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@60:f38da020aa13, 2016-05-13 (annotated)

Committer:: mjr
Date:: Fri May 13 21:28:41 2016 +0000
Revision:: 60:f38da020aa13
Parent:: 59:94eb9265b6d7
Child:: 63:5cd1a5f3a41b

Try to bulletproof the Flash programming procedure by using techniques recommended in ARM forums; enhanced comments in main routine

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	2:c174f9ee414a	208
mjr	21:5048e16cc9ef	209	#define DECL_EXTERNS
mjr	17:ab3cec0c8bf4	210	#include "config.h"
mjr	17:ab3cec0c8bf4	211
mjr	53:9b2611964afc	212
mjr	53:9b2611964afc	213	// --------------------------------------------------------------------------
mjr	53:9b2611964afc	214	//
mjr	53:9b2611964afc	215	// OpenSDA module identifier. This is for the benefit of the Windows
mjr	53:9b2611964afc	216	// configuration tool. When the config tool installs a .bin file onto
mjr	53:9b2611964afc	217	// the KL25Z, it will first find the sentinel string within the .bin file,
mjr	53:9b2611964afc	218	// and patch the "\0" bytes that follow the sentinel string with the
mjr	53:9b2611964afc	219	// OpenSDA module ID data. This allows us to report the OpenSDA
mjr	53:9b2611964afc	220	// identifiers back to the host system via USB, which in turn allows the
mjr	53:9b2611964afc	221	// config tool to figure out which OpenSDA MSD (mass storage device - a
mjr	53:9b2611964afc	222	// virtual disk drive) correlates to which Pinscape controller USB
mjr	53:9b2611964afc	223	// interface.
mjr	53:9b2611964afc	224	//
mjr	53:9b2611964afc	225	// This is only important if multiple Pinscape devices are attached to
mjr	53:9b2611964afc	226	// the same host. There doesn't seem to be any other way to figure out
mjr	53:9b2611964afc	227	// which OpenSDA MSD corresponds to which KL25Z USB interface; the OpenSDA
mjr	53:9b2611964afc	228	// MSD doesn't report the KL25Z CPU ID anywhere, and the KL25Z doesn't
mjr	53:9b2611964afc	229	// have any way to learn about the OpenSDA module it's connected to. The
mjr	53:9b2611964afc	230	// only way to pass this information to the KL25Z side that I can come up
mjr	53:9b2611964afc	231	// with is to have the Windows host embed it in the .bin file before
mjr	53:9b2611964afc	232	// downloading it to the OpenSDA MSD.
mjr	53:9b2611964afc	233	//
mjr	53:9b2611964afc	234	// We initialize the const data buffer (the part after the sentinel string)
mjr	53:9b2611964afc	235	// with all "\0" bytes, so that's what will be in the executable image that
mjr	53:9b2611964afc	236	// comes out of the mbed compiler. If you manually install the resulting
mjr	53:9b2611964afc	237	// .bin file onto the KL25Z (via the Windows desktop, say), the "\0" bytes
mjr	53:9b2611964afc	238	// will stay this way and read as all 0's at run-time. Since a real TUID
mjr	53:9b2611964afc	239	// would never be all 0's, that tells us that we were never patched and
mjr	53:9b2611964afc	240	// thus don't have any information on the OpenSDA module.
mjr	53:9b2611964afc	241	//
mjr	53:9b2611964afc	242	const char *getOpenSDAID()
mjr	53:9b2611964afc	243	{
mjr	53:9b2611964afc	244	#define OPENSDA_PREFIX "///Pinscape.OpenSDA.TUID///"
mjr	53:9b2611964afc	245	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	246	const size_t OpenSDA_prefix_length = sizeof(OPENSDA_PREFIX) - 1;
mjr	53:9b2611964afc	247
mjr	53:9b2611964afc	248	return OpenSDA + OpenSDA_prefix_length;
mjr	53:9b2611964afc	249	}
mjr	53:9b2611964afc	250
mjr	53:9b2611964afc	251	// --------------------------------------------------------------------------
mjr	53:9b2611964afc	252	//
mjr	53:9b2611964afc	253	// Build ID. We use the date and time of compiling the program as a build
mjr	53:9b2611964afc	254	// identifier. It would be a little nicer to use a simple serial number
mjr	53:9b2611964afc	255	// instead, but the mbed platform doesn't have a way to automate that. The
mjr	53:9b2611964afc	256	// timestamp is a pretty good proxy for a serial number in that it will
mjr	53:9b2611964afc	257	// naturally increase on each new build, which is the primary property we
mjr	53:9b2611964afc	258	// want from this.
mjr	53:9b2611964afc	259	//
mjr	53:9b2611964afc	260	// As with the embedded OpenSDA ID, we store the build timestamp with a
mjr	53:9b2611964afc	261	// sentinel string prefix, to allow automated tools to find the static data
mjr	53:9b2611964afc	262	// in the .bin file by searching for the sentinel string. In contrast to
mjr	53:9b2611964afc	263	// the OpenSDA ID, the value we store here is for tools to extract rather
mjr	53:9b2611964afc	264	// than store, since we automatically populate it via the preprocessor
mjr	53:9b2611964afc	265	// macros.
mjr	53:9b2611964afc	266	//
mjr	53:9b2611964afc	267	const char *getBuildID()
mjr	53:9b2611964afc	268	{
mjr	53:9b2611964afc	269	#define BUILDID_PREFIX "///Pinscape.Build.ID///"
mjr	53:9b2611964afc	270	static const char BuildID[] = BUILDID_PREFIX __DATE__ " " __TIME__ "///";
mjr	53:9b2611964afc	271	const size_t BuildID_prefix_length = sizeof(BUILDID_PREFIX) - 1;
mjr	53:9b2611964afc	272
mjr	53:9b2611964afc	273	return BuildID + BuildID_prefix_length;
mjr	53:9b2611964afc	274	}
mjr	53:9b2611964afc	275
mjr	53:9b2611964afc	276
mjr	48:058ace2aed1d	277	// --------------------------------------------------------------------------
mjr	48:058ace2aed1d	278	//
mjr	59:94eb9265b6d7	279	// Custom memory allocator. We use our own version of malloc() for more
mjr	59:94eb9265b6d7	280	// efficient memory usage, and to provide diagnostics if we run out of heap.
mjr	48:058ace2aed1d	281	//
mjr	59:94eb9265b6d7	282	// We can implement a more efficient malloc than the library can because we
mjr	59:94eb9265b6d7	283	// can make an assumption that the library can't: allocations are permanent.
mjr	59:94eb9265b6d7	284	// The normal malloc has to assume that allocations can be freed, so it has
mjr	59:94eb9265b6d7	285	// to track blocks individually. For the purposes of this program, though,
mjr	59:94eb9265b6d7	286	// we don't have to do this because virtually all of our allocations are
mjr	59:94eb9265b6d7	287	// de facto permanent. We only allocate dyanmic memory during setup, and
mjr	59:94eb9265b6d7	288	// once we set things up, we never delete anything. This means that we can
mjr	59:94eb9265b6d7	289	// allocate memory in bare blocks without any bookkeeping overhead.
mjr	59:94eb9265b6d7	290	//
mjr	59:94eb9265b6d7	291	// In addition, we can make a much larger overall pool of memory available
mjr	59:94eb9265b6d7	292	// in a custom allocator. The mbed library malloc() seems to have a pool
mjr	59:94eb9265b6d7	293	// of about 3K to work with, even though there's really about 9K of RAM
mjr	59:94eb9265b6d7	294	// left over after counting the static writable data and reserving space
mjr	59:94eb9265b6d7	295	// for a reasonable stack. I haven't looked at the mbed malloc to see why
mjr	59:94eb9265b6d7	296	// they're so stingy, but it appears from empirical testing that we can
mjr	59:94eb9265b6d7	297	// create a static array up to about 9K before things get crashy.
mjr	59:94eb9265b6d7	298
mjr	48:058ace2aed1d	299	void *xmalloc(size_t siz)
mjr	48:058ace2aed1d	300	{
mjr	59:94eb9265b6d7	301	// Dynamic memory pool. We'll reserve space for all dynamic
mjr	59:94eb9265b6d7	302	// allocations by creating a simple C array of bytes. The size
mjr	59:94eb9265b6d7	303	// of this array is the maximum number of bytes we can allocate
mjr	59:94eb9265b6d7	304	// with malloc or operator 'new'.
mjr	59:94eb9265b6d7	305	//
mjr	59:94eb9265b6d7	306	// The maximum safe size for this array is, in essence, the
mjr	59:94eb9265b6d7	307	// amount of physical KL25Z RAM left over after accounting for
mjr	59:94eb9265b6d7	308	// static data throughout the rest of the program, the run-time
mjr	59:94eb9265b6d7	309	// stack, and any other space reserved for compiler or MCU
mjr	59:94eb9265b6d7	310	// overhead. Unfortunately, it's not straightforward to
mjr	59:94eb9265b6d7	311	// determine this analytically. The big complication is that
mjr	59:94eb9265b6d7	312	// the minimum stack size isn't easily predictable, as the stack
mjr	59:94eb9265b6d7	313	// grows according to what the program does. In addition, the
mjr	59:94eb9265b6d7	314	// mbed platform tools don't give us detailed data on the
mjr	59:94eb9265b6d7	315	// compiler/linker memory map. All we get is a generic total
mjr	59:94eb9265b6d7	316	// RAM requirement, which doesn't necessarily account for all
mjr	59:94eb9265b6d7	317	// overhead (e.g., gaps inserted to get proper alignment for
mjr	59:94eb9265b6d7	318	// particular memory blocks).
mjr	59:94eb9265b6d7	319	//
mjr	59:94eb9265b6d7	320	// A very rough estimate: the total RAM size reported by the
mjr	59:94eb9265b6d7	321	// linker is about 3.5K (currently - that can obviously change
mjr	59:94eb9265b6d7	322	// as the project evolves) out of 16K total. Assuming about a
mjr	59:94eb9265b6d7	323	// 3K stack, that leaves in the ballpark of 10K. Empirically,
mjr	59:94eb9265b6d7	324	// that seems pretty close. In testing, we start to see some
mjr	59:94eb9265b6d7	325	// instability at 10K, while 9K seems safe. To be conservative,
mjr	59:94eb9265b6d7	326	// we'll reduce this to 8K.
mjr	59:94eb9265b6d7	327	//
mjr	59:94eb9265b6d7	328	// Our measured total usage in the base configuration (22 GPIO
mjr	59:94eb9265b6d7	329	// output ports, TSL1410R plunger sensor) is about 4000 bytes.
mjr	59:94eb9265b6d7	330	// A pretty fully decked-out configuration (121 output ports,
mjr	59:94eb9265b6d7	331	// with 8 TLC5940 chips and 3 74HC595 chips, plus the TSL1412R
mjr	59:94eb9265b6d7	332	// sensor with the higher pixel count, and all expansion board
mjr	59:94eb9265b6d7	333	// features enabled) comes to about 6700 bytes. That leaves
mjr	59:94eb9265b6d7	334	// us with about 1.5K free out of our 8K, so we still have a
mjr	59:94eb9265b6d7	335	// little more headroom for future expansion.
mjr	59:94eb9265b6d7	336	//
mjr	59:94eb9265b6d7	337	// For comparison, the standard mbed malloc() runs out of
mjr	59:94eb9265b6d7	338	// memory at about 6K. That's what led to this custom malloc:
mjr	59:94eb9265b6d7	339	// we can just fit the base configuration into that 4K, but
mjr	59:94eb9265b6d7	340	// it's not enough space for more complex setups. There's
mjr	59:94eb9265b6d7	341	// still a little room for squeezing out unnecessary space
mjr	59:94eb9265b6d7	342	// from the mbed library code, but at this point I'd prefer
mjr	59:94eb9265b6d7	343	// to treat that as a last resort, since it would mean having
mjr	59:94eb9265b6d7	344	// to fork private copies of the libraries.
mjr	59:94eb9265b6d7	345	static char pool[8*1024];
mjr	59:94eb9265b6d7	346	static char *nxt = pool;
mjr	59:94eb9265b6d7	347	static size_t rem = sizeof(pool);
mjr	59:94eb9265b6d7	348
mjr	59:94eb9265b6d7	349	// align to a 4-byte increment
mjr	59:94eb9265b6d7	350	siz = (siz + 3) & ~3;
mjr	59:94eb9265b6d7	351
mjr	59:94eb9265b6d7	352	// If insufficient memory is available, halt and show a fast red/purple
mjr	59:94eb9265b6d7	353	// diagnostic flash. We don't want to return, since we assume throughout
mjr	59:94eb9265b6d7	354	// the program that all memory allocations must succeed. Note that this
mjr	59:94eb9265b6d7	355	// is generally considered bad programming practice in applications on
mjr	59:94eb9265b6d7	356	// "real" computers, but for the purposes of this microcontroller app,
mjr	59:94eb9265b6d7	357	// there's no point in checking for failed allocations individually
mjr	59:94eb9265b6d7	358	// because there's no way to recover from them. It's better in this
mjr	59:94eb9265b6d7	359	// context to handle failed allocations as fatal errors centrally. We
mjr	59:94eb9265b6d7	360	// can't recover from these automatically, so we have to resort to user
mjr	59:94eb9265b6d7	361	// intervention, which we signal with the diagnostic LED flashes.
mjr	59:94eb9265b6d7	362	if (siz > rem)
mjr	59:94eb9265b6d7	363	{
mjr	59:94eb9265b6d7	364	// halt with the diagnostic display (by looping forever)
mjr	59:94eb9265b6d7	365	for (;;)
mjr	59:94eb9265b6d7	366	{
mjr	59:94eb9265b6d7	367	diagLED(1, 0, 0);
mjr	59:94eb9265b6d7	368	wait_us(200000);
mjr	59:94eb9265b6d7	369	diagLED(1, 0, 1);
mjr	59:94eb9265b6d7	370	wait_us(200000);
mjr	59:94eb9265b6d7	371	}
mjr	59:94eb9265b6d7	372	}
mjr	48:058ace2aed1d	373
mjr	59:94eb9265b6d7	374	// get the next free location from the pool to return
mjr	59:94eb9265b6d7	375	char *ret = nxt;
mjr	59:94eb9265b6d7	376
mjr	59:94eb9265b6d7	377	// advance the pool pointer and decrement the remaining size counter
mjr	59:94eb9265b6d7	378	nxt += siz;
mjr	59:94eb9265b6d7	379	rem -= siz;
mjr	59:94eb9265b6d7	380
mjr	59:94eb9265b6d7	381	// return the allocated block
mjr	59:94eb9265b6d7	382	return ret;
mjr	48:058ace2aed1d	383	}
mjr	48:058ace2aed1d	384
mjr	59:94eb9265b6d7	385	// Overload operator new to call our custom malloc. This ensures that
mjr	59:94eb9265b6d7	386	// all 'new' allocations throughout the program (including library code)
mjr	59:94eb9265b6d7	387	// go through our private allocator.
mjr	48:058ace2aed1d	388	void *operator new(size_t siz) { return xmalloc(siz); }
mjr	48:058ace2aed1d	389	void *operator new[](size_t siz) { return xmalloc(siz); }
mjr	5:a70c0bce770d	390
mjr	59:94eb9265b6d7	391	// Since we don't do bookkeeping to track released memory, 'delete' does
mjr	59:94eb9265b6d7	392	// nothing. In actual testing, this routine appears to never be called.
mjr	59:94eb9265b6d7	393	// If it is ever called, it will simply leave the block in place, which
mjr	59:94eb9265b6d7	394	// will make it unavailable for re-use but will otherwise be harmless.
mjr	59:94eb9265b6d7	395	void operator delete(void *ptr) { }
mjr	59:94eb9265b6d7	396
mjr	59:94eb9265b6d7	397
mjr	5:a70c0bce770d	398	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	399	//
mjr	38:091e511ce8a0	400	// Forward declarations
mjr	38:091e511ce8a0	401	//
mjr	38:091e511ce8a0	402	void setNightMode(bool on);
mjr	38:091e511ce8a0	403	void toggleNightMode();
mjr	38:091e511ce8a0	404
mjr	38:091e511ce8a0	405	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	406	// utilities
mjr	17:ab3cec0c8bf4	407
mjr	26:cb71c4af2912	408	// floating point square of a number
mjr	26:cb71c4af2912	409	inline float square(float x) { return x*x; }
mjr	26:cb71c4af2912	410
mjr	26:cb71c4af2912	411	// floating point rounding
mjr	26:cb71c4af2912	412	inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); }
mjr	26:cb71c4af2912	413
mjr	17:ab3cec0c8bf4	414
mjr	33:d832bcab089e	415	// --------------------------------------------------------------------------
mjr	33:d832bcab089e	416	//
mjr	40:cc0d9814522b	417	// Extended verison of Timer class. This adds the ability to interrogate
mjr	40:cc0d9814522b	418	// the running state.
mjr	40:cc0d9814522b	419	//
mjr	40:cc0d9814522b	420	class Timer2: public Timer
mjr	40:cc0d9814522b	421	{
mjr	40:cc0d9814522b	422	public:
mjr	40:cc0d9814522b	423	Timer2() : running(false) { }
mjr	40:cc0d9814522b	424
mjr	40:cc0d9814522b	425	void start() { running = true; Timer::start(); }
mjr	40:cc0d9814522b	426	void stop() { running = false; Timer::stop(); }
mjr	40:cc0d9814522b	427
mjr	40:cc0d9814522b	428	bool isRunning() const { return running; }
mjr	40:cc0d9814522b	429
mjr	40:cc0d9814522b	430	private:
mjr	40:cc0d9814522b	431	bool running;
mjr	40:cc0d9814522b	432	};
mjr	40:cc0d9814522b	433
mjr	53:9b2611964afc	434
mjr	53:9b2611964afc	435	// --------------------------------------------------------------------------
mjr	53:9b2611964afc	436	//
mjr	53:9b2611964afc	437	// Reboot timer. When we have a deferred reboot operation pending, we
mjr	53:9b2611964afc	438	// set the target time and start the timer.
mjr	53:9b2611964afc	439	Timer2 rebootTimer;
mjr	53:9b2611964afc	440	long rebootTime_us;
mjr	53:9b2611964afc	441
mjr	40:cc0d9814522b	442	// --------------------------------------------------------------------------
mjr	40:cc0d9814522b	443	//
mjr	33:d832bcab089e	444	// USB product version number
mjr	5:a70c0bce770d	445	//
mjr	47:df7a88cd249c	446	const uint16_t USB_VERSION_NO = 0x000A;
mjr	33:d832bcab089e	447
mjr	33:d832bcab089e	448	// --------------------------------------------------------------------------
mjr	33:d832bcab089e	449	//
mjr	6:cc35eb643e8f	450	// Joystick axis report range - we report from -JOYMAX to +JOYMAX
mjr	33:d832bcab089e	451	//
mjr	6:cc35eb643e8f	452	#define JOYMAX 4096
mjr	6:cc35eb643e8f	453
mjr	9:fd65b0a94720	454
mjr	17:ab3cec0c8bf4	455	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	456	//
mjr	40:cc0d9814522b	457	// Wire protocol value translations. These translate byte values to and
mjr	40:cc0d9814522b	458	// from the USB protocol to local native format.
mjr	35:e959ffba78fd	459	//
mjr	35:e959ffba78fd	460
mjr	35:e959ffba78fd	461	// unsigned 16-bit integer
mjr	35:e959ffba78fd	462	inline uint16_t wireUI16(const uint8_t *b)
mjr	35:e959ffba78fd	463	{
mjr	35:e959ffba78fd	464	return b[0] \| ((uint16_t)b[1] << 8);
mjr	35:e959ffba78fd	465	}
mjr	40:cc0d9814522b	466	inline void ui16Wire(uint8_t *b, uint16_t val)
mjr	40:cc0d9814522b	467	{
mjr	40:cc0d9814522b	468	b[0] = (uint8_t)(val & 0xff);
mjr	40:cc0d9814522b	469	b[1] = (uint8_t)((val >> 8) & 0xff);
mjr	40:cc0d9814522b	470	}
mjr	35:e959ffba78fd	471
mjr	35:e959ffba78fd	472	inline int16_t wireI16(const uint8_t *b)
mjr	35:e959ffba78fd	473	{
mjr	35:e959ffba78fd	474	return (int16_t)wireUI16(b);
mjr	35:e959ffba78fd	475	}
mjr	40:cc0d9814522b	476	inline void i16Wire(uint8_t *b, int16_t val)
mjr	40:cc0d9814522b	477	{
mjr	40:cc0d9814522b	478	ui16Wire(b, (uint16_t)val);
mjr	40:cc0d9814522b	479	}
mjr	35:e959ffba78fd	480
mjr	35:e959ffba78fd	481	inline uint32_t wireUI32(const uint8_t *b)
mjr	35:e959ffba78fd	482	{
mjr	35:e959ffba78fd	483	return b[0] \| ((uint32_t)b[1] << 8) \| ((uint32_t)b[2] << 16) \| ((uint32_t)b[3] << 24);
mjr	35:e959ffba78fd	484	}
mjr	40:cc0d9814522b	485	inline void ui32Wire(uint8_t *b, uint32_t val)
mjr	40:cc0d9814522b	486	{
mjr	40:cc0d9814522b	487	b[0] = (uint8_t)(val & 0xff);
mjr	40:cc0d9814522b	488	b[1] = (uint8_t)((val >> 8) & 0xff);
mjr	40:cc0d9814522b	489	b[2] = (uint8_t)((val >> 16) & 0xff);
mjr	40:cc0d9814522b	490	b[3] = (uint8_t)((val >> 24) & 0xff);
mjr	40:cc0d9814522b	491	}
mjr	35:e959ffba78fd	492
mjr	35:e959ffba78fd	493	inline int32_t wireI32(const uint8_t *b)
mjr	35:e959ffba78fd	494	{
mjr	35:e959ffba78fd	495	return (int32_t)wireUI32(b);
mjr	35:e959ffba78fd	496	}
mjr	35:e959ffba78fd	497
mjr	53:9b2611964afc	498	// Convert "wire" (USB) pin codes to/from PinName values.
mjr	53:9b2611964afc	499	//
mjr	53:9b2611964afc	500	// The internal mbed PinName format is
mjr	53:9b2611964afc	501	//
mjr	53:9b2611964afc	502	// ((port) << PORT_SHIFT) \| (pin << 2) // MBED FORMAT
mjr	53:9b2611964afc	503	//
mjr	53:9b2611964afc	504	// where 'port' is 0-4 for Port A to Port E, and 'pin' is
mjr	53:9b2611964afc	505	// 0 to 31. E.g., E31 is (4 << PORT_SHIFT) \| (31<<2).
mjr	53:9b2611964afc	506	//
mjr	53:9b2611964afc	507	// We remap this to our more compact wire format where each
mjr	53:9b2611964afc	508	// pin name fits in 8 bits:
mjr	53:9b2611964afc	509	//
mjr	53:9b2611964afc	510	// ((port) << 5) \| pin) // WIRE FORMAT
mjr	53:9b2611964afc	511	//
mjr	53:9b2611964afc	512	// E.g., E31 is (4 << 5) \| 31.
mjr	53:9b2611964afc	513	//
mjr	53:9b2611964afc	514	// Wire code FF corresponds to PinName NC (not connected).
mjr	53:9b2611964afc	515	//
mjr	53:9b2611964afc	516	inline PinName wirePinName(uint8_t c)
mjr	35:e959ffba78fd	517	{
mjr	53:9b2611964afc	518	if (c == 0xFF)
mjr	53:9b2611964afc	519	return NC; // 0xFF -> NC
mjr	53:9b2611964afc	520	else
mjr	53:9b2611964afc	521	return PinName(
mjr	53:9b2611964afc	522	(int(c & 0xE0) << (PORT_SHIFT - 5)) // top three bits are the port
mjr	53:9b2611964afc	523	\| (int(c & 0x1F) << 2)); // bottom five bits are pin
mjr	40:cc0d9814522b	524	}
mjr	40:cc0d9814522b	525	inline void pinNameWire(uint8_t *b, PinName n)
mjr	40:cc0d9814522b	526	{
mjr	53:9b2611964afc	527	*b = PINNAME_TO_WIRE(n);
mjr	35:e959ffba78fd	528	}
mjr	35:e959ffba78fd	529
mjr	35:e959ffba78fd	530
mjr	35:e959ffba78fd	531	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	532	//
mjr	38:091e511ce8a0	533	// On-board RGB LED elements - we use these for diagnostic displays.
mjr	38:091e511ce8a0	534	//
mjr	38:091e511ce8a0	535	// Note that LED3 (the blue segment) is hard-wired on the KL25Z to PTD1,
mjr	38:091e511ce8a0	536	// so PTD1 shouldn't be used for any other purpose (e.g., as a keyboard
mjr	38:091e511ce8a0	537	// input or a device output). This is kind of unfortunate in that it's
mjr	38:091e511ce8a0	538	// one of only two ports exposed on the jumper pins that can be muxed to
mjr	38:091e511ce8a0	539	// SPI0 SCLK. This effectively limits us to PTC5 if we want to use the
mjr	38:091e511ce8a0	540	// SPI capability.
mjr	38:091e511ce8a0	541	//
mjr	38:091e511ce8a0	542	DigitalOut ledR, ledG, *ledB;
mjr	38:091e511ce8a0	543
mjr	38:091e511ce8a0	544	// Show the indicated pattern on the diagnostic LEDs. 0 is off, 1 is
mjr	38:091e511ce8a0	545	// on, and -1 is no change (leaves the current setting intact).
mjr	38:091e511ce8a0	546	void diagLED(int r, int g, int b)
mjr	38:091e511ce8a0	547	{
mjr	38:091e511ce8a0	548	if (ledR != 0 && r != -1) ledR->write(!r);
mjr	38:091e511ce8a0	549	if (ledG != 0 && g != -1) ledG->write(!g);
mjr	38:091e511ce8a0	550	if (ledB != 0 && b != -1) ledB->write(!b);
mjr	38:091e511ce8a0	551	}
mjr	38:091e511ce8a0	552
mjr	38:091e511ce8a0	553	// check an output port assignment to see if it conflicts with
mjr	38:091e511ce8a0	554	// an on-board LED segment
mjr	38:091e511ce8a0	555	struct LedSeg
mjr	38:091e511ce8a0	556	{
mjr	38:091e511ce8a0	557	bool r, g, b;
mjr	38:091e511ce8a0	558	LedSeg() { r = g = b = false; }
mjr	38:091e511ce8a0	559
mjr	38:091e511ce8a0	560	void check(LedWizPortCfg &pc)
mjr	38:091e511ce8a0	561	{
mjr	38:091e511ce8a0	562	// if it's a GPIO, check to see if it's assigned to one of
mjr	38:091e511ce8a0	563	// our on-board LED segments
mjr	38:091e511ce8a0	564	int t = pc.typ;
mjr	38:091e511ce8a0	565	if (t == PortTypeGPIOPWM \|\| t == PortTypeGPIODig)
mjr	38:091e511ce8a0	566	{
mjr	38:091e511ce8a0	567	// it's a GPIO port - check for a matching pin assignment
mjr	38:091e511ce8a0	568	PinName pin = wirePinName(pc.pin);
mjr	38:091e511ce8a0	569	if (pin == LED1)
mjr	38:091e511ce8a0	570	r = true;
mjr	38:091e511ce8a0	571	else if (pin == LED2)
mjr	38:091e511ce8a0	572	g = true;
mjr	38:091e511ce8a0	573	else if (pin == LED3)
mjr	38:091e511ce8a0	574	b = true;
mjr	38:091e511ce8a0	575	}
mjr	38:091e511ce8a0	576	}
mjr	38:091e511ce8a0	577	};
mjr	38:091e511ce8a0	578
mjr	38:091e511ce8a0	579	// Initialize the diagnostic LEDs. By default, we use the on-board
mjr	38:091e511ce8a0	580	// RGB LED to display the microcontroller status. However, we allow
mjr	38:091e511ce8a0	581	// the user to commandeer the on-board LED as an LedWiz output device,
mjr	38:091e511ce8a0	582	// which can be useful for testing a new installation. So we'll check
mjr	38:091e511ce8a0	583	// for LedWiz outputs assigned to the on-board LED segments, and turn
mjr	38:091e511ce8a0	584	// off the diagnostic use for any so assigned.
mjr	38:091e511ce8a0	585	void initDiagLEDs(Config &cfg)
mjr	38:091e511ce8a0	586	{
mjr	38:091e511ce8a0	587	// run through the configuration list and cross off any of the
mjr	38:091e511ce8a0	588	// LED segments assigned to LedWiz ports
mjr	38:091e511ce8a0	589	LedSeg l;
mjr	38:091e511ce8a0	590	for (int i = 0 ; i < MAX_OUT_PORTS && cfg.outPort[i].typ != PortTypeDisabled ; ++i)
mjr	38:091e511ce8a0	591	l.check(cfg.outPort[i]);
mjr	38:091e511ce8a0	592
mjr	38:091e511ce8a0	593	// We now know which segments are taken for LedWiz use and which
mjr	38:091e511ce8a0	594	// are free. Create diagnostic ports for the ones not claimed for
mjr	38:091e511ce8a0	595	// LedWiz use.
mjr	38:091e511ce8a0	596	if (!l.r) ledR = new DigitalOut(LED1, 1);
mjr	38:091e511ce8a0	597	if (!l.g) ledG = new DigitalOut(LED2, 1);
mjr	38:091e511ce8a0	598	if (!l.b) ledB = new DigitalOut(LED3, 1);
mjr	38:091e511ce8a0	599	}
mjr	38:091e511ce8a0	600
mjr	38:091e511ce8a0	601
mjr	38:091e511ce8a0	602	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	603	//
mjr	29:582472d0bc57	604	// LedWiz emulation, and enhanced TLC5940 output controller
mjr	5:a70c0bce770d	605	//
mjr	26:cb71c4af2912	606	// There are two modes for this feature. The default mode uses the on-board
mjr	26:cb71c4af2912	607	// GPIO ports to implement device outputs - each LedWiz software port is
mjr	26:cb71c4af2912	608	// connected to a physical GPIO pin on the KL25Z. The KL25Z only has 10
mjr	26:cb71c4af2912	609	// PWM channels, so in this mode only 10 LedWiz ports will be dimmable; the
mjr	26:cb71c4af2912	610	// rest are strictly on/off. The KL25Z also has a limited number of GPIO
mjr	26:cb71c4af2912	611	// ports overall - not enough for the full complement of 32 LedWiz ports
mjr	26:cb71c4af2912	612	// and 24 VP joystick inputs, so it's necessary to trade one against the
mjr	26:cb71c4af2912	613	// other if both features are to be used.
mjr	26:cb71c4af2912	614	//
mjr	26:cb71c4af2912	615	// The alternative, enhanced mode uses external TLC5940 PWM controller
mjr	26:cb71c4af2912	616	// chips to control device outputs. In this mode, each LedWiz software
mjr	26:cb71c4af2912	617	// port is mapped to an output on one of the external TLC5940 chips.
mjr	26:cb71c4af2912	618	// Two 5940s is enough for the full set of 32 LedWiz ports, and we can
mjr	26:cb71c4af2912	619	// support even more chips for even more outputs (although doing so requires
mjr	26:cb71c4af2912	620	// breaking LedWiz compatibility, since the LedWiz USB protocol is hardwired
mjr	26:cb71c4af2912	621	// for 32 outputs). Every port in this mode has full PWM support.
mjr	26:cb71c4af2912	622	//
mjr	5:a70c0bce770d	623
mjr	29:582472d0bc57	624
mjr	26:cb71c4af2912	625	// Current starting output index for "PBA" messages from the PC (using
mjr	26:cb71c4af2912	626	// the LedWiz USB protocol). Each PBA message implicitly uses the
mjr	26:cb71c4af2912	627	// current index as the starting point for the ports referenced in
mjr	26:cb71c4af2912	628	// the message, and increases it (by 8) for the next call.
mjr	0:5acbbe3f4cf4	629	static int pbaIdx = 0;
mjr	0:5acbbe3f4cf4	630
mjr	26:cb71c4af2912	631	// Generic LedWiz output port interface. We create a cover class to
mjr	26:cb71c4af2912	632	// virtualize digital vs PWM outputs, and on-board KL25Z GPIO vs external
mjr	26:cb71c4af2912	633	// TLC5940 outputs, and give them all a common interface.
mjr	6:cc35eb643e8f	634	class LwOut
mjr	6:cc35eb643e8f	635	{
mjr	6:cc35eb643e8f	636	public:
mjr	40:cc0d9814522b	637	// Set the output intensity. 'val' is 0 for fully off, 255 for
mjr	40:cc0d9814522b	638	// fully on, with values in between signifying lower intensity.
mjr	40:cc0d9814522b	639	virtual void set(uint8_t val) = 0;
mjr	6:cc35eb643e8f	640	};
mjr	26:cb71c4af2912	641
mjr	35:e959ffba78fd	642	// LwOut class for virtual ports. This type of port is visible to
mjr	35:e959ffba78fd	643	// the host software, but isn't connected to any physical output.
mjr	35:e959ffba78fd	644	// This can be used for special software-only ports like the ZB
mjr	35:e959ffba78fd	645	// Launch Ball output, or simply for placeholders in the LedWiz port
mjr	35:e959ffba78fd	646	// numbering.
mjr	35:e959ffba78fd	647	class LwVirtualOut: public LwOut
mjr	33:d832bcab089e	648	{
mjr	33:d832bcab089e	649	public:
mjr	35:e959ffba78fd	650	LwVirtualOut() { }
mjr	40:cc0d9814522b	651	virtual void set(uint8_t ) { }
mjr	33:d832bcab089e	652	};
mjr	26:cb71c4af2912	653
mjr	34:6b981a2afab7	654	// Active Low out. For any output marked as active low, we layer this
mjr	34:6b981a2afab7	655	// on top of the physical pin interface. This simply inverts the value of
mjr	40:cc0d9814522b	656	// the output value, so that 255 means fully off and 0 means fully on.
mjr	34:6b981a2afab7	657	class LwInvertedOut: public LwOut
mjr	34:6b981a2afab7	658	{
mjr	34:6b981a2afab7	659	public:
mjr	34:6b981a2afab7	660	LwInvertedOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	661	virtual void set(uint8_t val) { out->set(255 - val); }
mjr	34:6b981a2afab7	662
mjr	34:6b981a2afab7	663	private:
mjr	53:9b2611964afc	664	// underlying physical output
mjr	34:6b981a2afab7	665	LwOut *out;
mjr	34:6b981a2afab7	666	};
mjr	34:6b981a2afab7	667
mjr	53:9b2611964afc	668	// Global ZB Launch Ball state
mjr	53:9b2611964afc	669	bool zbLaunchOn = false;
mjr	53:9b2611964afc	670
mjr	53:9b2611964afc	671	// ZB Launch Ball output. This is layered on a port (physical or virtual)
mjr	53:9b2611964afc	672	// to track the ZB Launch Ball signal.
mjr	53:9b2611964afc	673	class LwZbLaunchOut: public LwOut
mjr	53:9b2611964afc	674	{
mjr	53:9b2611964afc	675	public:
mjr	53:9b2611964afc	676	LwZbLaunchOut(LwOut *o) : out(o) { }
mjr	53:9b2611964afc	677	virtual void set(uint8_t val)
mjr	53:9b2611964afc	678	{
mjr	53:9b2611964afc	679	// update the global ZB Launch Ball state
mjr	53:9b2611964afc	680	zbLaunchOn = (val != 0);
mjr	53:9b2611964afc	681
mjr	53:9b2611964afc	682	// pass it along to the underlying port, in case it's a physical output
mjr	53:9b2611964afc	683	out->set(val);
mjr	53:9b2611964afc	684	}
mjr	53:9b2611964afc	685
mjr	53:9b2611964afc	686	private:
mjr	53:9b2611964afc	687	// underlying physical or virtual output
mjr	53:9b2611964afc	688	LwOut *out;
mjr	53:9b2611964afc	689	};
mjr	53:9b2611964afc	690
mjr	53:9b2611964afc	691
mjr	40:cc0d9814522b	692	// Gamma correction table for 8-bit input values
mjr	40:cc0d9814522b	693	static const uint8_t gamma[] = {
mjr	40:cc0d9814522b	694	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
mjr	40:cc0d9814522b	695	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1,
mjr	40:cc0d9814522b	696	1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2,
mjr	40:cc0d9814522b	697	2, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 5, 5, 5,
mjr	40:cc0d9814522b	698	5, 6, 6, 6, 6, 7, 7, 7, 7, 8, 8, 8, 9, 9, 9, 10,
mjr	40:cc0d9814522b	699	10, 10, 11, 11, 11, 12, 12, 13, 13, 13, 14, 14, 15, 15, 16, 16,
mjr	40:cc0d9814522b	700	17, 17, 18, 18, 19, 19, 20, 20, 21, 21, 22, 22, 23, 24, 24, 25,
mjr	40:cc0d9814522b	701	25, 26, 27, 27, 28, 29, 29, 30, 31, 32, 32, 33, 34, 35, 35, 36,
mjr	40:cc0d9814522b	702	37, 38, 39, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 50,
mjr	40:cc0d9814522b	703	51, 52, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 66, 67, 68,
mjr	40:cc0d9814522b	704	69, 70, 72, 73, 74, 75, 77, 78, 79, 81, 82, 83, 85, 86, 87, 89,
mjr	40:cc0d9814522b	705	90, 92, 93, 95, 96, 98, 99, 101, 102, 104, 105, 107, 109, 110, 112, 114,
mjr	40:cc0d9814522b	706	115, 117, 119, 120, 122, 124, 126, 127, 129, 131, 133, 135, 137, 138, 140, 142,
mjr	40:cc0d9814522b	707	144, 146, 148, 150, 152, 154, 156, 158, 160, 162, 164, 167, 169, 171, 173, 175,
mjr	40:cc0d9814522b	708	177, 180, 182, 184, 186, 189, 191, 193, 196, 198, 200, 203, 205, 208, 210, 213,
mjr	40:cc0d9814522b	709	215, 218, 220, 223, 225, 228, 231, 233, 236, 239, 241, 244, 247, 249, 252, 255
mjr	40:cc0d9814522b	710	};
mjr	40:cc0d9814522b	711
mjr	40:cc0d9814522b	712	// Gamma-corrected out. This is a filter object that we layer on top
mjr	40:cc0d9814522b	713	// of a physical pin interface. This applies gamma correction to the
mjr	40:cc0d9814522b	714	// input value and then passes it along to the underlying pin object.
mjr	40:cc0d9814522b	715	class LwGammaOut: public LwOut
mjr	40:cc0d9814522b	716	{
mjr	40:cc0d9814522b	717	public:
mjr	40:cc0d9814522b	718	LwGammaOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	719	virtual void set(uint8_t val) { out->set(gamma[val]); }
mjr	40:cc0d9814522b	720
mjr	40:cc0d9814522b	721	private:
mjr	40:cc0d9814522b	722	LwOut *out;
mjr	40:cc0d9814522b	723	};
mjr	40:cc0d9814522b	724
mjr	53:9b2611964afc	725	// global night mode flag
mjr	53:9b2611964afc	726	static bool nightMode = false;
mjr	53:9b2611964afc	727
mjr	40:cc0d9814522b	728	// Noisy output. This is a filter object that we layer on top of
mjr	40:cc0d9814522b	729	// a physical pin output. This filter disables the port when night
mjr	40:cc0d9814522b	730	// mode is engaged.
mjr	40:cc0d9814522b	731	class LwNoisyOut: public LwOut
mjr	40:cc0d9814522b	732	{
mjr	40:cc0d9814522b	733	public:
mjr	40:cc0d9814522b	734	LwNoisyOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	735	virtual void set(uint8_t val) { out->set(nightMode ? 0 : val); }
mjr	40:cc0d9814522b	736
mjr	53:9b2611964afc	737	private:
mjr	53:9b2611964afc	738	LwOut *out;
mjr	53:9b2611964afc	739	};
mjr	53:9b2611964afc	740
mjr	53:9b2611964afc	741	// Night Mode indicator output. This is a filter object that we
mjr	53:9b2611964afc	742	// layer on top of a physical pin output. This filter ignores the
mjr	53:9b2611964afc	743	// host value and simply shows the night mode status.
