Pinscape_Controller_V2_arnoz - Mirror with some correction

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Arnaud VALLEY / Mbed 2 deprecated Pinscape_Controller_V2_arnoz

Mirror with some correction

Dependencies: mbed FastIO FastPWM USBDevice

main.cpp@69:cc5039284fac, 2016-12-28 (annotated)

Committer:: mjr
Date:: Wed Dec 28 23:32:38 2016 +0000
Revision:: 69:cc5039284fac
Parent:: 67:c39e66c4e000
Child:: 70:9f58735a1732

Slope-based edge detection; disable filtering in plunger readings;

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	38:091e511ce8a0	42	// - Plunger position sensing, with mulitple sensor options. To use this feature,
mjr	35:e959ffba78fd	43	// you need to choose a sensor and set it up, connect the sensor electrically to
mjr	35:e959ffba78fd	44	// the KL25Z, and configure the Pinscape software on the KL25Z to let it know how
mjr	35:e959ffba78fd	45	// the sensor is hooked up. The Pinscape software monitors the sensor and sends
mjr	35:e959ffba78fd	46	// readings to Visual Pinball via the joystick Z axis. VP and other PC software
mjr	38:091e511ce8a0	47	// have native support for this type of input; as with the nudge setup, you just
mjr	38:091e511ce8a0	48	// have to set some options in VP to activate the plunger.
mjr	17:ab3cec0c8bf4	49	//
mjr	35:e959ffba78fd	50	// The Pinscape software supports optical sensors (the TAOS TSL1410R and TSL1412R
mjr	35:e959ffba78fd	51	// linear sensor arrays) as well as slide potentiometers. The specific equipment
mjr	35:e959ffba78fd	52	// that's supported, along with physical mounting and wiring details, can be found
mjr	35:e959ffba78fd	53	// in the Build Guide.
mjr	35:e959ffba78fd	54	//
mjr	38:091e511ce8a0	55	// Note VP has built-in support for plunger devices like this one, but some VP
mjr	38:091e511ce8a0	56	// tables can't use it without some additional scripting work. The Build Guide has
mjr	38:091e511ce8a0	57	// advice on adjusting tables to add plunger support when necessary.
mjr	5:a70c0bce770d	58	//
mjr	6:cc35eb643e8f	59	// For best results, the plunger sensor should be calibrated. The calibration
mjr	6:cc35eb643e8f	60	// is stored in non-volatile memory on board the KL25Z, so it's only necessary
mjr	6:cc35eb643e8f	61	// to do the calibration once, when you first install everything. (You might
mjr	6:cc35eb643e8f	62	// also want to re-calibrate if you physically remove and reinstall the CCD
mjr	17:ab3cec0c8bf4	63	// sensor or the mechanical plunger, since their alignment shift change slightly
mjr	17:ab3cec0c8bf4	64	// when you put everything back together.) You can optionally install a
mjr	17:ab3cec0c8bf4	65	// dedicated momentary switch or pushbutton to activate the calibration mode;
mjr	17:ab3cec0c8bf4	66	// this is describe in the project documentation. If you don't want to bother
mjr	17:ab3cec0c8bf4	67	// with the extra button, you can also trigger calibration using the Windows
mjr	17:ab3cec0c8bf4	68	// setup software, which you can find on the Pinscape project page.
mjr	6:cc35eb643e8f	69	//
mjr	17:ab3cec0c8bf4	70	// The calibration procedure is described in the project documentation. Briefly,
mjr	17:ab3cec0c8bf4	71	// when you trigger calibration mode, the software will scan the CCD for about
mjr	17:ab3cec0c8bf4	72	// 15 seconds, during which you should simply pull the physical plunger back
mjr	17:ab3cec0c8bf4	73	// all the way, hold it for a moment, and then slowly return it to the rest
mjr	17:ab3cec0c8bf4	74	// position. (DON'T just release it from the retracted position, since that
mjr	17:ab3cec0c8bf4	75	// let it shoot forward too far. We want to measure the range from the park
mjr	17:ab3cec0c8bf4	76	// position to the fully retracted position only.)
mjr	5:a70c0bce770d	77	//
mjr	13:72dda449c3c0	78	// - Button input wiring. 24 of the KL25Z's GPIO ports are mapped as digital inputs
mjr	38:091e511ce8a0	79	// for buttons and switches. You can wire each input to a physical pinball-style
mjr	38:091e511ce8a0	80	// button or switch, such as flipper buttons, Start buttons, coin chute switches,
mjr	38:091e511ce8a0	81	// tilt bobs, and service buttons. Each button can be configured to be reported
mjr	38:091e511ce8a0	82	// to the PC as a joystick button or as a keyboard key (you can select which key
mjr	38:091e511ce8a0	83	// is used for each button).
mjr	13:72dda449c3c0	84	//
mjr	53:9b2611964afc	85	// - LedWiz emulation. The KL25Z can pretend to be an LedWiz device. This lets
mjr	53:9b2611964afc	86	// you connect feedback devices (lights, solenoids, motors) to GPIO ports on the
mjr	53:9b2611964afc	87	// KL25Z, and lets PC software (such as Visual Pinball) control them during game
mjr	53:9b2611964afc	88	// play to create a more immersive playing experience. The Pinscape software
mjr	53:9b2611964afc	89	// presents itself to the host as an LedWiz device and accepts the full LedWiz
mjr	53:9b2611964afc	90	// command set, so software on the PC designed for real LedWiz'es can control
mjr	53:9b2611964afc	91	// attached devices without any modifications.
mjr	5:a70c0bce770d	92	//
mjr	53:9b2611964afc	93	// Even though the software provides a very thorough LedWiz emulation, the KL25Z
mjr	53:9b2611964afc	94	// GPIO hardware design imposes some serious limitations. The big one is that
mjr	53:9b2611964afc	95	// the KL25Z only has 10 PWM channels, meaning that only 10 ports can have
mjr	53:9b2611964afc	96	// varying-intensity outputs (e.g., for controlling the brightness level of an
mjr	53:9b2611964afc	97	// LED or the speed or a motor). You can control more than 10 output ports, but
mjr	53:9b2611964afc	98	// only 10 can have PWM control; the rest are simple "digital" ports that can only
mjr	53:9b2611964afc	99	// be switched fully on or fully off. The second limitation is that the KL25Z
mjr	53:9b2611964afc	100	// just doesn't have that many GPIO ports overall. There are enough to populate
mjr	53:9b2611964afc	101	// all 32 button inputs OR all 32 LedWiz outputs, but not both. The default is
mjr	53:9b2611964afc	102	// to assign 24 buttons and 22 LedWiz ports; you can change this balance to trade
mjr	53:9b2611964afc	103	// off more outputs for fewer inputs, or vice versa. The third limitation is that
mjr	53:9b2611964afc	104	// the KL25Z GPIO pins have very tiny amperage limits - just 4mA, which isn't
mjr	53:9b2611964afc	105	// even enough to control a small LED. So in order to connect any kind of feedback
mjr	53:9b2611964afc	106	// device to an output, you must build some external circuitry to boost the
mjr	53:9b2611964afc	107	// current handing. The Build Guide has a reference circuit design for this
mjr	53:9b2611964afc	108	// purpose that's simple and inexpensive to build.
mjr	6:cc35eb643e8f	109	//
mjr	26:cb71c4af2912	110	// - Enhanced LedWiz emulation with TLC5940 PWM controller chips. You can attach
mjr	26:cb71c4af2912	111	// external PWM controller chips for controlling device outputs, instead of using
mjr	53:9b2611964afc	112	// the on-board GPIO ports as described above. The software can control a set of
mjr	53:9b2611964afc	113	// daisy-chained TLC5940 chips. Each chip provides 16 PWM outputs, so you just
mjr	53:9b2611964afc	114	// need two of them to get the full complement of 32 output ports of a real LedWiz.
mjr	53:9b2611964afc	115	// You can hook up even more, though. Four chips gives you 64 ports, which should
mjr	53:9b2611964afc	116	// be plenty for nearly any virtual pinball project. To accommodate the larger
mjr	53:9b2611964afc	117	// supply of ports possible with the PWM chips, the controller software provides
mjr	53:9b2611964afc	118	// a custom, extended version of the LedWiz protocol that can handle up to 128
mjr	53:9b2611964afc	119	// ports. PC software designed only for the real LedWiz obviously won't know
mjr	53:9b2611964afc	120	// about the extended protocol and won't be able to take advantage of its extra
mjr	53:9b2611964afc	121	// capabilities, but the latest version of DOF (DirectOutput Framework) does
mjr	53:9b2611964afc	122	// know the new language and can take full advantage. Older software will still
mjr	53:9b2611964afc	123	// work, though - the new extensions are all backward compatible, so old software
mjr	53:9b2611964afc	124	// that only knows about the original LedWiz protocol will still work, with the
mjr	53:9b2611964afc	125	// obvious limitation that it can only access the first 32 ports.
mjr	53:9b2611964afc	126	//
mjr	53:9b2611964afc	127	// The Pinscape Expansion Board project (which appeared in early 2016) provides
mjr	53:9b2611964afc	128	// a reference hardware design, with EAGLE circuit board layouts, that takes full
mjr	53:9b2611964afc	129	// advantage of the TLC5940 capability. It lets you create a customized set of
mjr	53:9b2611964afc	130	// outputs with full PWM control and power handling for high-current devices
mjr	53:9b2611964afc	131	// built in to the boards.
mjr	26:cb71c4af2912	132	//
mjr	38:091e511ce8a0	133	// - Night Mode control for output devices. You can connect a switch or button
mjr	38:091e511ce8a0	134	// to the controller to activate "Night Mode", which disables feedback devices
mjr	38:091e511ce8a0	135	// that you designate as noisy. You can designate outputs individually as being
mjr	38:091e511ce8a0	136	// included in this set or not. This is useful if you want to play a game on
mjr	38:091e511ce8a0	137	// your cabinet late at night without waking the kids and annoying the neighbors.
mjr	38:091e511ce8a0	138	//
mjr	38:091e511ce8a0	139	// - TV ON switch. The controller can pulse a relay to turn on your TVs after
mjr	38:091e511ce8a0	140	// power to the cabinet comes on, with a configurable delay timer. This feature
mjr	38:091e511ce8a0	141	// is for TVs that don't turn themselves on automatically when first plugged in.
mjr	38:091e511ce8a0	142	// To use this feature, you have to build some external circuitry to allow the
mjr	38:091e511ce8a0	143	// software to sense the power supply status, and you have to run wires to your
mjr	38:091e511ce8a0	144	// TV's on/off button, which requires opening the case on your TV. The Build
mjr	38:091e511ce8a0	145	// Guide has details on the necessary circuitry and connections to the TV.
mjr	38:091e511ce8a0	146	//
mjr	35:e959ffba78fd	147	//
mjr	35:e959ffba78fd	148	//
mjr	33:d832bcab089e	149	// STATUS LIGHTS: The on-board LED on the KL25Z flashes to indicate the current
mjr	33:d832bcab089e	150	// device status. The flash patterns are:
mjr	6:cc35eb643e8f	151	//
mjr	48:058ace2aed1d	152	// short yellow flash = waiting to connect
mjr	6:cc35eb643e8f	153	//
mjr	48:058ace2aed1d	154	// short red flash = the connection is suspended (the host is in sleep
mjr	48:058ace2aed1d	155	// or suspend mode, the USB cable is unplugged after a connection
mjr	48:058ace2aed1d	156	// has been established)
mjr	48:058ace2aed1d	157	//
mjr	48:058ace2aed1d	158	// two short red flashes = connection lost (the device should immediately
mjr	48:058ace2aed1d	159	// go back to short-yellow "waiting to reconnect" mode when a connection
mjr	48:058ace2aed1d	160	// is lost, so this display shouldn't normally appear)
mjr	6:cc35eb643e8f	161	//
mjr	38:091e511ce8a0	162	// long red/yellow = USB connection problem. The device still has a USB
mjr	48:058ace2aed1d	163	// connection to the host (or so it appears to the device), but data
mjr	48:058ace2aed1d	164	// transmissions are failing.
mjr	38:091e511ce8a0	165	//
mjr	6:cc35eb643e8f	166	// long yellow/green = everything's working, but the plunger hasn't
mjr	38:091e511ce8a0	167	// been calibrated. Follow the calibration procedure described in
mjr	38:091e511ce8a0	168	// the project documentation. This flash mode won't appear if there's
mjr	38:091e511ce8a0	169	// no plunger sensor configured.
mjr	6:cc35eb643e8f	170	//
mjr	38:091e511ce8a0	171	// alternating blue/green = everything's working normally, and plunger
mjr	38:091e511ce8a0	172	// calibration has been completed (or there's no plunger attached)
mjr	10:976666ffa4ef	173	//
mjr	48:058ace2aed1d	174	// fast red/purple = out of memory. The controller halts and displays
mjr	48:058ace2aed1d	175	// this diagnostic code until you manually reset it. If this happens,
mjr	48:058ace2aed1d	176	// it's probably because the configuration is too complex, in which
mjr	48:058ace2aed1d	177	// case the same error will occur after the reset. If it's stuck
mjr	48:058ace2aed1d	178	// in this cycle, you'll have to restore the default configuration
mjr	48:058ace2aed1d	179	// by re-installing the controller software (the Pinscape .bin file).
mjr	10:976666ffa4ef	180	//
mjr	48:058ace2aed1d	181	//
mjr	48:058ace2aed1d	182	// USB PROTOCOL: Most of our USB messaging is through standard USB HID
mjr	48:058ace2aed1d	183	// classes (joystick, keyboard). We also accept control messages on our
mjr	48:058ace2aed1d	184	// primary HID interface "OUT endpoint" using a custom protocol that's
mjr	48:058ace2aed1d	185	// not defined in any USB standards (we do have to provide a USB HID
mjr	48:058ace2aed1d	186	// Report Descriptor for it, but this just describes the protocol as
mjr	48:058ace2aed1d	187	// opaque vendor-defined bytes). The control protocol incorporates the
mjr	48:058ace2aed1d	188	// LedWiz protocol as a subset, and adds our own private extensions.
mjr	48:058ace2aed1d	189	// For full details, see USBProtocol.h.
mjr	33:d832bcab089e	190
mjr	33:d832bcab089e	191
mjr	0:5acbbe3f4cf4	192	#include "mbed.h"
mjr	6:cc35eb643e8f	193	#include "math.h"
mjr	48:058ace2aed1d	194	#include "pinscape.h"
mjr	0:5acbbe3f4cf4	195	#include "USBJoystick.h"
mjr	0:5acbbe3f4cf4	196	#include "MMA8451Q.h"
mjr	1:d913e0afb2ac	197	#include "tsl1410r.h"
mjr	1:d913e0afb2ac	198	#include "FreescaleIAP.h"
mjr	2:c174f9ee414a	199	#include "crc32.h"
mjr	26:cb71c4af2912	200	#include "TLC5940.h"
mjr	34:6b981a2afab7	201	#include "74HC595.h"
mjr	35:e959ffba78fd	202	#include "nvm.h"
mjr	35:e959ffba78fd	203	#include "plunger.h"
mjr	35:e959ffba78fd	204	#include "ccdSensor.h"
mjr	35:e959ffba78fd	205	#include "potSensor.h"
mjr	35:e959ffba78fd	206	#include "nullSensor.h"
mjr	48:058ace2aed1d	207	#include "TinyDigitalIn.h"
mjr	64:ef7ca92dff36	208	#include "FastPWM.h"
mjr	2:c174f9ee414a	209
mjr	21:5048e16cc9ef	210	#define DECL_EXTERNS
mjr	17:ab3cec0c8bf4	211	#include "config.h"
mjr	17:ab3cec0c8bf4	212
mjr	53:9b2611964afc	213
mjr	53:9b2611964afc	214	// --------------------------------------------------------------------------
mjr	53:9b2611964afc	215	//
mjr	53:9b2611964afc	216	// OpenSDA module identifier. This is for the benefit of the Windows
mjr	53:9b2611964afc	217	// configuration tool. When the config tool installs a .bin file onto
mjr	53:9b2611964afc	218	// the KL25Z, it will first find the sentinel string within the .bin file,
mjr	53:9b2611964afc	219	// and patch the "\0" bytes that follow the sentinel string with the
mjr	53:9b2611964afc	220	// OpenSDA module ID data. This allows us to report the OpenSDA
mjr	53:9b2611964afc	221	// identifiers back to the host system via USB, which in turn allows the
mjr	53:9b2611964afc	222	// config tool to figure out which OpenSDA MSD (mass storage device - a
mjr	53:9b2611964afc	223	// virtual disk drive) correlates to which Pinscape controller USB
mjr	53:9b2611964afc	224	// interface.
mjr	53:9b2611964afc	225	//
mjr	53:9b2611964afc	226	// This is only important if multiple Pinscape devices are attached to
mjr	53:9b2611964afc	227	// the same host. There doesn't seem to be any other way to figure out
mjr	53:9b2611964afc	228	// which OpenSDA MSD corresponds to which KL25Z USB interface; the OpenSDA
mjr	53:9b2611964afc	229	// MSD doesn't report the KL25Z CPU ID anywhere, and the KL25Z doesn't
mjr	53:9b2611964afc	230	// have any way to learn about the OpenSDA module it's connected to. The
mjr	53:9b2611964afc	231	// only way to pass this information to the KL25Z side that I can come up
mjr	53:9b2611964afc	232	// with is to have the Windows host embed it in the .bin file before
mjr	53:9b2611964afc	233	// downloading it to the OpenSDA MSD.
mjr	53:9b2611964afc	234	//
mjr	53:9b2611964afc	235	// We initialize the const data buffer (the part after the sentinel string)
mjr	53:9b2611964afc	236	// with all "\0" bytes, so that's what will be in the executable image that
mjr	53:9b2611964afc	237	// comes out of the mbed compiler. If you manually install the resulting
mjr	53:9b2611964afc	238	// .bin file onto the KL25Z (via the Windows desktop, say), the "\0" bytes
mjr	53:9b2611964afc	239	// will stay this way and read as all 0's at run-time. Since a real TUID
mjr	53:9b2611964afc	240	// would never be all 0's, that tells us that we were never patched and
mjr	53:9b2611964afc	241	// thus don't have any information on the OpenSDA module.
mjr	53:9b2611964afc	242	//
mjr	53:9b2611964afc	243	const char *getOpenSDAID()
mjr	53:9b2611964afc	244	{
mjr	53:9b2611964afc	245	#define OPENSDA_PREFIX "///Pinscape.OpenSDA.TUID///"
mjr	53:9b2611964afc	246	static const char OpenSDA[] = OPENSDA_PREFIX "\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0///";
mjr	53:9b2611964afc	247	const size_t OpenSDA_prefix_length = sizeof(OPENSDA_PREFIX) - 1;
mjr	53:9b2611964afc	248
mjr	53:9b2611964afc	249	return OpenSDA + OpenSDA_prefix_length;
mjr	53:9b2611964afc	250	}
mjr	53:9b2611964afc	251
mjr	53:9b2611964afc	252	// --------------------------------------------------------------------------
mjr	53:9b2611964afc	253	//
mjr	53:9b2611964afc	254	// Build ID. We use the date and time of compiling the program as a build
mjr	53:9b2611964afc	255	// identifier. It would be a little nicer to use a simple serial number
mjr	53:9b2611964afc	256	// instead, but the mbed platform doesn't have a way to automate that. The
mjr	53:9b2611964afc	257	// timestamp is a pretty good proxy for a serial number in that it will
mjr	53:9b2611964afc	258	// naturally increase on each new build, which is the primary property we
mjr	53:9b2611964afc	259	// want from this.
mjr	53:9b2611964afc	260	//
mjr	53:9b2611964afc	261	// As with the embedded OpenSDA ID, we store the build timestamp with a
mjr	53:9b2611964afc	262	// sentinel string prefix, to allow automated tools to find the static data
mjr	53:9b2611964afc	263	// in the .bin file by searching for the sentinel string. In contrast to
mjr	53:9b2611964afc	264	// the OpenSDA ID, the value we store here is for tools to extract rather
mjr	53:9b2611964afc	265	// than store, since we automatically populate it via the preprocessor
mjr	53:9b2611964afc	266	// macros.
mjr	53:9b2611964afc	267	//
mjr	53:9b2611964afc	268	const char *getBuildID()
mjr	53:9b2611964afc	269	{
mjr	53:9b2611964afc	270	#define BUILDID_PREFIX "///Pinscape.Build.ID///"
mjr	53:9b2611964afc	271	static const char BuildID[] = BUILDID_PREFIX __DATE__ " " __TIME__ "///";
mjr	53:9b2611964afc	272	const size_t BuildID_prefix_length = sizeof(BUILDID_PREFIX) - 1;
mjr	53:9b2611964afc	273
mjr	53:9b2611964afc	274	return BuildID + BuildID_prefix_length;
mjr	53:9b2611964afc	275	}
mjr	53:9b2611964afc	276
mjr	53:9b2611964afc	277
mjr	48:058ace2aed1d	278	// --------------------------------------------------------------------------
mjr	48:058ace2aed1d	279	//
mjr	59:94eb9265b6d7	280	// Custom memory allocator. We use our own version of malloc() for more
mjr	59:94eb9265b6d7	281	// efficient memory usage, and to provide diagnostics if we run out of heap.
mjr	48:058ace2aed1d	282	//
mjr	59:94eb9265b6d7	283	// We can implement a more efficient malloc than the library can because we
mjr	59:94eb9265b6d7	284	// can make an assumption that the library can't: allocations are permanent.
mjr	59:94eb9265b6d7	285	// The normal malloc has to assume that allocations can be freed, so it has
mjr	59:94eb9265b6d7	286	// to track blocks individually. For the purposes of this program, though,
mjr	59:94eb9265b6d7	287	// we don't have to do this because virtually all of our allocations are
mjr	59:94eb9265b6d7	288	// de facto permanent. We only allocate dyanmic memory during setup, and
mjr	59:94eb9265b6d7	289	// once we set things up, we never delete anything. This means that we can
mjr	59:94eb9265b6d7	290	// allocate memory in bare blocks without any bookkeeping overhead.
mjr	59:94eb9265b6d7	291	//
mjr	59:94eb9265b6d7	292	// In addition, we can make a much larger overall pool of memory available
mjr	59:94eb9265b6d7	293	// in a custom allocator. The mbed library malloc() seems to have a pool
mjr	59:94eb9265b6d7	294	// of about 3K to work with, even though there's really about 9K of RAM
mjr	59:94eb9265b6d7	295	// left over after counting the static writable data and reserving space
mjr	59:94eb9265b6d7	296	// for a reasonable stack. I haven't looked at the mbed malloc to see why
mjr	59:94eb9265b6d7	297	// they're so stingy, but it appears from empirical testing that we can
mjr	59:94eb9265b6d7	298	// create a static array up to about 9K before things get crashy.
mjr	59:94eb9265b6d7	299
mjr	48:058ace2aed1d	300	void *xmalloc(size_t siz)
mjr	48:058ace2aed1d	301	{
mjr	59:94eb9265b6d7	302	// Dynamic memory pool. We'll reserve space for all dynamic
mjr	59:94eb9265b6d7	303	// allocations by creating a simple C array of bytes. The size
mjr	59:94eb9265b6d7	304	// of this array is the maximum number of bytes we can allocate
mjr	59:94eb9265b6d7	305	// with malloc or operator 'new'.
mjr	59:94eb9265b6d7	306	//
mjr	59:94eb9265b6d7	307	// The maximum safe size for this array is, in essence, the
mjr	59:94eb9265b6d7	308	// amount of physical KL25Z RAM left over after accounting for
mjr	59:94eb9265b6d7	309	// static data throughout the rest of the program, the run-time
mjr	59:94eb9265b6d7	310	// stack, and any other space reserved for compiler or MCU
mjr	59:94eb9265b6d7	311	// overhead. Unfortunately, it's not straightforward to
mjr	59:94eb9265b6d7	312	// determine this analytically. The big complication is that
mjr	59:94eb9265b6d7	313	// the minimum stack size isn't easily predictable, as the stack
mjr	59:94eb9265b6d7	314	// grows according to what the program does. In addition, the
mjr	59:94eb9265b6d7	315	// mbed platform tools don't give us detailed data on the
mjr	59:94eb9265b6d7	316	// compiler/linker memory map. All we get is a generic total
mjr	59:94eb9265b6d7	317	// RAM requirement, which doesn't necessarily account for all
mjr	59:94eb9265b6d7	318	// overhead (e.g., gaps inserted to get proper alignment for
mjr	59:94eb9265b6d7	319	// particular memory blocks).
mjr	59:94eb9265b6d7	320	//
mjr	59:94eb9265b6d7	321	// A very rough estimate: the total RAM size reported by the
mjr	59:94eb9265b6d7	322	// linker is about 3.5K (currently - that can obviously change
mjr	59:94eb9265b6d7	323	// as the project evolves) out of 16K total. Assuming about a
mjr	59:94eb9265b6d7	324	// 3K stack, that leaves in the ballpark of 10K. Empirically,
mjr	59:94eb9265b6d7	325	// that seems pretty close. In testing, we start to see some
mjr	59:94eb9265b6d7	326	// instability at 10K, while 9K seems safe. To be conservative,
mjr	59:94eb9265b6d7	327	// we'll reduce this to 8K.
mjr	59:94eb9265b6d7	328	//
mjr	59:94eb9265b6d7	329	// Our measured total usage in the base configuration (22 GPIO
mjr	59:94eb9265b6d7	330	// output ports, TSL1410R plunger sensor) is about 4000 bytes.
mjr	59:94eb9265b6d7	331	// A pretty fully decked-out configuration (121 output ports,
mjr	59:94eb9265b6d7	332	// with 8 TLC5940 chips and 3 74HC595 chips, plus the TSL1412R
mjr	59:94eb9265b6d7	333	// sensor with the higher pixel count, and all expansion board
mjr	59:94eb9265b6d7	334	// features enabled) comes to about 6700 bytes. That leaves
mjr	59:94eb9265b6d7	335	// us with about 1.5K free out of our 8K, so we still have a
mjr	59:94eb9265b6d7	336	// little more headroom for future expansion.
mjr	59:94eb9265b6d7	337	//
mjr	59:94eb9265b6d7	338	// For comparison, the standard mbed malloc() runs out of
mjr	59:94eb9265b6d7	339	// memory at about 6K. That's what led to this custom malloc:
mjr	59:94eb9265b6d7	340	// we can just fit the base configuration into that 4K, but
mjr	59:94eb9265b6d7	341	// it's not enough space for more complex setups. There's
mjr	59:94eb9265b6d7	342	// still a little room for squeezing out unnecessary space
mjr	59:94eb9265b6d7	343	// from the mbed library code, but at this point I'd prefer
mjr	59:94eb9265b6d7	344	// to treat that as a last resort, since it would mean having
mjr	59:94eb9265b6d7	345	// to fork private copies of the libraries.
mjr	59:94eb9265b6d7	346	static char pool[8*1024];
mjr	59:94eb9265b6d7	347	static char *nxt = pool;
mjr	59:94eb9265b6d7	348	static size_t rem = sizeof(pool);
mjr	59:94eb9265b6d7	349
mjr	59:94eb9265b6d7	350	// align to a 4-byte increment
mjr	59:94eb9265b6d7	351	siz = (siz + 3) & ~3;
mjr	59:94eb9265b6d7	352
mjr	59:94eb9265b6d7	353	// If insufficient memory is available, halt and show a fast red/purple
mjr	59:94eb9265b6d7	354	// diagnostic flash. We don't want to return, since we assume throughout
mjr	59:94eb9265b6d7	355	// the program that all memory allocations must succeed. Note that this
mjr	59:94eb9265b6d7	356	// is generally considered bad programming practice in applications on
mjr	59:94eb9265b6d7	357	// "real" computers, but for the purposes of this microcontroller app,
mjr	59:94eb9265b6d7	358	// there's no point in checking for failed allocations individually
mjr	59:94eb9265b6d7	359	// because there's no way to recover from them. It's better in this
mjr	59:94eb9265b6d7	360	// context to handle failed allocations as fatal errors centrally. We
mjr	59:94eb9265b6d7	361	// can't recover from these automatically, so we have to resort to user
mjr	59:94eb9265b6d7	362	// intervention, which we signal with the diagnostic LED flashes.
mjr	59:94eb9265b6d7	363	if (siz > rem)
mjr	59:94eb9265b6d7	364	{
mjr	59:94eb9265b6d7	365	// halt with the diagnostic display (by looping forever)
mjr	59:94eb9265b6d7	366	for (;;)
mjr	59:94eb9265b6d7	367	{
mjr	59:94eb9265b6d7	368	diagLED(1, 0, 0);
mjr	59:94eb9265b6d7	369	wait_us(200000);
mjr	59:94eb9265b6d7	370	diagLED(1, 0, 1);
mjr	59:94eb9265b6d7	371	wait_us(200000);
mjr	59:94eb9265b6d7	372	}
mjr	59:94eb9265b6d7	373	}
mjr	48:058ace2aed1d	374
mjr	59:94eb9265b6d7	375	// get the next free location from the pool to return
mjr	59:94eb9265b6d7	376	char *ret = nxt;
mjr	59:94eb9265b6d7	377
mjr	59:94eb9265b6d7	378	// advance the pool pointer and decrement the remaining size counter
mjr	59:94eb9265b6d7	379	nxt += siz;
mjr	59:94eb9265b6d7	380	rem -= siz;
mjr	59:94eb9265b6d7	381
mjr	59:94eb9265b6d7	382	// return the allocated block
mjr	59:94eb9265b6d7	383	return ret;
mjr	48:058ace2aed1d	384	}
mjr	48:058ace2aed1d	385
mjr	59:94eb9265b6d7	386	// Overload operator new to call our custom malloc. This ensures that
mjr	59:94eb9265b6d7	387	// all 'new' allocations throughout the program (including library code)
mjr	59:94eb9265b6d7	388	// go through our private allocator.
mjr	48:058ace2aed1d	389	void *operator new(size_t siz) { return xmalloc(siz); }
mjr	48:058ace2aed1d	390	void *operator new[](size_t siz) { return xmalloc(siz); }
mjr	5:a70c0bce770d	391
mjr	59:94eb9265b6d7	392	// Since we don't do bookkeeping to track released memory, 'delete' does
mjr	59:94eb9265b6d7	393	// nothing. In actual testing, this routine appears to never be called.
mjr	59:94eb9265b6d7	394	// If it is ever called, it will simply leave the block in place, which
mjr	59:94eb9265b6d7	395	// will make it unavailable for re-use but will otherwise be harmless.
mjr	59:94eb9265b6d7	396	void operator delete(void *ptr) { }
mjr	59:94eb9265b6d7	397
mjr	59:94eb9265b6d7	398
mjr	5:a70c0bce770d	399	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	400	//
mjr	38:091e511ce8a0	401	// Forward declarations
mjr	38:091e511ce8a0	402	//
mjr	38:091e511ce8a0	403	void setNightMode(bool on);
mjr	38:091e511ce8a0	404	void toggleNightMode();
mjr	38:091e511ce8a0	405
mjr	38:091e511ce8a0	406	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	407	// utilities
mjr	17:ab3cec0c8bf4	408
mjr	26:cb71c4af2912	409	// floating point square of a number
mjr	26:cb71c4af2912	410	inline float square(float x) { return x*x; }
mjr	26:cb71c4af2912	411
mjr	26:cb71c4af2912	412	// floating point rounding
mjr	26:cb71c4af2912	413	inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); }
mjr	26:cb71c4af2912	414
mjr	17:ab3cec0c8bf4	415
mjr	33:d832bcab089e	416	// --------------------------------------------------------------------------
mjr	33:d832bcab089e	417	//
mjr	40:cc0d9814522b	418	// Extended verison of Timer class. This adds the ability to interrogate
mjr	40:cc0d9814522b	419	// the running state.
mjr	40:cc0d9814522b	420	//
mjr	40:cc0d9814522b	421	class Timer2: public Timer
mjr	40:cc0d9814522b	422	{
mjr	40:cc0d9814522b	423	public:
mjr	40:cc0d9814522b	424	Timer2() : running(false) { }
mjr	40:cc0d9814522b	425
mjr	40:cc0d9814522b	426	void start() { running = true; Timer::start(); }
mjr	40:cc0d9814522b	427	void stop() { running = false; Timer::stop(); }
mjr	40:cc0d9814522b	428
mjr	40:cc0d9814522b	429	bool isRunning() const { return running; }
mjr	40:cc0d9814522b	430
mjr	40:cc0d9814522b	431	private:
mjr	40:cc0d9814522b	432	bool running;
mjr	40:cc0d9814522b	433	};
mjr	40:cc0d9814522b	434
mjr	53:9b2611964afc	435
mjr	53:9b2611964afc	436	// --------------------------------------------------------------------------
mjr	53:9b2611964afc	437	//
mjr	53:9b2611964afc	438	// Reboot timer. When we have a deferred reboot operation pending, we
mjr	53:9b2611964afc	439	// set the target time and start the timer.
mjr	53:9b2611964afc	440	Timer2 rebootTimer;
mjr	53:9b2611964afc	441	long rebootTime_us;
mjr	53:9b2611964afc	442
mjr	40:cc0d9814522b	443	// --------------------------------------------------------------------------
mjr	40:cc0d9814522b	444	//
mjr	33:d832bcab089e	445	// USB product version number
mjr	5:a70c0bce770d	446	//
mjr	47:df7a88cd249c	447	const uint16_t USB_VERSION_NO = 0x000A;
mjr	33:d832bcab089e	448
mjr	33:d832bcab089e	449	// --------------------------------------------------------------------------
mjr	33:d832bcab089e	450	//
mjr	6:cc35eb643e8f	451	// Joystick axis report range - we report from -JOYMAX to +JOYMAX
mjr	33:d832bcab089e	452	//
mjr	6:cc35eb643e8f	453	#define JOYMAX 4096
mjr	6:cc35eb643e8f	454
mjr	9:fd65b0a94720	455
mjr	17:ab3cec0c8bf4	456	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	457	//
mjr	40:cc0d9814522b	458	// Wire protocol value translations. These translate byte values to and
mjr	40:cc0d9814522b	459	// from the USB protocol to local native format.
mjr	35:e959ffba78fd	460	//
mjr	35:e959ffba78fd	461
mjr	35:e959ffba78fd	462	// unsigned 16-bit integer
mjr	35:e959ffba78fd	463	inline uint16_t wireUI16(const uint8_t *b)
mjr	35:e959ffba78fd	464	{
mjr	35:e959ffba78fd	465	return b[0] \| ((uint16_t)b[1] << 8);
mjr	35:e959ffba78fd	466	}
mjr	40:cc0d9814522b	467	inline void ui16Wire(uint8_t *b, uint16_t val)
mjr	40:cc0d9814522b	468	{
mjr	40:cc0d9814522b	469	b[0] = (uint8_t)(val & 0xff);
mjr	40:cc0d9814522b	470	b[1] = (uint8_t)((val >> 8) & 0xff);
mjr	40:cc0d9814522b	471	}
mjr	35:e959ffba78fd	472
mjr	35:e959ffba78fd	473	inline int16_t wireI16(const uint8_t *b)
mjr	35:e959ffba78fd	474	{
mjr	35:e959ffba78fd	475	return (int16_t)wireUI16(b);
mjr	35:e959ffba78fd	476	}
mjr	40:cc0d9814522b	477	inline void i16Wire(uint8_t *b, int16_t val)
mjr	40:cc0d9814522b	478	{
mjr	40:cc0d9814522b	479	ui16Wire(b, (uint16_t)val);
mjr	40:cc0d9814522b	480	}
mjr	35:e959ffba78fd	481
mjr	35:e959ffba78fd	482	inline uint32_t wireUI32(const uint8_t *b)
mjr	35:e959ffba78fd	483	{
mjr	35:e959ffba78fd	484	return b[0] \| ((uint32_t)b[1] << 8) \| ((uint32_t)b[2] << 16) \| ((uint32_t)b[3] << 24);
mjr	35:e959ffba78fd	485	}
mjr	40:cc0d9814522b	486	inline void ui32Wire(uint8_t *b, uint32_t val)
mjr	40:cc0d9814522b	487	{
mjr	40:cc0d9814522b	488	b[0] = (uint8_t)(val & 0xff);
mjr	40:cc0d9814522b	489	b[1] = (uint8_t)((val >> 8) & 0xff);
mjr	40:cc0d9814522b	490	b[2] = (uint8_t)((val >> 16) & 0xff);
mjr	40:cc0d9814522b	491	b[3] = (uint8_t)((val >> 24) & 0xff);
mjr	40:cc0d9814522b	492	}
mjr	35:e959ffba78fd	493
mjr	35:e959ffba78fd	494	inline int32_t wireI32(const uint8_t *b)
mjr	35:e959ffba78fd	495	{
mjr	35:e959ffba78fd	496	return (int32_t)wireUI32(b);
mjr	35:e959ffba78fd	497	}
mjr	35:e959ffba78fd	498
mjr	53:9b2611964afc	499	// Convert "wire" (USB) pin codes to/from PinName values.
mjr	53:9b2611964afc	500	//
mjr	53:9b2611964afc	501	// The internal mbed PinName format is
mjr	53:9b2611964afc	502	//
mjr	53:9b2611964afc	503	// ((port) << PORT_SHIFT) \| (pin << 2) // MBED FORMAT
mjr	53:9b2611964afc	504	//
mjr	53:9b2611964afc	505	// where 'port' is 0-4 for Port A to Port E, and 'pin' is
mjr	53:9b2611964afc	506	// 0 to 31. E.g., E31 is (4 << PORT_SHIFT) \| (31<<2).
mjr	53:9b2611964afc	507	//
mjr	53:9b2611964afc	508	// We remap this to our more compact wire format where each
mjr	53:9b2611964afc	509	// pin name fits in 8 bits:
mjr	53:9b2611964afc	510	//
mjr	53:9b2611964afc	511	// ((port) << 5) \| pin) // WIRE FORMAT
mjr	53:9b2611964afc	512	//
mjr	53:9b2611964afc	513	// E.g., E31 is (4 << 5) \| 31.
mjr	53:9b2611964afc	514	//
mjr	53:9b2611964afc	515	// Wire code FF corresponds to PinName NC (not connected).
mjr	53:9b2611964afc	516	//
mjr	53:9b2611964afc	517	inline PinName wirePinName(uint8_t c)
mjr	35:e959ffba78fd	518	{
mjr	53:9b2611964afc	519	if (c == 0xFF)
mjr	53:9b2611964afc	520	return NC; // 0xFF -> NC
mjr	53:9b2611964afc	521	else
mjr	53:9b2611964afc	522	return PinName(
mjr	53:9b2611964afc	523	(int(c & 0xE0) << (PORT_SHIFT - 5)) // top three bits are the port
mjr	53:9b2611964afc	524	\| (int(c & 0x1F) << 2)); // bottom five bits are pin
mjr	40:cc0d9814522b	525	}
mjr	40:cc0d9814522b	526	inline void pinNameWire(uint8_t *b, PinName n)
mjr	40:cc0d9814522b	527	{
mjr	53:9b2611964afc	528	*b = PINNAME_TO_WIRE(n);
mjr	35:e959ffba78fd	529	}
mjr	35:e959ffba78fd	530
mjr	35:e959ffba78fd	531
mjr	35:e959ffba78fd	532	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	533	//
mjr	38:091e511ce8a0	534	// On-board RGB LED elements - we use these for diagnostic displays.
mjr	38:091e511ce8a0	535	//
mjr	38:091e511ce8a0	536	// Note that LED3 (the blue segment) is hard-wired on the KL25Z to PTD1,
mjr	38:091e511ce8a0	537	// so PTD1 shouldn't be used for any other purpose (e.g., as a keyboard
mjr	38:091e511ce8a0	538	// input or a device output). This is kind of unfortunate in that it's
mjr	38:091e511ce8a0	539	// one of only two ports exposed on the jumper pins that can be muxed to
mjr	38:091e511ce8a0	540	// SPI0 SCLK. This effectively limits us to PTC5 if we want to use the
mjr	38:091e511ce8a0	541	// SPI capability.
mjr	38:091e511ce8a0	542	//
mjr	38:091e511ce8a0	543	DigitalOut ledR, ledG, *ledB;
mjr	38:091e511ce8a0	544
mjr	38:091e511ce8a0	545	// Show the indicated pattern on the diagnostic LEDs. 0 is off, 1 is
mjr	38:091e511ce8a0	546	// on, and -1 is no change (leaves the current setting intact).
mjr	38:091e511ce8a0	547	void diagLED(int r, int g, int b)
mjr	38:091e511ce8a0	548	{
mjr	38:091e511ce8a0	549	if (ledR != 0 && r != -1) ledR->write(!r);
mjr	38:091e511ce8a0	550	if (ledG != 0 && g != -1) ledG->write(!g);
mjr	38:091e511ce8a0	551	if (ledB != 0 && b != -1) ledB->write(!b);
mjr	38:091e511ce8a0	552	}
mjr	38:091e511ce8a0	553
mjr	38:091e511ce8a0	554	// check an output port assignment to see if it conflicts with
mjr	38:091e511ce8a0	555	// an on-board LED segment
mjr	38:091e511ce8a0	556	struct LedSeg
mjr	38:091e511ce8a0	557	{
mjr	38:091e511ce8a0	558	bool r, g, b;
mjr	38:091e511ce8a0	559	LedSeg() { r = g = b = false; }
mjr	38:091e511ce8a0	560
mjr	38:091e511ce8a0	561	void check(LedWizPortCfg &pc)
mjr	38:091e511ce8a0	562	{
mjr	38:091e511ce8a0	563	// if it's a GPIO, check to see if it's assigned to one of
mjr	38:091e511ce8a0	564	// our on-board LED segments
mjr	38:091e511ce8a0	565	int t = pc.typ;
mjr	38:091e511ce8a0	566	if (t == PortTypeGPIOPWM \|\| t == PortTypeGPIODig)
mjr	38:091e511ce8a0	567	{
mjr	38:091e511ce8a0	568	// it's a GPIO port - check for a matching pin assignment
mjr	38:091e511ce8a0	569	PinName pin = wirePinName(pc.pin);
mjr	38:091e511ce8a0	570	if (pin == LED1)
mjr	38:091e511ce8a0	571	r = true;
mjr	38:091e511ce8a0	572	else if (pin == LED2)
mjr	38:091e511ce8a0	573	g = true;
mjr	38:091e511ce8a0	574	else if (pin == LED3)
mjr	38:091e511ce8a0	575	b = true;
mjr	38:091e511ce8a0	576	}
mjr	38:091e511ce8a0	577	}
mjr	38:091e511ce8a0	578	};
mjr	38:091e511ce8a0	579
mjr	38:091e511ce8a0	580	// Initialize the diagnostic LEDs. By default, we use the on-board
mjr	38:091e511ce8a0	581	// RGB LED to display the microcontroller status. However, we allow
mjr	38:091e511ce8a0	582	// the user to commandeer the on-board LED as an LedWiz output device,
mjr	38:091e511ce8a0	583	// which can be useful for testing a new installation. So we'll check
mjr	38:091e511ce8a0	584	// for LedWiz outputs assigned to the on-board LED segments, and turn
mjr	38:091e511ce8a0	585	// off the diagnostic use for any so assigned.
mjr	38:091e511ce8a0	586	void initDiagLEDs(Config &cfg)
mjr	38:091e511ce8a0	587	{
mjr	38:091e511ce8a0	588	// run through the configuration list and cross off any of the
mjr	38:091e511ce8a0	589	// LED segments assigned to LedWiz ports
mjr	38:091e511ce8a0	590	LedSeg l;
mjr	38:091e511ce8a0	591	for (int i = 0 ; i < MAX_OUT_PORTS && cfg.outPort[i].typ != PortTypeDisabled ; ++i)
mjr	38:091e511ce8a0	592	l.check(cfg.outPort[i]);
mjr	38:091e511ce8a0	593
mjr	38:091e511ce8a0	594	// We now know which segments are taken for LedWiz use and which
mjr	38:091e511ce8a0	595	// are free. Create diagnostic ports for the ones not claimed for
mjr	38:091e511ce8a0	596	// LedWiz use.
mjr	38:091e511ce8a0	597	if (!l.r) ledR = new DigitalOut(LED1, 1);
mjr	38:091e511ce8a0	598	if (!l.g) ledG = new DigitalOut(LED2, 1);
mjr	38:091e511ce8a0	599	if (!l.b) ledB = new DigitalOut(LED3, 1);
mjr	38:091e511ce8a0	600	}
mjr	38:091e511ce8a0	601
mjr	38:091e511ce8a0	602
mjr	38:091e511ce8a0	603	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	604	//
mjr	29:582472d0bc57	605	// LedWiz emulation, and enhanced TLC5940 output controller
mjr	5:a70c0bce770d	606	//
mjr	26:cb71c4af2912	607	// There are two modes for this feature. The default mode uses the on-board
mjr	26:cb71c4af2912	608	// GPIO ports to implement device outputs - each LedWiz software port is
mjr	26:cb71c4af2912	609	// connected to a physical GPIO pin on the KL25Z. The KL25Z only has 10
mjr	26:cb71c4af2912	610	// PWM channels, so in this mode only 10 LedWiz ports will be dimmable; the
mjr	26:cb71c4af2912	611	// rest are strictly on/off. The KL25Z also has a limited number of GPIO
mjr	26:cb71c4af2912	612	// ports overall - not enough for the full complement of 32 LedWiz ports
mjr	26:cb71c4af2912	613	// and 24 VP joystick inputs, so it's necessary to trade one against the
mjr	26:cb71c4af2912	614	// other if both features are to be used.
mjr	26:cb71c4af2912	615	//
mjr	26:cb71c4af2912	616	// The alternative, enhanced mode uses external TLC5940 PWM controller
mjr	26:cb71c4af2912	617	// chips to control device outputs. In this mode, each LedWiz software
mjr	26:cb71c4af2912	618	// port is mapped to an output on one of the external TLC5940 chips.
mjr	26:cb71c4af2912	619	// Two 5940s is enough for the full set of 32 LedWiz ports, and we can
mjr	26:cb71c4af2912	620	// support even more chips for even more outputs (although doing so requires
mjr	26:cb71c4af2912	621	// breaking LedWiz compatibility, since the LedWiz USB protocol is hardwired
mjr	26:cb71c4af2912	622	// for 32 outputs). Every port in this mode has full PWM support.
mjr	26:cb71c4af2912	623	//
mjr	5:a70c0bce770d	624
mjr	29:582472d0bc57	625
mjr	26:cb71c4af2912	626	// Current starting output index for "PBA" messages from the PC (using
mjr	26:cb71c4af2912	627	// the LedWiz USB protocol). Each PBA message implicitly uses the
mjr	26:cb71c4af2912	628	// current index as the starting point for the ports referenced in
mjr	26:cb71c4af2912	629	// the message, and increases it (by 8) for the next call.
mjr	0:5acbbe3f4cf4	630	static int pbaIdx = 0;
mjr	0:5acbbe3f4cf4	631
mjr	26:cb71c4af2912	632	// Generic LedWiz output port interface. We create a cover class to
mjr	26:cb71c4af2912	633	// virtualize digital vs PWM outputs, and on-board KL25Z GPIO vs external
mjr	26:cb71c4af2912	634	// TLC5940 outputs, and give them all a common interface.
