Pinscape_Controller_V2_arnoz - Mirror with some correction

Users » arnoz » Code » Pinscape_Controller_V2_arnoz

Arnaud VALLEY / Mbed 2 deprecated Pinscape_Controller_V2_arnoz

Mirror with some correction

Dependencies: mbed FastIO FastPWM USBDevice

main.cpp@95:8eca8acbb82c, 2018-01-28 (annotated)

Committer:: mjr
Date:: Sun Jan 28 20:59:59 2018 +0000
Revision:: 95:8eca8acbb82c
Parent:: 94:0476b3e2b996
Child:: 96:68d5621ff49f

Fix accelerometer rotation problem with stuttered joystick reports

Who changed what in which revision?

User	Revision	Line number	New contents of line
mjr	51:57eb311faafa	1	/* Copyright 2014, 2016 M J Roberts, MIT License
mjr	5:a70c0bce770d	2	*
mjr	5:a70c0bce770d	3	* Permission is hereby granted, free of charge, to any person obtaining a copy of this software
mjr	5:a70c0bce770d	4	* and associated documentation files (the "Software"), to deal in the Software without
mjr	5:a70c0bce770d	5	* restriction, including without limitation the rights to use, copy, modify, merge, publish,
mjr	5:a70c0bce770d	6	* distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
mjr	5:a70c0bce770d	7	* Software is furnished to do so, subject to the following conditions:
mjr	5:a70c0bce770d	8	*
mjr	5:a70c0bce770d	9	* The above copyright notice and this permission notice shall be included in all copies or
mjr	5:a70c0bce770d	10	* substantial portions of the Software.
mjr	5:a70c0bce770d	11	*
mjr	5:a70c0bce770d	12	* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
mjr	48:058ace2aed1d	13	* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILIT Y, FITNESS FOR A PARTICULAR PURPOSE AND
mjr	5:a70c0bce770d	14	* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
mjr	5:a70c0bce770d	15	* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
mjr	5:a70c0bce770d	16	* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
mjr	5:a70c0bce770d	17	*/
mjr	5:a70c0bce770d	18
mjr	5:a70c0bce770d	19	//
mjr	35:e959ffba78fd	20	// The Pinscape Controller
mjr	35:e959ffba78fd	21	// A comprehensive input/output controller for virtual pinball machines
mjr	5:a70c0bce770d	22	//
mjr	48:058ace2aed1d	23	// This project implements an I/O controller for virtual pinball cabinets. The
mjr	48:058ace2aed1d	24	// controller's function is to connect Visual Pinball (and other Windows pinball
mjr	48:058ace2aed1d	25	// emulators) with physical devices in the cabinet: buttons, sensors, and
mjr	48:058ace2aed1d	26	// feedback devices that create visual or mechanical effects during play.
mjr	38:091e511ce8a0	27	//
mjr	48:058ace2aed1d	28	// The controller can perform several different functions, which can be used
mjr	38:091e511ce8a0	29	// individually or in any combination:
mjr	5:a70c0bce770d	30	//
mjr	38:091e511ce8a0	31	// - Nudge sensing. This uses the KL25Z's on-board accelerometer to sense the
mjr	38:091e511ce8a0	32	// motion of the cabinet when you nudge it. Visual Pinball and other pinball
mjr	38:091e511ce8a0	33	// emulators on the PC have native handling for this type of input, so that
mjr	38:091e511ce8a0	34	// physical nudges on the cabinet turn into simulated effects on the virtual
mjr	38:091e511ce8a0	35	// ball. The KL25Z measures accelerations as analog readings and is quite
mjr	38:091e511ce8a0	36	// sensitive, so the effect of a nudge on the simulation is proportional
mjr	38:091e511ce8a0	37	// to the strength of the nudge. Accelerations are reported to the PC via a
mjr	38:091e511ce8a0	38	// simulated joystick (using the X and Y axes); you just have to set some
mjr	38:091e511ce8a0	39	// preferences in your pinball software to tell it that an accelerometer
mjr	38:091e511ce8a0	40	// is attached.
mjr	5:a70c0bce770d	41	//
mjr	74:822a92bc11d2	42	// - Plunger position sensing, with multiple sensor options. To use this feature,
mjr	35:e959ffba78fd	43	// you need to choose a sensor and set it up, connect the sensor electrically to
mjr	35:e959ffba78fd	44	// the KL25Z, and configure the Pinscape software on the KL25Z to let it know how
mjr	35:e959ffba78fd	45	// the sensor is hooked up. The Pinscape software monitors the sensor and sends
mjr	35:e959ffba78fd	46	// readings to Visual Pinball via the joystick Z axis. VP and other PC software
mjr	38:091e511ce8a0	47	// have native support for this type of input; as with the nudge setup, you just
mjr	38:091e511ce8a0	48	// have to set some options in VP to activate the plunger.
mjr	17:ab3cec0c8bf4	49	//
mjr	87:8d35c74403af	50	// We support several sensor types:
mjr	35:e959ffba78fd	51	//
mjr	87:8d35c74403af	52	// - AEDR-8300-1K2 optical encoders. These are quadrature encoders with
mjr	87:8d35c74403af	53	// reflective optical sensing and built-in lighting and optics. The sensor
mjr	87:8d35c74403af	54	// is attached to the plunger so that it moves with the plunger, and slides
mjr	87:8d35c74403af	55	// along a guide rail with a reflective pattern of regularly spaces bars
mjr	87:8d35c74403af	56	// for the encoder to read. We read the plunger position by counting the
mjr	87:8d35c74403af	57	// bars the sensor passes as it moves across the rail. This is the newest
mjr	87:8d35c74403af	58	// option, and it's my current favorite because it's highly accurate,
mjr	87:8d35c74403af	59	// precise, and fast, plus it's relatively inexpensive.
mjr	87:8d35c74403af	60	//
mjr	87:8d35c74403af	61	// - Slide potentiometers. There are slide potentioneters available with a
mjr	87:8d35c74403af	62	// long enough travel distance (at least 85mm) to cover the plunger travel.
mjr	87:8d35c74403af	63	// Attach the plunger to the potentiometer knob so that the moving the
mjr	87:8d35c74403af	64	// plunger moves the pot knob. We sense the position by simply reading
mjr	87:8d35c74403af	65	// the analog voltage on the pot brush. A pot with a "linear taper" (that
mjr	87:8d35c74403af	66	// is, the resistance varies linearly with the position) is required.
mjr	87:8d35c74403af	67	// This option is cheap, easy to set up, and works well.
mjr	5:a70c0bce770d	68	//
mjr	87:8d35c74403af	69	// - VL6108X time-of-flight distance sensor. This is an optical distance
mjr	87:8d35c74403af	70	// sensor that measures the distance to a nearby object (within about 10cm)
mjr	87:8d35c74403af	71	// by measuring the travel time for reflected pulses of light. It's fairly
mjr	87:8d35c74403af	72	// cheap and easy to set up, but I don't recommend it because it has very
mjr	87:8d35c74403af	73	// low precision.
mjr	6:cc35eb643e8f	74	//
mjr	87:8d35c74403af	75	// - TSL1410R/TSL1412R linear array optical sensors. These are large optical
mjr	87:8d35c74403af	76	// sensors with the pixels arranged in a single row. The pixel arrays are
mjr	87:8d35c74403af	77	// large enough on these to cover the travel distance of the plunger, so we
mjr	87:8d35c74403af	78	// can set up the sensor near the plunger in such a way that the plunger
mjr	87:8d35c74403af	79	// casts a shadow on the sensor. We detect the plunger position by finding
mjr	87:8d35c74403af	80	// the edge of the sahdow in the image. The optics for this setup are very
mjr	87:8d35c74403af	81	// simple since we don't need any lenses. This was the first sensor we
mjr	87:8d35c74403af	82	// supported, and works very well, but unfortunately the sensor is difficult
mjr	87:8d35c74403af	83	// to find now since it's been discontinued by the manufacturer.
mjr	87:8d35c74403af	84	//
mjr	87:8d35c74403af	85	// The v2 Build Guide has details on how to build and configure all of the
mjr	87:8d35c74403af	86	// sensor options.
mjr	87:8d35c74403af	87	//
mjr	87:8d35c74403af	88	// Visual Pinball has built-in support for plunger devices like this one, but
mjr	87:8d35c74403af	89	// some older VP tables (particularly for VP 9) can't use it without some
mjr	87:8d35c74403af	90	// modifications to their scripting. The Build Guide has advice on how to
mjr	87:8d35c74403af	91	// fix up VP tables to add plunger support when necessary.
mjr	5:a70c0bce770d	92	//
mjr	77:0b96f6867312	93	// - Button input wiring. You can assign GPIO ports as inputs for physical
mjr	77:0b96f6867312	94	// pinball-style buttons, such as flipper buttons, a Start button, coin
mjr	77:0b96f6867312	95	// chute switches, tilt bobs, and service panel buttons. You can configure
mjr	77:0b96f6867312	96	// each button input to report a keyboard key or joystick button press to
mjr	77:0b96f6867312	97	// the PC when the physical button is pushed.
mjr	13:72dda449c3c0	98	//
mjr	53:9b2611964afc	99	// - LedWiz emulation. The KL25Z can pretend to be an LedWiz device. This lets
mjr	53:9b2611964afc	100	// you connect feedback devices (lights, solenoids, motors) to GPIO ports on the
mjr	53:9b2611964afc	101	// KL25Z, and lets PC software (such as Visual Pinball) control them during game
mjr	53:9b2611964afc	102	// play to create a more immersive playing experience. The Pinscape software
mjr	53:9b2611964afc	103	// presents itself to the host as an LedWiz device and accepts the full LedWiz
mjr	53:9b2611964afc	104	// command set, so software on the PC designed for real LedWiz'es can control
mjr	53:9b2611964afc	105	// attached devices without any modifications.
mjr	5:a70c0bce770d	106	//
mjr	53:9b2611964afc	107	// Even though the software provides a very thorough LedWiz emulation, the KL25Z
mjr	53:9b2611964afc	108	// GPIO hardware design imposes some serious limitations. The big one is that
mjr	53:9b2611964afc	109	// the KL25Z only has 10 PWM channels, meaning that only 10 ports can have
mjr	53:9b2611964afc	110	// varying-intensity outputs (e.g., for controlling the brightness level of an
mjr	53:9b2611964afc	111	// LED or the speed or a motor). You can control more than 10 output ports, but
mjr	53:9b2611964afc	112	// only 10 can have PWM control; the rest are simple "digital" ports that can only
mjr	53:9b2611964afc	113	// be switched fully on or fully off. The second limitation is that the KL25Z
mjr	53:9b2611964afc	114	// just doesn't have that many GPIO ports overall. There are enough to populate
mjr	53:9b2611964afc	115	// all 32 button inputs OR all 32 LedWiz outputs, but not both. The default is
mjr	53:9b2611964afc	116	// to assign 24 buttons and 22 LedWiz ports; you can change this balance to trade
mjr	53:9b2611964afc	117	// off more outputs for fewer inputs, or vice versa. The third limitation is that
mjr	53:9b2611964afc	118	// the KL25Z GPIO pins have very tiny amperage limits - just 4mA, which isn't
mjr	53:9b2611964afc	119	// even enough to control a small LED. So in order to connect any kind of feedback
mjr	53:9b2611964afc	120	// device to an output, you must build some external circuitry to boost the
mjr	53:9b2611964afc	121	// current handing. The Build Guide has a reference circuit design for this
mjr	53:9b2611964afc	122	// purpose that's simple and inexpensive to build.
mjr	6:cc35eb643e8f	123	//
mjr	87:8d35c74403af	124	// - Enhanced LedWiz emulation with TLC5940 and/or TLC59116 PWM controller chips.
mjr	87:8d35c74403af	125	// You can attach external PWM chips for controlling device outputs, instead of
mjr	87:8d35c74403af	126	// using (or in addition to) the on-board GPIO ports as described above. The
mjr	87:8d35c74403af	127	// software can control a set of daisy-chained TLC5940 or TLC59116 chips. Each
mjr	87:8d35c74403af	128	// chip provides 16 PWM outputs, so you just need two of them to get the full
mjr	87:8d35c74403af	129	// complement of 32 output ports of a real LedWiz. You can hook up even more,
mjr	87:8d35c74403af	130	// though. Four chips gives you 64 ports, which should be plenty for nearly any
mjr	87:8d35c74403af	131	// virtual pinball project.
mjr	53:9b2611964afc	132	//
mjr	53:9b2611964afc	133	// The Pinscape Expansion Board project (which appeared in early 2016) provides
mjr	53:9b2611964afc	134	// a reference hardware design, with EAGLE circuit board layouts, that takes full
mjr	53:9b2611964afc	135	// advantage of the TLC5940 capability. It lets you create a customized set of
mjr	53:9b2611964afc	136	// outputs with full PWM control and power handling for high-current devices
mjr	87:8d35c74403af	137	// built in to the boards.
mjr	87:8d35c74403af	138	//
mjr	87:8d35c74403af	139	// To accommodate the larger supply of ports possible with the external chips,
mjr	87:8d35c74403af	140	// the controller software provides a custom, extended version of the LedWiz
mjr	87:8d35c74403af	141	// protocol that can handle up to 128 ports. Legacy PC software designed only
mjr	87:8d35c74403af	142	// for the original LedWiz obviously can't use the extended protocol, and thus
mjr	87:8d35c74403af	143	// can't take advantage of its extra capabilities, but the latest version of
mjr	87:8d35c74403af	144	// DOF (DirectOutput Framework) does know the new language and can take full
mjr	87:8d35c74403af	145	// advantage. Older software will still work, though - the new extensions are
mjr	87:8d35c74403af	146	// all backwards compatible, so old software that only knows about the original
mjr	87:8d35c74403af	147	// LedWiz protocol will still work, with the limitation that it can only access
mjr	87:8d35c74403af	148	// the first 32 ports. In addition, we provide a replacement LEDWIZ.DLL that
mjr	87:8d35c74403af	149	// creates virtual LedWiz units representing additional ports beyond the first
mjr	87:8d35c74403af	150	// 32. This allows legacy LedWiz client software to address all ports by
mjr	87:8d35c74403af	151	// making them think that you have several physical LedWiz units installed.
mjr	26:cb71c4af2912	152	//
mjr	38:091e511ce8a0	153	// - Night Mode control for output devices. You can connect a switch or button
mjr	38:091e511ce8a0	154	// to the controller to activate "Night Mode", which disables feedback devices
mjr	38:091e511ce8a0	155	// that you designate as noisy. You can designate outputs individually as being
mjr	38:091e511ce8a0	156	// included in this set or not. This is useful if you want to play a game on
mjr	38:091e511ce8a0	157	// your cabinet late at night without waking the kids and annoying the neighbors.
mjr	38:091e511ce8a0	158	//
mjr	38:091e511ce8a0	159	// - TV ON switch. The controller can pulse a relay to turn on your TVs after
mjr	38:091e511ce8a0	160	// power to the cabinet comes on, with a configurable delay timer. This feature
mjr	38:091e511ce8a0	161	// is for TVs that don't turn themselves on automatically when first plugged in.
mjr	38:091e511ce8a0	162	// To use this feature, you have to build some external circuitry to allow the
mjr	77:0b96f6867312	163	// software to sense the power supply status. The Build Guide has details
mjr	77:0b96f6867312	164	// on the necessary circuitry. You can use this to switch your TV on via a
mjr	77:0b96f6867312	165	// hardwired connection to the TV's "on" button, which requires taking the
mjr	77:0b96f6867312	166	// TV apart to gain access to its internal wiring, or optionally via the IR
mjr	77:0b96f6867312	167	// remote control transmitter feature below.
mjr	77:0b96f6867312	168	//
mjr	77:0b96f6867312	169	// - Infrared (IR) remote control receiver and transmitter. You can attach an
mjr	77:0b96f6867312	170	// IR LED and/or an IR sensor (we recommend the TSOP384xx series) to make the
mjr	77:0b96f6867312	171	// KL25Z capable of sending and/or receiving IR remote control signals. This
mjr	77:0b96f6867312	172	// can be used with the TV ON feature above to turn your TV(s) on when the
mjr	77:0b96f6867312	173	// system power comes on by sending the "on" command to them via IR, as though
mjr	77:0b96f6867312	174	// you pressed the "on" button on the remote control. The sensor lets the
mjr	77:0b96f6867312	175	// Pinscape software learn the IR codes from your existing remotes, in the
mjr	77:0b96f6867312	176	// same manner as a handheld universal remote control, and the IR LED lets
mjr	77:0b96f6867312	177	// it transmit learned codes. The sensor can also be used to receive codes
mjr	77:0b96f6867312	178	// during normal operation and turn them into PC keystrokes; this lets you
mjr	77:0b96f6867312	179	// access extra commands on the PC without adding more buttons to your
mjr	77:0b96f6867312	180	// cabinet. The IR LED can also be used to transmit other codes when you
mjr	77:0b96f6867312	181	// press selected cabinet buttons, allowing you to assign cabinet buttons
mjr	77:0b96f6867312	182	// to send IR commands to your cabinet TV or other devices.
mjr	38:091e511ce8a0	183	//
mjr	35:e959ffba78fd	184	//
mjr	35:e959ffba78fd	185	//
mjr	33:d832bcab089e	186	// STATUS LIGHTS: The on-board LED on the KL25Z flashes to indicate the current
mjr	33:d832bcab089e	187	// device status. The flash patterns are:
mjr	6:cc35eb643e8f	188	//
mjr	48:058ace2aed1d	189	// short yellow flash = waiting to connect
mjr	6:cc35eb643e8f	190	//
mjr	48:058ace2aed1d	191	// short red flash = the connection is suspended (the host is in sleep
mjr	48:058ace2aed1d	192	// or suspend mode, the USB cable is unplugged after a connection
mjr	48:058ace2aed1d	193	// has been established)
mjr	48:058ace2aed1d	194	//
mjr	48:058ace2aed1d	195	// two short red flashes = connection lost (the device should immediately
mjr	48:058ace2aed1d	196	// go back to short-yellow "waiting to reconnect" mode when a connection
mjr	48:058ace2aed1d	197	// is lost, so this display shouldn't normally appear)
mjr	6:cc35eb643e8f	198	//
mjr	38:091e511ce8a0	199	// long red/yellow = USB connection problem. The device still has a USB
mjr	48:058ace2aed1d	200	// connection to the host (or so it appears to the device), but data
mjr	48:058ace2aed1d	201	// transmissions are failing.
mjr	38:091e511ce8a0	202	//
mjr	73:4e8ce0b18915	203	// medium blue flash = TV ON delay timer running. This means that the
mjr	73:4e8ce0b18915	204	// power to the secondary PSU has just been turned on, and the TV ON
mjr	73:4e8ce0b18915	205	// timer is waiting for the configured delay time before pulsing the
mjr	73:4e8ce0b18915	206	// TV power button relay. This is only shown if the TV ON feature is
mjr	73:4e8ce0b18915	207	// enabled.
mjr	73:4e8ce0b18915	208	//
mjr	6:cc35eb643e8f	209	// long yellow/green = everything's working, but the plunger hasn't
mjr	38:091e511ce8a0	210	// been calibrated. Follow the calibration procedure described in
mjr	38:091e511ce8a0	211	// the project documentation. This flash mode won't appear if there's
mjr	38:091e511ce8a0	212	// no plunger sensor configured.
mjr	6:cc35eb643e8f	213	//
mjr	38:091e511ce8a0	214	// alternating blue/green = everything's working normally, and plunger
mjr	38:091e511ce8a0	215	// calibration has been completed (or there's no plunger attached)
mjr	10:976666ffa4ef	216	//
mjr	48:058ace2aed1d	217	// fast red/purple = out of memory. The controller halts and displays
mjr	48:058ace2aed1d	218	// this diagnostic code until you manually reset it. If this happens,
mjr	48:058ace2aed1d	219	// it's probably because the configuration is too complex, in which
mjr	48:058ace2aed1d	220	// case the same error will occur after the reset. If it's stuck
mjr	48:058ace2aed1d	221	// in this cycle, you'll have to restore the default configuration
mjr	48:058ace2aed1d	222	// by re-installing the controller software (the Pinscape .bin file).
mjr	10:976666ffa4ef	223	//
mjr	48:058ace2aed1d	224	//
mjr	48:058ace2aed1d	225	// USB PROTOCOL: Most of our USB messaging is through standard USB HID
mjr	48:058ace2aed1d	226	// classes (joystick, keyboard). We also accept control messages on our
mjr	48:058ace2aed1d	227	// primary HID interface "OUT endpoint" using a custom protocol that's
mjr	48:058ace2aed1d	228	// not defined in any USB standards (we do have to provide a USB HID
mjr	48:058ace2aed1d	229	// Report Descriptor for it, but this just describes the protocol as
mjr	48:058ace2aed1d	230	// opaque vendor-defined bytes). The control protocol incorporates the
mjr	48:058ace2aed1d	231	// LedWiz protocol as a subset, and adds our own private extensions.
mjr	48:058ace2aed1d	232	// For full details, see USBProtocol.h.
mjr	33:d832bcab089e	233
mjr	33:d832bcab089e	234
mjr	0:5acbbe3f4cf4	235	#include "mbed.h"
mjr	6:cc35eb643e8f	236	#include "math.h"
mjr	74:822a92bc11d2	237	#include "diags.h"
mjr	48:058ace2aed1d	238	#include "pinscape.h"
mjr	79:682ae3171a08	239	#include "NewMalloc.h"
mjr	0:5acbbe3f4cf4	240	#include "USBJoystick.h"
mjr	0:5acbbe3f4cf4	241	#include "MMA8451Q.h"
mjr	1:d913e0afb2ac	242	#include "FreescaleIAP.h"
mjr	2:c174f9ee414a	243	#include "crc32.h"
mjr	26:cb71c4af2912	244	#include "TLC5940.h"
mjr	87:8d35c74403af	245	#include "TLC59116.h"
mjr	34:6b981a2afab7	246	#include "74HC595.h"
mjr	35:e959ffba78fd	247	#include "nvm.h"
mjr	48:058ace2aed1d	248	#include "TinyDigitalIn.h"
mjr	77:0b96f6867312	249	#include "IRReceiver.h"
mjr	77:0b96f6867312	250	#include "IRTransmitter.h"
mjr	77:0b96f6867312	251	#include "NewPwm.h"
mjr	74:822a92bc11d2	252
mjr	82:4f6209cb5c33	253	// plunger sensors
mjr	82:4f6209cb5c33	254	#include "plunger.h"
mjr	82:4f6209cb5c33	255	#include "edgeSensor.h"
mjr	82:4f6209cb5c33	256	#include "potSensor.h"
mjr	82:4f6209cb5c33	257	#include "quadSensor.h"
mjr	82:4f6209cb5c33	258	#include "nullSensor.h"
mjr	82:4f6209cb5c33	259	#include "barCodeSensor.h"
mjr	82:4f6209cb5c33	260	#include "distanceSensor.h"
mjr	87:8d35c74403af	261	#include "tsl14xxSensor.h"
mjr	82:4f6209cb5c33	262
mjr	2:c174f9ee414a	263
mjr	21:5048e16cc9ef	264	#define DECL_EXTERNS
mjr	17:ab3cec0c8bf4	265	#include "config.h"
mjr	17:ab3cec0c8bf4	266
mjr	76:7f5912b6340e	267	// forward declarations
mjr	76:7f5912b6340e	268	static void waitPlungerIdle(void);
mjr	53:9b2611964afc	269
mjr	53:9b2611964afc	270	// --------------------------------------------------------------------------
mjr	53:9b2611964afc	271	//
mjr	53:9b2611964afc	272	// OpenSDA module identifier. This is for the benefit of the Windows
mjr	53:9b2611964afc	273	// configuration tool. When the config tool installs a .bin file onto
mjr	53:9b2611964afc	274	// the KL25Z, it will first find the sentinel string within the .bin file,
mjr	53:9b2611964afc	275	// and patch the "\0" bytes that follow the sentinel string with the
mjr	53:9b2611964afc	276	// OpenSDA module ID data. This allows us to report the OpenSDA
mjr	53:9b2611964afc	277	// identifiers back to the host system via USB, which in turn allows the
mjr	53:9b2611964afc	278	// config tool to figure out which OpenSDA MSD (mass storage device - a
mjr	53:9b2611964afc	279	// virtual disk drive) correlates to which Pinscape controller USB
mjr	53:9b2611964afc	280	// interface.
mjr	53:9b2611964afc	281	//
mjr	53:9b2611964afc	282	// This is only important if multiple Pinscape devices are attached to
mjr	53:9b2611964afc	283	// the same host. There doesn't seem to be any other way to figure out
mjr	53:9b2611964afc	284	// which OpenSDA MSD corresponds to which KL25Z USB interface; the OpenSDA
mjr	53:9b2611964afc	285	// MSD doesn't report the KL25Z CPU ID anywhere, and the KL25Z doesn't
mjr	53:9b2611964afc	286	// have any way to learn about the OpenSDA module it's connected to. The
mjr	53:9b2611964afc	287	// only way to pass this information to the KL25Z side that I can come up
mjr	53:9b2611964afc	288	// with is to have the Windows host embed it in the .bin file before
mjr	53:9b2611964afc	289	// downloading it to the OpenSDA MSD.
mjr	53:9b2611964afc	290	//
mjr	53:9b2611964afc	291	// We initialize the const data buffer (the part after the sentinel string)
mjr	53:9b2611964afc	292	// with all "\0" bytes, so that's what will be in the executable image that
mjr	53:9b2611964afc	293	// comes out of the mbed compiler. If you manually install the resulting
mjr	53:9b2611964afc	294	// .bin file onto the KL25Z (via the Windows desktop, say), the "\0" bytes
mjr	53:9b2611964afc	295	// will stay this way and read as all 0's at run-time. Since a real TUID
mjr	53:9b2611964afc	296	// would never be all 0's, that tells us that we were never patched and
mjr	53:9b2611964afc	297	// thus don't have any information on the OpenSDA module.
mjr	53:9b2611964afc	298	//
mjr	53:9b2611964afc	299	const char *getOpenSDAID()
mjr	53:9b2611964afc	300	{
mjr	53:9b2611964afc	301	#define OPENSDA_PREFIX "///Pinscape.OpenSDA.TUID///"
mjr	53:9b2611964afc	302	static const char OpenSDA[] = OPENSDA_PREFIX "\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0///";
mjr	53:9b2611964afc	303	const size_t OpenSDA_prefix_length = sizeof(OPENSDA_PREFIX) - 1;
mjr	53:9b2611964afc	304
mjr	53:9b2611964afc	305	return OpenSDA + OpenSDA_prefix_length;
mjr	53:9b2611964afc	306	}
mjr	53:9b2611964afc	307
mjr	53:9b2611964afc	308	// --------------------------------------------------------------------------
mjr	53:9b2611964afc	309	//
mjr	53:9b2611964afc	310	// Build ID. We use the date and time of compiling the program as a build
mjr	53:9b2611964afc	311	// identifier. It would be a little nicer to use a simple serial number
mjr	53:9b2611964afc	312	// instead, but the mbed platform doesn't have a way to automate that. The
mjr	53:9b2611964afc	313	// timestamp is a pretty good proxy for a serial number in that it will
mjr	53:9b2611964afc	314	// naturally increase on each new build, which is the primary property we
mjr	53:9b2611964afc	315	// want from this.
mjr	53:9b2611964afc	316	//
mjr	53:9b2611964afc	317	// As with the embedded OpenSDA ID, we store the build timestamp with a
mjr	53:9b2611964afc	318	// sentinel string prefix, to allow automated tools to find the static data
mjr	53:9b2611964afc	319	// in the .bin file by searching for the sentinel string. In contrast to
mjr	53:9b2611964afc	320	// the OpenSDA ID, the value we store here is for tools to extract rather
mjr	53:9b2611964afc	321	// than store, since we automatically populate it via the preprocessor
mjr	53:9b2611964afc	322	// macros.
mjr	53:9b2611964afc	323	//
mjr	53:9b2611964afc	324	const char *getBuildID()
mjr	53:9b2611964afc	325	{
mjr	53:9b2611964afc	326	#define BUILDID_PREFIX "///Pinscape.Build.ID///"
mjr	53:9b2611964afc	327	static const char BuildID[] = BUILDID_PREFIX __DATE__ " " __TIME__ "///";
mjr	53:9b2611964afc	328	const size_t BuildID_prefix_length = sizeof(BUILDID_PREFIX) - 1;
mjr	53:9b2611964afc	329
mjr	53:9b2611964afc	330	return BuildID + BuildID_prefix_length;
mjr	53:9b2611964afc	331	}
mjr	53:9b2611964afc	332
mjr	74:822a92bc11d2	333	// --------------------------------------------------------------------------
mjr	74:822a92bc11d2	334	// Main loop iteration timing statistics. Collected only if
mjr	74:822a92bc11d2	335	// ENABLE_DIAGNOSTICS is set in diags.h.
mjr	76:7f5912b6340e	336	#if ENABLE_DIAGNOSTICS
mjr	76:7f5912b6340e	337	uint64_t mainLoopIterTime, mainLoopIterCheckpt[15], mainLoopIterCount;
mjr	76:7f5912b6340e	338	uint64_t mainLoopMsgTime, mainLoopMsgCount;
mjr	76:7f5912b6340e	339	Timer mainLoopTimer;
mjr	76:7f5912b6340e	340	#endif
mjr	76:7f5912b6340e	341
mjr	53:9b2611964afc	342
mjr	5:a70c0bce770d	343	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	344	//
mjr	38:091e511ce8a0	345	// Forward declarations
mjr	38:091e511ce8a0	346	//
mjr	38:091e511ce8a0	347	void setNightMode(bool on);
mjr	38:091e511ce8a0	348	void toggleNightMode();
mjr	38:091e511ce8a0	349
mjr	38:091e511ce8a0	350	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	351	// utilities
mjr	17:ab3cec0c8bf4	352
mjr	77:0b96f6867312	353	// int/float point square of a number
mjr	77:0b96f6867312	354	inline int square(int x) { return x*x; }
mjr	26:cb71c4af2912	355	inline float square(float x) { return x*x; }
mjr	26:cb71c4af2912	356
mjr	26:cb71c4af2912	357	// floating point rounding
mjr	26:cb71c4af2912	358	inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); }
mjr	26:cb71c4af2912	359
mjr	17:ab3cec0c8bf4	360
mjr	33:d832bcab089e	361	// --------------------------------------------------------------------------
mjr	33:d832bcab089e	362	//
mjr	40:cc0d9814522b	363	// Extended verison of Timer class. This adds the ability to interrogate
mjr	40:cc0d9814522b	364	// the running state.
mjr	40:cc0d9814522b	365	//
mjr	77:0b96f6867312	366	class ExtTimer: public Timer
mjr	40:cc0d9814522b	367	{
mjr	40:cc0d9814522b	368	public:
mjr	77:0b96f6867312	369	ExtTimer() : running(false) { }
mjr	40:cc0d9814522b	370
mjr	40:cc0d9814522b	371	void start() { running = true; Timer::start(); }
mjr	40:cc0d9814522b	372	void stop() { running = false; Timer::stop(); }
mjr	40:cc0d9814522b	373
mjr	40:cc0d9814522b	374	bool isRunning() const { return running; }
mjr	40:cc0d9814522b	375
mjr	40:cc0d9814522b	376	private:
mjr	40:cc0d9814522b	377	bool running;
mjr	40:cc0d9814522b	378	};
mjr	40:cc0d9814522b	379
mjr	53:9b2611964afc	380
mjr	53:9b2611964afc	381	// --------------------------------------------------------------------------
mjr	40:cc0d9814522b	382	//
mjr	33:d832bcab089e	383	// USB product version number
mjr	5:a70c0bce770d	384	//
mjr	47:df7a88cd249c	385	const uint16_t USB_VERSION_NO = 0x000A;
mjr	33:d832bcab089e	386
mjr	33:d832bcab089e	387	// --------------------------------------------------------------------------
mjr	33:d832bcab089e	388	//
mjr	6:cc35eb643e8f	389	// Joystick axis report range - we report from -JOYMAX to +JOYMAX
mjr	33:d832bcab089e	390	//
mjr	6:cc35eb643e8f	391	#define JOYMAX 4096
mjr	6:cc35eb643e8f	392
mjr	9:fd65b0a94720	393
mjr	17:ab3cec0c8bf4	394	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	395	//
mjr	40:cc0d9814522b	396	// Wire protocol value translations. These translate byte values to and
mjr	40:cc0d9814522b	397	// from the USB protocol to local native format.
mjr	35:e959ffba78fd	398	//
mjr	35:e959ffba78fd	399
mjr	35:e959ffba78fd	400	// unsigned 16-bit integer
mjr	35:e959ffba78fd	401	inline uint16_t wireUI16(const uint8_t *b)
mjr	35:e959ffba78fd	402	{
mjr	35:e959ffba78fd	403	return b[0] \| ((uint16_t)b[1] << 8);
mjr	35:e959ffba78fd	404	}
mjr	40:cc0d9814522b	405	inline void ui16Wire(uint8_t *b, uint16_t val)
mjr	40:cc0d9814522b	406	{
mjr	40:cc0d9814522b	407	b[0] = (uint8_t)(val & 0xff);
mjr	40:cc0d9814522b	408	b[1] = (uint8_t)((val >> 8) & 0xff);
mjr	40:cc0d9814522b	409	}
mjr	35:e959ffba78fd	410
mjr	35:e959ffba78fd	411	inline int16_t wireI16(const uint8_t *b)
mjr	35:e959ffba78fd	412	{
mjr	35:e959ffba78fd	413	return (int16_t)wireUI16(b);
mjr	35:e959ffba78fd	414	}
mjr	40:cc0d9814522b	415	inline void i16Wire(uint8_t *b, int16_t val)
mjr	40:cc0d9814522b	416	{
mjr	40:cc0d9814522b	417	ui16Wire(b, (uint16_t)val);
mjr	40:cc0d9814522b	418	}
mjr	35:e959ffba78fd	419
mjr	35:e959ffba78fd	420	inline uint32_t wireUI32(const uint8_t *b)
mjr	35:e959ffba78fd	421	{
mjr	35:e959ffba78fd	422	return b[0] \| ((uint32_t)b[1] << 8) \| ((uint32_t)b[2] << 16) \| ((uint32_t)b[3] << 24);
mjr	35:e959ffba78fd	423	}
mjr	40:cc0d9814522b	424	inline void ui32Wire(uint8_t *b, uint32_t val)
mjr	40:cc0d9814522b	425	{
mjr	40:cc0d9814522b	426	b[0] = (uint8_t)(val & 0xff);
mjr	40:cc0d9814522b	427	b[1] = (uint8_t)((val >> 8) & 0xff);
mjr	40:cc0d9814522b	428	b[2] = (uint8_t)((val >> 16) & 0xff);
mjr	40:cc0d9814522b	429	b[3] = (uint8_t)((val >> 24) & 0xff);
mjr	40:cc0d9814522b	430	}
mjr	35:e959ffba78fd	431
mjr	35:e959ffba78fd	432	inline int32_t wireI32(const uint8_t *b)
mjr	35:e959ffba78fd	433	{
mjr	35:e959ffba78fd	434	return (int32_t)wireUI32(b);
mjr	35:e959ffba78fd	435	}
mjr	35:e959ffba78fd	436
mjr	53:9b2611964afc	437	// Convert "wire" (USB) pin codes to/from PinName values.
mjr	53:9b2611964afc	438	//
mjr	53:9b2611964afc	439	// The internal mbed PinName format is
mjr	53:9b2611964afc	440	//
mjr	53:9b2611964afc	441	// ((port) << PORT_SHIFT) \| (pin << 2) // MBED FORMAT
mjr	53:9b2611964afc	442	//
mjr	53:9b2611964afc	443	// where 'port' is 0-4 for Port A to Port E, and 'pin' is
mjr	53:9b2611964afc	444	// 0 to 31. E.g., E31 is (4 << PORT_SHIFT) \| (31<<2).
mjr	53:9b2611964afc	445	//
mjr	53:9b2611964afc	446	// We remap this to our more compact wire format where each
mjr	53:9b2611964afc	447	// pin name fits in 8 bits:
mjr	53:9b2611964afc	448	//
mjr	53:9b2611964afc	449	// ((port) << 5) \| pin) // WIRE FORMAT
mjr	53:9b2611964afc	450	//
mjr	53:9b2611964afc	451	// E.g., E31 is (4 << 5) \| 31.
mjr	53:9b2611964afc	452	//
mjr	53:9b2611964afc	453	// Wire code FF corresponds to PinName NC (not connected).
mjr	53:9b2611964afc	454	//
mjr	53:9b2611964afc	455	inline PinName wirePinName(uint8_t c)
mjr	35:e959ffba78fd	456	{
mjr	53:9b2611964afc	457	if (c == 0xFF)
mjr	53:9b2611964afc	458	return NC; // 0xFF -> NC
mjr	53:9b2611964afc	459	else
mjr	53:9b2611964afc	460	return PinName(
mjr	53:9b2611964afc	461	(int(c & 0xE0) << (PORT_SHIFT - 5)) // top three bits are the port
mjr	53:9b2611964afc	462	\| (int(c & 0x1F) << 2)); // bottom five bits are pin
mjr	40:cc0d9814522b	463	}
mjr	40:cc0d9814522b	464	inline void pinNameWire(uint8_t *b, PinName n)
mjr	40:cc0d9814522b	465	{
mjr	53:9b2611964afc	466	*b = PINNAME_TO_WIRE(n);
mjr	35:e959ffba78fd	467	}
mjr	35:e959ffba78fd	468
mjr	35:e959ffba78fd	469
mjr	35:e959ffba78fd	470	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	471	//
mjr	38:091e511ce8a0	472	// On-board RGB LED elements - we use these for diagnostic displays.
mjr	38:091e511ce8a0	473	//
mjr	38:091e511ce8a0	474	// Note that LED3 (the blue segment) is hard-wired on the KL25Z to PTD1,
mjr	38:091e511ce8a0	475	// so PTD1 shouldn't be used for any other purpose (e.g., as a keyboard
mjr	38:091e511ce8a0	476	// input or a device output). This is kind of unfortunate in that it's
mjr	38:091e511ce8a0	477	// one of only two ports exposed on the jumper pins that can be muxed to
mjr	38:091e511ce8a0	478	// SPI0 SCLK. This effectively limits us to PTC5 if we want to use the
mjr	38:091e511ce8a0	479	// SPI capability.
mjr	38:091e511ce8a0	480	//
mjr	38:091e511ce8a0	481	DigitalOut ledR, ledG, *ledB;
mjr	38:091e511ce8a0	482
mjr	73:4e8ce0b18915	483	// Power on timer state for diagnostics. We flash the blue LED when
mjr	77:0b96f6867312	484	// nothing else is going on. State 0-1 = off, 2-3 = on blue. Also
mjr	77:0b96f6867312	485	// show red when transmitting an LED signal, indicated by state 4.
mjr	73:4e8ce0b18915	486	uint8_t powerTimerDiagState = 0;
mjr	73:4e8ce0b18915	487
mjr	38:091e511ce8a0	488	// Show the indicated pattern on the diagnostic LEDs. 0 is off, 1 is
mjr	38:091e511ce8a0	489	// on, and -1 is no change (leaves the current setting intact).
mjr	73:4e8ce0b18915	490	static uint8_t diagLEDState = 0;
mjr	38:091e511ce8a0	491	void diagLED(int r, int g, int b)
mjr	38:091e511ce8a0	492	{
mjr	73:4e8ce0b18915	493	// remember the new state
mjr	73:4e8ce0b18915	494	diagLEDState = r \| (g << 1) \| (b << 2);
mjr	73:4e8ce0b18915	495
mjr	73:4e8ce0b18915	496	// if turning everything off, use the power timer state instead,
mjr	73:4e8ce0b18915	497	// applying it to the blue LED
mjr	73:4e8ce0b18915	498	if (diagLEDState == 0)
mjr	77:0b96f6867312	499	{
mjr	77:0b96f6867312	500	b = (powerTimerDiagState == 2 \|\| powerTimerDiagState == 3);
mjr	77:0b96f6867312	501	r = (powerTimerDiagState == 4);
mjr	77:0b96f6867312	502	}
mjr	73:4e8ce0b18915	503
mjr	73:4e8ce0b18915	504	// set the new state
mjr	38:091e511ce8a0	505	if (ledR != 0 && r != -1) ledR->write(!r);
mjr	38:091e511ce8a0	506	if (ledG != 0 && g != -1) ledG->write(!g);
mjr	38:091e511ce8a0	507	if (ledB != 0 && b != -1) ledB->write(!b);
mjr	38:091e511ce8a0	508	}
mjr	38:091e511ce8a0	509
mjr	73:4e8ce0b18915	510	// update the LEDs with the current state
mjr	73:4e8ce0b18915	511	void diagLED(void)
mjr	73:4e8ce0b18915	512	{
mjr	73:4e8ce0b18915	513	diagLED(
mjr	73:4e8ce0b18915	514	diagLEDState & 0x01,
mjr	73:4e8ce0b18915	515	(diagLEDState >> 1) & 0x01,
mjr	77:0b96f6867312	516	(diagLEDState >> 2) & 0x01);
mjr	73:4e8ce0b18915	517	}
mjr	73:4e8ce0b18915	518
mjr	38:091e511ce8a0	519	// check an output port assignment to see if it conflicts with
mjr	38:091e511ce8a0	520	// an on-board LED segment
mjr	38:091e511ce8a0	521	struct LedSeg
mjr	38:091e511ce8a0	522	{
mjr	38:091e511ce8a0	523	bool r, g, b;
mjr	38:091e511ce8a0	524	LedSeg() { r = g = b = false; }
mjr	38:091e511ce8a0	525
mjr	38:091e511ce8a0	526	void check(LedWizPortCfg &pc)
mjr	38:091e511ce8a0	527	{
mjr	38:091e511ce8a0	528	// if it's a GPIO, check to see if it's assigned to one of
mjr	38:091e511ce8a0	529	// our on-board LED segments
mjr	38:091e511ce8a0	530	int t = pc.typ;
mjr	38:091e511ce8a0	531	if (t == PortTypeGPIOPWM \|\| t == PortTypeGPIODig)
mjr	38:091e511ce8a0	532	{
mjr	38:091e511ce8a0	533	// it's a GPIO port - check for a matching pin assignment
mjr	38:091e511ce8a0	534	PinName pin = wirePinName(pc.pin);
mjr	38:091e511ce8a0	535	if (pin == LED1)
mjr	38:091e511ce8a0	536	r = true;
mjr	38:091e511ce8a0	537	else if (pin == LED2)
mjr	38:091e511ce8a0	538	g = true;
mjr	38:091e511ce8a0	539	else if (pin == LED3)
mjr	38:091e511ce8a0	540	b = true;
mjr	38:091e511ce8a0	541	}
mjr	38:091e511ce8a0	542	}
mjr	38:091e511ce8a0	543	};
mjr	38:091e511ce8a0	544
mjr	38:091e511ce8a0	545	// Initialize the diagnostic LEDs. By default, we use the on-board
mjr	38:091e511ce8a0	546	// RGB LED to display the microcontroller status. However, we allow
mjr	38:091e511ce8a0	547	// the user to commandeer the on-board LED as an LedWiz output device,
mjr	38:091e511ce8a0	548	// which can be useful for testing a new installation. So we'll check
mjr	38:091e511ce8a0	549	// for LedWiz outputs assigned to the on-board LED segments, and turn
mjr	38:091e511ce8a0	550	// off the diagnostic use for any so assigned.
mjr	38:091e511ce8a0	551	void initDiagLEDs(Config &cfg)
mjr	38:091e511ce8a0	552	{
mjr	38:091e511ce8a0	553	// run through the configuration list and cross off any of the
mjr	38:091e511ce8a0	554	// LED segments assigned to LedWiz ports
mjr	38:091e511ce8a0	555	LedSeg l;
mjr	38:091e511ce8a0	556	for (int i = 0 ; i < MAX_OUT_PORTS && cfg.outPort[i].typ != PortTypeDisabled ; ++i)
mjr	38:091e511ce8a0	557	l.check(cfg.outPort[i]);
mjr	38:091e511ce8a0	558
mjr	38:091e511ce8a0	559	// We now know which segments are taken for LedWiz use and which
mjr	38:091e511ce8a0	560	// are free. Create diagnostic ports for the ones not claimed for
mjr	38:091e511ce8a0	561	// LedWiz use.
mjr	38:091e511ce8a0	562	if (!l.r) ledR = new DigitalOut(LED1, 1);
mjr	38:091e511ce8a0	563	if (!l.g) ledG = new DigitalOut(LED2, 1);
mjr	38:091e511ce8a0	564	if (!l.b) ledB = new DigitalOut(LED3, 1);
mjr	38:091e511ce8a0	565	}
mjr	38:091e511ce8a0	566
mjr	38:091e511ce8a0	567
mjr	38:091e511ce8a0	568	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	569	//
mjr	76:7f5912b6340e	570	// LedWiz emulation
mjr	76:7f5912b6340e	571	//
mjr	76:7f5912b6340e	572
mjr	76:7f5912b6340e	573	// LedWiz output states.
mjr	76:7f5912b6340e	574	//
mjr	76:7f5912b6340e	575	// The LedWiz protocol has two separate control axes for each output.
mjr	76:7f5912b6340e	576	// One axis is its on/off state; the other is its "profile" state, which
mjr	76:7f5912b6340e	577	// is either a fixed brightness or a blinking pattern for the light.
mjr	76:7f5912b6340e	578	// The two axes are independent.
mjr	76:7f5912b6340e	579	//
mjr	76:7f5912b6340e	580	// Even though the original LedWiz protocol can only access 32 ports, we
mjr	76:7f5912b6340e	581	// maintain LedWiz state for every port, even if we have more than 32. Our
mjr	76:7f5912b6340e	582	// extended protocol allows the client to send LedWiz-style messages that
mjr	76:7f5912b6340e	583	// control any set of ports. A replacement LEDWIZ.DLL can make a single
mjr	76:7f5912b6340e	584	// Pinscape unit look like multiple virtual LedWiz units to legacy clients,
mjr	76:7f5912b6340e	585	// allowing them to control all of our ports. The clients will still be
mjr	76:7f5912b6340e	586	// using LedWiz-style states to control the ports, so we need to support
mjr	76:7f5912b6340e	587	// the LedWiz scheme with separate on/off and brightness control per port.
mjr	76:7f5912b6340e	588
mjr	76:7f5912b6340e	589	// On/off state for each LedWiz output
mjr	76:7f5912b6340e	590	static uint8_t *wizOn;
mjr	76:7f5912b6340e	591
mjr	76:7f5912b6340e	592	// LedWiz "Profile State" (the LedWiz brightness level or blink mode)
mjr	76:7f5912b6340e	593	// for each LedWiz output. If the output was last updated through an
mjr	76:7f5912b6340e	594	// LedWiz protocol message, it will have one of these values:
mjr	76:7f5912b6340e	595	//
mjr	76:7f5912b6340e	596	// 0-48 = fixed brightness 0% to 100%
mjr	76:7f5912b6340e	597	// 49 = fixed brightness 100% (equivalent to 48)
mjr	76:7f5912b6340e	598	// 129 = ramp up / ramp down
mjr	76:7f5912b6340e	599	// 130 = flash on / off
mjr	76:7f5912b6340e	600	// 131 = on / ramp down
mjr	76:7f5912b6340e	601	// 132 = ramp up / on
mjr	5:a70c0bce770d	602	//
mjr	76:7f5912b6340e	603	// (Note that value 49 isn't documented in the LedWiz spec, but real
mjr	76:7f5912b6340e	604	// LedWiz units treat it as equivalent to 48, and some PC software uses
mjr	76:7f5912b6340e	605	// it, so we need to accept it for compatibility.)
mjr	76:7f5912b6340e	606	static uint8_t *wizVal;
mjr	76:7f5912b6340e	607
mjr	76:7f5912b6340e	608	// Current actual brightness for each output. This is a simple linear
mjr	76:7f5912b6340e	609	// value on a 0..255 scale. This is EITHER the linear brightness computed
mjr	76:7f5912b6340e	610	// from the LedWiz setting for the port, OR the 0..255 value set explicitly
mjr	76:7f5912b6340e	611	// by the extended protocol:
mjr	76:7f5912b6340e	612	//
mjr	76:7f5912b6340e	613	// - If the last command that updated the port was an extended protocol
mjr	76:7f5912b6340e	614	// SET BRIGHTNESS command, this is the value set by that command. In
mjr	76:7f5912b6340e	615	// addition, wizOn[port] is set to 0 if the brightness is 0, 1 otherwise;
mjr	76:7f5912b6340e	616	// and wizVal[port] is set to the brightness rescaled to the 0..48 range
mjr	76:7f5912b6340e	617	// if the brightness is non-zero.
mjr	76:7f5912b6340e	618	//
mjr	76:7f5912b6340e	619	// - If the last command that updated the port was an LedWiz command
mjr	76:7f5912b6340e	620	// (SBA/PBA/SBX/PBX), this contains the brightness value computed from
mjr	76:7f5912b6340e	621	// the combination of wizOn[port] and wizVal[port]. If wizOn[port] is
mjr	76:7f5912b6340e	622	// zero, this is simply 0, otherwise it's wizVal[port] rescaled to the
mjr	76:7f5912b6340e	623	// 0..255 range.
mjr	26:cb71c4af2912	624	//
mjr	76:7f5912b6340e	625	// - For a port set to wizOn[port]=1 and wizVal[port] in 129..132, this is
mjr	76:7f5912b6340e	626	// also updated continuously to reflect the current flashing brightness
mjr	76:7f5912b6340e	627	// level.
mjr	26:cb71c4af2912	628	//
mjr	76:7f5912b6340e	629	static uint8_t *outLevel;
mjr	76:7f5912b6340e	630
mjr	76:7f5912b6340e	631
mjr	76:7f5912b6340e	632	// LedWiz flash speed. This is a value from 1 to 7 giving the pulse
mjr	76:7f5912b6340e	633	// rate for lights in blinking states. The LedWiz API doesn't document
mjr	76:7f5912b6340e	634	// what the numbers mean in real time units, but by observation, the
mjr	76:7f5912b6340e	635	// "speed" setting represents the period of the flash cycle in 0.25s
mjr	76:7f5912b6340e	636	// units, so speed 1 = 0.25 period = 4Hz, speed 7 = 1.75s period = 0.57Hz.
mjr	76:7f5912b6340e	637	// The period is the full cycle time of the flash waveform.
mjr	76:7f5912b6340e	638	//
mjr	76:7f5912b6340e	639	// Each bank of 32 lights has its independent own pulse rate, so we need
mjr	76:7f5912b6340e	640	// one entry per bank. Each bank has 32 outputs, so we need a total of
mjr	76:7f5912b6340e	641	// ceil(number_of_physical_outputs/32) entries. Note that we could allocate
mjr	76:7f5912b6340e	642	// this dynamically once we know the number of actual outputs, but the
mjr	76:7f5912b6340e	643	// upper limit is low enough that it's more efficient to use a fixed array
mjr	76:7f5912b6340e	644	// at the maximum size.
mjr	76:7f5912b6340e	645	static const int MAX_LW_BANKS = (MAX_OUT_PORTS+31)/32;
mjr	76:7f5912b6340e	646	static uint8_t wizSpeed[MAX_LW_BANKS];
mjr	29:582472d0bc57	647
mjr	26:cb71c4af2912	648	// Current starting output index for "PBA" messages from the PC (using
mjr	26:cb71c4af2912	649	// the LedWiz USB protocol). Each PBA message implicitly uses the
mjr	26:cb71c4af2912	650	// current index as the starting point for the ports referenced in
mjr	26:cb71c4af2912	651	// the message, and increases it (by 8) for the next call.
mjr	0:5acbbe3f4cf4	652	static int pbaIdx = 0;
mjr	0:5acbbe3f4cf4	653
mjr	76:7f5912b6340e	654
mjr	76:7f5912b6340e	655	// ---------------------------------------------------------------------------
mjr	76:7f5912b6340e	656	//
mjr	76:7f5912b6340e	657	// Output Ports
mjr	76:7f5912b6340e	658	//
mjr	76:7f5912b6340e	659	// There are two way to connect outputs. First, you can use the on-board
mjr	76:7f5912b6340e	660	// GPIO ports to implement device outputs: each LedWiz software port is
mjr	76:7f5912b6340e	661	// connected to a physical GPIO pin on the KL25Z. This has some pretty
mjr	76:7f5912b6340e	662	// strict limits, though. The KL25Z only has 10 PWM channels, so only 10
mjr	76:7f5912b6340e	663	// GPIO LedWiz ports can be made dimmable; the rest are strictly on/off.
mjr	76:7f5912b6340e	664	// The KL25Z also simply doesn't have enough exposed GPIO ports overall to
mjr	76:7f5912b6340e	665	// support all of the features the software supports. The software allows
mjr	76:7f5912b6340e	666	// for up to 128 outputs, 48 button inputs, plunger input (requiring 1-5
mjr	76:7f5912b6340e	667	// GPIO pins), and various other external devices. The KL25Z only exposes
mjr	76:7f5912b6340e	668	// about 50 GPIO pins. So if you want to do everything with GPIO ports,
mjr	76:7f5912b6340e	669	// you have to ration pins among features.
mjr	76:7f5912b6340e	670	//
mjr	87:8d35c74403af	671	// To overcome some of these limitations, we also support several external
mjr	76:7f5912b6340e	672	// peripheral controllers that allow adding many more outputs, using only
mjr	87:8d35c74403af	673	// a small number of GPIO pins to interface with the peripherals:
mjr	87:8d35c74403af	674	//
mjr	87:8d35c74403af	675	// - TLC5940 PWM controller chips. Each TLC5940 provides 16 ports with
mjr	87:8d35c74403af	676	// 12-bit PWM, and multiple TLC5940 chips can be daisy-chained. The
mjr	87:8d35c74403af	677	// chips connect via 5 GPIO pins, and since they're daisy-chainable,
mjr	87:8d35c74403af	678	// one set of 5 pins can control any number of the chips. So this chip
mjr	87:8d35c74403af	679	// effectively converts 5 GPIO pins into almost any number of PWM outputs.
mjr	87:8d35c74403af	680	//
mjr	87:8d35c74403af	681	// - TLC59116 PWM controller chips. These are similar to the TLC5940 but
mjr	87:8d35c74403af	682	// a newer generation with an improved design. These use an I2C bus,
mjr	87:8d35c74403af	683	// allowing up to 14 chips to be connected via 3 GPIO pins.
mjr	87:8d35c74403af	684	//
mjr	87:8d35c74403af	685	// - 74HC595 shift register chips. These provide 8 digital (on/off only)
mjr	87:8d35c74403af	686	// outputs per chip. These need 4 GPIO pins, and like the other can be
mjr	87:8d35c74403af	687	// daisy chained to add more outputs without using more GPIO pins. These
mjr	87:8d35c74403af	688	// are advantageous for outputs that don't require PWM, since the data
mjr	87:8d35c74403af	689	// transfer sizes are so much smaller. The expansion boards use these
mjr	87:8d35c74403af	690	// for the chime board outputs.
mjr	76:7f5912b6340e	691	//
mjr	76:7f5912b6340e	692	// Direct GPIO output ports and peripheral controllers can be mixed and
mjr	76:7f5912b6340e	693	// matched in one system. The assignment of pins to ports and the
mjr	76:7f5912b6340e	694	// configuration of peripheral controllers is all handled in the software
mjr	76:7f5912b6340e	695	// setup, so a physical system can be expanded and updated at any time.
mjr	76:7f5912b6340e	696	//
mjr	76:7f5912b6340e	697	// To handle the diversity of output port types, we start with an abstract
mjr	76:7f5912b6340e	698	// base class for outputs. Each type of physical output interface has a
mjr	76:7f5912b6340e	699	// concrete subclass. During initialization, we create the appropriate
mjr	76:7f5912b6340e	700	// subclass for each software port, mapping it to the assigned GPIO pin
mjr	76:7f5912b6340e	701	// or peripheral port. Most of the rest of the software only cares about
mjr	76:7f5912b6340e	702	// the abstract interface, so once the subclassed port objects are set up,
mjr	76:7f5912b6340e	703	// the rest of the system can control the ports without knowing which types
mjr	76:7f5912b6340e	704	// of physical devices they're connected to.
mjr	76:7f5912b6340e	705
mjr	76:7f5912b6340e	706
mjr	26:cb71c4af2912	707	// Generic LedWiz output port interface. We create a cover class to
mjr	26:cb71c4af2912	708	// virtualize digital vs PWM outputs, and on-board KL25Z GPIO vs external
mjr	26:cb71c4af2912	709	// TLC5940 outputs, and give them all a common interface.
mjr	6:cc35eb643e8f	710	class LwOut
mjr	6:cc35eb643e8f	711	{
mjr	6:cc35eb643e8f	712	public:
mjr	40:cc0d9814522b	713	// Set the output intensity. 'val' is 0 for fully off, 255 for
mjr	40:cc0d9814522b	714	// fully on, with values in between signifying lower intensity.
mjr	40:cc0d9814522b	715	virtual void set(uint8_t val) = 0;
mjr	6:cc35eb643e8f	716	};
mjr	26:cb71c4af2912	717
mjr	35:e959ffba78fd	718	// LwOut class for virtual ports. This type of port is visible to
mjr	35:e959ffba78fd	719	// the host software, but isn't connected to any physical output.
mjr	35:e959ffba78fd	720	// This can be used for special software-only ports like the ZB
mjr	35:e959ffba78fd	721	// Launch Ball output, or simply for placeholders in the LedWiz port
mjr	35:e959ffba78fd	722	// numbering.
mjr	35:e959ffba78fd	723	class LwVirtualOut: public LwOut
mjr	33:d832bcab089e	724	{
mjr	33:d832bcab089e	725	public:
mjr	35:e959ffba78fd	726	LwVirtualOut() { }
mjr	40:cc0d9814522b	727	virtual void set(uint8_t ) { }
mjr	33:d832bcab089e	728	};
mjr	26:cb71c4af2912	729
mjr	34:6b981a2afab7	730	// Active Low out. For any output marked as active low, we layer this
mjr	34:6b981a2afab7	731	// on top of the physical pin interface. This simply inverts the value of
mjr	40:cc0d9814522b	732	// the output value, so that 255 means fully off and 0 means fully on.
mjr	34:6b981a2afab7	733	class LwInvertedOut: public LwOut
mjr	34:6b981a2afab7	734	{
mjr	34:6b981a2afab7	735	public:
mjr	34:6b981a2afab7	736	LwInvertedOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	737	virtual void set(uint8_t val) { out->set(255 - val); }
mjr	34:6b981a2afab7	738
mjr	34:6b981a2afab7	739	private:
mjr	53:9b2611964afc	740	// underlying physical output
mjr	34:6b981a2afab7	741	LwOut *out;
mjr	34:6b981a2afab7	742	};
mjr	34:6b981a2afab7	743
mjr	53:9b2611964afc	744	// Global ZB Launch Ball state
mjr	53:9b2611964afc	745	bool zbLaunchOn = false;
mjr	53:9b2611964afc	746
mjr	53:9b2611964afc	747	// ZB Launch Ball output. This is layered on a port (physical or virtual)
mjr	53:9b2611964afc	748	// to track the ZB Launch Ball signal.
mjr	53:9b2611964afc	749	class LwZbLaunchOut: public LwOut
mjr	53:9b2611964afc	750	{
mjr	53:9b2611964afc	751	public:
mjr	53:9b2611964afc	752	LwZbLaunchOut(LwOut *o) : out(o) { }
mjr	53:9b2611964afc	753	virtual void set(uint8_t val)
mjr	53:9b2611964afc	754	{
mjr	53:9b2611964afc	755	// update the global ZB Launch Ball state
mjr	53:9b2611964afc	756	zbLaunchOn = (val != 0);
mjr	53:9b2611964afc	757
mjr	53:9b2611964afc	758	// pass it along to the underlying port, in case it's a physical output
mjr	53:9b2611964afc	759	out->set(val);
mjr	53:9b2611964afc	760	}
mjr	53:9b2611964afc	761
mjr	53:9b2611964afc	762	private:
mjr	53:9b2611964afc	763	// underlying physical or virtual output
mjr	53:9b2611964afc	764	LwOut *out;
mjr	53:9b2611964afc	765	};
mjr	53:9b2611964afc	766
mjr	53:9b2611964afc	767
mjr	40:cc0d9814522b	768	// Gamma correction table for 8-bit input values
mjr	87:8d35c74403af	769	static const uint8_t dof_to_gamma_8bit[] = {
mjr	40:cc0d9814522b	770	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
mjr	40:cc0d9814522b	771	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1,
mjr	40:cc0d9814522b	772	1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2,
mjr	40:cc0d9814522b	773	2, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 5, 5, 5,
mjr	40:cc0d9814522b	774	5, 6, 6, 6, 6, 7, 7, 7, 7, 8, 8, 8, 9, 9, 9, 10,
mjr	40:cc0d9814522b	775	10, 10, 11, 11, 11, 12, 12, 13, 13, 13, 14, 14, 15, 15, 16, 16,
mjr	40:cc0d9814522b	776	17, 17, 18, 18, 19, 19, 20, 20, 21, 21, 22, 22, 23, 24, 24, 25,
mjr	40:cc0d9814522b	777	25, 26, 27, 27, 28, 29, 29, 30, 31, 32, 32, 33, 34, 35, 35, 36,
mjr	40:cc0d9814522b	778	37, 38, 39, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 50,
mjr	40:cc0d9814522b	779	51, 52, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 66, 67, 68,
mjr	40:cc0d9814522b	780	69, 70, 72, 73, 74, 75, 77, 78, 79, 81, 82, 83, 85, 86, 87, 89,
mjr	40:cc0d9814522b	781	90, 92, 93, 95, 96, 98, 99, 101, 102, 104, 105, 107, 109, 110, 112, 114,
mjr	40:cc0d9814522b	782	115, 117, 119, 120, 122, 124, 126, 127, 129, 131, 133, 135, 137, 138, 140, 142,
mjr	40:cc0d9814522b	783	144, 146, 148, 150, 152, 154, 156, 158, 160, 162, 164, 167, 169, 171, 173, 175,
mjr	40:cc0d9814522b	784	177, 180, 182, 184, 186, 189, 191, 193, 196, 198, 200, 203, 205, 208, 210, 213,
mjr	40:cc0d9814522b	785	215, 218, 220, 223, 225, 228, 231, 233, 236, 239, 241, 244, 247, 249, 252, 255
mjr	40:cc0d9814522b	786	};
mjr	40:cc0d9814522b	787
mjr	40:cc0d9814522b	788	// Gamma-corrected out. This is a filter object that we layer on top
mjr	40:cc0d9814522b	789	// of a physical pin interface. This applies gamma correction to the
mjr	40:cc0d9814522b	790	// input value and then passes it along to the underlying pin object.
mjr	40:cc0d9814522b	791	class LwGammaOut: public LwOut
mjr	40:cc0d9814522b	792	{
mjr	40:cc0d9814522b	793	public:
mjr	40:cc0d9814522b	794	LwGammaOut(LwOut *o) : out(o) { }
mjr	87:8d35c74403af	795	virtual void set(uint8_t val) { out->set(dof_to_gamma_8bit[val]); }
mjr	40:cc0d9814522b	796
mjr	40:cc0d9814522b	797	private:
mjr	40:cc0d9814522b	798	LwOut *out;
mjr	40:cc0d9814522b	799	};
mjr	40:cc0d9814522b	800
mjr	77:0b96f6867312	801	// Global night mode flag. To minimize overhead when reporting
mjr	77:0b96f6867312	802	// the status, we set this to the status report flag bit for
mjr	77:0b96f6867312	803	// night mode, 0x02, when engaged.
mjr	77:0b96f6867312	804	static uint8_t nightMode = 0x00;
mjr	53:9b2611964afc	805
mjr	40:cc0d9814522b	806	// Noisy output. This is a filter object that we layer on top of
mjr	40:cc0d9814522b	807	// a physical pin output. This filter disables the port when night
mjr	40:cc0d9814522b	808	// mode is engaged.
mjr	40:cc0d9814522b	809	class LwNoisyOut: public LwOut
mjr	40:cc0d9814522b	810	{
mjr	40:cc0d9814522b	811	public:
mjr	40:cc0d9814522b	812	LwNoisyOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	813	virtual void set(uint8_t val) { out->set(nightMode ? 0 : val); }
mjr	40:cc0d9814522b	814
mjr	53:9b2611964afc	815	private:
mjr	53:9b2611964afc	816	LwOut *out;
mjr	53:9b2611964afc	817	};
mjr	53:9b2611964afc	818
mjr	53:9b2611964afc	819	// Night Mode indicator output. This is a filter object that we
mjr	53:9b2611964afc	820	// layer on top of a physical pin output. This filter ignores the
mjr	53:9b2611964afc	821	// host value and simply shows the night mode status.
