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@9:fd65b0a94720, 2014-08-18 (annotated)

Committer:: mjr
Date:: Mon Aug 18 21:46:10 2014 +0000
Revision:: 9:fd65b0a94720
Parent:: 8:c732e279ee29
Child:: 10:976666ffa4ef

Tweaks to plunger firing detection

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	5:a70c0bce770d	113	// - LedWiz emulation. The KL25Z can appear to the PC as an LedWiz device, and will
mjr	5:a70c0bce770d	114	// accept and process LedWiz commands from the host. The software can turn digital
mjr	5:a70c0bce770d	115	// output ports on and off, and can set varying PWM intensitiy levels on a subset
mjr	5:a70c0bce770d	116	// of ports. (The KL25Z can only provide 6 PWM ports. Intensity level settings on
mjr	5:a70c0bce770d	117	// other ports is ignored, so non-PWM ports can only be used for simple on/off
mjr	5:a70c0bce770d	118	// devices such as contactors and solenoids.) The KL25Z can only supply 4mA on its
mjr	5:a70c0bce770d	119	// output ports, so external hardware is required to take advantage of the LedWiz
mjr	5:a70c0bce770d	120	// emulation. Many different hardware designs are possible, but there's a simple
mjr	5:a70c0bce770d	121	// reference design in the documentation that uses a Darlington array IC to
mjr	5:a70c0bce770d	122	// increase the output from each port to 500mA (the same level as the LedWiz),
mjr	5:a70c0bce770d	123	// plus an extended design that adds an optocoupler and MOSFET to provide very
mjr	5:a70c0bce770d	124	// high power handling, up to about 45A or 150W, with voltages up to 100V.
mjr	5:a70c0bce770d	125	// That will handle just about any DC device directly (wtihout relays or other
mjr	5:a70c0bce770d	126	// amplifiers), and switches fast enough to support PWM devices.
mjr	5:a70c0bce770d	127	//
mjr	5:a70c0bce770d	128	// The device can report any desired LedWiz unit number to the host, which makes
mjr	5:a70c0bce770d	129	// it possible to use the LedWiz emulation on a machine that also has one or more
mjr	5:a70c0bce770d	130	// actual LedWiz devices intalled. The LedWiz design allows for up to 16 units
mjr	5:a70c0bce770d	131	// to be installed in one machine - each one is invidually addressable by its
mjr	5:a70c0bce770d	132	// distinct unit number.
mjr	5:a70c0bce770d	133	//
mjr	5:a70c0bce770d	134	// The LedWiz emulation features are of course optional. There's no need to
mjr	5:a70c0bce770d	135	// build any of the external port hardware (or attach anything to the output
mjr	5:a70c0bce770d	136	// ports at all) if the LedWiz features aren't needed. Most people won't have
mjr	5:a70c0bce770d	137	// any use for the LedWiz features. I built them mostly as a learning exercise,
mjr	5:a70c0bce770d	138	// but with a slight practical need for a handful of extra ports (I'm using the
mjr	5:a70c0bce770d	139	// cutting-edge 10-contactor setup, so my real LedWiz is full!).
mjr	6:cc35eb643e8f	140	//
mjr	6:cc35eb643e8f	141	// The on-board LED on the KL25Z flashes to indicate the current device status:
mjr	6:cc35eb643e8f	142	//
mjr	6:cc35eb643e8f	143	// two short red flashes = the device is powered but hasn't successfully
mjr	6:cc35eb643e8f	144	// connected to the host via USB (either it's not physically connected
mjr	6:cc35eb643e8f	145	// to the USB port, or there was a problem with the software handshake
mjr	6:cc35eb643e8f	146	// with the USB device driver on the computer)
mjr	6:cc35eb643e8f	147	//
mjr	6:cc35eb643e8f	148	// short red flash = the host computer is in sleep/suspend mode
mjr	6:cc35eb643e8f	149	//
mjr	6:cc35eb643e8f	150	// long red/green = the LedWiz unti number has been changed, so a reset
mjr	6:cc35eb643e8f	151	// is needed. You can simply unplug the device and plug it back in,
mjr	6:cc35eb643e8f	152	// or presss and hold the reset button on the device for a few seconds.
mjr	6:cc35eb643e8f	153	//
mjr	6:cc35eb643e8f	154	// long yellow/green = everything's working, but the plunger hasn't
mjr	6:cc35eb643e8f	155	// been calibrated; follow the calibration procedure described above.
mjr	6:cc35eb643e8f	156	// This flash mode won't appear if the CCD has been disabled. Note
mjr	6:cc35eb643e8f	157	// that the device can't tell whether a CCD is physically attached,
mjr	6:cc35eb643e8f	158	// so you should use the config command to disable the CCD software
mjr	6:cc35eb643e8f	159	// features if you won't be attaching a CCD.
mjr	6:cc35eb643e8f	160	//
mjr	6:cc35eb643e8f	161	// alternating blue/green = everything's working
mjr	6:cc35eb643e8f	162	//
mjr	6:cc35eb643e8f	163	// Software configuration: you can change option settings by sending special
mjr	6:cc35eb643e8f	164	// USB commands from the PC. I've provided a Windows program for this purpose;
mjr	6:cc35eb643e8f	165	// refer to the documentation for details. For reference, here's the format
mjr	6:cc35eb643e8f	166	// of the USB command for option changes:
mjr	6:cc35eb643e8f	167	//
mjr	6:cc35eb643e8f	168	// length of report = 8 bytes
mjr	6:cc35eb643e8f	169	// byte 0 = 65 (0x41)
mjr	6:cc35eb643e8f	170	// byte 1 = 1 (0x01)
mjr	6:cc35eb643e8f	171	// byte 2 = new LedWiz unit number, 0x01 to 0x0f
mjr	6:cc35eb643e8f	172	// byte 3 = feature enable bit mask:
mjr	6:cc35eb643e8f	173	// 0x01 = enable CCD (default = on)
mjr	9:fd65b0a94720	174	//
mjr	9:fd65b0a94720	175	// Plunger calibration mode: the host can activate plunger calibration mode
mjr	9:fd65b0a94720	176	// by sending this packet. This has the same effect as pressing and holding
mjr	9:fd65b0a94720	177	// the plunger calibration button for two seconds, to allow activating this
mjr	9:fd65b0a94720	178	// mode without attaching a physical button.
mjr	9:fd65b0a94720	179	//
mjr	9:fd65b0a94720	180	// length = 8 bytes
mjr	9:fd65b0a94720	181	// byte 0 = 65 (0x41)
mjr	9:fd65b0a94720	182	// byte 1 = 2 (0x02)
mjr	9:fd65b0a94720	183	//
mjr	6:cc35eb643e8f	184
mjr	0:5acbbe3f4cf4	185	#include "mbed.h"
mjr	6:cc35eb643e8f	186	#include "math.h"
mjr	0:5acbbe3f4cf4	187	#include "USBJoystick.h"
mjr	0:5acbbe3f4cf4	188	#include "MMA8451Q.h"
mjr	1:d913e0afb2ac	189	#include "tsl1410r.h"
mjr	1:d913e0afb2ac	190	#include "FreescaleIAP.h"
mjr	2:c174f9ee414a	191	#include "crc32.h"
mjr	2:c174f9ee414a	192
mjr	5:a70c0bce770d	193
mjr	5:a70c0bce770d	194	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	195	//
mjr	5:a70c0bce770d	196	// Configuration details
mjr	5:a70c0bce770d	197	//
mjr	2:c174f9ee414a	198
mjr	5:a70c0bce770d	199	// Our USB device vendor ID, product ID, and version.
mjr	5:a70c0bce770d	200	// We use the vendor ID for the LedWiz, so that the PC-side software can
mjr	5:a70c0bce770d	201	// identify us as capable of performing LedWiz commands. The LedWiz uses
mjr	5:a70c0bce770d	202	// a product ID value from 0xF0 to 0xFF; the last four bits identify the
mjr	5:a70c0bce770d	203	// unit number (e.g., product ID 0xF7 means unit #7). This allows multiple
mjr	5:a70c0bce770d	204	// LedWiz units to be installed in a single PC; the software on the PC side
mjr	5:a70c0bce770d	205	// uses the unit number to route commands to the devices attached to each
mjr	5:a70c0bce770d	206	// unit. On the real LedWiz, the unit number must be set in the firmware
mjr	5:a70c0bce770d	207	// at the factory; it's not configurable by the end user. Most LedWiz's
mjr	5:a70c0bce770d	208	// ship with the unit number set to 0, but the vendor will set different
mjr	5:a70c0bce770d	209	// unit numbers if requested at the time of purchase. So if you have a
mjr	5:a70c0bce770d	210	// single LedWiz already installed in your cabinet, and you didn't ask for
mjr	5:a70c0bce770d	211	// a non-default unit number, your existing LedWiz will be unit 0.
mjr	5:a70c0bce770d	212	//
mjr	5:a70c0bce770d	213	// We use unit #7 by default. There doesn't seem to be a requirement that
mjr	5:a70c0bce770d	214	// unit numbers be contiguous (DirectOutput Framework and other software
mjr	5:a70c0bce770d	215	// seem happy to have units 0 and 7 installed, without 1-6 existing).
mjr	5:a70c0bce770d	216	// Marking this unit as #7 should work for almost everybody out of the box;
mjr	5:a70c0bce770d	217	// the most common case seems to be to have a single LedWiz installed, and
mjr	5:a70c0bce770d	218	// it's probably extremely rare to more than two.
mjr	6:cc35eb643e8f	219	//
mjr	6:cc35eb643e8f	220	// Note that the USB_PRODUCT_ID value set here omits the unit number. We
mjr	6:cc35eb643e8f	221	// take the unit number from the saved configuration. We provide a
mjr	6:cc35eb643e8f	222	// configuration command that can be sent via the USB connection to change
mjr	6:cc35eb643e8f	223	// the unit number, so that users can select the unit number without having
mjr	6:cc35eb643e8f	224	// to install a different version of the software. We'll combine the base
mjr	6:cc35eb643e8f	225	// product ID here with the unit number to get the actual product ID that
mjr	6:cc35eb643e8f	226	// we send to the USB controller.
mjr	5:a70c0bce770d	227	const uint16_t USB_VENDOR_ID = 0xFAFA;
mjr	6:cc35eb643e8f	228	const uint16_t USB_PRODUCT_ID = 0x00F0;
mjr	6:cc35eb643e8f	229	const uint16_t USB_VERSION_NO = 0x0006;
mjr	6:cc35eb643e8f	230	const uint8_t DEFAULT_LEDWIZ_UNIT_NUMBER = 0x07;
mjr	0:5acbbe3f4cf4	231
mjr	9:fd65b0a94720	232	// Number of pixels we read from the sensor on each frame. This can be
mjr	9:fd65b0a94720	233	// less than the physical pixel count if desired; we'll read every nth
mjr	9:fd65b0a94720	234	// piexl if so. E.g., with a 1280-pixel physical sensor, if npix is 320,
mjr	9:fd65b0a94720	235	// we'll read every 4th pixel. It takes time to read each pixel, so the
mjr	9:fd65b0a94720	236	// fewer pixels we read, the higher the refresh rate we can achieve.
mjr	9:fd65b0a94720	237	// It's therefore better not to read more pixels than we have to.
mjr	9:fd65b0a94720	238	//
mjr	9:fd65b0a94720	239	// VP seems to have an internal resolution in the 8-bit range, so there's
mjr	9:fd65b0a94720	240	// no apparent benefit to reading more than 128-256 pixels when using VP.
mjr	9:fd65b0a94720	241	// Empirically, 160 pixels seems about right. The overall travel of a
mjr	9:fd65b0a94720	242	// standard pinball plunger is about 3", so 160 pixels gives us resolution
mjr	9:fd65b0a94720	243	// of about 1/50". This seems to take full advantage of VP's modeling
mjr	9:fd65b0a94720	244	// ability, and is probably also more precise than a human player's
mjr	9:fd65b0a94720	245	// perception of the plunger position.
mjr	9:fd65b0a94720	246	const int npix = 160;
mjr	9:fd65b0a94720	247
mjr	4:02c7cd7b2183	248	// On-board RGB LED elements - we use these for diagnostic displays.
mjr	4:02c7cd7b2183	249	DigitalOut ledR(LED1), ledG(LED2), ledB(LED3);
mjr	0:5acbbe3f4cf4	250
mjr	1:d913e0afb2ac	251	// calibration button - switch input and LED output
mjr	1:d913e0afb2ac	252	DigitalIn calBtn(PTE29);
mjr	1:d913e0afb2ac	253	DigitalOut calBtnLed(PTE23);
mjr	0:5acbbe3f4cf4	254
mjr	6:cc35eb643e8f	255	// LED-Wiz emulation output pin assignments. The LED-Wiz protocol
mjr	6:cc35eb643e8f	256	// can support up to 32 outputs. The KL25Z can physically provide
mjr	6:cc35eb643e8f	257	// about 48 (in addition to the ports we're already using for the
mjr	6:cc35eb643e8f	258	// CCD sensor and the calibration button), but to stay compatible
mjr	6:cc35eb643e8f	259	// with the LED-Wiz protocol we'll stop at 32.
