Pinscape_Controller_V2_arnoz - Mirror with some correction

Users » arnoz » Code » Pinscape_Controller_V2_arnoz

Arnaud VALLEY / Mbed 2 deprecated Pinscape_Controller_V2_arnoz

Mirror with some correction

Dependencies: mbed FastIO FastPWM USBDevice

main.cpp@87:8d35c74403af, 2017-05-09 (annotated)

Committer:: mjr
Date:: Tue May 09 05:48:37 2017 +0000
Revision:: 87:8d35c74403af
Parent:: 86:e30a1f60f783
Child:: 88:98bce687e6c0

AEDR-8300, VL6180X, TLC59116; new plunger firing detection

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	87:8d35c74403af	50	// We support several sensor types:
mjr	35:e959ffba78fd	51	//
mjr	87:8d35c74403af	52	// - AEDR-8300-1K2 optical encoders. These are quadrature encoders with
mjr	87:8d35c74403af	53	// reflective optical sensing and built-in lighting and optics. The sensor
mjr	87:8d35c74403af	54	// is attached to the plunger so that it moves with the plunger, and slides
mjr	87:8d35c74403af	55	// along a guide rail with a reflective pattern of regularly spaces bars
mjr	87:8d35c74403af	56	// for the encoder to read. We read the plunger position by counting the
mjr	87:8d35c74403af	57	// bars the sensor passes as it moves across the rail. This is the newest
mjr	87:8d35c74403af	58	// option, and it's my current favorite because it's highly accurate,
mjr	87:8d35c74403af	59	// precise, and fast, plus it's relatively inexpensive.
mjr	87:8d35c74403af	60	//
mjr	87:8d35c74403af	61	// - Slide potentiometers. There are slide potentioneters available with a
mjr	87:8d35c74403af	62	// long enough travel distance (at least 85mm) to cover the plunger travel.
mjr	87:8d35c74403af	63	// Attach the plunger to the potentiometer knob so that the moving the
mjr	87:8d35c74403af	64	// plunger moves the pot knob. We sense the position by simply reading
mjr	87:8d35c74403af	65	// the analog voltage on the pot brush. A pot with a "linear taper" (that
mjr	87:8d35c74403af	66	// is, the resistance varies linearly with the position) is required.
mjr	87:8d35c74403af	67	// This option is cheap, easy to set up, and works well.
mjr	5:a70c0bce770d	68	//
mjr	87:8d35c74403af	69	// - VL6108X time-of-flight distance sensor. This is an optical distance
mjr	87:8d35c74403af	70	// sensor that measures the distance to a nearby object (within about 10cm)
mjr	87:8d35c74403af	71	// by measuring the travel time for reflected pulses of light. It's fairly
mjr	87:8d35c74403af	72	// cheap and easy to set up, but I don't recommend it because it has very
mjr	87:8d35c74403af	73	// low precision.
mjr	6:cc35eb643e8f	74	//
mjr	87:8d35c74403af	75	// - TSL1410R/TSL1412R linear array optical sensors. These are large optical
mjr	87:8d35c74403af	76	// sensors with the pixels arranged in a single row. The pixel arrays are
mjr	87:8d35c74403af	77	// large enough on these to cover the travel distance of the plunger, so we
mjr	87:8d35c74403af	78	// can set up the sensor near the plunger in such a way that the plunger
mjr	87:8d35c74403af	79	// casts a shadow on the sensor. We detect the plunger position by finding
mjr	87:8d35c74403af	80	// the edge of the sahdow in the image. The optics for this setup are very
mjr	87:8d35c74403af	81	// simple since we don't need any lenses. This was the first sensor we
mjr	87:8d35c74403af	82	// supported, and works very well, but unfortunately the sensor is difficult
mjr	87:8d35c74403af	83	// to find now since it's been discontinued by the manufacturer.
mjr	87:8d35c74403af	84	//
mjr	87:8d35c74403af	85	// The v2 Build Guide has details on how to build and configure all of the
mjr	87:8d35c74403af	86	// sensor options.
mjr	87:8d35c74403af	87	//
mjr	87:8d35c74403af	88	// Visual Pinball has built-in support for plunger devices like this one, but
mjr	87:8d35c74403af	89	// some older VP tables (particularly for VP 9) can't use it without some
mjr	87:8d35c74403af	90	// modifications to their scripting. The Build Guide has advice on how to
mjr	87:8d35c74403af	91	// fix up VP tables to add plunger support when necessary.
mjr	5:a70c0bce770d	92	//
mjr	77:0b96f6867312	93	// - Button input wiring. You can assign GPIO ports as inputs for physical
mjr	77:0b96f6867312	94	// pinball-style buttons, such as flipper buttons, a Start button, coin
mjr	77:0b96f6867312	95	// chute switches, tilt bobs, and service panel buttons. You can configure
mjr	77:0b96f6867312	96	// each button input to report a keyboard key or joystick button press to
mjr	77:0b96f6867312	97	// the PC when the physical button is pushed.
mjr	13:72dda449c3c0	98	//
mjr	53:9b2611964afc	99	// - LedWiz emulation. The KL25Z can pretend to be an LedWiz device. This lets
mjr	53:9b2611964afc	100	// you connect feedback devices (lights, solenoids, motors) to GPIO ports on the
mjr	53:9b2611964afc	101	// KL25Z, and lets PC software (such as Visual Pinball) control them during game
mjr	53:9b2611964afc	102	// play to create a more immersive playing experience. The Pinscape software
mjr	53:9b2611964afc	103	// presents itself to the host as an LedWiz device and accepts the full LedWiz
mjr	53:9b2611964afc	104	// command set, so software on the PC designed for real LedWiz'es can control
mjr	53:9b2611964afc	105	// attached devices without any modifications.
mjr	5:a70c0bce770d	106	//
mjr	53:9b2611964afc	107	// Even though the software provides a very thorough LedWiz emulation, the KL25Z
mjr	53:9b2611964afc	108	// GPIO hardware design imposes some serious limitations. The big one is that
mjr	53:9b2611964afc	109	// the KL25Z only has 10 PWM channels, meaning that only 10 ports can have
mjr	53:9b2611964afc	110	// varying-intensity outputs (e.g., for controlling the brightness level of an
mjr	53:9b2611964afc	111	// LED or the speed or a motor). You can control more than 10 output ports, but
mjr	53:9b2611964afc	112	// only 10 can have PWM control; the rest are simple "digital" ports that can only
mjr	53:9b2611964afc	113	// be switched fully on or fully off. The second limitation is that the KL25Z
mjr	53:9b2611964afc	114	// just doesn't have that many GPIO ports overall. There are enough to populate
mjr	53:9b2611964afc	115	// all 32 button inputs OR all 32 LedWiz outputs, but not both. The default is
mjr	53:9b2611964afc	116	// to assign 24 buttons and 22 LedWiz ports; you can change this balance to trade
mjr	53:9b2611964afc	117	// off more outputs for fewer inputs, or vice versa. The third limitation is that
mjr	53:9b2611964afc	118	// the KL25Z GPIO pins have very tiny amperage limits - just 4mA, which isn't
mjr	53:9b2611964afc	119	// even enough to control a small LED. So in order to connect any kind of feedback
mjr	53:9b2611964afc	120	// device to an output, you must build some external circuitry to boost the
mjr	53:9b2611964afc	121	// current handing. The Build Guide has a reference circuit design for this
mjr	53:9b2611964afc	122	// purpose that's simple and inexpensive to build.
mjr	6:cc35eb643e8f	123	//
mjr	87:8d35c74403af	124	// - Enhanced LedWiz emulation with TLC5940 and/or TLC59116 PWM controller chips.
mjr	87:8d35c74403af	125	// You can attach external PWM chips for controlling device outputs, instead of
mjr	87:8d35c74403af	126	// using (or in addition to) the on-board GPIO ports as described above. The
mjr	87:8d35c74403af	127	// software can control a set of daisy-chained TLC5940 or TLC59116 chips. Each
mjr	87:8d35c74403af	128	// chip provides 16 PWM outputs, so you just need two of them to get the full
mjr	87:8d35c74403af	129	// complement of 32 output ports of a real LedWiz. You can hook up even more,
mjr	87:8d35c74403af	130	// though. Four chips gives you 64 ports, which should be plenty for nearly any
mjr	87:8d35c74403af	131	// virtual pinball project.
mjr	53:9b2611964afc	132	//
mjr	53:9b2611964afc	133	// The Pinscape Expansion Board project (which appeared in early 2016) provides
mjr	53:9b2611964afc	134	// a reference hardware design, with EAGLE circuit board layouts, that takes full
mjr	53:9b2611964afc	135	// advantage of the TLC5940 capability. It lets you create a customized set of
mjr	53:9b2611964afc	136	// outputs with full PWM control and power handling for high-current devices
mjr	87:8d35c74403af	137	// built in to the boards.
mjr	87:8d35c74403af	138	//
mjr	87:8d35c74403af	139	// To accommodate the larger supply of ports possible with the external chips,
mjr	87:8d35c74403af	140	// the controller software provides a custom, extended version of the LedWiz
mjr	87:8d35c74403af	141	// protocol that can handle up to 128 ports. Legacy PC software designed only
mjr	87:8d35c74403af	142	// for the original LedWiz obviously can't use the extended protocol, and thus
mjr	87:8d35c74403af	143	// can't take advantage of its extra capabilities, but the latest version of
mjr	87:8d35c74403af	144	// DOF (DirectOutput Framework) does know the new language and can take full
mjr	87:8d35c74403af	145	// advantage. Older software will still work, though - the new extensions are
mjr	87:8d35c74403af	146	// all backwards compatible, so old software that only knows about the original
mjr	87:8d35c74403af	147	// LedWiz protocol will still work, with the limitation that it can only access
mjr	87:8d35c74403af	148	// the first 32 ports. In addition, we provide a replacement LEDWIZ.DLL that
mjr	87:8d35c74403af	149	// creates virtual LedWiz units representing additional ports beyond the first
mjr	87:8d35c74403af	150	// 32. This allows legacy LedWiz client software to address all ports by
mjr	87:8d35c74403af	151	// making them think that you have several physical LedWiz units installed.
mjr	26:cb71c4af2912	152	//
mjr	38:091e511ce8a0	153	// - Night Mode control for output devices. You can connect a switch or button
mjr	38:091e511ce8a0	154	// to the controller to activate "Night Mode", which disables feedback devices
mjr	38:091e511ce8a0	155	// that you designate as noisy. You can designate outputs individually as being
mjr	38:091e511ce8a0	156	// included in this set or not. This is useful if you want to play a game on
mjr	38:091e511ce8a0	157	// your cabinet late at night without waking the kids and annoying the neighbors.
mjr	38:091e511ce8a0	158	//
mjr	38:091e511ce8a0	159	// - TV ON switch. The controller can pulse a relay to turn on your TVs after
mjr	38:091e511ce8a0	160	// power to the cabinet comes on, with a configurable delay timer. This feature
mjr	38:091e511ce8a0	161	// is for TVs that don't turn themselves on automatically when first plugged in.
mjr	38:091e511ce8a0	162	// To use this feature, you have to build some external circuitry to allow the
mjr	77:0b96f6867312	163	// software to sense the power supply status. The Build Guide has details
mjr	77:0b96f6867312	164	// on the necessary circuitry. You can use this to switch your TV on via a
mjr	77:0b96f6867312	165	// hardwired connection to the TV's "on" button, which requires taking the
mjr	77:0b96f6867312	166	// TV apart to gain access to its internal wiring, or optionally via the IR
mjr	77:0b96f6867312	167	// remote control transmitter feature below.
mjr	77:0b96f6867312	168	//
mjr	77:0b96f6867312	169	// - Infrared (IR) remote control receiver and transmitter. You can attach an
mjr	77:0b96f6867312	170	// IR LED and/or an IR sensor (we recommend the TSOP384xx series) to make the
mjr	77:0b96f6867312	171	// KL25Z capable of sending and/or receiving IR remote control signals. This
mjr	77:0b96f6867312	172	// can be used with the TV ON feature above to turn your TV(s) on when the
mjr	77:0b96f6867312	173	// system power comes on by sending the "on" command to them via IR, as though
mjr	77:0b96f6867312	174	// you pressed the "on" button on the remote control. The sensor lets the
mjr	77:0b96f6867312	175	// Pinscape software learn the IR codes from your existing remotes, in the
mjr	77:0b96f6867312	176	// same manner as a handheld universal remote control, and the IR LED lets
mjr	77:0b96f6867312	177	// it transmit learned codes. The sensor can also be used to receive codes
mjr	77:0b96f6867312	178	// during normal operation and turn them into PC keystrokes; this lets you
mjr	77:0b96f6867312	179	// access extra commands on the PC without adding more buttons to your
mjr	77:0b96f6867312	180	// cabinet. The IR LED can also be used to transmit other codes when you
mjr	77:0b96f6867312	181	// press selected cabinet buttons, allowing you to assign cabinet buttons
mjr	77:0b96f6867312	182	// to send IR commands to your cabinet TV or other devices.
mjr	38:091e511ce8a0	183	//
mjr	35:e959ffba78fd	184	//
mjr	35:e959ffba78fd	185	//
mjr	33:d832bcab089e	186	// STATUS LIGHTS: The on-board LED on the KL25Z flashes to indicate the current
mjr	33:d832bcab089e	187	// device status. The flash patterns are:
mjr	6:cc35eb643e8f	188	//
mjr	48:058ace2aed1d	189	// short yellow flash = waiting to connect
mjr	6:cc35eb643e8f	190	//
mjr	48:058ace2aed1d	191	// short red flash = the connection is suspended (the host is in sleep
mjr	48:058ace2aed1d	192	// or suspend mode, the USB cable is unplugged after a connection
mjr	48:058ace2aed1d	193	// has been established)
mjr	48:058ace2aed1d	194	//
mjr	48:058ace2aed1d	195	// two short red flashes = connection lost (the device should immediately
mjr	48:058ace2aed1d	196	// go back to short-yellow "waiting to reconnect" mode when a connection
mjr	48:058ace2aed1d	197	// is lost, so this display shouldn't normally appear)
mjr	6:cc35eb643e8f	198	//
mjr	38:091e511ce8a0	199	// long red/yellow = USB connection problem. The device still has a USB
mjr	48:058ace2aed1d	200	// connection to the host (or so it appears to the device), but data
mjr	48:058ace2aed1d	201	// transmissions are failing.
mjr	38:091e511ce8a0	202	//
mjr	73:4e8ce0b18915	203	// medium blue flash = TV ON delay timer running. This means that the
mjr	73:4e8ce0b18915	204	// power to the secondary PSU has just been turned on, and the TV ON
mjr	73:4e8ce0b18915	205	// timer is waiting for the configured delay time before pulsing the
mjr	73:4e8ce0b18915	206	// TV power button relay. This is only shown if the TV ON feature is
mjr	73:4e8ce0b18915	207	// enabled.
mjr	73:4e8ce0b18915	208	//
mjr	6:cc35eb643e8f	209	// long yellow/green = everything's working, but the plunger hasn't
mjr	38:091e511ce8a0	210	// been calibrated. Follow the calibration procedure described in
mjr	38:091e511ce8a0	211	// the project documentation. This flash mode won't appear if there's
mjr	38:091e511ce8a0	212	// no plunger sensor configured.
mjr	6:cc35eb643e8f	213	//
mjr	38:091e511ce8a0	214	// alternating blue/green = everything's working normally, and plunger
mjr	38:091e511ce8a0	215	// calibration has been completed (or there's no plunger attached)
mjr	10:976666ffa4ef	216	//
mjr	48:058ace2aed1d	217	// fast red/purple = out of memory. The controller halts and displays
mjr	48:058ace2aed1d	218	// this diagnostic code until you manually reset it. If this happens,
mjr	48:058ace2aed1d	219	// it's probably because the configuration is too complex, in which
mjr	48:058ace2aed1d	220	// case the same error will occur after the reset. If it's stuck
mjr	48:058ace2aed1d	221	// in this cycle, you'll have to restore the default configuration
mjr	48:058ace2aed1d	222	// by re-installing the controller software (the Pinscape .bin file).
mjr	10:976666ffa4ef	223	//
mjr	48:058ace2aed1d	224	//
mjr	48:058ace2aed1d	225	// USB PROTOCOL: Most of our USB messaging is through standard USB HID
mjr	48:058ace2aed1d	226	// classes (joystick, keyboard). We also accept control messages on our
mjr	48:058ace2aed1d	227	// primary HID interface "OUT endpoint" using a custom protocol that's
mjr	48:058ace2aed1d	228	// not defined in any USB standards (we do have to provide a USB HID
mjr	48:058ace2aed1d	229	// Report Descriptor for it, but this just describes the protocol as
mjr	48:058ace2aed1d	230	// opaque vendor-defined bytes). The control protocol incorporates the
mjr	48:058ace2aed1d	231	// LedWiz protocol as a subset, and adds our own private extensions.
mjr	48:058ace2aed1d	232	// For full details, see USBProtocol.h.
mjr	33:d832bcab089e	233
mjr	33:d832bcab089e	234
mjr	0:5acbbe3f4cf4	235	#include "mbed.h"
mjr	6:cc35eb643e8f	236	#include "math.h"
mjr	74:822a92bc11d2	237	#include "diags.h"
mjr	48:058ace2aed1d	238	#include "pinscape.h"
mjr	79:682ae3171a08	239	#include "NewMalloc.h"
mjr	0:5acbbe3f4cf4	240	#include "USBJoystick.h"
mjr	0:5acbbe3f4cf4	241	#include "MMA8451Q.h"
mjr	1:d913e0afb2ac	242	#include "FreescaleIAP.h"
mjr	2:c174f9ee414a	243	#include "crc32.h"
mjr	26:cb71c4af2912	244	#include "TLC5940.h"
mjr	87:8d35c74403af	245	#include "TLC59116.h"
mjr	34:6b981a2afab7	246	#include "74HC595.h"
mjr	35:e959ffba78fd	247	#include "nvm.h"
mjr	48:058ace2aed1d	248	#include "TinyDigitalIn.h"
mjr	77:0b96f6867312	249	#include "IRReceiver.h"
mjr	77:0b96f6867312	250	#include "IRTransmitter.h"
mjr	77:0b96f6867312	251	#include "NewPwm.h"
mjr	74:822a92bc11d2	252
mjr	82:4f6209cb5c33	253	// plunger sensors
mjr	82:4f6209cb5c33	254	#include "plunger.h"
mjr	82:4f6209cb5c33	255	#include "edgeSensor.h"
mjr	82:4f6209cb5c33	256	#include "potSensor.h"
mjr	82:4f6209cb5c33	257	#include "quadSensor.h"
mjr	82:4f6209cb5c33	258	#include "nullSensor.h"
mjr	82:4f6209cb5c33	259	#include "barCodeSensor.h"
mjr	82:4f6209cb5c33	260	#include "distanceSensor.h"
mjr	87:8d35c74403af	261	#include "tsl14xxSensor.h"
mjr	82:4f6209cb5c33	262
mjr	2:c174f9ee414a	263
mjr	21:5048e16cc9ef	264	#define DECL_EXTERNS
mjr	17:ab3cec0c8bf4	265	#include "config.h"
mjr	17:ab3cec0c8bf4	266
mjr	76:7f5912b6340e	267	// forward declarations
mjr	76:7f5912b6340e	268	static void waitPlungerIdle(void);
mjr	53:9b2611964afc	269
mjr	53:9b2611964afc	270	// --------------------------------------------------------------------------
mjr	53:9b2611964afc	271	//
mjr	53:9b2611964afc	272	// OpenSDA module identifier. This is for the benefit of the Windows
mjr	53:9b2611964afc	273	// configuration tool. When the config tool installs a .bin file onto
mjr	53:9b2611964afc	274	// the KL25Z, it will first find the sentinel string within the .bin file,
mjr	53:9b2611964afc	275	// and patch the "\0" bytes that follow the sentinel string with the
mjr	53:9b2611964afc	276	// OpenSDA module ID data. This allows us to report the OpenSDA
mjr	53:9b2611964afc	277	// identifiers back to the host system via USB, which in turn allows the
mjr	53:9b2611964afc	278	// config tool to figure out which OpenSDA MSD (mass storage device - a
mjr	53:9b2611964afc	279	// virtual disk drive) correlates to which Pinscape controller USB
mjr	53:9b2611964afc	280	// interface.
mjr	53:9b2611964afc	281	//
mjr	53:9b2611964afc	282	// This is only important if multiple Pinscape devices are attached to
mjr	53:9b2611964afc	283	// the same host. There doesn't seem to be any other way to figure out
mjr	53:9b2611964afc	284	// which OpenSDA MSD corresponds to which KL25Z USB interface; the OpenSDA
mjr	53:9b2611964afc	285	// MSD doesn't report the KL25Z CPU ID anywhere, and the KL25Z doesn't
mjr	53:9b2611964afc	286	// have any way to learn about the OpenSDA module it's connected to. The
mjr	53:9b2611964afc	287	// only way to pass this information to the KL25Z side that I can come up
mjr	53:9b2611964afc	288	// with is to have the Windows host embed it in the .bin file before
mjr	53:9b2611964afc	289	// downloading it to the OpenSDA MSD.
mjr	53:9b2611964afc	290	//
mjr	53:9b2611964afc	291	// We initialize the const data buffer (the part after the sentinel string)
mjr	53:9b2611964afc	292	// with all "\0" bytes, so that's what will be in the executable image that
mjr	53:9b2611964afc	293	// comes out of the mbed compiler. If you manually install the resulting
mjr	53:9b2611964afc	294	// .bin file onto the KL25Z (via the Windows desktop, say), the "\0" bytes
mjr	53:9b2611964afc	295	// will stay this way and read as all 0's at run-time. Since a real TUID
mjr	53:9b2611964afc	296	// would never be all 0's, that tells us that we were never patched and
mjr	53:9b2611964afc	297	// thus don't have any information on the OpenSDA module.
mjr	53:9b2611964afc	298	//
mjr	53:9b2611964afc	299	const char *getOpenSDAID()
mjr	53:9b2611964afc	300	{
mjr	53:9b2611964afc	301	#define OPENSDA_PREFIX "///Pinscape.OpenSDA.TUID///"
mjr	53:9b2611964afc	302	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	303	const size_t OpenSDA_prefix_length = sizeof(OPENSDA_PREFIX) - 1;
mjr	53:9b2611964afc	304
mjr	53:9b2611964afc	305	return OpenSDA + OpenSDA_prefix_length;
mjr	53:9b2611964afc	306	}
mjr	53:9b2611964afc	307
mjr	53:9b2611964afc	308	// --------------------------------------------------------------------------
mjr	53:9b2611964afc	309	//
mjr	53:9b2611964afc	310	// Build ID. We use the date and time of compiling the program as a build
mjr	53:9b2611964afc	311	// identifier. It would be a little nicer to use a simple serial number
mjr	53:9b2611964afc	312	// instead, but the mbed platform doesn't have a way to automate that. The
mjr	53:9b2611964afc	313	// timestamp is a pretty good proxy for a serial number in that it will
mjr	53:9b2611964afc	314	// naturally increase on each new build, which is the primary property we
mjr	53:9b2611964afc	315	// want from this.
mjr	53:9b2611964afc	316	//
mjr	53:9b2611964afc	317	// As with the embedded OpenSDA ID, we store the build timestamp with a
mjr	53:9b2611964afc	318	// sentinel string prefix, to allow automated tools to find the static data
mjr	53:9b2611964afc	319	// in the .bin file by searching for the sentinel string. In contrast to
mjr	53:9b2611964afc	320	// the OpenSDA ID, the value we store here is for tools to extract rather
mjr	53:9b2611964afc	321	// than store, since we automatically populate it via the preprocessor
mjr	53:9b2611964afc	322	// macros.
mjr	53:9b2611964afc	323	//
mjr	53:9b2611964afc	324	const char *getBuildID()
mjr	53:9b2611964afc	325	{
mjr	53:9b2611964afc	326	#define BUILDID_PREFIX "///Pinscape.Build.ID///"
mjr	53:9b2611964afc	327	static const char BuildID[] = BUILDID_PREFIX __DATE__ " " __TIME__ "///";
mjr	53:9b2611964afc	328	const size_t BuildID_prefix_length = sizeof(BUILDID_PREFIX) - 1;
mjr	53:9b2611964afc	329
mjr	53:9b2611964afc	330	return BuildID + BuildID_prefix_length;
mjr	53:9b2611964afc	331	}
mjr	53:9b2611964afc	332
mjr	74:822a92bc11d2	333	// --------------------------------------------------------------------------
mjr	74:822a92bc11d2	334	// Main loop iteration timing statistics. Collected only if
mjr	74:822a92bc11d2	335	// ENABLE_DIAGNOSTICS is set in diags.h.
mjr	76:7f5912b6340e	336	#if ENABLE_DIAGNOSTICS
mjr	76:7f5912b6340e	337	uint64_t mainLoopIterTime, mainLoopIterCheckpt[15], mainLoopIterCount;
mjr	76:7f5912b6340e	338	uint64_t mainLoopMsgTime, mainLoopMsgCount;
mjr	76:7f5912b6340e	339	Timer mainLoopTimer;
mjr	76:7f5912b6340e	340	#endif
mjr	76:7f5912b6340e	341
mjr	53:9b2611964afc	342
mjr	5:a70c0bce770d	343	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	344	//
mjr	38:091e511ce8a0	345	// Forward declarations
mjr	38:091e511ce8a0	346	//
mjr	38:091e511ce8a0	347	void setNightMode(bool on);
mjr	38:091e511ce8a0	348	void toggleNightMode();
mjr	38:091e511ce8a0	349
mjr	38:091e511ce8a0	350	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	351	// utilities
mjr	17:ab3cec0c8bf4	352
mjr	77:0b96f6867312	353	// int/float point square of a number
mjr	77:0b96f6867312	354	inline int square(int x) { return x*x; }
mjr	26:cb71c4af2912	355	inline float square(float x) { return x*x; }
mjr	26:cb71c4af2912	356
mjr	26:cb71c4af2912	357	// floating point rounding
mjr	26:cb71c4af2912	358	inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); }
mjr	26:cb71c4af2912	359
mjr	17:ab3cec0c8bf4	360
mjr	33:d832bcab089e	361	// --------------------------------------------------------------------------
mjr	33:d832bcab089e	362	//
mjr	40:cc0d9814522b	363	// Extended verison of Timer class. This adds the ability to interrogate
mjr	40:cc0d9814522b	364	// the running state.
mjr	40:cc0d9814522b	365	//
mjr	77:0b96f6867312	366	class ExtTimer: public Timer
mjr	40:cc0d9814522b	367	{
mjr	40:cc0d9814522b	368	public:
mjr	77:0b96f6867312	369	ExtTimer() : running(false) { }
mjr	40:cc0d9814522b	370
mjr	40:cc0d9814522b	371	void start() { running = true; Timer::start(); }
mjr	40:cc0d9814522b	372	void stop() { running = false; Timer::stop(); }
mjr	40:cc0d9814522b	373
mjr	40:cc0d9814522b	374	bool isRunning() const { return running; }
mjr	40:cc0d9814522b	375
mjr	40:cc0d9814522b	376	private:
mjr	40:cc0d9814522b	377	bool running;
mjr	40:cc0d9814522b	378	};
mjr	40:cc0d9814522b	379
mjr	53:9b2611964afc	380
mjr	53:9b2611964afc	381	// --------------------------------------------------------------------------
mjr	40:cc0d9814522b	382	//
mjr	33:d832bcab089e	383	// USB product version number
mjr	5:a70c0bce770d	384	//
mjr	47:df7a88cd249c	385	const uint16_t USB_VERSION_NO = 0x000A;
mjr	33:d832bcab089e	386
mjr	33:d832bcab089e	387	// --------------------------------------------------------------------------
mjr	33:d832bcab089e	388	//
mjr	6:cc35eb643e8f	389	// Joystick axis report range - we report from -JOYMAX to +JOYMAX
mjr	33:d832bcab089e	390	//
mjr	6:cc35eb643e8f	391	#define JOYMAX 4096
mjr	6:cc35eb643e8f	392
mjr	9:fd65b0a94720	393
mjr	17:ab3cec0c8bf4	394	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	395	//
mjr	40:cc0d9814522b	396	// Wire protocol value translations. These translate byte values to and
mjr	40:cc0d9814522b	397	// from the USB protocol to local native format.
mjr	35:e959ffba78fd	398	//
mjr	35:e959ffba78fd	399
mjr	35:e959ffba78fd	400	// unsigned 16-bit integer
mjr	35:e959ffba78fd	401	inline uint16_t wireUI16(const uint8_t *b)
mjr	35:e959ffba78fd	402	{
mjr	35:e959ffba78fd	403	return b[0] \| ((uint16_t)b[1] << 8);
mjr	35:e959ffba78fd	404	}
mjr	40:cc0d9814522b	405	inline void ui16Wire(uint8_t *b, uint16_t val)
mjr	40:cc0d9814522b	406	{
mjr	40:cc0d9814522b	407	b[0] = (uint8_t)(val & 0xff);
mjr	40:cc0d9814522b	408	b[1] = (uint8_t)((val >> 8) & 0xff);
mjr	40:cc0d9814522b	409	}
mjr	35:e959ffba78fd	410
mjr	35:e959ffba78fd	411	inline int16_t wireI16(const uint8_t *b)
mjr	35:e959ffba78fd	412	{
mjr	35:e959ffba78fd	413	return (int16_t)wireUI16(b);
mjr	35:e959ffba78fd	414	}
mjr	40:cc0d9814522b	415	inline void i16Wire(uint8_t *b, int16_t val)
mjr	40:cc0d9814522b	416	{
mjr	40:cc0d9814522b	417	ui16Wire(b, (uint16_t)val);
mjr	40:cc0d9814522b	418	}
mjr	35:e959ffba78fd	419
mjr	35:e959ffba78fd	420	inline uint32_t wireUI32(const uint8_t *b)
mjr	35:e959ffba78fd	421	{
mjr	35:e959ffba78fd	422	return b[0] \| ((uint32_t)b[1] << 8) \| ((uint32_t)b[2] << 16) \| ((uint32_t)b[3] << 24);
mjr	35:e959ffba78fd	423	}
mjr	40:cc0d9814522b	424	inline void ui32Wire(uint8_t *b, uint32_t val)
mjr	40:cc0d9814522b	425	{
mjr	40:cc0d9814522b	426	b[0] = (uint8_t)(val & 0xff);
mjr	40:cc0d9814522b	427	b[1] = (uint8_t)((val >> 8) & 0xff);
mjr	40:cc0d9814522b	428	b[2] = (uint8_t)((val >> 16) & 0xff);
mjr	40:cc0d9814522b	429	b[3] = (uint8_t)((val >> 24) & 0xff);
mjr	40:cc0d9814522b	430	}
mjr	35:e959ffba78fd	431
mjr	35:e959ffba78fd	432	inline int32_t wireI32(const uint8_t *b)
mjr	35:e959ffba78fd	433	{
mjr	35:e959ffba78fd	434	return (int32_t)wireUI32(b);
mjr	35:e959ffba78fd	435	}
mjr	35:e959ffba78fd	436
mjr	53:9b2611964afc	437	// Convert "wire" (USB) pin codes to/from PinName values.
mjr	53:9b2611964afc	438	//
mjr	53:9b2611964afc	439	// The internal mbed PinName format is
mjr	53:9b2611964afc	440	//
mjr	53:9b2611964afc	441	// ((port) << PORT_SHIFT) \| (pin << 2) // MBED FORMAT
mjr	53:9b2611964afc	442	//
mjr	53:9b2611964afc	443	// where 'port' is 0-4 for Port A to Port E, and 'pin' is
mjr	53:9b2611964afc	444	// 0 to 31. E.g., E31 is (4 << PORT_SHIFT) \| (31<<2).
mjr	53:9b2611964afc	445	//
mjr	53:9b2611964afc	446	// We remap this to our more compact wire format where each
mjr	53:9b2611964afc	447	// pin name fits in 8 bits:
mjr	53:9b2611964afc	448	//
mjr	53:9b2611964afc	449	// ((port) << 5) \| pin) // WIRE FORMAT
mjr	53:9b2611964afc	450	//
mjr	53:9b2611964afc	451	// E.g., E31 is (4 << 5) \| 31.
mjr	53:9b2611964afc	452	//
mjr	53:9b2611964afc	453	// Wire code FF corresponds to PinName NC (not connected).
mjr	53:9b2611964afc	454	//
mjr	53:9b2611964afc	455	inline PinName wirePinName(uint8_t c)
mjr	35:e959ffba78fd	456	{
mjr	53:9b2611964afc	457	if (c == 0xFF)
mjr	53:9b2611964afc	458	return NC; // 0xFF -> NC
mjr	53:9b2611964afc	459	else
mjr	53:9b2611964afc	460	return PinName(
mjr	53:9b2611964afc	461	(int(c & 0xE0) << (PORT_SHIFT - 5)) // top three bits are the port
mjr	53:9b2611964afc	462	\| (int(c & 0x1F) << 2)); // bottom five bits are pin
mjr	40:cc0d9814522b	463	}
mjr	40:cc0d9814522b	464	inline void pinNameWire(uint8_t *b, PinName n)
mjr	40:cc0d9814522b	465	{
mjr	53:9b2611964afc	466	*b = PINNAME_TO_WIRE(n);
mjr	35:e959ffba78fd	467	}
mjr	35:e959ffba78fd	468
mjr	35:e959ffba78fd	469
mjr	35:e959ffba78fd	470	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	471	//
mjr	38:091e511ce8a0	472	// On-board RGB LED elements - we use these for diagnostic displays.
mjr	38:091e511ce8a0	473	//
mjr	38:091e511ce8a0	474	// Note that LED3 (the blue segment) is hard-wired on the KL25Z to PTD1,
mjr	38:091e511ce8a0	475	// so PTD1 shouldn't be used for any other purpose (e.g., as a keyboard
mjr	38:091e511ce8a0	476	// input or a device output). This is kind of unfortunate in that it's
mjr	38:091e511ce8a0	477	// one of only two ports exposed on the jumper pins that can be muxed to
mjr	38:091e511ce8a0	478	// SPI0 SCLK. This effectively limits us to PTC5 if we want to use the
mjr	38:091e511ce8a0	479	// SPI capability.
mjr	38:091e511ce8a0	480	//
mjr	38:091e511ce8a0	481	DigitalOut ledR, ledG, *ledB;
mjr	38:091e511ce8a0	482
mjr	73:4e8ce0b18915	483	// Power on timer state for diagnostics. We flash the blue LED when
mjr	77:0b96f6867312	484	// nothing else is going on. State 0-1 = off, 2-3 = on blue. Also
mjr	77:0b96f6867312	485	// show red when transmitting an LED signal, indicated by state 4.
mjr	73:4e8ce0b18915	486	uint8_t powerTimerDiagState = 0;
mjr	73:4e8ce0b18915	487
mjr	38:091e511ce8a0	488	// Show the indicated pattern on the diagnostic LEDs. 0 is off, 1 is
mjr	38:091e511ce8a0	489	// on, and -1 is no change (leaves the current setting intact).
mjr	73:4e8ce0b18915	490	static uint8_t diagLEDState = 0;
mjr	38:091e511ce8a0	491	void diagLED(int r, int g, int b)
mjr	38:091e511ce8a0	492	{
mjr	73:4e8ce0b18915	493	// remember the new state
mjr	73:4e8ce0b18915	494	diagLEDState = r \| (g << 1) \| (b << 2);
mjr	73:4e8ce0b18915	495
mjr	73:4e8ce0b18915	496	// if turning everything off, use the power timer state instead,
mjr	73:4e8ce0b18915	497	// applying it to the blue LED
mjr	73:4e8ce0b18915	498	if (diagLEDState == 0)
mjr	77:0b96f6867312	499	{
mjr	77:0b96f6867312	500	b = (powerTimerDiagState == 2 \|\| powerTimerDiagState == 3);
mjr	77:0b96f6867312	501	r = (powerTimerDiagState == 4);
mjr	77:0b96f6867312	502	}
mjr	73:4e8ce0b18915	503
mjr	73:4e8ce0b18915	504	// set the new state
mjr	38:091e511ce8a0	505	if (ledR != 0 && r != -1) ledR->write(!r);
mjr	38:091e511ce8a0	506	if (ledG != 0 && g != -1) ledG->write(!g);
mjr	38:091e511ce8a0	507	if (ledB != 0 && b != -1) ledB->write(!b);
mjr	38:091e511ce8a0	508	}
mjr	38:091e511ce8a0	509
mjr	73:4e8ce0b18915	510	// update the LEDs with the current state
mjr	73:4e8ce0b18915	511	void diagLED(void)
mjr	73:4e8ce0b18915	512	{
mjr	73:4e8ce0b18915	513	diagLED(
mjr	73:4e8ce0b18915	514	diagLEDState & 0x01,
mjr	73:4e8ce0b18915	515	(diagLEDState >> 1) & 0x01,
mjr	77:0b96f6867312	516	(diagLEDState >> 2) & 0x01);
mjr	73:4e8ce0b18915	517	}
mjr	73:4e8ce0b18915	518
mjr	38:091e511ce8a0	519	// check an output port assignment to see if it conflicts with
mjr	38:091e511ce8a0	520	// an on-board LED segment
mjr	38:091e511ce8a0	521	struct LedSeg
mjr	38:091e511ce8a0	522	{
mjr	38:091e511ce8a0	523	bool r, g, b;
mjr	38:091e511ce8a0	524	LedSeg() { r = g = b = false; }
mjr	38:091e511ce8a0	525
mjr	38:091e511ce8a0	526	void check(LedWizPortCfg &pc)
mjr	38:091e511ce8a0	527	{
mjr	38:091e511ce8a0	528	// if it's a GPIO, check to see if it's assigned to one of
mjr	38:091e511ce8a0	529	// our on-board LED segments
mjr	38:091e511ce8a0	530	int t = pc.typ;
mjr	38:091e511ce8a0	531	if (t == PortTypeGPIOPWM \|\| t == PortTypeGPIODig)
mjr	38:091e511ce8a0	532	{
mjr	38:091e511ce8a0	533	// it's a GPIO port - check for a matching pin assignment
mjr	38:091e511ce8a0	534	PinName pin = wirePinName(pc.pin);
mjr	38:091e511ce8a0	535	if (pin == LED1)
mjr	38:091e511ce8a0	536	r = true;
mjr	38:091e511ce8a0	537	else if (pin == LED2)
mjr	38:091e511ce8a0	538	g = true;
mjr	38:091e511ce8a0	539	else if (pin == LED3)
mjr	38:091e511ce8a0	540	b = true;
mjr	38:091e511ce8a0	541	}
mjr	38:091e511ce8a0	542	}
mjr	38:091e511ce8a0	543	};
mjr	38:091e511ce8a0	544
mjr	38:091e511ce8a0	545	// Initialize the diagnostic LEDs. By default, we use the on-board
mjr	38:091e511ce8a0	546	// RGB LED to display the microcontroller status. However, we allow
mjr	38:091e511ce8a0	547	// the user to commandeer the on-board LED as an LedWiz output device,
mjr	38:091e511ce8a0	548	// which can be useful for testing a new installation. So we'll check
mjr	38:091e511ce8a0	549	// for LedWiz outputs assigned to the on-board LED segments, and turn
mjr	38:091e511ce8a0	550	// off the diagnostic use for any so assigned.
mjr	38:091e511ce8a0	551	void initDiagLEDs(Config &cfg)
mjr	38:091e511ce8a0	552	{
mjr	38:091e511ce8a0	553	// run through the configuration list and cross off any of the
mjr	38:091e511ce8a0	554	// LED segments assigned to LedWiz ports
mjr	38:091e511ce8a0	555	LedSeg l;
mjr	38:091e511ce8a0	556	for (int i = 0 ; i < MAX_OUT_PORTS && cfg.outPort[i].typ != PortTypeDisabled ; ++i)
mjr	38:091e511ce8a0	557	l.check(cfg.outPort[i]);
mjr	38:091e511ce8a0	558
mjr	38:091e511ce8a0	559	// We now know which segments are taken for LedWiz use and which
mjr	38:091e511ce8a0	560	// are free. Create diagnostic ports for the ones not claimed for
mjr	38:091e511ce8a0	561	// LedWiz use.
mjr	38:091e511ce8a0	562	if (!l.r) ledR = new DigitalOut(LED1, 1);
mjr	38:091e511ce8a0	563	if (!l.g) ledG = new DigitalOut(LED2, 1);
mjr	38:091e511ce8a0	564	if (!l.b) ledB = new DigitalOut(LED3, 1);
mjr	38:091e511ce8a0	565	}
mjr	38:091e511ce8a0	566
mjr	38:091e511ce8a0	567
mjr	38:091e511ce8a0	568	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	569	//
mjr	76:7f5912b6340e	570	// LedWiz emulation
mjr	76:7f5912b6340e	571	//
mjr	76:7f5912b6340e	572
mjr	76:7f5912b6340e	573	// LedWiz output states.
mjr	76:7f5912b6340e	574	//
mjr	76:7f5912b6340e	575	// The LedWiz protocol has two separate control axes for each output.
mjr	76:7f5912b6340e	576	// One axis is its on/off state; the other is its "profile" state, which
mjr	76:7f5912b6340e	577	// is either a fixed brightness or a blinking pattern for the light.
mjr	76:7f5912b6340e	578	// The two axes are independent.
mjr	76:7f5912b6340e	579	//
mjr	76:7f5912b6340e	580	// Even though the original LedWiz protocol can only access 32 ports, we
mjr	76:7f5912b6340e	581	// maintain LedWiz state for every port, even if we have more than 32. Our
mjr	76:7f5912b6340e	582	// extended protocol allows the client to send LedWiz-style messages that
mjr	76:7f5912b6340e	583	// control any set of ports. A replacement LEDWIZ.DLL can make a single
mjr	76:7f5912b6340e	584	// Pinscape unit look like multiple virtual LedWiz units to legacy clients,
mjr	76:7f5912b6340e	585	// allowing them to control all of our ports. The clients will still be
mjr	76:7f5912b6340e	586	// using LedWiz-style states to control the ports, so we need to support
mjr	76:7f5912b6340e	587	// the LedWiz scheme with separate on/off and brightness control per port.
mjr	76:7f5912b6340e	588
mjr	76:7f5912b6340e	589	// On/off state for each LedWiz output
mjr	76:7f5912b6340e	590	static uint8_t *wizOn;
mjr	76:7f5912b6340e	591
mjr	76:7f5912b6340e	592	// LedWiz "Profile State" (the LedWiz brightness level or blink mode)
mjr	76:7f5912b6340e	593	// for each LedWiz output. If the output was last updated through an
mjr	76:7f5912b6340e	594	// LedWiz protocol message, it will have one of these values:
mjr	76:7f5912b6340e	595	//
mjr	76:7f5912b6340e	596	// 0-48 = fixed brightness 0% to 100%
mjr	76:7f5912b6340e	597	// 49 = fixed brightness 100% (equivalent to 48)
mjr	76:7f5912b6340e	598	// 129 = ramp up / ramp down
mjr	76:7f5912b6340e	599	// 130 = flash on / off
mjr	76:7f5912b6340e	600	// 131 = on / ramp down
mjr	76:7f5912b6340e	601	// 132 = ramp up / on
mjr	5:a70c0bce770d	602	//
mjr	76:7f5912b6340e	603	// (Note that value 49 isn't documented in the LedWiz spec, but real
mjr	76:7f5912b6340e	604	// LedWiz units treat it as equivalent to 48, and some PC software uses
mjr	76:7f5912b6340e	605	// it, so we need to accept it for compatibility.)
mjr	76:7f5912b6340e	606	static uint8_t *wizVal;
mjr	76:7f5912b6340e	607
mjr	76:7f5912b6340e	608	// Current actual brightness for each output. This is a simple linear
mjr	76:7f5912b6340e	609	// value on a 0..255 scale. This is EITHER the linear brightness computed
mjr	76:7f5912b6340e	610	// from the LedWiz setting for the port, OR the 0..255 value set explicitly
mjr	76:7f5912b6340e	611	// by the extended protocol:
mjr	76:7f5912b6340e	612	//
mjr	76:7f5912b6340e	613	// - If the last command that updated the port was an extended protocol
mjr	76:7f5912b6340e	614	// SET BRIGHTNESS command, this is the value set by that command. In
mjr	76:7f5912b6340e	615	// addition, wizOn[port] is set to 0 if the brightness is 0, 1 otherwise;
mjr	76:7f5912b6340e	616	// and wizVal[port] is set to the brightness rescaled to the 0..48 range
mjr	76:7f5912b6340e	617	// if the brightness is non-zero.
mjr	76:7f5912b6340e	618	//
mjr	76:7f5912b6340e	619	// - If the last command that updated the port was an LedWiz command
mjr	76:7f5912b6340e	620	// (SBA/PBA/SBX/PBX), this contains the brightness value computed from
mjr	76:7f5912b6340e	621	// the combination of wizOn[port] and wizVal[port]. If wizOn[port] is
mjr	76:7f5912b6340e	622	// zero, this is simply 0, otherwise it's wizVal[port] rescaled to the
mjr	76:7f5912b6340e	623	// 0..255 range.
mjr	26:cb71c4af2912	624	//
mjr	76:7f5912b6340e	625	// - For a port set to wizOn[port]=1 and wizVal[port] in 129..132, this is
mjr	76:7f5912b6340e	626	// also updated continuously to reflect the current flashing brightness
mjr	76:7f5912b6340e	627	// level.
mjr	26:cb71c4af2912	628	//
mjr	76:7f5912b6340e	629	static uint8_t *outLevel;
mjr	76:7f5912b6340e	630
mjr	76:7f5912b6340e	631
mjr	76:7f5912b6340e	632	// LedWiz flash speed. This is a value from 1 to 7 giving the pulse
mjr	76:7f5912b6340e	633	// rate for lights in blinking states. The LedWiz API doesn't document
mjr	76:7f5912b6340e	634	// what the numbers mean in real time units, but by observation, the
mjr	76:7f5912b6340e	635	// "speed" setting represents the period of the flash cycle in 0.25s
mjr	76:7f5912b6340e	636	// units, so speed 1 = 0.25 period = 4Hz, speed 7 = 1.75s period = 0.57Hz.
mjr	76:7f5912b6340e	637	// The period is the full cycle time of the flash waveform.
mjr	76:7f5912b6340e	638	//
mjr	76:7f5912b6340e	639	// Each bank of 32 lights has its independent own pulse rate, so we need
mjr	76:7f5912b6340e	640	// one entry per bank. Each bank has 32 outputs, so we need a total of
mjr	76:7f5912b6340e	641	// ceil(number_of_physical_outputs/32) entries. Note that we could allocate
mjr	76:7f5912b6340e	642	// this dynamically once we know the number of actual outputs, but the
mjr	76:7f5912b6340e	643	// upper limit is low enough that it's more efficient to use a fixed array
mjr	76:7f5912b6340e	644	// at the maximum size.
mjr	76:7f5912b6340e	645	static const int MAX_LW_BANKS = (MAX_OUT_PORTS+31)/32;
mjr	76:7f5912b6340e	646	static uint8_t wizSpeed[MAX_LW_BANKS];
mjr	29:582472d0bc57	647
mjr	26:cb71c4af2912	648	// Current starting output index for "PBA" messages from the PC (using
mjr	26:cb71c4af2912	649	// the LedWiz USB protocol). Each PBA message implicitly uses the
mjr	26:cb71c4af2912	650	// current index as the starting point for the ports referenced in
mjr	26:cb71c4af2912	651	// the message, and increases it (by 8) for the next call.
mjr	0:5acbbe3f4cf4	652	static int pbaIdx = 0;
mjr	0:5acbbe3f4cf4	653
mjr	76:7f5912b6340e	654
mjr	76:7f5912b6340e	655	// ---------------------------------------------------------------------------
mjr	76:7f5912b6340e	656	//
mjr	76:7f5912b6340e	657	// Output Ports
mjr	76:7f5912b6340e	658	//
mjr	76:7f5912b6340e	659	// There are two way to connect outputs. First, you can use the on-board
mjr	76:7f5912b6340e	660	// GPIO ports to implement device outputs: each LedWiz software port is
mjr	76:7f5912b6340e	661	// connected to a physical GPIO pin on the KL25Z. This has some pretty
mjr	76:7f5912b6340e	662	// strict limits, though. The KL25Z only has 10 PWM channels, so only 10
mjr	76:7f5912b6340e	663	// GPIO LedWiz ports can be made dimmable; the rest are strictly on/off.
mjr	76:7f5912b6340e	664	// The KL25Z also simply doesn't have enough exposed GPIO ports overall to
mjr	76:7f5912b6340e	665	// support all of the features the software supports. The software allows
mjr	76:7f5912b6340e	666	// for up to 128 outputs, 48 button inputs, plunger input (requiring 1-5
mjr	76:7f5912b6340e	667	// GPIO pins), and various other external devices. The KL25Z only exposes
mjr	76:7f5912b6340e	668	// about 50 GPIO pins. So if you want to do everything with GPIO ports,
mjr	76:7f5912b6340e	669	// you have to ration pins among features.
mjr	76:7f5912b6340e	670	//
mjr	87:8d35c74403af	671	// To overcome some of these limitations, we also support several external
mjr	76:7f5912b6340e	672	// peripheral controllers that allow adding many more outputs, using only
mjr	87:8d35c74403af	673	// a small number of GPIO pins to interface with the peripherals:
mjr	87:8d35c74403af	674	//
mjr	87:8d35c74403af	675	// - TLC5940 PWM controller chips. Each TLC5940 provides 16 ports with
mjr	87:8d35c74403af	676	// 12-bit PWM, and multiple TLC5940 chips can be daisy-chained. The
mjr	87:8d35c74403af	677	// chips connect via 5 GPIO pins, and since they're daisy-chainable,
mjr	87:8d35c74403af	678	// one set of 5 pins can control any number of the chips. So this chip
mjr	87:8d35c74403af	679	// effectively converts 5 GPIO pins into almost any number of PWM outputs.
mjr	87:8d35c74403af	680	//
mjr	87:8d35c74403af	681	// - TLC59116 PWM controller chips. These are similar to the TLC5940 but
mjr	87:8d35c74403af	682	// a newer generation with an improved design. These use an I2C bus,
mjr	87:8d35c74403af	683	// allowing up to 14 chips to be connected via 3 GPIO pins.
mjr	87:8d35c74403af	684	//
mjr	87:8d35c74403af	685	// - 74HC595 shift register chips. These provide 8 digital (on/off only)
mjr	87:8d35c74403af	686	// outputs per chip. These need 4 GPIO pins, and like the other can be
mjr	87:8d35c74403af	687	// daisy chained to add more outputs without using more GPIO pins. These
mjr	87:8d35c74403af	688	// are advantageous for outputs that don't require PWM, since the data
mjr	87:8d35c74403af	689	// transfer sizes are so much smaller. The expansion boards use these
mjr	87:8d35c74403af	690	// for the chime board outputs.
mjr	76:7f5912b6340e	691	//
mjr	76:7f5912b6340e	692	// Direct GPIO output ports and peripheral controllers can be mixed and
mjr	76:7f5912b6340e	693	// matched in one system. The assignment of pins to ports and the
mjr	76:7f5912b6340e	694	// configuration of peripheral controllers is all handled in the software
mjr	76:7f5912b6340e	695	// setup, so a physical system can be expanded and updated at any time.
mjr	76:7f5912b6340e	696	//
mjr	76:7f5912b6340e	697	// To handle the diversity of output port types, we start with an abstract
mjr	76:7f5912b6340e	698	// base class for outputs. Each type of physical output interface has a
mjr	76:7f5912b6340e	699	// concrete subclass. During initialization, we create the appropriate
mjr	76:7f5912b6340e	700	// subclass for each software port, mapping it to the assigned GPIO pin
mjr	76:7f5912b6340e	701	// or peripheral port. Most of the rest of the software only cares about
mjr	76:7f5912b6340e	702	// the abstract interface, so once the subclassed port objects are set up,
mjr	76:7f5912b6340e	703	// the rest of the system can control the ports without knowing which types
mjr	76:7f5912b6340e	704	// of physical devices they're connected to.
mjr	76:7f5912b6340e	705
mjr	76:7f5912b6340e	706
mjr	26:cb71c4af2912	707	// Generic LedWiz output port interface. We create a cover class to
mjr	26:cb71c4af2912	708	// virtualize digital vs PWM outputs, and on-board KL25Z GPIO vs external
mjr	26:cb71c4af2912	709	// TLC5940 outputs, and give them all a common interface.
mjr	6:cc35eb643e8f	710	class LwOut
mjr	6:cc35eb643e8f	711	{
mjr	6:cc35eb643e8f	712	public:
mjr	40:cc0d9814522b	713	// Set the output intensity. 'val' is 0 for fully off, 255 for
mjr	40:cc0d9814522b	714	// fully on, with values in between signifying lower intensity.
mjr	40:cc0d9814522b	715	virtual void set(uint8_t val) = 0;
mjr	6:cc35eb643e8f	716	};
mjr	26:cb71c4af2912	717
mjr	35:e959ffba78fd	718	// LwOut class for virtual ports. This type of port is visible to
mjr	35:e959ffba78fd	719	// the host software, but isn't connected to any physical output.
mjr	35:e959ffba78fd	720	// This can be used for special software-only ports like the ZB
mjr	35:e959ffba78fd	721	// Launch Ball output, or simply for placeholders in the LedWiz port
mjr	35:e959ffba78fd	722	// numbering.
mjr	35:e959ffba78fd	723	class LwVirtualOut: public LwOut
mjr	33:d832bcab089e	724	{
mjr	33:d832bcab089e	725	public:
mjr	35:e959ffba78fd	726	LwVirtualOut() { }
mjr	40:cc0d9814522b	727	virtual void set(uint8_t ) { }
mjr	33:d832bcab089e	728	};
mjr	26:cb71c4af2912	729
mjr	34:6b981a2afab7	730	// Active Low out. For any output marked as active low, we layer this
mjr	34:6b981a2afab7	731	// on top of the physical pin interface. This simply inverts the value of
mjr	40:cc0d9814522b	732	// the output value, so that 255 means fully off and 0 means fully on.
mjr	34:6b981a2afab7	733	class LwInvertedOut: public LwOut
mjr	34:6b981a2afab7	734	{
mjr	34:6b981a2afab7	735	public:
mjr	34:6b981a2afab7	736	LwInvertedOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	737	virtual void set(uint8_t val) { out->set(255 - val); }
mjr	34:6b981a2afab7	738
mjr	34:6b981a2afab7	739	private:
mjr	53:9b2611964afc	740	// underlying physical output
mjr	34:6b981a2afab7	741	LwOut *out;
mjr	34:6b981a2afab7	742	};
mjr	34:6b981a2afab7	743
mjr	53:9b2611964afc	744	// Global ZB Launch Ball state
mjr	53:9b2611964afc	745	bool zbLaunchOn = false;
mjr	53:9b2611964afc	746
mjr	53:9b2611964afc	747	// ZB Launch Ball output. This is layered on a port (physical or virtual)
mjr	53:9b2611964afc	748	// to track the ZB Launch Ball signal.
mjr	53:9b2611964afc	749	class LwZbLaunchOut: public LwOut
mjr	53:9b2611964afc	750	{
mjr	53:9b2611964afc	751	public:
mjr	53:9b2611964afc	752	LwZbLaunchOut(LwOut *o) : out(o) { }
mjr	53:9b2611964afc	753	virtual void set(uint8_t val)
mjr	53:9b2611964afc	754	{
mjr	53:9b2611964afc	755	// update the global ZB Launch Ball state
mjr	53:9b2611964afc	756	zbLaunchOn = (val != 0);
mjr	53:9b2611964afc	757
mjr	53:9b2611964afc	758	// pass it along to the underlying port, in case it's a physical output
mjr	53:9b2611964afc	759	out->set(val);
mjr	53:9b2611964afc	760	}
mjr	53:9b2611964afc	761
mjr	53:9b2611964afc	762	private:
mjr	53:9b2611964afc	763	// underlying physical or virtual output
mjr	53:9b2611964afc	764	LwOut *out;
mjr	53:9b2611964afc	765	};
mjr	53:9b2611964afc	766
mjr	53:9b2611964afc	767
mjr	40:cc0d9814522b	768	// Gamma correction table for 8-bit input values
mjr	87:8d35c74403af	769	static const uint8_t dof_to_gamma_8bit[] = {
mjr	40:cc0d9814522b	770	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
mjr	40:cc0d9814522b	771	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1,
mjr	40:cc0d9814522b	772	1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2,
mjr	40:cc0d9814522b	773	2, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 5, 5, 5,
mjr	40:cc0d9814522b	774	5, 6, 6, 6, 6, 7, 7, 7, 7, 8, 8, 8, 9, 9, 9, 10,
mjr	40:cc0d9814522b	775	10, 10, 11, 11, 11, 12, 12, 13, 13, 13, 14, 14, 15, 15, 16, 16,
mjr	40:cc0d9814522b	776	17, 17, 18, 18, 19, 19, 20, 20, 21, 21, 22, 22, 23, 24, 24, 25,
mjr	40:cc0d9814522b	777	25, 26, 27, 27, 28, 29, 29, 30, 31, 32, 32, 33, 34, 35, 35, 36,
mjr	40:cc0d9814522b	778	37, 38, 39, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 50,
mjr	40:cc0d9814522b	779	51, 52, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 66, 67, 68,
mjr	40:cc0d9814522b	780	69, 70, 72, 73, 74, 75, 77, 78, 79, 81, 82, 83, 85, 86, 87, 89,
mjr	40:cc0d9814522b	781	90, 92, 93, 95, 96, 98, 99, 101, 102, 104, 105, 107, 109, 110, 112, 114,
mjr	40:cc0d9814522b	782	115, 117, 119, 120, 122, 124, 126, 127, 129, 131, 133, 135, 137, 138, 140, 142,
mjr	40:cc0d9814522b	783	144, 146, 148, 150, 152, 154, 156, 158, 160, 162, 164, 167, 169, 171, 173, 175,
mjr	40:cc0d9814522b	784	177, 180, 182, 184, 186, 189, 191, 193, 196, 198, 200, 203, 205, 208, 210, 213,
mjr	40:cc0d9814522b	785	215, 218, 220, 223, 225, 228, 231, 233, 236, 239, 241, 244, 247, 249, 252, 255
mjr	40:cc0d9814522b	786	};
mjr	40:cc0d9814522b	787
mjr	40:cc0d9814522b	788	// Gamma-corrected out. This is a filter object that we layer on top
mjr	40:cc0d9814522b	789	// of a physical pin interface. This applies gamma correction to the
mjr	40:cc0d9814522b	790	// input value and then passes it along to the underlying pin object.
mjr	40:cc0d9814522b	791	class LwGammaOut: public LwOut
mjr	40:cc0d9814522b	792	{
mjr	40:cc0d9814522b	793	public:
mjr	40:cc0d9814522b	794	LwGammaOut(LwOut *o) : out(o) { }
mjr	87:8d35c74403af	795	virtual void set(uint8_t val) { out->set(dof_to_gamma_8bit[val]); }
mjr	40:cc0d9814522b	796
mjr	40:cc0d9814522b	797	private:
mjr	40:cc0d9814522b	798	LwOut *out;
mjr	40:cc0d9814522b	799	};
mjr	40:cc0d9814522b	800
mjr	77:0b96f6867312	801	// Global night mode flag. To minimize overhead when reporting
mjr	77:0b96f6867312	802	// the status, we set this to the status report flag bit for
mjr	77:0b96f6867312	803	// night mode, 0x02, when engaged.
mjr	77:0b96f6867312	804	static uint8_t nightMode = 0x00;
mjr	53:9b2611964afc	805
mjr	40:cc0d9814522b	806	// Noisy output. This is a filter object that we layer on top of
mjr	40:cc0d9814522b	807	// a physical pin output. This filter disables the port when night
mjr	40:cc0d9814522b	808	// mode is engaged.
mjr	40:cc0d9814522b	809	class LwNoisyOut: public LwOut
mjr	40:cc0d9814522b	810	{
mjr	40:cc0d9814522b	811	public:
mjr	40:cc0d9814522b	812	LwNoisyOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	813	virtual void set(uint8_t val) { out->set(nightMode ? 0 : val); }
mjr	40:cc0d9814522b	814
mjr	53:9b2611964afc	815	private:
mjr	53:9b2611964afc	816	LwOut *out;
mjr	53:9b2611964afc	817	};
mjr	53:9b2611964afc	818
mjr	53:9b2611964afc	819	// Night Mode indicator output. This is a filter object that we
mjr	53:9b2611964afc	820	// layer on top of a physical pin output. This filter ignores the
mjr	53:9b2611964afc	821	// host value and simply shows the night mode status.