mjr	53:9b2611964afc	822	class LwNightModeIndicatorOut: public LwOut
mjr	53:9b2611964afc	823	{
mjr	53:9b2611964afc	824	public:
mjr	53:9b2611964afc	825	LwNightModeIndicatorOut(LwOut *o) : out(o) { }
mjr	89:c43cd923401c	826	virtual void set(uint8_t)
mjr	53:9b2611964afc	827	{
mjr	53:9b2611964afc	828	// ignore the host value and simply show the current
mjr	53:9b2611964afc	829	// night mode setting
mjr	53:9b2611964afc	830	out->set(nightMode ? 255 : 0);
mjr	53:9b2611964afc	831	}
mjr	40:cc0d9814522b	832
mjr	40:cc0d9814522b	833	private:
mjr	40:cc0d9814522b	834	LwOut *out;
mjr	40:cc0d9814522b	835	};
mjr	40:cc0d9814522b	836
mjr	26:cb71c4af2912	837
mjr	89:c43cd923401c	838	// Flipper Logic output. This is a filter object that we layer on
mjr	89:c43cd923401c	839	// top of a physical pin output.
mjr	89:c43cd923401c	840	//
mjr	89:c43cd923401c	841	// A Flipper Logic output is effectively a digital output from the
mjr	89:c43cd923401c	842	// client's perspective, in that it ignores the intensity level and
mjr	89:c43cd923401c	843	// only pays attention to the ON/OFF state. 0 is OFF and any other
mjr	89:c43cd923401c	844	// level is ON.
mjr	89:c43cd923401c	845	//
mjr	89:c43cd923401c	846	// In terms of the physical output, though, we do use varying power.
mjr	89:c43cd923401c	847	// It's just that the varying power isn't under the client's control;
mjr	89:c43cd923401c	848	// we control it according to our flipperLogic settings:
mjr	89:c43cd923401c	849	//
mjr	89:c43cd923401c	850	// - When the software port transitions from OFF (0 brightness) to ON
mjr	89:c43cd923401c	851	// (any non-zero brightness level), we set the physical port to 100%
mjr	89:c43cd923401c	852	// power and start a timer.
mjr	89:c43cd923401c	853	//
mjr	89:c43cd923401c	854	// - When the full power time in our flipperLogic settings elapses,
mjr	89:c43cd923401c	855	// if the software port is still ON, we reduce the physical port to
mjr	89:c43cd923401c	856	// the PWM level in our flipperLogic setting.
mjr	89:c43cd923401c	857	//
mjr	89:c43cd923401c	858	class LwFlipperLogicOut: public LwOut
mjr	89:c43cd923401c	859	{
mjr	89:c43cd923401c	860	public:
mjr	89:c43cd923401c	861	// Set up the output. 'params' is the flipperLogic value from
mjr	89:c43cd923401c	862	// the configuration.
mjr	89:c43cd923401c	863	LwFlipperLogicOut(LwOut *o, uint8_t params)
mjr	89:c43cd923401c	864	: out(o), params(params)
mjr	89:c43cd923401c	865	{
mjr	89:c43cd923401c	866	// initially OFF
mjr	89:c43cd923401c	867	state = 0;
mjr	89:c43cd923401c	868	}
mjr	89:c43cd923401c	869
mjr	89:c43cd923401c	870	virtual void set(uint8_t level)
mjr	89:c43cd923401c	871	{
mjr	89:c43cd923401c	872	// remebmber the new nominal level set by the client
mjr	89:c43cd923401c	873	val = level;
mjr	89:c43cd923401c	874
mjr	89:c43cd923401c	875	// update the physical output according to our current timing state
mjr	89:c43cd923401c	876	switch (state)
mjr	89:c43cd923401c	877	{
mjr	89:c43cd923401c	878	case 0:
mjr	89:c43cd923401c	879	// We're currently off. If the new level is non-zero, switch
mjr	89:c43cd923401c	880	// to state 1 (initial full-power interval) and set the requested
mjr	89:c43cd923401c	881	// level. If the new level is zero, we're switching from off to
mjr	89:c43cd923401c	882	// off, so there's no change.
mjr	89:c43cd923401c	883	if (level != 0)
mjr	89:c43cd923401c	884	{
mjr	89:c43cd923401c	885	// switch to state 1 (initial full-power interval)
mjr	89:c43cd923401c	886	state = 1;
mjr	89:c43cd923401c	887
mjr	89:c43cd923401c	888	// set the requested output level - there's no limit during
mjr	89:c43cd923401c	889	// the initial full-power interval, so set the exact level
mjr	89:c43cd923401c	890	// requested
mjr	89:c43cd923401c	891	out->set(level);
mjr	89:c43cd923401c	892
mjr	89:c43cd923401c	893	// add myself to the pending timer list
mjr	89:c43cd923401c	894	pending[nPending++] = this;
mjr	89:c43cd923401c	895
mjr	89:c43cd923401c	896	// note the starting time
mjr	89:c43cd923401c	897	t0 = timer.read_us();
mjr	89:c43cd923401c	898	}
mjr	89:c43cd923401c	899	break;
mjr	89:c43cd923401c	900
mjr	89:c43cd923401c	901	case 1:
mjr	89:c43cd923401c	902	// Initial full-power interval. If the new level is non-zero,
mjr	89:c43cd923401c	903	// simply apply the new level as requested, since there's no
mjr	89:c43cd923401c	904	// limit during this period. If the new level is zero, shut
mjr	89:c43cd923401c	905	// off the output and cancel the pending timer.
mjr	89:c43cd923401c	906	out->set(level);
mjr	89:c43cd923401c	907	if (level == 0)
mjr	89:c43cd923401c	908	{
mjr	89:c43cd923401c	909	// We're switching off. In state 1, we have a pending timer,
mjr	89:c43cd923401c	910	// so we need to remove it from the list.
mjr	89:c43cd923401c	911	for (int i = 0 ; i < nPending ; ++i)
mjr	89:c43cd923401c	912	{
mjr	89:c43cd923401c	913	// is this us?
mjr	89:c43cd923401c	914	if (pending[i] == this)
mjr	89:c43cd923401c	915	{
mjr	89:c43cd923401c	916	// remove myself by replacing the slot with the
mjr	89:c43cd923401c	917	// last list entry
mjr	89:c43cd923401c	918	pending[i] = pending[--nPending];
mjr	89:c43cd923401c	919
mjr	89:c43cd923401c	920	// no need to look any further
mjr	89:c43cd923401c	921	break;
mjr	89:c43cd923401c	922	}
mjr	89:c43cd923401c	923	}
mjr	89:c43cd923401c	924
mjr	89:c43cd923401c	925	// switch to state 0 (off)
mjr	89:c43cd923401c	926	state = 0;
mjr	89:c43cd923401c	927	}
mjr	89:c43cd923401c	928	break;
mjr	89:c43cd923401c	929
mjr	89:c43cd923401c	930	case 2:
mjr	89:c43cd923401c	931	// Hold interval. If the new level is zero, switch to state
mjr	89:c43cd923401c	932	// 0 (off). If the new level is non-zero, stay in the hold
mjr	89:c43cd923401c	933	// state, and set the new level, applying the hold power setting
mjr	89:c43cd923401c	934	// as the upper bound.
mjr	89:c43cd923401c	935	if (level == 0)
mjr	89:c43cd923401c	936	{
mjr	89:c43cd923401c	937	// switching off - turn off the physical output
mjr	89:c43cd923401c	938	out->set(0);
mjr	89:c43cd923401c	939
mjr	89:c43cd923401c	940	// go to state 0 (off)
mjr	89:c43cd923401c	941	state = 0;
mjr	89:c43cd923401c	942	}
mjr	89:c43cd923401c	943	else
mjr	89:c43cd923401c	944	{
mjr	89:c43cd923401c	945	// staying on - set the new physical output power to the
mjr	89:c43cd923401c	946	// lower of the requested power and the hold power
mjr	89:c43cd923401c	947	uint8_t hold = holdPower();
mjr	89:c43cd923401c	948	out->set(level < hold ? level : hold);
mjr	89:c43cd923401c	949	}
mjr	89:c43cd923401c	950	break;
mjr	89:c43cd923401c	951	}
mjr	89:c43cd923401c	952	}
mjr	89:c43cd923401c	953
mjr	89:c43cd923401c	954	// Class initialization
mjr	89:c43cd923401c	955	static void classInit(Config &cfg)
mjr	89:c43cd923401c	956	{
mjr	89:c43cd923401c	957	// Count the Flipper Logic outputs in the configuration. We
mjr	89:c43cd923401c	958	// need to allocate enough pending timer list space to accommodate
mjr	89:c43cd923401c	959	// all of these outputs.
mjr	89:c43cd923401c	960	int n = 0;
mjr	89:c43cd923401c	961	for (int i = 0 ; i < MAX_OUT_PORTS ; ++i)
mjr	89:c43cd923401c	962	{
mjr	89:c43cd923401c	963	// if this port is active and marked as Flipper Logic, count it
mjr	89:c43cd923401c	964	if (cfg.outPort[i].typ != PortTypeDisabled
mjr	89:c43cd923401c	965	&& (cfg.outPort[i].flags & PortFlagFlipperLogic) != 0)
mjr	89:c43cd923401c	966	++n;
mjr	89:c43cd923401c	967	}
mjr	89:c43cd923401c	968
mjr	89:c43cd923401c	969	// allocate space for the pending timer list
mjr	89:c43cd923401c	970	pending = new LwFlipperLogicOut*[n];
mjr	89:c43cd923401c	971
mjr	89:c43cd923401c	972	// there's nothing in the pending list yet
mjr	89:c43cd923401c	973	nPending = 0;
mjr	89:c43cd923401c	974
mjr	89:c43cd923401c	975	// Start our shared timer. The epoch is arbitrary, since we only
mjr	89:c43cd923401c	976	// use it to figure elapsed times.
mjr	89:c43cd923401c	977	timer.start();
mjr	89:c43cd923401c	978	}
mjr	89:c43cd923401c	979
mjr	89:c43cd923401c	980	// Check for ports with pending timers. The main routine should
mjr	89:c43cd923401c	981	// call this on each iteration to process our state transitions.
mjr	89:c43cd923401c	982	static void poll()
mjr	89:c43cd923401c	983	{
mjr	89:c43cd923401c	984	// note the current time
mjr	89:c43cd923401c	985	uint32_t t = timer.read_us();
mjr	89:c43cd923401c	986
mjr	89:c43cd923401c	987	// go through the timer list
mjr	89:c43cd923401c	988	for (int i = 0 ; i < nPending ; )
mjr	89:c43cd923401c	989	{
mjr	89:c43cd923401c	990	// get the port
mjr	89:c43cd923401c	991	LwFlipperLogicOut *port = pending[i];
mjr	89:c43cd923401c	992
mjr	89:c43cd923401c	993	// assume we'll keep it
mjr	89:c43cd923401c	994	bool remove = false;
mjr	89:c43cd923401c	995
mjr	89:c43cd923401c	996	// check if the port is still on
mjr	89:c43cd923401c	997	if (port->state != 0)
mjr	89:c43cd923401c	998	{
mjr	89:c43cd923401c	999	// it's still on - check if the initial full power time has elapsed
mjr	89:c43cd923401c	1000	if (uint32_t(t - port->t0) > port->fullPowerTime_us())
mjr	89:c43cd923401c	1001	{
mjr	89:c43cd923401c	1002	// done with the full power interval - switch to hold state
mjr	89:c43cd923401c	1003	port->state = 2;
mjr	89:c43cd923401c	1004
mjr	89:c43cd923401c	1005	// set the physical port to the hold power setting or the
mjr	89:c43cd923401c	1006	// client brightness setting, whichever is lower
mjr	89:c43cd923401c	1007	uint8_t hold = port->holdPower();
mjr	89:c43cd923401c	1008	uint8_t val = port->val;
mjr	89:c43cd923401c	1009	port->out->set(val < hold ? val : hold);
mjr	89:c43cd923401c	1010
mjr	89:c43cd923401c	1011	// we're done with the timer
mjr	89:c43cd923401c	1012	remove = true;
mjr	89:c43cd923401c	1013	}
mjr	89:c43cd923401c	1014	}
mjr	89:c43cd923401c	1015	else
mjr	89:c43cd923401c	1016	{
mjr	89:c43cd923401c	1017	// the port was turned off before the timer expired - remove
mjr	89:c43cd923401c	1018	// it from the timer list
mjr	89:c43cd923401c	1019	remove = true;
mjr	89:c43cd923401c	1020	}
mjr	89:c43cd923401c	1021
mjr	89:c43cd923401c	1022	// if desired, remove the port from the timer list
mjr	89:c43cd923401c	1023	if (remove)
mjr	89:c43cd923401c	1024	{
mjr	89:c43cd923401c	1025	// Remove the list entry by overwriting the slot with
mjr	89:c43cd923401c	1026	// the last entry in the list.
mjr	89:c43cd923401c	1027	pending[i] = pending[--nPending];
mjr	89:c43cd923401c	1028
mjr	89:c43cd923401c	1029	// Note that we don't increment the loop counter, since
mjr	89:c43cd923401c	1030	// we now need to revisit this same slot.
mjr	89:c43cd923401c	1031	}
mjr	89:c43cd923401c	1032	else
mjr	89:c43cd923401c	1033	{
mjr	89:c43cd923401c	1034	// we're keeping this item; move on to the next one
mjr	89:c43cd923401c	1035	++i;
mjr	89:c43cd923401c	1036	}
mjr	89:c43cd923401c	1037	}
mjr	89:c43cd923401c	1038	}
mjr	89:c43cd923401c	1039
mjr	89:c43cd923401c	1040	protected:
mjr	89:c43cd923401c	1041	// underlying physical output
mjr	89:c43cd923401c	1042	LwOut *out;
mjr	89:c43cd923401c	1043
mjr	89:c43cd923401c	1044	// Timestamp on 'timer' of start of full-power interval. We set this
mjr	89:c43cd923401c	1045	// to the current 'timer' timestamp when entering state 1.
mjr	89:c43cd923401c	1046	uint32_t t0;
mjr	89:c43cd923401c	1047
mjr	89:c43cd923401c	1048	// Nominal output level (brightness) last set by the client. During
mjr	89:c43cd923401c	1049	// the initial full-power interval, we replicate the requested level
mjr	89:c43cd923401c	1050	// exactly on the physical output. During the hold interval, we limit
mjr	89:c43cd923401c	1051	// the physical output to the hold power, but use the caller's value
mjr	89:c43cd923401c	1052	// if it's lower.
mjr	89:c43cd923401c	1053	uint8_t val;
mjr	89:c43cd923401c	1054
mjr	89:c43cd923401c	1055	// Current port state:
mjr	89:c43cd923401c	1056	//
mjr	89:c43cd923401c	1057	// 0 = off
mjr	89:c43cd923401c	1058	// 1 = on at initial full power
mjr	89:c43cd923401c	1059	// 2 = on at hold power
mjr	89:c43cd923401c	1060	uint8_t state;
mjr	89:c43cd923401c	1061
mjr	89:c43cd923401c	1062	// Configuration parameters. The high 4 bits encode the initial full-
mjr	89:c43cd923401c	1063	// power time in 50ms units, starting at 0=50ms. The low 4 bits encode
mjr	89:c43cd923401c	1064	// the hold power (applied after the initial time expires if the output
mjr	89:c43cd923401c	1065	// is still on) in units of 6.66%. The resulting percentage is used
mjr	89:c43cd923401c	1066	// for the PWM duty cycle of the physical output.
mjr	89:c43cd923401c	1067	uint8_t params;
mjr	89:c43cd923401c	1068
mjr	89:c43cd923401c	1069	// Figure the initial full-power time in microseconds
mjr	89:c43cd923401c	1070	inline uint32_t fullPowerTime_us() const { return ((params >> 4) + 1)*50000; }
mjr	89:c43cd923401c	1071
mjr	89:c43cd923401c	1072	// Figure the hold power PWM level (0-255)
mjr	89:c43cd923401c	1073	inline uint8_t holdPower() const { return (params & 0x0F) * 17; }
mjr	89:c43cd923401c	1074
mjr	89:c43cd923401c	1075	// Timer. This is a shared timer for all of the FL ports. When we
mjr	89:c43cd923401c	1076	// transition from OFF to ON, we note the current time on this timer
mjr	89:c43cd923401c	1077	// (which runs continuously).
mjr	89:c43cd923401c	1078	static Timer timer;
mjr	89:c43cd923401c	1079
mjr	89:c43cd923401c	1080	// Flipper logic pending timer list. Whenever a flipper logic output
mjr	89:c43cd923401c	1081	// transitions from OFF to ON, tis timer
mjr	89:c43cd923401c	1082	static LwFlipperLogicOut **pending;
mjr	89:c43cd923401c	1083	static uint8_t nPending;
mjr	89:c43cd923401c	1084	};
mjr	89:c43cd923401c	1085
mjr	89:c43cd923401c	1086	// Flipper Logic statics
mjr	89:c43cd923401c	1087	Timer LwFlipperLogicOut::timer;
mjr	89:c43cd923401c	1088	LwFlipperLogicOut **LwFlipperLogicOut::pending;
mjr	89:c43cd923401c	1089	uint8_t LwFlipperLogicOut::nPending;
mjr	89:c43cd923401c	1090
mjr	35:e959ffba78fd	1091	//
mjr	35:e959ffba78fd	1092	// The TLC5940 interface object. We'll set this up with the port
mjr	35:e959ffba78fd	1093	// assignments set in config.h.
mjr	33:d832bcab089e	1094	//
mjr	35:e959ffba78fd	1095	TLC5940 *tlc5940 = 0;
mjr	35:e959ffba78fd	1096	void init_tlc5940(Config &cfg)
mjr	35:e959ffba78fd	1097	{
mjr	35:e959ffba78fd	1098	if (cfg.tlc5940.nchips != 0)
mjr	35:e959ffba78fd	1099	{
mjr	53:9b2611964afc	1100	tlc5940 = new TLC5940(
mjr	53:9b2611964afc	1101	wirePinName(cfg.tlc5940.sclk),
mjr	53:9b2611964afc	1102	wirePinName(cfg.tlc5940.sin),
mjr	53:9b2611964afc	1103	wirePinName(cfg.tlc5940.gsclk),
mjr	53:9b2611964afc	1104	wirePinName(cfg.tlc5940.blank),
mjr	53:9b2611964afc	1105	wirePinName(cfg.tlc5940.xlat),
mjr	53:9b2611964afc	1106	cfg.tlc5940.nchips);
mjr	35:e959ffba78fd	1107	}
mjr	35:e959ffba78fd	1108	}
mjr	26:cb71c4af2912	1109
mjr	40:cc0d9814522b	1110	// Conversion table for 8-bit DOF level to 12-bit TLC5940 level
mjr	40:cc0d9814522b	1111	static const uint16_t dof_to_tlc[] = {
mjr	40:cc0d9814522b	1112	0, 16, 32, 48, 64, 80, 96, 112, 128, 145, 161, 177, 193, 209, 225, 241,
mjr	40:cc0d9814522b	1113	257, 273, 289, 305, 321, 337, 353, 369, 385, 401, 418, 434, 450, 466, 482, 498,
mjr	40:cc0d9814522b	1114	514, 530, 546, 562, 578, 594, 610, 626, 642, 658, 674, 691, 707, 723, 739, 755,
mjr	40:cc0d9814522b	1115	771, 787, 803, 819, 835, 851, 867, 883, 899, 915, 931, 947, 964, 980, 996, 1012,
mjr	40:cc0d9814522b	1116	1028, 1044, 1060, 1076, 1092, 1108, 1124, 1140, 1156, 1172, 1188, 1204, 1220, 1237, 1253, 1269,
mjr	40:cc0d9814522b	1117	1285, 1301, 1317, 1333, 1349, 1365, 1381, 1397, 1413, 1429, 1445, 1461, 1477, 1493, 1510, 1526,
mjr	40:cc0d9814522b	1118	1542, 1558, 1574, 1590, 1606, 1622, 1638, 1654, 1670, 1686, 1702, 1718, 1734, 1750, 1766, 1783,
mjr	40:cc0d9814522b	1119	1799, 1815, 1831, 1847, 1863, 1879, 1895, 1911, 1927, 1943, 1959, 1975, 1991, 2007, 2023, 2039,
mjr	40:cc0d9814522b	1120	2056, 2072, 2088, 2104, 2120, 2136, 2152, 2168, 2184, 2200, 2216, 2232, 2248, 2264, 2280, 2296,
mjr	40:cc0d9814522b	1121	2312, 2329, 2345, 2361, 2377, 2393, 2409, 2425, 2441, 2457, 2473, 2489, 2505, 2521, 2537, 2553,
mjr	40:cc0d9814522b	1122	2569, 2585, 2602, 2618, 2634, 2650, 2666, 2682, 2698, 2714, 2730, 2746, 2762, 2778, 2794, 2810,
mjr	40:cc0d9814522b	1123	2826, 2842, 2858, 2875, 2891, 2907, 2923, 2939, 2955, 2971, 2987, 3003, 3019, 3035, 3051, 3067,
mjr	40:cc0d9814522b	1124	3083, 3099, 3115, 3131, 3148, 3164, 3180, 3196, 3212, 3228, 3244, 3260, 3276, 3292, 3308, 3324,
mjr	40:cc0d9814522b	1125	3340, 3356, 3372, 3388, 3404, 3421, 3437, 3453, 3469, 3485, 3501, 3517, 3533, 3549, 3565, 3581,
mjr	40:cc0d9814522b	1126	3597, 3613, 3629, 3645, 3661, 3677, 3694, 3710, 3726, 3742, 3758, 3774, 3790, 3806, 3822, 3838,
mjr	40:cc0d9814522b	1127	3854, 3870, 3886, 3902, 3918, 3934, 3950, 3967, 3983, 3999, 4015, 4031, 4047, 4063, 4079, 4095
mjr	40:cc0d9814522b	1128	};
mjr	40:cc0d9814522b	1129
mjr	40:cc0d9814522b	1130	// Conversion table for 8-bit DOF level to 12-bit TLC5940 level, with
mjr	40:cc0d9814522b	1131	// gamma correction. Note that the output layering scheme can handle
mjr	40:cc0d9814522b	1132	// this without a separate table, by first applying gamma to the DOF
mjr	40:cc0d9814522b	1133	// level to produce an 8-bit gamma-corrected value, then convert that
mjr	40:cc0d9814522b	1134	// to the 12-bit TLC5940 value. But we get better precision by doing
mjr	40:cc0d9814522b	1135	// the gamma correction in the 12-bit TLC5940 domain. We can only
mjr	40:cc0d9814522b	1136	// get the 12-bit domain by combining both steps into one layering
mjr	40:cc0d9814522b	1137	// object, though, since the intermediate values in the layering system
mjr	40:cc0d9814522b	1138	// are always 8 bits.
mjr	40:cc0d9814522b	1139	static const uint16_t dof_to_gamma_tlc[] = {
mjr	40:cc0d9814522b	1140	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1,
mjr	40:cc0d9814522b	1141	2, 2, 2, 3, 3, 4, 4, 5, 5, 6, 7, 8, 8, 9, 10, 11,
mjr	40:cc0d9814522b	1142	12, 13, 15, 16, 17, 18, 20, 21, 23, 25, 26, 28, 30, 32, 34, 36,
mjr	40:cc0d9814522b	1143	38, 40, 43, 45, 48, 50, 53, 56, 59, 62, 65, 68, 71, 75, 78, 82,
mjr	40:cc0d9814522b	1144	85, 89, 93, 97, 101, 105, 110, 114, 119, 123, 128, 133, 138, 143, 149, 154,
mjr	40:cc0d9814522b	1145	159, 165, 171, 177, 183, 189, 195, 202, 208, 215, 222, 229, 236, 243, 250, 258,
mjr	40:cc0d9814522b	1146	266, 273, 281, 290, 298, 306, 315, 324, 332, 341, 351, 360, 369, 379, 389, 399,
mjr	40:cc0d9814522b	1147	409, 419, 430, 440, 451, 462, 473, 485, 496, 508, 520, 532, 544, 556, 569, 582,
mjr	40:cc0d9814522b	1148	594, 608, 621, 634, 648, 662, 676, 690, 704, 719, 734, 749, 764, 779, 795, 811,
mjr	40:cc0d9814522b	1149	827, 843, 859, 876, 893, 910, 927, 944, 962, 980, 998, 1016, 1034, 1053, 1072, 1091,
mjr	40:cc0d9814522b	1150	1110, 1130, 1150, 1170, 1190, 1210, 1231, 1252, 1273, 1294, 1316, 1338, 1360, 1382, 1404, 1427,
mjr	40:cc0d9814522b	1151	1450, 1473, 1497, 1520, 1544, 1568, 1593, 1617, 1642, 1667, 1693, 1718, 1744, 1770, 1797, 1823,
mjr	40:cc0d9814522b	1152	1850, 1877, 1905, 1932, 1960, 1988, 2017, 2045, 2074, 2103, 2133, 2162, 2192, 2223, 2253, 2284,
mjr	40:cc0d9814522b	1153	2315, 2346, 2378, 2410, 2442, 2474, 2507, 2540, 2573, 2606, 2640, 2674, 2708, 2743, 2778, 2813,
mjr	40:cc0d9814522b	1154	2849, 2884, 2920, 2957, 2993, 3030, 3067, 3105, 3143, 3181, 3219, 3258, 3297, 3336, 3376, 3416,
mjr	40:cc0d9814522b	1155	3456, 3496, 3537, 3578, 3619, 3661, 3703, 3745, 3788, 3831, 3874, 3918, 3962, 4006, 4050, 4095
mjr	40:cc0d9814522b	1156	};
mjr	40:cc0d9814522b	1157
mjr	26:cb71c4af2912	1158	// LwOut class for TLC5940 outputs. These are fully PWM capable.
mjr	26:cb71c4af2912	1159	// The 'idx' value in the constructor is the output index in the
mjr	26:cb71c4af2912	1160	// daisy-chained TLC5940 array. 0 is output #0 on the first chip,
mjr	26:cb71c4af2912	1161	// 1 is #1 on the first chip, 15 is #15 on the first chip, 16 is
mjr	26:cb71c4af2912	1162	// #0 on the second chip, 32 is #0 on the third chip, etc.
mjr	26:cb71c4af2912	1163	class Lw5940Out: public LwOut
mjr	26:cb71c4af2912	1164	{
mjr	26:cb71c4af2912	1165	public:
mjr	60:f38da020aa13	1166	Lw5940Out(uint8_t idx) : idx(idx) { prv = 0; }
mjr	40:cc0d9814522b	1167	virtual void set(uint8_t val)
mjr	26:cb71c4af2912	1168	{
mjr	26:cb71c4af2912	1169	if (val != prv)
mjr	40:cc0d9814522b	1170	tlc5940->set(idx, dof_to_tlc[prv = val]);
mjr	26:cb71c4af2912	1171	}
mjr	60:f38da020aa13	1172	uint8_t idx;
mjr	40:cc0d9814522b	1173	uint8_t prv;
mjr	26:cb71c4af2912	1174	};
mjr	26:cb71c4af2912	1175
mjr	40:cc0d9814522b	1176	// LwOut class for TLC5940 gamma-corrected outputs.
mjr	40:cc0d9814522b	1177	class Lw5940GammaOut: public LwOut
mjr	40:cc0d9814522b	1178	{
mjr	40:cc0d9814522b	1179	public:
mjr	60:f38da020aa13	1180	Lw5940GammaOut(uint8_t idx) : idx(idx) { prv = 0; }
mjr	40:cc0d9814522b	1181	virtual void set(uint8_t val)
mjr	40:cc0d9814522b	1182	{
mjr	40:cc0d9814522b	1183	if (val != prv)
mjr	40:cc0d9814522b	1184	tlc5940->set(idx, dof_to_gamma_tlc[prv = val]);
mjr	40:cc0d9814522b	1185	}
mjr	60:f38da020aa13	1186	uint8_t idx;
mjr	40:cc0d9814522b	1187	uint8_t prv;
mjr	40:cc0d9814522b	1188	};
mjr	40:cc0d9814522b	1189
mjr	87:8d35c74403af	1190	//
mjr	87:8d35c74403af	1191	// TLC59116 interface object
mjr	87:8d35c74403af	1192	//
mjr	87:8d35c74403af	1193	TLC59116 *tlc59116 = 0;
mjr	87:8d35c74403af	1194	void init_tlc59116(Config &cfg)
mjr	87:8d35c74403af	1195	{
mjr	87:8d35c74403af	1196	// Create the interface if any chips are enabled
mjr	87:8d35c74403af	1197	if (cfg.tlc59116.chipMask != 0)
mjr	87:8d35c74403af	1198	{
mjr	87:8d35c74403af	1199	// set up the interface
mjr	87:8d35c74403af	1200	tlc59116 = new TLC59116(
mjr	87:8d35c74403af	1201	wirePinName(cfg.tlc59116.sda),
mjr	87:8d35c74403af	1202	wirePinName(cfg.tlc59116.scl),
mjr	87:8d35c74403af	1203	wirePinName(cfg.tlc59116.reset));
mjr	87:8d35c74403af	1204
mjr	87:8d35c74403af	1205	// initialize the chips
mjr	87:8d35c74403af	1206	tlc59116->init();
mjr	87:8d35c74403af	1207	}
mjr	87:8d35c74403af	1208	}
mjr	87:8d35c74403af	1209
mjr	87:8d35c74403af	1210	// LwOut class for TLC59116 outputs. The 'addr' value in the constructor
mjr	87:8d35c74403af	1211	// is low 4 bits of the chip's I2C address; this is the part of the address
mjr	87:8d35c74403af	1212	// that's configurable per chip. 'port' is the output number on the chip
mjr	87:8d35c74403af	1213	// (0-15).
mjr	87:8d35c74403af	1214	//
mjr	87:8d35c74403af	1215	// Note that we don't need a separate gamma-corrected subclass for this
mjr	87:8d35c74403af	1216	// output type, since there's no loss of precision with the standard layered
mjr	87:8d35c74403af	1217	// gamma (it emits 8-bit values, and we take 8-bit inputs).
mjr	87:8d35c74403af	1218	class Lw59116Out: public LwOut
mjr	87:8d35c74403af	1219	{
mjr	87:8d35c74403af	1220	public:
mjr	87:8d35c74403af	1221	Lw59116Out(uint8_t addr, uint8_t port) : addr(addr), port(port) { prv = 0; }
mjr	87:8d35c74403af	1222	virtual void set(uint8_t val)
mjr	87:8d35c74403af	1223	{
mjr	87:8d35c74403af	1224	if (val != prv)
mjr	87:8d35c74403af	1225	tlc59116->set(addr, port, prv = val);
mjr	87:8d35c74403af	1226	}
mjr	87:8d35c74403af	1227
mjr	87:8d35c74403af	1228	protected:
mjr	87:8d35c74403af	1229	uint8_t addr;
mjr	87:8d35c74403af	1230	uint8_t port;
mjr	87:8d35c74403af	1231	uint8_t prv;
mjr	87:8d35c74403af	1232	};
mjr	87:8d35c74403af	1233
mjr	87:8d35c74403af	1234
mjr	87:8d35c74403af	1235	//
mjr	34:6b981a2afab7	1236	// 74HC595 interface object. Set this up with the port assignments in
mjr	34:6b981a2afab7	1237	// config.h.
mjr	87:8d35c74403af	1238	//
mjr	35:e959ffba78fd	1239	HC595 *hc595 = 0;
mjr	35:e959ffba78fd	1240
mjr	35:e959ffba78fd	1241	// initialize the 74HC595 interface
mjr	35:e959ffba78fd	1242	void init_hc595(Config &cfg)
mjr	35:e959ffba78fd	1243	{
mjr	35:e959ffba78fd	1244	if (cfg.hc595.nchips != 0)
mjr	35:e959ffba78fd	1245	{
mjr	53:9b2611964afc	1246	hc595 = new HC595(
mjr	53:9b2611964afc	1247	wirePinName(cfg.hc595.nchips),
mjr	53:9b2611964afc	1248	wirePinName(cfg.hc595.sin),
mjr	53:9b2611964afc	1249	wirePinName(cfg.hc595.sclk),
mjr	53:9b2611964afc	1250	wirePinName(cfg.hc595.latch),
mjr	53:9b2611964afc	1251	wirePinName(cfg.hc595.ena));
mjr	35:e959ffba78fd	1252	hc595->init();
mjr	35:e959ffba78fd	1253	hc595->update();
mjr	35:e959ffba78fd	1254	}
mjr	35:e959ffba78fd	1255	}
mjr	34:6b981a2afab7	1256
mjr	34:6b981a2afab7	1257	// LwOut class for 74HC595 outputs. These are simple digial outs.
mjr	34:6b981a2afab7	1258	// The 'idx' value in the constructor is the output index in the
mjr	34:6b981a2afab7	1259	// daisy-chained 74HC595 array. 0 is output #0 on the first chip,
mjr	34:6b981a2afab7	1260	// 1 is #1 on the first chip, 7 is #7 on the first chip, 8 is
mjr	34:6b981a2afab7	1261	// #0 on the second chip, etc.
mjr	34:6b981a2afab7	1262	class Lw595Out: public LwOut
mjr	33:d832bcab089e	1263	{
mjr	33:d832bcab089e	1264	public:
mjr	60:f38da020aa13	1265	Lw595Out(uint8_t idx) : idx(idx) { prv = 0; }
mjr	40:cc0d9814522b	1266	virtual void set(uint8_t val)
mjr	34:6b981a2afab7	1267	{
mjr	34:6b981a2afab7	1268	if (val != prv)
mjr	40:cc0d9814522b	1269	hc595->set(idx, (prv = val) == 0 ? 0 : 1);
mjr	34:6b981a2afab7	1270	}
mjr	60:f38da020aa13	1271	uint8_t idx;
mjr	40:cc0d9814522b	1272	uint8_t prv;
mjr	33:d832bcab089e	1273	};
mjr	33:d832bcab089e	1274
mjr	26:cb71c4af2912	1275
mjr	40:cc0d9814522b	1276
mjr	64:ef7ca92dff36	1277	// Conversion table - 8-bit DOF output level to PWM duty cycle,
mjr	64:ef7ca92dff36	1278	// normalized to 0.0 to 1.0 scale.
mjr	74:822a92bc11d2	1279	static const float dof_to_pwm[] = {
mjr	64:ef7ca92dff36	1280	0.000000f, 0.003922f, 0.007843f, 0.011765f, 0.015686f, 0.019608f, 0.023529f, 0.027451f,
mjr	64:ef7ca92dff36	1281	0.031373f, 0.035294f, 0.039216f, 0.043137f, 0.047059f, 0.050980f, 0.054902f, 0.058824f,
mjr	64:ef7ca92dff36	1282	0.062745f, 0.066667f, 0.070588f, 0.074510f, 0.078431f, 0.082353f, 0.086275f, 0.090196f,
mjr	64:ef7ca92dff36	1283	0.094118f, 0.098039f, 0.101961f, 0.105882f, 0.109804f, 0.113725f, 0.117647f, 0.121569f,
mjr	64:ef7ca92dff36	1284	0.125490f, 0.129412f, 0.133333f, 0.137255f, 0.141176f, 0.145098f, 0.149020f, 0.152941f,
mjr	64:ef7ca92dff36	1285	0.156863f, 0.160784f, 0.164706f, 0.168627f, 0.172549f, 0.176471f, 0.180392f, 0.184314f,
mjr	64:ef7ca92dff36	1286	0.188235f, 0.192157f, 0.196078f, 0.200000f, 0.203922f, 0.207843f, 0.211765f, 0.215686f,
mjr	64:ef7ca92dff36	1287	0.219608f, 0.223529f, 0.227451f, 0.231373f, 0.235294f, 0.239216f, 0.243137f, 0.247059f,
mjr	64:ef7ca92dff36	1288	0.250980f, 0.254902f, 0.258824f, 0.262745f, 0.266667f, 0.270588f, 0.274510f, 0.278431f,
mjr	64:ef7ca92dff36	1289	0.282353f, 0.286275f, 0.290196f, 0.294118f, 0.298039f, 0.301961f, 0.305882f, 0.309804f,
mjr	64:ef7ca92dff36	1290	0.313725f, 0.317647f, 0.321569f, 0.325490f, 0.329412f, 0.333333f, 0.337255f, 0.341176f,
mjr	64:ef7ca92dff36	1291	0.345098f, 0.349020f, 0.352941f, 0.356863f, 0.360784f, 0.364706f, 0.368627f, 0.372549f,
mjr	64:ef7ca92dff36	1292	0.376471f, 0.380392f, 0.384314f, 0.388235f, 0.392157f, 0.396078f, 0.400000f, 0.403922f,
mjr	64:ef7ca92dff36	1293	0.407843f, 0.411765f, 0.415686f, 0.419608f, 0.423529f, 0.427451f, 0.431373f, 0.435294f,
mjr	64:ef7ca92dff36	1294	0.439216f, 0.443137f, 0.447059f, 0.450980f, 0.454902f, 0.458824f, 0.462745f, 0.466667f,
mjr	64:ef7ca92dff36	1295	0.470588f, 0.474510f, 0.478431f, 0.482353f, 0.486275f, 0.490196f, 0.494118f, 0.498039f,
mjr	64:ef7ca92dff36	1296	0.501961f, 0.505882f, 0.509804f, 0.513725f, 0.517647f, 0.521569f, 0.525490f, 0.529412f,
mjr	64:ef7ca92dff36	1297	0.533333f, 0.537255f, 0.541176f, 0.545098f, 0.549020f, 0.552941f, 0.556863f, 0.560784f,
mjr	64:ef7ca92dff36	1298	0.564706f, 0.568627f, 0.572549f, 0.576471f, 0.580392f, 0.584314f, 0.588235f, 0.592157f,
mjr	64:ef7ca92dff36	1299	0.596078f, 0.600000f, 0.603922f, 0.607843f, 0.611765f, 0.615686f, 0.619608f, 0.623529f,
mjr	64:ef7ca92dff36	1300	0.627451f, 0.631373f, 0.635294f, 0.639216f, 0.643137f, 0.647059f, 0.650980f, 0.654902f,
mjr	64:ef7ca92dff36	1301	0.658824f, 0.662745f, 0.666667f, 0.670588f, 0.674510f, 0.678431f, 0.682353f, 0.686275f,
mjr	64:ef7ca92dff36	1302	0.690196f, 0.694118f, 0.698039f, 0.701961f, 0.705882f, 0.709804f, 0.713725f, 0.717647f,
mjr	64:ef7ca92dff36	1303	0.721569f, 0.725490f, 0.729412f, 0.733333f, 0.737255f, 0.741176f, 0.745098f, 0.749020f,
mjr	64:ef7ca92dff36	1304	0.752941f, 0.756863f, 0.760784f, 0.764706f, 0.768627f, 0.772549f, 0.776471f, 0.780392f,
mjr	64:ef7ca92dff36	1305	0.784314f, 0.788235f, 0.792157f, 0.796078f, 0.800000f, 0.803922f, 0.807843f, 0.811765f,
mjr	64:ef7ca92dff36	1306	0.815686f, 0.819608f, 0.823529f, 0.827451f, 0.831373f, 0.835294f, 0.839216f, 0.843137f,
mjr	64:ef7ca92dff36	1307	0.847059f, 0.850980f, 0.854902f, 0.858824f, 0.862745f, 0.866667f, 0.870588f, 0.874510f,
mjr	64:ef7ca92dff36	1308	0.878431f, 0.882353f, 0.886275f, 0.890196f, 0.894118f, 0.898039f, 0.901961f, 0.905882f,
mjr	64:ef7ca92dff36	1309	0.909804f, 0.913725f, 0.917647f, 0.921569f, 0.925490f, 0.929412f, 0.933333f, 0.937255f,
mjr	64:ef7ca92dff36	1310	0.941176f, 0.945098f, 0.949020f, 0.952941f, 0.956863f, 0.960784f, 0.964706f, 0.968627f,
mjr	64:ef7ca92dff36	1311	0.972549f, 0.976471f, 0.980392f, 0.984314f, 0.988235f, 0.992157f, 0.996078f, 1.000000f
mjr	40:cc0d9814522b	1312	};
mjr	26:cb71c4af2912	1313
mjr	64:ef7ca92dff36	1314
mjr	92:f264fbaa1be5	1315	// Conversion table for 8-bit DOF level to pulse width, with gamma correction
mjr	92:f264fbaa1be5	1316	// pre-calculated. The values are normalized duty cycles from 0.0 to 1.0.
mjr	92:f264fbaa1be5	1317	// Note that we could use the layered gamma output on top of the regular
mjr	92:f264fbaa1be5	1318	// LwPwmOut class for this instead of a separate table, but we get much better
mjr	92:f264fbaa1be5	1319	// precision with a dedicated table, because we apply gamma correction to the
mjr	92:f264fbaa1be5	1320	// actual duty cycle values (as 'float') rather than the 8-bit DOF values.
mjr	64:ef7ca92dff36	1321	static const float dof_to_gamma_pwm[] = {
mjr	64:ef7ca92dff36	1322	0.000000f, 0.000000f, 0.000001f, 0.000004f, 0.000009f, 0.000017f, 0.000028f, 0.000042f,
mjr	64:ef7ca92dff36	1323	0.000062f, 0.000086f, 0.000115f, 0.000151f, 0.000192f, 0.000240f, 0.000296f, 0.000359f,
mjr	64:ef7ca92dff36	1324	0.000430f, 0.000509f, 0.000598f, 0.000695f, 0.000803f, 0.000920f, 0.001048f, 0.001187f,
mjr	64:ef7ca92dff36	1325	0.001337f, 0.001499f, 0.001673f, 0.001860f, 0.002059f, 0.002272f, 0.002498f, 0.002738f,
mjr	64:ef7ca92dff36	1326	0.002993f, 0.003262f, 0.003547f, 0.003847f, 0.004162f, 0.004494f, 0.004843f, 0.005208f,
mjr	64:ef7ca92dff36	1327	0.005591f, 0.005991f, 0.006409f, 0.006845f, 0.007301f, 0.007775f, 0.008268f, 0.008781f,
mjr	64:ef7ca92dff36	1328	0.009315f, 0.009868f, 0.010442f, 0.011038f, 0.011655f, 0.012293f, 0.012954f, 0.013637f,
mjr	64:ef7ca92dff36	1329	0.014342f, 0.015071f, 0.015823f, 0.016599f, 0.017398f, 0.018223f, 0.019071f, 0.019945f,
mjr	64:ef7ca92dff36	1330	0.020844f, 0.021769f, 0.022720f, 0.023697f, 0.024701f, 0.025731f, 0.026789f, 0.027875f,
mjr	64:ef7ca92dff36	1331	0.028988f, 0.030129f, 0.031299f, 0.032498f, 0.033726f, 0.034983f, 0.036270f, 0.037587f,
mjr	64:ef7ca92dff36	1332	0.038935f, 0.040313f, 0.041722f, 0.043162f, 0.044634f, 0.046138f, 0.047674f, 0.049243f,
mjr	64:ef7ca92dff36	1333	0.050844f, 0.052478f, 0.054146f, 0.055847f, 0.057583f, 0.059353f, 0.061157f, 0.062996f,
mjr	64:ef7ca92dff36	1334	0.064870f, 0.066780f, 0.068726f, 0.070708f, 0.072726f, 0.074780f, 0.076872f, 0.079001f,
mjr	64:ef7ca92dff36	1335	0.081167f, 0.083371f, 0.085614f, 0.087895f, 0.090214f, 0.092572f, 0.094970f, 0.097407f,
mjr	64:ef7ca92dff36	1336	0.099884f, 0.102402f, 0.104959f, 0.107558f, 0.110197f, 0.112878f, 0.115600f, 0.118364f,
mjr	64:ef7ca92dff36	1337	0.121170f, 0.124019f, 0.126910f, 0.129844f, 0.132821f, 0.135842f, 0.138907f, 0.142016f,
mjr	64:ef7ca92dff36	1338	0.145170f, 0.148367f, 0.151610f, 0.154898f, 0.158232f, 0.161611f, 0.165037f, 0.168509f,
mjr	64:ef7ca92dff36	1339	0.172027f, 0.175592f, 0.179205f, 0.182864f, 0.186572f, 0.190327f, 0.194131f, 0.197983f,
mjr	64:ef7ca92dff36	1340	0.201884f, 0.205834f, 0.209834f, 0.213883f, 0.217982f, 0.222131f, 0.226330f, 0.230581f,
mjr	64:ef7ca92dff36	1341	0.234882f, 0.239234f, 0.243638f, 0.248094f, 0.252602f, 0.257162f, 0.261774f, 0.266440f,
mjr	64:ef7ca92dff36	1342	0.271159f, 0.275931f, 0.280756f, 0.285636f, 0.290570f, 0.295558f, 0.300601f, 0.305699f,
mjr	64:ef7ca92dff36	1343	0.310852f, 0.316061f, 0.321325f, 0.326645f, 0.332022f, 0.337456f, 0.342946f, 0.348493f,
mjr	64:ef7ca92dff36	1344	0.354098f, 0.359760f, 0.365480f, 0.371258f, 0.377095f, 0.382990f, 0.388944f, 0.394958f,
mjr	64:ef7ca92dff36	1345	0.401030f, 0.407163f, 0.413356f, 0.419608f, 0.425921f, 0.432295f, 0.438730f, 0.445226f,
mjr	64:ef7ca92dff36	1346	0.451784f, 0.458404f, 0.465085f, 0.471829f, 0.478635f, 0.485504f, 0.492436f, 0.499432f,
mjr	64:ef7ca92dff36	1347	0.506491f, 0.513614f, 0.520800f, 0.528052f, 0.535367f, 0.542748f, 0.550194f, 0.557705f,
mjr	64:ef7ca92dff36	1348	0.565282f, 0.572924f, 0.580633f, 0.588408f, 0.596249f, 0.604158f, 0.612133f, 0.620176f,
mjr	64:ef7ca92dff36	1349	0.628287f, 0.636465f, 0.644712f, 0.653027f, 0.661410f, 0.669863f, 0.678384f, 0.686975f,
mjr	64:ef7ca92dff36	1350	0.695636f, 0.704366f, 0.713167f, 0.722038f, 0.730979f, 0.739992f, 0.749075f, 0.758230f,
mjr	64:ef7ca92dff36	1351	0.767457f, 0.776755f, 0.786126f, 0.795568f, 0.805084f, 0.814672f, 0.824334f, 0.834068f,
mjr	64:ef7ca92dff36	1352	0.843877f, 0.853759f, 0.863715f, 0.873746f, 0.883851f, 0.894031f, 0.904286f, 0.914616f,
mjr	64:ef7ca92dff36	1353	0.925022f, 0.935504f, 0.946062f, 0.956696f, 0.967407f, 0.978194f, 0.989058f, 1.000000f
mjr	64:ef7ca92dff36	1354	};
mjr	64:ef7ca92dff36	1355
mjr	77:0b96f6867312	1356	// Polled-update PWM output list
mjr	74:822a92bc11d2	1357	//
mjr	77:0b96f6867312	1358	// This is a workaround for a KL25Z hardware bug/limitation. The bug (more
mjr	77:0b96f6867312	1359	// about this below) is that we can't write to a PWM output "value" register
mjr	77:0b96f6867312	1360	// more than once per PWM cycle; if we do, outputs after the first are lost.
mjr	77:0b96f6867312	1361	// The value register controls the duty cycle, so it's what you have to write
mjr	77:0b96f6867312	1362	// if you want to update the brightness of an output.
mjr	74:822a92bc11d2	1363	//
mjr	92:f264fbaa1be5	1364	// The symptom of the problem, if it's not worked around somehow, is that
mjr	92:f264fbaa1be5	1365	// an output will get "stuck" due to a missed write. This is especially
mjr	92:f264fbaa1be5	1366	// noticeable during a series of updates such as a fade. If the last
mjr	92:f264fbaa1be5	1367	// couple of updates in a fade are lost, the output will get stuck at some
mjr	92:f264fbaa1be5	1368	// value above or below the desired final value. The stuck setting will
mjr	92:f264fbaa1be5	1369	// persist until the output is deliberately changed again later.
mjr	92:f264fbaa1be5	1370	//
mjr	92:f264fbaa1be5	1371	// Our solution: Simply repeat all PWM updates periodically. This way, any
mjr	92:f264fbaa1be5	1372	// lost write will eventually take hold on one of the repeats. Repeats of
mjr	92:f264fbaa1be5	1373	// the same value won't change anything and thus won't be noticeable. We do
mjr	92:f264fbaa1be5	1374	// these periodic updates during the main loop, which makes them very low
mjr	92:f264fbaa1be5	1375	// overhead (there's no interrupt overhead; we just do them when convenient
mjr	92:f264fbaa1be5	1376	// in the main loop), and also makes them very frequent. The frequency
mjr	92:f264fbaa1be5	1377	// is crucial because it ensures that updates will never be lost for long
mjr	92:f264fbaa1be5	1378	// enough to become noticeable.
mjr	92:f264fbaa1be5	1379	//
mjr	92:f264fbaa1be5	1380	// The mbed library has its own, different solution to this bug, but the
mjr	92:f264fbaa1be5	1381	// mbed solution isn't really a solution at all because it creates a separate
mjr	92:f264fbaa1be5	1382	// problem of its own. The mbed approach is reset the TPM "count" register
mjr	92:f264fbaa1be5	1383	// on every value register write. The count reset truncates the current
mjr	92:f264fbaa1be5	1384	// PWM cycle, which bypasses the hardware problem. Remember, the hardware
mjr	92:f264fbaa1be5	1385	// problem is that you can only write once per cycle; the mbed "solution" gets
mjr	92:f264fbaa1be5	1386	// around that by making sure the cycle ends immediately after the write.
mjr	92:f264fbaa1be5	1387	// The problem with this approach is that the truncated cycle causes visible
mjr	92:f264fbaa1be5	1388	// flicker if the output is connected to an LED. This is particularly
mjr	92:f264fbaa1be5	1389	// noticeable during fades, when we're updating the value register repeatedly
mjr	92:f264fbaa1be5	1390	// and rapidly: an attempt to fade from fully on to fully off causes rapid
mjr	92:f264fbaa1be5	1391	// fluttering and flashing rather than a smooth brightness fade. That's why
mjr	92:f264fbaa1be5	1392	// I had to come up with something different - the mbed solution just trades
mjr	92:f264fbaa1be5	1393	// one annoying bug for another that's just as bad.
mjr	92:f264fbaa1be5	1394	//
mjr	92:f264fbaa1be5	1395	// The hardware bug, by the way, is a case of good intentions gone bad.
mjr	92:f264fbaa1be5	1396	// The whole point of the staging register is to make things easier for
mjr	92:f264fbaa1be5	1397	// us software writers. In most PWM hardware, software has to coordinate
mjr	92:f264fbaa1be5	1398	// with the PWM duty cycle when updating registers to avoid a glitch that
mjr	92:f264fbaa1be5	1399	// you'd get by scribbling to the duty cycle register mid-cycle. The
mjr	92:f264fbaa1be5	1400	// staging register solves this by letting the software write an update at
mjr	92:f264fbaa1be5	1401	// any time, knowing that the hardware will apply the update at exactly the
mjr	92:f264fbaa1be5	1402	// end of the cycle, ensuring glitch-free updates. It's a great design,
mjr	92:f264fbaa1be5	1403	// except that it doesn't quite work. The problem is that they implemented
mjr	92:f264fbaa1be5	1404	// this clever staging register as a one-element FIFO that refuses any more
mjr	92:f264fbaa1be5	1405	// writes when full. That is, writing a value to the FIFO fills it; once
mjr	92:f264fbaa1be5	1406	// full, it ignores writes until it gets emptied out. How's it emptied out?
mjr	92:f264fbaa1be5	1407	// By the hardware moving the staged value to the real register. Sadly, they
mjr	92:f264fbaa1be5	1408	// didn't provide any way for the software to clear the register, and no way
mjr	92:f264fbaa1be5	1409	// to even tell that it's full. So we don't have glitches on write, but we're
mjr	92:f264fbaa1be5	1410	// back to the original problem that the software has to be aware of the PWM
mjr	92:f264fbaa1be5	1411	// cycle timing, because the only way for the software to know that a write
mjr	92:f264fbaa1be5	1412	// actually worked is to know that it's been at least one PWM cycle since the
mjr	92:f264fbaa1be5	1413	// last write. That largely defeats the whole purpose of the staging register,
mjr	92:f264fbaa1be5	1414	// since the whole point was to free software writers of these timing
mjr	92:f264fbaa1be5	1415	// considerations. It's still an improvement over no staging register at
mjr	92:f264fbaa1be5	1416	// all, since we at least don't have to worry about glitches, but it leaves
mjr	92:f264fbaa1be5	1417	// us with this somewhat similar hassle.
mjr	74:822a92bc11d2	1418	//
mjr	77:0b96f6867312	1419	// So here we have our list of PWM outputs that need to be polled for updates.
mjr	77:0b96f6867312	1420	// The KL25Z hardware only has 10 PWM channels, so we only need a fixed set
mjr	77:0b96f6867312	1421	// of polled items.
mjr	74:822a92bc11d2	1422	static int numPolledPwm;
mjr	74:822a92bc11d2	1423	static class LwPwmOut *polledPwm[10];
mjr	74:822a92bc11d2	1424
mjr	74:822a92bc11d2	1425	// LwOut class for a PWM-capable GPIO port.
mjr	6:cc35eb643e8f	1426	class LwPwmOut: public LwOut
mjr	6:cc35eb643e8f	1427	{
mjr	6:cc35eb643e8f	1428	public:
mjr	43:7a6364d82a41	1429	LwPwmOut(PinName pin, uint8_t initVal) : p(pin)
mjr	43:7a6364d82a41	1430	{
mjr	77:0b96f6867312	1431	// add myself to the list of polled outputs for periodic updates
mjr	77:0b96f6867312	1432	if (numPolledPwm < countof(polledPwm))
mjr	74:822a92bc11d2	1433	polledPwm[numPolledPwm++] = this;
mjr	93:177832c29041	1434
mjr	94:0476b3e2b996	1435	// IMPORTANT: Do not set the PWM period (frequency) here explicitly.
mjr	94:0476b3e2b996	1436	// We instead want to accept the current setting for the TPM unit
mjr	94:0476b3e2b996	1437	// we're assigned to. The KL25Z hardware can only set the period at
mjr	94:0476b3e2b996	1438	// the TPM unit level, not per channel, so if we changed the frequency
mjr	94:0476b3e2b996	1439	// here, we'd change it for everything attached to our TPM unit. LW
mjr	94:0476b3e2b996	1440	// outputs don't care about frequency other than that it's fast enough
mjr	94:0476b3e2b996	1441	// that attached LEDs won't flicker. Some other PWM users (IR remote,
mjr	94:0476b3e2b996	1442	// TLC5940) DO care about exact frequencies, because they use the PWM
mjr	94:0476b3e2b996	1443	// as a signal generator rather than merely for brightness control.
mjr	94:0476b3e2b996	1444	// If we changed the frequency here, we could clobber one of those
mjr	94:0476b3e2b996	1445	// carefully chosen frequencies and break the other subsystem. So
mjr	94:0476b3e2b996	1446	// we need to be the "free variable" here and accept whatever setting
mjr	94:0476b3e2b996	1447	// is currently on our assigned unit. To minimize flicker, the main()
mjr	94:0476b3e2b996	1448	// entrypoint sets a default PWM rate of 1kHz on all channels. All
mjr	94:0476b3e2b996	1449	// of the other subsystems that might set specific frequencies will
mjr	94:0476b3e2b996	1450	// set much high frequencies, so that should only be good for us.
mjr	94:0476b3e2b996	1451
mjr	94:0476b3e2b996	1452	// set the initial brightness value
mjr	77:0b96f6867312	1453	set(initVal);
mjr	43:7a6364d82a41	1454	}
mjr	74:822a92bc11d2	1455
mjr	40:cc0d9814522b	1456	virtual void set(uint8_t val)
mjr	74:822a92bc11d2	1457	{
mjr	77:0b96f6867312	1458	// save the new value
mjr	74:822a92bc11d2	1459	this->val = val;
mjr	77:0b96f6867312	1460
mjr	77:0b96f6867312	1461	// commit it to the hardware
mjr	77:0b96f6867312	1462	commit();
mjr	13:72dda449c3c0	1463	}
mjr	74:822a92bc11d2	1464
mjr	74:822a92bc11d2	1465	// handle periodic update polling
mjr	74:822a92bc11d2	1466	void poll()
mjr	74:822a92bc11d2	1467	{
mjr	77:0b96f6867312	1468	commit();
mjr	74:822a92bc11d2	1469	}
mjr	74:822a92bc11d2	1470
mjr	74:822a92bc11d2	1471	protected:
mjr	77:0b96f6867312	1472	virtual void commit()
mjr	74:822a92bc11d2	1473	{
mjr	74:822a92bc11d2	1474	// write the current value to the PWM controller if it's changed
mjr	77:0b96f6867312	1475	p.glitchFreeWrite(dof_to_pwm[val]);
mjr	74:822a92bc11d2	1476	}
mjr	74:822a92bc11d2	1477
mjr	77:0b96f6867312	1478	NewPwmOut p;
mjr	77:0b96f6867312	1479	uint8_t val;
mjr	6:cc35eb643e8f	1480	};
mjr	26:cb71c4af2912	1481
mjr	74:822a92bc11d2	1482	// Gamma corrected PWM GPIO output. This works exactly like the regular
mjr	74:822a92bc11d2	1483	// PWM output, but translates DOF values through the gamma-corrected
mjr	74:822a92bc11d2	1484	// table instead of the regular linear table.
mjr	64:ef7ca92dff36	1485	class LwPwmGammaOut: public LwPwmOut
mjr	64:ef7ca92dff36	1486	{
mjr	64:ef7ca92dff36	1487	public:
mjr	64:ef7ca92dff36	1488	LwPwmGammaOut(PinName pin, uint8_t initVal)
mjr	64:ef7ca92dff36	1489	: LwPwmOut(pin, initVal)
mjr	64:ef7ca92dff36	1490	{
mjr	64:ef7ca92dff36	1491	}
mjr	74:822a92bc11d2	1492
mjr	74:822a92bc11d2	1493	protected:
mjr	77:0b96f6867312	1494	virtual void commit()
mjr	64:ef7ca92dff36	1495	{
mjr	74:822a92bc11d2	1496	// write the current value to the PWM controller if it's changed
mjr	77:0b96f6867312	1497	p.glitchFreeWrite(dof_to_gamma_pwm[val]);
mjr	64:ef7ca92dff36	1498	}
mjr	64:ef7ca92dff36	1499	};
mjr	64:ef7ca92dff36	1500
mjr	74:822a92bc11d2	1501	// poll the PWM outputs
mjr	74:822a92bc11d2	1502	Timer polledPwmTimer;
mjr	76:7f5912b6340e	1503	uint64_t polledPwmTotalTime, polledPwmRunCount;
mjr	74:822a92bc11d2	1504	void pollPwmUpdates()
mjr	74:822a92bc11d2	1505	{
mjr	94:0476b3e2b996	1506	// If it's been long enough since the last update, do another update.
mjr	94:0476b3e2b996	1507	// Note that the time limit is fairly arbitrary: it has to be at least
mjr	94:0476b3e2b996	1508	// 1.5X the PWM period, so that we can be sure that at least one PWM
mjr	94:0476b3e2b996	1509	// period has elapsed since the last update, but there's no hard upper
mjr	94:0476b3e2b996	1510	// bound. Instead, it only has to be short enough that fades don't
mjr	94:0476b3e2b996	1511	// become noticeably chunky. The competing interest is that we don't
mjr	94:0476b3e2b996	1512	// want to do this more often than necessary to provide incremental
mjr	94:0476b3e2b996	1513	// benefit, because the polling adds overhead to the main loop and
mjr	94:0476b3e2b996	1514	// takes time away from other tasks we could be performing. The
mjr	94:0476b3e2b996	1515	// shortest time with practical benefit is probably around 50-60Hz,
mjr	94:0476b3e2b996	1516	// since that gives us "video rate" granularity in fades. Anything
mjr	94:0476b3e2b996	1517	// faster wouldn't probably make fades look any smoother to a human
mjr	94:0476b3e2b996	1518	// viewer.
mjr	94:0476b3e2b996	1519	if (polledPwmTimer.read_us() >= 15000)
mjr	74:822a92bc11d2	1520	{
mjr	74:822a92bc11d2	1521	// time the run for statistics collection
mjr	74:822a92bc11d2	1522	IF_DIAG(
mjr	74:822a92bc11d2	1523	Timer t;
mjr	74:822a92bc11d2	1524	t.start();
mjr	74:822a92bc11d2	1525	)
mjr	74:822a92bc11d2	1526
mjr	74:822a92bc11d2	1527	// poll each output
mjr	74:822a92bc11d2	1528	for (int i = numPolledPwm ; i > 0 ; )
mjr	74:822a92bc11d2	1529	polledPwm[--i]->poll();
mjr	74:822a92bc11d2	1530
mjr	74:822a92bc11d2	1531	// reset the timer for the next cycle
mjr	74:822a92bc11d2	1532	polledPwmTimer.reset();
mjr	74:822a92bc11d2	1533
mjr	74:822a92bc11d2	1534	// collect statistics
mjr	74:822a92bc11d2	1535	IF_DIAG(
mjr	76:7f5912b6340e	1536	polledPwmTotalTime += t.read_us();
mjr	74:822a92bc11d2	1537	polledPwmRunCount += 1;
mjr	74:822a92bc11d2	1538	)
mjr	74:822a92bc11d2	1539	}
mjr	74:822a92bc11d2	1540	}
mjr	64:ef7ca92dff36	1541
mjr	26:cb71c4af2912	1542	// LwOut class for a Digital-Only (Non-PWM) GPIO port
mjr	6:cc35eb643e8f	1543	class LwDigOut: public LwOut
mjr	6:cc35eb643e8f	1544	{
mjr	6:cc35eb643e8f	1545	public:
mjr	43:7a6364d82a41	1546	LwDigOut(PinName pin, uint8_t initVal) : p(pin, initVal ? 1 : 0) { prv = initVal; }
mjr	40:cc0d9814522b	1547	virtual void set(uint8_t val)
mjr	13:72dda449c3c0	1548	{
mjr	13:72dda449c3c0	1549	if (val != prv)
mjr	40:cc0d9814522b	1550	p.write((prv = val) == 0 ? 0 : 1);
mjr	13:72dda449c3c0	1551	}
mjr	6:cc35eb643e8f	1552	DigitalOut p;
mjr	40:cc0d9814522b	1553	uint8_t prv;
mjr	6:cc35eb643e8f	1554	};
mjr	26:cb71c4af2912	1555
mjr	29:582472d0bc57	1556	// Array of output physical pin assignments. This array is indexed
mjr	29:582472d0bc57	1557	// by LedWiz logical port number - lwPin[n] is the maping for LedWiz
mjr	35:e959ffba78fd	1558	// port n (0-based).
mjr	35:e959ffba78fd	1559	//
mjr	35:e959ffba78fd	1560	// Each pin is handled by an interface object for the physical output
mjr	35:e959ffba78fd	1561	// type for the port, as set in the configuration. The interface
mjr	35:e959ffba78fd	1562	// objects handle the specifics of addressing the different hardware
mjr	35:e959ffba78fd	1563	// types (GPIO PWM ports, GPIO digital ports, TLC5940 ports, and
mjr	35:e959ffba78fd	1564	// 74HC595 ports).
mjr	33:d832bcab089e	1565	static int numOutputs;
mjr	33:d832bcab089e	1566	static LwOut **lwPin;
mjr	33:d832bcab089e	1567
mjr	38:091e511ce8a0	1568	// create a single output pin
mjr	53:9b2611964afc	1569	LwOut *createLwPin(int portno, LedWizPortCfg &pc, Config &cfg)
mjr	38:091e511ce8a0	1570	{
mjr	38:091e511ce8a0	1571	// get this item's values
mjr	38:091e511ce8a0	1572	int typ = pc.typ;
mjr	38:091e511ce8a0	1573	int pin = pc.pin;
mjr	38:091e511ce8a0	1574	int flags = pc.flags;
mjr	40:cc0d9814522b	1575	int noisy = flags & PortFlagNoisemaker;
mjr	38:091e511ce8a0	1576	int activeLow = flags & PortFlagActiveLow;
mjr	40:cc0d9814522b	1577	int gamma = flags & PortFlagGamma;
mjr	89:c43cd923401c	1578	int flipperLogic = flags & PortFlagFlipperLogic;
mjr	89:c43cd923401c	1579
mjr	89:c43cd923401c	1580	// cancel gamma on flipper logic ports
mjr	89:c43cd923401c	1581	if (flipperLogic)
mjr	89:c43cd923401c	1582	gamma = false;
mjr	38:091e511ce8a0	1583
mjr	38:091e511ce8a0	1584	// create the pin interface object according to the port type
mjr	38:091e511ce8a0	1585	LwOut *lwp;
mjr	38:091e511ce8a0	1586	switch (typ)
mjr	38:091e511ce8a0	1587	{
mjr	38:091e511ce8a0	1588	case PortTypeGPIOPWM:
mjr	48:058ace2aed1d	1589	// PWM GPIO port - assign if we have a valid pin
mjr	48:058ace2aed1d	1590	if (pin != 0)
mjr	64:ef7ca92dff36	1591	{
mjr	64:ef7ca92dff36	1592	// If gamma correction is to be used, and we're not inverting the output,
mjr	64:ef7ca92dff36	1593	// use the combined Pwmout + Gamma output class; otherwise use the plain
mjr	64:ef7ca92dff36	1594	// PwmOut class. We can't use the combined class for inverted outputs
mjr	64:ef7ca92dff36	1595	// because we have to apply gamma correction before the inversion.