mjr	6:cc35eb643e8f	260	//
mjr	6:cc35eb643e8f	261	// The LED-Wiz protocol allows setting individual intensity levels
mjr	6:cc35eb643e8f	262	// on all outputs, with 48 levels of intensity. This can be used
mjr	6:cc35eb643e8f	263	// to control lamp brightness and motor speeds, among other things.
mjr	6:cc35eb643e8f	264	// Unfortunately, the KL25Z only has 10 PWM channels, so while we
mjr	6:cc35eb643e8f	265	// can support the full complement of 32 outputs, we can only provide
mjr	6:cc35eb643e8f	266	// PWM dimming/speed control on 10 of them. The remaining outputs
mjr	6:cc35eb643e8f	267	// can only be switched fully on and fully off - we can't support
mjr	6:cc35eb643e8f	268	// dimming on these, so they'll ignore any intensity level setting
mjr	6:cc35eb643e8f	269	// requested by the host. Use these for devices that don't have any
mjr	6:cc35eb643e8f	270	// use for intensity settings anyway, such as contactors and knockers.
mjr	6:cc35eb643e8f	271	//
mjr	6:cc35eb643e8f	272	// The mapping between physical output pins on the KL25Z and the
mjr	6:cc35eb643e8f	273	// assigned LED-Wiz port numbers is essentially arbitrary - you can
mjr	6:cc35eb643e8f	274	// customize this by changing the entries in the array below if you
mjr	6:cc35eb643e8f	275	// wish to rearrange the pins for any reason. Be aware that some
mjr	6:cc35eb643e8f	276	// of the physical outputs are already used for other purposes
mjr	6:cc35eb643e8f	277	// (e.g., some of the GPIO pins on header J10 are used for the
mjr	6:cc35eb643e8f	278	// CCD sensor - but you can of course reassign those as well by
mjr	6:cc35eb643e8f	279	// changing the corresponding declarations elsewhere in this module).
mjr	6:cc35eb643e8f	280	// The assignments we make here have two main objectives: first,
mjr	6:cc35eb643e8f	281	// to group the outputs on headers J1 and J2 (to facilitate neater
mjr	6:cc35eb643e8f	282	// wiring by keeping the output pins together physically), and
mjr	6:cc35eb643e8f	283	// second, to make the physical pin layout match the LED-Wiz port
mjr	6:cc35eb643e8f	284	// numbering order to the extent possible. There's one big wrench
mjr	6:cc35eb643e8f	285	// in the works, though, which is the limited number and discontiguous
mjr	6:cc35eb643e8f	286	// placement of the KL25Z PWM-capable output pins. This prevents
mjr	6:cc35eb643e8f	287	// us from doing the most obvious sequential ordering of the pins,
mjr	6:cc35eb643e8f	288	// so we end up with the outputs arranged into several blocks.
mjr	6:cc35eb643e8f	289	// Hopefully this isn't too confusing; for more detailed rationale,
mjr	6:cc35eb643e8f	290	// read on...
mjr	6:cc35eb643e8f	291	//
mjr	6:cc35eb643e8f	292	// With the LED-Wiz, the host software configuration usually
mjr	6:cc35eb643e8f	293	// assumes that each RGB LED is hooked up to three consecutive ports
mjr	6:cc35eb643e8f	294	// (for the red, green, and blue components, which need to be
mjr	6:cc35eb643e8f	295	// physically wired to separate outputs to allow each color to be
mjr	6:cc35eb643e8f	296	// controlled independently). To facilitate this, we arrange the
mjr	6:cc35eb643e8f	297	// PWM-enabled outputs so that they're grouped together in the
mjr	6:cc35eb643e8f	298	// port numbering scheme. Unfortunately, these outputs aren't
mjr	6:cc35eb643e8f	299	// together in a single group in the physical pin layout, so to
mjr	6:cc35eb643e8f	300	// group them logically in the LED-Wiz port numbering scheme, we
mjr	6:cc35eb643e8f	301	// have to break up the overall numbering scheme into several blocks.
mjr	6:cc35eb643e8f	302	// So our port numbering goes sequentially down each column of
mjr	6:cc35eb643e8f	303	// header pins, but there are several break points where we have
mjr	6:cc35eb643e8f	304	// to interrupt the obvious sequence to keep the PWM pins grouped
mjr	6:cc35eb643e8f	305	// logically.
mjr	6:cc35eb643e8f	306	//
mjr	6:cc35eb643e8f	307	// In the list below, "pin J1-2" refers to pin 2 on header J1 on
mjr	6:cc35eb643e8f	308	// the KL25Z, using the standard pin numbering in the KL25Z
mjr	6:cc35eb643e8f	309	// documentation - this is the physical pin that the port controls.
mjr	6:cc35eb643e8f	310	// "LW port 1" means LED-Wiz port 1 - this is the LED-Wiz port
mjr	6:cc35eb643e8f	311	// number that you use on the PC side (in the DirectOutput config
mjr	6:cc35eb643e8f	312	// file, for example) to address the port. PWM-capable ports are
mjr	6:cc35eb643e8f	313	// marked as such - we group the PWM-capable ports into the first
mjr	6:cc35eb643e8f	314	// 10 LED-Wiz port numbers.
mjr	6:cc35eb643e8f	315	//
mjr	6:cc35eb643e8f	316	struct {
mjr	6:cc35eb643e8f	317	PinName pin;
mjr	6:cc35eb643e8f	318	bool isPWM;
mjr	6:cc35eb643e8f	319	} ledWizPortMap[32] = {
mjr	6:cc35eb643e8f	320	{ PTA1, true }, // pin J1-2, LW port 1 (PWM capable - TPM 2.0 = channel 9)
mjr	6:cc35eb643e8f	321	{ PTA2, true }, // pin J1-4, LW port 2 (PWM capable - TPM 2.1 = channel 10)
mjr	6:cc35eb643e8f	322	{ PTD4, true }, // pin J1-6, LW port 3 (PWM capable - TPM 0.4 = channel 5)
mjr	6:cc35eb643e8f	323	{ PTA12, true }, // pin J1-8, LW port 4 (PWM capable - TPM 1.0 = channel 7)
mjr	6:cc35eb643e8f	324	{ PTA4, true }, // pin J1-10, LW port 5 (PWM capable - TPM 0.1 = channel 2)
mjr	6:cc35eb643e8f	325	{ PTA5, true }, // pin J1-12, LW port 6 (PWM capable - TPM 0.2 = channel 3)
mjr	6:cc35eb643e8f	326	{ PTA13, true }, // pin J2-2, LW port 7 (PWM capable - TPM 1.1 = channel 13)
mjr	6:cc35eb643e8f	327	{ PTD5, true }, // pin J2-4, LW port 8 (PWM capable - TPM 0.5 = channel 6)
mjr	6:cc35eb643e8f	328	{ PTD0, true }, // pin J2-6, LW port 9 (PWM capable - TPM 0.0 = channel 1)
mjr	6:cc35eb643e8f	329	{ PTD3, true }, // pin J2-10, LW port 10 (PWM capable - TPM 0.3 = channel 4)
mjr	9:fd65b0a94720	330	{ PTD2, false }, // pin J2-8, LW port 11
mjr	9:fd65b0a94720	331	{ PTC8, false }, // pin J1-14, LW port 12
mjr	9:fd65b0a94720	332	{ PTC9, false }, // pin J1-16, LW port 13
mjr	9:fd65b0a94720	333	{ PTC7, false }, // pin J1-1, LW port 14
mjr	9:fd65b0a94720	334	{ PTC0, false }, // pin J1-3, LW port 15
mjr	9:fd65b0a94720	335	{ PTC3, false }, // pin J1-5, LW port 16
mjr	9:fd65b0a94720	336	{ PTC4, false }, // pin J1-7, LW port 17
mjr	9:fd65b0a94720	337	{ PTC5, false }, // pin J1-9, LW port 18
mjr	9:fd65b0a94720	338	{ PTC6, false }, // pin J1-11, LW port 19
mjr	9:fd65b0a94720	339	{ PTC10, false }, // pin J1-13, LW port 20
mjr	9:fd65b0a94720	340	{ PTC11, false }, // pin J1-15, LW port 21
mjr	9:fd65b0a94720	341	{ PTC12, false }, // pin J2-1, LW port 22
mjr	9:fd65b0a94720	342	{ PTC13, false }, // pin J2-3, LW port 23
mjr	9:fd65b0a94720	343	{ PTC16, false }, // pin J2-5, LW port 24
mjr	9:fd65b0a94720	344	{ PTC17, false }, // pin J2-7, LW port 25
mjr	9:fd65b0a94720	345	{ PTA16, false }, // pin J2-9, LW port 26
mjr	9:fd65b0a94720	346	{ PTA17, false }, // pin J2-11, LW port 27
mjr	9:fd65b0a94720	347	{ PTE31, false }, // pin J2-13, LW port 28
mjr	6:cc35eb643e8f	348	{ PTD6, false }, // pin J2-17, LW port 29
mjr	6:cc35eb643e8f	349	{ PTD7, false }, // pin J2-19, LW port 30
mjr	6:cc35eb643e8f	350	{ PTE0, false }, // pin J2-18, LW port 31
mjr	6:cc35eb643e8f	351	{ PTE1, false } // pin J2-20, LW port 32
mjr	6:cc35eb643e8f	352	};
mjr	6:cc35eb643e8f	353
mjr	6:cc35eb643e8f	354
mjr	5:a70c0bce770d	355	// I2C address of the accelerometer (this is a constant of the KL25Z)
mjr	5:a70c0bce770d	356	const int MMA8451_I2C_ADDRESS = (0x1d<<1);
mjr	5:a70c0bce770d	357
mjr	5:a70c0bce770d	358	// SCL and SDA pins for the accelerometer (constant for the KL25Z)
mjr	5:a70c0bce770d	359	#define MMA8451_SCL_PIN PTE25
mjr	5:a70c0bce770d	360	#define MMA8451_SDA_PIN PTE24
mjr	5:a70c0bce770d	361
mjr	5:a70c0bce770d	362	// Digital in pin to use for the accelerometer interrupt. For the KL25Z,
mjr	5:a70c0bce770d	363	// this can be either PTA14 or PTA15, since those are the pins physically
mjr	5:a70c0bce770d	364	// wired on this board to the MMA8451 interrupt controller.
mjr	5:a70c0bce770d	365	#define MMA8451_INT_PIN PTA15
mjr	5:a70c0bce770d	366
mjr	6:cc35eb643e8f	367	// Joystick axis report range - we report from -JOYMAX to +JOYMAX
mjr	6:cc35eb643e8f	368	#define JOYMAX 4096
mjr	6:cc35eb643e8f	369
mjr	5:a70c0bce770d	370
mjr	5:a70c0bce770d	371	// ---------------------------------------------------------------------------
mjr	9:fd65b0a94720	372	// utilities
mjr	9:fd65b0a94720	373
mjr	9:fd65b0a94720	374	// number of elements in an array
mjr	9:fd65b0a94720	375	#define countof(x) (sizeof(x)/sizeof((x)[0]))
mjr	9:fd65b0a94720	376
mjr	9:fd65b0a94720	377	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	378	//
mjr	5:a70c0bce770d	379	// LedWiz emulation
mjr	5:a70c0bce770d	380	//
mjr	5:a70c0bce770d	381
mjr	0:5acbbe3f4cf4	382	static int pbaIdx = 0;
mjr	0:5acbbe3f4cf4	383
mjr	6:cc35eb643e8f	384	// LedWiz output pin interface. We create a cover class to virtualize
mjr	6:cc35eb643e8f	385	// digital vs PWM outputs and give them a common interface. The KL25Z
mjr	6:cc35eb643e8f	386	// unfortunately doesn't have enough hardware PWM channels to support
mjr	6:cc35eb643e8f	387	// PWM on all 32 LedWiz outputs, so we provide as many PWM channels as
mjr	6:cc35eb643e8f	388	// we can (10), and fill out the rest of the outputs with plain digital
mjr	6:cc35eb643e8f	389	// outs.
