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

/media/uploads/mjr/pinscape_no_background_small_L7Miwr6.jpg

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 vpforums.org. Also visit my Pinscape Resources page for more about this project and other virtual pinball projects I'm working on.

Downloads

  • 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.

Documentation

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 mouser.com 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 Aliexpress.com seller but is no longer listed. You can probably use this design as a starting point for other similar devices; just check the dimensions before committing the design to plastic.

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.

Committer:
mjr
Date:
Sat Sep 13 23:47:32 2014 +0000
Revision:
13:72dda449c3c0
Parent:
12:669df364a565
Child:
14:df700b22ca08
Fix voltage level reversal on LedWiz outputs; handle all undefined LedWiz level values as fully on

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mjr 5:a70c0bce770d 1 /* Copyright 2014 M J Roberts, MIT License
mjr 5:a70c0bce770d 2 *
mjr 5:a70c0bce770d 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
mjr 5:a70c0bce770d 4 * and associated documentation files (the "Software"), to deal in the Software without
mjr 5:a70c0bce770d 5 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
mjr 5:a70c0bce770d 6 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
mjr 5:a70c0bce770d 7 * Software is furnished to do so, subject to the following conditions:
mjr 5:a70c0bce770d 8 *
mjr 5:a70c0bce770d 9 * The above copyright notice and this permission notice shall be included in all copies or
mjr 5:a70c0bce770d 10 * substantial portions of the Software.
mjr 5:a70c0bce770d 11 *
mjr 5:a70c0bce770d 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
mjr 5:a70c0bce770d 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
mjr 5:a70c0bce770d 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
mjr 5:a70c0bce770d 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
mjr 5:a70c0bce770d 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
mjr 5:a70c0bce770d 17 */
mjr 5:a70c0bce770d 18
mjr 5:a70c0bce770d 19 //
mjr 5:a70c0bce770d 20 // Pinscape Controller
mjr 5:a70c0bce770d 21 //
mjr 5:a70c0bce770d 22 // "Pinscape" is the name of my custom-built virtual pinball cabinet. I wrote this
mjr 5:a70c0bce770d 23 // software to perform a number of tasks that I needed for my cabinet. It runs on a
mjr 5:a70c0bce770d 24 // Freescale KL25Z microcontroller, which is a small and inexpensive device that
mjr 5:a70c0bce770d 25 // attaches to the host PC via USB and can interface with numerous types of external
mjr 5:a70c0bce770d 26 // hardware.
mjr 5:a70c0bce770d 27 //
mjr 5:a70c0bce770d 28 // I designed the software and hardware in this project especially for Pinscape, but
mjr 5:a70c0bce770d 29 // it uses standard interfaces in Windows and Visual Pinball, so it should be
mjr 5:a70c0bce770d 30 // readily usable in anyone else's VP-based cabinet. I've tried to document the
mjr 5:a70c0bce770d 31 // hardware in enough detail for anyone else to duplicate the entire project, and
mjr 5:a70c0bce770d 32 // the full software is open source.
mjr 5:a70c0bce770d 33 //
mjr 6:cc35eb643e8f 34 // The device appears to the host computer as a USB joystick. This works with the
mjr 6:cc35eb643e8f 35 // standard Windows joystick device drivers, so there's no need to install any
mjr 6:cc35eb643e8f 36 // software on the PC - Windows should recognize it as a joystick when you plug
mjr 6:cc35eb643e8f 37 // it in and shouldn't ask you to install anything. If you bring up the control
mjr 6:cc35eb643e8f 38 // panel for USB Game Controllers, this device will appear as "Pinscape Controller".
mjr 6:cc35eb643e8f 39 // *Don't* do any calibration with the Windows control panel or third-part
mjr 6:cc35eb643e8f 40 // calibration tools. The device calibrates itself automatically for the
mjr 6:cc35eb643e8f 41 // accelerometer data, and has its own special calibration procedure for the
mjr 6:cc35eb643e8f 42 // plunger (see below).
mjr 6:cc35eb643e8f 43 //
mjr 5:a70c0bce770d 44 // The controller provides the following functions. It should be possible to use
mjr 5:a70c0bce770d 45 // any subet of the features without using all of them. External hardware for any
mjr 5:a70c0bce770d 46 // particular function can simply be omitted if that feature isn't needed.
mjr 5:a70c0bce770d 47 //
mjr 5:a70c0bce770d 48 // - Nudge sensing via the KL25Z's on-board accelerometer. Nudge accelerations are
mjr 5:a70c0bce770d 49 // processed into a physics model of a rolling ball, and changes to the ball's
mjr 5:a70c0bce770d 50 // motion are sent to the host computer via the joystick interface. This is designed
mjr 5:a70c0bce770d 51 // especially to work with Visuall Pinball's nudge handling to produce realistic
mjr 5:a70c0bce770d 52 // on-screen results in VP. By doing some physics modeling right on the device,
mjr 5:a70c0bce770d 53 // rather than sending raw accelerometer data to VP, we can produce better results
mjr 5:a70c0bce770d 54 // using our awareness of the real physical parameters of a pinball cabinet.
mjr 5:a70c0bce770d 55 // VP's nudge handling has to be more generic, so it can't make the same sorts
mjr 5:a70c0bce770d 56 // of assumptions that we can about the dynamics of a real cabinet.
mjr 5:a70c0bce770d 57 //
mjr 5:a70c0bce770d 58 // The nudge data reports are compatible with the built-in Windows USB joystick
mjr 5:a70c0bce770d 59 // drivers and with VP's own joystick input scheme, so the nudge sensing is almost
mjr 5:a70c0bce770d 60 // plug-and-play. There are no Windiows drivers to install, and the only VP work
mjr 5:a70c0bce770d 61 // needed is to customize a few global preference settings.
mjr 5:a70c0bce770d 62 //
mjr 5:a70c0bce770d 63 // - Plunger position sensing via an attached TAOS TSL 1410R CCD linear array sensor.
mjr 5:a70c0bce770d 64 // The sensor must be wired to a particular set of I/O ports on the KL25Z, and must
mjr 5:a70c0bce770d 65 // be positioned adjacent to the plunger with proper lighting. The physical and
mjr 5:a70c0bce770d 66 // electronic installation details are desribed in the project documentation. We read
mjr 5:a70c0bce770d 67 // the CCD to determine how far back the plunger is pulled, and report this to Visual
mjr 5:a70c0bce770d 68 // Pinball via the joystick interface. As with the nudge data, this is all nearly
mjr 5:a70c0bce770d 69 // plug-and-play, in that it works with the default Windows USB drivers and works
mjr 5:a70c0bce770d 70 // with the existing VP handling for analog plunger input. A few VP settings are
mjr 5:a70c0bce770d 71 // needed to tell VP to allow the plunger.
mjr 5:a70c0bce770d 72 //
mjr 6:cc35eb643e8f 73 // For best results, the plunger sensor should be calibrated. The calibration
mjr 6:cc35eb643e8f 74 // is stored in non-volatile memory on board the KL25Z, so it's only necessary
mjr 6:cc35eb643e8f 75 // to do the calibration once, when you first install everything. (You might
mjr 6:cc35eb643e8f 76 // also want to re-calibrate if you physically remove and reinstall the CCD
mjr 6:cc35eb643e8f 77 // sensor or the mechanical plunger, since their alignment might change slightly
mjr 6:cc35eb643e8f 78 // when you put everything back together.) To calibrate, you have to attach a
mjr 6:cc35eb643e8f 79 // momentary switch (e.g., a push-button switch) between one of the KL25Z ground
mjr 6:cc35eb643e8f 80 // pins (e.g., jumper J9 pin 12) and PTE29 (J10 pin 9). Press and hold the
mjr 6:cc35eb643e8f 81 // button for about two seconds - the LED on the KL25Z wlil flash blue while
mjr 6:cc35eb643e8f 82 // you hold the button, and will turn solid blue when you've held it down long
mjr 6:cc35eb643e8f 83 // enough to enter calibration mode. This mode will last about 15 seconds.
mjr 6:cc35eb643e8f 84 // Simply pull the plunger all the way back, hold it for a few moments, and
mjr 6:cc35eb643e8f 85 // gradually return it to the starting position. *Don't* release it - we want
mjr 6:cc35eb643e8f 86 // to measure the maximum retracted position and the rest position, but NOT
mjr 6:cc35eb643e8f 87 // the maximum forward position when the outer barrel spring is compressed.
mjr 6:cc35eb643e8f 88 // After about 15 seconds, the device will save the new calibration settings
mjr 6:cc35eb643e8f 89 // to its flash memory, and the LED will return to the regular "heartbeat"
mjr 6:cc35eb643e8f 90 // flashes. If this is the first time you calibrated, you should observe the
mjr 6:cc35eb643e8f 91 // color of the flashes change from yellow/green to blue/green to indicate
mjr 6:cc35eb643e8f 92 // that the plunger has been calibrated.
mjr 6:cc35eb643e8f 93 //
mjr 6:cc35eb643e8f 94 // Note that while Visual Pinball itself has good native support for analog
mjr 6:cc35eb643e8f 95 // plungers, most of the VP tables in circulation don't implement the necessary
mjr 6:cc35eb643e8f 96 // scripting features to make this work properly. Therefore, you'll have to do
mjr 6:cc35eb643e8f 97 // a little scripting work for each table you download to add the required code
mjr 6:cc35eb643e8f 98 // to that individual table. The work has to be customized for each table, so
mjr 6:cc35eb643e8f 99 // I haven't been able to automate this process, but I have tried to reduce it
mjr 6:cc35eb643e8f 100 // to a relatively simple recipe that I've documented separately.
mjr 5:a70c0bce770d 101 //
mjr 5:a70c0bce770d 102 // - In addition to the CCD sensor, a button should be attached (also described in
mjr 5:a70c0bce770d 103 // the project documentation) to activate calibration mode for the plunger. When
mjr 5:a70c0bce770d 104 // calibration mode is activated, the software reads the plunger position for about
mjr 5:a70c0bce770d 105 // 10 seconds when to note the limits of travel, and uses these limits to ensure
mjr 5:a70c0bce770d 106 // accurate reports to VP that properly report the actual position of the physical
mjr 5:a70c0bce770d 107 // plunger. The calibration is stored in non-volatile memory on the KL25Z, so it's
mjr 5:a70c0bce770d 108 // only necessary to calibrate once - the calibration will survive power cycling
mjr 5:a70c0bce770d 109 // and reboots of the PC. It's only necessary to recalibrate if the CCD sensor or
mjr 5:a70c0bce770d 110 // the plunger are removed and reinstalled, since the relative alignment of the
mjr 5:a70c0bce770d 111 // parts could cahnge slightly when reinstalling.
mjr 5:a70c0bce770d 112 //
mjr 13:72dda449c3c0 113 // - Button input wiring. 24 of the KL25Z's GPIO ports are mapped as digital inputs
mjr 13:72dda449c3c0 114 // for buttons and switches. The software reports these as joystick buttons when
mjr 13:72dda449c3c0 115 // it sends reports to the PC. These can be used to wire physical pinball-style
mjr 13:72dda449c3c0 116 // buttons in the cabinet (e.g., flipper buttons, the Start button) and miscellaneous
mjr 13:72dda449c3c0 117 // switches (such as a tilt bob) to the PC. Visual Pinball can use joystick buttons
mjr 13:72dda449c3c0 118 // for input - you just have to assign a VP function to each button using VP's
mjr 13:72dda449c3c0 119 // keyboard options dialog. To wire a button physically, connect one terminal of
mjr 13:72dda449c3c0 120 // the button switch to the KL25Z ground, and connect the other terminal to the
mjr 13:72dda449c3c0 121 // the GPIO port you wish to assign to the button. See the buttonMap[] array
mjr 13:72dda449c3c0 122 // below for the available GPIO ports and their assigned joystick button numbers.
mjr 13:72dda449c3c0 123 // If you're not using a GPIO port, you can just leave it unconnected - the digital
mjr 13:72dda449c3c0 124 // inputs have built-in pull-up resistors, so an unconnected port is the same as
mjr 13:72dda449c3c0 125 // an open switch (an "off" state for the button).
mjr 13:72dda449c3c0 126 //
mjr 5:a70c0bce770d 127 // - LedWiz emulation. The KL25Z can appear to the PC as an LedWiz device, and will
mjr 5:a70c0bce770d 128 // accept and process LedWiz commands from the host. The software can turn digital
mjr 5:a70c0bce770d 129 // output ports on and off, and can set varying PWM intensitiy levels on a subset
mjr 5:a70c0bce770d 130 // of ports. (The KL25Z can only provide 6 PWM ports. Intensity level settings on
mjr 5:a70c0bce770d 131 // other ports is ignored, so non-PWM ports can only be used for simple on/off
mjr 5:a70c0bce770d 132 // devices such as contactors and solenoids.) The KL25Z can only supply 4mA on its
mjr 5:a70c0bce770d 133 // output ports, so external hardware is required to take advantage of the LedWiz
mjr 5:a70c0bce770d 134 // emulation. Many different hardware designs are possible, but there's a simple
mjr 5:a70c0bce770d 135 // reference design in the documentation that uses a Darlington array IC to
mjr 5:a70c0bce770d 136 // increase the output from each port to 500mA (the same level as the LedWiz),
mjr 5:a70c0bce770d 137 // plus an extended design that adds an optocoupler and MOSFET to provide very
mjr 5:a70c0bce770d 138 // high power handling, up to about 45A or 150W, with voltages up to 100V.
mjr 5:a70c0bce770d 139 // That will handle just about any DC device directly (wtihout relays or other
mjr 5:a70c0bce770d 140 // amplifiers), and switches fast enough to support PWM devices.
mjr 5:a70c0bce770d 141 //
mjr 5:a70c0bce770d 142 // The device can report any desired LedWiz unit number to the host, which makes
mjr 5:a70c0bce770d 143 // it possible to use the LedWiz emulation on a machine that also has one or more
mjr 5:a70c0bce770d 144 // actual LedWiz devices intalled. The LedWiz design allows for up to 16 units
mjr 5:a70c0bce770d 145 // to be installed in one machine - each one is invidually addressable by its
mjr 5:a70c0bce770d 146 // distinct unit number.
mjr 5:a70c0bce770d 147 //
mjr 5:a70c0bce770d 148 // The LedWiz emulation features are of course optional. There's no need to
mjr 5:a70c0bce770d 149 // build any of the external port hardware (or attach anything to the output
mjr 5:a70c0bce770d 150 // ports at all) if the LedWiz features aren't needed. Most people won't have
mjr 5:a70c0bce770d 151 // any use for the LedWiz features. I built them mostly as a learning exercise,
mjr 5:a70c0bce770d 152 // but with a slight practical need for a handful of extra ports (I'm using the
mjr 5:a70c0bce770d 153 // cutting-edge 10-contactor setup, so my real LedWiz is full!).
mjr 6:cc35eb643e8f 154 //
mjr 6:cc35eb643e8f 155 // The on-board LED on the KL25Z flashes to indicate the current device status:
mjr 6:cc35eb643e8f 156 //
mjr 6:cc35eb643e8f 157 // two short red flashes = the device is powered but hasn't successfully
mjr 6:cc35eb643e8f 158 // connected to the host via USB (either it's not physically connected
mjr 6:cc35eb643e8f 159 // to the USB port, or there was a problem with the software handshake
mjr 6:cc35eb643e8f 160 // with the USB device driver on the computer)
mjr 6:cc35eb643e8f 161 //
mjr 6:cc35eb643e8f 162 // short red flash = the host computer is in sleep/suspend mode
mjr 6:cc35eb643e8f 163 //
mjr 6:cc35eb643e8f 164 // long red/green = the LedWiz unti number has been changed, so a reset
mjr 6:cc35eb643e8f 165 // is needed. You can simply unplug the device and plug it back in,
mjr 6:cc35eb643e8f 166 // or presss and hold the reset button on the device for a few seconds.
mjr 6:cc35eb643e8f 167 //
mjr 6:cc35eb643e8f 168 // long yellow/green = everything's working, but the plunger hasn't
mjr 6:cc35eb643e8f 169 // been calibrated; follow the calibration procedure described above.
mjr 6:cc35eb643e8f 170 // This flash mode won't appear if the CCD has been disabled. Note
mjr 6:cc35eb643e8f 171 // that the device can't tell whether a CCD is physically attached,
mjr 6:cc35eb643e8f 172 // so you should use the config command to disable the CCD software
mjr 6:cc35eb643e8f 173 // features if you won't be attaching a CCD.
mjr 6:cc35eb643e8f 174 //
mjr 6:cc35eb643e8f 175 // alternating blue/green = everything's working
mjr 6:cc35eb643e8f 176 //
mjr 6:cc35eb643e8f 177 // Software configuration: you can change option settings by sending special
mjr 6:cc35eb643e8f 178 // USB commands from the PC. I've provided a Windows program for this purpose;
mjr 6:cc35eb643e8f 179 // refer to the documentation for details. For reference, here's the format
mjr 6:cc35eb643e8f 180 // of the USB command for option changes:
mjr 6:cc35eb643e8f 181 //
mjr 6:cc35eb643e8f 182 // length of report = 8 bytes
mjr 6:cc35eb643e8f 183 // byte 0 = 65 (0x41)
mjr 6:cc35eb643e8f 184 // byte 1 = 1 (0x01)
mjr 6:cc35eb643e8f 185 // byte 2 = new LedWiz unit number, 0x01 to 0x0f
mjr 6:cc35eb643e8f 186 // byte 3 = feature enable bit mask:
mjr 6:cc35eb643e8f 187 // 0x01 = enable CCD (default = on)
mjr 9:fd65b0a94720 188 //
mjr 9:fd65b0a94720 189 // Plunger calibration mode: the host can activate plunger calibration mode
mjr 9:fd65b0a94720 190 // by sending this packet. This has the same effect as pressing and holding
mjr 9:fd65b0a94720 191 // the plunger calibration button for two seconds, to allow activating this
mjr 9:fd65b0a94720 192 // mode without attaching a physical button.
