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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
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
- Committer:
- mjr
- Date:
- 2015-09-23
- Revision:
- 26:cb71c4af2912
- Parent:
- 25:e22b88bd783a
- Child:
- 29:582472d0bc57
File content as of revision 26:cb71c4af2912:
/* Copyright 2014 M J Roberts, MIT License * * Permission is hereby granted, free of charge, to any person obtaining a copy of this software * and associated documentation files (the "Software"), to deal in the Software without * restriction, including without limitation the rights to use, copy, modify, merge, publish, * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the * Software is furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in all copies or * substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ // // Pinscape Controller // // "Pinscape" is the name of my custom-built virtual pinball cabinet, so I call this // software the Pinscape Controller. I wrote it to handle several tasks that I needed // for my cabinet. It runs on a Freescale KL25Z microcontroller, which is a small and // inexpensive device that attaches to the cabinet PC via a USB cable, and can attach // via custom wiring to sensors, buttons, and other devices in the cabinet. // // I designed the software and hardware in this project especially for my own // cabinet, but it uses standard interfaces in Windows and Visual Pinball, so it should // work in any VP-based cabinet, as long as you're using the usual VP software suite. // I've tried to document the hardware in enough detail for anyone else to duplicate // the entire project, and the full software is open source. // // The Freescale board appears to the host PC as a standard USB joystick. This works // with the built-in Windows joystick device drivers, so there's no need to install any // new drivers or other software on the PC. Windows should recognize the Freescale // as a joystick when you plug it into the USB port, and Windows shouldn't ask you to // install any drivers. If you bring up the Windows control panel for USB Game // Controllers, this device will appear as "Pinscape Controller". *Don't* do any // calibration with the Windows control panel or third-part calibration tools. The // software calibrates the accelerometer portion automatically, and has its own special // calibration procedure for the plunger sensor, if you're using that (see below). // // This software provides a whole bunch of separate features. You can use any of these // features individually or all together. If you're not using a particular feature, you // can simply omit the extra wiring and/or hardware for that feature. You can use // the nudging feature by itself without any extra hardware attached, since the // accelerometer is built in to the KL25Z board. // // - Nudge sensing via the KL25Z's on-board accelerometer. Nudging the cabinet // causes small accelerations that the accelerometer can detect; these are sent to // Visual Pinball via the joystick interface so that VP can simulate the effect // of the real physical nudges on its simulated ball. VP has native handling for // this type of input, so all you have to do is set some preferences in VP to tell // it that an accelerometer is attached. // // - Plunger position sensing via an attached TAOS TSL 1410R CCD linear array sensor. // To use this feature, you need to buy the TAOS device (it's not built in to the // KL25Z, obviously), wire it to the KL25Z (5 wire connections between the two // devices are required), and mount the TAOS sensor in your cabinet so that it's // positioned properly to capture images of the physical plunger shooter rod. // // The physical mounting and wiring details are desribed in the project // documentation. // // If the CCD is attached, the software constantly captures images from the CCD // and analyzes them to determine how far back the plunger is pulled. It reports // this to Visual Pinball via the joystick interface. This allows VP to make the // simulated on-screen plunger track the motion of the physical plunger in real // time. As with the nudge data, VP has native handling for the plunger input, // so you just need to set the VP preferences to tell it that an analog plunger // device is attached. One caveat, though: although VP itself has built-in // support for an analog plunger, not all existing tables take advantage of it. // Many existing tables have their own custom plunger scripting that doesn't // cooperate with the VP plunger input. All tables *can* be made to work with // the plunger, and in most cases it only requires some simple script editing, // but in some cases it requires some more extensive surgery. // // For best results, the plunger sensor should be calibrated. The calibration // is stored in non-volatile memory on board the KL25Z, so it's only necessary // to do the calibration once, when you first install everything. (You might // also want to re-calibrate if you physically remove and reinstall the CCD // sensor or the mechanical plunger, since their alignment shift change slightly // when you put everything back together.) You can optionally install a // dedicated momentary switch or pushbutton to activate the calibration mode; // this is describe in the project documentation. If you don't want to bother // with the extra button, you can also trigger calibration using the Windows // setup software, which you can find on the Pinscape project page. // // The calibration procedure is described in the project documentation. Briefly, // when you trigger calibration mode, the software will scan the CCD for about // 15 seconds, during which you should simply pull the physical plunger back // all the way, hold it for a moment, and then slowly return it to the rest // position. (DON'T just release it from the retracted position, since that // let it shoot forward too far. We want to measure the range from the park // position to the fully retracted position only.) // // - Button input wiring. 24 of the KL25Z's GPIO ports are mapped as digital inputs // for buttons and switches. The software reports these as joystick buttons when // it sends reports to the PC. These can be used to wire physical pinball-style // buttons in the cabinet (e.g., flipper buttons, the Start button) and miscellaneous // switches (such as a tilt bob) to the PC. Visual Pinball can use joystick buttons // for input - you just have to assign a VP function to each button using VP's // keyboard options dialog. To wire a button physically, connect one terminal of // the button switch to the KL25Z ground, and connect the other terminal to the // the GPIO port you wish to assign to the button. See the buttonMap[] array // below for the available GPIO ports and their assigned joystick button numbers. // If you're not using a GPIO port, you can just leave it unconnected - the digital // inputs have built-in pull-up resistors, so an unconnected port is the same as // an open switch (an "off" state for the button). // // - LedWiz emulation. The KL25Z can appear to the PC as an LedWiz device, and will // accept and process LedWiz commands from the host. The software can turn digital // output ports on and off, and can set varying PWM intensitiy levels on a subset // of ports. (The KL25Z can only provide 6 PWM ports. Intensity level settings on // other ports is ignored, so non-PWM ports can only be used for simple on/off // devices such as contactors and solenoids.) The KL25Z can only supply 4mA on its // output ports, so external hardware is required to take advantage of the LedWiz // emulation. Many different hardware designs are possible, but there's a simple // reference design in the documentation that uses a Darlington array IC to // increase the output from each port to 500mA (the same level as the LedWiz), // plus an extended design that adds an optocoupler and MOSFET to provide very // high power handling, up to about 45A or 150W, with voltages up to 100V. // That will handle just about any DC device directly (wtihout relays or other // amplifiers), and switches fast enough to support PWM devices. // // The device can report any desired LedWiz unit number to the host, which makes // it possible to use the LedWiz emulation on a machine that also has one or more // actual LedWiz devices intalled. The LedWiz design allows for up to 16 units // to be installed in one machine - each one is invidually addressable by its // distinct unit number. // // The