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@54:fd77a6b2f76c, 2016-04-30 (annotated)

Committer:: mjr
Date:: Sat Apr 30 17:43:38 2016 +0000
Revision:: 54:fd77a6b2f76c
Parent:: 53:9b2611964afc
Child:: 55:4db125cd11a0

TLC5940 with SPI DMA setup in interrupt handler (not quite working)

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	48:058ace2aed1d	279	// Custom memory allocator. We use our own version of malloc() to provide
mjr	48:058ace2aed1d	280	// diagnostics if we run out of heap.
mjr	48:058ace2aed1d	281	//
mjr	48:058ace2aed1d	282	void *xmalloc(size_t siz)
mjr	48:058ace2aed1d	283	{
mjr	48:058ace2aed1d	284	// allocate through the normal library malloc; if that succeeds,
mjr	48:058ace2aed1d	285	// simply return the pointer we got from malloc
mjr	48:058ace2aed1d	286	void *ptr = malloc(siz);
mjr	48:058ace2aed1d	287	if (ptr != 0)
mjr	48:058ace2aed1d	288	return ptr;
mjr	48:058ace2aed1d	289
mjr	48:058ace2aed1d	290	// failed - display diagnostics
mjr	48:058ace2aed1d	291	for (;;)
mjr	48:058ace2aed1d	292	{
mjr	48:058ace2aed1d	293	diagLED(1, 0, 0);
mjr	54:fd77a6b2f76c	294	wait_us(200000);
mjr	48:058ace2aed1d	295	diagLED(1, 0, 1);
mjr	54:fd77a6b2f76c	296	wait_us(200000);
mjr	48:058ace2aed1d	297	}
mjr	48:058ace2aed1d	298	}
mjr	48:058ace2aed1d	299
mjr	48:058ace2aed1d	300	// overload operator new to call our custom malloc
mjr	48:058ace2aed1d	301	void *operator new(size_t siz) { return xmalloc(siz); }
mjr	48:058ace2aed1d	302	void *operator new[](size_t siz) { return xmalloc(siz); }
mjr	5:a70c0bce770d	303
mjr	5:a70c0bce770d	304	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	305	//
mjr	38:091e511ce8a0	306	// Forward declarations
mjr	38:091e511ce8a0	307	//
mjr	38:091e511ce8a0	308	void setNightMode(bool on);
mjr	38:091e511ce8a0	309	void toggleNightMode();
mjr	38:091e511ce8a0	310
mjr	38:091e511ce8a0	311	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	312	// utilities
mjr	17:ab3cec0c8bf4	313
mjr	26:cb71c4af2912	314	// floating point square of a number
mjr	26:cb71c4af2912	315	inline float square(float x) { return x*x; }
mjr	26:cb71c4af2912	316
mjr	26:cb71c4af2912	317	// floating point rounding
mjr	26:cb71c4af2912	318	inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); }
mjr	26:cb71c4af2912	319
mjr	17:ab3cec0c8bf4	320
mjr	33:d832bcab089e	321	// --------------------------------------------------------------------------
mjr	33:d832bcab089e	322	//
mjr	40:cc0d9814522b	323	// Extended verison of Timer class. This adds the ability to interrogate
mjr	40:cc0d9814522b	324	// the running state.
mjr	40:cc0d9814522b	325	//
mjr	40:cc0d9814522b	326	class Timer2: public Timer
mjr	40:cc0d9814522b	327	{
mjr	40:cc0d9814522b	328	public:
mjr	40:cc0d9814522b	329	Timer2() : running(false) { }
mjr	40:cc0d9814522b	330
mjr	40:cc0d9814522b	331	void start() { running = true; Timer::start(); }
mjr	40:cc0d9814522b	332	void stop() { running = false; Timer::stop(); }
mjr	40:cc0d9814522b	333
mjr	40:cc0d9814522b	334	bool isRunning() const { return running; }
mjr	40:cc0d9814522b	335
mjr	40:cc0d9814522b	336	private:
mjr	40:cc0d9814522b	337	bool running;
mjr	40:cc0d9814522b	338	};
mjr	40:cc0d9814522b	339
mjr	53:9b2611964afc	340
mjr	53:9b2611964afc	341	// --------------------------------------------------------------------------
mjr	53:9b2611964afc	342	//
mjr	53:9b2611964afc	343	// Reboot timer. When we have a deferred reboot operation pending, we
mjr	53:9b2611964afc	344	// set the target time and start the timer.
mjr	53:9b2611964afc	345	Timer2 rebootTimer;
mjr	53:9b2611964afc	346	long rebootTime_us;
mjr	53:9b2611964afc	347
mjr	40:cc0d9814522b	348	// --------------------------------------------------------------------------
mjr	40:cc0d9814522b	349	//
mjr	33:d832bcab089e	350	// USB product version number
mjr	5:a70c0bce770d	351	//
mjr	47:df7a88cd249c	352	const uint16_t USB_VERSION_NO = 0x000A;
mjr	33:d832bcab089e	353
mjr	33:d832bcab089e	354	// --------------------------------------------------------------------------
mjr	33:d832bcab089e	355	//
mjr	6:cc35eb643e8f	356	// Joystick axis report range - we report from -JOYMAX to +JOYMAX
mjr	33:d832bcab089e	357	//
mjr	6:cc35eb643e8f	358	#define JOYMAX 4096
mjr	6:cc35eb643e8f	359
mjr	9:fd65b0a94720	360
mjr	17:ab3cec0c8bf4	361	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	362	//
mjr	40:cc0d9814522b	363	// Wire protocol value translations. These translate byte values to and
mjr	40:cc0d9814522b	364	// from the USB protocol to local native format.
mjr	35:e959ffba78fd	365	//
mjr	35:e959ffba78fd	366
mjr	35:e959ffba78fd	367	// unsigned 16-bit integer
mjr	35:e959ffba78fd	368	inline uint16_t wireUI16(const uint8_t *b)
mjr	35:e959ffba78fd	369	{
mjr	35:e959ffba78fd	370	return b[0] \| ((uint16_t)b[1] << 8);
mjr	35:e959ffba78fd	371	}
mjr	40:cc0d9814522b	372	inline void ui16Wire(uint8_t *b, uint16_t val)
mjr	40:cc0d9814522b	373	{
mjr	40:cc0d9814522b	374	b[0] = (uint8_t)(val & 0xff);
mjr	40:cc0d9814522b	375	b[1] = (uint8_t)((val >> 8) & 0xff);
mjr	40:cc0d9814522b	376	}
mjr	35:e959ffba78fd	377
mjr	35:e959ffba78fd	378	inline int16_t wireI16(const uint8_t *b)
mjr	35:e959ffba78fd	379	{
mjr	35:e959ffba78fd	380	return (int16_t)wireUI16(b);
mjr	35:e959ffba78fd	381	}
mjr	40:cc0d9814522b	382	inline void i16Wire(uint8_t *b, int16_t val)
mjr	40:cc0d9814522b	383	{
mjr	40:cc0d9814522b	384	ui16Wire(b, (uint16_t)val);
mjr	40:cc0d9814522b	385	}
mjr	35:e959ffba78fd	386
mjr	35:e959ffba78fd	387	inline uint32_t wireUI32(const uint8_t *b)
mjr	35:e959ffba78fd	388	{
mjr	35:e959ffba78fd	389	return b[0] \| ((uint32_t)b[1] << 8) \| ((uint32_t)b[2] << 16) \| ((uint32_t)b[3] << 24);
mjr	35:e959ffba78fd	390	}
mjr	40:cc0d9814522b	391	inline void ui32Wire(uint8_t *b, uint32_t val)
mjr	40:cc0d9814522b	392	{
mjr	40:cc0d9814522b	393	b[0] = (uint8_t)(val & 0xff);
mjr	40:cc0d9814522b	394	b[1] = (uint8_t)((val >> 8) & 0xff);
mjr	40:cc0d9814522b	395	b[2] = (uint8_t)((val >> 16) & 0xff);
mjr	40:cc0d9814522b	396	b[3] = (uint8_t)((val >> 24) & 0xff);
mjr	40:cc0d9814522b	397	}
mjr	35:e959ffba78fd	398
mjr	35:e959ffba78fd	399	inline int32_t wireI32(const uint8_t *b)
mjr	35:e959ffba78fd	400	{
mjr	35:e959ffba78fd	401	return (int32_t)wireUI32(b);
mjr	35:e959ffba78fd	402	}
mjr	35:e959ffba78fd	403
mjr	53:9b2611964afc	404	// Convert "wire" (USB) pin codes to/from PinName values.
mjr	53:9b2611964afc	405	//
mjr	53:9b2611964afc	406	// The internal mbed PinName format is
mjr	53:9b2611964afc	407	//
mjr	53:9b2611964afc	408	// ((port) << PORT_SHIFT) \| (pin << 2) // MBED FORMAT
mjr	53:9b2611964afc	409	//
mjr	53:9b2611964afc	410	// where 'port' is 0-4 for Port A to Port E, and 'pin' is
mjr	53:9b2611964afc	411	// 0 to 31. E.g., E31 is (4 << PORT_SHIFT) \| (31<<2).
mjr	53:9b2611964afc	412	//
mjr	53:9b2611964afc	413	// We remap this to our more compact wire format where each
mjr	53:9b2611964afc	414	// pin name fits in 8 bits:
mjr	53:9b2611964afc	415	//
mjr	53:9b2611964afc	416	// ((port) << 5) \| pin) // WIRE FORMAT
mjr	53:9b2611964afc	417	//
mjr	53:9b2611964afc	418	// E.g., E31 is (4 << 5) \| 31.
mjr	53:9b2611964afc	419	//
mjr	53:9b2611964afc	420	// Wire code FF corresponds to PinName NC (not connected).
mjr	53:9b2611964afc	421	//
mjr	53:9b2611964afc	422	inline PinName wirePinName(uint8_t c)
mjr	35:e959ffba78fd	423	{
mjr	53:9b2611964afc	424	if (c == 0xFF)
mjr	53:9b2611964afc	425	return NC; // 0xFF -> NC
mjr	53:9b2611964afc	426	else
mjr	53:9b2611964afc	427	return PinName(
mjr	53:9b2611964afc	428	(int(c & 0xE0) << (PORT_SHIFT - 5)) // top three bits are the port
mjr	53:9b2611964afc	429	\| (int(c & 0x1F) << 2)); // bottom five bits are pin
mjr	40:cc0d9814522b	430	}
mjr	40:cc0d9814522b	431	inline void pinNameWire(uint8_t *b, PinName n)
mjr	40:cc0d9814522b	432	{
mjr	53:9b2611964afc	433	*b = PINNAME_TO_WIRE(n);
mjr	35:e959ffba78fd	434	}
mjr	35:e959ffba78fd	435
mjr	35:e959ffba78fd	436
mjr	35:e959ffba78fd	437	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	438	//
mjr	38:091e511ce8a0	439	// On-board RGB LED elements - we use these for diagnostic displays.
mjr	38:091e511ce8a0	440	//
mjr	38:091e511ce8a0	441	// Note that LED3 (the blue segment) is hard-wired on the KL25Z to PTD1,
mjr	38:091e511ce8a0	442	// so PTD1 shouldn't be used for any other purpose (e.g., as a keyboard
mjr	38:091e511ce8a0	443	// input or a device output). This is kind of unfortunate in that it's
mjr	38:091e511ce8a0	444	// one of only two ports exposed on the jumper pins that can be muxed to
mjr	38:091e511ce8a0	445	// SPI0 SCLK. This effectively limits us to PTC5 if we want to use the
mjr	38:091e511ce8a0	446	// SPI capability.
mjr	38:091e511ce8a0	447	//
mjr	38:091e511ce8a0	448	DigitalOut ledR, ledG, *ledB;
mjr	38:091e511ce8a0	449
mjr	38:091e511ce8a0	450	// Show the indicated pattern on the diagnostic LEDs. 0 is off, 1 is
mjr	38:091e511ce8a0	451	// on, and -1 is no change (leaves the current setting intact).
mjr	38:091e511ce8a0	452	void diagLED(int r, int g, int b)
mjr	38:091e511ce8a0	453	{
mjr	38:091e511ce8a0	454	if (ledR != 0 && r != -1) ledR->write(!r);
mjr	38:091e511ce8a0	455	if (ledG != 0 && g != -1) ledG->write(!g);
mjr	38:091e511ce8a0	456	if (ledB != 0 && b != -1) ledB->write(!b);
mjr	38:091e511ce8a0	457	}
mjr	38:091e511ce8a0	458
mjr	38:091e511ce8a0	459	// check an output port assignment to see if it conflicts with
mjr	38:091e511ce8a0	460	// an on-board LED segment
mjr	38:091e511ce8a0	461	struct LedSeg
mjr	38:091e511ce8a0	462	{
mjr	38:091e511ce8a0	463	bool r, g, b;
mjr	38:091e511ce8a0	464	LedSeg() { r = g = b = false; }
mjr	38:091e511ce8a0	465
mjr	38:091e511ce8a0	466	void check(LedWizPortCfg &pc)
mjr	38:091e511ce8a0	467	{
mjr	38:091e511ce8a0	468	// if it's a GPIO, check to see if it's assigned to one of
mjr	38:091e511ce8a0	469	// our on-board LED segments
mjr	38:091e511ce8a0	470	int t = pc.typ;
mjr	38:091e511ce8a0	471	if (t == PortTypeGPIOPWM \|\| t == PortTypeGPIODig)
mjr	38:091e511ce8a0	472	{
mjr	38:091e511ce8a0	473	// it's a GPIO port - check for a matching pin assignment
mjr	38:091e511ce8a0	474	PinName pin = wirePinName(pc.pin);
mjr	38:091e511ce8a0	475	if (pin == LED1)
mjr	38:091e511ce8a0	476	r = true;
mjr	38:091e511ce8a0	477	else if (pin == LED2)
mjr	38:091e511ce8a0	478	g = true;
mjr	38:091e511ce8a0	479	else if (pin == LED3)
mjr	38:091e511ce8a0	480	b = true;
mjr	38:091e511ce8a0	481	}
mjr	38:091e511ce8a0	482	}
mjr	38:091e511ce8a0	483	};
mjr	38:091e511ce8a0	484
mjr	38:091e511ce8a0	485	// Initialize the diagnostic LEDs. By default, we use the on-board
mjr	38:091e511ce8a0	486	// RGB LED to display the microcontroller status. However, we allow
mjr	38:091e511ce8a0	487	// the user to commandeer the on-board LED as an LedWiz output device,
mjr	38:091e511ce8a0	488	// which can be useful for testing a new installation. So we'll check
mjr	38:091e511ce8a0	489	// for LedWiz outputs assigned to the on-board LED segments, and turn
mjr	38:091e511ce8a0	490	// off the diagnostic use for any so assigned.
mjr	38:091e511ce8a0	491	void initDiagLEDs(Config &cfg)
mjr	38:091e511ce8a0	492	{
mjr	38:091e511ce8a0	493	// run through the configuration list and cross off any of the
mjr	38:091e511ce8a0	494	// LED segments assigned to LedWiz ports
mjr	38:091e511ce8a0	495	LedSeg l;
mjr	38:091e511ce8a0	496	for (int i = 0 ; i < MAX_OUT_PORTS && cfg.outPort[i].typ != PortTypeDisabled ; ++i)
mjr	38:091e511ce8a0	497	l.check(cfg.outPort[i]);
mjr	38:091e511ce8a0	498
mjr	38:091e511ce8a0	499	// We now know which segments are taken for LedWiz use and which
mjr	38:091e511ce8a0	500	// are free. Create diagnostic ports for the ones not claimed for
mjr	38:091e511ce8a0	501	// LedWiz use.
mjr	38:091e511ce8a0	502	if (!l.r) ledR = new DigitalOut(LED1, 1);
mjr	38:091e511ce8a0	503	if (!l.g) ledG = new DigitalOut(LED2, 1);
mjr	38:091e511ce8a0	504	if (!l.b) ledB = new DigitalOut(LED3, 1);
mjr	38:091e511ce8a0	505	}
mjr	38:091e511ce8a0	506
mjr	38:091e511ce8a0	507
mjr	38:091e511ce8a0	508	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	509	//
mjr	29:582472d0bc57	510	// LedWiz emulation, and enhanced TLC5940 output controller
mjr	5:a70c0bce770d	511	//
mjr	26:cb71c4af2912	512	// There are two modes for this feature. The default mode uses the on-board
mjr	26:cb71c4af2912	513	// GPIO ports to implement device outputs - each LedWiz software port is
mjr	26:cb71c4af2912	514	// connected to a physical GPIO pin on the KL25Z. The KL25Z only has 10
mjr	26:cb71c4af2912	515	// PWM channels, so in this mode only 10 LedWiz ports will be dimmable; the
mjr	26:cb71c4af2912	516	// rest are strictly on/off. The KL25Z also has a limited number of GPIO
mjr	26:cb71c4af2912	517	// ports overall - not enough for the full complement of 32 LedWiz ports
mjr	26:cb71c4af2912	518	// and 24 VP joystick inputs, so it's necessary to trade one against the
mjr	26:cb71c4af2912	519	// other if both features are to be used.
mjr	26:cb71c4af2912	520	//
mjr	26:cb71c4af2912	521	// The alternative, enhanced mode uses external TLC5940 PWM controller
mjr	26:cb71c4af2912	522	// chips to control device outputs. In this mode, each LedWiz software
mjr	26:cb71c4af2912	523	// port is mapped to an output on one of the external TLC5940 chips.
mjr	26:cb71c4af2912	524	// Two 5940s is enough for the full set of 32 LedWiz ports, and we can
mjr	26:cb71c4af2912	525	// support even more chips for even more outputs (although doing so requires
mjr	26:cb71c4af2912	526	// breaking LedWiz compatibility, since the LedWiz USB protocol is hardwired
mjr	26:cb71c4af2912	527	// for 32 outputs). Every port in this mode has full PWM support.
mjr	26:cb71c4af2912	528	//
mjr	5:a70c0bce770d	529
mjr	29:582472d0bc57	530
mjr	26:cb71c4af2912	531	// Current starting output index for "PBA" messages from the PC (using
mjr	26:cb71c4af2912	532	// the LedWiz USB protocol). Each PBA message implicitly uses the
mjr	26:cb71c4af2912	533	// current index as the starting point for the ports referenced in
mjr	26:cb71c4af2912	534	// the message, and increases it (by 8) for the next call.
mjr	0:5acbbe3f4cf4	535	static int pbaIdx = 0;
mjr	0:5acbbe3f4cf4	536
mjr	26:cb71c4af2912	537	// Generic LedWiz output port interface. We create a cover class to
mjr	26:cb71c4af2912	538	// virtualize digital vs PWM outputs, and on-board KL25Z GPIO vs external
mjr	26:cb71c4af2912	539	// TLC5940 outputs, and give them all a common interface.
mjr	6:cc35eb643e8f	540	class LwOut
mjr	6:cc35eb643e8f	541	{
mjr	6:cc35eb643e8f	542	public:
mjr	40:cc0d9814522b	543	// Set the output intensity. 'val' is 0 for fully off, 255 for
mjr	40:cc0d9814522b	544	// fully on, with values in between signifying lower intensity.
mjr	40:cc0d9814522b	545	virtual void set(uint8_t val) = 0;
mjr	6:cc35eb643e8f	546	};
mjr	26:cb71c4af2912	547
mjr	35:e959ffba78fd	548	// LwOut class for virtual ports. This type of port is visible to
mjr	35:e959ffba78fd	549	// the host software, but isn't connected to any physical output.
mjr	35:e959ffba78fd	550	// This can be used for special software-only ports like the ZB
mjr	35:e959ffba78fd	551	// Launch Ball output, or simply for placeholders in the LedWiz port
mjr	35:e959ffba78fd	552	// numbering.
mjr	35:e959ffba78fd	553	class LwVirtualOut: public LwOut
mjr	33:d832bcab089e	554	{
mjr	33:d832bcab089e	555	public:
mjr	35:e959ffba78fd	556	LwVirtualOut() { }
mjr	40:cc0d9814522b	557	virtual void set(uint8_t ) { }
mjr	33:d832bcab089e	558	};
mjr	26:cb71c4af2912	559
mjr	34:6b981a2afab7	560	// Active Low out. For any output marked as active low, we layer this
mjr	34:6b981a2afab7	561	// on top of the physical pin interface. This simply inverts the value of
mjr	40:cc0d9814522b	562	// the output value, so that 255 means fully off and 0 means fully on.
mjr	34:6b981a2afab7	563	class LwInvertedOut: public LwOut
mjr	34:6b981a2afab7	564	{
mjr	34:6b981a2afab7	565	public:
mjr	34:6b981a2afab7	566	LwInvertedOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	567	virtual void set(uint8_t val) { out->set(255 - val); }
mjr	34:6b981a2afab7	568
mjr	34:6b981a2afab7	569	private:
mjr	53:9b2611964afc	570	// underlying physical output
mjr	34:6b981a2afab7	571	LwOut *out;
mjr	34:6b981a2afab7	572	};
mjr	34:6b981a2afab7	573
mjr	53:9b2611964afc	574	// Global ZB Launch Ball state
mjr	53:9b2611964afc	575	bool zbLaunchOn = false;
mjr	53:9b2611964afc	576
mjr	53:9b2611964afc	577	// ZB Launch Ball output. This is layered on a port (physical or virtual)
mjr	53:9b2611964afc	578	// to track the ZB Launch Ball signal.
mjr	53:9b2611964afc	579	class LwZbLaunchOut: public LwOut
mjr	53:9b2611964afc	580	{
mjr	53:9b2611964afc	581	public:
mjr	53:9b2611964afc	582	LwZbLaunchOut(LwOut *o) : out(o) { }
mjr	53:9b2611964afc	583	virtual void set(uint8_t val)
mjr	53:9b2611964afc	584	{
mjr	53:9b2611964afc	585	// update the global ZB Launch Ball state
mjr	53:9b2611964afc	586	zbLaunchOn = (val != 0);
mjr	53:9b2611964afc	587
mjr	53:9b2611964afc	588	// pass it along to the underlying port, in case it's a physical output
mjr	53:9b2611964afc	589	out->set(val);
mjr	53:9b2611964afc	590	}
mjr	53:9b2611964afc	591
mjr	53:9b2611964afc	592	private:
mjr	53:9b2611964afc	593	// underlying physical or virtual output
mjr	53:9b2611964afc	594	LwOut *out;
mjr	53:9b2611964afc	595	};
mjr	53:9b2611964afc	596
mjr	53:9b2611964afc	597
mjr	40:cc0d9814522b	598	// Gamma correction table for 8-bit input values
mjr	40:cc0d9814522b	599	static const uint8_t gamma[] = {
mjr	40:cc0d9814522b	600	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
mjr	40:cc0d9814522b	601	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1,
mjr	40:cc0d9814522b	602	1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2,
mjr	40:cc0d9814522b	603	2, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 5, 5, 5,
mjr	40:cc0d9814522b	604	5, 6, 6, 6, 6, 7, 7, 7, 7, 8, 8, 8, 9, 9, 9, 10,
mjr	40:cc0d9814522b	605	10, 10, 11, 11, 11, 12, 12, 13, 13, 13, 14, 14, 15, 15, 16, 16,
mjr	40:cc0d9814522b	606	17, 17, 18, 18, 19, 19, 20, 20, 21, 21, 22, 22, 23, 24, 24, 25,
mjr	40:cc0d9814522b	607	25, 26, 27, 27, 28, 29, 29, 30, 31, 32, 32, 33, 34, 35, 35, 36,
mjr	40:cc0d9814522b	608	37, 38, 39, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 50,
mjr	40:cc0d9814522b	609	51, 52, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 66, 67, 68,
mjr	40:cc0d9814522b	610	69, 70, 72, 73, 74, 75, 77, 78, 79, 81, 82, 83, 85, 86, 87, 89,
mjr	40:cc0d9814522b	611	90, 92, 93, 95, 96, 98, 99, 101, 102, 104, 105, 107, 109, 110, 112, 114,
mjr	40:cc0d9814522b	612	115, 117, 119, 120, 122, 124, 126, 127, 129, 131, 133, 135, 137, 138, 140, 142,
mjr	40:cc0d9814522b	613	144, 146, 148, 150, 152, 154, 156, 158, 160, 162, 164, 167, 169, 171, 173, 175,
mjr	40:cc0d9814522b	614	177, 180, 182, 184, 186, 189, 191, 193, 196, 198, 200, 203, 205, 208, 210, 213,
mjr	40:cc0d9814522b	615	215, 218, 220, 223, 225, 228, 231, 233, 236, 239, 241, 244, 247, 249, 252, 255
mjr	40:cc0d9814522b	616	};
mjr	40:cc0d9814522b	617
mjr	40:cc0d9814522b	618	// Gamma-corrected out. This is a filter object that we layer on top
mjr	40:cc0d9814522b	619	// of a physical pin interface. This applies gamma correction to the
mjr	40:cc0d9814522b	620	// input value and then passes it along to the underlying pin object.
mjr	40:cc0d9814522b	621	class LwGammaOut: public LwOut
mjr	40:cc0d9814522b	622	{
mjr	40:cc0d9814522b	623	public:
mjr	40:cc0d9814522b	624	LwGammaOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	625	virtual void set(uint8_t val) { out->set(gamma[val]); }
mjr	40:cc0d9814522b	626
mjr	40:cc0d9814522b	627	private:
mjr	40:cc0d9814522b	628	LwOut *out;
mjr	40:cc0d9814522b	629	};
mjr	40:cc0d9814522b	630
mjr	53:9b2611964afc	631	// global night mode flag
mjr	53:9b2611964afc	632	static bool nightMode = false;
mjr	53:9b2611964afc	633
mjr	40:cc0d9814522b	634	// Noisy output. This is a filter object that we layer on top of
mjr	40:cc0d9814522b	635	// a physical pin output. This filter disables the port when night
mjr	40:cc0d9814522b	636	// mode is engaged.
mjr	40:cc0d9814522b	637	class LwNoisyOut: public LwOut
mjr	40:cc0d9814522b	638	{
mjr	40:cc0d9814522b	639	public:
mjr	40:cc0d9814522b	640	LwNoisyOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	641	virtual void set(uint8_t val) { out->set(nightMode ? 0 : val); }
mjr	40:cc0d9814522b	642
mjr	53:9b2611964afc	643	private:
mjr	53:9b2611964afc	644	LwOut *out;
mjr	53:9b2611964afc	645	};
mjr	53:9b2611964afc	646
mjr	53:9b2611964afc	647	// Night Mode indicator output. This is a filter object that we
mjr	53:9b2611964afc	648	// layer on top of a physical pin output. This filter ignores the
mjr	53:9b2611964afc	649	// host value and simply shows the night mode status.
mjr	53:9b2611964afc	650	class LwNightModeIndicatorOut: public LwOut
mjr	53:9b2611964afc	651	{
mjr	53:9b2611964afc	652	public:
mjr	53:9b2611964afc	653	LwNightModeIndicatorOut(LwOut *o) : out(o) { }
mjr	53:9b2611964afc	654	virtual void set(uint8_t)
mjr	53:9b2611964afc	655	{
mjr	53:9b2611964afc	656	// ignore the host value and simply show the current
mjr	53:9b2611964afc	657	// night mode setting
mjr	53:9b2611964afc	658	out->set(nightMode ? 255 : 0);
mjr	53:9b2611964afc	659	}
mjr	40:cc0d9814522b	660
mjr	40:cc0d9814522b	661	private:
mjr	40:cc0d9814522b	662	LwOut *out;
mjr	40:cc0d9814522b	663	};
mjr	40:cc0d9814522b	664
mjr	26:cb71c4af2912	665
mjr	35:e959ffba78fd	666	//
mjr	35:e959ffba78fd	667	// The TLC5940 interface object. We'll set this up with the port
mjr	35:e959ffba78fd	668	// assignments set in config.h.
mjr	33:d832bcab089e	669	//
mjr	35:e959ffba78fd	670	TLC5940 *tlc5940 = 0;
mjr	35:e959ffba78fd	671	void init_tlc5940(Config &cfg)
mjr	35:e959ffba78fd	672	{
mjr	35:e959ffba78fd	673	if (cfg.tlc5940.nchips != 0)
mjr	35:e959ffba78fd	674	{
mjr	53:9b2611964afc	675	tlc5940 = new TLC5940(
mjr	53:9b2611964afc	676	wirePinName(cfg.tlc5940.sclk),
mjr	53:9b2611964afc	677	wirePinName(cfg.tlc5940.sin),
mjr	53:9b2611964afc	678	wirePinName(cfg.tlc5940.gsclk),
mjr	53:9b2611964afc	679	wirePinName(cfg.tlc5940.blank),
mjr	53:9b2611964afc	680	wirePinName(cfg.tlc5940.xlat),
mjr	53:9b2611964afc	681	cfg.tlc5940.nchips);
mjr	35:e959ffba78fd	682	}
mjr	35:e959ffba78fd	683	}
mjr	26:cb71c4af2912	684
mjr	40:cc0d9814522b	685	// Conversion table for 8-bit DOF level to 12-bit TLC5940 level
mjr	40:cc0d9814522b	686	static const uint16_t dof_to_tlc[] = {
mjr	40:cc0d9814522b	687	0, 16, 32, 48, 64, 80, 96, 112, 128, 145, 161, 177, 193, 209, 225, 241,
mjr	40:cc0d9814522b	688	257, 273, 289, 305, 321, 337, 353, 369, 385, 401, 418, 434, 450, 466, 482, 498,
mjr	40:cc0d9814522b	689	514, 530, 546, 562, 578, 594, 610, 626, 642, 658, 674, 691, 707, 723, 739, 755,
mjr	40:cc0d9814522b	690	771, 787, 803, 819, 835, 851, 867, 883, 899, 915, 931, 947, 964, 980, 996, 1012,
mjr	40:cc0d9814522b	691	1028, 1044, 1060, 1076, 1092, 1108, 1124, 1140, 1156, 1172, 1188, 1204, 1220, 1237, 1253, 1269,
mjr	40:cc0d9814522b	692	1285, 1301, 1317, 1333, 1349, 1365, 1381, 1397, 1413, 1429, 1445, 1461, 1477, 1493, 1510, 1526,
mjr	40:cc0d9814522b	693	1542, 1558, 1574, 1590, 1606, 1622, 1638, 1654, 1670, 1686, 1702, 1718, 1734, 1750, 1766, 1783,
mjr	40:cc0d9814522b	694	1799, 1815, 1831, 1847, 1863, 1879, 1895, 1911, 1927, 1943, 1959, 1975, 1991, 2007, 2023, 2039,
mjr	40:cc0d9814522b	695	2056, 2072, 2088, 2104, 2120, 2136, 2152, 2168, 2184, 2200, 2216, 2232, 2248, 2264, 2280, 2296,
mjr	40:cc0d9814522b	696	2312, 2329, 2345, 2361, 2377, 2393, 2409, 2425, 2441, 2457, 2473, 2489, 2505, 2521, 2537, 2553,
mjr	40:cc0d9814522b	697	2569, 2585, 2602, 2618, 2634, 2650, 2666, 2682, 2698, 2714, 2730, 2746, 2762, 2778, 2794, 2810,
mjr	40:cc0d9814522b	698	2826, 2842, 2858, 2875, 2891, 2907, 2923, 2939, 2955, 2971, 2987, 3003, 3019, 3035, 3051, 3067,
mjr	40:cc0d9814522b	699	3083, 3099, 3115, 3131, 3148, 3164, 3180, 3196, 3212, 3228, 3244, 3260, 3276, 3292, 3308, 3324,
mjr	40:cc0d9814522b	700	3340, 3356, 3372, 3388, 3404, 3421, 3437, 3453, 3469, 3485, 3501, 3517, 3533, 3549, 3565, 3581,
mjr	40:cc0d9814522b	701	3597, 3613, 3629, 3645, 3661, 3677, 3694, 3710, 3726, 3742, 3758, 3774, 3790, 3806, 3822, 3838,
mjr	40:cc0d9814522b	702	3854, 3870, 3886, 3902, 3918, 3934, 3950, 3967, 3983, 3999, 4015, 4031, 4047, 4063, 4079, 4095
mjr	40:cc0d9814522b	703	};
mjr	40:cc0d9814522b	704
mjr	40:cc0d9814522b	705	// Conversion table for 8-bit DOF level to 12-bit TLC5940 level, with
mjr	40:cc0d9814522b	706	// gamma correction. Note that the output layering scheme can handle
mjr	40:cc0d9814522b	707	// this without a separate table, by first applying gamma to the DOF
mjr	40:cc0d9814522b	708	// level to produce an 8-bit gamma-corrected value, then convert that
mjr	40:cc0d9814522b	709	// to the 12-bit TLC5940 value. But we get better precision by doing
mjr	40:cc0d9814522b	710	// the gamma correction in the 12-bit TLC5940 domain. We can only
mjr	40:cc0d9814522b	711	// get the 12-bit domain by combining both steps into one layering
mjr	40:cc0d9814522b	712	// object, though, since the intermediate values in the layering system
mjr	40:cc0d9814522b	713	// are always 8 bits.
mjr	40:cc0d9814522b	714	static const uint16_t dof_to_gamma_tlc[] = {
mjr	40:cc0d9814522b	715	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1,
mjr	40:cc0d9814522b	716	2, 2, 2, 3, 3, 4, 4, 5, 5, 6, 7, 8, 8, 9, 10, 11,
mjr	40:cc0d9814522b	717	12, 13, 15, 16, 17, 18, 20, 21, 23, 25, 26, 28, 30, 32, 34, 36,
mjr	40:cc0d9814522b	718	38, 40, 43, 45, 48, 50, 53, 56, 59, 62, 65, 68, 71, 75, 78, 82,
mjr	40:cc0d9814522b	719	85, 89, 93, 97, 101, 105, 110, 114, 119, 123, 128, 133, 138, 143, 149, 154,
mjr	40:cc0d9814522b	720	159, 165, 171, 177, 183, 189, 195, 202, 208, 215, 222, 229, 236, 243, 250, 258,
mjr	40:cc0d9814522b	721	266, 273, 281, 290, 298, 306, 315, 324, 332, 341, 351, 360, 369, 379, 389, 399,
mjr	40:cc0d9814522b	722	409, 419, 430, 440, 451, 462, 473, 485, 496, 508, 520, 532, 544, 556, 569, 582,
mjr	40:cc0d9814522b	723	594, 608, 621, 634, 648, 662, 676, 690, 704, 719, 734, 749, 764, 779, 795, 811,
mjr	40:cc0d9814522b	724	827, 843, 859, 876, 893, 910, 927, 944, 962, 980, 998, 1016, 1034, 1053, 1072, 1091,
mjr	40:cc0d9814522b	725	1110, 1130, 1150, 1170, 1190, 1210, 1231, 1252, 1273, 1294, 1316, 1338, 1360, 1382, 1404, 1427,
mjr	40:cc0d9814522b	726	1450, 1473, 1497, 1520, 1544, 1568, 1593, 1617, 1642, 1667, 1693, 1718, 1744, 1770, 1797, 1823,
mjr	40:cc0d9814522b	727	1850, 1877, 1905, 1932, 1960, 1988, 2017, 2045, 2074, 2103, 2133, 2162, 2192, 2223, 2253, 2284,
mjr	40:cc0d9814522b	728	2315, 2346, 2378, 2410, 2442, 2474, 2507, 2540, 2573, 2606, 2640, 2674, 2708, 2743, 2778, 2813,
mjr	40:cc0d9814522b	729	2849, 2884, 2920, 2957, 2993, 3030, 3067, 3105, 3143, 3181, 3219, 3258, 3297, 3336, 3376, 3416,
mjr	40:cc0d9814522b	730	3456, 3496, 3537, 3578, 3619, 3661, 3703, 3745, 3788, 3831, 3874, 3918, 3962, 4006, 4050, 4095
mjr	40:cc0d9814522b	731	};
mjr	40:cc0d9814522b	732
mjr	40:cc0d9814522b	733
mjr	26:cb71c4af2912	734	// LwOut class for TLC5940 outputs. These are fully PWM capable.
mjr	26:cb71c4af2912	735	// The 'idx' value in the constructor is the output index in the
mjr	26:cb71c4af2912	736	// daisy-chained TLC5940 array. 0 is output #0 on the first chip,
mjr	26:cb71c4af2912	737	// 1 is #1 on the first chip, 15 is #15 on the first chip, 16 is
mjr	26:cb71c4af2912	738	// #0 on the second chip, 32 is #0 on the third chip, etc.
mjr	26:cb71c4af2912	739	class Lw5940Out: public LwOut
mjr	26:cb71c4af2912	740	{
mjr	26:cb71c4af2912	741	public:
mjr	40:cc0d9814522b	742	Lw5940Out(int idx) : idx(idx) { prv = 0; }
mjr	40:cc0d9814522b	743	virtual void set(uint8_t val)
mjr	26:cb71c4af2912	744	{
mjr	26:cb71c4af2912	745	if (val != prv)
mjr	40:cc0d9814522b	746	tlc5940->set(idx, dof_to_tlc[prv = val]);
mjr	26:cb71c4af2912	747	}
mjr	26:cb71c4af2912	748	int idx;
mjr	40:cc0d9814522b	749	uint8_t prv;
mjr	26:cb71c4af2912	750	};
mjr	26:cb71c4af2912	751
mjr	40:cc0d9814522b	752	// LwOut class for TLC5940 gamma-corrected outputs.
mjr	40:cc0d9814522b	753	class Lw5940GammaOut: public LwOut
mjr	40:cc0d9814522b	754	{
mjr	40:cc0d9814522b	755	public:
mjr	40:cc0d9814522b	756	Lw5940GammaOut(int idx) : idx(idx) { prv = 0; }
mjr	40:cc0d9814522b	757	virtual void set(uint8_t val)
mjr	40:cc0d9814522b	758	{
mjr	40:cc0d9814522b	759	if (val != prv)
mjr	40:cc0d9814522b	760	tlc5940->set(idx, dof_to_gamma_tlc[prv = val]);
mjr	40:cc0d9814522b	761	}
mjr	40:cc0d9814522b	762	int idx;
mjr	40:cc0d9814522b	763	uint8_t prv;
mjr	40:cc0d9814522b	764	};
mjr	40:cc0d9814522b	765
mjr	40:cc0d9814522b	766
mjr	33:d832bcab089e	767
mjr	34:6b981a2afab7	768	// 74HC595 interface object. Set this up with the port assignments in
mjr	34:6b981a2afab7	769	// config.h.
