An I/O controller for virtual pinball machines: accelerometer nudge sensing, analog plunger input, button input encoding, LedWiz compatible output controls, and more.

Dependencies:   mbed FastIO FastPWM USBDevice

Fork of Pinscape_Controller by Mike R


This is Version 2 of the Pinscape Controller, an I/O controller for virtual pinball machines. (You can find the old version 1 software here.) Pinscape is software for the KL25Z that turns the board into a full-featured I/O controller for virtual pinball, with support for accelerometer-based nudging, a real plunger, button inputs, and feedback device control.

In case you haven't heard of the concept before, a "virtual pinball machine" is basically a video pinball simulator that's built into a real pinball machine body. A TV monitor goes in place of the pinball playfield, and a second TV goes in the backbox to serve as the "backglass" display. A third smaller monitor can serve as the "DMD" (the Dot Matrix Display used for scoring on newer machines), or you can even install a real pinball plasma DMD. A computer is hidden inside the cabinet, running pinball emulation software that displays a life-sized playfield on the main TV. The cabinet has all of the usual buttons, too, so it not only looks like the real thing, but plays like it too. That's a picture of my own machine to the right. On the outside, it's built exactly like a real arcade pinball machine, with the same overall dimensions and all of the standard pinball cabinet hardware.

A few small companies build and sell complete, finished virtual pinball machines, but I think it's more fun as a DIY project. If you have some basic wood-working skills and know your way around PCs, you can build one from scratch. The computer part is just an ordinary Windows PC, and all of the pinball emulation can be built out of free, open-source software. In that spirit, the Pinscape Controller is an open-source software/hardware project that offers a no-compromises, all-in-one control center for all of the unique input/output needs of a virtual pinball cabinet. If you've been thinking about building one of these, but you're not sure how to connect a plunger, flipper buttons, lights, nudge sensor, and whatever else you can think of, this project might be just what you're looking for.

You can find much more information about DIY Pin Cab building in general in the Virtual Cabinet Forum on Also visit my Pinscape Resources page for more about this project and other virtual pinball projects I'm working on.


  • Pinscape Release Builds: This page has download links for all of the Pinscape software. To get started, install and run the Pinscape Config Tool on your Windows computer. It will lead you through the steps for installing the Pinscape firmware on the KL25Z.
  • Config Tool Source Code. The complete C# source code for the config tool. You don't need this to run the tool, but it's available if you want to customize anything or see how it works inside.


The new Version 2 Build Guide is now complete! This new version aims to be a complete guide to building a virtual pinball machine, including not only the Pinscape elements but all of the basics, from sourcing parts to building all of the hardware.

You can also refer to the original Hardware Build Guide (PDF), but that's out of date now, since it refers to the old version 1 software, which was rather different (especially when it comes to configuration).

System Requirements

The new config tool requires a fairly up-to-date Microsoft .NET installation. If you use Windows Update to keep your system current, you should be fine. A modern version of Internet Explorer (IE) is required, even if you don't use it as your main browser, because the config tool uses some system components that Microsoft packages into the IE install set. I test with IE11, so that's known to work. IE8 doesn't work. IE9 and 10 are unknown at this point.

The Windows requirements are only for the config tool. The firmware doesn't care about anything on the Windows side, so if you can make do without the config tool, you can use almost any Windows setup.

Main Features

Plunger: The Pinscape Controller started out as a "mechanical plunger" controller: a device for attaching a real pinball plunger to the video game software so that you could launch the ball the natural way. This is still, of course, a central feature of the project. The software supports several types of sensors: a high-resolution optical sensor (which works by essentially taking pictures of the plunger as it moves); a slide potentionmeter (which determines the position via the changing electrical resistance in the pot); a quadrature sensor (which counts bars printed on a special guide rail that it moves along); and an IR distance sensor (which determines the position by sending pulses of light at the plunger and measuring the round-trip travel time). The Build Guide explains how to set up each type of sensor.

Nudging: The KL25Z (the little microcontroller that the software runs on) has a built-in accelerometer. The Pinscape software uses it to sense when you nudge the cabinet, and feeds the acceleration data to the pinball software on the PC. This turns physical nudges into virtual English on the ball. The accelerometer is quite sensitive and accurate, so we can measure the difference between little bumps and hard shoves, and everything in between. The result is natural and immersive.