mjr	53:9b2611964afc	744	class LwNightModeIndicatorOut: public LwOut
mjr	53:9b2611964afc	745	{
mjr	53:9b2611964afc	746	public:
mjr	53:9b2611964afc	747	LwNightModeIndicatorOut(LwOut *o) : out(o) { }
mjr	53:9b2611964afc	748	virtual void set(uint8_t)
mjr	53:9b2611964afc	749	{
mjr	53:9b2611964afc	750	// ignore the host value and simply show the current
mjr	53:9b2611964afc	751	// night mode setting
mjr	53:9b2611964afc	752	out->set(nightMode ? 255 : 0);
mjr	53:9b2611964afc	753	}
mjr	40:cc0d9814522b	754
mjr	40:cc0d9814522b	755	private:
mjr	40:cc0d9814522b	756	LwOut *out;
mjr	40:cc0d9814522b	757	};
mjr	40:cc0d9814522b	758
mjr	26:cb71c4af2912	759
mjr	35:e959ffba78fd	760	//
mjr	35:e959ffba78fd	761	// The TLC5940 interface object. We'll set this up with the port
mjr	35:e959ffba78fd	762	// assignments set in config.h.
mjr	33:d832bcab089e	763	//
mjr	35:e959ffba78fd	764	TLC5940 *tlc5940 = 0;
mjr	35:e959ffba78fd	765	void init_tlc5940(Config &cfg)
mjr	35:e959ffba78fd	766	{
mjr	35:e959ffba78fd	767	if (cfg.tlc5940.nchips != 0)
mjr	35:e959ffba78fd	768	{
mjr	53:9b2611964afc	769	tlc5940 = new TLC5940(
mjr	53:9b2611964afc	770	wirePinName(cfg.tlc5940.sclk),
mjr	53:9b2611964afc	771	wirePinName(cfg.tlc5940.sin),
mjr	53:9b2611964afc	772	wirePinName(cfg.tlc5940.gsclk),
mjr	53:9b2611964afc	773	wirePinName(cfg.tlc5940.blank),
mjr	53:9b2611964afc	774	wirePinName(cfg.tlc5940.xlat),
mjr	53:9b2611964afc	775	cfg.tlc5940.nchips);
mjr	35:e959ffba78fd	776	}
mjr	35:e959ffba78fd	777	}
mjr	26:cb71c4af2912	778
mjr	40:cc0d9814522b	779	// Conversion table for 8-bit DOF level to 12-bit TLC5940 level
mjr	40:cc0d9814522b	780	static const uint16_t dof_to_tlc[] = {
mjr	40:cc0d9814522b	781	0, 16, 32, 48, 64, 80, 96, 112, 128, 145, 161, 177, 193, 209, 225, 241,
mjr	40:cc0d9814522b	782	257, 273, 289, 305, 321, 337, 353, 369, 385, 401, 418, 434, 450, 466, 482, 498,
mjr	40:cc0d9814522b	783	514, 530, 546, 562, 578, 594, 610, 626, 642, 658, 674, 691, 707, 723, 739, 755,
mjr	40:cc0d9814522b	784	771, 787, 803, 819, 835, 851, 867, 883, 899, 915, 931, 947, 964, 980, 996, 1012,
mjr	40:cc0d9814522b	785	1028, 1044, 1060, 1076, 1092, 1108, 1124, 1140, 1156, 1172, 1188, 1204, 1220, 1237, 1253, 1269,
mjr	40:cc0d9814522b	786	1285, 1301, 1317, 1333, 1349, 1365, 1381, 1397, 1413, 1429, 1445, 1461, 1477, 1493, 1510, 1526,
mjr	40:cc0d9814522b	787	1542, 1558, 1574, 1590, 1606, 1622, 1638, 1654, 1670, 1686, 1702, 1718, 1734, 1750, 1766, 1783,
mjr	40:cc0d9814522b	788	1799, 1815, 1831, 1847, 1863, 1879, 1895, 1911, 1927, 1943, 1959, 1975, 1991, 2007, 2023, 2039,
mjr	40:cc0d9814522b	789	2056, 2072, 2088, 2104, 2120, 2136, 2152, 2168, 2184, 2200, 2216, 2232, 2248, 2264, 2280, 2296,
mjr	40:cc0d9814522b	790	2312, 2329, 2345, 2361, 2377, 2393, 2409, 2425, 2441, 2457, 2473, 2489, 2505, 2521, 2537, 2553,
mjr	40:cc0d9814522b	791	2569, 2585, 2602, 2618, 2634, 2650, 2666, 2682, 2698, 2714, 2730, 2746, 2762, 2778, 2794, 2810,
mjr	40:cc0d9814522b	792	2826, 2842, 2858, 2875, 2891, 2907, 2923, 2939, 2955, 2971, 2987, 3003, 3019, 3035, 3051, 3067,
mjr	40:cc0d9814522b	793	3083, 3099, 3115, 3131, 3148, 3164, 3180, 3196, 3212, 3228, 3244, 3260, 3276, 3292, 3308, 3324,
mjr	40:cc0d9814522b	794	3340, 3356, 3372, 3388, 3404, 3421, 3437, 3453, 3469, 3485, 3501, 3517, 3533, 3549, 3565, 3581,
mjr	40:cc0d9814522b	795	3597, 3613, 3629, 3645, 3661, 3677, 3694, 3710, 3726, 3742, 3758, 3774, 3790, 3806, 3822, 3838,
mjr	40:cc0d9814522b	796	3854, 3870, 3886, 3902, 3918, 3934, 3950, 3967, 3983, 3999, 4015, 4031, 4047, 4063, 4079, 4095
mjr	40:cc0d9814522b	797	};
mjr	40:cc0d9814522b	798
mjr	40:cc0d9814522b	799	// Conversion table for 8-bit DOF level to 12-bit TLC5940 level, with
mjr	40:cc0d9814522b	800	// gamma correction. Note that the output layering scheme can handle
mjr	40:cc0d9814522b	801	// this without a separate table, by first applying gamma to the DOF
mjr	40:cc0d9814522b	802	// level to produce an 8-bit gamma-corrected value, then convert that
mjr	40:cc0d9814522b	803	// to the 12-bit TLC5940 value. But we get better precision by doing
mjr	40:cc0d9814522b	804	// the gamma correction in the 12-bit TLC5940 domain. We can only
mjr	40:cc0d9814522b	805	// get the 12-bit domain by combining both steps into one layering
mjr	40:cc0d9814522b	806	// object, though, since the intermediate values in the layering system
mjr	40:cc0d9814522b	807	// are always 8 bits.
mjr	40:cc0d9814522b	808	static const uint16_t dof_to_gamma_tlc[] = {
mjr	40:cc0d9814522b	809	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1,
mjr	40:cc0d9814522b	810	2, 2, 2, 3, 3, 4, 4, 5, 5, 6, 7, 8, 8, 9, 10, 11,
mjr	40:cc0d9814522b	811	12, 13, 15, 16, 17, 18, 20, 21, 23, 25, 26, 28, 30, 32, 34, 36,
mjr	40:cc0d9814522b	812	38, 40, 43, 45, 48, 50, 53, 56, 59, 62, 65, 68, 71, 75, 78, 82,
mjr	40:cc0d9814522b	813	85, 89, 93, 97, 101, 105, 110, 114, 119, 123, 128, 133, 138, 143, 149, 154,
mjr	40:cc0d9814522b	814	159, 165, 171, 177, 183, 189, 195, 202, 208, 215, 222, 229, 236, 243, 250, 258,
mjr	40:cc0d9814522b	815	266, 273, 281, 290, 298, 306, 315, 324, 332, 341, 351, 360, 369, 379, 389, 399,
mjr	40:cc0d9814522b	816	409, 419, 430, 440, 451, 462, 473, 485, 496, 508, 520, 532, 544, 556, 569, 582,
mjr	40:cc0d9814522b	817	594, 608, 621, 634, 648, 662, 676, 690, 704, 719, 734, 749, 764, 779, 795, 811,
mjr	40:cc0d9814522b	818	827, 843, 859, 876, 893, 910, 927, 944, 962, 980, 998, 1016, 1034, 1053, 1072, 1091,
mjr	40:cc0d9814522b	819	1110, 1130, 1150, 1170, 1190, 1210, 1231, 1252, 1273, 1294, 1316, 1338, 1360, 1382, 1404, 1427,
mjr	40:cc0d9814522b	820	1450, 1473, 1497, 1520, 1544, 1568, 1593, 1617, 1642, 1667, 1693, 1718, 1744, 1770, 1797, 1823,
mjr	40:cc0d9814522b	821	1850, 1877, 1905, 1932, 1960, 1988, 2017, 2045, 2074, 2103, 2133, 2162, 2192, 2223, 2253, 2284,
mjr	40:cc0d9814522b	822	2315, 2346, 2378, 2410, 2442, 2474, 2507, 2540, 2573, 2606, 2640, 2674, 2708, 2743, 2778, 2813,
mjr	40:cc0d9814522b	823	2849, 2884, 2920, 2957, 2993, 3030, 3067, 3105, 3143, 3181, 3219, 3258, 3297, 3336, 3376, 3416,
mjr	40:cc0d9814522b	824	3456, 3496, 3537, 3578, 3619, 3661, 3703, 3745, 3788, 3831, 3874, 3918, 3962, 4006, 4050, 4095
mjr	40:cc0d9814522b	825	};
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	40:cc0d9814522b	902	// Conversion table - 8-bit DOF output level to PWM float level
mjr	40:cc0d9814522b	903	// (normalized to 0.0..1.0 scale)
mjr	40:cc0d9814522b	904	static const float pwm_level[] = {
mjr	40:cc0d9814522b	905	0.000000, 0.003922, 0.007843, 0.011765, 0.015686, 0.019608, 0.023529, 0.027451,
mjr	40:cc0d9814522b	906	0.031373, 0.035294, 0.039216, 0.043137, 0.047059, 0.050980, 0.054902, 0.058824,
mjr	40:cc0d9814522b	907	0.062745, 0.066667, 0.070588, 0.074510, 0.078431, 0.082353, 0.086275, 0.090196,
mjr	40:cc0d9814522b	908	0.094118, 0.098039, 0.101961, 0.105882, 0.109804, 0.113725, 0.117647, 0.121569,
mjr	40:cc0d9814522b	909	0.125490, 0.129412, 0.133333, 0.137255, 0.141176, 0.145098, 0.149020, 0.152941,
mjr	40:cc0d9814522b	910	0.156863, 0.160784, 0.164706, 0.168627, 0.172549, 0.176471, 0.180392, 0.184314,
mjr	40:cc0d9814522b	911	0.188235, 0.192157, 0.196078, 0.200000, 0.203922, 0.207843, 0.211765, 0.215686,
mjr	40:cc0d9814522b	912	0.219608, 0.223529, 0.227451, 0.231373, 0.235294, 0.239216, 0.243137, 0.247059,
mjr	40:cc0d9814522b	913	0.250980, 0.254902, 0.258824, 0.262745, 0.266667, 0.270588, 0.274510, 0.278431,
mjr	40:cc0d9814522b	914	0.282353, 0.286275, 0.290196, 0.294118, 0.298039, 0.301961, 0.305882, 0.309804,
mjr	40:cc0d9814522b	915	0.313725, 0.317647, 0.321569, 0.325490, 0.329412, 0.333333, 0.337255, 0.341176,
mjr	40:cc0d9814522b	916	0.345098, 0.349020, 0.352941, 0.356863, 0.360784, 0.364706, 0.368627, 0.372549,
mjr	40:cc0d9814522b	917	0.376471, 0.380392, 0.384314, 0.388235, 0.392157, 0.396078, 0.400000, 0.403922,
mjr	40:cc0d9814522b	918	0.407843, 0.411765, 0.415686, 0.419608, 0.423529, 0.427451, 0.431373, 0.435294,
mjr	40:cc0d9814522b	919	0.439216, 0.443137, 0.447059, 0.450980, 0.454902, 0.458824, 0.462745, 0.466667,
mjr	40:cc0d9814522b	920	0.470588, 0.474510, 0.478431, 0.482353, 0.486275, 0.490196, 0.494118, 0.498039,
mjr	40:cc0d9814522b	921	0.501961, 0.505882, 0.509804, 0.513725, 0.517647, 0.521569, 0.525490, 0.529412,
mjr	40:cc0d9814522b	922	0.533333, 0.537255, 0.541176, 0.545098, 0.549020, 0.552941, 0.556863, 0.560784,
mjr	40:cc0d9814522b	923	0.564706, 0.568627, 0.572549, 0.576471, 0.580392, 0.584314, 0.588235, 0.592157,
mjr	40:cc0d9814522b	924	0.596078, 0.600000, 0.603922, 0.607843, 0.611765, 0.615686, 0.619608, 0.623529,
mjr	40:cc0d9814522b	925	0.627451, 0.631373, 0.635294, 0.639216, 0.643137, 0.647059, 0.650980, 0.654902,
mjr	40:cc0d9814522b	926	0.658824, 0.662745, 0.666667, 0.670588, 0.674510, 0.678431, 0.682353, 0.686275,
mjr	40:cc0d9814522b	927	0.690196, 0.694118, 0.698039, 0.701961, 0.705882, 0.709804, 0.713725, 0.717647,
mjr	40:cc0d9814522b	928	0.721569, 0.725490, 0.729412, 0.733333, 0.737255, 0.741176, 0.745098, 0.749020,
mjr	40:cc0d9814522b	929	0.752941, 0.756863, 0.760784, 0.764706, 0.768627, 0.772549, 0.776471, 0.780392,
mjr	40:cc0d9814522b	930	0.784314, 0.788235, 0.792157, 0.796078, 0.800000, 0.803922, 0.807843, 0.811765,
mjr	40:cc0d9814522b	931	0.815686, 0.819608, 0.823529, 0.827451, 0.831373, 0.835294, 0.839216, 0.843137,
mjr	40:cc0d9814522b	932	0.847059, 0.850980, 0.854902, 0.858824, 0.862745, 0.866667, 0.870588, 0.874510,
mjr	40:cc0d9814522b	933	0.878431, 0.882353, 0.886275, 0.890196, 0.894118, 0.898039, 0.901961, 0.905882,
mjr	40:cc0d9814522b	934	0.909804, 0.913725, 0.917647, 0.921569, 0.925490, 0.929412, 0.933333, 0.937255,
mjr	40:cc0d9814522b	935	0.941176, 0.945098, 0.949020, 0.952941, 0.956863, 0.960784, 0.964706, 0.968627,
mjr	40:cc0d9814522b	936	0.972549, 0.976471, 0.980392, 0.984314, 0.988235, 0.992157, 0.996078, 1.000000
mjr	40:cc0d9814522b	937	};
mjr	26:cb71c4af2912	938
mjr	26:cb71c4af2912	939	// LwOut class for a PWM-capable GPIO port
mjr	6:cc35eb643e8f	940	class LwPwmOut: public LwOut
mjr	6:cc35eb643e8f	941	{
mjr	6:cc35eb643e8f	942	public:
mjr	43:7a6364d82a41	943	LwPwmOut(PinName pin, uint8_t initVal) : p(pin)
mjr	43:7a6364d82a41	944	{
mjr	43:7a6364d82a41	945	prv = initVal ^ 0xFF;
mjr	43:7a6364d82a41	946	set(initVal);
mjr	43:7a6364d82a41	947	}
mjr	40:cc0d9814522b	948	virtual void set(uint8_t val)
mjr	13:72dda449c3c0	949	{
mjr	13:72dda449c3c0	950	if (val != prv)
mjr	40:cc0d9814522b	951	p.write(pwm_level[prv = val]);
mjr	13:72dda449c3c0	952	}
mjr	6:cc35eb643e8f	953	PwmOut p;
mjr	40:cc0d9814522b	954	uint8_t prv;
mjr	6:cc35eb643e8f	955	};
mjr	26:cb71c4af2912	956
mjr	26:cb71c4af2912	957	// LwOut class for a Digital-Only (Non-PWM) GPIO port
mjr	6:cc35eb643e8f	958	class LwDigOut: public LwOut
mjr	6:cc35eb643e8f	959	{
mjr	6:cc35eb643e8f	960	public:
mjr	43:7a6364d82a41	961	LwDigOut(PinName pin, uint8_t initVal) : p(pin, initVal ? 1 : 0) { prv = initVal; }
mjr	40:cc0d9814522b	962	virtual void set(uint8_t val)
mjr	13:72dda449c3c0	963	{
mjr	13:72dda449c3c0	964	if (val != prv)
mjr	40:cc0d9814522b	965	p.write((prv = val) == 0 ? 0 : 1);
mjr	13:72dda449c3c0	966	}
mjr	6:cc35eb643e8f	967	DigitalOut p;
mjr	40:cc0d9814522b	968	uint8_t prv;
mjr	6:cc35eb643e8f	969	};
mjr	26:cb71c4af2912	970
mjr	29:582472d0bc57	971	// Array of output physical pin assignments. This array is indexed
mjr	29:582472d0bc57	972	// by LedWiz logical port number - lwPin[n] is the maping for LedWiz
mjr	35:e959ffba78fd	973	// port n (0-based).
mjr	35:e959ffba78fd	974	//
mjr	35:e959ffba78fd	975	// Each pin is handled by an interface object for the physical output
mjr	35:e959ffba78fd	976	// type for the port, as set in the configuration. The interface
mjr	35:e959ffba78fd	977	// objects handle the specifics of addressing the different hardware
mjr	35:e959ffba78fd	978	// types (GPIO PWM ports, GPIO digital ports, TLC5940 ports, and
mjr	35:e959ffba78fd	979	// 74HC595 ports).
mjr	33:d832bcab089e	980	static int numOutputs;
mjr	33:d832bcab089e	981	static LwOut **lwPin;
mjr	33:d832bcab089e	982
mjr	38:091e511ce8a0	983
mjr	35:e959ffba78fd	984	// Number of LedWiz emulation outputs. This is the number of ports
mjr	35:e959ffba78fd	985	// accessible through the standard (non-extended) LedWiz protocol
mjr	35:e959ffba78fd	986	// messages. The protocol has a fixed set of 32 outputs, but we
mjr	35:e959ffba78fd	987	// might have fewer actual outputs. This is therefore set to the
mjr	35:e959ffba78fd	988	// lower of 32 or the actual number of outputs.
mjr	35:e959ffba78fd	989	static int numLwOutputs;
mjr	35:e959ffba78fd	990
mjr	40:cc0d9814522b	991	// Current absolute brightness level for an output. This is a DOF
mjr	40:cc0d9814522b	992	// brightness level value, from 0 for fully off to 255 for fully on.
mjr	40:cc0d9814522b	993	// This is used for all extended ports (33 and above), and for any
mjr	40:cc0d9814522b	994	// LedWiz port with wizVal == 255.
mjr	40:cc0d9814522b	995	static uint8_t *outLevel;
mjr	38:091e511ce8a0	996
mjr	38:091e511ce8a0	997	// create a single output pin
mjr	53:9b2611964afc	998	LwOut *createLwPin(int portno, LedWizPortCfg &pc, Config &cfg)
mjr	38:091e511ce8a0	999	{
mjr	38:091e511ce8a0	1000	// get this item's values
mjr	38:091e511ce8a0	1001	int typ = pc.typ;
mjr	38:091e511ce8a0	1002	int pin = pc.pin;
mjr	38:091e511ce8a0	1003	int flags = pc.flags;
mjr	40:cc0d9814522b	1004	int noisy = flags & PortFlagNoisemaker;
mjr	38:091e511ce8a0	1005	int activeLow = flags & PortFlagActiveLow;
mjr	40:cc0d9814522b	1006	int gamma = flags & PortFlagGamma;
mjr	38:091e511ce8a0	1007
mjr	38:091e511ce8a0	1008	// create the pin interface object according to the port type
mjr	38:091e511ce8a0	1009	LwOut *lwp;
mjr	38:091e511ce8a0	1010	switch (typ)
mjr	38:091e511ce8a0	1011	{
mjr	38:091e511ce8a0	1012	case PortTypeGPIOPWM:
mjr	48:058ace2aed1d	1013	// PWM GPIO port - assign if we have a valid pin
mjr	48:058ace2aed1d	1014	if (pin != 0)
mjr	48:058ace2aed1d	1015	lwp = new LwPwmOut(wirePinName(pin), activeLow ? 255 : 0);
mjr	48:058ace2aed1d	1016	else
mjr	48:058ace2aed1d	1017	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1018	break;
mjr	38:091e511ce8a0	1019
mjr	38:091e511ce8a0	1020	case PortTypeGPIODig:
mjr	38:091e511ce8a0	1021	// Digital GPIO port
mjr	48:058ace2aed1d	1022	if (pin != 0)
mjr	48:058ace2aed1d	1023	lwp = new LwDigOut(wirePinName(pin), activeLow ? 255 : 0);
mjr	48:058ace2aed1d	1024	else
mjr	48:058ace2aed1d	1025	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1026	break;
mjr	38:091e511ce8a0	1027
mjr	38:091e511ce8a0	1028	case PortTypeTLC5940:
mjr	38:091e511ce8a0	1029	// TLC5940 port (if we don't have a TLC controller object, or it's not a valid
mjr	38:091e511ce8a0	1030	// output port number on the chips we have, create a virtual port)
mjr	38:091e511ce8a0	1031	if (tlc5940 != 0 && pin < cfg.tlc5940.nchips*16)
mjr	40:cc0d9814522b	1032	{
mjr	40:cc0d9814522b	1033	// If gamma correction is to be used, and we're not inverting the output,
mjr	40:cc0d9814522b	1034	// use the combined TLC4950 + Gamma output class. Otherwise use the plain
mjr	40:cc0d9814522b	1035	// TLC5940 output. We skip the combined class if the output is inverted
mjr	40:cc0d9814522b	1036	// because we need to apply gamma BEFORE the inversion to get the right
mjr	40:cc0d9814522b	1037	// results, but the combined class would apply it after because of the
mjr	40:cc0d9814522b	1038	// layering scheme - the combined class is a physical device output class,
mjr	40:cc0d9814522b	1039	// and a physical device output class is necessarily at the bottom of
mjr	40:cc0d9814522b	1040	// the stack. We don't have a combined inverted+gamma+TLC class, because
mjr	40:cc0d9814522b	1041	// inversion isn't recommended for TLC5940 chips in the first place, so
mjr	40:cc0d9814522b	1042	// it's not worth the extra memory footprint to have a dedicated table
mjr	40:cc0d9814522b	1043	// for this unlikely case.
mjr	40:cc0d9814522b	1044	if (gamma && !activeLow)
mjr	40:cc0d9814522b	1045	{
mjr	40:cc0d9814522b	1046	// use the gamma-corrected 5940 output mapper
mjr	40:cc0d9814522b	1047	lwp = new Lw5940GammaOut(pin);
mjr	40:cc0d9814522b	1048
mjr	40:cc0d9814522b	1049	// DON'T apply further gamma correction to this output
mjr	40:cc0d9814522b	1050	gamma = false;
mjr	40:cc0d9814522b	1051	}
mjr	40:cc0d9814522b	1052	else
mjr	40:cc0d9814522b	1053	{
mjr	40:cc0d9814522b	1054	// no gamma - use the plain (linear) 5940 output class
mjr	40:cc0d9814522b	1055	lwp = new Lw5940Out(pin);
mjr	40:cc0d9814522b	1056	}
mjr	40:cc0d9814522b	1057	}
mjr	38:091e511ce8a0	1058	else
mjr	40:cc0d9814522b	1059	{
mjr	40:cc0d9814522b	1060	// no TLC5940 chips, or invalid port number - use a virtual out
mjr	38:091e511ce8a0	1061	lwp = new LwVirtualOut();
mjr	40:cc0d9814522b	1062	}
mjr	38:091e511ce8a0	1063	break;
mjr	38:091e511ce8a0	1064
mjr	38:091e511ce8a0	1065	case PortType74HC595:
mjr	38:091e511ce8a0	1066	// 74HC595 port (if we don't have an HC595 controller object, or it's not a valid
mjr	38:091e511ce8a0	1067	// output number, create a virtual port)
mjr	38:091e511ce8a0	1068	if (hc595 != 0 && pin < cfg.hc595.nchips*8)
mjr	38:091e511ce8a0	1069	lwp = new Lw595Out(pin);
mjr	38:091e511ce8a0	1070	else
mjr	38:091e511ce8a0	1071	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1072	break;
mjr	38:091e511ce8a0	1073
mjr	38:091e511ce8a0	1074	case PortTypeVirtual:
mjr	43:7a6364d82a41	1075	case PortTypeDisabled:
mjr	38:091e511ce8a0	1076	default:
mjr	38:091e511ce8a0	1077	// virtual or unknown
mjr	38:091e511ce8a0	1078	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1079	break;
mjr	38:091e511ce8a0	1080	}
mjr	38:091e511ce8a0	1081
mjr	40:cc0d9814522b	1082	// If it's Active Low, layer on an inverter. Note that an inverter
mjr	40:cc0d9814522b	1083	// needs to be the bottom-most layer, since all of the other filters
mjr	40:cc0d9814522b	1084	// assume that they're working with normal (non-inverted) values.
mjr	38:091e511ce8a0	1085	if (activeLow)
mjr	38:091e511ce8a0	1086	lwp = new LwInvertedOut(lwp);
mjr	40:cc0d9814522b	1087
mjr	40:cc0d9814522b	1088	// If it's a noisemaker, layer on a night mode switch. Note that this
mjr	40:cc0d9814522b	1089	// needs to be
mjr	40:cc0d9814522b	1090	if (noisy)
mjr	40:cc0d9814522b	1091	lwp = new LwNoisyOut(lwp);
mjr	40:cc0d9814522b	1092
mjr	40:cc0d9814522b	1093	// If it's gamma-corrected, layer on a gamma corrector
mjr	40:cc0d9814522b	1094	if (gamma)
mjr	40:cc0d9814522b	1095	lwp = new LwGammaOut(lwp);
mjr	53:9b2611964afc	1096
mjr	53:9b2611964afc	1097	// If this is the ZB Launch Ball port, layer a monitor object. Note
mjr	53:9b2611964afc	1098	// that the nominal port numbering in the cofnig starts at 1, but we're
mjr	53:9b2611964afc	1099	// using an array index, so test against portno+1.
mjr	53:9b2611964afc	1100	if (portno + 1 == cfg.plunger.zbLaunchBall.port)
mjr	53:9b2611964afc	1101	lwp = new LwZbLaunchOut(lwp);
mjr	53:9b2611964afc	1102
mjr	53:9b2611964afc	1103	// If this is the Night Mode indicator port, layer a night mode object.
mjr	53:9b2611964afc	1104	if (portno + 1 == cfg.nightMode.port)
mjr	53:9b2611964afc	1105	lwp = new LwNightModeIndicatorOut(lwp);
mjr	38:091e511ce8a0	1106
mjr	38:091e511ce8a0	1107	// turn it off initially
mjr	38:091e511ce8a0	1108	lwp->set(0);
mjr	38:091e511ce8a0	1109
mjr	38:091e511ce8a0	1110	// return the pin
mjr	38:091e511ce8a0	1111	return lwp;
mjr	38:091e511ce8a0	1112	}
mjr	38:091e511ce8a0	1113
mjr	6:cc35eb643e8f	1114	// initialize the output pin array
mjr	35:e959ffba78fd	1115	void initLwOut(Config &cfg)
mjr	6:cc35eb643e8f	1116	{
mjr	35:e959ffba78fd	1117	// Count the outputs. The first disabled output determines the
mjr	35:e959ffba78fd	1118	// total number of ports.
mjr	35:e959ffba78fd	1119	numOutputs = MAX_OUT_PORTS;
mjr	33:d832bcab089e	1120	int i;
mjr	35:e959ffba78fd	1121	for (i = 0 ; i < MAX_OUT_PORTS ; ++i)
mjr	6:cc35eb643e8f	1122	{
mjr	35:e959ffba78fd	1123	if (cfg.outPort[i].typ == PortTypeDisabled)
mjr	34:6b981a2afab7	1124	{
mjr	35:e959ffba78fd	1125	numOutputs = i;
mjr	34:6b981a2afab7	1126	break;
mjr	34:6b981a2afab7	1127	}
mjr	33:d832bcab089e	1128	}
mjr	33:d832bcab089e	1129
mjr	35:e959ffba78fd	1130	// the real LedWiz protocol can access at most 32 ports, or the
mjr	35:e959ffba78fd	1131	// actual number of outputs, whichever is lower
mjr	35:e959ffba78fd	1132	numLwOutputs = (numOutputs < 32 ? numOutputs : 32);
mjr	35:e959ffba78fd	1133
mjr	33:d832bcab089e	1134	// allocate the pin array
mjr	33:d832bcab089e	1135	lwPin = new LwOut*[numOutputs];
mjr	33:d832bcab089e	1136
mjr	38:091e511ce8a0	1137	// Allocate the current brightness array. For these, allocate at
mjr	38:091e511ce8a0	1138	// least 32, so that we have enough for all LedWiz messages, but
mjr	38:091e511ce8a0	1139	// allocate the full set of actual ports if we have more than the
mjr	38:091e511ce8a0	1140	// LedWiz complement.
mjr	38:091e511ce8a0	1141	int minOuts = numOutputs < 32 ? 32 : numOutputs;
mjr	40:cc0d9814522b	1142	outLevel = new uint8_t[minOuts];
mjr	33:d832bcab089e	1143
mjr	35:e959ffba78fd	1144	// create the pin interface object for each port
mjr	35:e959ffba78fd	1145	for (i = 0 ; i < numOutputs ; ++i)
mjr	53:9b2611964afc	1146	lwPin[i] = createLwPin(i, cfg.outPort[i], cfg);
mjr	6:cc35eb643e8f	1147	}
mjr	6:cc35eb643e8f	1148
mjr	29:582472d0bc57	1149	// LedWiz output states.
mjr	29:582472d0bc57	1150	//
mjr	29:582472d0bc57	1151	// The LedWiz protocol has two separate control axes for each output.
mjr	29:582472d0bc57	1152	// One axis is its on/off state; the other is its "profile" state, which
mjr	29:582472d0bc57	1153	// is either a fixed brightness or a blinking pattern for the light.
mjr	29:582472d0bc57	1154	// The two axes are independent.
mjr	29:582472d0bc57	1155	//
mjr	29:582472d0bc57	1156	// Note that the LedWiz protocol can only address 32 outputs, so the
mjr	29:582472d0bc57	1157	// wizOn and wizVal arrays have fixed sizes of 32 elements no matter
mjr	29:582472d0bc57	1158	// how many physical outputs we're using.
mjr	29:582472d0bc57	1159
mjr	0:5acbbe3f4cf4	1160	// on/off state for each LedWiz output
mjr	1:d913e0afb2ac	1161	static uint8_t wizOn[32];
mjr	0:5acbbe3f4cf4	1162
mjr	40:cc0d9814522b	1163	// LedWiz "Profile State" (the LedWiz brightness level or blink mode)
mjr	40:cc0d9814522b	1164	// for each LedWiz output. If the output was last updated through an
mjr	40:cc0d9814522b	1165	// LedWiz protocol message, it will have one of these values:
mjr	29:582472d0bc57	1166	//
mjr	29:582472d0bc57	1167	// 0-48 = fixed brightness 0% to 100%
mjr	40:cc0d9814522b	1168	// 49 = fixed brightness 100% (equivalent to 48)
mjr	29:582472d0bc57	1169	// 129 = ramp up / ramp down
mjr	29:582472d0bc57	1170	// 130 = flash on / off
mjr	29:582472d0bc57	1171	// 131 = on / ramp down
mjr	29:582472d0bc57	1172	// 132 = ramp up / on
mjr	29:582472d0bc57	1173	//
mjr	40:cc0d9814522b	1174	// If the output was last updated through an extended protocol message,
mjr	40:cc0d9814522b	1175	// it will have the special value 255. This means that we use the
mjr	40:cc0d9814522b	1176	// outLevel[] value for the port instead of an LedWiz setting.
mjr	29:582472d0bc57	1177	//
mjr	40:cc0d9814522b	1178	// (Note that value 49 isn't documented in the LedWiz spec, but real
mjr	40:cc0d9814522b	1179	// LedWiz units treat it as equivalent to 48, and some PC software uses
mjr	40:cc0d9814522b	1180	// it, so we need to accept it for compatibility.)
mjr	1:d913e0afb2ac	1181	static uint8_t wizVal[32] = {
mjr	13:72dda449c3c0	1182	48, 48, 48, 48, 48, 48, 48, 48,
mjr	13:72dda449c3c0	1183	48, 48, 48, 48, 48, 48, 48, 48,
mjr	13:72dda449c3c0	1184	48, 48, 48, 48, 48, 48, 48, 48,
mjr	13:72dda449c3c0	1185	48, 48, 48, 48, 48, 48, 48, 48
mjr	0:5acbbe3f4cf4	1186	};
mjr	0:5acbbe3f4cf4	1187
mjr	29:582472d0bc57	1188	// LedWiz flash speed. This is a value from 1 to 7 giving the pulse
mjr	29:582472d0bc57	1189	// rate for lights in blinking states.
mjr	29:582472d0bc57	1190	static uint8_t wizSpeed = 2;
mjr	29:582472d0bc57	1191
mjr	40:cc0d9814522b	1192	// Current LedWiz flash cycle counter. This runs from 0 to 255
mjr	40:cc0d9814522b	1193	// during each cycle.
mjr	29:582472d0bc57	1194	static uint8_t wizFlashCounter = 0;
mjr	29:582472d0bc57	1195
mjr	40:cc0d9814522b	1196	// translate an LedWiz brightness level (0-49) to a DOF brightness
mjr	40:cc0d9814522b	1197	// level (0-255)
mjr	40:cc0d9814522b	1198	static const uint8_t lw_to_dof[] = {
mjr	40:cc0d9814522b	1199	0, 5, 11, 16, 21, 27, 32, 37,
mjr	40:cc0d9814522b	1200	43, 48, 53, 58, 64, 69, 74, 80,
mjr	40:cc0d9814522b	1201	85, 90, 96, 101, 106, 112, 117, 122,
mjr	40:cc0d9814522b	1202	128, 133, 138, 143, 149, 154, 159, 165,
mjr	40:cc0d9814522b	1203	170, 175, 181, 186, 191, 197, 202, 207,
mjr	40:cc0d9814522b	1204	213, 218, 223, 228, 234, 239, 244, 250,
mjr	40:cc0d9814522b	1205	255, 255
mjr	40:cc0d9814522b	1206	};
mjr	40:cc0d9814522b	1207
mjr	40:cc0d9814522b	1208	// Translate an LedWiz output (ports 1-32) to a DOF brightness level.
mjr	40:cc0d9814522b	1209	static uint8_t wizState(int idx)
mjr	0:5acbbe3f4cf4	1210	{
mjr	29:582472d0bc57	1211	// if the output was last set with an extended protocol message,
mjr	29:582472d0bc57	1212	// use the value set there, ignoring the output's LedWiz state
mjr	29:582472d0bc57	1213	if (wizVal[idx] == 255)
mjr	29:582472d0bc57	1214	return outLevel[idx];
mjr	29:582472d0bc57	1215
mjr	29:582472d0bc57	1216	// if it's off, show at zero intensity
mjr	29:582472d0bc57	1217	if (!wizOn[idx])
mjr	29:582472d0bc57	1218	return 0;
mjr	29:582472d0bc57	1219
mjr	29:582472d0bc57	1220	// check the state
mjr	29:582472d0bc57	1221	uint8_t val = wizVal[idx];
mjr	40:cc0d9814522b	1222	if (val <= 49)
mjr	29:582472d0bc57	1223	{
mjr	29:582472d0bc57	1224	// PWM brightness/intensity level. Rescale from the LedWiz
mjr	29:582472d0bc57	1225	// 0..48 integer range to our internal PwmOut 0..1 float range.
mjr	29:582472d0bc57	1226	// Note that on the actual LedWiz, level 48 is actually about
mjr	29:582472d0bc57	1227	// 98% on - contrary to the LedWiz documentation, level 49 is
mjr	29:582472d0bc57	1228	// the true 100% level. (In the documentation, level 49 is
mjr	29:582472d0bc57	1229	// simply not a valid setting.) Even so, we treat level 48 as
mjr	29:582472d0bc57	1230	// 100% on to match the documentation. This won't be perfectly
mjr	29:582472d0bc57	1231	// ocmpatible with the actual LedWiz, but it makes for such a
mjr	29:582472d0bc57	1232	// small difference in brightness (if the output device is an
mjr	29:582472d0bc57	1233	// LED, say) that no one should notice. It seems better to
mjr	29:582472d0bc57	1234	// err in this direction, because while the difference in
mjr	29:582472d0bc57	1235	// brightness when attached to an LED won't be noticeable, the
mjr	29:582472d0bc57	1236	// difference in duty cycle when attached to something like a
mjr	29:582472d0bc57	1237	// contactor can be noticeable - anything less than 100%
mjr	29:582472d0bc57	1238	// can cause a contactor or relay to chatter. There's almost
mjr	29:582472d0bc57	1239	// never a situation where you'd want values other than 0% and
mjr	29:582472d0bc57	1240	// 100% for a contactor or relay, so treating level 48 as 100%
mjr	29:582472d0bc57	1241	// makes us work properly with software that's expecting the
mjr	29:582472d0bc57	1242	// documented LedWiz behavior and therefore uses level 48 to
mjr	29:582472d0bc57	1243	// turn a contactor or relay fully on.
mjr	40:cc0d9814522b	1244	//
mjr	40:cc0d9814522b	1245	// Note that value 49 is undefined in the LedWiz documentation,
mjr	40:cc0d9814522b	1246	// but real LedWiz units treat it as 100%, equivalent to 48.
mjr	40:cc0d9814522b	1247	// Some software on the PC side uses this, so we need to treat
mjr	40:cc0d9814522b	1248	// it the same way for compatibility.
mjr	40:cc0d9814522b	1249	return lw_to_dof[val];
mjr	29:582472d0bc57	1250	}
mjr	29:582472d0bc57	1251	else if (val == 129)
mjr	29:582472d0bc57	1252	{
mjr	40:cc0d9814522b	1253	// 129 = ramp up / ramp down
mjr	30:6e9902f06f48	1254	return wizFlashCounter < 128
mjr	40:cc0d9814522b	1255	? wizFlashCounter*2 + 1
mjr	40:cc0d9814522b	1256	: (255 - wizFlashCounter)*2;
mjr	29:582472d0bc57	1257	}
mjr	29:582472d0bc57	1258	else if (val == 130)
mjr	29:582472d0bc57	1259	{
mjr	40:cc0d9814522b	1260	// 130 = flash on / off
mjr	40:cc0d9814522b	1261	return wizFlashCounter < 128 ? 255 : 0;
mjr	29:582472d0bc57	1262	}
mjr	29:582472d0bc57	1263	else if (val == 131)
mjr	29:582472d0bc57	1264	{
mjr	40:cc0d9814522b	1265	// 131 = on / ramp down
mjr	40:cc0d9814522b	1266	return wizFlashCounter < 128 ? 255 : (255 - wizFlashCounter)*2;
mjr	0:5acbbe3f4cf4	1267	}
mjr	29:582472d0bc57	1268	else if (val == 132)
mjr	29:582472d0bc57	1269	{
mjr	40:cc0d9814522b	1270	// 132 = ramp up / on
mjr	40:cc0d9814522b	1271	return wizFlashCounter < 128 ? wizFlashCounter*2 : 255;
mjr	29:582472d0bc57	1272	}
mjr	29:582472d0bc57	1273	else
mjr	13:72dda449c3c0	1274	{
mjr	29:582472d0bc57	1275	// Other values are undefined in the LedWiz documentation. Hosts
mjr	29:582472d0bc57	1276	// should never send undefined values, since whatever behavior an
mjr	29:582472d0bc57	1277	// LedWiz unit exhibits in response is accidental and could change
mjr	29:582472d0bc57	1278	// in a future version. We'll treat all undefined values as equivalent
mjr	29:582472d0bc57	1279	// to 48 (fully on).