mjr	6:cc35eb643e8f	390	class LwOut
mjr	6:cc35eb643e8f	391	{
mjr	6:cc35eb643e8f	392	public:
mjr	6:cc35eb643e8f	393	virtual void set(float val) = 0;
mjr	6:cc35eb643e8f	394	};
mjr	6:cc35eb643e8f	395	class LwPwmOut: public LwOut
mjr	6:cc35eb643e8f	396	{
mjr	6:cc35eb643e8f	397	public:
mjr	6:cc35eb643e8f	398	LwPwmOut(PinName pin) : p(pin) { }
mjr	6:cc35eb643e8f	399	virtual void set(float val) { p = val; }
mjr	6:cc35eb643e8f	400	PwmOut p;
mjr	6:cc35eb643e8f	401	};
mjr	6:cc35eb643e8f	402	class LwDigOut: public LwOut
mjr	6:cc35eb643e8f	403	{
mjr	6:cc35eb643e8f	404	public:
mjr	6:cc35eb643e8f	405	LwDigOut(PinName pin) : p(pin) { }
mjr	6:cc35eb643e8f	406	virtual void set(float val) { p = val; }
mjr	6:cc35eb643e8f	407	DigitalOut p;
mjr	6:cc35eb643e8f	408	};
mjr	6:cc35eb643e8f	409
mjr	6:cc35eb643e8f	410	// output pin array
mjr	6:cc35eb643e8f	411	static LwOut *lwPin[32];
mjr	6:cc35eb643e8f	412
mjr	6:cc35eb643e8f	413	// initialize the output pin array
mjr	6:cc35eb643e8f	414	void initLwOut()
mjr	6:cc35eb643e8f	415	{
mjr	9:fd65b0a94720	416	for (int i = 0 ; i < countof(lwPin) ; ++i)
mjr	6:cc35eb643e8f	417	{
mjr	6:cc35eb643e8f	418	PinName p = ledWizPortMap[i].pin;
mjr	6:cc35eb643e8f	419	lwPin[i] = (ledWizPortMap[i].isPWM
mjr	6:cc35eb643e8f	420	? (LwOut *)new LwPwmOut(p)
mjr	6:cc35eb643e8f	421	: (LwOut *)new LwDigOut(p));
mjr	6:cc35eb643e8f	422	}
mjr	6:cc35eb643e8f	423	}
mjr	6:cc35eb643e8f	424
mjr	0:5acbbe3f4cf4	425	// on/off state for each LedWiz output
mjr	1:d913e0afb2ac	426	static uint8_t wizOn[32];
mjr	0:5acbbe3f4cf4	427
mjr	0:5acbbe3f4cf4	428	// profile (brightness/blink) state for each LedWiz output
mjr	1:d913e0afb2ac	429	static uint8_t wizVal[32] = {
mjr	0:5acbbe3f4cf4	430	0, 0, 0, 0, 0, 0, 0, 0,
mjr	0:5acbbe3f4cf4	431	0, 0, 0, 0, 0, 0, 0, 0,
mjr	0:5acbbe3f4cf4	432	0, 0, 0, 0, 0, 0, 0, 0,
mjr	0:5acbbe3f4cf4	433	0, 0, 0, 0, 0, 0, 0, 0
mjr	0:5acbbe3f4cf4	434	};
mjr	0:5acbbe3f4cf4	435
mjr	1:d913e0afb2ac	436	static float wizState(int idx)
mjr	0:5acbbe3f4cf4	437	{
mjr	1:d913e0afb2ac	438	if (wizOn[idx]) {
mjr	0:5acbbe3f4cf4	439	// on - map profile brightness state to PWM level
mjr	1:d913e0afb2ac	440	uint8_t val = wizVal[idx];
mjr	0:5acbbe3f4cf4	441	if (val >= 1 && val <= 48)
mjr	0:5acbbe3f4cf4	442	return 1.0 - val/48.0;
mjr	0:5acbbe3f4cf4	443	else if (val >= 129 && val <= 132)
mjr	0:5acbbe3f4cf4	444	return 0.0;
mjr	0:5acbbe3f4cf4	445	else
mjr	0:5acbbe3f4cf4	446	return 1.0;
mjr	0:5acbbe3f4cf4	447	}
mjr	0:5acbbe3f4cf4	448	else {
mjr	0:5acbbe3f4cf4	449	// off
mjr	0:5acbbe3f4cf4	450	return 1.0;
mjr	0:5acbbe3f4cf4	451	}
mjr	0:5acbbe3f4cf4	452	}
mjr	0:5acbbe3f4cf4	453
mjr	1:d913e0afb2ac	454	static void updateWizOuts()
mjr	1:d913e0afb2ac	455	{
mjr	6:cc35eb643e8f	456	for (int i = 0 ; i < 32 ; ++i)
mjr	6:cc35eb643e8f	457	lwPin[i]->set(wizState(i));
mjr	1:d913e0afb2ac	458	}
mjr	1:d913e0afb2ac	459
mjr	5:a70c0bce770d	460	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	461	//
mjr	5:a70c0bce770d	462	// Non-volatile memory (NVM)
mjr	5:a70c0bce770d	463	//
mjr	0:5acbbe3f4cf4	464
mjr	5:a70c0bce770d	465	// Structure defining our NVM storage layout. We store a small
mjr	2:c174f9ee414a	466	// amount of persistent data in flash memory to retain calibration
mjr	5:a70c0bce770d	467	// data when powered off.
mjr	2:c174f9ee414a	468	struct NVM
mjr	2:c174f9ee414a	469	{
mjr	2:c174f9ee414a	470	// checksum - we use this to determine if the flash record
mjr	6:cc35eb643e8f	471	// has been properly initialized
mjr	2:c174f9ee414a	472	uint32_t checksum;
mjr	2:c174f9ee414a	473
mjr	2:c174f9ee414a	474	// signature value
mjr	2:c174f9ee414a	475	static const uint32_t SIGNATURE = 0x4D4A522A;
mjr	6:cc35eb643e8f	476	static const uint16_t VERSION = 0x0003;
mjr	6:cc35eb643e8f	477
mjr	6:cc35eb643e8f	478	// Is the data structure valid? We test the signature and
mjr	6:cc35eb643e8f	479	// checksum to determine if we've been properly stored.
mjr	6:cc35eb643e8f	480	int valid() const
mjr	6:cc35eb643e8f	481	{
mjr	6:cc35eb643e8f	482	return (d.sig == SIGNATURE
mjr	6:cc35eb643e8f	483	&& d.vsn == VERSION
mjr	6:cc35eb643e8f	484	&& d.sz == sizeof(NVM)
mjr	6:cc35eb643e8f	485	&& checksum == CRC32(&d, sizeof(d)));
mjr	6:cc35eb643e8f	486	}
mjr	6:cc35eb643e8f	487
mjr	6:cc35eb643e8f	488	// save to non-volatile memory
mjr	6:cc35eb643e8f	489	void save(FreescaleIAP &iap, int addr)
mjr	6:cc35eb643e8f	490	{
mjr	6:cc35eb643e8f	491	// update the checksum and structure size
mjr	6:cc35eb643e8f	492	checksum = CRC32(&d, sizeof(d));
mjr	6:cc35eb643e8f	493	d.sz = sizeof(NVM);
mjr	6:cc35eb643e8f	494
mjr	6:cc35eb643e8f	495	// erase the sector
mjr	6:cc35eb643e8f	496	iap.erase_sector(addr);
mjr	6:cc35eb643e8f	497
mjr	6:cc35eb643e8f	498	// save the data
mjr	6:cc35eb643e8f	499	iap.program_flash(addr, this, sizeof(*this));
mjr	6:cc35eb643e8f	500	}
mjr	2:c174f9ee414a	501
mjr	9:fd65b0a94720	502	// reset calibration data for calibration mode
mjr	9:fd65b0a94720	503	void resetPlunger()
mjr	9:fd65b0a94720	504	{
mjr	9:fd65b0a94720	505	// set extremes for the calibration data
mjr	9:fd65b0a94720	506	d.plungerMax = 0;
mjr	9:fd65b0a94720	507	d.plungerZero = npix;
mjr	9:fd65b0a94720	508	d.plungerMin = npix;
mjr	9:fd65b0a94720	509	}
mjr	9:fd65b0a94720	510
mjr	2:c174f9ee414a	511	// stored data (excluding the checksum)
mjr	2:c174f9ee414a	512	struct
mjr	2:c174f9ee414a	513	{
mjr	6:cc35eb643e8f	514	// Signature, structure version, and structure size - further verification
mjr	6:cc35eb643e8f	515	// that we have valid initialized data. The size is a simple proxy for a
mjr	6:cc35eb643e8f	516	// structure version, as the most common type of change to the structure as
mjr	6:cc35eb643e8f	517	// the software evolves will be the addition of new elements. We also
mjr	6:cc35eb643e8f	518	// provide an explicit version number that we can update manually if we
mjr	6:cc35eb643e8f	519	// make any changes that don't affect the structure size but would affect
mjr	6:cc35eb643e8f	520	// compatibility with a saved record (e.g., swapping two existing elements).
mjr	2:c174f9ee414a	521	uint32_t sig;
mjr	2:c174f9ee414a	522	uint16_t vsn;
mjr	6:cc35eb643e8f	523	int sz;
mjr	2:c174f9ee414a	524
mjr	6:cc35eb643e8f	525	// has the plunger been manually calibrated?
mjr	6:cc35eb643e8f	526	int plungerCal;
mjr	6:cc35eb643e8f	527
mjr	2:c174f9ee414a	528	// plunger calibration min and max
mjr	2:c174f9ee414a	529	int plungerMin;
mjr	6:cc35eb643e8f	530	int plungerZero;
mjr	2:c174f9ee414a	531	int plungerMax;
mjr	6:cc35eb643e8f	532
mjr	6:cc35eb643e8f	533	// is the CCD enabled?
mjr	6:cc35eb643e8f	534	int ccdEnabled;
mjr	6:cc35eb643e8f	535
mjr	6:cc35eb643e8f	536	// LedWiz unit number
mjr	6:cc35eb643e8f	537	uint8_t ledWizUnitNo;
mjr	2:c174f9ee414a	538	} d;
mjr	2:c174f9ee414a	539	};
mjr	2:c174f9ee414a	540
mjr	5:a70c0bce770d	541
mjr	5:a70c0bce770d	542	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	543	//
mjr	5:a70c0bce770d	544	// Customization joystick subbclass
mjr	5:a70c0bce770d	545	//
mjr	5:a70c0bce770d	546
mjr	5:a70c0bce770d	547	class MyUSBJoystick: public USBJoystick
mjr	5:a70c0bce770d	548	{
mjr	5:a70c0bce770d	549	public:
mjr	5:a70c0bce770d	550	MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release)
mjr	5:a70c0bce770d	551	: USBJoystick(vendor_id, product_id, product_release, true)
mjr	5:a70c0bce770d	552	{
mjr	5:a70c0bce770d	553	suspended_ = false;
mjr	5:a70c0bce770d	554	}
mjr	5:a70c0bce770d	555
mjr	5:a70c0bce770d	556	// are we connected?
mjr	5:a70c0bce770d	557	int isConnected() { return configured(); }
mjr	5:a70c0bce770d	558
mjr	5:a70c0bce770d	559	// Are we in suspend mode?
mjr	5:a70c0bce770d	560	int isSuspended() const { return suspended_; }
mjr	5:a70c0bce770d	561
mjr	5:a70c0bce770d	562	protected:
mjr	5:a70c0bce770d	563	virtual void suspendStateChanged(unsigned int suspended)
mjr	5:a70c0bce770d	564	{ suspended_ = suspended; }
mjr	5:a70c0bce770d	565
mjr	5:a70c0bce770d	566	// are we suspended?
mjr	5:a70c0bce770d	567	int suspended_;
mjr	5:a70c0bce770d	568	};
mjr	5:a70c0bce770d	569
mjr	5:a70c0bce770d	570	// ---------------------------------------------------------------------------
mjr	6:cc35eb643e8f	571	//
mjr	6:cc35eb643e8f	572	// Some simple math service routines
mjr	6:cc35eb643e8f	573	//
mjr	6:cc35eb643e8f	574
mjr	6:cc35eb643e8f	575	inline float square(float x) { return x*x; }
mjr	6:cc35eb643e8f	576	inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); }
mjr	6:cc35eb643e8f	577
mjr	6:cc35eb643e8f	578	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	579	//
mjr	5:a70c0bce770d	580	// Accelerometer (MMA8451Q)
mjr	5:a70c0bce770d	581	//
mjr	5:a70c0bce770d	582
mjr	5:a70c0bce770d	583	// The MMA8451Q is the KL25Z's on-board 3-axis accelerometer.
mjr	5:a70c0bce770d	584	//
mjr	5:a70c0bce770d	585	// This is a custom wrapper for the library code to interface to the
mjr	6:cc35eb643e8f	586	// MMA8451Q. This class encapsulates an interrupt handler and
mjr	6:cc35eb643e8f	587	// automatic calibration.
mjr	5:a70c0bce770d	588	//
mjr	5:a70c0bce770d	589	// We install an interrupt handler on the accelerometer "data ready"
mjr	6:cc35eb643e8f	590	// interrupt to ensure that we fetch each sample immediately when it
mjr	6:cc35eb643e8f	591	// becomes available. The accelerometer data rate is fiarly high
mjr	6:cc35eb643e8f	592	// (800 Hz), so it's not practical to keep up with it by polling.
mjr	6:cc35eb643e8f	593	// Using an interrupt handler lets us respond quickly and read
mjr	6:cc35eb643e8f	594	// every sample.
mjr	5:a70c0bce770d	595	//
mjr	6:cc35eb643e8f	596	// We automatically calibrate the accelerometer so that it's not
mjr	6:cc35eb643e8f	597	// necessary to get it exactly level when installing it, and so
mjr	6:cc35eb643e8f	598	// that it's also not necessary to calibrate it manually. There's
mjr	6:cc35eb643e8f	599	// lots of experience that tells us that manual calibration is a
mjr	6:cc35eb643e8f	600	// terrible solution, mostly because cabinets tend to shift slightly
mjr	6:cc35eb643e8f	601	// during use, requiring frequent recalibration. Instead, we
mjr	6:cc35eb643e8f	602	// calibrate automatically. We continuously monitor the acceleration
mjr	6:cc35eb643e8f	603	// data, watching for periods of constant (or nearly constant) values.
