e	1763	if (wizOn[i])
mjr	29:582472d0bc57	1764	{
mjr	76:7f5912b6340e	1765	uint8_t val = wizVal[i];
mjr	76:7f5912b6340e	1766	if ((val & 0x80) != 0)
mjr	29:582472d0bc57	1767	{
mjr	76:7f5912b6340e	1768	// ook up the value for the mode at the cycle time
mjr	76:7f5912b6340e	1769	lwPin[i]->set(outLevel[i] = wizFlashLookup[((val-129) << 8) + counter]);
mjr	29:582472d0bc57	1770	}
mjr	29:582472d0bc57	1771	}
mjr	76:7f5912b6340e	1772	}
mjr	76:7f5912b6340e	1773
mjr	34:6b981a2afab7	1774	// flush changes to 74HC595 chips, if attached
mjr	35:e959ffba78fd	1775	if (hc595 != 0)
mjr	35:e959ffba78fd	1776	hc595->update();
mjr	76:7f5912b6340e	1777
mjr	76:7f5912b6340e	1778	// switch to the next bank
mjr	76:7f5912b6340e	1779	if (++wizPulseBank >= MAX_LW_BANKS)
mjr	76:7f5912b6340e	1780	wizPulseBank = 0;
mjr	76:7f5912b6340e	1781
mjr	76:7f5912b6340e	1782	// collect timing statistics
mjr	76:7f5912b6340e	1783	IF_DIAG(
mjr	76:7f5912b6340e	1784	wizPulseTotalTime += t.read_us();
mjr	76:7f5912b6340e	1785	wizPulseRunCount += 1;
mjr	76:7f5912b6340e	1786	)
mjr	1:d913e0afb2ac	1787	}
mjr	38:091e511ce8a0	1788
mjr	76:7f5912b6340e	1789	// Update a port to reflect its new LedWiz SBA+PBA setting.
mjr	76:7f5912b6340e	1790	static void updateLwPort(int port)
mjr	38:091e511ce8a0	1791	{
mjr	76:7f5912b6340e	1792	// check if the SBA switch is on or off
mjr	76:7f5912b6340e	1793	if (wizOn[port])
mjr	76:7f5912b6340e	1794	{
mjr	76:7f5912b6340e	1795	// It's on. If the port is a valid static brightness level,
mjr	76:7f5912b6340e	1796	// set the output port to match. Otherwise leave it as is:
mjr	76:7f5912b6340e	1797	// if it's a flashing mode, the flash mode pulse will update
mjr	76:7f5912b6340e	1798	// it on the next cycle.
mjr	76:7f5912b6340e	1799	int val = wizVal[port];
mjr	76:7f5912b6340e	1800	if (val <= 49)
mjr	76:7f5912b6340e	1801	lwPin[port]->set(outLevel[port] = lw_to_dof[val]);
mjr	76:7f5912b6340e	1802	}
mjr	76:7f5912b6340e	1803	else
mjr	76:7f5912b6340e	1804	{
mjr	76:7f5912b6340e	1805	// the port is off - set absolute brightness zero
mjr	76:7f5912b6340e	1806	lwPin[port]->set(outLevel[port] = 0);
mjr	76:7f5912b6340e	1807	}
mjr	73:4e8ce0b18915	1808	}
mjr	73:4e8ce0b18915	1809
mjr	73:4e8ce0b18915	1810	// Turn off all outputs and restore everything to the default LedWiz
mjr	73:4e8ce0b18915	1811	// state. This sets outputs #1-32 to LedWiz profile value 48 (full
mjr	73:4e8ce0b18915	1812	// brightness) and switch state Off, sets all extended outputs (#33
mjr	73:4e8ce0b18915	1813	// and above) to zero brightness, and sets the LedWiz flash rate to 2.
mjr	73:4e8ce0b18915	1814	// This effectively restores the power-on conditions.
mjr	73:4e8ce0b18915	1815	//
mjr	73:4e8ce0b18915	1816	void allOutputsOff()
mjr	73:4e8ce0b18915	1817	{
mjr	73:4e8ce0b18915	1818	// reset all LedWiz outputs to OFF/48
mjr	73:4e8ce0b18915	1819	for (int i = 0 ; i < numOutputs ; ++i)
mjr	73:4e8ce0b18915	1820	{
mjr	73:4e8ce0b18915	1821	outLevel[i] = 0;
mjr	73:4e8ce0b18915	1822	wizOn[i] = 0;
mjr	73:4e8ce0b18915	1823	wizVal[i] = 48;
mjr	73:4e8ce0b18915	1824	lwPin[i]->set(0);
mjr	73:4e8ce0b18915	1825	}
mjr	73:4e8ce0b18915	1826
mjr	73:4e8ce0b18915	1827	// restore default LedWiz flash rate
mjr	73:4e8ce0b18915	1828	for (int i = 0 ; i < countof(wizSpeed) ; ++i)
mjr	73:4e8ce0b18915	1829	wizSpeed[i] = 2;
mjr	38:091e511ce8a0	1830
mjr	73:4e8ce0b18915	1831	// flush changes to hc595, if applicable
mjr	38:091e511ce8a0	1832	if (hc595 != 0)
mjr	38:091e511ce8a0	1833	hc595->update();
mjr	38:091e511ce8a0	1834	}
mjr	38:091e511ce8a0	1835
mjr	74:822a92bc11d2	1836	// Cary out an SBA or SBX message. portGroup is 0 for ports 1-32,
mjr	74:822a92bc11d2	1837	// 1 for ports 33-64, etc. Original protocol SBA messages always
mjr	74:822a92bc11d2	1838	// address port group 0; our private SBX extension messages can
mjr	74:822a92bc11d2	1839	// address any port group.
mjr	74:822a92bc11d2	1840	void sba_sbx(int portGroup, const uint8_t *data)
mjr	74:822a92bc11d2	1841	{
mjr	76:7f5912b6340e	1842	// update all on/off states in the group
mjr	74:822a92bc11d2	1843	for (int i = 0, bit = 1, imsg = 1, port = portGroup*32 ;
mjr	74:822a92bc11d2	1844	i < 32 && port < numOutputs ;
mjr	74:822a92bc11d2	1845	++i, bit <<= 1, ++port)
mjr	74:822a92bc11d2	1846	{
mjr	74:822a92bc11d2	1847	// figure the on/off state bit for this output
mjr	74:822a92bc11d2	1848	if (bit == 0x100) {
mjr	74:822a92bc11d2	1849	bit = 1;
mjr	74:822a92bc11d2	1850	++imsg;
mjr	74:822a92bc11d2	1851	}
mjr	74:822a92bc11d2	1852
mjr	74:822a92bc11d2	1853	// set the on/off state
mjr	76:7f5912b6340e	1854	bool on = wizOn[port] = ((data[imsg] & bit) != 0);
mjr	76:7f5912b6340e	1855
mjr	76:7f5912b6340e	1856	// set the output port brightness to match the new setting
mjr	76:7f5912b6340e	1857	updateLwPort(port);
mjr	74:822a92bc11d2	1858	}
mjr	74:822a92bc11d2	1859
mjr	74:822a92bc11d2	1860	// set the flash speed for the port group
mjr	74:822a92bc11d2	1861	if (portGroup < countof(wizSpeed))
mjr	74:822a92bc11d2	1862	wizSpeed[portGroup] = (data[5] < 1 ? 1 : data[5] > 7 ? 7 : data[5]);
mjr	74:822a92bc11d2	1863
mjr	76:7f5912b6340e	1864	// update 74HC959 outputs
mjr	76:7f5912b6340e	1865	if (hc595 != 0)
mjr	76:7f5912b6340e	1866	hc595->update();
mjr	74:822a92bc11d2	1867	}
mjr	74:822a92bc11d2	1868
mjr	74:822a92bc11d2	1869	// Carry out a PBA or PBX message.
mjr	74:822a92bc11d2	1870	void pba_pbx(int basePort, const uint8_t *data)
mjr	74:822a92bc11d2	1871	{
mjr	74:822a92bc11d2	1872	// update each wizVal entry from the brightness data
mjr	76:7f5912b6340e	1873	for (int i = 0, port = basePort ; i < 8 && port < numOutputs ; ++i, ++port)
mjr	74:822a92bc11d2	1874	{
mjr	74:822a92bc11d2	1875	// get the value
mjr	74:822a92bc11d2	1876	uint8_t v = data[i];
mjr	74:822a92bc11d2	1877
mjr	74:822a92bc11d2	1878	// Validate it. The legal values are 0..49 for brightness
mjr	74:822a92bc11d2	1879	// levels, and 128..132 for flash modes. Set anything invalid
mjr	74:822a92bc11d2	1880	// to full brightness (48) instead. Note that 49 isn't actually
mjr	74:822a92bc11d2	1881	// a valid documented value, but in practice some clients send
mjr	74:822a92bc11d2	1882	// this to mean 100% brightness, and the real LedWiz treats it
mjr	74:822a92bc11d2	1883	// as such.
mjr	74:822a92bc11d2	1884	if ((v > 49 && v < 129) \|\| v > 132)
mjr	74:822a92bc11d2	1885	v = 48;
mjr	74:822a92bc11d2	1886
mjr	74:822a92bc11d2	1887	// store it
mjr	76:7f5912b6340e	1888	wizVal[port] = v;
mjr	76:7f5912b6340e	1889
mjr	76:7f5912b6340e	1890	// update the port
mjr	76:7f5912b6340e	1891	updateLwPort(port);
mjr	74:822a92bc11d2	1892	}
mjr	74:822a92bc11d2	1893
mjr	76:7f5912b6340e	1894	// update 74HC595 outputs
mjr	76:7f5912b6340e	1895	if (hc595 != 0)
mjr	76:7f5912b6340e	1896	hc595->update();
mjr	74:822a92bc11d2	1897	}
mjr	74:822a92bc11d2	1898
mjr	74:822a92bc11d2	1899
mjr	11:bd9da7088e6e	1900	// ---------------------------------------------------------------------------
mjr	11:bd9da7088e6e	1901	//
mjr	11:bd9da7088e6e	1902	// Button input
mjr	11:bd9da7088e6e	1903	//
mjr	11:bd9da7088e6e	1904
mjr	18:5e890ebd0023	1905	// button state
mjr	18:5e890ebd0023	1906	struct ButtonState
mjr	18:5e890ebd0023	1907	{
mjr	38:091e511ce8a0	1908	ButtonState()
mjr	38:091e511ce8a0	1909	{
mjr	53:9b2611964afc	1910	physState = logState = prevLogState = 0;
mjr	53:9b2611964afc	1911	virtState = 0;
mjr	53:9b2611964afc	1912	dbState = 0;
mjr	38:091e511ce8a0	1913	pulseState = 0;
mjr	53:9b2611964afc	1914	pulseTime = 0;
mjr	38:091e511ce8a0	1915	}
mjr	35:e959ffba78fd	1916
mjr	53:9b2611964afc	1917	// "Virtually" press or un-press the button. This can be used to
mjr	53:9b2611964afc	1918	// control the button state via a software (virtual) source, such as
mjr	53:9b2611964afc	1919	// the ZB Launch Ball feature.
mjr	53:9b2611964afc	1920	//
mjr	53:9b2611964afc	1921	// To allow sharing of one button by multiple virtual sources, each
mjr	53:9b2611964afc	1922	// virtual source must keep track of its own state internally, and
mjr	53:9b2611964afc	1923	// only call this routine to CHANGE the state. This is because calls
mjr	53:9b2611964afc	1924	// to this routine are additive: turning the button ON twice will
mjr	53:9b2611964afc	1925	// require turning it OFF twice before it actually turns off.
mjr	53:9b2611964afc	1926	void virtPress(bool on)
mjr	53:9b2611964afc	1927	{
mjr	53:9b2611964afc	1928	// Increment or decrement the current state
mjr	53:9b2611964afc	1929	virtState += on ? 1 : -1;
mjr	53:9b2611964afc	1930	}
mjr	53:9b2611964afc	1931
mjr	53:9b2611964afc	1932	// DigitalIn for the button, if connected to a physical input
mjr	73:4e8ce0b18915	1933	TinyDigitalIn di;
mjr	38:091e511ce8a0	1934
mjr	65:739875521aae	1935	// Time of last pulse state transition.
mjr	65:739875521aae	1936	//
mjr	65:739875521aae	1937	// Each state change sticks for a minimum period; when the timer expires,
mjr	65:739875521aae	1938	// if the underlying physical switch is in a different state, we switch
mjr	65:739875521aae	1939	// to the next state and restart the timer. pulseTime is the time remaining
mjr	65:739875521aae	1940	// remaining before we can make another state transition, in microseconds.
mjr	65:739875521aae	1941	// The state transitions require a complete cycle, 1 -> 2 -> 3 -> 4 -> 1...;
mjr	65:739875521aae	1942	// this guarantees that the parity of the pulse count always matches the
mjr	65:739875521aae	1943	// current physical switch state when the latter is stable, which makes
mjr	65:739875521aae	1944	// it impossible to "trick" the host by rapidly toggling the switch state.
mjr	65:739875521aae	1945	// (On my original Pinscape cabinet, I had a hardware pulse generator
mjr	65:739875521aae	1946	// for coin door, and that was possible to trick by rapid toggling.
mjr	65:739875521aae	1947	// This software system can't be fooled that way.)
mjr	65:739875521aae	1948	uint32_t pulseTime;
mjr	18:5e890ebd0023	1949
mjr	65:739875521aae	1950	// Config key index. This points to the ButtonCfg structure in the
mjr	65:739875521aae	1951	// configuration that contains the PC key mapping for the button.
mjr	65:739875521aae	1952	uint8_t cfgIndex;
mjr	53:9b2611964afc	1953
mjr	53:9b2611964afc	1954	// Virtual press state. This is used to simulate pressing the button via
mjr	53:9b2611964afc	1955	// software inputs rather than physical inputs. To allow one button to be
mjr	53:9b2611964afc	1956	// controlled by mulitple software sources, each source should keep track
mjr	53:9b2611964afc	1957	// of its own virtual state for the button independently, and then INCREMENT
mjr	53:9b2611964afc	1958	// this variable when the source's state transitions from off to on, and
mjr	53:9b2611964afc	1959	// DECREMENT it when the source's state transitions from on to off. That
mjr	53:9b2611964afc	1960	// will make the button's pressed state the logical OR of all of the virtual
mjr	53:9b2611964afc	1961	// and physical source states.
mjr	53:9b2611964afc	1962	uint8_t virtState;
mjr	38:091e511ce8a0	1963
mjr	38:091e511ce8a0	1964	// Debounce history. On each scan, we shift in a 1 bit to the lsb if
mjr	38:091e511ce8a0	1965	// the physical key is reporting ON, and shift in a 0 bit if the physical
mjr	38:091e511ce8a0	1966	// key is reporting OFF. We consider the key to have a new stable state
mjr	38:091e511ce8a0	1967	// if we have N consecutive 0's or 1's in the low N bits (where N is
mjr	38:091e511ce8a0	1968	// a parameter that determines how long we wait for transients to settle).
mjr	53:9b2611964afc	1969	uint8_t dbState;
mjr	38:091e511ce8a0	1970
mjr	65:739875521aae	1971	// current PHYSICAL on/off state, after debouncing
mjr	65:739875521aae	1972	uint8_t physState : 1;
mjr	65:739875521aae	1973
mjr	65:739875521aae	1974	// current LOGICAL on/off state as reported to the host.
mjr	65:739875521aae	1975	uint8_t logState : 1;
mjr	65:739875521aae	1976
mjr	65:739875521aae	1977	// previous logical on/off state, when keys were last processed for USB
mjr	65:739875521aae	1978	// reports and local effects
mjr	65:739875521aae	1979	uint8_t prevLogState : 1;
mjr	65:739875521aae	1980
mjr	65:739875521aae	1981	// Pulse state
mjr	65:739875521aae	1982	//
mjr	65:739875521aae	1983	// A button in pulse mode (selected via the config flags for the button)
mjr	65:739875521aae	1984	// transmits a brief logical button press and release each time the attached
mjr	65:739875521aae	1985	// physical switch changes state. This is useful for cases where the host
mjr	65:739875521aae	1986	// expects a key press for each change in the state of the physical switch.
mjr	65:739875521aae	1987	// The canonical example is the Coin Door switch in VPinMAME, which requires
mjr	65:739875521aae	1988	// pressing the END key to toggle the open/closed state. This software design
mjr	65:739875521aae	1989	// isn't easily implemented in a physical coin door, though; the simplest
mjr	65:739875521aae	1990	// physical sensor for the coin door state is a switch that's on when the
mjr	65:739875521aae	1991	// door is open and off when the door is closed (or vice versa, but in either
mjr	65:739875521aae	1992	// case, the switch state corresponds to the current state of the door at any
mjr	65:739875521aae	1993	// given time, rather than pulsing on state changes). The "pulse mode"
mjr	65:739875521aae	1994	// option brdiges this gap by generating a toggle key event each time
mjr	65:739875521aae	1995	// there's a change to the physical switch's state.
mjr	38:091e511ce8a0	1996	//
mjr	38:091e511ce8a0	1997	// Pulse state:
mjr	38:091e511ce8a0	1998	// 0 -> not a pulse switch - logical key state equals physical switch state
mjr	38:091e511ce8a0	1999	// 1 -> off
mjr	38:091e511ce8a0	2000	// 2 -> transitioning off-on
mjr	38:091e511ce8a0	2001	// 3 -> on
mjr	38:091e511ce8a0	2002	// 4 -> transitioning on-off
mjr	65:739875521aae	2003	uint8_t pulseState : 3; // 5 states -> we need 3 bits
mjr	65:739875521aae	2004
mjr	65:739875521aae	2005	} __attribute__((packed));
mjr	65:739875521aae	2006
mjr	65:739875521aae	2007	ButtonState *buttonState; // live button slots, allocated on startup
mjr	65:739875521aae	2008	int8_t nButtons; // number of live button slots allocated
mjr	65:739875521aae	2009	int8_t zblButtonIndex = -1; // index of ZB Launch button slot; -1 if unused
mjr	18:5e890ebd0023	2010
mjr	66:2e3583fbd2f4	2011	// Shift button state
mjr	66:2e3583fbd2f4	2012	struct
mjr	66:2e3583fbd2f4	2013	{
mjr	66:2e3583fbd2f4	2014	int8_t index; // buttonState[] index of shift button; -1 if none
mjr	66:2e3583fbd2f4	2015	uint8_t state : 2; // current shift state:
mjr	66:2e3583fbd2f4	2016	// 0 = not shifted
mjr	66:2e3583fbd2f4	2017	// 1 = shift button down, no key pressed yet
mjr	66:2e3583fbd2f4	2018	// 2 = shift button down, key pressed
mjr	66:2e3583fbd2f4	2019	uint8_t pulse : 1; // sending pulsed keystroke on release
mjr	66:2e3583fbd2f4	2020	uint32_t pulseTime; // time of start of pulsed keystroke
mjr	66:2e3583fbd2f4	2021	}
mjr	66:2e3583fbd2f4	2022	__attribute__((packed)) shiftButton;
mjr	38:091e511ce8a0	2023
mjr	38:091e511ce8a0	2024	// Button data
mjr	38:091e511ce8a0	2025	uint32_t jsButtons = 0;
mjr	38:091e511ce8a0	2026
mjr	38:091e511ce8a0	2027	// Keyboard report state. This tracks the USB keyboard state. We can
mjr	38:091e511ce8a0	2028	// report at most 6 simultaneous non-modifier keys here, plus the 8
mjr	38:091e511ce8a0	2029	// modifier keys.
mjr	38:091e511ce8a0	2030	struct
mjr	38:091e511ce8a0	2031	{
mjr	38:091e511ce8a0	2032	bool changed; // flag: changed since last report sent
mjr	48:058ace2aed1d	2033	uint8_t nkeys; // number of active keys in the list
mjr	38:091e511ce8a0	2034	uint8_t data[8]; // key state, in USB report format: byte 0 is the modifier key mask,
mjr	38:091e511ce8a0	2035	// byte 1 is reserved, and bytes 2-7 are the currently pressed key codes
mjr	38:091e511ce8a0	2036	} kbState = { false, 0, { 0, 0, 0, 0, 0, 0, 0, 0 } };
mjr	38:091e511ce8a0	2037
mjr	38:091e511ce8a0	2038	// Media key state
mjr	38:091e511ce8a0	2039	struct
mjr	38:091e511ce8a0	2040	{
mjr	38:091e511ce8a0	2041	bool changed; // flag: changed since last report sent
mjr	38:091e511ce8a0	2042	uint8_t data; // key state byte for USB reports
mjr	38:091e511ce8a0	2043	} mediaState = { false, 0 };
mjr	38:091e511ce8a0	2044
mjr	38:091e511ce8a0	2045	// button scan interrupt ticker
mjr	38:091e511ce8a0	2046	Ticker buttonTicker;
mjr	38:091e511ce8a0	2047
mjr	38:091e511ce8a0	2048	// Button scan interrupt handler. We call this periodically via
mjr	38:091e511ce8a0	2049	// a timer interrupt to scan the physical button states.
mjr	38:091e511ce8a0	2050	void scanButtons()
mjr	38:091e511ce8a0	2051	{
mjr	38:091e511ce8a0	2052	// scan all button input pins
mjr	73:4e8ce0b18915	2053	ButtonState bs = buttonState, last = bs + nButtons;
mjr	73:4e8ce0b18915	2054	for ( ; bs < last ; ++bs)
mjr	38:091e511ce8a0	2055	{
mjr	73:4e8ce0b18915	2056	// Shift the new state into the debounce history
mjr	73:4e8ce0b18915	2057	uint8_t db = (bs->dbState << 1) \| bs->di.read();
mjr	73:4e8ce0b18915	2058	bs->dbState = db;
mjr	73:4e8ce0b18915	2059
mjr	73:4e8ce0b18915	2060	// If we have all 0's or 1's in the history for the required
mjr	73:4e8ce0b18915	2061	// debounce period, the key state is stable, so apply the new
mjr	73:4e8ce0b18915	2062	// physical state. Note that the pins are active low, so the
mjr	73:4e8ce0b18915	2063	// new button on/off state is the inverse of the GPIO state.
mjr	73:4e8ce0b18915	2064	const uint8_t stable = 0x1F; // 00011111b -> low 5 bits = last 5 readings
mjr	73:4e8ce0b18915	2065	db &= stable;
mjr	73:4e8ce0b18915	2066	if (db == 0 \|\| db == stable)
mjr	73:4e8ce0b18915	2067	bs->physState = !db;
mjr	38:091e511ce8a0	2068	}
mjr	38:091e511ce8a0	2069	}
mjr	38:091e511ce8a0	2070
mjr	38:091e511ce8a0	2071	// Button state transition timer. This is used for pulse buttons, to
mjr	38:091e511ce8a0	2072	// control the timing of the logical key presses generated by transitions
mjr	38:091e511ce8a0	2073	// in the physical button state.
mjr	38:091e511ce8a0	2074	Timer buttonTimer;
mjr	12:669df364a565	2075
mjr	65:739875521aae	2076	// Count a button during the initial setup scan
mjr	72:884207c0aab0	2077	void countButton(uint8_t typ, uint8_t shiftTyp, bool &kbKeys)
mjr	65:739875521aae	2078	{
mjr	65:739875521aae	2079	// count it
mjr	65:739875521aae	2080	++nButtons;
mjr	65:739875521aae	2081
mjr	67:c39e66c4e000	2082	// if it's a keyboard key or media key, note that we need a USB
mjr	67:c39e66c4e000	2083	// keyboard interface
mjr	72:884207c0aab0	2084	if (typ == BtnTypeKey \|\| typ == BtnTypeMedia
mjr	72:884207c0aab0	2085	\|\| shiftTyp == BtnTypeKey \|\| shiftTyp == BtnTypeMedia)
mjr	65:739875521aae	2086	kbKeys = true;
mjr	65:739875521aae	2087	}
mjr	65:739875521aae	2088
mjr	11:bd9da7088e6e	2089	// initialize the button inputs
mjr	35:e959ffba78fd	2090	void initButtons(Config &cfg, bool &kbKeys)
mjr	11:bd9da7088e6e	2091	{
mjr	35:e959ffba78fd	2092	// presume we'll find no keyboard keys
mjr	35:e959ffba78fd	2093	kbKeys = false;
mjr	35:e959ffba78fd	2094
mjr	66:2e3583fbd2f4	2095	// presume no shift key
mjr	66:2e3583fbd2f4	2096	shiftButton.index = -1;
mjr	66:2e3583fbd2f4	2097
mjr	65:739875521aae	2098	// Count up how many button slots we'll need to allocate. Start
mjr	65:739875521aae	2099	// with assigned buttons from the configuration, noting that we
mjr	65:739875521aae	2100	// only need to create slots for buttons that are actually wired.
mjr	65:739875521aae	2101	nButtons = 0;
mjr	65:739875521aae	2102	for (int i = 0 ; i < MAX_BUTTONS ; ++i)
mjr	65:739875521aae	2103	{
mjr	65:739875521aae	2104	// it's valid if it's wired to a real input pin
mjr	65:739875521aae	2105	if (wirePinName(cfg.button[i].pin) != NC)
mjr	72:884207c0aab0	2106	countButton(cfg.button[i].typ, cfg.button[i].typ2, kbKeys);
mjr	65:739875521aae	2107	}
mjr	65:739875521aae	2108
mjr	65:739875521aae	2109	// Count virtual buttons
mjr	65:739875521aae	2110
mjr	65:739875521aae	2111	// ZB Launch
mjr	65:739875521aae	2112	if (cfg.plunger.zbLaunchBall.port != 0)
mjr	65:739875521aae	2113	{
mjr	65:739875521aae	2114	// valid - remember the live button index
mjr	65:739875521aae	2115	zblButtonIndex = nButtons;
mjr	65:739875521aae	2116
mjr	65:739875521aae	2117	// count it
mjr	72:884207c0aab0	2118	countButton(cfg.plunger.zbLaunchBall.keytype, BtnTypeNone, kbKeys);
mjr	65:739875521aae	2119	}
mjr	65:739875521aae	2120
mjr	65:739875521aae	2121	// Allocate the live button slots
mjr	65:739875521aae	2122	ButtonState *bs = buttonState = new ButtonState[nButtons];
mjr	65:739875521aae	2123
mjr	65:739875521aae	2124	// Configure the physical inputs
mjr	65:739875521aae	2125	for (int i = 0 ; i < MAX_BUTTONS ; ++i)
mjr	65:739875521aae	2126	{
mjr	65:739875521aae	2127	PinName pin = wirePinName(cfg.button[i].pin);
mjr	65:739875521aae	2128	if (pin != NC)
mjr	65:739875521aae	2129	{
mjr	65:739875521aae	2130	// point back to the config slot for the keyboard data
mjr	65:739875521aae	2131	bs->cfgIndex = i;
mjr	65:739875521aae	2132
mjr	65:739875521aae	2133	// set up the GPIO input pin for this button
mjr	73:4e8ce0b18915	2134	bs->di.assignPin(pin);
mjr	65:739875521aae	2135
mjr	65:739875521aae	2136	// if it's a pulse mode button, set the initial pulse state to Off
mjr	65:739875521aae	2137	if (cfg.button[i].flags & BtnFlagPulse)
mjr	65:739875521aae	2138	bs->pulseState = 1;
mjr	65:739875521aae	2139
mjr	66:2e3583fbd2f4	2140	// If this is the shift button, note its buttonState[] index.
mjr	66:2e3583fbd2f4	2141	// We have to figure the buttonState[] index separately from
mjr	66:2e3583fbd2f4	2142	// the config index, because the indices can differ if some
mjr	66:2e3583fbd2f4	2143	// config slots are left unused.
mjr	66:2e3583fbd2f4	2144	if (cfg.shiftButton == i+1)
mjr	66:2e3583fbd2f4	2145	shiftButton.index = bs - buttonState;
mjr	66:2e3583fbd2f4	2146
mjr	65:739875521aae	2147	// advance to the next button
mjr	65:739875521aae	2148	++bs;
mjr	65:739875521aae	2149	}
mjr	65:739875521aae	2150	}
mjr	65:739875521aae	2151
mjr	53:9b2611964afc	2152	// Configure the virtual buttons. These are buttons controlled via
mjr	53:9b2611964afc	2153	// software triggers rather than physical GPIO inputs. The virtual
mjr	53:9b2611964afc	2154	// buttons have the same control structures as regular buttons, but
mjr	53:9b2611964afc	2155	// they get their configuration data from other config variables.
mjr	53:9b2611964afc	2156
mjr	53:9b2611964afc	2157	// ZB Launch Ball button
mjr	65:739875521aae	2158	if (cfg.plunger.zbLaunchBall.port != 0)
mjr	11:bd9da7088e6e	2159	{
mjr	65:739875521aae	2160	// Point back to the config slot for the keyboard data.
mjr	66:2e3583fbd2f4	2161	// We use a special extra slot for virtual buttons,
mjr	66:2e3583fbd2f4	2162	// so we also need to set up the slot data by copying
mjr	66:2e3583fbd2f4	2163	// the ZBL config data to our virtual button slot.
mjr	65:739875521aae	2164	bs->cfgIndex = ZBL_BUTTON_CFG;
mjr	65:739875521aae	2165	cfg.button[ZBL_BUTTON_CFG].pin = PINNAME_TO_WIRE(NC);
mjr	65:739875521aae	2166	cfg.button[ZBL_BUTTON_CFG].typ = cfg.plunger.zbLaunchBall.keytype;
mjr	65:739875521aae	2167	cfg.button[ZBL_BUTTON_CFG].val = cfg.plunger.zbLaunchBall.keycode;
mjr	65:739875521aae	2168
mjr	66:2e3583fbd2f4	2169	// advance to the next button
mjr	65:739875521aae	2170	++bs;
mjr	11:bd9da7088e6e	2171	}
mjr	12:669df364a565	2172
mjr	38:091e511ce8a0	2173	// start the button scan thread
mjr	38:091e511ce8a0	2174	buttonTicker.attach_us(scanButtons, 1000);
mjr	38:091e511ce8a0	2175
mjr	38:091e511ce8a0	2176	// start the button state transition timer
mjr	12:669df364a565	2177	buttonTimer.start();
mjr	11:bd9da7088e6e	2178	}
mjr	11:bd9da7088e6e	2179
mjr	67:c39e66c4e000	2180	// Media key mapping. This maps from an 8-bit USB media key
mjr	67:c39e66c4e000	2181	// code to the corresponding bit in our USB report descriptor.
mjr	67:c39e66c4e000	2182	// The USB key code is the index, and the value at the index
mjr	67:c39e66c4e000	2183	// is the report descriptor bit. See joystick.cpp for the
mjr	67:c39e66c4e000	2184	// media descriptor details. Our currently mapped keys are:
mjr	67:c39e66c4e000	2185	//
mjr	67:c39e66c4e000	2186	// 0xE2 -> Mute -> 0x01
mjr	67:c39e66c4e000	2187	// 0xE9 -> Volume Up -> 0x02
mjr	67:c39e66c4e000	2188	// 0xEA -> Volume Down -> 0x04
mjr	67:c39e66c4e000	2189	// 0xB5 -> Next Track -> 0x08
mjr	67:c39e66c4e000	2190	// 0xB6 -> Previous Track -> 0x10
mjr	67:c39e66c4e000	2191	// 0xB7 -> Stop -> 0x20
mjr	67:c39e66c4e000	2192	// 0xCD -> Play / Pause -> 0x40
mjr	67:c39e66c4e000	2193	//
mjr	67:c39e66c4e000	2194	static const uint8_t mediaKeyMap[] = {
mjr	67:c39e66c4e000	2195	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 00-0F
mjr	67:c39e66c4e000	2196	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 10-1F
mjr	67:c39e66c4e000	2197	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 20-2F
mjr	67:c39e66c4e000	2198	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 30-3F
mjr	67:c39e66c4e000	2199	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 40-4F
mjr	67:c39e66c4e000	2200	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 50-5F
mjr	67:c39e66c4e000	2201	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 60-6F
mjr	67:c39e66c4e000	2202	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 70-7F
mjr	67:c39e66c4e000	2203	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 80-8F
mjr	67:c39e66c4e000	2204	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 90-9F
mjr	67:c39e66c4e000	2205	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // A0-AF
mjr	67:c39e66c4e000	2206	0, 0, 0, 0, 0, 8, 16, 32, 0, 0, 0, 0, 0, 0, 0, 0, // B0-BF
mjr	67:c39e66c4e000	2207	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 64, 0, 0, // C0-CF
mjr	67:c39e66c4e000	2208	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // D0-DF
mjr	67:c39e66c4e000	2209	0, 0, 1, 0, 0, 0, 0, 0, 0, 2, 4, 0, 0, 0, 0, 0, // E0-EF
mjr	67:c39e66c4e000	2210	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 // F0-FF
mjr	67:c39e66c4e000	2211	};
mjr	67:c39e66c4e000	2212
mjr	67:c39e66c4e000	2213
mjr	38:091e511ce8a0	2214	// Process the button state. This sets up the joystick, keyboard, and
mjr	38:091e511ce8a0	2215	// media control descriptors with the current state of keys mapped to
mjr	38:091e511ce8a0	2216	// those HID interfaces, and executes the local effects for any keys
mjr	38:091e511ce8a0	2217	// mapped to special device functions (e.g., Night Mode).
mjr	53:9b2611964afc	2218	void processButtons(Config &cfg)
mjr	35:e959ffba78fd	2219	{
mjr	35:e959ffba78fd	2220	// start with an empty list of USB key codes
mjr	35:e959ffba78fd	2221	uint8_t modkeys = 0;
mjr	35:e959ffba78fd	2222	uint8_t keys[7] = { 0, 0, 0, 0, 0, 0, 0 };
mjr	35:e959ffba78fd	2223	int nkeys = 0;
mjr	11:bd9da7088e6e	2224
mjr	35:e959ffba78fd	2225	// clear the joystick buttons
mjr	36:b9747461331e	2226	uint32_t newjs = 0;
mjr	35:e959ffba78fd	2227
mjr	35:e959ffba78fd	2228	// start with no media keys pressed
mjr	35:e959ffba78fd	2229	uint8_t mediakeys = 0;
mjr	38:091e511ce8a0	2230
mjr	38:091e511ce8a0	2231	// calculate the time since the last run
mjr	53:9b2611964afc	2232	uint32_t dt = buttonTimer.read_us();
mjr	18:5e890ebd0023	2233	buttonTimer.reset();
mjr	66:2e3583fbd2f4	2234
mjr	66:2e3583fbd2f4	2235	// check the shift button state
mjr	66:2e3583fbd2f4	2236	if (shiftButton.index != -1)
mjr	66:2e3583fbd2f4	2237	{
mjr	66:2e3583fbd2f4	2238	ButtonState *sbs = &buttonState[shiftButton.index];
mjr	66:2e3583fbd2f4	2239	switch (shiftButton.state)
mjr	66:2e3583fbd2f4	2240	{
mjr	66:2e3583fbd2f4	2241	case 0:
mjr	66:2e3583fbd2f4	2242	// Not shifted. Check if the button is now down: if so,
mjr	66:2e3583fbd2f4	2243	// switch to state 1 (shift button down, no key pressed yet).
mjr	66:2e3583fbd2f4	2244	if (sbs->physState)
mjr	66:2e3583fbd2f4	2245	shiftButton.state = 1;
mjr	66:2e3583fbd2f4	2246	break;
mjr	66:2e3583fbd2f4	2247
mjr	66:2e3583fbd2f4	2248	case 1:
mjr	66:2e3583fbd2f4	2249	// Shift button down, no key pressed yet. If the button is
mjr	66:2e3583fbd2f4	2250	// now up, it counts as an ordinary button press instead of
mjr	66:2e3583fbd2f4	2251	// a shift button press, since the shift function was never
mjr	66:2e3583fbd2f4	2252	// used. Return to unshifted state and start a timed key
mjr	66:2e3583fbd2f4	2253	// pulse event.
mjr	66:2e3583fbd2f4	2254	if (!sbs->physState)
mjr	66:2e3583fbd2f4	2255	{
mjr	66:2e3583fbd2f4	2256	shiftButton.state = 0;
mjr	66:2e3583fbd2f4	2257	shiftButton.pulse = 1;
mjr	66:2e3583fbd2f4	2258	shiftButton.pulseTime = 50000+dt; // 50 ms left on the key pulse
mjr	66:2e3583fbd2f4	2259	}
mjr	66:2e3583fbd2f4	2260	break;
mjr	66:2e3583fbd2f4	2261
mjr	66:2e3583fbd2f4	2262	case 2:
mjr	66:2e3583fbd2f4	2263	// Shift button down, other key was pressed. If the button is
mjr	66:2e3583fbd2f4	2264	// now up, simply clear the shift state without sending a key
mjr	66:2e3583fbd2f4	2265	// press for the shift button itself to the PC. The shift
mjr	66:2e3583fbd2f4	2266	// function was used, so its ordinary key press function is
mjr	66:2e3583fbd2f4	2267	// suppressed.
mjr	66:2e3583fbd2f4	2268	if (!sbs->physState)
mjr	66:2e3583fbd2f4	2269	shiftButton.state = 0;
mjr	66:2e3583fbd2f4	2270	break;
mjr	66:2e3583fbd2f4	2271	}
mjr	66:2e3583fbd2f4	2272	}
mjr	38:091e511ce8a0	2273
mjr	11:bd9da7088e6e	2274	// scan the button list
mjr	18:5e890ebd0023	2275	ButtonState *bs = buttonState;
mjr	65:739875521aae	2276	for (int i = 0 ; i < nButtons ; ++i, ++bs)
mjr	11:bd9da7088e6e	2277	{
mjr	66:2e3583fbd2f4	2278	// Check the button type:
mjr	66:2e3583fbd2f4	2279	// - shift button
mjr	66:2e3583fbd2f4	2280	// - pulsed button
mjr	66:2e3583fbd2f4	2281	// - regular button
mjr	66:2e3583fbd2f4	2282	if (shiftButton.index == i)
mjr	66:2e3583fbd2f4	2283	{
mjr	66:2e3583fbd2f4	2284	// This is the shift button. Its logical state for key
mjr	66:2e3583fbd2f4	2285	// reporting purposes is controlled by the shift buttton
mjr	66:2e3583fbd2f4	2286	// pulse timer. If we're in a pulse, its logical state
mjr	66:2e3583fbd2f4	2287	// is pressed.