LedWiz emulation features are of course optional. There's no need to // build any of the external port hardware (or attach anything to the output // ports at all) if the LedWiz features aren't needed. Most people won't have // any use for the LedWiz features. I built them mostly as a learning exercise, // but with a slight practical need for a handful of extra ports (I'm using the // cutting-edge 10-contactor setup, so my real LedWiz is full!). // // - Enhanced LedWiz emulation with TLC5940 PWM controller chips. You can attach // external PWM controller chips for controlling device outputs, instead of using // the limited LedWiz emulation through the on-board GPIO ports as described above. // The software can control a set of daisy-chained TLC5940 chips, which provide // 16 PWM outputs per chip. Two of these chips give you the full complement // of 32 output ports of an actual LedWiz, and four give you 64 ports, which // should be plenty for nearly any virtual pinball project. // // // The on-board LED on the KL25Z flashes to indicate the current device status: // // two short red flashes = the device is powered but hasn't successfully // connected to the host via USB (either it's not physically connected // to the USB port, or there was a problem with the software handshake // with the USB device driver on the computer) // // short red flash = the host computer is in sleep/suspend mode // // long red/green = the LedWiz unti number has been changed, so a reset // is needed. You can simply unplug the device and plug it back in, // or presss and hold the reset button on the device for a few seconds. // // long yellow/green = everything's working, but the plunger hasn't // been calibrated; follow the calibration procedure described above. // This flash mode won't appear if the CCD has been disabled. Note // that the device can't tell whether a CCD is physically attached; // if you don't have a CCD attached, you can set the appropriate option // in config.h or use the Windows config tool to disable the CCD // software features. // // alternating blue/green = everything's working // // Software configuration: you can change option settings by sending special // USB commands from the PC. I've provided a Windows program for this purpose; // refer to the documentation for details. For reference, here's the format // of the USB command for option changes: // // length of report = 8 bytes // byte 0 = 65 (0x41) // byte 1 = 1 (0x01) // byte 2 = new LedWiz unit number, 0x01 to 0x0f // byte 3 = feature enable bit mask: // 0x01 = enable CCD (default = on) // // Plunger calibration mode: the host can activate plunger calibration mode // by sending this packet. This has the same effect as pressing and holding // the plunger calibration button for two seconds, to allow activating this // mode without attaching a physical button. // // length = 8 bytes // byte 0 = 65 (0x41) // byte 1 = 2 (0x02) // // Exposure reports: the host can request a report of the full set of pixel // values for the next frame by sending this special packet: // // length = 8 bytes // byte 0 = 65 (0x41) // byte 1 = 3 (0x03) // // We'll respond with a series of special reports giving the exposure status. // Each report has the following structure: // // bytes 0:1 = 11-bit index, with high 5 bits set to 10000. For // example, 0x04 0x80 indicates index 4. This is the // starting pixel number in the report. The first report // will be 0x00 0x80 to indicate pixel #0. // bytes 2:3 = 16-bit unsigned int brightness level of pixel at index // bytes 4:5 = brightness of pixel at index+1 // etc for the rest of the packet // // This still has the form of a joystick packet at the USB level, but // can be differentiated by the host via the status bits. It would have // been cleaner to use a different Report ID at the USB level, but this // would have necessitated a different container structure in the report // descriptor, which would have broken LedWiz compatibility. Given that // constraint, we have to re-use the joystick report type, making for // this somewhat kludgey approach. #include "mbed.h" #include "math.h" #include "USBJoystick.h" #include "MMA8451Q.h" #include "tsl1410r.h" #include "FreescaleIAP.h" #include "crc32.h" #include "TLC5940.h" // our local configuration file #define DECL_EXTERNS #include "config.h" // --------------------------------------------------------------------------- // utilities // number of elements in an array #define countof(x) (sizeof(x)/sizeof((x)[0])) // floating point square of a number inline float square(float x) { return x*x; } // floating point rounding inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); } // --------------------------------------------------------------------------- // USB device vendor ID, product ID, and version. // // We use the vendor ID for the LedWiz, so that the PC-side software can // identify us as capable of performing LedWiz commands. The LedWiz uses // a product ID value from 0xF0 to 0xFF; the last four bits identify the // unit number (e.g., product ID 0xF7 means unit #7). This allows multiple // LedWiz units to be installed in a single PC; the software on the PC side // uses the unit number to route commands to the devices attached to each // unit. On the real LedWiz, the unit number must be set in the firmware // at the factory; it's not configurable by the end user. Most LedWiz's // ship with the unit number set to 0, but the vendor will set different // unit numbers if requested at the time of purchase. So if you have a // single LedWiz already installed in your cabinet, and you didn't ask for // a non-default unit number, your existing LedWiz will be unit 0. // // Note that the USB_PRODUCT_ID value set here omits the unit number. We // take the unit number from the saved configuration. We provide a // configuration command that can be sent via the USB connection to change // the unit number, so that users can select the unit number without having // to install a different version of the software. We'll combine the base // product ID here with the unit number to get the actual product ID that // we send to the USB controller. const uint16_t USB_VENDOR_ID = 0xFAFA; const uint16_t USB_PRODUCT_ID = 0x00F0; const uint16_t USB_VERSION_NO = 0x0006; // Joystick axis report range - we report from -JOYMAX to +JOYMAX #define JOYMAX 4096 // -------------------------------------------------------------------------- // // Set up mappings for the joystick X and Y reports based on the mounting // orientation of the KL25Z in the cabinet. Visual Pinball and other // pinball software effectively use video coordinates to define the axes: // positive X is to the right of the table, negative Y to the left, positive // Y toward the front of the table, negative Y toward the back. The KL25Z // accelerometer is mounted on the board with positive Y toward the USB // ports and positive X toward the right side of the board with the USB // ports pointing up. It's a simple matter to remap the KL25Z coordinate // system to match VP's coordinate system for mounting orientations at // 90-degree increments... // #if defined(ORIENTATION_PORTS_AT_FRONT) # define JOY_X(x, y) (y) # define JOY_Y(x, y) (x) #elif defined(ORIENTATION_PORTS_AT_LEFT) # define JOY_X(x, y) (-(x)) # define JOY_Y(x, y) (y) #elif defined(ORIENTATION_PORTS_AT_RIGHT) # define JOY_X(x, y) (x) # define JOY_Y(x, y) (-(y)) #elif defined(ORIENTATION_PORTS_AT_REAR) # define JOY_X(x, y) (-(y)) # define JOY_Y(x, y) (-(x)) #else # error Please define one of the ORIENTATION_PORTS_AT_xxx macros to establish the accelerometer orientation in your cabinet #endif // -------------------------------------------------------------------------- // // Define a symbol to tell us whether any sort of plunger sensor code // is enabled in this build. Note that this doesn't tell us that a // plunger device is actually attached or *currently* enabled; it just // tells us whether or not the code for plunger sensing is enabled in // the software build. This lets us leave out some unnecessary code // on installations where no physical plunger is attached. // const int PLUNGER_CODE_ENABLED = #if defined(ENABLE_CCD_SENSOR) || defined(ENABLE_POT_SENSOR) 1; #else 0; #endif // --------------------------------------------------------------------------- // // On-board RGB LED elements - we use these for diagnostic displays. // // Note that LED3 (the blue segment) is hard-wired on the KL25Z to PTD1, // so PTD1 shouldn't be used for any other purpose (e.g., as a keyboard // input or a device output). (This is kind of unfortunate in that it's // one of only two ports exposed on the jumper pins that can be muxed to // SPI0 SCLK. This effectively limits us to PTC5 if we want to use the // SPI capability.) // DigitalOut ledR(LED1), ledG(LED2), ledB(LED3); // --------------------------------------------------------------------------- // // LedWiz emulation // // There are two modes for this feature. The default mode uses the on-board // GPIO ports to implement device outputs - each LedWiz software port is // connected to a physical GPIO pin on the KL25Z. The KL25Z only has 10 // PWM channels, so in this mode only 10 LedWiz ports will be dimmable; the // rest are strictly on/off. The KL25Z also has a limited number of GPIO // ports overall - not enough for the full complement of 32 LedWiz ports // and 24 VP joystick inputs, so it's necessary to trade one against the // other if both features are to be used. // // The alternative, enhanced mode uses external TLC5940 PWM controller // chips to control device outputs. In this mode, each LedWiz software // port is mapped to an output on one of the external TLC5940 chips. // Two 5940s is enough for the full set of 32 LedWiz ports, and we can // support even more chips for even more outputs (although doing so requires // breaking LedWiz compatibility, since the LedWiz USB protocol is hardwired // for 32 outputs). Every port in this mode has full PWM support. // // Current starting output index for "PBA" messages from the PC (using // the LedWiz USB protocol). Each PBA message implicitly uses the // current index as the starting point for the ports referenced in // the message, and increases it (by 8) for the next call. static int pbaIdx = 0; // Generic LedWiz output port interface. We create a cover class to // virtualize digital vs PWM outputs, and on-board KL25Z GPIO vs external // TLC5940 outputs, and give them all a common interface. class LwOut { public: // Set the output intensity. 'val' is 0.0 for fully off, 1.0 for // fully on, and fractional values for intermediate intensities. virtual void set(float val) = 0; }; #ifdef ENABLE_TLC5940 // The TLC5940 interface object. TLC5940 tlc5940(TLC5940_SCLK, TLC5940_SIN, TLC5940_GSCLK, TLC5940_BLANK, TLC5940_XLAT, TLC5940_NCHIPS); // LwOut class for TLC5940 outputs. These are fully PWM capable. // The 'idx' value in the constructor is the output index in the // daisy-chained TLC5940 array. 0 is output #0 on the first chip, // 1 is #1 on the first chip, 15 is #15 on the first chip, 16 is // #0 on the second chip, 32 is #0 on the third chip, etc. class Lw5940Out: public LwOut { public: Lw5940Out(int idx) : idx(idx) { prv = -1; } virtual void set(float val) { if (val != prv) tlc5940.set(idx, (int)(val * 4095)); } int idx; float prv; }; #else // ENABLE_TLC5940 // // Default LedWiz mode - using on-board GPIO ports. In this mode, we // assign a KL25Z GPIO port to each LedWiz output. We have to use a // mix of PWM-capable and Digital-Only ports in this configuration, // since the KL25Z hardware only has 10 PWM channels, which isn't // enough to fill out the full complement of 32 LedWiz outputs. // // LwOut class for a PWM-capable GPIO port class LwPwmOut: public LwOut { public: LwPwmOut(PinName pin) : p(pin) { prv = -1; } virtual void set(float val) { if (val != prv) p.write(prv = val); } PwmOut p; float prv; }; // LwOut class for a Digital-Only (Non-PWM) GPIO port class LwDigOut: public LwOut { public: LwDigOut(PinName pin) : p(pin) { prv = -1; } virtual void set(float val) { if (val != prv) p.write((prv = val) == 0.0 ? 0 : 1); } DigitalOut p; float prv; }; #endif // ENABLE_TLC5940 // LwOut class for unmapped ports. The LedWiz protocol is hardwired // for 32 ports, but we might not want to assign all 32 software ports // to physical output pins - the KL25Z has a limited number of GPIO // ports, so we might not have enough available GPIOs to fill out the // full LedWiz complement after assigning GPIOs for other functions. // This class is used to populate the LedWiz mapping array for ports // that aren't connected to physical outputs; it simply ignores value // changes. class LwUnusedOut: public LwOut { public: LwUnusedOut() { } virtual void set(float val) { } }; // Array of output assignments. This array is indexed by the LedWiz // output port number; that protocol is hardwired for 32 ports, so we // need 32 elements in the array. Each element is an LwOut object // that provides the mapping to the physical output corresponding to // the software port. static LwOut *lwPin[32]; // initialize the output pin array void initLwOut() { for (int i = 0 ; i < countof(lwPin) ; ++i) { #ifdef ENABLE_TLC5940 // Set up a TLC5940 output. If the output is within range of // the connected number of chips (16 outputs per chip), assign it // to the current index, otherwise leave it unattached. if (i < TLC5940_NCHIPS*16) lwPin[i] = new Lw5940Out(i); else lwPin[i] = new LwUnusedOut(); #else // ENABLE_TLC5940 // Set up the GPIO pin, according to whether it's PWM-capable or // digital-only, and whether or not it's assigned at all. PinName p = (i < countof(ledWizPortMap) ? ledWizPortMap[i].pin : NC); if (p == NC) lwPin[i] = new LwUnusedOut(); else if (ledWizPortMap[i].isPWM) lwPin[i] = new LwPwmOut(p); else lwPin[i] = new LwDigOut(p); #endif // ENABLE_TLC5940 } } // on/off state for each LedWiz output static uint8_t wizOn[32]; // profile (brightness/blink) state for each LedWiz output static uint8_t wizVal[32] = { 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48 }; static float wizState(int idx) { if (wizOn[idx]) { // on - map profile brightness state to PWM level uint8_t val = wizVal[idx]; if (val <= 48) { // PWM brightness/intensity level. Rescale from the LedWiz // 0..48 integer range to our internal PwmOut 0..1 float range. // Note that on the actual LedWiz, level 48 is actually about // 98% on - contrary to the LedWiz documentation, level 49 is // the true 100% level. (In the documentation, level 49 is // simply not a valid setting.) Even so, we treat level 48 as // 100% on to match the documentation. This won't be perfectly // ocmpatible with the actual LedWiz, but it makes for such a // small difference in brightness (if the output device is an // LED, say) that no one should notice. It seems better to // err in this direction, because while the difference in // brightness when attached to an LED won't be noticeable, the // difference in duty cycle when attached to something like a // contactor *can* be noticeable - anything less than 100% // can cause a contactor or relay to chatter. There's almost // never a situation where you'd want values other than 0% and // 100% for a contactor or relay, so treating level 48 as 100% // makes us work properly with software that's expecting the // documented LedWiz behavior and therefore uses level 48 to // turn a contactor or relay fully on. return val/48.0; } else if (val == 49) { // 49 is undefined in the LedWiz documentation, but actually // means 100% on. The documentation says that levels 1-48 are // the full PWM range, but empirically it appears that the real // range implemented in the firmware is 1-49. Some software on // the PC side (notably DOF) is aware of this and uses level 49 // to mean "100% on". To ensure compatibility with existing // PC-side software, we need to recognize level 49. return 1.0; } else if (val >= 129 && val <= 132) { // Values of 129-132 select different flashing modes. We don't // support any of these. Instead, simply treat them as fully on. // Note that DOF doesn't ever use modes 129-132, as it implements // all flashing modes itself on the host side, so this limitation // won't have any effect on DOF users. You can observe it using // LedBlinky, though. return 1.0; } else { // Other values are undefined in the LedWiz documentation. Hosts // *should* never send undefined values, since whatever behavior an // LedWiz unit exhibits in response is accidental and could change // in a future version. We'll treat all undefined values as equivalent // to 48 (fully on). // // NB: the 49 and 129-132 cases are broken out above for the sake // of documentation. We end up using 1.0 as the return value for // everything outside of the defined 0-48 range, so we could collapse // this whole thing to a single 'else' branch, but I wanted to call // out the specific reasons for handling the settings above as we do. return 1.0; } } else { // off - show at 0 intensity return 0.0; } } static