mjr 9:fd65b0a94720 193 //
mjr 9:fd65b0a94720 194 // length = 8 bytes
mjr 9:fd65b0a94720 195 // byte 0 = 65 (0x41)
mjr 9:fd65b0a94720 196 // byte 1 = 2 (0x02)
mjr 9:fd65b0a94720 197 //
mjr 10:976666ffa4ef 198 // Exposure reports: the host can request a report of the full set of pixel
mjr 10:976666ffa4ef 199 // values for the next frame by sending this special packet:
mjr 10:976666ffa4ef 200 //
mjr 10:976666ffa4ef 201 // length = 8 bytes
mjr 10:976666ffa4ef 202 // byte 0 = 65 (0x41)
mjr 10:976666ffa4ef 203 // byte 1 = 3 (0x03)
mjr 10:976666ffa4ef 204 //
mjr 10:976666ffa4ef 205 // We'll respond with a series of special reports giving the exposure status.
mjr 10:976666ffa4ef 206 // Each report has the following structure:
mjr 10:976666ffa4ef 207 //
mjr 10:976666ffa4ef 208 // bytes 0:1 = 11-bit index, with high 5 bits set to 10000. For
mjr 10:976666ffa4ef 209 // example, 0x04 0x80 indicates index 4. This is the
mjr 10:976666ffa4ef 210 // starting pixel number in the report. The first report
mjr 10:976666ffa4ef 211 // will be 0x00 0x80 to indicate pixel #0.
mjr 10:976666ffa4ef 212 // bytes 2:3 = 16-bit unsigned int brightness level of pixel at index
mjr 10:976666ffa4ef 213 // bytes 4:5 = brightness of pixel at index+1
mjr 10:976666ffa4ef 214 // etc for the rest of the packet
mjr 10:976666ffa4ef 215 //
mjr 10:976666ffa4ef 216 // This still has the form of a joystick packet at the USB level, but
mjr 10:976666ffa4ef 217 // can be differentiated by the host via the status bits. It would have
mjr 10:976666ffa4ef 218 // been cleaner to use a different Report ID at the USB level, but this
mjr 10:976666ffa4ef 219 // would have necessitated a different container structure in the report
mjr 10:976666ffa4ef 220 // descriptor, which would have broken LedWiz compatibility. Given that
mjr 10:976666ffa4ef 221 // constraint, we have to re-use the joystick report type, making for
mjr 10:976666ffa4ef 222 // this somewhat kludgey approach.
mjr 6:cc35eb643e8f 223
mjr 0:5acbbe3f4cf4 224 #include "mbed.h"
mjr 6:cc35eb643e8f 225 #include "math.h"
mjr 0:5acbbe3f4cf4 226 #include "USBJoystick.h"
mjr 0:5acbbe3f4cf4 227 #include "MMA8451Q.h"
mjr 1:d913e0afb2ac 228 #include "tsl1410r.h"
mjr 1:d913e0afb2ac 229 #include "FreescaleIAP.h"
mjr 2:c174f9ee414a 230 #include "crc32.h"
mjr 2:c174f9ee414a 231
mjr 5:a70c0bce770d 232
mjr 5:a70c0bce770d 233 // ---------------------------------------------------------------------------
mjr 5:a70c0bce770d 234 //
mjr 5:a70c0bce770d 235 // Configuration details
mjr 5:a70c0bce770d 236 //
mjr 2:c174f9ee414a 237
mjr 5:a70c0bce770d 238 // Our USB device vendor ID, product ID, and version.
mjr 5:a70c0bce770d 239 // We use the vendor ID for the LedWiz, so that the PC-side software can
mjr 5:a70c0bce770d 240 // identify us as capable of performing LedWiz commands. The LedWiz uses
mjr 5:a70c0bce770d 241 // a product ID value from 0xF0 to 0xFF; the last four bits identify the
mjr 5:a70c0bce770d 242 // unit number (e.g., product ID 0xF7 means unit #7). This allows multiple
mjr 5:a70c0bce770d 243 // LedWiz units to be installed in a single PC; the software on the PC side
mjr 5:a70c0bce770d 244 // uses the unit number to route commands to the devices attached to each
mjr 5:a70c0bce770d 245 // unit. On the real LedWiz, the unit number must be set in the firmware
mjr 5:a70c0bce770d 246 // at the factory; it's not configurable by the end user. Most LedWiz's
mjr 5:a70c0bce770d 247 // ship with the unit number set to 0, but the vendor will set different
mjr 5:a70c0bce770d 248 // unit numbers if requested at the time of purchase. So if you have a
mjr 5:a70c0bce770d 249 // single LedWiz already installed in your cabinet, and you didn't ask for
mjr 5:a70c0bce770d 250 // a non-default unit number, your existing LedWiz will be unit 0.
mjr 5:a70c0bce770d 251 //
mjr 5:a70c0bce770d 252 // We use unit #7 by default. There doesn't seem to be a requirement that
mjr 5:a70c0bce770d 253 // unit numbers be contiguous (DirectOutput Framework and other software
mjr 5:a70c0bce770d 254 // seem happy to have units 0 and 7 installed, without 1-6 existing).
mjr 5:a70c0bce770d 255 // Marking this unit as #7 should work for almost everybody out of the box;
mjr 5:a70c0bce770d 256 // the most common case seems to be to have a single LedWiz installed, and
mjr 5:a70c0bce770d 257 // it's probably extremely rare to more than two.
mjr 6:cc35eb643e8f 258 //
mjr 6:cc35eb643e8f 259 // Note that the USB_PRODUCT_ID value set here omits the unit number. We
mjr 6:cc35eb643e8f 260 // take the unit number from the saved configuration. We provide a
mjr 6:cc35eb643e8f 261 // configuration command that can be sent via the USB connection to change
mjr 6:cc35eb643e8f 262 // the unit number, so that users can select the unit number without having
mjr 6:cc35eb643e8f 263 // to install a different version of the software. We'll combine the base
mjr 6:cc35eb643e8f 264 // product ID here with the unit number to get the actual product ID that
mjr 6:cc35eb643e8f 265 // we send to the USB controller.
mjr 5:a70c0bce770d 266 const uint16_t USB_VENDOR_ID = 0xFAFA;
mjr 6:cc35eb643e8f 267 const uint16_t USB_PRODUCT_ID = 0x00F0;
mjr 6:cc35eb643e8f 268 const uint16_t USB_VERSION_NO = 0x0006;
mjr 6:cc35eb643e8f 269 const uint8_t DEFAULT_LEDWIZ_UNIT_NUMBER = 0x07;
mjr 0:5acbbe3f4cf4 270
mjr 9:fd65b0a94720 271 // Number of pixels we read from the sensor on each frame. This can be
mjr 9:fd65b0a94720 272 // less than the physical pixel count if desired; we'll read every nth
mjr 9:fd65b0a94720 273 // piexl if so. E.g., with a 1280-pixel physical sensor, if npix is 320,
mjr 9:fd65b0a94720 274 // we'll read every 4th pixel. It takes time to read each pixel, so the
mjr 9:fd65b0a94720 275 // fewer pixels we read, the higher the refresh rate we can achieve.
mjr 9:fd65b0a94720 276 // It's therefore better not to read more pixels than we have to.
mjr 9:fd65b0a94720 277 //
mjr 9:fd65b0a94720 278 // VP seems to have an internal resolution in the 8-bit range, so there's
mjr 9:fd65b0a94720 279 // no apparent benefit to reading more than 128-256 pixels when using VP.
mjr 9:fd65b0a94720 280 // Empirically, 160 pixels seems about right. The overall travel of a
mjr 9:fd65b0a94720 281 // standard pinball plunger is about 3", so 160 pixels gives us resolution
mjr 9:fd65b0a94720 282 // of about 1/50". This seems to take full advantage of VP's modeling
mjr 9:fd65b0a94720 283 // ability, and is probably also more precise than a human player's
mjr 9:fd65b0a94720 284 // perception of the plunger position.
mjr 9:fd65b0a94720 285 const int npix = 160;
mjr 9:fd65b0a94720 286
mjr 4:02c7cd7b2183 287 // On-board RGB LED elements - we use these for diagnostic displays.
mjr 4:02c7cd7b2183 288 DigitalOut ledR(LED1), ledG(LED2), ledB(LED3);
mjr 0:5acbbe3f4cf4 289
mjr 1:d913e0afb2ac 290 // calibration button - switch input and LED output
mjr 1:d913e0afb2ac 291 DigitalIn calBtn(PTE29);
mjr 1:d913e0afb2ac 292 DigitalOut calBtnLed(PTE23);
mjr 0:5acbbe3f4cf4 293
mjr 11:bd9da7088e6e 294 // Joystick button input pin assignments. You can wire up to
mjr 11:bd9da7088e6e 295 // 32 GPIO ports to buttons (equipped with momentary switches).
mjr 11:bd9da7088e6e 296 // Connect each switch between the desired GPIO port and ground
mjr 11:bd9da7088e6e 297 // (J9 pin 12 or 14). When the button is pressed, we'll tell the
mjr 13:72dda449c3c0 298 // host PC that the corresponding joystick button is pressed. We
mjr 11:bd9da7088e6e 299 // debounce the keystrokes in software, so you can simply wire
mjr 11:bd9da7088e6e 300 // directly to pushbuttons with no additional external hardware.
mjr 11:bd9da7088e6e 301 //
mjr 11:bd9da7088e6e 302 // Note that we assign 24 buttons by default, even though the USB
mjr 11:bd9da7088e6e 303 // joystick interface can handle up to 32 buttons. VP itself only
mjr 11:bd9da7088e6e 304 // allows mapping of up to 24 buttons in the preferences dialog
mjr 11:bd9da7088e6e 305 // (although it can recognize 32 buttons internally). If you want
mjr 11:bd9da7088e6e 306 // more buttons, you can reassign pins that are assigned by default
mjr 11:bd9da7088e6e 307 // as LedWiz outputs. To reassign a pin, find the pin you wish to
mjr 11:bd9da7088e6e 308 // reassign in the LedWizPortMap array below, and change the pin name
mjr 11:bd9da7088e6e 309 // there to NC (for Not Connected). You can then change one of the
mjr 11:bd9da7088e6e 310 // "NC" entries below to the reallocated pin name. The limit is 32
mjr 11:bd9da7088e6e 311 // buttons total.
mjr 11:bd9da7088e6e 312 //
mjr 11:bd9da7088e6e 313 // Note: PTD1 (pin J2-12) should NOT be assigned as a button input,
mjr 11:bd9da7088e6e 314 // as this pin is physically connected on the KL25Z to the on-board
mjr 11:bd9da7088e6e 315 // indicator LED's blue segment. This precludes any other use of
mjr 11:bd9da7088e6e 316 // the pin.
mjr 11:bd9da7088e6e 317 PinName buttonMap[] = {
mjr 11:bd9da7088e6e 318 PTC2, // J10 pin 10, joystick button 1
mjr 11:bd9da7088e6e 319 PTB3, // J10 pin 8, joystick button 2
mjr 11:bd9da7088e6e 320 PTB2, // J10 pin 6, joystick button 3
mjr 11:bd9da7088e6e 321 PTB1, // J10 pin 4, joystick button 4
mjr 11:bd9da7088e6e 322
mjr 11:bd9da7088e6e 323 PTE30, // J10 pin 11, joystick button 5
mjr 11:bd9da7088e6e 324 PTE22, // J10 pin 5, joystick button 6
mjr 11:bd9da7088e6e 325
mjr 11:bd9da7088e6e 326 PTE5, // J9 pin 15, joystick button 7
mjr 11:bd9da7088e6e 327 PTE4, // J9 pin 13, joystick button 8
mjr 11:bd9da7088e6e 328 PTE3, // J9 pin 11, joystick button 9
mjr 11:bd9da7088e6e 329 PTE2, // J9 pin 9, joystick button 10
mjr 11:bd9da7088e6e 330 PTB11, // J9 pin 7, joystick button 11
mjr 11:bd9da7088e6e 331 PTB10, // J9 pin 5, joystick button 12
mjr 11:bd9da7088e6e 332 PTB9, // J9 pin 3, joystick button 13
mjr 11:bd9da7088e6e 333 PTB8, // J9 pin 1, joystick button 14
mjr 11:bd9da7088e6e 334
mjr 11:bd9da7088e6e 335 PTC12, // J2 pin 1, joystick button 15
mjr 11:bd9da7088e6e 336 PTC13, // J2 pin 3, joystick button 16
mjr 11:bd9da7088e6e 337 PTC16, // J2 pin 5, joystick button 17
mjr 11:bd9da7088e6e 338 PTC17, // J2 pin 7, joystick button 18
mjr 11:bd9da7088e6e 339 PTA16, // J2 pin 9, joystick button 19
mjr 11:bd9da7088e6e 340 PTA17, // J2 pin 11, joystick button 20
mjr 11:bd9da7088e6e 341 PTE31, // J2 pin 13, joystick button 21
mjr 11:bd9da7088e6e 342 PTD6, // J2 pin 17, joystick button 22
mjr 11:bd9da7088e6e 343 PTD7, // J2 pin 19, joystick button 23
mjr 11:bd9da7088e6e 344
mjr 11:bd9da7088e6e 345 PTE1, // J2 pin 20, joystick button 24
mjr 11:bd9da7088e6e 346
mjr 11:bd9da7088e6e 347 NC, // not used, joystick button 25
mjr 11:bd9da7088e6e 348 NC, // not used, joystick button 26
mjr 11:bd9da7088e6e 349 NC, // not used, joystick button 27
mjr 11:bd9da7088e6e 350 NC, // not used, joystick button 28
mjr 11:bd9da7088e6e 351 NC, // not used, joystick button 29
mjr 11:bd9da7088e6e 352 NC, // not used, joystick button 30
mjr 11:bd9da7088e6e 353 NC, // not used, joystick button 31
mjr 11:bd9da7088e6e 354 NC // not used, joystick button 32
mjr 11:bd9da7088e6e 355 };
mjr 11:bd9da7088e6e 356
mjr 11:bd9da7088e6e 357 // LED-Wiz emulation output pin assignments.
mjr 6:cc35eb643e8f 358 //
mjr 6:cc35eb643e8f 359 // The LED-Wiz protocol allows setting individual intensity levels
mjr 6:cc35eb643e8f 360 // on all outputs, with 48 levels of intensity. This can be used
mjr 6:cc35eb643e8f 361 // to control lamp brightness and motor speeds, among other things.
mjr 6:cc35eb643e8f 362 // Unfortunately, the KL25Z only has 10 PWM channels, so while we
mjr 6:cc35eb643e8f 363 // can support the full complement of 32 outputs, we can only provide
mjr 6:cc35eb643e8f 364 // PWM dimming/speed control on 10 of them. The remaining outputs
mjr 6:cc35eb643e8f 365 // can only be switched fully on and fully off - we can't support
mjr 6:cc35eb643e8f 366 // dimming on these, so they'll ignore any intensity level setting
mjr 6:cc35eb643e8f 367 // requested by the host. Use these for devices that don't have any
mjr 6:cc35eb643e8f 368 // use for intensity settings anyway, such as contactors and knockers.
mjr 6:cc35eb643e8f 369 //
mjr 11:bd9da7088e6e 370 // Ports with pins assigned as "NC" are not connected. That is,
mjr 11:bd9da7088e6e 371 // there's no physical pin for that LedWiz port number. You can
mjr 11:bd9da7088e6e 372 // send LedWiz commands to turn NC ports on and off, but doing so
mjr 11:bd9da7088e6e 373 // will have no effect. The reason we leave some ports unassigned
mjr 11:bd9da7088e6e 374 // is that we don't have enough physical GPIO pins to fill out the
mjr 11:bd9da7088e6e 375 // full LedWiz complement of 32 ports. Many pins are already taken
mjr 11:bd9da7088e6e 376 // for other purposes, such as button inputs or the plunger CCD
mjr 11:bd9da7088e6e 377 // interface.
mjr 11:bd9da7088e6e 378 //
mjr 6:cc35eb643e8f 379 // The mapping between physical output pins on the KL25Z and the
mjr 6:cc35eb643e8f 380 // assigned LED-Wiz port numbers is essentially arbitrary - you can
mjr 6:cc35eb643e8f 381 // customize this by changing the entries in the array below if you
mjr 6:cc35eb643e8f 382 // wish to rearrange the pins for any reason. Be aware that some
mjr 6:cc35eb643e8f 383 // of the physical outputs are already used for other purposes
mjr 6:cc35eb643e8f 384 // (e.g., some of the GPIO pins on header J10 are used for the
mjr 6:cc35eb643e8f 385 // CCD sensor - but you can of course reassign those as well by
mjr 6:cc35eb643e8f 386 // changing the corresponding declarations elsewhere in this module).