mjr	6:cc35eb643e8f	635	class LwOut
mjr	6:cc35eb643e8f	636	{
mjr	6:cc35eb643e8f	637	public:
mjr	40:cc0d9814522b	638	// Set the output intensity. 'val' is 0 for fully off, 255 for
mjr	40:cc0d9814522b	639	// fully on, with values in between signifying lower intensity.
mjr	40:cc0d9814522b	640	virtual void set(uint8_t val) = 0;
mjr	6:cc35eb643e8f	641	};
mjr	26:cb71c4af2912	642
mjr	35:e959ffba78fd	643	// LwOut class for virtual ports. This type of port is visible to
mjr	35:e959ffba78fd	644	// the host software, but isn't connected to any physical output.
mjr	35:e959ffba78fd	645	// This can be used for special software-only ports like the ZB
mjr	35:e959ffba78fd	646	// Launch Ball output, or simply for placeholders in the LedWiz port
mjr	35:e959ffba78fd	647	// numbering.
mjr	35:e959ffba78fd	648	class LwVirtualOut: public LwOut
mjr	33:d832bcab089e	649	{
mjr	33:d832bcab089e	650	public:
mjr	35:e959ffba78fd	651	LwVirtualOut() { }
mjr	40:cc0d9814522b	652	virtual void set(uint8_t ) { }
mjr	33:d832bcab089e	653	};
mjr	26:cb71c4af2912	654
mjr	34:6b981a2afab7	655	// Active Low out. For any output marked as active low, we layer this
mjr	34:6b981a2afab7	656	// on top of the physical pin interface. This simply inverts the value of
mjr	40:cc0d9814522b	657	// the output value, so that 255 means fully off and 0 means fully on.
mjr	34:6b981a2afab7	658	class LwInvertedOut: public LwOut
mjr	34:6b981a2afab7	659	{
mjr	34:6b981a2afab7	660	public:
mjr	34:6b981a2afab7	661	LwInvertedOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	662	virtual void set(uint8_t val) { out->set(255 - val); }
mjr	34:6b981a2afab7	663
mjr	34:6b981a2afab7	664	private:
mjr	53:9b2611964afc	665	// underlying physical output
mjr	34:6b981a2afab7	666	LwOut *out;
mjr	34:6b981a2afab7	667	};
mjr	34:6b981a2afab7	668
mjr	53:9b2611964afc	669	// Global ZB Launch Ball state
mjr	53:9b2611964afc	670	bool zbLaunchOn = false;
mjr	53:9b2611964afc	671
mjr	53:9b2611964afc	672	// ZB Launch Ball output. This is layered on a port (physical or virtual)
mjr	53:9b2611964afc	673	// to track the ZB Launch Ball signal.
mjr	53:9b2611964afc	674	class LwZbLaunchOut: public LwOut
mjr	53:9b2611964afc	675	{
mjr	53:9b2611964afc	676	public:
mjr	53:9b2611964afc	677	LwZbLaunchOut(LwOut *o) : out(o) { }
mjr	53:9b2611964afc	678	virtual void set(uint8_t val)
mjr	53:9b2611964afc	679	{
mjr	53:9b2611964afc	680	// update the global ZB Launch Ball state
mjr	53:9b2611964afc	681	zbLaunchOn = (val != 0);
mjr	53:9b2611964afc	682
mjr	53:9b2611964afc	683	// pass it along to the underlying port, in case it's a physical output
mjr	53:9b2611964afc	684	out->set(val);
mjr	53:9b2611964afc	685	}
mjr	53:9b2611964afc	686
mjr	53:9b2611964afc	687	private:
mjr	53:9b2611964afc	688	// underlying physical or virtual output
mjr	53:9b2611964afc	689	LwOut *out;
mjr	53:9b2611964afc	690	};
mjr	53:9b2611964afc	691
mjr	53:9b2611964afc	692
mjr	40:cc0d9814522b	693	// Gamma correction table for 8-bit input values
mjr	40:cc0d9814522b	694	static const uint8_t gamma[] = {
mjr	40:cc0d9814522b	695	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
mjr	40:cc0d9814522b	696	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1,
mjr	40:cc0d9814522b	697	1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2,
mjr	40:cc0d9814522b	698	2, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 5, 5, 5,
mjr	40:cc0d9814522b	699	5, 6, 6, 6, 6, 7, 7, 7, 7, 8, 8, 8, 9, 9, 9, 10,
mjr	40:cc0d9814522b	700	10, 10, 11, 11, 11, 12, 12, 13, 13, 13, 14, 14, 15, 15, 16, 16,
mjr	40:cc0d9814522b	701	17, 17, 18, 18, 19, 19, 20, 20, 21, 21, 22, 22, 23, 24, 24, 25,
mjr	40:cc0d9814522b	702	25, 26, 27, 27, 28, 29, 29, 30, 31, 32, 32, 33, 34, 35, 35, 36,
mjr	40:cc0d9814522b	703	37, 38, 39, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 50,
mjr	40:cc0d9814522b	704	51, 52, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 66, 67, 68,
mjr	40:cc0d9814522b	705	69, 70, 72, 73, 74, 75, 77, 78, 79, 81, 82, 83, 85, 86, 87, 89,
mjr	40:cc0d9814522b	706	90, 92, 93, 95, 96, 98, 99, 101, 102, 104, 105, 107, 109, 110, 112, 114,
mjr	40:cc0d9814522b	707	115, 117, 119, 120, 122, 124, 126, 127, 129, 131, 133, 135, 137, 138, 140, 142,
mjr	40:cc0d9814522b	708	144, 146, 148, 150, 152, 154, 156, 158, 160, 162, 164, 167, 169, 171, 173, 175,
mjr	40:cc0d9814522b	709	177, 180, 182, 184, 186, 189, 191, 193, 196, 198, 200, 203, 205, 208, 210, 213,
mjr	40:cc0d9814522b	710	215, 218, 220, 223, 225, 228, 231, 233, 236, 239, 241, 244, 247, 249, 252, 255
mjr	40:cc0d9814522b	711	};
mjr	40:cc0d9814522b	712
mjr	40:cc0d9814522b	713	// Gamma-corrected out. This is a filter object that we layer on top
mjr	40:cc0d9814522b	714	// of a physical pin interface. This applies gamma correction to the
mjr	40:cc0d9814522b	715	// input value and then passes it along to the underlying pin object.
mjr	40:cc0d9814522b	716	class LwGammaOut: public LwOut
mjr	40:cc0d9814522b	717	{
mjr	40:cc0d9814522b	718	public:
mjr	40:cc0d9814522b	719	LwGammaOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	720	virtual void set(uint8_t val) { out->set(gamma[val]); }
mjr	40:cc0d9814522b	721
mjr	40:cc0d9814522b	722	private:
mjr	40:cc0d9814522b	723	LwOut *out;
mjr	40:cc0d9814522b	724	};
mjr	40:cc0d9814522b	725
mjr	53:9b2611964afc	726	// global night mode flag
mjr	53:9b2611964afc	727	static bool nightMode = false;
mjr	53:9b2611964afc	728
mjr	40:cc0d9814522b	729	// Noisy output. This is a filter object that we layer on top of
mjr	40:cc0d9814522b	730	// a physical pin output. This filter disables the port when night
mjr	40:cc0d9814522b	731	// mode is engaged.
mjr	40:cc0d9814522b	732	class LwNoisyOut: public LwOut
mjr	40:cc0d9814522b	733	{
mjr	40:cc0d9814522b	734	public:
mjr	40:cc0d9814522b	735	LwNoisyOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	736	virtual void set(uint8_t val) { out->set(nightMode ? 0 : val); }
mjr	40:cc0d9814522b	737
mjr	53:9b2611964afc	738	private:
mjr	53:9b2611964afc	739	LwOut *out;
mjr	53:9b2611964afc	740	};
mjr	53:9b2611964afc	741
mjr	53:9b2611964afc	742	// Night Mode indicator output. This is a filter object that we
mjr	53:9b2611964afc	743	// layer on top of a physical pin output. This filter ignores the
mjr	53:9b2611964afc	744	// host value and simply shows the night mode status.
mjr	53:9b2611964afc	745	class LwNightModeIndicatorOut: public LwOut
mjr	53:9b2611964afc	746	{
mjr	53:9b2611964afc	747	public:
mjr	53:9b2611964afc	748	LwNightModeIndicatorOut(LwOut *o) : out(o) { }
mjr	53:9b2611964afc	749	virtual void set(uint8_t)
mjr	53:9b2611964afc	750	{
mjr	53:9b2611964afc	751	// ignore the host value and simply show the current
mjr	53:9b2611964afc	752	// night mode setting
mjr	53:9b2611964afc	753	out->set(nightMode ? 255 : 0);
mjr	53:9b2611964afc	754	}
mjr	40:cc0d9814522b	755
mjr	40:cc0d9814522b	756	private:
mjr	40:cc0d9814522b	757	LwOut *out;
mjr	40:cc0d9814522b	758	};
mjr	40:cc0d9814522b	759
mjr	26:cb71c4af2912	760
mjr	35:e959ffba78fd	761	//
mjr	35:e959ffba78fd	762	// The TLC5940 interface object. We'll set this up with the port
mjr	35:e959ffba78fd	763	// assignments set in config.h.
mjr	33:d832bcab089e	764	//
mjr	35:e959ffba78fd	765	TLC5940 *tlc5940 = 0;
mjr	35:e959ffba78fd	766	void init_tlc5940(Config &cfg)
mjr	35:e959ffba78fd	767	{
mjr	35:e959ffba78fd	768	if (cfg.tlc5940.nchips != 0)
mjr	35:e959ffba78fd	769	{
mjr	53:9b2611964afc	770	tlc5940 = new TLC5940(
mjr	53:9b2611964afc	771	wirePinName(cfg.tlc5940.sclk),
mjr	53:9b2611964afc	772	wirePinName(cfg.tlc5940.sin),
mjr	53:9b2611964afc	773	wirePinName(cfg.tlc5940.gsclk),
mjr	53:9b2611964afc	774	wirePinName(cfg.tlc5940.blank),
mjr	53:9b2611964afc	775	wirePinName(cfg.tlc5940.xlat),
mjr	53:9b2611964afc	776	cfg.tlc5940.nchips);
mjr	35:e959ffba78fd	777	}
mjr	35:e959ffba78fd	778	}
mjr	26:cb71c4af2912	779
mjr	40:cc0d9814522b	780	// Conversion table for 8-bit DOF level to 12-bit TLC5940 level
mjr	40:cc0d9814522b	781	static const uint16_t dof_to_tlc[] = {
mjr	40:cc0d9814522b	782	0, 16, 32, 48, 64, 80, 96, 112, 128, 145, 161, 177, 193, 209, 225, 241,
mjr	40:cc0d9814522b	783	257, 273, 289, 305, 321, 337, 353, 369, 385, 401, 418, 434, 450, 466, 482, 498,
mjr	40:cc0d9814522b	784	514, 530, 546, 562, 578, 594, 610, 626, 642, 658, 674, 691, 707, 723, 739, 755,
mjr	40:cc0d9814522b	785	771, 787, 803, 819, 835, 851, 867, 883, 899, 915, 931, 947, 964, 980, 996, 1012,
mjr	40:cc0d9814522b	786	1028, 1044, 1060, 1076, 1092, 1108, 1124, 1140, 1156, 1172, 1188, 1204, 1220, 1237, 1253, 1269,
mjr	40:cc0d9814522b	787	1285, 1301, 1317, 1333, 1349, 1365, 1381, 1397, 1413, 1429, 1445, 1461, 1477, 1493, 1510, 1526,
mjr	40:cc0d9814522b	788	1542, 1558, 1574, 1590, 1606, 1622, 1638, 1654, 1670, 1686, 1702, 1718, 1734, 1750, 1766, 1783,
mjr	40:cc0d9814522b	789	1799, 1815, 1831, 1847, 1863, 1879, 1895, 1911, 1927, 1943, 1959, 1975, 1991, 2007, 2023, 2039,
mjr	40:cc0d9814522b	790	2056, 2072, 2088, 2104, 2120, 2136, 2152, 2168, 2184, 2200, 2216, 2232, 2248, 2264, 2280, 2296,
mjr	40:cc0d9814522b	791	2312, 2329, 2345, 2361, 2377, 2393, 2409, 2425, 2441, 2457, 2473, 2489, 2505, 2521, 2537, 2553,
mjr	40:cc0d9814522b	792	2569, 2585, 2602, 2618, 2634, 2650, 2666, 2682, 2698, 2714, 2730, 2746, 2762, 2778, 2794, 2810,
mjr	40:cc0d9814522b	793	2826, 2842, 2858, 2875, 2891, 2907, 2923, 2939, 2955, 2971, 2987, 3003, 3019, 3035, 3051, 3067,
mjr	40:cc0d9814522b	794	3083, 3099, 3115, 3131, 3148, 3164, 3180, 3196, 3212, 3228, 3244, 3260, 3276, 3292, 3308, 3324,
mjr	40:cc0d9814522b	795	3340, 3356, 3372, 3388, 3404, 3421, 3437, 3453, 3469, 3485, 3501, 3517, 3533, 3549, 3565, 3581,
mjr	40:cc0d9814522b	796	3597, 3613, 3629, 3645, 3661, 3677, 3694, 3710, 3726, 3742, 3758, 3774, 3790, 3806, 3822, 3838,
mjr	40:cc0d9814522b	797	3854, 3870, 3886, 3902, 3918, 3934, 3950, 3967, 3983, 3999, 4015, 4031, 4047, 4063, 4079, 4095
mjr	40:cc0d9814522b	798	};
mjr	40:cc0d9814522b	799
mjr	40:cc0d9814522b	800	// Conversion table for 8-bit DOF level to 12-bit TLC5940 level, with
mjr	40:cc0d9814522b	801	// gamma correction. Note that the output layering scheme can handle
mjr	40:cc0d9814522b	802	// this without a separate table, by first applying gamma to the DOF
mjr	40:cc0d9814522b	803	// level to produce an 8-bit gamma-corrected value, then convert that
mjr	40:cc0d9814522b	804	// to the 12-bit TLC5940 value. But we get better precision by doing
mjr	40:cc0d9814522b	805	// the gamma correction in the 12-bit TLC5940 domain. We can only
mjr	40:cc0d9814522b	806	// get the 12-bit domain by combining both steps into one layering
mjr	40:cc0d9814522b	807	// object, though, since the intermediate values in the layering system
mjr	40:cc0d9814522b	808	// are always 8 bits.
mjr	40:cc0d9814522b	809	static const uint16_t dof_to_gamma_tlc[] = {
mjr	40:cc0d9814522b	810	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1,
mjr	40:cc0d9814522b	811	2, 2, 2, 3, 3, 4, 4, 5, 5, 6, 7, 8, 8, 9, 10, 11,
mjr	40:cc0d9814522b	812	12, 13, 15, 16, 17, 18, 20, 21, 23, 25, 26, 28, 30, 32, 34, 36,
mjr	40:cc0d9814522b	813	38, 40, 43, 45, 48, 50, 53, 56, 59, 62, 65, 68, 71, 75, 78, 82,
mjr	40:cc0d9814522b	814	85, 89, 93, 97, 101, 105, 110, 114, 119, 123, 128, 133, 138, 143, 149, 154,
mjr	40:cc0d9814522b	815	159, 165, 171, 177, 183, 189, 195, 202, 208, 215, 222, 229, 236, 243, 250, 258,
mjr	40:cc0d9814522b	816	266, 273, 281, 290, 298, 306, 315, 324, 332, 341, 351, 360, 369, 379, 389, 399,
mjr	40:cc0d9814522b	817	409, 419, 430, 440, 451, 462, 473, 485, 496, 508, 520, 532, 544, 556, 569, 582,
mjr	40:cc0d9814522b	818	594, 608, 621, 634, 648, 662, 676, 690, 704, 719, 734, 749, 764, 779, 795, 811,
mjr	40:cc0d9814522b	819	827, 843, 859, 876, 893, 910, 927, 944, 962, 980, 998, 1016, 1034, 1053, 1072, 1091,
mjr	40:cc0d9814522b	820	1110, 1130, 1150, 1170, 1190, 1210, 1231, 1252, 1273, 1294, 1316, 1338, 1360, 1382, 1404, 1427,
mjr	40:cc0d9814522b	821	1450, 1473, 1497, 1520, 1544, 1568, 1593, 1617, 1642, 1667, 1693, 1718, 1744, 1770, 1797, 1823,
mjr	40:cc0d9814522b	822	1850, 1877, 1905, 1932, 1960, 1988, 2017, 2045, 2074, 2103, 2133, 2162, 2192, 2223, 2253, 2284,
mjr	40:cc0d9814522b	823	2315, 2346, 2378, 2410, 2442, 2474, 2507, 2540, 2573, 2606, 2640, 2674, 2708, 2743, 2778, 2813,
mjr	40:cc0d9814522b	824	2849, 2884, 2920, 2957, 2993, 3030, 3067, 3105, 3143, 3181, 3219, 3258, 3297, 3336, 3376, 3416,
mjr	40:cc0d9814522b	825	3456, 3496, 3537, 3578, 3619, 3661, 3703, 3745, 3788, 3831, 3874, 3918, 3962, 4006, 4050, 4095
mjr	40:cc0d9814522b	826	};
mjr	40:cc0d9814522b	827
mjr	26:cb71c4af2912	828	// LwOut class for TLC5940 outputs. These are fully PWM capable.
mjr	26:cb71c4af2912	829	// The 'idx' value in the constructor is the output index in the
mjr	26:cb71c4af2912	830	// daisy-chained TLC5940 array. 0 is output #0 on the first chip,
mjr	26:cb71c4af2912	831	// 1 is #1 on the first chip, 15 is #15 on the first chip, 16 is
mjr	26:cb71c4af2912	832	// #0 on the second chip, 32 is #0 on the third chip, etc.
mjr	26:cb71c4af2912	833	class Lw5940Out: public LwOut
mjr	26:cb71c4af2912	834	{
mjr	26:cb71c4af2912	835	public:
mjr	60:f38da020aa13	836	Lw5940Out(uint8_t idx) : idx(idx) { prv = 0; }
mjr	40:cc0d9814522b	837	virtual void set(uint8_t val)
mjr	26:cb71c4af2912	838	{
mjr	26:cb71c4af2912	839	if (val != prv)
mjr	40:cc0d9814522b	840	tlc5940->set(idx, dof_to_tlc[prv = val]);
mjr	26:cb71c4af2912	841	}
mjr	60:f38da020aa13	842	uint8_t idx;
mjr	40:cc0d9814522b	843	uint8_t prv;
mjr	26:cb71c4af2912	844	};
mjr	26:cb71c4af2912	845
mjr	40:cc0d9814522b	846	// LwOut class for TLC5940 gamma-corrected outputs.
mjr	40:cc0d9814522b	847	class Lw5940GammaOut: public LwOut
mjr	40:cc0d9814522b	848	{
mjr	40:cc0d9814522b	849	public:
mjr	60:f38da020aa13	850	Lw5940GammaOut(uint8_t idx) : idx(idx) { prv = 0; }
mjr	40:cc0d9814522b	851	virtual void set(uint8_t val)
mjr	40:cc0d9814522b	852	{
mjr	40:cc0d9814522b	853	if (val != prv)
mjr	40:cc0d9814522b	854	tlc5940->set(idx, dof_to_gamma_tlc[prv = val]);
mjr	40:cc0d9814522b	855	}
mjr	60:f38da020aa13	856	uint8_t idx;
mjr	40:cc0d9814522b	857	uint8_t prv;
mjr	40:cc0d9814522b	858	};
mjr	40:cc0d9814522b	859
mjr	40:cc0d9814522b	860
mjr	33:d832bcab089e	861
mjr	34:6b981a2afab7	862	// 74HC595 interface object. Set this up with the port assignments in
mjr	34:6b981a2afab7	863	// config.h.
mjr	35:e959ffba78fd	864	HC595 *hc595 = 0;
mjr	35:e959ffba78fd	865
mjr	35:e959ffba78fd	866	// initialize the 74HC595 interface
mjr	35:e959ffba78fd	867	void init_hc595(Config &cfg)
mjr	35:e959ffba78fd	868	{
mjr	35:e959ffba78fd	869	if (cfg.hc595.nchips != 0)
mjr	35:e959ffba78fd	870	{
mjr	53:9b2611964afc	871	hc595 = new HC595(
mjr	53:9b2611964afc	872	wirePinName(cfg.hc595.nchips),
mjr	53:9b2611964afc	873	wirePinName(cfg.hc595.sin),
mjr	53:9b2611964afc	874	wirePinName(cfg.hc595.sclk),
mjr	53:9b2611964afc	875	wirePinName(cfg.hc595.latch),
mjr	53:9b2611964afc	876	wirePinName(cfg.hc595.ena));
mjr	35:e959ffba78fd	877	hc595->init();
mjr	35:e959ffba78fd	878	hc595->update();
mjr	35:e959ffba78fd	879	}
mjr	35:e959ffba78fd	880	}
mjr	34:6b981a2afab7	881
mjr	34:6b981a2afab7	882	// LwOut class for 74HC595 outputs. These are simple digial outs.
mjr	34:6b981a2afab7	883	// The 'idx' value in the constructor is the output index in the
mjr	34:6b981a2afab7	884	// daisy-chained 74HC595 array. 0 is output #0 on the first chip,
mjr	34:6b981a2afab7	885	// 1 is #1 on the first chip, 7 is #7 on the first chip, 8 is
mjr	34:6b981a2afab7	886	// #0 on the second chip, etc.
mjr	34:6b981a2afab7	887	class Lw595Out: public LwOut
mjr	33:d832bcab089e	888	{
mjr	33:d832bcab089e	889	public:
mjr	60:f38da020aa13	890	Lw595Out(uint8_t idx) : idx(idx) { prv = 0; }
mjr	40:cc0d9814522b	891	virtual void set(uint8_t val)
mjr	34:6b981a2afab7	892	{
mjr	34:6b981a2afab7	893	if (val != prv)
mjr	40:cc0d9814522b	894	hc595->set(idx, (prv = val) == 0 ? 0 : 1);
mjr	34:6b981a2afab7	895	}
mjr	60:f38da020aa13	896	uint8_t idx;
mjr	40:cc0d9814522b	897	uint8_t prv;
mjr	33:d832bcab089e	898	};
mjr	33:d832bcab089e	899
mjr	26:cb71c4af2912	900
mjr	40:cc0d9814522b	901
mjr	64:ef7ca92dff36	902	// Conversion table - 8-bit DOF output level to PWM duty cycle,
mjr	64:ef7ca92dff36	903	// normalized to 0.0 to 1.0 scale.
mjr	40:cc0d9814522b	904	static const float pwm_level[] = {
mjr	64:ef7ca92dff36	905	0.000000f, 0.003922f, 0.007843f, 0.011765f, 0.015686f, 0.019608f, 0.023529f, 0.027451f,
mjr	64:ef7ca92dff36	906	0.031373f, 0.035294f, 0.039216f, 0.043137f, 0.047059f, 0.050980f, 0.054902f, 0.058824f,
mjr	64:ef7ca92dff36	907	0.062745f, 0.066667f, 0.070588f, 0.074510f, 0.078431f, 0.082353f, 0.086275f, 0.090196f,
mjr	64:ef7ca92dff36	908	0.094118f, 0.098039f, 0.101961f, 0.105882f, 0.109804f, 0.113725f, 0.117647f, 0.121569f,
mjr	64:ef7ca92dff36	909	0.125490f, 0.129412f, 0.133333f, 0.137255f, 0.141176f, 0.145098f, 0.149020f, 0.152941f,
mjr	64:ef7ca92dff36	910	0.156863f, 0.160784f, 0.164706f, 0.168627f, 0.172549f, 0.176471f, 0.180392f, 0.184314f,
mjr	64:ef7ca92dff36	911	0.188235f, 0.192157f, 0.196078f, 0.200000f, 0.203922f, 0.207843f, 0.211765f, 0.215686f,
mjr	64:ef7ca92dff36	912	0.219608f, 0.223529f, 0.227451f, 0.231373f, 0.235294f, 0.239216f, 0.243137f, 0.247059f,
mjr	64:ef7ca92dff36	913	0.250980f, 0.254902f, 0.258824f, 0.262745f, 0.266667f, 0.270588f, 0.274510f, 0.278431f,
mjr	64:ef7ca92dff36	914	0.282353f, 0.286275f, 0.290196f, 0.294118f, 0.298039f, 0.301961f, 0.305882f, 0.309804f,
mjr	64:ef7ca92dff36	915	0.313725f, 0.317647f, 0.321569f, 0.325490f, 0.329412f, 0.333333f, 0.337255f, 0.341176f,
mjr	64:ef7ca92dff36	916	0.345098f, 0.349020f, 0.352941f, 0.356863f, 0.360784f, 0.364706f, 0.368627f, 0.372549f,
mjr	64:ef7ca92dff36	917	0.376471f, 0.380392f, 0.384314f, 0.388235f, 0.392157f, 0.396078f, 0.400000f, 0.403922f,
mjr	64:ef7ca92dff36	918	0.407843f, 0.411765f, 0.415686f, 0.419608f, 0.423529f, 0.427451f, 0.431373f, 0.435294f,
mjr	64:ef7ca92dff36	919	0.439216f, 0.443137f, 0.447059f, 0.450980f, 0.454902f, 0.458824f, 0.462745f, 0.466667f,
mjr	64:ef7ca92dff36	920	0.470588f, 0.474510f, 0.478431f, 0.482353f, 0.486275f, 0.490196f, 0.494118f, 0.498039f,
mjr	64:ef7ca92dff36	921	0.501961f, 0.505882f, 0.509804f, 0.513725f, 0.517647f, 0.521569f, 0.525490f, 0.529412f,
mjr	64:ef7ca92dff36	922	0.533333f, 0.537255f, 0.541176f, 0.545098f, 0.549020f, 0.552941f, 0.556863f, 0.560784f,
mjr	64:ef7ca92dff36	923	0.564706f, 0.568627f, 0.572549f, 0.576471f, 0.580392f, 0.584314f, 0.588235f, 0.592157f,
mjr	64:ef7ca92dff36	924	0.596078f, 0.600000f, 0.603922f, 0.607843f, 0.611765f, 0.615686f, 0.619608f, 0.623529f,
mjr	64:ef7ca92dff36	925	0.627451f, 0.631373f, 0.635294f, 0.639216f, 0.643137f, 0.647059f, 0.650980f, 0.654902f,
mjr	64:ef7ca92dff36	926	0.658824f, 0.662745f, 0.666667f, 0.670588f, 0.674510f, 0.678431f, 0.682353f, 0.686275f,
mjr	64:ef7ca92dff36	927	0.690196f, 0.694118f, 0.698039f, 0.701961f, 0.705882f, 0.709804f, 0.713725f, 0.717647f,
mjr	64:ef7ca92dff36	928	0.721569f, 0.725490f, 0.729412f, 0.733333f, 0.737255f, 0.741176f, 0.745098f, 0.749020f,
mjr	64:ef7ca92dff36	929	0.752941f, 0.756863f, 0.760784f, 0.764706f, 0.768627f, 0.772549f, 0.776471f, 0.780392f,
mjr	64:ef7ca92dff36	930	0.784314f, 0.788235f, 0.792157f, 0.796078f, 0.800000f, 0.803922f, 0.807843f, 0.811765f,
mjr	64:ef7ca92dff36	931	0.815686f, 0.819608f, 0.823529f, 0.827451f, 0.831373f, 0.835294f, 0.839216f, 0.843137f,
mjr	64:ef7ca92dff36	932	0.847059f, 0.850980f, 0.854902f, 0.858824f, 0.862745f, 0.866667f, 0.870588f, 0.874510f,
mjr	64:ef7ca92dff36	933	0.878431f, 0.882353f, 0.886275f, 0.890196f, 0.894118f, 0.898039f, 0.901961f, 0.905882f,
mjr	64:ef7ca92dff36	934	0.909804f, 0.913725f, 0.917647f, 0.921569f, 0.925490f, 0.929412f, 0.933333f, 0.937255f,
mjr	64:ef7ca92dff36	935	0.941176f, 0.945098f, 0.949020f, 0.952941f, 0.956863f, 0.960784f, 0.964706f, 0.968627f,
mjr	64:ef7ca92dff36	936	0.972549f, 0.976471f, 0.980392f, 0.984314f, 0.988235f, 0.992157f, 0.996078f, 1.000000f
mjr	40:cc0d9814522b	937	};
mjr	26:cb71c4af2912	938
mjr	64:ef7ca92dff36	939
mjr	64:ef7ca92dff36	940	// Conversion table for 8-bit DOF level to pulse width in microseconds,
mjr	64:ef7ca92dff36	941	// with gamma correction. We could use the layered gamma output on top
mjr	64:ef7ca92dff36	942	// of the regular LwPwmOut class for this, but we get better precision
mjr	64:ef7ca92dff36	943	// with a dedicated table, because we apply gamma correction to the
mjr	64:ef7ca92dff36	944	// 32-bit microsecond values rather than the 8-bit DOF levels.
mjr	64:ef7ca92dff36	945	static const float dof_to_gamma_pwm[] = {
mjr	64:ef7ca92dff36	946	0.000000f, 0.000000f, 0.000001f, 0.000004f, 0.000009f, 0.000017f, 0.000028f, 0.000042f,
mjr	64:ef7ca92dff36	947	0.000062f, 0.000086f, 0.000115f, 0.000151f, 0.000192f, 0.000240f, 0.000296f, 0.000359f,
mjr	64:ef7ca92dff36	948	0.000430f, 0.000509f, 0.000598f, 0.000695f, 0.000803f, 0.000920f, 0.001048f, 0.001187f,
mjr	64:ef7ca92dff36	949	0.001337f, 0.001499f, 0.001673f, 0.001860f, 0.002059f, 0.002272f, 0.002498f, 0.002738f,
mjr	64:ef7ca92dff36	950	0.002993f, 0.003262f, 0.003547f, 0.003847f, 0.004162f, 0.004494f, 0.004843f, 0.005208f,
mjr	64:ef7ca92dff36	951	0.005591f, 0.005991f, 0.006409f, 0.006845f, 0.007301f, 0.007775f, 0.008268f, 0.008781f,
mjr	64:ef7ca92dff36	952	0.009315f, 0.009868f, 0.010442f, 0.011038f, 0.011655f, 0.012293f, 0.012954f, 0.013637f,
mjr	64:ef7ca92dff36	953	0.014342f, 0.015071f, 0.015823f, 0.016599f, 0.017398f, 0.018223f, 0.019071f, 0.019945f,
mjr	64:ef7ca92dff36	954	0.020844f, 0.021769f, 0.022720f, 0.023697f, 0.024701f, 0.025731f, 0.026789f, 0.027875f,
mjr	64:ef7ca92dff36	955	0.028988f, 0.030129f, 0.031299f, 0.032498f, 0.033726f, 0.034983f, 0.036270f, 0.037587f,
mjr	64:ef7ca92dff36	956	0.038935f, 0.040313f, 0.041722f, 0.043162f, 0.044634f, 0.046138f, 0.047674f, 0.049243f,
mjr	64:ef7ca92dff36	957	0.050844f, 0.052478f, 0.054146f, 0.055847f, 0.057583f, 0.059353f, 0.061157f, 0.062996f,
mjr	64:ef7ca92dff36	958	0.064870f, 0.066780f, 0.068726f, 0.070708f, 0.072726f, 0.074780f, 0.076872f, 0.079001f,
mjr	64:ef7ca92dff36	959	0.081167f, 0.083371f, 0.085614f, 0.087895f, 0.090214f, 0.092572f, 0.094970f, 0.097407f,
mjr	64:ef7ca92dff36	960	0.099884f, 0.102402f, 0.104959f, 0.107558f, 0.110197f, 0.112878f, 0.115600f, 0.118364f,
mjr	64:ef7ca92dff36	961	0.121170f, 0.124019f, 0.126910f, 0.129844f, 0.132821f, 0.135842f, 0.138907f, 0.142016f,
mjr	64:ef7ca92dff36	962	0.145170f, 0.148367f, 0.151610f, 0.154898f, 0.158232f, 0.161611f, 0.165037f, 0.168509f,
mjr	64:ef7ca92dff36	963	0.172027f, 0.175592f, 0.179205f, 0.182864f, 0.186572f, 0.190327f, 0.194131f, 0.197983f,
mjr	64:ef7ca92dff36	964	0.201884f, 0.205834f, 0.209834f, 0.213883f, 0.217982f, 0.222131f, 0.226330f, 0.230581f,
mjr	64:ef7ca92dff36	965	0.234882f, 0.239234f, 0.243638f, 0.248094f, 0.252602f, 0.257162f, 0.261774f, 0.266440f,
mjr	64:ef7ca92dff36	966	0.271159f, 0.275931f, 0.280756f, 0.285636f, 0.290570f, 0.295558f, 0.300601f, 0.305699f,
mjr	64:ef7ca92dff36	967	0.310852f, 0.316061f, 0.321325f, 0.326645f, 0.332022f, 0.337456f, 0.342946f, 0.348493f,
mjr	64:ef7ca92dff36	968	0.354098f, 0.359760f, 0.365480f, 0.371258f, 0.377095f, 0.382990f, 0.388944f, 0.394958f,
mjr	64:ef7ca92dff36	969	0.401030f, 0.407163f, 0.413356f, 0.419608f, 0.425921f, 0.432295f, 0.438730f, 0.445226f,
mjr	64:ef7ca92dff36	970	0.451784f, 0.458404f, 0.465085f, 0.471829f, 0.478635f, 0.485504f, 0.492436f, 0.499432f,
mjr	64:ef7ca92dff36	971	0.506491f, 0.513614f, 0.520800f, 0.528052f, 0.535367f, 0.542748f, 0.550194f, 0.557705f,
mjr	64:ef7ca92dff36	972	0.565282f, 0.572924f, 0.580633f, 0.588408f, 0.596249f, 0.604158f, 0.612133f, 0.620176f,
mjr	64:ef7ca92dff36	973	0.628287f, 0.636465f, 0.644712f, 0.653027f, 0.661410f, 0.669863f, 0.678384f, 0.686975f,
mjr	64:ef7ca92dff36	974	0.695636f, 0.704366f, 0.713167f, 0.722038f, 0.730979f, 0.739992f, 0.749075f, 0.758230f,
mjr	64:ef7ca92dff36	975	0.767457f, 0.776755f, 0.786126f, 0.795568f, 0.805084f, 0.814672f, 0.824334f, 0.834068f,
mjr	64:ef7ca92dff36	976	0.843877f, 0.853759f, 0.863715f, 0.873746f, 0.883851f, 0.894031f, 0.904286f, 0.914616f,
mjr	64:ef7ca92dff36	977	0.925022f, 0.935504f, 0.946062f, 0.956696f, 0.967407f, 0.978194f, 0.989058f, 1.000000f
mjr	64:ef7ca92dff36	978	};
mjr	64:ef7ca92dff36	979
mjr	64:ef7ca92dff36	980	// LwOut class for a PWM-capable GPIO port. Note that we use FastPWM for
mjr	64:ef7ca92dff36	981	// the underlying port interface. This isn't because we need the "fast"
mjr	64:ef7ca92dff36	982	// part; it's because FastPWM fixes a bug in the base mbed PwmOut class
mjr	64:ef7ca92dff36	983	// that makes it look ugly for fades. The base PwmOut class resets
mjr	64:ef7ca92dff36	984	// the cycle counter when changing the duty cycle, which makes the output
mjr	64:ef7ca92dff36	985	// reset immediately on every change. For an output connected to a lamp
mjr	64:ef7ca92dff36	986	// or LED, this causes obvious flickering when performing a rapid series
mjr	64:ef7ca92dff36	987	// of writes, such as during a fade. The KL25Z TPM hardware is specifically
mjr	64:ef7ca92dff36	988	// designed to make it easy for software to avoid this kind of flickering
mjr	64:ef7ca92dff36	989	// when used correctly: it has an internal staging register for the duty
mjr	64:ef7ca92dff36	990	// cycle register that gets latched at the start of the next cycle, ensuring
mjr	64:ef7ca92dff36	991	// that the duty cycle setting never changes mid-cycle. The mbed PwmOut
mjr	64:ef7ca92dff36	992	// defeats this by resetting the cycle counter on every write, which aborts
mjr	64:ef7ca92dff36	993	// the current cycle at the moment of the write, causing an effectively random
mjr	64:ef7ca92dff36	994	// drop in brightness on each write (by artificially shortening a cycle).
mjr	64:ef7ca92dff36	995	// Fortunately, we can fix this by switching to the API-compatible FastPWM
mjr	64:ef7ca92dff36	996	// class, which does the write right (heh).
mjr	6:cc35eb643e8f	997	class LwPwmOut: public LwOut
mjr	6:cc35eb643e8f	998	{
mjr	6:cc35eb643e8f	999	public:
mjr	43:7a6364d82a41	1000	LwPwmOut(PinName pin, uint8_t initVal) : p(pin)
mjr	43:7a6364d82a41	1001	{
mjr	43:7a6364d82a41	1002	prv = initVal ^ 0xFF;
mjr	43:7a6364d82a41	1003	set(initVal);
mjr	43:7a6364d82a41	1004	}
mjr	40:cc0d9814522b	1005	virtual void set(uint8_t val)
mjr	13:72dda449c3c0	1006	{
mjr	13:72dda449c3c0	1007	if (val != prv)
mjr	40:cc0d9814522b	1008	p.write(pwm_level[prv = val]);
mjr	13:72dda449c3c0	1009	}
mjr	64:ef7ca92dff36	1010	FastPWM p;
mjr	40:cc0d9814522b	1011	uint8_t prv;
mjr	6:cc35eb643e8f	1012	};
mjr	26:cb71c4af2912	1013
mjr	64:ef7ca92dff36	1014	// Gamma corrected PWM GPIO output
mjr	64:ef7ca92dff36	1015	class LwPwmGammaOut: public LwPwmOut
mjr	64:ef7ca92dff36	1016	{
mjr	64:ef7ca92dff36	1017	public:
mjr	64:ef7ca92dff36	1018	LwPwmGammaOut(PinName pin, uint8_t initVal)
mjr	64:ef7ca92dff36	1019	: LwPwmOut(pin, initVal)
mjr	64:ef7ca92dff36	1020	{
mjr	64:ef7ca92dff36	1021	}
mjr	64:ef7ca92dff36	1022	virtual void set(uint8_t val)
mjr	64:ef7ca92dff36	1023	{
mjr	64:ef7ca92dff36	1024	if (val != prv)
mjr	64:ef7ca92dff36	1025	p.write(dof_to_gamma_pwm[prv = val]);
mjr	64:ef7ca92dff36	1026	}
mjr	64:ef7ca92dff36	1027	};
mjr	64:ef7ca92dff36	1028
mjr	64:ef7ca92dff36	1029
mjr	26:cb71c4af2912	1030	// LwOut class for a Digital-Only (Non-PWM) GPIO port
mjr	6:cc35eb643e8f	1031	class LwDigOut: public LwOut
mjr	6:cc35eb643e8f	1032	{
mjr	6:cc35eb643e8f	1033	public:
mjr	43:7a6364d82a41	1034	LwDigOut(PinName pin, uint8_t initVal) : p(pin, initVal ? 1 : 0) { prv = initVal; }
mjr	40:cc0d9814522b	1035	virtual void set(uint8_t val)
mjr	13:72dda449c3c0	1036	{
mjr	13:72dda449c3c0	1037	if (val != prv)
mjr	40:cc0d9814522b	1038	p.write((prv = val) == 0 ? 0 : 1);
mjr	13:72dda449c3c0	1039	}
mjr	6:cc35eb643e8f	1040	DigitalOut p;
mjr	40:cc0d9814522b	1041	uint8_t prv;
mjr	6:cc35eb643e8f	1042	};
mjr	26:cb71c4af2912	1043
mjr	29:582472d0bc57	1044	// Array of output physical pin assignments. This array is indexed
mjr	29:582472d0bc57	1045	// by LedWiz logical port number - lwPin[n] is the maping for LedWiz
mjr	35:e959ffba78fd	1046	// port n (0-based).
mjr	35:e959ffba78fd	1047	//
mjr	35:e959ffba78fd	1048	// Each pin is handled by an interface object for the physical output
mjr	35:e959ffba78fd	1049	// type for the port, as set in the configuration. The interface
mjr	35:e959ffba78fd	1050	// objects handle the specifics of addressing the different hardware
mjr	35:e959ffba78fd	1051	// types (GPIO PWM ports, GPIO digital ports, TLC5940 ports, and
mjr	35:e959ffba78fd	1052	// 74HC595 ports).
mjr	33:d832bcab089e	1053	static int numOutputs;
mjr	33:d832bcab089e	1054	static LwOut **lwPin;
mjr	33:d832bcab089e	1055
mjr	38:091e511ce8a0	1056
mjr	35:e959ffba78fd	1057	// Number of LedWiz emulation outputs. This is the number of ports
mjr	35:e959ffba78fd	1058	// accessible through the standard (non-extended) LedWiz protocol
mjr	35:e959ffba78fd	1059	// messages. The protocol has a fixed set of 32 outputs, but we
mjr	35:e959ffba78fd	1060	// might have fewer actual outputs. This is therefore set to the
mjr	35:e959ffba78fd	1061	// lower of 32 or the actual number of outputs.
mjr	35:e959ffba78fd	1062	static int numLwOutputs;
mjr	35:e959ffba78fd	1063
mjr	63:5cd1a5f3a41b	1064	// Current absolute brightness levels for all outputs. These are
mjr	63:5cd1a5f3a41b	1065	// DOF brightness level value, from 0 for fully off to 255 for fully
mjr	63:5cd1a5f3a41b	1066	// on. These are always used for extended ports (33 and above), and
mjr	63:5cd1a5f3a41b	1067	// are used for LedWiz ports (1-32) when we're in extended protocol
mjr	63:5cd1a5f3a41b	1068	// mode (i.e., ledWizMode == false).
mjr	40:cc0d9814522b	1069	static uint8_t *outLevel;
mjr	38:091e511ce8a0	1070
mjr	38:091e511ce8a0	1071	// create a single output pin
mjr	53:9b2611964afc	1072	LwOut *createLwPin(int portno, LedWizPortCfg &pc, Config &cfg)
mjr	38:091e511ce8a0	1073	{
mjr	38:091e511ce8a0	1074	// get this item's values
mjr	38:091e511ce8a0	1075	int typ = pc.typ;
mjr	38:091e511ce8a0	1076	int pin = pc.pin;
mjr	38:091e511ce8a0	1077	int flags = pc.flags;
mjr	40:cc0d9814522b	1078	int noisy = flags & PortFlagNoisemaker;
mjr	38:091e511ce8a0	1079	int activeLow = flags & PortFlagActiveLow;
mjr	40:cc0d9814522b	1080	int gamma = flags & PortFlagGamma;
mjr	38:091e511ce8a0	1081
mjr	38:091e511ce8a0	1082	// create the pin interface object according to the port type
mjr	38:091e511ce8a0	1083	LwOut *lwp;
mjr	38:091e511ce8a0	1084	switch (typ)
mjr	38:091e511ce8a0	1085	{
mjr	38:091e511ce8a0	1086	case PortTypeGPIOPWM:
mjr	48:058ace2aed1d	1087	// PWM GPIO port - assign if we have a valid pin
mjr	48:058ace2aed1d	1088	if (pin != 0)
mjr	64:ef7ca92dff36	1089	{
mjr	64:ef7ca92dff36	1090	// If gamma correction is to be used, and we're not inverting the output,
mjr	64:ef7ca92dff36	1091	// use the combined Pwmout + Gamma output class; otherwise use the plain
mjr	64:ef7ca92dff36	1092	// PwmOut class. We can't use the combined class for inverted outputs
mjr	64:ef7ca92dff36	1093	// because we have to apply gamma correction before the inversion.
mjr	64:ef7ca92dff36	1094	if (gamma && !activeLow)
mjr	64:ef7ca92dff36	1095	{
mjr	64:ef7ca92dff36	1096	// use the gamma-corrected PwmOut type
mjr	64:ef7ca92dff36	1097	lwp = new LwPwmGammaOut(wirePinName(pin), 0);
mjr	64:ef7ca92dff36	1098
mjr	64:ef7ca92dff36	1099	// don't apply further gamma correction to this output
mjr	64:ef7ca92dff36	1100	gamma = false;
mjr	64:ef7ca92dff36	1101	}
mjr	64:ef7ca92dff36	1102	else
mjr	64:ef7ca92dff36	1103	{
mjr	64:ef7ca92dff36	1104	// no gamma correction - use the standard PwmOut class
mjr	64:ef7ca92dff36	1105	lwp = new LwPwmOut(wirePinName(pin), activeLow ? 255 : 0);
mjr	64:ef7ca92dff36	1106	}
mjr	64:ef7ca92dff36	1107	}
mjr	48:058ace2aed1d	1108	else
mjr	48:058ace2aed1d	1109	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1110	break;
mjr	38:091e511ce8a0	1111
mjr	38:091e511ce8a0	1112	case PortTypeGPIODig:
mjr	38:091e511ce8a0	1113	// Digital GPIO port
mjr	48:058ace2aed1d	1114	if (pin != 0)
mjr	48:058ace2aed1d	1115	lwp = new LwDigOut(wirePinName(pin), activeLow ? 255 : 0);
mjr	48:058ace2aed1d	1116	else
mjr	48:058ace2aed1d	1117	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1118	break;
mjr	38:091e511ce8a0	1119
mjr	38:091e511ce8a0	1120	case PortTypeTLC5940:
mjr	38:091e511ce8a0	1121	// TLC5940 port (if we don't have a TLC controller object, or it's not a valid
mjr	38:091e511ce8a0	1122	// output port number on the chips we have, create a virtual port)
mjr	38:091e511ce8a0	1123	if (tlc5940 != 0 && pin < cfg.tlc5940.nchips*16)
mjr	40:cc0d9814522b	1124	{
mjr	40:cc0d9814522b	1125	// If gamma correction is to be used, and we're not inverting the output,
mjr	40:cc0d9814522b	1126	// use the combined TLC4950 + Gamma output class. Otherwise use the plain
mjr	40:cc0d9814522b	1127	// TLC5940 output. We skip the combined class if the output is inverted
mjr	40:cc0d9814522b	1128	// because we need to apply gamma BEFORE the inversion to get the right
mjr	40:cc0d9814522b	1129	// results, but the combined class would apply it after because of the
mjr	40:cc0d9814522b	1130	// layering scheme - the combined class is a physical device output class,
mjr	40:cc0d9814522b	1131	// and a physical device output class is necessarily at the bottom of
mjr	40:cc0d9814522b	1132	// the stack. We don't have a combined inverted+gamma+TLC class, because
mjr	40:cc0d9814522b	1133	// inversion isn't recommended for TLC5940 chips in the first place, so
mjr	40:cc0d9814522b	1134	// it's not worth the extra memory footprint to have a dedicated table
mjr	40:cc0d9814522b	1135	// for this unlikely case.