mjr	6:cc35eb643e8f	604	// Any time it appears that the machine has been at rest for a while
mjr	6:cc35eb643e8f	605	// (about 5 seconds), we'll average the readings during that rest
mjr	6:cc35eb643e8f	606	// period and use the result as the level rest position. This is
mjr	6:cc35eb643e8f	607	// is ongoing, so we'll quickly find the center point again if the
mjr	6:cc35eb643e8f	608	// machine is moved during play (by an especially aggressive bout
mjr	6:cc35eb643e8f	609	// of nudging, say).
mjr	5:a70c0bce770d	610	//
mjr	5:a70c0bce770d	611
mjr	6:cc35eb643e8f	612	// accelerometer input history item, for gathering calibration data
mjr	6:cc35eb643e8f	613	struct AccHist
mjr	5:a70c0bce770d	614	{
mjr	6:cc35eb643e8f	615	AccHist() { x = y = d = 0.0; xtot = ytot = 0.0; cnt = 0; }
mjr	6:cc35eb643e8f	616	void set(float x, float y, AccHist *prv)
mjr	6:cc35eb643e8f	617	{
mjr	6:cc35eb643e8f	618	// save the raw position
mjr	6:cc35eb643e8f	619	this->x = x;
mjr	6:cc35eb643e8f	620	this->y = y;
mjr	6:cc35eb643e8f	621	this->d = distance(prv);
mjr	6:cc35eb643e8f	622	}
mjr	6:cc35eb643e8f	623
mjr	6:cc35eb643e8f	624	// reading for this entry
mjr	5:a70c0bce770d	625	float x, y;
mjr	5:a70c0bce770d	626
mjr	6:cc35eb643e8f	627	// distance from previous entry
mjr	6:cc35eb643e8f	628	float d;
mjr	5:a70c0bce770d	629
mjr	6:cc35eb643e8f	630	// total and count of samples averaged over this period
mjr	6:cc35eb643e8f	631	float xtot, ytot;
mjr	6:cc35eb643e8f	632	int cnt;
mjr	6:cc35eb643e8f	633
mjr	6:cc35eb643e8f	634	void clearAvg() { xtot = ytot = 0.0; cnt = 0; }
mjr	6:cc35eb643e8f	635	void addAvg(float x, float y) { xtot += x; ytot += y; ++cnt; }
mjr	6:cc35eb643e8f	636	float xAvg() const { return xtot/cnt; }
mjr	6:cc35eb643e8f	637	float yAvg() const { return ytot/cnt; }
mjr	5:a70c0bce770d	638
mjr	6:cc35eb643e8f	639	float distance(AccHist *p)
mjr	6:cc35eb643e8f	640	{ return sqrt(square(p->x - x) + square(p->y - y)); }
mjr	5:a70c0bce770d	641	};
mjr	5:a70c0bce770d	642
mjr	5:a70c0bce770d	643	// accelerometer wrapper class
mjr	3:3514575d4f86	644	class Accel
mjr	3:3514575d4f86	645	{
mjr	3:3514575d4f86	646	public:
mjr	3:3514575d4f86	647	Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin)
mjr	3:3514575d4f86	648	: mma_(sda, scl, i2cAddr), intIn_(irqPin)
mjr	3:3514575d4f86	649	{
mjr	5:a70c0bce770d	650	// remember the interrupt pin assignment
mjr	5:a70c0bce770d	651	irqPin_ = irqPin;
mjr	5:a70c0bce770d	652
mjr	5:a70c0bce770d	653	// reset and initialize
mjr	5:a70c0bce770d	654	reset();
mjr	5:a70c0bce770d	655	}
mjr	5:a70c0bce770d	656
mjr	5:a70c0bce770d	657	void reset()
mjr	5:a70c0bce770d	658	{
mjr	6:cc35eb643e8f	659	// clear the center point
mjr	6:cc35eb643e8f	660	cx_ = cy_ = 0.0;
mjr	6:cc35eb643e8f	661
mjr	6:cc35eb643e8f	662	// start the calibration timer
mjr	5:a70c0bce770d	663	tCenter_.start();
mjr	5:a70c0bce770d	664	iAccPrv_ = nAccPrv_ = 0;
mjr	6:cc35eb643e8f	665
mjr	5:a70c0bce770d	666	// reset and initialize the MMA8451Q
mjr	5:a70c0bce770d	667	mma_.init();
mjr	6:cc35eb643e8f	668
mjr	6:cc35eb643e8f	669	// set the initial integrated velocity reading to zero
mjr	6:cc35eb643e8f	670	vx_ = vy_ = 0;
mjr	3:3514575d4f86	671
mjr	6:cc35eb643e8f	672	// set up our accelerometer interrupt handling
mjr	6:cc35eb643e8f	673	intIn_.rise(this, &Accel::isr);
mjr	5:a70c0bce770d	674	mma_.setInterruptMode(irqPin_ == PTA14 ? 1 : 2);
mjr	3:3514575d4f86	675
mjr	3:3514575d4f86	676	// read the current registers to clear the data ready flag
mjr	6:cc35eb643e8f	677	mma_.getAccXYZ(ax_, ay_, az_);
mjr	3:3514575d4f86	678
mjr	3:3514575d4f86	679	// start our timers
mjr	3:3514575d4f86	680	tGet_.start();
mjr	3:3514575d4f86	681	tInt_.start();
mjr	3:3514575d4f86	682	}
mjr	3:3514575d4f86	683
mjr	9:fd65b0a94720	684	void get(int &x, int &y)
mjr	3:3514575d4f86	685	{
mjr	3:3514575d4f86	686	// disable interrupts while manipulating the shared data
mjr	3:3514575d4f86	687	__disable_irq();
mjr	3:3514575d4f86	688
mjr	3:3514575d4f86	689	// read the shared data and store locally for calculations
mjr	6:cc35eb643e8f	690	float ax = ax_, ay = ay_;
mjr	6:cc35eb643e8f	691	float vx = vx_, vy = vy_;
mjr	5:a70c0bce770d	692
mjr	6:cc35eb643e8f	693	// reset the velocity sum for the next run
mjr	6:cc35eb643e8f	694	vx_ = vy_ = 0;
mjr	3:3514575d4f86	695
mjr	3:3514575d4f86	696	// get the time since the last get() sample
mjr	3:3514575d4f86	697	float dt = tGet_.read_us()/1.0e6;
mjr	3:3514575d4f86	698	tGet_.reset();
mjr	3:3514575d4f86	699
mjr	3:3514575d4f86	700	// done manipulating the shared data
mjr	3:3514575d4f86	701	__enable_irq();
mjr	3:3514575d4f86	702
mjr	6:cc35eb643e8f	703	// adjust the readings for the integration time
mjr	6:cc35eb643e8f	704	vx /= dt;
mjr	6:cc35eb643e8f	705	vy /= dt;
mjr	6:cc35eb643e8f	706
mjr	6:cc35eb643e8f	707	// add this sample to the current calibration interval's running total
mjr	6:cc35eb643e8f	708	AccHist *p = accPrv_ + iAccPrv_;
mjr	6:cc35eb643e8f	709	p->addAvg(ax, ay);
mjr	6:cc35eb643e8f	710
mjr	5:a70c0bce770d	711	// check for auto-centering every so often
mjr	5:a70c0bce770d	712	if (tCenter_.read_ms() > 1000)
mjr	5:a70c0bce770d	713	{
mjr	5:a70c0bce770d	714	// add the latest raw sample to the history list
mjr	6:cc35eb643e8f	715	AccHist *prv = p;
mjr	5:a70c0bce770d	716	iAccPrv_ = (iAccPrv_ + 1) % maxAccPrv;
mjr	6:cc35eb643e8f	717	p = accPrv_ + iAccPrv_;
mjr	6:cc35eb643e8f	718	p->set(ax, ay, prv);
mjr	5:a70c0bce770d	719
mjr	5:a70c0bce770d	720	// if we have a full complement, check for stability
mjr	5:a70c0bce770d	721	if (nAccPrv_ >= maxAccPrv)
mjr	5:a70c0bce770d	722	{
mjr	5:a70c0bce770d	723	// check if we've been stable for all recent samples
mjr	6:cc35eb643e8f	724	static const float accTol = .01;
mjr	6:cc35eb643e8f	725	AccHist *p0 = accPrv_;
mjr	6:cc35eb643e8f	726	if (p0[0].d < accTol
mjr	6:cc35eb643e8f	727	&& p0[1].d < accTol
mjr	6:cc35eb643e8f	728	&& p0[2].d < accTol
mjr	6:cc35eb643e8f	729	&& p0[3].d < accTol
mjr	6:cc35eb643e8f	730	&& p0[4].d < accTol)
mjr	5:a70c0bce770d	731	{
mjr	6:cc35eb643e8f	732	// Figure the new calibration point as the average of
mjr	6:cc35eb643e8f	733	// the samples over the rest period
mjr	6:cc35eb643e8f	734	cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5.0;
mjr	6:cc35eb643e8f	735	cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5.0;
mjr	5:a70c0bce770d	736	}
mjr	5:a70c0bce770d	737	}
mjr	5:a70c0bce770d	738	else
mjr	5:a70c0bce770d	739	{
mjr	5:a70c0bce770d	740	// not enough samples yet; just up the count
mjr	5:a70c0bce770d	741	++nAccPrv_;
mjr	5:a70c0bce770d	742	}
mjr	6:cc35eb643e8f	743
mjr	6:cc35eb643e8f	744	// clear the new item's running totals
mjr	6:cc35eb643e8f	745	p->clearAvg();
mjr	5:a70c0bce770d	746
mjr	5:a70c0bce770d	747	// reset the timer
mjr	5:a70c0bce770d	748	tCenter_.reset();
mjr	5:a70c0bce770d	749	}
mjr	5:a70c0bce770d	750
mjr	6:cc35eb643e8f	751	// report our integrated velocity reading in x,y
mjr	6:cc35eb643e8f	752	x = rawToReport(vx);
mjr	6:cc35eb643e8f	753	y = rawToReport(vy);
mjr	5:a70c0bce770d	754
mjr	6:cc35eb643e8f	755	#ifdef DEBUG_PRINTF
mjr	6:cc35eb643e8f	756	if (x != 0 \|\| y != 0)
mjr	6:cc35eb643e8f	757	printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt);
mjr	6:cc35eb643e8f	758	#endif
mjr	3:3514575d4f86	759	}
mjr	3:3514575d4f86	760
mjr	3:3514575d4f86	761	private:
mjr	6:cc35eb643e8f	762	// adjust a raw acceleration figure to a usb report value
mjr	6:cc35eb643e8f	763	int rawToReport(float v)
mjr	5:a70c0bce770d	764	{
mjr	6:cc35eb643e8f	765	// scale to the joystick report range and round to integer
mjr	6:cc35eb643e8f	766	int i = int(round(v*JOYMAX));
mjr	5:a70c0bce770d	767
mjr	6:cc35eb643e8f	768	// if it's near the center, scale it roughly as 20*(i/20)^2,
mjr	6:cc35eb643e8f	769	// to suppress noise near the rest position
mjr	6:cc35eb643e8f	770	static const int filter[] = {
mjr	6:cc35eb643e8f	771	-18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0,
mjr	6:cc35eb643e8f	772	0,
mjr	6:cc35eb643e8f	773	0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18
mjr	6:cc35eb643e8f	774	};
mjr	6:cc35eb643e8f	775	return (i > 20 \|\| i < -20 ? i : filter[i+20]);
mjr	5:a70c0bce770d	776	}
mjr	5:a70c0bce770d	777
mjr	3:3514575d4f86	778	// interrupt handler
mjr	3:3514575d4f86	779	void isr()
mjr	3:3514575d4f86	780	{
mjr	3:3514575d4f86	781	// Read the axes. Note that we have to read all three axes
mjr	3:3514575d4f86	782	// (even though we only really use x and y) in order to clear
mjr	3:3514575d4f86	783	// the "data ready" status bit in the accelerometer. The
mjr	3:3514575d4f86	784	// interrupt only occurs when the "ready" bit transitions from
mjr	3:3514575d4f86	785	// off to on, so we have to make sure it's off.