mjr	64:ef7ca92dff36	1596	if (gamma && !activeLow)
mjr	64:ef7ca92dff36	1597	{
mjr	64:ef7ca92dff36	1598	// use the gamma-corrected PwmOut type
mjr	64:ef7ca92dff36	1599	lwp = new LwPwmGammaOut(wirePinName(pin), 0);
mjr	64:ef7ca92dff36	1600
mjr	64:ef7ca92dff36	1601	// don't apply further gamma correction to this output
mjr	64:ef7ca92dff36	1602	gamma = false;
mjr	64:ef7ca92dff36	1603	}
mjr	64:ef7ca92dff36	1604	else
mjr	64:ef7ca92dff36	1605	{
mjr	64:ef7ca92dff36	1606	// no gamma correction - use the standard PwmOut class
mjr	64:ef7ca92dff36	1607	lwp = new LwPwmOut(wirePinName(pin), activeLow ? 255 : 0);
mjr	64:ef7ca92dff36	1608	}
mjr	64:ef7ca92dff36	1609	}
mjr	48:058ace2aed1d	1610	else
mjr	48:058ace2aed1d	1611	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1612	break;
mjr	38:091e511ce8a0	1613
mjr	38:091e511ce8a0	1614	case PortTypeGPIODig:
mjr	38:091e511ce8a0	1615	// Digital GPIO port
mjr	48:058ace2aed1d	1616	if (pin != 0)
mjr	48:058ace2aed1d	1617	lwp = new LwDigOut(wirePinName(pin), activeLow ? 255 : 0);
mjr	48:058ace2aed1d	1618	else
mjr	48:058ace2aed1d	1619	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1620	break;
mjr	38:091e511ce8a0	1621
mjr	38:091e511ce8a0	1622	case PortTypeTLC5940:
mjr	38:091e511ce8a0	1623	// TLC5940 port (if we don't have a TLC controller object, or it's not a valid
mjr	38:091e511ce8a0	1624	// output port number on the chips we have, create a virtual port)
mjr	38:091e511ce8a0	1625	if (tlc5940 != 0 && pin < cfg.tlc5940.nchips*16)
mjr	40:cc0d9814522b	1626	{
mjr	40:cc0d9814522b	1627	// If gamma correction is to be used, and we're not inverting the output,
mjr	40:cc0d9814522b	1628	// use the combined TLC4950 + Gamma output class. Otherwise use the plain
mjr	40:cc0d9814522b	1629	// TLC5940 output. We skip the combined class if the output is inverted
mjr	40:cc0d9814522b	1630	// because we need to apply gamma BEFORE the inversion to get the right
mjr	40:cc0d9814522b	1631	// results, but the combined class would apply it after because of the
mjr	40:cc0d9814522b	1632	// layering scheme - the combined class is a physical device output class,
mjr	40:cc0d9814522b	1633	// and a physical device output class is necessarily at the bottom of
mjr	40:cc0d9814522b	1634	// the stack. We don't have a combined inverted+gamma+TLC class, because
mjr	40:cc0d9814522b	1635	// inversion isn't recommended for TLC5940 chips in the first place, so
mjr	40:cc0d9814522b	1636	// it's not worth the extra memory footprint to have a dedicated table
mjr	40:cc0d9814522b	1637	// for this unlikely case.
mjr	40:cc0d9814522b	1638	if (gamma && !activeLow)
mjr	40:cc0d9814522b	1639	{
mjr	40:cc0d9814522b	1640	// use the gamma-corrected 5940 output mapper
mjr	40:cc0d9814522b	1641	lwp = new Lw5940GammaOut(pin);
mjr	40:cc0d9814522b	1642
mjr	40:cc0d9814522b	1643	// DON'T apply further gamma correction to this output
mjr	40:cc0d9814522b	1644	gamma = false;
mjr	40:cc0d9814522b	1645	}
mjr	40:cc0d9814522b	1646	else
mjr	40:cc0d9814522b	1647	{
mjr	40:cc0d9814522b	1648	// no gamma - use the plain (linear) 5940 output class
mjr	40:cc0d9814522b	1649	lwp = new Lw5940Out(pin);
mjr	40:cc0d9814522b	1650	}
mjr	40:cc0d9814522b	1651	}
mjr	38:091e511ce8a0	1652	else
mjr	40:cc0d9814522b	1653	{
mjr	40:cc0d9814522b	1654	// no TLC5940 chips, or invalid port number - use a virtual out
mjr	38:091e511ce8a0	1655	lwp = new LwVirtualOut();
mjr	40:cc0d9814522b	1656	}
mjr	38:091e511ce8a0	1657	break;
mjr	38:091e511ce8a0	1658
mjr	38:091e511ce8a0	1659	case PortType74HC595:
mjr	87:8d35c74403af	1660	// 74HC595 port (if we don't have an HC595 controller object, or it's not
mjr	87:8d35c74403af	1661	// a valid output number, create a virtual port)
mjr	38:091e511ce8a0	1662	if (hc595 != 0 && pin < cfg.hc595.nchips*8)
mjr	38:091e511ce8a0	1663	lwp = new Lw595Out(pin);
mjr	38:091e511ce8a0	1664	else
mjr	38:091e511ce8a0	1665	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1666	break;
mjr	87:8d35c74403af	1667
mjr	87:8d35c74403af	1668	case PortTypeTLC59116:
mjr	87:8d35c74403af	1669	// TLC59116 port. The pin number in the config encodes the chip address
mjr	87:8d35c74403af	1670	// in the high 4 bits and the output number on the chip in the low 4 bits.
mjr	87:8d35c74403af	1671	// There's no gamma-corrected version of this output handler, so we don't
mjr	87:8d35c74403af	1672	// need to worry about that here; just use the layered gamma as needed.
mjr	87:8d35c74403af	1673	if (tlc59116 != 0)
mjr	87:8d35c74403af	1674	lwp = new Lw59116Out((pin >> 4) & 0x0F, pin & 0x0F);
mjr	87:8d35c74403af	1675	break;
mjr	38:091e511ce8a0	1676
mjr	38:091e511ce8a0	1677	case PortTypeVirtual:
mjr	43:7a6364d82a41	1678	case PortTypeDisabled:
mjr	38:091e511ce8a0	1679	default:
mjr	38:091e511ce8a0	1680	// virtual or unknown
mjr	38:091e511ce8a0	1681	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1682	break;
mjr	38:091e511ce8a0	1683	}
mjr	38:091e511ce8a0	1684
mjr	40:cc0d9814522b	1685	// If it's Active Low, layer on an inverter. Note that an inverter
mjr	40:cc0d9814522b	1686	// needs to be the bottom-most layer, since all of the other filters
mjr	40:cc0d9814522b	1687	// assume that they're working with normal (non-inverted) values.
mjr	38:091e511ce8a0	1688	if (activeLow)
mjr	38:091e511ce8a0	1689	lwp = new LwInvertedOut(lwp);
mjr	40:cc0d9814522b	1690
mjr	89:c43cd923401c	1691	// Layer on Flipper Logic if desired
mjr	89:c43cd923401c	1692	if (flipperLogic)
mjr	89:c43cd923401c	1693	lwp = new LwFlipperLogicOut(lwp, pc.flipperLogic);
mjr	89:c43cd923401c	1694
mjr	89:c43cd923401c	1695	// If it's a noisemaker, layer on a night mode switch
mjr	40:cc0d9814522b	1696	if (noisy)
mjr	40:cc0d9814522b	1697	lwp = new LwNoisyOut(lwp);
mjr	40:cc0d9814522b	1698
mjr	40:cc0d9814522b	1699	// If it's gamma-corrected, layer on a gamma corrector
mjr	40:cc0d9814522b	1700	if (gamma)
mjr	40:cc0d9814522b	1701	lwp = new LwGammaOut(lwp);
mjr	53:9b2611964afc	1702
mjr	53:9b2611964afc	1703	// If this is the ZB Launch Ball port, layer a monitor object. Note
mjr	64:ef7ca92dff36	1704	// that the nominal port numbering in the config starts at 1, but we're
mjr	53:9b2611964afc	1705	// using an array index, so test against portno+1.
mjr	53:9b2611964afc	1706	if (portno + 1 == cfg.plunger.zbLaunchBall.port)
mjr	53:9b2611964afc	1707	lwp = new LwZbLaunchOut(lwp);
mjr	53:9b2611964afc	1708
mjr	53:9b2611964afc	1709	// If this is the Night Mode indicator port, layer a night mode object.
mjr	53:9b2611964afc	1710	if (portno + 1 == cfg.nightMode.port)
mjr	53:9b2611964afc	1711	lwp = new LwNightModeIndicatorOut(lwp);
mjr	38:091e511ce8a0	1712
mjr	38:091e511ce8a0	1713	// turn it off initially
mjr	38:091e511ce8a0	1714	lwp->set(0);
mjr	38:091e511ce8a0	1715
mjr	38:091e511ce8a0	1716	// return the pin
mjr	38:091e511ce8a0	1717	return lwp;
mjr	38:091e511ce8a0	1718	}
mjr	38:091e511ce8a0	1719
mjr	6:cc35eb643e8f	1720	// initialize the output pin array
mjr	35:e959ffba78fd	1721	void initLwOut(Config &cfg)
mjr	6:cc35eb643e8f	1722	{
mjr	89:c43cd923401c	1723	// Initialize the Flipper Logic outputs
mjr	89:c43cd923401c	1724	LwFlipperLogicOut::classInit(cfg);
mjr	89:c43cd923401c	1725
mjr	35:e959ffba78fd	1726	// Count the outputs. The first disabled output determines the
mjr	35:e959ffba78fd	1727	// total number of ports.
mjr	35:e959ffba78fd	1728	numOutputs = MAX_OUT_PORTS;
mjr	33:d832bcab089e	1729	int i;
mjr	35:e959ffba78fd	1730	for (i = 0 ; i < MAX_OUT_PORTS ; ++i)
mjr	6:cc35eb643e8f	1731	{
mjr	35:e959ffba78fd	1732	if (cfg.outPort[i].typ == PortTypeDisabled)
mjr	34:6b981a2afab7	1733	{
mjr	35:e959ffba78fd	1734	numOutputs = i;
mjr	34:6b981a2afab7	1735	break;
mjr	34:6b981a2afab7	1736	}
mjr	33:d832bcab089e	1737	}
mjr	33:d832bcab089e	1738
mjr	73:4e8ce0b18915	1739	// allocate the pin array
mjr	73:4e8ce0b18915	1740	lwPin = new LwOut*[numOutputs];
mjr	35:e959ffba78fd	1741
mjr	73:4e8ce0b18915	1742	// Allocate the current brightness array
mjr	73:4e8ce0b18915	1743	outLevel = new uint8_t[numOutputs];
mjr	33:d832bcab089e	1744
mjr	73:4e8ce0b18915	1745	// allocate the LedWiz output state arrays
mjr	73:4e8ce0b18915	1746	wizOn = new uint8_t[numOutputs];
mjr	73:4e8ce0b18915	1747	wizVal = new uint8_t[numOutputs];
mjr	73:4e8ce0b18915	1748
mjr	73:4e8ce0b18915	1749	// initialize all LedWiz outputs to off and brightness 48
mjr	73:4e8ce0b18915	1750	memset(wizOn, 0, numOutputs);
mjr	73:4e8ce0b18915	1751	memset(wizVal, 48, numOutputs);
mjr	73:4e8ce0b18915	1752
mjr	73:4e8ce0b18915	1753	// set all LedWiz virtual unit flash speeds to 2
mjr	73:4e8ce0b18915	1754	for (i = 0 ; i < countof(wizSpeed) ; ++i)
mjr	73:4e8ce0b18915	1755	wizSpeed[i] = 2;
mjr	33:d832bcab089e	1756
mjr	35:e959ffba78fd	1757	// create the pin interface object for each port
mjr	35:e959ffba78fd	1758	for (i = 0 ; i < numOutputs ; ++i)
mjr	53:9b2611964afc	1759	lwPin[i] = createLwPin(i, cfg.outPort[i], cfg);
mjr	6:cc35eb643e8f	1760	}
mjr	6:cc35eb643e8f	1761
mjr	76:7f5912b6340e	1762	// Translate an LedWiz brightness level (0..49) to a DOF brightness
mjr	76:7f5912b6340e	1763	// level (0..255). Note that brightness level 49 isn't actually valid,
mjr	76:7f5912b6340e	1764	// according to the LedWiz API documentation, but many clients use it
mjr	76:7f5912b6340e	1765	// anyway, and the real LedWiz accepts it and seems to treat it as
mjr	76:7f5912b6340e	1766	// equivalent to 48.
mjr	40:cc0d9814522b	1767	static const uint8_t lw_to_dof[] = {
mjr	40:cc0d9814522b	1768	0, 5, 11, 16, 21, 27, 32, 37,
mjr	40:cc0d9814522b	1769	43, 48, 53, 58, 64, 69, 74, 80,
mjr	40:cc0d9814522b	1770	85, 90, 96, 101, 106, 112, 117, 122,
mjr	40:cc0d9814522b	1771	128, 133, 138, 143, 149, 154, 159, 165,
mjr	40:cc0d9814522b	1772	170, 175, 181, 186, 191, 197, 202, 207,
mjr	40:cc0d9814522b	1773	213, 218, 223, 228, 234, 239, 244, 250,
mjr	40:cc0d9814522b	1774	255, 255
mjr	40:cc0d9814522b	1775	};
mjr	40:cc0d9814522b	1776
mjr	76:7f5912b6340e	1777	// Translate a DOF brightness level (0..255) to an LedWiz brightness
mjr	76:7f5912b6340e	1778	// level (1..48)
mjr	76:7f5912b6340e	1779	static const uint8_t dof_to_lw[] = {
mjr	76:7f5912b6340e	1780	1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 3, 3,
mjr	76:7f5912b6340e	1781	3, 3, 3, 4, 4, 4, 4, 4, 5, 5, 5, 5, 5, 5, 6, 6,
mjr	76:7f5912b6340e	1782	6, 6, 6, 7, 7, 7, 7, 7, 8, 8, 8, 8, 8, 8, 9, 9,
mjr	76:7f5912b6340e	1783	9, 9, 9, 10, 10, 10, 10, 10, 11, 11, 11, 11, 11, 11, 12, 12,
mjr	76:7f5912b6340e	1784	12, 12, 12, 13, 13, 13, 13, 13, 14, 14, 14, 14, 14, 14, 15, 15,
mjr	76:7f5912b6340e	1785	15, 15, 15, 16, 16, 16, 16, 16, 17, 17, 17, 17, 17, 18, 18, 18,
mjr	76:7f5912b6340e	1786	18, 18, 18, 19, 19, 19, 19, 19, 20, 20, 20, 20, 20, 21, 21, 21,
mjr	76:7f5912b6340e	1787	21, 21, 21, 22, 22, 22, 22, 22, 23, 23, 23, 23, 23, 24, 24, 24,
mjr	76:7f5912b6340e	1788	24, 24, 24, 25, 25, 25, 25, 25, 26, 26, 26, 26, 26, 27, 27, 27,
mjr	76:7f5912b6340e	1789	27, 27, 27, 28, 28, 28, 28, 28, 29, 29, 29, 29, 29, 30, 30, 30,
mjr	76:7f5912b6340e	1790	30, 30, 30, 31, 31, 31, 31, 31, 32, 32, 32, 32, 32, 33, 33, 33,
mjr	76:7f5912b6340e	1791	33, 33, 34, 34, 34, 34, 34, 34, 35, 35, 35, 35, 35, 36, 36, 36,
mjr	76:7f5912b6340e	1792	36, 36, 37, 37, 37, 37, 37, 37, 38, 38, 38, 38, 38, 39, 39, 39,
mjr	76:7f5912b6340e	1793	39, 39, 40, 40, 40, 40, 40, 40, 41, 41, 41, 41, 41, 42, 42, 42,
mjr	76:7f5912b6340e	1794	42, 42, 43, 43, 43, 43, 43, 43, 44, 44, 44, 44, 44, 45, 45, 45,
mjr	76:7f5912b6340e	1795	45, 45, 46, 46, 46, 46, 46, 46, 47, 47, 47, 47, 47, 48, 48, 48
mjr	76:7f5912b6340e	1796	};
mjr	76:7f5912b6340e	1797
mjr	74:822a92bc11d2	1798	// LedWiz flash cycle tables. For efficiency, we use a lookup table
mjr	74:822a92bc11d2	1799	// rather than calculating these on the fly. The flash cycles are
mjr	74:822a92bc11d2	1800	// generated by the following formulas, where 'c' is the current
mjr	74:822a92bc11d2	1801	// cycle counter, from 0 to 255:
mjr	74:822a92bc11d2	1802	//
mjr	74:822a92bc11d2	1803	// mode 129 = sawtooth = (c < 128 ? c2 + 1 : (255-c)2)
mjr	74:822a92bc11d2	1804	// mode 130 = flash on/off = (c < 128 ? 255 : 0)
mjr	74:822a92bc11d2	1805	// mode 131 = on/ramp down = (c < 128 ? 255 : (255-c)*2)
mjr	74:822a92bc11d2	1806	// mode 132 = ramp up/on = (c < 128 ? c*2 : 255)
mjr	74:822a92bc11d2	1807	//
mjr	74:822a92bc11d2	1808	// To look up the current output value for a given mode and a given
mjr	74:822a92bc11d2	1809	// cycle counter 'c', index the table with ((mode-129)*256)+c.
mjr	74:822a92bc11d2	1810	static const uint8_t wizFlashLookup[] = {
mjr	74:822a92bc11d2	1811	// mode 129 = sawtooth = (c < 128 ? c2 + 1 : (255-c)2)
mjr	74:822a92bc11d2	1812	0x01, 0x03, 0x05, 0x07, 0x09, 0x0b, 0x0d, 0x0f, 0x11, 0x13, 0x15, 0x17, 0x19, 0x1b, 0x1d, 0x1f,
mjr	74:822a92bc11d2	1813	0x21, 0x23, 0x25, 0x27, 0x29, 0x2b, 0x2d, 0x2f, 0x31, 0x33, 0x35, 0x37, 0x39, 0x3b, 0x3d, 0x3f,
mjr	74:822a92bc11d2	1814	0x41, 0x43, 0x45, 0x47, 0x49, 0x4b, 0x4d, 0x4f, 0x51, 0x53, 0x55, 0x57, 0x59, 0x5b, 0x5d, 0x5f,
mjr	74:822a92bc11d2	1815	0x61, 0x63, 0x65, 0x67, 0x69, 0x6b, 0x6d, 0x6f, 0x71, 0x73, 0x75, 0x77, 0x79, 0x7b, 0x7d, 0x7f,
mjr	74:822a92bc11d2	1816	0x81, 0x83, 0x85, 0x87, 0x89, 0x8b, 0x8d, 0x8f, 0x91, 0x93, 0x95, 0x97, 0x99, 0x9b, 0x9d, 0x9f,
mjr	74:822a92bc11d2	1817	0xa1, 0xa3, 0xa5, 0xa7, 0xa9, 0xab, 0xad, 0xaf, 0xb1, 0xb3, 0xb5, 0xb7, 0xb9, 0xbb, 0xbd, 0xbf,
mjr	74:822a92bc11d2	1818	0xc1, 0xc3, 0xc5, 0xc7, 0xc9, 0xcb, 0xcd, 0xcf, 0xd1, 0xd3, 0xd5, 0xd7, 0xd9, 0xdb, 0xdd, 0xdf,
mjr	74:822a92bc11d2	1819	0xe1, 0xe3, 0xe5, 0xe7, 0xe9, 0xeb, 0xed, 0xef, 0xf1, 0xf3, 0xf5, 0xf7, 0xf9, 0xfb, 0xfd, 0xff,
mjr	74:822a92bc11d2	1820	0xfe, 0xfc, 0xfa, 0xf8, 0xf6, 0xf4, 0xf2, 0xf0, 0xee, 0xec, 0xea, 0xe8, 0xe6, 0xe4, 0xe2, 0xe0,
mjr	74:822a92bc11d2	1821	0xde, 0xdc, 0xda, 0xd8, 0xd6, 0xd4, 0xd2, 0xd0, 0xce, 0xcc, 0xca, 0xc8, 0xc6, 0xc4, 0xc2, 0xc0,
mjr	74:822a92bc11d2	1822	0xbe, 0xbc, 0xba, 0xb8, 0xb6, 0xb4, 0xb2, 0xb0, 0xae, 0xac, 0xaa, 0xa8, 0xa6, 0xa4, 0xa2, 0xa0,
mjr	74:822a92bc11d2	1823	0x9e, 0x9c, 0x9a, 0x98, 0x96, 0x94, 0x92, 0x90, 0x8e, 0x8c, 0x8a, 0x88, 0x86, 0x84, 0x82, 0x80,
mjr	74:822a92bc11d2	1824	0x7e, 0x7c, 0x7a, 0x78, 0x76, 0x74, 0x72, 0x70, 0x6e, 0x6c, 0x6a, 0x68, 0x66, 0x64, 0x62, 0x60,
mjr	74:822a92bc11d2	1825	0x5e, 0x5c, 0x5a, 0x58, 0x56, 0x54, 0x52, 0x50, 0x4e, 0x4c, 0x4a, 0x48, 0x46, 0x44, 0x42, 0x40,
mjr	74:822a92bc11d2	1826	0x3e, 0x3c, 0x3a, 0x38, 0x36, 0x34, 0x32, 0x30, 0x2e, 0x2c, 0x2a, 0x28, 0x26, 0x24, 0x22, 0x20,
mjr	74:822a92bc11d2	1827	0x1e, 0x1c, 0x1a, 0x18, 0x16, 0x14, 0x12, 0x10, 0x0e, 0x0c, 0x0a, 0x08, 0x06, 0x04, 0x02, 0x00,
mjr	74:822a92bc11d2	1828
mjr	74:822a92bc11d2	1829	// mode 130 = flash on/off = (c < 128 ? 255 : 0)
mjr	74:822a92bc11d2	1830	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1831	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1832	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1833	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1834	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1835	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1836	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1837	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1838	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1839	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1840	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1841	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1842	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1843	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1844	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1845	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1846
mjr	74:822a92bc11d2	1847	// mode 131 = on/ramp down = c < 128 ? 255 : (255 - c)*2
mjr	74:822a92bc11d2	1848	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1849	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1850	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1851	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1852	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1853	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1854	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1855	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1856	0xfe, 0xfc, 0xfa, 0xf8, 0xf6, 0xf4, 0xf2, 0xf0, 0xee, 0xec, 0xea, 0xe8, 0xe6, 0xe4, 0xe2, 0xe0,
mjr	74:822a92bc11d2	1857	0xde, 0xdc, 0xda, 0xd8, 0xd6, 0xd4, 0xd2, 0xd0, 0xce, 0xcc, 0xca, 0xc8, 0xc6, 0xc4, 0xc2, 0xc0,
mjr	74:822a92bc11d2	1858	0xbe, 0xbc, 0xba, 0xb8, 0xb6, 0xb4, 0xb2, 0xb0, 0xae, 0xac, 0xaa, 0xa8, 0xa6, 0xa4, 0xa2, 0xa0,
mjr	74:822a92bc11d2	1859	0x9e, 0x9c, 0x9a, 0x98, 0x96, 0x94, 0x92, 0x90, 0x8e, 0x8c, 0x8a, 0x88, 0x86, 0x84, 0x82, 0x80,
mjr	74:822a92bc11d2	1860	0x7e, 0x7c, 0x7a, 0x78, 0x76, 0x74, 0x72, 0x70, 0x6e, 0x6c, 0x6a, 0x68, 0x66, 0x64, 0x62, 0x60,
mjr	74:822a92bc11d2	1861	0x5e, 0x5c, 0x5a, 0x58, 0x56, 0x54, 0x52, 0x50, 0x4e, 0x4c, 0x4a, 0x48, 0x46, 0x44, 0x42, 0x40,
mjr	74:822a92bc11d2	1862	0x3e, 0x3c, 0x3a, 0x38, 0x36, 0x34, 0x32, 0x30, 0x2e, 0x2c, 0x2a, 0x28, 0x26, 0x24, 0x22, 0x20,
mjr	74:822a92bc11d2	1863	0x1e, 0x1c, 0x1a, 0x18, 0x16, 0x14, 0x12, 0x10, 0x0e, 0x0c, 0x0a, 0x08, 0x06, 0x04, 0x02, 0x00,
mjr	74:822a92bc11d2	1864
mjr	74:822a92bc11d2	1865	// mode 132 = ramp up/on = c < 128 ? c*2 : 255
mjr	74:822a92bc11d2	1866	0x00, 0x02, 0x04, 0x06, 0x08, 0x0a, 0x0c, 0x0e, 0x10, 0x12, 0x14, 0x16, 0x18, 0x1a, 0x1c, 0x1e,
mjr	74:822a92bc11d2	1867	0x20, 0x22, 0x24, 0x26, 0x28, 0x2a, 0x2c, 0x2e, 0x30, 0x32, 0x34, 0x36, 0x38, 0x3a, 0x3c, 0x3e,
mjr	74:822a92bc11d2	1868	0x40, 0x42, 0x44, 0x46, 0x48, 0x4a, 0x4c, 0x4e, 0x50, 0x52, 0x54, 0x56, 0x58, 0x5a, 0x5c, 0x5e,
mjr	74:822a92bc11d2	1869	0x60, 0x62, 0x64, 0x66, 0x68, 0x6a, 0x6c, 0x6e, 0x70, 0x72, 0x74, 0x76, 0x78, 0x7a, 0x7c, 0x7e,
mjr	74:822a92bc11d2	1870	0x80, 0x82, 0x84, 0x86, 0x88, 0x8a, 0x8c, 0x8e, 0x90, 0x92, 0x94, 0x96, 0x98, 0x9a, 0x9c, 0x9e,
mjr	74:822a92bc11d2	1871	0xa0, 0xa2, 0xa4, 0xa6, 0xa8, 0xaa, 0xac, 0xae, 0xb0, 0xb2, 0xb4, 0xb6, 0xb8, 0xba, 0xbc, 0xbe,
mjr	74:822a92bc11d2	1872	0xc0, 0xc2, 0xc4, 0xc6, 0xc8, 0xca, 0xcc, 0xce, 0xd0, 0xd2, 0xd4, 0xd6, 0xd8, 0xda, 0xdc, 0xde,
mjr	74:822a92bc11d2	1873	0xe0, 0xe2, 0xe4, 0xe6, 0xe8, 0xea, 0xec, 0xee, 0xf0, 0xf2, 0xf4, 0xf6, 0xf8, 0xfa, 0xfc, 0xfe,
mjr	74:822a92bc11d2	1874	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1875	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1876	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1877	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1878	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1879	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1880	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1881	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff
mjr	74:822a92bc11d2	1882	};
mjr	74:822a92bc11d2	1883
mjr	74:822a92bc11d2	1884	// LedWiz flash cycle timer. This runs continuously. On each update,
mjr	74:822a92bc11d2	1885	// we use this to figure out where we are on the cycle for each bank.
mjr	74:822a92bc11d2	1886	Timer wizCycleTimer;
mjr	74:822a92bc11d2	1887
mjr	76:7f5912b6340e	1888	// timing statistics for wizPulse()
mjr	76:7f5912b6340e	1889	uint64_t wizPulseTotalTime, wizPulseRunCount;
mjr	76:7f5912b6340e	1890
mjr	76:7f5912b6340e	1891	// LedWiz flash timer pulse. The main loop calls this on each cycle
mjr	76:7f5912b6340e	1892	// to update outputs using LedWiz flash modes. We do one bank of 32
mjr	76:7f5912b6340e	1893	// outputs on each cycle.
mjr	29:582472d0bc57	1894	static void wizPulse()
mjr	29:582472d0bc57	1895	{
mjr	76:7f5912b6340e	1896	// current bank
mjr	76:7f5912b6340e	1897	static int wizPulseBank = 0;
mjr	76:7f5912b6340e	1898
mjr	76:7f5912b6340e	1899	// start a timer for statistics collection
mjr	76:7f5912b6340e	1900	IF_DIAG(
mjr	76:7f5912b6340e	1901	Timer t;
mjr	76:7f5912b6340e	1902	t.start();
mjr	76:7f5912b6340e	1903	)
mjr	76:7f5912b6340e	1904
mjr	76:7f5912b6340e	1905	// Update the current bank's cycle counter: figure the current
mjr	76:7f5912b6340e	1906	// phase of the LedWiz pulse cycle for this bank.
mjr	76:7f5912b6340e	1907	//
mjr	76:7f5912b6340e	1908	// The LedWiz speed setting gives the flash period in 0.25s units
mjr	76:7f5912b6340e	1909	// (speed 1 is a flash period of .25s, speed 7 is a period of 1.75s).
mjr	76:7f5912b6340e	1910	//
mjr	76:7f5912b6340e	1911	// What we're after here is the "phase", which is to say the point
mjr	76:7f5912b6340e	1912	// in the current cycle. If we assume that the cycle has been running
mjr	76:7f5912b6340e	1913	// continuously since some arbitrary time zero in the past, we can
mjr	76:7f5912b6340e	1914	// figure where we are in the current cycle by dividing the time since
mjr	76:7f5912b6340e	1915	// that zero by the cycle period and taking the remainder. E.g., if
mjr	76:7f5912b6340e	1916	// the cycle time is 5 seconds, and the time since t-zero is 17 seconds,
mjr	76:7f5912b6340e	1917	// we divide 17 by 5 to get a remainder of 2. That says we're 2 seconds
mjr	76:7f5912b6340e	1918	// into the current 5-second cycle, or 2/5 of the way through the
mjr	76:7f5912b6340e	1919	// current cycle.
mjr	76:7f5912b6340e	1920	//
mjr	76:7f5912b6340e	1921	// We do this calculation on every iteration of the main loop, so we
mjr	76:7f5912b6340e	1922	// want it to be very fast. To streamline it, we'll use some tricky
mjr	76:7f5912b6340e	1923	// integer arithmetic. The result will be the same as the straightforward
mjr	76:7f5912b6340e	1924	// remainder and fraction calculation we just explained, but we'll get
mjr	76:7f5912b6340e	1925	// there by less-than-obvious means.
mjr	76:7f5912b6340e	1926	//
mjr	76:7f5912b6340e	1927	// Rather than finding the phase as a continuous quantity or floating
mjr	76:7f5912b6340e	1928	// point number, we'll quantize it. We'll divide each cycle into 256
mjr	76:7f5912b6340e	1929	// time units, or quanta. Each quantum is 1/256 of the cycle length,
mjr	76:7f5912b6340e	1930	// so for a 1-second cycle (LedWiz speed 4), each quantum is 1/256 of
mjr	76:7f5912b6340e	1931	// a second, or about 3.9ms. If we express the time since t-zero in
mjr	76:7f5912b6340e	1932	// these units, the time period of one cycle is exactly 256 units, so
mjr	76:7f5912b6340e	1933	// we can calculate our point in the cycle by taking the remainder of
mjr	76:7f5912b6340e	1934	// the time (in our funny units) divided by 256. The special thing
mjr	76:7f5912b6340e	1935	// about making the cycle time equal to 256 units is that "x % 256"
mjr	76:7f5912b6340e	1936	// is exactly the same as "x & 255", which is a much faster operation
mjr	76:7f5912b6340e	1937	// than division on ARM M0+: this CPU has no hardware DIVIDE operation,
mjr	76:7f5912b6340e	1938	// so an integer division takes about 5us. The bit mask operation, in
mjr	76:7f5912b6340e	1939	// contrast, takes only about 60ns - about 100x faster. 5us doesn't
mjr	76:7f5912b6340e	1940	// sound like much, but we do this on every main loop, so every little
mjr	76:7f5912b6340e	1941	// bit counts.
mjr	76:7f5912b6340e	1942	//
mjr	76:7f5912b6340e	1943	// The snag is that our system timer gives us the elapsed time in
mjr	76:7f5912b6340e	1944	// microseconds. We still need to convert this to our special quanta
mjr	76:7f5912b6340e	1945	// of 256 units per cycle. The straightforward way to do that is by
mjr	76:7f5912b6340e	1946	// dividing by (microseconds per quantum). E.g., for LedWiz speed 4,
mjr	76:7f5912b6340e	1947	// we decided that our quantum was 1/256 of a second, or 3906us, so
mjr	76:7f5912b6340e	1948	// dividing the current system time in microseconds by 3906 will give
mjr	76:7f5912b6340e	1949	// us the time in our quantum units. But now we've just substituted
mjr	76:7f5912b6340e	1950	// one division for another!
mjr	76:7f5912b6340e	1951	//
mjr	76:7f5912b6340e	1952	// This is where our really tricky integer math comes in. Dividing
mjr	76:7f5912b6340e	1953	// by X is the same as multiplying by 1/X. In integer math, 1/3906
mjr	76:7f5912b6340e	1954	// is zero, so that won't work. But we can get around that by doing
mjr	76:7f5912b6340e	1955	// the integer math as "fixed point" arithmetic instead. It's still
mjr	76:7f5912b6340e	1956	// actually carried out as integer operations, but we'll scale our
mjr	76:7f5912b6340e	1957	// integers by a scaling factor, then take out the scaling factor
mjr	76:7f5912b6340e	1958	// later to get the final result. The scaling factor we'll use is
mjr	76:7f5912b6340e	1959	// 2^24. So we're going to calculate (time * 2^24/3906), then divide
mjr	76:7f5912b6340e	1960	// the result by 2^24 to get the final answer. I know it seems like
mjr	76:7f5912b6340e	1961	// we're substituting one division for another yet again, but this
mjr	76:7f5912b6340e	1962	// time's the charm, because dividing by 2^24 is a bit shift operation,
mjr	76:7f5912b6340e	1963	// which is another single-cycle operation on M0+. You might also
mjr	76:7f5912b6340e	1964	// wonder how all these tricks don't cause overflows or underflows
mjr	76:7f5912b6340e	1965	// or what not. Well, the multiply by 2^24/3906 will cause an
mjr	76:7f5912b6340e	1966	// overflow, but we don't care, because the overflow will all be in
mjr	76:7f5912b6340e	1967	// the high-order bits that we're going to discard in the final
mjr	76:7f5912b6340e	1968	// remainder calculation anyway.
mjr	76:7f5912b6340e	1969	//
mjr	76:7f5912b6340e	1970	// Each entry in the array below represents 2^24/N for the corresponding
mjr	76:7f5912b6340e	1971	// LedWiz speed, where N is the number of time quanta per cycle at that
mjr	76:7f5912b6340e	1972	// speed. The time quanta are chosen such that 256 quanta add up to
mjr	76:7f5912b6340e	1973	// approximately (LedWiz speed setting * 0.25s).
mjr	76:7f5912b6340e	1974	//
mjr	76:7f5912b6340e	1975	// Note that the calculation has an implicit bit mask (result & 0xFF)
mjr	76:7f5912b6340e	1976	// to get the final result mod 256. But we don't have to actually
mjr	76:7f5912b6340e	1977	// do that work because we're using 32-bit ints and a 2^24 fixed
mjr	76:7f5912b6340e	1978	// point base (X in the narrative above). The final shift right by
mjr	76:7f5912b6340e	1979	// 24 bits to divide out the base will leave us with only 8 bits in
mjr	76:7f5912b6340e	1980	// the result, since we started with 32.
mjr	76:7f5912b6340e	1981	static const uint32_t inv_us_per_quantum[] = { // indexed by LedWiz speed
mjr	76:7f5912b6340e	1982	0, 17172, 8590, 5726, 4295, 3436, 2863, 2454
mjr	76:7f5912b6340e	1983	};
mjr	76:7f5912b6340e	1984	int counter = ((wizCycleTimer.read_us() * inv_us_per_quantum[wizSpeed[wizPulseBank]]) >> 24);
mjr	76:7f5912b6340e	1985
mjr	76:7f5912b6340e	1986	// get the range of 32 output sin this bank
mjr	76:7f5912b6340e	1987	int fromPort = wizPulseBank*32;
mjr	76:7f5912b6340e	1988	int toPort = fromPort+32;
mjr	76:7f5912b6340e	1989	if (toPort > numOutputs)
mjr	76:7f5912b6340e	1990	toPort = numOutputs;
mjr	76:7f5912b6340e	1991
mjr	76:7f5912b6340e	1992	// update all outputs set to flashing values
mjr	76:7f5912b6340e	1993	for (int i = fromPort ; i < toPort ; ++i)
mjr	73:4e8ce0b18915	1994	{
mjr	76:7f5912b6340e	1995	// Update the port only if the LedWiz SBA switch for the port is on
mjr	76:7f5912b6340e	1996	// (wizOn[i]) AND the port is a PBA flash mode in the range 129..132.
mjr	76:7f5912b6340e	1997	// These modes and only these modes have the high bit (0x80) set, so
mjr	76:7f5912b6340e	1998	// we can test for them simply by testing the high bit.
mjr	76:7f5912b6340e	1999	if (wizOn[i])
mjr	29:582472d0bc57	2000	{
mjr	76:7f5912b6340e	2001	uint8_t val = wizVal[i];
mjr	76:7f5912b6340e	2002	if ((val & 0x80) != 0)
mjr	29:582472d0bc57	2003	{
mjr	76:7f5912b6340e	2004	// ook up the value for the mode at the cycle time
mjr	76:7f5912b6340e	2005	lwPin[i]->set(outLevel[i] = wizFlashLookup[((val-129) << 8) + counter]);
mjr	29:582472d0bc57	2006	}
mjr	29:582472d0bc57	2007	}
mjr	76:7f5912b6340e	2008	}
mjr	76:7f5912b6340e	2009
mjr	34:6b981a2afab7	2010	// flush changes to 74HC595 chips, if attached
mjr	35:e959ffba78fd	2011	if (hc595 != 0)
mjr	35:e959ffba78fd	2012	hc595->update();
mjr	76:7f5912b6340e	2013
mjr	76:7f5912b6340e	2014	// switch to the next bank
mjr	76:7f5912b6340e	2015	if (++wizPulseBank >= MAX_LW_BANKS)
mjr	76:7f5912b6340e	2016	wizPulseBank = 0;
mjr	76:7f5912b6340e	2017
mjr	76:7f5912b6340e	2018	// collect timing statistics
mjr	76:7f5912b6340e	2019	IF_DIAG(
mjr	76:7f5912b6340e	2020	wizPulseTotalTime += t.read_us();
mjr	76:7f5912b6340e	2021	wizPulseRunCount += 1;
mjr	76:7f5912b6340e	2022	)
mjr	1:d913e0afb2ac	2023	}
mjr	38:091e511ce8a0	2024
mjr	76:7f5912b6340e	2025	// Update a port to reflect its new LedWiz SBA+PBA setting.
mjr	76:7f5912b6340e	2026	static void updateLwPort(int port)
mjr	38:091e511ce8a0	2027	{
mjr	76:7f5912b6340e	2028	// check if the SBA switch is on or off
mjr	76:7f5912b6340e	2029	if (wizOn[port])
mjr	76:7f5912b6340e	2030	{
mjr	76:7f5912b6340e	2031	// It's on. If the port is a valid static brightness level,
mjr	76:7f5912b6340e	2032	// set the output port to match. Otherwise leave it as is:
mjr	76:7f5912b6340e	2033	// if it's a flashing mode, the flash mode pulse will update
mjr	76:7f5912b6340e	2034	// it on the next cycle.
mjr	76:7f5912b6340e	2035	int val = wizVal[port];
mjr	76:7f5912b6340e	2036	if (val <= 49)
mjr	76:7f5912b6340e	2037	lwPin[port]->set(outLevel[port] = lw_to_dof[val]);
mjr	76:7f5912b6340e	2038	}
mjr	76:7f5912b6340e	2039	else
mjr	76:7f5912b6340e	2040	{
mjr	76:7f5912b6340e	2041	// the port is off - set absolute brightness zero
mjr	76:7f5912b6340e	2042	lwPin[port]->set(outLevel[port] = 0);
mjr	76:7f5912b6340e	2043	}
mjr	73:4e8ce0b18915	2044	}
mjr	73:4e8ce0b18915	2045
mjr	73:4e8ce0b18915	2046	// Turn off all outputs and restore everything to the default LedWiz
mjr	92:f264fbaa1be5	2047	// state. This sets all outputs to LedWiz profile value 48 (full
mjr	92:f264fbaa1be5	2048	// brightness) and switch state Off, and sets the LedWiz flash rate
mjr	92:f264fbaa1be5	2049	// to 2. This effectively restores the power-on conditions.
mjr	73:4e8ce0b18915	2050	//
mjr	73:4e8ce0b18915	2051	void allOutputsOff()
mjr	73:4e8ce0b18915	2052	{
mjr	92:f264fbaa1be5	2053	// reset all outputs to OFF/48
mjr	73:4e8ce0b18915	2054	for (int i = 0 ; i < numOutputs ; ++i)
mjr	73:4e8ce0b18915	2055	{
mjr	73:4e8ce0b18915	2056	outLevel[i] = 0;
mjr	73:4e8ce0b18915	2057	wizOn[i] = 0;
mjr	73:4e8ce0b18915	2058	wizVal[i] = 48;
mjr	73:4e8ce0b18915	2059	lwPin[i]->set(0);
mjr	73:4e8ce0b18915	2060	}
mjr	73:4e8ce0b18915	2061
mjr	73:4e8ce0b18915	2062	// restore default LedWiz flash rate
mjr	73:4e8ce0b18915	2063	for (int i = 0 ; i < countof(wizSpeed) ; ++i)
mjr	73:4e8ce0b18915	2064	wizSpeed[i] = 2;
mjr	38:091e511ce8a0	2065
mjr	73:4e8ce0b18915	2066	// flush changes to hc595, if applicable
mjr	38:091e511ce8a0	2067	if (hc595 != 0)
mjr	38:091e511ce8a0	2068	hc595->update();
mjr	38:091e511ce8a0	2069	}
mjr	38:091e511ce8a0	2070
mjr	74:822a92bc11d2	2071	// Cary out an SBA or SBX message. portGroup is 0 for ports 1-32,
mjr	74:822a92bc11d2	2072	// 1 for ports 33-64, etc. Original protocol SBA messages always
mjr	74:822a92bc11d2	2073	// address port group 0; our private SBX extension messages can
mjr	74:822a92bc11d2	2074	// address any port group.
mjr	74:822a92bc11d2	2075	void sba_sbx(int portGroup, const uint8_t *data)
mjr	74:822a92bc11d2	2076	{
mjr	76:7f5912b6340e	2077	// update all on/off states in the group
mjr	74:822a92bc11d2	2078	for (int i = 0, bit = 1, imsg = 1, port = portGroup*32 ;
mjr	74:822a92bc11d2	2079	i < 32 && port < numOutputs ;
mjr	74:822a92bc11d2	2080	++i, bit <<= 1, ++port)
mjr	74:822a92bc11d2	2081	{
mjr	74:822a92bc11d2	2082	// figure the on/off state bit for this output
mjr	74:822a92bc11d2	2083	if (bit == 0x100) {
mjr	74:822a92bc11d2	2084	bit = 1;
mjr	74:822a92bc11d2	2085	++imsg;
mjr	74:822a92bc11d2	2086	}
mjr	74:822a92bc11d2	2087
mjr	74:822a92bc11d2	2088	// set the on/off state
mjr	76:7f5912b6340e	2089	bool on = wizOn[port] = ((data[imsg] & bit) != 0);
mjr	76:7f5912b6340e	2090
mjr	76:7f5912b6340e	2091	// set the output port brightness to match the new setting
mjr	76:7f5912b6340e	2092	updateLwPort(port);
mjr	74:822a92bc11d2	2093	}
mjr	74:822a92bc11d2	2094
mjr	74:822a92bc11d2	2095	// set the flash speed for the port group
mjr	74:822a92bc11d2	2096	if (portGroup < countof(wizSpeed))
mjr	74:822a92bc11d2	2097	wizSpeed[portGroup] = (data[5] < 1 ? 1 : data[5] > 7 ? 7 : data[5]);
mjr	74:822a92bc11d2	2098
mjr	76:7f5912b6340e	2099	// update 74HC959 outputs
mjr	76:7f5912b6340e	2100	if (hc595 != 0)
mjr	76:7f5912b6340e	2101	hc595->update();
mjr	74:822a92bc11d2	2102	}
mjr	74:822a92bc11d2	2103
mjr	74:822a92bc11d2	2104	// Carry out a PBA or PBX message.
mjr	74:822a92bc11d2	2105	void pba_pbx(int basePort, const uint8_t *data)
mjr	74:822a92bc11d2	2106	{
mjr	74:822a92bc11d2	2107	// update each wizVal entry from the brightness data
mjr	76:7f5912b6340e	2108	for (int i = 0, port = basePort ; i < 8 && port < numOutputs ; ++i, ++port)
mjr	74:822a92bc11d2	2109	{
mjr	74:822a92bc11d2	2110	// get the value
mjr	74:822a92bc11d2	2111	uint8_t v = data[i];
mjr	74:822a92bc11d2	2112
mjr	74:822a92bc11d2	2113	// Validate it. The legal values are 0..49 for brightness
mjr	74:822a92bc11d2	2114	// levels, and 128..132 for flash modes. Set anything invalid
mjr	74:822a92bc11d2	2115	// to full brightness (48) instead. Note that 49 isn't actually
mjr	74:822a92bc11d2	2116	// a valid documented value, but in practice some clients send
mjr	74:822a92bc11d2	2117	// this to mean 100% brightness, and the real LedWiz treats it
mjr	74:822a92bc11d2	2118	// as such.
mjr	74:822a92bc11d2	2119	if ((v > 49 && v < 129) \|\| v > 132)
mjr	74:822a92bc11d2	2120	v = 48;
mjr	74:822a92bc11d2	2121
mjr	74:822a92bc11d2	2122	// store it
mjr	76:7f5912b6340e	2123	wizVal[port] = v;
mjr	76:7f5912b6340e	2124
mjr	76:7f5912b6340e	2125	// update the port
mjr	76:7f5912b6340e	2126	updateLwPort(port);
mjr	74:822a92bc11d2	2127	}
mjr	74:822a92bc11d2	2128
mjr	76:7f5912b6340e	2129	// update 74HC595 outputs
mjr	76:7f5912b6340e	2130	if (hc595 != 0)
mjr	76:7f5912b6340e	2131	hc595->update();
mjr	74:822a92bc11d2	2132	}
mjr	74:822a92bc11d2	2133
mjr	77:0b96f6867312	2134	// ---------------------------------------------------------------------------
mjr	77:0b96f6867312	2135	//
mjr	77:0b96f6867312	2136	// IR Remote Control transmitter & receiver
mjr	77:0b96f6867312	2137	//
mjr	77:0b96f6867312	2138
mjr	77:0b96f6867312	2139	// receiver
mjr	77:0b96f6867312	2140	IRReceiver *ir_rx;
mjr	77:0b96f6867312	2141
mjr	77:0b96f6867312	2142	// transmitter
mjr	77:0b96f6867312	2143	IRTransmitter *ir_tx;
mjr	77:0b96f6867312	2144
mjr	77:0b96f6867312	2145	// Mapping from IR commands slots in the configuration to "virtual button"
mjr	77:0b96f6867312	2146	// numbers on the IRTransmitter's "virtual remote". To minimize RAM usage,
mjr	77:0b96f6867312	2147	// we only create virtual buttons on the transmitter object for code slots
mjr	77:0b96f6867312	2148	// that are configured for transmission, which includes slots used for TV
mjr	77:0b96f6867312	2149	// ON commands and slots that can be triggered by button presses. This
mjr	77:0b96f6867312	2150	// means that virtual button numbers won't necessarily match the config
mjr	77:0b96f6867312	2151	// slot numbers. This table provides the mapping:
mjr	77:0b96f6867312	2152	// IRConfigSlotToVirtualButton[n] = ir_tx virtual button number for
mjr	77:0b96f6867312	2153	// configuration slot n
mjr	77:0b96f6867312	2154	uint8_t IRConfigSlotToVirtualButton[MAX_IR_CODES];
mjr	78:1e00b3fa11af	2155
mjr	78:1e00b3fa11af	2156	// IR transmitter virtual button number for ad hoc IR command. We allocate
mjr	78:1e00b3fa11af	2157	// one virtual button for sending ad hoc IR codes, such as through the USB
mjr	78:1e00b3fa11af	2158	// protocol.
mjr	78:1e00b3fa11af	2159	uint8_t IRAdHocBtn;
mjr	78:1e00b3fa11af	2160
mjr	78:1e00b3fa11af	2161	// Staging area for ad hoc IR commands. It takes multiple messages
mjr	78:1e00b3fa11af	2162	// to fill out an IR command, so we store the partial command here
mjr	78:1e00b3fa11af	2163	// while waiting for the rest.
mjr	78:1e00b3fa11af	2164	static struct
mjr	78:1e00b3fa11af	2165	{
mjr	78:1e00b3fa11af	2166	uint8_t protocol; // protocol ID
mjr	78:1e00b3fa11af	2167	uint64_t code; // code
mjr	78:1e00b3fa11af	2168	uint8_t dittos : 1; // using dittos?
mjr	78:1e00b3fa11af	2169	uint8_t ready : 1; // do we have a code ready to transmit?
mjr	78:1e00b3fa11af	2170	} IRAdHocCmd;
mjr	88:98bce687e6c0	2171
mjr	77:0b96f6867312	2172
mjr	77:0b96f6867312	2173	// IR mode timer. In normal mode, this is the time since the last
mjr	77:0b96f6867312	2174	// command received; we use this to handle commands with timed effects,
mjr	77:0b96f6867312	2175	// such as sending a key to the PC. In learning mode, this is the time
mjr	77:0b96f6867312	2176	// since we activated learning mode, which we use to automatically end
mjr	77:0b96f6867312	2177	// learning mode if a decodable command isn't received within a reasonable
mjr	77:0b96f6867312	2178	// amount of time.
mjr	77:0b96f6867312	2179	Timer IRTimer;
mjr	77:0b96f6867312	2180
mjr	77:0b96f6867312	2181	// IR Learning Mode. The PC enters learning mode via special function 65 12.
mjr	77:0b96f6867312	2182	// The states are:
mjr	77:0b96f6867312	2183	//
mjr	77:0b96f6867312	2184	// 0 -> normal operation (not in learning mode)
mjr	77:0b96f6867312	2185	// 1 -> learning mode; reading raw codes, no command read yet
mjr	77:0b96f6867312	2186	// 2 -> learning mode; command received, awaiting auto-repeat
mjr	77:0b96f6867312	2187	// 3 -> learning mode; done, command and repeat mode decoded
mjr	77:0b96f6867312	2188	//
mjr	77:0b96f6867312	2189	// When we enter learning mode, we reset IRTimer to keep track of how long
mjr	77:0b96f6867312	2190	// we've been in the mode. This allows the mode to time out if no code is
mjr	77:0b96f6867312	2191	// received within a reasonable time.
mjr	77:0b96f6867312	2192	uint8_t IRLearningMode = 0;
mjr	77:0b96f6867312	2193
mjr	77:0b96f6867312	2194	// Learning mode command received. This stores the first decoded command
mjr	77:0b96f6867312	2195	// when in learning mode. For some protocols, we can't just report the
mjr	77:0b96f6867312	2196	// first command we receive, because we need to wait for an auto-repeat to
mjr	77:0b96f6867312	2197	// determine what format the remote uses for repeats. This stores the first
mjr	77:0b96f6867312	2198	// command while we await a repeat. This is necessary for protocols that
mjr	77:0b96f6867312	2199	// have "dittos", since some remotes for such protocols use the dittos and
mjr	77:0b96f6867312	2200	// some don't; the only way to find out is to read a repeat code and see if
mjr	77:0b96f6867312	2201	// it's a ditto or just a repeat of the full code.
mjr	77:0b96f6867312	2202	IRCommand learnedIRCode;
mjr	77:0b96f6867312	2203
mjr	78:1e00b3fa11af	2204	// IR command received, as a config slot index, 1..MAX_IR_CODES.
mjr	77:0b96f6867312	2205	// When we receive a command that matches one of our programmed commands,
mjr	77:0b96f6867312	2206	// we note the slot here. We also reset the IR timer so that we know how
mjr	77:0b96f6867312	2207	// long it's been since the command came in. This lets us handle commands
mjr	77:0b96f6867312	2208	// with timed effects, such as PC key input. Note that this is a 1-based
mjr	77:0b96f6867312	2209	// index; 0 represents no command.
mjr	77:0b96f6867312	2210	uint8_t IRCommandIn = 0;
mjr	77:0b96f6867312	2211
mjr	77:0b96f6867312	2212	// "Toggle bit" of last command. Some IR protocols have a toggle bit
mjr	77:0b96f6867312	2213	// that distinguishes an auto-repeating key from a key being pressed
mjr	77:0b96f6867312	2214	// several times in a row. This records the toggle bit of the last
mjr	77:0b96f6867312	2215	// command we received.
mjr	77:0b96f6867312	2216	uint8_t lastIRToggle = 0;
mjr	77:0b96f6867312	2217
mjr	77:0b96f6867312	2218	// Are we in a gap between successive key presses? When we detect that a
mjr	77:0b96f6867312	2219	// key is being pressed multiple times rather than auto-repeated (which we
mjr	77:0b96f6867312	2220	// can detect via a toggle bit in some protocols), we'll briefly stop sending
mjr	77:0b96f6867312	2221	// the associated key to the PC, so that the PC likewise recognizes the
mjr	77:0b96f6867312	2222	// distinct key press.
mjr	77:0b96f6867312	2223	uint8_t IRKeyGap = false;
mjr	77:0b96f6867312	2224
mjr	78:1e00b3fa11af	2225
mjr	77:0b96f6867312	2226	// initialize
mjr	77:0b96f6867312	2227	void init_IR(Config &cfg, bool &kbKeys)
mjr	77:0b96f6867312	2228	{
mjr	77:0b96f6867312	2229	PinName pin;
mjr	77:0b96f6867312	2230
mjr	77:0b96f6867312	2231	// start the IR timer
mjr	77:0b96f6867312	2232	IRTimer.start();
mjr	77:0b96f6867312	2233
mjr	77:0b96f6867312	2234	// if there's a transmitter, set it up
mjr	77:0b96f6867312	2235	if ((pin = wirePinName(cfg.IR.emitter)) != NC)
mjr	77:0b96f6867312	2236	{
mjr	77:0b96f6867312	2237	// no virtual buttons yet
mjr	77:0b96f6867312	2238	int nVirtualButtons = 0;
mjr	77:0b96f6867312	2239	memset(IRConfigSlotToVirtualButton, 0xFF, sizeof(IRConfigSlotToVirtualButton));
mjr	77:0b96f6867312	2240
mjr	77:0b96f6867312	2241	// assign virtual buttons slots for TV ON codes
mjr	77:0b96f6867312	2242	for (int i = 0 ; i < MAX_IR_CODES ; ++i)
mjr	77:0b96f6867312	2243	{
mjr	77:0b96f6867312	2244	if ((cfg.IRCommand[i].flags & IRFlagTVON) != 0)
mjr	77:0b96f6867312	2245	IRConfigSlotToVirtualButton[i] = nVirtualButtons++;
mjr	77:0b96f6867312	2246	}
mjr	77:0b96f6867312	2247
mjr	77:0b96f6867312	2248	// assign virtual buttons for codes that can be triggered by
mjr	77:0b96f6867312	2249	// real button inputs
mjr	77:0b96f6867312	2250	for (int i = 0 ; i < MAX_BUTTONS ; ++i)
mjr	77:0b96f6867312	2251	{
mjr	77:0b96f6867312	2252	// get the button
mjr	77:0b96f6867312	2253	ButtonCfg &b = cfg.button[i];
mjr	77:0b96f6867312	2254
mjr	77:0b96f6867312	2255	// check the unshifted button
mjr	77:0b96f6867312	2256	int c = b.IRCommand - 1;
mjr	77:0b96f6867312	2257	if (c >= 0 && c < MAX_IR_CODES
mjr	77:0b96f6867312	2258	&& IRConfigSlotToVirtualButton[c] == 0xFF)
mjr	77:0b96f6867312	2259	IRConfigSlotToVirtualButton[c] = nVirtualButtons++;
mjr	77:0b96f6867312	2260
mjr	77:0b96f6867312	2261	// check the shifted button
mjr	77:0b96f6867312	2262	c = b.IRCommand2 - 1;
mjr	77:0b96f6867312	2263	if (c >= 0 && c < MAX_IR_CODES
mjr	77:0b96f6867312	2264	&& IRConfigSlotToVirtualButton[c] == 0xFF)
mjr	77:0b96f6867312	2265	IRConfigSlotToVirtualButton[c] = nVirtualButtons++;
mjr	77:0b96f6867312	2266	}
mjr	77:0b96f6867312	2267
mjr	77:0b96f6867312	2268	// allocate an additional virtual button for transmitting ad hoc
mjr	77:0b96f6867312	2269	// codes, such as for the "send code" USB API function
mjr	78:1e00b3fa11af	2270	IRAdHocBtn = nVirtualButtons++;
mjr	77:0b96f6867312	2271
mjr	77:0b96f6867312	2272	// create the transmitter
mjr	77:0b96f6867312	2273	ir_tx = new IRTransmitter(pin, nVirtualButtons);
mjr	77:0b96f6867312	2274
mjr	77:0b96f6867312	2275	// program the commands into the virtual button slots
mjr	77:0b96f6867312	2276	for (int i = 0 ; i < MAX_IR_CODES ; ++i)
mjr	77:0b96f6867312	2277	{
mjr	77:0b96f6867312	2278	// if this slot is assigned to a virtual button, program it
mjr	77:0b96f6867312	2279	int vb = IRConfigSlotToVirtualButton[i];
mjr	77:0b96f6867312	2280	if (vb != 0xFF)
mjr	77:0b96f6867312	2281	{
mjr	77:0b96f6867312	2282	IRCommandCfg &cb = cfg.IRCommand[i];
mjr	77:0b96f6867312	2283	uint64_t code = cb.code.lo \| (uint64_t(cb.code.hi) << 32);
mjr	77:0b96f6867312	2284	bool dittos = (cb.flags & IRFlagDittos) != 0;
mjr	77:0b96f6867312	2285	ir_tx->programButton(vb, cb.protocol, dittos, code);
mjr	77:0b96f6867312	2286	}
mjr	77:0b96f6867312	2287	}
mjr	77:0b96f6867312	2288	}
mjr	77:0b96f6867312	2289
mjr	77:0b96f6867312	2290	// if there's a receiver, set it up
mjr	77:0b96f6867312	2291	if ((pin = wirePinName(cfg.IR.sensor)) != NC)
mjr	77:0b96f6867312	2292	{
mjr	77:0b96f6867312	2293	// create the receiver
mjr	77:0b96f6867312	2294	ir_rx = new IRReceiver(pin, 32);
mjr	77:0b96f6867312	2295
mjr	77:0b96f6867312	2296	// connect the transmitter (if any) to the receiver, so that
mjr	77:0b96f6867312	2297	// the receiver can suppress reception of our own transmissions
mjr	77:0b96f6867312	2298	ir_rx->setTransmitter(ir_tx);
mjr	77:0b96f6867312	2299
mjr	77:0b96f6867312	2300	// enable it
mjr	77:0b96f6867312	2301	ir_rx->enable();
mjr	77:0b96f6867312	2302
mjr	77:0b96f6867312	2303	// Check the IR command slots to see if any slots are configured
mjr	77:0b96f6867312	2304	// to send a keyboard key on receiving an IR command. If any are,
mjr	77:0b96f6867312	2305	// tell the caller that we need a USB keyboard interface.
mjr	77:0b96f6867312	2306	for (int i = 0 ; i < MAX_IR_CODES ; ++i)
mjr	77:0b96f6867312	2307	{
mjr	77:0b96f6867312	2308	IRCommandCfg &cb = cfg.IRCommand[i];
mjr	77:0b96f6867312	2309	if (cb.protocol != 0
mjr	77:0b96f6867312	2310	&& (cb.keytype == BtnTypeKey \|\| cb.keytype == BtnTypeMedia))
mjr	77:0b96f6867312	2311	{
mjr	77:0b96f6867312	2312	kbKeys = true;
mjr	77:0b96f6867312	2313	break;
mjr	77:0b96f6867312	2314	}
mjr	77:0b96f6867312	2315	}
mjr	77:0b96f6867312	2316	}
mjr	77:0b96f6867312	2317	}
mjr	77:0b96f6867312	2318
mjr	77:0b96f6867312	2319	// Press or release a button with an assigned IR function. 'cmd'
mjr	77:0b96f6867312	2320	// is the command slot number (1..MAX_IR_CODES) assigned to the button.
mjr	77:0b96f6867312	2321	void IR_buttonChange(uint8_t cmd, bool pressed)
mjr	77:0b96f6867312	2322	{
mjr	77:0b96f6867312	2323	// only proceed if there's an IR transmitter attached
mjr	77:0b96f6867312	2324	if (ir_tx != 0)
mjr	77:0b96f6867312	2325	{
mjr	77:0b96f6867312	2326	// adjust the command slot to a zero-based index
mjr	77:0b96f6867312	2327	int slot = cmd - 1;
mjr	77:0b96f6867312	2328
mjr	77:0b96f6867312	2329	// press or release the virtual button
mjr	77:0b96f6867312	2330	ir_tx->pushButton(IRConfigSlotToVirtualButton[slot], pressed);
mjr	77:0b96f6867312	2331	}
mjr	77:0b96f6867312	2332	}
mjr	77:0b96f6867312	2333
mjr	78:1e00b3fa11af	2334	// Process IR input and output
mjr	77:0b96f6867312	2335	void process_IR(Config &cfg, USBJoystick &js)
mjr	77:0b96f6867312	2336	{
mjr	78:1e00b3fa11af	2337	// check for transmitter tasks, if there's a transmitter
mjr	78:1e00b3fa11af	2338	if (ir_tx != 0)
mjr	77:0b96f6867312	2339	{
mjr	78:1e00b3fa11af	2340	// If we're not currently sending, and an ad hoc IR command
mjr	78:1e00b3fa11af	2341	// is ready to send, send it.
mjr	78:1e00b3fa11af	2342	if (!ir_tx->isSending() && IRAdHocCmd.ready)
mjr	78:1e00b3fa11af	2343	{
mjr	78:1e00b3fa11af	2344	// program the command into the transmitter virtual button
mjr	78:1e00b3fa11af	2345	// that we reserved for ad hoc commands
mjr	78:1e00b3fa11af	2346	ir_tx->programButton(IRAdHocBtn, IRAdHocCmd.protocol,
mjr	78:1e00b3fa11af	2347	IRAdHocCmd.dittos, IRAdHocCmd.code);
mjr	78:1e00b3fa11af	2348
mjr	78:1e00b3fa11af	2349	// send the command - just pulse the button to send it once
mjr	78:1e00b3fa11af	2350	ir_tx->pushButton(IRAdHocBtn, true);
mjr	78:1e00b3fa11af	2351	ir_tx->pushButton(IRAdHocBtn, false);
mjr	78:1e00b3fa11af	2352
mjr	78:1e00b3fa11af	2353	// we've sent the command, so clear the 'ready' flag
mjr	78:1e00b3fa11af	2354	IRAdHocCmd.ready = false;
mjr	78:1e00b3fa11af	2355	}
mjr	77:0b96f6867312	2356	}
mjr	78:1e00b3fa11af	2357
mjr	78:1e00b3fa11af	2358	// check for receiver tasks, if there's a receiver
mjr	78:1e00b3fa11af	2359	if (ir_rx != 0)
mjr	77:0b96f6867312	2360	{
mjr	78:1e00b3fa11af	2361	// Time out any received command
mjr	78:1e00b3fa11af	2362	if (IRCommandIn != 0)
mjr	78:1e00b3fa11af	2363	{
mjr	80:94dc2946871b	2364	// Time out commands after 200ms without a repeat signal.
mjr	80:94dc2946871b	2365	// Time out the inter-key gap after 50ms.
mjr	78:1e00b3fa11af	2366	uint32_t t = IRTimer.read_us();
mjr	80:94dc2946871b	2367	if (t > 200000)
mjr	78:1e00b3fa11af	2368	IRCommandIn = 0;
mjr	80:94dc2946871b	2369	else if (t > 50000)
mjr	78:1e00b3fa11af	2370	IRKeyGap = false;
mjr	78:1e00b3fa11af	2371	}
mjr	78:1e00b3fa11af	2372
mjr	78:1e00b3fa11af	2373	// Check if we're in learning mode
mjr	78:1e00b3fa11af	2374	if (IRLearningMode != 0)
mjr	78:1e00b3fa11af	2375	{
mjr	78:1e00b3fa11af	2376	// Learning mode. Read raw inputs from the IR sensor and
mjr	78:1e00b3fa11af	2377	// forward them to the PC via USB reports, up to the report
mjr	78:1e00b3fa11af	2378	// limit.