mjr	66:2e3583fbd2f4	2288	if (shiftButton.pulse)
mjr	66:2e3583fbd2f4	2289	{
mjr	66:2e3583fbd2f4	2290	// deduct the current interval from the pulse time, ending
mjr	66:2e3583fbd2f4	2291	// the pulse if the time has expired
mjr	66:2e3583fbd2f4	2292	if (shiftButton.pulseTime > dt)
mjr	66:2e3583fbd2f4	2293	shiftButton.pulseTime -= dt;
mjr	66:2e3583fbd2f4	2294	else
mjr	66:2e3583fbd2f4	2295	shiftButton.pulse = 0;
mjr	66:2e3583fbd2f4	2296	}
mjr	66:2e3583fbd2f4	2297
mjr	66:2e3583fbd2f4	2298	// the button is logically pressed if we're in a pulse
mjr	66:2e3583fbd2f4	2299	bs->logState = shiftButton.pulse;
mjr	66:2e3583fbd2f4	2300	}
mjr	66:2e3583fbd2f4	2301	else if (bs->pulseState != 0)
mjr	18:5e890ebd0023	2302	{
mjr	38:091e511ce8a0	2303	// if the timer has expired, check for state changes
mjr	53:9b2611964afc	2304	if (bs->pulseTime > dt)
mjr	18:5e890ebd0023	2305	{
mjr	53:9b2611964afc	2306	// not expired yet - deduct the last interval
mjr	53:9b2611964afc	2307	bs->pulseTime -= dt;
mjr	53:9b2611964afc	2308	}
mjr	53:9b2611964afc	2309	else
mjr	53:9b2611964afc	2310	{
mjr	53:9b2611964afc	2311	// pulse time expired - check for a state change
mjr	53:9b2611964afc	2312	const uint32_t pulseLength = 200000UL; // 200 milliseconds
mjr	38:091e511ce8a0	2313	switch (bs->pulseState)
mjr	18:5e890ebd0023	2314	{
mjr	38:091e511ce8a0	2315	case 1:
mjr	38:091e511ce8a0	2316	// off - if the physical switch is now on, start a button pulse
mjr	53:9b2611964afc	2317	if (bs->physState)
mjr	53:9b2611964afc	2318	{
mjr	38:091e511ce8a0	2319	bs->pulseTime = pulseLength;
mjr	38:091e511ce8a0	2320	bs->pulseState = 2;
mjr	53:9b2611964afc	2321	bs->logState = 1;
mjr	38:091e511ce8a0	2322	}
mjr	38:091e511ce8a0	2323	break;
mjr	18:5e890ebd0023	2324
mjr	38:091e511ce8a0	2325	case 2:
mjr	38:091e511ce8a0	2326	// transitioning off to on - end the pulse, and start a gap
mjr	38:091e511ce8a0	2327	// equal to the pulse time so that the host can observe the
mjr	38:091e511ce8a0	2328	// change in state in the logical button
mjr	38:091e511ce8a0	2329	bs->pulseState = 3;
mjr	38:091e511ce8a0	2330	bs->pulseTime = pulseLength;
mjr	53:9b2611964afc	2331	bs->logState = 0;
mjr	38:091e511ce8a0	2332	break;
mjr	38:091e511ce8a0	2333
mjr	38:091e511ce8a0	2334	case 3:
mjr	38:091e511ce8a0	2335	// on - if the physical switch is now off, start a button pulse
mjr	53:9b2611964afc	2336	if (!bs->physState)
mjr	53:9b2611964afc	2337	{
mjr	38:091e511ce8a0	2338	bs->pulseTime = pulseLength;
mjr	38:091e511ce8a0	2339	bs->pulseState = 4;
mjr	53:9b2611964afc	2340	bs->logState = 1;
mjr	38:091e511ce8a0	2341	}
mjr	38:091e511ce8a0	2342	break;
mjr	38:091e511ce8a0	2343
mjr	38:091e511ce8a0	2344	case 4:
mjr	38:091e511ce8a0	2345	// transitioning on to off - end the pulse, and start a gap
mjr	38:091e511ce8a0	2346	bs->pulseState = 1;
mjr	38:091e511ce8a0	2347	bs->pulseTime = pulseLength;
mjr	53:9b2611964afc	2348	bs->logState = 0;
mjr	38:091e511ce8a0	2349	break;
mjr	18:5e890ebd0023	2350	}
mjr	18:5e890ebd0023	2351	}
mjr	38:091e511ce8a0	2352	}
mjr	38:091e511ce8a0	2353	else
mjr	38:091e511ce8a0	2354	{
mjr	38:091e511ce8a0	2355	// not a pulse switch - the logical state is the same as the physical state
mjr	53:9b2611964afc	2356	bs->logState = bs->physState;
mjr	38:091e511ce8a0	2357	}
mjr	35:e959ffba78fd	2358
mjr	38:091e511ce8a0	2359	// carry out any edge effects from buttons changing states
mjr	53:9b2611964afc	2360	if (bs->logState != bs->prevLogState)
mjr	38:091e511ce8a0	2361	{
mjr	38:091e511ce8a0	2362	// check for special key transitions
mjr	53:9b2611964afc	2363	if (cfg.nightMode.btn == i + 1)
mjr	35:e959ffba78fd	2364	{
mjr	53:9b2611964afc	2365	// Check the switch type in the config flags. If flag 0x01 is set,
mjr	53:9b2611964afc	2366	// it's a persistent on/off switch, so the night mode state simply
mjr	53:9b2611964afc	2367	// follows the current state of the switch. Otherwise, it's a
mjr	53:9b2611964afc	2368	// momentary button, so each button push (i.e., each transition from
mjr	53:9b2611964afc	2369	// logical state OFF to ON) toggles the current night mode state.
mjr	53:9b2611964afc	2370	if (cfg.nightMode.flags & 0x01)
mjr	53:9b2611964afc	2371	{
mjr	69:cc5039284fac	2372	// on/off switch - when the button changes state, change
mjr	53:9b2611964afc	2373	// night mode to match the new state
mjr	53:9b2611964afc	2374	setNightMode(bs->logState);
mjr	53:9b2611964afc	2375	}
mjr	53:9b2611964afc	2376	else
mjr	53:9b2611964afc	2377	{
mjr	66:2e3583fbd2f4	2378	// Momentary switch - toggle the night mode state when the
mjr	53:9b2611964afc	2379	// physical button is pushed (i.e., when its logical state
mjr	66:2e3583fbd2f4	2380	// transitions from OFF to ON).
mjr	66:2e3583fbd2f4	2381	//
mjr	66:2e3583fbd2f4	2382	// In momentary mode, night mode flag 0x02 makes it the
mjr	66:2e3583fbd2f4	2383	// shifted version of the button. In this case, only
mjr	66:2e3583fbd2f4	2384	// proceed if the shift button is pressed.
mjr	66:2e3583fbd2f4	2385	bool pressed = bs->logState;
mjr	66:2e3583fbd2f4	2386	if ((cfg.nightMode.flags & 0x02) != 0)
mjr	66:2e3583fbd2f4	2387	{
mjr	66:2e3583fbd2f4	2388	// if the shift button is pressed but hasn't been used
mjr	66:2e3583fbd2f4	2389	// as a shift yet, mark it as used, so that it doesn't
mjr	66:2e3583fbd2f4	2390	// also generate its own key code on release
mjr	66:2e3583fbd2f4	2391	if (shiftButton.state == 1)
mjr	66:2e3583fbd2f4	2392	shiftButton.state = 2;
mjr	66:2e3583fbd2f4	2393
mjr	66:2e3583fbd2f4	2394	// if the shift button isn't even pressed
mjr	66:2e3583fbd2f4	2395	if (shiftButton.state == 0)
mjr	66:2e3583fbd2f4	2396	pressed = false;
mjr	66:2e3583fbd2f4	2397	}
mjr	66:2e3583fbd2f4	2398
mjr	66:2e3583fbd2f4	2399	// if it's pressed (even after considering the shift mode),
mjr	66:2e3583fbd2f4	2400	// toggle night mode
mjr	66:2e3583fbd2f4	2401	if (pressed)
mjr	53:9b2611964afc	2402	toggleNightMode();
mjr	53:9b2611964afc	2403	}
mjr	35:e959ffba78fd	2404	}
mjr	38:091e511ce8a0	2405
mjr	38:091e511ce8a0	2406	// remember the new state for comparison on the next run
mjr	53:9b2611964afc	2407	bs->prevLogState = bs->logState;
mjr	38:091e511ce8a0	2408	}
mjr	38:091e511ce8a0	2409
mjr	53:9b2611964afc	2410	// if it's pressed, physically or virtually, add it to the appropriate
mjr	53:9b2611964afc	2411	// key state list
mjr	53:9b2611964afc	2412	if (bs->logState \|\| bs->virtState)
mjr	38:091e511ce8a0	2413	{
mjr	70:9f58735a1732	2414	// Get the key type and code. Start by assuming that we're
mjr	70:9f58735a1732	2415	// going to use the normal unshifted meaning.
mjr	65:739875521aae	2416	ButtonCfg *bc = &cfg.button[bs->cfgIndex];
mjr	70:9f58735a1732	2417	uint8_t typ = bc->typ;
mjr	70:9f58735a1732	2418	uint8_t val = bc->val;
mjr	70:9f58735a1732	2419
mjr	70:9f58735a1732	2420	// If the shift button is down, check for a shifted meaning.
mjr	70:9f58735a1732	2421	if (shiftButton.state)
mjr	66:2e3583fbd2f4	2422	{
mjr	70:9f58735a1732	2423	// assume there's no shifted meaning
mjr	70:9f58735a1732	2424	bool useShift = false;
mjr	66:2e3583fbd2f4	2425
mjr	70:9f58735a1732	2426	// If the button has a shifted meaning, use that. The
mjr	70:9f58735a1732	2427	// meaning might be a keyboard key or joystick button,
mjr	70:9f58735a1732	2428	// but it could also be as the Night Mode toggle.
mjr	70:9f58735a1732	2429	//
mjr	70:9f58735a1732	2430	// The condition to check if it's the Night Mode toggle
mjr	70:9f58735a1732	2431	// is a little complicated. First, the easy part: our
mjr	70:9f58735a1732	2432	// button index has to match the Night Mode button index.
mjr	70:9f58735a1732	2433	// Now the hard part: the Night Mode button flags have
mjr	70:9f58735a1732	2434	// to be set to 0x01 OFF and 0x02 ON: toggle mode (not
mjr	70:9f58735a1732	2435	// switch mode, 0x01), and shift mode, 0x02. So AND the
mjr	70:9f58735a1732	2436	// flags with 0x03 to get these two bits, and check that
mjr	70:9f58735a1732	2437	// the result is 0x02, meaning that only shift mode is on.
mjr	70:9f58735a1732	2438	if (bc->typ2 != BtnTypeNone)
mjr	70:9f58735a1732	2439	{
mjr	70:9f58735a1732	2440	// there's a shifted key assignment - use it
mjr	70:9f58735a1732	2441	typ = bc->typ2;
mjr	70:9f58735a1732	2442	val = bc->val2;
mjr	70:9f58735a1732	2443	useShift = true;
mjr	70:9f58735a1732	2444	}
mjr	70:9f58735a1732	2445	else if (cfg.nightMode.btn == i+1
mjr	70:9f58735a1732	2446	&& (cfg.nightMode.flags & 0x03) == 0x02)
mjr	70:9f58735a1732	2447	{
mjr	70:9f58735a1732	2448	// shift+button = night mode toggle
mjr	70:9f58735a1732	2449	typ = BtnTypeNone;
mjr	70:9f58735a1732	2450	val = 0;
mjr	70:9f58735a1732	2451	useShift = true;
mjr	70:9f58735a1732	2452	}
mjr	70:9f58735a1732	2453
mjr	70:9f58735a1732	2454	// If there's a shifted meaning, advance the shift
mjr	70:9f58735a1732	2455	// button state from 1 to 2 if applicable. This signals
mjr	70:9f58735a1732	2456	// that we've "consumed" the shift button press as the
mjr	70:9f58735a1732	2457	// shift button, so it shouldn't generate its own key
mjr	70:9f58735a1732	2458	// code event when released.
mjr	70:9f58735a1732	2459	if (useShift && shiftButton.state == 1)
mjr	66:2e3583fbd2f4	2460	shiftButton.state = 2;
mjr	66:2e3583fbd2f4	2461	}
mjr	66:2e3583fbd2f4	2462
mjr	70:9f58735a1732	2463	// We've decided on the meaning of the button, so process
mjr	70:9f58735a1732	2464	// the keyboard or joystick event.
mjr	66:2e3583fbd2f4	2465	switch (typ)
mjr	53:9b2611964afc	2466	{
mjr	53:9b2611964afc	2467	case BtnTypeJoystick:
mjr	53:9b2611964afc	2468	// joystick button
mjr	53:9b2611964afc	2469	newjs \|= (1 << (val - 1));
mjr	53:9b2611964afc	2470	break;
mjr	53:9b2611964afc	2471
mjr	53:9b2611964afc	2472	case BtnTypeKey:
mjr	67:c39e66c4e000	2473	// Keyboard key. The USB keyboard report encodes regular
mjr	67:c39e66c4e000	2474	// keys and modifier keys separately, so we need to check
mjr	67:c39e66c4e000	2475	// which type we have. Note that past versions mapped the
mjr	67:c39e66c4e000	2476	// Keyboard Volume Up, Keyboard Volume Down, and Keyboard
mjr	67:c39e66c4e000	2477	// Mute keys to the corresponding Media keys. We no longer
mjr	67:c39e66c4e000	2478	// do this; instead, we have the separate BtnTypeMedia for
mjr	67:c39e66c4e000	2479	// explicitly using media keys if desired.
mjr	67:c39e66c4e000	2480	if (val >= 0xE0 && val <= 0xE7)
mjr	53:9b2611964afc	2481	{
mjr	67:c39e66c4e000	2482	// It's a modifier key. These are represented in the USB
mjr	67:c39e66c4e000	2483	// reports with a bit mask. We arrange the mask bits in
mjr	67:c39e66c4e000	2484	// the same order as the scan codes, so we can figure the
mjr	67:c39e66c4e000	2485	// appropriate bit with a simple shift.
mjr	53:9b2611964afc	2486	modkeys \|= (1 << (val - 0xE0));
mjr	53:9b2611964afc	2487	}
mjr	53:9b2611964afc	2488	else
mjr	53:9b2611964afc	2489	{
mjr	67:c39e66c4e000	2490	// It's a regular key. Make sure it's not already in the
mjr	67:c39e66c4e000	2491	// list, and that the list isn't full. If neither of these
mjr	67:c39e66c4e000	2492	// apply, add the key to the key array.
mjr	53:9b2611964afc	2493	if (nkeys < 7)
mjr	53:9b2611964afc	2494	{
mjr	57:cc03231f676b	2495	bool found = false;
mjr	53:9b2611964afc	2496	for (int j = 0 ; j < nkeys ; ++j)
mjr	53:9b2611964afc	2497	{
mjr	53:9b2611964afc	2498	if (keys[j] == val)
mjr	53:9b2611964afc	2499	{
mjr	53:9b2611964afc	2500	found = true;
mjr	53:9b2611964afc	2501	break;
mjr	53:9b2611964afc	2502	}
mjr	53:9b2611964afc	2503	}
mjr	53:9b2611964afc	2504	if (!found)
mjr	53:9b2611964afc	2505	keys[nkeys++] = val;
mjr	53:9b2611964afc	2506	}
mjr	53:9b2611964afc	2507	}
mjr	53:9b2611964afc	2508	break;
mjr	67:c39e66c4e000	2509
mjr	67:c39e66c4e000	2510	case BtnTypeMedia:
mjr	67:c39e66c4e000	2511	// Media control key. The media keys are mapped in the USB
mjr	67:c39e66c4e000	2512	// report to bits, whereas the key codes are specified in the
mjr	67:c39e66c4e000	2513	// config with their USB usage numbers. E.g., the config val
mjr	67:c39e66c4e000	2514	// for Media Next Track is 0xB5, but we encode this in the USB
mjr	67:c39e66c4e000	2515	// report as bit 0x08. The mediaKeyMap[] table translates
mjr	67:c39e66c4e000	2516	// from the USB usage number to the mask bit. If the key isn't
mjr	67:c39e66c4e000	2517	// among the subset we support, the mapped bit will be zero, so
mjr	67:c39e66c4e000	2518	// the "\|=" will have no effect and the key will be ignored.
mjr	67:c39e66c4e000	2519	mediakeys \|= mediaKeyMap[val];
mjr	67:c39e66c4e000	2520	break;
mjr	53:9b2611964afc	2521	}
mjr	18:5e890ebd0023	2522	}
mjr	11:bd9da7088e6e	2523	}
mjr	36:b9747461331e	2524
mjr	36:b9747461331e	2525	// check for joystick button changes
mjr	36:b9747461331e	2526	if (jsButtons != newjs)
mjr	36:b9747461331e	2527	jsButtons = newjs;
mjr	11:bd9da7088e6e	2528
mjr	35:e959ffba78fd	2529	// Check for changes to the keyboard keys
mjr	35:e959ffba78fd	2530	if (kbState.data[0] != modkeys
mjr	35:e959ffba78fd	2531	\|\| kbState.nkeys != nkeys
mjr	35:e959ffba78fd	2532	\|\| memcmp(keys, &kbState.data[2], 6) != 0)
mjr	35:e959ffba78fd	2533	{
mjr	35:e959ffba78fd	2534	// we have changes - set the change flag and store the new key data
mjr	35:e959ffba78fd	2535	kbState.changed = true;
mjr	35:e959ffba78fd	2536	kbState.data[0] = modkeys;
mjr	35:e959ffba78fd	2537	if (nkeys <= 6) {
mjr	35:e959ffba78fd	2538	// 6 or fewer simultaneous keys - report the key codes
mjr	35:e959ffba78fd	2539	kbState.nkeys = nkeys;
mjr	35:e959ffba78fd	2540	memcpy(&kbState.data[2], keys, 6);
mjr	35:e959ffba78fd	2541	}
mjr	35:e959ffba78fd	2542	else {
mjr	35:e959ffba78fd	2543	// more than 6 simultaneous keys - report rollover (all '1' key codes)
mjr	35:e959ffba78fd	2544	kbState.nkeys = 6;
mjr	35:e959ffba78fd	2545	memset(&kbState.data[2], 1, 6);
mjr	35:e959ffba78fd	2546	}
mjr	35:e959ffba78fd	2547	}
mjr	35:e959ffba78fd	2548
mjr	35:e959ffba78fd	2549	// Check for changes to media keys
mjr	35:e959ffba78fd	2550	if (mediaState.data != mediakeys)
mjr	35:e959ffba78fd	2551	{
mjr	35:e959ffba78fd	2552	mediaState.changed = true;
mjr	35:e959ffba78fd	2553	mediaState.data = mediakeys;
mjr	35:e959ffba78fd	2554	}
mjr	11:bd9da7088e6e	2555	}
mjr	11:bd9da7088e6e	2556
mjr	73:4e8ce0b18915	2557	// Send a button status report
mjr	73:4e8ce0b18915	2558	void reportButtonStatus(USBJoystick &js)
mjr	73:4e8ce0b18915	2559	{
mjr	73:4e8ce0b18915	2560	// start with all buttons off
mjr	73:4e8ce0b18915	2561	uint8_t state[(MAX_BUTTONS+7)/8];
mjr	73:4e8ce0b18915	2562	memset(state, 0, sizeof(state));
mjr	73:4e8ce0b18915	2563
mjr	73:4e8ce0b18915	2564	// pack the button states into bytes, one bit per button
mjr	73:4e8ce0b18915	2565	ButtonState *bs = buttonState;
mjr	73:4e8ce0b18915	2566	for (int i = 0 ; i < nButtons ; ++i, ++bs)
mjr	73:4e8ce0b18915	2567	{
mjr	73:4e8ce0b18915	2568	// get the physical state
mjr	73:4e8ce0b18915	2569	int b = bs->physState;
mjr	73:4e8ce0b18915	2570
mjr	73:4e8ce0b18915	2571	// pack it into the appropriate bit
mjr	73:4e8ce0b18915	2572	int idx = bs->cfgIndex;
mjr	73:4e8ce0b18915	2573	int si = idx / 8;
mjr	73:4e8ce0b18915	2574	int shift = idx & 0x07;
mjr	73:4e8ce0b18915	2575	state[si] \|= b << shift;
mjr	73:4e8ce0b18915	2576	}
mjr	73:4e8ce0b18915	2577
mjr	73:4e8ce0b18915	2578	// send the report
mjr	73:4e8ce0b18915	2579	js.reportButtonStatus(MAX_BUTTONS, state);
mjr	73:4e8ce0b18915	2580	}
mjr	73:4e8ce0b18915	2581
mjr	5:a70c0bce770d	2582	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	2583	//
mjr	5:a70c0bce770d	2584	// Customization joystick subbclass
mjr	5:a70c0bce770d	2585	//
mjr	5:a70c0bce770d	2586
mjr	5:a70c0bce770d	2587	class MyUSBJoystick: public USBJoystick
mjr	5:a70c0bce770d	2588	{
mjr	5:a70c0bce770d	2589	public:
mjr	35:e959ffba78fd	2590	MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release,
mjr	35:e959ffba78fd	2591	bool waitForConnect, bool enableJoystick, bool useKB)
mjr	35:e959ffba78fd	2592	: USBJoystick(vendor_id, product_id, product_release, waitForConnect, enableJoystick, useKB)
mjr	5:a70c0bce770d	2593	{
mjr	54:fd77a6b2f76c	2594	sleeping_ = false;
mjr	54:fd77a6b2f76c	2595	reconnectPending_ = false;
mjr	54:fd77a6b2f76c	2596	timer_.start();
mjr	54:fd77a6b2f76c	2597	}
mjr	54:fd77a6b2f76c	2598
mjr	54:fd77a6b2f76c	2599	// show diagnostic LED feedback for connect state
mjr	54:fd77a6b2f76c	2600	void diagFlash()
mjr	54:fd77a6b2f76c	2601	{
mjr	54:fd77a6b2f76c	2602	if (!configured() \|\| sleeping_)
mjr	54:fd77a6b2f76c	2603	{
mjr	54:fd77a6b2f76c	2604	// flash once if sleeping or twice if disconnected
mjr	54:fd77a6b2f76c	2605	for (int j = isConnected() ? 1 : 2 ; j > 0 ; --j)
mjr	54:fd77a6b2f76c	2606	{
mjr	54:fd77a6b2f76c	2607	// short red flash
mjr	54:fd77a6b2f76c	2608	diagLED(1, 0, 0);
mjr	54:fd77a6b2f76c	2609	wait_us(50000);
mjr	54:fd77a6b2f76c	2610	diagLED(0, 0, 0);
mjr	54:fd77a6b2f76c	2611	wait_us(50000);
mjr	54:fd77a6b2f76c	2612	}
mjr	54:fd77a6b2f76c	2613	}
mjr	5:a70c0bce770d	2614	}
mjr	5:a70c0bce770d	2615
mjr	5:a70c0bce770d	2616	// are we connected?
mjr	5:a70c0bce770d	2617	int isConnected() { return configured(); }
mjr	5:a70c0bce770d	2618
mjr	54:fd77a6b2f76c	2619	// Are we in sleep mode? If true, this means that the hardware has
mjr	54:fd77a6b2f76c	2620	// detected no activity on the bus for 3ms. This happens when the
mjr	54:fd77a6b2f76c	2621	// cable is physically disconnected, the computer is turned off, or
mjr	54:fd77a6b2f76c	2622	// the connection is otherwise disabled.
mjr	54:fd77a6b2f76c	2623	bool isSleeping() const { return sleeping_; }
mjr	54:fd77a6b2f76c	2624
mjr	54:fd77a6b2f76c	2625	// If necessary, attempt to recover from a broken connection.
mjr	54:fd77a6b2f76c	2626	//
mjr	54:fd77a6b2f76c	2627	// This is a hack, to work around an apparent timing bug in the
mjr	54:fd77a6b2f76c	2628	// KL25Z USB implementation that I haven't been able to solve any
mjr	54:fd77a6b2f76c	2629	// other way.
mjr	54:fd77a6b2f76c	2630	//
mjr	54:fd77a6b2f76c	2631	// The issue: when we have an established connection, and the
mjr	54:fd77a6b2f76c	2632	// connection is broken by physically unplugging the cable or by
mjr	54:fd77a6b2f76c	2633	// rebooting the PC, the KL25Z sometimes fails to reconnect when
mjr	54:fd77a6b2f76c	2634	// the physical connection is re-established. The failure is
mjr	54:fd77a6b2f76c	2635	// sporadic; I'd guess it happens about 25% of the time, but I
mjr	54:fd77a6b2f76c	2636	// haven't collected any real statistics on it.
mjr	54:fd77a6b2f76c	2637	//
mjr	54:fd77a6b2f76c	2638	// The proximate cause of the failure is a deadlock in the SETUP
mjr	54:fd77a6b2f76c	2639	// protocol between the host and device that happens around the
mjr	54:fd77a6b2f76c	2640	// point where the PC is requesting the configuration descriptor.
mjr	54:fd77a6b2f76c	2641	// The exact point in the protocol where this occurs varies slightly;
mjr	54:fd77a6b2f76c	2642	// it can occur a message or two before or after the Get Config
mjr	54:fd77a6b2f76c	2643	// Descriptor packet. No matter where it happens, the nature of
mjr	54:fd77a6b2f76c	2644	// the deadlock is the same: the PC thinks it sees a STALL on EP0
mjr	54:fd77a6b2f76c	2645	// from the device, so it terminates the connection attempt, which
mjr	54:fd77a6b2f76c	2646	// stops further traffic on the cable. The KL25Z USB hardware sees
mjr	54:fd77a6b2f76c	2647	// the lack of traffic and triggers a SLEEP interrupt (a misnomer
mjr	54:fd77a6b2f76c	2648	// for what should have been called a BROKEN CONNECTION interrupt).
mjr	54:fd77a6b2f76c	2649	// Both sides simply stop talking at this point, so the connection
mjr	54:fd77a6b2f76c	2650	// is effectively dead.
mjr	54:fd77a6b2f76c	2651	//
mjr	54:fd77a6b2f76c	2652	// The strange thing is that, as far as I can tell, the KL25Z isn't
mjr	54:fd77a6b2f76c	2653	// doing anything to trigger the STALL on its end. Both the PC
mjr	54:fd77a6b2f76c	2654	// and the KL25Z are happy up until the very point of the failure
mjr	54:fd77a6b2f76c	2655	// and show no signs of anything wrong in the protocol exchange.
mjr	54:fd77a6b2f76c	2656	// In fact, every detail of the protocol exchange up to this point
mjr	54:fd77a6b2f76c	2657	// is identical to every successful exchange that does finish the
mjr	54:fd77a6b2f76c	2658	// whole setup process successfully, on both the KL25Z and Windows
mjr	54:fd77a6b2f76c	2659	// sides of the connection. I can't find any point of difference
mjr	54:fd77a6b2f76c	2660	// between successful and unsuccessful sequences that suggests why
mjr	54:fd77a6b2f76c	2661	// the fateful message fails. This makes me suspect that whatever
mjr	54:fd77a6b2f76c	2662	// is going wrong is inside the KL25Z USB hardware module, which
mjr	54:fd77a6b2f76c	2663	// is a pretty substantial black box - it has a lot of internal
mjr	54:fd77a6b2f76c	2664	// state that's inaccessible to the software. Further bolstering
mjr	54:fd77a6b2f76c	2665	// this theory is a little experiment where I found that I could
mjr	54:fd77a6b2f76c	2666	// reproduce the exact sequence of events of a failed reconnect
mjr	54:fd77a6b2f76c	2667	// attempt in an initial connection, which is otherwise 100%
mjr	54:fd77a6b2f76c	2668	// reliable, by inserting a little bit of artifical time padding
mjr	54:fd77a6b2f76c	2669	// (200us per event) into the SETUP interrupt handler. My
mjr	54:fd77a6b2f76c	2670	// hypothesis is that the STALL event happens because the KL25Z
mjr	54:fd77a6b2f76c	2671	// USB hardware is too slow to respond to a message. I'm not
mjr	54:fd77a6b2f76c	2672	// sure why this would only happen after a disconnect and not
mjr	54:fd77a6b2f76c	2673	// during the initial connection; maybe there's some reset work
mjr	54:fd77a6b2f76c	2674	// in the hardware that takes a substantial amount of time after
mjr	54:fd77a6b2f76c	2675	// a disconnect.
mjr	54:fd77a6b2f76c	2676	//
mjr	54:fd77a6b2f76c	2677	// The solution: the problem happens during the SETUP exchange,
mjr	54:fd77a6b2f76c	2678	// after we've been assigned a bus address. It only happens on
mjr	54:fd77a6b2f76c	2679	// some percentage of connection requests, so if we can simply
mjr	54:fd77a6b2f76c	2680	// start over when the failure occurs, we'll eventually succeed
mjr	54:fd77a6b2f76c	2681	// simply because not every attempt fails. The ideal would be
mjr	54:fd77a6b2f76c	2682	// to get the success rate up to 100%, but I can't figure out how
mjr	54:fd77a6b2f76c	2683	// to fix the underlying problem, so this is the next best thing.
mjr	54:fd77a6b2f76c	2684	//
mjr	54:fd77a6b2f76c	2685	// We can detect when the failure occurs by noticing when a SLEEP
mjr	54:fd77a6b2f76c	2686	// interrupt happens while we have an assigned bus address.
mjr	54:fd77a6b2f76c	2687	//
mjr	54:fd77a6b2f76c	2688	// To start a new connection attempt, we have to make the host
mjr	54:fd77a6b2f76c	2689	// try again. The logical connection is initiated solely by the
mjr	54:fd77a6b2f76c	2690	// host. Fortunately, it's easy to get the host to initiate the
mjr	54:fd77a6b2f76c	2691	// process: if we disconnect on the device side, it effectively
mjr	54:fd77a6b2f76c	2692	// makes the device look to the PC like it's electrically unplugged.
mjr	54:fd77a6b2f76c	2693	// When we reconnect on the device side, the PC thinks a new device
mjr	54:fd77a6b2f76c	2694	// has been plugged in and initiates the logical connection setup.
mjr	74:822a92bc11d2	2695	// We have to remain disconnected for some minimum interval before
mjr	74:822a92bc11d2	2696	// the host notices; the exact minimum is unclear, but 5ms seems
mjr	74:822a92bc11d2	2697	// reliable in practice.
mjr	54:fd77a6b2f76c	2698	//
mjr	54:fd77a6b2f76c	2699	// Here's the full algorithm:
mjr	54:fd77a6b2f76c	2700	//
mjr	54:fd77a6b2f76c	2701	// 1. In the SLEEP interrupt handler, if we have a bus address,
mjr	54:fd77a6b2f76c	2702	// we disconnect the device. This happens in ISR context, so we
mjr	54:fd77a6b2f76c	2703	// can't wait around for 5ms. Instead, we simply set a flag noting
mjr	54:fd77a6b2f76c	2704	// that the connection has been broken, and we note the time and
mjr	54:fd77a6b2f76c	2705	// return.
mjr	54:fd77a6b2f76c	2706	//
mjr	54:fd77a6b2f76c	2707	// 2. In our main loop, whenever we find that we're disconnected,
mjr	54:fd77a6b2f76c	2708	// we call recoverConnection(). The main loop's job is basically a
mjr	54:fd77a6b2f76c	2709	// bunch of device polling. We're just one more device to poll, so
mjr	54:fd77a6b2f76c	2710	// recoverConnection() will be called soon after a disconnect, and
mjr	54:fd77a6b2f76c	2711	// then will be called in a loop for as long as we're disconnected.
mjr	54:fd77a6b2f76c	2712	//
mjr	54:fd77a6b2f76c	2713	// 3. In recoverConnection(), we check the flag we set in the SLEEP
mjr	54:fd77a6b2f76c	2714	// handler. If set, we wait until 5ms has elapsed from the SLEEP
mjr	54:fd77a6b2f76c	2715	// event time that we noted, then we'll reconnect and clear the flag.
mjr	54:fd77a6b2f76c	2716	// This gives us the required 5ms (or longer) delay between the
mjr	54:fd77a6b2f76c	2717	// disconnect and reconnect, ensuring that the PC will notice and
mjr	54:fd77a6b2f76c	2718	// will start over with the connection protocol.
mjr	54:fd77a6b2f76c	2719	//
mjr	54:fd77a6b2f76c	2720	// 4. The main loop keeps calling recoverConnection() in a loop for
mjr	54:fd77a6b2f76c	2721	// as long as we're disconnected, so if the new connection attempt
mjr	54:fd77a6b2f76c	2722	// triggered in step 3 fails, the SLEEP interrupt will happen again,
mjr	54:fd77a6b2f76c	2723	// we'll disconnect again, the flag will get set again, and
mjr	54:fd77a6b2f76c	2724	// recoverConnection() will reconnect again after another suitable
mjr	54:fd77a6b2f76c	2725	// delay. This will repeat until the connection succeeds or hell
mjr	54:fd77a6b2f76c	2726	// freezes over.
mjr	54:fd77a6b2f76c	2727	//
mjr	54:fd77a6b2f76c	2728	// Each disconnect happens immediately when a reconnect attempt
mjr	54:fd77a6b2f76c	2729	// fails, and an entire successful connection only takes about 25ms,
mjr	54:fd77a6b2f76c	2730	// so our loop can retry at more than 30 attempts per second.
mjr	54:fd77a6b2f76c	2731	// In my testing, lost connections almost always reconnect in
mjr	54:fd77a6b2f76c	2732	// less than second with this code in place.
mjr	54:fd77a6b2f76c	2733	void recoverConnection()
mjr	54:fd77a6b2f76c	2734	{
mjr	54:fd77a6b2f76c	2735	// if a reconnect is pending, reconnect
mjr	54:fd77a6b2f76c	2736	if (reconnectPending_)
mjr	54:fd77a6b2f76c	2737	{
mjr	54:fd77a6b2f76c	2738	// Loop until we reach 5ms after the last sleep event.
mjr	54:fd77a6b2f76c	2739	for (bool done = false ; !done ; )
mjr	54:fd77a6b2f76c	2740	{
mjr	54:fd77a6b2f76c	2741	// If we've reached the target time, reconnect. Do the
mjr	54:fd77a6b2f76c	2742	// time check and flag reset atomically, so that we can't
mjr	54:fd77a6b2f76c	2743	// have another sleep event sneak in after we've verified
mjr	54:fd77a6b2f76c	2744	// the time. If another event occurs, it has to happen
mjr	54:fd77a6b2f76c	2745	// before we check, in which case it'll update the time
mjr	54:fd77a6b2f76c	2746	// before we check it, or after we clear the flag, in
mjr	54:fd77a6b2f76c	2747	// which case it will reset the flag and we'll do another
mjr	54:fd77a6b2f76c	2748	// round the next time we call this routine.
mjr	54:fd77a6b2f76c	2749	__disable_irq();
mjr	54:fd77a6b2f76c	2750	if (uint32_t(timer_.read_us() - lastSleepTime_) > 5000)
mjr	54:fd77a6b2f76c	2751	{
mjr	54:fd77a6b2f76c	2752	connect(false);
mjr	54:fd77a6b2f76c	2753	reconnectPending_ = false;
mjr	54:fd77a6b2f76c	2754	done = true;
mjr	54:fd77a6b2f76c	2755	}
mjr	54:fd77a6b2f76c	2756	__enable_irq();
mjr	54:fd77a6b2f76c	2757	}
mjr	54:fd77a6b2f76c	2758	}
mjr	54:fd77a6b2f76c	2759	}
mjr	5:a70c0bce770d	2760
mjr	5:a70c0bce770d	2761	protected:
mjr	54:fd77a6b2f76c	2762	// Handle a USB SLEEP interrupt. This interrupt signifies that the
mjr	54:fd77a6b2f76c	2763	// USB hardware module hasn't seen any token traffic for 3ms, which
mjr	54:fd77a6b2f76c	2764	// means that we're either physically or logically disconnected.
mjr	54:fd77a6b2f76c	2765	//
mjr	54:fd77a6b2f76c	2766	// Important: this runs in ISR context.
mjr	54:fd77a6b2f76c	2767	//
mjr	54:fd77a6b2f76c	2768	// Note that this is a specialized sense of "sleep" that's unrelated
mjr	54:fd77a6b2f76c	2769	// to the similarly named power modes on the PC. This has nothing
mjr	54:fd77a6b2f76c	2770	// to do with suspend/sleep mode on the PC, and it's not a low-power
mjr	54:fd77a6b2f76c	2771	// mode on the KL25Z. They really should have called this interrupt
mjr	54:fd77a6b2f76c	2772	// DISCONNECT or BROKEN CONNECTION.)