mjr	40:cc0d9814522b	1280	return 255;
mjr	0:5acbbe3f4cf4	1281	}
mjr	0:5acbbe3f4cf4	1282	}
mjr	0:5acbbe3f4cf4	1283
mjr	29:582472d0bc57	1284	// LedWiz flash timer pulse. This fires periodically to update
mjr	29:582472d0bc57	1285	// LedWiz flashing outputs. At the slowest pulse speed set via
mjr	29:582472d0bc57	1286	// the SBA command, each waveform cycle has 256 steps, so we
mjr	29:582472d0bc57	1287	// choose the pulse time base so that the slowest cycle completes
mjr	29:582472d0bc57	1288	// in 2 seconds. This seems to roughly match the real LedWiz
mjr	29:582472d0bc57	1289	// behavior. We run the pulse timer at the same rate regardless
mjr	29:582472d0bc57	1290	// of the pulse speed; at higher pulse speeds, we simply use
mjr	29:582472d0bc57	1291	// larger steps through the cycle on each interrupt. Running
mjr	29:582472d0bc57	1292	// every 1/127 of a second = 8ms seems to be a pretty light load.
mjr	29:582472d0bc57	1293	Timeout wizPulseTimer;
mjr	38:091e511ce8a0	1294	#define WIZ_PULSE_TIME_BASE (1.0f/127.0f)
mjr	29:582472d0bc57	1295	static void wizPulse()
mjr	29:582472d0bc57	1296	{
mjr	29:582472d0bc57	1297	// increase the counter by the speed increment, and wrap at 256
mjr	29:582472d0bc57	1298	wizFlashCounter += wizSpeed;
mjr	29:582472d0bc57	1299	wizFlashCounter &= 0xff;
mjr	29:582472d0bc57	1300
mjr	29:582472d0bc57	1301	// if we have any flashing lights, update them
mjr	29:582472d0bc57	1302	int ena = false;
mjr	35:e959ffba78fd	1303	for (int i = 0 ; i < numLwOutputs ; ++i)
mjr	29:582472d0bc57	1304	{
mjr	29:582472d0bc57	1305	if (wizOn[i])
mjr	29:582472d0bc57	1306	{
mjr	29:582472d0bc57	1307	uint8_t s = wizVal[i];
mjr	29:582472d0bc57	1308	if (s >= 129 && s <= 132)
mjr	29:582472d0bc57	1309	{
mjr	40:cc0d9814522b	1310	lwPin[i]->set(wizState(i));
mjr	29:582472d0bc57	1311	ena = true;
mjr	29:582472d0bc57	1312	}
mjr	29:582472d0bc57	1313	}
mjr	29:582472d0bc57	1314	}
mjr	29:582472d0bc57	1315
mjr	29:582472d0bc57	1316	// Set up the next timer pulse only if we found anything flashing.
mjr	29:582472d0bc57	1317	// To minimize overhead from this feature, we only enable the interrupt
mjr	29:582472d0bc57	1318	// when we need it. This eliminates any performance penalty to other
mjr	29:582472d0bc57	1319	// features when the host software doesn't care about the flashing
mjr	29:582472d0bc57	1320	// modes. For example, DOF never uses these modes, so there's no
mjr	29:582472d0bc57	1321	// need for them when running Visual Pinball.
mjr	29:582472d0bc57	1322	if (ena)
mjr	29:582472d0bc57	1323	wizPulseTimer.attach(wizPulse, WIZ_PULSE_TIME_BASE);
mjr	29:582472d0bc57	1324	}
mjr	29:582472d0bc57	1325
mjr	29:582472d0bc57	1326	// Update the physical outputs connected to the LedWiz ports. This is
mjr	29:582472d0bc57	1327	// called after any update from an LedWiz protocol message.
mjr	1:d913e0afb2ac	1328	static void updateWizOuts()
mjr	1:d913e0afb2ac	1329	{
mjr	29:582472d0bc57	1330	// update each output
mjr	29:582472d0bc57	1331	int pulse = false;
mjr	35:e959ffba78fd	1332	for (int i = 0 ; i < numLwOutputs ; ++i)
mjr	29:582472d0bc57	1333	{
mjr	29:582472d0bc57	1334	pulse \|= (wizVal[i] >= 129 && wizVal[i] <= 132);
mjr	40:cc0d9814522b	1335	lwPin[i]->set(wizState(i));
mjr	29:582472d0bc57	1336	}
mjr	29:582472d0bc57	1337
mjr	29:582472d0bc57	1338	// if any outputs are set to flashing mode, and the pulse timer
mjr	29:582472d0bc57	1339	// isn't running, turn it on
mjr	29:582472d0bc57	1340	if (pulse)
mjr	29:582472d0bc57	1341	wizPulseTimer.attach(wizPulse, WIZ_PULSE_TIME_BASE);
mjr	34:6b981a2afab7	1342
mjr	34:6b981a2afab7	1343	// flush changes to 74HC595 chips, if attached
mjr	35:e959ffba78fd	1344	if (hc595 != 0)
mjr	35:e959ffba78fd	1345	hc595->update();
mjr	1:d913e0afb2ac	1346	}
mjr	38:091e511ce8a0	1347
mjr	38:091e511ce8a0	1348	// Update all physical outputs. This is called after a change to a global
mjr	38:091e511ce8a0	1349	// setting that affects all outputs, such as engaging or canceling Night Mode.
mjr	38:091e511ce8a0	1350	static void updateAllOuts()
mjr	38:091e511ce8a0	1351	{
mjr	38:091e511ce8a0	1352	// uddate each LedWiz output
mjr	38:091e511ce8a0	1353	for (int i = 0 ; i < numLwOutputs ; ++i)
mjr	40:cc0d9814522b	1354	lwPin[i]->set(wizState(i));
mjr	34:6b981a2afab7	1355
mjr	38:091e511ce8a0	1356	// update each extended output
mjr	38:091e511ce8a0	1357	for (int i = 33 ; i < numOutputs ; ++i)
mjr	40:cc0d9814522b	1358	lwPin[i]->set(outLevel[i]);
mjr	38:091e511ce8a0	1359
mjr	38:091e511ce8a0	1360	// flush 74HC595 changes, if necessary
mjr	38:091e511ce8a0	1361	if (hc595 != 0)
mjr	38:091e511ce8a0	1362	hc595->update();
mjr	38:091e511ce8a0	1363	}
mjr	38:091e511ce8a0	1364
mjr	11:bd9da7088e6e	1365	// ---------------------------------------------------------------------------
mjr	11:bd9da7088e6e	1366	//
mjr	11:bd9da7088e6e	1367	// Button input
mjr	11:bd9da7088e6e	1368	//
mjr	11:bd9da7088e6e	1369
mjr	18:5e890ebd0023	1370	// button state
mjr	18:5e890ebd0023	1371	struct ButtonState
mjr	18:5e890ebd0023	1372	{
mjr	38:091e511ce8a0	1373	ButtonState()
mjr	38:091e511ce8a0	1374	{
mjr	38:091e511ce8a0	1375	di = NULL;
mjr	53:9b2611964afc	1376	physState = logState = prevLogState = 0;
mjr	53:9b2611964afc	1377	virtState = 0;
mjr	53:9b2611964afc	1378	dbState = 0;
mjr	38:091e511ce8a0	1379	pulseState = 0;
mjr	53:9b2611964afc	1380	pulseTime = 0;
mjr	38:091e511ce8a0	1381	}
mjr	35:e959ffba78fd	1382
mjr	53:9b2611964afc	1383	// "Virtually" press or un-press the button. This can be used to
mjr	53:9b2611964afc	1384	// control the button state via a software (virtual) source, such as
mjr	53:9b2611964afc	1385	// the ZB Launch Ball feature.
mjr	53:9b2611964afc	1386	//
mjr	53:9b2611964afc	1387	// To allow sharing of one button by multiple virtual sources, each
mjr	53:9b2611964afc	1388	// virtual source must keep track of its own state internally, and
mjr	53:9b2611964afc	1389	// only call this routine to CHANGE the state. This is because calls
mjr	53:9b2611964afc	1390	// to this routine are additive: turning the button ON twice will
mjr	53:9b2611964afc	1391	// require turning it OFF twice before it actually turns off.
mjr	53:9b2611964afc	1392	void virtPress(bool on)
mjr	53:9b2611964afc	1393	{
mjr	53:9b2611964afc	1394	// Increment or decrement the current state
mjr	53:9b2611964afc	1395	virtState += on ? 1 : -1;
mjr	53:9b2611964afc	1396	}
mjr	53:9b2611964afc	1397
mjr	53:9b2611964afc	1398	// DigitalIn for the button, if connected to a physical input
mjr	48:058ace2aed1d	1399	TinyDigitalIn *di;
mjr	38:091e511ce8a0	1400
mjr	38:091e511ce8a0	1401	// current PHYSICAL on/off state, after debouncing
mjr	53:9b2611964afc	1402	uint8_t physState : 1;
mjr	18:5e890ebd0023	1403
mjr	38:091e511ce8a0	1404	// current LOGICAL on/off state as reported to the host.
mjr	53:9b2611964afc	1405	uint8_t logState : 1;
mjr	38:091e511ce8a0	1406
mjr	38:091e511ce8a0	1407	// previous logical on/off state, when keys were last processed for USB
mjr	38:091e511ce8a0	1408	// reports and local effects
mjr	53:9b2611964afc	1409	uint8_t prevLogState : 1;
mjr	53:9b2611964afc	1410
mjr	53:9b2611964afc	1411	// Virtual press state. This is used to simulate pressing the button via
mjr	53:9b2611964afc	1412	// software inputs rather than physical inputs. To allow one button to be
mjr	53:9b2611964afc	1413	// controlled by mulitple software sources, each source should keep track
mjr	53:9b2611964afc	1414	// of its own virtual state for the button independently, and then INCREMENT
mjr	53:9b2611964afc	1415	// this variable when the source's state transitions from off to on, and
mjr	53:9b2611964afc	1416	// DECREMENT it when the source's state transitions from on to off. That
mjr	53:9b2611964afc	1417	// will make the button's pressed state the logical OR of all of the virtual
mjr	53:9b2611964afc	1418	// and physical source states.
mjr	53:9b2611964afc	1419	uint8_t virtState;
mjr	38:091e511ce8a0	1420
mjr	38:091e511ce8a0	1421	// Debounce history. On each scan, we shift in a 1 bit to the lsb if
mjr	38:091e511ce8a0	1422	// the physical key is reporting ON, and shift in a 0 bit if the physical
mjr	38:091e511ce8a0	1423	// key is reporting OFF. We consider the key to have a new stable state
mjr	38:091e511ce8a0	1424	// if we have N consecutive 0's or 1's in the low N bits (where N is
mjr	38:091e511ce8a0	1425	// a parameter that determines how long we wait for transients to settle).
mjr	53:9b2611964afc	1426	uint8_t dbState;
mjr	38:091e511ce8a0	1427
mjr	38:091e511ce8a0	1428	// Pulse mode: a button in pulse mode transmits a brief logical button press and
mjr	38:091e511ce8a0	1429	// release each time the attached physical switch changes state. This is useful
mjr	38:091e511ce8a0	1430	// for cases where the host expects a key press for each change in the state of
mjr	38:091e511ce8a0	1431	// the physical switch. The canonical example is the Coin Door switch in VPinMAME,
mjr	38:091e511ce8a0	1432	// which requires pressing the END key to toggle the open/closed state. This
mjr	38:091e511ce8a0	1433	// software design isn't easily implemented in a physical coin door, though -
mjr	38:091e511ce8a0	1434	// the easiest way to sense a physical coin door's state is with a simple on/off
mjr	38:091e511ce8a0	1435	// switch. Pulse mode bridges that divide by converting a physical switch state
mjr	38:091e511ce8a0	1436	// to on/off toggle key reports to the host.
mjr	38:091e511ce8a0	1437	//
mjr	38:091e511ce8a0	1438	// Pulse state:
mjr	38:091e511ce8a0	1439	// 0 -> not a pulse switch - logical key state equals physical switch state
mjr	38:091e511ce8a0	1440	// 1 -> off
mjr	38:091e511ce8a0	1441	// 2 -> transitioning off-on
mjr	38:091e511ce8a0	1442	// 3 -> on
mjr	38:091e511ce8a0	1443	// 4 -> transitioning on-off
mjr	38:091e511ce8a0	1444	//
mjr	38:091e511ce8a0	1445	// Each state change sticks for a minimum period; when the timer expires,
mjr	38:091e511ce8a0	1446	// if the underlying physical switch is in a different state, we switch
mjr	53:9b2611964afc	1447	// to the next state and restart the timer. pulseTime is the time remaining
mjr	53:9b2611964afc	1448	// remaining before we can make another state transition, in microseconds.
mjr	53:9b2611964afc	1449	// The state transitions require a complete cycle, 1 -> 2 -> 3 -> 4 -> 1...;
mjr	53:9b2611964afc	1450	// this guarantees that the parity of the pulse count always matches the
mjr	38:091e511ce8a0	1451	// current physical switch state when the latter is stable, which makes
mjr	38:091e511ce8a0	1452	// it impossible to "trick" the host by rapidly toggling the switch state.
mjr	38:091e511ce8a0	1453	// (On my original Pinscape cabinet, I had a hardware pulse generator
mjr	38:091e511ce8a0	1454	// for coin door, and that was possible to trick by rapid toggling.
mjr	38:091e511ce8a0	1455	// This software system can't be fooled that way.)
mjr	38:091e511ce8a0	1456	uint8_t pulseState;
mjr	53:9b2611964afc	1457	uint32_t pulseTime;
mjr	38:091e511ce8a0	1458
mjr	48:058ace2aed1d	1459	} __attribute__((packed)) buttonState[MAX_BUTTONS];
mjr	18:5e890ebd0023	1460
mjr	38:091e511ce8a0	1461
mjr	38:091e511ce8a0	1462	// Button data
mjr	38:091e511ce8a0	1463	uint32_t jsButtons = 0;
mjr	38:091e511ce8a0	1464
mjr	38:091e511ce8a0	1465	// Keyboard report state. This tracks the USB keyboard state. We can
mjr	38:091e511ce8a0	1466	// report at most 6 simultaneous non-modifier keys here, plus the 8
mjr	38:091e511ce8a0	1467	// modifier keys.
mjr	38:091e511ce8a0	1468	struct
mjr	38:091e511ce8a0	1469	{
mjr	38:091e511ce8a0	1470	bool changed; // flag: changed since last report sent
mjr	48:058ace2aed1d	1471	uint8_t nkeys; // number of active keys in the list
mjr	38:091e511ce8a0	1472	uint8_t data[8]; // key state, in USB report format: byte 0 is the modifier key mask,
mjr	38:091e511ce8a0	1473	// byte 1 is reserved, and bytes 2-7 are the currently pressed key codes
mjr	38:091e511ce8a0	1474	} kbState = { false, 0, { 0, 0, 0, 0, 0, 0, 0, 0 } };
mjr	38:091e511ce8a0	1475
mjr	38:091e511ce8a0	1476	// Media key state
mjr	38:091e511ce8a0	1477	struct
mjr	38:091e511ce8a0	1478	{
mjr	38:091e511ce8a0	1479	bool changed; // flag: changed since last report sent
mjr	38:091e511ce8a0	1480	uint8_t data; // key state byte for USB reports
mjr	38:091e511ce8a0	1481	} mediaState = { false, 0 };
mjr	38:091e511ce8a0	1482
mjr	38:091e511ce8a0	1483	// button scan interrupt ticker
mjr	38:091e511ce8a0	1484	Ticker buttonTicker;
mjr	38:091e511ce8a0	1485
mjr	38:091e511ce8a0	1486	// Button scan interrupt handler. We call this periodically via
mjr	38:091e511ce8a0	1487	// a timer interrupt to scan the physical button states.
mjr	38:091e511ce8a0	1488	void scanButtons()
mjr	38:091e511ce8a0	1489	{
mjr	38:091e511ce8a0	1490	// scan all button input pins
mjr	38:091e511ce8a0	1491	ButtonState *bs = buttonState;
mjr	38:091e511ce8a0	1492	for (int i = 0 ; i < MAX_BUTTONS ; ++i, ++bs)
mjr	38:091e511ce8a0	1493	{
mjr	53:9b2611964afc	1494	// if this logical button is connected to a physical input, check
mjr	53:9b2611964afc	1495	// the GPIO pin state
mjr	38:091e511ce8a0	1496	if (bs->di != NULL)
mjr	38:091e511ce8a0	1497	{
mjr	38:091e511ce8a0	1498	// Shift the new state into the debounce history. Note that
mjr	38:091e511ce8a0	1499	// the physical pin inputs are active low (0V/GND = ON), so invert
mjr	38:091e511ce8a0	1500	// the reading by XOR'ing the low bit with 1. And of course we
mjr	38:091e511ce8a0	1501	// only want the low bit (since the history is effectively a bit
mjr	38:091e511ce8a0	1502	// vector), so mask the whole thing with 0x01 as well.
mjr	53:9b2611964afc	1503	uint8_t db = bs->dbState;
mjr	38:091e511ce8a0	1504	db <<= 1;
mjr	38:091e511ce8a0	1505	db \|= (bs->di->read() & 0x01) ^ 0x01;
mjr	53:9b2611964afc	1506	bs->dbState = db;
mjr	38:091e511ce8a0	1507
mjr	38:091e511ce8a0	1508	// if we have all 0's or 1's in the history for the required
mjr	38:091e511ce8a0	1509	// debounce period, the key state is stable - check for a change
mjr	38:091e511ce8a0	1510	// to the last stable state
mjr	38:091e511ce8a0	1511	const uint8_t stable = 0x1F; // 00011111b -> 5 stable readings
mjr	38:091e511ce8a0	1512	db &= stable;
mjr	38:091e511ce8a0	1513	if (db == 0 \|\| db == stable)
mjr	53:9b2611964afc	1514	bs->physState = db & 1;
mjr	38:091e511ce8a0	1515	}
mjr	38:091e511ce8a0	1516	}
mjr	38:091e511ce8a0	1517	}
mjr	38:091e511ce8a0	1518
mjr	38:091e511ce8a0	1519	// Button state transition timer. This is used for pulse buttons, to
mjr	38:091e511ce8a0	1520	// control the timing of the logical key presses generated by transitions
mjr	38:091e511ce8a0	1521	// in the physical button state.
mjr	38:091e511ce8a0	1522	Timer buttonTimer;
mjr	12:669df364a565	1523
mjr	11:bd9da7088e6e	1524	// initialize the button inputs
mjr	35:e959ffba78fd	1525	void initButtons(Config &cfg, bool &kbKeys)
mjr	11:bd9da7088e6e	1526	{
mjr	35:e959ffba78fd	1527	// presume we'll find no keyboard keys
mjr	35:e959ffba78fd	1528	kbKeys = false;
mjr	35:e959ffba78fd	1529
mjr	53:9b2611964afc	1530	// Configure the virtual buttons. These are buttons controlled via
mjr	53:9b2611964afc	1531	// software triggers rather than physical GPIO inputs. The virtual
mjr	53:9b2611964afc	1532	// buttons have the same control structures as regular buttons, but
mjr	53:9b2611964afc	1533	// they get their configuration data from other config variables.
mjr	53:9b2611964afc	1534
mjr	53:9b2611964afc	1535	// ZB Launch Ball button
mjr	53:9b2611964afc	1536	cfg.button[ZBL_BUTTON].set(
mjr	53:9b2611964afc	1537	PINNAME_TO_WIRE(NC),
mjr	53:9b2611964afc	1538	cfg.plunger.zbLaunchBall.keytype,
mjr	53:9b2611964afc	1539	cfg.plunger.zbLaunchBall.keycode);
mjr	53:9b2611964afc	1540
mjr	11:bd9da7088e6e	1541	// create the digital inputs
mjr	35:e959ffba78fd	1542	ButtonState *bs = buttonState;
mjr	35:e959ffba78fd	1543	for (int i = 0 ; i < MAX_BUTTONS ; ++i, ++bs)
mjr	11:bd9da7088e6e	1544	{
mjr	35:e959ffba78fd	1545	PinName pin = wirePinName(cfg.button[i].pin);
mjr	35:e959ffba78fd	1546	if (pin != NC)
mjr	35:e959ffba78fd	1547	{
mjr	35:e959ffba78fd	1548	// set up the GPIO input pin for this button
mjr	48:058ace2aed1d	1549	bs->di = new TinyDigitalIn(pin);
mjr	35:e959ffba78fd	1550
mjr	38:091e511ce8a0	1551	// if it's a pulse mode button, set the initial pulse state to Off
mjr	38:091e511ce8a0	1552	if (cfg.button[i].flags & BtnFlagPulse)
mjr	38:091e511ce8a0	1553	bs->pulseState = 1;
mjr	38:091e511ce8a0	1554
mjr	53:9b2611964afc	1555	// Note if it's a keyboard key of some kind. If we find any keyboard
mjr	53:9b2611964afc	1556	// mappings, we'll declare a keyboard interface when we send our HID
mjr	53:9b2611964afc	1557	// configuration to the host during USB connection setup.
mjr	35:e959ffba78fd	1558	switch (cfg.button[i].typ)
mjr	35:e959ffba78fd	1559	{
mjr	35:e959ffba78fd	1560	case BtnTypeKey:
mjr	53:9b2611964afc	1561	// note that we have at least one keyboard key
mjr	35:e959ffba78fd	1562	kbKeys = true;
mjr	35:e959ffba78fd	1563	break;
mjr	35:e959ffba78fd	1564
mjr	53:9b2611964afc	1565	default:
mjr	53:9b2611964afc	1566	// not a keyboard key
mjr	39:b3815a1c3802	1567	break;
mjr	35:e959ffba78fd	1568	}
mjr	35:e959ffba78fd	1569	}
mjr	11:bd9da7088e6e	1570	}
mjr	12:669df364a565	1571
mjr	53:9b2611964afc	1572	// If the ZB Launch Ball feature is enabled, and it uses a keyboard
mjr	53:9b2611964afc	1573	// key, this requires setting up a USB keyboard interface.
mjr	53:9b2611964afc	1574	if (cfg.plunger.zbLaunchBall.port != 0
mjr	53:9b2611964afc	1575	&& cfg.plunger.zbLaunchBall.keytype == BtnTypeKey)
mjr	53:9b2611964afc	1576	kbKeys = true;
mjr	53:9b2611964afc	1577
mjr	38:091e511ce8a0	1578	// start the button scan thread
mjr	38:091e511ce8a0	1579	buttonTicker.attach_us(scanButtons, 1000);
mjr	38:091e511ce8a0	1580
mjr	38:091e511ce8a0	1581	// start the button state transition timer
mjr	12:669df364a565	1582	buttonTimer.start();
mjr	11:bd9da7088e6e	1583	}
mjr	11:bd9da7088e6e	1584
mjr	38:091e511ce8a0	1585	// Process the button state. This sets up the joystick, keyboard, and
mjr	38:091e511ce8a0	1586	// media control descriptors with the current state of keys mapped to
mjr	38:091e511ce8a0	1587	// those HID interfaces, and executes the local effects for any keys
mjr	38:091e511ce8a0	1588	// mapped to special device functions (e.g., Night Mode).
mjr	53:9b2611964afc	1589	void processButtons(Config &cfg)
mjr	35:e959ffba78fd	1590	{
mjr	35:e959ffba78fd	1591	// start with an empty list of USB key codes
mjr	35:e959ffba78fd	1592	uint8_t modkeys = 0;
mjr	35:e959ffba78fd	1593	uint8_t keys[7] = { 0, 0, 0, 0, 0, 0, 0 };
mjr	35:e959ffba78fd	1594	int nkeys = 0;
mjr	11:bd9da7088e6e	1595
mjr	35:e959ffba78fd	1596	// clear the joystick buttons
mjr	36:b9747461331e	1597	uint32_t newjs = 0;
mjr	35:e959ffba78fd	1598
mjr	35:e959ffba78fd	1599	// start with no media keys pressed
mjr	35:e959ffba78fd	1600	uint8_t mediakeys = 0;
mjr	38:091e511ce8a0	1601
mjr	38:091e511ce8a0	1602	// calculate the time since the last run
mjr	53:9b2611964afc	1603	uint32_t dt = buttonTimer.read_us();
mjr	18:5e890ebd0023	1604	buttonTimer.reset();
mjr	38:091e511ce8a0	1605
mjr	11:bd9da7088e6e	1606	// scan the button list
mjr	18:5e890ebd0023	1607	ButtonState *bs = buttonState;
mjr	53:9b2611964afc	1608	ButtonCfg *bc = cfg.button;
mjr	53:9b2611964afc	1609	for (int i = 0 ; i < MAX_BUTTONS ; ++i, ++bs, ++bc)
mjr	11:bd9da7088e6e	1610	{
mjr	38:091e511ce8a0	1611	// if it's a pulse-mode switch, get the virtual pressed state
mjr	38:091e511ce8a0	1612	if (bs->pulseState != 0)
mjr	18:5e890ebd0023	1613	{
mjr	38:091e511ce8a0	1614	// if the timer has expired, check for state changes
mjr	53:9b2611964afc	1615	if (bs->pulseTime > dt)
mjr	18:5e890ebd0023	1616	{
mjr	53:9b2611964afc	1617	// not expired yet - deduct the last interval
mjr	53:9b2611964afc	1618	bs->pulseTime -= dt;
mjr	53:9b2611964afc	1619	}
mjr	53:9b2611964afc	1620	else
mjr	53:9b2611964afc	1621	{
mjr	53:9b2611964afc	1622	// pulse time expired - check for a state change
mjr	53:9b2611964afc	1623	const uint32_t pulseLength = 200000UL; // 200 milliseconds
mjr	38:091e511ce8a0	1624	switch (bs->pulseState)
mjr	18:5e890ebd0023	1625	{
mjr	38:091e511ce8a0	1626	case 1:
mjr	38:091e511ce8a0	1627	// off - if the physical switch is now on, start a button pulse
mjr	53:9b2611964afc	1628	if (bs->physState)
mjr	53:9b2611964afc	1629	{
mjr	38:091e511ce8a0	1630	bs->pulseTime = pulseLength;
mjr	38:091e511ce8a0	1631	bs->pulseState = 2;
mjr	53:9b2611964afc	1632	bs->logState = 1;
mjr	38:091e511ce8a0	1633	}
mjr	38:091e511ce8a0	1634	break;
mjr	18:5e890ebd0023	1635
mjr	38:091e511ce8a0	1636	case 2:
mjr	38:091e511ce8a0	1637	// transitioning off to on - end the pulse, and start a gap
mjr	38:091e511ce8a0	1638	// equal to the pulse time so that the host can observe the
mjr	38:091e511ce8a0	1639	// change in state in the logical button
mjr	38:091e511ce8a0	1640	bs->pulseState = 3;
mjr	38:091e511ce8a0	1641	bs->pulseTime = pulseLength;
mjr	53:9b2611964afc	1642	bs->logState = 0;
mjr	38:091e511ce8a0	1643	break;
mjr	38:091e511ce8a0	1644
mjr	38:091e511ce8a0	1645	case 3:
mjr	38:091e511ce8a0	1646	// on - if the physical switch is now off, start a button pulse
mjr	53:9b2611964afc	1647	if (!bs->physState)
mjr	53:9b2611964afc	1648	{
mjr	38:091e511ce8a0	1649	bs->pulseTime = pulseLength;
mjr	38:091e511ce8a0	1650	bs->pulseState = 4;
mjr	53:9b2611964afc	1651	bs->logState = 1;
mjr	38:091e511ce8a0	1652	}
mjr	38:091e511ce8a0	1653	break;
mjr	38:091e511ce8a0	1654
mjr	38:091e511ce8a0	1655	case 4:
mjr	38:091e511ce8a0	1656	// transitioning on to off - end the pulse, and start a gap
mjr	38:091e511ce8a0	1657	bs->pulseState = 1;
mjr	38:091e511ce8a0	1658	bs->pulseTime = pulseLength;
mjr	53:9b2611964afc	1659	bs->logState = 0;
mjr	38:091e511ce8a0	1660	break;
mjr	18:5e890ebd0023	1661	}
mjr	18:5e890ebd0023	1662	}
mjr	38:091e511ce8a0	1663	}
mjr	38:091e511ce8a0	1664	else
mjr	38:091e511ce8a0	1665	{
mjr	38:091e511ce8a0	1666	// not a pulse switch - the logical state is the same as the physical state
mjr	53:9b2611964afc	1667	bs->logState = bs->physState;
mjr	38:091e511ce8a0	1668	}
mjr	35:e959ffba78fd	1669
mjr	38:091e511ce8a0	1670	// carry out any edge effects from buttons changing states
mjr	53:9b2611964afc	1671	if (bs->logState != bs->prevLogState)
mjr	38:091e511ce8a0	1672	{
mjr	38:091e511ce8a0	1673	// check for special key transitions
mjr	53:9b2611964afc	1674	if (cfg.nightMode.btn == i + 1)
mjr	35:e959ffba78fd	1675	{
mjr	53:9b2611964afc	1676	// Check the switch type in the config flags. If flag 0x01 is set,
mjr	53:9b2611964afc	1677	// it's a persistent on/off switch, so the night mode state simply
mjr	53:9b2611964afc	1678	// follows the current state of the switch. Otherwise, it's a
mjr	53:9b2611964afc	1679	// momentary button, so each button push (i.e., each transition from
mjr	53:9b2611964afc	1680	// logical state OFF to ON) toggles the current night mode state.
mjr	53:9b2611964afc	1681	if (cfg.nightMode.flags & 0x01)
mjr	53:9b2611964afc	1682	{
mjr	53:9b2611964afc	1683	// toggle switch - when the button changes state, change
mjr	53:9b2611964afc	1684	// night mode to match the new state
mjr	53:9b2611964afc	1685	setNightMode(bs->logState);
mjr	53:9b2611964afc	1686	}
mjr	53:9b2611964afc	1687	else
mjr	53:9b2611964afc	1688	{
mjr	53:9b2611964afc	1689	// momentary switch - toggle the night mode state when the
mjr	53:9b2611964afc	1690	// physical button is pushed (i.e., when its logical state
mjr	53:9b2611964afc	1691	// transitions from OFF to ON)
mjr	53:9b2611964afc	1692	if (bs->logState)
mjr	53:9b2611964afc	1693	toggleNightMode();
mjr	53:9b2611964afc	1694	}
mjr	35:e959ffba78fd	1695	}
mjr	38:091e511ce8a0	1696
mjr	38:091e511ce8a0	1697	// remember the new state for comparison on the next run
mjr	53:9b2611964afc	1698	bs->prevLogState = bs->logState;
mjr	38:091e511ce8a0	1699	}
mjr	38:091e511ce8a0	1700
mjr	53:9b2611964afc	1701	// if it's pressed, physically or virtually, add it to the appropriate
mjr	53:9b2611964afc	1702	// key state list
mjr	53:9b2611964afc	1703	if (bs->logState \|\| bs->virtState)
mjr	38:091e511ce8a0	1704	{
mjr	38:091e511ce8a0	1705	// OR in the joystick button bit, mod key bits, and media key bits
mjr	53:9b2611964afc	1706	uint8_t val = bc->val;
mjr	53:9b2611964afc	1707	switch (bc->typ)
mjr	53:9b2611964afc	1708	{
mjr	53:9b2611964afc	1709	case BtnTypeJoystick:
mjr	53:9b2611964afc	1710	// joystick button
mjr	53:9b2611964afc	1711	newjs \|= (1 << (val - 1));
mjr	53:9b2611964afc	1712	break;
mjr	53:9b2611964afc	1713
mjr	53:9b2611964afc	1714	case BtnTypeKey:
mjr	53:9b2611964afc	1715	// Keyboard key. This could be a modifier key (shift, control,
mjr	53:9b2611964afc	1716	// alt, GUI), a media key (mute, volume up, volume down), or a
mjr	53:9b2611964afc	1717	// regular key. Check which one.
mjr	53:9b2611964afc	1718	if (val >= 0x7F && val <= 0x81)
mjr	53:9b2611964afc	1719	{
mjr	53:9b2611964afc	1720	// It's a media key. OR the key into the media key mask.
mjr	53:9b2611964afc	1721	// The media mask bits are mapped in the HID report descriptor
mjr	53:9b2611964afc	1722	// in USBJoystick.cpp. For simplicity, we arrange the mask so
mjr	53:9b2611964afc	1723	// that the ones with regular keyboard equivalents that we catch
mjr	53:9b2611964afc	1724	// here are in the same order as the key scan codes:
mjr	53:9b2611964afc	1725	//
mjr	53:9b2611964afc	1726	// Mute = scan 0x7F = mask bit 0x01
mjr	53:9b2611964afc	1727	// Vol Up = scan 0x80 = mask bit 0x02
mjr	53:9b2611964afc	1728	// Vol Down = scan 0x81 = mask bit 0x04
mjr	53:9b2611964afc	1729	//
mjr	53:9b2611964afc	1730	// So we can translate from scan code to bit mask with some
mjr	53:9b2611964afc	1731	// simple bit shifting:
mjr	53:9b2611964afc	1732	mediakeys \|= (1 << (val - 0x7f));
mjr	53:9b2611964afc	1733	}
mjr	53:9b2611964afc	1734	else if (val >= 0xE0 && val <= 0xE7)
mjr	53:9b2611964afc	1735	{
mjr	53:9b2611964afc	1736	// It's a modifier key. Like the media keys, these are represented
mjr	53:9b2611964afc	1737	// in the USB reports with a bit mask, and like the media keys, we
mjr	53:9b2611964afc	1738	// arrange the mask bits in the same order as the scan codes. This
mjr	53:9b2611964afc	1739	// makes figuring the mask a simple bit shift:
mjr	53:9b2611964afc	1740	modkeys \|= (1 << (val - 0xE0));
mjr	53:9b2611964afc	1741	}
mjr	53:9b2611964afc	1742	else
mjr	53:9b2611964afc	1743	{
mjr	53:9b2611964afc	1744	// It's a regular key. Make sure it's not already in the list, and
mjr	53:9b2611964afc	1745	// that the list isn't full. If neither of these apply, add the key.
mjr	53:9b2611964afc	1746	if (nkeys < 7)
mjr	53:9b2611964afc	1747	{
mjr	57:cc03231f676b	1748	bool found = false;
mjr	53:9b2611964afc	1749	for (int j = 0 ; j < nkeys ; ++j)
mjr	53:9b2611964afc	1750	{
mjr	53:9b2611964afc	1751	if (keys[j] == val)
mjr	53:9b2611964afc	1752	{
mjr	53:9b2611964afc	1753	found = true;
mjr	53:9b2611964afc	1754	break;
mjr	53:9b2611964afc	1755	}
mjr	53:9b2611964afc	1756	}
mjr	53:9b2611964afc	1757	if (!found)
mjr	53:9b2611964afc	1758	keys[nkeys++] = val;
mjr	53:9b2611964afc	1759	}
mjr	53:9b2611964afc	1760	}
mjr	53:9b2611964afc	1761	break;
mjr	53:9b2611964afc	1762	}
mjr	18:5e890ebd0023	1763	}
mjr	11:bd9da7088e6e	1764	}
mjr	36:b9747461331e	1765
mjr	36:b9747461331e	1766	// check for joystick button changes
mjr	36:b9747461331e	1767	if (jsButtons != newjs)
mjr	36:b9747461331e	1768	jsButtons = newjs;
mjr	11:bd9da7088e6e	1769
mjr	35:e959ffba78fd	1770	// Check for changes to the keyboard keys
mjr	35:e959ffba78fd	1771	if (kbState.data[0] != modkeys
mjr	35:e959ffba78fd	1772	\|\| kbState.nkeys != nkeys
mjr	35:e959ffba78fd	1773	\|\| memcmp(keys, &kbState.data[2], 6) != 0)
mjr	35:e959ffba78fd	1774	{
mjr	35:e959ffba78fd	1775	// we have changes - set the change flag and store the new key data
mjr	35:e959ffba78fd	1776	kbState.changed = true;
mjr	35:e959ffba78fd	1777	kbState.data[0] = modkeys;
mjr	35:e959ffba78fd	1778	if (nkeys <= 6) {
mjr	35:e959ffba78fd	1779	// 6 or fewer simultaneous keys - report the key codes
mjr	35:e959ffba78fd	1780	kbState.nkeys = nkeys;
mjr	35:e959ffba78fd	1781	memcpy(&kbState.data[2], keys, 6);
mjr	35:e959ffba78fd	1782	}
mjr	35:e959ffba78fd	1783	else {
mjr	35:e959ffba78fd	1784	// more than 6 simultaneous keys - report rollover (all '1' key codes)
mjr	35:e959ffba78fd	1785	kbState.nkeys = 6;
mjr	35:e959ffba78fd	1786	memset(&kbState.data[2], 1, 6);
mjr	35:e959ffba78fd	1787	}
mjr	35:e959ffba78fd	1788	}
mjr	35:e959ffba78fd	1789
mjr	35:e959ffba78fd	1790	// Check for changes to media keys
mjr	35:e959ffba78fd	1791	if (mediaState.data != mediakeys)
mjr	35:e959ffba78fd	1792	{
mjr	35:e959ffba78fd	1793	mediaState.changed = true;
mjr	35:e959ffba78fd	1794	mediaState.data = mediakeys;
mjr	35:e959ffba78fd	1795	}
mjr	11:bd9da7088e6e	1796	}
mjr	11:bd9da7088e6e	1797
mjr	5:a70c0bce770d	1798	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	1799	//
mjr	5:a70c0bce770d	1800	// Customization joystick subbclass
mjr	5:a70c0bce770d	1801	//
mjr	5:a70c0bce770d	1802
mjr	5:a70c0bce770d	1803	class MyUSBJoystick: public USBJoystick
mjr	5:a70c0bce770d	1804	{
mjr	5:a70c0bce770d	1805	public:
mjr	35:e959ffba78fd	1806	MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release,
mjr	35:e959ffba78fd	1807	bool waitForConnect, bool enableJoystick, bool useKB)
mjr	35:e959ffba78fd	1808	: USBJoystick(vendor_id, product_id, product_release, waitForConnect, enableJoystick, useKB)
mjr	5:a70c0bce770d	1809	{
mjr	54:fd77a6b2f76c	1810	sleeping_ = false;
mjr	54:fd77a6b2f76c	1811	reconnectPending_ = false;
mjr	54:fd77a6b2f76c	1812	timer_.start();
mjr	54:fd77a6b2f76c	1813	}
mjr	54:fd77a6b2f76c	1814
mjr	54:fd77a6b2f76c	1815	// show diagnostic LED feedback for connect state
mjr	54:fd77a6b2f76c	1816	void diagFlash()
mjr	54:fd77a6b2f76c	1817	{
mjr	54:fd77a6b2f76c	1818	if (!configured() \|\| sleeping_)
mjr	54:fd77a6b2f76c	1819	{
mjr	54:fd77a6b2f76c	1820	// flash once if sleeping or twice if disconnected
mjr	54:fd77a6b2f76c	1821	for (int j = isConnected() ? 1 : 2 ; j > 0 ; --j)
mjr	54:fd77a6b2f76c	1822	{
mjr	54:fd77a6b2f76c	1823	// short red flash
mjr	54:fd77a6b2f76c	1824	diagLED(1, 0, 0);
mjr	54:fd77a6b2f76c	1825	wait_us(50000);
mjr	54:fd77a6b2f76c	1826	diagLED(0, 0, 0);
mjr	54:fd77a6b2f76c	1827	wait_us(50000);
mjr	54:fd77a6b2f76c	1828	}
mjr	54:fd77a6b2f76c	1829	}
mjr	5:a70c0bce770d	1830	}
mjr	5:a70c0bce770d	1831
mjr	5:a70c0bce770d	1832	// are we connected?
mjr	5:a70c0bce770d	1833	int isConnected() { return configured(); }
mjr	5:a70c0bce770d	1834
mjr	54:fd77a6b2f76c	1835	// Are we in sleep mode? If true, this means that the hardware has
mjr	54:fd77a6b2f76c	1836	// detected no activity on the bus for 3ms. This happens when the
mjr	54:fd77a6b2f76c	1837	// cable is physically disconnected, the computer is turned off, or
mjr	54:fd77a6b2f76c	1838	// the connection is otherwise disabled.
