Arnaud VALLEY / Mbed 2 deprecated Pinscape_Controller_V2_arnoz

Mirror with some correction

Dependencies:   mbed FastIO FastPWM USBDevice

main.cpp@0:5acbbe3f4cf4, 2014-07-11 (annotated)

Committer:
mjr
Date:
Fri Jul 11 03:26:11 2014 +0000
Revision:
0:5acbbe3f4cf4
Child:
1:d913e0afb2ac
Initial testing setup, before starting on real configuration

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mjr 0:5acbbe3f4cf4 1 #include "mbed.h"
mjr 0:5acbbe3f4cf4 2 #include "USBJoystick.h"
mjr 0:5acbbe3f4cf4 3 #include "MMA8451Q.h"
mjr 0:5acbbe3f4cf4 4 #include "tls1410r.h"
mjr 0:5acbbe3f4cf4 5
mjr 0:5acbbe3f4cf4 6 PwmOut led1(LED1), led2(LED2), led3(LED3);
mjr 0:5acbbe3f4cf4 7 DigitalOut out1(PTE29);
mjr 0:5acbbe3f4cf4 8
mjr 0:5acbbe3f4cf4 9
mjr 0:5acbbe3f4cf4 10
mjr 0:5acbbe3f4cf4 11 static int pbaIdx = 0;
mjr 0:5acbbe3f4cf4 12
mjr 0:5acbbe3f4cf4 13 // on/off state for each LedWiz output
mjr 0:5acbbe3f4cf4 14 static uint8_t ledOn[32];
mjr 0:5acbbe3f4cf4 15
mjr 0:5acbbe3f4cf4 16 // profile (brightness/blink) state for each LedWiz output
mjr 0:5acbbe3f4cf4 17 static uint8_t ledVal[32] = {
mjr 0:5acbbe3f4cf4 18 0, 0, 0, 0, 0, 0, 0, 0,
mjr 0:5acbbe3f4cf4 19 0, 0, 0, 0, 0, 0, 0, 0,
mjr 0:5acbbe3f4cf4 20 0, 0, 0, 0, 0, 0, 0, 0,
mjr 0:5acbbe3f4cf4 21 0, 0, 0, 0, 0, 0, 0, 0
mjr 0:5acbbe3f4cf4 22 };
mjr 0:5acbbe3f4cf4 23
mjr 0:5acbbe3f4cf4 24 static double ledState(int idx)
mjr 0:5acbbe3f4cf4 25 {
mjr 0:5acbbe3f4cf4 26 if (ledOn[idx]) {
mjr 0:5acbbe3f4cf4 27 // on - map profile brightness state to PWM level
mjr 0:5acbbe3f4cf4 28 uint8_t val = ledVal[idx];
mjr 0:5acbbe3f4cf4 29 if (val >= 1 && val <= 48)
mjr 0:5acbbe3f4cf4 30 return 1.0 - val/48.0;
mjr 0:5acbbe3f4cf4 31 else if (val >= 129 && val <= 132)
mjr 0:5acbbe3f4cf4 32 return 0.0;
mjr 0:5acbbe3f4cf4 33 else
mjr 0:5acbbe3f4cf4 34 return 1.0;
mjr 0:5acbbe3f4cf4 35 }
mjr 0:5acbbe3f4cf4 36 else {
mjr 0:5acbbe3f4cf4 37 // off
mjr 0:5acbbe3f4cf4 38 return 1.0;
mjr 0:5acbbe3f4cf4 39 }
mjr 0:5acbbe3f4cf4 40 }
mjr 0:5acbbe3f4cf4 41
mjr 0:5acbbe3f4cf4 42 static void updateLeds()
mjr 0:5acbbe3f4cf4 43 {
mjr 0:5acbbe3f4cf4 44 led1 = ledState(0);
mjr 0:5acbbe3f4cf4 45 led2 = ledState(1);
mjr 0:5acbbe3f4cf4 46 led3 = ledState(2);
mjr 0:5acbbe3f4cf4 47 }
mjr 0:5acbbe3f4cf4 48
mjr 0:5acbbe3f4cf4 49 int main(void)
mjr 0:5acbbe3f4cf4 50 {
mjr 0:5acbbe3f4cf4 51 led1 = 1;
mjr 0:5acbbe3f4cf4 52 led2 = 1;
mjr 0:5acbbe3f4cf4 53 led3 = 1;
mjr 0:5acbbe3f4cf4 54 Timer timer;
mjr 0:5acbbe3f4cf4 55
mjr 0:5acbbe3f4cf4 56 // set up a timer for spacing USB reports
mjr 0:5acbbe3f4cf4 57 timer.start();
mjr 0:5acbbe3f4cf4 58 float t0 = timer.read_ms();
mjr 0:5acbbe3f4cf4 59 float tout1 = timer.read_ms();
mjr 0:5acbbe3f4cf4 60
mjr 0:5acbbe3f4cf4 61 // Create the joystick USB client. Show a read LED while connecting, and
