Pinscape_Controller - An input/output controller for virtual pinball ma…

Users » mjr » Code » Pinscape_Controller

Mike R / Mbed 2 deprecated Pinscape_Controller

An input/output controller for virtual pinball machines, with plunger position tracking, accelerometer-based nudge sensing, button input encoding, and feedback device control.

Dependencies: USBDevice mbed FastAnalogIn FastIO FastPWM SimpleDMA

/media/uploads/mjr/pinscape_no_background_small_L7Miwr6.jpg

The Pinscape Controller is a special-purpose software project that I wrote for my virtual pinball machine.

New version: V2 is now available! The information below is for version 1, which will continue to be available for people who prefer the original setup.

What exactly is a virtual pinball machine? It's basically a video-game pinball emulator built to look like a real pinball machine. (The picture at right is the one I built.) You start with a standard pinball cabinet, either built from scratch or salvaged from a real machine. Inside, you install a PC motherboard to run the software, and install TVs in place of the playfield and backglass. Several Windows pinball programs can take advantage of this setup, including the open-source project Visual Pinball, which has hundreds of tables available. Building one of these makes a great DIY project, and it's a good way to add to your skills at woodworking, computers, and electronics. Check out the Cabinet Builders' Forum on vpforums.org for lots of examples and advice.

This controller project is a key piece in my setup that helps integrate the video game into the pinball cabinet. It handles several input/output tasks that are unique to virtual pinball machines. First, it lets you connect a mechanical plunger to the software, so you can launch the ball like on a real machine. Second, it sends "nudge" data to the software, based on readings from an accelerometer. This lets you interact with the game physically, which makes the playing experience more realistic and immersive. Third, the software can handle button input (for wiring flipper buttons and other cabinet buttons), and fourth, it can control output devices (for tactile feedback, button lights, flashers, and other special effects).

Documentation

The Hardware Build Guide (PDF) has detailed instructions on how to set up a Pinscape Controller for your own virtual pinball cabinet.

Update notes

December 2015 version: This version fully supports the new Expansion Board project, but it'll also run without it. The default configuration settings haven't changed, so existing setups should continue to work as before.

August 2015 version: Be sure to get the latest version of the Config Tool for windows if you're upgrading from an older version of the firmware. This update adds support for TSL1412R sensors (a version of the 1410 sensor with a slightly larger pixel array), and a config option to set the mounting orientation of the board in the firmware rather than in VP (for better support for FP and other pinball programs that don't have VP's flexibility for setting the rotation).

Feb/March 2015 software versions: If you have a CCD plunger that you've been using with the older versions, and the plunger stops working (or doesn't work as well) after you update to the latest version, you might need to increase the brightness of your light source slightly. Check the CCD exposure with the Windows config tool to see if it looks too dark. The new software reads the CCD much more quickly than the old versions did. This makes the "shutter speed" faster, which might require a little more light to get the same readings. The CCD is actually really tolerant of varying light levels, so you probably won't have to change anything for the update - I didn't. But if you do have any trouble, have a look at the exposure meter and try a slightly brighter light source if the exposure looks too dark.

Downloads

Config tool for Windows (.exe and C# source): this is a Windows program that lets you view the raw pixel data from the CCD sensor, trigger plunger calibration mode, and configure some of the software options on the controller.

Custom VP builds: I created modified versions of Visual Pinball 9.9 and Physmod5 that you might want to use in combination with this controller. The modified versions have special handling for plunger calibration specific to the Pinscape Controller, as well as some enhancements to the nudge physics. If you're not using the plunger, you might still want it for the nudge improvements. The modified version also works with any other input controller, so you can get the enhanced nudging effects even if you're using a different plunger/nudge kit. The big change in the modified versions is a "filter" for accelerometer input that's designed to make the response to cabinet nudges more realistic. It also makes the response more subdued than in the standard VP, so it's not to everyone's taste. The downloads include both the updated executables and the source code changes, in case you want to merge the changes into your own custom version(s).

Note! These features are now standard in the official VP 9.9.1 and VP 10 releases, so you don't need my custom builds if you're using 9.9.1 or 10 or later. I don't think there's any reason to use my 9.9 instead of the official 9.9.1, but I'm leaving it here just in case. In the official VP releases, look for the checkbox "Enable Nudge Filter" in the Keys preferences dialog. (There's no checkbox in my custom builds, though; the filter is simply always on in those.)

Output circuit shopping list: This is a saved shopping cart at mouser.com with the parts needed for each output driver, if you want to use the LedWiz emulator feature. Note that quantities in the cart are for one output channel, so multiply everything by the number of channels you plan to use, except that you only need one of the ULN2803 transistor array chips for each eight output circuits.

Lemming77's potentiometer mounting bracket and shooter rod connecter: Sketchup designs for 3D-printable parts for mounting a slide potentiometer as the plunger sensor. These were designed for a particular slide potentiometer that used to be available from an Aliexpress.com seller but is no longer listed. You can probably use this design as a starting point for other similar devices; just check the dimensions before committing the design to plastic.

Features

Plunger position sensing, using a TAOS TSL 1410R CCD linear array sensor. This sensor is a 1280 x 1 pixel array at 400 dpi, which makes it about 3" long - almost exactly the travel distance of a standard pinball plunger. The idea is that you install the sensor just above (within a few mm of) the shooter rod on the inside of the cabinet, with the CCD window facing down, aligned with and centered on the long axis of the shooter rod, and positioned so that the rest position of the tip is about 1/2" from one end of the window. As you pull back the plunger, the tip will travel down the length of the window, and the maximum retraction point will put the tip just about at the far end of the window. Put a light source below, facing the sensor - I'm using two typical 20 mA blue LEDs about 8" away (near the floor of the cabinet) with good results. The principle of operation is that the shooter rod casts a shadow on the CCD, so pixels behind the rod will register lower brightness than pixels that aren't in the shadow. We scan down the length of the sensor for the edge between darker and brighter, and this tells us how far back the rod has been pulled. We can read the CCD at about 25-30 ms intervals, so we can get rapid updates. We pass the readings reports to VP via our USB joystick reports.

The hardware build guide includes schematics showing how to wire the CCD to the KL25Z. It's pretty straightforward - five wires between the two devices, no external components needed. Two GPIO ports are used as outputs to send signals to the device and one is used as an ADC in to read the pixel brightness inputs. The config tool has a feature that lets you display the raw pixel readings across the array, so you can test that the CCD is working and adjust the light source to get the right exposure level.

Alternatively, you can use a slide potentiometer as the plunger sensor. This is a cheaper and somewhat simpler option that seems to work quite nicely, as you can see in Lemming77's video of this setup in action. This option is also explained more fully in the build guide.

Nudge sensing via the KL25Z's on-board accelerometer. Mounting the board in your cabinet makes it feel the same accelerations the cabinet experiences when you nudge it. Visual Pinball already knows how to interpret accelerometer input as nudging, so we simply feed the acceleration readings to VP via the joystick interface.

Cabinet button wiring. Up to 24 pushbuttons and switches can be wired to the controller for input controls (for example, flipper buttons, the Start button, the tilt bob, coin slot switches, and service door buttons). These appear to Windows as joystick buttons. VP can map joystick buttons to pinball inputs via its keyboard preferences dialog. (You can raise the 24-button limit by editing the source code, but since all of the GPIO pins are allocated, you'll have to reassign pins currently used for other functions.)

LedWiz emulation (limited). In addition to emulating a joystick, the device emulates the LedWiz USB interface, so controllers on the PC side such as DirectOutput Framework can recognize it and send it commands to control lights, solenoids, and other feedback devices. 22 GPIO ports are assigned by default as feedback device outputs. This feature has some limitations. The big one is that the KL25Z hardware only has 10 PWM channels, which isn't enough for a fully decked-out cabinet. You also need to build some external power driver circuitry to use this feature, because of the paltry 4mA output capacity of the KL25Z GPIO ports. The build guide includes instructions for a simple and robust output circuit, including part numbers for the exact components you need. It's not hard if you know your way around a soldering iron, but just be aware that it'll take a little work.

Warning: This is not replacement software for the VirtuaPin plunger kit. If you bought the VirtuaPin kit, please don't try to install this software. The VP kit happens to use the same microcontroller board, but the rest of its hardware is incompatible. The VP kit uses a different type of sensor for its plunger and has completely different button wiring, so the Pinscape software won't work properly with it.

main.cpp@16:c35f905c3311, 2014-12-29 (annotated)

Committer:: mjr
Date:: Mon Dec 29 19:27:52 2014 +0000
Revision:: 16:c35f905c3311
Parent:: 15:944bbc29c4dd
Child:: 17:ab3cec0c8bf4

Fix comment typo

Who changed what in which revision?

