Arnaud VALLEY
Mirror with some correction
Dependencies: mbed FastIO FastPWM USBDevice
main.cpp
- Committer:
- mjr
- Date:
- 2016-02-15
- Revision:
- 45:c42166b2878c
- Parent:
- 44:b5ac89b9cd5d
- Child:
- 47:df7a88cd249c
File content as of revision 45:c42166b2878c:
/* Copyright 2014, 2015 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 MERCHANTABILITY, 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. Its
// function is to connect Windows pinball software, such as Visual Pinball, with
// physical devices in the cabinet: buttons, sensors, and feedback devices that
// create visual or mechanical effects during play.
//
// The software 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 appear to the PC as an LedWiz device, and will
// accept and process LedWiz commands from the host. The software can turn digital
// output ports on and off, and can set varying PWM intensitiy levels on a subset
// of ports. The KL25Z hardware is limited to 10 PWM ports. Ports beyond the
// 10 PWM ports are simple digital on/off ports. Intensity level settings on
// digital ports is ignored, so such ports can only be used for devices such as
// contactors and solenoids that don't need differeing intensities.
//
// Note that the KL25Z can only supply or sink 4mA on its output ports, so external
// amplifier hardware is required to use the LedWiz emulation. Many different
// hardware designs are possible, but there's a simple reference design in the
// documentation that uses a Darlington array IC to increase the output from
// each port to 500mA (the same level as the LedWiz), plus an extended design
// that adds an optocoupler and MOSFET to provide very high power handling, up
// to about 45A or 150W, with voltages up to 100V. That will handle just about
// any DC device directly (wtihout relays or other amplifiers), and switches fast
// enough to support PWM devices. For example, you can use it to drive a motor at
// different speeds via the PWM intensity.
//
// The Controller device can report any desired LedWiz unit number to the host,
// which makes it possible for one or more Pinscape Controller units to coexist
// with one more more real LedWiz units in the same machine. The LedWiz design
// allows for up to 16 units to be installed in one machine. Each device needs
// to have a distinct LedWiz Unit Number, which allows software on the PC to
// address each device independently.
//
// The LedWiz emulation features are of course optional. There's no need to
// build any of the external port hardware (or attach anything to the output
// ports at all) if the LedWiz features aren't needed.
//
// - Enhanced LedWiz emulation with TLC5940 PWM controller chips. You can attach
// external PWM controller chips for controlling device outputs, instead of using
// the limited LedWiz emulation through the on-board GPIO ports as described above.
// The software can control a set of daisy-chained TLC5940 chips, which provide
// 16 PWM outputs per chip. Two of these chips give you the full complement
// of 32 output ports of an actual LedWiz, and four give you 64 ports, which
// should be plenty for nearly any virtual pinball project. A private, extended
// version of the LedWiz protocol lets the host control the extra outputs, up to
// 128 outputs per KL25Z (8 TLC5940s). To take advantage of the extra outputs
// on the PC side, you need software that knows about the protocol extensions,
// which means you need the latest version of DirectOutput Framework (DOF). VP
// uses DOF for its output, so VP will be able to use the added ports without any
// extra work on your part. Older software (e.g., Future Pinball) that doesn't
// use DOF will still be able to use the LedWiz-compatible protocol, so it'll be
// able to control your first 32 ports (numbered 1-32 in the LedWiz scheme), but
// older software won't be able to address higher-numbered ports. That shouldn't
// be a problem because older software wouldn't know what to do with the extra
// devices anyway - FP, for example, is limited to a pre-defined set of outputs.
// As long as you put the most common devices on the first 32 outputs, and use
// higher numbered ports for the less common devices that older software can't
// use anyway, you'll get maximum functionality out of software new and old.
//
// - 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:
//
// two short red flashes = the device is powered but hasn't successfully
// connected to the host via USB (either it's not physically connected
// to the USB port, or there was a problem with the software handshake
// with the USB device driver on the computer)
//
// short red flash = the host computer is in sleep/suspend mode
//
// long red/yellow = USB connection problem. The device still has a USB
// connection to the host, but data transmissions are failing. This
// condition shouldn't ever occur; if it does, it probably indicates
// a bug in the device's USB software. This display is provided to
// flag any occurrences for investigation. You'll probably need to
// manually reset the device if this occurs.
//
// 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)
//
//
// USB PROTOCOL: please refer to USBProtocol.h for details on the USB
// message protocol.
#include "mbed.h"
#include "math.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"
#define DECL_EXTERNS
#include "config.h"
// ---------------------------------------------------------------------------
//
// Forward declarations
//
void setNightMode(bool on);
void toggleNightMode();
// ---------------------------------------------------------------------------
// utilities
// number of elements in an array
#define countof(x) (sizeof(x)/sizeof((x)[0]))
// 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;
};
// --------------------------------------------------------------------------
//
// USB product version number
//
const uint16_t USB_VERSION_NO = 0x0009;
// --------------------------------------------------------------------------
//
// 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);
}
static const PinName pinNameMap[] = {
NC, PTA1, PTA2, PTA4, PTA5, PTA12, PTA13, PTA16, PTA17, PTB0, // 0-9
PTB1, PTB2, PTB3, PTB8, PTB9, PTB10, PTB11, PTB18, PTB19, PTC0, // 10-19
PTC1, PTC2, PTC3, PTC4, PTC5, PTC6, PTC7, PTC8, PTC9, PTC10, // 20-29
PTC11, PTC12, PTC13, PTC16, PTC17, PTD0, PTD1, PTD2, PTD3, PTD4, // 30-39
PTD5, PTD6, PTD7, PTE0, PTE1, PTE2, PTE3, PTE4, PTE5, PTE20, // 40-49
PTE21, PTE22, PTE23, PTE29, PTE30, PTE31 // 50-55
};
inline PinName wirePinName(int c)
{
return (c < countof(pinNameMap) ? pinNameMap[c] : NC);
}
inline void pinNameWire(uint8_t *b, PinName n)
{
b[0] = 0; // presume invalid -> NC
for (int i = 0 ; i < countof(pinNameMap) ; ++i)
{
if (pinNameMap[i] == n)
{
b[0] = i;
return;
}
}
}
// ---------------------------------------------------------------------------
//
// 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]);
// check the special ports
for (int i = 0 ; i < countof(cfg.specialPort) ; ++i)
l.check(cfg.specialPort[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:
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;
};
// 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); }
static bool nightMode;
private:
LwOut *out;
};
// global night mode flag
bool LwNoisyOut::nightMode = false;
//
// 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(cfg.tlc5940.sclk, cfg.tlc5940.sin, cfg.tlc5940.gsclk,
cfg.tlc5940.blank, 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(int idx) : idx(idx) { prv = 0; }
virtual void set(uint8_t val)
{
if (val != prv)
tlc5940->set(idx, dof_to_tlc[prv = val]);
}
int idx;
uint8_t prv;
};
// LwOut class for TLC5940 gamma-corrected outputs.