mjr	53:9b2611964afc	822	class LwNightModeIndicatorOut: public LwOut
mjr	53:9b2611964afc	823	{
mjr	53:9b2611964afc	824	public:
mjr	53:9b2611964afc	825	LwNightModeIndicatorOut(LwOut *o) : out(o) { }
mjr	53:9b2611964afc	826	virtual void set(uint8_t)
mjr	53:9b2611964afc	827	{
mjr	53:9b2611964afc	828	// ignore the host value and simply show the current
mjr	53:9b2611964afc	829	// night mode setting
mjr	53:9b2611964afc	830	out->set(nightMode ? 255 : 0);
mjr	53:9b2611964afc	831	}
mjr	40:cc0d9814522b	832
mjr	40:cc0d9814522b	833	private:
mjr	40:cc0d9814522b	834	LwOut *out;
mjr	40:cc0d9814522b	835	};
mjr	40:cc0d9814522b	836
mjr	26:cb71c4af2912	837
mjr	35:e959ffba78fd	838	//
mjr	35:e959ffba78fd	839	// The TLC5940 interface object. We'll set this up with the port
mjr	35:e959ffba78fd	840	// assignments set in config.h.
mjr	33:d832bcab089e	841	//
mjr	35:e959ffba78fd	842	TLC5940 *tlc5940 = 0;
mjr	35:e959ffba78fd	843	void init_tlc5940(Config &cfg)
mjr	35:e959ffba78fd	844	{
mjr	35:e959ffba78fd	845	if (cfg.tlc5940.nchips != 0)
mjr	35:e959ffba78fd	846	{
mjr	53:9b2611964afc	847	tlc5940 = new TLC5940(
mjr	53:9b2611964afc	848	wirePinName(cfg.tlc5940.sclk),
mjr	53:9b2611964afc	849	wirePinName(cfg.tlc5940.sin),
mjr	53:9b2611964afc	850	wirePinName(cfg.tlc5940.gsclk),
mjr	53:9b2611964afc	851	wirePinName(cfg.tlc5940.blank),
mjr	53:9b2611964afc	852	wirePinName(cfg.tlc5940.xlat),
mjr	53:9b2611964afc	853	cfg.tlc5940.nchips);
mjr	35:e959ffba78fd	854	}
mjr	35:e959ffba78fd	855	}
mjr	26:cb71c4af2912	856
mjr	40:cc0d9814522b	857	// Conversion table for 8-bit DOF level to 12-bit TLC5940 level
mjr	40:cc0d9814522b	858	static const uint16_t dof_to_tlc[] = {
mjr	40:cc0d9814522b	859	0, 16, 32, 48, 64, 80, 96, 112, 128, 145, 161, 177, 193, 209, 225, 241,
mjr	40:cc0d9814522b	860	257, 273, 289, 305, 321, 337, 353, 369, 385, 401, 418, 434, 450, 466, 482, 498,
mjr	40:cc0d9814522b	861	514, 530, 546, 562, 578, 594, 610, 626, 642, 658, 674, 691, 707, 723, 739, 755,
mjr	40:cc0d9814522b	862	771, 787, 803, 819, 835, 851, 867, 883, 899, 915, 931, 947, 964, 980, 996, 1012,
mjr	40:cc0d9814522b	863	1028, 1044, 1060, 1076, 1092, 1108, 1124, 1140, 1156, 1172, 1188, 1204, 1220, 1237, 1253, 1269,
mjr	40:cc0d9814522b	864	1285, 1301, 1317, 1333, 1349, 1365, 1381, 1397, 1413, 1429, 1445, 1461, 1477, 1493, 1510, 1526,
mjr	40:cc0d9814522b	865	1542, 1558, 1574, 1590, 1606, 1622, 1638, 1654, 1670, 1686, 1702, 1718, 1734, 1750, 1766, 1783,
mjr	40:cc0d9814522b	866	1799, 1815, 1831, 1847, 1863, 1879, 1895, 1911, 1927, 1943, 1959, 1975, 1991, 2007, 2023, 2039,
mjr	40:cc0d9814522b	867	2056, 2072, 2088, 2104, 2120, 2136, 2152, 2168, 2184, 2200, 2216, 2232, 2248, 2264, 2280, 2296,
mjr	40:cc0d9814522b	868	2312, 2329, 2345, 2361, 2377, 2393, 2409, 2425, 2441, 2457, 2473, 2489, 2505, 2521, 2537, 2553,
mjr	40:cc0d9814522b	869	2569, 2585, 2602, 2618, 2634, 2650, 2666, 2682, 2698, 2714, 2730, 2746, 2762, 2778, 2794, 2810,
mjr	40:cc0d9814522b	870	2826, 2842, 2858, 2875, 2891, 2907, 2923, 2939, 2955, 2971, 2987, 3003, 3019, 3035, 3051, 3067,
mjr	40:cc0d9814522b	871	3083, 3099, 3115, 3131, 3148, 3164, 3180, 3196, 3212, 3228, 3244, 3260, 3276, 3292, 3308, 3324,
mjr	40:cc0d9814522b	872	3340, 3356, 3372, 3388, 3404, 3421, 3437, 3453, 3469, 3485, 3501, 3517, 3533, 3549, 3565, 3581,
mjr	40:cc0d9814522b	873	3597, 3613, 3629, 3645, 3661, 3677, 3694, 3710, 3726, 3742, 3758, 3774, 3790, 3806, 3822, 3838,
mjr	40:cc0d9814522b	874	3854, 3870, 3886, 3902, 3918, 3934, 3950, 3967, 3983, 3999, 4015, 4031, 4047, 4063, 4079, 4095
mjr	40:cc0d9814522b	875	};
mjr	40:cc0d9814522b	876
mjr	40:cc0d9814522b	877	// Conversion table for 8-bit DOF level to 12-bit TLC5940 level, with
mjr	40:cc0d9814522b	878	// gamma correction. Note that the output layering scheme can handle
mjr	40:cc0d9814522b	879	// this without a separate table, by first applying gamma to the DOF
mjr	40:cc0d9814522b	880	// level to produce an 8-bit gamma-corrected value, then convert that
mjr	40:cc0d9814522b	881	// to the 12-bit TLC5940 value. But we get better precision by doing
mjr	40:cc0d9814522b	882	// the gamma correction in the 12-bit TLC5940 domain. We can only
mjr	40:cc0d9814522b	883	// get the 12-bit domain by combining both steps into one layering
mjr	40:cc0d9814522b	884	// object, though, since the intermediate values in the layering system
mjr	40:cc0d9814522b	885	// are always 8 bits.
mjr	40:cc0d9814522b	886	static const uint16_t dof_to_gamma_tlc[] = {
mjr	40:cc0d9814522b	887	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1,
mjr	40:cc0d9814522b	888	2, 2, 2, 3, 3, 4, 4, 5, 5, 6, 7, 8, 8, 9, 10, 11,
mjr	40:cc0d9814522b	889	12, 13, 15, 16, 17, 18, 20, 21, 23, 25, 26, 28, 30, 32, 34, 36,
mjr	40:cc0d9814522b	890	38, 40, 43, 45, 48, 50, 53, 56, 59, 62, 65, 68, 71, 75, 78, 82,
mjr	40:cc0d9814522b	891	85, 89, 93, 97, 101, 105, 110, 114, 119, 123, 128, 133, 138, 143, 149, 154,
mjr	40:cc0d9814522b	892	159, 165, 171, 177, 183, 189, 195, 202, 208, 215, 222, 229, 236, 243, 250, 258,
mjr	40:cc0d9814522b	893	266, 273, 281, 290, 298, 306, 315, 324, 332, 341, 351, 360, 369, 379, 389, 399,
mjr	40:cc0d9814522b	894	409, 419, 430, 440, 451, 462, 473, 485, 496, 508, 520, 532, 544, 556, 569, 582,
mjr	40:cc0d9814522b	895	594, 608, 621, 634, 648, 662, 676, 690, 704, 719, 734, 749, 764, 779, 795, 811,
mjr	40:cc0d9814522b	896	827, 843, 859, 876, 893, 910, 927, 944, 962, 980, 998, 1016, 1034, 1053, 1072, 1091,
mjr	40:cc0d9814522b	897	1110, 1130, 1150, 1170, 1190, 1210, 1231, 1252, 1273, 1294, 1316, 1338, 1360, 1382, 1404, 1427,
mjr	40:cc0d9814522b	898	1450, 1473, 1497, 1520, 1544, 1568, 1593, 1617, 1642, 1667, 1693, 1718, 1744, 1770, 1797, 1823,
mjr	40:cc0d9814522b	899	1850, 1877, 1905, 1932, 1960, 1988, 2017, 2045, 2074, 2103, 2133, 2162, 2192, 2223, 2253, 2284,
mjr	40:cc0d9814522b	900	2315, 2346, 2378, 2410, 2442, 2474, 2507, 2540, 2573, 2606, 2640, 2674, 2708, 2743, 2778, 2813,
mjr	40:cc0d9814522b	901	2849, 2884, 2920, 2957, 2993, 3030, 3067, 3105, 3143, 3181, 3219, 3258, 3297, 3336, 3376, 3416,
mjr	40:cc0d9814522b	902	3456, 3496, 3537, 3578, 3619, 3661, 3703, 3745, 3788, 3831, 3874, 3918, 3962, 4006, 4050, 4095
mjr	40:cc0d9814522b	903	};
mjr	40:cc0d9814522b	904
mjr	26:cb71c4af2912	905	// LwOut class for TLC5940 outputs. These are fully PWM capable.
mjr	26:cb71c4af2912	906	// The 'idx' value in the constructor is the output index in the
mjr	26:cb71c4af2912	907	// daisy-chained TLC5940 array. 0 is output #0 on the first chip,
mjr	26:cb71c4af2912	908	// 1 is #1 on the first chip, 15 is #15 on the first chip, 16 is
mjr	26:cb71c4af2912	909	// #0 on the second chip, 32 is #0 on the third chip, etc.
mjr	26:cb71c4af2912	910	class Lw5940Out: public LwOut
mjr	26:cb71c4af2912	911	{
mjr	26:cb71c4af2912	912	public:
mjr	60:f38da020aa13	913	Lw5940Out(uint8_t idx) : idx(idx) { prv = 0; }
mjr	40:cc0d9814522b	914	virtual void set(uint8_t val)
mjr	26:cb71c4af2912	915	{
mjr	26:cb71c4af2912	916	if (val != prv)
mjr	40:cc0d9814522b	917	tlc5940->set(idx, dof_to_tlc[prv = val]);
mjr	26:cb71c4af2912	918	}
mjr	60:f38da020aa13	919	uint8_t idx;
mjr	40:cc0d9814522b	920	uint8_t prv;
mjr	26:cb71c4af2912	921	};
mjr	26:cb71c4af2912	922
mjr	40:cc0d9814522b	923	// LwOut class for TLC5940 gamma-corrected outputs.
mjr	40:cc0d9814522b	924	class Lw5940GammaOut: public LwOut
mjr	40:cc0d9814522b	925	{
mjr	40:cc0d9814522b	926	public:
mjr	60:f38da020aa13	927	Lw5940GammaOut(uint8_t idx) : idx(idx) { prv = 0; }
mjr	40:cc0d9814522b	928	virtual void set(uint8_t val)
mjr	40:cc0d9814522b	929	{
mjr	40:cc0d9814522b	930	if (val != prv)
mjr	40:cc0d9814522b	931	tlc5940->set(idx, dof_to_gamma_tlc[prv = val]);
mjr	40:cc0d9814522b	932	}
mjr	60:f38da020aa13	933	uint8_t idx;
mjr	40:cc0d9814522b	934	uint8_t prv;
mjr	40:cc0d9814522b	935	};
mjr	40:cc0d9814522b	936
mjr	87:8d35c74403af	937	//
mjr	87:8d35c74403af	938	// TLC59116 interface object
mjr	87:8d35c74403af	939	//
mjr	87:8d35c74403af	940	TLC59116 *tlc59116 = 0;
mjr	87:8d35c74403af	941	void init_tlc59116(Config &cfg)
mjr	87:8d35c74403af	942	{
mjr	87:8d35c74403af	943	// Create the interface if any chips are enabled
mjr	87:8d35c74403af	944	if (cfg.tlc59116.chipMask != 0)
mjr	87:8d35c74403af	945	{
mjr	87:8d35c74403af	946	// set up the interface
mjr	87:8d35c74403af	947	tlc59116 = new TLC59116(
mjr	87:8d35c74403af	948	wirePinName(cfg.tlc59116.sda),
mjr	87:8d35c74403af	949	wirePinName(cfg.tlc59116.scl),
mjr	87:8d35c74403af	950	wirePinName(cfg.tlc59116.reset));
mjr	87:8d35c74403af	951
mjr	87:8d35c74403af	952	// initialize the chips
mjr	87:8d35c74403af	953	tlc59116->init();
mjr	87:8d35c74403af	954	}
mjr	87:8d35c74403af	955	}
mjr	87:8d35c74403af	956
mjr	87:8d35c74403af	957	// LwOut class for TLC59116 outputs. The 'addr' value in the constructor
mjr	87:8d35c74403af	958	// is low 4 bits of the chip's I2C address; this is the part of the address
mjr	87:8d35c74403af	959	// that's configurable per chip. 'port' is the output number on the chip
mjr	87:8d35c74403af	960	// (0-15).
mjr	87:8d35c74403af	961	//
mjr	87:8d35c74403af	962	// Note that we don't need a separate gamma-corrected subclass for this
mjr	87:8d35c74403af	963	// output type, since there's no loss of precision with the standard layered
mjr	87:8d35c74403af	964	// gamma (it emits 8-bit values, and we take 8-bit inputs).
mjr	87:8d35c74403af	965	class Lw59116Out: public LwOut
mjr	87:8d35c74403af	966	{
mjr	87:8d35c74403af	967	public:
mjr	87:8d35c74403af	968	Lw59116Out(uint8_t addr, uint8_t port) : addr(addr), port(port) { prv = 0; }
mjr	87:8d35c74403af	969	virtual void set(uint8_t val)
mjr	87:8d35c74403af	970	{
mjr	87:8d35c74403af	971	if (val != prv)
mjr	87:8d35c74403af	972	tlc59116->set(addr, port, prv = val);
mjr	87:8d35c74403af	973	}
mjr	87:8d35c74403af	974
mjr	87:8d35c74403af	975	protected:
mjr	87:8d35c74403af	976	uint8_t addr;
mjr	87:8d35c74403af	977	uint8_t port;
mjr	87:8d35c74403af	978	uint8_t prv;
mjr	87:8d35c74403af	979	};
mjr	87:8d35c74403af	980
mjr	87:8d35c74403af	981
mjr	87:8d35c74403af	982	//
mjr	34:6b981a2afab7	983	// 74HC595 interface object. Set this up with the port assignments in
mjr	34:6b981a2afab7	984	// config.h.
mjr	87:8d35c74403af	985	//
mjr	35:e959ffba78fd	986	HC595 *hc595 = 0;
mjr	35:e959ffba78fd	987
mjr	35:e959ffba78fd	988	// initialize the 74HC595 interface
mjr	35:e959ffba78fd	989	void init_hc595(Config &cfg)
mjr	35:e959ffba78fd	990	{
mjr	35:e959ffba78fd	991	if (cfg.hc595.nchips != 0)
mjr	35:e959ffba78fd	992	{
mjr	53:9b2611964afc	993	hc595 = new HC595(
mjr	53:9b2611964afc	994	wirePinName(cfg.hc595.nchips),
mjr	53:9b2611964afc	995	wirePinName(cfg.hc595.sin),
mjr	53:9b2611964afc	996	wirePinName(cfg.hc595.sclk),
mjr	53:9b2611964afc	997	wirePinName(cfg.hc595.latch),
mjr	53:9b2611964afc	998	wirePinName(cfg.hc595.ena));
mjr	35:e959ffba78fd	999	hc595->init();
mjr	35:e959ffba78fd	1000	hc595->update();
mjr	35:e959ffba78fd	1001	}
mjr	35:e959ffba78fd	1002	}
mjr	34:6b981a2afab7	1003
mjr	34:6b981a2afab7	1004	// LwOut class for 74HC595 outputs. These are simple digial outs.
mjr	34:6b981a2afab7	1005	// The 'idx' value in the constructor is the output index in the
mjr	34:6b981a2afab7	1006	// daisy-chained 74HC595 array. 0 is output #0 on the first chip,
mjr	34:6b981a2afab7	1007	// 1 is #1 on the first chip, 7 is #7 on the first chip, 8 is
mjr	34:6b981a2afab7	1008	// #0 on the second chip, etc.
mjr	34:6b981a2afab7	1009	class Lw595Out: public LwOut
mjr	33:d832bcab089e	1010	{
mjr	33:d832bcab089e	1011	public:
mjr	60:f38da020aa13	1012	Lw595Out(uint8_t idx) : idx(idx) { prv = 0; }
mjr	40:cc0d9814522b	1013	virtual void set(uint8_t val)
mjr	34:6b981a2afab7	1014	{
mjr	34:6b981a2afab7	1015	if (val != prv)
mjr	40:cc0d9814522b	1016	hc595->set(idx, (prv = val) == 0 ? 0 : 1);
mjr	34:6b981a2afab7	1017	}
mjr	60:f38da020aa13	1018	uint8_t idx;
mjr	40:cc0d9814522b	1019	uint8_t prv;
mjr	33:d832bcab089e	1020	};
mjr	33:d832bcab089e	1021
mjr	26:cb71c4af2912	1022
mjr	40:cc0d9814522b	1023
mjr	64:ef7ca92dff36	1024	// Conversion table - 8-bit DOF output level to PWM duty cycle,
mjr	64:ef7ca92dff36	1025	// normalized to 0.0 to 1.0 scale.
mjr	74:822a92bc11d2	1026	static const float dof_to_pwm[] = {
mjr	64:ef7ca92dff36	1027	0.000000f, 0.003922f, 0.007843f, 0.011765f, 0.015686f, 0.019608f, 0.023529f, 0.027451f,
mjr	64:ef7ca92dff36	1028	0.031373f, 0.035294f, 0.039216f, 0.043137f, 0.047059f, 0.050980f, 0.054902f, 0.058824f,
mjr	64:ef7ca92dff36	1029	0.062745f, 0.066667f, 0.070588f, 0.074510f, 0.078431f, 0.082353f, 0.086275f, 0.090196f,
mjr	64:ef7ca92dff36	1030	0.094118f, 0.098039f, 0.101961f, 0.105882f, 0.109804f, 0.113725f, 0.117647f, 0.121569f,
mjr	64:ef7ca92dff36	1031	0.125490f, 0.129412f, 0.133333f, 0.137255f, 0.141176f, 0.145098f, 0.149020f, 0.152941f,
mjr	64:ef7ca92dff36	1032	0.156863f, 0.160784f, 0.164706f, 0.168627f, 0.172549f, 0.176471f, 0.180392f, 0.184314f,
mjr	64:ef7ca92dff36	1033	0.188235f, 0.192157f, 0.196078f, 0.200000f, 0.203922f, 0.207843f, 0.211765f, 0.215686f,
mjr	64:ef7ca92dff36	1034	0.219608f, 0.223529f, 0.227451f, 0.231373f, 0.235294f, 0.239216f, 0.243137f, 0.247059f,
mjr	64:ef7ca92dff36	1035	0.250980f, 0.254902f, 0.258824f, 0.262745f, 0.266667f, 0.270588f, 0.274510f, 0.278431f,
mjr	64:ef7ca92dff36	1036	0.282353f, 0.286275f, 0.290196f, 0.294118f, 0.298039f, 0.301961f, 0.305882f, 0.309804f,
mjr	64:ef7ca92dff36	1037	0.313725f, 0.317647f, 0.321569f, 0.325490f, 0.329412f, 0.333333f, 0.337255f, 0.341176f,
mjr	64:ef7ca92dff36	1038	0.345098f, 0.349020f, 0.352941f, 0.356863f, 0.360784f, 0.364706f, 0.368627f, 0.372549f,
mjr	64:ef7ca92dff36	1039	0.376471f, 0.380392f, 0.384314f, 0.388235f, 0.392157f, 0.396078f, 0.400000f, 0.403922f,
mjr	64:ef7ca92dff36	1040	0.407843f, 0.411765f, 0.415686f, 0.419608f, 0.423529f, 0.427451f, 0.431373f, 0.435294f,
mjr	64:ef7ca92dff36	1041	0.439216f, 0.443137f, 0.447059f, 0.450980f, 0.454902f, 0.458824f, 0.462745f, 0.466667f,
mjr	64:ef7ca92dff36	1042	0.470588f, 0.474510f, 0.478431f, 0.482353f, 0.486275f, 0.490196f, 0.494118f, 0.498039f,
mjr	64:ef7ca92dff36	1043	0.501961f, 0.505882f, 0.509804f, 0.513725f, 0.517647f, 0.521569f, 0.525490f, 0.529412f,
mjr	64:ef7ca92dff36	1044	0.533333f, 0.537255f, 0.541176f, 0.545098f, 0.549020f, 0.552941f, 0.556863f, 0.560784f,
mjr	64:ef7ca92dff36	1045	0.564706f, 0.568627f, 0.572549f, 0.576471f, 0.580392f, 0.584314f, 0.588235f, 0.592157f,
mjr	64:ef7ca92dff36	1046	0.596078f, 0.600000f, 0.603922f, 0.607843f, 0.611765f, 0.615686f, 0.619608f, 0.623529f,
mjr	64:ef7ca92dff36	1047	0.627451f, 0.631373f, 0.635294f, 0.639216f, 0.643137f, 0.647059f, 0.650980f, 0.654902f,
mjr	64:ef7ca92dff36	1048	0.658824f, 0.662745f, 0.666667f, 0.670588f, 0.674510f, 0.678431f, 0.682353f, 0.686275f,
mjr	64:ef7ca92dff36	1049	0.690196f, 0.694118f, 0.698039f, 0.701961f, 0.705882f, 0.709804f, 0.713725f, 0.717647f,
mjr	64:ef7ca92dff36	1050	0.721569f, 0.725490f, 0.729412f, 0.733333f, 0.737255f, 0.741176f, 0.745098f, 0.749020f,
mjr	64:ef7ca92dff36	1051	0.752941f, 0.756863f, 0.760784f, 0.764706f, 0.768627f, 0.772549f, 0.776471f, 0.780392f,
mjr	64:ef7ca92dff36	1052	0.784314f, 0.788235f, 0.792157f, 0.796078f, 0.800000f, 0.803922f, 0.807843f, 0.811765f,
mjr	64:ef7ca92dff36	1053	0.815686f, 0.819608f, 0.823529f, 0.827451f, 0.831373f, 0.835294f, 0.839216f, 0.843137f,
mjr	64:ef7ca92dff36	1054	0.847059f, 0.850980f, 0.854902f, 0.858824f, 0.862745f, 0.866667f, 0.870588f, 0.874510f,
mjr	64:ef7ca92dff36	1055	0.878431f, 0.882353f, 0.886275f, 0.890196f, 0.894118f, 0.898039f, 0.901961f, 0.905882f,
mjr	64:ef7ca92dff36	1056	0.909804f, 0.913725f, 0.917647f, 0.921569f, 0.925490f, 0.929412f, 0.933333f, 0.937255f,
mjr	64:ef7ca92dff36	1057	0.941176f, 0.945098f, 0.949020f, 0.952941f, 0.956863f, 0.960784f, 0.964706f, 0.968627f,
mjr	64:ef7ca92dff36	1058	0.972549f, 0.976471f, 0.980392f, 0.984314f, 0.988235f, 0.992157f, 0.996078f, 1.000000f
mjr	40:cc0d9814522b	1059	};
mjr	26:cb71c4af2912	1060
mjr	64:ef7ca92dff36	1061
mjr	64:ef7ca92dff36	1062	// Conversion table for 8-bit DOF level to pulse width in microseconds,
mjr	64:ef7ca92dff36	1063	// with gamma correction. We could use the layered gamma output on top
mjr	64:ef7ca92dff36	1064	// of the regular LwPwmOut class for this, but we get better precision
mjr	64:ef7ca92dff36	1065	// with a dedicated table, because we apply gamma correction to the
mjr	64:ef7ca92dff36	1066	// 32-bit microsecond values rather than the 8-bit DOF levels.
mjr	64:ef7ca92dff36	1067	static const float dof_to_gamma_pwm[] = {
mjr	64:ef7ca92dff36	1068	0.000000f, 0.000000f, 0.000001f, 0.000004f, 0.000009f, 0.000017f, 0.000028f, 0.000042f,
mjr	64:ef7ca92dff36	1069	0.000062f, 0.000086f, 0.000115f, 0.000151f, 0.000192f, 0.000240f, 0.000296f, 0.000359f,
mjr	64:ef7ca92dff36	1070	0.000430f, 0.000509f, 0.000598f, 0.000695f, 0.000803f, 0.000920f, 0.001048f, 0.001187f,
mjr	64:ef7ca92dff36	1071	0.001337f, 0.001499f, 0.001673f, 0.001860f, 0.002059f, 0.002272f, 0.002498f, 0.002738f,
mjr	64:ef7ca92dff36	1072	0.002993f, 0.003262f, 0.003547f, 0.003847f, 0.004162f, 0.004494f, 0.004843f, 0.005208f,
mjr	64:ef7ca92dff36	1073	0.005591f, 0.005991f, 0.006409f, 0.006845f, 0.007301f, 0.007775f, 0.008268f, 0.008781f,
mjr	64:ef7ca92dff36	1074	0.009315f, 0.009868f, 0.010442f, 0.011038f, 0.011655f, 0.012293f, 0.012954f, 0.013637f,
mjr	64:ef7ca92dff36	1075	0.014342f, 0.015071f, 0.015823f, 0.016599f, 0.017398f, 0.018223f, 0.019071f, 0.019945f,
mjr	64:ef7ca92dff36	1076	0.020844f, 0.021769f, 0.022720f, 0.023697f, 0.024701f, 0.025731f, 0.026789f, 0.027875f,
mjr	64:ef7ca92dff36	1077	0.028988f, 0.030129f, 0.031299f, 0.032498f, 0.033726f, 0.034983f, 0.036270f, 0.037587f,
mjr	64:ef7ca92dff36	1078	0.038935f, 0.040313f, 0.041722f, 0.043162f, 0.044634f, 0.046138f, 0.047674f, 0.049243f,
mjr	64:ef7ca92dff36	1079	0.050844f, 0.052478f, 0.054146f, 0.055847f, 0.057583f, 0.059353f, 0.061157f, 0.062996f,
mjr	64:ef7ca92dff36	1080	0.064870f, 0.066780f, 0.068726f, 0.070708f, 0.072726f, 0.074780f, 0.076872f, 0.079001f,
mjr	64:ef7ca92dff36	1081	0.081167f, 0.083371f, 0.085614f, 0.087895f, 0.090214f, 0.092572f, 0.094970f, 0.097407f,
mjr	64:ef7ca92dff36	1082	0.099884f, 0.102402f, 0.104959f, 0.107558f, 0.110197f, 0.112878f, 0.115600f, 0.118364f,
mjr	64:ef7ca92dff36	1083	0.121170f, 0.124019f, 0.126910f, 0.129844f, 0.132821f, 0.135842f, 0.138907f, 0.142016f,
mjr	64:ef7ca92dff36	1084	0.145170f, 0.148367f, 0.151610f, 0.154898f, 0.158232f, 0.161611f, 0.165037f, 0.168509f,
mjr	64:ef7ca92dff36	1085	0.172027f, 0.175592f, 0.179205f, 0.182864f, 0.186572f, 0.190327f, 0.194131f, 0.197983f,
mjr	64:ef7ca92dff36	1086	0.201884f, 0.205834f, 0.209834f, 0.213883f, 0.217982f, 0.222131f, 0.226330f, 0.230581f,
mjr	64:ef7ca92dff36	1087	0.234882f, 0.239234f, 0.243638f, 0.248094f, 0.252602f, 0.257162f, 0.261774f, 0.266440f,
mjr	64:ef7ca92dff36	1088	0.271159f, 0.275931f, 0.280756f, 0.285636f, 0.290570f, 0.295558f, 0.300601f, 0.305699f,
mjr	64:ef7ca92dff36	1089	0.310852f, 0.316061f, 0.321325f, 0.326645f, 0.332022f, 0.337456f, 0.342946f, 0.348493f,
mjr	64:ef7ca92dff36	1090	0.354098f, 0.359760f, 0.365480f, 0.371258f, 0.377095f, 0.382990f, 0.388944f, 0.394958f,
mjr	64:ef7ca92dff36	1091	0.401030f, 0.407163f, 0.413356f, 0.419608f, 0.425921f, 0.432295f, 0.438730f, 0.445226f,
mjr	64:ef7ca92dff36	1092	0.451784f, 0.458404f, 0.465085f, 0.471829f, 0.478635f, 0.485504f, 0.492436f, 0.499432f,
mjr	64:ef7ca92dff36	1093	0.506491f, 0.513614f, 0.520800f, 0.528052f, 0.535367f, 0.542748f, 0.550194f, 0.557705f,
mjr	64:ef7ca92dff36	1094	0.565282f, 0.572924f, 0.580633f, 0.588408f, 0.596249f, 0.604158f, 0.612133f, 0.620176f,
mjr	64:ef7ca92dff36	1095	0.628287f, 0.636465f, 0.644712f, 0.653027f, 0.661410f, 0.669863f, 0.678384f, 0.686975f,
mjr	64:ef7ca92dff36	1096	0.695636f, 0.704366f, 0.713167f, 0.722038f, 0.730979f, 0.739992f, 0.749075f, 0.758230f,
mjr	64:ef7ca92dff36	1097	0.767457f, 0.776755f, 0.786126f, 0.795568f, 0.805084f, 0.814672f, 0.824334f, 0.834068f,
mjr	64:ef7ca92dff36	1098	0.843877f, 0.853759f, 0.863715f, 0.873746f, 0.883851f, 0.894031f, 0.904286f, 0.914616f,
mjr	64:ef7ca92dff36	1099	0.925022f, 0.935504f, 0.946062f, 0.956696f, 0.967407f, 0.978194f, 0.989058f, 1.000000f
mjr	64:ef7ca92dff36	1100	};
mjr	64:ef7ca92dff36	1101
mjr	77:0b96f6867312	1102	// Polled-update PWM output list
mjr	74:822a92bc11d2	1103	//
mjr	77:0b96f6867312	1104	// This is a workaround for a KL25Z hardware bug/limitation. The bug (more
mjr	77:0b96f6867312	1105	// about this below) is that we can't write to a PWM output "value" register
mjr	77:0b96f6867312	1106	// more than once per PWM cycle; if we do, outputs after the first are lost.
mjr	77:0b96f6867312	1107	// The value register controls the duty cycle, so it's what you have to write
mjr	77:0b96f6867312	1108	// if you want to update the brightness of an output.
mjr	74:822a92bc11d2	1109	//
mjr	77:0b96f6867312	1110	// Our solution is to simply repeat all PWM updates periodically. If a write
mjr	77:0b96f6867312	1111	// is lost on one cycle, it'll eventually be applied on a subseuqent periodic
mjr	77:0b96f6867312	1112	// update. For low overhead, we do these repeat updates periodically during
mjr	77:0b96f6867312	1113	// the main loop.
mjr	74:822a92bc11d2	1114	//
mjr	77:0b96f6867312	1115	// The mbed library has its own solution to this bug, but it creates a
mjr	77:0b96f6867312	1116	// separate problem of its own. The mbed solution is to write the value
mjr	77:0b96f6867312	1117	// register immediately, and then also reset the "count" register in the
mjr	77:0b96f6867312	1118	// TPM unit containing the output. The count reset truncates the current
mjr	77:0b96f6867312	1119	// PWM cycle, which avoids the hardware problem with more than one write per
mjr	77:0b96f6867312	1120	// cycle. The problem is that the truncated cycle causes visible flicker if
mjr	77:0b96f6867312	1121	// the output is connected to an LED. This is particularly noticeable during
mjr	77:0b96f6867312	1122	// fades, when we're updating the value register repeatedly and rapidly: an
mjr	77:0b96f6867312	1123	// attempt to fade from fully on to fully off causes rapid fluttering and
mjr	77:0b96f6867312	1124	// flashing rather than a smooth brightness fade.
mjr	74:822a92bc11d2	1125	//
mjr	77:0b96f6867312	1126	// The hardware bug is a case of good intentions gone bad. The hardware is
mjr	77:0b96f6867312	1127	// supposed to make it easy for software to avoid glitching during PWM
mjr	77:0b96f6867312	1128	// updates, by providing a staging register in front of the real value
mjr	77:0b96f6867312	1129	// register. The software actually writes to the staging register, which
mjr	77:0b96f6867312	1130	// holds updates until the end of the cycle, at which point the hardware
mjr	77:0b96f6867312	1131	// automatically moves the value from the staging register into the real
mjr	77:0b96f6867312	1132	// register. This ensures that the real register is always updated exactly
mjr	77:0b96f6867312	1133	// at a cycle boundary, which in turn ensures that there's no flicker when
mjr	77:0b96f6867312	1134	// values are updated. A great design - except that it doesn't quite work.
mjr	77:0b96f6867312	1135	// The problem is that the staging register actually seems to be implemented
mjr	77:0b96f6867312	1136	// as a one-element FIFO in "stop when full" mode. That is, when you write
mjr	77:0b96f6867312	1137	// the FIFO, it becomes full. When the cycle ends and the hardware reads it
mjr	77:0b96f6867312	1138	// to move the staged value into the real register, the FIFO becomes empty.
mjr	77:0b96f6867312	1139	// But if you try to write the FIFO twice before the hardware reads it and
mjr	77:0b96f6867312	1140	// empties it, the second write fails, leaving the first value in the queue.
mjr	77:0b96f6867312	1141	// There doesn't seem to be any way to clear the FIFO from software, so you
mjr	77:0b96f6867312	1142	// just have to wait for the cycle to end before writing another update.
mjr	77:0b96f6867312	1143	// That more or less defeats the purpose of the staging register, whose whole
mjr	77:0b96f6867312	1144	// point is to free software from worrying about timing considerations with
mjr	77:0b96f6867312	1145	// updates. It frees us of the need to align our timing on cycle boundaries,
mjr	77:0b96f6867312	1146	// but it leaves us with the need to limit writes to once per cycle.
mjr	74:822a92bc11d2	1147	//
mjr	77:0b96f6867312	1148	// So here we have our list of PWM outputs that need to be polled for updates.
mjr	77:0b96f6867312	1149	// The KL25Z hardware only has 10 PWM channels, so we only need a fixed set
mjr	77:0b96f6867312	1150	// of polled items.
mjr	74:822a92bc11d2	1151	static int numPolledPwm;
mjr	74:822a92bc11d2	1152	static class LwPwmOut *polledPwm[10];
mjr	74:822a92bc11d2	1153
mjr	74:822a92bc11d2	1154	// LwOut class for a PWM-capable GPIO port.
mjr	6:cc35eb643e8f	1155	class LwPwmOut: public LwOut
mjr	6:cc35eb643e8f	1156	{
mjr	6:cc35eb643e8f	1157	public:
mjr	43:7a6364d82a41	1158	LwPwmOut(PinName pin, uint8_t initVal) : p(pin)
mjr	43:7a6364d82a41	1159	{
mjr	77:0b96f6867312	1160	// add myself to the list of polled outputs for periodic updates
mjr	77:0b96f6867312	1161	if (numPolledPwm < countof(polledPwm))
mjr	74:822a92bc11d2	1162	polledPwm[numPolledPwm++] = this;
mjr	77:0b96f6867312	1163
mjr	77:0b96f6867312	1164	// set the initial value
mjr	77:0b96f6867312	1165	set(initVal);
mjr	43:7a6364d82a41	1166	}
mjr	74:822a92bc11d2	1167
mjr	40:cc0d9814522b	1168	virtual void set(uint8_t val)
mjr	74:822a92bc11d2	1169	{
mjr	77:0b96f6867312	1170	// save the new value
mjr	74:822a92bc11d2	1171	this->val = val;
mjr	77:0b96f6867312	1172
mjr	77:0b96f6867312	1173	// commit it to the hardware
mjr	77:0b96f6867312	1174	commit();
mjr	13:72dda449c3c0	1175	}
mjr	74:822a92bc11d2	1176
mjr	74:822a92bc11d2	1177	// handle periodic update polling
mjr	74:822a92bc11d2	1178	void poll()
mjr	74:822a92bc11d2	1179	{
mjr	77:0b96f6867312	1180	commit();
mjr	74:822a92bc11d2	1181	}
mjr	74:822a92bc11d2	1182
mjr	74:822a92bc11d2	1183	protected:
mjr	77:0b96f6867312	1184	virtual void commit()
mjr	74:822a92bc11d2	1185	{
mjr	74:822a92bc11d2	1186	// write the current value to the PWM controller if it's changed
mjr	77:0b96f6867312	1187	p.glitchFreeWrite(dof_to_pwm[val]);
mjr	74:822a92bc11d2	1188	}
mjr	74:822a92bc11d2	1189
mjr	77:0b96f6867312	1190	NewPwmOut p;
mjr	77:0b96f6867312	1191	uint8_t val;
mjr	6:cc35eb643e8f	1192	};
mjr	26:cb71c4af2912	1193
mjr	74:822a92bc11d2	1194	// Gamma corrected PWM GPIO output. This works exactly like the regular
mjr	74:822a92bc11d2	1195	// PWM output, but translates DOF values through the gamma-corrected
mjr	74:822a92bc11d2	1196	// table instead of the regular linear table.
mjr	64:ef7ca92dff36	1197	class LwPwmGammaOut: public LwPwmOut
mjr	64:ef7ca92dff36	1198	{
mjr	64:ef7ca92dff36	1199	public:
mjr	64:ef7ca92dff36	1200	LwPwmGammaOut(PinName pin, uint8_t initVal)
mjr	64:ef7ca92dff36	1201	: LwPwmOut(pin, initVal)
mjr	64:ef7ca92dff36	1202	{
mjr	64:ef7ca92dff36	1203	}
mjr	74:822a92bc11d2	1204
mjr	74:822a92bc11d2	1205	protected:
mjr	77:0b96f6867312	1206	virtual void commit()
mjr	64:ef7ca92dff36	1207	{
mjr	74:822a92bc11d2	1208	// write the current value to the PWM controller if it's changed
mjr	77:0b96f6867312	1209	p.glitchFreeWrite(dof_to_gamma_pwm[val]);
mjr	64:ef7ca92dff36	1210	}
mjr	64:ef7ca92dff36	1211	};
mjr	64:ef7ca92dff36	1212
mjr	74:822a92bc11d2	1213	// poll the PWM outputs
mjr	74:822a92bc11d2	1214	Timer polledPwmTimer;
mjr	76:7f5912b6340e	1215	uint64_t polledPwmTotalTime, polledPwmRunCount;
mjr	74:822a92bc11d2	1216	void pollPwmUpdates()
mjr	74:822a92bc11d2	1217	{
mjr	74:822a92bc11d2	1218	// if it's been at least 25ms since the last update, do another update
mjr	74:822a92bc11d2	1219	if (polledPwmTimer.read_us() >= 25000)
mjr	74:822a92bc11d2	1220	{
mjr	74:822a92bc11d2	1221	// time the run for statistics collection
mjr	74:822a92bc11d2	1222	IF_DIAG(
mjr	74:822a92bc11d2	1223	Timer t;
mjr	74:822a92bc11d2	1224	t.start();
mjr	74:822a92bc11d2	1225	)
mjr	74:822a92bc11d2	1226
mjr	74:822a92bc11d2	1227	// poll each output
mjr	74:822a92bc11d2	1228	for (int i = numPolledPwm ; i > 0 ; )
mjr	74:822a92bc11d2	1229	polledPwm[--i]->poll();
mjr	74:822a92bc11d2	1230
mjr	74:822a92bc11d2	1231	// reset the timer for the next cycle
mjr	74:822a92bc11d2	1232	polledPwmTimer.reset();
mjr	74:822a92bc11d2	1233
mjr	74:822a92bc11d2	1234	// collect statistics
mjr	74:822a92bc11d2	1235	IF_DIAG(
mjr	76:7f5912b6340e	1236	polledPwmTotalTime += t.read_us();
mjr	74:822a92bc11d2	1237	polledPwmRunCount += 1;
mjr	74:822a92bc11d2	1238	)
mjr	74:822a92bc11d2	1239	}
mjr	74:822a92bc11d2	1240	}
mjr	64:ef7ca92dff36	1241
mjr	26:cb71c4af2912	1242	// LwOut class for a Digital-Only (Non-PWM) GPIO port
mjr	6:cc35eb643e8f	1243	class LwDigOut: public LwOut
mjr	6:cc35eb643e8f	1244	{
mjr	6:cc35eb643e8f	1245	public:
mjr	43:7a6364d82a41	1246	LwDigOut(PinName pin, uint8_t initVal) : p(pin, initVal ? 1 : 0) { prv = initVal; }
mjr	40:cc0d9814522b	1247	virtual void set(uint8_t val)
mjr	13:72dda449c3c0	1248	{
mjr	13:72dda449c3c0	1249	if (val != prv)
mjr	40:cc0d9814522b	1250	p.write((prv = val) == 0 ? 0 : 1);
mjr	13:72dda449c3c0	1251	}
mjr	6:cc35eb643e8f	1252	DigitalOut p;
mjr	40:cc0d9814522b	1253	uint8_t prv;
mjr	6:cc35eb643e8f	1254	};
mjr	26:cb71c4af2912	1255
mjr	29:582472d0bc57	1256	// Array of output physical pin assignments. This array is indexed
mjr	29:582472d0bc57	1257	// by LedWiz logical port number - lwPin[n] is the maping for LedWiz
mjr	35:e959ffba78fd	1258	// port n (0-based).
mjr	35:e959ffba78fd	1259	//
mjr	35:e959ffba78fd	1260	// Each pin is handled by an interface object for the physical output
mjr	35:e959ffba78fd	1261	// type for the port, as set in the configuration. The interface
mjr	35:e959ffba78fd	1262	// objects handle the specifics of addressing the different hardware
mjr	35:e959ffba78fd	1263	// types (GPIO PWM ports, GPIO digital ports, TLC5940 ports, and
mjr	35:e959ffba78fd	1264	// 74HC595 ports).
mjr	33:d832bcab089e	1265	static int numOutputs;
mjr	33:d832bcab089e	1266	static LwOut **lwPin;
mjr	33:d832bcab089e	1267
mjr	38:091e511ce8a0	1268	// create a single output pin
mjr	53:9b2611964afc	1269	LwOut *createLwPin(int portno, LedWizPortCfg &pc, Config &cfg)
mjr	38:091e511ce8a0	1270	{
mjr	38:091e511ce8a0	1271	// get this item's values
mjr	38:091e511ce8a0	1272	int typ = pc.typ;
mjr	38:091e511ce8a0	1273	int pin = pc.pin;
mjr	38:091e511ce8a0	1274	int flags = pc.flags;
mjr	40:cc0d9814522b	1275	int noisy = flags & PortFlagNoisemaker;
mjr	38:091e511ce8a0	1276	int activeLow = flags & PortFlagActiveLow;
mjr	40:cc0d9814522b	1277	int gamma = flags & PortFlagGamma;
mjr	38:091e511ce8a0	1278
mjr	38:091e511ce8a0	1279	// create the pin interface object according to the port type
mjr	38:091e511ce8a0	1280	LwOut *lwp;
mjr	38:091e511ce8a0	1281	switch (typ)
mjr	38:091e511ce8a0	1282	{
mjr	38:091e511ce8a0	1283	case PortTypeGPIOPWM:
mjr	48:058ace2aed1d	1284	// PWM GPIO port - assign if we have a valid pin
mjr	48:058ace2aed1d	1285	if (pin != 0)
mjr	64:ef7ca92dff36	1286	{
mjr	64:ef7ca92dff36	1287	// If gamma correction is to be used, and we're not inverting the output,
mjr	64:ef7ca92dff36	1288	// use the combined Pwmout + Gamma output class; otherwise use the plain
mjr	64:ef7ca92dff36	1289	// PwmOut class. We can't use the combined class for inverted outputs
mjr	64:ef7ca92dff36	1290	// because we have to apply gamma correction before the inversion.
mjr	64:ef7ca92dff36	1291	if (gamma && !activeLow)
mjr	64:ef7ca92dff36	1292	{
mjr	64:ef7ca92dff36	1293	// use the gamma-corrected PwmOut type
mjr	64:ef7ca92dff36	1294	lwp = new LwPwmGammaOut(wirePinName(pin), 0);
mjr	64:ef7ca92dff36	1295
mjr	64:ef7ca92dff36	1296	// don't apply further gamma correction to this output
mjr	64:ef7ca92dff36	1297	gamma = false;
mjr	64:ef7ca92dff36	1298	}
mjr	64:ef7ca92dff36	1299	else
mjr	64:ef7ca92dff36	1300	{
mjr	64:ef7ca92dff36	1301	// no gamma correction - use the standard PwmOut class
mjr	64:ef7ca92dff36	1302	lwp = new LwPwmOut(wirePinName(pin), activeLow ? 255 : 0);
mjr	64:ef7ca92dff36	1303	}
mjr	64:ef7ca92dff36	1304	}
mjr	48:058ace2aed1d	1305	else
mjr	48:058ace2aed1d	1306	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1307	break;
mjr	38:091e511ce8a0	1308
mjr	38:091e511ce8a0	1309	case PortTypeGPIODig:
mjr	38:091e511ce8a0	1310	// Digital GPIO port
mjr	48:058ace2aed1d	1311	if (pin != 0)
mjr	48:058ace2aed1d	1312	lwp = new LwDigOut(wirePinName(pin), activeLow ? 255 : 0);
mjr	48:058ace2aed1d	1313	else
mjr	48:058ace2aed1d	1314	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1315	break;
mjr	38:091e511ce8a0	1316
mjr	38:091e511ce8a0	1317	case PortTypeTLC5940:
mjr	38:091e511ce8a0	1318	// TLC5940 port (if we don't have a TLC controller object, or it's not a valid
mjr	38:091e511ce8a0	1319	// output port number on the chips we have, create a virtual port)
mjr	38:091e511ce8a0	1320	if (tlc5940 != 0 && pin < cfg.tlc5940.nchips*16)
mjr	40:cc0d9814522b	1321	{
mjr	40:cc0d9814522b	1322	// If gamma correction is to be used, and we're not inverting the output,
mjr	40:cc0d9814522b	1323	// use the combined TLC4950 + Gamma output class. Otherwise use the plain
mjr	40:cc0d9814522b	1324	// TLC5940 output. We skip the combined class if the output is inverted
mjr	40:cc0d9814522b	1325	// because we need to apply gamma BEFORE the inversion to get the right
mjr	40:cc0d9814522b	1326	// results, but the combined class would apply it after because of the
mjr	40:cc0d9814522b	1327	// layering scheme - the combined class is a physical device output class,
mjr	40:cc0d9814522b	1328	// and a physical device output class is necessarily at the bottom of
mjr	40:cc0d9814522b	1329	// the stack. We don't have a combined inverted+gamma+TLC class, because
mjr	40:cc0d9814522b	1330	// inversion isn't recommended for TLC5940 chips in the first place, so
mjr	40:cc0d9814522b	1331	// it's not worth the extra memory footprint to have a dedicated table
mjr	40:cc0d9814522b	1332	// for this unlikely case.
mjr	40:cc0d9814522b	1333	if (gamma && !activeLow)
mjr	40:cc0d9814522b	1334	{
mjr	40:cc0d9814522b	1335	// use the gamma-corrected 5940 output mapper
mjr	40:cc0d9814522b	1336	lwp = new Lw5940GammaOut(pin);
mjr	40:cc0d9814522b	1337
mjr	40:cc0d9814522b	1338	// DON'T apply further gamma correction to this output
mjr	40:cc0d9814522b	1339	gamma = false;
mjr	40:cc0d9814522b	1340	}
mjr	40:cc0d9814522b	1341	else
mjr	40:cc0d9814522b	1342	{
mjr	40:cc0d9814522b	1343	// no gamma - use the plain (linear) 5940 output class
mjr	40:cc0d9814522b	1344	lwp = new Lw5940Out(pin);
mjr	40:cc0d9814522b	1345	}
mjr	40:cc0d9814522b	1346	}
mjr	38:091e511ce8a0	1347	else
mjr	40:cc0d9814522b	1348	{
mjr	40:cc0d9814522b	1349	// no TLC5940 chips, or invalid port number - use a virtual out
mjr	38:091e511ce8a0	1350	lwp = new LwVirtualOut();
mjr	40:cc0d9814522b	1351	}
mjr	38:091e511ce8a0	1352	break;
mjr	38:091e511ce8a0	1353
mjr	38:091e511ce8a0	1354	case PortType74HC595:
mjr	87:8d35c74403af	1355	// 74HC595 port (if we don't have an HC595 controller object, or it's not
mjr	87:8d35c74403af	1356	// a valid output number, create a virtual port)
mjr	38:091e511ce8a0	1357	if (hc595 != 0 && pin < cfg.hc595.nchips*8)
mjr	38:091e511ce8a0	1358	lwp = new Lw595Out(pin);
mjr	38:091e511ce8a0	1359	else
mjr	38:091e511ce8a0	1360	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1361	break;
mjr	87:8d35c74403af	1362
mjr	87:8d35c74403af	1363	case PortTypeTLC59116:
mjr	87:8d35c74403af	1364	// TLC59116 port. The pin number in the config encodes the chip address
mjr	87:8d35c74403af	1365	// in the high 4 bits and the output number on the chip in the low 4 bits.
mjr	87:8d35c74403af	1366	// There's no gamma-corrected version of this output handler, so we don't
mjr	87:8d35c74403af	1367	// need to worry about that here; just use the layered gamma as needed.
mjr	87:8d35c74403af	1368	if (tlc59116 != 0)
mjr	87:8d35c74403af	1369	lwp = new Lw59116Out((pin >> 4) & 0x0F, pin & 0x0F);
mjr	87:8d35c74403af	1370	break;
mjr	38:091e511ce8a0	1371
mjr	38:091e511ce8a0	1372	case PortTypeVirtual:
mjr	43:7a6364d82a41	1373	case PortTypeDisabled:
mjr	38:091e511ce8a0	1374	default:
mjr	38:091e511ce8a0	1375	// virtual or unknown
mjr	38:091e511ce8a0	1376	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1377	break;
mjr	38:091e511ce8a0	1378	}
mjr	38:091e511ce8a0	1379
mjr	40:cc0d9814522b	1380	// If it's Active Low, layer on an inverter. Note that an inverter
mjr	40:cc0d9814522b	1381	// needs to be the bottom-most layer, since all of the other filters
mjr	40:cc0d9814522b	1382	// assume that they're working with normal (non-inverted) values.
mjr	38:091e511ce8a0	1383	if (activeLow)
mjr	38:091e511ce8a0	1384	lwp = new LwInvertedOut(lwp);
mjr	40:cc0d9814522b	1385
mjr	40:cc0d9814522b	1386	// If it's a noisemaker, layer on a night mode switch. Note that this
mjr	40:cc0d9814522b	1387	// needs to be
mjr	40:cc0d9814522b	1388	if (noisy)
mjr	40:cc0d9814522b	1389	lwp = new LwNoisyOut(lwp);
mjr	40:cc0d9814522b	1390
mjr	40:cc0d9814522b	1391	// If it's gamma-corrected, layer on a gamma corrector
mjr	40:cc0d9814522b	1392	if (gamma)
mjr	40:cc0d9814522b	1393	lwp = new LwGammaOut(lwp);
mjr	53:9b2611964afc	1394
mjr	53:9b2611964afc	1395	// If this is the ZB Launch Ball port, layer a monitor object. Note
mjr	64:ef7ca92dff36	1396	// that the nominal port numbering in the config starts at 1, but we're
mjr	53:9b2611964afc	1397	// using an array index, so test against portno+1.
mjr	53:9b2611964afc	1398	if (portno + 1 == cfg.plunger.zbLaunchBall.port)
mjr	53:9b2611964afc	1399	lwp = new LwZbLaunchOut(lwp);
mjr	53:9b2611964afc	1400
mjr	53:9b2611964afc	1401	// If this is the Night Mode indicator port, layer a night mode object.
mjr	53:9b2611964afc	1402	if (portno + 1 == cfg.nightMode.port)
mjr	53:9b2611964afc	1403	lwp = new LwNightModeIndicatorOut(lwp);
mjr	38:091e511ce8a0	1404
mjr	38:091e511ce8a0	1405	// turn it off initially
mjr	38:091e511ce8a0	1406	lwp->set(0);
mjr	38:091e511ce8a0	1407
mjr	38:091e511ce8a0	1408	// return the pin
mjr	38:091e511ce8a0	1409	return lwp;
mjr	38:091e511ce8a0	1410	}
mjr	38:091e511ce8a0	1411
mjr	6:cc35eb643e8f	1412	// initialize the output pin array
mjr	35:e959ffba78fd	1413	void initLwOut(Config &cfg)
mjr	6:cc35eb643e8f	1414	{
mjr	35:e959ffba78fd	1415	// Count the outputs. The first disabled output determines the
mjr	35:e959ffba78fd	1416	// total number of ports.
mjr	35:e959ffba78fd	1417	numOutputs = MAX_OUT_PORTS;
mjr	33:d832bcab089e	1418	int i;
mjr	35:e959ffba78fd	1419	for (i = 0 ; i < MAX_OUT_PORTS ; ++i)
mjr	6:cc35eb643e8f	1420	{
mjr	35:e959ffba78fd	1421	if (cfg.outPort[i].typ == PortTypeDisabled)
mjr	34:6b981a2afab7	1422	{
mjr	35:e959ffba78fd	1423	numOutputs = i;
mjr	34:6b981a2afab7	1424	break;
mjr	34:6b981a2afab7	1425	}
mjr	33:d832bcab089e	1426	}
mjr	33:d832bcab089e	1427
mjr	73:4e8ce0b18915	1428	// allocate the pin array
mjr	73:4e8ce0b18915	1429	lwPin = new LwOut*[numOutputs];
mjr	35:e959ffba78fd	1430
mjr	73:4e8ce0b18915	1431	// Allocate the current brightness array
mjr	73:4e8ce0b18915	1432	outLevel = new uint8_t[numOutputs];
mjr	33:d832bcab089e	1433
mjr	73:4e8ce0b18915	1434	// allocate the LedWiz output state arrays
mjr	73:4e8ce0b18915	1435	wizOn = new uint8_t[numOutputs];
mjr	73:4e8ce0b18915	1436	wizVal = new uint8_t[numOutputs];
mjr	73:4e8ce0b18915	1437
mjr	73:4e8ce0b18915	1438	// initialize all LedWiz outputs to off and brightness 48
mjr	73:4e8ce0b18915	1439	memset(wizOn, 0, numOutputs);
mjr	73:4e8ce0b18915	1440	memset(wizVal, 48, numOutputs);
mjr	73:4e8ce0b18915	1441
mjr	73:4e8ce0b18915	1442	// set all LedWiz virtual unit flash speeds to 2
mjr	73:4e8ce0b18915	1443	for (i = 0 ; i < countof(wizSpeed) ; ++i)
mjr	73:4e8ce0b18915	1444	wizSpeed[i] = 2;
mjr	33:d832bcab089e	1445
mjr	35:e959ffba78fd	1446	// create the pin interface object for each port
mjr	35:e959ffba78fd	1447	for (i = 0 ; i < numOutputs ; ++i)
mjr	53:9b2611964afc	1448	lwPin[i] = createLwPin(i, cfg.outPort[i], cfg);
mjr	6:cc35eb643e8f	1449	}
mjr	6:cc35eb643e8f	1450
mjr	76:7f5912b6340e	1451	// Translate an LedWiz brightness level (0..49) to a DOF brightness
mjr	76:7f5912b6340e	1452	// level (0..255). Note that brightness level 49 isn't actually valid,
mjr	76:7f5912b6340e	1453	// according to the LedWiz API documentation, but many clients use it
mjr	76:7f5912b6340e	1454	// anyway, and the real LedWiz accepts it and seems to treat it as
mjr	76:7f5912b6340e	1455	// equivalent to 48.
mjr	40:cc0d9814522b	1456	static const uint8_t lw_to_dof[] = {
mjr	40:cc0d9814522b	1457	0, 5, 11, 16, 21, 27, 32, 37,
mjr	40:cc0d9814522b	1458	43, 48, 53, 58, 64, 69, 74, 80,
mjr	40:cc0d9814522b	1459	85, 90, 96, 101, 106, 112, 117, 122,
mjr	40:cc0d9814522b	1460	128, 133, 138, 143, 149, 154, 159, 165,
mjr	40:cc0d9814522b	1461	170, 175, 181, 186, 191, 197, 202, 207,
mjr	40:cc0d9814522b	1462	213, 218, 223, 228, 234, 239, 244, 250,
mjr	40:cc0d9814522b	1463	255, 255
mjr	40:cc0d9814522b	1464	};
mjr	40:cc0d9814522b	1465
mjr	76:7f5912b6340e	1466	// Translate a DOF brightness level (0..255) to an LedWiz brightness
mjr	76:7f5912b6340e	1467	// level (1..48)
mjr	76:7f5912b6340e	1468	static const uint8_t dof_to_lw[] = {
mjr	76:7f5912b6340e	1469	1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 3, 3,
mjr	76:7f5912b6340e	1470	3, 3, 3, 4, 4, 4, 4, 4, 5, 5, 5, 5, 5, 5, 6, 6,
mjr	76:7f5912b6340e	1471	6, 6, 6, 7, 7, 7, 7, 7, 8, 8, 8, 8, 8, 8, 9, 9,
mjr	76:7f5912b6340e	1472	9, 9, 9, 10, 10, 10, 10, 10, 11, 11, 11, 11, 11, 11, 12, 12,
mjr	76:7f5912b6340e	1473	12, 12, 12, 13, 13, 13, 13, 13, 14, 14, 14, 14, 14, 14, 15, 15,
mjr	76:7f5912b6340e	1474	15, 15, 15, 16, 16, 16, 16, 16, 17, 17, 17, 17, 17, 18, 18, 18,
mjr	76:7f5912b6340e	1475	18, 18, 18, 19, 19, 19, 19, 19, 20, 20, 20, 20, 20, 21, 21, 21,
mjr	76:7f5912b6340e	1476	21, 21, 21, 22, 22, 22, 22, 22, 23, 23, 23, 23, 23, 24, 24, 24,
mjr	76:7f5912b6340e	1477	24, 24, 24, 25, 25, 25, 25, 25, 26, 26, 26, 26, 26, 27, 27, 27,
mjr	76:7f5912b6340e	1478	27, 27, 27, 28, 28, 28, 28, 28, 29, 29, 29, 29, 29, 30, 30, 30,
mjr	76:7f5912b6340e	1479	30, 30, 30, 31, 31, 31, 31, 31, 32, 32, 32, 32, 32, 33, 33, 33,
mjr	76:7f5912b6340e	1480	33, 33, 34, 34, 34, 34, 34, 34, 35, 35, 35, 35, 35, 36, 36, 36,
mjr	76:7f5912b6340e	1481	36, 36, 37, 37, 37, 37, 37, 37, 38, 38, 38, 38, 38, 39, 39, 39,
mjr	76:7f5912b6340e	1482	39, 39, 40, 40, 40, 40, 40, 40, 41, 41, 41, 41, 41, 42, 42, 42,
mjr	76:7f5912b6340e	1483	42, 42, 43, 43, 43, 43, 43, 43, 44, 44, 44, 44, 44, 45, 45, 45,
mjr	76:7f5912b6340e	1484	45, 45, 46, 46, 46, 46, 46, 46, 47, 47, 47, 47, 47, 48, 48, 48
mjr	76:7f5912b6340e	1485	};
mjr	76:7f5912b6340e	1486
mjr	74:822a92bc11d2	1487	// LedWiz flash cycle tables. For efficiency, we use a lookup table
mjr	74:822a92bc11d2	1488	// rather than calculating these on the fly. The flash cycles are
mjr	74:822a92bc11d2	1489	// generated by the following formulas, where 'c' is the current
mjr	74:822a92bc11d2	1490	// cycle counter, from 0 to 255:
mjr	74:822a92bc11d2	1491	//
mjr	74:822a92bc11d2	1492	// mode 129 = sawtooth = (c < 128 ? c2 + 1 : (255-c)2)
mjr	74:822a92bc11d2	1493	// mode 130 = flash on/off = (c < 128 ? 255 : 0)
mjr	74:822a92bc11d2	1494	// mode 131 = on/ramp down = (c < 128 ? 255 : (255-c)*2)
mjr	74:822a92bc11d2	1495	// mode 132 = ramp up/on = (c < 128 ? c*2 : 255)
mjr	74:822a92bc11d2	1496	//
mjr	74:822a92bc11d2	1497	// To look up the current output value for a given mode and a given
mjr	74:822a92bc11d2	1498	// cycle counter 'c', index the table with ((mode-129)*256)+c.