User	Revision	Line number	New contents of line
mjr	5:a70c0bce770d	1	/* Copyright 2014 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	5:a70c0bce770d	13	* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 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	5:a70c0bce770d	20	// Pinscape Controller
mjr	5:a70c0bce770d	21	//
mjr	5:a70c0bce770d	22	// "Pinscape" is the name of my custom-built virtual pinball cabinet. I wrote this
mjr	5:a70c0bce770d	23	// software to perform a number of tasks that I needed for my cabinet. It runs on a
mjr	5:a70c0bce770d	24	// Freescale KL25Z microcontroller, which is a small and inexpensive device that
mjr	5:a70c0bce770d	25	// attaches to the host PC via USB and can interface with numerous types of external
mjr	5:a70c0bce770d	26	// hardware.
mjr	5:a70c0bce770d	27	//
mjr	5:a70c0bce770d	28	// I designed the software and hardware in this project especially for Pinscape, but
mjr	5:a70c0bce770d	29	// it uses standard interfaces in Windows and Visual Pinball, so it should be
mjr	5:a70c0bce770d	30	// readily usable in anyone else's VP-based cabinet. I've tried to document the
mjr	5:a70c0bce770d	31	// hardware in enough detail for anyone else to duplicate the entire project, and
mjr	5:a70c0bce770d	32	// the full software is open source.
mjr	5:a70c0bce770d	33	//
mjr	6:cc35eb643e8f	34	// The device appears to the host computer as a USB joystick. This works with the
mjr	6:cc35eb643e8f	35	// standard Windows joystick device drivers, so there's no need to install any
mjr	6:cc35eb643e8f	36	// software on the PC - Windows should recognize it as a joystick when you plug
mjr	6:cc35eb643e8f	37	// it in and shouldn't ask you to install anything. If you bring up the control
mjr	6:cc35eb643e8f	38	// panel for USB Game Controllers, this device will appear as "Pinscape Controller".
mjr	6:cc35eb643e8f	39	// Don't do any calibration with the Windows control panel or third-part
mjr	6:cc35eb643e8f	40	// calibration tools. The device calibrates itself automatically for the
mjr	6:cc35eb643e8f	41	// accelerometer data, and has its own special calibration procedure for the
mjr	6:cc35eb643e8f	42	// plunger (see below).
mjr	6:cc35eb643e8f	43	//
mjr	5:a70c0bce770d	44	// The controller provides the following functions. It should be possible to use
mjr	5:a70c0bce770d	45	// any subet of the features without using all of them. External hardware for any
mjr	5:a70c0bce770d	46	// particular function can simply be omitted if that feature isn't needed.
mjr	5:a70c0bce770d	47	//
mjr	5:a70c0bce770d	48	// - Nudge sensing via the KL25Z's on-board accelerometer. Nudge accelerations are
mjr	5:a70c0bce770d	49	// processed into a physics model of a rolling ball, and changes to the ball's
mjr	5:a70c0bce770d	50	// motion are sent to the host computer via the joystick interface. This is designed
mjr	5:a70c0bce770d	51	// especially to work with Visuall Pinball's nudge handling to produce realistic
mjr	5:a70c0bce770d	52	// on-screen results in VP. By doing some physics modeling right on the device,
mjr	5:a70c0bce770d	53	// rather than sending raw accelerometer data to VP, we can produce better results
mjr	5:a70c0bce770d	54	// using our awareness of the real physical parameters of a pinball cabinet.
mjr	5:a70c0bce770d	55	// VP's nudge handling has to be more generic, so it can't make the same sorts
mjr	5:a70c0bce770d	56	// of assumptions that we can about the dynamics of a real cabinet.
mjr	5:a70c0bce770d	57	//
mjr	5:a70c0bce770d	58	// The nudge data reports are compatible with the built-in Windows USB joystick
mjr	5:a70c0bce770d	59	// drivers and with VP's own joystick input scheme, so the nudge sensing is almost
mjr	5:a70c0bce770d	60	// plug-and-play. There are no Windiows drivers to install, and the only VP work
mjr	5:a70c0bce770d	61	// needed is to customize a few global preference settings.
mjr	5:a70c0bce770d	62	//
mjr	5:a70c0bce770d	63	// - Plunger position sensing via an attached TAOS TSL 1410R CCD linear array sensor.
mjr	5:a70c0bce770d	64	// The sensor must be wired to a particular set of I/O ports on the KL25Z, and must
mjr	5:a70c0bce770d	65	// be positioned adjacent to the plunger with proper lighting. The physical and
mjr	5:a70c0bce770d	66	// electronic installation details are desribed in the project documentation. We read
mjr	5:a70c0bce770d	67	// the CCD to determine how far back the plunger is pulled, and report this to Visual
mjr	5:a70c0bce770d	68	// Pinball via the joystick interface. As with the nudge data, this is all nearly
mjr	5:a70c0bce770d	69	// plug-and-play, in that it works with the default Windows USB drivers and works
mjr	5:a70c0bce770d	70	// with the existing VP handling for analog plunger input. A few VP settings are
mjr	5:a70c0bce770d	71	// needed to tell VP to allow the plunger.
mjr	5:a70c0bce770d	72	//
mjr	6:cc35eb643e8f	73	// For best results, the plunger sensor should be calibrated. The calibration
mjr	6:cc35eb643e8f	74	// is stored in non-volatile memory on board the KL25Z, so it's only necessary
mjr	6:cc35eb643e8f	75	// to do the calibration once, when you first install everything. (You might
mjr	6:cc35eb643e8f	76	// also want to re-calibrate if you physically remove and reinstall the CCD
mjr	6:cc35eb643e8f	77	// sensor or the mechanical plunger, since their alignment might change slightly
mjr	6:cc35eb643e8f	78	// when you put everything back together.) To calibrate, you have to attach a
mjr	6:cc35eb643e8f	79	// momentary switch (e.g., a push-button switch) between one of the KL25Z ground
mjr	6:cc35eb643e8f	80	// pins (e.g., jumper J9 pin 12) and PTE29 (J10 pin 9). Press and hold the
mjr	6:cc35eb643e8f	81	// button for about two seconds - the LED on the KL25Z wlil flash blue while
mjr	6:cc35eb643e8f	82	// you hold the button, and will turn solid blue when you've held it down long
mjr	6:cc35eb643e8f	83	// enough to enter calibration mode. This mode will last about 15 seconds.
mjr	6:cc35eb643e8f	84	// Simply pull the plunger all the way back, hold it for a few moments, and
mjr	6:cc35eb643e8f	85	// gradually return it to the starting position. Don't release it - we want
mjr	6:cc35eb643e8f	86	// to measure the maximum retracted position and the rest position, but NOT
mjr	6:cc35eb643e8f	87	// the maximum forward position when the outer barrel spring is compressed.
mjr	6:cc35eb643e8f	88	// After about 15 seconds, the device will save the new calibration settings
mjr	6:cc35eb643e8f	89	// to its flash memory, and the LED will return to the regular "heartbeat"
mjr	6:cc35eb643e8f	90	// flashes. If this is the first time you calibrated, you should observe the
mjr	6:cc35eb643e8f	91	// color of the flashes change from yellow/green to blue/green to indicate
mjr	6:cc35eb643e8f	92	// that the plunger has been calibrated.
mjr	6:cc35eb643e8f	93	//
mjr	6:cc35eb643e8f	94	// Note that while Visual Pinball itself has good native support for analog
mjr	6:cc35eb643e8f	95	// plungers, most of the VP tables in circulation don't implement the necessary
mjr	6:cc35eb643e8f	96	// scripting features to make this work properly. Therefore, you'll have to do
mjr	6:cc35eb643e8f	97	// a little scripting work for each table you download to add the required code
mjr	6:cc35eb643e8f	98	// to that individual table. The work has to be customized for each table, so
mjr	6:cc35eb643e8f	99	// I haven't been able to automate this process, but I have tried to reduce it
mjr	6:cc35eb643e8f	100	// to a relatively simple recipe that I've documented separately.
mjr	5:a70c0bce770d	101	//
mjr	5:a70c0bce770d	102	// - In addition to the CCD sensor, a button should be attached (also described in
mjr	5:a70c0bce770d	103	// the project documentation) to activate calibration mode for the plunger. When
mjr	5:a70c0bce770d	104	// calibration mode is activated, the software reads the plunger position for about
mjr	5:a70c0bce770d	105	// 10 seconds when to note the limits of travel, and uses these limits to ensure
mjr	5:a70c0bce770d	106	// accurate reports to VP that properly report the actual position of the physical
mjr	5:a70c0bce770d	107	// plunger. The calibration is stored in non-volatile memory on the KL25Z, so it's
mjr	5:a70c0bce770d	108	// only necessary to calibrate once - the calibration will survive power cycling
mjr	5:a70c0bce770d	109	// and reboots of the PC. It's only necessary to recalibrate if the CCD sensor or
mjr	5:a70c0bce770d	110	// the plunger are removed and reinstalled, since the relative alignment of the
mjr	5:a70c0bce770d	111	// parts could cahnge slightly when reinstalling.
mjr	5:a70c0bce770d	112	//
mjr	13:72dda449c3c0	113	// - Button input wiring. 24 of the KL25Z's GPIO ports are mapped as digital inputs
mjr	13:72dda449c3c0	114	// for buttons and switches. The software reports these as joystick buttons when
mjr	13:72dda449c3c0	115	// it sends reports to the PC. These can be used to wire physical pinball-style
mjr	13:72dda449c3c0	116	// buttons in the cabinet (e.g., flipper buttons, the Start button) and miscellaneous
mjr	13:72dda449c3c0	117	// switches (such as a tilt bob) to the PC. Visual Pinball can use joystick buttons
mjr	13:72dda449c3c0	118	// for input - you just have to assign a VP function to each button using VP's
mjr	13:72dda449c3c0	119	// keyboard options dialog. To wire a button physically, connect one terminal of
mjr	13:72dda449c3c0	120	// the button switch to the KL25Z ground, and connect the other terminal to the
mjr	13:72dda449c3c0	121	// the GPIO port you wish to assign to the button. See the buttonMap[] array
mjr	13:72dda449c3c0	122	// below for the available GPIO ports and their assigned joystick button numbers.
mjr	13:72dda449c3c0	123	// If you're not using a GPIO port, you can just leave it unconnected - the digital
mjr	13:72dda449c3c0	124	// inputs have built-in pull-up resistors, so an unconnected port is the same as
mjr	13:72dda449c3c0	125	// an open switch (an "off" state for the button).
mjr	13:72dda449c3c0	126	//
mjr	5:a70c0bce770d	127	// - LedWiz emulation. The KL25Z can appear to the PC as an LedWiz device, and will
mjr	5:a70c0bce770d	128	// accept and process LedWiz commands from the host. The software can turn digital
mjr	5:a70c0bce770d	129	// output ports on and off, and can set varying PWM intensitiy levels on a subset
mjr	5:a70c0bce770d	130	// of ports. (The KL25Z can only provide 6 PWM ports. Intensity level settings on
mjr	5:a70c0bce770d	131	// other ports is ignored, so non-PWM ports can only be used for simple on/off
mjr	5:a70c0bce770d	132	// devices such as contactors and solenoids.) The KL25Z can only supply 4mA on its
mjr	5:a70c0bce770d	133	// output ports, so external hardware is required to take advantage of the LedWiz
mjr	5:a70c0bce770d	134	// emulation. Many different hardware designs are possible, but there's a simple
mjr	5:a70c0bce770d	135	// reference design in the documentation that uses a Darlington array IC to
mjr	5:a70c0bce770d	136	// increase the output from each port to 500mA (the same level as the LedWiz),
mjr	5:a70c0bce770d	137	// plus an extended design that adds an optocoupler and MOSFET to provide very
mjr	5:a70c0bce770d	138	// high power handling, up to about 45A or 150W, with voltages up to 100V.
mjr	5:a70c0bce770d	139	// That will handle just about any DC device directly (wtihout relays or other
mjr	5:a70c0bce770d	140	// amplifiers), and switches fast enough to support PWM devices.
mjr	5:a70c0bce770d	141	//
mjr	5:a70c0bce770d	142	// The device can report any desired LedWiz unit number to the host, which makes
mjr	5:a70c0bce770d	143	// it possible to use the LedWiz emulation on a machine that also has one or more
mjr	5:a70c0bce770d	144	// actual LedWiz devices intalled. The LedWiz design allows for up to 16 units
mjr	5:a70c0bce770d	145	// to be installed in one machine - each one is invidually addressable by its
mjr	5:a70c0bce770d	146	// distinct unit number.
mjr	5:a70c0bce770d	147	//
mjr	5:a70c0bce770d	148	// The LedWiz emulation features are of course optional. There's no need to
mjr	5:a70c0bce770d	149	// build any of the external port hardware (or attach anything to the output
mjr	5:a70c0bce770d	150	// ports at all) if the LedWiz features aren't needed. Most people won't have
mjr	5:a70c0bce770d	151	// any use for the LedWiz features. I built them mostly as a learning exercise,
mjr	5:a70c0bce770d	152	// but with a slight practical need for a handful of extra ports (I'm using the
mjr	5:a70c0bce770d	153	// cutting-edge 10-contactor setup, so my real LedWiz is full!).
mjr	6:cc35eb643e8f	154	//
mjr	6:cc35eb643e8f	155	// The on-board LED on the KL25Z flashes to indicate the current device status:
mjr	6:cc35eb643e8f	156	//
mjr	6:cc35eb643e8f	157	// two short red flashes = the device is powered but hasn't successfully
mjr	6:cc35eb643e8f	158	// connected to the host via USB (either it's not physically connected
mjr	6:cc35eb643e8f	159	// to the USB port, or there was a problem with the software handshake
mjr	6:cc35eb643e8f	160	// with the USB device driver on the computer)
mjr	6:cc35eb643e8f	161	//
mjr	6:cc35eb643e8f	162	// short red flash = the host computer is in sleep/suspend mode
mjr	6:cc35eb643e8f	163	//
mjr	6:cc35eb643e8f	164	// long red/green = the LedWiz unti number has been changed, so a reset
mjr	6:cc35eb643e8f	165	// is needed. You can simply unplug the device and plug it back in,
mjr	6:cc35eb643e8f	166	// or presss and hold the reset button on the device for a few seconds.
mjr	6:cc35eb643e8f	167	//
mjr	6:cc35eb643e8f	168	// long yellow/green = everything's working, but the plunger hasn't
mjr	6:cc35eb643e8f	169	// been calibrated; follow the calibration procedure described above.
mjr	6:cc35eb643e8f	170	// This flash mode won't appear if the CCD has been disabled. Note
mjr	6:cc35eb643e8f	171	// that the device can't tell whether a CCD is physically attached,
mjr	6:cc35eb643e8f	172	// so you should use the config command to disable the CCD software
mjr	6:cc35eb643e8f	173	// features if you won't be attaching a CCD.
mjr	6:cc35eb643e8f	174	//
mjr	6:cc35eb643e8f	175	// alternating blue/green = everything's working
mjr	6:cc35eb643e8f	176	//
mjr	6:cc35eb643e8f	177	// Software configuration: you can change option settings by sending special
mjr	6:cc35eb643e8f	178	// USB commands from the PC. I've provided a Windows program for this purpose;
mjr	6:cc35eb643e8f	179	// refer to the documentation for details. For reference, here's the format
mjr	6:cc35eb643e8f	180	// of the USB command for option changes:
mjr	6:cc35eb643e8f	181	//
mjr	6:cc35eb643e8f	182	// length of report = 8 bytes
mjr	6:cc35eb643e8f	183	// byte 0 = 65 (0x41)
mjr	6:cc35eb643e8f	184	// byte 1 = 1 (0x01)
mjr	6:cc35eb643e8f	185	// byte 2 = new LedWiz unit number, 0x01 to 0x0f
mjr	6:cc35eb643e8f	186	// byte 3 = feature enable bit mask:
mjr	6:cc35eb643e8f	187	// 0x01 = enable CCD (default = on)
mjr	9:fd65b0a94720	188	//
mjr	9:fd65b0a94720	189	// Plunger calibration mode: the host can activate plunger calibration mode
mjr	9:fd65b0a94720	190	// by sending this packet. This has the same effect as pressing and holding
mjr	9:fd65b0a94720	191	// the plunger calibration button for two seconds, to allow activating this
mjr	9:fd65b0a94720	192	// mode without attaching a physical button.
mjr	9:fd65b0a94720	193	//