mjr	40:cc0d9814522b	1136	if (gamma && !activeLow)
mjr	40:cc0d9814522b	1137	{
mjr	40:cc0d9814522b	1138	// use the gamma-corrected 5940 output mapper
mjr	40:cc0d9814522b	1139	lwp = new Lw5940GammaOut(pin);
mjr	40:cc0d9814522b	1140
mjr	40:cc0d9814522b	1141	// DON'T apply further gamma correction to this output
mjr	40:cc0d9814522b	1142	gamma = false;
mjr	40:cc0d9814522b	1143	}
mjr	40:cc0d9814522b	1144	else
mjr	40:cc0d9814522b	1145	{
mjr	40:cc0d9814522b	1146	// no gamma - use the plain (linear) 5940 output class
mjr	40:cc0d9814522b	1147	lwp = new Lw5940Out(pin);
mjr	40:cc0d9814522b	1148	}
mjr	40:cc0d9814522b	1149	}
mjr	38:091e511ce8a0	1150	else
mjr	40:cc0d9814522b	1151	{
mjr	40:cc0d9814522b	1152	// no TLC5940 chips, or invalid port number - use a virtual out
mjr	38:091e511ce8a0	1153	lwp = new LwVirtualOut();
mjr	40:cc0d9814522b	1154	}
mjr	38:091e511ce8a0	1155	break;
mjr	38:091e511ce8a0	1156
mjr	38:091e511ce8a0	1157	case PortType74HC595:
mjr	38:091e511ce8a0	1158	// 74HC595 port (if we don't have an HC595 controller object, or it's not a valid
mjr	38:091e511ce8a0	1159	// output number, create a virtual port)
mjr	38:091e511ce8a0	1160	if (hc595 != 0 && pin < cfg.hc595.nchips*8)
mjr	38:091e511ce8a0	1161	lwp = new Lw595Out(pin);
mjr	38:091e511ce8a0	1162	else
mjr	38:091e511ce8a0	1163	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1164	break;
mjr	38:091e511ce8a0	1165
mjr	38:091e511ce8a0	1166	case PortTypeVirtual:
mjr	43:7a6364d82a41	1167	case PortTypeDisabled:
mjr	38:091e511ce8a0	1168	default:
mjr	38:091e511ce8a0	1169	// virtual or unknown
mjr	38:091e511ce8a0	1170	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1171	break;
mjr	38:091e511ce8a0	1172	}
mjr	38:091e511ce8a0	1173
mjr	40:cc0d9814522b	1174	// If it's Active Low, layer on an inverter. Note that an inverter
mjr	40:cc0d9814522b	1175	// needs to be the bottom-most layer, since all of the other filters
mjr	40:cc0d9814522b	1176	// assume that they're working with normal (non-inverted) values.
mjr	38:091e511ce8a0	1177	if (activeLow)
mjr	38:091e511ce8a0	1178	lwp = new LwInvertedOut(lwp);
mjr	40:cc0d9814522b	1179
mjr	40:cc0d9814522b	1180	// If it's a noisemaker, layer on a night mode switch. Note that this
mjr	40:cc0d9814522b	1181	// needs to be
mjr	40:cc0d9814522b	1182	if (noisy)
mjr	40:cc0d9814522b	1183	lwp = new LwNoisyOut(lwp);
mjr	40:cc0d9814522b	1184
mjr	40:cc0d9814522b	1185	// If it's gamma-corrected, layer on a gamma corrector
mjr	40:cc0d9814522b	1186	if (gamma)
mjr	40:cc0d9814522b	1187	lwp = new LwGammaOut(lwp);
mjr	53:9b2611964afc	1188
mjr	53:9b2611964afc	1189	// If this is the ZB Launch Ball port, layer a monitor object. Note
mjr	64:ef7ca92dff36	1190	// that the nominal port numbering in the config starts at 1, but we're
mjr	53:9b2611964afc	1191	// using an array index, so test against portno+1.
mjr	53:9b2611964afc	1192	if (portno + 1 == cfg.plunger.zbLaunchBall.port)
mjr	53:9b2611964afc	1193	lwp = new LwZbLaunchOut(lwp);
mjr	53:9b2611964afc	1194
mjr	53:9b2611964afc	1195	// If this is the Night Mode indicator port, layer a night mode object.
mjr	53:9b2611964afc	1196	if (portno + 1 == cfg.nightMode.port)
mjr	53:9b2611964afc	1197	lwp = new LwNightModeIndicatorOut(lwp);
mjr	38:091e511ce8a0	1198
mjr	38:091e511ce8a0	1199	// turn it off initially
mjr	38:091e511ce8a0	1200	lwp->set(0);
mjr	38:091e511ce8a0	1201
mjr	38:091e511ce8a0	1202	// return the pin
mjr	38:091e511ce8a0	1203	return lwp;
mjr	38:091e511ce8a0	1204	}
mjr	38:091e511ce8a0	1205
mjr	6:cc35eb643e8f	1206	// initialize the output pin array
mjr	35:e959ffba78fd	1207	void initLwOut(Config &cfg)
mjr	6:cc35eb643e8f	1208	{
mjr	35:e959ffba78fd	1209	// Count the outputs. The first disabled output determines the
mjr	35:e959ffba78fd	1210	// total number of ports.
mjr	35:e959ffba78fd	1211	numOutputs = MAX_OUT_PORTS;
mjr	33:d832bcab089e	1212	int i;
mjr	35:e959ffba78fd	1213	for (i = 0 ; i < MAX_OUT_PORTS ; ++i)
mjr	6:cc35eb643e8f	1214	{
mjr	35:e959ffba78fd	1215	if (cfg.outPort[i].typ == PortTypeDisabled)
mjr	34:6b981a2afab7	1216	{
mjr	35:e959ffba78fd	1217	numOutputs = i;
mjr	34:6b981a2afab7	1218	break;
mjr	34:6b981a2afab7	1219	}
mjr	33:d832bcab089e	1220	}
mjr	33:d832bcab089e	1221
mjr	35:e959ffba78fd	1222	// the real LedWiz protocol can access at most 32 ports, or the
mjr	35:e959ffba78fd	1223	// actual number of outputs, whichever is lower
mjr	35:e959ffba78fd	1224	numLwOutputs = (numOutputs < 32 ? numOutputs : 32);
mjr	35:e959ffba78fd	1225
mjr	33:d832bcab089e	1226	// allocate the pin array
mjr	33:d832bcab089e	1227	lwPin = new LwOut*[numOutputs];
mjr	33:d832bcab089e	1228
mjr	38:091e511ce8a0	1229	// Allocate the current brightness array. For these, allocate at
mjr	38:091e511ce8a0	1230	// least 32, so that we have enough for all LedWiz messages, but
mjr	38:091e511ce8a0	1231	// allocate the full set of actual ports if we have more than the
mjr	38:091e511ce8a0	1232	// LedWiz complement.
mjr	38:091e511ce8a0	1233	int minOuts = numOutputs < 32 ? 32 : numOutputs;
mjr	40:cc0d9814522b	1234	outLevel = new uint8_t[minOuts];
mjr	33:d832bcab089e	1235
mjr	35:e959ffba78fd	1236	// create the pin interface object for each port
mjr	35:e959ffba78fd	1237	for (i = 0 ; i < numOutputs ; ++i)
mjr	53:9b2611964afc	1238	lwPin[i] = createLwPin(i, cfg.outPort[i], cfg);
mjr	6:cc35eb643e8f	1239	}
mjr	6:cc35eb643e8f	1240
mjr	63:5cd1a5f3a41b	1241	// LedWiz/Extended protocol mode.
mjr	63:5cd1a5f3a41b	1242	//
mjr	63:5cd1a5f3a41b	1243	// We implement output port control using both the legacy LedWiz
mjr	63:5cd1a5f3a41b	1244	// protocol and a private extended protocol (which is 100% backwards
mjr	63:5cd1a5f3a41b	1245	// compatible with the LedWiz protocol: we recognize all valid legacy
mjr	63:5cd1a5f3a41b	1246	// protocol commands and handle them the same way a real LedWiz does).
mjr	63:5cd1a5f3a41b	1247	// The legacy protocol can access the first 32 ports; the extended
mjr	63:5cd1a5f3a41b	1248	// protocol can access all ports, including the first 32 as well as
mjr	63:5cd1a5f3a41b	1249	// the higher numbered ports. This means that the first 32 ports
mjr	63:5cd1a5f3a41b	1250	// can be addressed with either protocol, which muddies the waters
mjr	63:5cd1a5f3a41b	1251	// a bit because of the different approaches the two protocols take.
mjr	63:5cd1a5f3a41b	1252	// The legacy protocol separates the brightness/flash state of an
mjr	63:5cd1a5f3a41b	1253	// output (which it calls the "profile" state) from the on/off state.
mjr	63:5cd1a5f3a41b	1254	// The extended protocol doesn't; "off" is simply represented as
mjr	63:5cd1a5f3a41b	1255	// brightness 0.
mjr	63:5cd1a5f3a41b	1256	//
mjr	63:5cd1a5f3a41b	1257	// To deal with the different approaches, we use this flag to keep
mjr	63:5cd1a5f3a41b	1258	// track of the global protocol state. Each time we get an output
mjr	63:5cd1a5f3a41b	1259	// port command, we switch the protocol state to the protocol that
mjr	63:5cd1a5f3a41b	1260	// was used in the command. On a legacy SBA or PBA, we switch to
mjr	63:5cd1a5f3a41b	1261	// LedWiz mode; on an extended output set message, we switch to
mjr	63:5cd1a5f3a41b	1262	// extended mode. We remember the LedWiz and extended output state
mjr	63:5cd1a5f3a41b	1263	// for each LW ports (1-32) separately. Any time the mode changes,
mjr	63:5cd1a5f3a41b	1264	// we set ports 1-32 back to the state for the new mode.
mjr	63:5cd1a5f3a41b	1265	//
mjr	63:5cd1a5f3a41b	1266	// The reasoning here is that any given client (on the PC) will use
mjr	63:5cd1a5f3a41b	1267	// one mode or the other, and won't mix the two. An older program
mjr	63:5cd1a5f3a41b	1268	// that only knows about the LedWiz protocol will use the legacy
mjr	63:5cd1a5f3a41b	1269	// protocol only, and never send us an extended command. A DOF-based
mjr	63:5cd1a5f3a41b	1270	// program might use one or the other, according to how the user has
mjr	63:5cd1a5f3a41b	1271	// configured DOF. We have to be able to switch seamlessly between
mjr	63:5cd1a5f3a41b	1272	// the protocols to accommodate switching from one type of program
mjr	63:5cd1a5f3a41b	1273	// on the PC to the other, but we shouldn't have to worry about one
mjr	63:5cd1a5f3a41b	1274	// program switching back and forth.
mjr	63:5cd1a5f3a41b	1275	static uint8_t ledWizMode = true;
mjr	63:5cd1a5f3a41b	1276
mjr	29:582472d0bc57	1277	// LedWiz output states.
mjr	29:582472d0bc57	1278	//
mjr	29:582472d0bc57	1279	// The LedWiz protocol has two separate control axes for each output.
mjr	29:582472d0bc57	1280	// One axis is its on/off state; the other is its "profile" state, which
mjr	29:582472d0bc57	1281	// is either a fixed brightness or a blinking pattern for the light.
mjr	29:582472d0bc57	1282	// The two axes are independent.
mjr	29:582472d0bc57	1283	//
mjr	29:582472d0bc57	1284	// Note that the LedWiz protocol can only address 32 outputs, so the
mjr	29:582472d0bc57	1285	// wizOn and wizVal arrays have fixed sizes of 32 elements no matter
mjr	29:582472d0bc57	1286	// how many physical outputs we're using.
mjr	29:582472d0bc57	1287
mjr	0:5acbbe3f4cf4	1288	// on/off state for each LedWiz output
mjr	1:d913e0afb2ac	1289	static uint8_t wizOn[32];
mjr	0:5acbbe3f4cf4	1290
mjr	40:cc0d9814522b	1291	// LedWiz "Profile State" (the LedWiz brightness level or blink mode)
mjr	40:cc0d9814522b	1292	// for each LedWiz output. If the output was last updated through an
mjr	40:cc0d9814522b	1293	// LedWiz protocol message, it will have one of these values:
mjr	29:582472d0bc57	1294	//
mjr	29:582472d0bc57	1295	// 0-48 = fixed brightness 0% to 100%
mjr	40:cc0d9814522b	1296	// 49 = fixed brightness 100% (equivalent to 48)
mjr	29:582472d0bc57	1297	// 129 = ramp up / ramp down
mjr	29:582472d0bc57	1298	// 130 = flash on / off
mjr	29:582472d0bc57	1299	// 131 = on / ramp down
mjr	29:582472d0bc57	1300	// 132 = ramp up / on
mjr	29:582472d0bc57	1301	//
mjr	40:cc0d9814522b	1302	// (Note that value 49 isn't documented in the LedWiz spec, but real
mjr	40:cc0d9814522b	1303	// LedWiz units treat it as equivalent to 48, and some PC software uses
mjr	40:cc0d9814522b	1304	// it, so we need to accept it for compatibility.)
mjr	1:d913e0afb2ac	1305	static uint8_t wizVal[32] = {
mjr	13:72dda449c3c0	1306	48, 48, 48, 48, 48, 48, 48, 48,
mjr	13:72dda449c3c0	1307	48, 48, 48, 48, 48, 48, 48, 48,
mjr	13:72dda449c3c0	1308	48, 48, 48, 48, 48, 48, 48, 48,
mjr	13:72dda449c3c0	1309	48, 48, 48, 48, 48, 48, 48, 48
mjr	0:5acbbe3f4cf4	1310	};
mjr	0:5acbbe3f4cf4	1311
mjr	29:582472d0bc57	1312	// LedWiz flash speed. This is a value from 1 to 7 giving the pulse
mjr	29:582472d0bc57	1313	// rate for lights in blinking states.
mjr	29:582472d0bc57	1314	static uint8_t wizSpeed = 2;
mjr	29:582472d0bc57	1315
mjr	40:cc0d9814522b	1316	// Current LedWiz flash cycle counter. This runs from 0 to 255
mjr	40:cc0d9814522b	1317	// during each cycle.
mjr	29:582472d0bc57	1318	static uint8_t wizFlashCounter = 0;
mjr	29:582472d0bc57	1319
mjr	40:cc0d9814522b	1320	// translate an LedWiz brightness level (0-49) to a DOF brightness
mjr	40:cc0d9814522b	1321	// level (0-255)
mjr	40:cc0d9814522b	1322	static const uint8_t lw_to_dof[] = {
mjr	40:cc0d9814522b	1323	0, 5, 11, 16, 21, 27, 32, 37,
mjr	40:cc0d9814522b	1324	43, 48, 53, 58, 64, 69, 74, 80,
mjr	40:cc0d9814522b	1325	85, 90, 96, 101, 106, 112, 117, 122,
mjr	40:cc0d9814522b	1326	128, 133, 138, 143, 149, 154, 159, 165,
mjr	40:cc0d9814522b	1327	170, 175, 181, 186, 191, 197, 202, 207,
mjr	40:cc0d9814522b	1328	213, 218, 223, 228, 234, 239, 244, 250,
mjr	40:cc0d9814522b	1329	255, 255
mjr	40:cc0d9814522b	1330	};
mjr	40:cc0d9814522b	1331
mjr	40:cc0d9814522b	1332	// Translate an LedWiz output (ports 1-32) to a DOF brightness level.
mjr	40:cc0d9814522b	1333	static uint8_t wizState(int idx)
mjr	0:5acbbe3f4cf4	1334	{
mjr	63:5cd1a5f3a41b	1335	// If we're in extended protocol mode, ignore the LedWiz setting
mjr	63:5cd1a5f3a41b	1336	// for the port and use the new protocol setting instead.
mjr	63:5cd1a5f3a41b	1337	if (!ledWizMode)
mjr	29:582472d0bc57	1338	return outLevel[idx];
mjr	29:582472d0bc57	1339
mjr	29:582472d0bc57	1340	// if it's off, show at zero intensity
mjr	29:582472d0bc57	1341	if (!wizOn[idx])
mjr	29:582472d0bc57	1342	return 0;
mjr	29:582472d0bc57	1343
mjr	29:582472d0bc57	1344	// check the state
mjr	29:582472d0bc57	1345	uint8_t val = wizVal[idx];
mjr	40:cc0d9814522b	1346	if (val <= 49)
mjr	29:582472d0bc57	1347	{
mjr	29:582472d0bc57	1348	// PWM brightness/intensity level. Rescale from the LedWiz
mjr	29:582472d0bc57	1349	// 0..48 integer range to our internal PwmOut 0..1 float range.
mjr	29:582472d0bc57	1350	// Note that on the actual LedWiz, level 48 is actually about
mjr	29:582472d0bc57	1351	// 98% on - contrary to the LedWiz documentation, level 49 is
mjr	29:582472d0bc57	1352	// the true 100% level. (In the documentation, level 49 is
mjr	29:582472d0bc57	1353	// simply not a valid setting.) Even so, we treat level 48 as
mjr	29:582472d0bc57	1354	// 100% on to match the documentation. This won't be perfectly
mjr	29:582472d0bc57	1355	// ocmpatible with the actual LedWiz, but it makes for such a
mjr	29:582472d0bc57	1356	// small difference in brightness (if the output device is an
mjr	29:582472d0bc57	1357	// LED, say) that no one should notice. It seems better to
mjr	29:582472d0bc57	1358	// err in this direction, because while the difference in
mjr	29:582472d0bc57	1359	// brightness when attached to an LED won't be noticeable, the
mjr	29:582472d0bc57	1360	// difference in duty cycle when attached to something like a
mjr	29:582472d0bc57	1361	// contactor can be noticeable - anything less than 100%
mjr	29:582472d0bc57	1362	// can cause a contactor or relay to chatter. There's almost
mjr	29:582472d0bc57	1363	// never a situation where you'd want values other than 0% and
mjr	29:582472d0bc57	1364	// 100% for a contactor or relay, so treating level 48 as 100%
mjr	29:582472d0bc57	1365	// makes us work properly with software that's expecting the
mjr	29:582472d0bc57	1366	// documented LedWiz behavior and therefore uses level 48 to
mjr	29:582472d0bc57	1367	// turn a contactor or relay fully on.
mjr	40:cc0d9814522b	1368	//
mjr	40:cc0d9814522b	1369	// Note that value 49 is undefined in the LedWiz documentation,
mjr	40:cc0d9814522b	1370	// but real LedWiz units treat it as 100%, equivalent to 48.
mjr	40:cc0d9814522b	1371	// Some software on the PC side uses this, so we need to treat
mjr	40:cc0d9814522b	1372	// it the same way for compatibility.
mjr	40:cc0d9814522b	1373	return lw_to_dof[val];
mjr	29:582472d0bc57	1374	}
mjr	29:582472d0bc57	1375	else if (val == 129)
mjr	29:582472d0bc57	1376	{
mjr	40:cc0d9814522b	1377	// 129 = ramp up / ramp down
mjr	30:6e9902f06f48	1378	return wizFlashCounter < 128
mjr	40:cc0d9814522b	1379	? wizFlashCounter*2 + 1
mjr	40:cc0d9814522b	1380	: (255 - wizFlashCounter)*2;
mjr	29:582472d0bc57	1381	}
mjr	29:582472d0bc57	1382	else if (val == 130)
mjr	29:582472d0bc57	1383	{
mjr	40:cc0d9814522b	1384	// 130 = flash on / off
mjr	40:cc0d9814522b	1385	return wizFlashCounter < 128 ? 255 : 0;
mjr	29:582472d0bc57	1386	}
mjr	29:582472d0bc57	1387	else if (val == 131)
mjr	29:582472d0bc57	1388	{
mjr	40:cc0d9814522b	1389	// 131 = on / ramp down
mjr	40:cc0d9814522b	1390	return wizFlashCounter < 128 ? 255 : (255 - wizFlashCounter)*2;
mjr	0:5acbbe3f4cf4	1391	}
mjr	29:582472d0bc57	1392	else if (val == 132)
mjr	29:582472d0bc57	1393	{
mjr	40:cc0d9814522b	1394	// 132 = ramp up / on
mjr	40:cc0d9814522b	1395	return wizFlashCounter < 128 ? wizFlashCounter*2 : 255;
mjr	29:582472d0bc57	1396	}
mjr	29:582472d0bc57	1397	else
mjr	13:72dda449c3c0	1398	{
mjr	29:582472d0bc57	1399	// Other values are undefined in the LedWiz documentation. Hosts
mjr	29:582472d0bc57	1400	// should never send undefined values, since whatever behavior an
mjr	29:582472d0bc57	1401	// LedWiz unit exhibits in response is accidental and could change
mjr	29:582472d0bc57	1402	// in a future version. We'll treat all undefined values as equivalent
mjr	29:582472d0bc57	1403	// to 48 (fully on).
mjr	40:cc0d9814522b	1404	return 255;
mjr	0:5acbbe3f4cf4	1405	}
mjr	0:5acbbe3f4cf4	1406	}
mjr	0:5acbbe3f4cf4	1407
mjr	29:582472d0bc57	1408	// LedWiz flash timer pulse. This fires periodically to update
mjr	29:582472d0bc57	1409	// LedWiz flashing outputs. At the slowest pulse speed set via
mjr	29:582472d0bc57	1410	// the SBA command, each waveform cycle has 256 steps, so we
mjr	29:582472d0bc57	1411	// choose the pulse time base so that the slowest cycle completes
mjr	29:582472d0bc57	1412	// in 2 seconds. This seems to roughly match the real LedWiz
mjr	29:582472d0bc57	1413	// behavior. We run the pulse timer at the same rate regardless
mjr	29:582472d0bc57	1414	// of the pulse speed; at higher pulse speeds, we simply use
mjr	29:582472d0bc57	1415	// larger steps through the cycle on each interrupt. Running
mjr	29:582472d0bc57	1416	// every 1/127 of a second = 8ms seems to be a pretty light load.
mjr	29:582472d0bc57	1417	Timeout wizPulseTimer;
mjr	38:091e511ce8a0	1418	#define WIZ_PULSE_TIME_BASE (1.0f/127.0f)
mjr	29:582472d0bc57	1419	static void wizPulse()
mjr	29:582472d0bc57	1420	{
mjr	29:582472d0bc57	1421	// increase the counter by the speed increment, and wrap at 256
mjr	29:582472d0bc57	1422	wizFlashCounter += wizSpeed;
mjr	29:582472d0bc57	1423	wizFlashCounter &= 0xff;
mjr	29:582472d0bc57	1424
mjr	29:582472d0bc57	1425	// if we have any flashing lights, update them
mjr	29:582472d0bc57	1426	int ena = false;
mjr	35:e959ffba78fd	1427	for (int i = 0 ; i < numLwOutputs ; ++i)
mjr	29:582472d0bc57	1428	{
mjr	29:582472d0bc57	1429	if (wizOn[i])
mjr	29:582472d0bc57	1430	{
mjr	29:582472d0bc57	1431	uint8_t s = wizVal[i];
mjr	29:582472d0bc57	1432	if (s >= 129 && s <= 132)
mjr	29:582472d0bc57	1433	{
mjr	40:cc0d9814522b	1434	lwPin[i]->set(wizState(i));
mjr	29:582472d0bc57	1435	ena = true;
mjr	29:582472d0bc57	1436	}
mjr	29:582472d0bc57	1437	}
mjr	29:582472d0bc57	1438	}
mjr	29:582472d0bc57	1439
mjr	29:582472d0bc57	1440	// Set up the next timer pulse only if we found anything flashing.
mjr	29:582472d0bc57	1441	// To minimize overhead from this feature, we only enable the interrupt
mjr	29:582472d0bc57	1442	// when we need it. This eliminates any performance penalty to other
mjr	29:582472d0bc57	1443	// features when the host software doesn't care about the flashing
mjr	29:582472d0bc57	1444	// modes. For example, DOF never uses these modes, so there's no
mjr	29:582472d0bc57	1445	// need for them when running Visual Pinball.
mjr	29:582472d0bc57	1446	if (ena)
mjr	29:582472d0bc57	1447	wizPulseTimer.attach(wizPulse, WIZ_PULSE_TIME_BASE);
mjr	29:582472d0bc57	1448	}
mjr	29:582472d0bc57	1449
mjr	29:582472d0bc57	1450	// Update the physical outputs connected to the LedWiz ports. This is
mjr	29:582472d0bc57	1451	// called after any update from an LedWiz protocol message.
mjr	1:d913e0afb2ac	1452	static void updateWizOuts()
mjr	1:d913e0afb2ac	1453	{
mjr	29:582472d0bc57	1454	// update each output
mjr	29:582472d0bc57	1455	int pulse = false;
mjr	35:e959ffba78fd	1456	for (int i = 0 ; i < numLwOutputs ; ++i)
mjr	29:582472d0bc57	1457	{
mjr	29:582472d0bc57	1458	pulse \|= (wizVal[i] >= 129 && wizVal[i] <= 132);
mjr	40:cc0d9814522b	1459	lwPin[i]->set(wizState(i));
mjr	29:582472d0bc57	1460	}
mjr	29:582472d0bc57	1461
mjr	29:582472d0bc57	1462	// if any outputs are set to flashing mode, and the pulse timer
mjr	29:582472d0bc57	1463	// isn't running, turn it on
mjr	29:582472d0bc57	1464	if (pulse)
mjr	29:582472d0bc57	1465	wizPulseTimer.attach(wizPulse, WIZ_PULSE_TIME_BASE);
mjr	34:6b981a2afab7	1466
mjr	34:6b981a2afab7	1467	// flush changes to 74HC595 chips, if attached
mjr	35:e959ffba78fd	1468	if (hc595 != 0)
mjr	35:e959ffba78fd	1469	hc595->update();
mjr	1:d913e0afb2ac	1470	}
mjr	38:091e511ce8a0	1471
mjr	38:091e511ce8a0	1472	// Update all physical outputs. This is called after a change to a global
mjr	38:091e511ce8a0	1473	// setting that affects all outputs, such as engaging or canceling Night Mode.
mjr	38:091e511ce8a0	1474	static void updateAllOuts()
mjr	38:091e511ce8a0	1475	{
mjr	38:091e511ce8a0	1476	// uddate each LedWiz output
mjr	38:091e511ce8a0	1477	for (int i = 0 ; i < numLwOutputs ; ++i)
mjr	40:cc0d9814522b	1478	lwPin[i]->set(wizState(i));
mjr	34:6b981a2afab7	1479
mjr	38:091e511ce8a0	1480	// update each extended output
mjr	63:5cd1a5f3a41b	1481	for (int i = numLwOutputs ; i < numOutputs ; ++i)
mjr	40:cc0d9814522b	1482	lwPin[i]->set(outLevel[i]);
mjr	38:091e511ce8a0	1483
mjr	38:091e511ce8a0	1484	// flush 74HC595 changes, if necessary
mjr	38:091e511ce8a0	1485	if (hc595 != 0)
mjr	38:091e511ce8a0	1486	hc595->update();
mjr	38:091e511ce8a0	1487	}
mjr	38:091e511ce8a0	1488
mjr	11:bd9da7088e6e	1489	// ---------------------------------------------------------------------------
mjr	11:bd9da7088e6e	1490	//
mjr	11:bd9da7088e6e	1491	// Button input
mjr	11:bd9da7088e6e	1492	//
mjr	11:bd9da7088e6e	1493
mjr	18:5e890ebd0023	1494	// button state
mjr	18:5e890ebd0023	1495	struct ButtonState
mjr	18:5e890ebd0023	1496	{
mjr	38:091e511ce8a0	1497	ButtonState()
mjr	38:091e511ce8a0	1498	{
mjr	38:091e511ce8a0	1499	di = NULL;
mjr	53:9b2611964afc	1500	physState = logState = prevLogState = 0;
mjr	53:9b2611964afc	1501	virtState = 0;
mjr	53:9b2611964afc	1502	dbState = 0;
mjr	38:091e511ce8a0	1503	pulseState = 0;
mjr	53:9b2611964afc	1504	pulseTime = 0;
mjr	38:091e511ce8a0	1505	}
mjr	35:e959ffba78fd	1506
mjr	53:9b2611964afc	1507	// "Virtually" press or un-press the button. This can be used to
mjr	53:9b2611964afc	1508	// control the button state via a software (virtual) source, such as
mjr	53:9b2611964afc	1509	// the ZB Launch Ball feature.
mjr	53:9b2611964afc	1510	//
mjr	53:9b2611964afc	1511	// To allow sharing of one button by multiple virtual sources, each
mjr	53:9b2611964afc	1512	// virtual source must keep track of its own state internally, and
mjr	53:9b2611964afc	1513	// only call this routine to CHANGE the state. This is because calls
mjr	53:9b2611964afc	1514	// to this routine are additive: turning the button ON twice will
mjr	53:9b2611964afc	1515	// require turning it OFF twice before it actually turns off.
mjr	53:9b2611964afc	1516	void virtPress(bool on)
mjr	53:9b2611964afc	1517	{
mjr	53:9b2611964afc	1518	// Increment or decrement the current state
mjr	53:9b2611964afc	1519	virtState += on ? 1 : -1;
mjr	53:9b2611964afc	1520	}
mjr	53:9b2611964afc	1521
mjr	53:9b2611964afc	1522	// DigitalIn for the button, if connected to a physical input
mjr	48:058ace2aed1d	1523	TinyDigitalIn *di;
mjr	38:091e511ce8a0	1524
mjr	65:739875521aae	1525	// Time of last pulse state transition.
mjr	65:739875521aae	1526	//
mjr	65:739875521aae	1527	// Each state change sticks for a minimum period; when the timer expires,
mjr	65:739875521aae	1528	// if the underlying physical switch is in a different state, we switch
mjr	65:739875521aae	1529	// to the next state and restart the timer. pulseTime is the time remaining
mjr	65:739875521aae	1530	// remaining before we can make another state transition, in microseconds.
mjr	65:739875521aae	1531	// The state transitions require a complete cycle, 1 -> 2 -> 3 -> 4 -> 1...;
mjr	65:739875521aae	1532	// this guarantees that the parity of the pulse count always matches the
mjr	65:739875521aae	1533	// current physical switch state when the latter is stable, which makes
mjr	65:739875521aae	1534	// it impossible to "trick" the host by rapidly toggling the switch state.
mjr	65:739875521aae	1535	// (On my original Pinscape cabinet, I had a hardware pulse generator
mjr	65:739875521aae	1536	// for coin door, and that was possible to trick by rapid toggling.
mjr	65:739875521aae	1537	// This software system can't be fooled that way.)
mjr	65:739875521aae	1538	uint32_t pulseTime;
mjr	18:5e890ebd0023	1539
mjr	65:739875521aae	1540	// Config key index. This points to the ButtonCfg structure in the
mjr	65:739875521aae	1541	// configuration that contains the PC key mapping for the button.
mjr	65:739875521aae	1542	uint8_t cfgIndex;
mjr	53:9b2611964afc	1543
mjr	53:9b2611964afc	1544	// Virtual press state. This is used to simulate pressing the button via
mjr	53:9b2611964afc	1545	// software inputs rather than physical inputs. To allow one button to be
mjr	53:9b2611964afc	1546	// controlled by mulitple software sources, each source should keep track
mjr	53:9b2611964afc	1547	// of its own virtual state for the button independently, and then INCREMENT
mjr	53:9b2611964afc	1548	// this variable when the source's state transitions from off to on, and
mjr	53:9b2611964afc	1549	// DECREMENT it when the source's state transitions from on to off. That
mjr	53:9b2611964afc	1550	// will make the button's pressed state the logical OR of all of the virtual
mjr	53:9b2611964afc	1551	// and physical source states.
mjr	53:9b2611964afc	1552	uint8_t virtState;
mjr	38:091e511ce8a0	1553
mjr	38:091e511ce8a0	1554	// Debounce history. On each scan, we shift in a 1 bit to the lsb if
mjr	38:091e511ce8a0	1555	// the physical key is reporting ON, and shift in a 0 bit if the physical
mjr	38:091e511ce8a0	1556	// key is reporting OFF. We consider the key to have a new stable state
mjr	38:091e511ce8a0	1557	// if we have N consecutive 0's or 1's in the low N bits (where N is
mjr	38:091e511ce8a0	1558	// a parameter that determines how long we wait for transients to settle).
mjr	53:9b2611964afc	1559	uint8_t dbState;
mjr	38:091e511ce8a0	1560
mjr	65:739875521aae	1561	// current PHYSICAL on/off state, after debouncing
mjr	65:739875521aae	1562	uint8_t physState : 1;
mjr	65:739875521aae	1563
mjr	65:739875521aae	1564	// current LOGICAL on/off state as reported to the host.
mjr	65:739875521aae	1565	uint8_t logState : 1;
mjr	65:739875521aae	1566
mjr	65:739875521aae	1567	// previous logical on/off state, when keys were last processed for USB
mjr	65:739875521aae	1568	// reports and local effects
mjr	65:739875521aae	1569	uint8_t prevLogState : 1;
mjr	65:739875521aae	1570
mjr	65:739875521aae	1571	// Pulse state
mjr	65:739875521aae	1572	//
mjr	65:739875521aae	1573	// A button in pulse mode (selected via the config flags for the button)
mjr	65:739875521aae	1574	// transmits a brief logical button press and release each time the attached
mjr	65:739875521aae	1575	// physical switch changes state. This is useful for cases where the host
mjr	65:739875521aae	1576	// expects a key press for each change in the state of the physical switch.
mjr	65:739875521aae	1577	// The canonical example is the Coin Door switch in VPinMAME, which requires
mjr	65:739875521aae	1578	// pressing the END key to toggle the open/closed state. This software design
mjr	65:739875521aae	1579	// isn't easily implemented in a physical coin door, though; the simplest
mjr	65:739875521aae	1580	// physical sensor for the coin door state is a switch that's on when the
mjr	65:739875521aae	1581	// door is open and off when the door is closed (or vice versa, but in either
mjr	65:739875521aae	1582	// case, the switch state corresponds to the current state of the door at any
mjr	65:739875521aae	1583	// given time, rather than pulsing on state changes). The "pulse mode"
mjr	65:739875521aae	1584	// option brdiges this gap by generating a toggle key event each time
mjr	65:739875521aae	1585	// there's a change to the physical switch's state.
mjr	38:091e511ce8a0	1586	//
mjr	38:091e511ce8a0	1587	// Pulse state:
mjr	38:091e511ce8a0	1588	// 0 -> not a pulse switch - logical key state equals physical switch state
mjr	38:091e511ce8a0	1589	// 1 -> off
mjr	38:091e511ce8a0	1590	// 2 -> transitioning off-on
mjr	38:091e511ce8a0	1591	// 3 -> on
mjr	38:091e511ce8a0	1592	// 4 -> transitioning on-off
mjr	65:739875521aae	1593	uint8_t pulseState : 3; // 5 states -> we need 3 bits
mjr	65:739875521aae	1594
mjr	65:739875521aae	1595	} __attribute__((packed));
mjr	65:739875521aae	1596
mjr	65:739875521aae	1597	ButtonState *buttonState; // live button slots, allocated on startup
mjr	65:739875521aae	1598	int8_t nButtons; // number of live button slots allocated
mjr	65:739875521aae	1599	int8_t zblButtonIndex = -1; // index of ZB Launch button slot; -1 if unused
mjr	18:5e890ebd0023	1600
mjr	66:2e3583fbd2f4	1601	// Shift button state
mjr	66:2e3583fbd2f4	1602	struct
mjr	66:2e3583fbd2f4	1603	{
mjr	66:2e3583fbd2f4	1604	int8_t index; // buttonState[] index of shift button; -1 if none
mjr	66:2e3583fbd2f4	1605	uint8_t state : 2; // current shift state:
mjr	66:2e3583fbd2f4	1606	// 0 = not shifted
mjr	66:2e3583fbd2f4	1607	// 1 = shift button down, no key pressed yet
mjr	66:2e3583fbd2f4	1608	// 2 = shift button down, key pressed
mjr	66:2e3583fbd2f4	1609	uint8_t pulse : 1; // sending pulsed keystroke on release
mjr	66:2e3583fbd2f4	1610	uint32_t pulseTime; // time of start of pulsed keystroke
mjr	66:2e3583fbd2f4	1611	}
mjr	66:2e3583fbd2f4	1612	__attribute__((packed)) shiftButton;
mjr	38:091e511ce8a0	1613
mjr	38:091e511ce8a0	1614	// Button data
mjr	38:091e511ce8a0	1615	uint32_t jsButtons = 0;
mjr	38:091e511ce8a0	1616
mjr	38:091e511ce8a0	1617	// Keyboard report state. This tracks the USB keyboard state. We can
mjr	38:091e511ce8a0	1618	// report at most 6 simultaneous non-modifier keys here, plus the 8
mjr	38:091e511ce8a0	1619	// modifier keys.
mjr	38:091e511ce8a0	1620	struct
mjr	38:091e511ce8a0	1621	{
mjr	38:091e511ce8a0	1622	bool changed; // flag: changed since last report sent
mjr	48:058ace2aed1d	1623	uint8_t nkeys; // number of active keys in the list
mjr	38:091e511ce8a0	1624	uint8_t data[8]; // key state, in USB report format: byte 0 is the modifier key mask,
mjr	38:091e511ce8a0	1625	// byte 1 is reserved, and bytes 2-7 are the currently pressed key codes
mjr	38:091e511ce8a0	1626	} kbState = { false, 0, { 0, 0, 0, 0, 0, 0, 0, 0 } };
mjr	38:091e511ce8a0	1627
mjr	38:091e511ce8a0	1628	// Media key state
mjr	38:091e511ce8a0	1629	struct
mjr	38:091e511ce8a0	1630	{
mjr	38:091e511ce8a0	1631	bool changed; // flag: changed since last report sent
mjr	38:091e511ce8a0	1632	uint8_t data; // key state byte for USB reports
mjr	38:091e511ce8a0	1633	} mediaState = { false, 0 };
mjr	38:091e511ce8a0	1634
mjr	38:091e511ce8a0	1635	// button scan interrupt ticker
mjr	38:091e511ce8a0	1636	Ticker buttonTicker;
mjr	38:091e511ce8a0	1637
mjr	38:091e511ce8a0	1638	// Button scan interrupt handler. We call this periodically via
mjr	38:091e511ce8a0	1639	// a timer interrupt to scan the physical button states.
mjr	38:091e511ce8a0	1640	void scanButtons()
mjr	38:091e511ce8a0	1641	{
mjr	38:091e511ce8a0	1642	// scan all button input pins
mjr	38:091e511ce8a0	1643	ButtonState *bs = buttonState;
mjr	65:739875521aae	1644	for (int i = 0 ; i < nButtons ; ++i, ++bs)
mjr	38:091e511ce8a0	1645	{
mjr	53:9b2611964afc	1646	// if this logical button is connected to a physical input, check
mjr	53:9b2611964afc	1647	// the GPIO pin state
mjr	38:091e511ce8a0	1648	if (bs->di != NULL)
mjr	38:091e511ce8a0	1649	{
mjr	38:091e511ce8a0	1650	// Shift the new state into the debounce history. Note that
mjr	38:091e511ce8a0	1651	// the physical pin inputs are active low (0V/GND = ON), so invert
mjr	38:091e511ce8a0	1652	// the reading by XOR'ing the low bit with 1. And of course we
mjr	38:091e511ce8a0	1653	// only want the low bit (since the history is effectively a bit
mjr	38:091e511ce8a0	1654	// vector), so mask the whole thing with 0x01 as well.
mjr	53:9b2611964afc	1655	uint8_t db = bs->dbState;
mjr	38:091e511ce8a0	1656	db <<= 1;
mjr	38:091e511ce8a0	1657	db \|= (bs->di->read() & 0x01) ^ 0x01;
mjr	53:9b2611964afc	1658	bs->dbState = db;
mjr	38:091e511ce8a0	1659
mjr	38:091e511ce8a0	1660	// if we have all 0's or 1's in the history for the required
mjr	38:091e511ce8a0	1661	// debounce period, the key state is stable - check for a change
mjr	38:091e511ce8a0	1662	// to the last stable state
mjr	38:091e511ce8a0	1663	const uint8_t stable = 0x1F; // 00011111b -> 5 stable readings
mjr	38:091e511ce8a0	1664	db &= stable;
mjr	38:091e511ce8a0	1665	if (db == 0 \|\| db == stable)
mjr	53:9b2611964afc	1666	bs->physState = db & 1;
mjr	38:091e511ce8a0	1667	}
mjr	38:091e511ce8a0	1668	}
mjr	38:091e511ce8a0	1669	}
mjr	38:091e511ce8a0	1670
mjr	38:091e511ce8a0	1671	// Button state transition timer. This is used for pulse buttons, to
mjr	38:091e511ce8a0	1672	// control the timing of the logical key presses generated by transitions
mjr	38:091e511ce8a0	1673	// in the physical button state.
mjr	38:091e511ce8a0	1674	Timer buttonTimer;
mjr	12:669df364a565	1675
mjr	65:739875521aae	1676	// Count a button during the initial setup scan
mjr	65:739875521aae	1677	void countButton(uint8_t typ, bool &kbKeys)
mjr	65:739875521aae	1678	{
mjr	65:739875521aae	1679	// count it
mjr	65:739875521aae	1680	++nButtons;
mjr	65:739875521aae	1681
mjr	67:c39e66c4e000	1682	// if it's a keyboard key or media key, note that we need a USB
mjr	67:c39e66c4e000	1683	// keyboard interface
mjr	67:c39e66c4e000	1684	if (typ == BtnTypeKey \|\| typ == BtnTypeMedia)
mjr	65:739875521aae	1685	kbKeys = true;
mjr	65:739875521aae	1686	}
mjr	65:739875521aae	1687
mjr	11:bd9da7088e6e	1688	// initialize the button inputs
mjr	35:e959ffba78fd	1689	void initButtons(Config &cfg, bool &kbKeys)
mjr	11:bd9da7088e6e	1690	{
mjr	35:e959ffba78fd	1691	// presume we'll find no keyboard keys
mjr	35:e959ffba78fd	1692	kbKeys = false;
mjr	35:e959ffba78fd	1693
mjr	66:2e3583fbd2f4	1694	// presume no shift key
mjr	66:2e3583fbd2f4	1695	shiftButton.index = -1;
mjr	66:2e3583fbd2f4	1696
mjr	65:739875521aae	1697	// Count up how many button slots we'll need to allocate. Start
mjr	65:739875521aae	1698	// with assigned buttons from the configuration, noting that we
mjr	65:739875521aae	1699	// only need to create slots for buttons that are actually wired.
mjr	65:739875521aae	1700	nButtons = 0;
mjr	65:739875521aae	1701	for (int i = 0 ; i < MAX_BUTTONS ; ++i)
mjr	65:739875521aae	1702	{
mjr	65:739875521aae	1703	// it's valid if it's wired to a real input pin
mjr	65:739875521aae	1704	if (wirePinName(cfg.button[i].pin) != NC)
mjr	65:739875521aae	1705	countButton(cfg.button[i].typ, kbKeys);
mjr	65:739875521aae	1706	}
mjr	65:739875521aae	1707
mjr	65:739875521aae	1708	// Count virtual buttons
mjr	65:739875521aae	1709
mjr	65:739875521aae	1710	// ZB Launch
mjr	65:739875521aae	1711	if (cfg.plunger.zbLaunchBall.port != 0)
mjr	65:739875521aae	1712	{
mjr	65:739875521aae	1713	// valid - remember the live button index
mjr	65:739875521aae	1714	zblButtonIndex = nButtons;
mjr	65:739875521aae	1715
mjr	65:739875521aae	1716	// count it
mjr	65:739875521aae	1717	countButton(cfg.plunger.zbLaunchBall.keytype, kbKeys);
mjr	65:739875521aae	1718	}
mjr	65:739875521aae	1719
mjr	65:739875521aae	1720	// Allocate the live button slots
mjr	65:739875521aae	1721	ButtonState *bs = buttonState = new ButtonState[nButtons];
mjr	65:739875521aae	1722
mjr	65:739875521aae	1723	// Configure the physical inputs
mjr	65:739875521aae	1724	for (int i = 0 ; i < MAX_BUTTONS ; ++i)
mjr	65:739875521aae	1725	{
mjr	65:739875521aae	1726	PinName pin = wirePinName(cfg.button[i].pin);
mjr	65:739875521aae	1727	if (pin != NC)
mjr	65:739875521aae	1728	{
mjr	65:739875521aae	1729	// point back to the config slot for the keyboard data
mjr	65:739875521aae	1730	bs->cfgIndex = i;
mjr	65:739875521aae	1731
mjr	65:739875521aae	1732	// set up the GPIO input pin for this button
mjr	65:739875521aae	1733	bs->di = new TinyDigitalIn(pin);
mjr	65:739875521aae	1734
mjr	65:739875521aae	1735	// if it's a pulse mode button, set the initial pulse state to Off
mjr	65:739875521aae	1736	if (cfg.button[i].flags & BtnFlagPulse)
mjr	65:739875521aae	1737	bs->pulseState = 1;
mjr	65:739875521aae	1738
mjr	66:2e3583fbd2f4	1739	// If this is the shift button, note its buttonState[] index.
mjr	66:2e3583fbd2f4	1740	// We have to figure the buttonState[] index separately from
mjr	66:2e3583fbd2f4	1741	// the config index, because the indices can differ if some
mjr	66:2e3583fbd2f4	1742	// config slots are left unused.
mjr	66:2e3583fbd2f4	1743	if (cfg.shiftButton == i+1)
mjr	66:2e3583fbd2f4	1744	shiftButton.index = bs - buttonState;
mjr	66:2e3583fbd2f4	1745
mjr	65:739875521aae	1746	// advance to the next button
mjr	65:739875521aae	1747	++bs;
mjr	65:739875521aae	1748	}
mjr	65:739875521aae	1749	}
mjr	65:739875521aae	1750
mjr	53:9b2611964afc	1751	// Configure the virtual buttons. These are buttons controlled via
mjr	53:9b2611964afc	1752	// software triggers rather than physical GPIO inputs. The virtual
mjr	53:9b2611964afc	1753	// buttons have the same control structures as regular buttons, but
mjr	53:9b2611964afc	1754	// they get their configuration data from other config variables.
mjr	53:9b2611964afc	1755
mjr	53:9b2611964afc	1756	// ZB Launch Ball button
mjr	65:739875521aae	1757	if (cfg.plunger.zbLaunchBall.port != 0)
mjr	11:bd9da7088e6e	1758	{
mjr	65:739875521aae	1759	// Point back to the config slot for the keyboard data.
mjr	66:2e3583fbd2f4	1760	// We use a special extra slot for virtual buttons,
mjr	66:2e3583fbd2f4	1761	// so we also need to set up the slot data by copying
mjr	66:2e3583fbd2f4	1762	// the ZBL config data to our virtual button slot.