void updateWizOuts() { for (int i = 0 ; i < 32 ; ++i) lwPin[i]->set(wizState(i)); } // --------------------------------------------------------------------------- // // Button input // // button input map array DigitalIn *buttonDigIn[32]; // button state struct ButtonState { // current on/off state int pressed; // Sticky time remaining for current state. When a // state transition occurs, we set this to a debounce // period. Future state transitions will be ignored // until the debounce time elapses. int t; } buttonState[32]; // timer for button reports static Timer buttonTimer; // initialize the button inputs void initButtons() { // create the digital inputs for (int i = 0 ; i < countof(buttonDigIn) ; ++i) { if (i < countof(buttonMap) && buttonMap[i] != NC) buttonDigIn[i] = new DigitalIn(buttonMap[i]); else buttonDigIn[i] = 0; } // start the button timer buttonTimer.start(); } // read the button input state uint32_t readButtons() { // start with all buttons off uint32_t buttons = 0; // figure the time elapsed since the last scan int dt = buttonTimer.read_ms(); // reset the timef for the next scan buttonTimer.reset(); // scan the button list uint32_t bit = 1; DigitalIn **di = buttonDigIn; ButtonState *bs = buttonState; for (int i = 0 ; i < countof(buttonDigIn) ; ++i, ++di, ++bs, bit <<= 1) { // read this button if (*di != 0) { // deduct the elapsed time since the last update // from the button's remaining sticky time bs->t -= dt; if (bs->t < 0) bs->t = 0; // If the sticky time has elapsed, note the new physical // state of the button. If we still have sticky time // remaining, ignore the physical state; the last state // change persists until the sticky time elapses so that // we smooth out any "bounce" (electrical transients that // occur when the switch contact is opened or closed). if (bs->t == 0) { // get the new physical state int pressed = !(*di)->read(); // update the button's logical state if this is a change if (pressed != bs->pressed) { // store the new state bs->pressed = pressed; // start a new sticky period for debouncing this // state change bs->t = 25; } } // if it's pressed, OR its bit into the state if (bs->pressed) buttons |= bit; } } // return the new button list return buttons; } // --------------------------------------------------------------------------- // // Customization joystick subbclass // class MyUSBJoystick: public USBJoystick { public: MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release) : USBJoystick(vendor_id, product_id, product_release, true) { suspended_ = false; } // are we connected? int isConnected() { return configured(); } // Are we in suspend mode? int isSuspended() const { return suspended_; } protected: virtual void suspendStateChanged(unsigned int suspended) { suspended_ = suspended; } // are we suspended? int suspended_; }; // --------------------------------------------------------------------------- // // Accelerometer (MMA8451Q) // // The MMA8451Q is the KL25Z's on-board 3-axis accelerometer. // // This is a custom wrapper for the library code to interface to the // MMA8451Q. This class encapsulates an interrupt handler and // automatic calibration. // // We install an interrupt handler on the accelerometer "data ready" // interrupt to ensure that we fetch each sample immediately when it // becomes available. The accelerometer data rate is fiarly high // (800 Hz), so it's not practical to keep up with it by polling. // Using an interrupt handler lets us respond quickly and read // every sample. // // We automatically calibrate the accelerometer so that it's not // necessary to get it exactly level when installing it, and so // that it's also not necessary to calibrate it manually. There's // lots of experience that tells us that manual calibration is a // terrible solution, mostly because cabinets tend to shift slightly // during use, requiring frequent recalibration. Instead, we // calibrate automatically. We continuously monitor the acceleration // data, watching for periods of constant (or nearly constant) values. // Any time it appears that the machine has been at rest for a while // (about 5 seconds), we'll average the readings during that rest // period and use the result as the level rest position. This is // is ongoing, so we'll quickly find the center point again if the // machine is moved during play (by an especially aggressive bout // of nudging, say). // // I2C address of the accelerometer (this is a constant of the KL25Z) const int MMA8451_I2C_ADDRESS = (0x1d<<1); // SCL and SDA pins for the accelerometer (constant for the KL25Z) #define MMA8451_SCL_PIN PTE25 #define MMA8451_SDA_PIN PTE24 // Digital in pin to use for the accelerometer interrupt. For the KL25Z, // this can be either PTA14 or PTA15, since those are the pins physically // wired on this board to the MMA8451 interrupt controller. #define MMA8451_INT_PIN PTA15 // accelerometer input history item, for gathering calibration data struct AccHist { AccHist() { x = y = d = 0.0; xtot = ytot = 0.0; cnt = 0; } void set(float x, float y, AccHist *prv) { // save the raw position this->x = x; this->y = y; this->d = distance(prv); } // reading for this entry float x, y; // distance from previous entry float d; // total and count of samples averaged over this period float xtot, ytot; int cnt; void clearAvg() { xtot = ytot = 0.0; cnt = 0; } void addAvg(float x, float y) { xtot += x; ytot += y; ++cnt; } float xAvg() const { return xtot/cnt; } float yAvg() const { return ytot/cnt; } float distance(AccHist *p) { return sqrt(square(p->x - x) + square(p->y - y)); } }; // accelerometer wrapper class class Accel { public: Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin) : mma_(sda, scl, i2cAddr), intIn_(irqPin) { // remember the interrupt pin assignment irqPin_ = irqPin; // reset and initialize reset(); } void reset() { // clear the center point cx_ = cy_ = 0.0; // start the calibration timer tCenter_.start(); iAccPrv_ = nAccPrv_ = 0; // reset and initialize the MMA8451Q mma_.init(); // set the initial integrated velocity reading to zero vx_ = vy_ = 0; // set up our accelerometer interrupt handling intIn_.rise(this, &Accel::isr); mma_.setInterruptMode(irqPin_ == PTA14 ? 1 : 2); // read the current registers to clear the data ready flag mma_.getAccXYZ(ax_, ay_, az_); // start our timers tGet_.start(); tInt_.start(); } void get(int &x, int &y) { // disable interrupts while manipulating the shared data __disable_irq(); // read the shared data and store locally for calculations float ax = ax_, ay = ay_; float vx = vx_, vy = vy_; // reset the velocity sum for the next run vx_ = vy_ = 0; // get the time since the last get() sample float dt = tGet_.read_us()/1.0e6; tGet_.reset(); // done manipulating the shared data __enable_irq(); // adjust the readings for the integration time vx /= dt; vy /= dt; // add this sample to the current calibration interval's running total AccHist *p = accPrv_ + iAccPrv_; p->addAvg(ax, ay); // check for auto-centering every so often if (tCenter_.read_ms() > 1000) { // add the latest raw sample to the history list AccHist *prv = p; iAccPrv_ = (iAccPrv_ + 1) % maxAccPrv; p = accPrv_ + iAccPrv_; p->set(ax, ay, prv); // if we have a full complement, check for stability if (nAccPrv_ >= maxAccPrv) { // check if we've been stable for all recent samples static const float accTol = .01; AccHist *p0 = accPrv_; if (p0[0].d < accTol && p0[1].d < accTol && p0[2].d < accTol && p0[3].d < accTol && p0[4].d < accTol) { // Figure the new calibration point as the average of // the samples over the rest period cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5.0; cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5.0; } } else { // not enough samples yet; just up the count ++nAccPrv_; } // clear the new item's running totals p->clearAvg(); // reset the timer tCenter_.reset(); } // report our integrated velocity reading in x,y x = rawToReport(vx); y = rawToReport(vy); #ifdef DEBUG_PRINTF if (x != 0 || y != 0) printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt); #endif } private: // adjust a raw acceleration figure to a usb report value int rawToReport(float v) { // scale to the joystick report range and round to integer int i = int(round(v*JOYMAX)); // if it's near the center, scale it roughly as 20*(i/20)^2, // to suppress noise near the rest position static const int filter[] = { -18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18 }; return (i > 20 || i < -20 ? i : filter[i+20]); } // interrupt handler void isr() { // Read