mjr	54:fd77a6b2f76c	2773	virtual void sleepStateChanged(unsigned int sleeping)
mjr	54:fd77a6b2f76c	2774	{
mjr	54:fd77a6b2f76c	2775	// note the new state
mjr	54:fd77a6b2f76c	2776	sleeping_ = sleeping;
mjr	54:fd77a6b2f76c	2777
mjr	54:fd77a6b2f76c	2778	// If we have a non-zero bus address, we have at least a partial
mjr	54:fd77a6b2f76c	2779	// connection to the host (we've made it at least as far as the
mjr	54:fd77a6b2f76c	2780	// SETUP stage). Explicitly disconnect, and the pending reconnect
mjr	54:fd77a6b2f76c	2781	// flag, and remember the time of the sleep event.
mjr	54:fd77a6b2f76c	2782	if (USB0->ADDR != 0x00)
mjr	54:fd77a6b2f76c	2783	{
mjr	54:fd77a6b2f76c	2784	disconnect();
mjr	54:fd77a6b2f76c	2785	lastSleepTime_ = timer_.read_us();
mjr	54:fd77a6b2f76c	2786	reconnectPending_ = true;
mjr	54:fd77a6b2f76c	2787	}
mjr	54:fd77a6b2f76c	2788	}
mjr	54:fd77a6b2f76c	2789
mjr	54:fd77a6b2f76c	2790	// is the USB connection asleep?
mjr	54:fd77a6b2f76c	2791	volatile bool sleeping_;
mjr	54:fd77a6b2f76c	2792
mjr	54:fd77a6b2f76c	2793	// flag: reconnect pending after sleep event
mjr	54:fd77a6b2f76c	2794	volatile bool reconnectPending_;
mjr	54:fd77a6b2f76c	2795
mjr	54:fd77a6b2f76c	2796	// time of last sleep event while connected
mjr	54:fd77a6b2f76c	2797	volatile uint32_t lastSleepTime_;
mjr	54:fd77a6b2f76c	2798
mjr	54:fd77a6b2f76c	2799	// timer to keep track of interval since last sleep event
mjr	54:fd77a6b2f76c	2800	Timer timer_;
mjr	5:a70c0bce770d	2801	};
mjr	5:a70c0bce770d	2802
mjr	5:a70c0bce770d	2803	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	2804	//
mjr	5:a70c0bce770d	2805	// Accelerometer (MMA8451Q)
mjr	5:a70c0bce770d	2806	//
mjr	5:a70c0bce770d	2807
mjr	5:a70c0bce770d	2808	// The MMA8451Q is the KL25Z's on-board 3-axis accelerometer.
mjr	5:a70c0bce770d	2809	//
mjr	5:a70c0bce770d	2810	// This is a custom wrapper for the library code to interface to the
mjr	6:cc35eb643e8f	2811	// MMA8451Q. This class encapsulates an interrupt handler and
mjr	6:cc35eb643e8f	2812	// automatic calibration.
mjr	5:a70c0bce770d	2813	//
mjr	5:a70c0bce770d	2814	// We install an interrupt handler on the accelerometer "data ready"
mjr	6:cc35eb643e8f	2815	// interrupt to ensure that we fetch each sample immediately when it
mjr	74:822a92bc11d2	2816	// becomes available. The accelerometer data rate is fairly high
mjr	6:cc35eb643e8f	2817	// (800 Hz), so it's not practical to keep up with it by polling.
mjr	6:cc35eb643e8f	2818	// Using an interrupt handler lets us respond quickly and read
mjr	6:cc35eb643e8f	2819	// every sample.
mjr	5:a70c0bce770d	2820	//
mjr	6:cc35eb643e8f	2821	// We automatically calibrate the accelerometer so that it's not
mjr	6:cc35eb643e8f	2822	// necessary to get it exactly level when installing it, and so
mjr	6:cc35eb643e8f	2823	// that it's also not necessary to calibrate it manually. There's
mjr	6:cc35eb643e8f	2824	// lots of experience that tells us that manual calibration is a
mjr	6:cc35eb643e8f	2825	// terrible solution, mostly because cabinets tend to shift slightly
mjr	6:cc35eb643e8f	2826	// during use, requiring frequent recalibration. Instead, we
mjr	6:cc35eb643e8f	2827	// calibrate automatically. We continuously monitor the acceleration
mjr	6:cc35eb643e8f	2828	// data, watching for periods of constant (or nearly constant) values.
mjr	6:cc35eb643e8f	2829	// Any time it appears that the machine has been at rest for a while
mjr	6:cc35eb643e8f	2830	// (about 5 seconds), we'll average the readings during that rest
mjr	6:cc35eb643e8f	2831	// period and use the result as the level rest position. This is
mjr	6:cc35eb643e8f	2832	// is ongoing, so we'll quickly find the center point again if the
mjr	6:cc35eb643e8f	2833	// machine is moved during play (by an especially aggressive bout
mjr	6:cc35eb643e8f	2834	// of nudging, say).
mjr	5:a70c0bce770d	2835	//
mjr	5:a70c0bce770d	2836
mjr	17:ab3cec0c8bf4	2837	// I2C address of the accelerometer (this is a constant of the KL25Z)
mjr	17:ab3cec0c8bf4	2838	const int MMA8451_I2C_ADDRESS = (0x1d<<1);
mjr	17:ab3cec0c8bf4	2839
mjr	17:ab3cec0c8bf4	2840	// SCL and SDA pins for the accelerometer (constant for the KL25Z)
mjr	17:ab3cec0c8bf4	2841	#define MMA8451_SCL_PIN PTE25
mjr	17:ab3cec0c8bf4	2842	#define MMA8451_SDA_PIN PTE24
mjr	17:ab3cec0c8bf4	2843
mjr	17:ab3cec0c8bf4	2844	// Digital in pin to use for the accelerometer interrupt. For the KL25Z,
mjr	17:ab3cec0c8bf4	2845	// this can be either PTA14 or PTA15, since those are the pins physically
mjr	17:ab3cec0c8bf4	2846	// wired on this board to the MMA8451 interrupt controller.
mjr	17:ab3cec0c8bf4	2847	#define MMA8451_INT_PIN PTA15
mjr	17:ab3cec0c8bf4	2848
mjr	17:ab3cec0c8bf4	2849
mjr	6:cc35eb643e8f	2850	// accelerometer input history item, for gathering calibration data
mjr	6:cc35eb643e8f	2851	struct AccHist
mjr	5:a70c0bce770d	2852	{
mjr	6:cc35eb643e8f	2853	AccHist() { x = y = d = 0.0; xtot = ytot = 0.0; cnt = 0; }
mjr	6:cc35eb643e8f	2854	void set(float x, float y, AccHist *prv)
mjr	6:cc35eb643e8f	2855	{
mjr	6:cc35eb643e8f	2856	// save the raw position
mjr	6:cc35eb643e8f	2857	this->x = x;
mjr	6:cc35eb643e8f	2858	this->y = y;
mjr	6:cc35eb643e8f	2859	this->d = distance(prv);
mjr	6:cc35eb643e8f	2860	}
mjr	6:cc35eb643e8f	2861
mjr	6:cc35eb643e8f	2862	// reading for this entry
mjr	5:a70c0bce770d	2863	float x, y;
mjr	5:a70c0bce770d	2864
mjr	6:cc35eb643e8f	2865	// distance from previous entry
mjr	6:cc35eb643e8f	2866	float d;
mjr	5:a70c0bce770d	2867
mjr	6:cc35eb643e8f	2868	// total and count of samples averaged over this period
mjr	6:cc35eb643e8f	2869	float xtot, ytot;
mjr	6:cc35eb643e8f	2870	int cnt;
mjr	6:cc35eb643e8f	2871
mjr	6:cc35eb643e8f	2872	void clearAvg() { xtot = ytot = 0.0; cnt = 0; }
mjr	6:cc35eb643e8f	2873	void addAvg(float x, float y) { xtot += x; ytot += y; ++cnt; }
mjr	6:cc35eb643e8f	2874	float xAvg() const { return xtot/cnt; }
mjr	6:cc35eb643e8f	2875	float yAvg() const { return ytot/cnt; }
mjr	5:a70c0bce770d	2876
mjr	6:cc35eb643e8f	2877	float distance(AccHist *p)
mjr	6:cc35eb643e8f	2878	{ return sqrt(square(p->x - x) + square(p->y - y)); }
mjr	5:a70c0bce770d	2879	};
mjr	5:a70c0bce770d	2880
mjr	5:a70c0bce770d	2881	// accelerometer wrapper class
mjr	3:3514575d4f86	2882	class Accel
mjr	3:3514575d4f86	2883	{
mjr	3:3514575d4f86	2884	public:
mjr	3:3514575d4f86	2885	Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin)
mjr	3:3514575d4f86	2886	: mma_(sda, scl, i2cAddr), intIn_(irqPin)
mjr	3:3514575d4f86	2887	{
mjr	5:a70c0bce770d	2888	// remember the interrupt pin assignment
mjr	5:a70c0bce770d	2889	irqPin_ = irqPin;
mjr	5:a70c0bce770d	2890
mjr	5:a70c0bce770d	2891	// reset and initialize
mjr	5:a70c0bce770d	2892	reset();
mjr	5:a70c0bce770d	2893	}
mjr	5:a70c0bce770d	2894
mjr	5:a70c0bce770d	2895	void reset()
mjr	5:a70c0bce770d	2896	{
mjr	6:cc35eb643e8f	2897	// clear the center point
mjr	6:cc35eb643e8f	2898	cx_ = cy_ = 0.0;
mjr	6:cc35eb643e8f	2899
mjr	6:cc35eb643e8f	2900	// start the calibration timer
mjr	5:a70c0bce770d	2901	tCenter_.start();
mjr	5:a70c0bce770d	2902	iAccPrv_ = nAccPrv_ = 0;
mjr	6:cc35eb643e8f	2903
mjr	5:a70c0bce770d	2904	// reset and initialize the MMA8451Q
mjr	5:a70c0bce770d	2905	mma_.init();
mjr	6:cc35eb643e8f	2906
mjr	6:cc35eb643e8f	2907	// set the initial integrated velocity reading to zero
mjr	6:cc35eb643e8f	2908	vx_ = vy_ = 0;
mjr	3:3514575d4f86	2909
mjr	6:cc35eb643e8f	2910	// set up our accelerometer interrupt handling
mjr	6:cc35eb643e8f	2911	intIn_.rise(this, &Accel::isr);
mjr	5:a70c0bce770d	2912	mma_.setInterruptMode(irqPin_ == PTA14 ? 1 : 2);
mjr	3:3514575d4f86	2913
mjr	3:3514575d4f86	2914	// read the current registers to clear the data ready flag
mjr	6:cc35eb643e8f	2915	mma_.getAccXYZ(ax_, ay_, az_);
mjr	3:3514575d4f86	2916
mjr	3:3514575d4f86	2917	// start our timers
mjr	3:3514575d4f86	2918	tGet_.start();
mjr	3:3514575d4f86	2919	tInt_.start();
mjr	3:3514575d4f86	2920	}
mjr	3:3514575d4f86	2921
mjr	76:7f5912b6340e	2922	void disableInterrupts()
mjr	76:7f5912b6340e	2923	{
mjr	76:7f5912b6340e	2924	mma_.clearInterruptMode();
mjr	76:7f5912b6340e	2925	}
mjr	76:7f5912b6340e	2926
mjr	9:fd65b0a94720	2927	void get(int &x, int &y)
mjr	3:3514575d4f86	2928	{
mjr	3:3514575d4f86	2929	// disable interrupts while manipulating the shared data
mjr	3:3514575d4f86	2930	__disable_irq();
mjr	3:3514575d4f86	2931
mjr	3:3514575d4f86	2932	// read the shared data and store locally for calculations
mjr	6:cc35eb643e8f	2933	float ax = ax_, ay = ay_;
mjr	6:cc35eb643e8f	2934	float vx = vx_, vy = vy_;
mjr	5:a70c0bce770d	2935
mjr	6:cc35eb643e8f	2936	// reset the velocity sum for the next run
mjr	6:cc35eb643e8f	2937	vx_ = vy_ = 0;
mjr	3:3514575d4f86	2938
mjr	3:3514575d4f86	2939	// get the time since the last get() sample
mjr	73:4e8ce0b18915	2940	int dtus = tGet_.read_us();
mjr	3:3514575d4f86	2941	tGet_.reset();
mjr	3:3514575d4f86	2942
mjr	3:3514575d4f86	2943	// done manipulating the shared data
mjr	3:3514575d4f86	2944	__enable_irq();
mjr	3:3514575d4f86	2945
mjr	6:cc35eb643e8f	2946	// adjust the readings for the integration time
mjr	73:4e8ce0b18915	2947	float dt = dtus/1000000.0f;
mjr	6:cc35eb643e8f	2948	vx /= dt;
mjr	6:cc35eb643e8f	2949	vy /= dt;
mjr	6:cc35eb643e8f	2950
mjr	6:cc35eb643e8f	2951	// add this sample to the current calibration interval's running total
mjr	6:cc35eb643e8f	2952	AccHist *p = accPrv_ + iAccPrv_;
mjr	6:cc35eb643e8f	2953	p->addAvg(ax, ay);
mjr	6:cc35eb643e8f	2954
mjr	5:a70c0bce770d	2955	// check for auto-centering every so often
mjr	48:058ace2aed1d	2956	if (tCenter_.read_us() > 1000000)
mjr	5:a70c0bce770d	2957	{
mjr	5:a70c0bce770d	2958	// add the latest raw sample to the history list
mjr	6:cc35eb643e8f	2959	AccHist *prv = p;
mjr	5:a70c0bce770d	2960	iAccPrv_ = (iAccPrv_ + 1) % maxAccPrv;
mjr	6:cc35eb643e8f	2961	p = accPrv_ + iAccPrv_;
mjr	6:cc35eb643e8f	2962	p->set(ax, ay, prv);
mjr	5:a70c0bce770d	2963
mjr	5:a70c0bce770d	2964	// if we have a full complement, check for stability
mjr	5:a70c0bce770d	2965	if (nAccPrv_ >= maxAccPrv)
mjr	5:a70c0bce770d	2966	{
mjr	5:a70c0bce770d	2967	// check if we've been stable for all recent samples
mjr	75:677892300e7a	2968	static const float accTol = .01f;
mjr	6:cc35eb643e8f	2969	AccHist *p0 = accPrv_;
mjr	6:cc35eb643e8f	2970	if (p0[0].d < accTol
mjr	6:cc35eb643e8f	2971	&& p0[1].d < accTol
mjr	6:cc35eb643e8f	2972	&& p0[2].d < accTol
mjr	6:cc35eb643e8f	2973	&& p0[3].d < accTol
mjr	6:cc35eb643e8f	2974	&& p0[4].d < accTol)
mjr	5:a70c0bce770d	2975	{
mjr	6:cc35eb643e8f	2976	// Figure the new calibration point as the average of
mjr	6:cc35eb643e8f	2977	// the samples over the rest period
mjr	75:677892300e7a	2978	cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5.0f;
mjr	75:677892300e7a	2979	cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5.0f;
mjr	5:a70c0bce770d	2980	}
mjr	5:a70c0bce770d	2981	}
mjr	5:a70c0bce770d	2982	else
mjr	5:a70c0bce770d	2983	{
mjr	5:a70c0bce770d	2984	// not enough samples yet; just up the count
mjr	5:a70c0bce770d	2985	++nAccPrv_;
mjr	5:a70c0bce770d	2986	}
mjr	6:cc35eb643e8f	2987
mjr	6:cc35eb643e8f	2988	// clear the new item's running totals
mjr	6:cc35eb643e8f	2989	p->clearAvg();
mjr	5:a70c0bce770d	2990
mjr	5:a70c0bce770d	2991	// reset the timer
mjr	5:a70c0bce770d	2992	tCenter_.reset();
mjr	39:b3815a1c3802	2993
mjr	39:b3815a1c3802	2994	// If we haven't seen an interrupt in a while, do an explicit read to
mjr	39:b3815a1c3802	2995	// "unstick" the device. The device can become stuck - which is to say,
mjr	39:b3815a1c3802	2996	// it will stop delivering data-ready interrupts - if we fail to service
mjr	39:b3815a1c3802	2997	// one data-ready interrupt before the next one occurs. Reading a sample
mjr	39:b3815a1c3802	2998	// will clear up this overrun condition and allow normal interrupt
mjr	39:b3815a1c3802	2999	// generation to continue.
mjr	39:b3815a1c3802	3000	//
mjr	76:7f5912b6340e	3001	// Note that this stuck condition shouldn't ever occur, because if only
mjr	76:7f5912b6340e	3002	// happens if we're spending a long period with interrupts disabled (in
mjr	76:7f5912b6340e	3003	// a critical section or in another interrupt handler), which will likely
mjr	76:7f5912b6340e	3004	// cause other, worse problems beyond the sticky accelerometer. Even so,
mjr	76:7f5912b6340e	3005	// it's easy to detect and correct, so we'll do so for the sake of making
mjr	76:7f5912b6340e	3006	// the system a little more fault-tolerant.
mjr	76:7f5912b6340e	3007	if (tInt_.read_us() > 1000000)
mjr	39:b3815a1c3802	3008	{
mjr	39:b3815a1c3802	3009	float x, y, z;
mjr	39:b3815a1c3802	3010	mma_.getAccXYZ(x, y, z);
mjr	39:b3815a1c3802	3011	}
mjr	5:a70c0bce770d	3012	}
mjr	5:a70c0bce770d	3013
mjr	6:cc35eb643e8f	3014	// report our integrated velocity reading in x,y
mjr	6:cc35eb643e8f	3015	x = rawToReport(vx);
mjr	6:cc35eb643e8f	3016	y = rawToReport(vy);
mjr	5:a70c0bce770d	3017
mjr	6:cc35eb643e8f	3018	#ifdef DEBUG_PRINTF
mjr	6:cc35eb643e8f	3019	if (x != 0 \|\| y != 0)
mjr	6:cc35eb643e8f	3020	printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt);
mjr	6:cc35eb643e8f	3021	#endif
mjr	3:3514575d4f86	3022	}
mjr	29:582472d0bc57	3023
mjr	3:3514575d4f86	3024	private:
mjr	6:cc35eb643e8f	3025	// adjust a raw acceleration figure to a usb report value
mjr	6:cc35eb643e8f	3026	int rawToReport(float v)
mjr	5:a70c0bce770d	3027	{
mjr	6:cc35eb643e8f	3028	// scale to the joystick report range and round to integer
mjr	6:cc35eb643e8f	3029	int i = int(round(v*JOYMAX));
mjr	5:a70c0bce770d	3030
mjr	6:cc35eb643e8f	3031	// if it's near the center, scale it roughly as 20*(i/20)^2,
mjr	6:cc35eb643e8f	3032	// to suppress noise near the rest position
mjr	6:cc35eb643e8f	3033	static const int filter[] = {
mjr	6:cc35eb643e8f	3034	-18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0,
mjr	6:cc35eb643e8f	3035	0,
mjr	6:cc35eb643e8f	3036	0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18
mjr	6:cc35eb643e8f	3037	};
mjr	6:cc35eb643e8f	3038	return (i > 20 \|\| i < -20 ? i : filter[i+20]);
mjr	5:a70c0bce770d	3039	}
mjr	5:a70c0bce770d	3040
mjr	3:3514575d4f86	3041	// interrupt handler
mjr	3:3514575d4f86	3042	void isr()
mjr	3:3514575d4f86	3043	{
mjr	3:3514575d4f86	3044	// Read the axes. Note that we have to read all three axes
mjr	3:3514575d4f86	3045	// (even though we only really use x and y) in order to clear
mjr	3:3514575d4f86	3046	// the "data ready" status bit in the accelerometer. The
mjr	3:3514575d4f86	3047	// interrupt only occurs when the "ready" bit transitions from
mjr	3:3514575d4f86	3048	// off to on, so we have to make sure it's off.
mjr	5:a70c0bce770d	3049	float x, y, z;
mjr	5:a70c0bce770d	3050	mma_.getAccXYZ(x, y, z);
mjr	3:3514575d4f86	3051
mjr	3:3514575d4f86	3052	// calculate the time since the last interrupt
mjr	39:b3815a1c3802	3053	float dt = tInt_.read();
mjr	3:3514575d4f86	3054	tInt_.reset();
mjr	6:cc35eb643e8f	3055
mjr	6:cc35eb643e8f	3056	// integrate the time slice from the previous reading to this reading
mjr	6:cc35eb643e8f	3057	vx_ += (x + ax_ - 2cx_)dt/2;
mjr	6:cc35eb643e8f	3058	vy_ += (y + ay_ - 2cy_)dt/2;
mjr	3:3514575d4f86	3059
mjr	6:cc35eb643e8f	3060	// store the updates
mjr	6:cc35eb643e8f	3061	ax_ = x;
mjr	6:cc35eb643e8f	3062	ay_ = y;
mjr	6:cc35eb643e8f	3063	az_ = z;
mjr	3:3514575d4f86	3064	}
mjr	3:3514575d4f86	3065
mjr	3:3514575d4f86	3066	// underlying accelerometer object
mjr	3:3514575d4f86	3067	MMA8451Q mma_;
mjr	3:3514575d4f86	3068
mjr	5:a70c0bce770d	3069	// last raw acceleration readings
mjr	6:cc35eb643e8f	3070	float ax_, ay_, az_;
mjr	5:a70c0bce770d	3071
mjr	6:cc35eb643e8f	3072	// integrated velocity reading since last get()
mjr	6:cc35eb643e8f	3073	float vx_, vy_;
mjr	6:cc35eb643e8f	3074
mjr	3:3514575d4f86	3075	// timer for measuring time between get() samples
mjr	3:3514575d4f86	3076	Timer tGet_;
mjr	3:3514575d4f86	3077
mjr	3:3514575d4f86	3078	// timer for measuring time between interrupts
mjr	3:3514575d4f86	3079	Timer tInt_;
mjr	5:a70c0bce770d	3080
mjr	6:cc35eb643e8f	3081	// Calibration reference point for accelerometer. This is the
mjr	6:cc35eb643e8f	3082	// average reading on the accelerometer when in the neutral position
mjr	6:cc35eb643e8f	3083	// at rest.
mjr	6:cc35eb643e8f	3084	float cx_, cy_;
mjr	5:a70c0bce770d	3085
mjr	5:a70c0bce770d	3086	// timer for atuo-centering
mjr	5:a70c0bce770d	3087	Timer tCenter_;
mjr	6:cc35eb643e8f	3088
mjr	6:cc35eb643e8f	3089	// Auto-centering history. This is a separate history list that
mjr	6:cc35eb643e8f	3090	// records results spaced out sparesely over time, so that we can
mjr	6:cc35eb643e8f	3091	// watch for long-lasting periods of rest. When we observe nearly
mjr	6:cc35eb643e8f	3092	// no motion for an extended period (on the order of 5 seconds), we
mjr	6:cc35eb643e8f	3093	// take this to mean that the cabinet is at rest in its neutral
mjr	6:cc35eb643e8f	3094	// position, so we take this as the calibration zero point for the
mjr	6:cc35eb643e8f	3095	// accelerometer. We update this history continuously, which allows
mjr	6:cc35eb643e8f	3096	// us to continuously re-calibrate the accelerometer. This ensures
mjr	6:cc35eb643e8f	3097	// that we'll automatically adjust to any actual changes in the
mjr	6:cc35eb643e8f	3098	// cabinet's orientation (e.g., if it gets moved slightly by an
mjr	6:cc35eb643e8f	3099	// especially strong nudge) as well as any systematic drift in the
mjr	6:cc35eb643e8f	3100	// accelerometer measurement bias (e.g., from temperature changes).
mjr	5:a70c0bce770d	3101	int iAccPrv_, nAccPrv_;
mjr	5:a70c0bce770d	3102	static const int maxAccPrv = 5;
mjr	6:cc35eb643e8f	3103	AccHist accPrv_[maxAccPrv];
mjr	6:cc35eb643e8f	3104
mjr	5:a70c0bce770d	3105	// interurupt pin name
mjr	5:a70c0bce770d	3106	PinName irqPin_;
mjr	5:a70c0bce770d	3107
mjr	5:a70c0bce770d	3108	// interrupt router
mjr	5:a70c0bce770d	3109	InterruptIn intIn_;
mjr	3:3514575d4f86	3110	};
mjr	3:3514575d4f86	3111
mjr	5:a70c0bce770d	3112	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	3113	//
mjr	14:df700b22ca08	3114	// Clear the I2C bus for the MMA8451Q. This seems necessary some of the time
mjr	5:a70c0bce770d	3115	// for reasons that aren't clear to me. Doing a hard power cycle has the same
mjr	5:a70c0bce770d	3116	// effect, but when we do a soft reset, the hardware sometimes seems to leave
mjr	5:a70c0bce770d	3117	// the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through
mjr	14:df700b22ca08	3118	// the SCL line is supposed to clear this condition. I'm not convinced this
mjr	14:df700b22ca08	3119	// actually works with the way this component is wired on the KL25Z, but it
mjr	14:df700b22ca08	3120	// seems harmless, so we'll do it on reset in case it does some good. What
mjr	14:df700b22ca08	3121	// we really seem to need is a way to power cycle the MMA8451Q if it ever
mjr	14:df700b22ca08	3122	// gets stuck, but this is simply not possible in software on the KL25Z.
mjr	14:df700b22ca08	3123	//
mjr	14:df700b22ca08	3124	// If the accelerometer does get stuck, and a software reboot doesn't reset
mjr	14:df700b22ca08	3125	// it, the only workaround is to manually power cycle the whole KL25Z by
mjr	14:df700b22ca08	3126	// unplugging both of its USB connections.
mjr	5:a70c0bce770d	3127	//
mjr	5:a70c0bce770d	3128	void clear_i2c()
mjr	5:a70c0bce770d	3129	{
mjr	38:091e511ce8a0	3130	// set up general-purpose output pins to the I2C lines
mjr	5:a70c0bce770d	3131	DigitalOut scl(MMA8451_SCL_PIN);
mjr	5:a70c0bce770d	3132	DigitalIn sda(MMA8451_SDA_PIN);
mjr	5:a70c0bce770d	3133
mjr	5:a70c0bce770d	3134	// clock the SCL 9 times
mjr	5:a70c0bce770d	3135	for (int i = 0 ; i < 9 ; ++i)
mjr	5:a70c0bce770d	3136	{
mjr	5:a70c0bce770d	3137	scl = 1;
mjr	5:a70c0bce770d	3138	wait_us(20);
mjr	5:a70c0bce770d	3139	scl = 0;
mjr	5:a70c0bce770d	3140	wait_us(20);
mjr	5:a70c0bce770d	3141	}
mjr	5:a70c0bce770d	3142	}
mjr	76:7f5912b6340e	3143
mjr	76:7f5912b6340e	3144
mjr	14:df700b22ca08	3145	// ---------------------------------------------------------------------------
mjr	14:df700b22ca08	3146	//
mjr	33:d832bcab089e	3147	// Simple binary (on/off) input debouncer. Requires an input to be stable
mjr	33:d832bcab089e	3148	// for a given interval before allowing an update.
mjr	33:d832bcab089e	3149	//
mjr	33:d832bcab089e	3150	class Debouncer
mjr	33:d832bcab089e	3151	{
mjr	33:d832bcab089e	3152	public:
mjr	33:d832bcab089e	3153	Debouncer(bool initVal, float tmin)
mjr	33:d832bcab089e	3154	{
mjr	33:d832bcab089e	3155	t.start();
mjr	33:d832bcab089e	3156	this->stable = this->prv = initVal;
mjr	33:d832bcab089e	3157	this->tmin = tmin;
mjr	33:d832bcab089e	3158	}
mjr	33:d832bcab089e	3159
mjr	33:d832bcab089e	3160	// Get the current stable value
mjr	33:d832bcab089e	3161	bool val() const { return stable; }
mjr	33:d832bcab089e	3162
mjr	33:d832bcab089e	3163	// Apply a new sample. This tells us the new raw reading from the
mjr	33:d832bcab089e	3164	// input device.
mjr	33:d832bcab089e	3165	void sampleIn(bool val)
mjr	33:d832bcab089e	3166	{
mjr	33:d832bcab089e	3167	// If the new raw reading is different from the previous
mjr	33:d832bcab089e	3168	// raw reading, we've detected an edge - start the clock
mjr	33:d832bcab089e	3169	// on the sample reader.
mjr	33:d832bcab089e	3170	if (val != prv)
mjr	33:d832bcab089e	3171	{
mjr	33:d832bcab089e	3172	// we have an edge - reset the sample clock
mjr	33:d832bcab089e	3173	t.reset();
mjr	33:d832bcab089e	3174
mjr	33:d832bcab089e	3175	// this is now the previous raw sample for nxt time
mjr	33:d832bcab089e	3176	prv = val;
mjr	33:d832bcab089e	3177	}
mjr	33:d832bcab089e	3178	else if (val != stable)
mjr	33:d832bcab089e	3179	{
mjr	33:d832bcab089e	3180	// The new raw sample is the same as the last raw sample,
mjr	33:d832bcab089e	3181	// and different from the stable value. This means that
mjr	33:d832bcab089e	3182	// the sample value has been the same for the time currently
mjr	33:d832bcab089e	3183	// indicated by our timer. If enough time has elapsed to
mjr	33:d832bcab089e	3184	// consider the value stable, apply the new value.
mjr	33:d832bcab089e	3185	if (t.read() > tmin)
mjr	33:d832bcab089e	3186	stable = val;
mjr	33:d832bcab089e	3187	}
mjr	33:d832bcab089e	3188	}
mjr	33:d832bcab089e	3189
mjr	33:d832bcab089e	3190	private:
mjr	33:d832bcab089e	3191	// current stable value
mjr	33:d832bcab089e	3192	bool stable;
mjr	33:d832bcab089e	3193
mjr	33:d832bcab089e	3194	// last raw sample value
mjr	33:d832bcab089e	3195	bool prv;
mjr	33:d832bcab089e	3196
mjr	33:d832bcab089e	3197	// elapsed time since last raw input change
mjr	33:d832bcab089e	3198	Timer t;
mjr	33:d832bcab089e	3199
mjr	33:d832bcab089e	3200	// Minimum time interval for stability, in seconds. Input readings
mjr	33:d832bcab089e	3201	// must be stable for this long before the stable value is updated.
mjr	33:d832bcab089e	3202	float tmin;
mjr	33:d832bcab089e	3203	};
mjr	33:d832bcab089e	3204
mjr	33:d832bcab089e	3205
mjr	33:d832bcab089e	3206	// ---------------------------------------------------------------------------
mjr	33:d832bcab089e	3207	//
mjr	33:d832bcab089e	3208	// TV ON timer. If this feature is enabled, we toggle a TV power switch
mjr	33:d832bcab089e	3209	// relay (connected to a GPIO pin) to turn on the cab's TV monitors shortly
mjr	33:d832bcab089e	3210	// after the system is powered. This is useful for TVs that don't remember
mjr	33:d832bcab089e	3211	// their power state and don't turn back on automatically after being
mjr	33:d832bcab089e	3212	// unplugged and plugged in again. This feature requires external
mjr	33:d832bcab089e	3213	// circuitry, which is built in to the expansion board and can also be
mjr	33:d832bcab089e	3214	// built separately - see the Build Guide for the circuit plan.
mjr	33:d832bcab089e	3215	//
mjr	33:d832bcab089e	3216	// Theory of operation: to use this feature, the cabinet must have a
mjr	33:d832bcab089e	3217	// secondary PC-style power supply (PSU2) for the feedback devices, and
mjr	33:d832bcab089e	3218	// this secondary supply must be plugged in to the same power strip or
mjr	33:d832bcab089e	3219	// switched outlet that controls power to the TVs. This lets us use PSU2
mjr	33:d832bcab089e	3220	// as a proxy for the TV power state - when PSU2 is on, the TV outlet is
mjr	33:d832bcab089e	3221	// powered, and when PSU2 is off, the TV outlet is off. We use a little
mjr	33:d832bcab089e	3222	// latch circuit powered by PSU2 to monitor the status. The latch has a
mjr	33:d832bcab089e	3223	// current state, ON or OFF, that we can read via a GPIO input pin, and
mjr	33:d832bcab089e	3224	// we can set the state to ON by pulsing a separate GPIO output pin. As
mjr	33:d832bcab089e	3225	// long as PSU2 is powered off, the latch stays in the OFF state, even if
mjr	33:d832bcab089e	3226	// we try to set it by pulsing the SET pin. When PSU2 is turned on after
mjr	33:d832bcab089e	3227	// being off, the latch starts receiving power but stays in the OFF state,
mjr	33:d832bcab089e	3228	// since this is the initial condition when the power first comes on. So
mjr	33:d832bcab089e	3229	// if our latch state pin is reading OFF, we know that PSU2 is either off
mjr	33:d832bcab089e	3230	// now or was off some time since we last checked. We use a timer to
mjr	33:d832bcab089e	3231	// check the state periodically. Each time we see the state is OFF, we
mjr	33:d832bcab089e	3232	// try pulsing the SET pin. If the state still reads as OFF, we know
mjr	33:d832bcab089e	3233	// that PSU2 is currently off; if the state changes to ON, though, we
mjr	33:d832bcab089e	3234	// know that PSU2 has gone from OFF to ON some time between now and the
mjr	33:d832bcab089e	3235	// previous check. When we see this condition, we start a countdown
mjr	33:d832bcab089e	3236	// timer, and pulse the TV switch relay when the countdown ends.
mjr	33:d832bcab089e	3237	//
mjr	40:cc0d9814522b	3238	// This scheme might seem a little convoluted, but it handles a number
mjr	40:cc0d9814522b	3239	// of tricky but likely scenarios:
mjr	33:d832bcab089e	3240	//
mjr	33:d832bcab089e	3241	// - Most cabinets systems are set up with "soft" PC power switches,
mjr	40:cc0d9814522b	3242	// so that the PC goes into "Soft Off" mode when the user turns off
mjr	40:cc0d9814522b	3243	// the cabinet by pushing the power button or using the Shut Down
mjr	40:cc0d9814522b	3244	// command from within Windows. In Windows parlance, this "soft off"
mjr	40:cc0d9814522b	3245	// condition is called ACPI State S5. In this state, the main CPU
mjr	40:cc0d9814522b	3246	// power is turned off, but the motherboard still provides power to
mjr	40:cc0d9814522b	3247	// USB devices. This means that the KL25Z keeps running. Without
mjr	40:cc0d9814522b	3248	// the external power sensing circuit, the only hint that we're in
mjr	40:cc0d9814522b	3249	// this state is that the USB connection to the host goes into Suspend
mjr	40:cc0d9814522b	3250	// mode, but that could mean other things as well. The latch circuit
mjr	40:cc0d9814522b	3251	// lets us tell for sure that we're in this state.
mjr	33:d832bcab089e	3252	//
mjr	33:d832bcab089e	3253	// - Some cabinet builders might prefer to use "hard" power switches,
mjr	33:d832bcab089e	3254	// cutting all power to the cabinet, including the PC motherboard (and
mjr	33:d832bcab089e	3255	// thus the KL25Z) every time the machine is turned off. This also
mjr	33:d832bcab089e	3256	// applies to the "soft" switch case above when the cabinet is unplugged,
mjr	33:d832bcab089e	3257	// a power outage occurs, etc. In these cases, the KL25Z will do a cold
mjr	33:d832bcab089e	3258	// boot when the PC is turned on. We don't know whether the KL25Z
mjr	33:d832bcab089e	3259	// will power up before or after PSU2, so it's not good enough to
mjr	40:cc0d9814522b	3260	// observe the current state of PSU2 when we first check. If PSU2
mjr	40:cc0d9814522b	3261	// were to come on first, checking only the current state would fool
mjr	40:cc0d9814522b	3262	// us into thinking that no action is required, because we'd only see
mjr	40:cc0d9814522b	3263	// that PSU2 is turned on any time we check. The latch handles this
mjr	40:cc0d9814522b	3264	// case by letting us see that PSU2 was indeed off some time before our
mjr	40:cc0d9814522b	3265	// first check.
mjr	33:d832bcab089e	3266	//
mjr	33:d832bcab089e	3267	// - If the KL25Z is rebooted while the main system is running, or the
mjr	40:cc0d9814522b	3268	// KL25Z is unplugged and plugged back in, we'll correctly leave the
mjr	33:d832bcab089e	3269	// TVs as they are. The latch state is independent of the KL25Z's
mjr	33:d832bcab089e	3270	// power or software state, so it's won't affect the latch state when
mjr	33:d832bcab089e	3271	// the KL25Z is unplugged or rebooted; when we boot, we'll see that
mjr	33:d832bcab089e	3272	// the latch is already on and that we don't have to turn on the TVs.
mjr	33:d832bcab089e	3273	// This is important because TV ON buttons are usually on/off toggles,
mjr	33:d832bcab089e	3274	// so we don't want to push the button on a TV that's already on.