mjr	65:739875521aae	1763	bs->cfgIndex = ZBL_BUTTON_CFG;
mjr	65:739875521aae	1764	cfg.button[ZBL_BUTTON_CFG].pin = PINNAME_TO_WIRE(NC);
mjr	65:739875521aae	1765	cfg.button[ZBL_BUTTON_CFG].typ = cfg.plunger.zbLaunchBall.keytype;
mjr	65:739875521aae	1766	cfg.button[ZBL_BUTTON_CFG].val = cfg.plunger.zbLaunchBall.keycode;
mjr	65:739875521aae	1767
mjr	66:2e3583fbd2f4	1768	// advance to the next button
mjr	65:739875521aae	1769	++bs;
mjr	11:bd9da7088e6e	1770	}
mjr	12:669df364a565	1771
mjr	38:091e511ce8a0	1772	// start the button scan thread
mjr	38:091e511ce8a0	1773	buttonTicker.attach_us(scanButtons, 1000);
mjr	38:091e511ce8a0	1774
mjr	38:091e511ce8a0	1775	// start the button state transition timer
mjr	12:669df364a565	1776	buttonTimer.start();
mjr	11:bd9da7088e6e	1777	}
mjr	11:bd9da7088e6e	1778
mjr	67:c39e66c4e000	1779	// Media key mapping. This maps from an 8-bit USB media key
mjr	67:c39e66c4e000	1780	// code to the corresponding bit in our USB report descriptor.
mjr	67:c39e66c4e000	1781	// The USB key code is the index, and the value at the index
mjr	67:c39e66c4e000	1782	// is the report descriptor bit. See joystick.cpp for the
mjr	67:c39e66c4e000	1783	// media descriptor details. Our currently mapped keys are:
mjr	67:c39e66c4e000	1784	//
mjr	67:c39e66c4e000	1785	// 0xE2 -> Mute -> 0x01
mjr	67:c39e66c4e000	1786	// 0xE9 -> Volume Up -> 0x02
mjr	67:c39e66c4e000	1787	// 0xEA -> Volume Down -> 0x04
mjr	67:c39e66c4e000	1788	// 0xB5 -> Next Track -> 0x08
mjr	67:c39e66c4e000	1789	// 0xB6 -> Previous Track -> 0x10
mjr	67:c39e66c4e000	1790	// 0xB7 -> Stop -> 0x20
mjr	67:c39e66c4e000	1791	// 0xCD -> Play / Pause -> 0x40
mjr	67:c39e66c4e000	1792	//
mjr	67:c39e66c4e000	1793	static const uint8_t mediaKeyMap[] = {
mjr	67:c39e66c4e000	1794	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 00-0F
mjr	67:c39e66c4e000	1795	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 10-1F
mjr	67:c39e66c4e000	1796	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 20-2F
mjr	67:c39e66c4e000	1797	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 30-3F
mjr	67:c39e66c4e000	1798	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 40-4F
mjr	67:c39e66c4e000	1799	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 50-5F
mjr	67:c39e66c4e000	1800	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 60-6F
mjr	67:c39e66c4e000	1801	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 70-7F
mjr	67:c39e66c4e000	1802	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 80-8F
mjr	67:c39e66c4e000	1803	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 90-9F
mjr	67:c39e66c4e000	1804	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // A0-AF
mjr	67:c39e66c4e000	1805	0, 0, 0, 0, 0, 8, 16, 32, 0, 0, 0, 0, 0, 0, 0, 0, // B0-BF
mjr	67:c39e66c4e000	1806	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 64, 0, 0, // C0-CF
mjr	67:c39e66c4e000	1807	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // D0-DF
mjr	67:c39e66c4e000	1808	0, 0, 1, 0, 0, 0, 0, 0, 0, 2, 4, 0, 0, 0, 0, 0, // E0-EF
mjr	67:c39e66c4e000	1809	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 // F0-FF
mjr	67:c39e66c4e000	1810	};
mjr	67:c39e66c4e000	1811
mjr	67:c39e66c4e000	1812
mjr	38:091e511ce8a0	1813	// Process the button state. This sets up the joystick, keyboard, and
mjr	38:091e511ce8a0	1814	// media control descriptors with the current state of keys mapped to
mjr	38:091e511ce8a0	1815	// those HID interfaces, and executes the local effects for any keys
mjr	38:091e511ce8a0	1816	// mapped to special device functions (e.g., Night Mode).
mjr	53:9b2611964afc	1817	void processButtons(Config &cfg)
mjr	35:e959ffba78fd	1818	{
mjr	35:e959ffba78fd	1819	// start with an empty list of USB key codes
mjr	35:e959ffba78fd	1820	uint8_t modkeys = 0;
mjr	35:e959ffba78fd	1821	uint8_t keys[7] = { 0, 0, 0, 0, 0, 0, 0 };
mjr	35:e959ffba78fd	1822	int nkeys = 0;
mjr	11:bd9da7088e6e	1823
mjr	35:e959ffba78fd	1824	// clear the joystick buttons
mjr	36:b9747461331e	1825	uint32_t newjs = 0;
mjr	35:e959ffba78fd	1826
mjr	35:e959ffba78fd	1827	// start with no media keys pressed
mjr	35:e959ffba78fd	1828	uint8_t mediakeys = 0;
mjr	38:091e511ce8a0	1829
mjr	38:091e511ce8a0	1830	// calculate the time since the last run
mjr	53:9b2611964afc	1831	uint32_t dt = buttonTimer.read_us();
mjr	18:5e890ebd0023	1832	buttonTimer.reset();
mjr	66:2e3583fbd2f4	1833
mjr	66:2e3583fbd2f4	1834	// check the shift button state
mjr	66:2e3583fbd2f4	1835	if (shiftButton.index != -1)
mjr	66:2e3583fbd2f4	1836	{
mjr	66:2e3583fbd2f4	1837	ButtonState *sbs = &buttonState[shiftButton.index];
mjr	66:2e3583fbd2f4	1838	switch (shiftButton.state)
mjr	66:2e3583fbd2f4	1839	{
mjr	66:2e3583fbd2f4	1840	case 0:
mjr	66:2e3583fbd2f4	1841	// Not shifted. Check if the button is now down: if so,
mjr	66:2e3583fbd2f4	1842	// switch to state 1 (shift button down, no key pressed yet).
mjr	66:2e3583fbd2f4	1843	if (sbs->physState)
mjr	66:2e3583fbd2f4	1844	shiftButton.state = 1;
mjr	66:2e3583fbd2f4	1845	break;
mjr	66:2e3583fbd2f4	1846
mjr	66:2e3583fbd2f4	1847	case 1:
mjr	66:2e3583fbd2f4	1848	// Shift button down, no key pressed yet. If the button is
mjr	66:2e3583fbd2f4	1849	// now up, it counts as an ordinary button press instead of
mjr	66:2e3583fbd2f4	1850	// a shift button press, since the shift function was never
mjr	66:2e3583fbd2f4	1851	// used. Return to unshifted state and start a timed key
mjr	66:2e3583fbd2f4	1852	// pulse event.
mjr	66:2e3583fbd2f4	1853	if (!sbs->physState)
mjr	66:2e3583fbd2f4	1854	{
mjr	66:2e3583fbd2f4	1855	shiftButton.state = 0;
mjr	66:2e3583fbd2f4	1856	shiftButton.pulse = 1;
mjr	66:2e3583fbd2f4	1857	shiftButton.pulseTime = 50000+dt; // 50 ms left on the key pulse
mjr	66:2e3583fbd2f4	1858	}
mjr	66:2e3583fbd2f4	1859	break;
mjr	66:2e3583fbd2f4	1860
mjr	66:2e3583fbd2f4	1861	case 2:
mjr	66:2e3583fbd2f4	1862	// Shift button down, other key was pressed. If the button is
mjr	66:2e3583fbd2f4	1863	// now up, simply clear the shift state without sending a key
mjr	66:2e3583fbd2f4	1864	// press for the shift button itself to the PC. The shift
mjr	66:2e3583fbd2f4	1865	// function was used, so its ordinary key press function is
mjr	66:2e3583fbd2f4	1866	// suppressed.
mjr	66:2e3583fbd2f4	1867	if (!sbs->physState)
mjr	66:2e3583fbd2f4	1868	shiftButton.state = 0;
mjr	66:2e3583fbd2f4	1869	break;
mjr	66:2e3583fbd2f4	1870	}
mjr	66:2e3583fbd2f4	1871	}
mjr	38:091e511ce8a0	1872
mjr	11:bd9da7088e6e	1873	// scan the button list
mjr	18:5e890ebd0023	1874	ButtonState *bs = buttonState;
mjr	65:739875521aae	1875	for (int i = 0 ; i < nButtons ; ++i, ++bs)
mjr	11:bd9da7088e6e	1876	{
mjr	66:2e3583fbd2f4	1877	// Check the button type:
mjr	66:2e3583fbd2f4	1878	// - shift button
mjr	66:2e3583fbd2f4	1879	// - pulsed button
mjr	66:2e3583fbd2f4	1880	// - regular button
mjr	66:2e3583fbd2f4	1881	if (shiftButton.index == i)
mjr	66:2e3583fbd2f4	1882	{
mjr	66:2e3583fbd2f4	1883	// This is the shift button. Its logical state for key
mjr	66:2e3583fbd2f4	1884	// reporting purposes is controlled by the shift buttton
mjr	66:2e3583fbd2f4	1885	// pulse timer. If we're in a pulse, its logical state
mjr	66:2e3583fbd2f4	1886	// is pressed.
mjr	66:2e3583fbd2f4	1887	if (shiftButton.pulse)
mjr	66:2e3583fbd2f4	1888	{
mjr	66:2e3583fbd2f4	1889	// deduct the current interval from the pulse time, ending
mjr	66:2e3583fbd2f4	1890	// the pulse if the time has expired
mjr	66:2e3583fbd2f4	1891	if (shiftButton.pulseTime > dt)
mjr	66:2e3583fbd2f4	1892	shiftButton.pulseTime -= dt;
mjr	66:2e3583fbd2f4	1893	else
mjr	66:2e3583fbd2f4	1894	shiftButton.pulse = 0;
mjr	66:2e3583fbd2f4	1895	}
mjr	66:2e3583fbd2f4	1896
mjr	66:2e3583fbd2f4	1897	// the button is logically pressed if we're in a pulse
mjr	66:2e3583fbd2f4	1898	bs->logState = shiftButton.pulse;
mjr	66:2e3583fbd2f4	1899	}
mjr	66:2e3583fbd2f4	1900	else if (bs->pulseState != 0)
mjr	18:5e890ebd0023	1901	{
mjr	38:091e511ce8a0	1902	// if the timer has expired, check for state changes
mjr	53:9b2611964afc	1903	if (bs->pulseTime > dt)
mjr	18:5e890ebd0023	1904	{
mjr	53:9b2611964afc	1905	// not expired yet - deduct the last interval
mjr	53:9b2611964afc	1906	bs->pulseTime -= dt;
mjr	53:9b2611964afc	1907	}
mjr	53:9b2611964afc	1908	else
mjr	53:9b2611964afc	1909	{
mjr	53:9b2611964afc	1910	// pulse time expired - check for a state change
mjr	53:9b2611964afc	1911	const uint32_t pulseLength = 200000UL; // 200 milliseconds
mjr	38:091e511ce8a0	1912	switch (bs->pulseState)
mjr	18:5e890ebd0023	1913	{
mjr	38:091e511ce8a0	1914	case 1:
mjr	38:091e511ce8a0	1915	// off - if the physical switch is now on, start a button pulse
mjr	53:9b2611964afc	1916	if (bs->physState)
mjr	53:9b2611964afc	1917	{
mjr	38:091e511ce8a0	1918	bs->pulseTime = pulseLength;
mjr	38:091e511ce8a0	1919	bs->pulseState = 2;
mjr	53:9b2611964afc	1920	bs->logState = 1;
mjr	38:091e511ce8a0	1921	}
mjr	38:091e511ce8a0	1922	break;
mjr	18:5e890ebd0023	1923
mjr	38:091e511ce8a0	1924	case 2:
mjr	38:091e511ce8a0	1925	// transitioning off to on - end the pulse, and start a gap
mjr	38:091e511ce8a0	1926	// equal to the pulse time so that the host can observe the
mjr	38:091e511ce8a0	1927	// change in state in the logical button
mjr	38:091e511ce8a0	1928	bs->pulseState = 3;
mjr	38:091e511ce8a0	1929	bs->pulseTime = pulseLength;
mjr	53:9b2611964afc	1930	bs->logState = 0;
mjr	38:091e511ce8a0	1931	break;
mjr	38:091e511ce8a0	1932
mjr	38:091e511ce8a0	1933	case 3:
mjr	38:091e511ce8a0	1934	// on - if the physical switch is now off, start a button pulse
mjr	53:9b2611964afc	1935	if (!bs->physState)
mjr	53:9b2611964afc	1936	{
mjr	38:091e511ce8a0	1937	bs->pulseTime = pulseLength;
mjr	38:091e511ce8a0	1938	bs->pulseState = 4;
mjr	53:9b2611964afc	1939	bs->logState = 1;
mjr	38:091e511ce8a0	1940	}
mjr	38:091e511ce8a0	1941	break;
mjr	38:091e511ce8a0	1942
mjr	38:091e511ce8a0	1943	case 4:
mjr	38:091e511ce8a0	1944	// transitioning on to off - end the pulse, and start a gap
mjr	38:091e511ce8a0	1945	bs->pulseState = 1;
mjr	38:091e511ce8a0	1946	bs->pulseTime = pulseLength;
mjr	53:9b2611964afc	1947	bs->logState = 0;
mjr	38:091e511ce8a0	1948	break;
mjr	18:5e890ebd0023	1949	}
mjr	18:5e890ebd0023	1950	}
mjr	38:091e511ce8a0	1951	}
mjr	38:091e511ce8a0	1952	else
mjr	38:091e511ce8a0	1953	{
mjr	38:091e511ce8a0	1954	// not a pulse switch - the logical state is the same as the physical state
mjr	53:9b2611964afc	1955	bs->logState = bs->physState;
mjr	38:091e511ce8a0	1956	}
mjr	35:e959ffba78fd	1957
mjr	38:091e511ce8a0	1958	// carry out any edge effects from buttons changing states
mjr	53:9b2611964afc	1959	if (bs->logState != bs->prevLogState)
mjr	38:091e511ce8a0	1960	{
mjr	38:091e511ce8a0	1961	// check for special key transitions
mjr	53:9b2611964afc	1962	if (cfg.nightMode.btn == i + 1)
mjr	35:e959ffba78fd	1963	{
mjr	53:9b2611964afc	1964	// Check the switch type in the config flags. If flag 0x01 is set,
mjr	53:9b2611964afc	1965	// it's a persistent on/off switch, so the night mode state simply
mjr	53:9b2611964afc	1966	// follows the current state of the switch. Otherwise, it's a
mjr	53:9b2611964afc	1967	// momentary button, so each button push (i.e., each transition from
mjr	53:9b2611964afc	1968	// logical state OFF to ON) toggles the current night mode state.
mjr	53:9b2611964afc	1969	if (cfg.nightMode.flags & 0x01)
mjr	53:9b2611964afc	1970	{
mjr	69:cc5039284fac	1971	// on/off switch - when the button changes state, change
mjr	53:9b2611964afc	1972	// night mode to match the new state
mjr	53:9b2611964afc	1973	setNightMode(bs->logState);
mjr	53:9b2611964afc	1974	}
mjr	53:9b2611964afc	1975	else
mjr	53:9b2611964afc	1976	{
mjr	66:2e3583fbd2f4	1977	// Momentary switch - toggle the night mode state when the
mjr	53:9b2611964afc	1978	// physical button is pushed (i.e., when its logical state
mjr	66:2e3583fbd2f4	1979	// transitions from OFF to ON).
mjr	66:2e3583fbd2f4	1980	//
mjr	66:2e3583fbd2f4	1981	// In momentary mode, night mode flag 0x02 makes it the
mjr	66:2e3583fbd2f4	1982	// shifted version of the button. In this case, only
mjr	66:2e3583fbd2f4	1983	// proceed if the shift button is pressed.
mjr	66:2e3583fbd2f4	1984	bool pressed = bs->logState;
mjr	66:2e3583fbd2f4	1985	if ((cfg.nightMode.flags & 0x02) != 0)
mjr	66:2e3583fbd2f4	1986	{
mjr	66:2e3583fbd2f4	1987	// if the shift button is pressed but hasn't been used
mjr	66:2e3583fbd2f4	1988	// as a shift yet, mark it as used, so that it doesn't
mjr	66:2e3583fbd2f4	1989	// also generate its own key code on release
mjr	66:2e3583fbd2f4	1990	if (shiftButton.state == 1)
mjr	66:2e3583fbd2f4	1991	shiftButton.state = 2;
mjr	66:2e3583fbd2f4	1992
mjr	66:2e3583fbd2f4	1993	// if the shift button isn't even pressed
mjr	66:2e3583fbd2f4	1994	if (shiftButton.state == 0)
mjr	66:2e3583fbd2f4	1995	pressed = false;
mjr	66:2e3583fbd2f4	1996	}
mjr	66:2e3583fbd2f4	1997
mjr	66:2e3583fbd2f4	1998	// if it's pressed (even after considering the shift mode),
mjr	66:2e3583fbd2f4	1999	// toggle night mode
mjr	66:2e3583fbd2f4	2000	if (pressed)
mjr	53:9b2611964afc	2001	toggleNightMode();
mjr	53:9b2611964afc	2002	}
mjr	35:e959ffba78fd	2003	}
mjr	38:091e511ce8a0	2004
mjr	38:091e511ce8a0	2005	// remember the new state for comparison on the next run
mjr	53:9b2611964afc	2006	bs->prevLogState = bs->logState;
mjr	38:091e511ce8a0	2007	}
mjr	38:091e511ce8a0	2008
mjr	53:9b2611964afc	2009	// if it's pressed, physically or virtually, add it to the appropriate
mjr	53:9b2611964afc	2010	// key state list
mjr	53:9b2611964afc	2011	if (bs->logState \|\| bs->virtState)
mjr	38:091e511ce8a0	2012	{
mjr	66:2e3583fbd2f4	2013	// Get the key type and code. If the shift button is down AND
mjr	66:2e3583fbd2f4	2014	// this button has a shifted key meaning, use the shifted key
mjr	66:2e3583fbd2f4	2015	// meaning. Otherwise use the primary key meaning.
mjr	65:739875521aae	2016	ButtonCfg *bc = &cfg.button[bs->cfgIndex];
mjr	66:2e3583fbd2f4	2017	uint8_t typ, val;
mjr	66:2e3583fbd2f4	2018	if (shiftButton.state && bc->typ2 != BtnTypeNone)
mjr	66:2e3583fbd2f4	2019	{
mjr	66:2e3583fbd2f4	2020	// shifted - use the secondary key code
mjr	66:2e3583fbd2f4	2021	typ = bc->typ2, val = bc->val2;
mjr	66:2e3583fbd2f4	2022
mjr	66:2e3583fbd2f4	2023	// If the shift button hasn't been used a a shift yet
mjr	66:2e3583fbd2f4	2024	// (state 1), mark it as used (state 2). This prevents
mjr	66:2e3583fbd2f4	2025	// it from generating its own keystroke when released,
mjr	66:2e3583fbd2f4	2026	// which it does if no other keys are pressed while it's
mjr	66:2e3583fbd2f4	2027	// being held.
mjr	66:2e3583fbd2f4	2028	if (shiftButton.state == 1)
mjr	66:2e3583fbd2f4	2029	shiftButton.state = 2;
mjr	66:2e3583fbd2f4	2030	}
mjr	66:2e3583fbd2f4	2031	else
mjr	66:2e3583fbd2f4	2032	{
mjr	66:2e3583fbd2f4	2033	// not shifted - use the primary key code
mjr	66:2e3583fbd2f4	2034	typ = bc->typ, val = bc->val;
mjr	66:2e3583fbd2f4	2035	}
mjr	66:2e3583fbd2f4	2036
mjr	66:2e3583fbd2f4	2037	switch (typ)
mjr	53:9b2611964afc	2038	{
mjr	53:9b2611964afc	2039	case BtnTypeJoystick:
mjr	53:9b2611964afc	2040	// joystick button
mjr	53:9b2611964afc	2041	newjs \|= (1 << (val - 1));
mjr	53:9b2611964afc	2042	break;
mjr	53:9b2611964afc	2043
mjr	53:9b2611964afc	2044	case BtnTypeKey:
mjr	67:c39e66c4e000	2045	// Keyboard key. The USB keyboard report encodes regular
mjr	67:c39e66c4e000	2046	// keys and modifier keys separately, so we need to check
mjr	67:c39e66c4e000	2047	// which type we have. Note that past versions mapped the
mjr	67:c39e66c4e000	2048	// Keyboard Volume Up, Keyboard Volume Down, and Keyboard
mjr	67:c39e66c4e000	2049	// Mute keys to the corresponding Media keys. We no longer
mjr	67:c39e66c4e000	2050	// do this; instead, we have the separate BtnTypeMedia for
mjr	67:c39e66c4e000	2051	// explicitly using media keys if desired.
mjr	67:c39e66c4e000	2052	if (val >= 0xE0 && val <= 0xE7)
mjr	53:9b2611964afc	2053	{
mjr	67:c39e66c4e000	2054	// It's a modifier key. These are represented in the USB
mjr	67:c39e66c4e000	2055	// reports with a bit mask. We arrange the mask bits in
mjr	67:c39e66c4e000	2056	// the same order as the scan codes, so we can figure the
mjr	67:c39e66c4e000	2057	// appropriate bit with a simple shift.
mjr	53:9b2611964afc	2058	modkeys \|= (1 << (val - 0xE0));
mjr	53:9b2611964afc	2059	}
mjr	53:9b2611964afc	2060	else
mjr	53:9b2611964afc	2061	{
mjr	67:c39e66c4e000	2062	// It's a regular key. Make sure it's not already in the
mjr	67:c39e66c4e000	2063	// list, and that the list isn't full. If neither of these
mjr	67:c39e66c4e000	2064	// apply, add the key to the key array.
mjr	53:9b2611964afc	2065	if (nkeys < 7)
mjr	53:9b2611964afc	2066	{
mjr	57:cc03231f676b	2067	bool found = false;
mjr	53:9b2611964afc	2068	for (int j = 0 ; j < nkeys ; ++j)
mjr	53:9b2611964afc	2069	{
mjr	53:9b2611964afc	2070	if (keys[j] == val)
mjr	53:9b2611964afc	2071	{
mjr	53:9b2611964afc	2072	found = true;
mjr	53:9b2611964afc	2073	break;
mjr	53:9b2611964afc	2074	}
mjr	53:9b2611964afc	2075	}
mjr	53:9b2611964afc	2076	if (!found)
mjr	53:9b2611964afc	2077	keys[nkeys++] = val;
mjr	53:9b2611964afc	2078	}
mjr	53:9b2611964afc	2079	}
mjr	53:9b2611964afc	2080	break;
mjr	67:c39e66c4e000	2081
mjr	67:c39e66c4e000	2082	case BtnTypeMedia:
mjr	67:c39e66c4e000	2083	// Media control key. The media keys are mapped in the USB
mjr	67:c39e66c4e000	2084	// report to bits, whereas the key codes are specified in the
mjr	67:c39e66c4e000	2085	// config with their USB usage numbers. E.g., the config val
mjr	67:c39e66c4e000	2086	// for Media Next Track is 0xB5, but we encode this in the USB
mjr	67:c39e66c4e000	2087	// report as bit 0x08. The mediaKeyMap[] table translates
mjr	67:c39e66c4e000	2088	// from the USB usage number to the mask bit. If the key isn't
mjr	67:c39e66c4e000	2089	// among the subset we support, the mapped bit will be zero, so
mjr	67:c39e66c4e000	2090	// the "\|=" will have no effect and the key will be ignored.
mjr	67:c39e66c4e000	2091	mediakeys \|= mediaKeyMap[val];
mjr	67:c39e66c4e000	2092	break;
mjr	53:9b2611964afc	2093	}
mjr	18:5e890ebd0023	2094	}
mjr	11:bd9da7088e6e	2095	}
mjr	36:b9747461331e	2096
mjr	36:b9747461331e	2097	// check for joystick button changes
mjr	36:b9747461331e	2098	if (jsButtons != newjs)
mjr	36:b9747461331e	2099	jsButtons = newjs;
mjr	11:bd9da7088e6e	2100
mjr	35:e959ffba78fd	2101	// Check for changes to the keyboard keys
mjr	35:e959ffba78fd	2102	if (kbState.data[0] != modkeys
mjr	35:e959ffba78fd	2103	\|\| kbState.nkeys != nkeys
mjr	35:e959ffba78fd	2104	\|\| memcmp(keys, &kbState.data[2], 6) != 0)
mjr	35:e959ffba78fd	2105	{
mjr	35:e959ffba78fd	2106	// we have changes - set the change flag and store the new key data
mjr	35:e959ffba78fd	2107	kbState.changed = true;
mjr	35:e959ffba78fd	2108	kbState.data[0] = modkeys;
mjr	35:e959ffba78fd	2109	if (nkeys <= 6) {
mjr	35:e959ffba78fd	2110	// 6 or fewer simultaneous keys - report the key codes
mjr	35:e959ffba78fd	2111	kbState.nkeys = nkeys;
mjr	35:e959ffba78fd	2112	memcpy(&kbState.data[2], keys, 6);
mjr	35:e959ffba78fd	2113	}
mjr	35:e959ffba78fd	2114	else {
mjr	35:e959ffba78fd	2115	// more than 6 simultaneous keys - report rollover (all '1' key codes)
mjr	35:e959ffba78fd	2116	kbState.nkeys = 6;
mjr	35:e959ffba78fd	2117	memset(&kbState.data[2], 1, 6);
mjr	35:e959ffba78fd	2118	}
mjr	35:e959ffba78fd	2119	}
mjr	35:e959ffba78fd	2120
mjr	35:e959ffba78fd	2121	// Check for changes to media keys
mjr	35:e959ffba78fd	2122	if (mediaState.data != mediakeys)
mjr	35:e959ffba78fd	2123	{
mjr	35:e959ffba78fd	2124	mediaState.changed = true;
mjr	35:e959ffba78fd	2125	mediaState.data = mediakeys;
mjr	35:e959ffba78fd	2126	}
mjr	11:bd9da7088e6e	2127	}
mjr	11:bd9da7088e6e	2128
mjr	5:a70c0bce770d	2129	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	2130	//
mjr	5:a70c0bce770d	2131	// Customization joystick subbclass
mjr	5:a70c0bce770d	2132	//
mjr	5:a70c0bce770d	2133
mjr	5:a70c0bce770d	2134	class MyUSBJoystick: public USBJoystick
mjr	5:a70c0bce770d	2135	{
mjr	5:a70c0bce770d	2136	public:
mjr	35:e959ffba78fd	2137	MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release,
mjr	35:e959ffba78fd	2138	bool waitForConnect, bool enableJoystick, bool useKB)
mjr	35:e959ffba78fd	2139	: USBJoystick(vendor_id, product_id, product_release, waitForConnect, enableJoystick, useKB)
mjr	5:a70c0bce770d	2140	{
mjr	54:fd77a6b2f76c	2141	sleeping_ = false;
mjr	54:fd77a6b2f76c	2142	reconnectPending_ = false;
mjr	54:fd77a6b2f76c	2143	timer_.start();
mjr	54:fd77a6b2f76c	2144	}
mjr	54:fd77a6b2f76c	2145
mjr	54:fd77a6b2f76c	2146	// show diagnostic LED feedback for connect state
mjr	54:fd77a6b2f76c	2147	void diagFlash()
mjr	54:fd77a6b2f76c	2148	{
mjr	54:fd77a6b2f76c	2149	if (!configured() \|\| sleeping_)
mjr	54:fd77a6b2f76c	2150	{
mjr	54:fd77a6b2f76c	2151	// flash once if sleeping or twice if disconnected
mjr	54:fd77a6b2f76c	2152	for (int j = isConnected() ? 1 : 2 ; j > 0 ; --j)
mjr	54:fd77a6b2f76c	2153	{
mjr	54:fd77a6b2f76c	2154	// short red flash
mjr	54:fd77a6b2f76c	2155	diagLED(1, 0, 0);
mjr	54:fd77a6b2f76c	2156	wait_us(50000);
mjr	54:fd77a6b2f76c	2157	diagLED(0, 0, 0);
mjr	54:fd77a6b2f76c	2158	wait_us(50000);
mjr	54:fd77a6b2f76c	2159	}
mjr	54:fd77a6b2f76c	2160	}
mjr	5:a70c0bce770d	2161	}
mjr	5:a70c0bce770d	2162
mjr	5:a70c0bce770d	2163	// are we connected?
mjr	5:a70c0bce770d	2164	int isConnected() { return configured(); }
mjr	5:a70c0bce770d	2165
mjr	54:fd77a6b2f76c	2166	// Are we in sleep mode? If true, this means that the hardware has
mjr	54:fd77a6b2f76c	2167	// detected no activity on the bus for 3ms. This happens when the
mjr	54:fd77a6b2f76c	2168	// cable is physically disconnected, the computer is turned off, or
mjr	54:fd77a6b2f76c	2169	// the connection is otherwise disabled.
mjr	54:fd77a6b2f76c	2170	bool isSleeping() const { return sleeping_; }
mjr	54:fd77a6b2f76c	2171
mjr	54:fd77a6b2f76c	2172	// If necessary, attempt to recover from a broken connection.
mjr	54:fd77a6b2f76c	2173	//
mjr	54:fd77a6b2f76c	2174	// This is a hack, to work around an apparent timing bug in the
mjr	54:fd77a6b2f76c	2175	// KL25Z USB implementation that I haven't been able to solve any
mjr	54:fd77a6b2f76c	2176	// other way.
mjr	54:fd77a6b2f76c	2177	//
mjr	54:fd77a6b2f76c	2178	// The issue: when we have an established connection, and the
mjr	54:fd77a6b2f76c	2179	// connection is broken by physically unplugging the cable or by
mjr	54:fd77a6b2f76c	2180	// rebooting the PC, the KL25Z sometimes fails to reconnect when
mjr	54:fd77a6b2f76c	2181	// the physical connection is re-established. The failure is
mjr	54:fd77a6b2f76c	2182	// sporadic; I'd guess it happens about 25% of the time, but I
mjr	54:fd77a6b2f76c	2183	// haven't collected any real statistics on it.
mjr	54:fd77a6b2f76c	2184	//
mjr	54:fd77a6b2f76c	2185	// The proximate cause of the failure is a deadlock in the SETUP
mjr	54:fd77a6b2f76c	2186	// protocol between the host and device that happens around the
mjr	54:fd77a6b2f76c	2187	// point where the PC is requesting the configuration descriptor.
mjr	54:fd77a6b2f76c	2188	// The exact point in the protocol where this occurs varies slightly;
mjr	54:fd77a6b2f76c	2189	// it can occur a message or two before or after the Get Config
mjr	54:fd77a6b2f76c	2190	// Descriptor packet. No matter where it happens, the nature of
mjr	54:fd77a6b2f76c	2191	// the deadlock is the same: the PC thinks it sees a STALL on EP0
mjr	54:fd77a6b2f76c	2192	// from the device, so it terminates the connection attempt, which
mjr	54:fd77a6b2f76c	2193	// stops further traffic on the cable. The KL25Z USB hardware sees
mjr	54:fd77a6b2f76c	2194	// the lack of traffic and triggers a SLEEP interrupt (a misnomer
mjr	54:fd77a6b2f76c	2195	// for what should have been called a BROKEN CONNECTION interrupt).
mjr	54:fd77a6b2f76c	2196	// Both sides simply stop talking at this point, so the connection
mjr	54:fd77a6b2f76c	2197	// is effectively dead.
mjr	54:fd77a6b2f76c	2198	//
mjr	54:fd77a6b2f76c	2199	// The strange thing is that, as far as I can tell, the KL25Z isn't
mjr	54:fd77a6b2f76c	2200	// doing anything to trigger the STALL on its end. Both the PC
mjr	54:fd77a6b2f76c	2201	// and the KL25Z are happy up until the very point of the failure
mjr	54:fd77a6b2f76c	2202	// and show no signs of anything wrong in the protocol exchange.
mjr	54:fd77a6b2f76c	2203	// In fact, every detail of the protocol exchange up to this point
mjr	54:fd77a6b2f76c	2204	// is identical to every successful exchange that does finish the
mjr	54:fd77a6b2f76c	2205	// whole setup process successfully, on both the KL25Z and Windows
mjr	54:fd77a6b2f76c	2206	// sides of the connection. I can't find any point of difference
mjr	54:fd77a6b2f76c	2207	// between successful and unsuccessful sequences that suggests why
mjr	54:fd77a6b2f76c	2208	// the fateful message fails. This makes me suspect that whatever
mjr	54:fd77a6b2f76c	2209	// is going wrong is inside the KL25Z USB hardware module, which
mjr	54:fd77a6b2f76c	2210	// is a pretty substantial black box - it has a lot of internal
mjr	54:fd77a6b2f76c	2211	// state that's inaccessible to the software. Further bolstering
mjr	54:fd77a6b2f76c	2212	// this theory is a little experiment where I found that I could
mjr	54:fd77a6b2f76c	2213	// reproduce the exact sequence of events of a failed reconnect
mjr	54:fd77a6b2f76c	2214	// attempt in an initial connection, which is otherwise 100%
mjr	54:fd77a6b2f76c	2215	// reliable, by inserting a little bit of artifical time padding
mjr	54:fd77a6b2f76c	2216	// (200us per event) into the SETUP interrupt handler. My
mjr	54:fd77a6b2f76c	2217	// hypothesis is that the STALL event happens because the KL25Z
mjr	54:fd77a6b2f76c	2218	// USB hardware is too slow to respond to a message. I'm not
mjr	54:fd77a6b2f76c	2219	// sure why this would only happen after a disconnect and not
mjr	54:fd77a6b2f76c	2220	// during the initial connection; maybe there's some reset work
mjr	54:fd77a6b2f76c	2221	// in the hardware that takes a substantial amount of time after
mjr	54:fd77a6b2f76c	2222	// a disconnect.
mjr	54:fd77a6b2f76c	2223	//
mjr	54:fd77a6b2f76c	2224	// The solution: the problem happens during the SETUP exchange,
mjr	54:fd77a6b2f76c	2225	// after we've been assigned a bus address. It only happens on
mjr	54:fd77a6b2f76c	2226	// some percentage of connection requests, so if we can simply
mjr	54:fd77a6b2f76c	2227	// start over when the failure occurs, we'll eventually succeed
mjr	54:fd77a6b2f76c	2228	// simply because not every attempt fails. The ideal would be
mjr	54:fd77a6b2f76c	2229	// to get the success rate up to 100%, but I can't figure out how
mjr	54:fd77a6b2f76c	2230	// to fix the underlying problem, so this is the next best thing.
mjr	54:fd77a6b2f76c	2231	//
mjr	54:fd77a6b2f76c	2232	// We can detect when the failure occurs by noticing when a SLEEP
mjr	54:fd77a6b2f76c	2233	// interrupt happens while we have an assigned bus address.
mjr	54:fd77a6b2f76c	2234	//
mjr	54:fd77a6b2f76c	2235	// To start a new connection attempt, we have to make the host
mjr	54:fd77a6b2f76c	2236	// try again. The logical connection is initiated solely by the
mjr	54:fd77a6b2f76c	2237	// host. Fortunately, it's easy to get the host to initiate the
mjr	54:fd77a6b2f76c	2238	// process: if we disconnect on the device side, it effectively
mjr	54:fd77a6b2f76c	2239	// makes the device look to the PC like it's electrically unplugged.
mjr	54:fd77a6b2f76c	2240	// When we reconnect on the device side, the PC thinks a new device
mjr	54:fd77a6b2f76c	2241	// has been plugged in and initiates the logical connection setup.
mjr	54:fd77a6b2f76c	2242	// We have to remain disconnected for a macroscopic interval for
mjr	54:fd77a6b2f76c	2243	// this to happen - 5ms seems to do the trick.
mjr	54:fd77a6b2f76c	2244	//
mjr	54:fd77a6b2f76c	2245	// Here's the full algorithm:
mjr	54:fd77a6b2f76c	2246	//
mjr	54:fd77a6b2f76c	2247	// 1. In the SLEEP interrupt handler, if we have a bus address,
mjr	54:fd77a6b2f76c	2248	// we disconnect the device. This happens in ISR context, so we
mjr	54:fd77a6b2f76c	2249	// can't wait around for 5ms. Instead, we simply set a flag noting
mjr	54:fd77a6b2f76c	2250	// that the connection has been broken, and we note the time and
mjr	54:fd77a6b2f76c	2251	// return.
mjr	54:fd77a6b2f76c	2252	//
mjr	54:fd77a6b2f76c	2253	// 2. In our main loop, whenever we find that we're disconnected,
mjr	54:fd77a6b2f76c	2254	// we call recoverConnection(). The main loop's job is basically a
mjr	54:fd77a6b2f76c	2255	// bunch of device polling. We're just one more device to poll, so
mjr	54:fd77a6b2f76c	2256	// recoverConnection() will be called soon after a disconnect, and
mjr	54:fd77a6b2f76c	2257	// then will be called in a loop for as long as we're disconnected.
mjr	54:fd77a6b2f76c	2258	//
mjr	54:fd77a6b2f76c	2259	// 3. In recoverConnection(), we check the flag we set in the SLEEP
mjr	54:fd77a6b2f76c	2260	// handler. If set, we wait until 5ms has elapsed from the SLEEP
mjr	54:fd77a6b2f76c	2261	// event time that we noted, then we'll reconnect and clear the flag.
mjr	54:fd77a6b2f76c	2262	// This gives us the required 5ms (or longer) delay between the
mjr	54:fd77a6b2f76c	2263	// disconnect and reconnect, ensuring that the PC will notice and
mjr	54:fd77a6b2f76c	2264	// will start over with the connection protocol.
mjr	54:fd77a6b2f76c	2265	//
mjr	54:fd77a6b2f76c	2266	// 4. The main loop keeps calling recoverConnection() in a loop for
mjr	54:fd77a6b2f76c	2267	// as long as we're disconnected, so if the new connection attempt
mjr	54:fd77a6b2f76c	2268	// triggered in step 3 fails, the SLEEP interrupt will happen again,
mjr	54:fd77a6b2f76c	2269	// we'll disconnect again, the flag will get set again, and
mjr	54:fd77a6b2f76c	2270	// recoverConnection() will reconnect again after another suitable
mjr	54:fd77a6b2f76c	2271	// delay. This will repeat until the connection succeeds or hell
mjr	54:fd77a6b2f76c	2272	// freezes over.
mjr	54:fd77a6b2f76c	2273	//
mjr	54:fd77a6b2f76c	2274	// Each disconnect happens immediately when a reconnect attempt
mjr	54:fd77a6b2f76c	2275	// fails, and an entire successful connection only takes about 25ms,
mjr	54:fd77a6b2f76c	2276	// so our loop can retry at more than 30 attempts per second.
mjr	54:fd77a6b2f76c	2277	// In my testing, lost connections almost always reconnect in
mjr	54:fd77a6b2f76c	2278	// less than second with this code in place.
mjr	54:fd77a6b2f76c	2279	void recoverConnection()
mjr	54:fd77a6b2f76c	2280	{
mjr	54:fd77a6b2f76c	2281	// if a reconnect is pending, reconnect
mjr	54:fd77a6b2f76c	2282	if (reconnectPending_)
mjr	54:fd77a6b2f76c	2283	{
mjr	54:fd77a6b2f76c	2284	// Loop until we reach 5ms after the last sleep event.
mjr	54:fd77a6b2f76c	2285	for (bool done = false ; !done ; )
mjr	54:fd77a6b2f76c	2286	{
mjr	54:fd77a6b2f76c	2287	// If we've reached the target time, reconnect. Do the
mjr	54:fd77a6b2f76c	2288	// time check and flag reset atomically, so that we can't
mjr	54:fd77a6b2f76c	2289	// have another sleep event sneak in after we've verified
mjr	54:fd77a6b2f76c	2290	// the time. If another event occurs, it has to happen
mjr	54:fd77a6b2f76c	2291	// before we check, in which case it'll update the time
mjr	54:fd77a6b2f76c	2292	// before we check it, or after we clear the flag, in
mjr	54:fd77a6b2f76c	2293	// which case it will reset the flag and we'll do another
mjr	54:fd77a6b2f76c	2294	// round the next time we call this routine.
mjr	54:fd77a6b2f76c	2295	__disable_irq();
mjr	54:fd77a6b2f76c	2296	if (uint32_t(timer_.read_us() - lastSleepTime_) > 5000)
mjr	54:fd77a6b2f76c	2297	{
mjr	54:fd77a6b2f76c	2298	connect(false);
mjr	54:fd77a6b2f76c	2299	reconnectPending_ = false;
mjr	54:fd77a6b2f76c	2300	done = true;
mjr	54:fd77a6b2f76c	2301	}
mjr	54:fd77a6b2f76c	2302	__enable_irq();
mjr	54:fd77a6b2f76c	2303	}
mjr	54:fd77a6b2f76c	2304	}
mjr	54:fd77a6b2f76c	2305	}
mjr	5:a70c0bce770d	2306
mjr	5:a70c0bce770d	2307	protected:
mjr	54:fd77a6b2f76c	2308	// Handle a USB SLEEP interrupt. This interrupt signifies that the
mjr	54:fd77a6b2f76c	2309	// USB hardware module hasn't seen any token traffic for 3ms, which
mjr	54:fd77a6b2f76c	2310	// means that we're either physically or logically disconnected.
mjr	54:fd77a6b2f76c	2311	//
mjr	54:fd77a6b2f76c	2312	// Important: this runs in ISR context.
mjr	54:fd77a6b2f76c	2313	//
mjr	54:fd77a6b2f76c	2314	// Note that this is a specialized sense of "sleep" that's unrelated
mjr	54:fd77a6b2f76c	2315	// to the similarly named power modes on the PC. This has nothing
mjr	54:fd77a6b2f76c	2316	// to do with suspend/sleep mode on the PC, and it's not a low-power
mjr	54:fd77a6b2f76c	2317	// mode on the KL25Z. They really should have called this interrupt
mjr	54:fd77a6b2f76c	2318	// DISCONNECT or BROKEN CONNECTION.)
mjr	54:fd77a6b2f76c	2319	virtual void sleepStateChanged(unsigned int sleeping)
mjr	54:fd77a6b2f76c	2320	{
mjr	54:fd77a6b2f76c	2321	// note the new state
mjr	54:fd77a6b2f76c	2322	sleeping_ = sleeping;
mjr	54:fd77a6b2f76c	2323
mjr	54:fd77a6b2f76c	2324	// If we have a non-zero bus address, we have at least a partial
mjr	54:fd77a6b2f76c	2325	// connection to the host (we've made it at least as far as the
mjr	54:fd77a6b2f76c	2326	// SETUP stage). Explicitly disconnect, and the pending reconnect
mjr	54:fd77a6b2f76c	2327	// flag, and remember the time of the sleep event.
mjr	54:fd77a6b2f76c	2328	if (USB0->ADDR != 0x00)
mjr	54:fd77a6b2f76c	2329	{
mjr	54:fd77a6b2f76c	2330	disconnect();
mjr	54:fd77a6b2f76c	2331	lastSleepTime_ = timer_.read_us();
mjr	54:fd77a6b2f76c	2332	reconnectPending_ = true;
mjr	54:fd77a6b2f76c	2333	}
mjr	54:fd77a6b2f76c	2334	}
mjr	54:fd77a6b2f76c	2335
mjr	54:fd77a6b2f76c	2336	// is the USB connection asleep?
mjr	54:fd77a6b2f76c	2337	volatile bool sleeping_;
mjr	54:fd77a6b2f76c	2338
mjr	54:fd77a6b2f76c	2339	// flag: reconnect pending after sleep event
mjr	54:fd77a6b2f76c	2340	volatile bool reconnectPending_;
mjr	54:fd77a6b2f76c	2341
mjr	54:fd77a6b2f76c	2342	// time of last sleep event while connected
mjr	54:fd77a6b2f76c	2343	volatile uint32_t lastSleepTime_;
mjr	54:fd77a6b2f76c	2344
mjr	54:fd77a6b2f76c	2345	// timer to keep track of interval since last sleep event
mjr	54:fd77a6b2f76c	2346	Timer timer_;
mjr	5:a70c0bce770d	2347	};
mjr	5:a70c0bce770d	2348
mjr	5:a70c0bce770d	2349	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	2350	//
mjr	5:a70c0bce770d	2351	// Accelerometer (MMA8451Q)
mjr	5:a70c0bce770d	2352	//
mjr	5:a70c0bce770d	2353
mjr	5:a70c0bce770d	2354	// The MMA8451Q is the KL25Z's on-board 3-axis accelerometer.
mjr	5:a70c0bce770d	2355	//
mjr	5:a70c0bce770d	2356	// This is a custom wrapper for the library code to interface to the
mjr	6:cc35eb643e8f	2357	// MMA8451Q. This class encapsulates an interrupt handler and
mjr	6:cc35eb643e8f	2358	// automatic calibration.
mjr	5:a70c0bce770d	2359	//
mjr	5:a70c0bce770d	2360	// We install an interrupt handler on the accelerometer "data ready"
mjr	6:cc35eb643e8f	2361	// interrupt to ensure that we fetch each sample immediately when it
mjr	6:cc35eb643e8f	2362	// becomes available. The accelerometer data rate is fiarly high
mjr	6:cc35eb643e8f	2363	// (800 Hz), so it's not practical to keep up with it by polling.
mjr	6:cc35eb643e8f	2364	// Using an interrupt handler lets us respond quickly and read
mjr	6:cc35eb643e8f	2365	// every sample.
mjr	5:a70c0bce770d	2366	//
mjr	6:cc35eb643e8f	2367	// We automatically calibrate the accelerometer so that it's not
mjr	6:cc35eb643e8f	2368	// necessary to get it exactly level when installing it, and so
mjr	6:cc35eb643e8f	2369	// that it's also not necessary to calibrate it manually. There's
mjr	6:cc35eb643e8f	2370	// lots of experience that tells us that manual calibration is a
mjr	6:cc35eb643e8f	2371	// terrible solution, mostly because cabinets tend to shift slightly
mjr	6:cc35eb643e8f	2372	// during use, requiring frequent recalibration. Instead, we
mjr	6:cc35eb643e8f	2373	// calibrate automatically. We continuously monitor the acceleration
mjr	6:cc35eb643e8f	2374	// data, watching for periods of constant (or nearly constant) values.
mjr	6:cc35eb643e8f	2375	// Any time it appears that the machine has been at rest for a while
mjr	6:cc35eb643e8f	2376	// (about 5 seconds), we'll average the readings during that rest
mjr	6:cc35eb643e8f	2377	// period and use the result as the level rest position. This is
mjr	6:cc35eb643e8f	2378	// is ongoing, so we'll quickly find the center point again if the
mjr	6:cc35eb643e8f	2379	// machine is moved during play (by an especially aggressive bout
mjr	6:cc35eb643e8f	2380	// of nudging, say).
