Arnaud VALLEY
Mirror with some correction
Dependencies: mbed FastIO FastPWM USBDevice
main.cpp
- Committer:
- mjr
- Date:
- 2016-11-27
- Revision:
- 67:c39e66c4e000
- Parent:
- 66:2e3583fbd2f4
- Child:
- 69:cc5039284fac
File content as of revision 67:c39e66c4e000:
/* Copyright 2014, 2016 M J Roberts, MIT License
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of this software
* and associated documentation files (the "Software"), to deal in the Software without
* restriction, including without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
* Software is furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all copies or
* substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILIT Y, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
//
// The Pinscape Controller
// A comprehensive input/output controller for virtual pinball machines
//
// This project implements an I/O controller for virtual pinball cabinets. The
// controller's function is to connect Visual Pinball (and other Windows pinball
// emulators) with physical devices in the cabinet: buttons, sensors, and
// feedback devices that create visual or mechanical effects during play.
//
// The controller can perform several different functions, which can be used
// individually or in any combination:
//
// - Nudge sensing. This uses the KL25Z's on-board accelerometer to sense the
// motion of the cabinet when you nudge it. Visual Pinball and other pinball
// emulators on the PC have native handling for this type of input, so that
// physical nudges on the cabinet turn into simulated effects on the virtual
// ball. The KL25Z measures accelerations as analog readings and is quite
// sensitive, so the effect of a nudge on the simulation is proportional
// to the strength of the nudge. Accelerations are reported to the PC via a
// simulated joystick (using the X and Y axes); you just have to set some
// preferences in your pinball software to tell it that an accelerometer
// is attached.
//
// - Plunger position sensing, with mulitple sensor options. To use this feature,
// you need to choose a sensor and set it up, connect the sensor electrically to
// the KL25Z, and configure the Pinscape software on the KL25Z to let it know how
// the sensor is hooked up. The Pinscape software monitors the sensor and sends
// readings to Visual Pinball via the joystick Z axis. VP and other PC software
// have native support for this type of input; as with the nudge setup, you just
// have to set some options in VP to activate the plunger.
//
// The Pinscape software supports optical sensors (the TAOS TSL1410R and TSL1412R
// linear sensor arrays) as well as slide potentiometers. The specific equipment
// that's supported, along with physical mounting and wiring details, can be found
// in the Build Guide.
//
// Note VP has built-in support for plunger devices like this one, but some VP
// tables can't use it without some additional scripting work. The Build Guide has
// advice on adjusting tables to add plunger support when necessary.
//
// For best results, the plunger sensor should be calibrated. The calibration
// is stored in non-volatile memory on board the KL25Z, so it's only necessary
// to do the calibration once, when you first install everything. (You might
// also want to re-calibrate if you physically remove and reinstall the CCD
// sensor or the mechanical plunger, since their alignment shift change slightly
// when you put everything back together.) You can optionally install a
// dedicated momentary switch or pushbutton to activate the calibration mode;
// this is describe in the project documentation. If you don't want to bother
// with the extra button, you can also trigger calibration using the Windows
// setup software, which you can find on the Pinscape project page.
//
// The calibration procedure is described in the project documentation. Briefly,
// when you trigger calibration mode, the software will scan the CCD for about
// 15 seconds, during which you should simply pull the physical plunger back
// all the way, hold it for a moment, and then slowly return it to the rest
// position. (DON'T just release it from the retracted position, since that
// let it shoot forward too far. We want to measure the range from the park
// position to the fully retracted position only.)
//
// - Button input wiring. 24 of the KL25Z's GPIO ports are mapped as digital inputs
// for buttons and switches. You can wire each input to a physical pinball-style
// button or switch, such as flipper buttons, Start buttons, coin chute switches,
// tilt bobs, and service buttons. Each button can be configured to be reported
// to the PC as a joystick button or as a keyboard key (you can select which key
// is used for each button).
//
// - LedWiz emulation. The KL25Z can pretend to be an LedWiz device. This lets
// you connect feedback devices (lights, solenoids, motors) to GPIO ports on the
// KL25Z, and lets PC software (such as Visual Pinball) control them during game
// play to create a more immersive playing experience. The Pinscape software
// presents itself to the host as an LedWiz device and accepts the full LedWiz
// command set, so software on the PC designed for real LedWiz'es can control
// attached devices without any modifications.
//
// Even though the software provides a very thorough LedWiz emulation, the KL25Z
// GPIO hardware design imposes some serious limitations. The big one is that
// the KL25Z only has 10 PWM channels, meaning that only 10 ports can have
// varying-intensity outputs (e.g., for controlling the brightness level of an
// LED or the speed or a motor). You can control more than 10 output ports, but
// only 10 can have PWM control; the rest are simple "digital" ports that can only
// be switched fully on or fully off. The second limitation is that the KL25Z
// just doesn't have that many GPIO ports overall. There are enough to populate
// all 32 button inputs OR all 32 LedWiz outputs, but not both. The default is
// to assign 24 buttons and 22 LedWiz ports; you can change this balance to trade
// off more outputs for fewer inputs, or vice versa. The third limitation is that
// the KL25Z GPIO pins have *very* tiny amperage limits - just 4mA, which isn't
// even enough to control a small LED. So in order to connect any kind of feedback
// device to an output, you *must* build some external circuitry to boost the
// current handing. The Build Guide has a reference circuit design for this
// purpose that's simple and inexpensive to build.
//
// - Enhanced LedWiz emulation with TLC5940 PWM controller chips. You can attach
// external PWM controller chips for controlling device outputs, instead of using
// the on-board GPIO ports as described above. The software can control a set of
// daisy-chained TLC5940 chips. Each chip provides 16 PWM outputs, so you just
// need two of them to get the full complement of 32 output ports of a real LedWiz.
// You can hook up even more, though. Four chips gives you 64 ports, which should
// be plenty for nearly any virtual pinball project. To accommodate the larger
// supply of ports possible with the PWM chips, the controller software provides
// a custom, extended version of the LedWiz protocol that can handle up to 128
// ports. PC software designed only for the real LedWiz obviously won't know
// about the extended protocol and won't be able to take advantage of its extra
// capabilities, but the latest version of DOF (DirectOutput Framework) *does*
// know the new language and can take full advantage. Older software will still
// work, though - the new extensions are all backward compatible, so old software
// that only knows about the original LedWiz protocol will still work, with the
// obvious limitation that it can only access the first 32 ports.
//
// The Pinscape Expansion Board project (which appeared in early 2016) provides
// a reference hardware design, with EAGLE circuit board layouts, that takes full
// advantage of the TLC5940 capability. It lets you create a customized set of
// outputs with full PWM control and power handling for high-current devices
// built in to the boards.
//
// - Night Mode control for output devices. You can connect a switch or button
// to the controller to activate "Night Mode", which disables feedback devices
// that you designate as noisy. You can designate outputs individually as being
// included in this set or not. This is useful if you want to play a game on
// your cabinet late at night without waking the kids and annoying the neighbors.
//
// - TV ON switch. The controller can pulse a relay to turn on your TVs after
// power to the cabinet comes on, with a configurable delay timer. This feature
// is for TVs that don't turn themselves on automatically when first plugged in.
// To use this feature, you have to build some external circuitry to allow the
// software to sense the power supply status, and you have to run wires to your
// TV's on/off button, which requires opening the case on your TV. The Build
// Guide has details on the necessary circuitry and connections to the TV.
//
//
//
// STATUS LIGHTS: The on-board LED on the KL25Z flashes to indicate the current
// device status. The flash patterns are:
//
// short yellow flash = waiting to connect
//
// short red flash = the connection is suspended (the host is in sleep
// or suspend mode, the USB cable is unplugged after a connection
// has been established)
//
// two short red flashes = connection lost (the device should immediately
// go back to short-yellow "waiting to reconnect" mode when a connection
// is lost, so this display shouldn't normally appear)
//
// long red/yellow = USB connection problem. The device still has a USB
// connection to the host (or so it appears to the device), but data
// transmissions are failing.
//
// long yellow/green = everything's working, but the plunger hasn't
// been calibrated. Follow the calibration procedure described in
// the project documentation. This flash mode won't appear if there's
// no plunger sensor configured.
//
// alternating blue/green = everything's working normally, and plunger
// calibration has been completed (or there's no plunger attached)
//
// fast red/purple = out of memory. The controller halts and displays
// this diagnostic code until you manually reset it. If this happens,
// it's probably because the configuration is too complex, in which
// case the same error will occur after the reset. If it's stuck
// in this cycle, you'll have to restore the default configuration
// by re-installing the controller software (the Pinscape .bin file).
//
//
// USB PROTOCOL: Most of our USB messaging is through standard USB HID
// classes (joystick, keyboard). We also accept control messages on our
// primary HID interface "OUT endpoint" using a custom protocol that's
// not defined in any USB standards (we do have to provide a USB HID
// Report Descriptor for it, but this just describes the protocol as
// opaque vendor-defined bytes). The control protocol incorporates the
// LedWiz protocol as a subset, and adds our own private extensions.
// For full details, see USBProtocol.h.
#include "mbed.h"
#include "math.h"
#include "pinscape.h"
#include "USBJoystick.h"
#include "MMA8451Q.h"
#include "tsl1410r.h"
#include "FreescaleIAP.h"
#include "crc32.h"
#include "TLC5940.h"
#include "74HC595.h"
#include "nvm.h"
#include "plunger.h"
#include "ccdSensor.h"
#include "potSensor.h"
#include "nullSensor.h"
#include "TinyDigitalIn.h"
#include "FastPWM.h"
#define DECL_EXTERNS
#include "config.h"
// --------------------------------------------------------------------------
//
// OpenSDA module identifier. This is for the benefit of the Windows
// configuration tool. When the config tool installs a .bin file onto
// the KL25Z, it will first find the sentinel string within the .bin file,
// and patch the "\0" bytes that follow the sentinel string with the
// OpenSDA module ID data. This allows us to report the OpenSDA
// identifiers back to the host system via USB, which in turn allows the
// config tool to figure out which OpenSDA MSD (mass storage device - a
// virtual disk drive) correlates to which Pinscape controller USB
// interface.
//
// This is only important if multiple Pinscape devices are attached to
// the same host. There doesn't seem to be any other way to figure out
// which OpenSDA MSD corresponds to which KL25Z USB interface; the OpenSDA
// MSD doesn't report the KL25Z CPU ID anywhere, and the KL25Z doesn't
// have any way to learn about the OpenSDA module it's connected to. The
// only way to pass this information to the KL25Z side that I can come up
// with is to have the Windows host embed it in the .bin file before
// downloading it to the OpenSDA MSD.
//
// We initialize the const data buffer (the part after the sentinel string)
// with all "\0" bytes, so that's what will be in the executable image that
// comes out of the mbed compiler. If you manually install the resulting
// .bin file onto the KL25Z (via the Windows desktop, say), the "\0" bytes
// will stay this way and read as all 0's at run-time. Since a real TUID
// would never be all 0's, that tells us that we were never patched and
// thus don't have any information on the OpenSDA module.
//
const char *getOpenSDAID()
{
#define OPENSDA_PREFIX "///Pinscape.OpenSDA.TUID///"
static const char OpenSDA[] = OPENSDA_PREFIX "\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0///";
const size_t OpenSDA_prefix_length = sizeof(OPENSDA_PREFIX) - 1;
return OpenSDA + OpenSDA_prefix_length;
}
// --------------------------------------------------------------------------
//
// Build ID. We use the date and time of compiling the program as a build
// identifier. It would be a little nicer to use a simple serial number
// instead, but the mbed platform doesn't have a way to automate that. The
// timestamp is a pretty good proxy for a serial number in that it will
// naturally increase on each new build, which is the primary property we
// want from this.
//
// As with the embedded OpenSDA ID, we store the build timestamp with a
// sentinel string prefix, to allow automated tools to find the static data
// in the .bin file by searching for the sentinel string. In contrast to
// the OpenSDA ID, the value we store here is for tools to extract rather
// than store, since we automatically populate it via the preprocessor
// macros.
//
const char *getBuildID()
{
#define BUILDID_PREFIX "///Pinscape.Build.ID///"
static const char BuildID[] = BUILDID_PREFIX __DATE__ " " __TIME__ "///";
const size_t BuildID_prefix_length = sizeof(BUILDID_PREFIX) - 1;
return BuildID + BuildID_prefix_length;
}
// --------------------------------------------------------------------------
//
// Custom memory allocator. We use our own version of malloc() for more
// efficient memory usage, and to provide diagnostics if we run out of heap.
//
// We can implement a more efficient malloc than the library can because we
// can make an assumption that the library can't: allocations are permanent.
// The normal malloc has to assume that allocations can be freed, so it has
// to track blocks individually. For the purposes of this program, though,
// we don't have to do this because virtually all of our allocations are
// de facto permanent. We only allocate dyanmic memory during setup, and
// once we set things up, we never delete anything. This means that we can
// allocate memory in bare blocks without any bookkeeping overhead.
//
// In addition, we can make a much larger overall pool of memory available
// in a custom allocator. The mbed library malloc() seems to have a pool
// of about 3K to work with, even though there's really about 9K of RAM
// left over after counting the static writable data and reserving space
// for a reasonable stack. I haven't looked at the mbed malloc to see why
// they're so stingy, but it appears from empirical testing that we can
// create a static array up to about 9K before things get crashy.
void *xmalloc(size_t siz)
{
// Dynamic memory pool. We'll reserve space for all dynamic
// allocations by creating a simple C array of bytes. The size
// of this array is the maximum number of bytes we can allocate
// with malloc or operator 'new'.
//
// The maximum safe size for this array is, in essence, the
// amount of physical KL25Z RAM left over after accounting for
// static data throughout the rest of the program, the run-time
// stack, and any other space reserved for compiler or MCU
// overhead. Unfortunately, it's not straightforward to
// determine this analytically. The big complication is that
// the minimum stack size isn't easily predictable, as the stack
// grows according to what the program does. In addition, the
// mbed platform tools don't give us detailed data on the
// compiler/linker memory map. All we get is a generic total
// RAM requirement, which doesn't necessarily account for all
// overhead (e.g., gaps inserted to get proper alignment for
// particular memory blocks).
//
// A very rough estimate: the total RAM size reported by the
// linker is about 3.5K (currently - that can obviously change
// as the project evolves) out of 16K total. Assuming about a
// 3K stack, that leaves in the ballpark of 10K. Empirically,
// that seems pretty close. In testing, we start to see some
// instability at 10K, while 9K seems safe. To be conservative,
// we'll reduce this to 8K.
//
// Our measured total usage in the base configuration (22 GPIO
// output ports, TSL1410R plunger sensor) is about 4000 bytes.
// A pretty fully decked-out configuration (121 output ports,
// with 8 TLC5940 chips and 3 74HC595 chips, plus the TSL1412R
// sensor with the higher pixel count, and all expansion board
// features enabled) comes to about 6700 bytes. That leaves
// us with about 1.5K free out of our 8K, so we still have a
// little more headroom for future expansion.
//
// For comparison, the standard mbed malloc() runs out of
// memory at about 6K. That's what led to this custom malloc:
// we can just fit the base configuration into that 4K, but
// it's not enough space for more complex setups. There's
// still a little room for squeezing out unnecessary space
// from the mbed library code, but at this point I'd prefer
// to treat that as a last resort, since it would mean having
// to fork private copies of the libraries.
static char pool[8*1024];
static char *nxt = pool;
static size_t rem = sizeof(pool);
// align to a 4-byte increment
siz = (siz + 3) & ~3;
// If insufficient memory is available, halt and show a fast red/purple
// diagnostic flash. We don't want to return, since we assume throughout
// the program that all memory allocations must succeed. Note that this
// is generally considered bad programming practice in applications on
// "real" computers, but for the purposes of this microcontroller app,
// there's no point in checking for failed allocations individually
// because there's no way to recover from them. It's better in this
// context to handle failed allocations as fatal errors centrally. We
// can't recover from these automatically, so we have to resort to user
// intervention, which we signal with the diagnostic LED flashes.
if (siz > rem)
{
// halt with the diagnostic display (by looping forever)
for (;;)
{
diagLED(1, 0, 0);
wait_us(200000);
diagLED(1, 0, 1);
wait_us(200000);
}
}
// get the next free location from the pool to return
char *ret = nxt;
// advance the pool pointer and decrement the remaining size counter
nxt += siz;
rem -= siz;
// return the allocated block
return ret;
}
// Overload operator new to call our custom malloc. This ensures that
// all 'new' allocations throughout the program (including library code)
// go through our private allocator.
void *operator new(size_t siz) { return xmalloc(siz); }
void *operator new[](size_t siz) { return xmalloc(siz); }
// Since we don't do bookkeeping to track released memory, 'delete' does
// nothing. In actual testing, this routine appears to never be called.
// If it *is* ever called, it will simply leave the block in place, which
// will make it unavailable for re-use but will otherwise be harmless.
void operator delete(void *ptr) { }
// ---------------------------------------------------------------------------
//
// Forward declarations
//
void setNightMode(bool on);
void toggleNightMode();
// ---------------------------------------------------------------------------
// utilities
// floating point square of a number
inline float square(float x) { return x*x; }
// floating point rounding
inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); }
// --------------------------------------------------------------------------
//
// Extended verison of Timer class. This adds the ability to interrogate
// the running state.
//
class Timer2: public Timer
{
public:
Timer2() : running(false) { }
void start() { running = true; Timer::start(); }
void stop() { running = false; Timer::stop(); }
bool isRunning() const { return running; }
private:
bool running;
};
// --------------------------------------------------------------------------
//
// Reboot timer. When we have a deferred reboot operation pending, we
// set the target time and start the timer.
Timer2 rebootTimer;
long rebootTime_us;
// --------------------------------------------------------------------------
//
// USB product version number
//
const uint16_t USB_VERSION_NO = 0x000A;
// --------------------------------------------------------------------------
//
// Joystick axis report range - we report from -JOYMAX to +JOYMAX
//
#define JOYMAX 4096
// ---------------------------------------------------------------------------
//
// Wire protocol value translations. These translate byte values to and
// from the USB protocol to local native format.
//
// unsigned 16-bit integer
inline uint16_t wireUI16(const uint8_t *b)
{
return b[0] | ((uint16_t)b[1] << 8);
}
inline void ui16Wire(uint8_t *b, uint16_t val)
{
b[0] = (uint8_t)(val & 0xff);
b[1] = (uint8_t)((val >> 8) & 0xff);
}
inline int16_t wireI16(const uint8_t *b)
{
return (int16_t)wireUI16(b);
}
inline void i16Wire(uint8_t *b, int16_t val)
{
ui16Wire(b, (uint16_t)val);
}
inline uint32_t wireUI32(const uint8_t *b)
{
return b[0] | ((uint32_t)b[1] << 8) | ((uint32_t)b[2] << 16) | ((uint32_t)b[3] << 24);
}
inline void ui32Wire(uint8_t *b, uint32_t val)
{
b[0] = (uint8_t)(val & 0xff);
b[1] = (uint8_t)((val >> 8) & 0xff);
b[2] = (uint8_t)((val >> 16) & 0xff);
b[3] = (uint8_t)((val >> 24) & 0xff);
}
inline int32_t wireI32(const uint8_t *b)
{
return (int32_t)wireUI32(b);
}
// Convert "wire" (USB) pin codes to/from PinName values.
//
// The internal mbed PinName format is
//
// ((port) << PORT_SHIFT) | (pin << 2) // MBED FORMAT
//
// where 'port' is 0-4 for Port A to Port E, and 'pin' is
// 0 to 31. E.g., E31 is (4 << PORT_SHIFT) | (31<<2).
//
// We remap this to our more compact wire format where each
// pin name fits in 8 bits:
//
// ((port) << 5) | pin) // WIRE FORMAT
//
// E.g., E31 is (4 << 5) | 31.
//
// Wire code FF corresponds to PinName NC (not connected).
//
inline PinName wirePinName(uint8_t c)
{
if (c == 0xFF)
return NC; // 0xFF -> NC
else
return PinName(
(int(c & 0xE0) << (PORT_SHIFT - 5)) // top three bits are the port
| (int(c & 0x1F) << 2)); // bottom five bits are pin
}
inline void pinNameWire(uint8_t *b, PinName n)
{
*b = PINNAME_TO_WIRE(n);
}
// ---------------------------------------------------------------------------
//
// On-board RGB LED elements - we use these for diagnostic displays.