mjr	33:d832bcab089e	3275	//
mjr	33:d832bcab089e	3276
mjr	33:d832bcab089e	3277	// Current PSU2 state:
mjr	33:d832bcab089e	3278	// 1 -> default: latch was on at last check, or we haven't checked yet
mjr	33:d832bcab089e	3279	// 2 -> latch was off at last check, SET pulsed high
mjr	33:d832bcab089e	3280	// 3 -> SET pulsed low, ready to check status
mjr	33:d832bcab089e	3281	// 4 -> TV timer countdown in progress
mjr	33:d832bcab089e	3282	// 5 -> TV relay on
mjr	73:4e8ce0b18915	3283	uint8_t psu2_state = 1;
mjr	73:4e8ce0b18915	3284
mjr	73:4e8ce0b18915	3285	// TV relay state. The TV relay can be controlled by the power-on
mjr	73:4e8ce0b18915	3286	// timer and directly from the PC (via USB commands), so keep a
mjr	73:4e8ce0b18915	3287	// separate state for each:
mjr	73:4e8ce0b18915	3288	//
mjr	73:4e8ce0b18915	3289	// 0x01 -> turned on by power-on timer
mjr	73:4e8ce0b18915	3290	// 0x02 -> turned on by USB command
mjr	73:4e8ce0b18915	3291	uint8_t tv_relay_state = 0x00;
mjr	73:4e8ce0b18915	3292	const uint8_t TV_RELAY_POWERON = 0x01;
mjr	73:4e8ce0b18915	3293	const uint8_t TV_RELAY_USB = 0x02;
mjr	73:4e8ce0b18915	3294
mjr	73:4e8ce0b18915	3295	// TV ON switch relay control
mjr	73:4e8ce0b18915	3296	DigitalOut *tv_relay;
mjr	35:e959ffba78fd	3297
mjr	35:e959ffba78fd	3298	// PSU2 power sensing circuit connections
mjr	35:e959ffba78fd	3299	DigitalIn *psu2_status_sense;
mjr	35:e959ffba78fd	3300	DigitalOut *psu2_status_set;
mjr	35:e959ffba78fd	3301
mjr	73:4e8ce0b18915	3302	// Apply the current TV relay state
mjr	73:4e8ce0b18915	3303	void tvRelayUpdate(uint8_t bit, bool state)
mjr	73:4e8ce0b18915	3304	{
mjr	73:4e8ce0b18915	3305	// update the state
mjr	73:4e8ce0b18915	3306	if (state)
mjr	73:4e8ce0b18915	3307	tv_relay_state \|= bit;
mjr	73:4e8ce0b18915	3308	else
mjr	73:4e8ce0b18915	3309	tv_relay_state &= ~bit;
mjr	73:4e8ce0b18915	3310
mjr	73:4e8ce0b18915	3311	// set the relay GPIO to the new state
mjr	73:4e8ce0b18915	3312	if (tv_relay != 0)
mjr	73:4e8ce0b18915	3313	tv_relay->write(tv_relay_state != 0);
mjr	73:4e8ce0b18915	3314	}
mjr	35:e959ffba78fd	3315
mjr	35:e959ffba78fd	3316	// Timer interrupt
mjr	35:e959ffba78fd	3317	Ticker tv_ticker;
mjr	35:e959ffba78fd	3318	float tv_delay_time;
mjr	33:d832bcab089e	3319	void TVTimerInt()
mjr	33:d832bcab089e	3320	{
mjr	35:e959ffba78fd	3321	// time since last state change
mjr	35:e959ffba78fd	3322	static Timer tv_timer;
mjr	35:e959ffba78fd	3323
mjr	33:d832bcab089e	3324	// Check our internal state
mjr	33:d832bcab089e	3325	switch (psu2_state)
mjr	33:d832bcab089e	3326	{
mjr	33:d832bcab089e	3327	case 1:
mjr	33:d832bcab089e	3328	// Default state. This means that the latch was on last
mjr	33:d832bcab089e	3329	// time we checked or that this is the first check. In
mjr	33:d832bcab089e	3330	// either case, if the latch is off, switch to state 2 and
mjr	33:d832bcab089e	3331	// try pulsing the latch. Next time we check, if the latch
mjr	33:d832bcab089e	3332	// stuck, it means that PSU2 is now on after being off.
mjr	35:e959ffba78fd	3333	if (!psu2_status_sense->read())
mjr	33:d832bcab089e	3334	{
mjr	33:d832bcab089e	3335	// switch to OFF state
mjr	33:d832bcab089e	3336	psu2_state = 2;
mjr	33:d832bcab089e	3337
mjr	33:d832bcab089e	3338	// try setting the latch
mjr	35:e959ffba78fd	3339	psu2_status_set->write(1);
mjr	33:d832bcab089e	3340	}
mjr	33:d832bcab089e	3341	break;
mjr	33:d832bcab089e	3342
mjr	33:d832bcab089e	3343	case 2:
mjr	33:d832bcab089e	3344	// PSU2 was off last time we checked, and we tried setting
mjr	33:d832bcab089e	3345	// the latch. Drop the SET signal and go to CHECK state.
mjr	35:e959ffba78fd	3346	psu2_status_set->write(0);
mjr	33:d832bcab089e	3347	psu2_state = 3;
mjr	33:d832bcab089e	3348	break;
mjr	33:d832bcab089e	3349
mjr	33:d832bcab089e	3350	case 3:
mjr	33:d832bcab089e	3351	// CHECK state: we pulsed SET, and we're now ready to see
mjr	40:cc0d9814522b	3352	// if it stuck. If the latch is now on, PSU2 has transitioned
mjr	33:d832bcab089e	3353	// from OFF to ON, so start the TV countdown. If the latch is
mjr	33:d832bcab089e	3354	// off, our SET command didn't stick, so PSU2 is still off.
mjr	35:e959ffba78fd	3355	if (psu2_status_sense->read())
mjr	33:d832bcab089e	3356	{
mjr	33:d832bcab089e	3357	// The latch stuck, so PSU2 has transitioned from OFF
mjr	33:d832bcab089e	3358	// to ON. Start the TV countdown timer.
mjr	33:d832bcab089e	3359	tv_timer.reset();
mjr	33:d832bcab089e	3360	tv_timer.start();
mjr	33:d832bcab089e	3361	psu2_state = 4;
mjr	73:4e8ce0b18915	3362
mjr	73:4e8ce0b18915	3363	// start the power timer diagnostic flashes
mjr	73:4e8ce0b18915	3364	powerTimerDiagState = 2;
mjr	73:4e8ce0b18915	3365	diagLED();
mjr	33:d832bcab089e	3366	}
mjr	33:d832bcab089e	3367	else
mjr	33:d832bcab089e	3368	{
mjr	33:d832bcab089e	3369	// The latch didn't stick, so PSU2 was still off at
mjr	33:d832bcab089e	3370	// our last check. Try pulsing it again in case PSU2
mjr	33:d832bcab089e	3371	// was turned on since the last check.
mjr	35:e959ffba78fd	3372	psu2_status_set->write(1);
mjr	33:d832bcab089e	3373	psu2_state = 2;
mjr	33:d832bcab089e	3374	}
mjr	33:d832bcab089e	3375	break;
mjr	33:d832bcab089e	3376
mjr	33:d832bcab089e	3377	case 4:
mjr	33:d832bcab089e	3378	// TV timer countdown in progress. If we've reached the
mjr	33:d832bcab089e	3379	// delay time, pulse the relay.
mjr	35:e959ffba78fd	3380	if (tv_timer.read() >= tv_delay_time)
mjr	33:d832bcab089e	3381	{
mjr	33:d832bcab089e	3382	// turn on the relay for one timer interval
mjr	73:4e8ce0b18915	3383	tvRelayUpdate(TV_RELAY_POWERON, true);
mjr	33:d832bcab089e	3384	psu2_state = 5;
mjr	33:d832bcab089e	3385	}
mjr	73:4e8ce0b18915	3386
mjr	73:4e8ce0b18915	3387	// flash the power time diagnostic every two interrupts
mjr	73:4e8ce0b18915	3388	powerTimerDiagState = (powerTimerDiagState + 1) & 0x03;
mjr	73:4e8ce0b18915	3389	diagLED();
mjr	33:d832bcab089e	3390	break;
mjr	33:d832bcab089e	3391
mjr	33:d832bcab089e	3392	case 5:
mjr	33:d832bcab089e	3393	// TV timer relay on. We pulse this for one interval, so
mjr	33:d832bcab089e	3394	// it's now time to turn it off and return to the default state.
mjr	73:4e8ce0b18915	3395	tvRelayUpdate(TV_RELAY_POWERON, false);
mjr	33:d832bcab089e	3396	psu2_state = 1;
mjr	73:4e8ce0b18915	3397
mjr	73:4e8ce0b18915	3398	// done with the diagnostic flashes
mjr	73:4e8ce0b18915	3399	powerTimerDiagState = 0;
mjr	73:4e8ce0b18915	3400	diagLED();
mjr	33:d832bcab089e	3401	break;
mjr	33:d832bcab089e	3402	}
mjr	33:d832bcab089e	3403	}
mjr	33:d832bcab089e	3404
mjr	35:e959ffba78fd	3405	// Start the TV ON checker. If the status sense circuit is enabled in
mjr	35:e959ffba78fd	3406	// the configuration, we'll set up the pin connections and start the
mjr	35:e959ffba78fd	3407	// interrupt handler that periodically checks the status. Does nothing
mjr	35:e959ffba78fd	3408	// if any of the pins are configured as NC.
mjr	35:e959ffba78fd	3409	void startTVTimer(Config &cfg)
mjr	35:e959ffba78fd	3410	{
mjr	55:4db125cd11a0	3411	// only start the timer if the pins are configured and the delay
mjr	55:4db125cd11a0	3412	// time is nonzero
mjr	55:4db125cd11a0	3413	if (cfg.TVON.delayTime != 0
mjr	55:4db125cd11a0	3414	&& cfg.TVON.statusPin != 0xFF
mjr	53:9b2611964afc	3415	&& cfg.TVON.latchPin != 0xFF
mjr	53:9b2611964afc	3416	&& cfg.TVON.relayPin != 0xFF)
mjr	35:e959ffba78fd	3417	{
mjr	53:9b2611964afc	3418	psu2_status_sense = new DigitalIn(wirePinName(cfg.TVON.statusPin));
mjr	53:9b2611964afc	3419	psu2_status_set = new DigitalOut(wirePinName(cfg.TVON.latchPin));
mjr	53:9b2611964afc	3420	tv_relay = new DigitalOut(wirePinName(cfg.TVON.relayPin));
mjr	73:4e8ce0b18915	3421	tv_delay_time = cfg.TVON.delayTime/100.0f;
mjr	35:e959ffba78fd	3422
mjr	35:e959ffba78fd	3423	// Set up our time routine to run every 1/4 second.
mjr	35:e959ffba78fd	3424	tv_ticker.attach(&TVTimerInt, 0.25);
mjr	35:e959ffba78fd	3425	}
mjr	35:e959ffba78fd	3426	}
mjr	35:e959ffba78fd	3427
mjr	73:4e8ce0b18915	3428	// TV relay manual control timer. This lets us pulse the TV relay
mjr	73:4e8ce0b18915	3429	// under manual control, separately from the TV ON timer.
mjr	73:4e8ce0b18915	3430	Ticker tv_manualTicker;
mjr	73:4e8ce0b18915	3431	void TVManualInt()
mjr	73:4e8ce0b18915	3432	{
mjr	73:4e8ce0b18915	3433	tv_manualTicker.detach();
mjr	73:4e8ce0b18915	3434	tvRelayUpdate(TV_RELAY_USB, false);
mjr	73:4e8ce0b18915	3435	}
mjr	73:4e8ce0b18915	3436
mjr	73:4e8ce0b18915	3437	// Operate the TV ON relay. This allows manual control of the relay
mjr	73:4e8ce0b18915	3438	// from the PC. See protocol message 65 submessage 11.
mjr	73:4e8ce0b18915	3439	//
mjr	73:4e8ce0b18915	3440	// Mode:
mjr	73:4e8ce0b18915	3441	// 0 = turn relay off
mjr	73:4e8ce0b18915	3442	// 1 = turn relay on
mjr	73:4e8ce0b18915	3443	// 2 = pulse relay
mjr	73:4e8ce0b18915	3444	void TVRelay(int mode)
mjr	73:4e8ce0b18915	3445	{
mjr	73:4e8ce0b18915	3446	// if there's no TV relay control pin, ignore this
mjr	73:4e8ce0b18915	3447	if (tv_relay == 0)
mjr	73:4e8ce0b18915	3448	return;
mjr	73:4e8ce0b18915	3449
mjr	73:4e8ce0b18915	3450	switch (mode)
mjr	73:4e8ce0b18915	3451	{
mjr	73:4e8ce0b18915	3452	case 0:
mjr	73:4e8ce0b18915	3453	// relay off
mjr	73:4e8ce0b18915	3454	tvRelayUpdate(TV_RELAY_USB, false);
mjr	73:4e8ce0b18915	3455	break;
mjr	73:4e8ce0b18915	3456
mjr	73:4e8ce0b18915	3457	case 1:
mjr	73:4e8ce0b18915	3458	// relay on
mjr	73:4e8ce0b18915	3459	tvRelayUpdate(TV_RELAY_USB, true);
mjr	73:4e8ce0b18915	3460	break;
mjr	73:4e8ce0b18915	3461
mjr	73:4e8ce0b18915	3462	case 2:
mjr	73:4e8ce0b18915	3463	// Pulse the relay. Turn it on, then set our timer for 250ms.
mjr	73:4e8ce0b18915	3464	tvRelayUpdate(TV_RELAY_USB, true);
mjr	73:4e8ce0b18915	3465	tv_manualTicker.attach(&TVManualInt, 0.25);
mjr	73:4e8ce0b18915	3466	break;
mjr	73:4e8ce0b18915	3467	}
mjr	73:4e8ce0b18915	3468	}
mjr	73:4e8ce0b18915	3469
mjr	73:4e8ce0b18915	3470
mjr	35:e959ffba78fd	3471	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	3472	//
mjr	35:e959ffba78fd	3473	// In-memory configuration data structure. This is the live version in RAM
mjr	35:e959ffba78fd	3474	// that we use to determine how things are set up.
mjr	35:e959ffba78fd	3475	//
mjr	35:e959ffba78fd	3476	// When we save the configuration settings, we copy this structure to
mjr	35:e959ffba78fd	3477	// non-volatile flash memory. At startup, we check the flash location where
mjr	35:e959ffba78fd	3478	// we might have saved settings on a previous run, and it's valid, we copy
mjr	35:e959ffba78fd	3479	// the flash data to this structure. Firmware updates wipe the flash
mjr	35:e959ffba78fd	3480	// memory area, so you have to use the PC config tool to send the settings
mjr	35:e959ffba78fd	3481	// again each time the firmware is updated.
mjr	35:e959ffba78fd	3482	//
mjr	35:e959ffba78fd	3483	NVM nvm;
mjr	35:e959ffba78fd	3484
mjr	35:e959ffba78fd	3485	// For convenience, a macro for the Config part of the NVM structure
mjr	35:e959ffba78fd	3486	#define cfg (nvm.d.c)
mjr	35:e959ffba78fd	3487
mjr	35:e959ffba78fd	3488	// flash memory controller interface
mjr	35:e959ffba78fd	3489	FreescaleIAP iap;
mjr	35:e959ffba78fd	3490
mjr	76:7f5912b6340e	3491	// NVM structure in memory. This has to be aliend on a sector boundary,
mjr	76:7f5912b6340e	3492	// since we have to be able to erase its page(s) in order to write it.
mjr	76:7f5912b6340e	3493	// Further, we have to ensure that nothing else occupies any space within
mjr	76:7f5912b6340e	3494	// the same pages, since we'll erase that entire space whenever we write.
mjr	76:7f5912b6340e	3495	static const union
mjr	76:7f5912b6340e	3496	{
mjr	76:7f5912b6340e	3497	NVM nvm; // the NVM structure
mjr	76:7f5912b6340e	3498	char guard[((sizeof(NVM) + SECTOR_SIZE - 1)/SECTOR_SIZE)*SECTOR_SIZE];
mjr	76:7f5912b6340e	3499	}
mjr	76:7f5912b6340e	3500	flash_nvm_memory __attribute__ ((aligned(SECTOR_SIZE))) = { };
mjr	76:7f5912b6340e	3501
mjr	35:e959ffba78fd	3502	// figure the flash address as a pointer along with the number of sectors
mjr	35:e959ffba78fd	3503	// required to store the structure
mjr	35:e959ffba78fd	3504	NVM *configFlashAddr(int &addr, int &numSectors)
mjr	35:e959ffba78fd	3505	{
mjr	35:e959ffba78fd	3506	// figure how many flash sectors we span, rounding up to whole sectors
mjr	35:e959ffba78fd	3507	numSectors = (sizeof(NVM) + SECTOR_SIZE - 1)/SECTOR_SIZE;
mjr	35:e959ffba78fd	3508
mjr	35:e959ffba78fd	3509	// figure the address - this is the highest flash address where the
mjr	35:e959ffba78fd	3510	// structure will fit with the start aligned on a sector boundary
mjr	76:7f5912b6340e	3511	addr = (int)&flash_nvm_memory;
mjr	35:e959ffba78fd	3512
mjr	35:e959ffba78fd	3513	// return the address as a pointer
mjr	35:e959ffba78fd	3514	return (NVM *)addr;
mjr	35:e959ffba78fd	3515	}
mjr	35:e959ffba78fd	3516
mjr	35:e959ffba78fd	3517	// figure the flash address as a pointer
mjr	35:e959ffba78fd	3518	NVM *configFlashAddr()
mjr	35:e959ffba78fd	3519	{
mjr	35:e959ffba78fd	3520	int addr, numSectors;
mjr	35:e959ffba78fd	3521	return configFlashAddr(addr, numSectors);
mjr	35:e959ffba78fd	3522	}
mjr	35:e959ffba78fd	3523
mjr	76:7f5912b6340e	3524	// Load the config from flash. Returns true if a valid non-default
mjr	76:7f5912b6340e	3525	// configuration was loaded, false if we not. If we return false,
mjr	76:7f5912b6340e	3526	// we load the factory defaults, so the configuration object is valid
mjr	76:7f5912b6340e	3527	// in either case.
mjr	76:7f5912b6340e	3528	bool loadConfigFromFlash()
mjr	35:e959ffba78fd	3529	{
mjr	35:e959ffba78fd	3530	// We want to use the KL25Z's on-board flash to store our configuration
mjr	35:e959ffba78fd	3531	// data persistently, so that we can restore it across power cycles.
mjr	35:e959ffba78fd	3532	// Unfortunatly, the mbed platform doesn't explicitly support this.
mjr	35:e959ffba78fd	3533	// mbed treats the on-board flash as a raw storage device for linker
mjr	35:e959ffba78fd	3534	// output, and assumes that the linker output is the only thing
mjr	35:e959ffba78fd	3535	// stored there. There's no file system and no allowance for shared
mjr	35:e959ffba78fd	3536	// use for other purposes. Fortunately, the linker ues the space in
mjr	35:e959ffba78fd	3537	// the obvious way, storing the entire linked program in a contiguous
mjr	35:e959ffba78fd	3538	// block starting at the lowest flash address. This means that the
mjr	35:e959ffba78fd	3539	// rest of flash - from the end of the linked program to the highest
mjr	35:e959ffba78fd	3540	// flash address - is all unused free space. Writing our data there
mjr	35:e959ffba78fd	3541	// won't conflict with anything else. Since the linker doesn't give
mjr	35:e959ffba78fd	3542	// us any programmatic access to the total linker output size, it's
mjr	35:e959ffba78fd	3543	// safest to just store our config data at the very end of the flash
mjr	35:e959ffba78fd	3544	// region (i.e., the highest address). As long as it's smaller than
mjr	35:e959ffba78fd	3545	// the free space, it won't collide with the linker area.
mjr	35:e959ffba78fd	3546
mjr	35:e959ffba78fd	3547	// Figure how many sectors we need for our structure
mjr	35:e959ffba78fd	3548	NVM *flash = configFlashAddr();
mjr	35:e959ffba78fd	3549
mjr	35:e959ffba78fd	3550	// if the flash is valid, load it; otherwise initialize to defaults
mjr	76:7f5912b6340e	3551	bool nvm_valid = flash->valid();
mjr	76:7f5912b6340e	3552	if (nvm_valid)
mjr	35:e959ffba78fd	3553	{
mjr	35:e959ffba78fd	3554	// flash is valid - load it into the RAM copy of the structure
mjr	35:e959ffba78fd	3555	memcpy(&nvm, flash, sizeof(NVM));
mjr	35:e959ffba78fd	3556	}
mjr	35:e959ffba78fd	3557	else
mjr	35:e959ffba78fd	3558	{
mjr	76:7f5912b6340e	3559	// flash is invalid - load factory settings into RAM structure
mjr	35:e959ffba78fd	3560	cfg.setFactoryDefaults();
mjr	35:e959ffba78fd	3561	}
mjr	76:7f5912b6340e	3562
mjr	76:7f5912b6340e	3563	// tell the caller what happened
mjr	76:7f5912b6340e	3564	return nvm_valid;
mjr	35:e959ffba78fd	3565	}
mjr	35:e959ffba78fd	3566
mjr	35:e959ffba78fd	3567	void saveConfigToFlash()
mjr	33:d832bcab089e	3568	{
mjr	76:7f5912b6340e	3569	// make sure the plunger sensor isn't busy
mjr	76:7f5912b6340e	3570	waitPlungerIdle();
mjr	76:7f5912b6340e	3571
mjr	76:7f5912b6340e	3572	// get the config block location in the flash memory
mjr	35:e959ffba78fd	3573	int addr, sectors;
mjr	35:e959ffba78fd	3574	configFlashAddr(addr, sectors);
mjr	76:7f5912b6340e	3575
mjr	76:7f5912b6340e	3576	// loop until we save it successfully
mjr	76:7f5912b6340e	3577	for (int i = 0 ; i < 5 ; ++i)
mjr	76:7f5912b6340e	3578	{
mjr	76:7f5912b6340e	3579	// show cyan while writing
mjr	76:7f5912b6340e	3580	diagLED(0, 1, 1);
mjr	76:7f5912b6340e	3581
mjr	76:7f5912b6340e	3582	// save the data
mjr	76:7f5912b6340e	3583	nvm.save(iap, addr);
mjr	76:7f5912b6340e	3584
mjr	76:7f5912b6340e	3585	// diagnostic lights off
mjr	76:7f5912b6340e	3586	diagLED(0, 0, 0);
mjr	76:7f5912b6340e	3587
mjr	76:7f5912b6340e	3588	// verify the data
mjr	76:7f5912b6340e	3589	if (nvm.verify(addr))
mjr	76:7f5912b6340e	3590	{
mjr	76:7f5912b6340e	3591	// show a diagnostic success flash
mjr	76:7f5912b6340e	3592	for (int j = 0 ; j < 3 ; ++j)
mjr	76:7f5912b6340e	3593	{
mjr	76:7f5912b6340e	3594	diagLED(0, 1, 1);
mjr	76:7f5912b6340e	3595	wait_us(50000);
mjr	76:7f5912b6340e	3596	diagLED(0, 0, 0);
mjr	76:7f5912b6340e	3597	wait_us(50000);
mjr	76:7f5912b6340e	3598	}
mjr	76:7f5912b6340e	3599
mjr	76:7f5912b6340e	3600	// success - no need to write again
mjr	76:7f5912b6340e	3601	break;
mjr	76:7f5912b6340e	3602	}
mjr	76:7f5912b6340e	3603	else
mjr	76:7f5912b6340e	3604	{
mjr	76:7f5912b6340e	3605	// Write failed. For diagnostic purposes, flash red a few times.
mjr	76:7f5912b6340e	3606	// Then go back through the loop to make another attempt at the
mjr	76:7f5912b6340e	3607	// write.
mjr	76:7f5912b6340e	3608	for (int j = 0 ; j < 5 ; ++j)
mjr	76:7f5912b6340e	3609	{
mjr	76:7f5912b6340e	3610	diagLED(1, 0, 0);
mjr	76:7f5912b6340e	3611	wait_us(50000);
mjr	76:7f5912b6340e	3612	diagLED(0, 0, 0);
mjr	76:7f5912b6340e	3613	wait_us(50000);
mjr	76:7f5912b6340e	3614	}
mjr	76:7f5912b6340e	3615	}
mjr	76:7f5912b6340e	3616	}
mjr	76:7f5912b6340e	3617	}
mjr	76:7f5912b6340e	3618
mjr	76:7f5912b6340e	3619	// ---------------------------------------------------------------------------
mjr	76:7f5912b6340e	3620	//
mjr	76:7f5912b6340e	3621	// Host-loaded configuration. The Flash NVM block above is designed to be
mjr	76:7f5912b6340e	3622	// stored from within the firmware; in contrast, the host-loaded config is
mjr	76:7f5912b6340e	3623	// stored by the host, by patching the firwmare binary (.bin) file before
mjr	76:7f5912b6340e	3624	// downloading it to the device.
mjr	76:7f5912b6340e	3625	//
mjr	76:7f5912b6340e	3626	// Ideally, we'd use the host-loaded memory for all configuration updates,
mjr	76:7f5912b6340e	3627	// because the KL25Z doesn't seem to be 100% reliable writing flash itself.
mjr	76:7f5912b6340e	3628	// There seems to be a chance of memory bus contention while a write is in
mjr	76:7f5912b6340e	3629	// progress, which can either corrupt the write or cause the CPU to lock up
mjr	76:7f5912b6340e	3630	// before the write is completed. It seems more reliable to program the
mjr	76:7f5912b6340e	3631	// flash externally, via the OpenSDA connection. Unfortunately, none of
mjr	76:7f5912b6340e	3632	// the available OpenSDA versions are capable of programming specific flash
mjr	76:7f5912b6340e	3633	// sectors; they always erase the entire flash memory space. We could
mjr	76:7f5912b6340e	3634	// make the Windows config program simply re-download the entire firmware
mjr	76:7f5912b6340e	3635	// for every configuration update, but I'd rather not because of the extra
mjr	76:7f5912b6340e	3636	// wear this would put on the flash. So, as a compromise, we'll use the
mjr	76:7f5912b6340e	3637	// host-loaded config whenever the user explicitly updates the firmware,
mjr	76:7f5912b6340e	3638	// but we'll use the on-board writer when only making a config change.
mjr	76:7f5912b6340e	3639	//
mjr	76:7f5912b6340e	3640	// The memory here is stored using the same format as the USB "Set Config
mjr	76:7f5912b6340e	3641	// Variable" command. These messages are 8 bytes long and start with a
mjr	76:7f5912b6340e	3642	// byte value 66, followed by the variable ID, followed by the variable
mjr	76:7f5912b6340e	3643	// value data in a format defined separately for each variable. To load
mjr	76:7f5912b6340e	3644	// the data, we'll start at the first byte after the signature, and
mjr	76:7f5912b6340e	3645	// interpret each 8-byte block as a type 66 message. If the first byte
mjr	76:7f5912b6340e	3646	// of a block is not 66, we'll take it as the end of the data.
mjr	76:7f5912b6340e	3647	//
mjr	76:7f5912b6340e	3648	// We provide a block of storage here big enough for 1,024 variables.
mjr	76:7f5912b6340e	3649	// The header consists of a 30-byte signature followed by two bytes giving
mjr	76:7f5912b6340e	3650	// the available space in the area, in this case 8192 == 0x0200. The
mjr	76:7f5912b6340e	3651	// length is little-endian. Note that the linker will implicitly zero
mjr	76:7f5912b6340e	3652	// the rest of the block, so if the host doesn't populate it, we'll see
mjr	76:7f5912b6340e	3653	// that it's empty by virtue of not containing the required '66' byte
mjr	76:7f5912b6340e	3654	// prefix for the first 8-byte variable block.
mjr	76:7f5912b6340e	3655	static const uint8_t hostLoadedConfig[8192+32]
mjr	76:7f5912b6340e	3656	__attribute__ ((aligned(SECTOR_SIZE))) =
mjr	76:7f5912b6340e	3657	"///Pinscape.HostLoadedConfig//\0\040"; // 30 byte signature + 2 byte length
mjr	76:7f5912b6340e	3658
mjr	76:7f5912b6340e	3659	// Get a pointer to the first byte of the configuration data
mjr	76:7f5912b6340e	3660	const uint8_t *getHostLoadedConfigData()
mjr	76:7f5912b6340e	3661	{
mjr	76:7f5912b6340e	3662	// the first configuration variable byte immediately follows the
mjr	76:7f5912b6340e	3663	// 32-byte signature header
mjr	76:7f5912b6340e	3664	return hostLoadedConfig + 32;
mjr	76:7f5912b6340e	3665	};
mjr	76:7f5912b6340e	3666
mjr	76:7f5912b6340e	3667	// forward reference to config var store function
mjr	76:7f5912b6340e	3668	void configVarSet(const uint8_t *);
mjr	76:7f5912b6340e	3669
mjr	76:7f5912b6340e	3670	// Load the host-loaded configuration data into the active (RAM)
mjr	76:7f5912b6340e	3671	// configuration object.
mjr	76:7f5912b6340e	3672	void loadHostLoadedConfig()
mjr	76:7f5912b6340e	3673	{
mjr	76:7f5912b6340e	3674	// Start at the first configuration variable. Each variable
mjr	76:7f5912b6340e	3675	// block is in the format of a Set Config Variable command in
mjr	76:7f5912b6340e	3676	// the USB protocol, so each block starts with a byte value of
mjr	76:7f5912b6340e	3677	// 66 and is 8 bytes long. Continue as long as we find valid
mjr	76:7f5912b6340e	3678	// variable blocks, or reach end end of the block.
mjr	76:7f5912b6340e	3679	const uint8_t *start = getHostLoadedConfigData();
mjr	76:7f5912b6340e	3680	const uint8_t *end = hostLoadedConfig + sizeof(hostLoadedConfig);
mjr	76:7f5912b6340e	3681	for (const uint8_t p = getHostLoadedConfigData() ; start < end && p == 66 ; p += 8)
mjr	76:7f5912b6340e	3682	{
mjr	76:7f5912b6340e	3683	// load this variable
mjr	76:7f5912b6340e	3684	configVarSet(p);
mjr	76:7f5912b6340e	3685	}
mjr	35:e959ffba78fd	3686	}
mjr	35:e959ffba78fd	3687
mjr	35:e959ffba78fd	3688	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	3689	//
mjr	55:4db125cd11a0	3690	// Pixel dump mode - the host requested a dump of image sensor pixels
mjr	55:4db125cd11a0	3691	// (helpful for installing and setting up the sensor and light source)
mjr	55:4db125cd11a0	3692	//
mjr	55:4db125cd11a0	3693	bool reportPlungerStat = false;
mjr	55:4db125cd11a0	3694	uint8_t reportPlungerStatFlags; // plunger pixel report flag bits (see ccdSensor.h)
mjr	55:4db125cd11a0	3695	uint8_t reportPlungerStatTime; // extra exposure time for plunger pixel report
mjr	55:4db125cd11a0	3696
mjr	55:4db125cd11a0	3697
mjr	55:4db125cd11a0	3698
mjr	55:4db125cd11a0	3699	// ---------------------------------------------------------------------------
mjr	55:4db125cd11a0	3700	//
mjr	40:cc0d9814522b	3701	// Night mode setting updates
mjr	40:cc0d9814522b	3702	//
mjr	38:091e511ce8a0	3703
mjr	38:091e511ce8a0	3704	// Turn night mode on or off
mjr	38:091e511ce8a0	3705	static void setNightMode(bool on)
mjr	38:091e511ce8a0	3706	{
mjr	40:cc0d9814522b	3707	// set the new night mode flag in the noisy output class
mjr	53:9b2611964afc	3708	nightMode = on;
mjr	55:4db125cd11a0	3709
mjr	40:cc0d9814522b	3710	// update the special output pin that shows the night mode state
mjr	53:9b2611964afc	3711	int port = int(cfg.nightMode.port) - 1;
mjr	53:9b2611964afc	3712	if (port >= 0 && port < numOutputs)
mjr	53:9b2611964afc	3713	lwPin[port]->set(nightMode ? 255 : 0);
mjr	76:7f5912b6340e	3714
mjr	76:7f5912b6340e	3715	// Reset all outputs at their current value, so that the underlying
mjr	76:7f5912b6340e	3716	// physical outputs get turned on or off as appropriate for the night
mjr	76:7f5912b6340e	3717	// mode change.
mjr	76:7f5912b6340e	3718	for (int i = 0 ; i < numOutputs ; ++i)
mjr	76:7f5912b6340e	3719	lwPin[i]->set(outLevel[i]);
mjr	76:7f5912b6340e	3720
mjr	76:7f5912b6340e	3721	// update 74HC595 outputs
mjr	76:7f5912b6340e	3722	if (hc595 != 0)
mjr	76:7f5912b6340e	3723	hc595->update();
mjr	38:091e511ce8a0	3724	}
mjr	38:091e511ce8a0	3725
mjr	38:091e511ce8a0	3726	// Toggle night mode
mjr	38:091e511ce8a0	3727	static void toggleNightMode()
mjr	38:091e511ce8a0	3728	{
mjr	53:9b2611964afc	3729	setNightMode(!nightMode);
mjr	38:091e511ce8a0	3730	}
mjr	38:091e511ce8a0	3731
mjr	38:091e511ce8a0	3732
mjr	38:091e511ce8a0	3733	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	3734	//
mjr	35:e959ffba78fd	3735	// Plunger Sensor
mjr	35:e959ffba78fd	3736	//
mjr	35:e959ffba78fd	3737
mjr	35:e959ffba78fd	3738	// the plunger sensor interface object
mjr	35:e959ffba78fd	3739	PlungerSensor *plungerSensor = 0;
mjr	35:e959ffba78fd	3740
mjr	76:7f5912b6340e	3741	// wait for the plunger sensor to complete any outstanding read
mjr	76:7f5912b6340e	3742	static void waitPlungerIdle(void)
mjr	76:7f5912b6340e	3743	{
mjr	76:7f5912b6340e	3744	while (!plungerSensor->ready()) { }
mjr	76:7f5912b6340e	3745	}
mjr	76:7f5912b6340e	3746
mjr	35:e959ffba78fd	3747	// Create the plunger sensor based on the current configuration. If
mjr	35:e959ffba78fd	3748	// there's already a sensor object, we'll delete it.
mjr	35:e959ffba78fd	3749	void createPlunger()
mjr	35:e959ffba78fd	3750	{
mjr	35:e959ffba78fd	3751	// create the new sensor object according to the type
mjr	35:e959ffba78fd	3752	switch (cfg.plunger.sensorType)
mjr	35:e959ffba78fd	3753	{
mjr	35:e959ffba78fd	3754	case PlungerType_TSL1410RS:
mjr	69:cc5039284fac	3755	// TSL1410R, serial mode (all pixels read in one file)
mjr	35:e959ffba78fd	3756	// pins are: SI, CLOCK, AO
mjr	53:9b2611964afc	3757	plungerSensor = new PlungerSensorTSL1410R(
mjr	53:9b2611964afc	3758	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	3759	wirePinName(cfg.plunger.sensorPin[1]),
mjr	53:9b2611964afc	3760	wirePinName(cfg.plunger.sensorPin[2]),
mjr	53:9b2611964afc	3761	NC);
mjr	35:e959ffba78fd	3762	break;
mjr	35:e959ffba78fd	3763
mjr	35:e959ffba78fd	3764	case PlungerType_TSL1410RP:
mjr	69:cc5039284fac	3765	// TSL1410R, parallel mode (each half-sensor's pixels read separately)
mjr	35:e959ffba78fd	3766	// pins are: SI, CLOCK, AO1, AO2
mjr	53:9b2611964afc	3767	plungerSensor = new PlungerSensorTSL1410R(
mjr	53:9b2611964afc	3768	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	3769	wirePinName(cfg.plunger.sensorPin[1]),
mjr	53:9b2611964afc	3770	wirePinName(cfg.plunger.sensorPin[2]),
mjr	53:9b2611964afc	3771	wirePinName(cfg.plunger.sensorPin[3]));
mjr	35:e959ffba78fd	3772	break;
mjr	35:e959ffba78fd	3773
mjr	69:cc5039284fac	3774	case PlungerType_TSL1412SS:
mjr	69:cc5039284fac	3775	// TSL1412S, serial mode
mjr	35:e959ffba78fd	3776	// pins are: SI, CLOCK, AO1, AO2
mjr	53:9b2611964afc	3777	plungerSensor = new PlungerSensorTSL1412R(
mjr	53:9b2611964afc	3778	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	3779	wirePinName(cfg.plunger.sensorPin[1]),
mjr	53:9b2611964afc	3780	wirePinName(cfg.plunger.sensorPin[2]),
mjr	53:9b2611964afc	3781	NC);
mjr	35:e959ffba78fd	3782	break;
mjr	35:e959ffba78fd	3783
mjr	69:cc5039284fac	3784	case PlungerType_TSL1412SP:
mjr	69:cc5039284fac	3785	// TSL1412S, parallel mode
mjr	35:e959ffba78fd	3786	// pins are: SI, CLOCK, AO1, AO2
mjr	53:9b2611964afc	3787	plungerSensor = new PlungerSensorTSL1412R(
mjr	53:9b2611964afc	3788	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	3789	wirePinName(cfg.plunger.sensorPin[1]),
mjr	53:9b2611964afc	3790	wirePinName(cfg.plunger.sensorPin[2]),
mjr	53:9b2611964afc	3791	wirePinName(cfg.plunger.sensorPin[3]));
mjr	35:e959ffba78fd	3792	break;
mjr	35:e959ffba78fd	3793
mjr	35:e959ffba78fd	3794	case PlungerType_Pot:
mjr	35:e959ffba78fd	3795	// pins are: AO
mjr	53:9b2611964afc	3796	plungerSensor = new PlungerSensorPot(
mjr	53:9b2611964afc	3797	wirePinName(cfg.plunger.sensorPin[0]));
mjr	35:e959ffba78fd	3798	break;
mjr	35:e959ffba78fd	3799
mjr	35:e959ffba78fd	3800	case PlungerType_None:
mjr	35:e959ffba78fd	3801	default:
mjr	35:e959ffba78fd	3802	plungerSensor = new PlungerSensorNull();
mjr	35:e959ffba78fd	3803	break;
mjr	35:e959ffba78fd	3804	}
mjr	33:d832bcab089e	3805	}
mjr	33:d832bcab089e	3806
mjr	52:8298b2a73eb2	3807	// Global plunger calibration mode flag
mjr	52:8298b2a73eb2	3808	bool plungerCalMode;
mjr	52:8298b2a73eb2	3809
mjr	48:058ace2aed1d	3810	// Plunger reader
mjr	51:57eb311faafa	3811	//
mjr	51:57eb311faafa	3812	// This class encapsulates our plunger data processing. At the simplest
mjr	51:57eb311faafa	3813	// level, we read the position from the sensor, adjust it for the
mjr	51:57eb311faafa	3814	// calibration settings, and report the calibrated position to the host.