mjr	78:1e00b3fa11af	2379	const int nmax = USBJoystick::maxRawIR;
mjr	78:1e00b3fa11af	2380	uint16_t raw[nmax];
mjr	78:1e00b3fa11af	2381	int n;
mjr	78:1e00b3fa11af	2382	for (n = 0 ; n < nmax && ir_rx->processOne(raw[n]) ; ++n) ;
mjr	77:0b96f6867312	2383
mjr	78:1e00b3fa11af	2384	// if we read any raw samples, report them
mjr	78:1e00b3fa11af	2385	if (n != 0)
mjr	78:1e00b3fa11af	2386	js.reportRawIR(n, raw);
mjr	77:0b96f6867312	2387
mjr	78:1e00b3fa11af	2388	// check for a command
mjr	78:1e00b3fa11af	2389	IRCommand c;
mjr	78:1e00b3fa11af	2390	if (ir_rx->readCommand(c))
mjr	78:1e00b3fa11af	2391	{
mjr	78:1e00b3fa11af	2392	// check the current learning state
mjr	78:1e00b3fa11af	2393	switch (IRLearningMode)
mjr	78:1e00b3fa11af	2394	{
mjr	78:1e00b3fa11af	2395	case 1:
mjr	78:1e00b3fa11af	2396	// Initial state, waiting for the first decoded command.
mjr	78:1e00b3fa11af	2397	// This is it.
mjr	78:1e00b3fa11af	2398	learnedIRCode = c;
mjr	78:1e00b3fa11af	2399
mjr	78:1e00b3fa11af	2400	// Check if we need additional information. If the
mjr	78:1e00b3fa11af	2401	// protocol supports dittos, we have to wait for a repeat
mjr	78:1e00b3fa11af	2402	// to see if the remote actually uses the dittos, since
mjr	78:1e00b3fa11af	2403	// some implementations of such protocols use the dittos
mjr	78:1e00b3fa11af	2404	// while others just send repeated full codes. Otherwise,
mjr	78:1e00b3fa11af	2405	// all we need is the initial code, so we're done.
mjr	78:1e00b3fa11af	2406	IRLearningMode = (c.hasDittos ? 2 : 3);
mjr	78:1e00b3fa11af	2407	break;
mjr	78:1e00b3fa11af	2408
mjr	78:1e00b3fa11af	2409	case 2:
mjr	78:1e00b3fa11af	2410	// Code received, awaiting auto-repeat information. If
mjr	78:1e00b3fa11af	2411	// the protocol has dittos, check to see if we got a ditto:
mjr	78:1e00b3fa11af	2412	//
mjr	78:1e00b3fa11af	2413	// - If we received a ditto in the same protocol as the
mjr	78:1e00b3fa11af	2414	// prior command, the remote uses dittos.
mjr	78:1e00b3fa11af	2415	//
mjr	78:1e00b3fa11af	2416	// - If we received a repeat of the prior command (not a
mjr	78:1e00b3fa11af	2417	// ditto, but a repeat of the full code), the remote
mjr	78:1e00b3fa11af	2418	// doesn't use dittos even though the protocol supports
mjr	78:1e00b3fa11af	2419	// them.
mjr	78:1e00b3fa11af	2420	//
mjr	78:1e00b3fa11af	2421	// - Otherwise, it's not an auto-repeat at all, so we
mjr	78:1e00b3fa11af	2422	// can't decide one way or the other on dittos: start
mjr	78:1e00b3fa11af	2423	// over.
mjr	78:1e00b3fa11af	2424	if (c.proId == learnedIRCode.proId
mjr	78:1e00b3fa11af	2425	&& c.hasDittos
mjr	78:1e00b3fa11af	2426	&& c.ditto)
mjr	78:1e00b3fa11af	2427	{
mjr	78:1e00b3fa11af	2428	// success - the remote uses dittos
mjr	78:1e00b3fa11af	2429	IRLearningMode = 3;
mjr	78:1e00b3fa11af	2430	}
mjr	78:1e00b3fa11af	2431	else if (c.proId == learnedIRCode.proId
mjr	78:1e00b3fa11af	2432	&& c.hasDittos
mjr	78:1e00b3fa11af	2433	&& !c.ditto
mjr	78:1e00b3fa11af	2434	&& c.code == learnedIRCode.code)
mjr	78:1e00b3fa11af	2435	{
mjr	78:1e00b3fa11af	2436	// success - it's a repeat of the last code, so
mjr	78:1e00b3fa11af	2437	// the remote doesn't use dittos even though the
mjr	78:1e00b3fa11af	2438	// protocol supports them
mjr	78:1e00b3fa11af	2439	learnedIRCode.hasDittos = false;
mjr	78:1e00b3fa11af	2440	IRLearningMode = 3;
mjr	78:1e00b3fa11af	2441	}
mjr	78:1e00b3fa11af	2442	else
mjr	78:1e00b3fa11af	2443	{
mjr	78:1e00b3fa11af	2444	// It's not a ditto and not a full repeat of the
mjr	78:1e00b3fa11af	2445	// last code, so it's either a new key, or some kind
mjr	78:1e00b3fa11af	2446	// of multi-code key encoding that we don't recognize.
mjr	78:1e00b3fa11af	2447	// We can't use this code, so start over.
mjr	78:1e00b3fa11af	2448	IRLearningMode = 1;
mjr	78:1e00b3fa11af	2449	}
mjr	78:1e00b3fa11af	2450	break;
mjr	78:1e00b3fa11af	2451	}
mjr	77:0b96f6867312	2452
mjr	78:1e00b3fa11af	2453	// If we ended in state 3, we've successfully decoded
mjr	78:1e00b3fa11af	2454	// the transmission. Report the decoded data and terminate
mjr	78:1e00b3fa11af	2455	// learning mode.
mjr	78:1e00b3fa11af	2456	if (IRLearningMode == 3)
mjr	77:0b96f6867312	2457	{
mjr	78:1e00b3fa11af	2458	// figure the flags:
mjr	78:1e00b3fa11af	2459	// 0x02 -> dittos
mjr	78:1e00b3fa11af	2460	uint8_t flags = 0;
mjr	78:1e00b3fa11af	2461	if (learnedIRCode.hasDittos)
mjr	78:1e00b3fa11af	2462	flags \|= 0x02;
mjr	78:1e00b3fa11af	2463
mjr	78:1e00b3fa11af	2464	// report the code
mjr	78:1e00b3fa11af	2465	js.reportIRCode(learnedIRCode.proId, flags, learnedIRCode.code);
mjr	78:1e00b3fa11af	2466
mjr	78:1e00b3fa11af	2467	// exit learning mode
mjr	78:1e00b3fa11af	2468	IRLearningMode = 0;
mjr	77:0b96f6867312	2469	}
mjr	77:0b96f6867312	2470	}
mjr	77:0b96f6867312	2471
mjr	78:1e00b3fa11af	2472	// time out of IR learning mode if it's been too long
mjr	78:1e00b3fa11af	2473	if (IRLearningMode != 0 && IRTimer.read_us() > 10000000L)
mjr	77:0b96f6867312	2474	{
mjr	78:1e00b3fa11af	2475	// report the termination by sending a raw IR report with
mjr	78:1e00b3fa11af	2476	// zero data elements
mjr	78:1e00b3fa11af	2477	js.reportRawIR(0, 0);
mjr	78:1e00b3fa11af	2478
mjr	78:1e00b3fa11af	2479
mjr	78:1e00b3fa11af	2480	// cancel learning mode
mjr	77:0b96f6867312	2481	IRLearningMode = 0;
mjr	77:0b96f6867312	2482	}
mjr	77:0b96f6867312	2483	}
mjr	78:1e00b3fa11af	2484	else
mjr	77:0b96f6867312	2485	{
mjr	78:1e00b3fa11af	2486	// Not in learning mode. We don't care about the raw signals;
mjr	78:1e00b3fa11af	2487	// just run them through the protocol decoders.
mjr	78:1e00b3fa11af	2488	ir_rx->process();
mjr	78:1e00b3fa11af	2489
mjr	78:1e00b3fa11af	2490	// Check for decoded commands. Keep going until all commands
mjr	78:1e00b3fa11af	2491	// have been read.
mjr	78:1e00b3fa11af	2492	IRCommand c;
mjr	78:1e00b3fa11af	2493	while (ir_rx->readCommand(c))
mjr	77:0b96f6867312	2494	{
mjr	78:1e00b3fa11af	2495	// We received a decoded command. Determine if it's a repeat,
mjr	78:1e00b3fa11af	2496	// and if so, try to determine whether it's an auto-repeat (due
mjr	78:1e00b3fa11af	2497	// to the remote key being held down) or a distinct new press
mjr	78:1e00b3fa11af	2498	// on the same key as last time. The distinction is significant
mjr	78:1e00b3fa11af	2499	// because it affects the auto-repeat behavior of the PC key
mjr	78:1e00b3fa11af	2500	// input. An auto-repeat represents a key being held down on
mjr	78:1e00b3fa11af	2501	// the remote, which we want to translate to a (virtual) key
mjr	78:1e00b3fa11af	2502	// being held down on the PC keyboard; a distinct key press on
mjr	78:1e00b3fa11af	2503	// the remote translates to a distinct key press on the PC.
mjr	78:1e00b3fa11af	2504	//
mjr	78:1e00b3fa11af	2505	// It can only be a repeat if there's a prior command that
mjr	78:1e00b3fa11af	2506	// hasn't timed out yet, so start by checking for a previous
mjr	78:1e00b3fa11af	2507	// command.
mjr	78:1e00b3fa11af	2508	bool repeat = false, autoRepeat = false;
mjr	78:1e00b3fa11af	2509	if (IRCommandIn != 0)
mjr	77:0b96f6867312	2510	{
mjr	78:1e00b3fa11af	2511	// We have a command in progress. Check to see if the
mjr	78:1e00b3fa11af	2512	// new command is a repeat of the previous command. Check
mjr	78:1e00b3fa11af	2513	// first to see if it's a "ditto", which explicitly represents
mjr	78:1e00b3fa11af	2514	// an auto-repeat of the last command.
mjr	78:1e00b3fa11af	2515	IRCommandCfg &cmdcfg = cfg.IRCommand[IRCommandIn - 1];
mjr	78:1e00b3fa11af	2516	if (c.ditto)
mjr	78:1e00b3fa11af	2517	{
mjr	78:1e00b3fa11af	2518	// We received a ditto. Dittos are always auto-
mjr	78:1e00b3fa11af	2519	// repeats, so it's an auto-repeat as long as the
mjr	78:1e00b3fa11af	2520	// ditto is in the same protocol as the last command.
mjr	78:1e00b3fa11af	2521	// If the ditto is in a new protocol, the ditto can't
mjr	78:1e00b3fa11af	2522	// be for the last command we saw, because a ditto
mjr	78:1e00b3fa11af	2523	// never changes protocols from its antecedent. In
mjr	78:1e00b3fa11af	2524	// such a case, we must have missed the antecedent
mjr	78:1e00b3fa11af	2525	// command and thus don't know what's being repeated.
mjr	78:1e00b3fa11af	2526	repeat = autoRepeat = (c.proId == cmdcfg.protocol);
mjr	78:1e00b3fa11af	2527	}
mjr	78:1e00b3fa11af	2528	else
mjr	78:1e00b3fa11af	2529	{
mjr	78:1e00b3fa11af	2530	// It's not a ditto. The new command is a repeat if
mjr	78:1e00b3fa11af	2531	// it matches the protocol and command code of the
mjr	78:1e00b3fa11af	2532	// prior command.
mjr	78:1e00b3fa11af	2533	repeat = (c.proId == cmdcfg.protocol
mjr	78:1e00b3fa11af	2534	&& uint32_t(c.code) == cmdcfg.code.lo
mjr	78:1e00b3fa11af	2535	&& uint32_t(c.code >> 32) == cmdcfg.code.hi);
mjr	78:1e00b3fa11af	2536
mjr	78:1e00b3fa11af	2537	// If the command is a repeat, try to determine whether
mjr	78:1e00b3fa11af	2538	// it's an auto-repeat or a new press on the same key.
mjr	78:1e00b3fa11af	2539	// If the protocol uses dittos, it's definitely a new
mjr	78:1e00b3fa11af	2540	// key press, because an auto-repeat would have used a
mjr	78:1e00b3fa11af	2541	// ditto. For a protocol that doesn't use dittos, both
mjr	78:1e00b3fa11af	2542	// an auto-repeat and a new key press just send the key
mjr	78:1e00b3fa11af	2543	// code again, so we can't tell the difference based on
mjr	78:1e00b3fa11af	2544	// that alone. But if the protocol has a toggle bit, we
mjr	78:1e00b3fa11af	2545	// can tell by the toggle bit value: a new key press has
mjr	78:1e00b3fa11af	2546	// the opposite toggle value as the last key press, while
mjr	78:1e00b3fa11af	2547	// an auto-repeat has the same toggle. Note that if the
mjr	78:1e00b3fa11af	2548	// protocol doesn't use toggle bits, the toggle value
mjr	78:1e00b3fa11af	2549	// will always be the same, so we'll simply always treat
mjr	78:1e00b3fa11af	2550	// any repeat as an auto-repeat. Many protocols simply
mjr	78:1e00b3fa11af	2551	// provide no way to distinguish the two, so in such
mjr	78:1e00b3fa11af	2552	// cases it's consistent with the native implementations
mjr	78:1e00b3fa11af	2553	// to treat any repeat as an auto-repeat.
mjr	78:1e00b3fa11af	2554	autoRepeat =
mjr	78:1e00b3fa11af	2555	repeat
mjr	78:1e00b3fa11af	2556	&& !(cmdcfg.flags & IRFlagDittos)
mjr	78:1e00b3fa11af	2557	&& c.toggle == lastIRToggle;
mjr	78:1e00b3fa11af	2558	}
mjr	78:1e00b3fa11af	2559	}
mjr	78:1e00b3fa11af	2560
mjr	78:1e00b3fa11af	2561	// Check to see if it's a repeat of any kind
mjr	78:1e00b3fa11af	2562	if (repeat)
mjr	78:1e00b3fa11af	2563	{
mjr	78:1e00b3fa11af	2564	// It's a repeat. If it's not an auto-repeat, it's a
mjr	78:1e00b3fa11af	2565	// new distinct key press, so we need to send the PC a
mjr	78:1e00b3fa11af	2566	// momentary gap where we're not sending the same key,
mjr	78:1e00b3fa11af	2567	// so that the PC also recognizes this as a distinct
mjr	78:1e00b3fa11af	2568	// key press event.
mjr	78:1e00b3fa11af	2569	if (!autoRepeat)
mjr	78:1e00b3fa11af	2570	IRKeyGap = true;
mjr	78:1e00b3fa11af	2571
mjr	78:1e00b3fa11af	2572	// restart the key-up timer
mjr	78:1e00b3fa11af	2573	IRTimer.reset();
mjr	78:1e00b3fa11af	2574	}
mjr	78:1e00b3fa11af	2575	else if (c.ditto)
mjr	78:1e00b3fa11af	2576	{
mjr	78:1e00b3fa11af	2577	// It's a ditto, but not a repeat of the last command.
mjr	78:1e00b3fa11af	2578	// But a ditto doesn't contain any information of its own
mjr	78:1e00b3fa11af	2579	// on the command being repeated, so given that it's not
mjr	78:1e00b3fa11af	2580	// our last command, we can't infer what command the ditto
mjr	78:1e00b3fa11af	2581	// is for and thus can't make sense of it. We have to
mjr	78:1e00b3fa11af	2582	// simply ignore it and wait for the sender to start with
mjr	78:1e00b3fa11af	2583	// a full command for a new key press.
mjr	78:1e00b3fa11af	2584	IRCommandIn = 0;
mjr	77:0b96f6867312	2585	}
mjr	77:0b96f6867312	2586	else
mjr	77:0b96f6867312	2587	{
mjr	78:1e00b3fa11af	2588	// It's not a repeat, so the last command is no longer
mjr	78:1e00b3fa11af	2589	// in effect (regardless of whether we find a match for
mjr	78:1e00b3fa11af	2590	// the new command).
mjr	78:1e00b3fa11af	2591	IRCommandIn = 0;
mjr	77:0b96f6867312	2592
mjr	78:1e00b3fa11af	2593	// Check to see if we recognize the new command, by
mjr	78:1e00b3fa11af	2594	// searching for a match in our learned code list.
mjr	78:1e00b3fa11af	2595	for (int i = 0 ; i < MAX_IR_CODES ; ++i)
mjr	77:0b96f6867312	2596	{
mjr	78:1e00b3fa11af	2597	// if the protocol and command code from the code
mjr	78:1e00b3fa11af	2598	// list both match the input, it's a match
mjr	78:1e00b3fa11af	2599	IRCommandCfg &cmdcfg = cfg.IRCommand[i];
mjr	78:1e00b3fa11af	2600	if (cmdcfg.protocol == c.proId
mjr	78:1e00b3fa11af	2601	&& cmdcfg.code.lo == uint32_t(c.code)
mjr	78:1e00b3fa11af	2602	&& cmdcfg.code.hi == uint32_t(c.code >> 32))
mjr	78:1e00b3fa11af	2603	{
mjr	78:1e00b3fa11af	2604	// Found it! Make this the last command, and
mjr	78:1e00b3fa11af	2605	// remember the starting time.
mjr	78:1e00b3fa11af	2606	IRCommandIn = i + 1;
mjr	78:1e00b3fa11af	2607	lastIRToggle = c.toggle;
mjr	78:1e00b3fa11af	2608	IRTimer.reset();
mjr	78:1e00b3fa11af	2609
mjr	78:1e00b3fa11af	2610	// no need to keep searching
mjr	78:1e00b3fa11af	2611	break;
mjr	78:1e00b3fa11af	2612	}
mjr	77:0b96f6867312	2613	}
mjr	77:0b96f6867312	2614	}
mjr	77:0b96f6867312	2615	}
mjr	77:0b96f6867312	2616	}
mjr	77:0b96f6867312	2617	}
mjr	77:0b96f6867312	2618	}
mjr	77:0b96f6867312	2619
mjr	74:822a92bc11d2	2620
mjr	11:bd9da7088e6e	2621	// ---------------------------------------------------------------------------
mjr	11:bd9da7088e6e	2622	//
mjr	11:bd9da7088e6e	2623	// Button input
mjr	11:bd9da7088e6e	2624	//
mjr	11:bd9da7088e6e	2625
mjr	18:5e890ebd0023	2626	// button state
mjr	18:5e890ebd0023	2627	struct ButtonState
mjr	18:5e890ebd0023	2628	{
mjr	38:091e511ce8a0	2629	ButtonState()
mjr	38:091e511ce8a0	2630	{
mjr	53:9b2611964afc	2631	physState = logState = prevLogState = 0;
mjr	53:9b2611964afc	2632	virtState = 0;
mjr	53:9b2611964afc	2633	dbState = 0;
mjr	38:091e511ce8a0	2634	pulseState = 0;
mjr	53:9b2611964afc	2635	pulseTime = 0;
mjr	38:091e511ce8a0	2636	}
mjr	35:e959ffba78fd	2637
mjr	53:9b2611964afc	2638	// "Virtually" press or un-press the button. This can be used to
mjr	53:9b2611964afc	2639	// control the button state via a software (virtual) source, such as
mjr	53:9b2611964afc	2640	// the ZB Launch Ball feature.
mjr	53:9b2611964afc	2641	//
mjr	53:9b2611964afc	2642	// To allow sharing of one button by multiple virtual sources, each
mjr	53:9b2611964afc	2643	// virtual source must keep track of its own state internally, and
mjr	53:9b2611964afc	2644	// only call this routine to CHANGE the state. This is because calls
mjr	53:9b2611964afc	2645	// to this routine are additive: turning the button ON twice will
mjr	53:9b2611964afc	2646	// require turning it OFF twice before it actually turns off.
mjr	53:9b2611964afc	2647	void virtPress(bool on)
mjr	53:9b2611964afc	2648	{
mjr	53:9b2611964afc	2649	// Increment or decrement the current state
mjr	53:9b2611964afc	2650	virtState += on ? 1 : -1;
mjr	53:9b2611964afc	2651	}
mjr	53:9b2611964afc	2652
mjr	53:9b2611964afc	2653	// DigitalIn for the button, if connected to a physical input
mjr	73:4e8ce0b18915	2654	TinyDigitalIn di;
mjr	38:091e511ce8a0	2655
mjr	65:739875521aae	2656	// Time of last pulse state transition.
mjr	65:739875521aae	2657	//
mjr	65:739875521aae	2658	// Each state change sticks for a minimum period; when the timer expires,
mjr	65:739875521aae	2659	// if the underlying physical switch is in a different state, we switch
mjr	65:739875521aae	2660	// to the next state and restart the timer. pulseTime is the time remaining
mjr	65:739875521aae	2661	// remaining before we can make another state transition, in microseconds.
mjr	65:739875521aae	2662	// The state transitions require a complete cycle, 1 -> 2 -> 3 -> 4 -> 1...;
mjr	65:739875521aae	2663	// this guarantees that the parity of the pulse count always matches the
mjr	65:739875521aae	2664	// current physical switch state when the latter is stable, which makes
mjr	65:739875521aae	2665	// it impossible to "trick" the host by rapidly toggling the switch state.
mjr	65:739875521aae	2666	// (On my original Pinscape cabinet, I had a hardware pulse generator
mjr	65:739875521aae	2667	// for coin door, and that was possible to trick by rapid toggling.
mjr	65:739875521aae	2668	// This software system can't be fooled that way.)
mjr	65:739875521aae	2669	uint32_t pulseTime;
mjr	18:5e890ebd0023	2670
mjr	65:739875521aae	2671	// Config key index. This points to the ButtonCfg structure in the
mjr	65:739875521aae	2672	// configuration that contains the PC key mapping for the button.
mjr	65:739875521aae	2673	uint8_t cfgIndex;
mjr	53:9b2611964afc	2674
mjr	53:9b2611964afc	2675	// Virtual press state. This is used to simulate pressing the button via
mjr	53:9b2611964afc	2676	// software inputs rather than physical inputs. To allow one button to be
mjr	53:9b2611964afc	2677	// controlled by mulitple software sources, each source should keep track
mjr	53:9b2611964afc	2678	// of its own virtual state for the button independently, and then INCREMENT
mjr	53:9b2611964afc	2679	// this variable when the source's state transitions from off to on, and
mjr	53:9b2611964afc	2680	// DECREMENT it when the source's state transitions from on to off. That
mjr	53:9b2611964afc	2681	// will make the button's pressed state the logical OR of all of the virtual
mjr	53:9b2611964afc	2682	// and physical source states.
mjr	53:9b2611964afc	2683	uint8_t virtState;
mjr	38:091e511ce8a0	2684
mjr	38:091e511ce8a0	2685	// Debounce history. On each scan, we shift in a 1 bit to the lsb if
mjr	38:091e511ce8a0	2686	// the physical key is reporting ON, and shift in a 0 bit if the physical
mjr	38:091e511ce8a0	2687	// key is reporting OFF. We consider the key to have a new stable state
mjr	38:091e511ce8a0	2688	// if we have N consecutive 0's or 1's in the low N bits (where N is
mjr	38:091e511ce8a0	2689	// a parameter that determines how long we wait for transients to settle).
mjr	53:9b2611964afc	2690	uint8_t dbState;
mjr	38:091e511ce8a0	2691
mjr	65:739875521aae	2692	// current PHYSICAL on/off state, after debouncing
mjr	65:739875521aae	2693	uint8_t physState : 1;
mjr	65:739875521aae	2694
mjr	65:739875521aae	2695	// current LOGICAL on/off state as reported to the host.
mjr	65:739875521aae	2696	uint8_t logState : 1;
mjr	65:739875521aae	2697
mjr	79:682ae3171a08	2698	// Previous logical on/off state, when keys were last processed for USB
mjr	79:682ae3171a08	2699	// reports and local effects. This lets us detect edges (transitions)
mjr	79:682ae3171a08	2700	// in the logical state, for effects that are triggered when the state
mjr	79:682ae3171a08	2701	// changes rather than merely by the button being on or off.
mjr	65:739875521aae	2702	uint8_t prevLogState : 1;
mjr	65:739875521aae	2703
mjr	65:739875521aae	2704	// Pulse state
mjr	65:739875521aae	2705	//
mjr	65:739875521aae	2706	// A button in pulse mode (selected via the config flags for the button)
mjr	65:739875521aae	2707	// transmits a brief logical button press and release each time the attached
mjr	65:739875521aae	2708	// physical switch changes state. This is useful for cases where the host
mjr	65:739875521aae	2709	// expects a key press for each change in the state of the physical switch.
mjr	65:739875521aae	2710	// The canonical example is the Coin Door switch in VPinMAME, which requires
mjr	65:739875521aae	2711	// pressing the END key to toggle the open/closed state. This software design
mjr	65:739875521aae	2712	// isn't easily implemented in a physical coin door, though; the simplest
mjr	65:739875521aae	2713	// physical sensor for the coin door state is a switch that's on when the
mjr	65:739875521aae	2714	// door is open and off when the door is closed (or vice versa, but in either
mjr	65:739875521aae	2715	// case, the switch state corresponds to the current state of the door at any
mjr	65:739875521aae	2716	// given time, rather than pulsing on state changes). The "pulse mode"
mjr	79:682ae3171a08	2717	// option bridges this gap by generating a toggle key event each time
mjr	65:739875521aae	2718	// there's a change to the physical switch's state.
mjr	38:091e511ce8a0	2719	//
mjr	38:091e511ce8a0	2720	// Pulse state:
mjr	38:091e511ce8a0	2721	// 0 -> not a pulse switch - logical key state equals physical switch state
mjr	38:091e511ce8a0	2722	// 1 -> off
mjr	38:091e511ce8a0	2723	// 2 -> transitioning off-on
mjr	38:091e511ce8a0	2724	// 3 -> on
mjr	38:091e511ce8a0	2725	// 4 -> transitioning on-off
mjr	65:739875521aae	2726	uint8_t pulseState : 3; // 5 states -> we need 3 bits
mjr	65:739875521aae	2727
mjr	65:739875521aae	2728	} __attribute__((packed));
mjr	65:739875521aae	2729
mjr	65:739875521aae	2730	ButtonState *buttonState; // live button slots, allocated on startup
mjr	65:739875521aae	2731	int8_t nButtons; // number of live button slots allocated
mjr	65:739875521aae	2732	int8_t zblButtonIndex = -1; // index of ZB Launch button slot; -1 if unused
mjr	18:5e890ebd0023	2733
mjr	66:2e3583fbd2f4	2734	// Shift button state
mjr	66:2e3583fbd2f4	2735	struct
mjr	66:2e3583fbd2f4	2736	{
mjr	66:2e3583fbd2f4	2737	int8_t index; // buttonState[] index of shift button; -1 if none
mjr	78:1e00b3fa11af	2738	uint8_t state; // current state, for "Key OR Shift" mode:
mjr	66:2e3583fbd2f4	2739	// 0 = not shifted
mjr	66:2e3583fbd2f4	2740	// 1 = shift button down, no key pressed yet
mjr	66:2e3583fbd2f4	2741	// 2 = shift button down, key pressed
mjr	78:1e00b3fa11af	2742	// 3 = released, sending pulsed keystroke
mjr	78:1e00b3fa11af	2743	uint32_t pulseTime; // time remaining in pulsed keystroke (state 3)
mjr	66:2e3583fbd2f4	2744	}
mjr	66:2e3583fbd2f4	2745	__attribute__((packed)) shiftButton;
mjr	38:091e511ce8a0	2746
mjr	38:091e511ce8a0	2747	// Button data
mjr	38:091e511ce8a0	2748	uint32_t jsButtons = 0;
mjr	38:091e511ce8a0	2749
mjr	38:091e511ce8a0	2750	// Keyboard report state. This tracks the USB keyboard state. We can
mjr	38:091e511ce8a0	2751	// report at most 6 simultaneous non-modifier keys here, plus the 8
mjr	38:091e511ce8a0	2752	// modifier keys.
mjr	38:091e511ce8a0	2753	struct
mjr	38:091e511ce8a0	2754	{
mjr	38:091e511ce8a0	2755	bool changed; // flag: changed since last report sent
mjr	48:058ace2aed1d	2756	uint8_t nkeys; // number of active keys in the list
mjr	38:091e511ce8a0	2757	uint8_t data[8]; // key state, in USB report format: byte 0 is the modifier key mask,
mjr	38:091e511ce8a0	2758	// byte 1 is reserved, and bytes 2-7 are the currently pressed key codes
mjr	38:091e511ce8a0	2759	} kbState = { false, 0, { 0, 0, 0, 0, 0, 0, 0, 0 } };
mjr	38:091e511ce8a0	2760
mjr	38:091e511ce8a0	2761	// Media key state
mjr	38:091e511ce8a0	2762	struct
mjr	38:091e511ce8a0	2763	{
mjr	38:091e511ce8a0	2764	bool changed; // flag: changed since last report sent
mjr	38:091e511ce8a0	2765	uint8_t data; // key state byte for USB reports
mjr	38:091e511ce8a0	2766	} mediaState = { false, 0 };
mjr	38:091e511ce8a0	2767
mjr	79:682ae3171a08	2768	// button scan interrupt timer
mjr	79:682ae3171a08	2769	Timeout scanButtonsTimeout;
mjr	38:091e511ce8a0	2770
mjr	38:091e511ce8a0	2771	// Button scan interrupt handler. We call this periodically via
mjr	38:091e511ce8a0	2772	// a timer interrupt to scan the physical button states.
mjr	38:091e511ce8a0	2773	void scanButtons()
mjr	38:091e511ce8a0	2774	{
mjr	79:682ae3171a08	2775	// schedule the next interrupt
mjr	79:682ae3171a08	2776	scanButtonsTimeout.attach_us(&scanButtons, 1000);
mjr	79:682ae3171a08	2777
mjr	38:091e511ce8a0	2778	// scan all button input pins
mjr	73:4e8ce0b18915	2779	ButtonState bs = buttonState, last = bs + nButtons;
mjr	73:4e8ce0b18915	2780	for ( ; bs < last ; ++bs)
mjr	38:091e511ce8a0	2781	{
mjr	73:4e8ce0b18915	2782	// Shift the new state into the debounce history
mjr	73:4e8ce0b18915	2783	uint8_t db = (bs->dbState << 1) \| bs->di.read();
mjr	73:4e8ce0b18915	2784	bs->dbState = db;
mjr	73:4e8ce0b18915	2785
mjr	73:4e8ce0b18915	2786	// If we have all 0's or 1's in the history for the required
mjr	73:4e8ce0b18915	2787	// debounce period, the key state is stable, so apply the new
mjr	73:4e8ce0b18915	2788	// physical state. Note that the pins are active low, so the
mjr	73:4e8ce0b18915	2789	// new button on/off state is the inverse of the GPIO state.
mjr	73:4e8ce0b18915	2790	const uint8_t stable = 0x1F; // 00011111b -> low 5 bits = last 5 readings
mjr	73:4e8ce0b18915	2791	db &= stable;
mjr	73:4e8ce0b18915	2792	if (db == 0 \|\| db == stable)
mjr	73:4e8ce0b18915	2793	bs->physState = !db;
mjr	38:091e511ce8a0	2794	}
mjr	38:091e511ce8a0	2795	}
mjr	38:091e511ce8a0	2796
mjr	38:091e511ce8a0	2797	// Button state transition timer. This is used for pulse buttons, to
mjr	38:091e511ce8a0	2798	// control the timing of the logical key presses generated by transitions
mjr	38:091e511ce8a0	2799	// in the physical button state.
mjr	38:091e511ce8a0	2800	Timer buttonTimer;
mjr	12:669df364a565	2801
mjr	65:739875521aae	2802	// Count a button during the initial setup scan
mjr	72:884207c0aab0	2803	void countButton(uint8_t typ, uint8_t shiftTyp, bool &kbKeys)
mjr	65:739875521aae	2804	{
mjr	65:739875521aae	2805	// count it
mjr	65:739875521aae	2806	++nButtons;
mjr	65:739875521aae	2807
mjr	67:c39e66c4e000	2808	// if it's a keyboard key or media key, note that we need a USB
mjr	67:c39e66c4e000	2809	// keyboard interface
mjr	72:884207c0aab0	2810	if (typ == BtnTypeKey \|\| typ == BtnTypeMedia
mjr	72:884207c0aab0	2811	\|\| shiftTyp == BtnTypeKey \|\| shiftTyp == BtnTypeMedia)
mjr	65:739875521aae	2812	kbKeys = true;
mjr	65:739875521aae	2813	}
mjr	65:739875521aae	2814
mjr	11:bd9da7088e6e	2815	// initialize the button inputs
mjr	35:e959ffba78fd	2816	void initButtons(Config &cfg, bool &kbKeys)
mjr	11:bd9da7088e6e	2817	{
mjr	66:2e3583fbd2f4	2818	// presume no shift key
mjr	66:2e3583fbd2f4	2819	shiftButton.index = -1;
mjr	82:4f6209cb5c33	2820	shiftButton.state = 0;
mjr	66:2e3583fbd2f4	2821
mjr	65:739875521aae	2822	// Count up how many button slots we'll need to allocate. Start
mjr	65:739875521aae	2823	// with assigned buttons from the configuration, noting that we
mjr	65:739875521aae	2824	// only need to create slots for buttons that are actually wired.
mjr	65:739875521aae	2825	nButtons = 0;
mjr	65:739875521aae	2826	for (int i = 0 ; i < MAX_BUTTONS ; ++i)
mjr	65:739875521aae	2827	{
mjr	65:739875521aae	2828	// it's valid if it's wired to a real input pin
mjr	65:739875521aae	2829	if (wirePinName(cfg.button[i].pin) != NC)
mjr	72:884207c0aab0	2830	countButton(cfg.button[i].typ, cfg.button[i].typ2, kbKeys);
mjr	65:739875521aae	2831	}
mjr	65:739875521aae	2832
mjr	65:739875521aae	2833	// Count virtual buttons
mjr	65:739875521aae	2834
mjr	65:739875521aae	2835	// ZB Launch
mjr	65:739875521aae	2836	if (cfg.plunger.zbLaunchBall.port != 0)
mjr	65:739875521aae	2837	{
mjr	65:739875521aae	2838	// valid - remember the live button index
mjr	65:739875521aae	2839	zblButtonIndex = nButtons;
mjr	65:739875521aae	2840
mjr	65:739875521aae	2841	// count it
mjr	72:884207c0aab0	2842	countButton(cfg.plunger.zbLaunchBall.keytype, BtnTypeNone, kbKeys);
mjr	65:739875521aae	2843	}
mjr	65:739875521aae	2844
mjr	65:739875521aae	2845	// Allocate the live button slots
mjr	65:739875521aae	2846	ButtonState *bs = buttonState = new ButtonState[nButtons];
mjr	65:739875521aae	2847
mjr	65:739875521aae	2848	// Configure the physical inputs
mjr	65:739875521aae	2849	for (int i = 0 ; i < MAX_BUTTONS ; ++i)
mjr	65:739875521aae	2850	{
mjr	65:739875521aae	2851	PinName pin = wirePinName(cfg.button[i].pin);
mjr	65:739875521aae	2852	if (pin != NC)
mjr	65:739875521aae	2853	{
mjr	65:739875521aae	2854	// point back to the config slot for the keyboard data
mjr	65:739875521aae	2855	bs->cfgIndex = i;
mjr	65:739875521aae	2856
mjr	65:739875521aae	2857	// set up the GPIO input pin for this button
mjr	73:4e8ce0b18915	2858	bs->di.assignPin(pin);
mjr	65:739875521aae	2859
mjr	65:739875521aae	2860	// if it's a pulse mode button, set the initial pulse state to Off
mjr	65:739875521aae	2861	if (cfg.button[i].flags & BtnFlagPulse)
mjr	65:739875521aae	2862	bs->pulseState = 1;
mjr	65:739875521aae	2863
mjr	66:2e3583fbd2f4	2864	// If this is the shift button, note its buttonState[] index.
mjr	66:2e3583fbd2f4	2865	// We have to figure the buttonState[] index separately from
mjr	66:2e3583fbd2f4	2866	// the config index, because the indices can differ if some
mjr	66:2e3583fbd2f4	2867	// config slots are left unused.
mjr	78:1e00b3fa11af	2868	if (cfg.shiftButton.idx == i+1)
mjr	66:2e3583fbd2f4	2869	shiftButton.index = bs - buttonState;
mjr	66:2e3583fbd2f4	2870
mjr	65:739875521aae	2871	// advance to the next button
mjr	65:739875521aae	2872	++bs;
mjr	65:739875521aae	2873	}
mjr	65:739875521aae	2874	}
mjr	65:739875521aae	2875
mjr	53:9b2611964afc	2876	// Configure the virtual buttons. These are buttons controlled via
mjr	53:9b2611964afc	2877	// software triggers rather than physical GPIO inputs. The virtual
mjr	53:9b2611964afc	2878	// buttons have the same control structures as regular buttons, but
mjr	53:9b2611964afc	2879	// they get their configuration data from other config variables.
mjr	53:9b2611964afc	2880
mjr	53:9b2611964afc	2881	// ZB Launch Ball button
mjr	65:739875521aae	2882	if (cfg.plunger.zbLaunchBall.port != 0)
mjr	11:bd9da7088e6e	2883	{
mjr	65:739875521aae	2884	// Point back to the config slot for the keyboard data.
mjr	66:2e3583fbd2f4	2885	// We use a special extra slot for virtual buttons,
mjr	66:2e3583fbd2f4	2886	// so we also need to set up the slot data by copying
mjr	66:2e3583fbd2f4	2887	// the ZBL config data to our virtual button slot.
mjr	65:739875521aae	2888	bs->cfgIndex = ZBL_BUTTON_CFG;
mjr	65:739875521aae	2889	cfg.button[ZBL_BUTTON_CFG].pin = PINNAME_TO_WIRE(NC);
mjr	65:739875521aae	2890	cfg.button[ZBL_BUTTON_CFG].typ = cfg.plunger.zbLaunchBall.keytype;
mjr	65:739875521aae	2891	cfg.button[ZBL_BUTTON_CFG].val = cfg.plunger.zbLaunchBall.keycode;
mjr	65:739875521aae	2892
mjr	66:2e3583fbd2f4	2893	// advance to the next button
mjr	65:739875521aae	2894	++bs;
mjr	11:bd9da7088e6e	2895	}
mjr	12:669df364a565	2896
mjr	38:091e511ce8a0	2897	// start the button scan thread
mjr	79:682ae3171a08	2898	scanButtonsTimeout.attach_us(scanButtons, 1000);
mjr	38:091e511ce8a0	2899
mjr	38:091e511ce8a0	2900	// start the button state transition timer
mjr	12:669df364a565	2901	buttonTimer.start();
mjr	11:bd9da7088e6e	2902	}
mjr	11:bd9da7088e6e	2903
mjr	67:c39e66c4e000	2904	// Media key mapping. This maps from an 8-bit USB media key
mjr	67:c39e66c4e000	2905	// code to the corresponding bit in our USB report descriptor.
mjr	67:c39e66c4e000	2906	// The USB key code is the index, and the value at the index
mjr	67:c39e66c4e000	2907	// is the report descriptor bit. See joystick.cpp for the
mjr	67:c39e66c4e000	2908	// media descriptor details. Our currently mapped keys are:
mjr	67:c39e66c4e000	2909	//
mjr	67:c39e66c4e000	2910	// 0xE2 -> Mute -> 0x01
mjr	67:c39e66c4e000	2911	// 0xE9 -> Volume Up -> 0x02
mjr	67:c39e66c4e000	2912	// 0xEA -> Volume Down -> 0x04
mjr	67:c39e66c4e000	2913	// 0xB5 -> Next Track -> 0x08
mjr	67:c39e66c4e000	2914	// 0xB6 -> Previous Track -> 0x10
mjr	67:c39e66c4e000	2915	// 0xB7 -> Stop -> 0x20
mjr	67:c39e66c4e000	2916	// 0xCD -> Play / Pause -> 0x40
mjr	67:c39e66c4e000	2917	//
mjr	67:c39e66c4e000	2918	static const uint8_t mediaKeyMap[] = {
mjr	67:c39e66c4e000	2919	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 00-0F
mjr	67:c39e66c4e000	2920	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 10-1F
mjr	67:c39e66c4e000	2921	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 20-2F
mjr	67:c39e66c4e000	2922	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 30-3F
mjr	67:c39e66c4e000	2923	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 40-4F
mjr	67:c39e66c4e000	2924	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 50-5F
mjr	67:c39e66c4e000	2925	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 60-6F
mjr	67:c39e66c4e000	2926	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 70-7F
mjr	67:c39e66c4e000	2927	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 80-8F
mjr	67:c39e66c4e000	2928	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 90-9F
mjr	67:c39e66c4e000	2929	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // A0-AF
mjr	67:c39e66c4e000	2930	0, 0, 0, 0, 0, 8, 16, 32, 0, 0, 0, 0, 0, 0, 0, 0, // B0-BF
mjr	67:c39e66c4e000	2931	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 64, 0, 0, // C0-CF
mjr	67:c39e66c4e000	2932	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // D0-DF
mjr	67:c39e66c4e000	2933	0, 0, 1, 0, 0, 0, 0, 0, 0, 2, 4, 0, 0, 0, 0, 0, // E0-EF
mjr	67:c39e66c4e000	2934	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 // F0-FF
mjr	77:0b96f6867312	2935	};
mjr	77:0b96f6867312	2936
mjr	77:0b96f6867312	2937	// Keyboard key/joystick button state. processButtons() uses this to
mjr	77:0b96f6867312	2938	// build the set of key presses to report to the PC based on the logical
mjr	77:0b96f6867312	2939	// states of the button iputs.
mjr	77:0b96f6867312	2940	struct KeyState
mjr	77:0b96f6867312	2941	{
mjr	77:0b96f6867312	2942	KeyState()
mjr	77:0b96f6867312	2943	{
mjr	77:0b96f6867312	2944	// zero all members
mjr	77:0b96f6867312	2945	memset(this, 0, sizeof(*this));
mjr	77:0b96f6867312	2946	}
mjr	77:0b96f6867312	2947
mjr	77:0b96f6867312	2948	// Keyboard media keys currently pressed. This is a bit vector in
mjr	77:0b96f6867312	2949	// the format used in our USB keyboard reports (see USBJoystick.cpp).
mjr	77:0b96f6867312	2950	uint8_t mediakeys;
mjr	77:0b96f6867312	2951
mjr	77:0b96f6867312	2952	// Keyboard modifier (shift) keys currently pressed. This is a bit
mjr	77:0b96f6867312	2953	// vector in the format used in our USB keyboard reports (see
mjr	77:0b96f6867312	2954	// USBJoystick.cpp).
mjr	77:0b96f6867312	2955	uint8_t modkeys;
mjr	77:0b96f6867312	2956
mjr	77:0b96f6867312	2957	// Regular keyboard keys currently pressed. Each element is a USB
mjr	77:0b96f6867312	2958	// key code, or 0 for empty slots. Note that the USB report format
mjr	77:0b96f6867312	2959	// theoretically allows a flexible size limit, but the Windows KB
mjr	77:0b96f6867312	2960	// drivers have a fixed limit of 6 simultaneous keys (and won't
mjr	77:0b96f6867312	2961	// accept reports with more), so there's no point in making this
mjr	77:0b96f6867312	2962	// flexible; we'll just use the fixed size dictated by Windows.
mjr	77:0b96f6867312	2963	uint8_t keys[7];
mjr	77:0b96f6867312	2964
mjr	77:0b96f6867312	2965	// number of valid entries in keys[] array
mjr	77:0b96f6867312	2966	int nkeys;
mjr	77:0b96f6867312	2967
mjr	77:0b96f6867312	2968	// Joystick buttons pressed, as a bit vector. Bit n (1 << n)
mjr	77:0b96f6867312	2969	// represents joystick button n, n in 0..31, with 0 meaning
mjr	77:0b96f6867312	2970	// unpressed and 1 meaning pressed.
mjr	77:0b96f6867312	2971	uint32_t js;
mjr	77:0b96f6867312	2972
mjr	77:0b96f6867312	2973
mjr	77:0b96f6867312	2974	// Add a key press. 'typ' is the button type code (ButtonTypeXxx),
mjr	77:0b96f6867312	2975	// and 'val' is the value (the meaning of which varies by type code).
mjr	77:0b96f6867312	2976	void addKey(uint8_t typ, uint8_t val)
mjr	77:0b96f6867312	2977	{
mjr	77:0b96f6867312	2978	// add the key according to the type
mjr	77:0b96f6867312	2979	switch (typ)
mjr	77:0b96f6867312	2980	{
mjr	77:0b96f6867312	2981	case BtnTypeJoystick:
mjr	77:0b96f6867312	2982	// joystick button
mjr	77:0b96f6867312	2983	js \|= (1 << (val - 1));
mjr	77:0b96f6867312	2984	break;
mjr	77:0b96f6867312	2985
mjr	77:0b96f6867312	2986	case BtnTypeKey:
mjr	77:0b96f6867312	2987	// Keyboard key. The USB keyboard report encodes regular
mjr	77:0b96f6867312	2988	// keys and modifier keys separately, so we need to check
mjr	77:0b96f6867312	2989	// which type we have. Note that past versions mapped the
mjr	77:0b96f6867312	2990	// Keyboard Volume Up, Keyboard Volume Down, and Keyboard
mjr	77:0b96f6867312	2991	// Mute keys to the corresponding Media keys. We no longer
mjr	77:0b96f6867312	2992	// do this; instead, we have the separate BtnTypeMedia for
mjr	77:0b96f6867312	2993	// explicitly using media keys if desired.
mjr	77:0b96f6867312	2994	if (val >= 0xE0 && val <= 0xE7)
mjr	77:0b96f6867312	2995	{
mjr	77:0b96f6867312	2996	// It's a modifier key. These are represented in the USB
mjr	77:0b96f6867312	2997	// reports with a bit mask. We arrange the mask bits in
mjr	77:0b96f6867312	2998	// the same order as the scan codes, so we can figure the
mjr	77:0b96f6867312	2999	// appropriate bit with a simple shift.
mjr	77:0b96f6867312	3000	modkeys \|= (1 << (val - 0xE0));
mjr	77:0b96f6867312	3001	}
mjr	77:0b96f6867312	3002	else
mjr	77:0b96f6867312	3003	{
mjr	77:0b96f6867312	3004	// It's a regular key. Make sure it's not already in the
mjr	77:0b96f6867312	3005	// list, and that the list isn't full. If neither of these
mjr	77:0b96f6867312	3006	// apply, add the key to the key array.
mjr	77:0b96f6867312	3007	if (nkeys < 7)
mjr	77:0b96f6867312	3008	{
mjr	77:0b96f6867312	3009	bool found = false;
mjr	77:0b96f6867312	3010	for (int i = 0 ; i < nkeys ; ++i)
mjr	77:0b96f6867312	3011	{
mjr	77:0b96f6867312	3012	if (keys[i] == val)
mjr	77:0b96f6867312	3013	{
mjr	77:0b96f6867312	3014	found = true;
mjr	77:0b96f6867312	3015	break;
mjr	77:0b96f6867312	3016	}
mjr	77:0b96f6867312	3017	}
mjr	77:0b96f6867312	3018	if (!found)
mjr	77:0b96f6867312	3019	keys[nkeys++] = val;
mjr	77:0b96f6867312	3020	}
mjr	77:0b96f6867312	3021	}
mjr	77:0b96f6867312	3022	break;
mjr	77:0b96f6867312	3023
mjr	77:0b96f6867312	3024	case BtnTypeMedia:
mjr	77:0b96f6867312	3025	// Media control key. The media keys are mapped in the USB
mjr	77:0b96f6867312	3026	// report to bits, whereas the key codes are specified in the
mjr	77:0b96f6867312	3027	// config with their USB usage numbers. E.g., the config val
mjr	77:0b96f6867312	3028	// for Media Next Track is 0xB5, but we encode this in the USB
mjr	77:0b96f6867312	3029	// report as bit 0x08. The mediaKeyMap[] table translates
mjr	77:0b96f6867312	3030	// from the USB usage number to the mask bit. If the key isn't
mjr	77:0b96f6867312	3031	// among the subset we support, the mapped bit will be zero, so
mjr	77:0b96f6867312	3032	// the "\|=" will have no effect and the key will be ignored.
mjr	77:0b96f6867312	3033	mediakeys \|= mediaKeyMap[val];
mjr	77:0b96f6867312	3034	break;
mjr	77:0b96f6867312	3035	}
mjr	77:0b96f6867312	3036	}
mjr	77:0b96f6867312	3037	};
mjr	67:c39e66c4e000	3038
mjr	67:c39e66c4e000	3039
mjr	38:091e511ce8a0	3040	// Process the button state. This sets up the joystick, keyboard, and
mjr	38:091e511ce8a0	3041	// media control descriptors with the current state of keys mapped to
mjr	38:091e511ce8a0	3042	// those HID interfaces, and executes the local effects for any keys
mjr	38:091e511ce8a0	3043	// mapped to special device functions (e.g., Night Mode).
mjr	53:9b2611964afc	3044	void processButtons(Config &cfg)
mjr	35:e959ffba78fd	3045	{
mjr	77:0b96f6867312	3046	// key state
mjr	77:0b96f6867312	3047	KeyState ks;
mjr	38:091e511ce8a0	3048
mjr	38:091e511ce8a0	3049	// calculate the time since the last run
mjr	53:9b2611964afc	3050	uint32_t dt = buttonTimer.read_us();
mjr	18:5e890ebd0023	3051	buttonTimer.reset();
mjr	66:2e3583fbd2f4	3052
mjr	66:2e3583fbd2f4	3053	// check the shift button state
mjr	66:2e3583fbd2f4	3054	if (shiftButton.index != -1)
mjr	66:2e3583fbd2f4	3055	{
mjr	78:1e00b3fa11af	3056	// get the shift button's physical state object
mjr	66:2e3583fbd2f4	3057	ButtonState *sbs = &buttonState[shiftButton.index];
mjr	78:1e00b3fa11af	3058
mjr	78:1e00b3fa11af	3059	// figure what to do based on the shift button mode in the config
mjr	78:1e00b3fa11af	3060	switch (cfg.shiftButton.mode)
mjr	66:2e3583fbd2f4	3061	{
mjr	66:2e3583fbd2f4	3062	case 0:
mjr	78:1e00b3fa11af	3063	default:
mjr	78:1e00b3fa11af	3064	// "Shift OR Key" mode. The shift button doesn't send its key
mjr	78:1e00b3fa11af	3065	// immediately when pressed. Instead, we wait to see what
mjr	78:1e00b3fa11af	3066	// happens while it's down. Check the current cycle state.
mjr	78:1e00b3fa11af	3067	switch (shiftButton.state)
mjr	78:1e00b3fa11af	3068	{
mjr	78:1e00b3fa11af	3069	case 0:
mjr	78:1e00b3fa11af	3070	// Not shifted. Check if the button is now down: if so,
mjr	78:1e00b3fa11af	3071	// switch to state 1 (shift button down, no key pressed yet).
mjr	78:1e00b3fa11af	3072	if (sbs->physState)
mjr	78:1e00b3fa11af	3073	shiftButton.state = 1;
mjr	78:1e00b3fa11af	3074	break;
mjr	78:1e00b3fa11af	3075
mjr	78:1e00b3fa11af	3076	case 1:
mjr	78:1e00b3fa11af	3077	// Shift button down, no key pressed yet. If the button is
mjr	78:1e00b3fa11af	3078	// now up, it counts as an ordinary button press instead of
mjr	78:1e00b3fa11af	3079	// a shift button press, since the shift function was never
mjr	78:1e00b3fa11af	3080	// used. Return to unshifted state and start a timed key
mjr	78:1e00b3fa11af	3081	// pulse event.
mjr	78:1e00b3fa11af	3082	if (!sbs->physState)
mjr	78:1e00b3fa11af	3083	{
mjr	78:1e00b3fa11af	3084	shiftButton.state = 3;
mjr	78:1e00b3fa11af	3085	shiftButton.pulseTime = 50000+dt; // 50 ms left on the key pulse
mjr	78:1e00b3fa11af	3086	}
mjr	78:1e00b3fa11af	3087	break;
mjr	78:1e00b3fa11af	3088
mjr	78:1e00b3fa11af	3089	case 2:
mjr	78:1e00b3fa11af	3090	// Shift button down, other key was pressed. If the button is
mjr	78:1e00b3fa11af	3091	// now up, simply clear the shift state without sending a key
mjr	78:1e00b3fa11af	3092	// press for the shift button itself to the PC. The shift
mjr	78:1e00b3fa11af	3093	// function was used, so its ordinary key press function is
mjr	78:1e00b3fa11af	3094	// suppressed.
mjr	78:1e00b3fa11af	3095	if (!sbs->physState)
mjr	78:1e00b3fa11af	3096	shiftButton.state = 0;
mjr	78:1e00b3fa11af	3097	break;
mjr	78:1e00b3fa11af	3098
mjr	78:1e00b3fa11af	3099	case 3:
mjr	78:1e00b3fa11af	3100	// Sending pulsed keystroke. Deduct the current time interval
mjr	78:1e00b3fa11af	3101	// from the remaining pulse timer. End the pulse if the time
mjr	78:1e00b3fa11af	3102	// has expired.
mjr	78:1e00b3fa11af	3103	if (shiftButton.pulseTime > dt)
mjr	78:1e00b3fa11af	3104	shiftButton.pulseTime -= dt;
mjr	78:1e00b3fa11af	3105	else
mjr	78:1e00b3fa11af	3106	shiftButton.state = 0;
mjr	78:1e00b3fa11af	3107	break;
mjr	78:1e00b3fa11af	3108	}
mjr	66:2e3583fbd2f4	3109	break;
mjr	66:2e3583fbd2f4	3110
mjr	66:2e3583fbd2f4	3111	case 1:
mjr	78:1e00b3fa11af	3112	// "Shift AND Key" mode. In this mode, the shift button acts
mjr	78:1e00b3fa11af	3113	// like any other button and sends its mapped key immediately.
mjr	78:1e00b3fa11af	3114	// The state cycle in this case simply matches the physical
mjr	78:1e00b3fa11af	3115	// state: ON -> cycle state 1, OFF -> cycle state 0.
mjr	78:1e00b3fa11af	3116	shiftButton.state = (sbs->physState ? 1 : 0);
mjr	66:2e3583fbd2f4	3117	break;
mjr	66:2e3583fbd2f4	3118	}
mjr	66:2e3583fbd2f4	3119	}
mjr	38:091e511ce8a0	3120
mjr	11:bd9da7088e6e	3121	// scan the button list
mjr	18:5e890ebd0023	3122	ButtonState *bs = buttonState;
mjr	65:739875521aae	3123	for (int i = 0 ; i < nButtons ; ++i, ++bs)
mjr	11:bd9da7088e6e	3124	{
mjr	77:0b96f6867312	3125	// get the config entry for the button
mjr	77:0b96f6867312	3126	ButtonCfg *bc = &cfg.button[bs->cfgIndex];
mjr	77:0b96f6867312	3127
mjr	66:2e3583fbd2f4	3128	// Check the button type:
mjr	66:2e3583fbd2f4	3129	// - shift button
mjr	66:2e3583fbd2f4	3130	// - pulsed button
mjr	66:2e3583fbd2f4	3131	// - regular button
mjr	66:2e3583fbd2f4	3132	if (shiftButton.index == i)
mjr	66:2e3583fbd2f4	3133	{
mjr	78:1e00b3fa11af	3134	// This is the shift button. The logical state handling
mjr	78:1e00b3fa11af	3135	// depends on the mode.
mjr	78:1e00b3fa11af	3136	switch (cfg.shiftButton.mode)
mjr	66:2e3583fbd2f4	3137	{
mjr	78:1e00b3fa11af	3138	case 0:
mjr	78:1e00b3fa11af	3139	default:
mjr	78:1e00b3fa11af	3140	// "Shift OR Key" mode. The logical state is ON only
mjr	78:1e00b3fa11af	3141	// during the timed pulse when the key is released, which
mjr	78:1e00b3fa11af	3142	// is signified by shift button state 3.
mjr	78:1e00b3fa11af	3143	bs->logState = (shiftButton.state == 3);
mjr	78:1e00b3fa11af	3144	break;
mjr	78:1e00b3fa11af	3145
mjr	78:1e00b3fa11af	3146	case 1:
mjr	78:1e00b3fa11af	3147	// "Shif AND Key" mode. The shift button acts like any
mjr	78:1e00b3fa11af	3148	// other button, so it's logically on when physically on.
mjr	78:1e00b3fa11af	3149	bs->logState = bs->physState;
mjr	78:1e00b3fa11af	3150	break;
mjr	66:2e3583fbd2f4	3151	}
mjr	66:2e3583fbd2f4	3152	}
mjr	66:2e3583fbd2f4	3153	else if (bs->pulseState != 0)
mjr	18:5e890ebd0023	3154	{
mjr	38:091e511ce8a0	3155	// if the timer has expired, check for state changes
mjr	53:9b2611964afc	3156	if (bs->pulseTime > dt)
mjr	18:5e890ebd0023	3157	{
mjr	53:9b2611964afc	3158	// not expired yet - deduct the last interval
mjr	53:9b2611964afc	3159	bs->pulseTime -= dt;
mjr	53:9b2611964afc	3160	}
mjr	53:9b2611964afc	3161	else
mjr	53:9b2611964afc	3162	{
mjr	53:9b2611964afc	3163	// pulse time expired - check for a state change
mjr	53:9b2611964afc	3164	const uint32_t pulseLength = 200000UL; // 200 milliseconds
mjr	38:091e511ce8a0	3165	switch (bs->pulseState)
mjr	18:5e890ebd0023	3166	{
mjr	38:091e511ce8a0	3167	case 1:
mjr	38:091e511ce8a0	3168	// off - if the physical switch is now on, start a button pulse
mjr	53:9b2611964afc	3169	if (bs->physState)
mjr	53:9b2611964afc	3170	{
mjr	38:091e511ce8a0	3171	bs->pulseTime = pulseLength;
mjr	38:091e511ce8a0	3172	bs->pulseState = 2;
mjr	53:9b2611964afc	3173	bs->logState = 1;
mjr	38:091e511ce8a0	3174	}
mjr	38:091e511ce8a0	3175	break;
mjr	18:5e890ebd0023	3176
mjr	38:091e511ce8a0	3177	case 2:
mjr	38:091e511ce8a0	3178	// transitioning off to on - end the pulse, and start a gap
mjr	38:091e511ce8a0	3179	// equal to the pulse time so that the host can observe the
mjr	38:091e511ce8a0	3180	// change in state in the logical button
mjr	38:091e511ce8a0	3181	bs->pulseState = 3;
mjr	38:091e511ce8a0	3182	bs->pulseTime = pulseLength;
mjr	53:9b2611964afc	3183	bs->logState = 0;
mjr	38:091e511ce8a0	3184	break;
mjr	38:091e511ce8a0	3185
mjr	38:091e511ce8a0	3186	case 3:
mjr	38:091e511ce8a0	3187	// on - if the physical switch is now off, start a button pulse
mjr	53:9b2611964afc	3188	if (!bs->physState)
mjr	53:9b2611964afc	3189	{
mjr	38:091e511ce8a0	3190	bs->pulseTime = pulseLength;
mjr	38:091e511ce8a0	3191	bs->pulseState = 4;
mjr	53:9b2611964afc	3192	bs->logState = 1;
mjr	38:091e511ce8a0	3193	}
mjr	38:091e511ce8a0	3194	break;
mjr	38:091e511ce8a0	3195
mjr	38:091e511ce8a0	3196	case 4:
mjr	38:091e511ce8a0	3197	// transitioning on to off - end the pulse, and start a gap
mjr	38:091e511ce8a0	3198	bs->pulseState = 1;
mjr	38:091e511ce8a0	3199	bs->pulseTime = pulseLength;
mjr	53:9b2611964afc	3200	bs->logState = 0;
mjr	38:091e511ce8a0	3201	break;
mjr	18:5e890ebd0023	3202	}
mjr	18:5e890ebd0023	3203	}
mjr	38:091e511ce8a0	3204	}
mjr	38:091e511ce8a0	3205	else
mjr	38:091e511ce8a0	3206	{
mjr	38:091e511ce8a0	3207	// not a pulse switch - the logical state is the same as the physical state
mjr	53:9b2611964afc	3208	bs->logState = bs->physState;
mjr	38:091e511ce8a0	3209	}
mjr	77:0b96f6867312	3210
mjr	77:0b96f6867312	3211	// Determine if we're going to use the shifted version of the
mjr	78:1e00b3fa11af	3212	// button. We're using the shifted version if...
mjr	78:1e00b3fa11af	3213	//
mjr	78:1e00b3fa11af	3214	// - the shift button is down, AND
mjr	78:1e00b3fa11af	3215	// - this button isn't itself the shift button, AND
mjr	78:1e00b3fa11af	3216	// - this button has some kind of shifted meaning
mjr	77:0b96f6867312	3217	//
mjr	78:1e00b3fa11af	3218	// A "shifted meaning" means that we have any of the following
mjr	78:1e00b3fa11af	3219	// assigned to the shifted version of the button: a key assignment,
mjr	78:1e00b3fa11af	3220	// (in typ2,key2), an IR command (in IRCommand2), or Night mode.
mjr	78:1e00b3fa11af	3221	//
mjr	78:1e00b3fa11af	3222	// The test for Night Mode is a bit tricky. The shifted version of
mjr	78:1e00b3fa11af	3223	// the button is the Night Mode toggle if the button matches the
mjr	78:1e00b3fa11af	3224	// Night Mode button index, AND its flags are set with "toggle mode
mjr	78:1e00b3fa11af	3225	// ON" (bit 0x02 is on) and "switch mode OFF" (bit 0x01 is off).
mjr	78:1e00b3fa11af	3226	// So (button flags) & 0x03 must equal 0x02.
mjr	77:0b96f6867312	3227	bool useShift =
mjr	77:0b96f6867312	3228	(shiftButton.state != 0
mjr	78:1e00b3fa11af	3229	&& shiftButton.index != i
mjr	77:0b96f6867312	3230	&& (bc->typ2 != BtnTypeNone
mjr	77:0b96f6867312	3231	\|\| bc->IRCommand2 != 0
mjr	77:0b96f6867312	3232	\|\| (cfg.nightMode.btn == i+1 && (cfg.nightMode.flags & 0x03) == 0x02)));
mjr	77:0b96f6867312	3233
mjr	77:0b96f6867312	3234	// If we're using the shift function, and no other button has used
mjr	77:0b96f6867312	3235	// the shift function yet (shift state 1: "shift button is down but
mjr	77:0b96f6867312	3236	// no one has used the shift function yet"), then we've "consumed"
mjr	77:0b96f6867312	3237	// the shift button press (so go to shift state 2: "shift button has
mjr	77:0b96f6867312	3238	// been used by some other button press that has a shifted meaning").
mjr	78:1e00b3fa11af	3239	if (useShift && shiftButton.state == 1 && bs->logState)
mjr	77:0b96f6867312	3240	shiftButton.state = 2;
mjr	35:e959ffba78fd	3241
mjr	38:091e511ce8a0	3242	// carry out any edge effects from buttons changing states
mjr	53:9b2611964afc	3243	if (bs->logState != bs->prevLogState)
mjr	38:091e511ce8a0	3244	{
mjr	77:0b96f6867312	3245	// check to see if this is the Night Mode button
mjr	53:9b2611964afc	3246	if (cfg.nightMode.btn == i + 1)
mjr	35:e959ffba78fd	3247	{
mjr	77:0b96f6867312	3248	// Check the switch type in the config flags. If flag 0x01 is
mjr	77:0b96f6867312	3249	// set, it's a persistent on/off switch, so the night mode
mjr	77:0b96f6867312	3250	// state simply tracks the current state of the switch.
mjr	77:0b96f6867312	3251	// Otherwise, it's a momentary button, so each button push
mjr	77:0b96f6867312	3252	// (i.e., each transition from logical state OFF to ON) toggles
mjr	77:0b96f6867312	3253	// the night mode state.
mjr	77:0b96f6867312	3254	//
mjr	77:0b96f6867312	3255	// Note that the "shift" flag (0x02) has no effect in switch
mjr	77:0b96f6867312	3256	// mode. Shifting only works for toggle mode.
mjr	82:4f6209cb5c33	3257	if ((cfg.nightMode.flags & 0x01) != 0)
mjr	53:9b2611964afc	3258	{
mjr	77:0b96f6867312	3259	// It's an on/off switch. Night mode simply tracks the
mjr	77:0b96f6867312	3260	// current switch state.
mjr	53:9b2611964afc	3261	setNightMode(bs->logState);
mjr	53:9b2611964afc	3262	}
mjr	82:4f6209cb5c33	3263	else if (bs->logState)
mjr	53:9b2611964afc	3264	{
mjr	77:0b96f6867312	3265	// It's a momentary toggle switch. Toggle the night mode
mjr	77:0b96f6867312	3266	// state on each distinct press of the button: that is,
mjr	77:0b96f6867312	3267	// whenever the button's logical state transitions from
mjr	77:0b96f6867312	3268	// OFF to ON.
mjr	66:2e3583fbd2f4	3269	//
mjr	77:0b96f6867312	3270	// The "shift" flag (0x02) tells us whether night mode is
mjr	77:0b96f6867312	3271	// assigned to the shifted or unshifted version of the
mjr	77:0b96f6867312	3272	// button.