Buttons: You can wire real pinball buttons to the KL25Z, and the software will translate the buttons into PC input. You have the option to map each button to a keyboard key or joystick button. You can wire up your flipper buttons, Magna Save buttons, Start button, coin slots, operator buttons, and whatever else you need.

Feedback devices: You can also attach "feedback devices" to the KL25Z. Feedback devices are things that create tactile, sound, and lighting effects in sync with the game action. The most popular PC pinball emulators know how to address a wide variety of these devices, and know how to match them to on-screen action in each virtual table. You just need an I/O controller that translates commands from the PC into electrical signals that turn the devices on and off. The Pinscape Controller can do that for you.

Expansion Boards

There are two main ways to run the Pinscape Controller: standalone, or using the "expansion boards".

In the basic standalone setup, you just need the KL25Z, plus whatever buttons, sensors, and feedback devices you want to attach to it. This mode lets you take advantage of everything the software can do, but for some features, you'll have to build some ad hoc external circuitry to interface external devices with the KL25Z. The Build Guide has detailed plans for exactly what you need to build.

The other option is the Pinscape Expansion Boards. The expansion boards are a companion project, which is also totally free and open-source, that provides Printed Circuit Board (PCB) layouts that are designed specifically to work with the Pinscape software. The PCB designs are in the widely used EAGLE format, which many PCB manufacturers can turn directly into physical boards for you. The expansion boards organize all of the external connections more neatly than on the standalone KL25Z, and they add all of the interface circuitry needed for all of the advanced software functions. The big thing they bring to the table is lots of high-power outputs. The boards provide a modular system that lets you add boards to add more outputs. If you opt for the basic core setup, you'll have enough outputs for all of the toys in a really well-equipped cabinet. If your ambitions go beyond merely well-equipped and run to the ridiculously extravagant, just add an extra board or two. The modular design also means that you can add to the system over time.

Expansion Board project page

Update notes

If you have a Pinscape V1 setup already installed, you should be able to switch to the new version pretty seamlessly. There are just a couple of things to be aware of.

First, the "configuration" procedure is completely different in the new version. Way better and way easier, but it's not what you're used to from V1. In V1, you had to edit the project source code and compile your own custom version of the program. No more! With V2, you simply install the standard, pre-compiled .bin file, and select options using the Pinscape Config Tool on Windows.

Second, if you're using the TSL1410R optical sensor for your plunger, there's a chance you'll need to boost your light source's brightness a little bit. The "shutter speed" is faster in this version, which means that it doesn't spend as much time collecting light per frame as before. The software actually does "auto exposure" adaptation on every frame, so the increased shutter speed really shouldn't bother it, but it does require a certain minimum level of contrast, which requires a certain minimal level of lighting. Check the plunger viewer in the setup tool if you have any problems; if the image looks totally dark, try increasing the light level to see if that helps.

New Features

V2 has numerous new features. Here are some of the highlights...

Dynamic configuration: as explained above, configuration is now handled through the Config Tool on Windows. It's no longer necessary to edit the source code or compile your own modified binary.

Improved plunger sensing: the software now reads the TSL1410R optical sensor about 15x faster than it did before. This allows reading the sensor at full resolution (400dpi), about 400 times per second. The faster frame rate makes a big difference in how accurately we can read the plunger position during the fast motion of a release, which allows for more precise position sensing and faster response. The differences aren't dramatic, since the sensing was already pretty good even with the slower V1 scan rate, but you might notice a little better precision in tricky skill shots.

Keyboard keys: button inputs can now be mapped to keyboard keys. The joystick button option is still available as well, of course. Keyboard keys have the advantage of being closer to universal for PC pinball software: some pinball software can be set up to take joystick input, but nearly all PC pinball emulators can take keyboard input, and nearly all of them use the same key mappings.

Local shift button: one physical button can be designed as the local shift button. This works like a Shift button on a keyboard, but with cabinet buttons. It allows each physical button on the cabinet to have two PC keys assigned, one normal and one shifted. Hold down the local shift button, then press another key, and the other key's shifted key mapping is sent to the PC. The shift button can have a regular key mapping of its own as well, so it can do double duty. The shift feature lets you access more functions without cluttering your cabinet with extra buttons. It's especially nice for less frequently used functions like adjusting the volume or activating night mode.