mjr	9:fd65b0a94720	194	// length = 8 bytes
mjr	9:fd65b0a94720	195	// byte 0 = 65 (0x41)
mjr	9:fd65b0a94720	196	// byte 1 = 2 (0x02)
mjr	9:fd65b0a94720	197	//
mjr	10:976666ffa4ef	198	// Exposure reports: the host can request a report of the full set of pixel
mjr	10:976666ffa4ef	199	// values for the next frame by sending this special packet:
mjr	10:976666ffa4ef	200	//
mjr	10:976666ffa4ef	201	// length = 8 bytes
mjr	10:976666ffa4ef	202	// byte 0 = 65 (0x41)
mjr	10:976666ffa4ef	203	// byte 1 = 3 (0x03)
mjr	10:976666ffa4ef	204	//
mjr	10:976666ffa4ef	205	// We'll respond with a series of special reports giving the exposure status.
mjr	10:976666ffa4ef	206	// Each report has the following structure:
mjr	10:976666ffa4ef	207	//
mjr	10:976666ffa4ef	208	// bytes 0:1 = 11-bit index, with high 5 bits set to 10000. For
mjr	10:976666ffa4ef	209	// example, 0x04 0x80 indicates index 4. This is the
mjr	10:976666ffa4ef	210	// starting pixel number in the report. The first report
mjr	10:976666ffa4ef	211	// will be 0x00 0x80 to indicate pixel #0.
mjr	10:976666ffa4ef	212	// bytes 2:3 = 16-bit unsigned int brightness level of pixel at index
mjr	10:976666ffa4ef	213	// bytes 4:5 = brightness of pixel at index+1
mjr	10:976666ffa4ef	214	// etc for the rest of the packet
mjr	10:976666ffa4ef	215	//
mjr	10:976666ffa4ef	216	// This still has the form of a joystick packet at the USB level, but
mjr	10:976666ffa4ef	217	// can be differentiated by the host via the status bits. It would have
mjr	10:976666ffa4ef	218	// been cleaner to use a different Report ID at the USB level, but this
mjr	10:976666ffa4ef	219	// would have necessitated a different container structure in the report
mjr	10:976666ffa4ef	220	// descriptor, which would have broken LedWiz compatibility. Given that
mjr	10:976666ffa4ef	221	// constraint, we have to re-use the joystick report type, making for
mjr	10:976666ffa4ef	222	// this somewhat kludgey approach.
mjr	6:cc35eb643e8f	223
mjr	0:5acbbe3f4cf4	224	#include "mbed.h"
mjr	6:cc35eb643e8f	225	#include "math.h"
mjr	0:5acbbe3f4cf4	226	#include "USBJoystick.h"
mjr	0:5acbbe3f4cf4	227	#include "MMA8451Q.h"
mjr	1:d913e0afb2ac	228	#include "tsl1410r.h"
mjr	1:d913e0afb2ac	229	#include "FreescaleIAP.h"
mjr	2:c174f9ee414a	230	#include "crc32.h"
mjr	2:c174f9ee414a	231
mjr	5:a70c0bce770d	232
mjr	5:a70c0bce770d	233	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	234	//
mjr	5:a70c0bce770d	235	// Configuration details
mjr	5:a70c0bce770d	236	//
mjr	2:c174f9ee414a	237
mjr	5:a70c0bce770d	238	// Our USB device vendor ID, product ID, and version.
mjr	5:a70c0bce770d	239	// We use the vendor ID for the LedWiz, so that the PC-side software can
mjr	5:a70c0bce770d	240	// identify us as capable of performing LedWiz commands. The LedWiz uses
mjr	5:a70c0bce770d	241	// a product ID value from 0xF0 to 0xFF; the last four bits identify the
mjr	5:a70c0bce770d	242	// unit number (e.g., product ID 0xF7 means unit #7). This allows multiple
mjr	5:a70c0bce770d	243	// LedWiz units to be installed in a single PC; the software on the PC side
mjr	5:a70c0bce770d	244	// uses the unit number to route commands to the devices attached to each
mjr	5:a70c0bce770d	245	// unit. On the real LedWiz, the unit number must be set in the firmware
mjr	5:a70c0bce770d	246	// at the factory; it's not configurable by the end user. Most LedWiz's
mjr	5:a70c0bce770d	247	// ship with the unit number set to 0, but the vendor will set different
mjr	5:a70c0bce770d	248	// unit numbers if requested at the time of purchase. So if you have a
mjr	5:a70c0bce770d	249	// single LedWiz already installed in your cabinet, and you didn't ask for
mjr	5:a70c0bce770d	250	// a non-default unit number, your existing LedWiz will be unit 0.
mjr	5:a70c0bce770d	251	//
mjr	5:a70c0bce770d	252	// We use unit #7 by default. There doesn't seem to be a requirement that
mjr	5:a70c0bce770d	253	// unit numbers be contiguous (DirectOutput Framework and other software
mjr	5:a70c0bce770d	254	// seem happy to have units 0 and 7 installed, without 1-6 existing).
mjr	5:a70c0bce770d	255	// Marking this unit as #7 should work for almost everybody out of the box;
mjr	5:a70c0bce770d	256	// the most common case seems to be to have a single LedWiz installed, and
mjr	5:a70c0bce770d	257	// it's probably extremely rare to more than two.
mjr	6:cc35eb643e8f	258	//
mjr	6:cc35eb643e8f	259	// Note that the USB_PRODUCT_ID value set here omits the unit number. We
mjr	6:cc35eb643e8f	260	// take the unit number from the saved configuration. We provide a
mjr	6:cc35eb643e8f	261	// configuration command that can be sent via the USB connection to change
mjr	6:cc35eb643e8f	262	// the unit number, so that users can select the unit number without having
mjr	6:cc35eb643e8f	263	// to install a different version of the software. We'll combine the base
mjr	6:cc35eb643e8f	264	// product ID here with the unit number to get the actual product ID that
mjr	6:cc35eb643e8f	265	// we send to the USB controller.
mjr	5:a70c0bce770d	266	const uint16_t USB_VENDOR_ID = 0xFAFA;
mjr	6:cc35eb643e8f	267	const uint16_t USB_PRODUCT_ID = 0x00F0;
mjr	6:cc35eb643e8f	268	const uint16_t USB_VERSION_NO = 0x0006;
mjr	6:cc35eb643e8f	269	const uint8_t DEFAULT_LEDWIZ_UNIT_NUMBER = 0x07;
mjr	0:5acbbe3f4cf4	270
mjr	9:fd65b0a94720	271	// Number of pixels we read from the sensor on each frame. This can be
mjr	9:fd65b0a94720	272	// less than the physical pixel count if desired; we'll read every nth
mjr	9:fd65b0a94720	273	// piexl if so. E.g., with a 1280-pixel physical sensor, if npix is 320,
mjr	9:fd65b0a94720	274	// we'll read every 4th pixel. It takes time to read each pixel, so the
mjr	9:fd65b0a94720	275	// fewer pixels we read, the higher the refresh rate we can achieve.
mjr	9:fd65b0a94720	276	// It's therefore better not to read more pixels than we have to.
mjr	9:fd65b0a94720	277	//
mjr	9:fd65b0a94720	278	// VP seems to have an internal resolution in the 8-bit range, so there's
mjr	9:fd65b0a94720	279	// no apparent benefit to reading more than 128-256 pixels when using VP.
mjr	9:fd65b0a94720	280	// Empirically, 160 pixels seems about right. The overall travel of a
mjr	9:fd65b0a94720	281	// standard pinball plunger is about 3", so 160 pixels gives us resolution
mjr	9:fd65b0a94720	282	// of about 1/50". This seems to take full advantage of VP's modeling
mjr	9:fd65b0a94720	283	// ability, and is probably also more precise than a human player's
mjr	9:fd65b0a94720	284	// perception of the plunger position.
mjr	9:fd65b0a94720	285	const int npix = 160;
mjr	9:fd65b0a94720	286
mjr	4:02c7cd7b2183	287	// On-board RGB LED elements - we use these for diagnostic displays.
mjr	4:02c7cd7b2183	288	DigitalOut ledR(LED1), ledG(LED2), ledB(LED3);
mjr	0:5acbbe3f4cf4	289
mjr	1:d913e0afb2ac	290	// calibration button - switch input and LED output
mjr	1:d913e0afb2ac	291	DigitalIn calBtn(PTE29);
mjr	1:d913e0afb2ac	292	DigitalOut calBtnLed(PTE23);
mjr	0:5acbbe3f4cf4	293
mjr	11:bd9da7088e6e	294	// Joystick button input pin assignments. You can wire up to
mjr	11:bd9da7088e6e	295	// 32 GPIO ports to buttons (equipped with momentary switches).
mjr	11:bd9da7088e6e	296	// Connect each switch between the desired GPIO port and ground
mjr	11:bd9da7088e6e	297	// (J9 pin 12 or 14). When the button is pressed, we'll tell the
mjr	13:72dda449c3c0	298	// host PC that the corresponding joystick button is pressed. We
mjr	11:bd9da7088e6e	299	// debounce the keystrokes in software, so you can simply wire
mjr	11:bd9da7088e6e	300	// directly to pushbuttons with no additional external hardware.
mjr	11:bd9da7088e6e	301	//
mjr	11:bd9da7088e6e	302	// Note that we assign 24 buttons by default, even though the USB
mjr	11:bd9da7088e6e	303	// joystick interface can handle up to 32 buttons. VP itself only
mjr	11:bd9da7088e6e	304	// allows mapping of up to 24 buttons in the preferences dialog
mjr	11:bd9da7088e6e	305	// (although it can recognize 32 buttons internally). If you want
mjr	11:bd9da7088e6e	306	// more buttons, you can reassign pins that are assigned by default
mjr	11:bd9da7088e6e	307	// as LedWiz outputs. To reassign a pin, find the pin you wish to
mjr	11:bd9da7088e6e	308	// reassign in the LedWizPortMap array below, and change the pin name
mjr	11:bd9da7088e6e	309	// there to NC (for Not Connected). You can then change one of the
mjr	11:bd9da7088e6e	310	// "NC" entries below to the reallocated pin name. The limit is 32
mjr	11:bd9da7088e6e	311	// buttons total.
mjr	11:bd9da7088e6e	312	//
mjr	11:bd9da7088e6e	313	// Note: PTD1 (pin J2-12) should NOT be assigned as a button input,
mjr	11:bd9da7088e6e	314	// as this pin is physically connected on the KL25Z to the on-board
mjr	11:bd9da7088e6e	315	// indicator LED's blue segment. This precludes any other use of
mjr	11:bd9da7088e6e	316	// the pin.
mjr	11:bd9da7088e6e	317	PinName buttonMap[] = {
mjr	11:bd9da7088e6e	318	PTC2, // J10 pin 10, joystick button 1
mjr	11:bd9da7088e6e	319	PTB3, // J10 pin 8, joystick button 2
mjr	11:bd9da7088e6e	320	PTB2, // J10 pin 6, joystick button 3
mjr	11:bd9da7088e6e	321	PTB1, // J10 pin 4, joystick button 4
mjr	11:bd9da7088e6e	322
mjr	11:bd9da7088e6e	323	PTE30, // J10 pin 11, joystick button 5
mjr	11:bd9da7088e6e	324	PTE22, // J10 pin 5, joystick button 6
mjr	11:bd9da7088e6e	325
mjr	11:bd9da7088e6e	326	PTE5, // J9 pin 15, joystick button 7
mjr	11:bd9da7088e6e	327	PTE4, // J9 pin 13, joystick button 8
mjr	11:bd9da7088e6e	328	PTE3, // J9 pin 11, joystick button 9
mjr	11:bd9da7088e6e	329	PTE2, // J9 pin 9, joystick button 10
mjr	11:bd9da7088e6e	330	PTB11, // J9 pin 7, joystick button 11
mjr	11:bd9da7088e6e	331	PTB10, // J9 pin 5, joystick button 12
mjr	11:bd9da7088e6e	332	PTB9, // J9 pin 3, joystick button 13
mjr	11:bd9da7088e6e	333	PTB8, // J9 pin 1, joystick button 14
mjr	11:bd9da7088e6e	334
mjr	11:bd9da7088e6e	335	PTC12, // J2 pin 1, joystick button 15
mjr	11:bd9da7088e6e	336	PTC13, // J2 pin 3, joystick button 16
mjr	11:bd9da7088e6e	337	PTC16, // J2 pin 5, joystick button 17
mjr	11:bd9da7088e6e	338	PTC17, // J2 pin 7, joystick button 18
mjr	11:bd9da7088e6e	339	PTA16, // J2 pin 9, joystick button 19
mjr	11:bd9da7088e6e	340	PTA17, // J2 pin 11, joystick button 20
mjr	11:bd9da7088e6e	341	PTE31, // J2 pin 13, joystick button 21
mjr	11:bd9da7088e6e	342	PTD6, // J2 pin 17, joystick button 22
mjr	11:bd9da7088e6e	343	PTD7, // J2 pin 19, joystick button 23
mjr	11:bd9da7088e6e	344
mjr	11:bd9da7088e6e	345	PTE1, // J2 pin 20, joystick button 24
mjr	11:bd9da7088e6e	346
mjr	11:bd9da7088e6e	347	NC, // not used, joystick button 25
mjr	11:bd9da7088e6e	348	NC, // not used, joystick button 26
mjr	11:bd9da7088e6e	349	NC, // not used, joystick button 27
mjr	11:bd9da7088e6e	350	NC, // not used, joystick button 28
mjr	11:bd9da7088e6e	351	NC, // not used, joystick button 29
mjr	11:bd9da7088e6e	352	NC, // not used, joystick button 30
mjr	11:bd9da7088e6e	353	NC, // not used, joystick button 31
mjr	11:bd9da7088e6e	354	NC // not used, joystick button 32
mjr	11:bd9da7088e6e	355	};
mjr	11:bd9da7088e6e	356
mjr	11:bd9da7088e6e	357	// LED-Wiz emulation output pin assignments.
mjr	6:cc35eb643e8f	358	//
mjr	6:cc35eb643e8f	359	// The LED-Wiz protocol allows setting individual intensity levels
mjr	6:cc35eb643e8f	360	// on all outputs, with 48 levels of intensity. This can be used
mjr	6:cc35eb643e8f	361	// to control lamp brightness and motor speeds, among other things.
mjr	6:cc35eb643e8f	362	// Unfortunately, the KL25Z only has 10 PWM channels, so while we
mjr	6:cc35eb643e8f	363	// can support the full complement of 32 outputs, we can only provide
mjr	6:cc35eb643e8f	364	// PWM dimming/speed control on 10 of them. The remaining outputs
mjr	6:cc35eb643e8f	365	// can only be switched fully on and fully off - we can't support
mjr	6:cc35eb643e8f	366	// dimming on these, so they'll ignore any intensity level setting
mjr	6:cc35eb643e8f	367	// requested by the host. Use these for devices that don't have any
mjr	6:cc35eb643e8f	368	// use for intensity settings anyway, such as contactors and knockers.
mjr	6:cc35eb643e8f	369	//
mjr	11:bd9da7088e6e	370	// Ports with pins assigned as "NC" are not connected. That is,
mjr	11:bd9da7088e6e	371	// there's no physical pin for that LedWiz port number. You can
mjr	11:bd9da7088e6e	372	// send LedWiz commands to turn NC ports on and off, but doing so
mjr	11:bd9da7088e6e	373	// will have no effect. The reason we leave some ports unassigned
mjr	11:bd9da7088e6e	374	// is that we don't have enough physical GPIO pins to fill out the
mjr	11:bd9da7088e6e	375	// full LedWiz complement of 32 ports. Many pins are already taken
mjr	11:bd9da7088e6e	376	// for other purposes, such as button inputs or the plunger CCD
mjr	11:bd9da7088e6e	377	// interface.
mjr	11:bd9da7088e6e	378	//
mjr	6:cc35eb643e8f	379	// The mapping between physical output pins on the KL25Z and the
mjr	6:cc35eb643e8f	380	// assigned LED-Wiz port numbers is essentially arbitrary - you can
mjr	6:cc35eb643e8f	381	// customize this by changing the entries in the array below if you
mjr	6:cc35eb643e8f	382	// wish to rearrange the pins for any reason. Be aware that some
mjr	6:cc35eb643e8f	383	// of the physical outputs are already used for other purposes
mjr	6:cc35eb643e8f	384	// (e.g., some of the GPIO pins on header J10 are used for the
mjr	6:cc35eb643e8f	385	// CCD sensor - but you can of course reassign those as well by
mjr	6:cc35eb643e8f	386	// changing the corresponding declarations elsewhere in this module).
mjr	6:cc35eb643e8f	387	// The assignments we make here have two main objectives: first,
mjr	6:cc35eb643e8f	388	// to group the outputs on headers J1 and J2 (to facilitate neater
mjr	6:cc35eb643e8f	389	// wiring by keeping the output pins together physically), and
mjr	6:cc35eb643e8f	390	// second, to make the physical pin layout match the LED-Wiz port
mjr	6:cc35eb643e8f	391	// numbering order to the extent possible. There's one big wrench
mjr	6:cc35eb643e8f	392	// in the works, though, which is the limited number and discontiguous
mjr	6:cc35eb643e8f	393	// placement of the KL25Z PWM-capable output pins. This prevents
mjr	6:cc35eb643e8f	394	// us from doing the most obvious sequential ordering of the pins,
mjr	6:cc35eb643e8f	395	// so we end up with the outputs arranged into several blocks.
mjr	6:cc35eb643e8f	396	// Hopefully this isn't too confusing; for more detailed rationale,
mjr	6:cc35eb643e8f	397	// read on...
mjr	6:cc35eb643e8f	398	//
mjr	6:cc35eb643e8f	399	// With the LED-Wiz, the host software configuration usually
mjr	6:cc35eb643e8f	400	// assumes that each RGB LED is hooked up to three consecutive ports
mjr	6:cc35eb643e8f	401	// (for the red, green, and blue components, which need to be
mjr	6:cc35eb643e8f	402	// physically wired to separate outputs to allow each color to be
mjr	6:cc35eb643e8f	403	// controlled independently). To facilitate this, we arrange the
mjr	6:cc35eb643e8f	404	// PWM-enabled outputs so that they're grouped together in the
mjr	6:cc35eb643e8f	405	// port numbering scheme. Unfortunately, these outputs aren't
mjr	6:cc35eb643e8f	406	// together in a single group in the physical pin layout, so to
mjr	6:cc35eb643e8f	407	// group them logically in the LED-Wiz port numbering scheme, we
mjr	6:cc35eb643e8f	408	// have to break up the overall numbering scheme into several blocks.