mjr	5:a70c0bce770d	2381	//
mjr	5:a70c0bce770d	2382
mjr	17:ab3cec0c8bf4	2383	// I2C address of the accelerometer (this is a constant of the KL25Z)
mjr	17:ab3cec0c8bf4	2384	const int MMA8451_I2C_ADDRESS = (0x1d<<1);
mjr	17:ab3cec0c8bf4	2385
mjr	17:ab3cec0c8bf4	2386	// SCL and SDA pins for the accelerometer (constant for the KL25Z)
mjr	17:ab3cec0c8bf4	2387	#define MMA8451_SCL_PIN PTE25
mjr	17:ab3cec0c8bf4	2388	#define MMA8451_SDA_PIN PTE24
mjr	17:ab3cec0c8bf4	2389
mjr	17:ab3cec0c8bf4	2390	// Digital in pin to use for the accelerometer interrupt. For the KL25Z,
mjr	17:ab3cec0c8bf4	2391	// this can be either PTA14 or PTA15, since those are the pins physically
mjr	17:ab3cec0c8bf4	2392	// wired on this board to the MMA8451 interrupt controller.
mjr	17:ab3cec0c8bf4	2393	#define MMA8451_INT_PIN PTA15
mjr	17:ab3cec0c8bf4	2394
mjr	17:ab3cec0c8bf4	2395
mjr	6:cc35eb643e8f	2396	// accelerometer input history item, for gathering calibration data
mjr	6:cc35eb643e8f	2397	struct AccHist
mjr	5:a70c0bce770d	2398	{
mjr	6:cc35eb643e8f	2399	AccHist() { x = y = d = 0.0; xtot = ytot = 0.0; cnt = 0; }
mjr	6:cc35eb643e8f	2400	void set(float x, float y, AccHist *prv)
mjr	6:cc35eb643e8f	2401	{
mjr	6:cc35eb643e8f	2402	// save the raw position
mjr	6:cc35eb643e8f	2403	this->x = x;
mjr	6:cc35eb643e8f	2404	this->y = y;
mjr	6:cc35eb643e8f	2405	this->d = distance(prv);
mjr	6:cc35eb643e8f	2406	}
mjr	6:cc35eb643e8f	2407
mjr	6:cc35eb643e8f	2408	// reading for this entry
mjr	5:a70c0bce770d	2409	float x, y;
mjr	5:a70c0bce770d	2410
mjr	6:cc35eb643e8f	2411	// distance from previous entry
mjr	6:cc35eb643e8f	2412	float d;
mjr	5:a70c0bce770d	2413
mjr	6:cc35eb643e8f	2414	// total and count of samples averaged over this period
mjr	6:cc35eb643e8f	2415	float xtot, ytot;
mjr	6:cc35eb643e8f	2416	int cnt;
mjr	6:cc35eb643e8f	2417
mjr	6:cc35eb643e8f	2418	void clearAvg() { xtot = ytot = 0.0; cnt = 0; }
mjr	6:cc35eb643e8f	2419	void addAvg(float x, float y) { xtot += x; ytot += y; ++cnt; }
mjr	6:cc35eb643e8f	2420	float xAvg() const { return xtot/cnt; }
mjr	6:cc35eb643e8f	2421	float yAvg() const { return ytot/cnt; }
mjr	5:a70c0bce770d	2422
mjr	6:cc35eb643e8f	2423	float distance(AccHist *p)
mjr	6:cc35eb643e8f	2424	{ return sqrt(square(p->x - x) + square(p->y - y)); }
mjr	5:a70c0bce770d	2425	};
mjr	5:a70c0bce770d	2426
mjr	5:a70c0bce770d	2427	// accelerometer wrapper class
mjr	3:3514575d4f86	2428	class Accel
mjr	3:3514575d4f86	2429	{
mjr	3:3514575d4f86	2430	public:
mjr	3:3514575d4f86	2431	Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin)
mjr	3:3514575d4f86	2432	: mma_(sda, scl, i2cAddr), intIn_(irqPin)
mjr	3:3514575d4f86	2433	{
mjr	5:a70c0bce770d	2434	// remember the interrupt pin assignment
mjr	5:a70c0bce770d	2435	irqPin_ = irqPin;
mjr	5:a70c0bce770d	2436
mjr	5:a70c0bce770d	2437	// reset and initialize
mjr	5:a70c0bce770d	2438	reset();
mjr	5:a70c0bce770d	2439	}
mjr	5:a70c0bce770d	2440
mjr	5:a70c0bce770d	2441	void reset()
mjr	5:a70c0bce770d	2442	{
mjr	6:cc35eb643e8f	2443	// clear the center point
mjr	6:cc35eb643e8f	2444	cx_ = cy_ = 0.0;
mjr	6:cc35eb643e8f	2445
mjr	6:cc35eb643e8f	2446	// start the calibration timer
mjr	5:a70c0bce770d	2447	tCenter_.start();
mjr	5:a70c0bce770d	2448	iAccPrv_ = nAccPrv_ = 0;
mjr	6:cc35eb643e8f	2449
mjr	5:a70c0bce770d	2450	// reset and initialize the MMA8451Q
mjr	5:a70c0bce770d	2451	mma_.init();
mjr	6:cc35eb643e8f	2452
mjr	6:cc35eb643e8f	2453	// set the initial integrated velocity reading to zero
mjr	6:cc35eb643e8f	2454	vx_ = vy_ = 0;
mjr	3:3514575d4f86	2455
mjr	6:cc35eb643e8f	2456	// set up our accelerometer interrupt handling
mjr	6:cc35eb643e8f	2457	intIn_.rise(this, &Accel::isr);
mjr	5:a70c0bce770d	2458	mma_.setInterruptMode(irqPin_ == PTA14 ? 1 : 2);
mjr	3:3514575d4f86	2459
mjr	3:3514575d4f86	2460	// read the current registers to clear the data ready flag
mjr	6:cc35eb643e8f	2461	mma_.getAccXYZ(ax_, ay_, az_);
mjr	3:3514575d4f86	2462
mjr	3:3514575d4f86	2463	// start our timers
mjr	3:3514575d4f86	2464	tGet_.start();
mjr	3:3514575d4f86	2465	tInt_.start();
mjr	3:3514575d4f86	2466	}
mjr	3:3514575d4f86	2467
mjr	9:fd65b0a94720	2468	void get(int &x, int &y)
mjr	3:3514575d4f86	2469	{
mjr	3:3514575d4f86	2470	// disable interrupts while manipulating the shared data
mjr	3:3514575d4f86	2471	__disable_irq();
mjr	3:3514575d4f86	2472
mjr	3:3514575d4f86	2473	// read the shared data and store locally for calculations
mjr	6:cc35eb643e8f	2474	float ax = ax_, ay = ay_;
mjr	6:cc35eb643e8f	2475	float vx = vx_, vy = vy_;
mjr	5:a70c0bce770d	2476
mjr	6:cc35eb643e8f	2477	// reset the velocity sum for the next run
mjr	6:cc35eb643e8f	2478	vx_ = vy_ = 0;
mjr	3:3514575d4f86	2479
mjr	3:3514575d4f86	2480	// get the time since the last get() sample
mjr	38:091e511ce8a0	2481	float dt = tGet_.read_us()/1.0e6f;
mjr	3:3514575d4f86	2482	tGet_.reset();
mjr	3:3514575d4f86	2483
mjr	3:3514575d4f86	2484	// done manipulating the shared data
mjr	3:3514575d4f86	2485	__enable_irq();
mjr	3:3514575d4f86	2486
mjr	6:cc35eb643e8f	2487	// adjust the readings for the integration time
mjr	6:cc35eb643e8f	2488	vx /= dt;
mjr	6:cc35eb643e8f	2489	vy /= dt;
mjr	6:cc35eb643e8f	2490
mjr	6:cc35eb643e8f	2491	// add this sample to the current calibration interval's running total
mjr	6:cc35eb643e8f	2492	AccHist *p = accPrv_ + iAccPrv_;
mjr	6:cc35eb643e8f	2493	p->addAvg(ax, ay);
mjr	6:cc35eb643e8f	2494
mjr	5:a70c0bce770d	2495	// check for auto-centering every so often
mjr	48:058ace2aed1d	2496	if (tCenter_.read_us() > 1000000)
mjr	5:a70c0bce770d	2497	{
mjr	5:a70c0bce770d	2498	// add the latest raw sample to the history list
mjr	6:cc35eb643e8f	2499	AccHist *prv = p;
mjr	5:a70c0bce770d	2500	iAccPrv_ = (iAccPrv_ + 1) % maxAccPrv;
mjr	6:cc35eb643e8f	2501	p = accPrv_ + iAccPrv_;
mjr	6:cc35eb643e8f	2502	p->set(ax, ay, prv);
mjr	5:a70c0bce770d	2503
mjr	5:a70c0bce770d	2504	// if we have a full complement, check for stability
mjr	5:a70c0bce770d	2505	if (nAccPrv_ >= maxAccPrv)
mjr	5:a70c0bce770d	2506	{
mjr	5:a70c0bce770d	2507	// check if we've been stable for all recent samples
mjr	6:cc35eb643e8f	2508	static const float accTol = .01;
mjr	6:cc35eb643e8f	2509	AccHist *p0 = accPrv_;
mjr	6:cc35eb643e8f	2510	if (p0[0].d < accTol
mjr	6:cc35eb643e8f	2511	&& p0[1].d < accTol
mjr	6:cc35eb643e8f	2512	&& p0[2].d < accTol
mjr	6:cc35eb643e8f	2513	&& p0[3].d < accTol
mjr	6:cc35eb643e8f	2514	&& p0[4].d < accTol)
mjr	5:a70c0bce770d	2515	{
mjr	6:cc35eb643e8f	2516	// Figure the new calibration point as the average of
mjr	6:cc35eb643e8f	2517	// the samples over the rest period
mjr	6:cc35eb643e8f	2518	cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5.0;
mjr	6:cc35eb643e8f	2519	cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5.0;
mjr	5:a70c0bce770d	2520	}
mjr	5:a70c0bce770d	2521	}
mjr	5:a70c0bce770d	2522	else
mjr	5:a70c0bce770d	2523	{
mjr	5:a70c0bce770d	2524	// not enough samples yet; just up the count
mjr	5:a70c0bce770d	2525	++nAccPrv_;
mjr	5:a70c0bce770d	2526	}
mjr	6:cc35eb643e8f	2527
mjr	6:cc35eb643e8f	2528	// clear the new item's running totals
mjr	6:cc35eb643e8f	2529	p->clearAvg();
mjr	5:a70c0bce770d	2530
mjr	5:a70c0bce770d	2531	// reset the timer
mjr	5:a70c0bce770d	2532	tCenter_.reset();
mjr	39:b3815a1c3802	2533
mjr	39:b3815a1c3802	2534	// If we haven't seen an interrupt in a while, do an explicit read to
mjr	39:b3815a1c3802	2535	// "unstick" the device. The device can become stuck - which is to say,
mjr	39:b3815a1c3802	2536	// it will stop delivering data-ready interrupts - if we fail to service
mjr	39:b3815a1c3802	2537	// one data-ready interrupt before the next one occurs. Reading a sample
mjr	39:b3815a1c3802	2538	// will clear up this overrun condition and allow normal interrupt
mjr	39:b3815a1c3802	2539	// generation to continue.
mjr	39:b3815a1c3802	2540	//
mjr	39:b3815a1c3802	2541	// Note that this stuck condition shouldn't ever occur - if it does,
mjr	39:b3815a1c3802	2542	// it means that we're spending a long period with interrupts disabled
mjr	39:b3815a1c3802	2543	// (either in a critical section or in another interrupt handler), which
mjr	39:b3815a1c3802	2544	// will likely cause other worse problems beyond the sticky accelerometer.
mjr	39:b3815a1c3802	2545	// Even so, it's easy to detect and correct, so we'll do so for the sake
mjr	39:b3815a1c3802	2546	// of making the system more fault-tolerant.
mjr	39:b3815a1c3802	2547	if (tInt_.read() > 1.0f)
mjr	39:b3815a1c3802	2548	{
mjr	39:b3815a1c3802	2549	float x, y, z;
mjr	39:b3815a1c3802	2550	mma_.getAccXYZ(x, y, z);
mjr	39:b3815a1c3802	2551	}
mjr	5:a70c0bce770d	2552	}
mjr	5:a70c0bce770d	2553
mjr	6:cc35eb643e8f	2554	// report our integrated velocity reading in x,y
mjr	6:cc35eb643e8f	2555	x = rawToReport(vx);
mjr	6:cc35eb643e8f	2556	y = rawToReport(vy);
mjr	5:a70c0bce770d	2557
mjr	6:cc35eb643e8f	2558	#ifdef DEBUG_PRINTF
mjr	6:cc35eb643e8f	2559	if (x != 0 \|\| y != 0)
mjr	6:cc35eb643e8f	2560	printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt);
mjr	6:cc35eb643e8f	2561	#endif
mjr	3:3514575d4f86	2562	}
mjr	29:582472d0bc57	2563
mjr	3:3514575d4f86	2564	private:
mjr	6:cc35eb643e8f	2565	// adjust a raw acceleration figure to a usb report value
mjr	6:cc35eb643e8f	2566	int rawToReport(float v)
mjr	5:a70c0bce770d	2567	{
mjr	6:cc35eb643e8f	2568	// scale to the joystick report range and round to integer
mjr	6:cc35eb643e8f	2569	int i = int(round(v*JOYMAX));
mjr	5:a70c0bce770d	2570
mjr	6:cc35eb643e8f	2571	// if it's near the center, scale it roughly as 20*(i/20)^2,
mjr	6:cc35eb643e8f	2572	// to suppress noise near the rest position
mjr	6:cc35eb643e8f	2573	static const int filter[] = {
mjr	6:cc35eb643e8f	2574	-18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0,
mjr	6:cc35eb643e8f	2575	0,
mjr	6:cc35eb643e8f	2576	0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18
mjr	6:cc35eb643e8f	2577	};
mjr	6:cc35eb643e8f	2578	return (i > 20 \|\| i < -20 ? i : filter[i+20]);
mjr	5:a70c0bce770d	2579	}
mjr	5:a70c0bce770d	2580
mjr	3:3514575d4f86	2581	// interrupt handler
mjr	3:3514575d4f86	2582	void isr()
mjr	3:3514575d4f86	2583	{
mjr	3:3514575d4f86	2584	// Read the axes. Note that we have to read all three axes
mjr	3:3514575d4f86	2585	// (even though we only really use x and y) in order to clear
mjr	3:3514575d4f86	2586	// the "data ready" status bit in the accelerometer. The
mjr	3:3514575d4f86	2587	// interrupt only occurs when the "ready" bit transitions from
mjr	3:3514575d4f86	2588	// off to on, so we have to make sure it's off.
mjr	5:a70c0bce770d	2589	float x, y, z;
mjr	5:a70c0bce770d	2590	mma_.getAccXYZ(x, y, z);
mjr	3:3514575d4f86	2591
mjr	3:3514575d4f86	2592	// calculate the time since the last interrupt
mjr	39:b3815a1c3802	2593	float dt = tInt_.read();
mjr	3:3514575d4f86	2594	tInt_.reset();
mjr	6:cc35eb643e8f	2595
mjr	6:cc35eb643e8f	2596	// integrate the time slice from the previous reading to this reading
mjr	6:cc35eb643e8f	2597	vx_ += (x + ax_ - 2cx_)dt/2;
mjr	6:cc35eb643e8f	2598	vy_ += (y + ay_ - 2cy_)dt/2;
mjr	3:3514575d4f86	2599
mjr	6:cc35eb643e8f	2600	// store the updates
mjr	6:cc35eb643e8f	2601	ax_ = x;
mjr	6:cc35eb643e8f	2602	ay_ = y;
mjr	6:cc35eb643e8f	2603	az_ = z;
mjr	3:3514575d4f86	2604	}
mjr	3:3514575d4f86	2605
mjr	3:3514575d4f86	2606	// underlying accelerometer object
mjr	3:3514575d4f86	2607	MMA8451Q mma_;
mjr	3:3514575d4f86	2608
mjr	5:a70c0bce770d	2609	// last raw acceleration readings
mjr	6:cc35eb643e8f	2610	float ax_, ay_, az_;
mjr	5:a70c0bce770d	2611
mjr	6:cc35eb643e8f	2612	// integrated velocity reading since last get()
mjr	6:cc35eb643e8f	2613	float vx_, vy_;
mjr	6:cc35eb643e8f	2614
mjr	3:3514575d4f86	2615	// timer for measuring time between get() samples
mjr	3:3514575d4f86	2616	Timer tGet_;
mjr	3:3514575d4f86	2617
mjr	3:3514575d4f86	2618	// timer for measuring time between interrupts
mjr	3:3514575d4f86	2619	Timer tInt_;
mjr	5:a70c0bce770d	2620
mjr	6:cc35eb643e8f	2621	// Calibration reference point for accelerometer. This is the
mjr	6:cc35eb643e8f	2622	// average reading on the accelerometer when in the neutral position
mjr	6:cc35eb643e8f	2623	// at rest.
mjr	6:cc35eb643e8f	2624	float cx_, cy_;
mjr	5:a70c0bce770d	2625
mjr	5:a70c0bce770d	2626	// timer for atuo-centering
mjr	5:a70c0bce770d	2627	Timer tCenter_;
mjr	6:cc35eb643e8f	2628
mjr	6:cc35eb643e8f	2629	// Auto-centering history. This is a separate history list that
mjr	6:cc35eb643e8f	2630	// records results spaced out sparesely over time, so that we can
mjr	6:cc35eb643e8f	2631	// watch for long-lasting periods of rest. When we observe nearly
mjr	6:cc35eb643e8f	2632	// no motion for an extended period (on the order of 5 seconds), we
mjr	6:cc35eb643e8f	2633	// take this to mean that the cabinet is at rest in its neutral
mjr	6:cc35eb643e8f	2634	// position, so we take this as the calibration zero point for the
mjr	6:cc35eb643e8f	2635	// accelerometer. We update this history continuously, which allows
mjr	6:cc35eb643e8f	2636	// us to continuously re-calibrate the accelerometer. This ensures
mjr	6:cc35eb643e8f	2637	// that we'll automatically adjust to any actual changes in the
mjr	6:cc35eb643e8f	2638	// cabinet's orientation (e.g., if it gets moved slightly by an
mjr	6:cc35eb643e8f	2639	// especially strong nudge) as well as any systematic drift in the
mjr	6:cc35eb643e8f	2640	// accelerometer measurement bias (e.g., from temperature changes).
mjr	5:a70c0bce770d	2641	int iAccPrv_, nAccPrv_;
mjr	5:a70c0bce770d	2642	static const int maxAccPrv = 5;
mjr	6:cc35eb643e8f	2643	AccHist accPrv_[maxAccPrv];
mjr	6:cc35eb643e8f	2644
mjr	5:a70c0bce770d	2645	// interurupt pin name
mjr	5:a70c0bce770d	2646	PinName irqPin_;
mjr	5:a70c0bce770d	2647
mjr	5:a70c0bce770d	2648	// interrupt router
mjr	5:a70c0bce770d	2649	InterruptIn intIn_;
mjr	3:3514575d4f86	2650	};
mjr	3:3514575d4f86	2651
mjr	5:a70c0bce770d	2652
mjr	5:a70c0bce770d	2653	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	2654	//
mjr	14:df700b22ca08	2655	// Clear the I2C bus for the MMA8451Q. This seems necessary some of the time
mjr	5:a70c0bce770d	2656	// for reasons that aren't clear to me. Doing a hard power cycle has the same
mjr	5:a70c0bce770d	2657	// effect, but when we do a soft reset, the hardware sometimes seems to leave
mjr	5:a70c0bce770d	2658	// the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through
mjr	14:df700b22ca08	2659	// the SCL line is supposed to clear this condition. I'm not convinced this
mjr	14:df700b22ca08	2660	// actually works with the way this component is wired on the KL25Z, but it
mjr	14:df700b22ca08	2661	// seems harmless, so we'll do it on reset in case it does some good. What
mjr	14:df700b22ca08	2662	// we really seem to need is a way to power cycle the MMA8451Q if it ever
mjr	14:df700b22ca08	2663	// gets stuck, but this is simply not possible in software on the KL25Z.
mjr	14:df700b22ca08	2664	//
mjr	14:df700b22ca08	2665	// If the accelerometer does get stuck, and a software reboot doesn't reset
mjr	14:df700b22ca08	2666	// it, the only workaround is to manually power cycle the whole KL25Z by
mjr	14:df700b22ca08	2667	// unplugging both of its USB connections.
mjr	5:a70c0bce770d	2668	//
mjr	5:a70c0bce770d	2669	void clear_i2c()
mjr	5:a70c0bce770d	2670	{
mjr	38:091e511ce8a0	2671	// set up general-purpose output pins to the I2C lines
mjr	5:a70c0bce770d	2672	DigitalOut scl(MMA8451_SCL_PIN);
mjr	5:a70c0bce770d	2673	DigitalIn sda(MMA8451_SDA_PIN);
mjr	5:a70c0bce770d	2674
mjr	5:a70c0bce770d	2675	// clock the SCL 9 times
mjr	5:a70c0bce770d	2676	for (int i = 0 ; i < 9 ; ++i)
mjr	5:a70c0bce770d	2677	{
mjr	5:a70c0bce770d	2678	scl = 1;
mjr	5:a70c0bce770d	2679	wait_us(20);
mjr	5:a70c0bce770d	2680	scl = 0;
mjr	5:a70c0bce770d	2681	wait_us(20);
mjr	5:a70c0bce770d	2682	}
mjr	5:a70c0bce770d	2683	}
mjr	14:df700b22ca08	2684
mjr	14:df700b22ca08	2685	// ---------------------------------------------------------------------------
mjr	14:df700b22ca08	2686	//
mjr	33:d832bcab089e	2687	// Simple binary (on/off) input debouncer. Requires an input to be stable
mjr	33:d832bcab089e	2688	// for a given interval before allowing an update.
mjr	33:d832bcab089e	2689	//
mjr	33:d832bcab089e	2690	class Debouncer
mjr	33:d832bcab089e	2691	{
mjr	33:d832bcab089e	2692	public:
mjr	33:d832bcab089e	2693	Debouncer(bool initVal, float tmin)
mjr	33:d832bcab089e	2694	{
mjr	33:d832bcab089e	2695	t.start();
mjr	33:d832bcab089e	2696	this->stable = this->prv = initVal;
mjr	33:d832bcab089e	2697	this->tmin = tmin;
mjr	33:d832bcab089e	2698	}
mjr	33:d832bcab089e	2699
mjr	33:d832bcab089e	2700	// Get the current stable value
mjr	33:d832bcab089e	2701	bool val() const { return stable; }
mjr	33:d832bcab089e	2702
mjr	33:d832bcab089e	2703	// Apply a new sample. This tells us the new raw reading from the
mjr	33:d832bcab089e	2704	// input device.
mjr	33:d832bcab089e	2705	void sampleIn(bool val)
mjr	33:d832bcab089e	2706	{
mjr	33:d832bcab089e	2707	// If the new raw reading is different from the previous
mjr	33:d832bcab089e	2708	// raw reading, we've detected an edge - start the clock
mjr	33:d832bcab089e	2709	// on the sample reader.
mjr	33:d832bcab089e	2710	if (val != prv)
mjr	33:d832bcab089e	2711	{
mjr	33:d832bcab089e	2712	// we have an edge - reset the sample clock
mjr	33:d832bcab089e	2713	t.reset();
mjr	33:d832bcab089e	2714
mjr	33:d832bcab089e	2715	// this is now the previous raw sample for nxt time
mjr	33:d832bcab089e	2716	prv = val;
mjr	33:d832bcab089e	2717	}
mjr	33:d832bcab089e	2718	else if (val != stable)
mjr	33:d832bcab089e	2719	{
mjr	33:d832bcab089e	2720	// The new raw sample is the same as the last raw sample,
mjr	33:d832bcab089e	2721	// and different from the stable value. This means that
mjr	33:d832bcab089e	2722	// the sample value has been the same for the time currently
mjr	33:d832bcab089e	2723	// indicated by our timer. If enough time has elapsed to
mjr	33:d832bcab089e	2724	// consider the value stable, apply the new value.
mjr	33:d832bcab089e	2725	if (t.read() > tmin)
mjr	33:d832bcab089e	2726	stable = val;
mjr	33:d832bcab089e	2727	}
mjr	33:d832bcab089e	2728	}
mjr	33:d832bcab089e	2729
mjr	33:d832bcab089e	2730	private:
mjr	33:d832bcab089e	2731	// current stable value
mjr	33:d832bcab089e	2732	bool stable;
mjr	33:d832bcab089e	2733
mjr	33:d832bcab089e	2734	// last raw sample value
mjr	33:d832bcab089e	2735	bool prv;
mjr	33:d832bcab089e	2736
mjr	33:d832bcab089e	2737	// elapsed time since last raw input change
mjr	33:d832bcab089e	2738	Timer t;
mjr	33:d832bcab089e	2739
mjr	33:d832bcab089e	2740	// Minimum time interval for stability, in seconds. Input readings
mjr	33:d832bcab089e	2741	// must be stable for this long before the stable value is updated.
mjr	33:d832bcab089e	2742	float tmin;
mjr	33:d832bcab089e	2743	};
mjr	33:d832bcab089e	2744
mjr	33:d832bcab089e	2745
mjr	33:d832bcab089e	2746	// ---------------------------------------------------------------------------
mjr	33:d832bcab089e	2747	//
mjr	33:d832bcab089e	2748	// Turn off all outputs and restore everything to the default LedWiz
mjr	33:d832bcab089e	2749	// state. This sets outputs #1-32 to LedWiz profile value 48 (full
mjr	33:d832bcab089e	2750	// brightness) and switch state Off, sets all extended outputs (#33
mjr	33:d832bcab089e	2751	// and above) to zero brightness, and sets the LedWiz flash rate to 2.
mjr	33:d832bcab089e	2752	// This effectively restores the power-on conditions.
mjr	33:d832bcab089e	2753	//
mjr	33:d832bcab089e	2754	void allOutputsOff()
mjr	33:d832bcab089e	2755	{
mjr	33:d832bcab089e	2756	// reset all LedWiz outputs to OFF/48
mjr	35:e959ffba78fd	2757	for (int i = 0 ; i < numLwOutputs ; ++i)
mjr	33:d832bcab089e	2758	{
mjr	33:d832bcab089e	2759	outLevel[i] = 0;
mjr	33:d832bcab089e	2760	wizOn[i] = 0;
mjr	33:d832bcab089e	2761	wizVal[i] = 48;
mjr	33:d832bcab089e	2762	lwPin[i]->set(0);
mjr	33:d832bcab089e	2763	}
mjr	33:d832bcab089e	2764
mjr	33:d832bcab089e	2765	// reset all extended outputs (ports >32) to full off (brightness 0)
mjr	40:cc0d9814522b	2766	for (int i = numLwOutputs ; i < numOutputs ; ++i)
mjr	33:d832bcab089e	2767	{
mjr	33:d832bcab089e	2768	outLevel[i] = 0;
mjr	33:d832bcab089e	2769	lwPin[i]->set(0);
mjr	33:d832bcab089e	2770	}
mjr	33:d832bcab089e	2771
mjr	33:d832bcab089e	2772	// restore default LedWiz flash rate
mjr	33:d832bcab089e	2773	wizSpeed = 2;
mjr	34:6b981a2afab7	2774
mjr	34:6b981a2afab7	2775	// flush changes to hc595, if applicable
mjr	35:e959ffba78fd	2776	if (hc595 != 0)
mjr	35:e959ffba78fd	2777	hc595->update();
mjr	33:d832bcab089e	2778	}
mjr	33:d832bcab089e	2779
mjr	33:d832bcab089e	2780	// ---------------------------------------------------------------------------
mjr	33:d832bcab089e	2781	//
mjr	33:d832bcab089e	2782	// TV ON timer. If this feature is enabled, we toggle a TV power switch
mjr	33:d832bcab089e	2783	// relay (connected to a GPIO pin) to turn on the cab's TV monitors shortly
mjr	33:d832bcab089e	2784	// after the system is powered. This is useful for TVs that don't remember
mjr	33:d832bcab089e	2785	// their power state and don't turn back on automatically after being
mjr	33:d832bcab089e	2786	// unplugged and plugged in again. This feature requires external
mjr	33:d832bcab089e	2787	// circuitry, which is built in to the expansion board and can also be
mjr	33:d832bcab089e	2788	// built separately - see the Build Guide for the circuit plan.
mjr	33:d832bcab089e	2789	//
mjr	33:d832bcab089e	2790	// Theory of operation: to use this feature, the cabinet must have a
mjr	33:d832bcab089e	2791	// secondary PC-style power supply (PSU2) for the feedback devices, and
mjr	33:d832bcab089e	2792	// this secondary supply must be plugged in to the same power strip or
mjr	33:d832bcab089e	2793	// switched outlet that controls power to the TVs. This lets us use PSU2
mjr	33:d832bcab089e	2794	// as a proxy for the TV power state - when PSU2 is on, the TV outlet is
mjr	33:d832bcab089e	2795	// powered, and when PSU2 is off, the TV outlet is off. We use a little
mjr	33:d832bcab089e	2796	// latch circuit powered by PSU2 to monitor the status. The latch has a
mjr	33:d832bcab089e	2797	// current state, ON or OFF, that we can read via a GPIO input pin, and
mjr	33:d832bcab089e	2798	// we can set the state to ON by pulsing a separate GPIO output pin. As
mjr	33:d832bcab089e	2799	// long as PSU2 is powered off, the latch stays in the OFF state, even if
mjr	33:d832bcab089e	2800	// we try to set it by pulsing the SET pin. When PSU2 is turned on after
mjr	33:d832bcab089e	2801	// being off, the latch starts receiving power but stays in the OFF state,
mjr	33:d832bcab089e	2802	// since this is the initial condition when the power first comes on. So
mjr	33:d832bcab089e	2803	// if our latch state pin is reading OFF, we know that PSU2 is either off
mjr	33:d832bcab089e	2804	// now or was off some time since we last checked. We use a timer to
mjr	33:d832bcab089e	2805	// check the state periodically. Each time we see the state is OFF, we
mjr	33:d832bcab089e	2806	// try pulsing the SET pin. If the state still reads as OFF, we know
mjr	33:d832bcab089e	2807	// that PSU2 is currently off; if the state changes to ON, though, we
mjr	33:d832bcab089e	2808	// know that PSU2 has gone from OFF to ON some time between now and the
mjr	33:d832bcab089e	2809	// previous check. When we see this condition, we start a countdown
mjr	33:d832bcab089e	2810	// timer, and pulse the TV switch relay when the countdown ends.
mjr	33:d832bcab089e	2811	//
mjr	40:cc0d9814522b	2812	// This scheme might seem a little convoluted, but it handles a number
mjr	40:cc0d9814522b	2813	// of tricky but likely scenarios:
mjr	33:d832bcab089e	2814	//
mjr	33:d832bcab089e	2815	// - Most cabinets systems are set up with "soft" PC power switches,
mjr	40:cc0d9814522b	2816	// so that the PC goes into "Soft Off" mode when the user turns off
mjr	40:cc0d9814522b	2817	// the cabinet by pushing the power button or using the Shut Down
mjr	40:cc0d9814522b	2818	// command from within Windows. In Windows parlance, this "soft off"
mjr	40:cc0d9814522b	2819	// condition is called ACPI State S5. In this state, the main CPU
mjr	40:cc0d9814522b	2820	// power is turned off, but the motherboard still provides power to
mjr	40:cc0d9814522b	2821	// USB devices. This means that the KL25Z keeps running. Without
mjr	40:cc0d9814522b	2822	// the external power sensing circuit, the only hint that we're in
mjr	40:cc0d9814522b	2823	// this state is that the USB connection to the host goes into Suspend
mjr	40:cc0d9814522b	2824	// mode, but that could mean other things as well. The latch circuit
mjr	40:cc0d9814522b	2825	// lets us tell for sure that we're in this state.
mjr	33:d832bcab089e	2826	//
mjr	33:d832bcab089e	2827	// - Some cabinet builders might prefer to use "hard" power switches,
mjr	33:d832bcab089e	2828	// cutting all power to the cabinet, including the PC motherboard (and
mjr	33:d832bcab089e	2829	// thus the KL25Z) every time the machine is turned off. This also
mjr	33:d832bcab089e	2830	// applies to the "soft" switch case above when the cabinet is unplugged,
mjr	33:d832bcab089e	2831	// a power outage occurs, etc. In these cases, the KL25Z will do a cold
mjr	33:d832bcab089e	2832	// boot when the PC is turned on. We don't know whether the KL25Z
mjr	33:d832bcab089e	2833	// will power up before or after PSU2, so it's not good enough to
mjr	40:cc0d9814522b	2834	// observe the current state of PSU2 when we first check. If PSU2
mjr	40:cc0d9814522b	2835	// were to come on first, checking only the current state would fool
mjr	40:cc0d9814522b	2836	// us into thinking that no action is required, because we'd only see
mjr	40:cc0d9814522b	2837	// that PSU2 is turned on any time we check. The latch handles this
mjr	40:cc0d9814522b	2838	// case by letting us see that PSU2 was indeed off some time before our
mjr	40:cc0d9814522b	2839	// first check.
mjr	33:d832bcab089e	2840	//
mjr	33:d832bcab089e	2841	// - If the KL25Z is rebooted while the main system is running, or the
mjr	40:cc0d9814522b	2842	// KL25Z is unplugged and plugged back in, we'll correctly leave the
mjr	33:d832bcab089e	2843	// TVs as they are. The latch state is independent of the KL25Z's
mjr	33:d832bcab089e	2844	// power or software state, so it's won't affect the latch state when
mjr	33:d832bcab089e	2845	// the KL25Z is unplugged or rebooted; when we boot, we'll see that
mjr	33:d832bcab089e	2846	// the latch is already on and that we don't have to turn on the TVs.
mjr	33:d832bcab089e	2847	// This is important because TV ON buttons are usually on/off toggles,
mjr	33:d832bcab089e	2848	// so we don't want to push the button on a TV that's already on.
mjr	33:d832bcab089e	2849	//
mjr	33:d832bcab089e	2850
mjr	33:d832bcab089e	2851	// Current PSU2 state:
mjr	33:d832bcab089e	2852	// 1 -> default: latch was on at last check, or we haven't checked yet
mjr	33:d832bcab089e	2853	// 2 -> latch was off at last check, SET pulsed high
mjr	33:d832bcab089e	2854	// 3 -> SET pulsed low, ready to check status
mjr	33:d832bcab089e	2855	// 4 -> TV timer countdown in progress
mjr	33:d832bcab089e	2856	// 5 -> TV relay on
mjr	33:d832bcab089e	2857	int psu2_state = 1;
mjr	35:e959ffba78fd	2858
mjr	35:e959ffba78fd	2859	// PSU2 power sensing circuit connections
mjr	35:e959ffba78fd	2860	DigitalIn *psu2_status_sense;
mjr	35:e959ffba78fd	2861	DigitalOut *psu2_status_set;
mjr	35:e959ffba78fd	2862
mjr	35:e959ffba78fd	2863	// TV ON switch relay control
mjr	35:e959ffba78fd	2864	DigitalOut *tv_relay;
mjr	35:e959ffba78fd	2865
mjr	35:e959ffba78fd	2866	// Timer interrupt
mjr	35:e959ffba78fd	2867	Ticker tv_ticker;
mjr	35:e959ffba78fd	2868	float tv_delay_time;
mjr	33:d832bcab089e	2869	void TVTimerInt()
mjr	33:d832bcab089e	2870	{
mjr	35:e959ffba78fd	2871	// time since last state change
mjr	35:e959ffba78fd	2872	static Timer tv_timer;
mjr	35:e959ffba78fd	2873
mjr	33:d832bcab089e	2874	// Check our internal state
mjr	33:d832bcab089e	2875	switch (psu2_state)
mjr	33:d832bcab089e	2876	{
mjr	33:d832bcab089e	2877	case 1:
mjr	33:d832bcab089e	2878	// Default state. This means that the latch was on last
mjr	33:d832bcab089e	2879	// time we checked or that this is the first check. In
mjr	33:d832bcab089e	2880	// either case, if the latch is off, switch to state 2 and
mjr	33:d832bcab089e	2881	// try pulsing the latch. Next time we check, if the latch
mjr	33:d832bcab089e	2882	// stuck, it means that PSU2 is now on after being off.
mjr	35:e959ffba78fd	2883	if (!psu2_status_sense->read())
mjr	33:d832bcab089e	2884	{
mjr	33:d832bcab089e	2885	// switch to OFF state
mjr	33:d832bcab089e	2886	psu2_state = 2;
mjr	33:d832bcab089e	2887
mjr	33:d832bcab089e	2888	// try setting the latch
mjr	35:e959ffba78fd	2889	psu2_status_set->write(1);
mjr	33:d832bcab089e	2890	}
mjr	33:d832bcab089e	2891	break;
mjr	33:d832bcab089e	2892
mjr	33:d832bcab089e	2893	case 2:
mjr	33:d832bcab089e	2894	// PSU2 was off last time we checked, and we tried setting
mjr	33:d832bcab089e	2895	// the latch. Drop the SET signal and go to CHECK state.
mjr	35:e959ffba78fd	2896	psu2_status_set->write(0);
mjr	33:d832bcab089e	2897	psu2_state = 3;
mjr	33:d832bcab089e	2898	break;
mjr	33:d832bcab089e	2899
mjr	33:d832bcab089e	2900	case 3:
mjr	33:d832bcab089e	2901	// CHECK state: we pulsed SET, and we're now ready to see
mjr	40:cc0d9814522b	2902	// if it stuck. If the latch is now on, PSU2 has transitioned
mjr	33:d832bcab089e	2903	// from OFF to ON, so start the TV countdown. If the latch is
mjr	33:d832bcab089e	2904	// off, our SET command didn't stick, so PSU2 is still off.
mjr	35:e959ffba78fd	2905	if (psu2_status_sense->read())
mjr	33:d832bcab089e	2906	{
mjr	33:d832bcab089e	2907	// The latch stuck, so PSU2 has transitioned from OFF
mjr	33:d832bcab089e	2908	// to ON. Start the TV countdown timer.
mjr	33:d832bcab089e	2909	tv_timer.reset();
mjr	33:d832bcab089e	2910	tv_timer.start();
mjr	33:d832bcab089e	2911	psu2_state = 4;
mjr	33:d832bcab089e	2912	}
mjr	33:d832bcab089e	2913	else
mjr	33:d832bcab089e	2914	{
mjr	33:d832bcab089e	2915	// The latch didn't stick, so PSU2 was still off at
mjr	33:d832bcab089e	2916	// our last check. Try pulsing it again in case PSU2
mjr	33:d832bcab089e	2917	// was turned on since the last check.
mjr	35:e959ffba78fd	2918	psu2_status_set->write(1);
mjr	33:d832bcab089e	2919	psu2_state = 2;
mjr	33:d832bcab089e	2920	}
mjr	33:d832bcab089e	2921	break;
mjr	33:d832bcab089e	2922
mjr	33:d832bcab089e	2923	case 4:
mjr	33:d832bcab089e	2924	// TV timer countdown in progress. If we've reached the
mjr	33:d832bcab089e	2925	// delay time, pulse the relay.
mjr	35:e959ffba78fd	2926	if (tv_timer.read() >= tv_delay_time)
mjr	33:d832bcab089e	2927	{
mjr	33:d832bcab089e	2928	// turn on the relay for one timer interval
mjr	35:e959ffba78fd	2929	tv_relay->write(1);
mjr	33:d832bcab089e	2930	psu2_state = 5;
mjr	33:d832bcab089e	2931	}
mjr	33:d832bcab089e	2932	break;
mjr	33:d832bcab089e	2933
mjr	33:d832bcab089e	2934	case 5:
mjr	33:d832bcab089e	2935	// TV timer relay on. We pulse this for one interval, so
mjr	33:d832bcab089e	2936	// it's now time to turn it off and return to the default state.
mjr	35:e959ffba78fd	2937	tv_relay->write(0);
mjr	33:d832bcab089e	2938	psu2_state = 1;
mjr	33:d832bcab089e	2939	break;
mjr	33:d832bcab089e	2940	}
mjr	33:d832bcab089e	2941	}
mjr	33:d832bcab089e	2942
mjr	35:e959ffba78fd	2943	// Start the TV ON checker. If the status sense circuit is enabled in
mjr	35:e959ffba78fd	2944	// the configuration, we'll set up the pin connections and start the
mjr	35:e959ffba78fd	2945	// interrupt handler that periodically checks the status. Does nothing
mjr	35:e959ffba78fd	2946	// if any of the pins are configured as NC.
mjr	35:e959ffba78fd	2947	void startTVTimer(Config &cfg)
mjr	35:e959ffba78fd	2948	{
mjr	55:4db125cd11a0	2949	// only start the timer if the pins are configured and the delay
mjr	55:4db125cd11a0	2950	// time is nonzero
mjr	55:4db125cd11a0	2951	if (cfg.TVON.delayTime != 0
mjr	55:4db125cd11a0	2952	&& cfg.TVON.statusPin != 0xFF
mjr	53:9b2611964afc	2953	&& cfg.TVON.latchPin != 0xFF
mjr	53:9b2611964afc	2954	&& cfg.TVON.relayPin != 0xFF)
mjr	35:e959ffba78fd	2955	{
mjr	53:9b2611964afc	2956	psu2_status_sense = new DigitalIn(wirePinName(cfg.TVON.statusPin));
mjr	53:9b2611964afc	2957	psu2_status_set = new DigitalOut(wirePinName(cfg.TVON.latchPin));
mjr	53:9b2611964afc	2958	tv_relay = new DigitalOut(wirePinName(cfg.TVON.relayPin));
mjr	40:cc0d9814522b	2959	tv_delay_time = cfg.TVON.delayTime/100.0;
mjr	35:e959ffba78fd	2960
mjr	35:e959ffba78fd	2961	// Set up our time routine to run every 1/4 second.
mjr	35:e959ffba78fd	2962	tv_ticker.attach(&TVTimerInt, 0.25);
mjr	35:e959ffba78fd	2963	}
mjr	35:e959ffba78fd	2964	}
mjr	35:e959ffba78fd	2965
mjr	35:e959ffba78fd	2966	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	2967	//
mjr	35:e959ffba78fd	2968	// In-memory configuration data structure. This is the live version in RAM
mjr	35:e959ffba78fd	2969	// that we use to determine how things are set up.
mjr	35:e959ffba78fd	2970	//
mjr	35:e959ffba78fd	2971	// When we save the configuration settings, we copy this structure to
mjr	35:e959ffba78fd	2972	// non-volatile flash memory. At startup, we check the flash location where
mjr	35:e959ffba78fd	2973	// we might have saved settings on a previous run, and it's valid, we copy
mjr	35:e959ffba78fd	2974	// the flash data to this structure. Firmware updates wipe the flash
mjr	35:e959ffba78fd	2975	// memory area, so you have to use the PC config tool to send the settings
mjr	35:e959ffba78fd	2976	// again each time the firmware is updated.
mjr	35:e959ffba78fd	2977	//
mjr	35:e959ffba78fd	2978	NVM nvm;
mjr	35:e959ffba78fd	2979
mjr	35:e959ffba78fd	2980	// For convenience, a macro for the Config part of the NVM structure
mjr	35:e959ffba78fd	2981	#define cfg (nvm.d.c)
mjr	35:e959ffba78fd	2982
mjr	35:e959ffba78fd	2983	// flash memory controller interface
mjr	35:e959ffba78fd	2984	FreescaleIAP iap;
mjr	35:e959ffba78fd	2985
mjr	35:e959ffba78fd	2986	// figure the flash address as a pointer along with the number of sectors
mjr	35:e959ffba78fd	2987	// required to store the structure
mjr	35:e959ffba78fd	2988	NVM *configFlashAddr(int &addr, int &numSectors)
mjr	35:e959ffba78fd	2989	{
mjr	35:e959ffba78fd	2990	// figure how many flash sectors we span, rounding up to whole sectors
mjr	35:e959ffba78fd	2991	numSectors = (sizeof(NVM) + SECTOR_SIZE - 1)/SECTOR_SIZE;
mjr	35:e959ffba78fd	2992
mjr	35:e959ffba78fd	2993	// figure the address - this is the highest flash address where the
mjr	35:e959ffba78fd	2994	// structure will fit with the start aligned on a sector boundary
mjr	35:e959ffba78fd	2995	addr = iap.flash_size() - (numSectors * SECTOR_SIZE);
mjr	35:e959ffba78fd	2996
mjr	35:e959ffba78fd	2997	// return the address as a pointer
mjr	35:e959ffba78fd	2998	return (NVM *)addr;
mjr	35:e959ffba78fd	2999	}
mjr	35:e959ffba78fd	3000
mjr	35:e959ffba78fd	3001	// figure the flash address as a pointer
mjr	35:e959ffba78fd	3002	NVM *configFlashAddr()
mjr	35:e959ffba78fd	3003	{
mjr	35:e959ffba78fd	3004	int addr, numSectors;
mjr	35:e959ffba78fd	3005	return configFlashAddr(addr, numSectors);
mjr	35:e959ffba78fd	3006	}
mjr	35:e959ffba78fd	3007
mjr	35:e959ffba78fd	3008	// Load the config from flash
mjr	35:e959ffba78fd	3009	void loadConfigFromFlash()
mjr	35:e959ffba78fd	3010	{
mjr	35:e959ffba78fd	3011	// We want to use the KL25Z's on-board flash to store our configuration
mjr	35:e959ffba78fd	3012	// data persistently, so that we can restore it across power cycles.
mjr	35:e959ffba78fd	3013	// Unfortunatly, the mbed platform doesn't explicitly support this.
mjr	35:e959ffba78fd	3014	// mbed treats the on-board flash as a raw storage device for linker
mjr	35:e959ffba78fd	3015	// output, and assumes that the linker output is the only thing
mjr	35:e959ffba78fd	3016	// stored there. There's no file system and no allowance for shared
mjr	35:e959ffba78fd	3017	// use for other purposes. Fortunately, the linker ues the space in
mjr	35:e959ffba78fd	3018	// the obvious way, storing the entire linked program in a contiguous
mjr	35:e959ffba78fd	3019	// block starting at the lowest flash address. This means that the
mjr	35:e959ffba78fd	3020	// rest of flash - from the end of the linked program to the highest
mjr	35:e959ffba78fd	3021	// flash address - is all unused free space. Writing our data there
mjr	35:e959ffba78fd	3022	// won't conflict with anything else. Since the linker doesn't give
mjr	35:e959ffba78fd	3023	// us any programmatic access to the total linker output size, it's
mjr	35:e959ffba78fd	3024	// safest to just store our config data at the very end of the flash
mjr	35:e959ffba78fd	3025	// region (i.e., the highest address). As long as it's smaller than
mjr	35:e959ffba78fd	3026	// the free space, it won't collide with the linker area.