mjr	54:fd77a6b2f76c	1839	bool isSleeping() const { return sleeping_; }
mjr	54:fd77a6b2f76c	1840
mjr	54:fd77a6b2f76c	1841	// If necessary, attempt to recover from a broken connection.
mjr	54:fd77a6b2f76c	1842	//
mjr	54:fd77a6b2f76c	1843	// This is a hack, to work around an apparent timing bug in the
mjr	54:fd77a6b2f76c	1844	// KL25Z USB implementation that I haven't been able to solve any
mjr	54:fd77a6b2f76c	1845	// other way.
mjr	54:fd77a6b2f76c	1846	//
mjr	54:fd77a6b2f76c	1847	// The issue: when we have an established connection, and the
mjr	54:fd77a6b2f76c	1848	// connection is broken by physically unplugging the cable or by
mjr	54:fd77a6b2f76c	1849	// rebooting the PC, the KL25Z sometimes fails to reconnect when
mjr	54:fd77a6b2f76c	1850	// the physical connection is re-established. The failure is
mjr	54:fd77a6b2f76c	1851	// sporadic; I'd guess it happens about 25% of the time, but I
mjr	54:fd77a6b2f76c	1852	// haven't collected any real statistics on it.
mjr	54:fd77a6b2f76c	1853	//
mjr	54:fd77a6b2f76c	1854	// The proximate cause of the failure is a deadlock in the SETUP
mjr	54:fd77a6b2f76c	1855	// protocol between the host and device that happens around the
mjr	54:fd77a6b2f76c	1856	// point where the PC is requesting the configuration descriptor.
mjr	54:fd77a6b2f76c	1857	// The exact point in the protocol where this occurs varies slightly;
mjr	54:fd77a6b2f76c	1858	// it can occur a message or two before or after the Get Config
mjr	54:fd77a6b2f76c	1859	// Descriptor packet. No matter where it happens, the nature of
mjr	54:fd77a6b2f76c	1860	// the deadlock is the same: the PC thinks it sees a STALL on EP0
mjr	54:fd77a6b2f76c	1861	// from the device, so it terminates the connection attempt, which
mjr	54:fd77a6b2f76c	1862	// stops further traffic on the cable. The KL25Z USB hardware sees
mjr	54:fd77a6b2f76c	1863	// the lack of traffic and triggers a SLEEP interrupt (a misnomer
mjr	54:fd77a6b2f76c	1864	// for what should have been called a BROKEN CONNECTION interrupt).
mjr	54:fd77a6b2f76c	1865	// Both sides simply stop talking at this point, so the connection
mjr	54:fd77a6b2f76c	1866	// is effectively dead.
mjr	54:fd77a6b2f76c	1867	//
mjr	54:fd77a6b2f76c	1868	// The strange thing is that, as far as I can tell, the KL25Z isn't
mjr	54:fd77a6b2f76c	1869	// doing anything to trigger the STALL on its end. Both the PC
mjr	54:fd77a6b2f76c	1870	// and the KL25Z are happy up until the very point of the failure
mjr	54:fd77a6b2f76c	1871	// and show no signs of anything wrong in the protocol exchange.
mjr	54:fd77a6b2f76c	1872	// In fact, every detail of the protocol exchange up to this point
mjr	54:fd77a6b2f76c	1873	// is identical to every successful exchange that does finish the
mjr	54:fd77a6b2f76c	1874	// whole setup process successfully, on both the KL25Z and Windows
mjr	54:fd77a6b2f76c	1875	// sides of the connection. I can't find any point of difference
mjr	54:fd77a6b2f76c	1876	// between successful and unsuccessful sequences that suggests why
mjr	54:fd77a6b2f76c	1877	// the fateful message fails. This makes me suspect that whatever
mjr	54:fd77a6b2f76c	1878	// is going wrong is inside the KL25Z USB hardware module, which
mjr	54:fd77a6b2f76c	1879	// is a pretty substantial black box - it has a lot of internal
mjr	54:fd77a6b2f76c	1880	// state that's inaccessible to the software. Further bolstering
mjr	54:fd77a6b2f76c	1881	// this theory is a little experiment where I found that I could
mjr	54:fd77a6b2f76c	1882	// reproduce the exact sequence of events of a failed reconnect
mjr	54:fd77a6b2f76c	1883	// attempt in an initial connection, which is otherwise 100%
mjr	54:fd77a6b2f76c	1884	// reliable, by inserting a little bit of artifical time padding
mjr	54:fd77a6b2f76c	1885	// (200us per event) into the SETUP interrupt handler. My
mjr	54:fd77a6b2f76c	1886	// hypothesis is that the STALL event happens because the KL25Z
mjr	54:fd77a6b2f76c	1887	// USB hardware is too slow to respond to a message. I'm not
mjr	54:fd77a6b2f76c	1888	// sure why this would only happen after a disconnect and not
mjr	54:fd77a6b2f76c	1889	// during the initial connection; maybe there's some reset work
mjr	54:fd77a6b2f76c	1890	// in the hardware that takes a substantial amount of time after
mjr	54:fd77a6b2f76c	1891	// a disconnect.
mjr	54:fd77a6b2f76c	1892	//
mjr	54:fd77a6b2f76c	1893	// The solution: the problem happens during the SETUP exchange,
mjr	54:fd77a6b2f76c	1894	// after we've been assigned a bus address. It only happens on
mjr	54:fd77a6b2f76c	1895	// some percentage of connection requests, so if we can simply
mjr	54:fd77a6b2f76c	1896	// start over when the failure occurs, we'll eventually succeed
mjr	54:fd77a6b2f76c	1897	// simply because not every attempt fails. The ideal would be
mjr	54:fd77a6b2f76c	1898	// to get the success rate up to 100%, but I can't figure out how
mjr	54:fd77a6b2f76c	1899	// to fix the underlying problem, so this is the next best thing.
mjr	54:fd77a6b2f76c	1900	//
mjr	54:fd77a6b2f76c	1901	// We can detect when the failure occurs by noticing when a SLEEP
mjr	54:fd77a6b2f76c	1902	// interrupt happens while we have an assigned bus address.
mjr	54:fd77a6b2f76c	1903	//
mjr	54:fd77a6b2f76c	1904	// To start a new connection attempt, we have to make the host
mjr	54:fd77a6b2f76c	1905	// try again. The logical connection is initiated solely by the
mjr	54:fd77a6b2f76c	1906	// host. Fortunately, it's easy to get the host to initiate the
mjr	54:fd77a6b2f76c	1907	// process: if we disconnect on the device side, it effectively
mjr	54:fd77a6b2f76c	1908	// makes the device look to the PC like it's electrically unplugged.
mjr	54:fd77a6b2f76c	1909	// When we reconnect on the device side, the PC thinks a new device
mjr	54:fd77a6b2f76c	1910	// has been plugged in and initiates the logical connection setup.
mjr	54:fd77a6b2f76c	1911	// We have to remain disconnected for a macroscopic interval for
mjr	54:fd77a6b2f76c	1912	// this to happen - 5ms seems to do the trick.
mjr	54:fd77a6b2f76c	1913	//
mjr	54:fd77a6b2f76c	1914	// Here's the full algorithm:
mjr	54:fd77a6b2f76c	1915	//
mjr	54:fd77a6b2f76c	1916	// 1. In the SLEEP interrupt handler, if we have a bus address,
mjr	54:fd77a6b2f76c	1917	// we disconnect the device. This happens in ISR context, so we
mjr	54:fd77a6b2f76c	1918	// can't wait around for 5ms. Instead, we simply set a flag noting
mjr	54:fd77a6b2f76c	1919	// that the connection has been broken, and we note the time and
mjr	54:fd77a6b2f76c	1920	// return.
mjr	54:fd77a6b2f76c	1921	//
mjr	54:fd77a6b2f76c	1922	// 2. In our main loop, whenever we find that we're disconnected,
mjr	54:fd77a6b2f76c	1923	// we call recoverConnection(). The main loop's job is basically a
mjr	54:fd77a6b2f76c	1924	// bunch of device polling. We're just one more device to poll, so
mjr	54:fd77a6b2f76c	1925	// recoverConnection() will be called soon after a disconnect, and
mjr	54:fd77a6b2f76c	1926	// then will be called in a loop for as long as we're disconnected.
mjr	54:fd77a6b2f76c	1927	//
mjr	54:fd77a6b2f76c	1928	// 3. In recoverConnection(), we check the flag we set in the SLEEP
mjr	54:fd77a6b2f76c	1929	// handler. If set, we wait until 5ms has elapsed from the SLEEP
mjr	54:fd77a6b2f76c	1930	// event time that we noted, then we'll reconnect and clear the flag.
mjr	54:fd77a6b2f76c	1931	// This gives us the required 5ms (or longer) delay between the
mjr	54:fd77a6b2f76c	1932	// disconnect and reconnect, ensuring that the PC will notice and
mjr	54:fd77a6b2f76c	1933	// will start over with the connection protocol.
mjr	54:fd77a6b2f76c	1934	//
mjr	54:fd77a6b2f76c	1935	// 4. The main loop keeps calling recoverConnection() in a loop for
mjr	54:fd77a6b2f76c	1936	// as long as we're disconnected, so if the new connection attempt
mjr	54:fd77a6b2f76c	1937	// triggered in step 3 fails, the SLEEP interrupt will happen again,
mjr	54:fd77a6b2f76c	1938	// we'll disconnect again, the flag will get set again, and
mjr	54:fd77a6b2f76c	1939	// recoverConnection() will reconnect again after another suitable
mjr	54:fd77a6b2f76c	1940	// delay. This will repeat until the connection succeeds or hell
mjr	54:fd77a6b2f76c	1941	// freezes over.
mjr	54:fd77a6b2f76c	1942	//
mjr	54:fd77a6b2f76c	1943	// Each disconnect happens immediately when a reconnect attempt
mjr	54:fd77a6b2f76c	1944	// fails, and an entire successful connection only takes about 25ms,
mjr	54:fd77a6b2f76c	1945	// so our loop can retry at more than 30 attempts per second.
mjr	54:fd77a6b2f76c	1946	// In my testing, lost connections almost always reconnect in
mjr	54:fd77a6b2f76c	1947	// less than second with this code in place.
mjr	54:fd77a6b2f76c	1948	void recoverConnection()
mjr	54:fd77a6b2f76c	1949	{
mjr	54:fd77a6b2f76c	1950	// if a reconnect is pending, reconnect
mjr	54:fd77a6b2f76c	1951	if (reconnectPending_)
mjr	54:fd77a6b2f76c	1952	{
mjr	54:fd77a6b2f76c	1953	// Loop until we reach 5ms after the last sleep event.
mjr	54:fd77a6b2f76c	1954	for (bool done = false ; !done ; )
mjr	54:fd77a6b2f76c	1955	{
mjr	54:fd77a6b2f76c	1956	// If we've reached the target time, reconnect. Do the
mjr	54:fd77a6b2f76c	1957	// time check and flag reset atomically, so that we can't
mjr	54:fd77a6b2f76c	1958	// have another sleep event sneak in after we've verified
mjr	54:fd77a6b2f76c	1959	// the time. If another event occurs, it has to happen
mjr	54:fd77a6b2f76c	1960	// before we check, in which case it'll update the time
mjr	54:fd77a6b2f76c	1961	// before we check it, or after we clear the flag, in
mjr	54:fd77a6b2f76c	1962	// which case it will reset the flag and we'll do another
mjr	54:fd77a6b2f76c	1963	// round the next time we call this routine.
mjr	54:fd77a6b2f76c	1964	__disable_irq();
mjr	54:fd77a6b2f76c	1965	if (uint32_t(timer_.read_us() - lastSleepTime_) > 5000)
mjr	54:fd77a6b2f76c	1966	{
mjr	54:fd77a6b2f76c	1967	connect(false);
mjr	54:fd77a6b2f76c	1968	reconnectPending_ = false;
mjr	54:fd77a6b2f76c	1969	done = true;
mjr	54:fd77a6b2f76c	1970	}
mjr	54:fd77a6b2f76c	1971	__enable_irq();
mjr	54:fd77a6b2f76c	1972	}
mjr	54:fd77a6b2f76c	1973	}
mjr	54:fd77a6b2f76c	1974	}
mjr	5:a70c0bce770d	1975
mjr	5:a70c0bce770d	1976	protected:
mjr	54:fd77a6b2f76c	1977	// Handle a USB SLEEP interrupt. This interrupt signifies that the
mjr	54:fd77a6b2f76c	1978	// USB hardware module hasn't seen any token traffic for 3ms, which
mjr	54:fd77a6b2f76c	1979	// means that we're either physically or logically disconnected.
mjr	54:fd77a6b2f76c	1980	//
mjr	54:fd77a6b2f76c	1981	// Important: this runs in ISR context.
mjr	54:fd77a6b2f76c	1982	//
mjr	54:fd77a6b2f76c	1983	// Note that this is a specialized sense of "sleep" that's unrelated
mjr	54:fd77a6b2f76c	1984	// to the similarly named power modes on the PC. This has nothing
mjr	54:fd77a6b2f76c	1985	// to do with suspend/sleep mode on the PC, and it's not a low-power
mjr	54:fd77a6b2f76c	1986	// mode on the KL25Z. They really should have called this interrupt
mjr	54:fd77a6b2f76c	1987	// DISCONNECT or BROKEN CONNECTION.)
mjr	54:fd77a6b2f76c	1988	virtual void sleepStateChanged(unsigned int sleeping)
mjr	54:fd77a6b2f76c	1989	{
mjr	54:fd77a6b2f76c	1990	// note the new state
mjr	54:fd77a6b2f76c	1991	sleeping_ = sleeping;
mjr	54:fd77a6b2f76c	1992
mjr	54:fd77a6b2f76c	1993	// If we have a non-zero bus address, we have at least a partial
mjr	54:fd77a6b2f76c	1994	// connection to the host (we've made it at least as far as the
mjr	54:fd77a6b2f76c	1995	// SETUP stage). Explicitly disconnect, and the pending reconnect
mjr	54:fd77a6b2f76c	1996	// flag, and remember the time of the sleep event.
mjr	54:fd77a6b2f76c	1997	if (USB0->ADDR != 0x00)
mjr	54:fd77a6b2f76c	1998	{
mjr	54:fd77a6b2f76c	1999	disconnect();
mjr	54:fd77a6b2f76c	2000	lastSleepTime_ = timer_.read_us();
mjr	54:fd77a6b2f76c	2001	reconnectPending_ = true;
mjr	54:fd77a6b2f76c	2002	}
mjr	54:fd77a6b2f76c	2003	}
mjr	54:fd77a6b2f76c	2004
mjr	54:fd77a6b2f76c	2005	// is the USB connection asleep?
mjr	54:fd77a6b2f76c	2006	volatile bool sleeping_;
mjr	54:fd77a6b2f76c	2007
mjr	54:fd77a6b2f76c	2008	// flag: reconnect pending after sleep event
mjr	54:fd77a6b2f76c	2009	volatile bool reconnectPending_;
mjr	54:fd77a6b2f76c	2010
mjr	54:fd77a6b2f76c	2011	// time of last sleep event while connected
mjr	54:fd77a6b2f76c	2012	volatile uint32_t lastSleepTime_;
mjr	54:fd77a6b2f76c	2013
mjr	54:fd77a6b2f76c	2014	// timer to keep track of interval since last sleep event
mjr	54:fd77a6b2f76c	2015	Timer timer_;
mjr	5:a70c0bce770d	2016	};
mjr	5:a70c0bce770d	2017
mjr	5:a70c0bce770d	2018	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	2019	//
mjr	5:a70c0bce770d	2020	// Accelerometer (MMA8451Q)
mjr	5:a70c0bce770d	2021	//
mjr	5:a70c0bce770d	2022
mjr	5:a70c0bce770d	2023	// The MMA8451Q is the KL25Z's on-board 3-axis accelerometer.
mjr	5:a70c0bce770d	2024	//
mjr	5:a70c0bce770d	2025	// This is a custom wrapper for the library code to interface to the
mjr	6:cc35eb643e8f	2026	// MMA8451Q. This class encapsulates an interrupt handler and
mjr	6:cc35eb643e8f	2027	// automatic calibration.
mjr	5:a70c0bce770d	2028	//
mjr	5:a70c0bce770d	2029	// We install an interrupt handler on the accelerometer "data ready"
mjr	6:cc35eb643e8f	2030	// interrupt to ensure that we fetch each sample immediately when it
mjr	6:cc35eb643e8f	2031	// becomes available. The accelerometer data rate is fiarly high
mjr	6:cc35eb643e8f	2032	// (800 Hz), so it's not practical to keep up with it by polling.
mjr	6:cc35eb643e8f	2033	// Using an interrupt handler lets us respond quickly and read
mjr	6:cc35eb643e8f	2034	// every sample.
mjr	5:a70c0bce770d	2035	//
mjr	6:cc35eb643e8f	2036	// We automatically calibrate the accelerometer so that it's not
mjr	6:cc35eb643e8f	2037	// necessary to get it exactly level when installing it, and so
mjr	6:cc35eb643e8f	2038	// that it's also not necessary to calibrate it manually. There's
mjr	6:cc35eb643e8f	2039	// lots of experience that tells us that manual calibration is a
mjr	6:cc35eb643e8f	2040	// terrible solution, mostly because cabinets tend to shift slightly
mjr	6:cc35eb643e8f	2041	// during use, requiring frequent recalibration. Instead, we
mjr	6:cc35eb643e8f	2042	// calibrate automatically. We continuously monitor the acceleration
mjr	6:cc35eb643e8f	2043	// data, watching for periods of constant (or nearly constant) values.
mjr	6:cc35eb643e8f	2044	// Any time it appears that the machine has been at rest for a while
mjr	6:cc35eb643e8f	2045	// (about 5 seconds), we'll average the readings during that rest
mjr	6:cc35eb643e8f	2046	// period and use the result as the level rest position. This is
mjr	6:cc35eb643e8f	2047	// is ongoing, so we'll quickly find the center point again if the
mjr	6:cc35eb643e8f	2048	// machine is moved during play (by an especially aggressive bout
mjr	6:cc35eb643e8f	2049	// of nudging, say).
mjr	5:a70c0bce770d	2050	//
mjr	5:a70c0bce770d	2051
mjr	17:ab3cec0c8bf4	2052	// I2C address of the accelerometer (this is a constant of the KL25Z)
mjr	17:ab3cec0c8bf4	2053	const int MMA8451_I2C_ADDRESS = (0x1d<<1);
mjr	17:ab3cec0c8bf4	2054
mjr	17:ab3cec0c8bf4	2055	// SCL and SDA pins for the accelerometer (constant for the KL25Z)
mjr	17:ab3cec0c8bf4	2056	#define MMA8451_SCL_PIN PTE25
mjr	17:ab3cec0c8bf4	2057	#define MMA8451_SDA_PIN PTE24
mjr	17:ab3cec0c8bf4	2058
mjr	17:ab3cec0c8bf4	2059	// Digital in pin to use for the accelerometer interrupt. For the KL25Z,
mjr	17:ab3cec0c8bf4	2060	// this can be either PTA14 or PTA15, since those are the pins physically
mjr	17:ab3cec0c8bf4	2061	// wired on this board to the MMA8451 interrupt controller.
mjr	17:ab3cec0c8bf4	2062	#define MMA8451_INT_PIN PTA15
mjr	17:ab3cec0c8bf4	2063
mjr	17:ab3cec0c8bf4	2064
mjr	6:cc35eb643e8f	2065	// accelerometer input history item, for gathering calibration data
mjr	6:cc35eb643e8f	2066	struct AccHist
mjr	5:a70c0bce770d	2067	{
mjr	6:cc35eb643e8f	2068	AccHist() { x = y = d = 0.0; xtot = ytot = 0.0; cnt = 0; }
mjr	6:cc35eb643e8f	2069	void set(float x, float y, AccHist *prv)
mjr	6:cc35eb643e8f	2070	{
mjr	6:cc35eb643e8f	2071	// save the raw position
mjr	6:cc35eb643e8f	2072	this->x = x;
mjr	6:cc35eb643e8f	2073	this->y = y;
mjr	6:cc35eb643e8f	2074	this->d = distance(prv);
mjr	6:cc35eb643e8f	2075	}
mjr	6:cc35eb643e8f	2076
mjr	6:cc35eb643e8f	2077	// reading for this entry
mjr	5:a70c0bce770d	2078	float x, y;
mjr	5:a70c0bce770d	2079
mjr	6:cc35eb643e8f	2080	// distance from previous entry
mjr	6:cc35eb643e8f	2081	float d;
mjr	5:a70c0bce770d	2082
mjr	6:cc35eb643e8f	2083	// total and count of samples averaged over this period
mjr	6:cc35eb643e8f	2084	float xtot, ytot;
mjr	6:cc35eb643e8f	2085	int cnt;
mjr	6:cc35eb643e8f	2086
mjr	6:cc35eb643e8f	2087	void clearAvg() { xtot = ytot = 0.0; cnt = 0; }
mjr	6:cc35eb643e8f	2088	void addAvg(float x, float y) { xtot += x; ytot += y; ++cnt; }
mjr	6:cc35eb643e8f	2089	float xAvg() const { return xtot/cnt; }
mjr	6:cc35eb643e8f	2090	float yAvg() const { return ytot/cnt; }
mjr	5:a70c0bce770d	2091
mjr	6:cc35eb643e8f	2092	float distance(AccHist *p)
mjr	6:cc35eb643e8f	2093	{ return sqrt(square(p->x - x) + square(p->y - y)); }
mjr	5:a70c0bce770d	2094	};
mjr	5:a70c0bce770d	2095
mjr	5:a70c0bce770d	2096	// accelerometer wrapper class
mjr	3:3514575d4f86	2097	class Accel
mjr	3:3514575d4f86	2098	{
mjr	3:3514575d4f86	2099	public:
mjr	3:3514575d4f86	2100	Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin)
mjr	3:3514575d4f86	2101	: mma_(sda, scl, i2cAddr), intIn_(irqPin)
mjr	3:3514575d4f86	2102	{
mjr	5:a70c0bce770d	2103	// remember the interrupt pin assignment
mjr	5:a70c0bce770d	2104	irqPin_ = irqPin;
mjr	5:a70c0bce770d	2105
mjr	5:a70c0bce770d	2106	// reset and initialize
mjr	5:a70c0bce770d	2107	reset();
mjr	5:a70c0bce770d	2108	}
mjr	5:a70c0bce770d	2109
mjr	5:a70c0bce770d	2110	void reset()
mjr	5:a70c0bce770d	2111	{
mjr	6:cc35eb643e8f	2112	// clear the center point
mjr	6:cc35eb643e8f	2113	cx_ = cy_ = 0.0;
mjr	6:cc35eb643e8f	2114
mjr	6:cc35eb643e8f	2115	// start the calibration timer
mjr	5:a70c0bce770d	2116	tCenter_.start();
mjr	5:a70c0bce770d	2117	iAccPrv_ = nAccPrv_ = 0;
mjr	6:cc35eb643e8f	2118
mjr	5:a70c0bce770d	2119	// reset and initialize the MMA8451Q
mjr	5:a70c0bce770d	2120	mma_.init();
mjr	6:cc35eb643e8f	2121
mjr	6:cc35eb643e8f	2122	// set the initial integrated velocity reading to zero
mjr	6:cc35eb643e8f	2123	vx_ = vy_ = 0;
mjr	3:3514575d4f86	2124
mjr	6:cc35eb643e8f	2125	// set up our accelerometer interrupt handling
mjr	6:cc35eb643e8f	2126	intIn_.rise(this, &Accel::isr);
mjr	5:a70c0bce770d	2127	mma_.setInterruptMode(irqPin_ == PTA14 ? 1 : 2);
mjr	3:3514575d4f86	2128
mjr	3:3514575d4f86	2129	// read the current registers to clear the data ready flag
mjr	6:cc35eb643e8f	2130	mma_.getAccXYZ(ax_, ay_, az_);
mjr	3:3514575d4f86	2131
mjr	3:3514575d4f86	2132	// start our timers
mjr	3:3514575d4f86	2133	tGet_.start();
mjr	3:3514575d4f86	2134	tInt_.start();
mjr	3:3514575d4f86	2135	}
mjr	3:3514575d4f86	2136
mjr	9:fd65b0a94720	2137	void get(int &x, int &y)
mjr	3:3514575d4f86	2138	{
mjr	3:3514575d4f86	2139	// disable interrupts while manipulating the shared data
mjr	3:3514575d4f86	2140	__disable_irq();
mjr	3:3514575d4f86	2141
mjr	3:3514575d4f86	2142	// read the shared data and store locally for calculations
mjr	6:cc35eb643e8f	2143	float ax = ax_, ay = ay_;
mjr	6:cc35eb643e8f	2144	float vx = vx_, vy = vy_;
mjr	5:a70c0bce770d	2145
mjr	6:cc35eb643e8f	2146	// reset the velocity sum for the next run
mjr	6:cc35eb643e8f	2147	vx_ = vy_ = 0;
mjr	3:3514575d4f86	2148
mjr	3:3514575d4f86	2149	// get the time since the last get() sample
mjr	38:091e511ce8a0	2150	float dt = tGet_.read_us()/1.0e6f;
mjr	3:3514575d4f86	2151	tGet_.reset();
mjr	3:3514575d4f86	2152
mjr	3:3514575d4f86	2153	// done manipulating the shared data
mjr	3:3514575d4f86	2154	__enable_irq();
mjr	3:3514575d4f86	2155
mjr	6:cc35eb643e8f	2156	// adjust the readings for the integration time
mjr	6:cc35eb643e8f	2157	vx /= dt;
mjr	6:cc35eb643e8f	2158	vy /= dt;
mjr	6:cc35eb643e8f	2159
mjr	6:cc35eb643e8f	2160	// add this sample to the current calibration interval's running total
mjr	6:cc35eb643e8f	2161	AccHist *p = accPrv_ + iAccPrv_;
mjr	6:cc35eb643e8f	2162	p->addAvg(ax, ay);
mjr	6:cc35eb643e8f	2163
mjr	5:a70c0bce770d	2164	// check for auto-centering every so often
mjr	48:058ace2aed1d	2165	if (tCenter_.read_us() > 1000000)
mjr	5:a70c0bce770d	2166	{
mjr	5:a70c0bce770d	2167	// add the latest raw sample to the history list
mjr	6:cc35eb643e8f	2168	AccHist *prv = p;
mjr	5:a70c0bce770d	2169	iAccPrv_ = (iAccPrv_ + 1) % maxAccPrv;
mjr	6:cc35eb643e8f	2170	p = accPrv_ + iAccPrv_;
mjr	6:cc35eb643e8f	2171	p->set(ax, ay, prv);
mjr	5:a70c0bce770d	2172
mjr	5:a70c0bce770d	2173	// if we have a full complement, check for stability
mjr	5:a70c0bce770d	2174	if (nAccPrv_ >= maxAccPrv)
mjr	5:a70c0bce770d	2175	{
mjr	5:a70c0bce770d	2176	// check if we've been stable for all recent samples
mjr	6:cc35eb643e8f	2177	static const float accTol = .01;
mjr	6:cc35eb643e8f	2178	AccHist *p0 = accPrv_;
mjr	6:cc35eb643e8f	2179	if (p0[0].d < accTol
mjr	6:cc35eb643e8f	2180	&& p0[1].d < accTol
mjr	6:cc35eb643e8f	2181	&& p0[2].d < accTol
mjr	6:cc35eb643e8f	2182	&& p0[3].d < accTol
mjr	6:cc35eb643e8f	2183	&& p0[4].d < accTol)
mjr	5:a70c0bce770d	2184	{
mjr	6:cc35eb643e8f	2185	// Figure the new calibration point as the average of
mjr	6:cc35eb643e8f	2186	// the samples over the rest period
mjr	6:cc35eb643e8f	2187	cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5.0;
mjr	6:cc35eb643e8f	2188	cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5.0;
mjr	5:a70c0bce770d	2189	}
mjr	5:a70c0bce770d	2190	}
mjr	5:a70c0bce770d	2191	else
mjr	5:a70c0bce770d	2192	{
mjr	5:a70c0bce770d	2193	// not enough samples yet; just up the count
mjr	5:a70c0bce770d	2194	++nAccPrv_;
mjr	5:a70c0bce770d	2195	}
mjr	6:cc35eb643e8f	2196
mjr	6:cc35eb643e8f	2197	// clear the new item's running totals
mjr	6:cc35eb643e8f	2198	p->clearAvg();
mjr	5:a70c0bce770d	2199
mjr	5:a70c0bce770d	2200	// reset the timer
mjr	5:a70c0bce770d	2201	tCenter_.reset();
mjr	39:b3815a1c3802	2202
mjr	39:b3815a1c3802	2203	// If we haven't seen an interrupt in a while, do an explicit read to
mjr	39:b3815a1c3802	2204	// "unstick" the device. The device can become stuck - which is to say,
mjr	39:b3815a1c3802	2205	// it will stop delivering data-ready interrupts - if we fail to service
mjr	39:b3815a1c3802	2206	// one data-ready interrupt before the next one occurs. Reading a sample
mjr	39:b3815a1c3802	2207	// will clear up this overrun condition and allow normal interrupt
mjr	39:b3815a1c3802	2208	// generation to continue.
mjr	39:b3815a1c3802	2209	//
mjr	39:b3815a1c3802	2210	// Note that this stuck condition shouldn't ever occur - if it does,
mjr	39:b3815a1c3802	2211	// it means that we're spending a long period with interrupts disabled
mjr	39:b3815a1c3802	2212	// (either in a critical section or in another interrupt handler), which
mjr	39:b3815a1c3802	2213	// will likely cause other worse problems beyond the sticky accelerometer.
mjr	39:b3815a1c3802	2214	// Even so, it's easy to detect and correct, so we'll do so for the sake
mjr	39:b3815a1c3802	2215	// of making the system more fault-tolerant.
mjr	39:b3815a1c3802	2216	if (tInt_.read() > 1.0f)
mjr	39:b3815a1c3802	2217	{
mjr	39:b3815a1c3802	2218	float x, y, z;
mjr	39:b3815a1c3802	2219	mma_.getAccXYZ(x, y, z);
mjr	39:b3815a1c3802	2220	}
mjr	5:a70c0bce770d	2221	}
mjr	5:a70c0bce770d	2222
mjr	6:cc35eb643e8f	2223	// report our integrated velocity reading in x,y
mjr	6:cc35eb643e8f	2224	x = rawToReport(vx);
mjr	6:cc35eb643e8f	2225	y = rawToReport(vy);
mjr	5:a70c0bce770d	2226
mjr	6:cc35eb643e8f	2227	#ifdef DEBUG_PRINTF
mjr	6:cc35eb643e8f	2228	if (x != 0 \|\| y != 0)
mjr	6:cc35eb643e8f	2229	printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt);
mjr	6:cc35eb643e8f	2230	#endif
mjr	3:3514575d4f86	2231	}
mjr	29:582472d0bc57	2232
mjr	3:3514575d4f86	2233	private:
mjr	6:cc35eb643e8f	2234	// adjust a raw acceleration figure to a usb report value
mjr	6:cc35eb643e8f	2235	int rawToReport(float v)
mjr	5:a70c0bce770d	2236	{
mjr	6:cc35eb643e8f	2237	// scale to the joystick report range and round to integer
mjr	6:cc35eb643e8f	2238	int i = int(round(v*JOYMAX));
mjr	5:a70c0bce770d	2239
mjr	6:cc35eb643e8f	2240	// if it's near the center, scale it roughly as 20*(i/20)^2,
mjr	6:cc35eb643e8f	2241	// to suppress noise near the rest position
mjr	6:cc35eb643e8f	2242	static const int filter[] = {
mjr	6:cc35eb643e8f	2243	-18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0,
mjr	6:cc35eb643e8f	2244	0,
mjr	6:cc35eb643e8f	2245	0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18
mjr	6:cc35eb643e8f	2246	};
mjr	6:cc35eb643e8f	2247	return (i > 20 \|\| i < -20 ? i : filter[i+20]);
mjr	5:a70c0bce770d	2248	}
mjr	5:a70c0bce770d	2249
mjr	3:3514575d4f86	2250	// interrupt handler
mjr	3:3514575d4f86	2251	void isr()
mjr	3:3514575d4f86	2252	{
mjr	3:3514575d4f86	2253	// Read the axes. Note that we have to read all three axes
mjr	3:3514575d4f86	2254	// (even though we only really use x and y) in order to clear
mjr	3:3514575d4f86	2255	// the "data ready" status bit in the accelerometer. The
mjr	3:3514575d4f86	2256	// interrupt only occurs when the "ready" bit transitions from
mjr	3:3514575d4f86	2257	// off to on, so we have to make sure it's off.
mjr	5:a70c0bce770d	2258	float x, y, z;
mjr	5:a70c0bce770d	2259	mma_.getAccXYZ(x, y, z);
mjr	3:3514575d4f86	2260
mjr	3:3514575d4f86	2261	// calculate the time since the last interrupt
mjr	39:b3815a1c3802	2262	float dt = tInt_.read();
mjr	3:3514575d4f86	2263	tInt_.reset();
mjr	6:cc35eb643e8f	2264
mjr	6:cc35eb643e8f	2265	// integrate the time slice from the previous reading to this reading
mjr	6:cc35eb643e8f	2266	vx_ += (x + ax_ - 2cx_)dt/2;
mjr	6:cc35eb643e8f	2267	vy_ += (y + ay_ - 2cy_)dt/2;
mjr	3:3514575d4f86	2268
mjr	6:cc35eb643e8f	2269	// store the updates
mjr	6:cc35eb643e8f	2270	ax_ = x;
mjr	6:cc35eb643e8f	2271	ay_ = y;
mjr	6:cc35eb643e8f	2272	az_ = z;
mjr	3:3514575d4f86	2273	}
mjr	3:3514575d4f86	2274
mjr	3:3514575d4f86	2275	// underlying accelerometer object
mjr	3:3514575d4f86	2276	MMA8451Q mma_;
mjr	3:3514575d4f86	2277
mjr	5:a70c0bce770d	2278	// last raw acceleration readings
mjr	6:cc35eb643e8f	2279	float ax_, ay_, az_;
mjr	5:a70c0bce770d	2280
mjr	6:cc35eb643e8f	2281	// integrated velocity reading since last get()
mjr	6:cc35eb643e8f	2282	float vx_, vy_;
mjr	6:cc35eb643e8f	2283
mjr	3:3514575d4f86	2284	// timer for measuring time between get() samples
mjr	3:3514575d4f86	2285	Timer tGet_;
mjr	3:3514575d4f86	2286
mjr	3:3514575d4f86	2287	// timer for measuring time between interrupts
mjr	3:3514575d4f86	2288	Timer tInt_;
mjr	5:a70c0bce770d	2289
mjr	6:cc35eb643e8f	2290	// Calibration reference point for accelerometer. This is the
mjr	6:cc35eb643e8f	2291	// average reading on the accelerometer when in the neutral position
mjr	6:cc35eb643e8f	2292	// at rest.
mjr	6:cc35eb643e8f	2293	float cx_, cy_;
mjr	5:a70c0bce770d	2294
mjr	5:a70c0bce770d	2295	// timer for atuo-centering
mjr	5:a70c0bce770d	2296	Timer tCenter_;
mjr	6:cc35eb643e8f	2297
mjr	6:cc35eb643e8f	2298	// Auto-centering history. This is a separate history list that
mjr	6:cc35eb643e8f	2299	// records results spaced out sparesely over time, so that we can
mjr	6:cc35eb643e8f	2300	// watch for long-lasting periods of rest. When we observe nearly
mjr	6:cc35eb643e8f	2301	// no motion for an extended period (on the order of 5 seconds), we
mjr	6:cc35eb643e8f	2302	// take this to mean that the cabinet is at rest in its neutral
mjr	6:cc35eb643e8f	2303	// position, so we take this as the calibration zero point for the
mjr	6:cc35eb643e8f	2304	// accelerometer. We update this history continuously, which allows
mjr	6:cc35eb643e8f	2305	// us to continuously re-calibrate the accelerometer. This ensures
mjr	6:cc35eb643e8f	2306	// that we'll automatically adjust to any actual changes in the
mjr	6:cc35eb643e8f	2307	// cabinet's orientation (e.g., if it gets moved slightly by an
mjr	6:cc35eb643e8f	2308	// especially strong nudge) as well as any systematic drift in the
mjr	6:cc35eb643e8f	2309	// accelerometer measurement bias (e.g., from temperature changes).
mjr	5:a70c0bce770d	2310	int iAccPrv_, nAccPrv_;
mjr	5:a70c0bce770d	2311	static const int maxAccPrv = 5;
mjr	6:cc35eb643e8f	2312	AccHist accPrv_[maxAccPrv];
mjr	6:cc35eb643e8f	2313
mjr	5:a70c0bce770d	2314	// interurupt pin name
mjr	5:a70c0bce770d	2315	PinName irqPin_;
mjr	5:a70c0bce770d	2316
mjr	5:a70c0bce770d	2317	// interrupt router
mjr	5:a70c0bce770d	2318	InterruptIn intIn_;
mjr	3:3514575d4f86	2319	};
mjr	3:3514575d4f86	2320
mjr	5:a70c0bce770d	2321
mjr	5:a70c0bce770d	2322	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	2323	//
mjr	14:df700b22ca08	2324	// Clear the I2C bus for the MMA8451Q. This seems necessary some of the time
mjr	5:a70c0bce770d	2325	// for reasons that aren't clear to me. Doing a hard power cycle has the same
mjr	5:a70c0bce770d	2326	// effect, but when we do a soft reset, the hardware sometimes seems to leave
mjr	5:a70c0bce770d	2327	// the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through
mjr	14:df700b22ca08	2328	// the SCL line is supposed to clear this condition. I'm not convinced this
mjr	14:df700b22ca08	2329	// actually works with the way this component is wired on the KL25Z, but it
mjr	14:df700b22ca08	2330	// seems harmless, so we'll do it on reset in case it does some good. What
mjr	14:df700b22ca08	2331	// we really seem to need is a way to power cycle the MMA8451Q if it ever
mjr	14:df700b22ca08	2332	// gets stuck, but this is simply not possible in software on the KL25Z.
mjr	14:df700b22ca08	2333	//
mjr	14:df700b22ca08	2334	// If the accelerometer does get stuck, and a software reboot doesn't reset
mjr	14:df700b22ca08	2335	// it, the only workaround is to manually power cycle the whole KL25Z by
mjr	14:df700b22ca08	2336	// unplugging both of its USB connections.
mjr	5:a70c0bce770d	2337	//
mjr	5:a70c0bce770d	2338	void clear_i2c()
mjr	5:a70c0bce770d	2339	{
mjr	38:091e511ce8a0	2340	// set up general-purpose output pins to the I2C lines
mjr	5:a70c0bce770d	2341	DigitalOut scl(MMA8451_SCL_PIN);
mjr	5:a70c0bce770d	2342	DigitalIn sda(MMA8451_SDA_PIN);
mjr	5:a70c0bce770d	2343
mjr	5:a70c0bce770d	2344	// clock the SCL 9 times
mjr	5:a70c0bce770d	2345	for (int i = 0 ; i < 9 ; ++i)
mjr	5:a70c0bce770d	2346	{
mjr	5:a70c0bce770d	2347	scl = 1;
mjr	5:a70c0bce770d	2348	wait_us(20);
mjr	5:a70c0bce770d	2349	scl = 0;
mjr	5:a70c0bce770d	2350	wait_us(20);
mjr	5:a70c0bce770d	2351	}
mjr	5:a70c0bce770d	2352	}
mjr	14:df700b22ca08	2353
mjr	14:df700b22ca08	2354	// ---------------------------------------------------------------------------
mjr	14:df700b22ca08	2355	//
mjr	33:d832bcab089e	2356	// Simple binary (on/off) input debouncer. Requires an input to be stable
mjr	33:d832bcab089e	2357	// for a given interval before allowing an update.
