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 potentiometer (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 KL25Z can only run one firmware program at a time, so if you install the Pinscape firmware on your KL25Z, it will replace and erase your existing VirtuaPin proprietary firmware. If you do this, the only way to restore your VirtuaPin firmware is to physically ship the KL25Z back to VirtuaPin and ask them to re-flash it. They don't allow you to do this at home, and they don't even allow you to back up your firmware, since they want to protect their proprietary software from copying. For all of these reasons, if you want to run the Pinscape software, I strongly recommend that you buy a "blank" retail KL25Z to use with Pinscape. They only cost about $15 and are available at several online retailers, including Amazon, Mouser, and eBay. The blank retail boards don't come with any proprietary firmware pre-installed, so installing Pinscape won't delete anything that you paid extra for.

With those warnings in mind, if you're absolutely sure that you don't mind permanently erasing your VirtuaPin firmware, it is at least possible to use Pinscape as a replacement for the VirtuaPin firmware. Pinscape uses the same button wiring conventions as the VirtuaPin setup, so you can keep your buttons (although you'll have to update the GPIO pin mappings in the Config Tool to match your physical wiring). As of the June, 2021 firmware, the Vishay VCNL4010 plunger sensor that comes with the VirtuaPin v3 plunger kit is supported, so you can also keep your plunger, if you have that chip. (You should check to be sure that's the sensor chip you have before committing to this route, if keeping the plunger sensor is important to you. The older VirtuaPin plunger kits came with different IR sensors that the Pinscape software doesn't handle.)

Mon Feb 22 06:57:59 2021 +0000
Add initial support for VCNL4010 IR distance sensor -  experimental and untested

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mjr 82:4f6209cb5c33 1 // Plunger sensor type for distance sensors.
mjr 82:4f6209cb5c33 2 //
mjr 82:4f6209cb5c33 3 // This type of sensor measures the distance to a target by sending
mjr 82:4f6209cb5c33 4 // optical or sound signals and watching for the reflection. There are
mjr 82:4f6209cb5c33 5 // many types of these sensors, including sensors that measure the
mjr 82:4f6209cb5c33 6 // intensity of reflected sound or light signals, sensors that measure
mjr 82:4f6209cb5c33 7 // the round-trip time of "pings", and sensors that measure optical
mjr 82:4f6209cb5c33 8 // parallax.
mjr 82:4f6209cb5c33 9 //
mjr 82:4f6209cb5c33 10 // The basic installation for this type of sensor involves placing the
mjr 82:4f6209cb5c33 11 // sensor itself in a fixed location at one end of the plunger, pointing
mjr 82:4f6209cb5c33 12 // down the length of the plunger, and placing a reflective target at
mjr 82:4f6209cb5c33 13 // the end of the plunger. The target can simply be an ordinary plunger
mjr 82:4f6209cb5c33 14 // tip, if the sensor is at the far end of the plunger facing forward
mjr 82:4f6209cb5c33 15 // (facing the front of the cabinet). Alternatively, the target can
mjr 82:4f6209cb5c33 16 // be a disk or similar object attached to the end of the plunger, and
mjr 82:4f6209cb5c33 17 // the sensor can be placed at the front of the machine facing the target.
mjr 82:4f6209cb5c33 18 // In either case, the sensor measures the distance to the target at any
mjr 82:4f6209cb5c33 19 // given time, and we interpret that into the plunger position.
mjr 82:4f6209cb5c33 20 //
mjr 82:4f6209cb5c33 21 // Here are the specific sensor types we currently support:
mjr 82:4f6209cb5c33 22 //
mjr 82:4f6209cb5c33 23 // VL6180X: This is an optical (IR) "time of flight" sensor that measures
mjr 82:4f6209cb5c33 24 // the distance to the target by sending optical pings and timing the
mjr 82:4f6209cb5c33 25 // return signal, converting the result to distance via the known speed
mjr 82:4f6209cb5c33 26 // of light. This sensor has nominal 1mm precision, although its true
mjr 82:4f6209cb5c33 27 // precision in testing is closer to 5mm. Sample times are around 16ms.
mjr 82:4f6209cb5c33 28 // This makes the sensor acceptable but not great by Pinscape standards;
mjr 82:4f6209cb5c33 29 // we generally consider 2.5ms read times and .25mm precision to be the
mjr 90:aa4e571da8e8 30 // minimum standards. However, this sensor is inexpensive and easier to
mjr 90:aa4e571da8e8 31 // set up than most of the better options, so it might be attractive to
mjr 82:4f6209cb5c33 32 // some cab builders despite the quality tradeoffs.