mjr	5:a70c0bce770d	786	float x, y, z;
mjr	5:a70c0bce770d	787	mma_.getAccXYZ(x, y, z);
mjr	3:3514575d4f86	788
mjr	3:3514575d4f86	789	// calculate the time since the last interrupt
mjr	3:3514575d4f86	790	float dt = tInt_.read_us()/1.0e6;
mjr	3:3514575d4f86	791	tInt_.reset();
mjr	6:cc35eb643e8f	792
mjr	6:cc35eb643e8f	793	// integrate the time slice from the previous reading to this reading
mjr	6:cc35eb643e8f	794	vx_ += (x + ax_ - 2cx_)dt/2;
mjr	6:cc35eb643e8f	795	vy_ += (y + ay_ - 2cy_)dt/2;
mjr	3:3514575d4f86	796
mjr	6:cc35eb643e8f	797	// store the updates
mjr	6:cc35eb643e8f	798	ax_ = x;
mjr	6:cc35eb643e8f	799	ay_ = y;
mjr	6:cc35eb643e8f	800	az_ = z;
mjr	3:3514575d4f86	801	}
mjr	3:3514575d4f86	802
mjr	3:3514575d4f86	803	// underlying accelerometer object
mjr	3:3514575d4f86	804	MMA8451Q mma_;
mjr	3:3514575d4f86	805
mjr	5:a70c0bce770d	806	// last raw acceleration readings
mjr	6:cc35eb643e8f	807	float ax_, ay_, az_;
mjr	5:a70c0bce770d	808
mjr	6:cc35eb643e8f	809	// integrated velocity reading since last get()
mjr	6:cc35eb643e8f	810	float vx_, vy_;
mjr	6:cc35eb643e8f	811
mjr	3:3514575d4f86	812	// timer for measuring time between get() samples
mjr	3:3514575d4f86	813	Timer tGet_;
mjr	3:3514575d4f86	814
mjr	3:3514575d4f86	815	// timer for measuring time between interrupts
mjr	3:3514575d4f86	816	Timer tInt_;
mjr	5:a70c0bce770d	817
mjr	6:cc35eb643e8f	818	// Calibration reference point for accelerometer. This is the
mjr	6:cc35eb643e8f	819	// average reading on the accelerometer when in the neutral position
mjr	6:cc35eb643e8f	820	// at rest.
mjr	6:cc35eb643e8f	821	float cx_, cy_;
mjr	5:a70c0bce770d	822
mjr	5:a70c0bce770d	823	// timer for atuo-centering
mjr	5:a70c0bce770d	824	Timer tCenter_;
mjr	6:cc35eb643e8f	825
mjr	6:cc35eb643e8f	826	// Auto-centering history. This is a separate history list that
mjr	6:cc35eb643e8f	827	// records results spaced out sparesely over time, so that we can
mjr	6:cc35eb643e8f	828	// watch for long-lasting periods of rest. When we observe nearly
mjr	6:cc35eb643e8f	829	// no motion for an extended period (on the order of 5 seconds), we
mjr	6:cc35eb643e8f	830	// take this to mean that the cabinet is at rest in its neutral
mjr	6:cc35eb643e8f	831	// position, so we take this as the calibration zero point for the
mjr	6:cc35eb643e8f	832	// accelerometer. We update this history continuously, which allows
mjr	6:cc35eb643e8f	833	// us to continuously re-calibrate the accelerometer. This ensures
mjr	6:cc35eb643e8f	834	// that we'll automatically adjust to any actual changes in the
mjr	6:cc35eb643e8f	835	// cabinet's orientation (e.g., if it gets moved slightly by an
mjr	6:cc35eb643e8f	836	// especially strong nudge) as well as any systematic drift in the
mjr	6:cc35eb643e8f	837	// accelerometer measurement bias (e.g., from temperature changes).
mjr	5:a70c0bce770d	838	int iAccPrv_, nAccPrv_;
mjr	5:a70c0bce770d	839	static const int maxAccPrv = 5;
mjr	6:cc35eb643e8f	840	AccHist accPrv_[maxAccPrv];
mjr	6:cc35eb643e8f	841
mjr	5:a70c0bce770d	842	// interurupt pin name
mjr	5:a70c0bce770d	843	PinName irqPin_;
mjr	5:a70c0bce770d	844
mjr	5:a70c0bce770d	845	// interrupt router
mjr	5:a70c0bce770d	846	InterruptIn intIn_;
mjr	3:3514575d4f86	847	};
mjr	3:3514575d4f86	848
mjr	5:a70c0bce770d	849
mjr	5:a70c0bce770d	850	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	851	//
mjr	5:a70c0bce770d	852	// Clear the I2C bus for the MMA8451!. This seems necessary some of the time
mjr	5:a70c0bce770d	853	// for reasons that aren't clear to me. Doing a hard power cycle has the same
mjr	5:a70c0bce770d	854	// effect, but when we do a soft reset, the hardware sometimes seems to leave
mjr	5:a70c0bce770d	855	// the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through
mjr	5:a70c0bce770d	856	// the SCL line is supposed to clear this conidtion.
mjr	5:a70c0bce770d	857	//
mjr	5:a70c0bce770d	858	void clear_i2c()
mjr	5:a70c0bce770d	859	{
mjr	5:a70c0bce770d	860	// assume a general-purpose output pin to the I2C clock
mjr	5:a70c0bce770d	861	DigitalOut scl(MMA8451_SCL_PIN);
mjr	5:a70c0bce770d	862	DigitalIn sda(MMA8451_SDA_PIN);
mjr	5:a70c0bce770d	863
mjr	5:a70c0bce770d	864	// clock the SCL 9 times
mjr	5:a70c0bce770d	865	for (int i = 0 ; i < 9 ; ++i)
mjr	5:a70c0bce770d	866	{
mjr	5:a70c0bce770d	867	scl = 1;
mjr	5:a70c0bce770d	868	wait_us(20);
mjr	5:a70c0bce770d	869	scl = 0;
mjr	5:a70c0bce770d	870	wait_us(20);
mjr	5:a70c0bce770d	871	}
mjr	5:a70c0bce770d	872	}
mjr	5:a70c0bce770d	873
mjr	5:a70c0bce770d	874	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	875	//
mjr	5:a70c0bce770d	876	// Main program loop. This is invoked on startup and runs forever. Our
mjr	5:a70c0bce770d	877	// main work is to read our devices (the accelerometer and the CCD), process
mjr	5:a70c0bce770d	878	// the readings into nudge and plunger position data, and send the results
mjr	5:a70c0bce770d	879	// to the host computer via the USB joystick interface. We also monitor
mjr	5:a70c0bce770d	880	// the USB connection for incoming LedWiz commands and process those into
mjr	5:a70c0bce770d	881	// port outputs.
mjr	5:a70c0bce770d	882	//
mjr	0:5acbbe3f4cf4	883	int main(void)
mjr	0:5acbbe3f4cf4	884	{
mjr	1:d913e0afb2ac	885	// turn off our on-board indicator LED
mjr	4:02c7cd7b2183	886	ledR = 1;
mjr	4:02c7cd7b2183	887	ledG = 1;
mjr	4:02c7cd7b2183	888	ledB = 1;
mjr	1:d913e0afb2ac	889
mjr	6:cc35eb643e8f	890	// initialize the LedWiz ports
mjr	6:cc35eb643e8f	891	initLwOut();
mjr	6:cc35eb643e8f	892
mjr	6:cc35eb643e8f	893	// we don't need a reset yet
mjr	6:cc35eb643e8f	894	bool needReset = false;
mjr	6:cc35eb643e8f	895
mjr	5:a70c0bce770d	896	// clear the I2C bus for the accelerometer
mjr	5:a70c0bce770d	897	clear_i2c();
mjr	5:a70c0bce770d	898
mjr	2:c174f9ee414a	899	// set up a flash memory controller
mjr	2:c174f9ee414a	900	FreescaleIAP iap;
mjr	2:c174f9ee414a	901
mjr	2:c174f9ee414a	902	// use the last sector of flash for our non-volatile memory structure
mjr	2:c174f9ee414a	903	int flash_addr = (iap.flash_size() - SECTOR_SIZE);
mjr	2:c174f9ee414a	904	NVM flash = (NVM )flash_addr;
mjr	2:c174f9ee414a	905	NVM cfg;
mjr	2:c174f9ee414a	906
mjr	2:c174f9ee414a	907	// check for valid flash
mjr	6:cc35eb643e8f	908	bool flash_valid = flash->valid();
mjr	2:c174f9ee414a	909
mjr	2:c174f9ee414a	910	// if the flash is valid, load it; otherwise initialize to defaults
mjr	2:c174f9ee414a	911	if (flash_valid) {
mjr	2:c174f9ee414a	912	memcpy(&cfg, flash, sizeof(cfg));
mjr	6:cc35eb643e8f	913	printf("Flash restored: plunger cal=%d, min=%d, zero=%d, max=%d\r\n",
mjr	6:cc35eb643e8f	914	cfg.d.plungerCal, cfg.d.plungerMin, cfg.d.plungerZero, cfg.d.plungerMax);
mjr	2:c174f9ee414a	915	}
mjr	2:c174f9ee414a	916	else {
mjr	2:c174f9ee414a	917	printf("Factory reset\r\n");
mjr	2:c174f9ee414a	918	cfg.d.sig = cfg.SIGNATURE;
mjr	2:c174f9ee414a	919	cfg.d.vsn = cfg.VERSION;
mjr	6:cc35eb643e8f	920	cfg.d.plungerCal = 0;
mjr	6:cc35eb643e8f	921	cfg.d.plungerZero = 0;
mjr	2:c174f9ee414a	922	cfg.d.plungerMin = 0;
mjr	2:c174f9ee414a	923	cfg.d.plungerMax = npix;
mjr	6:cc35eb643e8f	924	cfg.d.ledWizUnitNo = DEFAULT_LEDWIZ_UNIT_NUMBER;
mjr	6:cc35eb643e8f	925	cfg.d.ccdEnabled = true;
mjr	2:c174f9ee414a	926	}
mjr	1:d913e0afb2ac	927
mjr	6:cc35eb643e8f	928	// Create the joystick USB client. Note that we use the LedWiz unit
mjr	6:cc35eb643e8f	929	// number from the saved configuration.
mjr	6:cc35eb643e8f	930	MyUSBJoystick js(
mjr	6:cc35eb643e8f	931	USB_VENDOR_ID,
mjr	6:cc35eb643e8f	932	USB_PRODUCT_ID \| cfg.d.ledWizUnitNo,
mjr	6:cc35eb643e8f	933	USB_VERSION_NO);
mjr	6:cc35eb643e8f	934
mjr	1:d913e0afb2ac	935	// plunger calibration button debounce timer
mjr	1:d913e0afb2ac	936	Timer calBtnTimer;
mjr	1:d913e0afb2ac	937	calBtnTimer.start();
mjr	1:d913e0afb2ac	938	int calBtnLit = false;
mjr	1:d913e0afb2ac	939
mjr	1:d913e0afb2ac	940	// Calibration button state:
mjr	1:d913e0afb2ac	941	// 0 = not pushed
mjr	1:d913e0afb2ac	942	// 1 = pushed, not yet debounced
mjr	1:d913e0afb2ac	943	// 2 = pushed, debounced, waiting for hold time
mjr	1:d913e0afb2ac	944	// 3 = pushed, hold time completed - in calibration mode
mjr	1:d913e0afb2ac	945	int calBtnState = 0;
mjr	1:d913e0afb2ac	946
mjr	1:d913e0afb2ac	947	// set up a timer for our heartbeat indicator
mjr	1:d913e0afb2ac	948	Timer hbTimer;
mjr	1:d913e0afb2ac	949	hbTimer.start();
mjr	1:d913e0afb2ac	950	int hb = 0;
mjr	5:a70c0bce770d	951	uint16_t hbcnt = 0;
mjr	1:d913e0afb2ac	952
mjr	1:d913e0afb2ac	953	// set a timer for accelerometer auto-centering
mjr	1:d913e0afb2ac	954	Timer acTimer;
mjr	1:d913e0afb2ac	955	acTimer.start();
mjr	1:d913e0afb2ac	956
mjr	0:5acbbe3f4cf4	957	// create the accelerometer object
mjr	5:a70c0bce770d	958	Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS, MMA8451_INT_PIN);
mjr	0:5acbbe3f4cf4	959
mjr	0:5acbbe3f4cf4	960	// create the CCD array object
mjr	1:d913e0afb2ac	961	TSL1410R ccd(PTE20, PTE21, PTB0);
mjr	2:c174f9ee414a	962
mjr	1:d913e0afb2ac	963	// last accelerometer report, in mouse coordinates
mjr	6:cc35eb643e8f	964	int x = 0, y = 0, z = 0;
mjr	6:cc35eb643e8f	965
mjr	6:cc35eb643e8f	966	// previous two plunger readings, for "debouncing" the results (z0 is
mjr	6:cc35eb643e8f	967	// the most recent, z1 is the one before that)
mjr	6:cc35eb643e8f	968	int z0 = 0, z1 = 0, z2 = 0;
mjr	6:cc35eb643e8f	969
mjr	6:cc35eb643e8f	970	// Firing in progress: we set this when we detect the start of rapid
mjr	6:cc35eb643e8f	971	// plunger movement from a retracted position towards the rest position.
mjr	6:cc35eb643e8f	972	// The actual plunger spring return speed seems to be too slow for VP,
mjr	6:cc35eb643e8f	973	// so when we detect the start of this motion, we immediately tell VP
mjr	6:cc35eb643e8f	974	// to return the plunger to rest, then we monitor the real plunger
mjr	6:cc35eb643e8f	975	// until it atcually stops.