mjr	33:d832bcab089e	2358	//
mjr	33:d832bcab089e	2359	class Debouncer
mjr	33:d832bcab089e	2360	{
mjr	33:d832bcab089e	2361	public:
mjr	33:d832bcab089e	2362	Debouncer(bool initVal, float tmin)
mjr	33:d832bcab089e	2363	{
mjr	33:d832bcab089e	2364	t.start();
mjr	33:d832bcab089e	2365	this->stable = this->prv = initVal;
mjr	33:d832bcab089e	2366	this->tmin = tmin;
mjr	33:d832bcab089e	2367	}
mjr	33:d832bcab089e	2368
mjr	33:d832bcab089e	2369	// Get the current stable value
mjr	33:d832bcab089e	2370	bool val() const { return stable; }
mjr	33:d832bcab089e	2371
mjr	33:d832bcab089e	2372	// Apply a new sample. This tells us the new raw reading from the
mjr	33:d832bcab089e	2373	// input device.
mjr	33:d832bcab089e	2374	void sampleIn(bool val)
mjr	33:d832bcab089e	2375	{
mjr	33:d832bcab089e	2376	// If the new raw reading is different from the previous
mjr	33:d832bcab089e	2377	// raw reading, we've detected an edge - start the clock
mjr	33:d832bcab089e	2378	// on the sample reader.
mjr	33:d832bcab089e	2379	if (val != prv)
mjr	33:d832bcab089e	2380	{
mjr	33:d832bcab089e	2381	// we have an edge - reset the sample clock
mjr	33:d832bcab089e	2382	t.reset();
mjr	33:d832bcab089e	2383
mjr	33:d832bcab089e	2384	// this is now the previous raw sample for nxt time
mjr	33:d832bcab089e	2385	prv = val;
mjr	33:d832bcab089e	2386	}
mjr	33:d832bcab089e	2387	else if (val != stable)
mjr	33:d832bcab089e	2388	{
mjr	33:d832bcab089e	2389	// The new raw sample is the same as the last raw sample,
mjr	33:d832bcab089e	2390	// and different from the stable value. This means that
mjr	33:d832bcab089e	2391	// the sample value has been the same for the time currently
mjr	33:d832bcab089e	2392	// indicated by our timer. If enough time has elapsed to
mjr	33:d832bcab089e	2393	// consider the value stable, apply the new value.
mjr	33:d832bcab089e	2394	if (t.read() > tmin)
mjr	33:d832bcab089e	2395	stable = val;
mjr	33:d832bcab089e	2396	}
mjr	33:d832bcab089e	2397	}
mjr	33:d832bcab089e	2398
mjr	33:d832bcab089e	2399	private:
mjr	33:d832bcab089e	2400	// current stable value
mjr	33:d832bcab089e	2401	bool stable;
mjr	33:d832bcab089e	2402
mjr	33:d832bcab089e	2403	// last raw sample value
mjr	33:d832bcab089e	2404	bool prv;
mjr	33:d832bcab089e	2405
mjr	33:d832bcab089e	2406	// elapsed time since last raw input change
mjr	33:d832bcab089e	2407	Timer t;
mjr	33:d832bcab089e	2408
mjr	33:d832bcab089e	2409	// Minimum time interval for stability, in seconds. Input readings
mjr	33:d832bcab089e	2410	// must be stable for this long before the stable value is updated.
mjr	33:d832bcab089e	2411	float tmin;
mjr	33:d832bcab089e	2412	};
mjr	33:d832bcab089e	2413
mjr	33:d832bcab089e	2414
mjr	33:d832bcab089e	2415	// ---------------------------------------------------------------------------
mjr	33:d832bcab089e	2416	//
mjr	33:d832bcab089e	2417	// Turn off all outputs and restore everything to the default LedWiz
mjr	33:d832bcab089e	2418	// state. This sets outputs #1-32 to LedWiz profile value 48 (full
mjr	33:d832bcab089e	2419	// brightness) and switch state Off, sets all extended outputs (#33
mjr	33:d832bcab089e	2420	// and above) to zero brightness, and sets the LedWiz flash rate to 2.
mjr	33:d832bcab089e	2421	// This effectively restores the power-on conditions.
mjr	33:d832bcab089e	2422	//
mjr	33:d832bcab089e	2423	void allOutputsOff()
mjr	33:d832bcab089e	2424	{
mjr	33:d832bcab089e	2425	// reset all LedWiz outputs to OFF/48
mjr	35:e959ffba78fd	2426	for (int i = 0 ; i < numLwOutputs ; ++i)
mjr	33:d832bcab089e	2427	{
mjr	33:d832bcab089e	2428	outLevel[i] = 0;
mjr	33:d832bcab089e	2429	wizOn[i] = 0;
mjr	33:d832bcab089e	2430	wizVal[i] = 48;
mjr	33:d832bcab089e	2431	lwPin[i]->set(0);
mjr	33:d832bcab089e	2432	}
mjr	33:d832bcab089e	2433
mjr	33:d832bcab089e	2434	// reset all extended outputs (ports >32) to full off (brightness 0)
mjr	40:cc0d9814522b	2435	for (int i = numLwOutputs ; i < numOutputs ; ++i)
mjr	33:d832bcab089e	2436	{
mjr	33:d832bcab089e	2437	outLevel[i] = 0;
mjr	33:d832bcab089e	2438	lwPin[i]->set(0);
mjr	33:d832bcab089e	2439	}
mjr	33:d832bcab089e	2440
mjr	33:d832bcab089e	2441	// restore default LedWiz flash rate
mjr	33:d832bcab089e	2442	wizSpeed = 2;
mjr	34:6b981a2afab7	2443
mjr	34:6b981a2afab7	2444	// flush changes to hc595, if applicable
mjr	35:e959ffba78fd	2445	if (hc595 != 0)
mjr	35:e959ffba78fd	2446	hc595->update();
mjr	33:d832bcab089e	2447	}
mjr	33:d832bcab089e	2448
mjr	33:d832bcab089e	2449	// ---------------------------------------------------------------------------
mjr	33:d832bcab089e	2450	//
mjr	33:d832bcab089e	2451	// TV ON timer. If this feature is enabled, we toggle a TV power switch
mjr	33:d832bcab089e	2452	// relay (connected to a GPIO pin) to turn on the cab's TV monitors shortly
mjr	33:d832bcab089e	2453	// after the system is powered. This is useful for TVs that don't remember
mjr	33:d832bcab089e	2454	// their power state and don't turn back on automatically after being
mjr	33:d832bcab089e	2455	// unplugged and plugged in again. This feature requires external
mjr	33:d832bcab089e	2456	// circuitry, which is built in to the expansion board and can also be
mjr	33:d832bcab089e	2457	// built separately - see the Build Guide for the circuit plan.
mjr	33:d832bcab089e	2458	//
mjr	33:d832bcab089e	2459	// Theory of operation: to use this feature, the cabinet must have a
mjr	33:d832bcab089e	2460	// secondary PC-style power supply (PSU2) for the feedback devices, and
mjr	33:d832bcab089e	2461	// this secondary supply must be plugged in to the same power strip or
mjr	33:d832bcab089e	2462	// switched outlet that controls power to the TVs. This lets us use PSU2
mjr	33:d832bcab089e	2463	// as a proxy for the TV power state - when PSU2 is on, the TV outlet is
mjr	33:d832bcab089e	2464	// powered, and when PSU2 is off, the TV outlet is off. We use a little
mjr	33:d832bcab089e	2465	// latch circuit powered by PSU2 to monitor the status. The latch has a
mjr	33:d832bcab089e	2466	// current state, ON or OFF, that we can read via a GPIO input pin, and
mjr	33:d832bcab089e	2467	// we can set the state to ON by pulsing a separate GPIO output pin. As
mjr	33:d832bcab089e	2468	// long as PSU2 is powered off, the latch stays in the OFF state, even if
mjr	33:d832bcab089e	2469	// we try to set it by pulsing the SET pin. When PSU2 is turned on after
mjr	33:d832bcab089e	2470	// being off, the latch starts receiving power but stays in the OFF state,
mjr	33:d832bcab089e	2471	// since this is the initial condition when the power first comes on. So
mjr	33:d832bcab089e	2472	// if our latch state pin is reading OFF, we know that PSU2 is either off
mjr	33:d832bcab089e	2473	// now or was off some time since we last checked. We use a timer to
mjr	33:d832bcab089e	2474	// check the state periodically. Each time we see the state is OFF, we
mjr	33:d832bcab089e	2475	// try pulsing the SET pin. If the state still reads as OFF, we know
mjr	33:d832bcab089e	2476	// that PSU2 is currently off; if the state changes to ON, though, we
mjr	33:d832bcab089e	2477	// know that PSU2 has gone from OFF to ON some time between now and the
mjr	33:d832bcab089e	2478	// previous check. When we see this condition, we start a countdown
mjr	33:d832bcab089e	2479	// timer, and pulse the TV switch relay when the countdown ends.
mjr	33:d832bcab089e	2480	//
mjr	40:cc0d9814522b	2481	// This scheme might seem a little convoluted, but it handles a number
mjr	40:cc0d9814522b	2482	// of tricky but likely scenarios:
mjr	33:d832bcab089e	2483	//
mjr	33:d832bcab089e	2484	// - Most cabinets systems are set up with "soft" PC power switches,
mjr	40:cc0d9814522b	2485	// so that the PC goes into "Soft Off" mode when the user turns off
mjr	40:cc0d9814522b	2486	// the cabinet by pushing the power button or using the Shut Down
mjr	40:cc0d9814522b	2487	// command from within Windows. In Windows parlance, this "soft off"
mjr	40:cc0d9814522b	2488	// condition is called ACPI State S5. In this state, the main CPU
mjr	40:cc0d9814522b	2489	// power is turned off, but the motherboard still provides power to
mjr	40:cc0d9814522b	2490	// USB devices. This means that the KL25Z keeps running. Without
mjr	40:cc0d9814522b	2491	// the external power sensing circuit, the only hint that we're in
mjr	40:cc0d9814522b	2492	// this state is that the USB connection to the host goes into Suspend
mjr	40:cc0d9814522b	2493	// mode, but that could mean other things as well. The latch circuit
mjr	40:cc0d9814522b	2494	// lets us tell for sure that we're in this state.
mjr	33:d832bcab089e	2495	//
mjr	33:d832bcab089e	2496	// - Some cabinet builders might prefer to use "hard" power switches,
mjr	33:d832bcab089e	2497	// cutting all power to the cabinet, including the PC motherboard (and
mjr	33:d832bcab089e	2498	// thus the KL25Z) every time the machine is turned off. This also
mjr	33:d832bcab089e	2499	// applies to the "soft" switch case above when the cabinet is unplugged,
mjr	33:d832bcab089e	2500	// a power outage occurs, etc. In these cases, the KL25Z will do a cold
mjr	33:d832bcab089e	2501	// boot when the PC is turned on. We don't know whether the KL25Z
mjr	33:d832bcab089e	2502	// will power up before or after PSU2, so it's not good enough to
mjr	40:cc0d9814522b	2503	// observe the current state of PSU2 when we first check. If PSU2
mjr	40:cc0d9814522b	2504	// were to come on first, checking only the current state would fool
mjr	40:cc0d9814522b	2505	// us into thinking that no action is required, because we'd only see
mjr	40:cc0d9814522b	2506	// that PSU2 is turned on any time we check. The latch handles this
mjr	40:cc0d9814522b	2507	// case by letting us see that PSU2 was indeed off some time before our
mjr	40:cc0d9814522b	2508	// first check.
mjr	33:d832bcab089e	2509	//
mjr	33:d832bcab089e	2510	// - If the KL25Z is rebooted while the main system is running, or the
mjr	40:cc0d9814522b	2511	// KL25Z is unplugged and plugged back in, we'll correctly leave the
mjr	33:d832bcab089e	2512	// TVs as they are. The latch state is independent of the KL25Z's
mjr	33:d832bcab089e	2513	// power or software state, so it's won't affect the latch state when
mjr	33:d832bcab089e	2514	// the KL25Z is unplugged or rebooted; when we boot, we'll see that
mjr	33:d832bcab089e	2515	// the latch is already on and that we don't have to turn on the TVs.
mjr	33:d832bcab089e	2516	// This is important because TV ON buttons are usually on/off toggles,
mjr	33:d832bcab089e	2517	// so we don't want to push the button on a TV that's already on.
mjr	33:d832bcab089e	2518	//
mjr	33:d832bcab089e	2519
mjr	33:d832bcab089e	2520	// Current PSU2 state:
mjr	33:d832bcab089e	2521	// 1 -> default: latch was on at last check, or we haven't checked yet
mjr	33:d832bcab089e	2522	// 2 -> latch was off at last check, SET pulsed high
mjr	33:d832bcab089e	2523	// 3 -> SET pulsed low, ready to check status
mjr	33:d832bcab089e	2524	// 4 -> TV timer countdown in progress
mjr	33:d832bcab089e	2525	// 5 -> TV relay on
mjr	33:d832bcab089e	2526	int psu2_state = 1;
mjr	35:e959ffba78fd	2527
mjr	35:e959ffba78fd	2528	// PSU2 power sensing circuit connections
mjr	35:e959ffba78fd	2529	DigitalIn *psu2_status_sense;
mjr	35:e959ffba78fd	2530	DigitalOut *psu2_status_set;
mjr	35:e959ffba78fd	2531
mjr	35:e959ffba78fd	2532	// TV ON switch relay control
mjr	35:e959ffba78fd	2533	DigitalOut *tv_relay;
mjr	35:e959ffba78fd	2534
mjr	35:e959ffba78fd	2535	// Timer interrupt
mjr	35:e959ffba78fd	2536	Ticker tv_ticker;
mjr	35:e959ffba78fd	2537	float tv_delay_time;
mjr	33:d832bcab089e	2538	void TVTimerInt()
mjr	33:d832bcab089e	2539	{
mjr	35:e959ffba78fd	2540	// time since last state change
mjr	35:e959ffba78fd	2541	static Timer tv_timer;
mjr	35:e959ffba78fd	2542
mjr	33:d832bcab089e	2543	// Check our internal state
mjr	33:d832bcab089e	2544	switch (psu2_state)
mjr	33:d832bcab089e	2545	{
mjr	33:d832bcab089e	2546	case 1:
mjr	33:d832bcab089e	2547	// Default state. This means that the latch was on last
mjr	33:d832bcab089e	2548	// time we checked or that this is the first check. In
mjr	33:d832bcab089e	2549	// either case, if the latch is off, switch to state 2 and
mjr	33:d832bcab089e	2550	// try pulsing the latch. Next time we check, if the latch
mjr	33:d832bcab089e	2551	// stuck, it means that PSU2 is now on after being off.
mjr	35:e959ffba78fd	2552	if (!psu2_status_sense->read())
mjr	33:d832bcab089e	2553	{
mjr	33:d832bcab089e	2554	// switch to OFF state
mjr	33:d832bcab089e	2555	psu2_state = 2;
mjr	33:d832bcab089e	2556
mjr	33:d832bcab089e	2557	// try setting the latch
mjr	35:e959ffba78fd	2558	psu2_status_set->write(1);
mjr	33:d832bcab089e	2559	}
mjr	33:d832bcab089e	2560	break;
mjr	33:d832bcab089e	2561
mjr	33:d832bcab089e	2562	case 2:
mjr	33:d832bcab089e	2563	// PSU2 was off last time we checked, and we tried setting
mjr	33:d832bcab089e	2564	// the latch. Drop the SET signal and go to CHECK state.
mjr	35:e959ffba78fd	2565	psu2_status_set->write(0);
mjr	33:d832bcab089e	2566	psu2_state = 3;
mjr	33:d832bcab089e	2567	break;
mjr	33:d832bcab089e	2568
mjr	33:d832bcab089e	2569	case 3:
mjr	33:d832bcab089e	2570	// CHECK state: we pulsed SET, and we're now ready to see
mjr	40:cc0d9814522b	2571	// if it stuck. If the latch is now on, PSU2 has transitioned
mjr	33:d832bcab089e	2572	// from OFF to ON, so start the TV countdown. If the latch is
mjr	33:d832bcab089e	2573	// off, our SET command didn't stick, so PSU2 is still off.
mjr	35:e959ffba78fd	2574	if (psu2_status_sense->read())
mjr	33:d832bcab089e	2575	{
mjr	33:d832bcab089e	2576	// The latch stuck, so PSU2 has transitioned from OFF
mjr	33:d832bcab089e	2577	// to ON. Start the TV countdown timer.
mjr	33:d832bcab089e	2578	tv_timer.reset();
mjr	33:d832bcab089e	2579	tv_timer.start();
mjr	33:d832bcab089e	2580	psu2_state = 4;
mjr	33:d832bcab089e	2581	}
mjr	33:d832bcab089e	2582	else
mjr	33:d832bcab089e	2583	{
mjr	33:d832bcab089e	2584	// The latch didn't stick, so PSU2 was still off at
mjr	33:d832bcab089e	2585	// our last check. Try pulsing it again in case PSU2
mjr	33:d832bcab089e	2586	// was turned on since the last check.
mjr	35:e959ffba78fd	2587	psu2_status_set->write(1);
mjr	33:d832bcab089e	2588	psu2_state = 2;
mjr	33:d832bcab089e	2589	}
mjr	33:d832bcab089e	2590	break;
mjr	33:d832bcab089e	2591
mjr	33:d832bcab089e	2592	case 4:
mjr	33:d832bcab089e	2593	// TV timer countdown in progress. If we've reached the
mjr	33:d832bcab089e	2594	// delay time, pulse the relay.
mjr	35:e959ffba78fd	2595	if (tv_timer.read() >= tv_delay_time)
mjr	33:d832bcab089e	2596	{
mjr	33:d832bcab089e	2597	// turn on the relay for one timer interval
mjr	35:e959ffba78fd	2598	tv_relay->write(1);
mjr	33:d832bcab089e	2599	psu2_state = 5;
mjr	33:d832bcab089e	2600	}
mjr	33:d832bcab089e	2601	break;
mjr	33:d832bcab089e	2602
mjr	33:d832bcab089e	2603	case 5:
mjr	33:d832bcab089e	2604	// TV timer relay on. We pulse this for one interval, so
mjr	33:d832bcab089e	2605	// it's now time to turn it off and return to the default state.
mjr	35:e959ffba78fd	2606	tv_relay->write(0);
mjr	33:d832bcab089e	2607	psu2_state = 1;
mjr	33:d832bcab089e	2608	break;
mjr	33:d832bcab089e	2609	}
mjr	33:d832bcab089e	2610	}
mjr	33:d832bcab089e	2611
mjr	35:e959ffba78fd	2612	// Start the TV ON checker. If the status sense circuit is enabled in
mjr	35:e959ffba78fd	2613	// the configuration, we'll set up the pin connections and start the
mjr	35:e959ffba78fd	2614	// interrupt handler that periodically checks the status. Does nothing
mjr	35:e959ffba78fd	2615	// if any of the pins are configured as NC.
mjr	35:e959ffba78fd	2616	void startTVTimer(Config &cfg)
mjr	35:e959ffba78fd	2617	{
mjr	55:4db125cd11a0	2618	// only start the timer if the pins are configured and the delay
mjr	55:4db125cd11a0	2619	// time is nonzero
mjr	55:4db125cd11a0	2620	if (cfg.TVON.delayTime != 0
mjr	55:4db125cd11a0	2621	&& cfg.TVON.statusPin != 0xFF
mjr	53:9b2611964afc	2622	&& cfg.TVON.latchPin != 0xFF
mjr	53:9b2611964afc	2623	&& cfg.TVON.relayPin != 0xFF)
mjr	35:e959ffba78fd	2624	{
mjr	53:9b2611964afc	2625	psu2_status_sense = new DigitalIn(wirePinName(cfg.TVON.statusPin));
mjr	53:9b2611964afc	2626	psu2_status_set = new DigitalOut(wirePinName(cfg.TVON.latchPin));
mjr	53:9b2611964afc	2627	tv_relay = new DigitalOut(wirePinName(cfg.TVON.relayPin));
mjr	40:cc0d9814522b	2628	tv_delay_time = cfg.TVON.delayTime/100.0;
mjr	35:e959ffba78fd	2629
mjr	35:e959ffba78fd	2630	// Set up our time routine to run every 1/4 second.
mjr	35:e959ffba78fd	2631	tv_ticker.attach(&TVTimerInt, 0.25);
mjr	35:e959ffba78fd	2632	}
mjr	35:e959ffba78fd	2633	}
mjr	35:e959ffba78fd	2634
mjr	35:e959ffba78fd	2635	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	2636	//
mjr	35:e959ffba78fd	2637	// In-memory configuration data structure. This is the live version in RAM
mjr	35:e959ffba78fd	2638	// that we use to determine how things are set up.
mjr	35:e959ffba78fd	2639	//
mjr	35:e959ffba78fd	2640	// When we save the configuration settings, we copy this structure to
mjr	35:e959ffba78fd	2641	// non-volatile flash memory. At startup, we check the flash location where
mjr	35:e959ffba78fd	2642	// we might have saved settings on a previous run, and it's valid, we copy
mjr	35:e959ffba78fd	2643	// the flash data to this structure. Firmware updates wipe the flash
mjr	35:e959ffba78fd	2644	// memory area, so you have to use the PC config tool to send the settings
mjr	35:e959ffba78fd	2645	// again each time the firmware is updated.
mjr	35:e959ffba78fd	2646	//
mjr	35:e959ffba78fd	2647	NVM nvm;
mjr	35:e959ffba78fd	2648
mjr	35:e959ffba78fd	2649	// For convenience, a macro for the Config part of the NVM structure
mjr	35:e959ffba78fd	2650	#define cfg (nvm.d.c)
mjr	35:e959ffba78fd	2651
mjr	35:e959ffba78fd	2652	// flash memory controller interface
mjr	35:e959ffba78fd	2653	FreescaleIAP iap;
mjr	35:e959ffba78fd	2654
mjr	35:e959ffba78fd	2655	// figure the flash address as a pointer along with the number of sectors
mjr	35:e959ffba78fd	2656	// required to store the structure
mjr	35:e959ffba78fd	2657	NVM *configFlashAddr(int &addr, int &numSectors)
mjr	35:e959ffba78fd	2658	{
mjr	35:e959ffba78fd	2659	// figure how many flash sectors we span, rounding up to whole sectors
mjr	35:e959ffba78fd	2660	numSectors = (sizeof(NVM) + SECTOR_SIZE - 1)/SECTOR_SIZE;
mjr	35:e959ffba78fd	2661
mjr	35:e959ffba78fd	2662	// figure the address - this is the highest flash address where the
mjr	35:e959ffba78fd	2663	// structure will fit with the start aligned on a sector boundary
mjr	35:e959ffba78fd	2664	addr = iap.flash_size() - (numSectors * SECTOR_SIZE);
mjr	35:e959ffba78fd	2665
mjr	35:e959ffba78fd	2666	// return the address as a pointer
mjr	35:e959ffba78fd	2667	return (NVM *)addr;
mjr	35:e959ffba78fd	2668	}
mjr	35:e959ffba78fd	2669
mjr	35:e959ffba78fd	2670	// figure the flash address as a pointer
mjr	35:e959ffba78fd	2671	NVM *configFlashAddr()
mjr	35:e959ffba78fd	2672	{
mjr	35:e959ffba78fd	2673	int addr, numSectors;
mjr	35:e959ffba78fd	2674	return configFlashAddr(addr, numSectors);
mjr	35:e959ffba78fd	2675	}
mjr	35:e959ffba78fd	2676
mjr	35:e959ffba78fd	2677	// Load the config from flash
mjr	35:e959ffba78fd	2678	void loadConfigFromFlash()
mjr	35:e959ffba78fd	2679	{
mjr	35:e959ffba78fd	2680	// We want to use the KL25Z's on-board flash to store our configuration
mjr	35:e959ffba78fd	2681	// data persistently, so that we can restore it across power cycles.
mjr	35:e959ffba78fd	2682	// Unfortunatly, the mbed platform doesn't explicitly support this.
mjr	35:e959ffba78fd	2683	// mbed treats the on-board flash as a raw storage device for linker
mjr	35:e959ffba78fd	2684	// output, and assumes that the linker output is the only thing
mjr	35:e959ffba78fd	2685	// stored there. There's no file system and no allowance for shared
mjr	35:e959ffba78fd	2686	// use for other purposes. Fortunately, the linker ues the space in
mjr	35:e959ffba78fd	2687	// the obvious way, storing the entire linked program in a contiguous
mjr	35:e959ffba78fd	2688	// block starting at the lowest flash address. This means that the
mjr	35:e959ffba78fd	2689	// rest of flash - from the end of the linked program to the highest
mjr	35:e959ffba78fd	2690	// flash address - is all unused free space. Writing our data there
mjr	35:e959ffba78fd	2691	// won't conflict with anything else. Since the linker doesn't give
mjr	35:e959ffba78fd	2692	// us any programmatic access to the total linker output size, it's
mjr	35:e959ffba78fd	2693	// safest to just store our config data at the very end of the flash
mjr	35:e959ffba78fd	2694	// region (i.e., the highest address). As long as it's smaller than
mjr	35:e959ffba78fd	2695	// the free space, it won't collide with the linker area.
mjr	35:e959ffba78fd	2696
mjr	35:e959ffba78fd	2697	// Figure how many sectors we need for our structure
mjr	35:e959ffba78fd	2698	NVM *flash = configFlashAddr();
mjr	35:e959ffba78fd	2699
mjr	35:e959ffba78fd	2700	// if the flash is valid, load it; otherwise initialize to defaults
mjr	35:e959ffba78fd	2701	if (flash->valid())
mjr	35:e959ffba78fd	2702	{
mjr	35:e959ffba78fd	2703	// flash is valid - load it into the RAM copy of the structure
mjr	35:e959ffba78fd	2704	memcpy(&nvm, flash, sizeof(NVM));
mjr	35:e959ffba78fd	2705	}
mjr	35:e959ffba78fd	2706	else
mjr	35:e959ffba78fd	2707	{
mjr	35:e959ffba78fd	2708	// flash is invalid - load factory settings nito RAM structure
mjr	35:e959ffba78fd	2709	cfg.setFactoryDefaults();
mjr	35:e959ffba78fd	2710	}
mjr	35:e959ffba78fd	2711	}
mjr	35:e959ffba78fd	2712
mjr	35:e959ffba78fd	2713	void saveConfigToFlash()
mjr	33:d832bcab089e	2714	{
mjr	35:e959ffba78fd	2715	int addr, sectors;
mjr	35:e959ffba78fd	2716	configFlashAddr(addr, sectors);
mjr	35:e959ffba78fd	2717	nvm.save(iap, addr);
mjr	35:e959ffba78fd	2718	}
mjr	35:e959ffba78fd	2719
mjr	35:e959ffba78fd	2720	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	2721	//
mjr	55:4db125cd11a0	2722	// Pixel dump mode - the host requested a dump of image sensor pixels
mjr	55:4db125cd11a0	2723	// (helpful for installing and setting up the sensor and light source)
mjr	55:4db125cd11a0	2724	//
mjr	55:4db125cd11a0	2725	bool reportPlungerStat = false;
mjr	55:4db125cd11a0	2726	uint8_t reportPlungerStatFlags; // plunger pixel report flag bits (see ccdSensor.h)
mjr	55:4db125cd11a0	2727	uint8_t reportPlungerStatTime; // extra exposure time for plunger pixel report
mjr	55:4db125cd11a0	2728
mjr	55:4db125cd11a0	2729
mjr	55:4db125cd11a0	2730
mjr	55:4db125cd11a0	2731	// ---------------------------------------------------------------------------
mjr	55:4db125cd11a0	2732	//
mjr	40:cc0d9814522b	2733	// Night mode setting updates
mjr	40:cc0d9814522b	2734	//
mjr	38:091e511ce8a0	2735
mjr	38:091e511ce8a0	2736	// Turn night mode on or off
mjr	38:091e511ce8a0	2737	static void setNightMode(bool on)
mjr	38:091e511ce8a0	2738	{
mjr	40:cc0d9814522b	2739	// set the new night mode flag in the noisy output class
mjr	53:9b2611964afc	2740	nightMode = on;
mjr	55:4db125cd11a0	2741
mjr	40:cc0d9814522b	2742	// update the special output pin that shows the night mode state
mjr	53:9b2611964afc	2743	int port = int(cfg.nightMode.port) - 1;
mjr	53:9b2611964afc	2744	if (port >= 0 && port < numOutputs)
mjr	53:9b2611964afc	2745	lwPin[port]->set(nightMode ? 255 : 0);
mjr	40:cc0d9814522b	2746
mjr	40:cc0d9814522b	2747	// update all outputs for the mode change
mjr	40:cc0d9814522b	2748	updateAllOuts();
mjr	38:091e511ce8a0	2749	}
mjr	38:091e511ce8a0	2750
mjr	38:091e511ce8a0	2751	// Toggle night mode
mjr	38:091e511ce8a0	2752	static void toggleNightMode()
mjr	38:091e511ce8a0	2753	{
mjr	53:9b2611964afc	2754	setNightMode(!nightMode);
mjr	38:091e511ce8a0	2755	}
mjr	38:091e511ce8a0	2756
mjr	38:091e511ce8a0	2757
mjr	38:091e511ce8a0	2758	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	2759	//
mjr	35:e959ffba78fd	2760	// Plunger Sensor
mjr	35:e959ffba78fd	2761	//
mjr	35:e959ffba78fd	2762
mjr	35:e959ffba78fd	2763	// the plunger sensor interface object
mjr	35:e959ffba78fd	2764	PlungerSensor *plungerSensor = 0;
mjr	35:e959ffba78fd	2765
mjr	35:e959ffba78fd	2766	// Create the plunger sensor based on the current configuration. If
mjr	35:e959ffba78fd	2767	// there's already a sensor object, we'll delete it.
mjr	35:e959ffba78fd	2768	void createPlunger()
mjr	35:e959ffba78fd	2769	{
mjr	35:e959ffba78fd	2770	// create the new sensor object according to the type
mjr	35:e959ffba78fd	2771	switch (cfg.plunger.sensorType)
mjr	35:e959ffba78fd	2772	{
mjr	35:e959ffba78fd	2773	case PlungerType_TSL1410RS:
mjr	35:e959ffba78fd	2774	// pins are: SI, CLOCK, AO
mjr	53:9b2611964afc	2775	plungerSensor = new PlungerSensorTSL1410R(
mjr	53:9b2611964afc	2776	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	2777	wirePinName(cfg.plunger.sensorPin[1]),
mjr	53:9b2611964afc	2778	wirePinName(cfg.plunger.sensorPin[2]),
mjr	53:9b2611964afc	2779	NC);
mjr	35:e959ffba78fd	2780	break;
mjr	35:e959ffba78fd	2781
mjr	35:e959ffba78fd	2782	case PlungerType_TSL1410RP:
mjr	35:e959ffba78fd	2783	// pins are: SI, CLOCK, AO1, AO2
mjr	53:9b2611964afc	2784	plungerSensor = new PlungerSensorTSL1410R(
mjr	53:9b2611964afc	2785	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	2786	wirePinName(cfg.plunger.sensorPin[1]),
mjr	53:9b2611964afc	2787	wirePinName(cfg.plunger.sensorPin[2]),
mjr	53:9b2611964afc	2788	wirePinName(cfg.plunger.sensorPin[3]));
mjr	35:e959ffba78fd	2789	break;
mjr	35:e959ffba78fd	2790
mjr	35:e959ffba78fd	2791	case PlungerType_TSL1412RS:
mjr	35:e959ffba78fd	2792	// pins are: SI, CLOCK, AO1, AO2
mjr	53:9b2611964afc	2793	plungerSensor = new PlungerSensorTSL1412R(
mjr	53:9b2611964afc	2794	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	2795	wirePinName(cfg.plunger.sensorPin[1]),
mjr	53:9b2611964afc	2796	wirePinName(cfg.plunger.sensorPin[2]),
mjr	53:9b2611964afc	2797	NC);
mjr	35:e959ffba78fd	2798	break;
mjr	35:e959ffba78fd	2799
mjr	35:e959ffba78fd	2800	case PlungerType_TSL1412RP:
mjr	35:e959ffba78fd	2801	// pins are: SI, CLOCK, AO1, AO2
mjr	53:9b2611964afc	2802	plungerSensor = new PlungerSensorTSL1412R(
mjr	53:9b2611964afc	2803	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	2804	wirePinName(cfg.plunger.sensorPin[1]),
mjr	53:9b2611964afc	2805	wirePinName(cfg.plunger.sensorPin[2]),
mjr	53:9b2611964afc	2806	wirePinName(cfg.plunger.sensorPin[3]));
mjr	35:e959ffba78fd	2807	break;
mjr	35:e959ffba78fd	2808
mjr	35:e959ffba78fd	2809	case PlungerType_Pot:
mjr	35:e959ffba78fd	2810	// pins are: AO
mjr	53:9b2611964afc	2811	plungerSensor = new PlungerSensorPot(
mjr	53:9b2611964afc	2812	wirePinName(cfg.plunger.sensorPin[0]));
mjr	35:e959ffba78fd	2813	break;
mjr	35:e959ffba78fd	2814
mjr	35:e959ffba78fd	2815	case PlungerType_None:
mjr	35:e959ffba78fd	2816	default:
mjr	35:e959ffba78fd	2817	plungerSensor = new PlungerSensorNull();
mjr	35:e959ffba78fd	2818	break;
mjr	35:e959ffba78fd	2819	}
mjr	33:d832bcab089e	2820	}
mjr	33:d832bcab089e	2821
mjr	52:8298b2a73eb2	2822	// Global plunger calibration mode flag
mjr	52:8298b2a73eb2	2823	bool plungerCalMode;
mjr	52:8298b2a73eb2	2824
mjr	48:058ace2aed1d	2825	// Plunger reader
mjr	51:57eb311faafa	2826	//
mjr	51:57eb311faafa	2827	// This class encapsulates our plunger data processing. At the simplest
mjr	51:57eb311faafa	2828	// level, we read the position from the sensor, adjust it for the
mjr	51:57eb311faafa	2829	// calibration settings, and report the calibrated position to the host.
mjr	51:57eb311faafa	2830	//
mjr	51:57eb311faafa	2831	// In addition, we constantly monitor the data for "firing" motions.
mjr	51:57eb311faafa	2832	// A firing motion is when the user pulls back the plunger and releases
mjr	51:57eb311faafa	2833	// it, allowing it to shoot forward under the force of the main spring.
mjr	51:57eb311faafa	2834	// When we detect that this is happening, we briefly stop reporting the
mjr	51:57eb311faafa	2835	// real physical position that we're reading from the sensor, and instead
mjr	51:57eb311faafa	2836	// report a synthetic series of positions that depicts an idealized
mjr	51:57eb311faafa	2837	// firing motion.
mjr	51:57eb311faafa	2838	//
mjr	51:57eb311faafa	2839	// The point of the synthetic reports is to correct for distortions
mjr	51:57eb311faafa	2840	// created by the joystick interface conventions used by VP and other
mjr	51:57eb311faafa	2841	// PC pinball emulators. The convention they use is simply to have the
mjr	51:57eb311faafa	2842	// plunger device report the instantaneous position of the real plunger.
mjr	51:57eb311faafa	2843	// The PC software polls this reported position periodically, and moves
mjr	51:57eb311faafa	2844	// the on-screen virtual plunger in sync with the real plunger. This
mjr	51:57eb311faafa	2845	// works fine for human-scale motion when the user is manually moving
mjr	51:57eb311faafa	2846	// the plunger. But it doesn't work for the high speed motion of a
mjr	51:57eb311faafa	2847	// release. The plunger simply moves too fast. VP polls in about 10ms
mjr	51:57eb311faafa	2848	// intervals; the plunger takes about 50ms to travel from fully
mjr	51:57eb311faafa	2849	// retracted to the park position when released. The low sampling
mjr	51:57eb311faafa	2850	// rate relative to the rate of change of the sampled data creates
mjr	51:57eb311faafa	2851	// a classic digital aliasing effect.
mjr	51:57eb311faafa	2852	//
mjr	51:57eb311faafa	2853	// The synthetic reporting scheme compensates for the interface
mjr	51:57eb311faafa	2854	// distortions by essentially changing to a coarse enough timescale
mjr	51:57eb311faafa	2855	// that VP can reliably interpret the readings. Conceptually, there
mjr	51:57eb311faafa	2856	// are three steps involved in doing this. First, we analyze the
mjr	51:57eb311faafa	2857	// actual sensor data to detect and characterize the release motion.
mjr	51:57eb311faafa	2858	// Second, once we think we have a release in progress, we fit the
mjr	51:57eb311faafa	2859	// data to a mathematical model of the release. The model we use is
mjr	51:57eb311faafa	2860	// dead simple: we consider the release to have one parameter, namely
mjr	51:57eb311faafa	2861	// the retraction distance at the moment the user lets go. This is an
mjr	51:57eb311faafa	2862	// excellent proxy in the real physical system for the final speed
mjr	51:57eb311faafa	2863	// when the plunger hits the ball, and it also happens to match how
mjr	51:57eb311faafa	2864	// VP models it internally. Third, we construct synthetic reports
mjr	51:57eb311faafa	2865	// that will make VP's internal state match our model. This is also
mjr	51:57eb311faafa	2866	// pretty simple: we just need to send VP the maximum retraction
mjr	51:57eb311faafa	2867	// distance for long enough to be sure that it polls it at least
mjr	51:57eb311faafa	2868	// once, and then send it the park position for long enough to
mjr	51:57eb311faafa	2869	// ensure that VP will complete the same firing motion. The
mjr	51:57eb311faafa	2870	// immediate jump from the maximum point to the zero point will
mjr	51:57eb311faafa	2871	// cause VP to move its simulation model plunger forward from the
mjr	51:57eb311faafa	2872	// starting point at its natural spring acceleration rate, which
mjr	51:57eb311faafa	2873	// is exactly what the real plunger just did.
mjr	51:57eb311faafa	2874	//
mjr	48:058ace2aed1d	2875	class PlungerReader
mjr	48:058ace2aed1d	2876	{
mjr	48:058ace2aed1d	2877	public:
mjr	48:058ace2aed1d	2878	PlungerReader()
mjr	48:058ace2aed1d	2879	{
mjr	48:058ace2aed1d	2880	// not in a firing event yet
mjr	48:058ace2aed1d	2881	firing = 0;
mjr	48:058ace2aed1d	2882
mjr	48:058ace2aed1d	2883	// no history yet
mjr	48:058ace2aed1d	2884	histIdx = 0;
mjr	55:4db125cd11a0	2885
mjr	55:4db125cd11a0	2886	// initialize the filter
mjr	55:4db125cd11a0	2887	initFilter();
mjr	48:058ace2aed1d	2888	}
mjr	48:058ace2aed1d	2889
mjr	48:058ace2aed1d	2890	// Collect a reading from the plunger sensor. The main loop calls
mjr	48:058ace2aed1d	2891	// this frequently to read the current raw position data from the
mjr	48:058ace2aed1d	2892	// sensor. We analyze the raw data to produce the calibrated
mjr	48:058ace2aed1d	2893	// position that we report to the PC via the joystick interface.
mjr	48:058ace2aed1d	2894	void read()
mjr	48:058ace2aed1d	2895	{
mjr	48:058ace2aed1d	2896	// Read a sample from the sensor
mjr	48:058ace2aed1d	2897	PlungerReading r;
mjr	48:058ace2aed1d	2898	if (plungerSensor->read(r))
mjr	48:058ace2aed1d	2899	{
mjr	51:57eb311faafa	2900	// Pull the previous reading from the history
mjr	50:40015764bbe6	2901	const PlungerReading &prv = nthHist(0);
mjr	48:058ace2aed1d	2902
mjr	48:058ace2aed1d	2903	// If the new reading is within 2ms of the previous reading,
mjr	48:058ace2aed1d	2904	// ignore it. We require a minimum time between samples to
mjr	48:058ace2aed1d	2905	// ensure that we have a usable amount of precision in the
mjr	48:058ace2aed1d	2906	// denominator (the time interval) for calculating the plunger
mjr	48:058ace2aed1d	2907	// velocity. (The CCD sensor can't take readings faster than
mjr	48:058ace2aed1d	2908	// this anyway, but other sensor types, such as potentiometers,
mjr	48:058ace2aed1d	2909	// can, so we have to throttle the rate artifically in case
mjr	48:058ace2aed1d	2910	// we're using a fast sensor like that.)