mjr	74:822a92bc11d2	1499	static const uint8_t wizFlashLookup[] = {
mjr	74:822a92bc11d2	1500	// mode 129 = sawtooth = (c < 128 ? c2 + 1 : (255-c)2)
mjr	74:822a92bc11d2	1501	0x01, 0x03, 0x05, 0x07, 0x09, 0x0b, 0x0d, 0x0f, 0x11, 0x13, 0x15, 0x17, 0x19, 0x1b, 0x1d, 0x1f,
mjr	74:822a92bc11d2	1502	0x21, 0x23, 0x25, 0x27, 0x29, 0x2b, 0x2d, 0x2f, 0x31, 0x33, 0x35, 0x37, 0x39, 0x3b, 0x3d, 0x3f,
mjr	74:822a92bc11d2	1503	0x41, 0x43, 0x45, 0x47, 0x49, 0x4b, 0x4d, 0x4f, 0x51, 0x53, 0x55, 0x57, 0x59, 0x5b, 0x5d, 0x5f,
mjr	74:822a92bc11d2	1504	0x61, 0x63, 0x65, 0x67, 0x69, 0x6b, 0x6d, 0x6f, 0x71, 0x73, 0x75, 0x77, 0x79, 0x7b, 0x7d, 0x7f,
mjr	74:822a92bc11d2	1505	0x81, 0x83, 0x85, 0x87, 0x89, 0x8b, 0x8d, 0x8f, 0x91, 0x93, 0x95, 0x97, 0x99, 0x9b, 0x9d, 0x9f,
mjr	74:822a92bc11d2	1506	0xa1, 0xa3, 0xa5, 0xa7, 0xa9, 0xab, 0xad, 0xaf, 0xb1, 0xb3, 0xb5, 0xb7, 0xb9, 0xbb, 0xbd, 0xbf,
mjr	74:822a92bc11d2	1507	0xc1, 0xc3, 0xc5, 0xc7, 0xc9, 0xcb, 0xcd, 0xcf, 0xd1, 0xd3, 0xd5, 0xd7, 0xd9, 0xdb, 0xdd, 0xdf,
mjr	74:822a92bc11d2	1508	0xe1, 0xe3, 0xe5, 0xe7, 0xe9, 0xeb, 0xed, 0xef, 0xf1, 0xf3, 0xf5, 0xf7, 0xf9, 0xfb, 0xfd, 0xff,
mjr	74:822a92bc11d2	1509	0xfe, 0xfc, 0xfa, 0xf8, 0xf6, 0xf4, 0xf2, 0xf0, 0xee, 0xec, 0xea, 0xe8, 0xe6, 0xe4, 0xe2, 0xe0,
mjr	74:822a92bc11d2	1510	0xde, 0xdc, 0xda, 0xd8, 0xd6, 0xd4, 0xd2, 0xd0, 0xce, 0xcc, 0xca, 0xc8, 0xc6, 0xc4, 0xc2, 0xc0,
mjr	74:822a92bc11d2	1511	0xbe, 0xbc, 0xba, 0xb8, 0xb6, 0xb4, 0xb2, 0xb0, 0xae, 0xac, 0xaa, 0xa8, 0xa6, 0xa4, 0xa2, 0xa0,
mjr	74:822a92bc11d2	1512	0x9e, 0x9c, 0x9a, 0x98, 0x96, 0x94, 0x92, 0x90, 0x8e, 0x8c, 0x8a, 0x88, 0x86, 0x84, 0x82, 0x80,
mjr	74:822a92bc11d2	1513	0x7e, 0x7c, 0x7a, 0x78, 0x76, 0x74, 0x72, 0x70, 0x6e, 0x6c, 0x6a, 0x68, 0x66, 0x64, 0x62, 0x60,
mjr	74:822a92bc11d2	1514	0x5e, 0x5c, 0x5a, 0x58, 0x56, 0x54, 0x52, 0x50, 0x4e, 0x4c, 0x4a, 0x48, 0x46, 0x44, 0x42, 0x40,
mjr	74:822a92bc11d2	1515	0x3e, 0x3c, 0x3a, 0x38, 0x36, 0x34, 0x32, 0x30, 0x2e, 0x2c, 0x2a, 0x28, 0x26, 0x24, 0x22, 0x20,
mjr	74:822a92bc11d2	1516	0x1e, 0x1c, 0x1a, 0x18, 0x16, 0x14, 0x12, 0x10, 0x0e, 0x0c, 0x0a, 0x08, 0x06, 0x04, 0x02, 0x00,
mjr	74:822a92bc11d2	1517
mjr	74:822a92bc11d2	1518	// mode 130 = flash on/off = (c < 128 ? 255 : 0)
mjr	74:822a92bc11d2	1519	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1520	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1521	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1522	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1523	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1524	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1525	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1526	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1527	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1528	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1529	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1530	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1531	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1532	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1533	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1534	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1535
mjr	74:822a92bc11d2	1536	// mode 131 = on/ramp down = c < 128 ? 255 : (255 - c)*2
mjr	74:822a92bc11d2	1537	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1538	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1539	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1540	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1541	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1542	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1543	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1544	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1545	0xfe, 0xfc, 0xfa, 0xf8, 0xf6, 0xf4, 0xf2, 0xf0, 0xee, 0xec, 0xea, 0xe8, 0xe6, 0xe4, 0xe2, 0xe0,
mjr	74:822a92bc11d2	1546	0xde, 0xdc, 0xda, 0xd8, 0xd6, 0xd4, 0xd2, 0xd0, 0xce, 0xcc, 0xca, 0xc8, 0xc6, 0xc4, 0xc2, 0xc0,
mjr	74:822a92bc11d2	1547	0xbe, 0xbc, 0xba, 0xb8, 0xb6, 0xb4, 0xb2, 0xb0, 0xae, 0xac, 0xaa, 0xa8, 0xa6, 0xa4, 0xa2, 0xa0,
mjr	74:822a92bc11d2	1548	0x9e, 0x9c, 0x9a, 0x98, 0x96, 0x94, 0x92, 0x90, 0x8e, 0x8c, 0x8a, 0x88, 0x86, 0x84, 0x82, 0x80,
mjr	74:822a92bc11d2	1549	0x7e, 0x7c, 0x7a, 0x78, 0x76, 0x74, 0x72, 0x70, 0x6e, 0x6c, 0x6a, 0x68, 0x66, 0x64, 0x62, 0x60,
mjr	74:822a92bc11d2	1550	0x5e, 0x5c, 0x5a, 0x58, 0x56, 0x54, 0x52, 0x50, 0x4e, 0x4c, 0x4a, 0x48, 0x46, 0x44, 0x42, 0x40,
mjr	74:822a92bc11d2	1551	0x3e, 0x3c, 0x3a, 0x38, 0x36, 0x34, 0x32, 0x30, 0x2e, 0x2c, 0x2a, 0x28, 0x26, 0x24, 0x22, 0x20,
mjr	74:822a92bc11d2	1552	0x1e, 0x1c, 0x1a, 0x18, 0x16, 0x14, 0x12, 0x10, 0x0e, 0x0c, 0x0a, 0x08, 0x06, 0x04, 0x02, 0x00,
mjr	74:822a92bc11d2	1553
mjr	74:822a92bc11d2	1554	// mode 132 = ramp up/on = c < 128 ? c*2 : 255
mjr	74:822a92bc11d2	1555	0x00, 0x02, 0x04, 0x06, 0x08, 0x0a, 0x0c, 0x0e, 0x10, 0x12, 0x14, 0x16, 0x18, 0x1a, 0x1c, 0x1e,
mjr	74:822a92bc11d2	1556	0x20, 0x22, 0x24, 0x26, 0x28, 0x2a, 0x2c, 0x2e, 0x30, 0x32, 0x34, 0x36, 0x38, 0x3a, 0x3c, 0x3e,
mjr	74:822a92bc11d2	1557	0x40, 0x42, 0x44, 0x46, 0x48, 0x4a, 0x4c, 0x4e, 0x50, 0x52, 0x54, 0x56, 0x58, 0x5a, 0x5c, 0x5e,
mjr	74:822a92bc11d2	1558	0x60, 0x62, 0x64, 0x66, 0x68, 0x6a, 0x6c, 0x6e, 0x70, 0x72, 0x74, 0x76, 0x78, 0x7a, 0x7c, 0x7e,
mjr	74:822a92bc11d2	1559	0x80, 0x82, 0x84, 0x86, 0x88, 0x8a, 0x8c, 0x8e, 0x90, 0x92, 0x94, 0x96, 0x98, 0x9a, 0x9c, 0x9e,
mjr	74:822a92bc11d2	1560	0xa0, 0xa2, 0xa4, 0xa6, 0xa8, 0xaa, 0xac, 0xae, 0xb0, 0xb2, 0xb4, 0xb6, 0xb8, 0xba, 0xbc, 0xbe,
mjr	74:822a92bc11d2	1561	0xc0, 0xc2, 0xc4, 0xc6, 0xc8, 0xca, 0xcc, 0xce, 0xd0, 0xd2, 0xd4, 0xd6, 0xd8, 0xda, 0xdc, 0xde,
mjr	74:822a92bc11d2	1562	0xe0, 0xe2, 0xe4, 0xe6, 0xe8, 0xea, 0xec, 0xee, 0xf0, 0xf2, 0xf4, 0xf6, 0xf8, 0xfa, 0xfc, 0xfe,
mjr	74:822a92bc11d2	1563	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1564	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1565	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1566	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1567	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1568	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1569	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1570	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff
mjr	74:822a92bc11d2	1571	};
mjr	74:822a92bc11d2	1572
mjr	74:822a92bc11d2	1573	// LedWiz flash cycle timer. This runs continuously. On each update,
mjr	74:822a92bc11d2	1574	// we use this to figure out where we are on the cycle for each bank.
mjr	74:822a92bc11d2	1575	Timer wizCycleTimer;
mjr	74:822a92bc11d2	1576
mjr	76:7f5912b6340e	1577	// timing statistics for wizPulse()
mjr	76:7f5912b6340e	1578	uint64_t wizPulseTotalTime, wizPulseRunCount;
mjr	76:7f5912b6340e	1579
mjr	76:7f5912b6340e	1580	// LedWiz flash timer pulse. The main loop calls this on each cycle
mjr	76:7f5912b6340e	1581	// to update outputs using LedWiz flash modes. We do one bank of 32
mjr	76:7f5912b6340e	1582	// outputs on each cycle.
mjr	29:582472d0bc57	1583	static void wizPulse()
mjr	29:582472d0bc57	1584	{
mjr	76:7f5912b6340e	1585	// current bank
mjr	76:7f5912b6340e	1586	static int wizPulseBank = 0;
mjr	76:7f5912b6340e	1587
mjr	76:7f5912b6340e	1588	// start a timer for statistics collection
mjr	76:7f5912b6340e	1589	IF_DIAG(
mjr	76:7f5912b6340e	1590	Timer t;
mjr	76:7f5912b6340e	1591	t.start();
mjr	76:7f5912b6340e	1592	)
mjr	76:7f5912b6340e	1593
mjr	76:7f5912b6340e	1594	// Update the current bank's cycle counter: figure the current
mjr	76:7f5912b6340e	1595	// phase of the LedWiz pulse cycle for this bank.
mjr	76:7f5912b6340e	1596	//
mjr	76:7f5912b6340e	1597	// The LedWiz speed setting gives the flash period in 0.25s units
mjr	76:7f5912b6340e	1598	// (speed 1 is a flash period of .25s, speed 7 is a period of 1.75s).
mjr	76:7f5912b6340e	1599	//
mjr	76:7f5912b6340e	1600	// What we're after here is the "phase", which is to say the point
mjr	76:7f5912b6340e	1601	// in the current cycle. If we assume that the cycle has been running
mjr	76:7f5912b6340e	1602	// continuously since some arbitrary time zero in the past, we can
mjr	76:7f5912b6340e	1603	// figure where we are in the current cycle by dividing the time since
mjr	76:7f5912b6340e	1604	// that zero by the cycle period and taking the remainder. E.g., if
mjr	76:7f5912b6340e	1605	// the cycle time is 5 seconds, and the time since t-zero is 17 seconds,
mjr	76:7f5912b6340e	1606	// we divide 17 by 5 to get a remainder of 2. That says we're 2 seconds
mjr	76:7f5912b6340e	1607	// into the current 5-second cycle, or 2/5 of the way through the
mjr	76:7f5912b6340e	1608	// current cycle.
mjr	76:7f5912b6340e	1609	//
mjr	76:7f5912b6340e	1610	// We do this calculation on every iteration of the main loop, so we
mjr	76:7f5912b6340e	1611	// want it to be very fast. To streamline it, we'll use some tricky
mjr	76:7f5912b6340e	1612	// integer arithmetic. The result will be the same as the straightforward
mjr	76:7f5912b6340e	1613	// remainder and fraction calculation we just explained, but we'll get
mjr	76:7f5912b6340e	1614	// there by less-than-obvious means.
mjr	76:7f5912b6340e	1615	//
mjr	76:7f5912b6340e	1616	// Rather than finding the phase as a continuous quantity or floating
mjr	76:7f5912b6340e	1617	// point number, we'll quantize it. We'll divide each cycle into 256
mjr	76:7f5912b6340e	1618	// time units, or quanta. Each quantum is 1/256 of the cycle length,
mjr	76:7f5912b6340e	1619	// so for a 1-second cycle (LedWiz speed 4), each quantum is 1/256 of
mjr	76:7f5912b6340e	1620	// a second, or about 3.9ms. If we express the time since t-zero in
mjr	76:7f5912b6340e	1621	// these units, the time period of one cycle is exactly 256 units, so
mjr	76:7f5912b6340e	1622	// we can calculate our point in the cycle by taking the remainder of
mjr	76:7f5912b6340e	1623	// the time (in our funny units) divided by 256. The special thing
mjr	76:7f5912b6340e	1624	// about making the cycle time equal to 256 units is that "x % 256"
mjr	76:7f5912b6340e	1625	// is exactly the same as "x & 255", which is a much faster operation
mjr	76:7f5912b6340e	1626	// than division on ARM M0+: this CPU has no hardware DIVIDE operation,
mjr	76:7f5912b6340e	1627	// so an integer division takes about 5us. The bit mask operation, in
mjr	76:7f5912b6340e	1628	// contrast, takes only about 60ns - about 100x faster. 5us doesn't
mjr	76:7f5912b6340e	1629	// sound like much, but we do this on every main loop, so every little
mjr	76:7f5912b6340e	1630	// bit counts.
mjr	76:7f5912b6340e	1631	//
mjr	76:7f5912b6340e	1632	// The snag is that our system timer gives us the elapsed time in
mjr	76:7f5912b6340e	1633	// microseconds. We still need to convert this to our special quanta
mjr	76:7f5912b6340e	1634	// of 256 units per cycle. The straightforward way to do that is by
mjr	76:7f5912b6340e	1635	// dividing by (microseconds per quantum). E.g., for LedWiz speed 4,
mjr	76:7f5912b6340e	1636	// we decided that our quantum was 1/256 of a second, or 3906us, so
mjr	76:7f5912b6340e	1637	// dividing the current system time in microseconds by 3906 will give
mjr	76:7f5912b6340e	1638	// us the time in our quantum units. But now we've just substituted
mjr	76:7f5912b6340e	1639	// one division for another!
mjr	76:7f5912b6340e	1640	//
mjr	76:7f5912b6340e	1641	// This is where our really tricky integer math comes in. Dividing
mjr	76:7f5912b6340e	1642	// by X is the same as multiplying by 1/X. In integer math, 1/3906
mjr	76:7f5912b6340e	1643	// is zero, so that won't work. But we can get around that by doing
mjr	76:7f5912b6340e	1644	// the integer math as "fixed point" arithmetic instead. It's still
mjr	76:7f5912b6340e	1645	// actually carried out as integer operations, but we'll scale our
mjr	76:7f5912b6340e	1646	// integers by a scaling factor, then take out the scaling factor
mjr	76:7f5912b6340e	1647	// later to get the final result. The scaling factor we'll use is
mjr	76:7f5912b6340e	1648	// 2^24. So we're going to calculate (time * 2^24/3906), then divide
mjr	76:7f5912b6340e	1649	// the result by 2^24 to get the final answer. I know it seems like
mjr	76:7f5912b6340e	1650	// we're substituting one division for another yet again, but this
mjr	76:7f5912b6340e	1651	// time's the charm, because dividing by 2^24 is a bit shift operation,
mjr	76:7f5912b6340e	1652	// which is another single-cycle operation on M0+. You might also
mjr	76:7f5912b6340e	1653	// wonder how all these tricks don't cause overflows or underflows
mjr	76:7f5912b6340e	1654	// or what not. Well, the multiply by 2^24/3906 will cause an
mjr	76:7f5912b6340e	1655	// overflow, but we don't care, because the overflow will all be in
mjr	76:7f5912b6340e	1656	// the high-order bits that we're going to discard in the final
mjr	76:7f5912b6340e	1657	// remainder calculation anyway.
mjr	76:7f5912b6340e	1658	//
mjr	76:7f5912b6340e	1659	// Each entry in the array below represents 2^24/N for the corresponding
mjr	76:7f5912b6340e	1660	// LedWiz speed, where N is the number of time quanta per cycle at that
mjr	76:7f5912b6340e	1661	// speed. The time quanta are chosen such that 256 quanta add up to
mjr	76:7f5912b6340e	1662	// approximately (LedWiz speed setting * 0.25s).
mjr	76:7f5912b6340e	1663	//
mjr	76:7f5912b6340e	1664	// Note that the calculation has an implicit bit mask (result & 0xFF)
mjr	76:7f5912b6340e	1665	// to get the final result mod 256. But we don't have to actually
mjr	76:7f5912b6340e	1666	// do that work because we're using 32-bit ints and a 2^24 fixed
mjr	76:7f5912b6340e	1667	// point base (X in the narrative above). The final shift right by
mjr	76:7f5912b6340e	1668	// 24 bits to divide out the base will leave us with only 8 bits in
mjr	76:7f5912b6340e	1669	// the result, since we started with 32.
mjr	76:7f5912b6340e	1670	static const uint32_t inv_us_per_quantum[] = { // indexed by LedWiz speed
mjr	76:7f5912b6340e	1671	0, 17172, 8590, 5726, 4295, 3436, 2863, 2454
mjr	76:7f5912b6340e	1672	};
mjr	76:7f5912b6340e	1673	int counter = ((wizCycleTimer.read_us() * inv_us_per_quantum[wizSpeed[wizPulseBank]]) >> 24);
mjr	76:7f5912b6340e	1674
mjr	76:7f5912b6340e	1675	// get the range of 32 output sin this bank
mjr	76:7f5912b6340e	1676	int fromPort = wizPulseBank*32;
mjr	76:7f5912b6340e	1677	int toPort = fromPort+32;
mjr	76:7f5912b6340e	1678	if (toPort > numOutputs)
mjr	76:7f5912b6340e	1679	toPort = numOutputs;
mjr	76:7f5912b6340e	1680
mjr	76:7f5912b6340e	1681	// update all outputs set to flashing values
mjr	76:7f5912b6340e	1682	for (int i = fromPort ; i < toPort ; ++i)
mjr	73:4e8ce0b18915	1683	{
mjr	76:7f5912b6340e	1684	// Update the port only if the LedWiz SBA switch for the port is on
mjr	76:7f5912b6340e	1685	// (wizOn[i]) AND the port is a PBA flash mode in the range 129..132.
mjr	76:7f5912b6340e	1686	// These modes and only these modes have the high bit (0x80) set, so
mjr	76:7f5912b6340e	1687	// we can test for them simply by testing the high bit.
mjr	76:7f5912b6340e	1688	if (wizOn[i])
mjr	29:582472d0bc57	1689	{
mjr	76:7f5912b6340e	1690	uint8_t val = wizVal[i];
mjr	76:7f5912b6340e	1691	if ((val & 0x80) != 0)
mjr	29:582472d0bc57	1692	{
mjr	76:7f5912b6340e	1693	// ook up the value for the mode at the cycle time
mjr	76:7f5912b6340e	1694	lwPin[i]->set(outLevel[i] = wizFlashLookup[((val-129) << 8) + counter]);
mjr	29:582472d0bc57	1695	}
mjr	29:582472d0bc57	1696	}
mjr	76:7f5912b6340e	1697	}
mjr	76:7f5912b6340e	1698
mjr	34:6b981a2afab7	1699	// flush changes to 74HC595 chips, if attached
mjr	35:e959ffba78fd	1700	if (hc595 != 0)
mjr	35:e959ffba78fd	1701	hc595->update();
mjr	76:7f5912b6340e	1702
mjr	76:7f5912b6340e	1703	// switch to the next bank
mjr	76:7f5912b6340e	1704	if (++wizPulseBank >= MAX_LW_BANKS)
mjr	76:7f5912b6340e	1705	wizPulseBank = 0;
mjr	76:7f5912b6340e	1706
mjr	76:7f5912b6340e	1707	// collect timing statistics
mjr	76:7f5912b6340e	1708	IF_DIAG(
mjr	76:7f5912b6340e	1709	wizPulseTotalTime += t.read_us();
mjr	76:7f5912b6340e	1710	wizPulseRunCount += 1;
mjr	76:7f5912b6340e	1711	)
mjr	1:d913e0afb2ac	1712	}
mjr	38:091e511ce8a0	1713
mjr	76:7f5912b6340e	1714	// Update a port to reflect its new LedWiz SBA+PBA setting.
mjr	76:7f5912b6340e	1715	static void updateLwPort(int port)
mjr	38:091e511ce8a0	1716	{
mjr	76:7f5912b6340e	1717	// check if the SBA switch is on or off
mjr	76:7f5912b6340e	1718	if (wizOn[port])
mjr	76:7f5912b6340e	1719	{
mjr	76:7f5912b6340e	1720	// It's on. If the port is a valid static brightness level,
mjr	76:7f5912b6340e	1721	// set the output port to match. Otherwise leave it as is:
mjr	76:7f5912b6340e	1722	// if it's a flashing mode, the flash mode pulse will update
mjr	76:7f5912b6340e	1723	// it on the next cycle.
mjr	76:7f5912b6340e	1724	int val = wizVal[port];
mjr	76:7f5912b6340e	1725	if (val <= 49)
mjr	76:7f5912b6340e	1726	lwPin[port]->set(outLevel[port] = lw_to_dof[val]);
mjr	76:7f5912b6340e	1727	}
mjr	76:7f5912b6340e	1728	else
mjr	76:7f5912b6340e	1729	{
mjr	76:7f5912b6340e	1730	// the port is off - set absolute brightness zero
mjr	76:7f5912b6340e	1731	lwPin[port]->set(outLevel[port] = 0);
mjr	76:7f5912b6340e	1732	}
mjr	73:4e8ce0b18915	1733	}
mjr	73:4e8ce0b18915	1734
mjr	73:4e8ce0b18915	1735	// Turn off all outputs and restore everything to the default LedWiz
mjr	73:4e8ce0b18915	1736	// state. This sets outputs #1-32 to LedWiz profile value 48 (full
mjr	73:4e8ce0b18915	1737	// brightness) and switch state Off, sets all extended outputs (#33
mjr	73:4e8ce0b18915	1738	// and above) to zero brightness, and sets the LedWiz flash rate to 2.
mjr	73:4e8ce0b18915	1739	// This effectively restores the power-on conditions.
mjr	73:4e8ce0b18915	1740	//
mjr	73:4e8ce0b18915	1741	void allOutputsOff()
mjr	73:4e8ce0b18915	1742	{
mjr	73:4e8ce0b18915	1743	// reset all LedWiz outputs to OFF/48
mjr	73:4e8ce0b18915	1744	for (int i = 0 ; i < numOutputs ; ++i)
mjr	73:4e8ce0b18915	1745	{
mjr	73:4e8ce0b18915	1746	outLevel[i] = 0;
mjr	73:4e8ce0b18915	1747	wizOn[i] = 0;
mjr	73:4e8ce0b18915	1748	wizVal[i] = 48;
mjr	73:4e8ce0b18915	1749	lwPin[i]->set(0);
mjr	73:4e8ce0b18915	1750	}
mjr	73:4e8ce0b18915	1751
mjr	73:4e8ce0b18915	1752	// restore default LedWiz flash rate
mjr	73:4e8ce0b18915	1753	for (int i = 0 ; i < countof(wizSpeed) ; ++i)
mjr	73:4e8ce0b18915	1754	wizSpeed[i] = 2;
mjr	38:091e511ce8a0	1755
mjr	73:4e8ce0b18915	1756	// flush changes to hc595, if applicable
mjr	38:091e511ce8a0	1757	if (hc595 != 0)
mjr	38:091e511ce8a0	1758	hc595->update();
mjr	38:091e511ce8a0	1759	}
mjr	38:091e511ce8a0	1760
mjr	74:822a92bc11d2	1761	// Cary out an SBA or SBX message. portGroup is 0 for ports 1-32,
mjr	74:822a92bc11d2	1762	// 1 for ports 33-64, etc. Original protocol SBA messages always
mjr	74:822a92bc11d2	1763	// address port group 0; our private SBX extension messages can
mjr	74:822a92bc11d2	1764	// address any port group.
mjr	74:822a92bc11d2	1765	void sba_sbx(int portGroup, const uint8_t *data)
mjr	74:822a92bc11d2	1766	{
mjr	76:7f5912b6340e	1767	// update all on/off states in the group
mjr	74:822a92bc11d2	1768	for (int i = 0, bit = 1, imsg = 1, port = portGroup*32 ;
mjr	74:822a92bc11d2	1769	i < 32 && port < numOutputs ;
mjr	74:822a92bc11d2	1770	++i, bit <<= 1, ++port)
mjr	74:822a92bc11d2	1771	{
mjr	74:822a92bc11d2	1772	// figure the on/off state bit for this output
mjr	74:822a92bc11d2	1773	if (bit == 0x100) {
mjr	74:822a92bc11d2	1774	bit = 1;
mjr	74:822a92bc11d2	1775	++imsg;
mjr	74:822a92bc11d2	1776	}
mjr	74:822a92bc11d2	1777
mjr	74:822a92bc11d2	1778	// set the on/off state
mjr	76:7f5912b6340e	1779	bool on = wizOn[port] = ((data[imsg] & bit) != 0);
mjr	76:7f5912b6340e	1780
mjr	76:7f5912b6340e	1781	// set the output port brightness to match the new setting
mjr	76:7f5912b6340e	1782	updateLwPort(port);
mjr	74:822a92bc11d2	1783	}
mjr	74:822a92bc11d2	1784
mjr	74:822a92bc11d2	1785	// set the flash speed for the port group
mjr	74:822a92bc11d2	1786	if (portGroup < countof(wizSpeed))
mjr	74:822a92bc11d2	1787	wizSpeed[portGroup] = (data[5] < 1 ? 1 : data[5] > 7 ? 7 : data[5]);
mjr	74:822a92bc11d2	1788
mjr	76:7f5912b6340e	1789	// update 74HC959 outputs
mjr	76:7f5912b6340e	1790	if (hc595 != 0)
mjr	76:7f5912b6340e	1791	hc595->update();
mjr	74:822a92bc11d2	1792	}
mjr	74:822a92bc11d2	1793
mjr	74:822a92bc11d2	1794	// Carry out a PBA or PBX message.
mjr	74:822a92bc11d2	1795	void pba_pbx(int basePort, const uint8_t *data)
mjr	74:822a92bc11d2	1796	{
mjr	74:822a92bc11d2	1797	// update each wizVal entry from the brightness data
mjr	76:7f5912b6340e	1798	for (int i = 0, port = basePort ; i < 8 && port < numOutputs ; ++i, ++port)
mjr	74:822a92bc11d2	1799	{
mjr	74:822a92bc11d2	1800	// get the value
mjr	74:822a92bc11d2	1801	uint8_t v = data[i];
mjr	74:822a92bc11d2	1802
mjr	74:822a92bc11d2	1803	// Validate it. The legal values are 0..49 for brightness
mjr	74:822a92bc11d2	1804	// levels, and 128..132 for flash modes. Set anything invalid
mjr	74:822a92bc11d2	1805	// to full brightness (48) instead. Note that 49 isn't actually
mjr	74:822a92bc11d2	1806	// a valid documented value, but in practice some clients send
mjr	74:822a92bc11d2	1807	// this to mean 100% brightness, and the real LedWiz treats it
mjr	74:822a92bc11d2	1808	// as such.
mjr	74:822a92bc11d2	1809	if ((v > 49 && v < 129) \|\| v > 132)
mjr	74:822a92bc11d2	1810	v = 48;
mjr	74:822a92bc11d2	1811
mjr	74:822a92bc11d2	1812	// store it
mjr	76:7f5912b6340e	1813	wizVal[port] = v;
mjr	76:7f5912b6340e	1814
mjr	76:7f5912b6340e	1815	// update the port
mjr	76:7f5912b6340e	1816	updateLwPort(port);
mjr	74:822a92bc11d2	1817	}
mjr	74:822a92bc11d2	1818
mjr	76:7f5912b6340e	1819	// update 74HC595 outputs
mjr	76:7f5912b6340e	1820	if (hc595 != 0)
mjr	76:7f5912b6340e	1821	hc595->update();
mjr	74:822a92bc11d2	1822	}
mjr	74:822a92bc11d2	1823
mjr	77:0b96f6867312	1824	// ---------------------------------------------------------------------------
mjr	77:0b96f6867312	1825	//
mjr	77:0b96f6867312	1826	// IR Remote Control transmitter & receiver
mjr	77:0b96f6867312	1827	//
mjr	77:0b96f6867312	1828
mjr	77:0b96f6867312	1829	// receiver
mjr	77:0b96f6867312	1830	IRReceiver *ir_rx;
mjr	77:0b96f6867312	1831
mjr	77:0b96f6867312	1832	// transmitter
mjr	77:0b96f6867312	1833	IRTransmitter *ir_tx;
mjr	77:0b96f6867312	1834
mjr	77:0b96f6867312	1835	// Mapping from IR commands slots in the configuration to "virtual button"
mjr	77:0b96f6867312	1836	// numbers on the IRTransmitter's "virtual remote". To minimize RAM usage,
mjr	77:0b96f6867312	1837	// we only create virtual buttons on the transmitter object for code slots
mjr	77:0b96f6867312	1838	// that are configured for transmission, which includes slots used for TV
mjr	77:0b96f6867312	1839	// ON commands and slots that can be triggered by button presses. This
mjr	77:0b96f6867312	1840	// means that virtual button numbers won't necessarily match the config
mjr	77:0b96f6867312	1841	// slot numbers. This table provides the mapping:
mjr	77:0b96f6867312	1842	// IRConfigSlotToVirtualButton[n] = ir_tx virtual button number for
mjr	77:0b96f6867312	1843	// configuration slot n
mjr	77:0b96f6867312	1844	uint8_t IRConfigSlotToVirtualButton[MAX_IR_CODES];
mjr	78:1e00b3fa11af	1845
mjr	78:1e00b3fa11af	1846	// IR transmitter virtual button number for ad hoc IR command. We allocate
mjr	78:1e00b3fa11af	1847	// one virtual button for sending ad hoc IR codes, such as through the USB
mjr	78:1e00b3fa11af	1848	// protocol.
mjr	78:1e00b3fa11af	1849	uint8_t IRAdHocBtn;
mjr	78:1e00b3fa11af	1850
mjr	78:1e00b3fa11af	1851	// Staging area for ad hoc IR commands. It takes multiple messages
mjr	78:1e00b3fa11af	1852	// to fill out an IR command, so we store the partial command here
mjr	78:1e00b3fa11af	1853	// while waiting for the rest.
mjr	78:1e00b3fa11af	1854	static struct
mjr	78:1e00b3fa11af	1855	{
mjr	78:1e00b3fa11af	1856	uint8_t protocol; // protocol ID
mjr	78:1e00b3fa11af	1857	uint64_t code; // code
mjr	78:1e00b3fa11af	1858	uint8_t dittos : 1; // using dittos?
mjr	78:1e00b3fa11af	1859	uint8_t ready : 1; // do we have a code ready to transmit?
mjr	78:1e00b3fa11af	1860	} IRAdHocCmd;
mjr	78:1e00b3fa11af	1861
mjr	77:0b96f6867312	1862
mjr	77:0b96f6867312	1863	// IR mode timer. In normal mode, this is the time since the last
mjr	77:0b96f6867312	1864	// command received; we use this to handle commands with timed effects,
mjr	77:0b96f6867312	1865	// such as sending a key to the PC. In learning mode, this is the time
mjr	77:0b96f6867312	1866	// since we activated learning mode, which we use to automatically end
mjr	77:0b96f6867312	1867	// learning mode if a decodable command isn't received within a reasonable
mjr	77:0b96f6867312	1868	// amount of time.
mjr	77:0b96f6867312	1869	Timer IRTimer;
mjr	77:0b96f6867312	1870
mjr	77:0b96f6867312	1871	// IR Learning Mode. The PC enters learning mode via special function 65 12.
mjr	77:0b96f6867312	1872	// The states are:
mjr	77:0b96f6867312	1873	//
mjr	77:0b96f6867312	1874	// 0 -> normal operation (not in learning mode)
mjr	77:0b96f6867312	1875	// 1 -> learning mode; reading raw codes, no command read yet
mjr	77:0b96f6867312	1876	// 2 -> learning mode; command received, awaiting auto-repeat
mjr	77:0b96f6867312	1877	// 3 -> learning mode; done, command and repeat mode decoded
mjr	77:0b96f6867312	1878	//
mjr	77:0b96f6867312	1879	// When we enter learning mode, we reset IRTimer to keep track of how long
mjr	77:0b96f6867312	1880	// we've been in the mode. This allows the mode to time out if no code is
mjr	77:0b96f6867312	1881	// received within a reasonable time.
mjr	77:0b96f6867312	1882	uint8_t IRLearningMode = 0;
mjr	77:0b96f6867312	1883
mjr	77:0b96f6867312	1884	// Learning mode command received. This stores the first decoded command
mjr	77:0b96f6867312	1885	// when in learning mode. For some protocols, we can't just report the
mjr	77:0b96f6867312	1886	// first command we receive, because we need to wait for an auto-repeat to
mjr	77:0b96f6867312	1887	// determine what format the remote uses for repeats. This stores the first
mjr	77:0b96f6867312	1888	// command while we await a repeat. This is necessary for protocols that
mjr	77:0b96f6867312	1889	// have "dittos", since some remotes for such protocols use the dittos and
mjr	77:0b96f6867312	1890	// some don't; the only way to find out is to read a repeat code and see if
mjr	77:0b96f6867312	1891	// it's a ditto or just a repeat of the full code.
mjr	77:0b96f6867312	1892	IRCommand learnedIRCode;
mjr	77:0b96f6867312	1893
mjr	78:1e00b3fa11af	1894	// IR command received, as a config slot index, 1..MAX_IR_CODES.
mjr	77:0b96f6867312	1895	// When we receive a command that matches one of our programmed commands,
mjr	77:0b96f6867312	1896	// we note the slot here. We also reset the IR timer so that we know how
mjr	77:0b96f6867312	1897	// long it's been since the command came in. This lets us handle commands
mjr	77:0b96f6867312	1898	// with timed effects, such as PC key input. Note that this is a 1-based
mjr	77:0b96f6867312	1899	// index; 0 represents no command.
mjr	77:0b96f6867312	1900	uint8_t IRCommandIn = 0;
mjr	77:0b96f6867312	1901
mjr	77:0b96f6867312	1902	// "Toggle bit" of last command. Some IR protocols have a toggle bit
mjr	77:0b96f6867312	1903	// that distinguishes an auto-repeating key from a key being pressed
mjr	77:0b96f6867312	1904	// several times in a row. This records the toggle bit of the last
mjr	77:0b96f6867312	1905	// command we received.
mjr	77:0b96f6867312	1906	uint8_t lastIRToggle = 0;
mjr	77:0b96f6867312	1907
mjr	77:0b96f6867312	1908	// Are we in a gap between successive key presses? When we detect that a
mjr	77:0b96f6867312	1909	// key is being pressed multiple times rather than auto-repeated (which we
mjr	77:0b96f6867312	1910	// can detect via a toggle bit in some protocols), we'll briefly stop sending
mjr	77:0b96f6867312	1911	// the associated key to the PC, so that the PC likewise recognizes the
mjr	77:0b96f6867312	1912	// distinct key press.
mjr	77:0b96f6867312	1913	uint8_t IRKeyGap = false;
mjr	77:0b96f6867312	1914
mjr	78:1e00b3fa11af	1915
mjr	77:0b96f6867312	1916	// initialize
mjr	77:0b96f6867312	1917	void init_IR(Config &cfg, bool &kbKeys)
mjr	77:0b96f6867312	1918	{
mjr	77:0b96f6867312	1919	PinName pin;
mjr	77:0b96f6867312	1920
mjr	77:0b96f6867312	1921	// start the IR timer
mjr	77:0b96f6867312	1922	IRTimer.start();
mjr	77:0b96f6867312	1923
mjr	77:0b96f6867312	1924	// if there's a transmitter, set it up
mjr	77:0b96f6867312	1925	if ((pin = wirePinName(cfg.IR.emitter)) != NC)
mjr	77:0b96f6867312	1926	{
mjr	77:0b96f6867312	1927	// no virtual buttons yet
mjr	77:0b96f6867312	1928	int nVirtualButtons = 0;
mjr	77:0b96f6867312	1929	memset(IRConfigSlotToVirtualButton, 0xFF, sizeof(IRConfigSlotToVirtualButton));
mjr	77:0b96f6867312	1930
mjr	77:0b96f6867312	1931	// assign virtual buttons slots for TV ON codes
mjr	77:0b96f6867312	1932	for (int i = 0 ; i < MAX_IR_CODES ; ++i)
mjr	77:0b96f6867312	1933	{
mjr	77:0b96f6867312	1934	if ((cfg.IRCommand[i].flags & IRFlagTVON) != 0)
mjr	77:0b96f6867312	1935	IRConfigSlotToVirtualButton[i] = nVirtualButtons++;
mjr	77:0b96f6867312	1936	}
mjr	77:0b96f6867312	1937
mjr	77:0b96f6867312	1938	// assign virtual buttons for codes that can be triggered by
mjr	77:0b96f6867312	1939	// real button inputs
mjr	77:0b96f6867312	1940	for (int i = 0 ; i < MAX_BUTTONS ; ++i)
mjr	77:0b96f6867312	1941	{
mjr	77:0b96f6867312	1942	// get the button
mjr	77:0b96f6867312	1943	ButtonCfg &b = cfg.button[i];
mjr	77:0b96f6867312	1944
mjr	77:0b96f6867312	1945	// check the unshifted button
mjr	77:0b96f6867312	1946	int c = b.IRCommand - 1;
mjr	77:0b96f6867312	1947	if (c >= 0 && c < MAX_IR_CODES
mjr	77:0b96f6867312	1948	&& IRConfigSlotToVirtualButton[c] == 0xFF)
mjr	77:0b96f6867312	1949	IRConfigSlotToVirtualButton[c] = nVirtualButtons++;
mjr	77:0b96f6867312	1950
mjr	77:0b96f6867312	1951	// check the shifted button
mjr	77:0b96f6867312	1952	c = b.IRCommand2 - 1;
mjr	77:0b96f6867312	1953	if (c >= 0 && c < MAX_IR_CODES
mjr	77:0b96f6867312	1954	&& IRConfigSlotToVirtualButton[c] == 0xFF)
mjr	77:0b96f6867312	1955	IRConfigSlotToVirtualButton[c] = nVirtualButtons++;
mjr	77:0b96f6867312	1956	}
mjr	77:0b96f6867312	1957
mjr	77:0b96f6867312	1958	// allocate an additional virtual button for transmitting ad hoc
mjr	77:0b96f6867312	1959	// codes, such as for the "send code" USB API function
mjr	78:1e00b3fa11af	1960	IRAdHocBtn = nVirtualButtons++;
mjr	77:0b96f6867312	1961
mjr	77:0b96f6867312	1962	// create the transmitter
mjr	77:0b96f6867312	1963	ir_tx = new IRTransmitter(pin, nVirtualButtons);
mjr	77:0b96f6867312	1964
mjr	77:0b96f6867312	1965	// program the commands into the virtual button slots
mjr	77:0b96f6867312	1966	for (int i = 0 ; i < MAX_IR_CODES ; ++i)
mjr	77:0b96f6867312	1967	{
mjr	77:0b96f6867312	1968	// if this slot is assigned to a virtual button, program it
mjr	77:0b96f6867312	1969	int vb = IRConfigSlotToVirtualButton[i];
mjr	77:0b96f6867312	1970	if (vb != 0xFF)
mjr	77:0b96f6867312	1971	{
mjr	77:0b96f6867312	1972	IRCommandCfg &cb = cfg.IRCommand[i];
mjr	77:0b96f6867312	1973	uint64_t code = cb.code.lo \| (uint64_t(cb.code.hi) << 32);
mjr	77:0b96f6867312	1974	bool dittos = (cb.flags & IRFlagDittos) != 0;
mjr	77:0b96f6867312	1975	ir_tx->programButton(vb, cb.protocol, dittos, code);
mjr	77:0b96f6867312	1976	}
mjr	77:0b96f6867312	1977	}
mjr	77:0b96f6867312	1978	}
mjr	77:0b96f6867312	1979
mjr	77:0b96f6867312	1980	// if there's a receiver, set it up
mjr	77:0b96f6867312	1981	if ((pin = wirePinName(cfg.IR.sensor)) != NC)
mjr	77:0b96f6867312	1982	{
mjr	77:0b96f6867312	1983	// create the receiver
mjr	77:0b96f6867312	1984	ir_rx = new IRReceiver(pin, 32);
mjr	77:0b96f6867312	1985
mjr	77:0b96f6867312	1986	// connect the transmitter (if any) to the receiver, so that
mjr	77:0b96f6867312	1987	// the receiver can suppress reception of our own transmissions
mjr	77:0b96f6867312	1988	ir_rx->setTransmitter(ir_tx);
mjr	77:0b96f6867312	1989
mjr	77:0b96f6867312	1990	// enable it
mjr	77:0b96f6867312	1991	ir_rx->enable();
mjr	77:0b96f6867312	1992
mjr	77:0b96f6867312	1993	// Check the IR command slots to see if any slots are configured
mjr	77:0b96f6867312	1994	// to send a keyboard key on receiving an IR command. If any are,
mjr	77:0b96f6867312	1995	// tell the caller that we need a USB keyboard interface.
mjr	77:0b96f6867312	1996	for (int i = 0 ; i < MAX_IR_CODES ; ++i)
mjr	77:0b96f6867312	1997	{
mjr	77:0b96f6867312	1998	IRCommandCfg &cb = cfg.IRCommand[i];
mjr	77:0b96f6867312	1999	if (cb.protocol != 0
mjr	77:0b96f6867312	2000	&& (cb.keytype == BtnTypeKey \|\| cb.keytype == BtnTypeMedia))
mjr	77:0b96f6867312	2001	{
mjr	77:0b96f6867312	2002	kbKeys = true;
mjr	77:0b96f6867312	2003	break;
mjr	77:0b96f6867312	2004	}
mjr	77:0b96f6867312	2005	}
mjr	77:0b96f6867312	2006	}
mjr	77:0b96f6867312	2007	}
mjr	77:0b96f6867312	2008
mjr	77:0b96f6867312	2009	// Press or release a button with an assigned IR function. 'cmd'
mjr	77:0b96f6867312	2010	// is the command slot number (1..MAX_IR_CODES) assigned to the button.
mjr	77:0b96f6867312	2011	void IR_buttonChange(uint8_t cmd, bool pressed)
mjr	77:0b96f6867312	2012	{
mjr	77:0b96f6867312	2013	// only proceed if there's an IR transmitter attached
mjr	77:0b96f6867312	2014	if (ir_tx != 0)
mjr	77:0b96f6867312	2015	{
mjr	77:0b96f6867312	2016	// adjust the command slot to a zero-based index
mjr	77:0b96f6867312	2017	int slot = cmd - 1;
mjr	77:0b96f6867312	2018
mjr	77:0b96f6867312	2019	// press or release the virtual button
mjr	77:0b96f6867312	2020	ir_tx->pushButton(IRConfigSlotToVirtualButton[slot], pressed);
mjr	77:0b96f6867312	2021	}
mjr	77:0b96f6867312	2022	}
mjr	77:0b96f6867312	2023
mjr	78:1e00b3fa11af	2024	// Process IR input and output
mjr	77:0b96f6867312	2025	void process_IR(Config &cfg, USBJoystick &js)
mjr	77:0b96f6867312	2026	{
mjr	78:1e00b3fa11af	2027	// check for transmitter tasks, if there's a transmitter
mjr	78:1e00b3fa11af	2028	if (ir_tx != 0)
mjr	77:0b96f6867312	2029	{
mjr	78:1e00b3fa11af	2030	// If we're not currently sending, and an ad hoc IR command
mjr	78:1e00b3fa11af	2031	// is ready to send, send it.
mjr	78:1e00b3fa11af	2032	if (!ir_tx->isSending() && IRAdHocCmd.ready)
mjr	78:1e00b3fa11af	2033	{
mjr	78:1e00b3fa11af	2034	// program the command into the transmitter virtual button
mjr	78:1e00b3fa11af	2035	// that we reserved for ad hoc commands
mjr	78:1e00b3fa11af	2036	ir_tx->programButton(IRAdHocBtn, IRAdHocCmd.protocol,
mjr	78:1e00b3fa11af	2037	IRAdHocCmd.dittos, IRAdHocCmd.code);
mjr	78:1e00b3fa11af	2038
mjr	78:1e00b3fa11af	2039	// send the command - just pulse the button to send it once
mjr	78:1e00b3fa11af	2040	ir_tx->pushButton(IRAdHocBtn, true);
mjr	78:1e00b3fa11af	2041	ir_tx->pushButton(IRAdHocBtn, false);
mjr	78:1e00b3fa11af	2042
mjr	78:1e00b3fa11af	2043	// we've sent the command, so clear the 'ready' flag
mjr	78:1e00b3fa11af	2044	IRAdHocCmd.ready = false;
mjr	78:1e00b3fa11af	2045	}
mjr	77:0b96f6867312	2046	}
mjr	78:1e00b3fa11af	2047
mjr	78:1e00b3fa11af	2048	// check for receiver tasks, if there's a receiver
mjr	78:1e00b3fa11af	2049	if (ir_rx != 0)
mjr	77:0b96f6867312	2050	{
mjr	78:1e00b3fa11af	2051	// Time out any received command
mjr	78:1e00b3fa11af	2052	if (IRCommandIn != 0)
mjr	78:1e00b3fa11af	2053	{
mjr	80:94dc2946871b	2054	// Time out commands after 200ms without a repeat signal.
mjr	80:94dc2946871b	2055	// Time out the inter-key gap after 50ms.
mjr	78:1e00b3fa11af	2056	uint32_t t = IRTimer.read_us();
mjr	80:94dc2946871b	2057	if (t > 200000)
mjr	78:1e00b3fa11af	2058	IRCommandIn = 0;
mjr	80:94dc2946871b	2059	else if (t > 50000)
mjr	78:1e00b3fa11af	2060	IRKeyGap = false;
mjr	78:1e00b3fa11af	2061	}
mjr	78:1e00b3fa11af	2062
mjr	78:1e00b3fa11af	2063	// Check if we're in learning mode
mjr	78:1e00b3fa11af	2064	if (IRLearningMode != 0)
mjr	78:1e00b3fa11af	2065	{
mjr	78:1e00b3fa11af	2066	// Learning mode. Read raw inputs from the IR sensor and
mjr	78:1e00b3fa11af	2067	// forward them to the PC via USB reports, up to the report
mjr	78:1e00b3fa11af	2068	// limit.
mjr	78:1e00b3fa11af	2069	const int nmax = USBJoystick::maxRawIR;
mjr	78:1e00b3fa11af	2070	uint16_t raw[nmax];
mjr	78:1e00b3fa11af	2071	int n;
mjr	78:1e00b3fa11af	2072	for (n = 0 ; n < nmax && ir_rx->processOne(raw[n]) ; ++n) ;
mjr	77:0b96f6867312	2073
mjr	78:1e00b3fa11af	2074	// if we read any raw samples, report them
mjr	78:1e00b3fa11af	2075	if (n != 0)
mjr	78:1e00b3fa11af	2076	js.reportRawIR(n, raw);
mjr	77:0b96f6867312	2077
mjr	78:1e00b3fa11af	2078	// check for a command
mjr	78:1e00b3fa11af	2079	IRCommand c;
mjr	78:1e00b3fa11af	2080	if (ir_rx->readCommand(c))
mjr	78:1e00b3fa11af	2081	{
mjr	78:1e00b3fa11af	2082	// check the current learning state
mjr	78:1e00b3fa11af	2083	switch (IRLearningMode)
mjr	78:1e00b3fa11af	2084	{
mjr	78:1e00b3fa11af	2085	case 1:
mjr	78:1e00b3fa11af	2086	// Initial state, waiting for the first decoded command.
mjr	78:1e00b3fa11af	2087	// This is it.
mjr	78:1e00b3fa11af	2088	learnedIRCode = c;
mjr	78:1e00b3fa11af	2089
mjr	78:1e00b3fa11af	2090	// Check if we need additional information. If the
mjr	78:1e00b3fa11af	2091	// protocol supports dittos, we have to wait for a repeat
mjr	78:1e00b3fa11af	2092	// to see if the remote actually uses the dittos, since
mjr	78:1e00b3fa11af	2093	// some implementations of such protocols use the dittos
mjr	78:1e00b3fa11af	2094	// while others just send repeated full codes. Otherwise,
mjr	78:1e00b3fa11af	2095	// all we need is the initial code, so we're done.
mjr	78:1e00b3fa11af	2096	IRLearningMode = (c.hasDittos ? 2 : 3);
mjr	78:1e00b3fa11af	2097	break;
mjr	78:1e00b3fa11af	2098
mjr	78:1e00b3fa11af	2099	case 2:
mjr	78:1e00b3fa11af	2100	// Code received, awaiting auto-repeat information. If
mjr	78:1e00b3fa11af	2101	// the protocol has dittos, check to see if we got a ditto:
mjr	78:1e00b3fa11af	2102	//
mjr	78:1e00b3fa11af	2103	// - If we received a ditto in the same protocol as the
mjr	78:1e00b3fa11af	2104	// prior command, the remote uses dittos.
mjr	78:1e00b3fa11af	2105	//
mjr	78:1e00b3fa11af	2106	// - If we received a repeat of the prior command (not a
mjr	78:1e00b3fa11af	2107	// ditto, but a repeat of the full code), the remote
mjr	78:1e00b3fa11af	2108	// doesn't use dittos even though the protocol supports
mjr	78:1e00b3fa11af	2109	// them.
mjr	78:1e00b3fa11af	2110	//
mjr	78:1e00b3fa11af	2111	// - Otherwise, it's not an auto-repeat at all, so we
mjr	78:1e00b3fa11af	2112	// can't decide one way or the other on dittos: start
mjr	78:1e00b3fa11af	2113	// over.
mjr	78:1e00b3fa11af	2114	if (c.proId == learnedIRCode.proId
mjr	78:1e00b3fa11af	2115	&& c.hasDittos
mjr	78:1e00b3fa11af	2116	&& c.ditto)
mjr	78:1e00b3fa11af	2117	{
mjr	78:1e00b3fa11af	2118	// success - the remote uses dittos
mjr	78:1e00b3fa11af	2119	IRLearningMode = 3;
mjr	78:1e00b3fa11af	2120	}
mjr	78:1e00b3fa11af	2121	else if (c.proId == learnedIRCode.proId
mjr	78:1e00b3fa11af	2122	&& c.hasDittos
mjr	78:1e00b3fa11af	2123	&& !c.ditto
mjr	78:1e00b3fa11af	2124	&& c.code == learnedIRCode.code)
mjr	78:1e00b3fa11af	2125	{
mjr	78:1e00b3fa11af	2126	// success - it's a repeat of the last code, so
mjr	78:1e00b3fa11af	2127	// the remote doesn't use dittos even though the
mjr	78:1e00b3fa11af	2128	// protocol supports them
mjr	78:1e00b3fa11af	2129	learnedIRCode.hasDittos = false;
mjr	78:1e00b3fa11af	2130	IRLearningMode = 3;
mjr	78:1e00b3fa11af	2131	}
mjr	78:1e00b3fa11af	2132	else
mjr	78:1e00b3fa11af	2133	{
mjr	78:1e00b3fa11af	2134	// It's not a ditto and not a full repeat of the
mjr	78:1e00b3fa11af	2135	// last code, so it's either a new key, or some kind
mjr	78:1e00b3fa11af	2136	// of multi-code key encoding that we don't recognize.
mjr	78:1e00b3fa11af	2137	// We can't use this code, so start over.
mjr	78:1e00b3fa11af	2138	IRLearningMode = 1;
mjr	78:1e00b3fa11af	2139	}
mjr	78:1e00b3fa11af	2140	break;
mjr	78:1e00b3fa11af	2141	}
mjr	77:0b96f6867312	2142
mjr	78:1e00b3fa11af	2143	// If we ended in state 3, we've successfully decoded
mjr	78:1e00b3fa11af	2144	// the transmission. Report the decoded data and terminate
mjr	78:1e00b3fa11af	2145	// learning mode.
mjr	78:1e00b3fa11af	2146	if (IRLearningMode == 3)
mjr	77:0b96f6867312	2147	{
mjr	78:1e00b3fa11af	2148	// figure the flags:
mjr	78:1e00b3fa11af	2149	// 0x02 -> dittos
mjr	78:1e00b3fa11af	2150	uint8_t flags = 0;
mjr	78:1e00b3fa11af	2151	if (learnedIRCode.hasDittos)
mjr	78:1e00b3fa11af	2152	flags \|= 0x02;
mjr	78:1e00b3fa11af	2153
mjr	78:1e00b3fa11af	2154	// report the code
mjr	78:1e00b3fa11af	2155	js.reportIRCode(learnedIRCode.proId, flags, learnedIRCode.code);
mjr	78:1e00b3fa11af	2156
mjr	78:1e00b3fa11af	2157	// exit learning mode
mjr	78:1e00b3fa11af	2158	IRLearningMode = 0;
mjr	77:0b96f6867312	2159	}
mjr	77:0b96f6867312	2160	}
mjr	77:0b96f6867312	2161
mjr	78:1e00b3fa11af	2162	// time out of IR learning mode if it's been too long
mjr	78:1e00b3fa11af	2163	if (IRLearningMode != 0 && IRTimer.read_us() > 10000000L)
mjr	77:0b96f6867312	2164	{
mjr	78:1e00b3fa11af	2165	// report the termination by sending a raw IR report with
mjr	78:1e00b3fa11af	2166	// zero data elements
mjr	78:1e00b3fa11af	2167	js.reportRawIR(0, 0);
mjr	78:1e00b3fa11af	2168
mjr	78:1e00b3fa11af	2169
mjr	78:1e00b3fa11af	2170	// cancel learning mode
mjr	77:0b96f6867312	2171	IRLearningMode = 0;
mjr	77:0b96f6867312	2172	}
mjr	77:0b96f6867312	2173	}
mjr	78:1e00b3fa11af	2174	else
mjr	77:0b96f6867312	2175	{
mjr	78:1e00b3fa11af	2176	// Not in learning mode. We don't care about the raw signals;
mjr	78:1e00b3fa11af	2177	// just run them through the protocol decoders.
mjr	78:1e00b3fa11af	2178	ir_rx->process();
mjr	78:1e00b3fa11af	2179
mjr	78:1e00b3fa11af	2180	// Check for decoded commands. Keep going until all commands
mjr	78:1e00b3fa11af	2181	// have been read.
mjr	78:1e00b3fa11af	2182	IRCommand c;
mjr	78:1e00b3fa11af	2183	while (ir_rx->readCommand(c))
mjr	77:0b96f6867312	2184	{
mjr	78:1e00b3fa11af	2185	// We received a decoded command. Determine if it's a repeat,
mjr	78:1e00b3fa11af	2186	// and if so, try to determine whether it's an auto-repeat (due
mjr	78:1e00b3fa11af	2187	// to the remote key being held down) or a distinct new press
mjr	78:1e00b3fa11af	2188	// on the same key as last time. The distinction is significant
mjr	78:1e00b3fa11af	2189	// because it affects the auto-repeat behavior of the PC key
mjr	78:1e00b3fa11af	2190	// input. An auto-repeat represents a key being held down on
mjr	78:1e00b3fa11af	2191	// the remote, which we want to translate to a (virtual) key
mjr	78:1e00b3fa11af	2192	// being held down on the PC keyboard; a distinct key press on
mjr	78:1e00b3fa11af	2193	// the remote translates to a distinct key press on the PC.
mjr	78:1e00b3fa11af	2194	//
mjr	78:1e00b3fa11af	2195	// It can only be a repeat if there's a prior command that
mjr	78:1e00b3fa11af	2196	// hasn't timed out yet, so start by checking for a previous
mjr	78:1e00b3fa11af	2197	// command.
mjr	78:1e00b3fa11af	2198	bool repeat = false, autoRepeat = false;
mjr	78:1e00b3fa11af	2199	if (IRCommandIn != 0)
mjr	77:0b96f6867312	2200	{
mjr	78:1e00b3fa11af	2201	// We have a command in progress. Check to see if the
mjr	78:1e00b3fa11af	2202	// new command is a repeat of the previous command. Check
mjr	78:1e00b3fa11af	2203	// first to see if it's a "ditto", which explicitly represents
mjr	78:1e00b3fa11af	2204	// an auto-repeat of the last command.
mjr	78:1e00b3fa11af	2205	IRCommandCfg &cmdcfg = cfg.IRCommand[IRCommandIn - 1];
mjr	78:1e00b3fa11af	2206	if (c.ditto)
mjr	78:1e00b3fa11af	2207	{
mjr	78:1e00b3fa11af	2208	// We received a ditto. Dittos are always auto-
mjr	78:1e00b3fa11af	2209	// repeats, so it's an auto-repeat as long as the
mjr	78:1e00b3fa11af	2210	// ditto is in the same protocol as the last command.
mjr	78:1e00b3fa11af	2211	// If the ditto is in a new protocol, the ditto can't
mjr	78:1e00b3fa11af	2212	// be for the last command we saw, because a ditto
mjr	78:1e00b3fa11af	2213	// never changes protocols from its antecedent. In
mjr	78:1e00b3fa11af	2214	// such a case, we must have missed the antecedent
mjr	78:1e00b3fa11af	2215	// command and thus don't know what's being repeated.
mjr	78:1e00b3fa11af	2216	repeat = autoRepeat = (c.proId == cmdcfg.protocol);
mjr	78:1e00b3fa11af	2217	}
mjr	78:1e00b3fa11af	2218	else
mjr	78:1e00b3fa11af	2219	{
mjr	78:1e00b3fa11af	2220	// It's not a ditto. The new command is a repeat if
mjr	78:1e00b3fa11af	2221	// it matches the protocol and command code of the
mjr	78:1e00b3fa11af	2222	// prior command.
mjr	78:1e00b3fa11af	2223	repeat = (c.proId == cmdcfg.protocol
mjr	78:1e00b3fa11af	2224	&& uint32_t(c.code) == cmdcfg.code.lo
mjr	78:1e00b3fa11af	2225	&& uint32_t(c.code >> 32) == cmdcfg.code.hi);
mjr	78:1e00b3fa11af	2226
mjr	78:1e00b3fa11af	2227	// If the command is a repeat, try to determine whether
mjr	78:1e00b3fa11af	2228	// it's an auto-repeat or a new press on the same key.
mjr	78:1e00b3fa11af	2229	// If the protocol uses dittos, it's definitely a new
mjr	78:1e00b3fa11af	2230	// key press, because an auto-repeat would have used a
mjr	78:1e00b3fa11af	2231	// ditto. For a protocol that doesn't use dittos, both
mjr	78:1e00b3fa11af	2232	// an auto-repeat and a new key press just send the key
mjr	78:1e00b3fa11af	2233	// code again, so we can't tell the difference based on
mjr	78:1e00b3fa11af	2234	// that alone. But if the protocol has a toggle bit, we
mjr	78:1e00b3fa11af	2235	// can tell by the toggle bit value: a new key press has
mjr	78:1e00b3fa11af	2236	// the opposite toggle value as the last key press, while
mjr	78:1e00b3fa11af	2237	// an auto-repeat has the same toggle. Note that if the
mjr	78:1e00b3fa11af	2238	// protocol doesn't use toggle bits, the toggle value
mjr	78:1e00b3fa11af	2239	// will always be the same, so we'll simply always treat
mjr	78:1e00b3fa11af	2240	// any repeat as an auto-repeat. Many protocols simply
mjr	78:1e00b3fa11af	2241	// provide no way to distinguish the two, so in such
mjr	78:1e00b3fa11af	2242	// cases it's consistent with the native implementations
mjr	78:1e00b3fa11af	2243	// to treat any repeat as an auto-repeat.
mjr	78:1e00b3fa11af	2244	autoRepeat =
mjr	78:1e00b3fa11af	2245	repeat
mjr	78:1e00b3fa11af	2246	&& !(cmdcfg.flags & IRFlagDittos)
mjr	78:1e00b3fa11af	2247	&& c.toggle == lastIRToggle;
mjr	78:1e00b3fa11af	2248	}
mjr	78:1e00b3fa11af	2249	}
mjr	78:1e00b3fa11af	2250
mjr	78:1e00b3fa11af	2251	// Check to see if it's a repeat of any kind
mjr	78:1e00b3fa11af	2252	if (repeat)
mjr	78:1e00b3fa11af	2253	{
mjr	78:1e00b3fa11af	2254	// It's a repeat. If it's not an auto-repeat, it's a
mjr	78:1e00b3fa11af	2255	// new distinct key press, so we need to send the PC a
mjr	78:1e00b3fa11af	2256	// momentary gap where we're not sending the same key,
mjr	78:1e00b3fa11af	2257	// so that the PC also recognizes this as a distinct
mjr	78:1e00b3fa11af	2258	// key press event.