mjr	9:fd65b0a94720	976	int firing = 0;
mjr	2:c174f9ee414a	977
mjr	2:c174f9ee414a	978	// start the first CCD integration cycle
mjr	2:c174f9ee414a	979	ccd.clear();
mjr	9:fd65b0a94720	980
mjr	9:fd65b0a94720	981	// Device status. We report this on each update so that the host config
mjr	9:fd65b0a94720	982	// tool can detect our current settings. This is a bit mask consisting
mjr	9:fd65b0a94720	983	// of these bits:
mjr	9:fd65b0a94720	984	// 0x01 -> plunger sensor enabled
mjr	9:fd65b0a94720	985	uint16_t statusFlags = (cfg.d.ccdEnabled ? 0x01 : 0x00);
mjr	1:d913e0afb2ac	986
mjr	1:d913e0afb2ac	987	// we're all set up - now just loop, processing sensor reports and
mjr	1:d913e0afb2ac	988	// host requests
mjr	0:5acbbe3f4cf4	989	for (;;)
mjr	0:5acbbe3f4cf4	990	{
mjr	0:5acbbe3f4cf4	991	// Look for an incoming report. Continue processing input as
mjr	0:5acbbe3f4cf4	992	// long as there's anything pending - this ensures that we
mjr	0:5acbbe3f4cf4	993	// handle input in as timely a fashion as possible by deferring
mjr	0:5acbbe3f4cf4	994	// output tasks as long as there's input to process.
mjr	0:5acbbe3f4cf4	995	HID_REPORT report;
mjr	6:cc35eb643e8f	996	while (js.readNB(&report))
mjr	0:5acbbe3f4cf4	997	{
mjr	6:cc35eb643e8f	998	// all Led-Wiz reports are 8 bytes exactly
mjr	6:cc35eb643e8f	999	if (report.length == 8)
mjr	1:d913e0afb2ac	1000	{
mjr	6:cc35eb643e8f	1001	uint8_t *data = report.data;
mjr	6:cc35eb643e8f	1002	if (data[0] == 64)
mjr	0:5acbbe3f4cf4	1003	{
mjr	6:cc35eb643e8f	1004	// LWZ-SBA - first four bytes are bit-packed on/off flags
mjr	6:cc35eb643e8f	1005	// for the outputs; 5th byte is the pulse speed (0-7)
mjr	6:cc35eb643e8f	1006	//printf("LWZ-SBA %02x %02x %02x %02x ; %02x\r\n",
mjr	6:cc35eb643e8f	1007	// data[1], data[2], data[3], data[4], data[5]);
mjr	0:5acbbe3f4cf4	1008
mjr	6:cc35eb643e8f	1009	// update all on/off states
mjr	6:cc35eb643e8f	1010	for (int i = 0, bit = 1, ri = 1 ; i < 32 ; ++i, bit <<= 1)
mjr	6:cc35eb643e8f	1011	{
mjr	6:cc35eb643e8f	1012	if (bit == 0x100) {
mjr	6:cc35eb643e8f	1013	bit = 1;
mjr	6:cc35eb643e8f	1014	++ri;
mjr	6:cc35eb643e8f	1015	}
mjr	6:cc35eb643e8f	1016	wizOn[i] = ((data[ri] & bit) != 0);
mjr	6:cc35eb643e8f	1017	}
mjr	6:cc35eb643e8f	1018
mjr	6:cc35eb643e8f	1019	// update the physical outputs
mjr	1:d913e0afb2ac	1020	updateWizOuts();
mjr	6:cc35eb643e8f	1021
mjr	6:cc35eb643e8f	1022	// reset the PBA counter
mjr	6:cc35eb643e8f	1023	pbaIdx = 0;
mjr	6:cc35eb643e8f	1024	}
mjr	6:cc35eb643e8f	1025	else if (data[0] == 65)
mjr	6:cc35eb643e8f	1026	{
mjr	6:cc35eb643e8f	1027	// Private control message. This isn't an LedWiz message - it's
mjr	6:cc35eb643e8f	1028	// an extension for this device. 65 is an invalid PBA setting,
mjr	6:cc35eb643e8f	1029	// and isn't used for any other LedWiz message, so we appropriate
mjr	6:cc35eb643e8f	1030	// it for our own private use. The first byte specifies the
mjr	6:cc35eb643e8f	1031	// message type.
mjr	6:cc35eb643e8f	1032	if (data[1] == 1)
mjr	6:cc35eb643e8f	1033	{
mjr	9:fd65b0a94720	1034	// 1 = Set Configuration:
mjr	6:cc35eb643e8f	1035	// data[2] = LedWiz unit number (0x00 to 0x0f)
mjr	6:cc35eb643e8f	1036	// data[3] = feature enable bit mask:
mjr	6:cc35eb643e8f	1037	// 0x01 = enable CCD
mjr	6:cc35eb643e8f	1038
mjr	6:cc35eb643e8f	1039	// we'll need a reset if the LedWiz unit number is changing
mjr	6:cc35eb643e8f	1040	uint8_t newUnitNo = data[2] & 0x0f;
mjr	6:cc35eb643e8f	1041	needReset \|= (newUnitNo != cfg.d.ledWizUnitNo);
mjr	6:cc35eb643e8f	1042
mjr	6:cc35eb643e8f	1043	// set the configuration parameters from the message
mjr	6:cc35eb643e8f	1044	cfg.d.ledWizUnitNo = newUnitNo;
mjr	6:cc35eb643e8f	1045	cfg.d.ccdEnabled = data[3] & 0x01;
mjr	6:cc35eb643e8f	1046
mjr	9:fd65b0a94720	1047	// update the status flags
mjr	9:fd65b0a94720	1048	statusFlags = (statusFlags & ~0x01) \| (data[3] & 0x01);
mjr	9:fd65b0a94720	1049
mjr	9:fd65b0a94720	1050	// if the ccd is no longer enabled, use 0 for z reports
mjr	9:fd65b0a94720	1051	if (!cfg.d.ccdEnabled)
mjr	9:fd65b0a94720	1052	z = 0;
mjr	9:fd65b0a94720	1053
mjr	6:cc35eb643e8f	1054	// save the configuration
mjr	6:cc35eb643e8f	1055	cfg.save(iap, flash_addr);
mjr	6:cc35eb643e8f	1056	}
mjr	9:fd65b0a94720	1057	else if (data[1] == 2)
mjr	9:fd65b0a94720	1058	{
mjr	9:fd65b0a94720	1059	// 2 = Calibrate plunger
mjr	9:fd65b0a94720	1060	// (No parameters)
mjr	9:fd65b0a94720	1061
mjr	9:fd65b0a94720	1062	// enter calibration mode
mjr	9:fd65b0a94720	1063	calBtnState = 3;
mjr	9:fd65b0a94720	1064	calBtnTimer.reset();
mjr	9:fd65b0a94720	1065	cfg.resetPlunger();
mjr	9:fd65b0a94720	1066	}
mjr	6:cc35eb643e8f	1067	}
mjr	6:cc35eb643e8f	1068	else
mjr	6:cc35eb643e8f	1069	{
mjr	6:cc35eb643e8f	1070	// LWZ-PBA - full state dump; each byte is one output
mjr	6:cc35eb643e8f	1071	// in the current bank. pbaIdx keeps track of the bank;
mjr	6:cc35eb643e8f	1072	// this is incremented implicitly by each PBA message.
mjr	6:cc35eb643e8f	1073	//printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n",
mjr	6:cc35eb643e8f	1074	// pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
mjr	6:cc35eb643e8f	1075
mjr	6:cc35eb643e8f	1076	// update all output profile settings
mjr	6:cc35eb643e8f	1077	for (int i = 0 ; i < 8 ; ++i)
mjr	6:cc35eb643e8f	1078	wizVal[pbaIdx + i] = data[i];
mjr	6:cc35eb643e8f	1079
mjr	6:cc35eb643e8f	1080	// update the physical LED state if this is the last bank
mjr	6:cc35eb643e8f	1081	if (pbaIdx == 24)
mjr	6:cc35eb643e8f	1082	updateWizOuts();
mjr	6:cc35eb643e8f	1083
mjr	6:cc35eb643e8f	1084	// advance to the next bank
mjr	6:cc35eb643e8f	1085	pbaIdx = (pbaIdx + 8) & 31;
mjr	6:cc35eb643e8f	1086	}
mjr	0:5acbbe3f4cf4	1087	}
mjr	0:5acbbe3f4cf4	1088	}
mjr	1:d913e0afb2ac	1089
mjr	1:d913e0afb2ac	1090	// check for plunger calibration
mjr	1:d913e0afb2ac	1091	if (!calBtn)
mjr	0:5acbbe3f4cf4	1092	{
mjr	1:d913e0afb2ac	1093	// check the state
mjr	1:d913e0afb2ac	1094	switch (calBtnState)
mjr	0:5acbbe3f4cf4	1095	{
mjr	1:d913e0afb2ac	1096	case 0:
mjr	1:d913e0afb2ac	1097	// button not yet pushed - start debouncing
mjr	1:d913e0afb2ac	1098	calBtnTimer.reset();
mjr	1:d913e0afb2ac	1099	calBtnState = 1;
mjr	1:d913e0afb2ac	1100	break;
mjr	1:d913e0afb2ac	1101
mjr	1:d913e0afb2ac	1102	case 1:
mjr	1:d913e0afb2ac	1103	// pushed, not yet debounced - if the debounce time has
mjr	1:d913e0afb2ac	1104	// passed, start the hold period
mjr	9:fd65b0a94720	1105	if (calBtnTimer.read_ms() > 50)
mjr	1:d913e0afb2ac	1106	calBtnState = 2;
mjr	1:d913e0afb2ac	1107	break;
mjr	1:d913e0afb2ac	1108
mjr	1:d913e0afb2ac	1109	case 2:
mjr	1:d913e0afb2ac	1110	// in the hold period - if the button has been held down
mjr	1:d913e0afb2ac	1111	// for the entire hold period, move to calibration mode
mjr	9:fd65b0a94720	1112	if (calBtnTimer.read_ms() > 2050)
mjr	1:d913e0afb2ac	1113	{
mjr	1:d913e0afb2ac	1114	// enter calibration mode
mjr	1:d913e0afb2ac	1115	calBtnState = 3;
mjr	9:fd65b0a94720	1116	calBtnTimer.reset();
mjr	9:fd65b0a94720	1117	cfg.resetPlunger();
mjr	1:d913e0afb2ac	1118	}
mjr	1:d913e0afb2ac	1119	break;
mjr	2:c174f9ee414a	1120
mjr	2:c174f9ee414a	1121	case 3:
mjr	9:fd65b0a94720	1122	// Already in calibration mode - pushing the button here
mjr	9:fd65b0a94720	1123	// doesn't change the current state, but we won't leave this
mjr	9:fd65b0a94720	1124	// state as long as it's held down. So nothing changes here.
mjr	2:c174f9ee414a	1125	break;
mjr	0:5acbbe3f4cf4	1126	}
mjr	0:5acbbe3f4cf4	1127	}
mjr	1:d913e0afb2ac	1128	else
mjr	1:d913e0afb2ac	1129	{
mjr	2:c174f9ee414a	1130	// Button released. If we're in calibration mode, and
mjr	2:c174f9ee414a	1131	// the calibration time has elapsed, end the calibration
mjr	2:c174f9ee414a	1132	// and save the results to flash.
mjr	2:c174f9ee414a	1133	//
mjr	2:c174f9ee414a	1134	// Otherwise, return to the base state without saving anything.
mjr	2:c174f9ee414a	1135	// If the button is released before we make it to calibration
mjr	2:c174f9ee414a	1136	// mode, it simply cancels the attempt.