Night mode: the output controller has a new "night mode" option, which lets you turn off all of your noisy devices with a single button, switch, or PC command. You can designate individual ports as noisy or not. Night mode only disables the noisemakers, so you still get the benefit of your flashers, button lights, and other quiet devices. This lets you play late into the night without disturbing your housemates or neighbors.

Gamma correction: you can designate individual output ports for gamma correction. This adjusts the intensity level of an output to make it match the way the human eye perceives brightness, so that fades and color mixes look more natural in lighting devices. You can apply this to individual ports, so that it only affects ports that actually have lights of some kind attached.

IR Remote Control: the controller software can transmit and/or receive IR remote control commands if you attach appropriate parts (an IR LED to send, an IR sensor chip to receive). This can be used to turn on your TV(s) when the system powers on, if they don't turn on automatically, and for any other functions you can think of requiring IR send/receive capabilities. You can assign IR commands to cabinet buttons, so that pressing a button on your cabinet sends a remote control command from the attached IR LED, and you can have the controller generate virtual key presses on your PC in response to received IR commands. If you have the IR sensor attached, the system can use it to learn commands from your existing remotes.

Yet more USB fixes: I've been gradually finding and fixing USB bugs in the mbed library for months now. This version has all of the fixes of the last couple of releases, of course, plus some new ones. It also has a new "last resort" feature, since there always seems to be "just one more" USB bug. The last resort is that you can tell the device to automatically reboot itself if it loses the USB connection and can't restore it within a given time limit.

More Downloads

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

    Note! These features are now standard in the official VP releases, so you don't need my custom builds if you're using 9.9.1 or later and/or VP 10. I don't think there's any reason to use my versions instead of the latest official ones, and in fact I'd encourage you to use the official releases since they're more up to date, but I'm leaving my builds available just in case. In the official versions, look for the checkbox "Enable Nudge Filter" in the Keys preferences dialog. My custom versions don't include that checkbox; they just enable the filter unconditionally.
  • Output circuit shopping list: This is a saved shopping cart at with the parts needed to build one copy of the high-power output circuit for the LedWiz emulator feature, for use with the standalone KL25Z (that is, without the expansion boards). The quantities in the cart are for one output channel, so if you want N outputs, simply multiply the quantities by the N, with one exception: you only need one ULN2803 transistor array chip for each eight output circuits. If you're using the expansion boards, you won't need any of this, since the boards provide their own high-power outputs.
  • Cary Owens' optical sensor housing: A 3D-printable design for a housing/mounting bracket for the optical plunger sensor, designed by Cary Owens. This makes it easy to mount the sensor.
  • Lemming77's potentiometer mounting bracket and shooter rod connecter: Sketchup designs for 3D-printable parts for mounting a slide potentiometer as the plunger sensor. These were designed for a particular slide potentiometer that used to be available from an seller but is no longer listed. You can probably use this design as a starting point for other similar devices; just check the dimensions before committing the design to plastic.

Copyright and License

The Pinscape firmware is copyright 2014, 2021 by Michael J Roberts. It's released under an MIT open-source license. See License.

Warning to VirtuaPin Kit Owners

This software isn't designed as a replacement for the VirtuaPin plunger kit's firmware. If you bought the VirtuaPin kit, I recommend that you don't install this software. The VirtuaPin kit uses the same KL25Z microcontroller that Pinscape uses, but the rest of its hardware is different and incompatible. In particular, the Pinscape firmware doesn't include support for the IR proximity sensor used in the VirtuaPin plunger kit, so you won't be able to use your plunger device with the Pinscape firmware. In addition, the VirtuaPin setup uses a different set of GPIO pins for the button inputs from the Pinscape defaults, so if you do install the Pinscape firmware, you'll have to go into the Config Tool and reassign all of the buttons to match the VirtuaPin wiring.