mjr	77:0b96f6867312	3273	bool pressed;
mjr	66:2e3583fbd2f4	3274	if ((cfg.nightMode.flags & 0x02) != 0)
mjr	66:2e3583fbd2f4	3275	{
mjr	77:0b96f6867312	3276	// Shift bit is set - night mode is assigned to the
mjr	77:0b96f6867312	3277	// shifted version of the button. This is a Night
mjr	77:0b96f6867312	3278	// Mode toggle only if the Shift button is pressed.
mjr	77:0b96f6867312	3279	pressed = (shiftButton.state != 0);
mjr	77:0b96f6867312	3280	}
mjr	77:0b96f6867312	3281	else
mjr	77:0b96f6867312	3282	{
mjr	77:0b96f6867312	3283	// No shift bit - night mode is assigned to the
mjr	77:0b96f6867312	3284	// regular unshifted button. The button press only
mjr	77:0b96f6867312	3285	// applies if the Shift button is NOT pressed.
mjr	77:0b96f6867312	3286	pressed = (shiftButton.state == 0);
mjr	66:2e3583fbd2f4	3287	}
mjr	66:2e3583fbd2f4	3288
mjr	66:2e3583fbd2f4	3289	// if it's pressed (even after considering the shift mode),
mjr	66:2e3583fbd2f4	3290	// toggle night mode
mjr	66:2e3583fbd2f4	3291	if (pressed)
mjr	53:9b2611964afc	3292	toggleNightMode();
mjr	53:9b2611964afc	3293	}
mjr	35:e959ffba78fd	3294	}
mjr	38:091e511ce8a0	3295
mjr	77:0b96f6867312	3296	// press or release IR virtual keys on key state changes
mjr	77:0b96f6867312	3297	uint8_t irc = useShift ? bc->IRCommand2 : bc->IRCommand;
mjr	77:0b96f6867312	3298	if (irc != 0)
mjr	77:0b96f6867312	3299	IR_buttonChange(irc, bs->logState);
mjr	77:0b96f6867312	3300
mjr	38:091e511ce8a0	3301	// remember the new state for comparison on the next run
mjr	53:9b2611964afc	3302	bs->prevLogState = bs->logState;
mjr	38:091e511ce8a0	3303	}
mjr	38:091e511ce8a0	3304
mjr	53:9b2611964afc	3305	// if it's pressed, physically or virtually, add it to the appropriate
mjr	53:9b2611964afc	3306	// key state list
mjr	53:9b2611964afc	3307	if (bs->logState \|\| bs->virtState)
mjr	38:091e511ce8a0	3308	{
mjr	70:9f58735a1732	3309	// Get the key type and code. Start by assuming that we're
mjr	70:9f58735a1732	3310	// going to use the normal unshifted meaning.
mjr	77:0b96f6867312	3311	uint8_t typ, val;
mjr	77:0b96f6867312	3312	if (useShift)
mjr	66:2e3583fbd2f4	3313	{
mjr	77:0b96f6867312	3314	typ = bc->typ2;
mjr	77:0b96f6867312	3315	val = bc->val2;
mjr	66:2e3583fbd2f4	3316	}
mjr	77:0b96f6867312	3317	else
mjr	77:0b96f6867312	3318	{
mjr	77:0b96f6867312	3319	typ = bc->typ;
mjr	77:0b96f6867312	3320	val = bc->val;
mjr	77:0b96f6867312	3321	}
mjr	77:0b96f6867312	3322
mjr	70:9f58735a1732	3323	// We've decided on the meaning of the button, so process
mjr	70:9f58735a1732	3324	// the keyboard or joystick event.
mjr	77:0b96f6867312	3325	ks.addKey(typ, val);
mjr	18:5e890ebd0023	3326	}
mjr	11:bd9da7088e6e	3327	}
mjr	77:0b96f6867312	3328
mjr	77:0b96f6867312	3329	// If an IR input command is in effect, add the IR command's
mjr	77:0b96f6867312	3330	// assigned key, if any. If we're in an IR key gap, don't include
mjr	77:0b96f6867312	3331	// the IR key.
mjr	77:0b96f6867312	3332	if (IRCommandIn != 0 && !IRKeyGap)
mjr	77:0b96f6867312	3333	{
mjr	77:0b96f6867312	3334	IRCommandCfg &irc = cfg.IRCommand[IRCommandIn - 1];
mjr	77:0b96f6867312	3335	ks.addKey(irc.keytype, irc.keycode);
mjr	77:0b96f6867312	3336	}
mjr	77:0b96f6867312	3337
mjr	77:0b96f6867312	3338	// We're finished building the new key state. Update the global
mjr	77:0b96f6867312	3339	// key state variables to reflect the new state.
mjr	77:0b96f6867312	3340
mjr	77:0b96f6867312	3341	// set the new joystick buttons (no need to check for changes, as we
mjr	77:0b96f6867312	3342	// report these on every joystick report whether they changed or not)
mjr	77:0b96f6867312	3343	jsButtons = ks.js;
mjr	77:0b96f6867312	3344
mjr	77:0b96f6867312	3345	// check for keyboard key changes (we only send keyboard reports when
mjr	77:0b96f6867312	3346	// something changes)
mjr	77:0b96f6867312	3347	if (kbState.data[0] != ks.modkeys
mjr	77:0b96f6867312	3348	\|\| kbState.nkeys != ks.nkeys
mjr	77:0b96f6867312	3349	\|\| memcmp(ks.keys, &kbState.data[2], 6) != 0)
mjr	35:e959ffba78fd	3350	{
mjr	35:e959ffba78fd	3351	// we have changes - set the change flag and store the new key data
mjr	35:e959ffba78fd	3352	kbState.changed = true;
mjr	77:0b96f6867312	3353	kbState.data[0] = ks.modkeys;
mjr	77:0b96f6867312	3354	if (ks.nkeys <= 6) {
mjr	35:e959ffba78fd	3355	// 6 or fewer simultaneous keys - report the key codes
mjr	77:0b96f6867312	3356	kbState.nkeys = ks.nkeys;
mjr	77:0b96f6867312	3357	memcpy(&kbState.data[2], ks.keys, 6);
mjr	35:e959ffba78fd	3358	}
mjr	35:e959ffba78fd	3359	else {
mjr	35:e959ffba78fd	3360	// more than 6 simultaneous keys - report rollover (all '1' key codes)
mjr	35:e959ffba78fd	3361	kbState.nkeys = 6;
mjr	35:e959ffba78fd	3362	memset(&kbState.data[2], 1, 6);
mjr	35:e959ffba78fd	3363	}
mjr	35:e959ffba78fd	3364	}
mjr	35:e959ffba78fd	3365
mjr	77:0b96f6867312	3366	// check for media key changes (we only send media key reports when
mjr	77:0b96f6867312	3367	// something changes)
mjr	77:0b96f6867312	3368	if (mediaState.data != ks.mediakeys)
mjr	35:e959ffba78fd	3369	{
mjr	77:0b96f6867312	3370	// we have changes - set the change flag and store the new key data
mjr	35:e959ffba78fd	3371	mediaState.changed = true;
mjr	77:0b96f6867312	3372	mediaState.data = ks.mediakeys;
mjr	35:e959ffba78fd	3373	}
mjr	11:bd9da7088e6e	3374	}
mjr	11:bd9da7088e6e	3375
mjr	73:4e8ce0b18915	3376	// Send a button status report
mjr	73:4e8ce0b18915	3377	void reportButtonStatus(USBJoystick &js)
mjr	73:4e8ce0b18915	3378	{
mjr	73:4e8ce0b18915	3379	// start with all buttons off
mjr	73:4e8ce0b18915	3380	uint8_t state[(MAX_BUTTONS+7)/8];
mjr	73:4e8ce0b18915	3381	memset(state, 0, sizeof(state));
mjr	73:4e8ce0b18915	3382
mjr	73:4e8ce0b18915	3383	// pack the button states into bytes, one bit per button
mjr	73:4e8ce0b18915	3384	ButtonState *bs = buttonState;
mjr	73:4e8ce0b18915	3385	for (int i = 0 ; i < nButtons ; ++i, ++bs)
mjr	73:4e8ce0b18915	3386	{
mjr	73:4e8ce0b18915	3387	// get the physical state
mjr	73:4e8ce0b18915	3388	int b = bs->physState;
mjr	73:4e8ce0b18915	3389
mjr	73:4e8ce0b18915	3390	// pack it into the appropriate bit
mjr	73:4e8ce0b18915	3391	int idx = bs->cfgIndex;
mjr	73:4e8ce0b18915	3392	int si = idx / 8;
mjr	73:4e8ce0b18915	3393	int shift = idx & 0x07;
mjr	73:4e8ce0b18915	3394	state[si] \|= b << shift;
mjr	73:4e8ce0b18915	3395	}
mjr	73:4e8ce0b18915	3396
mjr	73:4e8ce0b18915	3397	// send the report
mjr	73:4e8ce0b18915	3398	js.reportButtonStatus(MAX_BUTTONS, state);
mjr	73:4e8ce0b18915	3399	}
mjr	73:4e8ce0b18915	3400
mjr	5:a70c0bce770d	3401	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	3402	//
mjr	5:a70c0bce770d	3403	// Customization joystick subbclass
mjr	5:a70c0bce770d	3404	//
mjr	5:a70c0bce770d	3405
mjr	5:a70c0bce770d	3406	class MyUSBJoystick: public USBJoystick
mjr	5:a70c0bce770d	3407	{
mjr	5:a70c0bce770d	3408	public:
mjr	35:e959ffba78fd	3409	MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release,
mjr	90:aa4e571da8e8	3410	bool waitForConnect, bool enableJoystick, int axisFormat, bool useKB)
mjr	90:aa4e571da8e8	3411	: USBJoystick(vendor_id, product_id, product_release, waitForConnect, enableJoystick, axisFormat, useKB)
mjr	5:a70c0bce770d	3412	{
mjr	54:fd77a6b2f76c	3413	sleeping_ = false;
mjr	54:fd77a6b2f76c	3414	reconnectPending_ = false;
mjr	54:fd77a6b2f76c	3415	timer_.start();
mjr	54:fd77a6b2f76c	3416	}
mjr	54:fd77a6b2f76c	3417
mjr	54:fd77a6b2f76c	3418	// show diagnostic LED feedback for connect state
mjr	54:fd77a6b2f76c	3419	void diagFlash()
mjr	54:fd77a6b2f76c	3420	{
mjr	54:fd77a6b2f76c	3421	if (!configured() \|\| sleeping_)
mjr	54:fd77a6b2f76c	3422	{
mjr	54:fd77a6b2f76c	3423	// flash once if sleeping or twice if disconnected
mjr	54:fd77a6b2f76c	3424	for (int j = isConnected() ? 1 : 2 ; j > 0 ; --j)
mjr	54:fd77a6b2f76c	3425	{
mjr	54:fd77a6b2f76c	3426	// short red flash
mjr	54:fd77a6b2f76c	3427	diagLED(1, 0, 0);
mjr	54:fd77a6b2f76c	3428	wait_us(50000);
mjr	54:fd77a6b2f76c	3429	diagLED(0, 0, 0);
mjr	54:fd77a6b2f76c	3430	wait_us(50000);
mjr	54:fd77a6b2f76c	3431	}
mjr	54:fd77a6b2f76c	3432	}
mjr	5:a70c0bce770d	3433	}
mjr	5:a70c0bce770d	3434
mjr	5:a70c0bce770d	3435	// are we connected?
mjr	5:a70c0bce770d	3436	int isConnected() { return configured(); }
mjr	5:a70c0bce770d	3437
mjr	54:fd77a6b2f76c	3438	// Are we in sleep mode? If true, this means that the hardware has
mjr	54:fd77a6b2f76c	3439	// detected no activity on the bus for 3ms. This happens when the
mjr	54:fd77a6b2f76c	3440	// cable is physically disconnected, the computer is turned off, or
mjr	54:fd77a6b2f76c	3441	// the connection is otherwise disabled.
mjr	54:fd77a6b2f76c	3442	bool isSleeping() const { return sleeping_; }
mjr	54:fd77a6b2f76c	3443
mjr	54:fd77a6b2f76c	3444	// If necessary, attempt to recover from a broken connection.
mjr	54:fd77a6b2f76c	3445	//
mjr	54:fd77a6b2f76c	3446	// This is a hack, to work around an apparent timing bug in the
mjr	54:fd77a6b2f76c	3447	// KL25Z USB implementation that I haven't been able to solve any
mjr	54:fd77a6b2f76c	3448	// other way.
mjr	54:fd77a6b2f76c	3449	//
mjr	54:fd77a6b2f76c	3450	// The issue: when we have an established connection, and the
mjr	54:fd77a6b2f76c	3451	// connection is broken by physically unplugging the cable or by
mjr	54:fd77a6b2f76c	3452	// rebooting the PC, the KL25Z sometimes fails to reconnect when
mjr	54:fd77a6b2f76c	3453	// the physical connection is re-established. The failure is
mjr	54:fd77a6b2f76c	3454	// sporadic; I'd guess it happens about 25% of the time, but I
mjr	54:fd77a6b2f76c	3455	// haven't collected any real statistics on it.
mjr	54:fd77a6b2f76c	3456	//
mjr	54:fd77a6b2f76c	3457	// The proximate cause of the failure is a deadlock in the SETUP
mjr	54:fd77a6b2f76c	3458	// protocol between the host and device that happens around the
mjr	54:fd77a6b2f76c	3459	// point where the PC is requesting the configuration descriptor.
mjr	54:fd77a6b2f76c	3460	// The exact point in the protocol where this occurs varies slightly;
mjr	54:fd77a6b2f76c	3461	// it can occur a message or two before or after the Get Config
mjr	54:fd77a6b2f76c	3462	// Descriptor packet. No matter where it happens, the nature of
mjr	54:fd77a6b2f76c	3463	// the deadlock is the same: the PC thinks it sees a STALL on EP0
mjr	54:fd77a6b2f76c	3464	// from the device, so it terminates the connection attempt, which
mjr	54:fd77a6b2f76c	3465	// stops further traffic on the cable. The KL25Z USB hardware sees
mjr	54:fd77a6b2f76c	3466	// the lack of traffic and triggers a SLEEP interrupt (a misnomer
mjr	54:fd77a6b2f76c	3467	// for what should have been called a BROKEN CONNECTION interrupt).
mjr	54:fd77a6b2f76c	3468	// Both sides simply stop talking at this point, so the connection
mjr	54:fd77a6b2f76c	3469	// is effectively dead.
mjr	54:fd77a6b2f76c	3470	//
mjr	54:fd77a6b2f76c	3471	// The strange thing is that, as far as I can tell, the KL25Z isn't
mjr	54:fd77a6b2f76c	3472	// doing anything to trigger the STALL on its end. Both the PC
mjr	54:fd77a6b2f76c	3473	// and the KL25Z are happy up until the very point of the failure
mjr	54:fd77a6b2f76c	3474	// and show no signs of anything wrong in the protocol exchange.
mjr	54:fd77a6b2f76c	3475	// In fact, every detail of the protocol exchange up to this point
mjr	54:fd77a6b2f76c	3476	// is identical to every successful exchange that does finish the
mjr	54:fd77a6b2f76c	3477	// whole setup process successfully, on both the KL25Z and Windows
mjr	54:fd77a6b2f76c	3478	// sides of the connection. I can't find any point of difference
mjr	54:fd77a6b2f76c	3479	// between successful and unsuccessful sequences that suggests why
mjr	54:fd77a6b2f76c	3480	// the fateful message fails. This makes me suspect that whatever
mjr	54:fd77a6b2f76c	3481	// is going wrong is inside the KL25Z USB hardware module, which
mjr	54:fd77a6b2f76c	3482	// is a pretty substantial black box - it has a lot of internal
mjr	54:fd77a6b2f76c	3483	// state that's inaccessible to the software. Further bolstering
mjr	54:fd77a6b2f76c	3484	// this theory is a little experiment where I found that I could
mjr	54:fd77a6b2f76c	3485	// reproduce the exact sequence of events of a failed reconnect
mjr	54:fd77a6b2f76c	3486	// attempt in an initial connection, which is otherwise 100%
mjr	54:fd77a6b2f76c	3487	// reliable, by inserting a little bit of artifical time padding
mjr	54:fd77a6b2f76c	3488	// (200us per event) into the SETUP interrupt handler. My
mjr	54:fd77a6b2f76c	3489	// hypothesis is that the STALL event happens because the KL25Z
mjr	54:fd77a6b2f76c	3490	// USB hardware is too slow to respond to a message. I'm not
mjr	54:fd77a6b2f76c	3491	// sure why this would only happen after a disconnect and not
mjr	54:fd77a6b2f76c	3492	// during the initial connection; maybe there's some reset work
mjr	54:fd77a6b2f76c	3493	// in the hardware that takes a substantial amount of time after
mjr	54:fd77a6b2f76c	3494	// a disconnect.
mjr	54:fd77a6b2f76c	3495	//
mjr	54:fd77a6b2f76c	3496	// The solution: the problem happens during the SETUP exchange,
mjr	54:fd77a6b2f76c	3497	// after we've been assigned a bus address. It only happens on
mjr	54:fd77a6b2f76c	3498	// some percentage of connection requests, so if we can simply
mjr	54:fd77a6b2f76c	3499	// start over when the failure occurs, we'll eventually succeed
mjr	54:fd77a6b2f76c	3500	// simply because not every attempt fails. The ideal would be
mjr	54:fd77a6b2f76c	3501	// to get the success rate up to 100%, but I can't figure out how
mjr	54:fd77a6b2f76c	3502	// to fix the underlying problem, so this is the next best thing.
mjr	54:fd77a6b2f76c	3503	//
mjr	54:fd77a6b2f76c	3504	// We can detect when the failure occurs by noticing when a SLEEP
mjr	54:fd77a6b2f76c	3505	// interrupt happens while we have an assigned bus address.
mjr	54:fd77a6b2f76c	3506	//
mjr	54:fd77a6b2f76c	3507	// To start a new connection attempt, we have to make the host
mjr	54:fd77a6b2f76c	3508	// try again. The logical connection is initiated solely by the
mjr	54:fd77a6b2f76c	3509	// host. Fortunately, it's easy to get the host to initiate the
mjr	54:fd77a6b2f76c	3510	// process: if we disconnect on the device side, it effectively
mjr	54:fd77a6b2f76c	3511	// makes the device look to the PC like it's electrically unplugged.
mjr	54:fd77a6b2f76c	3512	// When we reconnect on the device side, the PC thinks a new device
mjr	54:fd77a6b2f76c	3513	// has been plugged in and initiates the logical connection setup.
mjr	74:822a92bc11d2	3514	// We have to remain disconnected for some minimum interval before
mjr	74:822a92bc11d2	3515	// the host notices; the exact minimum is unclear, but 5ms seems
mjr	74:822a92bc11d2	3516	// reliable in practice.
mjr	54:fd77a6b2f76c	3517	//
mjr	54:fd77a6b2f76c	3518	// Here's the full algorithm:
mjr	54:fd77a6b2f76c	3519	//
mjr	54:fd77a6b2f76c	3520	// 1. In the SLEEP interrupt handler, if we have a bus address,
mjr	54:fd77a6b2f76c	3521	// we disconnect the device. This happens in ISR context, so we
mjr	54:fd77a6b2f76c	3522	// can't wait around for 5ms. Instead, we simply set a flag noting
mjr	54:fd77a6b2f76c	3523	// that the connection has been broken, and we note the time and
mjr	54:fd77a6b2f76c	3524	// return.
mjr	54:fd77a6b2f76c	3525	//
mjr	54:fd77a6b2f76c	3526	// 2. In our main loop, whenever we find that we're disconnected,
mjr	54:fd77a6b2f76c	3527	// we call recoverConnection(). The main loop's job is basically a
mjr	54:fd77a6b2f76c	3528	// bunch of device polling. We're just one more device to poll, so
mjr	54:fd77a6b2f76c	3529	// recoverConnection() will be called soon after a disconnect, and
mjr	54:fd77a6b2f76c	3530	// then will be called in a loop for as long as we're disconnected.
mjr	54:fd77a6b2f76c	3531	//
mjr	54:fd77a6b2f76c	3532	// 3. In recoverConnection(), we check the flag we set in the SLEEP
mjr	54:fd77a6b2f76c	3533	// handler. If set, we wait until 5ms has elapsed from the SLEEP
mjr	54:fd77a6b2f76c	3534	// event time that we noted, then we'll reconnect and clear the flag.
mjr	54:fd77a6b2f76c	3535	// This gives us the required 5ms (or longer) delay between the
mjr	54:fd77a6b2f76c	3536	// disconnect and reconnect, ensuring that the PC will notice and
mjr	54:fd77a6b2f76c	3537	// will start over with the connection protocol.
mjr	54:fd77a6b2f76c	3538	//
mjr	54:fd77a6b2f76c	3539	// 4. The main loop keeps calling recoverConnection() in a loop for
mjr	54:fd77a6b2f76c	3540	// as long as we're disconnected, so if the new connection attempt
mjr	54:fd77a6b2f76c	3541	// triggered in step 3 fails, the SLEEP interrupt will happen again,
mjr	54:fd77a6b2f76c	3542	// we'll disconnect again, the flag will get set again, and
mjr	54:fd77a6b2f76c	3543	// recoverConnection() will reconnect again after another suitable
mjr	54:fd77a6b2f76c	3544	// delay. This will repeat until the connection succeeds or hell
mjr	54:fd77a6b2f76c	3545	// freezes over.
mjr	54:fd77a6b2f76c	3546	//
mjr	54:fd77a6b2f76c	3547	// Each disconnect happens immediately when a reconnect attempt
mjr	54:fd77a6b2f76c	3548	// fails, and an entire successful connection only takes about 25ms,
mjr	54:fd77a6b2f76c	3549	// so our loop can retry at more than 30 attempts per second.
mjr	54:fd77a6b2f76c	3550	// In my testing, lost connections almost always reconnect in
mjr	54:fd77a6b2f76c	3551	// less than second with this code in place.
mjr	54:fd77a6b2f76c	3552	void recoverConnection()
mjr	54:fd77a6b2f76c	3553	{
mjr	54:fd77a6b2f76c	3554	// if a reconnect is pending, reconnect
mjr	54:fd77a6b2f76c	3555	if (reconnectPending_)
mjr	54:fd77a6b2f76c	3556	{
mjr	54:fd77a6b2f76c	3557	// Loop until we reach 5ms after the last sleep event.
mjr	54:fd77a6b2f76c	3558	for (bool done = false ; !done ; )
mjr	54:fd77a6b2f76c	3559	{
mjr	54:fd77a6b2f76c	3560	// If we've reached the target time, reconnect. Do the
mjr	54:fd77a6b2f76c	3561	// time check and flag reset atomically, so that we can't
mjr	54:fd77a6b2f76c	3562	// have another sleep event sneak in after we've verified
mjr	54:fd77a6b2f76c	3563	// the time. If another event occurs, it has to happen
mjr	54:fd77a6b2f76c	3564	// before we check, in which case it'll update the time
mjr	54:fd77a6b2f76c	3565	// before we check it, or after we clear the flag, in
mjr	54:fd77a6b2f76c	3566	// which case it will reset the flag and we'll do another
mjr	54:fd77a6b2f76c	3567	// round the next time we call this routine.
mjr	54:fd77a6b2f76c	3568	__disable_irq();
mjr	54:fd77a6b2f76c	3569	if (uint32_t(timer_.read_us() - lastSleepTime_) > 5000)
mjr	54:fd77a6b2f76c	3570	{
mjr	54:fd77a6b2f76c	3571	connect(false);
mjr	54:fd77a6b2f76c	3572	reconnectPending_ = false;
mjr	54:fd77a6b2f76c	3573	done = true;
mjr	54:fd77a6b2f76c	3574	}
mjr	54:fd77a6b2f76c	3575	__enable_irq();
mjr	54:fd77a6b2f76c	3576	}
mjr	54:fd77a6b2f76c	3577	}
mjr	54:fd77a6b2f76c	3578	}
mjr	5:a70c0bce770d	3579
mjr	5:a70c0bce770d	3580	protected:
mjr	54:fd77a6b2f76c	3581	// Handle a USB SLEEP interrupt. This interrupt signifies that the
mjr	54:fd77a6b2f76c	3582	// USB hardware module hasn't seen any token traffic for 3ms, which
mjr	54:fd77a6b2f76c	3583	// means that we're either physically or logically disconnected.
mjr	54:fd77a6b2f76c	3584	//
mjr	54:fd77a6b2f76c	3585	// Important: this runs in ISR context.
mjr	54:fd77a6b2f76c	3586	//
mjr	54:fd77a6b2f76c	3587	// Note that this is a specialized sense of "sleep" that's unrelated
mjr	54:fd77a6b2f76c	3588	// to the similarly named power modes on the PC. This has nothing
mjr	54:fd77a6b2f76c	3589	// to do with suspend/sleep mode on the PC, and it's not a low-power
mjr	54:fd77a6b2f76c	3590	// mode on the KL25Z. They really should have called this interrupt
mjr	54:fd77a6b2f76c	3591	// DISCONNECT or BROKEN CONNECTION.)
mjr	54:fd77a6b2f76c	3592	virtual void sleepStateChanged(unsigned int sleeping)
mjr	54:fd77a6b2f76c	3593	{
mjr	54:fd77a6b2f76c	3594	// note the new state
mjr	54:fd77a6b2f76c	3595	sleeping_ = sleeping;
mjr	54:fd77a6b2f76c	3596
mjr	54:fd77a6b2f76c	3597	// If we have a non-zero bus address, we have at least a partial
mjr	54:fd77a6b2f76c	3598	// connection to the host (we've made it at least as far as the
mjr	54:fd77a6b2f76c	3599	// SETUP stage). Explicitly disconnect, and the pending reconnect
mjr	54:fd77a6b2f76c	3600	// flag, and remember the time of the sleep event.
mjr	54:fd77a6b2f76c	3601	if (USB0->ADDR != 0x00)
mjr	54:fd77a6b2f76c	3602	{
mjr	54:fd77a6b2f76c	3603	disconnect();
mjr	54:fd77a6b2f76c	3604	lastSleepTime_ = timer_.read_us();
mjr	54:fd77a6b2f76c	3605	reconnectPending_ = true;
mjr	54:fd77a6b2f76c	3606	}
mjr	54:fd77a6b2f76c	3607	}
mjr	54:fd77a6b2f76c	3608
mjr	54:fd77a6b2f76c	3609	// is the USB connection asleep?
mjr	54:fd77a6b2f76c	3610	volatile bool sleeping_;
mjr	54:fd77a6b2f76c	3611
mjr	54:fd77a6b2f76c	3612	// flag: reconnect pending after sleep event
mjr	54:fd77a6b2f76c	3613	volatile bool reconnectPending_;
mjr	54:fd77a6b2f76c	3614
mjr	54:fd77a6b2f76c	3615	// time of last sleep event while connected
mjr	54:fd77a6b2f76c	3616	volatile uint32_t lastSleepTime_;
mjr	54:fd77a6b2f76c	3617
mjr	54:fd77a6b2f76c	3618	// timer to keep track of interval since last sleep event
mjr	54:fd77a6b2f76c	3619	Timer timer_;
mjr	5:a70c0bce770d	3620	};
mjr	5:a70c0bce770d	3621
mjr	5:a70c0bce770d	3622	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	3623	//
mjr	5:a70c0bce770d	3624	// Accelerometer (MMA8451Q)
mjr	5:a70c0bce770d	3625	//
mjr	5:a70c0bce770d	3626
mjr	5:a70c0bce770d	3627	// The MMA8451Q is the KL25Z's on-board 3-axis accelerometer.
mjr	5:a70c0bce770d	3628	//
mjr	5:a70c0bce770d	3629	// This is a custom wrapper for the library code to interface to the
mjr	6:cc35eb643e8f	3630	// MMA8451Q. This class encapsulates an interrupt handler and
mjr	6:cc35eb643e8f	3631	// automatic calibration.
mjr	5:a70c0bce770d	3632	//
mjr	77:0b96f6867312	3633	// We collect data at the device's maximum rate of 800kHz (one sample
mjr	77:0b96f6867312	3634	// every 1.25ms). To keep up with the high data rate, we use the
mjr	77:0b96f6867312	3635	// device's internal FIFO, and drain the FIFO by polling on each
mjr	77:0b96f6867312	3636	// iteration of our main application loop. In the past, we used an
mjr	77:0b96f6867312	3637	// interrupt handler to read the device immediately on the arrival of
mjr	77:0b96f6867312	3638	// each sample, but this created too much latency for the IR remote
mjr	77:0b96f6867312	3639	// receiver, due to the relatively long time it takes to transfer the
mjr	77:0b96f6867312	3640	// accelerometer readings via I2C. The device's on-board FIFO can
mjr	77:0b96f6867312	3641	// store up to 32 samples, which gives us up to about 40ms between
mjr	77:0b96f6867312	3642	// polling iterations before the buffer overflows. Our main loop runs
mjr	77:0b96f6867312	3643	// in under 2ms, so we can easily keep the FIFO far from overflowing.
mjr	77:0b96f6867312	3644	//
mjr	77:0b96f6867312	3645	// The MMA8451Q has three range modes, +/- 2G, 4G, and 8G. The ADC
mjr	77:0b96f6867312	3646	// sample is the same bit width (14 bits) in all modes, so the higher
mjr	77:0b96f6867312	3647	// dynamic range modes trade physical precision for range. For our
mjr	77:0b96f6867312	3648	// purposes, precision is more important than range, so we use the
mjr	77:0b96f6867312	3649	// +/-2G mode. Further, our joystick range is calibrated for only
mjr	77:0b96f6867312	3650	// +/-1G. This was unintentional on my part; I didn't look at the
mjr	77:0b96f6867312	3651	// MMA8451Q library closely enough to realize it was normalizing to
mjr	77:0b96f6867312	3652	// actual "G" units, and assumed that it was normalizing to a -1..+1
mjr	77:0b96f6867312	3653	// scale. In practice, a +/-1G scale seems perfectly adequate for
mjr	77:0b96f6867312	3654	// virtual pinball use, so I'm sticking with that range for now. But
mjr	77:0b96f6867312	3655	// there might be some benefit in renormalizing to a +/-2G range, in
mjr	77:0b96f6867312	3656	// that it would allow for higher dynamic range for very hard nudges.
mjr	77:0b96f6867312	3657	// Everyone would have to tweak their nudge sensitivity in VP if I
mjr	77:0b96f6867312	3658	// made that change, though, so I'm keeping it as is for now; it would
mjr	77:0b96f6867312	3659	// be best to make it a config option ("accelerometer high dynamic range")
mjr	77:0b96f6867312	3660	// rather than change it across the board.
mjr	5:a70c0bce770d	3661	//
mjr	6:cc35eb643e8f	3662	// We automatically calibrate the accelerometer so that it's not
mjr	6:cc35eb643e8f	3663	// necessary to get it exactly level when installing it, and so
mjr	6:cc35eb643e8f	3664	// that it's also not necessary to calibrate it manually. There's
mjr	6:cc35eb643e8f	3665	// lots of experience that tells us that manual calibration is a
mjr	6:cc35eb643e8f	3666	// terrible solution, mostly because cabinets tend to shift slightly
mjr	6:cc35eb643e8f	3667	// during use, requiring frequent recalibration. Instead, we
mjr	6:cc35eb643e8f	3668	// calibrate automatically. We continuously monitor the acceleration
mjr	6:cc35eb643e8f	3669	// data, watching for periods of constant (or nearly constant) values.
mjr	6:cc35eb643e8f	3670	// Any time it appears that the machine has been at rest for a while
mjr	6:cc35eb643e8f	3671	// (about 5 seconds), we'll average the readings during that rest
mjr	6:cc35eb643e8f	3672	// period and use the result as the level rest position. This is
mjr	6:cc35eb643e8f	3673	// is ongoing, so we'll quickly find the center point again if the
mjr	6:cc35eb643e8f	3674	// machine is moved during play (by an especially aggressive bout
mjr	6:cc35eb643e8f	3675	// of nudging, say).
mjr	5:a70c0bce770d	3676	//
mjr	5:a70c0bce770d	3677
mjr	17:ab3cec0c8bf4	3678	// I2C address of the accelerometer (this is a constant of the KL25Z)
mjr	17:ab3cec0c8bf4	3679	const int MMA8451_I2C_ADDRESS = (0x1d<<1);
mjr	17:ab3cec0c8bf4	3680
mjr	17:ab3cec0c8bf4	3681	// SCL and SDA pins for the accelerometer (constant for the KL25Z)
mjr	17:ab3cec0c8bf4	3682	#define MMA8451_SCL_PIN PTE25
mjr	17:ab3cec0c8bf4	3683	#define MMA8451_SDA_PIN PTE24
mjr	17:ab3cec0c8bf4	3684
mjr	17:ab3cec0c8bf4	3685	// Digital in pin to use for the accelerometer interrupt. For the KL25Z,
mjr	17:ab3cec0c8bf4	3686	// this can be either PTA14 or PTA15, since those are the pins physically
mjr	17:ab3cec0c8bf4	3687	// wired on this board to the MMA8451 interrupt controller.
mjr	17:ab3cec0c8bf4	3688	#define MMA8451_INT_PIN PTA15
mjr	17:ab3cec0c8bf4	3689
mjr	17:ab3cec0c8bf4	3690
mjr	6:cc35eb643e8f	3691	// accelerometer input history item, for gathering calibration data
mjr	6:cc35eb643e8f	3692	struct AccHist
mjr	5:a70c0bce770d	3693	{
mjr	77:0b96f6867312	3694	AccHist() { x = y = dsq = 0; xtot = ytot = 0; cnt = 0; }
mjr	77:0b96f6867312	3695	void set(int x, int y, AccHist *prv)
mjr	6:cc35eb643e8f	3696	{
mjr	6:cc35eb643e8f	3697	// save the raw position
mjr	6:cc35eb643e8f	3698	this->x = x;
mjr	6:cc35eb643e8f	3699	this->y = y;
mjr	77:0b96f6867312	3700	this->dsq = distanceSquared(prv);
mjr	6:cc35eb643e8f	3701	}
mjr	6:cc35eb643e8f	3702
mjr	6:cc35eb643e8f	3703	// reading for this entry
mjr	77:0b96f6867312	3704	int x, y;
mjr	77:0b96f6867312	3705
mjr	77:0b96f6867312	3706	// (distance from previous entry) squared
mjr	77:0b96f6867312	3707	int dsq;
mjr	5:a70c0bce770d	3708
mjr	6:cc35eb643e8f	3709	// total and count of samples averaged over this period
mjr	77:0b96f6867312	3710	int xtot, ytot;
mjr	6:cc35eb643e8f	3711	int cnt;
mjr	6:cc35eb643e8f	3712
mjr	77:0b96f6867312	3713	void clearAvg() { xtot = ytot = 0; cnt = 0; }
mjr	77:0b96f6867312	3714	void addAvg(int x, int y) { xtot += x; ytot += y; ++cnt; }
mjr	77:0b96f6867312	3715	int xAvg() const { return xtot/cnt; }
mjr	77:0b96f6867312	3716	int yAvg() const { return ytot/cnt; }
mjr	77:0b96f6867312	3717
mjr	77:0b96f6867312	3718	int distanceSquared(AccHist *p)
mjr	77:0b96f6867312	3719	{ return square(p->x - x) + square(p->y - y); }
mjr	5:a70c0bce770d	3720	};
mjr	5:a70c0bce770d	3721
mjr	5:a70c0bce770d	3722	// accelerometer wrapper class
mjr	3:3514575d4f86	3723	class Accel
mjr	3:3514575d4f86	3724	{
mjr	3:3514575d4f86	3725	public:
mjr	78:1e00b3fa11af	3726	Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin,
mjr	78:1e00b3fa11af	3727	int range, int autoCenterMode)
mjr	77:0b96f6867312	3728	: mma_(sda, scl, i2cAddr)
mjr	3:3514575d4f86	3729	{
mjr	5:a70c0bce770d	3730	// remember the interrupt pin assignment
mjr	5:a70c0bce770d	3731	irqPin_ = irqPin;
mjr	77:0b96f6867312	3732
mjr	77:0b96f6867312	3733	// remember the range
mjr	77:0b96f6867312	3734	range_ = range;
mjr	78:1e00b3fa11af	3735
mjr	78:1e00b3fa11af	3736	// set the auto-centering mode
mjr	78:1e00b3fa11af	3737	setAutoCenterMode(autoCenterMode);
mjr	78:1e00b3fa11af	3738
mjr	78:1e00b3fa11af	3739	// no manual centering request has been received
mjr	78:1e00b3fa11af	3740	manualCenterRequest_ = false;
mjr	5:a70c0bce770d	3741
mjr	5:a70c0bce770d	3742	// reset and initialize
mjr	5:a70c0bce770d	3743	reset();
mjr	5:a70c0bce770d	3744	}
mjr	5:a70c0bce770d	3745
mjr	78:1e00b3fa11af	3746	// Request manual centering. This applies the trailing average
mjr	78:1e00b3fa11af	3747	// of recent measurements and applies it as the new center point
mjr	78:1e00b3fa11af	3748	// as soon as we have enough data.
mjr	78:1e00b3fa11af	3749	void manualCenterRequest() { manualCenterRequest_ = true; }
mjr	78:1e00b3fa11af	3750
mjr	78:1e00b3fa11af	3751	// set the auto-centering mode
mjr	78:1e00b3fa11af	3752	void setAutoCenterMode(int mode)
mjr	78:1e00b3fa11af	3753	{
mjr	78:1e00b3fa11af	3754	// remember the mode
mjr	78:1e00b3fa11af	3755	autoCenterMode_ = mode;
mjr	78:1e00b3fa11af	3756
mjr	78:1e00b3fa11af	3757	// Set the time between checks. We check 5 times over the course
mjr	78:1e00b3fa11af	3758	// of the centering time, so the check interval is 1/5 of the total.
mjr	78:1e00b3fa11af	3759	if (mode == 0)
mjr	78:1e00b3fa11af	3760	{
mjr	78:1e00b3fa11af	3761	// mode 0 is the old default of 5 seconds, so check every 1s
mjr	78:1e00b3fa11af	3762	autoCenterCheckTime_ = 1000000;
mjr	78:1e00b3fa11af	3763	}
mjr	78:1e00b3fa11af	3764	else if (mode <= 60)
mjr	78:1e00b3fa11af	3765	{
mjr	78:1e00b3fa11af	3766	// mode 1-60 means reset after 'mode' seconds; the check
mjr	78:1e00b3fa11af	3767	// interval is 1/5 of this
mjr	78:1e00b3fa11af	3768	autoCenterCheckTime_ = mode*200000;
mjr	78:1e00b3fa11af	3769	}
mjr	78:1e00b3fa11af	3770	else
mjr	78:1e00b3fa11af	3771	{
mjr	78:1e00b3fa11af	3772	// Auto-centering is off, but still gather statistics to apply
mjr	78:1e00b3fa11af	3773	// when we get a manual centering request. The check interval
mjr	78:1e00b3fa11af	3774	// in this case is 1/5 of the total time for the trailing average
mjr	78:1e00b3fa11af	3775	// we apply for the manual centering. We want this to be long
mjr	78:1e00b3fa11af	3776	// enough to smooth out the data, but short enough that it only
mjr	78:1e00b3fa11af	3777	// includes recent data.
mjr	78:1e00b3fa11af	3778	autoCenterCheckTime_ = 500000;
mjr	78:1e00b3fa11af	3779	}
mjr	78:1e00b3fa11af	3780	}
mjr	78:1e00b3fa11af	3781
mjr	5:a70c0bce770d	3782	void reset()
mjr	5:a70c0bce770d	3783	{
mjr	6:cc35eb643e8f	3784	// clear the center point
mjr	77:0b96f6867312	3785	cx_ = cy_ = 0;
mjr	6:cc35eb643e8f	3786
mjr	77:0b96f6867312	3787	// start the auto-centering timer
mjr	5:a70c0bce770d	3788	tCenter_.start();
mjr	5:a70c0bce770d	3789	iAccPrv_ = nAccPrv_ = 0;
mjr	6:cc35eb643e8f	3790
mjr	5:a70c0bce770d	3791	// reset and initialize the MMA8451Q
mjr	5:a70c0bce770d	3792	mma_.init();
mjr	77:0b96f6867312	3793
mjr	77:0b96f6867312	3794	// set the range
mjr	77:0b96f6867312	3795	mma_.setRange(
mjr	77:0b96f6867312	3796	range_ == AccelRange4G ? 4 :
mjr	77:0b96f6867312	3797	range_ == AccelRange8G ? 8 :
mjr	77:0b96f6867312	3798	2);
mjr	6:cc35eb643e8f	3799
mjr	77:0b96f6867312	3800	// set the average accumulators to zero
mjr	77:0b96f6867312	3801	xSum_ = ySum_ = 0;
mjr	77:0b96f6867312	3802	nSum_ = 0;
mjr	3:3514575d4f86	3803
mjr	3:3514575d4f86	3804	// read the current registers to clear the data ready flag
mjr	6:cc35eb643e8f	3805	mma_.getAccXYZ(ax_, ay_, az_);
mjr	3:3514575d4f86	3806	}
mjr	3:3514575d4f86	3807
mjr	77:0b96f6867312	3808	void poll()
mjr	76:7f5912b6340e	3809	{
mjr	77:0b96f6867312	3810	// read samples until we clear the FIFO
mjr	77:0b96f6867312	3811	while (mma_.getFIFOCount() != 0)
mjr	77:0b96f6867312	3812	{
mjr	77:0b96f6867312	3813	int x, y, z;
mjr	77:0b96f6867312	3814	mma_.getAccXYZ(x, y, z);
mjr	77:0b96f6867312	3815
mjr	77:0b96f6867312	3816	// add the new reading to the running total for averaging
mjr	77:0b96f6867312	3817	xSum_ += (x - cx_);
mjr	77:0b96f6867312	3818	ySum_ += (y - cy_);
mjr	77:0b96f6867312	3819	++nSum_;
mjr	77:0b96f6867312	3820
mjr	77:0b96f6867312	3821	// store the updates
mjr	77:0b96f6867312	3822	ax_ = x;
mjr	77:0b96f6867312	3823	ay_ = y;
mjr	77:0b96f6867312	3824	az_ = z;
mjr	77:0b96f6867312	3825	}
mjr	76:7f5912b6340e	3826	}
mjr	77:0b96f6867312	3827
mjr	9:fd65b0a94720	3828	void get(int &x, int &y)
mjr	3:3514575d4f86	3829	{
mjr	77:0b96f6867312	3830	// read the shared data and store locally for calculations
mjr	77:0b96f6867312	3831	int ax = ax_, ay = ay_;
mjr	77:0b96f6867312	3832	int xSum = xSum_, ySum = ySum_;
mjr	77:0b96f6867312	3833	int nSum = nSum_;
mjr	6:cc35eb643e8f	3834
mjr	77:0b96f6867312	3835	// reset the average accumulators for the next run
mjr	77:0b96f6867312	3836	xSum_ = ySum_ = 0;
mjr	77:0b96f6867312	3837	nSum_ = 0;
mjr	77:0b96f6867312	3838
mjr	77:0b96f6867312	3839	// add this sample to the current calibration interval's running total
mjr	77:0b96f6867312	3840	AccHist *p = accPrv_ + iAccPrv_;
mjr	77:0b96f6867312	3841	p->addAvg(ax, ay);
mjr	77:0b96f6867312	3842
mjr	78:1e00b3fa11af	3843	// If we're in auto-centering mode, check for auto-centering
mjr	78:1e00b3fa11af	3844	// at intervals of 1/5 of the overall time. If we're not in
mjr	78:1e00b3fa11af	3845	// auto-centering mode, check anyway at one-second intervals
mjr	78:1e00b3fa11af	3846	// so that we gather averages for manual centering requests.
mjr	78:1e00b3fa11af	3847	if (tCenter_.read_us() > autoCenterCheckTime_)
mjr	77:0b96f6867312	3848	{
mjr	77:0b96f6867312	3849	// add the latest raw sample to the history list
mjr	77:0b96f6867312	3850	AccHist *prv = p;
mjr	77:0b96f6867312	3851	iAccPrv_ = (iAccPrv_ + 1);
mjr	77:0b96f6867312	3852	if (iAccPrv_ >= maxAccPrv)
mjr	77:0b96f6867312	3853	iAccPrv_ = 0;
mjr	77:0b96f6867312	3854	p = accPrv_ + iAccPrv_;
mjr	77:0b96f6867312	3855	p->set(ax, ay, prv);
mjr	77:0b96f6867312	3856
mjr	78:1e00b3fa11af	3857	// if we have a full complement, check for auto-centering
mjr	77:0b96f6867312	3858	if (nAccPrv_ >= maxAccPrv)
mjr	77:0b96f6867312	3859	{
mjr	78:1e00b3fa11af	3860	// Center if:
mjr	78:1e00b3fa11af	3861	//
mjr	78:1e00b3fa11af	3862	// - Auto-centering is on, and we've been stable over the
mjr	78:1e00b3fa11af	3863	// whole sample period at our spot-check points
mjr	78:1e00b3fa11af	3864	//
mjr	78:1e00b3fa11af	3865	// - A manual centering request is pending
mjr	78:1e00b3fa11af	3866	//
mjr	77:0b96f6867312	3867	static const int accTol = 164*164; // 1% of range, squared
mjr	77:0b96f6867312	3868	AccHist *p0 = accPrv_;
mjr	78:1e00b3fa11af	3869	if (manualCenterRequest_
mjr	78:1e00b3fa11af	3870	\|\| (autoCenterMode_ <= 60
mjr	78:1e00b3fa11af	3871	&& p0[0].dsq < accTol
mjr	78:1e00b3fa11af	3872	&& p0[1].dsq < accTol
mjr	78:1e00b3fa11af	3873	&& p0[2].dsq < accTol
mjr	78:1e00b3fa11af	3874	&& p0[3].dsq < accTol
mjr	78:1e00b3fa11af	3875	&& p0[4].dsq < accTol))
mjr	77:0b96f6867312	3876	{
mjr	77:0b96f6867312	3877	// Figure the new calibration point as the average of
mjr	77:0b96f6867312	3878	// the samples over the rest period
mjr	77:0b96f6867312	3879	cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5;
mjr	77:0b96f6867312	3880	cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5;
mjr	78:1e00b3fa11af	3881
mjr	78:1e00b3fa11af	3882	// clear any pending manual centering request
mjr	78:1e00b3fa11af	3883	manualCenterRequest_ = false;
mjr	77:0b96f6867312	3884	}
mjr	77:0b96f6867312	3885	}
mjr	77:0b96f6867312	3886	else
mjr	77:0b96f6867312	3887	{
mjr	77:0b96f6867312	3888	// not enough samples yet; just up the count
mjr	77:0b96f6867312	3889	++nAccPrv_;
mjr	77:0b96f6867312	3890	}
mjr	6:cc35eb643e8f	3891
mjr	77:0b96f6867312	3892	// clear the new item's running totals
mjr	77:0b96f6867312	3893	p->clearAvg();
mjr	5:a70c0bce770d	3894
mjr	77:0b96f6867312	3895	// reset the timer
mjr	77:0b96f6867312	3896	tCenter_.reset();
mjr	77:0b96f6867312	3897	}
mjr	5:a70c0bce770d	3898
mjr	77:0b96f6867312	3899	// report our integrated velocity reading in x,y
mjr	77:0b96f6867312	3900	x = rawToReport(xSum/nSum);
mjr	77:0b96f6867312	3901	y = rawToReport(ySum/nSum);
mjr	5:a70c0bce770d	3902
mjr	6:cc35eb643e8f	3903	#ifdef DEBUG_PRINTF
mjr	77:0b96f6867312	3904	if (x != 0 \|\| y != 0)
mjr	77:0b96f6867312	3905	printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt);
mjr	6:cc35eb643e8f	3906	#endif
mjr	77:0b96f6867312	3907	}
mjr	29:582472d0bc57	3908
mjr	3:3514575d4f86	3909	private:
mjr	6:cc35eb643e8f	3910	// adjust a raw acceleration figure to a usb report value
mjr	77:0b96f6867312	3911	int rawToReport(int v)
mjr	5:a70c0bce770d	3912	{
mjr	77:0b96f6867312	3913	// Scale to the joystick report range. The accelerometer
mjr	77:0b96f6867312	3914	// readings use the native 14-bit signed integer representation,
mjr	77:0b96f6867312	3915	// so their scale is 2^13.
mjr	77:0b96f6867312	3916	//
mjr	77:0b96f6867312	3917	// The 1G range is special: it uses the 2G native hardware range,
mjr	77:0b96f6867312	3918	// but rescales the result to a 1G range for the joystick reports.
mjr	77:0b96f6867312	3919	// So for that mode, we divide by 4096 rather than 8192. All of
mjr	77:0b96f6867312	3920	// the other modes map use the hardware scaling directly.
mjr	77:0b96f6867312	3921	int i = v*JOYMAX;
mjr	77:0b96f6867312	3922	i = (range_ == AccelRange1G ? i/4096 : i/8192);
mjr	5:a70c0bce770d	3923
mjr	6:cc35eb643e8f	3924	// if it's near the center, scale it roughly as 20*(i/20)^2,
mjr	6:cc35eb643e8f	3925	// to suppress noise near the rest position
mjr	6:cc35eb643e8f	3926	static const int filter[] = {
mjr	6:cc35eb643e8f	3927	-18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0,
mjr	6:cc35eb643e8f	3928	0,
mjr	6:cc35eb643e8f	3929	0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18
mjr	6:cc35eb643e8f	3930	};
mjr	6:cc35eb643e8f	3931	return (i > 20 \|\| i < -20 ? i : filter[i+20]);
mjr	5:a70c0bce770d	3932	}
mjr	5:a70c0bce770d	3933
mjr	3:3514575d4f86	3934	// underlying accelerometer object
mjr	3:3514575d4f86	3935	MMA8451Q mma_;
mjr	3:3514575d4f86	3936
mjr	77:0b96f6867312	3937	// last raw acceleration readings, on the device's signed 14-bit
mjr	77:0b96f6867312	3938	// scale -8192..+8191
mjr	77:0b96f6867312	3939	int ax_, ay_, az_;
mjr	77:0b96f6867312	3940
mjr	77:0b96f6867312	3941	// running sum of readings since last get()
mjr	77:0b96f6867312	3942	int xSum_, ySum_;
mjr	77:0b96f6867312	3943
mjr	77:0b96f6867312	3944	// number of readings since last get()
mjr	77:0b96f6867312	3945	int nSum_;
mjr	6:cc35eb643e8f	3946
mjr	6:cc35eb643e8f	3947	// Calibration reference point for accelerometer. This is the
mjr	6:cc35eb643e8f	3948	// average reading on the accelerometer when in the neutral position
mjr	6:cc35eb643e8f	3949	// at rest.
mjr	77:0b96f6867312	3950	int cx_, cy_;
mjr	77:0b96f6867312	3951
mjr	77:0b96f6867312	3952	// range (AccelRangeXxx value, from config.h)
mjr	77:0b96f6867312	3953	uint8_t range_;
mjr	78:1e00b3fa11af	3954
mjr	78:1e00b3fa11af	3955	// auto-center mode:
mjr	78:1e00b3fa11af	3956	// 0 = default of 5-second auto-centering
mjr	78:1e00b3fa11af	3957	// 1-60 = auto-center after this many seconds
mjr	78:1e00b3fa11af	3958	// 255 = auto-centering off (manual centering only)
mjr	78:1e00b3fa11af	3959	uint8_t autoCenterMode_;
mjr	78:1e00b3fa11af	3960
mjr	78:1e00b3fa11af	3961	// flag: a manual centering request is pending
mjr	78:1e00b3fa11af	3962	bool manualCenterRequest_;
mjr	78:1e00b3fa11af	3963
mjr	78:1e00b3fa11af	3964	// time in us between auto-centering incremental checks
mjr	78:1e00b3fa11af	3965	uint32_t autoCenterCheckTime_;
mjr	78:1e00b3fa11af	3966
mjr	77:0b96f6867312	3967	// atuo-centering timer
mjr	5:a70c0bce770d	3968	Timer tCenter_;
mjr	6:cc35eb643e8f	3969
mjr	6:cc35eb643e8f	3970	// Auto-centering history. This is a separate history list that
mjr	77:0b96f6867312	3971	// records results spaced out sparsely over time, so that we can
mjr	6:cc35eb643e8f	3972	// watch for long-lasting periods of rest. When we observe nearly
mjr	6:cc35eb643e8f	3973	// no motion for an extended period (on the order of 5 seconds), we
mjr	6:cc35eb643e8f	3974	// take this to mean that the cabinet is at rest in its neutral
mjr	6:cc35eb643e8f	3975	// position, so we take this as the calibration zero point for the
mjr	6:cc35eb643e8f	3976	// accelerometer. We update this history continuously, which allows
mjr	6:cc35eb643e8f	3977	// us to continuously re-calibrate the accelerometer. This ensures
mjr	6:cc35eb643e8f	3978	// that we'll automatically adjust to any actual changes in the
mjr	6:cc35eb643e8f	3979	// cabinet's orientation (e.g., if it gets moved slightly by an
mjr	6:cc35eb643e8f	3980	// especially strong nudge) as well as any systematic drift in the
mjr	6:cc35eb643e8f	3981	// accelerometer measurement bias (e.g., from temperature changes).
mjr	78:1e00b3fa11af	3982	uint8_t iAccPrv_, nAccPrv_;
mjr	78:1e00b3fa11af	3983	static const uint8_t maxAccPrv = 5;
mjr	6:cc35eb643e8f	3984	AccHist accPrv_[maxAccPrv];
mjr	6:cc35eb643e8f	3985
mjr	5:a70c0bce770d	3986	// interurupt pin name
mjr	5:a70c0bce770d	3987	PinName irqPin_;
mjr	3:3514575d4f86	3988	};
mjr	3:3514575d4f86	3989
mjr	5:a70c0bce770d	3990	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	3991	//
mjr	14:df700b22ca08	3992	// Clear the I2C bus for the MMA8451Q. This seems necessary some of the time
mjr	5:a70c0bce770d	3993	// for reasons that aren't clear to me. Doing a hard power cycle has the same
mjr	5:a70c0bce770d	3994	// effect, but when we do a soft reset, the hardware sometimes seems to leave
mjr	5:a70c0bce770d	3995	// the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through
mjr	14:df700b22ca08	3996	// the SCL line is supposed to clear this condition. I'm not convinced this
mjr	14:df700b22ca08	3997	// actually works with the way this component is wired on the KL25Z, but it
mjr	14:df700b22ca08	3998	// seems harmless, so we'll do it on reset in case it does some good. What
mjr	14:df700b22ca08	3999	// we really seem to need is a way to power cycle the MMA8451Q if it ever
mjr	14:df700b22ca08	4000	// gets stuck, but this is simply not possible in software on the KL25Z.
mjr	14:df700b22ca08	4001	//
mjr	14:df700b22ca08	4002	// If the accelerometer does get stuck, and a software reboot doesn't reset
mjr	14:df700b22ca08	4003	// it, the only workaround is to manually power cycle the whole KL25Z by
mjr	14:df700b22ca08	4004	// unplugging both of its USB connections.
mjr	5:a70c0bce770d	4005	//
mjr	5:a70c0bce770d	4006	void clear_i2c()
mjr	5:a70c0bce770d	4007	{
mjr	38:091e511ce8a0	4008	// set up general-purpose output pins to the I2C lines
mjr	5:a70c0bce770d	4009	DigitalOut scl(MMA8451_SCL_PIN);
mjr	5:a70c0bce770d	4010	DigitalIn sda(MMA8451_SDA_PIN);
mjr	5:a70c0bce770d	4011
mjr	5:a70c0bce770d	4012	// clock the SCL 9 times
mjr	5:a70c0bce770d	4013	for (int i = 0 ; i < 9 ; ++i)
mjr	5:a70c0bce770d	4014	{
mjr	5:a70c0bce770d	4015	scl = 1;
mjr	5:a70c0bce770d	4016	wait_us(20);
mjr	5:a70c0bce770d	4017	scl = 0;
mjr	5:a70c0bce770d	4018	wait_us(20);
mjr	5:a70c0bce770d	4019	}
mjr	5:a70c0bce770d	4020	}
mjr	76:7f5912b6340e	4021
mjr	76:7f5912b6340e	4022
mjr	14:df700b22ca08	4023	// ---------------------------------------------------------------------------
mjr	14:df700b22ca08	4024	//
mjr	33:d832bcab089e	4025	// Simple binary (on/off) input debouncer. Requires an input to be stable
mjr	33:d832bcab089e	4026	// for a given interval before allowing an update.
mjr	33:d832bcab089e	4027	//
mjr	33:d832bcab089e	4028	class Debouncer
mjr	33:d832bcab089e	4029	{
mjr	33:d832bcab089e	4030	public:
mjr	33:d832bcab089e	4031	Debouncer(bool initVal, float tmin)
mjr	33:d832bcab089e	4032	{
mjr	33:d832bcab089e	4033	t.start();
mjr	33:d832bcab089e	4034	this->stable = this->prv = initVal;
mjr	33:d832bcab089e	4035	this->tmin = tmin;
mjr	33:d832bcab089e	4036	}
mjr	33:d832bcab089e	4037
mjr	33:d832bcab089e	4038	// Get the current stable value
mjr	33:d832bcab089e	4039	bool val() const { return stable; }
mjr	33:d832bcab089e	4040
mjr	33:d832bcab089e	4041	// Apply a new sample. This tells us the new raw reading from the
mjr	33:d832bcab089e	4042	// input device.
mjr	33:d832bcab089e	4043	void sampleIn(bool val)
mjr	33:d832bcab089e	4044	{
mjr	33:d832bcab089e	4045	// If the new raw reading is different from the previous
mjr	33:d832bcab089e	4046	// raw reading, we've detected an edge - start the clock
mjr	33:d832bcab089e	4047	// on the sample reader.
mjr	33:d832bcab089e	4048	if (val != prv)
mjr	33:d832bcab089e	4049	{
mjr	33:d832bcab089e	4050	// we have an edge - reset the sample clock
mjr	33:d832bcab089e	4051	t.reset();
mjr	33:d832bcab089e	4052
mjr	33:d832bcab089e	4053	// this is now the previous raw sample for nxt time
mjr	33:d832bcab089e	4054	prv = val;
mjr	33:d832bcab089e	4055	}
mjr	33:d832bcab089e	4056	else if (val != stable)
mjr	33:d832bcab089e	4057	{
mjr	33:d832bcab089e	4058	// The new raw sample is the same as the last raw sample,
mjr	33:d832bcab089e	4059	// and different from the stable value. This means that
mjr	33:d832bcab089e	4060	// the sample value has been the same for the time currently
mjr	33:d832bcab089e	4061	// indicated by our timer. If enough time has elapsed to
mjr	33:d832bcab089e	4062	// consider the value stable, apply the new value.
mjr	33:d832bcab089e	4063	if (t.read() > tmin)
mjr	33:d832bcab089e	4064	stable = val;
mjr	33:d832bcab089e	4065	}
mjr	33:d832bcab089e	4066	}
mjr	33:d832bcab089e	4067
mjr	33:d832bcab089e	4068	private:
mjr	33:d832bcab089e	4069	// current stable value
mjr	33:d832bcab089e	4070	bool stable;
mjr	33:d832bcab089e	4071
mjr	33:d832bcab089e	4072	// last raw sample value
mjr	33:d832bcab089e	4073	bool prv;
mjr	33:d832bcab089e	4074
mjr	33:d832bcab089e	4075	// elapsed time since last raw input change
mjr	33:d832bcab089e	4076	Timer t;
mjr	33:d832bcab089e	4077
mjr	33:d832bcab089e	4078	// Minimum time interval for stability, in seconds. Input readings
mjr	33:d832bcab089e	4079	// must be stable for this long before the stable value is updated.
mjr	33:d832bcab089e	4080	float tmin;
mjr	33:d832bcab089e	4081	};
mjr	33:d832bcab089e	4082
mjr	33:d832bcab089e	4083
mjr	33:d832bcab089e	4084	// ---------------------------------------------------------------------------
mjr	33:d832bcab089e	4085	//
mjr	33:d832bcab089e	4086	// TV ON timer. If this feature is enabled, we toggle a TV power switch
mjr	33:d832bcab089e	4087	// relay (connected to a GPIO pin) to turn on the cab's TV monitors shortly
mjr	33:d832bcab089e	4088	// after the system is powered. This is useful for TVs that don't remember
mjr	33:d832bcab089e	4089	// their power state and don't turn back on automatically after being
mjr	33:d832bcab089e	4090	// unplugged and plugged in again. This feature requires external
mjr	33:d832bcab089e	4091	// circuitry, which is built in to the expansion board and can also be
mjr	33:d832bcab089e	4092	// built separately - see the Build Guide for the circuit plan.
mjr	33:d832bcab089e	4093	//
mjr	33:d832bcab089e	4094	// Theory of operation: to use this feature, the cabinet must have a
mjr	33:d832bcab089e	4095	// secondary PC-style power supply (PSU2) for the feedback devices, and
mjr	33:d832bcab089e	4096	// this secondary supply must be plugged in to the same power strip or
mjr	33:d832bcab089e	4097	// switched outlet that controls power to the TVs. This lets us use PSU2
mjr	33:d832bcab089e	4098	// as a proxy for the TV power state - when PSU2 is on, the TV outlet is
mjr	33:d832bcab089e	4099	// powered, and when PSU2 is off, the TV outlet is off. We use a little
mjr	33:d832bcab089e	4100	// latch circuit powered by PSU2 to monitor the status. The latch has a
mjr	33:d832bcab089e	4101	// current state, ON or OFF, that we can read via a GPIO input pin, and
mjr	33:d832bcab089e	4102	// we can set the state to ON by pulsing a separate GPIO output pin. As
mjr	33:d832bcab089e	4103	// long as PSU2 is powered off, the latch stays in the OFF state, even if
mjr	33:d832bcab089e	4104	// we try to set it by pulsing the SET pin. When PSU2 is turned on after
mjr	33:d832bcab089e	4105	// being off, the latch starts receiving power but stays in the OFF state,
mjr	33:d832bcab089e	4106	// since this is the initial condition when the power first comes on. So
mjr	33:d832bcab089e	4107	// if our latch state pin is reading OFF, we know that PSU2 is either off
mjr	33:d832bcab089e	4108	// now or was off some time since we last checked. We use a timer to
mjr	33:d832bcab089e	4109	// check the state periodically. Each time we see the state is OFF, we
mjr	33:d832bcab089e	4110	// try pulsing the SET pin. If the state still reads as OFF, we know
mjr	33:d832bcab089e	4111	// that PSU2 is currently off; if the state changes to ON, though, we
mjr	33:d832bcab089e	4112	// know that PSU2 has gone from OFF to ON some time between now and the
mjr	33:d832bcab089e	4113	// previous check. When we see this condition, we start a countdown
mjr	33:d832bcab089e	4114	// timer, and pulse the TV switch relay when the countdown ends.
mjr	33:d832bcab089e	4115	//
mjr	40:cc0d9814522b	4116	// This scheme might seem a little convoluted, but it handles a number
mjr	40:cc0d9814522b	4117	// of tricky but likely scenarios:
mjr	33:d832bcab089e	4118	//
mjr	33:d832bcab089e	4119	// - Most cabinets systems are set up with "soft" PC power switches,
mjr	40:cc0d9814522b	4120	// so that the PC goes into "Soft Off" mode when the user turns off
mjr	40:cc0d9814522b	4121	// the cabinet by pushing the power button or using the Shut Down
mjr	40:cc0d9814522b	4122	// command from within Windows. In Windows parlance, this "soft off"
mjr	40:cc0d9814522b	4123	// condition is called ACPI State S5. In this state, the main CPU
mjr	40:cc0d9814522b	4124	// power is turned off, but the motherboard still provides power to
mjr	40:cc0d9814522b	4125	// USB devices. This means that the KL25Z keeps running. Without
mjr	40:cc0d9814522b	4126	// the external power sensing circuit, the only hint that we're in
mjr	40:cc0d9814522b	4127	// this state is that the USB connection to the host goes into Suspend
mjr	40:cc0d9814522b	4128	// mode, but that could mean other things as well. The latch circuit
mjr	40:cc0d9814522b	4129	// lets us tell for sure that we're in this state.
mjr	33:d832bcab089e	4130	//
mjr	33:d832bcab089e	4131	// - Some cabinet builders might prefer to use "hard" power switches,
mjr	33:d832bcab089e	4132	// cutting all power to the cabinet, including the PC motherboard (and
mjr	33:d832bcab089e	4133	// thus the KL25Z) every time the machine is turned off. This also
mjr	33:d832bcab089e	4134	// applies to the "soft" switch case above when the cabinet is unplugged,
mjr	33:d832bcab089e	4135	// a power outage occurs, etc. In these cases, the KL25Z will do a cold
mjr	33:d832bcab089e	4136	// boot when the PC is turned on. We don't know whether the KL25Z
mjr	33:d832bcab089e	4137	// will power up before or after PSU2, so it's not good enough to
mjr	40:cc0d9814522b	4138	// observe the current state of PSU2 when we first check. If PSU2
mjr	40:cc0d9814522b	4139	// were to come on first, checking only the current state would fool
mjr	40:cc0d9814522b	4140	// us into thinking that no action is required, because we'd only see
mjr	40:cc0d9814522b	4141	// that PSU2 is turned on any time we check. The latch handles this
mjr	40:cc0d9814522b	4142	// case by letting us see that PSU2 was indeed off some time before our
mjr	40:cc0d9814522b	4143	// first check.