the axes. Note that we have to read all three axes // (even though we only really use x and y) in order to clear // the "data ready" status bit in the accelerometer. The // interrupt only occurs when the "ready" bit transitions from // off to on, so we have to make sure it's off. float x, y, z; mma_.getAccXYZ(x, y, z); // calculate the time since the last interrupt float dt = tInt_.read_us()/1.0e6; tInt_.reset(); // integrate the time slice from the previous reading to this reading vx_ += (x + ax_ - 2*cx_)*dt/2; vy_ += (y + ay_ - 2*cy_)*dt/2; // store the updates ax_ = x; ay_ = y; az_ = z; } // underlying accelerometer object MMA8451Q mma_; // last raw acceleration readings float ax_, ay_, az_; // integrated velocity reading since last get() float vx_, vy_; // timer for measuring time between get() samples Timer tGet_; // timer for measuring time between interrupts Timer tInt_; // Calibration reference point for accelerometer. This is the // average reading on the accelerometer when in the neutral position // at rest. float cx_, cy_; // timer for atuo-centering Timer tCenter_; // Auto-centering history. This is a separate history list that // records results spaced out sparesely over time, so that we can // watch for long-lasting periods of rest. When we observe nearly // no motion for an extended period (on the order of 5 seconds), we // take this to mean that the cabinet is at rest in its neutral // position, so we take this as the calibration zero point for the // accelerometer. We update this history continuously, which allows // us to continuously re-calibrate the accelerometer. This ensures // that we'll automatically adjust to any actual changes in the // cabinet's orientation (e.g., if it gets moved slightly by an // especially strong nudge) as well as any systematic drift in the // accelerometer measurement bias (e.g., from temperature changes). int iAccPrv_, nAccPrv_; static const int maxAccPrv = 5; AccHist accPrv_[maxAccPrv]; // interurupt pin name PinName irqPin_; // interrupt router InterruptIn intIn_; }; // --------------------------------------------------------------------------- // // Clear the I2C bus for the MMA8451Q. This seems necessary some of the time // for reasons that aren't clear to me. Doing a hard power cycle has the same // effect, but when we do a soft reset, the hardware sometimes seems to leave // the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through // the SCL line is supposed to clear this condition. I'm not convinced this // actually works with the way this component is wired on the KL25Z, but it // seems harmless, so we'll do it on reset in case it does some good. What // we really seem to need is a way to power cycle the MMA8451Q if it ever // gets stuck, but this is simply not possible in software on the KL25Z. // // If the accelerometer does get stuck, and a software reboot doesn't reset // it, the only workaround is to manually power cycle the whole KL25Z by // unplugging both of its USB connections. // void clear_i2c() { // assume a general-purpose output pin to the I2C clock DigitalOut scl(MMA8451_SCL_PIN); DigitalIn sda(MMA8451_SDA_PIN); // clock the SCL 9 times for (int i = 0 ; i < 9 ; ++i) { scl = 1; wait_us(20); scl = 0; wait_us(20); } } // --------------------------------------------------------------------------- // // Include the appropriate plunger sensor definition. This will define a // class called PlungerSensor, with a standard interface that we use in // the main loop below. This is *kind of* like a virtual class interface, // but it actually defines the methods statically, which is a little more // efficient at run-time. There's no need for a true virtual interface // because we don't need to be able to change sensor types on the fly. // #if defined(ENABLE_CCD_SENSOR) #include "ccdSensor.h" #elif defined(ENABLE_POT_SENSOR) #include "potSensor.h" #else #include "nullSensor.h" #endif // --------------------------------------------------------------------------- // // Non-volatile memory (NVM) // // Structure defining our NVM storage layout. We store a small // amount of persistent data in flash memory to retain calibration // data when powered off. struct NVM { // checksum - we use this to determine if the flash record // has been properly initialized uint32_t checksum; // signature value static const uint32_t SIGNATURE = 0x4D4A522A; static const uint16_t VERSION = 0x0003; // Is the data structure valid? We test the signature and // checksum to determine if we've been properly stored. int valid() const { return (d.sig == SIGNATURE && d.vsn == VERSION && d.sz == sizeof(NVM) && checksum == CRC32(&d, sizeof(d))); } // save to non-volatile memory void save(FreescaleIAP &iap, int addr) { // update the checksum and structure size checksum = CRC32(&d, sizeof(d)); d.sz = sizeof(NVM); // erase the sector iap.erase_sector(addr); // save the data iap.program_flash(addr, this, sizeof(*this)); } // reset calibration data for calibration mode void resetPlunger() { // set extremes for the calibration data d.plungerMax = 0; d.plungerZero = npix; d.plungerMin = npix; } // stored data (excluding the checksum) struct { // Signature, structure version, and structure size - further verification // that we have valid initialized data. The size is a simple proxy for a // structure version, as the most common type of change to the structure as // the software evolves will be the addition of new elements. We also // provide an explicit version number that we can update manually if we // make any changes that don't affect the structure size but would affect // compatibility with a saved record (e.g., swapping two existing elements). uint32_t sig; uint16_t vsn; int sz; // has the plunger been manually calibrated? int plungerCal; // Plunger calibration min, zero, and max. The zero point is the // rest position (aka park position), where it's in equilibrium between // the main spring and the barrel spring. It can travel a small distance // forward of the rest position, because the barrel spring can be // compressed by the user pushing on the plunger or by the momentum // of a release motion. The minimum is the maximum forward point where // the barrel spring can't be compressed any further. int plungerMin; int plungerZero; int plungerMax; // is the plunger sensor enabled? int plungerEnabled; // LedWiz unit number uint8_t ledWizUnitNo; } d; }; // --------------------------------------------------------------------------- // // Main program loop. This is invoked on startup and runs forever. Our // main work is to read our devices (the accelerometer and the CCD), process // the readings into nudge and plunger position data, and send the results // to the host computer via the USB joystick interface. We also monitor // the USB connection for incoming LedWiz commands and process those into // port outputs. // int main(void) { // turn off our on-board indicator LED ledR = 1; ledG = 1; ledB = 1; // initialize the LedWiz ports initLwOut(); // initialize the button input ports initButtons(); // we don't need a reset yet bool needReset = false; // clear the I2C bus for the accelerometer clear_i2c(); // set up a flash memory controller FreescaleIAP iap; // use the last sector of flash for our non-volatile memory structure int flash_addr = (iap.flash_size() - SECTOR_SIZE); NVM *flash = (NVM *)flash_addr; NVM cfg; // check for valid flash bool flash_valid = flash->valid(); // if the flash is valid, load it; otherwise initialize to defaults if (flash_valid) { memcpy(&cfg, flash, sizeof(cfg)); printf("Flash restored: plunger cal=%d, min=%d, zero=%d, max=%d\r\n", cfg.d.plungerCal, cfg.d.plungerMin, cfg.d.plungerZero, cfg.d.plungerMax); } else { printf("Factory reset\r\n"); cfg.d.sig = cfg.SIGNATURE; cfg.d.vsn = cfg.VERSION; cfg.d.plungerCal = 0; cfg.d.plungerMin = 0; // assume we can go all the way forward... cfg.d.plungerMax = npix; // ...and all the way back cfg.d.plungerZero = npix/6; // the rest position is usually around 1/2" back cfg.d.ledWizUnitNo = DEFAULT_LEDWIZ_UNIT_NUMBER - 1; // unit numbering starts from 0 internally cfg.d.plungerEnabled = PLUNGER_CODE_ENABLED; } // Create the joystick USB client. Note that we use the LedWiz unit // number from the saved configuration. MyUSBJoystick js( USB_VENDOR_ID, USB_PRODUCT_ID | cfg.d.ledWizUnitNo, USB_VERSION_NO); // last report timer - we use this to throttle reports, since VP // doesn't want to hear from us more than about every 10ms Timer reportTimer; reportTimer.start(); // initialize the calibration buttons, if present DigitalIn *calBtn = (CAL_BUTTON_PIN == NC ? 