//
// Note that LED3 (the blue segment) is hard-wired on the KL25Z to PTD1,
// so PTD1 shouldn't be used for any other purpose (e.g., as a keyboard
// input or a device output). This is kind of unfortunate in that it's
// one of only two ports exposed on the jumper pins that can be muxed to
// SPI0 SCLK. This effectively limits us to PTC5 if we want to use the
// SPI capability.
//
DigitalOut *ledR, *ledG, *ledB;
// Show the indicated pattern on the diagnostic LEDs. 0 is off, 1 is
// on, and -1 is no change (leaves the current setting intact).
void diagLED(int r, int g, int b)
{
if (ledR != 0 && r != -1) ledR->write(!r);
if (ledG != 0 && g != -1) ledG->write(!g);
if (ledB != 0 && b != -1) ledB->write(!b);
}
// check an output port assignment to see if it conflicts with
// an on-board LED segment
struct LedSeg
{
bool r, g, b;
LedSeg() { r = g = b = false; }
void check(LedWizPortCfg &pc)
{
// if it's a GPIO, check to see if it's assigned to one of
// our on-board LED segments
int t = pc.typ;
if (t == PortTypeGPIOPWM || t == PortTypeGPIODig)
{
// it's a GPIO port - check for a matching pin assignment
PinName pin = wirePinName(pc.pin);
if (pin == LED1)
r = true;
else if (pin == LED2)
g = true;
else if (pin == LED3)
b = true;
}
}
};
// Initialize the diagnostic LEDs. By default, we use the on-board
// RGB LED to display the microcontroller status. However, we allow
// the user to commandeer the on-board LED as an LedWiz output device,
// which can be useful for testing a new installation. So we'll check
// for LedWiz outputs assigned to the on-board LED segments, and turn
// off the diagnostic use for any so assigned.
void initDiagLEDs(Config &cfg)
{
// run through the configuration list and cross off any of the
// LED segments assigned to LedWiz ports
LedSeg l;
for (int i = 0 ; i < MAX_OUT_PORTS && cfg.outPort[i].typ != PortTypeDisabled ; ++i)
l.check(cfg.outPort[i]);
// We now know which segments are taken for LedWiz use and which
// are free. Create diagnostic ports for the ones not claimed for
// LedWiz use.
if (!l.r) ledR = new DigitalOut(LED1, 1);
if (!l.g) ledG = new DigitalOut(LED2, 1);
if (!l.b) ledB = new DigitalOut(LED3, 1);
}
// ---------------------------------------------------------------------------
//
// LedWiz emulation, and enhanced TLC5940 output controller
//
// There are two modes for this feature. The default mode uses the on-board
// GPIO ports to implement device outputs - each LedWiz software port is
// connected to a physical GPIO pin on the KL25Z. The KL25Z only has 10
// PWM channels, so in this mode only 10 LedWiz ports will be dimmable; the
// rest are strictly on/off. The KL25Z also has a limited number of GPIO
// ports overall - not enough for the full complement of 32 LedWiz ports
// and 24 VP joystick inputs, so it's necessary to trade one against the
// other if both features are to be used.
//
// The alternative, enhanced mode uses external TLC5940 PWM controller
// chips to control device outputs. In this mode, each LedWiz software
// port is mapped to an output on one of the external TLC5940 chips.
// Two 5940s is enough for the full set of 32 LedWiz ports, and we can
// support even more chips for even more outputs (although doing so requires
// breaking LedWiz compatibility, since the LedWiz USB protocol is hardwired
// for 32 outputs). Every port in this mode has full PWM support.
//
// Current starting output index for "PBA" messages from the PC (using
// the LedWiz USB protocol). Each PBA message implicitly uses the
// current index as the starting point for the ports referenced in
// the message, and increases it (by 8) for the next call.
static int pbaIdx = 0;
// Generic LedWiz output port interface. We create a cover class to
// virtualize digital vs PWM outputs, and on-board KL25Z GPIO vs external
// TLC5940 outputs, and give them all a common interface.
class LwOut
{
public:
// Set the output intensity. 'val' is 0 for fully off, 255 for
// fully on, with values in between signifying lower intensity.
virtual void set(uint8_t val) = 0;
};
// LwOut class for virtual ports. This type of port is visible to
// the host software, but isn't connected to any physical output.
// This can be used for special software-only ports like the ZB
// Launch Ball output, or simply for placeholders in the LedWiz port
// numbering.
class LwVirtualOut: public LwOut
{
public:
LwVirtualOut() { }
virtual void set(uint8_t ) { }
};
// Active Low out. For any output marked as active low, we layer this
// on top of the physical pin interface. This simply inverts the value of
// the output value, so that 255 means fully off and 0 means fully on.
class LwInvertedOut: public LwOut
{
public:
LwInvertedOut(LwOut *o) : out(o) { }
virtual void set(uint8_t val) { out->set(255 - val); }
private:
// underlying physical output
LwOut *out;
};
// Global ZB Launch Ball state
bool zbLaunchOn = false;
// ZB Launch Ball output. This is layered on a port (physical or virtual)
// to track the ZB Launch Ball signal.
class LwZbLaunchOut: public LwOut
{
public:
LwZbLaunchOut(LwOut *o) : out(o) { }
virtual void set(uint8_t val)
{
// update the global ZB Launch Ball state
zbLaunchOn = (val != 0);
// pass it along to the underlying port, in case it's a physical output
out->set(val);
}
private:
// underlying physical or virtual output
LwOut *out;
};
// Gamma correction table for 8-bit input values
static const uint8_t gamma[] = {
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2,
2, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 5, 5, 5,
5, 6, 6, 6, 6, 7, 7, 7, 7, 8, 8, 8, 9, 9, 9, 10,
10, 10, 11, 11, 11, 12, 12, 13, 13, 13, 14, 14, 15, 15, 16, 16,
17, 17, 18, 18, 19, 19, 20, 20, 21, 21, 22, 22, 23, 24, 24, 25,
25, 26, 27, 27, 28, 29, 29, 30, 31, 32, 32, 33, 34, 35, 35, 36,
37, 38, 39, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 50,
51, 52, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 66, 67, 68,
69, 70, 72, 73, 74, 75, 77, 78, 79, 81, 82, 83, 85, 86, 87, 89,
90, 92, 93, 95, 96, 98, 99, 101, 102, 104, 105, 107, 109, 110, 112, 114,
115, 117, 119, 120, 122, 124, 126, 127, 129, 131, 133, 135, 137, 138, 140, 142,
144, 146, 148, 150, 152, 154, 156, 158, 160, 162, 164, 167, 169, 171, 173, 175,
177, 180, 182, 184, 186, 189, 191, 193, 196, 198, 200, 203, 205, 208, 210, 213,
215, 218, 220, 223, 225, 228, 231, 233, 236, 239, 241, 244, 247, 249, 252, 255
};
// Gamma-corrected out. This is a filter object that we layer on top
// of a physical pin interface. This applies gamma correction to the
// input value and then passes it along to the underlying pin object.
class LwGammaOut: public LwOut
{
public:
LwGammaOut(LwOut *o) : out(o) { }
virtual void set(uint8_t val) { out->set(gamma[val]); }
private:
LwOut *out;
};
// global night mode flag
static bool nightMode = false;
// Noisy output. This is a filter object that we layer on top of
// a physical pin output. This filter disables the port when night
// mode is engaged.
class LwNoisyOut: public LwOut
{
public:
LwNoisyOut(LwOut *o) : out(o) { }
virtual void set(uint8_t val) { out->set(nightMode ? 0 : val); }
private:
LwOut *out;
};
// Night Mode indicator output. This is a filter object that we
// layer on top of a physical pin output. This filter ignores the
// host value and simply shows the night mode status.
class LwNightModeIndicatorOut: public LwOut
{
public:
LwNightModeIndicatorOut(LwOut *o) : out(o) { }
virtual void set(uint8_t)
{
// ignore the host value and simply show the current
// night mode setting
out->set(nightMode ? 255 : 0);
}
private:
LwOut *out;
};
//
// The TLC5940 interface object. We'll set this up with the port
// assignments set in config.h.
//
TLC5940 *tlc5940 = 0;
void init_tlc5940(Config &cfg)
{
if (cfg.tlc5940.nchips != 0)
{
tlc5940 = new TLC5940(
wirePinName(cfg.tlc5940.sclk),
wirePinName(cfg.tlc5940.sin),
wirePinName(cfg.tlc5940.gsclk),
wirePinName(cfg.tlc5940.blank),
wirePinName(cfg.tlc5940.xlat),
cfg.tlc5940.nchips);
}
}
// Conversion table for 8-bit DOF level to 12-bit TLC5940 level
static const uint16_t dof_to_tlc[] = {
0, 16, 32, 48, 64, 80, 96, 112, 128, 145, 161, 177, 193, 209, 225, 241,
257, 273, 289, 305, 321, 337, 353, 369, 385, 401, 418, 434, 450, 466, 482, 498,
514, 530, 546, 562, 578, 594, 610, 626, 642, 658, 674, 691, 707, 723, 739, 755,
771, 787, 803, 819, 835, 851, 867, 883, 899, 915, 931, 947, 964, 980, 996, 1012,
1028, 1044, 1060, 1076, 1092, 1108, 1124, 1140, 1156, 1172, 1188, 1204, 1220, 1237, 1253, 1269,
1285, 1301, 1317, 1333, 1349, 1365, 1381, 1397, 1413, 1429, 1445, 1461, 1477, 1493, 1510, 1526,
1542, 1558, 1574, 1590, 1606, 1622, 1638, 1654, 1670, 1686, 1702, 1718, 1734, 1750, 1766, 1783,
1799, 1815, 1831, 1847, 1863, 1879, 1895, 1911, 1927, 1943, 1959, 1975, 1991, 2007, 2023, 2039,
2056, 2072, 2088, 2104, 2120, 2136, 2152, 2168, 2184, 2200, 2216, 2232, 2248, 2264, 2280, 2296,
2312, 2329, 2345, 2361, 2377, 2393, 2409, 2425, 2441, 2457, 2473, 2489, 2505, 2521, 2537, 2553,
2569, 2585, 2602, 2618, 2634, 2650, 2666, 2682, 2698, 2714, 2730, 2746, 2762, 2778, 2794, 2810,
2826, 2842, 2858, 2875, 2891, 2907, 2923, 2939, 2955, 2971, 2987, 3003, 3019, 3035, 3051, 3067,
3083, 3099, 3115, 3131, 3148, 3164, 3180, 3196, 3212, 3228, 3244, 3260, 3276, 3292, 3308, 3324,
3340, 3356, 3372, 3388, 3404, 3421, 3437, 3453, 3469, 3485, 3501, 3517, 3533, 3549, 3565, 3581,
3597, 3613, 3629, 3645, 3661, 3677, 3694, 3710, 3726, 3742, 3758, 3774, 3790, 3806, 3822, 3838,
3854, 3870, 3886, 3902, 3918, 3934, 3950, 3967, 3983, 3999, 4015, 4031, 4047, 4063, 4079, 4095
};
// Conversion table for 8-bit DOF level to 12-bit TLC5940 level, with
// gamma correction. Note that the output layering scheme can handle
// this without a separate table, by first applying gamma to the DOF
// level to produce an 8-bit gamma-corrected value, then convert that
// to the 12-bit TLC5940 value. But we get better precision by doing
// the gamma correction in the 12-bit TLC5940 domain. We can only
// get the 12-bit domain by combining both steps into one layering
// object, though, since the intermediate values in the layering system
// are always 8 bits.
static const uint16_t dof_to_gamma_tlc[] = {
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1,
2, 2, 2, 3, 3, 4, 4, 5, 5, 6, 7, 8, 8, 9, 10, 11,
12, 13, 15, 16, 17, 18, 20, 21, 23, 25, 26, 28, 30, 32, 34, 36,
38, 40, 43, 45, 48, 50, 53, 56, 59, 62, 65, 68, 71, 75, 78, 82,
85, 89, 93, 97, 101, 105, 110, 114, 119, 123, 128, 133, 138, 143, 149, 154,
159, 165, 171, 177, 183, 189, 195, 202, 208, 215, 222, 229, 236, 243, 250, 258,
266, 273, 281, 290, 298, 306, 315, 324, 332, 341, 351, 360, 369, 379, 389, 399,
409, 419, 430, 440, 451, 462, 473, 485, 496, 508, 520, 532, 544, 556, 569, 582,
594, 608, 621, 634, 648, 662, 676, 690, 704, 719, 734, 749, 764, 779, 795, 811,
827, 843, 859, 876, 893, 910, 927, 944, 962, 980, 998, 1016, 1034, 1053, 1072, 1091,
1110, 1130, 1150, 1170, 1190, 1210, 1231, 1252, 1273, 1294, 1316, 1338, 1360, 1382, 1404, 1427,
1450, 1473, 1497, 1520, 1544, 1568, 1593, 1617, 1642, 1667, 1693, 1718, 1744, 1770, 1797, 1823,
1850, 1877, 1905, 1932, 1960, 1988, 2017, 2045, 2074, 2103, 2133, 2162, 2192, 2223, 2253, 2284,
2315, 2346, 2378, 2410, 2442, 2474, 2507, 2540, 2573, 2606, 2640, 2674, 2708, 2743, 2778, 2813,
2849, 2884, 2920, 2957, 2993, 3030, 3067, 3105, 3143, 3181, 3219, 3258, 3297, 3336, 3376, 3416,
3456, 3496, 3537, 3578, 3619, 3661, 3703, 3745, 3788, 3831, 3874, 3918, 3962, 4006, 4050, 4095
};
// LwOut class for TLC5940 outputs. These are fully PWM capable.
// The 'idx' value in the constructor is the output index in the
// daisy-chained TLC5940 array. 0 is output #0 on the first chip,
// 1 is #1 on the first chip, 15 is #15 on the first chip, 16 is
// #0 on the second chip, 32 is #0 on the third chip, etc.
class Lw5940Out: public LwOut
{
public:
Lw5940Out(uint8_t idx) : idx(idx) { prv = 0; }
virtual void set(uint8_t val)
{
if (val != prv)
tlc5940->set(idx, dof_to_tlc[prv = val]);
}
uint8_t idx;
uint8_t prv;
};
// LwOut class for TLC5940 gamma-corrected outputs.
class Lw5940GammaOut: public LwOut
{
public:
Lw5940GammaOut(uint8_t idx) : idx(idx) { prv = 0; }
virtual void set(uint8_t val)
{
if (val != prv)
tlc5940->set(idx, dof_to_gamma_tlc[prv = val]);
}
uint8_t idx;
uint8_t prv;
};
// 74HC595 interface object. Set this up with the port assignments in
// config.h.
HC595 *hc595 = 0;
// initialize the 74HC595 interface
void init_hc595(Config &cfg)
{
if (cfg.hc595.nchips != 0)
{
hc595 = new HC595(
wirePinName(cfg.hc595.nchips),
wirePinName(cfg.hc595.sin),
wirePinName(cfg.hc595.sclk),
wirePinName(cfg.hc595.latch),
wirePinName(cfg.hc595.ena));
hc595->init();
hc595->update();
}
}
// LwOut class for 74HC595 outputs. These are simple digial outs.
// The 'idx' value in the constructor is the output index in the
// daisy-chained 74HC595 array. 0 is output #0 on the first chip,
// 1 is #1 on the first chip, 7 is #7 on the first chip, 8 is
// #0 on the second chip, etc.
class Lw595Out: public LwOut
{
public:
Lw595Out(uint8_t idx) : idx(idx) { prv = 0; }
virtual void set(uint8_t val)
{
if (val != prv)
hc595->set(idx, (prv = val) == 0 ? 0 : 1);
}
uint8_t idx;
uint8_t prv;
};
// Conversion table - 8-bit DOF output level to PWM duty cycle,
// normalized to 0.0 to 1.0 scale.
static const float pwm_level[] = {
0.000000f, 0.003922f, 0.007843f, 0.011765f, 0.015686f, 0.019608f, 0.023529f, 0.027451f,
0.031373f, 0.035294f, 0.039216f, 0.043137f, 0.047059f, 0.050980f, 0.054902f, 0.058824f,
0.062745f, 0.066667f, 0.070588f, 0.074510f, 0.078431f, 0.082353f, 0.086275f, 0.090196f,
0.094118f, 0.098039f, 0.101961f, 0.105882f, 0.109804f, 0.113725f, 0.117647f, 0.121569f,
0.125490f, 0.129412f, 0.133333f, 0.137255f, 0.141176f, 0.145098f, 0.149020f, 0.152941f,
0.156863f, 0.160784f, 0.164706f, 0.168627f, 0.172549f, 0.176471f, 0.180392f, 0.184314f,
0.188235f, 0.192157f, 0.196078f, 0.200000f, 0.203922f, 0.207843f, 0.211765f, 0.215686f,
0.219608f, 0.223529f, 0.227451f, 0.231373f, 0.235294f, 0.239216f, 0.243137f, 0.247059f,
0.250980f, 0.254902f, 0.258824f, 0.262745f, 0.266667f, 0.270588f, 0.274510f, 0.278431f,
0.282353f, 0.286275f, 0.290196f, 0.294118f, 0.298039f, 0.301961f, 0.305882f, 0.309804f,
0.313725f, 0.317647f, 0.321569f, 0.325490f, 0.329412f, 0.333333f, 0.337255f, 0.341176f,
0.345098f, 0.349020f, 0.352941f, 0.356863f, 0.360784f, 0.364706f, 0.368627f, 0.372549f,
0.376471f, 0.380392f, 0.384314f, 0.388235f, 0.392157f, 0.396078f, 0.400000f, 0.403922f,
0.407843f, 0.411765f, 0.415686f, 0.419608f, 0.423529f, 0.427451f, 0.431373f, 0.435294f,
0.439216f, 0.443137f, 0.447059f, 0.450980f, 0.454902f, 0.458824f, 0.462745f, 0.466667f,
0.470588f, 0.474510f, 0.478431f, 0.482353f, 0.486275f, 0.490196f, 0.494118f, 0.498039f,
0.501961f, 0.505882f, 0.509804f, 0.513725f, 0.517647f, 0.521569f, 0.525490f, 0.529412f,
0.533333f, 0.537255f, 0.541176f, 0.545098f, 0.549020f, 0.552941f, 0.556863f, 0.560784f,
0.564706f, 0.568627f, 0.572549f, 0.576471f, 0.580392f, 0.584314f, 0.588235f, 0.592157f,
0.596078f, 0.600000f, 0.603922f, 0.607843f, 0.611765f, 0.615686f, 0.619608f, 0.623529f,
0.627451f, 0.631373f, 0.635294f, 0.639216f, 0.643137f, 0.647059f, 0.650980f, 0.654902f,
0.658824f, 0.662745f, 0.666667f, 0.670588f, 0.674510f, 0.678431f, 0.682353f, 0.686275f,
0.690196f, 0.694118f, 0.698039f, 0.701961f, 0.705882f, 0.709804f, 0.713725f, 0.717647f,
0.721569f, 0.725490f, 0.729412f, 0.733333f, 0.737255f, 0.741176f, 0.745098f, 0.749020f,
0.752941f, 0.756863f, 0.760784f, 0.764706f, 0.768627f, 0.772549f, 0.776471f, 0.780392f,
0.784314f, 0.788235f, 0.792157f, 0.796078f, 0.800000f, 0.803922f, 0.807843f, 0.811765f,
0.815686f, 0.819608f, 0.823529f, 0.827451f, 0.831373f, 0.835294f, 0.839216f, 0.843137f,
0.847059f, 0.850980f, 0.854902f, 0.858824f, 0.862745f, 0.866667f, 0.870588f, 0.874510f,
0.878431f, 0.882353f, 0.886275f, 0.890196f, 0.894118f, 0.898039f, 0.901961f, 0.905882f,
0.909804f, 0.913725f, 0.917647f, 0.921569f, 0.925490f, 0.929412f, 0.933333f, 0.937255f,
0.941176f, 0.945098f, 0.949020f, 0.952941f, 0.956863f, 0.960784f, 0.964706f, 0.968627f,
0.972549f, 0.976471f, 0.980392f, 0.984314f, 0.988235f, 0.992157f, 0.996078f, 1.000000f
};
// Conversion table for 8-bit DOF level to pulse width in microseconds,
// with gamma correction. We could use the layered gamma output on top
// of the regular LwPwmOut class for this, but we get better precision
// with a dedicated table, because we apply gamma correction to the
// 32-bit microsecond values rather than the 8-bit DOF levels.