mjr	9:fd65b0a94720	1137	if (calBtnState == 3 && calBtnTimer.read_ms() > 15000)
mjr	2:c174f9ee414a	1138	{
mjr	2:c174f9ee414a	1139	// exit calibration mode
mjr	1:d913e0afb2ac	1140	calBtnState = 0;
mjr	2:c174f9ee414a	1141
mjr	6:cc35eb643e8f	1142	// save the updated configuration
mjr	6:cc35eb643e8f	1143	cfg.d.plungerCal = 1;
mjr	6:cc35eb643e8f	1144	cfg.save(iap, flash_addr);
mjr	2:c174f9ee414a	1145
mjr	2:c174f9ee414a	1146	// the flash state is now valid
mjr	2:c174f9ee414a	1147	flash_valid = true;
mjr	2:c174f9ee414a	1148	}
mjr	2:c174f9ee414a	1149	else if (calBtnState != 3)
mjr	2:c174f9ee414a	1150	{
mjr	2:c174f9ee414a	1151	// didn't make it to calibration mode - cancel the operation
mjr	1:d913e0afb2ac	1152	calBtnState = 0;
mjr	2:c174f9ee414a	1153	}
mjr	1:d913e0afb2ac	1154	}
mjr	1:d913e0afb2ac	1155
mjr	1:d913e0afb2ac	1156	// light/flash the calibration button light, if applicable
mjr	1:d913e0afb2ac	1157	int newCalBtnLit = calBtnLit;
mjr	1:d913e0afb2ac	1158	switch (calBtnState)
mjr	0:5acbbe3f4cf4	1159	{
mjr	1:d913e0afb2ac	1160	case 2:
mjr	1:d913e0afb2ac	1161	// in the hold period - flash the light
mjr	9:fd65b0a94720	1162	newCalBtnLit = ((calBtnTimer.read_ms()/250) & 1);
mjr	1:d913e0afb2ac	1163	break;
mjr	1:d913e0afb2ac	1164
mjr	1:d913e0afb2ac	1165	case 3:
mjr	1:d913e0afb2ac	1166	// calibration mode - show steady on
mjr	1:d913e0afb2ac	1167	newCalBtnLit = true;
mjr	1:d913e0afb2ac	1168	break;
mjr	1:d913e0afb2ac	1169
mjr	1:d913e0afb2ac	1170	default:
mjr	1:d913e0afb2ac	1171	// not calibrating/holding - show steady off
mjr	1:d913e0afb2ac	1172	newCalBtnLit = false;
mjr	1:d913e0afb2ac	1173	break;
mjr	1:d913e0afb2ac	1174	}
mjr	3:3514575d4f86	1175
mjr	3:3514575d4f86	1176	// light or flash the external calibration button LED, and
mjr	3:3514575d4f86	1177	// do the same with the on-board blue LED
mjr	1:d913e0afb2ac	1178	if (calBtnLit != newCalBtnLit)
mjr	1:d913e0afb2ac	1179	{
mjr	1:d913e0afb2ac	1180	calBtnLit = newCalBtnLit;
mjr	2:c174f9ee414a	1181	if (calBtnLit) {
mjr	2:c174f9ee414a	1182	calBtnLed = 1;
mjr	4:02c7cd7b2183	1183	ledR = 1;
mjr	4:02c7cd7b2183	1184	ledG = 1;
mjr	9:fd65b0a94720	1185	ledB = 0;
mjr	2:c174f9ee414a	1186	}
mjr	2:c174f9ee414a	1187	else {
mjr	2:c174f9ee414a	1188	calBtnLed = 0;
mjr	4:02c7cd7b2183	1189	ledR = 1;
mjr	4:02c7cd7b2183	1190	ledG = 1;
mjr	9:fd65b0a94720	1191	ledB = 1;
mjr	2:c174f9ee414a	1192	}
mjr	1:d913e0afb2ac	1193	}
mjr	1:d913e0afb2ac	1194
mjr	6:cc35eb643e8f	1195	// read the plunger sensor, if it's enabled
mjr	6:cc35eb643e8f	1196	if (cfg.d.ccdEnabled)
mjr	6:cc35eb643e8f	1197	{
mjr	6:cc35eb643e8f	1198	// start with the previous reading, in case we don't have a
mjr	6:cc35eb643e8f	1199	// clear result on this frame
mjr	6:cc35eb643e8f	1200	int znew = z;
mjr	2:c174f9ee414a	1201
mjr	6:cc35eb643e8f	1202	// read the array
mjr	6:cc35eb643e8f	1203	uint16_t pix[npix];
mjr	6:cc35eb643e8f	1204	ccd.read(pix, npix);
mjr	6:cc35eb643e8f	1205
mjr	6:cc35eb643e8f	1206	// get the average brightness at each end of the sensor
mjr	6:cc35eb643e8f	1207	long avg1 = (long(pix[0]) + long(pix[1]) + long(pix[2]) + long(pix[3]) + long(pix[4]))/5;
mjr	6:cc35eb643e8f	1208	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	1209
mjr	6:cc35eb643e8f	1210	// figure the midpoint in the brightness; multiply by 3 so that we can
mjr	6:cc35eb643e8f	1211	// compare sums of three pixels at a time to smooth out noise
mjr	6:cc35eb643e8f	1212	long midpt = (avg1 + avg2)/2 * 3;
mjr	6:cc35eb643e8f	1213
mjr	6:cc35eb643e8f	1214	// Work from the bright end to the dark end. VP interprets the
mjr	6:cc35eb643e8f	1215	// Z axis value as the amount the plunger is pulled: zero is the
mjr	6:cc35eb643e8f	1216	// rest position, and the axis maximum is fully pulled. So we
mjr	6:cc35eb643e8f	1217	// essentially want to report how much of the sensor is lit,
mjr	6:cc35eb643e8f	1218	// since this increases as the plunger is pulled back.
mjr	6:cc35eb643e8f	1219	int si = 1, di = 1;
mjr	6:cc35eb643e8f	1220	if (avg1 < avg2)
mjr	6:cc35eb643e8f	1221	si = npix - 2, di = -1;
mjr	6:cc35eb643e8f	1222
mjr	6:cc35eb643e8f	1223	// If the bright end and dark end don't differ by enough, skip this
mjr	6:cc35eb643e8f	1224	// reading entirely - we must have an overexposed or underexposed frame.
mjr	6:cc35eb643e8f	1225	// Otherwise proceed with the scan.
mjr	6:cc35eb643e8f	1226	if (labs(avg1 - avg2) > 0x1000)
mjr	6:cc35eb643e8f	1227	{
mjr	6:cc35eb643e8f	1228	uint16_t *pixp = pix + si;
mjr	6:cc35eb643e8f	1229	for (int n = 1 ; n < npix - 1 ; ++n, pixp += di)
mjr	6:cc35eb643e8f	1230	{
mjr	6:cc35eb643e8f	1231	// if we've crossed the midpoint, report this position
mjr	6:cc35eb643e8f	1232	if (long(pixp[-1]) + long(pixp[0]) + long(pixp[1]) < midpt)
mjr	6:cc35eb643e8f	1233	{
mjr	6:cc35eb643e8f	1234	// note the new position
mjr	6:cc35eb643e8f	1235	int pos = n;
mjr	6:cc35eb643e8f	1236
mjr	6:cc35eb643e8f	1237	// Calibrate, or apply calibration, depending on the mode.
mjr	6:cc35eb643e8f	1238	// In either case, normalize to our range. VP appears to
mjr	6:cc35eb643e8f	1239	// ignore negative Z axis values.
mjr	6:cc35eb643e8f	1240	if (calBtnState == 3)
mjr	6:cc35eb643e8f	1241	{
mjr	6:cc35eb643e8f	1242	// calibrating - note if we're expanding the calibration envelope
mjr	6:cc35eb643e8f	1243	if (pos < cfg.d.plungerMin)
mjr	6:cc35eb643e8f	1244	cfg.d.plungerMin = pos;
mjr	6:cc35eb643e8f	1245	if (pos < cfg.d.plungerZero)
mjr	6:cc35eb643e8f	1246	cfg.d.plungerZero = pos;
mjr	6:cc35eb643e8f	1247	if (pos > cfg.d.plungerMax)
mjr	6:cc35eb643e8f	1248	cfg.d.plungerMax = pos;
mjr	6:cc35eb643e8f	1249
mjr	6:cc35eb643e8f	1250	// normalize to the full physical range while calibrating
mjr	6:cc35eb643e8f	1251	znew = int(round(float(pos)/npix * JOYMAX));
mjr	6:cc35eb643e8f	1252	}
mjr	6:cc35eb643e8f	1253	else
mjr	6:cc35eb643e8f	1254	{
mjr	6:cc35eb643e8f	1255	// Running normally - normalize to the calibration range. Note
mjr	6:cc35eb643e8f	1256	// that values below the zero point are allowed - the zero point
mjr	6:cc35eb643e8f	1257	// represents the park position, where the plunger sits when at
mjr	6:cc35eb643e8f	1258	// rest, but a mechanical plunger has a smmall amount of travel
mjr	6:cc35eb643e8f	1259	// in the "push" direction. We represent forward travel with
mjr	6:cc35eb643e8f	1260	// negative z values.
mjr	6:cc35eb643e8f	1261	if (pos > cfg.d.plungerMax)
mjr	6:cc35eb643e8f	1262	pos = cfg.d.plungerMax;
mjr	6:cc35eb643e8f	1263	znew = int(round(float(pos - cfg.d.plungerZero)
mjr	6:cc35eb643e8f	1264	/ (cfg.d.plungerMax - cfg.d.plungerZero + 1) * JOYMAX));
mjr	6:cc35eb643e8f	1265	}
mjr	6:cc35eb643e8f	1266
mjr	6:cc35eb643e8f	1267	// done
mjr	6:cc35eb643e8f	1268	break;
mjr	6:cc35eb643e8f	1269	}
mjr	6:cc35eb643e8f	1270	}
mjr	6:cc35eb643e8f	1271	}
mjr	7:100a25f8bf56	1272
mjr	7:100a25f8bf56	1273	// Determine if the plunger is being fired - i.e., if the player
mjr	7:100a25f8bf56	1274	// has just released the plunger from a retracted position.
mjr	6:cc35eb643e8f	1275	//
mjr	7:100a25f8bf56	1276	// We treat firing as an event. That is, we tell VP when the
mjr	7:100a25f8bf56	1277	// plunger is fired, and then stop sending data until the firing
mjr	7:100a25f8bf56	1278	// is complete, allowing VP to carry out the firing motion using
mjr	7:100a25f8bf56	1279	// its internal model plunger rather than trying to track the
mjr	7:100a25f8bf56	1280	// intermediate positions of the mechanical plunger throughout
mjr	9:fd65b0a94720	1281	// the firing motion. This is essential because the firing
mjr	9:fd65b0a94720	1282	// motion is too fast for us to track - in the time it takes us
mjr	9:fd65b0a94720	1283	// to read one frame, the plunger can make it all the way to the
mjr	9:fd65b0a94720	1284	// zero position and bounce back halfway. Fortunately, the range
mjr	9:fd65b0a94720	1285	// of motions for the plunger is limited, so if we see any rapid
mjr	9:fd65b0a94720	1286	// change of position toward the rest position, it's reasonably
mjr	9:fd65b0a94720	1287	// safe to interpret it as a firing event.
mjr	9:fd65b0a94720	1288	//
mjr	9:fd65b0a94720	1289	// This isn't foolproof. The user can trick us by doing a
mjr	9:fd65b0a94720	1290	// controlled rapid forward push but stopping short of the rest
mjr	9:fd65b0a94720	1291	// position. We'll misinterpret that as a firing event. But
mjr	9:fd65b0a94720	1292	// that's not a natural motion that a user would make with a
mjr	9:fd65b0a94720	1293	// plunger, so it's probably an acceptable false positive.
mjr	9:fd65b0a94720	1294	//
mjr	9:fd65b0a94720	1295	// Possible future enhancement: we could add a second physical
mjr	9:fd65b0a94720	1296	// sensor that detects when the plunger reaches the zero position
mjr	9:fd65b0a94720	1297	// and asserts an interrupt. In the interrupt handler, set a
mjr	9:fd65b0a94720	1298	// flag indicating the zero position signal. On each scan of
mjr	9:fd65b0a94720	1299	// the CCD, also check that flag; if it's set, enter firing
mjr	9:fd65b0a94720	1300	// event mode just as we do now. The key here is that the
mjr	9:fd65b0a94720	1301	// secondary sensor would have to be something much faster
mjr	9:fd65b0a94720	1302	// than our CCD scan - it would have to react on, say, the
mjr	9:fd65b0a94720	1303	// millisecond time scale. A simple mechanical switch or a
mjr	9:fd65b0a94720	1304	// proximity sensor could work. This would let us detect
mjr	9:fd65b0a94720	1305	// with certainty when the plunger physically fires, eliminating
mjr	9:fd65b0a94720	1306	// the case where the use can fool us with motion that's fast
mjr	9:fd65b0a94720	1307	// enough to look like a release but doesn't actually reach the
mjr	9:fd65b0a94720	1308	// starting position.
mjr	6:cc35eb643e8f	1309	//
mjr	7:100a25f8bf56	1310	// To detremine when a firing even occurs, we watch for rapid
mjr	7:100a25f8bf56	1311	// motion from a retracted position towards the rest position -
mjr	7:100a25f8bf56	1312	// that is, large position changes in the negative direction over
mjr	7:100a25f8bf56	1313	// a couple of consecutive readings. When we see a rapid move
mjr	7:100a25f8bf56	1314	// toward zero, we set our internal 'firing' flag, immediately
mjr	7:100a25f8bf56	1315	// report to VP that the plunger has returned to the zero
mjr	7:100a25f8bf56	1316	// position, and then suspend reports until the mechanical
mjr	7:100a25f8bf56	1317	// readings indicate that the plunger has come to rest (indicated
mjr	7:100a25f8bf56	1318	// by several readings in a row at roughly the same position).
mjr	9:fd65b0a94720	1319	//
mjr	9:fd65b0a94720	1320	// Tolerance for firing is 1/3 of the current pull distance, or
mjr	9:fd65b0a94720	1321	// about 1/2", whichever is greater. Making this value too small
mjr	9:fd65b0a94720	1322	// makes for too many false positives. Empirically, 1/4" is too
mjr	9:fd65b0a94720	1323	// twitchy, so set a floor at about 1/2". But we can be less
mjr	9:fd65b0a94720	1324	// sensitive the further back the plunger is pulled, since even
mjr	9:fd65b0a94720	1325	// a long pull will snap back quickly. Note that JOYMAX always
mjr	9:fd65b0a94720	1326	// corresponds to about 3", no matter how many pixels we're
mjr	9:fd65b0a94720	1327	// reading, since the physical sensor is about 3" long; so we
mjr	9:fd65b0a94720	1328	// factor out the pixel count calculate (approximate) physical
mjr	9:fd65b0a94720	1329	// distances based on the normalized axis range.