mjr	33:d832bcab089e	4144	//
mjr	33:d832bcab089e	4145	// - If the KL25Z is rebooted while the main system is running, or the
mjr	40:cc0d9814522b	4146	// KL25Z is unplugged and plugged back in, we'll correctly leave the
mjr	33:d832bcab089e	4147	// TVs as they are. The latch state is independent of the KL25Z's
mjr	33:d832bcab089e	4148	// power or software state, so it's won't affect the latch state when
mjr	33:d832bcab089e	4149	// the KL25Z is unplugged or rebooted; when we boot, we'll see that
mjr	33:d832bcab089e	4150	// the latch is already on and that we don't have to turn on the TVs.
mjr	33:d832bcab089e	4151	// This is important because TV ON buttons are usually on/off toggles,
mjr	33:d832bcab089e	4152	// so we don't want to push the button on a TV that's already on.
mjr	33:d832bcab089e	4153	//
mjr	33:d832bcab089e	4154
mjr	77:0b96f6867312	4155	// Current PSU2 power state:
mjr	33:d832bcab089e	4156	// 1 -> default: latch was on at last check, or we haven't checked yet
mjr	33:d832bcab089e	4157	// 2 -> latch was off at last check, SET pulsed high
mjr	33:d832bcab089e	4158	// 3 -> SET pulsed low, ready to check status
mjr	33:d832bcab089e	4159	// 4 -> TV timer countdown in progress
mjr	33:d832bcab089e	4160	// 5 -> TV relay on
mjr	77:0b96f6867312	4161	// 6 -> sending IR signals designed as TV ON signals
mjr	73:4e8ce0b18915	4162	uint8_t psu2_state = 1;
mjr	73:4e8ce0b18915	4163
mjr	73:4e8ce0b18915	4164	// TV relay state. The TV relay can be controlled by the power-on
mjr	73:4e8ce0b18915	4165	// timer and directly from the PC (via USB commands), so keep a
mjr	73:4e8ce0b18915	4166	// separate state for each:
mjr	73:4e8ce0b18915	4167	// 0x01 -> turned on by power-on timer
mjr	73:4e8ce0b18915	4168	// 0x02 -> turned on by USB command
mjr	73:4e8ce0b18915	4169	uint8_t tv_relay_state = 0x00;
mjr	73:4e8ce0b18915	4170	const uint8_t TV_RELAY_POWERON = 0x01;
mjr	73:4e8ce0b18915	4171	const uint8_t TV_RELAY_USB = 0x02;
mjr	73:4e8ce0b18915	4172
mjr	79:682ae3171a08	4173	// pulse timer for manual TV relay pulses
mjr	79:682ae3171a08	4174	Timer tvRelayManualTimer;
mjr	79:682ae3171a08	4175
mjr	77:0b96f6867312	4176	// TV ON IR command state. When the main PSU2 power state reaches
mjr	77:0b96f6867312	4177	// the IR phase, we use this sub-state counter to send the TV ON
mjr	77:0b96f6867312	4178	// IR signals. We initialize to state 0 when the main state counter
mjr	77:0b96f6867312	4179	// reaches the IR step. In state 0, we start transmitting the first
mjr	77:0b96f6867312	4180	// (lowest numbered) IR command slot marked as containing a TV ON
mjr	77:0b96f6867312	4181	// code, and advance to state 1. In state 1, we check to see if
mjr	77:0b96f6867312	4182	// the transmitter is still sending; if so, we do nothing, if so
mjr	77:0b96f6867312	4183	// we start transmitting the second TV ON code and advance to state
mjr	77:0b96f6867312	4184	// 2. Continue until we run out of TV ON IR codes, at which point
mjr	77:0b96f6867312	4185	// we advance to the next main psu2_state step.
mjr	77:0b96f6867312	4186	uint8_t tvon_ir_state = 0;
mjr	77:0b96f6867312	4187
mjr	77:0b96f6867312	4188	// TV ON switch relay control output pin
mjr	73:4e8ce0b18915	4189	DigitalOut *tv_relay;
mjr	35:e959ffba78fd	4190
mjr	35:e959ffba78fd	4191	// PSU2 power sensing circuit connections
mjr	35:e959ffba78fd	4192	DigitalIn *psu2_status_sense;
mjr	35:e959ffba78fd	4193	DigitalOut *psu2_status_set;
mjr	35:e959ffba78fd	4194
mjr	73:4e8ce0b18915	4195	// Apply the current TV relay state
mjr	73:4e8ce0b18915	4196	void tvRelayUpdate(uint8_t bit, bool state)
mjr	73:4e8ce0b18915	4197	{
mjr	73:4e8ce0b18915	4198	// update the state
mjr	73:4e8ce0b18915	4199	if (state)
mjr	73:4e8ce0b18915	4200	tv_relay_state \|= bit;
mjr	73:4e8ce0b18915	4201	else
mjr	73:4e8ce0b18915	4202	tv_relay_state &= ~bit;
mjr	73:4e8ce0b18915	4203
mjr	73:4e8ce0b18915	4204	// set the relay GPIO to the new state
mjr	73:4e8ce0b18915	4205	if (tv_relay != 0)
mjr	73:4e8ce0b18915	4206	tv_relay->write(tv_relay_state != 0);
mjr	73:4e8ce0b18915	4207	}
mjr	35:e959ffba78fd	4208
mjr	86:e30a1f60f783	4209	// Does the current power status allow a reboot? We shouldn't reboot
mjr	86:e30a1f60f783	4210	// in certain power states, because some states are purely internal:
mjr	86:e30a1f60f783	4211	// we can't get enough information from the external power sensor to
mjr	86:e30a1f60f783	4212	// return to the same state later. Code that performs discretionary
mjr	86:e30a1f60f783	4213	// reboots should always check here first, and delay any reboot until
mjr	86:e30a1f60f783	4214	// we say it's okay.
mjr	86:e30a1f60f783	4215	static inline bool powerStatusAllowsReboot()
mjr	86:e30a1f60f783	4216	{
mjr	86:e30a1f60f783	4217	// The only safe state for rebooting is state 1, idle/default.
mjr	86:e30a1f60f783	4218	// In other states, we can't reboot, because the external sensor
mjr	86:e30a1f60f783	4219	// and latch circuit doesn't give us enough information to return
mjr	86:e30a1f60f783	4220	// to the same state later.
mjr	86:e30a1f60f783	4221	return psu2_state == 1;
mjr	86:e30a1f60f783	4222	}
mjr	86:e30a1f60f783	4223
mjr	77:0b96f6867312	4224	// PSU2 Status update routine. The main loop calls this from time
mjr	77:0b96f6867312	4225	// to time to update the power sensing state and carry out TV ON
mjr	77:0b96f6867312	4226	// functions.
mjr	77:0b96f6867312	4227	Timer powerStatusTimer;
mjr	77:0b96f6867312	4228	uint32_t tv_delay_time_us;
mjr	77:0b96f6867312	4229	void powerStatusUpdate(Config &cfg)
mjr	33:d832bcab089e	4230	{
mjr	79:682ae3171a08	4231	// If the manual relay pulse timer is past the pulse time, end the
mjr	79:682ae3171a08	4232	// manual pulse. The timer only runs when a pulse is active, so
mjr	79:682ae3171a08	4233	// it'll never read as past the time limit if a pulse isn't on.
mjr	79:682ae3171a08	4234	if (tvRelayManualTimer.read_us() > 250000)
mjr	79:682ae3171a08	4235	{
mjr	79:682ae3171a08	4236	// turn off the relay and disable the timer
mjr	79:682ae3171a08	4237	tvRelayUpdate(TV_RELAY_USB, false);
mjr	79:682ae3171a08	4238	tvRelayManualTimer.stop();
mjr	79:682ae3171a08	4239	tvRelayManualTimer.reset();
mjr	79:682ae3171a08	4240	}
mjr	79:682ae3171a08	4241
mjr	77:0b96f6867312	4242	// Only update every 1/4 second or so. Note that if the PSU2
mjr	77:0b96f6867312	4243	// circuit isn't configured, the initialization routine won't
mjr	77:0b96f6867312	4244	// start the timer, so it'll always read zero and we'll always
mjr	77:0b96f6867312	4245	// skip this whole routine.
mjr	77:0b96f6867312	4246	if (powerStatusTimer.read_us() < 250000)
mjr	77:0b96f6867312	4247	return;
mjr	77:0b96f6867312	4248
mjr	77:0b96f6867312	4249	// reset the update timer for next time
mjr	77:0b96f6867312	4250	powerStatusTimer.reset();
mjr	77:0b96f6867312	4251
mjr	77:0b96f6867312	4252	// TV ON timer. We start this timer when we detect a change
mjr	77:0b96f6867312	4253	// in the PSU2 status from OFF to ON. When the timer reaches
mjr	77:0b96f6867312	4254	// the configured TV ON delay time, and the PSU2 power is still
mjr	77:0b96f6867312	4255	// on, we'll trigger the TV ON relay and send the TV ON IR codes.
mjr	35:e959ffba78fd	4256	static Timer tv_timer;
mjr	35:e959ffba78fd	4257
mjr	33:d832bcab089e	4258	// Check our internal state
mjr	33:d832bcab089e	4259	switch (psu2_state)
mjr	33:d832bcab089e	4260	{
mjr	33:d832bcab089e	4261	case 1:
mjr	33:d832bcab089e	4262	// Default state. This means that the latch was on last
mjr	33:d832bcab089e	4263	// time we checked or that this is the first check. In
mjr	33:d832bcab089e	4264	// either case, if the latch is off, switch to state 2 and
mjr	33:d832bcab089e	4265	// try pulsing the latch. Next time we check, if the latch
mjr	33:d832bcab089e	4266	// stuck, it means that PSU2 is now on after being off.
mjr	35:e959ffba78fd	4267	if (!psu2_status_sense->read())
mjr	33:d832bcab089e	4268	{
mjr	33:d832bcab089e	4269	// switch to OFF state
mjr	33:d832bcab089e	4270	psu2_state = 2;
mjr	33:d832bcab089e	4271
mjr	33:d832bcab089e	4272	// try setting the latch
mjr	35:e959ffba78fd	4273	psu2_status_set->write(1);
mjr	33:d832bcab089e	4274	}
mjr	77:0b96f6867312	4275	powerTimerDiagState = 0;
mjr	33:d832bcab089e	4276	break;
mjr	33:d832bcab089e	4277
mjr	33:d832bcab089e	4278	case 2:
mjr	33:d832bcab089e	4279	// PSU2 was off last time we checked, and we tried setting
mjr	33:d832bcab089e	4280	// the latch. Drop the SET signal and go to CHECK state.
mjr	35:e959ffba78fd	4281	psu2_status_set->write(0);
mjr	33:d832bcab089e	4282	psu2_state = 3;
mjr	77:0b96f6867312	4283	powerTimerDiagState = 0;
mjr	33:d832bcab089e	4284	break;
mjr	33:d832bcab089e	4285
mjr	33:d832bcab089e	4286	case 3:
mjr	33:d832bcab089e	4287	// CHECK state: we pulsed SET, and we're now ready to see
mjr	40:cc0d9814522b	4288	// if it stuck. If the latch is now on, PSU2 has transitioned
mjr	33:d832bcab089e	4289	// from OFF to ON, so start the TV countdown. If the latch is
mjr	33:d832bcab089e	4290	// off, our SET command didn't stick, so PSU2 is still off.
mjr	35:e959ffba78fd	4291	if (psu2_status_sense->read())
mjr	33:d832bcab089e	4292	{
mjr	33:d832bcab089e	4293	// The latch stuck, so PSU2 has transitioned from OFF
mjr	33:d832bcab089e	4294	// to ON. Start the TV countdown timer.
mjr	33:d832bcab089e	4295	tv_timer.reset();
mjr	33:d832bcab089e	4296	tv_timer.start();
mjr	33:d832bcab089e	4297	psu2_state = 4;
mjr	73:4e8ce0b18915	4298
mjr	73:4e8ce0b18915	4299	// start the power timer diagnostic flashes
mjr	73:4e8ce0b18915	4300	powerTimerDiagState = 2;
mjr	33:d832bcab089e	4301	}
mjr	33:d832bcab089e	4302	else
mjr	33:d832bcab089e	4303	{
mjr	33:d832bcab089e	4304	// The latch didn't stick, so PSU2 was still off at
mjr	87:8d35c74403af	4305	// our last check. Return to idle state.
mjr	87:8d35c74403af	4306	psu2_state = 1;
mjr	33:d832bcab089e	4307	}
mjr	33:d832bcab089e	4308	break;
mjr	33:d832bcab089e	4309
mjr	33:d832bcab089e	4310	case 4:
mjr	77:0b96f6867312	4311	// TV timer countdown in progress. The latch has to stay on during
mjr	77:0b96f6867312	4312	// the countdown; if the latch turns off, PSU2 power must have gone
mjr	77:0b96f6867312	4313	// off again before the countdown finished.
mjr	77:0b96f6867312	4314	if (!psu2_status_sense->read())
mjr	77:0b96f6867312	4315	{
mjr	77:0b96f6867312	4316	// power is off - start a new check cycle
mjr	77:0b96f6867312	4317	psu2_status_set->write(1);
mjr	77:0b96f6867312	4318	psu2_state = 2;
mjr	77:0b96f6867312	4319	break;
mjr	77:0b96f6867312	4320	}
mjr	77:0b96f6867312	4321
mjr	77:0b96f6867312	4322	// Flash the power time diagnostic every two cycles
mjr	77:0b96f6867312	4323	powerTimerDiagState = (powerTimerDiagState + 1) & 0x03;
mjr	77:0b96f6867312	4324
mjr	77:0b96f6867312	4325	// if we've reached the delay time, pulse the relay
mjr	77:0b96f6867312	4326	if (tv_timer.read_us() >= tv_delay_time_us)
mjr	33:d832bcab089e	4327	{
mjr	33:d832bcab089e	4328	// turn on the relay for one timer interval
mjr	73:4e8ce0b18915	4329	tvRelayUpdate(TV_RELAY_POWERON, true);
mjr	33:d832bcab089e	4330	psu2_state = 5;
mjr	77:0b96f6867312	4331
mjr	77:0b96f6867312	4332	// show solid blue on the diagnostic LED while the relay is on
mjr	77:0b96f6867312	4333	powerTimerDiagState = 2;
mjr	33:d832bcab089e	4334	}
mjr	33:d832bcab089e	4335	break;
mjr	33:d832bcab089e	4336
mjr	33:d832bcab089e	4337	case 5:
mjr	33:d832bcab089e	4338	// TV timer relay on. We pulse this for one interval, so
mjr	77:0b96f6867312	4339	// it's now time to turn it off.
mjr	73:4e8ce0b18915	4340	tvRelayUpdate(TV_RELAY_POWERON, false);
mjr	77:0b96f6867312	4341
mjr	77:0b96f6867312	4342	// Proceed to sending any TV ON IR commands
mjr	77:0b96f6867312	4343	psu2_state = 6;
mjr	77:0b96f6867312	4344	tvon_ir_state = 0;
mjr	77:0b96f6867312	4345
mjr	77:0b96f6867312	4346	// diagnostic LEDs off for now
mjr	77:0b96f6867312	4347	powerTimerDiagState = 0;
mjr	77:0b96f6867312	4348	break;
mjr	77:0b96f6867312	4349
mjr	77:0b96f6867312	4350	case 6:
mjr	77:0b96f6867312	4351	// Sending TV ON IR signals. Start with the assumption that
mjr	77:0b96f6867312	4352	// we have no IR work to do, in which case we're done with the
mjr	77:0b96f6867312	4353	// whole TV ON sequence. So by default return to state 1.
mjr	33:d832bcab089e	4354	psu2_state = 1;
mjr	77:0b96f6867312	4355	powerTimerDiagState = 0;
mjr	73:4e8ce0b18915	4356
mjr	77:0b96f6867312	4357	// If we have an IR emitter, check for TV ON IR commands
mjr	77:0b96f6867312	4358	if (ir_tx != 0)
mjr	77:0b96f6867312	4359	{
mjr	77:0b96f6867312	4360	// check to see if the last transmission is still in progress
mjr	77:0b96f6867312	4361	if (ir_tx->isSending())
mjr	77:0b96f6867312	4362	{
mjr	77:0b96f6867312	4363	// We're still sending the last transmission. Stay in
mjr	77:0b96f6867312	4364	// state 6.
mjr	77:0b96f6867312	4365	psu2_state = 6;
mjr	77:0b96f6867312	4366	powerTimerDiagState = 4;
mjr	77:0b96f6867312	4367	break;
mjr	77:0b96f6867312	4368	}
mjr	77:0b96f6867312	4369
mjr	77:0b96f6867312	4370	// The last transmission is done, so check for a new one.
mjr	77:0b96f6867312	4371	// Look for the Nth TV ON IR slot, where N is our state
mjr	77:0b96f6867312	4372	// number.
mjr	77:0b96f6867312	4373	for (int i = 0, n = 0 ; i < MAX_IR_CODES ; ++i)
mjr	77:0b96f6867312	4374	{
mjr	77:0b96f6867312	4375	// is this a TV ON command?
mjr	77:0b96f6867312	4376	if ((cfg.IRCommand[i].flags & IRFlagTVON) != 0)
mjr	77:0b96f6867312	4377	{
mjr	77:0b96f6867312	4378	// It's a TV ON command - check if it's the one we're
mjr	77:0b96f6867312	4379	// looking for.
mjr	77:0b96f6867312	4380	if (n == tvon_ir_state)
mjr	77:0b96f6867312	4381	{
mjr	77:0b96f6867312	4382	// It's the one. Start transmitting it by
mjr	77:0b96f6867312	4383	// pushing its virtual button.
mjr	77:0b96f6867312	4384	int vb = IRConfigSlotToVirtualButton[i];
mjr	77:0b96f6867312	4385	ir_tx->pushButton(vb, true);
mjr	77:0b96f6867312	4386
mjr	77:0b96f6867312	4387	// Pushing the button starts transmission, and once
mjr	88:98bce687e6c0	4388	// started, the transmission runs to completion even
mjr	88:98bce687e6c0	4389	// if the button is no longer pushed. So we can
mjr	88:98bce687e6c0	4390	// immediately un-push the button, since we only need
mjr	88:98bce687e6c0	4391	// to send the code once.
mjr	77:0b96f6867312	4392	ir_tx->pushButton(vb, false);
mjr	77:0b96f6867312	4393
mjr	77:0b96f6867312	4394	// Advance to the next TV ON IR state, where we'll
mjr	77:0b96f6867312	4395	// await the end of this transmission and move on to
mjr	77:0b96f6867312	4396	// the next one.
mjr	77:0b96f6867312	4397	psu2_state = 6;
mjr	77:0b96f6867312	4398	tvon_ir_state++;
mjr	77:0b96f6867312	4399	break;
mjr	77:0b96f6867312	4400	}
mjr	77:0b96f6867312	4401
mjr	77:0b96f6867312	4402	// it's not ours - count it and keep looking
mjr	77:0b96f6867312	4403	++n;
mjr	77:0b96f6867312	4404	}
mjr	77:0b96f6867312	4405	}
mjr	77:0b96f6867312	4406	}
mjr	33:d832bcab089e	4407	break;
mjr	33:d832bcab089e	4408	}
mjr	77:0b96f6867312	4409
mjr	77:0b96f6867312	4410	// update the diagnostic LEDs
mjr	77:0b96f6867312	4411	diagLED();
mjr	33:d832bcab089e	4412	}
mjr	33:d832bcab089e	4413
mjr	77:0b96f6867312	4414	// Start the power status timer. If the status sense circuit is enabled
mjr	77:0b96f6867312	4415	// in the configuration, we'll set up the pin connections and start the
mjr	77:0b96f6867312	4416	// timer for our periodic status checks. Does nothing if any of the pins
mjr	77:0b96f6867312	4417	// are configured as NC.
mjr	77:0b96f6867312	4418	void startPowerStatusTimer(Config &cfg)
mjr	35:e959ffba78fd	4419	{
mjr	55:4db125cd11a0	4420	// only start the timer if the pins are configured and the delay
mjr	55:4db125cd11a0	4421	// time is nonzero
mjr	77:0b96f6867312	4422	powerStatusTimer.reset();
mjr	77:0b96f6867312	4423	if (cfg.TVON.statusPin != 0xFF
mjr	77:0b96f6867312	4424	&& cfg.TVON.latchPin != 0xFF)
mjr	35:e959ffba78fd	4425	{
mjr	77:0b96f6867312	4426	// set up the power sensing circuit connections
mjr	53:9b2611964afc	4427	psu2_status_sense = new DigitalIn(wirePinName(cfg.TVON.statusPin));
mjr	53:9b2611964afc	4428	psu2_status_set = new DigitalOut(wirePinName(cfg.TVON.latchPin));
mjr	77:0b96f6867312	4429
mjr	77:0b96f6867312	4430	// if there's a TV ON relay, set up its control pin
mjr	77:0b96f6867312	4431	if (cfg.TVON.relayPin != 0xFF)
mjr	77:0b96f6867312	4432	tv_relay = new DigitalOut(wirePinName(cfg.TVON.relayPin));
mjr	77:0b96f6867312	4433
mjr	77:0b96f6867312	4434	// Set the TV ON delay time. We store the time internally in
mjr	77:0b96f6867312	4435	// microseconds, but the configuration stores it in units of
mjr	77:0b96f6867312	4436	// 1/100 second = 10ms = 10000us.
mjr	77:0b96f6867312	4437	tv_delay_time_us = cfg.TVON.delayTime * 10000;;
mjr	77:0b96f6867312	4438
mjr	77:0b96f6867312	4439	// Start the TV timer
mjr	77:0b96f6867312	4440	powerStatusTimer.start();
mjr	35:e959ffba78fd	4441	}
mjr	35:e959ffba78fd	4442	}
mjr	35:e959ffba78fd	4443
mjr	73:4e8ce0b18915	4444	// Operate the TV ON relay. This allows manual control of the relay
mjr	73:4e8ce0b18915	4445	// from the PC. See protocol message 65 submessage 11.
mjr	73:4e8ce0b18915	4446	//
mjr	73:4e8ce0b18915	4447	// Mode:
mjr	73:4e8ce0b18915	4448	// 0 = turn relay off
mjr	73:4e8ce0b18915	4449	// 1 = turn relay on
mjr	73:4e8ce0b18915	4450	// 2 = pulse relay
mjr	73:4e8ce0b18915	4451	void TVRelay(int mode)
mjr	73:4e8ce0b18915	4452	{
mjr	73:4e8ce0b18915	4453	// if there's no TV relay control pin, ignore this
mjr	73:4e8ce0b18915	4454	if (tv_relay == 0)
mjr	73:4e8ce0b18915	4455	return;
mjr	73:4e8ce0b18915	4456
mjr	73:4e8ce0b18915	4457	switch (mode)
mjr	73:4e8ce0b18915	4458	{
mjr	73:4e8ce0b18915	4459	case 0:
mjr	73:4e8ce0b18915	4460	// relay off
mjr	73:4e8ce0b18915	4461	tvRelayUpdate(TV_RELAY_USB, false);
mjr	73:4e8ce0b18915	4462	break;
mjr	73:4e8ce0b18915	4463
mjr	73:4e8ce0b18915	4464	case 1:
mjr	73:4e8ce0b18915	4465	// relay on
mjr	73:4e8ce0b18915	4466	tvRelayUpdate(TV_RELAY_USB, true);
mjr	73:4e8ce0b18915	4467	break;
mjr	73:4e8ce0b18915	4468
mjr	73:4e8ce0b18915	4469	case 2:
mjr	79:682ae3171a08	4470	// Turn the relay on and reset the manual TV pulse timer
mjr	73:4e8ce0b18915	4471	tvRelayUpdate(TV_RELAY_USB, true);
mjr	79:682ae3171a08	4472	tvRelayManualTimer.reset();
mjr	79:682ae3171a08	4473	tvRelayManualTimer.start();
mjr	73:4e8ce0b18915	4474	break;
mjr	73:4e8ce0b18915	4475	}
mjr	73:4e8ce0b18915	4476	}
mjr	73:4e8ce0b18915	4477
mjr	73:4e8ce0b18915	4478
mjr	35:e959ffba78fd	4479	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	4480	//
mjr	35:e959ffba78fd	4481	// In-memory configuration data structure. This is the live version in RAM
mjr	35:e959ffba78fd	4482	// that we use to determine how things are set up.
mjr	35:e959ffba78fd	4483	//
mjr	35:e959ffba78fd	4484	// When we save the configuration settings, we copy this structure to
mjr	35:e959ffba78fd	4485	// non-volatile flash memory. At startup, we check the flash location where
mjr	35:e959ffba78fd	4486	// we might have saved settings on a previous run, and it's valid, we copy
mjr	35:e959ffba78fd	4487	// the flash data to this structure. Firmware updates wipe the flash
mjr	35:e959ffba78fd	4488	// memory area, so you have to use the PC config tool to send the settings
mjr	35:e959ffba78fd	4489	// again each time the firmware is updated.
mjr	35:e959ffba78fd	4490	//
mjr	35:e959ffba78fd	4491	NVM nvm;
mjr	35:e959ffba78fd	4492
mjr	86:e30a1f60f783	4493	// Save Config followup time, in seconds. After a successful save,
mjr	86:e30a1f60f783	4494	// we leave the success flag on in the status for this interval. At
mjr	86:e30a1f60f783	4495	// the end of the interval, we reboot the device if requested.
mjr	86:e30a1f60f783	4496	uint8_t saveConfigFollowupTime;
mjr	86:e30a1f60f783	4497
mjr	86:e30a1f60f783	4498	// is a reboot pending at the end of the config save followup interval?
mjr	86:e30a1f60f783	4499	uint8_t saveConfigRebootPending;
mjr	77:0b96f6867312	4500
mjr	79:682ae3171a08	4501	// status flag for successful config save - set to 0x40 on success
mjr	79:682ae3171a08	4502	uint8_t saveConfigSucceededFlag;
mjr	79:682ae3171a08	4503
mjr	86:e30a1f60f783	4504	// Timer for configuration change followup timer
mjr	86:e30a1f60f783	4505	ExtTimer saveConfigFollowupTimer;
mjr	86:e30a1f60f783	4506
mjr	86:e30a1f60f783	4507
mjr	35:e959ffba78fd	4508	// For convenience, a macro for the Config part of the NVM structure
mjr	35:e959ffba78fd	4509	#define cfg (nvm.d.c)
mjr	35:e959ffba78fd	4510
mjr	35:e959ffba78fd	4511	// flash memory controller interface
mjr	35:e959ffba78fd	4512	FreescaleIAP iap;
mjr	35:e959ffba78fd	4513
mjr	79:682ae3171a08	4514	// figure the flash address for the config data
mjr	79:682ae3171a08	4515	const NVM *configFlashAddr()
mjr	76:7f5912b6340e	4516	{
mjr	79:682ae3171a08	4517	// figure the number of sectors we need, rounding up
mjr	79:682ae3171a08	4518	int nSectors = (sizeof(NVM) + SECTOR_SIZE - 1)/SECTOR_SIZE;
mjr	79:682ae3171a08	4519
mjr	79:682ae3171a08	4520	// figure the total size required from the number of sectors
mjr	79:682ae3171a08	4521	int reservedSize = nSectors * SECTOR_SIZE;
mjr	79:682ae3171a08	4522
mjr	79:682ae3171a08	4523	// locate it at the top of memory
mjr	79:682ae3171a08	4524	uint32_t addr = iap.flashSize() - reservedSize;
mjr	79:682ae3171a08	4525
mjr	79:682ae3171a08	4526	// return it as a read-only NVM pointer
mjr	79:682ae3171a08	4527	return (const NVM *)addr;
mjr	35:e959ffba78fd	4528	}
mjr	35:e959ffba78fd	4529
mjr	76:7f5912b6340e	4530	// Load the config from flash. Returns true if a valid non-default
mjr	76:7f5912b6340e	4531	// configuration was loaded, false if we not. If we return false,
mjr	76:7f5912b6340e	4532	// we load the factory defaults, so the configuration object is valid
mjr	76:7f5912b6340e	4533	// in either case.
mjr	76:7f5912b6340e	4534	bool loadConfigFromFlash()
mjr	35:e959ffba78fd	4535	{
mjr	35:e959ffba78fd	4536	// We want to use the KL25Z's on-board flash to store our configuration
mjr	35:e959ffba78fd	4537	// data persistently, so that we can restore it across power cycles.
mjr	35:e959ffba78fd	4538	// Unfortunatly, the mbed platform doesn't explicitly support this.
mjr	35:e959ffba78fd	4539	// mbed treats the on-board flash as a raw storage device for linker
mjr	35:e959ffba78fd	4540	// output, and assumes that the linker output is the only thing
mjr	35:e959ffba78fd	4541	// stored there. There's no file system and no allowance for shared
mjr	35:e959ffba78fd	4542	// use for other purposes. Fortunately, the linker ues the space in
mjr	35:e959ffba78fd	4543	// the obvious way, storing the entire linked program in a contiguous
mjr	35:e959ffba78fd	4544	// block starting at the lowest flash address. This means that the
mjr	35:e959ffba78fd	4545	// rest of flash - from the end of the linked program to the highest
mjr	35:e959ffba78fd	4546	// flash address - is all unused free space. Writing our data there
mjr	35:e959ffba78fd	4547	// won't conflict with anything else. Since the linker doesn't give
mjr	35:e959ffba78fd	4548	// us any programmatic access to the total linker output size, it's
mjr	35:e959ffba78fd	4549	// safest to just store our config data at the very end of the flash
mjr	35:e959ffba78fd	4550	// region (i.e., the highest address). As long as it's smaller than
mjr	35:e959ffba78fd	4551	// the free space, it won't collide with the linker area.
mjr	35:e959ffba78fd	4552
mjr	35:e959ffba78fd	4553	// Figure how many sectors we need for our structure
mjr	79:682ae3171a08	4554	const NVM *flash = configFlashAddr();
mjr	35:e959ffba78fd	4555
mjr	35:e959ffba78fd	4556	// if the flash is valid, load it; otherwise initialize to defaults
mjr	76:7f5912b6340e	4557	bool nvm_valid = flash->valid();
mjr	76:7f5912b6340e	4558	if (nvm_valid)
mjr	35:e959ffba78fd	4559	{
mjr	35:e959ffba78fd	4560	// flash is valid - load it into the RAM copy of the structure
mjr	35:e959ffba78fd	4561	memcpy(&nvm, flash, sizeof(NVM));
mjr	35:e959ffba78fd	4562	}
mjr	35:e959ffba78fd	4563	else
mjr	35:e959ffba78fd	4564	{
mjr	76:7f5912b6340e	4565	// flash is invalid - load factory settings into RAM structure
mjr	35:e959ffba78fd	4566	cfg.setFactoryDefaults();
mjr	35:e959ffba78fd	4567	}
mjr	76:7f5912b6340e	4568
mjr	76:7f5912b6340e	4569	// tell the caller what happened
mjr	76:7f5912b6340e	4570	return nvm_valid;
mjr	35:e959ffba78fd	4571	}
mjr	35:e959ffba78fd	4572
mjr	86:e30a1f60f783	4573	// Save the config. Returns true on success, false on failure.
mjr	86:e30a1f60f783	4574	// 'tFollowup' is the follow-up time in seconds. If the write is
mjr	86:e30a1f60f783	4575	// successful, we'll turn on the success flag in the status reports
mjr	86:e30a1f60f783	4576	// and leave it on for this interval. If 'reboot' is true, we'll
mjr	86:e30a1f60f783	4577	// also schedule a reboot at the end of the followup interval.
mjr	86:e30a1f60f783	4578	bool saveConfigToFlash(int tFollowup, bool reboot)
mjr	33:d832bcab089e	4579	{
mjr	76:7f5912b6340e	4580	// make sure the plunger sensor isn't busy
mjr	76:7f5912b6340e	4581	waitPlungerIdle();
mjr	76:7f5912b6340e	4582
mjr	76:7f5912b6340e	4583	// get the config block location in the flash memory
mjr	77:0b96f6867312	4584	uint32_t addr = uint32_t(configFlashAddr());
mjr	79:682ae3171a08	4585
mjr	79:682ae3171a08	4586	// save the data
mjr	86:e30a1f60f783	4587	if (nvm.save(iap, addr))
mjr	86:e30a1f60f783	4588	{
mjr	86:e30a1f60f783	4589	// success - report the successful save in the status flags
mjr	86:e30a1f60f783	4590	saveConfigSucceededFlag = 0x40;
mjr	86:e30a1f60f783	4591
mjr	86:e30a1f60f783	4592	// start the followup timer
mjr	87:8d35c74403af	4593	saveConfigFollowupTime = tFollowup;
mjr	87:8d35c74403af	4594	saveConfigFollowupTimer.reset();
mjr	86:e30a1f60f783	4595	saveConfigFollowupTimer.start();
mjr	86:e30a1f60f783	4596
mjr	86:e30a1f60f783	4597	// if a reboot is pending, flag it
mjr	86:e30a1f60f783	4598	saveConfigRebootPending = reboot;
mjr	86:e30a1f60f783	4599
mjr	86:e30a1f60f783	4600	// return success
mjr	86:e30a1f60f783	4601	return true;
mjr	86:e30a1f60f783	4602	}
mjr	86:e30a1f60f783	4603	else
mjr	86:e30a1f60f783	4604	{
mjr	86:e30a1f60f783	4605	// return failure
mjr	86:e30a1f60f783	4606	return false;
mjr	86:e30a1f60f783	4607	}
mjr	76:7f5912b6340e	4608	}
mjr	76:7f5912b6340e	4609
mjr	76:7f5912b6340e	4610	// ---------------------------------------------------------------------------
mjr	76:7f5912b6340e	4611	//
mjr	76:7f5912b6340e	4612	// Host-loaded configuration. The Flash NVM block above is designed to be
mjr	76:7f5912b6340e	4613	// stored from within the firmware; in contrast, the host-loaded config is
mjr	76:7f5912b6340e	4614	// stored by the host, by patching the firwmare binary (.bin) file before
mjr	76:7f5912b6340e	4615	// downloading it to the device.
mjr	76:7f5912b6340e	4616	//
mjr	76:7f5912b6340e	4617	// Ideally, we'd use the host-loaded memory for all configuration updates,
mjr	76:7f5912b6340e	4618	// because the KL25Z doesn't seem to be 100% reliable writing flash itself.
mjr	76:7f5912b6340e	4619	// There seems to be a chance of memory bus contention while a write is in
mjr	76:7f5912b6340e	4620	// progress, which can either corrupt the write or cause the CPU to lock up
mjr	76:7f5912b6340e	4621	// before the write is completed. It seems more reliable to program the
mjr	76:7f5912b6340e	4622	// flash externally, via the OpenSDA connection. Unfortunately, none of
mjr	76:7f5912b6340e	4623	// the available OpenSDA versions are capable of programming specific flash
mjr	76:7f5912b6340e	4624	// sectors; they always erase the entire flash memory space. We could
mjr	76:7f5912b6340e	4625	// make the Windows config program simply re-download the entire firmware
mjr	76:7f5912b6340e	4626	// for every configuration update, but I'd rather not because of the extra
mjr	76:7f5912b6340e	4627	// wear this would put on the flash. So, as a compromise, we'll use the
mjr	76:7f5912b6340e	4628	// host-loaded config whenever the user explicitly updates the firmware,
mjr	76:7f5912b6340e	4629	// but we'll use the on-board writer when only making a config change.
mjr	76:7f5912b6340e	4630	//
mjr	76:7f5912b6340e	4631	// The memory here is stored using the same format as the USB "Set Config
mjr	76:7f5912b6340e	4632	// Variable" command. These messages are 8 bytes long and start with a
mjr	76:7f5912b6340e	4633	// byte value 66, followed by the variable ID, followed by the variable
mjr	76:7f5912b6340e	4634	// value data in a format defined separately for each variable. To load
mjr	76:7f5912b6340e	4635	// the data, we'll start at the first byte after the signature, and
mjr	76:7f5912b6340e	4636	// interpret each 8-byte block as a type 66 message. If the first byte
mjr	76:7f5912b6340e	4637	// of a block is not 66, we'll take it as the end of the data.
mjr	76:7f5912b6340e	4638	//
mjr	76:7f5912b6340e	4639	// We provide a block of storage here big enough for 1,024 variables.
mjr	76:7f5912b6340e	4640	// The header consists of a 30-byte signature followed by two bytes giving
mjr	76:7f5912b6340e	4641	// the available space in the area, in this case 8192 == 0x0200. The
mjr	76:7f5912b6340e	4642	// length is little-endian. Note that the linker will implicitly zero
mjr	76:7f5912b6340e	4643	// the rest of the block, so if the host doesn't populate it, we'll see
mjr	76:7f5912b6340e	4644	// that it's empty by virtue of not containing the required '66' byte
mjr	76:7f5912b6340e	4645	// prefix for the first 8-byte variable block.
mjr	76:7f5912b6340e	4646	static const uint8_t hostLoadedConfig[8192+32]
mjr	76:7f5912b6340e	4647	__attribute__ ((aligned(SECTOR_SIZE))) =
mjr	76:7f5912b6340e	4648	"///Pinscape.HostLoadedConfig//\0\040"; // 30 byte signature + 2 byte length
mjr	76:7f5912b6340e	4649
mjr	76:7f5912b6340e	4650	// Get a pointer to the first byte of the configuration data
mjr	76:7f5912b6340e	4651	const uint8_t *getHostLoadedConfigData()
mjr	76:7f5912b6340e	4652	{
mjr	76:7f5912b6340e	4653	// the first configuration variable byte immediately follows the
mjr	76:7f5912b6340e	4654	// 32-byte signature header
mjr	76:7f5912b6340e	4655	return hostLoadedConfig + 32;
mjr	76:7f5912b6340e	4656	};
mjr	76:7f5912b6340e	4657
mjr	76:7f5912b6340e	4658	// forward reference to config var store function
mjr	76:7f5912b6340e	4659	void configVarSet(const uint8_t *);
mjr	76:7f5912b6340e	4660
mjr	76:7f5912b6340e	4661	// Load the host-loaded configuration data into the active (RAM)
mjr	76:7f5912b6340e	4662	// configuration object.
mjr	76:7f5912b6340e	4663	void loadHostLoadedConfig()
mjr	76:7f5912b6340e	4664	{
mjr	76:7f5912b6340e	4665	// Start at the first configuration variable. Each variable
mjr	76:7f5912b6340e	4666	// block is in the format of a Set Config Variable command in
mjr	76:7f5912b6340e	4667	// the USB protocol, so each block starts with a byte value of
mjr	76:7f5912b6340e	4668	// 66 and is 8 bytes long. Continue as long as we find valid
mjr	76:7f5912b6340e	4669	// variable blocks, or reach end end of the block.
mjr	76:7f5912b6340e	4670	const uint8_t *start = getHostLoadedConfigData();
mjr	76:7f5912b6340e	4671	const uint8_t *end = hostLoadedConfig + sizeof(hostLoadedConfig);
mjr	76:7f5912b6340e	4672	for (const uint8_t p = getHostLoadedConfigData() ; start < end && p == 66 ; p += 8)
mjr	76:7f5912b6340e	4673	{
mjr	76:7f5912b6340e	4674	// load this variable
mjr	76:7f5912b6340e	4675	configVarSet(p);
mjr	76:7f5912b6340e	4676	}
mjr	35:e959ffba78fd	4677	}
mjr	35:e959ffba78fd	4678
mjr	35:e959ffba78fd	4679	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	4680	//
mjr	55:4db125cd11a0	4681	// Pixel dump mode - the host requested a dump of image sensor pixels
mjr	55:4db125cd11a0	4682	// (helpful for installing and setting up the sensor and light source)
mjr	55:4db125cd11a0	4683	//
mjr	55:4db125cd11a0	4684	bool reportPlungerStat = false;
mjr	55:4db125cd11a0	4685	uint8_t reportPlungerStatFlags; // plunger pixel report flag bits (see ccdSensor.h)
mjr	55:4db125cd11a0	4686	uint8_t reportPlungerStatTime; // extra exposure time for plunger pixel report
mjr	55:4db125cd11a0	4687
mjr	55:4db125cd11a0	4688
mjr	55:4db125cd11a0	4689
mjr	55:4db125cd11a0	4690	// ---------------------------------------------------------------------------
mjr	55:4db125cd11a0	4691	//
mjr	40:cc0d9814522b	4692	// Night mode setting updates
mjr	40:cc0d9814522b	4693	//
mjr	38:091e511ce8a0	4694
mjr	38:091e511ce8a0	4695	// Turn night mode on or off
mjr	38:091e511ce8a0	4696	static void setNightMode(bool on)
mjr	38:091e511ce8a0	4697	{
mjr	77:0b96f6867312	4698	// Set the new night mode flag in the noisy output class. Note
mjr	77:0b96f6867312	4699	// that we use the status report bit flag value 0x02 when on, so
mjr	77:0b96f6867312	4700	// that we can just '\|' this into the overall status bits.
mjr	77:0b96f6867312	4701	nightMode = on ? 0x02 : 0x00;
mjr	55:4db125cd11a0	4702
mjr	40:cc0d9814522b	4703	// update the special output pin that shows the night mode state
mjr	53:9b2611964afc	4704	int port = int(cfg.nightMode.port) - 1;
mjr	53:9b2611964afc	4705	if (port >= 0 && port < numOutputs)
mjr	53:9b2611964afc	4706	lwPin[port]->set(nightMode ? 255 : 0);
mjr	76:7f5912b6340e	4707
mjr	76:7f5912b6340e	4708	// Reset all outputs at their current value, so that the underlying
mjr	76:7f5912b6340e	4709	// physical outputs get turned on or off as appropriate for the night
mjr	76:7f5912b6340e	4710	// mode change.
mjr	76:7f5912b6340e	4711	for (int i = 0 ; i < numOutputs ; ++i)
mjr	76:7f5912b6340e	4712	lwPin[i]->set(outLevel[i]);
mjr	76:7f5912b6340e	4713
mjr	76:7f5912b6340e	4714	// update 74HC595 outputs
mjr	76:7f5912b6340e	4715	if (hc595 != 0)
mjr	76:7f5912b6340e	4716	hc595->update();
mjr	38:091e511ce8a0	4717	}
mjr	38:091e511ce8a0	4718
mjr	38:091e511ce8a0	4719	// Toggle night mode
mjr	38:091e511ce8a0	4720	static void toggleNightMode()
mjr	38:091e511ce8a0	4721	{
mjr	53:9b2611964afc	4722	setNightMode(!nightMode);
mjr	38:091e511ce8a0	4723	}
mjr	38:091e511ce8a0	4724
mjr	38:091e511ce8a0	4725
mjr	38:091e511ce8a0	4726	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	4727	//
mjr	35:e959ffba78fd	4728	// Plunger Sensor
mjr	35:e959ffba78fd	4729	//
mjr	35:e959ffba78fd	4730
mjr	35:e959ffba78fd	4731	// the plunger sensor interface object
mjr	35:e959ffba78fd	4732	PlungerSensor *plungerSensor = 0;
mjr	35:e959ffba78fd	4733
mjr	87:8d35c74403af	4734	// wait for the plunger sensor to complete any outstanding DMA transfer
mjr	76:7f5912b6340e	4735	static void waitPlungerIdle(void)
mjr	76:7f5912b6340e	4736	{
mjr	87:8d35c74403af	4737	while (plungerSensor->dmaBusy()) { }
mjr	76:7f5912b6340e	4738	}
mjr	76:7f5912b6340e	4739
mjr	35:e959ffba78fd	4740	// Create the plunger sensor based on the current configuration. If
mjr	35:e959ffba78fd	4741	// there's already a sensor object, we'll delete it.
mjr	35:e959ffba78fd	4742	void createPlunger()
mjr	35:e959ffba78fd	4743	{
mjr	35:e959ffba78fd	4744	// create the new sensor object according to the type
mjr	35:e959ffba78fd	4745	switch (cfg.plunger.sensorType)
mjr	35:e959ffba78fd	4746	{
mjr	82:4f6209cb5c33	4747	case PlungerType_TSL1410R:
mjr	82:4f6209cb5c33	4748	// TSL1410R, shadow edge detector
mjr	35:e959ffba78fd	4749	// pins are: SI, CLOCK, AO
mjr	53:9b2611964afc	4750	plungerSensor = new PlungerSensorTSL1410R(
mjr	53:9b2611964afc	4751	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	4752	wirePinName(cfg.plunger.sensorPin[1]),
mjr	82:4f6209cb5c33	4753	wirePinName(cfg.plunger.sensorPin[2]));
mjr	35:e959ffba78fd	4754	break;
mjr	35:e959ffba78fd	4755
mjr	82:4f6209cb5c33	4756	case PlungerType_TSL1412S:
mjr	82:4f6209cb5c33	4757	// TSL1412S, shadow edge detector
mjr	82:4f6209cb5c33	4758	// pins are: SI, CLOCK, AO
mjr	53:9b2611964afc	4759	plungerSensor = new PlungerSensorTSL1412R(
mjr	53:9b2611964afc	4760	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	4761	wirePinName(cfg.plunger.sensorPin[1]),
mjr	82:4f6209cb5c33	4762	wirePinName(cfg.plunger.sensorPin[2]));
mjr	35:e959ffba78fd	4763	break;
mjr	35:e959ffba78fd	4764
mjr	35:e959ffba78fd	4765	case PlungerType_Pot:
mjr	82:4f6209cb5c33	4766	// Potentiometer (or any other sensor with a linear analog voltage
mjr	82:4f6209cb5c33	4767	// reading as the proxy for the position)
mjr	82:4f6209cb5c33	4768	// pins are: AO (analog in)
mjr	53:9b2611964afc	4769	plungerSensor = new PlungerSensorPot(
mjr	53:9b2611964afc	4770	wirePinName(cfg.plunger.sensorPin[0]));
mjr	35:e959ffba78fd	4771	break;
mjr	82:4f6209cb5c33	4772
mjr	82:4f6209cb5c33	4773	case PlungerType_OptQuad:
mjr	82:4f6209cb5c33	4774	// Optical quadrature sensor, AEDR8300-K or similar. The -K is
mjr	82:4f6209cb5c33	4775	// designed for a 75 LPI scale, which translates to 300 pulses/inch.
mjr	82:4f6209cb5c33	4776	// Pins are: CHA, CHB (quadrature pulse inputs).
mjr	82:4f6209cb5c33	4777	plungerSensor = new PlungerSensorQuad(
mjr	82:4f6209cb5c33	4778	300,
mjr	82:4f6209cb5c33	4779	wirePinName(cfg.plunger.sensorPin[0]),
mjr	82:4f6209cb5c33	4780	wirePinName(cfg.plunger.sensorPin[1]));
mjr	82:4f6209cb5c33	4781	break;
mjr	82:4f6209cb5c33	4782
mjr	82:4f6209cb5c33	4783	case PlungerType_TSL1401CL:
mjr	82:4f6209cb5c33	4784	// TSL1401CL, absolute position encoder with bar code scale
mjr	82:4f6209cb5c33	4785	// pins are: SI, CLOCK, AO
mjr	82:4f6209cb5c33	4786	plungerSensor = new PlungerSensorTSL1401CL(
mjr	82:4f6209cb5c33	4787	wirePinName(cfg.plunger.sensorPin[0]),
mjr	82:4f6209cb5c33	4788	wirePinName(cfg.plunger.sensorPin[1]),
mjr	82:4f6209cb5c33	4789	wirePinName(cfg.plunger.sensorPin[2]));
mjr	82:4f6209cb5c33	4790	break;
mjr	82:4f6209cb5c33	4791
mjr	82:4f6209cb5c33	4792	case PlungerType_VL6180X:
mjr	82:4f6209cb5c33	4793	// VL6180X time-of-flight IR distance sensor
mjr	82:4f6209cb5c33	4794	// pins are: SDL, SCL, GPIO0/CE
mjr	82:4f6209cb5c33	4795	plungerSensor = new PlungerSensorVL6180X(
mjr	82:4f6209cb5c33	4796	wirePinName(cfg.plunger.sensorPin[0]),
mjr	82:4f6209cb5c33	4797	wirePinName(cfg.plunger.sensorPin[1]),
mjr	82:4f6209cb5c33	4798	wirePinName(cfg.plunger.sensorPin[2]));
mjr	82:4f6209cb5c33	4799	break;
mjr	82:4f6209cb5c33	4800
mjr	35:e959ffba78fd	4801	case PlungerType_None:
mjr	35:e959ffba78fd	4802	default:
mjr	35:e959ffba78fd	4803	plungerSensor = new PlungerSensorNull();
mjr	35:e959ffba78fd	4804	break;
mjr	35:e959ffba78fd	4805	}
mjr	86:e30a1f60f783	4806
mjr	87:8d35c74403af	4807	// initialize the config variables affecting the plunger
mjr	87:8d35c74403af	4808	plungerSensor->onConfigChange(19, cfg);
mjr	87:8d35c74403af	4809	plungerSensor->onConfigChange(20, cfg);
mjr	33:d832bcab089e	4810	}
mjr	33:d832bcab089e	4811
mjr	52:8298b2a73eb2	4812	// Global plunger calibration mode flag
mjr	52:8298b2a73eb2	4813	bool plungerCalMode;
mjr	52:8298b2a73eb2	4814
mjr	48:058ace2aed1d	4815	// Plunger reader
mjr	51:57eb311faafa	4816	//
mjr	51:57eb311faafa	4817	// This class encapsulates our plunger data processing. At the simplest
mjr	51:57eb311faafa	4818	// level, we read the position from the sensor, adjust it for the
mjr	51:57eb311faafa	4819	// calibration settings, and report the calibrated position to the host.
mjr	51:57eb311faafa	4820	//
mjr	51:57eb311faafa	4821	// In addition, we constantly monitor the data for "firing" motions.
mjr	51:57eb311faafa	4822	// A firing motion is when the user pulls back the plunger and releases
mjr	51:57eb311faafa	4823	// it, allowing it to shoot forward under the force of the main spring.
mjr	51:57eb311faafa	4824	// When we detect that this is happening, we briefly stop reporting the
mjr	51:57eb311faafa	4825	// real physical position that we're reading from the sensor, and instead
mjr	51:57eb311faafa	4826	// report a synthetic series of positions that depicts an idealized
mjr	51:57eb311faafa	4827	// firing motion.
mjr	51:57eb311faafa	4828	//
mjr	51:57eb311faafa	4829	// The point of the synthetic reports is to correct for distortions
mjr	51:57eb311faafa	4830	// created by the joystick interface conventions used by VP and other
mjr	51:57eb311faafa	4831	// PC pinball emulators. The convention they use is simply to have the
mjr	51:57eb311faafa	4832	// plunger device report the instantaneous position of the real plunger.
mjr	51:57eb311faafa	4833	// The PC software polls this reported position periodically, and moves
mjr	51:57eb311faafa	4834	// the on-screen virtual plunger in sync with the real plunger. This
mjr	51:57eb311faafa	4835	// works fine for human-scale motion when the user is manually moving
mjr	51:57eb311faafa	4836	// the plunger. But it doesn't work for the high speed motion of a
mjr	51:57eb311faafa	4837	// release. The plunger simply moves too fast. VP polls in about 10ms
mjr	51:57eb311faafa	4838	// intervals; the plunger takes about 50ms to travel from fully
mjr	51:57eb311faafa	4839	// retracted to the park position when released. The low sampling
mjr	51:57eb311faafa	4840	// rate relative to the rate of change of the sampled data creates
mjr	51:57eb311faafa	4841	// a classic digital aliasing effect.
mjr	51:57eb311faafa	4842	//
mjr	51:57eb311faafa	4843	// The synthetic reporting scheme compensates for the interface
mjr	51:57eb311faafa	4844	// distortions by essentially changing to a coarse enough timescale
mjr	51:57eb311faafa	4845	// that VP can reliably interpret the readings. Conceptually, there
mjr	51:57eb311faafa	4846	// are three steps involved in doing this. First, we analyze the
mjr	51:57eb311faafa	4847	// actual sensor data to detect and characterize the release motion.
mjr	51:57eb311faafa	4848	// Second, once we think we have a release in progress, we fit the
mjr	51:57eb311faafa	4849	// data to a mathematical model of the release. The model we use is
mjr	51:57eb311faafa	4850	// dead simple: we consider the release to have one parameter, namely
mjr	51:57eb311faafa	4851	// the retraction distance at the moment the user lets go. This is an
mjr	51:57eb311faafa	4852	// excellent proxy in the real physical system for the final speed
mjr	51:57eb311faafa	4853	// when the plunger hits the ball, and it also happens to match how
mjr	51:57eb311faafa	4854	// VP models it internally. Third, we construct synthetic reports
mjr	51:57eb311faafa	4855	// that will make VP's internal state match our model. This is also
mjr	51:57eb311faafa	4856	// pretty simple: we just need to send VP the maximum retraction
mjr	51:57eb311faafa	4857	// distance for long enough to be sure that it polls it at least
mjr	51:57eb311faafa	4858	// once, and then send it the park position for long enough to
mjr	51:57eb311faafa	4859	// ensure that VP will complete the same firing motion. The
mjr	51:57eb311faafa	4860	// immediate jump from the maximum point to the zero point will
mjr	51:57eb311faafa	4861	// cause VP to move its simulation model plunger forward from the
mjr	51:57eb311faafa	4862	// starting point at its natural spring acceleration rate, which
mjr	51:57eb311faafa	4863	// is exactly what the real plunger just did.
mjr	51:57eb311faafa	4864	//
mjr	48:058ace2aed1d	4865	class PlungerReader
mjr	48:058ace2aed1d	4866	{
mjr	48:058ace2aed1d	4867	public:
mjr	48:058ace2aed1d	4868	PlungerReader()
mjr	48:058ace2aed1d	4869	{
mjr	48:058ace2aed1d	4870	// not in a firing event yet
mjr	48:058ace2aed1d	4871	firing = 0;
mjr	48:058ace2aed1d	4872	}
mjr	76:7f5912b6340e	4873
mjr	48:058ace2aed1d	4874	// Collect a reading from the plunger sensor. The main loop calls
mjr	48:058ace2aed1d	4875	// this frequently to read the current raw position data from the
mjr	48:058ace2aed1d	4876	// sensor. We analyze the raw data to produce the calibrated
mjr	48:058ace2aed1d	4877	// position that we report to the PC via the joystick interface.
mjr	48:058ace2aed1d	4878	void read()
mjr	48:058ace2aed1d	4879	{
mjr	76:7f5912b6340e	4880	// if the sensor is busy, skip the reading on this round
mjr	76:7f5912b6340e	4881	if (!plungerSensor->ready())
mjr	76:7f5912b6340e	4882	return;
mjr	76:7f5912b6340e	4883
mjr	48:058ace2aed1d	4884	// Read a sample from the sensor
mjr	48:058ace2aed1d	4885	PlungerReading r;
mjr	48:058ace2aed1d	4886	if (plungerSensor->read(r))
mjr	48:058ace2aed1d	4887	{
mjr	53:9b2611964afc	4888	// check for calibration mode
mjr	53:9b2611964afc	4889	if (plungerCalMode)
mjr	53:9b2611964afc	4890	{
mjr	53:9b2611964afc	4891	// Calibration mode. Adjust the calibration bounds to fit
mjr	53:9b2611964afc	4892	// the value. If this value is beyond the current min or max,
mjr	53:9b2611964afc	4893	// expand the envelope to include this new value.
mjr	53:9b2611964afc	4894	if (r.pos > cfg.plunger.cal.max)
mjr	53:9b2611964afc	4895	cfg.plunger.cal.max = r.pos;
mjr	53:9b2611964afc	4896	if (r.pos < cfg.plunger.cal.min)
mjr	53:9b2611964afc	4897	cfg.plunger.cal.min = r.pos;
mjr	76:7f5912b6340e	4898
mjr	76:7f5912b6340e	4899	// update our cached calibration data
mjr	76:7f5912b6340e	4900	onUpdateCal();
mjr	50:40015764bbe6	4901
mjr	53:9b2611964afc	4902	// If we're in calibration state 0, we're waiting for the
mjr	53:9b2611964afc	4903	// plunger to come to rest at the park position so that we
mjr	53:9b2611964afc	4904	// can take a sample of the park position. Check to see if
mjr	53:9b2611964afc	4905	// we've been at rest for a minimum interval.
mjr	53:9b2611964afc	4906	if (calState == 0)
mjr	53:9b2611964afc	4907	{
mjr	53:9b2611964afc	4908	if (abs(r.pos - calZeroStart.pos) < 65535/3/50)
mjr	53:9b2611964afc	4909	{
mjr	53:9b2611964afc	4910	// we're close enough - make sure we've been here long enough
mjr	53:9b2611964afc	4911	if (uint32_t(r.t - calZeroStart.t) > 100000UL)
mjr	53:9b2611964afc	4912	{
mjr	53:9b2611964afc	4913	// we've been at rest long enough - count it
mjr	53:9b2611964afc	4914	calZeroPosSum += r.pos;
mjr	53:9b2611964afc	4915	calZeroPosN += 1;
mjr	53:9b2611964afc	4916
mjr	53:9b2611964afc	4917	// update the zero position from the new average
mjr	53:9b2611964afc	4918	cfg.plunger.cal.zero = uint16_t(calZeroPosSum / calZeroPosN);
mjr	76:7f5912b6340e	4919	onUpdateCal();
mjr	53:9b2611964afc	4920
mjr	53:9b2611964afc	4921	// switch to calibration state 1 - at rest
mjr	53:9b2611964afc	4922	calState = 1;
mjr	53:9b2611964afc	4923	}
mjr	53:9b2611964afc	4924	}
mjr	53:9b2611964afc	4925	else
mjr	53:9b2611964afc	4926	{
mjr	53:9b2611964afc	4927	// we're not close to the last position - start again here
mjr	53:9b2611964afc	4928	calZeroStart = r;
mjr	53:9b2611964afc	4929	}
mjr	53:9b2611964afc	4930	}
mjr	53:9b2611964afc	4931
mjr	53:9b2611964afc	4932	// Rescale to the joystick range, and adjust for the current
mjr	53:9b2611964afc	4933	// park position, but don't calibrate. We don't know the maximum
mjr	53:9b2611964afc	4934	// point yet, so we can't calibrate the range.
mjr	53:9b2611964afc	4935	r.pos = int(
mjr	53:9b2611964afc	4936	(long(r.pos - cfg.plunger.cal.zero) * JOYMAX)
mjr	53:9b2611964afc	4937	/ (65535 - cfg.plunger.cal.zero));
mjr	53:9b2611964afc	4938	}
mjr	53:9b2611964afc	4939	else
mjr	53:9b2611964afc	4940	{
mjr	53:9b2611964afc	4941	// Not in calibration mode. Apply the existing calibration and
mjr	53:9b2611964afc	4942	// rescale to the joystick range.
mjr	76:7f5912b6340e	4943	r.pos = applyCal(r.pos);
mjr	53:9b2611964afc	4944
mjr	53:9b2611964afc	4945	// limit the result to the valid joystick range
mjr	53:9b2611964afc	4946	if (r.pos > JOYMAX)
mjr	53:9b2611964afc	4947	r.pos = JOYMAX;
mjr	53:9b2611964afc	4948	else if (r.pos < -JOYMAX)
mjr	53:9b2611964afc	4949	r.pos = -JOYMAX;
mjr	53:9b2611964afc	4950	}
mjr	50:40015764bbe6	4951
mjr	87:8d35c74403af	4952	// Look for a firing event - the user releasing the plunger and
mjr	87:8d35c74403af	4953	// allowing it to shoot forward at full speed. Wait at least 5ms
mjr	87:8d35c74403af	4954	// between samples for this, to help distinguish random motion
mjr	87:8d35c74403af	4955	// from the rapid motion of a firing event.
mjr	50:40015764bbe6	4956	//
mjr	87:8d35c74403af	4957	// There's a trade-off in the choice of minimum sampling interval.
mjr	87:8d35c74403af	4958	// The longer we wait, the more certain we can be of the trend.
mjr	87:8d35c74403af	4959	// But if we wait too long, the user will perceive a delay. We
mjr	87:8d35c74403af	4960	// also want to sample frequently enough to see the release motion
mjr	87:8d35c74403af	4961	// at intermediate steps along the way, so the sampling has to be
mjr	87:8d35c74403af	4962	// considerably faster than the whole travel time, which is about
mjr	87:8d35c74403af	4963	// 25-50ms.
mjr	87:8d35c74403af	4964	if (uint32_t(r.t - prv.t) < 5000UL)
mjr	87:8d35c74403af	4965	return;
mjr	87:8d35c74403af	4966
mjr	87:8d35c74403af	4967	// assume that we'll report this reading as-is
mjr	87:8d35c74403af	4968	z = r.pos;
mjr	87:8d35c74403af	4969
mjr	87:8d35c74403af	4970	// Firing event detection.
mjr	87:8d35c74403af	4971	//
mjr	87:8d35c74403af	4972	// A "firing event" is when the player releases the plunger from
mjr	87:8d35c74403af	4973	// a retracted position, allowing it to shoot forward under the
mjr	87:8d35c74403af	4974	// spring tension.
mjr	50:40015764bbe6	4975	//
mjr	87:8d35c74403af	4976	// We monitor the plunger motion for these events, and when they
mjr	87:8d35c74403af	4977	// occur, we report an "idealized" version of the motion to the
mjr	87:8d35c74403af	4978	// PC. The idealized version consists of a series of readings
mjr	87:8d35c74403af	4979	// frozen at the fully retracted position for the whole duration
mjr	87:8d35c74403af	4980	// of the forward travel, followed by a series of readings at the
mjr	87:8d35c74403af	4981	// fully forward position for long enough for the plunger to come
mjr	87:8d35c74403af	4982	// mostly to rest. The series of frozen readings aren't meant to
mjr	87:8d35c74403af	4983	// be perceptible to the player - we try to keep them short enough
mjr	87:8d35c74403af	4984	// that they're not apparent as delay. Instead, they're for the
mjr	87:8d35c74403af	4985	// PC client software's benefit. PC joystick clients use polling,
mjr	87:8d35c74403af	4986	// so they only see an unpredictable subset of the readings we
mjr	87:8d35c74403af	4987	// send. The only way to be sure that the client sees a particular
mjr	87:8d35c74403af	4988	// reading is to hold it for long enough that the client is sure to
mjr	87:8d35c74403af	4989	// poll within the hold interval. In the case of the plunger
mjr	87:8d35c74403af	4990	// firing motion, it's important that the client sees the ends
mjr	87:8d35c74403af	4991	// of the travel - the fully retracted starting position in
mjr	87:8d35c74403af	4992	// particular. If the PC client only polls for a sample while the
mjr	87:8d35c74403af	4993	// plunger is somewhere in the middle of the travel, the PC will
mjr	87:8d35c74403af	4994	// think that the firing motion started in that middle position,
mjr	87:8d35c74403af	4995	// so it won't be able to model the right amount of momentum when
mjr	87:8d35c74403af	4996	// the plunger hits the ball. We try to ensure that the PC sees
mjr	87:8d35c74403af	4997	// the right starting point by reporting the starting point for
mjr	87:8d35c74403af	4998	// extra time during the forward motion. By the same token, we
mjr	87:8d35c74403af	4999	// want the PC to know that the plunger has moved all the way
mjr	87:8d35c74403af	5000	// forward, rather than mistakenly thinking that it stopped
mjr	87:8d35c74403af	5001	// somewhere in the middle of the travel, so we freeze at the
mjr	87:8d35c74403af	5002	// forward position for a short time.
mjr	76:7f5912b6340e	5003	//
mjr	87:8d35c74403af	5004	// To detect a firing event, we look for forward motion that's
mjr	87:8d35c74403af	5005	// fast enough to be a firing event. To determine how fast is
mjr	87:8d35c74403af	5006	// fast enough, we use a simple model of the plunger motion where
mjr	87:8d35c74403af	5007	// the acceleration is constant. This is only an approximation,
mjr	87:8d35c74403af	5008	// as the spring force actually varies with spring's compression,
mjr	87:8d35c74403af	5009	// but it's close enough for our purposes here.
mjr	87:8d35c74403af	5010	//
mjr	87:8d35c74403af	5011	// Do calculations in fixed-point 2^48 scale with 64-bit ints.
mjr	87:8d35c74403af	5012	// acc2 = acceleration/2 for 50ms release time, units of unit
mjr	87:8d35c74403af	5013	// distances per microsecond squared, where the unit distance
mjr	87:8d35c74403af	5014	// is the overall travel from the starting retracted position
mjr	87:8d35c74403af	5015	// to the park position.