class Lw5940GammaOut: public LwOut
{
public:
Lw5940GammaOut(int idx) : idx(idx) { prv = 0; }
virtual void set(uint8_t val)
{
if (val != prv)
tlc5940->set(idx, dof_to_gamma_tlc[prv = val]);
}
int 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(cfg.hc595.nchips, cfg.hc595.sin, cfg.hc595.sclk, cfg.hc595.latch, 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(int idx) : idx(idx) { prv = 0; }
virtual void set(uint8_t val)
{
if (val != prv)
hc595->set(idx, (prv = val) == 0 ? 0 : 1);
}
int idx;
uint8_t prv;
};
// Conversion table - 8-bit DOF output level to PWM float level
// (normalized to 0.0..1.0 scale)
static const float pwm_level[] = {
0.000000, 0.003922, 0.007843, 0.011765, 0.015686, 0.019608, 0.023529, 0.027451,
0.031373, 0.035294, 0.039216, 0.043137, 0.047059, 0.050980, 0.054902, 0.058824,
0.062745, 0.066667, 0.070588, 0.074510, 0.078431, 0.082353, 0.086275, 0.090196,
0.094118, 0.098039, 0.101961, 0.105882, 0.109804, 0.113725, 0.117647, 0.121569,
0.125490, 0.129412, 0.133333, 0.137255, 0.141176, 0.145098, 0.149020, 0.152941,
0.156863, 0.160784, 0.164706, 0.168627, 0.172549, 0.176471, 0.180392, 0.184314,
0.188235, 0.192157, 0.196078, 0.200000, 0.203922, 0.207843, 0.211765, 0.215686,
0.219608, 0.223529, 0.227451, 0.231373, 0.235294, 0.239216, 0.243137, 0.247059,
0.250980, 0.254902, 0.258824, 0.262745, 0.266667, 0.270588, 0.274510, 0.278431,
0.282353, 0.286275, 0.290196, 0.294118, 0.298039, 0.301961, 0.305882, 0.309804,
0.313725, 0.317647, 0.321569, 0.325490, 0.329412, 0.333333, 0.337255, 0.341176,
0.345098, 0.349020, 0.352941, 0.356863, 0.360784, 0.364706, 0.368627, 0.372549,
0.376471, 0.380392, 0.384314, 0.388235, 0.392157, 0.396078, 0.400000, 0.403922,
0.407843, 0.411765, 0.415686, 0.419608, 0.423529, 0.427451, 0.431373, 0.435294,
0.439216, 0.443137, 0.447059, 0.450980, 0.454902, 0.458824, 0.462745, 0.466667,
0.470588, 0.474510, 0.478431, 0.482353, 0.486275, 0.490196, 0.494118, 0.498039,
0.501961, 0.505882, 0.509804, 0.513725, 0.517647, 0.521569, 0.525490, 0.529412,
0.533333, 0.537255, 0.541176, 0.545098, 0.549020, 0.552941, 0.556863, 0.560784,
0.564706, 0.568627, 0.572549, 0.576471, 0.580392, 0.584314, 0.588235, 0.592157,
0.596078, 0.600000, 0.603922, 0.607843, 0.611765, 0.615686, 0.619608, 0.623529,
0.627451, 0.631373, 0.635294, 0.639216, 0.643137, 0.647059, 0.650980, 0.654902,
0.658824, 0.662745, 0.666667, 0.670588, 0.674510, 0.678431, 0.682353, 0.686275,
0.690196, 0.694118, 0.698039, 0.701961, 0.705882, 0.709804, 0.713725, 0.717647,
0.721569, 0.725490, 0.729412, 0.733333, 0.737255, 0.741176, 0.745098, 0.749020,
0.752941, 0.756863, 0.760784, 0.764706, 0.768627, 0.772549, 0.776471, 0.780392,
0.784314, 0.788235, 0.792157, 0.796078, 0.800000, 0.803922, 0.807843, 0.811765,
0.815686, 0.819608, 0.823529, 0.827451, 0.831373, 0.835294, 0.839216, 0.843137,
0.847059, 0.850980, 0.854902, 0.858824, 0.862745, 0.866667, 0.870588, 0.874510,
0.878431, 0.882353, 0.886275, 0.890196, 0.894118, 0.898039, 0.901961, 0.905882,
0.909804, 0.913725, 0.917647, 0.921569, 0.925490, 0.929412, 0.933333, 0.937255,
0.941176, 0.945098, 0.949020, 0.952941, 0.956863, 0.960784, 0.964706, 0.968627,
0.972549, 0.976471, 0.980392, 0.984314, 0.988235, 0.992157, 0.996078, 1.000000
};
// LwOut class for a PWM-capable GPIO port
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]);
}
PwmOut p;
uint8_t prv;
};
// 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;
// Special output ports:
//
// [0] = Night Mode indicator light
//
static LwOut *specialPin[1];
const int SPECIAL_PIN_NIGHTMODE = 0;
// 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 level for an output. This is a DOF
// brightness level value, from 0 for fully off to 255 for fully on.