mjr	6:cc35eb643e8f	409	// So our port numbering goes sequentially down each column of
mjr	6:cc35eb643e8f	410	// header pins, but there are several break points where we have
mjr	6:cc35eb643e8f	411	// to interrupt the obvious sequence to keep the PWM pins grouped
mjr	6:cc35eb643e8f	412	// logically.
mjr	6:cc35eb643e8f	413	//
mjr	6:cc35eb643e8f	414	// In the list below, "pin J1-2" refers to pin 2 on header J1 on
mjr	6:cc35eb643e8f	415	// the KL25Z, using the standard pin numbering in the KL25Z
mjr	6:cc35eb643e8f	416	// documentation - this is the physical pin that the port controls.
mjr	6:cc35eb643e8f	417	// "LW port 1" means LED-Wiz port 1 - this is the LED-Wiz port
mjr	6:cc35eb643e8f	418	// number that you use on the PC side (in the DirectOutput config
mjr	6:cc35eb643e8f	419	// file, for example) to address the port. PWM-capable ports are
mjr	6:cc35eb643e8f	420	// marked as such - we group the PWM-capable ports into the first
mjr	6:cc35eb643e8f	421	// 10 LED-Wiz port numbers.
mjr	11:bd9da7088e6e	422	//
mjr	11:bd9da7088e6e	423	// If you wish to reallocate a pin in the array below to some other
mjr	11:bd9da7088e6e	424	// use, such as a button input port, simply change the pin name in
mjr	11:bd9da7088e6e	425	// the entry to NC (for Not Connected). This will disable the given
mjr	11:bd9da7088e6e	426	// logical LedWiz port number and free up the physical pin.
mjr	11:bd9da7088e6e	427	//
mjr	11:bd9da7088e6e	428	// If you wish to reallocate a pin currently assigned to the button
mjr	11:bd9da7088e6e	429	// input array, simply change the entry for the pin in the buttonMap[]
mjr	11:bd9da7088e6e	430	// array above to NC (for "not connected"), and plug the pin name into
mjr	11:bd9da7088e6e	431	// a slot of your choice in the array below.
mjr	11:bd9da7088e6e	432	//
mjr	11:bd9da7088e6e	433	// Note: PTD1 (pin J2-12) should NOT be assigned as an LedWiz output,
mjr	11:bd9da7088e6e	434	// as this pin is physically connected on the KL25Z to the on-board
mjr	11:bd9da7088e6e	435	// indicator LED's blue segment. This precludes any other use of
mjr	11:bd9da7088e6e	436	// the pin.
mjr	6:cc35eb643e8f	437	//
mjr	6:cc35eb643e8f	438	struct {
mjr	6:cc35eb643e8f	439	PinName pin;
mjr	6:cc35eb643e8f	440	bool isPWM;
mjr	6:cc35eb643e8f	441	} ledWizPortMap[32] = {
mjr	6:cc35eb643e8f	442	{ PTA1, true }, // pin J1-2, LW port 1 (PWM capable - TPM 2.0 = channel 9)
mjr	6:cc35eb643e8f	443	{ PTA2, true }, // pin J1-4, LW port 2 (PWM capable - TPM 2.1 = channel 10)
mjr	6:cc35eb643e8f	444	{ PTD4, true }, // pin J1-6, LW port 3 (PWM capable - TPM 0.4 = channel 5)
mjr	6:cc35eb643e8f	445	{ PTA12, true }, // pin J1-8, LW port 4 (PWM capable - TPM 1.0 = channel 7)
mjr	6:cc35eb643e8f	446	{ PTA4, true }, // pin J1-10, LW port 5 (PWM capable - TPM 0.1 = channel 2)
mjr	6:cc35eb643e8f	447	{ PTA5, true }, // pin J1-12, LW port 6 (PWM capable - TPM 0.2 = channel 3)
mjr	6:cc35eb643e8f	448	{ PTA13, true }, // pin J2-2, LW port 7 (PWM capable - TPM 1.1 = channel 13)
mjr	6:cc35eb643e8f	449	{ PTD5, true }, // pin J2-4, LW port 8 (PWM capable - TPM 0.5 = channel 6)
mjr	6:cc35eb643e8f	450	{ PTD0, true }, // pin J2-6, LW port 9 (PWM capable - TPM 0.0 = channel 1)
mjr	6:cc35eb643e8f	451	{ PTD3, true }, // pin J2-10, LW port 10 (PWM capable - TPM 0.3 = channel 4)
mjr	16:c35f905c3311	452	{ PTD2, false }, // pin J2-8, LW port 11
mjr	9:fd65b0a94720	453	{ PTC8, false }, // pin J1-14, LW port 12
mjr	9:fd65b0a94720	454	{ PTC9, false }, // pin J1-16, LW port 13
mjr	9:fd65b0a94720	455	{ PTC7, false }, // pin J1-1, LW port 14
mjr	9:fd65b0a94720	456	{ PTC0, false }, // pin J1-3, LW port 15
mjr	9:fd65b0a94720	457	{ PTC3, false }, // pin J1-5, LW port 16
mjr	9:fd65b0a94720	458	{ PTC4, false }, // pin J1-7, LW port 17
mjr	9:fd65b0a94720	459	{ PTC5, false }, // pin J1-9, LW port 18
mjr	9:fd65b0a94720	460	{ PTC6, false }, // pin J1-11, LW port 19
mjr	9:fd65b0a94720	461	{ PTC10, false }, // pin J1-13, LW port 20
mjr	9:fd65b0a94720	462	{ PTC11, false }, // pin J1-15, LW port 21
mjr	11:bd9da7088e6e	463	{ PTE0, false }, // pin J2-18, LW port 22
mjr	11:bd9da7088e6e	464	{ NC, false }, // Not used, LW port 23
mjr	11:bd9da7088e6e	465	{ NC, false }, // Not used, LW port 24
mjr	11:bd9da7088e6e	466	{ NC, false }, // Not used, LW port 25
mjr	11:bd9da7088e6e	467	{ NC, false }, // Not used, LW port 26
mjr	11:bd9da7088e6e	468	{ NC, false }, // Not used, LW port 27
mjr	11:bd9da7088e6e	469	{ NC, false }, // Not used, LW port 28
mjr	11:bd9da7088e6e	470	{ NC, false }, // Not used, LW port 29
mjr	11:bd9da7088e6e	471	{ NC, false }, // Not used, LW port 30
mjr	11:bd9da7088e6e	472	{ NC, false }, // Not used, LW port 31
mjr	11:bd9da7088e6e	473	{ NC, false } // Not used, LW port 32
mjr	6:cc35eb643e8f	474	};
mjr	6:cc35eb643e8f	475
mjr	6:cc35eb643e8f	476
mjr	5:a70c0bce770d	477	// I2C address of the accelerometer (this is a constant of the KL25Z)
mjr	5:a70c0bce770d	478	const int MMA8451_I2C_ADDRESS = (0x1d<<1);
mjr	5:a70c0bce770d	479
mjr	5:a70c0bce770d	480	// SCL and SDA pins for the accelerometer (constant for the KL25Z)
mjr	5:a70c0bce770d	481	#define MMA8451_SCL_PIN PTE25
mjr	5:a70c0bce770d	482	#define MMA8451_SDA_PIN PTE24
mjr	5:a70c0bce770d	483
mjr	5:a70c0bce770d	484	// Digital in pin to use for the accelerometer interrupt. For the KL25Z,
mjr	5:a70c0bce770d	485	// this can be either PTA14 or PTA15, since those are the pins physically
mjr	5:a70c0bce770d	486	// wired on this board to the MMA8451 interrupt controller.
mjr	5:a70c0bce770d	487	#define MMA8451_INT_PIN PTA15
mjr	5:a70c0bce770d	488
mjr	6:cc35eb643e8f	489	// Joystick axis report range - we report from -JOYMAX to +JOYMAX
mjr	6:cc35eb643e8f	490	#define JOYMAX 4096
mjr	6:cc35eb643e8f	491
mjr	5:a70c0bce770d	492
mjr	5:a70c0bce770d	493	// ---------------------------------------------------------------------------
mjr	9:fd65b0a94720	494	// utilities
mjr	9:fd65b0a94720	495
mjr	9:fd65b0a94720	496	// number of elements in an array
mjr	9:fd65b0a94720	497	#define countof(x) (sizeof(x)/sizeof((x)[0]))
mjr	9:fd65b0a94720	498
mjr	9:fd65b0a94720	499	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	500	//
mjr	5:a70c0bce770d	501	// LedWiz emulation
mjr	5:a70c0bce770d	502	//
mjr	5:a70c0bce770d	503
mjr	0:5acbbe3f4cf4	504	static int pbaIdx = 0;
mjr	0:5acbbe3f4cf4	505
mjr	6:cc35eb643e8f	506	// LedWiz output pin interface. We create a cover class to virtualize
mjr	6:cc35eb643e8f	507	// digital vs PWM outputs and give them a common interface. The KL25Z
mjr	6:cc35eb643e8f	508	// unfortunately doesn't have enough hardware PWM channels to support
mjr	6:cc35eb643e8f	509	// PWM on all 32 LedWiz outputs, so we provide as many PWM channels as
mjr	6:cc35eb643e8f	510	// we can (10), and fill out the rest of the outputs with plain digital
mjr	6:cc35eb643e8f	511	// outs.
mjr	6:cc35eb643e8f	512	class LwOut
mjr	6:cc35eb643e8f	513	{
mjr	6:cc35eb643e8f	514	public:
mjr	6:cc35eb643e8f	515	virtual void set(float val) = 0;
mjr	6:cc35eb643e8f	516	};
mjr	6:cc35eb643e8f	517	class LwPwmOut: public LwOut
mjr	6:cc35eb643e8f	518	{
mjr	6:cc35eb643e8f	519	public:
mjr	13:72dda449c3c0	520	LwPwmOut(PinName pin) : p(pin) { prv = -1; }
mjr	13:72dda449c3c0	521	virtual void set(float val)
mjr	13:72dda449c3c0	522	{
mjr	13:72dda449c3c0	523	if (val != prv)
mjr	13:72dda449c3c0	524	p.write(prv = val);
mjr	13:72dda449c3c0	525	}
mjr	6:cc35eb643e8f	526	PwmOut p;
mjr	13:72dda449c3c0	527	float prv;
mjr	6:cc35eb643e8f	528	};
mjr	6:cc35eb643e8f	529	class LwDigOut: public LwOut
mjr	6:cc35eb643e8f	530	{
mjr	6:cc35eb643e8f	531	public:
mjr	13:72dda449c3c0	532	LwDigOut(PinName pin) : p(pin) { prv = -1; }
mjr	13:72dda449c3c0	533	virtual void set(float val)
mjr	13:72dda449c3c0	534	{
mjr	13:72dda449c3c0	535	if (val != prv)
mjr	13:72dda449c3c0	536	p.write((prv = val) == 0.0 ? 0 : 1);
mjr	13:72dda449c3c0	537	}
mjr	6:cc35eb643e8f	538	DigitalOut p;
mjr	13:72dda449c3c0	539	float prv;
mjr	6:cc35eb643e8f	540	};
mjr	11:bd9da7088e6e	541	class LwUnusedOut: public LwOut
mjr	11:bd9da7088e6e	542	{
mjr	11:bd9da7088e6e	543	public:
mjr	11:bd9da7088e6e	544	LwUnusedOut() { }
mjr	11:bd9da7088e6e	545	virtual void set(float val) { }
mjr	11:bd9da7088e6e	546	};
mjr	6:cc35eb643e8f	547
mjr	6:cc35eb643e8f	548	// output pin array
mjr	6:cc35eb643e8f	549	static LwOut *lwPin[32];
mjr	6:cc35eb643e8f	550
mjr	6:cc35eb643e8f	551	// initialize the output pin array
mjr	6:cc35eb643e8f	552	void initLwOut()
mjr	6:cc35eb643e8f	553	{
mjr	9:fd65b0a94720	554	for (int i = 0 ; i < countof(lwPin) ; ++i)
mjr	6:cc35eb643e8f	555	{
mjr	11:bd9da7088e6e	556	PinName p = (i < countof(ledWizPortMap) ? ledWizPortMap[i].pin : NC);
mjr	11:bd9da7088e6e	557	if (p == NC)
mjr	11:bd9da7088e6e	558	lwPin[i] = new LwUnusedOut();
mjr	11:bd9da7088e6e	559	else if (ledWizPortMap[i].isPWM)
mjr	11:bd9da7088e6e	560	lwPin[i] = new LwPwmOut(p);
mjr	11:bd9da7088e6e	561	else
mjr	11:bd9da7088e6e	562	lwPin[i] = new LwDigOut(p);
mjr	6:cc35eb643e8f	563	}
mjr	6:cc35eb643e8f	564	}
mjr	6:cc35eb643e8f	565
mjr	0:5acbbe3f4cf4	566	// on/off state for each LedWiz output
mjr	1:d913e0afb2ac	567	static uint8_t wizOn[32];
mjr	0:5acbbe3f4cf4	568
mjr	0:5acbbe3f4cf4	569	// profile (brightness/blink) state for each LedWiz output
mjr	1:d913e0afb2ac	570	static uint8_t wizVal[32] = {
mjr	13:72dda449c3c0	571	48, 48, 48, 48, 48, 48, 48, 48,
mjr	13:72dda449c3c0	572	48, 48, 48, 48, 48, 48, 48, 48,
mjr	13:72dda449c3c0	573	48, 48, 48, 48, 48, 48, 48, 48,
mjr	13:72dda449c3c0	574	48, 48, 48, 48, 48, 48, 48, 48
mjr	0:5acbbe3f4cf4	575	};
mjr	0:5acbbe3f4cf4	576
mjr	1:d913e0afb2ac	577	static float wizState(int idx)
mjr	0:5acbbe3f4cf4	578	{
mjr	13:72dda449c3c0	579	if (wizOn[idx])
mjr	13:72dda449c3c0	580	{
mjr	0:5acbbe3f4cf4	581	// on - map profile brightness state to PWM level
mjr	1:d913e0afb2ac	582	uint8_t val = wizVal[idx];
mjr	13:72dda449c3c0	583	if (val <= 48)
mjr	13:72dda449c3c0	584	{
mjr	15:944bbc29c4dd	585	// PWM brightness/intensity level. Rescale from the LedWiz
mjr	15:944bbc29c4dd	586	// 0..48 integer range to our internal PwmOut 0..1 float range.
mjr	15:944bbc29c4dd	587	// Note that on the actual LedWiz, level 48 is actually about
mjr	15:944bbc29c4dd	588	// 98% on - contrary to the LedWiz documentation, level 49 is
mjr	15:944bbc29c4dd	589	// the true 100% level. (In the documentation, level 49 is
mjr	15:944bbc29c4dd	590	// simply not a valid setting.) Even so, we treat level 48 as
mjr	15:944bbc29c4dd	591	// 100% on to match the documentation. This won't be perfectly
mjr	15:944bbc29c4dd	592	// ocmpatible with the actual LedWiz, but it makes for such a
mjr	15:944bbc29c4dd	593	// small difference in brightness (if the output device is an
mjr	15:944bbc29c4dd	594	// LED, say) that no one should notice. It seems better to
mjr	15:944bbc29c4dd	595	// err in this direction, because while the difference in
mjr	15:944bbc29c4dd	596	// brightness when attached to an LED won't be noticeable, the
mjr	15:944bbc29c4dd	597	// difference in duty cycle when attached to something like a
mjr	15:944bbc29c4dd	598	// contactor can be noticeable - anything less than 100%
mjr	15:944bbc29c4dd	599	// can cause a contactor or relay to chatter. There's almost
mjr	15:944bbc29c4dd	600	// never a situation where you'd want values other than 0% and
mjr	15:944bbc29c4dd	601	// 100% for a contactor or relay, so treating level 48 as 100%
mjr	15:944bbc29c4dd	602	// makes us work properly with software that's expecting the
mjr	15:944bbc29c4dd	603	// documented LedWiz behavior and therefore uses level 48 to
mjr	15:944bbc29c4dd	604	// turn a contactor or relay fully on.
mjr	13:72dda449c3c0	605	return val/48.0;
mjr	13:72dda449c3c0	606	}
mjr	13:72dda449c3c0	607	else if (val == 49)
mjr	13:72dda449c3c0	608	{
mjr	15:944bbc29c4dd	609	// 49 is undefined in the LedWiz documentation, but actually
mjr	15:944bbc29c4dd	610	// means 100% on. The documentation says that levels 1-48 are
mjr	15:944bbc29c4dd	611	// the full PWM range, but empirically it appears that the real
mjr	15:944bbc29c4dd	612	// range implemented in the firmware is 1-49. Some software on
mjr	15:944bbc29c4dd	613	// the PC side (notably DOF) is aware of this and uses level 49
mjr	15:944bbc29c4dd	614	// to mean "100% on". To ensure compatibility with existing
mjr	15:944bbc29c4dd	615	// PC-side software, we need to recognize level 49.
mjr	13:72dda449c3c0	616	return 1.0;
mjr	13:72dda449c3c0	617	}
mjr	0:5acbbe3f4cf4	618	else if (val >= 129 && val <= 132)
mjr	13:72dda449c3c0	619	{
mjr	13:72dda449c3c0	620	// Values of 129-132 select different flashing modes. We don't
mjr	13:72dda449c3c0	621	// support any of these. Instead, simply treat them as fully on.
mjr	13:72dda449c3c0	622	// Note that DOF doesn't ever use modes 129-132, as it implements
mjr	13:72dda449c3c0	623	// all flashing modes itself on the host side, so this limitation
mjr	13:72dda449c3c0	624	// won't have any effect on DOF users. You can observe it using
mjr	13:72dda449c3c0	625	// LedBlinky, though.
mjr	13:72dda449c3c0	626	return 1.0;
mjr	13:72dda449c3c0	627	}
mjr	0:5acbbe3f4cf4	628	else
mjr	13:72dda449c3c0	629	{
mjr	13:72dda449c3c0	630	// Other values are undefined in the LedWiz documentation. Hosts
mjr	13:72dda449c3c0	631	// should never send undefined values, since whatever behavior an
mjr	13:72dda449c3c0	632	// LedWiz unit exhibits in response is accidental and could change
mjr	13:72dda449c3c0	633	// in a future version. We'll treat all undefined values as equivalent
mjr	13:72dda449c3c0	634	// to 48 (fully on).
mjr	13:72dda449c3c0	635	//
mjr	13:72dda449c3c0	636	// NB: the 49 and 129-132 cases are broken out above for the sake
mjr	13:72dda449c3c0	637	// of documentation. We end up using 1.0 as the return value for
mjr	13:72dda449c3c0	638	// everything outside of the defined 0-48 range, so we could collapse
mjr	13:72dda449c3c0	639	// this whole thing to a single 'else' branch, but I wanted to call
mjr	13:72dda449c3c0	640	// out the specific reasons for handling the settings above as we do.
mjr	0:5acbbe3f4cf4	641	return 1.0;
mjr	13:72dda449c3c0	642	}
mjr	0:5acbbe3f4cf4	643	}
mjr	13:72dda449c3c0	644	else
mjr	13:72dda449c3c0	645	{
mjr	13:72dda449c3c0	646	// off - show at 0 intensity
mjr	13:72dda449c3c0	647	return 0.0;
mjr	0:5acbbe3f4cf4	648	}
mjr	0:5acbbe3f4cf4	649	}
mjr	0:5acbbe3f4cf4	650
mjr	1:d913e0afb2ac	651	static void updateWizOuts()
mjr	1:d913e0afb2ac	652	{
mjr	6:cc35eb643e8f	653	for (int i = 0 ; i < 32 ; ++i)
mjr	6:cc35eb643e8f	654	lwPin[i]->set(wizState(i));
mjr	1:d913e0afb2ac	655	}
mjr	1:d913e0afb2ac	656
mjr	11:bd9da7088e6e	657
mjr	11:bd9da7088e6e	658	// ---------------------------------------------------------------------------
mjr	11:bd9da7088e6e	659	//
mjr	11:bd9da7088e6e	660	// Button input
mjr	11:bd9da7088e6e	661	//
mjr	11:bd9da7088e6e	662
mjr	11:bd9da7088e6e	663	// button input map array
mjr	11:bd9da7088e6e	664	DigitalIn *buttonDigIn[32];
mjr	11:bd9da7088e6e	665
mjr	12:669df364a565	666	// timer for button reports
mjr	12:669df364a565	667	static Timer buttonTimer;
mjr	12:669df364a565	668
mjr	11:bd9da7088e6e	669	// initialize the button inputs
mjr	11:bd9da7088e6e	670	void initButtons()
mjr	11:bd9da7088e6e	671	{
mjr	11:bd9da7088e6e	672	// create the digital inputs
mjr	11:bd9da7088e6e	673	for (int i = 0 ; i < countof(buttonDigIn) ; ++i)
mjr	11:bd9da7088e6e	674	{
mjr	11:bd9da7088e6e	675	if (i < countof(buttonMap) && buttonMap[i] != NC)