mjr	87:8d35c74403af	5016	const int32_t acc2 = 112590; // 2^48 scale
mjr	50:40015764bbe6	5017	switch (firing)
mjr	50:40015764bbe6	5018	{
mjr	50:40015764bbe6	5019	case 0:
mjr	87:8d35c74403af	5020	// Not in firing mode. If we're retracted a bit, and the
mjr	87:8d35c74403af	5021	// motion is forward at a fast enough rate to look like a
mjr	87:8d35c74403af	5022	// release, enter firing mode.
mjr	87:8d35c74403af	5023	if (r.pos > JOYMAX/6)
mjr	50:40015764bbe6	5024	{
mjr	87:8d35c74403af	5025	const uint32_t dt = uint32_t(r.t - prv.t);
mjr	87:8d35c74403af	5026	const uint32_t dt2 = dt*dt; // dt^2
mjr	87:8d35c74403af	5027	if (r.pos < prv.pos - int((prv.posacc2uint64_t(dt2)) >> 48))
mjr	87:8d35c74403af	5028	{
mjr	87:8d35c74403af	5029	// Tentatively enter firing mode. Use the prior reading
mjr	87:8d35c74403af	5030	// as the starting point, and freeze reports for now.
mjr	87:8d35c74403af	5031	firingMode(1);
mjr	87:8d35c74403af	5032	f0 = prv;
mjr	87:8d35c74403af	5033	z = f0.pos;
mjr	87:8d35c74403af	5034
mjr	87:8d35c74403af	5035	// if in calibration state 1 (at rest), switch to
mjr	87:8d35c74403af	5036	// state 2 (not at rest)
mjr	87:8d35c74403af	5037	if (calState == 1)
mjr	87:8d35c74403af	5038	calState = 2;
mjr	87:8d35c74403af	5039	}
mjr	50:40015764bbe6	5040	}
mjr	50:40015764bbe6	5041	break;
mjr	50:40015764bbe6	5042
mjr	50:40015764bbe6	5043	case 1:
mjr	87:8d35c74403af	5044	// Tentative firing mode: the plunger was moving forward
mjr	87:8d35c74403af	5045	// at last check. To stay in firing mode, the plunger has
mjr	87:8d35c74403af	5046	// to keep moving forward fast enough to look like it's
mjr	87:8d35c74403af	5047	// moving under spring force. To figure out how fast is
mjr	87:8d35c74403af	5048	// fast enough, we use a simple model where the acceleration
mjr	87:8d35c74403af	5049	// is constant over the whole travel distance and the total
mjr	87:8d35c74403af	5050	// travel time is 50ms. The acceleration actually varies
mjr	87:8d35c74403af	5051	// slightly since it comes from the spring force, which
mjr	87:8d35c74403af	5052	// is linear in the displacement; but the plunger spring is
mjr	87:8d35c74403af	5053	// fairly compressed even when the plunger is all the way
mjr	87:8d35c74403af	5054	// forward, so the difference in tension from one end of
mjr	87:8d35c74403af	5055	// the travel to the other is fairly small, so it's not too
mjr	87:8d35c74403af	5056	// far off to model it as constant. And the real travel
mjr	87:8d35c74403af	5057	// time obviously isn't a constant, but all we need for
mjr	87:8d35c74403af	5058	// that is an upper bound. So: we'll figure the time since
mjr	87:8d35c74403af	5059	// we entered firing mode, and figure the distance we should
mjr	87:8d35c74403af	5060	// have traveled to complete the trip within the maximum
mjr	87:8d35c74403af	5061	// time allowed. If we've moved far enough, we'll stay
mjr	87:8d35c74403af	5062	// in firing mode; if not, we'll exit firing mode. And if
mjr	87:8d35c74403af	5063	// we cross the finish line while still in firing mode,
mjr	87:8d35c74403af	5064	// we'll switch to the next phase of the firing event.
mjr	50:40015764bbe6	5065	if (r.pos <= 0)
mjr	50:40015764bbe6	5066	{
mjr	87:8d35c74403af	5067	// We crossed the park position. Switch to the second
mjr	87:8d35c74403af	5068	// phase of the firing event, where we hold the reported
mjr	87:8d35c74403af	5069	// position at the "bounce" position (where the plunger
mjr	87:8d35c74403af	5070	// is all the way forward, compressing the barrel spring).
mjr	87:8d35c74403af	5071	// We'll stick here long enough to ensure that the PC
mjr	87:8d35c74403af	5072	// client (Visual Pinball or whatever) sees the reading
mjr	87:8d35c74403af	5073	// and processes the release motion via the simulated
mjr	87:8d35c74403af	5074	// physics.
mjr	50:40015764bbe6	5075	firingMode(2);
mjr	53:9b2611964afc	5076
mjr	53:9b2611964afc	5077	// if in calibration mode, and we're in state 2 (moving),
mjr	53:9b2611964afc	5078	// collect firing statistics for calibration purposes
mjr	53:9b2611964afc	5079	if (plungerCalMode && calState == 2)
mjr	53:9b2611964afc	5080	{
mjr	53:9b2611964afc	5081	// collect a new zero point for the average when we
mjr	53:9b2611964afc	5082	// come to rest
mjr	53:9b2611964afc	5083	calState = 0;
mjr	53:9b2611964afc	5084
mjr	87:8d35c74403af	5085	// collect average firing time statistics in millseconds,
mjr	87:8d35c74403af	5086	// if it's in range (20 to 255 ms)
mjr	87:8d35c74403af	5087	const int dt = uint32_t(r.t - f0.t)/1000UL;
mjr	87:8d35c74403af	5088	if (dt >= 15 && dt <= 255)
mjr	53:9b2611964afc	5089	{
mjr	53:9b2611964afc	5090	calRlsTimeSum += dt;
mjr	53:9b2611964afc	5091	calRlsTimeN += 1;
mjr	53:9b2611964afc	5092	cfg.plunger.cal.tRelease = uint8_t(calRlsTimeSum / calRlsTimeN);
mjr	53:9b2611964afc	5093	}
mjr	53:9b2611964afc	5094	}
mjr	87:8d35c74403af	5095
mjr	87:8d35c74403af	5096	// Figure the "bounce" position as forward of the park
mjr	87:8d35c74403af	5097	// position by 1/6 of the starting retraction distance.
mjr	87:8d35c74403af	5098	// This simulates the momentum of the plunger compressing
mjr	87:8d35c74403af	5099	// the barrel spring on the rebound. The barrel spring
mjr	87:8d35c74403af	5100	// can compress by about 1/6 of the maximum retraction
mjr	87:8d35c74403af	5101	// distance, so we'll simply treat its compression as
mjr	87:8d35c74403af	5102	// proportional to the retraction. (It might be more
mjr	87:8d35c74403af	5103	// realistic to use a slightly higher value here, maybe
mjr	87:8d35c74403af	5104	// 1/4 or 1/3 or the retraction distance, capping it at
mjr	87:8d35c74403af	5105	// a maximum of 1/6, because the real plunger probably
mjr	87:8d35c74403af	5106	// compresses the barrel spring by 100% with less than
mjr	87:8d35c74403af	5107	// 100% retraction. But that won't affect the physics
mjr	87:8d35c74403af	5108	// meaningfully, just the animation, and the effect is
mjr	87:8d35c74403af	5109	// small in any case.)
mjr	87:8d35c74403af	5110	z = f0.pos = -f0.pos / 6;
mjr	87:8d35c74403af	5111
mjr	87:8d35c74403af	5112	// reset the starting time for this phase
mjr	87:8d35c74403af	5113	f0.t = r.t;
mjr	50:40015764bbe6	5114	}
mjr	50:40015764bbe6	5115	else
mjr	50:40015764bbe6	5116	{
mjr	87:8d35c74403af	5117	// check for motion since the start of the firing event
mjr	87:8d35c74403af	5118	const uint32_t dt = uint32_t(r.t - f0.t);
mjr	87:8d35c74403af	5119	const uint32_t dt2 = dt*dt; // dt^2
mjr	87:8d35c74403af	5120	if (dt < 50000
mjr	87:8d35c74403af	5121	&& r.pos < f0.pos - int((f0.posacc2uint64_t(dt2)) >> 48))
mjr	87:8d35c74403af	5122	{
mjr	87:8d35c74403af	5123	// It's moving fast enough to still be in a release
mjr	87:8d35c74403af	5124	// motion. Continue reporting the start position, and
mjr	87:8d35c74403af	5125	// stay in the first release phase.
mjr	87:8d35c74403af	5126	z = f0.pos;
mjr	87:8d35c74403af	5127	}
mjr	87:8d35c74403af	5128	else
mjr	87:8d35c74403af	5129	{
mjr	87:8d35c74403af	5130	// It's not moving fast enough to be a release
mjr	87:8d35c74403af	5131	// motion. Return to the default state.
mjr	87:8d35c74403af	5132	firingMode(0);
mjr	87:8d35c74403af	5133	calState = 1;
mjr	87:8d35c74403af	5134	}
mjr	50:40015764bbe6	5135	}
mjr	50:40015764bbe6	5136	break;
mjr	50:40015764bbe6	5137
mjr	50:40015764bbe6	5138	case 2:
mjr	87:8d35c74403af	5139	// Firing mode, holding at forward compression position.
mjr	87:8d35c74403af	5140	// Hold here for 25ms.
mjr	87:8d35c74403af	5141	if (uint32_t(r.t - f0.t) < 25000)
mjr	50:40015764bbe6	5142	{
mjr	87:8d35c74403af	5143	// stay here for now
mjr	87:8d35c74403af	5144	z = f0.pos;
mjr	50:40015764bbe6	5145	}
mjr	50:40015764bbe6	5146	else
mjr	50:40015764bbe6	5147	{
mjr	87:8d35c74403af	5148	// advance to the next phase, where we report the park
mjr	87:8d35c74403af	5149	// position until the plunger comes to rest
mjr	50:40015764bbe6	5150	firingMode(3);
mjr	50:40015764bbe6	5151	z = 0;
mjr	87:8d35c74403af	5152
mjr	87:8d35c74403af	5153	// remember when we started
mjr	87:8d35c74403af	5154	f0.t = r.t;
mjr	50:40015764bbe6	5155	}
mjr	50:40015764bbe6	5156	break;
mjr	50:40015764bbe6	5157
mjr	50:40015764bbe6	5158	case 3:
mjr	87:8d35c74403af	5159	// Firing event, holding at park position. Stay here for
mjr	87:8d35c74403af	5160	// a few moments so that the PC client can simulate the
mjr	87:8d35c74403af	5161	// full release motion, then return to real readings.
mjr	87:8d35c74403af	5162	if (uint32_t(r.t - f0.t) < 250000)
mjr	50:40015764bbe6	5163	{
mjr	87:8d35c74403af	5164	// stay here a while longer
mjr	87:8d35c74403af	5165	z = 0;
mjr	50:40015764bbe6	5166	}
mjr	50:40015764bbe6	5167	else
mjr	50:40015764bbe6	5168	{
mjr	87:8d35c74403af	5169	// it's been long enough - return to normal mode
mjr	87:8d35c74403af	5170	firingMode(0);
mjr	50:40015764bbe6	5171	}
mjr	50:40015764bbe6	5172	break;
mjr	50:40015764bbe6	5173	}
mjr	50:40015764bbe6	5174
mjr	82:4f6209cb5c33	5175	// Check for auto-zeroing, if enabled
mjr	82:4f6209cb5c33	5176	if ((cfg.plunger.autoZero.flags & PlungerAutoZeroEnabled) != 0)
mjr	82:4f6209cb5c33	5177	{
mjr	82:4f6209cb5c33	5178	// If we moved since the last reading, reset and restart the
mjr	82:4f6209cb5c33	5179	// auto-zero timer. Otherwise, if the timer has reached the
mjr	82:4f6209cb5c33	5180	// auto-zero timeout, it means we've been motionless for that
mjr	82:4f6209cb5c33	5181	// long, so auto-zero now.
mjr	82:4f6209cb5c33	5182	if (r.pos != prv.pos)
mjr	82:4f6209cb5c33	5183	{
mjr	82:4f6209cb5c33	5184	// movement detected - reset the timer
mjr	82:4f6209cb5c33	5185	autoZeroTimer.reset();
mjr	82:4f6209cb5c33	5186	autoZeroTimer.start();
mjr	82:4f6209cb5c33	5187	}
mjr	82:4f6209cb5c33	5188	else if (autoZeroTimer.read_us() > cfg.plunger.autoZero.t * 1000000UL)
mjr	82:4f6209cb5c33	5189	{
mjr	82:4f6209cb5c33	5190	// auto-zero now
mjr	82:4f6209cb5c33	5191	plungerSensor->autoZero();
mjr	82:4f6209cb5c33	5192
mjr	82:4f6209cb5c33	5193	// stop the timer so that we don't keep repeating this
mjr	82:4f6209cb5c33	5194	// if the plunger stays still for a long time
mjr	82:4f6209cb5c33	5195	autoZeroTimer.stop();
mjr	82:4f6209cb5c33	5196	autoZeroTimer.reset();
mjr	82:4f6209cb5c33	5197	}
mjr	82:4f6209cb5c33	5198	}
mjr	82:4f6209cb5c33	5199
mjr	87:8d35c74403af	5200	// this new reading becomes the previous reading for next time
mjr	87:8d35c74403af	5201	prv = r;
mjr	48:058ace2aed1d	5202	}
mjr	48:058ace2aed1d	5203	}
mjr	48:058ace2aed1d	5204
mjr	48:058ace2aed1d	5205	// Get the current value to report through the joystick interface
mjr	58:523fdcffbe6d	5206	int16_t getPosition()
mjr	58:523fdcffbe6d	5207	{
mjr	86:e30a1f60f783	5208	// return the last reading
mjr	86:e30a1f60f783	5209	return z;
mjr	55:4db125cd11a0	5210	}
mjr	58:523fdcffbe6d	5211
mjr	48:058ace2aed1d	5212	// Set calibration mode on or off
mjr	52:8298b2a73eb2	5213	void setCalMode(bool f)
mjr	48:058ace2aed1d	5214	{
mjr	52:8298b2a73eb2	5215	// check to see if we're entering calibration mode
mjr	52:8298b2a73eb2	5216	if (f && !plungerCalMode)
mjr	52:8298b2a73eb2	5217	{
mjr	52:8298b2a73eb2	5218	// reset the calibration in the configuration
mjr	48:058ace2aed1d	5219	cfg.plunger.cal.begin();
mjr	52:8298b2a73eb2	5220
mjr	52:8298b2a73eb2	5221	// start in state 0 (waiting to settle)
mjr	52:8298b2a73eb2	5222	calState = 0;
mjr	52:8298b2a73eb2	5223	calZeroPosSum = 0;
mjr	52:8298b2a73eb2	5224	calZeroPosN = 0;
mjr	52:8298b2a73eb2	5225	calRlsTimeSum = 0;
mjr	52:8298b2a73eb2	5226	calRlsTimeN = 0;
mjr	52:8298b2a73eb2	5227
mjr	82:4f6209cb5c33	5228	// tell the plunger we're starting calibration
mjr	82:4f6209cb5c33	5229	plungerSensor->beginCalibration();
mjr	82:4f6209cb5c33	5230
mjr	52:8298b2a73eb2	5231	// set the initial zero point to the current position
mjr	52:8298b2a73eb2	5232	PlungerReading r;
mjr	52:8298b2a73eb2	5233	if (plungerSensor->read(r))
mjr	52:8298b2a73eb2	5234	{
mjr	52:8298b2a73eb2	5235	// got a reading - use it as the initial zero point
mjr	52:8298b2a73eb2	5236	cfg.plunger.cal.zero = r.pos;
mjr	76:7f5912b6340e	5237	onUpdateCal();
mjr	52:8298b2a73eb2	5238
mjr	52:8298b2a73eb2	5239	// use it as the starting point for the settling watch
mjr	53:9b2611964afc	5240	calZeroStart = r;
mjr	52:8298b2a73eb2	5241	}
mjr	52:8298b2a73eb2	5242	else
mjr	52:8298b2a73eb2	5243	{
mjr	52:8298b2a73eb2	5244	// no reading available - use the default 1/6 position
mjr	52:8298b2a73eb2	5245	cfg.plunger.cal.zero = 0xffff/6;
mjr	76:7f5912b6340e	5246	onUpdateCal();
mjr	52:8298b2a73eb2	5247
mjr	52:8298b2a73eb2	5248	// we don't have a starting point for the setting watch
mjr	53:9b2611964afc	5249	calZeroStart.pos = -65535;
mjr	53:9b2611964afc	5250	calZeroStart.t = 0;
mjr	53:9b2611964afc	5251	}
mjr	53:9b2611964afc	5252	}
mjr	53:9b2611964afc	5253	else if (!f && plungerCalMode)
mjr	53:9b2611964afc	5254	{
mjr	53:9b2611964afc	5255	// Leaving calibration mode. Make sure the max is past the
mjr	53:9b2611964afc	5256	// zero point - if it's not, we'd have a zero or negative
mjr	53:9b2611964afc	5257	// denominator for the scaling calculation, which would be
mjr	53:9b2611964afc	5258	// physically meaningless.
mjr	53:9b2611964afc	5259	if (cfg.plunger.cal.max <= cfg.plunger.cal.zero)
mjr	53:9b2611964afc	5260	{
mjr	53:9b2611964afc	5261	// bad settings - reset to defaults
mjr	53:9b2611964afc	5262	cfg.plunger.cal.max = 0xffff;
mjr	53:9b2611964afc	5263	cfg.plunger.cal.zero = 0xffff/6;
mjr	76:7f5912b6340e	5264	onUpdateCal();
mjr	52:8298b2a73eb2	5265	}
mjr	52:8298b2a73eb2	5266	}
mjr	52:8298b2a73eb2	5267
mjr	48:058ace2aed1d	5268	// remember the new mode
mjr	52:8298b2a73eb2	5269	plungerCalMode = f;
mjr	48:058ace2aed1d	5270	}
mjr	48:058ace2aed1d	5271
mjr	76:7f5912b6340e	5272	// Cached inverse of the calibration range. This is for calculating
mjr	76:7f5912b6340e	5273	// the calibrated plunger position given a raw sensor reading. The
mjr	76:7f5912b6340e	5274	// cached inverse is calculated as
mjr	76:7f5912b6340e	5275	//
mjr	76:7f5912b6340e	5276	// 64K * JOYMAX / (cfg.plunger.cal.max - cfg.plunger.cal.zero)
mjr	76:7f5912b6340e	5277	//
mjr	76:7f5912b6340e	5278	// To convert a raw sensor reading to a calibrated position, calculate
mjr	76:7f5912b6340e	5279	//
mjr	76:7f5912b6340e	5280	// ((reading - cfg.plunger.cal.zero)*invCalRange) >> 16
mjr	76:7f5912b6340e	5281	//
mjr	76:7f5912b6340e	5282	// That yields the calibration result without performing a division.
mjr	76:7f5912b6340e	5283	int invCalRange;
mjr	76:7f5912b6340e	5284
mjr	76:7f5912b6340e	5285	// apply the calibration range to a reading
mjr	76:7f5912b6340e	5286	inline int applyCal(int reading)
mjr	76:7f5912b6340e	5287	{
mjr	76:7f5912b6340e	5288	return ((reading - cfg.plunger.cal.zero)*invCalRange) >> 16;
mjr	76:7f5912b6340e	5289	}
mjr	76:7f5912b6340e	5290
mjr	76:7f5912b6340e	5291	void onUpdateCal()
mjr	76:7f5912b6340e	5292	{
mjr	76:7f5912b6340e	5293	invCalRange = (JOYMAX << 16)/(cfg.plunger.cal.max - cfg.plunger.cal.zero);
mjr	76:7f5912b6340e	5294	}
mjr	76:7f5912b6340e	5295
mjr	48:058ace2aed1d	5296	// is a firing event in progress?
mjr	53:9b2611964afc	5297	bool isFiring() { return firing == 3; }
mjr	76:7f5912b6340e	5298
mjr	48:058ace2aed1d	5299	private:
mjr	87:8d35c74403af	5300	// current reported joystick reading
mjr	87:8d35c74403af	5301	int z;
mjr	87:8d35c74403af	5302
mjr	87:8d35c74403af	5303	// previous reading
mjr	87:8d35c74403af	5304	PlungerReading prv;
mjr	87:8d35c74403af	5305
mjr	52:8298b2a73eb2	5306	// Calibration state. During calibration mode, we watch for release
mjr	52:8298b2a73eb2	5307	// events, to measure the time it takes to complete the release
mjr	52:8298b2a73eb2	5308	// motion; and we watch for the plunger to come to reset after a
mjr	52:8298b2a73eb2	5309	// release, to gather statistics on the rest position.
mjr	52:8298b2a73eb2	5310	// 0 = waiting to settle
mjr	52:8298b2a73eb2	5311	// 1 = at rest
mjr	52:8298b2a73eb2	5312	// 2 = retracting
mjr	52:8298b2a73eb2	5313	// 3 = possibly releasing
mjr	52:8298b2a73eb2	5314	uint8_t calState;
mjr	52:8298b2a73eb2	5315
mjr	52:8298b2a73eb2	5316	// Calibration zero point statistics.
mjr	52:8298b2a73eb2	5317	// During calibration mode, we collect data on the rest position (the
mjr	52:8298b2a73eb2	5318	// zero point) by watching for the plunger to come to rest after each
mjr	52:8298b2a73eb2	5319	// release. We average these rest positions to get the calibrated
mjr	52:8298b2a73eb2	5320	// zero point. We use the average because the real physical plunger
mjr	52:8298b2a73eb2	5321	// itself doesn't come to rest at exactly the same spot every time,
mjr	52:8298b2a73eb2	5322	// largely due to friction in the mechanism. To calculate the average,
mjr	52:8298b2a73eb2	5323	// we keep a sum of the readings and a count of samples.
mjr	53:9b2611964afc	5324	PlungerReading calZeroStart;
mjr	52:8298b2a73eb2	5325	long calZeroPosSum;
mjr	52:8298b2a73eb2	5326	int calZeroPosN;
mjr	52:8298b2a73eb2	5327
mjr	52:8298b2a73eb2	5328	// Calibration release time statistics.
mjr	52:8298b2a73eb2	5329	// During calibration, we collect an average for the release time.
mjr	52:8298b2a73eb2	5330	long calRlsTimeSum;
mjr	52:8298b2a73eb2	5331	int calRlsTimeN;
mjr	52:8298b2a73eb2	5332
mjr	85:3c28aee81cde	5333	// Auto-zeroing timer
mjr	85:3c28aee81cde	5334	Timer autoZeroTimer;
mjr	85:3c28aee81cde	5335
mjr	48:058ace2aed1d	5336	// set a firing mode
mjr	48:058ace2aed1d	5337	inline void firingMode(int m)
mjr	48:058ace2aed1d	5338	{
mjr	48:058ace2aed1d	5339	firing = m;
mjr	48:058ace2aed1d	5340	}
mjr	48:058ace2aed1d	5341
mjr	48:058ace2aed1d	5342	// Firing event state.
mjr	48:058ace2aed1d	5343	//
mjr	87:8d35c74403af	5344	// 0 - Default state: not in firing event. We report the true
mjr	87:8d35c74403af	5345	// instantaneous plunger position to the joystick interface.
mjr	48:058ace2aed1d	5346	//
mjr	87:8d35c74403af	5347	// 1 - Moving forward at release speed
mjr	48:058ace2aed1d	5348	//
mjr	87:8d35c74403af	5349	// 2 - Firing - reporting the bounce position
mjr	87:8d35c74403af	5350	//
mjr	87:8d35c74403af	5351	// 3 - Firing - reporting the park position
mjr	48:058ace2aed1d	5352	//
mjr	48:058ace2aed1d	5353	int firing;
mjr	48:058ace2aed1d	5354
mjr	87:8d35c74403af	5355	// Starting position for current firing mode phase
mjr	87:8d35c74403af	5356	PlungerReading f0;
mjr	48:058ace2aed1d	5357	};
mjr	48:058ace2aed1d	5358
mjr	48:058ace2aed1d	5359	// plunger reader singleton
mjr	48:058ace2aed1d	5360	PlungerReader plungerReader;
mjr	48:058ace2aed1d	5361
mjr	48:058ace2aed1d	5362	// ---------------------------------------------------------------------------
mjr	48:058ace2aed1d	5363	//
mjr	48:058ace2aed1d	5364	// Handle the ZB Launch Ball feature.
mjr	48:058ace2aed1d	5365	//
mjr	48:058ace2aed1d	5366	// The ZB Launch Ball feature, if enabled, lets the mechanical plunger
mjr	48:058ace2aed1d	5367	// serve as a substitute for a physical Launch Ball button. When a table
mjr	48:058ace2aed1d	5368	// is loaded in VP, and the table has the ZB Launch Ball LedWiz port
mjr	48:058ace2aed1d	5369	// turned on, we'll disable mechanical plunger reports through the
mjr	48:058ace2aed1d	5370	// joystick interface and instead use the plunger only to simulate the
mjr	48:058ace2aed1d	5371	// Launch Ball button. When the mode is active, pulling back and
mjr	48:058ace2aed1d	5372	// releasing the plunger causes a brief simulated press of the Launch
mjr	48:058ace2aed1d	5373	// button, and pushing the plunger forward of the rest position presses
mjr	48:058ace2aed1d	5374	// the Launch button as long as the plunger is pressed forward.
mjr	48:058ace2aed1d	5375	//
mjr	48:058ace2aed1d	5376	// This feature has two configuration components:
mjr	48:058ace2aed1d	5377	//
mjr	48:058ace2aed1d	5378	// - An LedWiz port number. This port is a "virtual" port that doesn't
mjr	48:058ace2aed1d	5379	// have to be attached to any actual output. DOF uses it to signal
mjr	48:058ace2aed1d	5380	// that the current table uses a Launch button instead of a plunger.
mjr	48:058ace2aed1d	5381	// DOF simply turns the port on when such a table is loaded and turns
mjr	48:058ace2aed1d	5382	// it off at all other times. We use it to enable and disable the
mjr	48:058ace2aed1d	5383	// plunger/launch button connection.
mjr	48:058ace2aed1d	5384	//
mjr	48:058ace2aed1d	5385	// - A joystick button ID. We simulate pressing this button when the
mjr	48:058ace2aed1d	5386	// launch feature is activated via the LedWiz port and the plunger is
mjr	48:058ace2aed1d	5387	// either pulled back and releasd, or pushed forward past the rest
mjr	48:058ace2aed1d	5388	// position.
mjr	48:058ace2aed1d	5389	//
mjr	48:058ace2aed1d	5390	class ZBLaunchBall
mjr	48:058ace2aed1d	5391	{
mjr	48:058ace2aed1d	5392	public:
mjr	48:058ace2aed1d	5393	ZBLaunchBall()
mjr	48:058ace2aed1d	5394	{
mjr	48:058ace2aed1d	5395	// start in the default state
mjr	48:058ace2aed1d	5396	lbState = 0;
mjr	53:9b2611964afc	5397	btnState = false;
mjr	48:058ace2aed1d	5398	}
mjr	48:058ace2aed1d	5399
mjr	48:058ace2aed1d	5400	// Update state. This checks the current plunger position and
mjr	48:058ace2aed1d	5401	// the timers to see if the plunger is in a position that simulates
mjr	48:058ace2aed1d	5402	// a Launch Ball button press via the ZB Launch Ball feature.
mjr	48:058ace2aed1d	5403	// Updates the simulated button vector according to the current
mjr	48:058ace2aed1d	5404	// launch ball state. The main loop calls this before each
mjr	48:058ace2aed1d	5405	// joystick update to figure the new simulated button state.
mjr	53:9b2611964afc	5406	void update()
mjr	48:058ace2aed1d	5407	{
mjr	53:9b2611964afc	5408	// If the ZB Launch Ball led wiz output is ON, check for a
mjr	53:9b2611964afc	5409	// plunger firing event
mjr	53:9b2611964afc	5410	if (zbLaunchOn)
mjr	48:058ace2aed1d	5411	{
mjr	53:9b2611964afc	5412	// note the new position
mjr	48:058ace2aed1d	5413	int znew = plungerReader.getPosition();
mjr	53:9b2611964afc	5414
mjr	53:9b2611964afc	5415	// figure the push threshold from the configuration data
mjr	51:57eb311faafa	5416	const int pushThreshold = int(-JOYMAX/3.0 * cfg.plunger.zbLaunchBall.pushDistance/1000.0);
mjr	53:9b2611964afc	5417
mjr	53:9b2611964afc	5418	// check the state
mjr	48:058ace2aed1d	5419	switch (lbState)
mjr	48:058ace2aed1d	5420	{
mjr	48:058ace2aed1d	5421	case 0:
mjr	53:9b2611964afc	5422	// Default state. If a launch event has been detected on
mjr	53:9b2611964afc	5423	// the plunger, activate a timed pulse and switch to state 1.
mjr	53:9b2611964afc	5424	// If the plunger is pushed forward of the threshold, push
mjr	53:9b2611964afc	5425	// the button.
mjr	53:9b2611964afc	5426	if (plungerReader.isFiring())
mjr	53:9b2611964afc	5427	{
mjr	53:9b2611964afc	5428	// firing event - start a timed Launch button pulse
mjr	53:9b2611964afc	5429	lbTimer.reset();
mjr	53:9b2611964afc	5430	lbTimer.start();
mjr	53:9b2611964afc	5431	setButton(true);
mjr	53:9b2611964afc	5432
mjr	53:9b2611964afc	5433	// switch to state 1
mjr	53:9b2611964afc	5434	lbState = 1;
mjr	53:9b2611964afc	5435	}
mjr	48:058ace2aed1d	5436	else if (znew <= pushThreshold)
mjr	53:9b2611964afc	5437	{
mjr	53:9b2611964afc	5438	// pushed forward without a firing event - hold the
mjr	53:9b2611964afc	5439	// button as long as we're pushed forward
mjr	53:9b2611964afc	5440	setButton(true);
mjr	53:9b2611964afc	5441	}
mjr	53:9b2611964afc	5442	else
mjr	53:9b2611964afc	5443	{
mjr	53:9b2611964afc	5444	// not pushed forward - turn off the Launch button
mjr	53:9b2611964afc	5445	setButton(false);
mjr	53:9b2611964afc	5446	}
mjr	48:058ace2aed1d	5447	break;
mjr	48:058ace2aed1d	5448
mjr	48:058ace2aed1d	5449	case 1:
mjr	53:9b2611964afc	5450	// State 1: Timed Launch button pulse in progress after a
mjr	53:9b2611964afc	5451	// firing event. Wait for the timer to expire.
mjr	53:9b2611964afc	5452	if (lbTimer.read_us() > 200000UL)
mjr	53:9b2611964afc	5453	{
mjr	53:9b2611964afc	5454	// timer expired - turn off the button
mjr	53:9b2611964afc	5455	setButton(false);
mjr	53:9b2611964afc	5456
mjr	53:9b2611964afc	5457	// switch to state 2
mjr	53:9b2611964afc	5458	lbState = 2;
mjr	53:9b2611964afc	5459	}
mjr	48:058ace2aed1d	5460	break;
mjr	48:058ace2aed1d	5461
mjr	48:058ace2aed1d	5462	case 2:
mjr	53:9b2611964afc	5463	// State 2: Timed Launch button pulse done. Wait for the
mjr	53:9b2611964afc	5464	// plunger launch event to end.
mjr	53:9b2611964afc	5465	if (!plungerReader.isFiring())
mjr	53:9b2611964afc	5466	{
mjr	53:9b2611964afc	5467	// firing event done - return to default state
mjr	53:9b2611964afc	5468	lbState = 0;
mjr	53:9b2611964afc	5469	}
mjr	48:058ace2aed1d	5470	break;
mjr	48:058ace2aed1d	5471	}
mjr	53:9b2611964afc	5472	}
mjr	53:9b2611964afc	5473	else
mjr	53:9b2611964afc	5474	{
mjr	53:9b2611964afc	5475	// ZB Launch Ball disabled - turn off the button if it was on
mjr	53:9b2611964afc	5476	setButton(false);
mjr	48:058ace2aed1d	5477
mjr	53:9b2611964afc	5478	// return to the default state
mjr	53:9b2611964afc	5479	lbState = 0;
mjr	48:058ace2aed1d	5480	}
mjr	48:058ace2aed1d	5481	}
mjr	53:9b2611964afc	5482
mjr	53:9b2611964afc	5483	// Set the button state
mjr	53:9b2611964afc	5484	void setButton(bool on)
mjr	53:9b2611964afc	5485	{
mjr	53:9b2611964afc	5486	if (btnState != on)
mjr	53:9b2611964afc	5487	{
mjr	53:9b2611964afc	5488	// remember the new state
mjr	53:9b2611964afc	5489	btnState = on;
mjr	53:9b2611964afc	5490
mjr	53:9b2611964afc	5491	// update the virtual button state
mjr	65:739875521aae	5492	buttonState[zblButtonIndex].virtPress(on);
mjr	53:9b2611964afc	5493	}
mjr	53:9b2611964afc	5494	}
mjr	53:9b2611964afc	5495
mjr	48:058ace2aed1d	5496	private:
mjr	48:058ace2aed1d	5497	// Simulated Launch Ball button state. If a "ZB Launch Ball" port is
mjr	48:058ace2aed1d	5498	// defined for our LedWiz port mapping, any time that port is turned ON,
mjr	48:058ace2aed1d	5499	// we'll simulate pushing the Launch Ball button if the player pulls
mjr	48:058ace2aed1d	5500	// back and releases the plunger, or simply pushes on the plunger from
mjr	48:058ace2aed1d	5501	// the rest position. This allows the plunger to be used in lieu of a
mjr	48:058ace2aed1d	5502	// physical Launch Ball button for tables that don't have plungers.
mjr	48:058ace2aed1d	5503	//
mjr	48:058ace2aed1d	5504	// States:
mjr	48:058ace2aed1d	5505	// 0 = default
mjr	53:9b2611964afc	5506	// 1 = firing (firing event has activated a Launch button pulse)
mjr	53:9b2611964afc	5507	// 2 = firing done (Launch button pulse ended, waiting for plunger
mjr	53:9b2611964afc	5508	// firing event to end)
mjr	53:9b2611964afc	5509	uint8_t lbState;
mjr	48:058ace2aed1d	5510
mjr	53:9b2611964afc	5511	// button state
mjr	53:9b2611964afc	5512	bool btnState;
mjr	48:058ace2aed1d	5513
mjr	48:058ace2aed1d	5514	// Time since last lbState transition. Some of the states are time-
mjr	48:058ace2aed1d	5515	// sensitive. In the "uncocked" state, we'll return to state 0 if
mjr	48:058ace2aed1d	5516	// we remain in this state for more than a few milliseconds, since
mjr	48:058ace2aed1d	5517	// it indicates that the plunger is being slowly returned to rest
mjr	48:058ace2aed1d	5518	// rather than released. In the "launching" state, we need to release
mjr	48:058ace2aed1d	5519	// the Launch Ball button after a moment, and we need to wait for
mjr	48:058ace2aed1d	5520	// the plunger to come to rest before returning to state 0.
mjr	48:058ace2aed1d	5521	Timer lbTimer;
mjr	48:058ace2aed1d	5522	};
mjr	48:058ace2aed1d	5523
mjr	35:e959ffba78fd	5524	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	5525	//
mjr	35:e959ffba78fd	5526	// Reboot - resets the microcontroller
mjr	35:e959ffba78fd	5527	//
mjr	54:fd77a6b2f76c	5528	void reboot(USBJoystick &js, bool disconnect = true, long pause_us = 2000000L)
mjr	35:e959ffba78fd	5529	{
mjr	35:e959ffba78fd	5530	// disconnect from USB
mjr	54:fd77a6b2f76c	5531	if (disconnect)
mjr	54:fd77a6b2f76c	5532	js.disconnect();
mjr	35:e959ffba78fd	5533
mjr	35:e959ffba78fd	5534	// wait a few seconds to make sure the host notices the disconnect
mjr	54:fd77a6b2f76c	5535	wait_us(pause_us);
mjr	35:e959ffba78fd	5536
mjr	35:e959ffba78fd	5537	// reset the device
mjr	35:e959ffba78fd	5538	NVIC_SystemReset();
mjr	35:e959ffba78fd	5539	while (true) { }
mjr	35:e959ffba78fd	5540	}
mjr	35:e959ffba78fd	5541
mjr	35:e959ffba78fd	5542	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	5543	//
mjr	35:e959ffba78fd	5544	// Translate joystick readings from raw values to reported values, based
mjr	35:e959ffba78fd	5545	// on the orientation of the controller card in the cabinet.
mjr	35:e959ffba78fd	5546	//
mjr	35:e959ffba78fd	5547	void accelRotate(int &x, int &y)
mjr	35:e959ffba78fd	5548	{
mjr	35:e959ffba78fd	5549	int tmp;
mjr	78:1e00b3fa11af	5550	switch (cfg.accel.orientation)
mjr	35:e959ffba78fd	5551	{
mjr	35:e959ffba78fd	5552	case OrientationFront:
mjr	35:e959ffba78fd	5553	tmp = x;
mjr	35:e959ffba78fd	5554	x = y;
mjr	35:e959ffba78fd	5555	y = tmp;
mjr	35:e959ffba78fd	5556	break;
mjr	35:e959ffba78fd	5557
mjr	35:e959ffba78fd	5558	case OrientationLeft:
mjr	35:e959ffba78fd	5559	x = -x;
mjr	35:e959ffba78fd	5560	break;
mjr	35:e959ffba78fd	5561
mjr	35:e959ffba78fd	5562	case OrientationRight:
mjr	35:e959ffba78fd	5563	y = -y;
mjr	35:e959ffba78fd	5564	break;
mjr	35:e959ffba78fd	5565
mjr	35:e959ffba78fd	5566	case OrientationRear:
mjr	35:e959ffba78fd	5567	tmp = -x;
mjr	35:e959ffba78fd	5568	x = -y;
mjr	35:e959ffba78fd	5569	y = tmp;
mjr	35:e959ffba78fd	5570	break;
mjr	35:e959ffba78fd	5571	}
mjr	35:e959ffba78fd	5572	}
mjr	35:e959ffba78fd	5573
mjr	35:e959ffba78fd	5574	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	5575	//
mjr	35:e959ffba78fd	5576	// Calibration button state:
mjr	35:e959ffba78fd	5577	// 0 = not pushed
mjr	35:e959ffba78fd	5578	// 1 = pushed, not yet debounced
mjr	35:e959ffba78fd	5579	// 2 = pushed, debounced, waiting for hold time
mjr	35:e959ffba78fd	5580	// 3 = pushed, hold time completed - in calibration mode
mjr	35:e959ffba78fd	5581	int calBtnState = 0;
mjr	35:e959ffba78fd	5582
mjr	35:e959ffba78fd	5583	// calibration button debounce timer
mjr	35:e959ffba78fd	5584	Timer calBtnTimer;
mjr	35:e959ffba78fd	5585
mjr	35:e959ffba78fd	5586	// calibration button light state
mjr	35:e959ffba78fd	5587	int calBtnLit = false;
mjr	35:e959ffba78fd	5588
mjr	35:e959ffba78fd	5589
mjr	35:e959ffba78fd	5590	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	5591	//
mjr	40:cc0d9814522b	5592	// Configuration variable get/set message handling
mjr	35:e959ffba78fd	5593	//
mjr	40:cc0d9814522b	5594
mjr	40:cc0d9814522b	5595	// Handle SET messages - write configuration variables from USB message data
mjr	40:cc0d9814522b	5596	#define if_msg_valid(test) if (test)
mjr	53:9b2611964afc	5597	#define v_byte(var, ofs) cfg.var = data[ofs]
mjr	91:ae9be42652bf	5598	#define v_byte_wo(var, ofs) cfg.var = data[ofs]
mjr	53:9b2611964afc	5599	#define v_ui16(var, ofs) cfg.var = wireUI16(data+(ofs))
mjr	77:0b96f6867312	5600	#define v_ui32(var, ofs) cfg.var = wireUI32(data+(ofs))
mjr	53:9b2611964afc	5601	#define v_pin(var, ofs) cfg.var = wirePinName(data[ofs])
mjr	53:9b2611964afc	5602	#define v_byte_ro(val, ofs) // ignore read-only variables on SET
mjr	74:822a92bc11d2	5603	#define v_ui32_ro(val, ofs) // ignore read-only variables on SET
mjr	74:822a92bc11d2	5604	#define VAR_MODE_SET 1 // we're in SET mode
mjr	76:7f5912b6340e	5605	#define v_func configVarSet(const uint8_t *data)
mjr	40:cc0d9814522b	5606	#include "cfgVarMsgMap.h"
mjr	35:e959ffba78fd	5607
mjr	40:cc0d9814522b	5608	// redefine everything for the SET messages
mjr	40:cc0d9814522b	5609	#undef if_msg_valid
mjr	40:cc0d9814522b	5610	#undef v_byte
mjr	40:cc0d9814522b	5611	#undef v_ui16
mjr	77:0b96f6867312	5612	#undef v_ui32
mjr	40:cc0d9814522b	5613	#undef v_pin
mjr	53:9b2611964afc	5614	#undef v_byte_ro
mjr	91:ae9be42652bf	5615	#undef v_byte_wo
mjr	74:822a92bc11d2	5616	#undef v_ui32_ro
mjr	74:822a92bc11d2	5617	#undef VAR_MODE_SET
mjr	40:cc0d9814522b	5618	#undef v_func
mjr	38:091e511ce8a0	5619
mjr	91:ae9be42652bf	5620	// Handle GET messages - read variable values and return in USB message data
mjr	40:cc0d9814522b	5621	#define if_msg_valid(test)
mjr	53:9b2611964afc	5622	#define v_byte(var, ofs) data[ofs] = cfg.var
mjr	53:9b2611964afc	5623	#define v_ui16(var, ofs) ui16Wire(data+(ofs), cfg.var)
mjr	77:0b96f6867312	5624	#define v_ui32(var, ofs) ui32Wire(data+(ofs), cfg.var)
mjr	53:9b2611964afc	5625	#define v_pin(var, ofs) pinNameWire(data+(ofs), cfg.var)
mjr	73:4e8ce0b18915	5626	#define v_byte_ro(val, ofs) data[ofs] = (val)
mjr	74:822a92bc11d2	5627	#define v_ui32_ro(val, ofs) ui32Wire(data+(ofs), val);
mjr	74:822a92bc11d2	5628	#define VAR_MODE_SET 0 // we're in GET mode
mjr	91:ae9be42652bf	5629	#define v_byte_wo(var, ofs) // ignore write-only variables in GET mode
mjr	76:7f5912b6340e	5630	#define v_func configVarGet(uint8_t *data)
mjr	40:cc0d9814522b	5631	#include "cfgVarMsgMap.h"
mjr	40:cc0d9814522b	5632
mjr	35:e959ffba78fd	5633
mjr	35:e959ffba78fd	5634	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	5635	//
mjr	35:e959ffba78fd	5636	// Handle an input report from the USB host. Input reports use our extended
mjr	35:e959ffba78fd	5637	// LedWiz protocol.
mjr	33:d832bcab089e	5638	//
mjr	78:1e00b3fa11af	5639	void handleInputMsg(LedWizMsg &lwm, USBJoystick &js, Accel &accel)
mjr	35:e959ffba78fd	5640	{
mjr	38:091e511ce8a0	5641	// LedWiz commands come in two varieties: SBA and PBA. An
mjr	38:091e511ce8a0	5642	// SBA is marked by the first byte having value 64 (0x40). In
mjr	38:091e511ce8a0	5643	// the real LedWiz protocol, any other value in the first byte
mjr	38:091e511ce8a0	5644	// means it's a PBA message. However, valid PBA messages
mjr	38:091e511ce8a0	5645	// always have a first byte (and in fact all 8 bytes) in the
mjr	38:091e511ce8a0	5646	// range 0-49 or 129-132. Anything else is invalid. We take
mjr	38:091e511ce8a0	5647	// advantage of this to implement private protocol extensions.
mjr	38:091e511ce8a0	5648	// So our full protocol is as follows:
mjr	38:091e511ce8a0	5649	//
mjr	38:091e511ce8a0	5650	// first byte =
mjr	74:822a92bc11d2	5651	// 0-48 -> PBA
mjr	74:822a92bc11d2	5652	// 64 -> SBA
mjr	38:091e511ce8a0	5653	// 65 -> private control message; second byte specifies subtype
mjr	74:822a92bc11d2	5654	// 129-132 -> PBA
mjr	38:091e511ce8a0	5655	// 200-228 -> extended bank brightness set for outputs N to N+6, where
mjr	38:091e511ce8a0	5656	// N is (first byte - 200)*7
mjr	38:091e511ce8a0	5657	// other -> reserved for future use
mjr	38:091e511ce8a0	5658	//
mjr	39:b3815a1c3802	5659	uint8_t *data = lwm.data;
mjr	74:822a92bc11d2	5660	if (data[0] == 64)
mjr	35:e959ffba78fd	5661	{
mjr	74:822a92bc11d2	5662	// 64 = SBA (original LedWiz command to set on/off switches for ports 1-32)
mjr	74:822a92bc11d2	5663	//printf("SBA %02x %02x %02x %02x, speed %02x\r\n",
mjr	38:091e511ce8a0	5664	// data[1], data[2], data[3], data[4], data[5]);
mjr	74:822a92bc11d2	5665	sba_sbx(0, data);
mjr	74:822a92bc11d2	5666
mjr	74:822a92bc11d2	5667	// SBA resets the PBA port group counter
mjr	38:091e511ce8a0	5668	pbaIdx = 0;
mjr	38:091e511ce8a0	5669	}
mjr	38:091e511ce8a0	5670	else if (data[0] == 65)
mjr	38:091e511ce8a0	5671	{
mjr	38:091e511ce8a0	5672	// Private control message. This isn't an LedWiz message - it's
mjr	38:091e511ce8a0	5673	// an extension for this device. 65 is an invalid PBA setting,
mjr	38:091e511ce8a0	5674	// and isn't used for any other LedWiz message, so we appropriate
mjr	38:091e511ce8a0	5675	// it for our own private use. The first byte specifies the
mjr	38:091e511ce8a0	5676	// message type.
mjr	39:b3815a1c3802	5677	switch (data[1])
mjr	38:091e511ce8a0	5678	{
mjr	39:b3815a1c3802	5679	case 0:
mjr	39:b3815a1c3802	5680	// No Op
mjr	39:b3815a1c3802	5681	break;
mjr	39:b3815a1c3802	5682
mjr	39:b3815a1c3802	5683	case 1:
mjr	38:091e511ce8a0	5684	// 1 = Old Set Configuration:
mjr	38:091e511ce8a0	5685	// data[2] = LedWiz unit number (0x00 to 0x0f)
mjr	38:091e511ce8a0	5686	// data[3] = feature enable bit mask:
mjr	38:091e511ce8a0	5687	// 0x01 = enable plunger sensor
mjr	39:b3815a1c3802	5688	{
mjr	39:b3815a1c3802	5689
mjr	39:b3815a1c3802	5690	// get the new LedWiz unit number - this is 0-15, whereas we
mjr	39:b3815a1c3802	5691	// we save the nominal unit number 1-16 in the config
mjr	39:b3815a1c3802	5692	uint8_t newUnitNo = (data[2] & 0x0f) + 1;
mjr	39:b3815a1c3802	5693
mjr	86:e30a1f60f783	5694	// we'll need a reboot if the LedWiz unit number is changing
mjr	86:e30a1f60f783	5695	bool reboot = (newUnitNo != cfg.psUnitNo);
mjr	39:b3815a1c3802	5696
mjr	39:b3815a1c3802	5697	// set the configuration parameters from the message
mjr	39:b3815a1c3802	5698	cfg.psUnitNo = newUnitNo;
mjr	39:b3815a1c3802	5699	cfg.plunger.enabled = data[3] & 0x01;
mjr	39:b3815a1c3802	5700
mjr	77:0b96f6867312	5701	// set the flag to do the save
mjr	86:e30a1f60f783	5702	saveConfigToFlash(0, reboot);
mjr	39:b3815a1c3802	5703	}
mjr	39:b3815a1c3802	5704	break;
mjr	38:091e511ce8a0	5705
mjr	39:b3815a1c3802	5706	case 2:
mjr	38:091e511ce8a0	5707	// 2 = Calibrate plunger
mjr	38:091e511ce8a0	5708	// (No parameters)
mjr	38:091e511ce8a0	5709
mjr	38:091e511ce8a0	5710	// enter calibration mode
mjr	38:091e511ce8a0	5711	calBtnState = 3;
mjr	52:8298b2a73eb2	5712	plungerReader.setCalMode(true);
mjr	38:091e511ce8a0	5713	calBtnTimer.reset();
mjr	39:b3815a1c3802	5714	break;
mjr	39:b3815a1c3802	5715
mjr	39:b3815a1c3802	5716	case 3:
mjr	52:8298b2a73eb2	5717	// 3 = plunger sensor status report
mjr	48:058ace2aed1d	5718	// data[2] = flag bits
mjr	53:9b2611964afc	5719	// data[3] = extra exposure time, 100us (.1ms) increments
mjr	52:8298b2a73eb2	5720	reportPlungerStat = true;
mjr	53:9b2611964afc	5721	reportPlungerStatFlags = data[2];
mjr	53:9b2611964afc	5722	reportPlungerStatTime = data[3];
mjr	38:091e511ce8a0	5723
mjr	38:091e511ce8a0	5724	// show purple until we finish sending the report
mjr	38:091e511ce8a0	5725	diagLED(1, 0, 1);
mjr	39:b3815a1c3802	5726	break;
mjr	39:b3815a1c3802	5727
mjr	39:b3815a1c3802	5728	case 4:
mjr	38:091e511ce8a0	5729	// 4 = hardware configuration query
mjr	38:091e511ce8a0	5730	// (No parameters)
mjr	38:091e511ce8a0	5731	js.reportConfig(
mjr	38:091e511ce8a0	5732	numOutputs,
mjr	38:091e511ce8a0	5733	cfg.psUnitNo - 1, // report 0-15 range for unit number (we store 1-16 internally)
mjr	52:8298b2a73eb2	5734	cfg.plunger.cal.zero, cfg.plunger.cal.max, cfg.plunger.cal.tRelease,
mjr	75:677892300e7a	5735	nvm.valid(), // a config is loaded if the config memory block is valid
mjr	75:677892300e7a	5736	true, // we support sbx/pbx extensions
mjr	78:1e00b3fa11af	5737	true, // we support the new accelerometer settings
mjr	82:4f6209cb5c33	5738	true, // we support the "flash write ok" status bit in joystick reports
mjr	92:f264fbaa1be5	5739	true, // we support the configurable joystick report timing features
mjr	79:682ae3171a08	5740	mallocBytesFree()); // remaining memory size
mjr	39:b3815a1c3802	5741	break;
mjr	39:b3815a1c3802	5742
mjr	39:b3815a1c3802	5743	case 5:
mjr	38:091e511ce8a0	5744	// 5 = all outputs off, reset to LedWiz defaults
mjr	38:091e511ce8a0	5745	allOutputsOff();
mjr	39:b3815a1c3802	5746	break;
mjr	39:b3815a1c3802	5747
mjr	39:b3815a1c3802	5748	case 6:
mjr	85:3c28aee81cde	5749	// 6 = Save configuration to flash. Optionally reboot after the
mjr	85:3c28aee81cde	5750	// delay time in seconds given in data[2].
mjr	85:3c28aee81cde	5751	//
mjr	85:3c28aee81cde	5752	// data[2] = delay time in seconds
mjr	85:3c28aee81cde	5753	// data[3] = flags:
mjr	85:3c28aee81cde	5754	// 0x01 -> do not reboot
mjr	86:e30a1f60f783	5755	saveConfigToFlash(data[2], !(data[3] & 0x01));
mjr	39:b3815a1c3802	5756	break;
mjr	40:cc0d9814522b	5757
mjr	40:cc0d9814522b	5758	case 7:
mjr	40:cc0d9814522b	5759	// 7 = Device ID report
mjr	53:9b2611964afc	5760	// data[2] = ID index: 1=CPU ID, 2=OpenSDA TUID
mjr	53:9b2611964afc	5761	js.reportID(data[2]);
mjr	40:cc0d9814522b	5762	break;
mjr	40:cc0d9814522b	5763
mjr	40:cc0d9814522b	5764	case 8:
mjr	40:cc0d9814522b	5765	// 8 = Engage/disengage night mode.
mjr	40:cc0d9814522b	5766	// data[2] = 1 to engage, 0 to disengage
mjr	40:cc0d9814522b	5767	setNightMode(data[2]);
mjr	40:cc0d9814522b	5768	break;
mjr	52:8298b2a73eb2	5769
mjr	52:8298b2a73eb2	5770	case 9:
mjr	52:8298b2a73eb2	5771	// 9 = Config variable query.
mjr	52:8298b2a73eb2	5772	// data[2] = config var ID
mjr	52:8298b2a73eb2	5773	// data[3] = array index (for array vars: button assignments, output ports)
mjr	52:8298b2a73eb2	5774	{
mjr	53:9b2611964afc	5775	// set up the reply buffer with the variable ID data, and zero out
mjr	53:9b2611964afc	5776	// the rest of the buffer
mjr	52:8298b2a73eb2	5777	uint8_t reply[8];
mjr	52:8298b2a73eb2	5778	reply[1] = data[2];
mjr	52:8298b2a73eb2	5779	reply[2] = data[3];
mjr	53:9b2611964afc	5780	memset(reply+3, 0, sizeof(reply)-3);
mjr	52:8298b2a73eb2	5781
mjr	52:8298b2a73eb2	5782	// query the value
mjr	52:8298b2a73eb2	5783	configVarGet(reply);
mjr	52:8298b2a73eb2	5784
mjr	52:8298b2a73eb2	5785	// send the reply
mjr	52:8298b2a73eb2	5786	js.reportConfigVar(reply + 1);
mjr	52:8298b2a73eb2	5787	}
mjr	52:8298b2a73eb2	5788	break;
mjr	53:9b2611964afc	5789
mjr	53:9b2611964afc	5790	case 10:
mjr	53:9b2611964afc	5791	// 10 = Build ID query.
mjr	53:9b2611964afc	5792	js.reportBuildInfo(getBuildID());
mjr	53:9b2611964afc	5793	break;
mjr	73:4e8ce0b18915	5794
mjr	73:4e8ce0b18915	5795	case 11:
mjr	73:4e8ce0b18915	5796	// 11 = TV ON relay control.
mjr	73:4e8ce0b18915	5797	// data[2] = operation:
mjr	73:4e8ce0b18915	5798	// 0 = turn relay off
mjr	73:4e8ce0b18915	5799	// 1 = turn relay on
mjr	73:4e8ce0b18915	5800	// 2 = pulse relay (as though the power-on timer fired)
mjr	73:4e8ce0b18915	5801	TVRelay(data[2]);
mjr	73:4e8ce0b18915	5802	break;
mjr	73:4e8ce0b18915	5803
mjr	73:4e8ce0b18915	5804	case 12:
mjr	77:0b96f6867312	5805	// 12 = Learn IR code. This enters IR learning mode. While
mjr	77:0b96f6867312	5806	// in learning mode, we report raw IR signals and the first IR
mjr	77:0b96f6867312	5807	// command decoded through the special IR report format. IR
mjr	77:0b96f6867312	5808	// learning mode automatically ends after a timeout expires if
mjr	77:0b96f6867312	5809	// no command can be decoded within the time limit.
mjr	77:0b96f6867312	5810
mjr	77:0b96f6867312	5811	// enter IR learning mode
mjr	77:0b96f6867312	5812	IRLearningMode = 1;
mjr	77:0b96f6867312	5813
mjr	77:0b96f6867312	5814	// cancel any regular IR input in progress
mjr	77:0b96f6867312	5815	IRCommandIn = 0;
mjr	77:0b96f6867312	5816
mjr	77:0b96f6867312	5817	// reset and start the learning mode timeout timer
mjr	77:0b96f6867312	5818	IRTimer.reset();
mjr	73:4e8ce0b18915	5819	break;
mjr	73:4e8ce0b18915	5820
mjr	73:4e8ce0b18915	5821	case 13:
mjr	73:4e8ce0b18915	5822	// 13 = Send button status report
mjr	73:4e8ce0b18915	5823	reportButtonStatus(js);
mjr	73:4e8ce0b18915	5824	break;
mjr	78:1e00b3fa11af	5825
mjr	78:1e00b3fa11af	5826	case 14:
mjr	78:1e00b3fa11af	5827	// 14 = manually center the accelerometer
mjr	78:1e00b3fa11af	5828	accel.manualCenterRequest();
mjr	78:1e00b3fa11af	5829	break;
mjr	78:1e00b3fa11af	5830
mjr	78:1e00b3fa11af	5831	case 15:
mjr	78:1e00b3fa11af	5832	// 15 = set up ad hoc IR command, part 1. Mark the command
mjr	78:1e00b3fa11af	5833	// as not ready, and save the partial data from the message.
mjr	78:1e00b3fa11af	5834	IRAdHocCmd.ready = 0;
mjr	78:1e00b3fa11af	5835	IRAdHocCmd.protocol = data[2];
mjr	78:1e00b3fa11af	5836	IRAdHocCmd.dittos = (data[3] & IRFlagDittos) != 0;
mjr	78:1e00b3fa11af	5837	IRAdHocCmd.code = wireUI32(&data[4]);
mjr	78:1e00b3fa11af	5838	break;
mjr	78:1e00b3fa11af	5839
mjr	78:1e00b3fa11af	5840	case 16:
mjr	78:1e00b3fa11af	5841	// 16 = send ad hoc IR command, part 2. Fill in the rest
mjr	78:1e00b3fa11af	5842	// of the data from the message and mark the command as
mjr	78:1e00b3fa11af	5843	// ready. The IR polling routine will send this as soon
mjr	78:1e00b3fa11af	5844	// as the IR transmitter is free.
mjr	78:1e00b3fa11af	5845	IRAdHocCmd.code \|= (uint64_t(wireUI32(&data[2])) << 32);
mjr	78:1e00b3fa11af	5846	IRAdHocCmd.ready = 1;
mjr	78:1e00b3fa11af	5847	break;
mjr	88:98bce687e6c0	5848
mjr	88:98bce687e6c0	5849	case 17:
mjr	88:98bce687e6c0	5850	// 17 = send pre-programmed IR command. This works just like
mjr	88:98bce687e6c0	5851	// sending an ad hoc command above, but we get the command data
mjr	88:98bce687e6c0	5852	// from an IR slot in the config rather than from the client.
mjr	88:98bce687e6c0	5853	// First make sure we have a valid slot number.
mjr	88:98bce687e6c0	5854	if (data[2] >= 1 && data[2] <= MAX_IR_CODES)
mjr	88:98bce687e6c0	5855	{
mjr	88:98bce687e6c0	5856	// get the IR command slot in the config
mjr	88:98bce687e6c0	5857	IRCommandCfg &cmd = cfg.IRCommand[data[2] - 1];
mjr	88:98bce687e6c0	5858
mjr	88:98bce687e6c0	5859	// copy the IR command data from the config
mjr	88:98bce687e6c0	5860	IRAdHocCmd.protocol = cmd.protocol;
mjr	88:98bce687e6c0	5861	IRAdHocCmd.dittos = (cmd.flags & IRFlagDittos) != 0;
mjr	88:98bce687e6c0	5862	IRAdHocCmd.code = (uint64_t(cmd.code.hi) << 32) \| cmd.code.lo;
mjr	88:98bce687e6c0	5863
mjr	88:98bce687e6c0	5864	// mark the command as ready - this will trigger the polling
mjr	88:98bce687e6c0	5865	// routine to send the command as soon as the transmitter
mjr	88:98bce687e6c0	5866	// is free
mjr	88:98bce687e6c0	5867	IRAdHocCmd.ready = 1;
mjr	88:98bce687e6c0	5868	}
mjr	88:98bce687e6c0	5869	break;
mjr	38:091e511ce8a0	5870	}
mjr	38:091e511ce8a0	5871	}
mjr	38:091e511ce8a0	5872	else if (data[0] == 66)
mjr	38:091e511ce8a0	5873	{
mjr	38:091e511ce8a0	5874	// Extended protocol - Set configuration variable.
mjr	38:091e511ce8a0	5875	// The second byte of the message is the ID of the variable
mjr	38:091e511ce8a0	5876	// to update, and the remaining bytes give the new value,
mjr	38:091e511ce8a0	5877	// in a variable-dependent format.
mjr	40:cc0d9814522b	5878	configVarSet(data);
mjr	86:e30a1f60f783	5879
mjr	87:8d35c74403af	5880	// notify the plunger, so that it can update relevant variables
mjr	87:8d35c74403af	5881	// dynamically
mjr	87:8d35c74403af	5882	plungerSensor->onConfigChange(data[1], cfg);
mjr	38:091e511ce8a0	5883	}
mjr	74:822a92bc11d2	5884	else if (data[0] == 67)
mjr	74:822a92bc11d2	5885	{
mjr	74:822a92bc11d2	5886	// SBX - extended SBA message. This is the same as SBA, except
mjr	74:822a92bc11d2	5887	// that the 7th byte selects a group of 32 ports, to allow access
mjr	74:822a92bc11d2	5888	// to ports beyond the first 32.
mjr	74:822a92bc11d2	5889	sba_sbx(data[6], data);
mjr	74:822a92bc11d2	5890	}
mjr	74:822a92bc11d2	5891	else if (data[0] == 68)
mjr	74:822a92bc11d2	5892	{
mjr	74:822a92bc11d2	5893	// PBX - extended PBA message. This is similar to PBA, but
mjr	74:822a92bc11d2	5894	// allows access to more than the first 32 ports by encoding
mjr	74:822a92bc11d2	5895	// a port group byte that selects a block of 8 ports.
mjr	74:822a92bc11d2	5896
mjr	74:822a92bc11d2	5897	// get the port group - the first port is 8*group
mjr	74:822a92bc11d2	5898	int portGroup = data[1];
mjr	74:822a92bc11d2	5899
mjr	74:822a92bc11d2	5900	// unpack the brightness values
mjr	74:822a92bc11d2	5901	uint32_t tmp1 = data[2] \| (data[3]<<8) \| (data[4]<<16);
mjr	74:822a92bc11d2	5902	uint32_t tmp2 = data[5] \| (data[6]<<8) \| (data[7]<<16);
mjr	74:822a92bc11d2	5903	uint8_t bri[8] = {
mjr	74:822a92bc11d2	5904	tmp1 & 0x3F, (tmp1>>6) & 0x3F, (tmp1>>12) & 0x3F, (tmp1>>18) & 0x3F,
mjr	74:822a92bc11d2	5905	tmp2 & 0x3F, (tmp2>>6) & 0x3F, (tmp2>>12) & 0x3F, (tmp2>>18) & 0x3F
mjr	74:822a92bc11d2	5906	};
mjr	74:822a92bc11d2	5907
mjr	74:822a92bc11d2	5908	// map the flash levels: 60->129, 61->130, 62->131, 63->132
mjr	74:822a92bc11d2	5909	for (int i = 0 ; i < 8 ; ++i)
mjr	74:822a92bc11d2	5910	{
mjr	74:822a92bc11d2	5911	if (bri[i] >= 60)
mjr	74:822a92bc11d2	5912	bri[i] += 129-60;
mjr	74:822a92bc11d2	5913	}
mjr	74:822a92bc11d2	5914
mjr	74:822a92bc11d2	5915	// Carry out the PBA
mjr	74:822a92bc11d2	5916	pba_pbx(portGroup*8, bri);
mjr	74:822a92bc11d2	5917	}
mjr	38:091e511ce8a0	5918	else if (data[0] >= 200 && data[0] <= 228)
mjr	38:091e511ce8a0	5919	{
mjr	38:091e511ce8a0	5920	// Extended protocol - Extended output port brightness update.
mjr	38:091e511ce8a0	5921	// data[0]-200 gives us the bank of 7 outputs we're setting:
mjr	38:091e511ce8a0	5922	// 200 is outputs 0-6, 201 is outputs 7-13, 202 is 14-20, etc.
mjr	38:091e511ce8a0	5923	// The remaining bytes are brightness levels, 0-255, for the
mjr	38:091e511ce8a0	5924	// seven outputs in the selected bank. The LedWiz flashing
mjr	38:091e511ce8a0	5925	// modes aren't accessible in this message type; we can only
mjr	38:091e511ce8a0	5926	// set a fixed brightness, but in exchange we get 8-bit
mjr	38:091e511ce8a0	5927	// resolution rather than the paltry 0-48 scale that the real
mjr	38:091e511ce8a0	5928	// LedWiz uses. There's no separate on/off status for outputs
mjr	38:091e511ce8a0	5929	// adjusted with this message type, either, as there would be
mjr	38:091e511ce8a0	5930	// for a PBA message - setting a non-zero value immediately
mjr	38:091e511ce8a0	5931	// turns the output, overriding the last SBA setting.
mjr	38:091e511ce8a0	5932	//
mjr	38:091e511ce8a0	5933	// For outputs 0-31, this overrides any previous PBA/SBA
mjr	38:091e511ce8a0	5934	// settings for the port. Any subsequent PBA/SBA message will
mjr	38:091e511ce8a0	5935	// in turn override the setting made here. It's simple - the
mjr	38:091e511ce8a0	5936	// most recent message of either type takes precedence. For
mjr	38:091e511ce8a0	5937	// outputs above the LedWiz range, PBA/SBA messages can't
mjr	38:091e511ce8a0	5938	// address those ports anyway.