// This is used for all extended ports (33 and above), and for any
// LedWiz port with wizVal == 255.
static uint8_t *outLevel;
// create a single output pin
LwOut *createLwPin(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
lwp = new LwPwmOut(wirePinName(pin), activeLow ? 255 : 0);
break;
case PortTypeGPIODig:
// Digital GPIO port
lwp = new LwDigOut(wirePinName(pin), activeLow ? 255 : 0);
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);
// 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(cfg.outPort[i], cfg);
// create the pin interface for each special port
for (i = 0 ; i < countof(cfg.specialPort) ; ++i)
specialPin[i] = createLwPin(cfg.specialPort[i], cfg);
}
// 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
//
// If the output was last updated through an extended protocol message,
// it will have the special value 255. This means that we use the
// outLevel[] value for the port instead of an LedWiz setting.
//
// (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 the output was last set with an extended protocol message,
// use the value set there, ignoring the output's LedWiz state
if (wizVal[idx] == 255)
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 = 33 ; 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;
on = 0;
pressed = prev = 0;
dbstate = 0;
js = 0;
keymod = 0;
keycode = 0;
special = 0;
pulseState = 0;
pulseTime = 0.0f;
}
// DigitalIn for the button
DigitalIn *di;
// current PHYSICAL on/off state, after debouncing
uint8_t on;
// current LOGICAL on/off state as reported to the host.
uint8_t pressed;
// previous logical on/off state, when keys were last processed for USB
// reports and local effects
uint8_t prev;
// 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;
// joystick button mask for the button, if mapped as a joystick button
uint32_t js;
// keyboard modifier bits and scan code for the button, if mapped as a keyboard key
uint8_t keymod;
uint8_t keycode;
// media control key code
uint8_t mediakey;
// special key code
uint8_t special;
// Pulse mode: a button in pulse mode 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 easiest way to sense a physical coin door's state is with a simple on/off
// switch. Pulse mode bridges that divide by converting a physical switch state
// to on/off toggle key reports to the host.
//
// 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
//
// 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 amount of
// time remaining before we can make another state transition. 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.)
uint8_t pulseState;
float pulseTime;
} buttonState[MAX_BUTTONS];
// 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
int 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 < MAX_BUTTONS ; ++i, ++bs)
{
// if it's connected, check its physical 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->on = db;
}
}
}
// 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;
// initialize the button inputs
void initButtons(Config &cfg, bool &kbKeys)
{
// presume we'll find no keyboard keys
kbKeys = false;
// create the digital inputs
ButtonState *bs = buttonState;
for (int i = 0 ; i < MAX_BUTTONS ; ++i, ++bs)
{
PinName pin = wirePinName(cfg.button[i].pin);
if (pin != NC)
{
// set up the GPIO input pin for this button
bs->di = new DigitalIn(pin);
// if it's a pulse mode button, set the initial pulse state to Off
if (cfg.button[i].flags & BtnFlagPulse)
bs->pulseState = 1;
// note if it's a keyboard key of some kind (including media keys)
uint8_t val = cfg.button[i].val;
switch (cfg.button[i].typ)
{
case BtnTypeJoystick:
// joystick button - get the button bit mask
bs->js = 1 << val;
break;
case BtnTypeKey:
// regular keyboard key - note the scan code
bs->keycode = val;
kbKeys = true;
break;
case BtnTypeModKey:
// keyboard mod key - note the modifier mask
bs->keymod = val;
kbKeys = true;
break;
case BtnTypeMedia:
// media key - note the code
bs->mediakey = val;
kbKeys = true;
break;
case BtnTypeSpecial:
// special key
bs->special = val;
break;
}
}
}
// start the button scan thread
buttonTicker.attach_us(scanButtons, 1000);
// start the button state transition timer
buttonTimer.start();
}
// 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()
{
// 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
float dt = buttonTimer.read();
buttonTimer.reset();
// scan the button list
ButtonState *bs = buttonState;
for (int i = 0 ; i < MAX_BUTTONS ; ++i, ++bs)
{
// if it's a pulse-mode switch, get the virtual pressed state
if (bs->pulseState != 0)
{
// deduct the time to the next state change
bs->pulseTime -= dt;
if (bs->pulseTime < 0)
bs->pulseTime = 0;
// if the timer has expired, check for state changes
if (bs->pulseTime == 0)
{
const float pulseLength = 0.2;
switch (bs->pulseState)
{
case 1:
// off - if the physical switch is now on, start a button pulse
if (bs->on) {
bs->pulseTime = pulseLength;
bs->pulseState = 2;
bs->pressed = 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->pressed = 0;
break;
case 3:
// on - if the physical switch is now off, start a button pulse
if (!bs->on) {
bs->pulseTime = pulseLength;
bs->pulseState = 4;
bs->pressed = 1;
}
break;
case 4:
// transitioning on to off - end the pulse, and start a gap
bs->pulseState = 1;
bs->pulseTime = pulseLength;
bs->pressed = 0;
break;
}
}
}
else
{
// not a pulse switch - the logical state is the same as the physical state
bs->pressed = bs->on;
}
// carry out any edge effects from buttons changing states
if (bs->pressed != bs->prev)
{
// check for special key transitions
switch (bs->special)
{
case 1:
// night mode momentary switch - when the button transitions from
// OFF to ON, invert night mode
if (bs->pressed)
toggleNightMode();
break;
case 2:
// night mode toggle switch - when the button changes state, change
// night mode to match the new state
setNightMode(bs->pressed);
break;
}
// remember the new state for comparison on the next run
bs->prev = bs->pressed;
}
// if it's pressed, add it to the appropriate key state list
if (bs->pressed)
{
// OR in the joystick button bit, mod key bits, and media key bits
newjs |= bs->js;
modkeys |= bs->keymod;
mediakeys |= bs->mediakey;
// if it has a keyboard key, add the scan code to the active list
if (bs->keycode != 0 && nkeys < 7)
keys[nkeys++] = bs->keycode;
}
}
// 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)
{
suspended_ = false;
}
// are we connected?