mjr 0:5acbbe3f4cf4 62 // change to green when connected.
mjr 0:5acbbe3f4cf4 63 led1 = 0.75;
mjr 0:5acbbe3f4cf4 64 USBJoystick js(0xFAFA, 0x00F7, 0x0001);
mjr 0:5acbbe3f4cf4 65 led1 = 1;
mjr 0:5acbbe3f4cf4 66 led2 = 0.75;
mjr 0:5acbbe3f4cf4 67
mjr 0:5acbbe3f4cf4 68 // create the accelerometer object
mjr 0:5acbbe3f4cf4 69 const int MMA8451_I2C_ADDRESS = (0x1d<<1);
mjr 0:5acbbe3f4cf4 70 MMA8451Q accel(PTE25, PTE24, MMA8451_I2C_ADDRESS);
mjr 0:5acbbe3f4cf4 71 printf("MMA8451 ID: %d\r\n", accel.getWhoAmI());
mjr 0:5acbbe3f4cf4 72
mjr 0:5acbbe3f4cf4 73 // create the CCD array object
mjr 0:5acbbe3f4cf4 74 TLS1410R ccd(PTE20, PTE21, PTB0);
mjr 0:5acbbe3f4cf4 75
mjr 0:5acbbe3f4cf4 76 // process sensor reports and LedWiz requests forever
mjr 0:5acbbe3f4cf4 77 int x = 0, y = 127, z = 0;
mjr 0:5acbbe3f4cf4 78 for (;;)
mjr 0:5acbbe3f4cf4 79 {
mjr 0:5acbbe3f4cf4 80 // Look for an incoming report. Continue processing input as
mjr 0:5acbbe3f4cf4 81 // long as there's anything pending - this ensures that we
mjr 0:5acbbe3f4cf4 82 // handle input in as timely a fashion as possible by deferring
mjr 0:5acbbe3f4cf4 83 // output tasks as long as there's input to process.
mjr 0:5acbbe3f4cf4 84 HID_REPORT report;
mjr 0:5acbbe3f4cf4 85 while (js.readNB(&report) && report.length == 8)
mjr 0:5acbbe3f4cf4 86 {
mjr 0:5acbbe3f4cf4 87 uint8_t *data = report.data;
mjr 0:5acbbe3f4cf4 88 if (data[0] == 64) {
mjr 0:5acbbe3f4cf4 89 // LWZ-SBA - first four bytes are bit-packed on/off flags
mjr 0:5acbbe3f4cf4 90 // for the outputs; 5th byte is the pulse speed (0-7)
mjr 0:5acbbe3f4cf4 91 //printf("LWZ-SBA %02x %02x %02x %02x ; %02x\r\n",
mjr 0:5acbbe3f4cf4 92 // data[1], data[2], data[3], data[4], data[5]);
mjr 0:5acbbe3f4cf4 93
mjr 0:5acbbe3f4cf4 94 // update all on/off states
mjr 0:5acbbe3f4cf4 95 for (int i = 0, bit = 1, ri = 1 ; i < 32 ; ++i, bit <<= 1)
mjr 0:5acbbe3f4cf4 96 {
mjr 0:5acbbe3f4cf4 97 if (bit == 0x100) {
mjr 0:5acbbe3f4cf4 98 bit = 1;
mjr 0:5acbbe3f4cf4 99 ++ri;
mjr 0:5acbbe3f4cf4 100 }
mjr 0:5acbbe3f4cf4 101 ledOn[i] = ((data[ri] & bit) != 0);
mjr 0:5acbbe3f4cf4 102 }
mjr 0:5acbbe3f4cf4 103
mjr 0:5acbbe3f4cf4 104 // update the physical LED state
mjr 0:5acbbe3f4cf4 105 updateLeds();
mjr 0:5acbbe3f4cf4 106
mjr 0:5acbbe3f4cf4 107 // reset the PBA counter
mjr 0:5acbbe3f4cf4 108 pbaIdx = 0;
mjr 0:5acbbe3f4cf4 109 }
mjr 0:5acbbe3f4cf4 110 else {
mjr 0:5acbbe3f4cf4 111 // LWZ-PBA - full state dump; each byte is one output
mjr 0:5acbbe3f4cf4 112 // in the current bank. pbaIdx keeps track of the bank;
mjr 0:5acbbe3f4cf4 113 // this is incremented implicitly by each PBA message.
mjr 0:5acbbe3f4cf4 114 //printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n",
mjr 0:5acbbe3f4cf4 115 // pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
mjr 0:5acbbe3f4cf4 116
mjr 0:5acbbe3f4cf4 117 // update all output profile settings
