Pinscape_Controller_V2

Users » mjr » Code » Pinscape_Controller_V2

Mike R / Mbed 2 deprecated Pinscape_Controller_V2

Dependencies: mbed FastIO FastPWM USBDevice

Fork of Pinscape_Controller by Mike R

main.cpp@77:0b96f6867312, 2017-03-17 (annotated)

Committer:: mjr
Date:: Fri Mar 17 22:02:08 2017 +0000
Revision:: 77:0b96f6867312
Parent:: 76:7f5912b6340e
Child:: 78:1e00b3fa11af

New memory pool management; keeping old ones as #ifdefs for now for reference.

Who changed what in which revision?

User	Revision	Line number	New contents of line
mjr	51:57eb311faafa	1	/* Copyright 2014, 2016 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	48:058ace2aed1d	13	* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILIT Y, 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	48:058ace2aed1d	23	// This project implements an I/O controller for virtual pinball cabinets. The
mjr	48:058ace2aed1d	24	// controller's function is to connect Visual Pinball (and other Windows pinball
mjr	48:058ace2aed1d	25	// emulators) with physical devices in the cabinet: buttons, sensors, and
mjr	48:058ace2aed1d	26	// feedback devices that create visual or mechanical effects during play.
mjr	38:091e511ce8a0	27	//
mjr	48:058ace2aed1d	28	// The controller can perform several different functions, which can be used
mjr	38:091e511ce8a0	29	// individually or in any combination:
mjr	5:a70c0bce770d	30	//
mjr	38:091e511ce8a0	31	// - Nudge sensing. This uses the KL25Z's on-board accelerometer to sense the
mjr	38:091e511ce8a0	32	// motion of the cabinet when you nudge it. Visual Pinball and other pinball
mjr	38:091e511ce8a0	33	// emulators on the PC have native handling for this type of input, so that
mjr	38:091e511ce8a0	34	// physical nudges on the cabinet turn into simulated effects on the virtual
mjr	38:091e511ce8a0	35	// ball. The KL25Z measures accelerations as analog readings and is quite
mjr	38:091e511ce8a0	36	// sensitive, so the effect of a nudge on the simulation is proportional
mjr	38:091e511ce8a0	37	// to the strength of the nudge. Accelerations are reported to the PC via a
mjr	38:091e511ce8a0	38	// simulated joystick (using the X and Y axes); you just have to set some
mjr	38:091e511ce8a0	39	// preferences in your pinball software to tell it that an accelerometer
mjr	38:091e511ce8a0	40	// is attached.
mjr	5:a70c0bce770d	41	//
mjr	74:822a92bc11d2	42	// - Plunger position sensing, with multiple sensor options. To use this feature,
mjr	35:e959ffba78fd	43	// you need to choose a sensor and set it up, connect the sensor electrically to
mjr	35:e959ffba78fd	44	// the KL25Z, and configure the Pinscape software on the KL25Z to let it know how
mjr	35:e959ffba78fd	45	// the sensor is hooked up. The Pinscape software monitors the sensor and sends
mjr	35:e959ffba78fd	46	// readings to Visual Pinball via the joystick Z axis. VP and other PC software
mjr	38:091e511ce8a0	47	// have native support for this type of input; as with the nudge setup, you just
mjr	38:091e511ce8a0	48	// have to set some options in VP to activate the plunger.
mjr	17:ab3cec0c8bf4	49	//
mjr	35:e959ffba78fd	50	// The Pinscape software supports optical sensors (the TAOS TSL1410R and TSL1412R
mjr	35:e959ffba78fd	51	// linear sensor arrays) as well as slide potentiometers. The specific equipment
mjr	35:e959ffba78fd	52	// that's supported, along with physical mounting and wiring details, can be found
mjr	35:e959ffba78fd	53	// in the Build Guide.
mjr	35:e959ffba78fd	54	//
mjr	77:0b96f6867312	55	// Note that VP has built-in support for plunger devices like this one, but
mjr	77:0b96f6867312	56	// some VP tables can't use it without some additional scripting work. The
mjr	77:0b96f6867312	57	// Build Guide has advice on adjusting tables to add plunger support when
mjr	77:0b96f6867312	58	// necessary.
mjr	5:a70c0bce770d	59	//
mjr	6:cc35eb643e8f	60	// For best results, the plunger sensor should be calibrated. The calibration
mjr	6:cc35eb643e8f	61	// is stored in non-volatile memory on board the KL25Z, so it's only necessary
mjr	6:cc35eb643e8f	62	// to do the calibration once, when you first install everything. (You might
mjr	6:cc35eb643e8f	63	// also want to re-calibrate if you physically remove and reinstall the CCD
mjr	17:ab3cec0c8bf4	64	// sensor or the mechanical plunger, since their alignment shift change slightly
mjr	17:ab3cec0c8bf4	65	// when you put everything back together.) You can optionally install a
mjr	17:ab3cec0c8bf4	66	// dedicated momentary switch or pushbutton to activate the calibration mode;
mjr	17:ab3cec0c8bf4	67	// this is describe in the project documentation. If you don't want to bother
mjr	17:ab3cec0c8bf4	68	// with the extra button, you can also trigger calibration using the Windows
mjr	17:ab3cec0c8bf4	69	// setup software, which you can find on the Pinscape project page.
mjr	6:cc35eb643e8f	70	//
mjr	17:ab3cec0c8bf4	71	// The calibration procedure is described in the project documentation. Briefly,
mjr	17:ab3cec0c8bf4	72	// when you trigger calibration mode, the software will scan the CCD for about
mjr	17:ab3cec0c8bf4	73	// 15 seconds, during which you should simply pull the physical plunger back
mjr	17:ab3cec0c8bf4	74	// all the way, hold it for a moment, and then slowly return it to the rest
mjr	17:ab3cec0c8bf4	75	// position. (DON'T just release it from the retracted position, since that
mjr	17:ab3cec0c8bf4	76	// let it shoot forward too far. We want to measure the range from the park
mjr	17:ab3cec0c8bf4	77	// position to the fully retracted position only.)
mjr	5:a70c0bce770d	78	//
mjr	77:0b96f6867312	79	// - Button input wiring. You can assign GPIO ports as inputs for physical
mjr	77:0b96f6867312	80	// pinball-style buttons, such as flipper buttons, a Start button, coin
mjr	77:0b96f6867312	81	// chute switches, tilt bobs, and service panel buttons. You can configure
mjr	77:0b96f6867312	82	// each button input to report a keyboard key or joystick button press to
mjr	77:0b96f6867312	83	// the PC when the physical button is pushed.
mjr	13:72dda449c3c0	84	//
mjr	53:9b2611964afc	85	// - LedWiz emulation. The KL25Z can pretend to be an LedWiz device. This lets
mjr	53:9b2611964afc	86	// you connect feedback devices (lights, solenoids, motors) to GPIO ports on the
mjr	53:9b2611964afc	87	// KL25Z, and lets PC software (such as Visual Pinball) control them during game
mjr	53:9b2611964afc	88	// play to create a more immersive playing experience. The Pinscape software
mjr	53:9b2611964afc	89	// presents itself to the host as an LedWiz device and accepts the full LedWiz
mjr	53:9b2611964afc	90	// command set, so software on the PC designed for real LedWiz'es can control
mjr	53:9b2611964afc	91	// attached devices without any modifications.
mjr	5:a70c0bce770d	92	//
mjr	53:9b2611964afc	93	// Even though the software provides a very thorough LedWiz emulation, the KL25Z
mjr	53:9b2611964afc	94	// GPIO hardware design imposes some serious limitations. The big one is that
mjr	53:9b2611964afc	95	// the KL25Z only has 10 PWM channels, meaning that only 10 ports can have
mjr	53:9b2611964afc	96	// varying-intensity outputs (e.g., for controlling the brightness level of an
mjr	53:9b2611964afc	97	// LED or the speed or a motor). You can control more than 10 output ports, but
mjr	53:9b2611964afc	98	// only 10 can have PWM control; the rest are simple "digital" ports that can only
mjr	53:9b2611964afc	99	// be switched fully on or fully off. The second limitation is that the KL25Z
mjr	53:9b2611964afc	100	// just doesn't have that many GPIO ports overall. There are enough to populate
mjr	53:9b2611964afc	101	// all 32 button inputs OR all 32 LedWiz outputs, but not both. The default is
mjr	53:9b2611964afc	102	// to assign 24 buttons and 22 LedWiz ports; you can change this balance to trade
mjr	53:9b2611964afc	103	// off more outputs for fewer inputs, or vice versa. The third limitation is that
mjr	53:9b2611964afc	104	// the KL25Z GPIO pins have very tiny amperage limits - just 4mA, which isn't
mjr	53:9b2611964afc	105	// even enough to control a small LED. So in order to connect any kind of feedback
mjr	53:9b2611964afc	106	// device to an output, you must build some external circuitry to boost the
mjr	53:9b2611964afc	107	// current handing. The Build Guide has a reference circuit design for this
mjr	53:9b2611964afc	108	// purpose that's simple and inexpensive to build.
mjr	6:cc35eb643e8f	109	//
mjr	26:cb71c4af2912	110	// - Enhanced LedWiz emulation with TLC5940 PWM controller chips. You can attach
mjr	26:cb71c4af2912	111	// external PWM controller chips for controlling device outputs, instead of using
mjr	53:9b2611964afc	112	// the on-board GPIO ports as described above. The software can control a set of
mjr	53:9b2611964afc	113	// daisy-chained TLC5940 chips. Each chip provides 16 PWM outputs, so you just
mjr	53:9b2611964afc	114	// need two of them to get the full complement of 32 output ports of a real LedWiz.
mjr	53:9b2611964afc	115	// You can hook up even more, though. Four chips gives you 64 ports, which should
mjr	53:9b2611964afc	116	// be plenty for nearly any virtual pinball project. To accommodate the larger
mjr	53:9b2611964afc	117	// supply of ports possible with the PWM chips, the controller software provides
mjr	53:9b2611964afc	118	// a custom, extended version of the LedWiz protocol that can handle up to 128
mjr	53:9b2611964afc	119	// ports. PC software designed only for the real LedWiz obviously won't know
mjr	53:9b2611964afc	120	// about the extended protocol and won't be able to take advantage of its extra
mjr	53:9b2611964afc	121	// capabilities, but the latest version of DOF (DirectOutput Framework) does
mjr	53:9b2611964afc	122	// know the new language and can take full advantage. Older software will still
mjr	53:9b2611964afc	123	// work, though - the new extensions are all backward compatible, so old software
mjr	53:9b2611964afc	124	// that only knows about the original LedWiz protocol will still work, with the
mjr	53:9b2611964afc	125	// obvious limitation that it can only access the first 32 ports.
mjr	53:9b2611964afc	126	//
mjr	53:9b2611964afc	127	// The Pinscape Expansion Board project (which appeared in early 2016) provides
mjr	53:9b2611964afc	128	// a reference hardware design, with EAGLE circuit board layouts, that takes full
mjr	53:9b2611964afc	129	// advantage of the TLC5940 capability. It lets you create a customized set of
mjr	53:9b2611964afc	130	// outputs with full PWM control and power handling for high-current devices
mjr	53:9b2611964afc	131	// built in to the boards.
mjr	26:cb71c4af2912	132	//
mjr	38:091e511ce8a0	133	// - Night Mode control for output devices. You can connect a switch or button
mjr	38:091e511ce8a0	134	// to the controller to activate "Night Mode", which disables feedback devices
mjr	38:091e511ce8a0	135	// that you designate as noisy. You can designate outputs individually as being
mjr	38:091e511ce8a0	136	// included in this set or not. This is useful if you want to play a game on
mjr	38:091e511ce8a0	137	// your cabinet late at night without waking the kids and annoying the neighbors.
mjr	38:091e511ce8a0	138	//
mjr	38:091e511ce8a0	139	// - TV ON switch. The controller can pulse a relay to turn on your TVs after
mjr	38:091e511ce8a0	140	// power to the cabinet comes on, with a configurable delay timer. This feature
mjr	38:091e511ce8a0	141	// is for TVs that don't turn themselves on automatically when first plugged in.
mjr	38:091e511ce8a0	142	// To use this feature, you have to build some external circuitry to allow the
mjr	77:0b96f6867312	143	// software to sense the power supply status. The Build Guide has details
mjr	77:0b96f6867312	144	// on the necessary circuitry. You can use this to switch your TV on via a
mjr	77:0b96f6867312	145	// hardwired connection to the TV's "on" button, which requires taking the
mjr	77:0b96f6867312	146	// TV apart to gain access to its internal wiring, or optionally via the IR
mjr	77:0b96f6867312	147	// remote control transmitter feature below.
mjr	77:0b96f6867312	148	//
mjr	77:0b96f6867312	149	// - Infrared (IR) remote control receiver and transmitter. You can attach an
mjr	77:0b96f6867312	150	// IR LED and/or an IR sensor (we recommend the TSOP384xx series) to make the
mjr	77:0b96f6867312	151	// KL25Z capable of sending and/or receiving IR remote control signals. This
mjr	77:0b96f6867312	152	// can be used with the TV ON feature above to turn your TV(s) on when the
mjr	77:0b96f6867312	153	// system power comes on by sending the "on" command to them via IR, as though
mjr	77:0b96f6867312	154	// you pressed the "on" button on the remote control. The sensor lets the
mjr	77:0b96f6867312	155	// Pinscape software learn the IR codes from your existing remotes, in the
mjr	77:0b96f6867312	156	// same manner as a handheld universal remote control, and the IR LED lets
mjr	77:0b96f6867312	157	// it transmit learned codes. The sensor can also be used to receive codes
mjr	77:0b96f6867312	158	// during normal operation and turn them into PC keystrokes; this lets you
mjr	77:0b96f6867312	159	// access extra commands on the PC without adding more buttons to your
mjr	77:0b96f6867312	160	// cabinet. The IR LED can also be used to transmit other codes when you
mjr	77:0b96f6867312	161	// press selected cabinet buttons, allowing you to assign cabinet buttons
mjr	77:0b96f6867312	162	// to send IR commands to your cabinet TV or other devices.
mjr	38:091e511ce8a0	163	//
mjr	35:e959ffba78fd	164	//
mjr	35:e959ffba78fd	165	//
mjr	33:d832bcab089e	166	// STATUS LIGHTS: The on-board LED on the KL25Z flashes to indicate the current
mjr	33:d832bcab089e	167	// device status. The flash patterns are:
mjr	6:cc35eb643e8f	168	//
mjr	48:058ace2aed1d	169	// short yellow flash = waiting to connect
mjr	6:cc35eb643e8f	170	//
mjr	48:058ace2aed1d	171	// short red flash = the connection is suspended (the host is in sleep
mjr	48:058ace2aed1d	172	// or suspend mode, the USB cable is unplugged after a connection
mjr	48:058ace2aed1d	173	// has been established)
mjr	48:058ace2aed1d	174	//
mjr	48:058ace2aed1d	175	// two short red flashes = connection lost (the device should immediately
mjr	48:058ace2aed1d	176	// go back to short-yellow "waiting to reconnect" mode when a connection
mjr	48:058ace2aed1d	177	// is lost, so this display shouldn't normally appear)
mjr	6:cc35eb643e8f	178	//
mjr	38:091e511ce8a0	179	// long red/yellow = USB connection problem. The device still has a USB
mjr	48:058ace2aed1d	180	// connection to the host (or so it appears to the device), but data
mjr	48:058ace2aed1d	181	// transmissions are failing.
mjr	38:091e511ce8a0	182	//
mjr	73:4e8ce0b18915	183	// medium blue flash = TV ON delay timer running. This means that the
mjr	73:4e8ce0b18915	184	// power to the secondary PSU has just been turned on, and the TV ON
mjr	73:4e8ce0b18915	185	// timer is waiting for the configured delay time before pulsing the
mjr	73:4e8ce0b18915	186	// TV power button relay. This is only shown if the TV ON feature is
mjr	73:4e8ce0b18915	187	// enabled.
mjr	73:4e8ce0b18915	188	//
mjr	6:cc35eb643e8f	189	// long yellow/green = everything's working, but the plunger hasn't
mjr	38:091e511ce8a0	190	// been calibrated. Follow the calibration procedure described in
mjr	38:091e511ce8a0	191	// the project documentation. This flash mode won't appear if there's
mjr	38:091e511ce8a0	192	// no plunger sensor configured.
mjr	6:cc35eb643e8f	193	//
mjr	38:091e511ce8a0	194	// alternating blue/green = everything's working normally, and plunger
mjr	38:091e511ce8a0	195	// calibration has been completed (or there's no plunger attached)
mjr	10:976666ffa4ef	196	//
mjr	48:058ace2aed1d	197	// fast red/purple = out of memory. The controller halts and displays
mjr	48:058ace2aed1d	198	// this diagnostic code until you manually reset it. If this happens,
mjr	48:058ace2aed1d	199	// it's probably because the configuration is too complex, in which
mjr	48:058ace2aed1d	200	// case the same error will occur after the reset. If it's stuck
mjr	48:058ace2aed1d	201	// in this cycle, you'll have to restore the default configuration
mjr	48:058ace2aed1d	202	// by re-installing the controller software (the Pinscape .bin file).
mjr	10:976666ffa4ef	203	//
mjr	48:058ace2aed1d	204	//
mjr	48:058ace2aed1d	205	// USB PROTOCOL: Most of our USB messaging is through standard USB HID
mjr	48:058ace2aed1d	206	// classes (joystick, keyboard). We also accept control messages on our
mjr	48:058ace2aed1d	207	// primary HID interface "OUT endpoint" using a custom protocol that's
mjr	48:058ace2aed1d	208	// not defined in any USB standards (we do have to provide a USB HID
mjr	48:058ace2aed1d	209	// Report Descriptor for it, but this just describes the protocol as
mjr	48:058ace2aed1d	210	// opaque vendor-defined bytes). The control protocol incorporates the
mjr	48:058ace2aed1d	211	// LedWiz protocol as a subset, and adds our own private extensions.
mjr	48:058ace2aed1d	212	// For full details, see USBProtocol.h.
mjr	33:d832bcab089e	213
mjr	33:d832bcab089e	214
mjr	0:5acbbe3f4cf4	215	#include "mbed.h"
mjr	6:cc35eb643e8f	216	#include "math.h"
mjr	74:822a92bc11d2	217	#include "diags.h"
mjr	48:058ace2aed1d	218	#include "pinscape.h"
mjr	0:5acbbe3f4cf4	219	#include "USBJoystick.h"
mjr	0:5acbbe3f4cf4	220	#include "MMA8451Q.h"
mjr	1:d913e0afb2ac	221	#include "tsl1410r.h"
mjr	1:d913e0afb2ac	222	#include "FreescaleIAP.h"
mjr	2:c174f9ee414a	223	#include "crc32.h"
mjr	26:cb71c4af2912	224	#include "TLC5940.h"
mjr	34:6b981a2afab7	225	#include "74HC595.h"
mjr	35:e959ffba78fd	226	#include "nvm.h"
mjr	35:e959ffba78fd	227	#include "plunger.h"
mjr	35:e959ffba78fd	228	#include "ccdSensor.h"
mjr	35:e959ffba78fd	229	#include "potSensor.h"
mjr	35:e959ffba78fd	230	#include "nullSensor.h"
mjr	48:058ace2aed1d	231	#include "TinyDigitalIn.h"
mjr	77:0b96f6867312	232	#include "IRReceiver.h"
mjr	77:0b96f6867312	233	#include "IRTransmitter.h"
mjr	77:0b96f6867312	234	#include "NewPwm.h"
mjr	74:822a92bc11d2	235
mjr	2:c174f9ee414a	236
mjr	21:5048e16cc9ef	237	#define DECL_EXTERNS
mjr	17:ab3cec0c8bf4	238	#include "config.h"
mjr	17:ab3cec0c8bf4	239
mjr	76:7f5912b6340e	240	// forward declarations
mjr	76:7f5912b6340e	241	static void waitPlungerIdle(void);
mjr	53:9b2611964afc	242
mjr	53:9b2611964afc	243	// --------------------------------------------------------------------------
mjr	53:9b2611964afc	244	//
mjr	53:9b2611964afc	245	// OpenSDA module identifier. This is for the benefit of the Windows
mjr	53:9b2611964afc	246	// configuration tool. When the config tool installs a .bin file onto
mjr	53:9b2611964afc	247	// the KL25Z, it will first find the sentinel string within the .bin file,
mjr	53:9b2611964afc	248	// and patch the "\0" bytes that follow the sentinel string with the
mjr	53:9b2611964afc	249	// OpenSDA module ID data. This allows us to report the OpenSDA
mjr	53:9b2611964afc	250	// identifiers back to the host system via USB, which in turn allows the
mjr	53:9b2611964afc	251	// config tool to figure out which OpenSDA MSD (mass storage device - a
mjr	53:9b2611964afc	252	// virtual disk drive) correlates to which Pinscape controller USB
mjr	53:9b2611964afc	253	// interface.
mjr	53:9b2611964afc	254	//
mjr	53:9b2611964afc	255	// This is only important if multiple Pinscape devices are attached to
mjr	53:9b2611964afc	256	// the same host. There doesn't seem to be any other way to figure out
mjr	53:9b2611964afc	257	// which OpenSDA MSD corresponds to which KL25Z USB interface; the OpenSDA
mjr	53:9b2611964afc	258	// MSD doesn't report the KL25Z CPU ID anywhere, and the KL25Z doesn't
mjr	53:9b2611964afc	259	// have any way to learn about the OpenSDA module it's connected to. The
mjr	53:9b2611964afc	260	// only way to pass this information to the KL25Z side that I can come up
mjr	53:9b2611964afc	261	// with is to have the Windows host embed it in the .bin file before
mjr	53:9b2611964afc	262	// downloading it to the OpenSDA MSD.
mjr	53:9b2611964afc	263	//
mjr	53:9b2611964afc	264	// We initialize the const data buffer (the part after the sentinel string)
mjr	53:9b2611964afc	265	// with all "\0" bytes, so that's what will be in the executable image that
mjr	53:9b2611964afc	266	// comes out of the mbed compiler. If you manually install the resulting
mjr	53:9b2611964afc	267	// .bin file onto the KL25Z (via the Windows desktop, say), the "\0" bytes
mjr	53:9b2611964afc	268	// will stay this way and read as all 0's at run-time. Since a real TUID
mjr	53:9b2611964afc	269	// would never be all 0's, that tells us that we were never patched and
mjr	53:9b2611964afc	270	// thus don't have any information on the OpenSDA module.
mjr	53:9b2611964afc	271	//
mjr	53:9b2611964afc	272	const char *getOpenSDAID()
mjr	53:9b2611964afc	273	{
mjr	53:9b2611964afc	274	#define OPENSDA_PREFIX "///Pinscape.OpenSDA.TUID///"
mjr	53:9b2611964afc	275	static const char OpenSDA[] = OPENSDA_PREFIX "\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0///";
mjr	53:9b2611964afc	276	const size_t OpenSDA_prefix_length = sizeof(OPENSDA_PREFIX) - 1;
mjr	53:9b2611964afc	277
mjr	53:9b2611964afc	278	return OpenSDA + OpenSDA_prefix_length;
mjr	53:9b2611964afc	279	}
mjr	53:9b2611964afc	280
mjr	53:9b2611964afc	281	// --------------------------------------------------------------------------
mjr	53:9b2611964afc	282	//
mjr	53:9b2611964afc	283	// Build ID. We use the date and time of compiling the program as a build
mjr	53:9b2611964afc	284	// identifier. It would be a little nicer to use a simple serial number
mjr	53:9b2611964afc	285	// instead, but the mbed platform doesn't have a way to automate that. The
mjr	53:9b2611964afc	286	// timestamp is a pretty good proxy for a serial number in that it will
mjr	53:9b2611964afc	287	// naturally increase on each new build, which is the primary property we
mjr	53:9b2611964afc	288	// want from this.
mjr	53:9b2611964afc	289	//
mjr	53:9b2611964afc	290	// As with the embedded OpenSDA ID, we store the build timestamp with a
mjr	53:9b2611964afc	291	// sentinel string prefix, to allow automated tools to find the static data
mjr	53:9b2611964afc	292	// in the .bin file by searching for the sentinel string. In contrast to
mjr	53:9b2611964afc	293	// the OpenSDA ID, the value we store here is for tools to extract rather
mjr	53:9b2611964afc	294	// than store, since we automatically populate it via the preprocessor
mjr	53:9b2611964afc	295	// macros.
mjr	53:9b2611964afc	296	//
mjr	53:9b2611964afc	297	const char *getBuildID()
mjr	53:9b2611964afc	298	{
mjr	53:9b2611964afc	299	#define BUILDID_PREFIX "///Pinscape.Build.ID///"
mjr	53:9b2611964afc	300	static const char BuildID[] = BUILDID_PREFIX __DATE__ " " __TIME__ "///";
mjr	53:9b2611964afc	301	const size_t BuildID_prefix_length = sizeof(BUILDID_PREFIX) - 1;
mjr	53:9b2611964afc	302
mjr	53:9b2611964afc	303	return BuildID + BuildID_prefix_length;
mjr	53:9b2611964afc	304	}
mjr	53:9b2611964afc	305
mjr	74:822a92bc11d2	306	// --------------------------------------------------------------------------
mjr	74:822a92bc11d2	307	// Main loop iteration timing statistics. Collected only if
mjr	74:822a92bc11d2	308	// ENABLE_DIAGNOSTICS is set in diags.h.
mjr	76:7f5912b6340e	309	#if ENABLE_DIAGNOSTICS
mjr	76:7f5912b6340e	310	uint64_t mainLoopIterTime, mainLoopIterCheckpt[15], mainLoopIterCount;
mjr	76:7f5912b6340e	311	uint64_t mainLoopMsgTime, mainLoopMsgCount;
mjr	76:7f5912b6340e	312	Timer mainLoopTimer;
mjr	76:7f5912b6340e	313	#endif
mjr	76:7f5912b6340e	314
mjr	53:9b2611964afc	315
mjr	48:058ace2aed1d	316	// --------------------------------------------------------------------------
mjr	48:058ace2aed1d	317	//
mjr	59:94eb9265b6d7	318	// Custom memory allocator. We use our own version of malloc() for more
mjr	59:94eb9265b6d7	319	// efficient memory usage, and to provide diagnostics if we run out of heap.
mjr	48:058ace2aed1d	320	//
mjr	59:94eb9265b6d7	321	// We can implement a more efficient malloc than the library can because we
mjr	59:94eb9265b6d7	322	// can make an assumption that the library can't: allocations are permanent.
mjr	59:94eb9265b6d7	323	// The normal malloc has to assume that allocations can be freed, so it has
mjr	59:94eb9265b6d7	324	// to track blocks individually. For the purposes of this program, though,
mjr	59:94eb9265b6d7	325	// we don't have to do this because virtually all of our allocations are
mjr	59:94eb9265b6d7	326	// de facto permanent. We only allocate dyanmic memory during setup, and
mjr	59:94eb9265b6d7	327	// once we set things up, we never delete anything. This means that we can
mjr	59:94eb9265b6d7	328	// allocate memory in bare blocks without any bookkeeping overhead.
mjr	59:94eb9265b6d7	329	//
mjr	59:94eb9265b6d7	330	// In addition, we can make a much larger overall pool of memory available
mjr	59:94eb9265b6d7	331	// in a custom allocator. The mbed library malloc() seems to have a pool
mjr	59:94eb9265b6d7	332	// of about 3K to work with, even though there's really about 9K of RAM
mjr	59:94eb9265b6d7	333	// left over after counting the static writable data and reserving space
mjr	59:94eb9265b6d7	334	// for a reasonable stack. I haven't looked at the mbed malloc to see why
mjr	59:94eb9265b6d7	335	// they're so stingy, but it appears from empirical testing that we can
mjr	77:0b96f6867312	336	// create a static array up to about 8K before things get crashy.
mjr	77:0b96f6867312	337
mjr	77:0b96f6867312	338
mjr	77:0b96f6867312	339	// halt with a diagnostic display if we run out of memory
mjr	77:0b96f6867312	340	void HaltOutOfMem()
mjr	77:0b96f6867312	341	{
mjr	77:0b96f6867312	342	printf("\r\nOut Of Memory\r\n");
mjr	77:0b96f6867312	343	// halt with the diagnostic display (by looping forever)
mjr	77:0b96f6867312	344	for (;;)
mjr	77:0b96f6867312	345	{
mjr	77:0b96f6867312	346	diagLED(1, 0, 0);
mjr	77:0b96f6867312	347	wait_us(200000);
mjr	77:0b96f6867312	348	diagLED(1, 0, 1);
mjr	77:0b96f6867312	349	wait_us(200000);
mjr	77:0b96f6867312	350	}
mjr	77:0b96f6867312	351	}
mjr	77:0b96f6867312	352
mjr	77:0b96f6867312	353	#if 0//$$$
mjr	77:0b96f6867312	354	// Memory pool. We allocate two blocks at fixed addresses: one for
mjr	77:0b96f6867312	355	// the malloc heap, and one for the native stack.
mjr	73:4e8ce0b18915	356	//
mjr	77:0b96f6867312	357	// We allocate the stack block at the very top of memory. This is what
mjr	77:0b96f6867312	358	// the mbed startup code does anyway, so we don't actually ever move the
mjr	77:0b96f6867312	359	// stack pointer into this area ourselves. The point of this block is
mjr	77:0b96f6867312	360	// to reserve space with the linker, so that it won't put any other static
mjr	77:0b96f6867312	361	// data here in this region.
mjr	73:4e8ce0b18915	362	//
mjr	77:0b96f6867312	363	// The heap block goes just below the stack block. This is a contiguous
mjr	77:0b96f6867312	364	// block of bytes from which we allocate blocks for malloc() and 'operator
mjr	77:0b96f6867312	365	// new' requests.
mjr	73:4e8ce0b18915	366	//
mjr	77:0b96f6867312	367	// WARNING! When adding static data, be sure to check the build statistics
mjr	77:0b96f6867312	368	// to ensure that static data fits in the available RAM. The linker doesn't
mjr	77:0b96f6867312	369	// seem to make such a check on its own, so you might not see an error if
mjr	77:0b96f6867312	370	// added data pushes us past the 16K limit.
mjr	77:0b96f6867312	371
mjr	77:0b96f6867312	372	// KL25Z address of top of RAM (one byte past end of RAM)
mjr	77:0b96f6867312	373	const uint32_t TOP_OF_RAM = 0x20003000UL;
mjr	77:0b96f6867312	374
mjr	77:0b96f6867312	375	// malloc pool size
mjr	77:0b96f6867312	376	const size_t XMALLOC_POOL_SIZE = 8*1024;
mjr	77:0b96f6867312	377
mjr	77:0b96f6867312	378	// stack size
mjr	77:0b96f6867312	379	const size_t XMALLOC_STACK_SIZE = 2*1024;
mjr	77:0b96f6867312	380
mjr	77:0b96f6867312	381	// figure the fixed locations of the malloc pool and stack: the stack goes
mjr	77:0b96f6867312	382	// at the very top of RAM, and the malloc pool goes just below the stack
mjr	77:0b96f6867312	383	const uint32_t XMALLOC_STACK_BASE = TOP_OF_RAM - XMALLOC_STACK_SIZE;
mjr	77:0b96f6867312	384	const uint32_t XMALLOC_POOL_BASE = XMALLOC_STACK_BASE - XMALLOC_POOL_SIZE;
mjr	77:0b96f6867312	385
mjr	77:0b96f6867312	386	// allocate the pools - use __attribute__((at)) to give them fixed addresses
mjr	77:0b96f6867312	387	static char xmalloc_stack[XMALLOC_STACK_SIZE] __attribute__((at(XMALLOC_STACK_BASE)));
mjr	77:0b96f6867312	388	static char xmalloc_pool[XMALLOC_POOL_SIZE] __attribute__((at(XMALLOC_POOL_BASE)));
mjr	77:0b96f6867312	389
mjr	77:0b96f6867312	390	// malloc pool free pointer and space remaining
mjr	73:4e8ce0b18915	391	static char *xmalloc_nxt = xmalloc_pool;
mjr	73:4e8ce0b18915	392	static size_t xmalloc_rem = XMALLOC_POOL_SIZE;
mjr	73:4e8ce0b18915	393
mjr	77:0b96f6867312	394	// allocate from our pool
mjr	48:058ace2aed1d	395	void *xmalloc(size_t siz)
mjr	48:058ace2aed1d	396	{
mjr	59:94eb9265b6d7	397	// align to a 4-byte increment
mjr	59:94eb9265b6d7	398	siz = (siz + 3) & ~3;
mjr	59:94eb9265b6d7	399
mjr	77:0b96f6867312	400	// if we're out of memory, halt with a diagnostic display
mjr	73:4e8ce0b18915	401	if (siz > xmalloc_rem)
mjr	77:0b96f6867312	402	HaltOutOfMem();
mjr	48:058ace2aed1d	403
mjr	59:94eb9265b6d7	404	// get the next free location from the pool to return
mjr	73:4e8ce0b18915	405	char *ret = xmalloc_nxt;
mjr	59:94eb9265b6d7	406
mjr	59:94eb9265b6d7	407	// advance the pool pointer and decrement the remaining size counter
mjr	73:4e8ce0b18915	408	xmalloc_nxt += siz;
mjr	73:4e8ce0b18915	409	xmalloc_rem -= siz;
mjr	59:94eb9265b6d7	410
mjr	59:94eb9265b6d7	411	// return the allocated block
mjr	59:94eb9265b6d7	412	return ret;
mjr	73:4e8ce0b18915	413	};
mjr	77:0b96f6867312	414	#elif 1//$$$
mjr	77:0b96f6867312	415	// For our custom malloc, we take advantage of the known layout of the
mjr	77:0b96f6867312	416	// mbed library memory management. The mbed library puts all of the
mjr	77:0b96f6867312	417	// static read/write data at the low end of RAM; this includes the
mjr	77:0b96f6867312	418	// initialized statics and the "ZI" (zero-initialized) statics. The
mjr	77:0b96f6867312	419	// malloc heap starts just after the last static, growing upwards as
mjr	77:0b96f6867312	420	// memory is allocated. The stack starts at the top of RAM and grows
mjr	77:0b96f6867312	421	// downwards.
mjr	77:0b96f6867312	422	//
mjr	77:0b96f6867312	423	// To figure out where the free memory starts, we simply call the system
mjr	77:0b96f6867312	424	// malloc() to make a dummy allocation the first time we're called, and
mjr	77:0b96f6867312	425	// use the address it returns as the start of our free memory pool. The
mjr	77:0b96f6867312	426	// first malloc() call presumably returns the lowest byte of the pool in
mjr	77:0b96f6867312	427	// the compiler RTL's way of thinking, and from what we know about the
mjr	77:0b96f6867312	428	// mbed heap layout, we know everything above this point should be free,
mjr	77:0b96f6867312	429	// at least until we reach the lowest address used by the stack.
mjr	77:0b96f6867312	430	//
mjr	77:0b96f6867312	431	// The ultimate size of the stack is of course dynamic and unpredictable.
mjr	77:0b96f6867312	432	// In testing, it appears that we currently need a little over 1K. To be
mjr	77:0b96f6867312	433	// conservative, we'll reserve 2K for the stack, by taking it out of the
mjr	77:0b96f6867312	434	// space at top of memory we consider fair game for malloc.
mjr	77:0b96f6867312	435	//
mjr	77:0b96f6867312	436	// Note that we could do this a little more low-level-ly if we wanted.
mjr	77:0b96f6867312	437	// The ARM linker provides a pre-defined extern char[] variable named
mjr	77:0b96f6867312	438	// Image$$RW_IRAM1$$ZI$$Limit, which is always placed just after the
mjr	77:0b96f6867312	439	// last static data variable. In principle, this tells us the start
mjr	77:0b96f6867312	440	// of the available malloc pool. However, in testing, it doesn't seem
mjr	77:0b96f6867312	441	// safe to use this as the start of our malloc pool. I'm not sure why,
mjr	77:0b96f6867312	442	// but probably something in the startup code (either in the C RTL or
mjr	77:0b96f6867312	443	// the mbed library) is allocating from the pool before we get control.
mjr	77:0b96f6867312	444	// So we won't use that approach. Besides, that would tie us even more
mjr	77:0b96f6867312	445	// closely to the ARM compiler. With our malloc() probe approach, we're
mjr	77:0b96f6867312	446	// at least portable to any compiler that uses the same basic memory
mjr	77:0b96f6867312	447	// layout, with the heap above the statics and the stack at top of
mjr	77:0b96f6867312	448	// memory; this isn't universal, but it's very typical.
mjr	77:0b96f6867312	449
mjr	77:0b96f6867312	450	static char *xmalloc_nxt = 0;
mjr	77:0b96f6867312	451	size_t xmalloc_rem = 0;
mjr	77:0b96f6867312	452	void *xmalloc(size_t siz)
mjr	77:0b96f6867312	453	{
mjr	77:0b96f6867312	454	if (xmalloc_nxt == 0)
mjr	77:0b96f6867312	455	{
mjr	77:0b96f6867312	456	xmalloc_nxt = (char *)malloc(4);
mjr	77:0b96f6867312	457	xmalloc_rem = 0x20003000UL - 2*1024 - uint32_t(xmalloc_nxt);
mjr	77:0b96f6867312	458	}
mjr	77:0b96f6867312	459
mjr	77:0b96f6867312	460	siz = (siz + 3) & ~3;
mjr	77:0b96f6867312	461	if (siz > xmalloc_rem)
mjr	77:0b96f6867312	462	HaltOutOfMem();
mjr	77:0b96f6867312	463
mjr	77:0b96f6867312	464	char *ret = xmalloc_nxt;
mjr	77:0b96f6867312	465	xmalloc_nxt += siz;
mjr	77:0b96f6867312	466	xmalloc_rem -= siz;
mjr	77:0b96f6867312	467
mjr	77:0b96f6867312	468	return ret;
mjr	77:0b96f6867312	469	}
mjr	77:0b96f6867312	470	#else //$$$
mjr	77:0b96f6867312	471	extern char Image$$RW_IRAM1$$ZI$$Limit[]; // linker marker for top of ZI region
mjr	77:0b96f6867312	472	static char *xmalloc_nxt = Image$$RW_IRAM1$$ZI$$Limit;
mjr	77:0b96f6867312	473	const uint32_t xmallocMinStack = 2*1024;
mjr	77:0b96f6867312	474	char const TopOfRAM = (char )0x20003000UL;
mjr	77:0b96f6867312	475	uint16_t xmalloc_rem = uint16_t(TopOfRAM - Image$$RW_IRAM1$$ZI$$Limit - xmallocMinStack);
mjr	77:0b96f6867312	476	void *xmalloc(size_t siz)
mjr	77:0b96f6867312	477	{
mjr	77:0b96f6867312	478	// align to a 4-byte increment
mjr	77:0b96f6867312	479	siz = (siz + 3) & ~3;
mjr	77:0b96f6867312	480
mjr	77:0b96f6867312	481	// check to ensure we're leaving enough stack free
mjr	77:0b96f6867312	482	if (xmalloc_nxt + siz > TopOfRAM - xmallocMinStack)
mjr	77:0b96f6867312	483	HaltOutOfMem();
mjr	77:0b96f6867312	484
mjr	77:0b96f6867312	485	// get the next free location from the pool to return
mjr	77:0b96f6867312	486	char *ret = xmalloc_nxt;
mjr	77:0b96f6867312	487
mjr	77:0b96f6867312	488	// advance past the allocated memory
mjr	77:0b96f6867312	489	xmalloc_nxt += siz;
mjr	77:0b96f6867312	490	xmalloc_rem -= siz;
mjr	77:0b96f6867312	491
mjr	77:0b96f6867312	492	// return the allocated block
mjr	77:0b96f6867312	493	printf("malloc(%d) -> %lx\r\n", siz, ret);
mjr	77:0b96f6867312	494	return ret;
mjr	77:0b96f6867312	495	}
mjr	77:0b96f6867312	496	#endif//$$$
mjr	48:058ace2aed1d	497
mjr	59:94eb9265b6d7	498	// Overload operator new to call our custom malloc. This ensures that
mjr	59:94eb9265b6d7	499	// all 'new' allocations throughout the program (including library code)
mjr	59:94eb9265b6d7	500	// go through our private allocator.
mjr	48:058ace2aed1d	501	void *operator new(size_t siz) { return xmalloc(siz); }
mjr	48:058ace2aed1d	502	void *operator new[](size_t siz) { return xmalloc(siz); }
mjr	5:a70c0bce770d	503
mjr	59:94eb9265b6d7	504	// Since we don't do bookkeeping to track released memory, 'delete' does
mjr	59:94eb9265b6d7	505	// nothing. In actual testing, this routine appears to never be called.
mjr	59:94eb9265b6d7	506	// If it is ever called, it will simply leave the block in place, which
mjr	59:94eb9265b6d7	507	// will make it unavailable for re-use but will otherwise be harmless.
mjr	59:94eb9265b6d7	508	void operator delete(void *ptr) { }
mjr	59:94eb9265b6d7	509
mjr	59:94eb9265b6d7	510
mjr	5:a70c0bce770d	511	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	512	//
mjr	38:091e511ce8a0	513	// Forward declarations
mjr	38:091e511ce8a0	514	//
mjr	38:091e511ce8a0	515	void setNightMode(bool on);
mjr	38:091e511ce8a0	516	void toggleNightMode();
mjr	38:091e511ce8a0	517
mjr	38:091e511ce8a0	518	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	519	// utilities
mjr	17:ab3cec0c8bf4	520
mjr	77:0b96f6867312	521	// int/float point square of a number
mjr	77:0b96f6867312	522	inline int square(int x) { return x*x; }
mjr	26:cb71c4af2912	523	inline float square(float x) { return x*x; }
mjr	26:cb71c4af2912	524
mjr	26:cb71c4af2912	525	// floating point rounding
mjr	26:cb71c4af2912	526	inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); }
mjr	26:cb71c4af2912	527
mjr	17:ab3cec0c8bf4	528
mjr	33:d832bcab089e	529	// --------------------------------------------------------------------------
mjr	33:d832bcab089e	530	//
mjr	40:cc0d9814522b	531	// Extended verison of Timer class. This adds the ability to interrogate
mjr	40:cc0d9814522b	532	// the running state.
mjr	40:cc0d9814522b	533	//
mjr	77:0b96f6867312	534	class ExtTimer: public Timer
mjr	40:cc0d9814522b	535	{
mjr	40:cc0d9814522b	536	public:
mjr	77:0b96f6867312	537	ExtTimer() : running(false) { }
mjr	40:cc0d9814522b	538
mjr	40:cc0d9814522b	539	void start() { running = true; Timer::start(); }
mjr	40:cc0d9814522b	540	void stop() { running = false; Timer::stop(); }
mjr	40:cc0d9814522b	541
mjr	40:cc0d9814522b	542	bool isRunning() const { return running; }
mjr	40:cc0d9814522b	543
mjr	40:cc0d9814522b	544	private:
mjr	40:cc0d9814522b	545	bool running;
mjr	40:cc0d9814522b	546	};
mjr	40:cc0d9814522b	547
mjr	53:9b2611964afc	548
mjr	53:9b2611964afc	549	// --------------------------------------------------------------------------
mjr	40:cc0d9814522b	550	//
mjr	33:d832bcab089e	551	// USB product version number
mjr	5:a70c0bce770d	552	//
mjr	47:df7a88cd249c	553	const uint16_t USB_VERSION_NO = 0x000A;
mjr	33:d832bcab089e	554
mjr	33:d832bcab089e	555	// --------------------------------------------------------------------------
mjr	33:d832bcab089e	556	//
mjr	6:cc35eb643e8f	557	// Joystick axis report range - we report from -JOYMAX to +JOYMAX
mjr	33:d832bcab089e	558	//
mjr	6:cc35eb643e8f	559	#define JOYMAX 4096
mjr	6:cc35eb643e8f	560
mjr	9:fd65b0a94720	561
mjr	17:ab3cec0c8bf4	562	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	563	//
mjr	40:cc0d9814522b	564	// Wire protocol value translations. These translate byte values to and
mjr	40:cc0d9814522b	565	// from the USB protocol to local native format.
mjr	35:e959ffba78fd	566	//
mjr	35:e959ffba78fd	567
mjr	35:e959ffba78fd	568	// unsigned 16-bit integer
mjr	35:e959ffba78fd	569	inline uint16_t wireUI16(const uint8_t *b)
mjr	35:e959ffba78fd	570	{
mjr	35:e959ffba78fd	571	return b[0] \| ((uint16_t)b[1] << 8);
mjr	35:e959ffba78fd	572	}
mjr	40:cc0d9814522b	573	inline void ui16Wire(uint8_t *b, uint16_t val)
mjr	40:cc0d9814522b	574	{
mjr	40:cc0d9814522b	575	b[0] = (uint8_t)(val & 0xff);
mjr	40:cc0d9814522b	576	b[1] = (uint8_t)((val >> 8) & 0xff);
mjr	40:cc0d9814522b	577	}
mjr	35:e959ffba78fd	578
mjr	35:e959ffba78fd	579	inline int16_t wireI16(const uint8_t *b)
mjr	35:e959ffba78fd	580	{
mjr	35:e959ffba78fd	581	return (int16_t)wireUI16(b);
mjr	35:e959ffba78fd	582	}
mjr	40:cc0d9814522b	583	inline void i16Wire(uint8_t *b, int16_t val)
mjr	40:cc0d9814522b	584	{
mjr	40:cc0d9814522b	585	ui16Wire(b, (uint16_t)val);
mjr	40:cc0d9814522b	586	}
mjr	35:e959ffba78fd	587
mjr	35:e959ffba78fd	588	inline uint32_t wireUI32(const uint8_t *b)
mjr	35:e959ffba78fd	589	{
mjr	35:e959ffba78fd	590	return b[0] \| ((uint32_t)b[1] << 8) \| ((uint32_t)b[2] << 16) \| ((uint32_t)b[3] << 24);
mjr	35:e959ffba78fd	591	}
mjr	40:cc0d9814522b	592	inline void ui32Wire(uint8_t *b, uint32_t val)
mjr	40:cc0d9814522b	593	{
mjr	40:cc0d9814522b	594	b[0] = (uint8_t)(val & 0xff);
mjr	40:cc0d9814522b	595	b[1] = (uint8_t)((val >> 8) & 0xff);
mjr	40:cc0d9814522b	596	b[2] = (uint8_t)((val >> 16) & 0xff);
mjr	40:cc0d9814522b	597	b[3] = (uint8_t)((val >> 24) & 0xff);
mjr	40:cc0d9814522b	598	}
mjr	35:e959ffba78fd	599
mjr	35:e959ffba78fd	600	inline int32_t wireI32(const uint8_t *b)
mjr	35:e959ffba78fd	601	{
mjr	35:e959ffba78fd	602	return (int32_t)wireUI32(b);
mjr	35:e959ffba78fd	603	}
mjr	35:e959ffba78fd	604
mjr	53:9b2611964afc	605	// Convert "wire" (USB) pin codes to/from PinName values.
mjr	53:9b2611964afc	606	//
mjr	53:9b2611964afc	607	// The internal mbed PinName format is
mjr	53:9b2611964afc	608	//
mjr	53:9b2611964afc	609	// ((port) << PORT_SHIFT) \| (pin << 2) // MBED FORMAT
mjr	53:9b2611964afc	610	//
mjr	53:9b2611964afc	611	// where 'port' is 0-4 for Port A to Port E, and 'pin' is
mjr	53:9b2611964afc	612	// 0 to 31. E.g., E31 is (4 << PORT_SHIFT) \| (31<<2).
mjr	53:9b2611964afc	613	//
mjr	53:9b2611964afc	614	// We remap this to our more compact wire format where each
mjr	53:9b2611964afc	615	// pin name fits in 8 bits:
mjr	53:9b2611964afc	616	//
mjr	53:9b2611964afc	617	// ((port) << 5) \| pin) // WIRE FORMAT
mjr	53:9b2611964afc	618	//
mjr	53:9b2611964afc	619	// E.g., E31 is (4 << 5) \| 31.
mjr	53:9b2611964afc	620	//
mjr	53:9b2611964afc	621	// Wire code FF corresponds to PinName NC (not connected).
mjr	53:9b2611964afc	622	//
mjr	53:9b2611964afc	623	inline PinName wirePinName(uint8_t c)
mjr	35:e959ffba78fd	624	{
mjr	53:9b2611964afc	625	if (c == 0xFF)
mjr	53:9b2611964afc	626	return NC; // 0xFF -> NC
mjr	53:9b2611964afc	627	else
mjr	53:9b2611964afc	628	return PinName(
mjr	53:9b2611964afc	629	(int(c & 0xE0) << (PORT_SHIFT - 5)) // top three bits are the port
mjr	53:9b2611964afc	630	\| (int(c & 0x1F) << 2)); // bottom five bits are pin
mjr	40:cc0d9814522b	631	}
mjr	40:cc0d9814522b	632	inline void pinNameWire(uint8_t *b, PinName n)
mjr	40:cc0d9814522b	633	{
mjr	53:9b2611964afc	634	*b = PINNAME_TO_WIRE(n);
mjr	35:e959ffba78fd	635	}
mjr	35:e959ffba78fd	636
mjr	35:e959ffba78fd	637
mjr	35:e959ffba78fd	638	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	639	//
mjr	38:091e511ce8a0	640	// On-board RGB LED elements - we use these for diagnostic displays.
mjr	38:091e511ce8a0	641	//
mjr	38:091e511ce8a0	642	// Note that LED3 (the blue segment) is hard-wired on the KL25Z to PTD1,
mjr	38:091e511ce8a0	643	// so PTD1 shouldn't be used for any other purpose (e.g., as a keyboard
mjr	38:091e511ce8a0	644	// input or a device output). This is kind of unfortunate in that it's
mjr	38:091e511ce8a0	645	// one of only two ports exposed on the jumper pins that can be muxed to
mjr	38:091e511ce8a0	646	// SPI0 SCLK. This effectively limits us to PTC5 if we want to use the
mjr	38:091e511ce8a0	647	// SPI capability.
mjr	38:091e511ce8a0	648	//
mjr	38:091e511ce8a0	649	DigitalOut ledR, ledG, *ledB;
mjr	38:091e511ce8a0	650
mjr	73:4e8ce0b18915	651	// Power on timer state for diagnostics. We flash the blue LED when
mjr	77:0b96f6867312	652	// nothing else is going on. State 0-1 = off, 2-3 = on blue. Also
mjr	77:0b96f6867312	653	// show red when transmitting an LED signal, indicated by state 4.
mjr	73:4e8ce0b18915	654	uint8_t powerTimerDiagState = 0;
mjr	73:4e8ce0b18915	655
mjr	38:091e511ce8a0	656	// Show the indicated pattern on the diagnostic LEDs. 0 is off, 1 is
mjr	38:091e511ce8a0	657	// on, and -1 is no change (leaves the current setting intact).
mjr	73:4e8ce0b18915	658	static uint8_t diagLEDState = 0;
mjr	38:091e511ce8a0	659	void diagLED(int r, int g, int b)
mjr	38:091e511ce8a0	660	{
mjr	73:4e8ce0b18915	661	// remember the new state
mjr	73:4e8ce0b18915	662	diagLEDState = r \| (g << 1) \| (b << 2);
mjr	73:4e8ce0b18915	663
mjr	73:4e8ce0b18915	664	// if turning everything off, use the power timer state instead,
mjr	73:4e8ce0b18915	665	// applying it to the blue LED
mjr	73:4e8ce0b18915	666	if (diagLEDState == 0)
mjr	77:0b96f6867312	667	{
mjr	77:0b96f6867312	668	b = (powerTimerDiagState == 2 \|\| powerTimerDiagState == 3);
mjr	77:0b96f6867312	669	r = (powerTimerDiagState == 4);
mjr	77:0b96f6867312	670	}
mjr	73:4e8ce0b18915	671
mjr	73:4e8ce0b18915	672	// set the new state
mjr	38:091e511ce8a0	673	if (ledR != 0 && r != -1) ledR->write(!r);
mjr	38:091e511ce8a0	674	if (ledG != 0 && g != -1) ledG->write(!g);
mjr	38:091e511ce8a0	675	if (ledB != 0 && b != -1) ledB->write(!b);
mjr	38:091e511ce8a0	676	}
mjr	38:091e511ce8a0	677
mjr	73:4e8ce0b18915	678	// update the LEDs with the current state
mjr	73:4e8ce0b18915	679	void diagLED(void)
mjr	73:4e8ce0b18915	680	{
mjr	73:4e8ce0b18915	681	diagLED(
mjr	73:4e8ce0b18915	682	diagLEDState & 0x01,
mjr	73:4e8ce0b18915	683	(diagLEDState >> 1) & 0x01,
mjr	77:0b96f6867312	684	(diagLEDState >> 2) & 0x01);
mjr	73:4e8ce0b18915	685	}
mjr	73:4e8ce0b18915	686
mjr	38:091e511ce8a0	687	// check an output port assignment to see if it conflicts with
mjr	38:091e511ce8a0	688	// an on-board LED segment
mjr	38:091e511ce8a0	689	struct LedSeg
mjr	38:091e511ce8a0	690	{
mjr	38:091e511ce8a0	691	bool r, g, b;
mjr	38:091e511ce8a0	692	LedSeg() { r = g = b = false; }
mjr	38:091e511ce8a0	693
mjr	38:091e511ce8a0	694	void check(LedWizPortCfg &pc)
mjr	38:091e511ce8a0	695	{
mjr	38:091e511ce8a0	696	// if it's a GPIO, check to see if it's assigned to one of
mjr	38:091e511ce8a0	697	// our on-board LED segments
mjr	38:091e511ce8a0	698	int t = pc.typ;
mjr	38:091e511ce8a0	699	if (t == PortTypeGPIOPWM \|\| t == PortTypeGPIODig)
mjr	38:091e511ce8a0	700	{
mjr	38:091e511ce8a0	701	// it's a GPIO port - check for a matching pin assignment
mjr	38:091e511ce8a0	702	PinName pin = wirePinName(pc.pin);
mjr	38:091e511ce8a0	703	if (pin == LED1)
mjr	38:091e511ce8a0	704	r = true;
mjr	38:091e511ce8a0	705	else if (pin == LED2)
mjr	38:091e511ce8a0	706	g = true;
mjr	38:091e511ce8a0	707	else if (pin == LED3)
mjr	38:091e511ce8a0	708	b = true;
mjr	38:091e511ce8a0	709	}
mjr	38:091e511ce8a0	710	}
mjr	38:091e511ce8a0	711	};
mjr	38:091e511ce8a0	712
mjr	38:091e511ce8a0	713	// Initialize the diagnostic LEDs. By default, we use the on-board
mjr	38:091e511ce8a0	714	// RGB LED to display the microcontroller status. However, we allow
mjr	38:091e511ce8a0	715	// the user to commandeer the on-board LED as an LedWiz output device,
mjr	38:091e511ce8a0	716	// which can be useful for testing a new installation. So we'll check
mjr	38:091e511ce8a0	717	// for LedWiz outputs assigned to the on-board LED segments, and turn
mjr	38:091e511ce8a0	718	// off the diagnostic use for any so assigned.
mjr	38:091e511ce8a0	719	void initDiagLEDs(Config &cfg)
mjr	38:091e511ce8a0	720	{
mjr	38:091e511ce8a0	721	// run through the configuration list and cross off any of the
mjr	38:091e511ce8a0	722	// LED segments assigned to LedWiz ports
mjr	38:091e511ce8a0	723	LedSeg l;
mjr	38:091e511ce8a0	724	for (int i = 0 ; i < MAX_OUT_PORTS && cfg.outPort[i].typ != PortTypeDisabled ; ++i)
mjr	38:091e511ce8a0	725	l.check(cfg.outPort[i]);
mjr	38:091e511ce8a0	726
mjr	38:091e511ce8a0	727	// We now know which segments are taken for LedWiz use and which
mjr	38:091e511ce8a0	728	// are free. Create diagnostic ports for the ones not claimed for
mjr	38:091e511ce8a0	729	// LedWiz use.
mjr	38:091e511ce8a0	730	if (!l.r) ledR = new DigitalOut(LED1, 1);
mjr	38:091e511ce8a0	731	if (!l.g) ledG = new DigitalOut(LED2, 1);
mjr	38:091e511ce8a0	732	if (!l.b) ledB = new DigitalOut(LED3, 1);
mjr	38:091e511ce8a0	733	}
mjr	38:091e511ce8a0	734
mjr	38:091e511ce8a0	735
mjr	38:091e511ce8a0	736	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	737	//
mjr	76:7f5912b6340e	738	// LedWiz emulation
mjr	76:7f5912b6340e	739	//
mjr	76:7f5912b6340e	740
mjr	76:7f5912b6340e	741	// LedWiz output states.
mjr	76:7f5912b6340e	742	//
mjr	76:7f5912b6340e	743	// The LedWiz protocol has two separate control axes for each output.
mjr	76:7f5912b6340e	744	// One axis is its on/off state; the other is its "profile" state, which
mjr	76:7f5912b6340e	745	// is either a fixed brightness or a blinking pattern for the light.
mjr	76:7f5912b6340e	746	// The two axes are independent.
mjr	76:7f5912b6340e	747	//
mjr	76:7f5912b6340e	748	// Even though the original LedWiz protocol can only access 32 ports, we
mjr	76:7f5912b6340e	749	// maintain LedWiz state for every port, even if we have more than 32. Our
mjr	76:7f5912b6340e	750	// extended protocol allows the client to send LedWiz-style messages that
mjr	76:7f5912b6340e	751	// control any set of ports. A replacement LEDWIZ.DLL can make a single
mjr	76:7f5912b6340e	752	// Pinscape unit look like multiple virtual LedWiz units to legacy clients,
mjr	76:7f5912b6340e	753	// allowing them to control all of our ports. The clients will still be
mjr	76:7f5912b6340e	754	// using LedWiz-style states to control the ports, so we need to support
mjr	76:7f5912b6340e	755	// the LedWiz scheme with separate on/off and brightness control per port.
mjr	76:7f5912b6340e	756
mjr	76:7f5912b6340e	757	// On/off state for each LedWiz output
mjr	76:7f5912b6340e	758	static uint8_t *wizOn;
mjr	76:7f5912b6340e	759
mjr	76:7f5912b6340e	760	// LedWiz "Profile State" (the LedWiz brightness level or blink mode)
mjr	76:7f5912b6340e	761	// for each LedWiz output. If the output was last updated through an
mjr	76:7f5912b6340e	762	// LedWiz protocol message, it will have one of these values:
mjr	76:7f5912b6340e	763	//
mjr	76:7f5912b6340e	764	// 0-48 = fixed brightness 0% to 100%
mjr	76:7f5912b6340e	765	// 49 = fixed brightness 100% (equivalent to 48)
mjr	76:7f5912b6340e	766	// 129 = ramp up / ramp down
mjr	76:7f5912b6340e	767	// 130 = flash on / off
mjr	76:7f5912b6340e	768	// 131 = on / ramp down
mjr	76:7f5912b6340e	769	// 132 = ramp up / on
mjr	5:a70c0bce770d	770	//
mjr	76:7f5912b6340e	771	// (Note that value 49 isn't documented in the LedWiz spec, but real
mjr	76:7f5912b6340e	772	// LedWiz units treat it as equivalent to 48, and some PC software uses
mjr	76:7f5912b6340e	773	// it, so we need to accept it for compatibility.)
mjr	76:7f5912b6340e	774	static uint8_t *wizVal;
mjr	76:7f5912b6340e	775
mjr	76:7f5912b6340e	776	// Current actual brightness for each output. This is a simple linear
mjr	76:7f5912b6340e	777	// value on a 0..255 scale. This is EITHER the linear brightness computed
mjr	76:7f5912b6340e	778	// from the LedWiz setting for the port, OR the 0..255 value set explicitly
mjr	76:7f5912b6340e	779	// by the extended protocol:
mjr	76:7f5912b6340e	780	//
mjr	76:7f5912b6340e	781	// - If the last command that updated the port was an extended protocol
mjr	76:7f5912b6340e	782	// SET BRIGHTNESS command, this is the value set by that command. In
mjr	76:7f5912b6340e	783	// addition, wizOn[port] is set to 0 if the brightness is 0, 1 otherwise;
mjr	76:7f5912b6340e	784	// and wizVal[port] is set to the brightness rescaled to the 0..48 range
mjr	76:7f5912b6340e	785	// if the brightness is non-zero.
mjr	76:7f5912b6340e	786	//
mjr	76:7f5912b6340e	787	// - If the last command that updated the port was an LedWiz command
mjr	76:7f5912b6340e	788	// (SBA/PBA/SBX/PBX), this contains the brightness value computed from
mjr	76:7f5912b6340e	789	// the combination of wizOn[port] and wizVal[port]. If wizOn[port] is
mjr	76:7f5912b6340e	790	// zero, this is simply 0, otherwise it's wizVal[port] rescaled to the
mjr	76:7f5912b6340e	791	// 0..255 range.
mjr	26:cb71c4af2912	792	//
mjr	76:7f5912b6340e	793	// - For a port set to wizOn[port]=1 and wizVal[port] in 129..132, this is
mjr	76:7f5912b6340e	794	// also updated continuously to reflect the current flashing brightness
mjr	76:7f5912b6340e	795	// level.
mjr	26:cb71c4af2912	796	//
mjr	76:7f5912b6340e	797	static uint8_t *outLevel;
mjr	76:7f5912b6340e	798
mjr	76:7f5912b6340e	799
mjr	76:7f5912b6340e	800	// LedWiz flash speed. This is a value from 1 to 7 giving the pulse
mjr	76:7f5912b6340e	801	// rate for lights in blinking states. The LedWiz API doesn't document
mjr	76:7f5912b6340e	802	// what the numbers mean in real time units, but by observation, the
mjr	76:7f5912b6340e	803	// "speed" setting represents the period of the flash cycle in 0.25s
mjr	76:7f5912b6340e	804	// units, so speed 1 = 0.25 period = 4Hz, speed 7 = 1.75s period = 0.57Hz.
mjr	76:7f5912b6340e	805	// The period is the full cycle time of the flash waveform.
mjr	76:7f5912b6340e	806	//
mjr	76:7f5912b6340e	807	// Each bank of 32 lights has its independent own pulse rate, so we need
mjr	76:7f5912b6340e	808	// one entry per bank. Each bank has 32 outputs, so we need a total of
mjr	76:7f5912b6340e	809	// ceil(number_of_physical_outputs/32) entries. Note that we could allocate
mjr	76:7f5912b6340e	810	// this dynamically once we know the number of actual outputs, but the
mjr	76:7f5912b6340e	811	// upper limit is low enough that it's more efficient to use a fixed array
mjr	76:7f5912b6340e	812	// at the maximum size.