mjr	35:e959ffba78fd	770	HC595 *hc595 = 0;
mjr	35:e959ffba78fd	771
mjr	35:e959ffba78fd	772	// initialize the 74HC595 interface
mjr	35:e959ffba78fd	773	void init_hc595(Config &cfg)
mjr	35:e959ffba78fd	774	{
mjr	35:e959ffba78fd	775	if (cfg.hc595.nchips != 0)
mjr	35:e959ffba78fd	776	{
mjr	53:9b2611964afc	777	hc595 = new HC595(
mjr	53:9b2611964afc	778	wirePinName(cfg.hc595.nchips),
mjr	53:9b2611964afc	779	wirePinName(cfg.hc595.sin),
mjr	53:9b2611964afc	780	wirePinName(cfg.hc595.sclk),
mjr	53:9b2611964afc	781	wirePinName(cfg.hc595.latch),
mjr	53:9b2611964afc	782	wirePinName(cfg.hc595.ena));
mjr	35:e959ffba78fd	783	hc595->init();
mjr	35:e959ffba78fd	784	hc595->update();
mjr	35:e959ffba78fd	785	}
mjr	35:e959ffba78fd	786	}
mjr	34:6b981a2afab7	787
mjr	34:6b981a2afab7	788	// LwOut class for 74HC595 outputs. These are simple digial outs.
mjr	34:6b981a2afab7	789	// The 'idx' value in the constructor is the output index in the
mjr	34:6b981a2afab7	790	// daisy-chained 74HC595 array. 0 is output #0 on the first chip,
mjr	34:6b981a2afab7	791	// 1 is #1 on the first chip, 7 is #7 on the first chip, 8 is
mjr	34:6b981a2afab7	792	// #0 on the second chip, etc.
mjr	34:6b981a2afab7	793	class Lw595Out: public LwOut
mjr	33:d832bcab089e	794	{
mjr	33:d832bcab089e	795	public:
mjr	40:cc0d9814522b	796	Lw595Out(int idx) : idx(idx) { prv = 0; }
mjr	40:cc0d9814522b	797	virtual void set(uint8_t val)
mjr	34:6b981a2afab7	798	{
mjr	34:6b981a2afab7	799	if (val != prv)
mjr	40:cc0d9814522b	800	hc595->set(idx, (prv = val) == 0 ? 0 : 1);
mjr	34:6b981a2afab7	801	}
mjr	34:6b981a2afab7	802	int idx;
mjr	40:cc0d9814522b	803	uint8_t prv;
mjr	33:d832bcab089e	804	};
mjr	33:d832bcab089e	805
mjr	26:cb71c4af2912	806
mjr	40:cc0d9814522b	807
mjr	40:cc0d9814522b	808	// Conversion table - 8-bit DOF output level to PWM float level
mjr	40:cc0d9814522b	809	// (normalized to 0.0..1.0 scale)
mjr	40:cc0d9814522b	810	static const float pwm_level[] = {
mjr	40:cc0d9814522b	811	0.000000, 0.003922, 0.007843, 0.011765, 0.015686, 0.019608, 0.023529, 0.027451,
mjr	40:cc0d9814522b	812	0.031373, 0.035294, 0.039216, 0.043137, 0.047059, 0.050980, 0.054902, 0.058824,
mjr	40:cc0d9814522b	813	0.062745, 0.066667, 0.070588, 0.074510, 0.078431, 0.082353, 0.086275, 0.090196,
mjr	40:cc0d9814522b	814	0.094118, 0.098039, 0.101961, 0.105882, 0.109804, 0.113725, 0.117647, 0.121569,
mjr	40:cc0d9814522b	815	0.125490, 0.129412, 0.133333, 0.137255, 0.141176, 0.145098, 0.149020, 0.152941,
mjr	40:cc0d9814522b	816	0.156863, 0.160784, 0.164706, 0.168627, 0.172549, 0.176471, 0.180392, 0.184314,
mjr	40:cc0d9814522b	817	0.188235, 0.192157, 0.196078, 0.200000, 0.203922, 0.207843, 0.211765, 0.215686,
mjr	40:cc0d9814522b	818	0.219608, 0.223529, 0.227451, 0.231373, 0.235294, 0.239216, 0.243137, 0.247059,
mjr	40:cc0d9814522b	819	0.250980, 0.254902, 0.258824, 0.262745, 0.266667, 0.270588, 0.274510, 0.278431,
mjr	40:cc0d9814522b	820	0.282353, 0.286275, 0.290196, 0.294118, 0.298039, 0.301961, 0.305882, 0.309804,
mjr	40:cc0d9814522b	821	0.313725, 0.317647, 0.321569, 0.325490, 0.329412, 0.333333, 0.337255, 0.341176,
mjr	40:cc0d9814522b	822	0.345098, 0.349020, 0.352941, 0.356863, 0.360784, 0.364706, 0.368627, 0.372549,
mjr	40:cc0d9814522b	823	0.376471, 0.380392, 0.384314, 0.388235, 0.392157, 0.396078, 0.400000, 0.403922,
mjr	40:cc0d9814522b	824	0.407843, 0.411765, 0.415686, 0.419608, 0.423529, 0.427451, 0.431373, 0.435294,
mjr	40:cc0d9814522b	825	0.439216, 0.443137, 0.447059, 0.450980, 0.454902, 0.458824, 0.462745, 0.466667,
mjr	40:cc0d9814522b	826	0.470588, 0.474510, 0.478431, 0.482353, 0.486275, 0.490196, 0.494118, 0.498039,
mjr	40:cc0d9814522b	827	0.501961, 0.505882, 0.509804, 0.513725, 0.517647, 0.521569, 0.525490, 0.529412,
mjr	40:cc0d9814522b	828	0.533333, 0.537255, 0.541176, 0.545098, 0.549020, 0.552941, 0.556863, 0.560784,
mjr	40:cc0d9814522b	829	0.564706, 0.568627, 0.572549, 0.576471, 0.580392, 0.584314, 0.588235, 0.592157,
mjr	40:cc0d9814522b	830	0.596078, 0.600000, 0.603922, 0.607843, 0.611765, 0.615686, 0.619608, 0.623529,
mjr	40:cc0d9814522b	831	0.627451, 0.631373, 0.635294, 0.639216, 0.643137, 0.647059, 0.650980, 0.654902,
mjr	40:cc0d9814522b	832	0.658824, 0.662745, 0.666667, 0.670588, 0.674510, 0.678431, 0.682353, 0.686275,
mjr	40:cc0d9814522b	833	0.690196, 0.694118, 0.698039, 0.701961, 0.705882, 0.709804, 0.713725, 0.717647,
mjr	40:cc0d9814522b	834	0.721569, 0.725490, 0.729412, 0.733333, 0.737255, 0.741176, 0.745098, 0.749020,
mjr	40:cc0d9814522b	835	0.752941, 0.756863, 0.760784, 0.764706, 0.768627, 0.772549, 0.776471, 0.780392,
mjr	40:cc0d9814522b	836	0.784314, 0.788235, 0.792157, 0.796078, 0.800000, 0.803922, 0.807843, 0.811765,
mjr	40:cc0d9814522b	837	0.815686, 0.819608, 0.823529, 0.827451, 0.831373, 0.835294, 0.839216, 0.843137,
mjr	40:cc0d9814522b	838	0.847059, 0.850980, 0.854902, 0.858824, 0.862745, 0.866667, 0.870588, 0.874510,
mjr	40:cc0d9814522b	839	0.878431, 0.882353, 0.886275, 0.890196, 0.894118, 0.898039, 0.901961, 0.905882,
mjr	40:cc0d9814522b	840	0.909804, 0.913725, 0.917647, 0.921569, 0.925490, 0.929412, 0.933333, 0.937255,
mjr	40:cc0d9814522b	841	0.941176, 0.945098, 0.949020, 0.952941, 0.956863, 0.960784, 0.964706, 0.968627,
mjr	40:cc0d9814522b	842	0.972549, 0.976471, 0.980392, 0.984314, 0.988235, 0.992157, 0.996078, 1.000000
mjr	40:cc0d9814522b	843	};
mjr	26:cb71c4af2912	844
mjr	26:cb71c4af2912	845	// LwOut class for a PWM-capable GPIO port
mjr	6:cc35eb643e8f	846	class LwPwmOut: public LwOut
mjr	6:cc35eb643e8f	847	{
mjr	6:cc35eb643e8f	848	public:
mjr	43:7a6364d82a41	849	LwPwmOut(PinName pin, uint8_t initVal) : p(pin)
mjr	43:7a6364d82a41	850	{
mjr	43:7a6364d82a41	851	prv = initVal ^ 0xFF;
mjr	43:7a6364d82a41	852	set(initVal);
mjr	43:7a6364d82a41	853	}
mjr	40:cc0d9814522b	854	virtual void set(uint8_t val)
mjr	13:72dda449c3c0	855	{
mjr	13:72dda449c3c0	856	if (val != prv)
mjr	40:cc0d9814522b	857	p.write(pwm_level[prv = val]);
mjr	13:72dda449c3c0	858	}
mjr	6:cc35eb643e8f	859	PwmOut p;
mjr	40:cc0d9814522b	860	uint8_t prv;
mjr	6:cc35eb643e8f	861	};
mjr	26:cb71c4af2912	862
mjr	26:cb71c4af2912	863	// LwOut class for a Digital-Only (Non-PWM) GPIO port
mjr	6:cc35eb643e8f	864	class LwDigOut: public LwOut
mjr	6:cc35eb643e8f	865	{
mjr	6:cc35eb643e8f	866	public:
mjr	43:7a6364d82a41	867	LwDigOut(PinName pin, uint8_t initVal) : p(pin, initVal ? 1 : 0) { prv = initVal; }
mjr	40:cc0d9814522b	868	virtual void set(uint8_t val)
mjr	13:72dda449c3c0	869	{
mjr	13:72dda449c3c0	870	if (val != prv)
mjr	40:cc0d9814522b	871	p.write((prv = val) == 0 ? 0 : 1);
mjr	13:72dda449c3c0	872	}
mjr	6:cc35eb643e8f	873	DigitalOut p;
mjr	40:cc0d9814522b	874	uint8_t prv;
mjr	6:cc35eb643e8f	875	};
mjr	26:cb71c4af2912	876
mjr	29:582472d0bc57	877	// Array of output physical pin assignments. This array is indexed
mjr	29:582472d0bc57	878	// by LedWiz logical port number - lwPin[n] is the maping for LedWiz
mjr	35:e959ffba78fd	879	// port n (0-based).
mjr	35:e959ffba78fd	880	//
mjr	35:e959ffba78fd	881	// Each pin is handled by an interface object for the physical output
mjr	35:e959ffba78fd	882	// type for the port, as set in the configuration. The interface
mjr	35:e959ffba78fd	883	// objects handle the specifics of addressing the different hardware
mjr	35:e959ffba78fd	884	// types (GPIO PWM ports, GPIO digital ports, TLC5940 ports, and
mjr	35:e959ffba78fd	885	// 74HC595 ports).
mjr	33:d832bcab089e	886	static int numOutputs;
mjr	33:d832bcab089e	887	static LwOut **lwPin;
mjr	33:d832bcab089e	888
mjr	38:091e511ce8a0	889
mjr	35:e959ffba78fd	890	// Number of LedWiz emulation outputs. This is the number of ports
mjr	35:e959ffba78fd	891	// accessible through the standard (non-extended) LedWiz protocol
mjr	35:e959ffba78fd	892	// messages. The protocol has a fixed set of 32 outputs, but we
mjr	35:e959ffba78fd	893	// might have fewer actual outputs. This is therefore set to the
mjr	35:e959ffba78fd	894	// lower of 32 or the actual number of outputs.
mjr	35:e959ffba78fd	895	static int numLwOutputs;
mjr	35:e959ffba78fd	896
mjr	40:cc0d9814522b	897	// Current absolute brightness level for an output. This is a DOF
mjr	40:cc0d9814522b	898	// brightness level value, from 0 for fully off to 255 for fully on.
mjr	40:cc0d9814522b	899	// This is used for all extended ports (33 and above), and for any
mjr	40:cc0d9814522b	900	// LedWiz port with wizVal == 255.
mjr	40:cc0d9814522b	901	static uint8_t *outLevel;
mjr	38:091e511ce8a0	902
mjr	38:091e511ce8a0	903	// create a single output pin
mjr	53:9b2611964afc	904	LwOut *createLwPin(int portno, LedWizPortCfg &pc, Config &cfg)
mjr	38:091e511ce8a0	905	{
mjr	38:091e511ce8a0	906	// get this item's values
mjr	38:091e511ce8a0	907	int typ = pc.typ;
mjr	38:091e511ce8a0	908	int pin = pc.pin;
mjr	38:091e511ce8a0	909	int flags = pc.flags;
mjr	40:cc0d9814522b	910	int noisy = flags & PortFlagNoisemaker;
mjr	38:091e511ce8a0	911	int activeLow = flags & PortFlagActiveLow;
mjr	40:cc0d9814522b	912	int gamma = flags & PortFlagGamma;
mjr	38:091e511ce8a0	913
mjr	38:091e511ce8a0	914	// create the pin interface object according to the port type
mjr	38:091e511ce8a0	915	LwOut *lwp;
mjr	38:091e511ce8a0	916	switch (typ)
mjr	38:091e511ce8a0	917	{
mjr	38:091e511ce8a0	918	case PortTypeGPIOPWM:
mjr	48:058ace2aed1d	919	// PWM GPIO port - assign if we have a valid pin
mjr	48:058ace2aed1d	920	if (pin != 0)
mjr	48:058ace2aed1d	921	lwp = new LwPwmOut(wirePinName(pin), activeLow ? 255 : 0);
mjr	48:058ace2aed1d	922	else
mjr	48:058ace2aed1d	923	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	924	break;
mjr	38:091e511ce8a0	925
mjr	38:091e511ce8a0	926	case PortTypeGPIODig:
mjr	38:091e511ce8a0	927	// Digital GPIO port
mjr	48:058ace2aed1d	928	if (pin != 0)
mjr	48:058ace2aed1d	929	lwp = new LwDigOut(wirePinName(pin), activeLow ? 255 : 0);
mjr	48:058ace2aed1d	930	else
mjr	48:058ace2aed1d	931	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	932	break;
mjr	38:091e511ce8a0	933
mjr	38:091e511ce8a0	934	case PortTypeTLC5940:
mjr	38:091e511ce8a0	935	// TLC5940 port (if we don't have a TLC controller object, or it's not a valid
mjr	38:091e511ce8a0	936	// output port number on the chips we have, create a virtual port)
mjr	38:091e511ce8a0	937	if (tlc5940 != 0 && pin < cfg.tlc5940.nchips*16)
mjr	40:cc0d9814522b	938	{
mjr	40:cc0d9814522b	939	// If gamma correction is to be used, and we're not inverting the output,
mjr	40:cc0d9814522b	940	// use the combined TLC4950 + Gamma output class. Otherwise use the plain
mjr	40:cc0d9814522b	941	// TLC5940 output. We skip the combined class if the output is inverted
mjr	40:cc0d9814522b	942	// because we need to apply gamma BEFORE the inversion to get the right
mjr	40:cc0d9814522b	943	// results, but the combined class would apply it after because of the
mjr	40:cc0d9814522b	944	// layering scheme - the combined class is a physical device output class,
mjr	40:cc0d9814522b	945	// and a physical device output class is necessarily at the bottom of
mjr	40:cc0d9814522b	946	// the stack. We don't have a combined inverted+gamma+TLC class, because
mjr	40:cc0d9814522b	947	// inversion isn't recommended for TLC5940 chips in the first place, so
mjr	40:cc0d9814522b	948	// it's not worth the extra memory footprint to have a dedicated table
mjr	40:cc0d9814522b	949	// for this unlikely case.
mjr	40:cc0d9814522b	950	if (gamma && !activeLow)
mjr	40:cc0d9814522b	951	{
mjr	40:cc0d9814522b	952	// use the gamma-corrected 5940 output mapper
mjr	40:cc0d9814522b	953	lwp = new Lw5940GammaOut(pin);
mjr	40:cc0d9814522b	954
mjr	40:cc0d9814522b	955	// DON'T apply further gamma correction to this output
mjr	40:cc0d9814522b	956	gamma = false;
mjr	40:cc0d9814522b	957	}
mjr	40:cc0d9814522b	958	else
mjr	40:cc0d9814522b	959	{
mjr	40:cc0d9814522b	960	// no gamma - use the plain (linear) 5940 output class
mjr	40:cc0d9814522b	961	lwp = new Lw5940Out(pin);
mjr	40:cc0d9814522b	962	}
mjr	40:cc0d9814522b	963	}
mjr	38:091e511ce8a0	964	else
mjr	40:cc0d9814522b	965	{
mjr	40:cc0d9814522b	966	// no TLC5940 chips, or invalid port number - use a virtual out
mjr	38:091e511ce8a0	967	lwp = new LwVirtualOut();
mjr	40:cc0d9814522b	968	}
mjr	38:091e511ce8a0	969	break;
mjr	38:091e511ce8a0	970
mjr	38:091e511ce8a0	971	case PortType74HC595:
mjr	38:091e511ce8a0	972	// 74HC595 port (if we don't have an HC595 controller object, or it's not a valid
mjr	38:091e511ce8a0	973	// output number, create a virtual port)
mjr	38:091e511ce8a0	974	if (hc595 != 0 && pin < cfg.hc595.nchips*8)
mjr	38:091e511ce8a0	975	lwp = new Lw595Out(pin);
mjr	38:091e511ce8a0	976	else
mjr	38:091e511ce8a0	977	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	978	break;
mjr	38:091e511ce8a0	979
mjr	38:091e511ce8a0	980	case PortTypeVirtual:
mjr	43:7a6364d82a41	981	case PortTypeDisabled:
mjr	38:091e511ce8a0	982	default:
mjr	38:091e511ce8a0	983	// virtual or unknown
mjr	38:091e511ce8a0	984	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	985	break;
mjr	38:091e511ce8a0	986	}
mjr	38:091e511ce8a0	987
mjr	40:cc0d9814522b	988	// If it's Active Low, layer on an inverter. Note that an inverter
mjr	40:cc0d9814522b	989	// needs to be the bottom-most layer, since all of the other filters
mjr	40:cc0d9814522b	990	// assume that they're working with normal (non-inverted) values.
mjr	38:091e511ce8a0	991	if (activeLow)
mjr	38:091e511ce8a0	992	lwp = new LwInvertedOut(lwp);
mjr	40:cc0d9814522b	993
mjr	40:cc0d9814522b	994	// If it's a noisemaker, layer on a night mode switch. Note that this
mjr	40:cc0d9814522b	995	// needs to be
mjr	40:cc0d9814522b	996	if (noisy)
mjr	40:cc0d9814522b	997	lwp = new LwNoisyOut(lwp);
mjr	40:cc0d9814522b	998
mjr	40:cc0d9814522b	999	// If it's gamma-corrected, layer on a gamma corrector
mjr	40:cc0d9814522b	1000	if (gamma)
mjr	40:cc0d9814522b	1001	lwp = new LwGammaOut(lwp);
mjr	53:9b2611964afc	1002
mjr	53:9b2611964afc	1003	// If this is the ZB Launch Ball port, layer a monitor object. Note
mjr	53:9b2611964afc	1004	// that the nominal port numbering in the cofnig starts at 1, but we're
mjr	53:9b2611964afc	1005	// using an array index, so test against portno+1.
mjr	53:9b2611964afc	1006	if (portno + 1 == cfg.plunger.zbLaunchBall.port)
mjr	53:9b2611964afc	1007	lwp = new LwZbLaunchOut(lwp);
mjr	53:9b2611964afc	1008
mjr	53:9b2611964afc	1009	// If this is the Night Mode indicator port, layer a night mode object.
mjr	53:9b2611964afc	1010	if (portno + 1 == cfg.nightMode.port)
mjr	53:9b2611964afc	1011	lwp = new LwNightModeIndicatorOut(lwp);
mjr	38:091e511ce8a0	1012
mjr	38:091e511ce8a0	1013	// turn it off initially
mjr	38:091e511ce8a0	1014	lwp->set(0);
mjr	38:091e511ce8a0	1015
mjr	38:091e511ce8a0	1016	// return the pin
mjr	38:091e511ce8a0	1017	return lwp;
mjr	38:091e511ce8a0	1018	}
mjr	38:091e511ce8a0	1019
mjr	6:cc35eb643e8f	1020	// initialize the output pin array
mjr	35:e959ffba78fd	1021	void initLwOut(Config &cfg)
mjr	6:cc35eb643e8f	1022	{
mjr	35:e959ffba78fd	1023	// Count the outputs. The first disabled output determines the
mjr	35:e959ffba78fd	1024	// total number of ports.
mjr	35:e959ffba78fd	1025	numOutputs = MAX_OUT_PORTS;
mjr	33:d832bcab089e	1026	int i;
mjr	35:e959ffba78fd	1027	for (i = 0 ; i < MAX_OUT_PORTS ; ++i)
mjr	6:cc35eb643e8f	1028	{
mjr	35:e959ffba78fd	1029	if (cfg.outPort[i].typ == PortTypeDisabled)
mjr	34:6b981a2afab7	1030	{
mjr	35:e959ffba78fd	1031	numOutputs = i;
mjr	34:6b981a2afab7	1032	break;
mjr	34:6b981a2afab7	1033	}
mjr	33:d832bcab089e	1034	}
mjr	33:d832bcab089e	1035
mjr	35:e959ffba78fd	1036	// the real LedWiz protocol can access at most 32 ports, or the
mjr	35:e959ffba78fd	1037	// actual number of outputs, whichever is lower
mjr	35:e959ffba78fd	1038	numLwOutputs = (numOutputs < 32 ? numOutputs : 32);
mjr	35:e959ffba78fd	1039
mjr	33:d832bcab089e	1040	// allocate the pin array
mjr	33:d832bcab089e	1041	lwPin = new LwOut*[numOutputs];
mjr	33:d832bcab089e	1042
mjr	38:091e511ce8a0	1043	// Allocate the current brightness array. For these, allocate at
mjr	38:091e511ce8a0	1044	// least 32, so that we have enough for all LedWiz messages, but
mjr	38:091e511ce8a0	1045	// allocate the full set of actual ports if we have more than the
mjr	38:091e511ce8a0	1046	// LedWiz complement.
mjr	38:091e511ce8a0	1047	int minOuts = numOutputs < 32 ? 32 : numOutputs;
mjr	40:cc0d9814522b	1048	outLevel = new uint8_t[minOuts];
mjr	33:d832bcab089e	1049
mjr	35:e959ffba78fd	1050	// create the pin interface object for each port
mjr	35:e959ffba78fd	1051	for (i = 0 ; i < numOutputs ; ++i)
mjr	53:9b2611964afc	1052	lwPin[i] = createLwPin(i, cfg.outPort[i], cfg);
mjr	6:cc35eb643e8f	1053	}
mjr	6:cc35eb643e8f	1054
mjr	29:582472d0bc57	1055	// LedWiz output states.
mjr	29:582472d0bc57	1056	//
mjr	29:582472d0bc57	1057	// The LedWiz protocol has two separate control axes for each output.
mjr	29:582472d0bc57	1058	// One axis is its on/off state; the other is its "profile" state, which
mjr	29:582472d0bc57	1059	// is either a fixed brightness or a blinking pattern for the light.
mjr	29:582472d0bc57	1060	// The two axes are independent.
mjr	29:582472d0bc57	1061	//
mjr	29:582472d0bc57	1062	// Note that the LedWiz protocol can only address 32 outputs, so the
mjr	29:582472d0bc57	1063	// wizOn and wizVal arrays have fixed sizes of 32 elements no matter
mjr	29:582472d0bc57	1064	// how many physical outputs we're using.
mjr	29:582472d0bc57	1065
mjr	0:5acbbe3f4cf4	1066	// on/off state for each LedWiz output
mjr	1:d913e0afb2ac	1067	static uint8_t wizOn[32];
mjr	0:5acbbe3f4cf4	1068
mjr	40:cc0d9814522b	1069	// LedWiz "Profile State" (the LedWiz brightness level or blink mode)
mjr	40:cc0d9814522b	1070	// for each LedWiz output. If the output was last updated through an
mjr	40:cc0d9814522b	1071	// LedWiz protocol message, it will have one of these values:
mjr	29:582472d0bc57	1072	//
mjr	29:582472d0bc57	1073	// 0-48 = fixed brightness 0% to 100%
mjr	40:cc0d9814522b	1074	// 49 = fixed brightness 100% (equivalent to 48)
mjr	29:582472d0bc57	1075	// 129 = ramp up / ramp down
mjr	29:582472d0bc57	1076	// 130 = flash on / off
mjr	29:582472d0bc57	1077	// 131 = on / ramp down
mjr	29:582472d0bc57	1078	// 132 = ramp up / on
mjr	29:582472d0bc57	1079	//
mjr	40:cc0d9814522b	1080	// If the output was last updated through an extended protocol message,
mjr	40:cc0d9814522b	1081	// it will have the special value 255. This means that we use the
mjr	40:cc0d9814522b	1082	// outLevel[] value for the port instead of an LedWiz setting.
mjr	29:582472d0bc57	1083	//
mjr	40:cc0d9814522b	1084	// (Note that value 49 isn't documented in the LedWiz spec, but real
mjr	40:cc0d9814522b	1085	// LedWiz units treat it as equivalent to 48, and some PC software uses
mjr	40:cc0d9814522b	1086	// it, so we need to accept it for compatibility.)
mjr	1:d913e0afb2ac	1087	static uint8_t wizVal[32] = {
mjr	13:72dda449c3c0	1088	48, 48, 48, 48, 48, 48, 48, 48,
mjr	13:72dda449c3c0	1089	48, 48, 48, 48, 48, 48, 48, 48,
mjr	13:72dda449c3c0	1090	48, 48, 48, 48, 48, 48, 48, 48,
mjr	13:72dda449c3c0	1091	48, 48, 48, 48, 48, 48, 48, 48
mjr	0:5acbbe3f4cf4	1092	};
mjr	0:5acbbe3f4cf4	1093
mjr	29:582472d0bc57	1094	// LedWiz flash speed. This is a value from 1 to 7 giving the pulse
mjr	29:582472d0bc57	1095	// rate for lights in blinking states.
mjr	29:582472d0bc57	1096	static uint8_t wizSpeed = 2;
mjr	29:582472d0bc57	1097
mjr	40:cc0d9814522b	1098	// Current LedWiz flash cycle counter. This runs from 0 to 255
mjr	40:cc0d9814522b	1099	// during each cycle.
mjr	29:582472d0bc57	1100	static uint8_t wizFlashCounter = 0;
mjr	29:582472d0bc57	1101
mjr	40:cc0d9814522b	1102	// translate an LedWiz brightness level (0-49) to a DOF brightness
mjr	40:cc0d9814522b	1103	// level (0-255)
mjr	40:cc0d9814522b	1104	static const uint8_t lw_to_dof[] = {
mjr	40:cc0d9814522b	1105	0, 5, 11, 16, 21, 27, 32, 37,
mjr	40:cc0d9814522b	1106	43, 48, 53, 58, 64, 69, 74, 80,
mjr	40:cc0d9814522b	1107	85, 90, 96, 101, 106, 112, 117, 122,
mjr	40:cc0d9814522b	1108	128, 133, 138, 143, 149, 154, 159, 165,
mjr	40:cc0d9814522b	1109	170, 175, 181, 186, 191, 197, 202, 207,
mjr	40:cc0d9814522b	1110	213, 218, 223, 228, 234, 239, 244, 250,
mjr	40:cc0d9814522b	1111	255, 255
mjr	40:cc0d9814522b	1112	};
mjr	40:cc0d9814522b	1113
mjr	40:cc0d9814522b	1114	// Translate an LedWiz output (ports 1-32) to a DOF brightness level.
mjr	40:cc0d9814522b	1115	static uint8_t wizState(int idx)
mjr	0:5acbbe3f4cf4	1116	{
mjr	29:582472d0bc57	1117	// if the output was last set with an extended protocol message,
mjr	29:582472d0bc57	1118	// use the value set there, ignoring the output's LedWiz state
mjr	29:582472d0bc57	1119	if (wizVal[idx] == 255)
mjr	29:582472d0bc57	1120	return outLevel[idx];
mjr	29:582472d0bc57	1121
mjr	29:582472d0bc57	1122	// if it's off, show at zero intensity
mjr	29:582472d0bc57	1123	if (!wizOn[idx])
mjr	29:582472d0bc57	1124	return 0;
mjr	29:582472d0bc57	1125
mjr	29:582472d0bc57	1126	// check the state
mjr	29:582472d0bc57	1127	uint8_t val = wizVal[idx];
mjr	40:cc0d9814522b	1128	if (val <= 49)
mjr	29:582472d0bc57	1129	{
mjr	29:582472d0bc57	1130	// PWM brightness/intensity level. Rescale from the LedWiz
mjr	29:582472d0bc57	1131	// 0..48 integer range to our internal PwmOut 0..1 float range.
mjr	29:582472d0bc57	1132	// Note that on the actual LedWiz, level 48 is actually about
mjr	29:582472d0bc57	1133	// 98% on - contrary to the LedWiz documentation, level 49 is
mjr	29:582472d0bc57	1134	// the true 100% level. (In the documentation, level 49 is
mjr	29:582472d0bc57	1135	// simply not a valid setting.) Even so, we treat level 48 as
mjr	29:582472d0bc57	1136	// 100% on to match the documentation. This won't be perfectly
mjr	29:582472d0bc57	1137	// ocmpatible with the actual LedWiz, but it makes for such a
mjr	29:582472d0bc57	1138	// small difference in brightness (if the output device is an
mjr	29:582472d0bc57	1139	// LED, say) that no one should notice. It seems better to
mjr	29:582472d0bc57	1140	// err in this direction, because while the difference in
mjr	29:582472d0bc57	1141	// brightness when attached to an LED won't be noticeable, the
mjr	29:582472d0bc57	1142	// difference in duty cycle when attached to something like a
mjr	29:582472d0bc57	1143	// contactor can be noticeable - anything less than 100%
mjr	29:582472d0bc57	1144	// can cause a contactor or relay to chatter. There's almost
mjr	29:582472d0bc57	1145	// never a situation where you'd want values other than 0% and
mjr	29:582472d0bc57	1146	// 100% for a contactor or relay, so treating level 48 as 100%
mjr	29:582472d0bc57	1147	// makes us work properly with software that's expecting the
mjr	29:582472d0bc57	1148	// documented LedWiz behavior and therefore uses level 48 to
mjr	29:582472d0bc57	1149	// turn a contactor or relay fully on.
mjr	40:cc0d9814522b	1150	//
mjr	40:cc0d9814522b	1151	// Note that value 49 is undefined in the LedWiz documentation,
mjr	40:cc0d9814522b	1152	// but real LedWiz units treat it as 100%, equivalent to 48.
mjr	40:cc0d9814522b	1153	// Some software on the PC side uses this, so we need to treat
mjr	40:cc0d9814522b	1154	// it the same way for compatibility.
mjr	40:cc0d9814522b	1155	return lw_to_dof[val];
mjr	29:582472d0bc57	1156	}
mjr	29:582472d0bc57	1157	else if (val == 129)
mjr	29:582472d0bc57	1158	{
mjr	40:cc0d9814522b	1159	// 129 = ramp up / ramp down
mjr	30:6e9902f06f48	1160	return wizFlashCounter < 128
mjr	40:cc0d9814522b	1161	? wizFlashCounter*2 + 1
mjr	40:cc0d9814522b	1162	: (255 - wizFlashCounter)*2;
mjr	29:582472d0bc57	1163	}
mjr	29:582472d0bc57	1164	else if (val == 130)
mjr	29:582472d0bc57	1165	{
mjr	40:cc0d9814522b	1166	// 130 = flash on / off
mjr	40:cc0d9814522b	1167	return wizFlashCounter < 128 ? 255 : 0;
mjr	29:582472d0bc57	1168	}
mjr	29:582472d0bc57	1169	else if (val == 131)
mjr	29:582472d0bc57	1170	{
mjr	40:cc0d9814522b	1171	// 131 = on / ramp down
mjr	40:cc0d9814522b	1172	return wizFlashCounter < 128 ? 255 : (255 - wizFlashCounter)*2;
mjr	0:5acbbe3f4cf4	1173	}
mjr	29:582472d0bc57	1174	else if (val == 132)
mjr	29:582472d0bc57	1175	{
mjr	40:cc0d9814522b	1176	// 132 = ramp up / on
mjr	40:cc0d9814522b	1177	return wizFlashCounter < 128 ? wizFlashCounter*2 : 255;
mjr	29:582472d0bc57	1178	}
mjr	29:582472d0bc57	1179	else
mjr	13:72dda449c3c0	1180	{
mjr	29:582472d0bc57	1181	// Other values are undefined in the LedWiz documentation. Hosts
mjr	29:582472d0bc57	1182	// should never send undefined values, since whatever behavior an
mjr	29:582472d0bc57	1183	// LedWiz unit exhibits in response is accidental and could change
mjr	29:582472d0bc57	1184	// in a future version. We'll treat all undefined values as equivalent
mjr	29:582472d0bc57	1185	// to 48 (fully on).
mjr	40:cc0d9814522b	1186	return 255;
mjr	0:5acbbe3f4cf4	1187	}
mjr	0:5acbbe3f4cf4	1188	}
mjr	0:5acbbe3f4cf4	1189
mjr	29:582472d0bc57	1190	// LedWiz flash timer pulse. This fires periodically to update
mjr	29:582472d0bc57	1191	// LedWiz flashing outputs. At the slowest pulse speed set via
mjr	29:582472d0bc57	1192	// the SBA command, each waveform cycle has 256 steps, so we
mjr	29:582472d0bc57	1193	// choose the pulse time base so that the slowest cycle completes
mjr	29:582472d0bc57	1194	// in 2 seconds. This seems to roughly match the real LedWiz
mjr	29:582472d0bc57	1195	// behavior. We run the pulse timer at the same rate regardless
mjr	29:582472d0bc57	1196	// of the pulse speed; at higher pulse speeds, we simply use
mjr	29:582472d0bc57	1197	// larger steps through the cycle on each interrupt. Running
mjr	29:582472d0bc57	1198	// every 1/127 of a second = 8ms seems to be a pretty light load.
mjr	29:582472d0bc57	1199	Timeout wizPulseTimer;
mjr	38:091e511ce8a0	1200	#define WIZ_PULSE_TIME_BASE (1.0f/127.0f)
mjr	29:582472d0bc57	1201	static void wizPulse()
mjr	29:582472d0bc57	1202	{
mjr	29:582472d0bc57	1203	// increase the counter by the speed increment, and wrap at 256
mjr	29:582472d0bc57	1204	wizFlashCounter += wizSpeed;
mjr	29:582472d0bc57	1205	wizFlashCounter &= 0xff;
mjr	29:582472d0bc57	1206
mjr	29:582472d0bc57	1207	// if we have any flashing lights, update them
mjr	29:582472d0bc57	1208	int ena = false;
mjr	35:e959ffba78fd	1209	for (int i = 0 ; i < numLwOutputs ; ++i)
mjr	29:582472d0bc57	1210	{
mjr	29:582472d0bc57	1211	if (wizOn[i])
mjr	29:582472d0bc57	1212	{
mjr	29:582472d0bc57	1213	uint8_t s = wizVal[i];
mjr	29:582472d0bc57	1214	if (s >= 129 && s <= 132)
mjr	29:582472d0bc57	1215	{
mjr	40:cc0d9814522b	1216	lwPin[i]->set(wizState(i));
mjr	29:582472d0bc57	1217	ena = true;
mjr	29:582472d0bc57	1218	}
mjr	29:582472d0bc57	1219	}
mjr	29:582472d0bc57	1220	}
mjr	29:582472d0bc57	1221
mjr	29:582472d0bc57	1222	// Set up the next timer pulse only if we found anything flashing.
mjr	29:582472d0bc57	1223	// To minimize overhead from this feature, we only enable the interrupt
mjr	29:582472d0bc57	1224	// when we need it. This eliminates any performance penalty to other
mjr	29:582472d0bc57	1225	// features when the host software doesn't care about the flashing
mjr	29:582472d0bc57	1226	// modes. For example, DOF never uses these modes, so there's no
mjr	29:582472d0bc57	1227	// need for them when running Visual Pinball.
mjr	29:582472d0bc57	1228	if (ena)
mjr	29:582472d0bc57	1229	wizPulseTimer.attach(wizPulse, WIZ_PULSE_TIME_BASE);
mjr	29:582472d0bc57	1230	}
mjr	29:582472d0bc57	1231
mjr	29:582472d0bc57	1232	// Update the physical outputs connected to the LedWiz ports. This is
mjr	29:582472d0bc57	1233	// called after any update from an LedWiz protocol message.
mjr	1:d913e0afb2ac	1234	static void updateWizOuts()
mjr	1:d913e0afb2ac	1235	{
mjr	29:582472d0bc57	1236	// update each output
mjr	29:582472d0bc57	1237	int pulse = false;
mjr	35:e959ffba78fd	1238	for (int i = 0 ; i < numLwOutputs ; ++i)
mjr	29:582472d0bc57	1239	{
mjr	29:582472d0bc57	1240	pulse \|= (wizVal[i] >= 129 && wizVal[i] <= 132);
mjr	40:cc0d9814522b	1241	lwPin[i]->set(wizState(i));
mjr	29:582472d0bc57	1242	}
mjr	29:582472d0bc57	1243
mjr	29:582472d0bc57	1244	// if any outputs are set to flashing mode, and the pulse timer
mjr	29:582472d0bc57	1245	// isn't running, turn it on
mjr	29:582472d0bc57	1246	if (pulse)
mjr	29:582472d0bc57	1247	wizPulseTimer.attach(wizPulse, WIZ_PULSE_TIME_BASE);
mjr	34:6b981a2afab7	1248
mjr	34:6b981a2afab7	1249	// flush changes to 74HC595 chips, if attached
mjr	35:e959ffba78fd	1250	if (hc595 != 0)
mjr	35:e959ffba78fd	1251	hc595->update();
mjr	1:d913e0afb2ac	1252	}
mjr	38:091e511ce8a0	1253
mjr	38:091e511ce8a0	1254	// Update all physical outputs. This is called after a change to a global
mjr	38:091e511ce8a0	1255	// setting that affects all outputs, such as engaging or canceling Night Mode.