mjr	51:57eb311faafa	3815	//
mjr	51:57eb311faafa	3816	// In addition, we constantly monitor the data for "firing" motions.
mjr	51:57eb311faafa	3817	// A firing motion is when the user pulls back the plunger and releases
mjr	51:57eb311faafa	3818	// it, allowing it to shoot forward under the force of the main spring.
mjr	51:57eb311faafa	3819	// When we detect that this is happening, we briefly stop reporting the
mjr	51:57eb311faafa	3820	// real physical position that we're reading from the sensor, and instead
mjr	51:57eb311faafa	3821	// report a synthetic series of positions that depicts an idealized
mjr	51:57eb311faafa	3822	// firing motion.
mjr	51:57eb311faafa	3823	//
mjr	51:57eb311faafa	3824	// The point of the synthetic reports is to correct for distortions
mjr	51:57eb311faafa	3825	// created by the joystick interface conventions used by VP and other
mjr	51:57eb311faafa	3826	// PC pinball emulators. The convention they use is simply to have the
mjr	51:57eb311faafa	3827	// plunger device report the instantaneous position of the real plunger.
mjr	51:57eb311faafa	3828	// The PC software polls this reported position periodically, and moves
mjr	51:57eb311faafa	3829	// the on-screen virtual plunger in sync with the real plunger. This
mjr	51:57eb311faafa	3830	// works fine for human-scale motion when the user is manually moving
mjr	51:57eb311faafa	3831	// the plunger. But it doesn't work for the high speed motion of a
mjr	51:57eb311faafa	3832	// release. The plunger simply moves too fast. VP polls in about 10ms
mjr	51:57eb311faafa	3833	// intervals; the plunger takes about 50ms to travel from fully
mjr	51:57eb311faafa	3834	// retracted to the park position when released. The low sampling
mjr	51:57eb311faafa	3835	// rate relative to the rate of change of the sampled data creates
mjr	51:57eb311faafa	3836	// a classic digital aliasing effect.
mjr	51:57eb311faafa	3837	//
mjr	51:57eb311faafa	3838	// The synthetic reporting scheme compensates for the interface
mjr	51:57eb311faafa	3839	// distortions by essentially changing to a coarse enough timescale
mjr	51:57eb311faafa	3840	// that VP can reliably interpret the readings. Conceptually, there
mjr	51:57eb311faafa	3841	// are three steps involved in doing this. First, we analyze the
mjr	51:57eb311faafa	3842	// actual sensor data to detect and characterize the release motion.
mjr	51:57eb311faafa	3843	// Second, once we think we have a release in progress, we fit the
mjr	51:57eb311faafa	3844	// data to a mathematical model of the release. The model we use is
mjr	51:57eb311faafa	3845	// dead simple: we consider the release to have one parameter, namely
mjr	51:57eb311faafa	3846	// the retraction distance at the moment the user lets go. This is an
mjr	51:57eb311faafa	3847	// excellent proxy in the real physical system for the final speed
mjr	51:57eb311faafa	3848	// when the plunger hits the ball, and it also happens to match how
mjr	51:57eb311faafa	3849	// VP models it internally. Third, we construct synthetic reports
mjr	51:57eb311faafa	3850	// that will make VP's internal state match our model. This is also
mjr	51:57eb311faafa	3851	// pretty simple: we just need to send VP the maximum retraction
mjr	51:57eb311faafa	3852	// distance for long enough to be sure that it polls it at least
mjr	51:57eb311faafa	3853	// once, and then send it the park position for long enough to
mjr	51:57eb311faafa	3854	// ensure that VP will complete the same firing motion. The
mjr	51:57eb311faafa	3855	// immediate jump from the maximum point to the zero point will
mjr	51:57eb311faafa	3856	// cause VP to move its simulation model plunger forward from the
mjr	51:57eb311faafa	3857	// starting point at its natural spring acceleration rate, which
mjr	51:57eb311faafa	3858	// is exactly what the real plunger just did.
mjr	51:57eb311faafa	3859	//
mjr	48:058ace2aed1d	3860	class PlungerReader
mjr	48:058ace2aed1d	3861	{
mjr	48:058ace2aed1d	3862	public:
mjr	48:058ace2aed1d	3863	PlungerReader()
mjr	48:058ace2aed1d	3864	{
mjr	48:058ace2aed1d	3865	// not in a firing event yet
mjr	48:058ace2aed1d	3866	firing = 0;
mjr	48:058ace2aed1d	3867
mjr	48:058ace2aed1d	3868	// no history yet
mjr	48:058ace2aed1d	3869	histIdx = 0;
mjr	55:4db125cd11a0	3870
mjr	55:4db125cd11a0	3871	// initialize the filter
mjr	55:4db125cd11a0	3872	initFilter();
mjr	48:058ace2aed1d	3873	}
mjr	76:7f5912b6340e	3874
mjr	48:058ace2aed1d	3875	// Collect a reading from the plunger sensor. The main loop calls
mjr	48:058ace2aed1d	3876	// this frequently to read the current raw position data from the
mjr	48:058ace2aed1d	3877	// sensor. We analyze the raw data to produce the calibrated
mjr	48:058ace2aed1d	3878	// position that we report to the PC via the joystick interface.
mjr	48:058ace2aed1d	3879	void read()
mjr	48:058ace2aed1d	3880	{
mjr	76:7f5912b6340e	3881	// if the sensor is busy, skip the reading on this round
mjr	76:7f5912b6340e	3882	if (!plungerSensor->ready())
mjr	76:7f5912b6340e	3883	return;
mjr	76:7f5912b6340e	3884
mjr	48:058ace2aed1d	3885	// Read a sample from the sensor
mjr	48:058ace2aed1d	3886	PlungerReading r;
mjr	48:058ace2aed1d	3887	if (plungerSensor->read(r))
mjr	48:058ace2aed1d	3888	{
mjr	69:cc5039284fac	3889	// filter the raw sensor reading
mjr	69:cc5039284fac	3890	applyPreFilter(r);
mjr	69:cc5039284fac	3891
mjr	51:57eb311faafa	3892	// Pull the previous reading from the history
mjr	50:40015764bbe6	3893	const PlungerReading &prv = nthHist(0);
mjr	48:058ace2aed1d	3894
mjr	69:cc5039284fac	3895	// If the new reading is within 1ms of the previous reading,
mjr	48:058ace2aed1d	3896	// ignore it. We require a minimum time between samples to
mjr	48:058ace2aed1d	3897	// ensure that we have a usable amount of precision in the
mjr	48:058ace2aed1d	3898	// denominator (the time interval) for calculating the plunger
mjr	69:cc5039284fac	3899	// velocity. The CCD sensor hardware takes about 2.5ms to
mjr	69:cc5039284fac	3900	// read, so it will never be affected by this, but other sensor
mjr	69:cc5039284fac	3901	// types don't all have the same hardware cycle time, so we need
mjr	69:cc5039284fac	3902	// to throttle them artificially. E.g., the potentiometer only
mjr	69:cc5039284fac	3903	// needs one ADC sample per reading, which only takes about 15us.
mjr	69:cc5039284fac	3904	// We don't need to check which sensor type we have here; we
mjr	69:cc5039284fac	3905	// just ignore readings until the minimum interval has passed,
mjr	69:cc5039284fac	3906	// so if the sensor is already slower than this, we'll end up
mjr	69:cc5039284fac	3907	// using all of its readings.
mjr	69:cc5039284fac	3908	if (uint32_t(r.t - prv.t) < 1000UL)
mjr	48:058ace2aed1d	3909	return;
mjr	53:9b2611964afc	3910
mjr	53:9b2611964afc	3911	// check for calibration mode
mjr	53:9b2611964afc	3912	if (plungerCalMode)
mjr	53:9b2611964afc	3913	{
mjr	53:9b2611964afc	3914	// Calibration mode. Adjust the calibration bounds to fit
mjr	53:9b2611964afc	3915	// the value. If this value is beyond the current min or max,
mjr	53:9b2611964afc	3916	// expand the envelope to include this new value.
mjr	53:9b2611964afc	3917	if (r.pos > cfg.plunger.cal.max)
mjr	53:9b2611964afc	3918	cfg.plunger.cal.max = r.pos;
mjr	53:9b2611964afc	3919	if (r.pos < cfg.plunger.cal.min)
mjr	53:9b2611964afc	3920	cfg.plunger.cal.min = r.pos;
mjr	76:7f5912b6340e	3921
mjr	76:7f5912b6340e	3922	// update our cached calibration data
mjr	76:7f5912b6340e	3923	onUpdateCal();
mjr	50:40015764bbe6	3924
mjr	53:9b2611964afc	3925	// If we're in calibration state 0, we're waiting for the
mjr	53:9b2611964afc	3926	// plunger to come to rest at the park position so that we
mjr	53:9b2611964afc	3927	// can take a sample of the park position. Check to see if
mjr	53:9b2611964afc	3928	// we've been at rest for a minimum interval.
mjr	53:9b2611964afc	3929	if (calState == 0)
mjr	53:9b2611964afc	3930	{
mjr	53:9b2611964afc	3931	if (abs(r.pos - calZeroStart.pos) < 65535/3/50)
mjr	53:9b2611964afc	3932	{
mjr	53:9b2611964afc	3933	// we're close enough - make sure we've been here long enough
mjr	53:9b2611964afc	3934	if (uint32_t(r.t - calZeroStart.t) > 100000UL)
mjr	53:9b2611964afc	3935	{
mjr	53:9b2611964afc	3936	// we've been at rest long enough - count it
mjr	53:9b2611964afc	3937	calZeroPosSum += r.pos;
mjr	53:9b2611964afc	3938	calZeroPosN += 1;
mjr	53:9b2611964afc	3939
mjr	53:9b2611964afc	3940	// update the zero position from the new average
mjr	53:9b2611964afc	3941	cfg.plunger.cal.zero = uint16_t(calZeroPosSum / calZeroPosN);
mjr	76:7f5912b6340e	3942	onUpdateCal();
mjr	53:9b2611964afc	3943
mjr	53:9b2611964afc	3944	// switch to calibration state 1 - at rest
mjr	53:9b2611964afc	3945	calState = 1;
mjr	53:9b2611964afc	3946	}
mjr	53:9b2611964afc	3947	}
mjr	53:9b2611964afc	3948	else
mjr	53:9b2611964afc	3949	{
mjr	53:9b2611964afc	3950	// we're not close to the last position - start again here
mjr	53:9b2611964afc	3951	calZeroStart = r;
mjr	53:9b2611964afc	3952	}
mjr	53:9b2611964afc	3953	}
mjr	53:9b2611964afc	3954
mjr	53:9b2611964afc	3955	// Rescale to the joystick range, and adjust for the current
mjr	53:9b2611964afc	3956	// park position, but don't calibrate. We don't know the maximum
mjr	53:9b2611964afc	3957	// point yet, so we can't calibrate the range.
mjr	53:9b2611964afc	3958	r.pos = int(
mjr	53:9b2611964afc	3959	(long(r.pos - cfg.plunger.cal.zero) * JOYMAX)
mjr	53:9b2611964afc	3960	/ (65535 - cfg.plunger.cal.zero));
mjr	53:9b2611964afc	3961	}
mjr	53:9b2611964afc	3962	else
mjr	53:9b2611964afc	3963	{
mjr	53:9b2611964afc	3964	// Not in calibration mode. Apply the existing calibration and
mjr	53:9b2611964afc	3965	// rescale to the joystick range.
mjr	76:7f5912b6340e	3966	r.pos = applyCal(r.pos);
mjr	53:9b2611964afc	3967
mjr	53:9b2611964afc	3968	// limit the result to the valid joystick range
mjr	53:9b2611964afc	3969	if (r.pos > JOYMAX)
mjr	53:9b2611964afc	3970	r.pos = JOYMAX;
mjr	53:9b2611964afc	3971	else if (r.pos < -JOYMAX)
mjr	53:9b2611964afc	3972	r.pos = -JOYMAX;
mjr	53:9b2611964afc	3973	}
mjr	50:40015764bbe6	3974
mjr	50:40015764bbe6	3975	// Calculate the velocity from the second-to-last reading
mjr	50:40015764bbe6	3976	// to here, in joystick distance units per microsecond.
mjr	50:40015764bbe6	3977	// Note that we use the second-to-last reading rather than
mjr	50:40015764bbe6	3978	// the very last reading to give ourselves a little longer
mjr	50:40015764bbe6	3979	// time base. The time base is so short between consecutive
mjr	50:40015764bbe6	3980	// readings that the error bars in the position would be too
mjr	50:40015764bbe6	3981	// large.
mjr	50:40015764bbe6	3982	//
mjr	50:40015764bbe6	3983	// For reference, the physical plunger velocity ranges up
mjr	50:40015764bbe6	3984	// to about 100,000 joystick distance units/sec. This is
mjr	50:40015764bbe6	3985	// based on empirical measurements. The typical time for
mjr	50:40015764bbe6	3986	// a real plunger to travel the full distance when released
mjr	50:40015764bbe6	3987	// from full retraction is about 85ms, so the average velocity
mjr	50:40015764bbe6	3988	// covering this distance is about 56,000 units/sec. The
mjr	50:40015764bbe6	3989	// peak is probably about twice that. In real-world units,
mjr	50:40015764bbe6	3990	// this translates to an average speed of about .75 m/s and
mjr	50:40015764bbe6	3991	// a peak of about 1.5 m/s.
mjr	50:40015764bbe6	3992	//
mjr	50:40015764bbe6	3993	// Note that we actually calculate the value here in units
mjr	50:40015764bbe6	3994	// per microsecond - the discussion above is in terms of
mjr	50:40015764bbe6	3995	// units/sec because that's more on a human scale. Our
mjr	50:40015764bbe6	3996	// choice of internal units here really isn't important,
mjr	50:40015764bbe6	3997	// since we only use the velocity for comparison purposes,
mjr	50:40015764bbe6	3998	// to detect acceleration trends. We therefore save ourselves
mjr	50:40015764bbe6	3999	// a little CPU time by using the natural units of our inputs.
mjr	76:7f5912b6340e	4000	//
mjr	76:7f5912b6340e	4001	// We don't care about the absolute velocity; this is a purely
mjr	76:7f5912b6340e	4002	// relative calculation. So to speed things up, calculate it
mjr	76:7f5912b6340e	4003	// in the integer domain, using a fixed-point representation
mjr	76:7f5912b6340e	4004	// with a 64K scale. In other words, with the stored values
mjr	76:7f5912b6340e	4005	// shifted left 16 bits from the actual values: the value 1
mjr	76:7f5912b6340e	4006	// is stored as 1<<16. The position readings are in the range
mjr	76:7f5912b6340e	4007	// -JOYMAX..JOYMAX, which fits in 16 bits, and the time
mjr	76:7f5912b6340e	4008	// differences will generally be on the scale of a few
mjr	76:7f5912b6340e	4009	// milliseconds = thousands of microseconds. So the velocity
mjr	76:7f5912b6340e	4010	// figures will fit nicely into a 32-bit fixed point value with
mjr	76:7f5912b6340e	4011	// a 64K scale factor.
mjr	51:57eb311faafa	4012	const PlungerReading &prv2 = nthHist(1);
mjr	76:7f5912b6340e	4013	int v = ((r.pos - prv2.pos) << 16)/(r.t - prv2.t);
mjr	50:40015764bbe6	4014
mjr	50:40015764bbe6	4015	// presume we'll report the latest instantaneous reading
mjr	50:40015764bbe6	4016	z = r.pos;
mjr	48:058ace2aed1d	4017
mjr	50:40015764bbe6	4018	// Check firing events
mjr	50:40015764bbe6	4019	switch (firing)
mjr	50:40015764bbe6	4020	{
mjr	50:40015764bbe6	4021	case 0:
mjr	50:40015764bbe6	4022	// Default state - not in a firing event.
mjr	50:40015764bbe6	4023
mjr	50:40015764bbe6	4024	// If we have forward motion from a position that's retracted
mjr	50:40015764bbe6	4025	// beyond a threshold, enter phase 1. If we're not pulled back
mjr	50:40015764bbe6	4026	// far enough, don't bother with this, as a release wouldn't
mjr	50:40015764bbe6	4027	// be strong enough to require the synthetic firing treatment.
mjr	50:40015764bbe6	4028	if (v < 0 && r.pos > JOYMAX/6)
mjr	50:40015764bbe6	4029	{
mjr	53:9b2611964afc	4030	// enter firing phase 1
mjr	50:40015764bbe6	4031	firingMode(1);
mjr	50:40015764bbe6	4032
mjr	53:9b2611964afc	4033	// if in calibration state 1 (at rest), switch to state 2 (not
mjr	53:9b2611964afc	4034	// at rest)
mjr	53:9b2611964afc	4035	if (calState == 1)
mjr	53:9b2611964afc	4036	calState = 2;
mjr	53:9b2611964afc	4037
mjr	50:40015764bbe6	4038	// we don't have a freeze position yet, but note the start time
mjr	50:40015764bbe6	4039	f1.pos = 0;
mjr	50:40015764bbe6	4040	f1.t = r.t;
mjr	50:40015764bbe6	4041
mjr	50:40015764bbe6	4042	// Figure the barrel spring "bounce" position in case we complete
mjr	50:40015764bbe6	4043	// the firing event. This is the amount that the forward momentum
mjr	50:40015764bbe6	4044	// of the plunger will compress the barrel spring at the peak of
mjr	50:40015764bbe6	4045	// the forward travel during the release. Assume that this is
mjr	50:40015764bbe6	4046	// linearly proportional to the starting retraction distance.
mjr	50:40015764bbe6	4047	// The barrel spring is about 1/6 the length of the main spring,
mjr	50:40015764bbe6	4048	// so figure it compresses by 1/6 the distance. (This is overly
mjr	53:9b2611964afc	4049	// simplistic and not very accurate, but it seems to give good
mjr	50:40015764bbe6	4050	// visual results, and that's all it's for.)
mjr	50:40015764bbe6	4051	f2.pos = -r.pos/6;
mjr	50:40015764bbe6	4052	}
mjr	50:40015764bbe6	4053	break;
mjr	50:40015764bbe6	4054
mjr	50:40015764bbe6	4055	case 1:
mjr	50:40015764bbe6	4056	// Phase 1 - acceleration. If we cross the zero point, trigger
mjr	50:40015764bbe6	4057	// the firing event. Otherwise, continue monitoring as long as we
mjr	50:40015764bbe6	4058	// see acceleration in the forward direction.
mjr	50:40015764bbe6	4059	if (r.pos <= 0)
mjr	50:40015764bbe6	4060	{
mjr	50:40015764bbe6	4061	// switch to the synthetic firing mode
mjr	50:40015764bbe6	4062	firingMode(2);
mjr	50:40015764bbe6	4063	z = f2.pos;
mjr	50:40015764bbe6	4064
mjr	50:40015764bbe6	4065	// note the start time for the firing phase
mjr	50:40015764bbe6	4066	f2.t = r.t;
mjr	53:9b2611964afc	4067
mjr	53:9b2611964afc	4068	// if in calibration mode, and we're in state 2 (moving),
mjr	53:9b2611964afc	4069	// collect firing statistics for calibration purposes
mjr	53:9b2611964afc	4070	if (plungerCalMode && calState == 2)
mjr	53:9b2611964afc	4071	{
mjr	53:9b2611964afc	4072	// collect a new zero point for the average when we
mjr	53:9b2611964afc	4073	// come to rest
mjr	53:9b2611964afc	4074	calState = 0;
mjr	53:9b2611964afc	4075
mjr	53:9b2611964afc	4076	// collect average firing time statistics in millseconds, if
mjr	53:9b2611964afc	4077	// it's in range (20 to 255 ms)
mjr	53:9b2611964afc	4078	int dt = uint32_t(r.t - f1.t)/1000UL;
mjr	53:9b2611964afc	4079	if (dt >= 20 && dt <= 255)
mjr	53:9b2611964afc	4080	{
mjr	53:9b2611964afc	4081	calRlsTimeSum += dt;
mjr	53:9b2611964afc	4082	calRlsTimeN += 1;
mjr	53:9b2611964afc	4083	cfg.plunger.cal.tRelease = uint8_t(calRlsTimeSum / calRlsTimeN);
mjr	53:9b2611964afc	4084	}
mjr	53:9b2611964afc	4085	}
mjr	50:40015764bbe6	4086	}
mjr	50:40015764bbe6	4087	else if (v < vprv2)
mjr	50:40015764bbe6	4088	{
mjr	50:40015764bbe6	4089	// We're still accelerating, and we haven't crossed the zero
mjr	50:40015764bbe6	4090	// point yet - stay in phase 1. (Note that forward motion is
mjr	50:40015764bbe6	4091	// negative velocity, so accelerating means that the new
mjr	50:40015764bbe6	4092	// velocity is more negative than the previous one, which
mjr	50:40015764bbe6	4093	// is to say numerically less than - that's why the test
mjr	50:40015764bbe6	4094	// for acceleration is the seemingly backwards 'v < vprv'.)
mjr	50:40015764bbe6	4095
mjr	50:40015764bbe6	4096	// If we've been accelerating for at least 20ms, we're probably
mjr	50:40015764bbe6	4097	// really doing a release. Jump back to the recent local
mjr	50:40015764bbe6	4098	// maximum where the release really started. This is always
mjr	50:40015764bbe6	4099	// a bit before we started seeing sustained accleration, because
mjr	50:40015764bbe6	4100	// the plunger motion for the first few milliseconds is too slow
mjr	50:40015764bbe6	4101	// for our sensor precision to reliably detect acceleration.
mjr	50:40015764bbe6	4102	if (f1.pos != 0)
mjr	50:40015764bbe6	4103	{
mjr	50:40015764bbe6	4104	// we have a reset point - freeze there
mjr	50:40015764bbe6	4105	z = f1.pos;
mjr	50:40015764bbe6	4106	}
mjr	50:40015764bbe6	4107	else if (uint32_t(r.t - f1.t) >= 20000UL)
mjr	50:40015764bbe6	4108	{
mjr	50:40015764bbe6	4109	// it's been long enough - set a reset point.
mjr	50:40015764bbe6	4110	f1.pos = z = histLocalMax(r.t, 50000UL);
mjr	50:40015764bbe6	4111	}
mjr	50:40015764bbe6	4112	}
mjr	50:40015764bbe6	4113	else
mjr	50:40015764bbe6	4114	{
mjr	50:40015764bbe6	4115	// We're not accelerating. Cancel the firing event.
mjr	50:40015764bbe6	4116	firingMode(0);
mjr	53:9b2611964afc	4117	calState = 1;
mjr	50:40015764bbe6	4118	}
mjr	50:40015764bbe6	4119	break;
mjr	50:40015764bbe6	4120
mjr	50:40015764bbe6	4121	case 2:
mjr	50:40015764bbe6	4122	// Phase 2 - start of synthetic firing event. Report the fake
mjr	50:40015764bbe6	4123	// bounce for 25ms. VP polls the joystick about every 10ms, so
mjr	50:40015764bbe6	4124	// this should be enough time to guarantee that VP sees this
mjr	50:40015764bbe6	4125	// report at least once.
mjr	50:40015764bbe6	4126	if (uint32_t(r.t - f2.t) < 25000UL)
mjr	50:40015764bbe6	4127	{
mjr	50:40015764bbe6	4128	// report the bounce position
mjr	50:40015764bbe6	4129	z = f2.pos;
mjr	50:40015764bbe6	4130	}
mjr	50:40015764bbe6	4131	else
mjr	50:40015764bbe6	4132	{
mjr	50:40015764bbe6	4133	// it's been long enough - switch to phase 3, where we
mjr	50:40015764bbe6	4134	// report the park position until the real plunger comes
mjr	50:40015764bbe6	4135	// to rest
mjr	50:40015764bbe6	4136	firingMode(3);
mjr	50:40015764bbe6	4137	z = 0;
mjr	50:40015764bbe6	4138
mjr	50:40015764bbe6	4139	// set the start of the "stability window" to the rest position
mjr	50:40015764bbe6	4140	f3s.t = r.t;
mjr	50:40015764bbe6	4141	f3s.pos = 0;
mjr	50:40015764bbe6	4142
mjr	50:40015764bbe6	4143	// set the start of the "retraction window" to the actual position
mjr	50:40015764bbe6	4144	f3r = r;
mjr	50:40015764bbe6	4145	}
mjr	50:40015764bbe6	4146	break;
mjr	50:40015764bbe6	4147
mjr	50:40015764bbe6	4148	case 3:
mjr	50:40015764bbe6	4149	// Phase 3 - in synthetic firing event. Report the park position
mjr	50:40015764bbe6	4150	// until the plunger position stabilizes. Left to its own devices,
mjr	50:40015764bbe6	4151	// the plunger will usualy bounce off the barrel spring several
mjr	50:40015764bbe6	4152	// times before coming to rest, so we'll see oscillating motion
mjr	50:40015764bbe6	4153	// for a second or two. In the simplest case, we can aimply wait
mjr	50:40015764bbe6	4154	// for the plunger to stop moving for a short time. However, the
mjr	50:40015764bbe6	4155	// player might intervene by pulling the plunger back again, so
mjr	50:40015764bbe6	4156	// watch for that motion as well. If we're just bouncing freely,
mjr	50:40015764bbe6	4157	// we'll see the direction change frequently. If the player is
mjr	50:40015764bbe6	4158	// moving the plunger manually, the direction will be constant
mjr	50:40015764bbe6	4159	// for longer.
mjr	50:40015764bbe6	4160	if (v >= 0)
mjr	50:40015764bbe6	4161	{
mjr	50:40015764bbe6	4162	// We're moving back (or standing still). If this has been
mjr	50:40015764bbe6	4163	// going on for a while, the user must have taken control.
mjr	50:40015764bbe6	4164	if (uint32_t(r.t - f3r.t) > 65000UL)
mjr	50:40015764bbe6	4165	{
mjr	50:40015764bbe6	4166	// user has taken control - cancel firing mode
mjr	50:40015764bbe6	4167	firingMode(0);
mjr	50:40015764bbe6	4168	break;
mjr	50:40015764bbe6	4169	}
mjr	50:40015764bbe6	4170	}
mjr	50:40015764bbe6	4171	else
mjr	50:40015764bbe6	4172	{
mjr	50:40015764bbe6	4173	// forward motion - reset retraction window
mjr	50:40015764bbe6	4174	f3r.t = r.t;
mjr	50:40015764bbe6	4175	}
mjr	50:40015764bbe6	4176
mjr	53:9b2611964afc	4177	// Check if we're close to the last starting point. The joystick
mjr	53:9b2611964afc	4178	// positive axis range (0..4096) covers the retraction distance of
mjr	53:9b2611964afc	4179	// about 2.5", so 1" is about 1638 joystick units, hence 1/16" is
mjr	53:9b2611964afc	4180	// about 100 units.
mjr	53:9b2611964afc	4181	if (abs(r.pos - f3s.pos) < 100)
mjr	50:40015764bbe6	4182	{
mjr	53:9b2611964afc	4183	// It's at roughly the same position as the starting point.
mjr	53:9b2611964afc	4184	// Consider it stable if this has been true for 300ms.
mjr	50:40015764bbe6	4185	if (uint32_t(r.t - f3s.t) > 30000UL)
mjr	50:40015764bbe6	4186	{
mjr	50:40015764bbe6	4187	// we're done with the firing event
mjr	50:40015764bbe6	4188	firingMode(0);
mjr	50:40015764bbe6	4189	}
mjr	50:40015764bbe6	4190	else
mjr	50:40015764bbe6	4191	{
mjr	50:40015764bbe6	4192	// it's close to the last position but hasn't been
mjr	50:40015764bbe6	4193	// here long enough; stay in firing mode and continue
mjr	50:40015764bbe6	4194	// to report the park position
mjr	50:40015764bbe6	4195	z = 0;
mjr	50:40015764bbe6	4196	}
mjr	50:40015764bbe6	4197	}
mjr	50:40015764bbe6	4198	else
mjr	50:40015764bbe6	4199	{
mjr	50:40015764bbe6	4200	// It's not close enough to the last starting point, so use
mjr	50:40015764bbe6	4201	// this as a new starting point, and stay in firing mode.
mjr	50:40015764bbe6	4202	f3s = r;
mjr	50:40015764bbe6	4203	z = 0;
mjr	50:40015764bbe6	4204	}
mjr	50:40015764bbe6	4205	break;
mjr	50:40015764bbe6	4206	}
mjr	50:40015764bbe6	4207
mjr	50:40015764bbe6	4208	// save the velocity reading for next time
mjr	50:40015764bbe6	4209	vprv2 = vprv;
mjr	50:40015764bbe6	4210	vprv = v;
mjr	50:40015764bbe6	4211
mjr	50:40015764bbe6	4212	// add the new reading to the history
mjr	76:7f5912b6340e	4213	hist[histIdx] = r;
mjr	76:7f5912b6340e	4214	if (++histIdx > countof(hist))
mjr	76:7f5912b6340e	4215	histIdx = 0;
mjr	58:523fdcffbe6d	4216
mjr	69:cc5039284fac	4217	// apply the post-processing filter
mjr	69:cc5039284fac	4218	zf = applyPostFilter();
mjr	48:058ace2aed1d	4219	}
mjr	48:058ace2aed1d	4220	}
mjr	48:058ace2aed1d	4221
mjr	48:058ace2aed1d	4222	// Get the current value to report through the joystick interface
mjr	58:523fdcffbe6d	4223	int16_t getPosition()
mjr	58:523fdcffbe6d	4224	{
mjr	58:523fdcffbe6d	4225	// return the last filtered reading
mjr	58:523fdcffbe6d	4226	return zf;
mjr	55:4db125cd11a0	4227	}
mjr	58:523fdcffbe6d	4228
mjr	48:058ace2aed1d	4229	// get the timestamp of the current joystick report (microseconds)
mjr	50:40015764bbe6	4230	uint32_t getTimestamp() const { return nthHist(0).t; }
mjr	48:058ace2aed1d	4231
mjr	48:058ace2aed1d	4232	// Set calibration mode on or off
mjr	52:8298b2a73eb2	4233	void setCalMode(bool f)
mjr	48:058ace2aed1d	4234	{
mjr	52:8298b2a73eb2	4235	// check to see if we're entering calibration mode
mjr	52:8298b2a73eb2	4236	if (f && !plungerCalMode)
mjr	52:8298b2a73eb2	4237	{
mjr	52:8298b2a73eb2	4238	// reset the calibration in the configuration
mjr	48:058ace2aed1d	4239	cfg.plunger.cal.begin();
mjr	52:8298b2a73eb2	4240
mjr	52:8298b2a73eb2	4241	// start in state 0 (waiting to settle)
mjr	52:8298b2a73eb2	4242	calState = 0;
mjr	52:8298b2a73eb2	4243	calZeroPosSum = 0;
mjr	52:8298b2a73eb2	4244	calZeroPosN = 0;
mjr	52:8298b2a73eb2	4245	calRlsTimeSum = 0;
mjr	52:8298b2a73eb2	4246	calRlsTimeN = 0;
mjr	52:8298b2a73eb2	4247
mjr	52:8298b2a73eb2	4248	// set the initial zero point to the current position
mjr	52:8298b2a73eb2	4249	PlungerReading r;
mjr	52:8298b2a73eb2	4250	if (plungerSensor->read(r))
mjr	52:8298b2a73eb2	4251	{
mjr	52:8298b2a73eb2	4252	// got a reading - use it as the initial zero point
mjr	69:cc5039284fac	4253	applyPreFilter(r);
mjr	52:8298b2a73eb2	4254	cfg.plunger.cal.zero = r.pos;
mjr	76:7f5912b6340e	4255	onUpdateCal();
mjr	52:8298b2a73eb2	4256
mjr	52:8298b2a73eb2	4257	// use it as the starting point for the settling watch
mjr	53:9b2611964afc	4258	calZeroStart = r;
mjr	52:8298b2a73eb2	4259	}
mjr	52:8298b2a73eb2	4260	else
mjr	52:8298b2a73eb2	4261	{
mjr	52:8298b2a73eb2	4262	// no reading available - use the default 1/6 position
mjr	52:8298b2a73eb2	4263	cfg.plunger.cal.zero = 0xffff/6;
mjr	76:7f5912b6340e	4264	onUpdateCal();
mjr	52:8298b2a73eb2	4265
mjr	52:8298b2a73eb2	4266	// we don't have a starting point for the setting watch
mjr	53:9b2611964afc	4267	calZeroStart.pos = -65535;
mjr	53:9b2611964afc	4268	calZeroStart.t = 0;
mjr	53:9b2611964afc	4269	}
mjr	53:9b2611964afc	4270	}
mjr	53:9b2611964afc	4271	else if (!f && plungerCalMode)
mjr	53:9b2611964afc	4272	{
mjr	53:9b2611964afc	4273	// Leaving calibration mode. Make sure the max is past the
mjr	53:9b2611964afc	4274	// zero point - if it's not, we'd have a zero or negative
mjr	53:9b2611964afc	4275	// denominator for the scaling calculation, which would be
mjr	53:9b2611964afc	4276	// physically meaningless.
mjr	53:9b2611964afc	4277	if (cfg.plunger.cal.max <= cfg.plunger.cal.zero)
mjr	53:9b2611964afc	4278	{
mjr	53:9b2611964afc	4279	// bad settings - reset to defaults
mjr	53:9b2611964afc	4280	cfg.plunger.cal.max = 0xffff;
mjr	53:9b2611964afc	4281	cfg.plunger.cal.zero = 0xffff/6;
mjr	76:7f5912b6340e	4282	onUpdateCal();
mjr	52:8298b2a73eb2	4283	}
mjr	52:8298b2a73eb2	4284	}
mjr	52:8298b2a73eb2	4285
mjr	48:058ace2aed1d	4286	// remember the new mode
mjr	52:8298b2a73eb2	4287	plungerCalMode = f;
mjr	48:058ace2aed1d	4288	}
mjr	48:058ace2aed1d	4289
mjr	76:7f5912b6340e	4290	// Cached inverse of the calibration range. This is for calculating
mjr	76:7f5912b6340e	4291	// the calibrated plunger position given a raw sensor reading. The
mjr	76:7f5912b6340e	4292	// cached inverse is calculated as
mjr	76:7f5912b6340e	4293	//
mjr	76:7f5912b6340e	4294	// 64K * JOYMAX / (cfg.plunger.cal.max - cfg.plunger.cal.zero)
mjr	76:7f5912b6340e	4295	//
mjr	76:7f5912b6340e	4296	// To convert a raw sensor reading to a calibrated position, calculate
mjr	76:7f5912b6340e	4297	//
mjr	76:7f5912b6340e	4298	// ((reading - cfg.plunger.cal.zero)*invCalRange) >> 16
mjr	76:7f5912b6340e	4299	//
mjr	76:7f5912b6340e	4300	// That yields the calibration result without performing a division.
mjr	76:7f5912b6340e	4301	int invCalRange;
mjr	76:7f5912b6340e	4302
mjr	76:7f5912b6340e	4303	// apply the calibration range to a reading
mjr	76:7f5912b6340e	4304	inline int applyCal(int reading)
mjr	76:7f5912b6340e	4305	{
mjr	76:7f5912b6340e	4306	return ((reading - cfg.plunger.cal.zero)*invCalRange) >> 16;
mjr	76:7f5912b6340e	4307	}
mjr	76:7f5912b6340e	4308
mjr	76:7f5912b6340e	4309	void onUpdateCal()
mjr	76:7f5912b6340e	4310	{
mjr	76:7f5912b6340e	4311	invCalRange = (JOYMAX << 16)/(cfg.plunger.cal.max - cfg.plunger.cal.zero);
mjr	76:7f5912b6340e	4312	}
mjr	76:7f5912b6340e	4313
mjr	48:058ace2aed1d	4314	// is a firing event in progress?
mjr	53:9b2611964afc	4315	bool isFiring() { return firing == 3; }
mjr	76:7f5912b6340e	4316
mjr	48:058ace2aed1d	4317	private:
mjr	52:8298b2a73eb2	4318
mjr	74:822a92bc11d2	4319	// Plunger data filtering mode: optionally apply filtering to the raw
mjr	74:822a92bc11d2	4320	// plunger sensor readings to try to reduce noise in the signal. This
mjr	74:822a92bc11d2	4321	// is designed for the TSL1410/12 optical sensors, where essentially all
mjr	74:822a92bc11d2	4322	// of the noise in the signal comes from lack of sharpness in the shadow
mjr	74:822a92bc11d2	4323	// edge. When the shadow is blurry, the edge detector has to pick a pixel,
mjr	74:822a92bc11d2	4324	// even though the edge is actually a gradient spanning several pixels.
mjr	74:822a92bc11d2	4325	// The edge detection algorithm decides on the exact pixel, but whatever
mjr	74:822a92bc11d2	4326	// the algorithm, the choice is going to be somewhat arbitrary given that
mjr	74:822a92bc11d2	4327	// there's really no one pixel that's "the edge" when the edge actually
mjr	74:822a92bc11d2	4328	// covers multiple pixels. This can make the choice of pixel sensitive to
mjr	74:822a92bc11d2	4329	// small changes in exposure and pixel respose from frame to frame, which
mjr	74:822a92bc11d2	4330	// means that the reported edge position can move by a pixel or two from
mjr	74:822a92bc11d2	4331	// one frame to the next even when the physical plunger is perfectly still.
mjr	74:822a92bc11d2	4332	// That's the noise we're talking about.