mjr	76:7f5912b6340e	813	static const int MAX_LW_BANKS = (MAX_OUT_PORTS+31)/32;
mjr	76:7f5912b6340e	814	static uint8_t wizSpeed[MAX_LW_BANKS];
mjr	29:582472d0bc57	815
mjr	26:cb71c4af2912	816	// Current starting output index for "PBA" messages from the PC (using
mjr	26:cb71c4af2912	817	// the LedWiz USB protocol). Each PBA message implicitly uses the
mjr	26:cb71c4af2912	818	// current index as the starting point for the ports referenced in
mjr	26:cb71c4af2912	819	// the message, and increases it (by 8) for the next call.
mjr	0:5acbbe3f4cf4	820	static int pbaIdx = 0;
mjr	0:5acbbe3f4cf4	821
mjr	76:7f5912b6340e	822
mjr	76:7f5912b6340e	823	// ---------------------------------------------------------------------------
mjr	76:7f5912b6340e	824	//
mjr	76:7f5912b6340e	825	// Output Ports
mjr	76:7f5912b6340e	826	//
mjr	76:7f5912b6340e	827	// There are two way to connect outputs. First, you can use the on-board
mjr	76:7f5912b6340e	828	// GPIO ports to implement device outputs: each LedWiz software port is
mjr	76:7f5912b6340e	829	// connected to a physical GPIO pin on the KL25Z. This has some pretty
mjr	76:7f5912b6340e	830	// strict limits, though. The KL25Z only has 10 PWM channels, so only 10
mjr	76:7f5912b6340e	831	// GPIO LedWiz ports can be made dimmable; the rest are strictly on/off.
mjr	76:7f5912b6340e	832	// The KL25Z also simply doesn't have enough exposed GPIO ports overall to
mjr	76:7f5912b6340e	833	// support all of the features the software supports. The software allows
mjr	76:7f5912b6340e	834	// for up to 128 outputs, 48 button inputs, plunger input (requiring 1-5
mjr	76:7f5912b6340e	835	// GPIO pins), and various other external devices. The KL25Z only exposes
mjr	76:7f5912b6340e	836	// about 50 GPIO pins. So if you want to do everything with GPIO ports,
mjr	76:7f5912b6340e	837	// you have to ration pins among features.
mjr	76:7f5912b6340e	838	//
mjr	76:7f5912b6340e	839	// To overcome some of these limitations, we also provide two types of
mjr	76:7f5912b6340e	840	// peripheral controllers that allow adding many more outputs, using only
mjr	76:7f5912b6340e	841	// a small number of GPIO pins to interface with the peripherals. First,
mjr	76:7f5912b6340e	842	// we support TLC5940 PWM controller chips. Each TLC5940 provides 16 ports
mjr	76:7f5912b6340e	843	// with full PWM, and multiple TLC5940 chips can be daisy-chained. The
mjr	76:7f5912b6340e	844	// chip only requires 5 GPIO pins for the interface, no matter how many
mjr	76:7f5912b6340e	845	// chips are in the chain, so it effectively converts 5 GPIO pins into
mjr	76:7f5912b6340e	846	// almost any number of PWM outputs. Second, we support 74HC595 chips.
mjr	76:7f5912b6340e	847	// These provide only digital outputs, but like the TLC5940 they can be
mjr	76:7f5912b6340e	848	// daisy-chained to provide almost unlimited outputs with a few GPIO pins
mjr	76:7f5912b6340e	849	// to control the whole chain.
mjr	76:7f5912b6340e	850	//
mjr	76:7f5912b6340e	851	// Direct GPIO output ports and peripheral controllers can be mixed and
mjr	76:7f5912b6340e	852	// matched in one system. The assignment of pins to ports and the
mjr	76:7f5912b6340e	853	// configuration of peripheral controllers is all handled in the software
mjr	76:7f5912b6340e	854	// setup, so a physical system can be expanded and updated at any time.
mjr	76:7f5912b6340e	855	//
mjr	76:7f5912b6340e	856	// To handle the diversity of output port types, we start with an abstract
mjr	76:7f5912b6340e	857	// base class for outputs. Each type of physical output interface has a
mjr	76:7f5912b6340e	858	// concrete subclass. During initialization, we create the appropriate
mjr	76:7f5912b6340e	859	// subclass for each software port, mapping it to the assigned GPIO pin
mjr	76:7f5912b6340e	860	// or peripheral port. Most of the rest of the software only cares about
mjr	76:7f5912b6340e	861	// the abstract interface, so once the subclassed port objects are set up,
mjr	76:7f5912b6340e	862	// the rest of the system can control the ports without knowing which types
mjr	76:7f5912b6340e	863	// of physical devices they're connected to.
mjr	76:7f5912b6340e	864
mjr	76:7f5912b6340e	865
mjr	26:cb71c4af2912	866	// Generic LedWiz output port interface. We create a cover class to
mjr	26:cb71c4af2912	867	// virtualize digital vs PWM outputs, and on-board KL25Z GPIO vs external
mjr	26:cb71c4af2912	868	// TLC5940 outputs, and give them all a common interface.
mjr	6:cc35eb643e8f	869	class LwOut
mjr	6:cc35eb643e8f	870	{
mjr	6:cc35eb643e8f	871	public:
mjr	40:cc0d9814522b	872	// Set the output intensity. 'val' is 0 for fully off, 255 for
mjr	40:cc0d9814522b	873	// fully on, with values in between signifying lower intensity.
mjr	40:cc0d9814522b	874	virtual void set(uint8_t val) = 0;
mjr	6:cc35eb643e8f	875	};
mjr	26:cb71c4af2912	876
mjr	35:e959ffba78fd	877	// LwOut class for virtual ports. This type of port is visible to
mjr	35:e959ffba78fd	878	// the host software, but isn't connected to any physical output.
mjr	35:e959ffba78fd	879	// This can be used for special software-only ports like the ZB
mjr	35:e959ffba78fd	880	// Launch Ball output, or simply for placeholders in the LedWiz port
mjr	35:e959ffba78fd	881	// numbering.
mjr	35:e959ffba78fd	882	class LwVirtualOut: public LwOut
mjr	33:d832bcab089e	883	{
mjr	33:d832bcab089e	884	public:
mjr	35:e959ffba78fd	885	LwVirtualOut() { }
mjr	40:cc0d9814522b	886	virtual void set(uint8_t ) { }
mjr	33:d832bcab089e	887	};
mjr	26:cb71c4af2912	888
mjr	34:6b981a2afab7	889	// Active Low out. For any output marked as active low, we layer this
mjr	34:6b981a2afab7	890	// on top of the physical pin interface. This simply inverts the value of
mjr	40:cc0d9814522b	891	// the output value, so that 255 means fully off and 0 means fully on.
mjr	34:6b981a2afab7	892	class LwInvertedOut: public LwOut
mjr	34:6b981a2afab7	893	{
mjr	34:6b981a2afab7	894	public:
mjr	34:6b981a2afab7	895	LwInvertedOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	896	virtual void set(uint8_t val) { out->set(255 - val); }
mjr	34:6b981a2afab7	897
mjr	34:6b981a2afab7	898	private:
mjr	53:9b2611964afc	899	// underlying physical output
mjr	34:6b981a2afab7	900	LwOut *out;
mjr	34:6b981a2afab7	901	};
mjr	34:6b981a2afab7	902
mjr	53:9b2611964afc	903	// Global ZB Launch Ball state
mjr	53:9b2611964afc	904	bool zbLaunchOn = false;
mjr	53:9b2611964afc	905
mjr	53:9b2611964afc	906	// ZB Launch Ball output. This is layered on a port (physical or virtual)
mjr	53:9b2611964afc	907	// to track the ZB Launch Ball signal.
mjr	53:9b2611964afc	908	class LwZbLaunchOut: public LwOut
mjr	53:9b2611964afc	909	{
mjr	53:9b2611964afc	910	public:
mjr	53:9b2611964afc	911	LwZbLaunchOut(LwOut *o) : out(o) { }
mjr	53:9b2611964afc	912	virtual void set(uint8_t val)
mjr	53:9b2611964afc	913	{
mjr	53:9b2611964afc	914	// update the global ZB Launch Ball state
mjr	53:9b2611964afc	915	zbLaunchOn = (val != 0);
mjr	53:9b2611964afc	916
mjr	53:9b2611964afc	917	// pass it along to the underlying port, in case it's a physical output
mjr	53:9b2611964afc	918	out->set(val);
mjr	53:9b2611964afc	919	}
mjr	53:9b2611964afc	920
mjr	53:9b2611964afc	921	private:
mjr	53:9b2611964afc	922	// underlying physical or virtual output
mjr	53:9b2611964afc	923	LwOut *out;
mjr	53:9b2611964afc	924	};
mjr	53:9b2611964afc	925
mjr	53:9b2611964afc	926
mjr	40:cc0d9814522b	927	// Gamma correction table for 8-bit input values
mjr	40:cc0d9814522b	928	static const uint8_t gamma[] = {
mjr	40:cc0d9814522b	929	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
mjr	40:cc0d9814522b	930	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1,
mjr	40:cc0d9814522b	931	1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2,
mjr	40:cc0d9814522b	932	2, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 5, 5, 5,
mjr	40:cc0d9814522b	933	5, 6, 6, 6, 6, 7, 7, 7, 7, 8, 8, 8, 9, 9, 9, 10,
mjr	40:cc0d9814522b	934	10, 10, 11, 11, 11, 12, 12, 13, 13, 13, 14, 14, 15, 15, 16, 16,
mjr	40:cc0d9814522b	935	17, 17, 18, 18, 19, 19, 20, 20, 21, 21, 22, 22, 23, 24, 24, 25,
mjr	40:cc0d9814522b	936	25, 26, 27, 27, 28, 29, 29, 30, 31, 32, 32, 33, 34, 35, 35, 36,
mjr	40:cc0d9814522b	937	37, 38, 39, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 50,
mjr	40:cc0d9814522b	938	51, 52, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 66, 67, 68,
mjr	40:cc0d9814522b	939	69, 70, 72, 73, 74, 75, 77, 78, 79, 81, 82, 83, 85, 86, 87, 89,
mjr	40:cc0d9814522b	940	90, 92, 93, 95, 96, 98, 99, 101, 102, 104, 105, 107, 109, 110, 112, 114,
mjr	40:cc0d9814522b	941	115, 117, 119, 120, 122, 124, 126, 127, 129, 131, 133, 135, 137, 138, 140, 142,
mjr	40:cc0d9814522b	942	144, 146, 148, 150, 152, 154, 156, 158, 160, 162, 164, 167, 169, 171, 173, 175,
mjr	40:cc0d9814522b	943	177, 180, 182, 184, 186, 189, 191, 193, 196, 198, 200, 203, 205, 208, 210, 213,
mjr	40:cc0d9814522b	944	215, 218, 220, 223, 225, 228, 231, 233, 236, 239, 241, 244, 247, 249, 252, 255
mjr	40:cc0d9814522b	945	};
mjr	40:cc0d9814522b	946
mjr	40:cc0d9814522b	947	// Gamma-corrected out. This is a filter object that we layer on top
mjr	40:cc0d9814522b	948	// of a physical pin interface. This applies gamma correction to the
mjr	40:cc0d9814522b	949	// input value and then passes it along to the underlying pin object.
mjr	40:cc0d9814522b	950	class LwGammaOut: public LwOut
mjr	40:cc0d9814522b	951	{
mjr	40:cc0d9814522b	952	public:
mjr	40:cc0d9814522b	953	LwGammaOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	954	virtual void set(uint8_t val) { out->set(gamma[val]); }
mjr	40:cc0d9814522b	955
mjr	40:cc0d9814522b	956	private:
mjr	40:cc0d9814522b	957	LwOut *out;
mjr	40:cc0d9814522b	958	};
mjr	40:cc0d9814522b	959
mjr	77:0b96f6867312	960	// Global night mode flag. To minimize overhead when reporting
mjr	77:0b96f6867312	961	// the status, we set this to the status report flag bit for
mjr	77:0b96f6867312	962	// night mode, 0x02, when engaged.
mjr	77:0b96f6867312	963	static uint8_t nightMode = 0x00;
mjr	53:9b2611964afc	964
mjr	40:cc0d9814522b	965	// Noisy output. This is a filter object that we layer on top of
mjr	40:cc0d9814522b	966	// a physical pin output. This filter disables the port when night
mjr	40:cc0d9814522b	967	// mode is engaged.
mjr	40:cc0d9814522b	968	class LwNoisyOut: public LwOut
mjr	40:cc0d9814522b	969	{
mjr	40:cc0d9814522b	970	public:
mjr	40:cc0d9814522b	971	LwNoisyOut(LwOut *o) : out(o) { }
mjr	40:cc0d9814522b	972	virtual void set(uint8_t val) { out->set(nightMode ? 0 : val); }
mjr	40:cc0d9814522b	973
mjr	53:9b2611964afc	974	private:
mjr	53:9b2611964afc	975	LwOut *out;
mjr	53:9b2611964afc	976	};
mjr	53:9b2611964afc	977
mjr	53:9b2611964afc	978	// Night Mode indicator output. This is a filter object that we
mjr	53:9b2611964afc	979	// layer on top of a physical pin output. This filter ignores the
mjr	53:9b2611964afc	980	// host value and simply shows the night mode status.
mjr	53:9b2611964afc	981	class LwNightModeIndicatorOut: public LwOut
mjr	53:9b2611964afc	982	{
mjr	53:9b2611964afc	983	public:
mjr	53:9b2611964afc	984	LwNightModeIndicatorOut(LwOut *o) : out(o) { }
mjr	53:9b2611964afc	985	virtual void set(uint8_t)
mjr	53:9b2611964afc	986	{
mjr	53:9b2611964afc	987	// ignore the host value and simply show the current
mjr	53:9b2611964afc	988	// night mode setting
mjr	53:9b2611964afc	989	out->set(nightMode ? 255 : 0);
mjr	53:9b2611964afc	990	}
mjr	40:cc0d9814522b	991
mjr	40:cc0d9814522b	992	private:
mjr	40:cc0d9814522b	993	LwOut *out;
mjr	40:cc0d9814522b	994	};
mjr	40:cc0d9814522b	995
mjr	26:cb71c4af2912	996
mjr	35:e959ffba78fd	997	//
mjr	35:e959ffba78fd	998	// The TLC5940 interface object. We'll set this up with the port
mjr	35:e959ffba78fd	999	// assignments set in config.h.
mjr	33:d832bcab089e	1000	//
mjr	35:e959ffba78fd	1001	TLC5940 *tlc5940 = 0;
mjr	35:e959ffba78fd	1002	void init_tlc5940(Config &cfg)
mjr	35:e959ffba78fd	1003	{
mjr	35:e959ffba78fd	1004	if (cfg.tlc5940.nchips != 0)
mjr	35:e959ffba78fd	1005	{
mjr	53:9b2611964afc	1006	tlc5940 = new TLC5940(
mjr	53:9b2611964afc	1007	wirePinName(cfg.tlc5940.sclk),
mjr	53:9b2611964afc	1008	wirePinName(cfg.tlc5940.sin),
mjr	53:9b2611964afc	1009	wirePinName(cfg.tlc5940.gsclk),
mjr	53:9b2611964afc	1010	wirePinName(cfg.tlc5940.blank),
mjr	53:9b2611964afc	1011	wirePinName(cfg.tlc5940.xlat),
mjr	53:9b2611964afc	1012	cfg.tlc5940.nchips);
mjr	35:e959ffba78fd	1013	}
mjr	35:e959ffba78fd	1014	}
mjr	26:cb71c4af2912	1015
mjr	40:cc0d9814522b	1016	// Conversion table for 8-bit DOF level to 12-bit TLC5940 level
mjr	40:cc0d9814522b	1017	static const uint16_t dof_to_tlc[] = {
mjr	40:cc0d9814522b	1018	0, 16, 32, 48, 64, 80, 96, 112, 128, 145, 161, 177, 193, 209, 225, 241,
mjr	40:cc0d9814522b	1019	257, 273, 289, 305, 321, 337, 353, 369, 385, 401, 418, 434, 450, 466, 482, 498,
mjr	40:cc0d9814522b	1020	514, 530, 546, 562, 578, 594, 610, 626, 642, 658, 674, 691, 707, 723, 739, 755,
mjr	40:cc0d9814522b	1021	771, 787, 803, 819, 835, 851, 867, 883, 899, 915, 931, 947, 964, 980, 996, 1012,
mjr	40:cc0d9814522b	1022	1028, 1044, 1060, 1076, 1092, 1108, 1124, 1140, 1156, 1172, 1188, 1204, 1220, 1237, 1253, 1269,
mjr	40:cc0d9814522b	1023	1285, 1301, 1317, 1333, 1349, 1365, 1381, 1397, 1413, 1429, 1445, 1461, 1477, 1493, 1510, 1526,
mjr	40:cc0d9814522b	1024	1542, 1558, 1574, 1590, 1606, 1622, 1638, 1654, 1670, 1686, 1702, 1718, 1734, 1750, 1766, 1783,
mjr	40:cc0d9814522b	1025	1799, 1815, 1831, 1847, 1863, 1879, 1895, 1911, 1927, 1943, 1959, 1975, 1991, 2007, 2023, 2039,
mjr	40:cc0d9814522b	1026	2056, 2072, 2088, 2104, 2120, 2136, 2152, 2168, 2184, 2200, 2216, 2232, 2248, 2264, 2280, 2296,
mjr	40:cc0d9814522b	1027	2312, 2329, 2345, 2361, 2377, 2393, 2409, 2425, 2441, 2457, 2473, 2489, 2505, 2521, 2537, 2553,
mjr	40:cc0d9814522b	1028	2569, 2585, 2602, 2618, 2634, 2650, 2666, 2682, 2698, 2714, 2730, 2746, 2762, 2778, 2794, 2810,
mjr	40:cc0d9814522b	1029	2826, 2842, 2858, 2875, 2891, 2907, 2923, 2939, 2955, 2971, 2987, 3003, 3019, 3035, 3051, 3067,
mjr	40:cc0d9814522b	1030	3083, 3099, 3115, 3131, 3148, 3164, 3180, 3196, 3212, 3228, 3244, 3260, 3276, 3292, 3308, 3324,
mjr	40:cc0d9814522b	1031	3340, 3356, 3372, 3388, 3404, 3421, 3437, 3453, 3469, 3485, 3501, 3517, 3533, 3549, 3565, 3581,
mjr	40:cc0d9814522b	1032	3597, 3613, 3629, 3645, 3661, 3677, 3694, 3710, 3726, 3742, 3758, 3774, 3790, 3806, 3822, 3838,
mjr	40:cc0d9814522b	1033	3854, 3870, 3886, 3902, 3918, 3934, 3950, 3967, 3983, 3999, 4015, 4031, 4047, 4063, 4079, 4095
mjr	40:cc0d9814522b	1034	};
mjr	40:cc0d9814522b	1035
mjr	40:cc0d9814522b	1036	// Conversion table for 8-bit DOF level to 12-bit TLC5940 level, with
mjr	40:cc0d9814522b	1037	// gamma correction. Note that the output layering scheme can handle
mjr	40:cc0d9814522b	1038	// this without a separate table, by first applying gamma to the DOF
mjr	40:cc0d9814522b	1039	// level to produce an 8-bit gamma-corrected value, then convert that
mjr	40:cc0d9814522b	1040	// to the 12-bit TLC5940 value. But we get better precision by doing
mjr	40:cc0d9814522b	1041	// the gamma correction in the 12-bit TLC5940 domain. We can only
mjr	40:cc0d9814522b	1042	// get the 12-bit domain by combining both steps into one layering
mjr	40:cc0d9814522b	1043	// object, though, since the intermediate values in the layering system
mjr	40:cc0d9814522b	1044	// are always 8 bits.
mjr	40:cc0d9814522b	1045	static const uint16_t dof_to_gamma_tlc[] = {
mjr	40:cc0d9814522b	1046	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1,
mjr	40:cc0d9814522b	1047	2, 2, 2, 3, 3, 4, 4, 5, 5, 6, 7, 8, 8, 9, 10, 11,
mjr	40:cc0d9814522b	1048	12, 13, 15, 16, 17, 18, 20, 21, 23, 25, 26, 28, 30, 32, 34, 36,
mjr	40:cc0d9814522b	1049	38, 40, 43, 45, 48, 50, 53, 56, 59, 62, 65, 68, 71, 75, 78, 82,
mjr	40:cc0d9814522b	1050	85, 89, 93, 97, 101, 105, 110, 114, 119, 123, 128, 133, 138, 143, 149, 154,
mjr	40:cc0d9814522b	1051	159, 165, 171, 177, 183, 189, 195, 202, 208, 215, 222, 229, 236, 243, 250, 258,
mjr	40:cc0d9814522b	1052	266, 273, 281, 290, 298, 306, 315, 324, 332, 341, 351, 360, 369, 379, 389, 399,
mjr	40:cc0d9814522b	1053	409, 419, 430, 440, 451, 462, 473, 485, 496, 508, 520, 532, 544, 556, 569, 582,
mjr	40:cc0d9814522b	1054	594, 608, 621, 634, 648, 662, 676, 690, 704, 719, 734, 749, 764, 779, 795, 811,
mjr	40:cc0d9814522b	1055	827, 843, 859, 876, 893, 910, 927, 944, 962, 980, 998, 1016, 1034, 1053, 1072, 1091,
mjr	40:cc0d9814522b	1056	1110, 1130, 1150, 1170, 1190, 1210, 1231, 1252, 1273, 1294, 1316, 1338, 1360, 1382, 1404, 1427,
mjr	40:cc0d9814522b	1057	1450, 1473, 1497, 1520, 1544, 1568, 1593, 1617, 1642, 1667, 1693, 1718, 1744, 1770, 1797, 1823,
mjr	40:cc0d9814522b	1058	1850, 1877, 1905, 1932, 1960, 1988, 2017, 2045, 2074, 2103, 2133, 2162, 2192, 2223, 2253, 2284,
mjr	40:cc0d9814522b	1059	2315, 2346, 2378, 2410, 2442, 2474, 2507, 2540, 2573, 2606, 2640, 2674, 2708, 2743, 2778, 2813,
mjr	40:cc0d9814522b	1060	2849, 2884, 2920, 2957, 2993, 3030, 3067, 3105, 3143, 3181, 3219, 3258, 3297, 3336, 3376, 3416,
mjr	40:cc0d9814522b	1061	3456, 3496, 3537, 3578, 3619, 3661, 3703, 3745, 3788, 3831, 3874, 3918, 3962, 4006, 4050, 4095
mjr	40:cc0d9814522b	1062	};
mjr	40:cc0d9814522b	1063
mjr	26:cb71c4af2912	1064	// LwOut class for TLC5940 outputs. These are fully PWM capable.
mjr	26:cb71c4af2912	1065	// The 'idx' value in the constructor is the output index in the
mjr	26:cb71c4af2912	1066	// daisy-chained TLC5940 array. 0 is output #0 on the first chip,
mjr	26:cb71c4af2912	1067	// 1 is #1 on the first chip, 15 is #15 on the first chip, 16 is
mjr	26:cb71c4af2912	1068	// #0 on the second chip, 32 is #0 on the third chip, etc.
mjr	26:cb71c4af2912	1069	class Lw5940Out: public LwOut
mjr	26:cb71c4af2912	1070	{
mjr	26:cb71c4af2912	1071	public:
mjr	60:f38da020aa13	1072	Lw5940Out(uint8_t idx) : idx(idx) { prv = 0; }
mjr	40:cc0d9814522b	1073	virtual void set(uint8_t val)
mjr	26:cb71c4af2912	1074	{
mjr	26:cb71c4af2912	1075	if (val != prv)
mjr	40:cc0d9814522b	1076	tlc5940->set(idx, dof_to_tlc[prv = val]);
mjr	26:cb71c4af2912	1077	}
mjr	60:f38da020aa13	1078	uint8_t idx;
mjr	40:cc0d9814522b	1079	uint8_t prv;
mjr	26:cb71c4af2912	1080	};
mjr	26:cb71c4af2912	1081
mjr	40:cc0d9814522b	1082	// LwOut class for TLC5940 gamma-corrected outputs.
mjr	40:cc0d9814522b	1083	class Lw5940GammaOut: public LwOut
mjr	40:cc0d9814522b	1084	{
mjr	40:cc0d9814522b	1085	public:
mjr	60:f38da020aa13	1086	Lw5940GammaOut(uint8_t idx) : idx(idx) { prv = 0; }
mjr	40:cc0d9814522b	1087	virtual void set(uint8_t val)
mjr	40:cc0d9814522b	1088	{
mjr	40:cc0d9814522b	1089	if (val != prv)
mjr	40:cc0d9814522b	1090	tlc5940->set(idx, dof_to_gamma_tlc[prv = val]);
mjr	40:cc0d9814522b	1091	}
mjr	60:f38da020aa13	1092	uint8_t idx;
mjr	40:cc0d9814522b	1093	uint8_t prv;
mjr	40:cc0d9814522b	1094	};
mjr	40:cc0d9814522b	1095
mjr	40:cc0d9814522b	1096
mjr	33:d832bcab089e	1097
mjr	34:6b981a2afab7	1098	// 74HC595 interface object. Set this up with the port assignments in
mjr	34:6b981a2afab7	1099	// config.h.
mjr	35:e959ffba78fd	1100	HC595 *hc595 = 0;
mjr	35:e959ffba78fd	1101
mjr	35:e959ffba78fd	1102	// initialize the 74HC595 interface
mjr	35:e959ffba78fd	1103	void init_hc595(Config &cfg)
mjr	35:e959ffba78fd	1104	{
mjr	35:e959ffba78fd	1105	if (cfg.hc595.nchips != 0)
mjr	35:e959ffba78fd	1106	{
mjr	53:9b2611964afc	1107	hc595 = new HC595(
mjr	53:9b2611964afc	1108	wirePinName(cfg.hc595.nchips),
mjr	53:9b2611964afc	1109	wirePinName(cfg.hc595.sin),
mjr	53:9b2611964afc	1110	wirePinName(cfg.hc595.sclk),
mjr	53:9b2611964afc	1111	wirePinName(cfg.hc595.latch),
mjr	53:9b2611964afc	1112	wirePinName(cfg.hc595.ena));
mjr	35:e959ffba78fd	1113	hc595->init();
mjr	35:e959ffba78fd	1114	hc595->update();
mjr	35:e959ffba78fd	1115	}
mjr	35:e959ffba78fd	1116	}
mjr	34:6b981a2afab7	1117
mjr	34:6b981a2afab7	1118	// LwOut class for 74HC595 outputs. These are simple digial outs.
mjr	34:6b981a2afab7	1119	// The 'idx' value in the constructor is the output index in the
mjr	34:6b981a2afab7	1120	// daisy-chained 74HC595 array. 0 is output #0 on the first chip,
mjr	34:6b981a2afab7	1121	// 1 is #1 on the first chip, 7 is #7 on the first chip, 8 is
mjr	34:6b981a2afab7	1122	// #0 on the second chip, etc.
mjr	34:6b981a2afab7	1123	class Lw595Out: public LwOut
mjr	33:d832bcab089e	1124	{
mjr	33:d832bcab089e	1125	public:
mjr	60:f38da020aa13	1126	Lw595Out(uint8_t idx) : idx(idx) { prv = 0; }
mjr	40:cc0d9814522b	1127	virtual void set(uint8_t val)
mjr	34:6b981a2afab7	1128	{
mjr	34:6b981a2afab7	1129	if (val != prv)
mjr	40:cc0d9814522b	1130	hc595->set(idx, (prv = val) == 0 ? 0 : 1);
mjr	34:6b981a2afab7	1131	}
mjr	60:f38da020aa13	1132	uint8_t idx;
mjr	40:cc0d9814522b	1133	uint8_t prv;
mjr	33:d832bcab089e	1134	};
mjr	33:d832bcab089e	1135
mjr	26:cb71c4af2912	1136
mjr	40:cc0d9814522b	1137
mjr	64:ef7ca92dff36	1138	// Conversion table - 8-bit DOF output level to PWM duty cycle,
mjr	64:ef7ca92dff36	1139	// normalized to 0.0 to 1.0 scale.
mjr	74:822a92bc11d2	1140	static const float dof_to_pwm[] = {
mjr	64:ef7ca92dff36	1141	0.000000f, 0.003922f, 0.007843f, 0.011765f, 0.015686f, 0.019608f, 0.023529f, 0.027451f,
mjr	64:ef7ca92dff36	1142	0.031373f, 0.035294f, 0.039216f, 0.043137f, 0.047059f, 0.050980f, 0.054902f, 0.058824f,
mjr	64:ef7ca92dff36	1143	0.062745f, 0.066667f, 0.070588f, 0.074510f, 0.078431f, 0.082353f, 0.086275f, 0.090196f,
mjr	64:ef7ca92dff36	1144	0.094118f, 0.098039f, 0.101961f, 0.105882f, 0.109804f, 0.113725f, 0.117647f, 0.121569f,
mjr	64:ef7ca92dff36	1145	0.125490f, 0.129412f, 0.133333f, 0.137255f, 0.141176f, 0.145098f, 0.149020f, 0.152941f,
mjr	64:ef7ca92dff36	1146	0.156863f, 0.160784f, 0.164706f, 0.168627f, 0.172549f, 0.176471f, 0.180392f, 0.184314f,
mjr	64:ef7ca92dff36	1147	0.188235f, 0.192157f, 0.196078f, 0.200000f, 0.203922f, 0.207843f, 0.211765f, 0.215686f,
mjr	64:ef7ca92dff36	1148	0.219608f, 0.223529f, 0.227451f, 0.231373f, 0.235294f, 0.239216f, 0.243137f, 0.247059f,
mjr	64:ef7ca92dff36	1149	0.250980f, 0.254902f, 0.258824f, 0.262745f, 0.266667f, 0.270588f, 0.274510f, 0.278431f,
mjr	64:ef7ca92dff36	1150	0.282353f, 0.286275f, 0.290196f, 0.294118f, 0.298039f, 0.301961f, 0.305882f, 0.309804f,
mjr	64:ef7ca92dff36	1151	0.313725f, 0.317647f, 0.321569f, 0.325490f, 0.329412f, 0.333333f, 0.337255f, 0.341176f,
mjr	64:ef7ca92dff36	1152	0.345098f, 0.349020f, 0.352941f, 0.356863f, 0.360784f, 0.364706f, 0.368627f, 0.372549f,
mjr	64:ef7ca92dff36	1153	0.376471f, 0.380392f, 0.384314f, 0.388235f, 0.392157f, 0.396078f, 0.400000f, 0.403922f,
mjr	64:ef7ca92dff36	1154	0.407843f, 0.411765f, 0.415686f, 0.419608f, 0.423529f, 0.427451f, 0.431373f, 0.435294f,
mjr	64:ef7ca92dff36	1155	0.439216f, 0.443137f, 0.447059f, 0.450980f, 0.454902f, 0.458824f, 0.462745f, 0.466667f,
mjr	64:ef7ca92dff36	1156	0.470588f, 0.474510f, 0.478431f, 0.482353f, 0.486275f, 0.490196f, 0.494118f, 0.498039f,
mjr	64:ef7ca92dff36	1157	0.501961f, 0.505882f, 0.509804f, 0.513725f, 0.517647f, 0.521569f, 0.525490f, 0.529412f,
mjr	64:ef7ca92dff36	1158	0.533333f, 0.537255f, 0.541176f, 0.545098f, 0.549020f, 0.552941f, 0.556863f, 0.560784f,
mjr	64:ef7ca92dff36	1159	0.564706f, 0.568627f, 0.572549f, 0.576471f, 0.580392f, 0.584314f, 0.588235f, 0.592157f,
mjr	64:ef7ca92dff36	1160	0.596078f, 0.600000f, 0.603922f, 0.607843f, 0.611765f, 0.615686f, 0.619608f, 0.623529f,
mjr	64:ef7ca92dff36	1161	0.627451f, 0.631373f, 0.635294f, 0.639216f, 0.643137f, 0.647059f, 0.650980f, 0.654902f,
mjr	64:ef7ca92dff36	1162	0.658824f, 0.662745f, 0.666667f, 0.670588f, 0.674510f, 0.678431f, 0.682353f, 0.686275f,
mjr	64:ef7ca92dff36	1163	0.690196f, 0.694118f, 0.698039f, 0.701961f, 0.705882f, 0.709804f, 0.713725f, 0.717647f,
mjr	64:ef7ca92dff36	1164	0.721569f, 0.725490f, 0.729412f, 0.733333f, 0.737255f, 0.741176f, 0.745098f, 0.749020f,
mjr	64:ef7ca92dff36	1165	0.752941f, 0.756863f, 0.760784f, 0.764706f, 0.768627f, 0.772549f, 0.776471f, 0.780392f,
mjr	64:ef7ca92dff36	1166	0.784314f, 0.788235f, 0.792157f, 0.796078f, 0.800000f, 0.803922f, 0.807843f, 0.811765f,
mjr	64:ef7ca92dff36	1167	0.815686f, 0.819608f, 0.823529f, 0.827451f, 0.831373f, 0.835294f, 0.839216f, 0.843137f,
mjr	64:ef7ca92dff36	1168	0.847059f, 0.850980f, 0.854902f, 0.858824f, 0.862745f, 0.866667f, 0.870588f, 0.874510f,
mjr	64:ef7ca92dff36	1169	0.878431f, 0.882353f, 0.886275f, 0.890196f, 0.894118f, 0.898039f, 0.901961f, 0.905882f,
mjr	64:ef7ca92dff36	1170	0.909804f, 0.913725f, 0.917647f, 0.921569f, 0.925490f, 0.929412f, 0.933333f, 0.937255f,
mjr	64:ef7ca92dff36	1171	0.941176f, 0.945098f, 0.949020f, 0.952941f, 0.956863f, 0.960784f, 0.964706f, 0.968627f,
mjr	64:ef7ca92dff36	1172	0.972549f, 0.976471f, 0.980392f, 0.984314f, 0.988235f, 0.992157f, 0.996078f, 1.000000f
mjr	40:cc0d9814522b	1173	};
mjr	26:cb71c4af2912	1174
mjr	64:ef7ca92dff36	1175
mjr	64:ef7ca92dff36	1176	// Conversion table for 8-bit DOF level to pulse width in microseconds,
mjr	64:ef7ca92dff36	1177	// with gamma correction. We could use the layered gamma output on top
mjr	64:ef7ca92dff36	1178	// of the regular LwPwmOut class for this, but we get better precision
mjr	64:ef7ca92dff36	1179	// with a dedicated table, because we apply gamma correction to the
mjr	64:ef7ca92dff36	1180	// 32-bit microsecond values rather than the 8-bit DOF levels.
mjr	64:ef7ca92dff36	1181	static const float dof_to_gamma_pwm[] = {
mjr	64:ef7ca92dff36	1182	0.000000f, 0.000000f, 0.000001f, 0.000004f, 0.000009f, 0.000017f, 0.000028f, 0.000042f,
mjr	64:ef7ca92dff36	1183	0.000062f, 0.000086f, 0.000115f, 0.000151f, 0.000192f, 0.000240f, 0.000296f, 0.000359f,
mjr	64:ef7ca92dff36	1184	0.000430f, 0.000509f, 0.000598f, 0.000695f, 0.000803f, 0.000920f, 0.001048f, 0.001187f,
mjr	64:ef7ca92dff36	1185	0.001337f, 0.001499f, 0.001673f, 0.001860f, 0.002059f, 0.002272f, 0.002498f, 0.002738f,
mjr	64:ef7ca92dff36	1186	0.002993f, 0.003262f, 0.003547f, 0.003847f, 0.004162f, 0.004494f, 0.004843f, 0.005208f,
mjr	64:ef7ca92dff36	1187	0.005591f, 0.005991f, 0.006409f, 0.006845f, 0.007301f, 0.007775f, 0.008268f, 0.008781f,
mjr	64:ef7ca92dff36	1188	0.009315f, 0.009868f, 0.010442f, 0.011038f, 0.011655f, 0.012293f, 0.012954f, 0.013637f,
mjr	64:ef7ca92dff36	1189	0.014342f, 0.015071f, 0.015823f, 0.016599f, 0.017398f, 0.018223f, 0.019071f, 0.019945f,
mjr	64:ef7ca92dff36	1190	0.020844f, 0.021769f, 0.022720f, 0.023697f, 0.024701f, 0.025731f, 0.026789f, 0.027875f,
mjr	64:ef7ca92dff36	1191	0.028988f, 0.030129f, 0.031299f, 0.032498f, 0.033726f, 0.034983f, 0.036270f, 0.037587f,
mjr	64:ef7ca92dff36	1192	0.038935f, 0.040313f, 0.041722f, 0.043162f, 0.044634f, 0.046138f, 0.047674f, 0.049243f,
mjr	64:ef7ca92dff36	1193	0.050844f, 0.052478f, 0.054146f, 0.055847f, 0.057583f, 0.059353f, 0.061157f, 0.062996f,
mjr	64:ef7ca92dff36	1194	0.064870f, 0.066780f, 0.068726f, 0.070708f, 0.072726f, 0.074780f, 0.076872f, 0.079001f,
mjr	64:ef7ca92dff36	1195	0.081167f, 0.083371f, 0.085614f, 0.087895f, 0.090214f, 0.092572f, 0.094970f, 0.097407f,
mjr	64:ef7ca92dff36	1196	0.099884f, 0.102402f, 0.104959f, 0.107558f, 0.110197f, 0.112878f, 0.115600f, 0.118364f,
mjr	64:ef7ca92dff36	1197	0.121170f, 0.124019f, 0.126910f, 0.129844f, 0.132821f, 0.135842f, 0.138907f, 0.142016f,
mjr	64:ef7ca92dff36	1198	0.145170f, 0.148367f, 0.151610f, 0.154898f, 0.158232f, 0.161611f, 0.165037f, 0.168509f,
mjr	64:ef7ca92dff36	1199	0.172027f, 0.175592f, 0.179205f, 0.182864f, 0.186572f, 0.190327f, 0.194131f, 0.197983f,
mjr	64:ef7ca92dff36	1200	0.201884f, 0.205834f, 0.209834f, 0.213883f, 0.217982f, 0.222131f, 0.226330f, 0.230581f,
mjr	64:ef7ca92dff36	1201	0.234882f, 0.239234f, 0.243638f, 0.248094f, 0.252602f, 0.257162f, 0.261774f, 0.266440f,
mjr	64:ef7ca92dff36	1202	0.271159f, 0.275931f, 0.280756f, 0.285636f, 0.290570f, 0.295558f, 0.300601f, 0.305699f,
mjr	64:ef7ca92dff36	1203	0.310852f, 0.316061f, 0.321325f, 0.326645f, 0.332022f, 0.337456f, 0.342946f, 0.348493f,
mjr	64:ef7ca92dff36	1204	0.354098f, 0.359760f, 0.365480f, 0.371258f, 0.377095f, 0.382990f, 0.388944f, 0.394958f,
mjr	64:ef7ca92dff36	1205	0.401030f, 0.407163f, 0.413356f, 0.419608f, 0.425921f, 0.432295f, 0.438730f, 0.445226f,
mjr	64:ef7ca92dff36	1206	0.451784f, 0.458404f, 0.465085f, 0.471829f, 0.478635f, 0.485504f, 0.492436f, 0.499432f,
mjr	64:ef7ca92dff36	1207	0.506491f, 0.513614f, 0.520800f, 0.528052f, 0.535367f, 0.542748f, 0.550194f, 0.557705f,
mjr	64:ef7ca92dff36	1208	0.565282f, 0.572924f, 0.580633f, 0.588408f, 0.596249f, 0.604158f, 0.612133f, 0.620176f,
mjr	64:ef7ca92dff36	1209	0.628287f, 0.636465f, 0.644712f, 0.653027f, 0.661410f, 0.669863f, 0.678384f, 0.686975f,
mjr	64:ef7ca92dff36	1210	0.695636f, 0.704366f, 0.713167f, 0.722038f, 0.730979f, 0.739992f, 0.749075f, 0.758230f,
mjr	64:ef7ca92dff36	1211	0.767457f, 0.776755f, 0.786126f, 0.795568f, 0.805084f, 0.814672f, 0.824334f, 0.834068f,
mjr	64:ef7ca92dff36	1212	0.843877f, 0.853759f, 0.863715f, 0.873746f, 0.883851f, 0.894031f, 0.904286f, 0.914616f,
mjr	64:ef7ca92dff36	1213	0.925022f, 0.935504f, 0.946062f, 0.956696f, 0.967407f, 0.978194f, 0.989058f, 1.000000f
mjr	64:ef7ca92dff36	1214	};
mjr	64:ef7ca92dff36	1215
mjr	77:0b96f6867312	1216	// Polled-update PWM output list
mjr	74:822a92bc11d2	1217	//
mjr	77:0b96f6867312	1218	// This is a workaround for a KL25Z hardware bug/limitation. The bug (more
mjr	77:0b96f6867312	1219	// about this below) is that we can't write to a PWM output "value" register
mjr	77:0b96f6867312	1220	// more than once per PWM cycle; if we do, outputs after the first are lost.
mjr	77:0b96f6867312	1221	// The value register controls the duty cycle, so it's what you have to write
mjr	77:0b96f6867312	1222	// if you want to update the brightness of an output.
mjr	74:822a92bc11d2	1223	//
mjr	77:0b96f6867312	1224	// Our solution is to simply repeat all PWM updates periodically. If a write
mjr	77:0b96f6867312	1225	// is lost on one cycle, it'll eventually be applied on a subseuqent periodic
mjr	77:0b96f6867312	1226	// update. For low overhead, we do these repeat updates periodically during
mjr	77:0b96f6867312	1227	// the main loop.
mjr	74:822a92bc11d2	1228	//
mjr	77:0b96f6867312	1229	// The mbed library has its own solution to this bug, but it creates a
mjr	77:0b96f6867312	1230	// separate problem of its own. The mbed solution is to write the value
mjr	77:0b96f6867312	1231	// register immediately, and then also reset the "count" register in the
mjr	77:0b96f6867312	1232	// TPM unit containing the output. The count reset truncates the current
mjr	77:0b96f6867312	1233	// PWM cycle, which avoids the hardware problem with more than one write per
mjr	77:0b96f6867312	1234	// cycle. The problem is that the truncated cycle causes visible flicker if
mjr	77:0b96f6867312	1235	// the output is connected to an LED. This is particularly noticeable during
mjr	77:0b96f6867312	1236	// fades, when we're updating the value register repeatedly and rapidly: an
mjr	77:0b96f6867312	1237	// attempt to fade from fully on to fully off causes rapid fluttering and
mjr	77:0b96f6867312	1238	// flashing rather than a smooth brightness fade.
mjr	74:822a92bc11d2	1239	//
mjr	77:0b96f6867312	1240	// The hardware bug is a case of good intentions gone bad. The hardware is
mjr	77:0b96f6867312	1241	// supposed to make it easy for software to avoid glitching during PWM
mjr	77:0b96f6867312	1242	// updates, by providing a staging register in front of the real value
mjr	77:0b96f6867312	1243	// register. The software actually writes to the staging register, which
mjr	77:0b96f6867312	1244	// holds updates until the end of the cycle, at which point the hardware
mjr	77:0b96f6867312	1245	// automatically moves the value from the staging register into the real
mjr	77:0b96f6867312	1246	// register. This ensures that the real register is always updated exactly
mjr	77:0b96f6867312	1247	// at a cycle boundary, which in turn ensures that there's no flicker when
mjr	77:0b96f6867312	1248	// values are updated. A great design - except that it doesn't quite work.
mjr	77:0b96f6867312	1249	// The problem is that the staging register actually seems to be implemented
mjr	77:0b96f6867312	1250	// as a one-element FIFO in "stop when full" mode. That is, when you write
mjr	77:0b96f6867312	1251	// the FIFO, it becomes full. When the cycle ends and the hardware reads it
mjr	77:0b96f6867312	1252	// to move the staged value into the real register, the FIFO becomes empty.
mjr	77:0b96f6867312	1253	// But if you try to write the FIFO twice before the hardware reads it and
mjr	77:0b96f6867312	1254	// empties it, the second write fails, leaving the first value in the queue.
mjr	77:0b96f6867312	1255	// There doesn't seem to be any way to clear the FIFO from software, so you
mjr	77:0b96f6867312	1256	// just have to wait for the cycle to end before writing another update.
mjr	77:0b96f6867312	1257	// That more or less defeats the purpose of the staging register, whose whole
mjr	77:0b96f6867312	1258	// point is to free software from worrying about timing considerations with
mjr	77:0b96f6867312	1259	// updates. It frees us of the need to align our timing on cycle boundaries,
mjr	77:0b96f6867312	1260	// but it leaves us with the need to limit writes to once per cycle.
mjr	74:822a92bc11d2	1261	//
mjr	77:0b96f6867312	1262	// So here we have our list of PWM outputs that need to be polled for updates.
mjr	77:0b96f6867312	1263	// The KL25Z hardware only has 10 PWM channels, so we only need a fixed set
mjr	77:0b96f6867312	1264	// of polled items.
mjr	74:822a92bc11d2	1265	static int numPolledPwm;
mjr	74:822a92bc11d2	1266	static class LwPwmOut *polledPwm[10];
mjr	74:822a92bc11d2	1267
mjr	74:822a92bc11d2	1268	// LwOut class for a PWM-capable GPIO port.
mjr	6:cc35eb643e8f	1269	class LwPwmOut: public LwOut
mjr	6:cc35eb643e8f	1270	{
mjr	6:cc35eb643e8f	1271	public:
mjr	43:7a6364d82a41	1272	LwPwmOut(PinName pin, uint8_t initVal) : p(pin)
mjr	43:7a6364d82a41	1273	{
mjr	77:0b96f6867312	1274	// add myself to the list of polled outputs for periodic updates
mjr	77:0b96f6867312	1275	if (numPolledPwm < countof(polledPwm))
mjr	74:822a92bc11d2	1276	polledPwm[numPolledPwm++] = this;
mjr	77:0b96f6867312	1277
mjr	77:0b96f6867312	1278	// set the initial value
mjr	77:0b96f6867312	1279	set(initVal);
mjr	43:7a6364d82a41	1280	}
mjr	74:822a92bc11d2	1281
mjr	40:cc0d9814522b	1282	virtual void set(uint8_t val)
mjr	74:822a92bc11d2	1283	{
mjr	77:0b96f6867312	1284	// save the new value
mjr	74:822a92bc11d2	1285	this->val = val;
mjr	77:0b96f6867312	1286
mjr	77:0b96f6867312	1287	// commit it to the hardware
mjr	77:0b96f6867312	1288	commit();
mjr	13:72dda449c3c0	1289	}
mjr	74:822a92bc11d2	1290
mjr	74:822a92bc11d2	1291	// handle periodic update polling
mjr	74:822a92bc11d2	1292	void poll()
mjr	74:822a92bc11d2	1293	{
mjr	77:0b96f6867312	1294	commit();
mjr	74:822a92bc11d2	1295	}
mjr	74:822a92bc11d2	1296
mjr	74:822a92bc11d2	1297	protected:
mjr	77:0b96f6867312	1298	virtual void commit()
mjr	74:822a92bc11d2	1299	{
mjr	74:822a92bc11d2	1300	// write the current value to the PWM controller if it's changed
mjr	77:0b96f6867312	1301	p.glitchFreeWrite(dof_to_pwm[val]);
mjr	74:822a92bc11d2	1302	}
mjr	74:822a92bc11d2	1303
mjr	77:0b96f6867312	1304	NewPwmOut p;
mjr	77:0b96f6867312	1305	uint8_t val;
mjr	6:cc35eb643e8f	1306	};
mjr	26:cb71c4af2912	1307
mjr	74:822a92bc11d2	1308	// Gamma corrected PWM GPIO output. This works exactly like the regular
mjr	74:822a92bc11d2	1309	// PWM output, but translates DOF values through the gamma-corrected
mjr	74:822a92bc11d2	1310	// table instead of the regular linear table.
mjr	64:ef7ca92dff36	1311	class LwPwmGammaOut: public LwPwmOut
mjr	64:ef7ca92dff36	1312	{
mjr	64:ef7ca92dff36	1313	public:
mjr	64:ef7ca92dff36	1314	LwPwmGammaOut(PinName pin, uint8_t initVal)
mjr	64:ef7ca92dff36	1315	: LwPwmOut(pin, initVal)
mjr	64:ef7ca92dff36	1316	{
mjr	64:ef7ca92dff36	1317	}
mjr	74:822a92bc11d2	1318
mjr	74:822a92bc11d2	1319	protected:
mjr	77:0b96f6867312	1320	virtual void commit()
mjr	64:ef7ca92dff36	1321	{
mjr	74:822a92bc11d2	1322	// write the current value to the PWM controller if it's changed
mjr	77:0b96f6867312	1323	p.glitchFreeWrite(dof_to_gamma_pwm[val]);
mjr	64:ef7ca92dff36	1324	}
mjr	64:ef7ca92dff36	1325	};
mjr	64:ef7ca92dff36	1326
mjr	74:822a92bc11d2	1327	// poll the PWM outputs
mjr	74:822a92bc11d2	1328	Timer polledPwmTimer;
mjr	76:7f5912b6340e	1329	uint64_t polledPwmTotalTime, polledPwmRunCount;
mjr	74:822a92bc11d2	1330	void pollPwmUpdates()
mjr	74:822a92bc11d2	1331	{
mjr	74:822a92bc11d2	1332	// if it's been at least 25ms since the last update, do another update
mjr	74:822a92bc11d2	1333	if (polledPwmTimer.read_us() >= 25000)
mjr	74:822a92bc11d2	1334	{
mjr	74:822a92bc11d2	1335	// time the run for statistics collection
mjr	74:822a92bc11d2	1336	IF_DIAG(
mjr	74:822a92bc11d2	1337	Timer t;
mjr	74:822a92bc11d2	1338	t.start();
mjr	74:822a92bc11d2	1339	)
mjr	74:822a92bc11d2	1340
mjr	74:822a92bc11d2	1341	// poll each output
mjr	74:822a92bc11d2	1342	for (int i = numPolledPwm ; i > 0 ; )
mjr	74:822a92bc11d2	1343	polledPwm[--i]->poll();
mjr	74:822a92bc11d2	1344
mjr	74:822a92bc11d2	1345	// reset the timer for the next cycle
mjr	74:822a92bc11d2	1346	polledPwmTimer.reset();
mjr	74:822a92bc11d2	1347
mjr	74:822a92bc11d2	1348	// collect statistics
mjr	74:822a92bc11d2	1349	IF_DIAG(
mjr	76:7f5912b6340e	1350	polledPwmTotalTime += t.read_us();
mjr	74:822a92bc11d2	1351	polledPwmRunCount += 1;
mjr	74:822a92bc11d2	1352	)
mjr	74:822a92bc11d2	1353	}
mjr	74:822a92bc11d2	1354	}
mjr	64:ef7ca92dff36	1355
mjr	26:cb71c4af2912	1356	// LwOut class for a Digital-Only (Non-PWM) GPIO port
mjr	6:cc35eb643e8f	1357	class LwDigOut: public LwOut
mjr	6:cc35eb643e8f	1358	{
mjr	6:cc35eb643e8f	1359	public:
mjr	43:7a6364d82a41	1360	LwDigOut(PinName pin, uint8_t initVal) : p(pin, initVal ? 1 : 0) { prv = initVal; }
mjr	40:cc0d9814522b	1361	virtual void set(uint8_t val)
mjr	13:72dda449c3c0	1362	{
mjr	13:72dda449c3c0	1363	if (val != prv)
mjr	40:cc0d9814522b	1364	p.write((prv = val) == 0 ? 0 : 1);
mjr	13:72dda449c3c0	1365	}
mjr	6:cc35eb643e8f	1366	DigitalOut p;
mjr	40:cc0d9814522b	1367	uint8_t prv;
mjr	6:cc35eb643e8f	1368	};
mjr	26:cb71c4af2912	1369
mjr	29:582472d0bc57	1370	// Array of output physical pin assignments. This array is indexed
mjr	29:582472d0bc57	1371	// by LedWiz logical port number - lwPin[n] is the maping for LedWiz
mjr	35:e959ffba78fd	1372	// port n (0-based).
mjr	35:e959ffba78fd	1373	//
mjr	35:e959ffba78fd	1374	// Each pin is handled by an interface object for the physical output
mjr	35:e959ffba78fd	1375	// type for the port, as set in the configuration. The interface
mjr	35:e959ffba78fd	1376	// objects handle the specifics of addressing the different hardware
mjr	35:e959ffba78fd	1377	// types (GPIO PWM ports, GPIO digital ports, TLC5940 ports, and
mjr	35:e959ffba78fd	1378	// 74HC595 ports).
mjr	33:d832bcab089e	1379	static int numOutputs;
mjr	33:d832bcab089e	1380	static LwOut **lwPin;
mjr	33:d832bcab089e	1381
mjr	38:091e511ce8a0	1382	// create a single output pin
mjr	53:9b2611964afc	1383	LwOut *createLwPin(int portno, LedWizPortCfg &pc, Config &cfg)
mjr	38:091e511ce8a0	1384	{
mjr	38:091e511ce8a0	1385	// get this item's values
mjr	38:091e511ce8a0	1386	int typ = pc.typ;
mjr	38:091e511ce8a0	1387	int pin = pc.pin;
mjr	38:091e511ce8a0	1388	int flags = pc.flags;
mjr	40:cc0d9814522b	1389	int noisy = flags & PortFlagNoisemaker;
mjr	38:091e511ce8a0	1390	int activeLow = flags & PortFlagActiveLow;
mjr	40:cc0d9814522b	1391	int gamma = flags & PortFlagGamma;
mjr	38:091e511ce8a0	1392
mjr	38:091e511ce8a0	1393	// create the pin interface object according to the port type
mjr	38:091e511ce8a0	1394	LwOut *lwp;
mjr	38:091e511ce8a0	1395	switch (typ)
mjr	38:091e511ce8a0	1396	{
mjr	38:091e511ce8a0	1397	case PortTypeGPIOPWM:
mjr	48:058ace2aed1d	1398	// PWM GPIO port - assign if we have a valid pin
mjr	48:058ace2aed1d	1399	if (pin != 0)
mjr	64:ef7ca92dff36	1400	{
mjr	64:ef7ca92dff36	1401	// If gamma correction is to be used, and we're not inverting the output,
mjr	64:ef7ca92dff36	1402	// use the combined Pwmout + Gamma output class; otherwise use the plain
mjr	64:ef7ca92dff36	1403	// PwmOut class. We can't use the combined class for inverted outputs
mjr	64:ef7ca92dff36	1404	// because we have to apply gamma correction before the inversion.
mjr	64:ef7ca92dff36	1405	if (gamma && !activeLow)
mjr	64:ef7ca92dff36	1406	{
mjr	64:ef7ca92dff36	1407	// use the gamma-corrected PwmOut type
mjr	64:ef7ca92dff36	1408	lwp = new LwPwmGammaOut(wirePinName(pin), 0);
mjr	64:ef7ca92dff36	1409
mjr	64:ef7ca92dff36	1410	// don't apply further gamma correction to this output
mjr	64:ef7ca92dff36	1411	gamma = false;
mjr	64:ef7ca92dff36	1412	}
mjr	64:ef7ca92dff36	1413	else
mjr	64:ef7ca92dff36	1414	{
mjr	64:ef7ca92dff36	1415	// no gamma correction - use the standard PwmOut class
mjr	64:ef7ca92dff36	1416	lwp = new LwPwmOut(wirePinName(pin), activeLow ? 255 : 0);
mjr	64:ef7ca92dff36	1417	}
mjr	64:ef7ca92dff36	1418	}
mjr	48:058ace2aed1d	1419	else
mjr	48:058ace2aed1d	1420	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1421	break;
mjr	38:091e511ce8a0	1422
mjr	38:091e511ce8a0	1423	case PortTypeGPIODig:
mjr	38:091e511ce8a0	1424	// Digital GPIO port
mjr	48:058ace2aed1d	1425	if (pin != 0)
mjr	48:058ace2aed1d	1426	lwp = new LwDigOut(wirePinName(pin), activeLow ? 255 : 0);
mjr	48:058ace2aed1d	1427	else
mjr	48:058ace2aed1d	1428	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1429	break;
mjr	38:091e511ce8a0	1430
mjr	38:091e511ce8a0	1431	case PortTypeTLC5940:
mjr	38:091e511ce8a0	1432	// TLC5940 port (if we don't have a TLC controller object, or it's not a valid
mjr	38:091e511ce8a0	1433	// output port number on the chips we have, create a virtual port)
mjr	38:091e511ce8a0	1434	if (tlc5940 != 0 && pin < cfg.tlc5940.nchips*16)
mjr	40:cc0d9814522b	1435	{
mjr	40:cc0d9814522b	1436	// If gamma correction is to be used, and we're not inverting the output,
mjr	40:cc0d9814522b	1437	// use the combined TLC4950 + Gamma output class. Otherwise use the plain
mjr	40:cc0d9814522b	1438	// TLC5940 output. We skip the combined class if the output is inverted
mjr	40:cc0d9814522b	1439	// because we need to apply gamma BEFORE the inversion to get the right
mjr	40:cc0d9814522b	1440	// results, but the combined class would apply it after because of the
mjr	40:cc0d9814522b	1441	// layering scheme - the combined class is a physical device output class,
mjr	40:cc0d9814522b	1442	// and a physical device output class is necessarily at the bottom of
mjr	40:cc0d9814522b	1443	// the stack. We don't have a combined inverted+gamma+TLC class, because
mjr	40:cc0d9814522b	1444	// inversion isn't recommended for TLC5940 chips in the first place, so
mjr	40:cc0d9814522b	1445	// it's not worth the extra memory footprint to have a dedicated table
mjr	40:cc0d9814522b	1446	// for this unlikely case.
mjr	40:cc0d9814522b	1447	if (gamma && !activeLow)
mjr	40:cc0d9814522b	1448	{
mjr	40:cc0d9814522b	1449	// use the gamma-corrected 5940 output mapper
mjr	40:cc0d9814522b	1450	lwp = new Lw5940GammaOut(pin);
mjr	40:cc0d9814522b	1451
mjr	40:cc0d9814522b	1452	// DON'T apply further gamma correction to this output
mjr	40:cc0d9814522b	1453	gamma = false;
mjr	40:cc0d9814522b	1454	}
mjr	40:cc0d9814522b	1455	else
mjr	40:cc0d9814522b	1456	{
mjr	40:cc0d9814522b	1457	// no gamma - use the plain (linear) 5940 output class
mjr	40:cc0d9814522b	1458	lwp = new Lw5940Out(pin);
mjr	40:cc0d9814522b	1459	}
mjr	40:cc0d9814522b	1460	}
mjr	38:091e511ce8a0	1461	else
mjr	40:cc0d9814522b	1462	{
mjr	40:cc0d9814522b	1463	// no TLC5940 chips, or invalid port number - use a virtual out
mjr	38:091e511ce8a0	1464	lwp = new LwVirtualOut();
mjr	40:cc0d9814522b	1465	}
mjr	38:091e511ce8a0	1466	break;
mjr	38:091e511ce8a0	1467
mjr	38:091e511ce8a0	1468	case PortType74HC595:
mjr	38:091e511ce8a0	1469	// 74HC595 port (if we don't have an HC595 controller object, or it's not a valid
mjr	38:091e511ce8a0	1470	// output number, create a virtual port)
mjr	38:091e511ce8a0	1471	if (hc595 != 0 && pin < cfg.hc595.nchips*8)
mjr	38:091e511ce8a0	1472	lwp = new Lw595Out(pin);
mjr	38:091e511ce8a0	1473	else
mjr	38:091e511ce8a0	1474	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1475	break;
mjr	38:091e511ce8a0	1476
mjr	38:091e511ce8a0	1477	case PortTypeVirtual:
mjr	43:7a6364d82a41	1478	case PortTypeDisabled:
mjr	38:091e511ce8a0	1479	default:
mjr	38:091e511ce8a0	1480	// virtual or unknown
mjr	38:091e511ce8a0	1481	lwp = new LwVirtualOut();
mjr	38:091e511ce8a0	1482	break;
mjr	38:091e511ce8a0	1483	}
mjr	38:091e511ce8a0	1484
mjr	40:cc0d9814522b	1485	// If it's Active Low, layer on an inverter. Note that an inverter
mjr	40:cc0d9814522b	1486	// needs to be the bottom-most layer, since all of the other filters
mjr	40:cc0d9814522b	1487	// assume that they're working with normal (non-inverted) values.
mjr	38:091e511ce8a0	1488	if (activeLow)
mjr	38:091e511ce8a0	1489	lwp = new LwInvertedOut(lwp);
mjr	40:cc0d9814522b	1490
mjr	40:cc0d9814522b	1491	// If it's a noisemaker, layer on a night mode switch. Note that this
mjr	40:cc0d9814522b	1492	// needs to be
mjr	40:cc0d9814522b	1493	if (noisy)
mjr	40:cc0d9814522b	1494	lwp = new LwNoisyOut(lwp);
mjr	40:cc0d9814522b	1495
mjr	40:cc0d9814522b	1496	// If it's gamma-corrected, layer on a gamma corrector
mjr	40:cc0d9814522b	1497	if (gamma)
mjr	40:cc0d9814522b	1498	lwp = new LwGammaOut(lwp);
mjr	53:9b2611964afc	1499
mjr	53:9b2611964afc	1500	// If this is the ZB Launch Ball port, layer a monitor object. Note
mjr	64:ef7ca92dff36	1501	// that the nominal port numbering in the config starts at 1, but we're
mjr	53:9b2611964afc	1502	// using an array index, so test against portno+1.
mjr	53:9b2611964afc	1503	if (portno + 1 == cfg.plunger.zbLaunchBall.port)
mjr	53:9b2611964afc	1504	lwp = new LwZbLaunchOut(lwp);
mjr	53:9b2611964afc	1505
mjr	53:9b2611964afc	1506	// If this is the Night Mode indicator port, layer a night mode object.
mjr	53:9b2611964afc	1507	if (portno + 1 == cfg.nightMode.port)
mjr	53:9b2611964afc	1508	lwp = new LwNightModeIndicatorOut(lwp);
mjr	38:091e511ce8a0	1509
mjr	38:091e511ce8a0	1510	// turn it off initially
mjr	38:091e511ce8a0	1511	lwp->set(0);
mjr	38:091e511ce8a0	1512
mjr	38:091e511ce8a0	1513	// return the pin
mjr	38:091e511ce8a0	1514	return lwp;
mjr	38:091e511ce8a0	1515	}
mjr	38:091e511ce8a0	1516
mjr	6:cc35eb643e8f	1517	// initialize the output pin array
mjr	35:e959ffba78fd	1518	void initLwOut(Config &cfg)
mjr	6:cc35eb643e8f	1519	{
mjr	35:e959ffba78fd	1520	// Count the outputs. The first disabled output determines the
mjr	35:e959ffba78fd	1521	// total number of ports.