mjr	78:1e00b3fa11af	2259	if (!autoRepeat)
mjr	78:1e00b3fa11af	2260	IRKeyGap = true;
mjr	78:1e00b3fa11af	2261
mjr	78:1e00b3fa11af	2262	// restart the key-up timer
mjr	78:1e00b3fa11af	2263	IRTimer.reset();
mjr	78:1e00b3fa11af	2264	}
mjr	78:1e00b3fa11af	2265	else if (c.ditto)
mjr	78:1e00b3fa11af	2266	{
mjr	78:1e00b3fa11af	2267	// It's a ditto, but not a repeat of the last command.
mjr	78:1e00b3fa11af	2268	// But a ditto doesn't contain any information of its own
mjr	78:1e00b3fa11af	2269	// on the command being repeated, so given that it's not
mjr	78:1e00b3fa11af	2270	// our last command, we can't infer what command the ditto
mjr	78:1e00b3fa11af	2271	// is for and thus can't make sense of it. We have to
mjr	78:1e00b3fa11af	2272	// simply ignore it and wait for the sender to start with
mjr	78:1e00b3fa11af	2273	// a full command for a new key press.
mjr	78:1e00b3fa11af	2274	IRCommandIn = 0;
mjr	77:0b96f6867312	2275	}
mjr	77:0b96f6867312	2276	else
mjr	77:0b96f6867312	2277	{
mjr	78:1e00b3fa11af	2278	// It's not a repeat, so the last command is no longer
mjr	78:1e00b3fa11af	2279	// in effect (regardless of whether we find a match for
mjr	78:1e00b3fa11af	2280	// the new command).
mjr	78:1e00b3fa11af	2281	IRCommandIn = 0;
mjr	77:0b96f6867312	2282
mjr	78:1e00b3fa11af	2283	// Check to see if we recognize the new command, by
mjr	78:1e00b3fa11af	2284	// searching for a match in our learned code list.
mjr	78:1e00b3fa11af	2285	for (int i = 0 ; i < MAX_IR_CODES ; ++i)
mjr	77:0b96f6867312	2286	{
mjr	78:1e00b3fa11af	2287	// if the protocol and command code from the code
mjr	78:1e00b3fa11af	2288	// list both match the input, it's a match
mjr	78:1e00b3fa11af	2289	IRCommandCfg &cmdcfg = cfg.IRCommand[i];
mjr	78:1e00b3fa11af	2290	if (cmdcfg.protocol == c.proId
mjr	78:1e00b3fa11af	2291	&& cmdcfg.code.lo == uint32_t(c.code)
mjr	78:1e00b3fa11af	2292	&& cmdcfg.code.hi == uint32_t(c.code >> 32))
mjr	78:1e00b3fa11af	2293	{
mjr	78:1e00b3fa11af	2294	// Found it! Make this the last command, and
mjr	78:1e00b3fa11af	2295	// remember the starting time.
mjr	78:1e00b3fa11af	2296	IRCommandIn = i + 1;
mjr	78:1e00b3fa11af	2297	lastIRToggle = c.toggle;
mjr	78:1e00b3fa11af	2298	IRTimer.reset();
mjr	78:1e00b3fa11af	2299
mjr	78:1e00b3fa11af	2300	// no need to keep searching
mjr	78:1e00b3fa11af	2301	break;
mjr	78:1e00b3fa11af	2302	}
mjr	77:0b96f6867312	2303	}
mjr	77:0b96f6867312	2304	}
mjr	77:0b96f6867312	2305	}
mjr	77:0b96f6867312	2306	}
mjr	77:0b96f6867312	2307	}
mjr	77:0b96f6867312	2308	}
mjr	77:0b96f6867312	2309
mjr	74:822a92bc11d2	2310
mjr	11:bd9da7088e6e	2311	// ---------------------------------------------------------------------------
mjr	11:bd9da7088e6e	2312	//
mjr	11:bd9da7088e6e	2313	// Button input
mjr	11:bd9da7088e6e	2314	//
mjr	11:bd9da7088e6e	2315
mjr	18:5e890ebd0023	2316	// button state
mjr	18:5e890ebd0023	2317	struct ButtonState
mjr	18:5e890ebd0023	2318	{
mjr	38:091e511ce8a0	2319	ButtonState()
mjr	38:091e511ce8a0	2320	{
mjr	53:9b2611964afc	2321	physState = logState = prevLogState = 0;
mjr	53:9b2611964afc	2322	virtState = 0;
mjr	53:9b2611964afc	2323	dbState = 0;
mjr	38:091e511ce8a0	2324	pulseState = 0;
mjr	53:9b2611964afc	2325	pulseTime = 0;
mjr	38:091e511ce8a0	2326	}
mjr	35:e959ffba78fd	2327
mjr	53:9b2611964afc	2328	// "Virtually" press or un-press the button. This can be used to
mjr	53:9b2611964afc	2329	// control the button state via a software (virtual) source, such as
mjr	53:9b2611964afc	2330	// the ZB Launch Ball feature.
mjr	53:9b2611964afc	2331	//
mjr	53:9b2611964afc	2332	// To allow sharing of one button by multiple virtual sources, each
mjr	53:9b2611964afc	2333	// virtual source must keep track of its own state internally, and
mjr	53:9b2611964afc	2334	// only call this routine to CHANGE the state. This is because calls
mjr	53:9b2611964afc	2335	// to this routine are additive: turning the button ON twice will
mjr	53:9b2611964afc	2336	// require turning it OFF twice before it actually turns off.
mjr	53:9b2611964afc	2337	void virtPress(bool on)
mjr	53:9b2611964afc	2338	{
mjr	53:9b2611964afc	2339	// Increment or decrement the current state
mjr	53:9b2611964afc	2340	virtState += on ? 1 : -1;
mjr	53:9b2611964afc	2341	}
mjr	53:9b2611964afc	2342
mjr	53:9b2611964afc	2343	// DigitalIn for the button, if connected to a physical input
mjr	73:4e8ce0b18915	2344	TinyDigitalIn di;
mjr	38:091e511ce8a0	2345
mjr	65:739875521aae	2346	// Time of last pulse state transition.
mjr	65:739875521aae	2347	//
mjr	65:739875521aae	2348	// Each state change sticks for a minimum period; when the timer expires,
mjr	65:739875521aae	2349	// if the underlying physical switch is in a different state, we switch
mjr	65:739875521aae	2350	// to the next state and restart the timer. pulseTime is the time remaining
mjr	65:739875521aae	2351	// remaining before we can make another state transition, in microseconds.
mjr	65:739875521aae	2352	// The state transitions require a complete cycle, 1 -> 2 -> 3 -> 4 -> 1...;
mjr	65:739875521aae	2353	// this guarantees that the parity of the pulse count always matches the
mjr	65:739875521aae	2354	// current physical switch state when the latter is stable, which makes
mjr	65:739875521aae	2355	// it impossible to "trick" the host by rapidly toggling the switch state.
mjr	65:739875521aae	2356	// (On my original Pinscape cabinet, I had a hardware pulse generator
mjr	65:739875521aae	2357	// for coin door, and that was possible to trick by rapid toggling.
mjr	65:739875521aae	2358	// This software system can't be fooled that way.)
mjr	65:739875521aae	2359	uint32_t pulseTime;
mjr	18:5e890ebd0023	2360
mjr	65:739875521aae	2361	// Config key index. This points to the ButtonCfg structure in the
mjr	65:739875521aae	2362	// configuration that contains the PC key mapping for the button.
mjr	65:739875521aae	2363	uint8_t cfgIndex;
mjr	53:9b2611964afc	2364
mjr	53:9b2611964afc	2365	// Virtual press state. This is used to simulate pressing the button via
mjr	53:9b2611964afc	2366	// software inputs rather than physical inputs. To allow one button to be
mjr	53:9b2611964afc	2367	// controlled by mulitple software sources, each source should keep track
mjr	53:9b2611964afc	2368	// of its own virtual state for the button independently, and then INCREMENT
mjr	53:9b2611964afc	2369	// this variable when the source's state transitions from off to on, and
mjr	53:9b2611964afc	2370	// DECREMENT it when the source's state transitions from on to off. That
mjr	53:9b2611964afc	2371	// will make the button's pressed state the logical OR of all of the virtual
mjr	53:9b2611964afc	2372	// and physical source states.
mjr	53:9b2611964afc	2373	uint8_t virtState;
mjr	38:091e511ce8a0	2374
mjr	38:091e511ce8a0	2375	// Debounce history. On each scan, we shift in a 1 bit to the lsb if
mjr	38:091e511ce8a0	2376	// the physical key is reporting ON, and shift in a 0 bit if the physical
mjr	38:091e511ce8a0	2377	// key is reporting OFF. We consider the key to have a new stable state
mjr	38:091e511ce8a0	2378	// if we have N consecutive 0's or 1's in the low N bits (where N is
mjr	38:091e511ce8a0	2379	// a parameter that determines how long we wait for transients to settle).
mjr	53:9b2611964afc	2380	uint8_t dbState;
mjr	38:091e511ce8a0	2381
mjr	65:739875521aae	2382	// current PHYSICAL on/off state, after debouncing
mjr	65:739875521aae	2383	uint8_t physState : 1;
mjr	65:739875521aae	2384
mjr	65:739875521aae	2385	// current LOGICAL on/off state as reported to the host.
mjr	65:739875521aae	2386	uint8_t logState : 1;
mjr	65:739875521aae	2387
mjr	79:682ae3171a08	2388	// Previous logical on/off state, when keys were last processed for USB
mjr	79:682ae3171a08	2389	// reports and local effects. This lets us detect edges (transitions)
mjr	79:682ae3171a08	2390	// in the logical state, for effects that are triggered when the state
mjr	79:682ae3171a08	2391	// changes rather than merely by the button being on or off.
mjr	65:739875521aae	2392	uint8_t prevLogState : 1;
mjr	65:739875521aae	2393
mjr	65:739875521aae	2394	// Pulse state
mjr	65:739875521aae	2395	//
mjr	65:739875521aae	2396	// A button in pulse mode (selected via the config flags for the button)
mjr	65:739875521aae	2397	// transmits a brief logical button press and release each time the attached
mjr	65:739875521aae	2398	// physical switch changes state. This is useful for cases where the host
mjr	65:739875521aae	2399	// expects a key press for each change in the state of the physical switch.
mjr	65:739875521aae	2400	// The canonical example is the Coin Door switch in VPinMAME, which requires
mjr	65:739875521aae	2401	// pressing the END key to toggle the open/closed state. This software design
mjr	65:739875521aae	2402	// isn't easily implemented in a physical coin door, though; the simplest
mjr	65:739875521aae	2403	// physical sensor for the coin door state is a switch that's on when the
mjr	65:739875521aae	2404	// door is open and off when the door is closed (or vice versa, but in either
mjr	65:739875521aae	2405	// case, the switch state corresponds to the current state of the door at any
mjr	65:739875521aae	2406	// given time, rather than pulsing on state changes). The "pulse mode"
mjr	79:682ae3171a08	2407	// option bridges this gap by generating a toggle key event each time
mjr	65:739875521aae	2408	// there's a change to the physical switch's state.
mjr	38:091e511ce8a0	2409	//
mjr	38:091e511ce8a0	2410	// Pulse state:
mjr	38:091e511ce8a0	2411	// 0 -> not a pulse switch - logical key state equals physical switch state
mjr	38:091e511ce8a0	2412	// 1 -> off
mjr	38:091e511ce8a0	2413	// 2 -> transitioning off-on
mjr	38:091e511ce8a0	2414	// 3 -> on
mjr	38:091e511ce8a0	2415	// 4 -> transitioning on-off
mjr	65:739875521aae	2416	uint8_t pulseState : 3; // 5 states -> we need 3 bits
mjr	65:739875521aae	2417
mjr	65:739875521aae	2418	} __attribute__((packed));
mjr	65:739875521aae	2419
mjr	65:739875521aae	2420	ButtonState *buttonState; // live button slots, allocated on startup
mjr	65:739875521aae	2421	int8_t nButtons; // number of live button slots allocated
mjr	65:739875521aae	2422	int8_t zblButtonIndex = -1; // index of ZB Launch button slot; -1 if unused
mjr	18:5e890ebd0023	2423
mjr	66:2e3583fbd2f4	2424	// Shift button state
mjr	66:2e3583fbd2f4	2425	struct
mjr	66:2e3583fbd2f4	2426	{
mjr	66:2e3583fbd2f4	2427	int8_t index; // buttonState[] index of shift button; -1 if none
mjr	78:1e00b3fa11af	2428	uint8_t state; // current state, for "Key OR Shift" mode:
mjr	66:2e3583fbd2f4	2429	// 0 = not shifted
mjr	66:2e3583fbd2f4	2430	// 1 = shift button down, no key pressed yet
mjr	66:2e3583fbd2f4	2431	// 2 = shift button down, key pressed
mjr	78:1e00b3fa11af	2432	// 3 = released, sending pulsed keystroke
mjr	78:1e00b3fa11af	2433	uint32_t pulseTime; // time remaining in pulsed keystroke (state 3)
mjr	66:2e3583fbd2f4	2434	}
mjr	66:2e3583fbd2f4	2435	__attribute__((packed)) shiftButton;
mjr	38:091e511ce8a0	2436
mjr	38:091e511ce8a0	2437	// Button data
mjr	38:091e511ce8a0	2438	uint32_t jsButtons = 0;
mjr	38:091e511ce8a0	2439
mjr	38:091e511ce8a0	2440	// Keyboard report state. This tracks the USB keyboard state. We can
mjr	38:091e511ce8a0	2441	// report at most 6 simultaneous non-modifier keys here, plus the 8
mjr	38:091e511ce8a0	2442	// modifier keys.
mjr	38:091e511ce8a0	2443	struct
mjr	38:091e511ce8a0	2444	{
mjr	38:091e511ce8a0	2445	bool changed; // flag: changed since last report sent
mjr	48:058ace2aed1d	2446	uint8_t nkeys; // number of active keys in the list
mjr	38:091e511ce8a0	2447	uint8_t data[8]; // key state, in USB report format: byte 0 is the modifier key mask,
mjr	38:091e511ce8a0	2448	// byte 1 is reserved, and bytes 2-7 are the currently pressed key codes
mjr	38:091e511ce8a0	2449	} kbState = { false, 0, { 0, 0, 0, 0, 0, 0, 0, 0 } };
mjr	38:091e511ce8a0	2450
mjr	38:091e511ce8a0	2451	// Media key state
mjr	38:091e511ce8a0	2452	struct
mjr	38:091e511ce8a0	2453	{
mjr	38:091e511ce8a0	2454	bool changed; // flag: changed since last report sent
mjr	38:091e511ce8a0	2455	uint8_t data; // key state byte for USB reports
mjr	38:091e511ce8a0	2456	} mediaState = { false, 0 };
mjr	38:091e511ce8a0	2457
mjr	79:682ae3171a08	2458	// button scan interrupt timer
mjr	79:682ae3171a08	2459	Timeout scanButtonsTimeout;
mjr	38:091e511ce8a0	2460
mjr	38:091e511ce8a0	2461	// Button scan interrupt handler. We call this periodically via
mjr	38:091e511ce8a0	2462	// a timer interrupt to scan the physical button states.
mjr	38:091e511ce8a0	2463	void scanButtons()
mjr	38:091e511ce8a0	2464	{
mjr	79:682ae3171a08	2465	// schedule the next interrupt
mjr	79:682ae3171a08	2466	scanButtonsTimeout.attach_us(&scanButtons, 1000);
mjr	79:682ae3171a08	2467
mjr	38:091e511ce8a0	2468	// scan all button input pins
mjr	73:4e8ce0b18915	2469	ButtonState bs = buttonState, last = bs + nButtons;
mjr	73:4e8ce0b18915	2470	for ( ; bs < last ; ++bs)
mjr	38:091e511ce8a0	2471	{
mjr	73:4e8ce0b18915	2472	// Shift the new state into the debounce history
mjr	73:4e8ce0b18915	2473	uint8_t db = (bs->dbState << 1) \| bs->di.read();
mjr	73:4e8ce0b18915	2474	bs->dbState = db;
mjr	73:4e8ce0b18915	2475
mjr	73:4e8ce0b18915	2476	// If we have all 0's or 1's in the history for the required
mjr	73:4e8ce0b18915	2477	// debounce period, the key state is stable, so apply the new
mjr	73:4e8ce0b18915	2478	// physical state. Note that the pins are active low, so the
mjr	73:4e8ce0b18915	2479	// new button on/off state is the inverse of the GPIO state.
mjr	73:4e8ce0b18915	2480	const uint8_t stable = 0x1F; // 00011111b -> low 5 bits = last 5 readings
mjr	73:4e8ce0b18915	2481	db &= stable;
mjr	73:4e8ce0b18915	2482	if (db == 0 \|\| db == stable)
mjr	73:4e8ce0b18915	2483	bs->physState = !db;
mjr	38:091e511ce8a0	2484	}
mjr	38:091e511ce8a0	2485	}
mjr	38:091e511ce8a0	2486
mjr	38:091e511ce8a0	2487	// Button state transition timer. This is used for pulse buttons, to
mjr	38:091e511ce8a0	2488	// control the timing of the logical key presses generated by transitions
mjr	38:091e511ce8a0	2489	// in the physical button state.
mjr	38:091e511ce8a0	2490	Timer buttonTimer;
mjr	12:669df364a565	2491
mjr	65:739875521aae	2492	// Count a button during the initial setup scan
mjr	72:884207c0aab0	2493	void countButton(uint8_t typ, uint8_t shiftTyp, bool &kbKeys)
mjr	65:739875521aae	2494	{
mjr	65:739875521aae	2495	// count it
mjr	65:739875521aae	2496	++nButtons;
mjr	65:739875521aae	2497
mjr	67:c39e66c4e000	2498	// if it's a keyboard key or media key, note that we need a USB
mjr	67:c39e66c4e000	2499	// keyboard interface
mjr	72:884207c0aab0	2500	if (typ == BtnTypeKey \|\| typ == BtnTypeMedia
mjr	72:884207c0aab0	2501	\|\| shiftTyp == BtnTypeKey \|\| shiftTyp == BtnTypeMedia)
mjr	65:739875521aae	2502	kbKeys = true;
mjr	65:739875521aae	2503	}
mjr	65:739875521aae	2504
mjr	11:bd9da7088e6e	2505	// initialize the button inputs
mjr	35:e959ffba78fd	2506	void initButtons(Config &cfg, bool &kbKeys)
mjr	11:bd9da7088e6e	2507	{
mjr	66:2e3583fbd2f4	2508	// presume no shift key
mjr	66:2e3583fbd2f4	2509	shiftButton.index = -1;
mjr	82:4f6209cb5c33	2510	shiftButton.state = 0;
mjr	66:2e3583fbd2f4	2511
mjr	65:739875521aae	2512	// Count up how many button slots we'll need to allocate. Start
mjr	65:739875521aae	2513	// with assigned buttons from the configuration, noting that we
mjr	65:739875521aae	2514	// only need to create slots for buttons that are actually wired.
mjr	65:739875521aae	2515	nButtons = 0;
mjr	65:739875521aae	2516	for (int i = 0 ; i < MAX_BUTTONS ; ++i)
mjr	65:739875521aae	2517	{
mjr	65:739875521aae	2518	// it's valid if it's wired to a real input pin
mjr	65:739875521aae	2519	if (wirePinName(cfg.button[i].pin) != NC)
mjr	72:884207c0aab0	2520	countButton(cfg.button[i].typ, cfg.button[i].typ2, kbKeys);
mjr	65:739875521aae	2521	}
mjr	65:739875521aae	2522
mjr	65:739875521aae	2523	// Count virtual buttons
mjr	65:739875521aae	2524
mjr	65:739875521aae	2525	// ZB Launch
mjr	65:739875521aae	2526	if (cfg.plunger.zbLaunchBall.port != 0)
mjr	65:739875521aae	2527	{
mjr	65:739875521aae	2528	// valid - remember the live button index
mjr	65:739875521aae	2529	zblButtonIndex = nButtons;
mjr	65:739875521aae	2530
mjr	65:739875521aae	2531	// count it
mjr	72:884207c0aab0	2532	countButton(cfg.plunger.zbLaunchBall.keytype, BtnTypeNone, kbKeys);
mjr	65:739875521aae	2533	}
mjr	65:739875521aae	2534
mjr	65:739875521aae	2535	// Allocate the live button slots
mjr	65:739875521aae	2536	ButtonState *bs = buttonState = new ButtonState[nButtons];
mjr	65:739875521aae	2537
mjr	65:739875521aae	2538	// Configure the physical inputs
mjr	65:739875521aae	2539	for (int i = 0 ; i < MAX_BUTTONS ; ++i)
mjr	65:739875521aae	2540	{
mjr	65:739875521aae	2541	PinName pin = wirePinName(cfg.button[i].pin);
mjr	65:739875521aae	2542	if (pin != NC)
mjr	65:739875521aae	2543	{
mjr	65:739875521aae	2544	// point back to the config slot for the keyboard data
mjr	65:739875521aae	2545	bs->cfgIndex = i;
mjr	65:739875521aae	2546
mjr	65:739875521aae	2547	// set up the GPIO input pin for this button
mjr	73:4e8ce0b18915	2548	bs->di.assignPin(pin);
mjr	65:739875521aae	2549
mjr	65:739875521aae	2550	// if it's a pulse mode button, set the initial pulse state to Off
mjr	65:739875521aae	2551	if (cfg.button[i].flags & BtnFlagPulse)
mjr	65:739875521aae	2552	bs->pulseState = 1;
mjr	65:739875521aae	2553
mjr	66:2e3583fbd2f4	2554	// If this is the shift button, note its buttonState[] index.
mjr	66:2e3583fbd2f4	2555	// We have to figure the buttonState[] index separately from
mjr	66:2e3583fbd2f4	2556	// the config index, because the indices can differ if some
mjr	66:2e3583fbd2f4	2557	// config slots are left unused.
mjr	78:1e00b3fa11af	2558	if (cfg.shiftButton.idx == i+1)
mjr	66:2e3583fbd2f4	2559	shiftButton.index = bs - buttonState;
mjr	66:2e3583fbd2f4	2560
mjr	65:739875521aae	2561	// advance to the next button
mjr	65:739875521aae	2562	++bs;
mjr	65:739875521aae	2563	}
mjr	65:739875521aae	2564	}
mjr	65:739875521aae	2565
mjr	53:9b2611964afc	2566	// Configure the virtual buttons. These are buttons controlled via
mjr	53:9b2611964afc	2567	// software triggers rather than physical GPIO inputs. The virtual
mjr	53:9b2611964afc	2568	// buttons have the same control structures as regular buttons, but
mjr	53:9b2611964afc	2569	// they get their configuration data from other config variables.
mjr	53:9b2611964afc	2570
mjr	53:9b2611964afc	2571	// ZB Launch Ball button
mjr	65:739875521aae	2572	if (cfg.plunger.zbLaunchBall.port != 0)
mjr	11:bd9da7088e6e	2573	{
mjr	65:739875521aae	2574	// Point back to the config slot for the keyboard data.
mjr	66:2e3583fbd2f4	2575	// We use a special extra slot for virtual buttons,
mjr	66:2e3583fbd2f4	2576	// so we also need to set up the slot data by copying
mjr	66:2e3583fbd2f4	2577	// the ZBL config data to our virtual button slot.
mjr	65:739875521aae	2578	bs->cfgIndex = ZBL_BUTTON_CFG;
mjr	65:739875521aae	2579	cfg.button[ZBL_BUTTON_CFG].pin = PINNAME_TO_WIRE(NC);
mjr	65:739875521aae	2580	cfg.button[ZBL_BUTTON_CFG].typ = cfg.plunger.zbLaunchBall.keytype;
mjr	65:739875521aae	2581	cfg.button[ZBL_BUTTON_CFG].val = cfg.plunger.zbLaunchBall.keycode;
mjr	65:739875521aae	2582
mjr	66:2e3583fbd2f4	2583	// advance to the next button
mjr	65:739875521aae	2584	++bs;
mjr	11:bd9da7088e6e	2585	}
mjr	12:669df364a565	2586
mjr	38:091e511ce8a0	2587	// start the button scan thread
mjr	79:682ae3171a08	2588	scanButtonsTimeout.attach_us(scanButtons, 1000);
mjr	38:091e511ce8a0	2589
mjr	38:091e511ce8a0	2590	// start the button state transition timer
mjr	12:669df364a565	2591	buttonTimer.start();
mjr	11:bd9da7088e6e	2592	}
mjr	11:bd9da7088e6e	2593
mjr	67:c39e66c4e000	2594	// Media key mapping. This maps from an 8-bit USB media key
mjr	67:c39e66c4e000	2595	// code to the corresponding bit in our USB report descriptor.
mjr	67:c39e66c4e000	2596	// The USB key code is the index, and the value at the index
mjr	67:c39e66c4e000	2597	// is the report descriptor bit. See joystick.cpp for the
mjr	67:c39e66c4e000	2598	// media descriptor details. Our currently mapped keys are:
mjr	67:c39e66c4e000	2599	//
mjr	67:c39e66c4e000	2600	// 0xE2 -> Mute -> 0x01
mjr	67:c39e66c4e000	2601	// 0xE9 -> Volume Up -> 0x02
mjr	67:c39e66c4e000	2602	// 0xEA -> Volume Down -> 0x04
mjr	67:c39e66c4e000	2603	// 0xB5 -> Next Track -> 0x08
mjr	67:c39e66c4e000	2604	// 0xB6 -> Previous Track -> 0x10
mjr	67:c39e66c4e000	2605	// 0xB7 -> Stop -> 0x20
mjr	67:c39e66c4e000	2606	// 0xCD -> Play / Pause -> 0x40
mjr	67:c39e66c4e000	2607	//
mjr	67:c39e66c4e000	2608	static const uint8_t mediaKeyMap[] = {
mjr	67:c39e66c4e000	2609	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 00-0F
mjr	67:c39e66c4e000	2610	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 10-1F
mjr	67:c39e66c4e000	2611	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 20-2F
mjr	67:c39e66c4e000	2612	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 30-3F
mjr	67:c39e66c4e000	2613	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 40-4F
mjr	67:c39e66c4e000	2614	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 50-5F
mjr	67:c39e66c4e000	2615	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 60-6F
mjr	67:c39e66c4e000	2616	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 70-7F
mjr	67:c39e66c4e000	2617	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 80-8F
mjr	67:c39e66c4e000	2618	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 90-9F
mjr	67:c39e66c4e000	2619	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // A0-AF
mjr	67:c39e66c4e000	2620	0, 0, 0, 0, 0, 8, 16, 32, 0, 0, 0, 0, 0, 0, 0, 0, // B0-BF
mjr	67:c39e66c4e000	2621	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 64, 0, 0, // C0-CF
mjr	67:c39e66c4e000	2622	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // D0-DF
mjr	67:c39e66c4e000	2623	0, 0, 1, 0, 0, 0, 0, 0, 0, 2, 4, 0, 0, 0, 0, 0, // E0-EF
mjr	67:c39e66c4e000	2624	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 // F0-FF
mjr	77:0b96f6867312	2625	};
mjr	77:0b96f6867312	2626
mjr	77:0b96f6867312	2627	// Keyboard key/joystick button state. processButtons() uses this to
mjr	77:0b96f6867312	2628	// build the set of key presses to report to the PC based on the logical
mjr	77:0b96f6867312	2629	// states of the button iputs.
mjr	77:0b96f6867312	2630	struct KeyState
mjr	77:0b96f6867312	2631	{
mjr	77:0b96f6867312	2632	KeyState()
mjr	77:0b96f6867312	2633	{
mjr	77:0b96f6867312	2634	// zero all members
mjr	77:0b96f6867312	2635	memset(this, 0, sizeof(*this));
mjr	77:0b96f6867312	2636	}
mjr	77:0b96f6867312	2637
mjr	77:0b96f6867312	2638	// Keyboard media keys currently pressed. This is a bit vector in
mjr	77:0b96f6867312	2639	// the format used in our USB keyboard reports (see USBJoystick.cpp).
mjr	77:0b96f6867312	2640	uint8_t mediakeys;
mjr	77:0b96f6867312	2641
mjr	77:0b96f6867312	2642	// Keyboard modifier (shift) keys currently pressed. This is a bit
mjr	77:0b96f6867312	2643	// vector in the format used in our USB keyboard reports (see
mjr	77:0b96f6867312	2644	// USBJoystick.cpp).
mjr	77:0b96f6867312	2645	uint8_t modkeys;
mjr	77:0b96f6867312	2646
mjr	77:0b96f6867312	2647	// Regular keyboard keys currently pressed. Each element is a USB
mjr	77:0b96f6867312	2648	// key code, or 0 for empty slots. Note that the USB report format
mjr	77:0b96f6867312	2649	// theoretically allows a flexible size limit, but the Windows KB
mjr	77:0b96f6867312	2650	// drivers have a fixed limit of 6 simultaneous keys (and won't
mjr	77:0b96f6867312	2651	// accept reports with more), so there's no point in making this
mjr	77:0b96f6867312	2652	// flexible; we'll just use the fixed size dictated by Windows.
mjr	77:0b96f6867312	2653	uint8_t keys[7];
mjr	77:0b96f6867312	2654
mjr	77:0b96f6867312	2655	// number of valid entries in keys[] array
mjr	77:0b96f6867312	2656	int nkeys;
mjr	77:0b96f6867312	2657
mjr	77:0b96f6867312	2658	// Joystick buttons pressed, as a bit vector. Bit n (1 << n)
mjr	77:0b96f6867312	2659	// represents joystick button n, n in 0..31, with 0 meaning
mjr	77:0b96f6867312	2660	// unpressed and 1 meaning pressed.
mjr	77:0b96f6867312	2661	uint32_t js;
mjr	77:0b96f6867312	2662
mjr	77:0b96f6867312	2663
mjr	77:0b96f6867312	2664	// Add a key press. 'typ' is the button type code (ButtonTypeXxx),
mjr	77:0b96f6867312	2665	// and 'val' is the value (the meaning of which varies by type code).
mjr	77:0b96f6867312	2666	void addKey(uint8_t typ, uint8_t val)
mjr	77:0b96f6867312	2667	{
mjr	77:0b96f6867312	2668	// add the key according to the type
mjr	77:0b96f6867312	2669	switch (typ)
mjr	77:0b96f6867312	2670	{
mjr	77:0b96f6867312	2671	case BtnTypeJoystick:
mjr	77:0b96f6867312	2672	// joystick button
mjr	77:0b96f6867312	2673	js \|= (1 << (val - 1));
mjr	77:0b96f6867312	2674	break;
mjr	77:0b96f6867312	2675
mjr	77:0b96f6867312	2676	case BtnTypeKey:
mjr	77:0b96f6867312	2677	// Keyboard key. The USB keyboard report encodes regular
mjr	77:0b96f6867312	2678	// keys and modifier keys separately, so we need to check
mjr	77:0b96f6867312	2679	// which type we have. Note that past versions mapped the
mjr	77:0b96f6867312	2680	// Keyboard Volume Up, Keyboard Volume Down, and Keyboard
mjr	77:0b96f6867312	2681	// Mute keys to the corresponding Media keys. We no longer
mjr	77:0b96f6867312	2682	// do this; instead, we have the separate BtnTypeMedia for
mjr	77:0b96f6867312	2683	// explicitly using media keys if desired.
mjr	77:0b96f6867312	2684	if (val >= 0xE0 && val <= 0xE7)
mjr	77:0b96f6867312	2685	{
mjr	77:0b96f6867312	2686	// It's a modifier key. These are represented in the USB
mjr	77:0b96f6867312	2687	// reports with a bit mask. We arrange the mask bits in
mjr	77:0b96f6867312	2688	// the same order as the scan codes, so we can figure the
mjr	77:0b96f6867312	2689	// appropriate bit with a simple shift.
mjr	77:0b96f6867312	2690	modkeys \|= (1 << (val - 0xE0));
mjr	77:0b96f6867312	2691	}
mjr	77:0b96f6867312	2692	else
mjr	77:0b96f6867312	2693	{
mjr	77:0b96f6867312	2694	// It's a regular key. Make sure it's not already in the
mjr	77:0b96f6867312	2695	// list, and that the list isn't full. If neither of these
mjr	77:0b96f6867312	2696	// apply, add the key to the key array.
mjr	77:0b96f6867312	2697	if (nkeys < 7)
mjr	77:0b96f6867312	2698	{
mjr	77:0b96f6867312	2699	bool found = false;
mjr	77:0b96f6867312	2700	for (int i = 0 ; i < nkeys ; ++i)
mjr	77:0b96f6867312	2701	{
mjr	77:0b96f6867312	2702	if (keys[i] == val)
mjr	77:0b96f6867312	2703	{
mjr	77:0b96f6867312	2704	found = true;
mjr	77:0b96f6867312	2705	break;
mjr	77:0b96f6867312	2706	}
mjr	77:0b96f6867312	2707	}
mjr	77:0b96f6867312	2708	if (!found)
mjr	77:0b96f6867312	2709	keys[nkeys++] = val;
mjr	77:0b96f6867312	2710	}
mjr	77:0b96f6867312	2711	}
mjr	77:0b96f6867312	2712	break;
mjr	77:0b96f6867312	2713
mjr	77:0b96f6867312	2714	case BtnTypeMedia:
mjr	77:0b96f6867312	2715	// Media control key. The media keys are mapped in the USB
mjr	77:0b96f6867312	2716	// report to bits, whereas the key codes are specified in the
mjr	77:0b96f6867312	2717	// config with their USB usage numbers. E.g., the config val
mjr	77:0b96f6867312	2718	// for Media Next Track is 0xB5, but we encode this in the USB
mjr	77:0b96f6867312	2719	// report as bit 0x08. The mediaKeyMap[] table translates
mjr	77:0b96f6867312	2720	// from the USB usage number to the mask bit. If the key isn't
mjr	77:0b96f6867312	2721	// among the subset we support, the mapped bit will be zero, so
mjr	77:0b96f6867312	2722	// the "\|=" will have no effect and the key will be ignored.
mjr	77:0b96f6867312	2723	mediakeys \|= mediaKeyMap[val];
mjr	77:0b96f6867312	2724	break;
mjr	77:0b96f6867312	2725	}
mjr	77:0b96f6867312	2726	}
mjr	77:0b96f6867312	2727	};
mjr	67:c39e66c4e000	2728
mjr	67:c39e66c4e000	2729
mjr	38:091e511ce8a0	2730	// Process the button state. This sets up the joystick, keyboard, and
mjr	38:091e511ce8a0	2731	// media control descriptors with the current state of keys mapped to
mjr	38:091e511ce8a0	2732	// those HID interfaces, and executes the local effects for any keys
mjr	38:091e511ce8a0	2733	// mapped to special device functions (e.g., Night Mode).
mjr	53:9b2611964afc	2734	void processButtons(Config &cfg)
mjr	35:e959ffba78fd	2735	{
mjr	77:0b96f6867312	2736	// key state
mjr	77:0b96f6867312	2737	KeyState ks;
mjr	38:091e511ce8a0	2738
mjr	38:091e511ce8a0	2739	// calculate the time since the last run
mjr	53:9b2611964afc	2740	uint32_t dt = buttonTimer.read_us();
mjr	18:5e890ebd0023	2741	buttonTimer.reset();
mjr	66:2e3583fbd2f4	2742
mjr	66:2e3583fbd2f4	2743	// check the shift button state
mjr	66:2e3583fbd2f4	2744	if (shiftButton.index != -1)
mjr	66:2e3583fbd2f4	2745	{
mjr	78:1e00b3fa11af	2746	// get the shift button's physical state object
mjr	66:2e3583fbd2f4	2747	ButtonState *sbs = &buttonState[shiftButton.index];
mjr	78:1e00b3fa11af	2748
mjr	78:1e00b3fa11af	2749	// figure what to do based on the shift button mode in the config
mjr	78:1e00b3fa11af	2750	switch (cfg.shiftButton.mode)
mjr	66:2e3583fbd2f4	2751	{
mjr	66:2e3583fbd2f4	2752	case 0:
mjr	78:1e00b3fa11af	2753	default:
mjr	78:1e00b3fa11af	2754	// "Shift OR Key" mode. The shift button doesn't send its key
mjr	78:1e00b3fa11af	2755	// immediately when pressed. Instead, we wait to see what
mjr	78:1e00b3fa11af	2756	// happens while it's down. Check the current cycle state.
mjr	78:1e00b3fa11af	2757	switch (shiftButton.state)
mjr	78:1e00b3fa11af	2758	{
mjr	78:1e00b3fa11af	2759	case 0:
mjr	78:1e00b3fa11af	2760	// Not shifted. Check if the button is now down: if so,
mjr	78:1e00b3fa11af	2761	// switch to state 1 (shift button down, no key pressed yet).
mjr	78:1e00b3fa11af	2762	if (sbs->physState)
mjr	78:1e00b3fa11af	2763	shiftButton.state = 1;
mjr	78:1e00b3fa11af	2764	break;
mjr	78:1e00b3fa11af	2765
mjr	78:1e00b3fa11af	2766	case 1:
mjr	78:1e00b3fa11af	2767	// Shift button down, no key pressed yet. If the button is
mjr	78:1e00b3fa11af	2768	// now up, it counts as an ordinary button press instead of
mjr	78:1e00b3fa11af	2769	// a shift button press, since the shift function was never
mjr	78:1e00b3fa11af	2770	// used. Return to unshifted state and start a timed key
mjr	78:1e00b3fa11af	2771	// pulse event.
mjr	78:1e00b3fa11af	2772	if (!sbs->physState)
mjr	78:1e00b3fa11af	2773	{
mjr	78:1e00b3fa11af	2774	shiftButton.state = 3;
mjr	78:1e00b3fa11af	2775	shiftButton.pulseTime = 50000+dt; // 50 ms left on the key pulse
mjr	78:1e00b3fa11af	2776	}
mjr	78:1e00b3fa11af	2777	break;
mjr	78:1e00b3fa11af	2778
mjr	78:1e00b3fa11af	2779	case 2:
mjr	78:1e00b3fa11af	2780	// Shift button down, other key was pressed. If the button is
mjr	78:1e00b3fa11af	2781	// now up, simply clear the shift state without sending a key
mjr	78:1e00b3fa11af	2782	// press for the shift button itself to the PC. The shift
mjr	78:1e00b3fa11af	2783	// function was used, so its ordinary key press function is
mjr	78:1e00b3fa11af	2784	// suppressed.
mjr	78:1e00b3fa11af	2785	if (!sbs->physState)
mjr	78:1e00b3fa11af	2786	shiftButton.state = 0;
mjr	78:1e00b3fa11af	2787	break;
mjr	78:1e00b3fa11af	2788
mjr	78:1e00b3fa11af	2789	case 3:
mjr	78:1e00b3fa11af	2790	// Sending pulsed keystroke. Deduct the current time interval
mjr	78:1e00b3fa11af	2791	// from the remaining pulse timer. End the pulse if the time
mjr	78:1e00b3fa11af	2792	// has expired.
mjr	78:1e00b3fa11af	2793	if (shiftButton.pulseTime > dt)
mjr	78:1e00b3fa11af	2794	shiftButton.pulseTime -= dt;
mjr	78:1e00b3fa11af	2795	else
mjr	78:1e00b3fa11af	2796	shiftButton.state = 0;
mjr	78:1e00b3fa11af	2797	break;
mjr	78:1e00b3fa11af	2798	}
mjr	66:2e3583fbd2f4	2799	break;
mjr	66:2e3583fbd2f4	2800
mjr	66:2e3583fbd2f4	2801	case 1:
mjr	78:1e00b3fa11af	2802	// "Shift AND Key" mode. In this mode, the shift button acts
mjr	78:1e00b3fa11af	2803	// like any other button and sends its mapped key immediately.
mjr	78:1e00b3fa11af	2804	// The state cycle in this case simply matches the physical
mjr	78:1e00b3fa11af	2805	// state: ON -> cycle state 1, OFF -> cycle state 0.
mjr	78:1e00b3fa11af	2806	shiftButton.state = (sbs->physState ? 1 : 0);
mjr	66:2e3583fbd2f4	2807	break;
mjr	66:2e3583fbd2f4	2808	}
mjr	66:2e3583fbd2f4	2809	}
mjr	38:091e511ce8a0	2810
mjr	11:bd9da7088e6e	2811	// scan the button list
mjr	18:5e890ebd0023	2812	ButtonState *bs = buttonState;
mjr	65:739875521aae	2813	for (int i = 0 ; i < nButtons ; ++i, ++bs)
mjr	11:bd9da7088e6e	2814	{
mjr	77:0b96f6867312	2815	// get the config entry for the button
mjr	77:0b96f6867312	2816	ButtonCfg *bc = &cfg.button[bs->cfgIndex];
mjr	77:0b96f6867312	2817
mjr	66:2e3583fbd2f4	2818	// Check the button type:
mjr	66:2e3583fbd2f4	2819	// - shift button
mjr	66:2e3583fbd2f4	2820	// - pulsed button
mjr	66:2e3583fbd2f4	2821	// - regular button
mjr	66:2e3583fbd2f4	2822	if (shiftButton.index == i)
mjr	66:2e3583fbd2f4	2823	{
mjr	78:1e00b3fa11af	2824	// This is the shift button. The logical state handling
mjr	78:1e00b3fa11af	2825	// depends on the mode.
mjr	78:1e00b3fa11af	2826	switch (cfg.shiftButton.mode)
mjr	66:2e3583fbd2f4	2827	{
mjr	78:1e00b3fa11af	2828	case 0:
mjr	78:1e00b3fa11af	2829	default:
mjr	78:1e00b3fa11af	2830	// "Shift OR Key" mode. The logical state is ON only
mjr	78:1e00b3fa11af	2831	// during the timed pulse when the key is released, which
mjr	78:1e00b3fa11af	2832	// is signified by shift button state 3.
mjr	78:1e00b3fa11af	2833	bs->logState = (shiftButton.state == 3);
mjr	78:1e00b3fa11af	2834	break;
mjr	78:1e00b3fa11af	2835
mjr	78:1e00b3fa11af	2836	case 1:
mjr	78:1e00b3fa11af	2837	// "Shif AND Key" mode. The shift button acts like any
mjr	78:1e00b3fa11af	2838	// other button, so it's logically on when physically on.
mjr	78:1e00b3fa11af	2839	bs->logState = bs->physState;
mjr	78:1e00b3fa11af	2840	break;
mjr	66:2e3583fbd2f4	2841	}
mjr	66:2e3583fbd2f4	2842	}
mjr	66:2e3583fbd2f4	2843	else if (bs->pulseState != 0)
mjr	18:5e890ebd0023	2844	{
mjr	38:091e511ce8a0	2845	// if the timer has expired, check for state changes
mjr	53:9b2611964afc	2846	if (bs->pulseTime > dt)
mjr	18:5e890ebd0023	2847	{
mjr	53:9b2611964afc	2848	// not expired yet - deduct the last interval
mjr	53:9b2611964afc	2849	bs->pulseTime -= dt;
mjr	53:9b2611964afc	2850	}
mjr	53:9b2611964afc	2851	else
mjr	53:9b2611964afc	2852	{
mjr	53:9b2611964afc	2853	// pulse time expired - check for a state change
mjr	53:9b2611964afc	2854	const uint32_t pulseLength = 200000UL; // 200 milliseconds
mjr	38:091e511ce8a0	2855	switch (bs->pulseState)
mjr	18:5e890ebd0023	2856	{
mjr	38:091e511ce8a0	2857	case 1:
mjr	38:091e511ce8a0	2858	// off - if the physical switch is now on, start a button pulse
mjr	53:9b2611964afc	2859	if (bs->physState)
mjr	53:9b2611964afc	2860	{
mjr	38:091e511ce8a0	2861	bs->pulseTime = pulseLength;
mjr	38:091e511ce8a0	2862	bs->pulseState = 2;
mjr	53:9b2611964afc	2863	bs->logState = 1;
mjr	38:091e511ce8a0	2864	}
mjr	38:091e511ce8a0	2865	break;
mjr	18:5e890ebd0023	2866
mjr	38:091e511ce8a0	2867	case 2:
mjr	38:091e511ce8a0	2868	// transitioning off to on - end the pulse, and start a gap
mjr	38:091e511ce8a0	2869	// equal to the pulse time so that the host can observe the
mjr	38:091e511ce8a0	2870	// change in state in the logical button
mjr	38:091e511ce8a0	2871	bs->pulseState = 3;
mjr	38:091e511ce8a0	2872	bs->pulseTime = pulseLength;
mjr	53:9b2611964afc	2873	bs->logState = 0;
mjr	38:091e511ce8a0	2874	break;
mjr	38:091e511ce8a0	2875
mjr	38:091e511ce8a0	2876	case 3:
mjr	38:091e511ce8a0	2877	// on - if the physical switch is now off, start a button pulse
mjr	53:9b2611964afc	2878	if (!bs->physState)
mjr	53:9b2611964afc	2879	{
mjr	38:091e511ce8a0	2880	bs->pulseTime = pulseLength;
mjr	38:091e511ce8a0	2881	bs->pulseState = 4;
mjr	53:9b2611964afc	2882	bs->logState = 1;
mjr	38:091e511ce8a0	2883	}
mjr	38:091e511ce8a0	2884	break;
mjr	38:091e511ce8a0	2885
mjr	38:091e511ce8a0	2886	case 4:
mjr	38:091e511ce8a0	2887	// transitioning on to off - end the pulse, and start a gap
mjr	38:091e511ce8a0	2888	bs->pulseState = 1;
mjr	38:091e511ce8a0	2889	bs->pulseTime = pulseLength;
mjr	53:9b2611964afc	2890	bs->logState = 0;
mjr	38:091e511ce8a0	2891	break;
mjr	18:5e890ebd0023	2892	}
mjr	18:5e890ebd0023	2893	}
mjr	38:091e511ce8a0	2894	}
mjr	38:091e511ce8a0	2895	else
mjr	38:091e511ce8a0	2896	{
mjr	38:091e511ce8a0	2897	// not a pulse switch - the logical state is the same as the physical state
mjr	53:9b2611964afc	2898	bs->logState = bs->physState;
mjr	38:091e511ce8a0	2899	}
mjr	77:0b96f6867312	2900
mjr	77:0b96f6867312	2901	// Determine if we're going to use the shifted version of the
mjr	78:1e00b3fa11af	2902	// button. We're using the shifted version if...
mjr	78:1e00b3fa11af	2903	//
mjr	78:1e00b3fa11af	2904	// - the shift button is down, AND
mjr	78:1e00b3fa11af	2905	// - this button isn't itself the shift button, AND
mjr	78:1e00b3fa11af	2906	// - this button has some kind of shifted meaning
mjr	77:0b96f6867312	2907	//
mjr	78:1e00b3fa11af	2908	// A "shifted meaning" means that we have any of the following
mjr	78:1e00b3fa11af	2909	// assigned to the shifted version of the button: a key assignment,
mjr	78:1e00b3fa11af	2910	// (in typ2,key2), an IR command (in IRCommand2), or Night mode.
mjr	78:1e00b3fa11af	2911	//
mjr	78:1e00b3fa11af	2912	// The test for Night Mode is a bit tricky. The shifted version of
mjr	78:1e00b3fa11af	2913	// the button is the Night Mode toggle if the button matches the
mjr	78:1e00b3fa11af	2914	// Night Mode button index, AND its flags are set with "toggle mode
mjr	78:1e00b3fa11af	2915	// ON" (bit 0x02 is on) and "switch mode OFF" (bit 0x01 is off).
mjr	78:1e00b3fa11af	2916	// So (button flags) & 0x03 must equal 0x02.
mjr	77:0b96f6867312	2917	bool useShift =
mjr	77:0b96f6867312	2918	(shiftButton.state != 0
mjr	78:1e00b3fa11af	2919	&& shiftButton.index != i
mjr	77:0b96f6867312	2920	&& (bc->typ2 != BtnTypeNone
mjr	77:0b96f6867312	2921	\|\| bc->IRCommand2 != 0
mjr	77:0b96f6867312	2922	\|\| (cfg.nightMode.btn == i+1 && (cfg.nightMode.flags & 0x03) == 0x02)));
mjr	77:0b96f6867312	2923
mjr	77:0b96f6867312	2924	// If we're using the shift function, and no other button has used
mjr	77:0b96f6867312	2925	// the shift function yet (shift state 1: "shift button is down but
mjr	77:0b96f6867312	2926	// no one has used the shift function yet"), then we've "consumed"
mjr	77:0b96f6867312	2927	// the shift button press (so go to shift state 2: "shift button has
mjr	77:0b96f6867312	2928	// been used by some other button press that has a shifted meaning").
mjr	78:1e00b3fa11af	2929	if (useShift && shiftButton.state == 1 && bs->logState)
mjr	77:0b96f6867312	2930	shiftButton.state = 2;
mjr	35:e959ffba78fd	2931
mjr	38:091e511ce8a0	2932	// carry out any edge effects from buttons changing states
mjr	53:9b2611964afc	2933	if (bs->logState != bs->prevLogState)
mjr	38:091e511ce8a0	2934	{
mjr	77:0b96f6867312	2935	// check to see if this is the Night Mode button
mjr	53:9b2611964afc	2936	if (cfg.nightMode.btn == i + 1)
mjr	35:e959ffba78fd	2937	{
mjr	77:0b96f6867312	2938	// Check the switch type in the config flags. If flag 0x01 is
mjr	77:0b96f6867312	2939	// set, it's a persistent on/off switch, so the night mode
mjr	77:0b96f6867312	2940	// state simply tracks the current state of the switch.
mjr	77:0b96f6867312	2941	// Otherwise, it's a momentary button, so each button push
mjr	77:0b96f6867312	2942	// (i.e., each transition from logical state OFF to ON) toggles
mjr	77:0b96f6867312	2943	// the night mode state.
mjr	77:0b96f6867312	2944	//
mjr	77:0b96f6867312	2945	// Note that the "shift" flag (0x02) has no effect in switch
mjr	77:0b96f6867312	2946	// mode. Shifting only works for toggle mode.
mjr	82:4f6209cb5c33	2947	if ((cfg.nightMode.flags & 0x01) != 0)
mjr	53:9b2611964afc	2948	{
mjr	77:0b96f6867312	2949	// It's an on/off switch. Night mode simply tracks the
mjr	77:0b96f6867312	2950	// current switch state.
mjr	53:9b2611964afc	2951	setNightMode(bs->logState);
mjr	53:9b2611964afc	2952	}
mjr	82:4f6209cb5c33	2953	else if (bs->logState)
mjr	53:9b2611964afc	2954	{
mjr	77:0b96f6867312	2955	// It's a momentary toggle switch. Toggle the night mode
mjr	77:0b96f6867312	2956	// state on each distinct press of the button: that is,
mjr	77:0b96f6867312	2957	// whenever the button's logical state transitions from
mjr	77:0b96f6867312	2958	// OFF to ON.
mjr	66:2e3583fbd2f4	2959	//
mjr	77:0b96f6867312	2960	// The "shift" flag (0x02) tells us whether night mode is
mjr	77:0b96f6867312	2961	// assigned to the shifted or unshifted version of the
mjr	77:0b96f6867312	2962	// button.
mjr	77:0b96f6867312	2963	bool pressed;
mjr	66:2e3583fbd2f4	2964	if ((cfg.nightMode.flags & 0x02) != 0)
mjr	66:2e3583fbd2f4	2965	{
mjr	77:0b96f6867312	2966	// Shift bit is set - night mode is assigned to the
mjr	77:0b96f6867312	2967	// shifted version of the button. This is a Night
mjr	77:0b96f6867312	2968	// Mode toggle only if the Shift button is pressed.
mjr	77:0b96f6867312	2969	pressed = (shiftButton.state != 0);
mjr	77:0b96f6867312	2970	}
mjr	77:0b96f6867312	2971	else
mjr	77:0b96f6867312	2972	{
mjr	77:0b96f6867312	2973	// No shift bit - night mode is assigned to the
mjr	77:0b96f6867312	2974	// regular unshifted button. The button press only
mjr	77:0b96f6867312	2975	// applies if the Shift button is NOT pressed.
mjr	77:0b96f6867312	2976	pressed = (shiftButton.state == 0);
mjr	66:2e3583fbd2f4	2977	}
mjr	66:2e3583fbd2f4	2978
mjr	66:2e3583fbd2f4	2979	// if it's pressed (even after considering the shift mode),
mjr	66:2e3583fbd2f4	2980	// toggle night mode
mjr	66:2e3583fbd2f4	2981	if (pressed)
mjr	53:9b2611964afc	2982	toggleNightMode();
mjr	53:9b2611964afc	2983	}
mjr	35:e959ffba78fd	2984	}
mjr	38:091e511ce8a0	2985
mjr	77:0b96f6867312	2986	// press or release IR virtual keys on key state changes
mjr	77:0b96f6867312	2987	uint8_t irc = useShift ? bc->IRCommand2 : bc->IRCommand;
mjr	77:0b96f6867312	2988	if (irc != 0)
mjr	77:0b96f6867312	2989	IR_buttonChange(irc, bs->logState);
mjr	77:0b96f6867312	2990
mjr	38:091e511ce8a0	2991	// remember the new state for comparison on the next run
mjr	53:9b2611964afc	2992	bs->prevLogState = bs->logState;
mjr	38:091e511ce8a0	2993	}
mjr	38:091e511ce8a0	2994
mjr	53:9b2611964afc	2995	// if it's pressed, physically or virtually, add it to the appropriate
mjr	53:9b2611964afc	2996	// key state list
mjr	53:9b2611964afc	2997	if (bs->logState \|\| bs->virtState)
mjr	38:091e511ce8a0	2998	{
mjr	70:9f58735a1732	2999	// Get the key type and code. Start by assuming that we're
mjr	70:9f58735a1732	3000	// going to use the normal unshifted meaning.
mjr	77:0b96f6867312	3001	uint8_t typ, val;
mjr	77:0b96f6867312	3002	if (useShift)
mjr	66:2e3583fbd2f4	3003	{
mjr	77:0b96f6867312	3004	typ = bc->typ2;
mjr	77:0b96f6867312	3005	val = bc->val2;
mjr	66:2e3583fbd2f4	3006	}
mjr	77:0b96f6867312	3007	else
mjr	77:0b96f6867312	3008	{
mjr	77:0b96f6867312	3009	typ = bc->typ;
mjr	77:0b96f6867312	3010	val = bc->val;
mjr	77:0b96f6867312	3011	}
mjr	77:0b96f6867312	3012
mjr	70:9f58735a1732	3013	// We've decided on the meaning of the button, so process
mjr	70:9f58735a1732	3014	// the keyboard or joystick event.
mjr	77:0b96f6867312	3015	ks.addKey(typ, val);
mjr	18:5e890ebd0023	3016	}
mjr	11:bd9da7088e6e	3017	}
mjr	77:0b96f6867312	3018
mjr	77:0b96f6867312	3019	// If an IR input command is in effect, add the IR command's
mjr	77:0b96f6867312	3020	// assigned key, if any. If we're in an IR key gap, don't include
mjr	77:0b96f6867312	3021	// the IR key.
mjr	77:0b96f6867312	3022	if (IRCommandIn != 0 && !IRKeyGap)
mjr	77:0b96f6867312	3023	{
mjr	77:0b96f6867312	3024	IRCommandCfg &irc = cfg.IRCommand[IRCommandIn - 1];
mjr	77:0b96f6867312	3025	ks.addKey(irc.keytype, irc.keycode);
mjr	77:0b96f6867312	3026	}
mjr	77:0b96f6867312	3027
mjr	77:0b96f6867312	3028	// We're finished building the new key state. Update the global
mjr	77:0b96f6867312	3029	// key state variables to reflect the new state.
mjr	77:0b96f6867312	3030
mjr	77:0b96f6867312	3031	// set the new joystick buttons (no need to check for changes, as we
mjr	77:0b96f6867312	3032	// report these on every joystick report whether they changed or not)
mjr	77:0b96f6867312	3033	jsButtons = ks.js;
mjr	77:0b96f6867312	3034
mjr	77:0b96f6867312	3035	// check for keyboard key changes (we only send keyboard reports when
mjr	77:0b96f6867312	3036	// something changes)
mjr	77:0b96f6867312	3037	if (kbState.data[0] != ks.modkeys
mjr	77:0b96f6867312	3038	\|\| kbState.nkeys != ks.nkeys
mjr	77:0b96f6867312	3039	\|\| memcmp(ks.keys, &kbState.data[2], 6) != 0)
mjr	35:e959ffba78fd	3040	{
mjr	35:e959ffba78fd	3041	// we have changes - set the change flag and store the new key data
mjr	35:e959ffba78fd	3042	kbState.changed = true;
mjr	77:0b96f6867312	3043	kbState.data[0] = ks.modkeys;
mjr	77:0b96f6867312	3044	if (ks.nkeys <= 6) {
mjr	35:e959ffba78fd	3045	// 6 or fewer simultaneous keys - report the key codes
mjr	77:0b96f6867312	3046	kbState.nkeys = ks.nkeys;
mjr	77:0b96f6867312	3047	memcpy(&kbState.data[2], ks.keys, 6);
mjr	35:e959ffba78fd	3048	}
mjr	35:e959ffba78fd	3049	else {
mjr	35:e959ffba78fd	3050	// more than 6 simultaneous keys - report rollover (all '1' key codes)
mjr	35:e959ffba78fd	3051	kbState.nkeys = 6;
mjr	35:e959ffba78fd	3052	memset(&kbState.data[2], 1, 6);
mjr	35:e959ffba78fd	3053	}
mjr	35:e959ffba78fd	3054	}
mjr	35:e959ffba78fd	3055
mjr	77:0b96f6867312	3056	// check for media key changes (we only send media key reports when
mjr	77:0b96f6867312	3057	// something changes)
mjr	77:0b96f6867312	3058	if (mediaState.data != ks.mediakeys)
mjr	35:e959ffba78fd	3059	{
mjr	77:0b96f6867312	3060	// we have changes - set the change flag and store the new key data
mjr	35:e959ffba78fd	3061	mediaState.changed = true;
mjr	77:0b96f6867312	3062	mediaState.data = ks.mediakeys;
mjr	35:e959ffba78fd	3063	}
mjr	11:bd9da7088e6e	3064	}
mjr	11:bd9da7088e6e	3065
mjr	73:4e8ce0b18915	3066	// Send a button status report
mjr	73:4e8ce0b18915	3067	void reportButtonStatus(USBJoystick &js)
mjr	73:4e8ce0b18915	3068	{
mjr	73:4e8ce0b18915	3069	// start with all buttons off
mjr	73:4e8ce0b18915	3070	uint8_t state[(MAX_BUTTONS+7)/8];
mjr	73:4e8ce0b18915	3071	memset(state, 0, sizeof(state));
mjr	73:4e8ce0b18915	3072
mjr	73:4e8ce0b18915	3073	// pack the button states into bytes, one bit per button
mjr	73:4e8ce0b18915	3074	ButtonState *bs = buttonState;
mjr	73:4e8ce0b18915	3075	for (int i = 0 ; i < nButtons ; ++i, ++bs)
mjr	73:4e8ce0b18915	3076	{
mjr	73:4e8ce0b18915	3077	// get the physical state
mjr	73:4e8ce0b18915	3078	int b = bs->physState;
mjr	73:4e8ce0b18915	3079
mjr	73:4e8ce0b18915	3080	// pack it into the appropriate bit
mjr	73:4e8ce0b18915	3081	int idx = bs->cfgIndex;
mjr	73:4e8ce0b18915	3082	int si = idx / 8;
mjr	73:4e8ce0b18915	3083	int shift = idx & 0x07;
mjr	73:4e8ce0b18915	3084	state[si] \|= b << shift;
mjr	73:4e8ce0b18915	3085	}
mjr	73:4e8ce0b18915	3086
mjr	73:4e8ce0b18915	3087	// send the report
mjr	73:4e8ce0b18915	3088	js.reportButtonStatus(MAX_BUTTONS, state);
mjr	73:4e8ce0b18915	3089	}
mjr	73:4e8ce0b18915	3090
mjr	5:a70c0bce770d	3091	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	3092	//
mjr	5:a70c0bce770d	3093	// Customization joystick subbclass
mjr	5:a70c0bce770d	3094	//
mjr	5:a70c0bce770d	3095
mjr	5:a70c0bce770d	3096	class MyUSBJoystick: public USBJoystick
mjr	5:a70c0bce770d	3097	{
mjr	5:a70c0bce770d	3098	public:
mjr	35:e959ffba78fd	3099	MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release,
mjr	35:e959ffba78fd	3100	bool waitForConnect, bool enableJoystick, bool useKB)
mjr	35:e959ffba78fd	3101	: USBJoystick(vendor_id, product_id, product_release, waitForConnect, enableJoystick, useKB)
mjr	5:a70c0bce770d	3102	{
mjr	54:fd77a6b2f76c	3103	sleeping_ = false;
mjr	54:fd77a6b2f76c	3104	reconnectPending_ = false;
mjr	54:fd77a6b2f76c	3105	timer_.start();
mjr	54:fd77a6b2f76c	3106	}
mjr	54:fd77a6b2f76c	3107
mjr	54:fd77a6b2f76c	3108	// show diagnostic LED feedback for connect state
mjr	54:fd77a6b2f76c	3109	void diagFlash()
mjr	54:fd77a6b2f76c	3110	{
mjr	54:fd77a6b2f76c	3111	if (!configured() \|\| sleeping_)
mjr	54:fd77a6b2f76c	3112	{
mjr	54:fd77a6b2f76c	3113	// flash once if sleeping or twice if disconnected
mjr	54:fd77a6b2f76c	3114	for (int j = isConnected() ? 1 : 2 ; j > 0 ; --j)
mjr	54:fd77a6b2f76c	3115	{
mjr	54:fd77a6b2f76c	3116	// short red flash
mjr	54:fd77a6b2f76c	3117	diagLED(1, 0, 0);
mjr	54:fd77a6b2f76c	3118	wait_us(50000);
mjr	54:fd77a6b2f76c	3119	diagLED(0, 0, 0);
mjr	54:fd77a6b2f76c	3120	wait_us(50000);
mjr	54:fd77a6b2f76c	3121	}
mjr	54:fd77a6b2f76c	3122	}
mjr	5:a70c0bce770d	3123	}
mjr	5:a70c0bce770d	3124
mjr	5:a70c0bce770d	3125	// are we connected?