mjr	11:bd9da7088e6e	676	buttonDigIn[i] = new DigitalIn(buttonMap[i]);
mjr	11:bd9da7088e6e	677	else
mjr	11:bd9da7088e6e	678	buttonDigIn[i] = 0;
mjr	11:bd9da7088e6e	679	}
mjr	12:669df364a565	680
mjr	12:669df364a565	681	// start the button timer
mjr	12:669df364a565	682	buttonTimer.start();
mjr	11:bd9da7088e6e	683	}
mjr	11:bd9da7088e6e	684
mjr	11:bd9da7088e6e	685
mjr	11:bd9da7088e6e	686	// read the raw button input state
mjr	11:bd9da7088e6e	687	uint32_t readButtonsRaw()
mjr	11:bd9da7088e6e	688	{
mjr	11:bd9da7088e6e	689	// start with all buttons off
mjr	11:bd9da7088e6e	690	uint32_t buttons = 0;
mjr	11:bd9da7088e6e	691
mjr	11:bd9da7088e6e	692	// scan the button list
mjr	11:bd9da7088e6e	693	uint32_t bit = 1;
mjr	11:bd9da7088e6e	694	for (int i = 0 ; i < countof(buttonDigIn) ; ++i, bit <<= 1)
mjr	11:bd9da7088e6e	695	{
mjr	11:bd9da7088e6e	696	if (buttonDigIn[i] != 0 && !buttonDigIn[i]->read())
mjr	11:bd9da7088e6e	697	buttons \|= bit;
mjr	11:bd9da7088e6e	698	}
mjr	11:bd9da7088e6e	699
mjr	11:bd9da7088e6e	700	// return the button list
mjr	11:bd9da7088e6e	701	return buttons;
mjr	11:bd9da7088e6e	702	}
mjr	11:bd9da7088e6e	703
mjr	11:bd9da7088e6e	704	// Read buttons with debouncing. We keep a circular buffer
mjr	11:bd9da7088e6e	705	// of recent input readings. We'll AND together the status of
mjr	11:bd9da7088e6e	706	// each button over the past 50ms. A button that has been on
mjr	11:bd9da7088e6e	707	// continuously for 50ms will be reported as ON. All others
mjr	11:bd9da7088e6e	708	// will be reported as OFF.
mjr	11:bd9da7088e6e	709	uint32_t readButtonsDebounced()
mjr	11:bd9da7088e6e	710	{
mjr	11:bd9da7088e6e	711	struct reading {
mjr	11:bd9da7088e6e	712	int dt; // time since previous reading
mjr	11:bd9da7088e6e	713	uint32_t b; // button state at this reading
mjr	11:bd9da7088e6e	714	};
mjr	11:bd9da7088e6e	715	static reading readings[8]; // circular buffer of readings
mjr	11:bd9da7088e6e	716	static int ri = 0; // reading buffer index (next write position)
mjr	11:bd9da7088e6e	717
mjr	11:bd9da7088e6e	718	// get the write pointer
mjr	11:bd9da7088e6e	719	reading *r = &readings[ri];
mjr	11:bd9da7088e6e	720
mjr	11:bd9da7088e6e	721	// figure the time since the last reading, and read the raw button state
mjr	12:669df364a565	722	r->dt = buttonTimer.read_ms();
mjr	11:bd9da7088e6e	723	uint32_t b = r->b = readButtonsRaw();
mjr	11:bd9da7088e6e	724
mjr	11:bd9da7088e6e	725	// start timing the next interval
mjr	12:669df364a565	726	buttonTimer.reset();
mjr	11:bd9da7088e6e	727
mjr	14:df700b22ca08	728	// AND together readings over 25ms
mjr	11:bd9da7088e6e	729	int ms = 0;
mjr	14:df700b22ca08	730	for (int i = 1 ; i < countof(readings) && ms < 25 ; ++i)
mjr	11:bd9da7088e6e	731	{
mjr	11:bd9da7088e6e	732	// find the next prior reading, wrapping in the circular buffer
mjr	11:bd9da7088e6e	733	int j = ri - i;
mjr	11:bd9da7088e6e	734	if (j < 0)
mjr	11:bd9da7088e6e	735	j = countof(readings) - 1;
mjr	11:bd9da7088e6e	736
mjr	11:bd9da7088e6e	737	reading *rj = &readings[j];
mjr	11:bd9da7088e6e	738
mjr	11:bd9da7088e6e	739	// AND the buttons for this reading
mjr	11:bd9da7088e6e	740	b &= rj->b;
mjr	11:bd9da7088e6e	741
mjr	11:bd9da7088e6e	742	// count the time
mjr	11:bd9da7088e6e	743	ms += rj->dt;
mjr	11:bd9da7088e6e	744	}
mjr	11:bd9da7088e6e	745
mjr	11:bd9da7088e6e	746	// advance the write position for next time
mjr	11:bd9da7088e6e	747	ri += 1;
mjr	12:669df364a565	748	if (ri >= countof(readings))
mjr	11:bd9da7088e6e	749	ri = 0;
mjr	11:bd9da7088e6e	750
mjr	11:bd9da7088e6e	751	// return the debounced result
mjr	11:bd9da7088e6e	752	return b;
mjr	11:bd9da7088e6e	753	}
mjr	11:bd9da7088e6e	754
mjr	5:a70c0bce770d	755	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	756	//
mjr	5:a70c0bce770d	757	// Non-volatile memory (NVM)
mjr	5:a70c0bce770d	758	//
mjr	0:5acbbe3f4cf4	759
mjr	5:a70c0bce770d	760	// Structure defining our NVM storage layout. We store a small
mjr	2:c174f9ee414a	761	// amount of persistent data in flash memory to retain calibration
mjr	5:a70c0bce770d	762	// data when powered off.
mjr	2:c174f9ee414a	763	struct NVM
mjr	2:c174f9ee414a	764	{
mjr	2:c174f9ee414a	765	// checksum - we use this to determine if the flash record
mjr	6:cc35eb643e8f	766	// has been properly initialized
mjr	2:c174f9ee414a	767	uint32_t checksum;
mjr	2:c174f9ee414a	768
mjr	2:c174f9ee414a	769	// signature value
mjr	2:c174f9ee414a	770	static const uint32_t SIGNATURE = 0x4D4A522A;
mjr	6:cc35eb643e8f	771	static const uint16_t VERSION = 0x0003;
mjr	6:cc35eb643e8f	772
mjr	6:cc35eb643e8f	773	// Is the data structure valid? We test the signature and
mjr	6:cc35eb643e8f	774	// checksum to determine if we've been properly stored.
mjr	6:cc35eb643e8f	775	int valid() const
mjr	6:cc35eb643e8f	776	{
mjr	6:cc35eb643e8f	777	return (d.sig == SIGNATURE
mjr	6:cc35eb643e8f	778	&& d.vsn == VERSION
mjr	6:cc35eb643e8f	779	&& d.sz == sizeof(NVM)
mjr	6:cc35eb643e8f	780	&& checksum == CRC32(&d, sizeof(d)));
mjr	6:cc35eb643e8f	781	}
mjr	6:cc35eb643e8f	782
mjr	6:cc35eb643e8f	783	// save to non-volatile memory
mjr	6:cc35eb643e8f	784	void save(FreescaleIAP &iap, int addr)
mjr	6:cc35eb643e8f	785	{
mjr	6:cc35eb643e8f	786	// update the checksum and structure size
mjr	6:cc35eb643e8f	787	checksum = CRC32(&d, sizeof(d));
mjr	6:cc35eb643e8f	788	d.sz = sizeof(NVM);
mjr	6:cc35eb643e8f	789
mjr	6:cc35eb643e8f	790	// erase the sector
mjr	6:cc35eb643e8f	791	iap.erase_sector(addr);
mjr	6:cc35eb643e8f	792
mjr	6:cc35eb643e8f	793	// save the data
mjr	6:cc35eb643e8f	794	iap.program_flash(addr, this, sizeof(*this));
mjr	6:cc35eb643e8f	795	}
mjr	2:c174f9ee414a	796
mjr	9:fd65b0a94720	797	// reset calibration data for calibration mode
mjr	9:fd65b0a94720	798	void resetPlunger()
mjr	9:fd65b0a94720	799	{
mjr	9:fd65b0a94720	800	// set extremes for the calibration data
mjr	9:fd65b0a94720	801	d.plungerMax = 0;
mjr	9:fd65b0a94720	802	d.plungerZero = npix;
mjr	9:fd65b0a94720	803	d.plungerMin = npix;
mjr	9:fd65b0a94720	804	}
mjr	9:fd65b0a94720	805
mjr	2:c174f9ee414a	806	// stored data (excluding the checksum)
mjr	2:c174f9ee414a	807	struct
mjr	2:c174f9ee414a	808	{
mjr	6:cc35eb643e8f	809	// Signature, structure version, and structure size - further verification
mjr	6:cc35eb643e8f	810	// that we have valid initialized data. The size is a simple proxy for a
mjr	6:cc35eb643e8f	811	// structure version, as the most common type of change to the structure as
mjr	6:cc35eb643e8f	812	// the software evolves will be the addition of new elements. We also
mjr	6:cc35eb643e8f	813	// provide an explicit version number that we can update manually if we
mjr	6:cc35eb643e8f	814	// make any changes that don't affect the structure size but would affect
mjr	6:cc35eb643e8f	815	// compatibility with a saved record (e.g., swapping two existing elements).
mjr	2:c174f9ee414a	816	uint32_t sig;
mjr	2:c174f9ee414a	817	uint16_t vsn;
mjr	6:cc35eb643e8f	818	int sz;
mjr	2:c174f9ee414a	819
mjr	6:cc35eb643e8f	820	// has the plunger been manually calibrated?
mjr	6:cc35eb643e8f	821	int plungerCal;
mjr	6:cc35eb643e8f	822
mjr	2:c174f9ee414a	823	// plunger calibration min and max
mjr	2:c174f9ee414a	824	int plungerMin;
mjr	6:cc35eb643e8f	825	int plungerZero;
mjr	2:c174f9ee414a	826	int plungerMax;
mjr	6:cc35eb643e8f	827
mjr	6:cc35eb643e8f	828	// is the CCD enabled?
mjr	6:cc35eb643e8f	829	int ccdEnabled;
mjr	6:cc35eb643e8f	830
mjr	6:cc35eb643e8f	831	// LedWiz unit number
mjr	6:cc35eb643e8f	832	uint8_t ledWizUnitNo;
mjr	2:c174f9ee414a	833	} d;
mjr	2:c174f9ee414a	834	};
mjr	2:c174f9ee414a	835
mjr	5:a70c0bce770d	836
mjr	5:a70c0bce770d	837	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	838	//
mjr	5:a70c0bce770d	839	// Customization joystick subbclass
mjr	5:a70c0bce770d	840	//
mjr	5:a70c0bce770d	841
mjr	5:a70c0bce770d	842	class MyUSBJoystick: public USBJoystick
mjr	5:a70c0bce770d	843	{
mjr	5:a70c0bce770d	844	public:
mjr	5:a70c0bce770d	845	MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release)
mjr	5:a70c0bce770d	846	: USBJoystick(vendor_id, product_id, product_release, true)
mjr	5:a70c0bce770d	847	{
mjr	5:a70c0bce770d	848	suspended_ = false;
mjr	5:a70c0bce770d	849	}
mjr	5:a70c0bce770d	850
mjr	5:a70c0bce770d	851	// are we connected?
mjr	5:a70c0bce770d	852	int isConnected() { return configured(); }
mjr	5:a70c0bce770d	853
mjr	5:a70c0bce770d	854	// Are we in suspend mode?
mjr	5:a70c0bce770d	855	int isSuspended() const { return suspended_; }
mjr	5:a70c0bce770d	856
mjr	5:a70c0bce770d	857	protected:
mjr	5:a70c0bce770d	858	virtual void suspendStateChanged(unsigned int suspended)
mjr	5:a70c0bce770d	859	{ suspended_ = suspended; }
mjr	5:a70c0bce770d	860
mjr	5:a70c0bce770d	861	// are we suspended?
mjr	5:a70c0bce770d	862	int suspended_;
mjr	5:a70c0bce770d	863	};
mjr	5:a70c0bce770d	864
mjr	5:a70c0bce770d	865	// ---------------------------------------------------------------------------
mjr	6:cc35eb643e8f	866	//
mjr	6:cc35eb643e8f	867	// Some simple math service routines
mjr	6:cc35eb643e8f	868	//
mjr	6:cc35eb643e8f	869
mjr	6:cc35eb643e8f	870	inline float square(float x) { return x*x; }
mjr	6:cc35eb643e8f	871	inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); }
mjr	6:cc35eb643e8f	872
mjr	6:cc35eb643e8f	873	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	874	//
mjr	5:a70c0bce770d	875	// Accelerometer (MMA8451Q)
mjr	5:a70c0bce770d	876	//
mjr	5:a70c0bce770d	877
mjr	5:a70c0bce770d	878	// The MMA8451Q is the KL25Z's on-board 3-axis accelerometer.
mjr	5:a70c0bce770d	879	//
mjr	5:a70c0bce770d	880	// This is a custom wrapper for the library code to interface to the
mjr	6:cc35eb643e8f	881	// MMA8451Q. This class encapsulates an interrupt handler and
mjr	6:cc35eb643e8f	882	// automatic calibration.
mjr	5:a70c0bce770d	883	//
mjr	5:a70c0bce770d	884	// We install an interrupt handler on the accelerometer "data ready"
mjr	6:cc35eb643e8f	885	// interrupt to ensure that we fetch each sample immediately when it
mjr	6:cc35eb643e8f	886	// becomes available. The accelerometer data rate is fiarly high
mjr	6:cc35eb643e8f	887	// (800 Hz), so it's not practical to keep up with it by polling.
mjr	6:cc35eb643e8f	888	// Using an interrupt handler lets us respond quickly and read
mjr	6:cc35eb643e8f	889	// every sample.
mjr	5:a70c0bce770d	890	//
mjr	6:cc35eb643e8f	891	// We automatically calibrate the accelerometer so that it's not
mjr	6:cc35eb643e8f	892	// necessary to get it exactly level when installing it, and so
mjr	6:cc35eb643e8f	893	// that it's also not necessary to calibrate it manually. There's
mjr	6:cc35eb643e8f	894	// lots of experience that tells us that manual calibration is a
mjr	6:cc35eb643e8f	895	// terrible solution, mostly because cabinets tend to shift slightly
mjr	6:cc35eb643e8f	896	// during use, requiring frequent recalibration. Instead, we
mjr	6:cc35eb643e8f	897	// calibrate automatically. We continuously monitor the acceleration
mjr	6:cc35eb643e8f	898	// data, watching for periods of constant (or nearly constant) values.
mjr	6:cc35eb643e8f	899	// Any time it appears that the machine has been at rest for a while
mjr	6:cc35eb643e8f	900	// (about 5 seconds), we'll average the readings during that rest
mjr	6:cc35eb643e8f	901	// period and use the result as the level rest position. This is
mjr	6:cc35eb643e8f	902	// is ongoing, so we'll quickly find the center point again if the
mjr	6:cc35eb643e8f	903	// machine is moved during play (by an especially aggressive bout
mjr	6:cc35eb643e8f	904	// of nudging, say).
mjr	5:a70c0bce770d	905	//
mjr	5:a70c0bce770d	906
mjr	6:cc35eb643e8f	907	// accelerometer input history item, for gathering calibration data
mjr	6:cc35eb643e8f	908	struct AccHist
mjr	5:a70c0bce770d	909	{
mjr	6:cc35eb643e8f	910	AccHist() { x = y = d = 0.0; xtot = ytot = 0.0; cnt = 0; }
mjr	6:cc35eb643e8f	911	void set(float x, float y, AccHist *prv)
mjr	6:cc35eb643e8f	912	{
mjr	6:cc35eb643e8f	913	// save the raw position
mjr	6:cc35eb643e8f	914	this->x = x;
mjr	6:cc35eb643e8f	915	this->y = y;
mjr	6:cc35eb643e8f	916	this->d = distance(prv);
mjr	6:cc35eb643e8f	917	}
mjr	6:cc35eb643e8f	918
mjr	6:cc35eb643e8f	919	// reading for this entry
mjr	5:a70c0bce770d	920	float x, y;
mjr	5:a70c0bce770d	921
mjr	6:cc35eb643e8f	922	// distance from previous entry
mjr	6:cc35eb643e8f	923	float d;
mjr	5:a70c0bce770d	924
mjr	6:cc35eb643e8f	925	// total and count of samples averaged over this period
mjr	6:cc35eb643e8f	926	float xtot, ytot;
mjr	6:cc35eb643e8f	927	int cnt;
mjr	6:cc35eb643e8f	928
mjr	6:cc35eb643e8f	929	void clearAvg() { xtot = ytot = 0.0; cnt = 0; }
mjr	6:cc35eb643e8f	930	void addAvg(float x, float y) { xtot += x; ytot += y; ++cnt; }
mjr	6:cc35eb643e8f	931	float xAvg() const { return xtot/cnt; }
mjr	6:cc35eb643e8f	932	float yAvg() const { return ytot/cnt; }
mjr	5:a70c0bce770d	933
mjr	6:cc35eb643e8f	934	float distance(AccHist *p)
mjr	6:cc35eb643e8f	935	{ return sqrt(square(p->x - x) + square(p->y - y)); }
mjr	5:a70c0bce770d	936	};
mjr	5:a70c0bce770d	937
mjr	5:a70c0bce770d	938	// accelerometer wrapper class
mjr	3:3514575d4f86	939	class Accel
mjr	3:3514575d4f86	940	{
mjr	3:3514575d4f86	941	public:
mjr	3:3514575d4f86	942	Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin)
mjr	3:3514575d4f86	943	: mma_(sda, scl, i2cAddr), intIn_(irqPin)
mjr	3:3514575d4f86	944	{
mjr	5:a70c0bce770d	945	// remember the interrupt pin assignment
mjr	5:a70c0bce770d	946	irqPin_ = irqPin;
mjr	5:a70c0bce770d	947
mjr	5:a70c0bce770d	948	// reset and initialize
mjr	5:a70c0bce770d	949	reset();
mjr	5:a70c0bce770d	950	}
mjr	5:a70c0bce770d	951
mjr	5:a70c0bce770d	952	void reset()
mjr	5:a70c0bce770d	953	{
mjr	6:cc35eb643e8f	954	// clear the center point
mjr	6:cc35eb643e8f	955	cx_ = cy_ = 0.0;
mjr	6:cc35eb643e8f	956
mjr	6:cc35eb643e8f	957	// start the calibration timer
mjr	5:a70c0bce770d	958	tCenter_.start();
mjr	5:a70c0bce770d	959	iAccPrv_ = nAccPrv_ = 0;
mjr	6:cc35eb643e8f	960
mjr	5:a70c0bce770d	961	// reset and initialize the MMA8451Q
mjr	5:a70c0bce770d	962	mma_.init();
mjr	6:cc35eb643e8f	963
mjr	6:cc35eb643e8f	964	// set the initial integrated velocity reading to zero
mjr	6:cc35eb643e8f	965	vx_ = vy_ = 0;
mjr	3:3514575d4f86	966
mjr	6:cc35eb643e8f	967	// set up our accelerometer interrupt handling
mjr	6:cc35eb643e8f	968	intIn_.rise(this, &Accel::isr);
mjr	5:a70c0bce770d	969	mma_.setInterruptMode(irqPin_ == PTA14 ? 1 : 2);
mjr	3:3514575d4f86	970
mjr	3:3514575d4f86	971	// read the current registers to clear the data ready flag
mjr	6:cc35eb643e8f	972	mma_.getAccXYZ(ax_, ay_, az_);
mjr	3:3514575d4f86	973
mjr	3:3514575d4f86	974	// start our timers
mjr	3:3514575d4f86	975	tGet_.start();
mjr	3:3514575d4f86	976	tInt_.start();
mjr	3:3514575d4f86	977	}
mjr	3:3514575d4f86	978
mjr	9:fd65b0a94720	979	void get(int &x, int &y)
mjr	3:3514575d4f86	980	{
mjr	3:3514575d4f86	981	// disable interrupts while manipulating the shared data
mjr	3:3514575d4f86	982	__disable_irq();
mjr	3:3514575d4f86	983
mjr	3:3514575d4f86	984	// read the shared data and store locally for calculations
mjr	6:cc35eb643e8f	985	float ax = ax_, ay = ay_;
mjr	6:cc35eb643e8f	986	float vx = vx_, vy = vy_;
mjr	5:a70c0bce770d	987
mjr	6:cc35eb643e8f	988	// reset the velocity sum for the next run
mjr	6:cc35eb643e8f	989	vx_ = vy_ = 0;
mjr	3:3514575d4f86	990
mjr	3:3514575d4f86	991	// get the time since the last get() sample
mjr	3:3514575d4f86	992	float dt = tGet_.read_us()/1.0e6;