static const float dof_to_gamma_pwm[] = {
0.000000f, 0.000000f, 0.000001f, 0.000004f, 0.000009f, 0.000017f, 0.000028f, 0.000042f,
0.000062f, 0.000086f, 0.000115f, 0.000151f, 0.000192f, 0.000240f, 0.000296f, 0.000359f,
0.000430f, 0.000509f, 0.000598f, 0.000695f, 0.000803f, 0.000920f, 0.001048f, 0.001187f,
0.001337f, 0.001499f, 0.001673f, 0.001860f, 0.002059f, 0.002272f, 0.002498f, 0.002738f,
0.002993f, 0.003262f, 0.003547f, 0.003847f, 0.004162f, 0.004494f, 0.004843f, 0.005208f,
0.005591f, 0.005991f, 0.006409f, 0.006845f, 0.007301f, 0.007775f, 0.008268f, 0.008781f,
0.009315f, 0.009868f, 0.010442f, 0.011038f, 0.011655f, 0.012293f, 0.012954f, 0.013637f,
0.014342f, 0.015071f, 0.015823f, 0.016599f, 0.017398f, 0.018223f, 0.019071f, 0.019945f,
0.020844f, 0.021769f, 0.022720f, 0.023697f, 0.024701f, 0.025731f, 0.026789f, 0.027875f,
0.028988f, 0.030129f, 0.031299f, 0.032498f, 0.033726f, 0.034983f, 0.036270f, 0.037587f,
0.038935f, 0.040313f, 0.041722f, 0.043162f, 0.044634f, 0.046138f, 0.047674f, 0.049243f,
0.050844f, 0.052478f, 0.054146f, 0.055847f, 0.057583f, 0.059353f, 0.061157f, 0.062996f,
0.064870f, 0.066780f, 0.068726f, 0.070708f, 0.072726f, 0.074780f, 0.076872f, 0.079001f,
0.081167f, 0.083371f, 0.085614f, 0.087895f, 0.090214f, 0.092572f, 0.094970f, 0.097407f,
0.099884f, 0.102402f, 0.104959f, 0.107558f, 0.110197f, 0.112878f, 0.115600f, 0.118364f,
0.121170f, 0.124019f, 0.126910f, 0.129844f, 0.132821f, 0.135842f, 0.138907f, 0.142016f,
0.145170f, 0.148367f, 0.151610f, 0.154898f, 0.158232f, 0.161611f, 0.165037f, 0.168509f,
0.172027f, 0.175592f, 0.179205f, 0.182864f, 0.186572f, 0.190327f, 0.194131f, 0.197983f,
0.201884f, 0.205834f, 0.209834f, 0.213883f, 0.217982f, 0.222131f, 0.226330f, 0.230581f,
0.234882f, 0.239234f, 0.243638f, 0.248094f, 0.252602f, 0.257162f, 0.261774f, 0.266440f,
0.271159f, 0.275931f, 0.280756f, 0.285636f, 0.290570f, 0.295558f, 0.300601f, 0.305699f,
0.310852f, 0.316061f, 0.321325f, 0.326645f, 0.332022f, 0.337456f, 0.342946f, 0.348493f,
0.354098f, 0.359760f, 0.365480f, 0.371258f, 0.377095f, 0.382990f, 0.388944f, 0.394958f,
0.401030f, 0.407163f, 0.413356f, 0.419608f, 0.425921f, 0.432295f, 0.438730f, 0.445226f,
0.451784f, 0.458404f, 0.465085f, 0.471829f, 0.478635f, 0.485504f, 0.492436f, 0.499432f,
0.506491f, 0.513614f, 0.520800f, 0.528052f, 0.535367f, 0.542748f, 0.550194f, 0.557705f,
0.565282f, 0.572924f, 0.580633f, 0.588408f, 0.596249f, 0.604158f, 0.612133f, 0.620176f,
0.628287f, 0.636465f, 0.644712f, 0.653027f, 0.661410f, 0.669863f, 0.678384f, 0.686975f,
0.695636f, 0.704366f, 0.713167f, 0.722038f, 0.730979f, 0.739992f, 0.749075f, 0.758230f,
0.767457f, 0.776755f, 0.786126f, 0.795568f, 0.805084f, 0.814672f, 0.824334f, 0.834068f,
0.843877f, 0.853759f, 0.863715f, 0.873746f, 0.883851f, 0.894031f, 0.904286f, 0.914616f,
0.925022f, 0.935504f, 0.946062f, 0.956696f, 0.967407f, 0.978194f, 0.989058f, 1.000000f
};
// LwOut class for a PWM-capable GPIO port. Note that we use FastPWM for
// the underlying port interface. This isn't because we need the "fast"
// part; it's because FastPWM fixes a bug in the base mbed PwmOut class
// that makes it look ugly for fades. The base PwmOut class resets
// the cycle counter when changing the duty cycle, which makes the output
// reset immediately on every change. For an output connected to a lamp
// or LED, this causes obvious flickering when performing a rapid series
// of writes, such as during a fade. The KL25Z TPM hardware is specifically
// designed to make it easy for software to avoid this kind of flickering
// when used correctly: it has an internal staging register for the duty
// cycle register that gets latched at the start of the next cycle, ensuring
// that the duty cycle setting never changes mid-cycle. The mbed PwmOut
// defeats this by resetting the cycle counter on every write, which aborts
// the current cycle at the moment of the write, causing an effectively random
// drop in brightness on each write (by artificially shortening a cycle).
// Fortunately, we can fix this by switching to the API-compatible FastPWM
// class, which does the write right (heh).
class LwPwmOut: public LwOut
{
public:
LwPwmOut(PinName pin, uint8_t initVal) : p(pin)
{
prv = initVal ^ 0xFF;
set(initVal);
}
virtual void set(uint8_t val)
{
if (val != prv)
p.write(pwm_level[prv = val]);
}
FastPWM p;
uint8_t prv;
};
// Gamma corrected PWM GPIO output
class LwPwmGammaOut: public LwPwmOut
{
public:
LwPwmGammaOut(PinName pin, uint8_t initVal)
: LwPwmOut(pin, initVal)
{
}
virtual void set(uint8_t val)
{
if (val != prv)
p.write(dof_to_gamma_pwm[prv = val]);
}
};
// LwOut class for a Digital-Only (Non-PWM) GPIO port
class LwDigOut: public LwOut
{
public:
LwDigOut(PinName pin, uint8_t initVal) : p(pin, initVal ? 1 : 0) { prv = initVal; }
virtual void set(uint8_t val)
{
if (val != prv)
p.write((prv = val) == 0 ? 0 : 1);
}
DigitalOut p;
uint8_t prv;
};
// Array of output physical pin assignments. This array is indexed
// by LedWiz logical port number - lwPin[n] is the maping for LedWiz
// port n (0-based).
//
// Each pin is handled by an interface object for the physical output
// type for the port, as set in the configuration. The interface
// objects handle the specifics of addressing the different hardware
// types (GPIO PWM ports, GPIO digital ports, TLC5940 ports, and
// 74HC595 ports).
static int numOutputs;
static LwOut **lwPin;
// Number of LedWiz emulation outputs. This is the number of ports
// accessible through the standard (non-extended) LedWiz protocol
// messages. The protocol has a fixed set of 32 outputs, but we
// might have fewer actual outputs. This is therefore set to the
// lower of 32 or the actual number of outputs.
static int numLwOutputs;
// Current absolute brightness levels for all outputs. These are
// DOF brightness level value, from 0 for fully off to 255 for fully
// on. These are always used for extended ports (33 and above), and
// are used for LedWiz ports (1-32) when we're in extended protocol
// mode (i.e., ledWizMode == false).
static uint8_t *outLevel;
// create a single output pin
LwOut *createLwPin(int portno, LedWizPortCfg &pc, Config &cfg)
{
// get this item's values
int typ = pc.typ;
int pin = pc.pin;
int flags = pc.flags;
int noisy = flags & PortFlagNoisemaker;
int activeLow = flags & PortFlagActiveLow;
int gamma = flags & PortFlagGamma;
// create the pin interface object according to the port type
LwOut *lwp;
switch (typ)
{
case PortTypeGPIOPWM:
// PWM GPIO port - assign if we have a valid pin
if (pin != 0)
{
// If gamma correction is to be used, and we're not inverting the output,
// use the combined Pwmout + Gamma output class; otherwise use the plain
// PwmOut class. We can't use the combined class for inverted outputs
// because we have to apply gamma correction before the inversion.
if (gamma && !activeLow)
{
// use the gamma-corrected PwmOut type
lwp = new LwPwmGammaOut(wirePinName(pin), 0);
// don't apply further gamma correction to this output
gamma = false;
}
else
{
// no gamma correction - use the standard PwmOut class
lwp = new LwPwmOut(wirePinName(pin), activeLow ? 255 : 0);
}
}
else
lwp = new LwVirtualOut();
break;
case PortTypeGPIODig:
// Digital GPIO port
if (pin != 0)
lwp = new LwDigOut(wirePinName(pin), activeLow ? 255 : 0);
else
lwp = new LwVirtualOut();
break;
case PortTypeTLC5940:
// TLC5940 port (if we don't have a TLC controller object, or it's not a valid
// output port number on the chips we have, create a virtual port)
if (tlc5940 != 0 && pin < cfg.tlc5940.nchips*16)
{
// If gamma correction is to be used, and we're not inverting the output,
// use the combined TLC4950 + Gamma output class. Otherwise use the plain
// TLC5940 output. We skip the combined class if the output is inverted
// because we need to apply gamma BEFORE the inversion to get the right
// results, but the combined class would apply it after because of the
// layering scheme - the combined class is a physical device output class,
// and a physical device output class is necessarily at the bottom of
// the stack. We don't have a combined inverted+gamma+TLC class, because
// inversion isn't recommended for TLC5940 chips in the first place, so
// it's not worth the extra memory footprint to have a dedicated table
// for this unlikely case.
if (gamma && !activeLow)
{
// use the gamma-corrected 5940 output mapper
lwp = new Lw5940GammaOut(pin);
// DON'T apply further gamma correction to this output
gamma = false;
}
else
{
// no gamma - use the plain (linear) 5940 output class
lwp = new Lw5940Out(pin);
}
}
else
{
// no TLC5940 chips, or invalid port number - use a virtual out
lwp = new LwVirtualOut();
}
break;
case PortType74HC595:
// 74HC595 port (if we don't have an HC595 controller object, or it's not a valid
// output number, create a virtual port)
if (hc595 != 0 && pin < cfg.hc595.nchips*8)
lwp = new Lw595Out(pin);
else
lwp = new LwVirtualOut();
break;
case PortTypeVirtual:
case PortTypeDisabled:
default:
// virtual or unknown
lwp = new LwVirtualOut();
break;
}
// If it's Active Low, layer on an inverter. Note that an inverter
// needs to be the bottom-most layer, since all of the other filters
// assume that they're working with normal (non-inverted) values.
if (activeLow)
lwp = new LwInvertedOut(lwp);
// If it's a noisemaker, layer on a night mode switch. Note that this
// needs to be
if (noisy)
lwp = new LwNoisyOut(lwp);
// If it's gamma-corrected, layer on a gamma corrector
if (gamma)
lwp = new LwGammaOut(lwp);
// If this is the ZB Launch Ball port, layer a monitor object. Note
// that the nominal port numbering in the config starts at 1, but we're
// using an array index, so test against portno+1.
if (portno + 1 == cfg.plunger.zbLaunchBall.port)
lwp = new LwZbLaunchOut(lwp);
// If this is the Night Mode indicator port, layer a night mode object.
if (portno + 1 == cfg.nightMode.port)
lwp = new LwNightModeIndicatorOut(lwp);
// turn it off initially
lwp->set(0);
// return the pin
return lwp;
}
// initialize the output pin array
void initLwOut(Config &cfg)
{
// Count the outputs. The first disabled output determines the
// total number of ports.
numOutputs = MAX_OUT_PORTS;
int i;
for (i = 0 ; i < MAX_OUT_PORTS ; ++i)
{
if (cfg.outPort[i].typ == PortTypeDisabled)
{
numOutputs = i;
break;
}
}
// the real LedWiz protocol can access at most 32 ports, or the
// actual number of outputs, whichever is lower
numLwOutputs = (numOutputs < 32 ? numOutputs : 32);
// allocate the pin array
lwPin = new LwOut*[numOutputs];
// Allocate the current brightness array. For these, allocate at
// least 32, so that we have enough for all LedWiz messages, but
// allocate the full set of actual ports if we have more than the
// LedWiz complement.
int minOuts = numOutputs < 32 ? 32 : numOutputs;
outLevel = new uint8_t[minOuts];
// create the pin interface object for each port
for (i = 0 ; i < numOutputs ; ++i)
lwPin[i] = createLwPin(i, cfg.outPort[i], cfg);
}
// LedWiz/Extended protocol mode.
//
// We implement output port control using both the legacy LedWiz
// protocol and a private extended protocol (which is 100% backwards
// compatible with the LedWiz protocol: we recognize all valid legacy
// protocol commands and handle them the same way a real LedWiz does).
// The legacy protocol can access the first 32 ports; the extended
// protocol can access all ports, including the first 32 as well as
// the higher numbered ports. This means that the first 32 ports
// can be addressed with either protocol, which muddies the waters
// a bit because of the different approaches the two protocols take.
// The legacy protocol separates the brightness/flash state of an
// output (which it calls the "profile" state) from the on/off state.
// The extended protocol doesn't; "off" is simply represented as
// brightness 0.
//
// To deal with the different approaches, we use this flag to keep
// track of the global protocol state. Each time we get an output
// port command, we switch the protocol state to the protocol that
// was used in the command. On a legacy SBA or PBA, we switch to
// LedWiz mode; on an extended output set message, we switch to
// extended mode. We remember the LedWiz and extended output state
// for each LW ports (1-32) separately. Any time the mode changes,
// we set ports 1-32 back to the state for the new mode.
//
// The reasoning here is that any given client (on the PC) will use
// one mode or the other, and won't mix the two. An older program
// that only knows about the LedWiz protocol will use the legacy
// protocol only, and never send us an extended command. A DOF-based
// program might use one or the other, according to how the user has
// configured DOF. We have to be able to switch seamlessly between
// the protocols to accommodate switching from one type of program
// on the PC to the other, but we shouldn't have to worry about one
// program switching back and forth.
static uint8_t ledWizMode = true;
// LedWiz output states.
//
// The LedWiz protocol has two separate control axes for each output.
// One axis is its on/off state; the other is its "profile" state, which
// is either a fixed brightness or a blinking pattern for the light.
// The two axes are independent.
//
// Note that the LedWiz protocol can only address 32 outputs, so the
// wizOn and wizVal arrays have fixed sizes of 32 elements no matter
// how many physical outputs we're using.
// on/off state for each LedWiz output
static uint8_t wizOn[32];
// LedWiz "Profile State" (the LedWiz brightness level or blink mode)
// for each LedWiz output. If the output was last updated through an
// LedWiz protocol message, it will have one of these values:
//
// 0-48 = fixed brightness 0% to 100%
// 49 = fixed brightness 100% (equivalent to 48)
// 129 = ramp up / ramp down
// 130 = flash on / off
// 131 = on / ramp down
// 132 = ramp up / on
//
// (Note that value 49 isn't documented in the LedWiz spec, but real
// LedWiz units treat it as equivalent to 48, and some PC software uses
// it, so we need to accept it for compatibility.)
static uint8_t wizVal[32] = {
48, 48, 48, 48, 48, 48, 48, 48,
48, 48, 48, 48, 48, 48, 48, 48,
48, 48, 48, 48, 48, 48, 48, 48,
48, 48, 48, 48, 48, 48, 48, 48
};
// LedWiz flash speed. This is a value from 1 to 7 giving the pulse
// rate for lights in blinking states.
static uint8_t wizSpeed = 2;
// Current LedWiz flash cycle counter. This runs from 0 to 255
// during each cycle.
static uint8_t wizFlashCounter = 0;
// translate an LedWiz brightness level (0-49) to a DOF brightness
// level (0-255)
static const uint8_t lw_to_dof[] = {
0, 5, 11, 16, 21, 27, 32, 37,
43, 48, 53, 58, 64, 69, 74, 80,
85, 90, 96, 101, 106, 112, 117, 122,
128, 133, 138, 143, 149, 154, 159, 165,
170, 175, 181, 186, 191, 197, 202, 207,
213, 218, 223, 228, 234, 239, 244, 250,
255, 255
};
// Translate an LedWiz output (ports 1-32) to a DOF brightness level.
static uint8_t wizState(int idx)
{
// If we're in extended protocol mode, ignore the LedWiz setting
// for the port and use the new protocol setting instead.
if (!ledWizMode)
return outLevel[idx];
// if it's off, show at zero intensity
if (!wizOn[idx])
return 0;
// check the state
uint8_t val = wizVal[idx];
if (val <= 49)
{
// PWM brightness/intensity level. Rescale from the LedWiz
// 0..48 integer range to our internal PwmOut 0..1 float range.
// Note that on the actual LedWiz, level 48 is actually about
// 98% on - contrary to the LedWiz documentation, level 49 is
// the true 100% level. (In the documentation, level 49 is
// simply not a valid setting.) Even so, we treat level 48 as
// 100% on to match the documentation. This won't be perfectly
// ocmpatible with the actual LedWiz, but it makes for such a
// small difference in brightness (if the output device is an
// LED, say) that no one should notice. It seems better to
// err in this direction, because while the difference in
// brightness when attached to an LED won't be noticeable, the
// difference in duty cycle when attached to something like a
// contactor *can* be noticeable - anything less than 100%
// can cause a contactor or relay to chatter. There's almost
// never a situation where you'd want values other than 0% and
// 100% for a contactor or relay, so treating level 48 as 100%
// makes us work properly with software that's expecting the
// documented LedWiz behavior and therefore uses level 48 to
// turn a contactor or relay fully on.
//
// Note that value 49 is undefined in the LedWiz documentation,
// but real LedWiz units treat it as 100%, equivalent to 48.
// Some software on the PC side uses this, so we need to treat
// it the same way for compatibility.
return lw_to_dof[val];
}
else if (val == 129)
{
// 129 = ramp up / ramp down
return wizFlashCounter < 128
? wizFlashCounter*2 + 1
: (255 - wizFlashCounter)*2;
}
else if (val == 130)
{
// 130 = flash on / off
return wizFlashCounter < 128 ? 255 : 0;
}
else if (val == 131)
{
// 131 = on / ramp down
return wizFlashCounter < 128 ? 255 : (255 - wizFlashCounter)*2;
}
else if (val == 132)
{
// 132 = ramp up / on
return wizFlashCounter < 128 ? wizFlashCounter*2 : 255;
}
else
{
// Other values are undefined in the LedWiz documentation. Hosts
// *should* never send undefined values, since whatever behavior an
// LedWiz unit exhibits in response is accidental and could change
// in a future version. We'll treat all undefined values as equivalent
// to 48 (fully on).
return 255;
}
}
// LedWiz flash timer pulse. This fires periodically to update
// LedWiz flashing outputs. At the slowest pulse speed set via
// the SBA command, each waveform cycle has 256 steps, so we
// choose the pulse time base so that the slowest cycle completes
// in 2 seconds. This seems to roughly match the real LedWiz
// behavior. We run the pulse timer at the same rate regardless
// of the pulse speed; at higher pulse speeds, we simply use
// larger steps through the cycle on each interrupt. Running
// every 1/127 of a second = 8ms seems to be a pretty light load.
Timeout wizPulseTimer;
#define WIZ_PULSE_TIME_BASE (1.0f/127.0f)
static void wizPulse()
{
// increase the counter by the speed increment, and wrap at 256
wizFlashCounter += wizSpeed;
wizFlashCounter &= 0xff;
// if we have any flashing lights, update them
int ena = false;
for (int i = 0 ; i < numLwOutputs ; ++i)
{
if (wizOn[i])
{
uint8_t s = wizVal[i];
if (s >= 129 && s <= 132)
{
lwPin[i]->set(wizState(i));
ena = true;
}
}
}
// Set up the next timer pulse only if we found anything flashing.
