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@35:e959ffba78fd, 2015-12-19 (annotated)

Committer:: mjr
Date:: Sat Dec 19 06:37:19 2015 +0000
Revision:: 35:e959ffba78fd
Parent:: 34:6b981a2afab7
Child:: 36:b9747461331e

Keyboard/Media Control interface working, but the extra interface confuses the DOF connector.

Who changed what in which revision?

User	Revision	Line number	New contents of line
mjr	35:e959ffba78fd	1	/* Copyright 2014, 2015 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	35:e959ffba78fd	20	// The Pinscape Controller
mjr	35:e959ffba78fd	21	// A comprehensive input/output controller for virtual pinball machines
mjr	5:a70c0bce770d	22	//
mjr	35:e959ffba78fd	23	// This project implements an I/O controller designed for use in custom-built virtual
mjr	35:e959ffba78fd	24	// pinball cabinets. It can handle nearly all of the functions involved in connecting
mjr	35:e959ffba78fd	25	// pinball simulation software on a Windows PC with devices in the cabinet, including
mjr	35:e959ffba78fd	26	// input devices such as buttons and sensors, and output devices that generate visual
mjr	35:e959ffba78fd	27	// or mechanical feedback during play, like lights, solenoids, and shaker motors.
mjr	35:e959ffba78fd	28	// You can use one, some, or all of the functions, in any combination. You can select
mjr	35:e959ffba78fd	29	// options and configure the controller using a setup tool that runs on Windows.
mjr	5:a70c0bce770d	30	//
mjr	35:e959ffba78fd	31	// The main functions are:
mjr	5:a70c0bce770d	32	//
mjr	35:e959ffba78fd	33	// - Nudge sensing, via the KL25Z's on-board accelerometer. Nudging the cabinet
mjr	17:ab3cec0c8bf4	34	// causes small accelerations that the accelerometer can detect; these are sent to
mjr	35:e959ffba78fd	35	// Visual Pinball (or other pinball emulator software) on the PC via the joystick
mjr	35:e959ffba78fd	36	// interface, using the X and Y axes. VP and most other PC pinball emulators have
mjr	35:e959ffba78fd	37	// native handling for this type of nudge input, so all you have to do is set some
mjr	35:e959ffba78fd	38	// preferences in VP to let it know that an accelerometer is attached.
mjr	5:a70c0bce770d	39	//
mjr	35:e959ffba78fd	40	// - Plunger position sensing, via a number of sensor options. To use this feature,
mjr	35:e959ffba78fd	41	// you need to choose a sensor and set it up, connect the sensor electrically to
mjr	35:e959ffba78fd	42	// the KL25Z, and configure the Pinscape software on the KL25Z to let it know how
mjr	35:e959ffba78fd	43	// the sensor is hooked up. The Pinscape software monitors the sensor and sends
mjr	35:e959ffba78fd	44	// readings to Visual Pinball via the joystick Z axis. VP and other PC software
mjr	35:e959ffba78fd	45	// has native support for this type of input as well; as with the nudge setup,
mjr	35:e959ffba78fd	46	// you just have to set some options in VP to activate the plunger.
mjr	17:ab3cec0c8bf4	47	//
mjr	35:e959ffba78fd	48	// The Pinscape software supports optical sensors (the TAOS TSL1410R and TSL1412R
mjr	35:e959ffba78fd	49	// linear sensor arrays) as well as slide potentiometers. The specific equipment
mjr	35:e959ffba78fd	50	// that's supported, along with physical mounting and wiring details, can be found
mjr	35:e959ffba78fd	51	// in the Build Guide.
mjr	35:e959ffba78fd	52	//
mjr	35:e959ffba78fd	53	// Note that while VP has its own built-in support for plunger devices like this
mjr	35:e959ffba78fd	54	// one, many existing VP tables will ignore it, because they use custom scripting
mjr	35:e959ffba78fd	55	// that's only designed for keyboard plunger input. The Build Guide has advice on
mjr	35:e959ffba78fd	56	// adjusting tables to add plunger support when necessary.
mjr	5:a70c0bce770d	57	//
mjr	6:cc35eb643e8f	58	// For best results, the plunger sensor should be calibrated. The calibration
mjr	6:cc35eb643e8f	59	// is stored in non-volatile memory on board the KL25Z, so it's only necessary
mjr	6:cc35eb643e8f	60	// to do the calibration once, when you first install everything. (You might
mjr	6:cc35eb643e8f	61	// also want to re-calibrate if you physically remove and reinstall the CCD
mjr	17:ab3cec0c8bf4	62	// sensor or the mechanical plunger, since their alignment shift change slightly
mjr	17:ab3cec0c8bf4	63	// when you put everything back together.) You can optionally install a
mjr	17:ab3cec0c8bf4	64	// dedicated momentary switch or pushbutton to activate the calibration mode;
mjr	17:ab3cec0c8bf4	65	// this is describe in the project documentation. If you don't want to bother
mjr	17:ab3cec0c8bf4	66	// with the extra button, you can also trigger calibration using the Windows
mjr	17:ab3cec0c8bf4	67	// setup software, which you can find on the Pinscape project page.
mjr	6:cc35eb643e8f	68	//
mjr	17:ab3cec0c8bf4	69	// The calibration procedure is described in the project documentation. Briefly,
mjr	17:ab3cec0c8bf4	70	// when you trigger calibration mode, the software will scan the CCD for about
mjr	17:ab3cec0c8bf4	71	// 15 seconds, during which you should simply pull the physical plunger back
mjr	17:ab3cec0c8bf4	72	// all the way, hold it for a moment, and then slowly return it to the rest
mjr	17:ab3cec0c8bf4	73	// position. (DON'T just release it from the retracted position, since that
mjr	17:ab3cec0c8bf4	74	// let it shoot forward too far. We want to measure the range from the park
mjr	17:ab3cec0c8bf4	75	// position to the fully retracted position only.)
mjr	5:a70c0bce770d	76	//
mjr	13:72dda449c3c0	77	// - Button input wiring. 24 of the KL25Z's GPIO ports are mapped as digital inputs
mjr	13:72dda449c3c0	78	// for buttons and switches. The software reports these as joystick buttons when
mjr	13:72dda449c3c0	79	// it sends reports to the PC. These can be used to wire physical pinball-style
mjr	13:72dda449c3c0	80	// buttons in the cabinet (e.g., flipper buttons, the Start button) and miscellaneous
mjr	13:72dda449c3c0	81	// switches (such as a tilt bob) to the PC. Visual Pinball can use joystick buttons
mjr	13:72dda449c3c0	82	// for input - you just have to assign a VP function to each button using VP's
mjr	13:72dda449c3c0	83	// keyboard options dialog. To wire a button physically, connect one terminal of
mjr	13:72dda449c3c0	84	// the button switch to the KL25Z ground, and connect the other terminal to the
mjr	35:e959ffba78fd	85	// the GPIO port you wish to assign to the button.
mjr	13:72dda449c3c0	86	//
mjr	5:a70c0bce770d	87	// - LedWiz emulation. The KL25Z can appear to the PC as an LedWiz device, and will
mjr	5:a70c0bce770d	88	// accept and process LedWiz commands from the host. The software can turn digital
mjr	5:a70c0bce770d	89	// output ports on and off, and can set varying PWM intensitiy levels on a subset
mjr	5:a70c0bce770d	90	// of ports. (The KL25Z can only provide 6 PWM ports. Intensity level settings on
mjr	5:a70c0bce770d	91	// other ports is ignored, so non-PWM ports can only be used for simple on/off
mjr	5:a70c0bce770d	92	// devices such as contactors and solenoids.) The KL25Z can only supply 4mA on its
mjr	5:a70c0bce770d	93	// output ports, so external hardware is required to take advantage of the LedWiz
mjr	5:a70c0bce770d	94	// emulation. Many different hardware designs are possible, but there's a simple
mjr	5:a70c0bce770d	95	// reference design in the documentation that uses a Darlington array IC to
mjr	5:a70c0bce770d	96	// increase the output from each port to 500mA (the same level as the LedWiz),
mjr	5:a70c0bce770d	97	// plus an extended design that adds an optocoupler and MOSFET to provide very
mjr	5:a70c0bce770d	98	// high power handling, up to about 45A or 150W, with voltages up to 100V.
mjr	5:a70c0bce770d	99	// That will handle just about any DC device directly (wtihout relays or other
mjr	5:a70c0bce770d	100	// amplifiers), and switches fast enough to support PWM devices.
mjr	5:a70c0bce770d	101	//
mjr	5:a70c0bce770d	102	// The device can report any desired LedWiz unit number to the host, which makes
mjr	5:a70c0bce770d	103	// it possible to use the LedWiz emulation on a machine that also has one or more
mjr	5:a70c0bce770d	104	// actual LedWiz devices intalled. The LedWiz design allows for up to 16 units
mjr	5:a70c0bce770d	105	// to be installed in one machine - each one is invidually addressable by its
mjr	5:a70c0bce770d	106	// distinct unit number.
mjr	5:a70c0bce770d	107	//
mjr	5:a70c0bce770d	108	// The LedWiz emulation features are of course optional. There's no need to
mjr	5:a70c0bce770d	109	// build any of the external port hardware (or attach anything to the output
mjr	5:a70c0bce770d	110	// ports at all) if the LedWiz features aren't needed. Most people won't have
mjr	5:a70c0bce770d	111	// any use for the LedWiz features. I built them mostly as a learning exercise,
mjr	5:a70c0bce770d	112	// but with a slight practical need for a handful of extra ports (I'm using the
mjr	5:a70c0bce770d	113	// cutting-edge 10-contactor setup, so my real LedWiz is full!).
mjr	6:cc35eb643e8f	114	//
mjr	26:cb71c4af2912	115	// - Enhanced LedWiz emulation with TLC5940 PWM controller chips. You can attach
mjr	26:cb71c4af2912	116	// external PWM controller chips for controlling device outputs, instead of using
mjr	26:cb71c4af2912	117	// the limited LedWiz emulation through the on-board GPIO ports as described above.
mjr	26:cb71c4af2912	118	// The software can control a set of daisy-chained TLC5940 chips, which provide
mjr	26:cb71c4af2912	119	// 16 PWM outputs per chip. Two of these chips give you the full complement
mjr	26:cb71c4af2912	120	// of 32 output ports of an actual LedWiz, and four give you 64 ports, which
mjr	33:d832bcab089e	121	// should be plenty for nearly any virtual pinball project. A private, extended
mjr	33:d832bcab089e	122	// version of the LedWiz protocol lets the host control the extra outputs, up to
mjr	33:d832bcab089e	123	// 128 outputs per KL25Z (8 TLC5940s). To take advantage of the extra outputs
mjr	33:d832bcab089e	124	// on the PC side, you need software that knows about the protocol extensions,
mjr	33:d832bcab089e	125	// which means you need the latest version of DirectOutput Framework (DOF). VP
mjr	33:d832bcab089e	126	// uses DOF for its output, so VP will be able to use the added ports without any
mjr	33:d832bcab089e	127	// extra work on your part. Older software (e.g., Future Pinball) that doesn't
mjr	33:d832bcab089e	128	// use DOF will still be able to use the LedWiz-compatible protocol, so it'll be
mjr	33:d832bcab089e	129	// able to control your first 32 ports (numbered 1-32 in the LedWiz scheme), but
mjr	33:d832bcab089e	130	// older software won't be able to address higher-numbered ports. That shouldn't
mjr	33:d832bcab089e	131	// be a problem because older software wouldn't know what to do with the extra
mjr	33:d832bcab089e	132	// devices anyway - FP, for example, is limited to a pre-defined set of outputs.
mjr	33:d832bcab089e	133	// As long as you put the most common devices on the first 32 outputs, and use
mjr	33:d832bcab089e	134	// higher numbered ports for the less common devices that older software can't
mjr	33:d832bcab089e	135	// use anyway, you'll get maximum functionality out of software new and old.
mjr	26:cb71c4af2912	136	//
mjr	35:e959ffba78fd	137	//
mjr	35:e959ffba78fd	138	//
mjr	33:d832bcab089e	139	// STATUS LIGHTS: The on-board LED on the KL25Z flashes to indicate the current
mjr	33:d832bcab089e	140	// device status. The flash patterns are:
mjr	6:cc35eb643e8f	141	//
mjr	6:cc35eb643e8f	142	// two short red flashes = the device is powered but hasn't successfully
mjr	6:cc35eb643e8f	143	// connected to the host via USB (either it's not physically connected
mjr	6:cc35eb643e8f	144	// to the USB port, or there was a problem with the software handshake
mjr	6:cc35eb643e8f	145	// with the USB device driver on the computer)
mjr	6:cc35eb643e8f	146	//
mjr	6:cc35eb643e8f	147	// short red flash = the host computer is in sleep/suspend mode
mjr	6:cc35eb643e8f	148	//
mjr	6:cc35eb643e8f	149	// long yellow/green = everything's working, but the plunger hasn't
mjr	6:cc35eb643e8f	150	// been calibrated; follow the calibration procedure described above.
mjr	6:cc35eb643e8f	151	// This flash mode won't appear if the CCD has been disabled. Note
mjr	18:5e890ebd0023	152	// that the device can't tell whether a CCD is physically attached;
mjr	18:5e890ebd0023	153	// if you don't have a CCD attached, you can set the appropriate option
mjr	18:5e890ebd0023	154	// in config.h or use the Windows config tool to disable the CCD
mjr	18:5e890ebd0023	155	// software features.
mjr	6:cc35eb643e8f	156	//
mjr	35:e959ffba78fd	157	// alternating blue/green = everything's working, and the plunger has
mjr	35:e959ffba78fd	158	// been calibrated
mjr	10:976666ffa4ef	159	//
mjr	10:976666ffa4ef	160	//
mjr	35:e959ffba78fd	161	// USB PROTOCOL: please refer to USBProtocol.h for details on the USB
mjr	35:e959ffba78fd	162	// message protocol.
mjr	33:d832bcab089e	163
mjr	33:d832bcab089e	164
mjr	0:5acbbe3f4cf4	165	#include "mbed.h"
mjr	6:cc35eb643e8f	166	#include "math.h"
mjr	0:5acbbe3f4cf4	167	#include "USBJoystick.h"
mjr	0:5acbbe3f4cf4	168	#include "MMA8451Q.h"
mjr	1:d913e0afb2ac	169	#include "tsl1410r.h"
mjr	1:d913e0afb2ac	170	#include "FreescaleIAP.h"
mjr	2:c174f9ee414a	171	#include "crc32.h"
mjr	26:cb71c4af2912	172	#include "TLC5940.h"
mjr	34:6b981a2afab7	173	#include "74HC595.h"
mjr	35:e959ffba78fd	174	#include "nvm.h"
mjr	35:e959ffba78fd	175	#include "plunger.h"
mjr	35:e959ffba78fd	176	#include "ccdSensor.h"
mjr	35:e959ffba78fd	177	#include "potSensor.h"
mjr	35:e959ffba78fd	178	#include "nullSensor.h"
mjr	2:c174f9ee414a	179
mjr	21:5048e16cc9ef	180	#define DECL_EXTERNS
mjr	17:ab3cec0c8bf4	181	#include "config.h"
mjr	17:ab3cec0c8bf4	182
mjr	5:a70c0bce770d	183
mjr	5:a70c0bce770d	184	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	185	// utilities
mjr	17:ab3cec0c8bf4	186
mjr	17:ab3cec0c8bf4	187	// number of elements in an array
mjr	17:ab3cec0c8bf4	188	#define countof(x) (sizeof(x)/sizeof((x)[0]))
mjr	17:ab3cec0c8bf4	189
mjr	26:cb71c4af2912	190	// floating point square of a number
mjr	26:cb71c4af2912	191	inline float square(float x) { return x*x; }
mjr	26:cb71c4af2912	192
mjr	26:cb71c4af2912	193	// floating point rounding
mjr	26:cb71c4af2912	194	inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); }
mjr	26:cb71c4af2912	195
mjr	17:ab3cec0c8bf4	196
mjr	33:d832bcab089e	197	// --------------------------------------------------------------------------
mjr	33:d832bcab089e	198	//
mjr	33:d832bcab089e	199	// USB product version number
mjr	5:a70c0bce770d	200	//
mjr	35:e959ffba78fd	201	const uint16_t USB_VERSION_NO = 0x0008;
mjr	33:d832bcab089e	202
mjr	33:d832bcab089e	203	// --------------------------------------------------------------------------
mjr	33:d832bcab089e	204	//
mjr	6:cc35eb643e8f	205	// Joystick axis report range - we report from -JOYMAX to +JOYMAX
mjr	33:d832bcab089e	206	//
mjr	6:cc35eb643e8f	207	#define JOYMAX 4096
mjr	6:cc35eb643e8f	208
mjr	9:fd65b0a94720	209
mjr	17:ab3cec0c8bf4	210	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	211	//
mjr	17:ab3cec0c8bf4	212	// On-board RGB LED elements - we use these for diagnostic displays.
mjr	17:ab3cec0c8bf4	213	//
mjr	26:cb71c4af2912	214	// Note that LED3 (the blue segment) is hard-wired on the KL25Z to PTD1,
mjr	26:cb71c4af2912	215	// so PTD1 shouldn't be used for any other purpose (e.g., as a keyboard
mjr	26:cb71c4af2912	216	// input or a device output). (This is kind of unfortunate in that it's
mjr	26:cb71c4af2912	217	// one of only two ports exposed on the jumper pins that can be muxed to
mjr	26:cb71c4af2912	218	// SPI0 SCLK. This effectively limits us to PTC5 if we want to use the
mjr	26:cb71c4af2912	219	// SPI capability.)
mjr	26:cb71c4af2912	220	//
mjr	17:ab3cec0c8bf4	221	DigitalOut ledR(LED1), ledG(LED2), ledB(LED3);
mjr	17:ab3cec0c8bf4	222
mjr	9:fd65b0a94720	223
mjr	9:fd65b0a94720	224	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	225	//
mjr	35:e959ffba78fd	226	// Wire protocol value translations. These translate byte values from
mjr	35:e959ffba78fd	227	// the USB protocol to local native format.
mjr	35:e959ffba78fd	228	//
mjr	35:e959ffba78fd	229
mjr	35:e959ffba78fd	230	// unsigned 16-bit integer
mjr	35:e959ffba78fd	231	inline uint16_t wireUI16(const uint8_t *b)
mjr	35:e959ffba78fd	232	{
mjr	35:e959ffba78fd	233	return b[0] \| ((uint16_t)b[1] << 8);
mjr	35:e959ffba78fd	234	}
mjr	35:e959ffba78fd	235
mjr	35:e959ffba78fd	236	inline int16_t wireI16(const uint8_t *b)
mjr	35:e959ffba78fd	237	{
mjr	35:e959ffba78fd	238	return (int16_t)wireUI16(b);
mjr	35:e959ffba78fd	239	}
mjr	35:e959ffba78fd	240
mjr	35:e959ffba78fd	241	inline uint32_t wireUI32(const uint8_t *b)
mjr	35:e959ffba78fd	242	{
mjr	35:e959ffba78fd	243	return b[0] \| ((uint32_t)b[1] << 8) \| ((uint32_t)b[2] << 16) \| ((uint32_t)b[3] << 24);
mjr	35:e959ffba78fd	244	}
mjr	35:e959ffba78fd	245
mjr	35:e959ffba78fd	246	inline int32_t wireI32(const uint8_t *b)
mjr	35:e959ffba78fd	247	{
mjr	35:e959ffba78fd	248	return (int32_t)wireUI32(b);
mjr	35:e959ffba78fd	249	}
mjr	35:e959ffba78fd	250
mjr	35:e959ffba78fd	251	inline PinName wirePinName(int c)
mjr	35:e959ffba78fd	252	{
mjr	35:e959ffba78fd	253	static const PinName p[] = {
mjr	35:e959ffba78fd	254	NC, PTA1, PTA2, PTA4, PTA5, PTA12, PTA13, PTA16, PTA17, PTB0, // 0-9
mjr	35:e959ffba78fd	255	PTB1, PTB2, PTB3, PTB8, PTB9, PTB10, PTB11, PTC0, PTC1, PTC2, // 10-19
mjr	35:e959ffba78fd	256	PTC3, PTC4, PTC5, PTC6, PTC7, PTC8, PTC9, PTC10, PTC11, PTC12, // 20-29
mjr	35:e959ffba78fd	257	PTC13, PTC16, PTC17, PTD0, PTD1, PTD2, PTD3, PTD4, PTD5, PTD6, // 30-39
mjr	35:e959ffba78fd	258	PTD7, PTE0, PTE1, PTE2, PTE3, PTE4, PTE5, PTE20, PTE21, PTE22, // 40-49
mjr	35:e959ffba78fd	259	PTE23, PTE29, PTE30, PTE31 // 50-53
mjr	35:e959ffba78fd	260	};
mjr	35:e959ffba78fd	261	return (c < countof(p) ? p[c] : NC);
mjr	35:e959ffba78fd	262	}
mjr	35:e959ffba78fd	263
mjr	35:e959ffba78fd	264
mjr	35:e959ffba78fd	265	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	266	//
mjr	29:582472d0bc57	267	// LedWiz emulation, and enhanced TLC5940 output controller
mjr	5:a70c0bce770d	268	//
mjr	26:cb71c4af2912	269	// There are two modes for this feature. The default mode uses the on-board
mjr	26:cb71c4af2912	270	// GPIO ports to implement device outputs - each LedWiz software port is
mjr	26:cb71c4af2912	271	// connected to a physical GPIO pin on the KL25Z. The KL25Z only has 10
mjr	26:cb71c4af2912	272	// PWM channels, so in this mode only 10 LedWiz ports will be dimmable; the
mjr	26:cb71c4af2912	273	// rest are strictly on/off. The KL25Z also has a limited number of GPIO
mjr	26:cb71c4af2912	274	// ports overall - not enough for the full complement of 32 LedWiz ports
mjr	26:cb71c4af2912	275	// and 24 VP joystick inputs, so it's necessary to trade one against the
mjr	26:cb71c4af2912	276	// other if both features are to be used.
mjr	26:cb71c4af2912	277	//
mjr	26:cb71c4af2912	278	// The alternative, enhanced mode uses external TLC5940 PWM controller
mjr	26:cb71c4af2912	279	// chips to control device outputs. In this mode, each LedWiz software
mjr	26:cb71c4af2912	280	// port is mapped to an output on one of the external TLC5940 chips.
mjr	26:cb71c4af2912	281	// Two 5940s is enough for the full set of 32 LedWiz ports, and we can
mjr	26:cb71c4af2912	282	// support even more chips for even more outputs (although doing so requires
mjr	26:cb71c4af2912	283	// breaking LedWiz compatibility, since the LedWiz USB protocol is hardwired
mjr	26:cb71c4af2912	284	// for 32 outputs). Every port in this mode has full PWM support.
mjr	26:cb71c4af2912	285	//
mjr	5:a70c0bce770d	286
mjr	29:582472d0bc57	287
mjr	26:cb71c4af2912	288	// Current starting output index for "PBA" messages from the PC (using
mjr	26:cb71c4af2912	289	// the LedWiz USB protocol). Each PBA message implicitly uses the
mjr	26:cb71c4af2912	290	// current index as the starting point for the ports referenced in
mjr	26:cb71c4af2912	291	// the message, and increases it (by 8) for the next call.
mjr	0:5acbbe3f4cf4	292	static int pbaIdx = 0;
mjr	0:5acbbe3f4cf4	293
mjr	26:cb71c4af2912	294	// Generic LedWiz output port interface. We create a cover class to
mjr	26:cb71c4af2912	295	// virtualize digital vs PWM outputs, and on-board KL25Z GPIO vs external
mjr	26:cb71c4af2912	296	// TLC5940 outputs, and give them all a common interface.
mjr	6:cc35eb643e8f	297	class LwOut
mjr	6:cc35eb643e8f	298	{
mjr	6:cc35eb643e8f	299	public:
mjr	26:cb71c4af2912	300	// Set the output intensity. 'val' is 0.0 for fully off, 1.0 for
mjr	26:cb71c4af2912	301	// fully on, and fractional values for intermediate intensities.
mjr	6:cc35eb643e8f	302	virtual void set(float val) = 0;
mjr	6:cc35eb643e8f	303	};
mjr	26:cb71c4af2912	304
mjr	35:e959ffba78fd	305	// LwOut class for virtual ports. This type of port is visible to
mjr	35:e959ffba78fd	306	// the host software, but isn't connected to any physical output.
mjr	35:e959ffba78fd	307	// This can be used for special software-only ports like the ZB
mjr	35:e959ffba78fd	308	// Launch Ball output, or simply for placeholders in the LedWiz port
mjr	35:e959ffba78fd	309	// numbering.
mjr	35:e959ffba78fd	310	class LwVirtualOut: public LwOut
mjr	33:d832bcab089e	311	{
mjr	33:d832bcab089e	312	public:
mjr	35:e959ffba78fd	313	LwVirtualOut() { }
mjr	33:d832bcab089e	314	virtual void set(float val) { }
mjr	33:d832bcab089e	315	};
mjr	26:cb71c4af2912	316
mjr	34:6b981a2afab7	317	// Active Low out. For any output marked as active low, we layer this
mjr	34:6b981a2afab7	318	// on top of the physical pin interface. This simply inverts the value of
mjr	34:6b981a2afab7	319	// the output value, so that 1.0 means fully off and 0.0 means fully on.
mjr	34:6b981a2afab7	320	class LwInvertedOut: public LwOut
mjr	34:6b981a2afab7	321	{
mjr	34:6b981a2afab7	322	public:
mjr	34:6b981a2afab7	323	LwInvertedOut(LwOut *o) : out(o) { }
mjr	34:6b981a2afab7	324	virtual void set(float val) { out->set(1.0 - val); }
mjr	34:6b981a2afab7	325
mjr	34:6b981a2afab7	326	private:
mjr	34:6b981a2afab7	327	LwOut *out;
mjr	34:6b981a2afab7	328	};
mjr	34:6b981a2afab7	329
mjr	26:cb71c4af2912	330
mjr	35:e959ffba78fd	331	//
mjr	35:e959ffba78fd	332	// The TLC5940 interface object. We'll set this up with the port
mjr	35:e959ffba78fd	333	// assignments set in config.h.
mjr	33:d832bcab089e	334	//
mjr	35:e959ffba78fd	335	TLC5940 *tlc5940 = 0;
mjr	35:e959ffba78fd	336	void init_tlc5940(Config &cfg)
mjr	35:e959ffba78fd	337	{
mjr	35:e959ffba78fd	338	if (cfg.tlc5940.nchips != 0)
mjr	35:e959ffba78fd	339	{
mjr	35:e959ffba78fd	340	tlc5940 = new TLC5940(cfg.tlc5940.sclk, cfg.tlc5940.sin, cfg.tlc5940.gsclk,
mjr	35:e959ffba78fd	341	cfg.tlc5940.blank, cfg.tlc5940.xlat, cfg.tlc5940.nchips);
mjr	35:e959ffba78fd	342	}
mjr	35:e959ffba78fd	343	}
mjr	26:cb71c4af2912	344
mjr	26:cb71c4af2912	345	// LwOut class for TLC5940 outputs. These are fully PWM capable.