mjr	35:e959ffba78fd	1522	numOutputs = MAX_OUT_PORTS;
mjr	33:d832bcab089e	1523	int i;
mjr	35:e959ffba78fd	1524	for (i = 0 ; i < MAX_OUT_PORTS ; ++i)
mjr	6:cc35eb643e8f	1525	{
mjr	35:e959ffba78fd	1526	if (cfg.outPort[i].typ == PortTypeDisabled)
mjr	34:6b981a2afab7	1527	{
mjr	35:e959ffba78fd	1528	numOutputs = i;
mjr	34:6b981a2afab7	1529	break;
mjr	34:6b981a2afab7	1530	}
mjr	33:d832bcab089e	1531	}
mjr	33:d832bcab089e	1532
mjr	73:4e8ce0b18915	1533	// allocate the pin array
mjr	73:4e8ce0b18915	1534	lwPin = new LwOut*[numOutputs];
mjr	35:e959ffba78fd	1535
mjr	73:4e8ce0b18915	1536	// Allocate the current brightness array
mjr	73:4e8ce0b18915	1537	outLevel = new uint8_t[numOutputs];
mjr	33:d832bcab089e	1538
mjr	73:4e8ce0b18915	1539	// allocate the LedWiz output state arrays
mjr	73:4e8ce0b18915	1540	wizOn = new uint8_t[numOutputs];
mjr	73:4e8ce0b18915	1541	wizVal = new uint8_t[numOutputs];
mjr	73:4e8ce0b18915	1542
mjr	73:4e8ce0b18915	1543	// initialize all LedWiz outputs to off and brightness 48
mjr	73:4e8ce0b18915	1544	memset(wizOn, 0, numOutputs);
mjr	73:4e8ce0b18915	1545	memset(wizVal, 48, numOutputs);
mjr	73:4e8ce0b18915	1546
mjr	73:4e8ce0b18915	1547	// set all LedWiz virtual unit flash speeds to 2
mjr	73:4e8ce0b18915	1548	for (i = 0 ; i < countof(wizSpeed) ; ++i)
mjr	73:4e8ce0b18915	1549	wizSpeed[i] = 2;
mjr	33:d832bcab089e	1550
mjr	35:e959ffba78fd	1551	// create the pin interface object for each port
mjr	35:e959ffba78fd	1552	for (i = 0 ; i < numOutputs ; ++i)
mjr	53:9b2611964afc	1553	lwPin[i] = createLwPin(i, cfg.outPort[i], cfg);
mjr	6:cc35eb643e8f	1554	}
mjr	6:cc35eb643e8f	1555
mjr	76:7f5912b6340e	1556	// Translate an LedWiz brightness level (0..49) to a DOF brightness
mjr	76:7f5912b6340e	1557	// level (0..255). Note that brightness level 49 isn't actually valid,
mjr	76:7f5912b6340e	1558	// according to the LedWiz API documentation, but many clients use it
mjr	76:7f5912b6340e	1559	// anyway, and the real LedWiz accepts it and seems to treat it as
mjr	76:7f5912b6340e	1560	// equivalent to 48.
mjr	40:cc0d9814522b	1561	static const uint8_t lw_to_dof[] = {
mjr	40:cc0d9814522b	1562	0, 5, 11, 16, 21, 27, 32, 37,
mjr	40:cc0d9814522b	1563	43, 48, 53, 58, 64, 69, 74, 80,
mjr	40:cc0d9814522b	1564	85, 90, 96, 101, 106, 112, 117, 122,
mjr	40:cc0d9814522b	1565	128, 133, 138, 143, 149, 154, 159, 165,
mjr	40:cc0d9814522b	1566	170, 175, 181, 186, 191, 197, 202, 207,
mjr	40:cc0d9814522b	1567	213, 218, 223, 228, 234, 239, 244, 250,
mjr	40:cc0d9814522b	1568	255, 255
mjr	40:cc0d9814522b	1569	};
mjr	40:cc0d9814522b	1570
mjr	76:7f5912b6340e	1571	// Translate a DOF brightness level (0..255) to an LedWiz brightness
mjr	76:7f5912b6340e	1572	// level (1..48)
mjr	76:7f5912b6340e	1573	static const uint8_t dof_to_lw[] = {
mjr	76:7f5912b6340e	1574	1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 3, 3,
mjr	76:7f5912b6340e	1575	3, 3, 3, 4, 4, 4, 4, 4, 5, 5, 5, 5, 5, 5, 6, 6,
mjr	76:7f5912b6340e	1576	6, 6, 6, 7, 7, 7, 7, 7, 8, 8, 8, 8, 8, 8, 9, 9,
mjr	76:7f5912b6340e	1577	9, 9, 9, 10, 10, 10, 10, 10, 11, 11, 11, 11, 11, 11, 12, 12,
mjr	76:7f5912b6340e	1578	12, 12, 12, 13, 13, 13, 13, 13, 14, 14, 14, 14, 14, 14, 15, 15,
mjr	76:7f5912b6340e	1579	15, 15, 15, 16, 16, 16, 16, 16, 17, 17, 17, 17, 17, 18, 18, 18,
mjr	76:7f5912b6340e	1580	18, 18, 18, 19, 19, 19, 19, 19, 20, 20, 20, 20, 20, 21, 21, 21,
mjr	76:7f5912b6340e	1581	21, 21, 21, 22, 22, 22, 22, 22, 23, 23, 23, 23, 23, 24, 24, 24,
mjr	76:7f5912b6340e	1582	24, 24, 24, 25, 25, 25, 25, 25, 26, 26, 26, 26, 26, 27, 27, 27,
mjr	76:7f5912b6340e	1583	27, 27, 27, 28, 28, 28, 28, 28, 29, 29, 29, 29, 29, 30, 30, 30,
mjr	76:7f5912b6340e	1584	30, 30, 30, 31, 31, 31, 31, 31, 32, 32, 32, 32, 32, 33, 33, 33,
mjr	76:7f5912b6340e	1585	33, 33, 34, 34, 34, 34, 34, 34, 35, 35, 35, 35, 35, 36, 36, 36,
mjr	76:7f5912b6340e	1586	36, 36, 37, 37, 37, 37, 37, 37, 38, 38, 38, 38, 38, 39, 39, 39,
mjr	76:7f5912b6340e	1587	39, 39, 40, 40, 40, 40, 40, 40, 41, 41, 41, 41, 41, 42, 42, 42,
mjr	76:7f5912b6340e	1588	42, 42, 43, 43, 43, 43, 43, 43, 44, 44, 44, 44, 44, 45, 45, 45,
mjr	76:7f5912b6340e	1589	45, 45, 46, 46, 46, 46, 46, 46, 47, 47, 47, 47, 47, 48, 48, 48
mjr	76:7f5912b6340e	1590	};
mjr	76:7f5912b6340e	1591
mjr	74:822a92bc11d2	1592	// LedWiz flash cycle tables. For efficiency, we use a lookup table
mjr	74:822a92bc11d2	1593	// rather than calculating these on the fly. The flash cycles are
mjr	74:822a92bc11d2	1594	// generated by the following formulas, where 'c' is the current
mjr	74:822a92bc11d2	1595	// cycle counter, from 0 to 255:
mjr	74:822a92bc11d2	1596	//
mjr	74:822a92bc11d2	1597	// mode 129 = sawtooth = (c < 128 ? c2 + 1 : (255-c)2)
mjr	74:822a92bc11d2	1598	// mode 130 = flash on/off = (c < 128 ? 255 : 0)
mjr	74:822a92bc11d2	1599	// mode 131 = on/ramp down = (c < 128 ? 255 : (255-c)*2)
mjr	74:822a92bc11d2	1600	// mode 132 = ramp up/on = (c < 128 ? c*2 : 255)
mjr	74:822a92bc11d2	1601	//
mjr	74:822a92bc11d2	1602	// To look up the current output value for a given mode and a given
mjr	74:822a92bc11d2	1603	// cycle counter 'c', index the table with ((mode-129)*256)+c.
mjr	74:822a92bc11d2	1604	static const uint8_t wizFlashLookup[] = {
mjr	74:822a92bc11d2	1605	// mode 129 = sawtooth = (c < 128 ? c2 + 1 : (255-c)2)
mjr	74:822a92bc11d2	1606	0x01, 0x03, 0x05, 0x07, 0x09, 0x0b, 0x0d, 0x0f, 0x11, 0x13, 0x15, 0x17, 0x19, 0x1b, 0x1d, 0x1f,
mjr	74:822a92bc11d2	1607	0x21, 0x23, 0x25, 0x27, 0x29, 0x2b, 0x2d, 0x2f, 0x31, 0x33, 0x35, 0x37, 0x39, 0x3b, 0x3d, 0x3f,
mjr	74:822a92bc11d2	1608	0x41, 0x43, 0x45, 0x47, 0x49, 0x4b, 0x4d, 0x4f, 0x51, 0x53, 0x55, 0x57, 0x59, 0x5b, 0x5d, 0x5f,
mjr	74:822a92bc11d2	1609	0x61, 0x63, 0x65, 0x67, 0x69, 0x6b, 0x6d, 0x6f, 0x71, 0x73, 0x75, 0x77, 0x79, 0x7b, 0x7d, 0x7f,
mjr	74:822a92bc11d2	1610	0x81, 0x83, 0x85, 0x87, 0x89, 0x8b, 0x8d, 0x8f, 0x91, 0x93, 0x95, 0x97, 0x99, 0x9b, 0x9d, 0x9f,
mjr	74:822a92bc11d2	1611	0xa1, 0xa3, 0xa5, 0xa7, 0xa9, 0xab, 0xad, 0xaf, 0xb1, 0xb3, 0xb5, 0xb7, 0xb9, 0xbb, 0xbd, 0xbf,
mjr	74:822a92bc11d2	1612	0xc1, 0xc3, 0xc5, 0xc7, 0xc9, 0xcb, 0xcd, 0xcf, 0xd1, 0xd3, 0xd5, 0xd7, 0xd9, 0xdb, 0xdd, 0xdf,
mjr	74:822a92bc11d2	1613	0xe1, 0xe3, 0xe5, 0xe7, 0xe9, 0xeb, 0xed, 0xef, 0xf1, 0xf3, 0xf5, 0xf7, 0xf9, 0xfb, 0xfd, 0xff,
mjr	74:822a92bc11d2	1614	0xfe, 0xfc, 0xfa, 0xf8, 0xf6, 0xf4, 0xf2, 0xf0, 0xee, 0xec, 0xea, 0xe8, 0xe6, 0xe4, 0xe2, 0xe0,
mjr	74:822a92bc11d2	1615	0xde, 0xdc, 0xda, 0xd8, 0xd6, 0xd4, 0xd2, 0xd0, 0xce, 0xcc, 0xca, 0xc8, 0xc6, 0xc4, 0xc2, 0xc0,
mjr	74:822a92bc11d2	1616	0xbe, 0xbc, 0xba, 0xb8, 0xb6, 0xb4, 0xb2, 0xb0, 0xae, 0xac, 0xaa, 0xa8, 0xa6, 0xa4, 0xa2, 0xa0,
mjr	74:822a92bc11d2	1617	0x9e, 0x9c, 0x9a, 0x98, 0x96, 0x94, 0x92, 0x90, 0x8e, 0x8c, 0x8a, 0x88, 0x86, 0x84, 0x82, 0x80,
mjr	74:822a92bc11d2	1618	0x7e, 0x7c, 0x7a, 0x78, 0x76, 0x74, 0x72, 0x70, 0x6e, 0x6c, 0x6a, 0x68, 0x66, 0x64, 0x62, 0x60,
mjr	74:822a92bc11d2	1619	0x5e, 0x5c, 0x5a, 0x58, 0x56, 0x54, 0x52, 0x50, 0x4e, 0x4c, 0x4a, 0x48, 0x46, 0x44, 0x42, 0x40,
mjr	74:822a92bc11d2	1620	0x3e, 0x3c, 0x3a, 0x38, 0x36, 0x34, 0x32, 0x30, 0x2e, 0x2c, 0x2a, 0x28, 0x26, 0x24, 0x22, 0x20,
mjr	74:822a92bc11d2	1621	0x1e, 0x1c, 0x1a, 0x18, 0x16, 0x14, 0x12, 0x10, 0x0e, 0x0c, 0x0a, 0x08, 0x06, 0x04, 0x02, 0x00,
mjr	74:822a92bc11d2	1622
mjr	74:822a92bc11d2	1623	// mode 130 = flash on/off = (c < 128 ? 255 : 0)
mjr	74:822a92bc11d2	1624	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1625	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1626	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1627	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1628	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1629	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1630	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1631	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1632	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1633	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1634	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1635	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1636	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1637	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1638	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1639	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
mjr	74:822a92bc11d2	1640
mjr	74:822a92bc11d2	1641	// mode 131 = on/ramp down = c < 128 ? 255 : (255 - c)*2
mjr	74:822a92bc11d2	1642	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1643	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1644	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1645	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1646	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1647	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1648	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1649	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1650	0xfe, 0xfc, 0xfa, 0xf8, 0xf6, 0xf4, 0xf2, 0xf0, 0xee, 0xec, 0xea, 0xe8, 0xe6, 0xe4, 0xe2, 0xe0,
mjr	74:822a92bc11d2	1651	0xde, 0xdc, 0xda, 0xd8, 0xd6, 0xd4, 0xd2, 0xd0, 0xce, 0xcc, 0xca, 0xc8, 0xc6, 0xc4, 0xc2, 0xc0,
mjr	74:822a92bc11d2	1652	0xbe, 0xbc, 0xba, 0xb8, 0xb6, 0xb4, 0xb2, 0xb0, 0xae, 0xac, 0xaa, 0xa8, 0xa6, 0xa4, 0xa2, 0xa0,
mjr	74:822a92bc11d2	1653	0x9e, 0x9c, 0x9a, 0x98, 0x96, 0x94, 0x92, 0x90, 0x8e, 0x8c, 0x8a, 0x88, 0x86, 0x84, 0x82, 0x80,
mjr	74:822a92bc11d2	1654	0x7e, 0x7c, 0x7a, 0x78, 0x76, 0x74, 0x72, 0x70, 0x6e, 0x6c, 0x6a, 0x68, 0x66, 0x64, 0x62, 0x60,
mjr	74:822a92bc11d2	1655	0x5e, 0x5c, 0x5a, 0x58, 0x56, 0x54, 0x52, 0x50, 0x4e, 0x4c, 0x4a, 0x48, 0x46, 0x44, 0x42, 0x40,
mjr	74:822a92bc11d2	1656	0x3e, 0x3c, 0x3a, 0x38, 0x36, 0x34, 0x32, 0x30, 0x2e, 0x2c, 0x2a, 0x28, 0x26, 0x24, 0x22, 0x20,
mjr	74:822a92bc11d2	1657	0x1e, 0x1c, 0x1a, 0x18, 0x16, 0x14, 0x12, 0x10, 0x0e, 0x0c, 0x0a, 0x08, 0x06, 0x04, 0x02, 0x00,
mjr	74:822a92bc11d2	1658
mjr	74:822a92bc11d2	1659	// mode 132 = ramp up/on = c < 128 ? c*2 : 255
mjr	74:822a92bc11d2	1660	0x00, 0x02, 0x04, 0x06, 0x08, 0x0a, 0x0c, 0x0e, 0x10, 0x12, 0x14, 0x16, 0x18, 0x1a, 0x1c, 0x1e,
mjr	74:822a92bc11d2	1661	0x20, 0x22, 0x24, 0x26, 0x28, 0x2a, 0x2c, 0x2e, 0x30, 0x32, 0x34, 0x36, 0x38, 0x3a, 0x3c, 0x3e,
mjr	74:822a92bc11d2	1662	0x40, 0x42, 0x44, 0x46, 0x48, 0x4a, 0x4c, 0x4e, 0x50, 0x52, 0x54, 0x56, 0x58, 0x5a, 0x5c, 0x5e,
mjr	74:822a92bc11d2	1663	0x60, 0x62, 0x64, 0x66, 0x68, 0x6a, 0x6c, 0x6e, 0x70, 0x72, 0x74, 0x76, 0x78, 0x7a, 0x7c, 0x7e,
mjr	74:822a92bc11d2	1664	0x80, 0x82, 0x84, 0x86, 0x88, 0x8a, 0x8c, 0x8e, 0x90, 0x92, 0x94, 0x96, 0x98, 0x9a, 0x9c, 0x9e,
mjr	74:822a92bc11d2	1665	0xa0, 0xa2, 0xa4, 0xa6, 0xa8, 0xaa, 0xac, 0xae, 0xb0, 0xb2, 0xb4, 0xb6, 0xb8, 0xba, 0xbc, 0xbe,
mjr	74:822a92bc11d2	1666	0xc0, 0xc2, 0xc4, 0xc6, 0xc8, 0xca, 0xcc, 0xce, 0xd0, 0xd2, 0xd4, 0xd6, 0xd8, 0xda, 0xdc, 0xde,
mjr	74:822a92bc11d2	1667	0xe0, 0xe2, 0xe4, 0xe6, 0xe8, 0xea, 0xec, 0xee, 0xf0, 0xf2, 0xf4, 0xf6, 0xf8, 0xfa, 0xfc, 0xfe,
mjr	74:822a92bc11d2	1668	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1669	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1670	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1671	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1672	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1673	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1674	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
mjr	74:822a92bc11d2	1675	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff
mjr	74:822a92bc11d2	1676	};
mjr	74:822a92bc11d2	1677
mjr	74:822a92bc11d2	1678	// LedWiz flash cycle timer. This runs continuously. On each update,
mjr	74:822a92bc11d2	1679	// we use this to figure out where we are on the cycle for each bank.
mjr	74:822a92bc11d2	1680	Timer wizCycleTimer;
mjr	74:822a92bc11d2	1681
mjr	76:7f5912b6340e	1682	// timing statistics for wizPulse()
mjr	76:7f5912b6340e	1683	uint64_t wizPulseTotalTime, wizPulseRunCount;
mjr	76:7f5912b6340e	1684
mjr	76:7f5912b6340e	1685	// LedWiz flash timer pulse. The main loop calls this on each cycle
mjr	76:7f5912b6340e	1686	// to update outputs using LedWiz flash modes. We do one bank of 32
mjr	76:7f5912b6340e	1687	// outputs on each cycle.
mjr	29:582472d0bc57	1688	static void wizPulse()
mjr	29:582472d0bc57	1689	{
mjr	76:7f5912b6340e	1690	// current bank
mjr	76:7f5912b6340e	1691	static int wizPulseBank = 0;
mjr	76:7f5912b6340e	1692
mjr	76:7f5912b6340e	1693	// start a timer for statistics collection
mjr	76:7f5912b6340e	1694	IF_DIAG(
mjr	76:7f5912b6340e	1695	Timer t;
mjr	76:7f5912b6340e	1696	t.start();
mjr	76:7f5912b6340e	1697	)
mjr	76:7f5912b6340e	1698
mjr	76:7f5912b6340e	1699	// Update the current bank's cycle counter: figure the current
mjr	76:7f5912b6340e	1700	// phase of the LedWiz pulse cycle for this bank.
mjr	76:7f5912b6340e	1701	//
mjr	76:7f5912b6340e	1702	// The LedWiz speed setting gives the flash period in 0.25s units
mjr	76:7f5912b6340e	1703	// (speed 1 is a flash period of .25s, speed 7 is a period of 1.75s).
mjr	76:7f5912b6340e	1704	//
mjr	76:7f5912b6340e	1705	// What we're after here is the "phase", which is to say the point
mjr	76:7f5912b6340e	1706	// in the current cycle. If we assume that the cycle has been running
mjr	76:7f5912b6340e	1707	// continuously since some arbitrary time zero in the past, we can
mjr	76:7f5912b6340e	1708	// figure where we are in the current cycle by dividing the time since
mjr	76:7f5912b6340e	1709	// that zero by the cycle period and taking the remainder. E.g., if
mjr	76:7f5912b6340e	1710	// the cycle time is 5 seconds, and the time since t-zero is 17 seconds,
mjr	76:7f5912b6340e	1711	// we divide 17 by 5 to get a remainder of 2. That says we're 2 seconds
mjr	76:7f5912b6340e	1712	// into the current 5-second cycle, or 2/5 of the way through the
mjr	76:7f5912b6340e	1713	// current cycle.
mjr	76:7f5912b6340e	1714	//
mjr	76:7f5912b6340e	1715	// We do this calculation on every iteration of the main loop, so we
mjr	76:7f5912b6340e	1716	// want it to be very fast. To streamline it, we'll use some tricky
mjr	76:7f5912b6340e	1717	// integer arithmetic. The result will be the same as the straightforward
mjr	76:7f5912b6340e	1718	// remainder and fraction calculation we just explained, but we'll get
mjr	76:7f5912b6340e	1719	// there by less-than-obvious means.
mjr	76:7f5912b6340e	1720	//
mjr	76:7f5912b6340e	1721	// Rather than finding the phase as a continuous quantity or floating
mjr	76:7f5912b6340e	1722	// point number, we'll quantize it. We'll divide each cycle into 256
mjr	76:7f5912b6340e	1723	// time units, or quanta. Each quantum is 1/256 of the cycle length,
mjr	76:7f5912b6340e	1724	// so for a 1-second cycle (LedWiz speed 4), each quantum is 1/256 of
mjr	76:7f5912b6340e	1725	// a second, or about 3.9ms. If we express the time since t-zero in
mjr	76:7f5912b6340e	1726	// these units, the time period of one cycle is exactly 256 units, so
mjr	76:7f5912b6340e	1727	// we can calculate our point in the cycle by taking the remainder of
mjr	76:7f5912b6340e	1728	// the time (in our funny units) divided by 256. The special thing
mjr	76:7f5912b6340e	1729	// about making the cycle time equal to 256 units is that "x % 256"
mjr	76:7f5912b6340e	1730	// is exactly the same as "x & 255", which is a much faster operation
mjr	76:7f5912b6340e	1731	// than division on ARM M0+: this CPU has no hardware DIVIDE operation,
mjr	76:7f5912b6340e	1732	// so an integer division takes about 5us. The bit mask operation, in
mjr	76:7f5912b6340e	1733	// contrast, takes only about 60ns - about 100x faster. 5us doesn't
mjr	76:7f5912b6340e	1734	// sound like much, but we do this on every main loop, so every little
mjr	76:7f5912b6340e	1735	// bit counts.
mjr	76:7f5912b6340e	1736	//
mjr	76:7f5912b6340e	1737	// The snag is that our system timer gives us the elapsed time in
mjr	76:7f5912b6340e	1738	// microseconds. We still need to convert this to our special quanta
mjr	76:7f5912b6340e	1739	// of 256 units per cycle. The straightforward way to do that is by
mjr	76:7f5912b6340e	1740	// dividing by (microseconds per quantum). E.g., for LedWiz speed 4,
mjr	76:7f5912b6340e	1741	// we decided that our quantum was 1/256 of a second, or 3906us, so
mjr	76:7f5912b6340e	1742	// dividing the current system time in microseconds by 3906 will give
mjr	76:7f5912b6340e	1743	// us the time in our quantum units. But now we've just substituted
mjr	76:7f5912b6340e	1744	// one division for another!
mjr	76:7f5912b6340e	1745	//
mjr	76:7f5912b6340e	1746	// This is where our really tricky integer math comes in. Dividing
mjr	76:7f5912b6340e	1747	// by X is the same as multiplying by 1/X. In integer math, 1/3906
mjr	76:7f5912b6340e	1748	// is zero, so that won't work. But we can get around that by doing
mjr	76:7f5912b6340e	1749	// the integer math as "fixed point" arithmetic instead. It's still
mjr	76:7f5912b6340e	1750	// actually carried out as integer operations, but we'll scale our
mjr	76:7f5912b6340e	1751	// integers by a scaling factor, then take out the scaling factor
mjr	76:7f5912b6340e	1752	// later to get the final result. The scaling factor we'll use is
mjr	76:7f5912b6340e	1753	// 2^24. So we're going to calculate (time * 2^24/3906), then divide
mjr	76:7f5912b6340e	1754	// the result by 2^24 to get the final answer. I know it seems like
mjr	76:7f5912b6340e	1755	// we're substituting one division for another yet again, but this
mjr	76:7f5912b6340e	1756	// time's the charm, because dividing by 2^24 is a bit shift operation,
mjr	76:7f5912b6340e	1757	// which is another single-cycle operation on M0+. You might also
mjr	76:7f5912b6340e	1758	// wonder how all these tricks don't cause overflows or underflows
mjr	76:7f5912b6340e	1759	// or what not. Well, the multiply by 2^24/3906 will cause an
mjr	76:7f5912b6340e	1760	// overflow, but we don't care, because the overflow will all be in
mjr	76:7f5912b6340e	1761	// the high-order bits that we're going to discard in the final
mjr	76:7f5912b6340e	1762	// remainder calculation anyway.
mjr	76:7f5912b6340e	1763	//
mjr	76:7f5912b6340e	1764	// Each entry in the array below represents 2^24/N for the corresponding
mjr	76:7f5912b6340e	1765	// LedWiz speed, where N is the number of time quanta per cycle at that
mjr	76:7f5912b6340e	1766	// speed. The time quanta are chosen such that 256 quanta add up to
mjr	76:7f5912b6340e	1767	// approximately (LedWiz speed setting * 0.25s).
mjr	76:7f5912b6340e	1768	//
mjr	76:7f5912b6340e	1769	// Note that the calculation has an implicit bit mask (result & 0xFF)
mjr	76:7f5912b6340e	1770	// to get the final result mod 256. But we don't have to actually
mjr	76:7f5912b6340e	1771	// do that work because we're using 32-bit ints and a 2^24 fixed
mjr	76:7f5912b6340e	1772	// point base (X in the narrative above). The final shift right by
mjr	76:7f5912b6340e	1773	// 24 bits to divide out the base will leave us with only 8 bits in
mjr	76:7f5912b6340e	1774	// the result, since we started with 32.
mjr	76:7f5912b6340e	1775	static const uint32_t inv_us_per_quantum[] = { // indexed by LedWiz speed
mjr	76:7f5912b6340e	1776	0, 17172, 8590, 5726, 4295, 3436, 2863, 2454
mjr	76:7f5912b6340e	1777	};
mjr	76:7f5912b6340e	1778	int counter = ((wizCycleTimer.read_us() * inv_us_per_quantum[wizSpeed[wizPulseBank]]) >> 24);
mjr	76:7f5912b6340e	1779
mjr	76:7f5912b6340e	1780	// get the range of 32 output sin this bank
mjr	76:7f5912b6340e	1781	int fromPort = wizPulseBank*32;
mjr	76:7f5912b6340e	1782	int toPort = fromPort+32;
mjr	76:7f5912b6340e	1783	if (toPort > numOutputs)
mjr	76:7f5912b6340e	1784	toPort = numOutputs;
mjr	76:7f5912b6340e	1785
mjr	76:7f5912b6340e	1786	// update all outputs set to flashing values
mjr	76:7f5912b6340e	1787	for (int i = fromPort ; i < toPort ; ++i)
mjr	73:4e8ce0b18915	1788	{
mjr	76:7f5912b6340e	1789	// Update the port only if the LedWiz SBA switch for the port is on
mjr	76:7f5912b6340e	1790	// (wizOn[i]) AND the port is a PBA flash mode in the range 129..132.
mjr	76:7f5912b6340e	1791	// These modes and only these modes have the high bit (0x80) set, so
mjr	76:7f5912b6340e	1792	// we can test for them simply by testing the high bit.
mjr	76:7f5912b6340e	1793	if (wizOn[i])
mjr	29:582472d0bc57	1794	{
mjr	76:7f5912b6340e	1795	uint8_t val = wizVal[i];
mjr	76:7f5912b6340e	1796	if ((val & 0x80) != 0)
mjr	29:582472d0bc57	1797	{
mjr	76:7f5912b6340e	1798	// ook up the value for the mode at the cycle time
mjr	76:7f5912b6340e	1799	lwPin[i]->set(outLevel[i] = wizFlashLookup[((val-129) << 8) + counter]);
mjr	29:582472d0bc57	1800	}
mjr	29:582472d0bc57	1801	}
mjr	76:7f5912b6340e	1802	}
mjr	76:7f5912b6340e	1803
mjr	34:6b981a2afab7	1804	// flush changes to 74HC595 chips, if attached
mjr	35:e959ffba78fd	1805	if (hc595 != 0)
mjr	35:e959ffba78fd	1806	hc595->update();
mjr	76:7f5912b6340e	1807
mjr	76:7f5912b6340e	1808	// switch to the next bank
mjr	76:7f5912b6340e	1809	if (++wizPulseBank >= MAX_LW_BANKS)
mjr	76:7f5912b6340e	1810	wizPulseBank = 0;
mjr	76:7f5912b6340e	1811
mjr	76:7f5912b6340e	1812	// collect timing statistics
mjr	76:7f5912b6340e	1813	IF_DIAG(
mjr	76:7f5912b6340e	1814	wizPulseTotalTime += t.read_us();
mjr	76:7f5912b6340e	1815	wizPulseRunCount += 1;
mjr	76:7f5912b6340e	1816	)
mjr	1:d913e0afb2ac	1817	}
mjr	38:091e511ce8a0	1818
mjr	76:7f5912b6340e	1819	// Update a port to reflect its new LedWiz SBA+PBA setting.
mjr	76:7f5912b6340e	1820	static void updateLwPort(int port)
mjr	38:091e511ce8a0	1821	{
mjr	76:7f5912b6340e	1822	// check if the SBA switch is on or off
mjr	76:7f5912b6340e	1823	if (wizOn[port])
mjr	76:7f5912b6340e	1824	{
mjr	76:7f5912b6340e	1825	// It's on. If the port is a valid static brightness level,
mjr	76:7f5912b6340e	1826	// set the output port to match. Otherwise leave it as is:
mjr	76:7f5912b6340e	1827	// if it's a flashing mode, the flash mode pulse will update
mjr	76:7f5912b6340e	1828	// it on the next cycle.
mjr	76:7f5912b6340e	1829	int val = wizVal[port];
mjr	76:7f5912b6340e	1830	if (val <= 49)
mjr	76:7f5912b6340e	1831	lwPin[port]->set(outLevel[port] = lw_to_dof[val]);
mjr	76:7f5912b6340e	1832	}
mjr	76:7f5912b6340e	1833	else
mjr	76:7f5912b6340e	1834	{
mjr	76:7f5912b6340e	1835	// the port is off - set absolute brightness zero
mjr	76:7f5912b6340e	1836	lwPin[port]->set(outLevel[port] = 0);
mjr	76:7f5912b6340e	1837	}
mjr	73:4e8ce0b18915	1838	}
mjr	73:4e8ce0b18915	1839
mjr	73:4e8ce0b18915	1840	// Turn off all outputs and restore everything to the default LedWiz
mjr	73:4e8ce0b18915	1841	// state. This sets outputs #1-32 to LedWiz profile value 48 (full
mjr	73:4e8ce0b18915	1842	// brightness) and switch state Off, sets all extended outputs (#33
mjr	73:4e8ce0b18915	1843	// and above) to zero brightness, and sets the LedWiz flash rate to 2.
mjr	73:4e8ce0b18915	1844	// This effectively restores the power-on conditions.
mjr	73:4e8ce0b18915	1845	//
mjr	73:4e8ce0b18915	1846	void allOutputsOff()
mjr	73:4e8ce0b18915	1847	{
mjr	73:4e8ce0b18915	1848	// reset all LedWiz outputs to OFF/48
mjr	73:4e8ce0b18915	1849	for (int i = 0 ; i < numOutputs ; ++i)
mjr	73:4e8ce0b18915	1850	{
mjr	73:4e8ce0b18915	1851	outLevel[i] = 0;
mjr	73:4e8ce0b18915	1852	wizOn[i] = 0;
mjr	73:4e8ce0b18915	1853	wizVal[i] = 48;
mjr	73:4e8ce0b18915	1854	lwPin[i]->set(0);
mjr	73:4e8ce0b18915	1855	}
mjr	73:4e8ce0b18915	1856
mjr	73:4e8ce0b18915	1857	// restore default LedWiz flash rate
mjr	73:4e8ce0b18915	1858	for (int i = 0 ; i < countof(wizSpeed) ; ++i)
mjr	73:4e8ce0b18915	1859	wizSpeed[i] = 2;
mjr	38:091e511ce8a0	1860
mjr	73:4e8ce0b18915	1861	// flush changes to hc595, if applicable
mjr	38:091e511ce8a0	1862	if (hc595 != 0)
mjr	38:091e511ce8a0	1863	hc595->update();
mjr	38:091e511ce8a0	1864	}
mjr	38:091e511ce8a0	1865
mjr	74:822a92bc11d2	1866	// Cary out an SBA or SBX message. portGroup is 0 for ports 1-32,
mjr	74:822a92bc11d2	1867	// 1 for ports 33-64, etc. Original protocol SBA messages always
mjr	74:822a92bc11d2	1868	// address port group 0; our private SBX extension messages can
mjr	74:822a92bc11d2	1869	// address any port group.
mjr	74:822a92bc11d2	1870	void sba_sbx(int portGroup, const uint8_t *data)
mjr	74:822a92bc11d2	1871	{
mjr	76:7f5912b6340e	1872	// update all on/off states in the group
mjr	74:822a92bc11d2	1873	for (int i = 0, bit = 1, imsg = 1, port = portGroup*32 ;
mjr	74:822a92bc11d2	1874	i < 32 && port < numOutputs ;
mjr	74:822a92bc11d2	1875	++i, bit <<= 1, ++port)
mjr	74:822a92bc11d2	1876	{
mjr	74:822a92bc11d2	1877	// figure the on/off state bit for this output
mjr	74:822a92bc11d2	1878	if (bit == 0x100) {
mjr	74:822a92bc11d2	1879	bit = 1;
mjr	74:822a92bc11d2	1880	++imsg;
mjr	74:822a92bc11d2	1881	}
mjr	74:822a92bc11d2	1882
mjr	74:822a92bc11d2	1883	// set the on/off state
mjr	76:7f5912b6340e	1884	bool on = wizOn[port] = ((data[imsg] & bit) != 0);
mjr	76:7f5912b6340e	1885
mjr	76:7f5912b6340e	1886	// set the output port brightness to match the new setting
mjr	76:7f5912b6340e	1887	updateLwPort(port);
mjr	74:822a92bc11d2	1888	}
mjr	74:822a92bc11d2	1889
mjr	74:822a92bc11d2	1890	// set the flash speed for the port group
mjr	74:822a92bc11d2	1891	if (portGroup < countof(wizSpeed))
mjr	74:822a92bc11d2	1892	wizSpeed[portGroup] = (data[5] < 1 ? 1 : data[5] > 7 ? 7 : data[5]);
mjr	74:822a92bc11d2	1893
mjr	76:7f5912b6340e	1894	// update 74HC959 outputs
mjr	76:7f5912b6340e	1895	if (hc595 != 0)
mjr	76:7f5912b6340e	1896	hc595->update();
mjr	74:822a92bc11d2	1897	}
mjr	74:822a92bc11d2	1898
mjr	74:822a92bc11d2	1899	// Carry out a PBA or PBX message.
mjr	74:822a92bc11d2	1900	void pba_pbx(int basePort, const uint8_t *data)
mjr	74:822a92bc11d2	1901	{
mjr	74:822a92bc11d2	1902	// update each wizVal entry from the brightness data
mjr	76:7f5912b6340e	1903	for (int i = 0, port = basePort ; i < 8 && port < numOutputs ; ++i, ++port)
mjr	74:822a92bc11d2	1904	{
mjr	74:822a92bc11d2	1905	// get the value
mjr	74:822a92bc11d2	1906	uint8_t v = data[i];
mjr	74:822a92bc11d2	1907
mjr	74:822a92bc11d2	1908	// Validate it. The legal values are 0..49 for brightness
mjr	74:822a92bc11d2	1909	// levels, and 128..132 for flash modes. Set anything invalid
mjr	74:822a92bc11d2	1910	// to full brightness (48) instead. Note that 49 isn't actually
mjr	74:822a92bc11d2	1911	// a valid documented value, but in practice some clients send
mjr	74:822a92bc11d2	1912	// this to mean 100% brightness, and the real LedWiz treats it
mjr	74:822a92bc11d2	1913	// as such.
mjr	74:822a92bc11d2	1914	if ((v > 49 && v < 129) \|\| v > 132)
mjr	74:822a92bc11d2	1915	v = 48;
mjr	74:822a92bc11d2	1916
mjr	74:822a92bc11d2	1917	// store it
mjr	76:7f5912b6340e	1918	wizVal[port] = v;
mjr	76:7f5912b6340e	1919
mjr	76:7f5912b6340e	1920	// update the port
mjr	76:7f5912b6340e	1921	updateLwPort(port);
mjr	74:822a92bc11d2	1922	}
mjr	74:822a92bc11d2	1923
mjr	76:7f5912b6340e	1924	// update 74HC595 outputs
mjr	76:7f5912b6340e	1925	if (hc595 != 0)
mjr	76:7f5912b6340e	1926	hc595->update();
mjr	74:822a92bc11d2	1927	}
mjr	74:822a92bc11d2	1928
mjr	77:0b96f6867312	1929	// ---------------------------------------------------------------------------
mjr	77:0b96f6867312	1930	//
mjr	77:0b96f6867312	1931	// IR Remote Control transmitter & receiver
mjr	77:0b96f6867312	1932	//
mjr	77:0b96f6867312	1933
mjr	77:0b96f6867312	1934	// receiver
mjr	77:0b96f6867312	1935	IRReceiver *ir_rx;
mjr	77:0b96f6867312	1936
mjr	77:0b96f6867312	1937	// transmitter
mjr	77:0b96f6867312	1938	IRTransmitter *ir_tx;
mjr	77:0b96f6867312	1939
mjr	77:0b96f6867312	1940	// Mapping from IR commands slots in the configuration to "virtual button"
mjr	77:0b96f6867312	1941	// numbers on the IRTransmitter's "virtual remote". To minimize RAM usage,
mjr	77:0b96f6867312	1942	// we only create virtual buttons on the transmitter object for code slots
mjr	77:0b96f6867312	1943	// that are configured for transmission, which includes slots used for TV
mjr	77:0b96f6867312	1944	// ON commands and slots that can be triggered by button presses. This
mjr	77:0b96f6867312	1945	// means that virtual button numbers won't necessarily match the config
mjr	77:0b96f6867312	1946	// slot numbers. This table provides the mapping:
mjr	77:0b96f6867312	1947	// IRConfigSlotToVirtualButton[n] = ir_tx virtual button number for
mjr	77:0b96f6867312	1948	// configuration slot n
mjr	77:0b96f6867312	1949	uint8_t IRConfigSlotToVirtualButton[MAX_IR_CODES];
mjr	77:0b96f6867312	1950	uint8_t IRAdHocSlot;
mjr	77:0b96f6867312	1951
mjr	77:0b96f6867312	1952	// IR mode timer. In normal mode, this is the time since the last
mjr	77:0b96f6867312	1953	// command received; we use this to handle commands with timed effects,
mjr	77:0b96f6867312	1954	// such as sending a key to the PC. In learning mode, this is the time
mjr	77:0b96f6867312	1955	// since we activated learning mode, which we use to automatically end
mjr	77:0b96f6867312	1956	// learning mode if a decodable command isn't received within a reasonable
mjr	77:0b96f6867312	1957	// amount of time.
mjr	77:0b96f6867312	1958	Timer IRTimer;
mjr	77:0b96f6867312	1959
mjr	77:0b96f6867312	1960	// IR Learning Mode. The PC enters learning mode via special function 65 12.
mjr	77:0b96f6867312	1961	// The states are:
mjr	77:0b96f6867312	1962	//
mjr	77:0b96f6867312	1963	// 0 -> normal operation (not in learning mode)
mjr	77:0b96f6867312	1964	// 1 -> learning mode; reading raw codes, no command read yet
mjr	77:0b96f6867312	1965	// 2 -> learning mode; command received, awaiting auto-repeat
mjr	77:0b96f6867312	1966	// 3 -> learning mode; done, command and repeat mode decoded
mjr	77:0b96f6867312	1967	//
mjr	77:0b96f6867312	1968	// When we enter learning mode, we reset IRTimer to keep track of how long
mjr	77:0b96f6867312	1969	// we've been in the mode. This allows the mode to time out if no code is
mjr	77:0b96f6867312	1970	// received within a reasonable time.
mjr	77:0b96f6867312	1971	uint8_t IRLearningMode = 0;
mjr	77:0b96f6867312	1972
mjr	77:0b96f6867312	1973	// Learning mode command received. This stores the first decoded command
mjr	77:0b96f6867312	1974	// when in learning mode. For some protocols, we can't just report the
mjr	77:0b96f6867312	1975	// first command we receive, because we need to wait for an auto-repeat to
mjr	77:0b96f6867312	1976	// determine what format the remote uses for repeats. This stores the first
mjr	77:0b96f6867312	1977	// command while we await a repeat. This is necessary for protocols that
mjr	77:0b96f6867312	1978	// have "dittos", since some remotes for such protocols use the dittos and
mjr	77:0b96f6867312	1979	// some don't; the only way to find out is to read a repeat code and see if
mjr	77:0b96f6867312	1980	// it's a ditto or just a repeat of the full code.
mjr	77:0b96f6867312	1981	IRCommand learnedIRCode;
mjr	77:0b96f6867312	1982
mjr	77:0b96f6867312	1983	// IR comkmand received, as a config slot index, 1..MAX_IR_CODES.
mjr	77:0b96f6867312	1984	// When we receive a command that matches one of our programmed commands,
mjr	77:0b96f6867312	1985	// we note the slot here. We also reset the IR timer so that we know how
mjr	77:0b96f6867312	1986	// long it's been since the command came in. This lets us handle commands
mjr	77:0b96f6867312	1987	// with timed effects, such as PC key input. Note that this is a 1-based
mjr	77:0b96f6867312	1988	// index; 0 represents no command.
mjr	77:0b96f6867312	1989	uint8_t IRCommandIn = 0;
mjr	77:0b96f6867312	1990
mjr	77:0b96f6867312	1991	// "Toggle bit" of last command. Some IR protocols have a toggle bit
mjr	77:0b96f6867312	1992	// that distinguishes an auto-repeating key from a key being pressed
mjr	77:0b96f6867312	1993	// several times in a row. This records the toggle bit of the last
mjr	77:0b96f6867312	1994	// command we received.
mjr	77:0b96f6867312	1995	uint8_t lastIRToggle = 0;
mjr	77:0b96f6867312	1996
mjr	77:0b96f6867312	1997	// Are we in a gap between successive key presses? When we detect that a
mjr	77:0b96f6867312	1998	// key is being pressed multiple times rather than auto-repeated (which we
mjr	77:0b96f6867312	1999	// can detect via a toggle bit in some protocols), we'll briefly stop sending
mjr	77:0b96f6867312	2000	// the associated key to the PC, so that the PC likewise recognizes the
mjr	77:0b96f6867312	2001	// distinct key press.
mjr	77:0b96f6867312	2002	uint8_t IRKeyGap = false;
mjr	77:0b96f6867312	2003
mjr	77:0b96f6867312	2004	// initialize
mjr	77:0b96f6867312	2005	void init_IR(Config &cfg, bool &kbKeys)
mjr	77:0b96f6867312	2006	{
mjr	77:0b96f6867312	2007	PinName pin;
mjr	77:0b96f6867312	2008
mjr	77:0b96f6867312	2009	// start the IR timer
mjr	77:0b96f6867312	2010	IRTimer.start();
mjr	77:0b96f6867312	2011
mjr	77:0b96f6867312	2012	// if there's a transmitter, set it up
mjr	77:0b96f6867312	2013	if ((pin = wirePinName(cfg.IR.emitter)) != NC)
mjr	77:0b96f6867312	2014	{
mjr	77:0b96f6867312	2015	// no virtual buttons yet
mjr	77:0b96f6867312	2016	int nVirtualButtons = 0;
mjr	77:0b96f6867312	2017	memset(IRConfigSlotToVirtualButton, 0xFF, sizeof(IRConfigSlotToVirtualButton));
mjr	77:0b96f6867312	2018
mjr	77:0b96f6867312	2019	// assign virtual buttons slots for TV ON codes
mjr	77:0b96f6867312	2020	for (int i = 0 ; i < MAX_IR_CODES ; ++i)
mjr	77:0b96f6867312	2021	{
mjr	77:0b96f6867312	2022	if ((cfg.IRCommand[i].flags & IRFlagTVON) != 0)
mjr	77:0b96f6867312	2023	IRConfigSlotToVirtualButton[i] = nVirtualButtons++;
mjr	77:0b96f6867312	2024	}
mjr	77:0b96f6867312	2025
mjr	77:0b96f6867312	2026	// assign virtual buttons for codes that can be triggered by
mjr	77:0b96f6867312	2027	// real button inputs
mjr	77:0b96f6867312	2028	for (int i = 0 ; i < MAX_BUTTONS ; ++i)
mjr	77:0b96f6867312	2029	{
mjr	77:0b96f6867312	2030	// get the button
mjr	77:0b96f6867312	2031	ButtonCfg &b = cfg.button[i];
mjr	77:0b96f6867312	2032
mjr	77:0b96f6867312	2033	// check the unshifted button
mjr	77:0b96f6867312	2034	int c = b.IRCommand - 1;
mjr	77:0b96f6867312	2035	if (c >= 0 && c < MAX_IR_CODES
mjr	77:0b96f6867312	2036	&& IRConfigSlotToVirtualButton[c] == 0xFF)
mjr	77:0b96f6867312	2037	IRConfigSlotToVirtualButton[c] = nVirtualButtons++;
mjr	77:0b96f6867312	2038
mjr	77:0b96f6867312	2039	// check the shifted button
mjr	77:0b96f6867312	2040	c = b.IRCommand2 - 1;
mjr	77:0b96f6867312	2041	if (c >= 0 && c < MAX_IR_CODES
mjr	77:0b96f6867312	2042	&& IRConfigSlotToVirtualButton[c] == 0xFF)
mjr	77:0b96f6867312	2043	IRConfigSlotToVirtualButton[c] = nVirtualButtons++;
mjr	77:0b96f6867312	2044	}
mjr	77:0b96f6867312	2045
mjr	77:0b96f6867312	2046	// allocate an additional virtual button for transmitting ad hoc
mjr	77:0b96f6867312	2047	// codes, such as for the "send code" USB API function
mjr	77:0b96f6867312	2048	IRAdHocSlot = nVirtualButtons++;
mjr	77:0b96f6867312	2049
mjr	77:0b96f6867312	2050	// create the transmitter
mjr	77:0b96f6867312	2051	ir_tx = new IRTransmitter(pin, nVirtualButtons);
mjr	77:0b96f6867312	2052
mjr	77:0b96f6867312	2053	// program the commands into the virtual button slots
mjr	77:0b96f6867312	2054	for (int i = 0 ; i < MAX_IR_CODES ; ++i)
mjr	77:0b96f6867312	2055	{
mjr	77:0b96f6867312	2056	// if this slot is assigned to a virtual button, program it
mjr	77:0b96f6867312	2057	int vb = IRConfigSlotToVirtualButton[i];
mjr	77:0b96f6867312	2058	if (vb != 0xFF)
mjr	77:0b96f6867312	2059	{
mjr	77:0b96f6867312	2060	IRCommandCfg &cb = cfg.IRCommand[i];
mjr	77:0b96f6867312	2061	uint64_t code = cb.code.lo \| (uint64_t(cb.code.hi) << 32);
mjr	77:0b96f6867312	2062	bool dittos = (cb.flags & IRFlagDittos) != 0;
mjr	77:0b96f6867312	2063	ir_tx->programButton(vb, cb.protocol, dittos, code);
mjr	77:0b96f6867312	2064	}
mjr	77:0b96f6867312	2065	}
mjr	77:0b96f6867312	2066	}
mjr	77:0b96f6867312	2067
mjr	77:0b96f6867312	2068	// if there's a receiver, set it up
mjr	77:0b96f6867312	2069	if ((pin = wirePinName(cfg.IR.sensor)) != NC)
mjr	77:0b96f6867312	2070	{
mjr	77:0b96f6867312	2071	// create the receiver
mjr	77:0b96f6867312	2072	ir_rx = new IRReceiver(pin, 32);
mjr	77:0b96f6867312	2073
mjr	77:0b96f6867312	2074	// connect the transmitter (if any) to the receiver, so that
mjr	77:0b96f6867312	2075	// the receiver can suppress reception of our own transmissions
mjr	77:0b96f6867312	2076	ir_rx->setTransmitter(ir_tx);
mjr	77:0b96f6867312	2077
mjr	77:0b96f6867312	2078	// enable it
mjr	77:0b96f6867312	2079	ir_rx->enable();
mjr	77:0b96f6867312	2080
mjr	77:0b96f6867312	2081	// Check the IR command slots to see if any slots are configured
mjr	77:0b96f6867312	2082	// to send a keyboard key on receiving an IR command. If any are,
mjr	77:0b96f6867312	2083	// tell the caller that we need a USB keyboard interface.
mjr	77:0b96f6867312	2084	for (int i = 0 ; i < MAX_IR_CODES ; ++i)
mjr	77:0b96f6867312	2085	{
mjr	77:0b96f6867312	2086	IRCommandCfg &cb = cfg.IRCommand[i];
mjr	77:0b96f6867312	2087	if (cb.protocol != 0
mjr	77:0b96f6867312	2088	&& (cb.keytype == BtnTypeKey \|\| cb.keytype == BtnTypeMedia))
mjr	77:0b96f6867312	2089	{
mjr	77:0b96f6867312	2090	kbKeys = true;
mjr	77:0b96f6867312	2091	break;
mjr	77:0b96f6867312	2092	}
mjr	77:0b96f6867312	2093	}
mjr	77:0b96f6867312	2094	}
mjr	77:0b96f6867312	2095	}
mjr	77:0b96f6867312	2096
mjr	77:0b96f6867312	2097	// Press or release a button with an assigned IR function. 'cmd'
mjr	77:0b96f6867312	2098	// is the command slot number (1..MAX_IR_CODES) assigned to the button.
mjr	77:0b96f6867312	2099	void IR_buttonChange(uint8_t cmd, bool pressed)
mjr	77:0b96f6867312	2100	{
mjr	77:0b96f6867312	2101	// only proceed if there's an IR transmitter attached
mjr	77:0b96f6867312	2102	if (ir_tx != 0)
mjr	77:0b96f6867312	2103	{
mjr	77:0b96f6867312	2104	// adjust the command slot to a zero-based index
mjr	77:0b96f6867312	2105	int slot = cmd - 1;
mjr	77:0b96f6867312	2106
mjr	77:0b96f6867312	2107	// press or release the virtual button
mjr	77:0b96f6867312	2108	ir_tx->pushButton(IRConfigSlotToVirtualButton[slot], pressed);
mjr	77:0b96f6867312	2109	}
mjr	77:0b96f6867312	2110	}
mjr	77:0b96f6867312	2111
mjr	77:0b96f6867312	2112	// Process IR input
mjr	77:0b96f6867312	2113	void process_IR(Config &cfg, USBJoystick &js)
mjr	77:0b96f6867312	2114	{
mjr	77:0b96f6867312	2115	// if there's no IR receiver attached, there's nothing to do
mjr	77:0b96f6867312	2116	if (ir_rx == 0)
mjr	77:0b96f6867312	2117	return;
mjr	77:0b96f6867312	2118
mjr	77:0b96f6867312	2119	// Time out any received command
mjr	77:0b96f6867312	2120	if (IRCommandIn != 0)
mjr	77:0b96f6867312	2121	{
mjr	77:0b96f6867312	2122	// Time out inter-key gap mode after 30ms; time out all
mjr	77:0b96f6867312	2123	// commands after 100ms.
mjr	77:0b96f6867312	2124	uint32_t t = IRTimer.read_us();
mjr	77:0b96f6867312	2125	if (t > 100000)
mjr	77:0b96f6867312	2126	IRCommandIn = 0;
mjr	77:0b96f6867312	2127	else if (t > 30000)
mjr	77:0b96f6867312	2128	IRKeyGap = false;
mjr	77:0b96f6867312	2129	}
mjr	77:0b96f6867312	2130
mjr	77:0b96f6867312	2131	// Check if we're in learning mode
mjr	77:0b96f6867312	2132	if (IRLearningMode != 0)
mjr	77:0b96f6867312	2133	{
mjr	77:0b96f6867312	2134	// Learning mode. Read raw inputs from the IR sensor and
mjr	77:0b96f6867312	2135	// forward them to the PC via USB reports, up to the report
mjr	77:0b96f6867312	2136	// limit.
mjr	77:0b96f6867312	2137	const int nmax = USBJoystick::maxRawIR;
mjr	77:0b96f6867312	2138	uint16_t raw[nmax];
mjr	77:0b96f6867312	2139	int n;
mjr	77:0b96f6867312	2140	for (n = 0 ; n < nmax && ir_rx->processOne(raw[n]) ; ++n) ;
mjr	77:0b96f6867312	2141
mjr	77:0b96f6867312	2142	// if we read any raw samples, report them
mjr	77:0b96f6867312	2143	if (n != 0)
mjr	77:0b96f6867312	2144	js.reportRawIR(n, raw);
mjr	77:0b96f6867312	2145
mjr	77:0b96f6867312	2146	// check for a command
mjr	77:0b96f6867312	2147	IRCommand c;
mjr	77:0b96f6867312	2148	if (ir_rx->readCommand(c))
mjr	77:0b96f6867312	2149	{
mjr	77:0b96f6867312	2150	// check the current learning state
mjr	77:0b96f6867312	2151	switch (IRLearningMode)
mjr	77:0b96f6867312	2152	{
mjr	77:0b96f6867312	2153	case 1:
mjr	77:0b96f6867312	2154	// Initial state, waiting for the first decoded command.
mjr	77:0b96f6867312	2155	// This is it.
mjr	77:0b96f6867312	2156	learnedIRCode = c;
mjr	77:0b96f6867312	2157
mjr	77:0b96f6867312	2158	// Check if we need additional information. If the
mjr	77:0b96f6867312	2159	// protocol supports dittos, we have to wait for a repeat
mjr	77:0b96f6867312	2160	// to see if the remote actually uses the dittos, since
mjr	77:0b96f6867312	2161	// some implementations of such protocols use the dittos
mjr	77:0b96f6867312	2162	// while others just send repeated full codes. Otherwise,
mjr	77:0b96f6867312	2163	// all we need is the initial code, so we're done.
mjr	77:0b96f6867312	2164	IRLearningMode = (c.hasDittos ? 2 : 3);
mjr	77:0b96f6867312	2165	break;
mjr	77:0b96f6867312	2166
mjr	77:0b96f6867312	2167	case 2:
mjr	77:0b96f6867312	2168	// Code received, awaiting auto-repeat information. If
mjr	77:0b96f6867312	2169	// the protocol has dittos, check to see if we got a ditto:
mjr	77:0b96f6867312	2170	//
mjr	77:0b96f6867312	2171	// - If we received a ditto in the same protocol as the
mjr	77:0b96f6867312	2172	// prior command, the remote uses dittos.
mjr	77:0b96f6867312	2173	//
mjr	77:0b96f6867312	2174	// - If we received a repeat of the prior command (not a
mjr	77:0b96f6867312	2175	// ditto, but a repeat of the full code), the remote
mjr	77:0b96f6867312	2176	// doesn't use dittos even though the protocol supports
mjr	77:0b96f6867312	2177	// them.
mjr	77:0b96f6867312	2178	//
mjr	77:0b96f6867312	2179	// - Otherwise, it's not an auto-repeat at all, so we
mjr	77:0b96f6867312	2180	// can't decide one way or the other on dittos: start
mjr	77:0b96f6867312	2181	// over.
mjr	77:0b96f6867312	2182	if (c.proId == learnedIRCode.proId
mjr	77:0b96f6867312	2183	&& c.hasDittos
mjr	77:0b96f6867312	2184	&& c.ditto)
mjr	77:0b96f6867312	2185	{
mjr	77:0b96f6867312	2186	// success - the remote uses dittos
mjr	77:0b96f6867312	2187	IRLearningMode = 3;
mjr	77:0b96f6867312	2188	}
mjr	77:0b96f6867312	2189	else if (c.proId == learnedIRCode.proId
mjr	77:0b96f6867312	2190	&& c.hasDittos
mjr	77:0b96f6867312	2191	&& !c.ditto
mjr	77:0b96f6867312	2192	&& c.code == learnedIRCode.code)
mjr	77:0b96f6867312	2193	{
mjr	77:0b96f6867312	2194	// success - it's a repeat of the last code, so
mjr	77:0b96f6867312	2195	// the remote doesn't use dittos even though the
mjr	77:0b96f6867312	2196	// protocol supports them
mjr	77:0b96f6867312	2197	learnedIRCode.hasDittos = false;
mjr	77:0b96f6867312	2198	IRLearningMode = 3;
mjr	77:0b96f6867312	2199	}
mjr	77:0b96f6867312	2200	else
mjr	77:0b96f6867312	2201	{
mjr	77:0b96f6867312	2202	// It's not a ditto and not a full repeat of the
mjr	77:0b96f6867312	2203	// last code, so it's either a new key, or some kind
mjr	77:0b96f6867312	2204	// of multi-code key encoding that we don't recognize.
mjr	77:0b96f6867312	2205	// We can't use this code, so start over.
mjr	77:0b96f6867312	2206	IRLearningMode = 1;
mjr	77:0b96f6867312	2207	}
mjr	77:0b96f6867312	2208	break;
mjr	77:0b96f6867312	2209	}
mjr	77:0b96f6867312	2210
mjr	77:0b96f6867312	2211	// If we ended in state 3, we've successfully decoded
mjr	77:0b96f6867312	2212	// the transmission. Report the decoded data and terminate
mjr	77:0b96f6867312	2213	// learning mode.
mjr	77:0b96f6867312	2214	if (IRLearningMode == 3)
mjr	77:0b96f6867312	2215	{
mjr	77:0b96f6867312	2216	// figure the flags:
mjr	77:0b96f6867312	2217	// 0x02 -> dittos
mjr	77:0b96f6867312	2218	uint8_t flags = 0;
mjr	77:0b96f6867312	2219	if (learnedIRCode.hasDittos)
mjr	77:0b96f6867312	2220	flags \|= 0x02;
mjr	77:0b96f6867312	2221
mjr	77:0b96f6867312	2222	// report the code
mjr	77:0b96f6867312	2223	js.reportIRCode(learnedIRCode.proId, flags, learnedIRCode.code);
mjr	77:0b96f6867312	2224
mjr	77:0b96f6867312	2225	// exit learning mode
mjr	77:0b96f6867312	2226	IRLearningMode = 0;
mjr	77:0b96f6867312	2227	}
mjr	77:0b96f6867312	2228	}
mjr	77:0b96f6867312	2229
mjr	77:0b96f6867312	2230	// time out of IR learning mode if it's been too long
mjr	77:0b96f6867312	2231	if (IRLearningMode != 0 && IRTimer.read_us() > 10000000L)
mjr	77:0b96f6867312	2232	{
mjr	77:0b96f6867312	2233	// report the termination by sending a raw IR report with
mjr	77:0b96f6867312	2234	// zero data elements
mjr	77:0b96f6867312	2235	js.reportRawIR(0, 0);
mjr	77:0b96f6867312	2236
mjr	77:0b96f6867312	2237
mjr	77:0b96f6867312	2238	// cancel learning mode
mjr	77:0b96f6867312	2239	IRLearningMode = 0;
mjr	77:0b96f6867312	2240	}
mjr	77:0b96f6867312	2241	}
mjr	77:0b96f6867312	2242	else
mjr	77:0b96f6867312	2243	{
mjr	77:0b96f6867312	2244	// Not in learning mode. We don't care about the raw signals;
mjr	77:0b96f6867312	2245	// just run them through the protocol decoders.
mjr	77:0b96f6867312	2246	ir_rx->process();
mjr	77:0b96f6867312	2247
mjr	77:0b96f6867312	2248	// Check for decoded commands. Keep going until all commands
mjr	77:0b96f6867312	2249	// have been read.
mjr	77:0b96f6867312	2250	IRCommand c;
mjr	77:0b96f6867312	2251	while (ir_rx->readCommand(c))
mjr	77:0b96f6867312	2252	{
mjr	77:0b96f6867312	2253	// We received a decoded command. Determine if it's a repeat,
mjr	77:0b96f6867312	2254	// and if so, try to determine whether it's an auto-repeat (due
mjr	77:0b96f6867312	2255	// to the remote key being held down) or a distinct new press
mjr	77:0b96f6867312	2256	// on the same key as last time. The distinction is significant
mjr	77:0b96f6867312	2257	// because it affects the auto-repeat behavior of the PC key
mjr	77:0b96f6867312	2258	// input. An auto-repeat represents a key being held down on
mjr	77:0b96f6867312	2259	// the remote, which we want to translate to a (virtual) key
mjr	77:0b96f6867312	2260	// being held down on the PC keyboard; a distinct key press on
mjr	77:0b96f6867312	2261	// the remote translates to a distinct key press on the PC.
mjr	77:0b96f6867312	2262	//
mjr	77:0b96f6867312	2263	// It can only be a repeat if there's a prior command that
mjr	77:0b96f6867312	2264	// hasn't timed out yet, so start by checking for a previous
mjr	77:0b96f6867312	2265	// command.
mjr	77:0b96f6867312	2266	bool repeat = false, autoRepeat = false;
mjr	77:0b96f6867312	2267	if (IRCommandIn != 0)
mjr	77:0b96f6867312	2268	{
mjr	77:0b96f6867312	2269	// We have a command in progress. Check to see if the
mjr	77:0b96f6867312	2270	// new command is a repeat of the previous command. Check
mjr	77:0b96f6867312	2271	// first to see if it's a "ditto", which explicitly represents
mjr	77:0b96f6867312	2272	// an auto-repeat of the last command.
mjr	77:0b96f6867312	2273	IRCommandCfg &cmdcfg = cfg.IRCommand[IRCommandIn - 1];
mjr	77:0b96f6867312	2274	if (c.ditto)
mjr	77:0b96f6867312	2275	{
mjr	77:0b96f6867312	2276	// We received a ditto. Dittos are always auto-
mjr	77:0b96f6867312	2277	// repeats, so it's an auto-repeat as long as the
mjr	77:0b96f6867312	2278	// ditto is in the same protocol as the last command.
mjr	77:0b96f6867312	2279	// If the ditto is in a new protocol, the ditto can't
mjr	77:0b96f6867312	2280	// be for the last command we saw, because a ditto
mjr	77:0b96f6867312	2281	// never changes protocols from its antecedent. In
mjr	77:0b96f6867312	2282	// such a case, we must have missed the antecedent
mjr	77:0b96f6867312	2283	// command and thus don't know what's being repeated.
mjr	77:0b96f6867312	2284	repeat = autoRepeat = (c.proId == cmdcfg.protocol);
mjr	77:0b96f6867312	2285	}
mjr	77:0b96f6867312	2286	else
mjr	77:0b96f6867312	2287	{
mjr	77:0b96f6867312	2288	// It's not a ditto. The new command is a repeat if
mjr	77:0b96f6867312	2289	// it matches the protocol and command code of the
mjr	77:0b96f6867312	2290	// prior command.