mjr 111:42dc75fbe623 33 //
mjr 111:42dc75fbe623 34 // VCNL4010: An IR proximity sensor. This sensor shines an IR light at a
mjr 111:42dc75fbe623 35 // target and measures the intensity of the reflected light. This doesn't
mjr 111:42dc75fbe623 36 // measure distance per se, but since the intensity of a light source
mjr 111:42dc75fbe623 37 // falls off as the square of the distance, we can use the reflected
mjr 111:42dc75fbe623 38 // intensity as a proxy for the distance by calculating 1/sqrt(intensity).
mjr 111:42dc75fbe623 39 // The main reason to support this type of sensor is that it's used in the
mjr 111:42dc75fbe623 40 // VirtuaPin v3 plunger kit, and several people have requested support so
mjr 111:42dc75fbe623 41 // that they can move re-flash that kit using the Pinscape software and
mjr 111:42dc75fbe623 42 // continue using their existing plunger sensor. IR proximity sensors
mjr 111:42dc75fbe623 43 // aren't very accurate, and they're also kind of slow (this one can take
mjr 111:42dc75fbe623 44 // readings at a maximum rate of 250/s, or 4ms), so I don't recommend
mjr 111:42dc75fbe623 45 // this sensor for new builds. However, it does have a couple of virtues:
mjr 111:42dc75fbe623 46 // it's really easy to set up physically, and it's a non-contact sensor.
mjr 111:42dc75fbe623 47 // But really, the main reason to support it is for the sake of the
mjr 111:42dc75fbe623 48 // VirtuaPin legacy users, to allow migration without hardware changes.
mjr 111:42dc75fbe623 49 //
mjr 111:42dc75fbe623 50 //
mjr 82:4f6209cb5c33 51
mjr 82:4f6209cb5c33 52 #ifndef _DISTANCESENSOR_H_
mjr 82:4f6209cb5c33 53 #define _DISTANCESENSOR_H_
mjr 82:4f6209cb5c33 54
mjr 82:4f6209cb5c33 55 #include "plunger.h"
mjr 82:4f6209cb5c33 56 #include "VL6180X.h"
mjr 111:42dc75fbe623 57 #include "VCNL4010.h"
mjr 111:42dc75fbe623 58
mjr 82:4f6209cb5c33 59
mjr 82:4f6209cb5c33 60 // Base class for distance sensors
mjr 82:4f6209cb5c33 61 class PlungerSensorDistance: public PlungerSensor
mjr 82:4f6209cb5c33 62 {
mjr 82:4f6209cb5c33 63 public:
mjr 86:e30a1f60f783 64 PlungerSensorDistance(int nativeScale) : PlungerSensor(nativeScale)
mjr 82:4f6209cb5c33 65 {
mjr 87:8d35c74403af 66 totalTime = 0;
mjr 87:8d35c74403af 67 nRuns = 0;
mjr 82:4f6209cb5c33 68 }
mjr 82:4f6209cb5c33 69
mjr 82:4f6209cb5c33 70 // get the average scan time
mjr 82:4f6209cb5c33 71 virtual uint32_t getAvgScanTime() { return uint32_t(totalTime / nRuns); }
mjr 82:4f6209cb5c33 72
mjr 82:4f6209cb5c33 73 protected:
mjr 82:4f6209cb5c33 74 // collect scan time statistics
mjr 82:4f6209cb5c33 75 void collectScanTimeStats(uint32_t dt)
mjr 82:4f6209cb5c33 76 {
mjr 82:4f6209cb5c33 77 totalTime += dt;
mjr 82:4f6209cb5c33 78 nRuns += 1;
mjr 82:4f6209cb5c33 79 }
mjr 82:4f6209cb5c33 80
mjr 82:4f6209cb5c33 81 // scan time statistics
mjr 82:4f6209cb5c33 82 uint64_t totalTime; // total time consumed by all reads so far
mjr 82:4f6209cb5c33 83 uint32_t nRuns; // number of runs so far
mjr 82:4f6209cb5c33 84 };
mjr 82:4f6209cb5c33 85
mjr 82:4f6209cb5c33 86 // PlungerSensor interface implementation for VL6180X sensors.
mjr 86:e30a1f60f783 87 //
mjr 86:e30a1f60f783 88 // The VL6180X reports distances in millimeter quanta, so the native
mjr 86:e30a1f60f783 89 // sensor units are millimeters. A physical plunger has about 3" of
mjr 86:e30a1f60f783 90 // total travel, but leave a little extra padding for measurement
mjr 86:e30a1f60f783 91 // inaccuracies and other unusual situations, so'll use an actual
mjr 87:8d35c74403af 92 // native scale of 150mm.