int isConnected() { return configured(); }
// Are we in suspend mode?
int isSuspended() const { return suspended_; }
protected:
virtual void suspendStateChanged(unsigned int suspended)
{ suspended_ = suspended; }
// are we suspended?
int suspended_;
};
// ---------------------------------------------------------------------------
//
// 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_ms() > 1000)
{
// 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)
{
printf("unwedging the accelerometer\r\n");
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 status sense circuit pins are configured
if (cfg.TVON.statusPin != NC && cfg.TVON.latchPin != NC && cfg.TVON.relayPin != NC)
{
psu2_status_sense = new DigitalIn(cfg.TVON.statusPin);
psu2_status_set = new DigitalOut(cfg.TVON.latchPin);
tv_relay = new DigitalOut(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);
}
// ---------------------------------------------------------------------------
//
// 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
LwNoisyOut::nightMode = on;
// update the special output pin that shows the night mode state
specialPin[SPECIAL_PIN_NIGHTMODE]->set(on ? 255 : 0);
// update all outputs for the mode change
updateAllOuts();
}
// Toggle night mode
static void toggleNightMode()
{
setNightMode(!LwNoisyOut::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(cfg.plunger.sensorPin[0], cfg.plunger.sensorPin[1], cfg.plunger.sensorPin[2], NC);
break;
case PlungerType_TSL1410RP:
// pins are: SI, CLOCK, AO1, AO2
plungerSensor = new PlungerSensorTSL1410R(cfg.plunger.sensorPin[0], cfg.plunger.sensorPin[1], cfg.plunger.sensorPin[2], cfg.plunger.sensorPin[3]);
break;
case PlungerType_TSL1412RS:
// pins are: SI, CLOCK, AO1, AO2
plungerSensor = new PlungerSensorTSL1412R(cfg.plunger.sensorPin[0], cfg.plunger.sensorPin[1], cfg.plunger.sensorPin[2], NC);
break;
case PlungerType_TSL1412RP:
// pins are: SI, CLOCK, AO1, AO2
plungerSensor = new PlungerSensorTSL1412R(cfg.plunger.sensorPin[0], cfg.plunger.sensorPin[1], cfg.plunger.sensorPin[2], cfg.plunger.sensorPin[3]);
break;
case PlungerType_Pot:
// pins are: AO
plungerSensor = new PlungerSensorPot(cfg.plunger.sensorPin[0]);
break;
case PlungerType_None:
default:
plungerSensor = new PlungerSensorNull();
break;
}
}
// ---------------------------------------------------------------------------
//
// Reboot - resets the microcontroller
//
void reboot(USBJoystick &js)
{
// disconnect from USB
js.disconnect();
// wait a few seconds to make sure the host notices the disconnect
wait(5);
// 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;
}
}
// ---------------------------------------------------------------------------
//
// Device status. We report this on each update so that the host config
// tool can detect our current settings. This is a bit mask consisting
// of these bits:
// 0x0001 -> plunger sensor enabled
// 0x8000 -> RESERVED - must always be zero
//
// Note that the high bit (0x8000) must always be 0, since we use that
// to distinguish special request reply packets.
uint16_t statusFlags;
// Pixel dump mode - the host requested a dump of image sensor pixels
// (helpful for installing and setting up the sensor and light source)
bool reportPix = false;
uint8_t reportPixMode; // pixel report mode bits:
// 0x01 -> raw pixels (0) / processed (1)
// 0x02 -> high res scan (0) / low res (1)
// ---------------------------------------------------------------------------
//
// 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_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_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_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, int &z)
{
// 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]);
// 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);
// If the wizVal setting is 255, it means that this
// output was last set to a brightness value with the
// extended protocol. Return it to LedWiz control by
// rescaling the brightness setting to the LedWiz range
// and updating wizVal with the result. If it's any
// other value, it was previously set by a PBA message,
// so simply retain the last setting - in the normal
// LedWiz protocol, the "profile" (brightness) and on/off
// states are independent, so an SBA just turns an output
// on or off but retains its last brightness level.
if (wizVal[i] == 255)
wizVal[i] = (uint8_t)round(outLevel[i]/255.0 * 48.0);
}
// 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;
// update the status flags
statusFlags = (statusFlags & ~0x01) | (data[3] & 0x01);
// if the plunger is no longer enabled, use 0 for z reports
if (!cfg.plunger.enabled)
z = 0;
// save the configuration
saveConfigToFlash();
// reboot if necessary
if (needReset)
reboot(js);
}
break;
case 2:
// 2 = Calibrate plunger
// (No parameters)
// enter calibration mode
calBtnState = 3;
calBtnTimer.reset();
cfg.plunger.cal.begin();
break;
case 3:
// 3 = pixel dump
// data[2] = mode bits:
// 0x01 -> return processed pixels (default is raw pixels)
// 0x02 -> low res scan (default is high res scan)
reportPix = true;
reportPixMode = data[2];
// 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,
nvm.valid());
break;
case 5:
// 5 = all outputs off, reset to LedWiz defaults
allOutputsOff();
break;
case 6:
// 6 = Save configuration to flash.
saveConfigToFlash();
// Reboot the microcontroller. Nearly all config changes
// require a reset, and a reset only takes a few seconds,
// so we don't bother tracking whether or not a reboot is
// really needed.
reboot(js);
break;
case 7:
// 7 = Device ID report
// (No parameters)
js.reportID();
break;
case 8:
// 8 = Engage/disengage night mode.