mjr	5:a70c0bce770d	3126	int isConnected() { return configured(); }
mjr	5:a70c0bce770d	3127
mjr	54:fd77a6b2f76c	3128	// Are we in sleep mode? If true, this means that the hardware has
mjr	54:fd77a6b2f76c	3129	// detected no activity on the bus for 3ms. This happens when the
mjr	54:fd77a6b2f76c	3130	// cable is physically disconnected, the computer is turned off, or
mjr	54:fd77a6b2f76c	3131	// the connection is otherwise disabled.
mjr	54:fd77a6b2f76c	3132	bool isSleeping() const { return sleeping_; }
mjr	54:fd77a6b2f76c	3133
mjr	54:fd77a6b2f76c	3134	// If necessary, attempt to recover from a broken connection.
mjr	54:fd77a6b2f76c	3135	//
mjr	54:fd77a6b2f76c	3136	// This is a hack, to work around an apparent timing bug in the
mjr	54:fd77a6b2f76c	3137	// KL25Z USB implementation that I haven't been able to solve any
mjr	54:fd77a6b2f76c	3138	// other way.
mjr	54:fd77a6b2f76c	3139	//
mjr	54:fd77a6b2f76c	3140	// The issue: when we have an established connection, and the
mjr	54:fd77a6b2f76c	3141	// connection is broken by physically unplugging the cable or by
mjr	54:fd77a6b2f76c	3142	// rebooting the PC, the KL25Z sometimes fails to reconnect when
mjr	54:fd77a6b2f76c	3143	// the physical connection is re-established. The failure is
mjr	54:fd77a6b2f76c	3144	// sporadic; I'd guess it happens about 25% of the time, but I
mjr	54:fd77a6b2f76c	3145	// haven't collected any real statistics on it.
mjr	54:fd77a6b2f76c	3146	//
mjr	54:fd77a6b2f76c	3147	// The proximate cause of the failure is a deadlock in the SETUP
mjr	54:fd77a6b2f76c	3148	// protocol between the host and device that happens around the
mjr	54:fd77a6b2f76c	3149	// point where the PC is requesting the configuration descriptor.
mjr	54:fd77a6b2f76c	3150	// The exact point in the protocol where this occurs varies slightly;
mjr	54:fd77a6b2f76c	3151	// it can occur a message or two before or after the Get Config
mjr	54:fd77a6b2f76c	3152	// Descriptor packet. No matter where it happens, the nature of
mjr	54:fd77a6b2f76c	3153	// the deadlock is the same: the PC thinks it sees a STALL on EP0
mjr	54:fd77a6b2f76c	3154	// from the device, so it terminates the connection attempt, which
mjr	54:fd77a6b2f76c	3155	// stops further traffic on the cable. The KL25Z USB hardware sees
mjr	54:fd77a6b2f76c	3156	// the lack of traffic and triggers a SLEEP interrupt (a misnomer
mjr	54:fd77a6b2f76c	3157	// for what should have been called a BROKEN CONNECTION interrupt).
mjr	54:fd77a6b2f76c	3158	// Both sides simply stop talking at this point, so the connection
mjr	54:fd77a6b2f76c	3159	// is effectively dead.
mjr	54:fd77a6b2f76c	3160	//
mjr	54:fd77a6b2f76c	3161	// The strange thing is that, as far as I can tell, the KL25Z isn't
mjr	54:fd77a6b2f76c	3162	// doing anything to trigger the STALL on its end. Both the PC
mjr	54:fd77a6b2f76c	3163	// and the KL25Z are happy up until the very point of the failure
mjr	54:fd77a6b2f76c	3164	// and show no signs of anything wrong in the protocol exchange.
mjr	54:fd77a6b2f76c	3165	// In fact, every detail of the protocol exchange up to this point
mjr	54:fd77a6b2f76c	3166	// is identical to every successful exchange that does finish the
mjr	54:fd77a6b2f76c	3167	// whole setup process successfully, on both the KL25Z and Windows
mjr	54:fd77a6b2f76c	3168	// sides of the connection. I can't find any point of difference
mjr	54:fd77a6b2f76c	3169	// between successful and unsuccessful sequences that suggests why
mjr	54:fd77a6b2f76c	3170	// the fateful message fails. This makes me suspect that whatever
mjr	54:fd77a6b2f76c	3171	// is going wrong is inside the KL25Z USB hardware module, which
mjr	54:fd77a6b2f76c	3172	// is a pretty substantial black box - it has a lot of internal
mjr	54:fd77a6b2f76c	3173	// state that's inaccessible to the software. Further bolstering
mjr	54:fd77a6b2f76c	3174	// this theory is a little experiment where I found that I could
mjr	54:fd77a6b2f76c	3175	// reproduce the exact sequence of events of a failed reconnect
mjr	54:fd77a6b2f76c	3176	// attempt in an initial connection, which is otherwise 100%
mjr	54:fd77a6b2f76c	3177	// reliable, by inserting a little bit of artifical time padding
mjr	54:fd77a6b2f76c	3178	// (200us per event) into the SETUP interrupt handler. My
mjr	54:fd77a6b2f76c	3179	// hypothesis is that the STALL event happens because the KL25Z
mjr	54:fd77a6b2f76c	3180	// USB hardware is too slow to respond to a message. I'm not
mjr	54:fd77a6b2f76c	3181	// sure why this would only happen after a disconnect and not
mjr	54:fd77a6b2f76c	3182	// during the initial connection; maybe there's some reset work
mjr	54:fd77a6b2f76c	3183	// in the hardware that takes a substantial amount of time after
mjr	54:fd77a6b2f76c	3184	// a disconnect.
mjr	54:fd77a6b2f76c	3185	//
mjr	54:fd77a6b2f76c	3186	// The solution: the problem happens during the SETUP exchange,
mjr	54:fd77a6b2f76c	3187	// after we've been assigned a bus address. It only happens on
mjr	54:fd77a6b2f76c	3188	// some percentage of connection requests, so if we can simply
mjr	54:fd77a6b2f76c	3189	// start over when the failure occurs, we'll eventually succeed
mjr	54:fd77a6b2f76c	3190	// simply because not every attempt fails. The ideal would be
mjr	54:fd77a6b2f76c	3191	// to get the success rate up to 100%, but I can't figure out how
mjr	54:fd77a6b2f76c	3192	// to fix the underlying problem, so this is the next best thing.
mjr	54:fd77a6b2f76c	3193	//
mjr	54:fd77a6b2f76c	3194	// We can detect when the failure occurs by noticing when a SLEEP
mjr	54:fd77a6b2f76c	3195	// interrupt happens while we have an assigned bus address.
mjr	54:fd77a6b2f76c	3196	//
mjr	54:fd77a6b2f76c	3197	// To start a new connection attempt, we have to make the host
mjr	54:fd77a6b2f76c	3198	// try again. The logical connection is initiated solely by the
mjr	54:fd77a6b2f76c	3199	// host. Fortunately, it's easy to get the host to initiate the
mjr	54:fd77a6b2f76c	3200	// process: if we disconnect on the device side, it effectively
mjr	54:fd77a6b2f76c	3201	// makes the device look to the PC like it's electrically unplugged.
mjr	54:fd77a6b2f76c	3202	// When we reconnect on the device side, the PC thinks a new device
mjr	54:fd77a6b2f76c	3203	// has been plugged in and initiates the logical connection setup.
mjr	74:822a92bc11d2	3204	// We have to remain disconnected for some minimum interval before
mjr	74:822a92bc11d2	3205	// the host notices; the exact minimum is unclear, but 5ms seems
mjr	74:822a92bc11d2	3206	// reliable in practice.
mjr	54:fd77a6b2f76c	3207	//
mjr	54:fd77a6b2f76c	3208	// Here's the full algorithm:
mjr	54:fd77a6b2f76c	3209	//
mjr	54:fd77a6b2f76c	3210	// 1. In the SLEEP interrupt handler, if we have a bus address,
mjr	54:fd77a6b2f76c	3211	// we disconnect the device. This happens in ISR context, so we
mjr	54:fd77a6b2f76c	3212	// can't wait around for 5ms. Instead, we simply set a flag noting
mjr	54:fd77a6b2f76c	3213	// that the connection has been broken, and we note the time and
mjr	54:fd77a6b2f76c	3214	// return.
mjr	54:fd77a6b2f76c	3215	//
mjr	54:fd77a6b2f76c	3216	// 2. In our main loop, whenever we find that we're disconnected,
mjr	54:fd77a6b2f76c	3217	// we call recoverConnection(). The main loop's job is basically a
mjr	54:fd77a6b2f76c	3218	// bunch of device polling. We're just one more device to poll, so
mjr	54:fd77a6b2f76c	3219	// recoverConnection() will be called soon after a disconnect, and
mjr	54:fd77a6b2f76c	3220	// then will be called in a loop for as long as we're disconnected.
mjr	54:fd77a6b2f76c	3221	//
mjr	54:fd77a6b2f76c	3222	// 3. In recoverConnection(), we check the flag we set in the SLEEP
mjr	54:fd77a6b2f76c	3223	// handler. If set, we wait until 5ms has elapsed from the SLEEP
mjr	54:fd77a6b2f76c	3224	// event time that we noted, then we'll reconnect and clear the flag.
mjr	54:fd77a6b2f76c	3225	// This gives us the required 5ms (or longer) delay between the
mjr	54:fd77a6b2f76c	3226	// disconnect and reconnect, ensuring that the PC will notice and
mjr	54:fd77a6b2f76c	3227	// will start over with the connection protocol.
mjr	54:fd77a6b2f76c	3228	//
mjr	54:fd77a6b2f76c	3229	// 4. The main loop keeps calling recoverConnection() in a loop for
mjr	54:fd77a6b2f76c	3230	// as long as we're disconnected, so if the new connection attempt
mjr	54:fd77a6b2f76c	3231	// triggered in step 3 fails, the SLEEP interrupt will happen again,
mjr	54:fd77a6b2f76c	3232	// we'll disconnect again, the flag will get set again, and
mjr	54:fd77a6b2f76c	3233	// recoverConnection() will reconnect again after another suitable
mjr	54:fd77a6b2f76c	3234	// delay. This will repeat until the connection succeeds or hell
mjr	54:fd77a6b2f76c	3235	// freezes over.
mjr	54:fd77a6b2f76c	3236	//
mjr	54:fd77a6b2f76c	3237	// Each disconnect happens immediately when a reconnect attempt
mjr	54:fd77a6b2f76c	3238	// fails, and an entire successful connection only takes about 25ms,
mjr	54:fd77a6b2f76c	3239	// so our loop can retry at more than 30 attempts per second.
mjr	54:fd77a6b2f76c	3240	// In my testing, lost connections almost always reconnect in
mjr	54:fd77a6b2f76c	3241	// less than second with this code in place.
mjr	54:fd77a6b2f76c	3242	void recoverConnection()
mjr	54:fd77a6b2f76c	3243	{
mjr	54:fd77a6b2f76c	3244	// if a reconnect is pending, reconnect
mjr	54:fd77a6b2f76c	3245	if (reconnectPending_)
mjr	54:fd77a6b2f76c	3246	{
mjr	54:fd77a6b2f76c	3247	// Loop until we reach 5ms after the last sleep event.
mjr	54:fd77a6b2f76c	3248	for (bool done = false ; !done ; )
mjr	54:fd77a6b2f76c	3249	{
mjr	54:fd77a6b2f76c	3250	// If we've reached the target time, reconnect. Do the
mjr	54:fd77a6b2f76c	3251	// time check and flag reset atomically, so that we can't
mjr	54:fd77a6b2f76c	3252	// have another sleep event sneak in after we've verified
mjr	54:fd77a6b2f76c	3253	// the time. If another event occurs, it has to happen
mjr	54:fd77a6b2f76c	3254	// before we check, in which case it'll update the time
mjr	54:fd77a6b2f76c	3255	// before we check it, or after we clear the flag, in
mjr	54:fd77a6b2f76c	3256	// which case it will reset the flag and we'll do another
mjr	54:fd77a6b2f76c	3257	// round the next time we call this routine.
mjr	54:fd77a6b2f76c	3258	__disable_irq();
mjr	54:fd77a6b2f76c	3259	if (uint32_t(timer_.read_us() - lastSleepTime_) > 5000)
mjr	54:fd77a6b2f76c	3260	{
mjr	54:fd77a6b2f76c	3261	connect(false);
mjr	54:fd77a6b2f76c	3262	reconnectPending_ = false;
mjr	54:fd77a6b2f76c	3263	done = true;
mjr	54:fd77a6b2f76c	3264	}
mjr	54:fd77a6b2f76c	3265	__enable_irq();
mjr	54:fd77a6b2f76c	3266	}
mjr	54:fd77a6b2f76c	3267	}
mjr	54:fd77a6b2f76c	3268	}
mjr	5:a70c0bce770d	3269
mjr	5:a70c0bce770d	3270	protected:
mjr	54:fd77a6b2f76c	3271	// Handle a USB SLEEP interrupt. This interrupt signifies that the
mjr	54:fd77a6b2f76c	3272	// USB hardware module hasn't seen any token traffic for 3ms, which
mjr	54:fd77a6b2f76c	3273	// means that we're either physically or logically disconnected.
mjr	54:fd77a6b2f76c	3274	//
mjr	54:fd77a6b2f76c	3275	// Important: this runs in ISR context.
mjr	54:fd77a6b2f76c	3276	//
mjr	54:fd77a6b2f76c	3277	// Note that this is a specialized sense of "sleep" that's unrelated
mjr	54:fd77a6b2f76c	3278	// to the similarly named power modes on the PC. This has nothing
mjr	54:fd77a6b2f76c	3279	// to do with suspend/sleep mode on the PC, and it's not a low-power
mjr	54:fd77a6b2f76c	3280	// mode on the KL25Z. They really should have called this interrupt
mjr	54:fd77a6b2f76c	3281	// DISCONNECT or BROKEN CONNECTION.)
mjr	54:fd77a6b2f76c	3282	virtual void sleepStateChanged(unsigned int sleeping)
mjr	54:fd77a6b2f76c	3283	{
mjr	54:fd77a6b2f76c	3284	// note the new state
mjr	54:fd77a6b2f76c	3285	sleeping_ = sleeping;
mjr	54:fd77a6b2f76c	3286
mjr	54:fd77a6b2f76c	3287	// If we have a non-zero bus address, we have at least a partial
mjr	54:fd77a6b2f76c	3288	// connection to the host (we've made it at least as far as the
mjr	54:fd77a6b2f76c	3289	// SETUP stage). Explicitly disconnect, and the pending reconnect
mjr	54:fd77a6b2f76c	3290	// flag, and remember the time of the sleep event.
mjr	54:fd77a6b2f76c	3291	if (USB0->ADDR != 0x00)
mjr	54:fd77a6b2f76c	3292	{
mjr	54:fd77a6b2f76c	3293	disconnect();
mjr	54:fd77a6b2f76c	3294	lastSleepTime_ = timer_.read_us();
mjr	54:fd77a6b2f76c	3295	reconnectPending_ = true;
mjr	54:fd77a6b2f76c	3296	}
mjr	54:fd77a6b2f76c	3297	}
mjr	54:fd77a6b2f76c	3298
mjr	54:fd77a6b2f76c	3299	// is the USB connection asleep?
mjr	54:fd77a6b2f76c	3300	volatile bool sleeping_;
mjr	54:fd77a6b2f76c	3301
mjr	54:fd77a6b2f76c	3302	// flag: reconnect pending after sleep event
mjr	54:fd77a6b2f76c	3303	volatile bool reconnectPending_;
mjr	54:fd77a6b2f76c	3304
mjr	54:fd77a6b2f76c	3305	// time of last sleep event while connected
mjr	54:fd77a6b2f76c	3306	volatile uint32_t lastSleepTime_;
mjr	54:fd77a6b2f76c	3307
mjr	54:fd77a6b2f76c	3308	// timer to keep track of interval since last sleep event
mjr	54:fd77a6b2f76c	3309	Timer timer_;
mjr	5:a70c0bce770d	3310	};
mjr	5:a70c0bce770d	3311
mjr	5:a70c0bce770d	3312	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	3313	//
mjr	5:a70c0bce770d	3314	// Accelerometer (MMA8451Q)
mjr	5:a70c0bce770d	3315	//
mjr	5:a70c0bce770d	3316
mjr	5:a70c0bce770d	3317	// The MMA8451Q is the KL25Z's on-board 3-axis accelerometer.
mjr	5:a70c0bce770d	3318	//
mjr	5:a70c0bce770d	3319	// This is a custom wrapper for the library code to interface to the
mjr	6:cc35eb643e8f	3320	// MMA8451Q. This class encapsulates an interrupt handler and
mjr	6:cc35eb643e8f	3321	// automatic calibration.
mjr	5:a70c0bce770d	3322	//
mjr	77:0b96f6867312	3323	// We collect data at the device's maximum rate of 800kHz (one sample
mjr	77:0b96f6867312	3324	// every 1.25ms). To keep up with the high data rate, we use the
mjr	77:0b96f6867312	3325	// device's internal FIFO, and drain the FIFO by polling on each
mjr	77:0b96f6867312	3326	// iteration of our main application loop. In the past, we used an
mjr	77:0b96f6867312	3327	// interrupt handler to read the device immediately on the arrival of
mjr	77:0b96f6867312	3328	// each sample, but this created too much latency for the IR remote
mjr	77:0b96f6867312	3329	// receiver, due to the relatively long time it takes to transfer the
mjr	77:0b96f6867312	3330	// accelerometer readings via I2C. The device's on-board FIFO can
mjr	77:0b96f6867312	3331	// store up to 32 samples, which gives us up to about 40ms between
mjr	77:0b96f6867312	3332	// polling iterations before the buffer overflows. Our main loop runs
mjr	77:0b96f6867312	3333	// in under 2ms, so we can easily keep the FIFO far from overflowing.
mjr	77:0b96f6867312	3334	//
mjr	77:0b96f6867312	3335	// The MMA8451Q has three range modes, +/- 2G, 4G, and 8G. The ADC
mjr	77:0b96f6867312	3336	// sample is the same bit width (14 bits) in all modes, so the higher
mjr	77:0b96f6867312	3337	// dynamic range modes trade physical precision for range. For our
mjr	77:0b96f6867312	3338	// purposes, precision is more important than range, so we use the
mjr	77:0b96f6867312	3339	// +/-2G mode. Further, our joystick range is calibrated for only
mjr	77:0b96f6867312	3340	// +/-1G. This was unintentional on my part; I didn't look at the
mjr	77:0b96f6867312	3341	// MMA8451Q library closely enough to realize it was normalizing to
mjr	77:0b96f6867312	3342	// actual "G" units, and assumed that it was normalizing to a -1..+1
mjr	77:0b96f6867312	3343	// scale. In practice, a +/-1G scale seems perfectly adequate for
mjr	77:0b96f6867312	3344	// virtual pinball use, so I'm sticking with that range for now. But
mjr	77:0b96f6867312	3345	// there might be some benefit in renormalizing to a +/-2G range, in
mjr	77:0b96f6867312	3346	// that it would allow for higher dynamic range for very hard nudges.
mjr	77:0b96f6867312	3347	// Everyone would have to tweak their nudge sensitivity in VP if I
mjr	77:0b96f6867312	3348	// made that change, though, so I'm keeping it as is for now; it would
mjr	77:0b96f6867312	3349	// be best to make it a config option ("accelerometer high dynamic range")
mjr	77:0b96f6867312	3350	// rather than change it across the board.
mjr	5:a70c0bce770d	3351	//
mjr	6:cc35eb643e8f	3352	// We automatically calibrate the accelerometer so that it's not
mjr	6:cc35eb643e8f	3353	// necessary to get it exactly level when installing it, and so
mjr	6:cc35eb643e8f	3354	// that it's also not necessary to calibrate it manually. There's
mjr	6:cc35eb643e8f	3355	// lots of experience that tells us that manual calibration is a
mjr	6:cc35eb643e8f	3356	// terrible solution, mostly because cabinets tend to shift slightly
mjr	6:cc35eb643e8f	3357	// during use, requiring frequent recalibration. Instead, we
mjr	6:cc35eb643e8f	3358	// calibrate automatically. We continuously monitor the acceleration
mjr	6:cc35eb643e8f	3359	// data, watching for periods of constant (or nearly constant) values.
mjr	6:cc35eb643e8f	3360	// Any time it appears that the machine has been at rest for a while
mjr	6:cc35eb643e8f	3361	// (about 5 seconds), we'll average the readings during that rest
mjr	6:cc35eb643e8f	3362	// period and use the result as the level rest position. This is
mjr	6:cc35eb643e8f	3363	// is ongoing, so we'll quickly find the center point again if the
mjr	6:cc35eb643e8f	3364	// machine is moved during play (by an especially aggressive bout
mjr	6:cc35eb643e8f	3365	// of nudging, say).
mjr	5:a70c0bce770d	3366	//
mjr	5:a70c0bce770d	3367
mjr	17:ab3cec0c8bf4	3368	// I2C address of the accelerometer (this is a constant of the KL25Z)
mjr	17:ab3cec0c8bf4	3369	const int MMA8451_I2C_ADDRESS = (0x1d<<1);
mjr	17:ab3cec0c8bf4	3370
mjr	17:ab3cec0c8bf4	3371	// SCL and SDA pins for the accelerometer (constant for the KL25Z)
mjr	17:ab3cec0c8bf4	3372	#define MMA8451_SCL_PIN PTE25
mjr	17:ab3cec0c8bf4	3373	#define MMA8451_SDA_PIN PTE24
mjr	17:ab3cec0c8bf4	3374
mjr	17:ab3cec0c8bf4	3375	// Digital in pin to use for the accelerometer interrupt. For the KL25Z,
mjr	17:ab3cec0c8bf4	3376	// this can be either PTA14 or PTA15, since those are the pins physically
mjr	17:ab3cec0c8bf4	3377	// wired on this board to the MMA8451 interrupt controller.
mjr	17:ab3cec0c8bf4	3378	#define MMA8451_INT_PIN PTA15
mjr	17:ab3cec0c8bf4	3379
mjr	17:ab3cec0c8bf4	3380
mjr	6:cc35eb643e8f	3381	// accelerometer input history item, for gathering calibration data
mjr	6:cc35eb643e8f	3382	struct AccHist
mjr	5:a70c0bce770d	3383	{
mjr	77:0b96f6867312	3384	AccHist() { x = y = dsq = 0; xtot = ytot = 0; cnt = 0; }
mjr	77:0b96f6867312	3385	void set(int x, int y, AccHist *prv)
mjr	6:cc35eb643e8f	3386	{
mjr	6:cc35eb643e8f	3387	// save the raw position
mjr	6:cc35eb643e8f	3388	this->x = x;
mjr	6:cc35eb643e8f	3389	this->y = y;
mjr	77:0b96f6867312	3390	this->dsq = distanceSquared(prv);
mjr	6:cc35eb643e8f	3391	}
mjr	6:cc35eb643e8f	3392
mjr	6:cc35eb643e8f	3393	// reading for this entry
mjr	77:0b96f6867312	3394	int x, y;
mjr	77:0b96f6867312	3395
mjr	77:0b96f6867312	3396	// (distance from previous entry) squared
mjr	77:0b96f6867312	3397	int dsq;
mjr	5:a70c0bce770d	3398
mjr	6:cc35eb643e8f	3399	// total and count of samples averaged over this period
mjr	77:0b96f6867312	3400	int xtot, ytot;
mjr	6:cc35eb643e8f	3401	int cnt;
mjr	6:cc35eb643e8f	3402
mjr	77:0b96f6867312	3403	void clearAvg() { xtot = ytot = 0; cnt = 0; }
mjr	77:0b96f6867312	3404	void addAvg(int x, int y) { xtot += x; ytot += y; ++cnt; }
mjr	77:0b96f6867312	3405	int xAvg() const { return xtot/cnt; }
mjr	77:0b96f6867312	3406	int yAvg() const { return ytot/cnt; }
mjr	77:0b96f6867312	3407
mjr	77:0b96f6867312	3408	int distanceSquared(AccHist *p)
mjr	77:0b96f6867312	3409	{ return square(p->x - x) + square(p->y - y); }
mjr	5:a70c0bce770d	3410	};
mjr	5:a70c0bce770d	3411
mjr	5:a70c0bce770d	3412	// accelerometer wrapper class
mjr	3:3514575d4f86	3413	class Accel
mjr	3:3514575d4f86	3414	{
mjr	3:3514575d4f86	3415	public:
mjr	78:1e00b3fa11af	3416	Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin,
mjr	78:1e00b3fa11af	3417	int range, int autoCenterMode)
mjr	77:0b96f6867312	3418	: mma_(sda, scl, i2cAddr)
mjr	3:3514575d4f86	3419	{
mjr	5:a70c0bce770d	3420	// remember the interrupt pin assignment
mjr	5:a70c0bce770d	3421	irqPin_ = irqPin;
mjr	77:0b96f6867312	3422
mjr	77:0b96f6867312	3423	// remember the range
mjr	77:0b96f6867312	3424	range_ = range;
mjr	78:1e00b3fa11af	3425
mjr	78:1e00b3fa11af	3426	// set the auto-centering mode
mjr	78:1e00b3fa11af	3427	setAutoCenterMode(autoCenterMode);
mjr	78:1e00b3fa11af	3428
mjr	78:1e00b3fa11af	3429	// no manual centering request has been received
mjr	78:1e00b3fa11af	3430	manualCenterRequest_ = false;
mjr	5:a70c0bce770d	3431
mjr	5:a70c0bce770d	3432	// reset and initialize
mjr	5:a70c0bce770d	3433	reset();
mjr	5:a70c0bce770d	3434	}
mjr	5:a70c0bce770d	3435
mjr	78:1e00b3fa11af	3436	// Request manual centering. This applies the trailing average
mjr	78:1e00b3fa11af	3437	// of recent measurements and applies it as the new center point
mjr	78:1e00b3fa11af	3438	// as soon as we have enough data.
mjr	78:1e00b3fa11af	3439	void manualCenterRequest() { manualCenterRequest_ = true; }
mjr	78:1e00b3fa11af	3440
mjr	78:1e00b3fa11af	3441	// set the auto-centering mode
mjr	78:1e00b3fa11af	3442	void setAutoCenterMode(int mode)
mjr	78:1e00b3fa11af	3443	{
mjr	78:1e00b3fa11af	3444	// remember the mode
mjr	78:1e00b3fa11af	3445	autoCenterMode_ = mode;
mjr	78:1e00b3fa11af	3446
mjr	78:1e00b3fa11af	3447	// Set the time between checks. We check 5 times over the course
mjr	78:1e00b3fa11af	3448	// of the centering time, so the check interval is 1/5 of the total.
mjr	78:1e00b3fa11af	3449	if (mode == 0)
mjr	78:1e00b3fa11af	3450	{
mjr	78:1e00b3fa11af	3451	// mode 0 is the old default of 5 seconds, so check every 1s
mjr	78:1e00b3fa11af	3452	autoCenterCheckTime_ = 1000000;
mjr	78:1e00b3fa11af	3453	}
mjr	78:1e00b3fa11af	3454	else if (mode <= 60)
mjr	78:1e00b3fa11af	3455	{
mjr	78:1e00b3fa11af	3456	// mode 1-60 means reset after 'mode' seconds; the check
mjr	78:1e00b3fa11af	3457	// interval is 1/5 of this
mjr	78:1e00b3fa11af	3458	autoCenterCheckTime_ = mode*200000;
mjr	78:1e00b3fa11af	3459	}
mjr	78:1e00b3fa11af	3460	else
mjr	78:1e00b3fa11af	3461	{
mjr	78:1e00b3fa11af	3462	// Auto-centering is off, but still gather statistics to apply
mjr	78:1e00b3fa11af	3463	// when we get a manual centering request. The check interval
mjr	78:1e00b3fa11af	3464	// in this case is 1/5 of the total time for the trailing average
mjr	78:1e00b3fa11af	3465	// we apply for the manual centering. We want this to be long
mjr	78:1e00b3fa11af	3466	// enough to smooth out the data, but short enough that it only
mjr	78:1e00b3fa11af	3467	// includes recent data.
mjr	78:1e00b3fa11af	3468	autoCenterCheckTime_ = 500000;
mjr	78:1e00b3fa11af	3469	}
mjr	78:1e00b3fa11af	3470	}
mjr	78:1e00b3fa11af	3471
mjr	5:a70c0bce770d	3472	void reset()
mjr	5:a70c0bce770d	3473	{
mjr	6:cc35eb643e8f	3474	// clear the center point
mjr	77:0b96f6867312	3475	cx_ = cy_ = 0;
mjr	6:cc35eb643e8f	3476
mjr	77:0b96f6867312	3477	// start the auto-centering timer
mjr	5:a70c0bce770d	3478	tCenter_.start();
mjr	5:a70c0bce770d	3479	iAccPrv_ = nAccPrv_ = 0;
mjr	6:cc35eb643e8f	3480
mjr	5:a70c0bce770d	3481	// reset and initialize the MMA8451Q
mjr	5:a70c0bce770d	3482	mma_.init();
mjr	77:0b96f6867312	3483
mjr	77:0b96f6867312	3484	// set the range
mjr	77:0b96f6867312	3485	mma_.setRange(
mjr	77:0b96f6867312	3486	range_ == AccelRange4G ? 4 :
mjr	77:0b96f6867312	3487	range_ == AccelRange8G ? 8 :
mjr	77:0b96f6867312	3488	2);
mjr	6:cc35eb643e8f	3489
mjr	77:0b96f6867312	3490	// set the average accumulators to zero
mjr	77:0b96f6867312	3491	xSum_ = ySum_ = 0;
mjr	77:0b96f6867312	3492	nSum_ = 0;
mjr	3:3514575d4f86	3493
mjr	3:3514575d4f86	3494	// read the current registers to clear the data ready flag
mjr	6:cc35eb643e8f	3495	mma_.getAccXYZ(ax_, ay_, az_);
mjr	3:3514575d4f86	3496	}
mjr	3:3514575d4f86	3497
mjr	77:0b96f6867312	3498	void poll()
mjr	76:7f5912b6340e	3499	{
mjr	77:0b96f6867312	3500	// read samples until we clear the FIFO
mjr	77:0b96f6867312	3501	while (mma_.getFIFOCount() != 0)
mjr	77:0b96f6867312	3502	{
mjr	77:0b96f6867312	3503	int x, y, z;
mjr	77:0b96f6867312	3504	mma_.getAccXYZ(x, y, z);
mjr	77:0b96f6867312	3505
mjr	77:0b96f6867312	3506	// add the new reading to the running total for averaging
mjr	77:0b96f6867312	3507	xSum_ += (x - cx_);
mjr	77:0b96f6867312	3508	ySum_ += (y - cy_);
mjr	77:0b96f6867312	3509	++nSum_;
mjr	77:0b96f6867312	3510
mjr	77:0b96f6867312	3511	// store the updates
mjr	77:0b96f6867312	3512	ax_ = x;
mjr	77:0b96f6867312	3513	ay_ = y;
mjr	77:0b96f6867312	3514	az_ = z;
mjr	77:0b96f6867312	3515	}
mjr	76:7f5912b6340e	3516	}
mjr	77:0b96f6867312	3517
mjr	9:fd65b0a94720	3518	void get(int &x, int &y)
mjr	3:3514575d4f86	3519	{
mjr	77:0b96f6867312	3520	// read the shared data and store locally for calculations
mjr	77:0b96f6867312	3521	int ax = ax_, ay = ay_;
mjr	77:0b96f6867312	3522	int xSum = xSum_, ySum = ySum_;
mjr	77:0b96f6867312	3523	int nSum = nSum_;
mjr	6:cc35eb643e8f	3524
mjr	77:0b96f6867312	3525	// reset the average accumulators for the next run
mjr	77:0b96f6867312	3526	xSum_ = ySum_ = 0;
mjr	77:0b96f6867312	3527	nSum_ = 0;
mjr	77:0b96f6867312	3528
mjr	77:0b96f6867312	3529	// add this sample to the current calibration interval's running total
mjr	77:0b96f6867312	3530	AccHist *p = accPrv_ + iAccPrv_;
mjr	77:0b96f6867312	3531	p->addAvg(ax, ay);
mjr	77:0b96f6867312	3532
mjr	78:1e00b3fa11af	3533	// If we're in auto-centering mode, check for auto-centering
mjr	78:1e00b3fa11af	3534	// at intervals of 1/5 of the overall time. If we're not in
mjr	78:1e00b3fa11af	3535	// auto-centering mode, check anyway at one-second intervals
mjr	78:1e00b3fa11af	3536	// so that we gather averages for manual centering requests.
mjr	78:1e00b3fa11af	3537	if (tCenter_.read_us() > autoCenterCheckTime_)
mjr	77:0b96f6867312	3538	{
mjr	77:0b96f6867312	3539	// add the latest raw sample to the history list
mjr	77:0b96f6867312	3540	AccHist *prv = p;
mjr	77:0b96f6867312	3541	iAccPrv_ = (iAccPrv_ + 1);
mjr	77:0b96f6867312	3542	if (iAccPrv_ >= maxAccPrv)
mjr	77:0b96f6867312	3543	iAccPrv_ = 0;
mjr	77:0b96f6867312	3544	p = accPrv_ + iAccPrv_;
mjr	77:0b96f6867312	3545	p->set(ax, ay, prv);
mjr	77:0b96f6867312	3546
mjr	78:1e00b3fa11af	3547	// if we have a full complement, check for auto-centering
mjr	77:0b96f6867312	3548	if (nAccPrv_ >= maxAccPrv)
mjr	77:0b96f6867312	3549	{
mjr	78:1e00b3fa11af	3550	// Center if:
mjr	78:1e00b3fa11af	3551	//
mjr	78:1e00b3fa11af	3552	// - Auto-centering is on, and we've been stable over the
mjr	78:1e00b3fa11af	3553	// whole sample period at our spot-check points
mjr	78:1e00b3fa11af	3554	//
mjr	78:1e00b3fa11af	3555	// - A manual centering request is pending
mjr	78:1e00b3fa11af	3556	//
mjr	77:0b96f6867312	3557	static const int accTol = 164*164; // 1% of range, squared
mjr	77:0b96f6867312	3558	AccHist *p0 = accPrv_;
mjr	78:1e00b3fa11af	3559	if (manualCenterRequest_
mjr	78:1e00b3fa11af	3560	\|\| (autoCenterMode_ <= 60
mjr	78:1e00b3fa11af	3561	&& p0[0].dsq < accTol
mjr	78:1e00b3fa11af	3562	&& p0[1].dsq < accTol
mjr	78:1e00b3fa11af	3563	&& p0[2].dsq < accTol
mjr	78:1e00b3fa11af	3564	&& p0[3].dsq < accTol
mjr	78:1e00b3fa11af	3565	&& p0[4].dsq < accTol))
mjr	77:0b96f6867312	3566	{
mjr	77:0b96f6867312	3567	// Figure the new calibration point as the average of
mjr	77:0b96f6867312	3568	// the samples over the rest period
mjr	77:0b96f6867312	3569	cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5;
mjr	77:0b96f6867312	3570	cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5;
mjr	78:1e00b3fa11af	3571
mjr	78:1e00b3fa11af	3572	// clear any pending manual centering request
mjr	78:1e00b3fa11af	3573	manualCenterRequest_ = false;
mjr	77:0b96f6867312	3574	}
mjr	77:0b96f6867312	3575	}
mjr	77:0b96f6867312	3576	else
mjr	77:0b96f6867312	3577	{
mjr	77:0b96f6867312	3578	// not enough samples yet; just up the count
mjr	77:0b96f6867312	3579	++nAccPrv_;
mjr	77:0b96f6867312	3580	}
mjr	6:cc35eb643e8f	3581
mjr	77:0b96f6867312	3582	// clear the new item's running totals
mjr	77:0b96f6867312	3583	p->clearAvg();
mjr	5:a70c0bce770d	3584
mjr	77:0b96f6867312	3585	// reset the timer
mjr	77:0b96f6867312	3586	tCenter_.reset();
mjr	77:0b96f6867312	3587	}
mjr	5:a70c0bce770d	3588
mjr	77:0b96f6867312	3589	// report our integrated velocity reading in x,y
mjr	77:0b96f6867312	3590	x = rawToReport(xSum/nSum);
mjr	77:0b96f6867312	3591	y = rawToReport(ySum/nSum);
mjr	5:a70c0bce770d	3592
mjr	6:cc35eb643e8f	3593	#ifdef DEBUG_PRINTF
mjr	77:0b96f6867312	3594	if (x != 0 \|\| y != 0)
mjr	77:0b96f6867312	3595	printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt);
mjr	6:cc35eb643e8f	3596	#endif
mjr	77:0b96f6867312	3597	}
mjr	29:582472d0bc57	3598
mjr	3:3514575d4f86	3599	private:
mjr	6:cc35eb643e8f	3600	// adjust a raw acceleration figure to a usb report value
mjr	77:0b96f6867312	3601	int rawToReport(int v)
mjr	5:a70c0bce770d	3602	{
mjr	77:0b96f6867312	3603	// Scale to the joystick report range. The accelerometer
mjr	77:0b96f6867312	3604	// readings use the native 14-bit signed integer representation,
mjr	77:0b96f6867312	3605	// so their scale is 2^13.
mjr	77:0b96f6867312	3606	//
mjr	77:0b96f6867312	3607	// The 1G range is special: it uses the 2G native hardware range,
mjr	77:0b96f6867312	3608	// but rescales the result to a 1G range for the joystick reports.
mjr	77:0b96f6867312	3609	// So for that mode, we divide by 4096 rather than 8192. All of
mjr	77:0b96f6867312	3610	// the other modes map use the hardware scaling directly.
mjr	77:0b96f6867312	3611	int i = v*JOYMAX;
mjr	77:0b96f6867312	3612	i = (range_ == AccelRange1G ? i/4096 : i/8192);
mjr	5:a70c0bce770d	3613
mjr	6:cc35eb643e8f	3614	// if it's near the center, scale it roughly as 20*(i/20)^2,
mjr	6:cc35eb643e8f	3615	// to suppress noise near the rest position
mjr	6:cc35eb643e8f	3616	static const int filter[] = {
mjr	6:cc35eb643e8f	3617	-18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0,
mjr	6:cc35eb643e8f	3618	0,
mjr	6:cc35eb643e8f	3619	0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18
mjr	6:cc35eb643e8f	3620	};
mjr	6:cc35eb643e8f	3621	return (i > 20 \|\| i < -20 ? i : filter[i+20]);
mjr	5:a70c0bce770d	3622	}
mjr	5:a70c0bce770d	3623
mjr	3:3514575d4f86	3624	// underlying accelerometer object
mjr	3:3514575d4f86	3625	MMA8451Q mma_;
mjr	3:3514575d4f86	3626
mjr	77:0b96f6867312	3627	// last raw acceleration readings, on the device's signed 14-bit
mjr	77:0b96f6867312	3628	// scale -8192..+8191
mjr	77:0b96f6867312	3629	int ax_, ay_, az_;
mjr	77:0b96f6867312	3630
mjr	77:0b96f6867312	3631	// running sum of readings since last get()
mjr	77:0b96f6867312	3632	int xSum_, ySum_;
mjr	77:0b96f6867312	3633
mjr	77:0b96f6867312	3634	// number of readings since last get()
mjr	77:0b96f6867312	3635	int nSum_;
mjr	6:cc35eb643e8f	3636
mjr	6:cc35eb643e8f	3637	// Calibration reference point for accelerometer. This is the
mjr	6:cc35eb643e8f	3638	// average reading on the accelerometer when in the neutral position
mjr	6:cc35eb643e8f	3639	// at rest.
mjr	77:0b96f6867312	3640	int cx_, cy_;
mjr	77:0b96f6867312	3641
mjr	77:0b96f6867312	3642	// range (AccelRangeXxx value, from config.h)
mjr	77:0b96f6867312	3643	uint8_t range_;
mjr	78:1e00b3fa11af	3644
mjr	78:1e00b3fa11af	3645	// auto-center mode:
mjr	78:1e00b3fa11af	3646	// 0 = default of 5-second auto-centering
mjr	78:1e00b3fa11af	3647	// 1-60 = auto-center after this many seconds
mjr	78:1e00b3fa11af	3648	// 255 = auto-centering off (manual centering only)
mjr	78:1e00b3fa11af	3649	uint8_t autoCenterMode_;
mjr	78:1e00b3fa11af	3650
mjr	78:1e00b3fa11af	3651	// flag: a manual centering request is pending
mjr	78:1e00b3fa11af	3652	bool manualCenterRequest_;
mjr	78:1e00b3fa11af	3653
mjr	78:1e00b3fa11af	3654	// time in us between auto-centering incremental checks
mjr	78:1e00b3fa11af	3655	uint32_t autoCenterCheckTime_;
mjr	78:1e00b3fa11af	3656
mjr	77:0b96f6867312	3657	// atuo-centering timer
mjr	5:a70c0bce770d	3658	Timer tCenter_;
mjr	6:cc35eb643e8f	3659
mjr	6:cc35eb643e8f	3660	// Auto-centering history. This is a separate history list that
mjr	77:0b96f6867312	3661	// records results spaced out sparsely over time, so that we can
mjr	6:cc35eb643e8f	3662	// watch for long-lasting periods of rest. When we observe nearly
mjr	6:cc35eb643e8f	3663	// no motion for an extended period (on the order of 5 seconds), we
mjr	6:cc35eb643e8f	3664	// take this to mean that the cabinet is at rest in its neutral
mjr	6:cc35eb643e8f	3665	// position, so we take this as the calibration zero point for the
mjr	6:cc35eb643e8f	3666	// accelerometer. We update this history continuously, which allows
mjr	6:cc35eb643e8f	3667	// us to continuously re-calibrate the accelerometer. This ensures
mjr	6:cc35eb643e8f	3668	// that we'll automatically adjust to any actual changes in the
mjr	6:cc35eb643e8f	3669	// cabinet's orientation (e.g., if it gets moved slightly by an
mjr	6:cc35eb643e8f	3670	// especially strong nudge) as well as any systematic drift in the
mjr	6:cc35eb643e8f	3671	// accelerometer measurement bias (e.g., from temperature changes).
mjr	78:1e00b3fa11af	3672	uint8_t iAccPrv_, nAccPrv_;
mjr	78:1e00b3fa11af	3673	static const uint8_t maxAccPrv = 5;
mjr	6:cc35eb643e8f	3674	AccHist accPrv_[maxAccPrv];
mjr	6:cc35eb643e8f	3675
mjr	5:a70c0bce770d	3676	// interurupt pin name
mjr	5:a70c0bce770d	3677	PinName irqPin_;
mjr	3:3514575d4f86	3678	};
mjr	3:3514575d4f86	3679
mjr	5:a70c0bce770d	3680	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	3681	//
mjr	14:df700b22ca08	3682	// Clear the I2C bus for the MMA8451Q. This seems necessary some of the time
mjr	5:a70c0bce770d	3683	// for reasons that aren't clear to me. Doing a hard power cycle has the same
mjr	5:a70c0bce770d	3684	// effect, but when we do a soft reset, the hardware sometimes seems to leave
mjr	5:a70c0bce770d	3685	// the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through
mjr	14:df700b22ca08	3686	// the SCL line is supposed to clear this condition. I'm not convinced this
mjr	14:df700b22ca08	3687	// actually works with the way this component is wired on the KL25Z, but it
mjr	14:df700b22ca08	3688	// seems harmless, so we'll do it on reset in case it does some good. What
mjr	14:df700b22ca08	3689	// we really seem to need is a way to power cycle the MMA8451Q if it ever
mjr	14:df700b22ca08	3690	// gets stuck, but this is simply not possible in software on the KL25Z.
mjr	14:df700b22ca08	3691	//
mjr	14:df700b22ca08	3692	// If the accelerometer does get stuck, and a software reboot doesn't reset
mjr	14:df700b22ca08	3693	// it, the only workaround is to manually power cycle the whole KL25Z by
mjr	14:df700b22ca08	3694	// unplugging both of its USB connections.
mjr	5:a70c0bce770d	3695	//
mjr	5:a70c0bce770d	3696	void clear_i2c()
mjr	5:a70c0bce770d	3697	{
mjr	38:091e511ce8a0	3698	// set up general-purpose output pins to the I2C lines
mjr	5:a70c0bce770d	3699	DigitalOut scl(MMA8451_SCL_PIN);
mjr	5:a70c0bce770d	3700	DigitalIn sda(MMA8451_SDA_PIN);
mjr	5:a70c0bce770d	3701
mjr	5:a70c0bce770d	3702	// clock the SCL 9 times
mjr	5:a70c0bce770d	3703	for (int i = 0 ; i < 9 ; ++i)
mjr	5:a70c0bce770d	3704	{
mjr	5:a70c0bce770d	3705	scl = 1;
mjr	5:a70c0bce770d	3706	wait_us(20);
mjr	5:a70c0bce770d	3707	scl = 0;
mjr	5:a70c0bce770d	3708	wait_us(20);
mjr	5:a70c0bce770d	3709	}
mjr	5:a70c0bce770d	3710	}
mjr	76:7f5912b6340e	3711
mjr	76:7f5912b6340e	3712
mjr	14:df700b22ca08	3713	// ---------------------------------------------------------------------------
mjr	14:df700b22ca08	3714	//
mjr	33:d832bcab089e	3715	// Simple binary (on/off) input debouncer. Requires an input to be stable
mjr	33:d832bcab089e	3716	// for a given interval before allowing an update.
mjr	33:d832bcab089e	3717	//
mjr	33:d832bcab089e	3718	class Debouncer
mjr	33:d832bcab089e	3719	{
mjr	33:d832bcab089e	3720	public:
mjr	33:d832bcab089e	3721	Debouncer(bool initVal, float tmin)
mjr	33:d832bcab089e	3722	{
mjr	33:d832bcab089e	3723	t.start();
mjr	33:d832bcab089e	3724	this->stable = this->prv = initVal;
mjr	33:d832bcab089e	3725	this->tmin = tmin;
mjr	33:d832bcab089e	3726	}
mjr	33:d832bcab089e	3727
mjr	33:d832bcab089e	3728	// Get the current stable value
mjr	33:d832bcab089e	3729	bool val() const { return stable; }
mjr	33:d832bcab089e	3730
mjr	33:d832bcab089e	3731	// Apply a new sample. This tells us the new raw reading from the
mjr	33:d832bcab089e	3732	// input device.
mjr	33:d832bcab089e	3733	void sampleIn(bool val)
mjr	33:d832bcab089e	3734	{
mjr	33:d832bcab089e	3735	// If the new raw reading is different from the previous
mjr	33:d832bcab089e	3736	// raw reading, we've detected an edge - start the clock
mjr	33:d832bcab089e	3737	// on the sample reader.
mjr	33:d832bcab089e	3738	if (val != prv)
mjr	33:d832bcab089e	3739	{
mjr	33:d832bcab089e	3740	// we have an edge - reset the sample clock
mjr	33:d832bcab089e	3741	t.reset();
mjr	33:d832bcab089e	3742
mjr	33:d832bcab089e	3743	// this is now the previous raw sample for nxt time
mjr	33:d832bcab089e	3744	prv = val;
mjr	33:d832bcab089e	3745	}
mjr	33:d832bcab089e	3746	else if (val != stable)
mjr	33:d832bcab089e	3747	{
mjr	33:d832bcab089e	3748	// The new raw sample is the same as the last raw sample,
mjr	33:d832bcab089e	3749	// and different from the stable value. This means that
mjr	33:d832bcab089e	3750	// the sample value has been the same for the time currently
mjr	33:d832bcab089e	3751	// indicated by our timer. If enough time has elapsed to
mjr	33:d832bcab089e	3752	// consider the value stable, apply the new value.
mjr	33:d832bcab089e	3753	if (t.read() > tmin)
mjr	33:d832bcab089e	3754	stable = val;
mjr	33:d832bcab089e	3755	}
mjr	33:d832bcab089e	3756	}
mjr	33:d832bcab089e	3757
mjr	33:d832bcab089e	3758	private:
mjr	33:d832bcab089e	3759	// current stable value
mjr	33:d832bcab089e	3760	bool stable;
mjr	33:d832bcab089e	3761
mjr	33:d832bcab089e	3762	// last raw sample value
mjr	33:d832bcab089e	3763	bool prv;
mjr	33:d832bcab089e	3764
mjr	33:d832bcab089e	3765	// elapsed time since last raw input change
mjr	33:d832bcab089e	3766	Timer t;
mjr	33:d832bcab089e	3767
mjr	33:d832bcab089e	3768	// Minimum time interval for stability, in seconds. Input readings
mjr	33:d832bcab089e	3769	// must be stable for this long before the stable value is updated.
mjr	33:d832bcab089e	3770	float tmin;
mjr	33:d832bcab089e	3771	};
mjr	33:d832bcab089e	3772
mjr	33:d832bcab089e	3773
mjr	33:d832bcab089e	3774	// ---------------------------------------------------------------------------
mjr	33:d832bcab089e	3775	//
mjr	33:d832bcab089e	3776	// TV ON timer. If this feature is enabled, we toggle a TV power switch
mjr	33:d832bcab089e	3777	// relay (connected to a GPIO pin) to turn on the cab's TV monitors shortly
mjr	33:d832bcab089e	3778	// after the system is powered. This is useful for TVs that don't remember
mjr	33:d832bcab089e	3779	// their power state and don't turn back on automatically after being
mjr	33:d832bcab089e	3780	// unplugged and plugged in again. This feature requires external
mjr	33:d832bcab089e	3781	// circuitry, which is built in to the expansion board and can also be
mjr	33:d832bcab089e	3782	// built separately - see the Build Guide for the circuit plan.
mjr	33:d832bcab089e	3783	//
mjr	33:d832bcab089e	3784	// Theory of operation: to use this feature, the cabinet must have a
mjr	33:d832bcab089e	3785	// secondary PC-style power supply (PSU2) for the feedback devices, and
mjr	33:d832bcab089e	3786	// this secondary supply must be plugged in to the same power strip or
mjr	33:d832bcab089e	3787	// switched outlet that controls power to the TVs. This lets us use PSU2
mjr	33:d832bcab089e	3788	// as a proxy for the TV power state - when PSU2 is on, the TV outlet is
mjr	33:d832bcab089e	3789	// powered, and when PSU2 is off, the TV outlet is off. We use a little
mjr	33:d832bcab089e	3790	// latch circuit powered by PSU2 to monitor the status. The latch has a
mjr	33:d832bcab089e	3791	// current state, ON or OFF, that we can read via a GPIO input pin, and
mjr	33:d832bcab089e	3792	// we can set the state to ON by pulsing a separate GPIO output pin. As
mjr	33:d832bcab089e	3793	// long as PSU2 is powered off, the latch stays in the OFF state, even if
mjr	33:d832bcab089e	3794	// we try to set it by pulsing the SET pin. When PSU2 is turned on after
mjr	33:d832bcab089e	3795	// being off, the latch starts receiving power but stays in the OFF state,
mjr	33:d832bcab089e	3796	// since this is the initial condition when the power first comes on. So
mjr	33:d832bcab089e	3797	// if our latch state pin is reading OFF, we know that PSU2 is either off
mjr	33:d832bcab089e	3798	// now or was off some time since we last checked. We use a timer to
mjr	33:d832bcab089e	3799	// check the state periodically. Each time we see the state is OFF, we
mjr	33:d832bcab089e	3800	// try pulsing the SET pin. If the state still reads as OFF, we know
mjr	33:d832bcab089e	3801	// that PSU2 is currently off; if the state changes to ON, though, we
mjr	33:d832bcab089e	3802	// know that PSU2 has gone from OFF to ON some time between now and the
mjr	33:d832bcab089e	3803	// previous check. When we see this condition, we start a countdown
mjr	33:d832bcab089e	3804	// timer, and pulse the TV switch relay when the countdown ends.
mjr	33:d832bcab089e	3805	//
mjr	40:cc0d9814522b	3806	// This scheme might seem a little convoluted, but it handles a number
mjr	40:cc0d9814522b	3807	// of tricky but likely scenarios:
mjr	33:d832bcab089e	3808	//
mjr	33:d832bcab089e	3809	// - Most cabinets systems are set up with "soft" PC power switches,
mjr	40:cc0d9814522b	3810	// so that the PC goes into "Soft Off" mode when the user turns off
mjr	40:cc0d9814522b	3811	// the cabinet by pushing the power button or using the Shut Down
mjr	40:cc0d9814522b	3812	// command from within Windows. In Windows parlance, this "soft off"
mjr	40:cc0d9814522b	3813	// condition is called ACPI State S5. In this state, the main CPU
mjr	40:cc0d9814522b	3814	// power is turned off, but the motherboard still provides power to
mjr	40:cc0d9814522b	3815	// USB devices. This means that the KL25Z keeps running. Without
mjr	40:cc0d9814522b	3816	// the external power sensing circuit, the only hint that we're in
mjr	40:cc0d9814522b	3817	// this state is that the USB connection to the host goes into Suspend
mjr	40:cc0d9814522b	3818	// mode, but that could mean other things as well. The latch circuit
mjr	40:cc0d9814522b	3819	// lets us tell for sure that we're in this state.
mjr	33:d832bcab089e	3820	//
mjr	33:d832bcab089e	3821	// - Some cabinet builders might prefer to use "hard" power switches,
mjr	33:d832bcab089e	3822	// cutting all power to the cabinet, including the PC motherboard (and
mjr	33:d832bcab089e	3823	// thus the KL25Z) every time the machine is turned off. This also
mjr	33:d832bcab089e	3824	// applies to the "soft" switch case above when the cabinet is unplugged,
mjr	33:d832bcab089e	3825	// a power outage occurs, etc. In these cases, the KL25Z will do a cold
mjr	33:d832bcab089e	3826	// boot when the PC is turned on. We don't know whether the KL25Z
mjr	33:d832bcab089e	3827	// will power up before or after PSU2, so it's not good enough to
mjr	40:cc0d9814522b	3828	// observe the current state of PSU2 when we first check. If PSU2
mjr	40:cc0d9814522b	3829	// were to come on first, checking only the current state would fool
mjr	40:cc0d9814522b	3830	// us into thinking that no action is required, because we'd only see
mjr	40:cc0d9814522b	3831	// that PSU2 is turned on any time we check. The latch handles this
mjr	40:cc0d9814522b	3832	// case by letting us see that PSU2 was indeed off some time before our
mjr	40:cc0d9814522b	3833	// first check.
mjr	33:d832bcab089e	3834	//
mjr	33:d832bcab089e	3835	// - If the KL25Z is rebooted while the main system is running, or the
mjr	40:cc0d9814522b	3836	// KL25Z is unplugged and plugged back in, we'll correctly leave the
mjr	33:d832bcab089e	3837	// TVs as they are. The latch state is independent of the KL25Z's
mjr	33:d832bcab089e	3838	// power or software state, so it's won't affect the latch state when
mjr	33:d832bcab089e	3839	// the KL25Z is unplugged or rebooted; when we boot, we'll see that
mjr	33:d832bcab089e	3840	// the latch is already on and that we don't have to turn on the TVs.
mjr	33:d832bcab089e	3841	// This is important because TV ON buttons are usually on/off toggles,
mjr	33:d832bcab089e	3842	// so we don't want to push the button on a TV that's already on.
mjr	33:d832bcab089e	3843	//
mjr	33:d832bcab089e	3844
mjr	77:0b96f6867312	3845	// Current PSU2 power state:
mjr	33:d832bcab089e	3846	// 1 -> default: latch was on at last check, or we haven't checked yet
mjr	33:d832bcab089e	3847	// 2 -> latch was off at last check, SET pulsed high
mjr	33:d832bcab089e	3848	// 3 -> SET pulsed low, ready to check status
mjr	33:d832bcab089e	3849	// 4 -> TV timer countdown in progress
mjr	33:d832bcab089e	3850	// 5 -> TV relay on
mjr	77:0b96f6867312	3851	// 6 -> sending IR signals designed as TV ON signals
mjr	73:4e8ce0b18915	3852	uint8_t psu2_state = 1;
mjr	73:4e8ce0b18915	3853
mjr	73:4e8ce0b18915	3854	// TV relay state. The TV relay can be controlled by the power-on
mjr	73:4e8ce0b18915	3855	// timer and directly from the PC (via USB commands), so keep a
mjr	73:4e8ce0b18915	3856	// separate state for each:
mjr	73:4e8ce0b18915	3857	// 0x01 -> turned on by power-on timer
mjr	73:4e8ce0b18915	3858	// 0x02 -> turned on by USB command
mjr	73:4e8ce0b18915	3859	uint8_t tv_relay_state = 0x00;
mjr	73:4e8ce0b18915	3860	const uint8_t TV_RELAY_POWERON = 0x01;
mjr	73:4e8ce0b18915	3861	const uint8_t TV_RELAY_USB = 0x02;
mjr	73:4e8ce0b18915	3862
mjr	79:682ae3171a08	3863	// pulse timer for manual TV relay pulses
mjr	79:682ae3171a08	3864	Timer tvRelayManualTimer;
mjr	79:682ae3171a08	3865
mjr	77:0b96f6867312	3866	// TV ON IR command state. When the main PSU2 power state reaches
mjr	77:0b96f6867312	3867	// the IR phase, we use this sub-state counter to send the TV ON
mjr	77:0b96f6867312	3868	// IR signals. We initialize to state 0 when the main state counter
mjr	77:0b96f6867312	3869	// reaches the IR step. In state 0, we start transmitting the first
mjr	77:0b96f6867312	3870	// (lowest numbered) IR command slot marked as containing a TV ON
mjr	77:0b96f6867312	3871	// code, and advance to state 1. In state 1, we check to see if
mjr	77:0b96f6867312	3872	// the transmitter is still sending; if so, we do nothing, if so
mjr	77:0b96f6867312	3873	// we start transmitting the second TV ON code and advance to state
mjr	77:0b96f6867312	3874	// 2. Continue until we run out of TV ON IR codes, at which point
mjr	77:0b96f6867312	3875	// we advance to the next main psu2_state step.
mjr	77:0b96f6867312	3876	uint8_t tvon_ir_state = 0;
mjr	77:0b96f6867312	3877
mjr	77:0b96f6867312	3878	// TV ON switch relay control output pin
mjr	73:4e8ce0b18915	3879	DigitalOut *tv_relay;
mjr	35:e959ffba78fd	3880
mjr	35:e959ffba78fd	3881	// PSU2 power sensing circuit connections
mjr	35:e959ffba78fd	3882	DigitalIn *psu2_status_sense;
mjr	35:e959ffba78fd	3883	DigitalOut *psu2_status_set;
mjr	35:e959ffba78fd	3884
mjr	73:4e8ce0b18915	3885	// Apply the current TV relay state
mjr	73:4e8ce0b18915	3886	void tvRelayUpdate(uint8_t bit, bool state)
mjr	73:4e8ce0b18915	3887	{
mjr	73:4e8ce0b18915	3888	// update the state
mjr	73:4e8ce0b18915	3889	if (state)
mjr	73:4e8ce0b18915	3890	tv_relay_state \|= bit;
mjr	73:4e8ce0b18915	3891	else
mjr	73:4e8ce0b18915	3892	tv_relay_state &= ~bit;
mjr	73:4e8ce0b18915	3893
mjr	73:4e8ce0b18915	3894	// set the relay GPIO to the new state
mjr	73:4e8ce0b18915	3895	if (tv_relay != 0)
mjr	73:4e8ce0b18915	3896	tv_relay->write(tv_relay_state != 0);
mjr	73:4e8ce0b18915	3897	}
mjr	35:e959ffba78fd	3898
mjr	86:e30a1f60f783	3899	// Does the current power status allow a reboot? We shouldn't reboot
mjr	86:e30a1f60f783	3900	// in certain power states, because some states are purely internal:
mjr	86:e30a1f60f783	3901	// we can't get enough information from the external power sensor to
mjr	86:e30a1f60f783	3902	// return to the same state later. Code that performs discretionary
mjr	86:e30a1f60f783	3903	// reboots should always check here first, and delay any reboot until
mjr	86:e30a1f60f783	3904	// we say it's okay.