mjr	3:3514575d4f86	993	tGet_.reset();
mjr	3:3514575d4f86	994
mjr	3:3514575d4f86	995	// done manipulating the shared data
mjr	3:3514575d4f86	996	__enable_irq();
mjr	3:3514575d4f86	997
mjr	6:cc35eb643e8f	998	// adjust the readings for the integration time
mjr	6:cc35eb643e8f	999	vx /= dt;
mjr	6:cc35eb643e8f	1000	vy /= dt;
mjr	6:cc35eb643e8f	1001
mjr	6:cc35eb643e8f	1002	// add this sample to the current calibration interval's running total
mjr	6:cc35eb643e8f	1003	AccHist *p = accPrv_ + iAccPrv_;
mjr	6:cc35eb643e8f	1004	p->addAvg(ax, ay);
mjr	6:cc35eb643e8f	1005
mjr	5:a70c0bce770d	1006	// check for auto-centering every so often
mjr	5:a70c0bce770d	1007	if (tCenter_.read_ms() > 1000)
mjr	5:a70c0bce770d	1008	{
mjr	5:a70c0bce770d	1009	// add the latest raw sample to the history list
mjr	6:cc35eb643e8f	1010	AccHist *prv = p;
mjr	5:a70c0bce770d	1011	iAccPrv_ = (iAccPrv_ + 1) % maxAccPrv;
mjr	6:cc35eb643e8f	1012	p = accPrv_ + iAccPrv_;
mjr	6:cc35eb643e8f	1013	p->set(ax, ay, prv);
mjr	5:a70c0bce770d	1014
mjr	5:a70c0bce770d	1015	// if we have a full complement, check for stability
mjr	5:a70c0bce770d	1016	if (nAccPrv_ >= maxAccPrv)
mjr	5:a70c0bce770d	1017	{
mjr	5:a70c0bce770d	1018	// check if we've been stable for all recent samples
mjr	6:cc35eb643e8f	1019	static const float accTol = .01;
mjr	6:cc35eb643e8f	1020	AccHist *p0 = accPrv_;
mjr	6:cc35eb643e8f	1021	if (p0[0].d < accTol
mjr	6:cc35eb643e8f	1022	&& p0[1].d < accTol
mjr	6:cc35eb643e8f	1023	&& p0[2].d < accTol
mjr	6:cc35eb643e8f	1024	&& p0[3].d < accTol
mjr	6:cc35eb643e8f	1025	&& p0[4].d < accTol)
mjr	5:a70c0bce770d	1026	{
mjr	6:cc35eb643e8f	1027	// Figure the new calibration point as the average of
mjr	6:cc35eb643e8f	1028	// the samples over the rest period
mjr	6:cc35eb643e8f	1029	cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5.0;
mjr	6:cc35eb643e8f	1030	cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5.0;
mjr	5:a70c0bce770d	1031	}
mjr	5:a70c0bce770d	1032	}
mjr	5:a70c0bce770d	1033	else
mjr	5:a70c0bce770d	1034	{
mjr	5:a70c0bce770d	1035	// not enough samples yet; just up the count
mjr	5:a70c0bce770d	1036	++nAccPrv_;
mjr	5:a70c0bce770d	1037	}
mjr	6:cc35eb643e8f	1038
mjr	6:cc35eb643e8f	1039	// clear the new item's running totals
mjr	6:cc35eb643e8f	1040	p->clearAvg();
mjr	5:a70c0bce770d	1041
mjr	5:a70c0bce770d	1042	// reset the timer
mjr	5:a70c0bce770d	1043	tCenter_.reset();
mjr	5:a70c0bce770d	1044	}
mjr	5:a70c0bce770d	1045
mjr	6:cc35eb643e8f	1046	// report our integrated velocity reading in x,y
mjr	6:cc35eb643e8f	1047	x = rawToReport(vx);
mjr	6:cc35eb643e8f	1048	y = rawToReport(vy);
mjr	5:a70c0bce770d	1049
mjr	6:cc35eb643e8f	1050	#ifdef DEBUG_PRINTF
mjr	6:cc35eb643e8f	1051	if (x != 0 \|\| y != 0)
mjr	6:cc35eb643e8f	1052	printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt);
mjr	6:cc35eb643e8f	1053	#endif
mjr	3:3514575d4f86	1054	}
mjr	3:3514575d4f86	1055
mjr	3:3514575d4f86	1056	private:
mjr	6:cc35eb643e8f	1057	// adjust a raw acceleration figure to a usb report value
mjr	6:cc35eb643e8f	1058	int rawToReport(float v)
mjr	5:a70c0bce770d	1059	{
mjr	6:cc35eb643e8f	1060	// scale to the joystick report range and round to integer
mjr	6:cc35eb643e8f	1061	int i = int(round(v*JOYMAX));
mjr	5:a70c0bce770d	1062
mjr	6:cc35eb643e8f	1063	// if it's near the center, scale it roughly as 20*(i/20)^2,
mjr	6:cc35eb643e8f	1064	// to suppress noise near the rest position
mjr	6:cc35eb643e8f	1065	static const int filter[] = {
mjr	6:cc35eb643e8f	1066	-18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0,
mjr	6:cc35eb643e8f	1067	0,
mjr	6:cc35eb643e8f	1068	0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18
mjr	6:cc35eb643e8f	1069	};
mjr	6:cc35eb643e8f	1070	return (i > 20 \|\| i < -20 ? i : filter[i+20]);
mjr	5:a70c0bce770d	1071	}
mjr	5:a70c0bce770d	1072
mjr	3:3514575d4f86	1073	// interrupt handler
mjr	3:3514575d4f86	1074	void isr()
mjr	3:3514575d4f86	1075	{
mjr	3:3514575d4f86	1076	// Read the axes. Note that we have to read all three axes
mjr	3:3514575d4f86	1077	// (even though we only really use x and y) in order to clear
mjr	3:3514575d4f86	1078	// the "data ready" status bit in the accelerometer. The
mjr	3:3514575d4f86	1079	// interrupt only occurs when the "ready" bit transitions from
mjr	3:3514575d4f86	1080	// off to on, so we have to make sure it's off.
mjr	5:a70c0bce770d	1081	float x, y, z;
mjr	5:a70c0bce770d	1082	mma_.getAccXYZ(x, y, z);
mjr	3:3514575d4f86	1083
mjr	3:3514575d4f86	1084	// calculate the time since the last interrupt
mjr	3:3514575d4f86	1085	float dt = tInt_.read_us()/1.0e6;
mjr	3:3514575d4f86	1086	tInt_.reset();
mjr	6:cc35eb643e8f	1087
mjr	6:cc35eb643e8f	1088	// integrate the time slice from the previous reading to this reading
mjr	6:cc35eb643e8f	1089	vx_ += (x + ax_ - 2cx_)dt/2;
mjr	6:cc35eb643e8f	1090	vy_ += (y + ay_ - 2cy_)dt/2;
mjr	3:3514575d4f86	1091
mjr	6:cc35eb643e8f	1092	// store the updates
mjr	6:cc35eb643e8f	1093	ax_ = x;
mjr	6:cc35eb643e8f	1094	ay_ = y;
mjr	6:cc35eb643e8f	1095	az_ = z;
mjr	3:3514575d4f86	1096	}
mjr	3:3514575d4f86	1097
mjr	3:3514575d4f86	1098	// underlying accelerometer object
mjr	3:3514575d4f86	1099	MMA8451Q mma_;
mjr	3:3514575d4f86	1100
mjr	5:a70c0bce770d	1101	// last raw acceleration readings
mjr	6:cc35eb643e8f	1102	float ax_, ay_, az_;
mjr	5:a70c0bce770d	1103
mjr	6:cc35eb643e8f	1104	// integrated velocity reading since last get()
mjr	6:cc35eb643e8f	1105	float vx_, vy_;
mjr	6:cc35eb643e8f	1106
mjr	3:3514575d4f86	1107	// timer for measuring time between get() samples
mjr	3:3514575d4f86	1108	Timer tGet_;
mjr	3:3514575d4f86	1109
mjr	3:3514575d4f86	1110	// timer for measuring time between interrupts
mjr	3:3514575d4f86	1111	Timer tInt_;
mjr	5:a70c0bce770d	1112
mjr	6:cc35eb643e8f	1113	// Calibration reference point for accelerometer. This is the
mjr	6:cc35eb643e8f	1114	// average reading on the accelerometer when in the neutral position
mjr	6:cc35eb643e8f	1115	// at rest.
mjr	6:cc35eb643e8f	1116	float cx_, cy_;
mjr	5:a70c0bce770d	1117
mjr	5:a70c0bce770d	1118	// timer for atuo-centering
mjr	5:a70c0bce770d	1119	Timer tCenter_;
mjr	6:cc35eb643e8f	1120
mjr	6:cc35eb643e8f	1121	// Auto-centering history. This is a separate history list that
mjr	6:cc35eb643e8f	1122	// records results spaced out sparesely over time, so that we can
mjr	6:cc35eb643e8f	1123	// watch for long-lasting periods of rest. When we observe nearly
mjr	6:cc35eb643e8f	1124	// no motion for an extended period (on the order of 5 seconds), we
mjr	6:cc35eb643e8f	1125	// take this to mean that the cabinet is at rest in its neutral
mjr	6:cc35eb643e8f	1126	// position, so we take this as the calibration zero point for the
mjr	6:cc35eb643e8f	1127	// accelerometer. We update this history continuously, which allows
mjr	6:cc35eb643e8f	1128	// us to continuously re-calibrate the accelerometer. This ensures
mjr	6:cc35eb643e8f	1129	// that we'll automatically adjust to any actual changes in the
mjr	6:cc35eb643e8f	1130	// cabinet's orientation (e.g., if it gets moved slightly by an
mjr	6:cc35eb643e8f	1131	// especially strong nudge) as well as any systematic drift in the
mjr	6:cc35eb643e8f	1132	// accelerometer measurement bias (e.g., from temperature changes).
mjr	5:a70c0bce770d	1133	int iAccPrv_, nAccPrv_;
mjr	5:a70c0bce770d	1134	static const int maxAccPrv = 5;
mjr	6:cc35eb643e8f	1135	AccHist accPrv_[maxAccPrv];
mjr	6:cc35eb643e8f	1136
mjr	5:a70c0bce770d	1137	// interurupt pin name
mjr	5:a70c0bce770d	1138	PinName irqPin_;
mjr	5:a70c0bce770d	1139
mjr	5:a70c0bce770d	1140	// interrupt router
mjr	5:a70c0bce770d	1141	InterruptIn intIn_;
mjr	3:3514575d4f86	1142	};
mjr	3:3514575d4f86	1143
mjr	5:a70c0bce770d	1144
mjr	5:a70c0bce770d	1145	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	1146	//
mjr	14:df700b22ca08	1147	// Clear the I2C bus for the MMA8451Q. This seems necessary some of the time
mjr	5:a70c0bce770d	1148	// for reasons that aren't clear to me. Doing a hard power cycle has the same
mjr	5:a70c0bce770d	1149	// effect, but when we do a soft reset, the hardware sometimes seems to leave
mjr	5:a70c0bce770d	1150	// the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through
mjr	14:df700b22ca08	1151	// the SCL line is supposed to clear this condition. I'm not convinced this
mjr	14:df700b22ca08	1152	// actually works with the way this component is wired on the KL25Z, but it
mjr	14:df700b22ca08	1153	// seems harmless, so we'll do it on reset in case it does some good. What
mjr	14:df700b22ca08	1154	// we really seem to need is a way to power cycle the MMA8451Q if it ever
mjr	14:df700b22ca08	1155	// gets stuck, but this is simply not possible in software on the KL25Z.
mjr	14:df700b22ca08	1156	//
mjr	14:df700b22ca08	1157	// If the accelerometer does get stuck, and a software reboot doesn't reset
mjr	14:df700b22ca08	1158	// it, the only workaround is to manually power cycle the whole KL25Z by
mjr	14:df700b22ca08	1159	// unplugging both of its USB connections.
mjr	5:a70c0bce770d	1160	//
mjr	5:a70c0bce770d	1161	void clear_i2c()
mjr	5:a70c0bce770d	1162	{
mjr	5:a70c0bce770d	1163	// assume a general-purpose output pin to the I2C clock
mjr	5:a70c0bce770d	1164	DigitalOut scl(MMA8451_SCL_PIN);
mjr	5:a70c0bce770d	1165	DigitalIn sda(MMA8451_SDA_PIN);
mjr	5:a70c0bce770d	1166
mjr	5:a70c0bce770d	1167	// clock the SCL 9 times
mjr	5:a70c0bce770d	1168	for (int i = 0 ; i < 9 ; ++i)
mjr	5:a70c0bce770d	1169	{
mjr	5:a70c0bce770d	1170	scl = 1;
mjr	5:a70c0bce770d	1171	wait_us(20);
mjr	5:a70c0bce770d	1172	scl = 0;
mjr	5:a70c0bce770d	1173	wait_us(20);
mjr	5:a70c0bce770d	1174	}
mjr	5:a70c0bce770d	1175	}
mjr	14:df700b22ca08	1176
mjr	14:df700b22ca08	1177	// ---------------------------------------------------------------------------
mjr	14:df700b22ca08	1178	//
mjr	14:df700b22ca08	1179	// CCD read interval callback. When reading the CCD, we'll call this
mjr	14:df700b22ca08	1180	// several times over the course of the read loop to refresh the button
mjr	14:df700b22ca08	1181	// states. This allows us to debounce the buttons while the long CCD
mjr	14:df700b22ca08	1182	// read cycle is taking place, so that we can reliably report button
mjr	14:df700b22ca08	1183	// states after each CCD read cycle. (The read cycle takes about 30ms,
mjr	14:df700b22ca08	1184	// which should be enough time to reliably debounce the buttons.)
mjr	14:df700b22ca08	1185	//
mjr	14:df700b22ca08	1186	void ccdReadCB(void *)
mjr	14:df700b22ca08	1187	{
mjr	14:df700b22ca08	1188	// read the keyboard
mjr	14:df700b22ca08	1189	readButtonsDebounced();
mjr	14:df700b22ca08	1190	}
mjr	5:a70c0bce770d	1191
mjr	5:a70c0bce770d	1192	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	1193	//
mjr	5:a70c0bce770d	1194	// Main program loop. This is invoked on startup and runs forever. Our
mjr	5:a70c0bce770d	1195	// main work is to read our devices (the accelerometer and the CCD), process
mjr	5:a70c0bce770d	1196	// the readings into nudge and plunger position data, and send the results
mjr	5:a70c0bce770d	1197	// to the host computer via the USB joystick interface. We also monitor
mjr	5:a70c0bce770d	1198	// the USB connection for incoming LedWiz commands and process those into
mjr	5:a70c0bce770d	1199	// port outputs.
mjr	5:a70c0bce770d	1200	//
mjr	0:5acbbe3f4cf4	1201	int main(void)
mjr	0:5acbbe3f4cf4	1202	{
mjr	1:d913e0afb2ac	1203	// turn off our on-board indicator LED
mjr	4:02c7cd7b2183	1204	ledR = 1;
mjr	4:02c7cd7b2183	1205	ledG = 1;
mjr	4:02c7cd7b2183	1206	ledB = 1;
mjr	1:d913e0afb2ac	1207
mjr	6:cc35eb643e8f	1208	// initialize the LedWiz ports
mjr	6:cc35eb643e8f	1209	initLwOut();
mjr	6:cc35eb643e8f	1210
mjr	11:bd9da7088e6e	1211	// initialize the button input ports
mjr	11:bd9da7088e6e	1212	initButtons();
mjr	11:bd9da7088e6e	1213
mjr	6:cc35eb643e8f	1214	// we don't need a reset yet
mjr	6:cc35eb643e8f	1215	bool needReset = false;
mjr	6:cc35eb643e8f	1216
mjr	5:a70c0bce770d	1217	// clear the I2C bus for the accelerometer
mjr	5:a70c0bce770d	1218	clear_i2c();
mjr	5:a70c0bce770d	1219
mjr	2:c174f9ee414a	1220	// set up a flash memory controller
mjr	2:c174f9ee414a	1221	FreescaleIAP iap;
mjr	2:c174f9ee414a	1222
mjr	2:c174f9ee414a	1223	// use the last sector of flash for our non-volatile memory structure
mjr	2:c174f9ee414a	1224	int flash_addr = (iap.flash_size() - SECTOR_SIZE);
mjr	2:c174f9ee414a	1225	NVM flash = (NVM )flash_addr;
mjr	2:c174f9ee414a	1226	NVM cfg;
mjr	2:c174f9ee414a	1227
mjr	2:c174f9ee414a	1228	// check for valid flash
mjr	6:cc35eb643e8f	1229	bool flash_valid = flash->valid();
mjr	2:c174f9ee414a	1230
mjr	2:c174f9ee414a	1231	// if the flash is valid, load it; otherwise initialize to defaults
mjr	2:c174f9ee414a	1232	if (flash_valid) {
mjr	2:c174f9ee414a	1233	memcpy(&cfg, flash, sizeof(cfg));
mjr	6:cc35eb643e8f	1234	printf("Flash restored: plunger cal=%d, min=%d, zero=%d, max=%d\r\n",
mjr	6:cc35eb643e8f	1235	cfg.d.plungerCal, cfg.d.plungerMin, cfg.d.plungerZero, cfg.d.plungerMax);
mjr	2:c174f9ee414a	1236	}
mjr	2:c174f9ee414a	1237	else {
mjr	2:c174f9ee414a	1238	printf("Factory reset\r\n");
mjr	2:c174f9ee414a	1239	cfg.d.sig = cfg.SIGNATURE;
mjr	2:c174f9ee414a	1240	cfg.d.vsn = cfg.VERSION;
mjr	6:cc35eb643e8f	1241	cfg.d.plungerCal = 0;
mjr	6:cc35eb643e8f	1242	cfg.d.plungerZero = 0;
mjr	2:c174f9ee414a	1243	cfg.d.plungerMin = 0;
mjr	2:c174f9ee414a	1244	cfg.d.plungerMax = npix;
mjr	6:cc35eb643e8f	1245	cfg.d.ledWizUnitNo = DEFAULT_LEDWIZ_UNIT_NUMBER;
mjr	6:cc35eb643e8f	1246	cfg.d.ccdEnabled = true;
mjr	2:c174f9ee414a	1247	}
mjr	1:d913e0afb2ac	1248
mjr	6:cc35eb643e8f	1249	// Create the joystick USB client. Note that we use the LedWiz unit
mjr	6:cc35eb643e8f	1250	// number from the saved configuration.
mjr	6:cc35eb643e8f	1251	MyUSBJoystick js(
mjr	6:cc35eb643e8f	1252	USB_VENDOR_ID,
mjr	6:cc35eb643e8f	1253	USB_PRODUCT_ID \| cfg.d.ledWizUnitNo,
mjr	6:cc35eb643e8f	1254	USB_VERSION_NO);
mjr	6:cc35eb643e8f	1255
mjr	1:d913e0afb2ac	1256	// plunger calibration button debounce timer
mjr	1:d913e0afb2ac	1257	Timer calBtnTimer;
mjr	1:d913e0afb2ac	1258	calBtnTimer.start();
mjr	1:d913e0afb2ac	1259	int calBtnLit = false;
mjr	1:d913e0afb2ac	1260
mjr	1:d913e0afb2ac	1261	// Calibration button state:
mjr	1:d913e0afb2ac	1262	// 0 = not pushed
mjr	1:d913e0afb2ac	1263	// 1 = pushed, not yet debounced
mjr	1:d913e0afb2ac	1264	// 2 = pushed, debounced, waiting for hold time
mjr	1:d913e0afb2ac	1265	// 3 = pushed, hold time completed - in calibration mode
mjr	1:d913e0afb2ac	1266	int calBtnState = 0;
mjr	1:d913e0afb2ac	1267
mjr	1:d913e0afb2ac	1268	// set up a timer for our heartbeat indicator
mjr	1:d913e0afb2ac	1269	Timer hbTimer;
mjr	1:d913e0afb2ac	1270	hbTimer.start();
mjr	1:d913e0afb2ac	1271	int hb = 0;
mjr	5:a70c0bce770d	1272	uint16_t hbcnt = 0;
mjr	1:d913e0afb2ac	1273
mjr	1:d913e0afb2ac	1274	// set a timer for accelerometer auto-centering
mjr	1:d913e0afb2ac	1275	Timer acTimer;
mjr	1:d913e0afb2ac	1276	acTimer.start();
mjr	1:d913e0afb2ac	1277
mjr	0:5acbbe3f4cf4	1278	// create the accelerometer object
mjr	5:a70c0bce770d	1279	Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS, MMA8451_INT_PIN);
mjr	0:5acbbe3f4cf4	1280
mjr	0:5acbbe3f4cf4	1281	// create the CCD array object
mjr	1:d913e0afb2ac	1282	TSL1410R ccd(PTE20, PTE21, PTB0);
mjr	2:c174f9ee414a	1283
mjr	1:d913e0afb2ac	1284	// last accelerometer report, in mouse coordinates
mjr	6:cc35eb643e8f	1285	int x = 0, y = 0, z = 0;