Sat Apr 18 19:08:55 2020 +0000
TCD1103 DMA setup time padding to fix sporadic missed first pixel in transfer; fix TV ON so that the TV ON IR commands don't have to be grouped in the IR command first slots

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mjr 100:1ff35c07217c 1 // AEAT-6012-A06 interface
mjr 100:1ff35c07217c 2 //
mjr 100:1ff35c07217c 3 // The Broadcom AEAT-6012-A06 is a magnetic absolute rotary position encoder
mjr 100:1ff35c07217c 4 // with a 12-bit digital position output. It encodes the rotational angle of
mjr 100:1ff35c07217c 5 // magnet, which is meant to be attached to a shaft that's positioned
mjr 100:1ff35c07217c 6 // perpendicular to the sensor. The 12-bit reporting means that the angle
mjr 100:1ff35c07217c 7 // is resolved to one part in 4096 around one 360 degree rotation of the
mjr 100:1ff35c07217c 8 // shaft, so each increment represents 360/4096 = 0.088 degrees of arc.
mjr 100:1ff35c07217c 9 //
mjr 100:1ff35c07217c 10 // For Pinscape purposes, we can use this sensor to track the position of
mjr 100:1ff35c07217c 11 // a plunger by mechanically translating the linear motion of the plunger
mjr 100:1ff35c07217c 12 // to rotational motion around a fixed point somewhere off the axis of the
mjr 100:1ff35c07217c 13 // plunger:
mjr 100:1ff35c07217c 14 //
mjr 100:1ff35c07217c 15 // =X=======================|=== <- plunger, X = connector attachment point
mjr 100:1ff35c07217c 16 // \
mjr 100:1ff35c07217c 17 // \ <- connector between plunger and shaft
mjr 100:1ff35c07217c 18 // \
mjr 100:1ff35c07217c 19 // * <- rotating shaft, at a fixed position
mjr 100:1ff35c07217c 20 //
mjr 100:1ff35c07217c 21 // As the plunger moves, the angle of the connector relative to the fixed
mjr 100:1ff35c07217c 22 // shaft position changes in a predictable way, so by measuring the rotational
mjr 100:1ff35c07217c 23 // position of the shaft at any given time, we can infer the plunger's
mjr 100:1ff35c07217c 24 // linear position. The relationship between the plunger position and shaft
mjr 100:1ff35c07217c 25 // angle isn't precisely linear - it's sinusoidal. So we need to apply a
mjr 100:1ff35c07217c 26 // little trigonometry to recover the linear position from the angle.
mjr 100:1ff35c07217c 27 //
mjr 100:1ff35c07217c 28 // The AEAT-6012-A06 has an extremely simple electronic interface. It uses
mjr 100:1ff35c07217c 29 // a three-wire serial protocol: CS (chip select), CLK (data clock), and
mjr 100:1ff35c07217c 30 // DO (digital data out). The data transmission is one-way - device to
mjr 100:1ff35c07217c 31 // host - and simply consists of the 12-bit position reading. There aren't
mjr 100:1ff35c07217c 32 // any "commands" or other fancy business to deal with. Between readings,
mjr 100:1ff35c07217c 33 // CS is held high; to intiate a reading, hold CS low, then toggle CLK to
mjr 100:1ff35c07217c 34 // clock out the bits. The bits are clocked out from MSb to LSb. After
mjr 100:1ff35c07217c 35 // clocking out the 12 bits, we take CS high again to reset the cycle.
mjr 100:1ff35c07217c 36 // There are also some timing requirements spelled out in the data sheet
mjr 100:1ff35c07217c 37 // that we have to observe for minimum clock pulse time, time before DO
mjr 100:1ff35c07217c 38 // is valid, etc.
mjr 100:1ff35c07217c 39 //
mjr 100:1ff35c07217c 40 // There's a 10-bit variant of the sensor (AEAT-6010) that's otherwise
mjr 100:1ff35c07217c 41 // identical, so we've made the data size a parameter so that the code can
mjr 100:1ff35c07217c 42 // be re-used for both sensor types (as well as any future variations with
mjr 100:1ff35c07217c 43 // other resolutions).
mjr 100:1ff35c07217c 44