mjr 82:4f6209cb5c33 93 class PlungerSensorVL6180X: public PlungerSensorDistance
mjr 82:4f6209cb5c33 94 {
mjr 82:4f6209cb5c33 95 public:
mjr 82:4f6209cb5c33 96 PlungerSensorVL6180X(PinName sda, PinName scl, PinName gpio0)
mjr 87:8d35c74403af 97 : PlungerSensorDistance(150),
mjr 87:8d35c74403af 98 sensor(sda, scl, I2C_ADDRESS, gpio0, true)
mjr 82:4f6209cb5c33 99 {
mjr 82:4f6209cb5c33 100 }
mjr 82:4f6209cb5c33 101
mjr 87:8d35c74403af 102 // fixed I2C bus address for the VL6180X
mjr 87:8d35c74403af 103 static const int I2C_ADDRESS = 0x29;
mjr 82:4f6209cb5c33 104
mjr 82:4f6209cb5c33 105 virtual void init()
mjr 82:4f6209cb5c33 106 {
mjr 87:8d35c74403af 107 // initialize the sensor and set the default configuration
mjr 82:4f6209cb5c33 108 sensor.init();
mjr 82:4f6209cb5c33 109 sensor.setDefaults();
mjr 82:4f6209cb5c33 110
mjr 87:8d35c74403af 111 // start a reading
mjr 82:4f6209cb5c33 112 sensor.startRangeReading();
mjr 82:4f6209cb5c33 113 }
mjr 82:4f6209cb5c33 114
mjr 82:4f6209cb5c33 115 virtual bool ready()
mjr 82:4f6209cb5c33 116 {
mjr 87:8d35c74403af 117 // make sure a reading has been initiated
mjr 87:8d35c74403af 118 sensor.startRangeReading();
mjr 87:8d35c74403af 119
mjr 87:8d35c74403af 120 // check if a reading is ready
mjr 82:4f6209cb5c33 121 return sensor.rangeReady();
mjr 82:4f6209cb5c33 122 }
mjr 82:4f6209cb5c33 123
mjr 86:e30a1f60f783 124 virtual bool readRaw(PlungerReading &r)
mjr 82:4f6209cb5c33 125 {
mjr 87:8d35c74403af 126 // if we have a new reading ready, collect it
mjr 87:8d35c74403af 127 if (sensor.rangeReady())
mjr 87:8d35c74403af 128 {
mjr 87:8d35c74403af 129 // Get the range reading. Note that we already know that the
mjr 87:8d35c74403af 130 // sensor has a reading ready, so it shouldn't be possible to
mjr 87:8d35c74403af 131 // time out on the read. (The sensor could have timed out on
mjr 87:8d35c74403af 132 // convergence, but if it did, that's in the past already so
mjr 87:8d35c74403af 133 // it's not something we have to wait for now.)
mjr 87:8d35c74403af 134 uint8_t d;
mjr 87:8d35c74403af 135 uint32_t t, dt;
mjr 87:8d35c74403af 136 lastErr = sensor.getRange(d, t, dt, 100);
mjr 87:8d35c74403af 137
mjr 87:8d35c74403af 138 // if we got a reading, update the last reading
mjr 87:8d35c74403af 139 if (lastErr == 0)
mjr 87:8d35c74403af 140 {
mjr 87:8d35c74403af 141 // save the new reading
mjr 87:8d35c74403af 142 last.pos = d;
mjr 87:8d35c74403af 143 last.t = t;
mjr 87:8d35c74403af 144
mjr 87:8d35c74403af 145 // collect scan time statistics
mjr 87:8d35c74403af 146 collectScanTimeStats(dt);
mjr 87:8d35c74403af 147 }
mjr 87:8d35c74403af 148
mjr 87:8d35c74403af 149 // start a new reading
mjr 87:8d35c74403af 150 sensor.startRangeReading();
mjr 87:8d35c74403af 151 }
mjr 82:4f6209cb5c33 152
mjr 87:8d35c74403af 153 // return the most recent reading
mjr 87:8d35c74403af 154 r = last;
mjr 87:8d35c74403af 155 return lastErr == 0;
mjr 82:4f6209cb5c33 156 }
mjr 82:4f6209cb5c33 157
mjr 82:4f6209cb5c33 158 protected:
mjr 82:4f6209cb5c33 159 // underlying sensor interface
mjr 82:4f6209cb5c33 160 VL6180X sensor;
mjr 87:8d35c74403af 161
mjr 87:8d35c74403af 162 // last reading and error status
mjr 87:8d35c74403af 163 PlungerReading last;
mjr 87:8d35c74403af 164 int lastErr;
mjr 82:4f6209cb5c33 165 };
mjr 82:4f6209cb5c33 166
mjr 82:4f6209cb5c33 167
mjr 111:42dc75fbe623 168 // PlungerSensor interface implementation for VCNL4010 IR proximity sensors
mjr 111:42dc75fbe623 169 //
mjr 111:42dc75fbe623 170 // Our hardware interface for this sensor reports distances in abstract
mjr 111:42dc75fbe623 171 // units that fit a 16-bit int, so the native distance scale is 0..65535.