mjr	6:cc35eb643e8f	1286
mjr	6:cc35eb643e8f	1287	// previous two plunger readings, for "debouncing" the results (z0 is
mjr	6:cc35eb643e8f	1288	// the most recent, z1 is the one before that)
mjr	6:cc35eb643e8f	1289	int z0 = 0, z1 = 0, z2 = 0;
mjr	6:cc35eb643e8f	1290
mjr	6:cc35eb643e8f	1291	// Firing in progress: we set this when we detect the start of rapid
mjr	6:cc35eb643e8f	1292	// plunger movement from a retracted position towards the rest position.
mjr	6:cc35eb643e8f	1293	// The actual plunger spring return speed seems to be too slow for VP,
mjr	6:cc35eb643e8f	1294	// so when we detect the start of this motion, we immediately tell VP
mjr	6:cc35eb643e8f	1295	// to return the plunger to rest, then we monitor the real plunger
mjr	6:cc35eb643e8f	1296	// until it atcually stops.
mjr	9:fd65b0a94720	1297	int firing = 0;
mjr	2:c174f9ee414a	1298
mjr	2:c174f9ee414a	1299	// start the first CCD integration cycle
mjr	2:c174f9ee414a	1300	ccd.clear();
mjr	9:fd65b0a94720	1301
mjr	9:fd65b0a94720	1302	// Device status. We report this on each update so that the host config
mjr	9:fd65b0a94720	1303	// tool can detect our current settings. This is a bit mask consisting
mjr	9:fd65b0a94720	1304	// of these bits:
mjr	9:fd65b0a94720	1305	// 0x01 -> plunger sensor enabled
mjr	9:fd65b0a94720	1306	uint16_t statusFlags = (cfg.d.ccdEnabled ? 0x01 : 0x00);
mjr	10:976666ffa4ef	1307
mjr	10:976666ffa4ef	1308	// flag: send a pixel dump after the next read
mjr	10:976666ffa4ef	1309	bool reportPix = false;
mjr	1:d913e0afb2ac	1310
mjr	1:d913e0afb2ac	1311	// we're all set up - now just loop, processing sensor reports and
mjr	1:d913e0afb2ac	1312	// host requests
mjr	0:5acbbe3f4cf4	1313	for (;;)
mjr	0:5acbbe3f4cf4	1314	{
mjr	0:5acbbe3f4cf4	1315	// Look for an incoming report. Continue processing input as
mjr	0:5acbbe3f4cf4	1316	// long as there's anything pending - this ensures that we
mjr	0:5acbbe3f4cf4	1317	// handle input in as timely a fashion as possible by deferring
mjr	0:5acbbe3f4cf4	1318	// output tasks as long as there's input to process.
mjr	0:5acbbe3f4cf4	1319	HID_REPORT report;
mjr	6:cc35eb643e8f	1320	while (js.readNB(&report))
mjr	0:5acbbe3f4cf4	1321	{
mjr	6:cc35eb643e8f	1322	// all Led-Wiz reports are 8 bytes exactly
mjr	6:cc35eb643e8f	1323	if (report.length == 8)
mjr	1:d913e0afb2ac	1324	{
mjr	6:cc35eb643e8f	1325	uint8_t *data = report.data;
mjr	6:cc35eb643e8f	1326	if (data[0] == 64)
mjr	0:5acbbe3f4cf4	1327	{
mjr	6:cc35eb643e8f	1328	// LWZ-SBA - first four bytes are bit-packed on/off flags
mjr	6:cc35eb643e8f	1329	// for the outputs; 5th byte is the pulse speed (0-7)
mjr	6:cc35eb643e8f	1330	//printf("LWZ-SBA %02x %02x %02x %02x ; %02x\r\n",
mjr	6:cc35eb643e8f	1331	// data[1], data[2], data[3], data[4], data[5]);
mjr	0:5acbbe3f4cf4	1332
mjr	6:cc35eb643e8f	1333	// update all on/off states
mjr	6:cc35eb643e8f	1334	for (int i = 0, bit = 1, ri = 1 ; i < 32 ; ++i, bit <<= 1)
mjr	6:cc35eb643e8f	1335	{
mjr	6:cc35eb643e8f	1336	if (bit == 0x100) {
mjr	6:cc35eb643e8f	1337	bit = 1;
mjr	6:cc35eb643e8f	1338	++ri;
mjr	6:cc35eb643e8f	1339	}
mjr	6:cc35eb643e8f	1340	wizOn[i] = ((data[ri] & bit) != 0);
mjr	6:cc35eb643e8f	1341	}
mjr	6:cc35eb643e8f	1342
mjr	6:cc35eb643e8f	1343	// update the physical outputs
mjr	1:d913e0afb2ac	1344	updateWizOuts();
mjr	6:cc35eb643e8f	1345
mjr	6:cc35eb643e8f	1346	// reset the PBA counter
mjr	6:cc35eb643e8f	1347	pbaIdx = 0;
mjr	6:cc35eb643e8f	1348	}
mjr	6:cc35eb643e8f	1349	else if (data[0] == 65)
mjr	6:cc35eb643e8f	1350	{
mjr	6:cc35eb643e8f	1351	// Private control message. This isn't an LedWiz message - it's
mjr	6:cc35eb643e8f	1352	// an extension for this device. 65 is an invalid PBA setting,
mjr	6:cc35eb643e8f	1353	// and isn't used for any other LedWiz message, so we appropriate
mjr	6:cc35eb643e8f	1354	// it for our own private use. The first byte specifies the
mjr	6:cc35eb643e8f	1355	// message type.
mjr	6:cc35eb643e8f	1356	if (data[1] == 1)
mjr	6:cc35eb643e8f	1357	{
mjr	9:fd65b0a94720	1358	// 1 = Set Configuration:
mjr	6:cc35eb643e8f	1359	// data[2] = LedWiz unit number (0x00 to 0x0f)
mjr	6:cc35eb643e8f	1360	// data[3] = feature enable bit mask:
mjr	6:cc35eb643e8f	1361	// 0x01 = enable CCD
mjr	6:cc35eb643e8f	1362
mjr	6:cc35eb643e8f	1363	// we'll need a reset if the LedWiz unit number is changing
mjr	6:cc35eb643e8f	1364	uint8_t newUnitNo = data[2] & 0x0f;
mjr	6:cc35eb643e8f	1365	needReset \|= (newUnitNo != cfg.d.ledWizUnitNo);
mjr	6:cc35eb643e8f	1366
mjr	6:cc35eb643e8f	1367	// set the configuration parameters from the message
mjr	6:cc35eb643e8f	1368	cfg.d.ledWizUnitNo = newUnitNo;
mjr	6:cc35eb643e8f	1369	cfg.d.ccdEnabled = data[3] & 0x01;
mjr	6:cc35eb643e8f	1370
mjr	9:fd65b0a94720	1371	// update the status flags
mjr	9:fd65b0a94720	1372	statusFlags = (statusFlags & ~0x01) \| (data[3] & 0x01);
mjr	9:fd65b0a94720	1373
mjr	9:fd65b0a94720	1374	// if the ccd is no longer enabled, use 0 for z reports
mjr	9:fd65b0a94720	1375	if (!cfg.d.ccdEnabled)
mjr	9:fd65b0a94720	1376	z = 0;
mjr	9:fd65b0a94720	1377
mjr	6:cc35eb643e8f	1378	// save the configuration
mjr	6:cc35eb643e8f	1379	cfg.save(iap, flash_addr);
mjr	6:cc35eb643e8f	1380	}
mjr	9:fd65b0a94720	1381	else if (data[1] == 2)
mjr	9:fd65b0a94720	1382	{
mjr	9:fd65b0a94720	1383	// 2 = Calibrate plunger
mjr	9:fd65b0a94720	1384	// (No parameters)
mjr	9:fd65b0a94720	1385
mjr	9:fd65b0a94720	1386	// enter calibration mode
mjr	9:fd65b0a94720	1387	calBtnState = 3;
mjr	9:fd65b0a94720	1388	calBtnTimer.reset();
mjr	9:fd65b0a94720	1389	cfg.resetPlunger();
mjr	9:fd65b0a94720	1390	}
mjr	10:976666ffa4ef	1391	else if (data[1] == 3)
mjr	10:976666ffa4ef	1392	{
mjr	10:976666ffa4ef	1393	// 3 = pixel dump
mjr	10:976666ffa4ef	1394	// (No parameters)
mjr	10:976666ffa4ef	1395	reportPix = true;
mjr	10:976666ffa4ef	1396
mjr	10:976666ffa4ef	1397	// show purple until we finish sending the report
mjr	10:976666ffa4ef	1398	ledR = 0;
mjr	10:976666ffa4ef	1399	ledB = 0;
mjr	10:976666ffa4ef	1400	ledG = 1;
mjr	10:976666ffa4ef	1401	}
mjr	6:cc35eb643e8f	1402	}
mjr	6:cc35eb643e8f	1403	else
mjr	6:cc35eb643e8f	1404	{
mjr	6:cc35eb643e8f	1405	// LWZ-PBA - full state dump; each byte is one output
mjr	6:cc35eb643e8f	1406	// in the current bank. pbaIdx keeps track of the bank;
mjr	6:cc35eb643e8f	1407	// this is incremented implicitly by each PBA message.
mjr	6:cc35eb643e8f	1408	//printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n",
mjr	6:cc35eb643e8f	1409	// pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
mjr	6:cc35eb643e8f	1410
mjr	6:cc35eb643e8f	1411	// update all output profile settings
mjr	6:cc35eb643e8f	1412	for (int i = 0 ; i < 8 ; ++i)
mjr	6:cc35eb643e8f	1413	wizVal[pbaIdx + i] = data[i];
mjr	6:cc35eb643e8f	1414
mjr	6:cc35eb643e8f	1415	// update the physical LED state if this is the last bank
mjr	6:cc35eb643e8f	1416	if (pbaIdx == 24)
mjr	13:72dda449c3c0	1417	{
mjr	6:cc35eb643e8f	1418	updateWizOuts();
mjr	13:72dda449c3c0	1419	pbaIdx = 0;
mjr	13:72dda449c3c0	1420	}
mjr	13:72dda449c3c0	1421	else
mjr	13:72dda449c3c0	1422	pbaIdx += 8;
mjr	6:cc35eb643e8f	1423	}
mjr	0:5acbbe3f4cf4	1424	}
mjr	0:5acbbe3f4cf4	1425	}
mjr	1:d913e0afb2ac	1426
mjr	1:d913e0afb2ac	1427	// check for plunger calibration
mjr	1:d913e0afb2ac	1428	if (!calBtn)
mjr	0:5acbbe3f4cf4	1429	{
mjr	1:d913e0afb2ac	1430	// check the state
mjr	1:d913e0afb2ac	1431	switch (calBtnState)
mjr	0:5acbbe3f4cf4	1432	{
mjr	1:d913e0afb2ac	1433	case 0:
mjr	1:d913e0afb2ac	1434	// button not yet pushed - start debouncing
mjr	1:d913e0afb2ac	1435	calBtnTimer.reset();
mjr	1:d913e0afb2ac	1436	calBtnState = 1;
mjr	1:d913e0afb2ac	1437	break;
mjr	1:d913e0afb2ac	1438
mjr	1:d913e0afb2ac	1439	case 1:
mjr	1:d913e0afb2ac	1440	// pushed, not yet debounced - if the debounce time has
mjr	1:d913e0afb2ac	1441	// passed, start the hold period
mjr	9:fd65b0a94720	1442	if (calBtnTimer.read_ms() > 50)
mjr	1:d913e0afb2ac	1443	calBtnState = 2;
mjr	1:d913e0afb2ac	1444	break;
mjr	1:d913e0afb2ac	1445
mjr	1:d913e0afb2ac	1446	case 2:
mjr	1:d913e0afb2ac	1447	// in the hold period - if the button has been held down
mjr	1:d913e0afb2ac	1448	// for the entire hold period, move to calibration mode
mjr	9:fd65b0a94720	1449	if (calBtnTimer.read_ms() > 2050)
mjr	1:d913e0afb2ac	1450	{
mjr	1:d913e0afb2ac	1451	// enter calibration mode
mjr	1:d913e0afb2ac	1452	calBtnState = 3;
mjr	9:fd65b0a94720	1453	calBtnTimer.reset();
mjr	9:fd65b0a94720	1454	cfg.resetPlunger();
mjr	1:d913e0afb2ac	1455	}
mjr	1:d913e0afb2ac	1456	break;
mjr	2:c174f9ee414a	1457
mjr	2:c174f9ee414a	1458	case 3:
mjr	9:fd65b0a94720	1459	// Already in calibration mode - pushing the button here
mjr	9:fd65b0a94720	1460	// doesn't change the current state, but we won't leave this
mjr	9:fd65b0a94720	1461	// state as long as it's held down. So nothing changes here.
mjr	2:c174f9ee414a	1462	break;
mjr	0:5acbbe3f4cf4	1463	}
mjr	0:5acbbe3f4cf4	1464	}
mjr	1:d913e0afb2ac	1465	else
mjr	1:d913e0afb2ac	1466	{
mjr	2:c174f9ee414a	1467	// Button released. If we're in calibration mode, and
mjr	2:c174f9ee414a	1468	// the calibration time has elapsed, end the calibration
mjr	2:c174f9ee414a	1469	// and save the results to flash.
mjr	2:c174f9ee414a	1470	//
mjr	2:c174f9ee414a	1471	// Otherwise, return to the base state without saving anything.
mjr	2:c174f9ee414a	1472	// If the button is released before we make it to calibration
mjr	2:c174f9ee414a	1473	// mode, it simply cancels the attempt.
mjr	9:fd65b0a94720	1474	if (calBtnState == 3 && calBtnTimer.read_ms() > 15000)
mjr	2:c174f9ee414a	1475	{
mjr	2:c174f9ee414a	1476	// exit calibration mode
mjr	1:d913e0afb2ac	1477	calBtnState = 0;
mjr	2:c174f9ee414a	1478
mjr	6:cc35eb643e8f	1479	// save the updated configuration
mjr	6:cc35eb643e8f	1480	cfg.d.plungerCal = 1;
mjr	6:cc35eb643e8f	1481	cfg.save(iap, flash_addr);
mjr	2:c174f9ee414a	1482
mjr	2:c174f9ee414a	1483	// the flash state is now valid
mjr	2:c174f9ee414a	1484	flash_valid = true;
mjr	2:c174f9ee414a	1485	}
mjr	2:c174f9ee414a	1486	else if (calBtnState != 3)
mjr	2:c174f9ee414a	1487	{
mjr	2:c174f9ee414a	1488	// didn't make it to calibration mode - cancel the operation
mjr	1:d913e0afb2ac	1489	calBtnState = 0;
mjr	2:c174f9ee414a	1490	}
mjr	1:d913e0afb2ac	1491	}
mjr	1:d913e0afb2ac	1492
mjr	1:d913e0afb2ac	1493	// light/flash the calibration button light, if applicable
mjr	1:d913e0afb2ac	1494	int newCalBtnLit = calBtnLit;
mjr	1:d913e0afb2ac	1495	switch (calBtnState)
mjr	0:5acbbe3f4cf4	1496	{
mjr	1:d913e0afb2ac	1497	case 2:
mjr	1:d913e0afb2ac	1498	// in the hold period - flash the light
mjr	9:fd65b0a94720	1499	newCalBtnLit = ((calBtnTimer.read_ms()/250) & 1);
mjr	1:d913e0afb2ac	1500	break;
mjr	1:d913e0afb2ac	1501
mjr	1:d913e0afb2ac	1502	case 3:
mjr	1:d913e0afb2ac	1503	// calibration mode - show steady on
mjr	1:d913e0afb2ac	1504	newCalBtnLit = true;
mjr	1:d913e0afb2ac	1505	break;
mjr	1:d913e0afb2ac	1506
mjr	1:d913e0afb2ac	1507	default:
mjr	1:d913e0afb2ac	1508	// not calibrating/holding - show steady off
mjr	1:d913e0afb2ac	1509	newCalBtnLit = false;
mjr	1:d913e0afb2ac	1510	break;
mjr	1:d913e0afb2ac	1511	}
mjr	3:3514575d4f86	1512
mjr	3:3514575d4f86	1513	// light or flash the external calibration button LED, and
mjr	3:3514575d4f86	1514	// do the same with the on-board blue LED
mjr	1:d913e0afb2ac	1515	if (calBtnLit != newCalBtnLit)
mjr	1:d913e0afb2ac	1516	{
mjr	1:d913e0afb2ac	1517	calBtnLit = newCalBtnLit;
mjr	2:c174f9ee414a	1518	if (calBtnLit) {
mjr	2:c174f9ee414a	1519	calBtnLed = 1;
mjr	4:02c7cd7b2183	1520	ledR = 1;
mjr	4:02c7cd7b2183	1521	ledG = 1;
mjr	9:fd65b0a94720	1522	ledB = 0;
mjr	2:c174f9ee414a	1523	}
mjr	2:c174f9ee414a	1524	else {
mjr	2:c174f9ee414a	1525	calBtnLed = 0;
mjr	4:02c7cd7b2183	1526	ledR = 1;
mjr	4:02c7cd7b2183	1527	ledG = 1;
mjr	9:fd65b0a94720	1528	ledB = 1;
mjr	2:c174f9ee414a	1529	}
mjr	1:d913e0afb2ac	1530	}
mjr	1:d913e0afb2ac	1531
mjr	6:cc35eb643e8f	1532	// read the plunger sensor, if it's enabled
mjr	10:976666ffa4ef	1533	uint16_t pix[npix];
mjr	6:cc35eb643e8f	1534	if (cfg.d.ccdEnabled)
mjr	6:cc35eb643e8f	1535	{
mjr	6:cc35eb643e8f	1536	// start with the previous reading, in case we don't have a
mjr	6:cc35eb643e8f	1537	// clear result on this frame
mjr	6:cc35eb643e8f	1538	int znew = z;
mjr	2:c174f9ee414a	1539
mjr	6:cc35eb643e8f	1540	// read the array
mjr	14:df700b22ca08	1541	ccd.read(pix, npix, ccdReadCB, 0, 3);
mjr	6:cc35eb643e8f	1542
mjr	6:cc35eb643e8f	1543	// get the average brightness at each end of the sensor
mjr	6:cc35eb643e8f	1544	long avg1 = (long(pix[0]) + long(pix[1]) + long(pix[2]) + long(pix[3]) + long(pix[4]))/5;
mjr	6:cc35eb643e8f	1545	long avg2 = (long(pix[npix-1]) + long(pix[npix-2]) + long(pix[npix-3]) + long(pix[npix-4]) + long(pix[npix-5]))/5;
mjr	6:cc35eb643e8f	1546
mjr	6:cc35eb643e8f	1547	// figure the midpoint in the brightness; multiply by 3 so that we can
mjr	6:cc35eb643e8f	1548	// compare sums of three pixels at a time to smooth out noise
mjr	6:cc35eb643e8f	1549	long midpt = (avg1 + avg2)/2 * 3;
mjr	6:cc35eb643e8f	1550
mjr	6:cc35eb643e8f	1551	// Work from the bright end to the dark end. VP interprets the
mjr	6:cc35eb643e8f	1552	// Z axis value as the amount the plunger is pulled: zero is the
mjr	6:cc35eb643e8f	1553	// rest position, and the axis maximum is fully pulled. So we
mjr	6:cc35eb643e8f	1554	// essentially want to report how much of the sensor is lit,
mjr	6:cc35eb643e8f	1555	// since this increases as the plunger is pulled back.
mjr	6:cc35eb643e8f	1556	int si = 1, di = 1;
mjr	6:cc35eb643e8f	1557	if (avg1 < avg2)
mjr	6:cc35eb643e8f	1558	si = npix - 2, di = -1;
mjr	6:cc35eb643e8f	1559
mjr	6:cc35eb643e8f	1560	// If the bright end and dark end don't differ by enough, skip this
mjr	6:cc35eb643e8f	1561	// reading entirely - we must have an overexposed or underexposed frame.
mjr	6:cc35eb643e8f	1562	// Otherwise proceed with the scan.
mjr	6:cc35eb643e8f	1563	if (labs(avg1 - avg2) > 0x1000)
mjr	6:cc35eb643e8f	1564	{
mjr	6:cc35eb643e8f	1565	uint16_t *pixp = pix + si;
mjr	6:cc35eb643e8f	1566	for (int n = 1 ; n < npix - 1 ; ++n, pixp += di)
mjr	6:cc35eb643e8f	1567	{
mjr	6:cc35eb643e8f	1568	// if we've crossed the midpoint, report this position
mjr	6:cc35eb643e8f	1569	if (long(pixp[-1]) + long(pixp[0]) + long(pixp[1]) < midpt)
mjr	6:cc35eb643e8f	1570	{
mjr	6:cc35eb643e8f	1571	// note the new position
mjr	6:cc35eb643e8f	1572	int pos = n;
mjr	6:cc35eb643e8f	1573
mjr	6:cc35eb643e8f	1574	// Calibrate, or apply calibration, depending on the mode.
mjr	6:cc35eb643e8f	1575	// In either case, normalize to our range. VP appears to
mjr	6:cc35eb643e8f	1576	// ignore negative Z axis values.
mjr	6:cc35eb643e8f	1577	if (calBtnState == 3)
mjr	6:cc35eb643e8f	1578	{
mjr	6:cc35eb643e8f	1579	// calibrating - note if we're expanding the calibration envelope
mjr	6:cc35eb643e8f	1580	if (pos < cfg.d.plungerMin)
mjr	6:cc35eb643e8f	1581	cfg.d.plungerMin = pos;
mjr	6:cc35eb643e8f	1582	if (pos < cfg.d.plungerZero)
mjr	6:cc35eb643e8f	1583	cfg.d.plungerZero = pos;
mjr	6:cc35eb643e8f	1584	if (pos > cfg.d.plungerMax)
mjr	6:cc35eb643e8f	1585	cfg.d.plungerMax = pos;
mjr	6:cc35eb643e8f	1586
mjr	6:cc35eb643e8f	1587	// normalize to the full physical range while calibrating
mjr	6:cc35eb643e8f	1588	znew = int(round(float(pos)/npix * JOYMAX));
mjr	6:cc35eb643e8f	1589	}
mjr	6:cc35eb643e8f	1590	else
mjr	6:cc35eb643e8f	1591	{
mjr	6:cc35eb643e8f	1592	// Running normally - normalize to the calibration range. Note