mjr 6:cc35eb643e8f 387 // The assignments we make here have two main objectives: first,
mjr 6:cc35eb643e8f 388 // to group the outputs on headers J1 and J2 (to facilitate neater
mjr 6:cc35eb643e8f 389 // wiring by keeping the output pins together physically), and
mjr 6:cc35eb643e8f 390 // second, to make the physical pin layout match the LED-Wiz port
mjr 6:cc35eb643e8f 391 // numbering order to the extent possible. There's one big wrench
mjr 6:cc35eb643e8f 392 // in the works, though, which is the limited number and discontiguous
mjr 6:cc35eb643e8f 393 // placement of the KL25Z PWM-capable output pins. This prevents
mjr 6:cc35eb643e8f 394 // us from doing the most obvious sequential ordering of the pins,
mjr 6:cc35eb643e8f 395 // so we end up with the outputs arranged into several blocks.
mjr 6:cc35eb643e8f 396 // Hopefully this isn't too confusing; for more detailed rationale,
mjr 6:cc35eb643e8f 397 // read on...
mjr 6:cc35eb643e8f 398 //
mjr 6:cc35eb643e8f 399 // With the LED-Wiz, the host software configuration usually
mjr 6:cc35eb643e8f 400 // assumes that each RGB LED is hooked up to three consecutive ports
mjr 6:cc35eb643e8f 401 // (for the red, green, and blue components, which need to be
mjr 6:cc35eb643e8f 402 // physically wired to separate outputs to allow each color to be
mjr 6:cc35eb643e8f 403 // controlled independently). To facilitate this, we arrange the
mjr 6:cc35eb643e8f 404 // PWM-enabled outputs so that they're grouped together in the
mjr 6:cc35eb643e8f 405 // port numbering scheme. Unfortunately, these outputs aren't
mjr 6:cc35eb643e8f 406 // together in a single group in the physical pin layout, so to
mjr 6:cc35eb643e8f 407 // group them logically in the LED-Wiz port numbering scheme, we
mjr 6:cc35eb643e8f 408 // have to break up the overall numbering scheme into several blocks.
mjr 6:cc35eb643e8f 409 // So our port numbering goes sequentially down each column of
mjr 6:cc35eb643e8f 410 // header pins, but there are several break points where we have
mjr 6:cc35eb643e8f 411 // to interrupt the obvious sequence to keep the PWM pins grouped
mjr 6:cc35eb643e8f 412 // logically.
mjr 6:cc35eb643e8f 413 //
mjr 6:cc35eb643e8f 414 // In the list below, "pin J1-2" refers to pin 2 on header J1 on
mjr 6:cc35eb643e8f 415 // the KL25Z, using the standard pin numbering in the KL25Z
mjr 6:cc35eb643e8f 416 // documentation - this is the physical pin that the port controls.
mjr 6:cc35eb643e8f 417 // "LW port 1" means LED-Wiz port 1 - this is the LED-Wiz port
mjr 6:cc35eb643e8f 418 // number that you use on the PC side (in the DirectOutput config
mjr 6:cc35eb643e8f 419 // file, for example) to address the port. PWM-capable ports are
mjr 6:cc35eb643e8f 420 // marked as such - we group the PWM-capable ports into the first
mjr 6:cc35eb643e8f 421 // 10 LED-Wiz port numbers.
mjr 11:bd9da7088e6e 422 //
mjr 11:bd9da7088e6e 423 // If you wish to reallocate a pin in the array below to some other
mjr 11:bd9da7088e6e 424 // use, such as a button input port, simply change the pin name in
mjr 11:bd9da7088e6e 425 // the entry to NC (for Not Connected). This will disable the given
mjr 11:bd9da7088e6e 426 // logical LedWiz port number and free up the physical pin.
mjr 11:bd9da7088e6e 427 //
mjr 11:bd9da7088e6e 428 // If you wish to reallocate a pin currently assigned to the button
mjr 11:bd9da7088e6e 429 // input array, simply change the entry for the pin in the buttonMap[]
mjr 11:bd9da7088e6e 430 // array above to NC (for "not connected"), and plug the pin name into
mjr 11:bd9da7088e6e 431 // a slot of your choice in the array below.
mjr 11:bd9da7088e6e 432 //
mjr 11:bd9da7088e6e 433 // Note: PTD1 (pin J2-12) should NOT be assigned as an LedWiz output,
mjr 11:bd9da7088e6e 434 // as this pin is physically connected on the KL25Z to the on-board
mjr 11:bd9da7088e6e 435 // indicator LED's blue segment. This precludes any other use of
mjr 11:bd9da7088e6e 436 // the pin.
mjr 6:cc35eb643e8f 437 //
mjr 6:cc35eb643e8f 438 struct {
mjr 6:cc35eb643e8f 439 PinName pin;
mjr 6:cc35eb643e8f 440 bool isPWM;
mjr 6:cc35eb643e8f 441 } ledWizPortMap[32] = {
mjr 6:cc35eb643e8f 442 { PTA1, true }, // pin J1-2, LW port 1 (PWM capable - TPM 2.0 = channel 9)
mjr 6:cc35eb643e8f 443 { PTA2, true }, // pin J1-4, LW port 2 (PWM capable - TPM 2.1 = channel 10)
mjr 6:cc35eb643e8f 444 { PTD4, true }, // pin J1-6, LW port 3 (PWM capable - TPM 0.4 = channel 5)
mjr 6:cc35eb643e8f 445 { PTA12, true }, // pin J1-8, LW port 4 (PWM capable - TPM 1.0 = channel 7)
mjr 6:cc35eb643e8f 446 { PTA4, true }, // pin J1-10, LW port 5 (PWM capable - TPM 0.1 = channel 2)
mjr 6:cc35eb643e8f 447 { PTA5, true }, // pin J1-12, LW port 6 (PWM capable - TPM 0.2 = channel 3)
mjr 6:cc35eb643e8f 448 { PTA13, true }, // pin J2-2, LW port 7 (PWM capable - TPM 1.1 = channel 13)
mjr 6:cc35eb643e8f 449 { PTD5, true }, // pin J2-4, LW port 8 (PWM capable - TPM 0.5 = channel 6)
mjr 6:cc35eb643e8f 450 { PTD0, true }, // pin J2-6, LW port 9 (PWM capable - TPM 0.0 = channel 1)
mjr 6:cc35eb643e8f 451 { PTD3, true }, // pin J2-10, LW port 10 (PWM capable - TPM 0.3 = channel 4)
mjr 9:fd65b0a94720 452 { PTD2, false }, // pin J2-8, LW port 11
mjr 9:fd65b0a94720 453 { PTC8, false }, // pin J1-14, LW port 12
mjr 9:fd65b0a94720 454 { PTC9, false }, // pin J1-16, LW port 13
mjr 9:fd65b0a94720 455 { PTC7, false }, // pin J1-1, LW port 14
mjr 9:fd65b0a94720 456 { PTC0, false }, // pin J1-3, LW port 15
mjr 9:fd65b0a94720 457 { PTC3, false }, // pin J1-5, LW port 16
mjr 9:fd65b0a94720 458 { PTC4, false }, // pin J1-7, LW port 17
mjr 9:fd65b0a94720 459 { PTC5, false }, // pin J1-9, LW port 18
mjr 9:fd65b0a94720 460 { PTC6, false }, // pin J1-11, LW port 19
mjr 9:fd65b0a94720 461 { PTC10, false }, // pin J1-13, LW port 20
mjr 9:fd65b0a94720 462 { PTC11, false }, // pin J1-15, LW port 21
mjr 11:bd9da7088e6e 463 { PTE0, false }, // pin J2-18, LW port 22
mjr 11:bd9da7088e6e 464 { NC, false }, // Not used, LW port 23
mjr 11:bd9da7088e6e 465 { NC, false }, // Not used, LW port 24
mjr 11:bd9da7088e6e 466 { NC, false }, // Not used, LW port 25
mjr 11:bd9da7088e6e 467 { NC, false }, // Not used, LW port 26
mjr 11:bd9da7088e6e 468 { NC, false }, // Not used, LW port 27
mjr 11:bd9da7088e6e 469 { NC, false }, // Not used, LW port 28
mjr 11:bd9da7088e6e 470 { NC, false }, // Not used, LW port 29
mjr 11:bd9da7088e6e 471 { NC, false }, // Not used, LW port 30
mjr 11:bd9da7088e6e 472 { NC, false }, // Not used, LW port 31
mjr 11:bd9da7088e6e 473 { NC, false } // Not used, LW port 32
mjr 6:cc35eb643e8f 474 };
mjr 6:cc35eb643e8f 475
mjr 6:cc35eb643e8f 476
mjr 5:a70c0bce770d 477 // I2C address of the accelerometer (this is a constant of the KL25Z)
mjr 5:a70c0bce770d 478 const int MMA8451_I2C_ADDRESS = (0x1d<<1);
mjr 5:a70c0bce770d 479
mjr 5:a70c0bce770d 480 // SCL and SDA pins for the accelerometer (constant for the KL25Z)
mjr 5:a70c0bce770d 481 #define MMA8451_SCL_PIN PTE25
mjr 5:a70c0bce770d 482 #define MMA8451_SDA_PIN PTE24
mjr 5:a70c0bce770d 483
mjr 5:a70c0bce770d 484 // Digital in pin to use for the accelerometer interrupt. For the KL25Z,
mjr 5:a70c0bce770d 485 // this can be either PTA14 or PTA15, since those are the pins physically
mjr 5:a70c0bce770d 486 // wired on this board to the MMA8451 interrupt controller.
mjr 5:a70c0bce770d 487 #define MMA8451_INT_PIN PTA15
mjr 5:a70c0bce770d 488
mjr 6:cc35eb643e8f 489 // Joystick axis report range - we report from -JOYMAX to +JOYMAX
mjr 6:cc35eb643e8f 490 #define JOYMAX 4096
mjr 6:cc35eb643e8f 491
mjr 5:a70c0bce770d 492
mjr 5:a70c0bce770d 493 // ---------------------------------------------------------------------------
mjr 9:fd65b0a94720 494 // utilities
mjr 9:fd65b0a94720 495
mjr 9:fd65b0a94720 496 // number of elements in an array
mjr 9:fd65b0a94720 497 #define countof(x) (sizeof(x)/sizeof((x)[0]))
mjr 9:fd65b0a94720 498
mjr 9:fd65b0a94720 499 // ---------------------------------------------------------------------------
mjr 5:a70c0bce770d 500 //
mjr 5:a70c0bce770d 501 // LedWiz emulation
mjr 5:a70c0bce770d 502 //
mjr 5:a70c0bce770d 503
mjr 0:5acbbe3f4cf4 504 static int pbaIdx = 0;
mjr 0:5acbbe3f4cf4 505
mjr 6:cc35eb643e8f 506 // LedWiz output pin interface. We create a cover class to virtualize
mjr 6:cc35eb643e8f 507 // digital vs PWM outputs and give them a common interface. The KL25Z
mjr 6:cc35eb643e8f 508 // unfortunately doesn't have enough hardware PWM channels to support
mjr 6:cc35eb643e8f 509 // PWM on all 32 LedWiz outputs, so we provide as many PWM channels as
mjr 6:cc35eb643e8f 510 // we can (10), and fill out the rest of the outputs with plain digital
mjr 6:cc35eb643e8f 511 // outs.
mjr 6:cc35eb643e8f 512 class LwOut
mjr 6:cc35eb643e8f 513 {
mjr 6:cc35eb643e8f 514 public:
mjr 6:cc35eb643e8f 515 virtual void set(float val) = 0;
mjr 6:cc35eb643e8f 516 };
mjr 6:cc35eb643e8f 517 class LwPwmOut: public LwOut
mjr 6:cc35eb643e8f 518 {
mjr 6:cc35eb643e8f 519 public:
mjr 13:72dda449c3c0 520 LwPwmOut(PinName pin) : p(pin) { prv = -1; }
mjr 13:72dda449c3c0 521 virtual void set(float val)
mjr 13:72dda449c3c0 522 {
mjr 13:72dda449c3c0 523 if (val != prv)
mjr 13:72dda449c3c0 524 p.write(prv = val);
mjr 13:72dda449c3c0 525 }
mjr 6:cc35eb643e8f 526 PwmOut p;
mjr 13:72dda449c3c0 527 float prv;
mjr 6:cc35eb643e8f 528 };
mjr 6:cc35eb643e8f 529 class LwDigOut: public LwOut
mjr 6:cc35eb643e8f 530 {
mjr 6:cc35eb643e8f 531 public:
mjr 13:72dda449c3c0 532 LwDigOut(PinName pin) : p(pin) { prv = -1; }
mjr 13:72dda449c3c0 533 virtual void set(float val)
mjr 13:72dda449c3c0 534 {
mjr 13:72dda449c3c0 535 if (val != prv)
mjr 13:72dda449c3c0 536 p.write((prv = val) == 0.0 ? 0 : 1);
mjr 13:72dda449c3c0 537 }
mjr 6:cc35eb643e8f 538 DigitalOut p;
mjr 13:72dda449c3c0 539 float prv;
mjr 6:cc35eb643e8f 540 };
mjr 11:bd9da7088e6e 541 class LwUnusedOut: public LwOut
mjr 11:bd9da7088e6e 542 {
mjr 11:bd9da7088e6e 543 public:
mjr 11:bd9da7088e6e 544 LwUnusedOut() { }
mjr 11:bd9da7088e6e 545 virtual void set(float val) { }
mjr 11:bd9da7088e6e 546 };
mjr 6:cc35eb643e8f 547
mjr 6:cc35eb643e8f 548 // output pin array
mjr 6:cc35eb643e8f 549 static LwOut *lwPin[32];
mjr 6:cc35eb643e8f 550
mjr 6:cc35eb643e8f 551 // initialize the output pin array
mjr 6:cc35eb643e8f 552 void initLwOut()
mjr 6:cc35eb643e8f 553 {
mjr 9:fd65b0a94720 554 for (int i = 0 ; i < countof(lwPin) ; ++i)
mjr 6:cc35eb643e8f 555 {
mjr 11:bd9da7088e6e 556 PinName p = (i < countof(ledWizPortMap) ? ledWizPortMap[i].pin : NC);
mjr 11:bd9da7088e6e 557 if (p == NC)
mjr 11:bd9da7088e6e 558 lwPin[i] = new LwUnusedOut();
mjr 11:bd9da7088e6e 559 else if (ledWizPortMap[i].isPWM)
mjr 11:bd9da7088e6e 560 lwPin[i] = new LwPwmOut(p);
mjr 11:bd9da7088e6e 561 else
mjr 11:bd9da7088e6e 562 lwPin[i] = new LwDigOut(p);
mjr 6:cc35eb643e8f 563 }
mjr 6:cc35eb643e8f 564 }
mjr 6:cc35eb643e8f 565
mjr 0:5acbbe3f4cf4 566 // on/off state for each LedWiz output
mjr 1:d913e0afb2ac 567 static uint8_t wizOn[32];
mjr 0:5acbbe3f4cf4 568
mjr 0:5acbbe3f4cf4 569 // profile (brightness/blink) state for each LedWiz output
mjr 1:d913e0afb2ac 570 static uint8_t wizVal[32] = {
mjr 13:72dda449c3c0 571 48, 48, 48, 48, 48, 48, 48, 48,
mjr 13:72dda449c3c0 572 48, 48, 48, 48, 48, 48, 48, 48,
mjr 13:72dda449c3c0 573 48, 48, 48, 48, 48, 48, 48, 48,
mjr 13:72dda449c3c0 574 48, 48, 48, 48, 48, 48, 48, 48
mjr 0:5acbbe3f4cf4 575 };
mjr 0:5acbbe3f4cf4 576
mjr 1:d913e0afb2ac 577 static float wizState(int idx)
mjr 0:5acbbe3f4cf4 578 {
mjr 13:72dda449c3c0 579 if (wizOn[idx])
mjr 13:72dda449c3c0 580 {
mjr 0:5acbbe3f4cf4 581 // on - map profile brightness state to PWM level
mjr 1:d913e0afb2ac 582 uint8_t val = wizVal[idx];
mjr 13:72dda449c3c0 583 if (val <= 48)
mjr 13:72dda449c3c0 584 {
mjr 13:72dda449c3c0 585 // PWM brightness/intensity level - rescale from the LedWiz
mjr 13:72dda449c3c0 586 // 0..48 integer range to our internal PwmOut 0..1 float range
mjr 13:72dda449c3c0 587 return val/48.0;
mjr 13:72dda449c3c0 588 }
mjr 13:72dda449c3c0 589 else if (val == 49)
mjr 13:72dda449c3c0 590 {
mjr 13:72dda449c3c0 591 // 49 is undefined in the LedWiz documentation. Even so, DOF2
mjr 13:72dda449c3c0 592 // *does* set outputs to 49 in some cases where it intends for
mjr 13:72dda449c3c0 593 // them to be fully on. This is a DOF2 bug, but the real LedWiz
mjr 13:72dda449c3c0 594 // treats 49 as fully on, so it's a harmless bug when used with
mjr 13:72dda449c3c0 595 // real LedWiz units. For the sake of bug-for-bug compatibility,
mjr 13:72dda449c3c0 596 // we must do the same thing.
mjr 13:72dda449c3c0 597 return 1.0;
mjr 13:72dda449c3c0 598 }
mjr 0:5acbbe3f4cf4 599 else if (val >= 129 && val <= 132)
mjr 13:72dda449c3c0 600 {
mjr 13:72dda449c3c0 601 // Values of 129-132 select different flashing modes. We don't
mjr 13:72dda449c3c0 602 // support any of these. Instead, simply treat them as fully on.