// data[2] = 1 to engage, 0 to disengage
setNightMode(data[2]);
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.
int i0 = (data[0] - 200)*7;
int i1 = i0 + 7 < numOutputs ? i0 + 7 : numOutputs;
for (int i = i0 ; i < i1 ; ++i)
{
// set the brightness level for the output
uint8_t b = data[i-i0+1];
outLevel[i] = b;
// if it's in the basic LedWiz output set, set the LedWiz
// profile value to 255, which means "use outLevel"
if (i < 32)
wizVal[i] = 255;
// 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.
//
//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]);
// 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;
}
}
// ---------------------------------------------------------------------------
//
// Pre-connection diagnostic flasher
//
void preConnectFlasher()
{
diagLED(1, 0, 0);
wait(0.05);
diagLED(0, 0, 0);
}
// ---------------------------------------------------------------------------
//
// 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)
{
printf("\r\nPinscape Controller starting\r\n");
// memory config debugging: {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);
// set up the pre-connected ticker
Ticker preConnectTicker;
preConnectTicker.attach(preConnectFlasher, 3);
// we're not connected/awake yet
bool connected = false;
Timer connectChangeTimer;
// create the plunger sensor interface
createPlunger();
// set up the TLC5940 interface and start the TLC5940 clock, if applicable
init_tlc5940(cfg);
// enable the 74HC595 chips, if present
init_hc595(cfg);
// Initialize the LedWiz ports. Note that it's important to wait until
// after initializing the various off-board output port controller chip
// sybsystems (TLC5940, 74HC595), since pins attached to peripheral
// controllers will need to address their respective controller objects,
// which don't exit until we initialize those subsystems.
initLwOut(cfg);
// start the TLC5940 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 we use the LedWiz unit
// number from the saved configuration.
MyUSBJoystick js(cfg.usbVendorID, cfg.usbProductID, USB_VERSION_NO, true, cfg.joystickEnabled, kbKeys);
// we're now connected - kill the pre-connect ticker
preConnectTicker.detach();
// Last report timer for the joytick interface. We use the joystick timer
// to throttle the report rate, because VP doesn't benefit from reports any
// faster than about every 10ms.
Timer jsReportTimer;
jsReportTimer.start();
// Time since we successfully sent a USB report. This is a hacky workaround
// for sporadic problems in the USB stack that I haven't been able to figure
// out. If we go too long without successfully sending a USB report, we'll
// try resetting the connection.
Timer jsOKTimer;
jsOKTimer.start();
// set the initial status flags
statusFlags = (cfg.plunger.enabled ? 0x01 : 0x00);
// initialize the calibration buttons, if present
DigitalIn *calBtn = (cfg.plunger.cal.btn == NC ? 0 : new DigitalIn(cfg.plunger.cal.btn));
DigitalOut *calBtnLed = (cfg.plunger.cal.led == NC ? 0 : new DigitalOut(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;
// last plunger report position, on the 0.0..1.0 normalized scale
float pos = 0;
// last plunger report, in joystick units (we report the plunger as the
// "z" axis of the joystick, per the VP convention)
int z = 0;
// most recent prior plunger readings, for tracking release events(z0 is
// reading just before the last one we reported, z1 is the one before that,
// z2 the next before that)
int z0 = 0, z1 = 0, z2 = 0;
// Simulated "bounce" position when firing. We model the bounce off of
// the barrel spring when the plunger is released as proportional to the
// distance it was retracted just before being released.
int zBounce = 0;
// 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 = cocked (plunger has been pulled back about 1" from state 0)
// 2 = uncocked (plunger is pulled back less than 1" from state 1)
// 3 = launching, plunger is forward beyond park position
// 4 = launching, plunger is behind park position
// 5 = pressed and holding (plunger has been pressed forward beyond
// the park position from state 0)
int lbState = 0;
// button bit for ZB launch ball button
const uint32_t lbButtonBit = (1 << (cfg.plunger.zbLaunchBall.btn - 1));
// 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;
lbTimer.start();
// Launch Ball simulated push timer. We start this when we simulate
// the button push, and turn off the simulated button when enough time
// has elapsed.
Timer lbBtnTimer;
// Simulated button states. This is a vector of button states
// for the simulated buttons. We combine this with the physical
// button states on each USB joystick report, so we will report
// a button as pressed if either the physical button is being pressed
// or we're simulating a press on the button. This is used for the
// simulated Launch Ball button.
uint32_t simButtons = 0;
// Firing in progress: we set this when we detect the start of rapid
// plunger movement from a retracted position towards the rest position.
//
// When we detect a firing event, we send VP a series of synthetic
// reports simulating the idealized plunger motion. The actual physical
// motion is much too fast to report to VP; in the time between two USB
// reports, the plunger can shoot all the way forward, rebound off of
// the barrel spring, bounce back part way, and bounce forward again,
// or even do all of this more than once. This means that sampling the
// physical motion at the USB report rate would create a misleading
// picture of the plunger motion, since our samples would catch the
// plunger at random points in this oscillating motion. From the
// user's perspective, the physical action that occurred is simply that
// the plunger was released from a particular distance, so it's this
// high-level event that we want to convey to VP. To do this, we
// synthesize a series of reports to convey an idealized version of
// the release motion that's perfectly synchronized to the VP reports.