mjr	35:e959ffba78fd	3027
mjr	35:e959ffba78fd	3028	// Figure how many sectors we need for our structure
mjr	35:e959ffba78fd	3029	NVM *flash = configFlashAddr();
mjr	35:e959ffba78fd	3030
mjr	35:e959ffba78fd	3031	// if the flash is valid, load it; otherwise initialize to defaults
mjr	35:e959ffba78fd	3032	if (flash->valid())
mjr	35:e959ffba78fd	3033	{
mjr	35:e959ffba78fd	3034	// flash is valid - load it into the RAM copy of the structure
mjr	35:e959ffba78fd	3035	memcpy(&nvm, flash, sizeof(NVM));
mjr	35:e959ffba78fd	3036	}
mjr	35:e959ffba78fd	3037	else
mjr	35:e959ffba78fd	3038	{
mjr	35:e959ffba78fd	3039	// flash is invalid - load factory settings nito RAM structure
mjr	35:e959ffba78fd	3040	cfg.setFactoryDefaults();
mjr	35:e959ffba78fd	3041	}
mjr	35:e959ffba78fd	3042	}
mjr	35:e959ffba78fd	3043
mjr	35:e959ffba78fd	3044	void saveConfigToFlash()
mjr	33:d832bcab089e	3045	{
mjr	35:e959ffba78fd	3046	int addr, sectors;
mjr	35:e959ffba78fd	3047	configFlashAddr(addr, sectors);
mjr	35:e959ffba78fd	3048	nvm.save(iap, addr);
mjr	35:e959ffba78fd	3049	}
mjr	35:e959ffba78fd	3050
mjr	35:e959ffba78fd	3051	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	3052	//
mjr	55:4db125cd11a0	3053	// Pixel dump mode - the host requested a dump of image sensor pixels
mjr	55:4db125cd11a0	3054	// (helpful for installing and setting up the sensor and light source)
mjr	55:4db125cd11a0	3055	//
mjr	55:4db125cd11a0	3056	bool reportPlungerStat = false;
mjr	55:4db125cd11a0	3057	uint8_t reportPlungerStatFlags; // plunger pixel report flag bits (see ccdSensor.h)
mjr	55:4db125cd11a0	3058	uint8_t reportPlungerStatTime; // extra exposure time for plunger pixel report
mjr	55:4db125cd11a0	3059
mjr	55:4db125cd11a0	3060
mjr	55:4db125cd11a0	3061
mjr	55:4db125cd11a0	3062	// ---------------------------------------------------------------------------
mjr	55:4db125cd11a0	3063	//
mjr	40:cc0d9814522b	3064	// Night mode setting updates
mjr	40:cc0d9814522b	3065	//
mjr	38:091e511ce8a0	3066
mjr	38:091e511ce8a0	3067	// Turn night mode on or off
mjr	38:091e511ce8a0	3068	static void setNightMode(bool on)
mjr	38:091e511ce8a0	3069	{
mjr	40:cc0d9814522b	3070	// set the new night mode flag in the noisy output class
mjr	53:9b2611964afc	3071	nightMode = on;
mjr	55:4db125cd11a0	3072
mjr	40:cc0d9814522b	3073	// update the special output pin that shows the night mode state
mjr	53:9b2611964afc	3074	int port = int(cfg.nightMode.port) - 1;
mjr	53:9b2611964afc	3075	if (port >= 0 && port < numOutputs)
mjr	53:9b2611964afc	3076	lwPin[port]->set(nightMode ? 255 : 0);
mjr	40:cc0d9814522b	3077
mjr	40:cc0d9814522b	3078	// update all outputs for the mode change
mjr	40:cc0d9814522b	3079	updateAllOuts();
mjr	38:091e511ce8a0	3080	}
mjr	38:091e511ce8a0	3081
mjr	38:091e511ce8a0	3082	// Toggle night mode
mjr	38:091e511ce8a0	3083	static void toggleNightMode()
mjr	38:091e511ce8a0	3084	{
mjr	53:9b2611964afc	3085	setNightMode(!nightMode);
mjr	38:091e511ce8a0	3086	}
mjr	38:091e511ce8a0	3087
mjr	38:091e511ce8a0	3088
mjr	38:091e511ce8a0	3089	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	3090	//
mjr	35:e959ffba78fd	3091	// Plunger Sensor
mjr	35:e959ffba78fd	3092	//
mjr	35:e959ffba78fd	3093
mjr	35:e959ffba78fd	3094	// the plunger sensor interface object
mjr	35:e959ffba78fd	3095	PlungerSensor *plungerSensor = 0;
mjr	35:e959ffba78fd	3096
mjr	35:e959ffba78fd	3097	// Create the plunger sensor based on the current configuration. If
mjr	35:e959ffba78fd	3098	// there's already a sensor object, we'll delete it.
mjr	35:e959ffba78fd	3099	void createPlunger()
mjr	35:e959ffba78fd	3100	{
mjr	35:e959ffba78fd	3101	// create the new sensor object according to the type
mjr	35:e959ffba78fd	3102	switch (cfg.plunger.sensorType)
mjr	35:e959ffba78fd	3103	{
mjr	35:e959ffba78fd	3104	case PlungerType_TSL1410RS:
mjr	69:cc5039284fac	3105	// TSL1410R, serial mode (all pixels read in one file)
mjr	35:e959ffba78fd	3106	// pins are: SI, CLOCK, AO
mjr	53:9b2611964afc	3107	plungerSensor = new PlungerSensorTSL1410R(
mjr	53:9b2611964afc	3108	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	3109	wirePinName(cfg.plunger.sensorPin[1]),
mjr	53:9b2611964afc	3110	wirePinName(cfg.plunger.sensorPin[2]),
mjr	53:9b2611964afc	3111	NC);
mjr	35:e959ffba78fd	3112	break;
mjr	35:e959ffba78fd	3113
mjr	35:e959ffba78fd	3114	case PlungerType_TSL1410RP:
mjr	69:cc5039284fac	3115	// TSL1410R, parallel mode (each half-sensor's pixels read separately)
mjr	35:e959ffba78fd	3116	// pins are: SI, CLOCK, AO1, AO2
mjr	53:9b2611964afc	3117	plungerSensor = new PlungerSensorTSL1410R(
mjr	53:9b2611964afc	3118	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	3119	wirePinName(cfg.plunger.sensorPin[1]),
mjr	53:9b2611964afc	3120	wirePinName(cfg.plunger.sensorPin[2]),
mjr	53:9b2611964afc	3121	wirePinName(cfg.plunger.sensorPin[3]));
mjr	35:e959ffba78fd	3122	break;
mjr	35:e959ffba78fd	3123
mjr	69:cc5039284fac	3124	case PlungerType_TSL1412SS:
mjr	69:cc5039284fac	3125	// TSL1412S, serial mode
mjr	35:e959ffba78fd	3126	// pins are: SI, CLOCK, AO1, AO2
mjr	53:9b2611964afc	3127	plungerSensor = new PlungerSensorTSL1412R(
mjr	53:9b2611964afc	3128	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	3129	wirePinName(cfg.plunger.sensorPin[1]),
mjr	53:9b2611964afc	3130	wirePinName(cfg.plunger.sensorPin[2]),
mjr	53:9b2611964afc	3131	NC);
mjr	35:e959ffba78fd	3132	break;
mjr	35:e959ffba78fd	3133
mjr	69:cc5039284fac	3134	case PlungerType_TSL1412SP:
mjr	69:cc5039284fac	3135	// TSL1412S, parallel mode
mjr	35:e959ffba78fd	3136	// pins are: SI, CLOCK, AO1, AO2
mjr	53:9b2611964afc	3137	plungerSensor = new PlungerSensorTSL1412R(
mjr	53:9b2611964afc	3138	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	3139	wirePinName(cfg.plunger.sensorPin[1]),
mjr	53:9b2611964afc	3140	wirePinName(cfg.plunger.sensorPin[2]),
mjr	53:9b2611964afc	3141	wirePinName(cfg.plunger.sensorPin[3]));
mjr	35:e959ffba78fd	3142	break;
mjr	35:e959ffba78fd	3143
mjr	35:e959ffba78fd	3144	case PlungerType_Pot:
mjr	35:e959ffba78fd	3145	// pins are: AO
mjr	53:9b2611964afc	3146	plungerSensor = new PlungerSensorPot(
mjr	53:9b2611964afc	3147	wirePinName(cfg.plunger.sensorPin[0]));
mjr	35:e959ffba78fd	3148	break;
mjr	35:e959ffba78fd	3149
mjr	35:e959ffba78fd	3150	case PlungerType_None:
mjr	35:e959ffba78fd	3151	default:
mjr	35:e959ffba78fd	3152	plungerSensor = new PlungerSensorNull();
mjr	35:e959ffba78fd	3153	break;
mjr	35:e959ffba78fd	3154	}
mjr	33:d832bcab089e	3155	}
mjr	33:d832bcab089e	3156
mjr	52:8298b2a73eb2	3157	// Global plunger calibration mode flag
mjr	52:8298b2a73eb2	3158	bool plungerCalMode;
mjr	52:8298b2a73eb2	3159
mjr	48:058ace2aed1d	3160	// Plunger reader
mjr	51:57eb311faafa	3161	//
mjr	51:57eb311faafa	3162	// This class encapsulates our plunger data processing. At the simplest
mjr	51:57eb311faafa	3163	// level, we read the position from the sensor, adjust it for the
mjr	51:57eb311faafa	3164	// calibration settings, and report the calibrated position to the host.
mjr	51:57eb311faafa	3165	//
mjr	51:57eb311faafa	3166	// In addition, we constantly monitor the data for "firing" motions.
mjr	51:57eb311faafa	3167	// A firing motion is when the user pulls back the plunger and releases
mjr	51:57eb311faafa	3168	// it, allowing it to shoot forward under the force of the main spring.
mjr	51:57eb311faafa	3169	// When we detect that this is happening, we briefly stop reporting the
mjr	51:57eb311faafa	3170	// real physical position that we're reading from the sensor, and instead
mjr	51:57eb311faafa	3171	// report a synthetic series of positions that depicts an idealized
mjr	51:57eb311faafa	3172	// firing motion.
mjr	51:57eb311faafa	3173	//
mjr	51:57eb311faafa	3174	// The point of the synthetic reports is to correct for distortions
mjr	51:57eb311faafa	3175	// created by the joystick interface conventions used by VP and other
mjr	51:57eb311faafa	3176	// PC pinball emulators. The convention they use is simply to have the
mjr	51:57eb311faafa	3177	// plunger device report the instantaneous position of the real plunger.
mjr	51:57eb311faafa	3178	// The PC software polls this reported position periodically, and moves
mjr	51:57eb311faafa	3179	// the on-screen virtual plunger in sync with the real plunger. This
mjr	51:57eb311faafa	3180	// works fine for human-scale motion when the user is manually moving
mjr	51:57eb311faafa	3181	// the plunger. But it doesn't work for the high speed motion of a
mjr	51:57eb311faafa	3182	// release. The plunger simply moves too fast. VP polls in about 10ms
mjr	51:57eb311faafa	3183	// intervals; the plunger takes about 50ms to travel from fully
mjr	51:57eb311faafa	3184	// retracted to the park position when released. The low sampling
mjr	51:57eb311faafa	3185	// rate relative to the rate of change of the sampled data creates
mjr	51:57eb311faafa	3186	// a classic digital aliasing effect.
mjr	51:57eb311faafa	3187	//
mjr	51:57eb311faafa	3188	// The synthetic reporting scheme compensates for the interface
mjr	51:57eb311faafa	3189	// distortions by essentially changing to a coarse enough timescale
mjr	51:57eb311faafa	3190	// that VP can reliably interpret the readings. Conceptually, there
mjr	51:57eb311faafa	3191	// are three steps involved in doing this. First, we analyze the
mjr	51:57eb311faafa	3192	// actual sensor data to detect and characterize the release motion.
mjr	51:57eb311faafa	3193	// Second, once we think we have a release in progress, we fit the
mjr	51:57eb311faafa	3194	// data to a mathematical model of the release. The model we use is
mjr	51:57eb311faafa	3195	// dead simple: we consider the release to have one parameter, namely
mjr	51:57eb311faafa	3196	// the retraction distance at the moment the user lets go. This is an
mjr	51:57eb311faafa	3197	// excellent proxy in the real physical system for the final speed
mjr	51:57eb311faafa	3198	// when the plunger hits the ball, and it also happens to match how
mjr	51:57eb311faafa	3199	// VP models it internally. Third, we construct synthetic reports
mjr	51:57eb311faafa	3200	// that will make VP's internal state match our model. This is also
mjr	51:57eb311faafa	3201	// pretty simple: we just need to send VP the maximum retraction
mjr	51:57eb311faafa	3202	// distance for long enough to be sure that it polls it at least
mjr	51:57eb311faafa	3203	// once, and then send it the park position for long enough to
mjr	51:57eb311faafa	3204	// ensure that VP will complete the same firing motion. The
mjr	51:57eb311faafa	3205	// immediate jump from the maximum point to the zero point will
mjr	51:57eb311faafa	3206	// cause VP to move its simulation model plunger forward from the
mjr	51:57eb311faafa	3207	// starting point at its natural spring acceleration rate, which
mjr	51:57eb311faafa	3208	// is exactly what the real plunger just did.
mjr	51:57eb311faafa	3209	//
mjr	48:058ace2aed1d	3210	class PlungerReader
mjr	48:058ace2aed1d	3211	{
mjr	48:058ace2aed1d	3212	public:
mjr	48:058ace2aed1d	3213	PlungerReader()
mjr	48:058ace2aed1d	3214	{
mjr	48:058ace2aed1d	3215	// not in a firing event yet
mjr	48:058ace2aed1d	3216	firing = 0;
mjr	48:058ace2aed1d	3217
mjr	48:058ace2aed1d	3218	// no history yet
mjr	48:058ace2aed1d	3219	histIdx = 0;
mjr	55:4db125cd11a0	3220
mjr	55:4db125cd11a0	3221	// initialize the filter
mjr	55:4db125cd11a0	3222	initFilter();
mjr	48:058ace2aed1d	3223	}
mjr	48:058ace2aed1d	3224
mjr	48:058ace2aed1d	3225	// Collect a reading from the plunger sensor. The main loop calls
mjr	48:058ace2aed1d	3226	// this frequently to read the current raw position data from the
mjr	48:058ace2aed1d	3227	// sensor. We analyze the raw data to produce the calibrated
mjr	48:058ace2aed1d	3228	// position that we report to the PC via the joystick interface.
mjr	48:058ace2aed1d	3229	void read()
mjr	48:058ace2aed1d	3230	{
mjr	48:058ace2aed1d	3231	// Read a sample from the sensor
mjr	48:058ace2aed1d	3232	PlungerReading r;
mjr	48:058ace2aed1d	3233	if (plungerSensor->read(r))
mjr	48:058ace2aed1d	3234	{
mjr	69:cc5039284fac	3235	// filter the raw sensor reading
mjr	69:cc5039284fac	3236	applyPreFilter(r);
mjr	69:cc5039284fac	3237
mjr	51:57eb311faafa	3238	// Pull the previous reading from the history
mjr	50:40015764bbe6	3239	const PlungerReading &prv = nthHist(0);
mjr	48:058ace2aed1d	3240
mjr	69:cc5039284fac	3241	// If the new reading is within 1ms of the previous reading,
mjr	48:058ace2aed1d	3242	// ignore it. We require a minimum time between samples to
mjr	48:058ace2aed1d	3243	// ensure that we have a usable amount of precision in the
mjr	48:058ace2aed1d	3244	// denominator (the time interval) for calculating the plunger
mjr	69:cc5039284fac	3245	// velocity. The CCD sensor hardware takes about 2.5ms to
mjr	69:cc5039284fac	3246	// read, so it will never be affected by this, but other sensor
mjr	69:cc5039284fac	3247	// types don't all have the same hardware cycle time, so we need
mjr	69:cc5039284fac	3248	// to throttle them artificially. E.g., the potentiometer only
mjr	69:cc5039284fac	3249	// needs one ADC sample per reading, which only takes about 15us.
mjr	69:cc5039284fac	3250	// We don't need to check which sensor type we have here; we
mjr	69:cc5039284fac	3251	// just ignore readings until the minimum interval has passed,
mjr	69:cc5039284fac	3252	// so if the sensor is already slower than this, we'll end up
mjr	69:cc5039284fac	3253	// using all of its readings.
mjr	69:cc5039284fac	3254	if (uint32_t(r.t - prv.t) < 1000UL)
mjr	48:058ace2aed1d	3255	return;
mjr	53:9b2611964afc	3256
mjr	53:9b2611964afc	3257	// check for calibration mode
mjr	53:9b2611964afc	3258	if (plungerCalMode)
mjr	53:9b2611964afc	3259	{
mjr	53:9b2611964afc	3260	// Calibration mode. Adjust the calibration bounds to fit
mjr	53:9b2611964afc	3261	// the value. If this value is beyond the current min or max,
mjr	53:9b2611964afc	3262	// expand the envelope to include this new value.
mjr	53:9b2611964afc	3263	if (r.pos > cfg.plunger.cal.max)
mjr	53:9b2611964afc	3264	cfg.plunger.cal.max = r.pos;
mjr	53:9b2611964afc	3265	if (r.pos < cfg.plunger.cal.min)
mjr	53:9b2611964afc	3266	cfg.plunger.cal.min = r.pos;
mjr	50:40015764bbe6	3267
mjr	53:9b2611964afc	3268	// If we're in calibration state 0, we're waiting for the
mjr	53:9b2611964afc	3269	// plunger to come to rest at the park position so that we
mjr	53:9b2611964afc	3270	// can take a sample of the park position. Check to see if
mjr	53:9b2611964afc	3271	// we've been at rest for a minimum interval.
mjr	53:9b2611964afc	3272	if (calState == 0)
mjr	53:9b2611964afc	3273	{
mjr	53:9b2611964afc	3274	if (abs(r.pos - calZeroStart.pos) < 65535/3/50)
mjr	53:9b2611964afc	3275	{
mjr	53:9b2611964afc	3276	// we're close enough - make sure we've been here long enough
mjr	53:9b2611964afc	3277	if (uint32_t(r.t - calZeroStart.t) > 100000UL)
mjr	53:9b2611964afc	3278	{
mjr	53:9b2611964afc	3279	// we've been at rest long enough - count it
mjr	53:9b2611964afc	3280	calZeroPosSum += r.pos;
mjr	53:9b2611964afc	3281	calZeroPosN += 1;
mjr	53:9b2611964afc	3282
mjr	53:9b2611964afc	3283	// update the zero position from the new average
mjr	53:9b2611964afc	3284	cfg.plunger.cal.zero = uint16_t(calZeroPosSum / calZeroPosN);
mjr	53:9b2611964afc	3285
mjr	53:9b2611964afc	3286	// switch to calibration state 1 - at rest
mjr	53:9b2611964afc	3287	calState = 1;
mjr	53:9b2611964afc	3288	}
mjr	53:9b2611964afc	3289	}
mjr	53:9b2611964afc	3290	else
mjr	53:9b2611964afc	3291	{
mjr	53:9b2611964afc	3292	// we're not close to the last position - start again here
mjr	53:9b2611964afc	3293	calZeroStart = r;
mjr	53:9b2611964afc	3294	}
mjr	53:9b2611964afc	3295	}
mjr	53:9b2611964afc	3296
mjr	53:9b2611964afc	3297	// Rescale to the joystick range, and adjust for the current
mjr	53:9b2611964afc	3298	// park position, but don't calibrate. We don't know the maximum
mjr	53:9b2611964afc	3299	// point yet, so we can't calibrate the range.
mjr	53:9b2611964afc	3300	r.pos = int(
mjr	53:9b2611964afc	3301	(long(r.pos - cfg.plunger.cal.zero) * JOYMAX)
mjr	53:9b2611964afc	3302	/ (65535 - cfg.plunger.cal.zero));
mjr	53:9b2611964afc	3303	}
mjr	53:9b2611964afc	3304	else
mjr	53:9b2611964afc	3305	{
mjr	53:9b2611964afc	3306	// Not in calibration mode. Apply the existing calibration and
mjr	53:9b2611964afc	3307	// rescale to the joystick range.
mjr	53:9b2611964afc	3308	r.pos = int(
mjr	53:9b2611964afc	3309	(long(r.pos - cfg.plunger.cal.zero) * JOYMAX)
mjr	53:9b2611964afc	3310	/ (cfg.plunger.cal.max - cfg.plunger.cal.zero));
mjr	53:9b2611964afc	3311
mjr	53:9b2611964afc	3312	// limit the result to the valid joystick range
mjr	53:9b2611964afc	3313	if (r.pos > JOYMAX)
mjr	53:9b2611964afc	3314	r.pos = JOYMAX;
mjr	53:9b2611964afc	3315	else if (r.pos < -JOYMAX)
mjr	53:9b2611964afc	3316	r.pos = -JOYMAX;
mjr	53:9b2611964afc	3317	}
mjr	50:40015764bbe6	3318
mjr	50:40015764bbe6	3319	// Calculate the velocity from the second-to-last reading
mjr	50:40015764bbe6	3320	// to here, in joystick distance units per microsecond.
mjr	50:40015764bbe6	3321	// Note that we use the second-to-last reading rather than
mjr	50:40015764bbe6	3322	// the very last reading to give ourselves a little longer
mjr	50:40015764bbe6	3323	// time base. The time base is so short between consecutive
mjr	50:40015764bbe6	3324	// readings that the error bars in the position would be too
mjr	50:40015764bbe6	3325	// large.
mjr	50:40015764bbe6	3326	//
mjr	50:40015764bbe6	3327	// For reference, the physical plunger velocity ranges up
mjr	50:40015764bbe6	3328	// to about 100,000 joystick distance units/sec. This is
mjr	50:40015764bbe6	3329	// based on empirical measurements. The typical time for
mjr	50:40015764bbe6	3330	// a real plunger to travel the full distance when released
mjr	50:40015764bbe6	3331	// from full retraction is about 85ms, so the average velocity
mjr	50:40015764bbe6	3332	// covering this distance is about 56,000 units/sec. The
mjr	50:40015764bbe6	3333	// peak is probably about twice that. In real-world units,
mjr	50:40015764bbe6	3334	// this translates to an average speed of about .75 m/s and
mjr	50:40015764bbe6	3335	// a peak of about 1.5 m/s.
mjr	50:40015764bbe6	3336	//
mjr	50:40015764bbe6	3337	// Note that we actually calculate the value here in units
mjr	50:40015764bbe6	3338	// per microsecond - the discussion above is in terms of
mjr	50:40015764bbe6	3339	// units/sec because that's more on a human scale. Our
mjr	50:40015764bbe6	3340	// choice of internal units here really isn't important,
mjr	50:40015764bbe6	3341	// since we only use the velocity for comparison purposes,
mjr	50:40015764bbe6	3342	// to detect acceleration trends. We therefore save ourselves
mjr	50:40015764bbe6	3343	// a little CPU time by using the natural units of our inputs.
mjr	51:57eb311faafa	3344	const PlungerReading &prv2 = nthHist(1);
mjr	50:40015764bbe6	3345	float v = float(r.pos - prv2.pos)/float(r.t - prv2.t);
mjr	50:40015764bbe6	3346
mjr	50:40015764bbe6	3347	// presume we'll report the latest instantaneous reading
mjr	50:40015764bbe6	3348	z = r.pos;
mjr	50:40015764bbe6	3349	vz = v;
mjr	48:058ace2aed1d	3350
mjr	50:40015764bbe6	3351	// Check firing events
mjr	50:40015764bbe6	3352	switch (firing)
mjr	50:40015764bbe6	3353	{
mjr	50:40015764bbe6	3354	case 0:
mjr	50:40015764bbe6	3355	// Default state - not in a firing event.
mjr	50:40015764bbe6	3356
mjr	50:40015764bbe6	3357	// If we have forward motion from a position that's retracted
mjr	50:40015764bbe6	3358	// beyond a threshold, enter phase 1. If we're not pulled back
mjr	50:40015764bbe6	3359	// far enough, don't bother with this, as a release wouldn't
mjr	50:40015764bbe6	3360	// be strong enough to require the synthetic firing treatment.
mjr	50:40015764bbe6	3361	if (v < 0 && r.pos > JOYMAX/6)
mjr	50:40015764bbe6	3362	{
mjr	53:9b2611964afc	3363	// enter firing phase 1
mjr	50:40015764bbe6	3364	firingMode(1);
mjr	50:40015764bbe6	3365
mjr	53:9b2611964afc	3366	// if in calibration state 1 (at rest), switch to state 2 (not
mjr	53:9b2611964afc	3367	// at rest)
mjr	53:9b2611964afc	3368	if (calState == 1)
mjr	53:9b2611964afc	3369	calState = 2;
mjr	53:9b2611964afc	3370
mjr	50:40015764bbe6	3371	// we don't have a freeze position yet, but note the start time
mjr	50:40015764bbe6	3372	f1.pos = 0;
mjr	50:40015764bbe6	3373	f1.t = r.t;
mjr	50:40015764bbe6	3374
mjr	50:40015764bbe6	3375	// Figure the barrel spring "bounce" position in case we complete
mjr	50:40015764bbe6	3376	// the firing event. This is the amount that the forward momentum
mjr	50:40015764bbe6	3377	// of the plunger will compress the barrel spring at the peak of
mjr	50:40015764bbe6	3378	// the forward travel during the release. Assume that this is
mjr	50:40015764bbe6	3379	// linearly proportional to the starting retraction distance.
mjr	50:40015764bbe6	3380	// The barrel spring is about 1/6 the length of the main spring,
mjr	50:40015764bbe6	3381	// so figure it compresses by 1/6 the distance. (This is overly
mjr	53:9b2611964afc	3382	// simplistic and not very accurate, but it seems to give good
mjr	50:40015764bbe6	3383	// visual results, and that's all it's for.)
mjr	50:40015764bbe6	3384	f2.pos = -r.pos/6;
mjr	50:40015764bbe6	3385	}
mjr	50:40015764bbe6	3386	break;
mjr	50:40015764bbe6	3387
mjr	50:40015764bbe6	3388	case 1:
mjr	50:40015764bbe6	3389	// Phase 1 - acceleration. If we cross the zero point, trigger
mjr	50:40015764bbe6	3390	// the firing event. Otherwise, continue monitoring as long as we
mjr	50:40015764bbe6	3391	// see acceleration in the forward direction.
mjr	50:40015764bbe6	3392	if (r.pos <= 0)
mjr	50:40015764bbe6	3393	{
mjr	50:40015764bbe6	3394	// switch to the synthetic firing mode
mjr	50:40015764bbe6	3395	firingMode(2);
mjr	50:40015764bbe6	3396	z = f2.pos;
mjr	50:40015764bbe6	3397
mjr	50:40015764bbe6	3398	// note the start time for the firing phase
mjr	50:40015764bbe6	3399	f2.t = r.t;
mjr	53:9b2611964afc	3400
mjr	53:9b2611964afc	3401	// if in calibration mode, and we're in state 2 (moving),
mjr	53:9b2611964afc	3402	// collect firing statistics for calibration purposes
mjr	53:9b2611964afc	3403	if (plungerCalMode && calState == 2)
mjr	53:9b2611964afc	3404	{
mjr	53:9b2611964afc	3405	// collect a new zero point for the average when we
mjr	53:9b2611964afc	3406	// come to rest
mjr	53:9b2611964afc	3407	calState = 0;
mjr	53:9b2611964afc	3408
mjr	53:9b2611964afc	3409	// collect average firing time statistics in millseconds, if
mjr	53:9b2611964afc	3410	// it's in range (20 to 255 ms)
mjr	53:9b2611964afc	3411	int dt = uint32_t(r.t - f1.t)/1000UL;
mjr	53:9b2611964afc	3412	if (dt >= 20 && dt <= 255)
mjr	53:9b2611964afc	3413	{
mjr	53:9b2611964afc	3414	calRlsTimeSum += dt;
mjr	53:9b2611964afc	3415	calRlsTimeN += 1;
mjr	53:9b2611964afc	3416	cfg.plunger.cal.tRelease = uint8_t(calRlsTimeSum / calRlsTimeN);
mjr	53:9b2611964afc	3417	}
mjr	53:9b2611964afc	3418	}
mjr	50:40015764bbe6	3419	}
mjr	50:40015764bbe6	3420	else if (v < vprv2)
mjr	50:40015764bbe6	3421	{
mjr	50:40015764bbe6	3422	// We're still accelerating, and we haven't crossed the zero
mjr	50:40015764bbe6	3423	// point yet - stay in phase 1. (Note that forward motion is
mjr	50:40015764bbe6	3424	// negative velocity, so accelerating means that the new
mjr	50:40015764bbe6	3425	// velocity is more negative than the previous one, which
mjr	50:40015764bbe6	3426	// is to say numerically less than - that's why the test
mjr	50:40015764bbe6	3427	// for acceleration is the seemingly backwards 'v < vprv'.)
mjr	50:40015764bbe6	3428
mjr	50:40015764bbe6	3429	// If we've been accelerating for at least 20ms, we're probably
mjr	50:40015764bbe6	3430	// really doing a release. Jump back to the recent local
mjr	50:40015764bbe6	3431	// maximum where the release really started. This is always
mjr	50:40015764bbe6	3432	// a bit before we started seeing sustained accleration, because
mjr	50:40015764bbe6	3433	// the plunger motion for the first few milliseconds is too slow
mjr	50:40015764bbe6	3434	// for our sensor precision to reliably detect acceleration.
mjr	50:40015764bbe6	3435	if (f1.pos != 0)
mjr	50:40015764bbe6	3436	{
mjr	50:40015764bbe6	3437	// we have a reset point - freeze there
mjr	50:40015764bbe6	3438	z = f1.pos;
mjr	50:40015764bbe6	3439	}
mjr	50:40015764bbe6	3440	else if (uint32_t(r.t - f1.t) >= 20000UL)
mjr	50:40015764bbe6	3441	{
mjr	50:40015764bbe6	3442	// it's been long enough - set a reset point.
mjr	50:40015764bbe6	3443	f1.pos = z = histLocalMax(r.t, 50000UL);
mjr	50:40015764bbe6	3444	}
mjr	50:40015764bbe6	3445	}
mjr	50:40015764bbe6	3446	else
mjr	50:40015764bbe6	3447	{
mjr	50:40015764bbe6	3448	// We're not accelerating. Cancel the firing event.
mjr	50:40015764bbe6	3449	firingMode(0);
mjr	53:9b2611964afc	3450	calState = 1;
mjr	50:40015764bbe6	3451	}
mjr	50:40015764bbe6	3452	break;
mjr	50:40015764bbe6	3453
mjr	50:40015764bbe6	3454	case 2:
mjr	50:40015764bbe6	3455	// Phase 2 - start of synthetic firing event. Report the fake
mjr	50:40015764bbe6	3456	// bounce for 25ms. VP polls the joystick about every 10ms, so
mjr	50:40015764bbe6	3457	// this should be enough time to guarantee that VP sees this
mjr	50:40015764bbe6	3458	// report at least once.
mjr	50:40015764bbe6	3459	if (uint32_t(r.t - f2.t) < 25000UL)
mjr	50:40015764bbe6	3460	{
mjr	50:40015764bbe6	3461	// report the bounce position
mjr	50:40015764bbe6	3462	z = f2.pos;
mjr	50:40015764bbe6	3463	}
mjr	50:40015764bbe6	3464	else
mjr	50:40015764bbe6	3465	{
mjr	50:40015764bbe6	3466	// it's been long enough - switch to phase 3, where we
mjr	50:40015764bbe6	3467	// report the park position until the real plunger comes
mjr	50:40015764bbe6	3468	// to rest
mjr	50:40015764bbe6	3469	firingMode(3);
mjr	50:40015764bbe6	3470	z = 0;
mjr	50:40015764bbe6	3471
mjr	50:40015764bbe6	3472	// set the start of the "stability window" to the rest position
mjr	50:40015764bbe6	3473	f3s.t = r.t;
mjr	50:40015764bbe6	3474	f3s.pos = 0;
mjr	50:40015764bbe6	3475
mjr	50:40015764bbe6	3476	// set the start of the "retraction window" to the actual position
mjr	50:40015764bbe6	3477	f3r = r;
mjr	50:40015764bbe6	3478	}
mjr	50:40015764bbe6	3479	break;
mjr	50:40015764bbe6	3480
mjr	50:40015764bbe6	3481	case 3:
mjr	50:40015764bbe6	3482	// Phase 3 - in synthetic firing event. Report the park position
mjr	50:40015764bbe6	3483	// until the plunger position stabilizes. Left to its own devices,
mjr	50:40015764bbe6	3484	// the plunger will usualy bounce off the barrel spring several
mjr	50:40015764bbe6	3485	// times before coming to rest, so we'll see oscillating motion
mjr	50:40015764bbe6	3486	// for a second or two. In the simplest case, we can aimply wait
mjr	50:40015764bbe6	3487	// for the plunger to stop moving for a short time. However, the
mjr	50:40015764bbe6	3488	// player might intervene by pulling the plunger back again, so
mjr	50:40015764bbe6	3489	// watch for that motion as well. If we're just bouncing freely,
mjr	50:40015764bbe6	3490	// we'll see the direction change frequently. If the player is
mjr	50:40015764bbe6	3491	// moving the plunger manually, the direction will be constant
mjr	50:40015764bbe6	3492	// for longer.
mjr	50:40015764bbe6	3493	if (v >= 0)
mjr	50:40015764bbe6	3494	{
mjr	50:40015764bbe6	3495	// We're moving back (or standing still). If this has been
mjr	50:40015764bbe6	3496	// going on for a while, the user must have taken control.
mjr	50:40015764bbe6	3497	if (uint32_t(r.t - f3r.t) > 65000UL)
mjr	50:40015764bbe6	3498	{
mjr	50:40015764bbe6	3499	// user has taken control - cancel firing mode
mjr	50:40015764bbe6	3500	firingMode(0);
mjr	50:40015764bbe6	3501	break;
mjr	50:40015764bbe6	3502	}
mjr	50:40015764bbe6	3503	}
mjr	50:40015764bbe6	3504	else
mjr	50:40015764bbe6	3505	{
mjr	50:40015764bbe6	3506	// forward motion - reset retraction window
mjr	50:40015764bbe6	3507	f3r.t = r.t;
mjr	50:40015764bbe6	3508	}
mjr	50:40015764bbe6	3509
mjr	53:9b2611964afc	3510	// Check if we're close to the last starting point. The joystick
mjr	53:9b2611964afc	3511	// positive axis range (0..4096) covers the retraction distance of
mjr	53:9b2611964afc	3512	// about 2.5", so 1" is about 1638 joystick units, hence 1/16" is
mjr	53:9b2611964afc	3513	// about 100 units.
mjr	53:9b2611964afc	3514	if (abs(r.pos - f3s.pos) < 100)
mjr	50:40015764bbe6	3515	{
mjr	53:9b2611964afc	3516	// It's at roughly the same position as the starting point.
mjr	53:9b2611964afc	3517	// Consider it stable if this has been true for 300ms.
mjr	50:40015764bbe6	3518	if (uint32_t(r.t - f3s.t) > 30000UL)
mjr	50:40015764bbe6	3519	{
mjr	50:40015764bbe6	3520	// we're done with the firing event
mjr	50:40015764bbe6	3521	firingMode(0);
mjr	50:40015764bbe6	3522	}
mjr	50:40015764bbe6	3523	else
mjr	50:40015764bbe6	3524	{
mjr	50:40015764bbe6	3525	// it's close to the last position but hasn't been
mjr	50:40015764bbe6	3526	// here long enough; stay in firing mode and continue
mjr	50:40015764bbe6	3527	// to report the park position
mjr	50:40015764bbe6	3528	z = 0;
mjr	50:40015764bbe6	3529	}
mjr	50:40015764bbe6	3530	}
mjr	50:40015764bbe6	3531	else
mjr	50:40015764bbe6	3532	{
mjr	50:40015764bbe6	3533	// It's not close enough to the last starting point, so use
mjr	50:40015764bbe6	3534	// this as a new starting point, and stay in firing mode.
mjr	50:40015764bbe6	3535	f3s = r;
mjr	50:40015764bbe6	3536	z = 0;
mjr	50:40015764bbe6	3537	}
mjr	50:40015764bbe6	3538	break;
mjr	50:40015764bbe6	3539	}
mjr	50:40015764bbe6	3540
mjr	50:40015764bbe6	3541	// save the velocity reading for next time
mjr	50:40015764bbe6	3542	vprv2 = vprv;
mjr	50:40015764bbe6	3543	vprv = v;
mjr	50:40015764bbe6	3544
mjr	50:40015764bbe6	3545	// add the new reading to the history
mjr	50:40015764bbe6	3546	hist[histIdx++] = r;
mjr	50:40015764bbe6	3547	histIdx %= countof(hist);
mjr	58:523fdcffbe6d	3548
mjr	69:cc5039284fac	3549	// apply the post-processing filter
mjr	69:cc5039284fac	3550	zf = applyPostFilter();
mjr	48:058ace2aed1d	3551	}
mjr	48:058ace2aed1d	3552	}
mjr	48:058ace2aed1d	3553
mjr	48:058ace2aed1d	3554	// Get the current value to report through the joystick interface
mjr	58:523fdcffbe6d	3555	int16_t getPosition()
mjr	58:523fdcffbe6d	3556	{
mjr	58:523fdcffbe6d	3557	// return the last filtered reading
mjr	58:523fdcffbe6d	3558	return zf;
mjr	55:4db125cd11a0	3559	}
mjr	58:523fdcffbe6d	3560
mjr	48:058ace2aed1d	3561	// Get the current velocity (joystick distance units per microsecond)
mjr	48:058ace2aed1d	3562	float getVelocity() const { return vz; }
mjr	48:058ace2aed1d	3563
mjr	48:058ace2aed1d	3564	// get the timestamp of the current joystick report (microseconds)
mjr	50:40015764bbe6	3565	uint32_t getTimestamp() const { return nthHist(0).t; }
mjr	48:058ace2aed1d	3566
mjr	48:058ace2aed1d	3567	// Set calibration mode on or off
mjr	52:8298b2a73eb2	3568	void setCalMode(bool f)
mjr	48:058ace2aed1d	3569	{
mjr	52:8298b2a73eb2	3570	// check to see if we're entering calibration mode
mjr	52:8298b2a73eb2	3571	if (f && !plungerCalMode)
mjr	52:8298b2a73eb2	3572	{
mjr	52:8298b2a73eb2	3573	// reset the calibration in the configuration
mjr	48:058ace2aed1d	3574	cfg.plunger.cal.begin();
mjr	52:8298b2a73eb2	3575
mjr	52:8298b2a73eb2	3576	// start in state 0 (waiting to settle)
mjr	52:8298b2a73eb2	3577	calState = 0;
mjr	52:8298b2a73eb2	3578	calZeroPosSum = 0;
mjr	52:8298b2a73eb2	3579	calZeroPosN = 0;
mjr	52:8298b2a73eb2	3580	calRlsTimeSum = 0;
mjr	52:8298b2a73eb2	3581	calRlsTimeN = 0;
mjr	52:8298b2a73eb2	3582
mjr	52:8298b2a73eb2	3583	// set the initial zero point to the current position
mjr	52:8298b2a73eb2	3584	PlungerReading r;
mjr	52:8298b2a73eb2	3585	if (plungerSensor->read(r))
mjr	52:8298b2a73eb2	3586	{
mjr	52:8298b2a73eb2	3587	// got a reading - use it as the initial zero point
mjr	69:cc5039284fac	3588	applyPreFilter(r);
mjr	52:8298b2a73eb2	3589	cfg.plunger.cal.zero = r.pos;
mjr	52:8298b2a73eb2	3590
mjr	52:8298b2a73eb2	3591	// use it as the starting point for the settling watch
mjr	53:9b2611964afc	3592	calZeroStart = r;
mjr	52:8298b2a73eb2	3593	}
mjr	52:8298b2a73eb2	3594	else
mjr	52:8298b2a73eb2	3595	{
mjr	52:8298b2a73eb2	3596	// no reading available - use the default 1/6 position
mjr	52:8298b2a73eb2	3597	cfg.plunger.cal.zero = 0xffff/6;
mjr	52:8298b2a73eb2	3598
mjr	52:8298b2a73eb2	3599	// we don't have a starting point for the setting watch
mjr	53:9b2611964afc	3600	calZeroStart.pos = -65535;
mjr	53:9b2611964afc	3601	calZeroStart.t = 0;
mjr	53:9b2611964afc	3602	}
mjr	53:9b2611964afc	3603	}
mjr	53:9b2611964afc	3604	else if (!f && plungerCalMode)
mjr	53:9b2611964afc	3605	{
mjr	53:9b2611964afc	3606	// Leaving calibration mode. Make sure the max is past the
mjr	53:9b2611964afc	3607	// zero point - if it's not, we'd have a zero or negative
mjr	53:9b2611964afc	3608	// denominator for the scaling calculation, which would be
mjr	53:9b2611964afc	3609	// physically meaningless.
mjr	53:9b2611964afc	3610	if (cfg.plunger.cal.max <= cfg.plunger.cal.zero)
mjr	53:9b2611964afc	3611	{
mjr	53:9b2611964afc	3612	// bad settings - reset to defaults
mjr	53:9b2611964afc	3613	cfg.plunger.cal.max = 0xffff;
mjr	53:9b2611964afc	3614	cfg.plunger.cal.zero = 0xffff/6;
mjr	52:8298b2a73eb2	3615	}
mjr	52:8298b2a73eb2	3616	}
mjr	52:8298b2a73eb2	3617
mjr	48:058ace2aed1d	3618	// remember the new mode
mjr	52:8298b2a73eb2	3619	plungerCalMode = f;
mjr	48:058ace2aed1d	3620	}
mjr	48:058ace2aed1d	3621
mjr	48:058ace2aed1d	3622	// is a firing event in progress?
mjr	53:9b2611964afc	3623	bool isFiring() { return firing == 3; }
mjr	48:058ace2aed1d	3624
mjr	48:058ace2aed1d	3625	private:
mjr	52:8298b2a73eb2	3626
mjr	69:cc5039284fac	3627	#if 1
mjr	69:cc5039284fac	3628	// Disable all filtering
mjr	69:cc5039284fac	3629	void applyPreFilter(PlungerReading &r) { }
mjr	69:cc5039284fac	3630	int applyPostFilter() { return z; }
mjr	69:cc5039284fac	3631	#elif 1
mjr	69:cc5039284fac	3632	// Apply pre-processing filter. This filter is applied to the raw
mjr	69:cc5039284fac	3633	// value coming off the sensor, before calibration or fire-event
mjr	69:cc5039284fac	3634	// processing.
mjr	69:cc5039284fac	3635	void applyPreFilter(PlungerReading &r)
mjr	69:cc5039284fac	3636	{
mjr	69:cc5039284fac	3637	// get the previous raw reading
mjr	69:cc5039284fac	3638	PlungerReading prv = pre.raw;
mjr	69:cc5039284fac	3639
mjr	69:cc5039284fac	3640	// the new reading is the previous raw reading next time, no
mjr	69:cc5039284fac	3641	// matter how we end up filtering it
mjr	69:cc5039284fac	3642	pre.raw = r;
mjr	69:cc5039284fac	3643
mjr	69:cc5039284fac	3644	// If it's too big an excursion from the previous raw reading,
mjr	69:cc5039284fac	3645	// ignore it and repeat the previous reported reading. This
mjr	69:cc5039284fac	3646	// filters out anomalous spikes where we suddenly jump to a
mjr	69:cc5039284fac	3647	// level that's too far away to be possible. Real plungers
mjr	69:cc5039284fac	3648	// take about 60ms to travel the full distance when released,
mjr	69:cc5039284fac	3649	// so assuming constant acceleration, the maximum realistic
mjr	69:cc5039284fac	3650	// speed is about 2.200 distance units (on our 0..0xffff scale)
mjr	69:cc5039284fac	3651	// per microsecond.
mjr	69:cc5039284fac	3652	//
mjr	69:cc5039284fac	3653	// On the other hand, if the new reading is too close to the
mjr	69:cc5039284fac	3654	// previous reading, use the previous reported reading. This
mjr	69:cc5039284fac	3655	// filters out jitter around a stationary position.
mjr	69:cc5039284fac	3656	const float maxDist = 2.184f*uint32_t(r.t - prv.t);
mjr	69:cc5039284fac	3657	const int minDist = 256;
mjr	69:cc5039284fac	3658	const int delta = abs(r.pos - prv.pos);
mjr	69:cc5039284fac	3659	if (maxDist > minDist && delta > maxDist)
mjr	69:cc5039284fac	3660	{
mjr	69:cc5039284fac	3661	// too big an excursion - discard this reading by reporting
mjr	69:cc5039284fac	3662	// the last reported reading instead
mjr	69:cc5039284fac	3663	r.pos = pre.reported;
mjr	69:cc5039284fac	3664	}
mjr	69:cc5039284fac	3665	else if (delta < minDist)
mjr	69:cc5039284fac	3666	{
mjr	69:cc5039284fac	3667	// too close to the prior reading - apply hysteresis
mjr	69:cc5039284fac	3668	r.pos = pre.reported;
mjr	69:cc5039284fac	3669	}
mjr	69:cc5039284fac	3670	else
mjr	69:cc5039284fac	3671	{
mjr	69:cc5039284fac	3672	// the reading is in range - keep it, and remember it as
mjr	69:cc5039284fac	3673	// the last reported reading
mjr	69:cc5039284fac	3674	pre.reported = r.pos;
mjr	69:cc5039284fac	3675	}
mjr	69:cc5039284fac	3676	}
mjr	69:cc5039284fac	3677
mjr	69:cc5039284fac	3678	// pre-filter data
mjr	69:cc5039284fac	3679	struct PreFilterData {
mjr	69:cc5039284fac	3680	PreFilterData()
mjr	69:cc5039284fac	3681	: reported(0)
mjr	69:cc5039284fac	3682	{
mjr	69:cc5039284fac	3683	raw.t = 0;
mjr	69:cc5039284fac	3684	raw.pos = 0;
mjr	69:cc5039284fac	3685	}
mjr	69:cc5039284fac	3686	PlungerReading raw; // previous raw sensor reading
mjr	69:cc5039284fac	3687	int reported; // previous reported reading
mjr	69:cc5039284fac	3688	} pre;
mjr	69:cc5039284fac	3689
mjr	69:cc5039284fac	3690
mjr	69:cc5039284fac	3691	// Apply the post-processing filter. This filter is applied after
mjr	69:cc5039284fac	3692	// the fire-event processing. In the past, this used hysteresis to
mjr	69:cc5039284fac	3693	// try to smooth out jittering readings for a stationary plunger.
mjr	69:cc5039284fac	3694	// We've switched to a different approach that massages the readings
mjr	69:cc5039284fac	3695	// coming off the sensor before
mjr	69:cc5039284fac	3696	int applyPostFilter()
mjr	69:cc5039284fac	3697	{
mjr	69:cc5039284fac	3698	return z;
mjr	69:cc5039284fac	3699	}
mjr	69:cc5039284fac	3700	#else
mjr	69:cc5039284fac	3701	// Apply pre-processing filter. This filter is applied to the raw
mjr	69:cc5039284fac	3702	// value coming off the sensor, before calibration or fire-event
mjr	69:cc5039284fac	3703	// processing.