mjr	77:0b96f6867312	2291	repeat = (c.proId == cmdcfg.protocol
mjr	77:0b96f6867312	2292	&& uint32_t(c.code) == cmdcfg.code.lo
mjr	77:0b96f6867312	2293	&& uint32_t(c.code >> 32) == cmdcfg.code.hi);
mjr	77:0b96f6867312	2294
mjr	77:0b96f6867312	2295	// If the command is a repeat, try to determine whether
mjr	77:0b96f6867312	2296	// it's an auto-repeat or a new press on the same key.
mjr	77:0b96f6867312	2297	// If the protocol uses dittos, it's definitely a new
mjr	77:0b96f6867312	2298	// key press, because an auto-repeat would have used a
mjr	77:0b96f6867312	2299	// ditto. For a protocol that doesn't use dittos, both
mjr	77:0b96f6867312	2300	// an auto-repeat and a new key press just send the key
mjr	77:0b96f6867312	2301	// code again, so we can't tell the difference based on
mjr	77:0b96f6867312	2302	// that alone. But if the protocol has a toggle bit, we
mjr	77:0b96f6867312	2303	// can tell by the toggle bit value: a new key press has
mjr	77:0b96f6867312	2304	// the opposite toggle value as the last key press, while
mjr	77:0b96f6867312	2305	// an auto-repeat has the same toggle. Note that if the
mjr	77:0b96f6867312	2306	// protocol doesn't use toggle bits, the toggle value
mjr	77:0b96f6867312	2307	// will always be the same, so we'll simply always treat
mjr	77:0b96f6867312	2308	// any repeat as an auto-repeat. Many protocols simply
mjr	77:0b96f6867312	2309	// provide no way to distinguish the two, so in such
mjr	77:0b96f6867312	2310	// cases it's consistent with the native implementations
mjr	77:0b96f6867312	2311	// to treat any repeat as an auto-repeat.
mjr	77:0b96f6867312	2312	autoRepeat =
mjr	77:0b96f6867312	2313	repeat
mjr	77:0b96f6867312	2314	&& !(cmdcfg.flags & IRFlagDittos)
mjr	77:0b96f6867312	2315	&& c.toggle == lastIRToggle;
mjr	77:0b96f6867312	2316	}
mjr	77:0b96f6867312	2317	}
mjr	77:0b96f6867312	2318
mjr	77:0b96f6867312	2319	// Check to see if it's a repeat of any kind
mjr	77:0b96f6867312	2320	if (repeat)
mjr	77:0b96f6867312	2321	{
mjr	77:0b96f6867312	2322	// It's a repeat. If it's not an auto-repeat, it's a
mjr	77:0b96f6867312	2323	// new distinct key press, so we need to send the PC a
mjr	77:0b96f6867312	2324	// momentary gap where we're not sending the same key,
mjr	77:0b96f6867312	2325	// so that the PC also recognizes this as a distinct
mjr	77:0b96f6867312	2326	// key press event.
mjr	77:0b96f6867312	2327	if (!autoRepeat)
mjr	77:0b96f6867312	2328	IRKeyGap = true;
mjr	77:0b96f6867312	2329
mjr	77:0b96f6867312	2330	// restart the key-up timer
mjr	77:0b96f6867312	2331	IRTimer.reset();
mjr	77:0b96f6867312	2332	}
mjr	77:0b96f6867312	2333	else if (c.ditto)
mjr	77:0b96f6867312	2334	{
mjr	77:0b96f6867312	2335	// It's a ditto, but not a repeat of the last command.
mjr	77:0b96f6867312	2336	// But a ditto doesn't contain any information of its own
mjr	77:0b96f6867312	2337	// on the command being repeated, so given that it's not
mjr	77:0b96f6867312	2338	// our last command, we can't infer what command the ditto
mjr	77:0b96f6867312	2339	// is for and thus can't make sense of it. We have to
mjr	77:0b96f6867312	2340	// simply ignore it and wait for the sender to start with
mjr	77:0b96f6867312	2341	// a full command for a new key press.
mjr	77:0b96f6867312	2342	IRCommandIn = 0;
mjr	77:0b96f6867312	2343	}
mjr	77:0b96f6867312	2344	else
mjr	77:0b96f6867312	2345	{
mjr	77:0b96f6867312	2346	// It's not a repeat, so the last command is no longer
mjr	77:0b96f6867312	2347	// in effect (regardless of whether we find a match for
mjr	77:0b96f6867312	2348	// the new command).
mjr	77:0b96f6867312	2349	IRCommandIn = 0;
mjr	77:0b96f6867312	2350
mjr	77:0b96f6867312	2351	// Check to see if we recognize the new command, by
mjr	77:0b96f6867312	2352	// searching for a match in our learned code list.
mjr	77:0b96f6867312	2353	for (int i = 0 ; i < MAX_IR_CODES ; ++i)
mjr	77:0b96f6867312	2354	{
mjr	77:0b96f6867312	2355	// if the protocol and command code from the code
mjr	77:0b96f6867312	2356	// list both match the input, it's a match
mjr	77:0b96f6867312	2357	IRCommandCfg &cmdcfg = cfg.IRCommand[i];
mjr	77:0b96f6867312	2358	if (cmdcfg.protocol == c.proId
mjr	77:0b96f6867312	2359	&& cmdcfg.code.lo == uint32_t(c.code)
mjr	77:0b96f6867312	2360	&& cmdcfg.code.hi == uint32_t(c.code >> 32))
mjr	77:0b96f6867312	2361	{
mjr	77:0b96f6867312	2362	// Found it! Make this the last command, and
mjr	77:0b96f6867312	2363	// remember the starting time.
mjr	77:0b96f6867312	2364	IRCommandIn = i + 1;
mjr	77:0b96f6867312	2365	lastIRToggle = c.toggle;
mjr	77:0b96f6867312	2366	IRTimer.reset();
mjr	77:0b96f6867312	2367
mjr	77:0b96f6867312	2368	// no need to keep searching
mjr	77:0b96f6867312	2369	break;
mjr	77:0b96f6867312	2370	}
mjr	77:0b96f6867312	2371	}
mjr	77:0b96f6867312	2372	}
mjr	77:0b96f6867312	2373	}
mjr	77:0b96f6867312	2374	}
mjr	77:0b96f6867312	2375	}
mjr	77:0b96f6867312	2376
mjr	74:822a92bc11d2	2377
mjr	11:bd9da7088e6e	2378	// ---------------------------------------------------------------------------
mjr	11:bd9da7088e6e	2379	//
mjr	11:bd9da7088e6e	2380	// Button input
mjr	11:bd9da7088e6e	2381	//
mjr	11:bd9da7088e6e	2382
mjr	18:5e890ebd0023	2383	// button state
mjr	18:5e890ebd0023	2384	struct ButtonState
mjr	18:5e890ebd0023	2385	{
mjr	38:091e511ce8a0	2386	ButtonState()
mjr	38:091e511ce8a0	2387	{
mjr	53:9b2611964afc	2388	physState = logState = prevLogState = 0;
mjr	53:9b2611964afc	2389	virtState = 0;
mjr	53:9b2611964afc	2390	dbState = 0;
mjr	38:091e511ce8a0	2391	pulseState = 0;
mjr	53:9b2611964afc	2392	pulseTime = 0;
mjr	38:091e511ce8a0	2393	}
mjr	35:e959ffba78fd	2394
mjr	53:9b2611964afc	2395	// "Virtually" press or un-press the button. This can be used to
mjr	53:9b2611964afc	2396	// control the button state via a software (virtual) source, such as
mjr	53:9b2611964afc	2397	// the ZB Launch Ball feature.
mjr	53:9b2611964afc	2398	//
mjr	53:9b2611964afc	2399	// To allow sharing of one button by multiple virtual sources, each
mjr	53:9b2611964afc	2400	// virtual source must keep track of its own state internally, and
mjr	53:9b2611964afc	2401	// only call this routine to CHANGE the state. This is because calls
mjr	53:9b2611964afc	2402	// to this routine are additive: turning the button ON twice will
mjr	53:9b2611964afc	2403	// require turning it OFF twice before it actually turns off.
mjr	53:9b2611964afc	2404	void virtPress(bool on)
mjr	53:9b2611964afc	2405	{
mjr	53:9b2611964afc	2406	// Increment or decrement the current state
mjr	53:9b2611964afc	2407	virtState += on ? 1 : -1;
mjr	53:9b2611964afc	2408	}
mjr	53:9b2611964afc	2409
mjr	53:9b2611964afc	2410	// DigitalIn for the button, if connected to a physical input
mjr	73:4e8ce0b18915	2411	TinyDigitalIn di;
mjr	38:091e511ce8a0	2412
mjr	65:739875521aae	2413	// Time of last pulse state transition.
mjr	65:739875521aae	2414	//
mjr	65:739875521aae	2415	// Each state change sticks for a minimum period; when the timer expires,
mjr	65:739875521aae	2416	// if the underlying physical switch is in a different state, we switch
mjr	65:739875521aae	2417	// to the next state and restart the timer. pulseTime is the time remaining
mjr	65:739875521aae	2418	// remaining before we can make another state transition, in microseconds.
mjr	65:739875521aae	2419	// The state transitions require a complete cycle, 1 -> 2 -> 3 -> 4 -> 1...;
mjr	65:739875521aae	2420	// this guarantees that the parity of the pulse count always matches the
mjr	65:739875521aae	2421	// current physical switch state when the latter is stable, which makes
mjr	65:739875521aae	2422	// it impossible to "trick" the host by rapidly toggling the switch state.
mjr	65:739875521aae	2423	// (On my original Pinscape cabinet, I had a hardware pulse generator
mjr	65:739875521aae	2424	// for coin door, and that was possible to trick by rapid toggling.
mjr	65:739875521aae	2425	// This software system can't be fooled that way.)
mjr	65:739875521aae	2426	uint32_t pulseTime;
mjr	18:5e890ebd0023	2427
mjr	65:739875521aae	2428	// Config key index. This points to the ButtonCfg structure in the
mjr	65:739875521aae	2429	// configuration that contains the PC key mapping for the button.
mjr	65:739875521aae	2430	uint8_t cfgIndex;
mjr	53:9b2611964afc	2431
mjr	53:9b2611964afc	2432	// Virtual press state. This is used to simulate pressing the button via
mjr	53:9b2611964afc	2433	// software inputs rather than physical inputs. To allow one button to be
mjr	53:9b2611964afc	2434	// controlled by mulitple software sources, each source should keep track
mjr	53:9b2611964afc	2435	// of its own virtual state for the button independently, and then INCREMENT
mjr	53:9b2611964afc	2436	// this variable when the source's state transitions from off to on, and
mjr	53:9b2611964afc	2437	// DECREMENT it when the source's state transitions from on to off. That
mjr	53:9b2611964afc	2438	// will make the button's pressed state the logical OR of all of the virtual
mjr	53:9b2611964afc	2439	// and physical source states.
mjr	53:9b2611964afc	2440	uint8_t virtState;
mjr	38:091e511ce8a0	2441
mjr	38:091e511ce8a0	2442	// Debounce history. On each scan, we shift in a 1 bit to the lsb if
mjr	38:091e511ce8a0	2443	// the physical key is reporting ON, and shift in a 0 bit if the physical
mjr	38:091e511ce8a0	2444	// key is reporting OFF. We consider the key to have a new stable state
mjr	38:091e511ce8a0	2445	// if we have N consecutive 0's or 1's in the low N bits (where N is
mjr	38:091e511ce8a0	2446	// a parameter that determines how long we wait for transients to settle).
mjr	53:9b2611964afc	2447	uint8_t dbState;
mjr	38:091e511ce8a0	2448
mjr	65:739875521aae	2449	// current PHYSICAL on/off state, after debouncing
mjr	65:739875521aae	2450	uint8_t physState : 1;
mjr	65:739875521aae	2451
mjr	65:739875521aae	2452	// current LOGICAL on/off state as reported to the host.
mjr	65:739875521aae	2453	uint8_t logState : 1;
mjr	65:739875521aae	2454
mjr	65:739875521aae	2455	// previous logical on/off state, when keys were last processed for USB
mjr	65:739875521aae	2456	// reports and local effects
mjr	65:739875521aae	2457	uint8_t prevLogState : 1;
mjr	65:739875521aae	2458
mjr	65:739875521aae	2459	// Pulse state
mjr	65:739875521aae	2460	//
mjr	65:739875521aae	2461	// A button in pulse mode (selected via the config flags for the button)
mjr	65:739875521aae	2462	// transmits a brief logical button press and release each time the attached
mjr	65:739875521aae	2463	// physical switch changes state. This is useful for cases where the host
mjr	65:739875521aae	2464	// expects a key press for each change in the state of the physical switch.
mjr	65:739875521aae	2465	// The canonical example is the Coin Door switch in VPinMAME, which requires
mjr	65:739875521aae	2466	// pressing the END key to toggle the open/closed state. This software design
mjr	65:739875521aae	2467	// isn't easily implemented in a physical coin door, though; the simplest
mjr	65:739875521aae	2468	// physical sensor for the coin door state is a switch that's on when the
mjr	65:739875521aae	2469	// door is open and off when the door is closed (or vice versa, but in either
mjr	65:739875521aae	2470	// case, the switch state corresponds to the current state of the door at any
mjr	65:739875521aae	2471	// given time, rather than pulsing on state changes). The "pulse mode"
mjr	65:739875521aae	2472	// option brdiges this gap by generating a toggle key event each time
mjr	65:739875521aae	2473	// there's a change to the physical switch's state.
mjr	38:091e511ce8a0	2474	//
mjr	38:091e511ce8a0	2475	// Pulse state:
mjr	38:091e511ce8a0	2476	// 0 -> not a pulse switch - logical key state equals physical switch state
mjr	38:091e511ce8a0	2477	// 1 -> off
mjr	38:091e511ce8a0	2478	// 2 -> transitioning off-on
mjr	38:091e511ce8a0	2479	// 3 -> on
mjr	38:091e511ce8a0	2480	// 4 -> transitioning on-off
mjr	65:739875521aae	2481	uint8_t pulseState : 3; // 5 states -> we need 3 bits
mjr	65:739875521aae	2482
mjr	65:739875521aae	2483	} __attribute__((packed));
mjr	65:739875521aae	2484
mjr	65:739875521aae	2485	ButtonState *buttonState; // live button slots, allocated on startup
mjr	65:739875521aae	2486	int8_t nButtons; // number of live button slots allocated
mjr	65:739875521aae	2487	int8_t zblButtonIndex = -1; // index of ZB Launch button slot; -1 if unused
mjr	18:5e890ebd0023	2488
mjr	66:2e3583fbd2f4	2489	// Shift button state
mjr	66:2e3583fbd2f4	2490	struct
mjr	66:2e3583fbd2f4	2491	{
mjr	66:2e3583fbd2f4	2492	int8_t index; // buttonState[] index of shift button; -1 if none
mjr	66:2e3583fbd2f4	2493	uint8_t state : 2; // current shift state:
mjr	66:2e3583fbd2f4	2494	// 0 = not shifted
mjr	66:2e3583fbd2f4	2495	// 1 = shift button down, no key pressed yet
mjr	66:2e3583fbd2f4	2496	// 2 = shift button down, key pressed
mjr	66:2e3583fbd2f4	2497	uint8_t pulse : 1; // sending pulsed keystroke on release
mjr	66:2e3583fbd2f4	2498	uint32_t pulseTime; // time of start of pulsed keystroke
mjr	66:2e3583fbd2f4	2499	}
mjr	66:2e3583fbd2f4	2500	__attribute__((packed)) shiftButton;
mjr	38:091e511ce8a0	2501
mjr	38:091e511ce8a0	2502	// Button data
mjr	38:091e511ce8a0	2503	uint32_t jsButtons = 0;
mjr	38:091e511ce8a0	2504
mjr	38:091e511ce8a0	2505	// Keyboard report state. This tracks the USB keyboard state. We can
mjr	38:091e511ce8a0	2506	// report at most 6 simultaneous non-modifier keys here, plus the 8
mjr	38:091e511ce8a0	2507	// modifier keys.
mjr	38:091e511ce8a0	2508	struct
mjr	38:091e511ce8a0	2509	{
mjr	38:091e511ce8a0	2510	bool changed; // flag: changed since last report sent
mjr	48:058ace2aed1d	2511	uint8_t nkeys; // number of active keys in the list
mjr	38:091e511ce8a0	2512	uint8_t data[8]; // key state, in USB report format: byte 0 is the modifier key mask,
mjr	38:091e511ce8a0	2513	// byte 1 is reserved, and bytes 2-7 are the currently pressed key codes
mjr	38:091e511ce8a0	2514	} kbState = { false, 0, { 0, 0, 0, 0, 0, 0, 0, 0 } };
mjr	38:091e511ce8a0	2515
mjr	38:091e511ce8a0	2516	// Media key state
mjr	38:091e511ce8a0	2517	struct
mjr	38:091e511ce8a0	2518	{
mjr	38:091e511ce8a0	2519	bool changed; // flag: changed since last report sent
mjr	38:091e511ce8a0	2520	uint8_t data; // key state byte for USB reports
mjr	38:091e511ce8a0	2521	} mediaState = { false, 0 };
mjr	38:091e511ce8a0	2522
mjr	38:091e511ce8a0	2523	// button scan interrupt ticker
mjr	38:091e511ce8a0	2524	Ticker buttonTicker;
mjr	38:091e511ce8a0	2525
mjr	38:091e511ce8a0	2526	// Button scan interrupt handler. We call this periodically via
mjr	38:091e511ce8a0	2527	// a timer interrupt to scan the physical button states.
mjr	38:091e511ce8a0	2528	void scanButtons()
mjr	38:091e511ce8a0	2529	{
mjr	38:091e511ce8a0	2530	// scan all button input pins
mjr	73:4e8ce0b18915	2531	ButtonState bs = buttonState, last = bs + nButtons;
mjr	73:4e8ce0b18915	2532	for ( ; bs < last ; ++bs)
mjr	38:091e511ce8a0	2533	{
mjr	73:4e8ce0b18915	2534	// Shift the new state into the debounce history
mjr	73:4e8ce0b18915	2535	uint8_t db = (bs->dbState << 1) \| bs->di.read();
mjr	73:4e8ce0b18915	2536	bs->dbState = db;
mjr	73:4e8ce0b18915	2537
mjr	73:4e8ce0b18915	2538	// If we have all 0's or 1's in the history for the required
mjr	73:4e8ce0b18915	2539	// debounce period, the key state is stable, so apply the new
mjr	73:4e8ce0b18915	2540	// physical state. Note that the pins are active low, so the
mjr	73:4e8ce0b18915	2541	// new button on/off state is the inverse of the GPIO state.
mjr	73:4e8ce0b18915	2542	const uint8_t stable = 0x1F; // 00011111b -> low 5 bits = last 5 readings
mjr	73:4e8ce0b18915	2543	db &= stable;
mjr	73:4e8ce0b18915	2544	if (db == 0 \|\| db == stable)
mjr	73:4e8ce0b18915	2545	bs->physState = !db;
mjr	38:091e511ce8a0	2546	}
mjr	38:091e511ce8a0	2547	}
mjr	38:091e511ce8a0	2548
mjr	38:091e511ce8a0	2549	// Button state transition timer. This is used for pulse buttons, to
mjr	38:091e511ce8a0	2550	// control the timing of the logical key presses generated by transitions
mjr	38:091e511ce8a0	2551	// in the physical button state.
mjr	38:091e511ce8a0	2552	Timer buttonTimer;
mjr	12:669df364a565	2553
mjr	65:739875521aae	2554	// Count a button during the initial setup scan
mjr	72:884207c0aab0	2555	void countButton(uint8_t typ, uint8_t shiftTyp, bool &kbKeys)
mjr	65:739875521aae	2556	{
mjr	65:739875521aae	2557	// count it
mjr	65:739875521aae	2558	++nButtons;
mjr	65:739875521aae	2559
mjr	67:c39e66c4e000	2560	// if it's a keyboard key or media key, note that we need a USB
mjr	67:c39e66c4e000	2561	// keyboard interface
mjr	72:884207c0aab0	2562	if (typ == BtnTypeKey \|\| typ == BtnTypeMedia
mjr	72:884207c0aab0	2563	\|\| shiftTyp == BtnTypeKey \|\| shiftTyp == BtnTypeMedia)
mjr	65:739875521aae	2564	kbKeys = true;
mjr	65:739875521aae	2565	}
mjr	65:739875521aae	2566
mjr	11:bd9da7088e6e	2567	// initialize the button inputs
mjr	35:e959ffba78fd	2568	void initButtons(Config &cfg, bool &kbKeys)
mjr	11:bd9da7088e6e	2569	{
mjr	66:2e3583fbd2f4	2570	// presume no shift key
mjr	66:2e3583fbd2f4	2571	shiftButton.index = -1;
mjr	66:2e3583fbd2f4	2572
mjr	65:739875521aae	2573	// Count up how many button slots we'll need to allocate. Start
mjr	65:739875521aae	2574	// with assigned buttons from the configuration, noting that we
mjr	65:739875521aae	2575	// only need to create slots for buttons that are actually wired.
mjr	65:739875521aae	2576	nButtons = 0;
mjr	65:739875521aae	2577	for (int i = 0 ; i < MAX_BUTTONS ; ++i)
mjr	65:739875521aae	2578	{
mjr	65:739875521aae	2579	// it's valid if it's wired to a real input pin
mjr	65:739875521aae	2580	if (wirePinName(cfg.button[i].pin) != NC)
mjr	72:884207c0aab0	2581	countButton(cfg.button[i].typ, cfg.button[i].typ2, kbKeys);
mjr	65:739875521aae	2582	}
mjr	65:739875521aae	2583
mjr	65:739875521aae	2584	// Count virtual buttons
mjr	65:739875521aae	2585
mjr	65:739875521aae	2586	// ZB Launch
mjr	65:739875521aae	2587	if (cfg.plunger.zbLaunchBall.port != 0)
mjr	65:739875521aae	2588	{
mjr	65:739875521aae	2589	// valid - remember the live button index
mjr	65:739875521aae	2590	zblButtonIndex = nButtons;
mjr	65:739875521aae	2591
mjr	65:739875521aae	2592	// count it
mjr	72:884207c0aab0	2593	countButton(cfg.plunger.zbLaunchBall.keytype, BtnTypeNone, kbKeys);
mjr	65:739875521aae	2594	}
mjr	65:739875521aae	2595
mjr	65:739875521aae	2596	// Allocate the live button slots
mjr	65:739875521aae	2597	ButtonState *bs = buttonState = new ButtonState[nButtons];
mjr	65:739875521aae	2598
mjr	65:739875521aae	2599	// Configure the physical inputs
mjr	65:739875521aae	2600	for (int i = 0 ; i < MAX_BUTTONS ; ++i)
mjr	65:739875521aae	2601	{
mjr	65:739875521aae	2602	PinName pin = wirePinName(cfg.button[i].pin);
mjr	65:739875521aae	2603	if (pin != NC)
mjr	65:739875521aae	2604	{
mjr	65:739875521aae	2605	// point back to the config slot for the keyboard data
mjr	65:739875521aae	2606	bs->cfgIndex = i;
mjr	65:739875521aae	2607
mjr	65:739875521aae	2608	// set up the GPIO input pin for this button
mjr	73:4e8ce0b18915	2609	bs->di.assignPin(pin);
mjr	65:739875521aae	2610
mjr	65:739875521aae	2611	// if it's a pulse mode button, set the initial pulse state to Off
mjr	65:739875521aae	2612	if (cfg.button[i].flags & BtnFlagPulse)
mjr	65:739875521aae	2613	bs->pulseState = 1;
mjr	65:739875521aae	2614
mjr	66:2e3583fbd2f4	2615	// If this is the shift button, note its buttonState[] index.
mjr	66:2e3583fbd2f4	2616	// We have to figure the buttonState[] index separately from
mjr	66:2e3583fbd2f4	2617	// the config index, because the indices can differ if some
mjr	66:2e3583fbd2f4	2618	// config slots are left unused.
mjr	66:2e3583fbd2f4	2619	if (cfg.shiftButton == i+1)
mjr	66:2e3583fbd2f4	2620	shiftButton.index = bs - buttonState;
mjr	66:2e3583fbd2f4	2621
mjr	65:739875521aae	2622	// advance to the next button
mjr	65:739875521aae	2623	++bs;
mjr	65:739875521aae	2624	}
mjr	65:739875521aae	2625	}
mjr	65:739875521aae	2626
mjr	53:9b2611964afc	2627	// Configure the virtual buttons. These are buttons controlled via
mjr	53:9b2611964afc	2628	// software triggers rather than physical GPIO inputs. The virtual
mjr	53:9b2611964afc	2629	// buttons have the same control structures as regular buttons, but
mjr	53:9b2611964afc	2630	// they get their configuration data from other config variables.
mjr	53:9b2611964afc	2631
mjr	53:9b2611964afc	2632	// ZB Launch Ball button
mjr	65:739875521aae	2633	if (cfg.plunger.zbLaunchBall.port != 0)
mjr	11:bd9da7088e6e	2634	{
mjr	65:739875521aae	2635	// Point back to the config slot for the keyboard data.
mjr	66:2e3583fbd2f4	2636	// We use a special extra slot for virtual buttons,
mjr	66:2e3583fbd2f4	2637	// so we also need to set up the slot data by copying
mjr	66:2e3583fbd2f4	2638	// the ZBL config data to our virtual button slot.
mjr	65:739875521aae	2639	bs->cfgIndex = ZBL_BUTTON_CFG;
mjr	65:739875521aae	2640	cfg.button[ZBL_BUTTON_CFG].pin = PINNAME_TO_WIRE(NC);
mjr	65:739875521aae	2641	cfg.button[ZBL_BUTTON_CFG].typ = cfg.plunger.zbLaunchBall.keytype;
mjr	65:739875521aae	2642	cfg.button[ZBL_BUTTON_CFG].val = cfg.plunger.zbLaunchBall.keycode;
mjr	65:739875521aae	2643
mjr	66:2e3583fbd2f4	2644	// advance to the next button
mjr	65:739875521aae	2645	++bs;
mjr	11:bd9da7088e6e	2646	}
mjr	12:669df364a565	2647
mjr	38:091e511ce8a0	2648	// start the button scan thread
mjr	38:091e511ce8a0	2649	buttonTicker.attach_us(scanButtons, 1000);
mjr	38:091e511ce8a0	2650
mjr	38:091e511ce8a0	2651	// start the button state transition timer
mjr	12:669df364a565	2652	buttonTimer.start();
mjr	11:bd9da7088e6e	2653	}
mjr	11:bd9da7088e6e	2654
mjr	67:c39e66c4e000	2655	// Media key mapping. This maps from an 8-bit USB media key
mjr	67:c39e66c4e000	2656	// code to the corresponding bit in our USB report descriptor.
mjr	67:c39e66c4e000	2657	// The USB key code is the index, and the value at the index
mjr	67:c39e66c4e000	2658	// is the report descriptor bit. See joystick.cpp for the
mjr	67:c39e66c4e000	2659	// media descriptor details. Our currently mapped keys are:
mjr	67:c39e66c4e000	2660	//
mjr	67:c39e66c4e000	2661	// 0xE2 -> Mute -> 0x01
mjr	67:c39e66c4e000	2662	// 0xE9 -> Volume Up -> 0x02
mjr	67:c39e66c4e000	2663	// 0xEA -> Volume Down -> 0x04
mjr	67:c39e66c4e000	2664	// 0xB5 -> Next Track -> 0x08
mjr	67:c39e66c4e000	2665	// 0xB6 -> Previous Track -> 0x10
mjr	67:c39e66c4e000	2666	// 0xB7 -> Stop -> 0x20
mjr	67:c39e66c4e000	2667	// 0xCD -> Play / Pause -> 0x40
mjr	67:c39e66c4e000	2668	//
mjr	67:c39e66c4e000	2669	static const uint8_t mediaKeyMap[] = {
mjr	67:c39e66c4e000	2670	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 00-0F
mjr	67:c39e66c4e000	2671	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 10-1F
mjr	67:c39e66c4e000	2672	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 20-2F
mjr	67:c39e66c4e000	2673	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 30-3F
mjr	67:c39e66c4e000	2674	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 40-4F
mjr	67:c39e66c4e000	2675	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 50-5F
mjr	67:c39e66c4e000	2676	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 60-6F
mjr	67:c39e66c4e000	2677	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 70-7F
mjr	67:c39e66c4e000	2678	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 80-8F
mjr	67:c39e66c4e000	2679	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 90-9F
mjr	67:c39e66c4e000	2680	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // A0-AF
mjr	67:c39e66c4e000	2681	0, 0, 0, 0, 0, 8, 16, 32, 0, 0, 0, 0, 0, 0, 0, 0, // B0-BF
mjr	67:c39e66c4e000	2682	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 64, 0, 0, // C0-CF
mjr	67:c39e66c4e000	2683	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // D0-DF
mjr	67:c39e66c4e000	2684	0, 0, 1, 0, 0, 0, 0, 0, 0, 2, 4, 0, 0, 0, 0, 0, // E0-EF
mjr	67:c39e66c4e000	2685	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 // F0-FF
mjr	77:0b96f6867312	2686	};
mjr	77:0b96f6867312	2687
mjr	77:0b96f6867312	2688	// Keyboard key/joystick button state. processButtons() uses this to
mjr	77:0b96f6867312	2689	// build the set of key presses to report to the PC based on the logical
mjr	77:0b96f6867312	2690	// states of the button iputs.
mjr	77:0b96f6867312	2691	struct KeyState
mjr	77:0b96f6867312	2692	{
mjr	77:0b96f6867312	2693	KeyState()
mjr	77:0b96f6867312	2694	{
mjr	77:0b96f6867312	2695	// zero all members
mjr	77:0b96f6867312	2696	memset(this, 0, sizeof(*this));
mjr	77:0b96f6867312	2697	}
mjr	77:0b96f6867312	2698
mjr	77:0b96f6867312	2699	// Keyboard media keys currently pressed. This is a bit vector in
mjr	77:0b96f6867312	2700	// the format used in our USB keyboard reports (see USBJoystick.cpp).
mjr	77:0b96f6867312	2701	uint8_t mediakeys;
mjr	77:0b96f6867312	2702
mjr	77:0b96f6867312	2703	// Keyboard modifier (shift) keys currently pressed. This is a bit
mjr	77:0b96f6867312	2704	// vector in the format used in our USB keyboard reports (see
mjr	77:0b96f6867312	2705	// USBJoystick.cpp).
mjr	77:0b96f6867312	2706	uint8_t modkeys;
mjr	77:0b96f6867312	2707
mjr	77:0b96f6867312	2708	// Regular keyboard keys currently pressed. Each element is a USB
mjr	77:0b96f6867312	2709	// key code, or 0 for empty slots. Note that the USB report format
mjr	77:0b96f6867312	2710	// theoretically allows a flexible size limit, but the Windows KB
mjr	77:0b96f6867312	2711	// drivers have a fixed limit of 6 simultaneous keys (and won't
mjr	77:0b96f6867312	2712	// accept reports with more), so there's no point in making this
mjr	77:0b96f6867312	2713	// flexible; we'll just use the fixed size dictated by Windows.
mjr	77:0b96f6867312	2714	uint8_t keys[7];
mjr	77:0b96f6867312	2715
mjr	77:0b96f6867312	2716	// number of valid entries in keys[] array
mjr	77:0b96f6867312	2717	int nkeys;
mjr	77:0b96f6867312	2718
mjr	77:0b96f6867312	2719	// Joystick buttons pressed, as a bit vector. Bit n (1 << n)
mjr	77:0b96f6867312	2720	// represents joystick button n, n in 0..31, with 0 meaning
mjr	77:0b96f6867312	2721	// unpressed and 1 meaning pressed.
mjr	77:0b96f6867312	2722	uint32_t js;
mjr	77:0b96f6867312	2723
mjr	77:0b96f6867312	2724
mjr	77:0b96f6867312	2725	// Add a key press. 'typ' is the button type code (ButtonTypeXxx),
mjr	77:0b96f6867312	2726	// and 'val' is the value (the meaning of which varies by type code).
mjr	77:0b96f6867312	2727	void addKey(uint8_t typ, uint8_t val)
mjr	77:0b96f6867312	2728	{
mjr	77:0b96f6867312	2729	// add the key according to the type
mjr	77:0b96f6867312	2730	switch (typ)
mjr	77:0b96f6867312	2731	{
mjr	77:0b96f6867312	2732	case BtnTypeJoystick:
mjr	77:0b96f6867312	2733	// joystick button
mjr	77:0b96f6867312	2734	js \|= (1 << (val - 1));
mjr	77:0b96f6867312	2735	break;
mjr	77:0b96f6867312	2736
mjr	77:0b96f6867312	2737	case BtnTypeKey:
mjr	77:0b96f6867312	2738	// Keyboard key. The USB keyboard report encodes regular
mjr	77:0b96f6867312	2739	// keys and modifier keys separately, so we need to check
mjr	77:0b96f6867312	2740	// which type we have. Note that past versions mapped the
mjr	77:0b96f6867312	2741	// Keyboard Volume Up, Keyboard Volume Down, and Keyboard
mjr	77:0b96f6867312	2742	// Mute keys to the corresponding Media keys. We no longer
mjr	77:0b96f6867312	2743	// do this; instead, we have the separate BtnTypeMedia for
mjr	77:0b96f6867312	2744	// explicitly using media keys if desired.
mjr	77:0b96f6867312	2745	if (val >= 0xE0 && val <= 0xE7)
mjr	77:0b96f6867312	2746	{
mjr	77:0b96f6867312	2747	// It's a modifier key. These are represented in the USB
mjr	77:0b96f6867312	2748	// reports with a bit mask. We arrange the mask bits in
mjr	77:0b96f6867312	2749	// the same order as the scan codes, so we can figure the
mjr	77:0b96f6867312	2750	// appropriate bit with a simple shift.
mjr	77:0b96f6867312	2751	modkeys \|= (1 << (val - 0xE0));
mjr	77:0b96f6867312	2752	}
mjr	77:0b96f6867312	2753	else
mjr	77:0b96f6867312	2754	{
mjr	77:0b96f6867312	2755	// It's a regular key. Make sure it's not already in the
mjr	77:0b96f6867312	2756	// list, and that the list isn't full. If neither of these
mjr	77:0b96f6867312	2757	// apply, add the key to the key array.
mjr	77:0b96f6867312	2758	if (nkeys < 7)
mjr	77:0b96f6867312	2759	{
mjr	77:0b96f6867312	2760	bool found = false;
mjr	77:0b96f6867312	2761	for (int i = 0 ; i < nkeys ; ++i)
mjr	77:0b96f6867312	2762	{
mjr	77:0b96f6867312	2763	if (keys[i] == val)
mjr	77:0b96f6867312	2764	{
mjr	77:0b96f6867312	2765	found = true;
mjr	77:0b96f6867312	2766	break;
mjr	77:0b96f6867312	2767	}
mjr	77:0b96f6867312	2768	}
mjr	77:0b96f6867312	2769	if (!found)
mjr	77:0b96f6867312	2770	keys[nkeys++] = val;
mjr	77:0b96f6867312	2771	}
mjr	77:0b96f6867312	2772	}
mjr	77:0b96f6867312	2773	break;
mjr	77:0b96f6867312	2774
mjr	77:0b96f6867312	2775	case BtnTypeMedia:
mjr	77:0b96f6867312	2776	// Media control key. The media keys are mapped in the USB
mjr	77:0b96f6867312	2777	// report to bits, whereas the key codes are specified in the
mjr	77:0b96f6867312	2778	// config with their USB usage numbers. E.g., the config val
mjr	77:0b96f6867312	2779	// for Media Next Track is 0xB5, but we encode this in the USB
mjr	77:0b96f6867312	2780	// report as bit 0x08. The mediaKeyMap[] table translates
mjr	77:0b96f6867312	2781	// from the USB usage number to the mask bit. If the key isn't
mjr	77:0b96f6867312	2782	// among the subset we support, the mapped bit will be zero, so
mjr	77:0b96f6867312	2783	// the "\|=" will have no effect and the key will be ignored.
mjr	77:0b96f6867312	2784	mediakeys \|= mediaKeyMap[val];
mjr	77:0b96f6867312	2785	break;
mjr	77:0b96f6867312	2786	}
mjr	77:0b96f6867312	2787	}
mjr	77:0b96f6867312	2788	};
mjr	67:c39e66c4e000	2789
mjr	67:c39e66c4e000	2790
mjr	38:091e511ce8a0	2791	// Process the button state. This sets up the joystick, keyboard, and
mjr	38:091e511ce8a0	2792	// media control descriptors with the current state of keys mapped to
mjr	38:091e511ce8a0	2793	// those HID interfaces, and executes the local effects for any keys
mjr	38:091e511ce8a0	2794	// mapped to special device functions (e.g., Night Mode).
mjr	53:9b2611964afc	2795	void processButtons(Config &cfg)
mjr	35:e959ffba78fd	2796	{
mjr	77:0b96f6867312	2797	// key state
mjr	77:0b96f6867312	2798	KeyState ks;
mjr	38:091e511ce8a0	2799
mjr	38:091e511ce8a0	2800	// calculate the time since the last run
mjr	53:9b2611964afc	2801	uint32_t dt = buttonTimer.read_us();
mjr	18:5e890ebd0023	2802	buttonTimer.reset();
mjr	66:2e3583fbd2f4	2803
mjr	66:2e3583fbd2f4	2804	// check the shift button state
mjr	66:2e3583fbd2f4	2805	if (shiftButton.index != -1)
mjr	66:2e3583fbd2f4	2806	{
mjr	66:2e3583fbd2f4	2807	ButtonState *sbs = &buttonState[shiftButton.index];
mjr	66:2e3583fbd2f4	2808	switch (shiftButton.state)
mjr	66:2e3583fbd2f4	2809	{
mjr	66:2e3583fbd2f4	2810	case 0:
mjr	66:2e3583fbd2f4	2811	// Not shifted. Check if the button is now down: if so,
mjr	66:2e3583fbd2f4	2812	// switch to state 1 (shift button down, no key pressed yet).
mjr	66:2e3583fbd2f4	2813	if (sbs->physState)
mjr	66:2e3583fbd2f4	2814	shiftButton.state = 1;
mjr	66:2e3583fbd2f4	2815	break;
mjr	66:2e3583fbd2f4	2816
mjr	66:2e3583fbd2f4	2817	case 1:
mjr	66:2e3583fbd2f4	2818	// Shift button down, no key pressed yet. If the button is
mjr	66:2e3583fbd2f4	2819	// now up, it counts as an ordinary button press instead of
mjr	66:2e3583fbd2f4	2820	// a shift button press, since the shift function was never
mjr	66:2e3583fbd2f4	2821	// used. Return to unshifted state and start a timed key
mjr	66:2e3583fbd2f4	2822	// pulse event.
mjr	66:2e3583fbd2f4	2823	if (!sbs->physState)
mjr	66:2e3583fbd2f4	2824	{
mjr	66:2e3583fbd2f4	2825	shiftButton.state = 0;
mjr	66:2e3583fbd2f4	2826	shiftButton.pulse = 1;
mjr	66:2e3583fbd2f4	2827	shiftButton.pulseTime = 50000+dt; // 50 ms left on the key pulse
mjr	66:2e3583fbd2f4	2828	}
mjr	66:2e3583fbd2f4	2829	break;
mjr	66:2e3583fbd2f4	2830
mjr	66:2e3583fbd2f4	2831	case 2:
mjr	66:2e3583fbd2f4	2832	// Shift button down, other key was pressed. If the button is
mjr	66:2e3583fbd2f4	2833	// now up, simply clear the shift state without sending a key
mjr	66:2e3583fbd2f4	2834	// press for the shift button itself to the PC. The shift
mjr	66:2e3583fbd2f4	2835	// function was used, so its ordinary key press function is
mjr	66:2e3583fbd2f4	2836	// suppressed.
mjr	66:2e3583fbd2f4	2837	if (!sbs->physState)
mjr	66:2e3583fbd2f4	2838	shiftButton.state = 0;
mjr	66:2e3583fbd2f4	2839	break;
mjr	66:2e3583fbd2f4	2840	}
mjr	66:2e3583fbd2f4	2841	}
mjr	38:091e511ce8a0	2842
mjr	11:bd9da7088e6e	2843	// scan the button list
mjr	18:5e890ebd0023	2844	ButtonState *bs = buttonState;
mjr	65:739875521aae	2845	for (int i = 0 ; i < nButtons ; ++i, ++bs)
mjr	11:bd9da7088e6e	2846	{
mjr	77:0b96f6867312	2847	// get the config entry for the button
mjr	77:0b96f6867312	2848	ButtonCfg *bc = &cfg.button[bs->cfgIndex];
mjr	77:0b96f6867312	2849
mjr	66:2e3583fbd2f4	2850	// Check the button type:
mjr	66:2e3583fbd2f4	2851	// - shift button
mjr	66:2e3583fbd2f4	2852	// - pulsed button
mjr	66:2e3583fbd2f4	2853	// - regular button
mjr	66:2e3583fbd2f4	2854	if (shiftButton.index == i)
mjr	66:2e3583fbd2f4	2855	{
mjr	66:2e3583fbd2f4	2856	// This is the shift button. Its logical state for key
mjr	66:2e3583fbd2f4	2857	// reporting purposes is controlled by the shift buttton
mjr	66:2e3583fbd2f4	2858	// pulse timer. If we're in a pulse, its logical state
mjr	66:2e3583fbd2f4	2859	// is pressed.
mjr	66:2e3583fbd2f4	2860	if (shiftButton.pulse)
mjr	66:2e3583fbd2f4	2861	{
mjr	66:2e3583fbd2f4	2862	// deduct the current interval from the pulse time, ending
mjr	66:2e3583fbd2f4	2863	// the pulse if the time has expired
mjr	66:2e3583fbd2f4	2864	if (shiftButton.pulseTime > dt)
mjr	66:2e3583fbd2f4	2865	shiftButton.pulseTime -= dt;
mjr	66:2e3583fbd2f4	2866	else
mjr	66:2e3583fbd2f4	2867	shiftButton.pulse = 0;
mjr	66:2e3583fbd2f4	2868	}
mjr	66:2e3583fbd2f4	2869
mjr	66:2e3583fbd2f4	2870	// the button is logically pressed if we're in a pulse
mjr	66:2e3583fbd2f4	2871	bs->logState = shiftButton.pulse;
mjr	66:2e3583fbd2f4	2872	}
mjr	66:2e3583fbd2f4	2873	else if (bs->pulseState != 0)
mjr	18:5e890ebd0023	2874	{
mjr	38:091e511ce8a0	2875	// if the timer has expired, check for state changes
mjr	53:9b2611964afc	2876	if (bs->pulseTime > dt)
mjr	18:5e890ebd0023	2877	{
mjr	53:9b2611964afc	2878	// not expired yet - deduct the last interval
mjr	53:9b2611964afc	2879	bs->pulseTime -= dt;
mjr	53:9b2611964afc	2880	}
mjr	53:9b2611964afc	2881	else
mjr	53:9b2611964afc	2882	{
mjr	53:9b2611964afc	2883	// pulse time expired - check for a state change
mjr	53:9b2611964afc	2884	const uint32_t pulseLength = 200000UL; // 200 milliseconds
mjr	38:091e511ce8a0	2885	switch (bs->pulseState)
mjr	18:5e890ebd0023	2886	{
mjr	38:091e511ce8a0	2887	case 1:
mjr	38:091e511ce8a0	2888	// off - if the physical switch is now on, start a button pulse
mjr	53:9b2611964afc	2889	if (bs->physState)
mjr	53:9b2611964afc	2890	{
mjr	38:091e511ce8a0	2891	bs->pulseTime = pulseLength;
mjr	38:091e511ce8a0	2892	bs->pulseState = 2;
mjr	53:9b2611964afc	2893	bs->logState = 1;
mjr	38:091e511ce8a0	2894	}
mjr	38:091e511ce8a0	2895	break;
mjr	18:5e890ebd0023	2896
mjr	38:091e511ce8a0	2897	case 2:
mjr	38:091e511ce8a0	2898	// transitioning off to on - end the pulse, and start a gap
mjr	38:091e511ce8a0	2899	// equal to the pulse time so that the host can observe the
mjr	38:091e511ce8a0	2900	// change in state in the logical button
mjr	38:091e511ce8a0	2901	bs->pulseState = 3;
mjr	38:091e511ce8a0	2902	bs->pulseTime = pulseLength;
mjr	53:9b2611964afc	2903	bs->logState = 0;
mjr	38:091e511ce8a0	2904	break;
mjr	38:091e511ce8a0	2905
mjr	38:091e511ce8a0	2906	case 3:
mjr	38:091e511ce8a0	2907	// on - if the physical switch is now off, start a button pulse
mjr	53:9b2611964afc	2908	if (!bs->physState)
mjr	53:9b2611964afc	2909	{
mjr	38:091e511ce8a0	2910	bs->pulseTime = pulseLength;
mjr	38:091e511ce8a0	2911	bs->pulseState = 4;
mjr	53:9b2611964afc	2912	bs->logState = 1;
mjr	38:091e511ce8a0	2913	}
mjr	38:091e511ce8a0	2914	break;
mjr	38:091e511ce8a0	2915
mjr	38:091e511ce8a0	2916	case 4:
mjr	38:091e511ce8a0	2917	// transitioning on to off - end the pulse, and start a gap
mjr	38:091e511ce8a0	2918	bs->pulseState = 1;
mjr	38:091e511ce8a0	2919	bs->pulseTime = pulseLength;
mjr	53:9b2611964afc	2920	bs->logState = 0;
mjr	38:091e511ce8a0	2921	break;
mjr	18:5e890ebd0023	2922	}
mjr	18:5e890ebd0023	2923	}
mjr	38:091e511ce8a0	2924	}
mjr	38:091e511ce8a0	2925	else
mjr	38:091e511ce8a0	2926	{
mjr	38:091e511ce8a0	2927	// not a pulse switch - the logical state is the same as the physical state
mjr	53:9b2611964afc	2928	bs->logState = bs->physState;
mjr	38:091e511ce8a0	2929	}
mjr	77:0b96f6867312	2930
mjr	77:0b96f6867312	2931	// Determine if we're going to use the shifted version of the
mjr	77:0b96f6867312	2932	// button. We're using the shifted version if the shift button
mjr	77:0b96f6867312	2933	// is down AND the button has ANY shifted meaning - a key assignment,
mjr	77:0b96f6867312	2934	// a Night Mode toggle assignment, or an IR code. If the button
mjr	77:0b96f6867312	2935	// doesn't have any meaning at all in shifted mode, the base version
mjr	77:0b96f6867312	2936	// of the button applies whether or not the shift button is down.
mjr	77:0b96f6867312	2937	//
mjr	77:0b96f6867312	2938	// Note that the test for Night Mode is a bit tricky. The shifted
mjr	77:0b96f6867312	2939	// version of the button is the Night Mode toggle if the button matches
mjr	77:0b96f6867312	2940	// the Night Mode button index, AND its flags are set with "toggle
mjr	77:0b96f6867312	2941	// mode ON" (bit 0x02 is on) and "switch mode OFF" (bit 0x01 is off).
mjr	77:0b96f6867312	2942	// That means the button flags & 0x03 must equal 0x02.
mjr	77:0b96f6867312	2943	bool useShift =
mjr	77:0b96f6867312	2944	(shiftButton.state != 0
mjr	77:0b96f6867312	2945	&& (bc->typ2 != BtnTypeNone
mjr	77:0b96f6867312	2946	\|\| bc->IRCommand2 != 0
mjr	77:0b96f6867312	2947	\|\| (cfg.nightMode.btn == i+1 && (cfg.nightMode.flags & 0x03) == 0x02)));
mjr	77:0b96f6867312	2948
mjr	77:0b96f6867312	2949	// If we're using the shift function, and no other button has used
mjr	77:0b96f6867312	2950	// the shift function yet (shift state 1: "shift button is down but
mjr	77:0b96f6867312	2951	// no one has used the shift function yet"), then we've "consumed"
mjr	77:0b96f6867312	2952	// the shift button press (so go to shift state 2: "shift button has
mjr	77:0b96f6867312	2953	// been used by some other button press that has a shifted meaning").
mjr	77:0b96f6867312	2954	if (useShift && shiftButton.state == 1)
mjr	77:0b96f6867312	2955	shiftButton.state = 2;
mjr	35:e959ffba78fd	2956
mjr	38:091e511ce8a0	2957	// carry out any edge effects from buttons changing states
mjr	53:9b2611964afc	2958	if (bs->logState != bs->prevLogState)
mjr	38:091e511ce8a0	2959	{
mjr	77:0b96f6867312	2960	// check to see if this is the Night Mode button
mjr	53:9b2611964afc	2961	if (cfg.nightMode.btn == i + 1)
mjr	35:e959ffba78fd	2962	{
mjr	77:0b96f6867312	2963	// Check the switch type in the config flags. If flag 0x01 is
mjr	77:0b96f6867312	2964	// set, it's a persistent on/off switch, so the night mode
mjr	77:0b96f6867312	2965	// state simply tracks the current state of the switch.
mjr	77:0b96f6867312	2966	// Otherwise, it's a momentary button, so each button push
mjr	77:0b96f6867312	2967	// (i.e., each transition from logical state OFF to ON) toggles
mjr	77:0b96f6867312	2968	// the night mode state.
mjr	77:0b96f6867312	2969	//
mjr	77:0b96f6867312	2970	// Note that the "shift" flag (0x02) has no effect in switch
mjr	77:0b96f6867312	2971	// mode. Shifting only works for toggle mode.
mjr	53:9b2611964afc	2972	if (cfg.nightMode.flags & 0x01)
mjr	53:9b2611964afc	2973	{
mjr	77:0b96f6867312	2974	// It's an on/off switch. Night mode simply tracks the
mjr	77:0b96f6867312	2975	// current switch state.
mjr	53:9b2611964afc	2976	setNightMode(bs->logState);
mjr	53:9b2611964afc	2977	}
mjr	53:9b2611964afc	2978	else
mjr	53:9b2611964afc	2979	{
mjr	77:0b96f6867312	2980	// It's a momentary toggle switch. Toggle the night mode
mjr	77:0b96f6867312	2981	// state on each distinct press of the button: that is,
mjr	77:0b96f6867312	2982	// whenever the button's logical state transitions from
mjr	77:0b96f6867312	2983	// OFF to ON.
mjr	66:2e3583fbd2f4	2984	//
mjr	77:0b96f6867312	2985	// The "shift" flag (0x02) tells us whether night mode is
mjr	77:0b96f6867312	2986	// assigned to the shifted or unshifted version of the
mjr	77:0b96f6867312	2987	// button.
mjr	77:0b96f6867312	2988	bool pressed;
mjr	66:2e3583fbd2f4	2989	if ((cfg.nightMode.flags & 0x02) != 0)
mjr	66:2e3583fbd2f4	2990	{
mjr	77:0b96f6867312	2991	// Shift bit is set - night mode is assigned to the
mjr	77:0b96f6867312	2992	// shifted version of the button. This is a Night
mjr	77:0b96f6867312	2993	// Mode toggle only if the Shift button is pressed.
mjr	77:0b96f6867312	2994	pressed = (shiftButton.state != 0);
mjr	77:0b96f6867312	2995	}
mjr	77:0b96f6867312	2996	else
mjr	77:0b96f6867312	2997	{
mjr	77:0b96f6867312	2998	// No shift bit - night mode is assigned to the
mjr	77:0b96f6867312	2999	// regular unshifted button. The button press only
mjr	77:0b96f6867312	3000	// applies if the Shift button is NOT pressed.
mjr	77:0b96f6867312	3001	pressed = (shiftButton.state == 0);
mjr	66:2e3583fbd2f4	3002	}
mjr	66:2e3583fbd2f4	3003
mjr	66:2e3583fbd2f4	3004	// if it's pressed (even after considering the shift mode),
mjr	66:2e3583fbd2f4	3005	// toggle night mode
mjr	66:2e3583fbd2f4	3006	if (pressed)
mjr	53:9b2611964afc	3007	toggleNightMode();
mjr	53:9b2611964afc	3008	}
mjr	35:e959ffba78fd	3009	}
mjr	38:091e511ce8a0	3010
mjr	77:0b96f6867312	3011	// press or release IR virtual keys on key state changes
mjr	77:0b96f6867312	3012	uint8_t irc = useShift ? bc->IRCommand2 : bc->IRCommand;
mjr	77:0b96f6867312	3013	if (irc != 0)
mjr	77:0b96f6867312	3014	IR_buttonChange(irc, bs->logState);
mjr	77:0b96f6867312	3015
mjr	38:091e511ce8a0	3016	// remember the new state for comparison on the next run
mjr	53:9b2611964afc	3017	bs->prevLogState = bs->logState;
mjr	38:091e511ce8a0	3018	}
mjr	38:091e511ce8a0	3019
mjr	53:9b2611964afc	3020	// if it's pressed, physically or virtually, add it to the appropriate
mjr	53:9b2611964afc	3021	// key state list
mjr	53:9b2611964afc	3022	if (bs->logState \|\| bs->virtState)
mjr	38:091e511ce8a0	3023	{
mjr	70:9f58735a1732	3024	// Get the key type and code. Start by assuming that we're
mjr	70:9f58735a1732	3025	// going to use the normal unshifted meaning.
mjr	77:0b96f6867312	3026	uint8_t typ, val;
mjr	77:0b96f6867312	3027	if (useShift)
mjr	66:2e3583fbd2f4	3028	{
mjr	77:0b96f6867312	3029	typ = bc->typ2;
mjr	77:0b96f6867312	3030	val = bc->val2;
mjr	66:2e3583fbd2f4	3031	}
mjr	77:0b96f6867312	3032	else
mjr	77:0b96f6867312	3033	{
mjr	77:0b96f6867312	3034	typ = bc->typ;
mjr	77:0b96f6867312	3035	val = bc->val;
mjr	77:0b96f6867312	3036	}
mjr	77:0b96f6867312	3037
mjr	70:9f58735a1732	3038	// We've decided on the meaning of the button, so process
mjr	70:9f58735a1732	3039	// the keyboard or joystick event.
mjr	77:0b96f6867312	3040	ks.addKey(typ, val);
mjr	18:5e890ebd0023	3041	}
mjr	11:bd9da7088e6e	3042	}
mjr	77:0b96f6867312	3043
mjr	77:0b96f6867312	3044	// If an IR input command is in effect, add the IR command's
mjr	77:0b96f6867312	3045	// assigned key, if any. If we're in an IR key gap, don't include
mjr	77:0b96f6867312	3046	// the IR key.
mjr	77:0b96f6867312	3047	if (IRCommandIn != 0 && !IRKeyGap)
mjr	77:0b96f6867312	3048	{
mjr	77:0b96f6867312	3049	IRCommandCfg &irc = cfg.IRCommand[IRCommandIn - 1];
mjr	77:0b96f6867312	3050	ks.addKey(irc.keytype, irc.keycode);
mjr	77:0b96f6867312	3051	}
mjr	77:0b96f6867312	3052
mjr	77:0b96f6867312	3053	// We're finished building the new key state. Update the global
mjr	77:0b96f6867312	3054	// key state variables to reflect the new state.
mjr	77:0b96f6867312	3055
mjr	77:0b96f6867312	3056	// set the new joystick buttons (no need to check for changes, as we
mjr	77:0b96f6867312	3057	// report these on every joystick report whether they changed or not)
mjr	77:0b96f6867312	3058	jsButtons = ks.js;
mjr	77:0b96f6867312	3059
mjr	77:0b96f6867312	3060	// check for keyboard key changes (we only send keyboard reports when
mjr	77:0b96f6867312	3061	// something changes)
mjr	77:0b96f6867312	3062	if (kbState.data[0] != ks.modkeys
mjr	77:0b96f6867312	3063	\|\| kbState.nkeys != ks.nkeys
mjr	77:0b96f6867312	3064	\|\| memcmp(ks.keys, &kbState.data[2], 6) != 0)
mjr	35:e959ffba78fd	3065	{
mjr	35:e959ffba78fd	3066	// we have changes - set the change flag and store the new key data
mjr	35:e959ffba78fd	3067	kbState.changed = true;
mjr	77:0b96f6867312	3068	kbState.data[0] = ks.modkeys;
mjr	77:0b96f6867312	3069	if (ks.nkeys <= 6) {
mjr	35:e959ffba78fd	3070	// 6 or fewer simultaneous keys - report the key codes
mjr	77:0b96f6867312	3071	kbState.nkeys = ks.nkeys;
mjr	77:0b96f6867312	3072	memcpy(&kbState.data[2], ks.keys, 6);
mjr	35:e959ffba78fd	3073	}
mjr	35:e959ffba78fd	3074	else {
mjr	35:e959ffba78fd	3075	// more than 6 simultaneous keys - report rollover (all '1' key codes)
mjr	35:e959ffba78fd	3076	kbState.nkeys = 6;
mjr	35:e959ffba78fd	3077	memset(&kbState.data[2], 1, 6);
mjr	35:e959ffba78fd	3078	}
mjr	35:e959ffba78fd	3079	}
mjr	35:e959ffba78fd	3080
mjr	77:0b96f6867312	3081	// check for media key changes (we only send media key reports when
mjr	77:0b96f6867312	3082	// something changes)
mjr	77:0b96f6867312	3083	if (mediaState.data != ks.mediakeys)
mjr	35:e959ffba78fd	3084	{
mjr	77:0b96f6867312	3085	// we have changes - set the change flag and store the new key data
mjr	35:e959ffba78fd	3086	mediaState.changed = true;
mjr	77:0b96f6867312	3087	mediaState.data = ks.mediakeys;
mjr	35:e959ffba78fd	3088	}
mjr	11:bd9da7088e6e	3089	}
mjr	11:bd9da7088e6e	3090
mjr	73:4e8ce0b18915	3091	// Send a button status report
mjr	73:4e8ce0b18915	3092	void reportButtonStatus(USBJoystick &js)
mjr	73:4e8ce0b18915	3093	{
mjr	73:4e8ce0b18915	3094	// start with all buttons off
mjr	73:4e8ce0b18915	3095	uint8_t state[(MAX_BUTTONS+7)/8];
mjr	73:4e8ce0b18915	3096	memset(state, 0, sizeof(state));
mjr	73:4e8ce0b18915	3097
mjr	73:4e8ce0b18915	3098	// pack the button states into bytes, one bit per button
mjr	73:4e8ce0b18915	3099	ButtonState *bs = buttonState;
mjr	73:4e8ce0b18915	3100	for (int i = 0 ; i < nButtons ; ++i, ++bs)
mjr	73:4e8ce0b18915	3101	{
mjr	73:4e8ce0b18915	3102	// get the physical state
mjr	73:4e8ce0b18915	3103	int b = bs->physState;
mjr	73:4e8ce0b18915	3104
mjr	73:4e8ce0b18915	3105	// pack it into the appropriate bit
mjr	73:4e8ce0b18915	3106	int idx = bs->cfgIndex;
mjr	73:4e8ce0b18915	3107	int si = idx / 8;
mjr	73:4e8ce0b18915	3108	int shift = idx & 0x07;
mjr	73:4e8ce0b18915	3109	state[si] \|= b << shift;
mjr	73:4e8ce0b18915	3110	}
mjr	73:4e8ce0b18915	3111
mjr	73:4e8ce0b18915	3112	// send the report
mjr	73:4e8ce0b18915	3113	js.reportButtonStatus(MAX_BUTTONS, state);
mjr	73:4e8ce0b18915	3114	}
mjr	73:4e8ce0b18915	3115
mjr	5:a70c0bce770d	3116	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	3117	//
mjr	5:a70c0bce770d	3118	// Customization joystick subbclass
mjr	5:a70c0bce770d	3119	//
mjr	5:a70c0bce770d	3120
mjr	5:a70c0bce770d	3121	class MyUSBJoystick: public USBJoystick
mjr	5:a70c0bce770d	3122	{
mjr	5:a70c0bce770d	3123	public:
mjr	35:e959ffba78fd	3124	MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release,
mjr	35:e959ffba78fd	3125	bool waitForConnect, bool enableJoystick, bool useKB)
mjr	35:e959ffba78fd	3126	: USBJoystick(vendor_id, product_id, product_release, waitForConnect, enableJoystick, useKB)
mjr	5:a70c0bce770d	3127	{
mjr	54:fd77a6b2f76c	3128	sleeping_ = false;
mjr	54:fd77a6b2f76c	3129	reconnectPending_ = false;
mjr	54:fd77a6b2f76c	3130	timer_.start();
mjr	54:fd77a6b2f76c	3131	}
mjr	54:fd77a6b2f76c	3132
mjr	54:fd77a6b2f76c	3133	// show diagnostic LED feedback for connect state
mjr	54:fd77a6b2f76c	3134	void diagFlash()
mjr	54:fd77a6b2f76c	3135	{
mjr	54:fd77a6b2f76c	3136	if (!configured() \|\| sleeping_)
mjr	54:fd77a6b2f76c	3137	{
mjr	54:fd77a6b2f76c	3138	// flash once if sleeping or twice if disconnected
mjr	54:fd77a6b2f76c	3139	for (int j = isConnected() ? 1 : 2 ; j > 0 ; --j)
mjr	54:fd77a6b2f76c	3140	{
mjr	54:fd77a6b2f76c	3141	// short red flash
mjr	54:fd77a6b2f76c	3142	diagLED(1, 0, 0);
mjr	54:fd77a6b2f76c	3143	wait_us(50000);
mjr	54:fd77a6b2f76c	3144	diagLED(0, 0, 0);
mjr	54:fd77a6b2f76c	3145	wait_us(50000);
mjr	54:fd77a6b2f76c	3146	}
mjr	54:fd77a6b2f76c	3147	}
mjr	5:a70c0bce770d	3148	}
mjr	5:a70c0bce770d	3149
mjr	5:a70c0bce770d	3150	// are we connected?
mjr	5:a70c0bce770d	3151	int isConnected() { return configured(); }
mjr	5:a70c0bce770d	3152
mjr	54:fd77a6b2f76c	3153	// Are we in sleep mode? If true, this means that the hardware has
mjr	54:fd77a6b2f76c	3154	// detected no activity on the bus for 3ms. This happens when the
mjr	54:fd77a6b2f76c	3155	// cable is physically disconnected, the computer is turned off, or
mjr	54:fd77a6b2f76c	3156	// the connection is otherwise disabled.
mjr	54:fd77a6b2f76c	3157	bool isSleeping() const { return sleeping_; }
mjr	54:fd77a6b2f76c	3158
mjr	54:fd77a6b2f76c	3159	// If necessary, attempt to recover from a broken connection.
mjr	54:fd77a6b2f76c	3160	//
mjr	54:fd77a6b2f76c	3161	// This is a hack, to work around an apparent timing bug in the
mjr	54:fd77a6b2f76c	3162	// KL25Z USB implementation that I haven't been able to solve any
mjr	54:fd77a6b2f76c	3163	// other way.