mjr	26:cb71c4af2912	346	// The 'idx' value in the constructor is the output index in the
mjr	26:cb71c4af2912	347	// daisy-chained TLC5940 array. 0 is output #0 on the first chip,
mjr	26:cb71c4af2912	348	// 1 is #1 on the first chip, 15 is #15 on the first chip, 16 is
mjr	26:cb71c4af2912	349	// #0 on the second chip, 32 is #0 on the third chip, etc.
mjr	26:cb71c4af2912	350	class Lw5940Out: public LwOut
mjr	26:cb71c4af2912	351	{
mjr	26:cb71c4af2912	352	public:
mjr	26:cb71c4af2912	353	Lw5940Out(int idx) : idx(idx) { prv = -1; }
mjr	26:cb71c4af2912	354	virtual void set(float val)
mjr	26:cb71c4af2912	355	{
mjr	26:cb71c4af2912	356	if (val != prv)
mjr	35:e959ffba78fd	357	tlc5940->set(idx, (int)((prv = val) * 4095));
mjr	26:cb71c4af2912	358	}
mjr	26:cb71c4af2912	359	int idx;
mjr	26:cb71c4af2912	360	float prv;
mjr	26:cb71c4af2912	361	};
mjr	26:cb71c4af2912	362
mjr	33:d832bcab089e	363
mjr	34:6b981a2afab7	364	// 74HC595 interface object. Set this up with the port assignments in
mjr	34:6b981a2afab7	365	// config.h.
mjr	35:e959ffba78fd	366	HC595 *hc595 = 0;
mjr	35:e959ffba78fd	367
mjr	35:e959ffba78fd	368	// initialize the 74HC595 interface
mjr	35:e959ffba78fd	369	void init_hc595(Config &cfg)
mjr	35:e959ffba78fd	370	{
mjr	35:e959ffba78fd	371	if (cfg.hc595.nchips != 0)
mjr	35:e959ffba78fd	372	{
mjr	35:e959ffba78fd	373	hc595 = new HC595(cfg.hc595.nchips, cfg.hc595.sin, cfg.hc595.sclk, cfg.hc595.latch, cfg.hc595.ena);
mjr	35:e959ffba78fd	374	hc595->init();
mjr	35:e959ffba78fd	375	hc595->update();
mjr	35:e959ffba78fd	376	}
mjr	35:e959ffba78fd	377	}
mjr	34:6b981a2afab7	378
mjr	34:6b981a2afab7	379	// LwOut class for 74HC595 outputs. These are simple digial outs.
mjr	34:6b981a2afab7	380	// The 'idx' value in the constructor is the output index in the
mjr	34:6b981a2afab7	381	// daisy-chained 74HC595 array. 0 is output #0 on the first chip,
mjr	34:6b981a2afab7	382	// 1 is #1 on the first chip, 7 is #7 on the first chip, 8 is
mjr	34:6b981a2afab7	383	// #0 on the second chip, etc.
mjr	34:6b981a2afab7	384	class Lw595Out: public LwOut
mjr	33:d832bcab089e	385	{
mjr	33:d832bcab089e	386	public:
mjr	34:6b981a2afab7	387	Lw595Out(int idx) : idx(idx) { prv = -1; }
mjr	34:6b981a2afab7	388	virtual void set(float val)
mjr	34:6b981a2afab7	389	{
mjr	34:6b981a2afab7	390	if (val != prv)
mjr	35:e959ffba78fd	391	hc595->set(idx, (prv = val) == 0.0 ? 0 : 1);
mjr	34:6b981a2afab7	392	}
mjr	34:6b981a2afab7	393	int idx;
mjr	34:6b981a2afab7	394	float prv;
mjr	33:d832bcab089e	395	};
mjr	33:d832bcab089e	396
mjr	26:cb71c4af2912	397
mjr	26:cb71c4af2912	398	//
mjr	26:cb71c4af2912	399	// Default LedWiz mode - using on-board GPIO ports. In this mode, we
mjr	26:cb71c4af2912	400	// assign a KL25Z GPIO port to each LedWiz output. We have to use a
mjr	26:cb71c4af2912	401	// mix of PWM-capable and Digital-Only ports in this configuration,
mjr	26:cb71c4af2912	402	// since the KL25Z hardware only has 10 PWM channels, which isn't
mjr	26:cb71c4af2912	403	// enough to fill out the full complement of 32 LedWiz outputs.
mjr	26:cb71c4af2912	404	//
mjr	26:cb71c4af2912	405
mjr	26:cb71c4af2912	406	// LwOut class for a PWM-capable GPIO port
mjr	6:cc35eb643e8f	407	class LwPwmOut: public LwOut
mjr	6:cc35eb643e8f	408	{
mjr	6:cc35eb643e8f	409	public:
mjr	13:72dda449c3c0	410	LwPwmOut(PinName pin) : p(pin) { prv = -1; }
mjr	13:72dda449c3c0	411	virtual void set(float val)
mjr	13:72dda449c3c0	412	{
mjr	13:72dda449c3c0	413	if (val != prv)
mjr	13:72dda449c3c0	414	p.write(prv = val);
mjr	13:72dda449c3c0	415	}
mjr	6:cc35eb643e8f	416	PwmOut p;
mjr	13:72dda449c3c0	417	float prv;
mjr	6:cc35eb643e8f	418	};
mjr	26:cb71c4af2912	419
mjr	26:cb71c4af2912	420	// LwOut class for a Digital-Only (Non-PWM) GPIO port
mjr	6:cc35eb643e8f	421	class LwDigOut: public LwOut
mjr	6:cc35eb643e8f	422	{
mjr	6:cc35eb643e8f	423	public:
mjr	13:72dda449c3c0	424	LwDigOut(PinName pin) : p(pin) { prv = -1; }
mjr	13:72dda449c3c0	425	virtual void set(float val)
mjr	13:72dda449c3c0	426	{
mjr	13:72dda449c3c0	427	if (val != prv)
mjr	13:72dda449c3c0	428	p.write((prv = val) == 0.0 ? 0 : 1);
mjr	13:72dda449c3c0	429	}
mjr	6:cc35eb643e8f	430	DigitalOut p;
mjr	13:72dda449c3c0	431	float prv;
mjr	6:cc35eb643e8f	432	};
mjr	26:cb71c4af2912	433
mjr	29:582472d0bc57	434	// Array of output physical pin assignments. This array is indexed
mjr	29:582472d0bc57	435	// by LedWiz logical port number - lwPin[n] is the maping for LedWiz
mjr	35:e959ffba78fd	436	// port n (0-based).
mjr	35:e959ffba78fd	437	//
mjr	35:e959ffba78fd	438	// Each pin is handled by an interface object for the physical output
mjr	35:e959ffba78fd	439	// type for the port, as set in the configuration. The interface
mjr	35:e959ffba78fd	440	// objects handle the specifics of addressing the different hardware
mjr	35:e959ffba78fd	441	// types (GPIO PWM ports, GPIO digital ports, TLC5940 ports, and
mjr	35:e959ffba78fd	442	// 74HC595 ports).
mjr	33:d832bcab089e	443	static int numOutputs;
mjr	33:d832bcab089e	444	static LwOut **lwPin;
mjr	33:d832bcab089e	445
mjr	35:e959ffba78fd	446	// Number of LedWiz emulation outputs. This is the number of ports
mjr	35:e959ffba78fd	447	// accessible through the standard (non-extended) LedWiz protocol
mjr	35:e959ffba78fd	448	// messages. The protocol has a fixed set of 32 outputs, but we
mjr	35:e959ffba78fd	449	// might have fewer actual outputs. This is therefore set to the
mjr	35:e959ffba78fd	450	// lower of 32 or the actual number of outputs.
mjr	35:e959ffba78fd	451	static int numLwOutputs;
mjr	35:e959ffba78fd	452
mjr	33:d832bcab089e	453	// Current absolute brightness level for an output. This is a float
mjr	33:d832bcab089e	454	// value from 0.0 for fully off to 1.0 for fully on. This is the final
mjr	33:d832bcab089e	455	// derived value for the port. For outputs set by LedWiz messages,
mjr	33:d832bcab089e	456	// this is derived from the LedWiz state, and is updated on each pulse
mjr	33:d832bcab089e	457	// timer interrupt for lights in flashing states. For outputs set by
mjr	33:d832bcab089e	458	// extended protocol messages, this is simply the brightness last set.
mjr	33:d832bcab089e	459	static float *outLevel;
mjr	6:cc35eb643e8f	460
mjr	6:cc35eb643e8f	461	// initialize the output pin array
mjr	35:e959ffba78fd	462	void initLwOut(Config &cfg)
mjr	6:cc35eb643e8f	463	{
mjr	35:e959ffba78fd	464	// Count the outputs. The first disabled output determines the
mjr	35:e959ffba78fd	465	// total number of ports.
mjr	35:e959ffba78fd	466	numOutputs = MAX_OUT_PORTS;
mjr	33:d832bcab089e	467	int i;
mjr	35:e959ffba78fd	468	for (i = 0 ; i < MAX_OUT_PORTS ; ++i)
mjr	6:cc35eb643e8f	469	{
mjr	35:e959ffba78fd	470	if (cfg.outPort[i].typ == PortTypeDisabled)
mjr	34:6b981a2afab7	471	{
mjr	35:e959ffba78fd	472	numOutputs = i;
mjr	34:6b981a2afab7	473	break;
mjr	34:6b981a2afab7	474	}
mjr	33:d832bcab089e	475	}
mjr	33:d832bcab089e	476
mjr	35:e959ffba78fd	477	// the real LedWiz protocol can access at most 32 ports, or the
mjr	35:e959ffba78fd	478	// actual number of outputs, whichever is lower
mjr	35:e959ffba78fd	479	numLwOutputs = (numOutputs < 32 ? numOutputs : 32);
mjr	35:e959ffba78fd	480
mjr	33:d832bcab089e	481	// allocate the pin array
mjr	33:d832bcab089e	482	lwPin = new LwOut*[numOutputs];
mjr	33:d832bcab089e	483
mjr	35:e959ffba78fd	484	// Allocate the current brightness array.
mjr	35:e959ffba78fd	485	outLevel = new float[numOutputs < 32 ? 32 : numOutputs];
mjr	33:d832bcab089e	486
mjr	35:e959ffba78fd	487	// create the pin interface object for each port
mjr	35:e959ffba78fd	488	for (i = 0 ; i < numOutputs ; ++i)
mjr	35:e959ffba78fd	489	{
mjr	35:e959ffba78fd	490	// get this item's values
mjr	35:e959ffba78fd	491	int typ = cfg.outPort[i].typ;
mjr	35:e959ffba78fd	492	int pin = cfg.outPort[i].pin;
mjr	35:e959ffba78fd	493	int flags = cfg.outPort[i].flags;
mjr	35:e959ffba78fd	494	int activeLow = flags & PortFlagActiveLow;
mjr	26:cb71c4af2912	495
mjr	35:e959ffba78fd	496	// create the pin interface object according to the port type
mjr	34:6b981a2afab7	497	switch (typ)
mjr	33:d832bcab089e	498	{
mjr	35:e959ffba78fd	499	case PortTypeGPIOPWM:
mjr	35:e959ffba78fd	500	// PWM GPIO port
mjr	35:e959ffba78fd	501	lwPin[i] = new LwPwmOut(wirePinName(pin));
mjr	34:6b981a2afab7	502	break;
mjr	34:6b981a2afab7	503
mjr	35:e959ffba78fd	504	case PortTypeGPIODig:
mjr	35:e959ffba78fd	505	// Digital GPIO port
mjr	35:e959ffba78fd	506	lwPin[i] = new LwDigOut(wirePinName(pin));
mjr	34:6b981a2afab7	507	break;
mjr	34:6b981a2afab7	508
mjr	35:e959ffba78fd	509	case PortTypeTLC5940:
mjr	35:e959ffba78fd	510	// TLC5940 port
mjr	35:e959ffba78fd	511	lwPin[i] = new Lw5940Out(pin);
mjr	34:6b981a2afab7	512	break;
mjr	34:6b981a2afab7	513
mjr	35:e959ffba78fd	514	case PortType74HC595:
mjr	35:e959ffba78fd	515	// 74HC595 port
mjr	35:e959ffba78fd	516	lwPin[i] = new Lw595Out(pin);
mjr	34:6b981a2afab7	517	break;
mjr	35:e959ffba78fd	518
mjr	35:e959ffba78fd	519	case PortTypeVirtual:
mjr	34:6b981a2afab7	520	default:
mjr	35:e959ffba78fd	521	// virtual or unknown
mjr	35:e959ffba78fd	522	lwPin[i] = new LwVirtualOut();
mjr	34:6b981a2afab7	523	break;
mjr	33:d832bcab089e	524	}
mjr	34:6b981a2afab7	525
mjr	34:6b981a2afab7	526	// if it's Active Low, layer an inverter
mjr	34:6b981a2afab7	527	if (activeLow)
mjr	34:6b981a2afab7	528	lwPin[i] = new LwInvertedOut(lwPin[i]);
mjr	34:6b981a2afab7	529
mjr	34:6b981a2afab7	530	// turn it off initially
mjr	33:d832bcab089e	531	lwPin[i]->set(0);
mjr	6:cc35eb643e8f	532	}
mjr	6:cc35eb643e8f	533	}
mjr	6:cc35eb643e8f	534
mjr	29:582472d0bc57	535	// LedWiz output states.
mjr	29:582472d0bc57	536	//
mjr	29:582472d0bc57	537	// The LedWiz protocol has two separate control axes for each output.
mjr	29:582472d0bc57	538	// One axis is its on/off state; the other is its "profile" state, which
mjr	29:582472d0bc57	539	// is either a fixed brightness or a blinking pattern for the light.
mjr	29:582472d0bc57	540	// The two axes are independent.
mjr	29:582472d0bc57	541	//
mjr	29:582472d0bc57	542	// Note that the LedWiz protocol can only address 32 outputs, so the
mjr	29:582472d0bc57	543	// wizOn and wizVal arrays have fixed sizes of 32 elements no matter
mjr	29:582472d0bc57	544	// how many physical outputs we're using.
mjr	29:582472d0bc57	545
mjr	0:5acbbe3f4cf4	546	// on/off state for each LedWiz output
mjr	1:d913e0afb2ac	547	static uint8_t wizOn[32];
mjr	0:5acbbe3f4cf4	548
mjr	29:582472d0bc57	549	// Profile (brightness/blink) state for each LedWiz output. If the
mjr	29:582472d0bc57	550	// output was last updated through an LedWiz protocol message, it
mjr	29:582472d0bc57	551	// will have one of these values:
mjr	29:582472d0bc57	552	//
mjr	29:582472d0bc57	553	// 0-48 = fixed brightness 0% to 100%
mjr	29:582472d0bc57	554	// 129 = ramp up / ramp down
mjr	29:582472d0bc57	555	// 130 = flash on / off
mjr	29:582472d0bc57	556	// 131 = on / ramp down
mjr	29:582472d0bc57	557	// 132 = ramp up / on
mjr	29:582472d0bc57	558	//
mjr	29:582472d0bc57	559	// Special value 255: If the output was updated through the
mjr	29:582472d0bc57	560	// extended protocol, we'll set the wizVal entry to 255, which has
mjr	29:582472d0bc57	561	// no meaning in the LedWiz protocol. This tells us that the value
mjr	29:582472d0bc57	562	// in outLevel[] was set directly from the extended protocol, so it
mjr	29:582472d0bc57	563	// shouldn't be derived from wizVal[].
mjr	29:582472d0bc57	564	//
mjr	1:d913e0afb2ac	565	static uint8_t wizVal[32] = {
mjr	13:72dda449c3c0	566	48, 48, 48, 48, 48, 48, 48, 48,
mjr	13:72dda449c3c0	567	48, 48, 48, 48, 48, 48, 48, 48,
mjr	13:72dda449c3c0	568	48, 48, 48, 48, 48, 48, 48, 48,
mjr	13:72dda449c3c0	569	48, 48, 48, 48, 48, 48, 48, 48
mjr	0:5acbbe3f4cf4	570	};
mjr	0:5acbbe3f4cf4	571
mjr	29:582472d0bc57	572	// LedWiz flash speed. This is a value from 1 to 7 giving the pulse
mjr	29:582472d0bc57	573	// rate for lights in blinking states.
mjr	29:582472d0bc57	574	static uint8_t wizSpeed = 2;
mjr	29:582472d0bc57	575
mjr	29:582472d0bc57	576	// Current LedWiz flash cycle counter.
mjr	29:582472d0bc57	577	static uint8_t wizFlashCounter = 0;
mjr	29:582472d0bc57	578
mjr	29:582472d0bc57	579	// Get the current brightness level for an LedWiz output.
mjr	1:d913e0afb2ac	580	static float wizState(int idx)
mjr	0:5acbbe3f4cf4	581	{
mjr	29:582472d0bc57	582	// if the output was last set with an extended protocol message,
mjr	29:582472d0bc57	583	// use the value set there, ignoring the output's LedWiz state
mjr	29:582472d0bc57	584	if (wizVal[idx] == 255)
mjr	29:582472d0bc57	585	return outLevel[idx];
mjr	29:582472d0bc57	586
mjr	29:582472d0bc57	587	// if it's off, show at zero intensity
mjr	29:582472d0bc57	588	if (!wizOn[idx])
mjr	29:582472d0bc57	589	return 0;
mjr	29:582472d0bc57	590
mjr	29:582472d0bc57	591	// check the state
mjr	29:582472d0bc57	592	uint8_t val = wizVal[idx];
mjr	29:582472d0bc57	593	if (val <= 48)
mjr	29:582472d0bc57	594	{
mjr	29:582472d0bc57	595	// PWM brightness/intensity level. Rescale from the LedWiz
mjr	29:582472d0bc57	596	// 0..48 integer range to our internal PwmOut 0..1 float range.
mjr	29:582472d0bc57	597	// Note that on the actual LedWiz, level 48 is actually about
mjr	29:582472d0bc57	598	// 98% on - contrary to the LedWiz documentation, level 49 is
mjr	29:582472d0bc57	599	// the true 100% level. (In the documentation, level 49 is
mjr	29:582472d0bc57	600	// simply not a valid setting.) Even so, we treat level 48 as
mjr	29:582472d0bc57	601	// 100% on to match the documentation. This won't be perfectly
mjr	29:582472d0bc57	602	// ocmpatible with the actual LedWiz, but it makes for such a
mjr	29:582472d0bc57	603	// small difference in brightness (if the output device is an
mjr	29:582472d0bc57	604	// LED, say) that no one should notice. It seems better to
mjr	29:582472d0bc57	605	// err in this direction, because while the difference in
mjr	29:582472d0bc57	606	// brightness when attached to an LED won't be noticeable, the
mjr	29:582472d0bc57	607	// difference in duty cycle when attached to something like a
mjr	29:582472d0bc57	608	// contactor can be noticeable - anything less than 100%
mjr	29:582472d0bc57	609	// can cause a contactor or relay to chatter. There's almost
mjr	29:582472d0bc57	610	// never a situation where you'd want values other than 0% and
mjr	29:582472d0bc57	611	// 100% for a contactor or relay, so treating level 48 as 100%
mjr	29:582472d0bc57	612	// makes us work properly with software that's expecting the
mjr	29:582472d0bc57	613	// documented LedWiz behavior and therefore uses level 48 to
mjr	29:582472d0bc57	614	// turn a contactor or relay fully on.
mjr	29:582472d0bc57	615	return val/48.0;
mjr	29:582472d0bc57	616	}
mjr	29:582472d0bc57	617	else if (val == 49)
mjr	13:72dda449c3c0	618	{
mjr	29:582472d0bc57	619	// 49 is undefined in the LedWiz documentation, but actually
mjr	29:582472d0bc57	620	// means 100% on. The documentation says that levels 1-48 are
mjr	29:582472d0bc57	621	// the full PWM range, but empirically it appears that the real
mjr	29:582472d0bc57	622	// range implemented in the firmware is 1-49. Some software on
mjr	29:582472d0bc57	623	// the PC side (notably DOF) is aware of this and uses level 49
mjr	29:582472d0bc57	624	// to mean "100% on". To ensure compatibility with existing
mjr	29:582472d0bc57	625	// PC-side software, we need to recognize level 49.
mjr	29:582472d0bc57	626	return 1.0;
mjr	29:582472d0bc57	627	}
mjr	29:582472d0bc57	628	else if (val == 129)
mjr	29:582472d0bc57	629	{
mjr	29:582472d0bc57	630	// 129 = ramp up / ramp down
mjr	30:6e9902f06f48	631	return wizFlashCounter < 128
mjr	30:6e9902f06f48	632	? wizFlashCounter/128.0
mjr	30:6e9902f06f48	633	: (256 - wizFlashCounter)/128.0;
mjr	29:582472d0bc57	634	}
mjr	29:582472d0bc57	635	else if (val == 130)
mjr	29:582472d0bc57	636	{
mjr	29:582472d0bc57	637	// 130 = flash on / off
mjr	30:6e9902f06f48	638	return wizFlashCounter < 128 ? 1.0 : 0.0;
mjr	29:582472d0bc57	639	}
mjr	29:582472d0bc57	640	else if (val == 131)
mjr	29:582472d0bc57	641	{
mjr	29:582472d0bc57	642	// 131 = on / ramp down
mjr	30:6e9902f06f48	643	return wizFlashCounter < 128 ? 1.0 : (255 - wizFlashCounter)/128.0;
mjr	0:5acbbe3f4cf4	644	}
mjr	29:582472d0bc57	645	else if (val == 132)
mjr	29:582472d0bc57	646	{
mjr	29:582472d0bc57	647	// 132 = ramp up / on
mjr	30:6e9902f06f48	648	return wizFlashCounter < 128 ? wizFlashCounter/128.0 : 1.0;
mjr	29:582472d0bc57	649	}
mjr	29:582472d0bc57	650	else
mjr	13:72dda449c3c0	651	{
mjr	29:582472d0bc57	652	// Other values are undefined in the LedWiz documentation. Hosts
mjr	29:582472d0bc57	653	// should never send undefined values, since whatever behavior an
mjr	29:582472d0bc57	654	// LedWiz unit exhibits in response is accidental and could change
mjr	29:582472d0bc57	655	// in a future version. We'll treat all undefined values as equivalent
mjr	29:582472d0bc57	656	// to 48 (fully on).
mjr	29:582472d0bc57	657	return 1.0;
mjr	0:5acbbe3f4cf4	658	}
mjr	0:5acbbe3f4cf4	659	}
mjr	0:5acbbe3f4cf4	660
mjr	29:582472d0bc57	661	// LedWiz flash timer pulse. This fires periodically to update
mjr	29:582472d0bc57	662	// LedWiz flashing outputs. At the slowest pulse speed set via
mjr	29:582472d0bc57	663	// the SBA command, each waveform cycle has 256 steps, so we
mjr	29:582472d0bc57	664	// choose the pulse time base so that the slowest cycle completes
mjr	29:582472d0bc57	665	// in 2 seconds. This seems to roughly match the real LedWiz
mjr	29:582472d0bc57	666	// behavior. We run the pulse timer at the same rate regardless
mjr	29:582472d0bc57	667	// of the pulse speed; at higher pulse speeds, we simply use
mjr	29:582472d0bc57	668	// larger steps through the cycle on each interrupt. Running
mjr	29:582472d0bc57	669	// every 1/127 of a second = 8ms seems to be a pretty light load.
mjr	29:582472d0bc57	670	Timeout wizPulseTimer;
mjr	29:582472d0bc57	671	#define WIZ_PULSE_TIME_BASE (1.0/127.0)
mjr	29:582472d0bc57	672	static void wizPulse()
mjr	29:582472d0bc57	673	{
mjr	29:582472d0bc57	674	// increase the counter by the speed increment, and wrap at 256
mjr	29:582472d0bc57	675	wizFlashCounter += wizSpeed;
mjr	29:582472d0bc57	676	wizFlashCounter &= 0xff;
mjr	29:582472d0bc57	677
mjr	29:582472d0bc57	678	// if we have any flashing lights, update them
mjr	29:582472d0bc57	679	int ena = false;
mjr	35:e959ffba78fd	680	for (int i = 0 ; i < numLwOutputs ; ++i)
mjr	29:582472d0bc57	681	{
mjr	29:582472d0bc57	682	if (wizOn[i])
mjr	29:582472d0bc57	683	{
mjr	29:582472d0bc57	684	uint8_t s = wizVal[i];
mjr	29:582472d0bc57	685	if (s >= 129 && s <= 132)
mjr	29:582472d0bc57	686	{
mjr	29:582472d0bc57	687	lwPin[i]->set(wizState(i));
mjr	29:582472d0bc57	688	ena = true;
mjr	29:582472d0bc57	689	}
mjr	29:582472d0bc57	690	}
mjr	29:582472d0bc57	691	}
mjr	29:582472d0bc57	692
mjr	29:582472d0bc57	693	// Set up the next timer pulse only if we found anything flashing.
mjr	29:582472d0bc57	694	// To minimize overhead from this feature, we only enable the interrupt
mjr	29:582472d0bc57	695	// when we need it. This eliminates any performance penalty to other
mjr	29:582472d0bc57	696	// features when the host software doesn't care about the flashing
mjr	29:582472d0bc57	697	// modes. For example, DOF never uses these modes, so there's no
mjr	29:582472d0bc57	698	// need for them when running Visual Pinball.
mjr	29:582472d0bc57	699	if (ena)
mjr	29:582472d0bc57	700	wizPulseTimer.attach(wizPulse, WIZ_PULSE_TIME_BASE);
mjr	29:582472d0bc57	701	}
mjr	29:582472d0bc57	702
mjr	29:582472d0bc57	703	// Update the physical outputs connected to the LedWiz ports. This is
mjr	29:582472d0bc57	704	// called after any update from an LedWiz protocol message.