mjr	38:091e511ce8a0	1256	static void updateAllOuts()
mjr	38:091e511ce8a0	1257	{
mjr	38:091e511ce8a0	1258	// uddate each LedWiz output
mjr	38:091e511ce8a0	1259	for (int i = 0 ; i < numLwOutputs ; ++i)
mjr	40:cc0d9814522b	1260	lwPin[i]->set(wizState(i));
mjr	34:6b981a2afab7	1261
mjr	38:091e511ce8a0	1262	// update each extended output
mjr	38:091e511ce8a0	1263	for (int i = 33 ; i < numOutputs ; ++i)
mjr	40:cc0d9814522b	1264	lwPin[i]->set(outLevel[i]);
mjr	38:091e511ce8a0	1265
mjr	38:091e511ce8a0	1266	// flush 74HC595 changes, if necessary
mjr	38:091e511ce8a0	1267	if (hc595 != 0)
mjr	38:091e511ce8a0	1268	hc595->update();
mjr	38:091e511ce8a0	1269	}
mjr	38:091e511ce8a0	1270
mjr	11:bd9da7088e6e	1271	// ---------------------------------------------------------------------------
mjr	11:bd9da7088e6e	1272	//
mjr	11:bd9da7088e6e	1273	// Button input
mjr	11:bd9da7088e6e	1274	//
mjr	11:bd9da7088e6e	1275
mjr	18:5e890ebd0023	1276	// button state
mjr	18:5e890ebd0023	1277	struct ButtonState
mjr	18:5e890ebd0023	1278	{
mjr	38:091e511ce8a0	1279	ButtonState()
mjr	38:091e511ce8a0	1280	{
mjr	38:091e511ce8a0	1281	di = NULL;
mjr	53:9b2611964afc	1282	physState = logState = prevLogState = 0;
mjr	53:9b2611964afc	1283	virtState = 0;
mjr	53:9b2611964afc	1284	dbState = 0;
mjr	38:091e511ce8a0	1285	pulseState = 0;
mjr	53:9b2611964afc	1286	pulseTime = 0;
mjr	38:091e511ce8a0	1287	}
mjr	35:e959ffba78fd	1288
mjr	53:9b2611964afc	1289	// "Virtually" press or un-press the button. This can be used to
mjr	53:9b2611964afc	1290	// control the button state via a software (virtual) source, such as
mjr	53:9b2611964afc	1291	// the ZB Launch Ball feature.
mjr	53:9b2611964afc	1292	//
mjr	53:9b2611964afc	1293	// To allow sharing of one button by multiple virtual sources, each
mjr	53:9b2611964afc	1294	// virtual source must keep track of its own state internally, and
mjr	53:9b2611964afc	1295	// only call this routine to CHANGE the state. This is because calls
mjr	53:9b2611964afc	1296	// to this routine are additive: turning the button ON twice will
mjr	53:9b2611964afc	1297	// require turning it OFF twice before it actually turns off.
mjr	53:9b2611964afc	1298	void virtPress(bool on)
mjr	53:9b2611964afc	1299	{
mjr	53:9b2611964afc	1300	// Increment or decrement the current state
mjr	53:9b2611964afc	1301	virtState += on ? 1 : -1;
mjr	53:9b2611964afc	1302	}
mjr	53:9b2611964afc	1303
mjr	53:9b2611964afc	1304	// DigitalIn for the button, if connected to a physical input
mjr	48:058ace2aed1d	1305	TinyDigitalIn *di;
mjr	38:091e511ce8a0	1306
mjr	38:091e511ce8a0	1307	// current PHYSICAL on/off state, after debouncing
mjr	53:9b2611964afc	1308	uint8_t physState : 1;
mjr	18:5e890ebd0023	1309
mjr	38:091e511ce8a0	1310	// current LOGICAL on/off state as reported to the host.
mjr	53:9b2611964afc	1311	uint8_t logState : 1;
mjr	38:091e511ce8a0	1312
mjr	38:091e511ce8a0	1313	// previous logical on/off state, when keys were last processed for USB
mjr	38:091e511ce8a0	1314	// reports and local effects
mjr	53:9b2611964afc	1315	uint8_t prevLogState : 1;
mjr	53:9b2611964afc	1316
mjr	53:9b2611964afc	1317	// Virtual press state. This is used to simulate pressing the button via
mjr	53:9b2611964afc	1318	// software inputs rather than physical inputs. To allow one button to be
mjr	53:9b2611964afc	1319	// controlled by mulitple software sources, each source should keep track
mjr	53:9b2611964afc	1320	// of its own virtual state for the button independently, and then INCREMENT
mjr	53:9b2611964afc	1321	// this variable when the source's state transitions from off to on, and
mjr	53:9b2611964afc	1322	// DECREMENT it when the source's state transitions from on to off. That
mjr	53:9b2611964afc	1323	// will make the button's pressed state the logical OR of all of the virtual
mjr	53:9b2611964afc	1324	// and physical source states.
mjr	53:9b2611964afc	1325	uint8_t virtState;
mjr	38:091e511ce8a0	1326
mjr	38:091e511ce8a0	1327	// Debounce history. On each scan, we shift in a 1 bit to the lsb if
mjr	38:091e511ce8a0	1328	// the physical key is reporting ON, and shift in a 0 bit if the physical
mjr	38:091e511ce8a0	1329	// key is reporting OFF. We consider the key to have a new stable state
mjr	38:091e511ce8a0	1330	// if we have N consecutive 0's or 1's in the low N bits (where N is
mjr	38:091e511ce8a0	1331	// a parameter that determines how long we wait for transients to settle).
mjr	53:9b2611964afc	1332	uint8_t dbState;
mjr	38:091e511ce8a0	1333
mjr	38:091e511ce8a0	1334	// Pulse mode: a button in pulse mode transmits a brief logical button press and
mjr	38:091e511ce8a0	1335	// release each time the attached physical switch changes state. This is useful
mjr	38:091e511ce8a0	1336	// for cases where the host expects a key press for each change in the state of
mjr	38:091e511ce8a0	1337	// the physical switch. The canonical example is the Coin Door switch in VPinMAME,
mjr	38:091e511ce8a0	1338	// which requires pressing the END key to toggle the open/closed state. This
mjr	38:091e511ce8a0	1339	// software design isn't easily implemented in a physical coin door, though -
mjr	38:091e511ce8a0	1340	// the easiest way to sense a physical coin door's state is with a simple on/off
mjr	38:091e511ce8a0	1341	// switch. Pulse mode bridges that divide by converting a physical switch state
mjr	38:091e511ce8a0	1342	// to on/off toggle key reports to the host.
mjr	38:091e511ce8a0	1343	//
mjr	38:091e511ce8a0	1344	// Pulse state:
mjr	38:091e511ce8a0	1345	// 0 -> not a pulse switch - logical key state equals physical switch state
mjr	38:091e511ce8a0	1346	// 1 -> off
mjr	38:091e511ce8a0	1347	// 2 -> transitioning off-on
mjr	38:091e511ce8a0	1348	// 3 -> on
mjr	38:091e511ce8a0	1349	// 4 -> transitioning on-off
mjr	38:091e511ce8a0	1350	//
mjr	38:091e511ce8a0	1351	// Each state change sticks for a minimum period; when the timer expires,
mjr	38:091e511ce8a0	1352	// if the underlying physical switch is in a different state, we switch
mjr	53:9b2611964afc	1353	// to the next state and restart the timer. pulseTime is the time remaining
mjr	53:9b2611964afc	1354	// remaining before we can make another state transition, in microseconds.
mjr	53:9b2611964afc	1355	// The state transitions require a complete cycle, 1 -> 2 -> 3 -> 4 -> 1...;
mjr	53:9b2611964afc	1356	// this guarantees that the parity of the pulse count always matches the
mjr	38:091e511ce8a0	1357	// current physical switch state when the latter is stable, which makes
mjr	38:091e511ce8a0	1358	// it impossible to "trick" the host by rapidly toggling the switch state.
mjr	38:091e511ce8a0	1359	// (On my original Pinscape cabinet, I had a hardware pulse generator
mjr	38:091e511ce8a0	1360	// for coin door, and that was possible to trick by rapid toggling.
mjr	38:091e511ce8a0	1361	// This software system can't be fooled that way.)
mjr	38:091e511ce8a0	1362	uint8_t pulseState;
mjr	53:9b2611964afc	1363	uint32_t pulseTime;
mjr	38:091e511ce8a0	1364
mjr	48:058ace2aed1d	1365	} __attribute__((packed)) buttonState[MAX_BUTTONS];
mjr	18:5e890ebd0023	1366
mjr	38:091e511ce8a0	1367
mjr	38:091e511ce8a0	1368	// Button data
mjr	38:091e511ce8a0	1369	uint32_t jsButtons = 0;
mjr	38:091e511ce8a0	1370
mjr	38:091e511ce8a0	1371	// Keyboard report state. This tracks the USB keyboard state. We can
mjr	38:091e511ce8a0	1372	// report at most 6 simultaneous non-modifier keys here, plus the 8
mjr	38:091e511ce8a0	1373	// modifier keys.
mjr	38:091e511ce8a0	1374	struct
mjr	38:091e511ce8a0	1375	{
mjr	38:091e511ce8a0	1376	bool changed; // flag: changed since last report sent
mjr	48:058ace2aed1d	1377	uint8_t nkeys; // number of active keys in the list
mjr	38:091e511ce8a0	1378	uint8_t data[8]; // key state, in USB report format: byte 0 is the modifier key mask,
mjr	38:091e511ce8a0	1379	// byte 1 is reserved, and bytes 2-7 are the currently pressed key codes
mjr	38:091e511ce8a0	1380	} kbState = { false, 0, { 0, 0, 0, 0, 0, 0, 0, 0 } };
mjr	38:091e511ce8a0	1381
mjr	38:091e511ce8a0	1382	// Media key state
mjr	38:091e511ce8a0	1383	struct
mjr	38:091e511ce8a0	1384	{
mjr	38:091e511ce8a0	1385	bool changed; // flag: changed since last report sent
mjr	38:091e511ce8a0	1386	uint8_t data; // key state byte for USB reports
mjr	38:091e511ce8a0	1387	} mediaState = { false, 0 };
mjr	38:091e511ce8a0	1388
mjr	38:091e511ce8a0	1389	// button scan interrupt ticker
mjr	38:091e511ce8a0	1390	Ticker buttonTicker;
mjr	38:091e511ce8a0	1391
mjr	38:091e511ce8a0	1392	// Button scan interrupt handler. We call this periodically via
mjr	38:091e511ce8a0	1393	// a timer interrupt to scan the physical button states.
mjr	38:091e511ce8a0	1394	void scanButtons()
mjr	38:091e511ce8a0	1395	{
mjr	38:091e511ce8a0	1396	// scan all button input pins
mjr	38:091e511ce8a0	1397	ButtonState *bs = buttonState;
mjr	38:091e511ce8a0	1398	for (int i = 0 ; i < MAX_BUTTONS ; ++i, ++bs)
mjr	38:091e511ce8a0	1399	{
mjr	53:9b2611964afc	1400	// if this logical button is connected to a physical input, check
mjr	53:9b2611964afc	1401	// the GPIO pin state
mjr	38:091e511ce8a0	1402	if (bs->di != NULL)
mjr	38:091e511ce8a0	1403	{
mjr	38:091e511ce8a0	1404	// Shift the new state into the debounce history. Note that
mjr	38:091e511ce8a0	1405	// the physical pin inputs are active low (0V/GND = ON), so invert
mjr	38:091e511ce8a0	1406	// the reading by XOR'ing the low bit with 1. And of course we
mjr	38:091e511ce8a0	1407	// only want the low bit (since the history is effectively a bit
mjr	38:091e511ce8a0	1408	// vector), so mask the whole thing with 0x01 as well.
mjr	53:9b2611964afc	1409	uint8_t db = bs->dbState;
mjr	38:091e511ce8a0	1410	db <<= 1;
mjr	38:091e511ce8a0	1411	db \|= (bs->di->read() & 0x01) ^ 0x01;
mjr	53:9b2611964afc	1412	bs->dbState = db;
mjr	38:091e511ce8a0	1413
mjr	38:091e511ce8a0	1414	// if we have all 0's or 1's in the history for the required
mjr	38:091e511ce8a0	1415	// debounce period, the key state is stable - check for a change
mjr	38:091e511ce8a0	1416	// to the last stable state
mjr	38:091e511ce8a0	1417	const uint8_t stable = 0x1F; // 00011111b -> 5 stable readings
mjr	38:091e511ce8a0	1418	db &= stable;
mjr	38:091e511ce8a0	1419	if (db == 0 \|\| db == stable)
mjr	53:9b2611964afc	1420	bs->physState = db & 1;
mjr	38:091e511ce8a0	1421	}
mjr	38:091e511ce8a0	1422	}
mjr	38:091e511ce8a0	1423	}
mjr	38:091e511ce8a0	1424
mjr	38:091e511ce8a0	1425	// Button state transition timer. This is used for pulse buttons, to
mjr	38:091e511ce8a0	1426	// control the timing of the logical key presses generated by transitions
mjr	38:091e511ce8a0	1427	// in the physical button state.
mjr	38:091e511ce8a0	1428	Timer buttonTimer;
mjr	12:669df364a565	1429
mjr	11:bd9da7088e6e	1430	// initialize the button inputs
mjr	35:e959ffba78fd	1431	void initButtons(Config &cfg, bool &kbKeys)
mjr	11:bd9da7088e6e	1432	{
mjr	35:e959ffba78fd	1433	// presume we'll find no keyboard keys
mjr	35:e959ffba78fd	1434	kbKeys = false;
mjr	35:e959ffba78fd	1435
mjr	53:9b2611964afc	1436	// Configure the virtual buttons. These are buttons controlled via
mjr	53:9b2611964afc	1437	// software triggers rather than physical GPIO inputs. The virtual
mjr	53:9b2611964afc	1438	// buttons have the same control structures as regular buttons, but
mjr	53:9b2611964afc	1439	// they get their configuration data from other config variables.
mjr	53:9b2611964afc	1440
mjr	53:9b2611964afc	1441	// ZB Launch Ball button
mjr	53:9b2611964afc	1442	cfg.button[ZBL_BUTTON].set(
mjr	53:9b2611964afc	1443	PINNAME_TO_WIRE(NC),
mjr	53:9b2611964afc	1444	cfg.plunger.zbLaunchBall.keytype,
mjr	53:9b2611964afc	1445	cfg.plunger.zbLaunchBall.keycode);
mjr	53:9b2611964afc	1446
mjr	11:bd9da7088e6e	1447	// create the digital inputs
mjr	35:e959ffba78fd	1448	ButtonState *bs = buttonState;
mjr	35:e959ffba78fd	1449	for (int i = 0 ; i < MAX_BUTTONS ; ++i, ++bs)
mjr	11:bd9da7088e6e	1450	{
mjr	35:e959ffba78fd	1451	PinName pin = wirePinName(cfg.button[i].pin);
mjr	35:e959ffba78fd	1452	if (pin != NC)
mjr	35:e959ffba78fd	1453	{
mjr	35:e959ffba78fd	1454	// set up the GPIO input pin for this button
mjr	48:058ace2aed1d	1455	bs->di = new TinyDigitalIn(pin);
mjr	35:e959ffba78fd	1456
mjr	38:091e511ce8a0	1457	// if it's a pulse mode button, set the initial pulse state to Off
mjr	38:091e511ce8a0	1458	if (cfg.button[i].flags & BtnFlagPulse)
mjr	38:091e511ce8a0	1459	bs->pulseState = 1;
mjr	38:091e511ce8a0	1460
mjr	53:9b2611964afc	1461	// Note if it's a keyboard key of some kind. If we find any keyboard
mjr	53:9b2611964afc	1462	// mappings, we'll declare a keyboard interface when we send our HID
mjr	53:9b2611964afc	1463	// configuration to the host during USB connection setup.
mjr	35:e959ffba78fd	1464	switch (cfg.button[i].typ)
mjr	35:e959ffba78fd	1465	{
mjr	35:e959ffba78fd	1466	case BtnTypeKey:
mjr	53:9b2611964afc	1467	// note that we have at least one keyboard key
mjr	35:e959ffba78fd	1468	kbKeys = true;
mjr	35:e959ffba78fd	1469	break;
mjr	35:e959ffba78fd	1470
mjr	53:9b2611964afc	1471	default:
mjr	53:9b2611964afc	1472	// not a keyboard key
mjr	39:b3815a1c3802	1473	break;
mjr	35:e959ffba78fd	1474	}
mjr	35:e959ffba78fd	1475	}
mjr	11:bd9da7088e6e	1476	}
mjr	12:669df364a565	1477
mjr	53:9b2611964afc	1478	// If the ZB Launch Ball feature is enabled, and it uses a keyboard
mjr	53:9b2611964afc	1479	// key, this requires setting up a USB keyboard interface.
mjr	53:9b2611964afc	1480	if (cfg.plunger.zbLaunchBall.port != 0
mjr	53:9b2611964afc	1481	&& cfg.plunger.zbLaunchBall.keytype == BtnTypeKey)
mjr	53:9b2611964afc	1482	kbKeys = true;
mjr	53:9b2611964afc	1483
mjr	38:091e511ce8a0	1484	// start the button scan thread
mjr	38:091e511ce8a0	1485	buttonTicker.attach_us(scanButtons, 1000);
mjr	38:091e511ce8a0	1486
mjr	38:091e511ce8a0	1487	// start the button state transition timer
mjr	12:669df364a565	1488	buttonTimer.start();
mjr	11:bd9da7088e6e	1489	}
mjr	11:bd9da7088e6e	1490
mjr	38:091e511ce8a0	1491	// Process the button state. This sets up the joystick, keyboard, and
mjr	38:091e511ce8a0	1492	// media control descriptors with the current state of keys mapped to
mjr	38:091e511ce8a0	1493	// those HID interfaces, and executes the local effects for any keys
mjr	38:091e511ce8a0	1494	// mapped to special device functions (e.g., Night Mode).
mjr	53:9b2611964afc	1495	void processButtons(Config &cfg)
mjr	35:e959ffba78fd	1496	{
mjr	35:e959ffba78fd	1497	// start with an empty list of USB key codes
mjr	35:e959ffba78fd	1498	uint8_t modkeys = 0;
mjr	35:e959ffba78fd	1499	uint8_t keys[7] = { 0, 0, 0, 0, 0, 0, 0 };
mjr	35:e959ffba78fd	1500	int nkeys = 0;
mjr	11:bd9da7088e6e	1501
mjr	35:e959ffba78fd	1502	// clear the joystick buttons
mjr	36:b9747461331e	1503	uint32_t newjs = 0;
mjr	35:e959ffba78fd	1504
mjr	35:e959ffba78fd	1505	// start with no media keys pressed
mjr	35:e959ffba78fd	1506	uint8_t mediakeys = 0;
mjr	38:091e511ce8a0	1507
mjr	38:091e511ce8a0	1508	// calculate the time since the last run
mjr	53:9b2611964afc	1509	uint32_t dt = buttonTimer.read_us();
mjr	18:5e890ebd0023	1510	buttonTimer.reset();
mjr	38:091e511ce8a0	1511
mjr	11:bd9da7088e6e	1512	// scan the button list
mjr	18:5e890ebd0023	1513	ButtonState *bs = buttonState;
mjr	53:9b2611964afc	1514	ButtonCfg *bc = cfg.button;
mjr	53:9b2611964afc	1515	for (int i = 0 ; i < MAX_BUTTONS ; ++i, ++bs, ++bc)
mjr	11:bd9da7088e6e	1516	{
mjr	38:091e511ce8a0	1517	// if it's a pulse-mode switch, get the virtual pressed state
mjr	38:091e511ce8a0	1518	if (bs->pulseState != 0)
mjr	18:5e890ebd0023	1519	{
mjr	38:091e511ce8a0	1520	// if the timer has expired, check for state changes
mjr	53:9b2611964afc	1521	if (bs->pulseTime > dt)
mjr	18:5e890ebd0023	1522	{
mjr	53:9b2611964afc	1523	// not expired yet - deduct the last interval
mjr	53:9b2611964afc	1524	bs->pulseTime -= dt;
mjr	53:9b2611964afc	1525	}
mjr	53:9b2611964afc	1526	else
mjr	53:9b2611964afc	1527	{
mjr	53:9b2611964afc	1528	// pulse time expired - check for a state change
mjr	53:9b2611964afc	1529	const uint32_t pulseLength = 200000UL; // 200 milliseconds
mjr	38:091e511ce8a0	1530	switch (bs->pulseState)
mjr	18:5e890ebd0023	1531	{
mjr	38:091e511ce8a0	1532	case 1:
mjr	38:091e511ce8a0	1533	// off - if the physical switch is now on, start a button pulse
mjr	53:9b2611964afc	1534	if (bs->physState)
mjr	53:9b2611964afc	1535	{
mjr	38:091e511ce8a0	1536	bs->pulseTime = pulseLength;
mjr	38:091e511ce8a0	1537	bs->pulseState = 2;
mjr	53:9b2611964afc	1538	bs->logState = 1;
mjr	38:091e511ce8a0	1539	}
mjr	38:091e511ce8a0	1540	break;
mjr	18:5e890ebd0023	1541
mjr	38:091e511ce8a0	1542	case 2:
mjr	38:091e511ce8a0	1543	// transitioning off to on - end the pulse, and start a gap
mjr	38:091e511ce8a0	1544	// equal to the pulse time so that the host can observe the
mjr	38:091e511ce8a0	1545	// change in state in the logical button
mjr	38:091e511ce8a0	1546	bs->pulseState = 3;
mjr	38:091e511ce8a0	1547	bs->pulseTime = pulseLength;
mjr	53:9b2611964afc	1548	bs->logState = 0;
mjr	38:091e511ce8a0	1549	break;
mjr	38:091e511ce8a0	1550
mjr	38:091e511ce8a0	1551	case 3:
mjr	38:091e511ce8a0	1552	// on - if the physical switch is now off, start a button pulse
mjr	53:9b2611964afc	1553	if (!bs->physState)
mjr	53:9b2611964afc	1554	{
mjr	38:091e511ce8a0	1555	bs->pulseTime = pulseLength;
mjr	38:091e511ce8a0	1556	bs->pulseState = 4;
mjr	53:9b2611964afc	1557	bs->logState = 1;
mjr	38:091e511ce8a0	1558	}
mjr	38:091e511ce8a0	1559	break;
mjr	38:091e511ce8a0	1560
mjr	38:091e511ce8a0	1561	case 4:
mjr	38:091e511ce8a0	1562	// transitioning on to off - end the pulse, and start a gap
mjr	38:091e511ce8a0	1563	bs->pulseState = 1;
mjr	38:091e511ce8a0	1564	bs->pulseTime = pulseLength;
mjr	53:9b2611964afc	1565	bs->logState = 0;
mjr	38:091e511ce8a0	1566	break;
mjr	18:5e890ebd0023	1567	}
mjr	18:5e890ebd0023	1568	}
mjr	38:091e511ce8a0	1569	}
mjr	38:091e511ce8a0	1570	else
mjr	38:091e511ce8a0	1571	{
mjr	38:091e511ce8a0	1572	// not a pulse switch - the logical state is the same as the physical state
mjr	53:9b2611964afc	1573	bs->logState = bs->physState;
mjr	38:091e511ce8a0	1574	}
mjr	35:e959ffba78fd	1575
mjr	38:091e511ce8a0	1576	// carry out any edge effects from buttons changing states
mjr	53:9b2611964afc	1577	if (bs->logState != bs->prevLogState)
mjr	38:091e511ce8a0	1578	{
mjr	38:091e511ce8a0	1579	// check for special key transitions
mjr	53:9b2611964afc	1580	if (cfg.nightMode.btn == i + 1)
mjr	35:e959ffba78fd	1581	{
mjr	53:9b2611964afc	1582	// Check the switch type in the config flags. If flag 0x01 is set,
mjr	53:9b2611964afc	1583	// it's a persistent on/off switch, so the night mode state simply
mjr	53:9b2611964afc	1584	// follows the current state of the switch. Otherwise, it's a
mjr	53:9b2611964afc	1585	// momentary button, so each button push (i.e., each transition from
mjr	53:9b2611964afc	1586	// logical state OFF to ON) toggles the current night mode state.
mjr	53:9b2611964afc	1587	if (cfg.nightMode.flags & 0x01)
mjr	53:9b2611964afc	1588	{
mjr	53:9b2611964afc	1589	// toggle switch - when the button changes state, change
mjr	53:9b2611964afc	1590	// night mode to match the new state
mjr	53:9b2611964afc	1591	setNightMode(bs->logState);
mjr	53:9b2611964afc	1592	}
mjr	53:9b2611964afc	1593	else
mjr	53:9b2611964afc	1594	{
mjr	53:9b2611964afc	1595	// momentary switch - toggle the night mode state when the
mjr	53:9b2611964afc	1596	// physical button is pushed (i.e., when its logical state
mjr	53:9b2611964afc	1597	// transitions from OFF to ON)
mjr	53:9b2611964afc	1598	if (bs->logState)
mjr	53:9b2611964afc	1599	toggleNightMode();
mjr	53:9b2611964afc	1600	}
mjr	35:e959ffba78fd	1601	}
mjr	38:091e511ce8a0	1602
mjr	38:091e511ce8a0	1603	// remember the new state for comparison on the next run
mjr	53:9b2611964afc	1604	bs->prevLogState = bs->logState;
mjr	38:091e511ce8a0	1605	}
mjr	38:091e511ce8a0	1606
mjr	53:9b2611964afc	1607	// if it's pressed, physically or virtually, add it to the appropriate
mjr	53:9b2611964afc	1608	// key state list
mjr	53:9b2611964afc	1609	if (bs->logState \|\| bs->virtState)
mjr	38:091e511ce8a0	1610	{
mjr	38:091e511ce8a0	1611	// OR in the joystick button bit, mod key bits, and media key bits
mjr	53:9b2611964afc	1612	uint8_t val = bc->val;
mjr	53:9b2611964afc	1613	switch (bc->typ)
mjr	53:9b2611964afc	1614	{
mjr	53:9b2611964afc	1615	case BtnTypeJoystick:
mjr	53:9b2611964afc	1616	// joystick button
mjr	53:9b2611964afc	1617	newjs \|= (1 << (val - 1));
mjr	53:9b2611964afc	1618	break;
mjr	53:9b2611964afc	1619
mjr	53:9b2611964afc	1620	case BtnTypeKey:
mjr	53:9b2611964afc	1621	// Keyboard key. This could be a modifier key (shift, control,
mjr	53:9b2611964afc	1622	// alt, GUI), a media key (mute, volume up, volume down), or a
mjr	53:9b2611964afc	1623	// regular key. Check which one.
mjr	53:9b2611964afc	1624	if (val >= 0x7F && val <= 0x81)
mjr	53:9b2611964afc	1625	{
mjr	53:9b2611964afc	1626	// It's a media key. OR the key into the media key mask.
mjr	53:9b2611964afc	1627	// The media mask bits are mapped in the HID report descriptor
mjr	53:9b2611964afc	1628	// in USBJoystick.cpp. For simplicity, we arrange the mask so
mjr	53:9b2611964afc	1629	// that the ones with regular keyboard equivalents that we catch
mjr	53:9b2611964afc	1630	// here are in the same order as the key scan codes:
mjr	53:9b2611964afc	1631	//
mjr	53:9b2611964afc	1632	// Mute = scan 0x7F = mask bit 0x01
mjr	53:9b2611964afc	1633	// Vol Up = scan 0x80 = mask bit 0x02
mjr	53:9b2611964afc	1634	// Vol Down = scan 0x81 = mask bit 0x04
mjr	53:9b2611964afc	1635	//
mjr	53:9b2611964afc	1636	// So we can translate from scan code to bit mask with some
mjr	53:9b2611964afc	1637	// simple bit shifting:
mjr	53:9b2611964afc	1638	mediakeys \|= (1 << (val - 0x7f));
mjr	53:9b2611964afc	1639	}
mjr	53:9b2611964afc	1640	else if (val >= 0xE0 && val <= 0xE7)
mjr	53:9b2611964afc	1641	{
mjr	53:9b2611964afc	1642	// It's a modifier key. Like the media keys, these are represented
mjr	53:9b2611964afc	1643	// in the USB reports with a bit mask, and like the media keys, we
mjr	53:9b2611964afc	1644	// arrange the mask bits in the same order as the scan codes. This
mjr	53:9b2611964afc	1645	// makes figuring the mask a simple bit shift:
mjr	53:9b2611964afc	1646	modkeys \|= (1 << (val - 0xE0));
mjr	53:9b2611964afc	1647	}
mjr	53:9b2611964afc	1648	else
mjr	53:9b2611964afc	1649	{
mjr	53:9b2611964afc	1650	// It's a regular key. Make sure it's not already in the list, and
mjr	53:9b2611964afc	1651	// that the list isn't full. If neither of these apply, add the key.
mjr	53:9b2611964afc	1652	if (nkeys < 7)
mjr	53:9b2611964afc	1653	{
mjr	53:9b2611964afc	1654	bool found;
mjr	53:9b2611964afc	1655	for (int j = 0 ; j < nkeys ; ++j)
mjr	53:9b2611964afc	1656	{
mjr	53:9b2611964afc	1657	if (keys[j] == val)
mjr	53:9b2611964afc	1658	{
mjr	53:9b2611964afc	1659	found = true;
mjr	53:9b2611964afc	1660	break;
mjr	53:9b2611964afc	1661	}
mjr	53:9b2611964afc	1662	}
mjr	53:9b2611964afc	1663	if (!found)
mjr	53:9b2611964afc	1664	keys[nkeys++] = val;
mjr	53:9b2611964afc	1665	}
mjr	53:9b2611964afc	1666	}
mjr	53:9b2611964afc	1667	break;
mjr	53:9b2611964afc	1668	}
mjr	18:5e890ebd0023	1669	}
mjr	11:bd9da7088e6e	1670	}
mjr	36:b9747461331e	1671
mjr	36:b9747461331e	1672	// check for joystick button changes
mjr	36:b9747461331e	1673	if (jsButtons != newjs)
mjr	36:b9747461331e	1674	jsButtons = newjs;
mjr	11:bd9da7088e6e	1675
mjr	35:e959ffba78fd	1676	// Check for changes to the keyboard keys
mjr	35:e959ffba78fd	1677	if (kbState.data[0] != modkeys
mjr	35:e959ffba78fd	1678	\|\| kbState.nkeys != nkeys
mjr	35:e959ffba78fd	1679	\|\| memcmp(keys, &kbState.data[2], 6) != 0)
mjr	35:e959ffba78fd	1680	{
mjr	35:e959ffba78fd	1681	// we have changes - set the change flag and store the new key data
mjr	35:e959ffba78fd	1682	kbState.changed = true;
mjr	35:e959ffba78fd	1683	kbState.data[0] = modkeys;
mjr	35:e959ffba78fd	1684	if (nkeys <= 6) {
mjr	35:e959ffba78fd	1685	// 6 or fewer simultaneous keys - report the key codes
mjr	35:e959ffba78fd	1686	kbState.nkeys = nkeys;
mjr	35:e959ffba78fd	1687	memcpy(&kbState.data[2], keys, 6);
mjr	35:e959ffba78fd	1688	}
mjr	35:e959ffba78fd	1689	else {
mjr	35:e959ffba78fd	1690	// more than 6 simultaneous keys - report rollover (all '1' key codes)
mjr	35:e959ffba78fd	1691	kbState.nkeys = 6;
mjr	35:e959ffba78fd	1692	memset(&kbState.data[2], 1, 6);
mjr	35:e959ffba78fd	1693	}
mjr	35:e959ffba78fd	1694	}
mjr	35:e959ffba78fd	1695
mjr	35:e959ffba78fd	1696	// Check for changes to media keys
mjr	35:e959ffba78fd	1697	if (mediaState.data != mediakeys)
mjr	35:e959ffba78fd	1698	{
mjr	35:e959ffba78fd	1699	mediaState.changed = true;
mjr	35:e959ffba78fd	1700	mediaState.data = mediakeys;
mjr	35:e959ffba78fd	1701	}
mjr	11:bd9da7088e6e	1702	}
mjr	11:bd9da7088e6e	1703
mjr	5:a70c0bce770d	1704	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	1705	//
mjr	5:a70c0bce770d	1706	// Customization joystick subbclass
mjr	5:a70c0bce770d	1707	//
mjr	5:a70c0bce770d	1708
mjr	5:a70c0bce770d	1709	class MyUSBJoystick: public USBJoystick
mjr	5:a70c0bce770d	1710	{
mjr	5:a70c0bce770d	1711	public:
mjr	35:e959ffba78fd	1712	MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release,
mjr	35:e959ffba78fd	1713	bool waitForConnect, bool enableJoystick, bool useKB)
mjr	35:e959ffba78fd	1714	: USBJoystick(vendor_id, product_id, product_release, waitForConnect, enableJoystick, useKB)
mjr	5:a70c0bce770d	1715	{
mjr	54:fd77a6b2f76c	1716	sleeping_ = false;
mjr	54:fd77a6b2f76c	1717	reconnectPending_ = false;
mjr	54:fd77a6b2f76c	1718	timer_.start();
mjr	54:fd77a6b2f76c	1719	}
mjr	54:fd77a6b2f76c	1720
mjr	54:fd77a6b2f76c	1721	// show diagnostic LED feedback for connect state
mjr	54:fd77a6b2f76c	1722	void diagFlash()
mjr	54:fd77a6b2f76c	1723	{
mjr	54:fd77a6b2f76c	1724	if (!configured() \|\| sleeping_)
mjr	54:fd77a6b2f76c	1725	{
mjr	54:fd77a6b2f76c	1726	// flash once if sleeping or twice if disconnected
mjr	54:fd77a6b2f76c	1727	for (int j = isConnected() ? 1 : 2 ; j > 0 ; --j)
mjr	54:fd77a6b2f76c	1728	{
mjr	54:fd77a6b2f76c	1729	// short red flash
mjr	54:fd77a6b2f76c	1730	diagLED(1, 0, 0);
mjr	54:fd77a6b2f76c	1731	wait_us(50000);
mjr	54:fd77a6b2f76c	1732	diagLED(0, 0, 0);
mjr	54:fd77a6b2f76c	1733	wait_us(50000);
mjr	54:fd77a6b2f76c	1734	}
mjr	54:fd77a6b2f76c	1735	}
mjr	5:a70c0bce770d	1736	}
mjr	5:a70c0bce770d	1737
mjr	5:a70c0bce770d	1738	// are we connected?
mjr	5:a70c0bce770d	1739	int isConnected() { return configured(); }
mjr	5:a70c0bce770d	1740
mjr	54:fd77a6b2f76c	1741	// Are we in sleep mode? If true, this means that the hardware has
mjr	54:fd77a6b2f76c	1742	// detected no activity on the bus for 3ms. This happens when the
mjr	54:fd77a6b2f76c	1743	// cable is physically disconnected, the computer is turned off, or
mjr	54:fd77a6b2f76c	1744	// the connection is otherwise disabled.
mjr	54:fd77a6b2f76c	1745	bool isSleeping() const { return sleeping_; }
mjr	54:fd77a6b2f76c	1746
mjr	54:fd77a6b2f76c	1747	// If necessary, attempt to recover from a broken connection.
mjr	54:fd77a6b2f76c	1748	//
mjr	54:fd77a6b2f76c	1749	// This is a hack, to work around an apparent timing bug in the
mjr	54:fd77a6b2f76c	1750	// KL25Z USB implementation that I haven't been able to solve any
mjr	54:fd77a6b2f76c	1751	// other way.
mjr	54:fd77a6b2f76c	1752	//
mjr	54:fd77a6b2f76c	1753	// The issue: when we have an established connection, and the
mjr	54:fd77a6b2f76c	1754	// connection is broken by physically unplugging the cable or by
mjr	54:fd77a6b2f76c	1755	// rebooting the PC, the KL25Z sometimes fails to reconnect when
mjr	54:fd77a6b2f76c	1756	// the physical connection is re-established. The failure is
mjr	54:fd77a6b2f76c	1757	// sporadic; I'd guess it happens about 25% of the time, but I
mjr	54:fd77a6b2f76c	1758	// haven't collected any real statistics on it.
mjr	54:fd77a6b2f76c	1759	//
mjr	54:fd77a6b2f76c	1760	// The proximate cause of the failure is a deadlock in the SETUP
mjr	54:fd77a6b2f76c	1761	// protocol between the host and device that happens around the
mjr	54:fd77a6b2f76c	1762	// point where the PC is requesting the configuration descriptor.
mjr	54:fd77a6b2f76c	1763	// The exact point in the protocol where this occurs varies slightly;
mjr	54:fd77a6b2f76c	1764	// it can occur a message or two before or after the Get Config
mjr	54:fd77a6b2f76c	1765	// Descriptor packet. No matter where it happens, the nature of
mjr	54:fd77a6b2f76c	1766	// the deadlock is the same: the PC thinks it sees a STALL on EP0
mjr	54:fd77a6b2f76c	1767	// from the device, so it terminates the connection attempt, which
mjr	54:fd77a6b2f76c	1768	// stops further traffic on the cable. The KL25Z USB hardware sees
mjr	54:fd77a6b2f76c	1769	// the lack of traffic and triggers a SLEEP interrupt (a misnomer
mjr	54:fd77a6b2f76c	1770	// for what should have been called a BROKEN CONNECTION interrupt).