mjr 100:1ff35c07217c 45 template<int nBits> class AEAT601X
mjr 100:1ff35c07217c 46 {
mjr 100:1ff35c07217c 47 public:
mjr 100:1ff35c07217c 48 AEAT601X(PinName csPin, PinName clkPin, PinName doPin) :
mjr 100:1ff35c07217c 49 cs(csPin), clk(clkPin), DO(doPin)
mjr 100:1ff35c07217c 50 {
mjr 100:1ff35c07217c 51 // hold CS and CLK high between readings
mjr 100:1ff35c07217c 52 cs = 1;
mjr 100:1ff35c07217c 53 clk = 1;
mjr 100:1ff35c07217c 54 }
mjr 100:1ff35c07217c 55
mjr 100:1ff35c07217c 56 // take a reading, returning an unsigned integer result from 0 to 2^bits-1
mjr 100:1ff35c07217c 57 int readAngle()
mjr 100:1ff35c07217c 58 {
mjr 100:1ff35c07217c 59 // Note on timings: the data sheet lists a number of minimum timing
mjr 100:1ff35c07217c 60 // parameters for the serial protocol. The parameters of interest
mjr 100:1ff35c07217c 61 // here are all sub-microsecond, from 100ns to 500ns. The mbed
mjr 100:1ff35c07217c 62 // library doesn't have a nanosecond "wait", just the microsecond
mjr 100:1ff35c07217c 63 // wait, so we can't wait for precisely the minimum times. But we
mjr 100:1ff35c07217c 64 // don't have to; the parameters are all minimum waits to ensure
mjr 100:1ff35c07217c 65 // that the sensor is ready for the next operation, so it's okay
mjr 100:1ff35c07217c 66 // to wait longer than the minimum. And since we only have to move
mjr 100:1ff35c07217c 67 // a small number of bits (10-12 for the current sensor generation),
mjr 100:1ff35c07217c 68 // we don't have to be ruthlessly efficient about it; we can afford
mjr 100:1ff35c07217c 69 // to putter around for a leisurely microsecond at each step. The
mjr 100:1ff35c07217c 70 // total delay time for the 12-bit sensor even with the microsecond
mjr 100:1ff35c07217c 71 // delays only amounts to 25us, which is negligible for the plunger
mjr 100:1ff35c07217c 72 // read operation.
mjr 100:1ff35c07217c 73
mjr 100:1ff35c07217c 74 // hold CS low for at least t[CLKFE] = 500ns per data sheet
mjr 100:1ff35c07217c 75 cs = 0;
mjr 100:1ff35c07217c 76 wait_us(1);
mjr 100:1ff35c07217c 77
mjr 100:1ff35c07217c 78 // clock in the bits
mjr 100:1ff35c07217c 79 int result = 0;
mjr 100:1ff35c07217c 80 for (int i = 0; i < nBits; ++i)
mjr 100:1ff35c07217c 81 {
mjr 100:1ff35c07217c 82 // take clock low for >= T[CLK/2] = 500ns
mjr 100:1ff35c07217c 83 clk = 0;
mjr 100:1ff35c07217c 84 wait_us(1);
mjr 100:1ff35c07217c 85
mjr 100:1ff35c07217c 86 // take clock high
mjr 100:1ff35c07217c 87 clk = 1;
mjr 100:1ff35c07217c 88
mjr 100:1ff35c07217c 89 // wait for the data to become valid, T[DOvalid] = 375ns
mjr 100:1ff35c07217c 90 wait_us(1);
mjr 100:1ff35c07217c 91
mjr 100:1ff35c07217c 92 // read the bit
mjr 100:1ff35c07217c 93 result <<= 1;
mjr 100:1ff35c07217c 94 result |= (DO ? 1 : 0);
mjr 100:1ff35c07217c 95 }
mjr 100:1ff35c07217c 96
mjr 100:1ff35c07217c 97 // done - leave CS high between readings
mjr 100:1ff35c07217c 98 cs = 1;
mjr 100:1ff35c07217c 99
mjr 102:41d49e78c253 100 // The orientation in our mounting design reads the angle in the
mjr 102:41d49e78c253 101 // reverse of the direction we want, so flip it.
mjr 102:41d49e78c253 102 result = 4095 - result;
mjr 102:41d49e78c253 103
mjr 100:1ff35c07217c 104 // return the result
mjr 100:1ff35c07217c 105 return result;
mjr 100:1ff35c07217c 106 }
mjr 100:1ff35c07217c 107
mjr 100:1ff35c07217c 108 protected:
mjr 100:1ff35c07217c 109 // CS (chip select) pin
mjr 100:1ff35c07217c 110 DigitalOut cs;
mjr 100:1ff35c07217c 111
mjr 100:1ff35c07217c 112 // CLK (serial clock) pin
mjr 100:1ff35c07217c 113 DigitalOut clk;
mjr 100:1ff35c07217c 114
mjr 100:1ff35c07217c 115 // DO (serial data) pin
mjr 100:1ff35c07217c 116 DigitalIn DO;
mjr 100:1ff35c07217c 117 };