mjr	74:822a92bc11d2	4333	//
mjr	74:822a92bc11d2	4334	// We previously applied a mild hysteresis filter to the signal to try to
mjr	74:822a92bc11d2	4335	// eliminate this noise. The filter tracked the average over the last
mjr	74:822a92bc11d2	4336	// several samples, and rejected readings that wandered within a few
mjr	74:822a92bc11d2	4337	// pixels of the average. If a certain number of readings moved away from
mjr	74:822a92bc11d2	4338	// the average in the same direction, even by small amounts, the filter
mjr	74:822a92bc11d2	4339	// accepted the changes, on the assumption that they represented actual
mjr	74:822a92bc11d2	4340	// slow movement of the plunger. This filter was applied after the firing
mjr	74:822a92bc11d2	4341	// detection.
mjr	74:822a92bc11d2	4342	//
mjr	74:822a92bc11d2	4343	// I also tried a simpler filter that rejected changes that were too fast
mjr	74:822a92bc11d2	4344	// to be physically possible, as well as changes that were very close to
mjr	74:822a92bc11d2	4345	// the last reported position (i.e., simple hysteresis). The "too fast"
mjr	74:822a92bc11d2	4346	// filter was there to reject spurious readings where the edge detector
mjr	74:822a92bc11d2	4347	// mistook a bad pixel value as an edge.
mjr	74:822a92bc11d2	4348	//
mjr	74:822a92bc11d2	4349	// The new "mode 2" edge detector (see ccdSensor.h) seems to do a better
mjr	74:822a92bc11d2	4350	// job of rejecting pixel-level noise by itself than the older "mode 0"
mjr	74:822a92bc11d2	4351	// algorithm did, so I removed the filtering entirely. Any filtering has
mjr	74:822a92bc11d2	4352	// some downsides, so it's better to reduce noise in the underlying signal
mjr	74:822a92bc11d2	4353	// as much as possible first. It seems possible to get a very stable signal
mjr	74:822a92bc11d2	4354	// now with a combination of the mode 2 edge detector and optimizing the
mjr	74:822a92bc11d2	4355	// physical sensor arrangement, especially optimizing the light source to
mjr	74:822a92bc11d2	4356	// cast as sharp as shadow as possible and adjusting the brightness to
mjr	74:822a92bc11d2	4357	// maximize bright/dark contrast in the image.
mjr	74:822a92bc11d2	4358	//
mjr	74:822a92bc11d2	4359	// 0 = No filtering (current default)
mjr	74:822a92bc11d2	4360	// 1 = Filter the data after firing detection using moving average
mjr	74:822a92bc11d2	4361	// hysteresis filter (old version, used in most 2016 releases)
mjr	74:822a92bc11d2	4362	// 2 = Filter the data before firing detection using simple hysteresis
mjr	74:822a92bc11d2	4363	// plus spurious "too fast" motion rejection
mjr	74:822a92bc11d2	4364	//
mjr	73:4e8ce0b18915	4365	#define PLUNGER_FILTERING_MODE 0
mjr	73:4e8ce0b18915	4366
mjr	73:4e8ce0b18915	4367	#if PLUNGER_FILTERING_MODE == 0
mjr	69:cc5039284fac	4368	// Disable all filtering
mjr	74:822a92bc11d2	4369	inline void applyPreFilter(PlungerReading &r) { }
mjr	74:822a92bc11d2	4370	inline int applyPostFilter() { return z; }
mjr	73:4e8ce0b18915	4371	#elif PLUNGER_FILTERING_MODE == 1
mjr	73:4e8ce0b18915	4372	// Apply pre-processing filter. This filter is applied to the raw
mjr	73:4e8ce0b18915	4373	// value coming off the sensor, before calibration or fire-event
mjr	73:4e8ce0b18915	4374	// processing.
mjr	73:4e8ce0b18915	4375	void applyPreFilter(PlungerReading &r)
mjr	73:4e8ce0b18915	4376	{
mjr	73:4e8ce0b18915	4377	}
mjr	73:4e8ce0b18915	4378
mjr	73:4e8ce0b18915	4379	// Figure the next post-processing filtered value. This applies a
mjr	73:4e8ce0b18915	4380	// hysteresis filter to the last raw z value and returns the
mjr	73:4e8ce0b18915	4381	// filtered result.
mjr	73:4e8ce0b18915	4382	int applyPostFilter()
mjr	73:4e8ce0b18915	4383	{
mjr	73:4e8ce0b18915	4384	if (firing <= 1)
mjr	73:4e8ce0b18915	4385	{
mjr	73:4e8ce0b18915	4386	// Filter limit - 5 samples. Once we've been moving
mjr	73:4e8ce0b18915	4387	// in the same direction for this many samples, we'll
mjr	73:4e8ce0b18915	4388	// clear the history and start over.
mjr	73:4e8ce0b18915	4389	const int filterMask = 0x1f;
mjr	73:4e8ce0b18915	4390
mjr	73:4e8ce0b18915	4391	// figure the last average
mjr	73:4e8ce0b18915	4392	int lastAvg = int(filterSum / filterN);
mjr	73:4e8ce0b18915	4393
mjr	73:4e8ce0b18915	4394	// figure the direction of this sample relative to the average,
mjr	73:4e8ce0b18915	4395	// and shift it in to our bit mask of recent direction data
mjr	73:4e8ce0b18915	4396	if (z != lastAvg)
mjr	73:4e8ce0b18915	4397	{
mjr	73:4e8ce0b18915	4398	// shift the new direction bit into the vector
mjr	73:4e8ce0b18915	4399	filterDir <<= 1;
mjr	73:4e8ce0b18915	4400	if (z > lastAvg) filterDir \|= 1;
mjr	73:4e8ce0b18915	4401	}
mjr	73:4e8ce0b18915	4402
mjr	73:4e8ce0b18915	4403	// keep only the last N readings, up to the filter limit
mjr	73:4e8ce0b18915	4404	filterDir &= filterMask;
mjr	73:4e8ce0b18915	4405
mjr	73:4e8ce0b18915	4406	// if we've been moving consistently in one direction (all 1's
mjr	73:4e8ce0b18915	4407	// or all 0's in the direction history vector), reset the average
mjr	73:4e8ce0b18915	4408	if (filterDir == 0x00 \|\| filterDir == filterMask)
mjr	73:4e8ce0b18915	4409	{
mjr	73:4e8ce0b18915	4410	// motion away from the average - reset the average
mjr	73:4e8ce0b18915	4411	filterDir = 0x5555;
mjr	73:4e8ce0b18915	4412	filterN = 1;
mjr	73:4e8ce0b18915	4413	filterSum = (lastAvg + z)/2;
mjr	73:4e8ce0b18915	4414	return int16_t(filterSum);
mjr	73:4e8ce0b18915	4415	}
mjr	73:4e8ce0b18915	4416	else
mjr	73:4e8ce0b18915	4417	{
mjr	73:4e8ce0b18915	4418	// we're directionless - return the new average, with the
mjr	73:4e8ce0b18915	4419	// new sample included
mjr	73:4e8ce0b18915	4420	filterSum += z;
mjr	73:4e8ce0b18915	4421	++filterN;
mjr	73:4e8ce0b18915	4422	return int16_t(filterSum / filterN);
mjr	73:4e8ce0b18915	4423	}
mjr	73:4e8ce0b18915	4424	}
mjr	73:4e8ce0b18915	4425	else
mjr	73:4e8ce0b18915	4426	{
mjr	73:4e8ce0b18915	4427	// firing mode - skip the filter
mjr	73:4e8ce0b18915	4428	filterN = 1;
mjr	73:4e8ce0b18915	4429	filterSum = z;
mjr	73:4e8ce0b18915	4430	filterDir = 0x5555;
mjr	73:4e8ce0b18915	4431	return z;
mjr	73:4e8ce0b18915	4432	}
mjr	73:4e8ce0b18915	4433	}
mjr	73:4e8ce0b18915	4434	#elif PLUNGER_FILTERING_MODE == 2
mjr	69:cc5039284fac	4435	// Apply pre-processing filter. This filter is applied to the raw
mjr	69:cc5039284fac	4436	// value coming off the sensor, before calibration or fire-event
mjr	69:cc5039284fac	4437	// processing.
mjr	69:cc5039284fac	4438	void applyPreFilter(PlungerReading &r)
mjr	69:cc5039284fac	4439	{
mjr	69:cc5039284fac	4440	// get the previous raw reading
mjr	69:cc5039284fac	4441	PlungerReading prv = pre.raw;
mjr	69:cc5039284fac	4442
mjr	69:cc5039284fac	4443	// the new reading is the previous raw reading next time, no
mjr	69:cc5039284fac	4444	// matter how we end up filtering it
mjr	69:cc5039284fac	4445	pre.raw = r;
mjr	69:cc5039284fac	4446
mjr	69:cc5039284fac	4447	// If it's too big an excursion from the previous raw reading,
mjr	69:cc5039284fac	4448	// ignore it and repeat the previous reported reading. This
mjr	69:cc5039284fac	4449	// filters out anomalous spikes where we suddenly jump to a
mjr	69:cc5039284fac	4450	// level that's too far away to be possible. Real plungers
mjr	69:cc5039284fac	4451	// take about 60ms to travel the full distance when released,
mjr	69:cc5039284fac	4452	// so assuming constant acceleration, the maximum realistic
mjr	69:cc5039284fac	4453	// speed is about 2.200 distance units (on our 0..0xffff scale)
mjr	69:cc5039284fac	4454	// per microsecond.
mjr	69:cc5039284fac	4455	//
mjr	69:cc5039284fac	4456	// On the other hand, if the new reading is too close to the
mjr	69:cc5039284fac	4457	// previous reading, use the previous reported reading. This
mjr	69:cc5039284fac	4458	// filters out jitter around a stationary position.
mjr	69:cc5039284fac	4459	const float maxDist = 2.184f*uint32_t(r.t - prv.t);
mjr	69:cc5039284fac	4460	const int minDist = 256;
mjr	69:cc5039284fac	4461	const int delta = abs(r.pos - prv.pos);
mjr	69:cc5039284fac	4462	if (maxDist > minDist && delta > maxDist)
mjr	69:cc5039284fac	4463	{
mjr	69:cc5039284fac	4464	// too big an excursion - discard this reading by reporting
mjr	69:cc5039284fac	4465	// the last reported reading instead
mjr	69:cc5039284fac	4466	r.pos = pre.reported;
mjr	69:cc5039284fac	4467	}
mjr	69:cc5039284fac	4468	else if (delta < minDist)
mjr	69:cc5039284fac	4469	{
mjr	69:cc5039284fac	4470	// too close to the prior reading - apply hysteresis
mjr	69:cc5039284fac	4471	r.pos = pre.reported;
mjr	69:cc5039284fac	4472	}
mjr	69:cc5039284fac	4473	else
mjr	69:cc5039284fac	4474	{
mjr	69:cc5039284fac	4475	// the reading is in range - keep it, and remember it as
mjr	69:cc5039284fac	4476	// the last reported reading
mjr	69:cc5039284fac	4477	pre.reported = r.pos;
mjr	69:cc5039284fac	4478	}
mjr	69:cc5039284fac	4479	}
mjr	69:cc5039284fac	4480
mjr	69:cc5039284fac	4481	// pre-filter data
mjr	69:cc5039284fac	4482	struct PreFilterData {
mjr	69:cc5039284fac	4483	PreFilterData()
mjr	69:cc5039284fac	4484	: reported(0)
mjr	69:cc5039284fac	4485	{
mjr	69:cc5039284fac	4486	raw.t = 0;
mjr	69:cc5039284fac	4487	raw.pos = 0;
mjr	69:cc5039284fac	4488	}
mjr	69:cc5039284fac	4489	PlungerReading raw; // previous raw sensor reading
mjr	69:cc5039284fac	4490	int reported; // previous reported reading
mjr	69:cc5039284fac	4491	} pre;
mjr	69:cc5039284fac	4492
mjr	69:cc5039284fac	4493
mjr	69:cc5039284fac	4494	// Apply the post-processing filter. This filter is applied after
mjr	69:cc5039284fac	4495	// the fire-event processing. In the past, this used hysteresis to
mjr	69:cc5039284fac	4496	// try to smooth out jittering readings for a stationary plunger.
mjr	69:cc5039284fac	4497	// We've switched to a different approach that massages the readings
mjr	69:cc5039284fac	4498	// coming off the sensor before
mjr	69:cc5039284fac	4499	int applyPostFilter()
mjr	69:cc5039284fac	4500	{
mjr	69:cc5039284fac	4501	return z;
mjr	69:cc5039284fac	4502	}
mjr	69:cc5039284fac	4503	#endif
mjr	58:523fdcffbe6d	4504
mjr	58:523fdcffbe6d	4505	void initFilter()
mjr	58:523fdcffbe6d	4506	{
mjr	58:523fdcffbe6d	4507	filterSum = 0;
mjr	58:523fdcffbe6d	4508	filterN = 1;
mjr	58:523fdcffbe6d	4509	filterDir = 0x5555;
mjr	58:523fdcffbe6d	4510	}
mjr	58:523fdcffbe6d	4511	int64_t filterSum;
mjr	58:523fdcffbe6d	4512	int64_t filterN;
mjr	58:523fdcffbe6d	4513	uint16_t filterDir;
mjr	58:523fdcffbe6d	4514
mjr	58:523fdcffbe6d	4515
mjr	52:8298b2a73eb2	4516	// Calibration state. During calibration mode, we watch for release
mjr	52:8298b2a73eb2	4517	// events, to measure the time it takes to complete the release
mjr	52:8298b2a73eb2	4518	// motion; and we watch for the plunger to come to reset after a
mjr	52:8298b2a73eb2	4519	// release, to gather statistics on the rest position.
mjr	52:8298b2a73eb2	4520	// 0 = waiting to settle
mjr	52:8298b2a73eb2	4521	// 1 = at rest
mjr	52:8298b2a73eb2	4522	// 2 = retracting
mjr	52:8298b2a73eb2	4523	// 3 = possibly releasing
mjr	52:8298b2a73eb2	4524	uint8_t calState;
mjr	52:8298b2a73eb2	4525
mjr	52:8298b2a73eb2	4526	// Calibration zero point statistics.
mjr	52:8298b2a73eb2	4527	// During calibration mode, we collect data on the rest position (the
mjr	52:8298b2a73eb2	4528	// zero point) by watching for the plunger to come to rest after each
mjr	52:8298b2a73eb2	4529	// release. We average these rest positions to get the calibrated
mjr	52:8298b2a73eb2	4530	// zero point. We use the average because the real physical plunger
mjr	52:8298b2a73eb2	4531	// itself doesn't come to rest at exactly the same spot every time,
mjr	52:8298b2a73eb2	4532	// largely due to friction in the mechanism. To calculate the average,
mjr	52:8298b2a73eb2	4533	// we keep a sum of the readings and a count of samples.
mjr	53:9b2611964afc	4534	PlungerReading calZeroStart;
mjr	52:8298b2a73eb2	4535	long calZeroPosSum;
mjr	52:8298b2a73eb2	4536	int calZeroPosN;
mjr	52:8298b2a73eb2	4537
mjr	52:8298b2a73eb2	4538	// Calibration release time statistics.
mjr	52:8298b2a73eb2	4539	// During calibration, we collect an average for the release time.
mjr	52:8298b2a73eb2	4540	long calRlsTimeSum;
mjr	52:8298b2a73eb2	4541	int calRlsTimeN;
mjr	52:8298b2a73eb2	4542
mjr	48:058ace2aed1d	4543	// set a firing mode
mjr	48:058ace2aed1d	4544	inline void firingMode(int m)
mjr	48:058ace2aed1d	4545	{
mjr	48:058ace2aed1d	4546	firing = m;
mjr	48:058ace2aed1d	4547	}
mjr	48:058ace2aed1d	4548
mjr	48:058ace2aed1d	4549	// Find the most recent local maximum in the history data, up to
mjr	48:058ace2aed1d	4550	// the given time limit.
mjr	48:058ace2aed1d	4551	int histLocalMax(uint32_t tcur, uint32_t dt)
mjr	48:058ace2aed1d	4552	{
mjr	48:058ace2aed1d	4553	// start with the prior entry
mjr	48:058ace2aed1d	4554	int idx = (histIdx == 0 ? countof(hist) : histIdx) - 1;
mjr	48:058ace2aed1d	4555	int hi = hist[idx].pos;
mjr	48:058ace2aed1d	4556
mjr	48:058ace2aed1d	4557	// scan backwards for a local maximum
mjr	48:058ace2aed1d	4558	for (int n = countof(hist) - 1 ; n > 0 ; idx = (idx == 0 ? countof(hist) : idx) - 1)
mjr	48:058ace2aed1d	4559	{
mjr	48:058ace2aed1d	4560	// if this isn't within the time window, stop
mjr	48:058ace2aed1d	4561	if (uint32_t(tcur - hist[idx].t) > dt)
mjr	48:058ace2aed1d	4562	break;
mjr	48:058ace2aed1d	4563
mjr	48:058ace2aed1d	4564	// if this isn't above the current hith, stop
mjr	48:058ace2aed1d	4565	if (hist[idx].pos < hi)
mjr	48:058ace2aed1d	4566	break;
mjr	48:058ace2aed1d	4567
mjr	48:058ace2aed1d	4568	// this is the new high
mjr	48:058ace2aed1d	4569	hi = hist[idx].pos;
mjr	48:058ace2aed1d	4570	}
mjr	48:058ace2aed1d	4571
mjr	48:058ace2aed1d	4572	// return the local maximum
mjr	48:058ace2aed1d	4573	return hi;
mjr	48:058ace2aed1d	4574	}
mjr	48:058ace2aed1d	4575
mjr	50:40015764bbe6	4576	// velocity at previous reading, and the one before that
mjr	76:7f5912b6340e	4577	int vprv, vprv2;
mjr	48:058ace2aed1d	4578
mjr	48:058ace2aed1d	4579	// Circular buffer of recent readings. We keep a short history
mjr	48:058ace2aed1d	4580	// of readings to analyze during firing events. We can only identify
mjr	48:058ace2aed1d	4581	// a firing event once it's somewhat under way, so we need a little
mjr	48:058ace2aed1d	4582	// retrospective information to accurately determine after the fact
mjr	48:058ace2aed1d	4583	// exactly when it started. We throttle our readings to no more
mjr	74:822a92bc11d2	4584	// than one every 1ms, so we have at least N*1ms of history in this
mjr	48:058ace2aed1d	4585	// array.
mjr	74:822a92bc11d2	4586	PlungerReading hist[32];
mjr	48:058ace2aed1d	4587	int histIdx;
mjr	49:37bd97eb7688	4588
mjr	50:40015764bbe6	4589	// get the nth history item (0=last, 1=2nd to last, etc)
mjr	74:822a92bc11d2	4590	inline const PlungerReading &nthHist(int n) const
mjr	50:40015764bbe6	4591	{
mjr	50:40015764bbe6	4592	// histIdx-1 is the last written; go from there
mjr	50:40015764bbe6	4593	n = histIdx - 1 - n;
mjr	50:40015764bbe6	4594
mjr	50:40015764bbe6	4595	// adjust for wrapping
mjr	50:40015764bbe6	4596	if (n < 0)
mjr	50:40015764bbe6	4597	n += countof(hist);
mjr	50:40015764bbe6	4598
mjr	50:40015764bbe6	4599	// return the item
mjr	50:40015764bbe6	4600	return hist[n];
mjr	50:40015764bbe6	4601	}
mjr	48:058ace2aed1d	4602
mjr	48:058ace2aed1d	4603	// Firing event state.
mjr	48:058ace2aed1d	4604	//
mjr	48:058ace2aed1d	4605	// 0 - Default state. We report the real instantaneous plunger
mjr	48:058ace2aed1d	4606	// position to the joystick interface.
mjr	48:058ace2aed1d	4607	//
mjr	53:9b2611964afc	4608	// 1 - Moving forward
mjr	48:058ace2aed1d	4609	//
mjr	53:9b2611964afc	4610	// 2 - Accelerating
mjr	48:058ace2aed1d	4611	//
mjr	53:9b2611964afc	4612	// 3 - Firing. We report the rest position for a minimum interval,
mjr	53:9b2611964afc	4613	// or until the real plunger comes to rest somewhere.
mjr	48:058ace2aed1d	4614	//
mjr	48:058ace2aed1d	4615	int firing;
mjr	48:058ace2aed1d	4616
mjr	51:57eb311faafa	4617	// Position/timestamp at start of firing phase 1. When we see a
mjr	51:57eb311faafa	4618	// sustained forward acceleration, we freeze joystick reports at
mjr	51:57eb311faafa	4619	// the recent local maximum, on the assumption that this was the
mjr	51:57eb311faafa	4620	// start of the release. If this is zero, it means that we're
mjr	51:57eb311faafa	4621	// monitoring accelerating motion but haven't seen it for long
mjr	51:57eb311faafa	4622	// enough yet to be confident that a release is in progress.
mjr	48:058ace2aed1d	4623	PlungerReading f1;
mjr	48:058ace2aed1d	4624
mjr	48:058ace2aed1d	4625	// Position/timestamp at start of firing phase 2. The position is
mjr	48:058ace2aed1d	4626	// the fake "bounce" position we report during this phase, and the
mjr	48:058ace2aed1d	4627	// timestamp tells us when the phase began so that we can end it
mjr	48:058ace2aed1d	4628	// after enough time elapses.
mjr	48:058ace2aed1d	4629	PlungerReading f2;
mjr	48:058ace2aed1d	4630
mjr	48:058ace2aed1d	4631	// Position/timestamp of start of stability window during phase 3.
mjr	48:058ace2aed1d	4632	// We use this to determine when the plunger comes to rest. We set
mjr	51:57eb311faafa	4633	// this at the beginning of phase 3, and then reset it when the
mjr	48:058ace2aed1d	4634	// plunger moves too far from the last position.
mjr	48:058ace2aed1d	4635	PlungerReading f3s;
mjr	48:058ace2aed1d	4636
mjr	48:058ace2aed1d	4637	// Position/timestamp of start of retraction window during phase 3.
mjr	48:058ace2aed1d	4638	// We use this to determine if the user is drawing the plunger back.
mjr	48:058ace2aed1d	4639	// If we see retraction motion for more than about 65ms, we assume
mjr	48:058ace2aed1d	4640	// that the user has taken over, because we should see forward
mjr	48:058ace2aed1d	4641	// motion within this timeframe if the plunger is just bouncing
mjr	48:058ace2aed1d	4642	// freely.
mjr	48:058ace2aed1d	4643	PlungerReading f3r;
mjr	48:058ace2aed1d	4644
mjr	58:523fdcffbe6d	4645	// next raw (unfiltered) Z value to report to the joystick interface
mjr	58:523fdcffbe6d	4646	// (in joystick distance units)
mjr	48:058ace2aed1d	4647	int z;
mjr	48:058ace2aed1d	4648
mjr	58:523fdcffbe6d	4649	// next filtered Z value to report to the joystick interface
mjr	58:523fdcffbe6d	4650	int zf;
mjr	48:058ace2aed1d	4651	};
mjr	48:058ace2aed1d	4652
mjr	48:058ace2aed1d	4653	// plunger reader singleton
mjr	48:058ace2aed1d	4654	PlungerReader plungerReader;
mjr	48:058ace2aed1d	4655
mjr	48:058ace2aed1d	4656	// ---------------------------------------------------------------------------
mjr	48:058ace2aed1d	4657	//
mjr	48:058ace2aed1d	4658	// Handle the ZB Launch Ball feature.
mjr	48:058ace2aed1d	4659	//
mjr	48:058ace2aed1d	4660	// The ZB Launch Ball feature, if enabled, lets the mechanical plunger
mjr	48:058ace2aed1d	4661	// serve as a substitute for a physical Launch Ball button. When a table
mjr	48:058ace2aed1d	4662	// is loaded in VP, and the table has the ZB Launch Ball LedWiz port
mjr	48:058ace2aed1d	4663	// turned on, we'll disable mechanical plunger reports through the
mjr	48:058ace2aed1d	4664	// joystick interface and instead use the plunger only to simulate the
mjr	48:058ace2aed1d	4665	// Launch Ball button. When the mode is active, pulling back and
mjr	48:058ace2aed1d	4666	// releasing the plunger causes a brief simulated press of the Launch
mjr	48:058ace2aed1d	4667	// button, and pushing the plunger forward of the rest position presses
mjr	48:058ace2aed1d	4668	// the Launch button as long as the plunger is pressed forward.
mjr	48:058ace2aed1d	4669	//
mjr	48:058ace2aed1d	4670	// This feature has two configuration components:
mjr	48:058ace2aed1d	4671	//
mjr	48:058ace2aed1d	4672	// - An LedWiz port number. This port is a "virtual" port that doesn't
mjr	48:058ace2aed1d	4673	// have to be attached to any actual output. DOF uses it to signal
mjr	48:058ace2aed1d	4674	// that the current table uses a Launch button instead of a plunger.
mjr	48:058ace2aed1d	4675	// DOF simply turns the port on when such a table is loaded and turns
mjr	48:058ace2aed1d	4676	// it off at all other times. We use it to enable and disable the
mjr	48:058ace2aed1d	4677	// plunger/launch button connection.
mjr	48:058ace2aed1d	4678	//
mjr	48:058ace2aed1d	4679	// - A joystick button ID. We simulate pressing this button when the
mjr	48:058ace2aed1d	4680	// launch feature is activated via the LedWiz port and the plunger is
mjr	48:058ace2aed1d	4681	// either pulled back and releasd, or pushed forward past the rest
mjr	48:058ace2aed1d	4682	// position.
mjr	48:058ace2aed1d	4683	//
mjr	48:058ace2aed1d	4684	class ZBLaunchBall
mjr	48:058ace2aed1d	4685	{
mjr	48:058ace2aed1d	4686	public:
mjr	48:058ace2aed1d	4687	ZBLaunchBall()
mjr	48:058ace2aed1d	4688	{
mjr	48:058ace2aed1d	4689	// start in the default state
mjr	48:058ace2aed1d	4690	lbState = 0;
mjr	53:9b2611964afc	4691	btnState = false;
mjr	48:058ace2aed1d	4692	}
mjr	48:058ace2aed1d	4693
mjr	48:058ace2aed1d	4694	// Update state. This checks the current plunger position and
mjr	48:058ace2aed1d	4695	// the timers to see if the plunger is in a position that simulates
mjr	48:058ace2aed1d	4696	// a Launch Ball button press via the ZB Launch Ball feature.
mjr	48:058ace2aed1d	4697	// Updates the simulated button vector according to the current
mjr	48:058ace2aed1d	4698	// launch ball state. The main loop calls this before each
mjr	48:058ace2aed1d	4699	// joystick update to figure the new simulated button state.
mjr	53:9b2611964afc	4700	void update()
mjr	48:058ace2aed1d	4701	{
mjr	53:9b2611964afc	4702	// If the ZB Launch Ball led wiz output is ON, check for a
mjr	53:9b2611964afc	4703	// plunger firing event
mjr	53:9b2611964afc	4704	if (zbLaunchOn)
mjr	48:058ace2aed1d	4705	{
mjr	53:9b2611964afc	4706	// note the new position
mjr	48:058ace2aed1d	4707	int znew = plungerReader.getPosition();
mjr	53:9b2611964afc	4708
mjr	53:9b2611964afc	4709	// figure the push threshold from the configuration data
mjr	51:57eb311faafa	4710	const int pushThreshold = int(-JOYMAX/3.0 * cfg.plunger.zbLaunchBall.pushDistance/1000.0);
mjr	53:9b2611964afc	4711
mjr	53:9b2611964afc	4712	// check the state
mjr	48:058ace2aed1d	4713	switch (lbState)
mjr	48:058ace2aed1d	4714	{
mjr	48:058ace2aed1d	4715	case 0:
mjr	53:9b2611964afc	4716	// Default state. If a launch event has been detected on
mjr	53:9b2611964afc	4717	// the plunger, activate a timed pulse and switch to state 1.
mjr	53:9b2611964afc	4718	// If the plunger is pushed forward of the threshold, push
mjr	53:9b2611964afc	4719	// the button.
mjr	53:9b2611964afc	4720	if (plungerReader.isFiring())
mjr	53:9b2611964afc	4721	{
mjr	53:9b2611964afc	4722	// firing event - start a timed Launch button pulse
mjr	53:9b2611964afc	4723	lbTimer.reset();
mjr	53:9b2611964afc	4724	lbTimer.start();
mjr	53:9b2611964afc	4725	setButton(true);
mjr	53:9b2611964afc	4726
mjr	53:9b2611964afc	4727	// switch to state 1
mjr	53:9b2611964afc	4728	lbState = 1;
mjr	53:9b2611964afc	4729	}
mjr	48:058ace2aed1d	4730	else if (znew <= pushThreshold)
mjr	53:9b2611964afc	4731	{
mjr	53:9b2611964afc	4732	// pushed forward without a firing event - hold the
mjr	53:9b2611964afc	4733	// button as long as we're pushed forward
mjr	53:9b2611964afc	4734	setButton(true);
mjr	53:9b2611964afc	4735	}
mjr	53:9b2611964afc	4736	else
mjr	53:9b2611964afc	4737	{
mjr	53:9b2611964afc	4738	// not pushed forward - turn off the Launch button
mjr	53:9b2611964afc	4739	setButton(false);
mjr	53:9b2611964afc	4740	}
mjr	48:058ace2aed1d	4741	break;
mjr	48:058ace2aed1d	4742
mjr	48:058ace2aed1d	4743	case 1:
mjr	53:9b2611964afc	4744	// State 1: Timed Launch button pulse in progress after a
mjr	53:9b2611964afc	4745	// firing event. Wait for the timer to expire.
mjr	53:9b2611964afc	4746	if (lbTimer.read_us() > 200000UL)
mjr	53:9b2611964afc	4747	{
mjr	53:9b2611964afc	4748	// timer expired - turn off the button
mjr	53:9b2611964afc	4749	setButton(false);
mjr	53:9b2611964afc	4750
mjr	53:9b2611964afc	4751	// switch to state 2
mjr	53:9b2611964afc	4752	lbState = 2;
mjr	53:9b2611964afc	4753	}
mjr	48:058ace2aed1d	4754	break;
mjr	48:058ace2aed1d	4755
mjr	48:058ace2aed1d	4756	case 2:
mjr	53:9b2611964afc	4757	// State 2: Timed Launch button pulse done. Wait for the
mjr	53:9b2611964afc	4758	// plunger launch event to end.
mjr	53:9b2611964afc	4759	if (!plungerReader.isFiring())
mjr	53:9b2611964afc	4760	{
mjr	53:9b2611964afc	4761	// firing event done - return to default state
mjr	53:9b2611964afc	4762	lbState = 0;
mjr	53:9b2611964afc	4763	}
mjr	48:058ace2aed1d	4764	break;
mjr	48:058ace2aed1d	4765	}
mjr	53:9b2611964afc	4766	}
mjr	53:9b2611964afc	4767	else
mjr	53:9b2611964afc	4768	{
mjr	53:9b2611964afc	4769	// ZB Launch Ball disabled - turn off the button if it was on
mjr	53:9b2611964afc	4770	setButton(false);
mjr	48:058ace2aed1d	4771
mjr	53:9b2611964afc	4772	// return to the default state
mjr	53:9b2611964afc	4773	lbState = 0;
mjr	48:058ace2aed1d	4774	}
mjr	48:058ace2aed1d	4775	}
mjr	53:9b2611964afc	4776
mjr	53:9b2611964afc	4777	// Set the button state
mjr	53:9b2611964afc	4778	void setButton(bool on)
mjr	53:9b2611964afc	4779	{
mjr	53:9b2611964afc	4780	if (btnState != on)
mjr	53:9b2611964afc	4781	{
mjr	53:9b2611964afc	4782	// remember the new state
mjr	53:9b2611964afc	4783	btnState = on;
mjr	53:9b2611964afc	4784
mjr	53:9b2611964afc	4785	// update the virtual button state
mjr	65:739875521aae	4786	buttonState[zblButtonIndex].virtPress(on);
mjr	53:9b2611964afc	4787	}
mjr	53:9b2611964afc	4788	}
mjr	53:9b2611964afc	4789
mjr	48:058ace2aed1d	4790	private:
mjr	48:058ace2aed1d	4791	// Simulated Launch Ball button state. If a "ZB Launch Ball" port is
mjr	48:058ace2aed1d	4792	// defined for our LedWiz port mapping, any time that port is turned ON,
mjr	48:058ace2aed1d	4793	// we'll simulate pushing the Launch Ball button if the player pulls
mjr	48:058ace2aed1d	4794	// back and releases the plunger, or simply pushes on the plunger from
mjr	48:058ace2aed1d	4795	// the rest position. This allows the plunger to be used in lieu of a
mjr	48:058ace2aed1d	4796	// physical Launch Ball button for tables that don't have plungers.
mjr	48:058ace2aed1d	4797	//
mjr	48:058ace2aed1d	4798	// States:
mjr	48:058ace2aed1d	4799	// 0 = default
mjr	53:9b2611964afc	4800	// 1 = firing (firing event has activated a Launch button pulse)
mjr	53:9b2611964afc	4801	// 2 = firing done (Launch button pulse ended, waiting for plunger
mjr	53:9b2611964afc	4802	// firing event to end)
mjr	53:9b2611964afc	4803	uint8_t lbState;
mjr	48:058ace2aed1d	4804
mjr	53:9b2611964afc	4805	// button state
mjr	53:9b2611964afc	4806	bool btnState;
mjr	48:058ace2aed1d	4807
mjr	48:058ace2aed1d	4808	// Time since last lbState transition. Some of the states are time-
mjr	48:058ace2aed1d	4809	// sensitive. In the "uncocked" state, we'll return to state 0 if
mjr	48:058ace2aed1d	4810	// we remain in this state for more than a few milliseconds, since
mjr	48:058ace2aed1d	4811	// it indicates that the plunger is being slowly returned to rest
mjr	48:058ace2aed1d	4812	// rather than released. In the "launching" state, we need to release
mjr	48:058ace2aed1d	4813	// the Launch Ball button after a moment, and we need to wait for
mjr	48:058ace2aed1d	4814	// the plunger to come to rest before returning to state 0.
mjr	48:058ace2aed1d	4815	Timer lbTimer;
mjr	48:058ace2aed1d	4816	};
mjr	48:058ace2aed1d	4817
mjr	35:e959ffba78fd	4818	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	4819	//
mjr	35:e959ffba78fd	4820	// Reboot - resets the microcontroller
mjr	35:e959ffba78fd	4821	//
mjr	54:fd77a6b2f76c	4822	void reboot(USBJoystick &js, bool disconnect = true, long pause_us = 2000000L)
mjr	35:e959ffba78fd	4823	{
mjr	35:e959ffba78fd	4824	// disconnect from USB
mjr	54:fd77a6b2f76c	4825	if (disconnect)
mjr	54:fd77a6b2f76c	4826	js.disconnect();
mjr	35:e959ffba78fd	4827
mjr	35:e959ffba78fd	4828	// wait a few seconds to make sure the host notices the disconnect
mjr	54:fd77a6b2f76c	4829	wait_us(pause_us);
mjr	35:e959ffba78fd	4830
mjr	35:e959ffba78fd	4831	// reset the device
mjr	35:e959ffba78fd	4832	NVIC_SystemReset();
mjr	35:e959ffba78fd	4833	while (true) { }
mjr	35:e959ffba78fd	4834	}
mjr	35:e959ffba78fd	4835
mjr	35:e959ffba78fd	4836	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	4837	//
mjr	35:e959ffba78fd	4838	// Translate joystick readings from raw values to reported values, based
mjr	35:e959ffba78fd	4839	// on the orientation of the controller card in the cabinet.