mjr	54:fd77a6b2f76c	1771	// Both sides simply stop talking at this point, so the connection
mjr	54:fd77a6b2f76c	1772	// is effectively dead.
mjr	54:fd77a6b2f76c	1773	//
mjr	54:fd77a6b2f76c	1774	// The strange thing is that, as far as I can tell, the KL25Z isn't
mjr	54:fd77a6b2f76c	1775	// doing anything to trigger the STALL on its end. Both the PC
mjr	54:fd77a6b2f76c	1776	// and the KL25Z are happy up until the very point of the failure
mjr	54:fd77a6b2f76c	1777	// and show no signs of anything wrong in the protocol exchange.
mjr	54:fd77a6b2f76c	1778	// In fact, every detail of the protocol exchange up to this point
mjr	54:fd77a6b2f76c	1779	// is identical to every successful exchange that does finish the
mjr	54:fd77a6b2f76c	1780	// whole setup process successfully, on both the KL25Z and Windows
mjr	54:fd77a6b2f76c	1781	// sides of the connection. I can't find any point of difference
mjr	54:fd77a6b2f76c	1782	// between successful and unsuccessful sequences that suggests why
mjr	54:fd77a6b2f76c	1783	// the fateful message fails. This makes me suspect that whatever
mjr	54:fd77a6b2f76c	1784	// is going wrong is inside the KL25Z USB hardware module, which
mjr	54:fd77a6b2f76c	1785	// is a pretty substantial black box - it has a lot of internal
mjr	54:fd77a6b2f76c	1786	// state that's inaccessible to the software. Further bolstering
mjr	54:fd77a6b2f76c	1787	// this theory is a little experiment where I found that I could
mjr	54:fd77a6b2f76c	1788	// reproduce the exact sequence of events of a failed reconnect
mjr	54:fd77a6b2f76c	1789	// attempt in an initial connection, which is otherwise 100%
mjr	54:fd77a6b2f76c	1790	// reliable, by inserting a little bit of artifical time padding
mjr	54:fd77a6b2f76c	1791	// (200us per event) into the SETUP interrupt handler. My
mjr	54:fd77a6b2f76c	1792	// hypothesis is that the STALL event happens because the KL25Z
mjr	54:fd77a6b2f76c	1793	// USB hardware is too slow to respond to a message. I'm not
mjr	54:fd77a6b2f76c	1794	// sure why this would only happen after a disconnect and not
mjr	54:fd77a6b2f76c	1795	// during the initial connection; maybe there's some reset work
mjr	54:fd77a6b2f76c	1796	// in the hardware that takes a substantial amount of time after
mjr	54:fd77a6b2f76c	1797	// a disconnect.
mjr	54:fd77a6b2f76c	1798	//
mjr	54:fd77a6b2f76c	1799	// The solution: the problem happens during the SETUP exchange,
mjr	54:fd77a6b2f76c	1800	// after we've been assigned a bus address. It only happens on
mjr	54:fd77a6b2f76c	1801	// some percentage of connection requests, so if we can simply
mjr	54:fd77a6b2f76c	1802	// start over when the failure occurs, we'll eventually succeed
mjr	54:fd77a6b2f76c	1803	// simply because not every attempt fails. The ideal would be
mjr	54:fd77a6b2f76c	1804	// to get the success rate up to 100%, but I can't figure out how
mjr	54:fd77a6b2f76c	1805	// to fix the underlying problem, so this is the next best thing.
mjr	54:fd77a6b2f76c	1806	//
mjr	54:fd77a6b2f76c	1807	// We can detect when the failure occurs by noticing when a SLEEP
mjr	54:fd77a6b2f76c	1808	// interrupt happens while we have an assigned bus address.
mjr	54:fd77a6b2f76c	1809	//
mjr	54:fd77a6b2f76c	1810	// To start a new connection attempt, we have to make the host
mjr	54:fd77a6b2f76c	1811	// try again. The logical connection is initiated solely by the
mjr	54:fd77a6b2f76c	1812	// host. Fortunately, it's easy to get the host to initiate the
mjr	54:fd77a6b2f76c	1813	// process: if we disconnect on the device side, it effectively
mjr	54:fd77a6b2f76c	1814	// makes the device look to the PC like it's electrically unplugged.
mjr	54:fd77a6b2f76c	1815	// When we reconnect on the device side, the PC thinks a new device
mjr	54:fd77a6b2f76c	1816	// has been plugged in and initiates the logical connection setup.
mjr	54:fd77a6b2f76c	1817	// We have to remain disconnected for a macroscopic interval for
mjr	54:fd77a6b2f76c	1818	// this to happen - 5ms seems to do the trick.
mjr	54:fd77a6b2f76c	1819	//
mjr	54:fd77a6b2f76c	1820	// Here's the full algorithm:
mjr	54:fd77a6b2f76c	1821	//
mjr	54:fd77a6b2f76c	1822	// 1. In the SLEEP interrupt handler, if we have a bus address,
mjr	54:fd77a6b2f76c	1823	// we disconnect the device. This happens in ISR context, so we
mjr	54:fd77a6b2f76c	1824	// can't wait around for 5ms. Instead, we simply set a flag noting
mjr	54:fd77a6b2f76c	1825	// that the connection has been broken, and we note the time and
mjr	54:fd77a6b2f76c	1826	// return.
mjr	54:fd77a6b2f76c	1827	//
mjr	54:fd77a6b2f76c	1828	// 2. In our main loop, whenever we find that we're disconnected,
mjr	54:fd77a6b2f76c	1829	// we call recoverConnection(). The main loop's job is basically a
mjr	54:fd77a6b2f76c	1830	// bunch of device polling. We're just one more device to poll, so
mjr	54:fd77a6b2f76c	1831	// recoverConnection() will be called soon after a disconnect, and
mjr	54:fd77a6b2f76c	1832	// then will be called in a loop for as long as we're disconnected.
mjr	54:fd77a6b2f76c	1833	//
mjr	54:fd77a6b2f76c	1834	// 3. In recoverConnection(), we check the flag we set in the SLEEP
mjr	54:fd77a6b2f76c	1835	// handler. If set, we wait until 5ms has elapsed from the SLEEP
mjr	54:fd77a6b2f76c	1836	// event time that we noted, then we'll reconnect and clear the flag.
mjr	54:fd77a6b2f76c	1837	// This gives us the required 5ms (or longer) delay between the
mjr	54:fd77a6b2f76c	1838	// disconnect and reconnect, ensuring that the PC will notice and
mjr	54:fd77a6b2f76c	1839	// will start over with the connection protocol.
mjr	54:fd77a6b2f76c	1840	//
mjr	54:fd77a6b2f76c	1841	// 4. The main loop keeps calling recoverConnection() in a loop for
mjr	54:fd77a6b2f76c	1842	// as long as we're disconnected, so if the new connection attempt
mjr	54:fd77a6b2f76c	1843	// triggered in step 3 fails, the SLEEP interrupt will happen again,
mjr	54:fd77a6b2f76c	1844	// we'll disconnect again, the flag will get set again, and
mjr	54:fd77a6b2f76c	1845	// recoverConnection() will reconnect again after another suitable
mjr	54:fd77a6b2f76c	1846	// delay. This will repeat until the connection succeeds or hell
mjr	54:fd77a6b2f76c	1847	// freezes over.
mjr	54:fd77a6b2f76c	1848	//
mjr	54:fd77a6b2f76c	1849	// Each disconnect happens immediately when a reconnect attempt
mjr	54:fd77a6b2f76c	1850	// fails, and an entire successful connection only takes about 25ms,
mjr	54:fd77a6b2f76c	1851	// so our loop can retry at more than 30 attempts per second.
mjr	54:fd77a6b2f76c	1852	// In my testing, lost connections almost always reconnect in
mjr	54:fd77a6b2f76c	1853	// less than second with this code in place.
mjr	54:fd77a6b2f76c	1854	void recoverConnection()
mjr	54:fd77a6b2f76c	1855	{
mjr	54:fd77a6b2f76c	1856	// if a reconnect is pending, reconnect
mjr	54:fd77a6b2f76c	1857	if (reconnectPending_)
mjr	54:fd77a6b2f76c	1858	{
mjr	54:fd77a6b2f76c	1859	// Loop until we reach 5ms after the last sleep event.
mjr	54:fd77a6b2f76c	1860	for (bool done = false ; !done ; )
mjr	54:fd77a6b2f76c	1861	{
mjr	54:fd77a6b2f76c	1862	// If we've reached the target time, reconnect. Do the
mjr	54:fd77a6b2f76c	1863	// time check and flag reset atomically, so that we can't
mjr	54:fd77a6b2f76c	1864	// have another sleep event sneak in after we've verified
mjr	54:fd77a6b2f76c	1865	// the time. If another event occurs, it has to happen
mjr	54:fd77a6b2f76c	1866	// before we check, in which case it'll update the time
mjr	54:fd77a6b2f76c	1867	// before we check it, or after we clear the flag, in
mjr	54:fd77a6b2f76c	1868	// which case it will reset the flag and we'll do another
mjr	54:fd77a6b2f76c	1869	// round the next time we call this routine.
mjr	54:fd77a6b2f76c	1870	__disable_irq();
mjr	54:fd77a6b2f76c	1871	if (uint32_t(timer_.read_us() - lastSleepTime_) > 5000)
mjr	54:fd77a6b2f76c	1872	{
mjr	54:fd77a6b2f76c	1873	connect(false);
mjr	54:fd77a6b2f76c	1874	reconnectPending_ = false;
mjr	54:fd77a6b2f76c	1875	done = true;
mjr	54:fd77a6b2f76c	1876	}
mjr	54:fd77a6b2f76c	1877	__enable_irq();
mjr	54:fd77a6b2f76c	1878	}
mjr	54:fd77a6b2f76c	1879	}
mjr	54:fd77a6b2f76c	1880	}
mjr	5:a70c0bce770d	1881
mjr	5:a70c0bce770d	1882	protected:
mjr	54:fd77a6b2f76c	1883	// Handle a USB SLEEP interrupt. This interrupt signifies that the
mjr	54:fd77a6b2f76c	1884	// USB hardware module hasn't seen any token traffic for 3ms, which
mjr	54:fd77a6b2f76c	1885	// means that we're either physically or logically disconnected.
mjr	54:fd77a6b2f76c	1886	//
mjr	54:fd77a6b2f76c	1887	// Important: this runs in ISR context.
mjr	54:fd77a6b2f76c	1888	//
mjr	54:fd77a6b2f76c	1889	// Note that this is a specialized sense of "sleep" that's unrelated
mjr	54:fd77a6b2f76c	1890	// to the similarly named power modes on the PC. This has nothing
mjr	54:fd77a6b2f76c	1891	// to do with suspend/sleep mode on the PC, and it's not a low-power
mjr	54:fd77a6b2f76c	1892	// mode on the KL25Z. They really should have called this interrupt
mjr	54:fd77a6b2f76c	1893	// DISCONNECT or BROKEN CONNECTION.)
mjr	54:fd77a6b2f76c	1894	virtual void sleepStateChanged(unsigned int sleeping)
mjr	54:fd77a6b2f76c	1895	{
mjr	54:fd77a6b2f76c	1896	// note the new state
mjr	54:fd77a6b2f76c	1897	sleeping_ = sleeping;
mjr	54:fd77a6b2f76c	1898
mjr	54:fd77a6b2f76c	1899	// If we have a non-zero bus address, we have at least a partial
mjr	54:fd77a6b2f76c	1900	// connection to the host (we've made it at least as far as the
mjr	54:fd77a6b2f76c	1901	// SETUP stage). Explicitly disconnect, and the pending reconnect
mjr	54:fd77a6b2f76c	1902	// flag, and remember the time of the sleep event.
mjr	54:fd77a6b2f76c	1903	if (USB0->ADDR != 0x00)
mjr	54:fd77a6b2f76c	1904	{
mjr	54:fd77a6b2f76c	1905	disconnect();
mjr	54:fd77a6b2f76c	1906	lastSleepTime_ = timer_.read_us();
mjr	54:fd77a6b2f76c	1907	reconnectPending_ = true;
mjr	54:fd77a6b2f76c	1908	}
mjr	54:fd77a6b2f76c	1909	}
mjr	54:fd77a6b2f76c	1910
mjr	54:fd77a6b2f76c	1911	// is the USB connection asleep?
mjr	54:fd77a6b2f76c	1912	volatile bool sleeping_;
mjr	54:fd77a6b2f76c	1913
mjr	54:fd77a6b2f76c	1914	// flag: reconnect pending after sleep event
mjr	54:fd77a6b2f76c	1915	volatile bool reconnectPending_;
mjr	54:fd77a6b2f76c	1916
mjr	54:fd77a6b2f76c	1917	// time of last sleep event while connected
mjr	54:fd77a6b2f76c	1918	volatile uint32_t lastSleepTime_;
mjr	54:fd77a6b2f76c	1919
mjr	54:fd77a6b2f76c	1920	// timer to keep track of interval since last sleep event
mjr	54:fd77a6b2f76c	1921	Timer timer_;
mjr	5:a70c0bce770d	1922	};
mjr	5:a70c0bce770d	1923
mjr	5:a70c0bce770d	1924	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	1925	//
mjr	5:a70c0bce770d	1926	// Accelerometer (MMA8451Q)
mjr	5:a70c0bce770d	1927	//
mjr	5:a70c0bce770d	1928
mjr	5:a70c0bce770d	1929	// The MMA8451Q is the KL25Z's on-board 3-axis accelerometer.
mjr	5:a70c0bce770d	1930	//
mjr	5:a70c0bce770d	1931	// This is a custom wrapper for the library code to interface to the
mjr	6:cc35eb643e8f	1932	// MMA8451Q. This class encapsulates an interrupt handler and
mjr	6:cc35eb643e8f	1933	// automatic calibration.
mjr	5:a70c0bce770d	1934	//
mjr	5:a70c0bce770d	1935	// We install an interrupt handler on the accelerometer "data ready"
mjr	6:cc35eb643e8f	1936	// interrupt to ensure that we fetch each sample immediately when it
mjr	6:cc35eb643e8f	1937	// becomes available. The accelerometer data rate is fiarly high
mjr	6:cc35eb643e8f	1938	// (800 Hz), so it's not practical to keep up with it by polling.
mjr	6:cc35eb643e8f	1939	// Using an interrupt handler lets us respond quickly and read
mjr	6:cc35eb643e8f	1940	// every sample.
mjr	5:a70c0bce770d	1941	//
mjr	6:cc35eb643e8f	1942	// We automatically calibrate the accelerometer so that it's not
mjr	6:cc35eb643e8f	1943	// necessary to get it exactly level when installing it, and so
mjr	6:cc35eb643e8f	1944	// that it's also not necessary to calibrate it manually. There's
mjr	6:cc35eb643e8f	1945	// lots of experience that tells us that manual calibration is a
mjr	6:cc35eb643e8f	1946	// terrible solution, mostly because cabinets tend to shift slightly
mjr	6:cc35eb643e8f	1947	// during use, requiring frequent recalibration. Instead, we
mjr	6:cc35eb643e8f	1948	// calibrate automatically. We continuously monitor the acceleration
mjr	6:cc35eb643e8f	1949	// data, watching for periods of constant (or nearly constant) values.
mjr	6:cc35eb643e8f	1950	// Any time it appears that the machine has been at rest for a while
mjr	6:cc35eb643e8f	1951	// (about 5 seconds), we'll average the readings during that rest
mjr	6:cc35eb643e8f	1952	// period and use the result as the level rest position. This is
mjr	6:cc35eb643e8f	1953	// is ongoing, so we'll quickly find the center point again if the
mjr	6:cc35eb643e8f	1954	// machine is moved during play (by an especially aggressive bout
mjr	6:cc35eb643e8f	1955	// of nudging, say).
mjr	5:a70c0bce770d	1956	//
mjr	5:a70c0bce770d	1957
mjr	17:ab3cec0c8bf4	1958	// I2C address of the accelerometer (this is a constant of the KL25Z)
mjr	17:ab3cec0c8bf4	1959	const int MMA8451_I2C_ADDRESS = (0x1d<<1);
mjr	17:ab3cec0c8bf4	1960
mjr	17:ab3cec0c8bf4	1961	// SCL and SDA pins for the accelerometer (constant for the KL25Z)
mjr	17:ab3cec0c8bf4	1962	#define MMA8451_SCL_PIN PTE25
mjr	17:ab3cec0c8bf4	1963	#define MMA8451_SDA_PIN PTE24
mjr	17:ab3cec0c8bf4	1964
mjr	17:ab3cec0c8bf4	1965	// Digital in pin to use for the accelerometer interrupt. For the KL25Z,
mjr	17:ab3cec0c8bf4	1966	// this can be either PTA14 or PTA15, since those are the pins physically
mjr	17:ab3cec0c8bf4	1967	// wired on this board to the MMA8451 interrupt controller.
mjr	17:ab3cec0c8bf4	1968	#define MMA8451_INT_PIN PTA15
mjr	17:ab3cec0c8bf4	1969
mjr	17:ab3cec0c8bf4	1970
mjr	6:cc35eb643e8f	1971	// accelerometer input history item, for gathering calibration data
mjr	6:cc35eb643e8f	1972	struct AccHist
mjr	5:a70c0bce770d	1973	{
mjr	6:cc35eb643e8f	1974	AccHist() { x = y = d = 0.0; xtot = ytot = 0.0; cnt = 0; }
mjr	6:cc35eb643e8f	1975	void set(float x, float y, AccHist *prv)
mjr	6:cc35eb643e8f	1976	{
mjr	6:cc35eb643e8f	1977	// save the raw position
mjr	6:cc35eb643e8f	1978	this->x = x;
mjr	6:cc35eb643e8f	1979	this->y = y;
mjr	6:cc35eb643e8f	1980	this->d = distance(prv);
mjr	6:cc35eb643e8f	1981	}
mjr	6:cc35eb643e8f	1982
mjr	6:cc35eb643e8f	1983	// reading for this entry
mjr	5:a70c0bce770d	1984	float x, y;
mjr	5:a70c0bce770d	1985
mjr	6:cc35eb643e8f	1986	// distance from previous entry
mjr	6:cc35eb643e8f	1987	float d;
mjr	5:a70c0bce770d	1988
mjr	6:cc35eb643e8f	1989	// total and count of samples averaged over this period
mjr	6:cc35eb643e8f	1990	float xtot, ytot;
mjr	6:cc35eb643e8f	1991	int cnt;
mjr	6:cc35eb643e8f	1992
mjr	6:cc35eb643e8f	1993	void clearAvg() { xtot = ytot = 0.0; cnt = 0; }
mjr	6:cc35eb643e8f	1994	void addAvg(float x, float y) { xtot += x; ytot += y; ++cnt; }
mjr	6:cc35eb643e8f	1995	float xAvg() const { return xtot/cnt; }
mjr	6:cc35eb643e8f	1996	float yAvg() const { return ytot/cnt; }
mjr	5:a70c0bce770d	1997
mjr	6:cc35eb643e8f	1998	float distance(AccHist *p)
mjr	6:cc35eb643e8f	1999	{ return sqrt(square(p->x - x) + square(p->y - y)); }
mjr	5:a70c0bce770d	2000	};
mjr	5:a70c0bce770d	2001
mjr	5:a70c0bce770d	2002	// accelerometer wrapper class
mjr	3:3514575d4f86	2003	class Accel
mjr	3:3514575d4f86	2004	{
mjr	3:3514575d4f86	2005	public:
mjr	3:3514575d4f86	2006	Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin)
mjr	3:3514575d4f86	2007	: mma_(sda, scl, i2cAddr), intIn_(irqPin)
mjr	3:3514575d4f86	2008	{
mjr	5:a70c0bce770d	2009	// remember the interrupt pin assignment
mjr	5:a70c0bce770d	2010	irqPin_ = irqPin;
mjr	5:a70c0bce770d	2011
mjr	5:a70c0bce770d	2012	// reset and initialize
mjr	5:a70c0bce770d	2013	reset();
mjr	5:a70c0bce770d	2014	}
mjr	5:a70c0bce770d	2015
mjr	5:a70c0bce770d	2016	void reset()
mjr	5:a70c0bce770d	2017	{
mjr	6:cc35eb643e8f	2018	// clear the center point
mjr	6:cc35eb643e8f	2019	cx_ = cy_ = 0.0;
mjr	6:cc35eb643e8f	2020
mjr	6:cc35eb643e8f	2021	// start the calibration timer
mjr	5:a70c0bce770d	2022	tCenter_.start();
mjr	5:a70c0bce770d	2023	iAccPrv_ = nAccPrv_ = 0;
mjr	6:cc35eb643e8f	2024
mjr	5:a70c0bce770d	2025	// reset and initialize the MMA8451Q
mjr	5:a70c0bce770d	2026	mma_.init();
mjr	6:cc35eb643e8f	2027
mjr	6:cc35eb643e8f	2028	// set the initial integrated velocity reading to zero
mjr	6:cc35eb643e8f	2029	vx_ = vy_ = 0;
mjr	3:3514575d4f86	2030
mjr	6:cc35eb643e8f	2031	// set up our accelerometer interrupt handling
mjr	6:cc35eb643e8f	2032	intIn_.rise(this, &Accel::isr);
mjr	5:a70c0bce770d	2033	mma_.setInterruptMode(irqPin_ == PTA14 ? 1 : 2);
mjr	3:3514575d4f86	2034
mjr	3:3514575d4f86	2035	// read the current registers to clear the data ready flag
mjr	6:cc35eb643e8f	2036	mma_.getAccXYZ(ax_, ay_, az_);
mjr	3:3514575d4f86	2037
mjr	3:3514575d4f86	2038	// start our timers
mjr	3:3514575d4f86	2039	tGet_.start();
mjr	3:3514575d4f86	2040	tInt_.start();
mjr	3:3514575d4f86	2041	}
mjr	3:3514575d4f86	2042
mjr	9:fd65b0a94720	2043	void get(int &x, int &y)
mjr	3:3514575d4f86	2044	{
mjr	3:3514575d4f86	2045	// disable interrupts while manipulating the shared data
mjr	3:3514575d4f86	2046	__disable_irq();
mjr	3:3514575d4f86	2047
mjr	3:3514575d4f86	2048	// read the shared data and store locally for calculations
mjr	6:cc35eb643e8f	2049	float ax = ax_, ay = ay_;
mjr	6:cc35eb643e8f	2050	float vx = vx_, vy = vy_;
mjr	5:a70c0bce770d	2051
mjr	6:cc35eb643e8f	2052	// reset the velocity sum for the next run
mjr	6:cc35eb643e8f	2053	vx_ = vy_ = 0;
mjr	3:3514575d4f86	2054
mjr	3:3514575d4f86	2055	// get the time since the last get() sample
mjr	38:091e511ce8a0	2056	float dt = tGet_.read_us()/1.0e6f;
mjr	3:3514575d4f86	2057	tGet_.reset();
mjr	3:3514575d4f86	2058
mjr	3:3514575d4f86	2059	// done manipulating the shared data
mjr	3:3514575d4f86	2060	__enable_irq();
mjr	3:3514575d4f86	2061
mjr	6:cc35eb643e8f	2062	// adjust the readings for the integration time
mjr	6:cc35eb643e8f	2063	vx /= dt;
mjr	6:cc35eb643e8f	2064	vy /= dt;
mjr	6:cc35eb643e8f	2065
mjr	6:cc35eb643e8f	2066	// add this sample to the current calibration interval's running total
mjr	6:cc35eb643e8f	2067	AccHist *p = accPrv_ + iAccPrv_;
mjr	6:cc35eb643e8f	2068	p->addAvg(ax, ay);
mjr	6:cc35eb643e8f	2069
mjr	5:a70c0bce770d	2070	// check for auto-centering every so often
mjr	48:058ace2aed1d	2071	if (tCenter_.read_us() > 1000000)
mjr	5:a70c0bce770d	2072	{
mjr	5:a70c0bce770d	2073	// add the latest raw sample to the history list
mjr	6:cc35eb643e8f	2074	AccHist *prv = p;
mjr	5:a70c0bce770d	2075	iAccPrv_ = (iAccPrv_ + 1) % maxAccPrv;
mjr	6:cc35eb643e8f	2076	p = accPrv_ + iAccPrv_;
mjr	6:cc35eb643e8f	2077	p->set(ax, ay, prv);
mjr	5:a70c0bce770d	2078
mjr	5:a70c0bce770d	2079	// if we have a full complement, check for stability
mjr	5:a70c0bce770d	2080	if (nAccPrv_ >= maxAccPrv)
mjr	5:a70c0bce770d	2081	{
mjr	5:a70c0bce770d	2082	// check if we've been stable for all recent samples
mjr	6:cc35eb643e8f	2083	static const float accTol = .01;
mjr	6:cc35eb643e8f	2084	AccHist *p0 = accPrv_;
mjr	6:cc35eb643e8f	2085	if (p0[0].d < accTol
mjr	6:cc35eb643e8f	2086	&& p0[1].d < accTol
mjr	6:cc35eb643e8f	2087	&& p0[2].d < accTol
mjr	6:cc35eb643e8f	2088	&& p0[3].d < accTol
mjr	6:cc35eb643e8f	2089	&& p0[4].d < accTol)
mjr	5:a70c0bce770d	2090	{
mjr	6:cc35eb643e8f	2091	// Figure the new calibration point as the average of
mjr	6:cc35eb643e8f	2092	// the samples over the rest period
mjr	6:cc35eb643e8f	2093	cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5.0;
mjr	6:cc35eb643e8f	2094	cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5.0;
mjr	5:a70c0bce770d	2095	}
mjr	5:a70c0bce770d	2096	}
mjr	5:a70c0bce770d	2097	else
mjr	5:a70c0bce770d	2098	{
mjr	5:a70c0bce770d	2099	// not enough samples yet; just up the count
mjr	5:a70c0bce770d	2100	++nAccPrv_;
mjr	5:a70c0bce770d	2101	}
mjr	6:cc35eb643e8f	2102
mjr	6:cc35eb643e8f	2103	// clear the new item's running totals
mjr	6:cc35eb643e8f	2104	p->clearAvg();
mjr	5:a70c0bce770d	2105
mjr	5:a70c0bce770d	2106	// reset the timer
mjr	5:a70c0bce770d	2107	tCenter_.reset();
mjr	39:b3815a1c3802	2108
mjr	39:b3815a1c3802	2109	// If we haven't seen an interrupt in a while, do an explicit read to
mjr	39:b3815a1c3802	2110	// "unstick" the device. The device can become stuck - which is to say,
mjr	39:b3815a1c3802	2111	// it will stop delivering data-ready interrupts - if we fail to service
mjr	39:b3815a1c3802	2112	// one data-ready interrupt before the next one occurs. Reading a sample
mjr	39:b3815a1c3802	2113	// will clear up this overrun condition and allow normal interrupt
mjr	39:b3815a1c3802	2114	// generation to continue.
mjr	39:b3815a1c3802	2115	//
mjr	39:b3815a1c3802	2116	// Note that this stuck condition shouldn't ever occur - if it does,
mjr	39:b3815a1c3802	2117	// it means that we're spending a long period with interrupts disabled
mjr	39:b3815a1c3802	2118	// (either in a critical section or in another interrupt handler), which
mjr	39:b3815a1c3802	2119	// will likely cause other worse problems beyond the sticky accelerometer.
mjr	39:b3815a1c3802	2120	// Even so, it's easy to detect and correct, so we'll do so for the sake
mjr	39:b3815a1c3802	2121	// of making the system more fault-tolerant.
mjr	39:b3815a1c3802	2122	if (tInt_.read() > 1.0f)
mjr	39:b3815a1c3802	2123	{
mjr	39:b3815a1c3802	2124	float x, y, z;
mjr	39:b3815a1c3802	2125	mma_.getAccXYZ(x, y, z);
mjr	39:b3815a1c3802	2126	}
mjr	5:a70c0bce770d	2127	}
mjr	5:a70c0bce770d	2128
mjr	6:cc35eb643e8f	2129	// report our integrated velocity reading in x,y
mjr	6:cc35eb643e8f	2130	x = rawToReport(vx);
mjr	6:cc35eb643e8f	2131	y = rawToReport(vy);
mjr	5:a70c0bce770d	2132
mjr	6:cc35eb643e8f	2133	#ifdef DEBUG_PRINTF
mjr	6:cc35eb643e8f	2134	if (x != 0 \|\| y != 0)
mjr	6:cc35eb643e8f	2135	printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt);
mjr	6:cc35eb643e8f	2136	#endif
mjr	3:3514575d4f86	2137	}
mjr	29:582472d0bc57	2138
mjr	3:3514575d4f86	2139	private:
mjr	6:cc35eb643e8f	2140	// adjust a raw acceleration figure to a usb report value
mjr	6:cc35eb643e8f	2141	int rawToReport(float v)
mjr	5:a70c0bce770d	2142	{
mjr	6:cc35eb643e8f	2143	// scale to the joystick report range and round to integer
mjr	6:cc35eb643e8f	2144	int i = int(round(v*JOYMAX));
mjr	5:a70c0bce770d	2145
mjr	6:cc35eb643e8f	2146	// if it's near the center, scale it roughly as 20*(i/20)^2,
mjr	6:cc35eb643e8f	2147	// to suppress noise near the rest position
mjr	6:cc35eb643e8f	2148	static const int filter[] = {
mjr	6:cc35eb643e8f	2149	-18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0,
mjr	6:cc35eb643e8f	2150	0,
mjr	6:cc35eb643e8f	2151	0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18
mjr	6:cc35eb643e8f	2152	};
mjr	6:cc35eb643e8f	2153	return (i > 20 \|\| i < -20 ? i : filter[i+20]);
mjr	5:a70c0bce770d	2154	}
mjr	5:a70c0bce770d	2155
mjr	3:3514575d4f86	2156	// interrupt handler
mjr	3:3514575d4f86	2157	void isr()
mjr	3:3514575d4f86	2158	{
mjr	3:3514575d4f86	2159	// Read the axes. Note that we have to read all three axes
mjr	3:3514575d4f86	2160	// (even though we only really use x and y) in order to clear
mjr	3:3514575d4f86	2161	// the "data ready" status bit in the accelerometer. The
mjr	3:3514575d4f86	2162	// interrupt only occurs when the "ready" bit transitions from
mjr	3:3514575d4f86	2163	// off to on, so we have to make sure it's off.
mjr	5:a70c0bce770d	2164	float x, y, z;
mjr	5:a70c0bce770d	2165	mma_.getAccXYZ(x, y, z);
mjr	3:3514575d4f86	2166
mjr	3:3514575d4f86	2167	// calculate the time since the last interrupt
mjr	39:b3815a1c3802	2168	float dt = tInt_.read();
mjr	3:3514575d4f86	2169	tInt_.reset();
mjr	6:cc35eb643e8f	2170
mjr	6:cc35eb643e8f	2171	// integrate the time slice from the previous reading to this reading
mjr	6:cc35eb643e8f	2172	vx_ += (x + ax_ - 2cx_)dt/2;
mjr	6:cc35eb643e8f	2173	vy_ += (y + ay_ - 2cy_)dt/2;
mjr	3:3514575d4f86	2174
mjr	6:cc35eb643e8f	2175	// store the updates
mjr	6:cc35eb643e8f	2176	ax_ = x;
mjr	6:cc35eb643e8f	2177	ay_ = y;
mjr	6:cc35eb643e8f	2178	az_ = z;
mjr	3:3514575d4f86	2179	}
mjr	3:3514575d4f86	2180
mjr	3:3514575d4f86	2181	// underlying accelerometer object
mjr	3:3514575d4f86	2182	MMA8451Q mma_;
mjr	3:3514575d4f86	2183
mjr	5:a70c0bce770d	2184	// last raw acceleration readings
mjr	6:cc35eb643e8f	2185	float ax_, ay_, az_;
mjr	5:a70c0bce770d	2186
mjr	6:cc35eb643e8f	2187	// integrated velocity reading since last get()
mjr	6:cc35eb643e8f	2188	float vx_, vy_;
mjr	6:cc35eb643e8f	2189
mjr	3:3514575d4f86	2190	// timer for measuring time between get() samples
mjr	3:3514575d4f86	2191	Timer tGet_;
mjr	3:3514575d4f86	2192
mjr	3:3514575d4f86	2193	// timer for measuring time between interrupts
mjr	3:3514575d4f86	2194	Timer tInt_;
mjr	5:a70c0bce770d	2195
mjr	6:cc35eb643e8f	2196	// Calibration reference point for accelerometer. This is the
mjr	6:cc35eb643e8f	2197	// average reading on the accelerometer when in the neutral position
mjr	6:cc35eb643e8f	2198	// at rest.
mjr	6:cc35eb643e8f	2199	float cx_, cy_;
mjr	5:a70c0bce770d	2200
mjr	5:a70c0bce770d	2201	// timer for atuo-centering
mjr	5:a70c0bce770d	2202	Timer tCenter_;
mjr	6:cc35eb643e8f	2203
mjr	6:cc35eb643e8f	2204	// Auto-centering history. This is a separate history list that
mjr	6:cc35eb643e8f	2205	// records results spaced out sparesely over time, so that we can
mjr	6:cc35eb643e8f	2206	// watch for long-lasting periods of rest. When we observe nearly
mjr	6:cc35eb643e8f	2207	// no motion for an extended period (on the order of 5 seconds), we
mjr	6:cc35eb643e8f	2208	// take this to mean that the cabinet is at rest in its neutral
mjr	6:cc35eb643e8f	2209	// position, so we take this as the calibration zero point for the
mjr	6:cc35eb643e8f	2210	// accelerometer. We update this history continuously, which allows
mjr	6:cc35eb643e8f	2211	// us to continuously re-calibrate the accelerometer. This ensures
mjr	6:cc35eb643e8f	2212	// that we'll automatically adjust to any actual changes in the
mjr	6:cc35eb643e8f	2213	// cabinet's orientation (e.g., if it gets moved slightly by an
mjr	6:cc35eb643e8f	2214	// especially strong nudge) as well as any systematic drift in the
mjr	6:cc35eb643e8f	2215	// accelerometer measurement bias (e.g., from temperature changes).
mjr	5:a70c0bce770d	2216	int iAccPrv_, nAccPrv_;
mjr	5:a70c0bce770d	2217	static const int maxAccPrv = 5;
mjr	6:cc35eb643e8f	2218	AccHist accPrv_[maxAccPrv];
mjr	6:cc35eb643e8f	2219
mjr	5:a70c0bce770d	2220	// interurupt pin name
mjr	5:a70c0bce770d	2221	PinName irqPin_;
mjr	5:a70c0bce770d	2222
mjr	5:a70c0bce770d	2223	// interrupt router
mjr	5:a70c0bce770d	2224	InterruptIn intIn_;
mjr	3:3514575d4f86	2225	};
mjr	3:3514575d4f86	2226
mjr	5:a70c0bce770d	2227
mjr	5:a70c0bce770d	2228	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	2229	//
mjr	14:df700b22ca08	2230	// Clear the I2C bus for the MMA8451Q. This seems necessary some of the time
mjr	5:a70c0bce770d	2231	// for reasons that aren't clear to me. Doing a hard power cycle has the same
mjr	5:a70c0bce770d	2232	// effect, but when we do a soft reset, the hardware sometimes seems to leave
mjr	5:a70c0bce770d	2233	// the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through
mjr	14:df700b22ca08	2234	// the SCL line is supposed to clear this condition. I'm not convinced this
mjr	14:df700b22ca08	2235	// actually works with the way this component is wired on the KL25Z, but it
mjr	14:df700b22ca08	2236	// seems harmless, so we'll do it on reset in case it does some good. What
mjr	14:df700b22ca08	2237	// we really seem to need is a way to power cycle the MMA8451Q if it ever
mjr	14:df700b22ca08	2238	// gets stuck, but this is simply not possible in software on the KL25Z.
mjr	14:df700b22ca08	2239	//
mjr	14:df700b22ca08	2240	// If the accelerometer does get stuck, and a software reboot doesn't reset
mjr	14:df700b22ca08	2241	// it, the only workaround is to manually power cycle the whole KL25Z by
mjr	14:df700b22ca08	2242	// unplugging both of its USB connections.
mjr	5:a70c0bce770d	2243	//
mjr	5:a70c0bce770d	2244	void clear_i2c()
mjr	5:a70c0bce770d	2245	{
mjr	38:091e511ce8a0	2246	// set up general-purpose output pins to the I2C lines
mjr	5:a70c0bce770d	2247	DigitalOut scl(MMA8451_SCL_PIN);
mjr	5:a70c0bce770d	2248	DigitalIn sda(MMA8451_SDA_PIN);
mjr	5:a70c0bce770d	2249
mjr	5:a70c0bce770d	2250	// clock the SCL 9 times
mjr	5:a70c0bce770d	2251	for (int i = 0 ; i < 9 ; ++i)
mjr	5:a70c0bce770d	2252	{
mjr	5:a70c0bce770d	2253	scl = 1;
mjr	5:a70c0bce770d	2254	wait_us(20);
mjr	5:a70c0bce770d	2255	scl = 0;
mjr	5:a70c0bce770d	2256	wait_us(20);
mjr	5:a70c0bce770d	2257	}
mjr	5:a70c0bce770d	2258	}
mjr	14:df700b22ca08	2259
mjr	14:df700b22ca08	2260	// ---------------------------------------------------------------------------
mjr	14:df700b22ca08	2261	//
mjr	33:d832bcab089e	2262	// Simple binary (on/off) input debouncer. Requires an input to be stable
mjr	33:d832bcab089e	2263	// for a given interval before allowing an update.
mjr	33:d832bcab089e	2264	//
mjr	33:d832bcab089e	2265	class Debouncer
mjr	33:d832bcab089e	2266	{
mjr	33:d832bcab089e	2267	public:
mjr	33:d832bcab089e	2268	Debouncer(bool initVal, float tmin)
mjr	33:d832bcab089e	2269	{
mjr	33:d832bcab089e	2270	t.start();
mjr	33:d832bcab089e	2271	this->stable = this->prv = initVal;
mjr	33:d832bcab089e	2272	this->tmin = tmin;
mjr	33:d832bcab089e	2273	}
mjr	33:d832bcab089e	2274
mjr	33:d832bcab089e	2275	// Get the current stable value
mjr	33:d832bcab089e	2276	bool val() const { return stable; }
mjr	33:d832bcab089e	2277
mjr	33:d832bcab089e	2278	// Apply a new sample. This tells us the new raw reading from the
mjr	33:d832bcab089e	2279	// input device.