mjr 111:42dc75fbe623 172 // (The sensor itself doesn't have a native distance scale per se, since
mjr 111:42dc75fbe623 173 // it reports results in terms of the intensity of the reflected light.
mjr 111:42dc75fbe623 174 // This is related to the distance by an inverse square law, so since we
mjr 111:42dc75fbe623 175 // have to do some math on the raw readings anyway to convert them to
mjr 111:42dc75fbe623 176 // distances, we can choose whatever units we want for the conversion.
mjr 111:42dc75fbe623 177 // We choose units that are convenient for our purposes at the joystick
mjr 111:42dc75fbe623 178 // layer, given the 16-bit field we use to report the position back to
mjr 111:42dc75fbe623 179 // the PC.)
mjr 111:42dc75fbe623 180 class PlungerSensorVCNL4010: public PlungerSensorDistance
mjr 111:42dc75fbe623 181 {
mjr 111:42dc75fbe623 182 public:
mjr 111:42dc75fbe623 183 PlungerSensorVCNL4010(PinName sda, PinName scl)
mjr 111:42dc75fbe623 184 : PlungerSensorDistance(65535),
mjr 111:42dc75fbe623 185 sensor(sda, scl, true)
mjr 111:42dc75fbe623 186 {
mjr 111:42dc75fbe623 187 }
mjr 111:42dc75fbe623 188
mjr 111:42dc75fbe623 189 virtual void init()
mjr 111:42dc75fbe623 190 {
mjr 111:42dc75fbe623 191 // initialize the sensor
mjr 111:42dc75fbe623 192 sensor.init();
mjr 111:42dc75fbe623 193
mjr 111:42dc75fbe623 194 // start a reading
mjr 111:42dc75fbe623 195 sensor.startProxReading();
mjr 111:42dc75fbe623 196 }
mjr 111:42dc75fbe623 197
mjr 111:42dc75fbe623 198 virtual bool ready()
mjr 111:42dc75fbe623 199 {
mjr 111:42dc75fbe623 200 // check if a reading is ready
mjr 111:42dc75fbe623 201 return sensor.proxReady();
mjr 111:42dc75fbe623 202 }
mjr 111:42dc75fbe623 203
mjr 111:42dc75fbe623 204 virtual bool readRaw(PlungerReading &r)
mjr 111:42dc75fbe623 205 {
mjr 111:42dc75fbe623 206 // if we have a new reading ready, collect it
mjr 111:42dc75fbe623 207 if (sensor.proxReady())
mjr 111:42dc75fbe623 208 {
mjr 111:42dc75fbe623 209 // Get the distance reading. Note that we already know that the
mjr 111:42dc75fbe623 210 // sensor has a reading ready, so it shouldn't be possible to
mjr 111:42dc75fbe623 211 // time out on the read.
mjr 111:42dc75fbe623 212 uint8_t d;
mjr 111:42dc75fbe623 213 uint32_t t, dt;
mjr 111:42dc75fbe623 214 lastErr = sensor.getProx(d, t, dt, 100);
mjr 111:42dc75fbe623 215
mjr 111:42dc75fbe623 216 // if we got a reading, update the last reading
mjr 111:42dc75fbe623 217 if (lastErr == 0)
mjr 111:42dc75fbe623 218 {
mjr 111:42dc75fbe623 219 // save the new reading
mjr 111:42dc75fbe623 220 last.pos = d;
mjr 111:42dc75fbe623 221 last.t = t;
mjr 111:42dc75fbe623 222
mjr 111:42dc75fbe623 223 // collect scan time statistics
mjr 111:42dc75fbe623 224 collectScanTimeStats(dt);
mjr 111:42dc75fbe623 225 }
mjr 111:42dc75fbe623 226 }
mjr 111:42dc75fbe623 227
mjr 111:42dc75fbe623 228 // return the most recent reading
mjr 111:42dc75fbe623 229 r = last;
mjr 111:42dc75fbe623 230 return lastErr == 0;
mjr 111:42dc75fbe623 231 }
mjr 111:42dc75fbe623 232
mjr 111:42dc75fbe623 233 protected:
mjr 111:42dc75fbe623 234 // underlying sensor interface
mjr 111:42dc75fbe623 235 VCNL4010 sensor;
mjr 111:42dc75fbe623 236
mjr 111:42dc75fbe623 237 // last reading and error status
mjr 111:42dc75fbe623 238 PlungerReading last;
mjr 111:42dc75fbe623 239 int lastErr;
mjr 111:42dc75fbe623 240 };
mjr 111:42dc75fbe623 241
mjr 82:4f6209cb5c33 242 #endif