mjr	1:d913e0afb2ac	705	static void updateWizOuts()
mjr	1:d913e0afb2ac	706	{
mjr	29:582472d0bc57	707	// update each output
mjr	29:582472d0bc57	708	int pulse = false;
mjr	35:e959ffba78fd	709	for (int i = 0 ; i < numLwOutputs ; ++i)
mjr	29:582472d0bc57	710	{
mjr	29:582472d0bc57	711	pulse \|= (wizVal[i] >= 129 && wizVal[i] <= 132);
mjr	6:cc35eb643e8f	712	lwPin[i]->set(wizState(i));
mjr	29:582472d0bc57	713	}
mjr	29:582472d0bc57	714
mjr	29:582472d0bc57	715	// if any outputs are set to flashing mode, and the pulse timer
mjr	29:582472d0bc57	716	// isn't running, turn it on
mjr	29:582472d0bc57	717	if (pulse)
mjr	29:582472d0bc57	718	wizPulseTimer.attach(wizPulse, WIZ_PULSE_TIME_BASE);
mjr	34:6b981a2afab7	719
mjr	34:6b981a2afab7	720	// flush changes to 74HC595 chips, if attached
mjr	35:e959ffba78fd	721	if (hc595 != 0)
mjr	35:e959ffba78fd	722	hc595->update();
mjr	1:d913e0afb2ac	723	}
mjr	34:6b981a2afab7	724
mjr	11:bd9da7088e6e	725	// ---------------------------------------------------------------------------
mjr	11:bd9da7088e6e	726	//
mjr	11:bd9da7088e6e	727	// Button input
mjr	11:bd9da7088e6e	728	//
mjr	11:bd9da7088e6e	729
mjr	18:5e890ebd0023	730	// button state
mjr	18:5e890ebd0023	731	struct ButtonState
mjr	18:5e890ebd0023	732	{
mjr	35:e959ffba78fd	733	ButtonState() : di(NULL), pressed(0), t(0), js(0), keymod(0), keycode(0) { }
mjr	35:e959ffba78fd	734
mjr	35:e959ffba78fd	735	// DigitalIn for the button
mjr	35:e959ffba78fd	736	DigitalIn *di;
mjr	35:e959ffba78fd	737
mjr	18:5e890ebd0023	738	// current on/off state
mjr	18:5e890ebd0023	739	int pressed;
mjr	18:5e890ebd0023	740
mjr	18:5e890ebd0023	741	// Sticky time remaining for current state. When a
mjr	18:5e890ebd0023	742	// state transition occurs, we set this to a debounce
mjr	18:5e890ebd0023	743	// period. Future state transitions will be ignored
mjr	18:5e890ebd0023	744	// until the debounce time elapses.
mjr	35:e959ffba78fd	745	float t;
mjr	35:e959ffba78fd	746
mjr	35:e959ffba78fd	747	// joystick button mask for the button, if mapped as a joystick button
mjr	35:e959ffba78fd	748	uint32_t js;
mjr	35:e959ffba78fd	749
mjr	35:e959ffba78fd	750	// keyboard modifier bits and scan code for the button, if mapped as a keyboard key
mjr	35:e959ffba78fd	751	uint8_t keymod;
mjr	35:e959ffba78fd	752	uint8_t keycode;
mjr	35:e959ffba78fd	753
mjr	35:e959ffba78fd	754	// media control key code
mjr	35:e959ffba78fd	755	uint8_t mediakey;
mjr	35:e959ffba78fd	756
mjr	35:e959ffba78fd	757
mjr	35:e959ffba78fd	758	} buttonState[MAX_BUTTONS];
mjr	18:5e890ebd0023	759
mjr	12:669df364a565	760	// timer for button reports
mjr	12:669df364a565	761	static Timer buttonTimer;
mjr	12:669df364a565	762
mjr	11:bd9da7088e6e	763	// initialize the button inputs
mjr	35:e959ffba78fd	764	void initButtons(Config &cfg, bool &kbKeys)
mjr	11:bd9da7088e6e	765	{
mjr	35:e959ffba78fd	766	// presume we'll find no keyboard keys
mjr	35:e959ffba78fd	767	kbKeys = false;
mjr	35:e959ffba78fd	768
mjr	11:bd9da7088e6e	769	// create the digital inputs
mjr	35:e959ffba78fd	770	ButtonState *bs = buttonState;
mjr	35:e959ffba78fd	771	for (int i = 0 ; i < MAX_BUTTONS ; ++i, ++bs)
mjr	11:bd9da7088e6e	772	{
mjr	35:e959ffba78fd	773	PinName pin = wirePinName(cfg.button[i].pin);
mjr	35:e959ffba78fd	774	if (pin != NC)
mjr	35:e959ffba78fd	775	{
mjr	35:e959ffba78fd	776	// set up the GPIO input pin for this button
mjr	35:e959ffba78fd	777	bs->di = new DigitalIn(pin);
mjr	35:e959ffba78fd	778
mjr	35:e959ffba78fd	779	// note if it's a keyboard key of some kind (including media keys)
mjr	35:e959ffba78fd	780	uint8_t val = cfg.button[i].val;
mjr	35:e959ffba78fd	781	switch (cfg.button[i].typ)
mjr	35:e959ffba78fd	782	{
mjr	35:e959ffba78fd	783	case BtnTypeJoystick:
mjr	35:e959ffba78fd	784	// joystick button - get the button bit mask
mjr	35:e959ffba78fd	785	bs->js = 1 << val;
mjr	35:e959ffba78fd	786	break;
mjr	35:e959ffba78fd	787
mjr	35:e959ffba78fd	788	case BtnTypeKey:
mjr	35:e959ffba78fd	789	// regular keyboard key - note the scan code
mjr	35:e959ffba78fd	790	bs->keycode = val;
mjr	35:e959ffba78fd	791	kbKeys = true;
mjr	35:e959ffba78fd	792	break;
mjr	35:e959ffba78fd	793
mjr	35:e959ffba78fd	794	case BtnTypeModKey:
mjr	35:e959ffba78fd	795	// keyboard mod key - note the modifier mask
mjr	35:e959ffba78fd	796	bs->keymod = val;
mjr	35:e959ffba78fd	797	kbKeys = true;
mjr	35:e959ffba78fd	798	break;
mjr	35:e959ffba78fd	799
mjr	35:e959ffba78fd	800	case BtnTypeMedia:
mjr	35:e959ffba78fd	801	// media key - note the code
mjr	35:e959ffba78fd	802	bs->mediakey = val;
mjr	35:e959ffba78fd	803	kbKeys = true;
mjr	35:e959ffba78fd	804	break;
mjr	35:e959ffba78fd	805	}
mjr	35:e959ffba78fd	806	}
mjr	11:bd9da7088e6e	807	}
mjr	12:669df364a565	808
mjr	12:669df364a565	809	// start the button timer
mjr	35:e959ffba78fd	810	buttonTimer.reset();
mjr	12:669df364a565	811	buttonTimer.start();
mjr	11:bd9da7088e6e	812	}
mjr	11:bd9da7088e6e	813
mjr	35:e959ffba78fd	814	// Button data
mjr	35:e959ffba78fd	815	uint32_t jsButtons = 0;
mjr	35:e959ffba78fd	816
mjr	35:e959ffba78fd	817	// Keyboard state
mjr	35:e959ffba78fd	818	struct
mjr	35:e959ffba78fd	819	{
mjr	35:e959ffba78fd	820	bool changed; // flag: changed since last report sent
mjr	35:e959ffba78fd	821	int nkeys; // number of active keys in the list
mjr	35:e959ffba78fd	822	uint8_t data[8]; // key state, in USB report format: byte 0 is the modifier key mask,
mjr	35:e959ffba78fd	823	// byte 1 is reserved, and bytes 2-7 are the currently pressed key codes
mjr	35:e959ffba78fd	824	} kbState = { false, 0, { 0, 0, 0, 0, 0, 0, 0, 0 } };
mjr	35:e959ffba78fd	825
mjr	35:e959ffba78fd	826	// Media key state
mjr	35:e959ffba78fd	827	struct
mjr	35:e959ffba78fd	828	{
mjr	35:e959ffba78fd	829	bool changed; // flag: changed since last report sent
mjr	35:e959ffba78fd	830	uint8_t data; // key state byte for USB reports
mjr	35:e959ffba78fd	831	} mediaState = { false, 0 };
mjr	11:bd9da7088e6e	832
mjr	18:5e890ebd0023	833	// read the button input state
mjr	35:e959ffba78fd	834	void readButtons(Config &cfg)
mjr	11:bd9da7088e6e	835	{
mjr	35:e959ffba78fd	836	// start with an empty list of USB key codes
mjr	35:e959ffba78fd	837	uint8_t modkeys = 0;
mjr	35:e959ffba78fd	838	uint8_t keys[7] = { 0, 0, 0, 0, 0, 0, 0 };
mjr	35:e959ffba78fd	839	int nkeys = 0;
mjr	11:bd9da7088e6e	840
mjr	35:e959ffba78fd	841	// clear the joystick buttons
mjr	35:e959ffba78fd	842	jsButtons = 0;
mjr	35:e959ffba78fd	843
mjr	35:e959ffba78fd	844	// start with no media keys pressed
mjr	35:e959ffba78fd	845	uint8_t mediakeys = 0;
mjr	35:e959ffba78fd	846
mjr	18:5e890ebd0023	847	// figure the time elapsed since the last scan
mjr	35:e959ffba78fd	848	float dt = buttonTimer.read();
mjr	18:5e890ebd0023	849
mjr	35:e959ffba78fd	850	// reset the time for the next scan
mjr	18:5e890ebd0023	851	buttonTimer.reset();
mjr	18:5e890ebd0023	852
mjr	11:bd9da7088e6e	853	// scan the button list
mjr	18:5e890ebd0023	854	ButtonState *bs = buttonState;
mjr	35:e959ffba78fd	855	for (int i = 0 ; i < MAX_BUTTONS ; ++i, ++bs)
mjr	11:bd9da7088e6e	856	{
mjr	18:5e890ebd0023	857	// read this button
mjr	35:e959ffba78fd	858	if (bs->di != 0)
mjr	18:5e890ebd0023	859	{
mjr	18:5e890ebd0023	860	// deduct the elapsed time since the last update
mjr	18:5e890ebd0023	861	// from the button's remaining sticky time
mjr	18:5e890ebd0023	862	bs->t -= dt;
mjr	18:5e890ebd0023	863	if (bs->t < 0)
mjr	18:5e890ebd0023	864	bs->t = 0;
mjr	18:5e890ebd0023	865
mjr	18:5e890ebd0023	866	// If the sticky time has elapsed, note the new physical
mjr	18:5e890ebd0023	867	// state of the button. If we still have sticky time
mjr	18:5e890ebd0023	868	// remaining, ignore the physical state; the last state
mjr	18:5e890ebd0023	869	// change persists until the sticky time elapses so that
mjr	18:5e890ebd0023	870	// we smooth out any "bounce" (electrical transients that
mjr	18:5e890ebd0023	871	// occur when the switch contact is opened or closed).
mjr	18:5e890ebd0023	872	if (bs->t == 0)
mjr	18:5e890ebd0023	873	{
mjr	18:5e890ebd0023	874	// get the new physical state
mjr	35:e959ffba78fd	875	int pressed = !bs->di->read();
mjr	18:5e890ebd0023	876
mjr	18:5e890ebd0023	877	// update the button's logical state if this is a change
mjr	18:5e890ebd0023	878	if (pressed != bs->pressed)
mjr	18:5e890ebd0023	879	{
mjr	18:5e890ebd0023	880	// store the new state
mjr	18:5e890ebd0023	881	bs->pressed = pressed;
mjr	18:5e890ebd0023	882
mjr	18:5e890ebd0023	883	// start a new sticky period for debouncing this
mjr	18:5e890ebd0023	884	// state change
mjr	35:e959ffba78fd	885	bs->t = 0.005;
mjr	18:5e890ebd0023	886	}
mjr	18:5e890ebd0023	887	}
mjr	35:e959ffba78fd	888
mjr	35:e959ffba78fd	889	// if it's pressed, add it to the appropriate key state list
mjr	18:5e890ebd0023	890	if (bs->pressed)
mjr	35:e959ffba78fd	891	{
mjr	35:e959ffba78fd	892	// OR in the joystick button bit, mod key bits, and media key bits
mjr	35:e959ffba78fd	893	jsButtons \|= bs->js;
mjr	35:e959ffba78fd	894	modkeys \|= bs->keymod;
mjr	35:e959ffba78fd	895	mediakeys \|= bs->mediakey;
mjr	35:e959ffba78fd	896
mjr	35:e959ffba78fd	897	// if it has a keyboard key, add the scan code to the active list
mjr	35:e959ffba78fd	898	if (bs->keycode != 0 && nkeys < 7)
mjr	35:e959ffba78fd	899	keys[nkeys++] = bs->keycode;
mjr	35:e959ffba78fd	900	}
mjr	18:5e890ebd0023	901	}
mjr	11:bd9da7088e6e	902	}
mjr	11:bd9da7088e6e	903
mjr	35:e959ffba78fd	904	// Check for changes to the keyboard keys
mjr	35:e959ffba78fd	905	if (kbState.data[0] != modkeys
mjr	35:e959ffba78fd	906	\|\| kbState.nkeys != nkeys
mjr	35:e959ffba78fd	907	\|\| memcmp(keys, &kbState.data[2], 6) != 0)
mjr	35:e959ffba78fd	908	{
mjr	35:e959ffba78fd	909	// we have changes - set the change flag and store the new key data
mjr	35:e959ffba78fd	910	kbState.changed = true;
mjr	35:e959ffba78fd	911	kbState.data[0] = modkeys;
mjr	35:e959ffba78fd	912	if (nkeys <= 6) {
mjr	35:e959ffba78fd	913	// 6 or fewer simultaneous keys - report the key codes
mjr	35:e959ffba78fd	914	kbState.nkeys = nkeys;
mjr	35:e959ffba78fd	915	memcpy(&kbState.data[2], keys, 6);
mjr	35:e959ffba78fd	916	}
mjr	35:e959ffba78fd	917	else {
mjr	35:e959ffba78fd	918	// more than 6 simultaneous keys - report rollover (all '1' key codes)
mjr	35:e959ffba78fd	919	kbState.nkeys = 6;
mjr	35:e959ffba78fd	920	memset(&kbState.data[2], 1, 6);
mjr	35:e959ffba78fd	921	}
mjr	35:e959ffba78fd	922	}
mjr	35:e959ffba78fd	923
mjr	35:e959ffba78fd	924	// Check for changes to media keys
mjr	35:e959ffba78fd	925	if (mediaState.data != mediakeys)
mjr	35:e959ffba78fd	926	{
mjr	35:e959ffba78fd	927	mediaState.changed = true;
mjr	35:e959ffba78fd	928	mediaState.data = mediakeys;
mjr	35:e959ffba78fd	929	}
mjr	11:bd9da7088e6e	930	}
mjr	11:bd9da7088e6e	931
mjr	5:a70c0bce770d	932	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	933	//
mjr	5:a70c0bce770d	934	// Customization joystick subbclass
mjr	5:a70c0bce770d	935	//
mjr	5:a70c0bce770d	936
mjr	5:a70c0bce770d	937	class MyUSBJoystick: public USBJoystick
mjr	5:a70c0bce770d	938	{
mjr	5:a70c0bce770d	939	public:
mjr	35:e959ffba78fd	940	MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release,
mjr	35:e959ffba78fd	941	bool waitForConnect, bool enableJoystick, bool useKB)
mjr	35:e959ffba78fd	942	: USBJoystick(vendor_id, product_id, product_release, waitForConnect, enableJoystick, useKB)
mjr	5:a70c0bce770d	943	{
mjr	5:a70c0bce770d	944	suspended_ = false;
mjr	5:a70c0bce770d	945	}
mjr	5:a70c0bce770d	946
mjr	5:a70c0bce770d	947	// are we connected?
mjr	5:a70c0bce770d	948	int isConnected() { return configured(); }
mjr	5:a70c0bce770d	949
mjr	5:a70c0bce770d	950	// Are we in suspend mode?
mjr	5:a70c0bce770d	951	int isSuspended() const { return suspended_; }
mjr	5:a70c0bce770d	952
mjr	5:a70c0bce770d	953	protected:
mjr	5:a70c0bce770d	954	virtual void suspendStateChanged(unsigned int suspended)
mjr	5:a70c0bce770d	955	{ suspended_ = suspended; }
mjr	5:a70c0bce770d	956
mjr	5:a70c0bce770d	957	// are we suspended?
mjr	5:a70c0bce770d	958	int suspended_;
mjr	5:a70c0bce770d	959	};
mjr	5:a70c0bce770d	960
mjr	5:a70c0bce770d	961	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	962	//
mjr	5:a70c0bce770d	963	// Accelerometer (MMA8451Q)
mjr	5:a70c0bce770d	964	//
mjr	5:a70c0bce770d	965
mjr	5:a70c0bce770d	966	// The MMA8451Q is the KL25Z's on-board 3-axis accelerometer.
mjr	5:a70c0bce770d	967	//
mjr	5:a70c0bce770d	968	// This is a custom wrapper for the library code to interface to the
mjr	6:cc35eb643e8f	969	// MMA8451Q. This class encapsulates an interrupt handler and
mjr	6:cc35eb643e8f	970	// automatic calibration.
mjr	5:a70c0bce770d	971	//
mjr	5:a70c0bce770d	972	// We install an interrupt handler on the accelerometer "data ready"
mjr	6:cc35eb643e8f	973	// interrupt to ensure that we fetch each sample immediately when it
mjr	6:cc35eb643e8f	974	// becomes available. The accelerometer data rate is fiarly high
mjr	6:cc35eb643e8f	975	// (800 Hz), so it's not practical to keep up with it by polling.
mjr	6:cc35eb643e8f	976	// Using an interrupt handler lets us respond quickly and read
mjr	6:cc35eb643e8f	977	// every sample.
mjr	5:a70c0bce770d	978	//
mjr	6:cc35eb643e8f	979	// We automatically calibrate the accelerometer so that it's not
mjr	6:cc35eb643e8f	980	// necessary to get it exactly level when installing it, and so
mjr	6:cc35eb643e8f	981	// that it's also not necessary to calibrate it manually. There's
mjr	6:cc35eb643e8f	982	// lots of experience that tells us that manual calibration is a
mjr	6:cc35eb643e8f	983	// terrible solution, mostly because cabinets tend to shift slightly
mjr	6:cc35eb643e8f	984	// during use, requiring frequent recalibration. Instead, we
mjr	6:cc35eb643e8f	985	// calibrate automatically. We continuously monitor the acceleration
mjr	6:cc35eb643e8f	986	// data, watching for periods of constant (or nearly constant) values.
mjr	6:cc35eb643e8f	987	// Any time it appears that the machine has been at rest for a while
mjr	6:cc35eb643e8f	988	// (about 5 seconds), we'll average the readings during that rest
mjr	6:cc35eb643e8f	989	// period and use the result as the level rest position. This is
mjr	6:cc35eb643e8f	990	// is ongoing, so we'll quickly find the center point again if the
mjr	6:cc35eb643e8f	991	// machine is moved during play (by an especially aggressive bout
mjr	6:cc35eb643e8f	992	// of nudging, say).
mjr	5:a70c0bce770d	993	//
mjr	5:a70c0bce770d	994
mjr	17:ab3cec0c8bf4	995	// I2C address of the accelerometer (this is a constant of the KL25Z)
mjr	17:ab3cec0c8bf4	996	const int MMA8451_I2C_ADDRESS = (0x1d<<1);
mjr	17:ab3cec0c8bf4	997
mjr	17:ab3cec0c8bf4	998	// SCL and SDA pins for the accelerometer (constant for the KL25Z)
mjr	17:ab3cec0c8bf4	999	#define MMA8451_SCL_PIN PTE25
mjr	17:ab3cec0c8bf4	1000	#define MMA8451_SDA_PIN PTE24
mjr	17:ab3cec0c8bf4	1001
mjr	17:ab3cec0c8bf4	1002	// Digital in pin to use for the accelerometer interrupt. For the KL25Z,
mjr	17:ab3cec0c8bf4	1003	// this can be either PTA14 or PTA15, since those are the pins physically
mjr	17:ab3cec0c8bf4	1004	// wired on this board to the MMA8451 interrupt controller.
mjr	17:ab3cec0c8bf4	1005	#define MMA8451_INT_PIN PTA15
mjr	17:ab3cec0c8bf4	1006
mjr	17:ab3cec0c8bf4	1007
mjr	6:cc35eb643e8f	1008	// accelerometer input history item, for gathering calibration data
mjr	6:cc35eb643e8f	1009	struct AccHist
mjr	5:a70c0bce770d	1010	{
mjr	6:cc35eb643e8f	1011	AccHist() { x = y = d = 0.0; xtot = ytot = 0.0; cnt = 0; }
mjr	6:cc35eb643e8f	1012	void set(float x, float y, AccHist *prv)
mjr	6:cc35eb643e8f	1013	{
mjr	6:cc35eb643e8f	1014	// save the raw position
mjr	6:cc35eb643e8f	1015	this->x = x;
mjr	6:cc35eb643e8f	1016	this->y = y;
mjr	6:cc35eb643e8f	1017	this->d = distance(prv);
mjr	6:cc35eb643e8f	1018	}
mjr	6:cc35eb643e8f	1019
mjr	6:cc35eb643e8f	1020	// reading for this entry
mjr	5:a70c0bce770d	1021	float x, y;
mjr	5:a70c0bce770d	1022
mjr	6:cc35eb643e8f	1023	// distance from previous entry
mjr	6:cc35eb643e8f	1024	float d;
mjr	5:a70c0bce770d	1025
mjr	6:cc35eb643e8f	1026	// total and count of samples averaged over this period
mjr	6:cc35eb643e8f	1027	float xtot, ytot;
mjr	6:cc35eb643e8f	1028	int cnt;
mjr	6:cc35eb643e8f	1029
mjr	6:cc35eb643e8f	1030	void clearAvg() { xtot = ytot = 0.0; cnt = 0; }
mjr	6:cc35eb643e8f	1031	void addAvg(float x, float y) { xtot += x; ytot += y; ++cnt; }
mjr	6:cc35eb643e8f	1032	float xAvg() const { return xtot/cnt; }
mjr	6:cc35eb643e8f	1033	float yAvg() const { return ytot/cnt; }
mjr	5:a70c0bce770d	1034
mjr	6:cc35eb643e8f	1035	float distance(AccHist *p)
mjr	6:cc35eb643e8f	1036	{ return sqrt(square(p->x - x) + square(p->y - y)); }
mjr	5:a70c0bce770d	1037	};
mjr	5:a70c0bce770d	1038
mjr	5:a70c0bce770d	1039	// accelerometer wrapper class
mjr	3:3514575d4f86	1040	class Accel
mjr	3:3514575d4f86	1041	{
mjr	3:3514575d4f86	1042	public:
mjr	3:3514575d4f86	1043	Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin)
mjr	3:3514575d4f86	1044	: mma_(sda, scl, i2cAddr), intIn_(irqPin)
mjr	3:3514575d4f86	1045	{
mjr	5:a70c0bce770d	1046	// remember the interrupt pin assignment
mjr	5:a70c0bce770d	1047	irqPin_ = irqPin;
mjr	5:a70c0bce770d	1048
mjr	5:a70c0bce770d	1049	// reset and initialize
mjr	5:a70c0bce770d	1050	reset();
mjr	5:a70c0bce770d	1051	}
mjr	5:a70c0bce770d	1052
mjr	5:a70c0bce770d	1053	void reset()
mjr	5:a70c0bce770d	1054	{
mjr	6:cc35eb643e8f	1055	// clear the center point
mjr	6:cc35eb643e8f	1056	cx_ = cy_ = 0.0;
mjr	6:cc35eb643e8f	1057
mjr	6:cc35eb643e8f	1058	// start the calibration timer
mjr	5:a70c0bce770d	1059	tCenter_.start();
mjr	5:a70c0bce770d	1060	iAccPrv_ = nAccPrv_ = 0;
mjr	6:cc35eb643e8f	1061
mjr	5:a70c0bce770d	1062	// reset and initialize the MMA8451Q
mjr	5:a70c0bce770d	1063	mma_.init();
mjr	6:cc35eb643e8f	1064
mjr	6:cc35eb643e8f	1065	// set the initial integrated velocity reading to zero
mjr	6:cc35eb643e8f	1066	vx_ = vy_ = 0;
mjr	3:3514575d4f86	1067
mjr	6:cc35eb643e8f	1068	// set up our accelerometer interrupt handling
mjr	6:cc35eb643e8f	1069	intIn_.rise(this, &Accel::isr);
mjr	5:a70c0bce770d	1070	mma_.setInterruptMode(irqPin_ == PTA14 ? 1 : 2);
mjr	3:3514575d4f86	1071
mjr	3:3514575d4f86	1072	// read the current registers to clear the data ready flag
mjr	6:cc35eb643e8f	1073	mma_.getAccXYZ(ax_, ay_, az_);
mjr	3:3514575d4f86	1074
mjr	3:3514575d4f86	1075	// start our timers
mjr	3:3514575d4f86	1076	tGet_.start();
mjr	3:3514575d4f86	1077	tInt_.start();
mjr	3:3514575d4f86	1078	}
mjr	3:3514575d4f86	1079
mjr	9:fd65b0a94720	1080	void get(int &x, int &y)
mjr	3:3514575d4f86	1081	{
mjr	3:3514575d4f86	1082	// disable interrupts while manipulating the shared data
mjr	3:3514575d4f86	1083	__disable_irq();
mjr	3:3514575d4f86	1084
mjr	3:3514575d4f86	1085	// read the shared data and store locally for calculations
mjr	6:cc35eb643e8f	1086	float ax = ax_, ay = ay_;
mjr	6:cc35eb643e8f	1087	float vx = vx_, vy = vy_;
mjr	5:a70c0bce770d	1088
mjr	6:cc35eb643e8f	1089	// reset the velocity sum for the next run
mjr	6:cc35eb643e8f	1090	vx_ = vy_ = 0;
mjr	3:3514575d4f86	1091
mjr	3:3514575d4f86	1092	// get the time since the last get() sample
mjr	3:3514575d4f86	1093	float dt = tGet_.read_us()/1.0e6;
mjr	3:3514575d4f86	1094	tGet_.reset();
mjr	3:3514575d4f86	1095
mjr	3:3514575d4f86	1096	// done manipulating the shared data
mjr	3:3514575d4f86	1097	__enable_irq();
mjr	3:3514575d4f86	1098
mjr	6:cc35eb643e8f	1099	// adjust the readings for the integration time
mjr	6:cc35eb643e8f	1100	vx /= dt;
mjr	6:cc35eb643e8f	1101	vy /= dt;
mjr	6:cc35eb643e8f	1102
mjr	6:cc35eb643e8f	1103	// add this sample to the current calibration interval's running total
mjr	6:cc35eb643e8f	1104	AccHist *p = accPrv_ + iAccPrv_;
mjr	6:cc35eb643e8f	1105	p->addAvg(ax, ay);
mjr	6:cc35eb643e8f	1106
mjr	5:a70c0bce770d	1107	// check for auto-centering every so often
mjr	5:a70c0bce770d	1108	if (tCenter_.read_ms() > 1000)
mjr	5:a70c0bce770d	1109	{
mjr	5:a70c0bce770d	1110	// add the latest raw sample to the history list
mjr	6:cc35eb643e8f	1111	AccHist *prv = p;
mjr	5:a70c0bce770d	1112	iAccPrv_ = (iAccPrv_ + 1) % maxAccPrv;
mjr	6:cc35eb643e8f	1113	p = accPrv_ + iAccPrv_;
mjr	6:cc35eb643e8f	1114	p->set(ax, ay, prv);
mjr	5:a70c0bce770d	1115
mjr	5:a70c0bce770d	1116	// if we have a full complement, check for stability
mjr	5:a70c0bce770d	1117	if (nAccPrv_ >= maxAccPrv)
mjr	5:a70c0bce770d	1118	{
mjr	5:a70c0bce770d	1119	// check if we've been stable for all recent samples
mjr	6:cc35eb643e8f	1120	static const float accTol = .01;
mjr	6:cc35eb643e8f	1121	AccHist *p0 = accPrv_;
mjr	6:cc35eb643e8f	1122	if (p0[0].d < accTol
mjr	6:cc35eb643e8f	1123	&& p0[1].d < accTol
mjr	6:cc35eb643e8f	1124	&& p0[2].d < accTol
mjr	6:cc35eb643e8f	1125	&& p0[3].d < accTol
mjr	6:cc35eb643e8f	1126	&& p0[4].d < accTol)
mjr	5:a70c0bce770d	1127	{
mjr	6:cc35eb643e8f	1128	// Figure the new calibration point as the average of
mjr	6:cc35eb643e8f	1129	// the samples over the rest period
mjr	6:cc35eb643e8f	1130	cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5.0;
mjr	6:cc35eb643e8f	1131	cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5.0;
mjr	5:a70c0bce770d	1132	}
mjr	5:a70c0bce770d	1133	}
mjr	5:a70c0bce770d	1134	else
mjr	5:a70c0bce770d	1135	{
mjr	5:a70c0bce770d	1136	// not enough samples yet; just up the count
mjr	5:a70c0bce770d	1137	++nAccPrv_;
mjr	5:a70c0bce770d	1138	}
mjr	6:cc35eb643e8f	1139
mjr	6:cc35eb643e8f	1140	// clear the new item's running totals
mjr	6:cc35eb643e8f	1141	p->clearAvg();
mjr	5:a70c0bce770d	1142
mjr	5:a70c0bce770d	1143	// reset the timer
mjr	5:a70c0bce770d	1144	tCenter_.reset();
mjr	5:a70c0bce770d	1145	}
mjr	5:a70c0bce770d	1146
mjr	6:cc35eb643e8f	1147	// report our integrated velocity reading in x,y
mjr	6:cc35eb643e8f	1148	x = rawToReport(vx);
mjr	6:cc35eb643e8f	1149	y = rawToReport(vy);
mjr	5:a70c0bce770d	1150
mjr	6:cc35eb643e8f	1151	#ifdef DEBUG_PRINTF
mjr	6:cc35eb643e8f	1152	if (x != 0 \|\| y != 0)
mjr	6:cc35eb643e8f	1153	printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt);
mjr	6:cc35eb643e8f	1154	#endif
mjr	3:3514575d4f86	1155	}
mjr	29:582472d0bc57	1156
mjr	3:3514575d4f86	1157	private:
mjr	6:cc35eb643e8f	1158	// adjust a raw acceleration figure to a usb report value
mjr	6:cc35eb643e8f	1159	int rawToReport(float v)
mjr	5:a70c0bce770d	1160	{
mjr	6:cc35eb643e8f	1161	// scale to the joystick report range and round to integer
mjr	6:cc35eb643e8f	1162	int i = int(round(v*JOYMAX));
mjr	5:a70c0bce770d	1163
mjr	6:cc35eb643e8f	1164	// if it's near the center, scale it roughly as 20*(i/20)^2,
mjr	6:cc35eb643e8f	1165	// to suppress noise near the rest position
mjr	6:cc35eb643e8f	1166	static const int filter[] = {
mjr	6:cc35eb643e8f	1167	-18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0,
mjr	6:cc35eb643e8f	1168	0,
mjr	6:cc35eb643e8f	1169	0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18
mjr	6:cc35eb643e8f	1170	};
mjr	6:cc35eb643e8f	1171	return (i > 20 \|\| i < -20 ? i : filter[i+20]);
mjr	5:a70c0bce770d	1172	}
mjr	5:a70c0bce770d	1173
mjr	3:3514575d4f86	1174	// interrupt handler
mjr	3:3514575d4f86	1175	void isr()
mjr	3:3514575d4f86	1176	{
mjr	3:3514575d4f86	1177	// Read the axes. Note that we have to read all three axes
mjr	3:3514575d4f86	1178	// (even though we only really use x and y) in order to clear
mjr	3:3514575d4f86	1179	// the "data ready" status bit in the accelerometer. The
mjr	3:3514575d4f86	1180	// interrupt only occurs when the "ready" bit transitions from
mjr	3:3514575d4f86	1181	// off to on, so we have to make sure it's off.