mjr	33:d832bcab089e	2280	void sampleIn(bool val)
mjr	33:d832bcab089e	2281	{
mjr	33:d832bcab089e	2282	// If the new raw reading is different from the previous
mjr	33:d832bcab089e	2283	// raw reading, we've detected an edge - start the clock
mjr	33:d832bcab089e	2284	// on the sample reader.
mjr	33:d832bcab089e	2285	if (val != prv)
mjr	33:d832bcab089e	2286	{
mjr	33:d832bcab089e	2287	// we have an edge - reset the sample clock
mjr	33:d832bcab089e	2288	t.reset();
mjr	33:d832bcab089e	2289
mjr	33:d832bcab089e	2290	// this is now the previous raw sample for nxt time
mjr	33:d832bcab089e	2291	prv = val;
mjr	33:d832bcab089e	2292	}
mjr	33:d832bcab089e	2293	else if (val != stable)
mjr	33:d832bcab089e	2294	{
mjr	33:d832bcab089e	2295	// The new raw sample is the same as the last raw sample,
mjr	33:d832bcab089e	2296	// and different from the stable value. This means that
mjr	33:d832bcab089e	2297	// the sample value has been the same for the time currently
mjr	33:d832bcab089e	2298	// indicated by our timer. If enough time has elapsed to
mjr	33:d832bcab089e	2299	// consider the value stable, apply the new value.
mjr	33:d832bcab089e	2300	if (t.read() > tmin)
mjr	33:d832bcab089e	2301	stable = val;
mjr	33:d832bcab089e	2302	}
mjr	33:d832bcab089e	2303	}
mjr	33:d832bcab089e	2304
mjr	33:d832bcab089e	2305	private:
mjr	33:d832bcab089e	2306	// current stable value
mjr	33:d832bcab089e	2307	bool stable;
mjr	33:d832bcab089e	2308
mjr	33:d832bcab089e	2309	// last raw sample value
mjr	33:d832bcab089e	2310	bool prv;
mjr	33:d832bcab089e	2311
mjr	33:d832bcab089e	2312	// elapsed time since last raw input change
mjr	33:d832bcab089e	2313	Timer t;
mjr	33:d832bcab089e	2314
mjr	33:d832bcab089e	2315	// Minimum time interval for stability, in seconds. Input readings
mjr	33:d832bcab089e	2316	// must be stable for this long before the stable value is updated.
mjr	33:d832bcab089e	2317	float tmin;
mjr	33:d832bcab089e	2318	};
mjr	33:d832bcab089e	2319
mjr	33:d832bcab089e	2320
mjr	33:d832bcab089e	2321	// ---------------------------------------------------------------------------
mjr	33:d832bcab089e	2322	//
mjr	33:d832bcab089e	2323	// Turn off all outputs and restore everything to the default LedWiz
mjr	33:d832bcab089e	2324	// state. This sets outputs #1-32 to LedWiz profile value 48 (full
mjr	33:d832bcab089e	2325	// brightness) and switch state Off, sets all extended outputs (#33
mjr	33:d832bcab089e	2326	// and above) to zero brightness, and sets the LedWiz flash rate to 2.
mjr	33:d832bcab089e	2327	// This effectively restores the power-on conditions.
mjr	33:d832bcab089e	2328	//
mjr	33:d832bcab089e	2329	void allOutputsOff()
mjr	33:d832bcab089e	2330	{
mjr	33:d832bcab089e	2331	// reset all LedWiz outputs to OFF/48
mjr	35:e959ffba78fd	2332	for (int i = 0 ; i < numLwOutputs ; ++i)
mjr	33:d832bcab089e	2333	{
mjr	33:d832bcab089e	2334	outLevel[i] = 0;
mjr	33:d832bcab089e	2335	wizOn[i] = 0;
mjr	33:d832bcab089e	2336	wizVal[i] = 48;
mjr	33:d832bcab089e	2337	lwPin[i]->set(0);
mjr	33:d832bcab089e	2338	}
mjr	33:d832bcab089e	2339
mjr	33:d832bcab089e	2340	// reset all extended outputs (ports >32) to full off (brightness 0)
mjr	40:cc0d9814522b	2341	for (int i = numLwOutputs ; i < numOutputs ; ++i)
mjr	33:d832bcab089e	2342	{
mjr	33:d832bcab089e	2343	outLevel[i] = 0;
mjr	33:d832bcab089e	2344	lwPin[i]->set(0);
mjr	33:d832bcab089e	2345	}
mjr	33:d832bcab089e	2346
mjr	33:d832bcab089e	2347	// restore default LedWiz flash rate
mjr	33:d832bcab089e	2348	wizSpeed = 2;
mjr	34:6b981a2afab7	2349
mjr	34:6b981a2afab7	2350	// flush changes to hc595, if applicable
mjr	35:e959ffba78fd	2351	if (hc595 != 0)
mjr	35:e959ffba78fd	2352	hc595->update();
mjr	33:d832bcab089e	2353	}
mjr	33:d832bcab089e	2354
mjr	33:d832bcab089e	2355	// ---------------------------------------------------------------------------
mjr	33:d832bcab089e	2356	//
mjr	33:d832bcab089e	2357	// TV ON timer. If this feature is enabled, we toggle a TV power switch
mjr	33:d832bcab089e	2358	// relay (connected to a GPIO pin) to turn on the cab's TV monitors shortly
mjr	33:d832bcab089e	2359	// after the system is powered. This is useful for TVs that don't remember
mjr	33:d832bcab089e	2360	// their power state and don't turn back on automatically after being
mjr	33:d832bcab089e	2361	// unplugged and plugged in again. This feature requires external
mjr	33:d832bcab089e	2362	// circuitry, which is built in to the expansion board and can also be
mjr	33:d832bcab089e	2363	// built separately - see the Build Guide for the circuit plan.
mjr	33:d832bcab089e	2364	//
mjr	33:d832bcab089e	2365	// Theory of operation: to use this feature, the cabinet must have a
mjr	33:d832bcab089e	2366	// secondary PC-style power supply (PSU2) for the feedback devices, and
mjr	33:d832bcab089e	2367	// this secondary supply must be plugged in to the same power strip or
mjr	33:d832bcab089e	2368	// switched outlet that controls power to the TVs. This lets us use PSU2
mjr	33:d832bcab089e	2369	// as a proxy for the TV power state - when PSU2 is on, the TV outlet is
mjr	33:d832bcab089e	2370	// powered, and when PSU2 is off, the TV outlet is off. We use a little
mjr	33:d832bcab089e	2371	// latch circuit powered by PSU2 to monitor the status. The latch has a
mjr	33:d832bcab089e	2372	// current state, ON or OFF, that we can read via a GPIO input pin, and
mjr	33:d832bcab089e	2373	// we can set the state to ON by pulsing a separate GPIO output pin. As
mjr	33:d832bcab089e	2374	// long as PSU2 is powered off, the latch stays in the OFF state, even if
mjr	33:d832bcab089e	2375	// we try to set it by pulsing the SET pin. When PSU2 is turned on after
mjr	33:d832bcab089e	2376	// being off, the latch starts receiving power but stays in the OFF state,
mjr	33:d832bcab089e	2377	// since this is the initial condition when the power first comes on. So
mjr	33:d832bcab089e	2378	// if our latch state pin is reading OFF, we know that PSU2 is either off
mjr	33:d832bcab089e	2379	// now or was off some time since we last checked. We use a timer to
mjr	33:d832bcab089e	2380	// check the state periodically. Each time we see the state is OFF, we
mjr	33:d832bcab089e	2381	// try pulsing the SET pin. If the state still reads as OFF, we know
mjr	33:d832bcab089e	2382	// that PSU2 is currently off; if the state changes to ON, though, we
mjr	33:d832bcab089e	2383	// know that PSU2 has gone from OFF to ON some time between now and the
mjr	33:d832bcab089e	2384	// previous check. When we see this condition, we start a countdown
mjr	33:d832bcab089e	2385	// timer, and pulse the TV switch relay when the countdown ends.
mjr	33:d832bcab089e	2386	//
mjr	40:cc0d9814522b	2387	// This scheme might seem a little convoluted, but it handles a number
mjr	40:cc0d9814522b	2388	// of tricky but likely scenarios:
mjr	33:d832bcab089e	2389	//
mjr	33:d832bcab089e	2390	// - Most cabinets systems are set up with "soft" PC power switches,
mjr	40:cc0d9814522b	2391	// so that the PC goes into "Soft Off" mode when the user turns off
mjr	40:cc0d9814522b	2392	// the cabinet by pushing the power button or using the Shut Down
mjr	40:cc0d9814522b	2393	// command from within Windows. In Windows parlance, this "soft off"
mjr	40:cc0d9814522b	2394	// condition is called ACPI State S5. In this state, the main CPU
mjr	40:cc0d9814522b	2395	// power is turned off, but the motherboard still provides power to
mjr	40:cc0d9814522b	2396	// USB devices. This means that the KL25Z keeps running. Without
mjr	40:cc0d9814522b	2397	// the external power sensing circuit, the only hint that we're in
mjr	40:cc0d9814522b	2398	// this state is that the USB connection to the host goes into Suspend
mjr	40:cc0d9814522b	2399	// mode, but that could mean other things as well. The latch circuit
mjr	40:cc0d9814522b	2400	// lets us tell for sure that we're in this state.
mjr	33:d832bcab089e	2401	//
mjr	33:d832bcab089e	2402	// - Some cabinet builders might prefer to use "hard" power switches,
mjr	33:d832bcab089e	2403	// cutting all power to the cabinet, including the PC motherboard (and
mjr	33:d832bcab089e	2404	// thus the KL25Z) every time the machine is turned off. This also
mjr	33:d832bcab089e	2405	// applies to the "soft" switch case above when the cabinet is unplugged,
mjr	33:d832bcab089e	2406	// a power outage occurs, etc. In these cases, the KL25Z will do a cold
mjr	33:d832bcab089e	2407	// boot when the PC is turned on. We don't know whether the KL25Z
mjr	33:d832bcab089e	2408	// will power up before or after PSU2, so it's not good enough to
mjr	40:cc0d9814522b	2409	// observe the current state of PSU2 when we first check. If PSU2
mjr	40:cc0d9814522b	2410	// were to come on first, checking only the current state would fool
mjr	40:cc0d9814522b	2411	// us into thinking that no action is required, because we'd only see
mjr	40:cc0d9814522b	2412	// that PSU2 is turned on any time we check. The latch handles this
mjr	40:cc0d9814522b	2413	// case by letting us see that PSU2 was indeed off some time before our
mjr	40:cc0d9814522b	2414	// first check.
mjr	33:d832bcab089e	2415	//
mjr	33:d832bcab089e	2416	// - If the KL25Z is rebooted while the main system is running, or the
mjr	40:cc0d9814522b	2417	// KL25Z is unplugged and plugged back in, we'll correctly leave the
mjr	33:d832bcab089e	2418	// TVs as they are. The latch state is independent of the KL25Z's
mjr	33:d832bcab089e	2419	// power or software state, so it's won't affect the latch state when
mjr	33:d832bcab089e	2420	// the KL25Z is unplugged or rebooted; when we boot, we'll see that
mjr	33:d832bcab089e	2421	// the latch is already on and that we don't have to turn on the TVs.
mjr	33:d832bcab089e	2422	// This is important because TV ON buttons are usually on/off toggles,
mjr	33:d832bcab089e	2423	// so we don't want to push the button on a TV that's already on.
mjr	33:d832bcab089e	2424	//
mjr	33:d832bcab089e	2425
mjr	33:d832bcab089e	2426	// Current PSU2 state:
mjr	33:d832bcab089e	2427	// 1 -> default: latch was on at last check, or we haven't checked yet
mjr	33:d832bcab089e	2428	// 2 -> latch was off at last check, SET pulsed high
mjr	33:d832bcab089e	2429	// 3 -> SET pulsed low, ready to check status
mjr	33:d832bcab089e	2430	// 4 -> TV timer countdown in progress
mjr	33:d832bcab089e	2431	// 5 -> TV relay on
mjr	33:d832bcab089e	2432	int psu2_state = 1;
mjr	35:e959ffba78fd	2433
mjr	35:e959ffba78fd	2434	// PSU2 power sensing circuit connections
mjr	35:e959ffba78fd	2435	DigitalIn *psu2_status_sense;
mjr	35:e959ffba78fd	2436	DigitalOut *psu2_status_set;
mjr	35:e959ffba78fd	2437
mjr	35:e959ffba78fd	2438	// TV ON switch relay control
mjr	35:e959ffba78fd	2439	DigitalOut *tv_relay;
mjr	35:e959ffba78fd	2440
mjr	35:e959ffba78fd	2441	// Timer interrupt
mjr	35:e959ffba78fd	2442	Ticker tv_ticker;
mjr	35:e959ffba78fd	2443	float tv_delay_time;
mjr	33:d832bcab089e	2444	void TVTimerInt()
mjr	33:d832bcab089e	2445	{
mjr	35:e959ffba78fd	2446	// time since last state change
mjr	35:e959ffba78fd	2447	static Timer tv_timer;
mjr	35:e959ffba78fd	2448
mjr	33:d832bcab089e	2449	// Check our internal state
mjr	33:d832bcab089e	2450	switch (psu2_state)
mjr	33:d832bcab089e	2451	{
mjr	33:d832bcab089e	2452	case 1:
mjr	33:d832bcab089e	2453	// Default state. This means that the latch was on last
mjr	33:d832bcab089e	2454	// time we checked or that this is the first check. In
mjr	33:d832bcab089e	2455	// either case, if the latch is off, switch to state 2 and
mjr	33:d832bcab089e	2456	// try pulsing the latch. Next time we check, if the latch
mjr	33:d832bcab089e	2457	// stuck, it means that PSU2 is now on after being off.
mjr	35:e959ffba78fd	2458	if (!psu2_status_sense->read())
mjr	33:d832bcab089e	2459	{
mjr	33:d832bcab089e	2460	// switch to OFF state
mjr	33:d832bcab089e	2461	psu2_state = 2;
mjr	33:d832bcab089e	2462
mjr	33:d832bcab089e	2463	// try setting the latch
mjr	35:e959ffba78fd	2464	psu2_status_set->write(1);
mjr	33:d832bcab089e	2465	}
mjr	33:d832bcab089e	2466	break;
mjr	33:d832bcab089e	2467
mjr	33:d832bcab089e	2468	case 2:
mjr	33:d832bcab089e	2469	// PSU2 was off last time we checked, and we tried setting
mjr	33:d832bcab089e	2470	// the latch. Drop the SET signal and go to CHECK state.
mjr	35:e959ffba78fd	2471	psu2_status_set->write(0);
mjr	33:d832bcab089e	2472	psu2_state = 3;
mjr	33:d832bcab089e	2473	break;
mjr	33:d832bcab089e	2474
mjr	33:d832bcab089e	2475	case 3:
mjr	33:d832bcab089e	2476	// CHECK state: we pulsed SET, and we're now ready to see
mjr	40:cc0d9814522b	2477	// if it stuck. If the latch is now on, PSU2 has transitioned
mjr	33:d832bcab089e	2478	// from OFF to ON, so start the TV countdown. If the latch is
mjr	33:d832bcab089e	2479	// off, our SET command didn't stick, so PSU2 is still off.
mjr	35:e959ffba78fd	2480	if (psu2_status_sense->read())
mjr	33:d832bcab089e	2481	{
mjr	33:d832bcab089e	2482	// The latch stuck, so PSU2 has transitioned from OFF
mjr	33:d832bcab089e	2483	// to ON. Start the TV countdown timer.
mjr	33:d832bcab089e	2484	tv_timer.reset();
mjr	33:d832bcab089e	2485	tv_timer.start();
mjr	33:d832bcab089e	2486	psu2_state = 4;
mjr	33:d832bcab089e	2487	}
mjr	33:d832bcab089e	2488	else
mjr	33:d832bcab089e	2489	{
mjr	33:d832bcab089e	2490	// The latch didn't stick, so PSU2 was still off at
mjr	33:d832bcab089e	2491	// our last check. Try pulsing it again in case PSU2
mjr	33:d832bcab089e	2492	// was turned on since the last check.
mjr	35:e959ffba78fd	2493	psu2_status_set->write(1);
mjr	33:d832bcab089e	2494	psu2_state = 2;
mjr	33:d832bcab089e	2495	}
mjr	33:d832bcab089e	2496	break;
mjr	33:d832bcab089e	2497
mjr	33:d832bcab089e	2498	case 4:
mjr	33:d832bcab089e	2499	// TV timer countdown in progress. If we've reached the
mjr	33:d832bcab089e	2500	// delay time, pulse the relay.
mjr	35:e959ffba78fd	2501	if (tv_timer.read() >= tv_delay_time)
mjr	33:d832bcab089e	2502	{
mjr	33:d832bcab089e	2503	// turn on the relay for one timer interval
mjr	35:e959ffba78fd	2504	tv_relay->write(1);
mjr	33:d832bcab089e	2505	psu2_state = 5;
mjr	33:d832bcab089e	2506	}
mjr	33:d832bcab089e	2507	break;
mjr	33:d832bcab089e	2508
mjr	33:d832bcab089e	2509	case 5:
mjr	33:d832bcab089e	2510	// TV timer relay on. We pulse this for one interval, so
mjr	33:d832bcab089e	2511	// it's now time to turn it off and return to the default state.
mjr	35:e959ffba78fd	2512	tv_relay->write(0);
mjr	33:d832bcab089e	2513	psu2_state = 1;
mjr	33:d832bcab089e	2514	break;
mjr	33:d832bcab089e	2515	}
mjr	33:d832bcab089e	2516	}
mjr	33:d832bcab089e	2517
mjr	35:e959ffba78fd	2518	// Start the TV ON checker. If the status sense circuit is enabled in
mjr	35:e959ffba78fd	2519	// the configuration, we'll set up the pin connections and start the
mjr	35:e959ffba78fd	2520	// interrupt handler that periodically checks the status. Does nothing
mjr	35:e959ffba78fd	2521	// if any of the pins are configured as NC.
mjr	35:e959ffba78fd	2522	void startTVTimer(Config &cfg)
mjr	35:e959ffba78fd	2523	{
mjr	35:e959ffba78fd	2524	// only start the timer if the status sense circuit pins are configured
mjr	53:9b2611964afc	2525	if (cfg.TVON.statusPin != 0xFF
mjr	53:9b2611964afc	2526	&& cfg.TVON.latchPin != 0xFF
mjr	53:9b2611964afc	2527	&& cfg.TVON.relayPin != 0xFF)
mjr	35:e959ffba78fd	2528	{
mjr	53:9b2611964afc	2529	psu2_status_sense = new DigitalIn(wirePinName(cfg.TVON.statusPin));
mjr	53:9b2611964afc	2530	psu2_status_set = new DigitalOut(wirePinName(cfg.TVON.latchPin));
mjr	53:9b2611964afc	2531	tv_relay = new DigitalOut(wirePinName(cfg.TVON.relayPin));
mjr	40:cc0d9814522b	2532	tv_delay_time = cfg.TVON.delayTime/100.0;
mjr	35:e959ffba78fd	2533
mjr	35:e959ffba78fd	2534	// Set up our time routine to run every 1/4 second.
mjr	35:e959ffba78fd	2535	tv_ticker.attach(&TVTimerInt, 0.25);
mjr	35:e959ffba78fd	2536	}
mjr	35:e959ffba78fd	2537	}
mjr	35:e959ffba78fd	2538
mjr	35:e959ffba78fd	2539	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	2540	//
mjr	35:e959ffba78fd	2541	// In-memory configuration data structure. This is the live version in RAM
mjr	35:e959ffba78fd	2542	// that we use to determine how things are set up.
mjr	35:e959ffba78fd	2543	//
mjr	35:e959ffba78fd	2544	// When we save the configuration settings, we copy this structure to
mjr	35:e959ffba78fd	2545	// non-volatile flash memory. At startup, we check the flash location where
mjr	35:e959ffba78fd	2546	// we might have saved settings on a previous run, and it's valid, we copy
mjr	35:e959ffba78fd	2547	// the flash data to this structure. Firmware updates wipe the flash
mjr	35:e959ffba78fd	2548	// memory area, so you have to use the PC config tool to send the settings
mjr	35:e959ffba78fd	2549	// again each time the firmware is updated.
mjr	35:e959ffba78fd	2550	//
mjr	35:e959ffba78fd	2551	NVM nvm;
mjr	35:e959ffba78fd	2552
mjr	35:e959ffba78fd	2553	// For convenience, a macro for the Config part of the NVM structure
mjr	35:e959ffba78fd	2554	#define cfg (nvm.d.c)
mjr	35:e959ffba78fd	2555
mjr	35:e959ffba78fd	2556	// flash memory controller interface
mjr	35:e959ffba78fd	2557	FreescaleIAP iap;
mjr	35:e959ffba78fd	2558
mjr	35:e959ffba78fd	2559	// figure the flash address as a pointer along with the number of sectors
mjr	35:e959ffba78fd	2560	// required to store the structure
mjr	35:e959ffba78fd	2561	NVM *configFlashAddr(int &addr, int &numSectors)
mjr	35:e959ffba78fd	2562	{
mjr	35:e959ffba78fd	2563	// figure how many flash sectors we span, rounding up to whole sectors
mjr	35:e959ffba78fd	2564	numSectors = (sizeof(NVM) + SECTOR_SIZE - 1)/SECTOR_SIZE;
mjr	35:e959ffba78fd	2565
mjr	35:e959ffba78fd	2566	// figure the address - this is the highest flash address where the
mjr	35:e959ffba78fd	2567	// structure will fit with the start aligned on a sector boundary
mjr	35:e959ffba78fd	2568	addr = iap.flash_size() - (numSectors * SECTOR_SIZE);
mjr	35:e959ffba78fd	2569
mjr	35:e959ffba78fd	2570	// return the address as a pointer
mjr	35:e959ffba78fd	2571	return (NVM *)addr;
mjr	35:e959ffba78fd	2572	}
mjr	35:e959ffba78fd	2573
mjr	35:e959ffba78fd	2574	// figure the flash address as a pointer
mjr	35:e959ffba78fd	2575	NVM *configFlashAddr()
mjr	35:e959ffba78fd	2576	{
mjr	35:e959ffba78fd	2577	int addr, numSectors;
mjr	35:e959ffba78fd	2578	return configFlashAddr(addr, numSectors);
mjr	35:e959ffba78fd	2579	}
mjr	35:e959ffba78fd	2580
mjr	35:e959ffba78fd	2581	// Load the config from flash
mjr	35:e959ffba78fd	2582	void loadConfigFromFlash()
mjr	35:e959ffba78fd	2583	{
mjr	35:e959ffba78fd	2584	// We want to use the KL25Z's on-board flash to store our configuration
mjr	35:e959ffba78fd	2585	// data persistently, so that we can restore it across power cycles.
mjr	35:e959ffba78fd	2586	// Unfortunatly, the mbed platform doesn't explicitly support this.
mjr	35:e959ffba78fd	2587	// mbed treats the on-board flash as a raw storage device for linker
mjr	35:e959ffba78fd	2588	// output, and assumes that the linker output is the only thing
mjr	35:e959ffba78fd	2589	// stored there. There's no file system and no allowance for shared
mjr	35:e959ffba78fd	2590	// use for other purposes. Fortunately, the linker ues the space in
mjr	35:e959ffba78fd	2591	// the obvious way, storing the entire linked program in a contiguous
mjr	35:e959ffba78fd	2592	// block starting at the lowest flash address. This means that the
mjr	35:e959ffba78fd	2593	// rest of flash - from the end of the linked program to the highest
mjr	35:e959ffba78fd	2594	// flash address - is all unused free space. Writing our data there
mjr	35:e959ffba78fd	2595	// won't conflict with anything else. Since the linker doesn't give
mjr	35:e959ffba78fd	2596	// us any programmatic access to the total linker output size, it's
mjr	35:e959ffba78fd	2597	// safest to just store our config data at the very end of the flash
mjr	35:e959ffba78fd	2598	// region (i.e., the highest address). As long as it's smaller than
mjr	35:e959ffba78fd	2599	// the free space, it won't collide with the linker area.
mjr	35:e959ffba78fd	2600
mjr	35:e959ffba78fd	2601	// Figure how many sectors we need for our structure
mjr	35:e959ffba78fd	2602	NVM *flash = configFlashAddr();
mjr	35:e959ffba78fd	2603
mjr	35:e959ffba78fd	2604	// if the flash is valid, load it; otherwise initialize to defaults
mjr	35:e959ffba78fd	2605	if (flash->valid())
mjr	35:e959ffba78fd	2606	{
mjr	35:e959ffba78fd	2607	// flash is valid - load it into the RAM copy of the structure
mjr	35:e959ffba78fd	2608	memcpy(&nvm, flash, sizeof(NVM));
mjr	35:e959ffba78fd	2609	}
mjr	35:e959ffba78fd	2610	else
mjr	35:e959ffba78fd	2611	{
mjr	35:e959ffba78fd	2612	// flash is invalid - load factory settings nito RAM structure
mjr	35:e959ffba78fd	2613	cfg.setFactoryDefaults();
mjr	35:e959ffba78fd	2614	}
mjr	35:e959ffba78fd	2615	}
mjr	35:e959ffba78fd	2616
mjr	35:e959ffba78fd	2617	void saveConfigToFlash()
mjr	33:d832bcab089e	2618	{
mjr	35:e959ffba78fd	2619	int addr, sectors;
mjr	35:e959ffba78fd	2620	configFlashAddr(addr, sectors);
mjr	35:e959ffba78fd	2621	nvm.save(iap, addr);
mjr	35:e959ffba78fd	2622	}
mjr	35:e959ffba78fd	2623
mjr	35:e959ffba78fd	2624	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	2625	//
mjr	40:cc0d9814522b	2626	// Night mode setting updates
mjr	40:cc0d9814522b	2627	//
mjr	38:091e511ce8a0	2628
mjr	38:091e511ce8a0	2629	// Turn night mode on or off
mjr	38:091e511ce8a0	2630	static void setNightMode(bool on)
mjr	38:091e511ce8a0	2631	{
mjr	40:cc0d9814522b	2632	// set the new night mode flag in the noisy output class
mjr	53:9b2611964afc	2633	nightMode = on;
mjr	40:cc0d9814522b	2634
mjr	40:cc0d9814522b	2635	// update the special output pin that shows the night mode state
mjr	53:9b2611964afc	2636	int port = int(cfg.nightMode.port) - 1;
mjr	53:9b2611964afc	2637	if (port >= 0 && port < numOutputs)
mjr	53:9b2611964afc	2638	lwPin[port]->set(nightMode ? 255 : 0);
mjr	40:cc0d9814522b	2639
mjr	40:cc0d9814522b	2640	// update all outputs for the mode change
mjr	40:cc0d9814522b	2641	updateAllOuts();
mjr	38:091e511ce8a0	2642	}
mjr	38:091e511ce8a0	2643
mjr	38:091e511ce8a0	2644	// Toggle night mode
mjr	38:091e511ce8a0	2645	static void toggleNightMode()
mjr	38:091e511ce8a0	2646	{
mjr	53:9b2611964afc	2647	setNightMode(!nightMode);
mjr	38:091e511ce8a0	2648	}
mjr	38:091e511ce8a0	2649
mjr	38:091e511ce8a0	2650
mjr	38:091e511ce8a0	2651	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	2652	//
mjr	35:e959ffba78fd	2653	// Plunger Sensor
mjr	35:e959ffba78fd	2654	//
mjr	35:e959ffba78fd	2655
mjr	35:e959ffba78fd	2656	// the plunger sensor interface object
mjr	35:e959ffba78fd	2657	PlungerSensor *plungerSensor = 0;
mjr	35:e959ffba78fd	2658
mjr	35:e959ffba78fd	2659	// Create the plunger sensor based on the current configuration. If
mjr	35:e959ffba78fd	2660	// there's already a sensor object, we'll delete it.
mjr	35:e959ffba78fd	2661	void createPlunger()
mjr	35:e959ffba78fd	2662	{
mjr	35:e959ffba78fd	2663	// create the new sensor object according to the type
mjr	35:e959ffba78fd	2664	switch (cfg.plunger.sensorType)
mjr	35:e959ffba78fd	2665	{
mjr	35:e959ffba78fd	2666	case PlungerType_TSL1410RS:
mjr	35:e959ffba78fd	2667	// pins are: SI, CLOCK, AO
mjr	53:9b2611964afc	2668	plungerSensor = new PlungerSensorTSL1410R(
mjr	53:9b2611964afc	2669	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	2670	wirePinName(cfg.plunger.sensorPin[1]),
mjr	53:9b2611964afc	2671	wirePinName(cfg.plunger.sensorPin[2]),
mjr	53:9b2611964afc	2672	NC);
mjr	35:e959ffba78fd	2673	break;
mjr	35:e959ffba78fd	2674
mjr	35:e959ffba78fd	2675	case PlungerType_TSL1410RP:
mjr	35:e959ffba78fd	2676	// pins are: SI, CLOCK, AO1, AO2
mjr	53:9b2611964afc	2677	plungerSensor = new PlungerSensorTSL1410R(
mjr	53:9b2611964afc	2678	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	2679	wirePinName(cfg.plunger.sensorPin[1]),
mjr	53:9b2611964afc	2680	wirePinName(cfg.plunger.sensorPin[2]),
mjr	53:9b2611964afc	2681	wirePinName(cfg.plunger.sensorPin[3]));
mjr	35:e959ffba78fd	2682	break;
mjr	35:e959ffba78fd	2683
mjr	35:e959ffba78fd	2684	case PlungerType_TSL1412RS:
mjr	35:e959ffba78fd	2685	// pins are: SI, CLOCK, AO1, AO2
mjr	53:9b2611964afc	2686	plungerSensor = new PlungerSensorTSL1412R(
mjr	53:9b2611964afc	2687	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	2688	wirePinName(cfg.plunger.sensorPin[1]),
mjr	53:9b2611964afc	2689	wirePinName(cfg.plunger.sensorPin[2]),
mjr	53:9b2611964afc	2690	NC);
mjr	35:e959ffba78fd	2691	break;
mjr	35:e959ffba78fd	2692
mjr	35:e959ffba78fd	2693	case PlungerType_TSL1412RP:
mjr	35:e959ffba78fd	2694	// pins are: SI, CLOCK, AO1, AO2
mjr	53:9b2611964afc	2695	plungerSensor = new PlungerSensorTSL1412R(
mjr	53:9b2611964afc	2696	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	2697	wirePinName(cfg.plunger.sensorPin[1]),
mjr	53:9b2611964afc	2698	wirePinName(cfg.plunger.sensorPin[2]),
mjr	53:9b2611964afc	2699	wirePinName(cfg.plunger.sensorPin[3]));
mjr	35:e959ffba78fd	2700	break;
mjr	35:e959ffba78fd	2701
mjr	35:e959ffba78fd	2702	case PlungerType_Pot:
mjr	35:e959ffba78fd	2703	// pins are: AO
mjr	53:9b2611964afc	2704	plungerSensor = new PlungerSensorPot(
mjr	53:9b2611964afc	2705	wirePinName(cfg.plunger.sensorPin[0]));
mjr	35:e959ffba78fd	2706	break;
mjr	35:e959ffba78fd	2707
mjr	35:e959ffba78fd	2708	case PlungerType_None:
mjr	35:e959ffba78fd	2709	default:
mjr	35:e959ffba78fd	2710	plungerSensor = new PlungerSensorNull();
mjr	35:e959ffba78fd	2711	break;
mjr	35:e959ffba78fd	2712	}
mjr	33:d832bcab089e	2713	}
mjr	33:d832bcab089e	2714
mjr	52:8298b2a73eb2	2715	// Global plunger calibration mode flag
mjr	52:8298b2a73eb2	2716	bool plungerCalMode;
mjr	52:8298b2a73eb2	2717
mjr	48:058ace2aed1d	2718	// Plunger reader
mjr	51:57eb311faafa	2719	//
mjr	51:57eb311faafa	2720	// This class encapsulates our plunger data processing. At the simplest
mjr	51:57eb311faafa	2721	// level, we read the position from the sensor, adjust it for the
mjr	51:57eb311faafa	2722	// calibration settings, and report the calibrated position to the host.
mjr	51:57eb311faafa	2723	//
mjr	51:57eb311faafa	2724	// In addition, we constantly monitor the data for "firing" motions.
mjr	51:57eb311faafa	2725	// A firing motion is when the user pulls back the plunger and releases
mjr	51:57eb311faafa	2726	// it, allowing it to shoot forward under the force of the main spring.
mjr	51:57eb311faafa	2727	// When we detect that this is happening, we briefly stop reporting the
mjr	51:57eb311faafa	2728	// real physical position that we're reading from the sensor, and instead
mjr	51:57eb311faafa	2729	// report a synthetic series of positions that depicts an idealized
mjr	51:57eb311faafa	2730	// firing motion.
mjr	51:57eb311faafa	2731	//
mjr	51:57eb311faafa	2732	// The point of the synthetic reports is to correct for distortions
mjr	51:57eb311faafa	2733	// created by the joystick interface conventions used by VP and other
mjr	51:57eb311faafa	2734	// PC pinball emulators. The convention they use is simply to have the
mjr	51:57eb311faafa	2735	// plunger device report the instantaneous position of the real plunger.
mjr	51:57eb311faafa	2736	// The PC software polls this reported position periodically, and moves
mjr	51:57eb311faafa	2737	// the on-screen virtual plunger in sync with the real plunger. This
mjr	51:57eb311faafa	2738	// works fine for human-scale motion when the user is manually moving
mjr	51:57eb311faafa	2739	// the plunger. But it doesn't work for the high speed motion of a
mjr	51:57eb311faafa	2740	// release. The plunger simply moves too fast. VP polls in about 10ms
mjr	51:57eb311faafa	2741	// intervals; the plunger takes about 50ms to travel from fully
mjr	51:57eb311faafa	2742	// retracted to the park position when released. The low sampling
mjr	51:57eb311faafa	2743	// rate relative to the rate of change of the sampled data creates
mjr	51:57eb311faafa	2744	// a classic digital aliasing effect.
mjr	51:57eb311faafa	2745	//
mjr	51:57eb311faafa	2746	// The synthetic reporting scheme compensates for the interface
mjr	51:57eb311faafa	2747	// distortions by essentially changing to a coarse enough timescale
mjr	51:57eb311faafa	2748	// that VP can reliably interpret the readings. Conceptually, there
mjr	51:57eb311faafa	2749	// are three steps involved in doing this. First, we analyze the
mjr	51:57eb311faafa	2750	// actual sensor data to detect and characterize the release motion.
mjr	51:57eb311faafa	2751	// Second, once we think we have a release in progress, we fit the
mjr	51:57eb311faafa	2752	// data to a mathematical model of the release. The model we use is
mjr	51:57eb311faafa	2753	// dead simple: we consider the release to have one parameter, namely
mjr	51:57eb311faafa	2754	// the retraction distance at the moment the user lets go. This is an
mjr	51:57eb311faafa	2755	// excellent proxy in the real physical system for the final speed
mjr	51:57eb311faafa	2756	// when the plunger hits the ball, and it also happens to match how
mjr	51:57eb311faafa	2757	// VP models it internally. Third, we construct synthetic reports
mjr	51:57eb311faafa	2758	// that will make VP's internal state match our model. This is also
mjr	51:57eb311faafa	2759	// pretty simple: we just need to send VP the maximum retraction
mjr	51:57eb311faafa	2760	// distance for long enough to be sure that it polls it at least
mjr	51:57eb311faafa	2761	// once, and then send it the park position for long enough to
mjr	51:57eb311faafa	2762	// ensure that VP will complete the same firing motion. The
mjr	51:57eb311faafa	2763	// immediate jump from the maximum point to the zero point will
mjr	51:57eb311faafa	2764	// cause VP to move its simulation model plunger forward from the
mjr	51:57eb311faafa	2765	// starting point at its natural spring acceleration rate, which
mjr	51:57eb311faafa	2766	// is exactly what the real plunger just did.
mjr	51:57eb311faafa	2767	//
mjr	48:058ace2aed1d	2768	class PlungerReader
mjr	48:058ace2aed1d	2769	{
mjr	48:058ace2aed1d	2770	public:
mjr	48:058ace2aed1d	2771	PlungerReader()
mjr	48:058ace2aed1d	2772	{
mjr	48:058ace2aed1d	2773	// not in a firing event yet
mjr	48:058ace2aed1d	2774	firing = 0;
mjr	48:058ace2aed1d	2775
mjr	48:058ace2aed1d	2776	// no history yet
mjr	48:058ace2aed1d	2777	histIdx = 0;
mjr	48:058ace2aed1d	2778	}
mjr	48:058ace2aed1d	2779
mjr	48:058ace2aed1d	2780	// Collect a reading from the plunger sensor. The main loop calls
mjr	48:058ace2aed1d	2781	// this frequently to read the current raw position data from the
mjr	48:058ace2aed1d	2782	// sensor. We analyze the raw data to produce the calibrated
mjr	48:058ace2aed1d	2783	// position that we report to the PC via the joystick interface.
mjr	48:058ace2aed1d	2784	void read()
mjr	48:058ace2aed1d	2785	{
mjr	48:058ace2aed1d	2786	// Read a sample from the sensor
mjr	48:058ace2aed1d	2787	PlungerReading r;
mjr	48:058ace2aed1d	2788	if (plungerSensor->read(r))
mjr	48:058ace2aed1d	2789	{
mjr	51:57eb311faafa	2790	// Pull the previous reading from the history
mjr	50:40015764bbe6	2791	const PlungerReading &prv = nthHist(0);
mjr	48:058ace2aed1d	2792
mjr	48:058ace2aed1d	2793	// If the new reading is within 2ms of the previous reading,
mjr	48:058ace2aed1d	2794	// ignore it. We require a minimum time between samples to
mjr	48:058ace2aed1d	2795	// ensure that we have a usable amount of precision in the
mjr	48:058ace2aed1d	2796	// denominator (the time interval) for calculating the plunger
mjr	48:058ace2aed1d	2797	// velocity. (The CCD sensor can't take readings faster than
mjr	48:058ace2aed1d	2798	// this anyway, but other sensor types, such as potentiometers,
mjr	48:058ace2aed1d	2799	// can, so we have to throttle the rate artifically in case
mjr	48:058ace2aed1d	2800	// we're using a fast sensor like that.)