// To minimize overhead from this feature, we only enable the interrupt
// when we need it. This eliminates any performance penalty to other
// features when the host software doesn't care about the flashing
// modes. For example, DOF never uses these modes, so there's no
// need for them when running Visual Pinball.
if (ena)
wizPulseTimer.attach(wizPulse, WIZ_PULSE_TIME_BASE);
}
// Update the physical outputs connected to the LedWiz ports. This is
// called after any update from an LedWiz protocol message.
static void updateWizOuts()
{
// update each output
int pulse = false;
for (int i = 0 ; i < numLwOutputs ; ++i)
{
pulse |= (wizVal[i] >= 129 && wizVal[i] <= 132);
lwPin[i]->set(wizState(i));
}
// if any outputs are set to flashing mode, and the pulse timer
// isn't running, turn it on
if (pulse)
wizPulseTimer.attach(wizPulse, WIZ_PULSE_TIME_BASE);
// flush changes to 74HC595 chips, if attached
if (hc595 != 0)
hc595->update();
}
// Update all physical outputs. This is called after a change to a global
// setting that affects all outputs, such as engaging or canceling Night Mode.
static void updateAllOuts()
{
// uddate each LedWiz output
for (int i = 0 ; i < numLwOutputs ; ++i)
lwPin[i]->set(wizState(i));
// update each extended output
for (int i = numLwOutputs ; i < numOutputs ; ++i)
lwPin[i]->set(outLevel[i]);
// flush 74HC595 changes, if necessary
if (hc595 != 0)
hc595->update();
}
// ---------------------------------------------------------------------------
//
// Button input
//
// button state
struct ButtonState
{
ButtonState()
{
di = NULL;
physState = logState = prevLogState = 0;
virtState = 0;
dbState = 0;
pulseState = 0;
pulseTime = 0;
}
// "Virtually" press or un-press the button. This can be used to
// control the button state via a software (virtual) source, such as
// the ZB Launch Ball feature.
//
// To allow sharing of one button by multiple virtual sources, each
// virtual source must keep track of its own state internally, and
// only call this routine to CHANGE the state. This is because calls
// to this routine are additive: turning the button ON twice will
// require turning it OFF twice before it actually turns off.
void virtPress(bool on)
{
// Increment or decrement the current state
virtState += on ? 1 : -1;
}
// DigitalIn for the button, if connected to a physical input
TinyDigitalIn *di;
// Time of last pulse state transition.
//
// Each state change sticks for a minimum period; when the timer expires,
// if the underlying physical switch is in a different state, we switch
// to the next state and restart the timer. pulseTime is the time remaining
// remaining before we can make another state transition, in microseconds.
// The state transitions require a complete cycle, 1 -> 2 -> 3 -> 4 -> 1...;
// this guarantees that the parity of the pulse count always matches the
// current physical switch state when the latter is stable, which makes
// it impossible to "trick" the host by rapidly toggling the switch state.
// (On my original Pinscape cabinet, I had a hardware pulse generator
// for coin door, and that *was* possible to trick by rapid toggling.
// This software system can't be fooled that way.)
uint32_t pulseTime;
// Config key index. This points to the ButtonCfg structure in the
// configuration that contains the PC key mapping for the button.
uint8_t cfgIndex;
// Virtual press state. This is used to simulate pressing the button via
// software inputs rather than physical inputs. To allow one button to be
// controlled by mulitple software sources, each source should keep track
// of its own virtual state for the button independently, and then INCREMENT
// this variable when the source's state transitions from off to on, and
// DECREMENT it when the source's state transitions from on to off. That
// will make the button's pressed state the logical OR of all of the virtual
// and physical source states.
uint8_t virtState;
// Debounce history. On each scan, we shift in a 1 bit to the lsb if
// the physical key is reporting ON, and shift in a 0 bit if the physical
// key is reporting OFF. We consider the key to have a new stable state
// if we have N consecutive 0's or 1's in the low N bits (where N is
// a parameter that determines how long we wait for transients to settle).
uint8_t dbState;
// current PHYSICAL on/off state, after debouncing
uint8_t physState : 1;
// current LOGICAL on/off state as reported to the host.
uint8_t logState : 1;
// previous logical on/off state, when keys were last processed for USB
// reports and local effects
uint8_t prevLogState : 1;
// Pulse state
//
// A button in pulse mode (selected via the config flags for the button)
// transmits a brief logical button press and release each time the attached
// physical switch changes state. This is useful for cases where the host
// expects a key press for each change in the state of the physical switch.
// The canonical example is the Coin Door switch in VPinMAME, which requires
// pressing the END key to toggle the open/closed state. This software design
// isn't easily implemented in a physical coin door, though; the simplest
// physical sensor for the coin door state is a switch that's on when the
// door is open and off when the door is closed (or vice versa, but in either
// case, the switch state corresponds to the current state of the door at any
// given time, rather than pulsing on state changes). The "pulse mode"
// option brdiges this gap by generating a toggle key event each time
// there's a change to the physical switch's state.
//
// Pulse state:
// 0 -> not a pulse switch - logical key state equals physical switch state
// 1 -> off
// 2 -> transitioning off-on
// 3 -> on
// 4 -> transitioning on-off
uint8_t pulseState : 3; // 5 states -> we need 3 bits
} __attribute__((packed));
ButtonState *buttonState; // live button slots, allocated on startup
int8_t nButtons; // number of live button slots allocated
int8_t zblButtonIndex = -1; // index of ZB Launch button slot; -1 if unused
// Shift button state
struct
{
int8_t index; // buttonState[] index of shift button; -1 if none
uint8_t state : 2; // current shift state:
// 0 = not shifted
// 1 = shift button down, no key pressed yet
// 2 = shift button down, key pressed
uint8_t pulse : 1; // sending pulsed keystroke on release
uint32_t pulseTime; // time of start of pulsed keystroke
}
__attribute__((packed)) shiftButton;
// Button data
uint32_t jsButtons = 0;
// Keyboard report state. This tracks the USB keyboard state. We can
// report at most 6 simultaneous non-modifier keys here, plus the 8
// modifier keys.
struct
{
bool changed; // flag: changed since last report sent
uint8_t nkeys; // number of active keys in the list
uint8_t data[8]; // key state, in USB report format: byte 0 is the modifier key mask,
// byte 1 is reserved, and bytes 2-7 are the currently pressed key codes
} kbState = { false, 0, { 0, 0, 0, 0, 0, 0, 0, 0 } };
// Media key state
struct
{
bool changed; // flag: changed since last report sent
uint8_t data; // key state byte for USB reports
} mediaState = { false, 0 };
// button scan interrupt ticker
Ticker buttonTicker;
// Button scan interrupt handler. We call this periodically via
// a timer interrupt to scan the physical button states.
void scanButtons()
{
// scan all button input pins
ButtonState *bs = buttonState;
for (int i = 0 ; i < nButtons ; ++i, ++bs)
{
// if this logical button is connected to a physical input, check
// the GPIO pin state
if (bs->di != NULL)
{
// Shift the new state into the debounce history. Note that
// the physical pin inputs are active low (0V/GND = ON), so invert
// the reading by XOR'ing the low bit with 1. And of course we
// only want the low bit (since the history is effectively a bit
// vector), so mask the whole thing with 0x01 as well.
uint8_t db = bs->dbState;
db <<= 1;
db |= (bs->di->read() & 0x01) ^ 0x01;
bs->dbState = db;
// if we have all 0's or 1's in the history for the required
// debounce period, the key state is stable - check for a change
// to the last stable state
const uint8_t stable = 0x1F; // 00011111b -> 5 stable readings
db &= stable;
if (db == 0 || db == stable)
bs->physState = db & 1;
}
}
}
// Button state transition timer. This is used for pulse buttons, to
// control the timing of the logical key presses generated by transitions
// in the physical button state.
Timer buttonTimer;
// Count a button during the initial setup scan
void countButton(uint8_t typ, bool &kbKeys)
{
// count it
++nButtons;
// if it's a keyboard key or media key, note that we need a USB
// keyboard interface
if (typ == BtnTypeKey || typ == BtnTypeMedia)
kbKeys = true;
}
// initialize the button inputs
void initButtons(Config &cfg, bool &kbKeys)
{
// presume we'll find no keyboard keys
kbKeys = false;
// presume no shift key
shiftButton.index = -1;
// Count up how many button slots we'll need to allocate. Start
// with assigned buttons from the configuration, noting that we
// only need to create slots for buttons that are actually wired.
nButtons = 0;
for (int i = 0 ; i < MAX_BUTTONS ; ++i)
{
// it's valid if it's wired to a real input pin
if (wirePinName(cfg.button[i].pin) != NC)
countButton(cfg.button[i].typ, kbKeys);
}
// Count virtual buttons
// ZB Launch
if (cfg.plunger.zbLaunchBall.port != 0)
{
// valid - remember the live button index
zblButtonIndex = nButtons;
// count it
countButton(cfg.plunger.zbLaunchBall.keytype, kbKeys);
}
// Allocate the live button slots
ButtonState *bs = buttonState = new ButtonState[nButtons];
// Configure the physical inputs
for (int i = 0 ; i < MAX_BUTTONS ; ++i)
{
PinName pin = wirePinName(cfg.button[i].pin);
if (pin != NC)
{
// point back to the config slot for the keyboard data
bs->cfgIndex = i;
// set up the GPIO input pin for this button
bs->di = new TinyDigitalIn(pin);
// if it's a pulse mode button, set the initial pulse state to Off
if (cfg.button[i].flags & BtnFlagPulse)
bs->pulseState = 1;
// If this is the shift button, note its buttonState[] index.
// We have to figure the buttonState[] index separately from
// the config index, because the indices can differ if some
// config slots are left unused.
if (cfg.shiftButton == i+1)
shiftButton.index = bs - buttonState;
// advance to the next button
++bs;
}
}
// Configure the virtual buttons. These are buttons controlled via
// software triggers rather than physical GPIO inputs. The virtual
// buttons have the same control structures as regular buttons, but
// they get their configuration data from other config variables.
// ZB Launch Ball button
if (cfg.plunger.zbLaunchBall.port != 0)
{
// Point back to the config slot for the keyboard data.
// We use a special extra slot for virtual buttons,
// so we also need to set up the slot data by copying
// the ZBL config data to our virtual button slot.
bs->cfgIndex = ZBL_BUTTON_CFG;
cfg.button[ZBL_BUTTON_CFG].pin = PINNAME_TO_WIRE(NC);
cfg.button[ZBL_BUTTON_CFG].typ = cfg.plunger.zbLaunchBall.keytype;
cfg.button[ZBL_BUTTON_CFG].val = cfg.plunger.zbLaunchBall.keycode;
// advance to the next button
++bs;
}
// start the button scan thread
buttonTicker.attach_us(scanButtons, 1000);
// start the button state transition timer
buttonTimer.start();
}
// Media key mapping. This maps from an 8-bit USB media key
// code to the corresponding bit in our USB report descriptor.
// The USB key code is the index, and the value at the index
// is the report descriptor bit. See joystick.cpp for the
// media descriptor details. Our currently mapped keys are:
//
// 0xE2 -> Mute -> 0x01
// 0xE9 -> Volume Up -> 0x02
// 0xEA -> Volume Down -> 0x04
// 0xB5 -> Next Track -> 0x08
// 0xB6 -> Previous Track -> 0x10
// 0xB7 -> Stop -> 0x20
// 0xCD -> Play / Pause -> 0x40
//
static const uint8_t mediaKeyMap[] = {
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 00-0F
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 10-1F
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 20-2F
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 30-3F
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 40-4F
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 50-5F
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 60-6F
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 70-7F
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 80-8F
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 90-9F
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // A0-AF
0, 0, 0, 0, 0, 8, 16, 32, 0, 0, 0, 0, 0, 0, 0, 0, // B0-BF
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 64, 0, 0, // C0-CF
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // D0-DF
0, 0, 1, 0, 0, 0, 0, 0, 0, 2, 4, 0, 0, 0, 0, 0, // E0-EF
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 // F0-FF
};
// Process the button state. This sets up the joystick, keyboard, and
// media control descriptors with the current state of keys mapped to
// those HID interfaces, and executes the local effects for any keys
// mapped to special device functions (e.g., Night Mode).
void processButtons(Config &cfg)
{
// start with an empty list of USB key codes
uint8_t modkeys = 0;
uint8_t keys[7] = { 0, 0, 0, 0, 0, 0, 0 };
int nkeys = 0;
// clear the joystick buttons
uint32_t newjs = 0;
// start with no media keys pressed
uint8_t mediakeys = 0;
// calculate the time since the last run
uint32_t dt = buttonTimer.read_us();
buttonTimer.reset();
// check the shift button state
if (shiftButton.index != -1)
{
ButtonState *sbs = &buttonState[shiftButton.index];
switch (shiftButton.state)
{
case 0:
// Not shifted. Check if the button is now down: if so,
// switch to state 1 (shift button down, no key pressed yet).
if (sbs->physState)
shiftButton.state = 1;
break;
case 1:
// Shift button down, no key pressed yet. If the button is
// now up, it counts as an ordinary button press instead of
// a shift button press, since the shift function was never
// used. Return to unshifted state and start a timed key
// pulse event.
if (!sbs->physState)
{
shiftButton.state = 0;
shiftButton.pulse = 1;
shiftButton.pulseTime = 50000+dt; // 50 ms left on the key pulse
}
break;
case 2:
// Shift button down, other key was pressed. If the button is
// now up, simply clear the shift state without sending a key
// press for the shift button itself to the PC. The shift
// function was used, so its ordinary key press function is
// suppressed.
if (!sbs->physState)
shiftButton.state = 0;
break;
}
}
// scan the button list
ButtonState *bs = buttonState;
for (int i = 0 ; i < nButtons ; ++i, ++bs)
{
// Check the button type:
// - shift button
// - pulsed button
// - regular button
if (shiftButton.index == i)
{
// This is the shift button. Its logical state for key
// reporting purposes is controlled by the shift buttton
// pulse timer. If we're in a pulse, its logical state
// is pressed.
if (shiftButton.pulse)
{
// deduct the current interval from the pulse time, ending
// the pulse if the time has expired
if (shiftButton.pulseTime > dt)
shiftButton.pulseTime -= dt;
else
shiftButton.pulse = 0;
}
// the button is logically pressed if we're in a pulse
bs->logState = shiftButton.pulse;
}
else if (bs->pulseState != 0)
{
// if the timer has expired, check for state changes
if (bs->pulseTime > dt)
{
// not expired yet - deduct the last interval
bs->pulseTime -= dt;
}
else
{
// pulse time expired - check for a state change
const uint32_t pulseLength = 200000UL; // 200 milliseconds
switch (bs->pulseState)
{
case 1:
// off - if the physical switch is now on, start a button pulse
if (bs->physState)
{
bs->pulseTime = pulseLength;
bs->pulseState = 2;
bs->logState = 1;
}
break;
case 2:
// transitioning off to on - end the pulse, and start a gap
// equal to the pulse time so that the host can observe the
// change in state in the logical button
bs->pulseState = 3;
bs->pulseTime = pulseLength;
bs->logState = 0;
break;
case 3:
// on - if the physical switch is now off, start a button pulse
if (!bs->physState)
{
bs->pulseTime = pulseLength;
bs->pulseState = 4;
bs->logState = 1;
}
break;
case 4:
// transitioning on to off - end the pulse, and start a gap
bs->pulseState = 1;
bs->pulseTime = pulseLength;
bs->logState = 0;
break;
}
}
}
else
{
// not a pulse switch - the logical state is the same as the physical state
bs->logState = bs->physState;
}
// carry out any edge effects from buttons changing states
if (bs->logState != bs->prevLogState)
{
// check for special key transitions
if (cfg.nightMode.btn == i + 1)
{
// Check the switch type in the config flags. If flag 0x01 is set,
// it's a persistent on/off switch, so the night mode state simply
// follows the current state of the switch. Otherwise, it's a
// momentary button, so each button push (i.e., each transition from
// logical state OFF to ON) toggles the current night mode state.
if (cfg.nightMode.flags & 0x01)
{
// toggle switch - when the button changes state, change
// night mode to match the new state
setNightMode(bs->logState);
}
else
{
// Momentary switch - toggle the night mode state when the
// physical button is pushed (i.e., when its logical state
// transitions from OFF to ON).
//
// In momentary mode, night mode flag 0x02 makes it the
// shifted version of the button. In this case, only
// proceed if the shift button is pressed.
bool pressed = bs->logState;
if ((cfg.nightMode.flags & 0x02) != 0)
{
// if the shift button is pressed but hasn't been used
// as a shift yet, mark it as used, so that it doesn't
// also generate its own key code on release
if (shiftButton.state == 1)
shiftButton.state = 2;
// if the shift button isn't even pressed
if (shiftButton.state == 0)
pressed = false;
}
// if it's pressed (even after considering the shift mode),
// toggle night mode
if (pressed)
toggleNightMode();
}
}
// remember the new state for comparison on the next run
bs->prevLogState = bs->logState;
}
// if it's pressed, physically or virtually, add it to the appropriate
// key state list
if (bs->logState || bs->virtState)
{
// Get the key type and code. If the shift button is down AND
// this button has a shifted key meaning, use the shifted key
// meaning. Otherwise use the primary key meaning.
ButtonCfg *bc = &cfg.button[bs->cfgIndex];
uint8_t typ, val;
if (shiftButton.state && bc->typ2 != BtnTypeNone)
{
// shifted - use the secondary key code
typ = bc->typ2, val = bc->val2;
// If the shift button hasn't been used a a shift yet
// (state 1), mark it as used (state 2). This prevents
// it from generating its own keystroke when released,
// which it does if no other keys are pressed while it's
// being held.
if (shiftButton.state == 1)
shiftButton.state = 2;
}
else
{
// not shifted - use the primary key code
typ = bc->typ, val = bc->val;
}
switch (typ)
{
case BtnTypeJoystick:
// joystick button
newjs |= (1 << (val - 1));
break;
case BtnTypeKey:
// Keyboard key. The USB keyboard report encodes regular
// keys and modifier keys separately, so we need to check
// which type we have. Note that past versions mapped the
// Keyboard Volume Up, Keyboard Volume Down, and Keyboard
// Mute keys to the corresponding Media keys. We no longer
// do this; instead, we have the separate BtnTypeMedia for
// explicitly using media keys if desired.
if (val >= 0xE0 && val <= 0xE7)
{
// It's a modifier key. These are represented in the USB
// reports with a bit mask. We arrange the mask bits in
// the same order as the scan codes, so we can figure the
// appropriate bit with a simple shift.
modkeys |= (1 << (val - 0xE0));
}
else
{
// It's a regular key. Make sure it's not already in the
// list, and that the list isn't full. If neither of these
// apply, add the key to the key array.
if (nkeys < 7)
{
bool found = false;
for (int j = 0 ; j < nkeys ; ++j)
{
if (keys[j] == val)
{
found = true;
break;
}
}
if (!found)
keys[nkeys++] = val;
}
}
break;
case BtnTypeMedia:
// Media control key. The media keys are mapped in the USB
// report to bits, whereas the key codes are specified in the
// config with their USB usage numbers. E.g., the config val
// for Media Next Track is 0xB5, but we encode this in the USB
// report as bit 0x08. The mediaKeyMap[] table translates
// from the USB usage number to the mask bit. If the key isn't
// among the subset we support, the mapped bit will be zero, so
// the "|=" will have no effect and the key will be ignored.
mediakeys |= mediaKeyMap[val];
break;
}
}
}
// check for joystick button changes
if (jsButtons != newjs)
jsButtons = newjs;
// Check for changes to the keyboard keys
if (kbState.data[0] != modkeys
|| kbState.nkeys != nkeys
|| memcmp(keys, &kbState.data[2], 6) != 0)
{
// we have changes - set the change flag and store the new key data
kbState.changed = true;
kbState.data[0] = modkeys;
if (nkeys <= 6) {
// 6 or fewer simultaneous keys - report the key codes
kbState.nkeys = nkeys;
memcpy(&kbState.data[2], keys, 6);
}
else {
// more than 6 simultaneous keys - report rollover (all '1' key codes)
kbState.nkeys = 6;
memset(&kbState.data[2], 1, 6);
}
}
// Check for changes to media keys
if (mediaState.data != mediakeys)
{
mediaState.changed = true;
mediaState.data = mediakeys;
}
}
// ---------------------------------------------------------------------------
//
// Customization joystick subbclass
//
class MyUSBJoystick: public USBJoystick
{
public:
MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release,
bool waitForConnect, bool enableJoystick, bool useKB)
: USBJoystick(vendor_id, product_id, product_release, waitForConnect, enableJoystick, useKB)
{
sleeping_ = false;
reconnectPending_ = false;
timer_.start();
}
// show diagnostic LED feedback for connect state
void diagFlash()
{
if (!configured() || sleeping_)
{
// flash once if sleeping or twice if disconnected
for (int j = isConnected() ? 1 : 2 ; j > 0 ; --j)
{
// short red flash
diagLED(1, 0, 0);
wait_us(50000);
diagLED(0, 0, 0);
wait_us(50000);
}
}
}
// are we connected?
int isConnected() { return configured(); }
// Are we in sleep mode? If true, this means that the hardware has
// detected no activity on the bus for 3ms. This happens when the
// cable is physically disconnected, the computer is turned off, or
// the connection is otherwise disabled.
bool isSleeping() const { return sleeping_; }
// If necessary, attempt to recover from a broken connection.