0 : new DigitalIn(CAL_BUTTON_PIN)); DigitalOut *calBtnLed = (CAL_BUTTON_LED == NC ? 0 : new DigitalOut(CAL_BUTTON_LED)); // plunger calibration button debounce timer Timer calBtnTimer; calBtnTimer.start(); int calBtnLit = false; // Calibration button state: // 0 = not pushed // 1 = pushed, not yet debounced // 2 = pushed, debounced, waiting for hold time // 3 = pushed, hold time completed - in calibration mode int calBtnState = 0; // set up a timer for our heartbeat indicator Timer hbTimer; hbTimer.start(); int hb = 0; uint16_t hbcnt = 0; // set a timer for accelerometer auto-centering Timer acTimer; acTimer.start(); // create the accelerometer object Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS, MMA8451_INT_PIN); #ifdef ENABLE_JOYSTICK // last accelerometer report, in joystick units (we report the nudge // acceleration via the joystick x & y axes, per the VP convention) int x = 0, y = 0; // flag: send a pixel dump after the next read bool reportPix = false; #endif // create our plunger sensor object PlungerSensor plungerSensor; // last plunger report position, in 'npix' normalized pixel units int pos = 0; // last plunger report, in joystick units (we report the plunger as the // "z" axis of the joystick, per the VP convention) int z = 0; // most recent prior plunger readings, for tracking release events(z0 is // reading just before the last one we reported, z1 is the one before that, // z2 the next before that) int z0 = 0, z1 = 0, z2 = 0; // Simulated "bounce" position when firing. We model the bounce off of // the barrel spring when the plunger is released as proportional to the // distance it was retracted just before being released. int zBounce = 0; // Simulated Launch Ball button state. If a "ZB Launch Ball" port is // defined for our LedWiz port mapping, any time that port is turned ON, // we'll simulate pushing the Launch Ball button if the player pulls // back and releases the plunger, or simply pushes on the plunger from // the rest position. This allows the plunger to be used in lieu of a // physical Launch Ball button for tables that don't have plungers. // // States: // 0 = default // 1 = cocked (plunger has been pulled back about 1" from state 0) // 2 = uncocked (plunger is pulled back less than 1" from state 1) // 3 = launching, plunger is forward beyond park position // 4 = launching, plunger is behind park position // 5 = pressed and holding (plunger has been pressed forward beyond // the park position from state 0) int lbState = 0; // Time since last lbState transition. Some of the states are time- // sensitive. In the "uncocked" state, we'll return to state 0 if // we remain in this state for more than a few milliseconds, since // it indicates that the plunger is being slowly returned to rest // rather than released. In the "launching" state, we need to release // the Launch Ball button after a moment, and we need to wait for // the plunger to come to rest before returning to state 0. Timer lbTimer; lbTimer.start(); // Launch Ball simulated push timer. We start this when we simulate // the button push, and turn off the simulated button when enough time // has elapsed. Timer lbBtnTimer; // Simulated button states. This is a vector of button states // for the simulated buttons. We combine this with the physical // button states on each USB joystick report, so we will report // a button as pressed if either the physical button is being pressed // or we're simulating a press on the button. This is used for the // simulated Launch Ball button. uint32_t simButtons = 0; // Firing in progress: we set this when we detect the start of rapid // plunger movement from a retracted position towards the rest position. // // When we detect a firing event, we send VP a series of synthetic // reports simulating the idealized plunger motion. The actual physical // motion is much too fast to report to VP; in the time between two USB // reports, the plunger can shoot all the way forward, rebound off of // the barrel spring, bounce back part way, and bounce forward again, // or even do all of this more than once. This means that sampling the // physical motion at the USB report rate would create a misleading // picture of the plunger motion, since our samples would catch the // plunger at random points in this oscillating motion. From the // user's perspective, the physical action that occurred is simply that // the plunger was released from a particular distance, so it's this // high-level event that we want to convey to VP. To do this, we // synthesize a series of reports to convey an idealized version of // the release motion that's perfectly synchronized to the VP reports. // Essentially we pretend that our USB position samples are exactly // aligned in time with (1) the point of retraction just before the // user released the plunger, (2) the point of maximum forward motion // just after the user released the plunger (the point of maximum // compression as the plunger bounces off of the barrel spring), and // (3) the plunger coming to rest at the park position. This series // of reports is synthetic in the sense that it's not what we actually // see on the CCD at the times of these reports - the true plunger // position is oscillating at high speed during this period. But at // the same time it conveys a more faithful picture of the true physical // motion to VP, and allows VP to reproduce the true physical motion // more faithfully in its simulation model, by correcting for the // relatively low sampling rate in the communication path between the // real plunger and VP's model plunger. // // If 'firing' is non-zero, it's the index of our current report in // the synthetic firing report series. int firing = 0; // start the first CCD integration cycle plungerSensor.init(); // Device status. We report this on each update so that the host config // tool can detect our current settings. This is a bit mask consisting // of these bits: // 0x01 -> plunger sensor enabled uint16_t statusFlags = (cfg.d.plungerEnabled ? 0x01 : 0x00); // we're all set up - now just loop, processing sensor reports and // host requests for (;;) { // Look for an incoming report. Process a few input reports in // a row, but stop after a few so that a barrage of inputs won't // starve our output event processing. Also, pause briefly between // reads; allowing reads to occur back-to-back seems to occasionally // stall the USB pipeline (for reasons unknown; I'd fix the underlying // problem if I knew what it was). HID_REPORT report; for (int rr = 0 ; rr < 4 && js.readNB(&report) ; ++rr, wait_ms(1)) { // all Led-Wiz reports are 8 bytes exactly if (report.length == 8) { uint8_t *data = report.data; if (data[0] == 64) { // LWZ-SBA - first four bytes are bit-packed on/off flags // for the outputs; 5th byte is the pulse speed (0-7) //printf("LWZ-SBA %02x %02x %02x %02x ; %02x\r\n", // data[1], data[2], data[3], data[4], data[5]); // update all on/off states for (int i = 0, bit = 1, ri = 1 ; i < 32 ; ++i, bit <<= 1) { if (bit == 0x100) { bit = 1; ++ri; } wizOn[i] = ((data[ri] & bit) != 0); } // update the physical outputs updateWizOuts(); // reset the PBA counter pbaIdx = 0; } else if (data[0] == 65) { // Private control message. This isn't an LedWiz message - it's // an extension for this device. 