mjr	5:a70c0bce770d	1182	float x, y, z;
mjr	5:a70c0bce770d	1183	mma_.getAccXYZ(x, y, z);
mjr	3:3514575d4f86	1184
mjr	3:3514575d4f86	1185	// calculate the time since the last interrupt
mjr	3:3514575d4f86	1186	float dt = tInt_.read_us()/1.0e6;
mjr	3:3514575d4f86	1187	tInt_.reset();
mjr	6:cc35eb643e8f	1188
mjr	6:cc35eb643e8f	1189	// integrate the time slice from the previous reading to this reading
mjr	6:cc35eb643e8f	1190	vx_ += (x + ax_ - 2cx_)dt/2;
mjr	6:cc35eb643e8f	1191	vy_ += (y + ay_ - 2cy_)dt/2;
mjr	3:3514575d4f86	1192
mjr	6:cc35eb643e8f	1193	// store the updates
mjr	6:cc35eb643e8f	1194	ax_ = x;
mjr	6:cc35eb643e8f	1195	ay_ = y;
mjr	6:cc35eb643e8f	1196	az_ = z;
mjr	3:3514575d4f86	1197	}
mjr	3:3514575d4f86	1198
mjr	3:3514575d4f86	1199	// underlying accelerometer object
mjr	3:3514575d4f86	1200	MMA8451Q mma_;
mjr	3:3514575d4f86	1201
mjr	5:a70c0bce770d	1202	// last raw acceleration readings
mjr	6:cc35eb643e8f	1203	float ax_, ay_, az_;
mjr	5:a70c0bce770d	1204
mjr	6:cc35eb643e8f	1205	// integrated velocity reading since last get()
mjr	6:cc35eb643e8f	1206	float vx_, vy_;
mjr	6:cc35eb643e8f	1207
mjr	3:3514575d4f86	1208	// timer for measuring time between get() samples
mjr	3:3514575d4f86	1209	Timer tGet_;
mjr	3:3514575d4f86	1210
mjr	3:3514575d4f86	1211	// timer for measuring time between interrupts
mjr	3:3514575d4f86	1212	Timer tInt_;
mjr	5:a70c0bce770d	1213
mjr	6:cc35eb643e8f	1214	// Calibration reference point for accelerometer. This is the
mjr	6:cc35eb643e8f	1215	// average reading on the accelerometer when in the neutral position
mjr	6:cc35eb643e8f	1216	// at rest.
mjr	6:cc35eb643e8f	1217	float cx_, cy_;
mjr	5:a70c0bce770d	1218
mjr	5:a70c0bce770d	1219	// timer for atuo-centering
mjr	5:a70c0bce770d	1220	Timer tCenter_;
mjr	6:cc35eb643e8f	1221
mjr	6:cc35eb643e8f	1222	// Auto-centering history. This is a separate history list that
mjr	6:cc35eb643e8f	1223	// records results spaced out sparesely over time, so that we can
mjr	6:cc35eb643e8f	1224	// watch for long-lasting periods of rest. When we observe nearly
mjr	6:cc35eb643e8f	1225	// no motion for an extended period (on the order of 5 seconds), we
mjr	6:cc35eb643e8f	1226	// take this to mean that the cabinet is at rest in its neutral
mjr	6:cc35eb643e8f	1227	// position, so we take this as the calibration zero point for the
mjr	6:cc35eb643e8f	1228	// accelerometer. We update this history continuously, which allows
mjr	6:cc35eb643e8f	1229	// us to continuously re-calibrate the accelerometer. This ensures
mjr	6:cc35eb643e8f	1230	// that we'll automatically adjust to any actual changes in the
mjr	6:cc35eb643e8f	1231	// cabinet's orientation (e.g., if it gets moved slightly by an
mjr	6:cc35eb643e8f	1232	// especially strong nudge) as well as any systematic drift in the
mjr	6:cc35eb643e8f	1233	// accelerometer measurement bias (e.g., from temperature changes).
mjr	5:a70c0bce770d	1234	int iAccPrv_, nAccPrv_;
mjr	5:a70c0bce770d	1235	static const int maxAccPrv = 5;
mjr	6:cc35eb643e8f	1236	AccHist accPrv_[maxAccPrv];
mjr	6:cc35eb643e8f	1237
mjr	5:a70c0bce770d	1238	// interurupt pin name
mjr	5:a70c0bce770d	1239	PinName irqPin_;
mjr	5:a70c0bce770d	1240
mjr	5:a70c0bce770d	1241	// interrupt router
mjr	5:a70c0bce770d	1242	InterruptIn intIn_;
mjr	3:3514575d4f86	1243	};
mjr	3:3514575d4f86	1244
mjr	5:a70c0bce770d	1245
mjr	5:a70c0bce770d	1246	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	1247	//
mjr	14:df700b22ca08	1248	// Clear the I2C bus for the MMA8451Q. This seems necessary some of the time
mjr	5:a70c0bce770d	1249	// for reasons that aren't clear to me. Doing a hard power cycle has the same
mjr	5:a70c0bce770d	1250	// effect, but when we do a soft reset, the hardware sometimes seems to leave
mjr	5:a70c0bce770d	1251	// the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through
mjr	14:df700b22ca08	1252	// the SCL line is supposed to clear this condition. I'm not convinced this
mjr	14:df700b22ca08	1253	// actually works with the way this component is wired on the KL25Z, but it
mjr	14:df700b22ca08	1254	// seems harmless, so we'll do it on reset in case it does some good. What
mjr	14:df700b22ca08	1255	// we really seem to need is a way to power cycle the MMA8451Q if it ever
mjr	14:df700b22ca08	1256	// gets stuck, but this is simply not possible in software on the KL25Z.
mjr	14:df700b22ca08	1257	//
mjr	14:df700b22ca08	1258	// If the accelerometer does get stuck, and a software reboot doesn't reset
mjr	14:df700b22ca08	1259	// it, the only workaround is to manually power cycle the whole KL25Z by
mjr	14:df700b22ca08	1260	// unplugging both of its USB connections.
mjr	5:a70c0bce770d	1261	//
mjr	5:a70c0bce770d	1262	void clear_i2c()
mjr	5:a70c0bce770d	1263	{
mjr	5:a70c0bce770d	1264	// assume a general-purpose output pin to the I2C clock
mjr	5:a70c0bce770d	1265	DigitalOut scl(MMA8451_SCL_PIN);
mjr	5:a70c0bce770d	1266	DigitalIn sda(MMA8451_SDA_PIN);
mjr	5:a70c0bce770d	1267
mjr	5:a70c0bce770d	1268	// clock the SCL 9 times
mjr	5:a70c0bce770d	1269	for (int i = 0 ; i < 9 ; ++i)
mjr	5:a70c0bce770d	1270	{
mjr	5:a70c0bce770d	1271	scl = 1;
mjr	5:a70c0bce770d	1272	wait_us(20);
mjr	5:a70c0bce770d	1273	scl = 0;
mjr	5:a70c0bce770d	1274	wait_us(20);
mjr	5:a70c0bce770d	1275	}
mjr	5:a70c0bce770d	1276	}
mjr	14:df700b22ca08	1277
mjr	14:df700b22ca08	1278	// ---------------------------------------------------------------------------
mjr	14:df700b22ca08	1279	//
mjr	33:d832bcab089e	1280	// Simple binary (on/off) input debouncer. Requires an input to be stable
mjr	33:d832bcab089e	1281	// for a given interval before allowing an update.
mjr	33:d832bcab089e	1282	//
mjr	33:d832bcab089e	1283	class Debouncer
mjr	33:d832bcab089e	1284	{
mjr	33:d832bcab089e	1285	public:
mjr	33:d832bcab089e	1286	Debouncer(bool initVal, float tmin)
mjr	33:d832bcab089e	1287	{
mjr	33:d832bcab089e	1288	t.start();
mjr	33:d832bcab089e	1289	this->stable = this->prv = initVal;
mjr	33:d832bcab089e	1290	this->tmin = tmin;
mjr	33:d832bcab089e	1291	}
mjr	33:d832bcab089e	1292
mjr	33:d832bcab089e	1293	// Get the current stable value
mjr	33:d832bcab089e	1294	bool val() const { return stable; }
mjr	33:d832bcab089e	1295
mjr	33:d832bcab089e	1296	// Apply a new sample. This tells us the new raw reading from the
mjr	33:d832bcab089e	1297	// input device.
mjr	33:d832bcab089e	1298	void sampleIn(bool val)
mjr	33:d832bcab089e	1299	{
mjr	33:d832bcab089e	1300	// If the new raw reading is different from the previous
mjr	33:d832bcab089e	1301	// raw reading, we've detected an edge - start the clock
mjr	33:d832bcab089e	1302	// on the sample reader.
mjr	33:d832bcab089e	1303	if (val != prv)
mjr	33:d832bcab089e	1304	{
mjr	33:d832bcab089e	1305	// we have an edge - reset the sample clock
mjr	33:d832bcab089e	1306	t.reset();
mjr	33:d832bcab089e	1307
mjr	33:d832bcab089e	1308	// this is now the previous raw sample for nxt time
mjr	33:d832bcab089e	1309	prv = val;
mjr	33:d832bcab089e	1310	}
mjr	33:d832bcab089e	1311	else if (val != stable)
mjr	33:d832bcab089e	1312	{
mjr	33:d832bcab089e	1313	// The new raw sample is the same as the last raw sample,
mjr	33:d832bcab089e	1314	// and different from the stable value. This means that
mjr	33:d832bcab089e	1315	// the sample value has been the same for the time currently
mjr	33:d832bcab089e	1316	// indicated by our timer. If enough time has elapsed to
mjr	33:d832bcab089e	1317	// consider the value stable, apply the new value.
mjr	33:d832bcab089e	1318	if (t.read() > tmin)
mjr	33:d832bcab089e	1319	stable = val;
mjr	33:d832bcab089e	1320	}
mjr	33:d832bcab089e	1321	}
mjr	33:d832bcab089e	1322
mjr	33:d832bcab089e	1323	private:
mjr	33:d832bcab089e	1324	// current stable value
mjr	33:d832bcab089e	1325	bool stable;
mjr	33:d832bcab089e	1326
mjr	33:d832bcab089e	1327	// last raw sample value
mjr	33:d832bcab089e	1328	bool prv;
mjr	33:d832bcab089e	1329
mjr	33:d832bcab089e	1330	// elapsed time since last raw input change
mjr	33:d832bcab089e	1331	Timer t;
mjr	33:d832bcab089e	1332
mjr	33:d832bcab089e	1333	// Minimum time interval for stability, in seconds. Input readings
mjr	33:d832bcab089e	1334	// must be stable for this long before the stable value is updated.
mjr	33:d832bcab089e	1335	float tmin;
mjr	33:d832bcab089e	1336	};
mjr	33:d832bcab089e	1337
mjr	33:d832bcab089e	1338
mjr	33:d832bcab089e	1339	// ---------------------------------------------------------------------------
mjr	33:d832bcab089e	1340	//
mjr	33:d832bcab089e	1341	// Turn off all outputs and restore everything to the default LedWiz
mjr	33:d832bcab089e	1342	// state. This sets outputs #1-32 to LedWiz profile value 48 (full
mjr	33:d832bcab089e	1343	// brightness) and switch state Off, sets all extended outputs (#33
mjr	33:d832bcab089e	1344	// and above) to zero brightness, and sets the LedWiz flash rate to 2.
mjr	33:d832bcab089e	1345	// This effectively restores the power-on conditions.
mjr	33:d832bcab089e	1346	//
mjr	33:d832bcab089e	1347	void allOutputsOff()
mjr	33:d832bcab089e	1348	{
mjr	33:d832bcab089e	1349	// reset all LedWiz outputs to OFF/48
mjr	35:e959ffba78fd	1350	for (int i = 0 ; i < numLwOutputs ; ++i)
mjr	33:d832bcab089e	1351	{
mjr	33:d832bcab089e	1352	outLevel[i] = 0;
mjr	33:d832bcab089e	1353	wizOn[i] = 0;
mjr	33:d832bcab089e	1354	wizVal[i] = 48;
mjr	33:d832bcab089e	1355	lwPin[i]->set(0);
mjr	33:d832bcab089e	1356	}
mjr	33:d832bcab089e	1357
mjr	33:d832bcab089e	1358	// reset all extended outputs (ports >32) to full off (brightness 0)
mjr	33:d832bcab089e	1359	for (int i = 32 ; i < numOutputs ; ++i)
mjr	33:d832bcab089e	1360	{
mjr	33:d832bcab089e	1361	outLevel[i] = 0;
mjr	33:d832bcab089e	1362	lwPin[i]->set(0);
mjr	33:d832bcab089e	1363	}
mjr	33:d832bcab089e	1364
mjr	33:d832bcab089e	1365	// restore default LedWiz flash rate
mjr	33:d832bcab089e	1366	wizSpeed = 2;
mjr	34:6b981a2afab7	1367
mjr	34:6b981a2afab7	1368	// flush changes to hc595, if applicable
mjr	35:e959ffba78fd	1369	if (hc595 != 0)
mjr	35:e959ffba78fd	1370	hc595->update();
mjr	33:d832bcab089e	1371	}
mjr	33:d832bcab089e	1372
mjr	33:d832bcab089e	1373	// ---------------------------------------------------------------------------
mjr	33:d832bcab089e	1374	//
mjr	33:d832bcab089e	1375	// TV ON timer. If this feature is enabled, we toggle a TV power switch
mjr	33:d832bcab089e	1376	// relay (connected to a GPIO pin) to turn on the cab's TV monitors shortly
mjr	33:d832bcab089e	1377	// after the system is powered. This is useful for TVs that don't remember
mjr	33:d832bcab089e	1378	// their power state and don't turn back on automatically after being
mjr	33:d832bcab089e	1379	// unplugged and plugged in again. This feature requires external
mjr	33:d832bcab089e	1380	// circuitry, which is built in to the expansion board and can also be
mjr	33:d832bcab089e	1381	// built separately - see the Build Guide for the circuit plan.
mjr	33:d832bcab089e	1382	//
mjr	33:d832bcab089e	1383	// Theory of operation: to use this feature, the cabinet must have a
mjr	33:d832bcab089e	1384	// secondary PC-style power supply (PSU2) for the feedback devices, and
mjr	33:d832bcab089e	1385	// this secondary supply must be plugged in to the same power strip or
mjr	33:d832bcab089e	1386	// switched outlet that controls power to the TVs. This lets us use PSU2
mjr	33:d832bcab089e	1387	// as a proxy for the TV power state - when PSU2 is on, the TV outlet is
mjr	33:d832bcab089e	1388	// powered, and when PSU2 is off, the TV outlet is off. We use a little
mjr	33:d832bcab089e	1389	// latch circuit powered by PSU2 to monitor the status. The latch has a
mjr	33:d832bcab089e	1390	// current state, ON or OFF, that we can read via a GPIO input pin, and
mjr	33:d832bcab089e	1391	// we can set the state to ON by pulsing a separate GPIO output pin. As
mjr	33:d832bcab089e	1392	// long as PSU2 is powered off, the latch stays in the OFF state, even if
mjr	33:d832bcab089e	1393	// we try to set it by pulsing the SET pin. When PSU2 is turned on after
mjr	33:d832bcab089e	1394	// being off, the latch starts receiving power but stays in the OFF state,
mjr	33:d832bcab089e	1395	// since this is the initial condition when the power first comes on. So
mjr	33:d832bcab089e	1396	// if our latch state pin is reading OFF, we know that PSU2 is either off
mjr	33:d832bcab089e	1397	// now or was off some time since we last checked. We use a timer to
mjr	33:d832bcab089e	1398	// check the state periodically. Each time we see the state is OFF, we
mjr	33:d832bcab089e	1399	// try pulsing the SET pin. If the state still reads as OFF, we know
mjr	33:d832bcab089e	1400	// that PSU2 is currently off; if the state changes to ON, though, we
mjr	33:d832bcab089e	1401	// know that PSU2 has gone from OFF to ON some time between now and the
mjr	33:d832bcab089e	1402	// previous check. When we see this condition, we start a countdown
mjr	33:d832bcab089e	1403	// timer, and pulse the TV switch relay when the countdown ends.
mjr	33:d832bcab089e	1404	//
mjr	33:d832bcab089e	1405	// This scheme might seem a little convoluted, but it neatly handles
mjr	33:d832bcab089e	1406	// all of the different cases that can occur:
mjr	33:d832bcab089e	1407	//
mjr	33:d832bcab089e	1408	// - Most cabinets systems are set up with "soft" PC power switches,
mjr	33:d832bcab089e	1409	// so that the PC goes into "Soft Off" mode (ACPI state S5, in Windows
mjr	33:d832bcab089e	1410	// parlance) when the user turns off the cabinet. In this state, the
mjr	33:d832bcab089e	1411	// motherboard supplies power to USB devices, so the KL25Z continues
mjr	33:d832bcab089e	1412	// running without interruption. The latch system lets us monitor
mjr	33:d832bcab089e	1413	// the power state even when we're never rebooted, since the latch
mjr	33:d832bcab089e	1414	// will turn off when PSU2 is off regardless of what the KL25Z is doing.
mjr	33:d832bcab089e	1415	//
mjr	33:d832bcab089e	1416	// - Some cabinet builders might prefer to use "hard" power switches,
mjr	33:d832bcab089e	1417	// cutting all power to the cabinet, including the PC motherboard (and
mjr	33:d832bcab089e	1418	// thus the KL25Z) every time the machine is turned off. This also
mjr	33:d832bcab089e	1419	// applies to the "soft" switch case above when the cabinet is unplugged,
mjr	33:d832bcab089e	1420	// a power outage occurs, etc. In these cases, the KL25Z will do a cold
mjr	33:d832bcab089e	1421	// boot when the PC is turned on. We don't know whether the KL25Z
mjr	33:d832bcab089e	1422	// will power up before or after PSU2, so it's not good enough to
mjr	33:d832bcab089e	1423	// observe the current state of PSU2 when we first check - if PSU2
mjr	33:d832bcab089e	1424	// were to come on first, checking the current state alone would fool
mjr	33:d832bcab089e	1425	// us into thinking that no action is required, because we would never
mjr	33:d832bcab089e	1426	// have known that PSU2 was ever off. The latch handles this case by
mjr	33:d832bcab089e	1427	// letting us see that PSU2 was off before we checked.
mjr	33:d832bcab089e	1428	//
mjr	33:d832bcab089e	1429	// - If the KL25Z is rebooted while the main system is running, or the
mjr	33:d832bcab089e	1430	// KL25Z is unplugged and plugged back in, we will correctly leave the
mjr	33:d832bcab089e	1431	// TVs as they are. The latch state is independent of the KL25Z's
mjr	33:d832bcab089e	1432	// power or software state, so it's won't affect the latch state when
mjr	33:d832bcab089e	1433	// the KL25Z is unplugged or rebooted; when we boot, we'll see that
mjr	33:d832bcab089e	1434	// the latch is already on and that we don't have to turn on the TVs.
mjr	33:d832bcab089e	1435	// This is important because TV ON buttons are usually on/off toggles,
mjr	33:d832bcab089e	1436	// so we don't want to push the button on a TV that's already on.
mjr	33:d832bcab089e	1437	//
mjr	33:d832bcab089e	1438	//
mjr	33:d832bcab089e	1439
mjr	33:d832bcab089e	1440	// Current PSU2 state:
mjr	33:d832bcab089e	1441	// 1 -> default: latch was on at last check, or we haven't checked yet
mjr	33:d832bcab089e	1442	// 2 -> latch was off at last check, SET pulsed high
mjr	33:d832bcab089e	1443	// 3 -> SET pulsed low, ready to check status
mjr	33:d832bcab089e	1444	// 4 -> TV timer countdown in progress
mjr	33:d832bcab089e	1445	// 5 -> TV relay on
mjr	33:d832bcab089e	1446	//
mjr	33:d832bcab089e	1447	int psu2_state = 1;
mjr	35:e959ffba78fd	1448
mjr	35:e959ffba78fd	1449	// PSU2 power sensing circuit connections
mjr	35:e959ffba78fd	1450	DigitalIn *psu2_status_sense;
mjr	35:e959ffba78fd	1451	DigitalOut *psu2_status_set;
mjr	35:e959ffba78fd	1452
mjr	35:e959ffba78fd	1453	// TV ON switch relay control
mjr	35:e959ffba78fd	1454	DigitalOut *tv_relay;
mjr	35:e959ffba78fd	1455
mjr	35:e959ffba78fd	1456	// Timer interrupt
mjr	35:e959ffba78fd	1457	Ticker tv_ticker;
mjr	35:e959ffba78fd	1458	float tv_delay_time;
mjr	33:d832bcab089e	1459	void TVTimerInt()
mjr	33:d832bcab089e	1460	{
mjr	35:e959ffba78fd	1461	// time since last state change
mjr	35:e959ffba78fd	1462	static Timer tv_timer;
mjr	35:e959ffba78fd	1463
mjr	33:d832bcab089e	1464	// Check our internal state
mjr	33:d832bcab089e	1465	switch (psu2_state)
mjr	33:d832bcab089e	1466	{
mjr	33:d832bcab089e	1467	case 1:
mjr	33:d832bcab089e	1468	// Default state. This means that the latch was on last
mjr	33:d832bcab089e	1469	// time we checked or that this is the first check. In
mjr	33:d832bcab089e	1470	// either case, if the latch is off, switch to state 2 and
mjr	33:d832bcab089e	1471	// try pulsing the latch. Next time we check, if the latch
mjr	33:d832bcab089e	1472	// stuck, it means that PSU2 is now on after being off.
mjr	35:e959ffba78fd	1473	if (!psu2_status_sense->read())
mjr	33:d832bcab089e	1474	{
mjr	33:d832bcab089e	1475	// switch to OFF state
mjr	33:d832bcab089e	1476	psu2_state = 2;
mjr	33:d832bcab089e	1477
mjr	33:d832bcab089e	1478	// try setting the latch
mjr	35:e959ffba78fd	1479	psu2_status_set->write(1);
mjr	33:d832bcab089e	1480	}
mjr	33:d832bcab089e	1481	break;
mjr	33:d832bcab089e	1482
mjr	33:d832bcab089e	1483	case 2:
mjr	33:d832bcab089e	1484	// PSU2 was off last time we checked, and we tried setting
mjr	33:d832bcab089e	1485	// the latch. Drop the SET signal and go to CHECK state.
mjr	35:e959ffba78fd	1486	psu2_status_set->write(0);
mjr	33:d832bcab089e	1487	psu2_state = 3;
mjr	33:d832bcab089e	1488	break;
mjr	33:d832bcab089e	1489
mjr	33:d832bcab089e	1490	case 3:
mjr	33:d832bcab089e	1491	// CHECK state: we pulsed SET, and we're now ready to see
mjr	33:d832bcab089e	1492	// if that stuck. If the latch is now on, PSU2 has transitioned
mjr	33:d832bcab089e	1493	// from OFF to ON, so start the TV countdown. If the latch is
mjr	33:d832bcab089e	1494	// off, our SET command didn't stick, so PSU2 is still off.
mjr	35:e959ffba78fd	1495	if (psu2_status_sense->read())
mjr	33:d832bcab089e	1496	{
mjr	33:d832bcab089e	1497	// The latch stuck, so PSU2 has transitioned from OFF
mjr	33:d832bcab089e	1498	// to ON. Start the TV countdown timer.