mjr	69:cc5039284fac	3704	void applyPreFilter(PlungerReading &r)
mjr	69:cc5039284fac	3705	{
mjr	69:cc5039284fac	3706	}
mjr	69:cc5039284fac	3707
mjr	69:cc5039284fac	3708	// Figure the next post-processing filtered value. This applies a
mjr	69:cc5039284fac	3709	// hysteresis filter to the last raw z value and returns the
mjr	69:cc5039284fac	3710	// filtered result.
mjr	69:cc5039284fac	3711	int applyPostFilter()
mjr	58:523fdcffbe6d	3712	{
mjr	58:523fdcffbe6d	3713	if (firing <= 1)
mjr	58:523fdcffbe6d	3714	{
mjr	58:523fdcffbe6d	3715	// Filter limit - 5 samples. Once we've been moving
mjr	58:523fdcffbe6d	3716	// in the same direction for this many samples, we'll
mjr	58:523fdcffbe6d	3717	// clear the history and start over.
mjr	58:523fdcffbe6d	3718	const int filterMask = 0x1f;
mjr	58:523fdcffbe6d	3719
mjr	58:523fdcffbe6d	3720	// figure the last average
mjr	58:523fdcffbe6d	3721	int lastAvg = int(filterSum / filterN);
mjr	58:523fdcffbe6d	3722
mjr	58:523fdcffbe6d	3723	// figure the direction of this sample relative to the average,
mjr	58:523fdcffbe6d	3724	// and shift it in to our bit mask of recent direction data
mjr	58:523fdcffbe6d	3725	if (z != lastAvg)
mjr	58:523fdcffbe6d	3726	{
mjr	58:523fdcffbe6d	3727	// shift the new direction bit into the vector
mjr	58:523fdcffbe6d	3728	filterDir <<= 1;
mjr	58:523fdcffbe6d	3729	if (z > lastAvg) filterDir \|= 1;
mjr	58:523fdcffbe6d	3730	}
mjr	58:523fdcffbe6d	3731
mjr	58:523fdcffbe6d	3732	// keep only the last N readings, up to the filter limit
mjr	58:523fdcffbe6d	3733	filterDir &= filterMask;
mjr	58:523fdcffbe6d	3734
mjr	58:523fdcffbe6d	3735	// if we've been moving consistently in one direction (all 1's
mjr	58:523fdcffbe6d	3736	// or all 0's in the direction history vector), reset the average
mjr	58:523fdcffbe6d	3737	if (filterDir == 0x00 \|\| filterDir == filterMask)
mjr	58:523fdcffbe6d	3738	{
mjr	58:523fdcffbe6d	3739	// motion away from the average - reset the average
mjr	58:523fdcffbe6d	3740	filterDir = 0x5555;
mjr	58:523fdcffbe6d	3741	filterN = 1;
mjr	58:523fdcffbe6d	3742	filterSum = (lastAvg + z)/2;
mjr	58:523fdcffbe6d	3743	return int16_t(filterSum);
mjr	58:523fdcffbe6d	3744	}
mjr	58:523fdcffbe6d	3745	else
mjr	58:523fdcffbe6d	3746	{
mjr	69:cc5039284fac	3747	// we're directionless - return the new average, with the
mjr	58:523fdcffbe6d	3748	// new sample included
mjr	58:523fdcffbe6d	3749	filterSum += z;
mjr	58:523fdcffbe6d	3750	++filterN;
mjr	58:523fdcffbe6d	3751	return int16_t(filterSum / filterN);
mjr	58:523fdcffbe6d	3752	}
mjr	58:523fdcffbe6d	3753	}
mjr	58:523fdcffbe6d	3754	else
mjr	58:523fdcffbe6d	3755	{
mjr	58:523fdcffbe6d	3756	// firing mode - skip the filter
mjr	58:523fdcffbe6d	3757	filterN = 1;
mjr	58:523fdcffbe6d	3758	filterSum = z;
mjr	58:523fdcffbe6d	3759	filterDir = 0x5555;
mjr	58:523fdcffbe6d	3760	return z;
mjr	58:523fdcffbe6d	3761	}
mjr	58:523fdcffbe6d	3762	}
mjr	69:cc5039284fac	3763	#endif
mjr	58:523fdcffbe6d	3764
mjr	58:523fdcffbe6d	3765	void initFilter()
mjr	58:523fdcffbe6d	3766	{
mjr	58:523fdcffbe6d	3767	filterSum = 0;
mjr	58:523fdcffbe6d	3768	filterN = 1;
mjr	58:523fdcffbe6d	3769	filterDir = 0x5555;
mjr	58:523fdcffbe6d	3770	}
mjr	58:523fdcffbe6d	3771	int64_t filterSum;
mjr	58:523fdcffbe6d	3772	int64_t filterN;
mjr	58:523fdcffbe6d	3773	uint16_t filterDir;
mjr	58:523fdcffbe6d	3774
mjr	58:523fdcffbe6d	3775
mjr	52:8298b2a73eb2	3776	// Calibration state. During calibration mode, we watch for release
mjr	52:8298b2a73eb2	3777	// events, to measure the time it takes to complete the release
mjr	52:8298b2a73eb2	3778	// motion; and we watch for the plunger to come to reset after a
mjr	52:8298b2a73eb2	3779	// release, to gather statistics on the rest position.
mjr	52:8298b2a73eb2	3780	// 0 = waiting to settle
mjr	52:8298b2a73eb2	3781	// 1 = at rest
mjr	52:8298b2a73eb2	3782	// 2 = retracting
mjr	52:8298b2a73eb2	3783	// 3 = possibly releasing
mjr	52:8298b2a73eb2	3784	uint8_t calState;
mjr	52:8298b2a73eb2	3785
mjr	52:8298b2a73eb2	3786	// Calibration zero point statistics.
mjr	52:8298b2a73eb2	3787	// During calibration mode, we collect data on the rest position (the
mjr	52:8298b2a73eb2	3788	// zero point) by watching for the plunger to come to rest after each
mjr	52:8298b2a73eb2	3789	// release. We average these rest positions to get the calibrated
mjr	52:8298b2a73eb2	3790	// zero point. We use the average because the real physical plunger
mjr	52:8298b2a73eb2	3791	// itself doesn't come to rest at exactly the same spot every time,
mjr	52:8298b2a73eb2	3792	// largely due to friction in the mechanism. To calculate the average,
mjr	52:8298b2a73eb2	3793	// we keep a sum of the readings and a count of samples.
mjr	53:9b2611964afc	3794	PlungerReading calZeroStart;
mjr	52:8298b2a73eb2	3795	long calZeroPosSum;
mjr	52:8298b2a73eb2	3796	int calZeroPosN;
mjr	52:8298b2a73eb2	3797
mjr	52:8298b2a73eb2	3798	// Calibration release time statistics.
mjr	52:8298b2a73eb2	3799	// During calibration, we collect an average for the release time.
mjr	52:8298b2a73eb2	3800	long calRlsTimeSum;
mjr	52:8298b2a73eb2	3801	int calRlsTimeN;
mjr	52:8298b2a73eb2	3802
mjr	48:058ace2aed1d	3803	// set a firing mode
mjr	48:058ace2aed1d	3804	inline void firingMode(int m)
mjr	48:058ace2aed1d	3805	{
mjr	48:058ace2aed1d	3806	firing = m;
mjr	48:058ace2aed1d	3807	}
mjr	48:058ace2aed1d	3808
mjr	48:058ace2aed1d	3809	// Find the most recent local maximum in the history data, up to
mjr	48:058ace2aed1d	3810	// the given time limit.
mjr	48:058ace2aed1d	3811	int histLocalMax(uint32_t tcur, uint32_t dt)
mjr	48:058ace2aed1d	3812	{
mjr	48:058ace2aed1d	3813	// start with the prior entry
mjr	48:058ace2aed1d	3814	int idx = (histIdx == 0 ? countof(hist) : histIdx) - 1;
mjr	48:058ace2aed1d	3815	int hi = hist[idx].pos;
mjr	48:058ace2aed1d	3816
mjr	48:058ace2aed1d	3817	// scan backwards for a local maximum
mjr	48:058ace2aed1d	3818	for (int n = countof(hist) - 1 ; n > 0 ; idx = (idx == 0 ? countof(hist) : idx) - 1)
mjr	48:058ace2aed1d	3819	{
mjr	48:058ace2aed1d	3820	// if this isn't within the time window, stop
mjr	48:058ace2aed1d	3821	if (uint32_t(tcur - hist[idx].t) > dt)
mjr	48:058ace2aed1d	3822	break;
mjr	48:058ace2aed1d	3823
mjr	48:058ace2aed1d	3824	// if this isn't above the current hith, stop
mjr	48:058ace2aed1d	3825	if (hist[idx].pos < hi)
mjr	48:058ace2aed1d	3826	break;
mjr	48:058ace2aed1d	3827
mjr	48:058ace2aed1d	3828	// this is the new high
mjr	48:058ace2aed1d	3829	hi = hist[idx].pos;
mjr	48:058ace2aed1d	3830	}
mjr	48:058ace2aed1d	3831
mjr	48:058ace2aed1d	3832	// return the local maximum
mjr	48:058ace2aed1d	3833	return hi;
mjr	48:058ace2aed1d	3834	}
mjr	48:058ace2aed1d	3835
mjr	50:40015764bbe6	3836	// velocity at previous reading, and the one before that
mjr	50:40015764bbe6	3837	float vprv, vprv2;
mjr	48:058ace2aed1d	3838
mjr	48:058ace2aed1d	3839	// Circular buffer of recent readings. We keep a short history
mjr	48:058ace2aed1d	3840	// of readings to analyze during firing events. We can only identify
mjr	48:058ace2aed1d	3841	// a firing event once it's somewhat under way, so we need a little
mjr	48:058ace2aed1d	3842	// retrospective information to accurately determine after the fact
mjr	48:058ace2aed1d	3843	// exactly when it started. We throttle our readings to no more
mjr	48:058ace2aed1d	3844	// than one every 2ms, so we have at least N*2ms of history in this
mjr	48:058ace2aed1d	3845	// array.
mjr	50:40015764bbe6	3846	PlungerReading hist[25];
mjr	48:058ace2aed1d	3847	int histIdx;
mjr	49:37bd97eb7688	3848
mjr	50:40015764bbe6	3849	// get the nth history item (0=last, 1=2nd to last, etc)
mjr	50:40015764bbe6	3850	const PlungerReading &nthHist(int n) const
mjr	50:40015764bbe6	3851	{
mjr	50:40015764bbe6	3852	// histIdx-1 is the last written; go from there
mjr	50:40015764bbe6	3853	n = histIdx - 1 - n;
mjr	50:40015764bbe6	3854
mjr	50:40015764bbe6	3855	// adjust for wrapping
mjr	50:40015764bbe6	3856	if (n < 0)
mjr	50:40015764bbe6	3857	n += countof(hist);
mjr	50:40015764bbe6	3858
mjr	50:40015764bbe6	3859	// return the item
mjr	50:40015764bbe6	3860	return hist[n];
mjr	50:40015764bbe6	3861	}
mjr	48:058ace2aed1d	3862
mjr	48:058ace2aed1d	3863	// Firing event state.
mjr	48:058ace2aed1d	3864	//
mjr	48:058ace2aed1d	3865	// 0 - Default state. We report the real instantaneous plunger
mjr	48:058ace2aed1d	3866	// position to the joystick interface.
mjr	48:058ace2aed1d	3867	//
mjr	53:9b2611964afc	3868	// 1 - Moving forward
mjr	48:058ace2aed1d	3869	//
mjr	53:9b2611964afc	3870	// 2 - Accelerating
mjr	48:058ace2aed1d	3871	//
mjr	53:9b2611964afc	3872	// 3 - Firing. We report the rest position for a minimum interval,
mjr	53:9b2611964afc	3873	// or until the real plunger comes to rest somewhere.
mjr	48:058ace2aed1d	3874	//
mjr	48:058ace2aed1d	3875	int firing;
mjr	48:058ace2aed1d	3876
mjr	51:57eb311faafa	3877	// Position/timestamp at start of firing phase 1. When we see a
mjr	51:57eb311faafa	3878	// sustained forward acceleration, we freeze joystick reports at
mjr	51:57eb311faafa	3879	// the recent local maximum, on the assumption that this was the
mjr	51:57eb311faafa	3880	// start of the release. If this is zero, it means that we're
mjr	51:57eb311faafa	3881	// monitoring accelerating motion but haven't seen it for long
mjr	51:57eb311faafa	3882	// enough yet to be confident that a release is in progress.
mjr	48:058ace2aed1d	3883	PlungerReading f1;
mjr	48:058ace2aed1d	3884
mjr	48:058ace2aed1d	3885	// Position/timestamp at start of firing phase 2. The position is
mjr	48:058ace2aed1d	3886	// the fake "bounce" position we report during this phase, and the
mjr	48:058ace2aed1d	3887	// timestamp tells us when the phase began so that we can end it
mjr	48:058ace2aed1d	3888	// after enough time elapses.
mjr	48:058ace2aed1d	3889	PlungerReading f2;
mjr	48:058ace2aed1d	3890
mjr	48:058ace2aed1d	3891	// Position/timestamp of start of stability window during phase 3.
mjr	48:058ace2aed1d	3892	// We use this to determine when the plunger comes to rest. We set
mjr	51:57eb311faafa	3893	// this at the beginning of phase 3, and then reset it when the
mjr	48:058ace2aed1d	3894	// plunger moves too far from the last position.
mjr	48:058ace2aed1d	3895	PlungerReading f3s;
mjr	48:058ace2aed1d	3896
mjr	48:058ace2aed1d	3897	// Position/timestamp of start of retraction window during phase 3.
mjr	48:058ace2aed1d	3898	// We use this to determine if the user is drawing the plunger back.
mjr	48:058ace2aed1d	3899	// If we see retraction motion for more than about 65ms, we assume
mjr	48:058ace2aed1d	3900	// that the user has taken over, because we should see forward
mjr	48:058ace2aed1d	3901	// motion within this timeframe if the plunger is just bouncing
mjr	48:058ace2aed1d	3902	// freely.
mjr	48:058ace2aed1d	3903	PlungerReading f3r;
mjr	48:058ace2aed1d	3904
mjr	58:523fdcffbe6d	3905	// next raw (unfiltered) Z value to report to the joystick interface
mjr	58:523fdcffbe6d	3906	// (in joystick distance units)
mjr	48:058ace2aed1d	3907	int z;
mjr	48:058ace2aed1d	3908
mjr	48:058ace2aed1d	3909	// velocity of this reading (joystick distance units per microsecond)
mjr	48:058ace2aed1d	3910	float vz;
mjr	58:523fdcffbe6d	3911
mjr	58:523fdcffbe6d	3912	// next filtered Z value to report to the joystick interface
mjr	58:523fdcffbe6d	3913	int zf;
mjr	48:058ace2aed1d	3914	};
mjr	48:058ace2aed1d	3915
mjr	48:058ace2aed1d	3916	// plunger reader singleton
mjr	48:058ace2aed1d	3917	PlungerReader plungerReader;
mjr	48:058ace2aed1d	3918
mjr	48:058ace2aed1d	3919	// ---------------------------------------------------------------------------
mjr	48:058ace2aed1d	3920	//
mjr	48:058ace2aed1d	3921	// Handle the ZB Launch Ball feature.
mjr	48:058ace2aed1d	3922	//
mjr	48:058ace2aed1d	3923	// The ZB Launch Ball feature, if enabled, lets the mechanical plunger
mjr	48:058ace2aed1d	3924	// serve as a substitute for a physical Launch Ball button. When a table
mjr	48:058ace2aed1d	3925	// is loaded in VP, and the table has the ZB Launch Ball LedWiz port
mjr	48:058ace2aed1d	3926	// turned on, we'll disable mechanical plunger reports through the
mjr	48:058ace2aed1d	3927	// joystick interface and instead use the plunger only to simulate the
mjr	48:058ace2aed1d	3928	// Launch Ball button. When the mode is active, pulling back and
mjr	48:058ace2aed1d	3929	// releasing the plunger causes a brief simulated press of the Launch
mjr	48:058ace2aed1d	3930	// button, and pushing the plunger forward of the rest position presses
mjr	48:058ace2aed1d	3931	// the Launch button as long as the plunger is pressed forward.
mjr	48:058ace2aed1d	3932	//
mjr	48:058ace2aed1d	3933	// This feature has two configuration components:
mjr	48:058ace2aed1d	3934	//
mjr	48:058ace2aed1d	3935	// - An LedWiz port number. This port is a "virtual" port that doesn't
mjr	48:058ace2aed1d	3936	// have to be attached to any actual output. DOF uses it to signal
mjr	48:058ace2aed1d	3937	// that the current table uses a Launch button instead of a plunger.
mjr	48:058ace2aed1d	3938	// DOF simply turns the port on when such a table is loaded and turns
mjr	48:058ace2aed1d	3939	// it off at all other times. We use it to enable and disable the
mjr	48:058ace2aed1d	3940	// plunger/launch button connection.
mjr	48:058ace2aed1d	3941	//
mjr	48:058ace2aed1d	3942	// - A joystick button ID. We simulate pressing this button when the
mjr	48:058ace2aed1d	3943	// launch feature is activated via the LedWiz port and the plunger is
mjr	48:058ace2aed1d	3944	// either pulled back and releasd, or pushed forward past the rest
mjr	48:058ace2aed1d	3945	// position.
mjr	48:058ace2aed1d	3946	//
mjr	48:058ace2aed1d	3947	class ZBLaunchBall
mjr	48:058ace2aed1d	3948	{
mjr	48:058ace2aed1d	3949	public:
mjr	48:058ace2aed1d	3950	ZBLaunchBall()
mjr	48:058ace2aed1d	3951	{
mjr	48:058ace2aed1d	3952	// start in the default state
mjr	48:058ace2aed1d	3953	lbState = 0;
mjr	53:9b2611964afc	3954	btnState = false;
mjr	48:058ace2aed1d	3955	}
mjr	48:058ace2aed1d	3956
mjr	48:058ace2aed1d	3957	// Update state. This checks the current plunger position and
mjr	48:058ace2aed1d	3958	// the timers to see if the plunger is in a position that simulates
mjr	48:058ace2aed1d	3959	// a Launch Ball button press via the ZB Launch Ball feature.
mjr	48:058ace2aed1d	3960	// Updates the simulated button vector according to the current
mjr	48:058ace2aed1d	3961	// launch ball state. The main loop calls this before each
mjr	48:058ace2aed1d	3962	// joystick update to figure the new simulated button state.
mjr	53:9b2611964afc	3963	void update()
mjr	48:058ace2aed1d	3964	{
mjr	53:9b2611964afc	3965	// If the ZB Launch Ball led wiz output is ON, check for a
mjr	53:9b2611964afc	3966	// plunger firing event
mjr	53:9b2611964afc	3967	if (zbLaunchOn)
mjr	48:058ace2aed1d	3968	{
mjr	53:9b2611964afc	3969	// note the new position
mjr	48:058ace2aed1d	3970	int znew = plungerReader.getPosition();
mjr	53:9b2611964afc	3971
mjr	53:9b2611964afc	3972	// figure the push threshold from the configuration data
mjr	51:57eb311faafa	3973	const int pushThreshold = int(-JOYMAX/3.0 * cfg.plunger.zbLaunchBall.pushDistance/1000.0);
mjr	53:9b2611964afc	3974
mjr	53:9b2611964afc	3975	// check the state
mjr	48:058ace2aed1d	3976	switch (lbState)
mjr	48:058ace2aed1d	3977	{
mjr	48:058ace2aed1d	3978	case 0:
mjr	53:9b2611964afc	3979	// Default state. If a launch event has been detected on
mjr	53:9b2611964afc	3980	// the plunger, activate a timed pulse and switch to state 1.
mjr	53:9b2611964afc	3981	// If the plunger is pushed forward of the threshold, push
mjr	53:9b2611964afc	3982	// the button.
mjr	53:9b2611964afc	3983	if (plungerReader.isFiring())
mjr	53:9b2611964afc	3984	{
mjr	53:9b2611964afc	3985	// firing event - start a timed Launch button pulse
mjr	53:9b2611964afc	3986	lbTimer.reset();
mjr	53:9b2611964afc	3987	lbTimer.start();
mjr	53:9b2611964afc	3988	setButton(true);
mjr	53:9b2611964afc	3989
mjr	53:9b2611964afc	3990	// switch to state 1
mjr	53:9b2611964afc	3991	lbState = 1;
mjr	53:9b2611964afc	3992	}
mjr	48:058ace2aed1d	3993	else if (znew <= pushThreshold)
mjr	53:9b2611964afc	3994	{
mjr	53:9b2611964afc	3995	// pushed forward without a firing event - hold the
mjr	53:9b2611964afc	3996	// button as long as we're pushed forward
mjr	53:9b2611964afc	3997	setButton(true);
mjr	53:9b2611964afc	3998	}
mjr	53:9b2611964afc	3999	else
mjr	53:9b2611964afc	4000	{
mjr	53:9b2611964afc	4001	// not pushed forward - turn off the Launch button
mjr	53:9b2611964afc	4002	setButton(false);
mjr	53:9b2611964afc	4003	}
mjr	48:058ace2aed1d	4004	break;
mjr	48:058ace2aed1d	4005
mjr	48:058ace2aed1d	4006	case 1:
mjr	53:9b2611964afc	4007	// State 1: Timed Launch button pulse in progress after a
mjr	53:9b2611964afc	4008	// firing event. Wait for the timer to expire.
mjr	53:9b2611964afc	4009	if (lbTimer.read_us() > 200000UL)
mjr	53:9b2611964afc	4010	{
mjr	53:9b2611964afc	4011	// timer expired - turn off the button
mjr	53:9b2611964afc	4012	setButton(false);
mjr	53:9b2611964afc	4013
mjr	53:9b2611964afc	4014	// switch to state 2
mjr	53:9b2611964afc	4015	lbState = 2;
mjr	53:9b2611964afc	4016	}
mjr	48:058ace2aed1d	4017	break;
mjr	48:058ace2aed1d	4018
mjr	48:058ace2aed1d	4019	case 2:
mjr	53:9b2611964afc	4020	// State 2: Timed Launch button pulse done. Wait for the
mjr	53:9b2611964afc	4021	// plunger launch event to end.
mjr	53:9b2611964afc	4022	if (!plungerReader.isFiring())
mjr	53:9b2611964afc	4023	{
mjr	53:9b2611964afc	4024	// firing event done - return to default state
mjr	53:9b2611964afc	4025	lbState = 0;
mjr	53:9b2611964afc	4026	}
mjr	48:058ace2aed1d	4027	break;
mjr	48:058ace2aed1d	4028	}
mjr	53:9b2611964afc	4029	}
mjr	53:9b2611964afc	4030	else
mjr	53:9b2611964afc	4031	{
mjr	53:9b2611964afc	4032	// ZB Launch Ball disabled - turn off the button if it was on
mjr	53:9b2611964afc	4033	setButton(false);
mjr	48:058ace2aed1d	4034
mjr	53:9b2611964afc	4035	// return to the default state
mjr	53:9b2611964afc	4036	lbState = 0;
mjr	48:058ace2aed1d	4037	}
mjr	48:058ace2aed1d	4038	}
mjr	53:9b2611964afc	4039
mjr	53:9b2611964afc	4040	// Set the button state
mjr	53:9b2611964afc	4041	void setButton(bool on)
mjr	53:9b2611964afc	4042	{
mjr	53:9b2611964afc	4043	if (btnState != on)
mjr	53:9b2611964afc	4044	{
mjr	53:9b2611964afc	4045	// remember the new state
mjr	53:9b2611964afc	4046	btnState = on;
mjr	53:9b2611964afc	4047
mjr	53:9b2611964afc	4048	// update the virtual button state
mjr	65:739875521aae	4049	buttonState[zblButtonIndex].virtPress(on);
mjr	53:9b2611964afc	4050	}
mjr	53:9b2611964afc	4051	}
mjr	53:9b2611964afc	4052
mjr	48:058ace2aed1d	4053	private:
mjr	48:058ace2aed1d	4054	// Simulated Launch Ball button state. If a "ZB Launch Ball" port is
mjr	48:058ace2aed1d	4055	// defined for our LedWiz port mapping, any time that port is turned ON,
mjr	48:058ace2aed1d	4056	// we'll simulate pushing the Launch Ball button if the player pulls
mjr	48:058ace2aed1d	4057	// back and releases the plunger, or simply pushes on the plunger from
mjr	48:058ace2aed1d	4058	// the rest position. This allows the plunger to be used in lieu of a
mjr	48:058ace2aed1d	4059	// physical Launch Ball button for tables that don't have plungers.
mjr	48:058ace2aed1d	4060	//
mjr	48:058ace2aed1d	4061	// States:
mjr	48:058ace2aed1d	4062	// 0 = default
mjr	53:9b2611964afc	4063	// 1 = firing (firing event has activated a Launch button pulse)
mjr	53:9b2611964afc	4064	// 2 = firing done (Launch button pulse ended, waiting for plunger
mjr	53:9b2611964afc	4065	// firing event to end)
mjr	53:9b2611964afc	4066	uint8_t lbState;
mjr	48:058ace2aed1d	4067
mjr	53:9b2611964afc	4068	// button state
mjr	53:9b2611964afc	4069	bool btnState;
mjr	48:058ace2aed1d	4070
mjr	48:058ace2aed1d	4071	// Time since last lbState transition. Some of the states are time-
mjr	48:058ace2aed1d	4072	// sensitive. In the "uncocked" state, we'll return to state 0 if
mjr	48:058ace2aed1d	4073	// we remain in this state for more than a few milliseconds, since
mjr	48:058ace2aed1d	4074	// it indicates that the plunger is being slowly returned to rest
mjr	48:058ace2aed1d	4075	// rather than released. In the "launching" state, we need to release
mjr	48:058ace2aed1d	4076	// the Launch Ball button after a moment, and we need to wait for
mjr	48:058ace2aed1d	4077	// the plunger to come to rest before returning to state 0.
mjr	48:058ace2aed1d	4078	Timer lbTimer;
mjr	48:058ace2aed1d	4079	};
mjr	48:058ace2aed1d	4080
mjr	35:e959ffba78fd	4081	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	4082	//
mjr	35:e959ffba78fd	4083	// Reboot - resets the microcontroller
mjr	35:e959ffba78fd	4084	//
mjr	54:fd77a6b2f76c	4085	void reboot(USBJoystick &js, bool disconnect = true, long pause_us = 2000000L)
mjr	35:e959ffba78fd	4086	{
mjr	35:e959ffba78fd	4087	// disconnect from USB
mjr	54:fd77a6b2f76c	4088	if (disconnect)
mjr	54:fd77a6b2f76c	4089	js.disconnect();
mjr	35:e959ffba78fd	4090
mjr	35:e959ffba78fd	4091	// wait a few seconds to make sure the host notices the disconnect
mjr	54:fd77a6b2f76c	4092	wait_us(pause_us);
mjr	35:e959ffba78fd	4093
mjr	35:e959ffba78fd	4094	// reset the device
mjr	35:e959ffba78fd	4095	NVIC_SystemReset();
mjr	35:e959ffba78fd	4096	while (true) { }
mjr	35:e959ffba78fd	4097	}
mjr	35:e959ffba78fd	4098
mjr	35:e959ffba78fd	4099	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	4100	//
mjr	35:e959ffba78fd	4101	// Translate joystick readings from raw values to reported values, based
mjr	35:e959ffba78fd	4102	// on the orientation of the controller card in the cabinet.
mjr	35:e959ffba78fd	4103	//
mjr	35:e959ffba78fd	4104	void accelRotate(int &x, int &y)
mjr	35:e959ffba78fd	4105	{
mjr	35:e959ffba78fd	4106	int tmp;
mjr	35:e959ffba78fd	4107	switch (cfg.orientation)
mjr	35:e959ffba78fd	4108	{
mjr	35:e959ffba78fd	4109	case OrientationFront:
mjr	35:e959ffba78fd	4110	tmp = x;
mjr	35:e959ffba78fd	4111	x = y;
mjr	35:e959ffba78fd	4112	y = tmp;
mjr	35:e959ffba78fd	4113	break;
mjr	35:e959ffba78fd	4114
mjr	35:e959ffba78fd	4115	case OrientationLeft:
mjr	35:e959ffba78fd	4116	x = -x;
mjr	35:e959ffba78fd	4117	break;
mjr	35:e959ffba78fd	4118
mjr	35:e959ffba78fd	4119	case OrientationRight:
mjr	35:e959ffba78fd	4120	y = -y;
mjr	35:e959ffba78fd	4121	break;
mjr	35:e959ffba78fd	4122
mjr	35:e959ffba78fd	4123	case OrientationRear:
mjr	35:e959ffba78fd	4124	tmp = -x;
mjr	35:e959ffba78fd	4125	x = -y;
mjr	35:e959ffba78fd	4126	y = tmp;
mjr	35:e959ffba78fd	4127	break;
mjr	35:e959ffba78fd	4128	}
mjr	35:e959ffba78fd	4129	}
mjr	35:e959ffba78fd	4130
mjr	35:e959ffba78fd	4131	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	4132	//
mjr	35:e959ffba78fd	4133	// Calibration button state:
mjr	35:e959ffba78fd	4134	// 0 = not pushed
mjr	35:e959ffba78fd	4135	// 1 = pushed, not yet debounced
mjr	35:e959ffba78fd	4136	// 2 = pushed, debounced, waiting for hold time
mjr	35:e959ffba78fd	4137	// 3 = pushed, hold time completed - in calibration mode
mjr	35:e959ffba78fd	4138	int calBtnState = 0;
mjr	35:e959ffba78fd	4139
mjr	35:e959ffba78fd	4140	// calibration button debounce timer
mjr	35:e959ffba78fd	4141	Timer calBtnTimer;
mjr	35:e959ffba78fd	4142
mjr	35:e959ffba78fd	4143	// calibration button light state
mjr	35:e959ffba78fd	4144	int calBtnLit = false;
mjr	35:e959ffba78fd	4145
mjr	35:e959ffba78fd	4146
mjr	35:e959ffba78fd	4147	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	4148	//
mjr	40:cc0d9814522b	4149	// Configuration variable get/set message handling
mjr	35:e959ffba78fd	4150	//
mjr	40:cc0d9814522b	4151
mjr	40:cc0d9814522b	4152	// Handle SET messages - write configuration variables from USB message data
mjr	40:cc0d9814522b	4153	#define if_msg_valid(test) if (test)
mjr	53:9b2611964afc	4154	#define v_byte(var, ofs) cfg.var = data[ofs]
mjr	53:9b2611964afc	4155	#define v_ui16(var, ofs) cfg.var = wireUI16(data+(ofs))
mjr	53:9b2611964afc	4156	#define v_pin(var, ofs) cfg.var = wirePinName(data[ofs])
mjr	53:9b2611964afc	4157	#define v_byte_ro(val, ofs) // ignore read-only variables on SET
mjr	40:cc0d9814522b	4158	#define v_func configVarSet
mjr	40:cc0d9814522b	4159	#include "cfgVarMsgMap.h"
mjr	35:e959ffba78fd	4160
mjr	40:cc0d9814522b	4161	// redefine everything for the SET messages
mjr	40:cc0d9814522b	4162	#undef if_msg_valid
mjr	40:cc0d9814522b	4163	#undef v_byte
mjr	40:cc0d9814522b	4164	#undef v_ui16
mjr	40:cc0d9814522b	4165	#undef v_pin
mjr	53:9b2611964afc	4166	#undef v_byte_ro
mjr	40:cc0d9814522b	4167	#undef v_func
mjr	38:091e511ce8a0	4168
mjr	40:cc0d9814522b	4169	// Handle GET messages - read variable values and return in USB message daa
mjr	40:cc0d9814522b	4170	#define if_msg_valid(test)
mjr	53:9b2611964afc	4171	#define v_byte(var, ofs) data[ofs] = cfg.var
mjr	53:9b2611964afc	4172	#define v_ui16(var, ofs) ui16Wire(data+(ofs), cfg.var)
mjr	53:9b2611964afc	4173	#define v_pin(var, ofs) pinNameWire(data+(ofs), cfg.var)
mjr	53:9b2611964afc	4174	#define v_byte_ro(val, ofs) data[ofs] = val
mjr	40:cc0d9814522b	4175	#define v_func configVarGet
mjr	40:cc0d9814522b	4176	#include "cfgVarMsgMap.h"
mjr	40:cc0d9814522b	4177
mjr	35:e959ffba78fd	4178
mjr	35:e959ffba78fd	4179	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	4180	//
mjr	35:e959ffba78fd	4181	// Handle an input report from the USB host. Input reports use our extended
mjr	35:e959ffba78fd	4182	// LedWiz protocol.
mjr	33:d832bcab089e	4183	//
mjr	48:058ace2aed1d	4184	void handleInputMsg(LedWizMsg &lwm, USBJoystick &js)
mjr	35:e959ffba78fd	4185	{
mjr	38:091e511ce8a0	4186	// LedWiz commands come in two varieties: SBA and PBA. An
mjr	38:091e511ce8a0	4187	// SBA is marked by the first byte having value 64 (0x40). In
mjr	38:091e511ce8a0	4188	// the real LedWiz protocol, any other value in the first byte
mjr	38:091e511ce8a0	4189	// means it's a PBA message. However, valid PBA messages
mjr	38:091e511ce8a0	4190	// always have a first byte (and in fact all 8 bytes) in the
mjr	38:091e511ce8a0	4191	// range 0-49 or 129-132. Anything else is invalid. We take
mjr	38:091e511ce8a0	4192	// advantage of this to implement private protocol extensions.
mjr	38:091e511ce8a0	4193	// So our full protocol is as follows:
mjr	38:091e511ce8a0	4194	//
mjr	38:091e511ce8a0	4195	// first byte =
mjr	38:091e511ce8a0	4196	// 0-48 -> LWZ-PBA
mjr	38:091e511ce8a0	4197	// 64 -> LWZ SBA
mjr	38:091e511ce8a0	4198	// 65 -> private control message; second byte specifies subtype
mjr	38:091e511ce8a0	4199	// 129-132 -> LWZ-PBA
mjr	38:091e511ce8a0	4200	// 200-228 -> extended bank brightness set for outputs N to N+6, where
mjr	38:091e511ce8a0	4201	// N is (first byte - 200)*7
mjr	38:091e511ce8a0	4202	// other -> reserved for future use
mjr	38:091e511ce8a0	4203	//
mjr	39:b3815a1c3802	4204	uint8_t *data = lwm.data;
mjr	38:091e511ce8a0	4205	if (data[0] == 64)
mjr	35:e959ffba78fd	4206	{
mjr	38:091e511ce8a0	4207	// LWZ-SBA - first four bytes are bit-packed on/off flags
mjr	38:091e511ce8a0	4208	// for the outputs; 5th byte is the pulse speed (1-7)
mjr	38:091e511ce8a0	4209	//printf("LWZ-SBA %02x %02x %02x %02x ; %02x\r\n",
mjr	38:091e511ce8a0	4210	// data[1], data[2], data[3], data[4], data[5]);
mjr	38:091e511ce8a0	4211
mjr	63:5cd1a5f3a41b	4212	// switch to LedWiz protocol mode
mjr	63:5cd1a5f3a41b	4213	ledWizMode = true;
mjr	63:5cd1a5f3a41b	4214
mjr	38:091e511ce8a0	4215	// update all on/off states
mjr	38:091e511ce8a0	4216	for (int i = 0, bit = 1, ri = 1 ; i < numLwOutputs ; ++i, bit <<= 1)
mjr	35:e959ffba78fd	4217	{
mjr	38:091e511ce8a0	4218	// figure the on/off state bit for this output
mjr	38:091e511ce8a0	4219	if (bit == 0x100) {
mjr	38:091e511ce8a0	4220	bit = 1;
mjr	38:091e511ce8a0	4221	++ri;
mjr	35:e959ffba78fd	4222	}
mjr	35:e959ffba78fd	4223
mjr	38:091e511ce8a0	4224	// set the on/off state
mjr	38:091e511ce8a0	4225	wizOn[i] = ((data[ri] & bit) != 0);
mjr	38:091e511ce8a0	4226	}
mjr	38:091e511ce8a0	4227
mjr	38:091e511ce8a0	4228	// set the flash speed - enforce the value range 1-7
mjr	38:091e511ce8a0	4229	wizSpeed = data[5];
mjr	38:091e511ce8a0	4230	if (wizSpeed < 1)
mjr	38:091e511ce8a0	4231	wizSpeed = 1;
mjr	38:091e511ce8a0	4232	else if (wizSpeed > 7)
mjr	38:091e511ce8a0	4233	wizSpeed = 7;
mjr	38:091e511ce8a0	4234
mjr	38:091e511ce8a0	4235	// update the physical outputs
mjr	38:091e511ce8a0	4236	updateWizOuts();
mjr	38:091e511ce8a0	4237	if (hc595 != 0)
mjr	38:091e511ce8a0	4238	hc595->update();
mjr	38:091e511ce8a0	4239
mjr	38:091e511ce8a0	4240	// reset the PBA counter
mjr	38:091e511ce8a0	4241	pbaIdx = 0;
mjr	38:091e511ce8a0	4242	}
mjr	38:091e511ce8a0	4243	else if (data[0] == 65)
mjr	38:091e511ce8a0	4244	{
mjr	38:091e511ce8a0	4245	// Private control message. This isn't an LedWiz message - it's
mjr	38:091e511ce8a0	4246	// an extension for this device. 65 is an invalid PBA setting,
mjr	38:091e511ce8a0	4247	// and isn't used for any other LedWiz message, so we appropriate
mjr	38:091e511ce8a0	4248	// it for our own private use. The first byte specifies the
mjr	38:091e511ce8a0	4249	// message type.
mjr	39:b3815a1c3802	4250	switch (data[1])
mjr	38:091e511ce8a0	4251	{
mjr	39:b3815a1c3802	4252	case 0:
mjr	39:b3815a1c3802	4253	// No Op
mjr	39:b3815a1c3802	4254	break;
mjr	39:b3815a1c3802	4255
mjr	39:b3815a1c3802	4256	case 1:
mjr	38:091e511ce8a0	4257	// 1 = Old Set Configuration:
mjr	38:091e511ce8a0	4258	// data[2] = LedWiz unit number (0x00 to 0x0f)
mjr	38:091e511ce8a0	4259	// data[3] = feature enable bit mask:
mjr	38:091e511ce8a0	4260	// 0x01 = enable plunger sensor
mjr	39:b3815a1c3802	4261	{
mjr	39:b3815a1c3802	4262
mjr	39:b3815a1c3802	4263	// get the new LedWiz unit number - this is 0-15, whereas we
mjr	39:b3815a1c3802	4264	// we save the nominal unit number 1-16 in the config
mjr	39:b3815a1c3802	4265	uint8_t newUnitNo = (data[2] & 0x0f) + 1;
mjr	39:b3815a1c3802	4266
mjr	39:b3815a1c3802	4267	// we'll need a reset if the LedWiz unit number is changing
mjr	39:b3815a1c3802	4268	bool needReset = (newUnitNo != cfg.psUnitNo);
mjr	39:b3815a1c3802	4269
mjr	39:b3815a1c3802	4270	// set the configuration parameters from the message
mjr	39:b3815a1c3802	4271	cfg.psUnitNo = newUnitNo;
mjr	39:b3815a1c3802	4272	cfg.plunger.enabled = data[3] & 0x01;
mjr	39:b3815a1c3802	4273
mjr	39:b3815a1c3802	4274	// save the configuration
mjr	39:b3815a1c3802	4275	saveConfigToFlash();
mjr	39:b3815a1c3802	4276
mjr	39:b3815a1c3802	4277	// reboot if necessary
mjr	39:b3815a1c3802	4278	if (needReset)
mjr	39:b3815a1c3802	4279	reboot(js);
mjr	39:b3815a1c3802	4280	}
mjr	39:b3815a1c3802	4281	break;
mjr	38:091e511ce8a0	4282
mjr	39:b3815a1c3802	4283	case 2:
mjr	38:091e511ce8a0	4284	// 2 = Calibrate plunger
mjr	38:091e511ce8a0	4285	// (No parameters)
mjr	38:091e511ce8a0	4286
mjr	38:091e511ce8a0	4287	// enter calibration mode
mjr	38:091e511ce8a0	4288	calBtnState = 3;
mjr	52:8298b2a73eb2	4289	plungerReader.setCalMode(true);
mjr	38:091e511ce8a0	4290	calBtnTimer.reset();
mjr	39:b3815a1c3802	4291	break;
mjr	39:b3815a1c3802	4292
mjr	39:b3815a1c3802	4293	case 3:
mjr	52:8298b2a73eb2	4294	// 3 = plunger sensor status report
mjr	48:058ace2aed1d	4295	// data[2] = flag bits
mjr	53:9b2611964afc	4296	// data[3] = extra exposure time, 100us (.1ms) increments
mjr	52:8298b2a73eb2	4297	reportPlungerStat = true;
mjr	53:9b2611964afc	4298	reportPlungerStatFlags = data[2];
mjr	53:9b2611964afc	4299	reportPlungerStatTime = data[3];
mjr	38:091e511ce8a0	4300
mjr	38:091e511ce8a0	4301	// show purple until we finish sending the report
mjr	38:091e511ce8a0	4302	diagLED(1, 0, 1);
mjr	39:b3815a1c3802	4303	break;
mjr	39:b3815a1c3802	4304
mjr	39:b3815a1c3802	4305	case 4:
mjr	38:091e511ce8a0	4306	// 4 = hardware configuration query
mjr	38:091e511ce8a0	4307	// (No parameters)
mjr	38:091e511ce8a0	4308	js.reportConfig(
mjr	38:091e511ce8a0	4309	numOutputs,
mjr	38:091e511ce8a0	4310	cfg.psUnitNo - 1, // report 0-15 range for unit number (we store 1-16 internally)
mjr	52:8298b2a73eb2	4311	cfg.plunger.cal.zero, cfg.plunger.cal.max, cfg.plunger.cal.tRelease,
mjr	40:cc0d9814522b	4312	nvm.valid());
mjr	39:b3815a1c3802	4313	break;
mjr	39:b3815a1c3802	4314
mjr	39:b3815a1c3802	4315	case 5:
mjr	38:091e511ce8a0	4316	// 5 = all outputs off, reset to LedWiz defaults
mjr	38:091e511ce8a0	4317	allOutputsOff();
mjr	39:b3815a1c3802	4318	break;
mjr	39:b3815a1c3802	4319
mjr	39:b3815a1c3802	4320	case 6:
mjr	38:091e511ce8a0	4321	// 6 = Save configuration to flash.
mjr	38:091e511ce8a0	4322	saveConfigToFlash();
mjr	38:091e511ce8a0	4323
mjr	53:9b2611964afc	4324	// before disconnecting, pause for the delay time specified in
mjr	53:9b2611964afc	4325	// the parameter byte (in seconds)
mjr	53:9b2611964afc	4326	rebootTime_us = data[2] * 1000000L;
mjr	53:9b2611964afc	4327	rebootTimer.start();
mjr	39:b3815a1c3802	4328	break;
mjr	40:cc0d9814522b	4329
mjr	40:cc0d9814522b	4330	case 7:
mjr	40:cc0d9814522b	4331	// 7 = Device ID report
mjr	53:9b2611964afc	4332	// data[2] = ID index: 1=CPU ID, 2=OpenSDA TUID
mjr	53:9b2611964afc	4333	js.reportID(data[2]);
mjr	40:cc0d9814522b	4334	break;
mjr	40:cc0d9814522b	4335
mjr	40:cc0d9814522b	4336	case 8:
mjr	40:cc0d9814522b	4337	// 8 = Engage/disengage night mode.
mjr	40:cc0d9814522b	4338	// data[2] = 1 to engage, 0 to disengage
mjr	40:cc0d9814522b	4339	setNightMode(data[2]);
mjr	40:cc0d9814522b	4340	break;
mjr	52:8298b2a73eb2	4341
mjr	52:8298b2a73eb2	4342	case 9:
mjr	52:8298b2a73eb2	4343	// 9 = Config variable query.
mjr	52:8298b2a73eb2	4344	// data[2] = config var ID
mjr	52:8298b2a73eb2	4345	// data[3] = array index (for array vars: button assignments, output ports)
mjr	52:8298b2a73eb2	4346	{
mjr	53:9b2611964afc	4347	// set up the reply buffer with the variable ID data, and zero out
mjr	53:9b2611964afc	4348	// the rest of the buffer
mjr	52:8298b2a73eb2	4349	uint8_t reply[8];
mjr	52:8298b2a73eb2	4350	reply[1] = data[2];
mjr	52:8298b2a73eb2	4351	reply[2] = data[3];
mjr	53:9b2611964afc	4352	memset(reply+3, 0, sizeof(reply)-3);
mjr	52:8298b2a73eb2	4353
mjr	52:8298b2a73eb2	4354	// query the value
mjr	52:8298b2a73eb2	4355	configVarGet(reply);
mjr	52:8298b2a73eb2	4356
mjr	52:8298b2a73eb2	4357	// send the reply
mjr	52:8298b2a73eb2	4358	js.reportConfigVar(reply + 1);
mjr	52:8298b2a73eb2	4359	}
mjr	52:8298b2a73eb2	4360	break;
mjr	53:9b2611964afc	4361
mjr	53:9b2611964afc	4362	case 10:
mjr	53:9b2611964afc	4363	// 10 = Build ID query.
mjr	53:9b2611964afc	4364	js.reportBuildInfo(getBuildID());
mjr	53:9b2611964afc	4365	break;
mjr	38:091e511ce8a0	4366	}
mjr	38:091e511ce8a0	4367	}
mjr	38:091e511ce8a0	4368	else if (data[0] == 66)
mjr	38:091e511ce8a0	4369	{
mjr	38:091e511ce8a0	4370	// Extended protocol - Set configuration variable.
mjr	38:091e511ce8a0	4371	// The second byte of the message is the ID of the variable
mjr	38:091e511ce8a0	4372	// to update, and the remaining bytes give the new value,
mjr	38:091e511ce8a0	4373	// in a variable-dependent format.
mjr	40:cc0d9814522b	4374	configVarSet(data);
mjr	38:091e511ce8a0	4375	}
mjr	38:091e511ce8a0	4376	else if (data[0] >= 200 && data[0] <= 228)
mjr	38:091e511ce8a0	4377	{
mjr	38:091e511ce8a0	4378	// Extended protocol - Extended output port brightness update.
mjr	38:091e511ce8a0	4379	// data[0]-200 gives us the bank of 7 outputs we're setting:
mjr	38:091e511ce8a0	4380	// 200 is outputs 0-6, 201 is outputs 7-13, 202 is 14-20, etc.
mjr	38:091e511ce8a0	4381	// The remaining bytes are brightness levels, 0-255, for the
mjr	38:091e511ce8a0	4382	// seven outputs in the selected bank. The LedWiz flashing
mjr	38:091e511ce8a0	4383	// modes aren't accessible in this message type; we can only
mjr	38:091e511ce8a0	4384	// set a fixed brightness, but in exchange we get 8-bit
mjr	38:091e511ce8a0	4385	// resolution rather than the paltry 0-48 scale that the real
mjr	38:091e511ce8a0	4386	// LedWiz uses. There's no separate on/off status for outputs
mjr	38:091e511ce8a0	4387	// adjusted with this message type, either, as there would be
mjr	38:091e511ce8a0	4388	// for a PBA message - setting a non-zero value immediately
mjr	38:091e511ce8a0	4389	// turns the output, overriding the last SBA setting.