mjr 13:72dda449c3c0 603 // Note that DOF doesn't ever use modes 129-132, as it implements
mjr 13:72dda449c3c0 604 // all flashing modes itself on the host side, so this limitation
mjr 13:72dda449c3c0 605 // won't have any effect on DOF users. You can observe it using
mjr 13:72dda449c3c0 606 // LedBlinky, though.
mjr 13:72dda449c3c0 607 return 1.0;
mjr 13:72dda449c3c0 608 }
mjr 0:5acbbe3f4cf4 609 else
mjr 13:72dda449c3c0 610 {
mjr 13:72dda449c3c0 611 // Other values are undefined in the LedWiz documentation. Hosts
mjr 13:72dda449c3c0 612 // *should* never send undefined values, since whatever behavior an
mjr 13:72dda449c3c0 613 // LedWiz unit exhibits in response is accidental and could change
mjr 13:72dda449c3c0 614 // in a future version. We'll treat all undefined values as equivalent
mjr 13:72dda449c3c0 615 // to 48 (fully on).
mjr 13:72dda449c3c0 616 //
mjr 13:72dda449c3c0 617 // NB: the 49 and 129-132 cases are broken out above for the sake
mjr 13:72dda449c3c0 618 // of documentation. We end up using 1.0 as the return value for
mjr 13:72dda449c3c0 619 // everything outside of the defined 0-48 range, so we could collapse
mjr 13:72dda449c3c0 620 // this whole thing to a single 'else' branch, but I wanted to call
mjr 13:72dda449c3c0 621 // out the specific reasons for handling the settings above as we do.
mjr 0:5acbbe3f4cf4 622 return 1.0;
mjr 13:72dda449c3c0 623 }
mjr 0:5acbbe3f4cf4 624 }
mjr 13:72dda449c3c0 625 else
mjr 13:72dda449c3c0 626 {
mjr 13:72dda449c3c0 627 // off - show at 0 intensity
mjr 13:72dda449c3c0 628 return 0.0;
mjr 0:5acbbe3f4cf4 629 }
mjr 0:5acbbe3f4cf4 630 }
mjr 0:5acbbe3f4cf4 631
mjr 1:d913e0afb2ac 632 static void updateWizOuts()
mjr 1:d913e0afb2ac 633 {
mjr 6:cc35eb643e8f 634 for (int i = 0 ; i < 32 ; ++i)
mjr 6:cc35eb643e8f 635 lwPin[i]->set(wizState(i));
mjr 1:d913e0afb2ac 636 }
mjr 1:d913e0afb2ac 637
mjr 11:bd9da7088e6e 638
mjr 11:bd9da7088e6e 639 // ---------------------------------------------------------------------------
mjr 11:bd9da7088e6e 640 //
mjr 11:bd9da7088e6e 641 // Button input
mjr 11:bd9da7088e6e 642 //
mjr 11:bd9da7088e6e 643
mjr 11:bd9da7088e6e 644 // button input map array
mjr 11:bd9da7088e6e 645 DigitalIn *buttonDigIn[32];
mjr 11:bd9da7088e6e 646
mjr 12:669df364a565 647 // timer for button reports
mjr 12:669df364a565 648 static Timer buttonTimer;
mjr 12:669df364a565 649
mjr 11:bd9da7088e6e 650 // initialize the button inputs
mjr 11:bd9da7088e6e 651 void initButtons()
mjr 11:bd9da7088e6e 652 {
mjr 11:bd9da7088e6e 653 // create the digital inputs
mjr 11:bd9da7088e6e 654 for (int i = 0 ; i < countof(buttonDigIn) ; ++i)
mjr 11:bd9da7088e6e 655 {
mjr 11:bd9da7088e6e 656 if (i < countof(buttonMap) && buttonMap[i] != NC)
mjr 11:bd9da7088e6e 657 buttonDigIn[i] = new DigitalIn(buttonMap[i]);
mjr 11:bd9da7088e6e 658 else
mjr 11:bd9da7088e6e 659 buttonDigIn[i] = 0;
mjr 11:bd9da7088e6e 660 }
mjr 12:669df364a565 661
mjr 12:669df364a565 662 // start the button timer
mjr 12:669df364a565 663 buttonTimer.start();
mjr 11:bd9da7088e6e 664 }
mjr 11:bd9da7088e6e 665
mjr 11:bd9da7088e6e 666
mjr 11:bd9da7088e6e 667 // read the raw button input state
mjr 11:bd9da7088e6e 668 uint32_t readButtonsRaw()
mjr 11:bd9da7088e6e 669 {
mjr 11:bd9da7088e6e 670 // start with all buttons off
mjr 11:bd9da7088e6e 671 uint32_t buttons = 0;
mjr 11:bd9da7088e6e 672
mjr 11:bd9da7088e6e 673 // scan the button list
mjr 11:bd9da7088e6e 674 uint32_t bit = 1;
mjr 11:bd9da7088e6e 675 for (int i = 0 ; i < countof(buttonDigIn) ; ++i, bit <<= 1)
mjr 11:bd9da7088e6e 676 {
mjr 11:bd9da7088e6e 677 if (buttonDigIn[i] != 0 && !buttonDigIn[i]->read())
mjr 11:bd9da7088e6e 678 buttons |= bit;
mjr 11:bd9da7088e6e 679 }
mjr 11:bd9da7088e6e 680
mjr 11:bd9da7088e6e 681 // return the button list
mjr 11:bd9da7088e6e 682 return buttons;
mjr 11:bd9da7088e6e 683 }
mjr 11:bd9da7088e6e 684
mjr 11:bd9da7088e6e 685 // Read buttons with debouncing. We keep a circular buffer
mjr 11:bd9da7088e6e 686 // of recent input readings. We'll AND together the status of
mjr 11:bd9da7088e6e 687 // each button over the past 50ms. A button that has been on
mjr 11:bd9da7088e6e 688 // continuously for 50ms will be reported as ON. All others
mjr 11:bd9da7088e6e 689 // will be reported as OFF.
mjr 11:bd9da7088e6e 690 uint32_t readButtonsDebounced()
mjr 11:bd9da7088e6e 691 {
mjr 11:bd9da7088e6e 692 struct reading {
mjr 11:bd9da7088e6e 693 int dt; // time since previous reading
mjr 11:bd9da7088e6e 694 uint32_t b; // button state at this reading
mjr 11:bd9da7088e6e 695 };
mjr 11:bd9da7088e6e 696 static reading readings[8]; // circular buffer of readings
mjr 11:bd9da7088e6e 697 static int ri = 0; // reading buffer index (next write position)
mjr 11:bd9da7088e6e 698
mjr 11:bd9da7088e6e 699 // get the write pointer
mjr 11:bd9da7088e6e 700 reading *r = &readings[ri];
mjr 11:bd9da7088e6e 701
mjr 11:bd9da7088e6e 702 // figure the time since the last reading, and read the raw button state
mjr 12:669df364a565 703 r->dt = buttonTimer.read_ms();
mjr 11:bd9da7088e6e 704 uint32_t b = r->b = readButtonsRaw();
mjr 11:bd9da7088e6e 705
mjr 11:bd9da7088e6e 706 // start timing the next interval
mjr 12:669df364a565 707 buttonTimer.reset();
mjr 11:bd9da7088e6e 708
mjr 11:bd9da7088e6e 709 // AND together readings over 50ms
mjr 11:bd9da7088e6e 710 int ms = 0;
mjr 12:669df364a565 711 for (int i = 1 ; i < countof(readings) && ms < 50 ; ++i)
mjr 11:bd9da7088e6e 712 {
mjr 11:bd9da7088e6e 713 // find the next prior reading, wrapping in the circular buffer
mjr 11:bd9da7088e6e 714 int j = ri - i;
mjr 11:bd9da7088e6e 715 if (j < 0)
mjr 11:bd9da7088e6e 716 j = countof(readings) - 1;
mjr 11:bd9da7088e6e 717
mjr 11:bd9da7088e6e 718 reading *rj = &readings[j];
mjr 11:bd9da7088e6e 719
mjr 11:bd9da7088e6e 720 // AND the buttons for this reading
mjr 11:bd9da7088e6e 721 b &= rj->b;
mjr 11:bd9da7088e6e 722
mjr 11:bd9da7088e6e 723 // count the time
mjr 11:bd9da7088e6e 724 ms += rj->dt;
mjr 11:bd9da7088e6e 725 }
mjr 11:bd9da7088e6e 726
mjr 11:bd9da7088e6e 727 // advance the write position for next time
mjr 11:bd9da7088e6e 728 ri += 1;
mjr 12:669df364a565 729 if (ri >= countof(readings))
mjr 11:bd9da7088e6e 730 ri = 0;
mjr 11:bd9da7088e6e 731
mjr 11:bd9da7088e6e 732 // return the debounced result
mjr 11:bd9da7088e6e 733 return b;
mjr 11:bd9da7088e6e 734 }
mjr 11:bd9da7088e6e 735
mjr 5:a70c0bce770d 736 // ---------------------------------------------------------------------------
mjr 5:a70c0bce770d 737 //
mjr 5:a70c0bce770d 738 // Non-volatile memory (NVM)
mjr 5:a70c0bce770d 739 //
mjr 0:5acbbe3f4cf4 740
mjr 5:a70c0bce770d 741 // Structure defining our NVM storage layout. We store a small
mjr 2:c174f9ee414a 742 // amount of persistent data in flash memory to retain calibration
mjr 5:a70c0bce770d 743 // data when powered off.
mjr 2:c174f9ee414a 744 struct NVM
mjr 2:c174f9ee414a 745 {
mjr 2:c174f9ee414a 746 // checksum - we use this to determine if the flash record
mjr 6:cc35eb643e8f 747 // has been properly initialized
mjr 2:c174f9ee414a 748 uint32_t checksum;
mjr 2:c174f9ee414a 749
mjr 2:c174f9ee414a 750 // signature value
mjr 2:c174f9ee414a 751 static const uint32_t SIGNATURE = 0x4D4A522A;
mjr 6:cc35eb643e8f 752 static const uint16_t VERSION = 0x0003;
mjr 6:cc35eb643e8f 753
mjr 6:cc35eb643e8f 754 // Is the data structure valid? We test the signature and
mjr 6:cc35eb643e8f 755 // checksum to determine if we've been properly stored.
mjr 6:cc35eb643e8f 756 int valid() const
mjr 6:cc35eb643e8f 757 {
mjr 6:cc35eb643e8f 758 return (d.sig == SIGNATURE
mjr 6:cc35eb643e8f 759 && d.vsn == VERSION
mjr 6:cc35eb643e8f 760 && d.sz == sizeof(NVM)
mjr 6:cc35eb643e8f 761 && checksum == CRC32(&d, sizeof(d)));
mjr 6:cc35eb643e8f 762 }
mjr 6:cc35eb643e8f 763
mjr 6:cc35eb643e8f 764 // save to non-volatile memory
mjr 6:cc35eb643e8f 765 void save(FreescaleIAP &iap, int addr)
mjr 6:cc35eb643e8f 766 {
mjr 6:cc35eb643e8f 767 // update the checksum and structure size
mjr 6:cc35eb643e8f 768 checksum = CRC32(&d, sizeof(d));
mjr 6:cc35eb643e8f 769 d.sz = sizeof(NVM);
mjr 6:cc35eb643e8f 770
mjr 6:cc35eb643e8f 771 // erase the sector
mjr 6:cc35eb643e8f 772 iap.erase_sector(addr);
mjr 6:cc35eb643e8f 773
mjr 6:cc35eb643e8f 774 // save the data
mjr 6:cc35eb643e8f 775 iap.program_flash(addr, this, sizeof(*this));
mjr 6:cc35eb643e8f 776 }
mjr 2:c174f9ee414a 777
mjr 9:fd65b0a94720 778 // reset calibration data for calibration mode
mjr 9:fd65b0a94720 779 void resetPlunger()
mjr 9:fd65b0a94720 780 {
mjr 9:fd65b0a94720 781 // set extremes for the calibration data
mjr 9:fd65b0a94720 782 d.plungerMax = 0;
mjr 9:fd65b0a94720 783 d.plungerZero = npix;
mjr 9:fd65b0a94720 784 d.plungerMin = npix;
mjr 9:fd65b0a94720 785 }
mjr 9:fd65b0a94720 786
mjr 2:c174f9ee414a 787 // stored data (excluding the checksum)
mjr 2:c174f9ee414a 788 struct
mjr 2:c174f9ee414a 789 {
mjr 6:cc35eb643e8f 790 // Signature, structure version, and structure size - further verification
mjr 6:cc35eb643e8f 791 // that we have valid initialized data. The size is a simple proxy for a
mjr 6:cc35eb643e8f 792 // structure version, as the most common type of change to the structure as
mjr 6:cc35eb643e8f 793 // the software evolves will be the addition of new elements. We also
mjr 6:cc35eb643e8f 794 // provide an explicit version number that we can update manually if we
mjr 6:cc35eb643e8f 795 // make any changes that don't affect the structure size but would affect
mjr 6:cc35eb643e8f 796 // compatibility with a saved record (e.g., swapping two existing elements).
mjr 2:c174f9ee414a 797 uint32_t sig;
mjr 2:c174f9ee414a 798 uint16_t vsn;
mjr 6:cc35eb643e8f 799 int sz;
mjr 2:c174f9ee414a 800
mjr 6:cc35eb643e8f 801 // has the plunger been manually calibrated?
mjr 6:cc35eb643e8f 802 int plungerCal;
mjr 6:cc35eb643e8f 803
mjr 2:c174f9ee414a 804 // plunger calibration min and max
mjr 2:c174f9ee414a 805 int plungerMin;
mjr 6:cc35eb643e8f 806 int plungerZero;
mjr 2:c174f9ee414a 807 int plungerMax;
mjr 6:cc35eb643e8f 808
mjr 6:cc35eb643e8f 809 // is the CCD enabled?
mjr 6:cc35eb643e8f 810 int ccdEnabled;
mjr 6:cc35eb643e8f 811
mjr 6:cc35eb643e8f 812 // LedWiz unit number
mjr 6:cc35eb643e8f 813 uint8_t ledWizUnitNo;
mjr 2:c174f9ee414a 814 } d;
mjr 2:c174f9ee414a 815 };
mjr 2:c174f9ee414a 816
mjr 5:a70c0bce770d 817
mjr 5:a70c0bce770d 818 // ---------------------------------------------------------------------------
mjr 5:a70c0bce770d 819 //
mjr 5:a70c0bce770d 820 // Customization joystick subbclass
mjr 5:a70c0bce770d 821 //
mjr 5:a70c0bce770d 822
mjr 5:a70c0bce770d 823 class MyUSBJoystick: public USBJoystick
mjr 5:a70c0bce770d 824 {
mjr 5:a70c0bce770d 825 public:
mjr 5:a70c0bce770d 826 MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release)
mjr 5:a70c0bce770d 827 : USBJoystick(vendor_id, product_id, product_release, true)
mjr 5:a70c0bce770d 828 {
mjr 5:a70c0bce770d 829 suspended_ = false;
mjr 5:a70c0bce770d 830 }
mjr 5:a70c0bce770d 831
mjr 5:a70c0bce770d 832 // are we connected?
mjr 5:a70c0bce770d 833 int isConnected() { return configured(); }
mjr 5:a70c0bce770d 834
mjr 5:a70c0bce770d 835 // Are we in suspend mode?
mjr 5:a70c0bce770d 836 int isSuspended() const { return suspended_; }
mjr 5:a70c0bce770d 837
mjr 5:a70c0bce770d 838 protected:
mjr 5:a70c0bce770d 839 virtual void suspendStateChanged(unsigned int suspended)
mjr 5:a70c0bce770d 840 { suspended_ = suspended; }
mjr 5:a70c0bce770d 841
mjr 5:a70c0bce770d 842 // are we suspended?
mjr 5:a70c0bce770d 843 int suspended_;
mjr 5:a70c0bce770d 844 };
mjr 5:a70c0bce770d 845
mjr 5:a70c0bce770d 846 // ---------------------------------------------------------------------------
mjr 6:cc35eb643e8f 847 //
mjr 6:cc35eb643e8f 848 // Some simple math service routines
mjr 6:cc35eb643e8f 849 //
mjr 6:cc35eb643e8f 850
mjr 6:cc35eb643e8f 851 inline float square(float x) { return x*x; }
mjr 6:cc35eb643e8f 852 inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); }
mjr 6:cc35eb643e8f 853
mjr 6:cc35eb643e8f 854 // ---------------------------------------------------------------------------
mjr 5:a70c0bce770d 855 //
mjr 5:a70c0bce770d 856 // Accelerometer (MMA8451Q)
mjr 5:a70c0bce770d 857 //
mjr 5:a70c0bce770d 858
mjr 5:a70c0bce770d 859 // The MMA8451Q is the KL25Z's on-board 3-axis accelerometer.
mjr 5:a70c0bce770d 860 //
mjr 5:a70c0bce770d 861 // This is a custom wrapper for the library code to interface to the
mjr 6:cc35eb643e8f 862 // MMA8451Q. This class encapsulates an interrupt handler and
mjr 6:cc35eb643e8f 863 // automatic calibration.