mjr	35:e959ffba78fd	4840	//
mjr	35:e959ffba78fd	4841	void accelRotate(int &x, int &y)
mjr	35:e959ffba78fd	4842	{
mjr	35:e959ffba78fd	4843	int tmp;
mjr	35:e959ffba78fd	4844	switch (cfg.orientation)
mjr	35:e959ffba78fd	4845	{
mjr	35:e959ffba78fd	4846	case OrientationFront:
mjr	35:e959ffba78fd	4847	tmp = x;
mjr	35:e959ffba78fd	4848	x = y;
mjr	35:e959ffba78fd	4849	y = tmp;
mjr	35:e959ffba78fd	4850	break;
mjr	35:e959ffba78fd	4851
mjr	35:e959ffba78fd	4852	case OrientationLeft:
mjr	35:e959ffba78fd	4853	x = -x;
mjr	35:e959ffba78fd	4854	break;
mjr	35:e959ffba78fd	4855
mjr	35:e959ffba78fd	4856	case OrientationRight:
mjr	35:e959ffba78fd	4857	y = -y;
mjr	35:e959ffba78fd	4858	break;
mjr	35:e959ffba78fd	4859
mjr	35:e959ffba78fd	4860	case OrientationRear:
mjr	35:e959ffba78fd	4861	tmp = -x;
mjr	35:e959ffba78fd	4862	x = -y;
mjr	35:e959ffba78fd	4863	y = tmp;
mjr	35:e959ffba78fd	4864	break;
mjr	35:e959ffba78fd	4865	}
mjr	35:e959ffba78fd	4866	}
mjr	35:e959ffba78fd	4867
mjr	35:e959ffba78fd	4868	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	4869	//
mjr	35:e959ffba78fd	4870	// Calibration button state:
mjr	35:e959ffba78fd	4871	// 0 = not pushed
mjr	35:e959ffba78fd	4872	// 1 = pushed, not yet debounced
mjr	35:e959ffba78fd	4873	// 2 = pushed, debounced, waiting for hold time
mjr	35:e959ffba78fd	4874	// 3 = pushed, hold time completed - in calibration mode
mjr	35:e959ffba78fd	4875	int calBtnState = 0;
mjr	35:e959ffba78fd	4876
mjr	35:e959ffba78fd	4877	// calibration button debounce timer
mjr	35:e959ffba78fd	4878	Timer calBtnTimer;
mjr	35:e959ffba78fd	4879
mjr	35:e959ffba78fd	4880	// calibration button light state
mjr	35:e959ffba78fd	4881	int calBtnLit = false;
mjr	35:e959ffba78fd	4882
mjr	35:e959ffba78fd	4883
mjr	35:e959ffba78fd	4884	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	4885	//
mjr	40:cc0d9814522b	4886	// Configuration variable get/set message handling
mjr	35:e959ffba78fd	4887	//
mjr	40:cc0d9814522b	4888
mjr	40:cc0d9814522b	4889	// Handle SET messages - write configuration variables from USB message data
mjr	40:cc0d9814522b	4890	#define if_msg_valid(test) if (test)
mjr	53:9b2611964afc	4891	#define v_byte(var, ofs) cfg.var = data[ofs]
mjr	53:9b2611964afc	4892	#define v_ui16(var, ofs) cfg.var = wireUI16(data+(ofs))
mjr	53:9b2611964afc	4893	#define v_pin(var, ofs) cfg.var = wirePinName(data[ofs])
mjr	53:9b2611964afc	4894	#define v_byte_ro(val, ofs) // ignore read-only variables on SET
mjr	74:822a92bc11d2	4895	#define v_ui32_ro(val, ofs) // ignore read-only variables on SET
mjr	74:822a92bc11d2	4896	#define VAR_MODE_SET 1 // we're in SET mode
mjr	76:7f5912b6340e	4897	#define v_func configVarSet(const uint8_t *data)
mjr	40:cc0d9814522b	4898	#include "cfgVarMsgMap.h"
mjr	35:e959ffba78fd	4899
mjr	40:cc0d9814522b	4900	// redefine everything for the SET messages
mjr	40:cc0d9814522b	4901	#undef if_msg_valid
mjr	40:cc0d9814522b	4902	#undef v_byte
mjr	40:cc0d9814522b	4903	#undef v_ui16
mjr	40:cc0d9814522b	4904	#undef v_pin
mjr	53:9b2611964afc	4905	#undef v_byte_ro
mjr	74:822a92bc11d2	4906	#undef v_ui32_ro
mjr	74:822a92bc11d2	4907	#undef VAR_MODE_SET
mjr	40:cc0d9814522b	4908	#undef v_func
mjr	38:091e511ce8a0	4909
mjr	40:cc0d9814522b	4910	// Handle GET messages - read variable values and return in USB message daa
mjr	40:cc0d9814522b	4911	#define if_msg_valid(test)
mjr	53:9b2611964afc	4912	#define v_byte(var, ofs) data[ofs] = cfg.var
mjr	53:9b2611964afc	4913	#define v_ui16(var, ofs) ui16Wire(data+(ofs), cfg.var)
mjr	53:9b2611964afc	4914	#define v_pin(var, ofs) pinNameWire(data+(ofs), cfg.var)
mjr	73:4e8ce0b18915	4915	#define v_byte_ro(val, ofs) data[ofs] = (val)
mjr	74:822a92bc11d2	4916	#define v_ui32_ro(val, ofs) ui32Wire(data+(ofs), val);
mjr	74:822a92bc11d2	4917	#define VAR_MODE_SET 0 // we're in GET mode
mjr	76:7f5912b6340e	4918	#define v_func configVarGet(uint8_t *data)
mjr	40:cc0d9814522b	4919	#include "cfgVarMsgMap.h"
mjr	40:cc0d9814522b	4920
mjr	35:e959ffba78fd	4921
mjr	35:e959ffba78fd	4922	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	4923	//
mjr	35:e959ffba78fd	4924	// Handle an input report from the USB host. Input reports use our extended
mjr	35:e959ffba78fd	4925	// LedWiz protocol.
mjr	33:d832bcab089e	4926	//
mjr	48:058ace2aed1d	4927	void handleInputMsg(LedWizMsg &lwm, USBJoystick &js)
mjr	35:e959ffba78fd	4928	{
mjr	38:091e511ce8a0	4929	// LedWiz commands come in two varieties: SBA and PBA. An
mjr	38:091e511ce8a0	4930	// SBA is marked by the first byte having value 64 (0x40). In
mjr	38:091e511ce8a0	4931	// the real LedWiz protocol, any other value in the first byte
mjr	38:091e511ce8a0	4932	// means it's a PBA message. However, valid PBA messages
mjr	38:091e511ce8a0	4933	// always have a first byte (and in fact all 8 bytes) in the
mjr	38:091e511ce8a0	4934	// range 0-49 or 129-132. Anything else is invalid. We take
mjr	38:091e511ce8a0	4935	// advantage of this to implement private protocol extensions.
mjr	38:091e511ce8a0	4936	// So our full protocol is as follows:
mjr	38:091e511ce8a0	4937	//
mjr	38:091e511ce8a0	4938	// first byte =
mjr	74:822a92bc11d2	4939	// 0-48 -> PBA
mjr	74:822a92bc11d2	4940	// 64 -> SBA
mjr	38:091e511ce8a0	4941	// 65 -> private control message; second byte specifies subtype
mjr	74:822a92bc11d2	4942	// 129-132 -> PBA
mjr	38:091e511ce8a0	4943	// 200-228 -> extended bank brightness set for outputs N to N+6, where
mjr	38:091e511ce8a0	4944	// N is (first byte - 200)*7
mjr	38:091e511ce8a0	4945	// other -> reserved for future use
mjr	38:091e511ce8a0	4946	//
mjr	39:b3815a1c3802	4947	uint8_t *data = lwm.data;
mjr	74:822a92bc11d2	4948	if (data[0] == 64)
mjr	35:e959ffba78fd	4949	{
mjr	74:822a92bc11d2	4950	// 64 = SBA (original LedWiz command to set on/off switches for ports 1-32)
mjr	74:822a92bc11d2	4951	//printf("SBA %02x %02x %02x %02x, speed %02x\r\n",
mjr	38:091e511ce8a0	4952	// data[1], data[2], data[3], data[4], data[5]);
mjr	74:822a92bc11d2	4953	sba_sbx(0, data);
mjr	74:822a92bc11d2	4954
mjr	74:822a92bc11d2	4955	// SBA resets the PBA port group counter
mjr	38:091e511ce8a0	4956	pbaIdx = 0;
mjr	38:091e511ce8a0	4957	}
mjr	38:091e511ce8a0	4958	else if (data[0] == 65)
mjr	38:091e511ce8a0	4959	{
mjr	38:091e511ce8a0	4960	// Private control message. This isn't an LedWiz message - it's
mjr	38:091e511ce8a0	4961	// an extension for this device. 65 is an invalid PBA setting,
mjr	38:091e511ce8a0	4962	// and isn't used for any other LedWiz message, so we appropriate
mjr	38:091e511ce8a0	4963	// it for our own private use. The first byte specifies the
mjr	38:091e511ce8a0	4964	// message type.
mjr	39:b3815a1c3802	4965	switch (data[1])
mjr	38:091e511ce8a0	4966	{
mjr	39:b3815a1c3802	4967	case 0:
mjr	39:b3815a1c3802	4968	// No Op
mjr	39:b3815a1c3802	4969	break;
mjr	39:b3815a1c3802	4970
mjr	39:b3815a1c3802	4971	case 1:
mjr	38:091e511ce8a0	4972	// 1 = Old Set Configuration:
mjr	38:091e511ce8a0	4973	// data[2] = LedWiz unit number (0x00 to 0x0f)
mjr	38:091e511ce8a0	4974	// data[3] = feature enable bit mask:
mjr	38:091e511ce8a0	4975	// 0x01 = enable plunger sensor
mjr	39:b3815a1c3802	4976	{
mjr	39:b3815a1c3802	4977
mjr	39:b3815a1c3802	4978	// get the new LedWiz unit number - this is 0-15, whereas we
mjr	39:b3815a1c3802	4979	// we save the nominal unit number 1-16 in the config
mjr	39:b3815a1c3802	4980	uint8_t newUnitNo = (data[2] & 0x0f) + 1;
mjr	39:b3815a1c3802	4981
mjr	39:b3815a1c3802	4982	// we'll need a reset if the LedWiz unit number is changing
mjr	39:b3815a1c3802	4983	bool needReset = (newUnitNo != cfg.psUnitNo);
mjr	39:b3815a1c3802	4984
mjr	39:b3815a1c3802	4985	// set the configuration parameters from the message
mjr	39:b3815a1c3802	4986	cfg.psUnitNo = newUnitNo;
mjr	39:b3815a1c3802	4987	cfg.plunger.enabled = data[3] & 0x01;
mjr	39:b3815a1c3802	4988
mjr	39:b3815a1c3802	4989	// save the configuration
mjr	39:b3815a1c3802	4990	saveConfigToFlash();
mjr	39:b3815a1c3802	4991
mjr	39:b3815a1c3802	4992	// reboot if necessary
mjr	39:b3815a1c3802	4993	if (needReset)
mjr	39:b3815a1c3802	4994	reboot(js);
mjr	39:b3815a1c3802	4995	}
mjr	39:b3815a1c3802	4996	break;
mjr	38:091e511ce8a0	4997
mjr	39:b3815a1c3802	4998	case 2:
mjr	38:091e511ce8a0	4999	// 2 = Calibrate plunger
mjr	38:091e511ce8a0	5000	// (No parameters)
mjr	38:091e511ce8a0	5001
mjr	38:091e511ce8a0	5002	// enter calibration mode
mjr	38:091e511ce8a0	5003	calBtnState = 3;
mjr	52:8298b2a73eb2	5004	plungerReader.setCalMode(true);
mjr	38:091e511ce8a0	5005	calBtnTimer.reset();
mjr	39:b3815a1c3802	5006	break;
mjr	39:b3815a1c3802	5007
mjr	39:b3815a1c3802	5008	case 3:
mjr	52:8298b2a73eb2	5009	// 3 = plunger sensor status report
mjr	48:058ace2aed1d	5010	// data[2] = flag bits
mjr	53:9b2611964afc	5011	// data[3] = extra exposure time, 100us (.1ms) increments
mjr	52:8298b2a73eb2	5012	reportPlungerStat = true;
mjr	53:9b2611964afc	5013	reportPlungerStatFlags = data[2];
mjr	53:9b2611964afc	5014	reportPlungerStatTime = data[3];
mjr	38:091e511ce8a0	5015
mjr	38:091e511ce8a0	5016	// show purple until we finish sending the report
mjr	38:091e511ce8a0	5017	diagLED(1, 0, 1);
mjr	39:b3815a1c3802	5018	break;
mjr	39:b3815a1c3802	5019
mjr	39:b3815a1c3802	5020	case 4:
mjr	38:091e511ce8a0	5021	// 4 = hardware configuration query
mjr	38:091e511ce8a0	5022	// (No parameters)
mjr	38:091e511ce8a0	5023	js.reportConfig(
mjr	38:091e511ce8a0	5024	numOutputs,
mjr	38:091e511ce8a0	5025	cfg.psUnitNo - 1, // report 0-15 range for unit number (we store 1-16 internally)
mjr	52:8298b2a73eb2	5026	cfg.plunger.cal.zero, cfg.plunger.cal.max, cfg.plunger.cal.tRelease,
mjr	75:677892300e7a	5027	nvm.valid(), // a config is loaded if the config memory block is valid
mjr	75:677892300e7a	5028	true, // we support sbx/pbx extensions
mjr	75:677892300e7a	5029	xmalloc_rem); // remaining memory size
mjr	39:b3815a1c3802	5030	break;
mjr	39:b3815a1c3802	5031
mjr	39:b3815a1c3802	5032	case 5:
mjr	38:091e511ce8a0	5033	// 5 = all outputs off, reset to LedWiz defaults
mjr	38:091e511ce8a0	5034	allOutputsOff();
mjr	39:b3815a1c3802	5035	break;
mjr	39:b3815a1c3802	5036
mjr	39:b3815a1c3802	5037	case 6:
mjr	38:091e511ce8a0	5038	// 6 = Save configuration to flash.
mjr	38:091e511ce8a0	5039	saveConfigToFlash();
mjr	38:091e511ce8a0	5040
mjr	53:9b2611964afc	5041	// before disconnecting, pause for the delay time specified in
mjr	53:9b2611964afc	5042	// the parameter byte (in seconds)
mjr	53:9b2611964afc	5043	rebootTime_us = data[2] * 1000000L;
mjr	53:9b2611964afc	5044	rebootTimer.start();
mjr	39:b3815a1c3802	5045	break;
mjr	40:cc0d9814522b	5046
mjr	40:cc0d9814522b	5047	case 7:
mjr	40:cc0d9814522b	5048	// 7 = Device ID report
mjr	53:9b2611964afc	5049	// data[2] = ID index: 1=CPU ID, 2=OpenSDA TUID
mjr	53:9b2611964afc	5050	js.reportID(data[2]);
mjr	40:cc0d9814522b	5051	break;
mjr	40:cc0d9814522b	5052
mjr	40:cc0d9814522b	5053	case 8:
mjr	40:cc0d9814522b	5054	// 8 = Engage/disengage night mode.
mjr	40:cc0d9814522b	5055	// data[2] = 1 to engage, 0 to disengage
mjr	40:cc0d9814522b	5056	setNightMode(data[2]);
mjr	40:cc0d9814522b	5057	break;
mjr	52:8298b2a73eb2	5058
mjr	52:8298b2a73eb2	5059	case 9:
mjr	52:8298b2a73eb2	5060	// 9 = Config variable query.
mjr	52:8298b2a73eb2	5061	// data[2] = config var ID
mjr	52:8298b2a73eb2	5062	// data[3] = array index (for array vars: button assignments, output ports)
mjr	52:8298b2a73eb2	5063	{
mjr	53:9b2611964afc	5064	// set up the reply buffer with the variable ID data, and zero out
mjr	53:9b2611964afc	5065	// the rest of the buffer
mjr	52:8298b2a73eb2	5066	uint8_t reply[8];
mjr	52:8298b2a73eb2	5067	reply[1] = data[2];
mjr	52:8298b2a73eb2	5068	reply[2] = data[3];
mjr	53:9b2611964afc	5069	memset(reply+3, 0, sizeof(reply)-3);
mjr	52:8298b2a73eb2	5070
mjr	52:8298b2a73eb2	5071	// query the value
mjr	52:8298b2a73eb2	5072	configVarGet(reply);
mjr	52:8298b2a73eb2	5073
mjr	52:8298b2a73eb2	5074	// send the reply
mjr	52:8298b2a73eb2	5075	js.reportConfigVar(reply + 1);
mjr	52:8298b2a73eb2	5076	}
mjr	52:8298b2a73eb2	5077	break;
mjr	53:9b2611964afc	5078
mjr	53:9b2611964afc	5079	case 10:
mjr	53:9b2611964afc	5080	// 10 = Build ID query.
mjr	53:9b2611964afc	5081	js.reportBuildInfo(getBuildID());
mjr	53:9b2611964afc	5082	break;
mjr	73:4e8ce0b18915	5083
mjr	73:4e8ce0b18915	5084	case 11:
mjr	73:4e8ce0b18915	5085	// 11 = TV ON relay control.
mjr	73:4e8ce0b18915	5086	// data[2] = operation:
mjr	73:4e8ce0b18915	5087	// 0 = turn relay off
mjr	73:4e8ce0b18915	5088	// 1 = turn relay on
mjr	73:4e8ce0b18915	5089	// 2 = pulse relay (as though the power-on timer fired)
mjr	73:4e8ce0b18915	5090	TVRelay(data[2]);
mjr	73:4e8ce0b18915	5091	break;
mjr	73:4e8ce0b18915	5092
mjr	73:4e8ce0b18915	5093	case 12:
mjr	74:822a92bc11d2	5094	// Unused
mjr	73:4e8ce0b18915	5095	break;
mjr	73:4e8ce0b18915	5096
mjr	73:4e8ce0b18915	5097	case 13:
mjr	73:4e8ce0b18915	5098	// 13 = Send button status report
mjr	73:4e8ce0b18915	5099	reportButtonStatus(js);
mjr	73:4e8ce0b18915	5100	break;
mjr	38:091e511ce8a0	5101	}
mjr	38:091e511ce8a0	5102	}
mjr	38:091e511ce8a0	5103	else if (data[0] == 66)
mjr	38:091e511ce8a0	5104	{
mjr	38:091e511ce8a0	5105	// Extended protocol - Set configuration variable.
mjr	38:091e511ce8a0	5106	// The second byte of the message is the ID of the variable
mjr	38:091e511ce8a0	5107	// to update, and the remaining bytes give the new value,
mjr	38:091e511ce8a0	5108	// in a variable-dependent format.
mjr	40:cc0d9814522b	5109	configVarSet(data);
mjr	38:091e511ce8a0	5110	}
mjr	74:822a92bc11d2	5111	else if (data[0] == 67)
mjr	74:822a92bc11d2	5112	{
mjr	74:822a92bc11d2	5113	// SBX - extended SBA message. This is the same as SBA, except
mjr	74:822a92bc11d2	5114	// that the 7th byte selects a group of 32 ports, to allow access
mjr	74:822a92bc11d2	5115	// to ports beyond the first 32.
mjr	74:822a92bc11d2	5116	sba_sbx(data[6], data);
mjr	74:822a92bc11d2	5117	}
mjr	74:822a92bc11d2	5118	else if (data[0] == 68)
mjr	74:822a92bc11d2	5119	{
mjr	74:822a92bc11d2	5120	// PBX - extended PBA message. This is similar to PBA, but
mjr	74:822a92bc11d2	5121	// allows access to more than the first 32 ports by encoding
mjr	74:822a92bc11d2	5122	// a port group byte that selects a block of 8 ports.
mjr	74:822a92bc11d2	5123
mjr	74:822a92bc11d2	5124	// get the port group - the first port is 8*group
mjr	74:822a92bc11d2	5125	int portGroup = data[1];
mjr	74:822a92bc11d2	5126
mjr	74:822a92bc11d2	5127	// unpack the brightness values
mjr	74:822a92bc11d2	5128	uint32_t tmp1 = data[2] \| (data[3]<<8) \| (data[4]<<16);
mjr	74:822a92bc11d2	5129	uint32_t tmp2 = data[5] \| (data[6]<<8) \| (data[7]<<16);
mjr	74:822a92bc11d2	5130	uint8_t bri[8] = {
mjr	74:822a92bc11d2	5131	tmp1 & 0x3F, (tmp1>>6) & 0x3F, (tmp1>>12) & 0x3F, (tmp1>>18) & 0x3F,
mjr	74:822a92bc11d2	5132	tmp2 & 0x3F, (tmp2>>6) & 0x3F, (tmp2>>12) & 0x3F, (tmp2>>18) & 0x3F
mjr	74:822a92bc11d2	5133	};
mjr	74:822a92bc11d2	5134
mjr	74:822a92bc11d2	5135	// map the flash levels: 60->129, 61->130, 62->131, 63->132
mjr	74:822a92bc11d2	5136	for (int i = 0 ; i < 8 ; ++i)
mjr	74:822a92bc11d2	5137	{
mjr	74:822a92bc11d2	5138	if (bri[i] >= 60)
mjr	74:822a92bc11d2	5139	bri[i] += 129-60;
mjr	74:822a92bc11d2	5140	}
mjr	74:822a92bc11d2	5141
mjr	74:822a92bc11d2	5142	// Carry out the PBA
mjr	74:822a92bc11d2	5143	pba_pbx(portGroup*8, bri);
mjr	74:822a92bc11d2	5144	}
mjr	38:091e511ce8a0	5145	else if (data[0] >= 200 && data[0] <= 228)
mjr	38:091e511ce8a0	5146	{
mjr	38:091e511ce8a0	5147	// Extended protocol - Extended output port brightness update.
mjr	38:091e511ce8a0	5148	// data[0]-200 gives us the bank of 7 outputs we're setting:
mjr	38:091e511ce8a0	5149	// 200 is outputs 0-6, 201 is outputs 7-13, 202 is 14-20, etc.
mjr	38:091e511ce8a0	5150	// The remaining bytes are brightness levels, 0-255, for the
mjr	38:091e511ce8a0	5151	// seven outputs in the selected bank. The LedWiz flashing
mjr	38:091e511ce8a0	5152	// modes aren't accessible in this message type; we can only
mjr	38:091e511ce8a0	5153	// set a fixed brightness, but in exchange we get 8-bit
mjr	38:091e511ce8a0	5154	// resolution rather than the paltry 0-48 scale that the real
mjr	38:091e511ce8a0	5155	// LedWiz uses. There's no separate on/off status for outputs
mjr	38:091e511ce8a0	5156	// adjusted with this message type, either, as there would be
mjr	38:091e511ce8a0	5157	// for a PBA message - setting a non-zero value immediately
mjr	38:091e511ce8a0	5158	// turns the output, overriding the last SBA setting.
mjr	38:091e511ce8a0	5159	//
mjr	38:091e511ce8a0	5160	// For outputs 0-31, this overrides any previous PBA/SBA
mjr	38:091e511ce8a0	5161	// settings for the port. Any subsequent PBA/SBA message will
mjr	38:091e511ce8a0	5162	// in turn override the setting made here. It's simple - the
mjr	38:091e511ce8a0	5163	// most recent message of either type takes precedence. For
mjr	38:091e511ce8a0	5164	// outputs above the LedWiz range, PBA/SBA messages can't
mjr	38:091e511ce8a0	5165	// address those ports anyway.
mjr	63:5cd1a5f3a41b	5166
mjr	63:5cd1a5f3a41b	5167	// figure the block of 7 ports covered in the message
mjr	38:091e511ce8a0	5168	int i0 = (data[0] - 200)*7;
mjr	38:091e511ce8a0	5169	int i1 = i0 + 7 < numOutputs ? i0 + 7 : numOutputs;
mjr	63:5cd1a5f3a41b	5170
mjr	63:5cd1a5f3a41b	5171	// update each port
mjr	38:091e511ce8a0	5172	for (int i = i0 ; i < i1 ; ++i)
mjr	38:091e511ce8a0	5173	{
mjr	38:091e511ce8a0	5174	// set the brightness level for the output
mjr	40:cc0d9814522b	5175	uint8_t b = data[i-i0+1];
mjr	38:091e511ce8a0	5176	outLevel[i] = b;
mjr	38:091e511ce8a0	5177
mjr	74:822a92bc11d2	5178	// set the port's LedWiz state to the nearest equivalent, so
mjr	74:822a92bc11d2	5179	// that it maintains its current setting if we switch back to
mjr	74:822a92bc11d2	5180	// LedWiz mode on a future update
mjr	76:7f5912b6340e	5181	if (b != 0)
mjr	76:7f5912b6340e	5182	{
mjr	76:7f5912b6340e	5183	// Non-zero brightness - set the SBA switch on, and set the
mjr	76:7f5912b6340e	5184	// PBA brightness to the DOF brightness rescaled to the 1..48
mjr	76:7f5912b6340e	5185	// LedWiz range. If the port is subsequently addressed by an
mjr	76:7f5912b6340e	5186	// LedWiz command, this will carry the current DOF setting
mjr	76:7f5912b6340e	5187	// forward unchanged.
mjr	76:7f5912b6340e	5188	wizOn[i] = 1;
mjr	76:7f5912b6340e	5189	wizVal[i] = dof_to_lw[b];
mjr	76:7f5912b6340e	5190	}
mjr	76:7f5912b6340e	5191	else
mjr	76:7f5912b6340e	5192	{
mjr	76:7f5912b6340e	5193	// Zero brightness. Set the SBA switch off, and leave the
mjr	76:7f5912b6340e	5194	// PBA brightness the same as it was.
mjr	76:7f5912b6340e	5195	wizOn[i] = 0;
mjr	76:7f5912b6340e	5196	}
mjr	74:822a92bc11d2	5197
mjr	38:091e511ce8a0	5198	// set the output
mjr	40:cc0d9814522b	5199	lwPin[i]->set(b);
mjr	38:091e511ce8a0	5200	}
mjr	38:091e511ce8a0	5201
mjr	38:091e511ce8a0	5202	// update 74HC595 outputs, if attached
mjr	38:091e511ce8a0	5203	if (hc595 != 0)
mjr	38:091e511ce8a0	5204	hc595->update();
mjr	38:091e511ce8a0	5205	}
mjr	38:091e511ce8a0	5206	else
mjr	38:091e511ce8a0	5207	{
mjr	74:822a92bc11d2	5208	// Everything else is an LedWiz PBA message. This is a full
mjr	74:822a92bc11d2	5209	// "profile" dump from the host for one bank of 8 outputs. Each
mjr	74:822a92bc11d2	5210	// byte sets one output in the current bank. The current bank
mjr	74:822a92bc11d2	5211	// is implied; the bank starts at 0 and is reset to 0 by any SBA
mjr	74:822a92bc11d2	5212	// message, and is incremented to the next bank by each PBA. Our
mjr	74:822a92bc11d2	5213	// variable pbaIdx keeps track of the current bank. There's no
mjr	74:822a92bc11d2	5214	// direct way for the host to select the bank; it just has to count
mjr	74:822a92bc11d2	5215	// on us staying in sync. In practice, clients always send the
mjr	74:822a92bc11d2	5216	// full set of 4 PBA messages in a row to set all 32 outputs.
mjr	38:091e511ce8a0	5217	//
mjr	38:091e511ce8a0	5218	// Note that a PBA implicitly overrides our extended profile
mjr	38:091e511ce8a0	5219	// messages (message prefix 200-219), because this sets the
mjr	38:091e511ce8a0	5220	// wizVal[] entry for each output, and that takes precedence
mjr	63:5cd1a5f3a41b	5221	// over the extended protocol settings when we're in LedWiz
mjr	63:5cd1a5f3a41b	5222	// protocol mode.
mjr	38:091e511ce8a0	5223	//
mjr	38:091e511ce8a0	5224	//printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n",
mjr	38:091e511ce8a0	5225	// pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
mjr	38:091e511ce8a0	5226
mjr	74:822a92bc11d2	5227	// carry out the PBA
mjr	74:822a92bc11d2	5228	pba_pbx(pbaIdx, data);
mjr	74:822a92bc11d2	5229
mjr	74:822a92bc11d2	5230	// update the PBX index state for the next message
mjr	74:822a92bc11d2	5231	pbaIdx = (pbaIdx + 8) % 32;
mjr	38:091e511ce8a0	5232	}
mjr	38:091e511ce8a0	5233	}
mjr	35:e959ffba78fd	5234
mjr	38:091e511ce8a0	5235	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	5236	//
mjr	5:a70c0bce770d	5237	// Main program loop. This is invoked on startup and runs forever. Our
mjr	5:a70c0bce770d	5238	// main work is to read our devices (the accelerometer and the CCD), process
mjr	5:a70c0bce770d	5239	// the readings into nudge and plunger position data, and send the results
mjr	5:a70c0bce770d	5240	// to the host computer via the USB joystick interface. We also monitor
mjr	5:a70c0bce770d	5241	// the USB connection for incoming LedWiz commands and process those into
mjr	5:a70c0bce770d	5242	// port outputs.
mjr	5:a70c0bce770d	5243	//
mjr	0:5acbbe3f4cf4	5244	int main(void)
mjr	0:5acbbe3f4cf4	5245	{
mjr	60:f38da020aa13	5246	// say hello to the debug console, in case it's connected
mjr	39:b3815a1c3802	5247	printf("\r\nPinscape Controller starting\r\n");
mjr	60:f38da020aa13	5248
mjr	60:f38da020aa13	5249	// debugging: print memory config info
mjr	59:94eb9265b6d7	5250	// -> no longer very useful, since we use our own custom malloc/new allocator (see xmalloc() above)
mjr	60:f38da020aa13	5251	// {int *a = new int; printf("Stack=%lx, heap=%lx, free=%ld\r\n", (long)&a, (long)a, (long)&a - (long)a);}
mjr	1:d913e0afb2ac	5252
mjr	76:7f5912b6340e	5253	// clear the I2C connection
mjr	35:e959ffba78fd	5254	clear_i2c();
mjr	38:091e511ce8a0	5255
mjr	76:7f5912b6340e	5256	// Load the saved configuration. There are two sources of the
mjr	76:7f5912b6340e	5257	// configuration data:
mjr	76:7f5912b6340e	5258	//
mjr	76:7f5912b6340e	5259	// - Look for an NVM (flash non-volatile memory) configuration.
mjr	76:7f5912b6340e	5260	// If this is valid, we'll load it. The NVM is config data that can
mjr	76:7f5912b6340e	5261	// be updated dynamically by the host via USB commands and then stored
mjr	76:7f5912b6340e	5262	// in the flash by the firmware itself. If this exists, it supersedes
mjr	76:7f5912b6340e	5263	// any of the other settings stores. The Windows config tool uses this
mjr	76:7f5912b6340e	5264	// to store user settings updates.
mjr	76:7f5912b6340e	5265	//
mjr	76:7f5912b6340e	5266	// - If there's no NVM, we'll load the factory defaults, then we'll
mjr	76:7f5912b6340e	5267	// load any settings stored in the host-loaded configuration. The
mjr	76:7f5912b6340e	5268	// host can patch a set of configuration variable settings into the
mjr	76:7f5912b6340e	5269	// .bin file when loading new firmware, in the host-loaded config
mjr	76:7f5912b6340e	5270	// area that we reserve for this purpose. This allows the host to
mjr	76:7f5912b6340e	5271	// restore a configuration at the same time it installs firmware,
mjr	76:7f5912b6340e	5272	// without a separate download of the config data.
mjr	76:7f5912b6340e	5273	//
mjr	76:7f5912b6340e	5274	// The NVM supersedes the host-loaded config, since it can be updated
mjr	76:7f5912b6340e	5275	// between firmware updated and is thus presumably more recent if it's
mjr	76:7f5912b6340e	5276	// present. (Note that the NVM and host-loaded config are both in
mjr	76:7f5912b6340e	5277	// flash, so in principle we could just have a single NVM store that
mjr	76:7f5912b6340e	5278	// the host patches. The only reason we don't is that the NVM store
mjr	76:7f5912b6340e	5279	// is an image of our in-memory config structure, which is a native C
mjr	76:7f5912b6340e	5280	// struct, and we don't want the host to have to know the details of
mjr	76:7f5912b6340e	5281	// its byte layout, for obvious reasons. The host-loaded config, in
mjr	76:7f5912b6340e	5282	// contrast, uses the wire protocol format, which has a well-defined
mjr	76:7f5912b6340e	5283	// byte layout that's independent of the firmware version or the
mjr	76:7f5912b6340e	5284	// details of how the C compiler arranges the struct memory.)
mjr	76:7f5912b6340e	5285	if (!loadConfigFromFlash())
mjr	76:7f5912b6340e	5286	loadHostLoadedConfig();
mjr	35:e959ffba78fd	5287
mjr	38:091e511ce8a0	5288	// initialize the diagnostic LEDs
mjr	38:091e511ce8a0	5289	initDiagLEDs(cfg);
mjr	38:091e511ce8a0	5290
mjr	33:d832bcab089e	5291	// we're not connected/awake yet
mjr	33:d832bcab089e	5292	bool connected = false;
mjr	40:cc0d9814522b	5293	Timer connectChangeTimer;
mjr	33:d832bcab089e	5294
mjr	35:e959ffba78fd	5295	// create the plunger sensor interface
mjr	35:e959ffba78fd	5296	createPlunger();
mjr	76:7f5912b6340e	5297
mjr	76:7f5912b6340e	5298	// update the plunger reader's cached calibration data
mjr	76:7f5912b6340e	5299	plungerReader.onUpdateCal();
mjr	33:d832bcab089e	5300
mjr	60:f38da020aa13	5301	// set up the TLC5940 interface, if these chips are present
mjr	35:e959ffba78fd	5302	init_tlc5940(cfg);
mjr	34:6b981a2afab7	5303
mjr	60:f38da020aa13	5304	// set up 74HC595 interface, if these chips are present
mjr	35:e959ffba78fd	5305	init_hc595(cfg);
mjr	6:cc35eb643e8f	5306
mjr	54:fd77a6b2f76c	5307	// Initialize the LedWiz ports. Note that the ordering here is important:
mjr	54:fd77a6b2f76c	5308	// this has to come after we create the TLC5940 and 74HC595 object instances
mjr	54:fd77a6b2f76c	5309	// (which we just did above), since we need to access those objects to set
mjr	54:fd77a6b2f76c	5310	// up ports assigned to the respective chips.
mjr	35:e959ffba78fd	5311	initLwOut(cfg);
mjr	48:058ace2aed1d	5312
mjr	60:f38da020aa13	5313	// start the TLC5940 refresh cycle clock
mjr	35:e959ffba78fd	5314	if (tlc5940 != 0)
mjr	35:e959ffba78fd	5315	tlc5940->start();
mjr	35:e959ffba78fd	5316
mjr	40:cc0d9814522b	5317	// start the TV timer, if applicable
mjr	40:cc0d9814522b	5318	startTVTimer(cfg);
mjr	48:058ace2aed1d	5319
mjr	35:e959ffba78fd	5320	// initialize the button input ports
mjr	35:e959ffba78fd	5321	bool kbKeys = false;
mjr	35:e959ffba78fd	5322	initButtons(cfg, kbKeys);
mjr	38:091e511ce8a0	5323
mjr	60:f38da020aa13	5324	// Create the joystick USB client. Note that the USB vendor/product ID
mjr	60:f38da020aa13	5325	// information comes from the saved configuration. Also note that we have
mjr	60:f38da020aa13	5326	// to wait until after initializing the input buttons (which we just did
mjr	60:f38da020aa13	5327	// above) to set up the interface, since the button setup will determine
mjr	60:f38da020aa13	5328	// whether or not we need to present a USB keyboard interface in addition
mjr	60:f38da020aa13	5329	// to the joystick interface.
mjr	51:57eb311faafa	5330	MyUSBJoystick js(cfg.usbVendorID, cfg.usbProductID, USB_VERSION_NO, false,
mjr	51:57eb311faafa	5331	cfg.joystickEnabled, kbKeys);
mjr	51:57eb311faafa	5332
mjr	60:f38da020aa13	5333	// Wait for the USB connection to start up. Show a distinctive diagnostic
mjr	60:f38da020aa13	5334	// flash pattern while waiting.
mjr	70:9f58735a1732	5335	Timer connTimeoutTimer, connFlashTimer;
mjr	70:9f58735a1732	5336	connTimeoutTimer.start();
mjr	70:9f58735a1732	5337	connFlashTimer.start();
mjr	51:57eb311faafa	5338	while (!js.configured())
mjr	51:57eb311faafa	5339	{
mjr	51:57eb311faafa	5340	// show one short yellow flash at 2-second intervals
mjr	70:9f58735a1732	5341	if (connFlashTimer.read_us() > 2000000)
mjr	51:57eb311faafa	5342	{
mjr	51:57eb311faafa	5343	// short yellow flash
mjr	51:57eb311faafa	5344	diagLED(1, 1, 0);
mjr	54:fd77a6b2f76c	5345	wait_us(50000);
mjr	51:57eb311faafa	5346	diagLED(0, 0, 0);
mjr	51:57eb311faafa	5347
mjr	51:57eb311faafa	5348	// reset the flash timer
mjr	70:9f58735a1732	5349	connFlashTimer.reset();
mjr	51:57eb311faafa	5350	}
mjr	70:9f58735a1732	5351
mjr	70:9f58735a1732	5352	if (cfg.disconnectRebootTimeout != 0
mjr	70:9f58735a1732	5353	&& connTimeoutTimer.read() > cfg.disconnectRebootTimeout)
mjr	70:9f58735a1732	5354	reboot(js, false, 0);
mjr	51:57eb311faafa	5355	}
mjr	60:f38da020aa13	5356
mjr	60:f38da020aa13	5357	// we're now connected to the host
mjr	54:fd77a6b2f76c	5358	connected = true;
mjr	40:cc0d9814522b	5359
mjr	60:f38da020aa13	5360	// Last report timer for the joytick interface. We use this timer to
mjr	60:f38da020aa13	5361	// throttle the report rate to a pace that's suitable for VP. Without
mjr	60:f38da020aa13	5362	// any artificial delays, we could generate data to send on the joystick
mjr	60:f38da020aa13	5363	// interface on every loop iteration. The loop iteration time depends
mjr	60:f38da020aa13	5364	// on which devices are attached, since most of the work in our main
mjr	60:f38da020aa13	5365	// loop is simply polling our devices. For typical setups, the loop
mjr	60:f38da020aa13	5366	// time ranges from about 0.25ms to 2.5ms; the biggest factor is the
mjr	60:f38da020aa13	5367	// plunger sensor. But VP polls for input about every 10ms, so there's
mjr	60:f38da020aa13	5368	// no benefit in sending data faster than that, and there's some harm,
mjr	60:f38da020aa13	5369	// in that it creates USB overhead (both on the wire and on the host
mjr	60:f38da020aa13	5370	// CPU). We therefore use this timer to pace our reports to roughly
mjr	60:f38da020aa13	5371	// the VP input polling rate. Note that there's no way to actually
mjr	60:f38da020aa13	5372	// synchronize with VP's polling, but there's also no need to, as the
mjr	60:f38da020aa13	5373	// input model is designed to reflect the overall current state at any
mjr	60:f38da020aa13	5374	// given time rather than events or deltas. If VP polls twice between
mjr	60:f38da020aa13	5375	// two updates, it simply sees no state change; if we send two updates
mjr	60:f38da020aa13	5376	// between VP polls, VP simply sees the latest state when it does get
mjr	60:f38da020aa13	5377	// around to polling.