mjr	38:091e511ce8a0	4390	//
mjr	38:091e511ce8a0	4391	// For outputs 0-31, this overrides any previous PBA/SBA
mjr	38:091e511ce8a0	4392	// settings for the port. Any subsequent PBA/SBA message will
mjr	38:091e511ce8a0	4393	// in turn override the setting made here. It's simple - the
mjr	38:091e511ce8a0	4394	// most recent message of either type takes precedence. For
mjr	38:091e511ce8a0	4395	// outputs above the LedWiz range, PBA/SBA messages can't
mjr	38:091e511ce8a0	4396	// address those ports anyway.
mjr	63:5cd1a5f3a41b	4397
mjr	63:5cd1a5f3a41b	4398	// flag that we're in extended protocol mode
mjr	63:5cd1a5f3a41b	4399	ledWizMode = false;
mjr	63:5cd1a5f3a41b	4400
mjr	63:5cd1a5f3a41b	4401	// figure the block of 7 ports covered in the message
mjr	38:091e511ce8a0	4402	int i0 = (data[0] - 200)*7;
mjr	38:091e511ce8a0	4403	int i1 = i0 + 7 < numOutputs ? i0 + 7 : numOutputs;
mjr	63:5cd1a5f3a41b	4404
mjr	63:5cd1a5f3a41b	4405	// update each port
mjr	38:091e511ce8a0	4406	for (int i = i0 ; i < i1 ; ++i)
mjr	38:091e511ce8a0	4407	{
mjr	38:091e511ce8a0	4408	// set the brightness level for the output
mjr	40:cc0d9814522b	4409	uint8_t b = data[i-i0+1];
mjr	38:091e511ce8a0	4410	outLevel[i] = b;
mjr	38:091e511ce8a0	4411
mjr	38:091e511ce8a0	4412	// set the output
mjr	40:cc0d9814522b	4413	lwPin[i]->set(b);
mjr	38:091e511ce8a0	4414	}
mjr	38:091e511ce8a0	4415
mjr	38:091e511ce8a0	4416	// update 74HC595 outputs, if attached
mjr	38:091e511ce8a0	4417	if (hc595 != 0)
mjr	38:091e511ce8a0	4418	hc595->update();
mjr	38:091e511ce8a0	4419	}
mjr	38:091e511ce8a0	4420	else
mjr	38:091e511ce8a0	4421	{
mjr	38:091e511ce8a0	4422	// Everything else is LWZ-PBA. This is a full "profile"
mjr	38:091e511ce8a0	4423	// dump from the host for one bank of 8 outputs. Each
mjr	38:091e511ce8a0	4424	// byte sets one output in the current bank. The current
mjr	38:091e511ce8a0	4425	// bank is implied; the bank starts at 0 and is reset to 0
mjr	38:091e511ce8a0	4426	// by any LWZ-SBA message, and is incremented to the next
mjr	38:091e511ce8a0	4427	// bank by each LWZ-PBA message. Our variable pbaIdx keeps
mjr	38:091e511ce8a0	4428	// track of our notion of the current bank. There's no direct
mjr	38:091e511ce8a0	4429	// way for the host to select the bank; it just has to count
mjr	38:091e511ce8a0	4430	// on us staying in sync. In practice, the host will always
mjr	38:091e511ce8a0	4431	// send a full set of 4 PBA messages in a row to set all 32
mjr	38:091e511ce8a0	4432	// outputs.
mjr	38:091e511ce8a0	4433	//
mjr	38:091e511ce8a0	4434	// Note that a PBA implicitly overrides our extended profile
mjr	38:091e511ce8a0	4435	// messages (message prefix 200-219), because this sets the
mjr	38:091e511ce8a0	4436	// wizVal[] entry for each output, and that takes precedence
mjr	63:5cd1a5f3a41b	4437	// over the extended protocol settings when we're in LedWiz
mjr	63:5cd1a5f3a41b	4438	// protocol mode.
mjr	38:091e511ce8a0	4439	//
mjr	38:091e511ce8a0	4440	//printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n",
mjr	38:091e511ce8a0	4441	// pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
mjr	38:091e511ce8a0	4442
mjr	63:5cd1a5f3a41b	4443	// flag that we received an LedWiz message
mjr	63:5cd1a5f3a41b	4444	ledWizMode = true;
mjr	63:5cd1a5f3a41b	4445
mjr	38:091e511ce8a0	4446	// Update all output profile settings
mjr	38:091e511ce8a0	4447	for (int i = 0 ; i < 8 ; ++i)
mjr	38:091e511ce8a0	4448	wizVal[pbaIdx + i] = data[i];
mjr	38:091e511ce8a0	4449
mjr	38:091e511ce8a0	4450	// Update the physical LED state if this is the last bank.
mjr	38:091e511ce8a0	4451	// Note that hosts always send a full set of four PBA
mjr	38:091e511ce8a0	4452	// messages, so there's no need to do a physical update
mjr	38:091e511ce8a0	4453	// until we've received the last bank's PBA message.
mjr	38:091e511ce8a0	4454	if (pbaIdx == 24)
mjr	38:091e511ce8a0	4455	{
mjr	35:e959ffba78fd	4456	updateWizOuts();
mjr	35:e959ffba78fd	4457	if (hc595 != 0)
mjr	35:e959ffba78fd	4458	hc595->update();
mjr	35:e959ffba78fd	4459	pbaIdx = 0;
mjr	35:e959ffba78fd	4460	}
mjr	38:091e511ce8a0	4461	else
mjr	38:091e511ce8a0	4462	pbaIdx += 8;
mjr	38:091e511ce8a0	4463	}
mjr	38:091e511ce8a0	4464	}
mjr	35:e959ffba78fd	4465
mjr	33:d832bcab089e	4466
mjr	38:091e511ce8a0	4467	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	4468	//
mjr	5:a70c0bce770d	4469	// Main program loop. This is invoked on startup and runs forever. Our
mjr	5:a70c0bce770d	4470	// main work is to read our devices (the accelerometer and the CCD), process
mjr	5:a70c0bce770d	4471	// the readings into nudge and plunger position data, and send the results
mjr	5:a70c0bce770d	4472	// to the host computer via the USB joystick interface. We also monitor
mjr	5:a70c0bce770d	4473	// the USB connection for incoming LedWiz commands and process those into
mjr	5:a70c0bce770d	4474	// port outputs.
mjr	5:a70c0bce770d	4475	//
mjr	0:5acbbe3f4cf4	4476	int main(void)
mjr	0:5acbbe3f4cf4	4477	{
mjr	60:f38da020aa13	4478	// say hello to the debug console, in case it's connected
mjr	39:b3815a1c3802	4479	printf("\r\nPinscape Controller starting\r\n");
mjr	60:f38da020aa13	4480
mjr	60:f38da020aa13	4481	// debugging: print memory config info
mjr	59:94eb9265b6d7	4482	// -> no longer very useful, since we use our own custom malloc/new allocator (see xmalloc() above)
mjr	60:f38da020aa13	4483	// {int *a = new int; printf("Stack=%lx, heap=%lx, free=%ld\r\n", (long)&a, (long)a, (long)&a - (long)a);}
mjr	1:d913e0afb2ac	4484
mjr	39:b3815a1c3802	4485	// clear the I2C bus (for the accelerometer)
mjr	35:e959ffba78fd	4486	clear_i2c();
mjr	38:091e511ce8a0	4487
mjr	43:7a6364d82a41	4488	// load the saved configuration (or set factory defaults if no flash
mjr	43:7a6364d82a41	4489	// configuration has ever been saved)
mjr	35:e959ffba78fd	4490	loadConfigFromFlash();
mjr	35:e959ffba78fd	4491
mjr	38:091e511ce8a0	4492	// initialize the diagnostic LEDs
mjr	38:091e511ce8a0	4493	initDiagLEDs(cfg);
mjr	38:091e511ce8a0	4494
mjr	33:d832bcab089e	4495	// we're not connected/awake yet
mjr	33:d832bcab089e	4496	bool connected = false;
mjr	40:cc0d9814522b	4497	Timer connectChangeTimer;
mjr	33:d832bcab089e	4498
mjr	35:e959ffba78fd	4499	// create the plunger sensor interface
mjr	35:e959ffba78fd	4500	createPlunger();
mjr	33:d832bcab089e	4501
mjr	60:f38da020aa13	4502	// set up the TLC5940 interface, if these chips are present
mjr	35:e959ffba78fd	4503	init_tlc5940(cfg);
mjr	34:6b981a2afab7	4504
mjr	60:f38da020aa13	4505	// set up 74HC595 interface, if these chips are present
mjr	35:e959ffba78fd	4506	init_hc595(cfg);
mjr	6:cc35eb643e8f	4507
mjr	54:fd77a6b2f76c	4508	// Initialize the LedWiz ports. Note that the ordering here is important:
mjr	54:fd77a6b2f76c	4509	// this has to come after we create the TLC5940 and 74HC595 object instances
mjr	54:fd77a6b2f76c	4510	// (which we just did above), since we need to access those objects to set
mjr	54:fd77a6b2f76c	4511	// up ports assigned to the respective chips.
mjr	35:e959ffba78fd	4512	initLwOut(cfg);
mjr	48:058ace2aed1d	4513
mjr	60:f38da020aa13	4514	// start the TLC5940 refresh cycle clock
mjr	35:e959ffba78fd	4515	if (tlc5940 != 0)
mjr	35:e959ffba78fd	4516	tlc5940->start();
mjr	35:e959ffba78fd	4517
mjr	40:cc0d9814522b	4518	// start the TV timer, if applicable
mjr	40:cc0d9814522b	4519	startTVTimer(cfg);
mjr	48:058ace2aed1d	4520
mjr	35:e959ffba78fd	4521	// initialize the button input ports
mjr	35:e959ffba78fd	4522	bool kbKeys = false;
mjr	35:e959ffba78fd	4523	initButtons(cfg, kbKeys);
mjr	38:091e511ce8a0	4524
mjr	60:f38da020aa13	4525	// Create the joystick USB client. Note that the USB vendor/product ID
mjr	60:f38da020aa13	4526	// information comes from the saved configuration. Also note that we have
mjr	60:f38da020aa13	4527	// to wait until after initializing the input buttons (which we just did
mjr	60:f38da020aa13	4528	// above) to set up the interface, since the button setup will determine
mjr	60:f38da020aa13	4529	// whether or not we need to present a USB keyboard interface in addition
mjr	60:f38da020aa13	4530	// to the joystick interface.
mjr	51:57eb311faafa	4531	MyUSBJoystick js(cfg.usbVendorID, cfg.usbProductID, USB_VERSION_NO, false,
mjr	51:57eb311faafa	4532	cfg.joystickEnabled, kbKeys);
mjr	51:57eb311faafa	4533
mjr	60:f38da020aa13	4534	// Wait for the USB connection to start up. Show a distinctive diagnostic
mjr	60:f38da020aa13	4535	// flash pattern while waiting.
mjr	51:57eb311faafa	4536	Timer connectTimer;
mjr	51:57eb311faafa	4537	connectTimer.start();
mjr	51:57eb311faafa	4538	while (!js.configured())
mjr	51:57eb311faafa	4539	{
mjr	51:57eb311faafa	4540	// show one short yellow flash at 2-second intervals
mjr	51:57eb311faafa	4541	if (connectTimer.read_us() > 2000000)
mjr	51:57eb311faafa	4542	{
mjr	51:57eb311faafa	4543	// short yellow flash
mjr	51:57eb311faafa	4544	diagLED(1, 1, 0);
mjr	54:fd77a6b2f76c	4545	wait_us(50000);
mjr	51:57eb311faafa	4546	diagLED(0, 0, 0);
mjr	51:57eb311faafa	4547
mjr	51:57eb311faafa	4548	// reset the flash timer
mjr	51:57eb311faafa	4549	connectTimer.reset();
mjr	51:57eb311faafa	4550	}
mjr	51:57eb311faafa	4551	}
mjr	60:f38da020aa13	4552
mjr	60:f38da020aa13	4553	// we're now connected to the host
mjr	54:fd77a6b2f76c	4554	connected = true;
mjr	40:cc0d9814522b	4555
mjr	60:f38da020aa13	4556	// Last report timer for the joytick interface. We use this timer to
mjr	60:f38da020aa13	4557	// throttle the report rate to a pace that's suitable for VP. Without
mjr	60:f38da020aa13	4558	// any artificial delays, we could generate data to send on the joystick
mjr	60:f38da020aa13	4559	// interface on every loop iteration. The loop iteration time depends
mjr	60:f38da020aa13	4560	// on which devices are attached, since most of the work in our main
mjr	60:f38da020aa13	4561	// loop is simply polling our devices. For typical setups, the loop
mjr	60:f38da020aa13	4562	// time ranges from about 0.25ms to 2.5ms; the biggest factor is the
mjr	60:f38da020aa13	4563	// plunger sensor. But VP polls for input about every 10ms, so there's
mjr	60:f38da020aa13	4564	// no benefit in sending data faster than that, and there's some harm,
mjr	60:f38da020aa13	4565	// in that it creates USB overhead (both on the wire and on the host
mjr	60:f38da020aa13	4566	// CPU). We therefore use this timer to pace our reports to roughly
mjr	60:f38da020aa13	4567	// the VP input polling rate. Note that there's no way to actually
mjr	60:f38da020aa13	4568	// synchronize with VP's polling, but there's also no need to, as the
mjr	60:f38da020aa13	4569	// input model is designed to reflect the overall current state at any
mjr	60:f38da020aa13	4570	// given time rather than events or deltas. If VP polls twice between
mjr	60:f38da020aa13	4571	// two updates, it simply sees no state change; if we send two updates
mjr	60:f38da020aa13	4572	// between VP polls, VP simply sees the latest state when it does get
mjr	60:f38da020aa13	4573	// around to polling.
mjr	38:091e511ce8a0	4574	Timer jsReportTimer;
mjr	38:091e511ce8a0	4575	jsReportTimer.start();
mjr	38:091e511ce8a0	4576
mjr	60:f38da020aa13	4577	// Time since we successfully sent a USB report. This is a hacky
mjr	60:f38da020aa13	4578	// workaround to deal with any remaining sporadic problems in the USB
mjr	60:f38da020aa13	4579	// stack. I've been trying to bulletproof the USB code over time to
mjr	60:f38da020aa13	4580	// remove all such problems at their source, but it seems unlikely that
mjr	60:f38da020aa13	4581	// we'll ever get them all. Thus this hack. The idea here is that if
mjr	60:f38da020aa13	4582	// we go too long without successfully sending a USB report, we'll
mjr	60:f38da020aa13	4583	// assume that the connection is broken (and the KL25Z USB hardware
mjr	60:f38da020aa13	4584	// hasn't noticed this), and we'll try taking measures to recover.
mjr	38:091e511ce8a0	4585	Timer jsOKTimer;
mjr	38:091e511ce8a0	4586	jsOKTimer.start();
mjr	35:e959ffba78fd	4587
mjr	55:4db125cd11a0	4588	// Initialize the calibration button and lamp, if enabled. To be enabled,
mjr	55:4db125cd11a0	4589	// the pin has to be assigned to something other than NC (0xFF), AND the
mjr	55:4db125cd11a0	4590	// corresponding feature enable flag has to be set.
mjr	55:4db125cd11a0	4591	DigitalIn *calBtn = 0;
mjr	55:4db125cd11a0	4592	DigitalOut *calBtnLed = 0;
mjr	55:4db125cd11a0	4593
mjr	55:4db125cd11a0	4594	// calibration button input - feature flag 0x01
mjr	55:4db125cd11a0	4595	if ((cfg.plunger.cal.features & 0x01) && cfg.plunger.cal.btn != 0xFF)
mjr	55:4db125cd11a0	4596	calBtn = new DigitalIn(wirePinName(cfg.plunger.cal.btn));
mjr	55:4db125cd11a0	4597
mjr	55:4db125cd11a0	4598	// calibration button indicator lamp output - feature flag 0x02
mjr	55:4db125cd11a0	4599	if ((cfg.plunger.cal.features & 0x02) && cfg.plunger.cal.led != 0xFF)
mjr	55:4db125cd11a0	4600	calBtnLed = new DigitalOut(wirePinName(cfg.plunger.cal.led));
mjr	6:cc35eb643e8f	4601
mjr	35:e959ffba78fd	4602	// initialize the calibration button
mjr	1:d913e0afb2ac	4603	calBtnTimer.start();
mjr	35:e959ffba78fd	4604	calBtnState = 0;
mjr	1:d913e0afb2ac	4605
mjr	1:d913e0afb2ac	4606	// set up a timer for our heartbeat indicator
mjr	1:d913e0afb2ac	4607	Timer hbTimer;
mjr	1:d913e0afb2ac	4608	hbTimer.start();
mjr	1:d913e0afb2ac	4609	int hb = 0;
mjr	5:a70c0bce770d	4610	uint16_t hbcnt = 0;
mjr	1:d913e0afb2ac	4611
mjr	1:d913e0afb2ac	4612	// set a timer for accelerometer auto-centering
mjr	1:d913e0afb2ac	4613	Timer acTimer;
mjr	1:d913e0afb2ac	4614	acTimer.start();
mjr	1:d913e0afb2ac	4615
mjr	0:5acbbe3f4cf4	4616	// create the accelerometer object
mjr	5:a70c0bce770d	4617	Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS, MMA8451_INT_PIN);
mjr	48:058ace2aed1d	4618
mjr	17:ab3cec0c8bf4	4619	// last accelerometer report, in joystick units (we report the nudge
mjr	17:ab3cec0c8bf4	4620	// acceleration via the joystick x & y axes, per the VP convention)
mjr	17:ab3cec0c8bf4	4621	int x = 0, y = 0;
mjr	17:ab3cec0c8bf4	4622
mjr	48:058ace2aed1d	4623	// initialize the plunger sensor
mjr	35:e959ffba78fd	4624	plungerSensor->init();
mjr	10:976666ffa4ef	4625
mjr	48:058ace2aed1d	4626	// set up the ZB Launch Ball monitor
mjr	48:058ace2aed1d	4627	ZBLaunchBall zbLaunchBall;
mjr	48:058ace2aed1d	4628
mjr	54:fd77a6b2f76c	4629	// enable the peripheral chips
mjr	54:fd77a6b2f76c	4630	if (tlc5940 != 0)
mjr	54:fd77a6b2f76c	4631	tlc5940->enable(true);
mjr	54:fd77a6b2f76c	4632	if (hc595 != 0)
mjr	54:fd77a6b2f76c	4633	hc595->enable(true);
mjr	43:7a6364d82a41	4634
mjr	1:d913e0afb2ac	4635	// we're all set up - now just loop, processing sensor reports and
mjr	1:d913e0afb2ac	4636	// host requests
mjr	0:5acbbe3f4cf4	4637	for (;;)
mjr	0:5acbbe3f4cf4	4638	{
mjr	48:058ace2aed1d	4639	// Process incoming reports on the joystick interface. The joystick
mjr	48:058ace2aed1d	4640	// "out" (receive) endpoint is used for LedWiz commands and our
mjr	48:058ace2aed1d	4641	// extended protocol commands. Limit processing time to 5ms to
mjr	48:058ace2aed1d	4642	// ensure we don't starve the input side.
mjr	39:b3815a1c3802	4643	LedWizMsg lwm;
mjr	48:058ace2aed1d	4644	Timer lwt;
mjr	48:058ace2aed1d	4645	lwt.start();
mjr	48:058ace2aed1d	4646	while (js.readLedWizMsg(lwm) && lwt.read_us() < 5000)
mjr	48:058ace2aed1d	4647	handleInputMsg(lwm, js);
mjr	55:4db125cd11a0	4648
mjr	55:4db125cd11a0	4649	// send TLC5940 data updates if applicable
mjr	55:4db125cd11a0	4650	if (tlc5940 != 0)
mjr	55:4db125cd11a0	4651	tlc5940->send();
mjr	1:d913e0afb2ac	4652
mjr	1:d913e0afb2ac	4653	// check for plunger calibration
mjr	17:ab3cec0c8bf4	4654	if (calBtn != 0 && !calBtn->read())
mjr	0:5acbbe3f4cf4	4655	{
mjr	1:d913e0afb2ac	4656	// check the state
mjr	1:d913e0afb2ac	4657	switch (calBtnState)
mjr	0:5acbbe3f4cf4	4658	{
mjr	1:d913e0afb2ac	4659	case 0:
mjr	1:d913e0afb2ac	4660	// button not yet pushed - start debouncing
mjr	1:d913e0afb2ac	4661	calBtnTimer.reset();
mjr	1:d913e0afb2ac	4662	calBtnState = 1;
mjr	1:d913e0afb2ac	4663	break;
mjr	1:d913e0afb2ac	4664
mjr	1:d913e0afb2ac	4665	case 1:
mjr	1:d913e0afb2ac	4666	// pushed, not yet debounced - if the debounce time has
mjr	1:d913e0afb2ac	4667	// passed, start the hold period
mjr	48:058ace2aed1d	4668	if (calBtnTimer.read_us() > 50000)
mjr	1:d913e0afb2ac	4669	calBtnState = 2;
mjr	1:d913e0afb2ac	4670	break;
mjr	1:d913e0afb2ac	4671
mjr	1:d913e0afb2ac	4672	case 2:
mjr	1:d913e0afb2ac	4673	// in the hold period - if the button has been held down
mjr	1:d913e0afb2ac	4674	// for the entire hold period, move to calibration mode
mjr	48:058ace2aed1d	4675	if (calBtnTimer.read_us() > 2050000)
mjr	1:d913e0afb2ac	4676	{
mjr	1:d913e0afb2ac	4677	// enter calibration mode
mjr	1:d913e0afb2ac	4678	calBtnState = 3;
mjr	9:fd65b0a94720	4679	calBtnTimer.reset();
mjr	35:e959ffba78fd	4680
mjr	44:b5ac89b9cd5d	4681	// begin the plunger calibration limits
mjr	52:8298b2a73eb2	4682	plungerReader.setCalMode(true);
mjr	1:d913e0afb2ac	4683	}
mjr	1:d913e0afb2ac	4684	break;
mjr	2:c174f9ee414a	4685
mjr	2:c174f9ee414a	4686	case 3:
mjr	9:fd65b0a94720	4687	// Already in calibration mode - pushing the button here
mjr	9:fd65b0a94720	4688	// doesn't change the current state, but we won't leave this
mjr	9:fd65b0a94720	4689	// state as long as it's held down. So nothing changes here.
mjr	2:c174f9ee414a	4690	break;
mjr	0:5acbbe3f4cf4	4691	}
mjr	0:5acbbe3f4cf4	4692	}
mjr	1:d913e0afb2ac	4693	else
mjr	1:d913e0afb2ac	4694	{
mjr	2:c174f9ee414a	4695	// Button released. If we're in calibration mode, and
mjr	2:c174f9ee414a	4696	// the calibration time has elapsed, end the calibration
mjr	2:c174f9ee414a	4697	// and save the results to flash.
mjr	2:c174f9ee414a	4698	//
mjr	2:c174f9ee414a	4699	// Otherwise, return to the base state without saving anything.
mjr	2:c174f9ee414a	4700	// If the button is released before we make it to calibration
mjr	2:c174f9ee414a	4701	// mode, it simply cancels the attempt.
mjr	48:058ace2aed1d	4702	if (calBtnState == 3 && calBtnTimer.read_us() > 15000000)
mjr	2:c174f9ee414a	4703	{
mjr	2:c174f9ee414a	4704	// exit calibration mode
mjr	1:d913e0afb2ac	4705	calBtnState = 0;
mjr	52:8298b2a73eb2	4706	plungerReader.setCalMode(false);
mjr	2:c174f9ee414a	4707
mjr	6:cc35eb643e8f	4708	// save the updated configuration
mjr	35:e959ffba78fd	4709	cfg.plunger.cal.calibrated = 1;
mjr	35:e959ffba78fd	4710	saveConfigToFlash();
mjr	2:c174f9ee414a	4711	}
mjr	2:c174f9ee414a	4712	else if (calBtnState != 3)
mjr	2:c174f9ee414a	4713	{
mjr	2:c174f9ee414a	4714	// didn't make it to calibration mode - cancel the operation
mjr	1:d913e0afb2ac	4715	calBtnState = 0;
mjr	2:c174f9ee414a	4716	}
mjr	1:d913e0afb2ac	4717	}
mjr	1:d913e0afb2ac	4718
mjr	1:d913e0afb2ac	4719	// light/flash the calibration button light, if applicable
mjr	1:d913e0afb2ac	4720	int newCalBtnLit = calBtnLit;
mjr	1:d913e0afb2ac	4721	switch (calBtnState)
mjr	0:5acbbe3f4cf4	4722	{
mjr	1:d913e0afb2ac	4723	case 2:
mjr	1:d913e0afb2ac	4724	// in the hold period - flash the light
mjr	48:058ace2aed1d	4725	newCalBtnLit = ((calBtnTimer.read_us()/250000) & 1);
mjr	1:d913e0afb2ac	4726	break;
mjr	1:d913e0afb2ac	4727
mjr	1:d913e0afb2ac	4728	case 3:
mjr	1:d913e0afb2ac	4729	// calibration mode - show steady on
mjr	1:d913e0afb2ac	4730	newCalBtnLit = true;
mjr	1:d913e0afb2ac	4731	break;
mjr	1:d913e0afb2ac	4732
mjr	1:d913e0afb2ac	4733	default:
mjr	1:d913e0afb2ac	4734	// not calibrating/holding - show steady off
mjr	1:d913e0afb2ac	4735	newCalBtnLit = false;
mjr	1:d913e0afb2ac	4736	break;
mjr	1:d913e0afb2ac	4737	}
mjr	3:3514575d4f86	4738
mjr	3:3514575d4f86	4739	// light or flash the external calibration button LED, and
mjr	3:3514575d4f86	4740	// do the same with the on-board blue LED
mjr	1:d913e0afb2ac	4741	if (calBtnLit != newCalBtnLit)
mjr	1:d913e0afb2ac	4742	{
mjr	1:d913e0afb2ac	4743	calBtnLit = newCalBtnLit;
mjr	2:c174f9ee414a	4744	if (calBtnLit) {
mjr	17:ab3cec0c8bf4	4745	if (calBtnLed != 0)
mjr	17:ab3cec0c8bf4	4746	calBtnLed->write(1);
mjr	38:091e511ce8a0	4747	diagLED(0, 0, 1); // blue
mjr	2:c174f9ee414a	4748	}
mjr	2:c174f9ee414a	4749	else {
mjr	17:ab3cec0c8bf4	4750	if (calBtnLed != 0)
mjr	17:ab3cec0c8bf4	4751	calBtnLed->write(0);
mjr	38:091e511ce8a0	4752	diagLED(0, 0, 0); // off
mjr	2:c174f9ee414a	4753	}
mjr	1:d913e0afb2ac	4754	}
mjr	35:e959ffba78fd	4755
mjr	48:058ace2aed1d	4756	// read the plunger sensor
mjr	48:058ace2aed1d	4757	plungerReader.read();
mjr	48:058ace2aed1d	4758
mjr	53:9b2611964afc	4759	// update the ZB Launch Ball status
mjr	53:9b2611964afc	4760	zbLaunchBall.update();
mjr	37:ed52738445fc	4761
mjr	53:9b2611964afc	4762	// process button updates
mjr	53:9b2611964afc	4763	processButtons(cfg);
mjr	53:9b2611964afc	4764
mjr	38:091e511ce8a0	4765	// send a keyboard report if we have new data
mjr	37:ed52738445fc	4766	if (kbState.changed)
mjr	37:ed52738445fc	4767	{
mjr	38:091e511ce8a0	4768	// send a keyboard report
mjr	37:ed52738445fc	4769	js.kbUpdate(kbState.data);
mjr	37:ed52738445fc	4770	kbState.changed = false;
mjr	37:ed52738445fc	4771	}
mjr	38:091e511ce8a0	4772
mjr	38:091e511ce8a0	4773	// likewise for the media controller
mjr	37:ed52738445fc	4774	if (mediaState.changed)
mjr	37:ed52738445fc	4775	{
mjr	38:091e511ce8a0	4776	// send a media report
mjr	37:ed52738445fc	4777	js.mediaUpdate(mediaState.data);
mjr	37:ed52738445fc	4778	mediaState.changed = false;
mjr	37:ed52738445fc	4779	}
mjr	38:091e511ce8a0	4780
mjr	38:091e511ce8a0	4781	// flag: did we successfully send a joystick report on this round?
mjr	38:091e511ce8a0	4782	bool jsOK = false;
mjr	55:4db125cd11a0	4783
mjr	55:4db125cd11a0	4784	// figure the current status flags for joystick reports
mjr	55:4db125cd11a0	4785	uint16_t statusFlags =
mjr	55:4db125cd11a0	4786	(cfg.plunger.enabled ? 0x01 : 0x00)
mjr	55:4db125cd11a0	4787	\| (nightMode ? 0x02 : 0x00);
mjr	17:ab3cec0c8bf4	4788
mjr	50:40015764bbe6	4789	// If it's been long enough since our last USB status report, send
mjr	50:40015764bbe6	4790	// the new report. VP only polls for input in 10ms intervals, so
mjr	50:40015764bbe6	4791	// there's no benefit in sending reports more frequently than this.
mjr	50:40015764bbe6	4792	// More frequent reporting would only add USB I/O overhead.
mjr	50:40015764bbe6	4793	if (cfg.joystickEnabled && jsReportTimer.read_us() > 10000UL)
mjr	17:ab3cec0c8bf4	4794	{
mjr	17:ab3cec0c8bf4	4795	// read the accelerometer
mjr	17:ab3cec0c8bf4	4796	int xa, ya;
mjr	17:ab3cec0c8bf4	4797	accel.get(xa, ya);
mjr	17:ab3cec0c8bf4	4798
mjr	17:ab3cec0c8bf4	4799	// confine the results to our joystick axis range
mjr	17:ab3cec0c8bf4	4800	if (xa < -JOYMAX) xa = -JOYMAX;
mjr	17:ab3cec0c8bf4	4801	if (xa > JOYMAX) xa = JOYMAX;
mjr	17:ab3cec0c8bf4	4802	if (ya < -JOYMAX) ya = -JOYMAX;
mjr	17:ab3cec0c8bf4	4803	if (ya > JOYMAX) ya = JOYMAX;
mjr	17:ab3cec0c8bf4	4804
mjr	17:ab3cec0c8bf4	4805	// store the updated accelerometer coordinates
mjr	17:ab3cec0c8bf4	4806	x = xa;
mjr	17:ab3cec0c8bf4	4807	y = ya;
mjr	17:ab3cec0c8bf4	4808
mjr	48:058ace2aed1d	4809	// Report the current plunger position unless the plunger is
mjr	48:058ace2aed1d	4810	// disabled, or the ZB Launch Ball signal is on. In either of
mjr	48:058ace2aed1d	4811	// those cases, just report a constant 0 value. ZB Launch Ball
mjr	48:058ace2aed1d	4812	// temporarily disables mechanical plunger reporting because it
mjr	21:5048e16cc9ef	4813	// tells us that the table has a Launch Ball button instead of
mjr	48:058ace2aed1d	4814	// a traditional plunger, so we don't want to confuse VP with
mjr	48:058ace2aed1d	4815	// regular plunger inputs.
mjr	48:058ace2aed1d	4816	int z = plungerReader.getPosition();
mjr	53:9b2611964afc	4817	int zrep = (!cfg.plunger.enabled \|\| zbLaunchOn ? 0 : z);
mjr	35:e959ffba78fd	4818
mjr	35:e959ffba78fd	4819	// rotate X and Y according to the device orientation in the cabinet
mjr	35:e959ffba78fd	4820	accelRotate(x, y);
mjr	35:e959ffba78fd	4821
mjr	35:e959ffba78fd	4822	// send the joystick report
mjr	53:9b2611964afc	4823	jsOK = js.update(x, y, zrep, jsButtons, statusFlags);
mjr	21:5048e16cc9ef	4824
mjr	17:ab3cec0c8bf4	4825	// we've just started a new report interval, so reset the timer
mjr	38:091e511ce8a0	4826	jsReportTimer.reset();
mjr	17:ab3cec0c8bf4	4827	}
mjr	21:5048e16cc9ef	4828
mjr	52:8298b2a73eb2	4829	// If we're in sensor status mode, report all pixel exposure values
mjr	52:8298b2a73eb2	4830	if (reportPlungerStat)
mjr	10:976666ffa4ef	4831	{
mjr	17:ab3cec0c8bf4	4832	// send the report
mjr	53:9b2611964afc	4833	plungerSensor->sendStatusReport(js, reportPlungerStatFlags, reportPlungerStatTime);
mjr	17:ab3cec0c8bf4	4834
mjr	10:976666ffa4ef	4835	// we have satisfied this request
mjr	52:8298b2a73eb2	4836	reportPlungerStat = false;
mjr	10:976666ffa4ef	4837	}
mjr	10:976666ffa4ef	4838
mjr	35:e959ffba78fd	4839	// If joystick reports are turned off, send a generic status report
mjr	35:e959ffba78fd	4840	// periodically for the sake of the Windows config tool.
mjr	55:4db125cd11a0	4841	if (!cfg.joystickEnabled && jsReportTimer.read_us() > 5000)
mjr	21:5048e16cc9ef	4842	{
mjr	55:4db125cd11a0	4843	jsOK = js.updateStatus(statusFlags);
mjr	38:091e511ce8a0	4844	jsReportTimer.reset();
mjr	38:091e511ce8a0	4845	}
mjr	38:091e511ce8a0	4846
mjr	38:091e511ce8a0	4847	// if we successfully sent a joystick report, reset the watchdog timer
mjr	38:091e511ce8a0	4848	if (jsOK)
mjr	38:091e511ce8a0	4849	{
mjr	38:091e511ce8a0	4850	jsOKTimer.reset();
mjr	38:091e511ce8a0	4851	jsOKTimer.start();
mjr	21:5048e16cc9ef	4852	}
mjr	21:5048e16cc9ef	4853
mjr	6:cc35eb643e8f	4854	#ifdef DEBUG_PRINTF
mjr	6:cc35eb643e8f	4855	if (x != 0 \|\| y != 0)
mjr	6:cc35eb643e8f	4856	printf("%d,%d\r\n", x, y);
mjr	6:cc35eb643e8f	4857	#endif
mjr	6:cc35eb643e8f	4858
mjr	33:d832bcab089e	4859	// check for connection status changes
mjr	54:fd77a6b2f76c	4860	bool newConnected = js.isConnected() && !js.isSleeping();
mjr	33:d832bcab089e	4861	if (newConnected != connected)
mjr	33:d832bcab089e	4862	{
mjr	54:fd77a6b2f76c	4863	// give it a moment to stabilize
mjr	40:cc0d9814522b	4864	connectChangeTimer.start();
mjr	55:4db125cd11a0	4865	if (connectChangeTimer.read_us() > 1000000)
mjr	33:d832bcab089e	4866	{
mjr	33:d832bcab089e	4867	// note the new status
mjr	33:d832bcab089e	4868	connected = newConnected;
mjr	40:cc0d9814522b	4869
mjr	40:cc0d9814522b	4870	// done with the change timer for this round - reset it for next time
mjr	40:cc0d9814522b	4871	connectChangeTimer.stop();
mjr	40:cc0d9814522b	4872	connectChangeTimer.reset();
mjr	33:d832bcab089e	4873
mjr	54:fd77a6b2f76c	4874	// if we're newly disconnected, clean up for PC suspend mode or power off
mjr	54:fd77a6b2f76c	4875	if (!connected)
mjr	40:cc0d9814522b	4876	{
mjr	54:fd77a6b2f76c	4877	// turn off all outputs
mjr	33:d832bcab089e	4878	allOutputsOff();
mjr	40:cc0d9814522b	4879
mjr	40:cc0d9814522b	4880	// The KL25Z runs off of USB power, so we might (depending on the PC
mjr	40:cc0d9814522b	4881	// and OS configuration) continue to receive power even when the main
mjr	40:cc0d9814522b	4882	// PC power supply is turned off, such as in soft-off or suspend/sleep
mjr	40:cc0d9814522b	4883	// mode. Any external output controller chips (TLC5940, 74HC595) might
mjr	40:cc0d9814522b	4884	// be powered from the PC power supply directly rather than from our
mjr	40:cc0d9814522b	4885	// USB power, so they might be powered off even when we're still running.
mjr	40:cc0d9814522b	4886	// To ensure cleaner startup when the power comes back on, globally
mjr	40:cc0d9814522b	4887	// disable the outputs. The global disable signals come from GPIO lines
mjr	40:cc0d9814522b	4888	// that remain powered as long as the KL25Z is powered, so these modes
mjr	40:cc0d9814522b	4889	// will apply smoothly across power state transitions in the external
mjr	40:cc0d9814522b	4890	// hardware. That is, when the external chips are powered up, they'll
mjr	40:cc0d9814522b	4891	// see the global disable signals as stable voltage inputs immediately,
mjr	40:cc0d9814522b	4892	// which will cause them to suppress any output triggering. This ensures
mjr	40:cc0d9814522b	4893	// that we don't fire any solenoids or flash any lights spuriously when
mjr	40:cc0d9814522b	4894	// the power first comes on.
mjr	40:cc0d9814522b	4895	if (tlc5940 != 0)
mjr	40:cc0d9814522b	4896	tlc5940->enable(false);
mjr	40:cc0d9814522b	4897	if (hc595 != 0)
mjr	40:cc0d9814522b	4898	hc595->enable(false);
mjr	40:cc0d9814522b	4899	}
mjr	33:d832bcab089e	4900	}
mjr	33:d832bcab089e	4901	}
mjr	48:058ace2aed1d	4902
mjr	53:9b2611964afc	4903	// if we have a reboot timer pending, check for completion
mjr	53:9b2611964afc	4904	if (rebootTimer.isRunning() && rebootTimer.read_us() > rebootTime_us)
mjr	53:9b2611964afc	4905	reboot(js);
mjr	53:9b2611964afc	4906
mjr	48:058ace2aed1d	4907	// if we're disconnected, initiate a new connection
mjr	51:57eb311faafa	4908	if (!connected)
mjr	48:058ace2aed1d	4909	{
mjr	54:fd77a6b2f76c	4910	// show USB HAL debug events
mjr	54:fd77a6b2f76c	4911	extern void HAL_DEBUG_PRINTEVENTS(const char *prefix);
mjr	54:fd77a6b2f76c	4912	HAL_DEBUG_PRINTEVENTS(">DISC");
mjr	54:fd77a6b2f76c	4913
mjr	54:fd77a6b2f76c	4914	// show immediate diagnostic feedback
mjr	54:fd77a6b2f76c	4915	js.diagFlash();
mjr	54:fd77a6b2f76c	4916
mjr	54:fd77a6b2f76c	4917	// clear any previous diagnostic LED display
mjr	54:fd77a6b2f76c	4918	diagLED(0, 0, 0);
mjr	51:57eb311faafa	4919
mjr	51:57eb311faafa	4920	// set up a timer to monitor the reboot timeout
mjr	51:57eb311faafa	4921	Timer rebootTimer;
mjr	51:57eb311faafa	4922	rebootTimer.start();
mjr	48:058ace2aed1d	4923
mjr	54:fd77a6b2f76c	4924	// set up a timer for diagnostic displays
mjr	54:fd77a6b2f76c	4925	Timer diagTimer;
mjr	54:fd77a6b2f76c	4926	diagTimer.reset();
mjr	54:fd77a6b2f76c	4927	diagTimer.start();
mjr	54:fd77a6b2f76c	4928
mjr	54:fd77a6b2f76c	4929	// loop until we get our connection back
mjr	54:fd77a6b2f76c	4930	while (!js.isConnected() \|\| js.isSleeping())
mjr	51:57eb311faafa	4931	{
mjr	54:fd77a6b2f76c	4932	// try to recover the connection
mjr	54:fd77a6b2f76c	4933	js.recoverConnection();
mjr	54:fd77a6b2f76c	4934
mjr	55:4db125cd11a0	4935	// send TLC5940 data if necessary
mjr	55:4db125cd11a0	4936	if (tlc5940 != 0)
mjr	55:4db125cd11a0	4937	tlc5940->send();
mjr	55:4db125cd11a0	4938
mjr	54:fd77a6b2f76c	4939	// show a diagnostic flash every couple of seconds
mjr	54:fd77a6b2f76c	4940	if (diagTimer.read_us() > 2000000)
mjr	51:57eb311faafa	4941	{
mjr	54:fd77a6b2f76c	4942	// flush the USB HAL debug events, if in debug mode
mjr	54:fd77a6b2f76c	4943	HAL_DEBUG_PRINTEVENTS(">NC");
mjr	54:fd77a6b2f76c	4944
mjr	54:fd77a6b2f76c	4945	// show diagnostic feedback
mjr	54:fd77a6b2f76c	4946	js.diagFlash();
mjr	51:57eb311faafa	4947
mjr	51:57eb311faafa	4948	// reset the flash timer
mjr	54:fd77a6b2f76c	4949	diagTimer.reset();
mjr	51:57eb311faafa	4950	}
mjr	51:57eb311faafa	4951
mjr	51:57eb311faafa	4952	// if the disconnect reboot timeout has expired, reboot
mjr	51:57eb311faafa	4953	if (cfg.disconnectRebootTimeout != 0
mjr	51:57eb311faafa	4954	&& rebootTimer.read() > cfg.disconnectRebootTimeout)
mjr	54:fd77a6b2f76c	4955	reboot(js, false, 0);
mjr	54:fd77a6b2f76c	4956	}
mjr	54:fd77a6b2f76c	4957
mjr	54:fd77a6b2f76c	4958	// if we made it out of that loop alive, we're connected again!
mjr	54:fd77a6b2f76c	4959	connected = true;
mjr	54:fd77a6b2f76c	4960	HAL_DEBUG_PRINTEVENTS(">C");
mjr	54:fd77a6b2f76c	4961
mjr	54:fd77a6b2f76c	4962	// Enable peripheral chips and update them with current output data
mjr	54:fd77a6b2f76c	4963	if (tlc5940 != 0)
mjr	54:fd77a6b2f76c	4964	{
mjr	55:4db125cd11a0	4965	tlc5940->enable(true);
mjr	54:fd77a6b2f76c	4966	tlc5940->update(true);
mjr	54:fd77a6b2f76c	4967	}
mjr	54:fd77a6b2f76c	4968	if (hc595 != 0)
mjr	54:fd77a6b2f76c	4969	{
mjr	55:4db125cd11a0	4970	hc595->enable(true);
mjr	54:fd77a6b2f76c	4971	hc595->update(true);
mjr	51:57eb311faafa	4972	}
mjr	48:058ace2aed1d	4973	}
mjr	43:7a6364d82a41	4974
mjr	6:cc35eb643e8f	4975	// provide a visual status indication on the on-board LED
mjr	48:058ace2aed1d	4976	if (calBtnState < 2 && hbTimer.read_us() > 1000000)
mjr	1:d913e0afb2ac	4977	{
mjr	54:fd77a6b2f76c	4978	if (jsOKTimer.read_us() > 1000000)
mjr	38:091e511ce8a0	4979	{
mjr	39:b3815a1c3802	4980	// USB freeze - show red/yellow.
mjr	40:cc0d9814522b	4981	//
mjr	54:fd77a6b2f76c	4982	// It's been more than a second since we successfully sent a joystick
mjr	54:fd77a6b2f76c	4983	// update message. This must mean that something's wrong on the USB
mjr	54:fd77a6b2f76c	4984	// connection, even though we haven't detected an outright disconnect.
mjr	54:fd77a6b2f76c	4985	// Show a distinctive diagnostic LED pattern when this occurs.
mjr	38:091e511ce8a0	4986	hb = !hb;
mjr	38:091e511ce8a0	4987	diagLED(1, hb, 0);
mjr	54:fd77a6b2f76c	4988
mjr	54:fd77a6b2f76c	4989	// If the reboot-on-disconnect option is in effect, treat this condition
mjr	54:fd77a6b2f76c	4990	// as equivalent to a disconnect, since something is obviously wrong
mjr	54:fd77a6b2f76c	4991	// with the USB connection.
mjr	54:fd77a6b2f76c	4992	if (cfg.disconnectRebootTimeout != 0)
mjr	54:fd77a6b2f76c	4993	{
mjr	54:fd77a6b2f76c	4994	// The reboot timeout is in effect. If we've been incommunicado for
mjr	54:fd77a6b2f76c	4995	// longer than the timeout, reboot. If we haven't reached the time
mjr	54:fd77a6b2f76c	4996	// limit, keep running for now, and leave the OK timer running so
mjr	54:fd77a6b2f76c	4997	// that we can continue to monitor this.
mjr	54:fd77a6b2f76c	4998	if (jsOKTimer.read() > cfg.disconnectRebootTimeout)
mjr	54:fd77a6b2f76c	4999	reboot(js, false, 0);
mjr	54:fd77a6b2f76c	5000	}
mjr	54:fd77a6b2f76c	5001	else
mjr	54:fd77a6b2f76c	5002	{
mjr	54:fd77a6b2f76c	5003	// There's no reboot timer, so just keep running with the diagnostic
mjr	54:fd77a6b2f76c	5004	// pattern displayed. Since we're not waiting for any other timed
mjr	54:fd77a6b2f76c	5005	// conditions in this state, stop the timer so that it doesn't
mjr	54:fd77a6b2f76c	5006	// overflow if this condition persists for a long time.
mjr	54:fd77a6b2f76c	5007	jsOKTimer.stop();
mjr	54:fd77a6b2f76c	5008	}
mjr	38:091e511ce8a0	5009	}
mjr	35:e959ffba78fd	5010	else if (cfg.plunger.enabled && !cfg.plunger.cal.calibrated)
mjr	6:cc35eb643e8f	5011	{
mjr	6:cc35eb643e8f	5012	// connected, plunger calibration needed - flash yellow/green
mjr	6:cc35eb643e8f	5013	hb = !hb;
mjr	38:091e511ce8a0	5014	diagLED(hb, 1, 0);
mjr	6:cc35eb643e8f	5015	}
mjr	6:cc35eb643e8f	5016	else
mjr	6:cc35eb643e8f	5017	{
mjr	6:cc35eb643e8f	5018	// connected - flash blue/green
mjr	2:c174f9ee414a	5019	hb = !hb;
mjr	38:091e511ce8a0	5020	diagLED(0, hb, !hb);
mjr	2:c174f9ee414a	5021	}
mjr	1:d913e0afb2ac	5022
mjr	1:d913e0afb2ac	5023	// reset the heartbeat timer
mjr	1:d913e0afb2ac	5024	hbTimer.reset();
mjr	5:a70c0bce770d	5025	++hbcnt;
mjr	1:d913e0afb2ac	5026	}
mjr	1:d913e0afb2ac	5027	}
mjr	0:5acbbe3f4cf4	5028	}

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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@69:cc5039284fac, 2016-12-28 (annotated)

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