mjr	9:fd65b0a94720	1330	//
mjr	9:fd65b0a94720	1331	// Firing pattern: when firing, don't simply report a solid 0,
mjr	9:fd65b0a94720	1332	// but instead report a series of pseudo-bouces. This looks
mjr	9:fd65b0a94720	1333	// more realistic, beacause the real plunger is also bouncing
mjr	9:fd65b0a94720	1334	// around during this time. To get maximum firing power in
mjr	9:fd65b0a94720	1335	// the simulation, though, our pseudo-bounces are tiny cmopared
mjr	9:fd65b0a94720	1336	// to the real thing.
mjr	9:fd65b0a94720	1337	const int restTol = JOYMAX/24;
mjr	9:fd65b0a94720	1338	int fireTol = z/3 > JOYMAX/6 ? z/3 : JOYMAX/6;
mjr	9:fd65b0a94720	1339	static const int firePattern[] = {
mjr	9:fd65b0a94720	1340	-JOYMAX/12, -JOYMAX/12, -JOYMAX/12,
mjr	9:fd65b0a94720	1341	0, 0, 0,
mjr	9:fd65b0a94720	1342	JOYMAX/16, JOYMAX/16, JOYMAX/16,
mjr	9:fd65b0a94720	1343	0, 0, 0,
mjr	9:fd65b0a94720	1344	-JOYMAX/20, -JOYMAX/20, -JOYMAX/20,
mjr	9:fd65b0a94720	1345	0, 0, 0,
mjr	9:fd65b0a94720	1346	JOYMAX/24, JOYMAX/24, JOYMAX/24,
mjr	9:fd65b0a94720	1347	0, 0, 0,
mjr	9:fd65b0a94720	1348	-JOYMAX/30, -JOYMAX/30, -JOYMAX/30
mjr	9:fd65b0a94720	1349	};
mjr	9:fd65b0a94720	1350	if (firing != 0)
mjr	6:cc35eb643e8f	1351	{
mjr	6:cc35eb643e8f	1352	// Firing in progress - we've already told VP to send its
mjr	6:cc35eb643e8f	1353	// model plunger all the way back to the rest position, so
mjr	6:cc35eb643e8f	1354	// send no further reports until the mechanical plunger
mjr	6:cc35eb643e8f	1355	// actually comes to rest somewhere.
mjr	6:cc35eb643e8f	1356	if (abs(z0 - z2) < restTol && abs(znew - z2) < restTol)
mjr	6:cc35eb643e8f	1357	{
mjr	6:cc35eb643e8f	1358	// the plunger is back at rest - firing is done
mjr	9:fd65b0a94720	1359	firing = 0;
mjr	6:cc35eb643e8f	1360
mjr	6:cc35eb643e8f	1361	// resume normal reporting
mjr	6:cc35eb643e8f	1362	z = z2;
mjr	6:cc35eb643e8f	1363	}
mjr	9:fd65b0a94720	1364	else if (firing < countof(firePattern))
mjr	9:fd65b0a94720	1365	{
mjr	9:fd65b0a94720	1366	// firing - report the next position in the pseudo-bounce
mjr	9:fd65b0a94720	1367	// pattern
mjr	9:fd65b0a94720	1368	z = firePattern[firing++];
mjr	9:fd65b0a94720	1369	}
mjr	9:fd65b0a94720	1370	else
mjr	9:fd65b0a94720	1371	{
mjr	9:fd65b0a94720	1372	// firing, out of pseudo-bounce items - just report the
mjr	9:fd65b0a94720	1373	// rest position
mjr	9:fd65b0a94720	1374	z = 0;
mjr	9:fd65b0a94720	1375	}
mjr	6:cc35eb643e8f	1376	}
mjr	6:cc35eb643e8f	1377	else if (z0 < z2 && z1 < z2 && znew < z2
mjr	6:cc35eb643e8f	1378	&& (z0 < z2 - fireTol
mjr	6:cc35eb643e8f	1379	\|\| z1 < z2 - fireTol
mjr	6:cc35eb643e8f	1380	\|\| znew < z2 - fireTol))
mjr	6:cc35eb643e8f	1381	{
mjr	6:cc35eb643e8f	1382	// Big jumps toward rest position in last two readings -
mjr	6:cc35eb643e8f	1383	// firing has begun. Report an immediate return to the
mjr	6:cc35eb643e8f	1384	// rest position, and send no further reports until the
mjr	6:cc35eb643e8f	1385	// physical plunger has come to rest. This effectively
mjr	6:cc35eb643e8f	1386	// detaches VP's model plunger from the real world for
mjr	6:cc35eb643e8f	1387	// the duration of the spring return, letting VP evolve
mjr	6:cc35eb643e8f	1388	// its model without trying to synchronize with the
mjr	6:cc35eb643e8f	1389	// mechanical version. The release motion is too fast
mjr	6:cc35eb643e8f	1390	// for that to work well; we can't take samples quickly
mjr	6:cc35eb643e8f	1391	// enough to get prcise velocity or acceleration
mjr	6:cc35eb643e8f	1392	// readings. It's better to let VP figure the speed
mjr	6:cc35eb643e8f	1393	// and acceleration through modeling. Plus, that lets
mjr	6:cc35eb643e8f	1394	// each virtual table set the desired parameters for its
mjr	6:cc35eb643e8f	1395	// virtual plunger, rather than imposing the actual
mjr	6:cc35eb643e8f	1396	// mechanical charateristics of the physical plunger on
mjr	6:cc35eb643e8f	1397	// every table.
mjr	9:fd65b0a94720	1398	firing = 1;
mjr	9:fd65b0a94720	1399
mjr	9:fd65b0a94720	1400	// report the first firing pattern position
mjr	9:fd65b0a94720	1401	z = firePattern[0];
mjr	6:cc35eb643e8f	1402	}
mjr	6:cc35eb643e8f	1403	else
mjr	6:cc35eb643e8f	1404	{
mjr	6:cc35eb643e8f	1405	// everything normal; report the 3rd recent position on
mjr	6:cc35eb643e8f	1406	// tape delay
mjr	6:cc35eb643e8f	1407	z = z2;
mjr	6:cc35eb643e8f	1408	}
mjr	6:cc35eb643e8f	1409
mjr	6:cc35eb643e8f	1410	// shift in the new reading
mjr	6:cc35eb643e8f	1411	z2 = z1;
mjr	6:cc35eb643e8f	1412	z1 = z0;
mjr	6:cc35eb643e8f	1413	z0 = znew;
mjr	2:c174f9ee414a	1414	}
mjr	9:fd65b0a94720	1415	else
mjr	9:fd65b0a94720	1416	{
mjr	9:fd65b0a94720	1417	// plunger disabled - pause 10ms to throttle updates to a
mjr	9:fd65b0a94720	1418	// reasonable pace
mjr	9:fd65b0a94720	1419	wait_ms(10);
mjr	9:fd65b0a94720	1420	}
mjr	6:cc35eb643e8f	1421
mjr	1:d913e0afb2ac	1422	// read the accelerometer
mjr	9:fd65b0a94720	1423	int xa, ya;
mjr	9:fd65b0a94720	1424	accel.get(xa, ya);
mjr	1:d913e0afb2ac	1425
mjr	6:cc35eb643e8f	1426	// confine the results to our joystick axis range
mjr	6:cc35eb643e8f	1427	if (xa < -JOYMAX) xa = -JOYMAX;
mjr	6:cc35eb643e8f	1428	if (xa > JOYMAX) xa = JOYMAX;
mjr	6:cc35eb643e8f	1429	if (ya < -JOYMAX) ya = -JOYMAX;
mjr	6:cc35eb643e8f	1430	if (ya > JOYMAX) ya = JOYMAX;
mjr	1:d913e0afb2ac	1431
mjr	6:cc35eb643e8f	1432	// store the updated accelerometer coordinates
mjr	6:cc35eb643e8f	1433	x = xa;
mjr	6:cc35eb643e8f	1434	y = ya;
mjr	6:cc35eb643e8f	1435
mjr	8:c732e279ee29	1436	// Send the status report. Note that the nominal x and y axes
mjr	8:c732e279ee29	1437	// are reversed - this makes it more intuitive to set up in VP.
mjr	8:c732e279ee29	1438	// If we mount the Freesale card flat on the floor of the cabinet
mjr	8:c732e279ee29	1439	// with the USB connectors facing the front of the cabinet, this
mjr	8:c732e279ee29	1440	// arrangement of our nominal axes aligns with VP's standard
mjr	8:c732e279ee29	1441	// setting, so that we can configure VP with X Axis = X on the
mjr	8:c732e279ee29	1442	// joystick and Y Axis = Y on the joystick.
mjr	9:fd65b0a94720	1443	js.update(y, x, z, 0, statusFlags);
mjr	1:d913e0afb2ac	1444
mjr	6:cc35eb643e8f	1445	#ifdef DEBUG_PRINTF
mjr	6:cc35eb643e8f	1446	if (x != 0 \|\| y != 0)
mjr	6:cc35eb643e8f	1447	printf("%d,%d\r\n", x, y);
mjr	6:cc35eb643e8f	1448	#endif
mjr	6:cc35eb643e8f	1449
mjr	6:cc35eb643e8f	1450	// provide a visual status indication on the on-board LED
mjr	5:a70c0bce770d	1451	if (calBtnState < 2 && hbTimer.read_ms() > 1000)
mjr	1:d913e0afb2ac	1452	{
mjr	5:a70c0bce770d	1453	if (js.isSuspended() \|\| !js.isConnected())
mjr	2:c174f9ee414a	1454	{
mjr	5:a70c0bce770d	1455	// suspended - turn off the LED
mjr	4:02c7cd7b2183	1456	ledR = 1;
mjr	4:02c7cd7b2183	1457	ledG = 1;
mjr	4:02c7cd7b2183	1458	ledB = 1;
mjr	5:a70c0bce770d	1459
mjr	5:a70c0bce770d	1460	// show a status flash every so often
mjr	5:a70c0bce770d	1461	if (hbcnt % 3 == 0)
mjr	5:a70c0bce770d	1462	{
mjr	6:cc35eb643e8f	1463	// disconnected = red/red flash; suspended = red
mjr	5:a70c0bce770d	1464	for (int n = js.isConnected() ? 1 : 2 ; n > 0 ; --n)
mjr	5:a70c0bce770d	1465	{
mjr	5:a70c0bce770d	1466	ledR = 0;
mjr	5:a70c0bce770d	1467	wait(0.05);
mjr	5:a70c0bce770d	1468	ledR = 1;
mjr	5:a70c0bce770d	1469	wait(0.25);
mjr	5:a70c0bce770d	1470	}
mjr	5:a70c0bce770d	1471	}
mjr	2:c174f9ee414a	1472	}
mjr	6:cc35eb643e8f	1473	else if (needReset)
mjr	2:c174f9ee414a	1474	{
mjr	6:cc35eb643e8f	1475	// connected, need to reset due to changes in config parameters -
mjr	6:cc35eb643e8f	1476	// flash red/green
mjr	6:cc35eb643e8f	1477	hb = !hb;
mjr	6:cc35eb643e8f	1478	ledR = (hb ? 0 : 1);
mjr	6:cc35eb643e8f	1479	ledG = (hb ? 1 : 0);
mjr	6:cc35eb643e8f	1480	ledB = 0;
mjr	6:cc35eb643e8f	1481	}
mjr	6:cc35eb643e8f	1482	else if (cfg.d.ccdEnabled && !cfg.d.plungerCal)
mjr	6:cc35eb643e8f	1483	{
mjr	6:cc35eb643e8f	1484	// connected, plunger calibration needed - flash yellow/green
mjr	6:cc35eb643e8f	1485	hb = !hb;
mjr	6:cc35eb643e8f	1486	ledR = (hb ? 0 : 1);
mjr	6:cc35eb643e8f	1487	ledG = 0;
mjr	6:cc35eb643e8f	1488	ledB = 1;
mjr	6:cc35eb643e8f	1489	}
mjr	6:cc35eb643e8f	1490	else
mjr	6:cc35eb643e8f	1491	{
mjr	6:cc35eb643e8f	1492	// connected - flash blue/green
mjr	2:c174f9ee414a	1493	hb = !hb;
mjr	4:02c7cd7b2183	1494	ledR = 1;
mjr	4:02c7cd7b2183	1495	ledG = (hb ? 0 : 1);
mjr	4:02c7cd7b2183	1496	ledB = (hb ? 1 : 0);
mjr	2:c174f9ee414a	1497	}
mjr	1:d913e0afb2ac	1498
mjr	1:d913e0afb2ac	1499	// reset the heartbeat timer
mjr	1:d913e0afb2ac	1500	hbTimer.reset();
mjr	5:a70c0bce770d	1501	++hbcnt;
mjr	1:d913e0afb2ac	1502	}
mjr	1:d913e0afb2ac	1503	}
mjr	0:5acbbe3f4cf4	1504	}

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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@9:fd65b0a94720, 2014-08-18 (annotated)

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