//
// This is a hack, to work around an apparent timing bug in the
// KL25Z USB implementation that I haven't been able to solve any
// other way.
//
// The issue: when we have an established connection, and the
// connection is broken by physically unplugging the cable or by
// rebooting the PC, the KL25Z sometimes fails to reconnect when
// the physical connection is re-established. The failure is
// sporadic; I'd guess it happens about 25% of the time, but I
// haven't collected any real statistics on it.
//
// The proximate cause of the failure is a deadlock in the SETUP
// protocol between the host and device that happens around the
// point where the PC is requesting the configuration descriptor.
// The exact point in the protocol where this occurs varies slightly;
// it can occur a message or two before or after the Get Config
// Descriptor packet. No matter where it happens, the nature of
// the deadlock is the same: the PC thinks it sees a STALL on EP0
// from the device, so it terminates the connection attempt, which
// stops further traffic on the cable. The KL25Z USB hardware sees
// the lack of traffic and triggers a SLEEP interrupt (a misnomer
// for what should have been called a BROKEN CONNECTION interrupt).
// Both sides simply stop talking at this point, so the connection
// is effectively dead.
//
// The strange thing is that, as far as I can tell, the KL25Z isn't
// doing anything to trigger the STALL on its end. Both the PC
// and the KL25Z are happy up until the very point of the failure
// and show no signs of anything wrong in the protocol exchange.
// In fact, every detail of the protocol exchange up to this point
// is identical to every successful exchange that does finish the
// whole setup process successfully, on both the KL25Z and Windows
// sides of the connection. I can't find any point of difference
// between successful and unsuccessful sequences that suggests why
// the fateful message fails. This makes me suspect that whatever
// is going wrong is inside the KL25Z USB hardware module, which
// is a pretty substantial black box - it has a lot of internal
// state that's inaccessible to the software. Further bolstering
// this theory is a little experiment where I found that I could
// reproduce the exact sequence of events of a failed reconnect
// attempt in an *initial* connection, which is otherwise 100%
// reliable, by inserting a little bit of artifical time padding
// (200us per event) into the SETUP interrupt handler. My
// hypothesis is that the STALL event happens because the KL25Z
// USB hardware is too slow to respond to a message. I'm not
// sure why this would only happen after a disconnect and not
// during the initial connection; maybe there's some reset work
// in the hardware that takes a substantial amount of time after
// a disconnect.
//
// The solution: the problem happens during the SETUP exchange,
// after we've been assigned a bus address. It only happens on
// some percentage of connection requests, so if we can simply
// start over when the failure occurs, we'll eventually succeed
// simply because not every attempt fails. The ideal would be
// to get the success rate up to 100%, but I can't figure out how
// to fix the underlying problem, so this is the next best thing.
//
// We can detect when the failure occurs by noticing when a SLEEP
// interrupt happens while we have an assigned bus address.
//
// To start a new connection attempt, we have to make the *host*
// try again. The logical connection is initiated solely by the
// host. Fortunately, it's easy to get the host to initiate the
// process: if we disconnect on the device side, it effectively
// makes the device look to the PC like it's electrically unplugged.
// When we reconnect on the device side, the PC thinks a new device
// has been plugged in and initiates the logical connection setup.
// We have to remain disconnected for a macroscopic interval for
// this to happen - 5ms seems to do the trick.
//
// Here's the full algorithm:
//
// 1. In the SLEEP interrupt handler, if we have a bus address,
// we disconnect the device. This happens in ISR context, so we
// can't wait around for 5ms. Instead, we simply set a flag noting
// that the connection has been broken, and we note the time and
// return.
//
// 2. In our main loop, whenever we find that we're disconnected,
// we call recoverConnection(). The main loop's job is basically a
// bunch of device polling. We're just one more device to poll, so
// recoverConnection() will be called soon after a disconnect, and
// then will be called in a loop for as long as we're disconnected.
//
// 3. In recoverConnection(), we check the flag we set in the SLEEP
// handler. If set, we wait until 5ms has elapsed from the SLEEP
// event time that we noted, then we'll reconnect and clear the flag.
// This gives us the required 5ms (or longer) delay between the
// disconnect and reconnect, ensuring that the PC will notice and
// will start over with the connection protocol.
//
// 4. The main loop keeps calling recoverConnection() in a loop for
// as long as we're disconnected, so if the new connection attempt
// triggered in step 3 fails, the SLEEP interrupt will happen again,
// we'll disconnect again, the flag will get set again, and
// recoverConnection() will reconnect again after another suitable
// delay. This will repeat until the connection succeeds or hell
// freezes over.
//
// Each disconnect happens immediately when a reconnect attempt
// fails, and an entire successful connection only takes about 25ms,
// so our loop can retry at more than 30 attempts per second.
// In my testing, lost connections almost always reconnect in
// less than second with this code in place.
void recoverConnection()
{
// if a reconnect is pending, reconnect
if (reconnectPending_)
{
// Loop until we reach 5ms after the last sleep event.
for (bool done = false ; !done ; )
{
// If we've reached the target time, reconnect. Do the
// time check and flag reset atomically, so that we can't
// have another sleep event sneak in after we've verified
// the time. If another event occurs, it has to happen
// before we check, in which case it'll update the time
// before we check it, or after we clear the flag, in
// which case it will reset the flag and we'll do another
// round the next time we call this routine.
__disable_irq();
if (uint32_t(timer_.read_us() - lastSleepTime_) > 5000)
{
connect(false);
reconnectPending_ = false;
done = true;
}
__enable_irq();
}
}
}
protected:
// Handle a USB SLEEP interrupt. This interrupt signifies that the
// USB hardware module hasn't seen any token traffic for 3ms, which
// means that we're either physically or logically disconnected.
//
// Important: this runs in ISR context.
//
// Note that this is a specialized sense of "sleep" that's unrelated
// to the similarly named power modes on the PC. This has nothing
// to do with suspend/sleep mode on the PC, and it's not a low-power
// mode on the KL25Z. They really should have called this interrupt
// DISCONNECT or BROKEN CONNECTION.)
virtual void sleepStateChanged(unsigned int sleeping)
{
// note the new state
sleeping_ = sleeping;
// If we have a non-zero bus address, we have at least a partial
// connection to the host (we've made it at least as far as the
// SETUP stage). Explicitly disconnect, and the pending reconnect
// flag, and remember the time of the sleep event.
if (USB0->ADDR != 0x00)
{
disconnect();
lastSleepTime_ = timer_.read_us();
reconnectPending_ = true;
}
}
// is the USB connection asleep?
volatile bool sleeping_;
// flag: reconnect pending after sleep event
volatile bool reconnectPending_;
// time of last sleep event while connected
volatile uint32_t lastSleepTime_;
// timer to keep track of interval since last sleep event
Timer timer_;
};
// ---------------------------------------------------------------------------
//
// Accelerometer (MMA8451Q)
//
// The MMA8451Q is the KL25Z's on-board 3-axis accelerometer.
//
// This is a custom wrapper for the library code to interface to the
// MMA8451Q. This class encapsulates an interrupt handler and
// automatic calibration.
//
// We install an interrupt handler on the accelerometer "data ready"
// interrupt to ensure that we fetch each sample immediately when it
// becomes available. The accelerometer data rate is fiarly high
// (800 Hz), so it's not practical to keep up with it by polling.
// Using an interrupt handler lets us respond quickly and read
// every sample.
//
// We automatically calibrate the accelerometer so that it's not
// necessary to get it exactly level when installing it, and so
// that it's also not necessary to calibrate it manually. There's
// lots of experience that tells us that manual calibration is a
// terrible solution, mostly because cabinets tend to shift slightly
// during use, requiring frequent recalibration. Instead, we
// calibrate automatically. We continuously monitor the acceleration
// data, watching for periods of constant (or nearly constant) values.
// Any time it appears that the machine has been at rest for a while
// (about 5 seconds), we'll average the readings during that rest
// period and use the result as the level rest position. This is
// is ongoing, so we'll quickly find the center point again if the
// machine is moved during play (by an especially aggressive bout
// of nudging, say).
//
// I2C address of the accelerometer (this is a constant of the KL25Z)
const int MMA8451_I2C_ADDRESS = (0x1d<<1);
// SCL and SDA pins for the accelerometer (constant for the KL25Z)
#define MMA8451_SCL_PIN PTE25
#define MMA8451_SDA_PIN PTE24
// Digital in pin to use for the accelerometer interrupt. For the KL25Z,
// this can be either PTA14 or PTA15, since those are the pins physically
// wired on this board to the MMA8451 interrupt controller.
#define MMA8451_INT_PIN PTA15
// accelerometer input history item, for gathering calibration data
struct AccHist
{
AccHist() { x = y = d = 0.0; xtot = ytot = 0.0; cnt = 0; }
void set(float x, float y, AccHist *prv)
{
// save the raw position
this->x = x;
this->y = y;
this->d = distance(prv);
}
// reading for this entry
float x, y;
// distance from previous entry
float d;
// total and count of samples averaged over this period
float xtot, ytot;
int cnt;
void clearAvg() { xtot = ytot = 0.0; cnt = 0; }
void addAvg(float x, float y) { xtot += x; ytot += y; ++cnt; }
float xAvg() const { return xtot/cnt; }
float yAvg() const { return ytot/cnt; }
float distance(AccHist *p)
{ return sqrt(square(p->x - x) + square(p->y - y)); }
};
// accelerometer wrapper class
class Accel
{
public:
Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin)
: mma_(sda, scl, i2cAddr), intIn_(irqPin)
{
// remember the interrupt pin assignment
irqPin_ = irqPin;
// reset and initialize
reset();
}
void reset()
{
// clear the center point
cx_ = cy_ = 0.0;
// start the calibration timer
tCenter_.start();
iAccPrv_ = nAccPrv_ = 0;
// reset and initialize the MMA8451Q
mma_.init();
// set the initial integrated velocity reading to zero
vx_ = vy_ = 0;
// set up our accelerometer interrupt handling
intIn_.rise(this, &Accel::isr);
mma_.setInterruptMode(irqPin_ == PTA14 ? 1 : 2);
// read the current registers to clear the data ready flag
mma_.getAccXYZ(ax_, ay_, az_);
// start our timers
tGet_.start();
tInt_.start();
}
void get(int &x, int &y)
{
// disable interrupts while manipulating the shared data
__disable_irq();
// read the shared data and store locally for calculations
float ax = ax_, ay = ay_;
float vx = vx_, vy = vy_;
// reset the velocity sum for the next run
vx_ = vy_ = 0;
// get the time since the last get() sample
float dt = tGet_.read_us()/1.0e6f;
tGet_.reset();
// done manipulating the shared data
__enable_irq();
// adjust the readings for the integration time
vx /= dt;
vy /= dt;
// add this sample to the current calibration interval's running total
AccHist *p = accPrv_ + iAccPrv_;
p->addAvg(ax, ay);
// check for auto-centering every so often
if (tCenter_.read_us() > 1000000)
{
// add the latest raw sample to the history list
AccHist *prv = p;
iAccPrv_ = (iAccPrv_ + 1) % maxAccPrv;
p = accPrv_ + iAccPrv_;
p->set(ax, ay, prv);
// if we have a full complement, check for stability
if (nAccPrv_ >= maxAccPrv)
{
// check if we've been stable for all recent samples
static const float accTol = .01;
AccHist *p0 = accPrv_;
if (p0[0].d < accTol
&& p0[1].d < accTol
&& p0[2].d < accTol
&& p0[3].d < accTol
&& p0[4].d < accTol)
{
// Figure the new calibration point as the average of
// the samples over the rest period
cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5.0;
cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5.0;
}
}
else
{
// not enough samples yet; just up the count
++nAccPrv_;
}
// clear the new item's running totals
p->clearAvg();
// reset the timer
tCenter_.reset();
// If we haven't seen an interrupt in a while, do an explicit read to
// "unstick" the device. The device can become stuck - which is to say,
// it will stop delivering data-ready interrupts - if we fail to service
// one data-ready interrupt before the next one occurs. Reading a sample
// will clear up this overrun condition and allow normal interrupt
// generation to continue.
//
// Note that this stuck condition *shouldn't* ever occur - if it does,
// it means that we're spending a long period with interrupts disabled
// (either in a critical section or in another interrupt handler), which
// will likely cause other worse problems beyond the sticky accelerometer.
// Even so, it's easy to detect and correct, so we'll do so for the sake
// of making the system more fault-tolerant.
if (tInt_.read() > 1.0f)
{
float x, y, z;
mma_.getAccXYZ(x, y, z);
}
}
// report our integrated velocity reading in x,y
x = rawToReport(vx);
y = rawToReport(vy);
#ifdef DEBUG_PRINTF
if (x != 0 || y != 0)
printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt);
#endif
}
private:
// adjust a raw acceleration figure to a usb report value
int rawToReport(float v)
{
// scale to the joystick report range and round to integer
int i = int(round(v*JOYMAX));
// if it's near the center, scale it roughly as 20*(i/20)^2,
// to suppress noise near the rest position
static const int filter[] = {
-18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0,
0,
0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18
};
return (i > 20 || i < -20 ? i : filter[i+20]);
}
// interrupt handler
void isr()
{
// Read the axes. Note that we have to read all three axes
// (even though we only really use x and y) in order to clear
// the "data ready" status bit in the accelerometer. The
// interrupt only occurs when the "ready" bit transitions from
// off to on, so we have to make sure it's off.
float x, y, z;
mma_.getAccXYZ(x, y, z);
// calculate the time since the last interrupt
float dt = tInt_.read();
tInt_.reset();
// integrate the time slice from the previous reading to this reading
vx_ += (x + ax_ - 2*cx_)*dt/2;
vy_ += (y + ay_ - 2*cy_)*dt/2;
// store the updates
ax_ = x;
ay_ = y;
az_ = z;
}
// underlying accelerometer object
MMA8451Q mma_;
// last raw acceleration readings
float ax_, ay_, az_;
// integrated velocity reading since last get()
float vx_, vy_;
// timer for measuring time between get() samples
Timer tGet_;
// timer for measuring time between interrupts
Timer tInt_;
// Calibration reference point for accelerometer. This is the
// average reading on the accelerometer when in the neutral position
// at rest.
float cx_, cy_;
// timer for atuo-centering
Timer tCenter_;
// Auto-centering history. This is a separate history list that
// records results spaced out sparesely over time, so that we can
// watch for long-lasting periods of rest. When we observe nearly
// no motion for an extended period (on the order of 5 seconds), we
// take this to mean that the cabinet is at rest in its neutral
// position, so we take this as the calibration zero point for the
// accelerometer. We update this history continuously, which allows
// us to continuously re-calibrate the accelerometer. This ensures
// that we'll automatically adjust to any actual changes in the
// cabinet's orientation (e.g., if it gets moved slightly by an
// especially strong nudge) as well as any systematic drift in the
// accelerometer measurement bias (e.g., from temperature changes).
int iAccPrv_, nAccPrv_;
static const int maxAccPrv = 5;
AccHist accPrv_[maxAccPrv];
// interurupt pin name
PinName irqPin_;
// interrupt router
InterruptIn intIn_;
};
// ---------------------------------------------------------------------------
//
// Clear the I2C bus for the MMA8451Q. This seems necessary some of the time
// for reasons that aren't clear to me. Doing a hard power cycle has the same
// effect, but when we do a soft reset, the hardware sometimes seems to leave
// the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through
// the SCL line is supposed to clear this condition. I'm not convinced this
// actually works with the way this component is wired on the KL25Z, but it
// seems harmless, so we'll do it on reset in case it does some good. What
// we really seem to need is a way to power cycle the MMA8451Q if it ever
// gets stuck, but this is simply not possible in software on the KL25Z.
//
// If the accelerometer does get stuck, and a software reboot doesn't reset
// it, the only workaround is to manually power cycle the whole KL25Z by
// unplugging both of its USB connections.
//
void clear_i2c()
{
// set up general-purpose output pins to the I2C lines
DigitalOut scl(MMA8451_SCL_PIN);
DigitalIn sda(MMA8451_SDA_PIN);
// clock the SCL 9 times
for (int i = 0 ; i < 9 ; ++i)
{
scl = 1;
wait_us(20);
scl = 0;
wait_us(20);
}
}
// ---------------------------------------------------------------------------
//
// Simple binary (on/off) input debouncer. Requires an input to be stable
// for a given interval before allowing an update.
//
class Debouncer
{
public:
Debouncer(bool initVal, float tmin)
{
t.start();
this->stable = this->prv = initVal;
this->tmin = tmin;
}
// Get the current stable value
bool val() const { return stable; }
// Apply a new sample. This tells us the new raw reading from the
// input device.
void sampleIn(bool val)
{
// If the new raw reading is different from the previous
// raw reading, we've detected an edge - start the clock
// on the sample reader.
if (val != prv)
{
// we have an edge - reset the sample clock
t.reset();
// this is now the previous raw sample for nxt time
prv = val;
}
else if (val != stable)
{
// The new raw sample is the same as the last raw sample,
// and different from the stable value. This means that
// the sample value has been the same for the time currently
// indicated by our timer. If enough time has elapsed to
// consider the value stable, apply the new value.
if (t.read() > tmin)
stable = val;
}
}
private:
// current stable value
bool stable;
// last raw sample value
bool prv;
// elapsed time since last raw input change
Timer t;
// Minimum time interval for stability, in seconds. Input readings
// must be stable for this long before the stable value is updated.
float tmin;
};
// ---------------------------------------------------------------------------
//
// Turn off all outputs and restore everything to the default LedWiz
// state. This sets outputs #1-32 to LedWiz profile value 48 (full
// brightness) and switch state Off, sets all extended outputs (#33
// and above) to zero brightness, and sets the LedWiz flash rate to 2.
// This effectively restores the power-on conditions.
//
void allOutputsOff()
{
// reset all LedWiz outputs to OFF/48
for (int i = 0 ; i < numLwOutputs ; ++i)
{
outLevel[i] = 0;
wizOn[i] = 0;
wizVal[i] = 48;
lwPin[i]->set(0);
}
// reset all extended outputs (ports >32) to full off (brightness 0)
for (int i = numLwOutputs ; i < numOutputs ; ++i)
{
outLevel[i] = 0;
lwPin[i]->set(0);
}
// restore default LedWiz flash rate
wizSpeed = 2;
// flush changes to hc595, if applicable
if (hc595 != 0)
hc595->update();
}
// ---------------------------------------------------------------------------
//
// TV ON timer. If this feature is enabled, we toggle a TV power switch
// relay (connected to a GPIO pin) to turn on the cab's TV monitors shortly
// after the system is powered. This is useful for TVs that don't remember
// their power state and don't turn back on automatically after being
// unplugged and plugged in again. This feature requires external
// circuitry, which is built in to the expansion board and can also be
// built separately - see the Build Guide for the circuit plan.
//
// Theory of operation: to use this feature, the cabinet must have a
// secondary PC-style power supply (PSU2) for the feedback devices, and
// this secondary supply must be plugged in to the same power strip or
// switched outlet that controls power to the TVs. This lets us use PSU2
// as a proxy for the TV power state - when PSU2 is on, the TV outlet is
// powered, and when PSU2 is off, the TV outlet is off. We use a little
// latch circuit powered by PSU2 to monitor the status. The latch has a
// current state, ON or OFF, that we can read via a GPIO input pin, and
// we can set the state to ON by pulsing a separate GPIO output pin. As
// long as PSU2 is powered off, the latch stays in the OFF state, even if
// we try to set it by pulsing the SET pin. When PSU2 is turned on after
// being off, the latch starts receiving power but stays in the OFF state,
// since this is the initial condition when the power first comes on. So
// if our latch state pin is reading OFF, we know that PSU2 is either off
// now or *was* off some time since we last checked. We use a timer to
// check the state periodically. Each time we see the state is OFF, we
// try pulsing the SET pin. If the state still reads as OFF, we know
// that PSU2 is currently off; if the state changes to ON, though, we
// know that PSU2 has gone from OFF to ON some time between now and the
// previous check. When we see this condition, we start a countdown
// timer, and pulse the TV switch relay when the countdown ends.