mjr	48:058ace2aed1d	2801	if (uint32_t(r.t - prv.t) < 2000UL)
mjr	48:058ace2aed1d	2802	return;
mjr	53:9b2611964afc	2803
mjr	53:9b2611964afc	2804	// check for calibration mode
mjr	53:9b2611964afc	2805	if (plungerCalMode)
mjr	53:9b2611964afc	2806	{
mjr	53:9b2611964afc	2807	// Calibration mode. Adjust the calibration bounds to fit
mjr	53:9b2611964afc	2808	// the value. If this value is beyond the current min or max,
mjr	53:9b2611964afc	2809	// expand the envelope to include this new value.
mjr	53:9b2611964afc	2810	if (r.pos > cfg.plunger.cal.max)
mjr	53:9b2611964afc	2811	cfg.plunger.cal.max = r.pos;
mjr	53:9b2611964afc	2812	if (r.pos < cfg.plunger.cal.min)
mjr	53:9b2611964afc	2813	cfg.plunger.cal.min = r.pos;
mjr	50:40015764bbe6	2814
mjr	53:9b2611964afc	2815	// If we're in calibration state 0, we're waiting for the
mjr	53:9b2611964afc	2816	// plunger to come to rest at the park position so that we
mjr	53:9b2611964afc	2817	// can take a sample of the park position. Check to see if
mjr	53:9b2611964afc	2818	// we've been at rest for a minimum interval.
mjr	53:9b2611964afc	2819	if (calState == 0)
mjr	53:9b2611964afc	2820	{
mjr	53:9b2611964afc	2821	if (abs(r.pos - calZeroStart.pos) < 65535/3/50)
mjr	53:9b2611964afc	2822	{
mjr	53:9b2611964afc	2823	// we're close enough - make sure we've been here long enough
mjr	53:9b2611964afc	2824	if (uint32_t(r.t - calZeroStart.t) > 100000UL)
mjr	53:9b2611964afc	2825	{
mjr	53:9b2611964afc	2826	// we've been at rest long enough - count it
mjr	53:9b2611964afc	2827	calZeroPosSum += r.pos;
mjr	53:9b2611964afc	2828	calZeroPosN += 1;
mjr	53:9b2611964afc	2829
mjr	53:9b2611964afc	2830	// update the zero position from the new average
mjr	53:9b2611964afc	2831	cfg.plunger.cal.zero = uint16_t(calZeroPosSum / calZeroPosN);
mjr	53:9b2611964afc	2832
mjr	53:9b2611964afc	2833	// switch to calibration state 1 - at rest
mjr	53:9b2611964afc	2834	calState = 1;
mjr	53:9b2611964afc	2835	}
mjr	53:9b2611964afc	2836	}
mjr	53:9b2611964afc	2837	else
mjr	53:9b2611964afc	2838	{
mjr	53:9b2611964afc	2839	// we're not close to the last position - start again here
mjr	53:9b2611964afc	2840	calZeroStart = r;
mjr	53:9b2611964afc	2841	}
mjr	53:9b2611964afc	2842	}
mjr	53:9b2611964afc	2843
mjr	53:9b2611964afc	2844	// Rescale to the joystick range, and adjust for the current
mjr	53:9b2611964afc	2845	// park position, but don't calibrate. We don't know the maximum
mjr	53:9b2611964afc	2846	// point yet, so we can't calibrate the range.
mjr	53:9b2611964afc	2847	r.pos = int(
mjr	53:9b2611964afc	2848	(long(r.pos - cfg.plunger.cal.zero) * JOYMAX)
mjr	53:9b2611964afc	2849	/ (65535 - cfg.plunger.cal.zero));
mjr	53:9b2611964afc	2850	}
mjr	53:9b2611964afc	2851	else
mjr	53:9b2611964afc	2852	{
mjr	53:9b2611964afc	2853	// Not in calibration mode. Apply the existing calibration and
mjr	53:9b2611964afc	2854	// rescale to the joystick range.
mjr	53:9b2611964afc	2855	r.pos = int(
mjr	53:9b2611964afc	2856	(long(r.pos - cfg.plunger.cal.zero) * JOYMAX)
mjr	53:9b2611964afc	2857	/ (cfg.plunger.cal.max - cfg.plunger.cal.zero));
mjr	53:9b2611964afc	2858
mjr	53:9b2611964afc	2859	// limit the result to the valid joystick range
mjr	53:9b2611964afc	2860	if (r.pos > JOYMAX)
mjr	53:9b2611964afc	2861	r.pos = JOYMAX;
mjr	53:9b2611964afc	2862	else if (r.pos < -JOYMAX)
mjr	53:9b2611964afc	2863	r.pos = -JOYMAX;
mjr	53:9b2611964afc	2864	}
mjr	50:40015764bbe6	2865
mjr	50:40015764bbe6	2866	// Calculate the velocity from the second-to-last reading
mjr	50:40015764bbe6	2867	// to here, in joystick distance units per microsecond.
mjr	50:40015764bbe6	2868	// Note that we use the second-to-last reading rather than
mjr	50:40015764bbe6	2869	// the very last reading to give ourselves a little longer
mjr	50:40015764bbe6	2870	// time base. The time base is so short between consecutive
mjr	50:40015764bbe6	2871	// readings that the error bars in the position would be too
mjr	50:40015764bbe6	2872	// large.
mjr	50:40015764bbe6	2873	//
mjr	50:40015764bbe6	2874	// For reference, the physical plunger velocity ranges up
mjr	50:40015764bbe6	2875	// to about 100,000 joystick distance units/sec. This is
mjr	50:40015764bbe6	2876	// based on empirical measurements. The typical time for
mjr	50:40015764bbe6	2877	// a real plunger to travel the full distance when released
mjr	50:40015764bbe6	2878	// from full retraction is about 85ms, so the average velocity
mjr	50:40015764bbe6	2879	// covering this distance is about 56,000 units/sec. The
mjr	50:40015764bbe6	2880	// peak is probably about twice that. In real-world units,
mjr	50:40015764bbe6	2881	// this translates to an average speed of about .75 m/s and
mjr	50:40015764bbe6	2882	// a peak of about 1.5 m/s.
mjr	50:40015764bbe6	2883	//
mjr	50:40015764bbe6	2884	// Note that we actually calculate the value here in units
mjr	50:40015764bbe6	2885	// per microsecond - the discussion above is in terms of
mjr	50:40015764bbe6	2886	// units/sec because that's more on a human scale. Our
mjr	50:40015764bbe6	2887	// choice of internal units here really isn't important,
mjr	50:40015764bbe6	2888	// since we only use the velocity for comparison purposes,
mjr	50:40015764bbe6	2889	// to detect acceleration trends. We therefore save ourselves
mjr	50:40015764bbe6	2890	// a little CPU time by using the natural units of our inputs.
mjr	51:57eb311faafa	2891	const PlungerReading &prv2 = nthHist(1);
mjr	50:40015764bbe6	2892	float v = float(r.pos - prv2.pos)/float(r.t - prv2.t);
mjr	50:40015764bbe6	2893
mjr	50:40015764bbe6	2894	// presume we'll report the latest instantaneous reading
mjr	50:40015764bbe6	2895	z = r.pos;
mjr	50:40015764bbe6	2896	vz = v;
mjr	48:058ace2aed1d	2897
mjr	50:40015764bbe6	2898	// Check firing events
mjr	50:40015764bbe6	2899	switch (firing)
mjr	50:40015764bbe6	2900	{
mjr	50:40015764bbe6	2901	case 0:
mjr	50:40015764bbe6	2902	// Default state - not in a firing event.
mjr	50:40015764bbe6	2903
mjr	50:40015764bbe6	2904	// If we have forward motion from a position that's retracted
mjr	50:40015764bbe6	2905	// beyond a threshold, enter phase 1. If we're not pulled back
mjr	50:40015764bbe6	2906	// far enough, don't bother with this, as a release wouldn't
mjr	50:40015764bbe6	2907	// be strong enough to require the synthetic firing treatment.
mjr	50:40015764bbe6	2908	if (v < 0 && r.pos > JOYMAX/6)
mjr	50:40015764bbe6	2909	{
mjr	53:9b2611964afc	2910	// enter firing phase 1
mjr	50:40015764bbe6	2911	firingMode(1);
mjr	50:40015764bbe6	2912
mjr	53:9b2611964afc	2913	// if in calibration state 1 (at rest), switch to state 2 (not
mjr	53:9b2611964afc	2914	// at rest)
mjr	53:9b2611964afc	2915	if (calState == 1)
mjr	53:9b2611964afc	2916	calState = 2;
mjr	53:9b2611964afc	2917
mjr	50:40015764bbe6	2918	// we don't have a freeze position yet, but note the start time
mjr	50:40015764bbe6	2919	f1.pos = 0;
mjr	50:40015764bbe6	2920	f1.t = r.t;
mjr	50:40015764bbe6	2921
mjr	50:40015764bbe6	2922	// Figure the barrel spring "bounce" position in case we complete
mjr	50:40015764bbe6	2923	// the firing event. This is the amount that the forward momentum
mjr	50:40015764bbe6	2924	// of the plunger will compress the barrel spring at the peak of
mjr	50:40015764bbe6	2925	// the forward travel during the release. Assume that this is
mjr	50:40015764bbe6	2926	// linearly proportional to the starting retraction distance.
mjr	50:40015764bbe6	2927	// The barrel spring is about 1/6 the length of the main spring,
mjr	50:40015764bbe6	2928	// so figure it compresses by 1/6 the distance. (This is overly
mjr	53:9b2611964afc	2929	// simplistic and not very accurate, but it seems to give good
mjr	50:40015764bbe6	2930	// visual results, and that's all it's for.)
mjr	50:40015764bbe6	2931	f2.pos = -r.pos/6;
mjr	50:40015764bbe6	2932	}
mjr	50:40015764bbe6	2933	break;
mjr	50:40015764bbe6	2934
mjr	50:40015764bbe6	2935	case 1:
mjr	50:40015764bbe6	2936	// Phase 1 - acceleration. If we cross the zero point, trigger
mjr	50:40015764bbe6	2937	// the firing event. Otherwise, continue monitoring as long as we
mjr	50:40015764bbe6	2938	// see acceleration in the forward direction.
mjr	50:40015764bbe6	2939	if (r.pos <= 0)
mjr	50:40015764bbe6	2940	{
mjr	50:40015764bbe6	2941	// switch to the synthetic firing mode
mjr	50:40015764bbe6	2942	firingMode(2);
mjr	50:40015764bbe6	2943	z = f2.pos;
mjr	50:40015764bbe6	2944
mjr	50:40015764bbe6	2945	// note the start time for the firing phase
mjr	50:40015764bbe6	2946	f2.t = r.t;
mjr	53:9b2611964afc	2947
mjr	53:9b2611964afc	2948	// if in calibration mode, and we're in state 2 (moving),
mjr	53:9b2611964afc	2949	// collect firing statistics for calibration purposes
mjr	53:9b2611964afc	2950	if (plungerCalMode && calState == 2)
mjr	53:9b2611964afc	2951	{
mjr	53:9b2611964afc	2952	// collect a new zero point for the average when we
mjr	53:9b2611964afc	2953	// come to rest
mjr	53:9b2611964afc	2954	calState = 0;
mjr	53:9b2611964afc	2955
mjr	53:9b2611964afc	2956	// collect average firing time statistics in millseconds, if
mjr	53:9b2611964afc	2957	// it's in range (20 to 255 ms)
mjr	53:9b2611964afc	2958	int dt = uint32_t(r.t - f1.t)/1000UL;
mjr	53:9b2611964afc	2959	if (dt >= 20 && dt <= 255)
mjr	53:9b2611964afc	2960	{
mjr	53:9b2611964afc	2961	calRlsTimeSum += dt;
mjr	53:9b2611964afc	2962	calRlsTimeN += 1;
mjr	53:9b2611964afc	2963	cfg.plunger.cal.tRelease = uint8_t(calRlsTimeSum / calRlsTimeN);
mjr	53:9b2611964afc	2964	}
mjr	53:9b2611964afc	2965	}
mjr	50:40015764bbe6	2966	}
mjr	50:40015764bbe6	2967	else if (v < vprv2)
mjr	50:40015764bbe6	2968	{
mjr	50:40015764bbe6	2969	// We're still accelerating, and we haven't crossed the zero
mjr	50:40015764bbe6	2970	// point yet - stay in phase 1. (Note that forward motion is
mjr	50:40015764bbe6	2971	// negative velocity, so accelerating means that the new
mjr	50:40015764bbe6	2972	// velocity is more negative than the previous one, which
mjr	50:40015764bbe6	2973	// is to say numerically less than - that's why the test
mjr	50:40015764bbe6	2974	// for acceleration is the seemingly backwards 'v < vprv'.)
mjr	50:40015764bbe6	2975
mjr	50:40015764bbe6	2976	// If we've been accelerating for at least 20ms, we're probably
mjr	50:40015764bbe6	2977	// really doing a release. Jump back to the recent local
mjr	50:40015764bbe6	2978	// maximum where the release really started. This is always
mjr	50:40015764bbe6	2979	// a bit before we started seeing sustained accleration, because
mjr	50:40015764bbe6	2980	// the plunger motion for the first few milliseconds is too slow
mjr	50:40015764bbe6	2981	// for our sensor precision to reliably detect acceleration.
mjr	50:40015764bbe6	2982	if (f1.pos != 0)
mjr	50:40015764bbe6	2983	{
mjr	50:40015764bbe6	2984	// we have a reset point - freeze there
mjr	50:40015764bbe6	2985	z = f1.pos;
mjr	50:40015764bbe6	2986	}
mjr	50:40015764bbe6	2987	else if (uint32_t(r.t - f1.t) >= 20000UL)
mjr	50:40015764bbe6	2988	{
mjr	50:40015764bbe6	2989	// it's been long enough - set a reset point.
mjr	50:40015764bbe6	2990	f1.pos = z = histLocalMax(r.t, 50000UL);
mjr	50:40015764bbe6	2991	}
mjr	50:40015764bbe6	2992	}
mjr	50:40015764bbe6	2993	else
mjr	50:40015764bbe6	2994	{
mjr	50:40015764bbe6	2995	// We're not accelerating. Cancel the firing event.
mjr	50:40015764bbe6	2996	firingMode(0);
mjr	53:9b2611964afc	2997	calState = 1;
mjr	50:40015764bbe6	2998	}
mjr	50:40015764bbe6	2999	break;
mjr	50:40015764bbe6	3000
mjr	50:40015764bbe6	3001	case 2:
mjr	50:40015764bbe6	3002	// Phase 2 - start of synthetic firing event. Report the fake
mjr	50:40015764bbe6	3003	// bounce for 25ms. VP polls the joystick about every 10ms, so
mjr	50:40015764bbe6	3004	// this should be enough time to guarantee that VP sees this
mjr	50:40015764bbe6	3005	// report at least once.
mjr	50:40015764bbe6	3006	if (uint32_t(r.t - f2.t) < 25000UL)
mjr	50:40015764bbe6	3007	{
mjr	50:40015764bbe6	3008	// report the bounce position
mjr	50:40015764bbe6	3009	z = f2.pos;
mjr	50:40015764bbe6	3010	}
mjr	50:40015764bbe6	3011	else
mjr	50:40015764bbe6	3012	{
mjr	50:40015764bbe6	3013	// it's been long enough - switch to phase 3, where we
mjr	50:40015764bbe6	3014	// report the park position until the real plunger comes
mjr	50:40015764bbe6	3015	// to rest
mjr	50:40015764bbe6	3016	firingMode(3);
mjr	50:40015764bbe6	3017	z = 0;
mjr	50:40015764bbe6	3018
mjr	50:40015764bbe6	3019	// set the start of the "stability window" to the rest position
mjr	50:40015764bbe6	3020	f3s.t = r.t;
mjr	50:40015764bbe6	3021	f3s.pos = 0;
mjr	50:40015764bbe6	3022
mjr	50:40015764bbe6	3023	// set the start of the "retraction window" to the actual position
mjr	50:40015764bbe6	3024	f3r = r;
mjr	50:40015764bbe6	3025	}
mjr	50:40015764bbe6	3026	break;
mjr	50:40015764bbe6	3027
mjr	50:40015764bbe6	3028	case 3:
mjr	50:40015764bbe6	3029	// Phase 3 - in synthetic firing event. Report the park position
mjr	50:40015764bbe6	3030	// until the plunger position stabilizes. Left to its own devices,
mjr	50:40015764bbe6	3031	// the plunger will usualy bounce off the barrel spring several
mjr	50:40015764bbe6	3032	// times before coming to rest, so we'll see oscillating motion
mjr	50:40015764bbe6	3033	// for a second or two. In the simplest case, we can aimply wait
mjr	50:40015764bbe6	3034	// for the plunger to stop moving for a short time. However, the
mjr	50:40015764bbe6	3035	// player might intervene by pulling the plunger back again, so
mjr	50:40015764bbe6	3036	// watch for that motion as well. If we're just bouncing freely,
mjr	50:40015764bbe6	3037	// we'll see the direction change frequently. If the player is
mjr	50:40015764bbe6	3038	// moving the plunger manually, the direction will be constant
mjr	50:40015764bbe6	3039	// for longer.
mjr	50:40015764bbe6	3040	if (v >= 0)
mjr	50:40015764bbe6	3041	{
mjr	50:40015764bbe6	3042	// We're moving back (or standing still). If this has been
mjr	50:40015764bbe6	3043	// going on for a while, the user must have taken control.
mjr	50:40015764bbe6	3044	if (uint32_t(r.t - f3r.t) > 65000UL)
mjr	50:40015764bbe6	3045	{
mjr	50:40015764bbe6	3046	// user has taken control - cancel firing mode
mjr	50:40015764bbe6	3047	firingMode(0);
mjr	50:40015764bbe6	3048	break;
mjr	50:40015764bbe6	3049	}
mjr	50:40015764bbe6	3050	}
mjr	50:40015764bbe6	3051	else
mjr	50:40015764bbe6	3052	{
mjr	50:40015764bbe6	3053	// forward motion - reset retraction window
mjr	50:40015764bbe6	3054	f3r.t = r.t;
mjr	50:40015764bbe6	3055	}
mjr	50:40015764bbe6	3056
mjr	53:9b2611964afc	3057	// Check if we're close to the last starting point. The joystick
mjr	53:9b2611964afc	3058	// positive axis range (0..4096) covers the retraction distance of
mjr	53:9b2611964afc	3059	// about 2.5", so 1" is about 1638 joystick units, hence 1/16" is
mjr	53:9b2611964afc	3060	// about 100 units.
mjr	53:9b2611964afc	3061	if (abs(r.pos - f3s.pos) < 100)
mjr	50:40015764bbe6	3062	{
mjr	53:9b2611964afc	3063	// It's at roughly the same position as the starting point.
mjr	53:9b2611964afc	3064	// Consider it stable if this has been true for 300ms.
mjr	50:40015764bbe6	3065	if (uint32_t(r.t - f3s.t) > 30000UL)
mjr	50:40015764bbe6	3066	{
mjr	50:40015764bbe6	3067	// we're done with the firing event
mjr	50:40015764bbe6	3068	firingMode(0);
mjr	50:40015764bbe6	3069	}
mjr	50:40015764bbe6	3070	else
mjr	50:40015764bbe6	3071	{
mjr	50:40015764bbe6	3072	// it's close to the last position but hasn't been
mjr	50:40015764bbe6	3073	// here long enough; stay in firing mode and continue
mjr	50:40015764bbe6	3074	// to report the park position
mjr	50:40015764bbe6	3075	z = 0;
mjr	50:40015764bbe6	3076	}
mjr	50:40015764bbe6	3077	}
mjr	50:40015764bbe6	3078	else
mjr	50:40015764bbe6	3079	{
mjr	50:40015764bbe6	3080	// It's not close enough to the last starting point, so use
mjr	50:40015764bbe6	3081	// this as a new starting point, and stay in firing mode.
mjr	50:40015764bbe6	3082	f3s = r;
mjr	50:40015764bbe6	3083	z = 0;
mjr	50:40015764bbe6	3084	}
mjr	50:40015764bbe6	3085	break;
mjr	50:40015764bbe6	3086	}
mjr	50:40015764bbe6	3087
mjr	50:40015764bbe6	3088	// save the velocity reading for next time
mjr	50:40015764bbe6	3089	vprv2 = vprv;
mjr	50:40015764bbe6	3090	vprv = v;
mjr	50:40015764bbe6	3091
mjr	50:40015764bbe6	3092	// add the new reading to the history
mjr	50:40015764bbe6	3093	hist[histIdx++] = r;
mjr	50:40015764bbe6	3094	histIdx %= countof(hist);
mjr	48:058ace2aed1d	3095	}
mjr	48:058ace2aed1d	3096	}
mjr	48:058ace2aed1d	3097
mjr	48:058ace2aed1d	3098	// Get the current value to report through the joystick interface
mjr	50:40015764bbe6	3099	int16_t getPosition() const { return z; }
mjr	48:058ace2aed1d	3100
mjr	48:058ace2aed1d	3101	// Get the current velocity (joystick distance units per microsecond)
mjr	48:058ace2aed1d	3102	float getVelocity() const { return vz; }
mjr	48:058ace2aed1d	3103
mjr	48:058ace2aed1d	3104	// get the timestamp of the current joystick report (microseconds)
mjr	50:40015764bbe6	3105	uint32_t getTimestamp() const { return nthHist(0).t; }
mjr	48:058ace2aed1d	3106
mjr	48:058ace2aed1d	3107	// Set calibration mode on or off
mjr	52:8298b2a73eb2	3108	void setCalMode(bool f)
mjr	48:058ace2aed1d	3109	{
mjr	52:8298b2a73eb2	3110	// check to see if we're entering calibration mode
mjr	52:8298b2a73eb2	3111	if (f && !plungerCalMode)
mjr	52:8298b2a73eb2	3112	{
mjr	52:8298b2a73eb2	3113	// reset the calibration in the configuration
mjr	48:058ace2aed1d	3114	cfg.plunger.cal.begin();
mjr	52:8298b2a73eb2	3115
mjr	52:8298b2a73eb2	3116	// start in state 0 (waiting to settle)
mjr	52:8298b2a73eb2	3117	calState = 0;
mjr	52:8298b2a73eb2	3118	calZeroPosSum = 0;
mjr	52:8298b2a73eb2	3119	calZeroPosN = 0;
mjr	52:8298b2a73eb2	3120	calRlsTimeSum = 0;
mjr	52:8298b2a73eb2	3121	calRlsTimeN = 0;
mjr	52:8298b2a73eb2	3122
mjr	52:8298b2a73eb2	3123	// set the initial zero point to the current position
mjr	52:8298b2a73eb2	3124	PlungerReading r;
mjr	52:8298b2a73eb2	3125	if (plungerSensor->read(r))
mjr	52:8298b2a73eb2	3126	{
mjr	52:8298b2a73eb2	3127	// got a reading - use it as the initial zero point
mjr	52:8298b2a73eb2	3128	cfg.plunger.cal.zero = r.pos;
mjr	52:8298b2a73eb2	3129
mjr	52:8298b2a73eb2	3130	// use it as the starting point for the settling watch
mjr	53:9b2611964afc	3131	calZeroStart = r;
mjr	52:8298b2a73eb2	3132	}
mjr	52:8298b2a73eb2	3133	else
mjr	52:8298b2a73eb2	3134	{
mjr	52:8298b2a73eb2	3135	// no reading available - use the default 1/6 position
mjr	52:8298b2a73eb2	3136	cfg.plunger.cal.zero = 0xffff/6;
mjr	52:8298b2a73eb2	3137
mjr	52:8298b2a73eb2	3138	// we don't have a starting point for the setting watch
mjr	53:9b2611964afc	3139	calZeroStart.pos = -65535;
mjr	53:9b2611964afc	3140	calZeroStart.t = 0;
mjr	53:9b2611964afc	3141	}
mjr	53:9b2611964afc	3142	}
mjr	53:9b2611964afc	3143	else if (!f && plungerCalMode)
mjr	53:9b2611964afc	3144	{
mjr	53:9b2611964afc	3145	// Leaving calibration mode. Make sure the max is past the
mjr	53:9b2611964afc	3146	// zero point - if it's not, we'd have a zero or negative
mjr	53:9b2611964afc	3147	// denominator for the scaling calculation, which would be
mjr	53:9b2611964afc	3148	// physically meaningless.
mjr	53:9b2611964afc	3149	if (cfg.plunger.cal.max <= cfg.plunger.cal.zero)
mjr	53:9b2611964afc	3150	{
mjr	53:9b2611964afc	3151	// bad settings - reset to defaults
mjr	53:9b2611964afc	3152	cfg.plunger.cal.max = 0xffff;
mjr	53:9b2611964afc	3153	cfg.plunger.cal.zero = 0xffff/6;
mjr	52:8298b2a73eb2	3154	}
mjr	52:8298b2a73eb2	3155	}
mjr	52:8298b2a73eb2	3156
mjr	48:058ace2aed1d	3157	// remember the new mode
mjr	52:8298b2a73eb2	3158	plungerCalMode = f;
mjr	48:058ace2aed1d	3159	}
mjr	48:058ace2aed1d	3160
mjr	48:058ace2aed1d	3161	// is a firing event in progress?
mjr	53:9b2611964afc	3162	bool isFiring() { return firing == 3; }
mjr	48:058ace2aed1d	3163
mjr	48:058ace2aed1d	3164	private:
mjr	52:8298b2a73eb2	3165
mjr	52:8298b2a73eb2	3166	// Calibration state. During calibration mode, we watch for release
mjr	52:8298b2a73eb2	3167	// events, to measure the time it takes to complete the release
mjr	52:8298b2a73eb2	3168	// motion; and we watch for the plunger to come to reset after a
mjr	52:8298b2a73eb2	3169	// release, to gather statistics on the rest position.
mjr	52:8298b2a73eb2	3170	// 0 = waiting to settle
mjr	52:8298b2a73eb2	3171	// 1 = at rest
mjr	52:8298b2a73eb2	3172	// 2 = retracting
mjr	52:8298b2a73eb2	3173	// 3 = possibly releasing
mjr	52:8298b2a73eb2	3174	uint8_t calState;
mjr	52:8298b2a73eb2	3175
mjr	52:8298b2a73eb2	3176	// Calibration zero point statistics.
mjr	52:8298b2a73eb2	3177	// During calibration mode, we collect data on the rest position (the
mjr	52:8298b2a73eb2	3178	// zero point) by watching for the plunger to come to rest after each
mjr	52:8298b2a73eb2	3179	// release. We average these rest positions to get the calibrated
mjr	52:8298b2a73eb2	3180	// zero point. We use the average because the real physical plunger
mjr	52:8298b2a73eb2	3181	// itself doesn't come to rest at exactly the same spot every time,
mjr	52:8298b2a73eb2	3182	// largely due to friction in the mechanism. To calculate the average,
mjr	52:8298b2a73eb2	3183	// we keep a sum of the readings and a count of samples.
mjr	53:9b2611964afc	3184	PlungerReading calZeroStart;
mjr	52:8298b2a73eb2	3185	long calZeroPosSum;
mjr	52:8298b2a73eb2	3186	int calZeroPosN;
mjr	52:8298b2a73eb2	3187
mjr	52:8298b2a73eb2	3188	// Calibration release time statistics.
mjr	52:8298b2a73eb2	3189	// During calibration, we collect an average for the release time.
mjr	52:8298b2a73eb2	3190	long calRlsTimeSum;
mjr	52:8298b2a73eb2	3191	int calRlsTimeN;
mjr	52:8298b2a73eb2	3192
mjr	48:058ace2aed1d	3193	// set a firing mode
mjr	48:058ace2aed1d	3194	inline void firingMode(int m)
mjr	48:058ace2aed1d	3195	{
mjr	48:058ace2aed1d	3196	firing = m;
mjr	48:058ace2aed1d	3197	}
mjr	48:058ace2aed1d	3198
mjr	48:058ace2aed1d	3199	// Find the most recent local maximum in the history data, up to
mjr	48:058ace2aed1d	3200	// the given time limit.
mjr	48:058ace2aed1d	3201	int histLocalMax(uint32_t tcur, uint32_t dt)
mjr	48:058ace2aed1d	3202	{
mjr	48:058ace2aed1d	3203	// start with the prior entry
mjr	48:058ace2aed1d	3204	int idx = (histIdx == 0 ? countof(hist) : histIdx) - 1;
mjr	48:058ace2aed1d	3205	int hi = hist[idx].pos;
mjr	48:058ace2aed1d	3206
mjr	48:058ace2aed1d	3207	// scan backwards for a local maximum
mjr	48:058ace2aed1d	3208	for (int n = countof(hist) - 1 ; n > 0 ; idx = (idx == 0 ? countof(hist) : idx) - 1)
mjr	48:058ace2aed1d	3209	{
mjr	48:058ace2aed1d	3210	// if this isn't within the time window, stop
mjr	48:058ace2aed1d	3211	if (uint32_t(tcur - hist[idx].t) > dt)
mjr	48:058ace2aed1d	3212	break;
mjr	48:058ace2aed1d	3213
mjr	48:058ace2aed1d	3214	// if this isn't above the current hith, stop
mjr	48:058ace2aed1d	3215	if (hist[idx].pos < hi)
mjr	48:058ace2aed1d	3216	break;
mjr	48:058ace2aed1d	3217
mjr	48:058ace2aed1d	3218	// this is the new high
mjr	48:058ace2aed1d	3219	hi = hist[idx].pos;
mjr	48:058ace2aed1d	3220	}
mjr	48:058ace2aed1d	3221
mjr	48:058ace2aed1d	3222	// return the local maximum
mjr	48:058ace2aed1d	3223	return hi;
mjr	48:058ace2aed1d	3224	}
mjr	48:058ace2aed1d	3225
mjr	50:40015764bbe6	3226	// velocity at previous reading, and the one before that
mjr	50:40015764bbe6	3227	float vprv, vprv2;
mjr	48:058ace2aed1d	3228
mjr	48:058ace2aed1d	3229	// Circular buffer of recent readings. We keep a short history
mjr	48:058ace2aed1d	3230	// of readings to analyze during firing events. We can only identify
mjr	48:058ace2aed1d	3231	// a firing event once it's somewhat under way, so we need a little
mjr	48:058ace2aed1d	3232	// retrospective information to accurately determine after the fact
mjr	48:058ace2aed1d	3233	// exactly when it started. We throttle our readings to no more
mjr	48:058ace2aed1d	3234	// than one every 2ms, so we have at least N*2ms of history in this
mjr	48:058ace2aed1d	3235	// array.
mjr	50:40015764bbe6	3236	PlungerReading hist[25];
mjr	48:058ace2aed1d	3237	int histIdx;
mjr	49:37bd97eb7688	3238
mjr	50:40015764bbe6	3239	// get the nth history item (0=last, 1=2nd to last, etc)
mjr	50:40015764bbe6	3240	const PlungerReading &nthHist(int n) const
mjr	50:40015764bbe6	3241	{
mjr	50:40015764bbe6	3242	// histIdx-1 is the last written; go from there
mjr	50:40015764bbe6	3243	n = histIdx - 1 - n;
mjr	50:40015764bbe6	3244
mjr	50:40015764bbe6	3245	// adjust for wrapping
mjr	50:40015764bbe6	3246	if (n < 0)
mjr	50:40015764bbe6	3247	n += countof(hist);
mjr	50:40015764bbe6	3248
mjr	50:40015764bbe6	3249	// return the item
mjr	50:40015764bbe6	3250	return hist[n];
mjr	50:40015764bbe6	3251	}
mjr	48:058ace2aed1d	3252
mjr	48:058ace2aed1d	3253	// Firing event state.
mjr	48:058ace2aed1d	3254	//
mjr	48:058ace2aed1d	3255	// 0 - Default state. We report the real instantaneous plunger
mjr	48:058ace2aed1d	3256	// position to the joystick interface.
mjr	48:058ace2aed1d	3257	//
mjr	53:9b2611964afc	3258	// 1 - Moving forward
mjr	48:058ace2aed1d	3259	//
mjr	53:9b2611964afc	3260	// 2 - Accelerating
mjr	48:058ace2aed1d	3261	//
mjr	53:9b2611964afc	3262	// 3 - Firing. We report the rest position for a minimum interval,
mjr	53:9b2611964afc	3263	// or until the real plunger comes to rest somewhere.
mjr	48:058ace2aed1d	3264	//
mjr	48:058ace2aed1d	3265	int firing;
mjr	48:058ace2aed1d	3266
mjr	51:57eb311faafa	3267	// Position/timestamp at start of firing phase 1. When we see a
mjr	51:57eb311faafa	3268	// sustained forward acceleration, we freeze joystick reports at
mjr	51:57eb311faafa	3269	// the recent local maximum, on the assumption that this was the
mjr	51:57eb311faafa	3270	// start of the release. If this is zero, it means that we're
mjr	51:57eb311faafa	3271	// monitoring accelerating motion but haven't seen it for long
mjr	51:57eb311faafa	3272	// enough yet to be confident that a release is in progress.
mjr	48:058ace2aed1d	3273	PlungerReading f1;
mjr	48:058ace2aed1d	3274
mjr	48:058ace2aed1d	3275	// Position/timestamp at start of firing phase 2. The position is
mjr	48:058ace2aed1d	3276	// the fake "bounce" position we report during this phase, and the
mjr	48:058ace2aed1d	3277	// timestamp tells us when the phase began so that we can end it
mjr	48:058ace2aed1d	3278	// after enough time elapses.
mjr	48:058ace2aed1d	3279	PlungerReading f2;
mjr	48:058ace2aed1d	3280
mjr	48:058ace2aed1d	3281	// Position/timestamp of start of stability window during phase 3.
mjr	48:058ace2aed1d	3282	// We use this to determine when the plunger comes to rest. We set
mjr	51:57eb311faafa	3283	// this at the beginning of phase 3, and then reset it when the
mjr	48:058ace2aed1d	3284	// plunger moves too far from the last position.
mjr	48:058ace2aed1d	3285	PlungerReading f3s;
mjr	48:058ace2aed1d	3286
mjr	48:058ace2aed1d	3287	// Position/timestamp of start of retraction window during phase 3.
mjr	48:058ace2aed1d	3288	// We use this to determine if the user is drawing the plunger back.
mjr	48:058ace2aed1d	3289	// If we see retraction motion for more than about 65ms, we assume
mjr	48:058ace2aed1d	3290	// that the user has taken over, because we should see forward
mjr	48:058ace2aed1d	3291	// motion within this timeframe if the plunger is just bouncing
mjr	48:058ace2aed1d	3292	// freely.
mjr	48:058ace2aed1d	3293	PlungerReading f3r;
mjr	48:058ace2aed1d	3294
mjr	48:058ace2aed1d	3295	// next Z value to report to the joystick interface (in joystick
mjr	48:058ace2aed1d	3296	// distance units)
mjr	48:058ace2aed1d	3297	int z;
mjr	48:058ace2aed1d	3298
mjr	48:058ace2aed1d	3299	// velocity of this reading (joystick distance units per microsecond)
mjr	48:058ace2aed1d	3300	float vz;
mjr	48:058ace2aed1d	3301	};
mjr	48:058ace2aed1d	3302
mjr	48:058ace2aed1d	3303	// plunger reader singleton
mjr	48:058ace2aed1d	3304	PlungerReader plungerReader;
mjr	48:058ace2aed1d	3305
mjr	48:058ace2aed1d	3306	// ---------------------------------------------------------------------------
mjr	48:058ace2aed1d	3307	//
mjr	48:058ace2aed1d	3308	// Handle the ZB Launch Ball feature.
mjr	48:058ace2aed1d	3309	//
mjr	48:058ace2aed1d	3310	// The ZB Launch Ball feature, if enabled, lets the mechanical plunger
mjr	48:058ace2aed1d	3311	// serve as a substitute for a physical Launch Ball button. When a table
mjr	48:058ace2aed1d	3312	// is loaded in VP, and the table has the ZB Launch Ball LedWiz port
mjr	48:058ace2aed1d	3313	// turned on, we'll disable mechanical plunger reports through the
mjr	48:058ace2aed1d	3314	// joystick interface and instead use the plunger only to simulate the
mjr	48:058ace2aed1d	3315	// Launch Ball button. When the mode is active, pulling back and
mjr	48:058ace2aed1d	3316	// releasing the plunger causes a brief simulated press of the Launch
mjr	48:058ace2aed1d	3317	// button, and pushing the plunger forward of the rest position presses
mjr	48:058ace2aed1d	3318	// the Launch button as long as the plunger is pressed forward.
mjr	48:058ace2aed1d	3319	//
mjr	48:058ace2aed1d	3320	// This feature has two configuration components:
mjr	48:058ace2aed1d	3321	//
mjr	48:058ace2aed1d	3322	// - An LedWiz port number. This port is a "virtual" port that doesn't
mjr	48:058ace2aed1d	3323	// have to be attached to any actual output. DOF uses it to signal
mjr	48:058ace2aed1d	3324	// that the current table uses a Launch button instead of a plunger.
mjr	48:058ace2aed1d	3325	// DOF simply turns the port on when such a table is loaded and turns
mjr	48:058ace2aed1d	3326	// it off at all other times. We use it to enable and disable the
mjr	48:058ace2aed1d	3327	// plunger/launch button connection.