mjr 5:a70c0bce770d 864 //
mjr 5:a70c0bce770d 865 // We install an interrupt handler on the accelerometer "data ready"
mjr 6:cc35eb643e8f 866 // interrupt to ensure that we fetch each sample immediately when it
mjr 6:cc35eb643e8f 867 // becomes available. The accelerometer data rate is fiarly high
mjr 6:cc35eb643e8f 868 // (800 Hz), so it's not practical to keep up with it by polling.
mjr 6:cc35eb643e8f 869 // Using an interrupt handler lets us respond quickly and read
mjr 6:cc35eb643e8f 870 // every sample.
mjr 5:a70c0bce770d 871 //
mjr 6:cc35eb643e8f 872 // We automatically calibrate the accelerometer so that it's not
mjr 6:cc35eb643e8f 873 // necessary to get it exactly level when installing it, and so
mjr 6:cc35eb643e8f 874 // that it's also not necessary to calibrate it manually. There's
mjr 6:cc35eb643e8f 875 // lots of experience that tells us that manual calibration is a
mjr 6:cc35eb643e8f 876 // terrible solution, mostly because cabinets tend to shift slightly
mjr 6:cc35eb643e8f 877 // during use, requiring frequent recalibration. Instead, we
mjr 6:cc35eb643e8f 878 // calibrate automatically. We continuously monitor the acceleration
mjr 6:cc35eb643e8f 879 // data, watching for periods of constant (or nearly constant) values.
mjr 6:cc35eb643e8f 880 // Any time it appears that the machine has been at rest for a while
mjr 6:cc35eb643e8f 881 // (about 5 seconds), we'll average the readings during that rest
mjr 6:cc35eb643e8f 882 // period and use the result as the level rest position. This is
mjr 6:cc35eb643e8f 883 // is ongoing, so we'll quickly find the center point again if the
mjr 6:cc35eb643e8f 884 // machine is moved during play (by an especially aggressive bout
mjr 6:cc35eb643e8f 885 // of nudging, say).
mjr 5:a70c0bce770d 886 //
mjr 5:a70c0bce770d 887
mjr 6:cc35eb643e8f 888 // accelerometer input history item, for gathering calibration data
mjr 6:cc35eb643e8f 889 struct AccHist
mjr 5:a70c0bce770d 890 {
mjr 6:cc35eb643e8f 891 AccHist() { x = y = d = 0.0; xtot = ytot = 0.0; cnt = 0; }
mjr 6:cc35eb643e8f 892 void set(float x, float y, AccHist *prv)
mjr 6:cc35eb643e8f 893 {
mjr 6:cc35eb643e8f 894 // save the raw position
mjr 6:cc35eb643e8f 895 this->x = x;
mjr 6:cc35eb643e8f 896 this->y = y;
mjr 6:cc35eb643e8f 897 this->d = distance(prv);
mjr 6:cc35eb643e8f 898 }
mjr 6:cc35eb643e8f 899
mjr 6:cc35eb643e8f 900 // reading for this entry
mjr 5:a70c0bce770d 901 float x, y;
mjr 5:a70c0bce770d 902
mjr 6:cc35eb643e8f 903 // distance from previous entry
mjr 6:cc35eb643e8f 904 float d;
mjr 5:a70c0bce770d 905
mjr 6:cc35eb643e8f 906 // total and count of samples averaged over this period
mjr 6:cc35eb643e8f 907 float xtot, ytot;
mjr 6:cc35eb643e8f 908 int cnt;
mjr 6:cc35eb643e8f 909
mjr 6:cc35eb643e8f 910 void clearAvg() { xtot = ytot = 0.0; cnt = 0; }
mjr 6:cc35eb643e8f 911 void addAvg(float x, float y) { xtot += x; ytot += y; ++cnt; }
mjr 6:cc35eb643e8f 912 float xAvg() const { return xtot/cnt; }
mjr 6:cc35eb643e8f 913 float yAvg() const { return ytot/cnt; }
mjr 5:a70c0bce770d 914
mjr 6:cc35eb643e8f 915 float distance(AccHist *p)
mjr 6:cc35eb643e8f 916 { return sqrt(square(p->x - x) + square(p->y - y)); }
mjr 5:a70c0bce770d 917 };
mjr 5:a70c0bce770d 918
mjr 5:a70c0bce770d 919 // accelerometer wrapper class
mjr 3:3514575d4f86 920 class Accel
mjr 3:3514575d4f86 921 {
mjr 3:3514575d4f86 922 public:
mjr 3:3514575d4f86 923 Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin)
mjr 3:3514575d4f86 924 : mma_(sda, scl, i2cAddr), intIn_(irqPin)
mjr 3:3514575d4f86 925 {
mjr 5:a70c0bce770d 926 // remember the interrupt pin assignment
mjr 5:a70c0bce770d 927 irqPin_ = irqPin;
mjr 5:a70c0bce770d 928
mjr 5:a70c0bce770d 929 // reset and initialize
mjr 5:a70c0bce770d 930 reset();
mjr 5:a70c0bce770d 931 }
mjr 5:a70c0bce770d 932
mjr 5:a70c0bce770d 933 void reset()
mjr 5:a70c0bce770d 934 {
mjr 6:cc35eb643e8f 935 // clear the center point
mjr 6:cc35eb643e8f 936 cx_ = cy_ = 0.0;
mjr 6:cc35eb643e8f 937
mjr 6:cc35eb643e8f 938 // start the calibration timer
mjr 5:a70c0bce770d 939 tCenter_.start();
mjr 5:a70c0bce770d 940 iAccPrv_ = nAccPrv_ = 0;
mjr 6:cc35eb643e8f 941
mjr 5:a70c0bce770d 942 // reset and initialize the MMA8451Q
mjr 5:a70c0bce770d 943 mma_.init();
mjr 6:cc35eb643e8f 944
mjr 6:cc35eb643e8f 945 // set the initial integrated velocity reading to zero
mjr 6:cc35eb643e8f 946 vx_ = vy_ = 0;
mjr 3:3514575d4f86 947
mjr 6:cc35eb643e8f 948 // set up our accelerometer interrupt handling
mjr 6:cc35eb643e8f 949 intIn_.rise(this, &Accel::isr);
mjr 5:a70c0bce770d 950 mma_.setInterruptMode(irqPin_ == PTA14 ? 1 : 2);
mjr 3:3514575d4f86 951
mjr 3:3514575d4f86 952 // read the current registers to clear the data ready flag
mjr 6:cc35eb643e8f 953 mma_.getAccXYZ(ax_, ay_, az_);
mjr 3:3514575d4f86 954
mjr 3:3514575d4f86 955 // start our timers
mjr 3:3514575d4f86 956 tGet_.start();
mjr 3:3514575d4f86 957 tInt_.start();
mjr 3:3514575d4f86 958 }
mjr 3:3514575d4f86 959
mjr 9:fd65b0a94720 960 void get(int &x, int &y)
mjr 3:3514575d4f86 961 {
mjr 3:3514575d4f86 962 // disable interrupts while manipulating the shared data
mjr 3:3514575d4f86 963 __disable_irq();
mjr 3:3514575d4f86 964
mjr 3:3514575d4f86 965 // read the shared data and store locally for calculations
mjr 6:cc35eb643e8f 966 float ax = ax_, ay = ay_;
mjr 6:cc35eb643e8f 967 float vx = vx_, vy = vy_;
mjr 5:a70c0bce770d 968
mjr 6:cc35eb643e8f 969 // reset the velocity sum for the next run
mjr 6:cc35eb643e8f 970 vx_ = vy_ = 0;
mjr 3:3514575d4f86 971
mjr 3:3514575d4f86 972 // get the time since the last get() sample
mjr 3:3514575d4f86 973 float dt = tGet_.read_us()/1.0e6;
mjr 3:3514575d4f86 974 tGet_.reset();
mjr 3:3514575d4f86 975
mjr 3:3514575d4f86 976 // done manipulating the shared data
mjr 3:3514575d4f86 977 __enable_irq();
mjr 3:3514575d4f86 978
mjr 6:cc35eb643e8f 979 // adjust the readings for the integration time
mjr 6:cc35eb643e8f 980 vx /= dt;
mjr 6:cc35eb643e8f 981 vy /= dt;
mjr 6:cc35eb643e8f 982
mjr 6:cc35eb643e8f 983 // add this sample to the current calibration interval's running total
mjr 6:cc35eb643e8f 984 AccHist *p = accPrv_ + iAccPrv_;
mjr 6:cc35eb643e8f 985 p->addAvg(ax, ay);
mjr 6:cc35eb643e8f 986
mjr 5:a70c0bce770d 987 // check for auto-centering every so often
mjr 5:a70c0bce770d 988 if (tCenter_.read_ms() > 1000)
mjr 5:a70c0bce770d 989 {
mjr 5:a70c0bce770d 990 // add the latest raw sample to the history list
mjr 6:cc35eb643e8f 991 AccHist *prv = p;
mjr 5:a70c0bce770d 992 iAccPrv_ = (iAccPrv_ + 1) % maxAccPrv;
mjr 6:cc35eb643e8f 993 p = accPrv_ + iAccPrv_;
mjr 6:cc35eb643e8f 994 p->set(ax, ay, prv);
mjr 5:a70c0bce770d 995
mjr 5:a70c0bce770d 996 // if we have a full complement, check for stability
mjr 5:a70c0bce770d 997 if (nAccPrv_ >= maxAccPrv)
mjr 5:a70c0bce770d 998 {
mjr 5:a70c0bce770d 999 // check if we've been stable for all recent samples
mjr 6:cc35eb643e8f 1000 static const float accTol = .01;
mjr 6:cc35eb643e8f 1001 AccHist *p0 = accPrv_;
mjr 6:cc35eb643e8f 1002 if (p0[0].d < accTol
mjr 6:cc35eb643e8f 1003 && p0[1].d < accTol
mjr 6:cc35eb643e8f 1004 && p0[2].d < accTol
mjr 6:cc35eb643e8f 1005 && p0[3].d < accTol
mjr 6:cc35eb643e8f 1006 && p0[4].d < accTol)
mjr 5:a70c0bce770d 1007 {
mjr 6:cc35eb643e8f 1008 // Figure the new calibration point as the average of
mjr 6:cc35eb643e8f 1009 // the samples over the rest period
mjr 6:cc35eb643e8f 1010 cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5.0;
mjr 6:cc35eb643e8f 1011 cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5.0;
mjr 5:a70c0bce770d 1012 }
mjr 5:a70c0bce770d 1013 }
mjr 5:a70c0bce770d 1014 else
mjr 5:a70c0bce770d 1015 {
mjr 5:a70c0bce770d 1016 // not enough samples yet; just up the count
mjr 5:a70c0bce770d 1017 ++nAccPrv_;
mjr 5:a70c0bce770d 1018 }
mjr 6:cc35eb643e8f 1019
mjr 6:cc35eb643e8f 1020 // clear the new item's running totals
mjr 6:cc35eb643e8f 1021 p->clearAvg();
mjr 5:a70c0bce770d 1022
mjr 5:a70c0bce770d 1023 // reset the timer
mjr 5:a70c0bce770d 1024 tCenter_.reset();
mjr 5:a70c0bce770d 1025 }
mjr 5:a70c0bce770d 1026
mjr 6:cc35eb643e8f 1027 // report our integrated velocity reading in x,y
mjr 6:cc35eb643e8f 1028 x = rawToReport(vx);
mjr 6:cc35eb643e8f 1029 y = rawToReport(vy);
mjr 5:a70c0bce770d 1030
mjr 6:cc35eb643e8f 1031 #ifdef DEBUG_PRINTF
mjr 6:cc35eb643e8f 1032 if (x != 0 || y != 0)
mjr 6:cc35eb643e8f 1033 printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt);
mjr 6:cc35eb643e8f 1034 #endif
mjr 3:3514575d4f86 1035 }
mjr 3:3514575d4f86 1036
mjr 3:3514575d4f86 1037 private:
mjr 6:cc35eb643e8f 1038 // adjust a raw acceleration figure to a usb report value
mjr 6:cc35eb643e8f 1039 int rawToReport(float v)
mjr 5:a70c0bce770d 1040 {
mjr 6:cc35eb643e8f 1041 // scale to the joystick report range and round to integer
mjr 6:cc35eb643e8f 1042 int i = int(round(v*JOYMAX));
mjr 5:a70c0bce770d 1043
mjr 6:cc35eb643e8f 1044 // if it's near the center, scale it roughly as 20*(i/20)^2,
mjr 6:cc35eb643e8f 1045 // to suppress noise near the rest position
mjr 6:cc35eb643e8f 1046 static const int filter[] = {
mjr 6:cc35eb643e8f 1047 -18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0,
mjr 6:cc35eb643e8f 1048 0,
mjr 6:cc35eb643e8f 1049 0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18
mjr 6:cc35eb643e8f 1050 };
mjr 6:cc35eb643e8f 1051 return (i > 20 || i < -20 ? i : filter[i+20]);
mjr 5:a70c0bce770d 1052 }
mjr 5:a70c0bce770d 1053
mjr 3:3514575d4f86 1054 // interrupt handler
mjr 3:3514575d4f86 1055 void isr()
mjr 3:3514575d4f86 1056 {
mjr 3:3514575d4f86 1057 // Read the axes. Note that we have to read all three axes
mjr 3:3514575d4f86 1058 // (even though we only really use x and y) in order to clear
mjr 3:3514575d4f86 1059 // the "data ready" status bit in the accelerometer. The
mjr 3:3514575d4f86 1060 // interrupt only occurs when the "ready" bit transitions from
mjr 3:3514575d4f86 1061 // off to on, so we have to make sure it's off.
mjr 5:a70c0bce770d 1062 float x, y, z;
mjr 5:a70c0bce770d 1063 mma_.getAccXYZ(x, y, z);
mjr 3:3514575d4f86 1064
mjr 3:3514575d4f86 1065 // calculate the time since the last interrupt
mjr 3:3514575d4f86 1066 float dt = tInt_.read_us()/1.0e6;
mjr 3:3514575d4f86 1067 tInt_.reset();
mjr 6:cc35eb643e8f 1068
mjr 6:cc35eb643e8f 1069 // integrate the time slice from the previous reading to this reading
mjr 6:cc35eb643e8f 1070 vx_ += (x + ax_ - 2*cx_)*dt/2;
mjr 6:cc35eb643e8f 1071 vy_ += (y + ay_ - 2*cy_)*dt/2;
mjr 3:3514575d4f86 1072
mjr 6:cc35eb643e8f 1073 // store the updates
mjr 6:cc35eb643e8f 1074 ax_ = x;
mjr 6:cc35eb643e8f 1075 ay_ = y;
mjr 6:cc35eb643e8f 1076 az_ = z;
mjr 3:3514575d4f86 1077 }
mjr 3:3514575d4f86 1078
mjr 3:3514575d4f86 1079 // underlying accelerometer object
mjr 3:3514575d4f86 1080 MMA8451Q mma_;
mjr 3:3514575d4f86 1081
mjr 5:a70c0bce770d 1082 // last raw acceleration readings
mjr 6:cc35eb643e8f 1083 float ax_, ay_, az_;
mjr 5:a70c0bce770d 1084
mjr 6:cc35eb643e8f 1085 // integrated velocity reading since last get()
mjr 6:cc35eb643e8f 1086 float vx_, vy_;
mjr 6:cc35eb643e8f 1087
mjr 3:3514575d4f86 1088 // timer for measuring time between get() samples
mjr 3:3514575d4f86 1089 Timer tGet_;
mjr 3:3514575d4f86 1090
mjr 3:3514575d4f86 1091 // timer for measuring time between interrupts
mjr 3:3514575d4f86 1092 Timer tInt_;
mjr 5:a70c0bce770d 1093
mjr 6:cc35eb643e8f 1094 // Calibration reference point for accelerometer. This is the
mjr 6:cc35eb643e8f 1095 // average reading on the accelerometer when in the neutral position
mjr 6:cc35eb643e8f 1096 // at rest.
mjr 6:cc35eb643e8f 1097 float cx_, cy_;
mjr 5:a70c0bce770d 1098
mjr 5:a70c0bce770d 1099 // timer for atuo-centering
mjr 5:a70c0bce770d 1100 Timer tCenter_;
mjr 6:cc35eb643e8f 1101
mjr 6:cc35eb643e8f 1102 // Auto-centering history. This is a separate history list that
mjr 6:cc35eb643e8f 1103 // records results spaced out sparesely over time, so that we can
mjr 6:cc35eb643e8f 1104 // watch for long-lasting periods of rest. When we observe nearly
mjr 6:cc35eb643e8f 1105 // no motion for an extended period (on the order of 5 seconds), we
mjr 6:cc35eb643e8f 1106 // take this to mean that the cabinet is at rest in its neutral
mjr 6:cc35eb643e8f 1107 // position, so we take this as the calibration zero point for the
mjr 6:cc35eb643e8f 1108 // accelerometer. We update this history continuously, which allows
mjr 6:cc35eb643e8f 1109 // us to continuously re-calibrate the accelerometer. This ensures
mjr 6:cc35eb643e8f 1110 // that we'll automatically adjust to any actual changes in the
mjr 6:cc35eb643e8f 1111 // cabinet's orientation (e.g., if it gets moved slightly by an
mjr 6:cc35eb643e8f 1112 // especially strong nudge) as well as any systematic drift in the
mjr 6:cc35eb643e8f 1113 // accelerometer measurement bias (e.g., from temperature changes).