mjr	48:058ace2aed1d	2911	if (uint32_t(r.t - prv.t) < 2000UL)
mjr	48:058ace2aed1d	2912	return;
mjr	53:9b2611964afc	2913
mjr	53:9b2611964afc	2914	// check for calibration mode
mjr	53:9b2611964afc	2915	if (plungerCalMode)
mjr	53:9b2611964afc	2916	{
mjr	53:9b2611964afc	2917	// Calibration mode. Adjust the calibration bounds to fit
mjr	53:9b2611964afc	2918	// the value. If this value is beyond the current min or max,
mjr	53:9b2611964afc	2919	// expand the envelope to include this new value.
mjr	53:9b2611964afc	2920	if (r.pos > cfg.plunger.cal.max)
mjr	53:9b2611964afc	2921	cfg.plunger.cal.max = r.pos;
mjr	53:9b2611964afc	2922	if (r.pos < cfg.plunger.cal.min)
mjr	53:9b2611964afc	2923	cfg.plunger.cal.min = r.pos;
mjr	50:40015764bbe6	2924
mjr	53:9b2611964afc	2925	// If we're in calibration state 0, we're waiting for the
mjr	53:9b2611964afc	2926	// plunger to come to rest at the park position so that we
mjr	53:9b2611964afc	2927	// can take a sample of the park position. Check to see if
mjr	53:9b2611964afc	2928	// we've been at rest for a minimum interval.
mjr	53:9b2611964afc	2929	if (calState == 0)
mjr	53:9b2611964afc	2930	{
mjr	53:9b2611964afc	2931	if (abs(r.pos - calZeroStart.pos) < 65535/3/50)
mjr	53:9b2611964afc	2932	{
mjr	53:9b2611964afc	2933	// we're close enough - make sure we've been here long enough
mjr	53:9b2611964afc	2934	if (uint32_t(r.t - calZeroStart.t) > 100000UL)
mjr	53:9b2611964afc	2935	{
mjr	53:9b2611964afc	2936	// we've been at rest long enough - count it
mjr	53:9b2611964afc	2937	calZeroPosSum += r.pos;
mjr	53:9b2611964afc	2938	calZeroPosN += 1;
mjr	53:9b2611964afc	2939
mjr	53:9b2611964afc	2940	// update the zero position from the new average
mjr	53:9b2611964afc	2941	cfg.plunger.cal.zero = uint16_t(calZeroPosSum / calZeroPosN);
mjr	53:9b2611964afc	2942
mjr	53:9b2611964afc	2943	// switch to calibration state 1 - at rest
mjr	53:9b2611964afc	2944	calState = 1;
mjr	53:9b2611964afc	2945	}
mjr	53:9b2611964afc	2946	}
mjr	53:9b2611964afc	2947	else
mjr	53:9b2611964afc	2948	{
mjr	53:9b2611964afc	2949	// we're not close to the last position - start again here
mjr	53:9b2611964afc	2950	calZeroStart = r;
mjr	53:9b2611964afc	2951	}
mjr	53:9b2611964afc	2952	}
mjr	53:9b2611964afc	2953
mjr	53:9b2611964afc	2954	// Rescale to the joystick range, and adjust for the current
mjr	53:9b2611964afc	2955	// park position, but don't calibrate. We don't know the maximum
mjr	53:9b2611964afc	2956	// point yet, so we can't calibrate the range.
mjr	53:9b2611964afc	2957	r.pos = int(
mjr	53:9b2611964afc	2958	(long(r.pos - cfg.plunger.cal.zero) * JOYMAX)
mjr	53:9b2611964afc	2959	/ (65535 - cfg.plunger.cal.zero));
mjr	53:9b2611964afc	2960	}
mjr	53:9b2611964afc	2961	else
mjr	53:9b2611964afc	2962	{
mjr	53:9b2611964afc	2963	// Not in calibration mode. Apply the existing calibration and
mjr	53:9b2611964afc	2964	// rescale to the joystick range.
mjr	53:9b2611964afc	2965	r.pos = int(
mjr	53:9b2611964afc	2966	(long(r.pos - cfg.plunger.cal.zero) * JOYMAX)
mjr	53:9b2611964afc	2967	/ (cfg.plunger.cal.max - cfg.plunger.cal.zero));
mjr	53:9b2611964afc	2968
mjr	53:9b2611964afc	2969	// limit the result to the valid joystick range
mjr	53:9b2611964afc	2970	if (r.pos > JOYMAX)
mjr	53:9b2611964afc	2971	r.pos = JOYMAX;
mjr	53:9b2611964afc	2972	else if (r.pos < -JOYMAX)
mjr	53:9b2611964afc	2973	r.pos = -JOYMAX;
mjr	53:9b2611964afc	2974	}
mjr	50:40015764bbe6	2975
mjr	50:40015764bbe6	2976	// Calculate the velocity from the second-to-last reading
mjr	50:40015764bbe6	2977	// to here, in joystick distance units per microsecond.
mjr	50:40015764bbe6	2978	// Note that we use the second-to-last reading rather than
mjr	50:40015764bbe6	2979	// the very last reading to give ourselves a little longer
mjr	50:40015764bbe6	2980	// time base. The time base is so short between consecutive
mjr	50:40015764bbe6	2981	// readings that the error bars in the position would be too
mjr	50:40015764bbe6	2982	// large.
mjr	50:40015764bbe6	2983	//
mjr	50:40015764bbe6	2984	// For reference, the physical plunger velocity ranges up
mjr	50:40015764bbe6	2985	// to about 100,000 joystick distance units/sec. This is
mjr	50:40015764bbe6	2986	// based on empirical measurements. The typical time for
mjr	50:40015764bbe6	2987	// a real plunger to travel the full distance when released
mjr	50:40015764bbe6	2988	// from full retraction is about 85ms, so the average velocity
mjr	50:40015764bbe6	2989	// covering this distance is about 56,000 units/sec. The
mjr	50:40015764bbe6	2990	// peak is probably about twice that. In real-world units,
mjr	50:40015764bbe6	2991	// this translates to an average speed of about .75 m/s and
mjr	50:40015764bbe6	2992	// a peak of about 1.5 m/s.
mjr	50:40015764bbe6	2993	//
mjr	50:40015764bbe6	2994	// Note that we actually calculate the value here in units
mjr	50:40015764bbe6	2995	// per microsecond - the discussion above is in terms of
mjr	50:40015764bbe6	2996	// units/sec because that's more on a human scale. Our
mjr	50:40015764bbe6	2997	// choice of internal units here really isn't important,
mjr	50:40015764bbe6	2998	// since we only use the velocity for comparison purposes,
mjr	50:40015764bbe6	2999	// to detect acceleration trends. We therefore save ourselves
mjr	50:40015764bbe6	3000	// a little CPU time by using the natural units of our inputs.
mjr	51:57eb311faafa	3001	const PlungerReading &prv2 = nthHist(1);
mjr	50:40015764bbe6	3002	float v = float(r.pos - prv2.pos)/float(r.t - prv2.t);
mjr	50:40015764bbe6	3003
mjr	50:40015764bbe6	3004	// presume we'll report the latest instantaneous reading
mjr	50:40015764bbe6	3005	z = r.pos;
mjr	50:40015764bbe6	3006	vz = v;
mjr	48:058ace2aed1d	3007
mjr	50:40015764bbe6	3008	// Check firing events
mjr	50:40015764bbe6	3009	switch (firing)
mjr	50:40015764bbe6	3010	{
mjr	50:40015764bbe6	3011	case 0:
mjr	50:40015764bbe6	3012	// Default state - not in a firing event.
mjr	50:40015764bbe6	3013
mjr	50:40015764bbe6	3014	// If we have forward motion from a position that's retracted
mjr	50:40015764bbe6	3015	// beyond a threshold, enter phase 1. If we're not pulled back
mjr	50:40015764bbe6	3016	// far enough, don't bother with this, as a release wouldn't
mjr	50:40015764bbe6	3017	// be strong enough to require the synthetic firing treatment.
mjr	50:40015764bbe6	3018	if (v < 0 && r.pos > JOYMAX/6)
mjr	50:40015764bbe6	3019	{
mjr	53:9b2611964afc	3020	// enter firing phase 1
mjr	50:40015764bbe6	3021	firingMode(1);
mjr	50:40015764bbe6	3022
mjr	53:9b2611964afc	3023	// if in calibration state 1 (at rest), switch to state 2 (not
mjr	53:9b2611964afc	3024	// at rest)
mjr	53:9b2611964afc	3025	if (calState == 1)
mjr	53:9b2611964afc	3026	calState = 2;
mjr	53:9b2611964afc	3027
mjr	50:40015764bbe6	3028	// we don't have a freeze position yet, but note the start time
mjr	50:40015764bbe6	3029	f1.pos = 0;
mjr	50:40015764bbe6	3030	f1.t = r.t;
mjr	50:40015764bbe6	3031
mjr	50:40015764bbe6	3032	// Figure the barrel spring "bounce" position in case we complete
mjr	50:40015764bbe6	3033	// the firing event. This is the amount that the forward momentum
mjr	50:40015764bbe6	3034	// of the plunger will compress the barrel spring at the peak of
mjr	50:40015764bbe6	3035	// the forward travel during the release. Assume that this is
mjr	50:40015764bbe6	3036	// linearly proportional to the starting retraction distance.
mjr	50:40015764bbe6	3037	// The barrel spring is about 1/6 the length of the main spring,
mjr	50:40015764bbe6	3038	// so figure it compresses by 1/6 the distance. (This is overly
mjr	53:9b2611964afc	3039	// simplistic and not very accurate, but it seems to give good
mjr	50:40015764bbe6	3040	// visual results, and that's all it's for.)
mjr	50:40015764bbe6	3041	f2.pos = -r.pos/6;
mjr	50:40015764bbe6	3042	}
mjr	50:40015764bbe6	3043	break;
mjr	50:40015764bbe6	3044
mjr	50:40015764bbe6	3045	case 1:
mjr	50:40015764bbe6	3046	// Phase 1 - acceleration. If we cross the zero point, trigger
mjr	50:40015764bbe6	3047	// the firing event. Otherwise, continue monitoring as long as we
mjr	50:40015764bbe6	3048	// see acceleration in the forward direction.
mjr	50:40015764bbe6	3049	if (r.pos <= 0)
mjr	50:40015764bbe6	3050	{
mjr	50:40015764bbe6	3051	// switch to the synthetic firing mode
mjr	50:40015764bbe6	3052	firingMode(2);
mjr	50:40015764bbe6	3053	z = f2.pos;
mjr	50:40015764bbe6	3054
mjr	50:40015764bbe6	3055	// note the start time for the firing phase
mjr	50:40015764bbe6	3056	f2.t = r.t;
mjr	53:9b2611964afc	3057
mjr	53:9b2611964afc	3058	// if in calibration mode, and we're in state 2 (moving),
mjr	53:9b2611964afc	3059	// collect firing statistics for calibration purposes
mjr	53:9b2611964afc	3060	if (plungerCalMode && calState == 2)
mjr	53:9b2611964afc	3061	{
mjr	53:9b2611964afc	3062	// collect a new zero point for the average when we
mjr	53:9b2611964afc	3063	// come to rest
mjr	53:9b2611964afc	3064	calState = 0;
mjr	53:9b2611964afc	3065
mjr	53:9b2611964afc	3066	// collect average firing time statistics in millseconds, if
mjr	53:9b2611964afc	3067	// it's in range (20 to 255 ms)
mjr	53:9b2611964afc	3068	int dt = uint32_t(r.t - f1.t)/1000UL;
mjr	53:9b2611964afc	3069	if (dt >= 20 && dt <= 255)
mjr	53:9b2611964afc	3070	{
mjr	53:9b2611964afc	3071	calRlsTimeSum += dt;
mjr	53:9b2611964afc	3072	calRlsTimeN += 1;
mjr	53:9b2611964afc	3073	cfg.plunger.cal.tRelease = uint8_t(calRlsTimeSum / calRlsTimeN);
mjr	53:9b2611964afc	3074	}
mjr	53:9b2611964afc	3075	}
mjr	50:40015764bbe6	3076	}
mjr	50:40015764bbe6	3077	else if (v < vprv2)
mjr	50:40015764bbe6	3078	{
mjr	50:40015764bbe6	3079	// We're still accelerating, and we haven't crossed the zero
mjr	50:40015764bbe6	3080	// point yet - stay in phase 1. (Note that forward motion is
mjr	50:40015764bbe6	3081	// negative velocity, so accelerating means that the new
mjr	50:40015764bbe6	3082	// velocity is more negative than the previous one, which
mjr	50:40015764bbe6	3083	// is to say numerically less than - that's why the test
mjr	50:40015764bbe6	3084	// for acceleration is the seemingly backwards 'v < vprv'.)
mjr	50:40015764bbe6	3085
mjr	50:40015764bbe6	3086	// If we've been accelerating for at least 20ms, we're probably
mjr	50:40015764bbe6	3087	// really doing a release. Jump back to the recent local
mjr	50:40015764bbe6	3088	// maximum where the release really started. This is always
mjr	50:40015764bbe6	3089	// a bit before we started seeing sustained accleration, because
mjr	50:40015764bbe6	3090	// the plunger motion for the first few milliseconds is too slow
mjr	50:40015764bbe6	3091	// for our sensor precision to reliably detect acceleration.
mjr	50:40015764bbe6	3092	if (f1.pos != 0)
mjr	50:40015764bbe6	3093	{
mjr	50:40015764bbe6	3094	// we have a reset point - freeze there
mjr	50:40015764bbe6	3095	z = f1.pos;
mjr	50:40015764bbe6	3096	}
mjr	50:40015764bbe6	3097	else if (uint32_t(r.t - f1.t) >= 20000UL)
mjr	50:40015764bbe6	3098	{
mjr	50:40015764bbe6	3099	// it's been long enough - set a reset point.
mjr	50:40015764bbe6	3100	f1.pos = z = histLocalMax(r.t, 50000UL);
mjr	50:40015764bbe6	3101	}
mjr	50:40015764bbe6	3102	}
mjr	50:40015764bbe6	3103	else
mjr	50:40015764bbe6	3104	{
mjr	50:40015764bbe6	3105	// We're not accelerating. Cancel the firing event.
mjr	50:40015764bbe6	3106	firingMode(0);
mjr	53:9b2611964afc	3107	calState = 1;
mjr	50:40015764bbe6	3108	}
mjr	50:40015764bbe6	3109	break;
mjr	50:40015764bbe6	3110
mjr	50:40015764bbe6	3111	case 2:
mjr	50:40015764bbe6	3112	// Phase 2 - start of synthetic firing event. Report the fake
mjr	50:40015764bbe6	3113	// bounce for 25ms. VP polls the joystick about every 10ms, so
mjr	50:40015764bbe6	3114	// this should be enough time to guarantee that VP sees this
mjr	50:40015764bbe6	3115	// report at least once.
mjr	50:40015764bbe6	3116	if (uint32_t(r.t - f2.t) < 25000UL)
mjr	50:40015764bbe6	3117	{
mjr	50:40015764bbe6	3118	// report the bounce position
mjr	50:40015764bbe6	3119	z = f2.pos;
mjr	50:40015764bbe6	3120	}
mjr	50:40015764bbe6	3121	else
mjr	50:40015764bbe6	3122	{
mjr	50:40015764bbe6	3123	// it's been long enough - switch to phase 3, where we
mjr	50:40015764bbe6	3124	// report the park position until the real plunger comes
mjr	50:40015764bbe6	3125	// to rest
mjr	50:40015764bbe6	3126	firingMode(3);
mjr	50:40015764bbe6	3127	z = 0;
mjr	50:40015764bbe6	3128
mjr	50:40015764bbe6	3129	// set the start of the "stability window" to the rest position
mjr	50:40015764bbe6	3130	f3s.t = r.t;
mjr	50:40015764bbe6	3131	f3s.pos = 0;
mjr	50:40015764bbe6	3132
mjr	50:40015764bbe6	3133	// set the start of the "retraction window" to the actual position
mjr	50:40015764bbe6	3134	f3r = r;
mjr	50:40015764bbe6	3135	}
mjr	50:40015764bbe6	3136	break;
mjr	50:40015764bbe6	3137
mjr	50:40015764bbe6	3138	case 3:
mjr	50:40015764bbe6	3139	// Phase 3 - in synthetic firing event. Report the park position
mjr	50:40015764bbe6	3140	// until the plunger position stabilizes. Left to its own devices,
mjr	50:40015764bbe6	3141	// the plunger will usualy bounce off the barrel spring several
mjr	50:40015764bbe6	3142	// times before coming to rest, so we'll see oscillating motion
mjr	50:40015764bbe6	3143	// for a second or two. In the simplest case, we can aimply wait
mjr	50:40015764bbe6	3144	// for the plunger to stop moving for a short time. However, the
mjr	50:40015764bbe6	3145	// player might intervene by pulling the plunger back again, so
mjr	50:40015764bbe6	3146	// watch for that motion as well. If we're just bouncing freely,
mjr	50:40015764bbe6	3147	// we'll see the direction change frequently. If the player is
mjr	50:40015764bbe6	3148	// moving the plunger manually, the direction will be constant
mjr	50:40015764bbe6	3149	// for longer.
mjr	50:40015764bbe6	3150	if (v >= 0)
mjr	50:40015764bbe6	3151	{
mjr	50:40015764bbe6	3152	// We're moving back (or standing still). If this has been
mjr	50:40015764bbe6	3153	// going on for a while, the user must have taken control.
mjr	50:40015764bbe6	3154	if (uint32_t(r.t - f3r.t) > 65000UL)
mjr	50:40015764bbe6	3155	{
mjr	50:40015764bbe6	3156	// user has taken control - cancel firing mode
mjr	50:40015764bbe6	3157	firingMode(0);
mjr	50:40015764bbe6	3158	break;
mjr	50:40015764bbe6	3159	}
mjr	50:40015764bbe6	3160	}
mjr	50:40015764bbe6	3161	else
mjr	50:40015764bbe6	3162	{
mjr	50:40015764bbe6	3163	// forward motion - reset retraction window
mjr	50:40015764bbe6	3164	f3r.t = r.t;
mjr	50:40015764bbe6	3165	}
mjr	50:40015764bbe6	3166
mjr	53:9b2611964afc	3167	// Check if we're close to the last starting point. The joystick
mjr	53:9b2611964afc	3168	// positive axis range (0..4096) covers the retraction distance of
mjr	53:9b2611964afc	3169	// about 2.5", so 1" is about 1638 joystick units, hence 1/16" is
mjr	53:9b2611964afc	3170	// about 100 units.
mjr	53:9b2611964afc	3171	if (abs(r.pos - f3s.pos) < 100)
mjr	50:40015764bbe6	3172	{
mjr	53:9b2611964afc	3173	// It's at roughly the same position as the starting point.
mjr	53:9b2611964afc	3174	// Consider it stable if this has been true for 300ms.
mjr	50:40015764bbe6	3175	if (uint32_t(r.t - f3s.t) > 30000UL)
mjr	50:40015764bbe6	3176	{
mjr	50:40015764bbe6	3177	// we're done with the firing event
mjr	50:40015764bbe6	3178	firingMode(0);
mjr	50:40015764bbe6	3179	}
mjr	50:40015764bbe6	3180	else
mjr	50:40015764bbe6	3181	{
mjr	50:40015764bbe6	3182	// it's close to the last position but hasn't been
mjr	50:40015764bbe6	3183	// here long enough; stay in firing mode and continue
mjr	50:40015764bbe6	3184	// to report the park position
mjr	50:40015764bbe6	3185	z = 0;
mjr	50:40015764bbe6	3186	}
mjr	50:40015764bbe6	3187	}
mjr	50:40015764bbe6	3188	else
mjr	50:40015764bbe6	3189	{
mjr	50:40015764bbe6	3190	// It's not close enough to the last starting point, so use
mjr	50:40015764bbe6	3191	// this as a new starting point, and stay in firing mode.
mjr	50:40015764bbe6	3192	f3s = r;
mjr	50:40015764bbe6	3193	z = 0;
mjr	50:40015764bbe6	3194	}
mjr	50:40015764bbe6	3195	break;
mjr	50:40015764bbe6	3196	}
mjr	50:40015764bbe6	3197
mjr	50:40015764bbe6	3198	// save the velocity reading for next time
mjr	50:40015764bbe6	3199	vprv2 = vprv;
mjr	50:40015764bbe6	3200	vprv = v;
mjr	50:40015764bbe6	3201
mjr	50:40015764bbe6	3202	// add the new reading to the history
mjr	50:40015764bbe6	3203	hist[histIdx++] = r;
mjr	50:40015764bbe6	3204	histIdx %= countof(hist);
mjr	58:523fdcffbe6d	3205
mjr	58:523fdcffbe6d	3206	// figure the filtered value
mjr	58:523fdcffbe6d	3207	zf = applyFilter();
mjr	48:058ace2aed1d	3208	}
mjr	48:058ace2aed1d	3209	}
mjr	48:058ace2aed1d	3210
mjr	48:058ace2aed1d	3211	// Get the current value to report through the joystick interface
mjr	58:523fdcffbe6d	3212	int16_t getPosition()
mjr	58:523fdcffbe6d	3213	{
mjr	58:523fdcffbe6d	3214	// return the last filtered reading
mjr	58:523fdcffbe6d	3215	return zf;
mjr	55:4db125cd11a0	3216	}
mjr	58:523fdcffbe6d	3217
mjr	48:058ace2aed1d	3218	// Get the current velocity (joystick distance units per microsecond)
mjr	48:058ace2aed1d	3219	float getVelocity() const { return vz; }
mjr	48:058ace2aed1d	3220
mjr	48:058ace2aed1d	3221	// get the timestamp of the current joystick report (microseconds)
mjr	50:40015764bbe6	3222	uint32_t getTimestamp() const { return nthHist(0).t; }
mjr	48:058ace2aed1d	3223
mjr	48:058ace2aed1d	3224	// Set calibration mode on or off
mjr	52:8298b2a73eb2	3225	void setCalMode(bool f)
mjr	48:058ace2aed1d	3226	{
mjr	52:8298b2a73eb2	3227	// check to see if we're entering calibration mode
mjr	52:8298b2a73eb2	3228	if (f && !plungerCalMode)
mjr	52:8298b2a73eb2	3229	{
mjr	52:8298b2a73eb2	3230	// reset the calibration in the configuration
mjr	48:058ace2aed1d	3231	cfg.plunger.cal.begin();
mjr	52:8298b2a73eb2	3232
mjr	52:8298b2a73eb2	3233	// start in state 0 (waiting to settle)
mjr	52:8298b2a73eb2	3234	calState = 0;
mjr	52:8298b2a73eb2	3235	calZeroPosSum = 0;
mjr	52:8298b2a73eb2	3236	calZeroPosN = 0;
mjr	52:8298b2a73eb2	3237	calRlsTimeSum = 0;
mjr	52:8298b2a73eb2	3238	calRlsTimeN = 0;
mjr	52:8298b2a73eb2	3239
mjr	52:8298b2a73eb2	3240	// set the initial zero point to the current position
mjr	52:8298b2a73eb2	3241	PlungerReading r;
mjr	52:8298b2a73eb2	3242	if (plungerSensor->read(r))
mjr	52:8298b2a73eb2	3243	{
mjr	52:8298b2a73eb2	3244	// got a reading - use it as the initial zero point
mjr	52:8298b2a73eb2	3245	cfg.plunger.cal.zero = r.pos;
mjr	52:8298b2a73eb2	3246
mjr	52:8298b2a73eb2	3247	// use it as the starting point for the settling watch
mjr	53:9b2611964afc	3248	calZeroStart = r;
mjr	52:8298b2a73eb2	3249	}
mjr	52:8298b2a73eb2	3250	else
mjr	52:8298b2a73eb2	3251	{
mjr	52:8298b2a73eb2	3252	// no reading available - use the default 1/6 position
mjr	52:8298b2a73eb2	3253	cfg.plunger.cal.zero = 0xffff/6;
mjr	52:8298b2a73eb2	3254
mjr	52:8298b2a73eb2	3255	// we don't have a starting point for the setting watch
mjr	53:9b2611964afc	3256	calZeroStart.pos = -65535;
mjr	53:9b2611964afc	3257	calZeroStart.t = 0;
mjr	53:9b2611964afc	3258	}
mjr	53:9b2611964afc	3259	}
mjr	53:9b2611964afc	3260	else if (!f && plungerCalMode)
mjr	53:9b2611964afc	3261	{
mjr	53:9b2611964afc	3262	// Leaving calibration mode. Make sure the max is past the
mjr	53:9b2611964afc	3263	// zero point - if it's not, we'd have a zero or negative
mjr	53:9b2611964afc	3264	// denominator for the scaling calculation, which would be
mjr	53:9b2611964afc	3265	// physically meaningless.
mjr	53:9b2611964afc	3266	if (cfg.plunger.cal.max <= cfg.plunger.cal.zero)
mjr	53:9b2611964afc	3267	{
mjr	53:9b2611964afc	3268	// bad settings - reset to defaults
mjr	53:9b2611964afc	3269	cfg.plunger.cal.max = 0xffff;
mjr	53:9b2611964afc	3270	cfg.plunger.cal.zero = 0xffff/6;
mjr	52:8298b2a73eb2	3271	}
mjr	52:8298b2a73eb2	3272	}
mjr	52:8298b2a73eb2	3273
mjr	48:058ace2aed1d	3274	// remember the new mode
mjr	52:8298b2a73eb2	3275	plungerCalMode = f;
mjr	48:058ace2aed1d	3276	}
mjr	48:058ace2aed1d	3277
mjr	48:058ace2aed1d	3278	// is a firing event in progress?
mjr	53:9b2611964afc	3279	bool isFiring() { return firing == 3; }
mjr	48:058ace2aed1d	3280
mjr	48:058ace2aed1d	3281	private:
mjr	52:8298b2a73eb2	3282
mjr	58:523fdcffbe6d	3283	// Figure the next filtered value. This applies the hysteresis
mjr	58:523fdcffbe6d	3284	// filter to the last raw z value and returns the filtered result.
mjr	58:523fdcffbe6d	3285	int applyFilter()
mjr	58:523fdcffbe6d	3286	{
mjr	58:523fdcffbe6d	3287	if (firing <= 1)
mjr	58:523fdcffbe6d	3288	{
mjr	58:523fdcffbe6d	3289	// Filter limit - 5 samples. Once we've been moving
mjr	58:523fdcffbe6d	3290	// in the same direction for this many samples, we'll
mjr	58:523fdcffbe6d	3291	// clear the history and start over.
mjr	58:523fdcffbe6d	3292	const int filterMask = 0x1f;
mjr	58:523fdcffbe6d	3293
mjr	58:523fdcffbe6d	3294	// figure the last average
mjr	58:523fdcffbe6d	3295	int lastAvg = int(filterSum / filterN);
mjr	58:523fdcffbe6d	3296
mjr	58:523fdcffbe6d	3297	// figure the direction of this sample relative to the average,
mjr	58:523fdcffbe6d	3298	// and shift it in to our bit mask of recent direction data
mjr	58:523fdcffbe6d	3299	if (z != lastAvg)
mjr	58:523fdcffbe6d	3300	{
mjr	58:523fdcffbe6d	3301	// shift the new direction bit into the vector
mjr	58:523fdcffbe6d	3302	filterDir <<= 1;
mjr	58:523fdcffbe6d	3303	if (z > lastAvg) filterDir \|= 1;
mjr	58:523fdcffbe6d	3304	}
mjr	58:523fdcffbe6d	3305
mjr	58:523fdcffbe6d	3306	// keep only the last N readings, up to the filter limit
mjr	58:523fdcffbe6d	3307	filterDir &= filterMask;
mjr	58:523fdcffbe6d	3308
mjr	58:523fdcffbe6d	3309	// if we've been moving consistently in one direction (all 1's
mjr	58:523fdcffbe6d	3310	// or all 0's in the direction history vector), reset the average
mjr	58:523fdcffbe6d	3311	if (filterDir == 0x00 \|\| filterDir == filterMask)
mjr	58:523fdcffbe6d	3312	{
mjr	58:523fdcffbe6d	3313	// motion away from the average - reset the average
mjr	58:523fdcffbe6d	3314	filterDir = 0x5555;
mjr	58:523fdcffbe6d	3315	filterN = 1;
mjr	58:523fdcffbe6d	3316	filterSum = (lastAvg + z)/2;
mjr	58:523fdcffbe6d	3317	return int16_t(filterSum);
mjr	58:523fdcffbe6d	3318	}
mjr	58:523fdcffbe6d	3319	else
mjr	58:523fdcffbe6d	3320	{
mjr	58:523fdcffbe6d	3321	// we're diretionless - return the new average, with the
mjr	58:523fdcffbe6d	3322	// new sample included
mjr	58:523fdcffbe6d	3323	filterSum += z;
mjr	58:523fdcffbe6d	3324	++filterN;
mjr	58:523fdcffbe6d	3325	return int16_t(filterSum / filterN);
mjr	58:523fdcffbe6d	3326	}
mjr	58:523fdcffbe6d	3327	}
mjr	58:523fdcffbe6d	3328	else
mjr	58:523fdcffbe6d	3329	{
mjr	58:523fdcffbe6d	3330	// firing mode - skip the filter
mjr	58:523fdcffbe6d	3331	filterN = 1;
mjr	58:523fdcffbe6d	3332	filterSum = z;
mjr	58:523fdcffbe6d	3333	filterDir = 0x5555;
mjr	58:523fdcffbe6d	3334	return z;
mjr	58:523fdcffbe6d	3335	}
mjr	58:523fdcffbe6d	3336	}
mjr	58:523fdcffbe6d	3337
mjr	58:523fdcffbe6d	3338	void initFilter()
mjr	58:523fdcffbe6d	3339	{
mjr	58:523fdcffbe6d	3340	filterSum = 0;
mjr	58:523fdcffbe6d	3341	filterN = 1;
mjr	58:523fdcffbe6d	3342	filterDir = 0x5555;
mjr	58:523fdcffbe6d	3343	}
mjr	58:523fdcffbe6d	3344	int64_t filterSum;
mjr	58:523fdcffbe6d	3345	int64_t filterN;
mjr	58:523fdcffbe6d	3346	uint16_t filterDir;
mjr	58:523fdcffbe6d	3347
mjr	58:523fdcffbe6d	3348
mjr	52:8298b2a73eb2	3349	// Calibration state. During calibration mode, we watch for release
mjr	52:8298b2a73eb2	3350	// events, to measure the time it takes to complete the release
mjr	52:8298b2a73eb2	3351	// motion; and we watch for the plunger to come to reset after a
mjr	52:8298b2a73eb2	3352	// release, to gather statistics on the rest position.
mjr	52:8298b2a73eb2	3353	// 0 = waiting to settle
mjr	52:8298b2a73eb2	3354	// 1 = at rest
mjr	52:8298b2a73eb2	3355	// 2 = retracting
mjr	52:8298b2a73eb2	3356	// 3 = possibly releasing
mjr	52:8298b2a73eb2	3357	uint8_t calState;
mjr	52:8298b2a73eb2	3358
mjr	52:8298b2a73eb2	3359	// Calibration zero point statistics.
mjr	52:8298b2a73eb2	3360	// During calibration mode, we collect data on the rest position (the
mjr	52:8298b2a73eb2	3361	// zero point) by watching for the plunger to come to rest after each
mjr	52:8298b2a73eb2	3362	// release. We average these rest positions to get the calibrated
mjr	52:8298b2a73eb2	3363	// zero point. We use the average because the real physical plunger
mjr	52:8298b2a73eb2	3364	// itself doesn't come to rest at exactly the same spot every time,
mjr	52:8298b2a73eb2	3365	// largely due to friction in the mechanism. To calculate the average,
mjr	52:8298b2a73eb2	3366	// we keep a sum of the readings and a count of samples.
mjr	53:9b2611964afc	3367	PlungerReading calZeroStart;
mjr	52:8298b2a73eb2	3368	long calZeroPosSum;
mjr	52:8298b2a73eb2	3369	int calZeroPosN;
mjr	52:8298b2a73eb2	3370
mjr	52:8298b2a73eb2	3371	// Calibration release time statistics.
mjr	52:8298b2a73eb2	3372	// During calibration, we collect an average for the release time.
mjr	52:8298b2a73eb2	3373	long calRlsTimeSum;
mjr	52:8298b2a73eb2	3374	int calRlsTimeN;
mjr	52:8298b2a73eb2	3375
mjr	48:058ace2aed1d	3376	// set a firing mode
mjr	48:058ace2aed1d	3377	inline void firingMode(int m)
mjr	48:058ace2aed1d	3378	{
mjr	48:058ace2aed1d	3379	firing = m;
mjr	48:058ace2aed1d	3380	}
mjr	48:058ace2aed1d	3381
mjr	48:058ace2aed1d	3382	// Find the most recent local maximum in the history data, up to
mjr	48:058ace2aed1d	3383	// the given time limit.
mjr	48:058ace2aed1d	3384	int histLocalMax(uint32_t tcur, uint32_t dt)
mjr	48:058ace2aed1d	3385	{
mjr	48:058ace2aed1d	3386	// start with the prior entry
mjr	48:058ace2aed1d	3387	int idx = (histIdx == 0 ? countof(hist) : histIdx) - 1;
mjr	48:058ace2aed1d	3388	int hi = hist[idx].pos;
mjr	48:058ace2aed1d	3389
mjr	48:058ace2aed1d	3390	// scan backwards for a local maximum
mjr	48:058ace2aed1d	3391	for (int n = countof(hist) - 1 ; n > 0 ; idx = (idx == 0 ? countof(hist) : idx) - 1)
mjr	48:058ace2aed1d	3392	{
mjr	48:058ace2aed1d	3393	// if this isn't within the time window, stop
mjr	48:058ace2aed1d	3394	if (uint32_t(tcur - hist[idx].t) > dt)
mjr	48:058ace2aed1d	3395	break;
mjr	48:058ace2aed1d	3396
mjr	48:058ace2aed1d	3397	// if this isn't above the current hith, stop
mjr	48:058ace2aed1d	3398	if (hist[idx].pos < hi)
mjr	48:058ace2aed1d	3399	break;
mjr	48:058ace2aed1d	3400
mjr	48:058ace2aed1d	3401	// this is the new high
mjr	48:058ace2aed1d	3402	hi = hist[idx].pos;
mjr	48:058ace2aed1d	3403	}
mjr	48:058ace2aed1d	3404
mjr	48:058ace2aed1d	3405	// return the local maximum
mjr	48:058ace2aed1d	3406	return hi;
mjr	48:058ace2aed1d	3407	}
mjr	48:058ace2aed1d	3408
mjr	50:40015764bbe6	3409	// velocity at previous reading, and the one before that
mjr	50:40015764bbe6	3410	float vprv, vprv2;
mjr	48:058ace2aed1d	3411
mjr	48:058ace2aed1d	3412	// Circular buffer of recent readings. We keep a short history
mjr	48:058ace2aed1d	3413	// of readings to analyze during firing events. We can only identify
mjr	48:058ace2aed1d	3414	// a firing event once it's somewhat under way, so we need a little
mjr	48:058ace2aed1d	3415	// retrospective information to accurately determine after the fact
mjr	48:058ace2aed1d	3416	// exactly when it started. We throttle our readings to no more
mjr	48:058ace2aed1d	3417	// than one every 2ms, so we have at least N*2ms of history in this
mjr	48:058ace2aed1d	3418	// array.
mjr	50:40015764bbe6	3419	PlungerReading hist[25];
mjr	48:058ace2aed1d	3420	int histIdx;
mjr	49:37bd97eb7688	3421
mjr	50:40015764bbe6	3422	// get the nth history item (0=last, 1=2nd to last, etc)
mjr	50:40015764bbe6	3423	const PlungerReading &nthHist(int n) const
mjr	50:40015764bbe6	3424	{
mjr	50:40015764bbe6	3425	// histIdx-1 is the last written; go from there
mjr	50:40015764bbe6	3426	n = histIdx - 1 - n;
mjr	50:40015764bbe6	3427
mjr	50:40015764bbe6	3428	// adjust for wrapping
mjr	50:40015764bbe6	3429	if (n < 0)
mjr	50:40015764bbe6	3430	n += countof(hist);
mjr	50:40015764bbe6	3431
mjr	50:40015764bbe6	3432	// return the item
mjr	50:40015764bbe6	3433	return hist[n];
mjr	50:40015764bbe6	3434	}
mjr	48:058ace2aed1d	3435
mjr	48:058ace2aed1d	3436	// Firing event state.
mjr	48:058ace2aed1d	3437	//
mjr	48:058ace2aed1d	3438	// 0 - Default state. We report the real instantaneous plunger
mjr	48:058ace2aed1d	3439	// position to the joystick interface.
mjr	48:058ace2aed1d	3440	//
mjr	53:9b2611964afc	3441	// 1 - Moving forward
mjr	48:058ace2aed1d	3442	//
mjr	53:9b2611964afc	3443	// 2 - Accelerating
mjr	48:058ace2aed1d	3444	//
mjr	53:9b2611964afc	3445	// 3 - Firing. We report the rest position for a minimum interval,
mjr	53:9b2611964afc	3446	// or until the real plunger comes to rest somewhere.
mjr	48:058ace2aed1d	3447	//
mjr	48:058ace2aed1d	3448	int firing;
mjr	48:058ace2aed1d	3449
mjr	51:57eb311faafa	3450	// Position/timestamp at start of firing phase 1. When we see a
mjr	51:57eb311faafa	3451	// sustained forward acceleration, we freeze joystick reports at
mjr	51:57eb311faafa	3452	// the recent local maximum, on the assumption that this was the
mjr	51:57eb311faafa	3453	// start of the release. If this is zero, it means that we're
mjr	51:57eb311faafa	3454	// monitoring accelerating motion but haven't seen it for long
mjr	51:57eb311faafa	3455	// enough yet to be confident that a release is in progress.
mjr	48:058ace2aed1d	3456	PlungerReading f1;
mjr	48:058ace2aed1d	3457
mjr	48:058ace2aed1d	3458	// Position/timestamp at start of firing phase 2. The position is
mjr	48:058ace2aed1d	3459	// the fake "bounce" position we report during this phase, and the
mjr	48:058ace2aed1d	3460	// timestamp tells us when the phase began so that we can end it
mjr	48:058ace2aed1d	3461	// after enough time elapses.
mjr	48:058ace2aed1d	3462	PlungerReading f2;
mjr	48:058ace2aed1d	3463
mjr	48:058ace2aed1d	3464	// Position/timestamp of start of stability window during phase 3.
mjr	48:058ace2aed1d	3465	// We use this to determine when the plunger comes to rest. We set
mjr	51:57eb311faafa	3466	// this at the beginning of phase 3, and then reset it when the
mjr	48:058ace2aed1d	3467	// plunger moves too far from the last position.
mjr	48:058ace2aed1d	3468	PlungerReading f3s;
mjr	48:058ace2aed1d	3469
mjr	48:058ace2aed1d	3470	// Position/timestamp of start of retraction window during phase 3.
mjr	48:058ace2aed1d	3471	// We use this to determine if the user is drawing the plunger back.
mjr	48:058ace2aed1d	3472	// If we see retraction motion for more than about 65ms, we assume
mjr	48:058ace2aed1d	3473	// that the user has taken over, because we should see forward
mjr	48:058ace2aed1d	3474	// motion within this timeframe if the plunger is just bouncing
mjr	48:058ace2aed1d	3475	// freely.
mjr	48:058ace2aed1d	3476	PlungerReading f3r;
mjr	48:058ace2aed1d	3477
mjr	58:523fdcffbe6d	3478	// next raw (unfiltered) Z value to report to the joystick interface
mjr	58:523fdcffbe6d	3479	// (in joystick distance units)
mjr	48:058ace2aed1d	3480	int z;
mjr	48:058ace2aed1d	3481
mjr	48:058ace2aed1d	3482	// velocity of this reading (joystick distance units per microsecond)
mjr	48:058ace2aed1d	3483	float vz;
mjr	58:523fdcffbe6d	3484
mjr	58:523fdcffbe6d	3485	// next filtered Z value to report to the joystick interface
mjr	58:523fdcffbe6d	3486	int zf;
mjr	48:058ace2aed1d	3487	};
mjr	48:058ace2aed1d	3488
mjr	48:058ace2aed1d	3489	// plunger reader singleton
mjr	48:058ace2aed1d	3490	PlungerReader plungerReader;
mjr	48:058ace2aed1d	3491
mjr	48:058ace2aed1d	3492	// ---------------------------------------------------------------------------
mjr	48:058ace2aed1d	3493	//
mjr	48:058ace2aed1d	3494	// Handle the ZB Launch Ball feature.