mjr	54:fd77a6b2f76c	3164	//
mjr	54:fd77a6b2f76c	3165	// The issue: when we have an established connection, and the
mjr	54:fd77a6b2f76c	3166	// connection is broken by physically unplugging the cable or by
mjr	54:fd77a6b2f76c	3167	// rebooting the PC, the KL25Z sometimes fails to reconnect when
mjr	54:fd77a6b2f76c	3168	// the physical connection is re-established. The failure is
mjr	54:fd77a6b2f76c	3169	// sporadic; I'd guess it happens about 25% of the time, but I
mjr	54:fd77a6b2f76c	3170	// haven't collected any real statistics on it.
mjr	54:fd77a6b2f76c	3171	//
mjr	54:fd77a6b2f76c	3172	// The proximate cause of the failure is a deadlock in the SETUP
mjr	54:fd77a6b2f76c	3173	// protocol between the host and device that happens around the
mjr	54:fd77a6b2f76c	3174	// point where the PC is requesting the configuration descriptor.
mjr	54:fd77a6b2f76c	3175	// The exact point in the protocol where this occurs varies slightly;
mjr	54:fd77a6b2f76c	3176	// it can occur a message or two before or after the Get Config
mjr	54:fd77a6b2f76c	3177	// Descriptor packet. No matter where it happens, the nature of
mjr	54:fd77a6b2f76c	3178	// the deadlock is the same: the PC thinks it sees a STALL on EP0
mjr	54:fd77a6b2f76c	3179	// from the device, so it terminates the connection attempt, which
mjr	54:fd77a6b2f76c	3180	// stops further traffic on the cable. The KL25Z USB hardware sees
mjr	54:fd77a6b2f76c	3181	// the lack of traffic and triggers a SLEEP interrupt (a misnomer
mjr	54:fd77a6b2f76c	3182	// for what should have been called a BROKEN CONNECTION interrupt).
mjr	54:fd77a6b2f76c	3183	// Both sides simply stop talking at this point, so the connection
mjr	54:fd77a6b2f76c	3184	// is effectively dead.
mjr	54:fd77a6b2f76c	3185	//
mjr	54:fd77a6b2f76c	3186	// The strange thing is that, as far as I can tell, the KL25Z isn't
mjr	54:fd77a6b2f76c	3187	// doing anything to trigger the STALL on its end. Both the PC
mjr	54:fd77a6b2f76c	3188	// and the KL25Z are happy up until the very point of the failure
mjr	54:fd77a6b2f76c	3189	// and show no signs of anything wrong in the protocol exchange.
mjr	54:fd77a6b2f76c	3190	// In fact, every detail of the protocol exchange up to this point
mjr	54:fd77a6b2f76c	3191	// is identical to every successful exchange that does finish the
mjr	54:fd77a6b2f76c	3192	// whole setup process successfully, on both the KL25Z and Windows
mjr	54:fd77a6b2f76c	3193	// sides of the connection. I can't find any point of difference
mjr	54:fd77a6b2f76c	3194	// between successful and unsuccessful sequences that suggests why
mjr	54:fd77a6b2f76c	3195	// the fateful message fails. This makes me suspect that whatever
mjr	54:fd77a6b2f76c	3196	// is going wrong is inside the KL25Z USB hardware module, which
mjr	54:fd77a6b2f76c	3197	// is a pretty substantial black box - it has a lot of internal
mjr	54:fd77a6b2f76c	3198	// state that's inaccessible to the software. Further bolstering
mjr	54:fd77a6b2f76c	3199	// this theory is a little experiment where I found that I could
mjr	54:fd77a6b2f76c	3200	// reproduce the exact sequence of events of a failed reconnect
mjr	54:fd77a6b2f76c	3201	// attempt in an initial connection, which is otherwise 100%
mjr	54:fd77a6b2f76c	3202	// reliable, by inserting a little bit of artifical time padding
mjr	54:fd77a6b2f76c	3203	// (200us per event) into the SETUP interrupt handler. My
mjr	54:fd77a6b2f76c	3204	// hypothesis is that the STALL event happens because the KL25Z
mjr	54:fd77a6b2f76c	3205	// USB hardware is too slow to respond to a message. I'm not
mjr	54:fd77a6b2f76c	3206	// sure why this would only happen after a disconnect and not
mjr	54:fd77a6b2f76c	3207	// during the initial connection; maybe there's some reset work
mjr	54:fd77a6b2f76c	3208	// in the hardware that takes a substantial amount of time after
mjr	54:fd77a6b2f76c	3209	// a disconnect.
mjr	54:fd77a6b2f76c	3210	//
mjr	54:fd77a6b2f76c	3211	// The solution: the problem happens during the SETUP exchange,
mjr	54:fd77a6b2f76c	3212	// after we've been assigned a bus address. It only happens on
mjr	54:fd77a6b2f76c	3213	// some percentage of connection requests, so if we can simply
mjr	54:fd77a6b2f76c	3214	// start over when the failure occurs, we'll eventually succeed
mjr	54:fd77a6b2f76c	3215	// simply because not every attempt fails. The ideal would be
mjr	54:fd77a6b2f76c	3216	// to get the success rate up to 100%, but I can't figure out how
mjr	54:fd77a6b2f76c	3217	// to fix the underlying problem, so this is the next best thing.
mjr	54:fd77a6b2f76c	3218	//
mjr	54:fd77a6b2f76c	3219	// We can detect when the failure occurs by noticing when a SLEEP
mjr	54:fd77a6b2f76c	3220	// interrupt happens while we have an assigned bus address.
mjr	54:fd77a6b2f76c	3221	//
mjr	54:fd77a6b2f76c	3222	// To start a new connection attempt, we have to make the host
mjr	54:fd77a6b2f76c	3223	// try again. The logical connection is initiated solely by the
mjr	54:fd77a6b2f76c	3224	// host. Fortunately, it's easy to get the host to initiate the
mjr	54:fd77a6b2f76c	3225	// process: if we disconnect on the device side, it effectively
mjr	54:fd77a6b2f76c	3226	// makes the device look to the PC like it's electrically unplugged.
mjr	54:fd77a6b2f76c	3227	// When we reconnect on the device side, the PC thinks a new device
mjr	54:fd77a6b2f76c	3228	// has been plugged in and initiates the logical connection setup.
mjr	74:822a92bc11d2	3229	// We have to remain disconnected for some minimum interval before
mjr	74:822a92bc11d2	3230	// the host notices; the exact minimum is unclear, but 5ms seems
mjr	74:822a92bc11d2	3231	// reliable in practice.
mjr	54:fd77a6b2f76c	3232	//
mjr	54:fd77a6b2f76c	3233	// Here's the full algorithm:
mjr	54:fd77a6b2f76c	3234	//
mjr	54:fd77a6b2f76c	3235	// 1. In the SLEEP interrupt handler, if we have a bus address,
mjr	54:fd77a6b2f76c	3236	// we disconnect the device. This happens in ISR context, so we
mjr	54:fd77a6b2f76c	3237	// can't wait around for 5ms. Instead, we simply set a flag noting
mjr	54:fd77a6b2f76c	3238	// that the connection has been broken, and we note the time and
mjr	54:fd77a6b2f76c	3239	// return.
mjr	54:fd77a6b2f76c	3240	//
mjr	54:fd77a6b2f76c	3241	// 2. In our main loop, whenever we find that we're disconnected,
mjr	54:fd77a6b2f76c	3242	// we call recoverConnection(). The main loop's job is basically a
mjr	54:fd77a6b2f76c	3243	// bunch of device polling. We're just one more device to poll, so
mjr	54:fd77a6b2f76c	3244	// recoverConnection() will be called soon after a disconnect, and
mjr	54:fd77a6b2f76c	3245	// then will be called in a loop for as long as we're disconnected.
mjr	54:fd77a6b2f76c	3246	//
mjr	54:fd77a6b2f76c	3247	// 3. In recoverConnection(), we check the flag we set in the SLEEP
mjr	54:fd77a6b2f76c	3248	// handler. If set, we wait until 5ms has elapsed from the SLEEP
mjr	54:fd77a6b2f76c	3249	// event time that we noted, then we'll reconnect and clear the flag.
mjr	54:fd77a6b2f76c	3250	// This gives us the required 5ms (or longer) delay between the
mjr	54:fd77a6b2f76c	3251	// disconnect and reconnect, ensuring that the PC will notice and
mjr	54:fd77a6b2f76c	3252	// will start over with the connection protocol.
mjr	54:fd77a6b2f76c	3253	//
mjr	54:fd77a6b2f76c	3254	// 4. The main loop keeps calling recoverConnection() in a loop for
mjr	54:fd77a6b2f76c	3255	// as long as we're disconnected, so if the new connection attempt
mjr	54:fd77a6b2f76c	3256	// triggered in step 3 fails, the SLEEP interrupt will happen again,
mjr	54:fd77a6b2f76c	3257	// we'll disconnect again, the flag will get set again, and
mjr	54:fd77a6b2f76c	3258	// recoverConnection() will reconnect again after another suitable
mjr	54:fd77a6b2f76c	3259	// delay. This will repeat until the connection succeeds or hell
mjr	54:fd77a6b2f76c	3260	// freezes over.
mjr	54:fd77a6b2f76c	3261	//
mjr	54:fd77a6b2f76c	3262	// Each disconnect happens immediately when a reconnect attempt
mjr	54:fd77a6b2f76c	3263	// fails, and an entire successful connection only takes about 25ms,
mjr	54:fd77a6b2f76c	3264	// so our loop can retry at more than 30 attempts per second.
mjr	54:fd77a6b2f76c	3265	// In my testing, lost connections almost always reconnect in
mjr	54:fd77a6b2f76c	3266	// less than second with this code in place.
mjr	54:fd77a6b2f76c	3267	void recoverConnection()
mjr	54:fd77a6b2f76c	3268	{
mjr	54:fd77a6b2f76c	3269	// if a reconnect is pending, reconnect
mjr	54:fd77a6b2f76c	3270	if (reconnectPending_)
mjr	54:fd77a6b2f76c	3271	{
mjr	54:fd77a6b2f76c	3272	// Loop until we reach 5ms after the last sleep event.
mjr	54:fd77a6b2f76c	3273	for (bool done = false ; !done ; )
mjr	54:fd77a6b2f76c	3274	{
mjr	54:fd77a6b2f76c	3275	// If we've reached the target time, reconnect. Do the
mjr	54:fd77a6b2f76c	3276	// time check and flag reset atomically, so that we can't
mjr	54:fd77a6b2f76c	3277	// have another sleep event sneak in after we've verified
mjr	54:fd77a6b2f76c	3278	// the time. If another event occurs, it has to happen
mjr	54:fd77a6b2f76c	3279	// before we check, in which case it'll update the time
mjr	54:fd77a6b2f76c	3280	// before we check it, or after we clear the flag, in
mjr	54:fd77a6b2f76c	3281	// which case it will reset the flag and we'll do another
mjr	54:fd77a6b2f76c	3282	// round the next time we call this routine.
mjr	54:fd77a6b2f76c	3283	__disable_irq();
mjr	54:fd77a6b2f76c	3284	if (uint32_t(timer_.read_us() - lastSleepTime_) > 5000)
mjr	54:fd77a6b2f76c	3285	{
mjr	54:fd77a6b2f76c	3286	connect(false);
mjr	54:fd77a6b2f76c	3287	reconnectPending_ = false;
mjr	54:fd77a6b2f76c	3288	done = true;
mjr	54:fd77a6b2f76c	3289	}
mjr	54:fd77a6b2f76c	3290	__enable_irq();
mjr	54:fd77a6b2f76c	3291	}
mjr	54:fd77a6b2f76c	3292	}
mjr	54:fd77a6b2f76c	3293	}
mjr	5:a70c0bce770d	3294
mjr	5:a70c0bce770d	3295	protected:
mjr	54:fd77a6b2f76c	3296	// Handle a USB SLEEP interrupt. This interrupt signifies that the
mjr	54:fd77a6b2f76c	3297	// USB hardware module hasn't seen any token traffic for 3ms, which
mjr	54:fd77a6b2f76c	3298	// means that we're either physically or logically disconnected.
mjr	54:fd77a6b2f76c	3299	//
mjr	54:fd77a6b2f76c	3300	// Important: this runs in ISR context.
mjr	54:fd77a6b2f76c	3301	//
mjr	54:fd77a6b2f76c	3302	// Note that this is a specialized sense of "sleep" that's unrelated
mjr	54:fd77a6b2f76c	3303	// to the similarly named power modes on the PC. This has nothing
mjr	54:fd77a6b2f76c	3304	// to do with suspend/sleep mode on the PC, and it's not a low-power
mjr	54:fd77a6b2f76c	3305	// mode on the KL25Z. They really should have called this interrupt
mjr	54:fd77a6b2f76c	3306	// DISCONNECT or BROKEN CONNECTION.)
mjr	54:fd77a6b2f76c	3307	virtual void sleepStateChanged(unsigned int sleeping)
mjr	54:fd77a6b2f76c	3308	{
mjr	54:fd77a6b2f76c	3309	// note the new state
mjr	54:fd77a6b2f76c	3310	sleeping_ = sleeping;
mjr	54:fd77a6b2f76c	3311
mjr	54:fd77a6b2f76c	3312	// If we have a non-zero bus address, we have at least a partial
mjr	54:fd77a6b2f76c	3313	// connection to the host (we've made it at least as far as the
mjr	54:fd77a6b2f76c	3314	// SETUP stage). Explicitly disconnect, and the pending reconnect
mjr	54:fd77a6b2f76c	3315	// flag, and remember the time of the sleep event.
mjr	54:fd77a6b2f76c	3316	if (USB0->ADDR != 0x00)
mjr	54:fd77a6b2f76c	3317	{
mjr	54:fd77a6b2f76c	3318	disconnect();
mjr	54:fd77a6b2f76c	3319	lastSleepTime_ = timer_.read_us();
mjr	54:fd77a6b2f76c	3320	reconnectPending_ = true;
mjr	54:fd77a6b2f76c	3321	}
mjr	54:fd77a6b2f76c	3322	}
mjr	54:fd77a6b2f76c	3323
mjr	54:fd77a6b2f76c	3324	// is the USB connection asleep?
mjr	54:fd77a6b2f76c	3325	volatile bool sleeping_;
mjr	54:fd77a6b2f76c	3326
mjr	54:fd77a6b2f76c	3327	// flag: reconnect pending after sleep event
mjr	54:fd77a6b2f76c	3328	volatile bool reconnectPending_;
mjr	54:fd77a6b2f76c	3329
mjr	54:fd77a6b2f76c	3330	// time of last sleep event while connected
mjr	54:fd77a6b2f76c	3331	volatile uint32_t lastSleepTime_;
mjr	54:fd77a6b2f76c	3332
mjr	54:fd77a6b2f76c	3333	// timer to keep track of interval since last sleep event
mjr	54:fd77a6b2f76c	3334	Timer timer_;
mjr	5:a70c0bce770d	3335	};
mjr	5:a70c0bce770d	3336
mjr	5:a70c0bce770d	3337	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	3338	//
mjr	5:a70c0bce770d	3339	// Accelerometer (MMA8451Q)
mjr	5:a70c0bce770d	3340	//
mjr	5:a70c0bce770d	3341
mjr	5:a70c0bce770d	3342	// The MMA8451Q is the KL25Z's on-board 3-axis accelerometer.
mjr	5:a70c0bce770d	3343	//
mjr	5:a70c0bce770d	3344	// This is a custom wrapper for the library code to interface to the
mjr	6:cc35eb643e8f	3345	// MMA8451Q. This class encapsulates an interrupt handler and
mjr	6:cc35eb643e8f	3346	// automatic calibration.
mjr	5:a70c0bce770d	3347	//
mjr	77:0b96f6867312	3348	// We collect data at the device's maximum rate of 800kHz (one sample
mjr	77:0b96f6867312	3349	// every 1.25ms). To keep up with the high data rate, we use the
mjr	77:0b96f6867312	3350	// device's internal FIFO, and drain the FIFO by polling on each
mjr	77:0b96f6867312	3351	// iteration of our main application loop. In the past, we used an
mjr	77:0b96f6867312	3352	// interrupt handler to read the device immediately on the arrival of
mjr	77:0b96f6867312	3353	// each sample, but this created too much latency for the IR remote
mjr	77:0b96f6867312	3354	// receiver, due to the relatively long time it takes to transfer the
mjr	77:0b96f6867312	3355	// accelerometer readings via I2C. The device's on-board FIFO can
mjr	77:0b96f6867312	3356	// store up to 32 samples, which gives us up to about 40ms between
mjr	77:0b96f6867312	3357	// polling iterations before the buffer overflows. Our main loop runs
mjr	77:0b96f6867312	3358	// in under 2ms, so we can easily keep the FIFO far from overflowing.
mjr	77:0b96f6867312	3359	//
mjr	77:0b96f6867312	3360	// The MMA8451Q has three range modes, +/- 2G, 4G, and 8G. The ADC
mjr	77:0b96f6867312	3361	// sample is the same bit width (14 bits) in all modes, so the higher
mjr	77:0b96f6867312	3362	// dynamic range modes trade physical precision for range. For our
mjr	77:0b96f6867312	3363	// purposes, precision is more important than range, so we use the
mjr	77:0b96f6867312	3364	// +/-2G mode. Further, our joystick range is calibrated for only
mjr	77:0b96f6867312	3365	// +/-1G. This was unintentional on my part; I didn't look at the
mjr	77:0b96f6867312	3366	// MMA8451Q library closely enough to realize it was normalizing to
mjr	77:0b96f6867312	3367	// actual "G" units, and assumed that it was normalizing to a -1..+1
mjr	77:0b96f6867312	3368	// scale. In practice, a +/-1G scale seems perfectly adequate for
mjr	77:0b96f6867312	3369	// virtual pinball use, so I'm sticking with that range for now. But
mjr	77:0b96f6867312	3370	// there might be some benefit in renormalizing to a +/-2G range, in
mjr	77:0b96f6867312	3371	// that it would allow for higher dynamic range for very hard nudges.
mjr	77:0b96f6867312	3372	// Everyone would have to tweak their nudge sensitivity in VP if I
mjr	77:0b96f6867312	3373	// made that change, though, so I'm keeping it as is for now; it would
mjr	77:0b96f6867312	3374	// be best to make it a config option ("accelerometer high dynamic range")
mjr	77:0b96f6867312	3375	// rather than change it across the board.
mjr	5:a70c0bce770d	3376	//
mjr	6:cc35eb643e8f	3377	// We automatically calibrate the accelerometer so that it's not
mjr	6:cc35eb643e8f	3378	// necessary to get it exactly level when installing it, and so
mjr	6:cc35eb643e8f	3379	// that it's also not necessary to calibrate it manually. There's
mjr	6:cc35eb643e8f	3380	// lots of experience that tells us that manual calibration is a
mjr	6:cc35eb643e8f	3381	// terrible solution, mostly because cabinets tend to shift slightly
mjr	6:cc35eb643e8f	3382	// during use, requiring frequent recalibration. Instead, we
mjr	6:cc35eb643e8f	3383	// calibrate automatically. We continuously monitor the acceleration
mjr	6:cc35eb643e8f	3384	// data, watching for periods of constant (or nearly constant) values.
mjr	6:cc35eb643e8f	3385	// Any time it appears that the machine has been at rest for a while
mjr	6:cc35eb643e8f	3386	// (about 5 seconds), we'll average the readings during that rest
mjr	6:cc35eb643e8f	3387	// period and use the result as the level rest position. This is
mjr	6:cc35eb643e8f	3388	// is ongoing, so we'll quickly find the center point again if the
mjr	6:cc35eb643e8f	3389	// machine is moved during play (by an especially aggressive bout
mjr	6:cc35eb643e8f	3390	// of nudging, say).
mjr	5:a70c0bce770d	3391	//
mjr	5:a70c0bce770d	3392
mjr	17:ab3cec0c8bf4	3393	// I2C address of the accelerometer (this is a constant of the KL25Z)
mjr	17:ab3cec0c8bf4	3394	const int MMA8451_I2C_ADDRESS = (0x1d<<1);
mjr	17:ab3cec0c8bf4	3395
mjr	17:ab3cec0c8bf4	3396	// SCL and SDA pins for the accelerometer (constant for the KL25Z)
mjr	17:ab3cec0c8bf4	3397	#define MMA8451_SCL_PIN PTE25
mjr	17:ab3cec0c8bf4	3398	#define MMA8451_SDA_PIN PTE24
mjr	17:ab3cec0c8bf4	3399
mjr	17:ab3cec0c8bf4	3400	// Digital in pin to use for the accelerometer interrupt. For the KL25Z,
mjr	17:ab3cec0c8bf4	3401	// this can be either PTA14 or PTA15, since those are the pins physically
mjr	17:ab3cec0c8bf4	3402	// wired on this board to the MMA8451 interrupt controller.
mjr	17:ab3cec0c8bf4	3403	#define MMA8451_INT_PIN PTA15
mjr	17:ab3cec0c8bf4	3404
mjr	17:ab3cec0c8bf4	3405
mjr	6:cc35eb643e8f	3406	// accelerometer input history item, for gathering calibration data
mjr	6:cc35eb643e8f	3407	struct AccHist
mjr	5:a70c0bce770d	3408	{
mjr	77:0b96f6867312	3409	AccHist() { x = y = dsq = 0; xtot = ytot = 0; cnt = 0; }
mjr	77:0b96f6867312	3410	void set(int x, int y, AccHist *prv)
mjr	6:cc35eb643e8f	3411	{
mjr	6:cc35eb643e8f	3412	// save the raw position
mjr	6:cc35eb643e8f	3413	this->x = x;
mjr	6:cc35eb643e8f	3414	this->y = y;
mjr	77:0b96f6867312	3415	this->dsq = distanceSquared(prv);
mjr	6:cc35eb643e8f	3416	}
mjr	6:cc35eb643e8f	3417
mjr	6:cc35eb643e8f	3418	// reading for this entry
mjr	77:0b96f6867312	3419	int x, y;
mjr	77:0b96f6867312	3420
mjr	77:0b96f6867312	3421	// (distance from previous entry) squared
mjr	77:0b96f6867312	3422	int dsq;
mjr	5:a70c0bce770d	3423
mjr	6:cc35eb643e8f	3424	// total and count of samples averaged over this period
mjr	77:0b96f6867312	3425	int xtot, ytot;
mjr	6:cc35eb643e8f	3426	int cnt;
mjr	6:cc35eb643e8f	3427
mjr	77:0b96f6867312	3428	void clearAvg() { xtot = ytot = 0; cnt = 0; }
mjr	77:0b96f6867312	3429	void addAvg(int x, int y) { xtot += x; ytot += y; ++cnt; }
mjr	77:0b96f6867312	3430	int xAvg() const { return xtot/cnt; }
mjr	77:0b96f6867312	3431	int yAvg() const { return ytot/cnt; }
mjr	77:0b96f6867312	3432
mjr	77:0b96f6867312	3433	int distanceSquared(AccHist *p)
mjr	77:0b96f6867312	3434	{ return square(p->x - x) + square(p->y - y); }
mjr	5:a70c0bce770d	3435	};
mjr	5:a70c0bce770d	3436
mjr	5:a70c0bce770d	3437	// accelerometer wrapper class
mjr	3:3514575d4f86	3438	class Accel
mjr	3:3514575d4f86	3439	{
mjr	3:3514575d4f86	3440	public:
mjr	77:0b96f6867312	3441	Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin, int range)
mjr	77:0b96f6867312	3442	: mma_(sda, scl, i2cAddr)
mjr	3:3514575d4f86	3443	{
mjr	5:a70c0bce770d	3444	// remember the interrupt pin assignment
mjr	5:a70c0bce770d	3445	irqPin_ = irqPin;
mjr	77:0b96f6867312	3446
mjr	77:0b96f6867312	3447	// remember the range
mjr	77:0b96f6867312	3448	range_ = range;
mjr	5:a70c0bce770d	3449
mjr	5:a70c0bce770d	3450	// reset and initialize
mjr	5:a70c0bce770d	3451	reset();
mjr	5:a70c0bce770d	3452	}
mjr	5:a70c0bce770d	3453
mjr	5:a70c0bce770d	3454	void reset()
mjr	5:a70c0bce770d	3455	{
mjr	6:cc35eb643e8f	3456	// clear the center point
mjr	77:0b96f6867312	3457	cx_ = cy_ = 0;
mjr	6:cc35eb643e8f	3458
mjr	77:0b96f6867312	3459	// start the auto-centering timer
mjr	5:a70c0bce770d	3460	tCenter_.start();
mjr	5:a70c0bce770d	3461	iAccPrv_ = nAccPrv_ = 0;
mjr	6:cc35eb643e8f	3462
mjr	5:a70c0bce770d	3463	// reset and initialize the MMA8451Q
mjr	5:a70c0bce770d	3464	mma_.init();
mjr	77:0b96f6867312	3465
mjr	77:0b96f6867312	3466	// set the range
mjr	77:0b96f6867312	3467	mma_.setRange(
mjr	77:0b96f6867312	3468	range_ == AccelRange4G ? 4 :
mjr	77:0b96f6867312	3469	range_ == AccelRange8G ? 8 :
mjr	77:0b96f6867312	3470	2);
mjr	6:cc35eb643e8f	3471
mjr	77:0b96f6867312	3472	// set the average accumulators to zero
mjr	77:0b96f6867312	3473	xSum_ = ySum_ = 0;
mjr	77:0b96f6867312	3474	nSum_ = 0;
mjr	3:3514575d4f86	3475
mjr	3:3514575d4f86	3476	// read the current registers to clear the data ready flag
mjr	6:cc35eb643e8f	3477	mma_.getAccXYZ(ax_, ay_, az_);
mjr	3:3514575d4f86	3478	}
mjr	3:3514575d4f86	3479
mjr	77:0b96f6867312	3480	void poll()
mjr	76:7f5912b6340e	3481	{
mjr	77:0b96f6867312	3482	// read samples until we clear the FIFO
mjr	77:0b96f6867312	3483	while (mma_.getFIFOCount() != 0)
mjr	77:0b96f6867312	3484	{
mjr	77:0b96f6867312	3485	int x, y, z;
mjr	77:0b96f6867312	3486	mma_.getAccXYZ(x, y, z);
mjr	77:0b96f6867312	3487
mjr	77:0b96f6867312	3488	// add the new reading to the running total for averaging
mjr	77:0b96f6867312	3489	xSum_ += (x - cx_);
mjr	77:0b96f6867312	3490	ySum_ += (y - cy_);
mjr	77:0b96f6867312	3491	++nSum_;
mjr	77:0b96f6867312	3492
mjr	77:0b96f6867312	3493	// store the updates
mjr	77:0b96f6867312	3494	ax_ = x;
mjr	77:0b96f6867312	3495	ay_ = y;
mjr	77:0b96f6867312	3496	az_ = z;
mjr	77:0b96f6867312	3497	}
mjr	76:7f5912b6340e	3498	}
mjr	77:0b96f6867312	3499
mjr	9:fd65b0a94720	3500	void get(int &x, int &y)
mjr	3:3514575d4f86	3501	{
mjr	77:0b96f6867312	3502	// read the shared data and store locally for calculations
mjr	77:0b96f6867312	3503	int ax = ax_, ay = ay_;
mjr	77:0b96f6867312	3504	int xSum = xSum_, ySum = ySum_;
mjr	77:0b96f6867312	3505	int nSum = nSum_;
mjr	6:cc35eb643e8f	3506
mjr	77:0b96f6867312	3507	// reset the average accumulators for the next run
mjr	77:0b96f6867312	3508	xSum_ = ySum_ = 0;
mjr	77:0b96f6867312	3509	nSum_ = 0;
mjr	77:0b96f6867312	3510
mjr	77:0b96f6867312	3511	// add this sample to the current calibration interval's running total
mjr	77:0b96f6867312	3512	AccHist *p = accPrv_ + iAccPrv_;
mjr	77:0b96f6867312	3513	p->addAvg(ax, ay);
mjr	77:0b96f6867312	3514
mjr	77:0b96f6867312	3515	// check for auto-centering every so often
mjr	77:0b96f6867312	3516	if (tCenter_.read_us() > 1000000)
mjr	77:0b96f6867312	3517	{
mjr	77:0b96f6867312	3518	// add the latest raw sample to the history list
mjr	77:0b96f6867312	3519	AccHist *prv = p;
mjr	77:0b96f6867312	3520	iAccPrv_ = (iAccPrv_ + 1);
mjr	77:0b96f6867312	3521	if (iAccPrv_ >= maxAccPrv)
mjr	77:0b96f6867312	3522	iAccPrv_ = 0;
mjr	77:0b96f6867312	3523	p = accPrv_ + iAccPrv_;
mjr	77:0b96f6867312	3524	p->set(ax, ay, prv);
mjr	77:0b96f6867312	3525
mjr	77:0b96f6867312	3526	// if we have a full complement, check for stability
mjr	77:0b96f6867312	3527	if (nAccPrv_ >= maxAccPrv)
mjr	77:0b96f6867312	3528	{
mjr	77:0b96f6867312	3529	// check if we've been stable for all recent samples
mjr	77:0b96f6867312	3530	static const int accTol = 164*164; // 1% of range, squared
mjr	77:0b96f6867312	3531	AccHist *p0 = accPrv_;
mjr	77:0b96f6867312	3532	if (p0[0].dsq < accTol
mjr	77:0b96f6867312	3533	&& p0[1].dsq < accTol
mjr	77:0b96f6867312	3534	&& p0[2].dsq < accTol
mjr	77:0b96f6867312	3535	&& p0[3].dsq < accTol
mjr	77:0b96f6867312	3536	&& p0[4].dsq < accTol)
mjr	77:0b96f6867312	3537	{
mjr	77:0b96f6867312	3538	// Figure the new calibration point as the average of
mjr	77:0b96f6867312	3539	// the samples over the rest period
mjr	77:0b96f6867312	3540	cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5;
mjr	77:0b96f6867312	3541	cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5;
mjr	77:0b96f6867312	3542	}
mjr	77:0b96f6867312	3543	}
mjr	77:0b96f6867312	3544	else
mjr	77:0b96f6867312	3545	{
mjr	77:0b96f6867312	3546	// not enough samples yet; just up the count
mjr	77:0b96f6867312	3547	++nAccPrv_;
mjr	77:0b96f6867312	3548	}
mjr	6:cc35eb643e8f	3549
mjr	77:0b96f6867312	3550	// clear the new item's running totals
mjr	77:0b96f6867312	3551	p->clearAvg();
mjr	5:a70c0bce770d	3552
mjr	77:0b96f6867312	3553	// reset the timer
mjr	77:0b96f6867312	3554	tCenter_.reset();
mjr	77:0b96f6867312	3555	}
mjr	5:a70c0bce770d	3556
mjr	77:0b96f6867312	3557	// report our integrated velocity reading in x,y
mjr	77:0b96f6867312	3558	x = rawToReport(xSum/nSum);
mjr	77:0b96f6867312	3559	y = rawToReport(ySum/nSum);
mjr	5:a70c0bce770d	3560
mjr	6:cc35eb643e8f	3561	#ifdef DEBUG_PRINTF
mjr	77:0b96f6867312	3562	if (x != 0 \|\| y != 0)
mjr	77:0b96f6867312	3563	printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt);
mjr	6:cc35eb643e8f	3564	#endif
mjr	77:0b96f6867312	3565	}
mjr	29:582472d0bc57	3566
mjr	3:3514575d4f86	3567	private:
mjr	6:cc35eb643e8f	3568	// adjust a raw acceleration figure to a usb report value
mjr	77:0b96f6867312	3569	int rawToReport(int v)
mjr	5:a70c0bce770d	3570	{
mjr	77:0b96f6867312	3571	// Scale to the joystick report range. The accelerometer
mjr	77:0b96f6867312	3572	// readings use the native 14-bit signed integer representation,
mjr	77:0b96f6867312	3573	// so their scale is 2^13.
mjr	77:0b96f6867312	3574	//
mjr	77:0b96f6867312	3575	// The 1G range is special: it uses the 2G native hardware range,
mjr	77:0b96f6867312	3576	// but rescales the result to a 1G range for the joystick reports.
mjr	77:0b96f6867312	3577	// So for that mode, we divide by 4096 rather than 8192. All of
mjr	77:0b96f6867312	3578	// the other modes map use the hardware scaling directly.
mjr	77:0b96f6867312	3579	int i = v*JOYMAX;
mjr	77:0b96f6867312	3580	i = (range_ == AccelRange1G ? i/4096 : i/8192);
mjr	5:a70c0bce770d	3581
mjr	6:cc35eb643e8f	3582	// if it's near the center, scale it roughly as 20*(i/20)^2,
mjr	6:cc35eb643e8f	3583	// to suppress noise near the rest position
mjr	6:cc35eb643e8f	3584	static const int filter[] = {
mjr	6:cc35eb643e8f	3585	-18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0,
mjr	6:cc35eb643e8f	3586	0,
mjr	6:cc35eb643e8f	3587	0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18
mjr	6:cc35eb643e8f	3588	};
mjr	6:cc35eb643e8f	3589	return (i > 20 \|\| i < -20 ? i : filter[i+20]);
mjr	5:a70c0bce770d	3590	}
mjr	5:a70c0bce770d	3591
mjr	3:3514575d4f86	3592	// underlying accelerometer object
mjr	3:3514575d4f86	3593	MMA8451Q mma_;
mjr	3:3514575d4f86	3594
mjr	77:0b96f6867312	3595	// last raw acceleration readings, on the device's signed 14-bit
mjr	77:0b96f6867312	3596	// scale -8192..+8191
mjr	77:0b96f6867312	3597	int ax_, ay_, az_;
mjr	77:0b96f6867312	3598
mjr	77:0b96f6867312	3599	// running sum of readings since last get()
mjr	77:0b96f6867312	3600	int xSum_, ySum_;
mjr	77:0b96f6867312	3601
mjr	77:0b96f6867312	3602	// number of readings since last get()
mjr	77:0b96f6867312	3603	int nSum_;
mjr	6:cc35eb643e8f	3604
mjr	6:cc35eb643e8f	3605	// Calibration reference point for accelerometer. This is the
mjr	6:cc35eb643e8f	3606	// average reading on the accelerometer when in the neutral position
mjr	6:cc35eb643e8f	3607	// at rest.
mjr	77:0b96f6867312	3608	int cx_, cy_;
mjr	77:0b96f6867312	3609
mjr	77:0b96f6867312	3610	// range (AccelRangeXxx value, from config.h)
mjr	77:0b96f6867312	3611	uint8_t range_;
mjr	77:0b96f6867312	3612
mjr	77:0b96f6867312	3613	// atuo-centering timer
mjr	5:a70c0bce770d	3614	Timer tCenter_;
mjr	6:cc35eb643e8f	3615
mjr	6:cc35eb643e8f	3616	// Auto-centering history. This is a separate history list that
mjr	77:0b96f6867312	3617	// records results spaced out sparsely over time, so that we can
mjr	6:cc35eb643e8f	3618	// watch for long-lasting periods of rest. When we observe nearly
mjr	6:cc35eb643e8f	3619	// no motion for an extended period (on the order of 5 seconds), we
mjr	6:cc35eb643e8f	3620	// take this to mean that the cabinet is at rest in its neutral
mjr	6:cc35eb643e8f	3621	// position, so we take this as the calibration zero point for the
mjr	6:cc35eb643e8f	3622	// accelerometer. We update this history continuously, which allows
mjr	6:cc35eb643e8f	3623	// us to continuously re-calibrate the accelerometer. This ensures
mjr	6:cc35eb643e8f	3624	// that we'll automatically adjust to any actual changes in the
mjr	6:cc35eb643e8f	3625	// cabinet's orientation (e.g., if it gets moved slightly by an
mjr	6:cc35eb643e8f	3626	// especially strong nudge) as well as any systematic drift in the
mjr	6:cc35eb643e8f	3627	// accelerometer measurement bias (e.g., from temperature changes).
mjr	5:a70c0bce770d	3628	int iAccPrv_, nAccPrv_;
mjr	5:a70c0bce770d	3629	static const int maxAccPrv = 5;
mjr	6:cc35eb643e8f	3630	AccHist accPrv_[maxAccPrv];
mjr	6:cc35eb643e8f	3631
mjr	5:a70c0bce770d	3632	// interurupt pin name
mjr	5:a70c0bce770d	3633	PinName irqPin_;
mjr	3:3514575d4f86	3634	};
mjr	3:3514575d4f86	3635
mjr	5:a70c0bce770d	3636	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	3637	//
mjr	14:df700b22ca08	3638	// Clear the I2C bus for the MMA8451Q. This seems necessary some of the time
mjr	5:a70c0bce770d	3639	// for reasons that aren't clear to me. Doing a hard power cycle has the same
mjr	5:a70c0bce770d	3640	// effect, but when we do a soft reset, the hardware sometimes seems to leave
mjr	5:a70c0bce770d	3641	// the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through
mjr	14:df700b22ca08	3642	// the SCL line is supposed to clear this condition. I'm not convinced this
mjr	14:df700b22ca08	3643	// actually works with the way this component is wired on the KL25Z, but it
mjr	14:df700b22ca08	3644	// seems harmless, so we'll do it on reset in case it does some good. What
mjr	14:df700b22ca08	3645	// we really seem to need is a way to power cycle the MMA8451Q if it ever
mjr	14:df700b22ca08	3646	// gets stuck, but this is simply not possible in software on the KL25Z.
mjr	14:df700b22ca08	3647	//
mjr	14:df700b22ca08	3648	// If the accelerometer does get stuck, and a software reboot doesn't reset
mjr	14:df700b22ca08	3649	// it, the only workaround is to manually power cycle the whole KL25Z by
mjr	14:df700b22ca08	3650	// unplugging both of its USB connections.
mjr	5:a70c0bce770d	3651	//
mjr	5:a70c0bce770d	3652	void clear_i2c()
mjr	5:a70c0bce770d	3653	{
mjr	38:091e511ce8a0	3654	// set up general-purpose output pins to the I2C lines
mjr	5:a70c0bce770d	3655	DigitalOut scl(MMA8451_SCL_PIN);
mjr	5:a70c0bce770d	3656	DigitalIn sda(MMA8451_SDA_PIN);
mjr	5:a70c0bce770d	3657
mjr	5:a70c0bce770d	3658	// clock the SCL 9 times
mjr	5:a70c0bce770d	3659	for (int i = 0 ; i < 9 ; ++i)
mjr	5:a70c0bce770d	3660	{
mjr	5:a70c0bce770d	3661	scl = 1;
mjr	5:a70c0bce770d	3662	wait_us(20);
mjr	5:a70c0bce770d	3663	scl = 0;
mjr	5:a70c0bce770d	3664	wait_us(20);
mjr	5:a70c0bce770d	3665	}
mjr	5:a70c0bce770d	3666	}
mjr	76:7f5912b6340e	3667
mjr	76:7f5912b6340e	3668
mjr	14:df700b22ca08	3669	// ---------------------------------------------------------------------------
mjr	14:df700b22ca08	3670	//
mjr	33:d832bcab089e	3671	// Simple binary (on/off) input debouncer. Requires an input to be stable
mjr	33:d832bcab089e	3672	// for a given interval before allowing an update.
mjr	33:d832bcab089e	3673	//
mjr	33:d832bcab089e	3674	class Debouncer
mjr	33:d832bcab089e	3675	{
mjr	33:d832bcab089e	3676	public:
mjr	33:d832bcab089e	3677	Debouncer(bool initVal, float tmin)
mjr	33:d832bcab089e	3678	{
mjr	33:d832bcab089e	3679	t.start();
mjr	33:d832bcab089e	3680	this->stable = this->prv = initVal;
mjr	33:d832bcab089e	3681	this->tmin = tmin;
mjr	33:d832bcab089e	3682	}
mjr	33:d832bcab089e	3683
mjr	33:d832bcab089e	3684	// Get the current stable value
mjr	33:d832bcab089e	3685	bool val() const { return stable; }
mjr	33:d832bcab089e	3686
mjr	33:d832bcab089e	3687	// Apply a new sample. This tells us the new raw reading from the
mjr	33:d832bcab089e	3688	// input device.
mjr	33:d832bcab089e	3689	void sampleIn(bool val)
mjr	33:d832bcab089e	3690	{
mjr	33:d832bcab089e	3691	// If the new raw reading is different from the previous
mjr	33:d832bcab089e	3692	// raw reading, we've detected an edge - start the clock
mjr	33:d832bcab089e	3693	// on the sample reader.
mjr	33:d832bcab089e	3694	if (val != prv)
mjr	33:d832bcab089e	3695	{
mjr	33:d832bcab089e	3696	// we have an edge - reset the sample clock
mjr	33:d832bcab089e	3697	t.reset();
mjr	33:d832bcab089e	3698
mjr	33:d832bcab089e	3699	// this is now the previous raw sample for nxt time
mjr	33:d832bcab089e	3700	prv = val;
mjr	33:d832bcab089e	3701	}
mjr	33:d832bcab089e	3702	else if (val != stable)
mjr	33:d832bcab089e	3703	{
mjr	33:d832bcab089e	3704	// The new raw sample is the same as the last raw sample,
mjr	33:d832bcab089e	3705	// and different from the stable value. This means that
mjr	33:d832bcab089e	3706	// the sample value has been the same for the time currently
mjr	33:d832bcab089e	3707	// indicated by our timer. If enough time has elapsed to
mjr	33:d832bcab089e	3708	// consider the value stable, apply the new value.
mjr	33:d832bcab089e	3709	if (t.read() > tmin)
mjr	33:d832bcab089e	3710	stable = val;
mjr	33:d832bcab089e	3711	}
mjr	33:d832bcab089e	3712	}
mjr	33:d832bcab089e	3713
mjr	33:d832bcab089e	3714	private:
mjr	33:d832bcab089e	3715	// current stable value
mjr	33:d832bcab089e	3716	bool stable;
mjr	33:d832bcab089e	3717
mjr	33:d832bcab089e	3718	// last raw sample value
mjr	33:d832bcab089e	3719	bool prv;
mjr	33:d832bcab089e	3720
mjr	33:d832bcab089e	3721	// elapsed time since last raw input change
mjr	33:d832bcab089e	3722	Timer t;
mjr	33:d832bcab089e	3723
mjr	33:d832bcab089e	3724	// Minimum time interval for stability, in seconds. Input readings
mjr	33:d832bcab089e	3725	// must be stable for this long before the stable value is updated.
mjr	33:d832bcab089e	3726	float tmin;
mjr	33:d832bcab089e	3727	};
mjr	33:d832bcab089e	3728
mjr	33:d832bcab089e	3729
mjr	33:d832bcab089e	3730	// ---------------------------------------------------------------------------
mjr	33:d832bcab089e	3731	//
mjr	33:d832bcab089e	3732	// TV ON timer. If this feature is enabled, we toggle a TV power switch
mjr	33:d832bcab089e	3733	// relay (connected to a GPIO pin) to turn on the cab's TV monitors shortly
mjr	33:d832bcab089e	3734	// after the system is powered. This is useful for TVs that don't remember
mjr	33:d832bcab089e	3735	// their power state and don't turn back on automatically after being
mjr	33:d832bcab089e	3736	// unplugged and plugged in again. This feature requires external
mjr	33:d832bcab089e	3737	// circuitry, which is built in to the expansion board and can also be
mjr	33:d832bcab089e	3738	// built separately - see the Build Guide for the circuit plan.
mjr	33:d832bcab089e	3739	//
mjr	33:d832bcab089e	3740	// Theory of operation: to use this feature, the cabinet must have a
mjr	33:d832bcab089e	3741	// secondary PC-style power supply (PSU2) for the feedback devices, and
mjr	33:d832bcab089e	3742	// this secondary supply must be plugged in to the same power strip or
mjr	33:d832bcab089e	3743	// switched outlet that controls power to the TVs. This lets us use PSU2
mjr	33:d832bcab089e	3744	// as a proxy for the TV power state - when PSU2 is on, the TV outlet is
mjr	33:d832bcab089e	3745	// powered, and when PSU2 is off, the TV outlet is off. We use a little
mjr	33:d832bcab089e	3746	// latch circuit powered by PSU2 to monitor the status. The latch has a
mjr	33:d832bcab089e	3747	// current state, ON or OFF, that we can read via a GPIO input pin, and
mjr	33:d832bcab089e	3748	// we can set the state to ON by pulsing a separate GPIO output pin. As
mjr	33:d832bcab089e	3749	// long as PSU2 is powered off, the latch stays in the OFF state, even if
mjr	33:d832bcab089e	3750	// we try to set it by pulsing the SET pin. When PSU2 is turned on after
mjr	33:d832bcab089e	3751	// being off, the latch starts receiving power but stays in the OFF state,
mjr	33:d832bcab089e	3752	// since this is the initial condition when the power first comes on. So
mjr	33:d832bcab089e	3753	// if our latch state pin is reading OFF, we know that PSU2 is either off
mjr	33:d832bcab089e	3754	// now or was off some time since we last checked. We use a timer to
mjr	33:d832bcab089e	3755	// check the state periodically. Each time we see the state is OFF, we
mjr	33:d832bcab089e	3756	// try pulsing the SET pin. If the state still reads as OFF, we know
mjr	33:d832bcab089e	3757	// that PSU2 is currently off; if the state changes to ON, though, we
mjr	33:d832bcab089e	3758	// know that PSU2 has gone from OFF to ON some time between now and the
mjr	33:d832bcab089e	3759	// previous check. When we see this condition, we start a countdown
mjr	33:d832bcab089e	3760	// timer, and pulse the TV switch relay when the countdown ends.
mjr	33:d832bcab089e	3761	//
mjr	40:cc0d9814522b	3762	// This scheme might seem a little convoluted, but it handles a number
mjr	40:cc0d9814522b	3763	// of tricky but likely scenarios:
mjr	33:d832bcab089e	3764	//
mjr	33:d832bcab089e	3765	// - Most cabinets systems are set up with "soft" PC power switches,
mjr	40:cc0d9814522b	3766	// so that the PC goes into "Soft Off" mode when the user turns off
mjr	40:cc0d9814522b	3767	// the cabinet by pushing the power button or using the Shut Down
mjr	40:cc0d9814522b	3768	// command from within Windows. In Windows parlance, this "soft off"
mjr	40:cc0d9814522b	3769	// condition is called ACPI State S5. In this state, the main CPU
mjr	40:cc0d9814522b	3770	// power is turned off, but the motherboard still provides power to
mjr	40:cc0d9814522b	3771	// USB devices. This means that the KL25Z keeps running. Without
mjr	40:cc0d9814522b	3772	// the external power sensing circuit, the only hint that we're in
mjr	40:cc0d9814522b	3773	// this state is that the USB connection to the host goes into Suspend
mjr	40:cc0d9814522b	3774	// mode, but that could mean other things as well. The latch circuit
mjr	40:cc0d9814522b	3775	// lets us tell for sure that we're in this state.
mjr	33:d832bcab089e	3776	//
mjr	33:d832bcab089e	3777	// - Some cabinet builders might prefer to use "hard" power switches,
mjr	33:d832bcab089e	3778	// cutting all power to the cabinet, including the PC motherboard (and
mjr	33:d832bcab089e	3779	// thus the KL25Z) every time the machine is turned off. This also
mjr	33:d832bcab089e	3780	// applies to the "soft" switch case above when the cabinet is unplugged,
mjr	33:d832bcab089e	3781	// a power outage occurs, etc. In these cases, the KL25Z will do a cold
mjr	33:d832bcab089e	3782	// boot when the PC is turned on. We don't know whether the KL25Z
mjr	33:d832bcab089e	3783	// will power up before or after PSU2, so it's not good enough to
mjr	40:cc0d9814522b	3784	// observe the current state of PSU2 when we first check. If PSU2
mjr	40:cc0d9814522b	3785	// were to come on first, checking only the current state would fool
mjr	40:cc0d9814522b	3786	// us into thinking that no action is required, because we'd only see
mjr	40:cc0d9814522b	3787	// that PSU2 is turned on any time we check. The latch handles this
mjr	40:cc0d9814522b	3788	// case by letting us see that PSU2 was indeed off some time before our
mjr	40:cc0d9814522b	3789	// first check.
mjr	33:d832bcab089e	3790	//
mjr	33:d832bcab089e	3791	// - If the KL25Z is rebooted while the main system is running, or the
mjr	40:cc0d9814522b	3792	// KL25Z is unplugged and plugged back in, we'll correctly leave the
mjr	33:d832bcab089e	3793	// TVs as they are. The latch state is independent of the KL25Z's
mjr	33:d832bcab089e	3794	// power or software state, so it's won't affect the latch state when
mjr	33:d832bcab089e	3795	// the KL25Z is unplugged or rebooted; when we boot, we'll see that
mjr	33:d832bcab089e	3796	// the latch is already on and that we don't have to turn on the TVs.
mjr	33:d832bcab089e	3797	// This is important because TV ON buttons are usually on/off toggles,
mjr	33:d832bcab089e	3798	// so we don't want to push the button on a TV that's already on.
mjr	33:d832bcab089e	3799	//
mjr	33:d832bcab089e	3800
mjr	77:0b96f6867312	3801	// Current PSU2 power state:
mjr	33:d832bcab089e	3802	// 1 -> default: latch was on at last check, or we haven't checked yet
mjr	33:d832bcab089e	3803	// 2 -> latch was off at last check, SET pulsed high
mjr	33:d832bcab089e	3804	// 3 -> SET pulsed low, ready to check status
mjr	33:d832bcab089e	3805	// 4 -> TV timer countdown in progress
mjr	33:d832bcab089e	3806	// 5 -> TV relay on
mjr	77:0b96f6867312	3807	// 6 -> sending IR signals designed as TV ON signals
mjr	73:4e8ce0b18915	3808	uint8_t psu2_state = 1;
mjr	73:4e8ce0b18915	3809
mjr	73:4e8ce0b18915	3810	// TV relay state. The TV relay can be controlled by the power-on
mjr	73:4e8ce0b18915	3811	// timer and directly from the PC (via USB commands), so keep a
mjr	73:4e8ce0b18915	3812	// separate state for each:
mjr	73:4e8ce0b18915	3813	// 0x01 -> turned on by power-on timer
mjr	73:4e8ce0b18915	3814	// 0x02 -> turned on by USB command
mjr	73:4e8ce0b18915	3815	uint8_t tv_relay_state = 0x00;
mjr	73:4e8ce0b18915	3816	const uint8_t TV_RELAY_POWERON = 0x01;
mjr	73:4e8ce0b18915	3817	const uint8_t TV_RELAY_USB = 0x02;
mjr	73:4e8ce0b18915	3818
mjr	77:0b96f6867312	3819	// TV ON IR command state. When the main PSU2 power state reaches
mjr	77:0b96f6867312	3820	// the IR phase, we use this sub-state counter to send the TV ON
mjr	77:0b96f6867312	3821	// IR signals. We initialize to state 0 when the main state counter
mjr	77:0b96f6867312	3822	// reaches the IR step. In state 0, we start transmitting the first
mjr	77:0b96f6867312	3823	// (lowest numbered) IR command slot marked as containing a TV ON
mjr	77:0b96f6867312	3824	// code, and advance to state 1. In state 1, we check to see if
mjr	77:0b96f6867312	3825	// the transmitter is still sending; if so, we do nothing, if so
mjr	77:0b96f6867312	3826	// we start transmitting the second TV ON code and advance to state
mjr	77:0b96f6867312	3827	// 2. Continue until we run out of TV ON IR codes, at which point
mjr	77:0b96f6867312	3828	// we advance to the next main psu2_state step.
mjr	77:0b96f6867312	3829	uint8_t tvon_ir_state = 0;
mjr	77:0b96f6867312	3830
mjr	77:0b96f6867312	3831	// TV ON switch relay control output pin
mjr	73:4e8ce0b18915	3832	DigitalOut *tv_relay;
mjr	35:e959ffba78fd	3833
mjr	35:e959ffba78fd	3834	// PSU2 power sensing circuit connections
mjr	35:e959ffba78fd	3835	DigitalIn *psu2_status_sense;
mjr	35:e959ffba78fd	3836	DigitalOut *psu2_status_set;
mjr	35:e959ffba78fd	3837
mjr	73:4e8ce0b18915	3838	// Apply the current TV relay state
mjr	73:4e8ce0b18915	3839	void tvRelayUpdate(uint8_t bit, bool state)
mjr	73:4e8ce0b18915	3840	{
mjr	73:4e8ce0b18915	3841	// update the state
mjr	73:4e8ce0b18915	3842	if (state)
mjr	73:4e8ce0b18915	3843	tv_relay_state \|= bit;
mjr	73:4e8ce0b18915	3844	else
mjr	73:4e8ce0b18915	3845	tv_relay_state &= ~bit;
mjr	73:4e8ce0b18915	3846
mjr	73:4e8ce0b18915	3847	// set the relay GPIO to the new state
mjr	73:4e8ce0b18915	3848	if (tv_relay != 0)
mjr	73:4e8ce0b18915	3849	tv_relay->write(tv_relay_state != 0);
mjr	73:4e8ce0b18915	3850	}
mjr	35:e959ffba78fd	3851
mjr	77:0b96f6867312	3852	// PSU2 Status update routine. The main loop calls this from time
mjr	77:0b96f6867312	3853	// to time to update the power sensing state and carry out TV ON
mjr	77:0b96f6867312	3854	// functions.
mjr	77:0b96f6867312	3855	Timer powerStatusTimer;
mjr	77:0b96f6867312	3856	uint32_t tv_delay_time_us;
mjr	77:0b96f6867312	3857	void powerStatusUpdate(Config &cfg)
mjr	33:d832bcab089e	3858	{
mjr	77:0b96f6867312	3859	// Only update every 1/4 second or so. Note that if the PSU2
mjr	77:0b96f6867312	3860	// circuit isn't configured, the initialization routine won't
mjr	77:0b96f6867312	3861	// start the timer, so it'll always read zero and we'll always
mjr	77:0b96f6867312	3862	// skip this whole routine.
mjr	77:0b96f6867312	3863	if (powerStatusTimer.read_us() < 250000)
mjr	77:0b96f6867312	3864	return;
mjr	77:0b96f6867312	3865
mjr	77:0b96f6867312	3866	// reset the update timer for next time
mjr	77:0b96f6867312	3867	powerStatusTimer.reset();
mjr	77:0b96f6867312	3868
mjr	77:0b96f6867312	3869	// TV ON timer. We start this timer when we detect a change
mjr	77:0b96f6867312	3870	// in the PSU2 status from OFF to ON. When the timer reaches
mjr	77:0b96f6867312	3871	// the configured TV ON delay time, and the PSU2 power is still
mjr	77:0b96f6867312	3872	// on, we'll trigger the TV ON relay and send the TV ON IR codes.
mjr	35:e959ffba78fd	3873	static Timer tv_timer;
mjr	35:e959ffba78fd	3874
mjr	33:d832bcab089e	3875	// Check our internal state
mjr	33:d832bcab089e	3876	switch (psu2_state)
mjr	33:d832bcab089e	3877	{
mjr	33:d832bcab089e	3878	case 1:
mjr	33:d832bcab089e	3879	// Default state. This means that the latch was on last
mjr	33:d832bcab089e	3880	// time we checked or that this is the first check. In
mjr	33:d832bcab089e	3881	// either case, if the latch is off, switch to state 2 and
mjr	33:d832bcab089e	3882	// try pulsing the latch. Next time we check, if the latch
mjr	33:d832bcab089e	3883	// stuck, it means that PSU2 is now on after being off.
mjr	35:e959ffba78fd	3884	if (!psu2_status_sense->read())
mjr	33:d832bcab089e	3885	{
mjr	33:d832bcab089e	3886	// switch to OFF state
mjr	33:d832bcab089e	3887	psu2_state = 2;
mjr	33:d832bcab089e	3888
mjr	33:d832bcab089e	3889	// try setting the latch
mjr	35:e959ffba78fd	3890	psu2_status_set->write(1);
mjr	33:d832bcab089e	3891	}
mjr	77:0b96f6867312	3892	powerTimerDiagState = 0;
mjr	33:d832bcab089e	3893	break;
mjr	33:d832bcab089e	3894
mjr	33:d832bcab089e	3895	case 2:
mjr	33:d832bcab089e	3896	// PSU2 was off last time we checked, and we tried setting
mjr	33:d832bcab089e	3897	// the latch. Drop the SET signal and go to CHECK state.
mjr	35:e959ffba78fd	3898	psu2_status_set->write(0);
mjr	33:d832bcab089e	3899	psu2_state = 3;
mjr	77:0b96f6867312	3900	powerTimerDiagState = 0;
mjr	33:d832bcab089e	3901	break;
mjr	33:d832bcab089e	3902
mjr	33:d832bcab089e	3903	case 3:
mjr	33:d832bcab089e	3904	// CHECK state: we pulsed SET, and we're now ready to see
mjr	40:cc0d9814522b	3905	// if it stuck. If the latch is now on, PSU2 has transitioned
mjr	33:d832bcab089e	3906	// from OFF to ON, so start the TV countdown. If the latch is
mjr	33:d832bcab089e	3907	// off, our SET command didn't stick, so PSU2 is still off.
mjr	35:e959ffba78fd	3908	if (psu2_status_sense->read())
mjr	33:d832bcab089e	3909	{
mjr	33:d832bcab089e	3910	// The latch stuck, so PSU2 has transitioned from OFF
mjr	33:d832bcab089e	3911	// to ON. Start the TV countdown timer.
mjr	33:d832bcab089e	3912	tv_timer.reset();
mjr	33:d832bcab089e	3913	tv_timer.start();
mjr	33:d832bcab089e	3914	psu2_state = 4;
mjr	73:4e8ce0b18915	3915
mjr	73:4e8ce0b18915	3916	// start the power timer diagnostic flashes
mjr	73:4e8ce0b18915	3917	powerTimerDiagState = 2;
mjr	33:d832bcab089e	3918	}
mjr	33:d832bcab089e	3919	else
mjr	33:d832bcab089e	3920	{
mjr	33:d832bcab089e	3921	// The latch didn't stick, so PSU2 was still off at
mjr	33:d832bcab089e	3922	// our last check. Try pulsing it again in case PSU2
mjr	33:d832bcab089e	3923	// was turned on since the last check.
mjr	35:e959ffba78fd	3924	psu2_status_set->write(1);
mjr	33:d832bcab089e	3925	psu2_state = 2;
mjr	33:d832bcab089e	3926	}
mjr	33:d832bcab089e	3927	break;
mjr	33:d832bcab089e	3928
mjr	33:d832bcab089e	3929	case 4:
mjr	77:0b96f6867312	3930	// TV timer countdown in progress. The latch has to stay on during
mjr	77:0b96f6867312	3931	// the countdown; if the latch turns off, PSU2 power must have gone
mjr	77:0b96f6867312	3932	// off again before the countdown finished.
mjr	77:0b96f6867312	3933	if (!psu2_status_sense->read())
mjr	77:0b96f6867312	3934	{
mjr	77:0b96f6867312	3935	// power is off - start a new check cycle
mjr	77:0b96f6867312	3936	psu2_status_set->write(1);
mjr	77:0b96f6867312	3937	psu2_state = 2;
mjr	77:0b96f6867312	3938	break;
mjr	77:0b96f6867312	3939	}
mjr	77:0b96f6867312	3940
mjr	77:0b96f6867312	3941	// Flash the power time diagnostic every two cycles
mjr	77:0b96f6867312	3942	powerTimerDiagState = (powerTimerDiagState + 1) & 0x03;
mjr	77:0b96f6867312	3943
mjr	77:0b96f6867312	3944	// if we've reached the delay time, pulse the relay
mjr	77:0b96f6867312	3945	if (tv_timer.read_us() >= tv_delay_time_us)
mjr	33:d832bcab089e	3946	{
mjr	33:d832bcab089e	3947	// turn on the relay for one timer interval
mjr	73:4e8ce0b18915	3948	tvRelayUpdate(TV_RELAY_POWERON, true);
mjr	33:d832bcab089e	3949	psu2_state = 5;
mjr	77:0b96f6867312	3950
mjr	77:0b96f6867312	3951	// show solid blue on the diagnostic LED while the relay is on
mjr	77:0b96f6867312	3952	powerTimerDiagState = 2;
mjr	33:d832bcab089e	3953	}
mjr	33:d832bcab089e	3954	break;
mjr	33:d832bcab089e	3955
mjr	33:d832bcab089e	3956	case 5:
mjr	33:d832bcab089e	3957	// TV timer relay on. We pulse this for one interval, so
mjr	77:0b96f6867312	3958	// it's now time to turn it off.
mjr	73:4e8ce0b18915	3959	tvRelayUpdate(TV_RELAY_POWERON, false);
mjr	77:0b96f6867312	3960
mjr	77:0b96f6867312	3961	// Proceed to sending any TV ON IR commands
mjr	77:0b96f6867312	3962	psu2_state = 6;
mjr	77:0b96f6867312	3963	tvon_ir_state = 0;
mjr	77:0b96f6867312	3964
mjr	77:0b96f6867312	3965	// diagnostic LEDs off for now
mjr	77:0b96f6867312	3966	powerTimerDiagState = 0;
mjr	77:0b96f6867312	3967	break;
mjr	77:0b96f6867312	3968
mjr	77:0b96f6867312	3969	case 6:
mjr	77:0b96f6867312	3970	// Sending TV ON IR signals. Start with the assumption that
mjr	77:0b96f6867312	3971	// we have no IR work to do, in which case we're done with the
mjr	77:0b96f6867312	3972	// whole TV ON sequence. So by default return to state 1.
mjr	33:d832bcab089e	3973	psu2_state = 1;
mjr	77:0b96f6867312	3974	powerTimerDiagState = 0;
mjr	73:4e8ce0b18915	3975
mjr	77:0b96f6867312	3976	// If we have an IR emitter, check for TV ON IR commands
mjr	77:0b96f6867312	3977	if (ir_tx != 0)
mjr	77:0b96f6867312	3978	{
mjr	77:0b96f6867312	3979	// check to see if the last transmission is still in progress
mjr	77:0b96f6867312	3980	if (ir_tx->isSending())
mjr	77:0b96f6867312	3981	{
mjr	77:0b96f6867312	3982	// We're still sending the last transmission. Stay in
mjr	77:0b96f6867312	3983	// state 6.
mjr	77:0b96f6867312	3984	psu2_state = 6;
mjr	77:0b96f6867312	3985	powerTimerDiagState = 4;
mjr	77:0b96f6867312	3986	break;
mjr	77:0b96f6867312	3987	}
mjr	77:0b96f6867312	3988
mjr	77:0b96f6867312	3989	// The last transmission is done, so check for a new one.
mjr	77:0b96f6867312	3990	// Look for the Nth TV ON IR slot, where N is our state
mjr	77:0b96f6867312	3991	// number.
mjr	77:0b96f6867312	3992	for (int i = 0, n = 0 ; i < MAX_IR_CODES ; ++i)
mjr	77:0b96f6867312	3993	{
mjr	77:0b96f6867312	3994	// is this a TV ON command?