mjr	86:e30a1f60f783	3905	static inline bool powerStatusAllowsReboot()
mjr	86:e30a1f60f783	3906	{
mjr	86:e30a1f60f783	3907	// The only safe state for rebooting is state 1, idle/default.
mjr	86:e30a1f60f783	3908	// In other states, we can't reboot, because the external sensor
mjr	86:e30a1f60f783	3909	// and latch circuit doesn't give us enough information to return
mjr	86:e30a1f60f783	3910	// to the same state later.
mjr	86:e30a1f60f783	3911	return psu2_state == 1;
mjr	86:e30a1f60f783	3912	}
mjr	86:e30a1f60f783	3913
mjr	77:0b96f6867312	3914	// PSU2 Status update routine. The main loop calls this from time
mjr	77:0b96f6867312	3915	// to time to update the power sensing state and carry out TV ON
mjr	77:0b96f6867312	3916	// functions.
mjr	77:0b96f6867312	3917	Timer powerStatusTimer;
mjr	77:0b96f6867312	3918	uint32_t tv_delay_time_us;
mjr	77:0b96f6867312	3919	void powerStatusUpdate(Config &cfg)
mjr	33:d832bcab089e	3920	{
mjr	79:682ae3171a08	3921	// If the manual relay pulse timer is past the pulse time, end the
mjr	79:682ae3171a08	3922	// manual pulse. The timer only runs when a pulse is active, so
mjr	79:682ae3171a08	3923	// it'll never read as past the time limit if a pulse isn't on.
mjr	79:682ae3171a08	3924	if (tvRelayManualTimer.read_us() > 250000)
mjr	79:682ae3171a08	3925	{
mjr	79:682ae3171a08	3926	// turn off the relay and disable the timer
mjr	79:682ae3171a08	3927	tvRelayUpdate(TV_RELAY_USB, false);
mjr	79:682ae3171a08	3928	tvRelayManualTimer.stop();
mjr	79:682ae3171a08	3929	tvRelayManualTimer.reset();
mjr	79:682ae3171a08	3930	}
mjr	79:682ae3171a08	3931
mjr	77:0b96f6867312	3932	// Only update every 1/4 second or so. Note that if the PSU2
mjr	77:0b96f6867312	3933	// circuit isn't configured, the initialization routine won't
mjr	77:0b96f6867312	3934	// start the timer, so it'll always read zero and we'll always
mjr	77:0b96f6867312	3935	// skip this whole routine.
mjr	77:0b96f6867312	3936	if (powerStatusTimer.read_us() < 250000)
mjr	77:0b96f6867312	3937	return;
mjr	77:0b96f6867312	3938
mjr	77:0b96f6867312	3939	// reset the update timer for next time
mjr	77:0b96f6867312	3940	powerStatusTimer.reset();
mjr	77:0b96f6867312	3941
mjr	77:0b96f6867312	3942	// TV ON timer. We start this timer when we detect a change
mjr	77:0b96f6867312	3943	// in the PSU2 status from OFF to ON. When the timer reaches
mjr	77:0b96f6867312	3944	// the configured TV ON delay time, and the PSU2 power is still
mjr	77:0b96f6867312	3945	// on, we'll trigger the TV ON relay and send the TV ON IR codes.
mjr	35:e959ffba78fd	3946	static Timer tv_timer;
mjr	35:e959ffba78fd	3947
mjr	33:d832bcab089e	3948	// Check our internal state
mjr	33:d832bcab089e	3949	switch (psu2_state)
mjr	33:d832bcab089e	3950	{
mjr	33:d832bcab089e	3951	case 1:
mjr	33:d832bcab089e	3952	// Default state. This means that the latch was on last
mjr	33:d832bcab089e	3953	// time we checked or that this is the first check. In
mjr	33:d832bcab089e	3954	// either case, if the latch is off, switch to state 2 and
mjr	33:d832bcab089e	3955	// try pulsing the latch. Next time we check, if the latch
mjr	33:d832bcab089e	3956	// stuck, it means that PSU2 is now on after being off.
mjr	35:e959ffba78fd	3957	if (!psu2_status_sense->read())
mjr	33:d832bcab089e	3958	{
mjr	33:d832bcab089e	3959	// switch to OFF state
mjr	33:d832bcab089e	3960	psu2_state = 2;
mjr	33:d832bcab089e	3961
mjr	33:d832bcab089e	3962	// try setting the latch
mjr	35:e959ffba78fd	3963	psu2_status_set->write(1);
mjr	33:d832bcab089e	3964	}
mjr	77:0b96f6867312	3965	powerTimerDiagState = 0;
mjr	33:d832bcab089e	3966	break;
mjr	33:d832bcab089e	3967
mjr	33:d832bcab089e	3968	case 2:
mjr	33:d832bcab089e	3969	// PSU2 was off last time we checked, and we tried setting
mjr	33:d832bcab089e	3970	// the latch. Drop the SET signal and go to CHECK state.
mjr	35:e959ffba78fd	3971	psu2_status_set->write(0);
mjr	33:d832bcab089e	3972	psu2_state = 3;
mjr	77:0b96f6867312	3973	powerTimerDiagState = 0;
mjr	33:d832bcab089e	3974	break;
mjr	33:d832bcab089e	3975
mjr	33:d832bcab089e	3976	case 3:
mjr	33:d832bcab089e	3977	// CHECK state: we pulsed SET, and we're now ready to see
mjr	40:cc0d9814522b	3978	// if it stuck. If the latch is now on, PSU2 has transitioned
mjr	33:d832bcab089e	3979	// from OFF to ON, so start the TV countdown. If the latch is
mjr	33:d832bcab089e	3980	// off, our SET command didn't stick, so PSU2 is still off.
mjr	35:e959ffba78fd	3981	if (psu2_status_sense->read())
mjr	33:d832bcab089e	3982	{
mjr	33:d832bcab089e	3983	// The latch stuck, so PSU2 has transitioned from OFF
mjr	33:d832bcab089e	3984	// to ON. Start the TV countdown timer.
mjr	33:d832bcab089e	3985	tv_timer.reset();
mjr	33:d832bcab089e	3986	tv_timer.start();
mjr	33:d832bcab089e	3987	psu2_state = 4;
mjr	73:4e8ce0b18915	3988
mjr	73:4e8ce0b18915	3989	// start the power timer diagnostic flashes
mjr	73:4e8ce0b18915	3990	powerTimerDiagState = 2;
mjr	33:d832bcab089e	3991	}
mjr	33:d832bcab089e	3992	else
mjr	33:d832bcab089e	3993	{
mjr	33:d832bcab089e	3994	// The latch didn't stick, so PSU2 was still off at
mjr	87:8d35c74403af	3995	// our last check. Return to idle state.
mjr	87:8d35c74403af	3996	psu2_state = 1;
mjr	33:d832bcab089e	3997	}
mjr	33:d832bcab089e	3998	break;
mjr	33:d832bcab089e	3999
mjr	33:d832bcab089e	4000	case 4:
mjr	77:0b96f6867312	4001	// TV timer countdown in progress. The latch has to stay on during
mjr	77:0b96f6867312	4002	// the countdown; if the latch turns off, PSU2 power must have gone
mjr	77:0b96f6867312	4003	// off again before the countdown finished.
mjr	77:0b96f6867312	4004	if (!psu2_status_sense->read())
mjr	77:0b96f6867312	4005	{
mjr	77:0b96f6867312	4006	// power is off - start a new check cycle
mjr	77:0b96f6867312	4007	psu2_status_set->write(1);
mjr	77:0b96f6867312	4008	psu2_state = 2;
mjr	77:0b96f6867312	4009	break;
mjr	77:0b96f6867312	4010	}
mjr	77:0b96f6867312	4011
mjr	77:0b96f6867312	4012	// Flash the power time diagnostic every two cycles
mjr	77:0b96f6867312	4013	powerTimerDiagState = (powerTimerDiagState + 1) & 0x03;
mjr	77:0b96f6867312	4014
mjr	77:0b96f6867312	4015	// if we've reached the delay time, pulse the relay
mjr	77:0b96f6867312	4016	if (tv_timer.read_us() >= tv_delay_time_us)
mjr	33:d832bcab089e	4017	{
mjr	33:d832bcab089e	4018	// turn on the relay for one timer interval
mjr	73:4e8ce0b18915	4019	tvRelayUpdate(TV_RELAY_POWERON, true);
mjr	33:d832bcab089e	4020	psu2_state = 5;
mjr	77:0b96f6867312	4021
mjr	77:0b96f6867312	4022	// show solid blue on the diagnostic LED while the relay is on
mjr	77:0b96f6867312	4023	powerTimerDiagState = 2;
mjr	33:d832bcab089e	4024	}
mjr	33:d832bcab089e	4025	break;
mjr	33:d832bcab089e	4026
mjr	33:d832bcab089e	4027	case 5:
mjr	33:d832bcab089e	4028	// TV timer relay on. We pulse this for one interval, so
mjr	77:0b96f6867312	4029	// it's now time to turn it off.
mjr	73:4e8ce0b18915	4030	tvRelayUpdate(TV_RELAY_POWERON, false);
mjr	77:0b96f6867312	4031
mjr	77:0b96f6867312	4032	// Proceed to sending any TV ON IR commands
mjr	77:0b96f6867312	4033	psu2_state = 6;
mjr	77:0b96f6867312	4034	tvon_ir_state = 0;
mjr	77:0b96f6867312	4035
mjr	77:0b96f6867312	4036	// diagnostic LEDs off for now
mjr	77:0b96f6867312	4037	powerTimerDiagState = 0;
mjr	77:0b96f6867312	4038	break;
mjr	77:0b96f6867312	4039
mjr	77:0b96f6867312	4040	case 6:
mjr	77:0b96f6867312	4041	// Sending TV ON IR signals. Start with the assumption that
mjr	77:0b96f6867312	4042	// we have no IR work to do, in which case we're done with the
mjr	77:0b96f6867312	4043	// whole TV ON sequence. So by default return to state 1.
mjr	33:d832bcab089e	4044	psu2_state = 1;
mjr	77:0b96f6867312	4045	powerTimerDiagState = 0;
mjr	73:4e8ce0b18915	4046
mjr	77:0b96f6867312	4047	// If we have an IR emitter, check for TV ON IR commands
mjr	77:0b96f6867312	4048	if (ir_tx != 0)
mjr	77:0b96f6867312	4049	{
mjr	77:0b96f6867312	4050	// check to see if the last transmission is still in progress
mjr	77:0b96f6867312	4051	if (ir_tx->isSending())
mjr	77:0b96f6867312	4052	{
mjr	77:0b96f6867312	4053	// We're still sending the last transmission. Stay in
mjr	77:0b96f6867312	4054	// state 6.
mjr	77:0b96f6867312	4055	psu2_state = 6;
mjr	77:0b96f6867312	4056	powerTimerDiagState = 4;
mjr	77:0b96f6867312	4057	break;
mjr	77:0b96f6867312	4058	}
mjr	77:0b96f6867312	4059
mjr	77:0b96f6867312	4060	// The last transmission is done, so check for a new one.
mjr	77:0b96f6867312	4061	// Look for the Nth TV ON IR slot, where N is our state
mjr	77:0b96f6867312	4062	// number.
mjr	77:0b96f6867312	4063	for (int i = 0, n = 0 ; i < MAX_IR_CODES ; ++i)
mjr	77:0b96f6867312	4064	{
mjr	77:0b96f6867312	4065	// is this a TV ON command?
mjr	77:0b96f6867312	4066	if ((cfg.IRCommand[i].flags & IRFlagTVON) != 0)
mjr	77:0b96f6867312	4067	{
mjr	77:0b96f6867312	4068	// It's a TV ON command - check if it's the one we're
mjr	77:0b96f6867312	4069	// looking for.
mjr	77:0b96f6867312	4070	if (n == tvon_ir_state)
mjr	77:0b96f6867312	4071	{
mjr	77:0b96f6867312	4072	// It's the one. Start transmitting it by
mjr	77:0b96f6867312	4073	// pushing its virtual button.
mjr	77:0b96f6867312	4074	int vb = IRConfigSlotToVirtualButton[i];
mjr	77:0b96f6867312	4075	ir_tx->pushButton(vb, true);
mjr	77:0b96f6867312	4076
mjr	77:0b96f6867312	4077	// Pushing the button starts transmission, and once
mjr	77:0b96f6867312	4078	// started, the transmission will run to completion
mjr	77:0b96f6867312	4079	// even if the button is no longer pushed. So we
mjr	77:0b96f6867312	4080	// can immediately un-push the button, since we only
mjr	77:0b96f6867312	4081	// need to send the code once.
mjr	77:0b96f6867312	4082	ir_tx->pushButton(vb, false);
mjr	77:0b96f6867312	4083
mjr	77:0b96f6867312	4084	// Advance to the next TV ON IR state, where we'll
mjr	77:0b96f6867312	4085	// await the end of this transmission and move on to
mjr	77:0b96f6867312	4086	// the next one.
mjr	77:0b96f6867312	4087	psu2_state = 6;
mjr	77:0b96f6867312	4088	tvon_ir_state++;
mjr	77:0b96f6867312	4089	break;
mjr	77:0b96f6867312	4090	}
mjr	77:0b96f6867312	4091
mjr	77:0b96f6867312	4092	// it's not ours - count it and keep looking
mjr	77:0b96f6867312	4093	++n;
mjr	77:0b96f6867312	4094	}
mjr	77:0b96f6867312	4095	}
mjr	77:0b96f6867312	4096	}
mjr	33:d832bcab089e	4097	break;
mjr	33:d832bcab089e	4098	}
mjr	77:0b96f6867312	4099
mjr	77:0b96f6867312	4100	// update the diagnostic LEDs
mjr	77:0b96f6867312	4101	diagLED();
mjr	33:d832bcab089e	4102	}
mjr	33:d832bcab089e	4103
mjr	77:0b96f6867312	4104	// Start the power status timer. If the status sense circuit is enabled
mjr	77:0b96f6867312	4105	// in the configuration, we'll set up the pin connections and start the
mjr	77:0b96f6867312	4106	// timer for our periodic status checks. Does nothing if any of the pins
mjr	77:0b96f6867312	4107	// are configured as NC.
mjr	77:0b96f6867312	4108	void startPowerStatusTimer(Config &cfg)
mjr	35:e959ffba78fd	4109	{
mjr	55:4db125cd11a0	4110	// only start the timer if the pins are configured and the delay
mjr	55:4db125cd11a0	4111	// time is nonzero
mjr	77:0b96f6867312	4112	powerStatusTimer.reset();
mjr	77:0b96f6867312	4113	if (cfg.TVON.statusPin != 0xFF
mjr	77:0b96f6867312	4114	&& cfg.TVON.latchPin != 0xFF)
mjr	35:e959ffba78fd	4115	{
mjr	77:0b96f6867312	4116	// set up the power sensing circuit connections
mjr	53:9b2611964afc	4117	psu2_status_sense = new DigitalIn(wirePinName(cfg.TVON.statusPin));
mjr	53:9b2611964afc	4118	psu2_status_set = new DigitalOut(wirePinName(cfg.TVON.latchPin));
mjr	77:0b96f6867312	4119
mjr	77:0b96f6867312	4120	// if there's a TV ON relay, set up its control pin
mjr	77:0b96f6867312	4121	if (cfg.TVON.relayPin != 0xFF)
mjr	77:0b96f6867312	4122	tv_relay = new DigitalOut(wirePinName(cfg.TVON.relayPin));
mjr	77:0b96f6867312	4123
mjr	77:0b96f6867312	4124	// Set the TV ON delay time. We store the time internally in
mjr	77:0b96f6867312	4125	// microseconds, but the configuration stores it in units of
mjr	77:0b96f6867312	4126	// 1/100 second = 10ms = 10000us.
mjr	77:0b96f6867312	4127	tv_delay_time_us = cfg.TVON.delayTime * 10000;;
mjr	77:0b96f6867312	4128
mjr	77:0b96f6867312	4129	// Start the TV timer
mjr	77:0b96f6867312	4130	powerStatusTimer.start();
mjr	35:e959ffba78fd	4131	}
mjr	35:e959ffba78fd	4132	}
mjr	35:e959ffba78fd	4133
mjr	73:4e8ce0b18915	4134	// Operate the TV ON relay. This allows manual control of the relay
mjr	73:4e8ce0b18915	4135	// from the PC. See protocol message 65 submessage 11.
mjr	73:4e8ce0b18915	4136	//
mjr	73:4e8ce0b18915	4137	// Mode:
mjr	73:4e8ce0b18915	4138	// 0 = turn relay off
mjr	73:4e8ce0b18915	4139	// 1 = turn relay on
mjr	73:4e8ce0b18915	4140	// 2 = pulse relay
mjr	73:4e8ce0b18915	4141	void TVRelay(int mode)
mjr	73:4e8ce0b18915	4142	{
mjr	73:4e8ce0b18915	4143	// if there's no TV relay control pin, ignore this
mjr	73:4e8ce0b18915	4144	if (tv_relay == 0)
mjr	73:4e8ce0b18915	4145	return;
mjr	73:4e8ce0b18915	4146
mjr	73:4e8ce0b18915	4147	switch (mode)
mjr	73:4e8ce0b18915	4148	{
mjr	73:4e8ce0b18915	4149	case 0:
mjr	73:4e8ce0b18915	4150	// relay off
mjr	73:4e8ce0b18915	4151	tvRelayUpdate(TV_RELAY_USB, false);
mjr	73:4e8ce0b18915	4152	break;
mjr	73:4e8ce0b18915	4153
mjr	73:4e8ce0b18915	4154	case 1:
mjr	73:4e8ce0b18915	4155	// relay on
mjr	73:4e8ce0b18915	4156	tvRelayUpdate(TV_RELAY_USB, true);
mjr	73:4e8ce0b18915	4157	break;
mjr	73:4e8ce0b18915	4158
mjr	73:4e8ce0b18915	4159	case 2:
mjr	79:682ae3171a08	4160	// Turn the relay on and reset the manual TV pulse timer
mjr	73:4e8ce0b18915	4161	tvRelayUpdate(TV_RELAY_USB, true);
mjr	79:682ae3171a08	4162	tvRelayManualTimer.reset();
mjr	79:682ae3171a08	4163	tvRelayManualTimer.start();
mjr	73:4e8ce0b18915	4164	break;
mjr	73:4e8ce0b18915	4165	}
mjr	73:4e8ce0b18915	4166	}
mjr	73:4e8ce0b18915	4167
mjr	73:4e8ce0b18915	4168
mjr	35:e959ffba78fd	4169	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	4170	//
mjr	35:e959ffba78fd	4171	// In-memory configuration data structure. This is the live version in RAM
mjr	35:e959ffba78fd	4172	// that we use to determine how things are set up.
mjr	35:e959ffba78fd	4173	//
mjr	35:e959ffba78fd	4174	// When we save the configuration settings, we copy this structure to
mjr	35:e959ffba78fd	4175	// non-volatile flash memory. At startup, we check the flash location where
mjr	35:e959ffba78fd	4176	// we might have saved settings on a previous run, and it's valid, we copy
mjr	35:e959ffba78fd	4177	// the flash data to this structure. Firmware updates wipe the flash
mjr	35:e959ffba78fd	4178	// memory area, so you have to use the PC config tool to send the settings
mjr	35:e959ffba78fd	4179	// again each time the firmware is updated.
mjr	35:e959ffba78fd	4180	//
mjr	35:e959ffba78fd	4181	NVM nvm;
mjr	35:e959ffba78fd	4182
mjr	86:e30a1f60f783	4183	// Save Config followup time, in seconds. After a successful save,
mjr	86:e30a1f60f783	4184	// we leave the success flag on in the status for this interval. At
mjr	86:e30a1f60f783	4185	// the end of the interval, we reboot the device if requested.
mjr	86:e30a1f60f783	4186	uint8_t saveConfigFollowupTime;
mjr	86:e30a1f60f783	4187
mjr	86:e30a1f60f783	4188	// is a reboot pending at the end of the config save followup interval?
mjr	86:e30a1f60f783	4189	uint8_t saveConfigRebootPending;
mjr	77:0b96f6867312	4190
mjr	79:682ae3171a08	4191	// status flag for successful config save - set to 0x40 on success
mjr	79:682ae3171a08	4192	uint8_t saveConfigSucceededFlag;
mjr	79:682ae3171a08	4193
mjr	86:e30a1f60f783	4194	// Timer for configuration change followup timer
mjr	86:e30a1f60f783	4195	ExtTimer saveConfigFollowupTimer;
mjr	86:e30a1f60f783	4196
mjr	86:e30a1f60f783	4197
mjr	35:e959ffba78fd	4198	// For convenience, a macro for the Config part of the NVM structure
mjr	35:e959ffba78fd	4199	#define cfg (nvm.d.c)
mjr	35:e959ffba78fd	4200
mjr	35:e959ffba78fd	4201	// flash memory controller interface
mjr	35:e959ffba78fd	4202	FreescaleIAP iap;
mjr	35:e959ffba78fd	4203
mjr	79:682ae3171a08	4204	// figure the flash address for the config data
mjr	79:682ae3171a08	4205	const NVM *configFlashAddr()
mjr	76:7f5912b6340e	4206	{
mjr	79:682ae3171a08	4207	// figure the number of sectors we need, rounding up
mjr	79:682ae3171a08	4208	int nSectors = (sizeof(NVM) + SECTOR_SIZE - 1)/SECTOR_SIZE;
mjr	79:682ae3171a08	4209
mjr	79:682ae3171a08	4210	// figure the total size required from the number of sectors
mjr	79:682ae3171a08	4211	int reservedSize = nSectors * SECTOR_SIZE;
mjr	79:682ae3171a08	4212
mjr	79:682ae3171a08	4213	// locate it at the top of memory
mjr	79:682ae3171a08	4214	uint32_t addr = iap.flashSize() - reservedSize;
mjr	79:682ae3171a08	4215
mjr	79:682ae3171a08	4216	// return it as a read-only NVM pointer
mjr	79:682ae3171a08	4217	return (const NVM *)addr;
mjr	35:e959ffba78fd	4218	}
mjr	35:e959ffba78fd	4219
mjr	76:7f5912b6340e	4220	// Load the config from flash. Returns true if a valid non-default
mjr	76:7f5912b6340e	4221	// configuration was loaded, false if we not. If we return false,
mjr	76:7f5912b6340e	4222	// we load the factory defaults, so the configuration object is valid
mjr	76:7f5912b6340e	4223	// in either case.
mjr	76:7f5912b6340e	4224	bool loadConfigFromFlash()
mjr	35:e959ffba78fd	4225	{
mjr	35:e959ffba78fd	4226	// We want to use the KL25Z's on-board flash to store our configuration
mjr	35:e959ffba78fd	4227	// data persistently, so that we can restore it across power cycles.
mjr	35:e959ffba78fd	4228	// Unfortunatly, the mbed platform doesn't explicitly support this.
mjr	35:e959ffba78fd	4229	// mbed treats the on-board flash as a raw storage device for linker
mjr	35:e959ffba78fd	4230	// output, and assumes that the linker output is the only thing
mjr	35:e959ffba78fd	4231	// stored there. There's no file system and no allowance for shared
mjr	35:e959ffba78fd	4232	// use for other purposes. Fortunately, the linker ues the space in
mjr	35:e959ffba78fd	4233	// the obvious way, storing the entire linked program in a contiguous
mjr	35:e959ffba78fd	4234	// block starting at the lowest flash address. This means that the
mjr	35:e959ffba78fd	4235	// rest of flash - from the end of the linked program to the highest
mjr	35:e959ffba78fd	4236	// flash address - is all unused free space. Writing our data there
mjr	35:e959ffba78fd	4237	// won't conflict with anything else. Since the linker doesn't give
mjr	35:e959ffba78fd	4238	// us any programmatic access to the total linker output size, it's
mjr	35:e959ffba78fd	4239	// safest to just store our config data at the very end of the flash
mjr	35:e959ffba78fd	4240	// region (i.e., the highest address). As long as it's smaller than
mjr	35:e959ffba78fd	4241	// the free space, it won't collide with the linker area.
mjr	35:e959ffba78fd	4242
mjr	35:e959ffba78fd	4243	// Figure how many sectors we need for our structure
mjr	79:682ae3171a08	4244	const NVM *flash = configFlashAddr();
mjr	35:e959ffba78fd	4245
mjr	35:e959ffba78fd	4246	// if the flash is valid, load it; otherwise initialize to defaults
mjr	76:7f5912b6340e	4247	bool nvm_valid = flash->valid();
mjr	76:7f5912b6340e	4248	if (nvm_valid)
mjr	35:e959ffba78fd	4249	{
mjr	35:e959ffba78fd	4250	// flash is valid - load it into the RAM copy of the structure
mjr	35:e959ffba78fd	4251	memcpy(&nvm, flash, sizeof(NVM));
mjr	35:e959ffba78fd	4252	}
mjr	35:e959ffba78fd	4253	else
mjr	35:e959ffba78fd	4254	{
mjr	76:7f5912b6340e	4255	// flash is invalid - load factory settings into RAM structure
mjr	35:e959ffba78fd	4256	cfg.setFactoryDefaults();
mjr	35:e959ffba78fd	4257	}
mjr	76:7f5912b6340e	4258
mjr	76:7f5912b6340e	4259	// tell the caller what happened
mjr	76:7f5912b6340e	4260	return nvm_valid;
mjr	35:e959ffba78fd	4261	}
mjr	35:e959ffba78fd	4262
mjr	86:e30a1f60f783	4263	// Save the config. Returns true on success, false on failure.
mjr	86:e30a1f60f783	4264	// 'tFollowup' is the follow-up time in seconds. If the write is
mjr	86:e30a1f60f783	4265	// successful, we'll turn on the success flag in the status reports
mjr	86:e30a1f60f783	4266	// and leave it on for this interval. If 'reboot' is true, we'll
mjr	86:e30a1f60f783	4267	// also schedule a reboot at the end of the followup interval.
mjr	86:e30a1f60f783	4268	bool saveConfigToFlash(int tFollowup, bool reboot)
mjr	33:d832bcab089e	4269	{
mjr	76:7f5912b6340e	4270	// make sure the plunger sensor isn't busy
mjr	76:7f5912b6340e	4271	waitPlungerIdle();
mjr	76:7f5912b6340e	4272
mjr	76:7f5912b6340e	4273	// get the config block location in the flash memory
mjr	77:0b96f6867312	4274	uint32_t addr = uint32_t(configFlashAddr());
mjr	79:682ae3171a08	4275
mjr	79:682ae3171a08	4276	// save the data
mjr	86:e30a1f60f783	4277	if (nvm.save(iap, addr))
mjr	86:e30a1f60f783	4278	{
mjr	86:e30a1f60f783	4279	// success - report the successful save in the status flags
mjr	86:e30a1f60f783	4280	saveConfigSucceededFlag = 0x40;
mjr	86:e30a1f60f783	4281
mjr	86:e30a1f60f783	4282	// start the followup timer
mjr	87:8d35c74403af	4283	saveConfigFollowupTime = tFollowup;
mjr	87:8d35c74403af	4284	saveConfigFollowupTimer.reset();
mjr	86:e30a1f60f783	4285	saveConfigFollowupTimer.start();
mjr	86:e30a1f60f783	4286
mjr	86:e30a1f60f783	4287	// if a reboot is pending, flag it
mjr	86:e30a1f60f783	4288	saveConfigRebootPending = reboot;
mjr	86:e30a1f60f783	4289
mjr	86:e30a1f60f783	4290	// return success
mjr	86:e30a1f60f783	4291	return true;
mjr	86:e30a1f60f783	4292	}
mjr	86:e30a1f60f783	4293	else
mjr	86:e30a1f60f783	4294	{
mjr	86:e30a1f60f783	4295	// return failure
mjr	86:e30a1f60f783	4296	return false;
mjr	86:e30a1f60f783	4297	}
mjr	76:7f5912b6340e	4298	}
mjr	76:7f5912b6340e	4299
mjr	76:7f5912b6340e	4300	// ---------------------------------------------------------------------------
mjr	76:7f5912b6340e	4301	//
mjr	76:7f5912b6340e	4302	// Host-loaded configuration. The Flash NVM block above is designed to be
mjr	76:7f5912b6340e	4303	// stored from within the firmware; in contrast, the host-loaded config is
mjr	76:7f5912b6340e	4304	// stored by the host, by patching the firwmare binary (.bin) file before
mjr	76:7f5912b6340e	4305	// downloading it to the device.
mjr	76:7f5912b6340e	4306	//
mjr	76:7f5912b6340e	4307	// Ideally, we'd use the host-loaded memory for all configuration updates,
mjr	76:7f5912b6340e	4308	// because the KL25Z doesn't seem to be 100% reliable writing flash itself.
mjr	76:7f5912b6340e	4309	// There seems to be a chance of memory bus contention while a write is in
mjr	76:7f5912b6340e	4310	// progress, which can either corrupt the write or cause the CPU to lock up
mjr	76:7f5912b6340e	4311	// before the write is completed. It seems more reliable to program the
mjr	76:7f5912b6340e	4312	// flash externally, via the OpenSDA connection. Unfortunately, none of
mjr	76:7f5912b6340e	4313	// the available OpenSDA versions are capable of programming specific flash
mjr	76:7f5912b6340e	4314	// sectors; they always erase the entire flash memory space. We could
mjr	76:7f5912b6340e	4315	// make the Windows config program simply re-download the entire firmware
mjr	76:7f5912b6340e	4316	// for every configuration update, but I'd rather not because of the extra
mjr	76:7f5912b6340e	4317	// wear this would put on the flash. So, as a compromise, we'll use the
mjr	76:7f5912b6340e	4318	// host-loaded config whenever the user explicitly updates the firmware,
mjr	76:7f5912b6340e	4319	// but we'll use the on-board writer when only making a config change.
mjr	76:7f5912b6340e	4320	//
mjr	76:7f5912b6340e	4321	// The memory here is stored using the same format as the USB "Set Config
mjr	76:7f5912b6340e	4322	// Variable" command. These messages are 8 bytes long and start with a
mjr	76:7f5912b6340e	4323	// byte value 66, followed by the variable ID, followed by the variable
mjr	76:7f5912b6340e	4324	// value data in a format defined separately for each variable. To load
mjr	76:7f5912b6340e	4325	// the data, we'll start at the first byte after the signature, and
mjr	76:7f5912b6340e	4326	// interpret each 8-byte block as a type 66 message. If the first byte
mjr	76:7f5912b6340e	4327	// of a block is not 66, we'll take it as the end of the data.
mjr	76:7f5912b6340e	4328	//
mjr	76:7f5912b6340e	4329	// We provide a block of storage here big enough for 1,024 variables.
mjr	76:7f5912b6340e	4330	// The header consists of a 30-byte signature followed by two bytes giving
mjr	76:7f5912b6340e	4331	// the available space in the area, in this case 8192 == 0x0200. The
mjr	76:7f5912b6340e	4332	// length is little-endian. Note that the linker will implicitly zero
mjr	76:7f5912b6340e	4333	// the rest of the block, so if the host doesn't populate it, we'll see
mjr	76:7f5912b6340e	4334	// that it's empty by virtue of not containing the required '66' byte
mjr	76:7f5912b6340e	4335	// prefix for the first 8-byte variable block.
mjr	76:7f5912b6340e	4336	static const uint8_t hostLoadedConfig[8192+32]
mjr	76:7f5912b6340e	4337	__attribute__ ((aligned(SECTOR_SIZE))) =
mjr	76:7f5912b6340e	4338	"///Pinscape.HostLoadedConfig//\0\040"; // 30 byte signature + 2 byte length
mjr	76:7f5912b6340e	4339
mjr	76:7f5912b6340e	4340	// Get a pointer to the first byte of the configuration data
mjr	76:7f5912b6340e	4341	const uint8_t *getHostLoadedConfigData()
mjr	76:7f5912b6340e	4342	{
mjr	76:7f5912b6340e	4343	// the first configuration variable byte immediately follows the
mjr	76:7f5912b6340e	4344	// 32-byte signature header
mjr	76:7f5912b6340e	4345	return hostLoadedConfig + 32;
mjr	76:7f5912b6340e	4346	};
mjr	76:7f5912b6340e	4347
mjr	76:7f5912b6340e	4348	// forward reference to config var store function
mjr	76:7f5912b6340e	4349	void configVarSet(const uint8_t *);
mjr	76:7f5912b6340e	4350
mjr	76:7f5912b6340e	4351	// Load the host-loaded configuration data into the active (RAM)
mjr	76:7f5912b6340e	4352	// configuration object.
mjr	76:7f5912b6340e	4353	void loadHostLoadedConfig()
mjr	76:7f5912b6340e	4354	{
mjr	76:7f5912b6340e	4355	// Start at the first configuration variable. Each variable
mjr	76:7f5912b6340e	4356	// block is in the format of a Set Config Variable command in
mjr	76:7f5912b6340e	4357	// the USB protocol, so each block starts with a byte value of
mjr	76:7f5912b6340e	4358	// 66 and is 8 bytes long. Continue as long as we find valid
mjr	76:7f5912b6340e	4359	// variable blocks, or reach end end of the block.
mjr	76:7f5912b6340e	4360	const uint8_t *start = getHostLoadedConfigData();
mjr	76:7f5912b6340e	4361	const uint8_t *end = hostLoadedConfig + sizeof(hostLoadedConfig);
mjr	76:7f5912b6340e	4362	for (const uint8_t p = getHostLoadedConfigData() ; start < end && p == 66 ; p += 8)
mjr	76:7f5912b6340e	4363	{
mjr	76:7f5912b6340e	4364	// load this variable
mjr	76:7f5912b6340e	4365	configVarSet(p);
mjr	76:7f5912b6340e	4366	}
mjr	35:e959ffba78fd	4367	}
mjr	35:e959ffba78fd	4368
mjr	35:e959ffba78fd	4369	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	4370	//
mjr	55:4db125cd11a0	4371	// Pixel dump mode - the host requested a dump of image sensor pixels
mjr	55:4db125cd11a0	4372	// (helpful for installing and setting up the sensor and light source)
mjr	55:4db125cd11a0	4373	//
mjr	55:4db125cd11a0	4374	bool reportPlungerStat = false;
mjr	55:4db125cd11a0	4375	uint8_t reportPlungerStatFlags; // plunger pixel report flag bits (see ccdSensor.h)
mjr	55:4db125cd11a0	4376	uint8_t reportPlungerStatTime; // extra exposure time for plunger pixel report
mjr	55:4db125cd11a0	4377
mjr	55:4db125cd11a0	4378
mjr	55:4db125cd11a0	4379
mjr	55:4db125cd11a0	4380	// ---------------------------------------------------------------------------
mjr	55:4db125cd11a0	4381	//
mjr	40:cc0d9814522b	4382	// Night mode setting updates
mjr	40:cc0d9814522b	4383	//
mjr	38:091e511ce8a0	4384
mjr	38:091e511ce8a0	4385	// Turn night mode on or off
mjr	38:091e511ce8a0	4386	static void setNightMode(bool on)
mjr	38:091e511ce8a0	4387	{
mjr	77:0b96f6867312	4388	// Set the new night mode flag in the noisy output class. Note
mjr	77:0b96f6867312	4389	// that we use the status report bit flag value 0x02 when on, so
mjr	77:0b96f6867312	4390	// that we can just '\|' this into the overall status bits.
mjr	77:0b96f6867312	4391	nightMode = on ? 0x02 : 0x00;
mjr	55:4db125cd11a0	4392
mjr	40:cc0d9814522b	4393	// update the special output pin that shows the night mode state
mjr	53:9b2611964afc	4394	int port = int(cfg.nightMode.port) - 1;
mjr	53:9b2611964afc	4395	if (port >= 0 && port < numOutputs)
mjr	53:9b2611964afc	4396	lwPin[port]->set(nightMode ? 255 : 0);
mjr	76:7f5912b6340e	4397
mjr	76:7f5912b6340e	4398	// Reset all outputs at their current value, so that the underlying
mjr	76:7f5912b6340e	4399	// physical outputs get turned on or off as appropriate for the night
mjr	76:7f5912b6340e	4400	// mode change.
mjr	76:7f5912b6340e	4401	for (int i = 0 ; i < numOutputs ; ++i)
mjr	76:7f5912b6340e	4402	lwPin[i]->set(outLevel[i]);
mjr	76:7f5912b6340e	4403
mjr	76:7f5912b6340e	4404	// update 74HC595 outputs
mjr	76:7f5912b6340e	4405	if (hc595 != 0)
mjr	76:7f5912b6340e	4406	hc595->update();
mjr	38:091e511ce8a0	4407	}
mjr	38:091e511ce8a0	4408
mjr	38:091e511ce8a0	4409	// Toggle night mode
mjr	38:091e511ce8a0	4410	static void toggleNightMode()
mjr	38:091e511ce8a0	4411	{
mjr	53:9b2611964afc	4412	setNightMode(!nightMode);
mjr	38:091e511ce8a0	4413	}
mjr	38:091e511ce8a0	4414
mjr	38:091e511ce8a0	4415
mjr	38:091e511ce8a0	4416	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	4417	//
mjr	35:e959ffba78fd	4418	// Plunger Sensor
mjr	35:e959ffba78fd	4419	//
mjr	35:e959ffba78fd	4420
mjr	35:e959ffba78fd	4421	// the plunger sensor interface object
mjr	35:e959ffba78fd	4422	PlungerSensor *plungerSensor = 0;
mjr	35:e959ffba78fd	4423
mjr	87:8d35c74403af	4424	// wait for the plunger sensor to complete any outstanding DMA transfer
mjr	76:7f5912b6340e	4425	static void waitPlungerIdle(void)
mjr	76:7f5912b6340e	4426	{
mjr	87:8d35c74403af	4427	while (plungerSensor->dmaBusy()) { }
mjr	76:7f5912b6340e	4428	}
mjr	76:7f5912b6340e	4429
mjr	35:e959ffba78fd	4430	// Create the plunger sensor based on the current configuration. If
mjr	35:e959ffba78fd	4431	// there's already a sensor object, we'll delete it.
mjr	35:e959ffba78fd	4432	void createPlunger()
mjr	35:e959ffba78fd	4433	{
mjr	35:e959ffba78fd	4434	// create the new sensor object according to the type
mjr	35:e959ffba78fd	4435	switch (cfg.plunger.sensorType)
mjr	35:e959ffba78fd	4436	{
mjr	82:4f6209cb5c33	4437	case PlungerType_TSL1410R:
mjr	82:4f6209cb5c33	4438	// TSL1410R, shadow edge detector
mjr	35:e959ffba78fd	4439	// pins are: SI, CLOCK, AO
mjr	53:9b2611964afc	4440	plungerSensor = new PlungerSensorTSL1410R(
mjr	53:9b2611964afc	4441	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	4442	wirePinName(cfg.plunger.sensorPin[1]),
mjr	82:4f6209cb5c33	4443	wirePinName(cfg.plunger.sensorPin[2]));
mjr	35:e959ffba78fd	4444	break;
mjr	35:e959ffba78fd	4445
mjr	82:4f6209cb5c33	4446	case PlungerType_TSL1412S:
mjr	82:4f6209cb5c33	4447	// TSL1412S, shadow edge detector
mjr	82:4f6209cb5c33	4448	// pins are: SI, CLOCK, AO
mjr	53:9b2611964afc	4449	plungerSensor = new PlungerSensorTSL1412R(
mjr	53:9b2611964afc	4450	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	4451	wirePinName(cfg.plunger.sensorPin[1]),
mjr	82:4f6209cb5c33	4452	wirePinName(cfg.plunger.sensorPin[2]));
mjr	35:e959ffba78fd	4453	break;
mjr	35:e959ffba78fd	4454
mjr	35:e959ffba78fd	4455	case PlungerType_Pot:
mjr	82:4f6209cb5c33	4456	// Potentiometer (or any other sensor with a linear analog voltage
mjr	82:4f6209cb5c33	4457	// reading as the proxy for the position)
mjr	82:4f6209cb5c33	4458	// pins are: AO (analog in)
mjr	53:9b2611964afc	4459	plungerSensor = new PlungerSensorPot(
mjr	53:9b2611964afc	4460	wirePinName(cfg.plunger.sensorPin[0]));
mjr	35:e959ffba78fd	4461	break;
mjr	82:4f6209cb5c33	4462
mjr	82:4f6209cb5c33	4463	case PlungerType_OptQuad:
mjr	82:4f6209cb5c33	4464	// Optical quadrature sensor, AEDR8300-K or similar. The -K is
mjr	82:4f6209cb5c33	4465	// designed for a 75 LPI scale, which translates to 300 pulses/inch.
mjr	82:4f6209cb5c33	4466	// Pins are: CHA, CHB (quadrature pulse inputs).
mjr	82:4f6209cb5c33	4467	plungerSensor = new PlungerSensorQuad(
mjr	82:4f6209cb5c33	4468	300,
mjr	82:4f6209cb5c33	4469	wirePinName(cfg.plunger.sensorPin[0]),
mjr	82:4f6209cb5c33	4470	wirePinName(cfg.plunger.sensorPin[1]));
mjr	82:4f6209cb5c33	4471	break;
mjr	82:4f6209cb5c33	4472
mjr	82:4f6209cb5c33	4473	case PlungerType_TSL1401CL:
mjr	82:4f6209cb5c33	4474	// TSL1401CL, absolute position encoder with bar code scale
mjr	82:4f6209cb5c33	4475	// pins are: SI, CLOCK, AO
mjr	82:4f6209cb5c33	4476	plungerSensor = new PlungerSensorTSL1401CL(
mjr	82:4f6209cb5c33	4477	wirePinName(cfg.plunger.sensorPin[0]),
mjr	82:4f6209cb5c33	4478	wirePinName(cfg.plunger.sensorPin[1]),
mjr	82:4f6209cb5c33	4479	wirePinName(cfg.plunger.sensorPin[2]));
mjr	82:4f6209cb5c33	4480	break;
mjr	82:4f6209cb5c33	4481
mjr	82:4f6209cb5c33	4482	case PlungerType_VL6180X:
mjr	82:4f6209cb5c33	4483	// VL6180X time-of-flight IR distance sensor
mjr	82:4f6209cb5c33	4484	// pins are: SDL, SCL, GPIO0/CE
mjr	82:4f6209cb5c33	4485	plungerSensor = new PlungerSensorVL6180X(
mjr	82:4f6209cb5c33	4486	wirePinName(cfg.plunger.sensorPin[0]),
mjr	82:4f6209cb5c33	4487	wirePinName(cfg.plunger.sensorPin[1]),
mjr	82:4f6209cb5c33	4488	wirePinName(cfg.plunger.sensorPin[2]));
mjr	82:4f6209cb5c33	4489	break;
mjr	82:4f6209cb5c33	4490
mjr	35:e959ffba78fd	4491	case PlungerType_None:
mjr	35:e959ffba78fd	4492	default:
mjr	35:e959ffba78fd	4493	plungerSensor = new PlungerSensorNull();
mjr	35:e959ffba78fd	4494	break;
mjr	35:e959ffba78fd	4495	}
mjr	86:e30a1f60f783	4496
mjr	87:8d35c74403af	4497	// initialize the config variables affecting the plunger
mjr	87:8d35c74403af	4498	plungerSensor->onConfigChange(19, cfg);
mjr	87:8d35c74403af	4499	plungerSensor->onConfigChange(20, cfg);
mjr	33:d832bcab089e	4500	}
mjr	33:d832bcab089e	4501
mjr	52:8298b2a73eb2	4502	// Global plunger calibration mode flag
mjr	52:8298b2a73eb2	4503	bool plungerCalMode;
mjr	52:8298b2a73eb2	4504
mjr	48:058ace2aed1d	4505	// Plunger reader
mjr	51:57eb311faafa	4506	//
mjr	51:57eb311faafa	4507	// This class encapsulates our plunger data processing. At the simplest
mjr	51:57eb311faafa	4508	// level, we read the position from the sensor, adjust it for the
mjr	51:57eb311faafa	4509	// calibration settings, and report the calibrated position to the host.
mjr	51:57eb311faafa	4510	//
mjr	51:57eb311faafa	4511	// In addition, we constantly monitor the data for "firing" motions.
mjr	51:57eb311faafa	4512	// A firing motion is when the user pulls back the plunger and releases
mjr	51:57eb311faafa	4513	// it, allowing it to shoot forward under the force of the main spring.
mjr	51:57eb311faafa	4514	// When we detect that this is happening, we briefly stop reporting the
mjr	51:57eb311faafa	4515	// real physical position that we're reading from the sensor, and instead
mjr	51:57eb311faafa	4516	// report a synthetic series of positions that depicts an idealized
mjr	51:57eb311faafa	4517	// firing motion.
mjr	51:57eb311faafa	4518	//
mjr	51:57eb311faafa	4519	// The point of the synthetic reports is to correct for distortions
mjr	51:57eb311faafa	4520	// created by the joystick interface conventions used by VP and other
mjr	51:57eb311faafa	4521	// PC pinball emulators. The convention they use is simply to have the
mjr	51:57eb311faafa	4522	// plunger device report the instantaneous position of the real plunger.
mjr	51:57eb311faafa	4523	// The PC software polls this reported position periodically, and moves
mjr	51:57eb311faafa	4524	// the on-screen virtual plunger in sync with the real plunger. This
mjr	51:57eb311faafa	4525	// works fine for human-scale motion when the user is manually moving
mjr	51:57eb311faafa	4526	// the plunger. But it doesn't work for the high speed motion of a
mjr	51:57eb311faafa	4527	// release. The plunger simply moves too fast. VP polls in about 10ms
mjr	51:57eb311faafa	4528	// intervals; the plunger takes about 50ms to travel from fully
mjr	51:57eb311faafa	4529	// retracted to the park position when released. The low sampling
mjr	51:57eb311faafa	4530	// rate relative to the rate of change of the sampled data creates
mjr	51:57eb311faafa	4531	// a classic digital aliasing effect.
mjr	51:57eb311faafa	4532	//
mjr	51:57eb311faafa	4533	// The synthetic reporting scheme compensates for the interface
mjr	51:57eb311faafa	4534	// distortions by essentially changing to a coarse enough timescale
mjr	51:57eb311faafa	4535	// that VP can reliably interpret the readings. Conceptually, there
mjr	51:57eb311faafa	4536	// are three steps involved in doing this. First, we analyze the
mjr	51:57eb311faafa	4537	// actual sensor data to detect and characterize the release motion.
mjr	51:57eb311faafa	4538	// Second, once we think we have a release in progress, we fit the
mjr	51:57eb311faafa	4539	// data to a mathematical model of the release. The model we use is
mjr	51:57eb311faafa	4540	// dead simple: we consider the release to have one parameter, namely
mjr	51:57eb311faafa	4541	// the retraction distance at the moment the user lets go. This is an
mjr	51:57eb311faafa	4542	// excellent proxy in the real physical system for the final speed
mjr	51:57eb311faafa	4543	// when the plunger hits the ball, and it also happens to match how
mjr	51:57eb311faafa	4544	// VP models it internally. Third, we construct synthetic reports
mjr	51:57eb311faafa	4545	// that will make VP's internal state match our model. This is also
mjr	51:57eb311faafa	4546	// pretty simple: we just need to send VP the maximum retraction
mjr	51:57eb311faafa	4547	// distance for long enough to be sure that it polls it at least
mjr	51:57eb311faafa	4548	// once, and then send it the park position for long enough to
mjr	51:57eb311faafa	4549	// ensure that VP will complete the same firing motion. The
mjr	51:57eb311faafa	4550	// immediate jump from the maximum point to the zero point will
mjr	51:57eb311faafa	4551	// cause VP to move its simulation model plunger forward from the
mjr	51:57eb311faafa	4552	// starting point at its natural spring acceleration rate, which
mjr	51:57eb311faafa	4553	// is exactly what the real plunger just did.
mjr	51:57eb311faafa	4554	//
mjr	48:058ace2aed1d	4555	class PlungerReader
mjr	48:058ace2aed1d	4556	{
mjr	48:058ace2aed1d	4557	public:
mjr	48:058ace2aed1d	4558	PlungerReader()
mjr	48:058ace2aed1d	4559	{
mjr	48:058ace2aed1d	4560	// not in a firing event yet
mjr	48:058ace2aed1d	4561	firing = 0;
mjr	48:058ace2aed1d	4562	}
mjr	76:7f5912b6340e	4563
mjr	48:058ace2aed1d	4564	// Collect a reading from the plunger sensor. The main loop calls
mjr	48:058ace2aed1d	4565	// this frequently to read the current raw position data from the
mjr	48:058ace2aed1d	4566	// sensor. We analyze the raw data to produce the calibrated
mjr	48:058ace2aed1d	4567	// position that we report to the PC via the joystick interface.
mjr	48:058ace2aed1d	4568	void read()
mjr	48:058ace2aed1d	4569	{
mjr	76:7f5912b6340e	4570	// if the sensor is busy, skip the reading on this round
mjr	76:7f5912b6340e	4571	if (!plungerSensor->ready())
mjr	76:7f5912b6340e	4572	return;
mjr	76:7f5912b6340e	4573
mjr	48:058ace2aed1d	4574	// Read a sample from the sensor
mjr	48:058ace2aed1d	4575	PlungerReading r;
mjr	48:058ace2aed1d	4576	if (plungerSensor->read(r))
mjr	48:058ace2aed1d	4577	{
mjr	53:9b2611964afc	4578	// check for calibration mode
mjr	53:9b2611964afc	4579	if (plungerCalMode)
mjr	53:9b2611964afc	4580	{
mjr	53:9b2611964afc	4581	// Calibration mode. Adjust the calibration bounds to fit
mjr	53:9b2611964afc	4582	// the value. If this value is beyond the current min or max,
mjr	53:9b2611964afc	4583	// expand the envelope to include this new value.
mjr	53:9b2611964afc	4584	if (r.pos > cfg.plunger.cal.max)
mjr	53:9b2611964afc	4585	cfg.plunger.cal.max = r.pos;
mjr	53:9b2611964afc	4586	if (r.pos < cfg.plunger.cal.min)
mjr	53:9b2611964afc	4587	cfg.plunger.cal.min = r.pos;
mjr	76:7f5912b6340e	4588
mjr	76:7f5912b6340e	4589	// update our cached calibration data
mjr	76:7f5912b6340e	4590	onUpdateCal();
mjr	50:40015764bbe6	4591
mjr	53:9b2611964afc	4592	// If we're in calibration state 0, we're waiting for the
mjr	53:9b2611964afc	4593	// plunger to come to rest at the park position so that we
mjr	53:9b2611964afc	4594	// can take a sample of the park position. Check to see if
mjr	53:9b2611964afc	4595	// we've been at rest for a minimum interval.
mjr	53:9b2611964afc	4596	if (calState == 0)
mjr	53:9b2611964afc	4597	{
mjr	53:9b2611964afc	4598	if (abs(r.pos - calZeroStart.pos) < 65535/3/50)
mjr	53:9b2611964afc	4599	{
mjr	53:9b2611964afc	4600	// we're close enough - make sure we've been here long enough
mjr	53:9b2611964afc	4601	if (uint32_t(r.t - calZeroStart.t) > 100000UL)
mjr	53:9b2611964afc	4602	{
mjr	53:9b2611964afc	4603	// we've been at rest long enough - count it
mjr	53:9b2611964afc	4604	calZeroPosSum += r.pos;
mjr	53:9b2611964afc	4605	calZeroPosN += 1;
mjr	53:9b2611964afc	4606
mjr	53:9b2611964afc	4607	// update the zero position from the new average
mjr	53:9b2611964afc	4608	cfg.plunger.cal.zero = uint16_t(calZeroPosSum / calZeroPosN);
mjr	76:7f5912b6340e	4609	onUpdateCal();
mjr	53:9b2611964afc	4610
mjr	53:9b2611964afc	4611	// switch to calibration state 1 - at rest
mjr	53:9b2611964afc	4612	calState = 1;
mjr	53:9b2611964afc	4613	}
mjr	53:9b2611964afc	4614	}
mjr	53:9b2611964afc	4615	else
mjr	53:9b2611964afc	4616	{
mjr	53:9b2611964afc	4617	// we're not close to the last position - start again here
mjr	53:9b2611964afc	4618	calZeroStart = r;
mjr	53:9b2611964afc	4619	}
mjr	53:9b2611964afc	4620	}
mjr	53:9b2611964afc	4621
mjr	53:9b2611964afc	4622	// Rescale to the joystick range, and adjust for the current
mjr	53:9b2611964afc	4623	// park position, but don't calibrate. We don't know the maximum
mjr	53:9b2611964afc	4624	// point yet, so we can't calibrate the range.
mjr	53:9b2611964afc	4625	r.pos = int(
mjr	53:9b2611964afc	4626	(long(r.pos - cfg.plunger.cal.zero) * JOYMAX)
mjr	53:9b2611964afc	4627	/ (65535 - cfg.plunger.cal.zero));
mjr	53:9b2611964afc	4628	}
mjr	53:9b2611964afc	4629	else
mjr	53:9b2611964afc	4630	{
mjr	53:9b2611964afc	4631	// Not in calibration mode. Apply the existing calibration and
mjr	53:9b2611964afc	4632	// rescale to the joystick range.
mjr	76:7f5912b6340e	4633	r.pos = applyCal(r.pos);
mjr	53:9b2611964afc	4634
mjr	53:9b2611964afc	4635	// limit the result to the valid joystick range
mjr	53:9b2611964afc	4636	if (r.pos > JOYMAX)
mjr	53:9b2611964afc	4637	r.pos = JOYMAX;
mjr	53:9b2611964afc	4638	else if (r.pos < -JOYMAX)
mjr	53:9b2611964afc	4639	r.pos = -JOYMAX;
mjr	53:9b2611964afc	4640	}
mjr	50:40015764bbe6	4641
mjr	87:8d35c74403af	4642	// Look for a firing event - the user releasing the plunger and
mjr	87:8d35c74403af	4643	// allowing it to shoot forward at full speed. Wait at least 5ms
mjr	87:8d35c74403af	4644	// between samples for this, to help distinguish random motion
mjr	87:8d35c74403af	4645	// from the rapid motion of a firing event.
mjr	50:40015764bbe6	4646	//
mjr	87:8d35c74403af	4647	// There's a trade-off in the choice of minimum sampling interval.
mjr	87:8d35c74403af	4648	// The longer we wait, the more certain we can be of the trend.
mjr	87:8d35c74403af	4649	// But if we wait too long, the user will perceive a delay. We
mjr	87:8d35c74403af	4650	// also want to sample frequently enough to see the release motion
mjr	87:8d35c74403af	4651	// at intermediate steps along the way, so the sampling has to be
mjr	87:8d35c74403af	4652	// considerably faster than the whole travel time, which is about
mjr	87:8d35c74403af	4653	// 25-50ms.
mjr	87:8d35c74403af	4654	if (uint32_t(r.t - prv.t) < 5000UL)
mjr	87:8d35c74403af	4655	return;
mjr	87:8d35c74403af	4656
mjr	87:8d35c74403af	4657	// assume that we'll report this reading as-is
mjr	87:8d35c74403af	4658	z = r.pos;
mjr	87:8d35c74403af	4659
mjr	87:8d35c74403af	4660	// Firing event detection.
mjr	87:8d35c74403af	4661	//
mjr	87:8d35c74403af	4662	// A "firing event" is when the player releases the plunger from
mjr	87:8d35c74403af	4663	// a retracted position, allowing it to shoot forward under the
mjr	87:8d35c74403af	4664	// spring tension.
mjr	50:40015764bbe6	4665	//
mjr	87:8d35c74403af	4666	// We monitor the plunger motion for these events, and when they
mjr	87:8d35c74403af	4667	// occur, we report an "idealized" version of the motion to the
mjr	87:8d35c74403af	4668	// PC. The idealized version consists of a series of readings
mjr	87:8d35c74403af	4669	// frozen at the fully retracted position for the whole duration
mjr	87:8d35c74403af	4670	// of the forward travel, followed by a series of readings at the
mjr	87:8d35c74403af	4671	// fully forward position for long enough for the plunger to come
mjr	87:8d35c74403af	4672	// mostly to rest. The series of frozen readings aren't meant to
mjr	87:8d35c74403af	4673	// be perceptible to the player - we try to keep them short enough
mjr	87:8d35c74403af	4674	// that they're not apparent as delay. Instead, they're for the
mjr	87:8d35c74403af	4675	// PC client software's benefit. PC joystick clients use polling,
mjr	87:8d35c74403af	4676	// so they only see an unpredictable subset of the readings we
mjr	87:8d35c74403af	4677	// send. The only way to be sure that the client sees a particular
mjr	87:8d35c74403af	4678	// reading is to hold it for long enough that the client is sure to
mjr	87:8d35c74403af	4679	// poll within the hold interval. In the case of the plunger
mjr	87:8d35c74403af	4680	// firing motion, it's important that the client sees the ends
mjr	87:8d35c74403af	4681	// of the travel - the fully retracted starting position in
mjr	87:8d35c74403af	4682	// particular. If the PC client only polls for a sample while the
mjr	87:8d35c74403af	4683	// plunger is somewhere in the middle of the travel, the PC will
mjr	87:8d35c74403af	4684	// think that the firing motion started in that middle position,
mjr	87:8d35c74403af	4685	// so it won't be able to model the right amount of momentum when
mjr	87:8d35c74403af	4686	// the plunger hits the ball. We try to ensure that the PC sees
mjr	87:8d35c74403af	4687	// the right starting point by reporting the starting point for
mjr	87:8d35c74403af	4688	// extra time during the forward motion. By the same token, we
mjr	87:8d35c74403af	4689	// want the PC to know that the plunger has moved all the way
mjr	87:8d35c74403af	4690	// forward, rather than mistakenly thinking that it stopped
mjr	87:8d35c74403af	4691	// somewhere in the middle of the travel, so we freeze at the
mjr	87:8d35c74403af	4692	// forward position for a short time.
mjr	76:7f5912b6340e	4693	//
mjr	87:8d35c74403af	4694	// To detect a firing event, we look for forward motion that's
mjr	87:8d35c74403af	4695	// fast enough to be a firing event. To determine how fast is
mjr	87:8d35c74403af	4696	// fast enough, we use a simple model of the plunger motion where
mjr	87:8d35c74403af	4697	// the acceleration is constant. This is only an approximation,
mjr	87:8d35c74403af	4698	// as the spring force actually varies with spring's compression,
mjr	87:8d35c74403af	4699	// but it's close enough for our purposes here.
mjr	87:8d35c74403af	4700	//
mjr	87:8d35c74403af	4701	// Do calculations in fixed-point 2^48 scale with 64-bit ints.
mjr	87:8d35c74403af	4702	// acc2 = acceleration/2 for 50ms release time, units of unit
mjr	87:8d35c74403af	4703	// distances per microsecond squared, where the unit distance
mjr	87:8d35c74403af	4704	// is the overall travel from the starting retracted position
mjr	87:8d35c74403af	4705	// to the park position.
mjr	87:8d35c74403af	4706	const int32_t acc2 = 112590; // 2^48 scale
mjr	50:40015764bbe6	4707	switch (firing)
mjr	50:40015764bbe6	4708	{
mjr	50:40015764bbe6	4709	case 0:
mjr	87:8d35c74403af	4710	// Not in firing mode. If we're retracted a bit, and the
mjr	87:8d35c74403af	4711	// motion is forward at a fast enough rate to look like a
mjr	87:8d35c74403af	4712	// release, enter firing mode.
mjr	87:8d35c74403af	4713	if (r.pos > JOYMAX/6)
mjr	50:40015764bbe6	4714	{
mjr	87:8d35c74403af	4715	const uint32_t dt = uint32_t(r.t - prv.t);
mjr	87:8d35c74403af	4716	const uint32_t dt2 = dt*dt; // dt^2
mjr	87:8d35c74403af	4717	if (r.pos < prv.pos - int((prv.posacc2uint64_t(dt2)) >> 48))
mjr	87:8d35c74403af	4718	{
mjr	87:8d35c74403af	4719	// Tentatively enter firing mode. Use the prior reading
mjr	87:8d35c74403af	4720	// as the starting point, and freeze reports for now.