mjr	33:d832bcab089e	1499	tv_timer.reset();
mjr	33:d832bcab089e	1500	tv_timer.start();
mjr	33:d832bcab089e	1501	psu2_state = 4;
mjr	33:d832bcab089e	1502	}
mjr	33:d832bcab089e	1503	else
mjr	33:d832bcab089e	1504	{
mjr	33:d832bcab089e	1505	// The latch didn't stick, so PSU2 was still off at
mjr	33:d832bcab089e	1506	// our last check. Try pulsing it again in case PSU2
mjr	33:d832bcab089e	1507	// was turned on since the last check.
mjr	35:e959ffba78fd	1508	psu2_status_set->write(1);
mjr	33:d832bcab089e	1509	psu2_state = 2;
mjr	33:d832bcab089e	1510	}
mjr	33:d832bcab089e	1511	break;
mjr	33:d832bcab089e	1512
mjr	33:d832bcab089e	1513	case 4:
mjr	33:d832bcab089e	1514	// TV timer countdown in progress. If we've reached the
mjr	33:d832bcab089e	1515	// delay time, pulse the relay.
mjr	35:e959ffba78fd	1516	if (tv_timer.read() >= tv_delay_time)
mjr	33:d832bcab089e	1517	{
mjr	33:d832bcab089e	1518	// turn on the relay for one timer interval
mjr	35:e959ffba78fd	1519	tv_relay->write(1);
mjr	33:d832bcab089e	1520	psu2_state = 5;
mjr	33:d832bcab089e	1521	}
mjr	33:d832bcab089e	1522	break;
mjr	33:d832bcab089e	1523
mjr	33:d832bcab089e	1524	case 5:
mjr	33:d832bcab089e	1525	// TV timer relay on. We pulse this for one interval, so
mjr	33:d832bcab089e	1526	// it's now time to turn it off and return to the default state.
mjr	35:e959ffba78fd	1527	tv_relay->write(0);
mjr	33:d832bcab089e	1528	psu2_state = 1;
mjr	33:d832bcab089e	1529	break;
mjr	33:d832bcab089e	1530	}
mjr	33:d832bcab089e	1531	}
mjr	33:d832bcab089e	1532
mjr	35:e959ffba78fd	1533	// Start the TV ON checker. If the status sense circuit is enabled in
mjr	35:e959ffba78fd	1534	// the configuration, we'll set up the pin connections and start the
mjr	35:e959ffba78fd	1535	// interrupt handler that periodically checks the status. Does nothing
mjr	35:e959ffba78fd	1536	// if any of the pins are configured as NC.
mjr	35:e959ffba78fd	1537	void startTVTimer(Config &cfg)
mjr	35:e959ffba78fd	1538	{
mjr	35:e959ffba78fd	1539	// only start the timer if the status sense circuit pins are configured
mjr	35:e959ffba78fd	1540	if (cfg.TVON.statusPin != NC && cfg.TVON.latchPin != NC && cfg.TVON.relayPin != NC)
mjr	35:e959ffba78fd	1541	{
mjr	35:e959ffba78fd	1542	psu2_status_sense = new DigitalIn(cfg.TVON.statusPin);
mjr	35:e959ffba78fd	1543	psu2_status_set = new DigitalOut(cfg.TVON.latchPin);
mjr	35:e959ffba78fd	1544	tv_relay = new DigitalOut(cfg.TVON.relayPin);
mjr	35:e959ffba78fd	1545	tv_delay_time = cfg.TVON.delayTime;
mjr	35:e959ffba78fd	1546
mjr	35:e959ffba78fd	1547	// Set up our time routine to run every 1/4 second.
mjr	35:e959ffba78fd	1548	tv_ticker.attach(&TVTimerInt, 0.25);
mjr	35:e959ffba78fd	1549	}
mjr	35:e959ffba78fd	1550	}
mjr	35:e959ffba78fd	1551
mjr	35:e959ffba78fd	1552	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	1553	//
mjr	35:e959ffba78fd	1554	// In-memory configuration data structure. This is the live version in RAM
mjr	35:e959ffba78fd	1555	// that we use to determine how things are set up.
mjr	35:e959ffba78fd	1556	//
mjr	35:e959ffba78fd	1557	// When we save the configuration settings, we copy this structure to
mjr	35:e959ffba78fd	1558	// non-volatile flash memory. At startup, we check the flash location where
mjr	35:e959ffba78fd	1559	// we might have saved settings on a previous run, and it's valid, we copy
mjr	35:e959ffba78fd	1560	// the flash data to this structure. Firmware updates wipe the flash
mjr	35:e959ffba78fd	1561	// memory area, so you have to use the PC config tool to send the settings
mjr	35:e959ffba78fd	1562	// again each time the firmware is updated.
mjr	35:e959ffba78fd	1563	//
mjr	35:e959ffba78fd	1564	NVM nvm;
mjr	35:e959ffba78fd	1565
mjr	35:e959ffba78fd	1566	// For convenience, a macro for the Config part of the NVM structure
mjr	35:e959ffba78fd	1567	#define cfg (nvm.d.c)
mjr	35:e959ffba78fd	1568
mjr	35:e959ffba78fd	1569	// flash memory controller interface
mjr	35:e959ffba78fd	1570	FreescaleIAP iap;
mjr	35:e959ffba78fd	1571
mjr	35:e959ffba78fd	1572	// figure the flash address as a pointer along with the number of sectors
mjr	35:e959ffba78fd	1573	// required to store the structure
mjr	35:e959ffba78fd	1574	NVM *configFlashAddr(int &addr, int &numSectors)
mjr	35:e959ffba78fd	1575	{
mjr	35:e959ffba78fd	1576	// figure how many flash sectors we span, rounding up to whole sectors
mjr	35:e959ffba78fd	1577	numSectors = (sizeof(NVM) + SECTOR_SIZE - 1)/SECTOR_SIZE;
mjr	35:e959ffba78fd	1578
mjr	35:e959ffba78fd	1579	// figure the address - this is the highest flash address where the
mjr	35:e959ffba78fd	1580	// structure will fit with the start aligned on a sector boundary
mjr	35:e959ffba78fd	1581	addr = iap.flash_size() - (numSectors * SECTOR_SIZE);
mjr	35:e959ffba78fd	1582
mjr	35:e959ffba78fd	1583	// return the address as a pointer
mjr	35:e959ffba78fd	1584	return (NVM *)addr;
mjr	35:e959ffba78fd	1585	}
mjr	35:e959ffba78fd	1586
mjr	35:e959ffba78fd	1587	// figure the flash address as a pointer
mjr	35:e959ffba78fd	1588	NVM *configFlashAddr()
mjr	35:e959ffba78fd	1589	{
mjr	35:e959ffba78fd	1590	int addr, numSectors;
mjr	35:e959ffba78fd	1591	return configFlashAddr(addr, numSectors);
mjr	35:e959ffba78fd	1592	}
mjr	35:e959ffba78fd	1593
mjr	35:e959ffba78fd	1594	// Load the config from flash
mjr	35:e959ffba78fd	1595	void loadConfigFromFlash()
mjr	35:e959ffba78fd	1596	{
mjr	35:e959ffba78fd	1597	// We want to use the KL25Z's on-board flash to store our configuration
mjr	35:e959ffba78fd	1598	// data persistently, so that we can restore it across power cycles.
mjr	35:e959ffba78fd	1599	// Unfortunatly, the mbed platform doesn't explicitly support this.
mjr	35:e959ffba78fd	1600	// mbed treats the on-board flash as a raw storage device for linker
mjr	35:e959ffba78fd	1601	// output, and assumes that the linker output is the only thing
mjr	35:e959ffba78fd	1602	// stored there. There's no file system and no allowance for shared
mjr	35:e959ffba78fd	1603	// use for other purposes. Fortunately, the linker ues the space in
mjr	35:e959ffba78fd	1604	// the obvious way, storing the entire linked program in a contiguous
mjr	35:e959ffba78fd	1605	// block starting at the lowest flash address. This means that the
mjr	35:e959ffba78fd	1606	// rest of flash - from the end of the linked program to the highest
mjr	35:e959ffba78fd	1607	// flash address - is all unused free space. Writing our data there
mjr	35:e959ffba78fd	1608	// won't conflict with anything else. Since the linker doesn't give
mjr	35:e959ffba78fd	1609	// us any programmatic access to the total linker output size, it's
mjr	35:e959ffba78fd	1610	// safest to just store our config data at the very end of the flash
mjr	35:e959ffba78fd	1611	// region (i.e., the highest address). As long as it's smaller than
mjr	35:e959ffba78fd	1612	// the free space, it won't collide with the linker area.
mjr	35:e959ffba78fd	1613
mjr	35:e959ffba78fd	1614	// Figure how many sectors we need for our structure
mjr	35:e959ffba78fd	1615	NVM *flash = configFlashAddr();
mjr	35:e959ffba78fd	1616
mjr	35:e959ffba78fd	1617	// if the flash is valid, load it; otherwise initialize to defaults
mjr	35:e959ffba78fd	1618	if (flash->valid())
mjr	35:e959ffba78fd	1619	{
mjr	35:e959ffba78fd	1620	// flash is valid - load it into the RAM copy of the structure
mjr	35:e959ffba78fd	1621	memcpy(&nvm, flash, sizeof(NVM));
mjr	35:e959ffba78fd	1622	}
mjr	35:e959ffba78fd	1623	else
mjr	35:e959ffba78fd	1624	{
mjr	35:e959ffba78fd	1625	// flash is invalid - load factory settings nito RAM structure
mjr	35:e959ffba78fd	1626	cfg.setFactoryDefaults();
mjr	35:e959ffba78fd	1627	}
mjr	35:e959ffba78fd	1628	}
mjr	35:e959ffba78fd	1629
mjr	35:e959ffba78fd	1630	void saveConfigToFlash()
mjr	33:d832bcab089e	1631	{
mjr	35:e959ffba78fd	1632	int addr, sectors;
mjr	35:e959ffba78fd	1633	configFlashAddr(addr, sectors);
mjr	35:e959ffba78fd	1634	nvm.save(iap, addr);
mjr	35:e959ffba78fd	1635	}
mjr	35:e959ffba78fd	1636
mjr	35:e959ffba78fd	1637	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	1638	//
mjr	35:e959ffba78fd	1639	// Plunger Sensor
mjr	35:e959ffba78fd	1640	//
mjr	35:e959ffba78fd	1641
mjr	35:e959ffba78fd	1642	// the plunger sensor interface object
mjr	35:e959ffba78fd	1643	PlungerSensor *plungerSensor = 0;
mjr	35:e959ffba78fd	1644
mjr	35:e959ffba78fd	1645	// Create the plunger sensor based on the current configuration. If
mjr	35:e959ffba78fd	1646	// there's already a sensor object, we'll delete it.
mjr	35:e959ffba78fd	1647	void createPlunger()
mjr	35:e959ffba78fd	1648	{
mjr	35:e959ffba78fd	1649	// delete any existing sensor object
mjr	35:e959ffba78fd	1650	if (plungerSensor != 0)
mjr	35:e959ffba78fd	1651	delete plungerSensor;
mjr	35:e959ffba78fd	1652
mjr	35:e959ffba78fd	1653	// create the new sensor object according to the type
mjr	35:e959ffba78fd	1654	switch (cfg.plunger.sensorType)
mjr	35:e959ffba78fd	1655	{
mjr	35:e959ffba78fd	1656	case PlungerType_TSL1410RS:
mjr	35:e959ffba78fd	1657	// pins are: SI, CLOCK, AO
mjr	35:e959ffba78fd	1658	plungerSensor = new PlungerSensorTSL1410R(cfg.plunger.sensorPin[0], cfg.plunger.sensorPin[1], cfg.plunger.sensorPin[2], NC);
mjr	35:e959ffba78fd	1659	break;
mjr	35:e959ffba78fd	1660
mjr	35:e959ffba78fd	1661	case PlungerType_TSL1410RP:
mjr	35:e959ffba78fd	1662	// pins are: SI, CLOCK, AO1, AO2
mjr	35:e959ffba78fd	1663	plungerSensor = new PlungerSensorTSL1410R(cfg.plunger.sensorPin[0], cfg.plunger.sensorPin[1], cfg.plunger.sensorPin[2], cfg.plunger.sensorPin[3]);
mjr	35:e959ffba78fd	1664	break;
mjr	35:e959ffba78fd	1665
mjr	35:e959ffba78fd	1666	case PlungerType_TSL1412RS:
mjr	35:e959ffba78fd	1667	// pins are: SI, CLOCK, AO1, AO2
mjr	35:e959ffba78fd	1668	plungerSensor = new PlungerSensorTSL1412R(cfg.plunger.sensorPin[0], cfg.plunger.sensorPin[1], cfg.plunger.sensorPin[2], NC);
mjr	35:e959ffba78fd	1669	break;
mjr	35:e959ffba78fd	1670
mjr	35:e959ffba78fd	1671	case PlungerType_TSL1412RP:
mjr	35:e959ffba78fd	1672	// pins are: SI, CLOCK, AO1, AO2
mjr	35:e959ffba78fd	1673	plungerSensor = new PlungerSensorTSL1412R(cfg.plunger.sensorPin[0], cfg.plunger.sensorPin[1], cfg.plunger.sensorPin[2], cfg.plunger.sensorPin[3]);
mjr	35:e959ffba78fd	1674	break;
mjr	35:e959ffba78fd	1675
mjr	35:e959ffba78fd	1676	case PlungerType_Pot:
mjr	35:e959ffba78fd	1677	// pins are: AO
mjr	35:e959ffba78fd	1678	plungerSensor = new PlungerSensorPot(cfg.plunger.sensorPin[0]);
mjr	35:e959ffba78fd	1679	break;
mjr	35:e959ffba78fd	1680
mjr	35:e959ffba78fd	1681	case PlungerType_None:
mjr	35:e959ffba78fd	1682	default:
mjr	35:e959ffba78fd	1683	plungerSensor = new PlungerSensorNull();
mjr	35:e959ffba78fd	1684	break;
mjr	35:e959ffba78fd	1685	}
mjr	33:d832bcab089e	1686	}
mjr	33:d832bcab089e	1687
mjr	35:e959ffba78fd	1688	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	1689	//
mjr	35:e959ffba78fd	1690	// Reboot - resets the microcontroller
mjr	35:e959ffba78fd	1691	//
mjr	35:e959ffba78fd	1692	void reboot(USBJoystick &js)
mjr	35:e959ffba78fd	1693	{
mjr	35:e959ffba78fd	1694	// disconnect from USB
mjr	35:e959ffba78fd	1695	js.disconnect();
mjr	35:e959ffba78fd	1696
mjr	35:e959ffba78fd	1697	// wait a few seconds to make sure the host notices the disconnect
mjr	35:e959ffba78fd	1698	wait(5);
mjr	35:e959ffba78fd	1699
mjr	35:e959ffba78fd	1700	// reset the device
mjr	35:e959ffba78fd	1701	NVIC_SystemReset();
mjr	35:e959ffba78fd	1702	while (true) { }
mjr	35:e959ffba78fd	1703	}
mjr	35:e959ffba78fd	1704
mjr	35:e959ffba78fd	1705	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	1706	//
mjr	35:e959ffba78fd	1707	// Translate joystick readings from raw values to reported values, based
mjr	35:e959ffba78fd	1708	// on the orientation of the controller card in the cabinet.
mjr	35:e959ffba78fd	1709	//
mjr	35:e959ffba78fd	1710	void accelRotate(int &x, int &y)
mjr	35:e959ffba78fd	1711	{
mjr	35:e959ffba78fd	1712	int tmp;
mjr	35:e959ffba78fd	1713	switch (cfg.orientation)
mjr	35:e959ffba78fd	1714	{
mjr	35:e959ffba78fd	1715	case OrientationFront:
mjr	35:e959ffba78fd	1716	tmp = x;
mjr	35:e959ffba78fd	1717	x = y;
mjr	35:e959ffba78fd	1718	y = tmp;
mjr	35:e959ffba78fd	1719	break;
mjr	35:e959ffba78fd	1720
mjr	35:e959ffba78fd	1721	case OrientationLeft:
mjr	35:e959ffba78fd	1722	x = -x;
mjr	35:e959ffba78fd	1723	break;
mjr	35:e959ffba78fd	1724
mjr	35:e959ffba78fd	1725	case OrientationRight:
mjr	35:e959ffba78fd	1726	y = -y;
mjr	35:e959ffba78fd	1727	break;
mjr	35:e959ffba78fd	1728
mjr	35:e959ffba78fd	1729	case OrientationRear:
mjr	35:e959ffba78fd	1730	tmp = -x;
mjr	35:e959ffba78fd	1731	x = -y;
mjr	35:e959ffba78fd	1732	y = tmp;
mjr	35:e959ffba78fd	1733	break;
mjr	35:e959ffba78fd	1734	}
mjr	35:e959ffba78fd	1735	}
mjr	35:e959ffba78fd	1736
mjr	35:e959ffba78fd	1737	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	1738	//
mjr	35:e959ffba78fd	1739	// Device status. We report this on each update so that the host config
mjr	35:e959ffba78fd	1740	// tool can detect our current settings. This is a bit mask consisting
mjr	35:e959ffba78fd	1741	// of these bits:
mjr	35:e959ffba78fd	1742	// 0x0001 -> plunger sensor enabled
mjr	35:e959ffba78fd	1743	// 0x8000 -> RESERVED - must always be zero
mjr	35:e959ffba78fd	1744	//
mjr	35:e959ffba78fd	1745	// Note that the high bit (0x8000) must always be 0, since we use that
mjr	35:e959ffba78fd	1746	// to distinguish special request reply packets.
mjr	35:e959ffba78fd	1747	uint16_t statusFlags;
mjr	35:e959ffba78fd	1748
mjr	35:e959ffba78fd	1749	// flag: send a pixel dump after the next read
mjr	35:e959ffba78fd	1750	bool reportPix = false;
mjr	35:e959ffba78fd	1751
mjr	33:d832bcab089e	1752
mjr	35:e959ffba78fd	1753	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	1754	//
mjr	35:e959ffba78fd	1755	// Calibration button state:
mjr	35:e959ffba78fd	1756	// 0 = not pushed
mjr	35:e959ffba78fd	1757	// 1 = pushed, not yet debounced
mjr	35:e959ffba78fd	1758	// 2 = pushed, debounced, waiting for hold time
mjr	35:e959ffba78fd	1759	// 3 = pushed, hold time completed - in calibration mode
mjr	35:e959ffba78fd	1760	int calBtnState = 0;
mjr	35:e959ffba78fd	1761
mjr	35:e959ffba78fd	1762	// calibration button debounce timer
mjr	35:e959ffba78fd	1763	Timer calBtnTimer;
mjr	35:e959ffba78fd	1764
mjr	35:e959ffba78fd	1765	// calibration button light state
mjr	35:e959ffba78fd	1766	int calBtnLit = false;
mjr	35:e959ffba78fd	1767
mjr	35:e959ffba78fd	1768
mjr	35:e959ffba78fd	1769	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	1770	//
mjr	35:e959ffba78fd	1771	// Handle a configuration variable update. 'data' is the USB message we
mjr	35:e959ffba78fd	1772	// received from the host.
mjr	35:e959ffba78fd	1773	//
mjr	35:e959ffba78fd	1774	void configVarMsg(uint8_t *data)
mjr	35:e959ffba78fd	1775	{
mjr	35:e959ffba78fd	1776	switch (data[1])
mjr	35:e959ffba78fd	1777	{
mjr	35:e959ffba78fd	1778	case 1:
mjr	35:e959ffba78fd	1779	// USB identification (Vendor ID, Product ID)
mjr	35:e959ffba78fd	1780	cfg.usbVendorID = wireUI16(data+2);
mjr	35:e959ffba78fd	1781	cfg.usbProductID = wireUI16(data+4);
mjr	35:e959ffba78fd	1782	break;
mjr	35:e959ffba78fd	1783
mjr	35:e959ffba78fd	1784	case 2:
mjr	35:e959ffba78fd	1785	// Pinscape Controller unit number - note that data[2] contains
mjr	35:e959ffba78fd	1786	// the nominal unit number, 1-16
mjr	35:e959ffba78fd	1787	if (data[2] >= 1 && data[2] <= 16)
mjr	35:e959ffba78fd	1788	cfg.psUnitNo = data[2];
mjr	35:e959ffba78fd	1789	break;
mjr	35:e959ffba78fd	1790
mjr	35:e959ffba78fd	1791	case 3:
mjr	35:e959ffba78fd	1792	// Enable/disable joystick
mjr	35:e959ffba78fd	1793	cfg.joystickEnabled = data[2];
mjr	35:e959ffba78fd	1794	break;
mjr	35:e959ffba78fd	1795
mjr	35:e959ffba78fd	1796	case 4:
mjr	35:e959ffba78fd	1797	// Accelerometer orientation
mjr	35:e959ffba78fd	1798	cfg.orientation = data[2];
mjr	35:e959ffba78fd	1799	break;
mjr	35:e959ffba78fd	1800
mjr	35:e959ffba78fd	1801	case 5:
mjr	35:e959ffba78fd	1802	// Plunger sensor type
mjr	35:e959ffba78fd	1803	cfg.plunger.sensorType = data[2];
mjr	35:e959ffba78fd	1804	break;
mjr	35:e959ffba78fd	1805
mjr	35:e959ffba78fd	1806	case 6:
mjr	35:e959ffba78fd	1807	// Set plunger pin assignments
mjr	35:e959ffba78fd	1808	cfg.plunger.sensorPin[0] = wirePinName(data[2]);
mjr	35:e959ffba78fd	1809	cfg.plunger.sensorPin[1] = wirePinName(data[3]);
mjr	35:e959ffba78fd	1810	cfg.plunger.sensorPin[2] = wirePinName(data[4]);
mjr	35:e959ffba78fd	1811	cfg.plunger.sensorPin[3] = wirePinName(data[5]);
mjr	35:e959ffba78fd	1812	break;
mjr	35:e959ffba78fd	1813
mjr	35:e959ffba78fd	1814	case 7:
mjr	35:e959ffba78fd	1815	// Plunger calibration button and indicator light pin assignments
mjr	35:e959ffba78fd	1816	cfg.plunger.cal.btn = wirePinName(data[2]);
mjr	35:e959ffba78fd	1817	cfg.plunger.cal.led = wirePinName(data[3]);
mjr	35:e959ffba78fd	1818	break;
mjr	35:e959ffba78fd	1819
mjr	35:e959ffba78fd	1820	case 8:
mjr	35:e959ffba78fd	1821	// ZB Launch Ball setup
mjr	35:e959ffba78fd	1822	cfg.plunger.zbLaunchBall.port = (int)(unsigned char)data[2];
mjr	35:e959ffba78fd	1823	cfg.plunger.zbLaunchBall.btn = (int)(unsigned char)data[3];
mjr	35:e959ffba78fd	1824	cfg.plunger.zbLaunchBall.pushDistance = (float)wireUI16(data+4) / 1000.0;
mjr	35:e959ffba78fd	1825	break;
mjr	35:e959ffba78fd	1826
mjr	35:e959ffba78fd	1827	case 9:
mjr	35:e959ffba78fd	1828	// TV ON setup
mjr	35:e959ffba78fd	1829	cfg.TVON.statusPin = wirePinName(data[2]);
mjr	35:e959ffba78fd	1830	cfg.TVON.latchPin = wirePinName(data[3]);
mjr	35:e959ffba78fd	1831	cfg.TVON.relayPin = wirePinName(data[4]);
mjr	35:e959ffba78fd	1832	cfg.TVON.delayTime = (float)wireUI16(data+5) / 100.0;
mjr	35:e959ffba78fd	1833	break;
mjr	35:e959ffba78fd	1834
mjr	35:e959ffba78fd	1835	case 10:
mjr	35:e959ffba78fd	1836	// TLC5940NT PWM controller chip setup
mjr	35:e959ffba78fd	1837	cfg.tlc5940.nchips = (int)(unsigned char)data[2];
mjr	35:e959ffba78fd	1838	cfg.tlc5940.sin = wirePinName(data[3]);
mjr	35:e959ffba78fd	1839	cfg.tlc5940.sclk = wirePinName(data[4]);
mjr	35:e959ffba78fd	1840	cfg.tlc5940.xlat = wirePinName(data[5]);
mjr	35:e959ffba78fd	1841	cfg.tlc5940.blank = wirePinName(data[6]);
mjr	35:e959ffba78fd	1842	cfg.tlc5940.gsclk = wirePinName(data[7]);
mjr	35:e959ffba78fd	1843	break;
mjr	35:e959ffba78fd	1844
mjr	35:e959ffba78fd	1845	case 11:
mjr	35:e959ffba78fd	1846	// 74HC595 shift register chip setup
mjr	35:e959ffba78fd	1847	cfg.hc595.nchips = (int)(unsigned char)data[2];
mjr	35:e959ffba78fd	1848	cfg.hc595.sin = wirePinName(data[3]);
mjr	35:e959ffba78fd	1849	cfg.hc595.sclk = wirePinName(data[4]);
mjr	35:e959ffba78fd	1850	cfg.hc595.latch = wirePinName(data[5]);
mjr	35:e959ffba78fd	1851	cfg.hc595.ena = wirePinName(data[6]);
mjr	35:e959ffba78fd	1852	break;
mjr	35:e959ffba78fd	1853
mjr	35:e959ffba78fd	1854	case 12:
mjr	35:e959ffba78fd	1855	// button setup
mjr	35:e959ffba78fd	1856	{
mjr	35:e959ffba78fd	1857	// get the button number
mjr	35:e959ffba78fd	1858	int idx = data[2];
mjr	35:e959ffba78fd	1859
mjr	35:e959ffba78fd	1860	// if it's in range, set the button data
mjr	35:e959ffba78fd	1861	if (idx > 0 && idx <= MAX_BUTTONS)
mjr	35:e959ffba78fd	1862	{
mjr	35:e959ffba78fd	1863	// adjust to an array index
mjr	35:e959ffba78fd	1864	--idx;
mjr	35:e959ffba78fd	1865
mjr	35:e959ffba78fd	1866	// set the values
mjr	35:e959ffba78fd	1867	cfg.button[idx].pin = data[3];
mjr	35:e959ffba78fd	1868	cfg.button[idx].typ = data[4];
mjr	35:e959ffba78fd	1869	cfg.button[idx].val = data[5];
mjr	35:e959ffba78fd	1870	}
mjr	35:e959ffba78fd	1871	}
mjr	35:e959ffba78fd	1872	break;
mjr	35:e959ffba78fd	1873
mjr	35:e959ffba78fd	1874	case 13:
mjr	35:e959ffba78fd	1875	// LedWiz output port setup
mjr	35:e959ffba78fd	1876	{
mjr	35:e959ffba78fd	1877	// get the port number
mjr	35:e959ffba78fd	1878	int idx = data[2];
mjr	35:e959ffba78fd	1879
mjr	35:e959ffba78fd	1880	// if it's in range, set the port data
mjr	35:e959ffba78fd	1881	if (idx > 0 && idx <= MAX_OUT_PORTS)
mjr	35:e959ffba78fd	1882	{
mjr	35:e959ffba78fd	1883	// adjust to an array index
mjr	35:e959ffba78fd	1884	--idx;
mjr	35:e959ffba78fd	1885
mjr	35:e959ffba78fd	1886	// set the values
mjr	35:e959ffba78fd	1887	cfg.outPort[idx].typ = data[3];
mjr	35:e959ffba78fd	1888	cfg.outPort[idx].pin = data[4];
mjr	35:e959ffba78fd	1889	cfg.outPort[idx].flags = data[5];
mjr	35:e959ffba78fd	1890	}
mjr	35:e959ffba78fd	1891	}
mjr	35:e959ffba78fd	1892	break;
mjr	35:e959ffba78fd	1893	}
mjr	35:e959ffba78fd	1894	}
mjr	35:e959ffba78fd	1895
mjr	35:e959ffba78fd	1896	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	1897	//
mjr	35:e959ffba78fd	1898	// Handle an input report from the USB host. Input reports use our extended
mjr	35:e959ffba78fd	1899	// LedWiz protocol.