mjr	6:cc35eb643e8f	1593	// that values below the zero point are allowed - the zero point
mjr	6:cc35eb643e8f	1594	// represents the park position, where the plunger sits when at
mjr	6:cc35eb643e8f	1595	// rest, but a mechanical plunger has a smmall amount of travel
mjr	6:cc35eb643e8f	1596	// in the "push" direction. We represent forward travel with
mjr	6:cc35eb643e8f	1597	// negative z values.
mjr	6:cc35eb643e8f	1598	if (pos > cfg.d.plungerMax)
mjr	6:cc35eb643e8f	1599	pos = cfg.d.plungerMax;
mjr	6:cc35eb643e8f	1600	znew = int(round(float(pos - cfg.d.plungerZero)
mjr	6:cc35eb643e8f	1601	/ (cfg.d.plungerMax - cfg.d.plungerZero + 1) * JOYMAX));
mjr	6:cc35eb643e8f	1602	}
mjr	6:cc35eb643e8f	1603
mjr	6:cc35eb643e8f	1604	// done
mjr	6:cc35eb643e8f	1605	break;
mjr	6:cc35eb643e8f	1606	}
mjr	6:cc35eb643e8f	1607	}
mjr	6:cc35eb643e8f	1608	}
mjr	7:100a25f8bf56	1609
mjr	7:100a25f8bf56	1610	// Determine if the plunger is being fired - i.e., if the player
mjr	7:100a25f8bf56	1611	// has just released the plunger from a retracted position.
mjr	6:cc35eb643e8f	1612	//
mjr	7:100a25f8bf56	1613	// We treat firing as an event. That is, we tell VP when the
mjr	7:100a25f8bf56	1614	// plunger is fired, and then stop sending data until the firing
mjr	7:100a25f8bf56	1615	// is complete, allowing VP to carry out the firing motion using
mjr	7:100a25f8bf56	1616	// its internal model plunger rather than trying to track the
mjr	7:100a25f8bf56	1617	// intermediate positions of the mechanical plunger throughout
mjr	9:fd65b0a94720	1618	// the firing motion. This is essential because the firing
mjr	9:fd65b0a94720	1619	// motion is too fast for us to track - in the time it takes us
mjr	9:fd65b0a94720	1620	// to read one frame, the plunger can make it all the way to the
mjr	9:fd65b0a94720	1621	// zero position and bounce back halfway. Fortunately, the range
mjr	9:fd65b0a94720	1622	// of motions for the plunger is limited, so if we see any rapid
mjr	9:fd65b0a94720	1623	// change of position toward the rest position, it's reasonably
mjr	9:fd65b0a94720	1624	// safe to interpret it as a firing event.
mjr	9:fd65b0a94720	1625	//
mjr	9:fd65b0a94720	1626	// This isn't foolproof. The user can trick us by doing a
mjr	9:fd65b0a94720	1627	// controlled rapid forward push but stopping short of the rest
mjr	9:fd65b0a94720	1628	// position. We'll misinterpret that as a firing event. But
mjr	9:fd65b0a94720	1629	// that's not a natural motion that a user would make with a
mjr	9:fd65b0a94720	1630	// plunger, so it's probably an acceptable false positive.
mjr	9:fd65b0a94720	1631	//
mjr	9:fd65b0a94720	1632	// Possible future enhancement: we could add a second physical
mjr	9:fd65b0a94720	1633	// sensor that detects when the plunger reaches the zero position
mjr	9:fd65b0a94720	1634	// and asserts an interrupt. In the interrupt handler, set a
mjr	9:fd65b0a94720	1635	// flag indicating the zero position signal. On each scan of
mjr	9:fd65b0a94720	1636	// the CCD, also check that flag; if it's set, enter firing
mjr	9:fd65b0a94720	1637	// event mode just as we do now. The key here is that the
mjr	9:fd65b0a94720	1638	// secondary sensor would have to be something much faster
mjr	9:fd65b0a94720	1639	// than our CCD scan - it would have to react on, say, the
mjr	9:fd65b0a94720	1640	// millisecond time scale. A simple mechanical switch or a
mjr	9:fd65b0a94720	1641	// proximity sensor could work. This would let us detect
mjr	9:fd65b0a94720	1642	// with certainty when the plunger physically fires, eliminating
mjr	9:fd65b0a94720	1643	// the case where the use can fool us with motion that's fast
mjr	9:fd65b0a94720	1644	// enough to look like a release but doesn't actually reach the
mjr	9:fd65b0a94720	1645	// starting position.
mjr	6:cc35eb643e8f	1646	//
mjr	7:100a25f8bf56	1647	// To detremine when a firing even occurs, we watch for rapid
mjr	7:100a25f8bf56	1648	// motion from a retracted position towards the rest position -
mjr	7:100a25f8bf56	1649	// that is, large position changes in the negative direction over
mjr	7:100a25f8bf56	1650	// a couple of consecutive readings. When we see a rapid move
mjr	7:100a25f8bf56	1651	// toward zero, we set our internal 'firing' flag, immediately
mjr	7:100a25f8bf56	1652	// report to VP that the plunger has returned to the zero
mjr	7:100a25f8bf56	1653	// position, and then suspend reports until the mechanical
mjr	7:100a25f8bf56	1654	// readings indicate that the plunger has come to rest (indicated
mjr	7:100a25f8bf56	1655	// by several readings in a row at roughly the same position).
mjr	9:fd65b0a94720	1656	//
mjr	9:fd65b0a94720	1657	// Tolerance for firing is 1/3 of the current pull distance, or
mjr	9:fd65b0a94720	1658	// about 1/2", whichever is greater. Making this value too small
mjr	9:fd65b0a94720	1659	// makes for too many false positives. Empirically, 1/4" is too
mjr	9:fd65b0a94720	1660	// twitchy, so set a floor at about 1/2". But we can be less
mjr	9:fd65b0a94720	1661	// sensitive the further back the plunger is pulled, since even
mjr	9:fd65b0a94720	1662	// a long pull will snap back quickly. Note that JOYMAX always
mjr	9:fd65b0a94720	1663	// corresponds to about 3", no matter how many pixels we're
mjr	9:fd65b0a94720	1664	// reading, since the physical sensor is about 3" long; so we
mjr	9:fd65b0a94720	1665	// factor out the pixel count calculate (approximate) physical
mjr	9:fd65b0a94720	1666	// distances based on the normalized axis range.
mjr	9:fd65b0a94720	1667	//
mjr	9:fd65b0a94720	1668	// Firing pattern: when firing, don't simply report a solid 0,
mjr	9:fd65b0a94720	1669	// but instead report a series of pseudo-bouces. This looks
mjr	9:fd65b0a94720	1670	// more realistic, beacause the real plunger is also bouncing
mjr	9:fd65b0a94720	1671	// around during this time. To get maximum firing power in
mjr	9:fd65b0a94720	1672	// the simulation, though, our pseudo-bounces are tiny cmopared
mjr	9:fd65b0a94720	1673	// to the real thing.
mjr	9:fd65b0a94720	1674	const int restTol = JOYMAX/24;
mjr	9:fd65b0a94720	1675	int fireTol = z/3 > JOYMAX/6 ? z/3 : JOYMAX/6;
mjr	9:fd65b0a94720	1676	static const int firePattern[] = {
mjr	9:fd65b0a94720	1677	-JOYMAX/12, -JOYMAX/12, -JOYMAX/12,
mjr	9:fd65b0a94720	1678	};
mjr	9:fd65b0a94720	1679	if (firing != 0)
mjr	6:cc35eb643e8f	1680	{
mjr	6:cc35eb643e8f	1681	// Firing in progress - we've already told VP to send its
mjr	6:cc35eb643e8f	1682	// model plunger all the way back to the rest position, so
mjr	6:cc35eb643e8f	1683	// send no further reports until the mechanical plunger
mjr	6:cc35eb643e8f	1684	// actually comes to rest somewhere.
mjr	6:cc35eb643e8f	1685	if (abs(z0 - z2) < restTol && abs(znew - z2) < restTol)
mjr	6:cc35eb643e8f	1686	{
mjr	6:cc35eb643e8f	1687	// the plunger is back at rest - firing is done
mjr	9:fd65b0a94720	1688	firing = 0;
mjr	6:cc35eb643e8f	1689
mjr	6:cc35eb643e8f	1690	// resume normal reporting
mjr	6:cc35eb643e8f	1691	z = z2;
mjr	6:cc35eb643e8f	1692	}
mjr	9:fd65b0a94720	1693	else if (firing < countof(firePattern))
mjr	9:fd65b0a94720	1694	{
mjr	9:fd65b0a94720	1695	// firing - report the next position in the pseudo-bounce
mjr	9:fd65b0a94720	1696	// pattern
mjr	9:fd65b0a94720	1697	z = firePattern[firing++];
mjr	9:fd65b0a94720	1698	}
mjr	9:fd65b0a94720	1699	else
mjr	9:fd65b0a94720	1700	{
mjr	9:fd65b0a94720	1701	// firing, out of pseudo-bounce items - just report the
mjr	9:fd65b0a94720	1702	// rest position
mjr	9:fd65b0a94720	1703	z = 0;
mjr	9:fd65b0a94720	1704	}
mjr	6:cc35eb643e8f	1705	}
mjr	6:cc35eb643e8f	1706	else if (z0 < z2 && z1 < z2 && znew < z2
mjr	6:cc35eb643e8f	1707	&& (z0 < z2 - fireTol
mjr	6:cc35eb643e8f	1708	\|\| z1 < z2 - fireTol
mjr	6:cc35eb643e8f	1709	\|\| znew < z2 - fireTol))
mjr	6:cc35eb643e8f	1710	{
mjr	6:cc35eb643e8f	1711	// Big jumps toward rest position in last two readings -
mjr	6:cc35eb643e8f	1712	// firing has begun. Report an immediate return to the
mjr	6:cc35eb643e8f	1713	// rest position, and send no further reports until the
mjr	6:cc35eb643e8f	1714	// physical plunger has come to rest. This effectively
mjr	6:cc35eb643e8f	1715	// detaches VP's model plunger from the real world for
mjr	6:cc35eb643e8f	1716	// the duration of the spring return, letting VP evolve
mjr	6:cc35eb643e8f	1717	// its model without trying to synchronize with the
mjr	6:cc35eb643e8f	1718	// mechanical version. The release motion is too fast
mjr	6:cc35eb643e8f	1719	// for that to work well; we can't take samples quickly
mjr	6:cc35eb643e8f	1720	// enough to get prcise velocity or acceleration
mjr	6:cc35eb643e8f	1721	// readings. It's better to let VP figure the speed
mjr	6:cc35eb643e8f	1722	// and acceleration through modeling. Plus, that lets
mjr	6:cc35eb643e8f	1723	// each virtual table set the desired parameters for its
mjr	6:cc35eb643e8f	1724	// virtual plunger, rather than imposing the actual
mjr	6:cc35eb643e8f	1725	// mechanical charateristics of the physical plunger on
mjr	6:cc35eb643e8f	1726	// every table.
mjr	9:fd65b0a94720	1727	firing = 1;
mjr	9:fd65b0a94720	1728
mjr	9:fd65b0a94720	1729	// report the first firing pattern position
mjr	9:fd65b0a94720	1730	z = firePattern[0];
mjr	6:cc35eb643e8f	1731	}
mjr	6:cc35eb643e8f	1732	else
mjr	6:cc35eb643e8f	1733	{
mjr	6:cc35eb643e8f	1734	// everything normal; report the 3rd recent position on
mjr	6:cc35eb643e8f	1735	// tape delay
mjr	6:cc35eb643e8f	1736	z = z2;
mjr	6:cc35eb643e8f	1737	}
mjr	6:cc35eb643e8f	1738
mjr	6:cc35eb643e8f	1739	// shift in the new reading
mjr	6:cc35eb643e8f	1740	z2 = z1;
mjr	6:cc35eb643e8f	1741	z1 = z0;
mjr	6:cc35eb643e8f	1742	z0 = znew;
mjr	2:c174f9ee414a	1743	}
mjr	9:fd65b0a94720	1744	else
mjr	9:fd65b0a94720	1745	{
mjr	9:fd65b0a94720	1746	// plunger disabled - pause 10ms to throttle updates to a
mjr	9:fd65b0a94720	1747	// reasonable pace
mjr	9:fd65b0a94720	1748	wait_ms(10);
mjr	9:fd65b0a94720	1749	}
mjr	6:cc35eb643e8f	1750
mjr	1:d913e0afb2ac	1751	// read the accelerometer
mjr	9:fd65b0a94720	1752	int xa, ya;
mjr	9:fd65b0a94720	1753	accel.get(xa, ya);
mjr	1:d913e0afb2ac	1754
mjr	6:cc35eb643e8f	1755	// confine the results to our joystick axis range
mjr	6:cc35eb643e8f	1756	if (xa < -JOYMAX) xa = -JOYMAX;
mjr	6:cc35eb643e8f	1757	if (xa > JOYMAX) xa = JOYMAX;
mjr	6:cc35eb643e8f	1758	if (ya < -JOYMAX) ya = -JOYMAX;
mjr	6:cc35eb643e8f	1759	if (ya > JOYMAX) ya = JOYMAX;
mjr	1:d913e0afb2ac	1760
mjr	6:cc35eb643e8f	1761	// store the updated accelerometer coordinates
mjr	6:cc35eb643e8f	1762	x = xa;
mjr	6:cc35eb643e8f	1763	y = ya;
mjr	6:cc35eb643e8f	1764
mjr	11:bd9da7088e6e	1765	// update the buttons
mjr	11:bd9da7088e6e	1766	uint32_t buttons = readButtonsDebounced();
mjr	11:bd9da7088e6e	1767
mjr	8:c732e279ee29	1768	// Send the status report. Note that the nominal x and y axes
mjr	8:c732e279ee29	1769	// are reversed - this makes it more intuitive to set up in VP.
mjr	8:c732e279ee29	1770	// If we mount the Freesale card flat on the floor of the cabinet
mjr	8:c732e279ee29	1771	// with the USB connectors facing the front of the cabinet, this
mjr	8:c732e279ee29	1772	// arrangement of our nominal axes aligns with VP's standard
mjr	8:c732e279ee29	1773	// setting, so that we can configure VP with X Axis = X on the
mjr	8:c732e279ee29	1774	// joystick and Y Axis = Y on the joystick.
mjr	11:bd9da7088e6e	1775	js.update(y, x, z, buttons, statusFlags);
mjr	1:d913e0afb2ac	1776
mjr	10:976666ffa4ef	1777	// If we're in pixel dump mode, report all pixel exposure values
mjr	10:976666ffa4ef	1778	if (reportPix)
mjr	10:976666ffa4ef	1779	{
mjr	10:976666ffa4ef	1780	// we have satisfied this request
mjr	10:976666ffa4ef	1781	reportPix = false;
mjr	10:976666ffa4ef	1782
mjr	10:976666ffa4ef	1783	// send reports for all pixels
mjr	10:976666ffa4ef	1784	int idx = 0;
mjr	10:976666ffa4ef	1785	while (idx < npix)
mjr	10:976666ffa4ef	1786	js.updateExposure(idx, npix, pix);
mjr	10:976666ffa4ef	1787
mjr	10:976666ffa4ef	1788	// The pixel dump requires many USB reports, since each report
mjr	10:976666ffa4ef	1789	// can only send a few pixel values. An integration cycle has
mjr	10:976666ffa4ef	1790	// been running all this time, since each read starts a new
mjr	10:976666ffa4ef	1791	// cycle. Our timing is longer than usual on this round, so
mjr	10:976666ffa4ef	1792	// the integration won't be comparable to a normal cycle. Throw
mjr	10:976666ffa4ef	1793	// this one away by doing a read now, and throwing it away - that
mjr	10:976666ffa4ef	1794	// will get the timing of the next cycle roughly back to normal.
mjr	10:976666ffa4ef	1795	ccd.read(pix, npix);
mjr	10:976666ffa4ef	1796	}
mjr	10:976666ffa4ef	1797
mjr	6:cc35eb643e8f	1798	#ifdef DEBUG_PRINTF
mjr	6:cc35eb643e8f	1799	if (x != 0 \|\| y != 0)
mjr	6:cc35eb643e8f	1800	printf("%d,%d\r\n", x, y);
mjr	6:cc35eb643e8f	1801	#endif
mjr	6:cc35eb643e8f	1802
mjr	6:cc35eb643e8f	1803	// provide a visual status indication on the on-board LED
mjr	5:a70c0bce770d	1804	if (calBtnState < 2 && hbTimer.read_ms() > 1000)
mjr	1:d913e0afb2ac	1805	{
mjr	5:a70c0bce770d	1806	if (js.isSuspended() \|\| !js.isConnected())
mjr	2:c174f9ee414a	1807	{
mjr	5:a70c0bce770d	1808	// suspended - turn off the LED
mjr	4:02c7cd7b2183	1809	ledR = 1;
mjr	4:02c7cd7b2183	1810	ledG = 1;
mjr	4:02c7cd7b2183	1811	ledB = 1;
mjr	5:a70c0bce770d	1812
mjr	5:a70c0bce770d	1813	// show a status flash every so often
mjr	5:a70c0bce770d	1814	if (hbcnt % 3 == 0)
mjr	5:a70c0bce770d	1815	{
mjr	6:cc35eb643e8f	1816	// disconnected = red/red flash; suspended = red
mjr	5:a70c0bce770d	1817	for (int n = js.isConnected() ? 1 : 2 ; n > 0 ; --n)
mjr	5:a70c0bce770d	1818	{
mjr	5:a70c0bce770d	1819	ledR = 0;
mjr	5:a70c0bce770d	1820	wait(0.05);
mjr	5:a70c0bce770d	1821	ledR = 1;
mjr	5:a70c0bce770d	1822	wait(0.25);
mjr	5:a70c0bce770d	1823	}
mjr	5:a70c0bce770d	1824	}
mjr	2:c174f9ee414a	1825	}
mjr	6:cc35eb643e8f	1826	else if (needReset)
mjr	2:c174f9ee414a	1827	{
mjr	6:cc35eb643e8f	1828	// connected, need to reset due to changes in config parameters -
mjr	6:cc35eb643e8f	1829	// flash red/green
mjr	6:cc35eb643e8f	1830	hb = !hb;
mjr	6:cc35eb643e8f	1831	ledR = (hb ? 0 : 1);
mjr	6:cc35eb643e8f	1832	ledG = (hb ? 1 : 0);
mjr	6:cc35eb643e8f	1833	ledB = 0;
mjr	6:cc35eb643e8f	1834	}
mjr	6:cc35eb643e8f	1835	else if (cfg.d.ccdEnabled && !cfg.d.plungerCal)
mjr	6:cc35eb643e8f	1836	{
mjr	6:cc35eb643e8f	1837	// connected, plunger calibration needed - flash yellow/green
mjr	6:cc35eb643e8f	1838	hb = !hb;
mjr	6:cc35eb643e8f	1839	ledR = (hb ? 0 : 1);
mjr	6:cc35eb643e8f	1840	ledG = 0;
mjr	6:cc35eb643e8f	1841	ledB = 1;
mjr	6:cc35eb643e8f	1842	}
mjr	6:cc35eb643e8f	1843	else
mjr	6:cc35eb643e8f	1844	{
mjr	6:cc35eb643e8f	1845	// connected - flash blue/green
mjr	2:c174f9ee414a	1846	hb = !hb;
mjr	4:02c7cd7b2183	1847	ledR = 1;
mjr	4:02c7cd7b2183	1848	ledG = (hb ? 0 : 1);
mjr	4:02c7cd7b2183	1849	ledB = (hb ? 1 : 0);
mjr	2:c174f9ee414a	1850	}
mjr	1:d913e0afb2ac	1851
mjr	1:d913e0afb2ac	1852	// reset the heartbeat timer
mjr	1:d913e0afb2ac	1853	hbTimer.reset();
mjr	5:a70c0bce770d	1854	++hbcnt;
mjr	1:d913e0afb2ac	1855	}
mjr	1:d913e0afb2ac	1856	}
mjr	0:5acbbe3f4cf4	1857	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	07 Aug 2014
Imports:	561
Forks:	3
Commits:	47
Dependents:	0
Dependencies:	6
Followers:	55

main.cpp@16:c35f905c3311, 2014-12-29 (annotated)

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