mjr	48:058ace2aed1d	3495	//
mjr	48:058ace2aed1d	3496	// The ZB Launch Ball feature, if enabled, lets the mechanical plunger
mjr	48:058ace2aed1d	3497	// serve as a substitute for a physical Launch Ball button. When a table
mjr	48:058ace2aed1d	3498	// is loaded in VP, and the table has the ZB Launch Ball LedWiz port
mjr	48:058ace2aed1d	3499	// turned on, we'll disable mechanical plunger reports through the
mjr	48:058ace2aed1d	3500	// joystick interface and instead use the plunger only to simulate the
mjr	48:058ace2aed1d	3501	// Launch Ball button. When the mode is active, pulling back and
mjr	48:058ace2aed1d	3502	// releasing the plunger causes a brief simulated press of the Launch
mjr	48:058ace2aed1d	3503	// button, and pushing the plunger forward of the rest position presses
mjr	48:058ace2aed1d	3504	// the Launch button as long as the plunger is pressed forward.
mjr	48:058ace2aed1d	3505	//
mjr	48:058ace2aed1d	3506	// This feature has two configuration components:
mjr	48:058ace2aed1d	3507	//
mjr	48:058ace2aed1d	3508	// - An LedWiz port number. This port is a "virtual" port that doesn't
mjr	48:058ace2aed1d	3509	// have to be attached to any actual output. DOF uses it to signal
mjr	48:058ace2aed1d	3510	// that the current table uses a Launch button instead of a plunger.
mjr	48:058ace2aed1d	3511	// DOF simply turns the port on when such a table is loaded and turns
mjr	48:058ace2aed1d	3512	// it off at all other times. We use it to enable and disable the
mjr	48:058ace2aed1d	3513	// plunger/launch button connection.
mjr	48:058ace2aed1d	3514	//
mjr	48:058ace2aed1d	3515	// - A joystick button ID. We simulate pressing this button when the
mjr	48:058ace2aed1d	3516	// launch feature is activated via the LedWiz port and the plunger is
mjr	48:058ace2aed1d	3517	// either pulled back and releasd, or pushed forward past the rest
mjr	48:058ace2aed1d	3518	// position.
mjr	48:058ace2aed1d	3519	//
mjr	48:058ace2aed1d	3520	class ZBLaunchBall
mjr	48:058ace2aed1d	3521	{
mjr	48:058ace2aed1d	3522	public:
mjr	48:058ace2aed1d	3523	ZBLaunchBall()
mjr	48:058ace2aed1d	3524	{
mjr	48:058ace2aed1d	3525	// start in the default state
mjr	48:058ace2aed1d	3526	lbState = 0;
mjr	53:9b2611964afc	3527	btnState = false;
mjr	48:058ace2aed1d	3528	}
mjr	48:058ace2aed1d	3529
mjr	48:058ace2aed1d	3530	// Update state. This checks the current plunger position and
mjr	48:058ace2aed1d	3531	// the timers to see if the plunger is in a position that simulates
mjr	48:058ace2aed1d	3532	// a Launch Ball button press via the ZB Launch Ball feature.
mjr	48:058ace2aed1d	3533	// Updates the simulated button vector according to the current
mjr	48:058ace2aed1d	3534	// launch ball state. The main loop calls this before each
mjr	48:058ace2aed1d	3535	// joystick update to figure the new simulated button state.
mjr	53:9b2611964afc	3536	void update()
mjr	48:058ace2aed1d	3537	{
mjr	53:9b2611964afc	3538	// If the ZB Launch Ball led wiz output is ON, check for a
mjr	53:9b2611964afc	3539	// plunger firing event
mjr	53:9b2611964afc	3540	if (zbLaunchOn)
mjr	48:058ace2aed1d	3541	{
mjr	53:9b2611964afc	3542	// note the new position
mjr	48:058ace2aed1d	3543	int znew = plungerReader.getPosition();
mjr	53:9b2611964afc	3544
mjr	53:9b2611964afc	3545	// figure the push threshold from the configuration data
mjr	51:57eb311faafa	3546	const int pushThreshold = int(-JOYMAX/3.0 * cfg.plunger.zbLaunchBall.pushDistance/1000.0);
mjr	53:9b2611964afc	3547
mjr	53:9b2611964afc	3548	// check the state
mjr	48:058ace2aed1d	3549	switch (lbState)
mjr	48:058ace2aed1d	3550	{
mjr	48:058ace2aed1d	3551	case 0:
mjr	53:9b2611964afc	3552	// Default state. If a launch event has been detected on
mjr	53:9b2611964afc	3553	// the plunger, activate a timed pulse and switch to state 1.
mjr	53:9b2611964afc	3554	// If the plunger is pushed forward of the threshold, push
mjr	53:9b2611964afc	3555	// the button.
mjr	53:9b2611964afc	3556	if (plungerReader.isFiring())
mjr	53:9b2611964afc	3557	{
mjr	53:9b2611964afc	3558	// firing event - start a timed Launch button pulse
mjr	53:9b2611964afc	3559	lbTimer.reset();
mjr	53:9b2611964afc	3560	lbTimer.start();
mjr	53:9b2611964afc	3561	setButton(true);
mjr	53:9b2611964afc	3562
mjr	53:9b2611964afc	3563	// switch to state 1
mjr	53:9b2611964afc	3564	lbState = 1;
mjr	53:9b2611964afc	3565	}
mjr	48:058ace2aed1d	3566	else if (znew <= pushThreshold)
mjr	53:9b2611964afc	3567	{
mjr	53:9b2611964afc	3568	// pushed forward without a firing event - hold the
mjr	53:9b2611964afc	3569	// button as long as we're pushed forward
mjr	53:9b2611964afc	3570	setButton(true);
mjr	53:9b2611964afc	3571	}
mjr	53:9b2611964afc	3572	else
mjr	53:9b2611964afc	3573	{
mjr	53:9b2611964afc	3574	// not pushed forward - turn off the Launch button
mjr	53:9b2611964afc	3575	setButton(false);
mjr	53:9b2611964afc	3576	}
mjr	48:058ace2aed1d	3577	break;
mjr	48:058ace2aed1d	3578
mjr	48:058ace2aed1d	3579	case 1:
mjr	53:9b2611964afc	3580	// State 1: Timed Launch button pulse in progress after a
mjr	53:9b2611964afc	3581	// firing event. Wait for the timer to expire.
mjr	53:9b2611964afc	3582	if (lbTimer.read_us() > 200000UL)
mjr	53:9b2611964afc	3583	{
mjr	53:9b2611964afc	3584	// timer expired - turn off the button
mjr	53:9b2611964afc	3585	setButton(false);
mjr	53:9b2611964afc	3586
mjr	53:9b2611964afc	3587	// switch to state 2
mjr	53:9b2611964afc	3588	lbState = 2;
mjr	53:9b2611964afc	3589	}
mjr	48:058ace2aed1d	3590	break;
mjr	48:058ace2aed1d	3591
mjr	48:058ace2aed1d	3592	case 2:
mjr	53:9b2611964afc	3593	// State 2: Timed Launch button pulse done. Wait for the
mjr	53:9b2611964afc	3594	// plunger launch event to end.
mjr	53:9b2611964afc	3595	if (!plungerReader.isFiring())
mjr	53:9b2611964afc	3596	{
mjr	53:9b2611964afc	3597	// firing event done - return to default state
mjr	53:9b2611964afc	3598	lbState = 0;
mjr	53:9b2611964afc	3599	}
mjr	48:058ace2aed1d	3600	break;
mjr	48:058ace2aed1d	3601	}
mjr	53:9b2611964afc	3602	}
mjr	53:9b2611964afc	3603	else
mjr	53:9b2611964afc	3604	{
mjr	53:9b2611964afc	3605	// ZB Launch Ball disabled - turn off the button if it was on
mjr	53:9b2611964afc	3606	setButton(false);
mjr	48:058ace2aed1d	3607
mjr	53:9b2611964afc	3608	// return to the default state
mjr	53:9b2611964afc	3609	lbState = 0;
mjr	48:058ace2aed1d	3610	}
mjr	48:058ace2aed1d	3611	}
mjr	53:9b2611964afc	3612
mjr	53:9b2611964afc	3613	// Set the button state
mjr	53:9b2611964afc	3614	void setButton(bool on)
mjr	53:9b2611964afc	3615	{
mjr	53:9b2611964afc	3616	if (btnState != on)
mjr	53:9b2611964afc	3617	{
mjr	53:9b2611964afc	3618	// remember the new state
mjr	53:9b2611964afc	3619	btnState = on;
mjr	53:9b2611964afc	3620
mjr	53:9b2611964afc	3621	// update the virtual button state
mjr	53:9b2611964afc	3622	buttonState[ZBL_BUTTON].virtPress(on);
mjr	53:9b2611964afc	3623	}
mjr	53:9b2611964afc	3624	}
mjr	53:9b2611964afc	3625
mjr	48:058ace2aed1d	3626	private:
mjr	48:058ace2aed1d	3627	// Simulated Launch Ball button state. If a "ZB Launch Ball" port is
mjr	48:058ace2aed1d	3628	// defined for our LedWiz port mapping, any time that port is turned ON,
mjr	48:058ace2aed1d	3629	// we'll simulate pushing the Launch Ball button if the player pulls
mjr	48:058ace2aed1d	3630	// back and releases the plunger, or simply pushes on the plunger from
mjr	48:058ace2aed1d	3631	// the rest position. This allows the plunger to be used in lieu of a
mjr	48:058ace2aed1d	3632	// physical Launch Ball button for tables that don't have plungers.
mjr	48:058ace2aed1d	3633	//
mjr	48:058ace2aed1d	3634	// States:
mjr	48:058ace2aed1d	3635	// 0 = default
mjr	53:9b2611964afc	3636	// 1 = firing (firing event has activated a Launch button pulse)
mjr	53:9b2611964afc	3637	// 2 = firing done (Launch button pulse ended, waiting for plunger
mjr	53:9b2611964afc	3638	// firing event to end)
mjr	53:9b2611964afc	3639	uint8_t lbState;
mjr	48:058ace2aed1d	3640
mjr	53:9b2611964afc	3641	// button state
mjr	53:9b2611964afc	3642	bool btnState;
mjr	48:058ace2aed1d	3643
mjr	48:058ace2aed1d	3644	// Time since last lbState transition. Some of the states are time-
mjr	48:058ace2aed1d	3645	// sensitive. In the "uncocked" state, we'll return to state 0 if
mjr	48:058ace2aed1d	3646	// we remain in this state for more than a few milliseconds, since
mjr	48:058ace2aed1d	3647	// it indicates that the plunger is being slowly returned to rest
mjr	48:058ace2aed1d	3648	// rather than released. In the "launching" state, we need to release
mjr	48:058ace2aed1d	3649	// the Launch Ball button after a moment, and we need to wait for
mjr	48:058ace2aed1d	3650	// the plunger to come to rest before returning to state 0.
mjr	48:058ace2aed1d	3651	Timer lbTimer;
mjr	48:058ace2aed1d	3652	};
mjr	48:058ace2aed1d	3653
mjr	35:e959ffba78fd	3654	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	3655	//
mjr	35:e959ffba78fd	3656	// Reboot - resets the microcontroller
mjr	35:e959ffba78fd	3657	//
mjr	54:fd77a6b2f76c	3658	void reboot(USBJoystick &js, bool disconnect = true, long pause_us = 2000000L)
mjr	35:e959ffba78fd	3659	{
mjr	35:e959ffba78fd	3660	// disconnect from USB
mjr	54:fd77a6b2f76c	3661	if (disconnect)
mjr	54:fd77a6b2f76c	3662	js.disconnect();
mjr	35:e959ffba78fd	3663
mjr	35:e959ffba78fd	3664	// wait a few seconds to make sure the host notices the disconnect
mjr	54:fd77a6b2f76c	3665	wait_us(pause_us);
mjr	35:e959ffba78fd	3666
mjr	35:e959ffba78fd	3667	// reset the device
mjr	35:e959ffba78fd	3668	NVIC_SystemReset();
mjr	35:e959ffba78fd	3669	while (true) { }
mjr	35:e959ffba78fd	3670	}
mjr	35:e959ffba78fd	3671
mjr	35:e959ffba78fd	3672	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	3673	//
mjr	35:e959ffba78fd	3674	// Translate joystick readings from raw values to reported values, based
mjr	35:e959ffba78fd	3675	// on the orientation of the controller card in the cabinet.
mjr	35:e959ffba78fd	3676	//
mjr	35:e959ffba78fd	3677	void accelRotate(int &x, int &y)
mjr	35:e959ffba78fd	3678	{
mjr	35:e959ffba78fd	3679	int tmp;
mjr	35:e959ffba78fd	3680	switch (cfg.orientation)
mjr	35:e959ffba78fd	3681	{
mjr	35:e959ffba78fd	3682	case OrientationFront:
mjr	35:e959ffba78fd	3683	tmp = x;
mjr	35:e959ffba78fd	3684	x = y;
mjr	35:e959ffba78fd	3685	y = tmp;
mjr	35:e959ffba78fd	3686	break;
mjr	35:e959ffba78fd	3687
mjr	35:e959ffba78fd	3688	case OrientationLeft:
mjr	35:e959ffba78fd	3689	x = -x;
mjr	35:e959ffba78fd	3690	break;
mjr	35:e959ffba78fd	3691
mjr	35:e959ffba78fd	3692	case OrientationRight:
mjr	35:e959ffba78fd	3693	y = -y;
mjr	35:e959ffba78fd	3694	break;
mjr	35:e959ffba78fd	3695
mjr	35:e959ffba78fd	3696	case OrientationRear:
mjr	35:e959ffba78fd	3697	tmp = -x;
mjr	35:e959ffba78fd	3698	x = -y;
mjr	35:e959ffba78fd	3699	y = tmp;
mjr	35:e959ffba78fd	3700	break;
mjr	35:e959ffba78fd	3701	}
mjr	35:e959ffba78fd	3702	}
mjr	35:e959ffba78fd	3703
mjr	35:e959ffba78fd	3704	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	3705	//
mjr	35:e959ffba78fd	3706	// Calibration button state:
mjr	35:e959ffba78fd	3707	// 0 = not pushed
mjr	35:e959ffba78fd	3708	// 1 = pushed, not yet debounced
mjr	35:e959ffba78fd	3709	// 2 = pushed, debounced, waiting for hold time
mjr	35:e959ffba78fd	3710	// 3 = pushed, hold time completed - in calibration mode
mjr	35:e959ffba78fd	3711	int calBtnState = 0;
mjr	35:e959ffba78fd	3712
mjr	35:e959ffba78fd	3713	// calibration button debounce timer
mjr	35:e959ffba78fd	3714	Timer calBtnTimer;
mjr	35:e959ffba78fd	3715
mjr	35:e959ffba78fd	3716	// calibration button light state
mjr	35:e959ffba78fd	3717	int calBtnLit = false;
mjr	35:e959ffba78fd	3718
mjr	35:e959ffba78fd	3719
mjr	35:e959ffba78fd	3720	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	3721	//
mjr	40:cc0d9814522b	3722	// Configuration variable get/set message handling
mjr	35:e959ffba78fd	3723	//
mjr	40:cc0d9814522b	3724
mjr	40:cc0d9814522b	3725	// Handle SET messages - write configuration variables from USB message data
mjr	40:cc0d9814522b	3726	#define if_msg_valid(test) if (test)
mjr	53:9b2611964afc	3727	#define v_byte(var, ofs) cfg.var = data[ofs]
mjr	53:9b2611964afc	3728	#define v_ui16(var, ofs) cfg.var = wireUI16(data+(ofs))
mjr	53:9b2611964afc	3729	#define v_pin(var, ofs) cfg.var = wirePinName(data[ofs])
mjr	53:9b2611964afc	3730	#define v_byte_ro(val, ofs) // ignore read-only variables on SET
mjr	40:cc0d9814522b	3731	#define v_func configVarSet
mjr	40:cc0d9814522b	3732	#include "cfgVarMsgMap.h"
mjr	35:e959ffba78fd	3733
mjr	40:cc0d9814522b	3734	// redefine everything for the SET messages
mjr	40:cc0d9814522b	3735	#undef if_msg_valid
mjr	40:cc0d9814522b	3736	#undef v_byte
mjr	40:cc0d9814522b	3737	#undef v_ui16
mjr	40:cc0d9814522b	3738	#undef v_pin
mjr	53:9b2611964afc	3739	#undef v_byte_ro
mjr	40:cc0d9814522b	3740	#undef v_func
mjr	38:091e511ce8a0	3741
mjr	40:cc0d9814522b	3742	// Handle GET messages - read variable values and return in USB message daa
mjr	40:cc0d9814522b	3743	#define if_msg_valid(test)
mjr	53:9b2611964afc	3744	#define v_byte(var, ofs) data[ofs] = cfg.var
mjr	53:9b2611964afc	3745	#define v_ui16(var, ofs) ui16Wire(data+(ofs), cfg.var)
mjr	53:9b2611964afc	3746	#define v_pin(var, ofs) pinNameWire(data+(ofs), cfg.var)
mjr	53:9b2611964afc	3747	#define v_byte_ro(val, ofs) data[ofs] = val
mjr	40:cc0d9814522b	3748	#define v_func configVarGet
mjr	40:cc0d9814522b	3749	#include "cfgVarMsgMap.h"
mjr	40:cc0d9814522b	3750
mjr	35:e959ffba78fd	3751
mjr	35:e959ffba78fd	3752	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	3753	//
mjr	35:e959ffba78fd	3754	// Handle an input report from the USB host. Input reports use our extended
mjr	35:e959ffba78fd	3755	// LedWiz protocol.
mjr	33:d832bcab089e	3756	//
mjr	48:058ace2aed1d	3757	void handleInputMsg(LedWizMsg &lwm, USBJoystick &js)
mjr	35:e959ffba78fd	3758	{
mjr	38:091e511ce8a0	3759	// LedWiz commands come in two varieties: SBA and PBA. An
mjr	38:091e511ce8a0	3760	// SBA is marked by the first byte having value 64 (0x40). In
mjr	38:091e511ce8a0	3761	// the real LedWiz protocol, any other value in the first byte
mjr	38:091e511ce8a0	3762	// means it's a PBA message. However, valid PBA messages
mjr	38:091e511ce8a0	3763	// always have a first byte (and in fact all 8 bytes) in the
mjr	38:091e511ce8a0	3764	// range 0-49 or 129-132. Anything else is invalid. We take
mjr	38:091e511ce8a0	3765	// advantage of this to implement private protocol extensions.
mjr	38:091e511ce8a0	3766	// So our full protocol is as follows:
mjr	38:091e511ce8a0	3767	//
mjr	38:091e511ce8a0	3768	// first byte =
mjr	38:091e511ce8a0	3769	// 0-48 -> LWZ-PBA
mjr	38:091e511ce8a0	3770	// 64 -> LWZ SBA
mjr	38:091e511ce8a0	3771	// 65 -> private control message; second byte specifies subtype
mjr	38:091e511ce8a0	3772	// 129-132 -> LWZ-PBA
mjr	38:091e511ce8a0	3773	// 200-228 -> extended bank brightness set for outputs N to N+6, where
mjr	38:091e511ce8a0	3774	// N is (first byte - 200)*7
mjr	38:091e511ce8a0	3775	// other -> reserved for future use
mjr	38:091e511ce8a0	3776	//
mjr	39:b3815a1c3802	3777	uint8_t *data = lwm.data;
mjr	38:091e511ce8a0	3778	if (data[0] == 64)
mjr	35:e959ffba78fd	3779	{
mjr	38:091e511ce8a0	3780	// LWZ-SBA - first four bytes are bit-packed on/off flags
mjr	38:091e511ce8a0	3781	// for the outputs; 5th byte is the pulse speed (1-7)
mjr	38:091e511ce8a0	3782	//printf("LWZ-SBA %02x %02x %02x %02x ; %02x\r\n",
mjr	38:091e511ce8a0	3783	// data[1], data[2], data[3], data[4], data[5]);
mjr	38:091e511ce8a0	3784
mjr	38:091e511ce8a0	3785	// update all on/off states
mjr	38:091e511ce8a0	3786	for (int i = 0, bit = 1, ri = 1 ; i < numLwOutputs ; ++i, bit <<= 1)
mjr	35:e959ffba78fd	3787	{
mjr	38:091e511ce8a0	3788	// figure the on/off state bit for this output
mjr	38:091e511ce8a0	3789	if (bit == 0x100) {
mjr	38:091e511ce8a0	3790	bit = 1;
mjr	38:091e511ce8a0	3791	++ri;
mjr	35:e959ffba78fd	3792	}
mjr	35:e959ffba78fd	3793
mjr	38:091e511ce8a0	3794	// set the on/off state
mjr	38:091e511ce8a0	3795	wizOn[i] = ((data[ri] & bit) != 0);
mjr	38:091e511ce8a0	3796
mjr	38:091e511ce8a0	3797	// If the wizVal setting is 255, it means that this
mjr	38:091e511ce8a0	3798	// output was last set to a brightness value with the
mjr	38:091e511ce8a0	3799	// extended protocol. Return it to LedWiz control by
mjr	38:091e511ce8a0	3800	// rescaling the brightness setting to the LedWiz range
mjr	38:091e511ce8a0	3801	// and updating wizVal with the result. If it's any
mjr	38:091e511ce8a0	3802	// other value, it was previously set by a PBA message,
mjr	38:091e511ce8a0	3803	// so simply retain the last setting - in the normal
mjr	38:091e511ce8a0	3804	// LedWiz protocol, the "profile" (brightness) and on/off
mjr	38:091e511ce8a0	3805	// states are independent, so an SBA just turns an output
mjr	38:091e511ce8a0	3806	// on or off but retains its last brightness level.
mjr	38:091e511ce8a0	3807	if (wizVal[i] == 255)
mjr	40:cc0d9814522b	3808	wizVal[i] = (uint8_t)round(outLevel[i]/255.0 * 48.0);
mjr	38:091e511ce8a0	3809	}
mjr	38:091e511ce8a0	3810
mjr	38:091e511ce8a0	3811	// set the flash speed - enforce the value range 1-7
mjr	38:091e511ce8a0	3812	wizSpeed = data[5];
mjr	38:091e511ce8a0	3813	if (wizSpeed < 1)
mjr	38:091e511ce8a0	3814	wizSpeed = 1;
mjr	38:091e511ce8a0	3815	else if (wizSpeed > 7)
mjr	38:091e511ce8a0	3816	wizSpeed = 7;
mjr	38:091e511ce8a0	3817
mjr	38:091e511ce8a0	3818	// update the physical outputs
mjr	38:091e511ce8a0	3819	updateWizOuts();
mjr	38:091e511ce8a0	3820	if (hc595 != 0)
mjr	38:091e511ce8a0	3821	hc595->update();
mjr	38:091e511ce8a0	3822
mjr	38:091e511ce8a0	3823	// reset the PBA counter
mjr	38:091e511ce8a0	3824	pbaIdx = 0;
mjr	38:091e511ce8a0	3825	}
mjr	38:091e511ce8a0	3826	else if (data[0] == 65)
mjr	38:091e511ce8a0	3827	{
mjr	38:091e511ce8a0	3828	// Private control message. This isn't an LedWiz message - it's
mjr	38:091e511ce8a0	3829	// an extension for this device. 65 is an invalid PBA setting,
mjr	38:091e511ce8a0	3830	// and isn't used for any other LedWiz message, so we appropriate
mjr	38:091e511ce8a0	3831	// it for our own private use. The first byte specifies the
mjr	38:091e511ce8a0	3832	// message type.
mjr	39:b3815a1c3802	3833	switch (data[1])
mjr	38:091e511ce8a0	3834	{
mjr	39:b3815a1c3802	3835	case 0:
mjr	39:b3815a1c3802	3836	// No Op
mjr	39:b3815a1c3802	3837	break;
mjr	39:b3815a1c3802	3838
mjr	39:b3815a1c3802	3839	case 1:
mjr	38:091e511ce8a0	3840	// 1 = Old Set Configuration:
mjr	38:091e511ce8a0	3841	// data[2] = LedWiz unit number (0x00 to 0x0f)
mjr	38:091e511ce8a0	3842	// data[3] = feature enable bit mask:
mjr	38:091e511ce8a0	3843	// 0x01 = enable plunger sensor
mjr	39:b3815a1c3802	3844	{
mjr	39:b3815a1c3802	3845
mjr	39:b3815a1c3802	3846	// get the new LedWiz unit number - this is 0-15, whereas we
mjr	39:b3815a1c3802	3847	// we save the nominal unit number 1-16 in the config
mjr	39:b3815a1c3802	3848	uint8_t newUnitNo = (data[2] & 0x0f) + 1;
mjr	39:b3815a1c3802	3849
mjr	39:b3815a1c3802	3850	// we'll need a reset if the LedWiz unit number is changing
mjr	39:b3815a1c3802	3851	bool needReset = (newUnitNo != cfg.psUnitNo);
mjr	39:b3815a1c3802	3852
mjr	39:b3815a1c3802	3853	// set the configuration parameters from the message
mjr	39:b3815a1c3802	3854	cfg.psUnitNo = newUnitNo;
mjr	39:b3815a1c3802	3855	cfg.plunger.enabled = data[3] & 0x01;
mjr	39:b3815a1c3802	3856
mjr	39:b3815a1c3802	3857	// save the configuration
mjr	39:b3815a1c3802	3858	saveConfigToFlash();
mjr	39:b3815a1c3802	3859
mjr	39:b3815a1c3802	3860	// reboot if necessary
mjr	39:b3815a1c3802	3861	if (needReset)
mjr	39:b3815a1c3802	3862	reboot(js);
mjr	39:b3815a1c3802	3863	}
mjr	39:b3815a1c3802	3864	break;
mjr	38:091e511ce8a0	3865
mjr	39:b3815a1c3802	3866	case 2:
mjr	38:091e511ce8a0	3867	// 2 = Calibrate plunger
mjr	38:091e511ce8a0	3868	// (No parameters)
mjr	38:091e511ce8a0	3869
mjr	38:091e511ce8a0	3870	// enter calibration mode
mjr	38:091e511ce8a0	3871	calBtnState = 3;
mjr	52:8298b2a73eb2	3872	plungerReader.setCalMode(true);
mjr	38:091e511ce8a0	3873	calBtnTimer.reset();
mjr	39:b3815a1c3802	3874	break;
mjr	39:b3815a1c3802	3875
mjr	39:b3815a1c3802	3876	case 3:
mjr	52:8298b2a73eb2	3877	// 3 = plunger sensor status report
mjr	48:058ace2aed1d	3878	// data[2] = flag bits
mjr	53:9b2611964afc	3879	// data[3] = extra exposure time, 100us (.1ms) increments
mjr	52:8298b2a73eb2	3880	reportPlungerStat = true;
mjr	53:9b2611964afc	3881	reportPlungerStatFlags = data[2];
mjr	53:9b2611964afc	3882	reportPlungerStatTime = data[3];
mjr	38:091e511ce8a0	3883
mjr	38:091e511ce8a0	3884	// show purple until we finish sending the report
mjr	38:091e511ce8a0	3885	diagLED(1, 0, 1);
mjr	39:b3815a1c3802	3886	break;
mjr	39:b3815a1c3802	3887
mjr	39:b3815a1c3802	3888	case 4:
mjr	38:091e511ce8a0	3889	// 4 = hardware configuration query
mjr	38:091e511ce8a0	3890	// (No parameters)
mjr	38:091e511ce8a0	3891	js.reportConfig(
mjr	38:091e511ce8a0	3892	numOutputs,
mjr	38:091e511ce8a0	3893	cfg.psUnitNo - 1, // report 0-15 range for unit number (we store 1-16 internally)
mjr	52:8298b2a73eb2	3894	cfg.plunger.cal.zero, cfg.plunger.cal.max, cfg.plunger.cal.tRelease,
mjr	40:cc0d9814522b	3895	nvm.valid());
mjr	39:b3815a1c3802	3896	break;
mjr	39:b3815a1c3802	3897
mjr	39:b3815a1c3802	3898	case 5:
mjr	38:091e511ce8a0	3899	// 5 = all outputs off, reset to LedWiz defaults
mjr	38:091e511ce8a0	3900	allOutputsOff();
mjr	39:b3815a1c3802	3901	break;
mjr	39:b3815a1c3802	3902
mjr	39:b3815a1c3802	3903	case 6:
mjr	38:091e511ce8a0	3904	// 6 = Save configuration to flash.
mjr	38:091e511ce8a0	3905	saveConfigToFlash();
mjr	38:091e511ce8a0	3906
mjr	53:9b2611964afc	3907	// before disconnecting, pause for the delay time specified in
mjr	53:9b2611964afc	3908	// the parameter byte (in seconds)
mjr	53:9b2611964afc	3909	rebootTime_us = data[2] * 1000000L;
mjr	53:9b2611964afc	3910	rebootTimer.start();
mjr	39:b3815a1c3802	3911	break;
mjr	40:cc0d9814522b	3912
mjr	40:cc0d9814522b	3913	case 7:
mjr	40:cc0d9814522b	3914	// 7 = Device ID report
mjr	53:9b2611964afc	3915	// data[2] = ID index: 1=CPU ID, 2=OpenSDA TUID
mjr	53:9b2611964afc	3916	js.reportID(data[2]);
mjr	40:cc0d9814522b	3917	break;
mjr	40:cc0d9814522b	3918
mjr	40:cc0d9814522b	3919	case 8:
mjr	40:cc0d9814522b	3920	// 8 = Engage/disengage night mode.
mjr	40:cc0d9814522b	3921	// data[2] = 1 to engage, 0 to disengage
mjr	40:cc0d9814522b	3922	setNightMode(data[2]);
mjr	40:cc0d9814522b	3923	break;
mjr	52:8298b2a73eb2	3924
mjr	52:8298b2a73eb2	3925	case 9:
mjr	52:8298b2a73eb2	3926	// 9 = Config variable query.
mjr	52:8298b2a73eb2	3927	// data[2] = config var ID
mjr	52:8298b2a73eb2	3928	// data[3] = array index (for array vars: button assignments, output ports)
mjr	52:8298b2a73eb2	3929	{
mjr	53:9b2611964afc	3930	// set up the reply buffer with the variable ID data, and zero out
mjr	53:9b2611964afc	3931	// the rest of the buffer
mjr	52:8298b2a73eb2	3932	uint8_t reply[8];
mjr	52:8298b2a73eb2	3933	reply[1] = data[2];
mjr	52:8298b2a73eb2	3934	reply[2] = data[3];
mjr	53:9b2611964afc	3935	memset(reply+3, 0, sizeof(reply)-3);
mjr	52:8298b2a73eb2	3936
mjr	52:8298b2a73eb2	3937	// query the value
mjr	52:8298b2a73eb2	3938	configVarGet(reply);
mjr	52:8298b2a73eb2	3939
mjr	52:8298b2a73eb2	3940	// send the reply
mjr	52:8298b2a73eb2	3941	js.reportConfigVar(reply + 1);
mjr	52:8298b2a73eb2	3942	}
mjr	52:8298b2a73eb2	3943	break;
mjr	53:9b2611964afc	3944
mjr	53:9b2611964afc	3945	case 10:
mjr	53:9b2611964afc	3946	// 10 = Build ID query.
mjr	53:9b2611964afc	3947	js.reportBuildInfo(getBuildID());
mjr	53:9b2611964afc	3948	break;
mjr	38:091e511ce8a0	3949	}
mjr	38:091e511ce8a0	3950	}
mjr	38:091e511ce8a0	3951	else if (data[0] == 66)
mjr	38:091e511ce8a0	3952	{
mjr	38:091e511ce8a0	3953	// Extended protocol - Set configuration variable.
mjr	38:091e511ce8a0	3954	// The second byte of the message is the ID of the variable
mjr	38:091e511ce8a0	3955	// to update, and the remaining bytes give the new value,
mjr	38:091e511ce8a0	3956	// in a variable-dependent format.
mjr	40:cc0d9814522b	3957	configVarSet(data);
mjr	38:091e511ce8a0	3958	}
mjr	38:091e511ce8a0	3959	else if (data[0] >= 200 && data[0] <= 228)
mjr	38:091e511ce8a0	3960	{
mjr	38:091e511ce8a0	3961	// Extended protocol - Extended output port brightness update.
mjr	38:091e511ce8a0	3962	// data[0]-200 gives us the bank of 7 outputs we're setting:
mjr	38:091e511ce8a0	3963	// 200 is outputs 0-6, 201 is outputs 7-13, 202 is 14-20, etc.
mjr	38:091e511ce8a0	3964	// The remaining bytes are brightness levels, 0-255, for the
mjr	38:091e511ce8a0	3965	// seven outputs in the selected bank. The LedWiz flashing
mjr	38:091e511ce8a0	3966	// modes aren't accessible in this message type; we can only
mjr	38:091e511ce8a0	3967	// set a fixed brightness, but in exchange we get 8-bit
mjr	38:091e511ce8a0	3968	// resolution rather than the paltry 0-48 scale that the real
mjr	38:091e511ce8a0	3969	// LedWiz uses. There's no separate on/off status for outputs
mjr	38:091e511ce8a0	3970	// adjusted with this message type, either, as there would be
mjr	38:091e511ce8a0	3971	// for a PBA message - setting a non-zero value immediately
mjr	38:091e511ce8a0	3972	// turns the output, overriding the last SBA setting.
mjr	38:091e511ce8a0	3973	//
mjr	38:091e511ce8a0	3974	// For outputs 0-31, this overrides any previous PBA/SBA
mjr	38:091e511ce8a0	3975	// settings for the port. Any subsequent PBA/SBA message will
mjr	38:091e511ce8a0	3976	// in turn override the setting made here. It's simple - the
mjr	38:091e511ce8a0	3977	// most recent message of either type takes precedence. For
mjr	38:091e511ce8a0	3978	// outputs above the LedWiz range, PBA/SBA messages can't
mjr	38:091e511ce8a0	3979	// address those ports anyway.
mjr	38:091e511ce8a0	3980	int i0 = (data[0] - 200)*7;
mjr	38:091e511ce8a0	3981	int i1 = i0 + 7 < numOutputs ? i0 + 7 : numOutputs;
mjr	38:091e511ce8a0	3982	for (int i = i0 ; i < i1 ; ++i)
mjr	38:091e511ce8a0	3983	{
mjr	38:091e511ce8a0	3984	// set the brightness level for the output
mjr	40:cc0d9814522b	3985	uint8_t b = data[i-i0+1];
mjr	38:091e511ce8a0	3986	outLevel[i] = b;
mjr	38:091e511ce8a0	3987
mjr	38:091e511ce8a0	3988	// if it's in the basic LedWiz output set, set the LedWiz
mjr	38:091e511ce8a0	3989	// profile value to 255, which means "use outLevel"
mjr	38:091e511ce8a0	3990	if (i < 32)
mjr	38:091e511ce8a0	3991	wizVal[i] = 255;
mjr	38:091e511ce8a0	3992
mjr	38:091e511ce8a0	3993	// set the output
mjr	40:cc0d9814522b	3994	lwPin[i]->set(b);
mjr	38:091e511ce8a0	3995	}
mjr	38:091e511ce8a0	3996
mjr	38:091e511ce8a0	3997	// update 74HC595 outputs, if attached
mjr	38:091e511ce8a0	3998	if (hc595 != 0)
mjr	38:091e511ce8a0	3999	hc595->update();
mjr	38:091e511ce8a0	4000	}
mjr	38:091e511ce8a0	4001	else
mjr	38:091e511ce8a0	4002	{
mjr	38:091e511ce8a0	4003	// Everything else is LWZ-PBA. This is a full "profile"
mjr	38:091e511ce8a0	4004	// dump from the host for one bank of 8 outputs. Each
mjr	38:091e511ce8a0	4005	// byte sets one output in the current bank. The current
mjr	38:091e511ce8a0	4006	// bank is implied; the bank starts at 0 and is reset to 0
mjr	38:091e511ce8a0	4007	// by any LWZ-SBA message, and is incremented to the next
mjr	38:091e511ce8a0	4008	// bank by each LWZ-PBA message. Our variable pbaIdx keeps
mjr	38:091e511ce8a0	4009	// track of our notion of the current bank. There's no direct
mjr	38:091e511ce8a0	4010	// way for the host to select the bank; it just has to count
mjr	38:091e511ce8a0	4011	// on us staying in sync. In practice, the host will always
mjr	38:091e511ce8a0	4012	// send a full set of 4 PBA messages in a row to set all 32
mjr	38:091e511ce8a0	4013	// outputs.
mjr	38:091e511ce8a0	4014	//
mjr	38:091e511ce8a0	4015	// Note that a PBA implicitly overrides our extended profile
mjr	38:091e511ce8a0	4016	// messages (message prefix 200-219), because this sets the
mjr	38:091e511ce8a0	4017	// wizVal[] entry for each output, and that takes precedence
mjr	38:091e511ce8a0	4018	// over the extended protocol settings.
mjr	38:091e511ce8a0	4019	//
mjr	38:091e511ce8a0	4020	//printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n",
mjr	38:091e511ce8a0	4021	// pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
mjr	38:091e511ce8a0	4022
mjr	38:091e511ce8a0	4023	// Update all output profile settings
mjr	38:091e511ce8a0	4024	for (int i = 0 ; i < 8 ; ++i)
mjr	38:091e511ce8a0	4025	wizVal[pbaIdx + i] = data[i];
mjr	38:091e511ce8a0	4026
mjr	38:091e511ce8a0	4027	// Update the physical LED state if this is the last bank.
mjr	38:091e511ce8a0	4028	// Note that hosts always send a full set of four PBA
mjr	38:091e511ce8a0	4029	// messages, so there's no need to do a physical update
mjr	38:091e511ce8a0	4030	// until we've received the last bank's PBA message.
mjr	38:091e511ce8a0	4031	if (pbaIdx == 24)
mjr	38:091e511ce8a0	4032	{
mjr	35:e959ffba78fd	4033	updateWizOuts();
mjr	35:e959ffba78fd	4034	if (hc595 != 0)
mjr	35:e959ffba78fd	4035	hc595->update();
mjr	35:e959ffba78fd	4036	pbaIdx = 0;
mjr	35:e959ffba78fd	4037	}
mjr	38:091e511ce8a0	4038	else
mjr	38:091e511ce8a0	4039	pbaIdx += 8;
mjr	38:091e511ce8a0	4040	}
mjr	38:091e511ce8a0	4041	}
mjr	35:e959ffba78fd	4042
mjr	33:d832bcab089e	4043
mjr	38:091e511ce8a0	4044	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	4045	//
mjr	5:a70c0bce770d	4046	// Main program loop. This is invoked on startup and runs forever. Our
mjr	5:a70c0bce770d	4047	// main work is to read our devices (the accelerometer and the CCD), process
mjr	5:a70c0bce770d	4048	// the readings into nudge and plunger position data, and send the results
mjr	5:a70c0bce770d	4049	// to the host computer via the USB joystick interface. We also monitor
mjr	5:a70c0bce770d	4050	// the USB connection for incoming LedWiz commands and process those into
mjr	5:a70c0bce770d	4051	// port outputs.