mjr	33:d832bcab089e	1900	//
mjr	35:e959ffba78fd	1901	void handleInputMsg(HID_REPORT &report, USBJoystick &js, int &z)
mjr	35:e959ffba78fd	1902	{
mjr	35:e959ffba78fd	1903	// all Led-Wiz reports are exactly 8 bytes
mjr	35:e959ffba78fd	1904	if (report.length == 8)
mjr	35:e959ffba78fd	1905	{
mjr	35:e959ffba78fd	1906	// LedWiz commands come in two varieties: SBA and PBA. An
mjr	35:e959ffba78fd	1907	// SBA is marked by the first byte having value 64 (0x40). In
mjr	35:e959ffba78fd	1908	// the real LedWiz protocol, any other value in the first byte
mjr	35:e959ffba78fd	1909	// means it's a PBA message. However, valid PBA messages
mjr	35:e959ffba78fd	1910	// always have a first byte (and in fact all 8 bytes) in the
mjr	35:e959ffba78fd	1911	// range 0-49 or 129-132. Anything else is invalid. We take
mjr	35:e959ffba78fd	1912	// advantage of this to implement private protocol extensions.
mjr	35:e959ffba78fd	1913	// So our full protocol is as follows:
mjr	35:e959ffba78fd	1914	//
mjr	35:e959ffba78fd	1915	// first byte =
mjr	35:e959ffba78fd	1916	// 0-48 -> LWZ-PBA
mjr	35:e959ffba78fd	1917	// 64 -> LWZ SBA
mjr	35:e959ffba78fd	1918	// 65 -> private control message; second byte specifies subtype
mjr	35:e959ffba78fd	1919	// 129-132 -> LWZ-PBA
mjr	35:e959ffba78fd	1920	// 200-228 -> extended bank brightness set for outputs N to N+6, where
mjr	35:e959ffba78fd	1921	// N is (first byte - 200)*7
mjr	35:e959ffba78fd	1922	// other -> reserved for future use
mjr	35:e959ffba78fd	1923	//
mjr	35:e959ffba78fd	1924	uint8_t *data = report.data;
mjr	35:e959ffba78fd	1925	if (data[0] == 64)
mjr	35:e959ffba78fd	1926	{
mjr	35:e959ffba78fd	1927	// LWZ-SBA - first four bytes are bit-packed on/off flags
mjr	35:e959ffba78fd	1928	// for the outputs; 5th byte is the pulse speed (1-7)
mjr	35:e959ffba78fd	1929	//printf("LWZ-SBA %02x %02x %02x %02x ; %02x\r\n",
mjr	35:e959ffba78fd	1930	// data[1], data[2], data[3], data[4], data[5]);
mjr	35:e959ffba78fd	1931
mjr	35:e959ffba78fd	1932	// update all on/off states
mjr	35:e959ffba78fd	1933	for (int i = 0, bit = 1, ri = 1 ; i < numLwOutputs ; ++i, bit <<= 1)
mjr	35:e959ffba78fd	1934	{
mjr	35:e959ffba78fd	1935	// figure the on/off state bit for this output
mjr	35:e959ffba78fd	1936	if (bit == 0x100) {
mjr	35:e959ffba78fd	1937	bit = 1;
mjr	35:e959ffba78fd	1938	++ri;
mjr	35:e959ffba78fd	1939	}
mjr	35:e959ffba78fd	1940
mjr	35:e959ffba78fd	1941	// set the on/off state
mjr	35:e959ffba78fd	1942	wizOn[i] = ((data[ri] & bit) != 0);
mjr	35:e959ffba78fd	1943
mjr	35:e959ffba78fd	1944	// If the wizVal setting is 255, it means that this
mjr	35:e959ffba78fd	1945	// output was last set to a brightness value with the
mjr	35:e959ffba78fd	1946	// extended protocol. Return it to LedWiz control by
mjr	35:e959ffba78fd	1947	// rescaling the brightness setting to the LedWiz range
mjr	35:e959ffba78fd	1948	// and updating wizVal with the result. If it's any
mjr	35:e959ffba78fd	1949	// other value, it was previously set by a PBA message,
mjr	35:e959ffba78fd	1950	// so simply retain the last setting - in the normal
mjr	35:e959ffba78fd	1951	// LedWiz protocol, the "profile" (brightness) and on/off
mjr	35:e959ffba78fd	1952	// states are independent, so an SBA just turns an output
mjr	35:e959ffba78fd	1953	// on or off but retains its last brightness level.
mjr	35:e959ffba78fd	1954	if (wizVal[i] == 255)
mjr	35:e959ffba78fd	1955	wizVal[i] = (uint8_t)round(outLevel[i]*48);
mjr	35:e959ffba78fd	1956	}
mjr	35:e959ffba78fd	1957
mjr	35:e959ffba78fd	1958	// set the flash speed - enforce the value range 1-7
mjr	35:e959ffba78fd	1959	wizSpeed = data[5];
mjr	35:e959ffba78fd	1960	if (wizSpeed < 1)
mjr	35:e959ffba78fd	1961	wizSpeed = 1;
mjr	35:e959ffba78fd	1962	else if (wizSpeed > 7)
mjr	35:e959ffba78fd	1963	wizSpeed = 7;
mjr	35:e959ffba78fd	1964
mjr	35:e959ffba78fd	1965	// update the physical outputs
mjr	35:e959ffba78fd	1966	updateWizOuts();
mjr	35:e959ffba78fd	1967	if (hc595 != 0)
mjr	35:e959ffba78fd	1968	hc595->update();
mjr	35:e959ffba78fd	1969
mjr	35:e959ffba78fd	1970	// reset the PBA counter
mjr	35:e959ffba78fd	1971	pbaIdx = 0;
mjr	35:e959ffba78fd	1972	}
mjr	35:e959ffba78fd	1973	else if (data[0] == 65)
mjr	35:e959ffba78fd	1974	{
mjr	35:e959ffba78fd	1975	// Private control message. This isn't an LedWiz message - it's
mjr	35:e959ffba78fd	1976	// an extension for this device. 65 is an invalid PBA setting,
mjr	35:e959ffba78fd	1977	// and isn't used for any other LedWiz message, so we appropriate
mjr	35:e959ffba78fd	1978	// it for our own private use. The first byte specifies the
mjr	35:e959ffba78fd	1979	// message type.
mjr	35:e959ffba78fd	1980	if (data[1] == 1)
mjr	35:e959ffba78fd	1981	{
mjr	35:e959ffba78fd	1982	// 1 = Old Set Configuration:
mjr	35:e959ffba78fd	1983	// data[2] = LedWiz unit number (0x00 to 0x0f)
mjr	35:e959ffba78fd	1984	// data[3] = feature enable bit mask:
mjr	35:e959ffba78fd	1985	// 0x01 = enable plunger sensor
mjr	35:e959ffba78fd	1986
mjr	35:e959ffba78fd	1987	// get the new LedWiz unit number - this is 0-15, whereas we
mjr	35:e959ffba78fd	1988	// we save the nominal unit number 1-16 in the config
mjr	35:e959ffba78fd	1989	uint8_t newUnitNo = (data[2] & 0x0f) + 1;
mjr	33:d832bcab089e	1990
mjr	35:e959ffba78fd	1991	// we'll need a reset if the LedWiz unit number is changing
mjr	35:e959ffba78fd	1992	bool needReset = (newUnitNo != cfg.psUnitNo);
mjr	35:e959ffba78fd	1993
mjr	35:e959ffba78fd	1994	// set the configuration parameters from the message
mjr	35:e959ffba78fd	1995	cfg.psUnitNo = newUnitNo;
mjr	35:e959ffba78fd	1996	cfg.plunger.enabled = data[3] & 0x01;
mjr	35:e959ffba78fd	1997
mjr	35:e959ffba78fd	1998	// update the status flags
mjr	35:e959ffba78fd	1999	statusFlags = (statusFlags & ~0x01) \| (data[3] & 0x01);
mjr	35:e959ffba78fd	2000
mjr	35:e959ffba78fd	2001	// if the plunger is no longer enabled, use 0 for z reports
mjr	35:e959ffba78fd	2002	if (!cfg.plunger.enabled)
mjr	35:e959ffba78fd	2003	z = 0;
mjr	35:e959ffba78fd	2004
mjr	35:e959ffba78fd	2005	// save the configuration
mjr	35:e959ffba78fd	2006	saveConfigToFlash();
mjr	35:e959ffba78fd	2007
mjr	35:e959ffba78fd	2008	// reboot if necessary
mjr	35:e959ffba78fd	2009	if (needReset)
mjr	35:e959ffba78fd	2010	reboot(js);
mjr	35:e959ffba78fd	2011	}
mjr	35:e959ffba78fd	2012	else if (data[1] == 2)
mjr	35:e959ffba78fd	2013	{
mjr	35:e959ffba78fd	2014	// 2 = Calibrate plunger
mjr	35:e959ffba78fd	2015	// (No parameters)
mjr	35:e959ffba78fd	2016
mjr	35:e959ffba78fd	2017	// enter calibration mode
mjr	35:e959ffba78fd	2018	calBtnState = 3;
mjr	35:e959ffba78fd	2019	calBtnTimer.reset();
mjr	35:e959ffba78fd	2020	cfg.plunger.cal.reset(plungerSensor->npix);
mjr	35:e959ffba78fd	2021	}
mjr	35:e959ffba78fd	2022	else if (data[1] == 3)
mjr	35:e959ffba78fd	2023	{
mjr	35:e959ffba78fd	2024	// 3 = pixel dump
mjr	35:e959ffba78fd	2025	// (No parameters)
mjr	35:e959ffba78fd	2026	reportPix = true;
mjr	35:e959ffba78fd	2027
mjr	35:e959ffba78fd	2028	// show purple until we finish sending the report
mjr	35:e959ffba78fd	2029	ledR = 0;
mjr	35:e959ffba78fd	2030	ledB = 0;
mjr	35:e959ffba78fd	2031	ledG = 1;
mjr	35:e959ffba78fd	2032	}
mjr	35:e959ffba78fd	2033	else if (data[1] == 4)
mjr	35:e959ffba78fd	2034	{
mjr	35:e959ffba78fd	2035	// 4 = hardware configuration query
mjr	35:e959ffba78fd	2036	// (No parameters)
mjr	35:e959ffba78fd	2037	wait_ms(1);
mjr	35:e959ffba78fd	2038	js.reportConfig(
mjr	35:e959ffba78fd	2039	numOutputs,
mjr	35:e959ffba78fd	2040	cfg.psUnitNo - 1, // report 0-15 range for unit number (we store 1-16 internally)
mjr	35:e959ffba78fd	2041	cfg.plunger.cal.zero, cfg.plunger.cal.max);
mjr	35:e959ffba78fd	2042	}
mjr	35:e959ffba78fd	2043	else if (data[1] == 5)
mjr	35:e959ffba78fd	2044	{
mjr	35:e959ffba78fd	2045	// 5 = all outputs off, reset to LedWiz defaults
mjr	35:e959ffba78fd	2046	allOutputsOff();
mjr	35:e959ffba78fd	2047	}
mjr	35:e959ffba78fd	2048	else if (data[1] == 6)
mjr	35:e959ffba78fd	2049	{
mjr	35:e959ffba78fd	2050	// 6 = Save configuration to flash.
mjr	35:e959ffba78fd	2051	saveConfigToFlash();
mjr	35:e959ffba78fd	2052
mjr	35:e959ffba78fd	2053	// Reboot the microcontroller. Nearly all config changes
mjr	35:e959ffba78fd	2054	// require a reset, and a reset only takes a few seconds,
mjr	35:e959ffba78fd	2055	// so we don't bother tracking whether or not a reboot is
mjr	35:e959ffba78fd	2056	// really needed.
mjr	35:e959ffba78fd	2057	reboot(js);
mjr	35:e959ffba78fd	2058	}
mjr	35:e959ffba78fd	2059	}
mjr	35:e959ffba78fd	2060	else if (data[0] == 66)
mjr	35:e959ffba78fd	2061	{
mjr	35:e959ffba78fd	2062	// Extended protocol - Set configuration variable.
mjr	35:e959ffba78fd	2063	// The second byte of the message is the ID of the variable
mjr	35:e959ffba78fd	2064	// to update, and the remaining bytes give the new value,
mjr	35:e959ffba78fd	2065	// in a variable-dependent format.
mjr	35:e959ffba78fd	2066	configVarMsg(data);
mjr	35:e959ffba78fd	2067	}
mjr	35:e959ffba78fd	2068	else if (data[0] >= 200 && data[0] <= 228)
mjr	35:e959ffba78fd	2069	{
mjr	35:e959ffba78fd	2070	// Extended protocol - Extended output port brightness update.
mjr	35:e959ffba78fd	2071	// data[0]-200 gives us the bank of 7 outputs we're setting:
mjr	35:e959ffba78fd	2072	// 200 is outputs 0-6, 201 is outputs 7-13, 202 is 14-20, etc.
mjr	35:e959ffba78fd	2073	// The remaining bytes are brightness levels, 0-255, for the
mjr	35:e959ffba78fd	2074	// seven outputs in the selected bank. The LedWiz flashing
mjr	35:e959ffba78fd	2075	// modes aren't accessible in this message type; we can only
mjr	35:e959ffba78fd	2076	// set a fixed brightness, but in exchange we get 8-bit
mjr	35:e959ffba78fd	2077	// resolution rather than the paltry 0-48 scale that the real
mjr	35:e959ffba78fd	2078	// LedWiz uses. There's no separate on/off status for outputs
mjr	35:e959ffba78fd	2079	// adjusted with this message type, either, as there would be
mjr	35:e959ffba78fd	2080	// for a PBA message - setting a non-zero value immediately
mjr	35:e959ffba78fd	2081	// turns the output, overriding the last SBA setting.
mjr	35:e959ffba78fd	2082	//
mjr	35:e959ffba78fd	2083	// For outputs 0-31, this overrides any previous PBA/SBA
mjr	35:e959ffba78fd	2084	// settings for the port. Any subsequent PBA/SBA message will
mjr	35:e959ffba78fd	2085	// in turn override the setting made here. It's simple - the
mjr	35:e959ffba78fd	2086	// most recent message of either type takes precedence. For
mjr	35:e959ffba78fd	2087	// outputs above the LedWiz range, PBA/SBA messages can't
mjr	35:e959ffba78fd	2088	// address those ports anyway.
mjr	35:e959ffba78fd	2089	int i0 = (data[0] - 200)*7;
mjr	35:e959ffba78fd	2090	int i1 = i0 + 7 < numOutputs ? i0 + 7 : numOutputs;
mjr	35:e959ffba78fd	2091	for (int i = i0 ; i < i1 ; ++i)
mjr	35:e959ffba78fd	2092	{
mjr	35:e959ffba78fd	2093	// set the brightness level for the output
mjr	35:e959ffba78fd	2094	float b = data[i-i0+1]/255.0;
mjr	35:e959ffba78fd	2095	outLevel[i] = b;
mjr	35:e959ffba78fd	2096
mjr	35:e959ffba78fd	2097	// if it's in the basic LedWiz output set, set the LedWiz
mjr	35:e959ffba78fd	2098	// profile value to 255, which means "use outLevel"
mjr	35:e959ffba78fd	2099	if (i < 32)
mjr	35:e959ffba78fd	2100	wizVal[i] = 255;
mjr	35:e959ffba78fd	2101
mjr	35:e959ffba78fd	2102	// set the output
mjr	35:e959ffba78fd	2103	lwPin[i]->set(b);
mjr	35:e959ffba78fd	2104	}
mjr	35:e959ffba78fd	2105
mjr	35:e959ffba78fd	2106	// update 74HC595 outputs, if attached
mjr	35:e959ffba78fd	2107	if (hc595 != 0)
mjr	35:e959ffba78fd	2108	hc595->update();
mjr	35:e959ffba78fd	2109	}
mjr	35:e959ffba78fd	2110	else
mjr	35:e959ffba78fd	2111	{
mjr	35:e959ffba78fd	2112	// Everything else is LWZ-PBA. This is a full "profile"
mjr	35:e959ffba78fd	2113	// dump from the host for one bank of 8 outputs. Each
mjr	35:e959ffba78fd	2114	// byte sets one output in the current bank. The current
mjr	35:e959ffba78fd	2115	// bank is implied; the bank starts at 0 and is reset to 0
mjr	35:e959ffba78fd	2116	// by any LWZ-SBA message, and is incremented to the next
mjr	35:e959ffba78fd	2117	// bank by each LWZ-PBA message. Our variable pbaIdx keeps
mjr	35:e959ffba78fd	2118	// track of our notion of the current bank. There's no direct
mjr	35:e959ffba78fd	2119	// way for the host to select the bank; it just has to count
mjr	35:e959ffba78fd	2120	// on us staying in sync. In practice, the host will always
mjr	35:e959ffba78fd	2121	// send a full set of 4 PBA messages in a row to set all 32
mjr	35:e959ffba78fd	2122	// outputs.
mjr	35:e959ffba78fd	2123	//
mjr	35:e959ffba78fd	2124	// Note that a PBA implicitly overrides our extended profile
mjr	35:e959ffba78fd	2125	// messages (message prefix 200-219), because this sets the
mjr	35:e959ffba78fd	2126	// wizVal[] entry for each output, and that takes precedence
mjr	35:e959ffba78fd	2127	// over the extended protocol settings.
mjr	35:e959ffba78fd	2128	//
mjr	35:e959ffba78fd	2129	//printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n",
mjr	35:e959ffba78fd	2130	// pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
mjr	35:e959ffba78fd	2131
mjr	35:e959ffba78fd	2132	// Update all output profile settings
mjr	35:e959ffba78fd	2133	for (int i = 0 ; i < 8 ; ++i)
mjr	35:e959ffba78fd	2134	wizVal[pbaIdx + i] = data[i];
mjr	35:e959ffba78fd	2135
mjr	35:e959ffba78fd	2136	// Update the physical LED state if this is the last bank.
mjr	35:e959ffba78fd	2137	// Note that hosts always send a full set of four PBA
mjr	35:e959ffba78fd	2138	// messages, so there's no need to do a physical update
mjr	35:e959ffba78fd	2139	// until we've received the last bank's PBA message.
mjr	35:e959ffba78fd	2140	if (pbaIdx == 24)
mjr	35:e959ffba78fd	2141	{
mjr	35:e959ffba78fd	2142	updateWizOuts();
mjr	35:e959ffba78fd	2143	if (hc595 != 0)
mjr	35:e959ffba78fd	2144	hc595->update();
mjr	35:e959ffba78fd	2145	pbaIdx = 0;
mjr	35:e959ffba78fd	2146	}
mjr	35:e959ffba78fd	2147	else
mjr	35:e959ffba78fd	2148	pbaIdx += 8;
mjr	35:e959ffba78fd	2149	}
mjr	35:e959ffba78fd	2150	}
mjr	35:e959ffba78fd	2151	}
mjr	17:ab3cec0c8bf4	2152
mjr	17:ab3cec0c8bf4	2153	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	2154	//
mjr	5:a70c0bce770d	2155	// Main program loop. This is invoked on startup and runs forever. Our
mjr	5:a70c0bce770d	2156	// main work is to read our devices (the accelerometer and the CCD), process
mjr	5:a70c0bce770d	2157	// the readings into nudge and plunger position data, and send the results
mjr	5:a70c0bce770d	2158	// to the host computer via the USB joystick interface. We also monitor
mjr	5:a70c0bce770d	2159	// the USB connection for incoming LedWiz commands and process those into
mjr	5:a70c0bce770d	2160	// port outputs.
mjr	5:a70c0bce770d	2161	//
mjr	0:5acbbe3f4cf4	2162	int main(void)
mjr	0:5acbbe3f4cf4	2163	{
mjr	1:d913e0afb2ac	2164	// turn off our on-board indicator LED
mjr	4:02c7cd7b2183	2165	ledR = 1;
mjr	4:02c7cd7b2183	2166	ledG = 1;
mjr	4:02c7cd7b2183	2167	ledB = 1;
mjr	1:d913e0afb2ac	2168
mjr	35:e959ffba78fd	2169	// clear the I2C bus for the accelerometer
mjr	35:e959ffba78fd	2170	clear_i2c();
mjr	35:e959ffba78fd	2171
mjr	35:e959ffba78fd	2172	// load the saved configuration
mjr	35:e959ffba78fd	2173	loadConfigFromFlash();
mjr	35:e959ffba78fd	2174
mjr	33:d832bcab089e	2175	// start the TV timer, if applicable
mjr	35:e959ffba78fd	2176	startTVTimer(cfg);
mjr	33:d832bcab089e	2177
mjr	33:d832bcab089e	2178	// we're not connected/awake yet
mjr	33:d832bcab089e	2179	bool connected = false;
mjr	33:d832bcab089e	2180	time_t connectChangeTime = time(0);
mjr	33:d832bcab089e	2181
mjr	35:e959ffba78fd	2182	// create the plunger sensor interface
mjr	35:e959ffba78fd	2183	createPlunger();
mjr	33:d832bcab089e	2184
mjr	35:e959ffba78fd	2185	// set up the TLC5940 interface and start the TLC5940 clock, if applicable
mjr	35:e959ffba78fd	2186	init_tlc5940(cfg);
mjr	34:6b981a2afab7	2187
mjr	34:6b981a2afab7	2188	// enable the 74HC595 chips, if present
mjr	35:e959ffba78fd	2189	init_hc595(cfg);
mjr	6:cc35eb643e8f	2190
mjr	35:e959ffba78fd	2191	// initialize the LedWiz ports
mjr	35:e959ffba78fd	2192	initLwOut(cfg);
mjr	2:c174f9ee414a	2193
mjr	35:e959ffba78fd	2194	// start the TLC5940 clock
mjr	35:e959ffba78fd	2195	if (tlc5940 != 0)
mjr	35:e959ffba78fd	2196	tlc5940->start();
mjr	35:e959ffba78fd	2197
mjr	35:e959ffba78fd	2198	// initialize the button input ports
mjr	35:e959ffba78fd	2199	bool kbKeys = false;
mjr	35:e959ffba78fd	2200	initButtons(cfg, kbKeys);
mjr	35:e959ffba78fd	2201
mjr	6:cc35eb643e8f	2202	// Create the joystick USB client. Note that we use the LedWiz unit
mjr	6:cc35eb643e8f	2203	// number from the saved configuration.
mjr	35:e959ffba78fd	2204	MyUSBJoystick js(cfg.usbVendorID, cfg.usbProductID, USB_VERSION_NO, true, cfg.joystickEnabled, kbKeys);
mjr	17:ab3cec0c8bf4	2205
mjr	17:ab3cec0c8bf4	2206	// last report timer - we use this to throttle reports, since VP
mjr	17:ab3cec0c8bf4	2207	// doesn't want to hear from us more than about every 10ms
mjr	17:ab3cec0c8bf4	2208	Timer reportTimer;
mjr	17:ab3cec0c8bf4	2209	reportTimer.start();
mjr	35:e959ffba78fd	2210
mjr	35:e959ffba78fd	2211	// set the initial status flags
mjr	35:e959ffba78fd	2212	statusFlags = (cfg.plunger.enabled ? 0x01 : 0x00);
mjr	17:ab3cec0c8bf4	2213
mjr	17:ab3cec0c8bf4	2214	// initialize the calibration buttons, if present
mjr	35:e959ffba78fd	2215	DigitalIn *calBtn = (cfg.plunger.cal.btn == NC ? 0 : new DigitalIn(cfg.plunger.cal.btn));
mjr	35:e959ffba78fd	2216	DigitalOut *calBtnLed = (cfg.plunger.cal.led == NC ? 0 : new DigitalOut(cfg.plunger.cal.led));
mjr	6:cc35eb643e8f	2217
mjr	35:e959ffba78fd	2218	// initialize the calibration button
mjr	1:d913e0afb2ac	2219	calBtnTimer.start();
mjr	35:e959ffba78fd	2220	calBtnState = 0;
mjr	1:d913e0afb2ac	2221
mjr	1:d913e0afb2ac	2222	// set up a timer for our heartbeat indicator
mjr	1:d913e0afb2ac	2223	Timer hbTimer;
mjr	1:d913e0afb2ac	2224	hbTimer.start();
mjr	1:d913e0afb2ac	2225	int hb = 0;
mjr	5:a70c0bce770d	2226	uint16_t hbcnt = 0;
mjr	1:d913e0afb2ac	2227
mjr	1:d913e0afb2ac	2228	// set a timer for accelerometer auto-centering
mjr	1:d913e0afb2ac	2229	Timer acTimer;
mjr	1:d913e0afb2ac	2230	acTimer.start();
mjr	1:d913e0afb2ac	2231
mjr	0:5acbbe3f4cf4	2232	// create the accelerometer object
mjr	5:a70c0bce770d	2233	Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS, MMA8451_INT_PIN);
mjr	0:5acbbe3f4cf4	2234
mjr	17:ab3cec0c8bf4	2235	// last accelerometer report, in joystick units (we report the nudge
mjr	17:ab3cec0c8bf4	2236	// acceleration via the joystick x & y axes, per the VP convention)
mjr	17:ab3cec0c8bf4	2237	int x = 0, y = 0;
mjr	17:ab3cec0c8bf4	2238
mjr	17:ab3cec0c8bf4	2239	// last plunger report position, in 'npix' normalized pixel units
mjr	17:ab3cec0c8bf4	2240	int pos = 0;
mjr	17:ab3cec0c8bf4	2241
mjr	17:ab3cec0c8bf4	2242	// last plunger report, in joystick units (we report the plunger as the
mjr	17:ab3cec0c8bf4	2243	// "z" axis of the joystick, per the VP convention)
mjr	17:ab3cec0c8bf4	2244	int z = 0;
mjr	17:ab3cec0c8bf4	2245
mjr	17:ab3cec0c8bf4	2246	// most recent prior plunger readings, for tracking release events(z0 is
mjr	17:ab3cec0c8bf4	2247	// reading just before the last one we reported, z1 is the one before that,
mjr	17:ab3cec0c8bf4	2248	// z2 the next before that)
mjr	17:ab3cec0c8bf4	2249	int z0 = 0, z1 = 0, z2 = 0;
mjr	17:ab3cec0c8bf4	2250
mjr	17:ab3cec0c8bf4	2251	// Simulated "bounce" position when firing. We model the bounce off of
mjr	17:ab3cec0c8bf4	2252	// the barrel spring when the plunger is released as proportional to the
mjr	17:ab3cec0c8bf4	2253	// distance it was retracted just before being released.