mjr 5:a70c0bce770d 1114 int iAccPrv_, nAccPrv_;
mjr 5:a70c0bce770d 1115 static const int maxAccPrv = 5;
mjr 6:cc35eb643e8f 1116 AccHist accPrv_[maxAccPrv];
mjr 6:cc35eb643e8f 1117
mjr 5:a70c0bce770d 1118 // interurupt pin name
mjr 5:a70c0bce770d 1119 PinName irqPin_;
mjr 5:a70c0bce770d 1120
mjr 5:a70c0bce770d 1121 // interrupt router
mjr 5:a70c0bce770d 1122 InterruptIn intIn_;
mjr 3:3514575d4f86 1123 };
mjr 3:3514575d4f86 1124
mjr 5:a70c0bce770d 1125
mjr 5:a70c0bce770d 1126 // ---------------------------------------------------------------------------
mjr 5:a70c0bce770d 1127 //
mjr 5:a70c0bce770d 1128 // Clear the I2C bus for the MMA8451!. This seems necessary some of the time
mjr 5:a70c0bce770d 1129 // for reasons that aren't clear to me. Doing a hard power cycle has the same
mjr 5:a70c0bce770d 1130 // effect, but when we do a soft reset, the hardware sometimes seems to leave
mjr 5:a70c0bce770d 1131 // the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through
mjr 5:a70c0bce770d 1132 // the SCL line is supposed to clear this conidtion.
mjr 5:a70c0bce770d 1133 //
mjr 5:a70c0bce770d 1134 void clear_i2c()
mjr 5:a70c0bce770d 1135 {
mjr 5:a70c0bce770d 1136 // assume a general-purpose output pin to the I2C clock
mjr 5:a70c0bce770d 1137 DigitalOut scl(MMA8451_SCL_PIN);
mjr 5:a70c0bce770d 1138 DigitalIn sda(MMA8451_SDA_PIN);
mjr 5:a70c0bce770d 1139
mjr 5:a70c0bce770d 1140 // clock the SCL 9 times
mjr 5:a70c0bce770d 1141 for (int i = 0 ; i < 9 ; ++i)
mjr 5:a70c0bce770d 1142 {
mjr 5:a70c0bce770d 1143 scl = 1;
mjr 5:a70c0bce770d 1144 wait_us(20);
mjr 5:a70c0bce770d 1145 scl = 0;
mjr 5:a70c0bce770d 1146 wait_us(20);
mjr 5:a70c0bce770d 1147 }
mjr 5:a70c0bce770d 1148 }
mjr 5:a70c0bce770d 1149
mjr 5:a70c0bce770d 1150 // ---------------------------------------------------------------------------
mjr 5:a70c0bce770d 1151 //
mjr 5:a70c0bce770d 1152 // Main program loop. This is invoked on startup and runs forever. Our
mjr 5:a70c0bce770d 1153 // main work is to read our devices (the accelerometer and the CCD), process
mjr 5:a70c0bce770d 1154 // the readings into nudge and plunger position data, and send the results
mjr 5:a70c0bce770d 1155 // to the host computer via the USB joystick interface. We also monitor
mjr 5:a70c0bce770d 1156 // the USB connection for incoming LedWiz commands and process those into
mjr 5:a70c0bce770d 1157 // port outputs.
mjr 5:a70c0bce770d 1158 //
mjr 0:5acbbe3f4cf4 1159 int main(void)
mjr 0:5acbbe3f4cf4 1160 {
mjr 1:d913e0afb2ac 1161 // turn off our on-board indicator LED
mjr 4:02c7cd7b2183 1162 ledR = 1;
mjr 4:02c7cd7b2183 1163 ledG = 1;
mjr 4:02c7cd7b2183 1164 ledB = 1;
mjr 1:d913e0afb2ac 1165
mjr 6:cc35eb643e8f 1166 // initialize the LedWiz ports
mjr 6:cc35eb643e8f 1167 initLwOut();
mjr 6:cc35eb643e8f 1168
mjr 11:bd9da7088e6e 1169 // initialize the button input ports
mjr 11:bd9da7088e6e 1170 initButtons();
mjr 11:bd9da7088e6e 1171
mjr 6:cc35eb643e8f 1172 // we don't need a reset yet
mjr 6:cc35eb643e8f 1173 bool needReset = false;
mjr 6:cc35eb643e8f 1174
mjr 5:a70c0bce770d 1175 // clear the I2C bus for the accelerometer
mjr 5:a70c0bce770d 1176 clear_i2c();
mjr 5:a70c0bce770d 1177
mjr 2:c174f9ee414a 1178 // set up a flash memory controller
mjr 2:c174f9ee414a 1179 FreescaleIAP iap;
mjr 2:c174f9ee414a 1180
mjr 2:c174f9ee414a 1181 // use the last sector of flash for our non-volatile memory structure
mjr 2:c174f9ee414a 1182 int flash_addr = (iap.flash_size() - SECTOR_SIZE);
mjr 2:c174f9ee414a 1183 NVM *flash = (NVM *)flash_addr;
mjr 2:c174f9ee414a 1184 NVM cfg;
mjr 2:c174f9ee414a 1185
mjr 2:c174f9ee414a 1186 // check for valid flash
mjr 6:cc35eb643e8f 1187 bool flash_valid = flash->valid();
mjr 2:c174f9ee414a 1188
mjr 2:c174f9ee414a 1189 // if the flash is valid, load it; otherwise initialize to defaults
mjr 2:c174f9ee414a 1190 if (flash_valid) {
mjr 2:c174f9ee414a 1191 memcpy(&cfg, flash, sizeof(cfg));
mjr 6:cc35eb643e8f 1192 printf("Flash restored: plunger cal=%d, min=%d, zero=%d, max=%d\r\n",
mjr 6:cc35eb643e8f 1193 cfg.d.plungerCal, cfg.d.plungerMin, cfg.d.plungerZero, cfg.d.plungerMax);
mjr 2:c174f9ee414a 1194 }
mjr 2:c174f9ee414a 1195 else {
mjr 2:c174f9ee414a 1196 printf("Factory reset\r\n");
mjr 2:c174f9ee414a 1197 cfg.d.sig = cfg.SIGNATURE;
mjr 2:c174f9ee414a 1198 cfg.d.vsn = cfg.VERSION;
mjr 6:cc35eb643e8f 1199 cfg.d.plungerCal = 0;
mjr 6:cc35eb643e8f 1200 cfg.d.plungerZero = 0;
mjr 2:c174f9ee414a 1201 cfg.d.plungerMin = 0;
mjr 2:c174f9ee414a 1202 cfg.d.plungerMax = npix;
mjr 6:cc35eb643e8f 1203 cfg.d.ledWizUnitNo = DEFAULT_LEDWIZ_UNIT_NUMBER;
mjr 6:cc35eb643e8f 1204 cfg.d.ccdEnabled = true;
mjr 2:c174f9ee414a 1205 }
mjr 1:d913e0afb2ac 1206
mjr 6:cc35eb643e8f 1207 // Create the joystick USB client. Note that we use the LedWiz unit
mjr 6:cc35eb643e8f 1208 // number from the saved configuration.
mjr 6:cc35eb643e8f 1209 MyUSBJoystick js(
mjr 6:cc35eb643e8f 1210 USB_VENDOR_ID,
mjr 6:cc35eb643e8f 1211 USB_PRODUCT_ID | cfg.d.ledWizUnitNo,
mjr 6:cc35eb643e8f 1212 USB_VERSION_NO);
mjr 6:cc35eb643e8f 1213
mjr 1:d913e0afb2ac 1214 // plunger calibration button debounce timer
mjr 1:d913e0afb2ac 1215 Timer calBtnTimer;
mjr 1:d913e0afb2ac 1216 calBtnTimer.start();
mjr 1:d913e0afb2ac 1217 int calBtnLit = false;
mjr 1:d913e0afb2ac 1218
mjr 1:d913e0afb2ac 1219 // Calibration button state:
mjr 1:d913e0afb2ac 1220 // 0 = not pushed
mjr 1:d913e0afb2ac 1221 // 1 = pushed, not yet debounced
mjr 1:d913e0afb2ac 1222 // 2 = pushed, debounced, waiting for hold time
mjr 1:d913e0afb2ac 1223 // 3 = pushed, hold time completed - in calibration mode
mjr 1:d913e0afb2ac 1224 int calBtnState = 0;
mjr 1:d913e0afb2ac 1225
mjr 1:d913e0afb2ac 1226 // set up a timer for our heartbeat indicator
mjr 1:d913e0afb2ac 1227 Timer hbTimer;
mjr 1:d913e0afb2ac 1228 hbTimer.start();
mjr 1:d913e0afb2ac 1229 int hb = 0;
mjr 5:a70c0bce770d 1230 uint16_t hbcnt = 0;
mjr 1:d913e0afb2ac 1231
mjr 1:d913e0afb2ac 1232 // set a timer for accelerometer auto-centering
mjr 1:d913e0afb2ac 1233 Timer acTimer;
mjr 1:d913e0afb2ac 1234 acTimer.start();
mjr 1:d913e0afb2ac 1235
mjr 0:5acbbe3f4cf4 1236 // create the accelerometer object
mjr 5:a70c0bce770d 1237 Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS, MMA8451_INT_PIN);
mjr 0:5acbbe3f4cf4 1238
mjr 0:5acbbe3f4cf4 1239 // create the CCD array object
mjr 1:d913e0afb2ac 1240 TSL1410R ccd(PTE20, PTE21, PTB0);
mjr 2:c174f9ee414a 1241
mjr 1:d913e0afb2ac 1242 // last accelerometer report, in mouse coordinates
mjr 6:cc35eb643e8f 1243 int x = 0, y = 0, z = 0;
mjr 6:cc35eb643e8f 1244
mjr 6:cc35eb643e8f 1245 // previous two plunger readings, for "debouncing" the results (z0 is
mjr 6:cc35eb643e8f 1246 // the most recent, z1 is the one before that)
mjr 6:cc35eb643e8f 1247 int z0 = 0, z1 = 0, z2 = 0;
mjr 6:cc35eb643e8f 1248
mjr 6:cc35eb643e8f 1249 // Firing in progress: we set this when we detect the start of rapid
mjr 6:cc35eb643e8f 1250 // plunger movement from a retracted position towards the rest position.
mjr 6:cc35eb643e8f 1251 // The actual plunger spring return speed seems to be too slow for VP,
mjr 6:cc35eb643e8f 1252 // so when we detect the start of this motion, we immediately tell VP
mjr 6:cc35eb643e8f 1253 // to return the plunger to rest, then we monitor the real plunger
mjr 6:cc35eb643e8f 1254 // until it atcually stops.
mjr 9:fd65b0a94720 1255 int firing = 0;
mjr 2:c174f9ee414a 1256
mjr 2:c174f9ee414a 1257 // start the first CCD integration cycle
mjr 2:c174f9ee414a 1258 ccd.clear();
mjr 9:fd65b0a94720 1259
mjr 9:fd65b0a94720 1260 // Device status. We report this on each update so that the host config
mjr 9:fd65b0a94720 1261 // tool can detect our current settings. This is a bit mask consisting
mjr 9:fd65b0a94720 1262 // of these bits:
mjr 9:fd65b0a94720 1263 // 0x01 -> plunger sensor enabled
mjr 9:fd65b0a94720 1264 uint16_t statusFlags = (cfg.d.ccdEnabled ? 0x01 : 0x00);
mjr 10:976666ffa4ef 1265
mjr 10:976666ffa4ef 1266 // flag: send a pixel dump after the next read
mjr 10:976666ffa4ef 1267 bool reportPix = false;
mjr 1:d913e0afb2ac 1268
mjr 1:d913e0afb2ac 1269 // we're all set up - now just loop, processing sensor reports and
mjr 1:d913e0afb2ac 1270 // host requests
mjr 0:5acbbe3f4cf4 1271 for (;;)
mjr 0:5acbbe3f4cf4 1272 {
mjr 0:5acbbe3f4cf4 1273 // Look for an incoming report. Continue processing input as
mjr 0:5acbbe3f4cf4 1274 // long as there's anything pending - this ensures that we
mjr 0:5acbbe3f4cf4 1275 // handle input in as timely a fashion as possible by deferring
mjr 0:5acbbe3f4cf4 1276 // output tasks as long as there's input to process.
mjr 0:5acbbe3f4cf4 1277 HID_REPORT report;
mjr 6:cc35eb643e8f 1278 while (js.readNB(&report))
mjr 0:5acbbe3f4cf4 1279 {
mjr 6:cc35eb643e8f 1280 // all Led-Wiz reports are 8 bytes exactly
mjr 6:cc35eb643e8f 1281 if (report.length == 8)
mjr 1:d913e0afb2ac 1282 {
mjr 6:cc35eb643e8f 1283 uint8_t *data = report.data;
mjr 6:cc35eb643e8f 1284 if (data[0] == 64)
mjr 0:5acbbe3f4cf4 1285 {
mjr 6:cc35eb643e8f 1286 // LWZ-SBA - first four bytes are bit-packed on/off flags
mjr 6:cc35eb643e8f 1287 // for the outputs; 5th byte is the pulse speed (0-7)
mjr 6:cc35eb643e8f 1288 //printf("LWZ-SBA %02x %02x %02x %02x ; %02x\r\n",
mjr 6:cc35eb643e8f 1289 // data[1], data[2], data[3], data[4], data[5]);
mjr 0:5acbbe3f4cf4 1290
mjr 6:cc35eb643e8f 1291 // update all on/off states
mjr 6:cc35eb643e8f 1292 for (int i = 0, bit = 1, ri = 1 ; i < 32 ; ++i, bit <<= 1)
mjr 6:cc35eb643e8f 1293 {
mjr 6:cc35eb643e8f 1294 if (bit == 0x100) {
mjr 6:cc35eb643e8f 1295 bit = 1;
mjr 6:cc35eb643e8f 1296 ++ri;
mjr 6:cc35eb643e8f 1297 }
mjr 6:cc35eb643e8f 1298 wizOn[i] = ((data[ri] & bit) != 0);
mjr 6:cc35eb643e8f 1299 }
mjr 6:cc35eb643e8f 1300
mjr 6:cc35eb643e8f 1301 // update the physical outputs
mjr 1:d913e0afb2ac 1302 updateWizOuts();
mjr 6:cc35eb643e8f 1303
mjr 6:cc35eb643e8f 1304 // reset the PBA counter
mjr 6:cc35eb643e8f 1305 pbaIdx = 0;
mjr 6:cc35eb643e8f 1306 }
mjr 6:cc35eb643e8f 1307 else if (data[0] == 65)
mjr 6:cc35eb643e8f 1308 {
mjr 6:cc35eb643e8f 1309 // Private control message. This isn't an LedWiz message - it's
mjr 6:cc35eb643e8f 1310 // an extension for this device. 65 is an invalid PBA setting,
mjr 6:cc35eb643e8f 1311 // and isn't used for any other LedWiz message, so we appropriate
mjr 6:cc35eb643e8f 1312 // it for our own private use. The first byte specifies the
mjr 6:cc35eb643e8f 1313 // message type.
mjr 6:cc35eb643e8f 1314 if (data[1] == 1)
mjr 6:cc35eb643e8f 1315 {
mjr 9:fd65b0a94720 1316 // 1 = Set Configuration:
mjr 6:cc35eb643e8f 1317 // data[2] = LedWiz unit number (0x00 to 0x0f)
mjr 6:cc35eb643e8f 1318 // data[3] = feature enable bit mask:
mjr 6:cc35eb643e8f 1319 // 0x01 = enable CCD
mjr 6:cc35eb643e8f 1320
mjr 6:cc35eb643e8f 1321 // we'll need a reset if the LedWiz unit number is changing
mjr 6:cc35eb643e8f 1322 uint8_t newUnitNo = data[2] & 0x0f;
mjr 6:cc35eb643e8f 1323 needReset |= (newUnitNo != cfg.d.ledWizUnitNo);
mjr 6:cc35eb643e8f 1324
mjr 6:cc35eb643e8f 1325 // set the configuration parameters from the message
mjr 6:cc35eb643e8f 1326 cfg.d.ledWizUnitNo = newUnitNo;
mjr 6:cc35eb643e8f 1327 cfg.d.ccdEnabled = data[3] & 0x01;
mjr 6:cc35eb643e8f 1328
mjr 9:fd65b0a94720 1329 // update the status flags
mjr 9:fd65b0a94720 1330 statusFlags = (statusFlags & ~0x01) | (data[3] & 0x01);
mjr 9:fd65b0a94720 1331
mjr 9:fd65b0a94720 1332 // if the ccd is no longer enabled, use 0 for z reports
mjr 9:fd65b0a94720 1333 if (!cfg.d.ccdEnabled)
mjr 9:fd65b0a94720 1334 z = 0;
mjr 9:fd65b0a94720 1335
mjr 6:cc35eb643e8f 1336 // save the configuration
mjr 6:cc35eb643e8f 1337 cfg.save(iap, flash_addr);
mjr 6:cc35eb643e8f 1338 }
mjr 9:fd65b0a94720 1339 else if (data[1] == 2)
mjr 9:fd65b0a94720 1340 {
mjr 9:fd65b0a94720 1341 // 2 = Calibrate plunger
mjr 9:fd65b0a94720 1342 // (No parameters)
mjr 9:fd65b0a94720 1343
mjr 9:fd65b0a94720 1344 // enter calibration mode
mjr 9:fd65b0a94720 1345 calBtnState = 3;
mjr 9:fd65b0a94720 1346 calBtnTimer.reset();
mjr 9:fd65b0a94720 1347 cfg.resetPlunger();
mjr 9:fd65b0a94720 1348 }
mjr 10:976666ffa4ef 1349 else if (data[1] == 3)
mjr 10:976666ffa4ef 1350 {
mjr 10:976666ffa4ef 1351 // 3 = pixel dump
mjr 10:976666ffa4ef 1352 // (No parameters)
mjr 10:976666ffa4ef 1353 reportPix = true;
mjr 10:976666ffa4ef 1354
mjr 10:976666ffa4ef 1355 // show purple until we finish sending the report
mjr 10:976666ffa4ef 1356 ledR = 0;
mjr 10:976666ffa4ef 1357 ledB = 0;
mjr 10:976666ffa4ef 1358 ledG = 1;
mjr 10:976666ffa4ef 1359 }
mjr 6:cc35eb643e8f 1360 }
mjr 6:cc35eb643e8f 1361 else
mjr 6:cc35eb643e8f 1362 {
mjr 6:cc35eb643e8f 1363 // LWZ-PBA - full state dump; each byte is one output
mjr 6:cc35eb643e8f 1364 // in the current bank. pbaIdx keeps track of the bank;
mjr 6:cc35eb643e8f 1365 // this is incremented implicitly by each PBA message.