mjr	5:a70c0bce770d	4052	//
mjr	0:5acbbe3f4cf4	4053	int main(void)
mjr	0:5acbbe3f4cf4	4054	{
mjr	60:f38da020aa13	4055	// say hello to the debug console, in case it's connected
mjr	39:b3815a1c3802	4056	printf("\r\nPinscape Controller starting\r\n");
mjr	60:f38da020aa13	4057
mjr	60:f38da020aa13	4058	// debugging: print memory config info
mjr	59:94eb9265b6d7	4059	// -> no longer very useful, since we use our own custom malloc/new allocator (see xmalloc() above)
mjr	60:f38da020aa13	4060	// {int *a = new int; printf("Stack=%lx, heap=%lx, free=%ld\r\n", (long)&a, (long)a, (long)&a - (long)a);}
mjr	1:d913e0afb2ac	4061
mjr	39:b3815a1c3802	4062	// clear the I2C bus (for the accelerometer)
mjr	35:e959ffba78fd	4063	clear_i2c();
mjr	38:091e511ce8a0	4064
mjr	43:7a6364d82a41	4065	// load the saved configuration (or set factory defaults if no flash
mjr	43:7a6364d82a41	4066	// configuration has ever been saved)
mjr	35:e959ffba78fd	4067	loadConfigFromFlash();
mjr	35:e959ffba78fd	4068
mjr	38:091e511ce8a0	4069	// initialize the diagnostic LEDs
mjr	38:091e511ce8a0	4070	initDiagLEDs(cfg);
mjr	38:091e511ce8a0	4071
mjr	33:d832bcab089e	4072	// we're not connected/awake yet
mjr	33:d832bcab089e	4073	bool connected = false;
mjr	40:cc0d9814522b	4074	Timer connectChangeTimer;
mjr	33:d832bcab089e	4075
mjr	35:e959ffba78fd	4076	// create the plunger sensor interface
mjr	35:e959ffba78fd	4077	createPlunger();
mjr	33:d832bcab089e	4078
mjr	60:f38da020aa13	4079	// set up the TLC5940 interface, if these chips are present
mjr	35:e959ffba78fd	4080	init_tlc5940(cfg);
mjr	34:6b981a2afab7	4081
mjr	60:f38da020aa13	4082	// set up 74HC595 interface, if these chips are present
mjr	35:e959ffba78fd	4083	init_hc595(cfg);
mjr	6:cc35eb643e8f	4084
mjr	54:fd77a6b2f76c	4085	// Initialize the LedWiz ports. Note that the ordering here is important:
mjr	54:fd77a6b2f76c	4086	// this has to come after we create the TLC5940 and 74HC595 object instances
mjr	54:fd77a6b2f76c	4087	// (which we just did above), since we need to access those objects to set
mjr	54:fd77a6b2f76c	4088	// up ports assigned to the respective chips.
mjr	35:e959ffba78fd	4089	initLwOut(cfg);
mjr	48:058ace2aed1d	4090
mjr	60:f38da020aa13	4091	// start the TLC5940 refresh cycle clock
mjr	35:e959ffba78fd	4092	if (tlc5940 != 0)
mjr	35:e959ffba78fd	4093	tlc5940->start();
mjr	35:e959ffba78fd	4094
mjr	40:cc0d9814522b	4095	// start the TV timer, if applicable
mjr	40:cc0d9814522b	4096	startTVTimer(cfg);
mjr	48:058ace2aed1d	4097
mjr	35:e959ffba78fd	4098	// initialize the button input ports
mjr	35:e959ffba78fd	4099	bool kbKeys = false;
mjr	35:e959ffba78fd	4100	initButtons(cfg, kbKeys);
mjr	38:091e511ce8a0	4101
mjr	60:f38da020aa13	4102	// Create the joystick USB client. Note that the USB vendor/product ID
mjr	60:f38da020aa13	4103	// information comes from the saved configuration. Also note that we have
mjr	60:f38da020aa13	4104	// to wait until after initializing the input buttons (which we just did
mjr	60:f38da020aa13	4105	// above) to set up the interface, since the button setup will determine
mjr	60:f38da020aa13	4106	// whether or not we need to present a USB keyboard interface in addition
mjr	60:f38da020aa13	4107	// to the joystick interface.
mjr	51:57eb311faafa	4108	MyUSBJoystick js(cfg.usbVendorID, cfg.usbProductID, USB_VERSION_NO, false,
mjr	51:57eb311faafa	4109	cfg.joystickEnabled, kbKeys);
mjr	51:57eb311faafa	4110
mjr	60:f38da020aa13	4111	// Wait for the USB connection to start up. Show a distinctive diagnostic
mjr	60:f38da020aa13	4112	// flash pattern while waiting.
mjr	51:57eb311faafa	4113	Timer connectTimer;
mjr	51:57eb311faafa	4114	connectTimer.start();
mjr	51:57eb311faafa	4115	while (!js.configured())
mjr	51:57eb311faafa	4116	{
mjr	51:57eb311faafa	4117	// show one short yellow flash at 2-second intervals
mjr	51:57eb311faafa	4118	if (connectTimer.read_us() > 2000000)
mjr	51:57eb311faafa	4119	{
mjr	51:57eb311faafa	4120	// short yellow flash
mjr	51:57eb311faafa	4121	diagLED(1, 1, 0);
mjr	54:fd77a6b2f76c	4122	wait_us(50000);
mjr	51:57eb311faafa	4123	diagLED(0, 0, 0);
mjr	51:57eb311faafa	4124
mjr	51:57eb311faafa	4125	// reset the flash timer
mjr	51:57eb311faafa	4126	connectTimer.reset();
mjr	51:57eb311faafa	4127	}
mjr	51:57eb311faafa	4128	}
mjr	60:f38da020aa13	4129
mjr	60:f38da020aa13	4130	// we're now connected to the host
mjr	54:fd77a6b2f76c	4131	connected = true;
mjr	40:cc0d9814522b	4132
mjr	60:f38da020aa13	4133	// Last report timer for the joytick interface. We use this timer to
mjr	60:f38da020aa13	4134	// throttle the report rate to a pace that's suitable for VP. Without
mjr	60:f38da020aa13	4135	// any artificial delays, we could generate data to send on the joystick
mjr	60:f38da020aa13	4136	// interface on every loop iteration. The loop iteration time depends
mjr	60:f38da020aa13	4137	// on which devices are attached, since most of the work in our main
mjr	60:f38da020aa13	4138	// loop is simply polling our devices. For typical setups, the loop
mjr	60:f38da020aa13	4139	// time ranges from about 0.25ms to 2.5ms; the biggest factor is the
mjr	60:f38da020aa13	4140	// plunger sensor. But VP polls for input about every 10ms, so there's
mjr	60:f38da020aa13	4141	// no benefit in sending data faster than that, and there's some harm,
mjr	60:f38da020aa13	4142	// in that it creates USB overhead (both on the wire and on the host
mjr	60:f38da020aa13	4143	// CPU). We therefore use this timer to pace our reports to roughly
mjr	60:f38da020aa13	4144	// the VP input polling rate. Note that there's no way to actually
mjr	60:f38da020aa13	4145	// synchronize with VP's polling, but there's also no need to, as the
mjr	60:f38da020aa13	4146	// input model is designed to reflect the overall current state at any
mjr	60:f38da020aa13	4147	// given time rather than events or deltas. If VP polls twice between
mjr	60:f38da020aa13	4148	// two updates, it simply sees no state change; if we send two updates
mjr	60:f38da020aa13	4149	// between VP polls, VP simply sees the latest state when it does get
mjr	60:f38da020aa13	4150	// around to polling.
mjr	38:091e511ce8a0	4151	Timer jsReportTimer;
mjr	38:091e511ce8a0	4152	jsReportTimer.start();
mjr	38:091e511ce8a0	4153
mjr	60:f38da020aa13	4154	// Time since we successfully sent a USB report. This is a hacky
mjr	60:f38da020aa13	4155	// workaround to deal with any remaining sporadic problems in the USB
mjr	60:f38da020aa13	4156	// stack. I've been trying to bulletproof the USB code over time to
mjr	60:f38da020aa13	4157	// remove all such problems at their source, but it seems unlikely that
mjr	60:f38da020aa13	4158	// we'll ever get them all. Thus this hack. The idea here is that if
mjr	60:f38da020aa13	4159	// we go too long without successfully sending a USB report, we'll
mjr	60:f38da020aa13	4160	// assume that the connection is broken (and the KL25Z USB hardware
mjr	60:f38da020aa13	4161	// hasn't noticed this), and we'll try taking measures to recover.
mjr	38:091e511ce8a0	4162	Timer jsOKTimer;
mjr	38:091e511ce8a0	4163	jsOKTimer.start();
mjr	35:e959ffba78fd	4164
mjr	55:4db125cd11a0	4165	// Initialize the calibration button and lamp, if enabled. To be enabled,
mjr	55:4db125cd11a0	4166	// the pin has to be assigned to something other than NC (0xFF), AND the
mjr	55:4db125cd11a0	4167	// corresponding feature enable flag has to be set.
mjr	55:4db125cd11a0	4168	DigitalIn *calBtn = 0;
mjr	55:4db125cd11a0	4169	DigitalOut *calBtnLed = 0;
mjr	55:4db125cd11a0	4170
mjr	55:4db125cd11a0	4171	// calibration button input - feature flag 0x01
mjr	55:4db125cd11a0	4172	if ((cfg.plunger.cal.features & 0x01) && cfg.plunger.cal.btn != 0xFF)
mjr	55:4db125cd11a0	4173	calBtn = new DigitalIn(wirePinName(cfg.plunger.cal.btn));
mjr	55:4db125cd11a0	4174
mjr	55:4db125cd11a0	4175	// calibration button indicator lamp output - feature flag 0x02
mjr	55:4db125cd11a0	4176	if ((cfg.plunger.cal.features & 0x02) && cfg.plunger.cal.led != 0xFF)
mjr	55:4db125cd11a0	4177	calBtnLed = new DigitalOut(wirePinName(cfg.plunger.cal.led));
mjr	6:cc35eb643e8f	4178
mjr	35:e959ffba78fd	4179	// initialize the calibration button
mjr	1:d913e0afb2ac	4180	calBtnTimer.start();
mjr	35:e959ffba78fd	4181	calBtnState = 0;
mjr	1:d913e0afb2ac	4182
mjr	1:d913e0afb2ac	4183	// set up a timer for our heartbeat indicator
mjr	1:d913e0afb2ac	4184	Timer hbTimer;
mjr	1:d913e0afb2ac	4185	hbTimer.start();
mjr	1:d913e0afb2ac	4186	int hb = 0;
mjr	5:a70c0bce770d	4187	uint16_t hbcnt = 0;
mjr	1:d913e0afb2ac	4188
mjr	1:d913e0afb2ac	4189	// set a timer for accelerometer auto-centering
mjr	1:d913e0afb2ac	4190	Timer acTimer;
mjr	1:d913e0afb2ac	4191	acTimer.start();
mjr	1:d913e0afb2ac	4192
mjr	0:5acbbe3f4cf4	4193	// create the accelerometer object
mjr	5:a70c0bce770d	4194	Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS, MMA8451_INT_PIN);
mjr	48:058ace2aed1d	4195
mjr	17:ab3cec0c8bf4	4196	// last accelerometer report, in joystick units (we report the nudge
mjr	17:ab3cec0c8bf4	4197	// acceleration via the joystick x & y axes, per the VP convention)
mjr	17:ab3cec0c8bf4	4198	int x = 0, y = 0;
mjr	17:ab3cec0c8bf4	4199
mjr	48:058ace2aed1d	4200	// initialize the plunger sensor
mjr	35:e959ffba78fd	4201	plungerSensor->init();
mjr	10:976666ffa4ef	4202
mjr	48:058ace2aed1d	4203	// set up the ZB Launch Ball monitor
mjr	48:058ace2aed1d	4204	ZBLaunchBall zbLaunchBall;
mjr	48:058ace2aed1d	4205
mjr	54:fd77a6b2f76c	4206	// enable the peripheral chips
mjr	54:fd77a6b2f76c	4207	if (tlc5940 != 0)
mjr	54:fd77a6b2f76c	4208	tlc5940->enable(true);
mjr	54:fd77a6b2f76c	4209	if (hc595 != 0)
mjr	54:fd77a6b2f76c	4210	hc595->enable(true);
mjr	43:7a6364d82a41	4211
mjr	1:d913e0afb2ac	4212	// we're all set up - now just loop, processing sensor reports and
mjr	1:d913e0afb2ac	4213	// host requests
mjr	0:5acbbe3f4cf4	4214	for (;;)
mjr	0:5acbbe3f4cf4	4215	{
mjr	48:058ace2aed1d	4216	// Process incoming reports on the joystick interface. The joystick
mjr	48:058ace2aed1d	4217	// "out" (receive) endpoint is used for LedWiz commands and our
mjr	48:058ace2aed1d	4218	// extended protocol commands. Limit processing time to 5ms to
mjr	48:058ace2aed1d	4219	// ensure we don't starve the input side.
mjr	39:b3815a1c3802	4220	LedWizMsg lwm;
mjr	48:058ace2aed1d	4221	Timer lwt;
mjr	48:058ace2aed1d	4222	lwt.start();
mjr	48:058ace2aed1d	4223	while (js.readLedWizMsg(lwm) && lwt.read_us() < 5000)
mjr	48:058ace2aed1d	4224	handleInputMsg(lwm, js);
mjr	55:4db125cd11a0	4225
mjr	55:4db125cd11a0	4226	// send TLC5940 data updates if applicable
mjr	55:4db125cd11a0	4227	if (tlc5940 != 0)
mjr	55:4db125cd11a0	4228	tlc5940->send();
mjr	1:d913e0afb2ac	4229
mjr	1:d913e0afb2ac	4230	// check for plunger calibration
mjr	17:ab3cec0c8bf4	4231	if (calBtn != 0 && !calBtn->read())
mjr	0:5acbbe3f4cf4	4232	{
mjr	1:d913e0afb2ac	4233	// check the state
mjr	1:d913e0afb2ac	4234	switch (calBtnState)
mjr	0:5acbbe3f4cf4	4235	{
mjr	1:d913e0afb2ac	4236	case 0:
mjr	1:d913e0afb2ac	4237	// button not yet pushed - start debouncing
mjr	1:d913e0afb2ac	4238	calBtnTimer.reset();
mjr	1:d913e0afb2ac	4239	calBtnState = 1;
mjr	1:d913e0afb2ac	4240	break;
mjr	1:d913e0afb2ac	4241
mjr	1:d913e0afb2ac	4242	case 1:
mjr	1:d913e0afb2ac	4243	// pushed, not yet debounced - if the debounce time has
mjr	1:d913e0afb2ac	4244	// passed, start the hold period
mjr	48:058ace2aed1d	4245	if (calBtnTimer.read_us() > 50000)
mjr	1:d913e0afb2ac	4246	calBtnState = 2;
mjr	1:d913e0afb2ac	4247	break;
mjr	1:d913e0afb2ac	4248
mjr	1:d913e0afb2ac	4249	case 2:
mjr	1:d913e0afb2ac	4250	// in the hold period - if the button has been held down
mjr	1:d913e0afb2ac	4251	// for the entire hold period, move to calibration mode
mjr	48:058ace2aed1d	4252	if (calBtnTimer.read_us() > 2050000)
mjr	1:d913e0afb2ac	4253	{
mjr	1:d913e0afb2ac	4254	// enter calibration mode
mjr	1:d913e0afb2ac	4255	calBtnState = 3;
mjr	9:fd65b0a94720	4256	calBtnTimer.reset();
mjr	35:e959ffba78fd	4257
mjr	44:b5ac89b9cd5d	4258	// begin the plunger calibration limits
mjr	52:8298b2a73eb2	4259	plungerReader.setCalMode(true);
mjr	1:d913e0afb2ac	4260	}
mjr	1:d913e0afb2ac	4261	break;
mjr	2:c174f9ee414a	4262
mjr	2:c174f9ee414a	4263	case 3:
mjr	9:fd65b0a94720	4264	// Already in calibration mode - pushing the button here
mjr	9:fd65b0a94720	4265	// doesn't change the current state, but we won't leave this
mjr	9:fd65b0a94720	4266	// state as long as it's held down. So nothing changes here.
mjr	2:c174f9ee414a	4267	break;
mjr	0:5acbbe3f4cf4	4268	}
mjr	0:5acbbe3f4cf4	4269	}
mjr	1:d913e0afb2ac	4270	else
mjr	1:d913e0afb2ac	4271	{
mjr	2:c174f9ee414a	4272	// Button released. If we're in calibration mode, and
mjr	2:c174f9ee414a	4273	// the calibration time has elapsed, end the calibration
mjr	2:c174f9ee414a	4274	// and save the results to flash.
mjr	2:c174f9ee414a	4275	//
mjr	2:c174f9ee414a	4276	// Otherwise, return to the base state without saving anything.
mjr	2:c174f9ee414a	4277	// If the button is released before we make it to calibration
mjr	2:c174f9ee414a	4278	// mode, it simply cancels the attempt.
mjr	48:058ace2aed1d	4279	if (calBtnState == 3 && calBtnTimer.read_us() > 15000000)
mjr	2:c174f9ee414a	4280	{
mjr	2:c174f9ee414a	4281	// exit calibration mode
mjr	1:d913e0afb2ac	4282	calBtnState = 0;
mjr	52:8298b2a73eb2	4283	plungerReader.setCalMode(false);
mjr	2:c174f9ee414a	4284
mjr	6:cc35eb643e8f	4285	// save the updated configuration
mjr	35:e959ffba78fd	4286	cfg.plunger.cal.calibrated = 1;
mjr	35:e959ffba78fd	4287	saveConfigToFlash();
mjr	2:c174f9ee414a	4288	}
mjr	2:c174f9ee414a	4289	else if (calBtnState != 3)
mjr	2:c174f9ee414a	4290	{
mjr	2:c174f9ee414a	4291	// didn't make it to calibration mode - cancel the operation
mjr	1:d913e0afb2ac	4292	calBtnState = 0;
mjr	2:c174f9ee414a	4293	}
mjr	1:d913e0afb2ac	4294	}
mjr	1:d913e0afb2ac	4295
mjr	1:d913e0afb2ac	4296	// light/flash the calibration button light, if applicable
mjr	1:d913e0afb2ac	4297	int newCalBtnLit = calBtnLit;
mjr	1:d913e0afb2ac	4298	switch (calBtnState)
mjr	0:5acbbe3f4cf4	4299	{
mjr	1:d913e0afb2ac	4300	case 2:
mjr	1:d913e0afb2ac	4301	// in the hold period - flash the light
mjr	48:058ace2aed1d	4302	newCalBtnLit = ((calBtnTimer.read_us()/250000) & 1);
mjr	1:d913e0afb2ac	4303	break;
mjr	1:d913e0afb2ac	4304
mjr	1:d913e0afb2ac	4305	case 3:
mjr	1:d913e0afb2ac	4306	// calibration mode - show steady on
mjr	1:d913e0afb2ac	4307	newCalBtnLit = true;
mjr	1:d913e0afb2ac	4308	break;
mjr	1:d913e0afb2ac	4309
mjr	1:d913e0afb2ac	4310	default:
mjr	1:d913e0afb2ac	4311	// not calibrating/holding - show steady off
mjr	1:d913e0afb2ac	4312	newCalBtnLit = false;
mjr	1:d913e0afb2ac	4313	break;
mjr	1:d913e0afb2ac	4314	}
mjr	3:3514575d4f86	4315
mjr	3:3514575d4f86	4316	// light or flash the external calibration button LED, and
mjr	3:3514575d4f86	4317	// do the same with the on-board blue LED
mjr	1:d913e0afb2ac	4318	if (calBtnLit != newCalBtnLit)
mjr	1:d913e0afb2ac	4319	{
mjr	1:d913e0afb2ac	4320	calBtnLit = newCalBtnLit;
mjr	2:c174f9ee414a	4321	if (calBtnLit) {
mjr	17:ab3cec0c8bf4	4322	if (calBtnLed != 0)
mjr	17:ab3cec0c8bf4	4323	calBtnLed->write(1);
mjr	38:091e511ce8a0	4324	diagLED(0, 0, 1); // blue
mjr	2:c174f9ee414a	4325	}
mjr	2:c174f9ee414a	4326	else {
mjr	17:ab3cec0c8bf4	4327	if (calBtnLed != 0)
mjr	17:ab3cec0c8bf4	4328	calBtnLed->write(0);
mjr	38:091e511ce8a0	4329	diagLED(0, 0, 0); // off
mjr	2:c174f9ee414a	4330	}
mjr	1:d913e0afb2ac	4331	}
mjr	35:e959ffba78fd	4332
mjr	48:058ace2aed1d	4333	// read the plunger sensor
mjr	48:058ace2aed1d	4334	plungerReader.read();
mjr	48:058ace2aed1d	4335
mjr	53:9b2611964afc	4336	// update the ZB Launch Ball status
mjr	53:9b2611964afc	4337	zbLaunchBall.update();
mjr	37:ed52738445fc	4338
mjr	53:9b2611964afc	4339	// process button updates
mjr	53:9b2611964afc	4340	processButtons(cfg);
mjr	53:9b2611964afc	4341
mjr	38:091e511ce8a0	4342	// send a keyboard report if we have new data
mjr	37:ed52738445fc	4343	if (kbState.changed)
mjr	37:ed52738445fc	4344	{
mjr	38:091e511ce8a0	4345	// send a keyboard report
mjr	37:ed52738445fc	4346	js.kbUpdate(kbState.data);
mjr	37:ed52738445fc	4347	kbState.changed = false;
mjr	37:ed52738445fc	4348	}
mjr	38:091e511ce8a0	4349
mjr	38:091e511ce8a0	4350	// likewise for the media controller
mjr	37:ed52738445fc	4351	if (mediaState.changed)
mjr	37:ed52738445fc	4352	{
mjr	38:091e511ce8a0	4353	// send a media report
mjr	37:ed52738445fc	4354	js.mediaUpdate(mediaState.data);
mjr	37:ed52738445fc	4355	mediaState.changed = false;
mjr	37:ed52738445fc	4356	}
mjr	38:091e511ce8a0	4357
mjr	38:091e511ce8a0	4358	// flag: did we successfully send a joystick report on this round?
mjr	38:091e511ce8a0	4359	bool jsOK = false;
mjr	55:4db125cd11a0	4360
mjr	55:4db125cd11a0	4361	// figure the current status flags for joystick reports
mjr	55:4db125cd11a0	4362	uint16_t statusFlags =
mjr	55:4db125cd11a0	4363	(cfg.plunger.enabled ? 0x01 : 0x00)
mjr	55:4db125cd11a0	4364	\| (nightMode ? 0x02 : 0x00);
mjr	17:ab3cec0c8bf4	4365
mjr	50:40015764bbe6	4366	// If it's been long enough since our last USB status report, send
mjr	50:40015764bbe6	4367	// the new report. VP only polls for input in 10ms intervals, so
mjr	50:40015764bbe6	4368	// there's no benefit in sending reports more frequently than this.
mjr	50:40015764bbe6	4369	// More frequent reporting would only add USB I/O overhead.
mjr	50:40015764bbe6	4370	if (cfg.joystickEnabled && jsReportTimer.read_us() > 10000UL)
mjr	17:ab3cec0c8bf4	4371	{
mjr	17:ab3cec0c8bf4	4372	// read the accelerometer
mjr	17:ab3cec0c8bf4	4373	int xa, ya;
mjr	17:ab3cec0c8bf4	4374	accel.get(xa, ya);
mjr	17:ab3cec0c8bf4	4375
mjr	17:ab3cec0c8bf4	4376	// confine the results to our joystick axis range
mjr	17:ab3cec0c8bf4	4377	if (xa < -JOYMAX) xa = -JOYMAX;
mjr	17:ab3cec0c8bf4	4378	if (xa > JOYMAX) xa = JOYMAX;
mjr	17:ab3cec0c8bf4	4379	if (ya < -JOYMAX) ya = -JOYMAX;
mjr	17:ab3cec0c8bf4	4380	if (ya > JOYMAX) ya = JOYMAX;
mjr	17:ab3cec0c8bf4	4381
mjr	17:ab3cec0c8bf4	4382	// store the updated accelerometer coordinates
mjr	17:ab3cec0c8bf4	4383	x = xa;
mjr	17:ab3cec0c8bf4	4384	y = ya;
mjr	17:ab3cec0c8bf4	4385
mjr	48:058ace2aed1d	4386	// Report the current plunger position unless the plunger is
mjr	48:058ace2aed1d	4387	// disabled, or the ZB Launch Ball signal is on. In either of
mjr	48:058ace2aed1d	4388	// those cases, just report a constant 0 value. ZB Launch Ball
mjr	48:058ace2aed1d	4389	// temporarily disables mechanical plunger reporting because it
mjr	21:5048e16cc9ef	4390	// tells us that the table has a Launch Ball button instead of
mjr	48:058ace2aed1d	4391	// a traditional plunger, so we don't want to confuse VP with
mjr	48:058ace2aed1d	4392	// regular plunger inputs.
mjr	48:058ace2aed1d	4393	int z = plungerReader.getPosition();
mjr	53:9b2611964afc	4394	int zrep = (!cfg.plunger.enabled \|\| zbLaunchOn ? 0 : z);
mjr	35:e959ffba78fd	4395
mjr	35:e959ffba78fd	4396	// rotate X and Y according to the device orientation in the cabinet
mjr	35:e959ffba78fd	4397	accelRotate(x, y);
mjr	35:e959ffba78fd	4398
mjr	35:e959ffba78fd	4399	// send the joystick report
mjr	53:9b2611964afc	4400	jsOK = js.update(x, y, zrep, jsButtons, statusFlags);
mjr	21:5048e16cc9ef	4401
mjr	17:ab3cec0c8bf4	4402	// we've just started a new report interval, so reset the timer
mjr	38:091e511ce8a0	4403	jsReportTimer.reset();
mjr	17:ab3cec0c8bf4	4404	}
mjr	21:5048e16cc9ef	4405
mjr	52:8298b2a73eb2	4406	// If we're in sensor status mode, report all pixel exposure values
mjr	52:8298b2a73eb2	4407	if (reportPlungerStat)
mjr	10:976666ffa4ef	4408	{
mjr	17:ab3cec0c8bf4	4409	// send the report
mjr	53:9b2611964afc	4410	plungerSensor->sendStatusReport(js, reportPlungerStatFlags, reportPlungerStatTime);
mjr	17:ab3cec0c8bf4	4411
mjr	10:976666ffa4ef	4412	// we have satisfied this request
mjr	52:8298b2a73eb2	4413	reportPlungerStat = false;
mjr	10:976666ffa4ef	4414	}
mjr	10:976666ffa4ef	4415
mjr	35:e959ffba78fd	4416	// If joystick reports are turned off, send a generic status report
mjr	35:e959ffba78fd	4417	// periodically for the sake of the Windows config tool.
mjr	55:4db125cd11a0	4418	if (!cfg.joystickEnabled && jsReportTimer.read_us() > 5000)
mjr	21:5048e16cc9ef	4419	{
mjr	55:4db125cd11a0	4420	jsOK = js.updateStatus(statusFlags);
mjr	38:091e511ce8a0	4421	jsReportTimer.reset();
mjr	38:091e511ce8a0	4422	}
mjr	38:091e511ce8a0	4423
mjr	38:091e511ce8a0	4424	// if we successfully sent a joystick report, reset the watchdog timer
mjr	38:091e511ce8a0	4425	if (jsOK)
mjr	38:091e511ce8a0	4426	{
mjr	38:091e511ce8a0	4427	jsOKTimer.reset();
mjr	38:091e511ce8a0	4428	jsOKTimer.start();
mjr	21:5048e16cc9ef	4429	}
mjr	21:5048e16cc9ef	4430
mjr	6:cc35eb643e8f	4431	#ifdef DEBUG_PRINTF
mjr	6:cc35eb643e8f	4432	if (x != 0 \|\| y != 0)
mjr	6:cc35eb643e8f	4433	printf("%d,%d\r\n", x, y);
mjr	6:cc35eb643e8f	4434	#endif
mjr	6:cc35eb643e8f	4435
mjr	33:d832bcab089e	4436	// check for connection status changes
mjr	54:fd77a6b2f76c	4437	bool newConnected = js.isConnected() && !js.isSleeping();
mjr	33:d832bcab089e	4438	if (newConnected != connected)
mjr	33:d832bcab089e	4439	{
mjr	54:fd77a6b2f76c	4440	// give it a moment to stabilize
mjr	40:cc0d9814522b	4441	connectChangeTimer.start();
mjr	55:4db125cd11a0	4442	if (connectChangeTimer.read_us() > 1000000)
mjr	33:d832bcab089e	4443	{
mjr	33:d832bcab089e	4444	// note the new status
mjr	33:d832bcab089e	4445	connected = newConnected;
mjr	40:cc0d9814522b	4446
mjr	40:cc0d9814522b	4447	// done with the change timer for this round - reset it for next time
mjr	40:cc0d9814522b	4448	connectChangeTimer.stop();
mjr	40:cc0d9814522b	4449	connectChangeTimer.reset();
mjr	33:d832bcab089e	4450
mjr	54:fd77a6b2f76c	4451	// if we're newly disconnected, clean up for PC suspend mode or power off
mjr	54:fd77a6b2f76c	4452	if (!connected)
mjr	40:cc0d9814522b	4453	{
mjr	54:fd77a6b2f76c	4454	// turn off all outputs
mjr	33:d832bcab089e	4455	allOutputsOff();
mjr	40:cc0d9814522b	4456
mjr	40:cc0d9814522b	4457	// The KL25Z runs off of USB power, so we might (depending on the PC
mjr	40:cc0d9814522b	4458	// and OS configuration) continue to receive power even when the main
mjr	40:cc0d9814522b	4459	// PC power supply is turned off, such as in soft-off or suspend/sleep
mjr	40:cc0d9814522b	4460	// mode. Any external output controller chips (TLC5940, 74HC595) might
mjr	40:cc0d9814522b	4461	// be powered from the PC power supply directly rather than from our
mjr	40:cc0d9814522b	4462	// USB power, so they might be powered off even when we're still running.
mjr	40:cc0d9814522b	4463	// To ensure cleaner startup when the power comes back on, globally
mjr	40:cc0d9814522b	4464	// disable the outputs. The global disable signals come from GPIO lines
mjr	40:cc0d9814522b	4465	// that remain powered as long as the KL25Z is powered, so these modes
mjr	40:cc0d9814522b	4466	// will apply smoothly across power state transitions in the external
mjr	40:cc0d9814522b	4467	// hardware. That is, when the external chips are powered up, they'll
mjr	40:cc0d9814522b	4468	// see the global disable signals as stable voltage inputs immediately,
mjr	40:cc0d9814522b	4469	// which will cause them to suppress any output triggering. This ensures
mjr	40:cc0d9814522b	4470	// that we don't fire any solenoids or flash any lights spuriously when
mjr	40:cc0d9814522b	4471	// the power first comes on.
mjr	40:cc0d9814522b	4472	if (tlc5940 != 0)
mjr	40:cc0d9814522b	4473	tlc5940->enable(false);
mjr	40:cc0d9814522b	4474	if (hc595 != 0)
mjr	40:cc0d9814522b	4475	hc595->enable(false);
mjr	40:cc0d9814522b	4476	}
mjr	33:d832bcab089e	4477	}
mjr	33:d832bcab089e	4478	}
mjr	48:058ace2aed1d	4479
mjr	53:9b2611964afc	4480	// if we have a reboot timer pending, check for completion
mjr	53:9b2611964afc	4481	if (rebootTimer.isRunning() && rebootTimer.read_us() > rebootTime_us)
mjr	53:9b2611964afc	4482	reboot(js);
mjr	53:9b2611964afc	4483
mjr	48:058ace2aed1d	4484	// if we're disconnected, initiate a new connection
mjr	51:57eb311faafa	4485	if (!connected)
mjr	48:058ace2aed1d	4486	{
mjr	54:fd77a6b2f76c	4487	// show USB HAL debug events
mjr	54:fd77a6b2f76c	4488	extern void HAL_DEBUG_PRINTEVENTS(const char *prefix);
mjr	54:fd77a6b2f76c	4489	HAL_DEBUG_PRINTEVENTS(">DISC");
mjr	54:fd77a6b2f76c	4490
mjr	54:fd77a6b2f76c	4491	// show immediate diagnostic feedback
mjr	54:fd77a6b2f76c	4492	js.diagFlash();
mjr	54:fd77a6b2f76c	4493
mjr	54:fd77a6b2f76c	4494	// clear any previous diagnostic LED display
mjr	54:fd77a6b2f76c	4495	diagLED(0, 0, 0);
mjr	51:57eb311faafa	4496
mjr	51:57eb311faafa	4497	// set up a timer to monitor the reboot timeout
mjr	51:57eb311faafa	4498	Timer rebootTimer;
mjr	51:57eb311faafa	4499	rebootTimer.start();
mjr	48:058ace2aed1d	4500
mjr	54:fd77a6b2f76c	4501	// set up a timer for diagnostic displays
mjr	54:fd77a6b2f76c	4502	Timer diagTimer;
mjr	54:fd77a6b2f76c	4503	diagTimer.reset();
mjr	54:fd77a6b2f76c	4504	diagTimer.start();
mjr	54:fd77a6b2f76c	4505
mjr	54:fd77a6b2f76c	4506	// loop until we get our connection back
mjr	54:fd77a6b2f76c	4507	while (!js.isConnected() \|\| js.isSleeping())
mjr	51:57eb311faafa	4508	{
mjr	54:fd77a6b2f76c	4509	// try to recover the connection
mjr	54:fd77a6b2f76c	4510	js.recoverConnection();
mjr	54:fd77a6b2f76c	4511
mjr	55:4db125cd11a0	4512	// send TLC5940 data if necessary
mjr	55:4db125cd11a0	4513	if (tlc5940 != 0)
mjr	55:4db125cd11a0	4514	tlc5940->send();
mjr	55:4db125cd11a0	4515
mjr	54:fd77a6b2f76c	4516	// show a diagnostic flash every couple of seconds
mjr	54:fd77a6b2f76c	4517	if (diagTimer.read_us() > 2000000)
mjr	51:57eb311faafa	4518	{
mjr	54:fd77a6b2f76c	4519	// flush the USB HAL debug events, if in debug mode
mjr	54:fd77a6b2f76c	4520	HAL_DEBUG_PRINTEVENTS(">NC");
mjr	54:fd77a6b2f76c	4521
mjr	54:fd77a6b2f76c	4522	// show diagnostic feedback
mjr	54:fd77a6b2f76c	4523	js.diagFlash();
mjr	51:57eb311faafa	4524
mjr	51:57eb311faafa	4525	// reset the flash timer
mjr	54:fd77a6b2f76c	4526	diagTimer.reset();
mjr	51:57eb311faafa	4527	}
mjr	51:57eb311faafa	4528
mjr	51:57eb311faafa	4529	// if the disconnect reboot timeout has expired, reboot
mjr	51:57eb311faafa	4530	if (cfg.disconnectRebootTimeout != 0
mjr	51:57eb311faafa	4531	&& rebootTimer.read() > cfg.disconnectRebootTimeout)
mjr	54:fd77a6b2f76c	4532	reboot(js, false, 0);
mjr	54:fd77a6b2f76c	4533	}
mjr	54:fd77a6b2f76c	4534
mjr	54:fd77a6b2f76c	4535	// if we made it out of that loop alive, we're connected again!
mjr	54:fd77a6b2f76c	4536	connected = true;
mjr	54:fd77a6b2f76c	4537	HAL_DEBUG_PRINTEVENTS(">C");
mjr	54:fd77a6b2f76c	4538
mjr	54:fd77a6b2f76c	4539	// Enable peripheral chips and update them with current output data
mjr	54:fd77a6b2f76c	4540	if (tlc5940 != 0)
mjr	54:fd77a6b2f76c	4541	{
mjr	55:4db125cd11a0	4542	tlc5940->enable(true);
mjr	54:fd77a6b2f76c	4543	tlc5940->update(true);
mjr	54:fd77a6b2f76c	4544	}
mjr	54:fd77a6b2f76c	4545	if (hc595 != 0)
mjr	54:fd77a6b2f76c	4546	{
mjr	55:4db125cd11a0	4547	hc595->enable(true);
mjr	54:fd77a6b2f76c	4548	hc595->update(true);
mjr	51:57eb311faafa	4549	}
mjr	48:058ace2aed1d	4550	}
mjr	43:7a6364d82a41	4551
mjr	6:cc35eb643e8f	4552	// provide a visual status indication on the on-board LED
mjr	48:058ace2aed1d	4553	if (calBtnState < 2 && hbTimer.read_us() > 1000000)
mjr	1:d913e0afb2ac	4554	{
mjr	54:fd77a6b2f76c	4555	if (jsOKTimer.read_us() > 1000000)
mjr	38:091e511ce8a0	4556	{
mjr	39:b3815a1c3802	4557	// USB freeze - show red/yellow.
mjr	40:cc0d9814522b	4558	//
mjr	54:fd77a6b2f76c	4559	// It's been more than a second since we successfully sent a joystick
mjr	54:fd77a6b2f76c	4560	// update message. This must mean that something's wrong on the USB
mjr	54:fd77a6b2f76c	4561	// connection, even though we haven't detected an outright disconnect.
mjr	54:fd77a6b2f76c	4562	// Show a distinctive diagnostic LED pattern when this occurs.
mjr	38:091e511ce8a0	4563	hb = !hb;
mjr	38:091e511ce8a0	4564	diagLED(1, hb, 0);
mjr	54:fd77a6b2f76c	4565
mjr	54:fd77a6b2f76c	4566	// If the reboot-on-disconnect option is in effect, treat this condition
mjr	54:fd77a6b2f76c	4567	// as equivalent to a disconnect, since something is obviously wrong
mjr	54:fd77a6b2f76c	4568	// with the USB connection.
mjr	54:fd77a6b2f76c	4569	if (cfg.disconnectRebootTimeout != 0)
mjr	54:fd77a6b2f76c	4570	{
mjr	54:fd77a6b2f76c	4571	// The reboot timeout is in effect. If we've been incommunicado for
mjr	54:fd77a6b2f76c	4572	// longer than the timeout, reboot. If we haven't reached the time
mjr	54:fd77a6b2f76c	4573	// limit, keep running for now, and leave the OK timer running so
mjr	54:fd77a6b2f76c	4574	// that we can continue to monitor this.
mjr	54:fd77a6b2f76c	4575	if (jsOKTimer.read() > cfg.disconnectRebootTimeout)
mjr	54:fd77a6b2f76c	4576	reboot(js, false, 0);
mjr	54:fd77a6b2f76c	4577	}
mjr	54:fd77a6b2f76c	4578	else
mjr	54:fd77a6b2f76c	4579	{
mjr	54:fd77a6b2f76c	4580	// There's no reboot timer, so just keep running with the diagnostic
mjr	54:fd77a6b2f76c	4581	// pattern displayed. Since we're not waiting for any other timed
mjr	54:fd77a6b2f76c	4582	// conditions in this state, stop the timer so that it doesn't
mjr	54:fd77a6b2f76c	4583	// overflow if this condition persists for a long time.
mjr	54:fd77a6b2f76c	4584	jsOKTimer.stop();
mjr	54:fd77a6b2f76c	4585	}
mjr	38:091e511ce8a0	4586	}
mjr	35:e959ffba78fd	4587	else if (cfg.plunger.enabled && !cfg.plunger.cal.calibrated)
mjr	6:cc35eb643e8f	4588	{
mjr	6:cc35eb643e8f	4589	// connected, plunger calibration needed - flash yellow/green
mjr	6:cc35eb643e8f	4590	hb = !hb;
mjr	38:091e511ce8a0	4591	diagLED(hb, 1, 0);
mjr	6:cc35eb643e8f	4592	}
mjr	6:cc35eb643e8f	4593	else
mjr	6:cc35eb643e8f	4594	{
mjr	6:cc35eb643e8f	4595	// connected - flash blue/green
mjr	2:c174f9ee414a	4596	hb = !hb;
mjr	38:091e511ce8a0	4597	diagLED(0, hb, !hb);
mjr	2:c174f9ee414a	4598	}
mjr	1:d913e0afb2ac	4599
mjr	1:d913e0afb2ac	4600	// reset the heartbeat timer
mjr	1:d913e0afb2ac	4601	hbTimer.reset();
mjr	5:a70c0bce770d	4602	++hbcnt;
mjr	1:d913e0afb2ac	4603	}
mjr	1:d913e0afb2ac	4604	}
mjr	0:5acbbe3f4cf4	4605	}

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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@60:f38da020aa13, 2016-05-13 (annotated)

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