mjr	87:8d35c74403af	4721	firingMode(1);
mjr	87:8d35c74403af	4722	f0 = prv;
mjr	87:8d35c74403af	4723	z = f0.pos;
mjr	87:8d35c74403af	4724
mjr	87:8d35c74403af	4725	// if in calibration state 1 (at rest), switch to
mjr	87:8d35c74403af	4726	// state 2 (not at rest)
mjr	87:8d35c74403af	4727	if (calState == 1)
mjr	87:8d35c74403af	4728	calState = 2;
mjr	87:8d35c74403af	4729	}
mjr	50:40015764bbe6	4730	}
mjr	50:40015764bbe6	4731	break;
mjr	50:40015764bbe6	4732
mjr	50:40015764bbe6	4733	case 1:
mjr	87:8d35c74403af	4734	// Tentative firing mode: the plunger was moving forward
mjr	87:8d35c74403af	4735	// at last check. To stay in firing mode, the plunger has
mjr	87:8d35c74403af	4736	// to keep moving forward fast enough to look like it's
mjr	87:8d35c74403af	4737	// moving under spring force. To figure out how fast is
mjr	87:8d35c74403af	4738	// fast enough, we use a simple model where the acceleration
mjr	87:8d35c74403af	4739	// is constant over the whole travel distance and the total
mjr	87:8d35c74403af	4740	// travel time is 50ms. The acceleration actually varies
mjr	87:8d35c74403af	4741	// slightly since it comes from the spring force, which
mjr	87:8d35c74403af	4742	// is linear in the displacement; but the plunger spring is
mjr	87:8d35c74403af	4743	// fairly compressed even when the plunger is all the way
mjr	87:8d35c74403af	4744	// forward, so the difference in tension from one end of
mjr	87:8d35c74403af	4745	// the travel to the other is fairly small, so it's not too
mjr	87:8d35c74403af	4746	// far off to model it as constant. And the real travel
mjr	87:8d35c74403af	4747	// time obviously isn't a constant, but all we need for
mjr	87:8d35c74403af	4748	// that is an upper bound. So: we'll figure the time since
mjr	87:8d35c74403af	4749	// we entered firing mode, and figure the distance we should
mjr	87:8d35c74403af	4750	// have traveled to complete the trip within the maximum
mjr	87:8d35c74403af	4751	// time allowed. If we've moved far enough, we'll stay
mjr	87:8d35c74403af	4752	// in firing mode; if not, we'll exit firing mode. And if
mjr	87:8d35c74403af	4753	// we cross the finish line while still in firing mode,
mjr	87:8d35c74403af	4754	// we'll switch to the next phase of the firing event.
mjr	50:40015764bbe6	4755	if (r.pos <= 0)
mjr	50:40015764bbe6	4756	{
mjr	87:8d35c74403af	4757	// We crossed the park position. Switch to the second
mjr	87:8d35c74403af	4758	// phase of the firing event, where we hold the reported
mjr	87:8d35c74403af	4759	// position at the "bounce" position (where the plunger
mjr	87:8d35c74403af	4760	// is all the way forward, compressing the barrel spring).
mjr	87:8d35c74403af	4761	// We'll stick here long enough to ensure that the PC
mjr	87:8d35c74403af	4762	// client (Visual Pinball or whatever) sees the reading
mjr	87:8d35c74403af	4763	// and processes the release motion via the simulated
mjr	87:8d35c74403af	4764	// physics.
mjr	50:40015764bbe6	4765	firingMode(2);
mjr	53:9b2611964afc	4766
mjr	53:9b2611964afc	4767	// if in calibration mode, and we're in state 2 (moving),
mjr	53:9b2611964afc	4768	// collect firing statistics for calibration purposes
mjr	53:9b2611964afc	4769	if (plungerCalMode && calState == 2)
mjr	53:9b2611964afc	4770	{
mjr	53:9b2611964afc	4771	// collect a new zero point for the average when we
mjr	53:9b2611964afc	4772	// come to rest
mjr	53:9b2611964afc	4773	calState = 0;
mjr	53:9b2611964afc	4774
mjr	87:8d35c74403af	4775	// collect average firing time statistics in millseconds,
mjr	87:8d35c74403af	4776	// if it's in range (20 to 255 ms)
mjr	87:8d35c74403af	4777	const int dt = uint32_t(r.t - f0.t)/1000UL;
mjr	87:8d35c74403af	4778	if (dt >= 15 && dt <= 255)
mjr	53:9b2611964afc	4779	{
mjr	53:9b2611964afc	4780	calRlsTimeSum += dt;
mjr	53:9b2611964afc	4781	calRlsTimeN += 1;
mjr	53:9b2611964afc	4782	cfg.plunger.cal.tRelease = uint8_t(calRlsTimeSum / calRlsTimeN);
mjr	53:9b2611964afc	4783	}
mjr	53:9b2611964afc	4784	}
mjr	87:8d35c74403af	4785
mjr	87:8d35c74403af	4786	// Figure the "bounce" position as forward of the park
mjr	87:8d35c74403af	4787	// position by 1/6 of the starting retraction distance.
mjr	87:8d35c74403af	4788	// This simulates the momentum of the plunger compressing
mjr	87:8d35c74403af	4789	// the barrel spring on the rebound. The barrel spring
mjr	87:8d35c74403af	4790	// can compress by about 1/6 of the maximum retraction
mjr	87:8d35c74403af	4791	// distance, so we'll simply treat its compression as
mjr	87:8d35c74403af	4792	// proportional to the retraction. (It might be more
mjr	87:8d35c74403af	4793	// realistic to use a slightly higher value here, maybe
mjr	87:8d35c74403af	4794	// 1/4 or 1/3 or the retraction distance, capping it at
mjr	87:8d35c74403af	4795	// a maximum of 1/6, because the real plunger probably
mjr	87:8d35c74403af	4796	// compresses the barrel spring by 100% with less than
mjr	87:8d35c74403af	4797	// 100% retraction. But that won't affect the physics
mjr	87:8d35c74403af	4798	// meaningfully, just the animation, and the effect is
mjr	87:8d35c74403af	4799	// small in any case.)
mjr	87:8d35c74403af	4800	z = f0.pos = -f0.pos / 6;
mjr	87:8d35c74403af	4801
mjr	87:8d35c74403af	4802	// reset the starting time for this phase
mjr	87:8d35c74403af	4803	f0.t = r.t;
mjr	50:40015764bbe6	4804	}
mjr	50:40015764bbe6	4805	else
mjr	50:40015764bbe6	4806	{
mjr	87:8d35c74403af	4807	// check for motion since the start of the firing event
mjr	87:8d35c74403af	4808	const uint32_t dt = uint32_t(r.t - f0.t);
mjr	87:8d35c74403af	4809	const uint32_t dt2 = dt*dt; // dt^2
mjr	87:8d35c74403af	4810	if (dt < 50000
mjr	87:8d35c74403af	4811	&& r.pos < f0.pos - int((f0.posacc2uint64_t(dt2)) >> 48))
mjr	87:8d35c74403af	4812	{
mjr	87:8d35c74403af	4813	// It's moving fast enough to still be in a release
mjr	87:8d35c74403af	4814	// motion. Continue reporting the start position, and
mjr	87:8d35c74403af	4815	// stay in the first release phase.
mjr	87:8d35c74403af	4816	z = f0.pos;
mjr	87:8d35c74403af	4817	}
mjr	87:8d35c74403af	4818	else
mjr	87:8d35c74403af	4819	{
mjr	87:8d35c74403af	4820	// It's not moving fast enough to be a release
mjr	87:8d35c74403af	4821	// motion. Return to the default state.
mjr	87:8d35c74403af	4822	firingMode(0);
mjr	87:8d35c74403af	4823	calState = 1;
mjr	87:8d35c74403af	4824	}
mjr	50:40015764bbe6	4825	}
mjr	50:40015764bbe6	4826	break;
mjr	50:40015764bbe6	4827
mjr	50:40015764bbe6	4828	case 2:
mjr	87:8d35c74403af	4829	// Firing mode, holding at forward compression position.
mjr	87:8d35c74403af	4830	// Hold here for 25ms.
mjr	87:8d35c74403af	4831	if (uint32_t(r.t - f0.t) < 25000)
mjr	50:40015764bbe6	4832	{
mjr	87:8d35c74403af	4833	// stay here for now
mjr	87:8d35c74403af	4834	z = f0.pos;
mjr	50:40015764bbe6	4835	}
mjr	50:40015764bbe6	4836	else
mjr	50:40015764bbe6	4837	{
mjr	87:8d35c74403af	4838	// advance to the next phase, where we report the park
mjr	87:8d35c74403af	4839	// position until the plunger comes to rest
mjr	50:40015764bbe6	4840	firingMode(3);
mjr	50:40015764bbe6	4841	z = 0;
mjr	87:8d35c74403af	4842
mjr	87:8d35c74403af	4843	// remember when we started
mjr	87:8d35c74403af	4844	f0.t = r.t;
mjr	50:40015764bbe6	4845	}
mjr	50:40015764bbe6	4846	break;
mjr	50:40015764bbe6	4847
mjr	50:40015764bbe6	4848	case 3:
mjr	87:8d35c74403af	4849	// Firing event, holding at park position. Stay here for
mjr	87:8d35c74403af	4850	// a few moments so that the PC client can simulate the
mjr	87:8d35c74403af	4851	// full release motion, then return to real readings.
mjr	87:8d35c74403af	4852	if (uint32_t(r.t - f0.t) < 250000)
mjr	50:40015764bbe6	4853	{
mjr	87:8d35c74403af	4854	// stay here a while longer
mjr	87:8d35c74403af	4855	z = 0;
mjr	50:40015764bbe6	4856	}
mjr	50:40015764bbe6	4857	else
mjr	50:40015764bbe6	4858	{
mjr	87:8d35c74403af	4859	// it's been long enough - return to normal mode
mjr	87:8d35c74403af	4860	firingMode(0);
mjr	50:40015764bbe6	4861	}
mjr	50:40015764bbe6	4862	break;
mjr	50:40015764bbe6	4863	}
mjr	50:40015764bbe6	4864
mjr	82:4f6209cb5c33	4865	// Check for auto-zeroing, if enabled
mjr	82:4f6209cb5c33	4866	if ((cfg.plunger.autoZero.flags & PlungerAutoZeroEnabled) != 0)
mjr	82:4f6209cb5c33	4867	{
mjr	82:4f6209cb5c33	4868	// If we moved since the last reading, reset and restart the
mjr	82:4f6209cb5c33	4869	// auto-zero timer. Otherwise, if the timer has reached the
mjr	82:4f6209cb5c33	4870	// auto-zero timeout, it means we've been motionless for that
mjr	82:4f6209cb5c33	4871	// long, so auto-zero now.
mjr	82:4f6209cb5c33	4872	if (r.pos != prv.pos)
mjr	82:4f6209cb5c33	4873	{
mjr	82:4f6209cb5c33	4874	// movement detected - reset the timer
mjr	82:4f6209cb5c33	4875	autoZeroTimer.reset();
mjr	82:4f6209cb5c33	4876	autoZeroTimer.start();
mjr	82:4f6209cb5c33	4877	}
mjr	82:4f6209cb5c33	4878	else if (autoZeroTimer.read_us() > cfg.plunger.autoZero.t * 1000000UL)
mjr	82:4f6209cb5c33	4879	{
mjr	82:4f6209cb5c33	4880	// auto-zero now
mjr	82:4f6209cb5c33	4881	plungerSensor->autoZero();
mjr	82:4f6209cb5c33	4882
mjr	82:4f6209cb5c33	4883	// stop the timer so that we don't keep repeating this
mjr	82:4f6209cb5c33	4884	// if the plunger stays still for a long time
mjr	82:4f6209cb5c33	4885	autoZeroTimer.stop();
mjr	82:4f6209cb5c33	4886	autoZeroTimer.reset();
mjr	82:4f6209cb5c33	4887	}
mjr	82:4f6209cb5c33	4888	}
mjr	82:4f6209cb5c33	4889
mjr	87:8d35c74403af	4890	// this new reading becomes the previous reading for next time
mjr	87:8d35c74403af	4891	prv = r;
mjr	48:058ace2aed1d	4892	}
mjr	48:058ace2aed1d	4893	}
mjr	48:058ace2aed1d	4894
mjr	48:058ace2aed1d	4895	// Get the current value to report through the joystick interface
mjr	58:523fdcffbe6d	4896	int16_t getPosition()
mjr	58:523fdcffbe6d	4897	{
mjr	86:e30a1f60f783	4898	// return the last reading
mjr	86:e30a1f60f783	4899	return z;
mjr	55:4db125cd11a0	4900	}
mjr	58:523fdcffbe6d	4901
mjr	48:058ace2aed1d	4902	// Set calibration mode on or off
mjr	52:8298b2a73eb2	4903	void setCalMode(bool f)
mjr	48:058ace2aed1d	4904	{
mjr	52:8298b2a73eb2	4905	// check to see if we're entering calibration mode
mjr	52:8298b2a73eb2	4906	if (f && !plungerCalMode)
mjr	52:8298b2a73eb2	4907	{
mjr	52:8298b2a73eb2	4908	// reset the calibration in the configuration
mjr	48:058ace2aed1d	4909	cfg.plunger.cal.begin();
mjr	52:8298b2a73eb2	4910
mjr	52:8298b2a73eb2	4911	// start in state 0 (waiting to settle)
mjr	52:8298b2a73eb2	4912	calState = 0;
mjr	52:8298b2a73eb2	4913	calZeroPosSum = 0;
mjr	52:8298b2a73eb2	4914	calZeroPosN = 0;
mjr	52:8298b2a73eb2	4915	calRlsTimeSum = 0;
mjr	52:8298b2a73eb2	4916	calRlsTimeN = 0;
mjr	52:8298b2a73eb2	4917
mjr	82:4f6209cb5c33	4918	// tell the plunger we're starting calibration
mjr	82:4f6209cb5c33	4919	plungerSensor->beginCalibration();
mjr	82:4f6209cb5c33	4920
mjr	52:8298b2a73eb2	4921	// set the initial zero point to the current position
mjr	52:8298b2a73eb2	4922	PlungerReading r;
mjr	52:8298b2a73eb2	4923	if (plungerSensor->read(r))
mjr	52:8298b2a73eb2	4924	{
mjr	52:8298b2a73eb2	4925	// got a reading - use it as the initial zero point
mjr	52:8298b2a73eb2	4926	cfg.plunger.cal.zero = r.pos;
mjr	76:7f5912b6340e	4927	onUpdateCal();
mjr	52:8298b2a73eb2	4928
mjr	52:8298b2a73eb2	4929	// use it as the starting point for the settling watch
mjr	53:9b2611964afc	4930	calZeroStart = r;
mjr	52:8298b2a73eb2	4931	}
mjr	52:8298b2a73eb2	4932	else
mjr	52:8298b2a73eb2	4933	{
mjr	52:8298b2a73eb2	4934	// no reading available - use the default 1/6 position
mjr	52:8298b2a73eb2	4935	cfg.plunger.cal.zero = 0xffff/6;
mjr	76:7f5912b6340e	4936	onUpdateCal();
mjr	52:8298b2a73eb2	4937
mjr	52:8298b2a73eb2	4938	// we don't have a starting point for the setting watch
mjr	53:9b2611964afc	4939	calZeroStart.pos = -65535;
mjr	53:9b2611964afc	4940	calZeroStart.t = 0;
mjr	53:9b2611964afc	4941	}
mjr	53:9b2611964afc	4942	}
mjr	53:9b2611964afc	4943	else if (!f && plungerCalMode)
mjr	53:9b2611964afc	4944	{
mjr	53:9b2611964afc	4945	// Leaving calibration mode. Make sure the max is past the
mjr	53:9b2611964afc	4946	// zero point - if it's not, we'd have a zero or negative
mjr	53:9b2611964afc	4947	// denominator for the scaling calculation, which would be
mjr	53:9b2611964afc	4948	// physically meaningless.
mjr	53:9b2611964afc	4949	if (cfg.plunger.cal.max <= cfg.plunger.cal.zero)
mjr	53:9b2611964afc	4950	{
mjr	53:9b2611964afc	4951	// bad settings - reset to defaults
mjr	53:9b2611964afc	4952	cfg.plunger.cal.max = 0xffff;
mjr	53:9b2611964afc	4953	cfg.plunger.cal.zero = 0xffff/6;
mjr	76:7f5912b6340e	4954	onUpdateCal();
mjr	52:8298b2a73eb2	4955	}
mjr	52:8298b2a73eb2	4956	}
mjr	52:8298b2a73eb2	4957
mjr	48:058ace2aed1d	4958	// remember the new mode
mjr	52:8298b2a73eb2	4959	plungerCalMode = f;
mjr	48:058ace2aed1d	4960	}
mjr	48:058ace2aed1d	4961
mjr	76:7f5912b6340e	4962	// Cached inverse of the calibration range. This is for calculating
mjr	76:7f5912b6340e	4963	// the calibrated plunger position given a raw sensor reading. The
mjr	76:7f5912b6340e	4964	// cached inverse is calculated as
mjr	76:7f5912b6340e	4965	//
mjr	76:7f5912b6340e	4966	// 64K * JOYMAX / (cfg.plunger.cal.max - cfg.plunger.cal.zero)
mjr	76:7f5912b6340e	4967	//
mjr	76:7f5912b6340e	4968	// To convert a raw sensor reading to a calibrated position, calculate
mjr	76:7f5912b6340e	4969	//
mjr	76:7f5912b6340e	4970	// ((reading - cfg.plunger.cal.zero)*invCalRange) >> 16
mjr	76:7f5912b6340e	4971	//
mjr	76:7f5912b6340e	4972	// That yields the calibration result without performing a division.
mjr	76:7f5912b6340e	4973	int invCalRange;
mjr	76:7f5912b6340e	4974
mjr	76:7f5912b6340e	4975	// apply the calibration range to a reading
mjr	76:7f5912b6340e	4976	inline int applyCal(int reading)
mjr	76:7f5912b6340e	4977	{
mjr	76:7f5912b6340e	4978	return ((reading - cfg.plunger.cal.zero)*invCalRange) >> 16;
mjr	76:7f5912b6340e	4979	}
mjr	76:7f5912b6340e	4980
mjr	76:7f5912b6340e	4981	void onUpdateCal()
mjr	76:7f5912b6340e	4982	{
mjr	76:7f5912b6340e	4983	invCalRange = (JOYMAX << 16)/(cfg.plunger.cal.max - cfg.plunger.cal.zero);
mjr	76:7f5912b6340e	4984	}
mjr	76:7f5912b6340e	4985
mjr	48:058ace2aed1d	4986	// is a firing event in progress?
mjr	53:9b2611964afc	4987	bool isFiring() { return firing == 3; }
mjr	76:7f5912b6340e	4988
mjr	48:058ace2aed1d	4989	private:
mjr	87:8d35c74403af	4990	// current reported joystick reading
mjr	87:8d35c74403af	4991	int z;
mjr	87:8d35c74403af	4992
mjr	87:8d35c74403af	4993	// previous reading
mjr	87:8d35c74403af	4994	PlungerReading prv;
mjr	87:8d35c74403af	4995
mjr	52:8298b2a73eb2	4996	// Calibration state. During calibration mode, we watch for release
mjr	52:8298b2a73eb2	4997	// events, to measure the time it takes to complete the release
mjr	52:8298b2a73eb2	4998	// motion; and we watch for the plunger to come to reset after a
mjr	52:8298b2a73eb2	4999	// release, to gather statistics on the rest position.
mjr	52:8298b2a73eb2	5000	// 0 = waiting to settle
mjr	52:8298b2a73eb2	5001	// 1 = at rest
mjr	52:8298b2a73eb2	5002	// 2 = retracting
mjr	52:8298b2a73eb2	5003	// 3 = possibly releasing
mjr	52:8298b2a73eb2	5004	uint8_t calState;
mjr	52:8298b2a73eb2	5005
mjr	52:8298b2a73eb2	5006	// Calibration zero point statistics.
mjr	52:8298b2a73eb2	5007	// During calibration mode, we collect data on the rest position (the
mjr	52:8298b2a73eb2	5008	// zero point) by watching for the plunger to come to rest after each
mjr	52:8298b2a73eb2	5009	// release. We average these rest positions to get the calibrated
mjr	52:8298b2a73eb2	5010	// zero point. We use the average because the real physical plunger
mjr	52:8298b2a73eb2	5011	// itself doesn't come to rest at exactly the same spot every time,
mjr	52:8298b2a73eb2	5012	// largely due to friction in the mechanism. To calculate the average,
mjr	52:8298b2a73eb2	5013	// we keep a sum of the readings and a count of samples.
mjr	53:9b2611964afc	5014	PlungerReading calZeroStart;
mjr	52:8298b2a73eb2	5015	long calZeroPosSum;
mjr	52:8298b2a73eb2	5016	int calZeroPosN;
mjr	52:8298b2a73eb2	5017
mjr	52:8298b2a73eb2	5018	// Calibration release time statistics.
mjr	52:8298b2a73eb2	5019	// During calibration, we collect an average for the release time.
mjr	52:8298b2a73eb2	5020	long calRlsTimeSum;
mjr	52:8298b2a73eb2	5021	int calRlsTimeN;
mjr	52:8298b2a73eb2	5022
mjr	85:3c28aee81cde	5023	// Auto-zeroing timer
mjr	85:3c28aee81cde	5024	Timer autoZeroTimer;
mjr	85:3c28aee81cde	5025
mjr	48:058ace2aed1d	5026	// set a firing mode
mjr	48:058ace2aed1d	5027	inline void firingMode(int m)
mjr	48:058ace2aed1d	5028	{
mjr	48:058ace2aed1d	5029	firing = m;
mjr	48:058ace2aed1d	5030	}
mjr	48:058ace2aed1d	5031
mjr	48:058ace2aed1d	5032	// Firing event state.
mjr	48:058ace2aed1d	5033	//
mjr	87:8d35c74403af	5034	// 0 - Default state: not in firing event. We report the true
mjr	87:8d35c74403af	5035	// instantaneous plunger position to the joystick interface.
mjr	48:058ace2aed1d	5036	//
mjr	87:8d35c74403af	5037	// 1 - Moving forward at release speed
mjr	48:058ace2aed1d	5038	//
mjr	87:8d35c74403af	5039	// 2 - Firing - reporting the bounce position
mjr	87:8d35c74403af	5040	//
mjr	87:8d35c74403af	5041	// 3 - Firing - reporting the park position
mjr	48:058ace2aed1d	5042	//
mjr	48:058ace2aed1d	5043	int firing;
mjr	48:058ace2aed1d	5044
mjr	87:8d35c74403af	5045	// Starting position for current firing mode phase
mjr	87:8d35c74403af	5046	PlungerReading f0;
mjr	48:058ace2aed1d	5047	};
mjr	48:058ace2aed1d	5048
mjr	48:058ace2aed1d	5049	// plunger reader singleton
mjr	48:058ace2aed1d	5050	PlungerReader plungerReader;
mjr	48:058ace2aed1d	5051
mjr	48:058ace2aed1d	5052	// ---------------------------------------------------------------------------
mjr	48:058ace2aed1d	5053	//
mjr	48:058ace2aed1d	5054	// Handle the ZB Launch Ball feature.
mjr	48:058ace2aed1d	5055	//
mjr	48:058ace2aed1d	5056	// The ZB Launch Ball feature, if enabled, lets the mechanical plunger
mjr	48:058ace2aed1d	5057	// serve as a substitute for a physical Launch Ball button. When a table
mjr	48:058ace2aed1d	5058	// is loaded in VP, and the table has the ZB Launch Ball LedWiz port
mjr	48:058ace2aed1d	5059	// turned on, we'll disable mechanical plunger reports through the
mjr	48:058ace2aed1d	5060	// joystick interface and instead use the plunger only to simulate the
mjr	48:058ace2aed1d	5061	// Launch Ball button. When the mode is active, pulling back and
mjr	48:058ace2aed1d	5062	// releasing the plunger causes a brief simulated press of the Launch
mjr	48:058ace2aed1d	5063	// button, and pushing the plunger forward of the rest position presses
mjr	48:058ace2aed1d	5064	// the Launch button as long as the plunger is pressed forward.
mjr	48:058ace2aed1d	5065	//
mjr	48:058ace2aed1d	5066	// This feature has two configuration components:
mjr	48:058ace2aed1d	5067	//
mjr	48:058ace2aed1d	5068	// - An LedWiz port number. This port is a "virtual" port that doesn't
mjr	48:058ace2aed1d	5069	// have to be attached to any actual output. DOF uses it to signal
mjr	48:058ace2aed1d	5070	// that the current table uses a Launch button instead of a plunger.
mjr	48:058ace2aed1d	5071	// DOF simply turns the port on when such a table is loaded and turns
mjr	48:058ace2aed1d	5072	// it off at all other times. We use it to enable and disable the
mjr	48:058ace2aed1d	5073	// plunger/launch button connection.
mjr	48:058ace2aed1d	5074	//
mjr	48:058ace2aed1d	5075	// - A joystick button ID. We simulate pressing this button when the
mjr	48:058ace2aed1d	5076	// launch feature is activated via the LedWiz port and the plunger is
mjr	48:058ace2aed1d	5077	// either pulled back and releasd, or pushed forward past the rest
mjr	48:058ace2aed1d	5078	// position.
mjr	48:058ace2aed1d	5079	//
mjr	48:058ace2aed1d	5080	class ZBLaunchBall
mjr	48:058ace2aed1d	5081	{
mjr	48:058ace2aed1d	5082	public:
mjr	48:058ace2aed1d	5083	ZBLaunchBall()
mjr	48:058ace2aed1d	5084	{
mjr	48:058ace2aed1d	5085	// start in the default state
mjr	48:058ace2aed1d	5086	lbState = 0;
mjr	53:9b2611964afc	5087	btnState = false;
mjr	48:058ace2aed1d	5088	}
mjr	48:058ace2aed1d	5089
mjr	48:058ace2aed1d	5090	// Update state. This checks the current plunger position and
mjr	48:058ace2aed1d	5091	// the timers to see if the plunger is in a position that simulates
mjr	48:058ace2aed1d	5092	// a Launch Ball button press via the ZB Launch Ball feature.
mjr	48:058ace2aed1d	5093	// Updates the simulated button vector according to the current
mjr	48:058ace2aed1d	5094	// launch ball state. The main loop calls this before each
mjr	48:058ace2aed1d	5095	// joystick update to figure the new simulated button state.
mjr	53:9b2611964afc	5096	void update()
mjr	48:058ace2aed1d	5097	{
mjr	53:9b2611964afc	5098	// If the ZB Launch Ball led wiz output is ON, check for a
mjr	53:9b2611964afc	5099	// plunger firing event
mjr	53:9b2611964afc	5100	if (zbLaunchOn)
mjr	48:058ace2aed1d	5101	{
mjr	53:9b2611964afc	5102	// note the new position
mjr	48:058ace2aed1d	5103	int znew = plungerReader.getPosition();
mjr	53:9b2611964afc	5104
mjr	53:9b2611964afc	5105	// figure the push threshold from the configuration data
mjr	51:57eb311faafa	5106	const int pushThreshold = int(-JOYMAX/3.0 * cfg.plunger.zbLaunchBall.pushDistance/1000.0);
mjr	53:9b2611964afc	5107
mjr	53:9b2611964afc	5108	// check the state
mjr	48:058ace2aed1d	5109	switch (lbState)
mjr	48:058ace2aed1d	5110	{
mjr	48:058ace2aed1d	5111	case 0:
mjr	53:9b2611964afc	5112	// Default state. If a launch event has been detected on
mjr	53:9b2611964afc	5113	// the plunger, activate a timed pulse and switch to state 1.
mjr	53:9b2611964afc	5114	// If the plunger is pushed forward of the threshold, push
mjr	53:9b2611964afc	5115	// the button.
mjr	53:9b2611964afc	5116	if (plungerReader.isFiring())
mjr	53:9b2611964afc	5117	{
mjr	53:9b2611964afc	5118	// firing event - start a timed Launch button pulse
mjr	53:9b2611964afc	5119	lbTimer.reset();
mjr	53:9b2611964afc	5120	lbTimer.start();
mjr	53:9b2611964afc	5121	setButton(true);
mjr	53:9b2611964afc	5122
mjr	53:9b2611964afc	5123	// switch to state 1
mjr	53:9b2611964afc	5124	lbState = 1;
mjr	53:9b2611964afc	5125	}
mjr	48:058ace2aed1d	5126	else if (znew <= pushThreshold)
mjr	53:9b2611964afc	5127	{
mjr	53:9b2611964afc	5128	// pushed forward without a firing event - hold the
mjr	53:9b2611964afc	5129	// button as long as we're pushed forward
mjr	53:9b2611964afc	5130	setButton(true);
mjr	53:9b2611964afc	5131	}
mjr	53:9b2611964afc	5132	else
mjr	53:9b2611964afc	5133	{
mjr	53:9b2611964afc	5134	// not pushed forward - turn off the Launch button
mjr	53:9b2611964afc	5135	setButton(false);
mjr	53:9b2611964afc	5136	}
mjr	48:058ace2aed1d	5137	break;
mjr	48:058ace2aed1d	5138
mjr	48:058ace2aed1d	5139	case 1:
mjr	53:9b2611964afc	5140	// State 1: Timed Launch button pulse in progress after a
mjr	53:9b2611964afc	5141	// firing event. Wait for the timer to expire.
mjr	53:9b2611964afc	5142	if (lbTimer.read_us() > 200000UL)
mjr	53:9b2611964afc	5143	{
mjr	53:9b2611964afc	5144	// timer expired - turn off the button
mjr	53:9b2611964afc	5145	setButton(false);
mjr	53:9b2611964afc	5146
mjr	53:9b2611964afc	5147	// switch to state 2
mjr	53:9b2611964afc	5148	lbState = 2;
mjr	53:9b2611964afc	5149	}
mjr	48:058ace2aed1d	5150	break;
mjr	48:058ace2aed1d	5151
mjr	48:058ace2aed1d	5152	case 2:
mjr	53:9b2611964afc	5153	// State 2: Timed Launch button pulse done. Wait for the
mjr	53:9b2611964afc	5154	// plunger launch event to end.
mjr	53:9b2611964afc	5155	if (!plungerReader.isFiring())
mjr	53:9b2611964afc	5156	{
mjr	53:9b2611964afc	5157	// firing event done - return to default state
mjr	53:9b2611964afc	5158	lbState = 0;
mjr	53:9b2611964afc	5159	}
mjr	48:058ace2aed1d	5160	break;
mjr	48:058ace2aed1d	5161	}
mjr	53:9b2611964afc	5162	}
mjr	53:9b2611964afc	5163	else
mjr	53:9b2611964afc	5164	{
mjr	53:9b2611964afc	5165	// ZB Launch Ball disabled - turn off the button if it was on
mjr	53:9b2611964afc	5166	setButton(false);
mjr	48:058ace2aed1d	5167
mjr	53:9b2611964afc	5168	// return to the default state
mjr	53:9b2611964afc	5169	lbState = 0;
mjr	48:058ace2aed1d	5170	}
mjr	48:058ace2aed1d	5171	}
mjr	53:9b2611964afc	5172
mjr	53:9b2611964afc	5173	// Set the button state
mjr	53:9b2611964afc	5174	void setButton(bool on)
mjr	53:9b2611964afc	5175	{
mjr	53:9b2611964afc	5176	if (btnState != on)
mjr	53:9b2611964afc	5177	{
mjr	53:9b2611964afc	5178	// remember the new state
mjr	53:9b2611964afc	5179	btnState = on;
mjr	53:9b2611964afc	5180
mjr	53:9b2611964afc	5181	// update the virtual button state
mjr	65:739875521aae	5182	buttonState[zblButtonIndex].virtPress(on);
mjr	53:9b2611964afc	5183	}
mjr	53:9b2611964afc	5184	}
mjr	53:9b2611964afc	5185
mjr	48:058ace2aed1d	5186	private:
mjr	48:058ace2aed1d	5187	// Simulated Launch Ball button state. If a "ZB Launch Ball" port is
mjr	48:058ace2aed1d	5188	// defined for our LedWiz port mapping, any time that port is turned ON,
mjr	48:058ace2aed1d	5189	// we'll simulate pushing the Launch Ball button if the player pulls
mjr	48:058ace2aed1d	5190	// back and releases the plunger, or simply pushes on the plunger from
mjr	48:058ace2aed1d	5191	// the rest position. This allows the plunger to be used in lieu of a
mjr	48:058ace2aed1d	5192	// physical Launch Ball button for tables that don't have plungers.
mjr	48:058ace2aed1d	5193	//
mjr	48:058ace2aed1d	5194	// States:
mjr	48:058ace2aed1d	5195	// 0 = default
mjr	53:9b2611964afc	5196	// 1 = firing (firing event has activated a Launch button pulse)
mjr	53:9b2611964afc	5197	// 2 = firing done (Launch button pulse ended, waiting for plunger
mjr	53:9b2611964afc	5198	// firing event to end)
mjr	53:9b2611964afc	5199	uint8_t lbState;
mjr	48:058ace2aed1d	5200
mjr	53:9b2611964afc	5201	// button state
mjr	53:9b2611964afc	5202	bool btnState;
mjr	48:058ace2aed1d	5203
mjr	48:058ace2aed1d	5204	// Time since last lbState transition. Some of the states are time-
mjr	48:058ace2aed1d	5205	// sensitive. In the "uncocked" state, we'll return to state 0 if
mjr	48:058ace2aed1d	5206	// we remain in this state for more than a few milliseconds, since
mjr	48:058ace2aed1d	5207	// it indicates that the plunger is being slowly returned to rest
mjr	48:058ace2aed1d	5208	// rather than released. In the "launching" state, we need to release
mjr	48:058ace2aed1d	5209	// the Launch Ball button after a moment, and we need to wait for
mjr	48:058ace2aed1d	5210	// the plunger to come to rest before returning to state 0.
mjr	48:058ace2aed1d	5211	Timer lbTimer;
mjr	48:058ace2aed1d	5212	};
mjr	48:058ace2aed1d	5213
mjr	35:e959ffba78fd	5214	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	5215	//
mjr	35:e959ffba78fd	5216	// Reboot - resets the microcontroller
mjr	35:e959ffba78fd	5217	//
mjr	54:fd77a6b2f76c	5218	void reboot(USBJoystick &js, bool disconnect = true, long pause_us = 2000000L)
mjr	35:e959ffba78fd	5219	{
mjr	35:e959ffba78fd	5220	// disconnect from USB
mjr	54:fd77a6b2f76c	5221	if (disconnect)
mjr	54:fd77a6b2f76c	5222	js.disconnect();
mjr	35:e959ffba78fd	5223
mjr	35:e959ffba78fd	5224	// wait a few seconds to make sure the host notices the disconnect
mjr	54:fd77a6b2f76c	5225	wait_us(pause_us);
mjr	35:e959ffba78fd	5226
mjr	35:e959ffba78fd	5227	// reset the device
mjr	35:e959ffba78fd	5228	NVIC_SystemReset();
mjr	35:e959ffba78fd	5229	while (true) { }
mjr	35:e959ffba78fd	5230	}
mjr	35:e959ffba78fd	5231
mjr	35:e959ffba78fd	5232	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	5233	//
mjr	35:e959ffba78fd	5234	// Translate joystick readings from raw values to reported values, based
mjr	35:e959ffba78fd	5235	// on the orientation of the controller card in the cabinet.
mjr	35:e959ffba78fd	5236	//
mjr	35:e959ffba78fd	5237	void accelRotate(int &x, int &y)
mjr	35:e959ffba78fd	5238	{
mjr	35:e959ffba78fd	5239	int tmp;
mjr	78:1e00b3fa11af	5240	switch (cfg.accel.orientation)
mjr	35:e959ffba78fd	5241	{
mjr	35:e959ffba78fd	5242	case OrientationFront:
mjr	35:e959ffba78fd	5243	tmp = x;
mjr	35:e959ffba78fd	5244	x = y;
mjr	35:e959ffba78fd	5245	y = tmp;
mjr	35:e959ffba78fd	5246	break;
mjr	35:e959ffba78fd	5247
mjr	35:e959ffba78fd	5248	case OrientationLeft:
mjr	35:e959ffba78fd	5249	x = -x;
mjr	35:e959ffba78fd	5250	break;
mjr	35:e959ffba78fd	5251
mjr	35:e959ffba78fd	5252	case OrientationRight:
mjr	35:e959ffba78fd	5253	y = -y;
mjr	35:e959ffba78fd	5254	break;
mjr	35:e959ffba78fd	5255
mjr	35:e959ffba78fd	5256	case OrientationRear:
mjr	35:e959ffba78fd	5257	tmp = -x;
mjr	35:e959ffba78fd	5258	x = -y;
mjr	35:e959ffba78fd	5259	y = tmp;
mjr	35:e959ffba78fd	5260	break;
mjr	35:e959ffba78fd	5261	}
mjr	35:e959ffba78fd	5262	}
mjr	35:e959ffba78fd	5263
mjr	35:e959ffba78fd	5264	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	5265	//
mjr	35:e959ffba78fd	5266	// Calibration button state:
mjr	35:e959ffba78fd	5267	// 0 = not pushed
mjr	35:e959ffba78fd	5268	// 1 = pushed, not yet debounced
mjr	35:e959ffba78fd	5269	// 2 = pushed, debounced, waiting for hold time
mjr	35:e959ffba78fd	5270	// 3 = pushed, hold time completed - in calibration mode
mjr	35:e959ffba78fd	5271	int calBtnState = 0;
mjr	35:e959ffba78fd	5272
mjr	35:e959ffba78fd	5273	// calibration button debounce timer
mjr	35:e959ffba78fd	5274	Timer calBtnTimer;
mjr	35:e959ffba78fd	5275
mjr	35:e959ffba78fd	5276	// calibration button light state
mjr	35:e959ffba78fd	5277	int calBtnLit = false;
mjr	35:e959ffba78fd	5278
mjr	35:e959ffba78fd	5279
mjr	35:e959ffba78fd	5280	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	5281	//
mjr	40:cc0d9814522b	5282	// Configuration variable get/set message handling
mjr	35:e959ffba78fd	5283	//
mjr	40:cc0d9814522b	5284
mjr	40:cc0d9814522b	5285	// Handle SET messages - write configuration variables from USB message data
mjr	40:cc0d9814522b	5286	#define if_msg_valid(test) if (test)
mjr	53:9b2611964afc	5287	#define v_byte(var, ofs) cfg.var = data[ofs]
mjr	53:9b2611964afc	5288	#define v_ui16(var, ofs) cfg.var = wireUI16(data+(ofs))
mjr	77:0b96f6867312	5289	#define v_ui32(var, ofs) cfg.var = wireUI32(data+(ofs))
mjr	53:9b2611964afc	5290	#define v_pin(var, ofs) cfg.var = wirePinName(data[ofs])
mjr	53:9b2611964afc	5291	#define v_byte_ro(val, ofs) // ignore read-only variables on SET
mjr	74:822a92bc11d2	5292	#define v_ui32_ro(val, ofs) // ignore read-only variables on SET
mjr	74:822a92bc11d2	5293	#define VAR_MODE_SET 1 // we're in SET mode
mjr	76:7f5912b6340e	5294	#define v_func configVarSet(const uint8_t *data)
mjr	40:cc0d9814522b	5295	#include "cfgVarMsgMap.h"
mjr	35:e959ffba78fd	5296
mjr	40:cc0d9814522b	5297	// redefine everything for the SET messages
mjr	40:cc0d9814522b	5298	#undef if_msg_valid
mjr	40:cc0d9814522b	5299	#undef v_byte
mjr	40:cc0d9814522b	5300	#undef v_ui16
mjr	77:0b96f6867312	5301	#undef v_ui32
mjr	40:cc0d9814522b	5302	#undef v_pin
mjr	53:9b2611964afc	5303	#undef v_byte_ro
mjr	74:822a92bc11d2	5304	#undef v_ui32_ro
mjr	74:822a92bc11d2	5305	#undef VAR_MODE_SET
mjr	40:cc0d9814522b	5306	#undef v_func
mjr	38:091e511ce8a0	5307
mjr	40:cc0d9814522b	5308	// Handle GET messages - read variable values and return in USB message daa
mjr	40:cc0d9814522b	5309	#define if_msg_valid(test)
mjr	53:9b2611964afc	5310	#define v_byte(var, ofs) data[ofs] = cfg.var
mjr	53:9b2611964afc	5311	#define v_ui16(var, ofs) ui16Wire(data+(ofs), cfg.var)
mjr	77:0b96f6867312	5312	#define v_ui32(var, ofs) ui32Wire(data+(ofs), cfg.var)
mjr	53:9b2611964afc	5313	#define v_pin(var, ofs) pinNameWire(data+(ofs), cfg.var)
mjr	73:4e8ce0b18915	5314	#define v_byte_ro(val, ofs) data[ofs] = (val)
mjr	74:822a92bc11d2	5315	#define v_ui32_ro(val, ofs) ui32Wire(data+(ofs), val);
mjr	74:822a92bc11d2	5316	#define VAR_MODE_SET 0 // we're in GET mode
mjr	76:7f5912b6340e	5317	#define v_func configVarGet(uint8_t *data)
mjr	40:cc0d9814522b	5318	#include "cfgVarMsgMap.h"
mjr	40:cc0d9814522b	5319
mjr	35:e959ffba78fd	5320
mjr	35:e959ffba78fd	5321	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	5322	//
mjr	35:e959ffba78fd	5323	// Handle an input report from the USB host. Input reports use our extended
mjr	35:e959ffba78fd	5324	// LedWiz protocol.
mjr	33:d832bcab089e	5325	//
mjr	78:1e00b3fa11af	5326	void handleInputMsg(LedWizMsg &lwm, USBJoystick &js, Accel &accel)
mjr	35:e959ffba78fd	5327	{
mjr	38:091e511ce8a0	5328	// LedWiz commands come in two varieties: SBA and PBA. An
mjr	38:091e511ce8a0	5329	// SBA is marked by the first byte having value 64 (0x40). In
mjr	38:091e511ce8a0	5330	// the real LedWiz protocol, any other value in the first byte
mjr	38:091e511ce8a0	5331	// means it's a PBA message. However, valid PBA messages
mjr	38:091e511ce8a0	5332	// always have a first byte (and in fact all 8 bytes) in the
mjr	38:091e511ce8a0	5333	// range 0-49 or 129-132. Anything else is invalid. We take
mjr	38:091e511ce8a0	5334	// advantage of this to implement private protocol extensions.
mjr	38:091e511ce8a0	5335	// So our full protocol is as follows:
mjr	38:091e511ce8a0	5336	//
mjr	38:091e511ce8a0	5337	// first byte =
mjr	74:822a92bc11d2	5338	// 0-48 -> PBA
mjr	74:822a92bc11d2	5339	// 64 -> SBA
mjr	38:091e511ce8a0	5340	// 65 -> private control message; second byte specifies subtype
mjr	74:822a92bc11d2	5341	// 129-132 -> PBA
mjr	38:091e511ce8a0	5342	// 200-228 -> extended bank brightness set for outputs N to N+6, where
mjr	38:091e511ce8a0	5343	// N is (first byte - 200)*7
mjr	38:091e511ce8a0	5344	// other -> reserved for future use
mjr	38:091e511ce8a0	5345	//
mjr	39:b3815a1c3802	5346	uint8_t *data = lwm.data;
mjr	74:822a92bc11d2	5347	if (data[0] == 64)
mjr	35:e959ffba78fd	5348	{
mjr	74:822a92bc11d2	5349	// 64 = SBA (original LedWiz command to set on/off switches for ports 1-32)
mjr	74:822a92bc11d2	5350	//printf("SBA %02x %02x %02x %02x, speed %02x\r\n",
mjr	38:091e511ce8a0	5351	// data[1], data[2], data[3], data[4], data[5]);
mjr	74:822a92bc11d2	5352	sba_sbx(0, data);
mjr	74:822a92bc11d2	5353
mjr	74:822a92bc11d2	5354	// SBA resets the PBA port group counter
mjr	38:091e511ce8a0	5355	pbaIdx = 0;
mjr	38:091e511ce8a0	5356	}
mjr	38:091e511ce8a0	5357	else if (data[0] == 65)
mjr	38:091e511ce8a0	5358	{
mjr	38:091e511ce8a0	5359	// Private control message. This isn't an LedWiz message - it's
mjr	38:091e511ce8a0	5360	// an extension for this device. 65 is an invalid PBA setting,
mjr	38:091e511ce8a0	5361	// and isn't used for any other LedWiz message, so we appropriate
mjr	38:091e511ce8a0	5362	// it for our own private use. The first byte specifies the
mjr	38:091e511ce8a0	5363	// message type.
mjr	39:b3815a1c3802	5364	switch (data[1])
mjr	38:091e511ce8a0	5365	{
mjr	39:b3815a1c3802	5366	case 0:
mjr	39:b3815a1c3802	5367	// No Op
mjr	39:b3815a1c3802	5368	break;
mjr	39:b3815a1c3802	5369
mjr	39:b3815a1c3802	5370	case 1:
mjr	38:091e511ce8a0	5371	// 1 = Old Set Configuration:
mjr	38:091e511ce8a0	5372	// data[2] = LedWiz unit number (0x00 to 0x0f)
mjr	38:091e511ce8a0	5373	// data[3] = feature enable bit mask:
mjr	38:091e511ce8a0	5374	// 0x01 = enable plunger sensor
mjr	39:b3815a1c3802	5375	{
mjr	39:b3815a1c3802	5376
mjr	39:b3815a1c3802	5377	// get the new LedWiz unit number - this is 0-15, whereas we
mjr	39:b3815a1c3802	5378	// we save the nominal unit number 1-16 in the config
mjr	39:b3815a1c3802	5379	uint8_t newUnitNo = (data[2] & 0x0f) + 1;
mjr	39:b3815a1c3802	5380
mjr	86:e30a1f60f783	5381	// we'll need a reboot if the LedWiz unit number is changing
mjr	86:e30a1f60f783	5382	bool reboot = (newUnitNo != cfg.psUnitNo);
mjr	39:b3815a1c3802	5383
mjr	39:b3815a1c3802	5384	// set the configuration parameters from the message
mjr	39:b3815a1c3802	5385	cfg.psUnitNo = newUnitNo;
mjr	39:b3815a1c3802	5386	cfg.plunger.enabled = data[3] & 0x01;
mjr	39:b3815a1c3802	5387
mjr	77:0b96f6867312	5388	// set the flag to do the save
mjr	86:e30a1f60f783	5389	saveConfigToFlash(0, reboot);
mjr	39:b3815a1c3802	5390	}
mjr	39:b3815a1c3802	5391	break;
mjr	38:091e511ce8a0	5392
mjr	39:b3815a1c3802	5393	case 2:
mjr	38:091e511ce8a0	5394	// 2 = Calibrate plunger
mjr	38:091e511ce8a0	5395	// (No parameters)
mjr	38:091e511ce8a0	5396
mjr	38:091e511ce8a0	5397	// enter calibration mode
mjr	38:091e511ce8a0	5398	calBtnState = 3;
mjr	52:8298b2a73eb2	5399	plungerReader.setCalMode(true);
mjr	38:091e511ce8a0	5400	calBtnTimer.reset();
mjr	39:b3815a1c3802	5401	break;
mjr	39:b3815a1c3802	5402
mjr	39:b3815a1c3802	5403	case 3:
mjr	52:8298b2a73eb2	5404	// 3 = plunger sensor status report
mjr	48:058ace2aed1d	5405	// data[2] = flag bits
mjr	53:9b2611964afc	5406	// data[3] = extra exposure time, 100us (.1ms) increments
mjr	52:8298b2a73eb2	5407	reportPlungerStat = true;
mjr	53:9b2611964afc	5408	reportPlungerStatFlags = data[2];
mjr	53:9b2611964afc	5409	reportPlungerStatTime = data[3];
mjr	38:091e511ce8a0	5410
mjr	38:091e511ce8a0	5411	// show purple until we finish sending the report
mjr	38:091e511ce8a0	5412	diagLED(1, 0, 1);
mjr	39:b3815a1c3802	5413	break;
mjr	39:b3815a1c3802	5414
mjr	39:b3815a1c3802	5415	case 4:
mjr	38:091e511ce8a0	5416	// 4 = hardware configuration query
mjr	38:091e511ce8a0	5417	// (No parameters)
mjr	38:091e511ce8a0	5418	js.reportConfig(
mjr	38:091e511ce8a0	5419	numOutputs,
mjr	38:091e511ce8a0	5420	cfg.psUnitNo - 1, // report 0-15 range for unit number (we store 1-16 internally)
mjr	52:8298b2a73eb2	5421	cfg.plunger.cal.zero, cfg.plunger.cal.max, cfg.plunger.cal.tRelease,
mjr	75:677892300e7a	5422	nvm.valid(), // a config is loaded if the config memory block is valid
mjr	75:677892300e7a	5423	true, // we support sbx/pbx extensions
mjr	78:1e00b3fa11af	5424	true, // we support the new accelerometer settings
mjr	82:4f6209cb5c33	5425	true, // we support the "flash write ok" status bit in joystick reports
mjr	79:682ae3171a08	5426	mallocBytesFree()); // remaining memory size
mjr	39:b3815a1c3802	5427	break;
mjr	39:b3815a1c3802	5428
mjr	39:b3815a1c3802	5429	case 5:
mjr	38:091e511ce8a0	5430	// 5 = all outputs off, reset to LedWiz defaults
mjr	38:091e511ce8a0	5431	allOutputsOff();
mjr	39:b3815a1c3802	5432	break;
mjr	39:b3815a1c3802	5433
mjr	39:b3815a1c3802	5434	case 6:
mjr	85:3c28aee81cde	5435	// 6 = Save configuration to flash. Optionally reboot after the
mjr	85:3c28aee81cde	5436	// delay time in seconds given in data[2].
mjr	85:3c28aee81cde	5437	//
mjr	85:3c28aee81cde	5438	// data[2] = delay time in seconds
mjr	85:3c28aee81cde	5439	// data[3] = flags:
mjr	85:3c28aee81cde	5440	// 0x01 -> do not reboot
mjr	86:e30a1f60f783	5441	saveConfigToFlash(data[2], !(data[3] & 0x01));
mjr	39:b3815a1c3802	5442	break;
mjr	40:cc0d9814522b	5443
mjr	40:cc0d9814522b	5444	case 7:
mjr	40:cc0d9814522b	5445	// 7 = Device ID report
mjr	53:9b2611964afc	5446	// data[2] = ID index: 1=CPU ID, 2=OpenSDA TUID
mjr	53:9b2611964afc	5447	js.reportID(data[2]);
mjr	40:cc0d9814522b	5448	break;
mjr	40:cc0d9814522b	5449
mjr	40:cc0d9814522b	5450	case 8:
mjr	40:cc0d9814522b	5451	// 8 = Engage/disengage night mode.
mjr	40:cc0d9814522b	5452	// data[2] = 1 to engage, 0 to disengage
mjr	40:cc0d9814522b	5453	setNightMode(data[2]);
mjr	40:cc0d9814522b	5454	break;
mjr	52:8298b2a73eb2	5455
mjr	52:8298b2a73eb2	5456	case 9:
mjr	52:8298b2a73eb2	5457	// 9 = Config variable query.
mjr	52:8298b2a73eb2	5458	// data[2] = config var ID
mjr	52:8298b2a73eb2	5459	// data[3] = array index (for array vars: button assignments, output ports)
mjr	52:8298b2a73eb2	5460	{
mjr	53:9b2611964afc	5461	// set up the reply buffer with the variable ID data, and zero out
mjr	53:9b2611964afc	5462	// the rest of the buffer
mjr	52:8298b2a73eb2	5463	uint8_t reply[8];
mjr	52:8298b2a73eb2	5464	reply[1] = data[2];
mjr	52:8298b2a73eb2	5465	reply[2] = data[3];
mjr	53:9b2611964afc	5466	memset(reply+3, 0, sizeof(reply)-3);
mjr	52:8298b2a73eb2	5467
mjr	52:8298b2a73eb2	5468	// query the value
mjr	52:8298b2a73eb2	5469	configVarGet(reply);
mjr	52:8298b2a73eb2	5470
mjr	52:8298b2a73eb2	5471	// send the reply
mjr	52:8298b2a73eb2	5472	js.reportConfigVar(reply + 1);
mjr	52:8298b2a73eb2	5473	}
mjr	52:8298b2a73eb2	5474	break;
mjr	53:9b2611964afc	5475
mjr	53:9b2611964afc	5476	case 10:
mjr	53:9b2611964afc	5477	// 10 = Build ID query.
mjr	53:9b2611964afc	5478	js.reportBuildInfo(getBuildID());
mjr	53:9b2611964afc	5479	break;
mjr	73:4e8ce0b18915	5480
mjr	73:4e8ce0b18915	5481	case 11:
mjr	73:4e8ce0b18915	5482	// 11 = TV ON relay control.
mjr	73:4e8ce0b18915	5483	// data[2] = operation:
mjr	73:4e8ce0b18915	5484	// 0 = turn relay off
mjr	73:4e8ce0b18915	5485	// 1 = turn relay on
mjr	73:4e8ce0b18915	5486	// 2 = pulse relay (as though the power-on timer fired)
mjr	73:4e8ce0b18915	5487	TVRelay(data[2]);
mjr	73:4e8ce0b18915	5488	break;
mjr	73:4e8ce0b18915	5489
mjr	73:4e8ce0b18915	5490	case 12:
mjr	77:0b96f6867312	5491	// 12 = Learn IR code. This enters IR learning mode. While
mjr	77:0b96f6867312	5492	// in learning mode, we report raw IR signals and the first IR
mjr	77:0b96f6867312	5493	// command decoded through the special IR report format. IR
mjr	77:0b96f6867312	5494	// learning mode automatically ends after a timeout expires if
mjr	77:0b96f6867312	5495	// no command can be decoded within the time limit.
mjr	77:0b96f6867312	5496
mjr	77:0b96f6867312	5497	// enter IR learning mode
mjr	77:0b96f6867312	5498	IRLearningMode = 1;
mjr	77:0b96f6867312	5499
mjr	77:0b96f6867312	5500	// cancel any regular IR input in progress
mjr	77:0b96f6867312	5501	IRCommandIn = 0;
mjr	77:0b96f6867312	5502
mjr	77:0b96f6867312	5503	// reset and start the learning mode timeout timer
mjr	77:0b96f6867312	5504	IRTimer.reset();
mjr	73:4e8ce0b18915	5505	break;
mjr	73:4e8ce0b18915	5506
mjr	73:4e8ce0b18915	5507	case 13:
mjr	73:4e8ce0b18915	5508	// 13 = Send button status report
mjr	73:4e8ce0b18915	5509	reportButtonStatus(js);
mjr	73:4e8ce0b18915	5510	break;
mjr	78:1e00b3fa11af	5511
mjr	78:1e00b3fa11af	5512	case 14:
mjr	78:1e00b3fa11af	5513	// 14 = manually center the accelerometer
mjr	78:1e00b3fa11af	5514	accel.manualCenterRequest();
mjr	78:1e00b3fa11af	5515	break;
mjr	78:1e00b3fa11af	5516
mjr	78:1e00b3fa11af	5517	case 15:
mjr	78:1e00b3fa11af	5518	// 15 = set up ad hoc IR command, part 1. Mark the command
mjr	78:1e00b3fa11af	5519	// as not ready, and save the partial data from the message.
mjr	78:1e00b3fa11af	5520	IRAdHocCmd.ready = 0;
mjr	78:1e00b3fa11af	5521	IRAdHocCmd.protocol = data[2];
mjr	78:1e00b3fa11af	5522	IRAdHocCmd.dittos = (data[3] & IRFlagDittos) != 0;
mjr	78:1e00b3fa11af	5523	IRAdHocCmd.code = wireUI32(&data[4]);
mjr	78:1e00b3fa11af	5524	break;
mjr	78:1e00b3fa11af	5525
mjr	78:1e00b3fa11af	5526	case 16:
mjr	78:1e00b3fa11af	5527	// 16 = send ad hoc IR command, part 2. Fill in the rest
mjr	78:1e00b3fa11af	5528	// of the data from the message and mark the command as
mjr	78:1e00b3fa11af	5529	// ready. The IR polling routine will send this as soon
mjr	78:1e00b3fa11af	5530	// as the IR transmitter is free.
mjr	78:1e00b3fa11af	5531	IRAdHocCmd.code \|= (uint64_t(wireUI32(&data[2])) << 32);
mjr	78:1e00b3fa11af	5532	IRAdHocCmd.ready = 1;
mjr	78:1e00b3fa11af	5533	break;
mjr	38:091e511ce8a0	5534	}
mjr	38:091e511ce8a0	5535	}
mjr	38:091e511ce8a0	5536	else if (data[0] == 66)
mjr	38:091e511ce8a0	5537	{
mjr	38:091e511ce8a0	5538	// Extended protocol - Set configuration variable.
mjr	38:091e511ce8a0	5539	// The second byte of the message is the ID of the variable
mjr	38:091e511ce8a0	5540	// to update, and the remaining bytes give the new value,
mjr	38:091e511ce8a0	5541	// in a variable-dependent format.
mjr	40:cc0d9814522b	5542	configVarSet(data);
mjr	86:e30a1f60f783	5543
mjr	87:8d35c74403af	5544	// notify the plunger, so that it can update relevant variables
mjr	87:8d35c74403af	5545	// dynamically
mjr	87:8d35c74403af	5546	plungerSensor->onConfigChange(data[1], cfg);
mjr	38:091e511ce8a0	5547	}
mjr	74:822a92bc11d2	5548	else if (data[0] == 67)
mjr	74:822a92bc11d2	5549	{
mjr	74:822a92bc11d2	5550	// SBX - extended SBA message. This is the same as SBA, except
mjr	74:822a92bc11d2	5551	// that the 7th byte selects a group of 32 ports, to allow access
mjr	74:822a92bc11d2	5552	// to ports beyond the first 32.
mjr	74:822a92bc11d2	5553	sba_sbx(data[6], data);
mjr	74:822a92bc11d2	5554	}
mjr	74:822a92bc11d2	5555	else if (data[0] == 68)
mjr	74:822a92bc11d2	5556	{
mjr	74:822a92bc11d2	5557	// PBX - extended PBA message. This is similar to PBA, but
mjr	74:822a92bc11d2	5558	// allows access to more than the first 32 ports by encoding
mjr	74:822a92bc11d2	5559	// a port group byte that selects a block of 8 ports.
mjr	74:822a92bc11d2	5560
mjr	74:822a92bc11d2	5561	// get the port group - the first port is 8*group
mjr	74:822a92bc11d2	5562	int portGroup = data[1];
mjr	74:822a92bc11d2	5563
mjr	74:822a92bc11d2	5564	// unpack the brightness values
mjr	74:822a92bc11d2	5565	uint32_t tmp1 = data[2] \| (data[3]<<8) \| (data[4]<<16);
mjr	74:822a92bc11d2	5566	uint32_t tmp2 = data[5] \| (data[6]<<8) \| (data[7]<<16);
mjr	74:822a92bc11d2	5567	uint8_t bri[8] = {
mjr	74:822a92bc11d2	5568	tmp1 & 0x3F, (tmp1>>6) & 0x3F, (tmp1>>12) & 0x3F, (tmp1>>18) & 0x3F,
mjr	74:822a92bc11d2	5569	tmp2 & 0x3F, (tmp2>>6) & 0x3F, (tmp2>>12) & 0x3F, (tmp2>>18) & 0x3F
mjr	74:822a92bc11d2	5570	};
mjr	74:822a92bc11d2	5571
mjr	74:822a92bc11d2	5572	// map the flash levels: 60->129, 61->130, 62->131, 63->132
mjr	74:822a92bc11d2	5573	for (int i = 0 ; i < 8 ; ++i)
mjr	74:822a92bc11d2	5574	{
mjr	74:822a92bc11d2	5575	if (bri[i] >= 60)
mjr	74:822a92bc11d2	5576	bri[i] += 129-60;
mjr	74:822a92bc11d2	5577	}
mjr	74:822a92bc11d2	5578
mjr	74:822a92bc11d2	5579	// Carry out the PBA
mjr	74:822a92bc11d2	5580	pba_pbx(portGroup*8, bri);
mjr	74:822a92bc11d2	5581	}
mjr	38:091e511ce8a0	5582	else if (data[0] >= 200 && data[0] <= 228)
mjr	38:091e511ce8a0	5583	{
mjr	38:091e511ce8a0	5584	// Extended protocol - Extended output port brightness update.
mjr	38:091e511ce8a0	5585	// data[0]-200 gives us the bank of 7 outputs we're setting:
mjr	38:091e511ce8a0	5586	// 200 is outputs 0-6, 201 is outputs 7-13, 202 is 14-20, etc.
mjr	38:091e511ce8a0	5587	// The remaining bytes are brightness levels, 0-255, for the
mjr	38:091e511ce8a0	5588	// seven outputs in the selected bank. The LedWiz flashing
mjr	38:091e511ce8a0	5589	// modes aren't accessible in this message type; we can only
mjr	38:091e511ce8a0	5590	// set a fixed brightness, but in exchange we get 8-bit
mjr	38:091e511ce8a0	5591	// resolution rather than the paltry 0-48 scale that the real
mjr	38:091e511ce8a0	5592	// LedWiz uses. There's no separate on/off status for outputs
mjr	38:091e511ce8a0	5593	// adjusted with this message type, either, as there would be
mjr	38:091e511ce8a0	5594	// for a PBA message - setting a non-zero value immediately
mjr	38:091e511ce8a0	5595	// turns the output, overriding the last SBA setting.