mjr 6:cc35eb643e8f 1366 //printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n",
mjr 6:cc35eb643e8f 1367 // pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
mjr 6:cc35eb643e8f 1368
mjr 6:cc35eb643e8f 1369 // update all output profile settings
mjr 6:cc35eb643e8f 1370 for (int i = 0 ; i < 8 ; ++i)
mjr 6:cc35eb643e8f 1371 wizVal[pbaIdx + i] = data[i];
mjr 6:cc35eb643e8f 1372
mjr 6:cc35eb643e8f 1373 // update the physical LED state if this is the last bank
mjr 6:cc35eb643e8f 1374 if (pbaIdx == 24)
mjr 13:72dda449c3c0 1375 {
mjr 6:cc35eb643e8f 1376 updateWizOuts();
mjr 13:72dda449c3c0 1377 pbaIdx = 0;
mjr 13:72dda449c3c0 1378 }
mjr 13:72dda449c3c0 1379 else
mjr 13:72dda449c3c0 1380 pbaIdx += 8;
mjr 6:cc35eb643e8f 1381 }
mjr 0:5acbbe3f4cf4 1382 }
mjr 0:5acbbe3f4cf4 1383 }
mjr 1:d913e0afb2ac 1384
mjr 1:d913e0afb2ac 1385 // check for plunger calibration
mjr 1:d913e0afb2ac 1386 if (!calBtn)
mjr 0:5acbbe3f4cf4 1387 {
mjr 1:d913e0afb2ac 1388 // check the state
mjr 1:d913e0afb2ac 1389 switch (calBtnState)
mjr 0:5acbbe3f4cf4 1390 {
mjr 1:d913e0afb2ac 1391 case 0:
mjr 1:d913e0afb2ac 1392 // button not yet pushed - start debouncing
mjr 1:d913e0afb2ac 1393 calBtnTimer.reset();
mjr 1:d913e0afb2ac 1394 calBtnState = 1;
mjr 1:d913e0afb2ac 1395 break;
mjr 1:d913e0afb2ac 1396
mjr 1:d913e0afb2ac 1397 case 1:
mjr 1:d913e0afb2ac 1398 // pushed, not yet debounced - if the debounce time has
mjr 1:d913e0afb2ac 1399 // passed, start the hold period
mjr 9:fd65b0a94720 1400 if (calBtnTimer.read_ms() > 50)
mjr 1:d913e0afb2ac 1401 calBtnState = 2;
mjr 1:d913e0afb2ac 1402 break;
mjr 1:d913e0afb2ac 1403
mjr 1:d913e0afb2ac 1404 case 2:
mjr 1:d913e0afb2ac 1405 // in the hold period - if the button has been held down
mjr 1:d913e0afb2ac 1406 // for the entire hold period, move to calibration mode
mjr 9:fd65b0a94720 1407 if (calBtnTimer.read_ms() > 2050)
mjr 1:d913e0afb2ac 1408 {
mjr 1:d913e0afb2ac 1409 // enter calibration mode
mjr 1:d913e0afb2ac 1410 calBtnState = 3;
mjr 9:fd65b0a94720 1411 calBtnTimer.reset();
mjr 9:fd65b0a94720 1412 cfg.resetPlunger();
mjr 1:d913e0afb2ac 1413 }
mjr 1:d913e0afb2ac 1414 break;
mjr 2:c174f9ee414a 1415
mjr 2:c174f9ee414a 1416 case 3:
mjr 9:fd65b0a94720 1417 // Already in calibration mode - pushing the button here
mjr 9:fd65b0a94720 1418 // doesn't change the current state, but we won't leave this
mjr 9:fd65b0a94720 1419 // state as long as it's held down. So nothing changes here.
mjr 2:c174f9ee414a 1420 break;
mjr 0:5acbbe3f4cf4 1421 }
mjr 0:5acbbe3f4cf4 1422 }
mjr 1:d913e0afb2ac 1423 else
mjr 1:d913e0afb2ac 1424 {
mjr 2:c174f9ee414a 1425 // Button released. If we're in calibration mode, and
mjr 2:c174f9ee414a 1426 // the calibration time has elapsed, end the calibration
mjr 2:c174f9ee414a 1427 // and save the results to flash.
mjr 2:c174f9ee414a 1428 //
mjr 2:c174f9ee414a 1429 // Otherwise, return to the base state without saving anything.
mjr 2:c174f9ee414a 1430 // If the button is released before we make it to calibration
mjr 2:c174f9ee414a 1431 // mode, it simply cancels the attempt.
mjr 9:fd65b0a94720 1432 if (calBtnState == 3 && calBtnTimer.read_ms() > 15000)
mjr 2:c174f9ee414a 1433 {
mjr 2:c174f9ee414a 1434 // exit calibration mode
mjr 1:d913e0afb2ac 1435 calBtnState = 0;
mjr 2:c174f9ee414a 1436
mjr 6:cc35eb643e8f 1437 // save the updated configuration
mjr 6:cc35eb643e8f 1438 cfg.d.plungerCal = 1;
mjr 6:cc35eb643e8f 1439 cfg.save(iap, flash_addr);
mjr 2:c174f9ee414a 1440
mjr 2:c174f9ee414a 1441 // the flash state is now valid
mjr 2:c174f9ee414a 1442 flash_valid = true;
mjr 2:c174f9ee414a 1443 }
mjr 2:c174f9ee414a 1444 else if (calBtnState != 3)
mjr 2:c174f9ee414a 1445 {
mjr 2:c174f9ee414a 1446 // didn't make it to calibration mode - cancel the operation
mjr 1:d913e0afb2ac 1447 calBtnState = 0;
mjr 2:c174f9ee414a 1448 }
mjr 1:d913e0afb2ac 1449 }
mjr 1:d913e0afb2ac 1450
mjr 1:d913e0afb2ac 1451 // light/flash the calibration button light, if applicable
mjr 1:d913e0afb2ac 1452 int newCalBtnLit = calBtnLit;
mjr 1:d913e0afb2ac 1453 switch (calBtnState)
mjr 0:5acbbe3f4cf4 1454 {
mjr 1:d913e0afb2ac 1455 case 2:
mjr 1:d913e0afb2ac 1456 // in the hold period - flash the light
mjr 9:fd65b0a94720 1457 newCalBtnLit = ((calBtnTimer.read_ms()/250) & 1);
mjr 1:d913e0afb2ac 1458 break;
mjr 1:d913e0afb2ac 1459
mjr 1:d913e0afb2ac 1460 case 3:
mjr 1:d913e0afb2ac 1461 // calibration mode - show steady on
mjr 1:d913e0afb2ac 1462 newCalBtnLit = true;
mjr 1:d913e0afb2ac 1463 break;
mjr 1:d913e0afb2ac 1464
mjr 1:d913e0afb2ac 1465 default:
mjr 1:d913e0afb2ac 1466 // not calibrating/holding - show steady off
mjr 1:d913e0afb2ac 1467 newCalBtnLit = false;
mjr 1:d913e0afb2ac 1468 break;
mjr 1:d913e0afb2ac 1469 }
mjr 3:3514575d4f86 1470
mjr 3:3514575d4f86 1471 // light or flash the external calibration button LED, and
mjr 3:3514575d4f86 1472 // do the same with the on-board blue LED
mjr 1:d913e0afb2ac 1473 if (calBtnLit != newCalBtnLit)
mjr 1:d913e0afb2ac 1474 {
mjr 1:d913e0afb2ac 1475 calBtnLit = newCalBtnLit;
mjr 2:c174f9ee414a 1476 if (calBtnLit) {
mjr 2:c174f9ee414a 1477 calBtnLed = 1;
mjr 4:02c7cd7b2183 1478 ledR = 1;
mjr 4:02c7cd7b2183 1479 ledG = 1;
mjr 9:fd65b0a94720 1480 ledB = 0;
mjr 2:c174f9ee414a 1481 }
mjr 2:c174f9ee414a 1482 else {
mjr 2:c174f9ee414a 1483 calBtnLed = 0;
mjr 4:02c7cd7b2183 1484 ledR = 1;
mjr 4:02c7cd7b2183 1485 ledG = 1;
mjr 9:fd65b0a94720 1486 ledB = 1;
mjr 2:c174f9ee414a 1487 }
mjr 1:d913e0afb2ac 1488 }
mjr 1:d913e0afb2ac 1489
mjr 6:cc35eb643e8f 1490 // read the plunger sensor, if it's enabled
mjr 10:976666ffa4ef 1491 uint16_t pix[npix];
mjr 6:cc35eb643e8f 1492 if (cfg.d.ccdEnabled)
mjr 6:cc35eb643e8f 1493 {
mjr 6:cc35eb643e8f 1494 // start with the previous reading, in case we don't have a
mjr 6:cc35eb643e8f 1495 // clear result on this frame
mjr 6:cc35eb643e8f 1496 int znew = z;
mjr 2:c174f9ee414a 1497
mjr 6:cc35eb643e8f 1498 // read the array
mjr 6:cc35eb643e8f 1499 ccd.read(pix, npix);
mjr 6:cc35eb643e8f 1500
mjr 6:cc35eb643e8f 1501 // get the average brightness at each end of the sensor
mjr 6:cc35eb643e8f 1502 long avg1 = (long(pix[0]) + long(pix[1]) + long(pix[2]) + long(pix[3]) + long(pix[4]))/5;
mjr 6:cc35eb643e8f 1503 long avg2 = (long(pix[npix-1]) + long(pix[npix-2]) + long(pix[npix-3]) + long(pix[npix-4]) + long(pix[npix-5]))/5;
mjr 6:cc35eb643e8f 1504
mjr 6:cc35eb643e8f 1505 // figure the midpoint in the brightness; multiply by 3 so that we can
mjr 6:cc35eb643e8f 1506 // compare sums of three pixels at a time to smooth out noise
mjr 6:cc35eb643e8f 1507 long midpt = (avg1 + avg2)/2 * 3;
mjr 6:cc35eb643e8f 1508
mjr 6:cc35eb643e8f 1509 // Work from the bright end to the dark end. VP interprets the
mjr 6:cc35eb643e8f 1510 // Z axis value as the amount the plunger is pulled: zero is the
mjr 6:cc35eb643e8f 1511 // rest position, and the axis maximum is fully pulled. So we
mjr 6:cc35eb643e8f 1512 // essentially want to report how much of the sensor is lit,
mjr 6:cc35eb643e8f 1513 // since this increases as the plunger is pulled back.
mjr 6:cc35eb643e8f 1514 int si = 1, di = 1;
mjr 6:cc35eb643e8f 1515 if (avg1 < avg2)
mjr 6:cc35eb643e8f 1516 si = npix - 2, di = -1;
mjr 6:cc35eb643e8f 1517
mjr 6:cc35eb643e8f 1518 // If the bright end and dark end don't differ by enough, skip this
mjr 6:cc35eb643e8f 1519 // reading entirely - we must have an overexposed or underexposed frame.
mjr 6:cc35eb643e8f 1520 // Otherwise proceed with the scan.
mjr 6:cc35eb643e8f 1521 if (labs(avg1 - avg2) > 0x1000)
mjr 6:cc35eb643e8f 1522 {
mjr 6:cc35eb643e8f 1523 uint16_t *pixp = pix + si;
mjr 6:cc35eb643e8f 1524 for (int n = 1 ; n < npix - 1 ; ++n, pixp += di)
mjr 6:cc35eb643e8f 1525 {
mjr 6:cc35eb643e8f 1526 // if we've crossed the midpoint, report this position
mjr 6:cc35eb643e8f 1527 if (long(pixp[-1]) + long(pixp[0]) + long(pixp[1]) < midpt)
mjr 6:cc35eb643e8f 1528 {
mjr 6:cc35eb643e8f 1529 // note the new position
mjr 6:cc35eb643e8f 1530 int pos = n;
mjr 6:cc35eb643e8f 1531
mjr 6:cc35eb643e8f 1532 // Calibrate, or apply calibration, depending on the mode.
mjr 6:cc35eb643e8f 1533 // In either case, normalize to our range. VP appears to
mjr 6:cc35eb643e8f 1534 // ignore negative Z axis values.
mjr 6:cc35eb643e8f 1535 if (calBtnState == 3)
mjr 6:cc35eb643e8f 1536 {
mjr 6:cc35eb643e8f 1537 // calibrating - note if we're expanding the calibration envelope
mjr 6:cc35eb643e8f 1538 if (pos < cfg.d.plungerMin)
mjr 6:cc35eb643e8f 1539 cfg.d.plungerMin = pos;
mjr 6:cc35eb643e8f 1540 if (pos < cfg.d.plungerZero)
mjr 6:cc35eb643e8f 1541 cfg.d.plungerZero = pos;
mjr 6:cc35eb643e8f 1542 if (pos > cfg.d.plungerMax)
mjr 6:cc35eb643e8f 1543 cfg.d.plungerMax = pos;
mjr 6:cc35eb643e8f 1544
mjr 6:cc35eb643e8f 1545 // normalize to the full physical range while calibrating
mjr 6:cc35eb643e8f 1546 znew = int(round(float(pos)/npix * JOYMAX));
mjr 6:cc35eb643e8f 1547 }
mjr 6:cc35eb643e8f 1548 else
mjr 6:cc35eb643e8f 1549 {
mjr 6:cc35eb643e8f 1550 // Running normally - normalize to the calibration range. Note
mjr 6:cc35eb643e8f 1551 // that values below the zero point are allowed - the zero point
mjr 6:cc35eb643e8f 1552 // represents the park position, where the plunger sits when at
mjr 6:cc35eb643e8f 1553 // rest, but a mechanical plunger has a smmall amount of travel
mjr 6:cc35eb643e8f 1554 // in the "push" direction. We represent forward travel with
mjr 6:cc35eb643e8f 1555 // negative z values.
mjr 6:cc35eb643e8f 1556 if (pos > cfg.d.plungerMax)
mjr 6:cc35eb643e8f 1557 pos = cfg.d.plungerMax;
mjr 6:cc35eb643e8f 1558 znew = int(round(float(pos - cfg.d.plungerZero)
mjr 6:cc35eb643e8f 1559 / (cfg.d.plungerMax - cfg.d.plungerZero + 1) * JOYMAX));
mjr 6:cc35eb643e8f 1560 }
mjr 6:cc35eb643e8f 1561
mjr 6:cc35eb643e8f 1562 // done
mjr 6:cc35eb643e8f 1563 break;
mjr 6:cc35eb643e8f 1564 }
mjr 6:cc35eb643e8f 1565 }
mjr 6:cc35eb643e8f 1566 }
mjr 7:100a25f8bf56 1567
mjr 7:100a25f8bf56 1568 // Determine if the plunger is being fired - i.e., if the player
mjr 7:100a25f8bf56 1569 // has just released the plunger from a retracted position.
mjr 6:cc35eb643e8f 1570 //
mjr 7:100a25f8bf56 1571 // We treat firing as an event. That is, we tell VP when the
mjr 7:100a25f8bf56 1572 // plunger is fired, and then stop sending data until the firing
mjr 7:100a25f8bf56 1573 // is complete, allowing VP to carry out the firing motion using
mjr 7:100a25f8bf56 1574 // its internal model plunger rather than trying to track the
mjr 7:100a25f8bf56 1575 // intermediate positions of the mechanical plunger throughout
mjr 9:fd65b0a94720 1576 // the firing motion. This is essential because the firing
mjr 9:fd65b0a94720 1577 // motion is too fast for us to track - in the time it takes us
mjr 9:fd65b0a94720 1578 // to read one frame, the plunger can make it all the way to the
mjr 9:fd65b0a94720 1579 // zero position and bounce back halfway. Fortunately, the range
mjr 9:fd65b0a94720 1580 // of motions for the plunger is limited, so if we see any rapid
mjr 9:fd65b0a94720 1581 // change of position toward the rest position, it's reasonably
mjr 9:fd65b0a94720 1582 // safe to interpret it as a firing event.