//
// This scheme might seem a little convoluted, but it handles a number
// of tricky but likely scenarios:
//
// - Most cabinets systems are set up with "soft" PC power switches,
// so that the PC goes into "Soft Off" mode when the user turns off
// the cabinet by pushing the power button or using the Shut Down
// command from within Windows. In Windows parlance, this "soft off"
// condition is called ACPI State S5. In this state, the main CPU
// power is turned off, but the motherboard still provides power to
// USB devices. This means that the KL25Z keeps running. Without
// the external power sensing circuit, the only hint that we're in
// this state is that the USB connection to the host goes into Suspend
// mode, but that could mean other things as well. The latch circuit
// lets us tell for sure that we're in this state.
//
// - Some cabinet builders might prefer to use "hard" power switches,
// cutting all power to the cabinet, including the PC motherboard (and
// thus the KL25Z) every time the machine is turned off. This also
// applies to the "soft" switch case above when the cabinet is unplugged,
// a power outage occurs, etc. In these cases, the KL25Z will do a cold
// boot when the PC is turned on. We don't know whether the KL25Z
// will power up before or after PSU2, so it's not good enough to
// observe the current state of PSU2 when we first check. If PSU2
// were to come on first, checking only the current state would fool
// us into thinking that no action is required, because we'd only see
// that PSU2 is turned on any time we check. The latch handles this
// case by letting us see that PSU2 was indeed off some time before our
// first check.
//
// - If the KL25Z is rebooted while the main system is running, or the
// KL25Z is unplugged and plugged back in, we'll correctly leave the
// TVs as they are. The latch state is independent of the KL25Z's
// power or software state, so it's won't affect the latch state when
// the KL25Z is unplugged or rebooted; when we boot, we'll see that
// the latch is already on and that we don't have to turn on the TVs.
// This is important because TV ON buttons are usually on/off toggles,
// so we don't want to push the button on a TV that's already on.
//
// Current PSU2 state:
// 1 -> default: latch was on at last check, or we haven't checked yet
// 2 -> latch was off at last check, SET pulsed high
// 3 -> SET pulsed low, ready to check status
// 4 -> TV timer countdown in progress
// 5 -> TV relay on
int psu2_state = 1;
// PSU2 power sensing circuit connections
DigitalIn *psu2_status_sense;
DigitalOut *psu2_status_set;
// TV ON switch relay control
DigitalOut *tv_relay;
// Timer interrupt
Ticker tv_ticker;
float tv_delay_time;
void TVTimerInt()
{
// time since last state change
static Timer tv_timer;
// Check our internal state
switch (psu2_state)
{
case 1:
// Default state. This means that the latch was on last
// time we checked or that this is the first check. In
// either case, if the latch is off, switch to state 2 and
// try pulsing the latch. Next time we check, if the latch
// stuck, it means that PSU2 is now on after being off.
if (!psu2_status_sense->read())
{
// switch to OFF state
psu2_state = 2;
// try setting the latch
psu2_status_set->write(1);
}
break;
case 2:
// PSU2 was off last time we checked, and we tried setting
// the latch. Drop the SET signal and go to CHECK state.
psu2_status_set->write(0);
psu2_state = 3;
break;
case 3:
// CHECK state: we pulsed SET, and we're now ready to see
// if it stuck. If the latch is now on, PSU2 has transitioned
// from OFF to ON, so start the TV countdown. If the latch is
// off, our SET command didn't stick, so PSU2 is still off.
if (psu2_status_sense->read())
{
// The latch stuck, so PSU2 has transitioned from OFF
// to ON. Start the TV countdown timer.
tv_timer.reset();
tv_timer.start();
psu2_state = 4;
}
else
{
// The latch didn't stick, so PSU2 was still off at
// our last check. Try pulsing it again in case PSU2
// was turned on since the last check.
psu2_status_set->write(1);
psu2_state = 2;
}
break;
case 4:
// TV timer countdown in progress. If we've reached the
// delay time, pulse the relay.
if (tv_timer.read() >= tv_delay_time)
{
// turn on the relay for one timer interval
tv_relay->write(1);
psu2_state = 5;
}
break;
case 5:
// TV timer relay on. We pulse this for one interval, so
// it's now time to turn it off and return to the default state.
tv_relay->write(0);
psu2_state = 1;
break;
}
}
// Start the TV ON checker. If the status sense circuit is enabled in
// the configuration, we'll set up the pin connections and start the
// interrupt handler that periodically checks the status. Does nothing
// if any of the pins are configured as NC.
void startTVTimer(Config &cfg)
{
// only start the timer if the pins are configured and the delay
// time is nonzero
if (cfg.TVON.delayTime != 0
&& cfg.TVON.statusPin != 0xFF
&& cfg.TVON.latchPin != 0xFF
&& cfg.TVON.relayPin != 0xFF)
{
psu2_status_sense = new DigitalIn(wirePinName(cfg.TVON.statusPin));
psu2_status_set = new DigitalOut(wirePinName(cfg.TVON.latchPin));
tv_relay = new DigitalOut(wirePinName(cfg.TVON.relayPin));
tv_delay_time = cfg.TVON.delayTime/100.0;
// Set up our time routine to run every 1/4 second.
tv_ticker.attach(&TVTimerInt, 0.25);
}
}
// ---------------------------------------------------------------------------
//
// In-memory configuration data structure. This is the live version in RAM
// that we use to determine how things are set up.
//
// When we save the configuration settings, we copy this structure to
// non-volatile flash memory. At startup, we check the flash location where
// we might have saved settings on a previous run, and it's valid, we copy
// the flash data to this structure. Firmware updates wipe the flash
// memory area, so you have to use the PC config tool to send the settings
// again each time the firmware is updated.
//
NVM nvm;
// For convenience, a macro for the Config part of the NVM structure
#define cfg (nvm.d.c)
// flash memory controller interface
FreescaleIAP iap;
// figure the flash address as a pointer along with the number of sectors
// required to store the structure
NVM *configFlashAddr(int &addr, int &numSectors)
{
// figure how many flash sectors we span, rounding up to whole sectors
numSectors = (sizeof(NVM) + SECTOR_SIZE - 1)/SECTOR_SIZE;
// figure the address - this is the highest flash address where the
// structure will fit with the start aligned on a sector boundary
addr = iap.flash_size() - (numSectors * SECTOR_SIZE);
// return the address as a pointer
return (NVM *)addr;
}
// figure the flash address as a pointer
NVM *configFlashAddr()
{
int addr, numSectors;
return configFlashAddr(addr, numSectors);
}
// Load the config from flash
void loadConfigFromFlash()
{
// We want to use the KL25Z's on-board flash to store our configuration
// data persistently, so that we can restore it across power cycles.
// Unfortunatly, the mbed platform doesn't explicitly support this.
// mbed treats the on-board flash as a raw storage device for linker
// output, and assumes that the linker output is the only thing
// stored there. There's no file system and no allowance for shared
// use for other purposes. Fortunately, the linker ues the space in
// the obvious way, storing the entire linked program in a contiguous
// block starting at the lowest flash address. This means that the
// rest of flash - from the end of the linked program to the highest
// flash address - is all unused free space. Writing our data there
// won't conflict with anything else. Since the linker doesn't give
// us any programmatic access to the total linker output size, it's
// safest to just store our config data at the very end of the flash
// region (i.e., the highest address). As long as it's smaller than
// the free space, it won't collide with the linker area.
// Figure how many sectors we need for our structure
NVM *flash = configFlashAddr();
// if the flash is valid, load it; otherwise initialize to defaults
if (flash->valid())
{
// flash is valid - load it into the RAM copy of the structure
memcpy(&nvm, flash, sizeof(NVM));
}
else
{
// flash is invalid - load factory settings nito RAM structure
cfg.setFactoryDefaults();
}
}
void saveConfigToFlash()
{
int addr, sectors;
configFlashAddr(addr, sectors);
nvm.save(iap, addr);
}
// ---------------------------------------------------------------------------
//
// Pixel dump mode - the host requested a dump of image sensor pixels
// (helpful for installing and setting up the sensor and light source)
//
bool reportPlungerStat = false;
uint8_t reportPlungerStatFlags; // plunger pixel report flag bits (see ccdSensor.h)
uint8_t reportPlungerStatTime; // extra exposure time for plunger pixel report
// ---------------------------------------------------------------------------
//
// Night mode setting updates
//
// Turn night mode on or off
static void setNightMode(bool on)
{
// set the new night mode flag in the noisy output class
nightMode = on;
// update the special output pin that shows the night mode state
int port = int(cfg.nightMode.port) - 1;
if (port >= 0 && port < numOutputs)
lwPin[port]->set(nightMode ? 255 : 0);
// update all outputs for the mode change
updateAllOuts();
}
// Toggle night mode
static void toggleNightMode()
{
setNightMode(!nightMode);
}
// ---------------------------------------------------------------------------
//
// Plunger Sensor
//
// the plunger sensor interface object
PlungerSensor *plungerSensor = 0;
// Create the plunger sensor based on the current configuration. If
// there's already a sensor object, we'll delete it.
void createPlunger()
{
// create the new sensor object according to the type
switch (cfg.plunger.sensorType)
{
case PlungerType_TSL1410RS:
// pins are: SI, CLOCK, AO
plungerSensor = new PlungerSensorTSL1410R(
wirePinName(cfg.plunger.sensorPin[0]),
wirePinName(cfg.plunger.sensorPin[1]),
wirePinName(cfg.plunger.sensorPin[2]),
NC);
break;
case PlungerType_TSL1410RP:
// pins are: SI, CLOCK, AO1, AO2
plungerSensor = new PlungerSensorTSL1410R(
wirePinName(cfg.plunger.sensorPin[0]),
wirePinName(cfg.plunger.sensorPin[1]),
wirePinName(cfg.plunger.sensorPin[2]),
wirePinName(cfg.plunger.sensorPin[3]));
break;
case PlungerType_TSL1412RS:
// pins are: SI, CLOCK, AO1, AO2
plungerSensor = new PlungerSensorTSL1412R(
wirePinName(cfg.plunger.sensorPin[0]),
wirePinName(cfg.plunger.sensorPin[1]),
wirePinName(cfg.plunger.sensorPin[2]),
NC);
break;
case PlungerType_TSL1412RP:
// pins are: SI, CLOCK, AO1, AO2
plungerSensor = new PlungerSensorTSL1412R(
wirePinName(cfg.plunger.sensorPin[0]),
wirePinName(cfg.plunger.sensorPin[1]),
wirePinName(cfg.plunger.sensorPin[2]),
wirePinName(cfg.plunger.sensorPin[3]));
break;
case PlungerType_Pot:
// pins are: AO
plungerSensor = new PlungerSensorPot(
wirePinName(cfg.plunger.sensorPin[0]));
break;
case PlungerType_None:
default:
plungerSensor = new PlungerSensorNull();
break;
}
}
// Global plunger calibration mode flag
bool plungerCalMode;
// Plunger reader
//
// This class encapsulates our plunger data processing. At the simplest
// level, we read the position from the sensor, adjust it for the
// calibration settings, and report the calibrated position to the host.
//
// In addition, we constantly monitor the data for "firing" motions.
// A firing motion is when the user pulls back the plunger and releases
// it, allowing it to shoot forward under the force of the main spring.
// When we detect that this is happening, we briefly stop reporting the
// real physical position that we're reading from the sensor, and instead
// report a synthetic series of positions that depicts an idealized
// firing motion.
//
// The point of the synthetic reports is to correct for distortions
// created by the joystick interface conventions used by VP and other
// PC pinball emulators. The convention they use is simply to have the
// plunger device report the instantaneous position of the real plunger.
// The PC software polls this reported position periodically, and moves
// the on-screen virtual plunger in sync with the real plunger. This
// works fine for human-scale motion when the user is manually moving
// the plunger. But it doesn't work for the high speed motion of a
// release. The plunger simply moves too fast. VP polls in about 10ms
// intervals; the plunger takes about 50ms to travel from fully
// retracted to the park position when released. The low sampling
// rate relative to the rate of change of the sampled data creates
// a classic digital aliasing effect.
//
// The synthetic reporting scheme compensates for the interface
// distortions by essentially changing to a coarse enough timescale
// that VP can reliably interpret the readings. Conceptually, there
// are three steps involved in doing this. First, we analyze the
// actual sensor data to detect and characterize the release motion.
// Second, once we think we have a release in progress, we fit the
// data to a mathematical model of the release. The model we use is
// dead simple: we consider the release to have one parameter, namely
// the retraction distance at the moment the user lets go. This is an
// excellent proxy in the real physical system for the final speed
// when the plunger hits the ball, and it also happens to match how
// VP models it internally. Third, we construct synthetic reports
// that will make VP's internal state match our model. This is also
// pretty simple: we just need to send VP the maximum retraction
// distance for long enough to be sure that it polls it at least
// once, and then send it the park position for long enough to
// ensure that VP will complete the same firing motion. The
// immediate jump from the maximum point to the zero point will
// cause VP to move its simulation model plunger forward from the
// starting point at its natural spring acceleration rate, which
// is exactly what the real plunger just did.
//
class PlungerReader
{
public:
PlungerReader()
{
// not in a firing event yet
firing = 0;
// no history yet
histIdx = 0;
// initialize the filter
initFilter();
}
// Collect a reading from the plunger sensor. The main loop calls
// this frequently to read the current raw position data from the
// sensor. We analyze the raw data to produce the calibrated
// position that we report to the PC via the joystick interface.
void read()
{
// Read a sample from the sensor
PlungerReading r;
if (plungerSensor->read(r))
{
// Pull the previous reading from the history
const PlungerReading &prv = nthHist(0);
// If the new reading is within 2ms of the previous reading,
// ignore it. We require a minimum time between samples to
// ensure that we have a usable amount of precision in the
// denominator (the time interval) for calculating the plunger
// velocity. (The CCD sensor can't take readings faster than
// this anyway, but other sensor types, such as potentiometers,
// can, so we have to throttle the rate artifically in case
// we're using a fast sensor like that.)
if (uint32_t(r.t - prv.t) < 2000UL)
return;
// check for calibration mode
if (plungerCalMode)
{
// Calibration mode. Adjust the calibration bounds to fit
// the value. If this value is beyond the current min or max,
// expand the envelope to include this new value.
if (r.pos > cfg.plunger.cal.max)
cfg.plunger.cal.max = r.pos;
if (r.pos < cfg.plunger.cal.min)
cfg.plunger.cal.min = r.pos;
// If we're in calibration state 0, we're waiting for the
// plunger to come to rest at the park position so that we
// can take a sample of the park position. Check to see if
// we've been at rest for a minimum interval.
if (calState == 0)
{
if (abs(r.pos - calZeroStart.pos) < 65535/3/50)
{
// we're close enough - make sure we've been here long enough
if (uint32_t(r.t - calZeroStart.t) > 100000UL)
{
// we've been at rest long enough - count it
calZeroPosSum += r.pos;
calZeroPosN += 1;
// update the zero position from the new average
cfg.plunger.cal.zero = uint16_t(calZeroPosSum / calZeroPosN);
// switch to calibration state 1 - at rest
calState = 1;
}
}
else
{
// we're not close to the last position - start again here
calZeroStart = r;
}
}
// Rescale to the joystick range, and adjust for the current
// park position, but don't calibrate. We don't know the maximum
// point yet, so we can't calibrate the range.
r.pos = int(
(long(r.pos - cfg.plunger.cal.zero) * JOYMAX)
/ (65535 - cfg.plunger.cal.zero));
}
else
{
// Not in calibration mode. Apply the existing calibration and
// rescale to the joystick range.
r.pos = int(
(long(r.pos - cfg.plunger.cal.zero) * JOYMAX)
/ (cfg.plunger.cal.max - cfg.plunger.cal.zero));
// limit the result to the valid joystick range
if (r.pos > JOYMAX)
r.pos = JOYMAX;
else if (r.pos < -JOYMAX)
r.pos = -JOYMAX;
}
// Calculate the velocity from the second-to-last reading
// to here, in joystick distance units per microsecond.
// Note that we use the second-to-last reading rather than
// the very last reading to give ourselves a little longer
// time base. The time base is so short between consecutive
// readings that the error bars in the position would be too
// large.
//
// For reference, the physical plunger velocity ranges up
// to about 100,000 joystick distance units/sec. This is
// based on empirical measurements. The typical time for
// a real plunger to travel the full distance when released
// from full retraction is about 85ms, so the average velocity
// covering this distance is about 56,000 units/sec. The
// peak is probably about twice that. In real-world units,
// this translates to an average speed of about .75 m/s and
// a peak of about 1.5 m/s.
//
// Note that we actually calculate the value here in units
// per *microsecond* - the discussion above is in terms of
// units/sec because that's more on a human scale. Our
// choice of internal units here really isn't important,
// since we only use the velocity for comparison purposes,
// to detect acceleration trends. We therefore save ourselves
// a little CPU time by using the natural units of our inputs.
const PlungerReading &prv2 = nthHist(1);
float v = float(r.pos - prv2.pos)/float(r.t - prv2.t);
// presume we'll report the latest instantaneous reading
z = r.pos;
vz = v;
// Check firing events
switch (firing)
{
case 0:
// Default state - not in a firing event.
// If we have forward motion from a position that's retracted
// beyond a threshold, enter phase 1. If we're not pulled back
// far enough, don't bother with this, as a release wouldn't
// be strong enough to require the synthetic firing treatment.
if (v < 0 && r.pos > JOYMAX/6)
{
// enter firing phase 1
firingMode(1);
// if in calibration state 1 (at rest), switch to state 2 (not
// at rest)
if (calState == 1)
calState = 2;
// we don't have a freeze position yet, but note the start time
f1.pos = 0;
f1.t = r.t;
// Figure the barrel spring "bounce" position in case we complete
// the firing event. This is the amount that the forward momentum
// of the plunger will compress the barrel spring at the peak of
// the forward travel during the release. Assume that this is
// linearly proportional to the starting retraction distance.
// The barrel spring is about 1/6 the length of the main spring,
// so figure it compresses by 1/6 the distance. (This is overly
// simplistic and not very accurate, but it seems to give good
// visual results, and that's all it's for.)
f2.pos = -r.pos/6;
}
break;
case 1:
// Phase 1 - acceleration. If we cross the zero point, trigger
// the firing event. Otherwise, continue monitoring as long as we
// see acceleration in the forward direction.
if (r.pos <= 0)
{
// switch to the synthetic firing mode
firingMode(2);
z = f2.pos;
// note the start time for the firing phase
f2.t = r.t;
// if in calibration mode, and we're in state 2 (moving),
// collect firing statistics for calibration purposes
if (plungerCalMode && calState == 2)
{
// collect a new zero point for the average when we
// come to rest
calState = 0;
// collect average firing time statistics in millseconds, if
// it's in range (20 to 255 ms)
int dt = uint32_t(r.t - f1.t)/1000UL;
if (dt >= 20 && dt <= 255)
{
calRlsTimeSum += dt;
calRlsTimeN += 1;
cfg.plunger.cal.tRelease = uint8_t(calRlsTimeSum / calRlsTimeN);
}
}
}
else if (v < vprv2)
{
// We're still accelerating, and we haven't crossed the zero
// point yet - stay in phase 1. (Note that forward motion is
// negative velocity, so accelerating means that the new
// velocity is more negative than the previous one, which
// is to say numerically less than - that's why the test
// for acceleration is the seemingly backwards 'v < vprv'.)