65 is an invalid PBA setting, // and isn't used for any other LedWiz message, so we appropriate // it for our own private use. The first byte specifies the // message type. if (data[1] == 1) { // 1 = Set Configuration: // data[2] = LedWiz unit number (0x00 to 0x0f) // data[3] = feature enable bit mask: // 0x01 = enable plunger sensor // we'll need a reset if the LedWiz unit number is changing uint8_t newUnitNo = data[2] & 0x0f; needReset |= (newUnitNo != cfg.d.ledWizUnitNo); // set the configuration parameters from the message cfg.d.ledWizUnitNo = newUnitNo; cfg.d.plungerEnabled = data[3] & 0x01; // update the status flags statusFlags = (statusFlags & ~0x01) | (data[3] & 0x01); // if the ccd is no longer enabled, use 0 for z reports if (!cfg.d.plungerEnabled) z = 0; // save the configuration cfg.save(iap, flash_addr); } #ifdef ENABLE_JOYSTICK else if (data[1] == 2) { // 2 = Calibrate plunger // (No parameters) // enter calibration mode calBtnState = 3; calBtnTimer.reset(); cfg.resetPlunger(); } else if (data[1] == 3) { // 3 = pixel dump // (No parameters) reportPix = true; // show purple until we finish sending the report ledR = 0; ledB = 0; ledG = 1; } #endif // ENABLE_JOYSTICK } else { // LWZ-PBA - full state dump; each byte is one output // in the current bank. pbaIdx keeps track of the bank; // this is incremented implicitly by each PBA message. //printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n", // pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); // update all output profile settings for (int i = 0 ; i < 8 ; ++i) wizVal[pbaIdx + i] = data[i]; // update the physical LED state if this is the last bank if (pbaIdx == 24) { updateWizOuts(); pbaIdx = 0; } else pbaIdx += 8; } } } // check for plunger calibration if (calBtn != 0 && !calBtn->read()) { // check the state switch (calBtnState) { case 0: // button not yet pushed - start debouncing calBtnTimer.reset(); calBtnState = 1; break; case 1: // pushed, not yet debounced - if the debounce time has // passed, start the hold period if (calBtnTimer.read_ms() > 50) calBtnState = 2; break; case 2: // in the hold period - if the button has been held down // for the entire hold period, move to calibration mode if (calBtnTimer.read_ms() > 2050) { // enter calibration mode calBtnState = 3; calBtnTimer.reset(); cfg.resetPlunger(); } break; case 3: // Already in calibration mode - pushing the button here // doesn't change the current state, but we won't leave this // state as long as it's held down. So nothing changes here. break; } } else { // Button released. If we're in calibration mode, and // the calibration time has elapsed, end the calibration // and save the results to flash. // // Otherwise, return to the base state without saving anything. // If the button is released before we make it to calibration // mode, it simply cancels the attempt. if (calBtnState == 3 && calBtnTimer.read_ms() > 15000) { // exit calibration mode calBtnState = 0; // save the updated configuration cfg.d.plungerCal = 1; cfg.save(iap, flash_addr); // the flash state is now valid flash_valid = true; } else if (calBtnState != 3) { // didn't make it to calibration mode - cancel the operation calBtnState = 0; } } // light/flash the calibration button light, if applicable int newCalBtnLit = calBtnLit; switch (calBtnState) { case 2: // in the hold period - flash the light newCalBtnLit = ((calBtnTimer.read_ms()/250) & 1); break; case 3: // calibration mode - show steady on newCalBtnLit = true; break; default: // not calibrating/holding - show steady off newCalBtnLit = false; break; } // light or flash the external calibration button LED, and // do the same with the on-board blue LED if (calBtnLit != newCalBtnLit) { calBtnLit = newCalBtnLit; if (calBtnLit) { if (calBtnLed != 0) calBtnLed->write(1); ledR = 1; ledG = 1; ledB = 0; } else { if (calBtnLed != 0) calBtnLed->write(0); ledR = 1; ledG = 1; ledB = 1; } } // If the plunger is enabled, and we're not already in a firing event, // and the last plunger reading had the plunger pulled back at least // a bit, watch for plunger release events until it's time for our next // USB report. if (!firing && cfg.d.plungerEnabled && z >= JOYMAX/6) { // monitor the plunger until it's time for our next report while (reportTimer.read_ms() < 15) { // do a fast low-res scan; if it's at or past the zero point, // start a firing event if (plungerSensor.lowResScan() <= cfg.d.plungerZero) firing = 1; } } // read the plunger sensor, if it's enabled if (cfg.d.plungerEnabled) { // start with the previous reading, in case we don't have a // clear result on this frame int znew = z; if (plungerSensor.highResScan(pos)) { // We got a new reading. If we're in calibration mode, use it // to figure the new calibration, otherwise adjust the new reading // for the established calibration. if (calBtnState == 3) { // Calibration mode. If this reading is outside of the current // calibration bounds, expand the bounds. if (pos < cfg.d.plungerMin) cfg.d.plungerMin = pos; if (pos < cfg.d.plungerZero) cfg.d.plungerZero = pos; if (pos > cfg.d.plungerMax) cfg.d.plungerMax = pos; // normalize to the full physical range while calibrating znew = int(round(float(pos)/npix * JOYMAX)); } else { // Not in calibration mode, so normalize the new reading to the // established calibration range. // // Note that negative values are allowed. Zero represents the // "park" position, where the plunger sits when at rest. A mechanical // plunger has a small amount of travel in the "push" direction, // since the barrel spring can be compressed slightly. Negative // values represent travel in the push direction. if (pos > cfg.d.plungerMax) pos = cfg.d.plungerMax; znew = int(round(float(pos - cfg.d.plungerZero) / (cfg.d.plungerMax - cfg.d.plungerZero + 1) * JOYMAX)); } } // If we're not already in a firing event, check to see if the // new position is forward of the last report. If it is, a firing // event might have started during the high-res scan. This might // seem unlikely given that the scan only takes about 5ms, but that // 5ms represents about 25-30% of our total time between reports, // there's about a 1 in 4 chance that a release starts during a // scan. if (!firing && z0 > 0 && znew < z0) { // The plunger has moved forward since the previous report. // Watch it for a few more ms to see if we can get a stable // new position. int pos0 = plungerSensor.lowResScan(); int pos1 = pos0; Timer tw; tw.start(); while (tw.read_ms() < 6) { // read the new position int pos2 = plungerSensor.lowResScan(); // If it's stable over consecutive readings, stop looping. // (Count it as stable if the position is within about 1/8". // pos1 and pos2 are reported in pixels, so they range from // 0 to npix. The overall travel of a standard plunger is // about 3.2", so we have (npix/3.2) pixels per inch, hence // 1/8" is (npix/3.2)*(1/8) pixels.) if (abs(pos2 - pos1) < int(npix/(3.2*8))) break; // If we've crossed the rest position, and we've moved by // a minimum distance from where we starting this loop, begin // a firing event. (We require a minimum distance to prevent // spurious firing from random analog noise in the readings // when the plunger is actually just sitting still at the // rest position. If it's at rest, it's normal to see small // random fluctuations in the analog reading +/- 1% or so // from the 0 point, especially with a sensor like a // potentionemeter that reports the position as a single // analog voltage.) Note that we compare the latest reading // to the first reading of the loop - we don't require the // threshold motion over consecutive readings, but any time // over the stability wait loop. if (pos1 < cfg.d.plungerZero && abs(pos2 - pos0) > int(npix/(3.2*8))) { firing = 1; break; } // the new reading is now the prior reading pos1 = pos2; } } // Check for a simulated Launch Ball button press, if enabled if (ZBLaunchBallPort != 0) { const int cockThreshold = JOYMAX/3; const int pushThreshold = int(-JOYMAX/3 * LaunchBallPushDistance); int newState = lbState; switch (lbState) { case 0: // Base state. If the plunger is pulled back by an inch // or more, go to "cocked" state. If the plunger is pushed // forward by 1/4" or more, go to "pressed" state. if (znew >= cockThreshold) newState = 1; else if (znew <= pushThreshold) newState = 5; break; case 1: // Cocked state. If a firing event is now in progress, // go to "launch" state. Otherwise, if the plunger is less // than 1" retracted, go to "uncocked" state - the player // might be slowly returning the plunger to rest so as not // to trigger a launch. if (firing || znew <= 0) newState = 3; else if (znew < cockThreshold) newState = 2; break; case 2: // Uncocked state. If the plunger is more than an inch // retracted, return to cocked state. If we've been in // the uncocked state for more than half a second, return // to the base state. This allows the user to return the // plunger to rest without triggering a launch, by moving // it at manual speed to the rest position rather than // releasing it. if (znew >= cockThreshold) newState = 1; else if (lbTimer.read_ms() > 500) newState = 0; break; case 3: // Launch state. If the plunger is no longer pushed // forward, switch to launch rest state. if (znew >= 0) newState = 4; break; case 4: // Launch rest state. If the plunger is pushed forward // again, switch back to launch state. If not, and we've // been in this state for at least 200ms, return to the // default state. if (znew <= pushThreshold) newState = 3; else if (lbTimer.read_ms() > 200) newState = 0; break; case 5: // Press-and-Hold state. If the plunger is no longer pushed // forward, AND it's been at least 50ms