mjr	77:0b96f6867312	3995	if ((cfg.IRCommand[i].flags & IRFlagTVON) != 0)
mjr	77:0b96f6867312	3996	{
mjr	77:0b96f6867312	3997	// It's a TV ON command - check if it's the one we're
mjr	77:0b96f6867312	3998	// looking for.
mjr	77:0b96f6867312	3999	if (n == tvon_ir_state)
mjr	77:0b96f6867312	4000	{
mjr	77:0b96f6867312	4001	// It's the one. Start transmitting it by
mjr	77:0b96f6867312	4002	// pushing its virtual button.
mjr	77:0b96f6867312	4003	int vb = IRConfigSlotToVirtualButton[i];
mjr	77:0b96f6867312	4004	ir_tx->pushButton(vb, true);
mjr	77:0b96f6867312	4005
mjr	77:0b96f6867312	4006	// Pushing the button starts transmission, and once
mjr	77:0b96f6867312	4007	// started, the transmission will run to completion
mjr	77:0b96f6867312	4008	// even if the button is no longer pushed. So we
mjr	77:0b96f6867312	4009	// can immediately un-push the button, since we only
mjr	77:0b96f6867312	4010	// need to send the code once.
mjr	77:0b96f6867312	4011	ir_tx->pushButton(vb, false);
mjr	77:0b96f6867312	4012
mjr	77:0b96f6867312	4013	// Advance to the next TV ON IR state, where we'll
mjr	77:0b96f6867312	4014	// await the end of this transmission and move on to
mjr	77:0b96f6867312	4015	// the next one.
mjr	77:0b96f6867312	4016	psu2_state = 6;
mjr	77:0b96f6867312	4017	tvon_ir_state++;
mjr	77:0b96f6867312	4018	break;
mjr	77:0b96f6867312	4019	}
mjr	77:0b96f6867312	4020
mjr	77:0b96f6867312	4021	// it's not ours - count it and keep looking
mjr	77:0b96f6867312	4022	++n;
mjr	77:0b96f6867312	4023	}
mjr	77:0b96f6867312	4024	}
mjr	77:0b96f6867312	4025	}
mjr	33:d832bcab089e	4026	break;
mjr	33:d832bcab089e	4027	}
mjr	77:0b96f6867312	4028
mjr	77:0b96f6867312	4029	// update the diagnostic LEDs
mjr	77:0b96f6867312	4030	diagLED();
mjr	33:d832bcab089e	4031	}
mjr	33:d832bcab089e	4032
mjr	77:0b96f6867312	4033	// Start the power status timer. If the status sense circuit is enabled
mjr	77:0b96f6867312	4034	// in the configuration, we'll set up the pin connections and start the
mjr	77:0b96f6867312	4035	// timer for our periodic status checks. Does nothing if any of the pins
mjr	77:0b96f6867312	4036	// are configured as NC.
mjr	77:0b96f6867312	4037	void startPowerStatusTimer(Config &cfg)
mjr	35:e959ffba78fd	4038	{
mjr	55:4db125cd11a0	4039	// only start the timer if the pins are configured and the delay
mjr	55:4db125cd11a0	4040	// time is nonzero
mjr	77:0b96f6867312	4041	powerStatusTimer.reset();
mjr	77:0b96f6867312	4042	if (cfg.TVON.statusPin != 0xFF
mjr	77:0b96f6867312	4043	&& cfg.TVON.latchPin != 0xFF)
mjr	35:e959ffba78fd	4044	{
mjr	77:0b96f6867312	4045	// set up the power sensing circuit connections
mjr	53:9b2611964afc	4046	psu2_status_sense = new DigitalIn(wirePinName(cfg.TVON.statusPin));
mjr	53:9b2611964afc	4047	psu2_status_set = new DigitalOut(wirePinName(cfg.TVON.latchPin));
mjr	77:0b96f6867312	4048
mjr	77:0b96f6867312	4049	// if there's a TV ON relay, set up its control pin
mjr	77:0b96f6867312	4050	if (cfg.TVON.relayPin != 0xFF)
mjr	77:0b96f6867312	4051	tv_relay = new DigitalOut(wirePinName(cfg.TVON.relayPin));
mjr	77:0b96f6867312	4052
mjr	77:0b96f6867312	4053	// Set the TV ON delay time. We store the time internally in
mjr	77:0b96f6867312	4054	// microseconds, but the configuration stores it in units of
mjr	77:0b96f6867312	4055	// 1/100 second = 10ms = 10000us.
mjr	77:0b96f6867312	4056	tv_delay_time_us = cfg.TVON.delayTime * 10000;;
mjr	77:0b96f6867312	4057
mjr	77:0b96f6867312	4058	// Start the TV timer
mjr	77:0b96f6867312	4059	powerStatusTimer.start();
mjr	35:e959ffba78fd	4060	}
mjr	35:e959ffba78fd	4061	}
mjr	35:e959ffba78fd	4062
mjr	73:4e8ce0b18915	4063	// TV relay manual control timer. This lets us pulse the TV relay
mjr	73:4e8ce0b18915	4064	// under manual control, separately from the TV ON timer.
mjr	73:4e8ce0b18915	4065	Ticker tv_manualTicker;
mjr	73:4e8ce0b18915	4066	void TVManualInt()
mjr	73:4e8ce0b18915	4067	{
mjr	73:4e8ce0b18915	4068	tv_manualTicker.detach();
mjr	73:4e8ce0b18915	4069	tvRelayUpdate(TV_RELAY_USB, false);
mjr	73:4e8ce0b18915	4070	}
mjr	73:4e8ce0b18915	4071
mjr	73:4e8ce0b18915	4072	// Operate the TV ON relay. This allows manual control of the relay
mjr	73:4e8ce0b18915	4073	// from the PC. See protocol message 65 submessage 11.
mjr	73:4e8ce0b18915	4074	//
mjr	73:4e8ce0b18915	4075	// Mode:
mjr	73:4e8ce0b18915	4076	// 0 = turn relay off
mjr	73:4e8ce0b18915	4077	// 1 = turn relay on
mjr	73:4e8ce0b18915	4078	// 2 = pulse relay
mjr	73:4e8ce0b18915	4079	void TVRelay(int mode)
mjr	73:4e8ce0b18915	4080	{
mjr	73:4e8ce0b18915	4081	// if there's no TV relay control pin, ignore this
mjr	73:4e8ce0b18915	4082	if (tv_relay == 0)
mjr	73:4e8ce0b18915	4083	return;
mjr	73:4e8ce0b18915	4084
mjr	73:4e8ce0b18915	4085	switch (mode)
mjr	73:4e8ce0b18915	4086	{
mjr	73:4e8ce0b18915	4087	case 0:
mjr	73:4e8ce0b18915	4088	// relay off
mjr	73:4e8ce0b18915	4089	tvRelayUpdate(TV_RELAY_USB, false);
mjr	73:4e8ce0b18915	4090	break;
mjr	73:4e8ce0b18915	4091
mjr	73:4e8ce0b18915	4092	case 1:
mjr	73:4e8ce0b18915	4093	// relay on
mjr	73:4e8ce0b18915	4094	tvRelayUpdate(TV_RELAY_USB, true);
mjr	73:4e8ce0b18915	4095	break;
mjr	73:4e8ce0b18915	4096
mjr	73:4e8ce0b18915	4097	case 2:
mjr	73:4e8ce0b18915	4098	// Pulse the relay. Turn it on, then set our timer for 250ms.
mjr	73:4e8ce0b18915	4099	tvRelayUpdate(TV_RELAY_USB, true);
mjr	73:4e8ce0b18915	4100	tv_manualTicker.attach(&TVManualInt, 0.25);
mjr	73:4e8ce0b18915	4101	break;
mjr	73:4e8ce0b18915	4102	}
mjr	73:4e8ce0b18915	4103	}
mjr	73:4e8ce0b18915	4104
mjr	73:4e8ce0b18915	4105
mjr	35:e959ffba78fd	4106	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	4107	//
mjr	35:e959ffba78fd	4108	// In-memory configuration data structure. This is the live version in RAM
mjr	35:e959ffba78fd	4109	// that we use to determine how things are set up.
mjr	35:e959ffba78fd	4110	//
mjr	35:e959ffba78fd	4111	// When we save the configuration settings, we copy this structure to
mjr	35:e959ffba78fd	4112	// non-volatile flash memory. At startup, we check the flash location where
mjr	35:e959ffba78fd	4113	// we might have saved settings on a previous run, and it's valid, we copy
mjr	35:e959ffba78fd	4114	// the flash data to this structure. Firmware updates wipe the flash
mjr	35:e959ffba78fd	4115	// memory area, so you have to use the PC config tool to send the settings
mjr	35:e959ffba78fd	4116	// again each time the firmware is updated.
mjr	35:e959ffba78fd	4117	//
mjr	35:e959ffba78fd	4118	NVM nvm;
mjr	35:e959ffba78fd	4119
mjr	77:0b96f6867312	4120	// Flag: configuration save requested. The USB command message handler
mjr	77:0b96f6867312	4121	// sets this flag when a command is sent requesting the save. We don't
mjr	77:0b96f6867312	4122	// do the save inline in the command handler, but handle it on the next
mjr	77:0b96f6867312	4123	// main loop iteration.
mjr	77:0b96f6867312	4124	const uint8_t SAVE_CONFIG_ONLY = 1;
mjr	77:0b96f6867312	4125	const uint8_t SAVE_CONFIG_AND_REBOOT = 2;
mjr	77:0b96f6867312	4126	uint8_t saveConfigPending = 0;
mjr	77:0b96f6867312	4127
mjr	77:0b96f6867312	4128	// If saveConfigPending == SAVE_CONFIG_AND_REBOOT, this specifies the
mjr	77:0b96f6867312	4129	// delay time in seconds before rebooting.
mjr	77:0b96f6867312	4130	uint8_t saveConfigRebootTime;
mjr	77:0b96f6867312	4131
mjr	35:e959ffba78fd	4132	// For convenience, a macro for the Config part of the NVM structure
mjr	35:e959ffba78fd	4133	#define cfg (nvm.d.c)
mjr	35:e959ffba78fd	4134
mjr	35:e959ffba78fd	4135	// flash memory controller interface
mjr	35:e959ffba78fd	4136	FreescaleIAP iap;
mjr	35:e959ffba78fd	4137
mjr	76:7f5912b6340e	4138	// NVM structure in memory. This has to be aliend on a sector boundary,
mjr	76:7f5912b6340e	4139	// since we have to be able to erase its page(s) in order to write it.
mjr	76:7f5912b6340e	4140	// Further, we have to ensure that nothing else occupies any space within
mjr	76:7f5912b6340e	4141	// the same pages, since we'll erase that entire space whenever we write.
mjr	76:7f5912b6340e	4142	static const union
mjr	76:7f5912b6340e	4143	{
mjr	76:7f5912b6340e	4144	NVM nvm; // the NVM structure
mjr	76:7f5912b6340e	4145	char guard[((sizeof(NVM) + SECTOR_SIZE - 1)/SECTOR_SIZE)*SECTOR_SIZE];
mjr	76:7f5912b6340e	4146	}
mjr	76:7f5912b6340e	4147	flash_nvm_memory __attribute__ ((aligned(SECTOR_SIZE))) = { };
mjr	76:7f5912b6340e	4148
mjr	35:e959ffba78fd	4149	// figure the flash address as a pointer
mjr	35:e959ffba78fd	4150	NVM *configFlashAddr()
mjr	35:e959ffba78fd	4151	{
mjr	77:0b96f6867312	4152	return (NVM *)&flash_nvm_memory;
mjr	35:e959ffba78fd	4153	}
mjr	35:e959ffba78fd	4154
mjr	76:7f5912b6340e	4155	// Load the config from flash. Returns true if a valid non-default
mjr	76:7f5912b6340e	4156	// configuration was loaded, false if we not. If we return false,
mjr	76:7f5912b6340e	4157	// we load the factory defaults, so the configuration object is valid
mjr	76:7f5912b6340e	4158	// in either case.
mjr	76:7f5912b6340e	4159	bool loadConfigFromFlash()
mjr	35:e959ffba78fd	4160	{
mjr	35:e959ffba78fd	4161	// We want to use the KL25Z's on-board flash to store our configuration
mjr	35:e959ffba78fd	4162	// data persistently, so that we can restore it across power cycles.
mjr	35:e959ffba78fd	4163	// Unfortunatly, the mbed platform doesn't explicitly support this.
mjr	35:e959ffba78fd	4164	// mbed treats the on-board flash as a raw storage device for linker
mjr	35:e959ffba78fd	4165	// output, and assumes that the linker output is the only thing
mjr	35:e959ffba78fd	4166	// stored there. There's no file system and no allowance for shared
mjr	35:e959ffba78fd	4167	// use for other purposes. Fortunately, the linker ues the space in
mjr	35:e959ffba78fd	4168	// the obvious way, storing the entire linked program in a contiguous
mjr	35:e959ffba78fd	4169	// block starting at the lowest flash address. This means that the
mjr	35:e959ffba78fd	4170	// rest of flash - from the end of the linked program to the highest
mjr	35:e959ffba78fd	4171	// flash address - is all unused free space. Writing our data there
mjr	35:e959ffba78fd	4172	// won't conflict with anything else. Since the linker doesn't give
mjr	35:e959ffba78fd	4173	// us any programmatic access to the total linker output size, it's
mjr	35:e959ffba78fd	4174	// safest to just store our config data at the very end of the flash
mjr	35:e959ffba78fd	4175	// region (i.e., the highest address). As long as it's smaller than
mjr	35:e959ffba78fd	4176	// the free space, it won't collide with the linker area.
mjr	35:e959ffba78fd	4177
mjr	35:e959ffba78fd	4178	// Figure how many sectors we need for our structure
mjr	35:e959ffba78fd	4179	NVM *flash = configFlashAddr();
mjr	35:e959ffba78fd	4180
mjr	35:e959ffba78fd	4181	// if the flash is valid, load it; otherwise initialize to defaults
mjr	76:7f5912b6340e	4182	bool nvm_valid = flash->valid();
mjr	76:7f5912b6340e	4183	if (nvm_valid)
mjr	35:e959ffba78fd	4184	{
mjr	35:e959ffba78fd	4185	// flash is valid - load it into the RAM copy of the structure
mjr	35:e959ffba78fd	4186	memcpy(&nvm, flash, sizeof(NVM));
mjr	35:e959ffba78fd	4187	}
mjr	35:e959ffba78fd	4188	else
mjr	35:e959ffba78fd	4189	{
mjr	76:7f5912b6340e	4190	// flash is invalid - load factory settings into RAM structure
mjr	35:e959ffba78fd	4191	cfg.setFactoryDefaults();
mjr	35:e959ffba78fd	4192	}
mjr	76:7f5912b6340e	4193
mjr	76:7f5912b6340e	4194	// tell the caller what happened
mjr	76:7f5912b6340e	4195	return nvm_valid;
mjr	35:e959ffba78fd	4196	}
mjr	35:e959ffba78fd	4197
mjr	35:e959ffba78fd	4198	void saveConfigToFlash()
mjr	33:d832bcab089e	4199	{
mjr	76:7f5912b6340e	4200	// make sure the plunger sensor isn't busy
mjr	76:7f5912b6340e	4201	waitPlungerIdle();
mjr	76:7f5912b6340e	4202
mjr	76:7f5912b6340e	4203	// get the config block location in the flash memory
mjr	77:0b96f6867312	4204	uint32_t addr = uint32_t(configFlashAddr());
mjr	76:7f5912b6340e	4205
mjr	76:7f5912b6340e	4206	// loop until we save it successfully
mjr	76:7f5912b6340e	4207	for (int i = 0 ; i < 5 ; ++i)
mjr	76:7f5912b6340e	4208	{
mjr	76:7f5912b6340e	4209	// show cyan while writing
mjr	76:7f5912b6340e	4210	diagLED(0, 1, 1);
mjr	76:7f5912b6340e	4211
mjr	76:7f5912b6340e	4212	// save the data
mjr	76:7f5912b6340e	4213	nvm.save(iap, addr);
mjr	76:7f5912b6340e	4214
mjr	76:7f5912b6340e	4215	// diagnostic lights off
mjr	76:7f5912b6340e	4216	diagLED(0, 0, 0);
mjr	76:7f5912b6340e	4217
mjr	76:7f5912b6340e	4218	// verify the data
mjr	76:7f5912b6340e	4219	if (nvm.verify(addr))
mjr	76:7f5912b6340e	4220	{
mjr	77:0b96f6867312	4221	// show a diagnostic success flash (rapid green)
mjr	77:0b96f6867312	4222	for (int j = 0 ; j < 4 ; ++j)
mjr	76:7f5912b6340e	4223	{
mjr	77:0b96f6867312	4224	diagLED(0, 1, 0);
mjr	76:7f5912b6340e	4225	wait_us(50000);
mjr	76:7f5912b6340e	4226	diagLED(0, 0, 0);
mjr	76:7f5912b6340e	4227	wait_us(50000);
mjr	76:7f5912b6340e	4228	}
mjr	76:7f5912b6340e	4229
mjr	76:7f5912b6340e	4230	// success - no need to write again
mjr	76:7f5912b6340e	4231	break;
mjr	76:7f5912b6340e	4232	}
mjr	76:7f5912b6340e	4233	else
mjr	76:7f5912b6340e	4234	{
mjr	76:7f5912b6340e	4235	// Write failed. For diagnostic purposes, flash red a few times.
mjr	76:7f5912b6340e	4236	// Then go back through the loop to make another attempt at the
mjr	76:7f5912b6340e	4237	// write.
mjr	76:7f5912b6340e	4238	for (int j = 0 ; j < 5 ; ++j)
mjr	76:7f5912b6340e	4239	{
mjr	76:7f5912b6340e	4240	diagLED(1, 0, 0);
mjr	76:7f5912b6340e	4241	wait_us(50000);
mjr	76:7f5912b6340e	4242	diagLED(0, 0, 0);
mjr	76:7f5912b6340e	4243	wait_us(50000);
mjr	76:7f5912b6340e	4244	}
mjr	76:7f5912b6340e	4245	}
mjr	76:7f5912b6340e	4246	}
mjr	76:7f5912b6340e	4247	}
mjr	76:7f5912b6340e	4248
mjr	76:7f5912b6340e	4249	// ---------------------------------------------------------------------------
mjr	76:7f5912b6340e	4250	//
mjr	76:7f5912b6340e	4251	// Host-loaded configuration. The Flash NVM block above is designed to be
mjr	76:7f5912b6340e	4252	// stored from within the firmware; in contrast, the host-loaded config is
mjr	76:7f5912b6340e	4253	// stored by the host, by patching the firwmare binary (.bin) file before
mjr	76:7f5912b6340e	4254	// downloading it to the device.
mjr	76:7f5912b6340e	4255	//
mjr	76:7f5912b6340e	4256	// Ideally, we'd use the host-loaded memory for all configuration updates,
mjr	76:7f5912b6340e	4257	// because the KL25Z doesn't seem to be 100% reliable writing flash itself.
mjr	76:7f5912b6340e	4258	// There seems to be a chance of memory bus contention while a write is in
mjr	76:7f5912b6340e	4259	// progress, which can either corrupt the write or cause the CPU to lock up
mjr	76:7f5912b6340e	4260	// before the write is completed. It seems more reliable to program the
mjr	76:7f5912b6340e	4261	// flash externally, via the OpenSDA connection. Unfortunately, none of
mjr	76:7f5912b6340e	4262	// the available OpenSDA versions are capable of programming specific flash
mjr	76:7f5912b6340e	4263	// sectors; they always erase the entire flash memory space. We could
mjr	76:7f5912b6340e	4264	// make the Windows config program simply re-download the entire firmware
mjr	76:7f5912b6340e	4265	// for every configuration update, but I'd rather not because of the extra
mjr	76:7f5912b6340e	4266	// wear this would put on the flash. So, as a compromise, we'll use the
mjr	76:7f5912b6340e	4267	// host-loaded config whenever the user explicitly updates the firmware,
mjr	76:7f5912b6340e	4268	// but we'll use the on-board writer when only making a config change.
mjr	76:7f5912b6340e	4269	//
mjr	76:7f5912b6340e	4270	// The memory here is stored using the same format as the USB "Set Config
mjr	76:7f5912b6340e	4271	// Variable" command. These messages are 8 bytes long and start with a
mjr	76:7f5912b6340e	4272	// byte value 66, followed by the variable ID, followed by the variable
mjr	76:7f5912b6340e	4273	// value data in a format defined separately for each variable. To load
mjr	76:7f5912b6340e	4274	// the data, we'll start at the first byte after the signature, and
mjr	76:7f5912b6340e	4275	// interpret each 8-byte block as a type 66 message. If the first byte
mjr	76:7f5912b6340e	4276	// of a block is not 66, we'll take it as the end of the data.
mjr	76:7f5912b6340e	4277	//
mjr	76:7f5912b6340e	4278	// We provide a block of storage here big enough for 1,024 variables.
mjr	76:7f5912b6340e	4279	// The header consists of a 30-byte signature followed by two bytes giving
mjr	76:7f5912b6340e	4280	// the available space in the area, in this case 8192 == 0x0200. The
mjr	76:7f5912b6340e	4281	// length is little-endian. Note that the linker will implicitly zero
mjr	76:7f5912b6340e	4282	// the rest of the block, so if the host doesn't populate it, we'll see
mjr	76:7f5912b6340e	4283	// that it's empty by virtue of not containing the required '66' byte
mjr	76:7f5912b6340e	4284	// prefix for the first 8-byte variable block.
mjr	76:7f5912b6340e	4285	static const uint8_t hostLoadedConfig[8192+32]
mjr	76:7f5912b6340e	4286	__attribute__ ((aligned(SECTOR_SIZE))) =
mjr	76:7f5912b6340e	4287	"///Pinscape.HostLoadedConfig//\0\040"; // 30 byte signature + 2 byte length
mjr	76:7f5912b6340e	4288
mjr	76:7f5912b6340e	4289	// Get a pointer to the first byte of the configuration data
mjr	76:7f5912b6340e	4290	const uint8_t *getHostLoadedConfigData()
mjr	76:7f5912b6340e	4291	{
mjr	76:7f5912b6340e	4292	// the first configuration variable byte immediately follows the
mjr	76:7f5912b6340e	4293	// 32-byte signature header
mjr	76:7f5912b6340e	4294	return hostLoadedConfig + 32;
mjr	76:7f5912b6340e	4295	};
mjr	76:7f5912b6340e	4296
mjr	76:7f5912b6340e	4297	// forward reference to config var store function
mjr	76:7f5912b6340e	4298	void configVarSet(const uint8_t *);
mjr	76:7f5912b6340e	4299
mjr	76:7f5912b6340e	4300	// Load the host-loaded configuration data into the active (RAM)
mjr	76:7f5912b6340e	4301	// configuration object.
mjr	76:7f5912b6340e	4302	void loadHostLoadedConfig()
mjr	76:7f5912b6340e	4303	{
mjr	76:7f5912b6340e	4304	// Start at the first configuration variable. Each variable
mjr	76:7f5912b6340e	4305	// block is in the format of a Set Config Variable command in
mjr	76:7f5912b6340e	4306	// the USB protocol, so each block starts with a byte value of
mjr	76:7f5912b6340e	4307	// 66 and is 8 bytes long. Continue as long as we find valid
mjr	76:7f5912b6340e	4308	// variable blocks, or reach end end of the block.
mjr	76:7f5912b6340e	4309	const uint8_t *start = getHostLoadedConfigData();
mjr	76:7f5912b6340e	4310	const uint8_t *end = hostLoadedConfig + sizeof(hostLoadedConfig);
mjr	76:7f5912b6340e	4311	for (const uint8_t p = getHostLoadedConfigData() ; start < end && p == 66 ; p += 8)
mjr	76:7f5912b6340e	4312	{
mjr	76:7f5912b6340e	4313	// load this variable
mjr	76:7f5912b6340e	4314	configVarSet(p);
mjr	76:7f5912b6340e	4315	}
mjr	35:e959ffba78fd	4316	}
mjr	35:e959ffba78fd	4317
mjr	35:e959ffba78fd	4318	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	4319	//
mjr	55:4db125cd11a0	4320	// Pixel dump mode - the host requested a dump of image sensor pixels
mjr	55:4db125cd11a0	4321	// (helpful for installing and setting up the sensor and light source)
mjr	55:4db125cd11a0	4322	//
mjr	55:4db125cd11a0	4323	bool reportPlungerStat = false;
mjr	55:4db125cd11a0	4324	uint8_t reportPlungerStatFlags; // plunger pixel report flag bits (see ccdSensor.h)
mjr	55:4db125cd11a0	4325	uint8_t reportPlungerStatTime; // extra exposure time for plunger pixel report
mjr	55:4db125cd11a0	4326
mjr	55:4db125cd11a0	4327
mjr	55:4db125cd11a0	4328
mjr	55:4db125cd11a0	4329	// ---------------------------------------------------------------------------
mjr	55:4db125cd11a0	4330	//
mjr	40:cc0d9814522b	4331	// Night mode setting updates
mjr	40:cc0d9814522b	4332	//
mjr	38:091e511ce8a0	4333
mjr	38:091e511ce8a0	4334	// Turn night mode on or off
mjr	38:091e511ce8a0	4335	static void setNightMode(bool on)
mjr	38:091e511ce8a0	4336	{
mjr	77:0b96f6867312	4337	// Set the new night mode flag in the noisy output class. Note
mjr	77:0b96f6867312	4338	// that we use the status report bit flag value 0x02 when on, so
mjr	77:0b96f6867312	4339	// that we can just '\|' this into the overall status bits.
mjr	77:0b96f6867312	4340	nightMode = on ? 0x02 : 0x00;
mjr	55:4db125cd11a0	4341
mjr	40:cc0d9814522b	4342	// update the special output pin that shows the night mode state
mjr	53:9b2611964afc	4343	int port = int(cfg.nightMode.port) - 1;
mjr	53:9b2611964afc	4344	if (port >= 0 && port < numOutputs)
mjr	53:9b2611964afc	4345	lwPin[port]->set(nightMode ? 255 : 0);
mjr	76:7f5912b6340e	4346
mjr	76:7f5912b6340e	4347	// Reset all outputs at their current value, so that the underlying
mjr	76:7f5912b6340e	4348	// physical outputs get turned on or off as appropriate for the night
mjr	76:7f5912b6340e	4349	// mode change.
mjr	76:7f5912b6340e	4350	for (int i = 0 ; i < numOutputs ; ++i)
mjr	76:7f5912b6340e	4351	lwPin[i]->set(outLevel[i]);
mjr	76:7f5912b6340e	4352
mjr	76:7f5912b6340e	4353	// update 74HC595 outputs
mjr	76:7f5912b6340e	4354	if (hc595 != 0)
mjr	76:7f5912b6340e	4355	hc595->update();
mjr	38:091e511ce8a0	4356	}
mjr	38:091e511ce8a0	4357
mjr	38:091e511ce8a0	4358	// Toggle night mode
mjr	38:091e511ce8a0	4359	static void toggleNightMode()
mjr	38:091e511ce8a0	4360	{
mjr	53:9b2611964afc	4361	setNightMode(!nightMode);
mjr	38:091e511ce8a0	4362	}
mjr	38:091e511ce8a0	4363
mjr	38:091e511ce8a0	4364
mjr	38:091e511ce8a0	4365	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	4366	//
mjr	35:e959ffba78fd	4367	// Plunger Sensor
mjr	35:e959ffba78fd	4368	//
mjr	35:e959ffba78fd	4369
mjr	35:e959ffba78fd	4370	// the plunger sensor interface object
mjr	35:e959ffba78fd	4371	PlungerSensor *plungerSensor = 0;
mjr	35:e959ffba78fd	4372
mjr	76:7f5912b6340e	4373	// wait for the plunger sensor to complete any outstanding read
mjr	76:7f5912b6340e	4374	static void waitPlungerIdle(void)
mjr	76:7f5912b6340e	4375	{
mjr	76:7f5912b6340e	4376	while (!plungerSensor->ready()) { }
mjr	76:7f5912b6340e	4377	}
mjr	76:7f5912b6340e	4378
mjr	35:e959ffba78fd	4379	// Create the plunger sensor based on the current configuration. If
mjr	35:e959ffba78fd	4380	// there's already a sensor object, we'll delete it.
mjr	35:e959ffba78fd	4381	void createPlunger()
mjr	35:e959ffba78fd	4382	{
mjr	35:e959ffba78fd	4383	// create the new sensor object according to the type
mjr	35:e959ffba78fd	4384	switch (cfg.plunger.sensorType)
mjr	35:e959ffba78fd	4385	{
mjr	35:e959ffba78fd	4386	case PlungerType_TSL1410RS:
mjr	69:cc5039284fac	4387	// TSL1410R, serial mode (all pixels read in one file)
mjr	35:e959ffba78fd	4388	// pins are: SI, CLOCK, AO
mjr	53:9b2611964afc	4389	plungerSensor = new PlungerSensorTSL1410R(
mjr	53:9b2611964afc	4390	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	4391	wirePinName(cfg.plunger.sensorPin[1]),
mjr	53:9b2611964afc	4392	wirePinName(cfg.plunger.sensorPin[2]),
mjr	53:9b2611964afc	4393	NC);
mjr	35:e959ffba78fd	4394	break;
mjr	35:e959ffba78fd	4395
mjr	35:e959ffba78fd	4396	case PlungerType_TSL1410RP:
mjr	69:cc5039284fac	4397	// TSL1410R, parallel mode (each half-sensor's pixels read separately)
mjr	35:e959ffba78fd	4398	// pins are: SI, CLOCK, AO1, AO2
mjr	53:9b2611964afc	4399	plungerSensor = new PlungerSensorTSL1410R(
mjr	53:9b2611964afc	4400	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	4401	wirePinName(cfg.plunger.sensorPin[1]),
mjr	53:9b2611964afc	4402	wirePinName(cfg.plunger.sensorPin[2]),
mjr	53:9b2611964afc	4403	wirePinName(cfg.plunger.sensorPin[3]));
mjr	35:e959ffba78fd	4404	break;
mjr	35:e959ffba78fd	4405
mjr	69:cc5039284fac	4406	case PlungerType_TSL1412SS:
mjr	69:cc5039284fac	4407	// TSL1412S, serial mode
mjr	35:e959ffba78fd	4408	// pins are: SI, CLOCK, AO1, AO2
mjr	53:9b2611964afc	4409	plungerSensor = new PlungerSensorTSL1412R(
mjr	53:9b2611964afc	4410	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	4411	wirePinName(cfg.plunger.sensorPin[1]),
mjr	53:9b2611964afc	4412	wirePinName(cfg.plunger.sensorPin[2]),
mjr	53:9b2611964afc	4413	NC);
mjr	35:e959ffba78fd	4414	break;
mjr	35:e959ffba78fd	4415
mjr	69:cc5039284fac	4416	case PlungerType_TSL1412SP:
mjr	69:cc5039284fac	4417	// TSL1412S, parallel mode
mjr	35:e959ffba78fd	4418	// pins are: SI, CLOCK, AO1, AO2
mjr	53:9b2611964afc	4419	plungerSensor = new PlungerSensorTSL1412R(
mjr	53:9b2611964afc	4420	wirePinName(cfg.plunger.sensorPin[0]),
mjr	53:9b2611964afc	4421	wirePinName(cfg.plunger.sensorPin[1]),
mjr	53:9b2611964afc	4422	wirePinName(cfg.plunger.sensorPin[2]),
mjr	53:9b2611964afc	4423	wirePinName(cfg.plunger.sensorPin[3]));
mjr	35:e959ffba78fd	4424	break;
mjr	35:e959ffba78fd	4425
mjr	35:e959ffba78fd	4426	case PlungerType_Pot:
mjr	35:e959ffba78fd	4427	// pins are: AO
mjr	53:9b2611964afc	4428	plungerSensor = new PlungerSensorPot(
mjr	53:9b2611964afc	4429	wirePinName(cfg.plunger.sensorPin[0]));
mjr	35:e959ffba78fd	4430	break;
mjr	35:e959ffba78fd	4431
mjr	35:e959ffba78fd	4432	case PlungerType_None:
mjr	35:e959ffba78fd	4433	default:
mjr	35:e959ffba78fd	4434	plungerSensor = new PlungerSensorNull();
mjr	35:e959ffba78fd	4435	break;
mjr	35:e959ffba78fd	4436	}
mjr	33:d832bcab089e	4437	}
mjr	33:d832bcab089e	4438
mjr	52:8298b2a73eb2	4439	// Global plunger calibration mode flag
mjr	52:8298b2a73eb2	4440	bool plungerCalMode;
mjr	52:8298b2a73eb2	4441
mjr	48:058ace2aed1d	4442	// Plunger reader
mjr	51:57eb311faafa	4443	//
mjr	51:57eb311faafa	4444	// This class encapsulates our plunger data processing. At the simplest
mjr	51:57eb311faafa	4445	// level, we read the position from the sensor, adjust it for the
mjr	51:57eb311faafa	4446	// calibration settings, and report the calibrated position to the host.
mjr	51:57eb311faafa	4447	//
mjr	51:57eb311faafa	4448	// In addition, we constantly monitor the data for "firing" motions.
mjr	51:57eb311faafa	4449	// A firing motion is when the user pulls back the plunger and releases
mjr	51:57eb311faafa	4450	// it, allowing it to shoot forward under the force of the main spring.
mjr	51:57eb311faafa	4451	// When we detect that this is happening, we briefly stop reporting the
mjr	51:57eb311faafa	4452	// real physical position that we're reading from the sensor, and instead
mjr	51:57eb311faafa	4453	// report a synthetic series of positions that depicts an idealized
mjr	51:57eb311faafa	4454	// firing motion.
mjr	51:57eb311faafa	4455	//
mjr	51:57eb311faafa	4456	// The point of the synthetic reports is to correct for distortions
mjr	51:57eb311faafa	4457	// created by the joystick interface conventions used by VP and other
mjr	51:57eb311faafa	4458	// PC pinball emulators. The convention they use is simply to have the
mjr	51:57eb311faafa	4459	// plunger device report the instantaneous position of the real plunger.
mjr	51:57eb311faafa	4460	// The PC software polls this reported position periodically, and moves
mjr	51:57eb311faafa	4461	// the on-screen virtual plunger in sync with the real plunger. This
mjr	51:57eb311faafa	4462	// works fine for human-scale motion when the user is manually moving
mjr	51:57eb311faafa	4463	// the plunger. But it doesn't work for the high speed motion of a
mjr	51:57eb311faafa	4464	// release. The plunger simply moves too fast. VP polls in about 10ms
mjr	51:57eb311faafa	4465	// intervals; the plunger takes about 50ms to travel from fully
mjr	51:57eb311faafa	4466	// retracted to the park position when released. The low sampling
mjr	51:57eb311faafa	4467	// rate relative to the rate of change of the sampled data creates
mjr	51:57eb311faafa	4468	// a classic digital aliasing effect.
mjr	51:57eb311faafa	4469	//
mjr	51:57eb311faafa	4470	// The synthetic reporting scheme compensates for the interface
mjr	51:57eb311faafa	4471	// distortions by essentially changing to a coarse enough timescale
mjr	51:57eb311faafa	4472	// that VP can reliably interpret the readings. Conceptually, there
mjr	51:57eb311faafa	4473	// are three steps involved in doing this. First, we analyze the
mjr	51:57eb311faafa	4474	// actual sensor data to detect and characterize the release motion.
mjr	51:57eb311faafa	4475	// Second, once we think we have a release in progress, we fit the
mjr	51:57eb311faafa	4476	// data to a mathematical model of the release. The model we use is
mjr	51:57eb311faafa	4477	// dead simple: we consider the release to have one parameter, namely
mjr	51:57eb311faafa	4478	// the retraction distance at the moment the user lets go. This is an
mjr	51:57eb311faafa	4479	// excellent proxy in the real physical system for the final speed
mjr	51:57eb311faafa	4480	// when the plunger hits the ball, and it also happens to match how
mjr	51:57eb311faafa	4481	// VP models it internally. Third, we construct synthetic reports
mjr	51:57eb311faafa	4482	// that will make VP's internal state match our model. This is also
mjr	51:57eb311faafa	4483	// pretty simple: we just need to send VP the maximum retraction
mjr	51:57eb311faafa	4484	// distance for long enough to be sure that it polls it at least
mjr	51:57eb311faafa	4485	// once, and then send it the park position for long enough to
mjr	51:57eb311faafa	4486	// ensure that VP will complete the same firing motion. The
mjr	51:57eb311faafa	4487	// immediate jump from the maximum point to the zero point will
mjr	51:57eb311faafa	4488	// cause VP to move its simulation model plunger forward from the
mjr	51:57eb311faafa	4489	// starting point at its natural spring acceleration rate, which
mjr	51:57eb311faafa	4490	// is exactly what the real plunger just did.
mjr	51:57eb311faafa	4491	//
mjr	48:058ace2aed1d	4492	class PlungerReader
mjr	48:058ace2aed1d	4493	{
mjr	48:058ace2aed1d	4494	public:
mjr	48:058ace2aed1d	4495	PlungerReader()
mjr	48:058ace2aed1d	4496	{
mjr	48:058ace2aed1d	4497	// not in a firing event yet
mjr	48:058ace2aed1d	4498	firing = 0;
mjr	48:058ace2aed1d	4499
mjr	48:058ace2aed1d	4500	// no history yet
mjr	48:058ace2aed1d	4501	histIdx = 0;
mjr	55:4db125cd11a0	4502
mjr	55:4db125cd11a0	4503	// initialize the filter
mjr	55:4db125cd11a0	4504	initFilter();
mjr	48:058ace2aed1d	4505	}
mjr	76:7f5912b6340e	4506
mjr	48:058ace2aed1d	4507	// Collect a reading from the plunger sensor. The main loop calls
mjr	48:058ace2aed1d	4508	// this frequently to read the current raw position data from the
mjr	48:058ace2aed1d	4509	// sensor. We analyze the raw data to produce the calibrated
mjr	48:058ace2aed1d	4510	// position that we report to the PC via the joystick interface.
mjr	48:058ace2aed1d	4511	void read()
mjr	48:058ace2aed1d	4512	{
mjr	76:7f5912b6340e	4513	// if the sensor is busy, skip the reading on this round
mjr	76:7f5912b6340e	4514	if (!plungerSensor->ready())
mjr	76:7f5912b6340e	4515	return;
mjr	76:7f5912b6340e	4516
mjr	48:058ace2aed1d	4517	// Read a sample from the sensor
mjr	48:058ace2aed1d	4518	PlungerReading r;
mjr	48:058ace2aed1d	4519	if (plungerSensor->read(r))
mjr	48:058ace2aed1d	4520	{
mjr	69:cc5039284fac	4521	// filter the raw sensor reading
mjr	69:cc5039284fac	4522	applyPreFilter(r);
mjr	69:cc5039284fac	4523
mjr	51:57eb311faafa	4524	// Pull the previous reading from the history
mjr	50:40015764bbe6	4525	const PlungerReading &prv = nthHist(0);
mjr	48:058ace2aed1d	4526
mjr	69:cc5039284fac	4527	// If the new reading is within 1ms of the previous reading,
mjr	48:058ace2aed1d	4528	// ignore it. We require a minimum time between samples to
mjr	48:058ace2aed1d	4529	// ensure that we have a usable amount of precision in the
mjr	48:058ace2aed1d	4530	// denominator (the time interval) for calculating the plunger
mjr	69:cc5039284fac	4531	// velocity. The CCD sensor hardware takes about 2.5ms to
mjr	69:cc5039284fac	4532	// read, so it will never be affected by this, but other sensor
mjr	69:cc5039284fac	4533	// types don't all have the same hardware cycle time, so we need
mjr	69:cc5039284fac	4534	// to throttle them artificially. E.g., the potentiometer only
mjr	69:cc5039284fac	4535	// needs one ADC sample per reading, which only takes about 15us.
mjr	69:cc5039284fac	4536	// We don't need to check which sensor type we have here; we
mjr	69:cc5039284fac	4537	// just ignore readings until the minimum interval has passed,
mjr	69:cc5039284fac	4538	// so if the sensor is already slower than this, we'll end up
mjr	69:cc5039284fac	4539	// using all of its readings.
mjr	69:cc5039284fac	4540	if (uint32_t(r.t - prv.t) < 1000UL)
mjr	48:058ace2aed1d	4541	return;
mjr	53:9b2611964afc	4542
mjr	53:9b2611964afc	4543	// check for calibration mode
mjr	53:9b2611964afc	4544	if (plungerCalMode)
mjr	53:9b2611964afc	4545	{
mjr	53:9b2611964afc	4546	// Calibration mode. Adjust the calibration bounds to fit
mjr	53:9b2611964afc	4547	// the value. If this value is beyond the current min or max,
mjr	53:9b2611964afc	4548	// expand the envelope to include this new value.
mjr	53:9b2611964afc	4549	if (r.pos > cfg.plunger.cal.max)
mjr	53:9b2611964afc	4550	cfg.plunger.cal.max = r.pos;
mjr	53:9b2611964afc	4551	if (r.pos < cfg.plunger.cal.min)
mjr	53:9b2611964afc	4552	cfg.plunger.cal.min = r.pos;
mjr	76:7f5912b6340e	4553
mjr	76:7f5912b6340e	4554	// update our cached calibration data
mjr	76:7f5912b6340e	4555	onUpdateCal();
mjr	50:40015764bbe6	4556
mjr	53:9b2611964afc	4557	// If we're in calibration state 0, we're waiting for the
mjr	53:9b2611964afc	4558	// plunger to come to rest at the park position so that we
mjr	53:9b2611964afc	4559	// can take a sample of the park position. Check to see if
mjr	53:9b2611964afc	4560	// we've been at rest for a minimum interval.
mjr	53:9b2611964afc	4561	if (calState == 0)
mjr	53:9b2611964afc	4562	{
mjr	53:9b2611964afc	4563	if (abs(r.pos - calZeroStart.pos) < 65535/3/50)
mjr	53:9b2611964afc	4564	{
mjr	53:9b2611964afc	4565	// we're close enough - make sure we've been here long enough
mjr	53:9b2611964afc	4566	if (uint32_t(r.t - calZeroStart.t) > 100000UL)
mjr	53:9b2611964afc	4567	{
mjr	53:9b2611964afc	4568	// we've been at rest long enough - count it
mjr	53:9b2611964afc	4569	calZeroPosSum += r.pos;
mjr	53:9b2611964afc	4570	calZeroPosN += 1;
mjr	53:9b2611964afc	4571
mjr	53:9b2611964afc	4572	// update the zero position from the new average
mjr	53:9b2611964afc	4573	cfg.plunger.cal.zero = uint16_t(calZeroPosSum / calZeroPosN);
mjr	76:7f5912b6340e	4574	onUpdateCal();
mjr	53:9b2611964afc	4575
mjr	53:9b2611964afc	4576	// switch to calibration state 1 - at rest
mjr	53:9b2611964afc	4577	calState = 1;
mjr	53:9b2611964afc	4578	}
mjr	53:9b2611964afc	4579	}
mjr	53:9b2611964afc	4580	else
mjr	53:9b2611964afc	4581	{
mjr	53:9b2611964afc	4582	// we're not close to the last position - start again here
mjr	53:9b2611964afc	4583	calZeroStart = r;
mjr	53:9b2611964afc	4584	}
mjr	53:9b2611964afc	4585	}
mjr	53:9b2611964afc	4586
mjr	53:9b2611964afc	4587	// Rescale to the joystick range, and adjust for the current
mjr	53:9b2611964afc	4588	// park position, but don't calibrate. We don't know the maximum
mjr	53:9b2611964afc	4589	// point yet, so we can't calibrate the range.
mjr	53:9b2611964afc	4590	r.pos = int(
mjr	53:9b2611964afc	4591	(long(r.pos - cfg.plunger.cal.zero) * JOYMAX)
mjr	53:9b2611964afc	4592	/ (65535 - cfg.plunger.cal.zero));
mjr	53:9b2611964afc	4593	}
mjr	53:9b2611964afc	4594	else
mjr	53:9b2611964afc	4595	{
mjr	53:9b2611964afc	4596	// Not in calibration mode. Apply the existing calibration and
mjr	53:9b2611964afc	4597	// rescale to the joystick range.
mjr	76:7f5912b6340e	4598	r.pos = applyCal(r.pos);
mjr	53:9b2611964afc	4599
mjr	53:9b2611964afc	4600	// limit the result to the valid joystick range
mjr	53:9b2611964afc	4601	if (r.pos > JOYMAX)
mjr	53:9b2611964afc	4602	r.pos = JOYMAX;
mjr	53:9b2611964afc	4603	else if (r.pos < -JOYMAX)
mjr	53:9b2611964afc	4604	r.pos = -JOYMAX;
mjr	53:9b2611964afc	4605	}
mjr	50:40015764bbe6	4606
mjr	50:40015764bbe6	4607	// Calculate the velocity from the second-to-last reading
mjr	50:40015764bbe6	4608	// to here, in joystick distance units per microsecond.
mjr	50:40015764bbe6	4609	// Note that we use the second-to-last reading rather than
mjr	50:40015764bbe6	4610	// the very last reading to give ourselves a little longer
mjr	50:40015764bbe6	4611	// time base. The time base is so short between consecutive
mjr	50:40015764bbe6	4612	// readings that the error bars in the position would be too
mjr	50:40015764bbe6	4613	// large.
mjr	50:40015764bbe6	4614	//
mjr	50:40015764bbe6	4615	// For reference, the physical plunger velocity ranges up
mjr	50:40015764bbe6	4616	// to about 100,000 joystick distance units/sec. This is
mjr	50:40015764bbe6	4617	// based on empirical measurements. The typical time for
mjr	50:40015764bbe6	4618	// a real plunger to travel the full distance when released
mjr	50:40015764bbe6	4619	// from full retraction is about 85ms, so the average velocity
mjr	50:40015764bbe6	4620	// covering this distance is about 56,000 units/sec. The
mjr	50:40015764bbe6	4621	// peak is probably about twice that. In real-world units,
mjr	50:40015764bbe6	4622	// this translates to an average speed of about .75 m/s and
mjr	50:40015764bbe6	4623	// a peak of about 1.5 m/s.
mjr	50:40015764bbe6	4624	//
mjr	50:40015764bbe6	4625	// Note that we actually calculate the value here in units
mjr	50:40015764bbe6	4626	// per microsecond - the discussion above is in terms of
mjr	50:40015764bbe6	4627	// units/sec because that's more on a human scale. Our
mjr	50:40015764bbe6	4628	// choice of internal units here really isn't important,
mjr	50:40015764bbe6	4629	// since we only use the velocity for comparison purposes,
mjr	50:40015764bbe6	4630	// to detect acceleration trends. We therefore save ourselves
mjr	50:40015764bbe6	4631	// a little CPU time by using the natural units of our inputs.
mjr	76:7f5912b6340e	4632	//
mjr	76:7f5912b6340e	4633	// We don't care about the absolute velocity; this is a purely
mjr	76:7f5912b6340e	4634	// relative calculation. So to speed things up, calculate it
mjr	76:7f5912b6340e	4635	// in the integer domain, using a fixed-point representation
mjr	76:7f5912b6340e	4636	// with a 64K scale. In other words, with the stored values
mjr	76:7f5912b6340e	4637	// shifted left 16 bits from the actual values: the value 1
mjr	76:7f5912b6340e	4638	// is stored as 1<<16. The position readings are in the range
mjr	76:7f5912b6340e	4639	// -JOYMAX..JOYMAX, which fits in 16 bits, and the time
mjr	76:7f5912b6340e	4640	// differences will generally be on the scale of a few
mjr	76:7f5912b6340e	4641	// milliseconds = thousands of microseconds. So the velocity
mjr	76:7f5912b6340e	4642	// figures will fit nicely into a 32-bit fixed point value with
mjr	76:7f5912b6340e	4643	// a 64K scale factor.
mjr	51:57eb311faafa	4644	const PlungerReading &prv2 = nthHist(1);
mjr	76:7f5912b6340e	4645	int v = ((r.pos - prv2.pos) << 16)/(r.t - prv2.t);
mjr	50:40015764bbe6	4646
mjr	50:40015764bbe6	4647	// presume we'll report the latest instantaneous reading
mjr	50:40015764bbe6	4648	z = r.pos;
mjr	48:058ace2aed1d	4649
mjr	50:40015764bbe6	4650	// Check firing events
mjr	50:40015764bbe6	4651	switch (firing)
mjr	50:40015764bbe6	4652	{
mjr	50:40015764bbe6	4653	case 0:
mjr	50:40015764bbe6	4654	// Default state - not in a firing event.
mjr	50:40015764bbe6	4655
mjr	50:40015764bbe6	4656	// If we have forward motion from a position that's retracted
mjr	50:40015764bbe6	4657	// beyond a threshold, enter phase 1. If we're not pulled back
mjr	50:40015764bbe6	4658	// far enough, don't bother with this, as a release wouldn't
mjr	50:40015764bbe6	4659	// be strong enough to require the synthetic firing treatment.
mjr	50:40015764bbe6	4660	if (v < 0 && r.pos > JOYMAX/6)
mjr	50:40015764bbe6	4661	{
mjr	53:9b2611964afc	4662	// enter firing phase 1
mjr	50:40015764bbe6	4663	firingMode(1);
mjr	50:40015764bbe6	4664
mjr	53:9b2611964afc	4665	// if in calibration state 1 (at rest), switch to state 2 (not
mjr	53:9b2611964afc	4666	// at rest)
mjr	53:9b2611964afc	4667	if (calState == 1)
mjr	53:9b2611964afc	4668	calState = 2;
mjr	53:9b2611964afc	4669
mjr	50:40015764bbe6	4670	// we don't have a freeze position yet, but note the start time
mjr	50:40015764bbe6	4671	f1.pos = 0;
mjr	50:40015764bbe6	4672	f1.t = r.t;
mjr	50:40015764bbe6	4673
mjr	50:40015764bbe6	4674	// Figure the barrel spring "bounce" position in case we complete
mjr	50:40015764bbe6	4675	// the firing event. This is the amount that the forward momentum
mjr	50:40015764bbe6	4676	// of the plunger will compress the barrel spring at the peak of
mjr	50:40015764bbe6	4677	// the forward travel during the release. Assume that this is
mjr	50:40015764bbe6	4678	// linearly proportional to the starting retraction distance.
mjr	50:40015764bbe6	4679	// The barrel spring is about 1/6 the length of the main spring,
mjr	50:40015764bbe6	4680	// so figure it compresses by 1/6 the distance. (This is overly
mjr	53:9b2611964afc	4681	// simplistic and not very accurate, but it seems to give good
mjr	50:40015764bbe6	4682	// visual results, and that's all it's for.)
mjr	50:40015764bbe6	4683	f2.pos = -r.pos/6;
mjr	50:40015764bbe6	4684	}
mjr	50:40015764bbe6	4685	break;
mjr	50:40015764bbe6	4686
mjr	50:40015764bbe6	4687	case 1:
mjr	50:40015764bbe6	4688	// Phase 1 - acceleration. If we cross the zero point, trigger
mjr	50:40015764bbe6	4689	// the firing event. Otherwise, continue monitoring as long as we
mjr	50:40015764bbe6	4690	// see acceleration in the forward direction.
mjr	50:40015764bbe6	4691	if (r.pos <= 0)
mjr	50:40015764bbe6	4692	{
mjr	50:40015764bbe6	4693	// switch to the synthetic firing mode
mjr	50:40015764bbe6	4694	firingMode(2);
mjr	50:40015764bbe6	4695	z = f2.pos;
mjr	50:40015764bbe6	4696
mjr	50:40015764bbe6	4697	// note the start time for the firing phase
mjr	50:40015764bbe6	4698	f2.t = r.t;
mjr	53:9b2611964afc	4699
mjr	53:9b2611964afc	4700	// if in calibration mode, and we're in state 2 (moving),
mjr	53:9b2611964afc	4701	// collect firing statistics for calibration purposes
mjr	53:9b2611964afc	4702	if (plungerCalMode && calState == 2)
mjr	53:9b2611964afc	4703	{
mjr	53:9b2611964afc	4704	// collect a new zero point for the average when we
mjr	53:9b2611964afc	4705	// come to rest
mjr	53:9b2611964afc	4706	calState = 0;
mjr	53:9b2611964afc	4707
mjr	53:9b2611964afc	4708	// collect average firing time statistics in millseconds, if
mjr	53:9b2611964afc	4709	// it's in range (20 to 255 ms)
mjr	53:9b2611964afc	4710	int dt = uint32_t(r.t - f1.t)/1000UL;
mjr	53:9b2611964afc	4711	if (dt >= 20 && dt <= 255)
mjr	53:9b2611964afc	4712	{
mjr	53:9b2611964afc	4713	calRlsTimeSum += dt;
mjr	53:9b2611964afc	4714	calRlsTimeN += 1;
mjr	53:9b2611964afc	4715	cfg.plunger.cal.tRelease = uint8_t(calRlsTimeSum / calRlsTimeN);
mjr	53:9b2611964afc	4716	}
mjr	53:9b2611964afc	4717	}
mjr	50:40015764bbe6	4718	}
mjr	50:40015764bbe6	4719	else if (v < vprv2)
mjr	50:40015764bbe6	4720	{
mjr	50:40015764bbe6	4721	// We're still accelerating, and we haven't crossed the zero
mjr	50:40015764bbe6	4722	// point yet - stay in phase 1. (Note that forward motion is
mjr	50:40015764bbe6	4723	// negative velocity, so accelerating means that the new
mjr	50:40015764bbe6	4724	// velocity is more negative than the previous one, which
mjr	50:40015764bbe6	4725	// is to say numerically less than - that's why the test
mjr	50:40015764bbe6	4726	// for acceleration is the seemingly backwards 'v < vprv'.)
mjr	50:40015764bbe6	4727
mjr	50:40015764bbe6	4728	// If we've been accelerating for at least 20ms, we're probably
mjr	50:40015764bbe6	4729	// really doing a release. Jump back to the recent local
mjr	50:40015764bbe6	4730	// maximum where the release really started. This is always
mjr	50:40015764bbe6	4731	// a bit before we started seeing sustained accleration, because
mjr	50:40015764bbe6	4732	// the plunger motion for the first few milliseconds is too slow
mjr	50:40015764bbe6	4733	// for our sensor precision to reliably detect acceleration.
mjr	50:40015764bbe6	4734	if (f1.pos != 0)
mjr	50:40015764bbe6	4735	{
mjr	50:40015764bbe6	4736	// we have a reset point - freeze there
mjr	50:40015764bbe6	4737	z = f1.pos;
mjr	50:40015764bbe6	4738	}
mjr	50:40015764bbe6	4739	else if (uint32_t(r.t - f1.t) >= 20000UL)
mjr	50:40015764bbe6	4740	{
mjr	50:40015764bbe6	4741	// it's been long enough - set a reset point.
mjr	50:40015764bbe6	4742	f1.pos = z = histLocalMax(r.t, 50000UL);
mjr	50:40015764bbe6	4743	}
mjr	50:40015764bbe6	4744	}
mjr	50:40015764bbe6	4745	else
mjr	50:40015764bbe6	4746	{
mjr	50:40015764bbe6	4747	// We're not accelerating. Cancel the firing event.
mjr	50:40015764bbe6	4748	firingMode(0);
mjr	53:9b2611964afc	4749	calState = 1;
mjr	50:40015764bbe6	4750	}
mjr	50:40015764bbe6	4751	break;
mjr	50:40015764bbe6	4752
mjr	50:40015764bbe6	4753	case 2:
mjr	50:40015764bbe6	4754	// Phase 2 - start of synthetic firing event. Report the fake
mjr	50:40015764bbe6	4755	// bounce for 25ms. VP polls the joystick about every 10ms, so
mjr	50:40015764bbe6	4756	// this should be enough time to guarantee that VP sees this
mjr	50:40015764bbe6	4757	// report at least once.
mjr	50:40015764bbe6	4758	if (uint32_t(r.t - f2.t) < 25000UL)
mjr	50:40015764bbe6	4759	{
mjr	50:40015764bbe6	4760	// report the bounce position
mjr	50:40015764bbe6	4761	z = f2.pos;
mjr	50:40015764bbe6	4762	}
mjr	50:40015764bbe6	4763	else
mjr	50:40015764bbe6	4764	{
mjr	50:40015764bbe6	4765	// it's been long enough - switch to phase 3, where we
mjr	50:40015764bbe6	4766	// report the park position until the real plunger comes
mjr	50:40015764bbe6	4767	// to rest
mjr	50:40015764bbe6	4768	firingMode(3);
mjr	50:40015764bbe6	4769	z = 0;
mjr	50:40015764bbe6	4770
mjr	50:40015764bbe6	4771	// set the start of the "stability window" to the rest position
mjr	50:40015764bbe6	4772	f3s.t = r.t;
mjr	50:40015764bbe6	4773	f3s.pos = 0;
mjr	50:40015764bbe6	4774
mjr	50:40015764bbe6	4775	// set the start of the "retraction window" to the actual position
mjr	50:40015764bbe6	4776	f3r = r;
mjr	50:40015764bbe6	4777	}
mjr	50:40015764bbe6	4778	break;
mjr	50:40015764bbe6	4779
mjr	50:40015764bbe6	4780	case 3:
mjr	50:40015764bbe6	4781	// Phase 3 - in synthetic firing event. Report the park position
mjr	50:40015764bbe6	4782	// until the plunger position stabilizes. Left to its own devices,
mjr	50:40015764bbe6	4783	// the plunger will usualy bounce off the barrel spring several
mjr	50:40015764bbe6	4784	// times before coming to rest, so we'll see oscillating motion
mjr	50:40015764bbe6	4785	// for a second or two. In the simplest case, we can aimply wait
mjr	50:40015764bbe6	4786	// for the plunger to stop moving for a short time. However, the
mjr	50:40015764bbe6	4787	// player might intervene by pulling the plunger back again, so
mjr	50:40015764bbe6	4788	// watch for that motion as well. If we're just bouncing freely,
mjr	50:40015764bbe6	4789	// we'll see the direction change frequently. If the player is
mjr	50:40015764bbe6	4790	// moving the plunger manually, the direction will be constant
mjr	50:40015764bbe6	4791	// for longer.
mjr	50:40015764bbe6	4792	if (v >= 0)
mjr	50:40015764bbe6	4793	{
mjr	50:40015764bbe6	4794	// We're moving back (or standing still). If this has been
mjr	50:40015764bbe6	4795	// going on for a while, the user must have taken control.
mjr	50:40015764bbe6	4796	if (uint32_t(r.t - f3r.t) > 65000UL)
mjr	50:40015764bbe6	4797	{
mjr	50:40015764bbe6	4798	// user has taken control - cancel firing mode
mjr	50:40015764bbe6	4799	firingMode(0);
mjr	50:40015764bbe6	4800	break;
mjr	50:40015764bbe6	4801	}
mjr	50:40015764bbe6	4802	}
mjr	50:40015764bbe6	4803	else
mjr	50:40015764bbe6	4804	{
mjr	50:40015764bbe6	4805	// forward motion - reset retraction window
mjr	50:40015764bbe6	4806	f3r.t = r.t;
mjr	50:40015764bbe6	4807	}
mjr	50:40015764bbe6	4808
mjr	53:9b2611964afc	4809	// Check if we're close to the last starting point. The joystick
mjr	53:9b2611964afc	4810	// positive axis range (0..4096) covers the retraction distance of
mjr	53:9b2611964afc	4811	// about 2.5", so 1" is about 1638 joystick units, hence 1/16" is
mjr	53:9b2611964afc	4812	// about 100 units.
mjr	53:9b2611964afc	4813	if (abs(r.pos - f3s.pos) < 100)
mjr	50:40015764bbe6	4814	{
mjr	53:9b2611964afc	4815	// It's at roughly the same position as the starting point.
mjr	53:9b2611964afc	4816	// Consider it stable if this has been true for 300ms.
mjr	50:40015764bbe6	4817	if (uint32_t(r.t - f3s.t) > 30000UL)
mjr	50:40015764bbe6	4818	{
mjr	50:40015764bbe6	4819	// we're done with the firing event
mjr	50:40015764bbe6	4820	firingMode(0);
mjr	50:40015764bbe6	4821	}
mjr	50:40015764bbe6	4822	else
mjr	50:40015764bbe6	4823	{
mjr	50:40015764bbe6	4824	// it's close to the last position but hasn't been
mjr	50:40015764bbe6	4825	// here long enough; stay in firing mode and continue
mjr	50:40015764bbe6	4826	// to report the park position
mjr	50:40015764bbe6	4827	z = 0;
mjr	50:40015764bbe6	4828	}
mjr	50:40015764bbe6	4829	}
mjr	50:40015764bbe6	4830	else
mjr	50:40015764bbe6	4831	{
mjr	50:40015764bbe6	4832	// It's not close enough to the last starting point, so use
mjr	50:40015764bbe6	4833	// this as a new starting point, and stay in firing mode.