mjr	63:5cd1a5f3a41b	5939
mjr	63:5cd1a5f3a41b	5940	// figure the block of 7 ports covered in the message
mjr	38:091e511ce8a0	5941	int i0 = (data[0] - 200)*7;
mjr	38:091e511ce8a0	5942	int i1 = i0 + 7 < numOutputs ? i0 + 7 : numOutputs;
mjr	63:5cd1a5f3a41b	5943
mjr	63:5cd1a5f3a41b	5944	// update each port
mjr	38:091e511ce8a0	5945	for (int i = i0 ; i < i1 ; ++i)
mjr	38:091e511ce8a0	5946	{
mjr	38:091e511ce8a0	5947	// set the brightness level for the output
mjr	40:cc0d9814522b	5948	uint8_t b = data[i-i0+1];
mjr	38:091e511ce8a0	5949	outLevel[i] = b;
mjr	38:091e511ce8a0	5950
mjr	74:822a92bc11d2	5951	// set the port's LedWiz state to the nearest equivalent, so
mjr	74:822a92bc11d2	5952	// that it maintains its current setting if we switch back to
mjr	74:822a92bc11d2	5953	// LedWiz mode on a future update
mjr	76:7f5912b6340e	5954	if (b != 0)
mjr	76:7f5912b6340e	5955	{
mjr	76:7f5912b6340e	5956	// Non-zero brightness - set the SBA switch on, and set the
mjr	76:7f5912b6340e	5957	// PBA brightness to the DOF brightness rescaled to the 1..48
mjr	76:7f5912b6340e	5958	// LedWiz range. If the port is subsequently addressed by an
mjr	76:7f5912b6340e	5959	// LedWiz command, this will carry the current DOF setting
mjr	76:7f5912b6340e	5960	// forward unchanged.
mjr	76:7f5912b6340e	5961	wizOn[i] = 1;
mjr	76:7f5912b6340e	5962	wizVal[i] = dof_to_lw[b];
mjr	76:7f5912b6340e	5963	}
mjr	76:7f5912b6340e	5964	else
mjr	76:7f5912b6340e	5965	{
mjr	76:7f5912b6340e	5966	// Zero brightness. Set the SBA switch off, and leave the
mjr	76:7f5912b6340e	5967	// PBA brightness the same as it was.
mjr	76:7f5912b6340e	5968	wizOn[i] = 0;
mjr	76:7f5912b6340e	5969	}
mjr	74:822a92bc11d2	5970
mjr	38:091e511ce8a0	5971	// set the output
mjr	40:cc0d9814522b	5972	lwPin[i]->set(b);
mjr	38:091e511ce8a0	5973	}
mjr	38:091e511ce8a0	5974
mjr	38:091e511ce8a0	5975	// update 74HC595 outputs, if attached
mjr	38:091e511ce8a0	5976	if (hc595 != 0)
mjr	38:091e511ce8a0	5977	hc595->update();
mjr	38:091e511ce8a0	5978	}
mjr	38:091e511ce8a0	5979	else
mjr	38:091e511ce8a0	5980	{
mjr	74:822a92bc11d2	5981	// Everything else is an LedWiz PBA message. This is a full
mjr	74:822a92bc11d2	5982	// "profile" dump from the host for one bank of 8 outputs. Each
mjr	74:822a92bc11d2	5983	// byte sets one output in the current bank. The current bank
mjr	74:822a92bc11d2	5984	// is implied; the bank starts at 0 and is reset to 0 by any SBA
mjr	74:822a92bc11d2	5985	// message, and is incremented to the next bank by each PBA. Our
mjr	74:822a92bc11d2	5986	// variable pbaIdx keeps track of the current bank. There's no
mjr	74:822a92bc11d2	5987	// direct way for the host to select the bank; it just has to count
mjr	74:822a92bc11d2	5988	// on us staying in sync. In practice, clients always send the
mjr	74:822a92bc11d2	5989	// full set of 4 PBA messages in a row to set all 32 outputs.
mjr	38:091e511ce8a0	5990	//
mjr	38:091e511ce8a0	5991	// Note that a PBA implicitly overrides our extended profile
mjr	38:091e511ce8a0	5992	// messages (message prefix 200-219), because this sets the
mjr	38:091e511ce8a0	5993	// wizVal[] entry for each output, and that takes precedence
mjr	63:5cd1a5f3a41b	5994	// over the extended protocol settings when we're in LedWiz
mjr	63:5cd1a5f3a41b	5995	// protocol mode.
mjr	38:091e511ce8a0	5996	//
mjr	38:091e511ce8a0	5997	//printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n",
mjr	38:091e511ce8a0	5998	// pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
mjr	38:091e511ce8a0	5999
mjr	74:822a92bc11d2	6000	// carry out the PBA
mjr	74:822a92bc11d2	6001	pba_pbx(pbaIdx, data);
mjr	74:822a92bc11d2	6002
mjr	74:822a92bc11d2	6003	// update the PBX index state for the next message
mjr	74:822a92bc11d2	6004	pbaIdx = (pbaIdx + 8) % 32;
mjr	38:091e511ce8a0	6005	}
mjr	38:091e511ce8a0	6006	}
mjr	35:e959ffba78fd	6007
mjr	38:091e511ce8a0	6008	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	6009	//
mjr	5:a70c0bce770d	6010	// Main program loop. This is invoked on startup and runs forever. Our
mjr	5:a70c0bce770d	6011	// main work is to read our devices (the accelerometer and the CCD), process
mjr	5:a70c0bce770d	6012	// the readings into nudge and plunger position data, and send the results
mjr	5:a70c0bce770d	6013	// to the host computer via the USB joystick interface. We also monitor
mjr	5:a70c0bce770d	6014	// the USB connection for incoming LedWiz commands and process those into
mjr	5:a70c0bce770d	6015	// port outputs.
mjr	5:a70c0bce770d	6016	//
mjr	0:5acbbe3f4cf4	6017	int main(void)
mjr	0:5acbbe3f4cf4	6018	{
mjr	60:f38da020aa13	6019	// say hello to the debug console, in case it's connected
mjr	39:b3815a1c3802	6020	printf("\r\nPinscape Controller starting\r\n");
mjr	94:0476b3e2b996	6021
mjr	94:0476b3e2b996	6022	// Set the default PWM period to 1ms. This will be used for PWM
mjr	94:0476b3e2b996	6023	// channels on PWM units whose periods aren't changed explicitly,
mjr	94:0476b3e2b996	6024	// so it'll apply to LW outputs assigned to GPIO pins. Note that
mjr	94:0476b3e2b996	6025	// the KL25Z only allows the period to be set at the TPM unit
mjr	94:0476b3e2b996	6026	// level, not per channel, so all channels on a given unit will
mjr	94:0476b3e2b996	6027	// necessarily use the same frequency. We (currently) have two
mjr	94:0476b3e2b996	6028	// subsystems that need specific PWM frequencies: TLC5940NT (which
mjr	94:0476b3e2b996	6029	// uses PWM to generate the grayscale clock signal) and IR remote
mjr	94:0476b3e2b996	6030	// (which uses PWM to generate the IR carrier signal). Since
mjr	94:0476b3e2b996	6031	// those require specific PWM frequencies, it's important to assign
mjr	94:0476b3e2b996	6032	// those to separate TPM units if both are in use simultaneously;
mjr	94:0476b3e2b996	6033	// the Config Tool includes checks to ensure that will happen when
mjr	94:0476b3e2b996	6034	// setting a config interactively. In addition, for the greatest
mjr	94:0476b3e2b996	6035	// flexibility, we take care NOT to assign explicit PWM frequencies
mjr	94:0476b3e2b996	6036	// to pins that don't require special frequences. That way, if a
mjr	94:0476b3e2b996	6037	// pin that doesn't need anything special happens to be sharing a
mjr	94:0476b3e2b996	6038	// TPM unit with a pin that does require a specific frequency, the
mjr	94:0476b3e2b996	6039	// two will co-exist peacefully on the TPM.
mjr	94:0476b3e2b996	6040	//
mjr	94:0476b3e2b996	6041	// We set this default first, before we create any PWM GPIOs, so
mjr	94:0476b3e2b996	6042	// that it will apply to all channels by default but won't override
mjr	94:0476b3e2b996	6043	// any channels that need specific frequences. Currently, the only
mjr	94:0476b3e2b996	6044	// frequency-agnostic PWM user is the LW outputs, so we can choose
mjr	94:0476b3e2b996	6045	// the default to be suitable for those. This is chosen to minimize
mjr	94:0476b3e2b996	6046	// flicker on attached LEDs.
mjr	94:0476b3e2b996	6047	NewPwmUnit::defaultPeriod = 0.0005f;
mjr	82:4f6209cb5c33	6048
mjr	76:7f5912b6340e	6049	// clear the I2C connection
mjr	35:e959ffba78fd	6050	clear_i2c();
mjr	82:4f6209cb5c33	6051
mjr	82:4f6209cb5c33	6052	// Elevate GPIO pin interrupt priorities, so that they can preempt
mjr	82:4f6209cb5c33	6053	// other interrupts. This is important for some external peripherals,
mjr	82:4f6209cb5c33	6054	// particularly the quadrature plunger sensors, which can generate
mjr	82:4f6209cb5c33	6055	// high-speed interrupts that need to be serviced quickly to keep
mjr	82:4f6209cb5c33	6056	// proper count of the quadrature position.
mjr	82:4f6209cb5c33	6057	FastInterruptIn::elevatePriority();
mjr	38:091e511ce8a0	6058
mjr	76:7f5912b6340e	6059	// Load the saved configuration. There are two sources of the
mjr	76:7f5912b6340e	6060	// configuration data:
mjr	76:7f5912b6340e	6061	//
mjr	76:7f5912b6340e	6062	// - Look for an NVM (flash non-volatile memory) configuration.
mjr	76:7f5912b6340e	6063	// If this is valid, we'll load it. The NVM is config data that can
mjr	76:7f5912b6340e	6064	// be updated dynamically by the host via USB commands and then stored
mjr	76:7f5912b6340e	6065	// in the flash by the firmware itself. If this exists, it supersedes
mjr	76:7f5912b6340e	6066	// any of the other settings stores. The Windows config tool uses this
mjr	76:7f5912b6340e	6067	// to store user settings updates.
mjr	76:7f5912b6340e	6068	//
mjr	76:7f5912b6340e	6069	// - If there's no NVM, we'll load the factory defaults, then we'll
mjr	76:7f5912b6340e	6070	// load any settings stored in the host-loaded configuration. The
mjr	76:7f5912b6340e	6071	// host can patch a set of configuration variable settings into the
mjr	76:7f5912b6340e	6072	// .bin file when loading new firmware, in the host-loaded config
mjr	76:7f5912b6340e	6073	// area that we reserve for this purpose. This allows the host to
mjr	76:7f5912b6340e	6074	// restore a configuration at the same time it installs firmware,
mjr	76:7f5912b6340e	6075	// without a separate download of the config data.
mjr	76:7f5912b6340e	6076	//
mjr	76:7f5912b6340e	6077	// The NVM supersedes the host-loaded config, since it can be updated
mjr	76:7f5912b6340e	6078	// between firmware updated and is thus presumably more recent if it's
mjr	76:7f5912b6340e	6079	// present. (Note that the NVM and host-loaded config are both in
mjr	76:7f5912b6340e	6080	// flash, so in principle we could just have a single NVM store that
mjr	76:7f5912b6340e	6081	// the host patches. The only reason we don't is that the NVM store
mjr	76:7f5912b6340e	6082	// is an image of our in-memory config structure, which is a native C
mjr	76:7f5912b6340e	6083	// struct, and we don't want the host to have to know the details of
mjr	76:7f5912b6340e	6084	// its byte layout, for obvious reasons. The host-loaded config, in
mjr	76:7f5912b6340e	6085	// contrast, uses the wire protocol format, which has a well-defined
mjr	76:7f5912b6340e	6086	// byte layout that's independent of the firmware version or the
mjr	76:7f5912b6340e	6087	// details of how the C compiler arranges the struct memory.)
mjr	76:7f5912b6340e	6088	if (!loadConfigFromFlash())
mjr	76:7f5912b6340e	6089	loadHostLoadedConfig();
mjr	35:e959ffba78fd	6090
mjr	38:091e511ce8a0	6091	// initialize the diagnostic LEDs
mjr	38:091e511ce8a0	6092	initDiagLEDs(cfg);
mjr	38:091e511ce8a0	6093
mjr	33:d832bcab089e	6094	// we're not connected/awake yet
mjr	33:d832bcab089e	6095	bool connected = false;
mjr	40:cc0d9814522b	6096	Timer connectChangeTimer;
mjr	33:d832bcab089e	6097
mjr	35:e959ffba78fd	6098	// create the plunger sensor interface
mjr	35:e959ffba78fd	6099	createPlunger();
mjr	76:7f5912b6340e	6100
mjr	76:7f5912b6340e	6101	// update the plunger reader's cached calibration data
mjr	76:7f5912b6340e	6102	plungerReader.onUpdateCal();
mjr	33:d832bcab089e	6103
mjr	60:f38da020aa13	6104	// set up the TLC5940 interface, if these chips are present
mjr	35:e959ffba78fd	6105	init_tlc5940(cfg);
mjr	34:6b981a2afab7	6106
mjr	87:8d35c74403af	6107	// initialize the TLC5916 interface, if these chips are present
mjr	87:8d35c74403af	6108	init_tlc59116(cfg);
mjr	87:8d35c74403af	6109
mjr	60:f38da020aa13	6110	// set up 74HC595 interface, if these chips are present
mjr	35:e959ffba78fd	6111	init_hc595(cfg);
mjr	6:cc35eb643e8f	6112
mjr	54:fd77a6b2f76c	6113	// Initialize the LedWiz ports. Note that the ordering here is important:
mjr	54:fd77a6b2f76c	6114	// this has to come after we create the TLC5940 and 74HC595 object instances
mjr	54:fd77a6b2f76c	6115	// (which we just did above), since we need to access those objects to set
mjr	54:fd77a6b2f76c	6116	// up ports assigned to the respective chips.
mjr	35:e959ffba78fd	6117	initLwOut(cfg);
mjr	48:058ace2aed1d	6118
mjr	60:f38da020aa13	6119	// start the TLC5940 refresh cycle clock
mjr	35:e959ffba78fd	6120	if (tlc5940 != 0)
mjr	35:e959ffba78fd	6121	tlc5940->start();
mjr	87:8d35c74403af	6122
mjr	77:0b96f6867312	6123	// Assume that nothing uses keyboard keys. We'll check for keyboard
mjr	77:0b96f6867312	6124	// usage when initializing the various subsystems that can send keys
mjr	77:0b96f6867312	6125	// (buttons, IR). If we find anything that does, we'll create the
mjr	77:0b96f6867312	6126	// USB keyboard interface.
mjr	77:0b96f6867312	6127	bool kbKeys = false;
mjr	77:0b96f6867312	6128
mjr	77:0b96f6867312	6129	// set up the IR remote control emitter & receiver, if present
mjr	77:0b96f6867312	6130	init_IR(cfg, kbKeys);
mjr	77:0b96f6867312	6131
mjr	77:0b96f6867312	6132	// start the power status time, if applicable
mjr	77:0b96f6867312	6133	startPowerStatusTimer(cfg);
mjr	48:058ace2aed1d	6134
mjr	35:e959ffba78fd	6135	// initialize the button input ports
mjr	35:e959ffba78fd	6136	initButtons(cfg, kbKeys);
mjr	38:091e511ce8a0	6137
mjr	60:f38da020aa13	6138	// Create the joystick USB client. Note that the USB vendor/product ID
mjr	60:f38da020aa13	6139	// information comes from the saved configuration. Also note that we have
mjr	60:f38da020aa13	6140	// to wait until after initializing the input buttons (which we just did
mjr	60:f38da020aa13	6141	// above) to set up the interface, since the button setup will determine
mjr	60:f38da020aa13	6142	// whether or not we need to present a USB keyboard interface in addition
mjr	60:f38da020aa13	6143	// to the joystick interface.
mjr	51:57eb311faafa	6144	MyUSBJoystick js(cfg.usbVendorID, cfg.usbProductID, USB_VERSION_NO, false,
mjr	90:aa4e571da8e8	6145	cfg.joystickEnabled, cfg.joystickAxisFormat, kbKeys);
mjr	51:57eb311faafa	6146
mjr	60:f38da020aa13	6147	// Wait for the USB connection to start up. Show a distinctive diagnostic
mjr	60:f38da020aa13	6148	// flash pattern while waiting.
mjr	70:9f58735a1732	6149	Timer connTimeoutTimer, connFlashTimer;
mjr	70:9f58735a1732	6150	connTimeoutTimer.start();
mjr	70:9f58735a1732	6151	connFlashTimer.start();
mjr	51:57eb311faafa	6152	while (!js.configured())
mjr	51:57eb311faafa	6153	{
mjr	51:57eb311faafa	6154	// show one short yellow flash at 2-second intervals
mjr	70:9f58735a1732	6155	if (connFlashTimer.read_us() > 2000000)
mjr	51:57eb311faafa	6156	{
mjr	51:57eb311faafa	6157	// short yellow flash
mjr	51:57eb311faafa	6158	diagLED(1, 1, 0);
mjr	54:fd77a6b2f76c	6159	wait_us(50000);
mjr	51:57eb311faafa	6160	diagLED(0, 0, 0);
mjr	51:57eb311faafa	6161
mjr	51:57eb311faafa	6162	// reset the flash timer
mjr	70:9f58735a1732	6163	connFlashTimer.reset();
mjr	51:57eb311faafa	6164	}
mjr	70:9f58735a1732	6165
mjr	77:0b96f6867312	6166	// If we've been disconnected for more than the reboot timeout,
mjr	77:0b96f6867312	6167	// reboot. Some PCs won't reconnect if we were left plugged in
mjr	77:0b96f6867312	6168	// during a power cycle on the PC, but fortunately a reboot on
mjr	77:0b96f6867312	6169	// the KL25Z will make the host notice us and trigger a reconnect.
mjr	86:e30a1f60f783	6170	// Don't do this if we're in a non-recoverable PSU2 power state.
mjr	70:9f58735a1732	6171	if (cfg.disconnectRebootTimeout != 0
mjr	86:e30a1f60f783	6172	&& connTimeoutTimer.read() > cfg.disconnectRebootTimeout
mjr	86:e30a1f60f783	6173	&& powerStatusAllowsReboot())
mjr	70:9f58735a1732	6174	reboot(js, false, 0);
mjr	77:0b96f6867312	6175
mjr	77:0b96f6867312	6176	// update the PSU2 power sensing status
mjr	77:0b96f6867312	6177	powerStatusUpdate(cfg);
mjr	51:57eb311faafa	6178	}
mjr	60:f38da020aa13	6179
mjr	60:f38da020aa13	6180	// we're now connected to the host
mjr	54:fd77a6b2f76c	6181	connected = true;
mjr	40:cc0d9814522b	6182
mjr	92:f264fbaa1be5	6183	// Set up a timer for keeping track of how long it's been since we
mjr	92:f264fbaa1be5	6184	// sent the last joystick report. We use this to determine when it's
mjr	92:f264fbaa1be5	6185	// time to send the next joystick report.
mjr	92:f264fbaa1be5	6186	//
mjr	92:f264fbaa1be5	6187	// We have to use a timer for two reasons. The first is that our main
mjr	92:f264fbaa1be5	6188	// loop runs too fast (about .25ms to 2.5ms per loop, depending on the
mjr	92:f264fbaa1be5	6189	// type of plunger sensor attached and other factors) for us to send
mjr	92:f264fbaa1be5	6190	// joystick reports on every iteration. We could, but the PC couldn't
mjr	92:f264fbaa1be5	6191	// digest them at that pace. So we need to slow down the reports to a
mjr	92:f264fbaa1be5	6192	// reasonable pace. The second is that VP has some complicated timing
mjr	92:f264fbaa1be5	6193	// issues of its own, so we not only need to slow down the reports from
mjr	92:f264fbaa1be5	6194	// our "natural" pace, but also time them to sync up with VP's input
mjr	92:f264fbaa1be5	6195	// sampling rate as best we can.
mjr	38:091e511ce8a0	6196	Timer jsReportTimer;
mjr	38:091e511ce8a0	6197	jsReportTimer.start();
mjr	38:091e511ce8a0	6198
mjr	92:f264fbaa1be5	6199	// Accelerometer sample "stutter" counter. Each time we send a joystick
mjr	92:f264fbaa1be5	6200	// report, we increment this counter, and check to see if it has reached
mjr	92:f264fbaa1be5	6201	// the threshold set in the configuration. If so, we take a new
mjr	92:f264fbaa1be5	6202	// accelerometer sample and send it with the new joystick report. It
mjr	92:f264fbaa1be5	6203	// not, we don't take a new sample, but simply repeat the last sample.
mjr	92:f264fbaa1be5	6204	//
mjr	92:f264fbaa1be5	6205	// This lets us send joystick reports more frequently than accelerometer
mjr	92:f264fbaa1be5	6206	// samples. The point is to let us slow down accelerometer reports to
mjr	92:f264fbaa1be5	6207	// a pace that matches VP's input sampling frequency, while still sending
mjr	92:f264fbaa1be5	6208	// joystick button updates more frequently, so that other programs that
mjr	92:f264fbaa1be5	6209	// can read input faster will see button changes with less latency.
mjr	92:f264fbaa1be5	6210	int jsAccelStutterCounter = 0;
mjr	92:f264fbaa1be5	6211
mjr	92:f264fbaa1be5	6212	// Last accelerometer report, in joystick units. We normally report the
mjr	92:f264fbaa1be5	6213	// acceleromter reading via the joystick X and Y axes, per the VP
mjr	92:f264fbaa1be5	6214	// convention. We can alternatively report in the RX and RY axes; this
mjr	92:f264fbaa1be5	6215	// can be set in the configuration.
mjr	92:f264fbaa1be5	6216	int x = 0, y = 0;
mjr	92:f264fbaa1be5	6217
mjr	60:f38da020aa13	6218	// Time since we successfully sent a USB report. This is a hacky
mjr	60:f38da020aa13	6219	// workaround to deal with any remaining sporadic problems in the USB
mjr	60:f38da020aa13	6220	// stack. I've been trying to bulletproof the USB code over time to
mjr	60:f38da020aa13	6221	// remove all such problems at their source, but it seems unlikely that
mjr	60:f38da020aa13	6222	// we'll ever get them all. Thus this hack. The idea here is that if
mjr	60:f38da020aa13	6223	// we go too long without successfully sending a USB report, we'll
mjr	60:f38da020aa13	6224	// assume that the connection is broken (and the KL25Z USB hardware
mjr	60:f38da020aa13	6225	// hasn't noticed this), and we'll try taking measures to recover.
mjr	38:091e511ce8a0	6226	Timer jsOKTimer;
mjr	38:091e511ce8a0	6227	jsOKTimer.start();
mjr	35:e959ffba78fd	6228
mjr	55:4db125cd11a0	6229	// Initialize the calibration button and lamp, if enabled. To be enabled,
mjr	55:4db125cd11a0	6230	// the pin has to be assigned to something other than NC (0xFF), AND the
mjr	55:4db125cd11a0	6231	// corresponding feature enable flag has to be set.
mjr	55:4db125cd11a0	6232	DigitalIn *calBtn = 0;
mjr	55:4db125cd11a0	6233	DigitalOut *calBtnLed = 0;
mjr	55:4db125cd11a0	6234
mjr	55:4db125cd11a0	6235	// calibration button input - feature flag 0x01
mjr	55:4db125cd11a0	6236	if ((cfg.plunger.cal.features & 0x01) && cfg.plunger.cal.btn != 0xFF)
mjr	55:4db125cd11a0	6237	calBtn = new DigitalIn(wirePinName(cfg.plunger.cal.btn));
mjr	55:4db125cd11a0	6238
mjr	55:4db125cd11a0	6239	// calibration button indicator lamp output - feature flag 0x02
mjr	55:4db125cd11a0	6240	if ((cfg.plunger.cal.features & 0x02) && cfg.plunger.cal.led != 0xFF)
mjr	55:4db125cd11a0	6241	calBtnLed = new DigitalOut(wirePinName(cfg.plunger.cal.led));
mjr	6:cc35eb643e8f	6242
mjr	35:e959ffba78fd	6243	// initialize the calibration button
mjr	1:d913e0afb2ac	6244	calBtnTimer.start();
mjr	35:e959ffba78fd	6245	calBtnState = 0;
mjr	1:d913e0afb2ac	6246
mjr	1:d913e0afb2ac	6247	// set up a timer for our heartbeat indicator
mjr	1:d913e0afb2ac	6248	Timer hbTimer;
mjr	1:d913e0afb2ac	6249	hbTimer.start();
mjr	1:d913e0afb2ac	6250	int hb = 0;
mjr	5:a70c0bce770d	6251	uint16_t hbcnt = 0;
mjr	1:d913e0afb2ac	6252
mjr	1:d913e0afb2ac	6253	// set a timer for accelerometer auto-centering
mjr	1:d913e0afb2ac	6254	Timer acTimer;
mjr	1:d913e0afb2ac	6255	acTimer.start();
mjr	1:d913e0afb2ac	6256
mjr	0:5acbbe3f4cf4	6257	// create the accelerometer object
mjr	77:0b96f6867312	6258	Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS,
mjr	78:1e00b3fa11af	6259	MMA8451_INT_PIN, cfg.accel.range, cfg.accel.autoCenterTime);
mjr	76:7f5912b6340e	6260
mjr	48:058ace2aed1d	6261	// initialize the plunger sensor
mjr	35:e959ffba78fd	6262	plungerSensor->init();
mjr	10:976666ffa4ef	6263
mjr	48:058ace2aed1d	6264	// set up the ZB Launch Ball monitor
mjr	48:058ace2aed1d	6265	ZBLaunchBall zbLaunchBall;
mjr	48:058ace2aed1d	6266
mjr	54:fd77a6b2f76c	6267	// enable the peripheral chips
mjr	54:fd77a6b2f76c	6268	if (tlc5940 != 0)
mjr	54:fd77a6b2f76c	6269	tlc5940->enable(true);
mjr	54:fd77a6b2f76c	6270	if (hc595 != 0)
mjr	54:fd77a6b2f76c	6271	hc595->enable(true);
mjr	87:8d35c74403af	6272	if (tlc59116 != 0)
mjr	87:8d35c74403af	6273	tlc59116->enable(true);
mjr	74:822a92bc11d2	6274
mjr	76:7f5912b6340e	6275	// start the LedWiz flash cycle timer
mjr	74:822a92bc11d2	6276	wizCycleTimer.start();
mjr	74:822a92bc11d2	6277
mjr	74:822a92bc11d2	6278	// start the PWM update polling timer
mjr	74:822a92bc11d2	6279	polledPwmTimer.start();
mjr	43:7a6364d82a41	6280
mjr	1:d913e0afb2ac	6281	// we're all set up - now just loop, processing sensor reports and
mjr	1:d913e0afb2ac	6282	// host requests
mjr	0:5acbbe3f4cf4	6283	for (;;)
mjr	0:5acbbe3f4cf4	6284	{
mjr	74:822a92bc11d2	6285	// start the main loop timer for diagnostic data collection
mjr	76:7f5912b6340e	6286	IF_DIAG(mainLoopTimer.reset(); mainLoopTimer.start();)
mjr	74:822a92bc11d2	6287
mjr	48:058ace2aed1d	6288	// Process incoming reports on the joystick interface. The joystick
mjr	48:058ace2aed1d	6289	// "out" (receive) endpoint is used for LedWiz commands and our
mjr	48:058ace2aed1d	6290	// extended protocol commands. Limit processing time to 5ms to
mjr	48:058ace2aed1d	6291	// ensure we don't starve the input side.
mjr	39:b3815a1c3802	6292	LedWizMsg lwm;
mjr	48:058ace2aed1d	6293	Timer lwt;
mjr	48:058ace2aed1d	6294	lwt.start();
mjr	77:0b96f6867312	6295	IF_DIAG(int msgCount = 0;)
mjr	48:058ace2aed1d	6296	while (js.readLedWizMsg(lwm) && lwt.read_us() < 5000)
mjr	74:822a92bc11d2	6297	{
mjr	78:1e00b3fa11af	6298	handleInputMsg(lwm, js, accel);
mjr	74:822a92bc11d2	6299	IF_DIAG(++msgCount;)
mjr	74:822a92bc11d2	6300	}
mjr	74:822a92bc11d2	6301
mjr	74:822a92bc11d2	6302	// collect performance statistics on the message reader, if desired
mjr	74:822a92bc11d2	6303	IF_DIAG(
mjr	74:822a92bc11d2	6304	if (msgCount != 0)
mjr	74:822a92bc11d2	6305	{
mjr	76:7f5912b6340e	6306	mainLoopMsgTime += lwt.read_us();
mjr	74:822a92bc11d2	6307	mainLoopMsgCount++;
mjr	74:822a92bc11d2	6308	}
mjr	74:822a92bc11d2	6309	)
mjr	74:822a92bc11d2	6310
mjr	77:0b96f6867312	6311	// process IR input
mjr	77:0b96f6867312	6312	process_IR(cfg, js);
mjr	77:0b96f6867312	6313
mjr	77:0b96f6867312	6314	// update the PSU2 power sensing status
mjr	77:0b96f6867312	6315	powerStatusUpdate(cfg);
mjr	77:0b96f6867312	6316
mjr	74:822a92bc11d2	6317	// update flashing LedWiz outputs periodically
mjr	74:822a92bc11d2	6318	wizPulse();
mjr	74:822a92bc11d2	6319
mjr	74:822a92bc11d2	6320	// update PWM outputs
mjr	74:822a92bc11d2	6321	pollPwmUpdates();
mjr	77:0b96f6867312	6322
mjr	89:c43cd923401c	6323	// update Flipper Logic outputs
mjr	89:c43cd923401c	6324	LwFlipperLogicOut::poll();
mjr	89:c43cd923401c	6325
mjr	77:0b96f6867312	6326	// poll the accelerometer
mjr	77:0b96f6867312	6327	accel.poll();
mjr	55:4db125cd11a0	6328
mjr	76:7f5912b6340e	6329	// collect diagnostic statistics, checkpoint 0
mjr	76:7f5912b6340e	6330	IF_DIAG(mainLoopIterCheckpt[0] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6331
mjr	55:4db125cd11a0	6332	// send TLC5940 data updates if applicable
mjr	55:4db125cd11a0	6333	if (tlc5940 != 0)
mjr	55:4db125cd11a0	6334	tlc5940->send();
mjr	87:8d35c74403af	6335
mjr	87:8d35c74403af	6336	// send TLC59116 data updates
mjr	87:8d35c74403af	6337	if (tlc59116 != 0)
mjr	87:8d35c74403af	6338	tlc59116->send();
mjr	1:d913e0afb2ac	6339
mjr	76:7f5912b6340e	6340	// collect diagnostic statistics, checkpoint 1
mjr	76:7f5912b6340e	6341	IF_DIAG(mainLoopIterCheckpt[1] += mainLoopTimer.read_us();)
mjr	77:0b96f6867312	6342
mjr	1:d913e0afb2ac	6343	// check for plunger calibration
mjr	17:ab3cec0c8bf4	6344	if (calBtn != 0 && !calBtn->read())
mjr	0:5acbbe3f4cf4	6345	{
mjr	1:d913e0afb2ac	6346	// check the state
mjr	1:d913e0afb2ac	6347	switch (calBtnState)
mjr	0:5acbbe3f4cf4	6348	{
mjr	1:d913e0afb2ac	6349	case 0:
mjr	1:d913e0afb2ac	6350	// button not yet pushed - start debouncing
mjr	1:d913e0afb2ac	6351	calBtnTimer.reset();
mjr	1:d913e0afb2ac	6352	calBtnState = 1;
mjr	1:d913e0afb2ac	6353	break;
mjr	1:d913e0afb2ac	6354
mjr	1:d913e0afb2ac	6355	case 1:
mjr	1:d913e0afb2ac	6356	// pushed, not yet debounced - if the debounce time has
mjr	1:d913e0afb2ac	6357	// passed, start the hold period
mjr	48:058ace2aed1d	6358	if (calBtnTimer.read_us() > 50000)
mjr	1:d913e0afb2ac	6359	calBtnState = 2;
mjr	1:d913e0afb2ac	6360	break;
mjr	1:d913e0afb2ac	6361
mjr	1:d913e0afb2ac	6362	case 2:
mjr	1:d913e0afb2ac	6363	// in the hold period - if the button has been held down
mjr	1:d913e0afb2ac	6364	// for the entire hold period, move to calibration mode
mjr	48:058ace2aed1d	6365	if (calBtnTimer.read_us() > 2050000)
mjr	1:d913e0afb2ac	6366	{
mjr	1:d913e0afb2ac	6367	// enter calibration mode
mjr	1:d913e0afb2ac	6368	calBtnState = 3;
mjr	9:fd65b0a94720	6369	calBtnTimer.reset();
mjr	35:e959ffba78fd	6370
mjr	44:b5ac89b9cd5d	6371	// begin the plunger calibration limits
mjr	52:8298b2a73eb2	6372	plungerReader.setCalMode(true);
mjr	1:d913e0afb2ac	6373	}
mjr	1:d913e0afb2ac	6374	break;
mjr	2:c174f9ee414a	6375
mjr	2:c174f9ee414a	6376	case 3:
mjr	9:fd65b0a94720	6377	// Already in calibration mode - pushing the button here
mjr	9:fd65b0a94720	6378	// doesn't change the current state, but we won't leave this
mjr	9:fd65b0a94720	6379	// state as long as it's held down. So nothing changes here.
mjr	2:c174f9ee414a	6380	break;
mjr	0:5acbbe3f4cf4	6381	}
mjr	0:5acbbe3f4cf4	6382	}
mjr	1:d913e0afb2ac	6383	else
mjr	1:d913e0afb2ac	6384	{
mjr	2:c174f9ee414a	6385	// Button released. If we're in calibration mode, and
mjr	2:c174f9ee414a	6386	// the calibration time has elapsed, end the calibration
mjr	2:c174f9ee414a	6387	// and save the results to flash.
mjr	2:c174f9ee414a	6388	//
mjr	2:c174f9ee414a	6389	// Otherwise, return to the base state without saving anything.
mjr	2:c174f9ee414a	6390	// If the button is released before we make it to calibration
mjr	2:c174f9ee414a	6391	// mode, it simply cancels the attempt.
mjr	48:058ace2aed1d	6392	if (calBtnState == 3 && calBtnTimer.read_us() > 15000000)
mjr	2:c174f9ee414a	6393	{
mjr	2:c174f9ee414a	6394	// exit calibration mode
mjr	1:d913e0afb2ac	6395	calBtnState = 0;
mjr	52:8298b2a73eb2	6396	plungerReader.setCalMode(false);
mjr	2:c174f9ee414a	6397
mjr	6:cc35eb643e8f	6398	// save the updated configuration
mjr	35:e959ffba78fd	6399	cfg.plunger.cal.calibrated = 1;
mjr	86:e30a1f60f783	6400	saveConfigToFlash(0, false);
mjr	2:c174f9ee414a	6401	}
mjr	2:c174f9ee414a	6402	else if (calBtnState != 3)
mjr	2:c174f9ee414a	6403	{
mjr	2:c174f9ee414a	6404	// didn't make it to calibration mode - cancel the operation
mjr	1:d913e0afb2ac	6405	calBtnState = 0;
mjr	2:c174f9ee414a	6406	}
mjr	1:d913e0afb2ac	6407	}
mjr	1:d913e0afb2ac	6408
mjr	1:d913e0afb2ac	6409	// light/flash the calibration button light, if applicable
mjr	1:d913e0afb2ac	6410	int newCalBtnLit = calBtnLit;
mjr	1:d913e0afb2ac	6411	switch (calBtnState)
mjr	0:5acbbe3f4cf4	6412	{
mjr	1:d913e0afb2ac	6413	case 2:
mjr	1:d913e0afb2ac	6414	// in the hold period - flash the light
mjr	48:058ace2aed1d	6415	newCalBtnLit = ((calBtnTimer.read_us()/250000) & 1);
mjr	1:d913e0afb2ac	6416	break;
mjr	1:d913e0afb2ac	6417
mjr	1:d913e0afb2ac	6418	case 3:
mjr	1:d913e0afb2ac	6419	// calibration mode - show steady on
mjr	1:d913e0afb2ac	6420	newCalBtnLit = true;
mjr	1:d913e0afb2ac	6421	break;
mjr	1:d913e0afb2ac	6422
mjr	1:d913e0afb2ac	6423	default:
mjr	1:d913e0afb2ac	6424	// not calibrating/holding - show steady off
mjr	1:d913e0afb2ac	6425	newCalBtnLit = false;
mjr	1:d913e0afb2ac	6426	break;
mjr	1:d913e0afb2ac	6427	}
mjr	3:3514575d4f86	6428
mjr	3:3514575d4f86	6429	// light or flash the external calibration button LED, and
mjr	3:3514575d4f86	6430	// do the same with the on-board blue LED
mjr	1:d913e0afb2ac	6431	if (calBtnLit != newCalBtnLit)
mjr	1:d913e0afb2ac	6432	{
mjr	1:d913e0afb2ac	6433	calBtnLit = newCalBtnLit;
mjr	2:c174f9ee414a	6434	if (calBtnLit) {
mjr	17:ab3cec0c8bf4	6435	if (calBtnLed != 0)
mjr	17:ab3cec0c8bf4	6436	calBtnLed->write(1);
mjr	38:091e511ce8a0	6437	diagLED(0, 0, 1); // blue
mjr	2:c174f9ee414a	6438	}
mjr	2:c174f9ee414a	6439	else {
mjr	17:ab3cec0c8bf4	6440	if (calBtnLed != 0)
mjr	17:ab3cec0c8bf4	6441	calBtnLed->write(0);
mjr	38:091e511ce8a0	6442	diagLED(0, 0, 0); // off
mjr	2:c174f9ee414a	6443	}
mjr	1:d913e0afb2ac	6444	}
mjr	35:e959ffba78fd	6445
mjr	76:7f5912b6340e	6446	// collect diagnostic statistics, checkpoint 2
mjr	76:7f5912b6340e	6447	IF_DIAG(mainLoopIterCheckpt[2] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6448
mjr	48:058ace2aed1d	6449	// read the plunger sensor
mjr	48:058ace2aed1d	6450	plungerReader.read();
mjr	48:058ace2aed1d	6451
mjr	76:7f5912b6340e	6452	// collect diagnostic statistics, checkpoint 3
mjr	76:7f5912b6340e	6453	IF_DIAG(mainLoopIterCheckpt[3] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6454
mjr	53:9b2611964afc	6455	// update the ZB Launch Ball status
mjr	53:9b2611964afc	6456	zbLaunchBall.update();
mjr	37:ed52738445fc	6457
mjr	76:7f5912b6340e	6458	// collect diagnostic statistics, checkpoint 4
mjr	76:7f5912b6340e	6459	IF_DIAG(mainLoopIterCheckpt[4] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6460
mjr	53:9b2611964afc	6461	// process button updates
mjr	53:9b2611964afc	6462	processButtons(cfg);
mjr	53:9b2611964afc	6463
mjr	76:7f5912b6340e	6464	// collect diagnostic statistics, checkpoint 5
mjr	76:7f5912b6340e	6465	IF_DIAG(mainLoopIterCheckpt[5] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6466
mjr	38:091e511ce8a0	6467	// send a keyboard report if we have new data
mjr	37:ed52738445fc	6468	if (kbState.changed)
mjr	37:ed52738445fc	6469	{
mjr	38:091e511ce8a0	6470	// send a keyboard report
mjr	37:ed52738445fc	6471	js.kbUpdate(kbState.data);
mjr	37:ed52738445fc	6472	kbState.changed = false;
mjr	37:ed52738445fc	6473	}
mjr	38:091e511ce8a0	6474
mjr	38:091e511ce8a0	6475	// likewise for the media controller
mjr	37:ed52738445fc	6476	if (mediaState.changed)
mjr	37:ed52738445fc	6477	{
mjr	38:091e511ce8a0	6478	// send a media report
mjr	37:ed52738445fc	6479	js.mediaUpdate(mediaState.data);
mjr	37:ed52738445fc	6480	mediaState.changed = false;
mjr	37:ed52738445fc	6481	}
mjr	38:091e511ce8a0	6482
mjr	76:7f5912b6340e	6483	// collect diagnostic statistics, checkpoint 6
mjr	76:7f5912b6340e	6484	IF_DIAG(mainLoopIterCheckpt[6] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6485
mjr	38:091e511ce8a0	6486	// flag: did we successfully send a joystick report on this round?
mjr	38:091e511ce8a0	6487	bool jsOK = false;
mjr	55:4db125cd11a0	6488
mjr	55:4db125cd11a0	6489	// figure the current status flags for joystick reports
mjr	77:0b96f6867312	6490	uint16_t statusFlags =
mjr	77:0b96f6867312	6491	cfg.plunger.enabled // 0x01
mjr	77:0b96f6867312	6492	\| nightMode // 0x02
mjr	79:682ae3171a08	6493	\| ((psu2_state & 0x07) << 2) // 0x04 0x08 0x10
mjr	79:682ae3171a08	6494	\| saveConfigSucceededFlag; // 0x40
mjr	77:0b96f6867312	6495	if (IRLearningMode != 0)
mjr	77:0b96f6867312	6496	statusFlags \|= 0x20;
mjr	17:ab3cec0c8bf4	6497
mjr	50:40015764bbe6	6498	// If it's been long enough since our last USB status report, send
mjr	50:40015764bbe6	6499	// the new report. VP only polls for input in 10ms intervals, so
mjr	50:40015764bbe6	6500	// there's no benefit in sending reports more frequently than this.
mjr	50:40015764bbe6	6501	// More frequent reporting would only add USB I/O overhead.
mjr	92:f264fbaa1be5	6502	if (cfg.joystickEnabled && jsReportTimer.read_us() > cfg.jsReportInterval_us)
mjr	17:ab3cec0c8bf4	6503	{
mjr	92:f264fbaa1be5	6504	// Increment the "stutter" counter. If it has reached the
mjr	92:f264fbaa1be5	6505	// stutter threshold, read a new accelerometer sample. If
mjr	92:f264fbaa1be5	6506	// not, repeat the last sample.
mjr	92:f264fbaa1be5	6507	if (++jsAccelStutterCounter >= cfg.accel.stutter)
mjr	92:f264fbaa1be5	6508	{
mjr	92:f264fbaa1be5	6509	// read the accelerometer
mjr	92:f264fbaa1be5	6510	int xa, ya;
mjr	92:f264fbaa1be5	6511	accel.get(xa, ya);
mjr	17:ab3cec0c8bf4	6512
mjr	92:f264fbaa1be5	6513	// confine the results to our joystick axis range
mjr	92:f264fbaa1be5	6514	if (xa < -JOYMAX) xa = -JOYMAX;
mjr	92:f264fbaa1be5	6515	if (xa > JOYMAX) xa = JOYMAX;
mjr	92:f264fbaa1be5	6516	if (ya < -JOYMAX) ya = -JOYMAX;
mjr	92:f264fbaa1be5	6517	if (ya > JOYMAX) ya = JOYMAX;
mjr	92:f264fbaa1be5	6518
mjr	92:f264fbaa1be5	6519	// store the updated accelerometer coordinates
mjr	92:f264fbaa1be5	6520	x = xa;
mjr	92:f264fbaa1be5	6521	y = ya;
mjr	92:f264fbaa1be5	6522
mjr	95:8eca8acbb82c	6523	// rotate X and Y according to the device orientation in the cabinet
mjr	95:8eca8acbb82c	6524	accelRotate(x, y);
mjr	95:8eca8acbb82c	6525
mjr	92:f264fbaa1be5	6526	// reset the stutter counter
mjr	92:f264fbaa1be5	6527	jsAccelStutterCounter = 0;
mjr	92:f264fbaa1be5	6528	}
mjr	17:ab3cec0c8bf4	6529
mjr	48:058ace2aed1d	6530	// Report the current plunger position unless the plunger is
mjr	48:058ace2aed1d	6531	// disabled, or the ZB Launch Ball signal is on. In either of
mjr	48:058ace2aed1d	6532	// those cases, just report a constant 0 value. ZB Launch Ball
mjr	48:058ace2aed1d	6533	// temporarily disables mechanical plunger reporting because it
mjr	21:5048e16cc9ef	6534	// tells us that the table has a Launch Ball button instead of
mjr	48:058ace2aed1d	6535	// a traditional plunger, so we don't want to confuse VP with
mjr	48:058ace2aed1d	6536	// regular plunger inputs.
mjr	92:f264fbaa1be5	6537	int zActual = plungerReader.getPosition();
mjr	92:f264fbaa1be5	6538	int zReported = (!cfg.plunger.enabled \|\| zbLaunchOn ? 0 : zActual);
mjr	35:e959ffba78fd	6539
mjr	35:e959ffba78fd	6540	// send the joystick report
mjr	92:f264fbaa1be5	6541	jsOK = js.update(x, y, zReported, jsButtons, statusFlags);
mjr	21:5048e16cc9ef	6542
mjr	17:ab3cec0c8bf4	6543	// we've just started a new report interval, so reset the timer
mjr	38:091e511ce8a0	6544	jsReportTimer.reset();
mjr	17:ab3cec0c8bf4	6545	}
mjr	21:5048e16cc9ef	6546
mjr	52:8298b2a73eb2	6547	// If we're in sensor status mode, report all pixel exposure values
mjr	52:8298b2a73eb2	6548	if (reportPlungerStat)
mjr	10:976666ffa4ef	6549	{
mjr	17:ab3cec0c8bf4	6550	// send the report
mjr	53:9b2611964afc	6551	plungerSensor->sendStatusReport(js, reportPlungerStatFlags, reportPlungerStatTime);
mjr	17:ab3cec0c8bf4	6552
mjr	10:976666ffa4ef	6553	// we have satisfied this request
mjr	52:8298b2a73eb2	6554	reportPlungerStat = false;
mjr	10:976666ffa4ef	6555	}
mjr	10:976666ffa4ef	6556
mjr	35:e959ffba78fd	6557	// If joystick reports are turned off, send a generic status report
mjr	35:e959ffba78fd	6558	// periodically for the sake of the Windows config tool.
mjr	77:0b96f6867312	6559	if (!cfg.joystickEnabled && jsReportTimer.read_us() > 10000UL)
mjr	21:5048e16cc9ef	6560	{
mjr	55:4db125cd11a0	6561	jsOK = js.updateStatus(statusFlags);
mjr	38:091e511ce8a0	6562	jsReportTimer.reset();
mjr	38:091e511ce8a0	6563	}
mjr	38:091e511ce8a0	6564
mjr	38:091e511ce8a0	6565	// if we successfully sent a joystick report, reset the watchdog timer
mjr	38:091e511ce8a0	6566	if (jsOK)
mjr	38:091e511ce8a0	6567	{
mjr	38:091e511ce8a0	6568	jsOKTimer.reset();
mjr	38:091e511ce8a0	6569	jsOKTimer.start();
mjr	21:5048e16cc9ef	6570	}
mjr	21:5048e16cc9ef	6571
mjr	76:7f5912b6340e	6572	// collect diagnostic statistics, checkpoint 7
mjr	76:7f5912b6340e	6573	IF_DIAG(mainLoopIterCheckpt[7] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6574
mjr	6:cc35eb643e8f	6575	#ifdef DEBUG_PRINTF
mjr	6:cc35eb643e8f	6576	if (x != 0 \|\| y != 0)
mjr	6:cc35eb643e8f	6577	printf("%d,%d\r\n", x, y);
mjr	6:cc35eb643e8f	6578	#endif
mjr	6:cc35eb643e8f	6579
mjr	33:d832bcab089e	6580	// check for connection status changes
mjr	54:fd77a6b2f76c	6581	bool newConnected = js.isConnected() && !js.isSleeping();
mjr	33:d832bcab089e	6582	if (newConnected != connected)
mjr	33:d832bcab089e	6583	{
mjr	54:fd77a6b2f76c	6584	// give it a moment to stabilize
mjr	40:cc0d9814522b	6585	connectChangeTimer.start();
mjr	55:4db125cd11a0	6586	if (connectChangeTimer.read_us() > 1000000)
mjr	33:d832bcab089e	6587	{
mjr	33:d832bcab089e	6588	// note the new status
mjr	33:d832bcab089e	6589	connected = newConnected;
mjr	40:cc0d9814522b	6590
mjr	40:cc0d9814522b	6591	// done with the change timer for this round - reset it for next time
mjr	40:cc0d9814522b	6592	connectChangeTimer.stop();
mjr	40:cc0d9814522b	6593	connectChangeTimer.reset();
mjr	33:d832bcab089e	6594
mjr	54:fd77a6b2f76c	6595	// if we're newly disconnected, clean up for PC suspend mode or power off
mjr	54:fd77a6b2f76c	6596	if (!connected)
mjr	40:cc0d9814522b	6597	{
mjr	54:fd77a6b2f76c	6598	// turn off all outputs
mjr	33:d832bcab089e	6599	allOutputsOff();
mjr	40:cc0d9814522b	6600
mjr	40:cc0d9814522b	6601	// The KL25Z runs off of USB power, so we might (depending on the PC
mjr	40:cc0d9814522b	6602	// and OS configuration) continue to receive power even when the main
mjr	40:cc0d9814522b	6603	// PC power supply is turned off, such as in soft-off or suspend/sleep
mjr	40:cc0d9814522b	6604	// mode. Any external output controller chips (TLC5940, 74HC595) might
mjr	40:cc0d9814522b	6605	// be powered from the PC power supply directly rather than from our
mjr	40:cc0d9814522b	6606	// USB power, so they might be powered off even when we're still running.
mjr	40:cc0d9814522b	6607	// To ensure cleaner startup when the power comes back on, globally
mjr	40:cc0d9814522b	6608	// disable the outputs. The global disable signals come from GPIO lines
mjr	40:cc0d9814522b	6609	// that remain powered as long as the KL25Z is powered, so these modes
mjr	40:cc0d9814522b	6610	// will apply smoothly across power state transitions in the external
mjr	40:cc0d9814522b	6611	// hardware. That is, when the external chips are powered up, they'll
mjr	40:cc0d9814522b	6612	// see the global disable signals as stable voltage inputs immediately,
mjr	40:cc0d9814522b	6613	// which will cause them to suppress any output triggering. This ensures
mjr	40:cc0d9814522b	6614	// that we don't fire any solenoids or flash any lights spuriously when
mjr	40:cc0d9814522b	6615	// the power first comes on.
mjr	40:cc0d9814522b	6616	if (tlc5940 != 0)
mjr	40:cc0d9814522b	6617	tlc5940->enable(false);
mjr	87:8d35c74403af	6618	if (tlc59116 != 0)
mjr	87:8d35c74403af	6619	tlc59116->enable(false);
mjr	40:cc0d9814522b	6620	if (hc595 != 0)
mjr	40:cc0d9814522b	6621	hc595->enable(false);
mjr	40:cc0d9814522b	6622	}
mjr	33:d832bcab089e	6623	}
mjr	33:d832bcab089e	6624	}
mjr	48:058ace2aed1d	6625
mjr	53:9b2611964afc	6626	// if we have a reboot timer pending, check for completion
mjr	86:e30a1f60f783	6627	if (saveConfigFollowupTimer.isRunning()
mjr	87:8d35c74403af	6628	&& saveConfigFollowupTimer.read_us() > saveConfigFollowupTime*1000000UL)
mjr	85:3c28aee81cde	6629	{
mjr	85:3c28aee81cde	6630	// if a reboot is pending, execute it now
mjr	86:e30a1f60f783	6631	if (saveConfigRebootPending)
mjr	82:4f6209cb5c33	6632	{
mjr	86:e30a1f60f783	6633	// Only reboot if the PSU2 power state allows it. If it
mjr	86:e30a1f60f783	6634	// doesn't, suppress the reboot for now, but leave the boot
mjr	86:e30a1f60f783	6635	// flags set so that we keep checking on future rounds.
mjr	86:e30a1f60f783	6636	// That way we should eventually reboot when the power
mjr	86:e30a1f60f783	6637	// status allows it.
mjr	86:e30a1f60f783	6638	if (powerStatusAllowsReboot())
mjr	86:e30a1f60f783	6639	reboot(js);
mjr	82:4f6209cb5c33	6640	}
mjr	85:3c28aee81cde	6641	else
mjr	85:3c28aee81cde	6642	{
mjr	86:e30a1f60f783	6643	// No reboot required. Exit the timed post-save state.
mjr	86:e30a1f60f783	6644
mjr	86:e30a1f60f783	6645	// stop and reset the post-save timer
mjr	86:e30a1f60f783	6646	saveConfigFollowupTimer.stop();
mjr	86:e30a1f60f783	6647	saveConfigFollowupTimer.reset();
mjr	86:e30a1f60f783	6648
mjr	86:e30a1f60f783	6649	// clear the post-save success flag
mjr	86:e30a1f60f783	6650	saveConfigSucceededFlag = 0;
mjr	85:3c28aee81cde	6651	}
mjr	77:0b96f6867312	6652	}
mjr	86:e30a1f60f783	6653
mjr	48:058ace2aed1d	6654	// if we're disconnected, initiate a new connection
mjr	51:57eb311faafa	6655	if (!connected)
mjr	48:058ace2aed1d	6656	{
mjr	54:fd77a6b2f76c	6657	// show USB HAL debug events
mjr	54:fd77a6b2f76c	6658	extern void HAL_DEBUG_PRINTEVENTS(const char *prefix);
mjr	54:fd77a6b2f76c	6659	HAL_DEBUG_PRINTEVENTS(">DISC");
mjr	54:fd77a6b2f76c	6660
mjr	54:fd77a6b2f76c	6661	// show immediate diagnostic feedback
mjr	54:fd77a6b2f76c	6662	js.diagFlash();
mjr	54:fd77a6b2f76c	6663
mjr	54:fd77a6b2f76c	6664	// clear any previous diagnostic LED display
mjr	54:fd77a6b2f76c	6665	diagLED(0, 0, 0);
mjr	51:57eb311faafa	6666
mjr	51:57eb311faafa	6667	// set up a timer to monitor the reboot timeout
mjr	70:9f58735a1732	6668	Timer reconnTimeoutTimer;
mjr	70:9f58735a1732	6669	reconnTimeoutTimer.start();
mjr	48:058ace2aed1d	6670
mjr	54:fd77a6b2f76c	6671	// set up a timer for diagnostic displays
mjr	54:fd77a6b2f76c	6672	Timer diagTimer;
mjr	54:fd77a6b2f76c	6673	diagTimer.reset();
mjr	54:fd77a6b2f76c	6674	diagTimer.start();
mjr	74:822a92bc11d2	6675
mjr	74:822a92bc11d2	6676	// turn off the main loop timer while spinning
mjr	74:822a92bc11d2	6677	IF_DIAG(mainLoopTimer.stop();)
mjr	54:fd77a6b2f76c	6678
mjr	54:fd77a6b2f76c	6679	// loop until we get our connection back
mjr	54:fd77a6b2f76c	6680	while (!js.isConnected() \|\| js.isSleeping())
mjr	51:57eb311faafa	6681	{
mjr	54:fd77a6b2f76c	6682	// try to recover the connection
mjr	54:fd77a6b2f76c	6683	js.recoverConnection();
mjr	54:fd77a6b2f76c	6684
mjr	89:c43cd923401c	6685	// update Flipper Logic outputs
mjr	89:c43cd923401c	6686	LwFlipperLogicOut::poll();
mjr	89:c43cd923401c	6687
mjr	55:4db125cd11a0	6688	// send TLC5940 data if necessary
mjr	55:4db125cd11a0	6689	if (tlc5940 != 0)
mjr	55:4db125cd11a0	6690	tlc5940->send();
mjr	87:8d35c74403af	6691
mjr	87:8d35c74403af	6692	// update TLC59116 outputs
mjr	87:8d35c74403af	6693	if (tlc59116 != 0)
mjr	87:8d35c74403af	6694	tlc59116->send();
mjr	55:4db125cd11a0	6695
mjr	54:fd77a6b2f76c	6696	// show a diagnostic flash every couple of seconds
mjr	54:fd77a6b2f76c	6697	if (diagTimer.read_us() > 2000000)
mjr	51:57eb311faafa	6698	{
mjr	54:fd77a6b2f76c	6699	// flush the USB HAL debug events, if in debug mode
mjr	54:fd77a6b2f76c	6700	HAL_DEBUG_PRINTEVENTS(">NC");
mjr	54:fd77a6b2f76c	6701
mjr	54:fd77a6b2f76c	6702	// show diagnostic feedback
mjr	54:fd77a6b2f76c	6703	js.diagFlash();
mjr	51:57eb311faafa	6704
mjr	51:57eb311faafa	6705	// reset the flash timer
mjr	54:fd77a6b2f76c	6706	diagTimer.reset();
mjr	51:57eb311faafa	6707	}
mjr	51:57eb311faafa	6708
mjr	77:0b96f6867312	6709	// If the disconnect reboot timeout has expired, reboot.
mjr	77:0b96f6867312	6710	// Some PC hosts won't reconnect to a device that's left
mjr	77:0b96f6867312	6711	// plugged in through various events on the PC side, such as
mjr	77:0b96f6867312	6712	// rebooting Windows, cycling power on the PC, or just a lost
mjr	77:0b96f6867312	6713	// USB connection. Rebooting the KL25Z seems to be the most
mjr	77:0b96f6867312	6714	// reliable way to get Windows to notice us again after one
mjr	86:e30a1f60f783	6715	// of these events and make it reconnect. Only reboot if
mjr	86:e30a1f60f783	6716	// the PSU2 power status allows it - if not, skip it on this
mjr	86:e30a1f60f783	6717	// round and keep waiting.
mjr	51:57eb311faafa	6718	if (cfg.disconnectRebootTimeout != 0
mjr	86:e30a1f60f783	6719	&& reconnTimeoutTimer.read() > cfg.disconnectRebootTimeout
mjr	86:e30a1f60f783	6720	&& powerStatusAllowsReboot())
mjr	54:fd77a6b2f76c	6721	reboot(js, false, 0);
mjr	77:0b96f6867312	6722
mjr	77:0b96f6867312	6723	// update the PSU2 power sensing status
mjr	77:0b96f6867312	6724	powerStatusUpdate(cfg);
mjr	54:fd77a6b2f76c	6725	}
mjr	54:fd77a6b2f76c	6726
mjr	74:822a92bc11d2	6727	// resume the main loop timer
mjr	74:822a92bc11d2	6728	IF_DIAG(mainLoopTimer.start();)
mjr	74:822a92bc11d2	6729
mjr	54:fd77a6b2f76c	6730	// if we made it out of that loop alive, we're connected again!
mjr	54:fd77a6b2f76c	6731	connected = true;
mjr	54:fd77a6b2f76c	6732	HAL_DEBUG_PRINTEVENTS(">C");
mjr	54:fd77a6b2f76c	6733
mjr	54:fd77a6b2f76c	6734	// Enable peripheral chips and update them with current output data
mjr	54:fd77a6b2f76c	6735	if (tlc5940 != 0)
mjr	55:4db125cd11a0	6736	tlc5940->enable(true);
mjr	87:8d35c74403af	6737	if (tlc59116 != 0)
mjr	87:8d35c74403af	6738	tlc59116->enable(true);
mjr	54:fd77a6b2f76c	6739	if (hc595 != 0)
mjr	54:fd77a6b2f76c	6740	{
mjr	55:4db125cd11a0	6741	hc595->enable(true);
mjr	54:fd77a6b2f76c	6742	hc595->update(true);
mjr	51:57eb311faafa	6743	}
mjr	48:058ace2aed1d	6744	}
mjr	43:7a6364d82a41	6745
mjr	6:cc35eb643e8f	6746	// provide a visual status indication on the on-board LED
mjr	48:058ace2aed1d	6747	if (calBtnState < 2 && hbTimer.read_us() > 1000000)
mjr	1:d913e0afb2ac	6748	{
mjr	54:fd77a6b2f76c	6749	if (jsOKTimer.read_us() > 1000000)
mjr	38:091e511ce8a0	6750	{
mjr	39:b3815a1c3802	6751	// USB freeze - show red/yellow.
mjr	40:cc0d9814522b	6752	//
mjr	54:fd77a6b2f76c	6753	// It's been more than a second since we successfully sent a joystick
mjr	54:fd77a6b2f76c	6754	// update message. This must mean that something's wrong on the USB
mjr	54:fd77a6b2f76c	6755	// connection, even though we haven't detected an outright disconnect.
mjr	54:fd77a6b2f76c	6756	// Show a distinctive diagnostic LED pattern when this occurs.
mjr	38:091e511ce8a0	6757	hb = !hb;
mjr	38:091e511ce8a0	6758	diagLED(1, hb, 0);
mjr	54:fd77a6b2f76c	6759
mjr	54:fd77a6b2f76c	6760	// If the reboot-on-disconnect option is in effect, treat this condition
mjr	54:fd77a6b2f76c	6761	// as equivalent to a disconnect, since something is obviously wrong
mjr	54:fd77a6b2f76c	6762	// with the USB connection.
mjr	54:fd77a6b2f76c	6763	if (cfg.disconnectRebootTimeout != 0)
mjr	54:fd77a6b2f76c	6764	{
mjr	54:fd77a6b2f76c	6765	// The reboot timeout is in effect. If we've been incommunicado for
mjr	54:fd77a6b2f76c	6766	// longer than the timeout, reboot. If we haven't reached the time
mjr	54:fd77a6b2f76c	6767	// limit, keep running for now, and leave the OK timer running so
mjr	86:e30a1f60f783	6768	// that we can continue to monitor this. Only reboot if the PSU2
mjr	86:e30a1f60f783	6769	// power status allows it.
mjr	86:e30a1f60f783	6770	if (jsOKTimer.read() > cfg.disconnectRebootTimeout
mjr	86:e30a1f60f783	6771	&& powerStatusAllowsReboot())
mjr	54:fd77a6b2f76c	6772	reboot(js, false, 0);
mjr	54:fd77a6b2f76c	6773	}
mjr	54:fd77a6b2f76c	6774	else
mjr	54:fd77a6b2f76c	6775	{
mjr	54:fd77a6b2f76c	6776	// There's no reboot timer, so just keep running with the diagnostic
mjr	54:fd77a6b2f76c	6777	// pattern displayed. Since we're not waiting for any other timed
mjr	54:fd77a6b2f76c	6778	// conditions in this state, stop the timer so that it doesn't
mjr	54:fd77a6b2f76c	6779	// overflow if this condition persists for a long time.
mjr	54:fd77a6b2f76c	6780	jsOKTimer.stop();
mjr	54:fd77a6b2f76c	6781	}
mjr	38:091e511ce8a0	6782	}
mjr	73:4e8ce0b18915	6783	else if (psu2_state >= 4)
mjr	73:4e8ce0b18915	6784	{
mjr	73:4e8ce0b18915	6785	// We're in the TV timer countdown. Skip the normal heartbeat
mjr	73:4e8ce0b18915	6786	// flashes and show the TV timer flashes instead.
mjr	73:4e8ce0b18915	6787	diagLED(0, 0, 0);
mjr	73:4e8ce0b18915	6788	}
mjr	35:e959ffba78fd	6789	else if (cfg.plunger.enabled && !cfg.plunger.cal.calibrated)
mjr	6:cc35eb643e8f	6790	{
mjr	6:cc35eb643e8f	6791	// connected, plunger calibration needed - flash yellow/green
mjr	6:cc35eb643e8f	6792	hb = !hb;
mjr	38:091e511ce8a0	6793	diagLED(hb, 1, 0);
mjr	6:cc35eb643e8f	6794	}
mjr	6:cc35eb643e8f	6795	else
mjr	6:cc35eb643e8f	6796	{
mjr	6:cc35eb643e8f	6797	// connected - flash blue/green
mjr	2:c174f9ee414a	6798	hb = !hb;
mjr	38:091e511ce8a0	6799	diagLED(0, hb, !hb);
mjr	2:c174f9ee414a	6800	}
mjr	1:d913e0afb2ac	6801
mjr	1:d913e0afb2ac	6802	// reset the heartbeat timer
mjr	1:d913e0afb2ac	6803	hbTimer.reset();
mjr	5:a70c0bce770d	6804	++hbcnt;
mjr	1:d913e0afb2ac	6805	}
mjr	74:822a92bc11d2	6806
mjr	74:822a92bc11d2	6807	// collect statistics on the main loop time, if desired
mjr	74:822a92bc11d2	6808	IF_DIAG(
mjr	76:7f5912b6340e	6809	mainLoopIterTime += mainLoopTimer.read_us();
mjr	74:822a92bc11d2	6810	mainLoopIterCount++;
mjr	74:822a92bc11d2	6811	)
mjr	1:d913e0afb2ac	6812	}
mjr	0:5acbbe3f4cf4	6813	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	01 Oct 2021
Imports:	0
Forks:	0
Commits:	117
Dependents:	0
Dependencies:	4
Followers:	1

main.cpp@95:8eca8acbb82c, 2018-01-28 (annotated)

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