// If we've been accelerating for at least 20ms, we're probably
// really doing a release. Jump back to the recent local
// maximum where the release *really* started. This is always
// a bit before we started seeing sustained accleration, because
// the plunger motion for the first few milliseconds is too slow
// for our sensor precision to reliably detect acceleration.
if (f1.pos != 0)
{
// we have a reset point - freeze there
z = f1.pos;
}
else if (uint32_t(r.t - f1.t) >= 20000UL)
{
// it's been long enough - set a reset point.
f1.pos = z = histLocalMax(r.t, 50000UL);
}
}
else
{
// We're not accelerating. Cancel the firing event.
firingMode(0);
calState = 1;
}
break;
case 2:
// Phase 2 - start of synthetic firing event. Report the fake
// bounce for 25ms. VP polls the joystick about every 10ms, so
// this should be enough time to guarantee that VP sees this
// report at least once.
if (uint32_t(r.t - f2.t) < 25000UL)
{
// report the bounce position
z = f2.pos;
}
else
{
// it's been long enough - switch to phase 3, where we
// report the park position until the real plunger comes
// to rest
firingMode(3);
z = 0;
// set the start of the "stability window" to the rest position
f3s.t = r.t;
f3s.pos = 0;
// set the start of the "retraction window" to the actual position
f3r = r;
}
break;
case 3:
// Phase 3 - in synthetic firing event. Report the park position
// until the plunger position stabilizes. Left to its own devices,
// the plunger will usualy bounce off the barrel spring several
// times before coming to rest, so we'll see oscillating motion
// for a second or two. In the simplest case, we can aimply wait
// for the plunger to stop moving for a short time. However, the
// player might intervene by pulling the plunger back again, so
// watch for that motion as well. If we're just bouncing freely,
// we'll see the direction change frequently. If the player is
// moving the plunger manually, the direction will be constant
// for longer.
if (v >= 0)
{
// We're moving back (or standing still). If this has been
// going on for a while, the user must have taken control.
if (uint32_t(r.t - f3r.t) > 65000UL)
{
// user has taken control - cancel firing mode
firingMode(0);
break;
}
}
else
{
// forward motion - reset retraction window
f3r.t = r.t;
}
// Check if we're close to the last starting point. The joystick
// positive axis range (0..4096) covers the retraction distance of
// about 2.5", so 1" is about 1638 joystick units, hence 1/16" is
// about 100 units.
if (abs(r.pos - f3s.pos) < 100)
{
// It's at roughly the same position as the starting point.
// Consider it stable if this has been true for 300ms.
if (uint32_t(r.t - f3s.t) > 30000UL)
{
// we're done with the firing event
firingMode(0);
}
else
{
// it's close to the last position but hasn't been
// here long enough; stay in firing mode and continue
// to report the park position
z = 0;
}
}
else
{
// It's not close enough to the last starting point, so use
// this as a new starting point, and stay in firing mode.
f3s = r;
z = 0;
}
break;
}
// save the velocity reading for next time
vprv2 = vprv;
vprv = v;
// add the new reading to the history
hist[histIdx++] = r;
histIdx %= countof(hist);
// figure the filtered value
zf = applyFilter();
}
}
// Get the current value to report through the joystick interface
int16_t getPosition()
{
// return the last filtered reading
return zf;
}
// Get the current velocity (joystick distance units per microsecond)
float getVelocity() const { return vz; }
// get the timestamp of the current joystick report (microseconds)
uint32_t getTimestamp() const { return nthHist(0).t; }
// Set calibration mode on or off
void setCalMode(bool f)
{
// check to see if we're entering calibration mode
if (f && !plungerCalMode)
{
// reset the calibration in the configuration
cfg.plunger.cal.begin();
// start in state 0 (waiting to settle)
calState = 0;
calZeroPosSum = 0;
calZeroPosN = 0;
calRlsTimeSum = 0;
calRlsTimeN = 0;
// set the initial zero point to the current position
PlungerReading r;
if (plungerSensor->read(r))
{
// got a reading - use it as the initial zero point
cfg.plunger.cal.zero = r.pos;
// use it as the starting point for the settling watch
calZeroStart = r;
}
else
{
// no reading available - use the default 1/6 position
cfg.plunger.cal.zero = 0xffff/6;
// we don't have a starting point for the setting watch
calZeroStart.pos = -65535;
calZeroStart.t = 0;
}
}
else if (!f && plungerCalMode)
{
// Leaving calibration mode. Make sure the max is past the
// zero point - if it's not, we'd have a zero or negative
// denominator for the scaling calculation, which would be
// physically meaningless.
if (cfg.plunger.cal.max <= cfg.plunger.cal.zero)
{
// bad settings - reset to defaults
cfg.plunger.cal.max = 0xffff;
cfg.plunger.cal.zero = 0xffff/6;
}
}
// remember the new mode
plungerCalMode = f;
}
// is a firing event in progress?
bool isFiring() { return firing == 3; }
private:
// Figure the next filtered value. This applies the hysteresis
// filter to the last raw z value and returns the filtered result.
int applyFilter()
{
if (firing <= 1)
{
// Filter limit - 5 samples. Once we've been moving
// in the same direction for this many samples, we'll
// clear the history and start over.
const int filterMask = 0x1f;
// figure the last average
int lastAvg = int(filterSum / filterN);
// figure the direction of this sample relative to the average,
// and shift it in to our bit mask of recent direction data
if (z != lastAvg)
{
// shift the new direction bit into the vector
filterDir <<= 1;
if (z > lastAvg) filterDir |= 1;
}
// keep only the last N readings, up to the filter limit
filterDir &= filterMask;
// if we've been moving consistently in one direction (all 1's
// or all 0's in the direction history vector), reset the average
if (filterDir == 0x00 || filterDir == filterMask)
{
// motion away from the average - reset the average
filterDir = 0x5555;
filterN = 1;
filterSum = (lastAvg + z)/2;
return int16_t(filterSum);
}
else
{
// we're diretionless - return the new average, with the
// new sample included
filterSum += z;
++filterN;
return int16_t(filterSum / filterN);
}
}
else
{
// firing mode - skip the filter
filterN = 1;
filterSum = z;
filterDir = 0x5555;
return z;
}
}
void initFilter()
{
filterSum = 0;
filterN = 1;
filterDir = 0x5555;
}
int64_t filterSum;
int64_t filterN;
uint16_t filterDir;
// Calibration state. During calibration mode, we watch for release
// events, to measure the time it takes to complete the release
// motion; and we watch for the plunger to come to reset after a
// release, to gather statistics on the rest position.
// 0 = waiting to settle
// 1 = at rest
// 2 = retracting
// 3 = possibly releasing
uint8_t calState;
// Calibration zero point statistics.
// During calibration mode, we collect data on the rest position (the
// zero point) by watching for the plunger to come to rest after each
// release. We average these rest positions to get the calibrated
// zero point. We use the average because the real physical plunger
// itself doesn't come to rest at exactly the same spot every time,
// largely due to friction in the mechanism. To calculate the average,
// we keep a sum of the readings and a count of samples.
PlungerReading calZeroStart;
long calZeroPosSum;
int calZeroPosN;
// Calibration release time statistics.
// During calibration, we collect an average for the release time.
long calRlsTimeSum;
int calRlsTimeN;
// set a firing mode
inline void firingMode(int m)
{
firing = m;
}
// Find the most recent local maximum in the history data, up to
// the given time limit.
int histLocalMax(uint32_t tcur, uint32_t dt)
{
// start with the prior entry
int idx = (histIdx == 0 ? countof(hist) : histIdx) - 1;
int hi = hist[idx].pos;
// scan backwards for a local maximum
for (int n = countof(hist) - 1 ; n > 0 ; idx = (idx == 0 ? countof(hist) : idx) - 1)
{
// if this isn't within the time window, stop
if (uint32_t(tcur - hist[idx].t) > dt)
break;
// if this isn't above the current hith, stop
if (hist[idx].pos < hi)
break;
// this is the new high
hi = hist[idx].pos;
}
// return the local maximum
return hi;
}
// velocity at previous reading, and the one before that
float vprv, vprv2;
// Circular buffer of recent readings. We keep a short history
// of readings to analyze during firing events. We can only identify
// a firing event once it's somewhat under way, so we need a little
// retrospective information to accurately determine after the fact
// exactly when it started. We throttle our readings to no more
// than one every 2ms, so we have at least N*2ms of history in this
// array.
PlungerReading hist[25];
int histIdx;
// get the nth history item (0=last, 1=2nd to last, etc)
const PlungerReading &nthHist(int n) const
{
// histIdx-1 is the last written; go from there
n = histIdx - 1 - n;
// adjust for wrapping
if (n < 0)
n += countof(hist);
// return the item
return hist[n];
}
// Firing event state.
//
// 0 - Default state. We report the real instantaneous plunger
// position to the joystick interface.
//
// 1 - Moving forward
//
// 2 - Accelerating
//
// 3 - Firing. We report the rest position for a minimum interval,
// or until the real plunger comes to rest somewhere.
//
int firing;
// Position/timestamp at start of firing phase 1. When we see a
// sustained forward acceleration, we freeze joystick reports at
// the recent local maximum, on the assumption that this was the
// start of the release. If this is zero, it means that we're
// monitoring accelerating motion but haven't seen it for long
// enough yet to be confident that a release is in progress.
PlungerReading f1;
// Position/timestamp at start of firing phase 2. The position is
// the fake "bounce" position we report during this phase, and the
// timestamp tells us when the phase began so that we can end it
// after enough time elapses.
PlungerReading f2;
// Position/timestamp of start of stability window during phase 3.
// We use this to determine when the plunger comes to rest. We set
// this at the beginning of phase 3, and then reset it when the
// plunger moves too far from the last position.
PlungerReading f3s;
// Position/timestamp of start of retraction window during phase 3.
// We use this to determine if the user is drawing the plunger back.
// If we see retraction motion for more than about 65ms, we assume
// that the user has taken over, because we should see forward
// motion within this timeframe if the plunger is just bouncing
// freely.
PlungerReading f3r;
// next raw (unfiltered) Z value to report to the joystick interface
// (in joystick distance units)
int z;
// velocity of this reading (joystick distance units per microsecond)
float vz;
// next filtered Z value to report to the joystick interface
int zf;
};
// plunger reader singleton
PlungerReader plungerReader;
// ---------------------------------------------------------------------------
//
// Handle the ZB Launch Ball feature.
//
// The ZB Launch Ball feature, if enabled, lets the mechanical plunger
// serve as a substitute for a physical Launch Ball button. When a table
// is loaded in VP, and the table has the ZB Launch Ball LedWiz port
// turned on, we'll disable mechanical plunger reports through the
// joystick interface and instead use the plunger only to simulate the
// Launch Ball button. When the mode is active, pulling back and
// releasing the plunger causes a brief simulated press of the Launch
// button, and pushing the plunger forward of the rest position presses
// the Launch button as long as the plunger is pressed forward.
//
// This feature has two configuration components:
//
// - An LedWiz port number. This port is a "virtual" port that doesn't
// have to be attached to any actual output. DOF uses it to signal
// that the current table uses a Launch button instead of a plunger.
// DOF simply turns the port on when such a table is loaded and turns
// it off at all other times. We use it to enable and disable the
// plunger/launch button connection.
//
// - A joystick button ID. We simulate pressing this button when the
// launch feature is activated via the LedWiz port and the plunger is
// either pulled back and releasd, or pushed forward past the rest
// position.
//
class ZBLaunchBall
{
public:
ZBLaunchBall()
{
// start in the default state
lbState = 0;
btnState = false;
}
// Update state. This checks the current plunger position and
// the timers to see if the plunger is in a position that simulates
// a Launch Ball button press via the ZB Launch Ball feature.
// Updates the simulated button vector according to the current
// launch ball state. The main loop calls this before each
// joystick update to figure the new simulated button state.
void update()
{
// If the ZB Launch Ball led wiz output is ON, check for a
// plunger firing event
if (zbLaunchOn)
{
// note the new position
int znew = plungerReader.getPosition();
// figure the push threshold from the configuration data
const int pushThreshold = int(-JOYMAX/3.0 * cfg.plunger.zbLaunchBall.pushDistance/1000.0);
// check the state
switch (lbState)
{
case 0:
// Default state. If a launch event has been detected on
// the plunger, activate a timed pulse and switch to state 1.
// If the plunger is pushed forward of the threshold, push
// the button.
if (plungerReader.isFiring())
{
// firing event - start a timed Launch button pulse
lbTimer.reset();
lbTimer.start();
setButton(true);
// switch to state 1
lbState = 1;
}
else if (znew <= pushThreshold)
{
// pushed forward without a firing event - hold the
// button as long as we're pushed forward
setButton(true);
}
else
{
// not pushed forward - turn off the Launch button
setButton(false);
}
break;
case 1:
// State 1: Timed Launch button pulse in progress after a
// firing event. Wait for the timer to expire.
if (lbTimer.read_us() > 200000UL)
{
// timer expired - turn off the button
setButton(false);
// switch to state 2
lbState = 2;
}
break;
case 2:
// State 2: Timed Launch button pulse done. Wait for the
// plunger launch event to end.
if (!plungerReader.isFiring())
{
// firing event done - return to default state
lbState = 0;
}
break;
}
}
else
{
// ZB Launch Ball disabled - turn off the button if it was on
setButton(false);
// return to the default state
lbState = 0;
}
}
// Set the button state
void setButton(bool on)
{
if (btnState != on)
{
// remember the new state
btnState = on;
// update the virtual button state
buttonState[zblButtonIndex].virtPress(on);
}
}
private:
// Simulated Launch Ball button state. If a "ZB Launch Ball" port is
// defined for our LedWiz port mapping, any time that port is turned ON,
// we'll simulate pushing the Launch Ball button if the player pulls
// back and releases the plunger, or simply pushes on the plunger from
// the rest position. This allows the plunger to be used in lieu of a
// physical Launch Ball button for tables that don't have plungers.
//
// States:
// 0 = default
// 1 = firing (firing event has activated a Launch button pulse)
// 2 = firing done (Launch button pulse ended, waiting for plunger
// firing event to end)
uint8_t lbState;
// button state
bool btnState;
// Time since last lbState transition. Some of the states are time-
// sensitive. In the "uncocked" state, we'll return to state 0 if
// we remain in this state for more than a few milliseconds, since
// it indicates that the plunger is being slowly returned to rest
// rather than released. In the "launching" state, we need to release
// the Launch Ball button after a moment, and we need to wait for
// the plunger to come to rest before returning to state 0.
Timer lbTimer;
};
// ---------------------------------------------------------------------------
//
// Reboot - resets the microcontroller
//
void reboot(USBJoystick &js, bool disconnect = true, long pause_us = 2000000L)
{
// disconnect from USB
if (disconnect)
js.disconnect();
// wait a few seconds to make sure the host notices the disconnect
wait_us(pause_us);
// reset the device
NVIC_SystemReset();
while (true) { }
}
// ---------------------------------------------------------------------------
//
// Translate joystick readings from raw values to reported values, based
// on the orientation of the controller card in the cabinet.
//
void accelRotate(int &x, int &y)
{
int tmp;
switch (cfg.orientation)
{
case OrientationFront:
tmp = x;
x = y;
y = tmp;
break;
case OrientationLeft:
x = -x;
break;
case OrientationRight:
y = -y;
break;
case OrientationRear:
tmp = -x;
x = -y;
y = tmp;
break;
}
}
// ---------------------------------------------------------------------------
//
// Calibration button state:
// 0 = not pushed
// 1 = pushed, not yet debounced
// 2 = pushed, debounced, waiting for hold time
// 3 = pushed, hold time completed - in calibration mode
int calBtnState = 0;
// calibration button debounce timer
Timer calBtnTimer;
// calibration button light state
int calBtnLit = false;
// ---------------------------------------------------------------------------
//
// Configuration variable get/set message handling
//
// Handle SET messages - write configuration variables from USB message data
#define if_msg_valid(test) if (test)
#define v_byte(var, ofs) cfg.var = data[ofs]
#define v_ui16(var, ofs) cfg.var = wireUI16(data+(ofs))
#define v_pin(var, ofs) cfg.var = wirePinName(data[ofs])
#define v_byte_ro(val, ofs) // ignore read-only variables on SET
#define v_func configVarSet
#include "cfgVarMsgMap.h"
// redefine everything for the SET messages
#undef if_msg_valid
#undef v_byte
#undef v_ui16
#undef v_pin
#undef v_byte_ro
#undef v_func
// Handle GET messages - read variable values and return in USB message daa
#define if_msg_valid(test)
#define v_byte(var, ofs) data[ofs] = cfg.var
#define v_ui16(var, ofs) ui16Wire(data+(ofs), cfg.var)
#define v_pin(var, ofs) pinNameWire(data+(ofs), cfg.var)
#define v_byte_ro(val, ofs) data[ofs] = val
#define v_func configVarGet
#include "cfgVarMsgMap.h"
// ---------------------------------------------------------------------------
//
// Handle an input report from the USB host. Input reports use our extended
// LedWiz protocol.
//
void handleInputMsg(LedWizMsg &lwm, USBJoystick &js)
{
// LedWiz commands come in two varieties: SBA and PBA. An
// SBA is marked by the first byte having value 64 (0x40). In
// the real LedWiz protocol, any other value in the first byte
// means it's a PBA message. However, *valid* PBA messages
// always have a first byte (and in fact all 8 bytes) in the
// range 0-49 or 129-132. Anything else is invalid. We take
// advantage of this to implement private protocol extensions.
// So our full protocol is as follows:
//
// first byte =
// 0-48 -> LWZ-PBA
// 64 -> LWZ SBA
// 65 -> private control message; second byte specifies subtype
// 129-132 -> LWZ-PBA
// 200-228 -> extended bank brightness set for outputs N to N+6, where
// N is (first byte - 200)*7
// other -> reserved for future use
//
uint8_t *data = lwm.data;
if (data[0] == 64)
{
// LWZ-SBA - first four bytes are bit-packed on/off flags
// for the outputs; 5th byte is the pulse speed (1-7)
//printf("LWZ-SBA %02x %02x %02x %02x ; %02x\r\n",
// data[1], data[2], data[3], data[4], data[5]);
// switch to LedWiz protocol mode
ledWizMode = true;
// update all on/off states
for (int i = 0, bit = 1, ri = 1 ; i < numLwOutputs ; ++i, bit <<= 1)
{
// figure the on/off state bit for this output
if (bit == 0x100) {
bit = 1;
++ri;
}
// set the on/off state
wizOn[i] = ((data[ri] & bit) != 0);
}
// set the flash speed - enforce the value range 1-7
wizSpeed = data[5];
if (wizSpeed < 1)
wizSpeed = 1;
else if (wizSpeed > 7)
wizSpeed = 7;
// update the physical outputs
updateWizOuts();
if (hc595 != 0)
hc595->update();
// reset the PBA counter
pbaIdx = 0;
}
else if (data[0] == 65)
{
// Private control message. This isn't an LedWiz message - it's
// an extension for this device. 65 is an invalid PBA setting,
// and isn't used for any other LedWiz message, so we appropriate
// it for our own private use. The first byte specifies the
// message type.
switch (data[1])
{
case 0:
// No Op
break;
case 1:
// 1 = Old Set Configuration:
// data[2] = LedWiz unit number (0x00 to 0x0f)
// data[3] = feature enable bit mask:
// 0x01 = enable plunger sensor
{
// get the new LedWiz unit number - this is 0-15, whereas we
// we save the *nominal* unit number 1-16 in the config
uint8_t newUnitNo = (data[2] & 0x0f) + 1;
// we'll need a reset if the LedWiz unit number is changing
bool needReset = (newUnitNo != cfg.psUnitNo);
// set the configuration parameters from the message
cfg.psUnitNo = newUnitNo;
cfg.plunger.enabled = data[3] & 0x01;
// save the configuration
saveConfigToFlash();
// reboot if necessary
if (needReset)
reboot(js);
}
break;
case 2:
// 2 = Calibrate plunger
// (No parameters)
// enter calibration mode
calBtnState = 3;
plungerReader.setCalMode(true);
calBtnTimer.reset();
break;
case 3:
// 3 = plunger sensor status report
// data[2] = flag bits
// data[3] = extra exposure time, 100us (.1ms) increments
reportPlungerStat = true;
reportPlungerStatFlags = data[2];
reportPlungerStatTime = data[3];
// show purple until we finish sending the report
diagLED(1, 0, 1);
break;
case 4:
// 4 = hardware configuration query
// (No parameters)
js.reportConfig(
numOutputs,
cfg.psUnitNo - 1, // report 0-15 range for unit number (we store 1-16 internally)
cfg.plunger.cal.zero, cfg.plunger.cal.max, cfg.plunger.cal.tRelease,
nvm.valid());
break;
case 5:
// 5 = all outputs off, reset to LedWiz defaults
allOutputsOff();
break;
case 6:
// 6 = Save configuration to flash.
saveConfigToFlash();
// before disconnecting, pause for the delay time specified in
// the parameter byte (in seconds)
rebootTime_us = data[2] * 1000000L;
rebootTimer.start();
break;
case 7:
// 7 = Device ID report
// data[2] = ID index: 1=CPU ID, 2=OpenSDA TUID
js.reportID(data[2]);
break;
case 8:
// 8 = Engage/disengage night mode.