mjr 0:5acbbe3f4cf4 118 for (int i = 0 ; i < 8 ; ++i)
mjr 0:5acbbe3f4cf4 119 ledVal[pbaIdx + i] = data[i];
mjr 0:5acbbe3f4cf4 120
mjr 0:5acbbe3f4cf4 121 // update the physical LED state if this is the last bank
mjr 0:5acbbe3f4cf4 122 if (pbaIdx == 24)
mjr 0:5acbbe3f4cf4 123 updateLeds();
mjr 0:5acbbe3f4cf4 124
mjr 0:5acbbe3f4cf4 125 // advance to the next bank
mjr 0:5acbbe3f4cf4 126 pbaIdx = (pbaIdx + 8) & 31;
mjr 0:5acbbe3f4cf4 127 }
mjr 0:5acbbe3f4cf4 128 }
mjr 0:5acbbe3f4cf4 129
mjr 0:5acbbe3f4cf4 130 #if 1
mjr 0:5acbbe3f4cf4 131 // check the accelerometer
mjr 0:5acbbe3f4cf4 132 {
mjr 0:5acbbe3f4cf4 133 // read the accelerometer
mjr 0:5acbbe3f4cf4 134 float xa = accel.getAccX();
mjr 0:5acbbe3f4cf4 135 float ya = accel.getAccY();
mjr 0:5acbbe3f4cf4 136
mjr 0:5acbbe3f4cf4 137 // figure the new joystick position
mjr 0:5acbbe3f4cf4 138 int xnew = (int)(127 * xa);
mjr 0:5acbbe3f4cf4 139 int ynew = (int)(127 * ya);
mjr 0:5acbbe3f4cf4 140
mjr 0:5acbbe3f4cf4 141 // send an update if the position has changed
mjr 0:5acbbe3f4cf4 142 if (xnew != x || ynew != y)
mjr 0:5acbbe3f4cf4 143 {
mjr 0:5acbbe3f4cf4 144 x = xnew;
mjr 0:5acbbe3f4cf4 145 y = ynew;
mjr 0:5acbbe3f4cf4 146
mjr 0:5acbbe3f4cf4 147 // send the status report
mjr 0:5acbbe3f4cf4 148 js.update(x, y, z, 0);
mjr 0:5acbbe3f4cf4 149 }
mjr 0:5acbbe3f4cf4 150 }
mjr 0:5acbbe3f4cf4 151 #else
mjr 0:5acbbe3f4cf4 152 // Send a joystick report if it's been long enough since the
mjr 0:5acbbe3f4cf4 153 // last report
mjr 0:5acbbe3f4cf4 154 if (timer.read_ms() - t0 > 250)
mjr 0:5acbbe3f4cf4 155 {
mjr 0:5acbbe3f4cf4 156 // send the current joystick status report
mjr 0:5acbbe3f4cf4 157 js.update(x, y, z, 0);
mjr 0:5acbbe3f4cf4 158
mjr 0:5acbbe3f4cf4 159 // update our internal joystick position record
mjr 0:5acbbe3f4cf4 160 x += dx;
mjr 0:5acbbe3f4cf4 161 y += dy;
mjr 0:5acbbe3f4cf4 162 z += dz;
mjr 0:5acbbe3f4cf4 163 if (x > xmax || x < xmin) {
mjr 0:5acbbe3f4cf4 164 dx = -dx;
mjr 0:5acbbe3f4cf4 165 x += 2*dx;
mjr 0:5acbbe3f4cf4 166 }
mjr 0:5acbbe3f4cf4 167 if (y > ymax || y < ymin) {
mjr 0:5acbbe3f4cf4 168 dy = -dy;
mjr 0:5acbbe3f4cf4 169 y += 2*dy;
mjr 0:5acbbe3f4cf4 170 }
mjr 0:5acbbe3f4cf4 171 if (z > zmax || z < zmin) {
mjr 0:5acbbe3f4cf4 172 dz = -dz;
mjr 0:5acbbe3f4cf4 173 z += 2*dz;
mjr 0:5acbbe3f4cf4 174 }
mjr 0:5acbbe3f4cf4 175
mjr 0:5acbbe3f4cf4 176 // note the time of the last report
mjr 0:5acbbe3f4cf4 177 t0 = timer.read_ms();
mjr 0:5acbbe3f4cf4 178 }
mjr 0:5acbbe3f4cf4 179 #endif
mjr 0:5acbbe3f4cf4 180
mjr 0:5acbbe3f4cf4 181 // pulse E29
mjr 0:5acbbe3f4cf4 182 if (timer.read_ms() - tout1 > 2000)
mjr 0:5acbbe3f4cf4 183 {
mjr 0:5acbbe3f4cf4 184 out1 = !out1;
mjr 0:5acbbe3f4cf4 185 tout1 = timer.read_ms();
mjr 0:5acbbe3f4cf4 186 }
mjr 0:5acbbe3f4cf4 187 }
mjr 0:5acbbe3f4cf4 188 }