mjr	48:058ace2aed1d	3328	//
mjr	48:058ace2aed1d	3329	// - A joystick button ID. We simulate pressing this button when the
mjr	48:058ace2aed1d	3330	// launch feature is activated via the LedWiz port and the plunger is
mjr	48:058ace2aed1d	3331	// either pulled back and releasd, or pushed forward past the rest
mjr	48:058ace2aed1d	3332	// position.
mjr	48:058ace2aed1d	3333	//
mjr	48:058ace2aed1d	3334	class ZBLaunchBall
mjr	48:058ace2aed1d	3335	{
mjr	48:058ace2aed1d	3336	public:
mjr	48:058ace2aed1d	3337	ZBLaunchBall()
mjr	48:058ace2aed1d	3338	{
mjr	48:058ace2aed1d	3339	// start in the default state
mjr	48:058ace2aed1d	3340	lbState = 0;
mjr	53:9b2611964afc	3341	btnState = false;
mjr	48:058ace2aed1d	3342	}
mjr	48:058ace2aed1d	3343
mjr	48:058ace2aed1d	3344	// Update state. This checks the current plunger position and
mjr	48:058ace2aed1d	3345	// the timers to see if the plunger is in a position that simulates
mjr	48:058ace2aed1d	3346	// a Launch Ball button press via the ZB Launch Ball feature.
mjr	48:058ace2aed1d	3347	// Updates the simulated button vector according to the current
mjr	48:058ace2aed1d	3348	// launch ball state. The main loop calls this before each
mjr	48:058ace2aed1d	3349	// joystick update to figure the new simulated button state.
mjr	53:9b2611964afc	3350	void update()
mjr	48:058ace2aed1d	3351	{
mjr	53:9b2611964afc	3352	// If the ZB Launch Ball led wiz output is ON, check for a
mjr	53:9b2611964afc	3353	// plunger firing event
mjr	53:9b2611964afc	3354	if (zbLaunchOn)
mjr	48:058ace2aed1d	3355	{
mjr	53:9b2611964afc	3356	// note the new position
mjr	48:058ace2aed1d	3357	int znew = plungerReader.getPosition();
mjr	53:9b2611964afc	3358
mjr	53:9b2611964afc	3359	// figure the push threshold from the configuration data
mjr	51:57eb311faafa	3360	const int pushThreshold = int(-JOYMAX/3.0 * cfg.plunger.zbLaunchBall.pushDistance/1000.0);
mjr	53:9b2611964afc	3361
mjr	53:9b2611964afc	3362	// check the state
mjr	48:058ace2aed1d	3363	switch (lbState)
mjr	48:058ace2aed1d	3364	{
mjr	48:058ace2aed1d	3365	case 0:
mjr	53:9b2611964afc	3366	// Default state. If a launch event has been detected on
mjr	53:9b2611964afc	3367	// the plunger, activate a timed pulse and switch to state 1.
mjr	53:9b2611964afc	3368	// If the plunger is pushed forward of the threshold, push
mjr	53:9b2611964afc	3369	// the button.
mjr	53:9b2611964afc	3370	if (plungerReader.isFiring())
mjr	53:9b2611964afc	3371	{
mjr	53:9b2611964afc	3372	// firing event - start a timed Launch button pulse
mjr	53:9b2611964afc	3373	lbTimer.reset();
mjr	53:9b2611964afc	3374	lbTimer.start();
mjr	53:9b2611964afc	3375	setButton(true);
mjr	53:9b2611964afc	3376
mjr	53:9b2611964afc	3377	// switch to state 1
mjr	53:9b2611964afc	3378	lbState = 1;
mjr	53:9b2611964afc	3379	}
mjr	48:058ace2aed1d	3380	else if (znew <= pushThreshold)
mjr	53:9b2611964afc	3381	{
mjr	53:9b2611964afc	3382	// pushed forward without a firing event - hold the
mjr	53:9b2611964afc	3383	// button as long as we're pushed forward
mjr	53:9b2611964afc	3384	setButton(true);
mjr	53:9b2611964afc	3385	}
mjr	53:9b2611964afc	3386	else
mjr	53:9b2611964afc	3387	{
mjr	53:9b2611964afc	3388	// not pushed forward - turn off the Launch button
mjr	53:9b2611964afc	3389	setButton(false);
mjr	53:9b2611964afc	3390	}
mjr	48:058ace2aed1d	3391	break;
mjr	48:058ace2aed1d	3392
mjr	48:058ace2aed1d	3393	case 1:
mjr	53:9b2611964afc	3394	// State 1: Timed Launch button pulse in progress after a
mjr	53:9b2611964afc	3395	// firing event. Wait for the timer to expire.
mjr	53:9b2611964afc	3396	if (lbTimer.read_us() > 200000UL)
mjr	53:9b2611964afc	3397	{
mjr	53:9b2611964afc	3398	// timer expired - turn off the button
mjr	53:9b2611964afc	3399	setButton(false);
mjr	53:9b2611964afc	3400
mjr	53:9b2611964afc	3401	// switch to state 2
mjr	53:9b2611964afc	3402	lbState = 2;
mjr	53:9b2611964afc	3403	}
mjr	48:058ace2aed1d	3404	break;
mjr	48:058ace2aed1d	3405
mjr	48:058ace2aed1d	3406	case 2:
mjr	53:9b2611964afc	3407	// State 2: Timed Launch button pulse done. Wait for the
mjr	53:9b2611964afc	3408	// plunger launch event to end.
mjr	53:9b2611964afc	3409	if (!plungerReader.isFiring())
mjr	53:9b2611964afc	3410	{
mjr	53:9b2611964afc	3411	// firing event done - return to default state
mjr	53:9b2611964afc	3412	lbState = 0;
mjr	53:9b2611964afc	3413	}
mjr	48:058ace2aed1d	3414	break;
mjr	48:058ace2aed1d	3415	}
mjr	53:9b2611964afc	3416	}
mjr	53:9b2611964afc	3417	else
mjr	53:9b2611964afc	3418	{
mjr	53:9b2611964afc	3419	// ZB Launch Ball disabled - turn off the button if it was on
mjr	53:9b2611964afc	3420	setButton(false);
mjr	48:058ace2aed1d	3421
mjr	53:9b2611964afc	3422	// return to the default state
mjr	53:9b2611964afc	3423	lbState = 0;
mjr	48:058ace2aed1d	3424	}
mjr	48:058ace2aed1d	3425	}
mjr	53:9b2611964afc	3426
mjr	53:9b2611964afc	3427	// Set the button state
mjr	53:9b2611964afc	3428	void setButton(bool on)
mjr	53:9b2611964afc	3429	{
mjr	53:9b2611964afc	3430	if (btnState != on)
mjr	53:9b2611964afc	3431	{
mjr	53:9b2611964afc	3432	// remember the new state
mjr	53:9b2611964afc	3433	btnState = on;
mjr	53:9b2611964afc	3434
mjr	53:9b2611964afc	3435	// update the virtual button state
mjr	53:9b2611964afc	3436	buttonState[ZBL_BUTTON].virtPress(on);
mjr	53:9b2611964afc	3437	}
mjr	53:9b2611964afc	3438	}
mjr	53:9b2611964afc	3439
mjr	48:058ace2aed1d	3440	private:
mjr	48:058ace2aed1d	3441	// Simulated Launch Ball button state. If a "ZB Launch Ball" port is
mjr	48:058ace2aed1d	3442	// defined for our LedWiz port mapping, any time that port is turned ON,
mjr	48:058ace2aed1d	3443	// we'll simulate pushing the Launch Ball button if the player pulls
mjr	48:058ace2aed1d	3444	// back and releases the plunger, or simply pushes on the plunger from
mjr	48:058ace2aed1d	3445	// the rest position. This allows the plunger to be used in lieu of a
mjr	48:058ace2aed1d	3446	// physical Launch Ball button for tables that don't have plungers.
mjr	48:058ace2aed1d	3447	//
mjr	48:058ace2aed1d	3448	// States:
mjr	48:058ace2aed1d	3449	// 0 = default
mjr	53:9b2611964afc	3450	// 1 = firing (firing event has activated a Launch button pulse)
mjr	53:9b2611964afc	3451	// 2 = firing done (Launch button pulse ended, waiting for plunger
mjr	53:9b2611964afc	3452	// firing event to end)
mjr	53:9b2611964afc	3453	uint8_t lbState;
mjr	48:058ace2aed1d	3454
mjr	53:9b2611964afc	3455	// button state
mjr	53:9b2611964afc	3456	bool btnState;
mjr	48:058ace2aed1d	3457
mjr	48:058ace2aed1d	3458	// Time since last lbState transition. Some of the states are time-
mjr	48:058ace2aed1d	3459	// sensitive. In the "uncocked" state, we'll return to state 0 if
mjr	48:058ace2aed1d	3460	// we remain in this state for more than a few milliseconds, since
mjr	48:058ace2aed1d	3461	// it indicates that the plunger is being slowly returned to rest
mjr	48:058ace2aed1d	3462	// rather than released. In the "launching" state, we need to release
mjr	48:058ace2aed1d	3463	// the Launch Ball button after a moment, and we need to wait for
mjr	48:058ace2aed1d	3464	// the plunger to come to rest before returning to state 0.
mjr	48:058ace2aed1d	3465	Timer lbTimer;
mjr	48:058ace2aed1d	3466	};
mjr	48:058ace2aed1d	3467
mjr	35:e959ffba78fd	3468	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	3469	//
mjr	35:e959ffba78fd	3470	// Reboot - resets the microcontroller
mjr	35:e959ffba78fd	3471	//
mjr	54:fd77a6b2f76c	3472	void reboot(USBJoystick &js, bool disconnect = true, long pause_us = 2000000L)
mjr	35:e959ffba78fd	3473	{
mjr	35:e959ffba78fd	3474	// disconnect from USB
mjr	54:fd77a6b2f76c	3475	if (disconnect)
mjr	54:fd77a6b2f76c	3476	js.disconnect();
mjr	35:e959ffba78fd	3477
mjr	35:e959ffba78fd	3478	// wait a few seconds to make sure the host notices the disconnect
mjr	54:fd77a6b2f76c	3479	wait_us(pause_us);
mjr	35:e959ffba78fd	3480
mjr	35:e959ffba78fd	3481	// reset the device
mjr	35:e959ffba78fd	3482	NVIC_SystemReset();
mjr	35:e959ffba78fd	3483	while (true) { }
mjr	35:e959ffba78fd	3484	}
mjr	35:e959ffba78fd	3485
mjr	35:e959ffba78fd	3486	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	3487	//
mjr	35:e959ffba78fd	3488	// Translate joystick readings from raw values to reported values, based
mjr	35:e959ffba78fd	3489	// on the orientation of the controller card in the cabinet.
mjr	35:e959ffba78fd	3490	//
mjr	35:e959ffba78fd	3491	void accelRotate(int &x, int &y)
mjr	35:e959ffba78fd	3492	{
mjr	35:e959ffba78fd	3493	int tmp;
mjr	35:e959ffba78fd	3494	switch (cfg.orientation)
mjr	35:e959ffba78fd	3495	{
mjr	35:e959ffba78fd	3496	case OrientationFront:
mjr	35:e959ffba78fd	3497	tmp = x;
mjr	35:e959ffba78fd	3498	x = y;
mjr	35:e959ffba78fd	3499	y = tmp;
mjr	35:e959ffba78fd	3500	break;
mjr	35:e959ffba78fd	3501
mjr	35:e959ffba78fd	3502	case OrientationLeft:
mjr	35:e959ffba78fd	3503	x = -x;
mjr	35:e959ffba78fd	3504	break;
mjr	35:e959ffba78fd	3505
mjr	35:e959ffba78fd	3506	case OrientationRight:
mjr	35:e959ffba78fd	3507	y = -y;
mjr	35:e959ffba78fd	3508	break;
mjr	35:e959ffba78fd	3509
mjr	35:e959ffba78fd	3510	case OrientationRear:
mjr	35:e959ffba78fd	3511	tmp = -x;
mjr	35:e959ffba78fd	3512	x = -y;
mjr	35:e959ffba78fd	3513	y = tmp;
mjr	35:e959ffba78fd	3514	break;
mjr	35:e959ffba78fd	3515	}
mjr	35:e959ffba78fd	3516	}
mjr	35:e959ffba78fd	3517
mjr	35:e959ffba78fd	3518	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	3519	//
mjr	35:e959ffba78fd	3520	// Device status. We report this on each update so that the host config
mjr	35:e959ffba78fd	3521	// tool can detect our current settings. This is a bit mask consisting
mjr	35:e959ffba78fd	3522	// of these bits:
mjr	35:e959ffba78fd	3523	// 0x0001 -> plunger sensor enabled
mjr	35:e959ffba78fd	3524	// 0x8000 -> RESERVED - must always be zero
mjr	35:e959ffba78fd	3525	//
mjr	35:e959ffba78fd	3526	// Note that the high bit (0x8000) must always be 0, since we use that
mjr	35:e959ffba78fd	3527	// to distinguish special request reply packets.
mjr	35:e959ffba78fd	3528	uint16_t statusFlags;
mjr	35:e959ffba78fd	3529
mjr	45:c42166b2878c	3530	// Pixel dump mode - the host requested a dump of image sensor pixels
mjr	45:c42166b2878c	3531	// (helpful for installing and setting up the sensor and light source)
mjr	52:8298b2a73eb2	3532	bool reportPlungerStat = false;
mjr	53:9b2611964afc	3533	uint8_t reportPlungerStatFlags; // plunger pixel report flag bits (see ccdSensor.h)
mjr	53:9b2611964afc	3534	uint8_t reportPlungerStatTime; // extra exposure time for plunger pixel report
mjr	35:e959ffba78fd	3535
mjr	33:d832bcab089e	3536
mjr	35:e959ffba78fd	3537	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	3538	//
mjr	35:e959ffba78fd	3539	// Calibration button state:
mjr	35:e959ffba78fd	3540	// 0 = not pushed
mjr	35:e959ffba78fd	3541	// 1 = pushed, not yet debounced
mjr	35:e959ffba78fd	3542	// 2 = pushed, debounced, waiting for hold time
mjr	35:e959ffba78fd	3543	// 3 = pushed, hold time completed - in calibration mode
mjr	35:e959ffba78fd	3544	int calBtnState = 0;
mjr	35:e959ffba78fd	3545
mjr	35:e959ffba78fd	3546	// calibration button debounce timer
mjr	35:e959ffba78fd	3547	Timer calBtnTimer;
mjr	35:e959ffba78fd	3548
mjr	35:e959ffba78fd	3549	// calibration button light state
mjr	35:e959ffba78fd	3550	int calBtnLit = false;
mjr	35:e959ffba78fd	3551
mjr	35:e959ffba78fd	3552
mjr	35:e959ffba78fd	3553	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	3554	//
mjr	40:cc0d9814522b	3555	// Configuration variable get/set message handling
mjr	35:e959ffba78fd	3556	//
mjr	40:cc0d9814522b	3557
mjr	40:cc0d9814522b	3558	// Handle SET messages - write configuration variables from USB message data
mjr	40:cc0d9814522b	3559	#define if_msg_valid(test) if (test)
mjr	53:9b2611964afc	3560	#define v_byte(var, ofs) cfg.var = data[ofs]
mjr	53:9b2611964afc	3561	#define v_ui16(var, ofs) cfg.var = wireUI16(data+(ofs))
mjr	53:9b2611964afc	3562	#define v_pin(var, ofs) cfg.var = wirePinName(data[ofs])
mjr	53:9b2611964afc	3563	#define v_byte_ro(val, ofs) // ignore read-only variables on SET
mjr	40:cc0d9814522b	3564	#define v_func configVarSet
mjr	40:cc0d9814522b	3565	#include "cfgVarMsgMap.h"
mjr	35:e959ffba78fd	3566
mjr	40:cc0d9814522b	3567	// redefine everything for the SET messages
mjr	40:cc0d9814522b	3568	#undef if_msg_valid
mjr	40:cc0d9814522b	3569	#undef v_byte
mjr	40:cc0d9814522b	3570	#undef v_ui16
mjr	40:cc0d9814522b	3571	#undef v_pin
mjr	53:9b2611964afc	3572	#undef v_byte_ro
mjr	40:cc0d9814522b	3573	#undef v_func
mjr	38:091e511ce8a0	3574
mjr	40:cc0d9814522b	3575	// Handle GET messages - read variable values and return in USB message daa
mjr	40:cc0d9814522b	3576	#define if_msg_valid(test)
mjr	53:9b2611964afc	3577	#define v_byte(var, ofs) data[ofs] = cfg.var
mjr	53:9b2611964afc	3578	#define v_ui16(var, ofs) ui16Wire(data+(ofs), cfg.var)
mjr	53:9b2611964afc	3579	#define v_pin(var, ofs) pinNameWire(data+(ofs), cfg.var)
mjr	53:9b2611964afc	3580	#define v_byte_ro(val, ofs) data[ofs] = val
mjr	40:cc0d9814522b	3581	#define v_func configVarGet
mjr	40:cc0d9814522b	3582	#include "cfgVarMsgMap.h"
mjr	40:cc0d9814522b	3583
mjr	35:e959ffba78fd	3584
mjr	35:e959ffba78fd	3585	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	3586	//
mjr	35:e959ffba78fd	3587	// Handle an input report from the USB host. Input reports use our extended
mjr	35:e959ffba78fd	3588	// LedWiz protocol.
mjr	33:d832bcab089e	3589	//
mjr	48:058ace2aed1d	3590	void handleInputMsg(LedWizMsg &lwm, USBJoystick &js)
mjr	35:e959ffba78fd	3591	{
mjr	38:091e511ce8a0	3592	// LedWiz commands come in two varieties: SBA and PBA. An
mjr	38:091e511ce8a0	3593	// SBA is marked by the first byte having value 64 (0x40). In
mjr	38:091e511ce8a0	3594	// the real LedWiz protocol, any other value in the first byte
mjr	38:091e511ce8a0	3595	// means it's a PBA message. However, valid PBA messages
mjr	38:091e511ce8a0	3596	// always have a first byte (and in fact all 8 bytes) in the
mjr	38:091e511ce8a0	3597	// range 0-49 or 129-132. Anything else is invalid. We take
mjr	38:091e511ce8a0	3598	// advantage of this to implement private protocol extensions.
mjr	38:091e511ce8a0	3599	// So our full protocol is as follows:
mjr	38:091e511ce8a0	3600	//
mjr	38:091e511ce8a0	3601	// first byte =
mjr	38:091e511ce8a0	3602	// 0-48 -> LWZ-PBA
mjr	38:091e511ce8a0	3603	// 64 -> LWZ SBA
mjr	38:091e511ce8a0	3604	// 65 -> private control message; second byte specifies subtype
mjr	38:091e511ce8a0	3605	// 129-132 -> LWZ-PBA
mjr	38:091e511ce8a0	3606	// 200-228 -> extended bank brightness set for outputs N to N+6, where
mjr	38:091e511ce8a0	3607	// N is (first byte - 200)*7
mjr	38:091e511ce8a0	3608	// other -> reserved for future use
mjr	38:091e511ce8a0	3609	//
mjr	39:b3815a1c3802	3610	uint8_t *data = lwm.data;
mjr	38:091e511ce8a0	3611	if (data[0] == 64)
mjr	35:e959ffba78fd	3612	{
mjr	38:091e511ce8a0	3613	// LWZ-SBA - first four bytes are bit-packed on/off flags
mjr	38:091e511ce8a0	3614	// for the outputs; 5th byte is the pulse speed (1-7)
mjr	38:091e511ce8a0	3615	//printf("LWZ-SBA %02x %02x %02x %02x ; %02x\r\n",
mjr	38:091e511ce8a0	3616	// data[1], data[2], data[3], data[4], data[5]);
mjr	38:091e511ce8a0	3617
mjr	38:091e511ce8a0	3618	// update all on/off states
mjr	38:091e511ce8a0	3619	for (int i = 0, bit = 1, ri = 1 ; i < numLwOutputs ; ++i, bit <<= 1)
mjr	35:e959ffba78fd	3620	{
mjr	38:091e511ce8a0	3621	// figure the on/off state bit for this output
mjr	38:091e511ce8a0	3622	if (bit == 0x100) {
mjr	38:091e511ce8a0	3623	bit = 1;
mjr	38:091e511ce8a0	3624	++ri;
mjr	35:e959ffba78fd	3625	}
mjr	35:e959ffba78fd	3626
mjr	38:091e511ce8a0	3627	// set the on/off state
mjr	38:091e511ce8a0	3628	wizOn[i] = ((data[ri] & bit) != 0);
mjr	38:091e511ce8a0	3629
mjr	38:091e511ce8a0	3630	// If the wizVal setting is 255, it means that this
mjr	38:091e511ce8a0	3631	// output was last set to a brightness value with the
mjr	38:091e511ce8a0	3632	// extended protocol. Return it to LedWiz control by
mjr	38:091e511ce8a0	3633	// rescaling the brightness setting to the LedWiz range
mjr	38:091e511ce8a0	3634	// and updating wizVal with the result. If it's any
mjr	38:091e511ce8a0	3635	// other value, it was previously set by a PBA message,
mjr	38:091e511ce8a0	3636	// so simply retain the last setting - in the normal
mjr	38:091e511ce8a0	3637	// LedWiz protocol, the "profile" (brightness) and on/off
mjr	38:091e511ce8a0	3638	// states are independent, so an SBA just turns an output
mjr	38:091e511ce8a0	3639	// on or off but retains its last brightness level.
mjr	38:091e511ce8a0	3640	if (wizVal[i] == 255)
mjr	40:cc0d9814522b	3641	wizVal[i] = (uint8_t)round(outLevel[i]/255.0 * 48.0);
mjr	38:091e511ce8a0	3642	}
mjr	38:091e511ce8a0	3643
mjr	38:091e511ce8a0	3644	// set the flash speed - enforce the value range 1-7
mjr	38:091e511ce8a0	3645	wizSpeed = data[5];
mjr	38:091e511ce8a0	3646	if (wizSpeed < 1)
mjr	38:091e511ce8a0	3647	wizSpeed = 1;
mjr	38:091e511ce8a0	3648	else if (wizSpeed > 7)
mjr	38:091e511ce8a0	3649	wizSpeed = 7;
mjr	38:091e511ce8a0	3650
mjr	38:091e511ce8a0	3651	// update the physical outputs
mjr	38:091e511ce8a0	3652	updateWizOuts();
mjr	38:091e511ce8a0	3653	if (hc595 != 0)
mjr	38:091e511ce8a0	3654	hc595->update();
mjr	38:091e511ce8a0	3655
mjr	38:091e511ce8a0	3656	// reset the PBA counter
mjr	38:091e511ce8a0	3657	pbaIdx = 0;
mjr	38:091e511ce8a0	3658	}
mjr	38:091e511ce8a0	3659	else if (data[0] == 65)
mjr	38:091e511ce8a0	3660	{
mjr	38:091e511ce8a0	3661	// Private control message. This isn't an LedWiz message - it's
mjr	38:091e511ce8a0	3662	// an extension for this device. 65 is an invalid PBA setting,
mjr	38:091e511ce8a0	3663	// and isn't used for any other LedWiz message, so we appropriate
mjr	38:091e511ce8a0	3664	// it for our own private use. The first byte specifies the
mjr	38:091e511ce8a0	3665	// message type.
mjr	39:b3815a1c3802	3666	switch (data[1])
mjr	38:091e511ce8a0	3667	{
mjr	39:b3815a1c3802	3668	case 0:
mjr	39:b3815a1c3802	3669	// No Op
mjr	39:b3815a1c3802	3670	break;
mjr	39:b3815a1c3802	3671
mjr	39:b3815a1c3802	3672	case 1:
mjr	38:091e511ce8a0	3673	// 1 = Old Set Configuration:
mjr	38:091e511ce8a0	3674	// data[2] = LedWiz unit number (0x00 to 0x0f)
mjr	38:091e511ce8a0	3675	// data[3] = feature enable bit mask:
mjr	38:091e511ce8a0	3676	// 0x01 = enable plunger sensor
mjr	39:b3815a1c3802	3677	{
mjr	39:b3815a1c3802	3678
mjr	39:b3815a1c3802	3679	// get the new LedWiz unit number - this is 0-15, whereas we
mjr	39:b3815a1c3802	3680	// we save the nominal unit number 1-16 in the config
mjr	39:b3815a1c3802	3681	uint8_t newUnitNo = (data[2] & 0x0f) + 1;
mjr	39:b3815a1c3802	3682
mjr	39:b3815a1c3802	3683	// we'll need a reset if the LedWiz unit number is changing
mjr	39:b3815a1c3802	3684	bool needReset = (newUnitNo != cfg.psUnitNo);
mjr	39:b3815a1c3802	3685
mjr	39:b3815a1c3802	3686	// set the configuration parameters from the message
mjr	39:b3815a1c3802	3687	cfg.psUnitNo = newUnitNo;
mjr	39:b3815a1c3802	3688	cfg.plunger.enabled = data[3] & 0x01;
mjr	39:b3815a1c3802	3689
mjr	39:b3815a1c3802	3690	// update the status flags
mjr	39:b3815a1c3802	3691	statusFlags = (statusFlags & ~0x01) \| (data[3] & 0x01);
mjr	39:b3815a1c3802	3692
mjr	39:b3815a1c3802	3693	// save the configuration
mjr	39:b3815a1c3802	3694	saveConfigToFlash();
mjr	39:b3815a1c3802	3695
mjr	39:b3815a1c3802	3696	// reboot if necessary
mjr	39:b3815a1c3802	3697	if (needReset)
mjr	39:b3815a1c3802	3698	reboot(js);
mjr	39:b3815a1c3802	3699	}
mjr	39:b3815a1c3802	3700	break;
mjr	38:091e511ce8a0	3701
mjr	39:b3815a1c3802	3702	case 2:
mjr	38:091e511ce8a0	3703	// 2 = Calibrate plunger
mjr	38:091e511ce8a0	3704	// (No parameters)
mjr	38:091e511ce8a0	3705
mjr	38:091e511ce8a0	3706	// enter calibration mode
mjr	38:091e511ce8a0	3707	calBtnState = 3;
mjr	52:8298b2a73eb2	3708	plungerReader.setCalMode(true);
mjr	38:091e511ce8a0	3709	calBtnTimer.reset();
mjr	39:b3815a1c3802	3710	break;
mjr	39:b3815a1c3802	3711
mjr	39:b3815a1c3802	3712	case 3:
mjr	52:8298b2a73eb2	3713	// 3 = plunger sensor status report
mjr	48:058ace2aed1d	3714	// data[2] = flag bits
mjr	53:9b2611964afc	3715	// data[3] = extra exposure time, 100us (.1ms) increments
mjr	52:8298b2a73eb2	3716	reportPlungerStat = true;
mjr	53:9b2611964afc	3717	reportPlungerStatFlags = data[2];
mjr	53:9b2611964afc	3718	reportPlungerStatTime = data[3];
mjr	38:091e511ce8a0	3719
mjr	38:091e511ce8a0	3720	// show purple until we finish sending the report
mjr	38:091e511ce8a0	3721	diagLED(1, 0, 1);
mjr	39:b3815a1c3802	3722	break;
mjr	39:b3815a1c3802	3723
mjr	39:b3815a1c3802	3724	case 4:
mjr	38:091e511ce8a0	3725	// 4 = hardware configuration query
mjr	38:091e511ce8a0	3726	// (No parameters)
mjr	38:091e511ce8a0	3727	js.reportConfig(
mjr	38:091e511ce8a0	3728	numOutputs,
mjr	38:091e511ce8a0	3729	cfg.psUnitNo - 1, // report 0-15 range for unit number (we store 1-16 internally)
mjr	52:8298b2a73eb2	3730	cfg.plunger.cal.zero, cfg.plunger.cal.max, cfg.plunger.cal.tRelease,
mjr	40:cc0d9814522b	3731	nvm.valid());
mjr	39:b3815a1c3802	3732	break;
mjr	39:b3815a1c3802	3733
mjr	39:b3815a1c3802	3734	case 5:
mjr	38:091e511ce8a0	3735	// 5 = all outputs off, reset to LedWiz defaults
mjr	38:091e511ce8a0	3736	allOutputsOff();
mjr	39:b3815a1c3802	3737	break;
mjr	39:b3815a1c3802	3738
mjr	39:b3815a1c3802	3739	case 6:
mjr	38:091e511ce8a0	3740	// 6 = Save configuration to flash.
mjr	38:091e511ce8a0	3741	saveConfigToFlash();
mjr	38:091e511ce8a0	3742
mjr	53:9b2611964afc	3743	// before disconnecting, pause for the delay time specified in
mjr	53:9b2611964afc	3744	// the parameter byte (in seconds)
mjr	53:9b2611964afc	3745	rebootTime_us = data[2] * 1000000L;
mjr	53:9b2611964afc	3746	rebootTimer.start();
mjr	39:b3815a1c3802	3747	break;
mjr	40:cc0d9814522b	3748
mjr	40:cc0d9814522b	3749	case 7:
mjr	40:cc0d9814522b	3750	// 7 = Device ID report
mjr	53:9b2611964afc	3751	// data[2] = ID index: 1=CPU ID, 2=OpenSDA TUID
mjr	53:9b2611964afc	3752	js.reportID(data[2]);
mjr	40:cc0d9814522b	3753	break;
mjr	40:cc0d9814522b	3754
mjr	40:cc0d9814522b	3755	case 8:
mjr	40:cc0d9814522b	3756	// 8 = Engage/disengage night mode.
mjr	40:cc0d9814522b	3757	// data[2] = 1 to engage, 0 to disengage
mjr	40:cc0d9814522b	3758	setNightMode(data[2]);
mjr	40:cc0d9814522b	3759	break;
mjr	52:8298b2a73eb2	3760
mjr	52:8298b2a73eb2	3761	case 9:
mjr	52:8298b2a73eb2	3762	// 9 = Config variable query.
mjr	52:8298b2a73eb2	3763	// data[2] = config var ID
mjr	52:8298b2a73eb2	3764	// data[3] = array index (for array vars: button assignments, output ports)
mjr	52:8298b2a73eb2	3765	{
mjr	53:9b2611964afc	3766	// set up the reply buffer with the variable ID data, and zero out
mjr	53:9b2611964afc	3767	// the rest of the buffer
mjr	52:8298b2a73eb2	3768	uint8_t reply[8];
mjr	52:8298b2a73eb2	3769	reply[1] = data[2];
mjr	52:8298b2a73eb2	3770	reply[2] = data[3];
mjr	53:9b2611964afc	3771	memset(reply+3, 0, sizeof(reply)-3);
mjr	52:8298b2a73eb2	3772
mjr	52:8298b2a73eb2	3773	// query the value
mjr	52:8298b2a73eb2	3774	configVarGet(reply);
mjr	52:8298b2a73eb2	3775
mjr	52:8298b2a73eb2	3776	// send the reply
mjr	52:8298b2a73eb2	3777	js.reportConfigVar(reply + 1);
mjr	52:8298b2a73eb2	3778	}
mjr	52:8298b2a73eb2	3779	break;
mjr	53:9b2611964afc	3780
mjr	53:9b2611964afc	3781	case 10:
mjr	53:9b2611964afc	3782	// 10 = Build ID query.
mjr	53:9b2611964afc	3783	js.reportBuildInfo(getBuildID());
mjr	53:9b2611964afc	3784	break;
mjr	38:091e511ce8a0	3785	}
mjr	38:091e511ce8a0	3786	}
mjr	38:091e511ce8a0	3787	else if (data[0] == 66)
mjr	38:091e511ce8a0	3788	{
mjr	38:091e511ce8a0	3789	// Extended protocol - Set configuration variable.
mjr	38:091e511ce8a0	3790	// The second byte of the message is the ID of the variable
mjr	38:091e511ce8a0	3791	// to update, and the remaining bytes give the new value,
mjr	38:091e511ce8a0	3792	// in a variable-dependent format.
mjr	40:cc0d9814522b	3793	configVarSet(data);
mjr	38:091e511ce8a0	3794	}
mjr	38:091e511ce8a0	3795	else if (data[0] >= 200 && data[0] <= 228)
mjr	38:091e511ce8a0	3796	{
mjr	38:091e511ce8a0	3797	// Extended protocol - Extended output port brightness update.
mjr	38:091e511ce8a0	3798	// data[0]-200 gives us the bank of 7 outputs we're setting:
mjr	38:091e511ce8a0	3799	// 200 is outputs 0-6, 201 is outputs 7-13, 202 is 14-20, etc.
mjr	38:091e511ce8a0	3800	// The remaining bytes are brightness levels, 0-255, for the
mjr	38:091e511ce8a0	3801	// seven outputs in the selected bank. The LedWiz flashing
mjr	38:091e511ce8a0	3802	// modes aren't accessible in this message type; we can only
mjr	38:091e511ce8a0	3803	// set a fixed brightness, but in exchange we get 8-bit
mjr	38:091e511ce8a0	3804	// resolution rather than the paltry 0-48 scale that the real
mjr	38:091e511ce8a0	3805	// LedWiz uses. There's no separate on/off status for outputs
mjr	38:091e511ce8a0	3806	// adjusted with this message type, either, as there would be
mjr	38:091e511ce8a0	3807	// for a PBA message - setting a non-zero value immediately
mjr	38:091e511ce8a0	3808	// turns the output, overriding the last SBA setting.
mjr	38:091e511ce8a0	3809	//
mjr	38:091e511ce8a0	3810	// For outputs 0-31, this overrides any previous PBA/SBA
mjr	38:091e511ce8a0	3811	// settings for the port. Any subsequent PBA/SBA message will
mjr	38:091e511ce8a0	3812	// in turn override the setting made here. It's simple - the
mjr	38:091e511ce8a0	3813	// most recent message of either type takes precedence. For
mjr	38:091e511ce8a0	3814	// outputs above the LedWiz range, PBA/SBA messages can't
mjr	38:091e511ce8a0	3815	// address those ports anyway.
mjr	38:091e511ce8a0	3816	int i0 = (data[0] - 200)*7;
mjr	38:091e511ce8a0	3817	int i1 = i0 + 7 < numOutputs ? i0 + 7 : numOutputs;
mjr	38:091e511ce8a0	3818	for (int i = i0 ; i < i1 ; ++i)
mjr	38:091e511ce8a0	3819	{
mjr	38:091e511ce8a0	3820	// set the brightness level for the output
mjr	40:cc0d9814522b	3821	uint8_t b = data[i-i0+1];
mjr	38:091e511ce8a0	3822	outLevel[i] = b;
mjr	38:091e511ce8a0	3823
mjr	38:091e511ce8a0	3824	// if it's in the basic LedWiz output set, set the LedWiz
mjr	38:091e511ce8a0	3825	// profile value to 255, which means "use outLevel"
mjr	38:091e511ce8a0	3826	if (i < 32)
mjr	38:091e511ce8a0	3827	wizVal[i] = 255;
mjr	38:091e511ce8a0	3828
mjr	38:091e511ce8a0	3829	// set the output
mjr	40:cc0d9814522b	3830	lwPin[i]->set(b);
mjr	38:091e511ce8a0	3831	}
mjr	38:091e511ce8a0	3832
mjr	38:091e511ce8a0	3833	// update 74HC595 outputs, if attached
mjr	38:091e511ce8a0	3834	if (hc595 != 0)
mjr	38:091e511ce8a0	3835	hc595->update();
mjr	38:091e511ce8a0	3836	}
mjr	38:091e511ce8a0	3837	else
mjr	38:091e511ce8a0	3838	{
mjr	38:091e511ce8a0	3839	// Everything else is LWZ-PBA. This is a full "profile"
mjr	38:091e511ce8a0	3840	// dump from the host for one bank of 8 outputs. Each
mjr	38:091e511ce8a0	3841	// byte sets one output in the current bank. The current
mjr	38:091e511ce8a0	3842	// bank is implied; the bank starts at 0 and is reset to 0
mjr	38:091e511ce8a0	3843	// by any LWZ-SBA message, and is incremented to the next
mjr	38:091e511ce8a0	3844	// bank by each LWZ-PBA message. Our variable pbaIdx keeps
mjr	38:091e511ce8a0	3845	// track of our notion of the current bank. There's no direct
mjr	38:091e511ce8a0	3846	// way for the host to select the bank; it just has to count
mjr	38:091e511ce8a0	3847	// on us staying in sync. In practice, the host will always
mjr	38:091e511ce8a0	3848	// send a full set of 4 PBA messages in a row to set all 32
mjr	38:091e511ce8a0	3849	// outputs.
mjr	38:091e511ce8a0	3850	//
mjr	38:091e511ce8a0	3851	// Note that a PBA implicitly overrides our extended profile
mjr	38:091e511ce8a0	3852	// messages (message prefix 200-219), because this sets the
mjr	38:091e511ce8a0	3853	// wizVal[] entry for each output, and that takes precedence
mjr	38:091e511ce8a0	3854	// over the extended protocol settings.
mjr	38:091e511ce8a0	3855	//
mjr	38:091e511ce8a0	3856	//printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n",
mjr	38:091e511ce8a0	3857	// pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
mjr	38:091e511ce8a0	3858
mjr	38:091e511ce8a0	3859	// Update all output profile settings
mjr	38:091e511ce8a0	3860	for (int i = 0 ; i < 8 ; ++i)
mjr	38:091e511ce8a0	3861	wizVal[pbaIdx + i] = data[i];
mjr	38:091e511ce8a0	3862
mjr	38:091e511ce8a0	3863	// Update the physical LED state if this is the last bank.
mjr	38:091e511ce8a0	3864	// Note that hosts always send a full set of four PBA
mjr	38:091e511ce8a0	3865	// messages, so there's no need to do a physical update
mjr	38:091e511ce8a0	3866	// until we've received the last bank's PBA message.
