Diff: main.cpp

Revision:

0:5acbbe3f4cf4

Child:

1:d913e0afb2ac

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Jul 11 03:26:11 2014 +0000
@@ -0,0 +1,188 @@
+#include "mbed.h"
+#include "USBJoystick.h"
+#include "MMA8451Q.h"
+#include "tls1410r.h"
+
+PwmOut led1(LED1), led2(LED2), led3(LED3);
+DigitalOut out1(PTE29);
+
+
+
+static int pbaIdx = 0;
+
+// on/off state for each LedWiz output
+static uint8_t ledOn[32];
+
+// profile (brightness/blink) state for each LedWiz output
+static uint8_t ledVal[32] = {
+    0, 0, 0, 0, 0, 0, 0, 0,
+    0, 0, 0, 0, 0, 0, 0, 0,
+    0, 0, 0, 0, 0, 0, 0, 0,
+    0, 0, 0, 0, 0, 0, 0, 0
+};
+
+static double ledState(int idx)
+{
+    if (ledOn[idx]) {
+        // on - map profile brightness state to PWM level
+        uint8_t val = ledVal[idx];
+        if (val >= 1 && val <= 48)
+            return 1.0 - val/48.0;
+        else if (val >= 129 && val <= 132)
+            return 0.0;
+        else
+            return 1.0;
+    }
+    else {
+        // off
+        return 1.0;
+    }
+}
+
+static void updateLeds()
+{
+    led1 = ledState(0);
+    led2 = ledState(1);
+    led3 = ledState(2);
+}
+
+int main(void)
+{
+    led1 = 1;
+    led2 = 1;
+    led3 = 1;
+    Timer timer;
+
+    // set up a timer for spacing USB reports   
+    timer.start();
+    float t0 = timer.read_ms();    
+    float tout1 = timer.read_ms();
+
+    // Create the joystick USB client.  Show a read LED while connecting, and
+    // change to green when connected.
+    led1 = 0.75;
+    USBJoystick js(0xFAFA, 0x00F7, 0x0001);
+    led1 = 1;
+    led2 = 0.75;
+    
+    // create the accelerometer object
+    const int MMA8451_I2C_ADDRESS = (0x1d<<1);
+    MMA8451Q accel(PTE25, PTE24, MMA8451_I2C_ADDRESS);
+    printf("MMA8451 ID: %d\r\n", accel.getWhoAmI());
+    
+    // create the CCD array object
+    TLS1410R ccd(PTE20, PTE21, PTB0);
+
+    // process sensor reports and LedWiz requests forever
+    int x = 0, y = 127, z = 0;
+    for (;;)
+    {
+        // Look for an incoming report.  Continue processing input as
+        // long as there's anything pending - this ensures that we
+        // handle input in as timely a fashion as possible by deferring
+        // output tasks as long as there's input to process.
+        HID_REPORT report;
+        while (js.readNB(&report) && report.length == 8)
+        {
+            uint8_t *data = report.data;
+            if (data[0] == 64) {
+                // LWZ-SBA - first four bytes are bit-packed on/off flags
+                // for the outputs; 5th byte is the pulse speed (0-7)
+                //printf("LWZ-SBA %02x %02x %02x %02x ; %02x\r\n",
+                //       data[1], data[2], data[3], data[4], data[5]);
+
+                // update all on/off states
+                for (int i = 0, bit = 1, ri = 1 ; i < 32 ; ++i, bit <<= 1)
+                {
+                    if (bit == 0x100) {
+                        bit = 1;
+                        ++ri;
+                    }
+                    ledOn[i] = ((data[ri] & bit) != 0);
+                }
+    
+                // update the physical LED state
+                updateLeds();
+                
+                // reset the PBA counter
+                pbaIdx = 0;
+            }
+            else {
+                // LWZ-PBA - full state dump; each byte is one output
+                // in the current bank.  pbaIdx keeps track of the bank;
+                // this is incremented implicitly by each PBA message.
+                //printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n",
+                //       pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
+
+                // update all output profile settings
+                for (int i = 0 ; i < 8 ; ++i)
+                    ledVal[pbaIdx + i] = data[i];
+
+                // update the physical LED state if this is the last bank                    
+                if (pbaIdx == 24)
+                    updateLeds();
+
+                // advance to the next bank
+                pbaIdx = (pbaIdx + 8) & 31;
+            }
+        }
+        
+#if 1
+        // check the accelerometer
+        {
+            // read the accelerometer
+            float xa = accel.getAccX();
+            float ya = accel.getAccY();
+            
+            // figure the new joystick position
+            int xnew = (int)(127 * xa);
+            int ynew = (int)(127 * ya);
+            
+            // send an update if the position has changed
+            if (xnew != x || ynew != y)
+            {
+                x = xnew;
+                y = ynew;
+
+                // send the status report
+                js.update(x, y, z, 0);
+            }
+        }
+#else
+        // Send a joystick report if it's been long enough since the
+        // last report        
+        if (timer.read_ms() - t0 > 250)
+        {
+            // send the current joystick status report
+            js.update(x, y, z, 0);
+
+            // update our internal joystick position record
+            x += dx;
+            y += dy;
+            z += dz;
+            if (x > xmax || x < xmin) {
+                dx = -dx;
+                x += 2*dx;
+            }
+            if (y > ymax || y < ymin) {
+                dy = -dy;
+                y += 2*dy;
+            }
+            if (z > zmax || z < zmin) {
+                dz = -dz;
+                z += 2*dz;
+            }
+
+            // note the time of the last report
+            t0 = timer.read_ms();
+        }            
+#endif
+
+        // pulse E29
+        if (timer.read_ms() - tout1 > 2000)
+        {
+            out1 = !out1;
+            tout1 = timer.read_ms();
+        }
+    }    
+}