// Essentially we pretend that our USB position samples are exactly
// aligned in time with (1) the point of retraction just before the
// user released the plunger, (2) the point of maximum forward motion
// just after the user released the plunger (the point of maximum
// compression as the plunger bounces off of the barrel spring), and
// (3) the plunger coming to rest at the park position. This series
// of reports is synthetic in the sense that it's not what we actually
// see on the CCD at the times of these reports - the true plunger
// position is oscillating at high speed during this period. But at
// the same time it conveys a more faithful picture of the true physical
// motion to VP, and allows VP to reproduce the true physical motion
// more faithfully in its simulation model, by correcting for the
// relatively low sampling rate in the communication path between the
// real plunger and VP's model plunger.
//
// If 'firing' is non-zero, it's the index of our current report in
// the synthetic firing report series.
int firing = 0;
// start the first CCD integration cycle
plungerSensor->init();
Timer dbgTimer; dbgTimer.start(); // $$$ plunger debug report timer
// we're all set up - now just loop, processing sensor reports and
// host requests
for (;;)
{
// Process incoming reports on the joystick interface. This channel
// is used for LedWiz commands are our extended protocol commands.
LedWizMsg lwm;
while (js.readLedWizMsg(lwm))
handleInputMsg(lwm, js, z);
// 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_ms() > 50)
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_ms() > 2050)
{
// enter calibration mode
calBtnState = 3;
calBtnTimer.reset();
// begin the plunger calibration limits
cfg.plunger.cal.begin();
}
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_ms() > 15000)
{
// exit calibration mode
calBtnState = 0;
// 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_ms()/250) & 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
}
}
// If the plunger is enabled, and we're not in calibration mode, and
// we're not already in a firing event, and the last plunger reading had
// the plunger pulled back at least a bit, watch for plunger release
// events until it's time for our next USB report.
if (!firing && calBtnState != 3 && cfg.plunger.enabled && z >= JOYMAX/6)
{
// monitor the plunger until it's time for our next report
for (int i = 0 ; i < 20 && jsReportTimer.read_ms() < 12 ; ++i)
{
// do a fast low-res scan; if it's at or past the zero point,
// start a firing event
float pos0;
if (plungerSensor->lowResScan(pos0) && pos0 <= cfg.plunger.cal.zero)
{
firing = 1;
break;
}
}
}
// read the plunger sensor, if it's enabled and we're not in firing mode
if (cfg.plunger.enabled && !firing)
{
// start with the previous reading, in case we don't have a
// clear result on this frame
int znew = z;
if (plungerSensor->highResScan(pos))
{
// We have a new reading. If we're in calibration mode, use it
// to figure the new calibration, otherwise adjust the new reading
// for the established calibration.
if (calBtnState == 3)
{
// Calibration mode. If this reading is outside of the current
// calibration bounds, expand the bounds.
if (pos < cfg.plunger.cal.min)
cfg.plunger.cal.min = pos;
if (pos < cfg.plunger.cal.zero)
cfg.plunger.cal.zero = pos;
if (pos > cfg.plunger.cal.max)
cfg.plunger.cal.max = pos;
// normalize to the full physical range while calibrating
znew = int(round(pos * JOYMAX));
}
else
{
// Not in calibration mode, so normalize the new reading to the
// established calibration range.
//
// Note that negative values are allowed. Zero represents the
// "park" position, where the plunger sits when at rest. A mechanical
// plunger has a small amount of travel in the "push" direction,
// since the barrel spring can be compressed slightly. Negative
// values represent travel in the push direction.
if (pos > cfg.plunger.cal.max)
pos = cfg.plunger.cal.max;
znew = int(round(
(pos - cfg.plunger.cal.zero)
/ (cfg.plunger.cal.max - cfg.plunger.cal.zero)
* JOYMAX));
}
}
// If we're not already in a firing event, check to see if the
// new position is forward of the last report. If it is, a firing
// event might have started during the high-res scan. This might
// seem unlikely given that the scan only takes about 5ms, but that
// 5ms represents about 25-30% of our total time between reports,
// there's about a 1 in 4 chance that a release starts during a
// scan.
if (!firing && z0 > 0 && znew < z0)
{
// The plunger has moved forward since the previous report.
// Watch it for a few more ms to see if we can get a stable
// new position.
float pos0;
if (plungerSensor->lowResScan(pos0))
{
int pos1 = pos0;
Timer tw;
tw.start();
while (tw.read_ms() < 6)
{
// read the new position
float pos2;
if (plungerSensor->lowResScan(pos2))
{
// If it's stable over consecutive readings, stop looping.
// Count it as stable if the position is within about 1/8".
// The overall travel of a standard plunger is about 3.2",
// so on our normalized 0.0..1.0 scale, 1.0 equals 3.2",
// thus 1" = .3125 and 1/8" = .0391.
if (fabs(pos2 - pos1) < .0391f)
break;
// If we've crossed the rest position, and we've moved by
// a minimum distance from where we starting this loop, begin
// a firing event. (We require a minimum distance to prevent
// spurious firing from random analog noise in the readings
// when the plunger is actually just sitting still at the
// rest position. If it's at rest, it's normal to see small
// random fluctuations in the analog reading +/- 1% or so
// from the 0 point, especially with a sensor like a
// potentionemeter that reports the position as a single
// analog voltage.) Note that we compare the latest reading
// to the first reading of the loop - we don't require the
// threshold motion over consecutive readings, but any time
// over the stability wait loop.