// data[2] = 1 to engage, 0 to disengage
setNightMode(data[2]);
break;
case 9:
// 9 = Config variable query.
// data[2] = config var ID
// data[3] = array index (for array vars: button assignments, output ports)
{
// set up the reply buffer with the variable ID data, and zero out
// the rest of the buffer
uint8_t reply[8];
reply[1] = data[2];
reply[2] = data[3];
memset(reply+3, 0, sizeof(reply)-3);
// query the value
configVarGet(reply);
// send the reply
js.reportConfigVar(reply + 1);
}
break;
case 10:
// 10 = Build ID query.
js.reportBuildInfo(getBuildID());
break;
}
}
else if (data[0] == 66)
{
// Extended protocol - Set configuration variable.
// The second byte of the message is the ID of the variable
// to update, and the remaining bytes give the new value,
// in a variable-dependent format.
configVarSet(data);
}
else if (data[0] >= 200 && data[0] <= 228)
{
// Extended protocol - Extended output port brightness update.
// data[0]-200 gives us the bank of 7 outputs we're setting:
// 200 is outputs 0-6, 201 is outputs 7-13, 202 is 14-20, etc.
// The remaining bytes are brightness levels, 0-255, for the
// seven outputs in the selected bank. The LedWiz flashing
// modes aren't accessible in this message type; we can only
// set a fixed brightness, but in exchange we get 8-bit
// resolution rather than the paltry 0-48 scale that the real
// LedWiz uses. There's no separate on/off status for outputs
// adjusted with this message type, either, as there would be
// for a PBA message - setting a non-zero value immediately
// turns the output, overriding the last SBA setting.
//
// For outputs 0-31, this overrides any previous PBA/SBA
// settings for the port. Any subsequent PBA/SBA message will
// in turn override the setting made here. It's simple - the
// most recent message of either type takes precedence. For
// outputs above the LedWiz range, PBA/SBA messages can't
// address those ports anyway.
// flag that we're in extended protocol mode
ledWizMode = false;
// figure the block of 7 ports covered in the message
int i0 = (data[0] - 200)*7;
int i1 = i0 + 7 < numOutputs ? i0 + 7 : numOutputs;
// update each port
for (int i = i0 ; i < i1 ; ++i)
{
// set the brightness level for the output
uint8_t b = data[i-i0+1];
outLevel[i] = b;
// set the output
lwPin[i]->set(b);
}
// update 74HC595 outputs, if attached
if (hc595 != 0)
hc595->update();
}
else
{
// Everything else is LWZ-PBA. This is a full "profile"
// dump from the host for one bank of 8 outputs. Each
// byte sets one output in the current bank. The current
// bank is implied; the bank starts at 0 and is reset to 0
// by any LWZ-SBA message, and is incremented to the next
// bank by each LWZ-PBA message. Our variable pbaIdx keeps
// track of our notion of the current bank. There's no direct
// way for the host to select the bank; it just has to count
// on us staying in sync. In practice, the host will always
// send a full set of 4 PBA messages in a row to set all 32
// outputs.
//
// Note that a PBA implicitly overrides our extended profile
// messages (message prefix 200-219), because this sets the
// wizVal[] entry for each output, and that takes precedence
// over the extended protocol settings when we're in LedWiz
// protocol mode.
//
//printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n",
// pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
// flag that we received an LedWiz message
ledWizMode = true;
// Update all output profile settings
for (int i = 0 ; i < 8 ; ++i)
wizVal[pbaIdx + i] = data[i];
// Update the physical LED state if this is the last bank.
// Note that hosts always send a full set of four PBA
// messages, so there's no need to do a physical update
// until we've received the last bank's PBA message.
if (pbaIdx == 24)
{
updateWizOuts();
if (hc595 != 0)
hc595->update();
pbaIdx = 0;
}
else
pbaIdx += 8;
}
}
// ---------------------------------------------------------------------------
//
// Main program loop. This is invoked on startup and runs forever. Our
// main work is to read our devices (the accelerometer and the CCD), process
// the readings into nudge and plunger position data, and send the results
// to the host computer via the USB joystick interface. We also monitor
// the USB connection for incoming LedWiz commands and process those into
// port outputs.
//
int main(void)
{
// say hello to the debug console, in case it's connected
printf("\r\nPinscape Controller starting\r\n");
// debugging: print memory config info
// -> no longer very useful, since we use our own custom malloc/new allocator (see xmalloc() above)
// {int *a = new int; printf("Stack=%lx, heap=%lx, free=%ld\r\n", (long)&a, (long)a, (long)&a - (long)a);}
// clear the I2C bus (for the accelerometer)
clear_i2c();
// load the saved configuration (or set factory defaults if no flash
// configuration has ever been saved)
loadConfigFromFlash();
// initialize the diagnostic LEDs
initDiagLEDs(cfg);
// we're not connected/awake yet
bool connected = false;
Timer connectChangeTimer;
// create the plunger sensor interface
createPlunger();
// set up the TLC5940 interface, if these chips are present
init_tlc5940(cfg);
// set up 74HC595 interface, if these chips are present
init_hc595(cfg);
// Initialize the LedWiz ports. Note that the ordering here is important:
// this has to come after we create the TLC5940 and 74HC595 object instances
// (which we just did above), since we need to access those objects to set
// up ports assigned to the respective chips.
initLwOut(cfg);
// start the TLC5940 refresh cycle clock
if (tlc5940 != 0)
tlc5940->start();
// start the TV timer, if applicable
startTVTimer(cfg);
// initialize the button input ports
bool kbKeys = false;
initButtons(cfg, kbKeys);
// Create the joystick USB client. Note that the USB vendor/product ID
// information comes from the saved configuration. Also note that we have
// to wait until after initializing the input buttons (which we just did
// above) to set up the interface, since the button setup will determine
// whether or not we need to present a USB keyboard interface in addition
// to the joystick interface.
MyUSBJoystick js(cfg.usbVendorID, cfg.usbProductID, USB_VERSION_NO, false,
cfg.joystickEnabled, kbKeys);
// Wait for the USB connection to start up. Show a distinctive diagnostic
// flash pattern while waiting.
Timer connectTimer;
connectTimer.start();
while (!js.configured())
{
// show one short yellow flash at 2-second intervals
if (connectTimer.read_us() > 2000000)
{
// short yellow flash
diagLED(1, 1, 0);
wait_us(50000);
diagLED(0, 0, 0);
// reset the flash timer
connectTimer.reset();
}
}
// we're now connected to the host
connected = true;
// Last report timer for the joytick interface. We use this timer to
// throttle the report rate to a pace that's suitable for VP. Without
// any artificial delays, we could generate data to send on the joystick
// interface on every loop iteration. The loop iteration time depends
// on which devices are attached, since most of the work in our main
// loop is simply polling our devices. For typical setups, the loop
// time ranges from about 0.25ms to 2.5ms; the biggest factor is the
// plunger sensor. But VP polls for input about every 10ms, so there's
// no benefit in sending data faster than that, and there's some harm,
// in that it creates USB overhead (both on the wire and on the host
// CPU). We therefore use this timer to pace our reports to roughly
// the VP input polling rate. Note that there's no way to actually
// synchronize with VP's polling, but there's also no need to, as the
// input model is designed to reflect the overall current state at any
// given time rather than events or deltas. If VP polls twice between
// two updates, it simply sees no state change; if we send two updates
// between VP polls, VP simply sees the latest state when it does get
// around to polling.
Timer jsReportTimer;
jsReportTimer.start();
// Time since we successfully sent a USB report. This is a hacky
// workaround to deal with any remaining sporadic problems in the USB
// stack. I've been trying to bulletproof the USB code over time to
// remove all such problems at their source, but it seems unlikely that
// we'll ever get them all. Thus this hack. The idea here is that if
// we go too long without successfully sending a USB report, we'll
// assume that the connection is broken (and the KL25Z USB hardware
// hasn't noticed this), and we'll try taking measures to recover.
Timer jsOKTimer;
jsOKTimer.start();
// Initialize the calibration button and lamp, if enabled. To be enabled,
// the pin has to be assigned to something other than NC (0xFF), AND the
// corresponding feature enable flag has to be set.
DigitalIn *calBtn = 0;
DigitalOut *calBtnLed = 0;
// calibration button input - feature flag 0x01
if ((cfg.plunger.cal.features & 0x01) && cfg.plunger.cal.btn != 0xFF)
calBtn = new DigitalIn(wirePinName(cfg.plunger.cal.btn));
// calibration button indicator lamp output - feature flag 0x02
if ((cfg.plunger.cal.features & 0x02) && cfg.plunger.cal.led != 0xFF)
calBtnLed = new DigitalOut(wirePinName(cfg.plunger.cal.led));
// initialize the calibration button
calBtnTimer.start();
calBtnState = 0;
// set up a timer for our heartbeat indicator
Timer hbTimer;
hbTimer.start();
int hb = 0;
uint16_t hbcnt = 0;
// set a timer for accelerometer auto-centering
Timer acTimer;
acTimer.start();
// create the accelerometer object
Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS, MMA8451_INT_PIN);
// last accelerometer report, in joystick units (we report the nudge
// acceleration via the joystick x & y axes, per the VP convention)
int x = 0, y = 0;
// initialize the plunger sensor
plungerSensor->init();
// set up the ZB Launch Ball monitor
ZBLaunchBall zbLaunchBall;
// enable the peripheral chips
if (tlc5940 != 0)
tlc5940->enable(true);
if (hc595 != 0)
hc595->enable(true);
// we're all set up - now just loop, processing sensor reports and
// host requests
for (;;)
{
// Process incoming reports on the joystick interface. The joystick
// "out" (receive) endpoint is used for LedWiz commands and our
// extended protocol commands. Limit processing time to 5ms to
// ensure we don't starve the input side.
LedWizMsg lwm;
Timer lwt;
lwt.start();
while (js.readLedWizMsg(lwm) && lwt.read_us() < 5000)
handleInputMsg(lwm, js);
// send TLC5940 data updates if applicable
if (tlc5940 != 0)
tlc5940->send();
// check for plunger calibration
if (calBtn != 0 && !calBtn->read())
{
// check the state
switch (calBtnState)
{
case 0:
// button not yet pushed - start debouncing
calBtnTimer.reset();
calBtnState = 1;
break;
case 1:
// pushed, not yet debounced - if the debounce time has
// passed, start the hold period
if (calBtnTimer.read_us() > 50000)
calBtnState = 2;
break;
case 2:
// in the hold period - if the button has been held down
// for the entire hold period, move to calibration mode
if (calBtnTimer.read_us() > 2050000)
{
// enter calibration mode
calBtnState = 3;
calBtnTimer.reset();
// begin the plunger calibration limits
plungerReader.setCalMode(true);
}
break;
case 3:
// Already in calibration mode - pushing the button here
// doesn't change the current state, but we won't leave this
// state as long as it's held down. So nothing changes here.
break;
}
}
else
{
// Button released. If we're in calibration mode, and
// the calibration time has elapsed, end the calibration
// and save the results to flash.
//
// Otherwise, return to the base state without saving anything.
// If the button is released before we make it to calibration
// mode, it simply cancels the attempt.
if (calBtnState == 3 && calBtnTimer.read_us() > 15000000)
{
// exit calibration mode
calBtnState = 0;
plungerReader.setCalMode(false);
// save the updated configuration
cfg.plunger.cal.calibrated = 1;
saveConfigToFlash();
}
else if (calBtnState != 3)
{
// didn't make it to calibration mode - cancel the operation
calBtnState = 0;
}
}
// light/flash the calibration button light, if applicable
int newCalBtnLit = calBtnLit;
switch (calBtnState)
{
case 2:
// in the hold period - flash the light
newCalBtnLit = ((calBtnTimer.read_us()/250000) & 1);
break;
case 3:
// calibration mode - show steady on
newCalBtnLit = true;
break;
default:
// not calibrating/holding - show steady off
newCalBtnLit = false;
break;
}
// light or flash the external calibration button LED, and
// do the same with the on-board blue LED
if (calBtnLit != newCalBtnLit)
{
calBtnLit = newCalBtnLit;
if (calBtnLit) {
if (calBtnLed != 0)
calBtnLed->write(1);
diagLED(0, 0, 1); // blue
}
else {
if (calBtnLed != 0)
calBtnLed->write(0);
diagLED(0, 0, 0); // off
}
}
// read the plunger sensor
plungerReader.read();
// update the ZB Launch Ball status
zbLaunchBall.update();
// process button updates
processButtons(cfg);
// send a keyboard report if we have new data
if (kbState.changed)
{
// send a keyboard report
js.kbUpdate(kbState.data);
kbState.changed = false;
}
// likewise for the media controller
if (mediaState.changed)
{
// send a media report
js.mediaUpdate(mediaState.data);
mediaState.changed = false;
}
// flag: did we successfully send a joystick report on this round?
bool jsOK = false;
// figure the current status flags for joystick reports
uint16_t statusFlags =
(cfg.plunger.enabled ? 0x01 : 0x00)
| (nightMode ? 0x02 : 0x00);
// If it's been long enough since our last USB status report, send
// the new report. VP only polls for input in 10ms intervals, so
// there's no benefit in sending reports more frequently than this.
// More frequent reporting would only add USB I/O overhead.
if (cfg.joystickEnabled && jsReportTimer.read_us() > 10000UL)
{
// read the accelerometer
int xa, ya;
accel.get(xa, ya);
// confine the results to our joystick axis range
if (xa < -JOYMAX) xa = -JOYMAX;
if (xa > JOYMAX) xa = JOYMAX;
if (ya < -JOYMAX) ya = -JOYMAX;
if (ya > JOYMAX) ya = JOYMAX;
// store the updated accelerometer coordinates
x = xa;
y = ya;
// Report the current plunger position unless the plunger is
// disabled, or the ZB Launch Ball signal is on. In either of
// those cases, just report a constant 0 value. ZB Launch Ball
// temporarily disables mechanical plunger reporting because it
// tells us that the table has a Launch Ball button instead of
// a traditional plunger, so we don't want to confuse VP with
// regular plunger inputs.
int z = plungerReader.getPosition();
int zrep = (!cfg.plunger.enabled || zbLaunchOn ? 0 : z);
// rotate X and Y according to the device orientation in the cabinet
accelRotate(x, y);
// send the joystick report
jsOK = js.update(x, y, zrep, jsButtons, statusFlags);
// we've just started a new report interval, so reset the timer
jsReportTimer.reset();
}
// If we're in sensor status mode, report all pixel exposure values
if (reportPlungerStat)
{
// send the report
plungerSensor->sendStatusReport(js, reportPlungerStatFlags, reportPlungerStatTime);
// we have satisfied this request
reportPlungerStat = false;
}
// If joystick reports are turned off, send a generic status report
// periodically for the sake of the Windows config tool.
if (!cfg.joystickEnabled && jsReportTimer.read_us() > 5000)
{
jsOK = js.updateStatus(statusFlags);
jsReportTimer.reset();
}
// if we successfully sent a joystick report, reset the watchdog timer
if (jsOK)
{
jsOKTimer.reset();
jsOKTimer.start();
}
#ifdef DEBUG_PRINTF
if (x != 0 || y != 0)
printf("%d,%d\r\n", x, y);
#endif
// check for connection status changes
bool newConnected = js.isConnected() && !js.isSleeping();
if (newConnected != connected)
{
// give it a moment to stabilize
connectChangeTimer.start();
if (connectChangeTimer.read_us() > 1000000)
{
// note the new status
connected = newConnected;
// done with the change timer for this round - reset it for next time
connectChangeTimer.stop();
connectChangeTimer.reset();
// if we're newly disconnected, clean up for PC suspend mode or power off
if (!connected)
{
// turn off all outputs
allOutputsOff();
// The KL25Z runs off of USB power, so we might (depending on the PC
// and OS configuration) continue to receive power even when the main
// PC power supply is turned off, such as in soft-off or suspend/sleep
// mode. Any external output controller chips (TLC5940, 74HC595) might
// be powered from the PC power supply directly rather than from our
// USB power, so they might be powered off even when we're still running.
// To ensure cleaner startup when the power comes back on, globally
// disable the outputs. The global disable signals come from GPIO lines
// that remain powered as long as the KL25Z is powered, so these modes
// will apply smoothly across power state transitions in the external
// hardware. That is, when the external chips are powered up, they'll
// see the global disable signals as stable voltage inputs immediately,
// which will cause them to suppress any output triggering. This ensures
// that we don't fire any solenoids or flash any lights spuriously when
// the power first comes on.
if (tlc5940 != 0)
tlc5940->enable(false);
if (hc595 != 0)
hc595->enable(false);
}
}
}
// if we have a reboot timer pending, check for completion
if (rebootTimer.isRunning() && rebootTimer.read_us() > rebootTime_us)
reboot(js);
// if we're disconnected, initiate a new connection
if (!connected)
{
// show USB HAL debug events
extern void HAL_DEBUG_PRINTEVENTS(const char *prefix);
HAL_DEBUG_PRINTEVENTS(">DISC");
// show immediate diagnostic feedback
js.diagFlash();
// clear any previous diagnostic LED display
diagLED(0, 0, 0);
// set up a timer to monitor the reboot timeout
Timer rebootTimer;
rebootTimer.start();
// set up a timer for diagnostic displays
Timer diagTimer;
diagTimer.reset();
diagTimer.start();
// loop until we get our connection back
while (!js.isConnected() || js.isSleeping())
{
// try to recover the connection
js.recoverConnection();
// send TLC5940 data if necessary
if (tlc5940 != 0)
tlc5940->send();
// show a diagnostic flash every couple of seconds
if (diagTimer.read_us() > 2000000)
{
// flush the USB HAL debug events, if in debug mode
HAL_DEBUG_PRINTEVENTS(">NC");
// show diagnostic feedback
js.diagFlash();
// reset the flash timer
diagTimer.reset();
}
// if the disconnect reboot timeout has expired, reboot
if (cfg.disconnectRebootTimeout != 0
&& rebootTimer.read() > cfg.disconnectRebootTimeout)
reboot(js, false, 0);
}
// if we made it out of that loop alive, we're connected again!
connected = true;
HAL_DEBUG_PRINTEVENTS(">C");
// Enable peripheral chips and update them with current output data
if (tlc5940 != 0)
{
tlc5940->enable(true);
tlc5940->update(true);
}
if (hc595 != 0)
{
hc595->enable(true);
hc595->update(true);
}
}
// provide a visual status indication on the on-board LED
if (calBtnState < 2 && hbTimer.read_us() > 1000000)
{
if (jsOKTimer.read_us() > 1000000)
{
// USB freeze - show red/yellow.
//
// It's been more than a second since we successfully sent a joystick
// update message. This must mean that something's wrong on the USB
// connection, even though we haven't detected an outright disconnect.
// Show a distinctive diagnostic LED pattern when this occurs.
hb = !hb;
diagLED(1, hb, 0);
// If the reboot-on-disconnect option is in effect, treat this condition
// as equivalent to a disconnect, since something is obviously wrong
// with the USB connection.
if (cfg.disconnectRebootTimeout != 0)
{
// The reboot timeout is in effect. If we've been incommunicado for
// longer than the timeout, reboot. If we haven't reached the time
// limit, keep running for now, and leave the OK timer running so
// that we can continue to monitor this.
if (jsOKTimer.read() > cfg.disconnectRebootTimeout)
reboot(js, false, 0);
}
else
{
// There's no reboot timer, so just keep running with the diagnostic
// pattern displayed. Since we're not waiting for any other timed
// conditions in this state, stop the timer so that it doesn't
// overflow if this condition persists for a long time.
jsOKTimer.stop();
}
}
else if (cfg.plunger.enabled && !cfg.plunger.cal.calibrated)
{
// connected, plunger calibration needed - flash yellow/green
hb = !hb;
diagLED(hb, 1, 0);
}
else
{
// connected - flash blue/green
hb = !hb;
diagLED(0, hb, !hb);
}
// reset the heartbeat timer
hbTimer.reset();
++hbcnt;
}
}
}