mjr 9:fd65b0a94720 1583 //
mjr 9:fd65b0a94720 1584 // This isn't foolproof. The user can trick us by doing a
mjr 9:fd65b0a94720 1585 // controlled rapid forward push but stopping short of the rest
mjr 9:fd65b0a94720 1586 // position. We'll misinterpret that as a firing event. But
mjr 9:fd65b0a94720 1587 // that's not a natural motion that a user would make with a
mjr 9:fd65b0a94720 1588 // plunger, so it's probably an acceptable false positive.
mjr 9:fd65b0a94720 1589 //
mjr 9:fd65b0a94720 1590 // Possible future enhancement: we could add a second physical
mjr 9:fd65b0a94720 1591 // sensor that detects when the plunger reaches the zero position
mjr 9:fd65b0a94720 1592 // and asserts an interrupt. In the interrupt handler, set a
mjr 9:fd65b0a94720 1593 // flag indicating the zero position signal. On each scan of
mjr 9:fd65b0a94720 1594 // the CCD, also check that flag; if it's set, enter firing
mjr 9:fd65b0a94720 1595 // event mode just as we do now. The key here is that the
mjr 9:fd65b0a94720 1596 // secondary sensor would have to be something much faster
mjr 9:fd65b0a94720 1597 // than our CCD scan - it would have to react on, say, the
mjr 9:fd65b0a94720 1598 // millisecond time scale. A simple mechanical switch or a
mjr 9:fd65b0a94720 1599 // proximity sensor could work. This would let us detect
mjr 9:fd65b0a94720 1600 // with certainty when the plunger physically fires, eliminating
mjr 9:fd65b0a94720 1601 // the case where the use can fool us with motion that's fast
mjr 9:fd65b0a94720 1602 // enough to look like a release but doesn't actually reach the
mjr 9:fd65b0a94720 1603 // starting position.
mjr 6:cc35eb643e8f 1604 //
mjr 7:100a25f8bf56 1605 // To detremine when a firing even occurs, we watch for rapid
mjr 7:100a25f8bf56 1606 // motion from a retracted position towards the rest position -
mjr 7:100a25f8bf56 1607 // that is, large position changes in the negative direction over
mjr 7:100a25f8bf56 1608 // a couple of consecutive readings. When we see a rapid move
mjr 7:100a25f8bf56 1609 // toward zero, we set our internal 'firing' flag, immediately
mjr 7:100a25f8bf56 1610 // report to VP that the plunger has returned to the zero
mjr 7:100a25f8bf56 1611 // position, and then suspend reports until the mechanical
mjr 7:100a25f8bf56 1612 // readings indicate that the plunger has come to rest (indicated
mjr 7:100a25f8bf56 1613 // by several readings in a row at roughly the same position).
mjr 9:fd65b0a94720 1614 //
mjr 9:fd65b0a94720 1615 // Tolerance for firing is 1/3 of the current pull distance, or
mjr 9:fd65b0a94720 1616 // about 1/2", whichever is greater. Making this value too small
mjr 9:fd65b0a94720 1617 // makes for too many false positives. Empirically, 1/4" is too
mjr 9:fd65b0a94720 1618 // twitchy, so set a floor at about 1/2". But we can be less
mjr 9:fd65b0a94720 1619 // sensitive the further back the plunger is pulled, since even
mjr 9:fd65b0a94720 1620 // a long pull will snap back quickly. Note that JOYMAX always
mjr 9:fd65b0a94720 1621 // corresponds to about 3", no matter how many pixels we're
mjr 9:fd65b0a94720 1622 // reading, since the physical sensor is about 3" long; so we
mjr 9:fd65b0a94720 1623 // factor out the pixel count calculate (approximate) physical
mjr 9:fd65b0a94720 1624 // distances based on the normalized axis range.
mjr 9:fd65b0a94720 1625 //
mjr 9:fd65b0a94720 1626 // Firing pattern: when firing, don't simply report a solid 0,
mjr 9:fd65b0a94720 1627 // but instead report a series of pseudo-bouces. This looks
mjr 9:fd65b0a94720 1628 // more realistic, beacause the real plunger is also bouncing
mjr 9:fd65b0a94720 1629 // around during this time. To get maximum firing power in
mjr 9:fd65b0a94720 1630 // the simulation, though, our pseudo-bounces are tiny cmopared
mjr 9:fd65b0a94720 1631 // to the real thing.
mjr 9:fd65b0a94720 1632 const int restTol = JOYMAX/24;
mjr 9:fd65b0a94720 1633 int fireTol = z/3 > JOYMAX/6 ? z/3 : JOYMAX/6;
mjr 9:fd65b0a94720 1634 static const int firePattern[] = {
mjr 9:fd65b0a94720 1635 -JOYMAX/12, -JOYMAX/12, -JOYMAX/12,
mjr 9:fd65b0a94720 1636 };
mjr 9:fd65b0a94720 1637 if (firing != 0)
mjr 6:cc35eb643e8f 1638 {
mjr 6:cc35eb643e8f 1639 // Firing in progress - we've already told VP to send its
mjr 6:cc35eb643e8f 1640 // model plunger all the way back to the rest position, so
mjr 6:cc35eb643e8f 1641 // send no further reports until the mechanical plunger
mjr 6:cc35eb643e8f 1642 // actually comes to rest somewhere.
mjr 6:cc35eb643e8f 1643 if (abs(z0 - z2) < restTol && abs(znew - z2) < restTol)
mjr 6:cc35eb643e8f 1644 {
mjr 6:cc35eb643e8f 1645 // the plunger is back at rest - firing is done
mjr 9:fd65b0a94720 1646 firing = 0;
mjr 6:cc35eb643e8f 1647
mjr 6:cc35eb643e8f 1648 // resume normal reporting
mjr 6:cc35eb643e8f 1649 z = z2;
mjr 6:cc35eb643e8f 1650 }
mjr 9:fd65b0a94720 1651 else if (firing < countof(firePattern))
mjr 9:fd65b0a94720 1652 {
mjr 9:fd65b0a94720 1653 // firing - report the next position in the pseudo-bounce
mjr 9:fd65b0a94720 1654 // pattern
mjr 9:fd65b0a94720 1655 z = firePattern[firing++];
mjr 9:fd65b0a94720 1656 }
mjr 9:fd65b0a94720 1657 else
mjr 9:fd65b0a94720 1658 {
mjr 9:fd65b0a94720 1659 // firing, out of pseudo-bounce items - just report the
mjr 9:fd65b0a94720 1660 // rest position
mjr 9:fd65b0a94720 1661 z = 0;
mjr 9:fd65b0a94720 1662 }
mjr 6:cc35eb643e8f 1663 }
mjr 6:cc35eb643e8f 1664 else if (z0 < z2 && z1 < z2 && znew < z2
mjr 6:cc35eb643e8f 1665 && (z0 < z2 - fireTol
mjr 6:cc35eb643e8f 1666 || z1 < z2 - fireTol
mjr 6:cc35eb643e8f 1667 || znew < z2 - fireTol))
mjr 6:cc35eb643e8f 1668 {
mjr 6:cc35eb643e8f 1669 // Big jumps toward rest position in last two readings -
mjr 6:cc35eb643e8f 1670 // firing has begun. Report an immediate return to the
mjr 6:cc35eb643e8f 1671 // rest position, and send no further reports until the
mjr 6:cc35eb643e8f 1672 // physical plunger has come to rest. This effectively
mjr 6:cc35eb643e8f 1673 // detaches VP's model plunger from the real world for
mjr 6:cc35eb643e8f 1674 // the duration of the spring return, letting VP evolve
mjr 6:cc35eb643e8f 1675 // its model without trying to synchronize with the
mjr 6:cc35eb643e8f 1676 // mechanical version. The release motion is too fast
mjr 6:cc35eb643e8f 1677 // for that to work well; we can't take samples quickly
mjr 6:cc35eb643e8f 1678 // enough to get prcise velocity or acceleration
mjr 6:cc35eb643e8f 1679 // readings. It's better to let VP figure the speed
mjr 6:cc35eb643e8f 1680 // and acceleration through modeling. Plus, that lets
mjr 6:cc35eb643e8f 1681 // each virtual table set the desired parameters for its
mjr 6:cc35eb643e8f 1682 // virtual plunger, rather than imposing the actual
mjr 6:cc35eb643e8f 1683 // mechanical charateristics of the physical plunger on
mjr 6:cc35eb643e8f 1684 // every table.
mjr 9:fd65b0a94720 1685 firing = 1;
mjr 9:fd65b0a94720 1686
mjr 9:fd65b0a94720 1687 // report the first firing pattern position
mjr 9:fd65b0a94720 1688 z = firePattern[0];
mjr 6:cc35eb643e8f 1689 }
mjr 6:cc35eb643e8f 1690 else
mjr 6:cc35eb643e8f 1691 {
mjr 6:cc35eb643e8f 1692 // everything normal; report the 3rd recent position on
mjr 6:cc35eb643e8f 1693 // tape delay
mjr 6:cc35eb643e8f 1694 z = z2;
mjr 6:cc35eb643e8f 1695 }
mjr 6:cc35eb643e8f 1696
mjr 6:cc35eb643e8f 1697 // shift in the new reading
mjr 6:cc35eb643e8f 1698 z2 = z1;
mjr 6:cc35eb643e8f 1699 z1 = z0;
mjr 6:cc35eb643e8f 1700 z0 = znew;
mjr 2:c174f9ee414a 1701 }
mjr 9:fd65b0a94720 1702 else
mjr 9:fd65b0a94720 1703 {
mjr 9:fd65b0a94720 1704 // plunger disabled - pause 10ms to throttle updates to a
mjr 9:fd65b0a94720 1705 // reasonable pace
mjr 9:fd65b0a94720 1706 wait_ms(10);
mjr 9:fd65b0a94720 1707 }
mjr 6:cc35eb643e8f 1708
mjr 1:d913e0afb2ac 1709 // read the accelerometer
mjr 9:fd65b0a94720 1710 int xa, ya;
mjr 9:fd65b0a94720 1711 accel.get(xa, ya);
mjr 1:d913e0afb2ac 1712
mjr 6:cc35eb643e8f 1713 // confine the results to our joystick axis range
mjr 6:cc35eb643e8f 1714 if (xa < -JOYMAX) xa = -JOYMAX;
mjr 6:cc35eb643e8f 1715 if (xa > JOYMAX) xa = JOYMAX;
mjr 6:cc35eb643e8f 1716 if (ya < -JOYMAX) ya = -JOYMAX;
mjr 6:cc35eb643e8f 1717 if (ya > JOYMAX) ya = JOYMAX;
mjr 1:d913e0afb2ac 1718
mjr 6:cc35eb643e8f 1719 // store the updated accelerometer coordinates
mjr 6:cc35eb643e8f 1720 x = xa;
mjr 6:cc35eb643e8f 1721 y = ya;
mjr 6:cc35eb643e8f 1722
mjr 11:bd9da7088e6e 1723 // update the buttons
mjr 11:bd9da7088e6e 1724 uint32_t buttons = readButtonsDebounced();
mjr 11:bd9da7088e6e 1725
mjr 8:c732e279ee29 1726 // Send the status report. Note that the nominal x and y axes
mjr 8:c732e279ee29 1727 // are reversed - this makes it more intuitive to set up in VP.
mjr 8:c732e279ee29 1728 // If we mount the Freesale card flat on the floor of the cabinet
mjr 8:c732e279ee29 1729 // with the USB connectors facing the front of the cabinet, this
mjr 8:c732e279ee29 1730 // arrangement of our nominal axes aligns with VP's standard
mjr 8:c732e279ee29 1731 // setting, so that we can configure VP with X Axis = X on the
mjr 8:c732e279ee29 1732 // joystick and Y Axis = Y on the joystick.
mjr 11:bd9da7088e6e 1733 js.update(y, x, z, buttons, statusFlags);
mjr 1:d913e0afb2ac 1734
mjr 10:976666ffa4ef 1735 // If we're in pixel dump mode, report all pixel exposure values
mjr 10:976666ffa4ef 1736 if (reportPix)
mjr 10:976666ffa4ef 1737 {
mjr 10:976666ffa4ef 1738 // we have satisfied this request
mjr 10:976666ffa4ef 1739 reportPix = false;
mjr 10:976666ffa4ef 1740
mjr 10:976666ffa4ef 1741 // send reports for all pixels
mjr 10:976666ffa4ef 1742 int idx = 0;
mjr 10:976666ffa4ef 1743 while (idx < npix)
mjr 10:976666ffa4ef 1744 js.updateExposure(idx, npix, pix);
mjr 10:976666ffa4ef 1745
mjr 10:976666ffa4ef 1746 // The pixel dump requires many USB reports, since each report
mjr 10:976666ffa4ef 1747 // can only send a few pixel values. An integration cycle has
mjr 10:976666ffa4ef 1748 // been running all this time, since each read starts a new
mjr 10:976666ffa4ef 1749 // cycle. Our timing is longer than usual on this round, so
mjr 10:976666ffa4ef 1750 // the integration won't be comparable to a normal cycle. Throw
mjr 10:976666ffa4ef 1751 // this one away by doing a read now, and throwing it away - that
mjr 10:976666ffa4ef 1752 // will get the timing of the *next* cycle roughly back to normal.
mjr 10:976666ffa4ef 1753 ccd.read(pix, npix);
mjr 10:976666ffa4ef 1754 }
mjr 10:976666ffa4ef 1755
mjr 6:cc35eb643e8f 1756 #ifdef DEBUG_PRINTF
mjr 6:cc35eb643e8f 1757 if (x != 0 || y != 0)
mjr 6:cc35eb643e8f 1758 printf("%d,%d\r\n", x, y);
mjr 6:cc35eb643e8f 1759 #endif
mjr 6:cc35eb643e8f 1760
mjr 6:cc35eb643e8f 1761 // provide a visual status indication on the on-board LED
mjr 5:a70c0bce770d 1762 if (calBtnState < 2 && hbTimer.read_ms() > 1000)
mjr 1:d913e0afb2ac 1763 {
mjr 5:a70c0bce770d 1764 if (js.isSuspended() || !js.isConnected())
mjr 2:c174f9ee414a 1765 {
mjr 5:a70c0bce770d 1766 // suspended - turn off the LED
mjr 4:02c7cd7b2183 1767 ledR = 1;
mjr 4:02c7cd7b2183 1768 ledG = 1;
mjr 4:02c7cd7b2183 1769 ledB = 1;
mjr 5:a70c0bce770d 1770
mjr 5:a70c0bce770d 1771 // show a status flash every so often
mjr 5:a70c0bce770d 1772 if (hbcnt % 3 == 0)
mjr 5:a70c0bce770d 1773 {
mjr 6:cc35eb643e8f 1774 // disconnected = red/red flash; suspended = red
mjr 5:a70c0bce770d 1775 for (int n = js.isConnected() ? 1 : 2 ; n > 0 ; --n)
mjr 5:a70c0bce770d 1776 {
mjr 5:a70c0bce770d 1777 ledR = 0;
mjr 5:a70c0bce770d 1778 wait(0.05);
mjr 5:a70c0bce770d 1779 ledR = 1;
mjr 5:a70c0bce770d 1780 wait(0.25);
mjr 5:a70c0bce770d 1781 }
mjr 5:a70c0bce770d 1782 }
mjr 2:c174f9ee414a 1783 }
mjr 6:cc35eb643e8f 1784 else if (needReset)
mjr 2:c174f9ee414a 1785 {
mjr 6:cc35eb643e8f 1786 // connected, need to reset due to changes in config parameters -
mjr 6:cc35eb643e8f 1787 // flash red/green
mjr 6:cc35eb643e8f 1788 hb = !hb;
mjr 6:cc35eb643e8f 1789 ledR = (hb ? 0 : 1);
mjr 6:cc35eb643e8f 1790 ledG = (hb ? 1 : 0);
mjr 6:cc35eb643e8f 1791 ledB = 0;
mjr 6:cc35eb643e8f 1792 }
mjr 6:cc35eb643e8f 1793 else if (cfg.d.ccdEnabled && !cfg.d.plungerCal)
mjr 6:cc35eb643e8f 1794 {
mjr 6:cc35eb643e8f 1795 // connected, plunger calibration needed - flash yellow/green
mjr 6:cc35eb643e8f 1796 hb = !hb;
mjr 6:cc35eb643e8f 1797 ledR = (hb ? 0 : 1);
mjr 6:cc35eb643e8f 1798 ledG = 0;
mjr 6:cc35eb643e8f 1799 ledB = 1;
mjr 6:cc35eb643e8f 1800 }
mjr 6:cc35eb643e8f 1801 else
mjr 6:cc35eb643e8f 1802 {
mjr 6:cc35eb643e8f 1803 // connected - flash blue/green
mjr 2:c174f9ee414a 1804 hb = !hb;
mjr 4:02c7cd7b2183 1805 ledR = 1;
mjr 4:02c7cd7b2183 1806 ledG = (hb ? 0 : 1);
mjr 4:02c7cd7b2183 1807 ledB = (hb ? 1 : 0);
mjr 2:c174f9ee414a 1808 }
mjr 1:d913e0afb2ac 1809
mjr 1:d913e0afb2ac 1810 // reset the heartbeat timer
mjr 1:d913e0afb2ac 1811 hbTimer.reset();
mjr 5:a70c0bce770d 1812 ++hbcnt;
mjr 1:d913e0afb2ac 1813 }
mjr 1:d913e0afb2ac 1814 }
mjr 0:5acbbe3f4cf4 1815 }