mjr	38:091e511ce8a0	5378	Timer jsReportTimer;
mjr	38:091e511ce8a0	5379	jsReportTimer.start();
mjr	38:091e511ce8a0	5380
mjr	60:f38da020aa13	5381	// Time since we successfully sent a USB report. This is a hacky
mjr	60:f38da020aa13	5382	// workaround to deal with any remaining sporadic problems in the USB
mjr	60:f38da020aa13	5383	// stack. I've been trying to bulletproof the USB code over time to
mjr	60:f38da020aa13	5384	// remove all such problems at their source, but it seems unlikely that
mjr	60:f38da020aa13	5385	// we'll ever get them all. Thus this hack. The idea here is that if
mjr	60:f38da020aa13	5386	// we go too long without successfully sending a USB report, we'll
mjr	60:f38da020aa13	5387	// assume that the connection is broken (and the KL25Z USB hardware
mjr	60:f38da020aa13	5388	// hasn't noticed this), and we'll try taking measures to recover.
mjr	38:091e511ce8a0	5389	Timer jsOKTimer;
mjr	38:091e511ce8a0	5390	jsOKTimer.start();
mjr	35:e959ffba78fd	5391
mjr	55:4db125cd11a0	5392	// Initialize the calibration button and lamp, if enabled. To be enabled,
mjr	55:4db125cd11a0	5393	// the pin has to be assigned to something other than NC (0xFF), AND the
mjr	55:4db125cd11a0	5394	// corresponding feature enable flag has to be set.
mjr	55:4db125cd11a0	5395	DigitalIn *calBtn = 0;
mjr	55:4db125cd11a0	5396	DigitalOut *calBtnLed = 0;
mjr	55:4db125cd11a0	5397
mjr	55:4db125cd11a0	5398	// calibration button input - feature flag 0x01
mjr	55:4db125cd11a0	5399	if ((cfg.plunger.cal.features & 0x01) && cfg.plunger.cal.btn != 0xFF)
mjr	55:4db125cd11a0	5400	calBtn = new DigitalIn(wirePinName(cfg.plunger.cal.btn));
mjr	55:4db125cd11a0	5401
mjr	55:4db125cd11a0	5402	// calibration button indicator lamp output - feature flag 0x02
mjr	55:4db125cd11a0	5403	if ((cfg.plunger.cal.features & 0x02) && cfg.plunger.cal.led != 0xFF)
mjr	55:4db125cd11a0	5404	calBtnLed = new DigitalOut(wirePinName(cfg.plunger.cal.led));
mjr	6:cc35eb643e8f	5405
mjr	35:e959ffba78fd	5406	// initialize the calibration button
mjr	1:d913e0afb2ac	5407	calBtnTimer.start();
mjr	35:e959ffba78fd	5408	calBtnState = 0;
mjr	1:d913e0afb2ac	5409
mjr	1:d913e0afb2ac	5410	// set up a timer for our heartbeat indicator
mjr	1:d913e0afb2ac	5411	Timer hbTimer;
mjr	1:d913e0afb2ac	5412	hbTimer.start();
mjr	1:d913e0afb2ac	5413	int hb = 0;
mjr	5:a70c0bce770d	5414	uint16_t hbcnt = 0;
mjr	1:d913e0afb2ac	5415
mjr	1:d913e0afb2ac	5416	// set a timer for accelerometer auto-centering
mjr	1:d913e0afb2ac	5417	Timer acTimer;
mjr	1:d913e0afb2ac	5418	acTimer.start();
mjr	1:d913e0afb2ac	5419
mjr	0:5acbbe3f4cf4	5420	// create the accelerometer object
mjr	5:a70c0bce770d	5421	Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS, MMA8451_INT_PIN);
mjr	76:7f5912b6340e	5422
mjr	17:ab3cec0c8bf4	5423	// last accelerometer report, in joystick units (we report the nudge
mjr	17:ab3cec0c8bf4	5424	// acceleration via the joystick x & y axes, per the VP convention)
mjr	17:ab3cec0c8bf4	5425	int x = 0, y = 0;
mjr	17:ab3cec0c8bf4	5426
mjr	48:058ace2aed1d	5427	// initialize the plunger sensor
mjr	35:e959ffba78fd	5428	plungerSensor->init();
mjr	10:976666ffa4ef	5429
mjr	48:058ace2aed1d	5430	// set up the ZB Launch Ball monitor
mjr	48:058ace2aed1d	5431	ZBLaunchBall zbLaunchBall;
mjr	48:058ace2aed1d	5432
mjr	54:fd77a6b2f76c	5433	// enable the peripheral chips
mjr	54:fd77a6b2f76c	5434	if (tlc5940 != 0)
mjr	54:fd77a6b2f76c	5435	tlc5940->enable(true);
mjr	54:fd77a6b2f76c	5436	if (hc595 != 0)
mjr	54:fd77a6b2f76c	5437	hc595->enable(true);
mjr	74:822a92bc11d2	5438
mjr	76:7f5912b6340e	5439	// start the LedWiz flash cycle timer
mjr	74:822a92bc11d2	5440	wizCycleTimer.start();
mjr	74:822a92bc11d2	5441
mjr	74:822a92bc11d2	5442	// start the PWM update polling timer
mjr	74:822a92bc11d2	5443	polledPwmTimer.start();
mjr	43:7a6364d82a41	5444
mjr	1:d913e0afb2ac	5445	// we're all set up - now just loop, processing sensor reports and
mjr	1:d913e0afb2ac	5446	// host requests
mjr	0:5acbbe3f4cf4	5447	for (;;)
mjr	0:5acbbe3f4cf4	5448	{
mjr	74:822a92bc11d2	5449	// start the main loop timer for diagnostic data collection
mjr	76:7f5912b6340e	5450	IF_DIAG(mainLoopTimer.reset(); mainLoopTimer.start();)
mjr	74:822a92bc11d2	5451
mjr	48:058ace2aed1d	5452	// Process incoming reports on the joystick interface. The joystick
mjr	48:058ace2aed1d	5453	// "out" (receive) endpoint is used for LedWiz commands and our
mjr	48:058ace2aed1d	5454	// extended protocol commands. Limit processing time to 5ms to
mjr	48:058ace2aed1d	5455	// ensure we don't starve the input side.
mjr	39:b3815a1c3802	5456	LedWizMsg lwm;
mjr	48:058ace2aed1d	5457	Timer lwt;
mjr	48:058ace2aed1d	5458	lwt.start();
mjr	74:822a92bc11d2	5459	IF_DIAG(int msgCount = 0;)
mjr	48:058ace2aed1d	5460	while (js.readLedWizMsg(lwm) && lwt.read_us() < 5000)
mjr	74:822a92bc11d2	5461	{
mjr	48:058ace2aed1d	5462	handleInputMsg(lwm, js);
mjr	74:822a92bc11d2	5463	IF_DIAG(++msgCount;)
mjr	74:822a92bc11d2	5464	}
mjr	74:822a92bc11d2	5465
mjr	74:822a92bc11d2	5466	// collect performance statistics on the message reader, if desired
mjr	74:822a92bc11d2	5467	IF_DIAG(
mjr	74:822a92bc11d2	5468	if (msgCount != 0)
mjr	74:822a92bc11d2	5469	{
mjr	76:7f5912b6340e	5470	mainLoopMsgTime += lwt.read_us();
mjr	74:822a92bc11d2	5471	mainLoopMsgCount++;
mjr	74:822a92bc11d2	5472	}
mjr	74:822a92bc11d2	5473	)
mjr	74:822a92bc11d2	5474
mjr	74:822a92bc11d2	5475	// update flashing LedWiz outputs periodically
mjr	74:822a92bc11d2	5476	wizPulse();
mjr	74:822a92bc11d2	5477
mjr	74:822a92bc11d2	5478	// update PWM outputs
mjr	74:822a92bc11d2	5479	pollPwmUpdates();
mjr	55:4db125cd11a0	5480
mjr	76:7f5912b6340e	5481	// collect diagnostic statistics, checkpoint 0
mjr	76:7f5912b6340e	5482	IF_DIAG(mainLoopIterCheckpt[0] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	5483
mjr	55:4db125cd11a0	5484	// send TLC5940 data updates if applicable
mjr	55:4db125cd11a0	5485	if (tlc5940 != 0)
mjr	55:4db125cd11a0	5486	tlc5940->send();
mjr	1:d913e0afb2ac	5487
mjr	76:7f5912b6340e	5488	// collect diagnostic statistics, checkpoint 1
mjr	76:7f5912b6340e	5489	IF_DIAG(mainLoopIterCheckpt[1] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	5490
mjr	1:d913e0afb2ac	5491	// check for plunger calibration
mjr	17:ab3cec0c8bf4	5492	if (calBtn != 0 && !calBtn->read())
mjr	0:5acbbe3f4cf4	5493	{
mjr	1:d913e0afb2ac	5494	// check the state
mjr	1:d913e0afb2ac	5495	switch (calBtnState)
mjr	0:5acbbe3f4cf4	5496	{
mjr	1:d913e0afb2ac	5497	case 0:
mjr	1:d913e0afb2ac	5498	// button not yet pushed - start debouncing
mjr	1:d913e0afb2ac	5499	calBtnTimer.reset();
mjr	1:d913e0afb2ac	5500	calBtnState = 1;
mjr	1:d913e0afb2ac	5501	break;
mjr	1:d913e0afb2ac	5502
mjr	1:d913e0afb2ac	5503	case 1:
mjr	1:d913e0afb2ac	5504	// pushed, not yet debounced - if the debounce time has
mjr	1:d913e0afb2ac	5505	// passed, start the hold period
mjr	48:058ace2aed1d	5506	if (calBtnTimer.read_us() > 50000)
mjr	1:d913e0afb2ac	5507	calBtnState = 2;
mjr	1:d913e0afb2ac	5508	break;
mjr	1:d913e0afb2ac	5509
mjr	1:d913e0afb2ac	5510	case 2:
mjr	1:d913e0afb2ac	5511	// in the hold period - if the button has been held down
mjr	1:d913e0afb2ac	5512	// for the entire hold period, move to calibration mode
mjr	48:058ace2aed1d	5513	if (calBtnTimer.read_us() > 2050000)
mjr	1:d913e0afb2ac	5514	{
mjr	1:d913e0afb2ac	5515	// enter calibration mode
mjr	1:d913e0afb2ac	5516	calBtnState = 3;
mjr	9:fd65b0a94720	5517	calBtnTimer.reset();
mjr	35:e959ffba78fd	5518
mjr	44:b5ac89b9cd5d	5519	// begin the plunger calibration limits
mjr	52:8298b2a73eb2	5520	plungerReader.setCalMode(true);
mjr	1:d913e0afb2ac	5521	}
mjr	1:d913e0afb2ac	5522	break;
mjr	2:c174f9ee414a	5523
mjr	2:c174f9ee414a	5524	case 3:
mjr	9:fd65b0a94720	5525	// Already in calibration mode - pushing the button here
mjr	9:fd65b0a94720	5526	// doesn't change the current state, but we won't leave this
mjr	9:fd65b0a94720	5527	// state as long as it's held down. So nothing changes here.
mjr	2:c174f9ee414a	5528	break;
mjr	0:5acbbe3f4cf4	5529	}
mjr	0:5acbbe3f4cf4	5530	}
mjr	1:d913e0afb2ac	5531	else
mjr	1:d913e0afb2ac	5532	{
mjr	2:c174f9ee414a	5533	// Button released. If we're in calibration mode, and
mjr	2:c174f9ee414a	5534	// the calibration time has elapsed, end the calibration
mjr	2:c174f9ee414a	5535	// and save the results to flash.
mjr	2:c174f9ee414a	5536	//
mjr	2:c174f9ee414a	5537	// Otherwise, return to the base state without saving anything.
mjr	2:c174f9ee414a	5538	// If the button is released before we make it to calibration
mjr	2:c174f9ee414a	5539	// mode, it simply cancels the attempt.
mjr	48:058ace2aed1d	5540	if (calBtnState == 3 && calBtnTimer.read_us() > 15000000)
mjr	2:c174f9ee414a	5541	{
mjr	2:c174f9ee414a	5542	// exit calibration mode
mjr	1:d913e0afb2ac	5543	calBtnState = 0;
mjr	52:8298b2a73eb2	5544	plungerReader.setCalMode(false);
mjr	2:c174f9ee414a	5545
mjr	6:cc35eb643e8f	5546	// save the updated configuration
mjr	35:e959ffba78fd	5547	cfg.plunger.cal.calibrated = 1;
mjr	35:e959ffba78fd	5548	saveConfigToFlash();
mjr	2:c174f9ee414a	5549	}
mjr	2:c174f9ee414a	5550	else if (calBtnState != 3)
mjr	2:c174f9ee414a	5551	{
mjr	2:c174f9ee414a	5552	// didn't make it to calibration mode - cancel the operation
mjr	1:d913e0afb2ac	5553	calBtnState = 0;
mjr	2:c174f9ee414a	5554	}
mjr	1:d913e0afb2ac	5555	}
mjr	1:d913e0afb2ac	5556
mjr	1:d913e0afb2ac	5557	// light/flash the calibration button light, if applicable
mjr	1:d913e0afb2ac	5558	int newCalBtnLit = calBtnLit;
mjr	1:d913e0afb2ac	5559	switch (calBtnState)
mjr	0:5acbbe3f4cf4	5560	{
mjr	1:d913e0afb2ac	5561	case 2:
mjr	1:d913e0afb2ac	5562	// in the hold period - flash the light
mjr	48:058ace2aed1d	5563	newCalBtnLit = ((calBtnTimer.read_us()/250000) & 1);
mjr	1:d913e0afb2ac	5564	break;
mjr	1:d913e0afb2ac	5565
mjr	1:d913e0afb2ac	5566	case 3:
mjr	1:d913e0afb2ac	5567	// calibration mode - show steady on
mjr	1:d913e0afb2ac	5568	newCalBtnLit = true;
mjr	1:d913e0afb2ac	5569	break;
mjr	1:d913e0afb2ac	5570
mjr	1:d913e0afb2ac	5571	default:
mjr	1:d913e0afb2ac	5572	// not calibrating/holding - show steady off
mjr	1:d913e0afb2ac	5573	newCalBtnLit = false;
mjr	1:d913e0afb2ac	5574	break;
mjr	1:d913e0afb2ac	5575	}
mjr	3:3514575d4f86	5576
mjr	3:3514575d4f86	5577	// light or flash the external calibration button LED, and
mjr	3:3514575d4f86	5578	// do the same with the on-board blue LED
mjr	1:d913e0afb2ac	5579	if (calBtnLit != newCalBtnLit)
mjr	1:d913e0afb2ac	5580	{
mjr	1:d913e0afb2ac	5581	calBtnLit = newCalBtnLit;
mjr	2:c174f9ee414a	5582	if (calBtnLit) {
mjr	17:ab3cec0c8bf4	5583	if (calBtnLed != 0)
mjr	17:ab3cec0c8bf4	5584	calBtnLed->write(1);
mjr	38:091e511ce8a0	5585	diagLED(0, 0, 1); // blue
mjr	2:c174f9ee414a	5586	}
mjr	2:c174f9ee414a	5587	else {
mjr	17:ab3cec0c8bf4	5588	if (calBtnLed != 0)
mjr	17:ab3cec0c8bf4	5589	calBtnLed->write(0);
mjr	38:091e511ce8a0	5590	diagLED(0, 0, 0); // off
mjr	2:c174f9ee414a	5591	}
mjr	1:d913e0afb2ac	5592	}
mjr	35:e959ffba78fd	5593
mjr	76:7f5912b6340e	5594	// collect diagnostic statistics, checkpoint 2
mjr	76:7f5912b6340e	5595	IF_DIAG(mainLoopIterCheckpt[2] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	5596
mjr	48:058ace2aed1d	5597	// read the plunger sensor
mjr	48:058ace2aed1d	5598	plungerReader.read();
mjr	48:058ace2aed1d	5599
mjr	76:7f5912b6340e	5600	// collect diagnostic statistics, checkpoint 3
mjr	76:7f5912b6340e	5601	IF_DIAG(mainLoopIterCheckpt[3] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	5602
mjr	53:9b2611964afc	5603	// update the ZB Launch Ball status
mjr	53:9b2611964afc	5604	zbLaunchBall.update();
mjr	37:ed52738445fc	5605
mjr	76:7f5912b6340e	5606	// collect diagnostic statistics, checkpoint 4
mjr	76:7f5912b6340e	5607	IF_DIAG(mainLoopIterCheckpt[4] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	5608
mjr	53:9b2611964afc	5609	// process button updates
mjr	53:9b2611964afc	5610	processButtons(cfg);
mjr	53:9b2611964afc	5611
mjr	76:7f5912b6340e	5612	// collect diagnostic statistics, checkpoint 5
mjr	76:7f5912b6340e	5613	IF_DIAG(mainLoopIterCheckpt[5] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	5614
mjr	38:091e511ce8a0	5615	// send a keyboard report if we have new data
mjr	37:ed52738445fc	5616	if (kbState.changed)
mjr	37:ed52738445fc	5617	{
mjr	38:091e511ce8a0	5618	// send a keyboard report
mjr	37:ed52738445fc	5619	js.kbUpdate(kbState.data);
mjr	37:ed52738445fc	5620	kbState.changed = false;
mjr	37:ed52738445fc	5621	}
mjr	38:091e511ce8a0	5622
mjr	38:091e511ce8a0	5623	// likewise for the media controller
mjr	37:ed52738445fc	5624	if (mediaState.changed)
mjr	37:ed52738445fc	5625	{
mjr	38:091e511ce8a0	5626	// send a media report
mjr	37:ed52738445fc	5627	js.mediaUpdate(mediaState.data);
mjr	37:ed52738445fc	5628	mediaState.changed = false;
mjr	37:ed52738445fc	5629	}
mjr	38:091e511ce8a0	5630
mjr	76:7f5912b6340e	5631	// collect diagnostic statistics, checkpoint 6
mjr	76:7f5912b6340e	5632	IF_DIAG(mainLoopIterCheckpt[6] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	5633
mjr	38:091e511ce8a0	5634	// flag: did we successfully send a joystick report on this round?
mjr	38:091e511ce8a0	5635	bool jsOK = false;
mjr	55:4db125cd11a0	5636
mjr	55:4db125cd11a0	5637	// figure the current status flags for joystick reports
mjr	55:4db125cd11a0	5638	uint16_t statusFlags =
mjr	55:4db125cd11a0	5639	(cfg.plunger.enabled ? 0x01 : 0x00)
mjr	73:4e8ce0b18915	5640	\| (nightMode ? 0x02 : 0x00)
mjr	73:4e8ce0b18915	5641	\| ((psu2_state & 0x07) << 2);
mjr	17:ab3cec0c8bf4	5642
mjr	50:40015764bbe6	5643	// If it's been long enough since our last USB status report, send
mjr	50:40015764bbe6	5644	// the new report. VP only polls for input in 10ms intervals, so
mjr	50:40015764bbe6	5645	// there's no benefit in sending reports more frequently than this.
mjr	50:40015764bbe6	5646	// More frequent reporting would only add USB I/O overhead.
mjr	50:40015764bbe6	5647	if (cfg.joystickEnabled && jsReportTimer.read_us() > 10000UL)
mjr	17:ab3cec0c8bf4	5648	{
mjr	17:ab3cec0c8bf4	5649	// read the accelerometer
mjr	17:ab3cec0c8bf4	5650	int xa, ya;
mjr	17:ab3cec0c8bf4	5651	accel.get(xa, ya);
mjr	17:ab3cec0c8bf4	5652
mjr	17:ab3cec0c8bf4	5653	// confine the results to our joystick axis range
mjr	17:ab3cec0c8bf4	5654	if (xa < -JOYMAX) xa = -JOYMAX;
mjr	17:ab3cec0c8bf4	5655	if (xa > JOYMAX) xa = JOYMAX;
mjr	17:ab3cec0c8bf4	5656	if (ya < -JOYMAX) ya = -JOYMAX;
mjr	17:ab3cec0c8bf4	5657	if (ya > JOYMAX) ya = JOYMAX;
mjr	17:ab3cec0c8bf4	5658
mjr	17:ab3cec0c8bf4	5659	// store the updated accelerometer coordinates
mjr	17:ab3cec0c8bf4	5660	x = xa;
mjr	17:ab3cec0c8bf4	5661	y = ya;
mjr	17:ab3cec0c8bf4	5662
mjr	48:058ace2aed1d	5663	// Report the current plunger position unless the plunger is
mjr	48:058ace2aed1d	5664	// disabled, or the ZB Launch Ball signal is on. In either of
mjr	48:058ace2aed1d	5665	// those cases, just report a constant 0 value. ZB Launch Ball
mjr	48:058ace2aed1d	5666	// temporarily disables mechanical plunger reporting because it
mjr	21:5048e16cc9ef	5667	// tells us that the table has a Launch Ball button instead of
mjr	48:058ace2aed1d	5668	// a traditional plunger, so we don't want to confuse VP with
mjr	48:058ace2aed1d	5669	// regular plunger inputs.
mjr	48:058ace2aed1d	5670	int z = plungerReader.getPosition();
mjr	53:9b2611964afc	5671	int zrep = (!cfg.plunger.enabled \|\| zbLaunchOn ? 0 : z);
mjr	35:e959ffba78fd	5672
mjr	35:e959ffba78fd	5673	// rotate X and Y according to the device orientation in the cabinet
mjr	35:e959ffba78fd	5674	accelRotate(x, y);
mjr	35:e959ffba78fd	5675
mjr	35:e959ffba78fd	5676	// send the joystick report
mjr	53:9b2611964afc	5677	jsOK = js.update(x, y, zrep, jsButtons, statusFlags);
mjr	21:5048e16cc9ef	5678
mjr	17:ab3cec0c8bf4	5679	// we've just started a new report interval, so reset the timer
mjr	38:091e511ce8a0	5680	jsReportTimer.reset();
mjr	17:ab3cec0c8bf4	5681	}
mjr	21:5048e16cc9ef	5682
mjr	52:8298b2a73eb2	5683	// If we're in sensor status mode, report all pixel exposure values
mjr	52:8298b2a73eb2	5684	if (reportPlungerStat)
mjr	10:976666ffa4ef	5685	{
mjr	17:ab3cec0c8bf4	5686	// send the report
mjr	53:9b2611964afc	5687	plungerSensor->sendStatusReport(js, reportPlungerStatFlags, reportPlungerStatTime);
mjr	17:ab3cec0c8bf4	5688
mjr	10:976666ffa4ef	5689	// we have satisfied this request
mjr	52:8298b2a73eb2	5690	reportPlungerStat = false;
mjr	10:976666ffa4ef	5691	}
mjr	10:976666ffa4ef	5692
mjr	35:e959ffba78fd	5693	// If joystick reports are turned off, send a generic status report
mjr	35:e959ffba78fd	5694	// periodically for the sake of the Windows config tool.
mjr	55:4db125cd11a0	5695	if (!cfg.joystickEnabled && jsReportTimer.read_us() > 5000)
mjr	21:5048e16cc9ef	5696	{
mjr	55:4db125cd11a0	5697	jsOK = js.updateStatus(statusFlags);
mjr	38:091e511ce8a0	5698	jsReportTimer.reset();
mjr	38:091e511ce8a0	5699	}
mjr	38:091e511ce8a0	5700
mjr	38:091e511ce8a0	5701	// if we successfully sent a joystick report, reset the watchdog timer
mjr	38:091e511ce8a0	5702	if (jsOK)
mjr	38:091e511ce8a0	5703	{
mjr	38:091e511ce8a0	5704	jsOKTimer.reset();
mjr	38:091e511ce8a0	5705	jsOKTimer.start();
mjr	21:5048e16cc9ef	5706	}
mjr	21:5048e16cc9ef	5707
mjr	76:7f5912b6340e	5708	// collect diagnostic statistics, checkpoint 7
mjr	76:7f5912b6340e	5709	IF_DIAG(mainLoopIterCheckpt[7] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	5710
mjr	6:cc35eb643e8f	5711	#ifdef DEBUG_PRINTF
mjr	6:cc35eb643e8f	5712	if (x != 0 \|\| y != 0)
mjr	6:cc35eb643e8f	5713	printf("%d,%d\r\n", x, y);
mjr	6:cc35eb643e8f	5714	#endif
mjr	6:cc35eb643e8f	5715
mjr	33:d832bcab089e	5716	// check for connection status changes
mjr	54:fd77a6b2f76c	5717	bool newConnected = js.isConnected() && !js.isSleeping();
mjr	33:d832bcab089e	5718	if (newConnected != connected)
mjr	33:d832bcab089e	5719	{
mjr	54:fd77a6b2f76c	5720	// give it a moment to stabilize
mjr	40:cc0d9814522b	5721	connectChangeTimer.start();
mjr	55:4db125cd11a0	5722	if (connectChangeTimer.read_us() > 1000000)
mjr	33:d832bcab089e	5723	{
mjr	33:d832bcab089e	5724	// note the new status
mjr	33:d832bcab089e	5725	connected = newConnected;
mjr	40:cc0d9814522b	5726
mjr	40:cc0d9814522b	5727	// done with the change timer for this round - reset it for next time
mjr	40:cc0d9814522b	5728	connectChangeTimer.stop();
mjr	40:cc0d9814522b	5729	connectChangeTimer.reset();
mjr	33:d832bcab089e	5730
mjr	54:fd77a6b2f76c	5731	// if we're newly disconnected, clean up for PC suspend mode or power off
mjr	54:fd77a6b2f76c	5732	if (!connected)
mjr	40:cc0d9814522b	5733	{
mjr	54:fd77a6b2f76c	5734	// turn off all outputs
mjr	33:d832bcab089e	5735	allOutputsOff();
mjr	40:cc0d9814522b	5736
mjr	40:cc0d9814522b	5737	// The KL25Z runs off of USB power, so we might (depending on the PC
mjr	40:cc0d9814522b	5738	// and OS configuration) continue to receive power even when the main
mjr	40:cc0d9814522b	5739	// PC power supply is turned off, such as in soft-off or suspend/sleep
mjr	40:cc0d9814522b	5740	// mode. Any external output controller chips (TLC5940, 74HC595) might
mjr	40:cc0d9814522b	5741	// be powered from the PC power supply directly rather than from our
mjr	40:cc0d9814522b	5742	// USB power, so they might be powered off even when we're still running.
mjr	40:cc0d9814522b	5743	// To ensure cleaner startup when the power comes back on, globally
mjr	40:cc0d9814522b	5744	// disable the outputs. The global disable signals come from GPIO lines
mjr	40:cc0d9814522b	5745	// that remain powered as long as the KL25Z is powered, so these modes
mjr	40:cc0d9814522b	5746	// will apply smoothly across power state transitions in the external
mjr	40:cc0d9814522b	5747	// hardware. That is, when the external chips are powered up, they'll
mjr	40:cc0d9814522b	5748	// see the global disable signals as stable voltage inputs immediately,
mjr	40:cc0d9814522b	5749	// which will cause them to suppress any output triggering. This ensures
mjr	40:cc0d9814522b	5750	// that we don't fire any solenoids or flash any lights spuriously when
mjr	40:cc0d9814522b	5751	// the power first comes on.
mjr	40:cc0d9814522b	5752	if (tlc5940 != 0)
mjr	40:cc0d9814522b	5753	tlc5940->enable(false);
mjr	40:cc0d9814522b	5754	if (hc595 != 0)
mjr	40:cc0d9814522b	5755	hc595->enable(false);
mjr	40:cc0d9814522b	5756	}
mjr	33:d832bcab089e	5757	}
mjr	33:d832bcab089e	5758	}
mjr	48:058ace2aed1d	5759
mjr	53:9b2611964afc	5760	// if we have a reboot timer pending, check for completion
mjr	53:9b2611964afc	5761	if (rebootTimer.isRunning() && rebootTimer.read_us() > rebootTime_us)
mjr	53:9b2611964afc	5762	reboot(js);
mjr	53:9b2611964afc	5763
mjr	48:058ace2aed1d	5764	// if we're disconnected, initiate a new connection
mjr	51:57eb311faafa	5765	if (!connected)
mjr	48:058ace2aed1d	5766	{
mjr	54:fd77a6b2f76c	5767	// show USB HAL debug events
mjr	54:fd77a6b2f76c	5768	extern void HAL_DEBUG_PRINTEVENTS(const char *prefix);
mjr	54:fd77a6b2f76c	5769	HAL_DEBUG_PRINTEVENTS(">DISC");
mjr	54:fd77a6b2f76c	5770
mjr	54:fd77a6b2f76c	5771	// show immediate diagnostic feedback
mjr	54:fd77a6b2f76c	5772	js.diagFlash();
mjr	54:fd77a6b2f76c	5773
mjr	54:fd77a6b2f76c	5774	// clear any previous diagnostic LED display
mjr	54:fd77a6b2f76c	5775	diagLED(0, 0, 0);
mjr	51:57eb311faafa	5776
mjr	51:57eb311faafa	5777	// set up a timer to monitor the reboot timeout
mjr	70:9f58735a1732	5778	Timer reconnTimeoutTimer;
mjr	70:9f58735a1732	5779	reconnTimeoutTimer.start();
mjr	48:058ace2aed1d	5780
mjr	54:fd77a6b2f76c	5781	// set up a timer for diagnostic displays
mjr	54:fd77a6b2f76c	5782	Timer diagTimer;
mjr	54:fd77a6b2f76c	5783	diagTimer.reset();
mjr	54:fd77a6b2f76c	5784	diagTimer.start();
mjr	74:822a92bc11d2	5785
mjr	74:822a92bc11d2	5786	// turn off the main loop timer while spinning
mjr	74:822a92bc11d2	5787	IF_DIAG(mainLoopTimer.stop();)
mjr	54:fd77a6b2f76c	5788
mjr	54:fd77a6b2f76c	5789	// loop until we get our connection back
mjr	54:fd77a6b2f76c	5790	while (!js.isConnected() \|\| js.isSleeping())
mjr	51:57eb311faafa	5791	{
mjr	54:fd77a6b2f76c	5792	// try to recover the connection
mjr	54:fd77a6b2f76c	5793	js.recoverConnection();
mjr	54:fd77a6b2f76c	5794
mjr	55:4db125cd11a0	5795	// send TLC5940 data if necessary
mjr	55:4db125cd11a0	5796	if (tlc5940 != 0)
mjr	55:4db125cd11a0	5797	tlc5940->send();
mjr	55:4db125cd11a0	5798
mjr	54:fd77a6b2f76c	5799	// show a diagnostic flash every couple of seconds
mjr	54:fd77a6b2f76c	5800	if (diagTimer.read_us() > 2000000)
mjr	51:57eb311faafa	5801	{
mjr	54:fd77a6b2f76c	5802	// flush the USB HAL debug events, if in debug mode
mjr	54:fd77a6b2f76c	5803	HAL_DEBUG_PRINTEVENTS(">NC");
mjr	54:fd77a6b2f76c	5804
mjr	54:fd77a6b2f76c	5805	// show diagnostic feedback
mjr	54:fd77a6b2f76c	5806	js.diagFlash();
mjr	51:57eb311faafa	5807
mjr	51:57eb311faafa	5808	// reset the flash timer
mjr	54:fd77a6b2f76c	5809	diagTimer.reset();
mjr	51:57eb311faafa	5810	}
mjr	51:57eb311faafa	5811
mjr	51:57eb311faafa	5812	// if the disconnect reboot timeout has expired, reboot
mjr	51:57eb311faafa	5813	if (cfg.disconnectRebootTimeout != 0
mjr	70:9f58735a1732	5814	&& reconnTimeoutTimer.read() > cfg.disconnectRebootTimeout)
mjr	54:fd77a6b2f76c	5815	reboot(js, false, 0);
mjr	54:fd77a6b2f76c	5816	}
mjr	54:fd77a6b2f76c	5817
mjr	74:822a92bc11d2	5818	// resume the main loop timer
mjr	74:822a92bc11d2	5819	IF_DIAG(mainLoopTimer.start();)
mjr	74:822a92bc11d2	5820
mjr	54:fd77a6b2f76c	5821	// if we made it out of that loop alive, we're connected again!
mjr	54:fd77a6b2f76c	5822	connected = true;
mjr	54:fd77a6b2f76c	5823	HAL_DEBUG_PRINTEVENTS(">C");
mjr	54:fd77a6b2f76c	5824
mjr	54:fd77a6b2f76c	5825	// Enable peripheral chips and update them with current output data
mjr	54:fd77a6b2f76c	5826	if (tlc5940 != 0)
mjr	54:fd77a6b2f76c	5827	{
mjr	55:4db125cd11a0	5828	tlc5940->enable(true);
mjr	54:fd77a6b2f76c	5829	tlc5940->update(true);
mjr	54:fd77a6b2f76c	5830	}
mjr	54:fd77a6b2f76c	5831	if (hc595 != 0)
mjr	54:fd77a6b2f76c	5832	{
mjr	55:4db125cd11a0	5833	hc595->enable(true);
mjr	54:fd77a6b2f76c	5834	hc595->update(true);
mjr	51:57eb311faafa	5835	}
mjr	48:058ace2aed1d	5836	}
mjr	43:7a6364d82a41	5837
mjr	6:cc35eb643e8f	5838	// provide a visual status indication on the on-board LED
mjr	48:058ace2aed1d	5839	if (calBtnState < 2 && hbTimer.read_us() > 1000000)
mjr	1:d913e0afb2ac	5840	{
mjr	54:fd77a6b2f76c	5841	if (jsOKTimer.read_us() > 1000000)
mjr	38:091e511ce8a0	5842	{
mjr	39:b3815a1c3802	5843	// USB freeze - show red/yellow.
mjr	40:cc0d9814522b	5844	//
mjr	54:fd77a6b2f76c	5845	// It's been more than a second since we successfully sent a joystick
mjr	54:fd77a6b2f76c	5846	// update message. This must mean that something's wrong on the USB
mjr	54:fd77a6b2f76c	5847	// connection, even though we haven't detected an outright disconnect.
mjr	54:fd77a6b2f76c	5848	// Show a distinctive diagnostic LED pattern when this occurs.
mjr	38:091e511ce8a0	5849	hb = !hb;
mjr	38:091e511ce8a0	5850	diagLED(1, hb, 0);
mjr	54:fd77a6b2f76c	5851
mjr	54:fd77a6b2f76c	5852	// If the reboot-on-disconnect option is in effect, treat this condition
mjr	54:fd77a6b2f76c	5853	// as equivalent to a disconnect, since something is obviously wrong
mjr	54:fd77a6b2f76c	5854	// with the USB connection.
mjr	54:fd77a6b2f76c	5855	if (cfg.disconnectRebootTimeout != 0)
mjr	54:fd77a6b2f76c	5856	{
mjr	54:fd77a6b2f76c	5857	// The reboot timeout is in effect. If we've been incommunicado for
mjr	54:fd77a6b2f76c	5858	// longer than the timeout, reboot. If we haven't reached the time
mjr	54:fd77a6b2f76c	5859	// limit, keep running for now, and leave the OK timer running so
mjr	54:fd77a6b2f76c	5860	// that we can continue to monitor this.
mjr	54:fd77a6b2f76c	5861	if (jsOKTimer.read() > cfg.disconnectRebootTimeout)
mjr	54:fd77a6b2f76c	5862	reboot(js, false, 0);
mjr	54:fd77a6b2f76c	5863	}
mjr	54:fd77a6b2f76c	5864	else
mjr	54:fd77a6b2f76c	5865	{
mjr	54:fd77a6b2f76c	5866	// There's no reboot timer, so just keep running with the diagnostic
mjr	54:fd77a6b2f76c	5867	// pattern displayed. Since we're not waiting for any other timed
mjr	54:fd77a6b2f76c	5868	// conditions in this state, stop the timer so that it doesn't
mjr	54:fd77a6b2f76c	5869	// overflow if this condition persists for a long time.
mjr	54:fd77a6b2f76c	5870	jsOKTimer.stop();
mjr	54:fd77a6b2f76c	5871	}
mjr	38:091e511ce8a0	5872	}
mjr	73:4e8ce0b18915	5873	else if (psu2_state >= 4)
mjr	73:4e8ce0b18915	5874	{
mjr	73:4e8ce0b18915	5875	// We're in the TV timer countdown. Skip the normal heartbeat
mjr	73:4e8ce0b18915	5876	// flashes and show the TV timer flashes instead.
mjr	73:4e8ce0b18915	5877	diagLED(0, 0, 0);
mjr	73:4e8ce0b18915	5878	}
mjr	35:e959ffba78fd	5879	else if (cfg.plunger.enabled && !cfg.plunger.cal.calibrated)
mjr	6:cc35eb643e8f	5880	{
mjr	6:cc35eb643e8f	5881	// connected, plunger calibration needed - flash yellow/green
mjr	6:cc35eb643e8f	5882	hb = !hb;
mjr	38:091e511ce8a0	5883	diagLED(hb, 1, 0);
mjr	6:cc35eb643e8f	5884	}
mjr	6:cc35eb643e8f	5885	else
mjr	6:cc35eb643e8f	5886	{
mjr	6:cc35eb643e8f	5887	// connected - flash blue/green
mjr	2:c174f9ee414a	5888	hb = !hb;
mjr	38:091e511ce8a0	5889	diagLED(0, hb, !hb);
mjr	2:c174f9ee414a	5890	}
mjr	1:d913e0afb2ac	5891
mjr	1:d913e0afb2ac	5892	// reset the heartbeat timer
mjr	1:d913e0afb2ac	5893	hbTimer.reset();
mjr	5:a70c0bce770d	5894	++hbcnt;
mjr	1:d913e0afb2ac	5895	}
mjr	74:822a92bc11d2	5896
mjr	74:822a92bc11d2	5897	// collect statistics on the main loop time, if desired
mjr	74:822a92bc11d2	5898	IF_DIAG(
mjr	76:7f5912b6340e	5899	mainLoopIterTime += mainLoopTimer.read_us();
mjr	74:822a92bc11d2	5900	mainLoopIterCount++;
mjr	74:822a92bc11d2	5901	)
mjr	1:d913e0afb2ac	5902	}
mjr	0:5acbbe3f4cf4	5903	}

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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@76:7f5912b6340e, 2017-02-03 (annotated)

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