since we generated // the simulated Launch Ball button press, return to the base // state. The minimum time is to ensure that VP has a chance // to see the button press and to avoid transient key bounce // effects when the plunger position is right on the threshold. if (znew > pushThreshold && lbTimer.read_ms() > 50) newState = 0; break; } // change states if desired const uint32_t lbButtonBit = (1 << (LaunchBallButton - 1)); if (newState != lbState) { // If we're entering Launch state OR we're entering the // Press-and-Hold state, AND the ZB Launch Ball LedWiz signal // is turned on, simulate a Launch Ball button press. if (((newState == 3 && lbState != 4) || newState == 5) && wizOn[ZBLaunchBallPort-1]) { lbBtnTimer.reset(); lbBtnTimer.start(); simButtons |= lbButtonBit; } // if we're switching to state 0, release the button if (newState == 0) simButtons &= ~(1 << (LaunchBallButton - 1)); // switch to the new state lbState = newState; // start timing in the new state lbTimer.reset(); } // If the Launch Ball button press is in effect, but the // ZB Launch Ball LedWiz signal is no longer turned on, turn // off the button. // // If we're in one of the Launch states (state #3 or #4), // and the button has been on for long enough, turn it off. // The Launch mode is triggered by a pull-and-release gesture. // From the user's perspective, this is just a single gesture // that should trigger just one momentary press on the Launch // Ball button. Physically, though, the plunger usually // bounces back and forth for 500ms or so before coming to // rest after this gesture. That's what the whole state // #3-#4 business is all about - we stay in this pair of // states until the plunger comes to rest. As long as we're // in these states, we won't send duplicate button presses. // But we also don't want the one button press to continue // the whole time, so we'll time it out now. // // (This could be written as one big 'if' condition, but // I'm breaking it out verbosely like this to make it easier // for human readers such as myself to comprehend the logic.) if ((simButtons & lbButtonBit) != 0) { int turnOff = false; // turn it off if the ZB Launch Ball signal is off if (!wizOn[ZBLaunchBallPort-1]) turnOff = true; // also turn it off if we're in state 3 or 4 ("Launch"), // and the button has been on long enough if ((lbState == 3 || lbState == 4) && lbBtnTimer.read_ms() > 250) turnOff = true; // if we decided to turn off the button, do so if (turnOff) { lbBtnTimer.stop(); simButtons &= ~lbButtonBit; } } } // If a firing event is in progress, generate synthetic reports to // describe an idealized version of the plunger motion to VP rather // than reporting the actual physical plunger position. // // We use the synthetic reports during a release event because the // physical plunger motion when released is too fast for VP to track. // VP only syncs its internal physics model with the outside world // about every 10ms. In that amount of time, the plunger moves // fast enough when released that it can shoot all the way forward, // bounce off of the barrel spring, and rebound part of the way // back. The result is the classic analog-to-digital problem of // sample aliasing. If we happen to time our sample during the // release motion so that we catch the plunger at the peak of a // bounce, the digital signal incorrectly looks like the plunger // is moving slowly forward - VP thinks we went from fully // retracted to half retracted in the sample interval, whereas // we actually traveled all the way forward and half way back, // so the speed VP infers is about 1/3 of the actual speed. // // To correct this, we take advantage of our ability to sample // the CCD image several times in the course of a VP report. If // we catch the plunger near the origin after we've seen it // retracted, we go into Release Event mode. During this mode, // we stop reporting the true physical plunger position, and // instead report an idealized pattern: we report the plunger // immediately shooting forward to a position in front of the // park position that's in proportion to how far back the plunger // was just before the release, and we then report it stationary // at the park position. We continue to report the stationary // park position until the actual physical plunger motion has // stabilized on a new position. We then exit Release Event // mode and return to reporting the true physical position. if (firing) { // Firing in progress. Keep reporting the park position // until the physical plunger position comes to rest. const int restTol = JOYMAX/24; if (firing == 1) { // For the first couple of frames, show the plunger shooting // forward past the zero point, to simulate the momentum carrying // it forward to bounce off of the barrel spring. Show the // bounce as proportional to the distance it was retracted // in the prior report. z = zBounce = -z0/6; ++firing; } else if (firing == 2) { // second frame - keep the bounce a little longer z = zBounce; ++firing; } else if (firing > 4 && abs(znew - z0) < restTol && abs(znew - z1) < restTol && abs(znew - z2) < restTol) { // The physical plunger has come to rest. Exit firing // mode and resume reporting the actual position. firing = false; z = znew; } else { // until the physical plunger comes to rest, simply // report the park position z = 0; ++firing; } } else { // not in firing mode - report the true physical position z = znew; } // shift the new reading into the recent history buffer z2 = z1; z1 = z0; z0 = znew; } // update the buttons uint32_t buttons = readButtons(); #ifdef ENABLE_JOYSTICK // If it's been long enough since our last USB status report, // send the new report. We throttle the report rate because // it can overwhelm the PC side if we report too frequently. // VP only wants to sync with the real world in 10ms intervals, // so reporting more frequently only creates i/o overhead // without doing anything to improve the simulation. if (reportTimer.read_ms() > 15) { // read the accelerometer int xa, ya; accel.get(xa, ya); // confine the results to our joystick axis range if (xa < -JOYMAX) xa = -JOYMAX; if (xa > JOYMAX) xa = JOYMAX; if (ya < -JOYMAX) ya = -JOYMAX; if (ya > JOYMAX) ya = JOYMAX; // store the updated accelerometer coordinates x = xa; y = ya; // Report the current plunger position UNLESS the ZB Launch Ball // signal is on, in which case just report a constant 0 value. // ZB Launch Ball turns off the plunger position because it // tells us that the table has a Launch Ball button instead of // a traditional plunger. int zrep = (ZBLaunchBallPort != 0 && wizOn[ZBLaunchBallPort-1] ? 0 : z); // Send the status report. Note that we have to map the X and Y // axes from the accelerometer to match the Windows joystick axes. // The mapping is determined according to the mounting direction // set in config.h via the ORIENTATION_xxx macros. js.update(JOY_X(x,y), JOY_Y(x,y), zrep, buttons | simButtons, statusFlags); // we've just started a new report interval, so reset the timer reportTimer.reset(); } // If we're in pixel dump mode, report all pixel exposure values if (reportPix) { // send the report plungerSensor.sendExposureReport(js); // we have satisfied this request reportPix = false; } #else // ENABLE_JOYSTICK // We're a secondary controller, with no joystick reporting. Send // a generic status report to the host periodically for the sake of // the Windows config tool. if (reportTimer.read_ms() > 200) { js.updateStatus(0); } #endif // ENABLE_JOYSTICK #ifdef DEBUG_PRINTF if (x != 0 || y != 0) printf("%d,%d\r\n", x, y); #endif // provide a visual status indication on the on-board LED if (calBtnState < 2 && hbTimer.read_ms() > 1000) { if (js.isSuspended() || !js.isConnected()) { // suspended - turn off the LED ledR = 1; ledG = 1; ledB = 1; // show a status flash every so often if (hbcnt % 3 == 0) { // disconnected = red/red flash; suspended = red for (int n = js.isConnected() ? 1 : 2 ; n > 0 ; --n) { ledR = 0; wait(0.05); ledR = 1; wait(0.25); } } } else if (needReset) { // connected, need to reset due to changes in config parameters - // flash red/green hb = !hb; ledR = (hb ? 0 : 1); ledG = (hb ? 1 : 0); ledB = 0; } else if (cfg.d.plungerEnabled && !cfg.d.plungerCal) { // connected, plunger calibration needed - flash yellow/green hb = !hb; ledR = (hb ? 0 : 1); ledG = 0; ledB = 1; } else { // connected - flash blue/green hb = !hb; ledR = 1; ledG = (hb ? 0 : 1); ledB = (hb ? 1 : 0); } // reset the heartbeat timer hbTimer.reset(); ++hbcnt; } } }