if (pos1 < cfg.plunger.cal.zero && fabs(pos2 - pos0) > .0391f)
{
firing = 1;
break;
}
// the new reading is now the prior reading
pos1 = pos2;
}
}
}
}
// Check for a simulated Launch Ball button press, if enabled
if (cfg.plunger.zbLaunchBall.port != 0)
{
const int cockThreshold = JOYMAX/3;
const int pushThreshold = int(-JOYMAX/3.0 * cfg.plunger.zbLaunchBall.pushDistance/1000.0);
int newState = lbState;
switch (lbState)
{
case 0:
// Base state. If the plunger is pulled back by an inch
// or more, go to "cocked" state. If the plunger is pushed
// forward by 1/4" or more, go to "pressed" state.
if (znew >= cockThreshold)
newState = 1;
else if (znew <= pushThreshold)
newState = 5;
break;
case 1:
// Cocked state. If a firing event is now in progress,
// go to "launch" state. Otherwise, if the plunger is less
// than 1" retracted, go to "uncocked" state - the player
// might be slowly returning the plunger to rest so as not
// to trigger a launch.
if (firing || znew <= 0)
newState = 3;
else if (znew < cockThreshold)
newState = 2;
break;
case 2:
// Uncocked state. If the plunger is more than an inch
// retracted, return to cocked state. If we've been in
// the uncocked state for more than half a second, return
// to the base state. This allows the user to return the
// plunger to rest without triggering a launch, by moving
// it at manual speed to the rest position rather than
// releasing it.
if (znew >= cockThreshold)
newState = 1;
else if (lbTimer.read_ms() > 500)
newState = 0;
break;
case 3:
// Launch state. If the plunger is no longer pushed
// forward, switch to launch rest state.
if (znew >= 0)
newState = 4;
break;
case 4:
// Launch rest state. If the plunger is pushed forward
// again, switch back to launch state. If not, and we've
// been in this state for at least 200ms, return to the
// default state.
if (znew <= pushThreshold)
newState = 3;
else if (lbTimer.read_ms() > 200)
newState = 0;
break;
case 5:
// Press-and-Hold state. If the plunger is no longer pushed
// forward, AND it's been at least 50ms since we generated
// the simulated Launch Ball button press, return to the base
// state. The minimum time is to ensure that VP has a chance
// to see the button press and to avoid transient key bounce
// effects when the plunger position is right on the threshold.
if (znew > pushThreshold && lbTimer.read_ms() > 50)
newState = 0;
break;
}
// change states if desired
if (newState != lbState)
{
// If we're entering Launch state OR we're entering the
// Press-and-Hold state, AND the ZB Launch Ball LedWiz signal
// is turned on, simulate a Launch Ball button press.
if (((newState == 3 && lbState != 4) || newState == 5)
&& wizOn[cfg.plunger.zbLaunchBall.port-1])
{
lbBtnTimer.reset();
lbBtnTimer.start();
simButtons |= lbButtonBit;
}
// if we're switching to state 0, release the button
if (newState == 0)
simButtons &= ~(1 << (cfg.plunger.zbLaunchBall.btn - 1));
// switch to the new state
lbState = newState;
// start timing in the new state
lbTimer.reset();
}
// If the Launch Ball button press is in effect, but the
// ZB Launch Ball LedWiz signal is no longer turned on, turn
// off the button.
//
// If we're in one of the Launch states (state #3 or #4),
// and the button has been on for long enough, turn it off.
// The Launch mode is triggered by a pull-and-release gesture.
// From the user's perspective, this is just a single gesture
// that should trigger just one momentary press on the Launch
// Ball button. Physically, though, the plunger usually
// bounces back and forth for 500ms or so before coming to
// rest after this gesture. That's what the whole state
// #3-#4 business is all about - we stay in this pair of
// states until the plunger comes to rest. As long as we're
// in these states, we won't send duplicate button presses.
// But we also don't want the one button press to continue
// the whole time, so we'll time it out now.
//
// (This could be written as one big 'if' condition, but
// I'm breaking it out verbosely like this to make it easier
// for human readers such as myself to comprehend the logic.)
if ((simButtons & lbButtonBit) != 0)
{
int turnOff = false;
// turn it off if the ZB Launch Ball signal is off
if (!wizOn[cfg.plunger.zbLaunchBall.port-1])
turnOff = true;
// also turn it off if we're in state 3 or 4 ("Launch"),
// and the button has been on long enough
if ((lbState == 3 || lbState == 4) && lbBtnTimer.read_ms() > 250)
turnOff = true;
// if we decided to turn off the button, do so
if (turnOff)
{
lbBtnTimer.stop();
simButtons &= ~lbButtonBit;
}
}
}
// If a firing event is in progress, generate synthetic reports to
// describe an idealized version of the plunger motion to VP rather
// than reporting the actual physical plunger position.
//
// We use the synthetic reports during a release event because the
// physical plunger motion when released is too fast for VP to track.
// VP only syncs its internal physics model with the outside world
// about every 10ms. In that amount of time, the plunger moves
// fast enough when released that it can shoot all the way forward,
// bounce off of the barrel spring, and rebound part of the way
// back. The result is the classic analog-to-digital problem of
// sample aliasing. If we happen to time our sample during the
// release motion so that we catch the plunger at the peak of a
// bounce, the digital signal incorrectly looks like the plunger
// is moving slowly forward - VP thinks we went from fully
// retracted to half retracted in the sample interval, whereas
// we actually traveled all the way forward and half way back,
// so the speed VP infers is about 1/3 of the actual speed.