mjr	38:091e511ce8a0	5596	//
mjr	38:091e511ce8a0	5597	// For outputs 0-31, this overrides any previous PBA/SBA
mjr	38:091e511ce8a0	5598	// settings for the port. Any subsequent PBA/SBA message will
mjr	38:091e511ce8a0	5599	// in turn override the setting made here. It's simple - the
mjr	38:091e511ce8a0	5600	// most recent message of either type takes precedence. For
mjr	38:091e511ce8a0	5601	// outputs above the LedWiz range, PBA/SBA messages can't
mjr	38:091e511ce8a0	5602	// address those ports anyway.
mjr	63:5cd1a5f3a41b	5603
mjr	63:5cd1a5f3a41b	5604	// figure the block of 7 ports covered in the message
mjr	38:091e511ce8a0	5605	int i0 = (data[0] - 200)*7;
mjr	38:091e511ce8a0	5606	int i1 = i0 + 7 < numOutputs ? i0 + 7 : numOutputs;
mjr	63:5cd1a5f3a41b	5607
mjr	63:5cd1a5f3a41b	5608	// update each port
mjr	38:091e511ce8a0	5609	for (int i = i0 ; i < i1 ; ++i)
mjr	38:091e511ce8a0	5610	{
mjr	38:091e511ce8a0	5611	// set the brightness level for the output
mjr	40:cc0d9814522b	5612	uint8_t b = data[i-i0+1];
mjr	38:091e511ce8a0	5613	outLevel[i] = b;
mjr	38:091e511ce8a0	5614
mjr	74:822a92bc11d2	5615	// set the port's LedWiz state to the nearest equivalent, so
mjr	74:822a92bc11d2	5616	// that it maintains its current setting if we switch back to
mjr	74:822a92bc11d2	5617	// LedWiz mode on a future update
mjr	76:7f5912b6340e	5618	if (b != 0)
mjr	76:7f5912b6340e	5619	{
mjr	76:7f5912b6340e	5620	// Non-zero brightness - set the SBA switch on, and set the
mjr	76:7f5912b6340e	5621	// PBA brightness to the DOF brightness rescaled to the 1..48
mjr	76:7f5912b6340e	5622	// LedWiz range. If the port is subsequently addressed by an
mjr	76:7f5912b6340e	5623	// LedWiz command, this will carry the current DOF setting
mjr	76:7f5912b6340e	5624	// forward unchanged.
mjr	76:7f5912b6340e	5625	wizOn[i] = 1;
mjr	76:7f5912b6340e	5626	wizVal[i] = dof_to_lw[b];
mjr	76:7f5912b6340e	5627	}
mjr	76:7f5912b6340e	5628	else
mjr	76:7f5912b6340e	5629	{
mjr	76:7f5912b6340e	5630	// Zero brightness. Set the SBA switch off, and leave the
mjr	76:7f5912b6340e	5631	// PBA brightness the same as it was.
mjr	76:7f5912b6340e	5632	wizOn[i] = 0;
mjr	76:7f5912b6340e	5633	}
mjr	74:822a92bc11d2	5634
mjr	38:091e511ce8a0	5635	// set the output
mjr	40:cc0d9814522b	5636	lwPin[i]->set(b);
mjr	38:091e511ce8a0	5637	}
mjr	38:091e511ce8a0	5638
mjr	38:091e511ce8a0	5639	// update 74HC595 outputs, if attached
mjr	38:091e511ce8a0	5640	if (hc595 != 0)
mjr	38:091e511ce8a0	5641	hc595->update();
mjr	38:091e511ce8a0	5642	}
mjr	38:091e511ce8a0	5643	else
mjr	38:091e511ce8a0	5644	{
mjr	74:822a92bc11d2	5645	// Everything else is an LedWiz PBA message. This is a full
mjr	74:822a92bc11d2	5646	// "profile" dump from the host for one bank of 8 outputs. Each
mjr	74:822a92bc11d2	5647	// byte sets one output in the current bank. The current bank
mjr	74:822a92bc11d2	5648	// is implied; the bank starts at 0 and is reset to 0 by any SBA
mjr	74:822a92bc11d2	5649	// message, and is incremented to the next bank by each PBA. Our
mjr	74:822a92bc11d2	5650	// variable pbaIdx keeps track of the current bank. There's no
mjr	74:822a92bc11d2	5651	// direct way for the host to select the bank; it just has to count
mjr	74:822a92bc11d2	5652	// on us staying in sync. In practice, clients always send the
mjr	74:822a92bc11d2	5653	// full set of 4 PBA messages in a row to set all 32 outputs.
mjr	38:091e511ce8a0	5654	//
mjr	38:091e511ce8a0	5655	// Note that a PBA implicitly overrides our extended profile
mjr	38:091e511ce8a0	5656	// messages (message prefix 200-219), because this sets the
mjr	38:091e511ce8a0	5657	// wizVal[] entry for each output, and that takes precedence
mjr	63:5cd1a5f3a41b	5658	// over the extended protocol settings when we're in LedWiz
mjr	63:5cd1a5f3a41b	5659	// protocol mode.
mjr	38:091e511ce8a0	5660	//
mjr	38:091e511ce8a0	5661	//printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n",
mjr	38:091e511ce8a0	5662	// pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
mjr	38:091e511ce8a0	5663
mjr	74:822a92bc11d2	5664	// carry out the PBA
mjr	74:822a92bc11d2	5665	pba_pbx(pbaIdx, data);
mjr	74:822a92bc11d2	5666
mjr	74:822a92bc11d2	5667	// update the PBX index state for the next message
mjr	74:822a92bc11d2	5668	pbaIdx = (pbaIdx + 8) % 32;
mjr	38:091e511ce8a0	5669	}
mjr	38:091e511ce8a0	5670	}
mjr	35:e959ffba78fd	5671
mjr	38:091e511ce8a0	5672	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	5673	//
mjr	5:a70c0bce770d	5674	// Main program loop. This is invoked on startup and runs forever. Our
mjr	5:a70c0bce770d	5675	// main work is to read our devices (the accelerometer and the CCD), process
mjr	5:a70c0bce770d	5676	// the readings into nudge and plunger position data, and send the results
mjr	5:a70c0bce770d	5677	// to the host computer via the USB joystick interface. We also monitor
mjr	5:a70c0bce770d	5678	// the USB connection for incoming LedWiz commands and process those into
mjr	5:a70c0bce770d	5679	// port outputs.
mjr	5:a70c0bce770d	5680	//
mjr	0:5acbbe3f4cf4	5681	int main(void)
mjr	0:5acbbe3f4cf4	5682	{
mjr	60:f38da020aa13	5683	// say hello to the debug console, in case it's connected
mjr	39:b3815a1c3802	5684	printf("\r\nPinscape Controller starting\r\n");
mjr	82:4f6209cb5c33	5685
mjr	76:7f5912b6340e	5686	// clear the I2C connection
mjr	35:e959ffba78fd	5687	clear_i2c();
mjr	82:4f6209cb5c33	5688
mjr	82:4f6209cb5c33	5689	// Elevate GPIO pin interrupt priorities, so that they can preempt
mjr	82:4f6209cb5c33	5690	// other interrupts. This is important for some external peripherals,
mjr	82:4f6209cb5c33	5691	// particularly the quadrature plunger sensors, which can generate
mjr	82:4f6209cb5c33	5692	// high-speed interrupts that need to be serviced quickly to keep
mjr	82:4f6209cb5c33	5693	// proper count of the quadrature position.
mjr	82:4f6209cb5c33	5694	FastInterruptIn::elevatePriority();
mjr	38:091e511ce8a0	5695
mjr	76:7f5912b6340e	5696	// Load the saved configuration. There are two sources of the
mjr	76:7f5912b6340e	5697	// configuration data:
mjr	76:7f5912b6340e	5698	//
mjr	76:7f5912b6340e	5699	// - Look for an NVM (flash non-volatile memory) configuration.
mjr	76:7f5912b6340e	5700	// If this is valid, we'll load it. The NVM is config data that can
mjr	76:7f5912b6340e	5701	// be updated dynamically by the host via USB commands and then stored
mjr	76:7f5912b6340e	5702	// in the flash by the firmware itself. If this exists, it supersedes
mjr	76:7f5912b6340e	5703	// any of the other settings stores. The Windows config tool uses this
mjr	76:7f5912b6340e	5704	// to store user settings updates.
mjr	76:7f5912b6340e	5705	//
mjr	76:7f5912b6340e	5706	// - If there's no NVM, we'll load the factory defaults, then we'll
mjr	76:7f5912b6340e	5707	// load any settings stored in the host-loaded configuration. The
mjr	76:7f5912b6340e	5708	// host can patch a set of configuration variable settings into the
mjr	76:7f5912b6340e	5709	// .bin file when loading new firmware, in the host-loaded config
mjr	76:7f5912b6340e	5710	// area that we reserve for this purpose. This allows the host to
mjr	76:7f5912b6340e	5711	// restore a configuration at the same time it installs firmware,
mjr	76:7f5912b6340e	5712	// without a separate download of the config data.
mjr	76:7f5912b6340e	5713	//
mjr	76:7f5912b6340e	5714	// The NVM supersedes the host-loaded config, since it can be updated
mjr	76:7f5912b6340e	5715	// between firmware updated and is thus presumably more recent if it's
mjr	76:7f5912b6340e	5716	// present. (Note that the NVM and host-loaded config are both in
mjr	76:7f5912b6340e	5717	// flash, so in principle we could just have a single NVM store that
mjr	76:7f5912b6340e	5718	// the host patches. The only reason we don't is that the NVM store
mjr	76:7f5912b6340e	5719	// is an image of our in-memory config structure, which is a native C
mjr	76:7f5912b6340e	5720	// struct, and we don't want the host to have to know the details of
mjr	76:7f5912b6340e	5721	// its byte layout, for obvious reasons. The host-loaded config, in
mjr	76:7f5912b6340e	5722	// contrast, uses the wire protocol format, which has a well-defined
mjr	76:7f5912b6340e	5723	// byte layout that's independent of the firmware version or the
mjr	76:7f5912b6340e	5724	// details of how the C compiler arranges the struct memory.)
mjr	76:7f5912b6340e	5725	if (!loadConfigFromFlash())
mjr	76:7f5912b6340e	5726	loadHostLoadedConfig();
mjr	35:e959ffba78fd	5727
mjr	38:091e511ce8a0	5728	// initialize the diagnostic LEDs
mjr	38:091e511ce8a0	5729	initDiagLEDs(cfg);
mjr	38:091e511ce8a0	5730
mjr	33:d832bcab089e	5731	// we're not connected/awake yet
mjr	33:d832bcab089e	5732	bool connected = false;
mjr	40:cc0d9814522b	5733	Timer connectChangeTimer;
mjr	33:d832bcab089e	5734
mjr	35:e959ffba78fd	5735	// create the plunger sensor interface
mjr	35:e959ffba78fd	5736	createPlunger();
mjr	76:7f5912b6340e	5737
mjr	76:7f5912b6340e	5738	// update the plunger reader's cached calibration data
mjr	76:7f5912b6340e	5739	plungerReader.onUpdateCal();
mjr	33:d832bcab089e	5740
mjr	60:f38da020aa13	5741	// set up the TLC5940 interface, if these chips are present
mjr	35:e959ffba78fd	5742	init_tlc5940(cfg);
mjr	34:6b981a2afab7	5743
mjr	87:8d35c74403af	5744	// initialize the TLC5916 interface, if these chips are present
mjr	87:8d35c74403af	5745	init_tlc59116(cfg);
mjr	87:8d35c74403af	5746
mjr	60:f38da020aa13	5747	// set up 74HC595 interface, if these chips are present
mjr	35:e959ffba78fd	5748	init_hc595(cfg);
mjr	6:cc35eb643e8f	5749
mjr	54:fd77a6b2f76c	5750	// Initialize the LedWiz ports. Note that the ordering here is important:
mjr	54:fd77a6b2f76c	5751	// this has to come after we create the TLC5940 and 74HC595 object instances
mjr	54:fd77a6b2f76c	5752	// (which we just did above), since we need to access those objects to set
mjr	54:fd77a6b2f76c	5753	// up ports assigned to the respective chips.
mjr	35:e959ffba78fd	5754	initLwOut(cfg);
mjr	48:058ace2aed1d	5755
mjr	60:f38da020aa13	5756	// start the TLC5940 refresh cycle clock
mjr	35:e959ffba78fd	5757	if (tlc5940 != 0)
mjr	35:e959ffba78fd	5758	tlc5940->start();
mjr	87:8d35c74403af	5759
mjr	77:0b96f6867312	5760	// Assume that nothing uses keyboard keys. We'll check for keyboard
mjr	77:0b96f6867312	5761	// usage when initializing the various subsystems that can send keys
mjr	77:0b96f6867312	5762	// (buttons, IR). If we find anything that does, we'll create the
mjr	77:0b96f6867312	5763	// USB keyboard interface.
mjr	77:0b96f6867312	5764	bool kbKeys = false;
mjr	77:0b96f6867312	5765
mjr	77:0b96f6867312	5766	// set up the IR remote control emitter & receiver, if present
mjr	77:0b96f6867312	5767	init_IR(cfg, kbKeys);
mjr	77:0b96f6867312	5768
mjr	77:0b96f6867312	5769	// start the power status time, if applicable
mjr	77:0b96f6867312	5770	startPowerStatusTimer(cfg);
mjr	48:058ace2aed1d	5771
mjr	35:e959ffba78fd	5772	// initialize the button input ports
mjr	35:e959ffba78fd	5773	initButtons(cfg, kbKeys);
mjr	38:091e511ce8a0	5774
mjr	60:f38da020aa13	5775	// Create the joystick USB client. Note that the USB vendor/product ID
mjr	60:f38da020aa13	5776	// information comes from the saved configuration. Also note that we have
mjr	60:f38da020aa13	5777	// to wait until after initializing the input buttons (which we just did
mjr	60:f38da020aa13	5778	// above) to set up the interface, since the button setup will determine
mjr	60:f38da020aa13	5779	// whether or not we need to present a USB keyboard interface in addition
mjr	60:f38da020aa13	5780	// to the joystick interface.
mjr	51:57eb311faafa	5781	MyUSBJoystick js(cfg.usbVendorID, cfg.usbProductID, USB_VERSION_NO, false,
mjr	51:57eb311faafa	5782	cfg.joystickEnabled, kbKeys);
mjr	51:57eb311faafa	5783
mjr	60:f38da020aa13	5784	// Wait for the USB connection to start up. Show a distinctive diagnostic
mjr	60:f38da020aa13	5785	// flash pattern while waiting.
mjr	70:9f58735a1732	5786	Timer connTimeoutTimer, connFlashTimer;
mjr	70:9f58735a1732	5787	connTimeoutTimer.start();
mjr	70:9f58735a1732	5788	connFlashTimer.start();
mjr	51:57eb311faafa	5789	while (!js.configured())
mjr	51:57eb311faafa	5790	{
mjr	51:57eb311faafa	5791	// show one short yellow flash at 2-second intervals
mjr	70:9f58735a1732	5792	if (connFlashTimer.read_us() > 2000000)
mjr	51:57eb311faafa	5793	{
mjr	51:57eb311faafa	5794	// short yellow flash
mjr	51:57eb311faafa	5795	diagLED(1, 1, 0);
mjr	54:fd77a6b2f76c	5796	wait_us(50000);
mjr	51:57eb311faafa	5797	diagLED(0, 0, 0);
mjr	51:57eb311faafa	5798
mjr	51:57eb311faafa	5799	// reset the flash timer
mjr	70:9f58735a1732	5800	connFlashTimer.reset();
mjr	51:57eb311faafa	5801	}
mjr	70:9f58735a1732	5802
mjr	77:0b96f6867312	5803	// If we've been disconnected for more than the reboot timeout,
mjr	77:0b96f6867312	5804	// reboot. Some PCs won't reconnect if we were left plugged in
mjr	77:0b96f6867312	5805	// during a power cycle on the PC, but fortunately a reboot on
mjr	77:0b96f6867312	5806	// the KL25Z will make the host notice us and trigger a reconnect.
mjr	86:e30a1f60f783	5807	// Don't do this if we're in a non-recoverable PSU2 power state.
mjr	70:9f58735a1732	5808	if (cfg.disconnectRebootTimeout != 0
mjr	86:e30a1f60f783	5809	&& connTimeoutTimer.read() > cfg.disconnectRebootTimeout
mjr	86:e30a1f60f783	5810	&& powerStatusAllowsReboot())
mjr	70:9f58735a1732	5811	reboot(js, false, 0);
mjr	77:0b96f6867312	5812
mjr	77:0b96f6867312	5813	// update the PSU2 power sensing status
mjr	77:0b96f6867312	5814	powerStatusUpdate(cfg);
mjr	51:57eb311faafa	5815	}
mjr	60:f38da020aa13	5816
mjr	60:f38da020aa13	5817	// we're now connected to the host
mjr	54:fd77a6b2f76c	5818	connected = true;
mjr	40:cc0d9814522b	5819
mjr	60:f38da020aa13	5820	// Last report timer for the joytick interface. We use this timer to
mjr	60:f38da020aa13	5821	// throttle the report rate to a pace that's suitable for VP. Without
mjr	60:f38da020aa13	5822	// any artificial delays, we could generate data to send on the joystick
mjr	60:f38da020aa13	5823	// interface on every loop iteration. The loop iteration time depends
mjr	60:f38da020aa13	5824	// on which devices are attached, since most of the work in our main
mjr	60:f38da020aa13	5825	// loop is simply polling our devices. For typical setups, the loop
mjr	60:f38da020aa13	5826	// time ranges from about 0.25ms to 2.5ms; the biggest factor is the
mjr	60:f38da020aa13	5827	// plunger sensor. But VP polls for input about every 10ms, so there's
mjr	60:f38da020aa13	5828	// no benefit in sending data faster than that, and there's some harm,
mjr	60:f38da020aa13	5829	// in that it creates USB overhead (both on the wire and on the host
mjr	60:f38da020aa13	5830	// CPU). We therefore use this timer to pace our reports to roughly
mjr	60:f38da020aa13	5831	// the VP input polling rate. Note that there's no way to actually
mjr	60:f38da020aa13	5832	// synchronize with VP's polling, but there's also no need to, as the
mjr	60:f38da020aa13	5833	// input model is designed to reflect the overall current state at any
mjr	60:f38da020aa13	5834	// given time rather than events or deltas. If VP polls twice between
mjr	60:f38da020aa13	5835	// two updates, it simply sees no state change; if we send two updates
mjr	60:f38da020aa13	5836	// between VP polls, VP simply sees the latest state when it does get
mjr	60:f38da020aa13	5837	// around to polling.
mjr	38:091e511ce8a0	5838	Timer jsReportTimer;
mjr	38:091e511ce8a0	5839	jsReportTimer.start();
mjr	38:091e511ce8a0	5840
mjr	60:f38da020aa13	5841	// Time since we successfully sent a USB report. This is a hacky
mjr	60:f38da020aa13	5842	// workaround to deal with any remaining sporadic problems in the USB
mjr	60:f38da020aa13	5843	// stack. I've been trying to bulletproof the USB code over time to
mjr	60:f38da020aa13	5844	// remove all such problems at their source, but it seems unlikely that
mjr	60:f38da020aa13	5845	// we'll ever get them all. Thus this hack. The idea here is that if
mjr	60:f38da020aa13	5846	// we go too long without successfully sending a USB report, we'll
mjr	60:f38da020aa13	5847	// assume that the connection is broken (and the KL25Z USB hardware
mjr	60:f38da020aa13	5848	// hasn't noticed this), and we'll try taking measures to recover.
mjr	38:091e511ce8a0	5849	Timer jsOKTimer;
mjr	38:091e511ce8a0	5850	jsOKTimer.start();
mjr	35:e959ffba78fd	5851
mjr	55:4db125cd11a0	5852	// Initialize the calibration button and lamp, if enabled. To be enabled,
mjr	55:4db125cd11a0	5853	// the pin has to be assigned to something other than NC (0xFF), AND the
mjr	55:4db125cd11a0	5854	// corresponding feature enable flag has to be set.
mjr	55:4db125cd11a0	5855	DigitalIn *calBtn = 0;
mjr	55:4db125cd11a0	5856	DigitalOut *calBtnLed = 0;
mjr	55:4db125cd11a0	5857
mjr	55:4db125cd11a0	5858	// calibration button input - feature flag 0x01
mjr	55:4db125cd11a0	5859	if ((cfg.plunger.cal.features & 0x01) && cfg.plunger.cal.btn != 0xFF)
mjr	55:4db125cd11a0	5860	calBtn = new DigitalIn(wirePinName(cfg.plunger.cal.btn));
mjr	55:4db125cd11a0	5861
mjr	55:4db125cd11a0	5862	// calibration button indicator lamp output - feature flag 0x02
mjr	55:4db125cd11a0	5863	if ((cfg.plunger.cal.features & 0x02) && cfg.plunger.cal.led != 0xFF)
mjr	55:4db125cd11a0	5864	calBtnLed = new DigitalOut(wirePinName(cfg.plunger.cal.led));
mjr	6:cc35eb643e8f	5865
mjr	35:e959ffba78fd	5866	// initialize the calibration button
mjr	1:d913e0afb2ac	5867	calBtnTimer.start();
mjr	35:e959ffba78fd	5868	calBtnState = 0;
mjr	1:d913e0afb2ac	5869
mjr	1:d913e0afb2ac	5870	// set up a timer for our heartbeat indicator
mjr	1:d913e0afb2ac	5871	Timer hbTimer;
mjr	1:d913e0afb2ac	5872	hbTimer.start();
mjr	1:d913e0afb2ac	5873	int hb = 0;
mjr	5:a70c0bce770d	5874	uint16_t hbcnt = 0;
mjr	1:d913e0afb2ac	5875
mjr	1:d913e0afb2ac	5876	// set a timer for accelerometer auto-centering
mjr	1:d913e0afb2ac	5877	Timer acTimer;
mjr	1:d913e0afb2ac	5878	acTimer.start();
mjr	1:d913e0afb2ac	5879
mjr	0:5acbbe3f4cf4	5880	// create the accelerometer object
mjr	77:0b96f6867312	5881	Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS,
mjr	78:1e00b3fa11af	5882	MMA8451_INT_PIN, cfg.accel.range, cfg.accel.autoCenterTime);
mjr	76:7f5912b6340e	5883
mjr	17:ab3cec0c8bf4	5884	// last accelerometer report, in joystick units (we report the nudge
mjr	17:ab3cec0c8bf4	5885	// acceleration via the joystick x & y axes, per the VP convention)
mjr	17:ab3cec0c8bf4	5886	int x = 0, y = 0;
mjr	17:ab3cec0c8bf4	5887
mjr	48:058ace2aed1d	5888	// initialize the plunger sensor
mjr	35:e959ffba78fd	5889	plungerSensor->init();
mjr	10:976666ffa4ef	5890
mjr	48:058ace2aed1d	5891	// set up the ZB Launch Ball monitor
mjr	48:058ace2aed1d	5892	ZBLaunchBall zbLaunchBall;
mjr	48:058ace2aed1d	5893
mjr	54:fd77a6b2f76c	5894	// enable the peripheral chips
mjr	54:fd77a6b2f76c	5895	if (tlc5940 != 0)
mjr	54:fd77a6b2f76c	5896	tlc5940->enable(true);
mjr	54:fd77a6b2f76c	5897	if (hc595 != 0)
mjr	54:fd77a6b2f76c	5898	hc595->enable(true);
mjr	87:8d35c74403af	5899	if (tlc59116 != 0)
mjr	87:8d35c74403af	5900	tlc59116->enable(true);
mjr	74:822a92bc11d2	5901
mjr	76:7f5912b6340e	5902	// start the LedWiz flash cycle timer
mjr	74:822a92bc11d2	5903	wizCycleTimer.start();
mjr	74:822a92bc11d2	5904
mjr	74:822a92bc11d2	5905	// start the PWM update polling timer
mjr	74:822a92bc11d2	5906	polledPwmTimer.start();
mjr	43:7a6364d82a41	5907
mjr	1:d913e0afb2ac	5908	// we're all set up - now just loop, processing sensor reports and
mjr	1:d913e0afb2ac	5909	// host requests
mjr	0:5acbbe3f4cf4	5910	for (;;)
mjr	0:5acbbe3f4cf4	5911	{
mjr	74:822a92bc11d2	5912	// start the main loop timer for diagnostic data collection
mjr	76:7f5912b6340e	5913	IF_DIAG(mainLoopTimer.reset(); mainLoopTimer.start();)
mjr	74:822a92bc11d2	5914
mjr	48:058ace2aed1d	5915	// Process incoming reports on the joystick interface. The joystick
mjr	48:058ace2aed1d	5916	// "out" (receive) endpoint is used for LedWiz commands and our
mjr	48:058ace2aed1d	5917	// extended protocol commands. Limit processing time to 5ms to
mjr	48:058ace2aed1d	5918	// ensure we don't starve the input side.
mjr	39:b3815a1c3802	5919	LedWizMsg lwm;
mjr	48:058ace2aed1d	5920	Timer lwt;
mjr	48:058ace2aed1d	5921	lwt.start();
mjr	77:0b96f6867312	5922	IF_DIAG(int msgCount = 0;)
mjr	48:058ace2aed1d	5923	while (js.readLedWizMsg(lwm) && lwt.read_us() < 5000)
mjr	74:822a92bc11d2	5924	{
mjr	78:1e00b3fa11af	5925	handleInputMsg(lwm, js, accel);
mjr	74:822a92bc11d2	5926	IF_DIAG(++msgCount;)
mjr	74:822a92bc11d2	5927	}
mjr	74:822a92bc11d2	5928
mjr	74:822a92bc11d2	5929	// collect performance statistics on the message reader, if desired
mjr	74:822a92bc11d2	5930	IF_DIAG(
mjr	74:822a92bc11d2	5931	if (msgCount != 0)
mjr	74:822a92bc11d2	5932	{
mjr	76:7f5912b6340e	5933	mainLoopMsgTime += lwt.read_us();
mjr	74:822a92bc11d2	5934	mainLoopMsgCount++;
mjr	74:822a92bc11d2	5935	}
mjr	74:822a92bc11d2	5936	)
mjr	74:822a92bc11d2	5937
mjr	77:0b96f6867312	5938	// process IR input
mjr	77:0b96f6867312	5939	process_IR(cfg, js);
mjr	77:0b96f6867312	5940
mjr	77:0b96f6867312	5941	// update the PSU2 power sensing status
mjr	77:0b96f6867312	5942	powerStatusUpdate(cfg);
mjr	77:0b96f6867312	5943
mjr	74:822a92bc11d2	5944	// update flashing LedWiz outputs periodically
mjr	74:822a92bc11d2	5945	wizPulse();
mjr	74:822a92bc11d2	5946
mjr	74:822a92bc11d2	5947	// update PWM outputs
mjr	74:822a92bc11d2	5948	pollPwmUpdates();
mjr	77:0b96f6867312	5949
mjr	77:0b96f6867312	5950	// poll the accelerometer
mjr	77:0b96f6867312	5951	accel.poll();
mjr	55:4db125cd11a0	5952
mjr	76:7f5912b6340e	5953	// collect diagnostic statistics, checkpoint 0
mjr	76:7f5912b6340e	5954	IF_DIAG(mainLoopIterCheckpt[0] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	5955
mjr	55:4db125cd11a0	5956	// send TLC5940 data updates if applicable
mjr	55:4db125cd11a0	5957	if (tlc5940 != 0)
mjr	55:4db125cd11a0	5958	tlc5940->send();
mjr	87:8d35c74403af	5959
mjr	87:8d35c74403af	5960	// send TLC59116 data updates
mjr	87:8d35c74403af	5961	if (tlc59116 != 0)
mjr	87:8d35c74403af	5962	tlc59116->send();
mjr	1:d913e0afb2ac	5963
mjr	76:7f5912b6340e	5964	// collect diagnostic statistics, checkpoint 1
mjr	76:7f5912b6340e	5965	IF_DIAG(mainLoopIterCheckpt[1] += mainLoopTimer.read_us();)
mjr	77:0b96f6867312	5966
mjr	1:d913e0afb2ac	5967	// check for plunger calibration
mjr	17:ab3cec0c8bf4	5968	if (calBtn != 0 && !calBtn->read())
mjr	0:5acbbe3f4cf4	5969	{
mjr	1:d913e0afb2ac	5970	// check the state
mjr	1:d913e0afb2ac	5971	switch (calBtnState)
mjr	0:5acbbe3f4cf4	5972	{
mjr	1:d913e0afb2ac	5973	case 0:
mjr	1:d913e0afb2ac	5974	// button not yet pushed - start debouncing
mjr	1:d913e0afb2ac	5975	calBtnTimer.reset();
mjr	1:d913e0afb2ac	5976	calBtnState = 1;
mjr	1:d913e0afb2ac	5977	break;
mjr	1:d913e0afb2ac	5978
mjr	1:d913e0afb2ac	5979	case 1:
mjr	1:d913e0afb2ac	5980	// pushed, not yet debounced - if the debounce time has
mjr	1:d913e0afb2ac	5981	// passed, start the hold period
mjr	48:058ace2aed1d	5982	if (calBtnTimer.read_us() > 50000)
mjr	1:d913e0afb2ac	5983	calBtnState = 2;
mjr	1:d913e0afb2ac	5984	break;
mjr	1:d913e0afb2ac	5985
mjr	1:d913e0afb2ac	5986	case 2:
mjr	1:d913e0afb2ac	5987	// in the hold period - if the button has been held down
mjr	1:d913e0afb2ac	5988	// for the entire hold period, move to calibration mode
mjr	48:058ace2aed1d	5989	if (calBtnTimer.read_us() > 2050000)
mjr	1:d913e0afb2ac	5990	{
mjr	1:d913e0afb2ac	5991	// enter calibration mode
mjr	1:d913e0afb2ac	5992	calBtnState = 3;
mjr	9:fd65b0a94720	5993	calBtnTimer.reset();
mjr	35:e959ffba78fd	5994
mjr	44:b5ac89b9cd5d	5995	// begin the plunger calibration limits
mjr	52:8298b2a73eb2	5996	plungerReader.setCalMode(true);
mjr	1:d913e0afb2ac	5997	}
mjr	1:d913e0afb2ac	5998	break;
mjr	2:c174f9ee414a	5999
mjr	2:c174f9ee414a	6000	case 3:
mjr	9:fd65b0a94720	6001	// Already in calibration mode - pushing the button here
mjr	9:fd65b0a94720	6002	// doesn't change the current state, but we won't leave this
mjr	9:fd65b0a94720	6003	// state as long as it's held down. So nothing changes here.
mjr	2:c174f9ee414a	6004	break;
mjr	0:5acbbe3f4cf4	6005	}
mjr	0:5acbbe3f4cf4	6006	}
mjr	1:d913e0afb2ac	6007	else
mjr	1:d913e0afb2ac	6008	{
mjr	2:c174f9ee414a	6009	// Button released. If we're in calibration mode, and
mjr	2:c174f9ee414a	6010	// the calibration time has elapsed, end the calibration
mjr	2:c174f9ee414a	6011	// and save the results to flash.
mjr	2:c174f9ee414a	6012	//
mjr	2:c174f9ee414a	6013	// Otherwise, return to the base state without saving anything.
mjr	2:c174f9ee414a	6014	// If the button is released before we make it to calibration
mjr	2:c174f9ee414a	6015	// mode, it simply cancels the attempt.
mjr	48:058ace2aed1d	6016	if (calBtnState == 3 && calBtnTimer.read_us() > 15000000)
mjr	2:c174f9ee414a	6017	{
mjr	2:c174f9ee414a	6018	// exit calibration mode
mjr	1:d913e0afb2ac	6019	calBtnState = 0;
mjr	52:8298b2a73eb2	6020	plungerReader.setCalMode(false);
mjr	2:c174f9ee414a	6021
mjr	6:cc35eb643e8f	6022	// save the updated configuration
mjr	35:e959ffba78fd	6023	cfg.plunger.cal.calibrated = 1;
mjr	86:e30a1f60f783	6024	saveConfigToFlash(0, false);
mjr	2:c174f9ee414a	6025	}
mjr	2:c174f9ee414a	6026	else if (calBtnState != 3)
mjr	2:c174f9ee414a	6027	{
mjr	2:c174f9ee414a	6028	// didn't make it to calibration mode - cancel the operation
mjr	1:d913e0afb2ac	6029	calBtnState = 0;
mjr	2:c174f9ee414a	6030	}
mjr	1:d913e0afb2ac	6031	}
mjr	1:d913e0afb2ac	6032
mjr	1:d913e0afb2ac	6033	// light/flash the calibration button light, if applicable
mjr	1:d913e0afb2ac	6034	int newCalBtnLit = calBtnLit;
mjr	1:d913e0afb2ac	6035	switch (calBtnState)
mjr	0:5acbbe3f4cf4	6036	{
mjr	1:d913e0afb2ac	6037	case 2:
mjr	1:d913e0afb2ac	6038	// in the hold period - flash the light
mjr	48:058ace2aed1d	6039	newCalBtnLit = ((calBtnTimer.read_us()/250000) & 1);
mjr	1:d913e0afb2ac	6040	break;
mjr	1:d913e0afb2ac	6041
mjr	1:d913e0afb2ac	6042	case 3:
mjr	1:d913e0afb2ac	6043	// calibration mode - show steady on
mjr	1:d913e0afb2ac	6044	newCalBtnLit = true;
mjr	1:d913e0afb2ac	6045	break;
mjr	1:d913e0afb2ac	6046
mjr	1:d913e0afb2ac	6047	default:
mjr	1:d913e0afb2ac	6048	// not calibrating/holding - show steady off
mjr	1:d913e0afb2ac	6049	newCalBtnLit = false;
mjr	1:d913e0afb2ac	6050	break;
mjr	1:d913e0afb2ac	6051	}
mjr	3:3514575d4f86	6052
mjr	3:3514575d4f86	6053	// light or flash the external calibration button LED, and
mjr	3:3514575d4f86	6054	// do the same with the on-board blue LED
mjr	1:d913e0afb2ac	6055	if (calBtnLit != newCalBtnLit)
mjr	1:d913e0afb2ac	6056	{
mjr	1:d913e0afb2ac	6057	calBtnLit = newCalBtnLit;
mjr	2:c174f9ee414a	6058	if (calBtnLit) {
mjr	17:ab3cec0c8bf4	6059	if (calBtnLed != 0)
mjr	17:ab3cec0c8bf4	6060	calBtnLed->write(1);
mjr	38:091e511ce8a0	6061	diagLED(0, 0, 1); // blue
mjr	2:c174f9ee414a	6062	}
mjr	2:c174f9ee414a	6063	else {
mjr	17:ab3cec0c8bf4	6064	if (calBtnLed != 0)
mjr	17:ab3cec0c8bf4	6065	calBtnLed->write(0);
mjr	38:091e511ce8a0	6066	diagLED(0, 0, 0); // off
mjr	2:c174f9ee414a	6067	}
mjr	1:d913e0afb2ac	6068	}
mjr	35:e959ffba78fd	6069
mjr	76:7f5912b6340e	6070	// collect diagnostic statistics, checkpoint 2
mjr	76:7f5912b6340e	6071	IF_DIAG(mainLoopIterCheckpt[2] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6072
mjr	48:058ace2aed1d	6073	// read the plunger sensor
mjr	48:058ace2aed1d	6074	plungerReader.read();
mjr	48:058ace2aed1d	6075
mjr	76:7f5912b6340e	6076	// collect diagnostic statistics, checkpoint 3
mjr	76:7f5912b6340e	6077	IF_DIAG(mainLoopIterCheckpt[3] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6078
mjr	53:9b2611964afc	6079	// update the ZB Launch Ball status
mjr	53:9b2611964afc	6080	zbLaunchBall.update();
mjr	37:ed52738445fc	6081
mjr	76:7f5912b6340e	6082	// collect diagnostic statistics, checkpoint 4
mjr	76:7f5912b6340e	6083	IF_DIAG(mainLoopIterCheckpt[4] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6084
mjr	53:9b2611964afc	6085	// process button updates
mjr	53:9b2611964afc	6086	processButtons(cfg);
mjr	53:9b2611964afc	6087
mjr	76:7f5912b6340e	6088	// collect diagnostic statistics, checkpoint 5
mjr	76:7f5912b6340e	6089	IF_DIAG(mainLoopIterCheckpt[5] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6090
mjr	38:091e511ce8a0	6091	// send a keyboard report if we have new data
mjr	37:ed52738445fc	6092	if (kbState.changed)
mjr	37:ed52738445fc	6093	{
mjr	38:091e511ce8a0	6094	// send a keyboard report
mjr	37:ed52738445fc	6095	js.kbUpdate(kbState.data);
mjr	37:ed52738445fc	6096	kbState.changed = false;
mjr	37:ed52738445fc	6097	}
mjr	38:091e511ce8a0	6098
mjr	38:091e511ce8a0	6099	// likewise for the media controller
mjr	37:ed52738445fc	6100	if (mediaState.changed)
mjr	37:ed52738445fc	6101	{
mjr	38:091e511ce8a0	6102	// send a media report
mjr	37:ed52738445fc	6103	js.mediaUpdate(mediaState.data);
mjr	37:ed52738445fc	6104	mediaState.changed = false;
mjr	37:ed52738445fc	6105	}
mjr	38:091e511ce8a0	6106
mjr	76:7f5912b6340e	6107	// collect diagnostic statistics, checkpoint 6
mjr	76:7f5912b6340e	6108	IF_DIAG(mainLoopIterCheckpt[6] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6109
mjr	38:091e511ce8a0	6110	// flag: did we successfully send a joystick report on this round?
mjr	38:091e511ce8a0	6111	bool jsOK = false;
mjr	55:4db125cd11a0	6112
mjr	55:4db125cd11a0	6113	// figure the current status flags for joystick reports
mjr	77:0b96f6867312	6114	uint16_t statusFlags =
mjr	77:0b96f6867312	6115	cfg.plunger.enabled // 0x01
mjr	77:0b96f6867312	6116	\| nightMode // 0x02
mjr	79:682ae3171a08	6117	\| ((psu2_state & 0x07) << 2) // 0x04 0x08 0x10
mjr	79:682ae3171a08	6118	\| saveConfigSucceededFlag; // 0x40
mjr	77:0b96f6867312	6119	if (IRLearningMode != 0)
mjr	77:0b96f6867312	6120	statusFlags \|= 0x20;
mjr	17:ab3cec0c8bf4	6121
mjr	50:40015764bbe6	6122	// If it's been long enough since our last USB status report, send
mjr	50:40015764bbe6	6123	// the new report. VP only polls for input in 10ms intervals, so
mjr	50:40015764bbe6	6124	// there's no benefit in sending reports more frequently than this.
mjr	50:40015764bbe6	6125	// More frequent reporting would only add USB I/O overhead.
mjr	50:40015764bbe6	6126	if (cfg.joystickEnabled && jsReportTimer.read_us() > 10000UL)
mjr	17:ab3cec0c8bf4	6127	{
mjr	17:ab3cec0c8bf4	6128	// read the accelerometer
mjr	17:ab3cec0c8bf4	6129	int xa, ya;
mjr	17:ab3cec0c8bf4	6130	accel.get(xa, ya);
mjr	17:ab3cec0c8bf4	6131
mjr	17:ab3cec0c8bf4	6132	// confine the results to our joystick axis range
mjr	17:ab3cec0c8bf4	6133	if (xa < -JOYMAX) xa = -JOYMAX;
mjr	17:ab3cec0c8bf4	6134	if (xa > JOYMAX) xa = JOYMAX;
mjr	17:ab3cec0c8bf4	6135	if (ya < -JOYMAX) ya = -JOYMAX;
mjr	17:ab3cec0c8bf4	6136	if (ya > JOYMAX) ya = JOYMAX;
mjr	17:ab3cec0c8bf4	6137
mjr	17:ab3cec0c8bf4	6138	// store the updated accelerometer coordinates
mjr	17:ab3cec0c8bf4	6139	x = xa;
mjr	17:ab3cec0c8bf4	6140	y = ya;
mjr	17:ab3cec0c8bf4	6141
mjr	48:058ace2aed1d	6142	// Report the current plunger position unless the plunger is
mjr	48:058ace2aed1d	6143	// disabled, or the ZB Launch Ball signal is on. In either of
mjr	48:058ace2aed1d	6144	// those cases, just report a constant 0 value. ZB Launch Ball
mjr	48:058ace2aed1d	6145	// temporarily disables mechanical plunger reporting because it
mjr	21:5048e16cc9ef	6146	// tells us that the table has a Launch Ball button instead of
mjr	48:058ace2aed1d	6147	// a traditional plunger, so we don't want to confuse VP with
mjr	48:058ace2aed1d	6148	// regular plunger inputs.
mjr	48:058ace2aed1d	6149	int z = plungerReader.getPosition();
mjr	53:9b2611964afc	6150	int zrep = (!cfg.plunger.enabled \|\| zbLaunchOn ? 0 : z);
mjr	35:e959ffba78fd	6151
mjr	35:e959ffba78fd	6152	// rotate X and Y according to the device orientation in the cabinet
mjr	35:e959ffba78fd	6153	accelRotate(x, y);
mjr	35:e959ffba78fd	6154
mjr	35:e959ffba78fd	6155	// send the joystick report
mjr	53:9b2611964afc	6156	jsOK = js.update(x, y, zrep, jsButtons, statusFlags);
mjr	21:5048e16cc9ef	6157
mjr	17:ab3cec0c8bf4	6158	// we've just started a new report interval, so reset the timer
mjr	38:091e511ce8a0	6159	jsReportTimer.reset();
mjr	17:ab3cec0c8bf4	6160	}
mjr	21:5048e16cc9ef	6161
mjr	52:8298b2a73eb2	6162	// If we're in sensor status mode, report all pixel exposure values
mjr	52:8298b2a73eb2	6163	if (reportPlungerStat)
mjr	10:976666ffa4ef	6164	{
mjr	17:ab3cec0c8bf4	6165	// send the report
mjr	53:9b2611964afc	6166	plungerSensor->sendStatusReport(js, reportPlungerStatFlags, reportPlungerStatTime);
mjr	17:ab3cec0c8bf4	6167
mjr	10:976666ffa4ef	6168	// we have satisfied this request
mjr	52:8298b2a73eb2	6169	reportPlungerStat = false;
mjr	10:976666ffa4ef	6170	}
mjr	10:976666ffa4ef	6171
mjr	35:e959ffba78fd	6172	// If joystick reports are turned off, send a generic status report
mjr	35:e959ffba78fd	6173	// periodically for the sake of the Windows config tool.
mjr	77:0b96f6867312	6174	if (!cfg.joystickEnabled && jsReportTimer.read_us() > 10000UL)
mjr	21:5048e16cc9ef	6175	{
mjr	55:4db125cd11a0	6176	jsOK = js.updateStatus(statusFlags);
mjr	38:091e511ce8a0	6177	jsReportTimer.reset();
mjr	38:091e511ce8a0	6178	}
mjr	38:091e511ce8a0	6179
mjr	38:091e511ce8a0	6180	// if we successfully sent a joystick report, reset the watchdog timer
mjr	38:091e511ce8a0	6181	if (jsOK)
mjr	38:091e511ce8a0	6182	{
mjr	38:091e511ce8a0	6183	jsOKTimer.reset();
mjr	38:091e511ce8a0	6184	jsOKTimer.start();
mjr	21:5048e16cc9ef	6185	}
mjr	21:5048e16cc9ef	6186
mjr	76:7f5912b6340e	6187	// collect diagnostic statistics, checkpoint 7
mjr	76:7f5912b6340e	6188	IF_DIAG(mainLoopIterCheckpt[7] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6189
mjr	6:cc35eb643e8f	6190	#ifdef DEBUG_PRINTF
mjr	6:cc35eb643e8f	6191	if (x != 0 \|\| y != 0)
mjr	6:cc35eb643e8f	6192	printf("%d,%d\r\n", x, y);
mjr	6:cc35eb643e8f	6193	#endif
mjr	6:cc35eb643e8f	6194
mjr	33:d832bcab089e	6195	// check for connection status changes
mjr	54:fd77a6b2f76c	6196	bool newConnected = js.isConnected() && !js.isSleeping();
mjr	33:d832bcab089e	6197	if (newConnected != connected)
mjr	33:d832bcab089e	6198	{
mjr	54:fd77a6b2f76c	6199	// give it a moment to stabilize
mjr	40:cc0d9814522b	6200	connectChangeTimer.start();
mjr	55:4db125cd11a0	6201	if (connectChangeTimer.read_us() > 1000000)
mjr	33:d832bcab089e	6202	{
mjr	33:d832bcab089e	6203	// note the new status
mjr	33:d832bcab089e	6204	connected = newConnected;
mjr	40:cc0d9814522b	6205
mjr	40:cc0d9814522b	6206	// done with the change timer for this round - reset it for next time
mjr	40:cc0d9814522b	6207	connectChangeTimer.stop();
mjr	40:cc0d9814522b	6208	connectChangeTimer.reset();
mjr	33:d832bcab089e	6209
mjr	54:fd77a6b2f76c	6210	// if we're newly disconnected, clean up for PC suspend mode or power off
mjr	54:fd77a6b2f76c	6211	if (!connected)
mjr	40:cc0d9814522b	6212	{
mjr	54:fd77a6b2f76c	6213	// turn off all outputs
mjr	33:d832bcab089e	6214	allOutputsOff();
mjr	40:cc0d9814522b	6215
mjr	40:cc0d9814522b	6216	// The KL25Z runs off of USB power, so we might (depending on the PC
mjr	40:cc0d9814522b	6217	// and OS configuration) continue to receive power even when the main
mjr	40:cc0d9814522b	6218	// PC power supply is turned off, such as in soft-off or suspend/sleep
mjr	40:cc0d9814522b	6219	// mode. Any external output controller chips (TLC5940, 74HC595) might
mjr	40:cc0d9814522b	6220	// be powered from the PC power supply directly rather than from our
mjr	40:cc0d9814522b	6221	// USB power, so they might be powered off even when we're still running.
mjr	40:cc0d9814522b	6222	// To ensure cleaner startup when the power comes back on, globally
mjr	40:cc0d9814522b	6223	// disable the outputs. The global disable signals come from GPIO lines
mjr	40:cc0d9814522b	6224	// that remain powered as long as the KL25Z is powered, so these modes
mjr	40:cc0d9814522b	6225	// will apply smoothly across power state transitions in the external
mjr	40:cc0d9814522b	6226	// hardware. That is, when the external chips are powered up, they'll
mjr	40:cc0d9814522b	6227	// see the global disable signals as stable voltage inputs immediately,
mjr	40:cc0d9814522b	6228	// which will cause them to suppress any output triggering. This ensures
mjr	40:cc0d9814522b	6229	// that we don't fire any solenoids or flash any lights spuriously when
mjr	40:cc0d9814522b	6230	// the power first comes on.
mjr	40:cc0d9814522b	6231	if (tlc5940 != 0)
mjr	40:cc0d9814522b	6232	tlc5940->enable(false);
mjr	87:8d35c74403af	6233	if (tlc59116 != 0)
mjr	87:8d35c74403af	6234	tlc59116->enable(false);
mjr	40:cc0d9814522b	6235	if (hc595 != 0)
mjr	40:cc0d9814522b	6236	hc595->enable(false);
mjr	40:cc0d9814522b	6237	}
mjr	33:d832bcab089e	6238	}
mjr	33:d832bcab089e	6239	}
mjr	48:058ace2aed1d	6240
mjr	53:9b2611964afc	6241	// if we have a reboot timer pending, check for completion
mjr	86:e30a1f60f783	6242	if (saveConfigFollowupTimer.isRunning()
mjr	87:8d35c74403af	6243	&& saveConfigFollowupTimer.read_us() > saveConfigFollowupTime*1000000UL)
mjr	85:3c28aee81cde	6244	{
mjr	85:3c28aee81cde	6245	// if a reboot is pending, execute it now
mjr	86:e30a1f60f783	6246	if (saveConfigRebootPending)
mjr	82:4f6209cb5c33	6247	{
mjr	86:e30a1f60f783	6248	// Only reboot if the PSU2 power state allows it. If it
mjr	86:e30a1f60f783	6249	// doesn't, suppress the reboot for now, but leave the boot
mjr	86:e30a1f60f783	6250	// flags set so that we keep checking on future rounds.
mjr	86:e30a1f60f783	6251	// That way we should eventually reboot when the power
mjr	86:e30a1f60f783	6252	// status allows it.
mjr	86:e30a1f60f783	6253	if (powerStatusAllowsReboot())
mjr	86:e30a1f60f783	6254	reboot(js);
mjr	82:4f6209cb5c33	6255	}
mjr	85:3c28aee81cde	6256	else
mjr	85:3c28aee81cde	6257	{
mjr	86:e30a1f60f783	6258	// No reboot required. Exit the timed post-save state.
mjr	86:e30a1f60f783	6259
mjr	86:e30a1f60f783	6260	// stop and reset the post-save timer
mjr	86:e30a1f60f783	6261	saveConfigFollowupTimer.stop();
mjr	86:e30a1f60f783	6262	saveConfigFollowupTimer.reset();
mjr	86:e30a1f60f783	6263
mjr	86:e30a1f60f783	6264	// clear the post-save success flag
mjr	86:e30a1f60f783	6265	saveConfigSucceededFlag = 0;
mjr	85:3c28aee81cde	6266	}
mjr	77:0b96f6867312	6267	}
mjr	86:e30a1f60f783	6268
mjr	48:058ace2aed1d	6269	// if we're disconnected, initiate a new connection
mjr	51:57eb311faafa	6270	if (!connected)
mjr	48:058ace2aed1d	6271	{
mjr	54:fd77a6b2f76c	6272	// show USB HAL debug events
mjr	54:fd77a6b2f76c	6273	extern void HAL_DEBUG_PRINTEVENTS(const char *prefix);
mjr	54:fd77a6b2f76c	6274	HAL_DEBUG_PRINTEVENTS(">DISC");
mjr	54:fd77a6b2f76c	6275
mjr	54:fd77a6b2f76c	6276	// show immediate diagnostic feedback
mjr	54:fd77a6b2f76c	6277	js.diagFlash();
mjr	54:fd77a6b2f76c	6278
mjr	54:fd77a6b2f76c	6279	// clear any previous diagnostic LED display
mjr	54:fd77a6b2f76c	6280	diagLED(0, 0, 0);
mjr	51:57eb311faafa	6281
mjr	51:57eb311faafa	6282	// set up a timer to monitor the reboot timeout
mjr	70:9f58735a1732	6283	Timer reconnTimeoutTimer;
mjr	70:9f58735a1732	6284	reconnTimeoutTimer.start();
mjr	48:058ace2aed1d	6285
mjr	54:fd77a6b2f76c	6286	// set up a timer for diagnostic displays
mjr	54:fd77a6b2f76c	6287	Timer diagTimer;
mjr	54:fd77a6b2f76c	6288	diagTimer.reset();
mjr	54:fd77a6b2f76c	6289	diagTimer.start();
mjr	74:822a92bc11d2	6290
mjr	74:822a92bc11d2	6291	// turn off the main loop timer while spinning
mjr	74:822a92bc11d2	6292	IF_DIAG(mainLoopTimer.stop();)
mjr	54:fd77a6b2f76c	6293
mjr	54:fd77a6b2f76c	6294	// loop until we get our connection back
mjr	54:fd77a6b2f76c	6295	while (!js.isConnected() \|\| js.isSleeping())
mjr	51:57eb311faafa	6296	{
mjr	54:fd77a6b2f76c	6297	// try to recover the connection
mjr	54:fd77a6b2f76c	6298	js.recoverConnection();
mjr	54:fd77a6b2f76c	6299
mjr	55:4db125cd11a0	6300	// send TLC5940 data if necessary
mjr	55:4db125cd11a0	6301	if (tlc5940 != 0)
mjr	55:4db125cd11a0	6302	tlc5940->send();
mjr	87:8d35c74403af	6303
mjr	87:8d35c74403af	6304	// update TLC59116 outputs
mjr	87:8d35c74403af	6305	if (tlc59116 != 0)
mjr	87:8d35c74403af	6306	tlc59116->send();
mjr	55:4db125cd11a0	6307
mjr	54:fd77a6b2f76c	6308	// show a diagnostic flash every couple of seconds
mjr	54:fd77a6b2f76c	6309	if (diagTimer.read_us() > 2000000)
mjr	51:57eb311faafa	6310	{
mjr	54:fd77a6b2f76c	6311	// flush the USB HAL debug events, if in debug mode
mjr	54:fd77a6b2f76c	6312	HAL_DEBUG_PRINTEVENTS(">NC");
mjr	54:fd77a6b2f76c	6313
mjr	54:fd77a6b2f76c	6314	// show diagnostic feedback
mjr	54:fd77a6b2f76c	6315	js.diagFlash();
mjr	51:57eb311faafa	6316
mjr	51:57eb311faafa	6317	// reset the flash timer
mjr	54:fd77a6b2f76c	6318	diagTimer.reset();
mjr	51:57eb311faafa	6319	}
mjr	51:57eb311faafa	6320
mjr	77:0b96f6867312	6321	// If the disconnect reboot timeout has expired, reboot.
mjr	77:0b96f6867312	6322	// Some PC hosts won't reconnect to a device that's left
mjr	77:0b96f6867312	6323	// plugged in through various events on the PC side, such as
mjr	77:0b96f6867312	6324	// rebooting Windows, cycling power on the PC, or just a lost
mjr	77:0b96f6867312	6325	// USB connection. Rebooting the KL25Z seems to be the most
mjr	77:0b96f6867312	6326	// reliable way to get Windows to notice us again after one
mjr	86:e30a1f60f783	6327	// of these events and make it reconnect. Only reboot if
mjr	86:e30a1f60f783	6328	// the PSU2 power status allows it - if not, skip it on this
mjr	86:e30a1f60f783	6329	// round and keep waiting.
mjr	51:57eb311faafa	6330	if (cfg.disconnectRebootTimeout != 0
mjr	86:e30a1f60f783	6331	&& reconnTimeoutTimer.read() > cfg.disconnectRebootTimeout
mjr	86:e30a1f60f783	6332	&& powerStatusAllowsReboot())
mjr	54:fd77a6b2f76c	6333	reboot(js, false, 0);
mjr	77:0b96f6867312	6334
mjr	77:0b96f6867312	6335	// update the PSU2 power sensing status
mjr	77:0b96f6867312	6336	powerStatusUpdate(cfg);
mjr	54:fd77a6b2f76c	6337	}
mjr	54:fd77a6b2f76c	6338
mjr	74:822a92bc11d2	6339	// resume the main loop timer
mjr	74:822a92bc11d2	6340	IF_DIAG(mainLoopTimer.start();)
mjr	74:822a92bc11d2	6341
mjr	54:fd77a6b2f76c	6342	// if we made it out of that loop alive, we're connected again!
mjr	54:fd77a6b2f76c	6343	connected = true;
mjr	54:fd77a6b2f76c	6344	HAL_DEBUG_PRINTEVENTS(">C");
mjr	54:fd77a6b2f76c	6345
mjr	54:fd77a6b2f76c	6346	// Enable peripheral chips and update them with current output data
mjr	54:fd77a6b2f76c	6347	if (tlc5940 != 0)
mjr	55:4db125cd11a0	6348	tlc5940->enable(true);
mjr	87:8d35c74403af	6349	if (tlc59116 != 0)
mjr	87:8d35c74403af	6350	tlc59116->enable(true);
mjr	54:fd77a6b2f76c	6351	if (hc595 != 0)
mjr	54:fd77a6b2f76c	6352	{
mjr	55:4db125cd11a0	6353	hc595->enable(true);
mjr	54:fd77a6b2f76c	6354	hc595->update(true);
mjr	51:57eb311faafa	6355	}
mjr	48:058ace2aed1d	6356	}
mjr	43:7a6364d82a41	6357
mjr	6:cc35eb643e8f	6358	// provide a visual status indication on the on-board LED
mjr	48:058ace2aed1d	6359	if (calBtnState < 2 && hbTimer.read_us() > 1000000)
mjr	1:d913e0afb2ac	6360	{
mjr	54:fd77a6b2f76c	6361	if (jsOKTimer.read_us() > 1000000)
mjr	38:091e511ce8a0	6362	{
mjr	39:b3815a1c3802	6363	// USB freeze - show red/yellow.
mjr	40:cc0d9814522b	6364	//
mjr	54:fd77a6b2f76c	6365	// It's been more than a second since we successfully sent a joystick
mjr	54:fd77a6b2f76c	6366	// update message. This must mean that something's wrong on the USB
mjr	54:fd77a6b2f76c	6367	// connection, even though we haven't detected an outright disconnect.
mjr	54:fd77a6b2f76c	6368	// Show a distinctive diagnostic LED pattern when this occurs.
mjr	38:091e511ce8a0	6369	hb = !hb;
mjr	38:091e511ce8a0	6370	diagLED(1, hb, 0);
mjr	54:fd77a6b2f76c	6371
mjr	54:fd77a6b2f76c	6372	// If the reboot-on-disconnect option is in effect, treat this condition
mjr	54:fd77a6b2f76c	6373	// as equivalent to a disconnect, since something is obviously wrong
mjr	54:fd77a6b2f76c	6374	// with the USB connection.
mjr	54:fd77a6b2f76c	6375	if (cfg.disconnectRebootTimeout != 0)
mjr	54:fd77a6b2f76c	6376	{
mjr	54:fd77a6b2f76c	6377	// The reboot timeout is in effect. If we've been incommunicado for
mjr	54:fd77a6b2f76c	6378	// longer than the timeout, reboot. If we haven't reached the time
mjr	54:fd77a6b2f76c	6379	// limit, keep running for now, and leave the OK timer running so
mjr	86:e30a1f60f783	6380	// that we can continue to monitor this. Only reboot if the PSU2
mjr	86:e30a1f60f783	6381	// power status allows it.
mjr	86:e30a1f60f783	6382	if (jsOKTimer.read() > cfg.disconnectRebootTimeout
mjr	86:e30a1f60f783	6383	&& powerStatusAllowsReboot())
mjr	54:fd77a6b2f76c	6384	reboot(js, false, 0);
mjr	54:fd77a6b2f76c	6385	}
mjr	54:fd77a6b2f76c	6386	else
mjr	54:fd77a6b2f76c	6387	{
mjr	54:fd77a6b2f76c	6388	// There's no reboot timer, so just keep running with the diagnostic
mjr	54:fd77a6b2f76c	6389	// pattern displayed. Since we're not waiting for any other timed
mjr	54:fd77a6b2f76c	6390	// conditions in this state, stop the timer so that it doesn't
mjr	54:fd77a6b2f76c	6391	// overflow if this condition persists for a long time.
mjr	54:fd77a6b2f76c	6392	jsOKTimer.stop();
mjr	54:fd77a6b2f76c	6393	}
mjr	38:091e511ce8a0	6394	}
mjr	73:4e8ce0b18915	6395	else if (psu2_state >= 4)
mjr	73:4e8ce0b18915	6396	{
mjr	73:4e8ce0b18915	6397	// We're in the TV timer countdown. Skip the normal heartbeat
mjr	73:4e8ce0b18915	6398	// flashes and show the TV timer flashes instead.
mjr	73:4e8ce0b18915	6399	diagLED(0, 0, 0);
mjr	73:4e8ce0b18915	6400	}
mjr	35:e959ffba78fd	6401	else if (cfg.plunger.enabled && !cfg.plunger.cal.calibrated)
mjr	6:cc35eb643e8f	6402	{
mjr	6:cc35eb643e8f	6403	// connected, plunger calibration needed - flash yellow/green
mjr	6:cc35eb643e8f	6404	hb = !hb;
mjr	38:091e511ce8a0	6405	diagLED(hb, 1, 0);
mjr	6:cc35eb643e8f	6406	}
mjr	6:cc35eb643e8f	6407	else
mjr	6:cc35eb643e8f	6408	{
mjr	6:cc35eb643e8f	6409	// connected - flash blue/green
mjr	2:c174f9ee414a	6410	hb = !hb;
mjr	38:091e511ce8a0	6411	diagLED(0, hb, !hb);
mjr	2:c174f9ee414a	6412	}
mjr	1:d913e0afb2ac	6413
mjr	1:d913e0afb2ac	6414	// reset the heartbeat timer
mjr	1:d913e0afb2ac	6415	hbTimer.reset();
mjr	5:a70c0bce770d	6416	++hbcnt;
mjr	1:d913e0afb2ac	6417	}
mjr	74:822a92bc11d2	6418
mjr	74:822a92bc11d2	6419	// collect statistics on the main loop time, if desired
mjr	74:822a92bc11d2	6420	IF_DIAG(
mjr	76:7f5912b6340e	6421	mainLoopIterTime += mainLoopTimer.read_us();
mjr	74:822a92bc11d2	6422	mainLoopIterCount++;
mjr	74:822a92bc11d2	6423	)
mjr	1:d913e0afb2ac	6424	}
mjr	0:5acbbe3f4cf4	6425	}

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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@87:8d35c74403af, 2017-05-09 (annotated)

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