mjr	50:40015764bbe6	4834	f3s = r;
mjr	50:40015764bbe6	4835	z = 0;
mjr	50:40015764bbe6	4836	}
mjr	50:40015764bbe6	4837	break;
mjr	50:40015764bbe6	4838	}
mjr	50:40015764bbe6	4839
mjr	50:40015764bbe6	4840	// save the velocity reading for next time
mjr	50:40015764bbe6	4841	vprv2 = vprv;
mjr	50:40015764bbe6	4842	vprv = v;
mjr	50:40015764bbe6	4843
mjr	50:40015764bbe6	4844	// add the new reading to the history
mjr	76:7f5912b6340e	4845	hist[histIdx] = r;
mjr	76:7f5912b6340e	4846	if (++histIdx > countof(hist))
mjr	76:7f5912b6340e	4847	histIdx = 0;
mjr	58:523fdcffbe6d	4848
mjr	69:cc5039284fac	4849	// apply the post-processing filter
mjr	69:cc5039284fac	4850	zf = applyPostFilter();
mjr	48:058ace2aed1d	4851	}
mjr	48:058ace2aed1d	4852	}
mjr	48:058ace2aed1d	4853
mjr	48:058ace2aed1d	4854	// Get the current value to report through the joystick interface
mjr	58:523fdcffbe6d	4855	int16_t getPosition()
mjr	58:523fdcffbe6d	4856	{
mjr	58:523fdcffbe6d	4857	// return the last filtered reading
mjr	58:523fdcffbe6d	4858	return zf;
mjr	55:4db125cd11a0	4859	}
mjr	58:523fdcffbe6d	4860
mjr	48:058ace2aed1d	4861	// get the timestamp of the current joystick report (microseconds)
mjr	50:40015764bbe6	4862	uint32_t getTimestamp() const { return nthHist(0).t; }
mjr	48:058ace2aed1d	4863
mjr	48:058ace2aed1d	4864	// Set calibration mode on or off
mjr	52:8298b2a73eb2	4865	void setCalMode(bool f)
mjr	48:058ace2aed1d	4866	{
mjr	52:8298b2a73eb2	4867	// check to see if we're entering calibration mode
mjr	52:8298b2a73eb2	4868	if (f && !plungerCalMode)
mjr	52:8298b2a73eb2	4869	{
mjr	52:8298b2a73eb2	4870	// reset the calibration in the configuration
mjr	48:058ace2aed1d	4871	cfg.plunger.cal.begin();
mjr	52:8298b2a73eb2	4872
mjr	52:8298b2a73eb2	4873	// start in state 0 (waiting to settle)
mjr	52:8298b2a73eb2	4874	calState = 0;
mjr	52:8298b2a73eb2	4875	calZeroPosSum = 0;
mjr	52:8298b2a73eb2	4876	calZeroPosN = 0;
mjr	52:8298b2a73eb2	4877	calRlsTimeSum = 0;
mjr	52:8298b2a73eb2	4878	calRlsTimeN = 0;
mjr	52:8298b2a73eb2	4879
mjr	52:8298b2a73eb2	4880	// set the initial zero point to the current position
mjr	52:8298b2a73eb2	4881	PlungerReading r;
mjr	52:8298b2a73eb2	4882	if (plungerSensor->read(r))
mjr	52:8298b2a73eb2	4883	{
mjr	52:8298b2a73eb2	4884	// got a reading - use it as the initial zero point
mjr	69:cc5039284fac	4885	applyPreFilter(r);
mjr	52:8298b2a73eb2	4886	cfg.plunger.cal.zero = r.pos;
mjr	76:7f5912b6340e	4887	onUpdateCal();
mjr	52:8298b2a73eb2	4888
mjr	52:8298b2a73eb2	4889	// use it as the starting point for the settling watch
mjr	53:9b2611964afc	4890	calZeroStart = r;
mjr	52:8298b2a73eb2	4891	}
mjr	52:8298b2a73eb2	4892	else
mjr	52:8298b2a73eb2	4893	{
mjr	52:8298b2a73eb2	4894	// no reading available - use the default 1/6 position
mjr	52:8298b2a73eb2	4895	cfg.plunger.cal.zero = 0xffff/6;
mjr	76:7f5912b6340e	4896	onUpdateCal();
mjr	52:8298b2a73eb2	4897
mjr	52:8298b2a73eb2	4898	// we don't have a starting point for the setting watch
mjr	53:9b2611964afc	4899	calZeroStart.pos = -65535;
mjr	53:9b2611964afc	4900	calZeroStart.t = 0;
mjr	53:9b2611964afc	4901	}
mjr	53:9b2611964afc	4902	}
mjr	53:9b2611964afc	4903	else if (!f && plungerCalMode)
mjr	53:9b2611964afc	4904	{
mjr	53:9b2611964afc	4905	// Leaving calibration mode. Make sure the max is past the
mjr	53:9b2611964afc	4906	// zero point - if it's not, we'd have a zero or negative
mjr	53:9b2611964afc	4907	// denominator for the scaling calculation, which would be
mjr	53:9b2611964afc	4908	// physically meaningless.
mjr	53:9b2611964afc	4909	if (cfg.plunger.cal.max <= cfg.plunger.cal.zero)
mjr	53:9b2611964afc	4910	{
mjr	53:9b2611964afc	4911	// bad settings - reset to defaults
mjr	53:9b2611964afc	4912	cfg.plunger.cal.max = 0xffff;
mjr	53:9b2611964afc	4913	cfg.plunger.cal.zero = 0xffff/6;
mjr	76:7f5912b6340e	4914	onUpdateCal();
mjr	52:8298b2a73eb2	4915	}
mjr	52:8298b2a73eb2	4916	}
mjr	52:8298b2a73eb2	4917
mjr	48:058ace2aed1d	4918	// remember the new mode
mjr	52:8298b2a73eb2	4919	plungerCalMode = f;
mjr	48:058ace2aed1d	4920	}
mjr	48:058ace2aed1d	4921
mjr	76:7f5912b6340e	4922	// Cached inverse of the calibration range. This is for calculating
mjr	76:7f5912b6340e	4923	// the calibrated plunger position given a raw sensor reading. The
mjr	76:7f5912b6340e	4924	// cached inverse is calculated as
mjr	76:7f5912b6340e	4925	//
mjr	76:7f5912b6340e	4926	// 64K * JOYMAX / (cfg.plunger.cal.max - cfg.plunger.cal.zero)
mjr	76:7f5912b6340e	4927	//
mjr	76:7f5912b6340e	4928	// To convert a raw sensor reading to a calibrated position, calculate
mjr	76:7f5912b6340e	4929	//
mjr	76:7f5912b6340e	4930	// ((reading - cfg.plunger.cal.zero)*invCalRange) >> 16
mjr	76:7f5912b6340e	4931	//
mjr	76:7f5912b6340e	4932	// That yields the calibration result without performing a division.
mjr	76:7f5912b6340e	4933	int invCalRange;
mjr	76:7f5912b6340e	4934
mjr	76:7f5912b6340e	4935	// apply the calibration range to a reading
mjr	76:7f5912b6340e	4936	inline int applyCal(int reading)
mjr	76:7f5912b6340e	4937	{
mjr	76:7f5912b6340e	4938	return ((reading - cfg.plunger.cal.zero)*invCalRange) >> 16;
mjr	76:7f5912b6340e	4939	}
mjr	76:7f5912b6340e	4940
mjr	76:7f5912b6340e	4941	void onUpdateCal()
mjr	76:7f5912b6340e	4942	{
mjr	76:7f5912b6340e	4943	invCalRange = (JOYMAX << 16)/(cfg.plunger.cal.max - cfg.plunger.cal.zero);
mjr	76:7f5912b6340e	4944	}
mjr	76:7f5912b6340e	4945
mjr	48:058ace2aed1d	4946	// is a firing event in progress?
mjr	53:9b2611964afc	4947	bool isFiring() { return firing == 3; }
mjr	76:7f5912b6340e	4948
mjr	48:058ace2aed1d	4949	private:
mjr	52:8298b2a73eb2	4950
mjr	74:822a92bc11d2	4951	// Plunger data filtering mode: optionally apply filtering to the raw
mjr	74:822a92bc11d2	4952	// plunger sensor readings to try to reduce noise in the signal. This
mjr	74:822a92bc11d2	4953	// is designed for the TSL1410/12 optical sensors, where essentially all
mjr	74:822a92bc11d2	4954	// of the noise in the signal comes from lack of sharpness in the shadow
mjr	74:822a92bc11d2	4955	// edge. When the shadow is blurry, the edge detector has to pick a pixel,
mjr	74:822a92bc11d2	4956	// even though the edge is actually a gradient spanning several pixels.
mjr	74:822a92bc11d2	4957	// The edge detection algorithm decides on the exact pixel, but whatever
mjr	74:822a92bc11d2	4958	// the algorithm, the choice is going to be somewhat arbitrary given that
mjr	74:822a92bc11d2	4959	// there's really no one pixel that's "the edge" when the edge actually
mjr	74:822a92bc11d2	4960	// covers multiple pixels. This can make the choice of pixel sensitive to
mjr	74:822a92bc11d2	4961	// small changes in exposure and pixel respose from frame to frame, which
mjr	74:822a92bc11d2	4962	// means that the reported edge position can move by a pixel or two from
mjr	74:822a92bc11d2	4963	// one frame to the next even when the physical plunger is perfectly still.
mjr	74:822a92bc11d2	4964	// That's the noise we're talking about.
mjr	74:822a92bc11d2	4965	//
mjr	74:822a92bc11d2	4966	// We previously applied a mild hysteresis filter to the signal to try to
mjr	74:822a92bc11d2	4967	// eliminate this noise. The filter tracked the average over the last
mjr	74:822a92bc11d2	4968	// several samples, and rejected readings that wandered within a few
mjr	74:822a92bc11d2	4969	// pixels of the average. If a certain number of readings moved away from
mjr	74:822a92bc11d2	4970	// the average in the same direction, even by small amounts, the filter
mjr	74:822a92bc11d2	4971	// accepted the changes, on the assumption that they represented actual
mjr	74:822a92bc11d2	4972	// slow movement of the plunger. This filter was applied after the firing
mjr	74:822a92bc11d2	4973	// detection.
mjr	74:822a92bc11d2	4974	//
mjr	74:822a92bc11d2	4975	// I also tried a simpler filter that rejected changes that were too fast
mjr	74:822a92bc11d2	4976	// to be physically possible, as well as changes that were very close to
mjr	74:822a92bc11d2	4977	// the last reported position (i.e., simple hysteresis). The "too fast"
mjr	74:822a92bc11d2	4978	// filter was there to reject spurious readings where the edge detector
mjr	74:822a92bc11d2	4979	// mistook a bad pixel value as an edge.
mjr	74:822a92bc11d2	4980	//
mjr	74:822a92bc11d2	4981	// The new "mode 2" edge detector (see ccdSensor.h) seems to do a better
mjr	74:822a92bc11d2	4982	// job of rejecting pixel-level noise by itself than the older "mode 0"
mjr	74:822a92bc11d2	4983	// algorithm did, so I removed the filtering entirely. Any filtering has
mjr	74:822a92bc11d2	4984	// some downsides, so it's better to reduce noise in the underlying signal
mjr	74:822a92bc11d2	4985	// as much as possible first. It seems possible to get a very stable signal
mjr	74:822a92bc11d2	4986	// now with a combination of the mode 2 edge detector and optimizing the
mjr	74:822a92bc11d2	4987	// physical sensor arrangement, especially optimizing the light source to
mjr	74:822a92bc11d2	4988	// cast as sharp as shadow as possible and adjusting the brightness to
mjr	74:822a92bc11d2	4989	// maximize bright/dark contrast in the image.
mjr	74:822a92bc11d2	4990	//
mjr	74:822a92bc11d2	4991	// 0 = No filtering (current default)
mjr	74:822a92bc11d2	4992	// 1 = Filter the data after firing detection using moving average
mjr	74:822a92bc11d2	4993	// hysteresis filter (old version, used in most 2016 releases)
mjr	74:822a92bc11d2	4994	// 2 = Filter the data before firing detection using simple hysteresis
mjr	74:822a92bc11d2	4995	// plus spurious "too fast" motion rejection
mjr	74:822a92bc11d2	4996	//
mjr	73:4e8ce0b18915	4997	#define PLUNGER_FILTERING_MODE 0
mjr	73:4e8ce0b18915	4998
mjr	73:4e8ce0b18915	4999	#if PLUNGER_FILTERING_MODE == 0
mjr	69:cc5039284fac	5000	// Disable all filtering
mjr	74:822a92bc11d2	5001	inline void applyPreFilter(PlungerReading &r) { }
mjr	74:822a92bc11d2	5002	inline int applyPostFilter() { return z; }
mjr	73:4e8ce0b18915	5003	#elif PLUNGER_FILTERING_MODE == 1
mjr	73:4e8ce0b18915	5004	// Apply pre-processing filter. This filter is applied to the raw
mjr	73:4e8ce0b18915	5005	// value coming off the sensor, before calibration or fire-event
mjr	73:4e8ce0b18915	5006	// processing.
mjr	73:4e8ce0b18915	5007	void applyPreFilter(PlungerReading &r)
mjr	73:4e8ce0b18915	5008	{
mjr	73:4e8ce0b18915	5009	}
mjr	73:4e8ce0b18915	5010
mjr	73:4e8ce0b18915	5011	// Figure the next post-processing filtered value. This applies a
mjr	73:4e8ce0b18915	5012	// hysteresis filter to the last raw z value and returns the
mjr	73:4e8ce0b18915	5013	// filtered result.
mjr	73:4e8ce0b18915	5014	int applyPostFilter()
mjr	73:4e8ce0b18915	5015	{
mjr	73:4e8ce0b18915	5016	if (firing <= 1)
mjr	73:4e8ce0b18915	5017	{
mjr	73:4e8ce0b18915	5018	// Filter limit - 5 samples. Once we've been moving
mjr	73:4e8ce0b18915	5019	// in the same direction for this many samples, we'll
mjr	73:4e8ce0b18915	5020	// clear the history and start over.
mjr	73:4e8ce0b18915	5021	const int filterMask = 0x1f;
mjr	73:4e8ce0b18915	5022
mjr	73:4e8ce0b18915	5023	// figure the last average
mjr	73:4e8ce0b18915	5024	int lastAvg = int(filterSum / filterN);
mjr	73:4e8ce0b18915	5025
mjr	73:4e8ce0b18915	5026	// figure the direction of this sample relative to the average,
mjr	73:4e8ce0b18915	5027	// and shift it in to our bit mask of recent direction data
mjr	73:4e8ce0b18915	5028	if (z != lastAvg)
mjr	73:4e8ce0b18915	5029	{
mjr	73:4e8ce0b18915	5030	// shift the new direction bit into the vector
mjr	73:4e8ce0b18915	5031	filterDir <<= 1;
mjr	73:4e8ce0b18915	5032	if (z > lastAvg) filterDir \|= 1;
mjr	73:4e8ce0b18915	5033	}
mjr	73:4e8ce0b18915	5034
mjr	73:4e8ce0b18915	5035	// keep only the last N readings, up to the filter limit
mjr	73:4e8ce0b18915	5036	filterDir &= filterMask;
mjr	73:4e8ce0b18915	5037
mjr	73:4e8ce0b18915	5038	// if we've been moving consistently in one direction (all 1's
mjr	73:4e8ce0b18915	5039	// or all 0's in the direction history vector), reset the average
mjr	73:4e8ce0b18915	5040	if (filterDir == 0x00 \|\| filterDir == filterMask)
mjr	73:4e8ce0b18915	5041	{
mjr	73:4e8ce0b18915	5042	// motion away from the average - reset the average
mjr	73:4e8ce0b18915	5043	filterDir = 0x5555;
mjr	73:4e8ce0b18915	5044	filterN = 1;
mjr	73:4e8ce0b18915	5045	filterSum = (lastAvg + z)/2;
mjr	73:4e8ce0b18915	5046	return int16_t(filterSum);
mjr	73:4e8ce0b18915	5047	}
mjr	73:4e8ce0b18915	5048	else
mjr	73:4e8ce0b18915	5049	{
mjr	73:4e8ce0b18915	5050	// we're directionless - return the new average, with the
mjr	73:4e8ce0b18915	5051	// new sample included
mjr	73:4e8ce0b18915	5052	filterSum += z;
mjr	73:4e8ce0b18915	5053	++filterN;
mjr	73:4e8ce0b18915	5054	return int16_t(filterSum / filterN);
mjr	73:4e8ce0b18915	5055	}
mjr	73:4e8ce0b18915	5056	}
mjr	73:4e8ce0b18915	5057	else
mjr	73:4e8ce0b18915	5058	{
mjr	73:4e8ce0b18915	5059	// firing mode - skip the filter
mjr	73:4e8ce0b18915	5060	filterN = 1;
mjr	73:4e8ce0b18915	5061	filterSum = z;
mjr	73:4e8ce0b18915	5062	filterDir = 0x5555;
mjr	73:4e8ce0b18915	5063	return z;
mjr	73:4e8ce0b18915	5064	}
mjr	73:4e8ce0b18915	5065	}
mjr	73:4e8ce0b18915	5066	#elif PLUNGER_FILTERING_MODE == 2
mjr	69:cc5039284fac	5067	// Apply pre-processing filter. This filter is applied to the raw
mjr	69:cc5039284fac	5068	// value coming off the sensor, before calibration or fire-event
mjr	69:cc5039284fac	5069	// processing.
mjr	69:cc5039284fac	5070	void applyPreFilter(PlungerReading &r)
mjr	69:cc5039284fac	5071	{
mjr	69:cc5039284fac	5072	// get the previous raw reading
mjr	69:cc5039284fac	5073	PlungerReading prv = pre.raw;
mjr	69:cc5039284fac	5074
mjr	69:cc5039284fac	5075	// the new reading is the previous raw reading next time, no
mjr	69:cc5039284fac	5076	// matter how we end up filtering it
mjr	69:cc5039284fac	5077	pre.raw = r;
mjr	69:cc5039284fac	5078
mjr	69:cc5039284fac	5079	// If it's too big an excursion from the previous raw reading,
mjr	69:cc5039284fac	5080	// ignore it and repeat the previous reported reading. This
mjr	69:cc5039284fac	5081	// filters out anomalous spikes where we suddenly jump to a
mjr	69:cc5039284fac	5082	// level that's too far away to be possible. Real plungers
mjr	69:cc5039284fac	5083	// take about 60ms to travel the full distance when released,
mjr	69:cc5039284fac	5084	// so assuming constant acceleration, the maximum realistic
mjr	69:cc5039284fac	5085	// speed is about 2.200 distance units (on our 0..0xffff scale)
mjr	69:cc5039284fac	5086	// per microsecond.
mjr	69:cc5039284fac	5087	//
mjr	69:cc5039284fac	5088	// On the other hand, if the new reading is too close to the
mjr	69:cc5039284fac	5089	// previous reading, use the previous reported reading. This
mjr	69:cc5039284fac	5090	// filters out jitter around a stationary position.
mjr	69:cc5039284fac	5091	const float maxDist = 2.184f*uint32_t(r.t - prv.t);
mjr	69:cc5039284fac	5092	const int minDist = 256;
mjr	69:cc5039284fac	5093	const int delta = abs(r.pos - prv.pos);
mjr	69:cc5039284fac	5094	if (maxDist > minDist && delta > maxDist)
mjr	69:cc5039284fac	5095	{
mjr	69:cc5039284fac	5096	// too big an excursion - discard this reading by reporting
mjr	69:cc5039284fac	5097	// the last reported reading instead
mjr	69:cc5039284fac	5098	r.pos = pre.reported;
mjr	69:cc5039284fac	5099	}
mjr	69:cc5039284fac	5100	else if (delta < minDist)
mjr	69:cc5039284fac	5101	{
mjr	69:cc5039284fac	5102	// too close to the prior reading - apply hysteresis
mjr	69:cc5039284fac	5103	r.pos = pre.reported;
mjr	69:cc5039284fac	5104	}
mjr	69:cc5039284fac	5105	else
mjr	69:cc5039284fac	5106	{
mjr	69:cc5039284fac	5107	// the reading is in range - keep it, and remember it as
mjr	69:cc5039284fac	5108	// the last reported reading
mjr	69:cc5039284fac	5109	pre.reported = r.pos;
mjr	69:cc5039284fac	5110	}
mjr	69:cc5039284fac	5111	}
mjr	69:cc5039284fac	5112
mjr	69:cc5039284fac	5113	// pre-filter data
mjr	69:cc5039284fac	5114	struct PreFilterData {
mjr	69:cc5039284fac	5115	PreFilterData()
mjr	69:cc5039284fac	5116	: reported(0)
mjr	69:cc5039284fac	5117	{
mjr	69:cc5039284fac	5118	raw.t = 0;
mjr	69:cc5039284fac	5119	raw.pos = 0;
mjr	69:cc5039284fac	5120	}
mjr	69:cc5039284fac	5121	PlungerReading raw; // previous raw sensor reading
mjr	69:cc5039284fac	5122	int reported; // previous reported reading
mjr	69:cc5039284fac	5123	} pre;
mjr	69:cc5039284fac	5124
mjr	69:cc5039284fac	5125
mjr	69:cc5039284fac	5126	// Apply the post-processing filter. This filter is applied after
mjr	69:cc5039284fac	5127	// the fire-event processing. In the past, this used hysteresis to
mjr	69:cc5039284fac	5128	// try to smooth out jittering readings for a stationary plunger.
mjr	69:cc5039284fac	5129	// We've switched to a different approach that massages the readings
mjr	69:cc5039284fac	5130	// coming off the sensor before
mjr	69:cc5039284fac	5131	int applyPostFilter()
mjr	69:cc5039284fac	5132	{
mjr	69:cc5039284fac	5133	return z;
mjr	69:cc5039284fac	5134	}
mjr	69:cc5039284fac	5135	#endif
mjr	58:523fdcffbe6d	5136
mjr	58:523fdcffbe6d	5137	void initFilter()
mjr	58:523fdcffbe6d	5138	{
mjr	58:523fdcffbe6d	5139	filterSum = 0;
mjr	58:523fdcffbe6d	5140	filterN = 1;
mjr	58:523fdcffbe6d	5141	filterDir = 0x5555;
mjr	58:523fdcffbe6d	5142	}
mjr	58:523fdcffbe6d	5143	int64_t filterSum;
mjr	58:523fdcffbe6d	5144	int64_t filterN;
mjr	58:523fdcffbe6d	5145	uint16_t filterDir;
mjr	58:523fdcffbe6d	5146
mjr	58:523fdcffbe6d	5147
mjr	52:8298b2a73eb2	5148	// Calibration state. During calibration mode, we watch for release
mjr	52:8298b2a73eb2	5149	// events, to measure the time it takes to complete the release
mjr	52:8298b2a73eb2	5150	// motion; and we watch for the plunger to come to reset after a
mjr	52:8298b2a73eb2	5151	// release, to gather statistics on the rest position.
mjr	52:8298b2a73eb2	5152	// 0 = waiting to settle
mjr	52:8298b2a73eb2	5153	// 1 = at rest
mjr	52:8298b2a73eb2	5154	// 2 = retracting
mjr	52:8298b2a73eb2	5155	// 3 = possibly releasing
mjr	52:8298b2a73eb2	5156	uint8_t calState;
mjr	52:8298b2a73eb2	5157
mjr	52:8298b2a73eb2	5158	// Calibration zero point statistics.
mjr	52:8298b2a73eb2	5159	// During calibration mode, we collect data on the rest position (the
mjr	52:8298b2a73eb2	5160	// zero point) by watching for the plunger to come to rest after each
mjr	52:8298b2a73eb2	5161	// release. We average these rest positions to get the calibrated
mjr	52:8298b2a73eb2	5162	// zero point. We use the average because the real physical plunger
mjr	52:8298b2a73eb2	5163	// itself doesn't come to rest at exactly the same spot every time,
mjr	52:8298b2a73eb2	5164	// largely due to friction in the mechanism. To calculate the average,
mjr	52:8298b2a73eb2	5165	// we keep a sum of the readings and a count of samples.
mjr	53:9b2611964afc	5166	PlungerReading calZeroStart;
mjr	52:8298b2a73eb2	5167	long calZeroPosSum;
mjr	52:8298b2a73eb2	5168	int calZeroPosN;
mjr	52:8298b2a73eb2	5169
mjr	52:8298b2a73eb2	5170	// Calibration release time statistics.
mjr	52:8298b2a73eb2	5171	// During calibration, we collect an average for the release time.
mjr	52:8298b2a73eb2	5172	long calRlsTimeSum;
mjr	52:8298b2a73eb2	5173	int calRlsTimeN;
mjr	52:8298b2a73eb2	5174
mjr	48:058ace2aed1d	5175	// set a firing mode
mjr	48:058ace2aed1d	5176	inline void firingMode(int m)
mjr	48:058ace2aed1d	5177	{
mjr	48:058ace2aed1d	5178	firing = m;
mjr	48:058ace2aed1d	5179	}
mjr	48:058ace2aed1d	5180
mjr	48:058ace2aed1d	5181	// Find the most recent local maximum in the history data, up to
mjr	48:058ace2aed1d	5182	// the given time limit.
mjr	48:058ace2aed1d	5183	int histLocalMax(uint32_t tcur, uint32_t dt)
mjr	48:058ace2aed1d	5184	{
mjr	48:058ace2aed1d	5185	// start with the prior entry
mjr	48:058ace2aed1d	5186	int idx = (histIdx == 0 ? countof(hist) : histIdx) - 1;
mjr	48:058ace2aed1d	5187	int hi = hist[idx].pos;
mjr	48:058ace2aed1d	5188
mjr	48:058ace2aed1d	5189	// scan backwards for a local maximum
mjr	48:058ace2aed1d	5190	for (int n = countof(hist) - 1 ; n > 0 ; idx = (idx == 0 ? countof(hist) : idx) - 1)
mjr	48:058ace2aed1d	5191	{
mjr	48:058ace2aed1d	5192	// if this isn't within the time window, stop
mjr	48:058ace2aed1d	5193	if (uint32_t(tcur - hist[idx].t) > dt)
mjr	48:058ace2aed1d	5194	break;
mjr	48:058ace2aed1d	5195
mjr	48:058ace2aed1d	5196	// if this isn't above the current hith, stop
mjr	48:058ace2aed1d	5197	if (hist[idx].pos < hi)
mjr	48:058ace2aed1d	5198	break;
mjr	48:058ace2aed1d	5199
mjr	48:058ace2aed1d	5200	// this is the new high
mjr	48:058ace2aed1d	5201	hi = hist[idx].pos;
mjr	48:058ace2aed1d	5202	}
mjr	48:058ace2aed1d	5203
mjr	48:058ace2aed1d	5204	// return the local maximum
mjr	48:058ace2aed1d	5205	return hi;
mjr	48:058ace2aed1d	5206	}
mjr	48:058ace2aed1d	5207
mjr	50:40015764bbe6	5208	// velocity at previous reading, and the one before that
mjr	76:7f5912b6340e	5209	int vprv, vprv2;
mjr	48:058ace2aed1d	5210
mjr	48:058ace2aed1d	5211	// Circular buffer of recent readings. We keep a short history
mjr	48:058ace2aed1d	5212	// of readings to analyze during firing events. We can only identify
mjr	48:058ace2aed1d	5213	// a firing event once it's somewhat under way, so we need a little
mjr	48:058ace2aed1d	5214	// retrospective information to accurately determine after the fact
mjr	48:058ace2aed1d	5215	// exactly when it started. We throttle our readings to no more
mjr	74:822a92bc11d2	5216	// than one every 1ms, so we have at least N*1ms of history in this
mjr	48:058ace2aed1d	5217	// array.
mjr	74:822a92bc11d2	5218	PlungerReading hist[32];
mjr	48:058ace2aed1d	5219	int histIdx;
mjr	49:37bd97eb7688	5220
mjr	50:40015764bbe6	5221	// get the nth history item (0=last, 1=2nd to last, etc)
mjr	74:822a92bc11d2	5222	inline const PlungerReading &nthHist(int n) const
mjr	50:40015764bbe6	5223	{
mjr	50:40015764bbe6	5224	// histIdx-1 is the last written; go from there
mjr	50:40015764bbe6	5225	n = histIdx - 1 - n;
mjr	50:40015764bbe6	5226
mjr	50:40015764bbe6	5227	// adjust for wrapping
mjr	50:40015764bbe6	5228	if (n < 0)
mjr	50:40015764bbe6	5229	n += countof(hist);
mjr	50:40015764bbe6	5230
mjr	50:40015764bbe6	5231	// return the item
mjr	50:40015764bbe6	5232	return hist[n];
mjr	50:40015764bbe6	5233	}
mjr	48:058ace2aed1d	5234
mjr	48:058ace2aed1d	5235	// Firing event state.
mjr	48:058ace2aed1d	5236	//
mjr	48:058ace2aed1d	5237	// 0 - Default state. We report the real instantaneous plunger
mjr	48:058ace2aed1d	5238	// position to the joystick interface.
mjr	48:058ace2aed1d	5239	//
mjr	53:9b2611964afc	5240	// 1 - Moving forward
mjr	48:058ace2aed1d	5241	//
mjr	53:9b2611964afc	5242	// 2 - Accelerating
mjr	48:058ace2aed1d	5243	//
mjr	53:9b2611964afc	5244	// 3 - Firing. We report the rest position for a minimum interval,
mjr	53:9b2611964afc	5245	// or until the real plunger comes to rest somewhere.
mjr	48:058ace2aed1d	5246	//
mjr	48:058ace2aed1d	5247	int firing;
mjr	48:058ace2aed1d	5248
mjr	51:57eb311faafa	5249	// Position/timestamp at start of firing phase 1. When we see a
mjr	51:57eb311faafa	5250	// sustained forward acceleration, we freeze joystick reports at
mjr	51:57eb311faafa	5251	// the recent local maximum, on the assumption that this was the
mjr	51:57eb311faafa	5252	// start of the release. If this is zero, it means that we're
mjr	51:57eb311faafa	5253	// monitoring accelerating motion but haven't seen it for long
mjr	51:57eb311faafa	5254	// enough yet to be confident that a release is in progress.
mjr	48:058ace2aed1d	5255	PlungerReading f1;
mjr	48:058ace2aed1d	5256
mjr	48:058ace2aed1d	5257	// Position/timestamp at start of firing phase 2. The position is
mjr	48:058ace2aed1d	5258	// the fake "bounce" position we report during this phase, and the
mjr	48:058ace2aed1d	5259	// timestamp tells us when the phase began so that we can end it
mjr	48:058ace2aed1d	5260	// after enough time elapses.
mjr	48:058ace2aed1d	5261	PlungerReading f2;
mjr	48:058ace2aed1d	5262
mjr	48:058ace2aed1d	5263	// Position/timestamp of start of stability window during phase 3.
mjr	48:058ace2aed1d	5264	// We use this to determine when the plunger comes to rest. We set
mjr	51:57eb311faafa	5265	// this at the beginning of phase 3, and then reset it when the
mjr	48:058ace2aed1d	5266	// plunger moves too far from the last position.
mjr	48:058ace2aed1d	5267	PlungerReading f3s;
mjr	48:058ace2aed1d	5268
mjr	48:058ace2aed1d	5269	// Position/timestamp of start of retraction window during phase 3.
mjr	48:058ace2aed1d	5270	// We use this to determine if the user is drawing the plunger back.
mjr	48:058ace2aed1d	5271	// If we see retraction motion for more than about 65ms, we assume
mjr	48:058ace2aed1d	5272	// that the user has taken over, because we should see forward
mjr	48:058ace2aed1d	5273	// motion within this timeframe if the plunger is just bouncing
mjr	48:058ace2aed1d	5274	// freely.
mjr	48:058ace2aed1d	5275	PlungerReading f3r;
mjr	48:058ace2aed1d	5276
mjr	58:523fdcffbe6d	5277	// next raw (unfiltered) Z value to report to the joystick interface
mjr	58:523fdcffbe6d	5278	// (in joystick distance units)
mjr	48:058ace2aed1d	5279	int z;
mjr	48:058ace2aed1d	5280
mjr	58:523fdcffbe6d	5281	// next filtered Z value to report to the joystick interface
mjr	58:523fdcffbe6d	5282	int zf;
mjr	48:058ace2aed1d	5283	};
mjr	48:058ace2aed1d	5284
mjr	48:058ace2aed1d	5285	// plunger reader singleton
mjr	48:058ace2aed1d	5286	PlungerReader plungerReader;
mjr	48:058ace2aed1d	5287
mjr	48:058ace2aed1d	5288	// ---------------------------------------------------------------------------
mjr	48:058ace2aed1d	5289	//
mjr	48:058ace2aed1d	5290	// Handle the ZB Launch Ball feature.
mjr	48:058ace2aed1d	5291	//
mjr	48:058ace2aed1d	5292	// The ZB Launch Ball feature, if enabled, lets the mechanical plunger
mjr	48:058ace2aed1d	5293	// serve as a substitute for a physical Launch Ball button. When a table
mjr	48:058ace2aed1d	5294	// is loaded in VP, and the table has the ZB Launch Ball LedWiz port
mjr	48:058ace2aed1d	5295	// turned on, we'll disable mechanical plunger reports through the
mjr	48:058ace2aed1d	5296	// joystick interface and instead use the plunger only to simulate the
mjr	48:058ace2aed1d	5297	// Launch Ball button. When the mode is active, pulling back and
mjr	48:058ace2aed1d	5298	// releasing the plunger causes a brief simulated press of the Launch
mjr	48:058ace2aed1d	5299	// button, and pushing the plunger forward of the rest position presses
mjr	48:058ace2aed1d	5300	// the Launch button as long as the plunger is pressed forward.
mjr	48:058ace2aed1d	5301	//
mjr	48:058ace2aed1d	5302	// This feature has two configuration components:
mjr	48:058ace2aed1d	5303	//
mjr	48:058ace2aed1d	5304	// - An LedWiz port number. This port is a "virtual" port that doesn't
mjr	48:058ace2aed1d	5305	// have to be attached to any actual output. DOF uses it to signal
mjr	48:058ace2aed1d	5306	// that the current table uses a Launch button instead of a plunger.
mjr	48:058ace2aed1d	5307	// DOF simply turns the port on when such a table is loaded and turns
mjr	48:058ace2aed1d	5308	// it off at all other times. We use it to enable and disable the
mjr	48:058ace2aed1d	5309	// plunger/launch button connection.
mjr	48:058ace2aed1d	5310	//
mjr	48:058ace2aed1d	5311	// - A joystick button ID. We simulate pressing this button when the
mjr	48:058ace2aed1d	5312	// launch feature is activated via the LedWiz port and the plunger is
mjr	48:058ace2aed1d	5313	// either pulled back and releasd, or pushed forward past the rest
mjr	48:058ace2aed1d	5314	// position.
mjr	48:058ace2aed1d	5315	//
mjr	48:058ace2aed1d	5316	class ZBLaunchBall
mjr	48:058ace2aed1d	5317	{
mjr	48:058ace2aed1d	5318	public:
mjr	48:058ace2aed1d	5319	ZBLaunchBall()
mjr	48:058ace2aed1d	5320	{
mjr	48:058ace2aed1d	5321	// start in the default state
mjr	48:058ace2aed1d	5322	lbState = 0;
mjr	53:9b2611964afc	5323	btnState = false;
mjr	48:058ace2aed1d	5324	}
mjr	48:058ace2aed1d	5325
mjr	48:058ace2aed1d	5326	// Update state. This checks the current plunger position and
mjr	48:058ace2aed1d	5327	// the timers to see if the plunger is in a position that simulates
mjr	48:058ace2aed1d	5328	// a Launch Ball button press via the ZB Launch Ball feature.
mjr	48:058ace2aed1d	5329	// Updates the simulated button vector according to the current
mjr	48:058ace2aed1d	5330	// launch ball state. The main loop calls this before each
mjr	48:058ace2aed1d	5331	// joystick update to figure the new simulated button state.
mjr	53:9b2611964afc	5332	void update()
mjr	48:058ace2aed1d	5333	{
mjr	53:9b2611964afc	5334	// If the ZB Launch Ball led wiz output is ON, check for a
mjr	53:9b2611964afc	5335	// plunger firing event
mjr	53:9b2611964afc	5336	if (zbLaunchOn)
mjr	48:058ace2aed1d	5337	{
mjr	53:9b2611964afc	5338	// note the new position
mjr	48:058ace2aed1d	5339	int znew = plungerReader.getPosition();
mjr	53:9b2611964afc	5340
mjr	53:9b2611964afc	5341	// figure the push threshold from the configuration data
mjr	51:57eb311faafa	5342	const int pushThreshold = int(-JOYMAX/3.0 * cfg.plunger.zbLaunchBall.pushDistance/1000.0);
mjr	53:9b2611964afc	5343
mjr	53:9b2611964afc	5344	// check the state
mjr	48:058ace2aed1d	5345	switch (lbState)
mjr	48:058ace2aed1d	5346	{
mjr	48:058ace2aed1d	5347	case 0:
mjr	53:9b2611964afc	5348	// Default state. If a launch event has been detected on
mjr	53:9b2611964afc	5349	// the plunger, activate a timed pulse and switch to state 1.
mjr	53:9b2611964afc	5350	// If the plunger is pushed forward of the threshold, push
mjr	53:9b2611964afc	5351	// the button.
mjr	53:9b2611964afc	5352	if (plungerReader.isFiring())
mjr	53:9b2611964afc	5353	{
mjr	53:9b2611964afc	5354	// firing event - start a timed Launch button pulse
mjr	53:9b2611964afc	5355	lbTimer.reset();
mjr	53:9b2611964afc	5356	lbTimer.start();
mjr	53:9b2611964afc	5357	setButton(true);
mjr	53:9b2611964afc	5358
mjr	53:9b2611964afc	5359	// switch to state 1
mjr	53:9b2611964afc	5360	lbState = 1;
mjr	53:9b2611964afc	5361	}
mjr	48:058ace2aed1d	5362	else if (znew <= pushThreshold)
mjr	53:9b2611964afc	5363	{
mjr	53:9b2611964afc	5364	// pushed forward without a firing event - hold the
mjr	53:9b2611964afc	5365	// button as long as we're pushed forward
mjr	53:9b2611964afc	5366	setButton(true);
mjr	53:9b2611964afc	5367	}
mjr	53:9b2611964afc	5368	else
mjr	53:9b2611964afc	5369	{
mjr	53:9b2611964afc	5370	// not pushed forward - turn off the Launch button
mjr	53:9b2611964afc	5371	setButton(false);
mjr	53:9b2611964afc	5372	}
mjr	48:058ace2aed1d	5373	break;
mjr	48:058ace2aed1d	5374
mjr	48:058ace2aed1d	5375	case 1:
mjr	53:9b2611964afc	5376	// State 1: Timed Launch button pulse in progress after a
mjr	53:9b2611964afc	5377	// firing event. Wait for the timer to expire.
mjr	53:9b2611964afc	5378	if (lbTimer.read_us() > 200000UL)
mjr	53:9b2611964afc	5379	{
mjr	53:9b2611964afc	5380	// timer expired - turn off the button
mjr	53:9b2611964afc	5381	setButton(false);
mjr	53:9b2611964afc	5382
mjr	53:9b2611964afc	5383	// switch to state 2
mjr	53:9b2611964afc	5384	lbState = 2;
mjr	53:9b2611964afc	5385	}
mjr	48:058ace2aed1d	5386	break;
mjr	48:058ace2aed1d	5387
mjr	48:058ace2aed1d	5388	case 2:
mjr	53:9b2611964afc	5389	// State 2: Timed Launch button pulse done. Wait for the
mjr	53:9b2611964afc	5390	// plunger launch event to end.
mjr	53:9b2611964afc	5391	if (!plungerReader.isFiring())
mjr	53:9b2611964afc	5392	{
mjr	53:9b2611964afc	5393	// firing event done - return to default state
mjr	53:9b2611964afc	5394	lbState = 0;
mjr	53:9b2611964afc	5395	}
mjr	48:058ace2aed1d	5396	break;
mjr	48:058ace2aed1d	5397	}
mjr	53:9b2611964afc	5398	}
mjr	53:9b2611964afc	5399	else
mjr	53:9b2611964afc	5400	{
mjr	53:9b2611964afc	5401	// ZB Launch Ball disabled - turn off the button if it was on
mjr	53:9b2611964afc	5402	setButton(false);
mjr	48:058ace2aed1d	5403
mjr	53:9b2611964afc	5404	// return to the default state
mjr	53:9b2611964afc	5405	lbState = 0;
mjr	48:058ace2aed1d	5406	}
mjr	48:058ace2aed1d	5407	}
mjr	53:9b2611964afc	5408
mjr	53:9b2611964afc	5409	// Set the button state
mjr	53:9b2611964afc	5410	void setButton(bool on)
mjr	53:9b2611964afc	5411	{
mjr	53:9b2611964afc	5412	if (btnState != on)
mjr	53:9b2611964afc	5413	{
mjr	53:9b2611964afc	5414	// remember the new state
mjr	53:9b2611964afc	5415	btnState = on;
mjr	53:9b2611964afc	5416
mjr	53:9b2611964afc	5417	// update the virtual button state
mjr	65:739875521aae	5418	buttonState[zblButtonIndex].virtPress(on);
mjr	53:9b2611964afc	5419	}
mjr	53:9b2611964afc	5420	}
mjr	53:9b2611964afc	5421
mjr	48:058ace2aed1d	5422	private:
mjr	48:058ace2aed1d	5423	// Simulated Launch Ball button state. If a "ZB Launch Ball" port is
mjr	48:058ace2aed1d	5424	// defined for our LedWiz port mapping, any time that port is turned ON,
mjr	48:058ace2aed1d	5425	// we'll simulate pushing the Launch Ball button if the player pulls
mjr	48:058ace2aed1d	5426	// back and releases the plunger, or simply pushes on the plunger from
mjr	48:058ace2aed1d	5427	// the rest position. This allows the plunger to be used in lieu of a
mjr	48:058ace2aed1d	5428	// physical Launch Ball button for tables that don't have plungers.
mjr	48:058ace2aed1d	5429	//
mjr	48:058ace2aed1d	5430	// States:
mjr	48:058ace2aed1d	5431	// 0 = default
mjr	53:9b2611964afc	5432	// 1 = firing (firing event has activated a Launch button pulse)
mjr	53:9b2611964afc	5433	// 2 = firing done (Launch button pulse ended, waiting for plunger
mjr	53:9b2611964afc	5434	// firing event to end)
mjr	53:9b2611964afc	5435	uint8_t lbState;
mjr	48:058ace2aed1d	5436
mjr	53:9b2611964afc	5437	// button state
mjr	53:9b2611964afc	5438	bool btnState;
mjr	48:058ace2aed1d	5439
mjr	48:058ace2aed1d	5440	// Time since last lbState transition. Some of the states are time-
mjr	48:058ace2aed1d	5441	// sensitive. In the "uncocked" state, we'll return to state 0 if
mjr	48:058ace2aed1d	5442	// we remain in this state for more than a few milliseconds, since
mjr	48:058ace2aed1d	5443	// it indicates that the plunger is being slowly returned to rest
mjr	48:058ace2aed1d	5444	// rather than released. In the "launching" state, we need to release
mjr	48:058ace2aed1d	5445	// the Launch Ball button after a moment, and we need to wait for
mjr	48:058ace2aed1d	5446	// the plunger to come to rest before returning to state 0.
mjr	48:058ace2aed1d	5447	Timer lbTimer;
mjr	48:058ace2aed1d	5448	};
mjr	48:058ace2aed1d	5449
mjr	35:e959ffba78fd	5450	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	5451	//
mjr	35:e959ffba78fd	5452	// Reboot - resets the microcontroller
mjr	35:e959ffba78fd	5453	//
mjr	54:fd77a6b2f76c	5454	void reboot(USBJoystick &js, bool disconnect = true, long pause_us = 2000000L)
mjr	35:e959ffba78fd	5455	{
mjr	35:e959ffba78fd	5456	// disconnect from USB
mjr	54:fd77a6b2f76c	5457	if (disconnect)
mjr	54:fd77a6b2f76c	5458	js.disconnect();
mjr	35:e959ffba78fd	5459
mjr	35:e959ffba78fd	5460	// wait a few seconds to make sure the host notices the disconnect
mjr	54:fd77a6b2f76c	5461	wait_us(pause_us);
mjr	35:e959ffba78fd	5462
mjr	35:e959ffba78fd	5463	// reset the device
mjr	35:e959ffba78fd	5464	NVIC_SystemReset();
mjr	35:e959ffba78fd	5465	while (true) { }
mjr	35:e959ffba78fd	5466	}
mjr	35:e959ffba78fd	5467
mjr	35:e959ffba78fd	5468	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	5469	//
mjr	35:e959ffba78fd	5470	// Translate joystick readings from raw values to reported values, based
mjr	35:e959ffba78fd	5471	// on the orientation of the controller card in the cabinet.
mjr	35:e959ffba78fd	5472	//
mjr	35:e959ffba78fd	5473	void accelRotate(int &x, int &y)
mjr	35:e959ffba78fd	5474	{
mjr	35:e959ffba78fd	5475	int tmp;
mjr	35:e959ffba78fd	5476	switch (cfg.orientation)
mjr	35:e959ffba78fd	5477	{
mjr	35:e959ffba78fd	5478	case OrientationFront:
mjr	35:e959ffba78fd	5479	tmp = x;
mjr	35:e959ffba78fd	5480	x = y;
mjr	35:e959ffba78fd	5481	y = tmp;
mjr	35:e959ffba78fd	5482	break;
mjr	35:e959ffba78fd	5483
mjr	35:e959ffba78fd	5484	case OrientationLeft:
mjr	35:e959ffba78fd	5485	x = -x;
mjr	35:e959ffba78fd	5486	break;
mjr	35:e959ffba78fd	5487
mjr	35:e959ffba78fd	5488	case OrientationRight:
mjr	35:e959ffba78fd	5489	y = -y;
mjr	35:e959ffba78fd	5490	break;
mjr	35:e959ffba78fd	5491
mjr	35:e959ffba78fd	5492	case OrientationRear:
mjr	35:e959ffba78fd	5493	tmp = -x;
mjr	35:e959ffba78fd	5494	x = -y;
mjr	35:e959ffba78fd	5495	y = tmp;
mjr	35:e959ffba78fd	5496	break;
mjr	35:e959ffba78fd	5497	}
mjr	35:e959ffba78fd	5498	}
mjr	35:e959ffba78fd	5499
mjr	35:e959ffba78fd	5500	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	5501	//
mjr	35:e959ffba78fd	5502	// Calibration button state:
mjr	35:e959ffba78fd	5503	// 0 = not pushed
mjr	35:e959ffba78fd	5504	// 1 = pushed, not yet debounced
mjr	35:e959ffba78fd	5505	// 2 = pushed, debounced, waiting for hold time
mjr	35:e959ffba78fd	5506	// 3 = pushed, hold time completed - in calibration mode
mjr	35:e959ffba78fd	5507	int calBtnState = 0;
mjr	35:e959ffba78fd	5508
mjr	35:e959ffba78fd	5509	// calibration button debounce timer
mjr	35:e959ffba78fd	5510	Timer calBtnTimer;
mjr	35:e959ffba78fd	5511
mjr	35:e959ffba78fd	5512	// calibration button light state
mjr	35:e959ffba78fd	5513	int calBtnLit = false;
mjr	35:e959ffba78fd	5514
mjr	35:e959ffba78fd	5515
mjr	35:e959ffba78fd	5516	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	5517	//
mjr	40:cc0d9814522b	5518	// Configuration variable get/set message handling
mjr	35:e959ffba78fd	5519	//
mjr	40:cc0d9814522b	5520
mjr	40:cc0d9814522b	5521	// Handle SET messages - write configuration variables from USB message data
mjr	40:cc0d9814522b	5522	#define if_msg_valid(test) if (test)
mjr	53:9b2611964afc	5523	#define v_byte(var, ofs) cfg.var = data[ofs]
mjr	53:9b2611964afc	5524	#define v_ui16(var, ofs) cfg.var = wireUI16(data+(ofs))
mjr	77:0b96f6867312	5525	#define v_ui32(var, ofs) cfg.var = wireUI32(data+(ofs))
mjr	53:9b2611964afc	5526	#define v_pin(var, ofs) cfg.var = wirePinName(data[ofs])
mjr	53:9b2611964afc	5527	#define v_byte_ro(val, ofs) // ignore read-only variables on SET
mjr	74:822a92bc11d2	5528	#define v_ui32_ro(val, ofs) // ignore read-only variables on SET
mjr	74:822a92bc11d2	5529	#define VAR_MODE_SET 1 // we're in SET mode
mjr	76:7f5912b6340e	5530	#define v_func configVarSet(const uint8_t *data)
mjr	40:cc0d9814522b	5531	#include "cfgVarMsgMap.h"
mjr	35:e959ffba78fd	5532
mjr	40:cc0d9814522b	5533	// redefine everything for the SET messages
mjr	40:cc0d9814522b	5534	#undef if_msg_valid
mjr	40:cc0d9814522b	5535	#undef v_byte
mjr	40:cc0d9814522b	5536	#undef v_ui16
mjr	77:0b96f6867312	5537	#undef v_ui32
mjr	40:cc0d9814522b	5538	#undef v_pin
mjr	53:9b2611964afc	5539	#undef v_byte_ro
mjr	74:822a92bc11d2	5540	#undef v_ui32_ro
mjr	74:822a92bc11d2	5541	#undef VAR_MODE_SET
mjr	40:cc0d9814522b	5542	#undef v_func
mjr	38:091e511ce8a0	5543
mjr	40:cc0d9814522b	5544	// Handle GET messages - read variable values and return in USB message daa
mjr	40:cc0d9814522b	5545	#define if_msg_valid(test)
mjr	53:9b2611964afc	5546	#define v_byte(var, ofs) data[ofs] = cfg.var
mjr	53:9b2611964afc	5547	#define v_ui16(var, ofs) ui16Wire(data+(ofs), cfg.var)
mjr	77:0b96f6867312	5548	#define v_ui32(var, ofs) ui32Wire(data+(ofs), cfg.var)
mjr	53:9b2611964afc	5549	#define v_pin(var, ofs) pinNameWire(data+(ofs), cfg.var)
mjr	73:4e8ce0b18915	5550	#define v_byte_ro(val, ofs) data[ofs] = (val)
mjr	74:822a92bc11d2	5551	#define v_ui32_ro(val, ofs) ui32Wire(data+(ofs), val);
mjr	74:822a92bc11d2	5552	#define VAR_MODE_SET 0 // we're in GET mode
mjr	76:7f5912b6340e	5553	#define v_func configVarGet(uint8_t *data)
mjr	40:cc0d9814522b	5554	#include "cfgVarMsgMap.h"
mjr	40:cc0d9814522b	5555
mjr	35:e959ffba78fd	5556
mjr	35:e959ffba78fd	5557	// ---------------------------------------------------------------------------
mjr	35:e959ffba78fd	5558	//
mjr	35:e959ffba78fd	5559	// Handle an input report from the USB host. Input reports use our extended
mjr	35:e959ffba78fd	5560	// LedWiz protocol.
mjr	33:d832bcab089e	5561	//
mjr	48:058ace2aed1d	5562	void handleInputMsg(LedWizMsg &lwm, USBJoystick &js)
mjr	35:e959ffba78fd	5563	{
mjr	38:091e511ce8a0	5564	// LedWiz commands come in two varieties: SBA and PBA. An
mjr	38:091e511ce8a0	5565	// SBA is marked by the first byte having value 64 (0x40). In
mjr	38:091e511ce8a0	5566	// the real LedWiz protocol, any other value in the first byte
mjr	38:091e511ce8a0	5567	// means it's a PBA message. However, valid PBA messages
mjr	38:091e511ce8a0	5568	// always have a first byte (and in fact all 8 bytes) in the
mjr	38:091e511ce8a0	5569	// range 0-49 or 129-132. Anything else is invalid. We take
mjr	38:091e511ce8a0	5570	// advantage of this to implement private protocol extensions.
mjr	38:091e511ce8a0	5571	// So our full protocol is as follows:
mjr	38:091e511ce8a0	5572	//
mjr	38:091e511ce8a0	5573	// first byte =
mjr	74:822a92bc11d2	5574	// 0-48 -> PBA
mjr	74:822a92bc11d2	5575	// 64 -> SBA
mjr	38:091e511ce8a0	5576	// 65 -> private control message; second byte specifies subtype
mjr	74:822a92bc11d2	5577	// 129-132 -> PBA
mjr	38:091e511ce8a0	5578	// 200-228 -> extended bank brightness set for outputs N to N+6, where
mjr	38:091e511ce8a0	5579	// N is (first byte - 200)*7
mjr	38:091e511ce8a0	5580	// other -> reserved for future use
mjr	38:091e511ce8a0	5581	//
mjr	39:b3815a1c3802	5582	uint8_t *data = lwm.data;
mjr	74:822a92bc11d2	5583	if (data[0] == 64)
mjr	35:e959ffba78fd	5584	{
mjr	74:822a92bc11d2	5585	// 64 = SBA (original LedWiz command to set on/off switches for ports 1-32)
mjr	74:822a92bc11d2	5586	//printf("SBA %02x %02x %02x %02x, speed %02x\r\n",
mjr	38:091e511ce8a0	5587	// data[1], data[2], data[3], data[4], data[5]);
mjr	74:822a92bc11d2	5588	sba_sbx(0, data);
mjr	74:822a92bc11d2	5589
mjr	74:822a92bc11d2	5590	// SBA resets the PBA port group counter
mjr	38:091e511ce8a0	5591	pbaIdx = 0;
mjr	38:091e511ce8a0	5592	}
mjr	38:091e511ce8a0	5593	else if (data[0] == 65)
mjr	38:091e511ce8a0	5594	{
mjr	38:091e511ce8a0	5595	// Private control message. This isn't an LedWiz message - it's
mjr	38:091e511ce8a0	5596	// an extension for this device. 65 is an invalid PBA setting,
mjr	38:091e511ce8a0	5597	// and isn't used for any other LedWiz message, so we appropriate
mjr	38:091e511ce8a0	5598	// it for our own private use. The first byte specifies the
mjr	38:091e511ce8a0	5599	// message type.
mjr	39:b3815a1c3802	5600	switch (data[1])
mjr	38:091e511ce8a0	5601	{
mjr	39:b3815a1c3802	5602	case 0:
mjr	39:b3815a1c3802	5603	// No Op
mjr	39:b3815a1c3802	5604	break;
mjr	39:b3815a1c3802	5605
mjr	39:b3815a1c3802	5606	case 1:
mjr	38:091e511ce8a0	5607	// 1 = Old Set Configuration:
mjr	38:091e511ce8a0	5608	// data[2] = LedWiz unit number (0x00 to 0x0f)
mjr	38:091e511ce8a0	5609	// data[3] = feature enable bit mask:
mjr	38:091e511ce8a0	5610	// 0x01 = enable plunger sensor
mjr	39:b3815a1c3802	5611	{
mjr	39:b3815a1c3802	5612
mjr	39:b3815a1c3802	5613	// get the new LedWiz unit number - this is 0-15, whereas we
mjr	39:b3815a1c3802	5614	// we save the nominal unit number 1-16 in the config
mjr	39:b3815a1c3802	5615	uint8_t newUnitNo = (data[2] & 0x0f) + 1;
mjr	39:b3815a1c3802	5616
mjr	39:b3815a1c3802	5617	// we'll need a reset if the LedWiz unit number is changing
mjr	39:b3815a1c3802	5618	bool needReset = (newUnitNo != cfg.psUnitNo);
mjr	39:b3815a1c3802	5619
mjr	39:b3815a1c3802	5620	// set the configuration parameters from the message
mjr	39:b3815a1c3802	5621	cfg.psUnitNo = newUnitNo;
mjr	39:b3815a1c3802	5622	cfg.plunger.enabled = data[3] & 0x01;
mjr	39:b3815a1c3802	5623
mjr	77:0b96f6867312	5624	// set the flag to do the save
mjr	77:0b96f6867312	5625	saveConfigPending = needReset ? SAVE_CONFIG_AND_REBOOT : SAVE_CONFIG_ONLY;
mjr	77:0b96f6867312	5626	saveConfigRebootTime = 0;
mjr	39:b3815a1c3802	5627	}
mjr	39:b3815a1c3802	5628	break;
mjr	38:091e511ce8a0	5629
mjr	39:b3815a1c3802	5630	case 2:
mjr	38:091e511ce8a0	5631	// 2 = Calibrate plunger
mjr	38:091e511ce8a0	5632	// (No parameters)
mjr	38:091e511ce8a0	5633
mjr	38:091e511ce8a0	5634	// enter calibration mode
mjr	38:091e511ce8a0	5635	calBtnState = 3;
mjr	52:8298b2a73eb2	5636	plungerReader.setCalMode(true);
mjr	38:091e511ce8a0	5637	calBtnTimer.reset();
mjr	39:b3815a1c3802	5638	break;
mjr	39:b3815a1c3802	5639
mjr	39:b3815a1c3802	5640	case 3:
mjr	52:8298b2a73eb2	5641	// 3 = plunger sensor status report
mjr	48:058ace2aed1d	5642	// data[2] = flag bits
mjr	53:9b2611964afc	5643	// data[3] = extra exposure time, 100us (.1ms) increments
mjr	52:8298b2a73eb2	5644	reportPlungerStat = true;
mjr	53:9b2611964afc	5645	reportPlungerStatFlags = data[2];
mjr	53:9b2611964afc	5646	reportPlungerStatTime = data[3];
mjr	38:091e511ce8a0	5647
mjr	38:091e511ce8a0	5648	// show purple until we finish sending the report
mjr	38:091e511ce8a0	5649	diagLED(1, 0, 1);
mjr	39:b3815a1c3802	5650	break;
mjr	39:b3815a1c3802	5651
mjr	39:b3815a1c3802	5652	case 4:
mjr	38:091e511ce8a0	5653	// 4 = hardware configuration query
mjr	38:091e511ce8a0	5654	// (No parameters)
mjr	38:091e511ce8a0	5655	js.reportConfig(
mjr	38:091e511ce8a0	5656	numOutputs,
mjr	38:091e511ce8a0	5657	cfg.psUnitNo - 1, // report 0-15 range for unit number (we store 1-16 internally)
mjr	52:8298b2a73eb2	5658	cfg.plunger.cal.zero, cfg.plunger.cal.max, cfg.plunger.cal.tRelease,
mjr	75:677892300e7a	5659	nvm.valid(), // a config is loaded if the config memory block is valid
mjr	75:677892300e7a	5660	true, // we support sbx/pbx extensions
mjr	75:677892300e7a	5661	xmalloc_rem); // remaining memory size
mjr	39:b3815a1c3802	5662	break;
mjr	39:b3815a1c3802	5663
mjr	39:b3815a1c3802	5664	case 5:
mjr	38:091e511ce8a0	5665	// 5 = all outputs off, reset to LedWiz defaults
mjr	38:091e511ce8a0	5666	allOutputsOff();
mjr	39:b3815a1c3802	5667	break;
mjr	39:b3815a1c3802	5668
mjr	39:b3815a1c3802	5669	case 6:
mjr	77:0b96f6867312	5670	// 6 = Save configuration to flash. Reboot after the delay
mjr	77:0b96f6867312	5671	// time in seconds given in data[2].
mjr	77:0b96f6867312	5672	saveConfigPending = SAVE_CONFIG_AND_REBOOT;
mjr	77:0b96f6867312	5673	saveConfigRebootTime = data[2];
mjr	39:b3815a1c3802	5674	break;
mjr	40:cc0d9814522b	5675
mjr	40:cc0d9814522b	5676	case 7:
mjr	40:cc0d9814522b	5677	// 7 = Device ID report
mjr	53:9b2611964afc	5678	// data[2] = ID index: 1=CPU ID, 2=OpenSDA TUID
mjr	53:9b2611964afc	5679	js.reportID(data[2]);
mjr	40:cc0d9814522b	5680	break;
mjr	40:cc0d9814522b	5681
mjr	40:cc0d9814522b	5682	case 8:
mjr	40:cc0d9814522b	5683	// 8 = Engage/disengage night mode.
mjr	40:cc0d9814522b	5684	// data[2] = 1 to engage, 0 to disengage
mjr	40:cc0d9814522b	5685	setNightMode(data[2]);
mjr	40:cc0d9814522b	5686	break;
mjr	52:8298b2a73eb2	5687
mjr	52:8298b2a73eb2	5688	case 9:
mjr	52:8298b2a73eb2	5689	// 9 = Config variable query.
mjr	52:8298b2a73eb2	5690	// data[2] = config var ID
mjr	52:8298b2a73eb2	5691	// data[3] = array index (for array vars: button assignments, output ports)
mjr	52:8298b2a73eb2	5692	{
mjr	53:9b2611964afc	5693	// set up the reply buffer with the variable ID data, and zero out
mjr	53:9b2611964afc	5694	// the rest of the buffer
mjr	52:8298b2a73eb2	5695	uint8_t reply[8];
mjr	52:8298b2a73eb2	5696	reply[1] = data[2];
mjr	52:8298b2a73eb2	5697	reply[2] = data[3];
mjr	53:9b2611964afc	5698	memset(reply+3, 0, sizeof(reply)-3);
mjr	52:8298b2a73eb2	5699
mjr	52:8298b2a73eb2	5700	// query the value
mjr	52:8298b2a73eb2	5701	configVarGet(reply);
mjr	52:8298b2a73eb2	5702
mjr	52:8298b2a73eb2	5703	// send the reply
mjr	52:8298b2a73eb2	5704	js.reportConfigVar(reply + 1);
mjr	52:8298b2a73eb2	5705	}
mjr	52:8298b2a73eb2	5706	break;
mjr	53:9b2611964afc	5707
mjr	53:9b2611964afc	5708	case 10:
mjr	53:9b2611964afc	5709	// 10 = Build ID query.
mjr	53:9b2611964afc	5710	js.reportBuildInfo(getBuildID());
mjr	53:9b2611964afc	5711	break;
mjr	73:4e8ce0b18915	5712
mjr	73:4e8ce0b18915	5713	case 11:
mjr	73:4e8ce0b18915	5714	// 11 = TV ON relay control.
mjr	73:4e8ce0b18915	5715	// data[2] = operation:
mjr	73:4e8ce0b18915	5716	// 0 = turn relay off
mjr	73:4e8ce0b18915	5717	// 1 = turn relay on
mjr	73:4e8ce0b18915	5718	// 2 = pulse relay (as though the power-on timer fired)
mjr	73:4e8ce0b18915	5719	TVRelay(data[2]);
mjr	73:4e8ce0b18915	5720	break;
mjr	73:4e8ce0b18915	5721
mjr	73:4e8ce0b18915	5722	case 12:
mjr	77:0b96f6867312	5723	// 12 = Learn IR code. This enters IR learning mode. While
mjr	77:0b96f6867312	5724	// in learning mode, we report raw IR signals and the first IR
mjr	77:0b96f6867312	5725	// command decoded through the special IR report format. IR
mjr	77:0b96f6867312	5726	// learning mode automatically ends after a timeout expires if
mjr	77:0b96f6867312	5727	// no command can be decoded within the time limit.
mjr	77:0b96f6867312	5728
mjr	77:0b96f6867312	5729	// enter IR learning mode
mjr	77:0b96f6867312	5730	IRLearningMode = 1;
mjr	77:0b96f6867312	5731
mjr	77:0b96f6867312	5732	// cancel any regular IR input in progress
mjr	77:0b96f6867312	5733	IRCommandIn = 0;
mjr	77:0b96f6867312	5734
mjr	77:0b96f6867312	5735	// reset and start the learning mode timeout timer
mjr	77:0b96f6867312	5736	IRTimer.reset();
mjr	73:4e8ce0b18915	5737	break;
mjr	73:4e8ce0b18915	5738
mjr	73:4e8ce0b18915	5739	case 13:
mjr	73:4e8ce0b18915	5740	// 13 = Send button status report
mjr	73:4e8ce0b18915	5741	reportButtonStatus(js);
mjr	73:4e8ce0b18915	5742	break;
mjr	38:091e511ce8a0	5743	}
mjr	38:091e511ce8a0	5744	}
mjr	38:091e511ce8a0	5745	else if (data[0] == 66)
mjr	38:091e511ce8a0	5746	{
mjr	38:091e511ce8a0	5747	// Extended protocol - Set configuration variable.
mjr	38:091e511ce8a0	5748	// The second byte of the message is the ID of the variable
mjr	38:091e511ce8a0	5749	// to update, and the remaining bytes give the new value,
mjr	38:091e511ce8a0	5750	// in a variable-dependent format.
mjr	40:cc0d9814522b	5751	configVarSet(data);
mjr	38:091e511ce8a0	5752	}
mjr	74:822a92bc11d2	5753	else if (data[0] == 67)
mjr	74:822a92bc11d2	5754	{
mjr	74:822a92bc11d2	5755	// SBX - extended SBA message. This is the same as SBA, except
mjr	74:822a92bc11d2	5756	// that the 7th byte selects a group of 32 ports, to allow access
mjr	74:822a92bc11d2	5757	// to ports beyond the first 32.