//
// To correct this, we take advantage of our ability to sample
// the CCD image several times in the course of a VP report. If
// we catch the plunger near the origin after we've seen it
// retracted, we go into Release Event mode. During this mode,
// we stop reporting the true physical plunger position, and
// instead report an idealized pattern: we report the plunger
// immediately shooting forward to a position in front of the
// park position that's in proportion to how far back the plunger
// was just before the release, and we then report it stationary
// at the park position. We continue to report the stationary
// park position until the actual physical plunger motion has
// stabilized on a new position. We then exit Release Event
// mode and return to reporting the true physical position.
if (firing)
{
// Firing in progress. Keep reporting the park position
// until the physical plunger position comes to rest.
const int restTol = JOYMAX/24;
if (firing == 1)
{
// For the first couple of frames, show the plunger shooting
// forward past the zero point, to simulate the momentum carrying
// it forward to bounce off of the barrel spring. Show the
// bounce as proportional to the distance it was retracted
// in the prior report.
z = zBounce = -z0/6;
++firing;
}
else if (firing == 2)
{
// second frame - keep the bounce a little longer
z = zBounce;
++firing;
}
else if (firing > 4
&& abs(znew - z0) < restTol
&& abs(znew - z1) < restTol
&& abs(znew - z2) < restTol)
{
// The physical plunger has come to rest. Exit firing
// mode and resume reporting the actual position.
firing = false;
z = znew;
}
else
{
// until the physical plunger comes to rest, simply
// report the park position
z = 0;
++firing;
}
}
else
{
// not in firing mode - report the true physical position
z = znew;
}
// shift the new reading into the recent history buffer
z2 = z1;
z1 = z0;
z0 = znew;
}
// process button updates
processButtons();
// 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;
// If it's been long enough since our last USB status report,
// send the new report. We throttle the report rate because
// it can overwhelm the PC side if we report too frequently.
// VP only wants to sync with the real world in 10ms intervals,
// so reporting more frequently creates I/O overhead without
// doing anything to improve the simulation.
if (cfg.joystickEnabled && jsReportTimer.read_ms() > 10)
{
// 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 ZB Launch Ball
// signal is on, in which case just report a constant 0 value.
// ZB Launch Ball turns off the plunger position because it
// tells us that the table has a Launch Ball button instead of
// a traditional plunger.
int zrep = (cfg.plunger.zbLaunchBall.port != 0 && wizOn[cfg.plunger.zbLaunchBall.port-1] ? 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 | simButtons, statusFlags);
// we've just started a new report interval, so reset the timer
jsReportTimer.reset();
}
// If we're in pixel dump mode, report all pixel exposure values
if (reportPix)
{
// send the report
plungerSensor->sendExposureReport(js, reportPixMode);
// we have satisfied this request
reportPix = 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_ms() > 200)
{
jsOK = js.updateStatus(0);
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.isSuspended();
if (newConnected != connected)
{
// give it a few seconds to stabilize
connectChangeTimer.start();
if (connectChangeTimer.read() > 3)
{
// note the new status
connected = newConnected;
// done with the change timer for this round - reset it for next time
connectChangeTimer.stop();
connectChangeTimer.reset();
// adjust to the new status
if (connected)
{
// We're newly connected. This means we just powered on, we were
// just plugged in to the PC USB port after being unplugged, or the
// PC just came out of sleep/suspend mode and resumed the connection.
// In any of these cases, we can now assume that the PC power supply
// is on (the PC must be on for the USB connection to be running, and
// if the PC is on, its power supply is on). This also means that
// power to any external output controller chips (TLC5940, 74HC595)
// is now on, because those have to be powered from the PC power
// supply to allow for a reliable data connection to the KL25Z.
// We can thus now set clear initial output state in those chips and
// enable their outputs.
if (tlc5940 != 0)
{
tlc5940->update(true);
tlc5940->enable(true);
}
if (hc595 != 0)
{
hc595->update(true);
hc595->enable(true);
}
}
else
{
// We're no longer 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 (dbgTimer.read() > 10) {
dbgTimer.reset();
if (plungerSensor != 0 && (cfg.plunger.sensorType == PlungerType_TSL1410RS || cfg.plunger.sensorType == PlungerType_TSL1410RP))
{
PlungerSensorTSL1410R *ps = (PlungerSensorTSL1410R *)plungerSensor;
printf("average plunger read time: %f ms (total=%f, n=%d)\r\n", ps->ccd.totalTime*1000.0 / ps->ccd.nRuns, ps->ccd.totalTime, ps->ccd.nRuns);
}
}
// end $$$
// provide a visual status indication on the on-board LED
if (calBtnState < 2 && hbTimer.read_ms() > 1000)
{
if (!newConnected)
{
// suspended - turn off the LED
diagLED(0, 0, 0);
// show a status flash every so often
if (hbcnt % 3 == 0)
{
// disconnected = short red/red flash
// suspended = short red flash
for (int n = js.isConnected() ? 1 : 2 ; n > 0 ; --n)
{
diagLED(1, 0, 0);
wait(0.05);
diagLED(0, 0, 0);
wait(0.25);
}
}
}
else if (jsOKTimer.read() > 5)
{
// USB freeze - show red/yellow.
// Our outgoing joystick messages aren't going through, even though we
// think we're still connected. This indicates that one or more of our
// USB endpoints have stopped working, which can happen as a result of
// bugs in the USB HAL or latency responding to a USB IRQ. Show a
// distinctive diagnostic flash to signal the error. I haven't found a
// way to recover from this class of error other than rebooting the MCU,
// so the goal is to fix the HAL so that this error never happens.
//
// NOTE! This diagnostic code *hopefully* shouldn't occur. It happened
// in the past due to a number of bugs in the mbed KL25Z USB HAL that
// I've since fixed. I think I found all of the cases that caused it,
// but I'm leaving the diagnostics here in case there are other bugs
// still lurking that can trigger the same symptoms.
jsOKTimer.stop();
hb = !hb;
diagLED(1, hb, 0);
}
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;
}
}
}