mjr	17:ab3cec0c8bf4	2254	int zBounce = 0;
mjr	2:c174f9ee414a	2255
mjr	17:ab3cec0c8bf4	2256	// Simulated Launch Ball button state. If a "ZB Launch Ball" port is
mjr	17:ab3cec0c8bf4	2257	// defined for our LedWiz port mapping, any time that port is turned ON,
mjr	17:ab3cec0c8bf4	2258	// we'll simulate pushing the Launch Ball button if the player pulls
mjr	17:ab3cec0c8bf4	2259	// back and releases the plunger, or simply pushes on the plunger from
mjr	17:ab3cec0c8bf4	2260	// the rest position. This allows the plunger to be used in lieu of a
mjr	17:ab3cec0c8bf4	2261	// physical Launch Ball button for tables that don't have plungers.
mjr	17:ab3cec0c8bf4	2262	//
mjr	17:ab3cec0c8bf4	2263	// States:
mjr	17:ab3cec0c8bf4	2264	// 0 = default
mjr	17:ab3cec0c8bf4	2265	// 1 = cocked (plunger has been pulled back about 1" from state 0)
mjr	17:ab3cec0c8bf4	2266	// 2 = uncocked (plunger is pulled back less than 1" from state 1)
mjr	21:5048e16cc9ef	2267	// 3 = launching, plunger is forward beyond park position
mjr	21:5048e16cc9ef	2268	// 4 = launching, plunger is behind park position
mjr	21:5048e16cc9ef	2269	// 5 = pressed and holding (plunger has been pressed forward beyond
mjr	21:5048e16cc9ef	2270	// the park position from state 0)
mjr	17:ab3cec0c8bf4	2271	int lbState = 0;
mjr	6:cc35eb643e8f	2272
mjr	35:e959ffba78fd	2273	// button bit for ZB launch ball button
mjr	35:e959ffba78fd	2274	const uint32_t lbButtonBit = (1 << (cfg.plunger.zbLaunchBall.btn - 1));
mjr	35:e959ffba78fd	2275
mjr	17:ab3cec0c8bf4	2276	// Time since last lbState transition. Some of the states are time-
mjr	17:ab3cec0c8bf4	2277	// sensitive. In the "uncocked" state, we'll return to state 0 if
mjr	17:ab3cec0c8bf4	2278	// we remain in this state for more than a few milliseconds, since
mjr	17:ab3cec0c8bf4	2279	// it indicates that the plunger is being slowly returned to rest
mjr	17:ab3cec0c8bf4	2280	// rather than released. In the "launching" state, we need to release
mjr	17:ab3cec0c8bf4	2281	// the Launch Ball button after a moment, and we need to wait for
mjr	17:ab3cec0c8bf4	2282	// the plunger to come to rest before returning to state 0.
mjr	17:ab3cec0c8bf4	2283	Timer lbTimer;
mjr	17:ab3cec0c8bf4	2284	lbTimer.start();
mjr	17:ab3cec0c8bf4	2285
mjr	18:5e890ebd0023	2286	// Launch Ball simulated push timer. We start this when we simulate
mjr	18:5e890ebd0023	2287	// the button push, and turn off the simulated button when enough time
mjr	18:5e890ebd0023	2288	// has elapsed.
mjr	18:5e890ebd0023	2289	Timer lbBtnTimer;
mjr	18:5e890ebd0023	2290
mjr	17:ab3cec0c8bf4	2291	// Simulated button states. This is a vector of button states
mjr	17:ab3cec0c8bf4	2292	// for the simulated buttons. We combine this with the physical
mjr	17:ab3cec0c8bf4	2293	// button states on each USB joystick report, so we will report
mjr	17:ab3cec0c8bf4	2294	// a button as pressed if either the physical button is being pressed
mjr	17:ab3cec0c8bf4	2295	// or we're simulating a press on the button. This is used for the
mjr	17:ab3cec0c8bf4	2296	// simulated Launch Ball button.
mjr	17:ab3cec0c8bf4	2297	uint32_t simButtons = 0;
mjr	6:cc35eb643e8f	2298
mjr	6:cc35eb643e8f	2299	// Firing in progress: we set this when we detect the start of rapid
mjr	6:cc35eb643e8f	2300	// plunger movement from a retracted position towards the rest position.
mjr	17:ab3cec0c8bf4	2301	//
mjr	17:ab3cec0c8bf4	2302	// When we detect a firing event, we send VP a series of synthetic
mjr	17:ab3cec0c8bf4	2303	// reports simulating the idealized plunger motion. The actual physical
mjr	17:ab3cec0c8bf4	2304	// motion is much too fast to report to VP; in the time between two USB
mjr	17:ab3cec0c8bf4	2305	// reports, the plunger can shoot all the way forward, rebound off of
mjr	17:ab3cec0c8bf4	2306	// the barrel spring, bounce back part way, and bounce forward again,
mjr	17:ab3cec0c8bf4	2307	// or even do all of this more than once. This means that sampling the
mjr	17:ab3cec0c8bf4	2308	// physical motion at the USB report rate would create a misleading
mjr	17:ab3cec0c8bf4	2309	// picture of the plunger motion, since our samples would catch the
mjr	17:ab3cec0c8bf4	2310	// plunger at random points in this oscillating motion. From the
mjr	17:ab3cec0c8bf4	2311	// user's perspective, the physical action that occurred is simply that
mjr	17:ab3cec0c8bf4	2312	// the plunger was released from a particular distance, so it's this
mjr	17:ab3cec0c8bf4	2313	// high-level event that we want to convey to VP. To do this, we
mjr	17:ab3cec0c8bf4	2314	// synthesize a series of reports to convey an idealized version of
mjr	17:ab3cec0c8bf4	2315	// the release motion that's perfectly synchronized to the VP reports.
mjr	17:ab3cec0c8bf4	2316	// Essentially we pretend that our USB position samples are exactly
mjr	17:ab3cec0c8bf4	2317	// aligned in time with (1) the point of retraction just before the
mjr	17:ab3cec0c8bf4	2318	// user released the plunger, (2) the point of maximum forward motion
mjr	17:ab3cec0c8bf4	2319	// just after the user released the plunger (the point of maximum
mjr	17:ab3cec0c8bf4	2320	// compression as the plunger bounces off of the barrel spring), and
mjr	17:ab3cec0c8bf4	2321	// (3) the plunger coming to rest at the park position. This series
mjr	17:ab3cec0c8bf4	2322	// of reports is synthetic in the sense that it's not what we actually
mjr	17:ab3cec0c8bf4	2323	// see on the CCD at the times of these reports - the true plunger
mjr	17:ab3cec0c8bf4	2324	// position is oscillating at high speed during this period. But at
mjr	17:ab3cec0c8bf4	2325	// the same time it conveys a more faithful picture of the true physical
mjr	17:ab3cec0c8bf4	2326	// motion to VP, and allows VP to reproduce the true physical motion
mjr	17:ab3cec0c8bf4	2327	// more faithfully in its simulation model, by correcting for the
mjr	17:ab3cec0c8bf4	2328	// relatively low sampling rate in the communication path between the
mjr	17:ab3cec0c8bf4	2329	// real plunger and VP's model plunger.
mjr	17:ab3cec0c8bf4	2330	//
mjr	17:ab3cec0c8bf4	2331	// If 'firing' is non-zero, it's the index of our current report in
mjr	17:ab3cec0c8bf4	2332	// the synthetic firing report series.
mjr	9:fd65b0a94720	2333	int firing = 0;
mjr	2:c174f9ee414a	2334
mjr	2:c174f9ee414a	2335	// start the first CCD integration cycle
mjr	35:e959ffba78fd	2336	plungerSensor->init();
mjr	10:976666ffa4ef	2337
mjr	1:d913e0afb2ac	2338	// we're all set up - now just loop, processing sensor reports and
mjr	1:d913e0afb2ac	2339	// host requests
mjr	0:5acbbe3f4cf4	2340	for (;;)
mjr	0:5acbbe3f4cf4	2341	{
mjr	18:5e890ebd0023	2342	// Look for an incoming report. Process a few input reports in
mjr	18:5e890ebd0023	2343	// a row, but stop after a few so that a barrage of inputs won't
mjr	20:4c43877327ab	2344	// starve our output event processing. Also, pause briefly between
mjr	20:4c43877327ab	2345	// reads; allowing reads to occur back-to-back seems to occasionally
mjr	20:4c43877327ab	2346	// stall the USB pipeline (for reasons unknown; I'd fix the underlying
mjr	20:4c43877327ab	2347	// problem if I knew what it was).
mjr	0:5acbbe3f4cf4	2348	HID_REPORT report;
mjr	20:4c43877327ab	2349	for (int rr = 0 ; rr < 4 && js.readNB(&report) ; ++rr, wait_ms(1))
mjr	0:5acbbe3f4cf4	2350	{
mjr	35:e959ffba78fd	2351	handleInputMsg(report, js, z);
mjr	0:5acbbe3f4cf4	2352	}
mjr	1:d913e0afb2ac	2353
mjr	1:d913e0afb2ac	2354	// check for plunger calibration
mjr	17:ab3cec0c8bf4	2355	if (calBtn != 0 && !calBtn->read())
mjr	0:5acbbe3f4cf4	2356	{
mjr	1:d913e0afb2ac	2357	// check the state
mjr	1:d913e0afb2ac	2358	switch (calBtnState)
mjr	0:5acbbe3f4cf4	2359	{
mjr	1:d913e0afb2ac	2360	case 0:
mjr	1:d913e0afb2ac	2361	// button not yet pushed - start debouncing
mjr	1:d913e0afb2ac	2362	calBtnTimer.reset();
mjr	1:d913e0afb2ac	2363	calBtnState = 1;
mjr	1:d913e0afb2ac	2364	break;
mjr	1:d913e0afb2ac	2365
mjr	1:d913e0afb2ac	2366	case 1:
mjr	1:d913e0afb2ac	2367	// pushed, not yet debounced - if the debounce time has
mjr	1:d913e0afb2ac	2368	// passed, start the hold period
mjr	9:fd65b0a94720	2369	if (calBtnTimer.read_ms() > 50)
mjr	1:d913e0afb2ac	2370	calBtnState = 2;
mjr	1:d913e0afb2ac	2371	break;
mjr	1:d913e0afb2ac	2372
mjr	1:d913e0afb2ac	2373	case 2:
mjr	1:d913e0afb2ac	2374	// in the hold period - if the button has been held down
mjr	1:d913e0afb2ac	2375	// for the entire hold period, move to calibration mode
mjr	9:fd65b0a94720	2376	if (calBtnTimer.read_ms() > 2050)
mjr	1:d913e0afb2ac	2377	{
mjr	1:d913e0afb2ac	2378	// enter calibration mode
mjr	1:d913e0afb2ac	2379	calBtnState = 3;
mjr	9:fd65b0a94720	2380	calBtnTimer.reset();
mjr	35:e959ffba78fd	2381
mjr	35:e959ffba78fd	2382	// reset the plunger calibration limits
mjr	35:e959ffba78fd	2383	cfg.plunger.cal.reset(plungerSensor->npix);
mjr	1:d913e0afb2ac	2384	}
mjr	1:d913e0afb2ac	2385	break;
mjr	2:c174f9ee414a	2386
mjr	2:c174f9ee414a	2387	case 3:
mjr	9:fd65b0a94720	2388	// Already in calibration mode - pushing the button here
mjr	9:fd65b0a94720	2389	// doesn't change the current state, but we won't leave this
mjr	9:fd65b0a94720	2390	// state as long as it's held down. So nothing changes here.
mjr	2:c174f9ee414a	2391	break;
mjr	0:5acbbe3f4cf4	2392	}
mjr	0:5acbbe3f4cf4	2393	}
mjr	1:d913e0afb2ac	2394	else
mjr	1:d913e0afb2ac	2395	{
mjr	2:c174f9ee414a	2396	// Button released. If we're in calibration mode, and
mjr	2:c174f9ee414a	2397	// the calibration time has elapsed, end the calibration
mjr	2:c174f9ee414a	2398	// and save the results to flash.
mjr	2:c174f9ee414a	2399	//
mjr	2:c174f9ee414a	2400	// Otherwise, return to the base state without saving anything.
mjr	2:c174f9ee414a	2401	// If the button is released before we make it to calibration
mjr	2:c174f9ee414a	2402	// mode, it simply cancels the attempt.
mjr	9:fd65b0a94720	2403	if (calBtnState == 3 && calBtnTimer.read_ms() > 15000)
mjr	2:c174f9ee414a	2404	{
mjr	2:c174f9ee414a	2405	// exit calibration mode
mjr	1:d913e0afb2ac	2406	calBtnState = 0;
mjr	2:c174f9ee414a	2407
mjr	6:cc35eb643e8f	2408	// save the updated configuration
mjr	35:e959ffba78fd	2409	cfg.plunger.cal.calibrated = 1;
mjr	35:e959ffba78fd	2410	saveConfigToFlash();
mjr	2:c174f9ee414a	2411	}
mjr	2:c174f9ee414a	2412	else if (calBtnState != 3)
mjr	2:c174f9ee414a	2413	{
mjr	2:c174f9ee414a	2414	// didn't make it to calibration mode - cancel the operation
mjr	1:d913e0afb2ac	2415	calBtnState = 0;
mjr	2:c174f9ee414a	2416	}
mjr	1:d913e0afb2ac	2417	}
mjr	1:d913e0afb2ac	2418
mjr	1:d913e0afb2ac	2419	// light/flash the calibration button light, if applicable
mjr	1:d913e0afb2ac	2420	int newCalBtnLit = calBtnLit;
mjr	1:d913e0afb2ac	2421	switch (calBtnState)
mjr	0:5acbbe3f4cf4	2422	{
mjr	1:d913e0afb2ac	2423	case 2:
mjr	1:d913e0afb2ac	2424	// in the hold period - flash the light
mjr	9:fd65b0a94720	2425	newCalBtnLit = ((calBtnTimer.read_ms()/250) & 1);
mjr	1:d913e0afb2ac	2426	break;
mjr	1:d913e0afb2ac	2427
mjr	1:d913e0afb2ac	2428	case 3:
mjr	1:d913e0afb2ac	2429	// calibration mode - show steady on
mjr	1:d913e0afb2ac	2430	newCalBtnLit = true;
mjr	1:d913e0afb2ac	2431	break;
mjr	1:d913e0afb2ac	2432
mjr	1:d913e0afb2ac	2433	default:
mjr	1:d913e0afb2ac	2434	// not calibrating/holding - show steady off
mjr	1:d913e0afb2ac	2435	newCalBtnLit = false;
mjr	1:d913e0afb2ac	2436	break;
mjr	1:d913e0afb2ac	2437	}
mjr	3:3514575d4f86	2438
mjr	3:3514575d4f86	2439	// light or flash the external calibration button LED, and
mjr	3:3514575d4f86	2440	// do the same with the on-board blue LED
mjr	1:d913e0afb2ac	2441	if (calBtnLit != newCalBtnLit)
mjr	1:d913e0afb2ac	2442	{
mjr	1:d913e0afb2ac	2443	calBtnLit = newCalBtnLit;
mjr	2:c174f9ee414a	2444	if (calBtnLit) {
mjr	17:ab3cec0c8bf4	2445	if (calBtnLed != 0)
mjr	17:ab3cec0c8bf4	2446	calBtnLed->write(1);
mjr	4:02c7cd7b2183	2447	ledR = 1;
mjr	4:02c7cd7b2183	2448	ledG = 1;
mjr	9:fd65b0a94720	2449	ledB = 0;
mjr	2:c174f9ee414a	2450	}
mjr	2:c174f9ee414a	2451	else {
mjr	17:ab3cec0c8bf4	2452	if (calBtnLed != 0)
mjr	17:ab3cec0c8bf4	2453	calBtnLed->write(0);
mjr	4:02c7cd7b2183	2454	ledR = 1;
mjr	4:02c7cd7b2183	2455	ledG = 1;
mjr	9:fd65b0a94720	2456	ledB = 1;
mjr	2:c174f9ee414a	2457	}
mjr	1:d913e0afb2ac	2458	}
mjr	1:d913e0afb2ac	2459
mjr	17:ab3cec0c8bf4	2460	// If the plunger is enabled, and we're not already in a firing event,
mjr	17:ab3cec0c8bf4	2461	// and the last plunger reading had the plunger pulled back at least
mjr	17:ab3cec0c8bf4	2462	// a bit, watch for plunger release events until it's time for our next
mjr	17:ab3cec0c8bf4	2463	// USB report.
mjr	35:e959ffba78fd	2464	if (!firing && cfg.plunger.enabled && z >= JOYMAX/6)
mjr	17:ab3cec0c8bf4	2465	{
mjr	17:ab3cec0c8bf4	2466	// monitor the plunger until it's time for our next report
mjr	17:ab3cec0c8bf4	2467	while (reportTimer.read_ms() < 15)
mjr	17:ab3cec0c8bf4	2468	{
mjr	17:ab3cec0c8bf4	2469	// do a fast low-res scan; if it's at or past the zero point,
mjr	17:ab3cec0c8bf4	2470	// start a firing event
mjr	35:e959ffba78fd	2471	int pos0;
mjr	35:e959ffba78fd	2472	if (plungerSensor->lowResScan(pos0) && pos0 <= cfg.plunger.cal.zero)
mjr	17:ab3cec0c8bf4	2473	firing = 1;
mjr	17:ab3cec0c8bf4	2474	}
mjr	17:ab3cec0c8bf4	2475	}
mjr	17:ab3cec0c8bf4	2476
mjr	6:cc35eb643e8f	2477	// read the plunger sensor, if it's enabled
mjr	35:e959ffba78fd	2478	if (cfg.plunger.enabled)
mjr	6:cc35eb643e8f	2479	{
mjr	6:cc35eb643e8f	2480	// start with the previous reading, in case we don't have a
mjr	6:cc35eb643e8f	2481	// clear result on this frame
mjr	6:cc35eb643e8f	2482	int znew = z;
mjr	35:e959ffba78fd	2483	if (plungerSensor->highResScan(pos))
mjr	6:cc35eb643e8f	2484	{
mjr	17:ab3cec0c8bf4	2485	// We got a new reading. If we're in calibration mode, use it
mjr	17:ab3cec0c8bf4	2486	// to figure the new calibration, otherwise adjust the new reading
mjr	17:ab3cec0c8bf4	2487	// for the established calibration.
mjr	17:ab3cec0c8bf4	2488	if (calBtnState == 3)
mjr	6:cc35eb643e8f	2489	{
mjr	17:ab3cec0c8bf4	2490	// Calibration mode. If this reading is outside of the current
mjr	17:ab3cec0c8bf4	2491	// calibration bounds, expand the bounds.
mjr	35:e959ffba78fd	2492	if (pos < cfg.plunger.cal.min)
mjr	35:e959ffba78fd	2493	cfg.plunger.cal.min = pos;
mjr	35:e959ffba78fd	2494	if (pos < cfg.plunger.cal.zero)
mjr	35:e959ffba78fd	2495	cfg.plunger.cal.zero = pos;
mjr	35:e959ffba78fd	2496	if (pos > cfg.plunger.cal.max)
mjr	35:e959ffba78fd	2497	cfg.plunger.cal.max = pos;
mjr	6:cc35eb643e8f	2498
mjr	17:ab3cec0c8bf4	2499	// normalize to the full physical range while calibrating
mjr	35:e959ffba78fd	2500	znew = int(round(float(pos)/plungerSensor->npix * JOYMAX));
mjr	17:ab3cec0c8bf4	2501	}
mjr	17:ab3cec0c8bf4	2502	else
mjr	17:ab3cec0c8bf4	2503	{
mjr	17:ab3cec0c8bf4	2504	// Not in calibration mode, so normalize the new reading to the
mjr	17:ab3cec0c8bf4	2505	// established calibration range.
mjr	17:ab3cec0c8bf4	2506	//
mjr	17:ab3cec0c8bf4	2507	// Note that negative values are allowed. Zero represents the
mjr	17:ab3cec0c8bf4	2508	// "park" position, where the plunger sits when at rest. A mechanical
mjr	23:14f8c5004cd0	2509	// plunger has a small amount of travel in the "push" direction,
mjr	17:ab3cec0c8bf4	2510	// since the barrel spring can be compressed slightly. Negative
mjr	17:ab3cec0c8bf4	2511	// values represent travel in the push direction.
mjr	35:e959ffba78fd	2512	if (pos > cfg.plunger.cal.max)
mjr	35:e959ffba78fd	2513	pos = cfg.plunger.cal.max;
mjr	35:e959ffba78fd	2514	znew = int(round(float(pos - cfg.plunger.cal.zero)
mjr	35:e959ffba78fd	2515	/ (cfg.plunger.cal.max - cfg.plunger.cal.zero + 1) * JOYMAX));
mjr	6:cc35eb643e8f	2516	}
mjr	6:cc35eb643e8f	2517	}
mjr	7:100a25f8bf56	2518
mjr	17:ab3cec0c8bf4	2519	// If we're not already in a firing event, check to see if the
mjr	17:ab3cec0c8bf4	2520	// new position is forward of the last report. If it is, a firing
mjr	17:ab3cec0c8bf4	2521	// event might have started during the high-res scan. This might
mjr	17:ab3cec0c8bf4	2522	// seem unlikely given that the scan only takes about 5ms, but that
mjr	17:ab3cec0c8bf4	2523	// 5ms represents about 25-30% of our total time between reports,
mjr	17:ab3cec0c8bf4	2524	// there's about a 1 in 4 chance that a release starts during a
mjr	17:ab3cec0c8bf4	2525	// scan.
mjr	17:ab3cec0c8bf4	2526	if (!firing && z0 > 0 && znew < z0)
mjr	17:ab3cec0c8bf4	2527	{
mjr	17:ab3cec0c8bf4	2528	// The plunger has moved forward since the previous report.
mjr	17:ab3cec0c8bf4	2529	// Watch it for a few more ms to see if we can get a stable
mjr	17:ab3cec0c8bf4	2530	// new position.
mjr	35:e959ffba78fd	2531	int pos0;
mjr	35:e959ffba78fd	2532	if (plungerSensor->lowResScan(pos0))
mjr	17:ab3cec0c8bf4	2533	{
mjr	35:e959ffba78fd	2534	int pos1 = pos0;
mjr	35:e959ffba78fd	2535	Timer tw;
mjr	35:e959ffba78fd	2536	tw.start();
mjr	35:e959ffba78fd	2537	while (tw.read_ms() < 6)
mjr	17:ab3cec0c8bf4	2538	{
mjr	35:e959ffba78fd	2539	// read the new position
mjr	35:e959ffba78fd	2540	int pos2;
mjr	35:e959ffba78fd	2541	if (plungerSensor->lowResScan(pos2))
mjr	35:e959ffba78fd	2542	{
mjr	35:e959ffba78fd	2543	// If it's stable over consecutive readings, stop looping.
mjr	35:e959ffba78fd	2544	// (Count it as stable if the position is within about 1/8".
mjr	35:e959ffba78fd	2545	// pos1 and pos2 are reported in pixels, so they range from
mjr	35:e959ffba78fd	2546	// 0 to npix. The overall travel of a standard plunger is
mjr	35:e959ffba78fd	2547	// about 3.2", so we have (npix/3.2) pixels per inch, hence
mjr	35:e959ffba78fd	2548	// 1/8" is (npix/3.2)*(1/8) pixels.)
mjr	35:e959ffba78fd	2549	if (abs(pos2 - pos1) < int(plungerSensor->npix/(3.2*8)))
mjr	35:e959ffba78fd	2550	break;
mjr	35:e959ffba78fd	2551
mjr	35:e959ffba78fd	2552	// If we've crossed the rest position, and we've moved by
mjr	35:e959ffba78fd	2553	// a minimum distance from where we starting this loop, begin
mjr	35:e959ffba78fd	2554	// a firing event. (We require a minimum distance to prevent
mjr	35:e959ffba78fd	2555	// spurious firing from random analog noise in the readings
mjr	35:e959ffba78fd	2556	// when the plunger is actually just sitting still at the
mjr	35:e959ffba78fd	2557	// rest position. If it's at rest, it's normal to see small
mjr	35:e959ffba78fd	2558	// random fluctuations in the analog reading +/- 1% or so
mjr	35:e959ffba78fd	2559	// from the 0 point, especially with a sensor like a
mjr	35:e959ffba78fd	2560	// potentionemeter that reports the position as a single
mjr	35:e959ffba78fd	2561	// analog voltage.) Note that we compare the latest reading
mjr	35:e959ffba78fd	2562	// to the first reading of the loop - we don't require the
mjr	35:e959ffba78fd	2563	// threshold motion over consecutive readings, but any time
mjr	35:e959ffba78fd	2564	// over the stability wait loop.
mjr	35:e959ffba78fd	2565	if (pos1 < cfg.plunger.cal.zero
mjr	35:e959ffba78fd	2566	&& abs(pos2 - pos0) > int(plungerSensor->npix/(3.2*8)))
mjr	35:e959ffba78fd	2567	{
mjr	35:e959ffba78fd	2568	firing = 1;
mjr	35:e959ffba78fd	2569	break;
mjr	35:e959ffba78fd	2570	}
mjr	35:e959ffba78fd	2571
mjr	35:e959ffba78fd	2572	// the new reading is now the prior reading
mjr	35:e959ffba78fd	2573	pos1 = pos2;
mjr	35:e959ffba78fd	2574	}
mjr	17:ab3cec0c8bf4	2575	}
mjr	17:ab3cec0c8bf4	2576	}
mjr	17:ab3cec0c8bf4	2577	}
mjr	17:ab3cec0c8bf4	2578
mjr	17:ab3cec0c8bf4	2579	// Check for a simulated Launch Ball button press, if enabled
mjr	35:e959ffba78fd	2580	if (cfg.plunger.zbLaunchBall.port != 0)
mjr	17:ab3cec0c8bf4	2581	{
mjr	18:5e890ebd0023	2582	const int cockThreshold = JOYMAX/3;
mjr	35:e959ffba78fd	2583	const int pushThreshold = int(-JOYMAX/3 * cfg.plunger.zbLaunchBall.pushDistance);
mjr	17:ab3cec0c8bf4	2584	int newState = lbState;
mjr	17:ab3cec0c8bf4	2585	switch (lbState)
mjr	17:ab3cec0c8bf4	2586	{
mjr	17:ab3cec0c8bf4	2587	case 0:
mjr	17:ab3cec0c8bf4	2588	// Base state. If the plunger is pulled back by an inch
mjr	17:ab3cec0c8bf4	2589	// or more, go to "cocked" state. If the plunger is pushed
mjr	21:5048e16cc9ef	2590	// forward by 1/4" or more, go to "pressed" state.