mjr	38:091e511ce8a0	3867	if (pbaIdx == 24)
mjr	38:091e511ce8a0	3868	{
mjr	35:e959ffba78fd	3869	updateWizOuts();
mjr	35:e959ffba78fd	3870	if (hc595 != 0)
mjr	35:e959ffba78fd	3871	hc595->update();
mjr	35:e959ffba78fd	3872	pbaIdx = 0;
mjr	35:e959ffba78fd	3873	}
mjr	38:091e511ce8a0	3874	else
mjr	38:091e511ce8a0	3875	pbaIdx += 8;
mjr	38:091e511ce8a0	3876	}
mjr	38:091e511ce8a0	3877	}
mjr	35:e959ffba78fd	3878
mjr	33:d832bcab089e	3879
mjr	38:091e511ce8a0	3880	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	3881	//
mjr	5:a70c0bce770d	3882	// Main program loop. This is invoked on startup and runs forever. Our
mjr	5:a70c0bce770d	3883	// main work is to read our devices (the accelerometer and the CCD), process
mjr	5:a70c0bce770d	3884	// the readings into nudge and plunger position data, and send the results
mjr	5:a70c0bce770d	3885	// to the host computer via the USB joystick interface. We also monitor
mjr	5:a70c0bce770d	3886	// the USB connection for incoming LedWiz commands and process those into
mjr	5:a70c0bce770d	3887	// port outputs.
mjr	5:a70c0bce770d	3888	//
mjr	0:5acbbe3f4cf4	3889	int main(void)
mjr	0:5acbbe3f4cf4	3890	{
mjr	39:b3815a1c3802	3891	printf("\r\nPinscape Controller starting\r\n");
mjr	39:b3815a1c3802	3892	// memory config debugging: {int *a = new int; printf("Stack=%lx, heap=%lx, free=%ld\r\n", (long)&a, (long)a, (long)&a - (long)a);}
mjr	1:d913e0afb2ac	3893
mjr	39:b3815a1c3802	3894	// clear the I2C bus (for the accelerometer)
mjr	35:e959ffba78fd	3895	clear_i2c();
mjr	38:091e511ce8a0	3896
mjr	43:7a6364d82a41	3897	// load the saved configuration (or set factory defaults if no flash
mjr	43:7a6364d82a41	3898	// configuration has ever been saved)
mjr	35:e959ffba78fd	3899	loadConfigFromFlash();
mjr	35:e959ffba78fd	3900
mjr	38:091e511ce8a0	3901	// initialize the diagnostic LEDs
mjr	38:091e511ce8a0	3902	initDiagLEDs(cfg);
mjr	38:091e511ce8a0	3903
mjr	33:d832bcab089e	3904	// we're not connected/awake yet
mjr	33:d832bcab089e	3905	bool connected = false;
mjr	40:cc0d9814522b	3906	Timer connectChangeTimer;
mjr	33:d832bcab089e	3907
mjr	35:e959ffba78fd	3908	// create the plunger sensor interface
mjr	35:e959ffba78fd	3909	createPlunger();
mjr	33:d832bcab089e	3910
mjr	35:e959ffba78fd	3911	// set up the TLC5940 interface and start the TLC5940 clock, if applicable
mjr	35:e959ffba78fd	3912	init_tlc5940(cfg);
mjr	34:6b981a2afab7	3913
mjr	34:6b981a2afab7	3914	// enable the 74HC595 chips, if present
mjr	35:e959ffba78fd	3915	init_hc595(cfg);
mjr	6:cc35eb643e8f	3916
mjr	54:fd77a6b2f76c	3917	// Initialize the LedWiz ports. Note that the ordering here is important:
mjr	54:fd77a6b2f76c	3918	// this has to come after we create the TLC5940 and 74HC595 object instances
mjr	54:fd77a6b2f76c	3919	// (which we just did above), since we need to access those objects to set
mjr	54:fd77a6b2f76c	3920	// up ports assigned to the respective chips.
mjr	35:e959ffba78fd	3921	initLwOut(cfg);
mjr	48:058ace2aed1d	3922
mjr	35:e959ffba78fd	3923	// start the TLC5940 clock
mjr	35:e959ffba78fd	3924	if (tlc5940 != 0)
mjr	35:e959ffba78fd	3925	tlc5940->start();
mjr	35:e959ffba78fd	3926
mjr	40:cc0d9814522b	3927	// start the TV timer, if applicable
mjr	40:cc0d9814522b	3928	startTVTimer(cfg);
mjr	48:058ace2aed1d	3929
mjr	35:e959ffba78fd	3930	// initialize the button input ports
mjr	35:e959ffba78fd	3931	bool kbKeys = false;
mjr	35:e959ffba78fd	3932	initButtons(cfg, kbKeys);
mjr	38:091e511ce8a0	3933
mjr	6:cc35eb643e8f	3934	// Create the joystick USB client. Note that we use the LedWiz unit
mjr	6:cc35eb643e8f	3935	// number from the saved configuration.
mjr	51:57eb311faafa	3936	MyUSBJoystick js(cfg.usbVendorID, cfg.usbProductID, USB_VERSION_NO, false,
mjr	51:57eb311faafa	3937	cfg.joystickEnabled, kbKeys);
mjr	51:57eb311faafa	3938
mjr	51:57eb311faafa	3939	// Wait for the connection
mjr	51:57eb311faafa	3940	Timer connectTimer;
mjr	51:57eb311faafa	3941	connectTimer.start();
mjr	51:57eb311faafa	3942	while (!js.configured())
mjr	51:57eb311faafa	3943	{
mjr	51:57eb311faafa	3944	// show one short yellow flash at 2-second intervals
mjr	51:57eb311faafa	3945	if (connectTimer.read_us() > 2000000)
mjr	51:57eb311faafa	3946	{
mjr	51:57eb311faafa	3947	// short yellow flash
mjr	51:57eb311faafa	3948	diagLED(1, 1, 0);
mjr	54:fd77a6b2f76c	3949	wait_us(50000);
mjr	51:57eb311faafa	3950	diagLED(0, 0, 0);
mjr	51:57eb311faafa	3951
mjr	51:57eb311faafa	3952	// reset the flash timer
mjr	51:57eb311faafa	3953	connectTimer.reset();
mjr	51:57eb311faafa	3954	}
mjr	51:57eb311faafa	3955	}
mjr	54:fd77a6b2f76c	3956	connected = true;
mjr	40:cc0d9814522b	3957
mjr	38:091e511ce8a0	3958	// Last report timer for the joytick interface. We use the joystick timer
mjr	38:091e511ce8a0	3959	// to throttle the report rate, because VP doesn't benefit from reports any
mjr	38:091e511ce8a0	3960	// faster than about every 10ms.
mjr	38:091e511ce8a0	3961	Timer jsReportTimer;
mjr	38:091e511ce8a0	3962	jsReportTimer.start();
mjr	38:091e511ce8a0	3963
mjr	38:091e511ce8a0	3964	// Time since we successfully sent a USB report. This is a hacky workaround
mjr	38:091e511ce8a0	3965	// for sporadic problems in the USB stack that I haven't been able to figure
mjr	38:091e511ce8a0	3966	// out. If we go too long without successfully sending a USB report, we'll
mjr	38:091e511ce8a0	3967	// try resetting the connection.
mjr	38:091e511ce8a0	3968	Timer jsOKTimer;
mjr	38:091e511ce8a0	3969	jsOKTimer.start();
mjr	35:e959ffba78fd	3970
mjr	35:e959ffba78fd	3971	// set the initial status flags
mjr	35:e959ffba78fd	3972	statusFlags = (cfg.plunger.enabled ? 0x01 : 0x00);
mjr	17:ab3cec0c8bf4	3973
mjr	17:ab3cec0c8bf4	3974	// initialize the calibration buttons, if present
mjr	53:9b2611964afc	3975	DigitalIn *calBtn = (cfg.plunger.cal.btn == 0xFF ? 0 :
mjr	53:9b2611964afc	3976	new DigitalIn(wirePinName(cfg.plunger.cal.btn)));
mjr	53:9b2611964afc	3977	DigitalOut *calBtnLed = (cfg.plunger.cal.led == 0xFF ? 0 :
mjr	53:9b2611964afc	3978	new DigitalOut(wirePinName(cfg.plunger.cal.led)));
mjr	6:cc35eb643e8f	3979
mjr	35:e959ffba78fd	3980	// initialize the calibration button
mjr	1:d913e0afb2ac	3981	calBtnTimer.start();
mjr	35:e959ffba78fd	3982	calBtnState = 0;
mjr	1:d913e0afb2ac	3983
mjr	1:d913e0afb2ac	3984	// set up a timer for our heartbeat indicator
mjr	1:d913e0afb2ac	3985	Timer hbTimer;
mjr	1:d913e0afb2ac	3986	hbTimer.start();
mjr	1:d913e0afb2ac	3987	int hb = 0;
mjr	5:a70c0bce770d	3988	uint16_t hbcnt = 0;
mjr	1:d913e0afb2ac	3989
mjr	1:d913e0afb2ac	3990	// set a timer for accelerometer auto-centering
mjr	1:d913e0afb2ac	3991	Timer acTimer;
mjr	1:d913e0afb2ac	3992	acTimer.start();
mjr	1:d913e0afb2ac	3993
mjr	0:5acbbe3f4cf4	3994	// create the accelerometer object
mjr	5:a70c0bce770d	3995	Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS, MMA8451_INT_PIN);
mjr	48:058ace2aed1d	3996
mjr	17:ab3cec0c8bf4	3997	// last accelerometer report, in joystick units (we report the nudge
mjr	17:ab3cec0c8bf4	3998	// acceleration via the joystick x & y axes, per the VP convention)
mjr	17:ab3cec0c8bf4	3999	int x = 0, y = 0;
mjr	17:ab3cec0c8bf4	4000
mjr	48:058ace2aed1d	4001	// initialize the plunger sensor
mjr	35:e959ffba78fd	4002	plungerSensor->init();
mjr	10:976666ffa4ef	4003
mjr	48:058ace2aed1d	4004	// set up the ZB Launch Ball monitor
mjr	48:058ace2aed1d	4005	ZBLaunchBall zbLaunchBall;
mjr	48:058ace2aed1d	4006
mjr	54:fd77a6b2f76c	4007	// enable the peripheral chips
mjr	54:fd77a6b2f76c	4008	if (tlc5940 != 0)
mjr	54:fd77a6b2f76c	4009	tlc5940->enable(true);
mjr	54:fd77a6b2f76c	4010	if (hc595 != 0)
mjr	54:fd77a6b2f76c	4011	hc595->enable(true);
mjr	43:7a6364d82a41	4012
mjr	1:d913e0afb2ac	4013	// we're all set up - now just loop, processing sensor reports and
mjr	1:d913e0afb2ac	4014	// host requests
mjr	0:5acbbe3f4cf4	4015	for (;;)
mjr	0:5acbbe3f4cf4	4016	{
mjr	48:058ace2aed1d	4017	// Process incoming reports on the joystick interface. The joystick
mjr	48:058ace2aed1d	4018	// "out" (receive) endpoint is used for LedWiz commands and our
mjr	48:058ace2aed1d	4019	// extended protocol commands. Limit processing time to 5ms to
mjr	48:058ace2aed1d	4020	// ensure we don't starve the input side.
mjr	39:b3815a1c3802	4021	LedWizMsg lwm;
mjr	48:058ace2aed1d	4022	Timer lwt;
mjr	48:058ace2aed1d	4023	lwt.start();
mjr	48:058ace2aed1d	4024	while (js.readLedWizMsg(lwm) && lwt.read_us() < 5000)
mjr	48:058ace2aed1d	4025	handleInputMsg(lwm, js);
mjr	1:d913e0afb2ac	4026
mjr	1:d913e0afb2ac	4027	// check for plunger calibration
mjr	17:ab3cec0c8bf4	4028	if (calBtn != 0 && !calBtn->read())
mjr	0:5acbbe3f4cf4	4029	{
mjr	1:d913e0afb2ac	4030	// check the state
mjr	1:d913e0afb2ac	4031	switch (calBtnState)
mjr	0:5acbbe3f4cf4	4032	{
mjr	1:d913e0afb2ac	4033	case 0:
mjr	1:d913e0afb2ac	4034	// button not yet pushed - start debouncing
mjr	1:d913e0afb2ac	4035	calBtnTimer.reset();
mjr	1:d913e0afb2ac	4036	calBtnState = 1;
mjr	1:d913e0afb2ac	4037	break;
mjr	1:d913e0afb2ac	4038
mjr	1:d913e0afb2ac	4039	case 1:
mjr	1:d913e0afb2ac	4040	// pushed, not yet debounced - if the debounce time has
mjr	1:d913e0afb2ac	4041	// passed, start the hold period
mjr	48:058ace2aed1d	4042	if (calBtnTimer.read_us() > 50000)
mjr	1:d913e0afb2ac	4043	calBtnState = 2;
mjr	1:d913e0afb2ac	4044	break;
mjr	1:d913e0afb2ac	4045
mjr	1:d913e0afb2ac	4046	case 2:
mjr	1:d913e0afb2ac	4047	// in the hold period - if the button has been held down
mjr	1:d913e0afb2ac	4048	// for the entire hold period, move to calibration mode
mjr	48:058ace2aed1d	4049	if (calBtnTimer.read_us() > 2050000)
mjr	1:d913e0afb2ac	4050	{
mjr	1:d913e0afb2ac	4051	// enter calibration mode
mjr	1:d913e0afb2ac	4052	calBtnState = 3;
mjr	9:fd65b0a94720	4053	calBtnTimer.reset();
mjr	35:e959ffba78fd	4054
mjr	44:b5ac89b9cd5d	4055	// begin the plunger calibration limits
mjr	52:8298b2a73eb2	4056	plungerReader.setCalMode(true);
mjr	1:d913e0afb2ac	4057	}
mjr	1:d913e0afb2ac	4058	break;
mjr	2:c174f9ee414a	4059
mjr	2:c174f9ee414a	4060	case 3:
mjr	9:fd65b0a94720	4061	// Already in calibration mode - pushing the button here
mjr	9:fd65b0a94720	4062	// doesn't change the current state, but we won't leave this
mjr	9:fd65b0a94720	4063	// state as long as it's held down. So nothing changes here.
mjr	2:c174f9ee414a	4064	break;
mjr	0:5acbbe3f4cf4	4065	}
mjr	0:5acbbe3f4cf4	4066	}
mjr	1:d913e0afb2ac	4067	else
mjr	1:d913e0afb2ac	4068	{
mjr	2:c174f9ee414a	4069	// Button released. If we're in calibration mode, and
mjr	2:c174f9ee414a	4070	// the calibration time has elapsed, end the calibration
mjr	2:c174f9ee414a	4071	// and save the results to flash.
mjr	2:c174f9ee414a	4072	//
mjr	2:c174f9ee414a	4073	// Otherwise, return to the base state without saving anything.
mjr	2:c174f9ee414a	4074	// If the button is released before we make it to calibration
mjr	2:c174f9ee414a	4075	// mode, it simply cancels the attempt.
mjr	48:058ace2aed1d	4076	if (calBtnState == 3 && calBtnTimer.read_us() > 15000000)
mjr	2:c174f9ee414a	4077	{
mjr	2:c174f9ee414a	4078	// exit calibration mode
mjr	1:d913e0afb2ac	4079	calBtnState = 0;
mjr	52:8298b2a73eb2	4080	plungerReader.setCalMode(false);
mjr	2:c174f9ee414a	4081
mjr	6:cc35eb643e8f	4082	// save the updated configuration
mjr	35:e959ffba78fd	4083	cfg.plunger.cal.calibrated = 1;
mjr	35:e959ffba78fd	4084	saveConfigToFlash();
mjr	2:c174f9ee414a	4085	}
mjr	2:c174f9ee414a	4086	else if (calBtnState != 3)
mjr	2:c174f9ee414a	4087	{
mjr	2:c174f9ee414a	4088	// didn't make it to calibration mode - cancel the operation
mjr	1:d913e0afb2ac	4089	calBtnState = 0;
mjr	2:c174f9ee414a	4090	}
mjr	1:d913e0afb2ac	4091	}
mjr	1:d913e0afb2ac	4092
mjr	1:d913e0afb2ac	4093	// light/flash the calibration button light, if applicable
mjr	1:d913e0afb2ac	4094	int newCalBtnLit = calBtnLit;
mjr	1:d913e0afb2ac	4095	switch (calBtnState)
mjr	0:5acbbe3f4cf4	4096	{
mjr	1:d913e0afb2ac	4097	case 2:
mjr	1:d913e0afb2ac	4098	// in the hold period - flash the light
mjr	48:058ace2aed1d	4099	newCalBtnLit = ((calBtnTimer.read_us()/250000) & 1);
mjr	1:d913e0afb2ac	4100	break;
mjr	1:d913e0afb2ac	4101
mjr	1:d913e0afb2ac	4102	case 3:
mjr	1:d913e0afb2ac	4103	// calibration mode - show steady on
mjr	1:d913e0afb2ac	4104	newCalBtnLit = true;
mjr	1:d913e0afb2ac	4105	break;
mjr	1:d913e0afb2ac	4106
mjr	1:d913e0afb2ac	4107	default:
mjr	1:d913e0afb2ac	4108	// not calibrating/holding - show steady off
mjr	1:d913e0afb2ac	4109	newCalBtnLit = false;
mjr	1:d913e0afb2ac	4110	break;
mjr	1:d913e0afb2ac	4111	}
mjr	3:3514575d4f86	4112
mjr	3:3514575d4f86	4113	// light or flash the external calibration button LED, and
mjr	3:3514575d4f86	4114	// do the same with the on-board blue LED
mjr	1:d913e0afb2ac	4115	if (calBtnLit != newCalBtnLit)
mjr	1:d913e0afb2ac	4116	{
mjr	1:d913e0afb2ac	4117	calBtnLit = newCalBtnLit;
mjr	2:c174f9ee414a	4118	if (calBtnLit) {
mjr	17:ab3cec0c8bf4	4119	if (calBtnLed != 0)
mjr	17:ab3cec0c8bf4	4120	calBtnLed->write(1);
mjr	38:091e511ce8a0	4121	diagLED(0, 0, 1); // blue
mjr	2:c174f9ee414a	4122	}
mjr	2:c174f9ee414a	4123	else {
mjr	17:ab3cec0c8bf4	4124	if (calBtnLed != 0)
mjr	17:ab3cec0c8bf4	4125	calBtnLed->write(0);
mjr	38:091e511ce8a0	4126	diagLED(0, 0, 0); // off
mjr	2:c174f9ee414a	4127	}
mjr	1:d913e0afb2ac	4128	}
mjr	35:e959ffba78fd	4129
mjr	48:058ace2aed1d	4130	// read the plunger sensor
mjr	48:058ace2aed1d	4131	plungerReader.read();
mjr	48:058ace2aed1d	4132
mjr	53:9b2611964afc	4133	// update the ZB Launch Ball status
mjr	53:9b2611964afc	4134	zbLaunchBall.update();
mjr	37:ed52738445fc	4135
mjr	53:9b2611964afc	4136	// process button updates
mjr	53:9b2611964afc	4137	processButtons(cfg);
mjr	53:9b2611964afc	4138
mjr	38:091e511ce8a0	4139	// send a keyboard report if we have new data
mjr	37:ed52738445fc	4140	if (kbState.changed)
mjr	37:ed52738445fc	4141	{
mjr	38:091e511ce8a0	4142	// send a keyboard report
mjr	37:ed52738445fc	4143	js.kbUpdate(kbState.data);
mjr	37:ed52738445fc	4144	kbState.changed = false;
mjr	37:ed52738445fc	4145	}
mjr	38:091e511ce8a0	4146
mjr	38:091e511ce8a0	4147	// likewise for the media controller
mjr	37:ed52738445fc	4148	if (mediaState.changed)
mjr	37:ed52738445fc	4149	{
mjr	38:091e511ce8a0	4150	// send a media report
mjr	37:ed52738445fc	4151	js.mediaUpdate(mediaState.data);
mjr	37:ed52738445fc	4152	mediaState.changed = false;
mjr	37:ed52738445fc	4153	}
mjr	38:091e511ce8a0	4154
mjr	38:091e511ce8a0	4155	// flag: did we successfully send a joystick report on this round?
mjr	38:091e511ce8a0	4156	bool jsOK = false;
mjr	17:ab3cec0c8bf4	4157
mjr	50:40015764bbe6	4158	// If it's been long enough since our last USB status report, send
mjr	50:40015764bbe6	4159	// the new report. VP only polls for input in 10ms intervals, so
mjr	50:40015764bbe6	4160	// there's no benefit in sending reports more frequently than this.
mjr	50:40015764bbe6	4161	// More frequent reporting would only add USB I/O overhead.
mjr	50:40015764bbe6	4162	if (cfg.joystickEnabled && jsReportTimer.read_us() > 10000UL)
mjr	17:ab3cec0c8bf4	4163	{
mjr	17:ab3cec0c8bf4	4164	// read the accelerometer
mjr	17:ab3cec0c8bf4	4165	int xa, ya;
mjr	17:ab3cec0c8bf4	4166	accel.get(xa, ya);
mjr	17:ab3cec0c8bf4	4167
mjr	17:ab3cec0c8bf4	4168	// confine the results to our joystick axis range
mjr	17:ab3cec0c8bf4	4169	if (xa < -JOYMAX) xa = -JOYMAX;
mjr	17:ab3cec0c8bf4	4170	if (xa > JOYMAX) xa = JOYMAX;
mjr	17:ab3cec0c8bf4	4171	if (ya < -JOYMAX) ya = -JOYMAX;
mjr	17:ab3cec0c8bf4	4172	if (ya > JOYMAX) ya = JOYMAX;
mjr	17:ab3cec0c8bf4	4173
mjr	17:ab3cec0c8bf4	4174	// store the updated accelerometer coordinates
mjr	17:ab3cec0c8bf4	4175	x = xa;
mjr	17:ab3cec0c8bf4	4176	y = ya;
mjr	17:ab3cec0c8bf4	4177
mjr	48:058ace2aed1d	4178	// Report the current plunger position unless the plunger is
mjr	48:058ace2aed1d	4179	// disabled, or the ZB Launch Ball signal is on. In either of
mjr	48:058ace2aed1d	4180	// those cases, just report a constant 0 value. ZB Launch Ball
mjr	48:058ace2aed1d	4181	// temporarily disables mechanical plunger reporting because it
mjr	21:5048e16cc9ef	4182	// tells us that the table has a Launch Ball button instead of
mjr	48:058ace2aed1d	4183	// a traditional plunger, so we don't want to confuse VP with
mjr	48:058ace2aed1d	4184	// regular plunger inputs.
mjr	48:058ace2aed1d	4185	int z = plungerReader.getPosition();
mjr	53:9b2611964afc	4186	int zrep = (!cfg.plunger.enabled \|\| zbLaunchOn ? 0 : z);
mjr	35:e959ffba78fd	4187
mjr	35:e959ffba78fd	4188	// rotate X and Y according to the device orientation in the cabinet
mjr	35:e959ffba78fd	4189	accelRotate(x, y);
mjr	35:e959ffba78fd	4190
mjr	35:e959ffba78fd	4191	// send the joystick report
mjr	53:9b2611964afc	4192	jsOK = js.update(x, y, zrep, jsButtons, statusFlags);
mjr	21:5048e16cc9ef	4193
mjr	17:ab3cec0c8bf4	4194	// we've just started a new report interval, so reset the timer
mjr	38:091e511ce8a0	4195	jsReportTimer.reset();
mjr	17:ab3cec0c8bf4	4196	}
mjr	21:5048e16cc9ef	4197
mjr	52:8298b2a73eb2	4198	// If we're in sensor status mode, report all pixel exposure values
mjr	52:8298b2a73eb2	4199	if (reportPlungerStat)
mjr	10:976666ffa4ef	4200	{
mjr	17:ab3cec0c8bf4	4201	// send the report
mjr	53:9b2611964afc	4202	plungerSensor->sendStatusReport(js, reportPlungerStatFlags, reportPlungerStatTime);
mjr	17:ab3cec0c8bf4	4203
mjr	10:976666ffa4ef	4204	// we have satisfied this request
mjr	52:8298b2a73eb2	4205	reportPlungerStat = false;
mjr	10:976666ffa4ef	4206	}
mjr	10:976666ffa4ef	4207
mjr	35:e959ffba78fd	4208	// If joystick reports are turned off, send a generic status report
mjr	35:e959ffba78fd	4209	// periodically for the sake of the Windows config tool.
mjr	48:058ace2aed1d	4210	if (!cfg.joystickEnabled && jsReportTimer.read_us() > 200000)
mjr	21:5048e16cc9ef	4211	{
mjr	38:091e511ce8a0	4212	jsOK = js.updateStatus(0);
mjr	38:091e511ce8a0	4213	jsReportTimer.reset();
mjr	38:091e511ce8a0	4214	}
mjr	38:091e511ce8a0	4215
mjr	38:091e511ce8a0	4216	// if we successfully sent a joystick report, reset the watchdog timer
mjr	38:091e511ce8a0	4217	if (jsOK)
mjr	38:091e511ce8a0	4218	{
mjr	38:091e511ce8a0	4219	jsOKTimer.reset();
mjr	38:091e511ce8a0	4220	jsOKTimer.start();
mjr	21:5048e16cc9ef	4221	}
mjr	21:5048e16cc9ef	4222
mjr	6:cc35eb643e8f	4223	#ifdef DEBUG_PRINTF
mjr	6:cc35eb643e8f	4224	if (x != 0 \|\| y != 0)
mjr	6:cc35eb643e8f	4225	printf("%d,%d\r\n", x, y);
mjr	6:cc35eb643e8f	4226	#endif
mjr	6:cc35eb643e8f	4227
mjr	33:d832bcab089e	4228	// check for connection status changes
mjr	54:fd77a6b2f76c	4229	bool newConnected = js.isConnected() && !js.isSleeping();
mjr	33:d832bcab089e	4230	if (newConnected != connected)
mjr	33:d832bcab089e	4231	{
mjr	54:fd77a6b2f76c	4232	// give it a moment to stabilize
mjr	40:cc0d9814522b	4233	connectChangeTimer.start();
mjr	54:fd77a6b2f76c	4234	if (connectChangeTimer.read_us() > 100000)
mjr	33:d832bcab089e	4235	{
mjr	33:d832bcab089e	4236	// note the new status
mjr	33:d832bcab089e	4237	connected = newConnected;
mjr	40:cc0d9814522b	4238
mjr	40:cc0d9814522b	4239	// done with the change timer for this round - reset it for next time
mjr	40:cc0d9814522b	4240	connectChangeTimer.stop();
mjr	40:cc0d9814522b	4241	connectChangeTimer.reset();
mjr	33:d832bcab089e	4242
mjr	54:fd77a6b2f76c	4243	// if we're newly disconnected, clean up for PC suspend mode or power off
mjr	54:fd77a6b2f76c	4244	if (!connected)
mjr	40:cc0d9814522b	4245	{
mjr	54:fd77a6b2f76c	4246	// turn off all outputs
mjr	33:d832bcab089e	4247	allOutputsOff();
mjr	40:cc0d9814522b	4248
mjr	40:cc0d9814522b	4249	// The KL25Z runs off of USB power, so we might (depending on the PC
mjr	40:cc0d9814522b	4250	// and OS configuration) continue to receive power even when the main
mjr	40:cc0d9814522b	4251	// PC power supply is turned off, such as in soft-off or suspend/sleep
mjr	40:cc0d9814522b	4252	// mode. Any external output controller chips (TLC5940, 74HC595) might
mjr	40:cc0d9814522b	4253	// be powered from the PC power supply directly rather than from our
mjr	40:cc0d9814522b	4254	// USB power, so they might be powered off even when we're still running.
mjr	40:cc0d9814522b	4255	// To ensure cleaner startup when the power comes back on, globally
mjr	40:cc0d9814522b	4256	// disable the outputs. The global disable signals come from GPIO lines
mjr	40:cc0d9814522b	4257	// that remain powered as long as the KL25Z is powered, so these modes
mjr	40:cc0d9814522b	4258	// will apply smoothly across power state transitions in the external
mjr	40:cc0d9814522b	4259	// hardware. That is, when the external chips are powered up, they'll
mjr	40:cc0d9814522b	4260	// see the global disable signals as stable voltage inputs immediately,
mjr	40:cc0d9814522b	4261	// which will cause them to suppress any output triggering. This ensures
mjr	40:cc0d9814522b	4262	// that we don't fire any solenoids or flash any lights spuriously when
mjr	40:cc0d9814522b	4263	// the power first comes on.
mjr	40:cc0d9814522b	4264	if (tlc5940 != 0)
mjr	40:cc0d9814522b	4265	tlc5940->enable(false);
mjr	40:cc0d9814522b	4266	if (hc595 != 0)
mjr	40:cc0d9814522b	4267	hc595->enable(false);
mjr	40:cc0d9814522b	4268	}
mjr	33:d832bcab089e	4269	}
mjr	33:d832bcab089e	4270	}
mjr	48:058ace2aed1d	4271
mjr	53:9b2611964afc	4272	// if we have a reboot timer pending, check for completion
mjr	53:9b2611964afc	4273	if (rebootTimer.isRunning() && rebootTimer.read_us() > rebootTime_us)
mjr	53:9b2611964afc	4274	reboot(js);
mjr	53:9b2611964afc	4275
mjr	48:058ace2aed1d	4276	// if we're disconnected, initiate a new connection
mjr	51:57eb311faafa	4277	if (!connected)
mjr	48:058ace2aed1d	4278	{
mjr	54:fd77a6b2f76c	4279	// show USB HAL debug events
mjr	54:fd77a6b2f76c	4280	extern void HAL_DEBUG_PRINTEVENTS(const char *prefix);
mjr	54:fd77a6b2f76c	4281	HAL_DEBUG_PRINTEVENTS(">DISC");
mjr	54:fd77a6b2f76c	4282
mjr	54:fd77a6b2f76c	4283	// show immediate diagnostic feedback
mjr	54:fd77a6b2f76c	4284	js.diagFlash();
mjr	54:fd77a6b2f76c	4285
mjr	54:fd77a6b2f76c	4286	// clear any previous diagnostic LED display
mjr	54:fd77a6b2f76c	4287	diagLED(0, 0, 0);
mjr	51:57eb311faafa	4288
mjr	51:57eb311faafa	4289	// set up a timer to monitor the reboot timeout
mjr	51:57eb311faafa	4290	Timer rebootTimer;
mjr	51:57eb311faafa	4291	rebootTimer.start();
mjr	48:058ace2aed1d	4292
mjr	54:fd77a6b2f76c	4293	// set up a timer for diagnostic displays
mjr	54:fd77a6b2f76c	4294	Timer diagTimer;
mjr	54:fd77a6b2f76c	4295	diagTimer.reset();
mjr	54:fd77a6b2f76c	4296	diagTimer.start();
mjr	54:fd77a6b2f76c	4297
mjr	54:fd77a6b2f76c	4298	// loop until we get our connection back
mjr	54:fd77a6b2f76c	4299	while (!js.isConnected() \|\| js.isSleeping())
mjr	51:57eb311faafa	4300	{
mjr	54:fd77a6b2f76c	4301	// try to recover the connection
mjr	54:fd77a6b2f76c	4302	js.recoverConnection();
mjr	54:fd77a6b2f76c	4303
mjr	54:fd77a6b2f76c	4304	// show a diagnostic flash every couple of seconds
mjr	54:fd77a6b2f76c	4305	if (diagTimer.read_us() > 2000000)
mjr	51:57eb311faafa	4306	{
mjr	54:fd77a6b2f76c	4307	// flush the USB HAL debug events, if in debug mode
mjr	54:fd77a6b2f76c	4308	HAL_DEBUG_PRINTEVENTS(">NC");
mjr	54:fd77a6b2f76c	4309
mjr	54:fd77a6b2f76c	4310	// show diagnostic feedback
mjr	54:fd77a6b2f76c	4311	js.diagFlash();
mjr	51:57eb311faafa	4312
mjr	51:57eb311faafa	4313	// reset the flash timer
mjr	54:fd77a6b2f76c	4314	diagTimer.reset();
mjr	51:57eb311faafa	4315	}
mjr	51:57eb311faafa	4316
mjr	51:57eb311faafa	4317	// if the disconnect reboot timeout has expired, reboot
mjr	51:57eb311faafa	4318	if (cfg.disconnectRebootTimeout != 0
mjr	51:57eb311faafa	4319	&& rebootTimer.read() > cfg.disconnectRebootTimeout)
mjr	54:fd77a6b2f76c	4320	reboot(js, false, 0);
mjr	54:fd77a6b2f76c	4321	}
mjr	54:fd77a6b2f76c	4322
mjr	54:fd77a6b2f76c	4323	// if we made it out of that loop alive, we're connected again!
mjr	54:fd77a6b2f76c	4324	connected = true;
mjr	54:fd77a6b2f76c	4325	HAL_DEBUG_PRINTEVENTS(">C");
mjr	54:fd77a6b2f76c	4326
mjr	54:fd77a6b2f76c	4327	// Enable peripheral chips and update them with current output data
mjr	54:fd77a6b2f76c	4328	if (tlc5940 != 0)
mjr	54:fd77a6b2f76c	4329	{
mjr	54:fd77a6b2f76c	4330	tlc5940->update(true);
mjr	54:fd77a6b2f76c	4331	tlc5940->enable(true);
mjr	54:fd77a6b2f76c	4332	}
mjr	54:fd77a6b2f76c	4333	if (hc595 != 0)
mjr	54:fd77a6b2f76c	4334	{
mjr	54:fd77a6b2f76c	4335	hc595->update(true);
mjr	54:fd77a6b2f76c	4336	hc595->enable(true);
mjr	51:57eb311faafa	4337	}
mjr	48:058ace2aed1d	4338	}
mjr	43:7a6364d82a41	4339
mjr	6:cc35eb643e8f	4340	// provide a visual status indication on the on-board LED
mjr	48:058ace2aed1d	4341	if (calBtnState < 2 && hbTimer.read_us() > 1000000)
mjr	1:d913e0afb2ac	4342	{
mjr	54:fd77a6b2f76c	4343	static int spiTimeUpdate = 0; // $$$
mjr	54:fd77a6b2f76c	4344	if (spiTimeUpdate++ > 10 && tlc5940 != 0) {
mjr	54:fd77a6b2f76c	4345	spiTimeUpdate = 0;
mjr	54:fd77a6b2f76c	4346	printf("Average SPI time: %lf us\r\n", double(tlc5940->spi_total_time) / tlc5940->spi_runs);
mjr	54:fd77a6b2f76c	4347	}
mjr	54:fd77a6b2f76c	4348
mjr	54:fd77a6b2f76c	4349	if (jsOKTimer.read_us() > 1000000)
mjr	38:091e511ce8a0	4350	{
mjr	39:b3815a1c3802	4351	// USB freeze - show red/yellow.
mjr	40:cc0d9814522b	4352	//
mjr	54:fd77a6b2f76c	4353	// It's been more than a second since we successfully sent a joystick
mjr	54:fd77a6b2f76c	4354	// update message. This must mean that something's wrong on the USB
mjr	54:fd77a6b2f76c	4355	// connection, even though we haven't detected an outright disconnect.
mjr	54:fd77a6b2f76c	4356	// Show a distinctive diagnostic LED pattern when this occurs.
mjr	38:091e511ce8a0	4357	hb = !hb;
mjr	38:091e511ce8a0	4358	diagLED(1, hb, 0);
mjr	54:fd77a6b2f76c	4359
mjr	54:fd77a6b2f76c	4360	// If the reboot-on-disconnect option is in effect, treat this condition
mjr	54:fd77a6b2f76c	4361	// as equivalent to a disconnect, since something is obviously wrong
mjr	54:fd77a6b2f76c	4362	// with the USB connection.
mjr	54:fd77a6b2f76c	4363	if (cfg.disconnectRebootTimeout != 0)
mjr	54:fd77a6b2f76c	4364	{
mjr	54:fd77a6b2f76c	4365	// The reboot timeout is in effect. If we've been incommunicado for
mjr	54:fd77a6b2f76c	4366	// longer than the timeout, reboot. If we haven't reached the time
mjr	54:fd77a6b2f76c	4367	// limit, keep running for now, and leave the OK timer running so
mjr	54:fd77a6b2f76c	4368	// that we can continue to monitor this.
mjr	54:fd77a6b2f76c	4369	if (jsOKTimer.read() > cfg.disconnectRebootTimeout)
mjr	54:fd77a6b2f76c	4370	reboot(js, false, 0);
mjr	54:fd77a6b2f76c	4371	}
mjr	54:fd77a6b2f76c	4372	else
mjr	54:fd77a6b2f76c	4373	{
mjr	54:fd77a6b2f76c	4374	// There's no reboot timer, so just keep running with the diagnostic
mjr	54:fd77a6b2f76c	4375	// pattern displayed. Since we're not waiting for any other timed
mjr	54:fd77a6b2f76c	4376	// conditions in this state, stop the timer so that it doesn't
mjr	54:fd77a6b2f76c	4377	// overflow if this condition persists for a long time.
mjr	54:fd77a6b2f76c	4378	jsOKTimer.stop();
mjr	54:fd77a6b2f76c	4379	}
mjr	38:091e511ce8a0	4380	}
mjr	35:e959ffba78fd	4381	else if (cfg.plunger.enabled && !cfg.plunger.cal.calibrated)
mjr	6:cc35eb643e8f	4382	{
mjr	6:cc35eb643e8f	4383	// connected, plunger calibration needed - flash yellow/green
mjr	6:cc35eb643e8f	4384	hb = !hb;
mjr	38:091e511ce8a0	4385	diagLED(hb, 1, 0);
mjr	6:cc35eb643e8f	4386	}
mjr	6:cc35eb643e8f	4387	else
mjr	6:cc35eb643e8f	4388	{
mjr	6:cc35eb643e8f	4389	// connected - flash blue/green
mjr	2:c174f9ee414a	4390	hb = !hb;
mjr	38:091e511ce8a0	4391	diagLED(0, hb, !hb);
mjr	2:c174f9ee414a	4392	}
mjr	1:d913e0afb2ac	4393
mjr	1:d913e0afb2ac	4394	// reset the heartbeat timer
mjr	1:d913e0afb2ac	4395	hbTimer.reset();
mjr	5:a70c0bce770d	4396	++hbcnt;
mjr	1:d913e0afb2ac	4397	}
mjr	1:d913e0afb2ac	4398	}
mjr	0:5acbbe3f4cf4	4399	}

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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@54:fd77a6b2f76c, 2016-04-30 (annotated)

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