mjr	74:822a92bc11d2	5758	sba_sbx(data[6], data);
mjr	74:822a92bc11d2	5759	}
mjr	74:822a92bc11d2	5760	else if (data[0] == 68)
mjr	74:822a92bc11d2	5761	{
mjr	74:822a92bc11d2	5762	// PBX - extended PBA message. This is similar to PBA, but
mjr	74:822a92bc11d2	5763	// allows access to more than the first 32 ports by encoding
mjr	74:822a92bc11d2	5764	// a port group byte that selects a block of 8 ports.
mjr	74:822a92bc11d2	5765
mjr	74:822a92bc11d2	5766	// get the port group - the first port is 8*group
mjr	74:822a92bc11d2	5767	int portGroup = data[1];
mjr	74:822a92bc11d2	5768
mjr	74:822a92bc11d2	5769	// unpack the brightness values
mjr	74:822a92bc11d2	5770	uint32_t tmp1 = data[2] \| (data[3]<<8) \| (data[4]<<16);
mjr	74:822a92bc11d2	5771	uint32_t tmp2 = data[5] \| (data[6]<<8) \| (data[7]<<16);
mjr	74:822a92bc11d2	5772	uint8_t bri[8] = {
mjr	74:822a92bc11d2	5773	tmp1 & 0x3F, (tmp1>>6) & 0x3F, (tmp1>>12) & 0x3F, (tmp1>>18) & 0x3F,
mjr	74:822a92bc11d2	5774	tmp2 & 0x3F, (tmp2>>6) & 0x3F, (tmp2>>12) & 0x3F, (tmp2>>18) & 0x3F
mjr	74:822a92bc11d2	5775	};
mjr	74:822a92bc11d2	5776
mjr	74:822a92bc11d2	5777	// map the flash levels: 60->129, 61->130, 62->131, 63->132
mjr	74:822a92bc11d2	5778	for (int i = 0 ; i < 8 ; ++i)
mjr	74:822a92bc11d2	5779	{
mjr	74:822a92bc11d2	5780	if (bri[i] >= 60)
mjr	74:822a92bc11d2	5781	bri[i] += 129-60;
mjr	74:822a92bc11d2	5782	}
mjr	74:822a92bc11d2	5783
mjr	74:822a92bc11d2	5784	// Carry out the PBA
mjr	74:822a92bc11d2	5785	pba_pbx(portGroup*8, bri);
mjr	74:822a92bc11d2	5786	}
mjr	38:091e511ce8a0	5787	else if (data[0] >= 200 && data[0] <= 228)
mjr	38:091e511ce8a0	5788	{
mjr	38:091e511ce8a0	5789	// Extended protocol - Extended output port brightness update.
mjr	38:091e511ce8a0	5790	// data[0]-200 gives us the bank of 7 outputs we're setting:
mjr	38:091e511ce8a0	5791	// 200 is outputs 0-6, 201 is outputs 7-13, 202 is 14-20, etc.
mjr	38:091e511ce8a0	5792	// The remaining bytes are brightness levels, 0-255, for the
mjr	38:091e511ce8a0	5793	// seven outputs in the selected bank. The LedWiz flashing
mjr	38:091e511ce8a0	5794	// modes aren't accessible in this message type; we can only
mjr	38:091e511ce8a0	5795	// set a fixed brightness, but in exchange we get 8-bit
mjr	38:091e511ce8a0	5796	// resolution rather than the paltry 0-48 scale that the real
mjr	38:091e511ce8a0	5797	// LedWiz uses. There's no separate on/off status for outputs
mjr	38:091e511ce8a0	5798	// adjusted with this message type, either, as there would be
mjr	38:091e511ce8a0	5799	// for a PBA message - setting a non-zero value immediately
mjr	38:091e511ce8a0	5800	// turns the output, overriding the last SBA setting.
mjr	38:091e511ce8a0	5801	//
mjr	38:091e511ce8a0	5802	// For outputs 0-31, this overrides any previous PBA/SBA
mjr	38:091e511ce8a0	5803	// settings for the port. Any subsequent PBA/SBA message will
mjr	38:091e511ce8a0	5804	// in turn override the setting made here. It's simple - the
mjr	38:091e511ce8a0	5805	// most recent message of either type takes precedence. For
mjr	38:091e511ce8a0	5806	// outputs above the LedWiz range, PBA/SBA messages can't
mjr	38:091e511ce8a0	5807	// address those ports anyway.
mjr	63:5cd1a5f3a41b	5808
mjr	63:5cd1a5f3a41b	5809	// figure the block of 7 ports covered in the message
mjr	38:091e511ce8a0	5810	int i0 = (data[0] - 200)*7;
mjr	38:091e511ce8a0	5811	int i1 = i0 + 7 < numOutputs ? i0 + 7 : numOutputs;
mjr	63:5cd1a5f3a41b	5812
mjr	63:5cd1a5f3a41b	5813	// update each port
mjr	38:091e511ce8a0	5814	for (int i = i0 ; i < i1 ; ++i)
mjr	38:091e511ce8a0	5815	{
mjr	38:091e511ce8a0	5816	// set the brightness level for the output
mjr	40:cc0d9814522b	5817	uint8_t b = data[i-i0+1];
mjr	38:091e511ce8a0	5818	outLevel[i] = b;
mjr	38:091e511ce8a0	5819
mjr	74:822a92bc11d2	5820	// set the port's LedWiz state to the nearest equivalent, so
mjr	74:822a92bc11d2	5821	// that it maintains its current setting if we switch back to
mjr	74:822a92bc11d2	5822	// LedWiz mode on a future update
mjr	76:7f5912b6340e	5823	if (b != 0)
mjr	76:7f5912b6340e	5824	{
mjr	76:7f5912b6340e	5825	// Non-zero brightness - set the SBA switch on, and set the
mjr	76:7f5912b6340e	5826	// PBA brightness to the DOF brightness rescaled to the 1..48
mjr	76:7f5912b6340e	5827	// LedWiz range. If the port is subsequently addressed by an
mjr	76:7f5912b6340e	5828	// LedWiz command, this will carry the current DOF setting
mjr	76:7f5912b6340e	5829	// forward unchanged.
mjr	76:7f5912b6340e	5830	wizOn[i] = 1;
mjr	76:7f5912b6340e	5831	wizVal[i] = dof_to_lw[b];
mjr	76:7f5912b6340e	5832	}
mjr	76:7f5912b6340e	5833	else
mjr	76:7f5912b6340e	5834	{
mjr	76:7f5912b6340e	5835	// Zero brightness. Set the SBA switch off, and leave the
mjr	76:7f5912b6340e	5836	// PBA brightness the same as it was.
mjr	76:7f5912b6340e	5837	wizOn[i] = 0;
mjr	76:7f5912b6340e	5838	}
mjr	74:822a92bc11d2	5839
mjr	38:091e511ce8a0	5840	// set the output
mjr	40:cc0d9814522b	5841	lwPin[i]->set(b);
mjr	38:091e511ce8a0	5842	}
mjr	38:091e511ce8a0	5843
mjr	38:091e511ce8a0	5844	// update 74HC595 outputs, if attached
mjr	38:091e511ce8a0	5845	if (hc595 != 0)
mjr	38:091e511ce8a0	5846	hc595->update();
mjr	38:091e511ce8a0	5847	}
mjr	38:091e511ce8a0	5848	else
mjr	38:091e511ce8a0	5849	{
mjr	74:822a92bc11d2	5850	// Everything else is an LedWiz PBA message. This is a full
mjr	74:822a92bc11d2	5851	// "profile" dump from the host for one bank of 8 outputs. Each
mjr	74:822a92bc11d2	5852	// byte sets one output in the current bank. The current bank
mjr	74:822a92bc11d2	5853	// is implied; the bank starts at 0 and is reset to 0 by any SBA
mjr	74:822a92bc11d2	5854	// message, and is incremented to the next bank by each PBA. Our
mjr	74:822a92bc11d2	5855	// variable pbaIdx keeps track of the current bank. There's no
mjr	74:822a92bc11d2	5856	// direct way for the host to select the bank; it just has to count
mjr	74:822a92bc11d2	5857	// on us staying in sync. In practice, clients always send the
mjr	74:822a92bc11d2	5858	// full set of 4 PBA messages in a row to set all 32 outputs.
mjr	38:091e511ce8a0	5859	//
mjr	38:091e511ce8a0	5860	// Note that a PBA implicitly overrides our extended profile
mjr	38:091e511ce8a0	5861	// messages (message prefix 200-219), because this sets the
mjr	38:091e511ce8a0	5862	// wizVal[] entry for each output, and that takes precedence
mjr	63:5cd1a5f3a41b	5863	// over the extended protocol settings when we're in LedWiz
mjr	63:5cd1a5f3a41b	5864	// protocol mode.
mjr	38:091e511ce8a0	5865	//
mjr	38:091e511ce8a0	5866	//printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n",
mjr	38:091e511ce8a0	5867	// pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
mjr	38:091e511ce8a0	5868
mjr	74:822a92bc11d2	5869	// carry out the PBA
mjr	74:822a92bc11d2	5870	pba_pbx(pbaIdx, data);
mjr	74:822a92bc11d2	5871
mjr	74:822a92bc11d2	5872	// update the PBX index state for the next message
mjr	74:822a92bc11d2	5873	pbaIdx = (pbaIdx + 8) % 32;
mjr	38:091e511ce8a0	5874	}
mjr	38:091e511ce8a0	5875	}
mjr	35:e959ffba78fd	5876
mjr	38:091e511ce8a0	5877	// ---------------------------------------------------------------------------
mjr	38:091e511ce8a0	5878	//
mjr	5:a70c0bce770d	5879	// Main program loop. This is invoked on startup and runs forever. Our
mjr	5:a70c0bce770d	5880	// main work is to read our devices (the accelerometer and the CCD), process
mjr	5:a70c0bce770d	5881	// the readings into nudge and plunger position data, and send the results
mjr	5:a70c0bce770d	5882	// to the host computer via the USB joystick interface. We also monitor
mjr	5:a70c0bce770d	5883	// the USB connection for incoming LedWiz commands and process those into
mjr	5:a70c0bce770d	5884	// port outputs.
mjr	5:a70c0bce770d	5885	//
mjr	0:5acbbe3f4cf4	5886	int main(void)
mjr	0:5acbbe3f4cf4	5887	{
mjr	60:f38da020aa13	5888	// say hello to the debug console, in case it's connected
mjr	39:b3815a1c3802	5889	printf("\r\nPinscape Controller starting\r\n");
mjr	77:0b96f6867312	5890
mjr	77:0b96f6867312	5891
mjr	60:f38da020aa13	5892	// debugging: print memory config info
mjr	59:94eb9265b6d7	5893	// -> no longer very useful, since we use our own custom malloc/new allocator (see xmalloc() above)
mjr	60:f38da020aa13	5894	// {int *a = new int; printf("Stack=%lx, heap=%lx, free=%ld\r\n", (long)&a, (long)a, (long)&a - (long)a);}
mjr	1:d913e0afb2ac	5895
mjr	76:7f5912b6340e	5896	// clear the I2C connection
mjr	35:e959ffba78fd	5897	clear_i2c();
mjr	38:091e511ce8a0	5898
mjr	76:7f5912b6340e	5899	// Load the saved configuration. There are two sources of the
mjr	76:7f5912b6340e	5900	// configuration data:
mjr	76:7f5912b6340e	5901	//
mjr	76:7f5912b6340e	5902	// - Look for an NVM (flash non-volatile memory) configuration.
mjr	76:7f5912b6340e	5903	// If this is valid, we'll load it. The NVM is config data that can
mjr	76:7f5912b6340e	5904	// be updated dynamically by the host via USB commands and then stored
mjr	76:7f5912b6340e	5905	// in the flash by the firmware itself. If this exists, it supersedes
mjr	76:7f5912b6340e	5906	// any of the other settings stores. The Windows config tool uses this
mjr	76:7f5912b6340e	5907	// to store user settings updates.
mjr	76:7f5912b6340e	5908	//
mjr	76:7f5912b6340e	5909	// - If there's no NVM, we'll load the factory defaults, then we'll
mjr	76:7f5912b6340e	5910	// load any settings stored in the host-loaded configuration. The
mjr	76:7f5912b6340e	5911	// host can patch a set of configuration variable settings into the
mjr	76:7f5912b6340e	5912	// .bin file when loading new firmware, in the host-loaded config
mjr	76:7f5912b6340e	5913	// area that we reserve for this purpose. This allows the host to
mjr	76:7f5912b6340e	5914	// restore a configuration at the same time it installs firmware,
mjr	76:7f5912b6340e	5915	// without a separate download of the config data.
mjr	76:7f5912b6340e	5916	//
mjr	76:7f5912b6340e	5917	// The NVM supersedes the host-loaded config, since it can be updated
mjr	76:7f5912b6340e	5918	// between firmware updated and is thus presumably more recent if it's
mjr	76:7f5912b6340e	5919	// present. (Note that the NVM and host-loaded config are both in
mjr	76:7f5912b6340e	5920	// flash, so in principle we could just have a single NVM store that
mjr	76:7f5912b6340e	5921	// the host patches. The only reason we don't is that the NVM store
mjr	76:7f5912b6340e	5922	// is an image of our in-memory config structure, which is a native C
mjr	76:7f5912b6340e	5923	// struct, and we don't want the host to have to know the details of
mjr	76:7f5912b6340e	5924	// its byte layout, for obvious reasons. The host-loaded config, in
mjr	76:7f5912b6340e	5925	// contrast, uses the wire protocol format, which has a well-defined
mjr	76:7f5912b6340e	5926	// byte layout that's independent of the firmware version or the
mjr	76:7f5912b6340e	5927	// details of how the C compiler arranges the struct memory.)
mjr	76:7f5912b6340e	5928	if (!loadConfigFromFlash())
mjr	76:7f5912b6340e	5929	loadHostLoadedConfig();
mjr	35:e959ffba78fd	5930
mjr	38:091e511ce8a0	5931	// initialize the diagnostic LEDs
mjr	38:091e511ce8a0	5932	initDiagLEDs(cfg);
mjr	38:091e511ce8a0	5933
mjr	33:d832bcab089e	5934	// we're not connected/awake yet
mjr	33:d832bcab089e	5935	bool connected = false;
mjr	40:cc0d9814522b	5936	Timer connectChangeTimer;
mjr	33:d832bcab089e	5937
mjr	35:e959ffba78fd	5938	// create the plunger sensor interface
mjr	35:e959ffba78fd	5939	createPlunger();
mjr	76:7f5912b6340e	5940
mjr	76:7f5912b6340e	5941	// update the plunger reader's cached calibration data
mjr	76:7f5912b6340e	5942	plungerReader.onUpdateCal();
mjr	33:d832bcab089e	5943
mjr	60:f38da020aa13	5944	// set up the TLC5940 interface, if these chips are present
mjr	35:e959ffba78fd	5945	init_tlc5940(cfg);
mjr	34:6b981a2afab7	5946
mjr	60:f38da020aa13	5947	// set up 74HC595 interface, if these chips are present
mjr	35:e959ffba78fd	5948	init_hc595(cfg);
mjr	6:cc35eb643e8f	5949
mjr	54:fd77a6b2f76c	5950	// Initialize the LedWiz ports. Note that the ordering here is important:
mjr	54:fd77a6b2f76c	5951	// this has to come after we create the TLC5940 and 74HC595 object instances
mjr	54:fd77a6b2f76c	5952	// (which we just did above), since we need to access those objects to set
mjr	54:fd77a6b2f76c	5953	// up ports assigned to the respective chips.
mjr	35:e959ffba78fd	5954	initLwOut(cfg);
mjr	48:058ace2aed1d	5955
mjr	60:f38da020aa13	5956	// start the TLC5940 refresh cycle clock
mjr	35:e959ffba78fd	5957	if (tlc5940 != 0)
mjr	35:e959ffba78fd	5958	tlc5940->start();
mjr	77:0b96f6867312	5959
mjr	77:0b96f6867312	5960	// Assume that nothing uses keyboard keys. We'll check for keyboard
mjr	77:0b96f6867312	5961	// usage when initializing the various subsystems that can send keys
mjr	77:0b96f6867312	5962	// (buttons, IR). If we find anything that does, we'll create the
mjr	77:0b96f6867312	5963	// USB keyboard interface.
mjr	77:0b96f6867312	5964	bool kbKeys = false;
mjr	77:0b96f6867312	5965
mjr	77:0b96f6867312	5966	// set up the IR remote control emitter & receiver, if present
mjr	77:0b96f6867312	5967	init_IR(cfg, kbKeys);
mjr	77:0b96f6867312	5968
mjr	77:0b96f6867312	5969	// start the power status time, if applicable
mjr	77:0b96f6867312	5970	startPowerStatusTimer(cfg);
mjr	48:058ace2aed1d	5971
mjr	35:e959ffba78fd	5972	// initialize the button input ports
mjr	35:e959ffba78fd	5973	initButtons(cfg, kbKeys);
mjr	38:091e511ce8a0	5974
mjr	60:f38da020aa13	5975	// Create the joystick USB client. Note that the USB vendor/product ID
mjr	60:f38da020aa13	5976	// information comes from the saved configuration. Also note that we have
mjr	60:f38da020aa13	5977	// to wait until after initializing the input buttons (which we just did
mjr	60:f38da020aa13	5978	// above) to set up the interface, since the button setup will determine
mjr	60:f38da020aa13	5979	// whether or not we need to present a USB keyboard interface in addition
mjr	60:f38da020aa13	5980	// to the joystick interface.
mjr	51:57eb311faafa	5981	MyUSBJoystick js(cfg.usbVendorID, cfg.usbProductID, USB_VERSION_NO, false,
mjr	51:57eb311faafa	5982	cfg.joystickEnabled, kbKeys);
mjr	51:57eb311faafa	5983
mjr	60:f38da020aa13	5984	// Wait for the USB connection to start up. Show a distinctive diagnostic
mjr	60:f38da020aa13	5985	// flash pattern while waiting.
mjr	70:9f58735a1732	5986	Timer connTimeoutTimer, connFlashTimer;
mjr	70:9f58735a1732	5987	connTimeoutTimer.start();
mjr	70:9f58735a1732	5988	connFlashTimer.start();
mjr	51:57eb311faafa	5989	while (!js.configured())
mjr	51:57eb311faafa	5990	{
mjr	51:57eb311faafa	5991	// show one short yellow flash at 2-second intervals
mjr	70:9f58735a1732	5992	if (connFlashTimer.read_us() > 2000000)
mjr	51:57eb311faafa	5993	{
mjr	51:57eb311faafa	5994	// short yellow flash
mjr	51:57eb311faafa	5995	diagLED(1, 1, 0);
mjr	54:fd77a6b2f76c	5996	wait_us(50000);
mjr	51:57eb311faafa	5997	diagLED(0, 0, 0);
mjr	51:57eb311faafa	5998
mjr	51:57eb311faafa	5999	// reset the flash timer
mjr	70:9f58735a1732	6000	connFlashTimer.reset();
mjr	51:57eb311faafa	6001	}
mjr	70:9f58735a1732	6002
mjr	77:0b96f6867312	6003	// If we've been disconnected for more than the reboot timeout,
mjr	77:0b96f6867312	6004	// reboot. Some PCs won't reconnect if we were left plugged in
mjr	77:0b96f6867312	6005	// during a power cycle on the PC, but fortunately a reboot on
mjr	77:0b96f6867312	6006	// the KL25Z will make the host notice us and trigger a reconnect.
mjr	70:9f58735a1732	6007	if (cfg.disconnectRebootTimeout != 0
mjr	70:9f58735a1732	6008	&& connTimeoutTimer.read() > cfg.disconnectRebootTimeout)
mjr	70:9f58735a1732	6009	reboot(js, false, 0);
mjr	77:0b96f6867312	6010
mjr	77:0b96f6867312	6011	// update the PSU2 power sensing status
mjr	77:0b96f6867312	6012	powerStatusUpdate(cfg);
mjr	51:57eb311faafa	6013	}
mjr	60:f38da020aa13	6014
mjr	60:f38da020aa13	6015	// we're now connected to the host
mjr	54:fd77a6b2f76c	6016	connected = true;
mjr	40:cc0d9814522b	6017
mjr	60:f38da020aa13	6018	// Last report timer for the joytick interface. We use this timer to
mjr	60:f38da020aa13	6019	// throttle the report rate to a pace that's suitable for VP. Without
mjr	60:f38da020aa13	6020	// any artificial delays, we could generate data to send on the joystick
mjr	60:f38da020aa13	6021	// interface on every loop iteration. The loop iteration time depends
mjr	60:f38da020aa13	6022	// on which devices are attached, since most of the work in our main
mjr	60:f38da020aa13	6023	// loop is simply polling our devices. For typical setups, the loop
mjr	60:f38da020aa13	6024	// time ranges from about 0.25ms to 2.5ms; the biggest factor is the
mjr	60:f38da020aa13	6025	// plunger sensor. But VP polls for input about every 10ms, so there's
mjr	60:f38da020aa13	6026	// no benefit in sending data faster than that, and there's some harm,
mjr	60:f38da020aa13	6027	// in that it creates USB overhead (both on the wire and on the host
mjr	60:f38da020aa13	6028	// CPU). We therefore use this timer to pace our reports to roughly
mjr	60:f38da020aa13	6029	// the VP input polling rate. Note that there's no way to actually
mjr	60:f38da020aa13	6030	// synchronize with VP's polling, but there's also no need to, as the
mjr	60:f38da020aa13	6031	// input model is designed to reflect the overall current state at any
mjr	60:f38da020aa13	6032	// given time rather than events or deltas. If VP polls twice between
mjr	60:f38da020aa13	6033	// two updates, it simply sees no state change; if we send two updates
mjr	60:f38da020aa13	6034	// between VP polls, VP simply sees the latest state when it does get
mjr	60:f38da020aa13	6035	// around to polling.
mjr	38:091e511ce8a0	6036	Timer jsReportTimer;
mjr	38:091e511ce8a0	6037	jsReportTimer.start();
mjr	38:091e511ce8a0	6038
mjr	60:f38da020aa13	6039	// Time since we successfully sent a USB report. This is a hacky
mjr	60:f38da020aa13	6040	// workaround to deal with any remaining sporadic problems in the USB
mjr	60:f38da020aa13	6041	// stack. I've been trying to bulletproof the USB code over time to
mjr	60:f38da020aa13	6042	// remove all such problems at their source, but it seems unlikely that
mjr	60:f38da020aa13	6043	// we'll ever get them all. Thus this hack. The idea here is that if
mjr	60:f38da020aa13	6044	// we go too long without successfully sending a USB report, we'll
mjr	60:f38da020aa13	6045	// assume that the connection is broken (and the KL25Z USB hardware
mjr	60:f38da020aa13	6046	// hasn't noticed this), and we'll try taking measures to recover.
mjr	38:091e511ce8a0	6047	Timer jsOKTimer;
mjr	38:091e511ce8a0	6048	jsOKTimer.start();
mjr	35:e959ffba78fd	6049
mjr	55:4db125cd11a0	6050	// Initialize the calibration button and lamp, if enabled. To be enabled,
mjr	55:4db125cd11a0	6051	// the pin has to be assigned to something other than NC (0xFF), AND the
mjr	55:4db125cd11a0	6052	// corresponding feature enable flag has to be set.
mjr	55:4db125cd11a0	6053	DigitalIn *calBtn = 0;
mjr	55:4db125cd11a0	6054	DigitalOut *calBtnLed = 0;
mjr	55:4db125cd11a0	6055
mjr	55:4db125cd11a0	6056	// calibration button input - feature flag 0x01
mjr	55:4db125cd11a0	6057	if ((cfg.plunger.cal.features & 0x01) && cfg.plunger.cal.btn != 0xFF)
mjr	55:4db125cd11a0	6058	calBtn = new DigitalIn(wirePinName(cfg.plunger.cal.btn));
mjr	55:4db125cd11a0	6059
mjr	55:4db125cd11a0	6060	// calibration button indicator lamp output - feature flag 0x02
mjr	55:4db125cd11a0	6061	if ((cfg.plunger.cal.features & 0x02) && cfg.plunger.cal.led != 0xFF)
mjr	55:4db125cd11a0	6062	calBtnLed = new DigitalOut(wirePinName(cfg.plunger.cal.led));
mjr	6:cc35eb643e8f	6063
mjr	35:e959ffba78fd	6064	// initialize the calibration button
mjr	1:d913e0afb2ac	6065	calBtnTimer.start();
mjr	35:e959ffba78fd	6066	calBtnState = 0;
mjr	1:d913e0afb2ac	6067
mjr	1:d913e0afb2ac	6068	// set up a timer for our heartbeat indicator
mjr	1:d913e0afb2ac	6069	Timer hbTimer;
mjr	1:d913e0afb2ac	6070	hbTimer.start();
mjr	1:d913e0afb2ac	6071	int hb = 0;
mjr	5:a70c0bce770d	6072	uint16_t hbcnt = 0;
mjr	1:d913e0afb2ac	6073
mjr	1:d913e0afb2ac	6074	// set a timer for accelerometer auto-centering
mjr	1:d913e0afb2ac	6075	Timer acTimer;
mjr	1:d913e0afb2ac	6076	acTimer.start();
mjr	1:d913e0afb2ac	6077
mjr	0:5acbbe3f4cf4	6078	// create the accelerometer object
mjr	77:0b96f6867312	6079	Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS,
mjr	77:0b96f6867312	6080	MMA8451_INT_PIN, cfg.accelRange);
mjr	76:7f5912b6340e	6081
mjr	17:ab3cec0c8bf4	6082	// last accelerometer report, in joystick units (we report the nudge
mjr	17:ab3cec0c8bf4	6083	// acceleration via the joystick x & y axes, per the VP convention)
mjr	17:ab3cec0c8bf4	6084	int x = 0, y = 0;
mjr	17:ab3cec0c8bf4	6085
mjr	48:058ace2aed1d	6086	// initialize the plunger sensor
mjr	35:e959ffba78fd	6087	plungerSensor->init();
mjr	10:976666ffa4ef	6088
mjr	48:058ace2aed1d	6089	// set up the ZB Launch Ball monitor
mjr	48:058ace2aed1d	6090	ZBLaunchBall zbLaunchBall;
mjr	48:058ace2aed1d	6091
mjr	54:fd77a6b2f76c	6092	// enable the peripheral chips
mjr	54:fd77a6b2f76c	6093	if (tlc5940 != 0)
mjr	54:fd77a6b2f76c	6094	tlc5940->enable(true);
mjr	54:fd77a6b2f76c	6095	if (hc595 != 0)
mjr	54:fd77a6b2f76c	6096	hc595->enable(true);
mjr	74:822a92bc11d2	6097
mjr	76:7f5912b6340e	6098	// start the LedWiz flash cycle timer
mjr	74:822a92bc11d2	6099	wizCycleTimer.start();
mjr	74:822a92bc11d2	6100
mjr	74:822a92bc11d2	6101	// start the PWM update polling timer
mjr	74:822a92bc11d2	6102	polledPwmTimer.start();
mjr	43:7a6364d82a41	6103
mjr	77:0b96f6867312	6104	// Timer for configuration change reboots
mjr	77:0b96f6867312	6105	ExtTimer saveConfigRebootTimer;
mjr	77:0b96f6867312	6106
mjr	1:d913e0afb2ac	6107	// we're all set up - now just loop, processing sensor reports and
mjr	1:d913e0afb2ac	6108	// host requests
mjr	0:5acbbe3f4cf4	6109	for (;;)
mjr	0:5acbbe3f4cf4	6110	{
mjr	74:822a92bc11d2	6111	// start the main loop timer for diagnostic data collection
mjr	76:7f5912b6340e	6112	IF_DIAG(mainLoopTimer.reset(); mainLoopTimer.start();)
mjr	74:822a92bc11d2	6113
mjr	48:058ace2aed1d	6114	// Process incoming reports on the joystick interface. The joystick
mjr	48:058ace2aed1d	6115	// "out" (receive) endpoint is used for LedWiz commands and our
mjr	48:058ace2aed1d	6116	// extended protocol commands. Limit processing time to 5ms to
mjr	48:058ace2aed1d	6117	// ensure we don't starve the input side.
mjr	39:b3815a1c3802	6118	LedWizMsg lwm;
mjr	48:058ace2aed1d	6119	Timer lwt;
mjr	48:058ace2aed1d	6120	lwt.start();
mjr	77:0b96f6867312	6121	IF_DIAG(int msgCount = 0;)
mjr	48:058ace2aed1d	6122	while (js.readLedWizMsg(lwm) && lwt.read_us() < 5000)
mjr	74:822a92bc11d2	6123	{
mjr	48:058ace2aed1d	6124	handleInputMsg(lwm, js);
mjr	74:822a92bc11d2	6125	IF_DIAG(++msgCount;)
mjr	74:822a92bc11d2	6126	}
mjr	74:822a92bc11d2	6127
mjr	74:822a92bc11d2	6128	// collect performance statistics on the message reader, if desired
mjr	74:822a92bc11d2	6129	IF_DIAG(
mjr	74:822a92bc11d2	6130	if (msgCount != 0)
mjr	74:822a92bc11d2	6131	{
mjr	76:7f5912b6340e	6132	mainLoopMsgTime += lwt.read_us();
mjr	74:822a92bc11d2	6133	mainLoopMsgCount++;
mjr	74:822a92bc11d2	6134	}
mjr	74:822a92bc11d2	6135	)
mjr	74:822a92bc11d2	6136
mjr	77:0b96f6867312	6137	// process IR input
mjr	77:0b96f6867312	6138	process_IR(cfg, js);
mjr	77:0b96f6867312	6139
mjr	77:0b96f6867312	6140	// update the PSU2 power sensing status
mjr	77:0b96f6867312	6141	powerStatusUpdate(cfg);
mjr	77:0b96f6867312	6142
mjr	74:822a92bc11d2	6143	// update flashing LedWiz outputs periodically
mjr	74:822a92bc11d2	6144	wizPulse();
mjr	74:822a92bc11d2	6145
mjr	74:822a92bc11d2	6146	// update PWM outputs
mjr	74:822a92bc11d2	6147	pollPwmUpdates();
mjr	77:0b96f6867312	6148
mjr	77:0b96f6867312	6149	// poll the accelerometer
mjr	77:0b96f6867312	6150	accel.poll();
mjr	55:4db125cd11a0	6151
mjr	76:7f5912b6340e	6152	// collect diagnostic statistics, checkpoint 0
mjr	76:7f5912b6340e	6153	IF_DIAG(mainLoopIterCheckpt[0] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6154
mjr	55:4db125cd11a0	6155	// send TLC5940 data updates if applicable
mjr	55:4db125cd11a0	6156	if (tlc5940 != 0)
mjr	55:4db125cd11a0	6157	tlc5940->send();
mjr	1:d913e0afb2ac	6158
mjr	76:7f5912b6340e	6159	// collect diagnostic statistics, checkpoint 1
mjr	76:7f5912b6340e	6160	IF_DIAG(mainLoopIterCheckpt[1] += mainLoopTimer.read_us();)
mjr	77:0b96f6867312	6161
mjr	1:d913e0afb2ac	6162	// check for plunger calibration
mjr	17:ab3cec0c8bf4	6163	if (calBtn != 0 && !calBtn->read())
mjr	0:5acbbe3f4cf4	6164	{
mjr	1:d913e0afb2ac	6165	// check the state
mjr	1:d913e0afb2ac	6166	switch (calBtnState)
mjr	0:5acbbe3f4cf4	6167	{
mjr	1:d913e0afb2ac	6168	case 0:
mjr	1:d913e0afb2ac	6169	// button not yet pushed - start debouncing
mjr	1:d913e0afb2ac	6170	calBtnTimer.reset();
mjr	1:d913e0afb2ac	6171	calBtnState = 1;
mjr	1:d913e0afb2ac	6172	break;
mjr	1:d913e0afb2ac	6173
mjr	1:d913e0afb2ac	6174	case 1:
mjr	1:d913e0afb2ac	6175	// pushed, not yet debounced - if the debounce time has
mjr	1:d913e0afb2ac	6176	// passed, start the hold period
mjr	48:058ace2aed1d	6177	if (calBtnTimer.read_us() > 50000)
mjr	1:d913e0afb2ac	6178	calBtnState = 2;
mjr	1:d913e0afb2ac	6179	break;
mjr	1:d913e0afb2ac	6180
mjr	1:d913e0afb2ac	6181	case 2:
mjr	1:d913e0afb2ac	6182	// in the hold period - if the button has been held down
mjr	1:d913e0afb2ac	6183	// for the entire hold period, move to calibration mode
mjr	48:058ace2aed1d	6184	if (calBtnTimer.read_us() > 2050000)
mjr	1:d913e0afb2ac	6185	{
mjr	1:d913e0afb2ac	6186	// enter calibration mode
mjr	1:d913e0afb2ac	6187	calBtnState = 3;
mjr	9:fd65b0a94720	6188	calBtnTimer.reset();
mjr	35:e959ffba78fd	6189
mjr	44:b5ac89b9cd5d	6190	// begin the plunger calibration limits
mjr	52:8298b2a73eb2	6191	plungerReader.setCalMode(true);
mjr	1:d913e0afb2ac	6192	}
mjr	1:d913e0afb2ac	6193	break;
mjr	2:c174f9ee414a	6194
mjr	2:c174f9ee414a	6195	case 3:
mjr	9:fd65b0a94720	6196	// Already in calibration mode - pushing the button here
mjr	9:fd65b0a94720	6197	// doesn't change the current state, but we won't leave this
mjr	9:fd65b0a94720	6198	// state as long as it's held down. So nothing changes here.
mjr	2:c174f9ee414a	6199	break;
mjr	0:5acbbe3f4cf4	6200	}
mjr	0:5acbbe3f4cf4	6201	}
mjr	1:d913e0afb2ac	6202	else
mjr	1:d913e0afb2ac	6203	{
mjr	2:c174f9ee414a	6204	// Button released. If we're in calibration mode, and
mjr	2:c174f9ee414a	6205	// the calibration time has elapsed, end the calibration
mjr	2:c174f9ee414a	6206	// and save the results to flash.
mjr	2:c174f9ee414a	6207	//
mjr	2:c174f9ee414a	6208	// Otherwise, return to the base state without saving anything.
mjr	2:c174f9ee414a	6209	// If the button is released before we make it to calibration
mjr	2:c174f9ee414a	6210	// mode, it simply cancels the attempt.
mjr	77:0b96f6867312	6211	diagLED(1,1,1);
mjr	48:058ace2aed1d	6212	if (calBtnState == 3 && calBtnTimer.read_us() > 15000000)
mjr	2:c174f9ee414a	6213	{
mjr	77:0b96f6867312	6214	diagLED(0,0,0);
mjr	2:c174f9ee414a	6215	// exit calibration mode
mjr	1:d913e0afb2ac	6216	calBtnState = 0;
mjr	52:8298b2a73eb2	6217	plungerReader.setCalMode(false);
mjr	2:c174f9ee414a	6218
mjr	6:cc35eb643e8f	6219	// save the updated configuration
mjr	35:e959ffba78fd	6220	cfg.plunger.cal.calibrated = 1;
mjr	35:e959ffba78fd	6221	saveConfigToFlash();
mjr	2:c174f9ee414a	6222	}
mjr	2:c174f9ee414a	6223	else if (calBtnState != 3)
mjr	2:c174f9ee414a	6224	{
mjr	77:0b96f6867312	6225	diagLED(0,1,1);
mjr	2:c174f9ee414a	6226	// didn't make it to calibration mode - cancel the operation
mjr	1:d913e0afb2ac	6227	calBtnState = 0;
mjr	2:c174f9ee414a	6228	}
mjr	1:d913e0afb2ac	6229	}
mjr	1:d913e0afb2ac	6230
mjr	1:d913e0afb2ac	6231	// light/flash the calibration button light, if applicable
mjr	1:d913e0afb2ac	6232	int newCalBtnLit = calBtnLit;
mjr	1:d913e0afb2ac	6233	switch (calBtnState)
mjr	0:5acbbe3f4cf4	6234	{
mjr	1:d913e0afb2ac	6235	case 2:
mjr	1:d913e0afb2ac	6236	// in the hold period - flash the light
mjr	48:058ace2aed1d	6237	newCalBtnLit = ((calBtnTimer.read_us()/250000) & 1);
mjr	1:d913e0afb2ac	6238	break;
mjr	1:d913e0afb2ac	6239
mjr	1:d913e0afb2ac	6240	case 3:
mjr	1:d913e0afb2ac	6241	// calibration mode - show steady on
mjr	1:d913e0afb2ac	6242	newCalBtnLit = true;
mjr	1:d913e0afb2ac	6243	break;
mjr	1:d913e0afb2ac	6244
mjr	1:d913e0afb2ac	6245	default:
mjr	1:d913e0afb2ac	6246	// not calibrating/holding - show steady off
mjr	1:d913e0afb2ac	6247	newCalBtnLit = false;
mjr	1:d913e0afb2ac	6248	break;
mjr	1:d913e0afb2ac	6249	}
mjr	3:3514575d4f86	6250
mjr	3:3514575d4f86	6251	// light or flash the external calibration button LED, and
mjr	3:3514575d4f86	6252	// do the same with the on-board blue LED
mjr	1:d913e0afb2ac	6253	if (calBtnLit != newCalBtnLit)
mjr	1:d913e0afb2ac	6254	{
mjr	1:d913e0afb2ac	6255	calBtnLit = newCalBtnLit;
mjr	2:c174f9ee414a	6256	if (calBtnLit) {
mjr	17:ab3cec0c8bf4	6257	if (calBtnLed != 0)
mjr	17:ab3cec0c8bf4	6258	calBtnLed->write(1);
mjr	38:091e511ce8a0	6259	diagLED(0, 0, 1); // blue
mjr	2:c174f9ee414a	6260	}
mjr	2:c174f9ee414a	6261	else {
mjr	17:ab3cec0c8bf4	6262	if (calBtnLed != 0)
mjr	17:ab3cec0c8bf4	6263	calBtnLed->write(0);
mjr	38:091e511ce8a0	6264	diagLED(0, 0, 0); // off
mjr	2:c174f9ee414a	6265	}
mjr	1:d913e0afb2ac	6266	}
mjr	35:e959ffba78fd	6267
mjr	76:7f5912b6340e	6268	// collect diagnostic statistics, checkpoint 2
mjr	76:7f5912b6340e	6269	IF_DIAG(mainLoopIterCheckpt[2] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6270
mjr	48:058ace2aed1d	6271	// read the plunger sensor
mjr	48:058ace2aed1d	6272	plungerReader.read();
mjr	48:058ace2aed1d	6273
mjr	76:7f5912b6340e	6274	// collect diagnostic statistics, checkpoint 3
mjr	76:7f5912b6340e	6275	IF_DIAG(mainLoopIterCheckpt[3] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6276
mjr	53:9b2611964afc	6277	// update the ZB Launch Ball status
mjr	53:9b2611964afc	6278	zbLaunchBall.update();
mjr	37:ed52738445fc	6279
mjr	76:7f5912b6340e	6280	// collect diagnostic statistics, checkpoint 4
mjr	76:7f5912b6340e	6281	IF_DIAG(mainLoopIterCheckpt[4] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6282
mjr	53:9b2611964afc	6283	// process button updates
mjr	53:9b2611964afc	6284	processButtons(cfg);
mjr	53:9b2611964afc	6285
mjr	76:7f5912b6340e	6286	// collect diagnostic statistics, checkpoint 5
mjr	76:7f5912b6340e	6287	IF_DIAG(mainLoopIterCheckpt[5] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6288
mjr	38:091e511ce8a0	6289	// send a keyboard report if we have new data
mjr	37:ed52738445fc	6290	if (kbState.changed)
mjr	37:ed52738445fc	6291	{
mjr	38:091e511ce8a0	6292	// send a keyboard report
mjr	37:ed52738445fc	6293	js.kbUpdate(kbState.data);
mjr	37:ed52738445fc	6294	kbState.changed = false;
mjr	37:ed52738445fc	6295	}
mjr	38:091e511ce8a0	6296
mjr	38:091e511ce8a0	6297	// likewise for the media controller
mjr	37:ed52738445fc	6298	if (mediaState.changed)
mjr	37:ed52738445fc	6299	{
mjr	38:091e511ce8a0	6300	// send a media report
mjr	37:ed52738445fc	6301	js.mediaUpdate(mediaState.data);
mjr	37:ed52738445fc	6302	mediaState.changed = false;
mjr	37:ed52738445fc	6303	}
mjr	38:091e511ce8a0	6304
mjr	76:7f5912b6340e	6305	// collect diagnostic statistics, checkpoint 6
mjr	76:7f5912b6340e	6306	IF_DIAG(mainLoopIterCheckpt[6] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6307
mjr	38:091e511ce8a0	6308	// flag: did we successfully send a joystick report on this round?
mjr	38:091e511ce8a0	6309	bool jsOK = false;
mjr	55:4db125cd11a0	6310
mjr	55:4db125cd11a0	6311	// figure the current status flags for joystick reports
mjr	77:0b96f6867312	6312	uint16_t statusFlags =
mjr	77:0b96f6867312	6313	cfg.plunger.enabled // 0x01
mjr	77:0b96f6867312	6314	\| nightMode // 0x02
mjr	77:0b96f6867312	6315	\| ((psu2_state & 0x07) << 2); // 0x04 0x08 0x10
mjr	77:0b96f6867312	6316	if (IRLearningMode != 0)
mjr	77:0b96f6867312	6317	statusFlags \|= 0x20;
mjr	17:ab3cec0c8bf4	6318
mjr	50:40015764bbe6	6319	// If it's been long enough since our last USB status report, send
mjr	50:40015764bbe6	6320	// the new report. VP only polls for input in 10ms intervals, so
mjr	50:40015764bbe6	6321	// there's no benefit in sending reports more frequently than this.
mjr	50:40015764bbe6	6322	// More frequent reporting would only add USB I/O overhead.
mjr	50:40015764bbe6	6323	if (cfg.joystickEnabled && jsReportTimer.read_us() > 10000UL)
mjr	17:ab3cec0c8bf4	6324	{
mjr	17:ab3cec0c8bf4	6325	// read the accelerometer
mjr	17:ab3cec0c8bf4	6326	int xa, ya;
mjr	17:ab3cec0c8bf4	6327	accel.get(xa, ya);
mjr	17:ab3cec0c8bf4	6328
mjr	17:ab3cec0c8bf4	6329	// confine the results to our joystick axis range
mjr	17:ab3cec0c8bf4	6330	if (xa < -JOYMAX) xa = -JOYMAX;
mjr	17:ab3cec0c8bf4	6331	if (xa > JOYMAX) xa = JOYMAX;
mjr	17:ab3cec0c8bf4	6332	if (ya < -JOYMAX) ya = -JOYMAX;
mjr	17:ab3cec0c8bf4	6333	if (ya > JOYMAX) ya = JOYMAX;
mjr	17:ab3cec0c8bf4	6334
mjr	17:ab3cec0c8bf4	6335	// store the updated accelerometer coordinates
mjr	17:ab3cec0c8bf4	6336	x = xa;
mjr	17:ab3cec0c8bf4	6337	y = ya;
mjr	17:ab3cec0c8bf4	6338
mjr	48:058ace2aed1d	6339	// Report the current plunger position unless the plunger is
mjr	48:058ace2aed1d	6340	// disabled, or the ZB Launch Ball signal is on. In either of
mjr	48:058ace2aed1d	6341	// those cases, just report a constant 0 value. ZB Launch Ball
mjr	48:058ace2aed1d	6342	// temporarily disables mechanical plunger reporting because it
mjr	21:5048e16cc9ef	6343	// tells us that the table has a Launch Ball button instead of
mjr	48:058ace2aed1d	6344	// a traditional plunger, so we don't want to confuse VP with
mjr	48:058ace2aed1d	6345	// regular plunger inputs.
mjr	48:058ace2aed1d	6346	int z = plungerReader.getPosition();
mjr	53:9b2611964afc	6347	int zrep = (!cfg.plunger.enabled \|\| zbLaunchOn ? 0 : z);
mjr	35:e959ffba78fd	6348
mjr	35:e959ffba78fd	6349	// rotate X and Y according to the device orientation in the cabinet
mjr	35:e959ffba78fd	6350	accelRotate(x, y);
mjr	35:e959ffba78fd	6351
mjr	35:e959ffba78fd	6352	// send the joystick report
mjr	53:9b2611964afc	6353	jsOK = js.update(x, y, zrep, jsButtons, statusFlags);
mjr	21:5048e16cc9ef	6354
mjr	17:ab3cec0c8bf4	6355	// we've just started a new report interval, so reset the timer
mjr	38:091e511ce8a0	6356	jsReportTimer.reset();
mjr	17:ab3cec0c8bf4	6357	}
mjr	21:5048e16cc9ef	6358
mjr	52:8298b2a73eb2	6359	// If we're in sensor status mode, report all pixel exposure values
mjr	52:8298b2a73eb2	6360	if (reportPlungerStat)
mjr	10:976666ffa4ef	6361	{
mjr	17:ab3cec0c8bf4	6362	// send the report
mjr	53:9b2611964afc	6363	plungerSensor->sendStatusReport(js, reportPlungerStatFlags, reportPlungerStatTime);
mjr	17:ab3cec0c8bf4	6364
mjr	10:976666ffa4ef	6365	// we have satisfied this request
mjr	52:8298b2a73eb2	6366	reportPlungerStat = false;
mjr	10:976666ffa4ef	6367	}
mjr	10:976666ffa4ef	6368
mjr	35:e959ffba78fd	6369	// If joystick reports are turned off, send a generic status report
mjr	35:e959ffba78fd	6370	// periodically for the sake of the Windows config tool.
mjr	77:0b96f6867312	6371	if (!cfg.joystickEnabled && jsReportTimer.read_us() > 10000UL)
mjr	21:5048e16cc9ef	6372	{
mjr	55:4db125cd11a0	6373	jsOK = js.updateStatus(statusFlags);
mjr	38:091e511ce8a0	6374	jsReportTimer.reset();
mjr	38:091e511ce8a0	6375	}
mjr	38:091e511ce8a0	6376
mjr	38:091e511ce8a0	6377	// if we successfully sent a joystick report, reset the watchdog timer
mjr	38:091e511ce8a0	6378	if (jsOK)
mjr	38:091e511ce8a0	6379	{
mjr	38:091e511ce8a0	6380	jsOKTimer.reset();
mjr	38:091e511ce8a0	6381	jsOKTimer.start();
mjr	21:5048e16cc9ef	6382	}
mjr	21:5048e16cc9ef	6383
mjr	76:7f5912b6340e	6384	// collect diagnostic statistics, checkpoint 7
mjr	76:7f5912b6340e	6385	IF_DIAG(mainLoopIterCheckpt[7] += mainLoopTimer.read_us();)
mjr	76:7f5912b6340e	6386
mjr	6:cc35eb643e8f	6387	#ifdef DEBUG_PRINTF
mjr	6:cc35eb643e8f	6388	if (x != 0 \|\| y != 0)
mjr	6:cc35eb643e8f	6389	printf("%d,%d\r\n", x, y);
mjr	6:cc35eb643e8f	6390	#endif
mjr	6:cc35eb643e8f	6391
mjr	33:d832bcab089e	6392	// check for connection status changes
mjr	54:fd77a6b2f76c	6393	bool newConnected = js.isConnected() && !js.isSleeping();
mjr	33:d832bcab089e	6394	if (newConnected != connected)
mjr	33:d832bcab089e	6395	{
mjr	54:fd77a6b2f76c	6396	// give it a moment to stabilize
mjr	40:cc0d9814522b	6397	connectChangeTimer.start();
mjr	55:4db125cd11a0	6398	if (connectChangeTimer.read_us() > 1000000)
mjr	33:d832bcab089e	6399	{
mjr	33:d832bcab089e	6400	// note the new status
mjr	33:d832bcab089e	6401	connected = newConnected;
mjr	40:cc0d9814522b	6402
mjr	40:cc0d9814522b	6403	// done with the change timer for this round - reset it for next time
mjr	40:cc0d9814522b	6404	connectChangeTimer.stop();
mjr	40:cc0d9814522b	6405	connectChangeTimer.reset();
mjr	33:d832bcab089e	6406
mjr	54:fd77a6b2f76c	6407	// if we're newly disconnected, clean up for PC suspend mode or power off
mjr	54:fd77a6b2f76c	6408	if (!connected)
mjr	40:cc0d9814522b	6409	{
mjr	54:fd77a6b2f76c	6410	// turn off all outputs
mjr	33:d832bcab089e	6411	allOutputsOff();
mjr	40:cc0d9814522b	6412
mjr	40:cc0d9814522b	6413	// The KL25Z runs off of USB power, so we might (depending on the PC
mjr	40:cc0d9814522b	6414	// and OS configuration) continue to receive power even when the main
mjr	40:cc0d9814522b	6415	// PC power supply is turned off, such as in soft-off or suspend/sleep
mjr	40:cc0d9814522b	6416	// mode. Any external output controller chips (TLC5940, 74HC595) might
mjr	40:cc0d9814522b	6417	// be powered from the PC power supply directly rather than from our
mjr	40:cc0d9814522b	6418	// USB power, so they might be powered off even when we're still running.
mjr	40:cc0d9814522b	6419	// To ensure cleaner startup when the power comes back on, globally
mjr	40:cc0d9814522b	6420	// disable the outputs. The global disable signals come from GPIO lines
mjr	40:cc0d9814522b	6421	// that remain powered as long as the KL25Z is powered, so these modes
mjr	40:cc0d9814522b	6422	// will apply smoothly across power state transitions in the external
mjr	40:cc0d9814522b	6423	// hardware. That is, when the external chips are powered up, they'll
mjr	40:cc0d9814522b	6424	// see the global disable signals as stable voltage inputs immediately,
mjr	40:cc0d9814522b	6425	// which will cause them to suppress any output triggering. This ensures
mjr	40:cc0d9814522b	6426	// that we don't fire any solenoids or flash any lights spuriously when
mjr	40:cc0d9814522b	6427	// the power first comes on.
mjr	40:cc0d9814522b	6428	if (tlc5940 != 0)
mjr	40:cc0d9814522b	6429	tlc5940->enable(false);
mjr	40:cc0d9814522b	6430	if (hc595 != 0)
mjr	40:cc0d9814522b	6431	hc595->enable(false);
mjr	40:cc0d9814522b	6432	}
mjr	33:d832bcab089e	6433	}
mjr	33:d832bcab089e	6434	}
mjr	48:058ace2aed1d	6435
mjr	53:9b2611964afc	6436	// if we have a reboot timer pending, check for completion
mjr	77:0b96f6867312	6437	if (saveConfigRebootTimer.isRunning()
mjr	77:0b96f6867312	6438	&& saveConfigRebootTimer.read() > saveConfigRebootTime)
mjr	53:9b2611964afc	6439	reboot(js);
mjr	77:0b96f6867312	6440
mjr	77:0b96f6867312	6441	// if a config save is pending, do it now
mjr	77:0b96f6867312	6442	if (saveConfigPending != 0)
mjr	77:0b96f6867312	6443	{
mjr	77:0b96f6867312	6444	// save the configuration
mjr	77:0b96f6867312	6445	saveConfigToFlash();
mjr	77:0b96f6867312	6446
mjr	77:0b96f6867312	6447	// if desired, reboot after the specified delay
mjr	77:0b96f6867312	6448	if (saveConfigPending == SAVE_CONFIG_AND_REBOOT)
mjr	77:0b96f6867312	6449	saveConfigRebootTimer.start();
mjr	77:0b96f6867312	6450
mjr	77:0b96f6867312	6451	// the save is no longer pending
mjr	77:0b96f6867312	6452	saveConfigPending = 0;
mjr	77:0b96f6867312	6453	}
mjr	53:9b2611964afc	6454
mjr	48:058ace2aed1d	6455	// if we're disconnected, initiate a new connection
mjr	51:57eb311faafa	6456	if (!connected)
mjr	48:058ace2aed1d	6457	{
mjr	54:fd77a6b2f76c	6458	// show USB HAL debug events
mjr	54:fd77a6b2f76c	6459	extern void HAL_DEBUG_PRINTEVENTS(const char *prefix);
mjr	54:fd77a6b2f76c	6460	HAL_DEBUG_PRINTEVENTS(">DISC");
mjr	54:fd77a6b2f76c	6461
mjr	54:fd77a6b2f76c	6462	// show immediate diagnostic feedback
mjr	54:fd77a6b2f76c	6463	js.diagFlash();
mjr	54:fd77a6b2f76c	6464
mjr	54:fd77a6b2f76c	6465	// clear any previous diagnostic LED display
mjr	54:fd77a6b2f76c	6466	diagLED(0, 0, 0);
mjr	51:57eb311faafa	6467
mjr	51:57eb311faafa	6468	// set up a timer to monitor the reboot timeout
mjr	70:9f58735a1732	6469	Timer reconnTimeoutTimer;
mjr	70:9f58735a1732	6470	reconnTimeoutTimer.start();
mjr	48:058ace2aed1d	6471
mjr	54:fd77a6b2f76c	6472	// set up a timer for diagnostic displays
mjr	54:fd77a6b2f76c	6473	Timer diagTimer;
mjr	54:fd77a6b2f76c	6474	diagTimer.reset();
mjr	54:fd77a6b2f76c	6475	diagTimer.start();
mjr	74:822a92bc11d2	6476
mjr	74:822a92bc11d2	6477	// turn off the main loop timer while spinning
mjr	74:822a92bc11d2	6478	IF_DIAG(mainLoopTimer.stop();)
mjr	54:fd77a6b2f76c	6479
mjr	54:fd77a6b2f76c	6480	// loop until we get our connection back
mjr	54:fd77a6b2f76c	6481	while (!js.isConnected() \|\| js.isSleeping())
mjr	51:57eb311faafa	6482	{
mjr	54:fd77a6b2f76c	6483	// try to recover the connection
mjr	54:fd77a6b2f76c	6484	js.recoverConnection();
mjr	54:fd77a6b2f76c	6485
mjr	55:4db125cd11a0	6486	// send TLC5940 data if necessary
mjr	55:4db125cd11a0	6487	if (tlc5940 != 0)
mjr	55:4db125cd11a0	6488	tlc5940->send();
mjr	55:4db125cd11a0	6489
mjr	54:fd77a6b2f76c	6490	// show a diagnostic flash every couple of seconds
mjr	54:fd77a6b2f76c	6491	if (diagTimer.read_us() > 2000000)
mjr	51:57eb311faafa	6492	{
mjr	54:fd77a6b2f76c	6493	// flush the USB HAL debug events, if in debug mode
mjr	54:fd77a6b2f76c	6494	HAL_DEBUG_PRINTEVENTS(">NC");
mjr	54:fd77a6b2f76c	6495
mjr	54:fd77a6b2f76c	6496	// show diagnostic feedback
mjr	54:fd77a6b2f76c	6497	js.diagFlash();
mjr	51:57eb311faafa	6498
mjr	51:57eb311faafa	6499	// reset the flash timer
mjr	54:fd77a6b2f76c	6500	diagTimer.reset();
mjr	51:57eb311faafa	6501	}
mjr	51:57eb311faafa	6502
mjr	77:0b96f6867312	6503	// If the disconnect reboot timeout has expired, reboot.
mjr	77:0b96f6867312	6504	// Some PC hosts won't reconnect to a device that's left
mjr	77:0b96f6867312	6505	// plugged in through various events on the PC side, such as
mjr	77:0b96f6867312	6506	// rebooting Windows, cycling power on the PC, or just a lost
mjr	77:0b96f6867312	6507	// USB connection. Rebooting the KL25Z seems to be the most
mjr	77:0b96f6867312	6508	// reliable way to get Windows to notice us again after one
mjr	77:0b96f6867312	6509	// of these events and make it reconnect.
mjr	51:57eb311faafa	6510	if (cfg.disconnectRebootTimeout != 0
mjr	70:9f58735a1732	6511	&& reconnTimeoutTimer.read() > cfg.disconnectRebootTimeout)
mjr	54:fd77a6b2f76c	6512	reboot(js, false, 0);
mjr	77:0b96f6867312	6513
mjr	77:0b96f6867312	6514	// update the PSU2 power sensing status
mjr	77:0b96f6867312	6515	powerStatusUpdate(cfg);
mjr	54:fd77a6b2f76c	6516	}
mjr	54:fd77a6b2f76c	6517
mjr	74:822a92bc11d2	6518	// resume the main loop timer
mjr	74:822a92bc11d2	6519	IF_DIAG(mainLoopTimer.start();)
mjr	74:822a92bc11d2	6520
mjr	54:fd77a6b2f76c	6521	// if we made it out of that loop alive, we're connected again!
mjr	54:fd77a6b2f76c	6522	connected = true;
mjr	54:fd77a6b2f76c	6523	HAL_DEBUG_PRINTEVENTS(">C");
mjr	54:fd77a6b2f76c	6524
mjr	54:fd77a6b2f76c	6525	// Enable peripheral chips and update them with current output data
mjr	54:fd77a6b2f76c	6526	if (tlc5940 != 0)
mjr	54:fd77a6b2f76c	6527	{
mjr	55:4db125cd11a0	6528	tlc5940->enable(true);
mjr	54:fd77a6b2f76c	6529	tlc5940->update(true);
mjr	54:fd77a6b2f76c	6530	}
mjr	54:fd77a6b2f76c	6531	if (hc595 != 0)
mjr	54:fd77a6b2f76c	6532	{
mjr	55:4db125cd11a0	6533	hc595->enable(true);
mjr	54:fd77a6b2f76c	6534	hc595->update(true);
mjr	51:57eb311faafa	6535	}
mjr	48:058ace2aed1d	6536	}
mjr	43:7a6364d82a41	6537
mjr	6:cc35eb643e8f	6538	// provide a visual status indication on the on-board LED
mjr	48:058ace2aed1d	6539	if (calBtnState < 2 && hbTimer.read_us() > 1000000)
mjr	1:d913e0afb2ac	6540	{
mjr	54:fd77a6b2f76c	6541	if (jsOKTimer.read_us() > 1000000)
mjr	38:091e511ce8a0	6542	{
mjr	39:b3815a1c3802	6543	// USB freeze - show red/yellow.
mjr	40:cc0d9814522b	6544	//
mjr	54:fd77a6b2f76c	6545	// It's been more than a second since we successfully sent a joystick
mjr	54:fd77a6b2f76c	6546	// update message. This must mean that something's wrong on the USB
mjr	54:fd77a6b2f76c	6547	// connection, even though we haven't detected an outright disconnect.
mjr	54:fd77a6b2f76c	6548	// Show a distinctive diagnostic LED pattern when this occurs.
mjr	38:091e511ce8a0	6549	hb = !hb;
mjr	38:091e511ce8a0	6550	diagLED(1, hb, 0);
mjr	54:fd77a6b2f76c	6551
mjr	54:fd77a6b2f76c	6552	// If the reboot-on-disconnect option is in effect, treat this condition
mjr	54:fd77a6b2f76c	6553	// as equivalent to a disconnect, since something is obviously wrong
mjr	54:fd77a6b2f76c	6554	// with the USB connection.
mjr	54:fd77a6b2f76c	6555	if (cfg.disconnectRebootTimeout != 0)
mjr	54:fd77a6b2f76c	6556	{
mjr	54:fd77a6b2f76c	6557	// The reboot timeout is in effect. If we've been incommunicado for
mjr	54:fd77a6b2f76c	6558	// longer than the timeout, reboot. If we haven't reached the time
mjr	54:fd77a6b2f76c	6559	// limit, keep running for now, and leave the OK timer running so
mjr	54:fd77a6b2f76c	6560	// that we can continue to monitor this.
mjr	54:fd77a6b2f76c	6561	if (jsOKTimer.read() > cfg.disconnectRebootTimeout)
mjr	54:fd77a6b2f76c	6562	reboot(js, false, 0);
mjr	54:fd77a6b2f76c	6563	}
mjr	54:fd77a6b2f76c	6564	else
mjr	54:fd77a6b2f76c	6565	{
mjr	54:fd77a6b2f76c	6566	// There's no reboot timer, so just keep running with the diagnostic
mjr	54:fd77a6b2f76c	6567	// pattern displayed. Since we're not waiting for any other timed
mjr	54:fd77a6b2f76c	6568	// conditions in this state, stop the timer so that it doesn't
mjr	54:fd77a6b2f76c	6569	// overflow if this condition persists for a long time.
mjr	54:fd77a6b2f76c	6570	jsOKTimer.stop();
mjr	54:fd77a6b2f76c	6571	}
mjr	38:091e511ce8a0	6572	}
mjr	73:4e8ce0b18915	6573	else if (psu2_state >= 4)
mjr	73:4e8ce0b18915	6574	{
mjr	73:4e8ce0b18915	6575	// We're in the TV timer countdown. Skip the normal heartbeat
mjr	73:4e8ce0b18915	6576	// flashes and show the TV timer flashes instead.
mjr	73:4e8ce0b18915	6577	diagLED(0, 0, 0);
mjr	73:4e8ce0b18915	6578	}
mjr	35:e959ffba78fd	6579	else if (cfg.plunger.enabled && !cfg.plunger.cal.calibrated)
mjr	6:cc35eb643e8f	6580	{
mjr	6:cc35eb643e8f	6581	// connected, plunger calibration needed - flash yellow/green
mjr	6:cc35eb643e8f	6582	hb = !hb;
mjr	38:091e511ce8a0	6583	diagLED(hb, 1, 0);
mjr	6:cc35eb643e8f	6584	}
mjr	6:cc35eb643e8f	6585	else
mjr	6:cc35eb643e8f	6586	{
mjr	6:cc35eb643e8f	6587	// connected - flash blue/green
mjr	2:c174f9ee414a	6588	hb = !hb;
mjr	38:091e511ce8a0	6589	diagLED(0, hb, !hb);
mjr	2:c174f9ee414a	6590	}
mjr	1:d913e0afb2ac	6591
mjr	1:d913e0afb2ac	6592	// reset the heartbeat timer
mjr	1:d913e0afb2ac	6593	hbTimer.reset();
mjr	5:a70c0bce770d	6594	++hbcnt;
mjr	1:d913e0afb2ac	6595	}
mjr	74:822a92bc11d2	6596
mjr	74:822a92bc11d2	6597	// collect statistics on the main loop time, if desired
mjr	74:822a92bc11d2	6598	IF_DIAG(
mjr	76:7f5912b6340e	6599	mainLoopIterTime += mainLoopTimer.read_us();
mjr	74:822a92bc11d2	6600	mainLoopIterCount++;
mjr	74:822a92bc11d2	6601	)
mjr	1:d913e0afb2ac	6602	}
mjr	0:5acbbe3f4cf4	6603	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	04 May 2016
Imports:	187
Forks:	0
Commits:	117
Dependents:	0
Dependencies:	4
Followers:	23

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main.cpp@77:0b96f6867312, 2017-03-17 (annotated)

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