mjr	18:5e890ebd0023	2591	if (znew >= cockThreshold)
mjr	17:ab3cec0c8bf4	2592	newState = 1;
mjr	18:5e890ebd0023	2593	else if (znew <= pushThreshold)
mjr	21:5048e16cc9ef	2594	newState = 5;
mjr	17:ab3cec0c8bf4	2595	break;
mjr	17:ab3cec0c8bf4	2596
mjr	17:ab3cec0c8bf4	2597	case 1:
mjr	17:ab3cec0c8bf4	2598	// Cocked state. If a firing event is now in progress,
mjr	17:ab3cec0c8bf4	2599	// go to "launch" state. Otherwise, if the plunger is less
mjr	17:ab3cec0c8bf4	2600	// than 1" retracted, go to "uncocked" state - the player
mjr	17:ab3cec0c8bf4	2601	// might be slowly returning the plunger to rest so as not
mjr	17:ab3cec0c8bf4	2602	// to trigger a launch.
mjr	17:ab3cec0c8bf4	2603	if (firing \|\| znew <= 0)
mjr	17:ab3cec0c8bf4	2604	newState = 3;
mjr	18:5e890ebd0023	2605	else if (znew < cockThreshold)
mjr	17:ab3cec0c8bf4	2606	newState = 2;
mjr	17:ab3cec0c8bf4	2607	break;
mjr	17:ab3cec0c8bf4	2608
mjr	17:ab3cec0c8bf4	2609	case 2:
mjr	17:ab3cec0c8bf4	2610	// Uncocked state. If the plunger is more than an inch
mjr	17:ab3cec0c8bf4	2611	// retracted, return to cocked state. If we've been in
mjr	17:ab3cec0c8bf4	2612	// the uncocked state for more than half a second, return
mjr	18:5e890ebd0023	2613	// to the base state. This allows the user to return the
mjr	18:5e890ebd0023	2614	// plunger to rest without triggering a launch, by moving
mjr	18:5e890ebd0023	2615	// it at manual speed to the rest position rather than
mjr	18:5e890ebd0023	2616	// releasing it.
mjr	18:5e890ebd0023	2617	if (znew >= cockThreshold)
mjr	17:ab3cec0c8bf4	2618	newState = 1;
mjr	17:ab3cec0c8bf4	2619	else if (lbTimer.read_ms() > 500)
mjr	17:ab3cec0c8bf4	2620	newState = 0;
mjr	17:ab3cec0c8bf4	2621	break;
mjr	17:ab3cec0c8bf4	2622
mjr	17:ab3cec0c8bf4	2623	case 3:
mjr	17:ab3cec0c8bf4	2624	// Launch state. If the plunger is no longer pushed
mjr	17:ab3cec0c8bf4	2625	// forward, switch to launch rest state.
mjr	18:5e890ebd0023	2626	if (znew >= 0)
mjr	17:ab3cec0c8bf4	2627	newState = 4;
mjr	17:ab3cec0c8bf4	2628	break;
mjr	17:ab3cec0c8bf4	2629
mjr	17:ab3cec0c8bf4	2630	case 4:
mjr	17:ab3cec0c8bf4	2631	// Launch rest state. If the plunger is pushed forward
mjr	17:ab3cec0c8bf4	2632	// again, switch back to launch state. If not, and we've
mjr	17:ab3cec0c8bf4	2633	// been in this state for at least 200ms, return to the
mjr	17:ab3cec0c8bf4	2634	// default state.
mjr	18:5e890ebd0023	2635	if (znew <= pushThreshold)
mjr	17:ab3cec0c8bf4	2636	newState = 3;
mjr	17:ab3cec0c8bf4	2637	else if (lbTimer.read_ms() > 200)
mjr	17:ab3cec0c8bf4	2638	newState = 0;
mjr	17:ab3cec0c8bf4	2639	break;
mjr	21:5048e16cc9ef	2640
mjr	21:5048e16cc9ef	2641	case 5:
mjr	21:5048e16cc9ef	2642	// Press-and-Hold state. If the plunger is no longer pushed
mjr	21:5048e16cc9ef	2643	// forward, AND it's been at least 50ms since we generated
mjr	21:5048e16cc9ef	2644	// the simulated Launch Ball button press, return to the base
mjr	21:5048e16cc9ef	2645	// state. The minimum time is to ensure that VP has a chance
mjr	21:5048e16cc9ef	2646	// to see the button press and to avoid transient key bounce
mjr	21:5048e16cc9ef	2647	// effects when the plunger position is right on the threshold.
mjr	21:5048e16cc9ef	2648	if (znew > pushThreshold && lbTimer.read_ms() > 50)
mjr	21:5048e16cc9ef	2649	newState = 0;
mjr	21:5048e16cc9ef	2650	break;
mjr	17:ab3cec0c8bf4	2651	}
mjr	17:ab3cec0c8bf4	2652
mjr	17:ab3cec0c8bf4	2653	// change states if desired
mjr	17:ab3cec0c8bf4	2654	if (newState != lbState)
mjr	17:ab3cec0c8bf4	2655	{
mjr	21:5048e16cc9ef	2656	// If we're entering Launch state OR we're entering the
mjr	21:5048e16cc9ef	2657	// Press-and-Hold state, AND the ZB Launch Ball LedWiz signal
mjr	21:5048e16cc9ef	2658	// is turned on, simulate a Launch Ball button press.
mjr	21:5048e16cc9ef	2659	if (((newState == 3 && lbState != 4) \|\| newState == 5)
mjr	35:e959ffba78fd	2660	&& wizOn[cfg.plunger.zbLaunchBall.port-1])
mjr	18:5e890ebd0023	2661	{
mjr	18:5e890ebd0023	2662	lbBtnTimer.reset();
mjr	18:5e890ebd0023	2663	lbBtnTimer.start();
mjr	18:5e890ebd0023	2664	simButtons \|= lbButtonBit;
mjr	18:5e890ebd0023	2665	}
mjr	21:5048e16cc9ef	2666
mjr	17:ab3cec0c8bf4	2667	// if we're switching to state 0, release the button
mjr	17:ab3cec0c8bf4	2668	if (newState == 0)
mjr	35:e959ffba78fd	2669	simButtons &= ~(1 << (cfg.plunger.zbLaunchBall.btn - 1));
mjr	17:ab3cec0c8bf4	2670
mjr	17:ab3cec0c8bf4	2671	// switch to the new state
mjr	17:ab3cec0c8bf4	2672	lbState = newState;
mjr	17:ab3cec0c8bf4	2673
mjr	17:ab3cec0c8bf4	2674	// start timing in the new state
mjr	17:ab3cec0c8bf4	2675	lbTimer.reset();
mjr	17:ab3cec0c8bf4	2676	}
mjr	21:5048e16cc9ef	2677
mjr	21:5048e16cc9ef	2678	// If the Launch Ball button press is in effect, but the
mjr	21:5048e16cc9ef	2679	// ZB Launch Ball LedWiz signal is no longer turned on, turn
mjr	21:5048e16cc9ef	2680	// off the button.
mjr	21:5048e16cc9ef	2681	//
mjr	21:5048e16cc9ef	2682	// If we're in one of the Launch states (state #3 or #4),
mjr	21:5048e16cc9ef	2683	// and the button has been on for long enough, turn it off.
mjr	21:5048e16cc9ef	2684	// The Launch mode is triggered by a pull-and-release gesture.
mjr	21:5048e16cc9ef	2685	// From the user's perspective, this is just a single gesture
mjr	21:5048e16cc9ef	2686	// that should trigger just one momentary press on the Launch
mjr	21:5048e16cc9ef	2687	// Ball button. Physically, though, the plunger usually
mjr	21:5048e16cc9ef	2688	// bounces back and forth for 500ms or so before coming to
mjr	21:5048e16cc9ef	2689	// rest after this gesture. That's what the whole state
mjr	21:5048e16cc9ef	2690	// #3-#4 business is all about - we stay in this pair of
mjr	21:5048e16cc9ef	2691	// states until the plunger comes to rest. As long as we're
mjr	21:5048e16cc9ef	2692	// in these states, we won't send duplicate button presses.
mjr	21:5048e16cc9ef	2693	// But we also don't want the one button press to continue
mjr	21:5048e16cc9ef	2694	// the whole time, so we'll time it out now.
mjr	21:5048e16cc9ef	2695	//
mjr	21:5048e16cc9ef	2696	// (This could be written as one big 'if' condition, but
mjr	21:5048e16cc9ef	2697	// I'm breaking it out verbosely like this to make it easier
mjr	21:5048e16cc9ef	2698	// for human readers such as myself to comprehend the logic.)
mjr	21:5048e16cc9ef	2699	if ((simButtons & lbButtonBit) != 0)
mjr	18:5e890ebd0023	2700	{
mjr	21:5048e16cc9ef	2701	int turnOff = false;
mjr	21:5048e16cc9ef	2702
mjr	21:5048e16cc9ef	2703	// turn it off if the ZB Launch Ball signal is off
mjr	35:e959ffba78fd	2704	if (!wizOn[cfg.plunger.zbLaunchBall.port-1])
mjr	21:5048e16cc9ef	2705	turnOff = true;
mjr	21:5048e16cc9ef	2706
mjr	21:5048e16cc9ef	2707	// also turn it off if we're in state 3 or 4 ("Launch"),
mjr	21:5048e16cc9ef	2708	// and the button has been on long enough
mjr	21:5048e16cc9ef	2709	if ((lbState == 3 \|\| lbState == 4) && lbBtnTimer.read_ms() > 250)
mjr	21:5048e16cc9ef	2710	turnOff = true;
mjr	21:5048e16cc9ef	2711
mjr	21:5048e16cc9ef	2712	// if we decided to turn off the button, do so
mjr	21:5048e16cc9ef	2713	if (turnOff)
mjr	21:5048e16cc9ef	2714	{
mjr	21:5048e16cc9ef	2715	lbBtnTimer.stop();
mjr	21:5048e16cc9ef	2716	simButtons &= ~lbButtonBit;
mjr	21:5048e16cc9ef	2717	}
mjr	18:5e890ebd0023	2718	}
mjr	17:ab3cec0c8bf4	2719	}
mjr	17:ab3cec0c8bf4	2720
mjr	17:ab3cec0c8bf4	2721	// If a firing event is in progress, generate synthetic reports to
mjr	17:ab3cec0c8bf4	2722	// describe an idealized version of the plunger motion to VP rather
mjr	17:ab3cec0c8bf4	2723	// than reporting the actual physical plunger position.
mjr	6:cc35eb643e8f	2724	//
mjr	17:ab3cec0c8bf4	2725	// We use the synthetic reports during a release event because the
mjr	17:ab3cec0c8bf4	2726	// physical plunger motion when released is too fast for VP to track.
mjr	17:ab3cec0c8bf4	2727	// VP only syncs its internal physics model with the outside world
mjr	17:ab3cec0c8bf4	2728	// about every 10ms. In that amount of time, the plunger moves
mjr	17:ab3cec0c8bf4	2729	// fast enough when released that it can shoot all the way forward,
mjr	17:ab3cec0c8bf4	2730	// bounce off of the barrel spring, and rebound part of the way
mjr	17:ab3cec0c8bf4	2731	// back. The result is the classic analog-to-digital problem of
mjr	17:ab3cec0c8bf4	2732	// sample aliasing. If we happen to time our sample during the
mjr	17:ab3cec0c8bf4	2733	// release motion so that we catch the plunger at the peak of a
mjr	17:ab3cec0c8bf4	2734	// bounce, the digital signal incorrectly looks like the plunger
mjr	17:ab3cec0c8bf4	2735	// is moving slowly forward - VP thinks we went from fully
mjr	17:ab3cec0c8bf4	2736	// retracted to half retracted in the sample interval, whereas
mjr	17:ab3cec0c8bf4	2737	// we actually traveled all the way forward and half way back,
mjr	17:ab3cec0c8bf4	2738	// so the speed VP infers is about 1/3 of the actual speed.
mjr	9:fd65b0a94720	2739	//
mjr	17:ab3cec0c8bf4	2740	// To correct this, we take advantage of our ability to sample
mjr	17:ab3cec0c8bf4	2741	// the CCD image several times in the course of a VP report. If
mjr	17:ab3cec0c8bf4	2742	// we catch the plunger near the origin after we've seen it
mjr	17:ab3cec0c8bf4	2743	// retracted, we go into Release Event mode. During this mode,
mjr	17:ab3cec0c8bf4	2744	// we stop reporting the true physical plunger position, and
mjr	17:ab3cec0c8bf4	2745	// instead report an idealized pattern: we report the plunger
mjr	17:ab3cec0c8bf4	2746	// immediately shooting forward to a position in front of the
mjr	17:ab3cec0c8bf4	2747	// park position that's in proportion to how far back the plunger
mjr	17:ab3cec0c8bf4	2748	// was just before the release, and we then report it stationary
mjr	17:ab3cec0c8bf4	2749	// at the park position. We continue to report the stationary
mjr	17:ab3cec0c8bf4	2750	// park position until the actual physical plunger motion has
mjr	17:ab3cec0c8bf4	2751	// stabilized on a new position. We then exit Release Event
mjr	17:ab3cec0c8bf4	2752	// mode and return to reporting the true physical position.
mjr	17:ab3cec0c8bf4	2753	if (firing)
mjr	6:cc35eb643e8f	2754	{
mjr	17:ab3cec0c8bf4	2755	// Firing in progress. Keep reporting the park position
mjr	17:ab3cec0c8bf4	2756	// until the physical plunger position comes to rest.
mjr	17:ab3cec0c8bf4	2757	const int restTol = JOYMAX/24;
mjr	17:ab3cec0c8bf4	2758	if (firing == 1)
mjr	6:cc35eb643e8f	2759	{
mjr	17:ab3cec0c8bf4	2760	// For the first couple of frames, show the plunger shooting
mjr	17:ab3cec0c8bf4	2761	// forward past the zero point, to simulate the momentum carrying
mjr	17:ab3cec0c8bf4	2762	// it forward to bounce off of the barrel spring. Show the
mjr	17:ab3cec0c8bf4	2763	// bounce as proportional to the distance it was retracted
mjr	17:ab3cec0c8bf4	2764	// in the prior report.
mjr	17:ab3cec0c8bf4	2765	z = zBounce = -z0/6;
mjr	17:ab3cec0c8bf4	2766	++firing;
mjr	6:cc35eb643e8f	2767	}
mjr	17:ab3cec0c8bf4	2768	else if (firing == 2)
mjr	9:fd65b0a94720	2769	{
mjr	17:ab3cec0c8bf4	2770	// second frame - keep the bounce a little longer
mjr	17:ab3cec0c8bf4	2771	z = zBounce;
mjr	17:ab3cec0c8bf4	2772	++firing;
mjr	17:ab3cec0c8bf4	2773	}
mjr	17:ab3cec0c8bf4	2774	else if (firing > 4
mjr	17:ab3cec0c8bf4	2775	&& abs(znew - z0) < restTol
mjr	17:ab3cec0c8bf4	2776	&& abs(znew - z1) < restTol
mjr	17:ab3cec0c8bf4	2777	&& abs(znew - z2) < restTol)
mjr	17:ab3cec0c8bf4	2778	{
mjr	17:ab3cec0c8bf4	2779	// The physical plunger has come to rest. Exit firing
mjr	17:ab3cec0c8bf4	2780	// mode and resume reporting the actual position.
mjr	17:ab3cec0c8bf4	2781	firing = false;
mjr	17:ab3cec0c8bf4	2782	z = znew;
mjr	9:fd65b0a94720	2783	}
mjr	9:fd65b0a94720	2784	else
mjr	9:fd65b0a94720	2785	{
mjr	17:ab3cec0c8bf4	2786	// until the physical plunger comes to rest, simply
mjr	17:ab3cec0c8bf4	2787	// report the park position
mjr	9:fd65b0a94720	2788	z = 0;
mjr	17:ab3cec0c8bf4	2789	++firing;
mjr	9:fd65b0a94720	2790	}
mjr	6:cc35eb643e8f	2791	}
mjr	6:cc35eb643e8f	2792	else
mjr	6:cc35eb643e8f	2793	{
mjr	17:ab3cec0c8bf4	2794	// not in firing mode - report the true physical position
mjr	17:ab3cec0c8bf4	2795	z = znew;
mjr	6:cc35eb643e8f	2796	}
mjr	17:ab3cec0c8bf4	2797
mjr	17:ab3cec0c8bf4	2798	// shift the new reading into the recent history buffer
mjr	6:cc35eb643e8f	2799	z2 = z1;
mjr	6:cc35eb643e8f	2800	z1 = z0;
mjr	6:cc35eb643e8f	2801	z0 = znew;
mjr	2:c174f9ee414a	2802	}
mjr	6:cc35eb643e8f	2803
mjr	11:bd9da7088e6e	2804	// update the buttons
mjr	35:e959ffba78fd	2805	readButtons(cfg);
mjr	17:ab3cec0c8bf4	2806
mjr	17:ab3cec0c8bf4	2807	// If it's been long enough since our last USB status report,
mjr	17:ab3cec0c8bf4	2808	// send the new report. We throttle the report rate because
mjr	17:ab3cec0c8bf4	2809	// it can overwhelm the PC side if we report too frequently.
mjr	17:ab3cec0c8bf4	2810	// VP only wants to sync with the real world in 10ms intervals,
mjr	35:e959ffba78fd	2811	// so reporting more frequently creates I/O overhead without
mjr	35:e959ffba78fd	2812	// doing anything to improve the simulation.
mjr	35:e959ffba78fd	2813	if (cfg.joystickEnabled && reportTimer.read_ms() > 15)
mjr	17:ab3cec0c8bf4	2814	{
mjr	17:ab3cec0c8bf4	2815	// read the accelerometer
mjr	17:ab3cec0c8bf4	2816	int xa, ya;
mjr	17:ab3cec0c8bf4	2817	accel.get(xa, ya);
mjr	17:ab3cec0c8bf4	2818
mjr	17:ab3cec0c8bf4	2819	// confine the results to our joystick axis range
mjr	17:ab3cec0c8bf4	2820	if (xa < -JOYMAX) xa = -JOYMAX;
mjr	17:ab3cec0c8bf4	2821	if (xa > JOYMAX) xa = JOYMAX;
mjr	17:ab3cec0c8bf4	2822	if (ya < -JOYMAX) ya = -JOYMAX;
mjr	17:ab3cec0c8bf4	2823	if (ya > JOYMAX) ya = JOYMAX;
mjr	17:ab3cec0c8bf4	2824
mjr	17:ab3cec0c8bf4	2825	// store the updated accelerometer coordinates
mjr	17:ab3cec0c8bf4	2826	x = xa;
mjr	17:ab3cec0c8bf4	2827	y = ya;
mjr	17:ab3cec0c8bf4	2828
mjr	21:5048e16cc9ef	2829	// Report the current plunger position UNLESS the ZB Launch Ball
mjr	21:5048e16cc9ef	2830	// signal is on, in which case just report a constant 0 value.
mjr	21:5048e16cc9ef	2831	// ZB Launch Ball turns off the plunger position because it
mjr	21:5048e16cc9ef	2832	// tells us that the table has a Launch Ball button instead of
mjr	21:5048e16cc9ef	2833	// a traditional plunger.
mjr	35:e959ffba78fd	2834	int zrep = (cfg.plunger.zbLaunchBall.port != 0 && wizOn[cfg.plunger.zbLaunchBall.port-1] ? 0 : z);
mjr	35:e959ffba78fd	2835
mjr	35:e959ffba78fd	2836	// rotate X and Y according to the device orientation in the cabinet
mjr	35:e959ffba78fd	2837	accelRotate(x, y);
mjr	35:e959ffba78fd	2838
mjr	35:e959ffba78fd	2839	// send the joystick report
mjr	35:e959ffba78fd	2840	js.update(x, y, zrep, jsButtons \| simButtons, statusFlags);
mjr	21:5048e16cc9ef	2841
mjr	35:e959ffba78fd	2842	// send the keyboard report(s), if applicable
mjr	35:e959ffba78fd	2843	bool waitBeforeMedia = false;
mjr	35:e959ffba78fd	2844	if (kbState.changed)
mjr	35:e959ffba78fd	2845	{
mjr	35:e959ffba78fd	2846	js.kbUpdate(kbState.data);
mjr	35:e959ffba78fd	2847	kbState.changed = false;
mjr	35:e959ffba78fd	2848	waitBeforeMedia = true;
mjr	35:e959ffba78fd	2849	}
mjr	35:e959ffba78fd	2850	if (mediaState.changed)
mjr	35:e959ffba78fd	2851	{
mjr	35:e959ffba78fd	2852	// just sent a key report - give the channel a moment to clear before
mjr	35:e959ffba78fd	2853	// sending another report on its heels, to avoid clogging the pipe
mjr	35:e959ffba78fd	2854	if (waitBeforeMedia)
mjr	35:e959ffba78fd	2855	wait_us(1);
mjr	35:e959ffba78fd	2856
mjr	35:e959ffba78fd	2857	// send the media key report
mjr	35:e959ffba78fd	2858	js.mediaUpdate(mediaState.data);
mjr	35:e959ffba78fd	2859	mediaState.changed = false;
mjr	35:e959ffba78fd	2860	}
mjr	17:ab3cec0c8bf4	2861
mjr	17:ab3cec0c8bf4	2862	// we've just started a new report interval, so reset the timer
mjr	17:ab3cec0c8bf4	2863	reportTimer.reset();
mjr	17:ab3cec0c8bf4	2864	}
mjr	21:5048e16cc9ef	2865
mjr	10:976666ffa4ef	2866	// If we're in pixel dump mode, report all pixel exposure values
mjr	10:976666ffa4ef	2867	if (reportPix)
mjr	10:976666ffa4ef	2868	{
mjr	17:ab3cec0c8bf4	2869	// send the report
mjr	35:e959ffba78fd	2870	plungerSensor->sendExposureReport(js);
mjr	17:ab3cec0c8bf4	2871
mjr	10:976666ffa4ef	2872	// we have satisfied this request
mjr	10:976666ffa4ef	2873	reportPix = false;
mjr	10:976666ffa4ef	2874	}
mjr	10:976666ffa4ef	2875
mjr	35:e959ffba78fd	2876	// If joystick reports are turned off, send a generic status report
mjr	35:e959ffba78fd	2877	// periodically for the sake of the Windows config tool.
mjr	35:e959ffba78fd	2878	if (!cfg.joystickEnabled && reportTimer.read_ms() > 200)
mjr	21:5048e16cc9ef	2879	{
mjr	21:5048e16cc9ef	2880	js.updateStatus(0);
mjr	21:5048e16cc9ef	2881	}
mjr	21:5048e16cc9ef	2882
mjr	6:cc35eb643e8f	2883	#ifdef DEBUG_PRINTF
mjr	6:cc35eb643e8f	2884	if (x != 0 \|\| y != 0)
mjr	6:cc35eb643e8f	2885	printf("%d,%d\r\n", x, y);
mjr	6:cc35eb643e8f	2886	#endif
mjr	6:cc35eb643e8f	2887
mjr	33:d832bcab089e	2888	// check for connection status changes
mjr	33:d832bcab089e	2889	int newConnected = js.isConnected() && !js.isSuspended();
mjr	33:d832bcab089e	2890	if (newConnected != connected)
mjr	33:d832bcab089e	2891	{
mjr	33:d832bcab089e	2892	// give it a few seconds to stabilize
mjr	33:d832bcab089e	2893	time_t tc = time(0);
mjr	33:d832bcab089e	2894	if (tc - connectChangeTime > 3)
mjr	33:d832bcab089e	2895	{
mjr	33:d832bcab089e	2896	// note the new status
mjr	33:d832bcab089e	2897	connected = newConnected;
mjr	33:d832bcab089e	2898	connectChangeTime = tc;
mjr	33:d832bcab089e	2899
mjr	33:d832bcab089e	2900	// if we're no longer connected, turn off all outputs
mjr	33:d832bcab089e	2901	if (!connected)
mjr	33:d832bcab089e	2902	allOutputsOff();
mjr	33:d832bcab089e	2903	}
mjr	33:d832bcab089e	2904	}
mjr	33:d832bcab089e	2905
mjr	6:cc35eb643e8f	2906	// provide a visual status indication on the on-board LED
mjr	5:a70c0bce770d	2907	if (calBtnState < 2 && hbTimer.read_ms() > 1000)
mjr	1:d913e0afb2ac	2908	{
mjr	33:d832bcab089e	2909	if (!newConnected)
mjr	2:c174f9ee414a	2910	{
mjr	5:a70c0bce770d	2911	// suspended - turn off the LED
mjr	4:02c7cd7b2183	2912	ledR = 1;
mjr	4:02c7cd7b2183	2913	ledG = 1;
mjr	4:02c7cd7b2183	2914	ledB = 1;
mjr	5:a70c0bce770d	2915
mjr	5:a70c0bce770d	2916	// show a status flash every so often
mjr	5:a70c0bce770d	2917	if (hbcnt % 3 == 0)
mjr	5:a70c0bce770d	2918	{
mjr	6:cc35eb643e8f	2919	// disconnected = red/red flash; suspended = red
mjr	5:a70c0bce770d	2920	for (int n = js.isConnected() ? 1 : 2 ; n > 0 ; --n)
mjr	5:a70c0bce770d	2921	{
mjr	5:a70c0bce770d	2922	ledR = 0;
mjr	5:a70c0bce770d	2923	wait(0.05);
mjr	5:a70c0bce770d	2924	ledR = 1;
mjr	5:a70c0bce770d	2925	wait(0.25);
mjr	5:a70c0bce770d	2926	}
mjr	5:a70c0bce770d	2927	}
mjr	2:c174f9ee414a	2928	}
mjr	35:e959ffba78fd	2929	else if (cfg.plunger.enabled && !cfg.plunger.cal.calibrated)
mjr	6:cc35eb643e8f	2930	{
mjr	6:cc35eb643e8f	2931	// connected, plunger calibration needed - flash yellow/green
mjr	6:cc35eb643e8f	2932	hb = !hb;
mjr	6:cc35eb643e8f	2933	ledR = (hb ? 0 : 1);
mjr	6:cc35eb643e8f	2934	ledG = 0;
mjr	6:cc35eb643e8f	2935	ledB = 1;
mjr	6:cc35eb643e8f	2936	}
mjr	6:cc35eb643e8f	2937	else
mjr	6:cc35eb643e8f	2938	{
mjr	6:cc35eb643e8f	2939	// connected - flash blue/green
mjr	2:c174f9ee414a	2940	hb = !hb;
mjr	4:02c7cd7b2183	2941	ledR = 1;
mjr	4:02c7cd7b2183	2942	ledG = (hb ? 0 : 1);
mjr	4:02c7cd7b2183	2943	ledB = (hb ? 1 : 0);
mjr	2:c174f9ee414a	2944	}
mjr	1:d913e0afb2ac	2945
mjr	1:d913e0afb2ac	2946	// reset the heartbeat timer
mjr	1:d913e0afb2ac	2947	hbTimer.reset();
mjr	5:a70c0bce770d	2948	++hbcnt;
mjr	1:d913e0afb2ac	2949	}
mjr	1:d913e0afb2ac	2950	}
mjr	0:5acbbe3f4cf4	2951	}

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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@35:e959ffba78fd, 2015-12-19 (annotated)

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